Uma kuziwa endleleni ama-grippers kagesi alawulwa ngayo, kunezindlela eziningi ezahlukene zokufinyelela ukusebenza okunembayo nokulawula.Lesi sihloko sizokwethula izindlela ezimbalwa ezijwayelekile zokulawula isibambi sikagesi, okuhlanganisa ukulawula okwenziwa ngesandla, ukulawula ukuhlela nokulawula impendulo yenzwa.
1. Ukulawula ngesandla
Ukulawula ngesandla kungenye yezindlela zokulawula eziyisisekelo.Ngokuvamile ilawula isenzo sokuvula nokuvala se-gripper ngesibambo, inkinobho noma iswishi.Ukulawula okwenziwa ngesandla kulungele ukusebenza okulula, njengakulabhorethri noma kwezinye izinhlelo zokusebenza ezincane.Umsebenzisi angakwazi ukulawula ukunyakaza kwe-gripper ngokuqondile ngokuthintana ngokomzimba, kodwa ayinakho ukuzenzekelayo nokunemba.
2. Ukulawula ukuhlela
Ukulawula okuhleliwe kuyindlela ethuthuke kakhulu yokulawulainto yokubamba kagesis.Kubandakanya ukubhala nokwenza izinhlelo ezithile zokuqondisa isenzo se-gripper.Le ndlela yokulawula ingasetshenziswa ngezilimi zokuhlela (ezifana ne-C++, Python, njll.) noma isofthiwe yokulawula irobhothi.Ukulawula okuhleliwe kuvumela i-gripper ukuthi yenze ukulandelana okuyinkimbinkimbi nokusebenza okunengqondo, inikeze ukuguquguquka okukhulu namandla okuzenzela.
Izilawuli ezihleliwe zingaphinda zihlanganise idatha yenzwa nezindlela zempendulo ukuze kunikwe amandla ukusebenza okuthuthuke kakhulu.Isibonelo, uhlelo lungabhalwa ukuze lulungise ngokuzenzakalelayo amandla okuvula nawokuvala noma indawo yokubamba ngokusekelwe kumasiginali wokufaka wangaphandle (njengamandla, ukucindezela, umbono, njll.).Le ndlela yokulawula ifanele izinhlelo zokusebenza ezidinga ukulawula okunembile nokusebenza okuyinkimbinkimbi, njengemigqa yokuhlanganisa, ukukhiqizwa okuzenzakalelayo, njll.
3. Ukulawula impendulo yenzwa
Ukulawulwa kwempendulo yenzwa kuyindlela esebenzisa izinzwa ukuze kutholwe isimo se-gripper nolwazi lwezemvelo futhi yenze ukulawula okusekelwe kulolu lwazi.Izinzwa ezijwayelekile zifaka izinzwa zamandla, izinzwa zokucindezela, izinzwa zokuma, nezinzwa zokubona.
Ngenzwa yamandla, umhlathi obambayo ungezwa amandla ewenzayo entweni, ukuze amandla okubamba akwazi ukulawulwa.Izinzwa zokucindezela zingasetshenziswa ukuthola ingcindezi yokuxhumana phakathi kwe-gripper nento ukuze kuqinisekiswe ukubamba okuphephile nokuzinzile.Inzwa yendawo inganikeza ulwazi lokuma nesimo sengqondo se-gripper ukuze ulawule ngokunembile ukunyakaza kwe-gripper.
Izinzwa zokubona zingasetshenziselwa ukukhomba nokuthola izinto eziqondiwe, zinike amandla imisebenzi yokubopha okuzenzakalelayo.Isibonelo, ngemva kokusebenzisa izinzwa zokubona ukuze kutholwe impokophelo nokuhlonza, i-gripper ingakwazi ukulawula isenzo sokubopha ngokusekelwe endaweni kanye nosayizi wento eqondiwe.
