3

Mc lc
Mc lc ............................................... 3
Li ni u ............................................ 6
Chng 1: Nhng vn c bn ca t ng ho .................. 9
1.1. Nhng khi nim v nh ngha c bn ....................................................... 9
1.2. iu kin kinh t-k thut ca CKH v TH ........................................... 12
1.3. Cc giai on pht trin ca TH ............................................................. 15
1.4. Cc nhim v t ng ha qu trnh sn xut ........................................... 22
1.4.1. Nng sut ca cc h thng TH ...................................................... 22
1.4.2. Cc nhim v c bn ca TH .......................................................... 26
1.5. Cc nguyn tc ng dng TH qu trnh sn xut ................................... 28
1.5.1. Nguyn tc c mc ch v kt qu c th ........................................ 29
1.5.2. Nguyn tc ton din ......................................................................... 29
1.5.3. Nguyn tc c nhu cu ....................................................................... 30
1.5.4. Nguyn tc hp iu kin .................................................................. 30
1.6. Cng ngh l c s ca t ng ho .......................................................... 30
1.6.1. c im ca qu trnh cng ngh trong sn xut t ng ho ......... 30
1.6.2. Phng hng pht trin c bn ca cng ngh hin i .................. 39
1.6.3. Mi quan h gia cng ngh v t ng ho ..................................... 42
1.6.4. Cc nguyn tc thit k qu trnh cng ngh t ng ho ................. 45
Chng 2: Cc thit b c bn ca h thng t ng .................. 49
2.1. Cm bin.................................................................................................... 50
2.1.1. Khi nim v phn loi cm bin ....................................................... 50
2.1.2. Cc c tr ng c bn ......................................................................... 53
2.1.3. Cng tc, nt bm .............................................................................. 57
2.1.4. Cm bin quang dn ........................................................................... 59
2.1.5. Cm bin hng ngoi ......................................................................... 64
2.1.6. Si quang ............................................................................................ 64
2.1.7. Cm bin laze ..................................................................................... 65
2.2. Cm phn tch ........................................................................................... 66
2.2.1. My tnh ............................................................................................. 66
2.2.2. B m ............................................................................................... 67
2.2.3. B thi gian ........................................................................................ 67
2.2.4. Thit b c m vch .......................................................................... 68
2.2.5. B m ho quang hc (Optical encoders) .......................................... 69
2.3. Thit b chp hnh ..................................................................................... 71
2.3.1. Xi lanh thu lc, kh nn .................................................................... 71
2.3.2. Cun ht (solenoids) .......................................................................... 73
2.3.3. R-le................................................................................................... 73
2.4. Thit b dn ng ....................................................................................... 73
2.4.1. ng c .............................................................................................. 73
2.4.2. ng c bc ..................................................................................... 75
2.4.3. ng c servo mt chiu ................................................................... 79
Chng 3: T ng ho cp phi ri .......................... 81

4
3.1. Chc nng v phn loi ............................................................................. 81
3.2. Thit b cp phi dng ............................................................................ 81
3.2.1. Phn loi ............................................................................................. 81
3.2.2. Mt s c cu chnh ca thit b cp phi dng .............................. 84
3.2.3. Mng dn ........................................................................................... 88
3.3. Thit b cp phi dng phu ...................................................................... 94
3.3.1. Nguyn l v kt cu chung ca thit b cp phi dng phu ............ 94
3.3.2. Phu .................................................................................................... 97
3.3.3. C cu nh hng ............................................................................. 99
3.4. Thit b cp phi rung ng .................................................................... 103
3.5. ng dng rbt cng nhip .................................................................... 109
3.5.1. S lc qu trnh pht trin ca robot cng nghip ......................... 109
3.5.2. Cu trc c bn ca robot cng nghip ............................................ 110
3.5.3. Kt cu ca tay my ......................................................................... 111
3.5.4. H ta .......................................................................................... 113
3.5.5. Trng cng tc ca robot ............................................................... 114
3.5.6. Phn loi robot cng nghip ............................................................ 115
3.5.7. ng dng ca robot cng nghip trong sn xut .............................. 116
Chng 4: T ng ho kim tra v phn loi .................. 121
4.1. at-tric .................................................................................................... 122
4.1.1. at-tric tip xc in ....................................................................... 123
4.1.2. at-tric cm ng .............................................................................. 125
4.1.3. at-tric rung tip xc ....................................................................... 125
4.1.4. at-tric in dung ............................................................................ 126
4.1.5. at-tric quang in .......................................................................... 126
4.1.6. Yu cu i vi s dng v bo qun at-tric .................................. 127
4.2. Phn loi thit b kim tra ....................................................................... 127
4.3. Cc thit b kim tra t ng ................................................................... 130
4.3.1. Kim tra t ng bng phng php trc tip.................................. 130
4.3.2. Kim tra t ng bng phng php khng tip xc trc tip ................... 132
4.3.3. Kim tra t ng ng knh l ....................................................... 133
4.3.4. Kim tra t ng sai s hnh dng v sai s v tr tng quan ............... 134
4.3.5. Kim tra t ng nhiu thng s ...................................................... 135
4.3.6. Kim tra tch cc khi mi trn ngoi ............................................... 137
4.3.7. Kim tra tch cc khi mi trn trong ................................................ 142
4.3.8. Kim tra tch cc khi mi phng ...................................................... 149
4.3.9. Thit b kim tra tch cc khi mi khn ........................................... 152
4.4. Thit b kim tra phn loi t ng ......................................................... 154
Chng 5: T ng ho lp rp ............................ 157
5.1. Cc vn chung .................................................................................... 157
5.1.1. Khi nim chung .............................................................................. 157
5.1.2. Cc nhim v c bn ca TH qu trnh lp rp ............................. 158
5.1.3. Hon thin chun b cng ngh ca qu trnh lp rp t ng ........ 161
5.1.4. Mt s phng hng pht trin ca TH lp rp .......................... 161

5
5.2. Tnh cng ngh ca kt cu trong lp rp t ng .................................. 162
5.2.1. Cc yu cu chung v tnh cng ngh lp rp t ng ..................... 162
5.2.2. Cc ch tiu nh gi tnh cng ngh lp rp ................................... 165
5.3. nh v v lin kt chi tit khi lp rp t ng ........................................ 166
5.3.1. nh v cng khi lp rp t ng ..................................................... 166
5.3.2. T nh v hay nh v t tm kim ................................................... 171
5.3.4. iu khin v xc nh ch lp rp t ng ................................ 181
Ti liu tham kho ..................................... 182


6
Li ni u
Cc thnh tu t c na u th k 20 trong lnh vc t ng ho (TH)
cho php ch to cc loi my t ng nhiu trc chnh, my t hp v cc ng
dy t ng lin kt cng v mm dng trong sn xut hng lot ln v hng khi. Cng
trong khong thi gian ny, s pht trin mnh m ca iu khin hc, mt mn khoa
hc v cc quy lut chung ca cc qu trnh iu khin v truyn tin trong cc h thng
c t chc gp phn y mnh s pht trin v ng dng ca TH cc qu trnh sn
xut vo cng nghip.
Trong nhng nm ca na sau th k 20, cc nc c nn cng nghip pht
trin tin hnh rng ri t ng ha trong sn xut lot nh. iu ny phn nh xu th
chung ca nn kinh t th gii chuyn t sn xut lot ln v hng khi sang sn xut
lot nh v hng khi-thay i hay nn sn xut linh hot. Nh cc thnh tu to ln ca
cng ngh thng tin v cc lnh vc khoa hc khc, ngnh cng ngh ch to my ca
th gii c nhng thay i su sc. S xut hin ca mt lot cc cng ngh mi
nhn nh k thut linh hot (flexible engineering), h thng iu hnh sn xut qua mn
hnh (Visual Manufacturing Systems), k thut to mu nhanh (Rapid Prototyping) v
cng ngh nan cho php thc hin TH ton phn khng ch trong sn xut hng
khi m c trong sn xut lot nh v n chic. Chnh s thay i nhanh ca sn xut
lin kt cht ch cng ngh thng tin vi cng ngh ch to my, lm xut hin mt
lot cc thit b v h thng TH hon ton mi nh cc loi my iu khin s, cc
trung tm gia cng, cc h thng iu khin theo chng trnh logic PLC
(Programmable Logic Control), cc h thng sn xut linh hot FMS (Flexible
Manufacturing Systems), cc h thng sn xut tch hp CIM (Computer Intergrated
Manufacturing) cho php chuyn i nhanh sn phm gia cng vi thi gian chun b
sn xut t nht, rt ngn chu k sn xut sn phm, p ng tt tnh thay i nhanh ca
nn sn xut hin i.
Nhng thnh cng ban u ca qu trnh lin kt mt s cng ngh hin i
trong khng 10, 15 nm va qua khng nh xu th pht trin ca nn sn xut tr
tu trong th k 21 trn c s ca cc thit b thng minh. c th tip cn v ng
dng dng sn xut tin tin ny, ngay t hm nay, chng ta phi bt u nghin
cu, hc hi v chun b c s vt cht cng nh i ng cn b k thut cho n. Vic
b sung, ci tin ni dung v chng trnh o to trong cc trng i hc v trung
tm nghin cu theo hng pht trin nn sn xut tr tu l cn thit.
TH qu trnh sn xut l mt b phn, mt hng pht trin ca khoa hc
TH. S pht trin ca n gn lin vi s pht trin ca nhiu ngnh khoa hc khc
nhau. Do nghin cu y v ton din mn hc TH qu trnh sn xut,
hc vin cn phi c trang b kin thc lin ngnh t cc mn hc khc nh L

7
thuyt iu khin t ng, Nguyn l my, Cng ngh ch to my, My cng
c TH, Phn t t ng, Truyn ng in...
Tc gi cm n cc ng ch L Xun Hng c nhiu ng gp trong vic
xy dng cc hnh v minh ho, cc ng ch gio vin b mn Ch to my, khoa C
kh c nhng kin qu bu v b cc v ni dung ca ti liu.
Trong qu trnh bin son, chng ti ht sc c gng bm st chng trnh
ging dy, a vo ti liu nhng ni dung mi, cp nht t cuc sng sn xut v o
to, song vn cn thiu st. Mi kin ng gp u c hoan ngnh v xin gi cho
tc gi theo a ch: B mn Ch to my, Khoa C kh, Hc vin KTQS, 100 Hong
Quc Vit, Cu Giy, H ni. in thoi: 069515368.

Cc tc gi

8

9
Chng 1
Nhng vn c bn ca t ng ho
1.1. Nhng khi nim v nh ngha c bn
C kh ho (CKH) l s dng nng lng phi sinh vt thc hin ton
b hoc mt phn ca qu trnh sn xut tr vic iu khin. Nhim v iu khin
y do con ngi thc hin. Nh vy CKH chnh l qu trnh thay th lao ng
c bp ca con ngi khi thc hin cc qu trnh sn xut.
T ng ho (TH) qu trnh sn xut l giai pht on trin tip theo
ca nn sn xut CKH, ngha l TH s dng nng lng phi sinh vt thc
hin v iu khin ton b hoc mt thnh phn ca qu trnh sn xut. Tm li
t ng ha l s ng dng cc h thng c kh, in, in t, my tnh,... thc
hin v iu khin qu trnh m khng cn s can thip trc tip ca con ngi.
Nhim v ca con ngi l kim tra hot ng ca my mc, khc phc
cc hng hc sai lch, lp trnh v iu chnh my gia cng cc sn phm khc
nhau. Ngi cng nhn khng phi tham gia vo qu trnh gia cng chi tit hoc
lp rp, do c thi gian phc v nhiu my. Xut hin loi cng nhn trnh
cao: th iu chnh.
TH qu trnh sn xut cn phi c v ng dng cc c cu hoc thit
b t ng ph hp. iu khng c ngha l TH qu trnh sn xut ch l mt
qu trnh ng dng cc thnh phn, c cu hoc s t ng ring bit vo cc
qu trnh cng ngh c sn hoc cc my mc c hoc s c thit k. TH
qu trnh sn xut lun gn lin vi qu trnh hon thin v i mi cng ngh.
l mt bi ton thit k-cng ngh tng hp, c nhim v to ra k thut hon
ton mi da trn c s cc qu trnh cng ngh gia cng c, kim tra, lp rp
tin tin (k c phng php cng ngh v thit b gia cng mi). Trong cc qu
trnh sn xut TH, cc thit b v c cu t ng i khi c nh hng ngc tr
li bn thn cc qu trnh cng ngh v tng nguyn cng ring bit, lm thay i
ni dung v mt s chc nng iu khin ban u ca n. Tm li TH qu trnh
sn xut cng c th c hiu nh l tng hp cc bin php c s dng khi
thit k cc qu trnh sn xut v cng ngh mi, tin tin. Trn c s cc qu
trnh sn xut v cng ngh tin hnh thit lp cc h thng thit b c nng
sut cao, t ng thc hin cc thnh phn ca qu trnh sn xut m khng cn
ti s tham gia ca con ngi.
Trong h thng chun b cng ngh thng nht, cc h thng TH c
nh gi theo 3 ch tiu sau: hnh thc, cp v mc TH.

10
Hnh thc TH c phn bit theo TH mt (ring) phn v TH ton
phn; TH n v phc; TH s cp v th cp.
CKH hoc TH mt phn l TH qu trnh cng ngh hoc h thng,
trong mt phn chi ph nng lng ca con ngi c thay th bng nng
lng phi sinh vt tr vic iu khin khi c gii ho v bao gm c vic iu khin khi
TH.
CKH hoc TH ton phn l c kh ho hoc TH cc qu trnh cng
ngh trong tt c cc chi ph nng lng ca con ngi c thay th bng
nng lng phi sinh vt tr vic iu khin khi CKH v bao gm cc vic iu khin
khi TH.
CKH hoc TH n lin quan n mt phn hoc ton b mt thnh
phn ca qu trnh cng ngh hoc h thng cc qu trnh cng ngh. V d
trong nguyn cng tin, vic cp phi vo v ly phi ra c TH th y l
TH n. Trong 5 nguyn cng gia cng chi tit th c mt nguyn cng TH.
CKH hoc TH phc l CKH hoc TH mt phn hoc ton phn t
hai thnh phn tr ln ca qu trnh cng ngh. Tr vic iu khin khi CKH v
bao gm c vic iu khin khi TH.
Trong trng hp tt c cc thnh phn ca QTCN khng loi tr thnh
phn no c CKH hoc TH th gi CKH hoc TH phc ton phn. Th d c
5 nguyn cng gia cng chi tit iu c TH. Nu nh khng phi vy th ta
c TH phc mt phn.
CKH hoc TH thng c tin hnh theo mt s bc. V vy, ngi
ta phn bit CKH hoc TH s v th cp.
CKH hoc TH s cp l CKH hoc TH cc QTCN ang s dng
nng lng ca con ngi.
CKH hoc TH th cp l CKH hoc TH cc QTCN hoc h thng
cc QTCN s dng nng lng ca ngi hoc my mc (phi sinh vt) khi
CKH v ang s dng nng lng phi sinh vt khi TH. Th d thay thit b kim
tra t ng trn my bng h thng kim tra t ng hon ho hn, chnh xc
hn, tin cy hn, thi gian s dng nhiu hn.
Tin b khoa hc k thut khng ch da trn CKH v TH s cp m
cn da trn c s TH th cp, ni m nhng tng ca cc nh khoa hc
c vt cht ho tng hp c kinh nghim lm vic ca cc h thng c
CKH v TH.
Cp ng dng ca CKH v TH c k hiu t 1 n 10:
- Cp 1 - CKH hoc TH mt nguyn cng n gin.

11
- Cp 2 - CKH hoc TH mt QTCN hon chnh.
- Cp 3 - CKH hoc TH h thng cc QTCN c thc hin ti mt
phn xng sn xut.
- Cp 4 - CKH hoc TH c thc hin trong phm vi mt xng sn
xut (hay h thng mt s cng on sn xut).
- Cp 5 - CKH hoc TH c thc hin trong phm vi mt nhm
xng ng nht v cng ngh.
- Cp 6 - CKH hoc TH h thng cc QTCN c thc hin trong
phm vi mt x nghip
- Cp 7 - CKH hoc TH h thng cc QTCN trong phm vi mt cng
ty sn xut hoc lin hip nghin cu khoa hc (trong cc h thng cc
x nghip ring bit).
- Cp 8 - CKH hoc TH cc h thng QTCN trong phm vi mt vng
kinh t a l.
- Cp 9 - CKH hoc TH c thc hin trong phm vi mt ngnh cng
nghip.
- Cp 10 - CKH hoc TH c thc hin trong phm vi ton b nn
cng nghip quc gia.
Mc CKH v TH c trng cho mc nh hng ca CKH v TH
n tnh trng ca QTCN.
C 7 mc CKH v TH: thp, nh, va, ln, nng cao, cao v ton b.
V nh lng ngi ta s dng h s mc CKH v TH. H s ny tnh
theo cng thc sau:
ch
M
T M
M
T
T
T T
T
K =
+
=
Trong :
T
M
- Thi gian thc hin bng my.
T
T
- Thi gian thc hin bng tay.
T
ch
- Thi gian chic.
Thnh phn thi gian my T
M
bao gm thi gian thc hin hnh trnh
cng tc v i khi c hnh trnh chy khng, nu thi gian ny khng trng vi
thi gian cng tc. tng h s mc CKH phi rt nn thi gian thc hin bng
tay thay, g t, iu chnh dng c, gim thi gian sa cha v iu chnh cc
c cu my, thi gian cp phi, thu dn phoi, np chi tit hon chng vo kho,
loi tr ph phm do iu chnh sai, thi gian chun b, bn giao my cui ca...
Trong bng 1.1 l gi tr ca h s mc CKH v TH.

12
M hnh thng tin ca CKH v TH. d s dng cc s liu cho
v tnh trng CKH v TH ngi ta dng m hnh thng tin dng k hiu gm 3
thnh phn theo trt t sau:
Cp Hnh thc Mc
Th d: 3TH2 c ngha l TH cp 3 mc 2
Bng 1.1
S mc Tn gi Gi tr K
0 Khng 0
1 Thp 0,01...0,25
2 Nh 0,26...0,45
3 Trung 0,46...0,60
4 Ln 0,61...0,75
5 Nng cao 0,76...0,90
6 Cao 0,91...0,98
7 Ton b 0,99...1

1.2. iu kin kinh t-k thut ca CKH v TH
CKH v TH l phng tin quan trng nht tng hiu qu ca sn
xut v n m bo cht lng sn phm n nh, tng nng sut lao ng, gim
gi thnh sn phm. Ba yu t trn cng chnh l ba yu t c trng cho cc iu
kin c gi l nhng iu kin kinh t - k thut ca CKH v TH. D trin
khai ng dng u, CKH v TH cng phi bo m c ba iu kin c bn
. Ngoi ra CKH v TH cng gp phn ci thin iu kin lm vic c hi,
nng nhc ca ngi cng nhn, tng an ton lao ng...
Ta c th phn tch ba iu kin c th nh sau:
Bo m cht lng sn phm. Cht lng l phm tr rng bao hm
nhiu yu t c trng cho tnh cht ca sn phm. Th d p, bn, chnh xc,
gn nh, d s dng, t tiu hao nng lng... CKH v TH phi bo m nhng
tnh cht ca sn phm mt cch n nh, tc l c tin cy cao. Nhng yu
cu ny t ra nhng bi ton ln cn phi gii quyt khi tin hnh CKH v TH.
l:
- Phi nghin cu rng khp, y nhu cu th trng, th hiu ngi
tiu dng cng nh nhim v, k hoch sn xut.
- Nghin cu p dng cng ngh mi tin tin.
- Nghin cu thit k sn phm v trang thit b cng ngh c tnh cng
ngh cao.

13
- Ch to v s dng thit b c chnh xc cao, cng vng ln, cho
php lm vic vi tin cy cao trong mt thi gian di.
- Nghin cu ch khai thc, s dng, bo qun sa cha trang thit b
mt cch ti u.
- Phi o to cn b c lng yu ngh, c trnh , c k thut nm
bt v ng dng cc thnh tu ca CKH v TH.
Bo m nng sut lao ng. Nng sut lao ng l mt phm tr rng
m nhiu ngi khi nghe hoc ni n ch lm tng l nng sut lao ng sng.
Tht ra nng sut lao ng l s sn phm lm ra trong mt n v thi gian lao
ng. Thi gian lao ng y phi c hiu theo ngha rng: n khng ch n
thun l thi gian lao ng ca ngi cng nhn trc tip ng my ch to
sn phm, m cn l phn thi gian dng vo vic ch to ra vt t, my mc,
thit b, g, dng c, nng lng, thi gian thit k, nghin cu, ch th... m
ngi ta gi l lao ng qu kh hay lao ng vt ho. Mun tng nng sut lao
ng, cn phi gim tng thi gian b ra ch to mt sn phm (bao gm c
lao ng hin ti v lao ng qu kh). Theo Mc :"Tng nng sut lao ng
ngha l tng thnh phn lao ng qu kh v gim thnh phn lao ng hin ti
nhng tng s lao ng trong sn phm phi gim xung tc l gim s lng lao
ng hin ti nhiu hn tng s lng lao ng qu kh". l phng hng
chung, phng php c bn tng nng sut lao ng.
CKH v TH cc qu trnh sn sut l bin php tt nht gii quyt
vn nng sut. Tt nhin c th CKH v TH th phi u t nhiu vn,
nhiu phng tin..., chi ph s tng, ngha l thnh phn lao ng qu kh tng.
Mt khc, khi qui trnh cng ngh tt, thnh phn lao ng hin ti gim n
mc ti a mi c th tng khng ngng nng sut lao ng.
Nhng phi TH nh th no gim khng ngng thnh phn lao
ng hin ti. Nu TH ch n thun nhm tng s my m mi cng nhn c
th phc v th n mt lc no mc gim thnh phn lao ng hin ti s b
hn ch v khng th b li mc tng thnh phn lao ng qu kh.
H gi thnh sn phm. Gi thnh sn phm l tng chi ph bng tin
cho cng lao ng ca hot ng sn xut, kinh doanh tnh trn mt n v sn
phm. Tuy nhin gi thnh cng phi c hiu theo ngha rng v n gm rt
nhiu yu t hp thnh: vt t, cng th, tin khu hao my mc, g, tin dng
c ct, dng c o kim, in nc, kh hoc hi... tin vn ti, khu hao nh
xng, sn bi..., cc chi ph ph khc. gim gi thnh phi tm cch gim cc

14
chi ph thnh phn. Mt trong nhng thnh phn ng ch nht l vt t, cng
th, khu hao my mc, nh xng, cc chi ph qu l...
Chi ph vt t c th gim xung bng cch s dng vt t r tin hn, th
d thay thp bng cht do, thp bng gang... Nghin cu cc sn phm mi c
kt cu hp l (n gin, chn h s an ton hp l khi tnh ton, gim s khu
thnh phn trong xch truyn ng...).
Cng th c th gim bng cch tng mc TH, c bit l nhng
nguy him, chi ph cho cng th cao, tng nng sut thit b, tng cng lao
ng, t chc lao ng hp l, sn phm c tnh cng ngh cao, c nhiu phn t
kt cu c tiu chun ho v thng nht ho, d ch to, lp rp...
Tin khu hao nh ca, cng trnh c th gim bng cch gim din tch
s dng, b tr my mc, kho bi hp l hoc thm ch khng cn kho bi.
Chi ph in nng c th gim bng cch p dng qui trnh cng ngh
hp l, tng h s s dng c ch ca thit b, s dng thit b cng ngh cao tiu
tn t nng lng, hay nghin cu loi nng lng khc r tin hn.
Nhng chi ph khc thuc chi ph gin tip nh chi ph qun l, chi ph
cho cc phng ban (ti v, vt t, thit k, cng ngh, k ton...) c th gim bng
cch s dng cc thit b vn phng, thit b lin lc, cho php tng nng sut lao
ng, gim s lng nhn vin vn phng, th d dng my tnh c nhn, my
ch, my ph t copy, my in, my v, lm vic trn h thng mng, lin lc
bng in thoi c dy v khng dy, iu khin qua h thng quan st (camera)
v mn hnh...
Ni chung gim gi thnh sn phm l mt trong nhng iu kin quan
trng m CKH v TH cn phi m bo. Khng lm c iu CKH v
TH s tht bi.
V gi thnh cn phi phn bit gi thnh sn phm vi gi thnh cng
ngh. Gi thnh cng ngh khc gi thnh sn phm ch l trong mc chi ph
xng ch k n phn lin quan trc tip n QTCN: chi ph cho nng lng, sa
cha v khu hao thit b, g, dng c, vt liu lau chi, nc trn ngui.
Tu theo tng dng sn xut, CKH v TH c thc hin theo tng
cch khc nhau. Trong sn xut hng khi v lot ln, cng ngh tin tin cho
php ng dng TH phc dng cc ng dy, xng v nh my t ng. Trong
sn xut hng lot vi cc QTCN in hnh v QTCN nhm, TH c dng
cc ng dy t ng, my t ng iu chnh c, my vi cc thit b iu
chnh cho php s dng mt thit b gia cng lot chi tit khc nhau sau khi
thay mt s phn t ring bit v iu chnh li. Trong sn xut lot nh nn s

15
dng cc thit b cho php iu chnh nhanh hn. Th d, my iu khin theo
chng trnh s hay my CNC.
1.3. Cc giai on pht trin ca TH
Trong iu kin sn xut lot ln v hng khi, TH giai on u bo
m hiu qu kinh t nh nng cao cht lng sn phm, nng sut cao, gim s
lng cng nhn phc v v din tch phn xng. Phn tch lch s v xu hng
pht trin ca t ng ho trong qu trnh sn xut c th ch ra 3 giai on c
bn ca s pht trin. Trn mi giai on cn phi gii quyt nhiu nhim v k
thut phc tp khc nhau:
- T ng ho nguyn cng to ra cc my t ng v bn t ng.
- T ng ho qu trnh cng ngh, to ra cc dy chuyn sn xut t
ng.
- T ng ho ton phn qu trnh sn xut, to ra cc xng v nh
my t ng.

Hnh 1-1. S cu trc my t ng

Giai on u ca t ng ho to ra cc my t ng v bn t ng
c nng sut rt cao. S xut hin ca cc my t ng l do s pht trin v hon
thin kt cu ca cc my cng tc. Bn cnh cc c cu thc hin cc hnh
trnh cng tc v chy khng trn cc my t ng c thm cc c cu ca h
My t ng (phi thanh)
C cu
sinh lc
C cu
truyn lc
C cu
chp hnh
C cu
cng tc
C cu
chy khng
C cu
iu khin
B

n

d
a
o

d

c

B

n

d
a
o

n
g
a
n
g

1

B

n

d
a
o

n
g
a
n
g

2

B

n

d
a
o

n
g
a
n
g

3

t
a
-
r

r
e
n

C

u

c

p

p
h

i

C

u

k

p

p
h

i

C

u

p
h

n
h

v

T
r

c

p
h

n

p
h

i

C

u

s
i

u

v
i

t

P
h
a
n
h

C

u

b

o

h
i

m


16
thng iu khin (hnh 1-1). Nu ch cn thiu mt trong nhng c cu c bn
th qu trnh t ng s b gin on v lp li chu trnh gia cng cn phi c
s tham gia ca con ngi. Cc c cu thng b thiu trn cc my l c cu cp
phi. L do ch yu l cc c cu ny rt phc tp, c tin cy thp v thng
khng p ng lm vic vi mi hnh dng phc tp ca phi. Nh vy, nu
my t ng thiu c cu cp phi th s tr thnh my bn t ng v hot ng
ca n c lp li nh s can thip ca con ngi.
giai on ny hnh thc t chc sn xut t ng ho cao nht l cc
dy chuyn sn xut gm cc my t ng v bn t ng. Trn cc dy chuyn
ny ngi cng nhn phc v my tin hnh iu chnh, kim tra s hot ng
ng n ca qu trnh cng ngh v hiu chnh nhng hng hc c th (thay th
dng c iu chnh cc c cu...). T ng ho giai on u ch bao gm cc
nguyn cng gia cng ring bit, cn cc nguyn cng lp rp, kim tra, bao gi
sn phm th thng c thc hin bng tay bng cc phng tin c kh.
Giai on hai ca t ng ho l t ng ho h thng my, to ra cc
ng dy t ng thc hin nhiu nguyn cng khc nhau nh ct gt, kim
tra, lp rp, bao gi... ng dy t ng l h thng my t ng c b tr
theo trnh t cng ngh v c lin kt bng cc phng tin vn chuyn, iu
khin. ng dy t ng thc hin mt h thng cc nguyn cng (thng l
mt phn hoc ton b qu trnh cng ngh gia cng chi tit). Vic to ra cc
ng dy t ng cn phi gii quyt nhng nhim v mi phc tp hn rt
nhiu so vi cc nhim v giai on u. Nhim v u tin l phi to ra h
thng vn chuyn phi gia cc my ph hp vi nhp cng tc khc nhau ca
cc my, v s khng trng v thi gian ca cc h hng khc nhau. Nh vy h
thng vn chuyn phi gia cc my khng ch l cc bng ti m cn cc h
thng d tr phi gia cc nguyn cng, c cu iu khin v cnh bo, bo v
h thng my. Cc h thng ny cn phi phi hp s hot ng ca cc my
ring bit vi cc c cu vn chuyn cng nh vi cc c cu bo v khi xut hin
h hng (gy dng c, kch thc vt qua gii hn dung sai, kim tra tnh ng
n ca cc lnh iu khin, tm kim cc h hng c th...) h thng iu khin
trn c s trc phn phi s khng cn ph hp do khong cch qu ln. iu
ny buc phi tm kim h thng iu khin mi trn c s cc thit b thu lc,
in v in t. giai on hai ca t ng ho cng cn phi gii quyt nhim
v to ra cc phng tin kim tra t ng, trong c c phng tin kim tra
ch ng v c hiu chnh qu trnh lm vic ca my (hnh 1-2).

17
Hnh 1-2. S cu trc ng dy t ng

Tu thuc vo chng loi my c s dng trn dy chuyn t ng m
ta c: dy chuyn t ng t cc my t hp, dy chuyn t ng t cc my in
hnh (cc my tin, phay, doa...), ng dy t ng t cc my chuyn dng
(cc my rto), ng dy t ng t cc my iu khin s. Ngoi ra ng dy
t ng cng c th phn loi theo mi lin h gia cc my. Nu trn ng dy
t ng khng c tr phi th ng dy gi l ng dy lin kt cng.
nng cao tin cy ca ng dy t ng cng nh an ton, ngi ta a vo
trn ng dy mt hoc mt s tr phi gia cc my nhm bo m cc my
hot ng lin tc khng ph thuc vo kh nng lm vic ca cc my ng
trc v sau n. Nhng ng dy ny c gi l ng dy lin kt mm.
Hiu qu kinh t ca giai on ny khng nhng bo m tng nng sut
lao ng m cn gim nhiu lao ng th cng nh t ng ho qu trnh vn
chuyn phi gia cc nguyn cng, kim tra thu dn phoi...
Giai on ba ca t ng ho l t ng ho tng hp cc qu trnh sn
xut, to ra cc phn xng v nh my t ng. T ng ho tng hp cn phi
c hiu l qu trnh t ng ho bao qut ton b h thng sn xut mt loi
sn phm v d nh t. Khi tt c cc giai on sn xut bt u t nguyn vt
liu v kt thc giai on lp rp v th nghim u c t ng ho. T ng
ho tng hp lin quan n qu trnh tch t k thut cao trong tt c cc khu
ca qu trnh sn xut. Nhng nhim v ca giai on ny ch yu l t ng ho
vic vn chuyn phi gia cc ng dy v cc phn xng, thu dn v x l
ng dy t ng

Cc my
t ng
C cu
chy khng
H thng
iu khin
M

y

t

n
g

1

M

y

t

n
g

2


M

y

t

n
g

3


M

y

t

n
g

4


M

y

t

n
g

i

V

n

c
h
u
y

n

p
h

i

D

t
r

p
h

n
h

h

n
g

p
h

i

K

p

c
h

t

P
a
n
e
l

u

k
h
i

u

k
h
i

n

t
r
u
n
g

t

u

k
h
i

n

t
h
u

c

K
h
o

o

h
i

m


18
phoi, iu hnh sn xut (hnh 1-3). giai on ny p dng trit bit s dng
cc phng tin tnh ton nh my tnh in t nhm khng nhng gii quyt vn
iu hnh sn xut m cn linh hot chuyn i i tng sn xut p ng
cc nhu cu ca cc n t hnh khc nhau.
Trong na sau ca th k 20 do xut hin cc h thng iu khin s
cng nh s pht trin mnh m ca khoa hc k thut, c bit l in t my
tnh... nn c iu kin t ng ho trong sn xut lot nh, thm ch n
chic. Cc thit b t ng ho kiu ny c linh hot rt cao, cho php chuyn
sang gia cng sn phm khc vi chi ph thi gian v vt cht rt t. My t ng
iu khin s bt u c s dng rng ri trong nhng nm 60 ca th k trc
vi mc tiu chnh l gii quyt vn t ng ho trong sn xut lot nh. Khc
vi cc my t ng v bn t ng kiu c, cc my iu khin s c chng
trnh c m ho v ghi li trn cc bng c l, ba c l, bng t, a t, a
quang (CD, DVD)... Hin nay h thng iu khin s c s dng ch yu trn
cc my ct gt (tin, phay, khoan, doa). Ngoi ra mt s my c chng cng
c trang b h thng iu khin ny l cc my gia cng in vt l v in ho
(tia la in, chm tia in t, tia laze).
Hnh 1-3. S cu trc xng t ng

Cc h thng sn xut linh hot c pht trin trong nhng nm 70 ca
th k 20. y l mt t hp hoc mt n v thit b cng ngh c lp (ring
r), c:
- Cc h thng bo m cho n hot ng trong ch t ng.
Xng t ng
ng dy
t ng
H thng
vn chuyn
H thng
iu khin

D

t

n
g

1

D

t

n
g

2

D

t

n
g

3

D

t

n
g

4

D

t

n
g

i


B

n
g

t

i

B

n
g

c
h
u
y

n


M

n
g

d

n
h

l

n
g

Q
u

n

l

t
r

p
h

i

B

o

h
i

m

T

n
h

s

n
g

.
.
.
.


