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TM HIU V ROBOT CNG NGHIP TRONG H THNG FMSNHM 3: L Ngc Kim Hoa Nguyn Vn Hiu V Xun Hon Trn Ngc Mnh Hng Bi Xun Hng Phm Vn Vnh

TNG QUAN V ROBOT CNG NGHIPJ

1.1: LCH S PHT TRINThut ng Robot xut pht t ting Sec (Czech) Robota c ngha l cng vic tp dch trong v kch Rossums Universal Robots ca Karel Capek, vo nm 1921

u thp k 60, cng ty M AMF (American Machine and Foundry Company) ca M qung co mt loi my t ng vn nng v gi l Ngi my cng nghip (Industrial Robot)

V mt k thut, nhng robot cng nghip ngy nay, c ngun gc t hai lnh vc k thut ra i sm hn l :cc c cu iu khin t xa (Teleoperators) v cc my cng c iu khin s (NC - Numerically Controlled machine tool).

Mt s thi im lch s pht trin ca ngi my cng nghipM xut hin loi robot Unimate -1900 c dng u tin trong k ngh.

Tip theo M, cc nc khc bt u sn xut robot cng nghip: Anh -1967, Thu in v Nht -1968 theo bn quyn ca M; CHLB c -1971; Php - 1972; - 1973. . .

Nm 1967 trng i hc tng hp Stanford (M) ch to ra mu robot hot ng theo m hnh mt-tay, c kh nng nhn bit v nh hng ban kp theo v tr vt kp nh cc cm bin.

Nm 1974 Cng ty Cincinnati (M) a ra loi robot c iu khin bng my vi tnh, gi l robot T3 (The Tomorrow Tool: Cng c ca tng lai).

1.2: NH NGHA V ROBOT CNG NGHIPHin nay c nhiu nh ngha v Robot, c mt s nh ngha nh sau:nh ngha theo tiu chun AFNOR (Php)

nh ngha theo RIA (Robot institute of America)

nh ngha theo OCT 25686-85 (Nga)

T cc nh ngha trn y, chng ti a ra mt nh ngha v robot cng nghip nh sau:

Robot cng nghip l mt c cu my c th lp trnh c, c kh nng lm vic mt cch t ng khng cn s tr gip ca con ngi. Bn cnh gia cc tay my c th hp tc c vi nhau

Mt Robot cng nghip bao gm cc phn c bn sau : Phn cng tcTruyn ng c khC cu chp hnhCc cm bin (sensor) gim st trng thi h thngSensor gim st thng s mi trngH thng iu khinGiao din Ngi - Robot

V d cu trc chung ca mt RBCN

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Cu trc chung ca mt Robot cng nghip :

Tay my ( Manipulator) : L c cu c kh gm cc khu, khp. Chng hnh thnh cnh tay (arm) to cc chuyn ng c bn, C tay (wrist) to nn s kho lo, linh hot v bn tay (hand) hoc phn cng tc (End Effector) trc tip hon thnh cc thao tc trn i tng.

Trong thit k quan tm n cc thng s c nh hng ln n kh nng lm vic ca robot nh: -Sc nng, cng vng, lc kp ca tay. -Tm vi hay vng lm vic: Kch thc v hnh dng vng m phn lm vic c th vi ti. -S kho lo: l kh nng nh v v nh hng phn cng tc trong vng lm vic.

Kt cu tay my

Cc khp c dng ph bin l khp trt v khp quay. Da vo s lng v cch b tr cc khp m phn ra :

Phn cng tc : L b phn trc tip tc ng ln i tng. Ty theo yu cu lm vic ca robot phn cng tc c th l tay gp, cng c (sng phun sn, m hn, dao ct, cha vn c ).

Phn cng tc ca robot l m hn Tay my ScaraTay my kiu phng sinh

Cm bin nhit H thng cm bin (Sensors) : Khi nim : Cm bin l thit b dng nhn gi tr ca i lng vt l cn o v bin i n thnh tn hiu m thit b o hay iu khin c th x l c. Dng v gi tr tn hiu xut ra ca cc cm bin thng c chun ha d ghp ni vo cc mch x l tip theo(in p, dng in, in tr).