Ukulawulwa kwempendulo yenzwa kunganikeza idatha yesikhathi sangempela kanye nolwazi lwempendulo ukuze
Lokhu kuvumela ukulawula okunembe kakhudlwana kokunyakaza kwe-gripper.Ngempendulo yezinzwa, i-gripper ingakwazi ukuzwa futhi iphendule izinguquko zemvelo ngesikhathi sangempela, ngaleyo ndlela ilungise amapharamitha afana namandla okubamba, indawo, kanye nesivinini ukuze kuqinisekiswe ukusebenza kwe-clamping okunembayo nokuphephile.
Ukwengeza, kunezindlela ezithile zokulawula ezithuthukisiwe ongakhetha kuzo, njengokulawula amandla/ithoshi, ukulawulwa kwe-impedance nokulawula impendulo ebonakalayo.Ukulawula amandla/ithoshi kunika amandla ukulawula okunembile kwamandla noma ithoshi esetshenziswa isibambi ukuze ivumelane nezici nezidingo zezingxenye zokusebenza ezihlukene.Ukulawulwa kwe-impedance kuvumela i-gripper ukuthi ilungise ukuqina kwayo kanye nokusabela kwayo ngokusekelwe ezinguqulweni zamandla angaphandle, ukuyivumela ukuthi isebenze no-opharetha ongumuntu noma ivumelane nezimo ezihlukahlukene zokusebenza.
Ukulawulwa kwempendulo ebonakalayo kusebenzisa ubuchwepheshe bokubona kwekhompuyutha kanye ne-algorithms ukuhlonza, ukuthola nokulandelela izinto eziqondiwe ngokucubungula isithombe sesikhathi sangempela nokuhlaziya ukuze kuzuzwe imisebenzi yokubopha enembile.Ukulawulwa kwempendulo ebonakalayo kunganikeza izinga eliphezulu lokuzivumelanisa nezimo kanye nokuguquguquka kokuhlonza ucezu lomsebenzi oluyinkimbinkimbi nemisebenzi yokuhlanganisa.
Izindlela zokulawula zama-grippers kagesi zihlanganisa ukulawula okwenziwa ngesandla, ukulawula uhlelo nokulawula impendulo yenzwa.Lezi zilawuli zingasetshenziswa ngazodwana noma zihlanganiswe ukuze kuzuzwe ukusebenza okuqondile, okuzenzakalelayo nokuvumelana nezimo.Ukukhethwa kwendlela yokulawula efanele kufanele kuhlolwe futhi kunqunywe ngokusekelwe ezicini ezifana nezidingo ezithile zohlelo lokusebenza, izidingo zokunemba, nezinga lokuzenzakalela.
Kunezinye izici ezimbalwa okufanele zicatshangelwe uma kuziwa endleleni ama-grippers kagesi alawulwa ngayo.Nazi ezinye izilawuli nezinto ezihlobene nazo okuxoxwe ngazo ngokuqhubekayo:
4. Ukulawula impendulo kanye nokulawula iluphu evaliwe
Ukulawula impendulo kuyindlela yokulawula esuselwe kulwazi lwempendulo yesistimu.Kuma-grippers kagesi, ukulawulwa kwe-loop evaliwe kungafinyelelwa ngokusebenzisa izinzwa ukuze kutholwe isimo, indawo, amandla kanye neminye imingcele ye-gripper.Ukulawula iluphu evaliwe kusho ukuthi isistimu ingalungisa iziqondiso zokulawula ngesikhathi sangempela ngokusekelwe kulwazi lwempendulo ukuze kuzuzwe isimo esifiswayo noma ukusebenza kwe-gripper.Le ndlela yokulawula ingathuthukisa ukuqina, ukunemba nokuzinza kwesistimu.
5. Ukulawula ukuguquguquka kobubanzi be-Pulse (PWM).
Ukuguquguquka kobubanzi be-Pulse kuyindlela yokulawula evamile esetshenziswa kakhulu kuma-grippers kagesi.Ilungisa indawo yokuvula nokuvala noma isivinini se-gripper kagesi ngokulawula ububanzi be-pulse yesiginali yokufaka.Ukulawulwa kwe-PWM kunganikeza ukulungiswa kokulawula okunembile futhi kuvumele impendulo yesenzo sokubamba ukuthi ilungiswe ngaphansi kwezimo ezihlukene zomthwalo.