19
- C kh nng iu chnh t ng khi sn xut cc sn phm chng loi
t do trong gii hn yu cu v kch thc v c tnh k thut.
V cu trc t chc th h thng sn xut linh hot c th chia ra cc bc
sau:
- Mun sn xut linh hot.
- Dy chuyn t ng linh hot v ng dy t ng ho linh hot.
- Xng t ng ho linh hot.
- Nh my t ng ho linh hot.
Theo mc t ng ho th cc h thng sn xut linh hot c chia
thnh cc mc:
- T hp sn xut linh hot.
- Sn xut t ng ho linh hot.
Nu khng yu cu ch ra th bc cu trc hoc mc t ng ho th
thng s dng thut ng tng qut l h thng sn xut linh hot.
M un sn xut linh hot bao gm mt n v thit b cng ngh, c
trang b mt h thng iu khin chng trnh s v cc phng tin t ng ho
qu trnh cng ngh, hot ng c lp, t thc hin chu trnh gia cng nhiu ln
v c kh nng ni ghp vi h thng bc cao hn. Trng hp n l ca
mun sn xut linh hot l t hp cng ngh rbt ho c kh nng lp ghp vi
h thng mc cao hn. Trng hp tng qut m un sn xut linh hot gm b
tch tr phi, g v tinh (palet), thit b cp v tho phi (k c rbt cng
nghip), thit b thay i trang b cng ngh, thit b thu dn phoi, kim tra t
ng (kim tra d phng, iu chnh...).
Dy chuyn t ng ho linh hot bao gm mt s mun sn xut linh
hot lin kt vi nhau bng mt h thng iu khin t ng ho, trong cc
thit b cng ngh c b tr theo trnh t cng ngh c xc nh trc.
Nu theo mc linh hot ca cc thit b TH th c th phn chia t
thnh:
1. T ng ha cng (Fixed Automation)
l h thng gm cc thit b chuyn dng c sp xp theo ng
trnh t cng ngh ch to sn phm. Cng vic mi nguyn cng thng rt
n gin, v vy, mi quan h gia cc nguyn cng v khng gian v thi gian
phi rt cht ch. TH cng c hiu qu trong sn xut lot ln v hng khi khi
chi ph u t ban u ln c b p bng nng sut cao. TH cng km linh
hot, khng th hoc kh p ng s thay i sn phm.

20
2. T ng ha theo chng trnh (Programmable Automation)
T ng ha theo chng trnh c thc hin trn cc thit b c kh
nng thay i trnh t cng tc theo chng trnh c lp sn. Mi sn phm
mi yu cu lp li chng trnh. TH theo chng trnh c cc c im sau:
- u t nng cp cho cc thit b vn nng, lm vic theo chng
trnh.
- Linh hot, d thch ng vi s thay i sn phm.
- S dng c hiu qu trong sn xut n chic, lot nh, hay hng lot.
V d v cc thit b TH theo chng trnh l cc my cng c iu
khin theo chng trnh s nh my NC v CNC (hnh 1-4), cc robot cng
nghip.

Hnh 1-4. My iu khin s CNC

3. T ng ha linh hot (Flexible Automation)
y l dng TH tin tin nht hin nay v cn ang pht trin tip. C
hai yu t phn bit TH linh hot vi TH theo chng trnh:
- C th thay i chng trnh m khng dng qu trnh sn xut.
- C th thay i trang b g kp m khng dng chng trnh sn xut.
Nh th, TH linh hot d dng thch ng vi nhiu i tng sn xut
vi qui trnh cng ngh, s lng, tin khc nhau. Tuy vy, tnh linh hot ca

21
dng TH linh hot km hn so vi TH theo chng trnh. So snh mc linh
hot v phm vi ng dng ca cc dng TH c th hin trn hnh 1-5. Trn
hnh 1-6 l mt h thng sn xut linh hot c h thng cp phi, d tr phi v
h thng t ng thay dng c ct.
Ngoi k thut iu khin t ng, s pht trin ca my CNC v cng
ngh gia cng trn chng cn gn lin vi mt lnh vc khc ca cng ngh thng
tin: thit k v sn xut c tr gip ca my tnh m chng ta quen gi l
CAD/CAM. l lnh vc ng dng my tnh vo cng tc thit k, tnh ton kt
cu, chun b cng ngh, t chc sn xut, hoch ton kinh t,... Mt h thng
sn xut t ng, c kh nng t thch ng vi s thay i i tng sn xut
c gi l h thng sn xut linh hot (Flexible Manufacturing System - FMS).
FMS gm my cc CNC, robot, cc thit b vn chuyn, thit b kim tra, o
lng,... lm vic di s iu khin ca mt mng my tnh. S tch hp mi h
thng thit b sn xut v tch hp mi qu trnh thit k - sn xut - qun tr kinh
doanh nh mng my tnh vi cc phn mm tr gip cng tc thit k v cng
ngh, kinh doanh,... to nn h thng sn xut tch hp nh my tnh (Computer
Integrated Manufacturing - CIM).
Hnh 1-5. So snh mc linh hot v phm vi ng dng ca cc dng TH

CAD/CAM l lnh vc c lin quan mt thit vi k thut iu khin s
cc thit b sn xut. CAD (Computer Aided Design), c dch l "thit k c
tr gip ca my tnh", l mt lnh vc ng dng ca CNTT vo thit k. N tr
gip cho cc nh thit k trong vic m hnh ho, lp v xut cc ti liu thit k

TH cng

Tnh linh hot
Sn lng
cao
t.bnh
thp
thp t.bnh cao

TH linh hot


SX th cng


TH theo CT


22
da trn k thut ho. CAM (Computer Aided Manufacturing), c dch l
"sn xut c tr gip ca my tnh", xut hin do nhu cu lp trnh cho cc thit
b iu khin s (my CNC, robot, thit b vn chuyn, kho tng, kim tra) v
iu khin chng. Chng vn xut hin c lp vi nhau, nhng ngy cng xch
li gn nhau v ho thnh mt mng cc b trong ni b cng ty. CAD/CAM l
thut ng ghp, dng ch mt mi trng thit k - sn xut vi s tr gip
ca my tnh.

Hnh 1-6. H thng sn xut linh hot (FMS)

1.4. Cc nhim v t ng ha qu trnh sn xut
1.4.1. Nng sut ca cc h thng TH
Thi gian gia cng mt sn phm hay thi gian mt chu k gia cng tnh
theo cng thc:
ck ct
t t T + = (pht).
Trong :
t
ct
- Thi gian cng tc l thi gian ct gt kim loi.
t
ck
- Thi gian chy khng, gm thi gian dng c tin vo, li ra, ng
m cc c cu ca my...
Nng sut Q ca my t ng l s sn phm my lm ra trong mt n
v thi gian v biu din bng s nghch o ca thi gian mt chu k gia cng:

23
ck ct
t t T
Q
+
= =
1 1
(chi tit/pht) (1.1)
Nu t
ck
= 0 th nng sut bng:
K
t
Q
ct
= =
1
(1.2)
K l nng sut cng ngh ca my, n c trng cho nng sut ca mt
chic my "l tng" t ng ct gt lin tc khng c hnh trnh chy khng.
Thay tr s
K
t
ct
1
= t cng thc (1.2) vo (1.1) ta c:
.
1
1
. 1
K
Kt
K
t K
K
Q
ck ck
=
+
=
+
= (1.3)
Trong :
ck
t K. 1
1
+
= gi l h s nng sut ca my, n xc nh mc s dng
my c hiu qu.
V d: trong mt chu k gia cng t
ct
= 0,4 ph; t
ck
= 0,8 ph.
Nh vy 5 , 2
4 , 0
1
= = K (ct/ph) v 33 , 0
8 , 0 . 5 , 2 1
1
=
+
=
Tc l thi gian c ch ca my ch chim 33% ca chu k gia cng.
Theo cng thc (1.3) th nng sut Q ca my ph thuc vo nng sut
cng ngh K v h s nng sut . Mun tng Q khng ngng th phi ng thi
tng K v tc l ng thi gim t
ct
v t
ck
. Nu ch gim mt thnh phn no
cn mt thnh phn kia vn gi nh c th nng sut s ch tin n mt gii hn
nht nh. C hai trng hp nng sut tin n gii hn.
ck ck
K
t t K
K
Q
1
. 1
lim
max
=
+
=

(ct/ph)
ng 1 (hnh 1-7) ch rng Q = K (nng sut l tng), nu t
ck
= 0.
Nhng v t
ck
0 nn c ng cong nng sut thc t Q v trong trng hp ny
d c tng K n u i na nng sut Q vn tin n gii hn
ck
t
1
ch khng
tng theo t l thun vi K. C hin tng nh vy l v khi tr s K tng th tr s
ca
ck
t K. 1
1
+
= li gim.
Cc ng cong trn hnh 1- 8 cho ta thy quan h gia tr s K v .
hiu r hn iu ta xem v d gia cng chi tit hnh tr c chiu di L=100

24
mm, lng chy dao s = 0,1 (mm/vng). Thi gian chy khng t
ck
=1 pht (a
dng c vo, o, kim tra), s vng quay ca trc chnh n
tc
=1000 (vng/ph). Nh
vy s vng quay cn thit gia cng phi: 1000
1 , 0
100
= = =
s
L
n (vng).

Hnh 1-7. Nng sut thc t Q Hnh 1-8. Quan h gia K v

Nng sut cng ngh: 1
1000
1000 1
= = = =
n
n
t
K
tc
ck
(ct/ph).
H s nng sut:
ck
t K. 1
1
+
= =
1 . 1 1
1
+
= 0,5.
Nng sut ca my Q = K. = 1.0,5 = 0,5 (ct/ph).
By gi gi s nh nhng phng tin c bit c th nng K = 50
(ct/ph), th lc h s nng sut:
02 , 0
1 . 50 1
1

+
= v nng sut ca my Q = K. = 50.0,02 = 1 (ct/ph).
tng nng sut cng ngh ln 50 ln cn nhng ph tn v k thut rt
ln lao nhng nng sut thc t ch tng c hai ln.
Qua c th kt lun rng: Mun khng ngng tng nng sut Q ca
my th ng thi vi vic gim thi gian cng tc t
ct
tng nng sut cng ngh
K phi gim thi gian chy khng t
ck
.
Vy lch s pht trin ca my t ng c th so lt biu din bng
th trn hnh 1-9. Sau khi ch to loi my u tin ngi ta c vn dng kh nng
ca chng bng cch tng cng cng tc tc tng K. Nhng n mt lc no
y nng sut hu nh khng tng mc d tng K. nng cao nng sut hn
na, cn c loi my mi hoc vi thi gian chy khng b hn hoc qui trnh
cng ngh mi tt hn. C th cc my mi ln lt xut hin, cc ng nng
sut cao dn.

25

Hnh 1-9. Cc giai on pht trin my t ng

Nng sut tng u trn mi ng cong l do tng K hay gim t
ck
.
Cho nn, nhim v ch yu ca TH l gim thi gian chy khng, n c
tc dng tng nhanh nng sut.
trn, nng sut ca my tnh cho tng chu k (gia cng mt chi tit) s
cao hn nu tnh cho mt thi gian di, v trong mi chu k ch c mt loi tn
tht l thi gian chy my khng, cn trong thi gian di, my thng phi ngng
lm vic do nhiu tn tht khc ngoi chu k. V d: thay i hay iu chnh li
mt s dng c b mn, sa cha hay iu chnh li cc c cu my, a phi
mi vo my, kim tra sn phm, iu chnh my Cng cng tc ca my
cng tng th tn tht ngoi chu k cng ln.
Do , nng sut ca my tnh theo cng thc tng qut nh sau:
tt ck ct
t t t
Q
+ +
=
1
=

+
ph
t K
K
. 1

...
2 1
+ + =
tt tt tt
t t t l tn tht thi gian ngoi chu k cho mt sn phm.
tt ck ph
t t t + =

l tn tht thi gian trong v ngoi chu k.

Ngi ta phn tn tht thi gian ra lm 6 loi (hnh 1-5):
- Tn tht loi 1: Do cc hnh trnh chy khng (tn tht trong chu k).
- Tn tht loi 2: Lin quan n vic thay v iu chnh dng c ct.
- Tn tht loi 3: Lin quan n vic tho, sa v lp cc c cu.
- Tn tht loi 4: Tn tht do thiu phi.
- Tn tht loi 5: Tn tht do ph phm, do iu chnh sai hoc do vt
liu gia cng khng t, cht lng phi xu.
- Tn tht loi 6: Lin quan n vic thay i i tng gia cng, iu
chnh li my, thay g...

26

Hnh 1-10. Biu cn bng nng sut my t ng.

Trn hnh 1-10 l biu cn bng nng sut. Q
I
,

Q
II
, Q
III
, ... Q
VI

l cc tn tht nng sut tng ng do: hnh trnh chy khng (tn tht trong chu
trnh); thay th v iu chnh dng c; bn lu, tin cy ca cc h thng t
ng; cp phi, t chc, qun l sn xut; ph phm v vn qun l cht lng
sn phm; linh hot ca thit b cng ngh. Nhn vo biu , ta c th nhn
thy c mc tn tht do cc nguyn nhn, mc nh hng ca chng n
nng sut my v tm ra bin php khc phc nhm gim cc tn tht .
1.4.2. Cc nhim v c bn ca TH
tng nng sut lao ng, chng ta cn phi gii quyt 6 vn TH
ng vi 6 dng tn tht nu trn.
Gim tn tht loi 1, Q
I
: TH hnh trnh chy khng, lm trng hnh
trnh chy khng vi cc hnh trnh cng tc, s dng c cu chy khng nhanh.
Gim tn tht loi 2, Q
II
: TH thay i v iu chnh dng c ct, s
dng dng c ct c tui bn cao, iu chnh dng c ngoi my, nng cao cht
lng mi dng c ct, gia cng vi ch ct hp l.
Gim tn tht loi 3, Q
III
: Nng cao tin cy ca cc c cu my, tho
lp nhanh cc c cu my, thay cc c cu my h hng bng cc c cu c sn
hoc sa cha sn gim thi gian ch i.
Gim tn tht loi 4, Q
IV
: TH vic qun l sn xut, t chc sn xut
nng ng, cung cp phi kp thi cho my, TH vic cp phi v vn chuyn
phi cho my.
Gim tn tht loi 5, Q
V
: TH vic kim tra ngn nga ph phm
trong qu trnh sn xut.

27
Gim tn tht loi 6, Q
VI
: TH vic iu chnh my v trang b cng
ngh gia cng cc chi tit khc, gim thi gian chun b v kt thc vic gia
cng mi loi sn phm.
Trc khi hnh thnh my t ng v cc h thng t ng phc hp, tin
tin, phi nghin cu k lng tt c nhng b phn cu thnh h thng. Th d,
trc khi thit k mt xng t ng sn xut bi phi ch to ra cc my t
ng, cc h thng vn chuyn, iu khin, kim tra, iu chnh my...
C mt s yu t kch thch nhu cu p dng TH. Cc yu t ny ng
thi cng l thch thc v l nhim v ca TH. Di y l mt s yu t c
bn:
Gim gi thnh v nng cao nng sut lao ng. Trong mi thi i,
cc qu trnh sn xut lun c iu khin theo cc quy lut kinh t. C th ni
gi thnh l mt trong nhng yu t quan trng xc nh nhu cu pht trin ca
TH. Khng mt sn phm no c th cnh tranh c nu gi thnh ca n cao
hn cc sn phm cng loi, c tnh nng tng ng ca cc hng khc. Trong
bi cnh nn kinh t lun phi i ph vi cc hin tng nh lm pht, chi ph
cho vt t, lao ng, qung co v bn hng ngy cng tng, buc cng nghip
ch to phi tm kim cc phng php sn xut tt nht gim gi thnh sn
phm. Mt khc nhu cu nng cao cht lng sn phm s lm tng mc phc
tp ca qu trnh gia cng. Khi lng cc cng vic n gin cho php tr lng
thp s gim nhiu. Chi ph cho o to cng nhn v i ng phc v, gi thnh
thit b cng tng theo. y l ng lc mnh kch thch s pht trin ca TH.
Ci thin iu kin sn xut. Cc qu trnh sn xut s dng qu nhiu
lao ng sng rt d mt n nh v gi gic, v cht lng gia cng v nng sut
lao ng, gy kh khn cho vic iu hnh v qun l sn xut. Cc qu trnh sn
xut TH cho php loi b cc nhc im trn. ng thi, TH thay i hn
tnh cht lao ng, ci thin iu kin lm vic ca cng nhn, nht l trong cc
khu c hi, nng nhc, c tnh lp i lp li v nhm chn, khc phc dn s
khc nhau gia lao ng tr c v lao ng chn tay.
p ng cng cao ca sn xut hin i. Vi cc loi sn phm c
s lng rt ln (hng t ci trong mt nm) nh inh, bng n in, kho ko...
th khng th s dng cc qu trnh sn xut th cng p ng sn lng yu
cu vi gi thnh nh nht.
Thc hin chuyn mn ho v hon i sn xut. Ch c mt s t sn
phm phc tp l c ch to hon ton bi mt nh sn xut. Thng thng
mt hng s s dng nhiu nh thu cung cp cc b phn ring l cho mnh,

28
sau tin hnh lin kt, lp rp thnh sn phm tng th. Cc sn phm phc tp
nh t, my bay... nu ch to theo phng thc trn s c rt nhiu u im.
Cc nh thu s chuyn su hn vi sn phm ca mnh. Vic nghin cu, ci tin
ch phi thc hin trong mt vng chuyn mn hp, v th s c cht lng cao
hn, tin nhanh hn. Sn xut ca cc nh thu c iu kin chuyn thnh sn
xut hng khi. Do mt nh thu tham gia vo qu trnh sn xut mt sn phm
phc tp no c th ng vai tr nh mt nh cung cp cho nhiu hng khc
nhau, nn kh nng tiu chun ho sn phm l rt cao. iu ny cho php p
dng nguyn tc hon i - mt trong cc iu kin c bn dn ti s hnh thnh
sng sn xut hng khi khi ch to cc sn phm phc tp, s lng t. Tuy
nhin, cng khng nn qu cao tm quan trng ca tiu chun ho. Khng c
tiu chun ho trong sn xut ch c th gy cn tr cho vic hon chuyn mt
mc nht nh, lm tng tiu tn thi gian cho cc qu trnh sn xut cc sn
phm phc tp ch khng th lm cho cc qu trnh ny khng th thc hin
c. C th ni TH gi mt vai tr quan trng trong vic thc hin tiu chun
ho bi ch c nn sn xut TH mi cho php ch to cc sn phm c kch c
v c tnh khng hoc t thay i vi s lng ln mt cch hiu qu nht.
Nng cao kh nng cnh tranh v p ng iu kin sn xut-kinh doanh,
cng nh nhu cu v sn phm s quyt nh mc p dng TH cn thit
trong qu trnh sn xut. i vi cc sn phm phc tp nh l tu bin, gin
khoan du v cc sn phm c kch c, trng lng rt ln khc, s lng s rt
t. Thi gian ch to ko di t vo thng n vi nm. Khi lng lao ng rt
ln. Vic ch to chng trn cc dy chuyn t ng, nng sut cao mi c th
lm cho gi thnh sn phm thp, hiu qu kinh t t c cao. S dng cc qu
trnh sn xut TH trnh cao trong nhng trng hp ny l rt cn thit.
Chnh yu t ny l mt tc nhn tt kch thch qu trnh cnh tranh trong c ch
kinh t th trng. Cnh tranh s loi b cc nh sn xut ch to ra cc sn phm
c cht lng thp, gi thnh cao. Cnh tranh bt buc cc nh sn xut phi ci
tin cng ngh, p dng TH cc qu trnh sn xut to ra sn phm tt hn
vi gi r hn. C nhiu v d v cc nh sn xut khng c kh nng hoc khng
mun ci tin cng ngh v p dng t ng ho sn xut nn dn ti tht bi
trong thng trng.
1.5. Cc nguyn tc ng dng TH qu trnh sn xut
TH qu trnh sn xut l mt vn khoa hc k thut phc tp. Vic
pht trin v ng dng n trong mi cng on ca qu trnh sn xut phi da
trn c s ca cc nghin cu phn tch khoa hc v c tnh h thng. Sau y l
mt s nguyn tc c bn.

29
1.5.1. Nguyn tc c mc ch v kt qu c th
Vic p dng TH phi c mc ch r rng v hiu qu kinh t d
tnh nht nh. Cc thit b v h thng TH khng ch c chc nng m phng,
thay th cc tc ng ca con ngi trong qu trnh sn xut m chng phi c
s dng vi mc ch thc hin cng vic nhanh hn, tt hn, hiu qu hn. Cc
thng k thc hin cho thy (60 70)% hiu qu kinh t ca qu trnh p dng
TH l do nng sut ca thit b TH cao hn; (15 20)% hiu qu do cht
lng sn phm c nng cao v n nh hn; ch c (10 15)% hiu qu kinh
t l do gim chi ph tr lng cho cng nhn. V vy khi lp cc d n pht trin
v ng dng TH phi u tin hng u cho cc thng s v nng sut v cht
lng ca qu trnh gia cng. Trn quan im ny th khng phi lc no vic s
dng cc qu trnh v thit b TH cng ph hp v c ngha. Cc rbt cng
nghip s dng trn cc nguyn cng hn, sn, ph s cho php nng cao nng
sut, cht lng gia cng v ci thin iu kin lm vic cho cng nhn. Tuy
nhin nu s dng rbt cng nghip khi cp cc loi phi c trng lng (3 5)
kG cho cc my ct kim loi ch cho php gim khng ng k chi ph lng
cng nhn nhng li ko di chu k gia cng ti (25 40) giy vi rbt mt tay,
v (40 50) giy vi rbt hai tay trong khi cng vic ny cng nhn ch cn
(1015) giy. Do TH cc cng vic cn nhiu ng tc trong mt thi gian
ngn i khi khng mang li hiu qu kinh t mong mun.
1.5.2. Nguyn tc ton din
Tt c cc thnh phn quan trng nht ca qu trnh sn xut nh i
tng sn xut, cng ngh, cc thit b chnh v ph, cc h thng iu khin v
phc v, thi phoi v ph liu, i ng k thut... u phi c xem xt v gii
quyt trit , ton din trnh cao. Ch cn b st mt trong cc thnh phn
hoc yu t no ca qu trnh sn xut l ton b h thng TH s tr nn
khng hiu qu v tht bi. Vic thit lp cc h thng iu khin vi x l phc
tp v t tin thay i ch mt thnh phn no ca qu trnh sn xut,
trong khi vn gi nguyn cng ngh lc hu s khng em li li ch g. Ch trn
c s ca cng ngh tin tin, vic thit k v ng dng cc h thng thit b
TH mi em li hiu qu mong mun. tun th nguyn tc ny phi bm st
cc mc tiu v bin php c bn sau ca TH:
- TH phi c thc hin trn tt c cc cng on sn xut bin
i chng vi mc ch nng cao nng sut lao ng v cht lng
sn phm gia cng.

30
- Nng cao cht lng TH ca tt c cc qu trnh chnh v ph cng
nh nguyn cng n l bng cch hin i ho, thay th mi cc t
hp trang thit b t ng.
- Gim chi ph gia cng tng cng cho mt n v sn phm theo
nguyn tc gim chi ph lao ng sng, tng t l chi ph qu kh.
- Gim s cng nhn phc v trc tip trong cc phn xng v tng s
chuyn gia v cng nhn bc cao trong lnh vc chun b sn xut.
- Thit lp cc t hp thit b t ng c iu khin tp trung thc
hin cc qu trnh sn xut.
1.5.3. Nguyn tc c nhu cu
Cc thit b TH, k c cc thit b tin tin nht ch c th s dng v s
dng hiu qu ni m khng c n l khng c, ch khng phi bt c ni
no c th s dng c. ngha ca cc c cu v thit b TH hin i khng
ch b hp trong vic thay th cc chc nng iu khin ca cng nhn khi phc
v thit b sn xut m n cho php m ra kh nng thit lp cc loi thit b mi
m trc n con ngi khng th ch to c nu khng c chng. Nh chng
m ngy nay ngi ta c th to ra c cc thit b c kh nng vt xa kh
nng vt l ca con ngi bnh thng, s dng nhng ni vi nhng cng
vic m con ngi khng th tip cn hoc khng th thc hin c. Cc thit b
TH d dng iu khin nhiu thit b cng ngh mt lc. Cc thit b TH hin
i cho php thc hin ng thi nhiu dng cng vic khc nhau bng nhiu loi
dng c vi mc tp trung cao cc nguyn cng, do trong cc cng vic
cn nng sut v cng gia cng cao, con ngi khng th ganh ua vi thit
b TH c.
1.5.4. Nguyn tc hp iu kin
Vic a vo ng dng cc gii php k thut cha hon thin l khng
th chp nhn c, iu ny s dn n vic tiu tn nhiu tin ca v cng sc
mt cch v ch. Do phi nh hng tt trong nghin cu v ng dng k
thut TH ph hp vi iu kin c th.
1.6. Cng ngh l c s ca t ng ho
1.6.1. c im ca qu trnh cng ngh trong sn xut t ng ho
C s thit k cc thit b TH l qu trnh cng ngh. Nhim v ca
qu trnh cng ngh l ch to sn phm vi cht lng, s lng xc nh trc.
Khi xy dng QTCN gia cng trn cc h thng t ng, ton b qu trnh gia
cng c phn chia ra cc thnh phn ring bit gi l nguyn cng. V mt
cht lng, nguyn cng c thc hin theo nhiu qui lut gia cng khc nhau,
xy ra trong nhng iu kin v vn tc khc nhau. iu ny dn n s khc

31
nhau v lng ca cc nguyn cng, ngha l c s khc nhau v thi gian thc
hin chng. nh gi v lng theo chi ph thi gian cho cc hnh trnh cng tc
v chy khng l c s xc nh nng sut ca my. Khi thit k my v
ng dy t ng (c thit k qu trnh cng ngh) cn phi gii quyt mt lot
cc vn xc nh cc mt cht v lng ca qu trnh cng ngh. V mt cht
lng cn xem xt cc vn sau:
La chn phng php cng ngh gia cng. Mt sn phm c th c
gia cng khng nhng nh cc phng php cng ngh gia cng khc nhau m
cn trong gii hn tng dng gia cng c th p dng nhiu phng php (s )
khc nhau.
La chn th t gia cng. Khi gia cng chi tit phc tp thng thng c
v s phng n trnh t gia cng khc nhau (v d khi gia cng l bu lng trn
cc chi tit dng v hp).
La chn dng c ct v dng c o. Vi cc phng php chn c
th tin hnh gia cng nh cc dng c tiu chun (mi khoan, ta r, dao tin),
cng c th s dng dng c ct chuyn dng. Vn tng t cng c th p
dng cho dng c o.
La chn chun cng ngh trong trng hp nu cc chun khng
c ch ra nhng nguyn cng trc.
V mt s lng chng ta cn xem xt:
La chn mc ti u v phn tn v tp trung nguyn cng ca qu
trnh cng ngh. Trong thc t ch khi gia cng nhng chi tit n gin mi s
dng my mt v tr cn thng thng qu trnh cng ngh c phn chia ra cc
thnh phn ring r sau c tp trung trn nhng my khc nhau.
La chn ch ct.
La chn cu trc ti u ca cc h thng my t ng.
Khi gii quyt cc nhim v ny chng ta cn quan tm n vic bo
m nng sut cao v cht lng ca sn phm, ngha l thi gian ca cc hnh
trnh cng tc cng c ngha l nng sut cng ngh K.
Du hiu lin tc ca qu trnh cng ngh. Trong mi phng php
cng ngh gia cng u c tnh tin lc trong qu trnh thc hin. Thng thng
nguyn cng cng ngh xy ra lin tc cho n khi cc iu kin bn ngoi
khng lin quan n phng php buc phi gin on qu trnh (cn phi ly
chi tit v lp phi mi vo). Du hiu lin tc ca mi qu trnh cng ngh l s
tc ng lin tc ca mt t hp dng c ln vt liu gia cng v s dch chuyn
lin tc tng quan gia dng c v vt liu gia cng nhm thay i i tng gia

32
cng. Mt b dng c c hiu l s lng dng c v t nht bo m
tin hnh qu trnh cng ngh. S lng dng c trong b c xc nh bng
khi lng v phng php gia cng. B dng c c th l chy v ci khi dp, ko
vut (hnh 1-11a) hoc khoan, khot v tar khi gia cng l ren (hnh 1-11b).

Hnh 1-11. B dng c khi gia cng b mt chi tit
a) B dng c chy v ci; b) b dng c khoan khot tar

Theo nh ngha ny th tnh lin tc ca qu trnh cng ngh l nung
nng cht lng trong dng chy nhit luyn sn phm trong cc l lin tc; cc
qu trnh xeo giy trn cc loi my cn; c thp lin tc; hn ng cun xon
rut g; mi dc v tm, gia cng ren ai c bng ta r ui cong... Trn hnh
1-12 l mt s qu trnh th hin tnh lin tc trong cng ngh ch to.
Trn hnh 1-12a th hin dy chuyn cn ngui thp mng (tn) t cun
tn. Di tn c tri phng t cun 1. Sau khi c hn ni u trn my hn 2,
di tn c nn thng trn thit b 3. Cc trc cn 5 nm gia hai h thng con
ln to sc cng. Khi di tn i qua my ct 6 chng s c ct thnh tng tm.
Trc 7 s y tm tn ra ngoi v xp thnh chng 8. Trn hnh 1-12b th hin
qu trnh in. Giy 3 sau khi c ti ra t cun giy, i qua mt s con ln to
sc cng s n cc trc in 1 v 2. Tip theo s c gp thnh chng vo h
thng ct xn.

33

Hnh 1-12. V d v cc qu trnh cng ngh lin tc
a) H thng cn thp: 1. Cun thp (tn); 2. My hn ni; 3. My nn; 4. Cc
con ln to sc cng; 5. Cc trc cn; 6. My ct; 7. Trc xp tn; 8. Chng tn.
b) H thng in: 1, 2 Trc in; 3. Giy.

a) b)
Hnh 1-13. Qu trnh cng ngh tin
a) Tin chng tm; b) Tin trn my t ng vi u dao quay

Hu ht cc phng php cng ngh bit u l cc phng php lin
tc. V d tin mt tr ngoi trn my tin (hnh 1-13). Dao tin c th dch
chuyn lin tc theo mt qu o cho trc v tin hnh gia cng cho n khi
mn hoc mt kh nng ct gt. Tuy nhin khi tin chng tm (hnh 1-13a) th

34
qu trnh b gin on theo chu k thay i chi tit. Qu trnh cng ngh tin
lin tc c th nhn c nu s dng chuyn ng chy dao dc tng i ca
phi thay th vt liu gia cng, tc l thanh thp (hnh 1-13b). Trong trng
hp ny vt liu s lin tc dch chuyn so vi u dao quay trong qu trnh gia
cng. Tng t nh vy i vi mi mt tr chng tm trn my mi trn ngoi
(hnh 1-14a) l khng lin tc, cn mi v tm dc l qu trnh lin tc,
y chuyn ng chy dao dc ca chi tit bo m cho qu trnh lin
tc (hnh 1-14b).