H thng cm bin gm cc sensor v thit b chuyn i tn hiu khc. Cc robot cn h thng sensor trong nhn bit trng thi ca bn thn cc c cu ca robot v cc sensor ngoi nhn bit trng thi ca mi trng.

Phn loi cm bin : Theo chc nng : - Sensor trong (proprioceptive sensor) - Sensor ngoi (heteroceptive sensor)

Mt s loi cm bin thng gp trong RBCN

Theo i lng cn o : sensor nhit , p sut, vn tc, gia tc, lu lng Theo kt cu v nguyn l lm vic : sensor in tr, in dung, in cm, in p, quang in, in ng Theo phng thc cm nhn : sensor tip xc (tactile sensor), khng tip xc (proximity sensor).

H thng iu khinKin trc chc nng Ty theo yu cu i vi hot ng ca robot, cc chc nng c phn cp vi mc khc nhau.Ni chung c th phn thnh 4 cp chnh: -Cp nhim v (task level), gii quyt cc vn chung v nhim v. So snh yu cu t ra vi kh nng chp nhn ca h thng, tnh trng hin ti ca h thng vi mi trng -Cp chin lc (action level), gii quyt phng thc hnh ng chung, v d h ta , v tr ca phn cng tc, cc im phi i qua, hm ni suy s s dng

- Cp k hoch (primitive level), thit lp qu o, tnh ton ng hc v ng hc ngc, phn tch tnh trng h chp hnh. -Cp tha hnh (servo level), lin quan n cc hot ng c thm h gii m lnh, ni suy, x l li, giao din vi c cu chp hnh.Mi trng lp trnh c im quan trng ca robot l lm vic theo chng trnh v ti lp trnh c. Chng trnh l phng tin ngi s dng truyn t cho robot cc nhim v m n phi thc hin v hng dn cho robot lm vic th no. V vy robot cn c mt mi trng lp trnh vi ngn ng lp trnh nht nh. Mi trng lp trnh robot cn c cc yu t sau : -H thng iu hnh trong thi gian thc.-M hnh ha khng gian cng tc.-iu khin chuyn ng-c v x l thng tin t h thng sensor.-Giao din vi h thng vt l.-Pht hin v x l li.-Phc hi cc chc nng lm vic ng.-Cu trc ngn ng xc nh

Nh vy, mi trng lp trnh bt ngun t cu trc h iu khin, ngha l c kt cu chc nng v th bc. S pht trin ca mi trng lp trnh ph thuc vo khoa hc my tnh. Theo nh hng chc nng c th nhn thy 3 th h ca mi trng lp trnh :

Lp trnh lm kiu muLp trnh hng robotLp trnhhng i tng

Cu trc phn cng Thng nht vi cu trc chung ca h thng iu khin, phn cng cng c cu trc chc nng theo th bc.

S cu trc phn cng ca h iu khin RBCN

Trong h thng ny, ty chc nng c hnh thnh nh bng mch ring. Cc bng mch c lin kt vi nhau qua ng truyn (BUS) d liu. rng ca BUS phi cho php x l thi gian thc. Board h thng thc cht l 1 CPU (gm 1 b vi x l ton hc, 1 EPROM, 1 RAM ring, 1 RAM chia s vi cc board khc qua BUS, b m, thanh ghi, h thng ngt v mt s cng ni tip vi cc thit b ngoi vi) vi cc chc nng : - Giao din vi cc teach pendant, bn phm, video, b nh ngoi, thit b ngoi vi nh bng ti, nng h - Dch chng trnh v iu khin BUS. Board ng hc thc hin cc chc nng : - Tnh ton ng hc cu trc - Gii bi ton thun, nghch ng hc tay my, kim tra qu o - Gii quyt bi ton ngc ca ng lc hc tay my. Servo board c chc nng : - Ni suy qu o, x l thng tin v v tr v vn tc - Chuyn i s-tng t v giao din vi b khuch i cng sut. - Thc hin bi ton iu khin v ngt chuyn ng khi c s c. Cc board u truyn d liu qua cng BUS nhng vi tc khc nhau, t 1-1000Hz. S pht trin ca my tnh to nn s pht trin ng k ca k thut iu khin robot vi s ra i ca rt nhiu b VXL 8 bits, 16 bits nh Intel 8086,80688. Mt s robot hin i dng VXL 32 bit lm tng ng k tc x l v ph hp vi vic iu khin qu o lin tc