6. Isixhumi esibonakalayo sokuxhumana kanye nephrothokholi:
Izibambi zikagesi zivame ukudinga ukuxhumana nokuhlanganiswa nezinhlelo zokulawula amarobhothi noma amanye amadivaysi.Ngakho-ke, indlela yokulawula ihlanganisa nokukhethwa kwezindawo zokuxhumana kanye nezivumelwano.Izixhumanisi ezivamile zokuxhumana zifaka i-Ethernet, i-serial port, ibhasi le-CAN, njll., futhi iphrothokholi yokuxhumana ingaba i-Modbus, i-EtherCAT, i-Profinet, njll. Ukukhethwa okufanele kwezindawo zokuxhumana kanye nezivumelwano kuyisihluthulelo sokuqinisekisa ukuthi i-gripper ihlanganisa futhi isebenza ngaphandle komthungo nezinye izinhlelo.
7. Ukulawula ukuphepha
Ukuphepha kuwukucatshangelwa okubalulekile ngesikhathi sokulawulainto yokubamba kagesis.Ukuqinisekisa ukuphepha kwama-opharetha nezinto zokusebenza, amasistimu okulawula ama-gripper ngokuvamile adinga izici zokuphepha ezifana nezitobhi eziphuthumayo, ukutholwa kokushayisana, imikhawulo yamandla, nemikhawulo yesivinini.Le misebenzi yokuphepha ingasetshenziswa ngedizayini yezingxenyekazi zekhompuyutha, ukulawula uhlelo kanye nempendulo yezinzwa.
Lapho ukhetha indlela efanelekile yokulawula isibambo sikagesi, izici ezifana nezidingo zohlelo lokusebenza, izidingo zokunemba, izinga lokuzenzakalela, izidingo zokuxhumana nokuphepha kudingeka kucatshangelwe kabanzi.Kuye ngesimo sesicelo esithile, kungase kudingeke wenze ngendlela oyifisayo ukuthuthukiswa kwesistimu yokulawula noma ukhethe isisombululo esikhona sokuhweba.Ukuxhumana nokuxoxisana nabahlinzeki kanye nezingcweti kuzosiza ukuqonda kangcono izinzuzo nezinkinga zezindlela ezihlukene zokulawula bese ukhetha indlela yokulawula efaneleke kakhulu ukuhlangabezana nezidingo ezithile.
8. Programmable Logic Controller (PLC)
Isilawuli esinengqondo esihlelekayo siyidivayisi yokulawula evame ukusetshenziswa kakhulu ezinhlelweni ezishintshayo zezimboni.Ingahlanganiswa nama-grippers kagesi ukulawula nokuxhumanisa ama-grippers ngohlelo.Ama-PLC ngokuvamile anezindawo zokuhlangana ezinothile zokufaka/zokukhiphayo ezingasetshenziswa ukuxhuma nezinzwa nama-actuator ukuze kusetshenziswe ingqondo eyinkimbinkimbi yokulawula.
9. Lawula i-algorithm ne-logic
Ama-algorithms okulawula kanye nengqondo kuyingxenye ebalulekile yokunquma ukuziphatha kwe-gripper.Ngokuya ngezidingo zohlelo lokusebenza nezici ze-gripper, ama-algorithms okulawula ahlukene angathuthukiswa futhi asetshenziswe, njengokulawula kwe-PID, isilawuli se-logic esingaqondakali, ukulawula okuguquguqukayo, njll. Lawa ma-algorithms alungiselela isenzo semihlathi yokubamba ukuze inembe kakhudlwana, ngokushesha futhi. imisebenzi eqinile yokubopha.