Hnh 1- 14. Qu trnh cng ngh mi trn ngoi

Nh vy ch nhng qu trnh cng ngh c hi nhng du hiu ch
trn (tnh lin tc trong tc ng gia cng v tnh lin tc trong dch chuyn) mi
c coi l lin tc.
Khi thit k qu trnh cng ngh ch to my c th c hai phng n c
bn.
Cc qu trnh cng ngh lin tc c s dng ring r cho tng nguyn
cng. Bi v chnh cc phng php gia cng v bn cht l lin tc nn kh nng
s dng cc qu trnh cng ngh lin tc c xc nh bng kh nng thay th
chi tit gia cng m khng lm gin on qu trnh gia cng. R rng l kh nng
xy dng nhng qu trnh cng ngh lin tc ph thuc vo tnh cht ca phi v
dng dng c gia cng. V d ct ren bng tar thng l qu trnh gin
on bi v thay th chi tit gia cng cn phi dng qu trnh ly
tar ra (hnh 115a). Khi s dng cc tar ui cong hoc cc tar ui thng
vi nhng gi dn ng quay ta s a ai c gia cng ren xong ra ngoi.
V vy qu trnh cng ngh ny l lin tc (hnh 1-15b, c). Cc my cun ng

35
xon hn cng l loi my c qu trnh cng ngh lin tc bi v cc mi hn
v dch chuyn xon ca vt liu so vi u hn xy ra lin tc. Nu my ny tin
hnh hn cc u bch ca ng th qu trnh cng ngh s gin on mc d bn
cht ca qu trnh l nh c.

Hnh 1-15. Gia cng ren bng ta r chui thng (a), chui cong (b)
v gi di ng (c)
Nu trong nhng iu kin c th cho khng bo m c tnh lin
tc ca qu trnh cp phi v y chi tit gia cng ra ngoi hoc cn phi thc
hin mt s nguyn cng th xut hin qu trnh cng ngh ri rc v cng l c
trng cho nn sn xut ch to my. T xut hin tnh chu k trong qu trnh
cng ngh v trong hot ng ca my mc. Nh vy qu trnh cng ngh gia
cng c th bao gm t mt s tc ng lin tc v ri rc c thc hin trn
cc my tc ng lin tc v theo chu k.
Cc my tc ng lin tc vi qu trnh cng ngh lin tc c c trng
l b dng c cng ngh lin tc nm trong vng gia cng; qu trnh gia cng
c thc hin bng s dch chuyn lin tc gia dng c v chi tit gia cng
theo ng thng, ng trn hoc qu o no . iu ny bo m cho vic
thay th chi tit gia cng m khng gin on qu trnh gia cng trn cc my tc
ng lin tc, thng thng vt liu gia cng lin tc c vn chuyn qua vng
gia cng ca my. Nu iu kin ny khng t c th hot ng ca my s c
nhng gin on lin quan n s an xen c chu k cc hnh trnh cng tc v
chy khng.
Cc my tc ng lin tc vi qu trnh cng ngh gin on c c
trng l chi tit gia cng lin tc dch chuyn qua vng gia cng vi mt tc
no nhm bo m cho n s lin tc vo v ra khi my; trong vng gia cng
mt b dng c cng ngh thay th nhau tip xc vi chi tit gia cng trong qu

36
trnh cng dch chuyn vi tc ca chi tit theo ng thng, ng trn hoc
qu o no . y l loi my m in hnh l my rto.
Nhng my tc ng gin on vi cc qu trnh cng ngh gin on c
c trng l khng c cc chuyn ng lin tc ca chi tit gia cng trong vng
gia cng v tc ng ri rc ca b dng c cng ngh. y l im c trng
ca a s cc loi my cng c hin nay, v d my t ng nhiu trc chnh tc
ng trnh t. Trn my ny qu trnh gia cng xy ra khi khi trc chnh ng
yn mang theo cc phi c kp cht, sau cn phi quay phn trc
chnh t v tr ny sang v tr khc.
Nguyn cng l thnh phn ca qu trnh cng ngh. Khi thit k qu
trnh cng ngh cn phi phn chia khi lng gia cng chi tit ra cc thnh phn
ring bit gi l nguyn cng. ng tic hin nay trong cng ngh ch to my
khi nim nguyn cng cng ngh t thi sn xut th cng vn cha thay i. V
d nguyn cng cng ngh c gi l mt phn ca qu trnh cng ngh c
thc hin trn mt ch lm vic v bao gm cc tc ng ca thit b v ngi
cng nhn trn mt hoc mt s i tng gia cng hoc lp rp. Bc - mt
phn ca nguyn cng c c trng bng s khng i b mt gia cng, dng
c gia cng v ch gia cng.
Khi nim nguyn cng cng ngh xut hin t thi sn xut th cng c
quan h vi s phn tn qu trnh cng ngh bng cch chia nh khi lng gia
cng ra cc thnh phn ring bit v c thc hin ng thi trn cc my v
ch lm vic khc nhau. ng nhin vic phn chia nh vy da trn c s trc
ht l do kh nng vt l ca mt con ngi cng nh rng ca khu vc m
ngi cng nhn phc v. T c s ca khi nim nguyn cng khng phi
l c trng ca chnh qu trnh cng ngh, mc phn tn v tp trung nguyn
cng m l ch lm vic. Chnh v vy khi nim nguyn cng cng ng cho
n hin nay trong nn sn xut trong t ng ho khi s phn chia qu trnh
cng ngh c xc nh bng khi lng cc tc ng cng ngh m con ngi
c th thc hin c trn ch lm vic ca mnh nh mt thnh phn tham gia
trc tip vo qu trnh gia cng.
Trong sn xut t ng ho, ni con ngi khng trc tip tham gia vo
qu trnh cng ngh, khi nim ny lm nhm ln gia khi nim nguyn cng v
bc cng ngh. V d theo nh ngha ny ton b qu trnh cng ngh thc hin
trn my nhiu v tr trn trung tm gia cng v ng dy t ng bng v s
dng c ct khc nhau ch c gi l mt nguyn cng bi v ch c mt
ngi cng nhn phc v. Nh vy khi nim ny khng tnh n khi lng ca
qu trnh cng nh s lng dng c (n hng trm) v nhng c im khc

37
ca qu trnh. Nu c theo khi nim ny th khi phn chia ng dy t ng ra
lm hai phn, ngha l b sung mt ch lm vic th s c thm mt nguyn cng
mc d qu trnh cng ngh khng c g thay i. Nh vy khi nim nguyn
cng y i vi nn sn xut t ng ho hin i khng c ngha c v mt
cng ngh ln v mt cu trc.
V bn cht c s thay th khi nim nguyn cng bng khi nim
bc. R rng l i vi nhng iu kin sn xut t ng ho ni con ngi
khng tham gia trc tip vo qu trnh cng ngh, ton b khi lng nhng tc
ng cng ngh c phn chia ra khng ph thuc vo con ngi cng nh ch
lm vic.
Nguyn cng trong iu kin sn xut t ng ho l mt phn ca
qu trnh cng ngh c thc hin bng mt c cu mc ch bo m cc tc
ng cn thit gia dng c v phi trong qu trnh gia cng. Nh vy trn cc
my t ng v ng dy t ng nguyn cng l mt thnh phn ca chu k
cng tc c thc hin bng cc c cu mc ch c th (bn dao, u khoan,
u mi, u o..., - cc c cu cng tc; c cu cp phi, kp cht, quay phn
; - c cu chy khng).

Hnh 1-16. Cc phng n (s ) tin mt tr ngoi
a) Dao di ng; b) Dao ng yn; c) Dao rng bn ; d) Dao nh hnh tip tuyn; e)
Dao rng; f) Dao rng quay; g) Hai dao; h) bn dao; i) Dao rng lc v nh hnh;
j) Dao chut phng; k) Dao chut dng con c; l) Dao a; m) Dao chut a

38
Tnh a phng n ca qu trnh cng ngh. Nh chng ta bit mt
sn phm c th c ch to nh nhiu cng ngh khc nhau v trong mi dng
cng ngh th c th s dng nhiu phng php (s ) khc nhau. Trn h nh
1-16 ch ra mt s phng php gi a cng mt t r t rn my t i n t
ng v bn t ng. Trong a s cc trng hp qu trnh gia cng c
thc hin nh hai chuyn ng - chuyn ng quay ca chi tit gia cng v
chuyn ng tnh tin ca dao tin theo hng ngang hoc dc ng tm chi
tit. Khi gia cng bng nhiu dao cc dao tin ngoi chuyn ng tnh tin dc
theo ng tm ca chi tit cn c chuyn ng ngang (hnh 1-16g, h). Khi gia
cng bng phng php trn hnh 1-16h cc dao tin c chuyn ng tin nhanh
p st bi v cc rnh c gia cng bng dao tin rnh.

Hnh 1-17. Cc s gia cng mt rng
a) Phay mun; b) Xc tng rnh; c) Phay trc vt; d) Xc bng dao a; e) Xc
bng thanh rng; f) Chut tng rnh; i) Xc tt c cc rnh; j) Gia cng ng
thi mt s phi; k) Chut tt c cc rnh; l) Chut bng dao a; l) Chut bng
dao quay nghing.

39
Nhng c trng khc nhau ca cc dch chuyn gia phi v dng c
dn n nhng c cu khc nhau v cc my khc nhau ngha l c s khc nhau
v cu trc ca cc my t ng. K c khi tin bng mt dao (hnh 1-16a, b) vn
c hai loi my khc nhau v mt nguyn l: my c trc chnh c nh v my
c trc chnh di ng.
ng nhin tt c nhng dng gia cng c phn bit khng ch v
cht m cn c v lng. Trong tng trng hp ring bit cn phi c nhng
chiu di dch chuyn khc nhau ca dng c, khc nhau v ch gia cng, lc
ct gt khc nhau, do i vi tng phng php gia cng s c cc c cu
cng tc vi cu trc kt cu khc nhau cn v my th c nng sut v cng sut
khc nhau. iu ny l xut pht im la chn qu trnh cng ngh thch hp
khi t ng ho. ng nhin trong tng trng hp cng tnh n nhng iu
kin c th ( cng nh ca chi tit), m i lc l c s la chn phng
php gia cng. Trn hnh 1-17 ch ra mt s phng php gia cng rng trn
bnh rng trc.
1.6.2. Phng hng pht trin c bn ca cng ngh hin i
ng lc ca cng ngh hin i l yu cu ngy cng cao v cht lng
v s lng ca sn phm. Cc yu cu ny to ra nhu cu hon thin qu trnh
cng ngh, nghin cu cc phng php v phng tin mi gia cng, lp rp
v kim tra. Yu cu cao v cht lng trc ht lm tng chnh xc ca chi
tit, tng bng b mt gia cng, tng cc tnh cht c l ( bn, bn mn, bn
mi, chng n mn, chu nhit cao...). iu ny li cng kh khn trong xu th
tiu hnh ho cc sn phm, v cng lm vic ca my: tc cao ti trng
ng nhit cao, p lc ln, ti trng ln... y l nhng c trng ca nn sn
xut ch to my v kh c hin i.
ng thi vi vic yu cu cao v cht lng th ngy cng i hi v s
lng sn phm, mt mt lm tng tnh hng khi, mt khc lm thay i nhanh
i tng sn xut. iu ny xy ra khng ch do tng sn lng v yu cu gi
r ca cc sn phm cng nghip m cn do cc n t hng ring r (c bit l
trong cc mt hng dn dng).
Nt c trng ca s pht trin hin i l tng cng mu thun gia
cht lng v tnh hng khi ca sn phm, c bit l trong sn xut cc sn
phm dn dng. Theo quan im ca tnh hng khi v sn lng v gi r ca
sn phm cn phi thit k cc qu trnh cng ngh c tnh n nh cao, cn theo
quan im p ng cc nhu cu v cht lng th lin tc bin i nn sn xut,
lin tc hon thin v i mi sn phm. Nh vy vic tng nhanh sn lng v
thay i nhanh sn phm lin quan n s khng ph hp ca cc phng php

40
truyn thng v quy m sn xut. iu ny s c tc ng c tnh cch mng
trong s pht trin cng ngh v to ra nhng tin xut hin nhng qu
trnh cng ngh mi gia cng, lp rp, kim tra...
Cc yu cu ngy cng cao v s lng v cht lng c th c thc
hin trong iu kin sn xut hng khi. Khng th c nhng sn phm siu sch
nh vt liu bn dn, vi mch... trong iu kin sn xut th cng, ni con ngi
tham gia trc tip. Cng trong nhng iu kin nhng tnh hung nh vy khng
th da vo lao ng th cng p ng cc nhu cu v bnh ko, dim, sn
phm in n, nc gii kht... T c tnh thng nht gia cng ngh v t ng
ho khi gii quyt cc vn ca tin b k thut.
Cc hng pht trin ca cng ngh hin i. Qu trnh cng ngh
tin tin bt k cn phi c cht lng cao hn hoc l tng sn lng hoc l c
hai. Nu khng nh vy th khng th coi l qu trnh tin tin c. Chnh v th
nn c th phn bit ra ba hng pht trin ca cng ngh hin i nh sau:
- Pht trin cng ngh truyn thng, hon thin cc phng php v cc
qu trnh c. Nhng phng php ny cho php gia cng nhng vt
liu khi im v to ra nhng hnh dng cng nh tnh cht mi cho
chi tit.
- Gia cng cc chi tit c c bng cc phng php mi tin tin hn.
Cc phng php ny bo m bc nhy v cht trong cng ngh.
- C bc t ph khng nhng qu trnh m c phng php gia cng
m cn c kt cu ca cc chi tit, ngha l gia cng cc chi tit mi
bng cc phng php tin tin.
Theo hng th nht ngi ta tng hp cc kinh nghim ca cng
ngh truyn thng v h thng ho cc qu trnh cng ngh to ra mt hng
mi trong cng ngh l cng ngh nhm - cng ngh gia cng cc chi tit c
nhng du hiu chung v kt cu v tnh cht phc v (chc nng lm vic).
Phng hng th hai ca cng ngh hin i lin quan n vic tm
kim cc qu trnh cng ngh v phng php cng ngh mi tin tin. Chng
cho php nng cao t bin v nng sut so vi cng ngh truyn thng. Theo
hng ny ngi ta s dng nhiu loi phi mi, nhiu phng php cng
ngh mi cng nh cc s gia cng trn c s cc qu trnh cng ngh bit
hoc bng nhng phng php hon ton mi. Th d cho hng ny c th l
cng ngh gia cng vng trong v vng ngoi ln trn my t ng nhiu trc
chnh. Cc loi phi nhn c bng phng php c chnh xc, dp ngui, cn
ngang... c chnh xc kch thc rt cao v do lm gim khi lng gia
cng c v tng nng sut. Nu trong phng n c nng sut ca cc my t

41
ng nhiu trc chnh l 40 giy mt chic v ln th trong phng n mi thi
gian gim n 10 ln. Trong khi khi lng gia cng ca phng n c l
170 gram kim loi th phng n mi l 19 gram ngha l gim 9 ln [1].

Hnh 1-18. Cn bi cu v trc vt trn my cn ngang

Hnh 1-19. Gia cng c trc bng cng ngh mi
1 5: Cc bc cng ngh gia cng

42
Trn hnh 1-18 l mt s s cng ngh cn ngang tin tin. Theo s
ny th cc trc cn c cc rnh xon vt v khi chng quay th kim loi s to ra
cc vin bi c chnh xc cao. Theo phng n ny nng sut tng 3 n 4 ln
so vi phng php rn v dp hnh cu cc nh my ln ln; cn chi ph thp
hp kim gim c 10 n 15%. Trn cc hnh 4-19 l th d khc v p dng cc
s gia cng tin tin cho nng sut v cht lng cao. y s dng cng
ngh mi gia cng trc bc n gin
Hng pht trin th ba ca cng ngh hin i lin quan n cc dng
chi tit mi i hi ng dng cng ngh ch to mi. y l hng c s thay i
mang tnh cch mng khng nhng trong cng ngh m c kt cu. Lnh vc u
tin c k ra l lnh vc ch to cc thit b in t t cc my thu thanh n
gin n cc my tnh in t hin i u da vo nhng vi mch cng ngy
cng mnh, tc x l cao, nng lng tiu th t, khi lng nh... Mt trong
nhng hng mi na l s dng cc tia in t gia cng. Cng ngh ny cho
php to ra cc l nh ng knh 0,15 n 0,2 mm trn cc vt liu siu cng
nn vonfram v nn titan. Nhit gia cng t n 2400 n 2800 K. Cc
cng ngh da trn c s chm tia laze cng c ng dng rng ri trong cc
lnh vc khc nhau v mang li hiu qu ln lao.
1.6.3. Mi quan h gia cng ngh v t ng ho
Mi mt hng ca cng ngh hin i tng ng vi nhng hnh thc t
ng ho ca mnh. Trc kia t ng ho ch yu cho cc qu trnh sn xut
truyn thng trong iu kin sn xut hng khi ni ng dng ch yu cc my
t ng v cc ng dy t ng cc loi. Khi t ng ho sn xut lot nh v
sn xut n chic chng ta cn s dng cc my iu khin s, cn v mt cng
ngh th nn p dng cng ngh nhm vi g gia cng nhm. iu ny cho
php s dng trong iu kin sn xut lot cc phng php t ng ho v thit
b c trng cho sn xut hng khi. Cng cn phi nhn mnh rng trong rt
nhiu trng hp p dng cc cng ngh tin tin lin quan n tng cng
lm vic ca my hoc vi vi gia cng v cc qu trnh bo m cht lng cao
khc ch c th c thc hin trong iu kin t ng ho. Hin nay qu trnh
thit k cc h thng sn xut linh hot vn cn tip tc nghin cu v pht trin
v mang li hiu qu ln lao c v mt cht lng ln v mt nng sut v iu
kin lm vic ca ngi cng nhn.
Nguyn tc trng nguyn cng. im khc bit c bn gia qu trnh
cng ngh TH vi qu trnh cng ngh khng TH l phng php bo m
cht lng gia cng. Ngoi ra sn lng cng c ch khi thit k qu trnh

43
cng ngh TH: p dng trit nguyn tc trng nguyn cng. Ly th d cho
chi tit trn hnh 1-20. Tin trnh cng ngh gia cng chi tit c th bao gm:
Phay mt u, khoan 2 l tm, tin th v tin tinh cc bc, tin cc rnh thot
dao v vt mp. Thi gian gia cng xong mt chi tit bng tng thi gian cc
nguyn cng. i vi nguyn cng tin ngoi bc ng knh 76,2 mm, thi
gian nguyn cng c tnh theo cng thc:
t
pi
= n
p
/n
tc
= (.d.l))/(1000.v.s) = 4 , 1
2 , 0 . 161 . 1000
190 . 2 , 76 . 14 , 3
(pht)
Trong :
n
p
- S vng quay ca trc chnh thc hin nguyn cng.
n
tc
- Tc ca trc chnh hay s vng quay trong mt pht (v/pht).
v - Vn tc ct gt (m/pht).
l - Chiu di ca trnh gia cng (mm).
s - Lng chy dao (mm/v).
Bng cch ta c th tnh c tng thi gian gia cng xong mt chi
tit s l: 618
'
0
= =
pi p
t t pht.
Nng sut cng ngh l
618
1
' / 1
'
0
= =
o
p
t K

Hnh 1-20. Trc bc

c im quan trng ca cng ngh t ng ho l phn tn cng ngh
v tp trung nguyn cng: ng thi thc hin bng nhiu dng c ct trong mt
nguyn cng hoc mt v tr cng tc ca nhiu nguyn cng khc nhau. Khng
nn ln ln khi nim tp trung nguyn cng vi tp trung kh nng cng ngh.
Tp trung kh nng cng ngh xc nh tp hp nhng nguyn cng c th c
thc hin trn mt thit b. V d my doa ngang c tp trung kh nng cng
ngh cao bi v c th tin hnh tin trong, khot, phay, khoan, tin ngoi,
ct ren... Tuy nhin khi thc hin tng nguyn cng ny th ch c mt dng c
lm vic, ngha l khng c tp trung nguyn cng. Tp trung nguyn cng c

44
xc nh bng s lng cc nguyn cng c thc hin ng thi trn mt my
hoc trn mt ng dy t ng, c ngha l trng thi gian vi nhau.
Khi s dng phng php trng nguyn cng, nng sut cng ngh l:
x q p U K K
o
. . . =
K - Nng sut cng ngh khi p dng nguyn tc trng nguyn cng.
U - S lng dng c lm vic ng thi trong mt v tr.
p - S lng v tr song song.
q - S lng v tr ni tip.
x - H s tng cng ch gia cng.
T cng thc trn ta thy nng cao nng sut cn s dng nhiu dng
c ct trong mt v tr (tng U); gia cng trn nhiu v tr hay phn tn v tp
trung nguyn cng trn nhiu v tr (p >1 , q > 1); tng cng ch gia cng
(x >1) bng cch tng tc ct lng chy dao ch nhit...
Gi tr ca nng sut cng ngh phi c hiu l kh nng ca qu trnh
cng ngh sn xut sn phm theo phng n n gin nht v thng thng l
khng TH. Tuy nhin gia cng chi tit trn my t ng hoc bn t ng,
thi gian tng cng s t hn rt nhiu v c th lm trng cc hnh trnh cng tc
v chy khng. V d, c th gia cng ng thi mt s bc v tin rnh thot
dao, vt mp (gia cng nhiu dao). Thi gian ca cc hnh trnh cng tc t
po
c
xc nh cho cc nguyn cng sau: gia cng mt u, tin th v tinh, tin rnh.
Nng sut cng ngh s l:
U K t K
p
'
0 0
/ 1 = =
U - S lng dng c ct ng thi gia cng.
Tr s K khng ch c trng cho tnh tin tin ca cng ngh m cn
mc lm trng nguyn cng ca my. S dng rng ri trng nguyn cng l
c im c bn ca qu trnh cng ngh TH, c s thit k tt c cc my t
ng nhiu v tr v ng dy t ng.
Kh nng nng cao nng sut bng phng php s dng nhiu dao l
khng ln. Nhng c gng tng s lng dao lm tng s lng bn dao, gy kh
khn thot phoi, lm mt dng c, tng cng sut my... do gim tin cy v
lm tng cc tn tht ngoi chu k.
tng nng sut cn phi pht trin nguyn tc trng nguyn cng, tc
l phn tn qu trnh cng ngh v tp trung nguyn cng. iu ny dn n vic
pht trin cc my nhiu v tr.
Phn tn qu trnh cng ngh c th c hiu nh sau: qu trnh cng
ngh c phn chia thnh cc nguyn cng. Cc nguyn cng c thc hin

45
trn cc v tr khc nhau ca my t ng hoc ng dy t ng. Phi i t v
tr ny sang v tr khc, t v tr u tin n v tr cui cng. Theo nguyn tc ny
qu trnh cng ngh trc ht c phn chia thnh cc nguyn cng thnh phn,
thi gian gia cng cc nguyn cng thnh phn c th rt khc nhau. Nguyn
cng thnh phn l mt phn ca qu trnh cng ngh c thc hin bng mt
c cu mc ch v mt dng c ct tng ng vi yu cu cht lng.
Nu qu trnh cng ngh c phn tn thnh cc nguyn cng thnh
phn th ton b qu trnh cng ngh c thc hin bng t hp dng c trn h
thng cc my mt v tr b tr theo th t. S lng my mt v tr bng s lng
nguyn cng thnh phn. V d qu trnh cng ngh gia cng trc trn c th
c phn chia thnh 6 nguyn cng thnh phn: phay mt u v khoan l tm;
tin th u th nht; tin th u th hai; tin tinh u th nht; tin tinh u th
hai; tin rnh v vt mp. Nu ton b 6 nguyn cng ny c thc hin trn cc
my mt v tr th ta c dy chuyn 6 my t ng hoc bn t ng (mt my
phay - khoan tm, bn my tin chp hnh, mt my tin ln cui). Nu qu trnh
phn tn cn tip tc th qu trnh gia cng trong gii hn mt nguyn cng c
th tr thnh ri rc, khng lin tc do cn phi b sung dng c ct thc hin
mt phn ca nguyn cng thnh phn, tt yu xy ra gin on trong gia cng
chi tit. S lng dng c ct c th vt qu s lng ti thiu cn thit. Thi
gian gia cng xong mt chi tit bng thi gian nguyn cng thnh phn. Trong
qu trnh gia cng, cng mt lc s lng phi bng s lng nguyn cng thnh
phn.
Nu gi s lng nguyn cng thnh phn l p, thi gian thc hin
nguyn cng thnh phn l t
p
v bng nhau th:
t
p
= t
p0
/q, K = K
0
.q
Tp trung nguyn cng l trung cc nguyn cng ring l c thc hin
ng thi trong cc my mt v tr vo mt my t ng. Nh vy xut hin my
nhiu v tr, dy chuyn t ng hot ng theo cc nguyn tc: tun t, song
song, hn hp.
1.6.4. Cc nguyn tc thit k qu trnh cng ngh t ng ho
C s ca t ng ho l qu trnh cng ngh. Cc qu trnh cng ngh
ny cn m bo nng sut cao, tin cy, cht lng v hiu qu ch to cc sn
phm. Theo quan im , cc phng php gia cng v lp rp nng sut cao,
tin tin c ngha ln trong thit k qu trnh cng ngh t ng ha .
Khi thit k qu trnh cng ngh t ng ha ngi ta xem xt mt cch
tng hp cc thnh phn ca n: cp phi, nh v, kp cht, gia cng, kim tra,
s vn chuyn gia cc nguyn cng v lu kho Do vy, nh gi kh nng

46
v hiu qu ca t ng ha, vic quan trng l phi phn loi ng qu trnh
cng ngh.
Nhm th nht: l nhm qu trnh cng ngh gia cng hay lp rp c c
trng quan trng l tnh nh hng kht khe ca cc chi tit, dng c tng i
so vi nhau trong qu trnh lm vic.
Nhm th hai: l nhm qu trnh cng ngh m khng i hi kht khe
v tnh nh hng ca cc chi tit. Nhm ny gm c: nhit luyn, sy kh, sn
ph,
Ngoi ra, theo tiu ch v tnh lin tc, ngi ta chia qu trnh cng ngh
ra gin on v lin tc. Cc qa trnh cng ngh gin on c c trng bi
tnh gin on v bi trnh t nghim ngt ca cc dch chuyn cng tc v chy
khng. Cc qu trnh lin tc khng gin on, thay i mt cch u n,
khng c nhng nhy vt (v d, mi v tm, chut). S phn chia ny mang tnh
c l, bi v a s cc qu trnh kt hp c tnh gin on, c tnh lin tc.
m bo nng sut cao v tin cy ngi ta thc hin phn tn qu
trnh cng ngh, ngha l chia chng ra thnh cc v tr, bc cng ngh. Trong
mc c th, gim chiu di qung ng vn chuyn v s lng nguyn
cng, cng nh hp l v mt k thut, ngi ta thc hin tp trung bc v v
tr gia cng trn mt thit b vo mt nguyn cng. Tnh hiu qu ca phng
php ny c xc nh bi cc tnh ton v k thut-kinh t, bi vic ng nht
thit k cc qu trnh cng ngh t ng ha sn xut.
Vic xy dng qu trnh cng ngh t ng ha sn xut c c trng
bi cc nt c bn sau:
- Cc qu trnh cng ngh c t ng ha bao gm khng ch cc
loi nguyn cng ca gia cng c, m cn c cc nguyn cng gia
cng p lc, nhit luyn, lp rp, kim tra, bao gi, vn chuyn lu
kho cng nh cc nguyn cng khc na.
- Cc yu cu v linh hot v t ng ha qu trnh sn xut a ra
tnh nht thit ca vic nghin cu ng b v chi tit cng ngh,
phn tch t m cc i tng sn xut, nghin cu cng ngh nguyn
cng, hnh trnh, m bo tin cy v linh hot ca qu trnh sn
xut sn phm vi cht lng t ra. Mc chi tit ha cc gii
php cng ngh cn phi c thc hin n giai on chun b
chng trnh iu khin cho thit b.
- Trong trng hp c nhiu chi tit, sn phm, th c nhiu cc phng
n cng ngh.

47
- Tng mc tch hp cc cng vic, c thc hin bi cc b phn
cng ngh khc nhau.
Nhng yu cu cp thit v hon thin v rt ngn giai on chun b
cng ngh cho sn xut i hi s cn thit trong vn tip cn vi vic thit k
qu trnh cng ngh s dng cc phng php ca cc h thng thit k t ng
ha. Vic nng cao hiu qu ca vn chun b t ng ha qu trnh cng ngh
c thc y rt nhiu bi vic kt hp hp l cc phng n cng ngh in
hnh v ring l cc giai on ca qu trnh thit k, mc tiu chun ha cao
v chun ha cao cc cm chi tit, thit b v chnh cc qu trnh cng ngh, cho
php to ra v s dng c s d liu ph hp trn c s nn cng ngh thng tin.
Vic ng dng cng ngh linh hot vi vic s dng k thut my tnh v
cc thit b hiu chnh ca t ng ha cho php xy dng li qu trnh cng
ngh nhanh chng v hiu qu cho vic ch to cc sn phm mi. iu ny rt
cn thit trong iu kin sn xut lot v lot nh - ph bin trong ch to my.
C th m ra kh nng tim tng v m bo hiu sut ti a ca h
thng sn xut t ng ha ch khi vic chun b cng ngh tht k lng, xem
xt nhng nguyn l c bn ca cng ngh trc khi thit k h thng sn xut t
ng ha. Chng ta s xem xt mt phn di y:
1. Nguyn tc ca s hon thin:
l cn phi hng ti vic thc hin tt c cc nguyn cng trong
phm vi mt h thng sn xut t ng m khng c s chuyn dch ca bn
thnh phm n b phn khc hoc b phn ph tr. thc hin nguyn tc ny
cn thit: m bo yu cu tnh cng ngh ca sn phm, chun b cc phng
php mi thng nht ha vic gia cng v kim tra, m rng v khng ch cc
kiu thit b ca h thng sn xut t ng vi nhng kh nng cng ngh c
nng cao.
2. Nguyn tc t nguyn cng:
l thit lp qu trnh cng ngh vi vic tp trung c th mt cch ti
a cc nguyn cng, vi s lng nguyn cng v s ln g t trong cc nguyn
cng l ti thiu. thc hin nguyn tc ny, cn thc hin cc bin php nh
nguyn tc 1, ngoi ra, ti u ha cc hnh trnh v cng ngh nguyn cng, s
dng cc phng php t ng ha thit k qu trnh cng ngh.
3. Nguyn tc t lao ng:
m bo cng vic t ng ca h thng sn xut t ng ha trong
phm vi ton b chu trnh sn xut. thc hin nguyn tc ny, cn thit: n
nh s sai lch cc thng s cng ngh u vo ca h thng sn xut t ng
(phi, dng c, my, thit b), m rng v nng cao tin cy ca cc phng

48
php m bo thng tin cc nguyn cng, chuyn sang cc h thng iu khin
thch nghi linh hot qu trnh cng ngh vi s dch chnh (h thng) thng k
ca chng trnh iu khin.
4. Nguyn tc khng iu chnh:
Ngha l chun b qu trnh cng ngh khng yu cu iu chnh cc v
tr lm vic. Nguyn tc ny c bit cn thit i vi cc h thng sn xut t
ng ha nhiu chc nng. Nguyn tc ny gn ging nguyn tc 3, thc hin
n cn cc bin php nh nguyn tc 3.
5. Nguyn tc cng ngh ch ng t iu khin:
T chc iu khin qu trnh cng ngh v hiu chnh cc gii php thit
k trn c s thng tin hot ng ca qu trnh cng ngh. Hiu chnh c th l
cc thng s cng ngh c thit lp trong giai on iu khin, v cng c th
l cc thng s u vo ca chun b cng ngh sn xut. thc hin nguyn
tc ny cn thit: chun b cc phng php v thut ton iu khin thch nghi
qu trnh cng ngh, chun b phng php thng k hiu chnh c s d liu
nhm to ra h thng sn sut t ng ha t hc tp.
6. Nguyn tc v tnh ti u:
l vic tip nhn cc gii php trong mi giai on ca chun b cng
ngh cho sn xut v iu khin qu trnh cng ngh trn c s tiu ch duy nht
l tnh ti u. thc hin nguyn tc ny cn: chun b c s l thuyt ca ti
u ha qu trnh cng ngh, chun b cc thut ton ti u cho iu kin lm vic
ca h thng sn xut t ng ha, chun b v chng trnh, thit b, k thut
cho vic thc hin cc thut ton t ra. Nguyn tc tnh ti u to ra c s
phng php lun thng nht cho vic gii quyt cc bi ton cng ngh mi
mc, mi giai on, cho php gii quyt hiu qu cc bi ton t ra.
Ngoi cc nguyn tc xem xt trn, cn phi k n cc nguyn tc:
cng ngh my tnh, s m bo thng tin, tch hp, ti liu khng giy, cng
ngh nhm, Tt c chng lin kt trong mt h thng chun b cng ngh thng
nht v iu khin, c th ni (v mt nguyn tc) v vic xy dng ra cng
ngh mi ca h thng sn xut t ng ha, thc hin cc gii php k thut
hiu qu hn, thc hin ti a kh nng cng ngh v k thut tim tng c m
ra ca h thng sn xut t ng ha. Nguyn tc cui cng ca cng ngh nhm
l nn tng cho tt c cc h thng sn xut t ng ha, bi v chnh n m bo
tnh mm do ca sn xut.