Thit b vo/ra (I/O) : - phc v iu khin, giao din vi cc thit b ngoi nh cc sensor, PLC, CNC, robot v cc thit b sn xut khc. H thng chp hnh Chuyn ng ca cc khp trong tay my c thc hin bi h thng chp hnh, n gm cc b phn sau :-Ngun in-B khuch i cng sut-ng c-Truyn ng c kh

S ghp ni h thng chp hnhPc : Tn hiu iu khinPu: Cng sut c hc cn thit chuyn ng khp Pa : Cng sut in cp cho ng c Pp : cng sut ngunPm : cng c hc do ng c pht raPda, Pds,Pdct : cng sut tn hao

Truyn dn c kh - C cu trc vt-bnh vt cho php i phng trc, vt-me ai c bin chuyn ng quay thnh tnh tin.C hai c cu u to tnh t hm cho cu trc - Truyn ng ai rng v xch cho php t ng c xa trc - Cc c cu khu, khp nh 4 khu bn l, con trt, n by, .cng thng dng trong robot

C cu truyn dnC cu 4 khu bn l

ai rng

ng c c im ca robot cng nghip l phi bm st qu o thit k, nh v chnh xc nn cc ng c phi p ng cc yu cu : - Qun tnh nh, kh nng chu ti xung lc, gia tc tt, di tc lm vic rng - chnh xc nh v cao, hot ng trn tru vn tc thp Cc loi ng c thng s dng trong robot nh ng c thy lc, kh nn, ng c in 1 chiu, xoay chiu, ng c bc Mi ng c u c u- nhc im khc nhau, v vy ty theo mc ch s dng m chn loi ng c ph hp vi yu cu t ra.

ng c bc

ng c 1 chiu

Khuch i cng sut C chc nng bin i trng thi nng lng ca ngun cung cp ph h vi yu cu ng c. Vi ng c in mt chiu, thng dng b khuch i AC to DC converter (hay chopper), vi ng c thy lc l cc van tit lu thay i lu lng cht lng theo tn hiu in. Ngun cung cp chnh Nhim v l cung cp nng lng ti u vo b bin i. Nu l in nng th ngun cp thng l bin p, vi dng 1 chiu phi c chnh lu. Ngun cp ng c thy lc l trm bm cc loi nh bm bnh rng, bm cnh qut, bm piston,Truyn ng cho chng thng l C xoay chiu KB. Ngoi ra cn c b cha, b lc, van trn, van an ton gip h thng lm vic n nh, an ton.

PHN LOI ROBOT CNG NGHIP

1 Phn loi theo s bc t do

2 Phn loi theo h thng truyn ng

Gm c:

-Robot truyn ng bng in - Robot truyn ng bng kh nn - Robot truyn ng bng thy lc - Robot truyn ng hn hp

3 Phn loi theo dng hnh hc

a, Dng ecac

Dng ecac s dng 3 ng trt vung gc nhau trong khng gian l cc trc to x, y, z.

Robot chuyn ng theo 3 trc to . S dng cc khp tnh tin, phm vi lm vic ca Robot c m rng theo hnh ch nht

b, dng hnh tr

-Trc c bn l mt tr dc, robot chuyn ng ln v xung dc theo trc. -Bng cc chuyn ng quay quanh trc,tnh tin dc trc phm vi lm vic ca robot c m rng theo mt hnh tr bao quanh trc c bn.

c, Dng hnh cu

S dng cc khp lng vo nhau, gip cho Robot c kh nng chuyn ng ln hoc xung theo chiu ngang ca trc quay. Dng a khp ni cho php Robot m rng khong khng gian lm vic theo hnh cu.

d, Dng khp ni

Tng t nh cnh tay con ngi, n gm hai phn t thng tng ng vi cnh tay v cng tay. Cc phn t ny c ghp ni vi nhau bi hai khp tng ng vi khp b vai v khp khuu tay. C tay c ni vi cng tay.

e, Robot quay

4 Phn loi theo cu trc ng hca, Robot c cu trc ng hc vng h

l mt chui ng hc h vi mt khu c nh gi l v cc khu ng, trong cc khu ng c b tr ni tip vi nhau. Mi khu ng c lin kt hay ni ng vi mt khu khc nh cc khp lin kt.Thng th c bao nhiu khu ng th robot c by nhiu bc t do

b, Robot c cu trc ng hc l vng kn

l mt chui ng hc kn, mi khu lun lun c lin kt vi t nht hai khu khc.