10. Isilawuli esingahleleleka (CNC)
Kwezinye izinhlelo zokusebenza ezidinga ukunemba okuphezulu nokusebenza okuyinkimbinkimbi, izilawuli ezihlelekayo (CNC) nazo ziyinketho.Uhlelo lwe-CNC lungashayela iinto yokubamba kagesingokubhala nokwenza izinhlelo ezithile zokulawula kanye nokuzuza ukulawulwa kwesikhundla okunembayo kanye nokuhlelwa komgudu.
11. Isixhumi esibonakalayo sokulawula
I-interface yokulawula ye-gripper kagesi iyisixhumi esibonakalayo lapho u-opharetha ahlanganyela khona nesibambi.Kungaba isikrini esithintwayo, iphaneli yenkinobho, noma isixhumi esibonakalayo esisekelwe kukhompyutha.Isixhumi esibonakalayo sokulawula esinembile nesisebenziseka kalula sinyusa ukusebenza kahle nokufaneleka komsebenzisi.
12. Ukutholwa kwamaphutha kanye nokutholwa kwamaphutha
Enqubweni yokulawula ye-gripper, ukutholwa kwamaphutha nemisebenzi yokutholwa kwamaphutha kubalulekile ukuze kuqinisekiswe ukuzinza nokuthembeka kwesistimu.Isistimu yokulawula i-gripper kufanele ibe namandla okubona amaphutha, ikwazi ukubona futhi iphendule ezimweni zamaphutha okungenzeka ngesikhathi esifanele, futhi ithathe izinyathelo ezifanele zokululama noma i-alamu.
Ukufingqa, indlela yokulawula yesibambi sikagesi ibandakanya izici eziningi, okuhlanganisa isilawuli esihlelekayo (i-PLC/CNC), i-algorithm yokulawula, isixhumi esibonakalayo sokulawula nokutholwa kwamaphutha, njll. Ukukhetha indlela yokulawula efanelekile kufanele kucabangele izici ezifana nezidingo zohlelo lokusebenza, izimfuneko zokunemba. , izinga lokuzenzakalelayo, nokuthembeka.Ukwengeza, ukuxhumana nokuxoxisana nabahlinzeki kanye nezingcweti kubalulekile ekuqinisekiseni ukuthi kukhethwa indlela yokulawula engcono kakhulu.
Lapho ukhetha indlela yokulawula i-gripper kagesi, kunezici ezimbalwa okufanele uzicabangele:
13. Ukusetshenziswa kwamandla nokusebenza kahle
Izindlela ezihlukene zokulawula zingase zibe namazinga ahlukene okusetshenziswa kwamandla nokusebenza kahle.Ukukhetha izindlela zokulawula amandla aphansi nezisebenza kahle kakhulu kunganciphisa ukusetshenziswa kwamandla futhi kuthuthukise ukusebenza kwesistimu.
14. Ukunwebeka nokuvumelana nezimo
Ngokucabangela izinguquko ezingaba khona ezidingweni esikhathini esizayo, kuwukuhlakanipha ukukhetha indlela yokulawula enokulinganisa okuhle nokuvumelana nezimo.Lokhu kusho ukuthi uhlelo lokulawula lungashintshwa kalula ukuze luvumelane nemisebenzi emisha nezinhlelo zokusebenza futhi luhlanganiswe nezinye izinto zokusebenza.
15. Izindleko Nokutholakala
Izindlela ezihlukene zokulawula zingase zibe nezindleko ezihlukene nokutholakala.Lapho ukhetha indlela yokulawula, udinga ukucabangela isabelomali sakho kanye nezinketho ezitholakalayo emakethe ukuze uqinisekise ukuthi ukhetha isisombululo esithengekayo nesifinyelelekayo.
16. Ukwethembeka kanye nokugcinwa
Indlela yokulawula kufanele ibe nokwethembeka okuhle nokugcinwa kalula.Ukuthembeka kusho ikhono lesistimu ukusebenza ngokuzinzile futhi kungabi lula ukwehluleka.Ukugcinwa kusho ukuthi uhlelo kulula ukululungisa nokugcina ukuze kuncishiswe isikhathi sokuphumula kanye nezindleko zokulungisa.