49
Chng 2
Cc thit b c bn ca h thng t ng
Mt h thng sn xut t ng (my t ng, dy chuyn sn xut t
ng, h thng sn xut linh hot...) ngoi my cng c v ngi vn hnh (cng
nhn) cn c cc b phn khc tham gia vo qu trnh hot ng ca h thng .
Cc b phn ny gi l cc thit b c bn ca h thng sn xut t ng. Cc
thit b c bn ca t ng ho c chia thnh bn nhm chnh sau:
- Cm bin.
- B phn tch-x l.
- Thit b chp hnh.
- Thit b dn ng.
Mi quan h ca bn nhm thit b ny trong h thng sn xut t ng
c th hin trn hnh 2-1.

Hnh 2-1. Mi quan h ca cc phn t t ng trong h thng sn xut.
1. Cm bin; 2. B phn tch-x l; 3. Thit b chp hnh; 4. Thit b dn ng;
5. My cng c; 6. Chi tit; 7. Ngi vn hnh.

Trong h thng ny con ngi ch khng phi robot cng nghip ng
v tr vn hnh. Robot cng nghip l mt phn ca h thng t ng (pha trn
ca hnh 2-1). Thc t, bn thn robot cng nghip cng l h thng tch hp y
ton b bn nhm phn t c bn: cm bin, b phn tch-x l, thit b chp
hnh v thit b dn ng.

50
2.1. Cm bin
2.1.1. Khi nim v phn loi cm bin
a. Khi nim
Cm bin l thit b dng cm nhn bin i cc i l ng vt l v
cc i l ng khng c tnh cht in cn o thnh cc i l ng in c th o
v x l c.
Cc i l ng cn o (m) th ng khng c tnh cht in (nh nhit ,
p sut...) tc ng ln cm bin cho ta mt c tr ng (s) mang tnh cht in
(nh in tch, in p, dng in hoc tr khng) cha ng thng tin cho php
xc nh gi tr ca i l ng o. c tr ng (s) l hm ca i l ng cn o
(m):
s = F(m)
Ng i ta gi (s) l i l ng u ra hoc l phn ng ca cm bin, (m)
l i l ng u vo hay kch thch (c ngun gc l i l ng cn o). Thng
qua o c (s) cho php ta nhn bit gi tr ca (m).
Thc ra khi nim cm bin trong ting Vit c phn hp hn so vi t
"sensor" trong ting Anh. Trong ting Anh cm bin i khi ch l cng tc nh
(mini), cng tc hnh trnh, cc thanh lng kim... Mt s cm bin khc theo di
s hin din ca chi tit, c m vch, xc nh tnh trng k thut ca thit b
my mc. i vi ngi s dng, vic nm c nguyn l cu to v cc c
tnh k thut ca cm bin l cn thit vn hnh tt h thng sn xut t ng.
b. Phn loi cm bin
Cc b cm bin c phn loi theo cc c tr ng c bn sau y:
Theo nguyn l chuyn i gia p ng v kch thch (bng 2.1).
Bng 2.1
Hin t ng Chuyn i p ng v kch thch
Hin t ng vt l
- Nhit in, quang in
- Quang t, in t
- Quang n hi
- T in
- Nhit t...
Ho hc
- Bin i ho hc
- Bin i in ho
- Phn tch ph ...

51
Sinh hc
- Bin i sinh ho
- Bin i vt l
- Hiu ng trn c th
Phn loi theo dng kch thch (bng 2.2)
Bng 2.2
m thanh
- Bin pha, phn cc
- Ph
- Tc truyn sng ...
in - in tch, dng in
- in th, in p
- in tr ng (bin, pha, phn cc, ph)
- in dn, hng s in mi ...
T
- T tr ng (bin, pha, phn cc, ph)
- T thng, c ng t tr ng
- t thm ...
Quang - Bin, pha, phn cc, ph
- Tc truyn
- H s pht x, khc x
- H s hp th, h s bc x ...
C
- V tr
- Lc, p sut
- Gia tc, vn tc
-ng sut, cng
- M men
- Khi l ng, t trng
- Vn tc cht l u, nht ...
Nhit
- Nhit
- Thng l ng
- Nhit dung, t nhit ...
Bc x
- Kiu
- Nng l ng
- C ng ...

Theo tnh nng ca b cm bin (bng 2.3)
Bng 2.3
- nhy. - chnh xc.
- phn gii. - tuyn tnh.
- chn lc. - Cng sut tiu th.
- Di tn. - tr.
- Kh nng qu ti. - Tc p ng.
- n nh. - Tui th.
- iu kin mi trng. - Kch thc, trng lng.

52


Phn loi theo phm vi s dng ( bng 2.4).
Bng 2.4
- Cng nghip - Dn dng
- Nghin cu khoa hc - Giao thng
- Mi tr ng, kh t ng - V tr
- Thng tin, vin thng - Qun s
- Nng nghip

Phn loi theo thng s ca m hnh mch thay th:
- Cm bin tch cc c u ra l ngun p hoc ngun dng.
- Cm bin th ng c c tr ng bng cc thng s R, L, C, M...
tuyn tnh hoc phi tuyn.
Cc cm bin c ch to trn c s cc hiu ng vt l v c phn
lm hai loi:
Cm bin tch cc: l cc cm bin hot ng nh mt my pht, p
ng (s) l in tch, in p hay dng.
Cm bin th ng: l cc cm bin hot ng nh mt tr khng trong
p ng (s) l in tr, t cm hoc in dung.
Cc cm bin tch cc c ch to da trn c s ng dng cc hiu
ng vt l bin i mt dng nng l ng no (nhit, c hoc bc x) thnh
nng l ng in. Mt s hiu ng vt l c ng dng khi ch to cm bin l:
- Hiu ng nhit in.
- Hiu ng ho in.
- Hiu ng p in.
- Hiu ng cm ng in t.
- Hiu ng quang in: hiu ng quang dn hay cn gi l hiu ng
quang in ni); hiu ng quang pht x in t hay cn gi l hiu
ng quang in ngoi.
- Hiu ng quang - in - t.
- Hiu ng Hall.
Cm bin th ng th ng c ch to t mt tr khng c cc thng
s ch yu nhy vi i l ng cn o. Gi tr ca tr khng ph thuc kch
th c hnh hc, tnh cht in ca vt liu ch to (nh in tr sut , t
thm , hng s in mi ). V vy tc ng ca i l ng o c th nh h ng
ring bit n kch th c hnh hc, tnh cht in hoc ng thi c hai.

53
S thay i thng s hnh hc ca tr khng gy ra do chuyn ng ca
phn t chuyn ng hoc phn t bin dng ca cm bin. Trong cc cm bin
c phn t chuyn ng, mi v tr ca phn t ng s ng vi mt gi tr xc
nh ca tr khng, cho nn o tr khng c th xc nh c v tr ca i
t ng. Trong cm bin c phn t bin dng, s bin dng ca phn t bin dng
d i tc ng ca i l ng o (lc hoc cc i l ng gy ra lc) gy ra s
thay i ca tr khng ca cm bin. S thay i tr khng do bin dng lin
quan n lc tc ng, do lin quan n i l ng cn o. Xc nh tr khng
ta c th xc nh c i l ng cn o.
S thay i tnh cht in ca cm bin ph thuc vo bn cht vt liu
ch to tr khng v yu t tc ng (nhit , chiu sng, p sut, m...).
ch to cm bin, ng i ta chn sao cho tnh cht in ca n ch nhy vi
mt trong cc i l ng vt l trn, nh h ng c a cc i l ng khc l khng
ng k. Khi c th thit lp c s ph thuc n tr gia gi tr i l ng
cn o v gi tr tr khng ca cm bin.
Trn bng 2.5 gii thiu cc i l ng cn o c kh nng lm thay i
tnh cht in ca vt liu s dng ch to cm bin.
Bng 2.5
i l ng cn o c tr ng nhy cm Loi vt liu s dng
Nhit in tr sut () Kim loi (Pt, Ni, Cu) Bn dn
Bc x nh sng in tr sut () Bn dn
Bin dng in tr sut ()
T thm ()
Hp kim Ni, Si pha tp Hp
kim st t
V tr (nam chm) in tr sut () Vt liu t in tr:Bi, InSb

2.1.2. Cc c tr ng c bn
a. nhy ca cm bin
i vi cm bin tuyn tnh, gia bin thin u ra s v bin thin u
vo m c s lin h tuyn tnh: s = S.m
i l ng S trong biu thc c gi l nhy ca cm bin.
php o t chnh xc cao, khi thit k v s dng cm bin cn
lm sao cho nhy S ca n khng i, ngha l t ph thuc nht vo cc yu
t sau:
- Gi tr ca i l ng cn o m v tn s thay i ca n.
- Thi gian s dng.

54
- nh h ng ca cc i l ng vt l khc (khng phi l i l ng
o) ca mi tr ng xung quanh.
Thng th ng nh sn xut cung cp gi tr ca nhy S t ng ng vi
nhng iu kin lm vic nht nh ca cm bin.
b. tuyn tnh
Mt cm bin c gi l tuyn tnh trong mt di o xc nh nu trong
di ch , nhy khng ph thuc vo i l ng o.
Trong ch tnh, tuyn tnh chnh l s khng ph thuc ca
nhy ca cm bin vo gi tr ca i l ng o, th hin bi cc on thng trn
c tr ng tnh ca cm bin v hot ng ca cm bin l tuyn tnh chng no
i l ng o cn nm trong vng ny.
Trong ch ng, tuyn tnh bao gm s khng ph thuc ca
nhy ch tnh S(0) vo i l ng o, ng thi cc thng s quyt nh s
hi p (nh tn s ring f
0
ca dao ng khng tt, h s tt dn cng khng
ph thuc vo i l ng o.
Nu cm bin khng tuyn tnh, ng i ta a vo mch o cc thit b
hiu ch nh sao cho tn hiu in nhn c u ra t l vi s thay i ca i
l ng o u vo. S hiu chnh c gi l s tuyn tnh ho.
i vi cc cm bin khng hon ton tuyn tnh, ng i ta a ra khi
nim lch tuyn tnh, xc nh bi lc h cc i gia ng cong chun v
ng thng tt nht, tnh bng % trong di o.
c. Sai s v chnh xc
Cc b cm bin cng nh cc dng c o l ng khc, ngoi i l ng
cn o (cm nhn) cn chu tc ng ca nhiu i l ng vt l khc gy nn sai
s gia gi tr o c v gi tr thc ca i l ng cn o. Gi x l lch
tuyt i gia gi tr o v gi tr thc x (sai s tuyt i), sai s t ng i ca
b cm bin c tnh bng:
% 100
x
x
=
Sai s ca b cm bin mang tnh ch t c tnh bi v khng th bit
chnh xc gi tr thc ca i l ng cn o. Khi nh gi sai s ca cm bin,
ng i ta th ng phn chng thnh hai loi: sai s h thng v sai s ngu nhin.
Sai s h thng: l sai s khng ph thuc vo s ln o, c gi tr khng
i hoc thay i chm theo thi gian o v thm vo mt lch khng i gia
gi tr thc v gi tr o c. Sai s h thng th ng do s thiu hiu bit v h

55
o, do iu kin s dng khng tt gy ra. Cc nguyn nhn gy ra sai s h
thng c th l:
- Do nguyn l ca cm bin.
- Do gi tr ca i l ng chun khng ng.
- Do c tnh ca b cm bin.
- Do iu kin v ch s dng.
- Do x l kt qu o.
Sai s ngu nhin: l sai s xut hin c ln v chiu khng xc nh.
Ta c th d on c mt s nguyn nhn gy ra sai s ngu nhin nh ng
khng th d on c ln v du ca n. Nhng nguyn nhn gy ra sai s
ngu nhin c th l:
- Do s thay i c tnh ca thit b.
- Do tn hiu nhiu ngu nhin.
- Do cc i l ng nh h ng khng c tnh n khi chun cm
bin.
Chng ta c th gim thiu sai s ngu nhin bng mt s bin php thc
nghim thch hp nh bo v cc mch o trnh nh h ng ca nhiu, t ng
iu chnh in p ngun nui, b cc nh h ng nhit , tn s, vn hnh ng
ch hoc thc hin php o l ng thng k.
d. nhanh v thi gian hi p
nhanh l c tr ng ca cm bin cho php nh gi kh nng theo
kp v thi gian ca i l ng u ra khi i l ng u vo bin thin. Thi gian
hi p l i l ng c s dng xc nh gi tr s ca nhanh.


56
Hnh 2-2. Xc nh cc khong thi gian c tr ng cho ch qu .

nhanh t
r
l khong thi gian t khi i l ng o thay i t ngt n
khi bin thin ca i l ng u ra ch cn khc gi tr cui cng mt l ng gii
hn tnh bng %. Thi gian hi p t ng ng vi % xc nh khong thi
gian cn thit phi ch i sau khi c s bin thin ca i l ng o ly gi tr
ca u ra vi chnh xc nh tr c. Thi gian hi p c tr ng cho ch
qu ca cm bin v l hm ca cc thng s thi gian xc nh ch ny.
Trong tr ng hp s thay i ca i l ng o c dng bc thang, cc
thng s thi gian gm thi gian tr khi tng (t
dm
) v thi gian tng (t
m
) ng vi s
tng t ngt ca i l ng o hoc thi gian tr khi gim (t
dc
) v thi gian gim
(t
c
) ng vi s gim t ngt ca i l ng o. Khong thi gian tr khi tng t
dm

l thi gian cn thit i l ng u ra tng t gi tr ban u ca n n 10%
ca bin thin tng cng ca i l ng ny v khong thi gian tng t
m
l thi
gian cn thit i l ng u ra tng t 10% n 90% bin thin tng cng
ca n.
T ng t, khi i l ng o gim, thi gian tr khi gim t
dc
l thi gian
cn thit i l ng u ra gim t gi tr ban u ca n n 10% bin thin
tng cng ca i l ng ny v khong thi gian gim t
c
l thi gian cn thit
i l ng u ra gim t 10% n 90% bin thin bin thin tng cng ca n.
Cc thng s v thi gian t
r
, t
dm
, t
m
, t
dc
, t
c
ca cm bin cho php ta nh gi v
thi gian hi p ca n.
e. Gii hn s dng ca cm bin
Trong qu trnh s dng, cc cm bin lun chu tc ng ca ng lc c
hc, tc ng nhit... Khi cc tc ng ny v t qu ng ng cho php, chng s
lm thay i c tr ng lm vic ca cm bin. Bi vy khi s dng cm bin,
ng i s dng cn phi bit r cc gii hn ny.
1) Vng lm vic danh nh
Vng lm vic danh nh t ng ng vi nhng iu kin s dng bnh
th ng ca cm b in. Gii hn ca vng l cc gi tr ng ng m cc i l ng
o, cc i l ng vt l c lin quan n i l ng o hoc cc i l ng nh
h ng c th th ng xuyn t ti m khng lm thay i cc c tr ng lm
vic danh nh ca cm bin.
2) Vng khn g gy nn h hng
Vng khng gy nn h hng l vng m khi m cc i l ng o hoc
cc i l ng vt l c lin quan v cc i l ng nh h ng v t qua ng ng

57
ca vng lm vic danh nh nh ng vn cn nm trong phm vi khng gy nn
h hng, cc c t r ng ca cm bin c th b thay i nh ng nhng thay i
ny mang tnh thun nghch, tc l khi tr v vng lm vic danh nh cc c
tr ng ca cm bin ly li gi tr ban u ca chng.
3) Vng khng ph hu
Vng khng ph hy l vng m khi m cc i l ng o hoc cc i
l ng vt l c lin quan v cc i l ng nh h ng v t qua ng ng ca
vng khng gy nn h hng nh ng vn cn nm trong phm vi khng b ph
hy, cc c tr ng ca cm bin b thay i v nhng thay i ny mang tnh
khng thu n nghch, tc l khi tr v vng lm vic danh nh cc c tr ng ca
cm bin khng th ly li gi tr ban u ca chng. Trong tr ng hp ny cm
bin vn cn s dng c, nh ng phi tin hnh chun li cm bin.
2.1.3. Cng tc, nt bm
a. Cng tc tay
i a s cng tc hot ng bng tay v c hai trng thi: ng v ngt.
Mt s cng tc c nhiu hn hai trng thi, cn mt s khc th ch c mt trng
thi. Cng tc mt trng thi, c gi l nt n (bm), trong thit k cu chng
c l xo t ng a cng tc v trng thi ban u. Cc cng tc lin kt
ngi vn hnh h vi thng sn xut t ng. Ngi vn hnh s dng cng tc
nhm chuyn trng thi ng ("ON") hoc ngt ("OFF") hoc a h thng sang
chu trnh t ng. Cc cng tc kim sot trng thi ng hoc ngt ca mch
in. Khi cng tc ngt mch in m (h).


Hnh 2-3. Cc loi cng tc
a) Cng tc mt cc mt mch in; b) Cng tc mt cc hai mch in; c) Cng
tc hai cc mt mch in; d) Cng tc hai cc hai mch in; e) Cng tc xoay;
f) Nt n.

Cng tc tay bao gm:
- Mt cc mt mch in.

58
- Mt cc hai mch in.
- Hai cc mt mch in.
- Hai cc hai mch in.
- Cng tc xoay.
- Nt n.
K hiu n gin ca cng tc th hin trn hnh 2-3.
b. Cng tc gii hn
Cng tc gii hn cn gi l cng tc hnh trnh. S khc nhau ca cng
tc gii hn (limit switch) so vi cng tc thng l n chu tc ng t qu trnh
hot ng ca h thng ch khng phi do ngi vn hnh. Hin ti c hng
nghn kiu dng, kch c khc nhau. Trn hnh 2-4 l mt trong cc cng tc gii
hn.
y l loi cng tc c s dng rng ri cho cc qu trnh t ng c
chuyn ng ca thit b chp hnh. Cui hnh trnh, thit b chp hnh tc ng
ln cng tc chuyn sang giai on tip theo ca chu trnh cng tc.

Hnh 2-4. Cng tc gii hn
c. Cng tc ln cn (gn)

Hnh 2-5. Mt s loi cng tc ln cn

59

Mt s loi cng tc hot ng m khng i hi tip xc vt l hoc
c chiu sng. Cng tc ln cn (proximity switch) trn hnh 2-5 l loi nh
vy bi v n cm nhn c i tng gn m khng chm vo i tng .
C hai loi cng tc ln cn: loi th nht cm nhn c cc i tng kim loi
cha st, cn loi th hai- cm nhn c cc i tng kim loi cha st v
khng cha st.

Hnh 2-6. Kim tra i tng bng cng tc ln cn

Cc cng tc ln cn ng dng hiu ng Hall. Khi cho dng in chy
qua tm vt liu mng (thng l bn dn) t trong mt t trng c phng to
vi dng in mt gc s xut hin mt hiu in th theo hng vung gc vi
t trng v dng in.
Trn hnh 2-6 l s ng dng cng tc ln cn pht hin i tng
cha st i qua sau vch chn.
Mt ng dng na ca cng tc ln cn l xc nh v tr ca pittng di
chuyn trong xi lanh dn ng hoc v tr ca thang my cc tng.
2.1.4. Cm bin quang dn
a. Hiu ng quang dn
Hiu ng quang dn (hay cn gi l hiu ng quang in ni) l hin
t ng gii phng nhng ht ti in (ht dn) trong vt liu d i tc dng ca
nh sng lm tng dn in ca vt liu.
Cc cm bin da trn hiu ng quang dn c ng dng rng ri hn
cng tc ln cn. Mt s s ng dng th hin trn hnh 2-7.

60

Hnh 2-7. Ba dng b mt phn x trong h thng cm bin quang dn.
a) Mt phn x khuch tn; b) Mt gng; c) Mt phn x ngc.
1. Ngun sng; 2. Cm bin.
b. T bo quang dn
T bo quang dn c ch to cc bn dn a tinh th ng nht hoc
n tinh th, bn dn ring hoc bn dn pha tp.
- a tinh th: CdS, CdSe, CdTe.
PbS, PbSe, PbTe.
- n tinh th: Ge, Si tinh khit hoc pha tp Au, Cu, Sb, In.
SbIn, AsIn, PIn, cdHgTe.
Trong thc t, t bo quang dn c dng trong hai tr ng hp:
- iu khin r le: khi c bc x nh sng chiu ln t bo quang dn,
in tr ca n gim ng k, cho dng in chy qua ln, c s dng trc
tip hoc qua khuch i ng m rle (hnh 2-8).
- Thu tn hiu quang: dng t bo quang dn thu v bin tn hiu
quang thnh xung in. Cc xung nh sng ngt qung c th hin qua xung
in, trn c s c th lp cc mch m vt hoc o tc quay ca a.

Hnh 2-8. Dng t bo quang dn iu khin rle
a) iu khin trc tip b) iu khin thng qua tranzito khuych i

c. Photoiot
Khi chiu sng it bng bc x c b c sng nh hn b c sng
ng ng, s xut hin thm cc cp in t - l trng. cc ht dn ny tham

61
gia dn in cn phi ngn cn s ti hp ca chng, tc l nhanh chng tch ri
cp in t -l trng. S tch cp in t - l trng ch xy ra trong vng ngho
nh tc dng ca in tr ng.
S ht dn c gii phng ph thuc vo thng l ng nh sng t ti
vng ngho v kh nng hp th ca vng ny. tng thng l ng nh sng
n vng ngho ng i ta ch to it vi phin bn dn chiu dy rt b.
Kh nng hp th bc x ph thuc rt ln vo b rng vng ngho.
tng kh nng m rng vng ngho ng i ta dng it PIN (hnh 2-9), lp bn
dn ring I kp gia hai lp bn dn P v N, vi loi it ny ch cn in p
ng c vi vn c th m rng vng ngho ra ton b lp bn dn I.

Hnh 2-9. Cu to it lai PIN

S lm vic ch quang dn. c tr ng ca ch quang dn l:
- tuyn tnh cao.
- Thi gian hi p ngn.
- Di thng ln.
Hnh 2-10 trnh by s o dng ng c trong ch quang dn.


Hnh 2-10. S mch o dng ng c trong ch quang dn


62
S lm vic ch quang th. c tr ng ca ch quang th:
- C th lm vic ch tuyn tnh hoc logarit tu thuc vo ti.
- t nhiu.
- Thi gian hi p ln.
- Di thng nh.
- Nhy cm vi nhit ch logarit.
S tuyn tnh (hnh 2-11a): o dng ngn mch I
sc
. Trong ch ny:
V
0
= R
m
.I
sc
.

S logarit (hnh 2-11b) o in p h mch V
oc
.

Hnh 2-11. S mch o ch quang th

d. Phototranzito
Phototranzito l cc tranzito (hnh 2-12a) m vng baz c th c
chiu sng, khng c in p t ln baz, ch c in p trn C, ng thi
chuyn tip B- C phn cc ng c.

Hnh 2-12. Phototranzito

63
a) S mch in; b) S t ng ng; c) Tch cp in t l trng
khi chiu sng baz
in p t vo tp trung hu nh ton b trn chuyn tip B-C (phn
cc ng c) trong khi chnh lch in p gia E v B thay i khng ng k
(V
BE
0,6 - 0,7)V. Khi chuyn tip B- C c chiu sng, n hot ng ging
nh photo iot ch quang th vi dng ng c: I
r

= I
0

+ I
P

.
Trong I
0
l dng
ng c trong ti, I
P
l dng quang in d i tc dng ca thng l ng
0
chiu
qua b dy X ca baz (b c sng <
S
).
C th coi phototranzito nh t hp ca mt photodiot v mt tranzito
(hnh 2-12b). Phodiot cung cp dng quang in ti baz, cn tranzito cho hiu
ng khch i . Cc in t v l trng pht sinh trong vng baz (d i tc
dng ca nh sng) s bphn chia d i tc dng ca in tr ng trn chuyn
tip B-C.
Tro ng tr ng hp tranzito NPN, cc in t b ko v pha colect trong
khi l trng b gi li trong vng baz (hnh 2-12c) to thnh dng in t t E
qua B n C.
Phototranzito c th dng lm b chuyn mch, hoc lm phn t tuyn
tnh. ch chuyn m ch n c u im so vi photodiot l cho php s dng
mt cch trc tip dng chy qua t ng i ln. Ng c li, ch tuyn tnh,
mc d cho khuch i ln nh ng ng i ta thch dng photoiot v n c
tuyn tnh tt hn.
Phototranzito chuyn mch. Trong tr ng hp ny s dng thng tin
dng nh phn: c hay khng c bc x, hoc nh sng nh hn hay ln hn
ng ng. Tranzito chn hoc bo ho cho php iu khin trc tip (hoc sau khi
khuch i) nh mt rle, iu khin mt cng logic hoc mt thyristo (hnh 2-13).


a) b) c) d)
Hnh 2-13. Photodiotzito trong ch chuyn mch.

64
a) Rle; b) Rle sau khch i; c) Cng logic; d) Thyristo

Phototranzito trong ch tuyn tnh. C hai cch s dng trong ch
tuyn tnh:
- o nh sng khng i (ging nh mt luxmet).
- Thu nhn tn hiu thay i dng: (t) =
0

+
1
(t)


Trong
1
(t) l thnh phn thay i vi bin nh sao cho khng
dn ti phototranzito b chn hoc bo ho v c th coi nhy khng i.
2.1.5. Cm bin hng ngoi
Cm bin hng ngoi phn ng vi cc ngun nh sng hng ngoi, gn
vi nh sng nhn thy v pha .
Cm bin hng ngoi ng dng pht hin v kim tra cc i tng
nng hoc cc i tng pht ra hng ngoi. Trong gia cng ct gt cm bin
hng ngoi pht hin qu nhit trong vng gia cng-nhit qu cao do mn
dng c. Cm bin loi ny khng b nhiu trong vng nh sng nhn thy.
Trn hnh 2-14 l mt trong nhng cm bin hng ngoi kim tra nhit
ca hng novasens (c).

Hnh 2-14. Cm bin hng ngoi ca hng Novasens

2.1.6. Si quang
y l cc ng nha hoc thu tinh rt mnh (bng si tc), mm do c
th truyn d liu c chuyn i thnh nh sng vi tn hao rt nh. Mt
thit b u thu s bin i nh sng ny thnh tn hiu in. Khi s dng mt
b ng nh vy ta c th truyn hnh nh ca mt vt. Trong cc h thng t
ng, ngi ta s dng cc si ring r truyn tia sng n cm bin (hnh 2-
15). Ngun sng thng l t LED (light-emitting diode) hoc laze dng xung
"ON" v "OFF". Si quang hin nay c s dng nhiu truyn d liu i xa, c

65
di tn rng v chng c can nhiu in t trng, cc loi tia bc x v chng nghe
trm.

Hnh 2-15. S truyn dn d liu bng si quang
2.1.7. Cm bin laze
Laze (laser) l ngun sng n sc, chi ln, rt nh hng v c
bit l tnh lin kt mnh (cng phn cc cng pha). i vi nhng ngun sng
khc, bc x pht ra l s chng cho ca rt nhiu sng thnh phn c phn cc
v pha khc nhau. Trong trng hp tia laze, tt c cc bc x cu thnh u cng
pha cng phn cc v bi vy khi chng cho ln nhau chng to thnh mt sng
duy nht v rt xc nh.

Hnh 2-16. S dng tia laze xc nh v tr ca chi tit
1. Ngun sng thng; 2. Ngun laze; 3. Gng cu;
4. Tiu c; 5. Khong lm vic.

c im chnh ca tia laze l c bc sng n sc hon ton xc nh,
thng lng ln, c kh nng nhn c chm tia rt mnh vi nh hng cao
v truyn i trn khong cch ln. Trn hnh 2-16 th hin u im ca tia laze so

66
vi tia sng thng khi xc nh v tr ca cc vt th nh khong cch xa. S
c mt hoc khng ca tia laze pha sau vt th c s dng nh l tn hiu logc
iu khin h thng t ng. Tia laze cng c s dng rng ri trong cc
thit b o, v d o nhm b mt, o kch thc di ca chi tit. C th ng dng
ba s trn hnh 2-7 cho cc cm bin laze.
2.2. Cm phn tch
2.2.1. My tnh
My tnh l mt phng tin phn tch, x l cc tn hiu u vo ca
h thng t ng bi v chng c kh nng v hn v lp trnh x l s liu.
i vi h iu khin trong thi gian thc c ngha l s thay i ca u
vo h thng s c p ng ngay lp tc th my tnh tng t l thch hp
nht. My tnh s khng th iu khin trong thi gian thc theo ng ngha ca
n, v mi bc lnh c thc hin trong mt khong thi gian ch khng th
thc hin ng thi. i vi my tnh s phi thc hin nm bc ri rc t khi
tn hiu vo thay i n khi c phn hi. Cc bc l:
- c tn hiu vo.
- c tn hiu phn hi.
- Tnh sai s.
- Thc hin cc thao tc x l sai s (nhn sai s vi cc hm iu
khin).
- a ra tn hiu iu khin.
Tc x l ca my tnh s tng ln rt nhiu nn thc hin chng
trnh iu khin khng mt nhiu thi gian tr. Do vy phn ln cc hng
chuyn sang sn xut thit b iu khin s.
Yu cu thp nht ca my tnh s l thit b iu khin logc kh trnh
PLC. Cc mun vo/ra ca PLC c th nhn c tn hiu vo t cc cm bin
iu khin. Cc PLC c th c lp trnh trc tuyn qua PC, c th chn dng
iu khin thch hp nh P (iu khin t l), PI (iu khin t l-tch phn), PD
(iu khin t l-vi phn) hay PID (iu khin t l-tch phn-vi phn); c th
thay i h s khuych i, hin th kt qu v c th chn cu hnh ca h iu
khin trn phn mm.
Cc k thut iu khin hin i c pht trin nh s tin b nhanh
trong cng ngh my tnh. Chng ta c th tm thy y k thut iu khin m
hay iu khin bng mng n ron. K thut iu khin m c ng dng
rng ri trong cc thit b in dn dng nhm tit kim nng lng. Cc h
thng iu khin mng n ron th ang c ng dng trong mt s lnh vc nh

67
d bo kh tng. Trong sn xut cng nghip th cc k thut mi ny cha c
ng dng rng ri.
2.2.2. B m
Trong cc h thng sn xut t ng, i khi cn nhu cu xc nh bao
nhiu sn phm c ch to ra tch lu trong kho cha hoc i qua trn bng ti.
Chc nng ny c th c thc hin nh cc phng tin bn trong h thng,
nh my tnh in t hoc nh thit b chuyn dng bn ngoi - b m. B m
c th l c kh, nhng a s cc h thng sn xut t ng s dng b m in
t. Cc b m ny tnh s xung in p do at-tric to ra khi c i tng sn
xut i qua. Cc b m c th m tng hoc m gim. Trn hnh 2-17 l h
thng m sn phm (chai) i qua cm bin trn bng ti.

Hnh 2-17. B m dng cm bin quang in m
s lng chai trn dy chuyn.
2.2.3. B thi gian
Nu cc xung u vo c thc hin chnh xc theo thi gian th b m
tr thnh b thi gian hay b m thi gian (timer), tng ng vi ng h.
Khi thi gian tri qua bng gi tr nh trc, b thi gian xut ra tn hiu. Cng
nh b m, b thi gian c th m thun (tin) hoc m ngc (li).
Mt trong nhng tnh cht ca b thi gian l kh nng dng hot ng.
iu ny cho php chng cng cc khong thi gian khi c in p v b qua
khong thi gian khng c in p, ngha l xc lp thi gian hot ng ca qu
trnh khng lin tc. B thi gian c th l mt thit b ring bit (c lp) trong
h thng iu khin cng nghip hoc l mt b phn ca h thng iu khin
c lp trnh hoc iu khin my tnh.