H TRUYN NG CA ROBOT TRONG SN XUT LINH HOT FMS

I) Cc h truyn ng trong robot bao gm 3 h truyn ng chnh:

+H truyn ng iu khin bng in

+ H truyn ng iu khin bng thy lc

+ H truyn ng iu khin bng kh nn

a) H truyn ng iu khin bng in:

H truyn ng in trong robot l 1 tp hp cc thit b bao gm thit b in, in t, in t phc v cho vic bin i nng lng in thnh c cng nh gia cng truyn tn hiu thng tin iu khin qu trnh bin i in nng .

+ Khi nim

Phn loi ng c in

Trong k thut robot c th dng nhiu ng c in khc nhau nhng thc t c 2 loi ph bin hn c l:+ng c in 1 chiu ( Hnh a )+ ng c bc ( Hnh b )

Hnh aHnh b

1. ng c in 1 chiu

- Nguyn l hot ng ca ng c in 1 chiuKhi c dng in 1 chiu chy qua khung dy cnh pha bn cc dng s tc ng bi 1 lc hng ln trong khi cnh i din tc dng bng 1 lc hng xung theo nguyn l bn tay tri cc lc ny tc ng quay ln cun dy lm roto quay.

Cu to: ng c in 1 chiu gm 2 phn:+ Phn tnh l Stato vi cc cun dy c dng in cm hoc dng nam chm vnh cu phn ny cn c gi l phn cm.

+ Phn ng l roto vi cc thanh dn, khi c dng in chy qua vi t thng xc nh roto s quay phn ny gi l phn ng.

Phn loi ng c in:

+ ng c in kch t song song

+ ng c in kch t c lp

+ ng c in kch t ni tip

Mi loi ng c in u c u nhc im khc nhau xong ty vo yu cu k thut m ta chn ng c in hp l ti u ha qu trnh sn xut.

c dng khi ngun in 1 chiu c cng sut v cng ln v in p khng i th mch kch t c mc song song vi mch phn ng.

ng c in kch t song song

Hnh nh

ng c in 1 chiu kch t c lpHnh nh

c dng khi dng in 1 chiu c cng sut khng ln th mch in phn ng v mch kch t mc vo 2 ngun 1 chiu c lp vi nhau.

ng c in 1 chiu kch t ni tip

Hnh nh + C I = Ikt khi cun kch t c tit din ln, in tr nh, s vng dy t.

Cng tc tCng tc hnh trnhRole thi gianBng mch Cc phn t trong mch truyn ng in

2. ng c bc

+ Nguyn tc hot ng- Nu cp in cho cun dy th roto s dng li v tr m dng t i qua l ln nht. Nu cp in cho cun dy th roto s quay i 90o (ph thuc vo chiu dng in cp vo). Khi ng thi cp in cho c 2 cun dy v th roto s dng li gia 0o v 90o v nu dng in vo 2 cun dy hon ton nh nhau th roto s dng li v tr 45o

u im:

Khi dng ng c bc khng cn mch phn hi cho c iu khin v tr v vn tc.Thch hp vi cc thit b iu khin s. Vi kh nng iu khin s trc tip ng c bc tr thnh thng dng trong cc thit b c in t.

Nhc im:

Phm vi ng dng l vng cng sut nh v trung bnh. Vic nghin cu nng cao cng sut ng c bc ang l vn rt c quan tm hin nay. Ngoi ra ni chung hiu sut ca ng c bc thp hn cc loi ng c khc.

Phn loi:

Ty theo kiu ca roto ng c bc c chia thnh cc loi sau:

+ ng c bc theo kiu t tr bin i+ ng c bc nam chm vnh cu+ ng c bc kiu lai

Ty theo s cun dy c lp trn stato ng c bc c chia thnh cc loi

+ ng c bc 2 pha+ ng c bc 3 pha+ ng c bc 4 pha.