17. Ukuhambisana Namazinga
Ezinye izinhlelo zokusebenza zingase zidinge ukuthotshelwa kwamazinga athile okuthobela kanye nezidingo zemboni.Lapho ukhetha indlela yokulawula, qiniseka ukuthi inketho ekhethiwe ithobelana namazinga asebenzayo nezidingo zokulawula ukuze uhlangabezane nezidingo zokuphepha nokuhambisana.
18. Isixhumi esibonakalayo somsebenzisi nokuqeqeshwa komsebenzisi
Indlela yokulawula kufanele ibe nesixhumi esibonakalayo somsebenzisi esinembile nesisebenziseka kalula ukuze u-opharetha aqonde kalula futhi asebenzise uhlelo.Ukwengeza, kubalulekile ukuqeqesha opharetha ukuthi basebenzeinto yokubamba kagesilawula uhlelo ngendlela efanele futhi ngokuphepha.
Ngokucabangela izici ezingenhla, ungakhetha indlela yokulawula isibambi sikagesi esifanela kangcono izidingo zakho zohlelo lokusebenza.Kubalulekile ukuhlola izinzuzo nezingozi zendlela ngayinye yokulawula futhi wenze izinqumo ezinolwazi ngokusekelwe ezidingweni zangempela zokuqinisekisa ukuthi isibambi sikagesi singahlangabezana nokusebenza okulindelekile kanye nezidingo zokusebenza.
Lapho ukhetha indlela yokulawula i-gripper yakho kagesi, kunezinye izici okufanele uzicabangele:
19. Izidingo zokuhleleka nokwenza ngokwezifiso
Izinhlelo zokusebenza ezihlukene zingase zibe nezidingo ezithile zokuthi i-gripper ilawulwa kanjani, ngakho ukuhleleka nokwenza ngendlela oyifisayo kuwukucatshangelwa okubalulekile.Izindlela ezithile zokulawula zinikeza ukuguquguquka okukhulu nezinketho zokwenza ngokwezifiso, okuvumela ukuhlela ngokwezifiso nokucushwa okusekelwe ezidingweni zohlelo lokusebenza.
20. Ukubona ngeso lengqondo kanye nokuqapha imisebenzi
Ezinye izindlela zokulawula zinikeza amandla okubona ngeso lengqondo nokuqapha, okuvumela opharetha ukuthi baqaphe isimo, indawo kanye nemingcele ye-gripper ngesikhathi sangempela.Lawa makhono athuthukisa ukubonakala nokulandeleka kwemisebenzi, asize ukuhlonza izinkinga ezingaba khona nokwenza izinguquko
22. Isilawuli kude nokuqapha okukude kungenzeka
Kwezinye izimo, isilawuli kude nokuqapha okukude kuyizici ezidingekayo.Khetha indlela yokulawula ene-remote control namandla okuqapha ukuze unike amandla ukusebenza kwerimothi nokuqapha isimo nokusebenza kwe-gripper.
23. Ukusimama kanye nomthelela kwezemvelo
Kwezinye izinhlelo zokusebenza lapho ukusimama kanye nomthelela wemvelo kubalulekile, ukukhetha indlela yokulawula esebenzisa amandla aphansi, umsindo ophansi kanye nokukhishwa okuncane kungase kucatshangelwe.
Ukufingqa, kunezici eziningi okufanele zicatshangelwe lapho ukhetha indlela yokulawula efaneleinto yokubamba kagesis, okuhlanganisa ukuhleleka, izidingo zokwenza ngokwezifiso, amandla okubona ngeso lengqondo nokuqapha, ukuhlanganiswa nokuhambisana, isilawuli kude nokuqapha, ukusimama kanye nomthelela emvelweni.Ngokuhlola lezi zici futhi uzihlanganise nezidingo zohlelo lokusebenza oluthile, indlela yokulawula efaneleke kakhulu ingakhethwa ukuze kuzuzwe ukusebenza kwe-gripper okuphumelelayo, okuthembekile nokuphephile.
Isikhathi sokuthumela: Nov-06-2023