68
2.2.4. Thit b c m vch
Cc b c m vch thng c coi l mt cm bin, nhng chnh xc
hn chng l thit b phn tch, x l (analyzer). Chng gm mt b qut quang
in hoc laze kt ni vi b thi gian v b m. Th t cc vch m c chiu
rng khc nhau c qut v tnh ton nh thit b ny. Mi mt i tng tng
ng vi t hp vch hoc ch ci.
Qu trnh qut c tin hnh theo hng vung gc vi vch. Sau cc
tn hiu do cm bin pht ra c so snh vi nhau xc nh chiu rng tng
vch. Kt hp cc tn hiu c phn tch gii m ri a ra tn hiu dng ch
ci v ch s m h thng t ng tip nhn c.
Thit b qut cc vch m, xut ra tn hiu dng s h thng iu
khin c th x l c th hin trn hnh 2-18.

Hnh 2-18. S nguyn l thit b quet m vch.
1. Ngun laze; 2. Thu knh; 3. Gng bn x; 4. Gng quay; 5. B tch sng
quang (photodetector); 6. Bin i tn hiu; 7. Gii m; 8. My tnh;
9. Bn phm; 10. Cc m vch; 11. Hin th.

Qu trnh qut m vch thng c tin hnh nh ngun laze c vng
lm vic ln theo chiu su vng nt. Do vy khng cn nh v chnh xc
bng m vch trn khong cch xc nh k t thit b qut.
Cc tia qut i theo ng zic zc cho php thit b tm thy cc vch m
m khng cn nh hng chnh xc. Con ngi c th tip nhn cc m khc vi

69
m vch, nhng li l vn ln cho cc h thng t ng khi lm vic vi m
ch ci-ch s.
2.2.5. B m ho quang hc (Optical encoders)
Kh nng qut nhanh cc vch en trng b tr theo cc vng trn ng
tm trn a m ra kh nng mi cho t ng ho. Trn hnh 2-19 l mt a
nh vy. a ny nm trn trc trong cm lp rp c cc cm bin quang cho mi
vng. Cm ny c gi l b m ho quang hc (optical encoder) v c dng
kim sot tc ca trc. Thng tin v tc quay ca trc c th a vo
my tnh hoc thit b iu khin iu khin vn tc hoc v tr ca trc. Cc
b m ho quang hc ny c s dng rng ri trong robot v my iu khin
s. Cc b m ho c hai dng lm vic trong h thng tng i (gia s) hoc
trong h thng tuyt i. Loi tng i cho ta lot xung in p t l thun vi
gc quay ca trc. xc nh v tr mi ca trc, my tnh cn bit v tr trc
. Loi tuyt i chuyn i xung in p tng ng vi v tr mi trong tng
thi im. Vng gn tm ca a nht gm vch en trng b tr lch nhau 180
o
.
Cc vng tip theo c cc vch lch nhau 90
o
, 45
o
... Tn hiu u ra c dng nh
phn vi s lng tng ng vi s vng trn a. Khi cm bin i din vi vch
trng ta c tn hiu "0", cn i din vi vch en-tn hiu "1". V d s vng trn
a l 8 (cn 8 sensor LED) th tn hiu ra c th c dng 10010110.

Hnh 2 - 19. a m ho quang hc
Bng 2.6
Tnh ton gi tr ca gc quay theo tn hiu encoder
TT
vng
Gi tr gc Gi tr tn hiu Gi tr tnh
ton
1 180 1 180
2 90 0 0

70
3 45 0 0
4 22,5 1 22,5
5 11,25 0 0
6 5,625 1 5,625
7 2,8125 1 2,8125
8 1,40625 0 0
Tng cng 210,94

Vi tn hiu nh vy gc quay ca trc l 210,94 (bng 2.6).
Trn hnh 2-20 th hin mt loi encoder tuyt i ca hng Belt
electronic (M), cn trn hnh 2-21 th hin ng dng encoder kim sot tc
quay ca bnh xe robot.

Hnh 2-20. B m ho quang hc tuyt i (encoder) kim sot tc quay.


71
Hnh 2-21. B m ho quang hc (encoder) kim sot tc
quay ca bnh xe robot.

2.3. Thit b chp hnh
Cc thit b chp hnh l b phn thc hin hot ng no di tc
ng ca tn hiu pht ra t thit b iu khin. Hot ng c th l mt tc
ng vt l, cng c th l mt qu trnh no .
2.3.1. Xi lanh thu lc, kh nn
Cc xi lanh thc hin cc chuyn ng thng qua li. Xi lanh kh nn
c s dng rt rng ri bi v trong nh my c ngun kh nn tp trung v
ng ng dn kh nn i khp ni. Trm kh p tp trung lm vic p sut t
(80-100) psi (551,581- 689,476) kPa. Trn hnh 2-22 l th d v ng dng xi
lanh kh nn trong h thng sn xut c robot. Khi qu trnh sn xut cn lc n
200 pound (889 N) ngi ta s dng thu lc. p sut thu lc c th t 2000
psi (13789520 Pa).

Hnh 2-22. ng dng xi lanh kh nn dn ng tay robot trong h thng sn
xut t ng. 1-7 l cc chuyn ng ng hp.

72

Hnh 2-23. Xi lanh thu lc hnh trnh kp mt u trc.
1. Xi lanh; 2. Cn xi lanh; 3. ng dn du; 4. Pittng;
5, 7. Jong bt kn; 6. L xo;

Xi lanh thu lc gm c xi lanh hnh trnh n v xi lanh hnh trnh kp.
Xi lanh hnh trnh n ch c mt ng dn du vo bung du (hnh 2-23a).
Hnh trnh tr v do l xo hoc t trng ca pittng thc hin. Xi lanh hnh trnh
kp c hai loi: loi mt u trc (hnh 2-23b) v hai u trc (hnh 2-23c) tu
theo chc nng lm vic. Cc loi xi lanh ny c hai ng du dn vo hai
bung ca xi lanh. Xi lanh hnh trnh kp hai u trc c lc y v lc ko nh
nhau. Trn hnh 2-24 l mt th d v xi lanh thy lc hnh trnh kp, mt u
trc s dng nhiu trong sn xut cng nghip.


73
Hnh 2-24. Xi lanh thu lc hnh trnh kp mt u trc.
2.3.2. Cun ht (solenoids)
Vi chuyn ng thng ngn, nhanh, m du v lc nh th trong h
thng t ng s dng cun ht (solenoid). Nguyn l hot ng ca cun ht
da trn kh nng to ra mt t trng ht li thp trong cun dy khi cho dng
in i qua. Khi mt in li thp tr v v tr ban u nh l xo. Chuyn ng
ca li thp khc vi chuyn ng ca pittng l rt kh iu khin. Nhng iu
y khng quan trng.
Mt trong nhng ng dng ca cc cun ht c s dng rng ri
iu khin van thu lc, kh nn nhm thay i chiu chuyn ng ca chng.
2.3.3. R-le
Mt trong nhng ng dng rng ri ca cun ht l ng ngt mch
in. Mch ng ngt hot ng vi in p thp, dng in nh hn rt nhiu so
vi mch ng lc. Trn hnh 2-25 l s ng dng r-le ng ngt hai n.
Cc r-le dng ngun in p mt chiu, cn cc n dng in p 220VAC.Cc
r-le c th ni song song (hnh 2-25a) v ni tip (hnh 2-25b).

Hnh 2-25. S iu khin s dng r-le
2.4. Thit b dn ng
2.4.1. ng c
a. ng c in mt chiu
ng c in mt chiu gm c hai phn :

74
Stator c nh vi cc cun dy c dng in cm hoc dng nam chm
vnh cu. Phn ny cn c gi l phn cm. Phn cm to nn t thng trong
khe h khng kh.
Rotor vi cc thanh dn. Khi c dng in mt chiu chy qua v vi
dng t thng xc nh, roto s quay. Phn ny gi l phn ng.
Tu cch u dy gia phn cm so vi phn ng, ta c nhng loi ng
c in mt chiu khc nhau :
- ng c kch t ni tip (hnh 2-26a).
- ng c kch t song song (hnh 2-26b).
- ng c kch t hn hp (hnh 2-26c).

a) b) c)
Hnh 2-26. S cc loi ng c in mt chiu
Cc thng s ch yu quyt nh tnh nng lm vic ca ng c in
mt chiu l :
U - in p cung cp cho phn ng;
I - C ng dng in ca phn ng;
r - in tr trong ca phn ng;
- T thng;
E - Sc phn in ng phn ng.
Cc quan h c bn ca ng c in mt chiu l :
= = kn Ir U E
Trong k l h s ph thuc vo c tnh ca dy cun v s thanh dn
ca phn ng.
S vng quay ca ng c in mt chiu:

=
k
Ir U
n
Mmen ng C xc nh t ph ng trnh cn bng cng sut :

I k
C nC EI

= = 2 2
Hay:
Mun iu chnh tc ng c in mt chiu chng ta c th thc
hin bng hai cch:

75
- Thay i t thng , thng qua vic iu chnh in p dng kch t.
Trong tr ng hp gi nguyn in p phn ng U, tng tc t 0 n tc
nh mc, th cng sut khng i cn momen gim theo tc .
- iu chnh in p p hn ng. Trong tr ng hp t thng khng i,
khi tng tc t 0 n tc nh mc th mmen s khng i, cn cng sut
tng theo tc .
Mun o chiu quay ca ng c in mt chiu cn thay i hoc
chiu ca t thng (tc chiu ca dng in kch t) hoc thay i chiu dng
in phn ng.
b. ng c in xoay chiu
Ta thng gp cc ng c khng ng b i km mt h thng bin i
tn s (bin tn) iu khin tc ng c xoay chiu. H thng ny ngy
cng c hon thin khng km g c tnh ca cc ng c in mt chiu. u
im ni bt ca ng c xoay chiu l khng dng o mch (chi than) nn
lm vic tin cy, bo dng d dng, tui th cao.
c. Cc ng c thu lc
ng c thu lc c a dng trong giai on pht trin ban u ca
my iu khin s (CNC), ngy nay chng khng cn c s dng nhiu na.
u im ni bt ca cc ng c thu lc gn lin vi vic dng h thng van
sc-vo, nh vy a ra c ng c tnh ti u m men/vn tc. M men
cc i t c khi vn tc bng 0, cn quay nhanh chng cn c mt hp s
tng tc.
2.4.2. ng c bc
ng c bc c ci loi ng c in khng dng b chuyn mch.
C th, cc mu trong ng c bc l stator v rotor l nam chm vnh cu, hoc
trong trng hp ca ng c bin tr t, n l nhng khi rng lm bng vt liu
nh c t tnh. Tt c cc mch o phi c iu khin bn ngoi bi b iu
khin, v c bit, cc ng c v b iu khin c thit k ng c c th
gi nguyn bt k v tr c nh no. Hu ht cc ng c bc c th chuyn
ng tn s m thanh, cho php chng quay kh nhanh, ng v dng li v tr
bt k.
ng c bc c th s dng trong h thng iu khin vng h n
gin; nhng h thng ny m bo cho h thng iu khin gia tc vi ti trng
tnh; nhng khi ti trng thay i hoc iu khin gia tc ln ngi ta vn dng
h iu khin vng kn vi ng c bc.

76
Nu mt ng c bc trong h thng iu khin h qu ti, tt c cc
gi tr v v tr ca ng c u b mt v h thng phi nhn din li. ng c
servo th khng xy ra vn ny.
ng c bc c chia lm hai loi: nam chm vnh cu v bin tr t
(cng c loi hn hp nhng khng qu khc bit so vi ng c nam chm vnh
cu). Nu mt i nhn trn ng c chng ta cng c th phn bit hai loi ng
c ny bng cm gic m khng cn cp in cho chng. ng c nam chm
vnh cu dng nh c cc nc khi xoay nh rotor ca chng, trong khi ng c
bin tr t th xoay t do (mc d cng cm thy c nc nh bi s gim t tnh
trong rotor). Chng ta cng c th phn bit hai loi ng c ny bng m k.
ng c bin tr t thng c ba mu vi mt dy chung, trong khi ng c
nam chm vnh c thng c hai mu phn bit, c hoc khng c nt trung tm.
Nt trung tm ch c trong ng c nam chm vnh cu n cc.
ng c bc nam chm vnh c c th quay t 1,8 n 0,72 mt
bc. Tuy vy vi mt b iu khin tt cng c th cho ng c quay vi 1/2
bc hoc nh hn gi l vi bc.
a. ng c bin tr t
Nu ng c c ba cun dy, c ni vi nhau nh trn hnh 2-27, vi
mt u dy chung C th chc chn l mt ng c bin tr t. Khi s dng
u dy chung C ni vi cc dng ca ngun v cc cun dy c kch thch
theo th t lin tc. Khi cun dy 1 c cp in, rng X ca rotor b ht vo
cc 1. Nu cun 1 b ngt v cp ngun cho cun 2 th rotor s quay 30
0
theo
chiu kim ng h v rng Y s b ht vo cc 2. Nu c lun phin cp in cho
ba cun dy th rotor s quay lin tc.

Hnh 2-27. ng c bc bin tr t
b. ng c n cc
ng c n cc, c loi nam chm vnh c v hn hp, vi 5, 5 hoc 8
u dy c cun nh trn hnh 2-28 vi mt u ni trung tm trn cc cun

77
dy. Khi dng cc u ni trung tm gn vi cc dng ca ngun, hai u cn
li ln lt ni vi t o chiu t trng c to bi cun .

Hnh 2-28. ng c bc n cc
Mu 1 nm cc trn v di ca stator, cn mu 2 nm hai cc bn
phi v bn tri ng c. Rotor l mt nam chm vnh c vi 6 cc, 3 Nam, 3 Bc
xp xen k trn vng trn.
ng c th hin trn hnh 2-28 c 30
0
/bc, nhng cng c loi khc c
bc nh hn v t n 0,72
0
/ bc.
Dng in i qua t u trung tm mu 1 n u a to ra cc Bc trong
stator trong khi cc cn li ca stator l cc Nam. Nu dng in mu 1 b
ngt v kch mu 2, rotor s quay 30
0
hay mt bc.
c. ng c hai cc
ng c nam chm vnh cu hoc hn hp hai cc (lng cc) c kt cu
c kh ging nh ng c n cc, nhng hai mu ca ng c c ni n gin
hn, khng c u trung tm. V vy, bn thn ng c th n gin hn, nhng
mch iu khin o cc mi cp cc trong ng c th phc tp hn (hnh 2-29).
Mch iu khin cho ng c i hi mt mch iu khin cu H cho mi mu;
iu ny cho php cc ca ngun n mi u ca mu c iu khin c lp.

Hnh 2-29. ng c bc hai cc
phn bit ng c nam chm vnh c hai cc vi ng c bn dy
bin tr t, ta o in tr gia cc cp dy. Ch l mt vi ng c nam chm
vnh c c bn mu c lp c xp thnh hai b. Trong mi b, nu hai mu
c xp ni tip vi nhau th l ng c hai cc in th cao. Nu chng

78
c ni song song th l ng c hai cc in th thp. Nu chng c ni
tip vi mt u trung tm th dng nh ng c n cc in th thp.
d. ng c nhiu pha

Hnh 2-30. ng c bc nhiu pha

Mt b phn ng c bc khng ph bin nh cc loi trn, l ng
c nam chm vnh cu m cc cun dy c qun ni tip thnh mt vng kn,
gi l ng c nhiu pha (hnh 2-30). Thit k ph bin nht ca loi ny s dng
dy ni 3 pha v 5 pha. B iu khin cn 1/2 cu H cho mi u ra ca ng c,
nhng nhng ng c ny c th cung cp momen xon ln hn so vi loi ng
c bc cng kch thc. Mt vi ng c 5 pha c th x l bc n 0,72
0
/bc
(500 bc/vng).

Cc thng s ch yu ca ng c b c:
- Gc quay :
ng c b c quay mt gc xc nh ng vi mi xung kch thch. Gc
b c cng nh th phn gii v tr cng cao. S b c s l mt thng s quan
trng :

0
360
= s
- Tc quay v tn s xung :
Tc quay ca ng c b c ph thuc vo s b c trong mt giy.
i vi hu ht cc ng c b c, s xung cp cho ng c bng s b c (tnh
theo pht) nn tc c th tnh theo tn s xung f. Tc quay ca ng c
b c tnh theo cng thc sau :
s
f
n
60
=
Trong :
f - tn s xung, b c/pht.
s - s bc trong mt vng qauy.
n - tc quay, vng/pht

79
Ngoi ra cn cc thng s quan trng khc nh chnh xc v tr,
momen v qun tnh ca ng c...
ng c bc c khuych i thu lc.
Trong trng hp ny ng c bc ng vai tr dn ng iu khin
mt ng c thu lc cng sut ln. Bn thn ng c bc chy in thun tu
c cng sut nh v thit k hot ng trong vng tn s (16 18)KHz. Cc h
thng ng c bc c khuych i mmen bng thu lc thng c dng
trong cc my CNC hng nng nhng v l do gi thnh cao v nhng vn c
lin quan quan n s dng h thng thu lc nn ngy mt him thy hn cc
trng hp p dng.
2.4.3. ng c servo mt chiu
ng c mt chiu (DC motor) v ng c bc vn l nhng h hi tip
vng h (khng c lin h ngc), cn ng c servo mt chiu c thit k
lm vic vi nhng h hi tip vng kn (c lin h ngc).
Khi ng c quay, tc v v tr s c chuyn v mch iu khin.
Mch iu khin hiu chnh sai lch cho n khi t c chnh xc cn thit.
ng c servo c nhiu kiu dng v kch thc, c s dng trong nhiu lnh
vc khc nhau, nht l trong cc my iu khin s v robot cng nghip. Trn
hnh 2-31 th hin loi ng c servo kiu nam chm vnh cu.

Hnh 2-31. ng c servo mt chiu
1. Vng chn du; 2. Stator; 3. Rotor-Nam chm vnh c; 4. Cun dy stator; 5.
Encoder; 6. ln; 7. Khp ni.

Trc ca ng c c nh v nh vo k thut gi l iu bin rng
xung (Pulse Width Modulation - PWM). Trong h thng ny mch iu khin
p ng mt tn hiu s gm cc xung bin i t 1 -2 ms. Cc xung ny c
gi i 50 ln/giy. Ch rng khng phi s xung trong mt giy iu khin
ng c servo m l rng xung. ng c servo i hi khong 30 - 60
xung/giy. Nu s ny qu thp, chnh xc v cng sut s gim.

80
Vi rng xung 1 mms, ng c servo c iu khin quay theo mt
chiu, gi s theo chiu kim ng h (hnh 2-32)

Hnh 2-32. iu khin ng c servo bng iu bin rng xung

Vi rng xung tng ln 2 ms, ng c quay chiu ngc li. Cng
sut cung cp cho ng c cng t l vi lch gia v tr hin ti vi v tr cn
n. Nu sai lch nh, ng c quay vi tc thp khng vt qu v tr cn.
Khi t n ch (sai lch bng 0), ngun cp cho ng c cng bng 0 v ng
c dng li.

81
Chng 3
T ng ho cp phi ri
3.1. Chc nng v phn loi
Trong chng trnh mn hc My t ng chng ta nghin cu cc
c cu cp phi dng dy, c cu cp phi thanh c trng cho cc my t ng
iu khin bng trc phn phi. Trong chng ny chng ta nghin cu mt s
thit b cp phi ri (n l), ch yu l thit b cp phi dng v thit b cp
phi dng phu.
Thit b cp phi ri l t hp cc c cu bo m s dch chuyn ca
phi t ni cha (tr) vo vng gia cng v y chi tit c gia cng xong ra
ngoi n vng lu tr mi.
Thit b cp phi ri c th c ch to thnh cm my c lp hoc
cm gn kt hu c vi my cng c cng nh vi g my. Ph thuc vo
phng php lu tr phi, cc loi thit b cp phi ri c chia thnh ba nhm:
dng cha, dng xp lp v dng phu. Trong cc thit b dng phi c sp
xp thnh mt dy theo trnh t v c nh hng. Thng thng ngi cng
nhn t thc hin cng vic ny. S khc bit ca cc thit b cp phi dng lp l
phi c cha tr thnh mt s lp k tip nhau. Trong cc thit b cp phi
dng phu phi nm t do (khng theo trt t no c) trong phu cha. a
phi vo vng gia cng cn phi c thm c cu nh hng.
Trong thc t sn xut cc thit b cp phi c chia thnh loi vn
nng, vn nng iu chnh v loi chuyn dng.
Cp, vn chuyn v lu gi phi t ng phi c gii quyt trn c s
cc qu trnh gia cng c th, trnh thit b v chnh xc yu cu. Qu trnh
cp phi phi c thc hin nhanh, tin cy. Trong thc t gia cng, tn ti nhiu
loi phi khc nhau, tuy nhin loi phi ri chim t l ln nht (trn 70%). Do
nghin cu pht trin thit b cp phi ri c ngha kinh t - k thut to ln.
Cc phi ri rc c phn loi theo s lng cc ng trc v cc mt i xng
cng nh kt cu, hnh dng hnh hc, trng lng v ln ca chng. Trong
thc tin thng p dng ba loi thit b cp phi ri: dng phu, dng v dng
kt hp.
3.2. Thit b cp phi dng
3.2.1. Phn loi
Thit b cp phi dng cha thng thc hin vic nh hng v g t
s b chi tit trc sau a n vo vng gia cng. Kt cu tiu biu ca mt c
cu cp phi dng cho trn hnh 3-1. Phi c nh hng s b trong 1

82
s c c cu cp phi 3 a ti c cu kp cht 5. Ti y, nh c cu cp phi,
phi s c t ng v tr yu cu tin hnh gia cng. qu trnh cp phi
thc hin an ton, ngi ta s dng c cu cch ly 6 v b ngt dng 2. Sau khi
gia cng xong, chi tit c c cu y phi y vo g dn 4 ri a ra ngoi.

Hnh 3-1. Thit b cp phi dng
1. cp phi; 2. B ngt dng; 3. C cu cp phi; 4. g dn;
5. C cu kp cht; 6. C cu cch ly.

Hnh 3-2. Cc thit b cp phi kiu
a, b, c - Dng thng; e, f, m - Dng cong; d, n - Dng lin hp.

83

Hnh 3-3. Cc thit cp phi nh trng lc
a, b - Kiu ng; c, d, e - Kiu phu; f, m - Kiu phu - ngn.


Hnh 3-4. Cc thit b phi c chuyn ng cng bc
a, b) Dch chuyn phi nh trng lng (1. qu nng, 2. l xo); c) Dch chuyn
nh l xo; d) Dch chuyn phi nh ma st gia phi v ai di ng 3; e) Dch
chuyn ti c cu cp phi 6 nh mc 5 trn cc bng ti di ng 4.

84
Thit b cp phi ri thng thng c cc c cu v b phn sau: thng
cha tr phi, c cu nh hng, mng dn, c cu tch dng phi, c cu np
phi (a phi vo vng gia cng), thanh np, thanh y, c cu cch ly (c cu
kho). Tuy nhin mt s thit b cc c cu c th thc hin khng phi mt m
mt s chc nng, nn mt s b phn v c cu k trn c th khng tn ti.
Trong cc thit b cp phi dng , phi dch chuyn trong mng dn
bng phng php t chy (nh trng lc), bn t chy v cng bc. Trn cc
hnh 3-2 hnh 3-4 l mt s kt cu in hnh ca cc thit b cp phi.
Hnh 3-3 l cc thit b cp phi da trn nguyn l ng dng trng lc.
Phi phi c trng lng ln t dch chuyn c trong mng dn.
Hnh 3-4 l thit b cp phi c chuyn ng cng bc. Dch chuyn ca
phi c th c thc hin nh cc phng php nh dng qu nng 1 (hnh 3-4a, b),
l xo 2 (hnh 3-4c), lc ma st gia phi vi ai di ng 3 (hnh 3-4d), hoc vu 5
trn mt lm vic ca bng ti di ng 4 khi cp phi cho b np 6 (hnh 3-4e).
Mt s c cu c chuyn ng lc (hnh 3-5c).
Cc c cu kiu phu - ngn (hnh 3-3f, m) cho php nh hng s b
phi bn ngoi phu ri mi a vo ngn. Vic thay th cc bng ny c th
thc hin nhanh v tin li.
3.2.2. Mt s c cu chnh ca thit b cp phi dng

Hnh 3-5. Cc c cu tch dng phi c chuyn ng lc v tnh tin qua li
a, b, c) C chuyn ng tnh tin qua li; d, e, f) C chuyn ng lc.

C cu tch dng phi. Hnh 3-5 v 3-6 l s lm vic ca cc c cu
tch dng phi. Chng c th s dng tch tng phi hoc mt nhm phi ra
khi dng phi. Cc c cu ngt dng c chuyn ng tnh tin kh hi

85
(hnh 3-5a, b, c) v chuyn ng lc (hnh 3-5d, e) s dng khi nng sut
yu cu khong (50 70) phi/pht. Cc c cu ngt dng phi vi chuyn
ng thng qua li lm vic khng tin cy khi nng sut cao (trn 150 phi/pht)
do b tr v qun tnh. Cn cc c cu trn hnh 3-5f cho php tch tng nhm 5
phi mt. Cc b ngt dng trn hnh 3-6 c nng sut cao v t b hng hc hn
do qu trnh lm vic m v u.

Hnh 3-6. Cc c cu tch dng phi c chuyn ng quay
a, b, c) B tch dng kiu tang trng; d, e) B tch dng kiu xon c.

C cu cp phi. C cu ny lm nhim v chuyn phi sau c cu tch
dng vo vng gia cng, n trc chnh hoc c cu kp cht ca my. y l c
cu chnh ca thit b cp phi. Thng thng c cu ny c c cu gi phi lm
nhim v nh v chi tit v tr ng n trong qu trnh di chuyn vo v ra
khi vng gia cng. Kt cu mt s loi c cu np phi th hin trn hnh 3-7.
Cc c cu cp phi chuyn ng tnh tin qua li (hnh 37a, b, c) bo
m chnh xc cp phi v khng chim nhiu khng gian trong qu trnh gia
cng v chng quay v cha. Trong cc c cu cp phi (hnh 37a, b), phi
c cp nh rnh 1 ca thanh cp 2. Khi thanh cp 2 tr v v tr ban u, rnh 1
nm i din vi ca s ca cha. v tr ny phi tip theo t ng ri vo
rnh. Khi thanh cp chuyn ng vo n tm trc chnh, phi c y vo v
kp cht trn trc chnh v gia li , cn thanh cp tr v v tr ban u.
Trong thc t nhiu cha thc hin c chc nng ca c cu cp phi.
Trn hnh 37c, ta thy cha dch chuyn xung tm trc chnh ca my.
y, phi i qua l trn thnh cha vo trc chnh, sau cha lui v v tr
ban u. Tuy nhin kt cu ny c nhc im l khi hnh trnh kp ca thanh
y 1 ln th phi khng kp ri vo tay gi i vo trc chnh, do my c
th ngng hot ng. Ngoi ra tc chuyn ng ln lm thanh y chng mn
v chnh xc cp phi gim.

86
Hnh 37d l c cu cp phi c chuyn ng lc. Trn cn lc c c
cu gi phi. Khi phi v tr i din vi trc chnh my, c cu kp s gi phi
li, cn cn lc th quay v v tr ban u. y mt phi khc s ri vo c cu
gi phi.

Hnh 3-7. Cc c cu cp phi

Hnh 37e, g cng l c cu cp phi c chuyn ng lc. Tuy nhin
cc c cu ny mang ton b phi nm trong cha cng lc. Khi phi nm i
din trc chnh th chi tit c c cu y vo trc chnh. Cc c cu ny lm
vic rt n nh nn c s dng rng ri trong sn xut.
Hnh 37h l c cu cp phi quay trn. a quay c cc rnh cha
phi. Do a quay mt chiu nn hot ng rt m du, khng c ting n v tin
cy, bn lu.

87
C cu y vo v c cu y ra. C cu cp phi lm vic ng b vi
c y vo v c cu y ra. l hai c cu a phi t c cu cp phi vo trc
chnh my hoc vo g v y chi tit gia cng t c cu kp ra ngoi. Trn
my tin, c cu y vo thng c lp trn u revolver, ng, hoc mt v
tr ca bn dao dc. C cu y vo c th l loi gn cng v loi c l xo
trnh hng hc khi phi khng vo ng v tr. C cu y ra thng c lp
trong trc chnh hoc mm cp n hi. C cu y ra cng c hai loi: cng v
mm. C cu y ra mm lun b tc ng ca l xo. Nu khng c phi n dch
chuyn v pha trc v chim mt phn v tr ca phi c cu kp cht. Khi
cp phi, thanh ny b phi y vo nn l xo li v trng thi cho n khi
c cu kp thi tc ng (nh kp).
Trn hnh 3-8 l thit b cp phi dng vng ngoi ln. Thit b ny c
c cu y phi vo 6. C cu ny gm ng 4 lp trn cc ln v dch chuyn
vo ra c nh b truyn thanh rng-bnh rng 5. Trn ng 4 c bc nh v 3
gi phi khi a n v pha trc chnh v lp ln trc g 9 ca c cu y phi ra.
L xo trn c cu ny bo him cho my khng b h hng khi phi khng vo
c trc chnh. Khi c cu y vo 6 tin sang phi, di tc dng ca l xo,
thanh y 10 ca c cu y phi ra s y chi tit c gia cng sang phi
trt ra khi trc g n vu 8 ri ln ra ngoi vng gia cng theo mng dn 7.
Cui hnh trnh c cu y phi vo tc ng ln c cu tch dng phi 2 a
phi tip theo xung, chun b cho chu trnh tip theo.

Hnh 3-8. C cu y phi vo v y phi ra

Trn hnh 3-9 l thit b cp phi dng vng trong ca ln. y phi
vo v y phi ra u do mt c cu lp trong trc chnh my thc hin. C cu
ny gm trc g 4 vi cc vin bi 5 lun lun bung ra nh l xo gi phi. Trc

88
3 ca c cu lp trn cc ln 6 nn c th quay t do chuyn ng tnh tin
trong trc chnh. Phi t vo vng chn 8 v c kp cht nh chu kp n hi
7. Sau khi gia cng xong, phi c y ra ngoi nh trc 3 khi trc ny dch
chuyn sang phi. bo v dao ct khng b gy khi y phi ra, ngi ta lp
tm chn 9 c cc l cho dao i vo. Sau mng dn cng phi i xung a
phi tip theo ng tm vi trc g 4. Trc 3 tip tc tin sang phi v trc g
chui vo l ca phi, cn phi c gi cht trn nh cc vin bi. Khi trc 3
li sang tri, chi tit chui vo chu kp n hi v b gi li nh vng chn 8.
y phi c kp cht gia cng.


Hnh 3- 9. Mt c cu thc hin hai chc nng y phi vo v y phi ra

3.2.3. Mng dn
Mng dn l c cu rt quan trng ca mi thit b cp phi. V nguyn
l di chuyn ca phi trn mng dn ta c mt s loi mng dn sau: mng ln
hnh 3-10 a), mng c con ln (hnh 3-10b) v mng trt (hnh 3-10c).
V kt cu th mng dn gm: mng thng thng, mng thng c con
ln, mng cong, mng lm, mng dng ng ray, mng c rnh, mng xon c,
mng zic zc v mng chuyn dng (hnh 310).
Theo tit din ngang th mng c th l hnh ch nht, hnh ch V, c
hnh dng ca phi, v mng kn (hnh 311).
V kt cu th mng dn c th l mng n khi (hnh 3-11) v mng
lp rp t cc chi tit tiu chun (hnh 312).

89

Hnh 3-10. Cc loi mng dn
a) Mng ln; b) Mng c con ln; c) Mng lm v li; d) Mng xon vt; e)
Mng zic zc; f) Mng khe.


Hnh 3-11. Tit din ngang ca mng dn
a) Mng kn; b) mng h; c) Mng ch V; d) Mng bn nguyt; e) Mng khe; f)
Mng ch T; g) Mng mt phin dn; h) Mng hai phin dn; i) Mng mt
thanh; k) Mng hai thanh.

90

Hnh 3- 12. Kt cu ca mng dn
a, b, c: Mng h; d: Mng c tm chn bo v; 1. Thnh bn; 2. Tm ; 3. Cht
lin kt; 4. Tm g trn; 5. Tm g di; 6. Tm chn bo v.

