Kana zvasvika kune mabatirwo emagetsi emagetsi anodzorwa, kune dzakawanda nzira dzakasiyana dzekuwana chaiyo kubata kubata uye kutonga.Ichi chinyorwa chinozivisa akati wandei akajairwa emagetsi gripper ekudzora nzira, anosanganisira manyorero ekutonga, programming control uye sensor mhinduro yekudzora.
1. Kudzora nemaoko
Manual control ndiyo imwe yenzira dzekutanga dzekudzora.Iyo inowanzo kudzora kuvhura nekuvhara chiito chekubata kuburikidza nekubata, bhatani kana switch.Manual control inokodzera mashandiro ari nyore, senge mumarabhoritari kana mamwe madiki-scale application.Mushandi anogona kudzora kufamba kweiyo gripper zvakananga kuburikidza nekubata kwepanyama, asi inoshaya otomatiki uye nemazvo.
2. Kudzora zvirongwa
Kudzora kwakarongwa inzira yepamusoro yekudzoraelectric grippers.Zvinosanganisira kunyora uye kuita zvirongwa zvakananga kutungamira chiito che gripper.Iyi nzira yekudzora inogona kuitwa kuburikidza nemitauro yekuronga (yakadai seC ++, Python, nezvimwewo) kana robot control software.Programmed control inobvumira iyo gripper kuti iite yakaoma kutevedzana uye zvine musoro mashandiro, ichipa kuchinjika kukuru uye otomatiki kugona.
Zvidzoreso zvakarongwa zvinogonawo kusanganisira sensor data uye nzira dzemhinduro kuti dzigonese kushanda kwepamberi.Semuenzaniso, chirongwa chinogona kunyorwa kuti chigadzirise otomatiki kuvhura nekuvhara simba kana chinzvimbo che gripper zvichibva pane ekunze masaini masaini (senge simba, kumanikidza, kuona, nezvimwewo).Iyi nzira yekudzora inokodzera zvikumbiro zvinoda kunyatso kudzora uye mashandiro akaomarara, senge mitsetse yegungano, otomatiki kugadzirwa, nezvimwe.
3. Sensor mhinduro yekudzora
Sensor mhinduro yekudzora inzira inoshandisa masensa kuwana gripper mamiriro uye ruzivo rwezvakatipoteredza uye kuita kutonga kunoenderana neruzivo urwu.Masensa akajairika anosanganisira simba sensors, pressure sensors, position sensors, uye mavision sensors.
Kuburikidza neforce sensor, iyo clamping shaya inokwanisa kunzwa simba rairi kushandisa pachinhu, kuitira kuti simba rekusunga rigone kudzorwa.Pressure sensors inogona kushandiswa kuona kudzvanywa kwekubata pakati pe gripper uye chinhu kuti ive yakachengeteka uye yakagadzikana clamping.Iyo chinzvimbo sensor inogona kupa iyo chinzvimbo uye ruzivo ruzivo rweiyo gripper kuti inyatso kudzora kufamba kweiyo gripper.
Vision sensors inogona kushandiswa kuona uye kutsvaga zvinhu zvinonangwa, zvichiita kuti otomatiki clamping mashandiro.Semuenzaniso, mushure mekushandisa ma sensors ekuonekwa uye kuzivikanwa, iyo gripper inogona kudzora iyo clamping chiito zvichienderana nechinzvimbo uye saizi yechinhu chakanangana.
Sensor mhinduro yekudzora inogona kupa chaiyo-nguva data uye mhinduro ruzivo kuitira kuti
Izvi zvinogonesa kutonga kwakaringana kwekufamba kwe gripper.Kuburikidza nemhinduro ye sensor, iyo gripper inogona kunzwa uye kupindura kune shanduko yezvakatipoteredza munguva chaiyo, nekudaro kugadzirisa ma paramita senge clamping simba, chinzvimbo, uye kumhanya kuti ive nechokwadi uye chakachengeteka clamping mashandiro.
Uye zvakare, kune dzimwe nzira dzepamusoro dzekutonga dzekusarudza kubva, senge simba / torque control, impedance control uye yekuona mhinduro yekudzora.Kumanikidza / torque kutonga kunogonesa kudzora chaiko kwesimba kana torque inoshandiswa nemubati kuti aenderane nehunhu uye zvinodiwa zveakasiyana maworkpiece.Impedance control inobvumira mubati kuti agadzirise kuoma kwayo uye kupindura zvichienderana nekuchinja kwemasimba ekunze, achibvumira kushanda nemunhu anoshanda kana kuenderana nemamiriro akasiyana ebasa.