Cc hnh nh thc t v cc loi ng c bc:

b)H truyn ng iu khin bng thy lc

Robot thc t s dng iu khin bng thy lc

+ H truyn ng thy lc c nhng u im nhc im sau:

u im:

Ti trng ln, qun tnh b, d thay i chuyn ng, d iu khin t ngNhc im:

H thy lc lun i hi b ngun bao gm thng du, bm thy lc, thit b lc, bnh tch du, cc loi van iu chnh, ng ng lm h thng truyn ng robot kh cng knh so vi truyn ng kh nn v truyn ng in.

B phn kp chi tit khi gia cng

S thy lc

Hnh nh thc t

Cc chi tit chnh trong c cu thy lc

+ Xilanh thy lc

+ Van thy lc

Van thy lc c rt nhiu loi mi loi c 1 chc nng nht nh nhng nguyn l chung l iu chnh lu lng v dng ca cht lng c dng trong h thng thy lc ( thng l du ).

Mt s loi van thng dng *Van 4/3*Van 4/2

*Van trn

S mch thy lc

My khoan c s dng c cu kp v tch tin dao bng thy lcMy khoan

c) H truyn ng kh nn

Dng kh nn trong h truyn ng c cc u v nhc im sau:+ u im: H truyn ng kh nn tng i gn nh, d s dng, d o chiu..

+ Nhc im: Do tnh nn c ca cht kh nn chuyn ng thng km theo dao ng, cn thm cc trang thit b phun du bi trn.

Robot iu khin bng kh nn thc t

Mt s van kh nn thng dng

Xilanh kh nn

Mch iu khin bng kh nn n gin vi cc phn t c bn

Tm li robot cng nghip trong sn xut linh hot FMS ch yu s dng cc loi truyn ng l:

+Truyn ng in+Truyn ng kh nn+Truyn ng thy lc

Mi loi truyn ng c u nhc im khc nhau xong i vi tng c cu ta chn h truyn ng ph hp nht m bo yu t k thut v kinh t.

LP TRNH CHO ROBOT CNG NGHIP Lp Trinh Cho RoBotI. Gii thiu chung v lp trinh iu khin RoBot.II. Th no l mt chng trnh lm vic ca RoBot.III. Cc phng php lp trnh cho RoBot.1. Lp trinh kiu Day-Hoc 2. Lp trinh kiu Dung cac ngn ngu lp trinh 3 Lp trinh kiu Ngn ngu theo nhim vu

IV. Gii thiu mt s phn mm va ngn ng lp trinh RoBot.1. Gii thiu tom tt v phn mm Procomm Plus For Windows.a. Th nao v Procomm Plus For Windows.b. Cach s dung Procomm Plus For Windows.

2. Ngn ng lp trinh ASPECT trong Procomm.a. Khai nim ngn ng lp trinh ASPECT trong Procommb. Cach s dung ngn ng lp trinh ASPECT trong Procomm

3. Lp trinh iu khin RoBot TERGAN 45 ( TG-45 ).a. Khai nim v TERGAN 45b. Cach lp trinh iu khin RoBot TERGAN 45 ( TG-45 ).4. Lp trnh th cng ( Bng tay ) bng cch s dng Teach-pendant.a. Khai nim v lp trinh thu cng ( Bng tay ) bng cach s dung Teach-pendant.b. Cach s dung Teach-pendant.

V. Mt s vi du v lp trinh RoBot.

VI. Tham khao mt s m phong v lp trinh bng hinh anh v lp trinh RoBot.

VII. Kt lun v lp trinh RoBot.

c tnh cng ngh ca robot cng nghip. Tnh di ng ca thn robot.Phn loi theo tnh di ng:Loi c nh (khng di ng): c s dng rng ri cho cc my thc hin cc nguyn cng chnh.

Robot vn chuyn hng ha

Robot hnLoi di ng: di chuyn dc theo my trn cc thanh ray hoc cc gi treo t ng. Chia lm 2 loi:Di ng trn nn xngDi ng trn gi treo.Khi chn robot cho h thng FMS, trc ht cn xc nh xem nn s dng robot tnh hay robot di ng, sau mi chn c th cc c tnh khc ca robot.