Chiu rng mng v bn knh cc gc ln c xc nh da trn c s
bo m iu kin chng kt theo hnh dng chi tit v mng dn. Hin nay, phn
ln cc mng dn c lp rp t cc chi tit tiu chun. Cc b mt ca mng
dn c gia cng (thng l mi) rt cn thn, t nhm t cp 8 n cp 9
(Ra = 0.63 0.32 mk) sau khi nhit luyn nng cao cng, tnh chng
mn v gim ma st.
Vi cc loi phi dch chuyn nh chuyn ng trt, gc nghing ca
mng dn phi phi ln hn gc ma st gia phi vi mng dn. Thng gc ny
c chn ln hn 25 30
o
. Vi cc phi dch chuyn nh chuyn ng lc, gc
nghing ca mng dn khng b hn 7 10
o
.
Tnh ton kh nng di chuyn ca phi trn mng trt. S tnh
ton mng trt th hin trn hnh 3-13. Mc m du v tc trt ca phi
trn mng ph thuc vo vt liu ch to mng, kch thc v nhm b mt trt
v cong ca mng. Cc phi nng trt tt hn cc phi nh. Trn cc on
mng cong li hoc lm phi trt chm; cn trn on mng dng xicloid phi

91
trt nhanh hn trn mng thng. Gc nghing ca mng thng ly bng
=2530
O
, cn
1
cn phi ly nh hn gc ma st. Trn hnh 3-13a vn tc ca
phi c tnh theo cng thc:
( )
2
0
'
1 2 v ctg f gh v + =
Vn tc ca phi trn hnh 3-13b l:
( )
1 1
'
cos sin 2 S f g v
I
=
( )
2
0
'
1
2
cos sin 2 v S f g v v
k II
+ =
( )
( )
1
'
2 2
0
'
1
sin cos 2
1 2

ctg gf
v v h ctg f g
S
k

+
=
( ) ( )
( )

sin sin cos 2
sin cos 2
1
'
1
2 2
0 1
'
ctg gf
v v h f g
S
k

=
trong f' l h s ma st tng ng; v
o
l s tc ca phi; v
k
l vn
tc cui cng ca phi.

Hnh 3-13. S tnh ton mng nghing (trt).

i vi mng ln th vn tc cui cng ca phi c tnh theo cng
thc:
( )
r
L k rH g
v
k
5 , 1
2
' '
1

= vi v
o
= 0
Khi v
o
> 0 ta c:
( )
2
0
' '
1
5 , 1
2
v
r
L k rH g
v
k
+

=

92
Trong H
1
- chiu cao mt phng nghing (chiu cao ca mng);
r= 1/2d - bn knh ca phi; L
'
- chiu di hnh chiu mng trn mt bng;
k
'
- h s ma st ln.
Mt s tnh ton kch thc ca mng dn th hin trn hnh 3-14.
Chiu rng mng B
m
:
- Chi tit tr trt trn mt u (hnh 3-14a):
B
m
(d +d); vi d = (1 3) mm.
- Chi tit tr ln (hnh 3-14b):
B
m
= l + l; vi l ly theo cng thc:
l
f
l d
l
+
+
=
2
2 2
1
(3.1)
- Vi on mng cong v vi chi tit tr 5 , 1
d
l
trt dc (hnh 3-14c):
' 2 2
4 5 , 0 l d l r r B
H H m
+ + = ;
'
2

= n ;
0
'
2
sin
r
l
= ; d r r
H
=
0

Trong : n - s chi tit trong on cong c khng ch bng gc .
- Vi on mng cong v chi tit tr d l trt ng (hnh 3 - 14d):
( ) 5 , 1 1
2
+ + = d d B
m
; 1
2
'
+ =

n ;

=
2
2
sin
'
d
r
d
H

Trong : n - s chi tit trong on cong c khng ch bng gc .
- Vi mng dng ch V (hnh 3-14e):
( )d B
m
8 . 0 7 , 0 = ; = 45
0
i vi chi tit rng; = 60
0
i vi chi tit c.
Chiu cao thnh mng H
m
:
i vi mng h (hnh 3-14f):
- i vi chi tit dng tr: ( )d H
m
6 , 0 5 , 0 =
- i vi chi tit dng a, m: d H
m
6 , 0 >
- i vi chi tit dng tr ch c mt mt u phng: ( )d H
m
8 , 0 7 , 0 >
i vi mng na h, tc l c g chng vng (hnh 3-14g):
d H
m
4 , 0 = ; H d H
m
+ >
'

i vi chi tit trc bc (hnh 3-14h):
- Khi ln trn bc nh:
1
2
+

=
d D
H
m

- Khi ln trn bc ln:
1
2

=
d D
H
m


93
Trong
1
= (2 5) mm
ngha ca cc k hiu trong cc cng thc trn nh sau:
B
m
- Chiu rng mng; d - ng knh (chiu rng) ca chi tit; d - khe
h gia chi tit v thnh mng; l - chiu di chi tit; l - khe h gia chi tit v
thnh mng theo hng vung gc vi trc ca chi tit; r
H
- bn knh cong ca
mng; l
'
- dung sai chiu di chi tit; d
2
- dung sai ng knh chi tit;
'
- gc
ca mng cong bao 1/2 chi tit;
'
m
B - chiu rng ca mng dng ch V; H
m
-
chiu cao ca mng; H = (0,5 1) mm - khe h gia chi tit v thnh bn ca
mng; - gc bao ca on mng cong.



Hnh 3-14. S tnh ton mng trt

94
Mng c con ln (hnh 3-15a) ch yu s dng vn chuyn phi dng
trc t my ny sang my khc. Mt s kt cu ca con ln c th hin trn
hnh 3-15b. Kch thc ca con ln c xc nhtheo cng thc:
cl
D d 1 , 0
0
; ( )
2 2 2 2
0 0
; 2 ;
2
9 , 0 r R R C r R R D D
L
D
cl
= = =
Trong L - chiu di tnh ton ca phi; D
0
- ng knh bin ca con
ln; D
cl
- ng knh trong ca con ln; R = 0,7.d/2 - bn knh cong ca rnh trn
con ln; r - bn knh phi; C - chiu su rnh trn con ln; n
0
- s con ln phi.
Khong cch gia cc con ln l 0,95 L/2, cn chiu rng mng c
ly theo kt cu.

Hnh 3-15. Kt cu mng trt c con ln

3.3. Thit b cp phi dng phu
3.3.1. Nguyn l v kt cu chung ca thit b cp phi dng phu
Trn hnh 3-16 l mt thit b cp phi dng phu in hnh. Thit b ny
gm hai b phn chnh: nh hngphu v tay my. Gia hai b phn ny l
mng dn. B phn nh hngphu gm phu 1, c cu tuyn phi 3, c cu
nh hng 4, c cu chng vn cc (t phi) v c cu np phi. Chc nng ca
tay my l cp phi c nh hng vo vng gia cng (trc chnh), gp hoc
y chi tit c gia cng ra khi my. Tay my gm cc c cu sau: c cu
tch dng phi 7, c cu np (cp) phi 8, c cu gi phi 9, c cu y vo 10,
c cu y ra 11 (hay c cu tho phi) v c cu dn phi ra (mng). Mng dn
6 lin kt hai b phn trn ng thi l ni cha tr phi b p s khng

95
ng b gia my v b phn nh hng-phu. Trong bng 3.1, 3.3, 3.3, 3.4 l
c tnh k thut ca mt s loi thit b cp phi dng phu.

Hnh 3-16. S thit b cp phi dng phu in hnh
Bng 3.1
c tnh k thut ca cc thit b cp phi dng phu c ti cha hoc rng.
C
cu
cp
phi
Lnh vc s dng Nng sut trung
bnh (phi/pht)
S l
nh
hng
S vng quay
ca a cp
hoc s hnh
trnh kp/pht
Kiu
ti
cha
cp phi hnh tr,
c trng tm lch so
vi tm i xng
hnh hc
180 250 20 32 8 12
Kiu
rng
cp phi hnh tr
c trng tm lch v
pha y
180 200 30 70 3 10

Bng 3.2

96
c tnh k thut ca cc thit b cp phi dng phu nh hng bng ng.
Kiu c cu
cp phi
Lnh vc s
dng
Nng sut trung
bnh (phi/pht)
S vng quay/pht
hoc s hnh trnh
kp/pht
ng c chuyn
ng tnh tin
cp cc
loi hnh tr
80 100 15 30
ng c chuyn
ng quay cng
b trn phi
Nh trn
120 100 30 60
Bng 3.3
c tnh k thut ca thit b cp phi dng phu c mc v vu nh hng.
Kiu c
cu nh
hng
trong phu
Lnh vc s dng
S b
mc
Nng sut
ln nht
(phi/pht)
H s xc
nh mc
phi
Mc c
chuyn
ng lc
cp cc chi tit dng
vng m vi d
max
= 4 mm;
t
max
= 2,5 mm; chiu dy
thnh t > 1 mm
1
20 30
0,15
Mc c
chuyn
ng tnh
tin kh hi
cp cc loi np y c
l > d; d
max
= 20 mm; l
max
=
25 mm; chiu dy ti thiu
ca thnh t = 0,5 1 mm
1
50 70
0,2
Mc c
b tr hng
tm trn
mt ngoi
cp cc loi np y,
bc c l > d; d
min
= 6 mm;
d
max
= 30 mm; chiu di l >
20 mm, chiu dy thnh t >
0,3 mm
9 12 120 140 0,5 0,6
C vu nh
hng b tr
nm
nghing
trn mt
trong
cp cc loi np y,
bc c l > d; d
min
= 10 mm;
d
max
= 40 mm; chiu di l <
90 mm; chiu dy thnh t >
0,03 mm
60 70 140 250
0,2
Bng 3.4

97
c tnh k thut ca thit b cp phi dng phu c c cu nh hng
dng ngn, khe v cnh gt.
Kiu c
cp cp
phi
Lnh vc s dng
Nng sut
trung bnh
(phi/pht)
S vng
quay hoc
chuyn ng
kh hi
trong mt
pht
Chiu di b
mt cng tc
ca ngn
hoc ng
knh ca a
(mm)
Ngn cp phi c m
nh inh tn, vt v.v..
120 130 30 40 300 430
Khe Nh trn
200 250 5 10 450 600
Cnh gt cp cc loi phi
c hnh dng a din
(ai c v cc loi
khc)
15 200 4 6 10 16
3.3.2. Phu
Phu bo m lng d tr phi cn thit my lm vic lu di v a
phi vo c cu nh hng.
gim khng gian ca phu chnh, i khi ngi ta s dng thm mt
phu ph (hnh 3-17). Trong trng hp ny, trong phu 1 (hnh 3-17a) ch cn
mt s lng chi tit va qu trnh tuyn phi v nh hng xy ra d
dng. Phu ph 2 cho php to ra mt lng chi tit d tr lm vic trong mt
thi gian di. Phu ph c th di ng (hnh 3-17b) lm cho phi d trt hn,
trnh hin tng t cm ca chng. Hnh 3-17a l s ca mt c cu cp phi
kiu phu c phu ph c nh. Ca s 3 s iu chnh lng chi tit vo phu.
Hnh dng ca phu ph thuc vo hnh dng phi v phng php tuyn phi.
Th tch phu c tnh theo cng thc sau:
K t
T V
V
ct
ph
.
.
= (3.2)
Trong :
V
ct
- th tch ca mt phi (cm
3
)
T - thi gian lm vic lin tc ca c cu cp thi theo phng php cp
mt ln ban u.
t - thi gian gia cng mt chi tit.
K - h s s dng th tch.

98

Hnh 3-17. Thit b cp phi dng phu c phu ph
Phu chnh; 2. Phu ph; 3. Ca s.
Vi cc chi tit dng bi cu, ai c, vng m, phi hnh tr v cn, h s
K nm trong khong t 0,4 (vi chi tit c chiu di l ln hn d nhiu ln) ti
0,65 (vi chi tit c 1 < d). Trong gia cng c, thng ngi ta s dng phu c
chiu su khng ln hn cc kch thc khc ca n. Trong trng hp ny, lc
tc ng theo phng thng ng ln cc lp phi s khng khc nhiu so vi
trng lng ca ton b lng phi trong phu. Khi chiu su phu tng, lc ny
gim ng k v phn ln trng lng phi c thnh phu tip nhn.
Ti ca ra ca phu, phi c th b kt li (t phi), nh hng n nhp
lm vic ca c cu cp phi. iu ny cng d xy ra i vi cc chi tit c
l/d > 4 hoc c hnh dng phc tp. Bng cch thit k hnh dng phu hp l, s
dng cc c cu xo trn, ct dng... c th loi b c hin tng trn.
Mt trong cc c cu chp hnh ca thit b cp phi dng phu l b
mc phi. B mc phi thng c dng mc, vu, khe h trn a cp, ti cha,
ng... S b mc phi v hnh dng ca n ph thuc vo nng sut phi yu cu
v hnh dng ca phi ban u. Nng sut ca thit b cp phi dng phu do c
cu nh hng quyt nh v c tnh theo cc cng thc sau:
Khi cp phi theo chic: Q = z.n.k
m
(3.3a)
Khi cp phi theo nhm: Q = z.n.q.k
m
(3.3b)
Khi cp lin tc: Q =k
m
.v/l (3.3c)
Trong :
z - s c cu tuyn phi (mc, ti, khe...).
n - s vng quay hoc s chuyn ng qua li trong mt n v thi gian.
q - s phi trong mt c cu tuyn phi.
k
m
- h s tuyn phi.
v - vn tc trung bnh ca phi m/pht.
l - chiu di ca phi theo hng chuyn ng mm.

99
3.3.3. C cu nh hng

Hnh 3-18. nh hng ca kt cu chi tit n kh nng nh hng
a) Kt cu khng hp l; b) Kt cu hp l

Hnh 3-19. nh hng chi tit nh tnh i xng
a) Kh nh hng; b) nh hng tt

y l mt trong nhng c cu a dng nht ca thit b cp phi dng
phu. C cu ny thng thc hin chc nng nh hng vi c cu tuyn phi
v to rung ng. nh hng phi ngi ta thng da trn mt s yu t
sau: tnh i xng, phn b trng tm, kt cu c bit, vt liu (nhim t hay
khng chng hn). Trong trng hp c bit, cn phi s dng hai c cu nh
hng v gi chng l cc c cu s cp, th cp. Trn hnh 3-18 v 3-19 l mt
s chi tit c kt cu hp l v khng hp l theo quan im nh hng phi.
Di y l mt s c cu nh hng thng dng.
1. C cu nh hng dng khe c vu.
Loi ny s dng cho cc loi phi nh dng vt vi chiu di khng ln
hn 50 mm, ng knh nh hn 10 mm (hnh 3-20). Phi sau khi c vo
phu s lt vo khe. Chiu rng khe ln hn ng knh ngoi ca thn, nhng
nh hn u phi. Khi a quay, cc vu s y phi treo trong khe ra pha mng

100
dn n c cu cp phi. phi d dng lt vo khe gia phu v a quay
ngi ta to mt cn 60
0
. ng knh trung bnh nh nht ca khe c tnh theo
cng thc:
( )
d
l
d
l
D
2 2
min
8 5
4
>
Chiu rng khe tnh nh sau:
( )
2
85 , 0
1
2
d d
l
+
=
khi kt khong cch t ng knh ngoi ca khe n v phu ly:
d l 5 , 1
1
= .

Hnh 3- 20. S c cu nh hng dng khe c vu

2. C cu nh hng dng dao.
Dao l mt tm thp c kt cu b mt lm vic a dng v ph thuc vo
kt cu, kch thc ca phi (hnh 3-22c). Dao c th chuyn ng tnh tin qua
li hay chuyn ng lc.
Trn hnh 3-21 l s c cu nh hng dng dao tnh tin qua li, cn
trn hnh 3-22 l s c cu nh hng dng dao lc. loi b cc phi nh
hng khng ng ngi ta s dng a cc 3.
Nng sut ca c cu nh hng dng dao c tnh theo cng thc:
1
. .
d
k nL
k n m Q
d
= = ; trong k = 0,3 0,4 - h s tuyn phi; m - s lng
phi cha trong khe nh hng; L
d
- chiu rng ca dao; d
1
- ng knh u chi
tit; n - s hnh trnh kp ca dao.

101
S hnh trnh kp c ly theo cng thc:
( )
d
L
f g
n
2
cos sin
60
max

=

Hnh 3-21. S c cu nh hng dng dao tnh tin qua li

3. C cu nh hng dng a c hc
Kt cu v hnh dng ca hc ph thuc vo phi v thng c b tr
theo dy cung hoc hng tm. Loi ny dng cho cc phi dng trc vi d < 15
mm, l < 80 mm v t l l/d = 2,5 4 hoc dng a (hnh 3-23). Khi thit k cc
c cu nh hng dng ny cn tnh n khong cch gia cc hc: m = l + +
l. Trong - chiu dy phn a gia hai hc.
l ly theo cng thc:
( )d l
L
d
L
l l 6 , 1 4 , 1 ;
2 2
2
2
= < +

=
ng knh ca a ( )l D 10 8
S lng hc:
D
d
z
5
arcsin
180


102
Gc nghing ca phu ly trong khong 45 50
o
; chiu dy thnh phu:
(1,5 3) mm; h s tuyn phi: 0,6 0,65.

Hnh 3-22. S c cu nh hng dng dao lc

Hnh 3-23. S c cu nh hng dng hc

103
4. C cu nh hng dng ti.
Loi ny s dng ch yu cho phi dng a nh. Cc ti c th b tr
mt trn hay mt tr ca a quay (hnh 3-24).


Hnh 3-24. S c cu nh hng dng ti

3.4. Thit b cp phi rung ng
Trong s cc thit b cp phi dng phu, nhm cc thit b cp phi rung
ng c mt v tr rt quan trng. Dch chuyn ca phi trong cc thit b ny
c thc hin nh lc qun tnh v ma st xut hin khi mng dn phi c
chuyn ng rung. Dn ng ca cc thit b cp phi dng ny c th l cc u
rung in t, bnh lch tm, kh nn hoc thu lc. Thng dng nht l cc u
rung in t. Chng cho php iu chnh v cp nng sut cp phi.
Phu cp phi rung ng c u rung in t c th hin trn
hnh 3-25. Thit b gm phu hnh trn, bn trong hoc bn ngoi phu c cc
mng ln chy theo ng xon vt vi gc nghing = 1
o
35. Lin kt vi phu
l ba c cu treo, t nghing 25
0
so vi mt phng thng ng. Rung ng c
3 nam chm in to ra. Ngun cp cho 3 nam chm in ny l ngun xung mt
chiu c to thnh bng cch nn 1/2 chu k dng xoay chiu. ng b
hot ng c ba nam chm in c ni song song, cn b nn dng mc ni
tip vi chng. Tn s dao ng - 3000 trong mt pht. Chi tit t phu dch
chuyn n v tr lm vic dc theo mng v di tc ng ca trng lc. Nu
mng cha y th chi tit s t ng dng chuyn ng v t ng dch

104
chuyn khi mt chi tit c cp ra ngoi. iu chnh nng sut ca phu bng
cch thay i in p ca bin th t ngu. Nng sut t (4 - 120) chic/pht,
cng sut 50 ot. Cng c phu cp phi loi ny ch dng mt nam chm in.

Hnh 3-25. C cu cp phi rung ng c u rung in t
1. Thng cha; 2. Thn thng; 3. Ngm; 4. u rung in t; 5. Gi treo; 6. Khi
treo n hi; 7. Gi ; 8. Thn; 9. Cao su n hi (gim chn).

Ba u rung in t c kp trn gi treo 5. Gi treo c g trn thn 8.
Cng trn thn 8, ngi ta lp ba gi 7 c cc khi treo n hi 6 vi ngm
dng truyn dao ng cho phu. Phu gm thng cha 1 c mng dn xon c
lm bng nhm v thn 2 ch to t tectlit. Cc b gim chn cao su 9 dng
cch ly rung ng ca phu vi chung quanh. Vn tc dch chuyn yu cu ca
phi trong mng dn c tnh theo cng thc sau:
. .
ph yc
l Q V = (3.4)
Trong :
Q - nng sut ca c cu.
l
ph
- chiu di (hoc ng knh phi).
- h s an ton c tnh n khng n nh khi chuyn ng, sai st
khi nh hng...

105
Cng xin lu rng, khi gc nghing tng, vn tc V
yc
s gim. Vi
= 2
o
vn tc gim (10 - 15)%. Gc nghing ti u ca khi treo ch cp lin
tc l:
vc md
V f
tg
.
206
= (3.5)
Trong :
f
md
- tn s sao ng ca mng dn;
o
35 5 =
Cc thng s hnh hc ca thng cha trn phu ph thuc vo gc nng
ca mng dn , dung tch v t l khi lng gia phn rung vi . Th tch
thng cha ca phu s iu ho v b tr cc hng hc ca my, bo m cho
nng sut khng i. Trng lng ca my phi ln hn 5 7 ln so vi trng
lng phn rung. Gc nghing ca mng c xc nh theo cng thc sau:
( ) tg arctg
l
.
2
max
= (3.6)
Trong :
2
l
- h s ma st gia phi v mng dn. Vi phi thp, mng nhm
2
l

= 0,3.
Khi bit kch thc thng cha, cng c th xc nh gc nghing mng
theo cng thc:
D
t
tg
.
= (3.7)
Trong :
t - bc xon.
D - ng knh trong ca phu.
Bin dao ng ca mng dn khi vn tc dch chuyn phi cho trc
v s khi treo n = l s c xc nh theo cng thc:

tg
l p g
x
n
.
. .
2
2 2
+
= (3.8)
Trong :
p - s chu k rung ca mng dn m trong thi gian , phi ang nm
trong khng gian trng thi ri t do.
g - gia tc trng trng.
md
f . . 2 = - tn s vng ca mng dn.
v f
md
- ly theo cng thc (3.5).

106
Khi chn khi treo, nn lu tn s dao ng ring ca h ln hn tn
s dao ng ca lc kch thch khong 10%. Chiu dy a ca cc khi treo dng
tm phng lp ghp c th xc nh theo chiu di v chiu rng ca chng:
3
2
. .
.
372
1
b i n
G
a

= (3.9)
Trong :
l - chiu di cng tc ca l xo.
G - trng lng phn rung.
= 1,1.f
md
- tn s dao ng ring ca h, vi f
md
- tn s dao ng ca
mng dn.
n - s khi treo.
i - s l xo trong mt khi treo.
b - chiu rng l xo.
Lc ko ca u in t P:
cos . .
. . . .
3
3
l
i a b E x
P
H
= (3.10)
Trong :
x
H
- bin dao ng ca mng dn (cng thc 3.8).
E - mun n hi.
b - chiu rng l xo.
a - chiu dy ca cc khi treo (tnh theo cng thc 3.9).
i - s l xo trong mt khi treo.
l - chiu di l xo.
- h s ng,
2
2
(
(

'

md
f
l
l

ly theo cng thc (3.5).
Chng ta hy xem xt chuyn ng ca chi tit trn mng ngang
(hnh 3-26). Khi s dng dn ng in t, mng nhn c dao ng iu ho
theo qui lut sau:
Qung ng dch chuyn ca mng: ( ) t S
m

cos 1
2
=
Tc chuyn ng ca mng: t v
m

sin
2
=

107
Gia tc chuyn ng ca mng: t j
m

cos
2
2
=
Trong :
- bin dao ng, mm.
= 2f
m
- Tn s dao ng gc, 1/s.
f
m
- Tn s dao ng ca mng, 1/s.
t - Thi gian, tnh theo giy s.
Cc lc tc ng ln chi tit nm trn mng gm: lc ma st F, y l lc
c gng duy tr chuyn ng ca chi tit cng vi mng; lc qun tnh mj
m
; trng
lc mg.

Hnh 3-26. S tnh ton c cu cp phi rung ng

Lc qun tnh c tnh nh sau:
F = R. = (mg mj
m
sin)
Trong ;
R - Phn lc tc ng ln mng.
- H s ma st tnh ca phi vi mng.
- Gc nghing ca gi phu.
Khi phi chuyn ng v pha trc, tc l sang bn phi (hnh 3-26a):
R = mg - mj
m
sin. Do F = R. = (mg - mj
m
sin)
iu kin chi tit trt sang phi so vi mng l lc qu tnh ln hn
lc ma st: mj
m
cos > (mg - mj
m
sin)
Gi tr ln nht ca gia tc j
m
ph thuc vo bin dao ng A. Trn
hnh 327a ch r s thay i ca lc qu tnh v lc ma st theo gia tc ca
mng hoc bin dao ng. Gia tc j
+1
l gia tc khi chi tit bt u dch
chuyn tng i so vi mng gi l gia tc gii hn v c xc nh nh sau :
mj
m
cos = (mg - mj
m
sin)

108
T :
sin cos
1
+
=
+
gm
j
C th nh gi ch chuyn ng ca chi tit trn mng rung theo
bin dao ng trong mt phng ngang X
max
. Bin dao ng ca mng trong
mt phng ny c th c o trc tip trn thit b rung. T cng thc gia tc
ca mng trong mt phng ngang:

cos
2
cos
2
=
m
j ta c :

cos
2
max
= X
Ta c
2
max
cos X j
m
=

Hnh 3- 27. Qu trnh thay i lc qun tnh v ma st khi thay i gia tc

Bin ti hn ca dao ng khi chi tit trt trn mng s l:
( ) ( )

tg
g g
j x
+
=
+
= =
+ +
1 sin cos
cos cos
2 2 2 1 1

Khi mng thay i chiu chuyn ng, tc l mng dch chuyn sang
phi hay phi dch chuyn sang tri (hnh 326b), iu kin chi tit trt trn
mng s l:
mj
m
cos > (mg + mj
m
sin)
Tng t nh trn ta xc nh c gia tc ti hn j
-1
t iu kin (hnh
327b):
mj
m
cos = (mg + mj
m
sin)
T :
sin cos
1

gm
j
( )

tg
g
x

1
2 1

Gia tc ti hn khi chi tit bay ln ri khi mng l:

109
sin
g
j
o
= . Cn bin ti hn trong trng hp ny bng:
tg
g
x
o 2
=
Trong cc c cu cp phi rung ng, chi tit c nh hng khi dch
chuyn trong mng rung. Trn hnh 3-28 l mt s phng php nh hng phi
thng dng.
Khi cp phi dng a, vng, tm vung hoc ch nht theo phng php
cp mt lp (hnh 3-28a), mng dn c ch to nghing v pha tm phu mt
gc = 3 5
o
, chiu cao g nh hn chiu cao phi. Khi h d, cc chi tit dng
m chp c th nh hng trn mt phng nh cc rnh nh hnh (hnh 3-28b)
ch cho php phi di chuyn bng mt y pha di. Cc con ln c hnh dng
khc nhau, cc loi ng c d < l c ht vo phu nh cc tm chn chuyn
dng (hnh 3-28d). Cc chi tit hai bc c th nh hng nh s dng cc tm chn
chuyn dng, gi cho phn c ng knh nh nm quay ln trn (hnh 3-28e).

Hnh 3- 28. Cc phng php nh hng phi trong thit b cp phi rung ng
a) Chi tit m; b) tm trn; c) ng nh; d) C bc ngn; e) C bc di; f) Tr trn.

3.5. ng dng rbt cng nhip
3.5.1. S lc qu trnh pht trin ca robot cng nghip
Gi v mt tng cho cc nh sng ch k thut v nhng c cu,
my mc bt chc nhng hot ng c bp ca con ngi c l xut pht t
Cng ha Czech. T nm 1921, trong v kch Rossums Universal Robots, b

110
con nh Rossum ch to ra nhng chic my gn ging vi con ngi phc
v con ngi. Thut ng Robot xut pht t ting Czech Robota c ngha l
cng vic tp dch.
Trn thc t, mt trong nhng robot cng nghip u tin c cng ty
AMF (M) ch to vo u nhng nm 60 ca th k trc, l robot
Versatran. Cng vo khong thi gian ny, M xut hin loi robot Unimate-
1900, chng c dng u tin trong k ngh t. Tip theo M, cc nc khc
bt u sn xut robot cng nghip: Anh (1967), Thy in v Nht (1968, theo
bn quyn ca M), CHLB c (1971), Php (1972), (1973),
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 v cc my
cng c iu khin s. C th ni, robot l s t hp kh nng hot ng linh hot
ca cc c cu iu khin t xa vi mc tri thc ngy cng phong ph ca
h thng iu khin theo chng trnh s, cng nh k thut ch to cc b cm
bin, cng ngh lp trnh, s pht trin ca lnh vc tr tu nhn to, h chuyn
gia,
Tnh nng lm vic ca robot ngy cng c nng cao, nht l v kh
nng nhn bit v x l. Cc robot c trang b thm cc loi cm bin khc
nhau nhn bit mi trng xung quanh. Cng vi nhng thnh tu to ln ca
lnh vc in t - tin hc to ra cc th h robot vi nhiu tnh nng c bit.
S lng robot ngy cng tng, gi thnh ngy mt gim. Do vy, robot cng
nghip c v tr quan trng trong cc dy chuyn sn xut t ng.
M l nc pht minh ra robot, nhng nc c nhng pht trin cao nht
trong lnh vc nghin cu ch to v s dng robot li l Nht Bn.
3.5.2. Cu trc c bn ca robot cng nghip
Mt robot cng nghip thng bao gm cc thnh phn chnh nh: cnh
tay chp hnh, ngun ng lc, dng c gn ln khu chp hnh cui, cc cm
bin, b iu khin, thit b dy hc, my tnh,Cc phn mm lp trnh cng c
th c coi l mt thnh phn ca h thng robot. Cc thnh phn ny c quan
h nh hnh 3-29.
Cnh tay robot: l kt cu c kh gm cc khu lin kt vi nhau bng
cc khp ng c th to nn cc chuyn ng c bn ca robot.
Ngun ng lc: l cc ng c in (mt chiu hoc ng c bc),
cc h thng xilanh to ng lc cho tay my hot ng.

111
Dng c thao tc: c gn ln khu chp hnh cui ca robot, chng
c nhiu kiu khc nhau ty theo loi cng vic thc hin: dng bn tay nm
bt i tng hoc cc cng c lm vic nh m hn, mi, u phun sn,

Hnh 3-29. Cc thnh phn chnh ca h thng robot.
Thit b dy-hc: Dy cho robot cc thao tc cn thit theo yu cu ca
qu trnh lm vic, sau robot c th t lp li cc ng tc c dy lm
vic.
Cc phn mm lp trnh v cc chng trnh iu khin robot c ci
t trn my tnh, dng iu khin robot thng qua b iu khin.
3.5.3. Kt cu ca tay my
Tay my l mt thnh phn quan trng, quyt nh kh nng lm vic ca
robot. Kt cu ca nhiu tay my c phng theo cu to v chc nng ca tay
con ngi. Ngy nay, tay my c thit k rt a dng. Trong qu trnh thit k
v s dng, ta cn quan tm n cc thng s hnh hc, ng hc ca tay my,
y l nhng thng s lin quan n kh nng lm vic ca robot: trng cng
tc (tm vi), s bc t do (th hin s linh hot ca robot), cng vng, ti
trng nng cho php, lc kp,
Cc khu ca robot thng thc hin 2 chuyn ng c bn:
- Chuyn ng tnh tin (k hiu l: T) theo 3 trc x, y, z trong khng
gian 3 chiu,
- Chuyn ng quay (k hiu l: R) quanh 3 trc .
Ty thuc vo s khu v s t hp cc chuyn ng m tay my c cc
kt cu khc nhau vi vng lm vic khc nhau. Cc kt cu thng gp ca robot
l: kiu to cc, to tr, to cu, robot kiu SCARA, h to gc...

112
Robot kiu to cc: l tay my c 3 chuyn ng c bn tnh tin
theo phng ca cc trc h to gc. Trng cng tc c dng khi ch nht.
Do kt cu n gin, loi tay my ny c cng vng cao, chnh xc c kh
m bo v vy n thung dng vn chuyn phi liu, lp rp, hn trong mt
phng... Trn hnh 3-30 l m hnh ca mt robot kiu to -cc.

Hnh 3-30. Robot kiu ta cc. Hnh 3-31. Robot kiu ta tr.

Robot kiu to tr (hnh 3-31): Vng lm vic ca robot c dng hnh
tr rng. Thng khp th nht chuyn ng quay. C nhiu robot kiu to
tr, nh: robot Versatran ca hng AMF (M).
Robot kiu to cu (hnh 3-32): Vng lm vic ca robot c dng hnh
cu. Thng cng vng ca loi robot ny thp hn so vi hai loi trn. V d
robot 3 bc t do, cu hnh R.R.T lm vic theo kiu to cu.

Hnh 3-32. Robot kiu ta cu. Hnh 3-33. Robot kiu ta gc.

Robot kiu to gc: y l kiu robot c dng nhiu hn c. Ba
chuyn ng u tin l cc chuyn ng quay, trc quay th nht vung gc vi
hai trc kia. Cc chuyn ng nh hng khc cng l cc chuyn ng quay.