Visual mhinduro yekudzora inoshandisa tekinoroji yekuona komputa uye maalgorithms kuona, kutsvaga uye kuteedzera zvinhu zvakanangwa kuburikidza nechaiyo-nguva yekugadzira mifananidzo uye ongororo kuti iwane chaiyo clamping mashandiro.Visual mhinduro yekudzora inogona kupa yakakwira dhigirii yekuchinjika uye kuchinjika kune yakaoma workpiece kuzivikanwa uye clamping mabasa.
Idzo nzira dzekudzora dzemagetsi grippers dzinosanganisira manyorero ekutonga, programming control uye sensor mhinduro yekudzora.Aya madhiraivha anogona kushandiswa ega kana musanganiswa kuti awane chaiwo, otomatiki uye anochinjika clamping mashandiro.Kusarudzwa kweiyo nzira yekudzora yakakodzera kunofanirwa kuongororwa uye kusarudzwa zvichibva pazvinhu zvakaita sezvinodiwa zvekushandisa, kurongeka kwezvinodiwa, uye dhigirii re automation.
Pane zvimwe zvishoma zvinofanirwa kutariswa kana zvasvika kune mabatirwo emagetsi emagetsi anodzorwa.Heano mamwe ekudzora uye zvinoenderana zvinhu zvinokurukurwa zvakare:
4. Feedback control uye yakavharwa-loop control
Feedback control inzira yekudzora yakavakirwa pane system mhinduro ruzivo.Mune magetsi grippers, yakavharwa-loop control inogona kuwanikwa kuburikidza nekushandisa sensors kuona chimiro, chinzvimbo, simba uye mamwe ma parameter eiyo gripper.Yakavharwa-loop control inoreva kuti sisitimu inogona kugadzirisa mirairo yekudzora munguva chaiyo zvichienderana neruzivo rwemhinduro kuti uwane iyo inodiwa mamiriro kana kuita kweiyo gripper.Iyi nzira yekudzora inogona kuvandudza kusimba, kurongeka uye kugadzikana kwehurongwa.
5. Pulse width modulation (PWM) control
Pulse width modulation inzira yakajairika yekudzora inoshandiswa zvakanyanya mumagetsi grippers.Inogadzirisa nzvimbo yekuvhura uye yekuvhara kana kukurumidza kwemagetsi gripper nekudzora hupamhi hwepulse yechiratidzo chekupinza.PWM kutonga inogona kupa chaiyo kudzora kugadzirisa uye kubvumira iyo gripper chiito mhinduro kuti igadziriswe pasi pemamiriro akasiyana emutoro.
6. Kukurukurirana interface uye protocol:
Magetsi grippers anowanzoda kutaurirana uye kubatanidzwa nemarobhoti ekudzora masisitimu kana zvimwe zvishandiso.Naizvozvo, iyo nzira yekudzora inosanganisirawo kusarudzwa kwekutaurirana interfaces uye maprotocol.Common communication interfaces dzinosanganisira Ethernet, serial port, CAN bhasi, nezvimwewo, uye nzira yekukurukurirana inogona kuva Modbus, EtherCAT, Profinet, etc. Kusarudzwa kwakakodzera kwekutaurirana kwekukurukurirana uye zvibvumirano zvakakosha pakuita kuti gripper ibatane uye inoshanda seamless nemamwe maitiro.
7. Kudzora kuchengetedza
Kuchengetedzeka chinhu chakakosha kutariswa panguva yekutonga kweelectric grippers.Kuve nechokwadi chekuchengetedzwa kwevashandisi nemidziyo, gripper control masisitimu anowanzoda maficha akadai sekumira kwechimbichimbi, kuona kudhumhana, masimba masimba, uye kumhanya miganhu.Aya mabasa ekuchengetedza anogona kuitwa kuburikidza nehardware dhizaini, chirongwa chekudzora uye sensor mhinduro.