60

Trng ti ca robotMt trong nhng c tnh cng ngh c bn ca robot l tm (cm) gi v vn chuyn i tng vi khi lng quy nh. i vi cc robot c nhiu tay my th c tnh cng ngh ny (trng ti ca robot) c xc nh theo cnh tay c trng ti ln nht. Phn loi robot theo trng ti:robot siu nh vi trng ti 1kgrobot nh vi trng ti 10kgrobot trung bnh vi trng ti 100kgrobot nng vi trng ti 100kg

Khi chn robot theo ti trng cn nh rng trong nhiu trng hp thng s ny ph thuc vo khong cch v tc di chuyn ca tay my. Khong cch v tc di chuyn ca tay my tng ln th ti trng gim xung.

Robot p nha phun ABB IRB 6650 vi ti trng 90 kg

S lng tay my ca robotS lng tay my c nh hng nht nh n nng sut ca robot.Robot mt tay my: c dng rng ri vn chuyn v g t chi tit c khi lng ln cc nguyn cng c thi gian my (thi gian c bn) nhu im: kt cu v h thng iu khin n gin.Nhc im: kh nng cng ngh b hn ch (thi gian my (thi gian c bn) nh, cp, g v tho phi l nhng nguyn cng ti hn (nguyn cng ngn)) dng b sung ca cc my cng ngh, c ngha l s dng my khng ht cng sut.

Robot 6 trc hn STEP SA1400

Robot hai tay my: dng tm (cm) vn chuyn, cp v tho phi (chi tit) cc khi lng t 0,1 n 5kg (i khi ti 10kg). u im:chu k lm vic ngnkh nng tp trung cng ngh tt.truyn ng v iu khin chung c kt cu n gin.truyn ng v iu khin ring bit cho php phc v cc thit b cng ngh mt cch linh hot hn.Nhc im:Truyn ng v iu khin chung: hn ch kh nng cng ngh ca robot.Truyn ng v iu khin ring bit: s ng v c cu iu khin phc tp nh hng n vic lp trnh ca robot.

Robot Baxter

H ta ca robotKh nng cng ngh ca cc robot cng nghip ph thuc rt nhiu vo h ta khng gian m trong cc cnh tay ca robot di chuyn.Cc h ta thng dng:H ta hnh ch nht: h ta n gin nht, cho php di chuyn tay my trong khng gian hnh hp. H ta hnh tr: cho php di chuyn tay my trong khng gian c hnh tr.H ta cu: cho php di chuyn tay my trong khng gian hnh cu v l h ta vn nng nht.Ngoi ba dng h ta trn y ngi ta cn s dng robot vi h ta t hp, v d nh h ta gc.

H ta hnh ch nht

H ta hnh trH ta cu

H ta gc

Kiu cu to robotRobot c kiu cu to chun c s dng trong iu kin vn hnh bnh thng.Robot c kiu cu to chng bi theo tiu chun vn hnh.Robot vi kiu cu to chng nhit c s dng trong cc phn xng rn, dp, c v nhit luyn.Robot vi kiu cu to chng chy-n.Tc di chuyn ca robot trong cc trng hp ny khng c vt qu 0.5m/s.i vi cc robot c kiu cu to t hp, v d nh kiu cu to chng bi v chng n th yu cu k thut khi ch to v s dng phi thng nht vi nhau.

Robot kiu cu to chng bi YK400XPG

Robot kiu cu to chng chy n KUKA

chnh xc nh v ca robotL chnh xc vn ra ca cnh tay robot ti v tr v chnh xc lp li qu o nh. chnh xc nh v phi rt caoPhi t yu cu k thut khi lp rp hoc gia cng sn phm.Phn loi robot theo chnh xc nh v:Robot c chnh xc nh v thp ( chnh xc nh v >1mm), dng trong cc nguyn cng sn hn.Robot c chnh xc nh v trung bnh ( chnh xc nh v trong khong 0.1-1mm), p ng c mi yu cu phc v nhiu loi thit b cng ngh khc nhau.Robot c chnh xc nh v cao (vi sai s