113
Vng lm vic ca tay my ny gn ging mt phn khi cu. Tt c cc khu
u nm trong mt phng thng ng nn cc tnh ton c bn l bi ton phng.
Trn hnh 3-33 l v d mt robot hot ng theo h to gc, c cu hnh
RRR.RRR.
u im ni bt ca cc loi robot hot ng theo h to gc l gn
nh, tc l c vng lm vic tng i ln so vi kch c ca bn thn robot,
linh hot cao.
Cc robot hot ng theo h to gc nh: Robot PUMA ca hng
Unimation - Nokia (M - Phn Lan), IRb-6, IRb-60 (Thy in), Toshiba,
Mitsubishi, Mazak (Nht Bn),...
Robot kiu SCARA: Robot SCARA ra i vo nm 1979 ti trng i
hc Yamanashi (Nht Bn), l mt kiu robot mi nhm p ng s a dng ca
cc qu trnh sn xut. Tn gi SCARA l vit tt ca Selective Compliant
Articulated Robot Arm (Tay my mm do tu ). Loi robot ny thng dng
trong cng vic lp rp nn SCARA i khi c gii thch l t vit tt ca
Selective Compliance Assembly Robot Arm. Ba khp u tin ca kiu Robot
ny c cu hnh R.R.T, cc trc khp u theo phng thng ng. S ca
robot SCARA nh hnh 3-34.

Hnh 3-34. Robot kiu SCARA.
3.5.4. H ta
Mi robot thng gm nhiu khu lin kt vi nhau qua cc khp, to
thnh mt xch ng hc xut pht t mt khu c bn. H ta gn vi khu
c bn gi l h ta chun. Cc h ta trung gian khc gn vi cc khu
ng gi l h ta suy rng. Trong tng thi im hot ng, cc ta suy
rng xc nh cu hnh ca robot bng cc dch chuyn di hoc dch chuyn gc
ca cc khp tnh tin hoc khp quay.
Trong robot ngi ta thng dng ch O v ch s n ch h ta gn
ln khu th n. Nh vy, h ta c bn s c k hiu l O
0
, h ta gn ln

114
khu trung gian tng ng s l O
1
, O
2
,, O
n-1
, h ta gn ln khu chp hnh
cui l O
n
(hnh 3-35).

Hnh 3-35. V d h to ca robot.

Quy tc bn tay phi i vi cc h ta ca robot (hnh 3-36): Dng
bn tay phi, xe 3 ngn: ci, tr, gia theo 3 phng vung gc nhau, chn ngn
ci l phng v chiu ca trc z, khi ngn tr ch phng chiu ca trc x v
ngn gia biu th phng chiu ca trc y.

Hnh 3-36. Quy tc bn tay phi.

3.5.5. Trng cng tc ca robot
Trng cng tc (vng lm vic, khng gian cng tc) ca robot l ton
b vng khng gian c qut bi khu chp hnh cui khi robot thc hin tt c
cc chuyn ng c th. Trng cng tc b rng buc bi cc thng s hnh hc
ca robot cng nh cc rng buc c hc ca cc khp. Ngi ta thng dng hai
hnh chiu vung gc m t trng cng tc ca mt robot (hnh 3-37).

115

Hnh 3-37. Trng cng tc ca robot.
3.5.6. Phn loi robot cng nghip
Robot cng nghip rt phong ph a dng, c th c phn loi theo cc
cch sau :
Phn loi theo kt cu: Theo kt cu ca tay my ngi ta phn thnh
robot kiu to - cc, kiu to tr, kiu to cu, kiu to gc, robot
kiu SCARA (nh trnh by trn).
Phn loi theo h thng truyn ng: C cc dng truyn ng ph
bin l:
H truyn ng in: Thng dng cc ng c in mt chiu hoc cc
ng c bc. Loi truyn ng ny d iu khin, kt cu gn.
H truyn ng thu lc: c th t c cng sut cao, p ng nhng
iu kin lm vic nng. Tuy nhin h thng thu lc thng c kt cu cng
knh, tn ti phi tuyn ln kh x l khi iu khin.
H truyn ng kh nn: c kt cu gn nh hn do khng cn dn ngc
nhng li phi gn lin vi trung tm to ra kh nn. H ny lm vic vi cng
sut trung bnh v nh, km chnh xc, thng ch thch hp vi cc robot hot
ng theo chng trnh nh sn vi cc thao tc n gin nhc ln - t xung
(Pick and Place or PTP: Point To Point).
a. Phn loi theo ng dng:
Da vo ng dng ca robot trong sn xut c Robot sn, robot hn,
robot lp rp, robot chuyn phi,...
b. Phn loi theo cch thc v c trng ca phng php iu khin:
C robot iu khin h (mch iu khin khng c cc quan h phn
hi), robot iu khin kn (hay iu khin servo): s dng cm bin, mch phn
hi tng chnh xc v mc linh hot khi iu khin.

116
Ngoi ra cn c th c cc cch phn loi khc tu theo quan im v
mc ch nghin cu. V d:
- Theo dng di chuyn ca robot: c robot c nh v di ng.
- Theo v tr trm iu khin: c robot vi trm iu khin ring bit v
trm iu khin trn robot.
- Theo sc nng ca robot (t 1 7200)kG.
- Theo khong cc di chuyn ca cnh tay robot (t 400 2000)mm.
- Theo cng dng: vn nng v chuyn dng.
3.5.7. ng dng ca robot cng nghip trong sn xut
T khi ra i, robot cng nghip c p dng trong nhiu lnh vc di
gc thay th sc ngi. Nh , nng sut v hiu qu sn xut tng ln r rt.
Ngi ta s dng robot cng nghip nhm nng cao nng sut, gim gi
thnh, nng cao cht lng v kh nng cnh tranh ca sn phm, ci thin iu
kin lao ng.
Trong ngnh c kh, robot cng nghip c s dng nhiu trong cng
ngh c, hn, ct gt kim loi, sn, phun, ph kim loi, tho lp vn chuyn
phi, vn chuyn sn phm
Hin nay xut hin cc dy chuyn sn xut t ng gm h thng cc
my CNC vi robot cng nghip, cc dy truyn ny c mc t ng ha cao,
linh hot cao.
Ngoi ra, k thut robot cng c s dng trong nhiu lnh vc khc:
khai thc thm lc a v i dng, y hc, quc phng, v tr; robot c
dng t ng ha cc qu trnh sn xut gy c hi cho con ngui (nhng
mi trng c tia phng x, kh c, nhit cao,); hay dng trong nhng cng
vic n iu d gy mt mi cho con ngi.
Khi gia cng trn my cng c, robot nht phi t bn ngoi ri t n
vo v tr gia cng trn my th nht, sau , trong khi chi tit ang c gia
cng trn my th nht, robot nht phi c gia cng trn my th nht v
t n vo my th hai,Sau , cnh tay robot quay v my th nht ly chi tit
va c gia cng xong ra, cp chi tit khc vo my ny. C th, robot nhp
nhng thc hin mt s lng cc nguyn cng c th bng hai ba cng nhn
thc hin bng tay.
Trn hnh 3-38 l robot SR-10 Shinko (Nht Bn) c s dng cp
phi cho my khoan.
Dy chuyn t ng gm c cu cp phi 2, my khoan nhiu trc 4,
bng ti 3 v robot 1. C cu cp phi g t phi vo bng ti, tay my ca robot

117
1 chuyn phi ti my khoan, t phi vo v tr gia cng, sau khi khoan xong
chuyn phi ti bng ti 3. Chu k c lp li t ng.

Hnh 3-38. Robot phc v my khoan

Hnh 3-39. Robot phc v my tin
1. Bn t cc g v tinh c chi tit gia cng; 2. Cc my tin t ng;
3. Robot; 4. g v tinh vi chi tit cha gia cng; 5. Panel iu khin robot;
6. H thng thy lc.

118
Trn hnh 3-39 l t hp cng ngh s dng robot cp phi. T hp ny
gm hai my tin 2 gia cng cc chi tit dng trc v a vi kt cu a dng.
Trong t hp ny ngi ta s dng robot cp palet ( g v tinh) c phi 4 cho
hai my tin 2. Sau khi gia cng xong robot t palet vi chi tit ln bn 1.
Trn hnh 3-40 l t hp cng ngh c robot phc v. T hp cng
ngh gm 4 trung tm gia cng, hon thnh chu trnh cng ngh gia cng cc chi
tit tng i nh vi thi gian chu trnh di 5 pht. T hp c trang b h
thng bng ti trung tm vi robot ng gia thc hin cp phi v ly chi tit
gia cng ra khi my. Cc trung tm gia cng b tr hai bn bng ti.
Hin nay, robot lp rp c s dng rng ri trong cc dng sn xut.
Chng c gi thnh khng cao, c kh nng iu chnh nhanh khi chuyn i
tng lp rp, v n nh cao.

Hnh 3-40. Robot phc v cc trung tm gia cng
1. Bng ti chi tit gia cng; 2. Cc trung tm gia cng; 3. T iu khin
robot; 4. Robot; 5. Bng ti chi tit cha gia cng; 6. H thng thy lc.

Nhn chung, mt robot lp rp c cu to gm 2 phn: phn thn v phn
chp hnh. Cc robot lp rp c th c s dng c lp hoc kt hp vi nhau
trong dy chuyn lp rp. Trn hnh 3-41 l cc s s dng robot thc hin

119
mi ghp hnh tr c khe h. Tay tm xoay 15 ca robot chnh 1 ly chi tit (trc)
5 t mng cha 6 v chuyn ti vng lp rp nh bn trt 2 v 4. Robot ph 11
dng tay tm 9 ly bc 7 t mng cha 8 v dng tay quay 10 di chuyn bc ti v
tr lp rp (v tr ca trc 5). Robot 1 thc hin chuyn ng tm kim a tm
ca trc trng vi tm bc. V tr tng i gia hai chi tit trc - bc c xc
nh bng cc cm bin 14 gn trn cc l xo phng 16 ca c cu chp hnh 3
(robot chnh 1). Sau khi dch chuyn tm kim, khi tm ca cc chi tit lp
ghp trng nhau, tay tm 15 dch chuyn xung, thc hin vic lp trc vo bc.
Sau , n v lp c g trn l ca chi tit c s 13 v c dch chuyn theo
chu k nh bng ti 12.

Hnh 3-41. Robot thc hin lp rp mi ghp tr c khe h.

i vi mt quy trnh cng ngh lp rp c th s dng mt hoc nhiu
robot ty theo mc phc tp ca sn phm. Cc robot c dng trng h
thng lp rp t ng c gi l t hp robot cng ngh. Thng thng chia ra
lm 4 loi t hp chnh sau:
- Mt robot cng nghip phc v mt thit b cng ngh (hoc mt v tr
lm vic).
- Mt robot cng nghip c kh nng phc v mt s thit b (hoc mt
s ch lm vic)

120
- Mt s robot cng nghip phc v mt thit b (hoc mt ch lm
vic)
- Mt vi robot cng nghip phc v mt s thit b (hoc mt s ch
lm vic).
Nhng yu cu chnh i vi robot cng nghip dng trong lp rp:
- chnh xc nh v cao (0,011)mm.
- Tc dch chuyn nhanh (0,60,8)m/s.
- Sc nng tng i ln (ti 60kG).
- Tnh vn nng cao.
- Gi thnh tay tm thp.
- H thng iu khin robot phi c kh nng iu chnh nhanh khi thay
i i tng lp rp.

121
Chng 4
T ng ho kim tra v phn loi
Nguyn cng kim tra cht lng ca chi tit chim mt t l ln trong
qui trnh cng ngh. Trong mt s lnh vc sn xut, nguyn cng kim tra chim
t 25 50% thi gian ca chu k cng ngh (thi gian thc hin qui trnh cng
ngh). V d, trong cng nghip ch to vng bi, thi gian thc hin cc nguyn
cng kim tra chim khong 25 30% thi gian thc hin ton b qui trnh cng
ngh. Vi mc c kh v TH qui trnh cng ngh th cc nguyn cng kim
tra ngy cng chim mt t trng ln.
Nh vy, nguyn cng kim tra c nh hng rt ln n nng sut cht
lng ca sn phm. Kinh nghim TH cc nguyn cng kim tra, v d nh cc
thit b kim tra tch cc v cc my t ng kim tra phn loi gp phn ng
k nng cao cht lng sn phm v nng sut lao ng. Thiu TH qu trnh
kim tra khng th thnh lp c dy chuyn t ng, phn xng t ng v
nh my t ng vi chu k hot ng hon ton t ng.
Chc nng ca kim tra th hin qua s di y:







V mt t chc, kim tra c th c tin hnh ti phn xng hoc ti
cc phng kim nh (KCS) T cc thng tin m kim tra cung cp ta c th
a ra gii php cng ngh tip theo hoc phn loi, phn nhm chi tit.
Kim tra nhm nh gi cht lng ca chi tit qua cc thng s:
- Kim tra chnh xc.
- Kim tra hnh dng hnh hc.
- Kim tra v tr tng quan.
- Kim tra khuyt tt.
- Kim tra bo him (v tr ca chi tit,s c mt ca l, kim tra v tr,
tnh trng dng c, ).
H thng kim tra bo him lm vic khi no hot ng ca my hay h
thng my (ng dy t ng) khng tun theo nhng qui nh sn. Trn ng
Gia cng
Kim tra
X l Gii php
Sn phm

122
dy t ng, ngoi nhng c cu bo him cho tng my, ngi ta thng s
dng nhng c cu bo him kim tra: v tr ca chi tit sau khi vn chuyn
n v tr gia cng; v tr ca dng c so vi chi tit v ti trng ca chng; hot
ng ca h thng bi trn, lm mt, thi phoi...
Kim tra v tr ca chi tit rt quan trng, nu chi tit khng nm ng v
tr, dng c gia cng v thit b s b h hng. Thng thng s dng cng tc
in hay sensor kim tra v tr ca mt hay mt s im ca chi tit so vi v
tr chun, dng kh nn kim tra tip xc ca b mt t (nh v) trn bn
my...
Kim tra v tr v trng thi ca dng c ct l cn thit bo m dng
c hot ng bnh thng. Nhiu lc phi kim tra chi tit dng c c th lm
vic c, v d phi kim tra l trc khi ct ren, kim tra l tm trc khi
chng tm... Khi dng c mn, lc ct ln hay khi phoi cun vo dng c, gy ra
mmen ln... th phi c c cu dng qu trnh v cnh bo cho cng nhn vn
hnh.
S hot ng ca h thng bi trn, lm mt phi c kim tra cht ch
bng cch s dng cm bin p sut, cm bin nhit , phao ni... Trong mt s
trng hp c th phi kim tra nhit ca trc.
Phi kim tra bo m h thng thu dn phoi lm vic bnh thng v
u n.
Kim tra bo him l hnh thc phng nga, th ng, ch s dng ch
no tht cn thit, thc s gim c lao ng v th gi ca cng nhn. im
chnh l lc thit k phi suy tnh nhm gim tnh trng c th xy ra h hng.
4.1. at-tric
Mt thit b kim tra t ng gm cc b phn:
- u o (vi at-tric hoc sensor) c nhim v xc nh cc thng s
cng ngh v chuyn i n thnh tn hiu dng cn thit iu
khin.
- Mch khuych i tn hiu o.
- Cc thit b so snh.
- C cu ng ngt.
Ngoi ra cn c cc b phn khc nh: thn, b,
u o l b phn chnh v quan trng nht ca cc thit b kim tra,
g kim tra, thit b kim tra tch cc, cc my kim tra bn t ng v t ng.
Cc u o c chia ra 3 loi nh sau:

123
Loi khng c thang chia. Loi c cu ny ch xc nh c cc kch
thc gii hn m khng c ch s c th. l cc dng, at-tric tip xc in
khng c thang chia.
Loi c thang chia. Loi c cu ny c thang chia cho php xc nh
ln ca cc kch thc kim tra. l c cu o c kh nh tay n, tay n -
bnh rng, l xo... v cc thit b o kh nn.
Loi t hp. Loi c cu ny kt hp cc kh nng ca hai loi c cu
trn, n c gi l cc at-tric (cc b chuyn i). Cc at-tric c dng trong
cc thit b kim tra t ng (tch cc v th ng) l: at-tric c kh, at-tric tip
xc in, at-tric cm ng, at-tric dung lng, at-tric quang in, at-tric kh
nn... Cc at-tric ny c dng chuyn i lng bin ng ca kch thc
thng thnh tn hiu u ra ca thng tin c dng iu khin qui trnh cng
ngh. Di y ta nghin cu mt s loi at-tric thng dng.
4.1.1. at-tric tip xc in
Cc at-tric tip xc in c chia ra: loi gii hn (c dng kim
tra kch thc gii hn ca chi tit) v loi bin (c dng kim tra
van, o hng knh v cc sai s hnh dng khc). Nguyn l lm vic ca
at-tric tip xc in l chuyn i lng dch chuyn thng thnh tn hiu in
bng cch ng m cc cng tc in.
Theo chc nng th cc at-tric in c s lng cc cp cng tc khc
nhau. l cc at-tric c mt cp cng tc, hai cp cng tc v nhiu cp cng
tc. Cc at-tric tip xc in cn c dng phn loi cc chi tit thnh phm
theo nhm kch thc. Loi at-tric mt cp cng tc c th phn loi chi tit
theo hai nhm (vi kch thc ln hn v nh hn kch thc danh ngha). Loi
at-tric hai cp cng tc c th phn loi chi tit theo 3 nhm (nhm thnh phm,
nhm ph phm c th sa c, nhm ph phm khng th sa c). Loi at-
tric nhiu cp cng tc c th phn loi chi tit theo nhiu nhm khc nhau. Hnh
4-1 l mt at-tric tip xc in hai cp cng tc.
Thanh o 8 vi u tip xc 1 dch chuyn trong cc bc ca thn 4.
Thanh 8 c chng xoay nh thanh kp 3. Lng dch chuyn ca thanh 8 khi
iu chnh at-tric c thc hin nh ai c iu chnh 2. Lc cn thit kim
tra c to ra nh l xo 6. Ming cht do 11 vi tay n 9 v hai vng iu
chnh 12, 13 to thnh mt khi c lp. Tay n 9 (c hai cng tc di ng K1
v K2) c treo trn l xo dng chc ch thp l xo. Cc cng tc di ng K1 v
K2 c b tr i din vi cc cng tc c nh K3 v K4. Cc vng iu chnh
12 v 13 vi thang chia 0,002 mm c dng hiu chnh at-tric. Tay n 9 v

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thanh o 8 c tip xc vi nhau bng chc 7 (bng hp kim cng) ta trn cht
5 (cht 5 to thnh g vai nh ca tay n 9). Lng dch chuyn ca thanh o 8
gy ra mt sai lch gc ca tay n v ng hoc m cc cng tc (cc cng tc
ni vi ngun in) v truyn tn hiu cho cc c cu chp hnh ca my, ca
thit b kim tra t ng hoc cho bng nh sng ca g kim tra.


Hnh 4-1. at-tric tip xc in
1. u tip xc; 2. ai c iu chnh; 3. Thanh kp; 4. Thn at-tric; 5. Cht; 6.
L xo; 7. Chc; 8. Thanh o; 9. Tay n; 10. ng h so; 11. Ming cht do;
12, 13. Vng iu chnh. K1, K2, K3, K4. Cng tc c nh; L. Cng tc di ng.

quan st kch thc ca chi tit ngi ta dng ng h so 10. ng h
so 10 tip xc vi mt trn c thanh o 8 bng u o ca n. Sai s x l ca cc
at-tric tip xc in nm trong khong (0,5 - 1) m. Cc at-tric ny thng
c s dng trong cc g kim tra nhiu v tr, trong cc my t ng kim
tra phn loi v i khi trong g kim tra tch cc.

125
Nhc im ca cc at-tric tip xc in l: im tip xc c th b
chy, im tip xc cn lun lun c lau sch, thit b rt nhy cm vi hi m.
4.1.2. at-tric cm ng
at-tric cm ng loi tr c cc nhc im ca at-tric tip xc in.
Cc at-tric cm ng c dng rng ri trong cc thit b kim tra tch cc. at-
tric cm ng c chnh xc cao, kch thc khun kh nh nhng c kh nng
o c khong cch xa. Nguyn l hot ng ca at-tric cm ng l s dng
tnh cht ca cc cun dy cm ng (thay i phn lc khi c thay i cc thng
s xc nh cm ng). Tn hiu ca at-tric cm ng c chuyn thnh thng
s in tin cho vic kim tra nh l hiu in th hay dng in.

Hnh 4-2. S at-tric cm ng.
1. Cun dy; 2. Nam chm; 3. Phn ng; 4. L xo; 5. u o; 6. Chi tit; . Khe h.

Hnh 4-2 l s ca at-tric cm ng. Khi xc nh kch thc ca chi
tit gia cng 6 th u o 5 s c nng ln hoc h xung, do khe h gia
phn ng 3 v thanh nam chm 2 ca cun dy 1 s thay i. Nh vy, lc cm
ng ca cun dy c to ra nh l xo 4. Trong cc at-tric cm ng v tinh
ngi ta dng hai cun cm ng, cho nn nhy cm ca at-tric c th tng ln
hai ln.
4.1.3. at-tric rung tip xc
Kt cu ca at-tric rung tip xc c u o lun thc hin cc chuyn
ng dao ng c chu k tip xc vi b mt chi tit cn o. Hnh 4-3 l s
ca at-tric rung tip xc.

126
Thanh rung 7 vi u o 8 c treo trn l xo l 6 v thc hin dao ng
nh thanh nam chm in 5 (thanh nam chm ny hot ng nh ngun in
cng nghip). Khi kch thc ca chi tit gia cng 9 thay i, bin dao ng
ca thanh 7 thay i, do bin ao ng ca phn ng 4 ca cun dy ca
my pht rung 3 trc cc thanh nam chm c nh 2 cng thay i. Kt qu l
trong cun dy ca my pht rung c dng in xut hin, dng in ny c trng
cho bin dao ng ca thanh rung v tng ng vi s thay i ca kch thc
gia cng. quan st s thay i ca kch thc gia cng ngi ta lp at-tric vi
ng h 1 hoc vi b khuych i cc tn hiu.

Hnh 4-3. S at-tric rung cm ng.
1. ng h; 2. Nam chm; 3. Cun dy; 4. Phn ng; 5. Nam chm in; 6. L
xo l; 7. Thanh rung; 8. u o; 9. Chi tit.

4.1.4. at-tric in dung
Hot ng ca cc at-tric in dung c thc hin trn s thay i in
dung ca t in. Tu thuc vo s thay i ca kch thc chi tit cn kim tra.
Cc at-tric in dung thng c dng kim tra cc kch thc ln hoc nh
v t khi c dng trong thc t sn xut.
4.1.5. at-tric quang in
Hot ng ca cc at-tric quang in c thc hin trn nguyn tc
chuyn i sai lch ca kch thc cn kim tra thnh s thay i dng nh
sng, sau nh t bo quang in, n c chuyn i thnh tn hiu in. at-
tric quang in c s dng trong cc my t ng kim tra phn loi phn
nhm chi tit (s nhm c th t ti 50), kim tra cc kch thc gii hn

127
trong qu trnh kim tra t ng v trong cc trng hp khc. Mt s at-tric
c trang b thm thit b ghi t ng, cho nn chng c th dng trong cc th
nghim nghin cu nhng c tnh s dng ca cc thit b kim tra tch cc hoc
nghin cu cc qu trnh cng ngh.
4.1.6. Yu cu i vi s dng v bo qun at-tric
Cc at-tric l nhng phn t rt nhy cm ca cc h thng kim tra.
chnh xc kim tra chi tit ph thuc rt nhiu v chnh xc v n nh ca
at-tric. V vy, iu chnh v hiu chnh at-tric cn c tin hnh ht sc cn
thn, cn trong qu trnh lm vic cn tun theo cc nguyn tc s dng mt cch
nghim khc, c bit l khi s dng at-tric trong cc thit b kim tra tch cc.
gim mn ca cc u o ca cc at-tric cn trnh cho u o
tip xc lin tc vi b mt ca chi tit cn kim tra. thc hin iu ny trong
kt cu ca cc thit b kim tra c th lp thm cc b truyn trung gian.
4.2. Phn loi thit b kim tra
Mt thit b kim tra t ng gm cc b phn:
- u o (vi at-tric hoc sensor) c nhim v xc nh cc thng s
cng ngh v chuyn i n thnh tn hiu dng cn thit iu
khin.
- Mch khuych i tn hiu o.
- Cc thit b so snh.
- C cu ng ngt.
Ngoi ra cn cc b phn khc nh: thn, b,
u o l b phn chnh v quan trng nht ca cc thit b kim tra,
g kim tra, thit b kim tra tch cc, cc my kim tra bn t ng v t ng.
Cc u o c chia ra 3 loi nh sau:
Loi khng c thang chia. Loi c cu ny ch xc nh c cc kch
thc gii hn m khng c ch s c th. l cc dng, at-tric tip xc in
khng c thang chia.
Loi c thang chia. Loi c cu ny c thang chia cho php xc nh
ln ca cc kch thc kim tra. l c cu o c kh nh tay n, tay n -
bnh rng, l xo... v cc thit b o kh nn.
Loi t hp. Loi c cu ny kt hp cc kh nng ca hai loi c cu
trn, n c gi l cc at-tric (cc b chuyn i). Cc at-tric c dng trong
cc thit b kim tra t ng (tch cc v th ng) l: at-tric c kh, at-tric tip
xc in, at-tric cm ng, at-tric dung lng, at-tric quang in, at-tric kh
nn... Cc at-tric ny c dng chuyn i lng bin ng ca i lng
cn o (chng hn kch thc thng) thnh tn hiu u ra ca thng tin c

128
dng iu khin qui trnh cng ngh. Da theo mc TH ngi ta chia cc
thit b kim tra ra cc loi sau y:
- Thit b kim tra bng tay.
- Thit b kim tra c kh.
- Thit b kim tra bn t ng.
- Thit b kim tra t ng.
Khi s dng thit b ( g) kim tra bng tay th ngi cng nhn (ngi
kim tra) thc hin tt c cc thao tc cn thit u bng tay nh: g v tho chi
tit trn g, xp t nhng chi tit thnh phm v ph phm vo nhng ch
ring bit. Qu trnh nh gi cht lng ca chi tit (hay sn phm) c thc
hin bng mt thng hoc bng ch s ca cc dng c o.
i vi cc thit b kim tra bn t ng th mt s thao tc nh: g, tho
chi tit hoc i khi c phn loi chi tit c thc hin bng tay, cn li tt c
cc thao tc khc u c thc hin t ng. cc thit b kim tra t ng th
tt c cc qu trnh kim tra u c TH.
Da theo phng php t ng n qu trnh gia cng chi tit th cc thit
b kim tra c chia ra hai loi sau y:
- Kim tra th ng.
- Kim tra ch ng (kim tra tch cc).
Dng cc thit b kim tra th ng xc nh cc kch thc ca cc
chi tit, phn loi cc chi tit ra thnh cc chnh phm v ph phm, xc nh cc
ph phm c th sa cha hoc khng th sa cha c, phn loi chi tit ra
thnh tng nhm theo kch thc.
Cc thit b kim tra tch cc c th c nh kch thc kim tra trc tip
trong qu trnh gia cng v truyn tn hin v kch thc trong qu trnh gia cng
hoc v v tr ca c cu chp hnh ca my ( bnh mi) hoc ca dng c
ct ( mi). Khi thc hin kim tra tch cc th khng cn dng my v nh vy
thi gian kim tra trng vi thi gian my (thi gian gia cng). V qu trnh kim
tra kch thc c thc hin trc tip trong qu trnh gia cng, cho nn cc thit
b kim tra tch cc cho php iu khin c qu trnh cng ngh nhm m bo
chnh xc yu cu. iu ny c th t c nh cc c cu phn hi ngc
cho php tc ng n c cu chp hnh ca my ngn nga ph phm. Cc
thit b kim tra ny chnh l cc thit b kim tra t ng. Di y l mt s
thit b kim tch cc thng dng (hnh 4-4).
Hnh 4-4a l c cu da trn nguyn tc kim tra trc tip. C cu kim
tra 4 tip xc vi chi tit gia cng 5. Nguyn l hot ng ca thit b kim tra
tch cc trn hnh 4 - 1a c gii thch nh sau: Kch thc gia cng ca chi tit

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5 c xc nh bng at-tric 2. at-tric 2 c g trn c cu o 4. at-tric 2
truyn cc tn hiu qua b khuch i 6 ti c cu 3 dch chuyn mi. Cc
n bo hiu 1 hoc ng h so 7 cho bit kch thc gia cng ca chi tit.
Hnh 4-4b l phng php kim tra gin tip. y dch chuyn ca
mi 8 theo hng ca chi tit gia cng 9 c kim tra bng u o 10.
Trong thc t sn xut ngi ta thng dng cc thit b kim tra tch cc
da trn nguyn tc kim tra trc tip. Phng php kim tra ny m bo
chnh xc cao v khng b nh hng nhiu ca cng vng ca h thng cng
ngh v cc yu t khc.

Hnh 4-4. Cc thit b kim tra tch cc
a) Kim tra trc tip: 1. n hiu; 2. at-tric; 3. C cu dch chuyn mi; 4.
C cu o; 5. Chi tit gia cng; 6. B khuych i; 7. ng h so.
b) Kim tra gin tip: 8. mi; 9. Chi tit gia cng; 10. u o.
c) Kim tra trc khi gia cng: 11. Chi tit gia cng; 12. at-tric; 13. C cu
tch; 14. Dng c; 15. C cu my.
d) Kim tra t ng kch thc: 16. Chi tit gia cng; 17. at-tric.
Hnh 4-4c l s kim tra chi tit 11 trc khi gia cng trnh gy
dao 14 hoc ph v c cu my 15. Cc phi ph phm c c cu 13 (c
iu khin bng at-tric 12) tch ra, cn cc phi thnh phm c a vo gia
cng.

130
Hnh 4-1d l s kim tra t ng kch thc ca chi tit 16 sau khi gia
cng bng mt thit b c gn at-tric 17 (at-tric ny kim tra kch thc ca
tng chi tit gia cng). Thit b kim tra ny thc hin mt s chc nng nh:
phn loi chi tit thnh phm theo nhm kch thc, tch cc chi tit ph phm,
dng my sau khi pht hin cc chi tit ph phm, hiu chnh my.
Trong cc phn xng c kh ngi ta thng s dng cc thit b kim
tra tch cc t iu chnh. Thit b ny gm hai c cu kim tra: mt c cu thc
hin kim tra tch cc trong qu trnh gia cng, cn c cu th hai thc hin vic
kim tra cc chi tit thnh phm, c ngha l kim tra li cng vic ca c cu th
nht. Trong nhng trng hp cn thit th c cu th hai t ng iu chnh c
cu th nht.
4.3. Cc thit b kim tra t ng
Cc thit b kim tra t ng c cu to gm nhng c cu sau y:
C cu g t v tho chi tit. Trong mt s thit b kim tra cc c cu
ny thc hin lun vai tr ca c cu kp cht.
C cu kp cht. C cu kp cht c th l c kh, hi p, du p, in
t...
C cu vn chuyn. C cu ny c dng di chuyn chi tit cn
kim tra, n c th thc hin di chuyn gin on v lin tc, di chuyn t do v
cng bc.
C cu hm. C cu ny c dng xc nh v tr ca u o hoc
ca at-tric.
C cu nh v chi tit trn v tr kim tra. nh v chi tit c th thc
hin bng hai con ln, bng hai l tm, bng l...
C cu o (at-tric). C cu ny cn c chnh xc, n nh v
nng sut cao.
C cu chp hnh, c cu ghi nh v c cu khuch i.
4.3.1. Kim tra t ng bng phng php trc tip
Hnh 4-5 l cc s kim tra t ng cc ng knh d v chiu di l
ca chi tit bng cc thit b khc nhau. Trn hnh 4-5a ta thy ca-lp 3 dch
chuyn theo hng ti chi tit cn kim tra 2 (hoc 1) kim tra kch thc ln
nht v kch thc nh nht ca d (hoc l). Thanh 4 di chuyn cng vi ca-lp,
cho nn thanh 4 s tip xc hoc khng tip vi cc cng tc 5 v 6. Nu kch
thc ca chi tit nh hn kch thc gii hn nh nht (min) th ca-lp tt xung
qua nc khng qua v tip xc vi cng tc 6 bo tn hiu ph phm.

131
7
11
7
6
5
9
10
1
2
3
4
12 13
g) e) d)
c)
b)
a)

Hnh 4-5. Cc s kim tra t ng kch thc ngoi bng cc phng php
tip xc trc tip
1, 2. Chi tit kim tra; 3. Ca-lp; 4. Thanh di chuyn; 5, 6. Cng tc; 7. Ca-lp
hnh chm; 8. Ca-lp phng; 9. Khi V; 10. Thanh kim tra; 11. Tay n lc l;
12. C cu dng ko; 12. Chi tit kim tra.