Paunenge uchisarudza yakafanira yemagetsi gripper yekudzora nzira, zvinhu zvakaita sezvinodiwa zvekushandisa, kurongeka kwezvinodiwa, dhigirii reotomatiki, zvinodiwa zvekutaurirana uye kuchengetedza zvinoda kutariswa zvizere.Zvichienderana neiyo chaiyo application mamiriro, zvingave zvakafanira kugadzirisa kuvandudza kweiyo control system kana kusarudza iripo yekutengesa mhinduro.Kukurukurirana uye kubvunzana nevashambadziri uye nyanzvi kuchabatsira kunzwisisa zviri nani zvakanakira uye zvakaipira nzira dzakasiyana dzekudzora uye kusarudza nzira yakanyatsokodzera yekudzora kuti isangane nezvinodiwa chaizvo.
8. Programmable Logic Controller (PLC)
Programmable logic controller chinhu chinowanzo shandiswa kudzora chishandiso chinoshandiswa zvakanyanya mumaindasitiri otomatiki masisitimu.Inogona kubatanidzwa nemagetsi grippers kudzora uye kuronga ma grippers kuburikidza nehurongwa.PLCs dzinowanzova nehupfumi hwekupinza / kubuda kwenzvimbo iyo inogona kushandiswa kubatanidza nemasensor uye actuators kuita yakaoma kutonga mantiki.
9. Kudzora algorithm uye logic
Kudzora algorithms uye logic chikamu chakakosha chekutarisa maitiro eiyo gripper.Zvichienderana nezvinodiwa zvemashandisirwo uye maitiro eiyo gripper, akasiyana control algorithms anogona kuvandudzwa uye kushandiswa, senge PID control, fuzzy logic control, adaptive control, nezvimwewo yakagadzikana clamping mashandiro.
10. Programmable controller (CNC)
Kune mamwe maapplication anoda kurongeka kwakanyanya uye kwakaoma mashandiro, programmable controllers (CNC) zvakare isarudzo.Iyo CNC system inogona kutyaira iyoelectric grippernekunyora nekuita zvirongwa zvekutonga uye kuwana chaiyo chinzvimbo chekutonga uye kuronga trajectory.
11. Kudzora interface
Iyo yekudzora interface yemagetsi gripper ndiyo inoshandiswa kuburikidza iyo mushandisi anopindirana neiyo gripper.Inogona kunge iri touch screen, bhatani pani, kana komputa-yakavakirwa graphical interface.Iyo intuitive uye nyore-kushandisa-control interface inowedzera kushanda zvakanaka uye nyore.
12. Kuona kukanganisa uye kugadzirisa kukanganisa
Mukuita kwekutonga kweiyo gripper, kuona kukanganisa uye kukanganisa kudzoreredza mabasa kwakakosha kuve nechokwadi kugadzikana uye kuvimbika kweiyo system.Iyo gripper control system inofanirwa kuve nemhosho yekuona zvibodzwa, kugona kuona uye kupindura kune inogona kukanganisa mamiriro panguva, uye kutora matanho akakodzera kupora kana alarm.
Kupfupisa, nzira yekudzora yemagetsi gripper inosanganisira zvinhu zvakawanda, kusanganisira programmable controller (PLC/CNC), control algorithm, control interface uye kuona kukanganisa, nezvimwewo. , dhigirii re automation, uye kuvimbika.Pamusoro pezvo, kutaurirana uye kubvunzana nevashambadziri uye nyanzvi kwakakosha pakuona kuti yakanakisa nzira yekudzora inosarudzwa.
Pakusarudza yemagetsi gripper yekudzora nzira, pane akati wandei zvinhu zvekufunga nezvazvo:
13. Simba rekushandisa uye kushanda zvakanaka
Nzira dzakasiyana dzekutonga dzinogona kunge dziine mazinga akasiyana ekushandisa simba uye kugona.Kusarudza yakaderera-simba uye yakakwirira-inoshanda nzira dzekudzora dzinogona kuderedza kushandiswa kwesimba uye kunatsiridza mashandiro ehurongwa.
14. Scalability uye kuchinjika
Tichifunga nezvekuchinja kunobvira mune zvinodiwa mune ramangwana, kuchenjera kusarudza nzira yekudzora ine yakanaka scalability uye kuchinjika.Izvi zvinoreva kuti iyo control system inogona kuchinjika nyore kumabasa matsva uye maapplication uye yakabatanidzwa nemimwe michina.
15. Mutengo uye Kuwanikwa
Nzira dzakasiyana dzekutonga dzinogona kuva nemari dzakasiyana uye kuwanikwa.Paunenge uchisarudza nzira yekudzora, iwe unofanirwa kufunga nezve bhajeti yako uye sarudzo dziripo pamusika kuti uone kuti iwe unosarudza inokwanisika uye inowanikwa mhinduro.
16. Kuvimbika uye kuchengetedza
Nzira yekutonga inofanira kuva nekuvimbika kwakanaka uye nyore kugadzirisa.Kuvimbika (reliability) zvinoreva kugona kwehurongwa kushanda zvakatsiga uye kusada kutadza.Kuchengetedza kunoreva kuti hurongwa huri nyore kugadzirisa uye kuchengetedza kuderedza nguva uye kugadzirisa mari.
17. Kutevedzera uye Mitemo
Mamwe maapplication angangoda kuteedzerwa neakananga kuteedzera zviyero uye zvinodiwa neindasitiri.Paunenge uchisarudza nzira yekudzora, ita shuwa kuti sarudzo yakasarudzwa inoenderana neanoshanda zviyero uye zvinodikanwa zvekutonga kusangana nekuchengetedza uye kutevedzera zvinodiwa.
18. Mushandisi wekushandisa uye kudzidziswa kwevashandi
Iyo nzira yekudzora inofanirwa kuve ine intuitive uye iri nyore-kushandisa-mushandisi interface kuitira kuti mushandisi anzwisise zviri nyore uye ashandise sisitimu.Uyezve, zvakakosha kudzidzisa vashandi kuti vashandiseelectric grippercontrol system nemazvo uye zvakachengeteka.
Nekutarisisa zvinhu zviri pamusoro, unogona kusarudza iyo yemagetsi gripper yekudzora nzira inonyatso kuenderana neyako chaiyo application zvaunoda.Zvakakosha kuongorora zvakanakira nekuipira kwega kwega nzira yekudzora uye kuita sarudzo dzine ruzivo zvichienderana nezvinodiwa chaizvo kuti uve nechokwadi chekuti gripper yemagetsi inogona kusangana nezvinodiwa zvinotarisirwa uye zvinoshanda.
Paunenge uchisarudza maitiro ekudzora gripper yako yemagetsi, pane zvimwe zvinhu zvekufunga nezvazvo:
19. Programmability uye customization zvinodiwa
Zvishandiso zvakasiyana zvinogona kunge zvine zvinodiwa kuti gripper inodzorwa sei, saka kurongeka uye kugadzirisa zvinhu zvakakosha kufunga.Dzimwe nzira dzekudzora dzinopa kuchinjika kukuru uye sarudzo dzekugadzirisa, zvichibvumira kurongeka kwetsika uye kurongeka zvichienderana nezvinodiwa zvekushandisa.
20. Kuona uye kutarisa mabasa
Dzimwe nzira dzekudzora dzinopa kuona uye kutarisa kugona, zvichibvumira vashandisi kuti vatarise chimiro, chinzvimbo uye ma parameter eiyo gripper munguva chaiyo.Aya masimba anonatsiridza kuoneka uye kuteedzera kwemashandiro, zvichibatsira kuona zvinogona kuitika uye kugadzirisa
22. Remote control uye kure nekutarisa kunogoneka
Mune zvimwe zviitiko, kudzora kure uye kure kure kutarisa zvinhu zvinodiwa.Sarudza nzira yekudzora ine kure kure uye yekutarisa kugona kugonesa kushanda kure uye kutarisa kwechimiro uye kuita kweiyo gripper.
23. Sustainability uye zvakatipoteredza kukanganisa
Kune mamwe maapplication uko kuchengetedzeka uye kukanganisa kwezvakatipoteredza kwakakosha, kusarudza nzira yekudzora ine yakaderera simba rekushandisa, yakaderera ruzha uye yakaderera kuburitsa kungave kutariswa.
Kupfupisa, pane zvinhu zvakawanda zvekufunga nezvazvo pakusarudza nzira yekudzora yakakodzeraelectric grippers, kusanganisira kurongeka, zvinodiwa zvekugadzirisa, kuona uye kutarisa kugona, kubatanidzwa uye kuenderana, kure kure uye kutarisa, kusimba uye kukanganisa kwezvakatipoteredza.Nekuongorora zvinhu izvi uye nekuzvisanganisa nezvinodiwa zveiyo chaiyo application, yakanyatso kudzora nzira inogona kusarudzwa kuti iwane inoshanda, yakavimbika uye yakachengeteka gripper kushanda.
Nguva yekutumira: Nov-06-2023