Hnh 4-5b l nguyn l kim tra kch thc bng ca-lp hnh chm. Tu
theo kch thc ca chi tit cn kim tra m ca-lp 7 dch chuyn tip xc hoc
khng tip xc vi cc cng tc v bo tn hiu ph phm ca chi tit.
Trn hnh 4-5c m t s kim tra ng knh hoc chiu di ca chi
tit nh ca-lp phng 8. Hnh 4-5d l s kim tra ng knh ca chi tit hnh
tr khi nh v trn khi V s 9 nh thanh kim tra 10. S kim tra kch thc
ca chi tit bng tay n 11 chuyn ng lc l c trnh by trn hnh 4-5e.
Cn hnh 4-5g l s kim tra kch thc ca chi tit bng c cu kim tra dng
chic ko. S kim tra dng ny c u im l dch chuyn ca chi tit 13
theo phng thng ng khng nh hng n kt qu kim tra v n c dng
kim tra cc trc bc.
Theo nhng s kim tra trn hnh 4-5 th cc b mt lm vic ca ca-
lp hoc thanh kim tra lun lun tip xc vi b mt chi tit cn kim tra, do
chng b mn nhanh v gim chnh xc cng nh n nh ca c cu kim
tra. khc phc nhc im ny c th dng thit b kim tra t ng khng tip
xc trc tip.

132
4.3.2. Kim tra t ng bng phng php khng tip xc trc tip
Trn hnh 4-6 l s kim tra t ng cc ng knh ca chi tit bng
phng php khng tip xc trc tip.

Hnh 4-6. Cc s kim tra t ng ng knh ngoi bng phng php khng
tip xc trc tip
1. Mt t; 2. Chi tit kim tra; 3. Ngun sng; 4. Thu knh; 5. Khe h; 6.
Tm ngn; 7. Vt knh; 8. T bo quang in; 9, 13, 16. Chi tit kim tra; 10. ng
dn kh nn; 11. mng; 12. Cng tc; 14. Li; 15. Cun dy; 17. Vng pht; 18.
Vng nhn. . Khe h; p. p lc.
Hnh 4-6a l s kim tra bng phng php quang hc, s dng t bo
quang in. Chi tit cn kim tra 2 nm gia mt t 1 v tm ngn 6, to ra khe
h 5 cho tia sng t ngun chiu 3, qua thu knh 4 i qua. Tia sng sau khi i
qua khe h c vt knh 7 thu li truyn ti t bo quang in 8. Khi kch
thc ca chi tit cn kim tra thay i th khe h 5 thay i v thay i dng nh
sng, do cng dng in i qua t bo quang in cng thay i. Cng
dng in thay i theo t l vi s thay i ca kch thc kim tra v to ra
cc tn hiu tng ng trn bng nh sng hoc trn c cu ch th ca thit b
kim tra.
Hnh 4-6b l s kim tra bng kh nn. ng dn kh nn c t gn
b mt ca chi tit cn kim tra 9. Khi kch thc ca chi tit cn kim tra thay
i th khe h v p lc p cng thay i, do mng 11 dch chuyn ln hoc

133
xung tip xc hoc khng tip xc vi cng tc 12 ca at-tric in - kh nn
tip xc.
Kim tra ng knh ca chi tit bng thp 13 c th c thc hin bng
phng php cm ng (hnh 4 - 6c). Kt cu ca thit b gm cun dy 15, li 14.
Khi kch thc ca chi tit 13 thay i th khe h gia li 14 v chi tit 13 thay
i, do dng in i qua cun dy 15 cng thay i.
Hnh 4-6d l s kim tra kch thc ng knh ngoi bng phng
php siu m. Ngun pht siu m l vng pht 17, cn c cu tip nhn l vng
nhn 18. Khong cch gia ngun pht v b mt chi tit cn kim tra 16 c o
bng cch so snh cc sng pht ra vi sng chun.
4.3.3. Kim tra t ng ng knh l
Trong thc t sn xut ngi ta thng dng cc my kim tra t ng v
bn t ng kim tra ng knh l (hnh 4-7).
Hnh 4-7a l s kim tra ng knh l 1 bng ca-lp gii hn 2, cn
hnh 4-7b l s kim tra ng knh l bng ca-lp hnh cn 3. Kim tra ng
knh l cng c th c thc hin bng h thng tay n 4 dng chic ko
(hnh 4-7c). C ba s ny u thuc phng php tip xc trc tip. S
kim tra ng knh l bng ca-lp kh nn 5 (hnh 4-7d) l phng php khng
tip xc trc tip.

Hnh 4-7. Cc s kim tra t ng ng knh l
1. ng knh l; 2. Ca-lp gii hn; 3. Ca-lp hnh cn; 4. Tay n dng ko; 5.
Ca-lp kh nn; 6. Qu cu; 8, 10. Cht di ng; 9. Mt phng; 11, 12. Cng tc;
13. Tay n; 14. Chi tit kim tra.
kim tra cc ng knh l nh ngi ta s dng c cu tay n lc l
(hnh 4-7e). thi im ban u qu cu 6 chm vo ng sinh ca l 14 bn
phi. Cc cht di ng 8, 10 c g theo mt phng 9. Khi phn di c tay n

134
13 quay quanh trc 7 sang bn tri th qu cu 6 chm vo ng sinh ca l
bn tri. Nu ng knh l nm trong gii hn cho php th cng tc 11 s ng,
cn cng tc 12 s m. Nu ng knh l qu ln (ph phm) th c hai cng tc
11 v 12 s ng, cn nu ng knh qu nh (ph phm) th c hai cng tc 11
v 12 s m. Cc cht 8 v 10 tr v v tr ban u nh phn di ca tay n 13
quay khi khng c chi tit cn kim tra 14.

Hnh 4-8. Cc s kim tra t ng sai s hnh dng v sai s v tr tng quan
1, 4, 6, 10, 13. Chi tit cn kim tra; 2, 5, 14, 15, 16. Cc at-tric; 3. Khi V; 7.
u o; 8. Tay n; 9. Cng tc; 11. Thanh ng; 12. Thanh ngang. l. Khong
cch tm hai l.
4.3.4. Kim tra t ng sai s hnh dng v sai s v tr tng quan
Hnh 4-8 l cc s kim tra sai s v tr tng quan ca chi tit. Hnh
4-8a l s kim tra song song gia hai b mt ca chi tit 1. y ngi ta
dng at-tric bin 2 kim tra sai s gii hn ca song song gia hai b
mt m khng ph thuc vo chiu dy ca chi tit 1. Qu trnh kim tra c
thc hin nh dch chuyn theo phng ngang ca chi tit 1
dy, mng ca bc c kim tra theo s trn hnh 4-8b. Trong
nhng trng hp ny chi tit cn kim tra 4 c g trn khi V s 3 v quay
mt vng. S kim tra ny c s dng at-tric bin 5.
Hnh 4-8c l s kim tra khong cch tm l ca cc l. Thit b kim
tra gm hai u o hnh cn 7 c a vo hai l ca chi tit 6. Khi khong cch
tm c sai s th tay n 8 b xoay theo v tr thng ng v tip xc vi mt

135
trong hai cng tc 9. s kim tra ny c th thay th cc u o hnh cn
bng cc u o hnh cu.
Hnh 4-8d l s kim tra ng thi c ng knh trung bnh v
cn ca chi tit hnh tr hoc kim tra ng knh trung bnh v cn ca chi
tit hnh cn 10. Sai s ca kch thc trung bnh c xc nh bng at-tric khi
thanh o 12 dch chuyn theo phng thng ng, cn sai s cn dch chuyn
theo phng nm ngang ca thanh 11.
Hnh 4-8e l s kim tra ng thi hai kch thc ng knh hai
u chi tit 13 bng cc at-tric 14 v 16 v cn bng at-tric 15.
4.3.5. Kim tra t ng nhiu thng s

Hnh 4-9. g kim tra kh nn nhiu thng s
1, 2, 3, 5, 6. u ra ca cc ng ni; 4. Trc g; 7. Chi tit cn kim tra. D=1.
ng knh trong; D
2
. ng knh ngoi; h. Khong cch gia hai mt u.

Kim tra t ng nhiu thng s c dng kim tra ng thi nhiu
kch thc ca chi tit phc tp trong cng mt ln g t. Hnh 4-9 l g
kim tra nhiu thng s cng lc nh: ng knh ngoi D
2
, ng knh trong D
1
,
khong cch gia cc mt u h v song song gia chng. Chi tit cn kim
tra c g trn trc g 4 v t vo mt u ca l pha di. g c cc ng
ni u ra 5 kim tra ng knh trong D
1
; hai ng 3 kim tra ng knh
ngoi D
2
; hai ng 1 kim tra kch thc h; cc ng 2 v 6 c dng kim

136
tra song song gia cc mt u (chi tit 7 cn c xoay 360
o
trn cht 4). Cc
u ra ca cc ng (cng c k hiu nh cc u vo nhng thm du phy; 1;
2; 3; 5; 6) c ni vi cc thit b o kh nn. Cc thit b o ny cho bit kt
qu kim tra.
Hnh 4-10 l g kim tra nhiu kch thc chiu cao cng lc. Chi tit
cn kim tra 12 c t trn bn mp (bn kim tra). g kim tra nhiu thng
s cng c t trn bn kim tra ny.

Hnh 4-10. S kim tra cng lc nhiu kch thc chiu cao
1, 5. Cc thanh cng; 2, 7, 8, 9. Cc ng h so; 3, 10. Cc cht iu chnh; 4.
L xo l; 6. Thanh tu ng; 11. Cht l xo; 12. Chi tit cn kim tra.

Cc ng h so 2 v 8 c g trn cc thanh cng 1 v 5, cn cc ng
h so 7 v 9 c g trn cc thanh tu ng 6 (c th t dch chuyn). Cc thanh
tu ng 6 c treo trn cc l xo l 4. Cc cht iu chnh 3 v 10 c dng
nh v g kim tra theo chi tit. Sai lch ca cc kch thc c nh gi
theo cc ng h so: sai lch ca h
1
(theo ng h so 2); sai lch ca h
2
(theo
ng h so 7); sai lch ca h
3
(theo ng h so 9). ng h so 9 c u tip xc
vi mt y ca chi tit nh cht c l xo 11. Sai lch ca kch thc h
4
c
nh gi theo ng h so 8. Trc khi kim tra cc ng h so c iu chnh
v s 0.
Trn cc g kim tra nhiu thng s c th xc nh nhiu kch thc
chiu di ng knh ca trc bc, trc khuu, ng knh ngoi v kch thc

137
rnh ca pittng, o mt u ca cc chi tit phc tp, ng tm v
khong cch tm ca cc chi tit dng hp.
4.3.6. Kim tra tch cc khi mi trn ngoi
Cc thit b kim tra tch cc c s dng cho nguyn cng mi trn
ngoi c cc loi: tip xc mt im, tip xc hai im v tip xc ba im.
a. Thit b kim tra tch cc tip xc mt im.
Hnh 4-11 l thit b kim tra tch cc tip xc mt im c dng
kim tra rnh ca vng bi.

Hnh 4-11. Thit b kim tra tch cc rnh ca vng bi
1. Vt vi chnh; 2. L xo l; 3. L xo; 4. at-tric; 5. Tay n; 6. B gim chn; 7.
u o; 8. Chi tit gia cng; 9. Bung kh nn; p. p sut.

Thit b ny c lp trn trc ca my mi. u o 7 c t st vo
b mt cn kim tra ca chi tit gia cng 8 bng l xo 3. gim mn, u o
c ch to bng hp kim cng hoc kim cng. Khi kch thc gia cng ca
chi tit gim th tay n 5 quay ngc chiu kim ng h tc ng ln cn o ca
at-tric 4. at-tric 4 c treo trn l xo l 2. Tn hiu t at-tric c truyn ti
c cu chp hnh ca my (c cu chy dao ca mi) n dao v sau
dng my.
iu chnh tip xc ca at-tric c thc hin bng vt vi chnh 1, cn
hm u o c thc hin bng mng kh nn bung 9. Khi kch thc gia
cng t yu cu th kh nn vi p sut p t ng i vo bung kh nn 9, cn

138
ca bung 9 dch chuyn v bn phi, lm cho tay n 5 quay theo chiu kim
ng h v u o 7 li ra khi chi tit gia cng. B gim chn u 6 c tc dng
gim rung ca thit b kim tra. chnh xc ca thit b kim tra tch cc
tip xc mt im khng cao v nh hng ca rung ng ca trc chnh, ca
bin dng nhit, bin dng do lc ct gy ra. Sai s o nm trong khong
0,020,05 mm.
b. Thit b kim tra tch cc tip xc hai im.

Hnh 4- 12. Thit b kim tra tch cc tip xc hai im khi mi trn ngoi
1. Thn; 2. u ra; 3, 6. Vt; 4. L xo l; 5. Tay treo; 7. C cu iu khin ch
th; 8, 10. u tip xc; 9. Chi tit cn kim tra; 10.

Hnh 4-12 l thit b kim tra tch cc tip xc hai im c dng
kim tra kch thc ng knh ngoi ca chi tit khi mi. u tip xc 10 c
c nh. V tr ca u tip xc ny c iu chnh bng lng dch chuyn ca
thn 1 nh mt vt pha trn. u tip xc di ng 8 c ch to nh mt chi
tit dng cng c cnh tay n nm i din vi ng o u ra 2. Vt 3 c tc
dng iu chnh khe h trc ming ng ra 2 v iu chnh thit b. Tt c
thit b c treo trn l xo l 4. L xo 4 c kp cht trn tay treo 5. Tay treo
ny c th quay quanh l xo l 4 ti v tr yu cu bng vt 6. Vt 6 c tc dng
chng lt cho thit b khi n khng lm vic (khi thit b lm vic th u vt 6
khng c chm vo thn ca thit b kim tra). Trn thn ca c cu iu khin
- ch th 7 c lp b n nh p lc ca kh nn, mng lc kh, h thng xi-phng
vi sai vi cc cng tc in, rle in t v cc n pht sng.

139
Thit b kim tra tch cc trn y thc hin c ba lnh: lnh chuyn
chy dao gia cng th sang chy dao gia cng tinh, lnh ng lng chy dao v
lnh li nhanh mi ra xa sau khi t c kch thc yu cu ca chi tit 9.
Mt thit b kim tra tch cc khc c trnh by trn hnh 4 - 13. y l
thit b kim tra vi cc at-tric tip xc in c dng iu khin qu trnh
mi trn ngoi.

Hnh 4-13. Thit b kim tra vi at-tric in tip xc iu khin qu trnh mi
trn ngoi
1. Xilanh; 2. Mng; 3. Thanh g; 4. Vt chn; 5, 11, 16, 18, 22. L xo; 6. Thn
thit b; 12. Kim ch th; 13. Cht xoay; 14, 15. u o; 17. Tay n; 19.
Pittng; 20. Mt t; 23. Chi tit cn mi.

Thn 6 ca thit b c g trn thanh 3 nh l xo l 5. Thanh 3 c th
dch chuyn ln xung khi cn iu chnh. Mng 2 c gn cng vi pittng 19
ca xilanh 1. Khi du i vo bung phi ca xi lanh, pit tng 19 li ra khi v tr
lm vic (ra khi chi tit gia cng). Thn 6 ca thit b c g cngxn trn l
xo 5, do n m bo cho u o 14 tip xc vi b mt ca chi tit mi. l
xo 5 khng b bin dng khi thit b nm ngoi v tr lm vic ngi ta iu chnh
vt chn 4 cho tip xc vi mt t 20. u o pha di 15 c kp cht trn tay
n 17. Tay n 17 c g vi thn 6 bng l xo l 16. Khi kch thc gia cng
(kch thc ca chi tit mi) gim, u o ny c dch chuyn (c nng ln)

140
nh l xo 22. Nh vy, khi mi trc u o 14 dch chuyn xung pha di, cn
u o 15 dch chuyn ln pha trn. Cc dch chuyn ny c tng hp li nh
tay n 17 c ni kt vi kim 12 bo ch th theo thang chia 9.
Qu trnh hiu chnh kch thc mi c thc hin nh vt vi chnh 21.
Khi xoay vt vi chnh ny (theo chiu kim ng h) th kim 12 dch chuyn v
phn trn ca thang chia 9. Kim 12 quay quanh cht 13 nh l xo 11 tp xc
vi vt vi chnh 21. Trn kim 12 c lp cng tc tip xc 10. Cng tc 10 c th
tip xc vi cng tc 8. V tr ca cc u o 15 v cng tc 8 c iu chnh
bng cc vt 21 v 7. Khi hai cng tc 10 v 8 chm vo nhau (sau mt hi gian
gia cng) tc l kch thc gia cng t yu cu th my t ng dng li.
c. Thit b kim tra tch cc tip xc ba im.


Hnh 4- 14. Thit b kim tra tch cc tip xc ba im khi mi trn ngoi
1, 3, 5. C t; 2. Vng cp; 6. ng h so; 7. Tay n; 8. B gim chn; 9. Hp
chn mi.

Hnh 4-14 l thit b kim tra tch cc tip xc ba im c dng
kim tra kch thc ng knh ngoi khi mi. Thit b ny gm vng cp 2 vi
hai c t cng 1 v 3 v mt c t di ng 5. Trong trng hp ny c t 3 l c
t iu chnh. Nh c t ny m ngi ta c th iu chnh chnh xc v tr ca
vng cp 2 so vi chi tit cn kim tra 4. Vng cp 2 c treo lc l trn tay n
7. Tay n 7 c kp cht trn b gim chn bng du hoc bng l xo 8. B
gim chn ny c g trn hp chn mi 9. Kt cu ca thit b kim tra nh
vy m bo cho c t 1 lun tip xc vi chi tit 4. Khi ng knh ca chi tit

141
gia cng gim, u o (c t di ng) 5 h xung v u kia tc ng n ng
h so 6, gy ra s dch chuyn ca kim ng h, cho bit kch thc gia cng
t n yu cu hay cha. Khi mi xong, vng cp 2 c nhc ln t t (nh b
gim chn 8) c khng gian li mi v g chi tit mi. Nu thay ng h 6
bng mt at-tric no th thit b kim tra ny s tr thnh thit b kim tra t
ng tch cc iu khin qu trnh mi.
d. Kim tra tch cc khi mi cc mt tr gin on
kim tra tch cc cc mt trc gin on nh trc c cc rnh then,
trc c cc l hng knh hoc cc trc then hoa ngi ta dng cc thit b kim
tra tip xc mt im, tip xc hai im v tip xc ba im.
1) Thit b kim tra tch cc khi mi mt trc gin on tip xc mt
im.
Trong thit b kim tra tip xc mt im ngi ta dng u o c
cong ln, do n khng th ri vo cc rnh then hoc cc l hng knh c.
Bn knh ca u o khi kim tra trc phi ln hn bn knh ca chi tit gia cng
(chi tit cn kim tra), cn khi kim tra l th phi nh hn bn knh ca l cn
kim tra. Yu cu ny cho php nng cao tnh cht ng hc ca thit b, tuy
nhin bn knh u o tng s lm tng sai s kim tra.
2) Thit b kim tra tch cc khi mi mt trc gin on tip xc hai
im.
Hnh 4-15 l s kim tra tch cc tip xc hai im khi mi trc then
hoa. Thit b ny rt vn nng, n c th dng kim tra cc b mt lin tc
(khng gin on). Vng cp kim tra tip xc hai im c cu to gm: cc
m kp tu ng 18 v 6. Cc m kp ny c treo c lp trn cc l xo l 11
v 9. M kp 18 c ni kt vi ng o 17, cn m kp 6 c ni kt vi thanh
iu chnh 7. Cc u o 4 v 5 c ch to t hp kim cng, b mt lm vic
ca chng l hnh tr. Lc o c to ra nh l xo 8. C t 10 c tc dng ngn
cho cc u o khng ri vo rnh then hoa ca trc mi. Nu iu chnh cc u
o vi chnh xc cao th cc u o ch c th ri xung rnh mt on
khong 0,005 0,008 mm so vi b mt trc gia cng. Cc c cu ch th v pht
lnh c lp xi-phng vi sai vi cc ng vo 13 v 14. Bn phi ca xi-phng vi
sai ny c c cu i p 16 cn bn tri ca n c l c cu o. Van tit lu 12 c
tc dng gim dao ng ca lc o v tng qun tnh ca thit b kim tra.
Thit b kim tra trn y c kh nng pht lnh cho my cng nh pht lnh cho
ch th treo thang chia 15. Thit b c g trn bn my mi. C cu thu lc 19
c tc dng y thit b kim tra ti v tr cn o.

142

Hnh 4- 15. S kim tra tch cc khi mi then hoa
1. mi; 2. Chi tit then hoa; 3. Pit-tng; 4, 5. u o; 6, 18. M kp; 7.
Thanh iu chnh; 8. L xo; 9, 11. L xo l; 10. C t; 12. Van tit lu; 13, 14.
ng vo; 15. Thang chia; 16. C cu i p; 17. ng o; 19. C cu thu lc.

3) Thit b kim tra tch cc tip xc ba im khi mi mt tr gin on.
Nguyn l lm vic ca thit b kim tra tch cc tip xc ba im khi
mi mt tr gin on cng ging nh nguyn l lm vic ca thit b kim tra
tch cc tip xc ba im khi mi mt tr lin tc (mt tr khng gin on). Cc
u o u c bn knh cong ln, trong hai u o c nh v mt u o di
ng.
4.3.7. Kim tra tch cc khi mi trn trong
Kim tra tch cc chi tit khi mi trn trong cng c thc hin bng hai
phng php trc tip v gin tip. Vi phng php kim tra trc tip th cc tn
hiu c truyn ti c cu chp hnh ca my khi kim tra trc tip kch thc
l mi bng ca-lp cng hoc bng thit b o tip xc hai im (i khi bng
thit b o tip xc mt im). Vi phng php kim tra gin tip th cc tn hiu
c truyn n c cu chp hnh ca my khi kim tra ng knh l bng v tr ca
ht mi. Phng php kim tra trc tip c u im hn so vi phng php kim tra
gin tip. Trn hnh 4-16 l cc s kim tra tch cc khi mi trn trong bng
cc phng php trc tip.
Khi kim tra bng ca-lp cng (hnh 4-16a), ca-lp 1 c t trc chi
tit gia cng 2. Chi tit gia cng 2 c g trn g ca my mi trn trong. Ca-
lp 1 c ni kt vi sau 3 ca my mi v mi hnh trnh chy dao kh hi
ca bn my, ca-lp li tin gn ti l cn kim tra. Khi t kch thc l theo yu

143
cu th ca-lp lt vo l cn kim tra v qua b chuyn i truyn tn hiu ti
c cu chp hnh ca my. Ca-lp bc c th truyn lnh thay i t lng
chy dao mi th sang lng chy dao mi tinh v lnh dng my. Kim tra tch
cc bng ca-lp cng c dng rng ri khi mi trn trong v n c kt cu n
gin v d s dng. Thit b ny cn cho php kim tra cc b mt gin on.
Hnh 4-16b l s kim tra tch cc khi mi trn trong bng thit b tip
xc mt im. Khi mi, ng knh l ca chi tit 4 tng dn, u o 5 vi cn 14
s dch chuyn ln pha trn v lm quay tay n 13, do cng tc 11 khng
tip xc vi cng tc 10 m tip xc vi cng tc 12. Lc ny tn hiu c
truyn ti c cu chy dao ca my thay i lng chy dao hoc ngng chy
dao. ng thi cc tn hiu tng ng cng c truyn ti bng nh sng bt
sng cc bng n c cc mu khc nhau. C th quan st bng mt theo ng h
so 8. Kim ca ng h so 8 dch chuyn c l nh u o t vo cn 7, cn 7
li c t vo cn 14 c dch chuyn. Lc o c to ra nh l xo 6.
Hnh 4-16c l s kim tra tch cc khi mi trn trong bng thit b tip
xc hai im. y l h thng kim tra vi hai tay n. Cc u o 19 v 21 khi
mi s i ra xa khi tm ca chi tit 20 v lm quay cc tay n 15 v 18.
V cc tay n ny c chung im tip xc ti A, cho nn lng dch
chuyn ca im A (thuc tay n 15) s l lng dch chuyn tng cng. Kt
qu l im B ca tay n 15 cng dch chuyn. Cc cnh tay n ca cc tay
n 15 v 18 c chn sao cho lng dch chuyn ca im B bng tng cc
lng dch chuyn ca cc u o 19 v 21, c ngha l, bng lng thay i ca
ng knh l gia cng. Lng dch chuyn ca im B (thuc tay n 15) c
xc nh bng u o 17 hoc bng at-tric truyn tn hiu cho c cu chp hnh
ca my. L xo 16 c tc dng to ra lc o v gi cho cc tay n n nh ti im
A.
Trong phn ln cc trng hp khi p dng phng php kim tra tch
cc i vi mi trn trong ngi ta dng cc thit b c kh nng pht ra hai lnh:
mt lnh chuyn lng chy dao gia cng th sang lng chy dao gia cng
tinh v mt lnh ngng chy dao (hoc l dng my). Tuy nhin, tu thuc vo
chnh xc gia cng chi tit v chu k lm vic ca my, s tn hiu - lnh c
th ln hn: lnh th ba c tc dng kim tra kch thc khi chy r (sau khi ngt
lng chy dao tinh), cn lnh th t kim tra khi chy r sau khi ngt lng
chy dao mi th.

144

Hnh 4- 16. Cc s kim tra tch cc khi mi trn trong
1. Ca-lp; 2, 4, 10. Chi tit mi; 3. sau; 5, 17, 19, 21. u o; 6, 9, 11. L xo;
7, 14. Cn t; 8. ng h so; 10, 11, 12. Cng tc; 13, 15, 18. Tay n.

Kim tra tch cc bng phng php gin tip khi mi trn trong hay
c dng trong nhng trng hp kch thc gia cng thay i nhiu v hay
phi iu chnh li my khi chuyn t kch thc ny sang kch thc khc, c
ngha l khi gia cng cc lot chi tit c s lng nh. Vi phng php gin tip,
qu trnh kim tra c tin hnh nh xc nh v tr ca ng sinh ca mi.
ng sinh ny s dch chuyn theo phng hng knh khi gia cng. Trong
trng hp ny ngi ta thng dng cc thit b o kh nn. Kim tra kch thc
ca chi tit c thc hin bng cch o khe h gia mt u ca ng kh nn v
mi.
Trong mt s trng hp (v d, khi kim tra cc l c ng knh nh t
5 10 mm) ngi ta dng phng php kim tra t hp (kt hp hai phng php
kim tra trc tip v gin tip). Trn thit b kim tra c lp hai ng o kh nn,
mt kim tra v tr ca b mt gia cng, cn mt kim tra v tr ca mi.
Khi mi th khe h gia cc ng kh nn s thay i, do , p lc trong xi-phng
kh nn s thay i (xi-phng kh nn cu to gm hai bung, mi bung c
ni vi mt ng kh nn). Khi kch thc gia cng t yu cu th cc tn hiu -

145
lnh c truyn ti cc c cu chp hnh ca my. Phng php kim tra t hp
cho php t chnh xc cao hn phng php kim tra gin tip.
a. Kim tra tch cc khi mi i tip
lp ghp chnh xc cc chi tit hnh tr vi nhau th cc kch thc
trc v l phi c chnh xc rt cao (dung sai khong 1 2 m). m bo
c cc mi lp ghp nh vy ta phi ch to c cc chi tit c chnh xc
cao. m bo chnh xc bng phng php lp ln hon ton nhiu khi khng
thc hin c v l do kinh t, cn p dng phng php lp chn li khng c
hiu qu khi sn lng sn phm ln.
nng cao chnh xc lp ghp cc chi tit hnh tr ngi ta p dng
phng php kim tra tch cc khi mi i tip. Theo phng php ny th mt
trong hai chi tit lp ghp (thng l bc) c ch to vi dung sai ln, cn chi
tit lp ghp khc (trc) c mi sa t ng khi gia cng trn my mi. Khi
thc hin phng php gia cng i tip th khng cn phi kim tra kch thc
chi tit th 2 m ch cn khi kim tra m bo c hiu kch thc cn thit ca
cc chi tit lp ghp. Nu m bo c iu kin th khe h hoc di ca
mi ghp s t yu cu. Cc thit b kim tra khi gia cng i tip thng
c cc at-tric kh nn hoc cc at-tric cm ng. Hnh 4 - 17 l s kim tra
tch cc khi mi i tip cc chi tit hnh tr trn.
Bc 2 c gia cng chnh xc vi ng knh D
1
c g trn trc g 1
v tr kim tra. Trong trc g 1 c lp cc u ra ca cc ng kh nn to
thnh khe h D
1
- A (khe h gia cc mt u ca cc ng kh nn v mt trong
ca bc 2). Kt cu nh vy cho php xc nh ng knh ca bc nh c cu
g trn khi 3. Khi kch thc thc hin ca bc c xc nh th t khi 3 tn
hiu - lnh c pht ra t hiu kch thc cn thit ca bc v trc 5. Hiu
kch thc ny s m bo khe h (hoc di) khi lp ghp. m bo khe h
(hoc di) khng ph thuc vo ng knh ca bc th hiu cc ng knh
D
1
- D
2
phi lun lun l i lng c nh (D
1
: ng knh l ca bc; D
2
: ng
knh trc).
Do cc kch thc ca bc khc nhau, v d, khi tng kch thc D
1

(ngha l tng khe h D
1
- A) th tn hiu - lnh gia cng trc s c pht ra
vi cng lng tng ca khe h s trong thit b o kh nn ca vng cp o 4 v
nh vy c th t c ng knh D
2
ca trc 5 ln hn. Gn y ngi ta cn
dng phng php kim tra tch cc khi gia cng i tip cc mi lp ghp ren
v cc mi lp ghp khc.


146

Hnh 4-17. S kim tra tch cc khi mi i tip
1. Trc g; 2. bc; 3. Khi g; 4. Vng cp o; 5. Trc trn (chi tit mi). D
1
.
ng knh l bc; D
2
. ng knh trc. s. Khe h trong thit b o.

b. Kim tra tch cc khi mi v tm
Kim tra tch cc trn cc my mi v tm c mt ngha quan trng bi
v cc my ny c nng sut cao, d lp t trn cc dy chuyn t ng, d TH
qu trnh sn xut.
1) Thit b kim tra tch cc khng c hiu chnh my khi mi v tm
kim tra tch cc khi mi v tm ngi ta thng dng cc thit b o
tip xc mt im, tip xc hai im v tip xc ba im vi cc at-tric kh nn
v in - kh nn.
Hnh 4-18 l s kim tra tch cc khi mi v tm cc chi tit ca xe
gong v cc chi tit ca xe trt bng khng c hiu chnh my.
thit b kim tra ny ngi ta dng vng cp tip xc hai im vi cc
u o 7 lun lun tip xc vi chi tit gia cng 8. Cc u o 7 c treo trn l
xo l 9. L xo l 9 chu tc ng ca l xo tr 6. Trong trng hp ny khe h
gia u tip xc 5 thuc tay n ca u o pha di v mt u ca ng kh 4
(c ni kt vi u o pha trn) s gim xung, lm cho p lc trong at-tric
in - kh nn tng ln. Khi kch thc gia cng t yu cu (tng ng vi khe
h gia u tip xc 5 v ng 4) th at-tric in - kh nn s truyn tn hiu -
lnh cho my chuyn lng chy dao th sang lng chy dao tinh v sau
s truyn tn hiu - lnh dng my. a vng cp o ti chi tit gia cng v
y n ra khi chi tit gia cng, trn thit b c lp xilanh thu lc 12 (c ni
kt vi h thng thu lc ca my mi).

147

Hnh 4- 18. S kim tra tch cc khi mi v tm
1. Thanh ging; 2. Trc ca thanh ging; 3. C t; 4. ng kh; 5. u tip xc;
6. L xo trc; 7. u o; 8. Chi tit gia cng; 9. L xo l; 10. Vu t;
11. Cn pittng; 12. X ilanh.
Sau khi bt u mi khong 15 20 giy, vi tn hiu - lnh, du i vo
bung tri ca xi lanh 12, pittng cng cn 11 dch chuyn v bn phi v thng
qua vu t 10 (vu t 10 c kp cht vi thit b kim tra) y thit b kim
tra ti chi tit gia cng cho ti khi chm vo c t 3. Sau khi kt thc gia cng,
du chy vo bung phi ca xi lanh 12, cn xilanh 11 dch chuyn v hng
ngc li (t phi sang tri) v ko thit b o tr v v tr ban u (v tr khng
lm vic). Thit b kim tra trn y c g trn trc 2 ca thanh ging 1. Thanh
ging 1 c g trn mt trn ca mi dn ng ca my. Kt cu ca vng
cp o (vi cc u o 7) cho php iu chnh khong kch thc kim tra t
(3570) mm.
Trong qu trnh mi do dn b mn nhanh, chi tit gia cng c th b
x dch, lm thay i im tip xc ca chi tit vi cc u o. V vy, nu cc

148
u o khng song song vi nhau th chnh xc ca kt qu o s gim.
loi tr nhc im ny trong thit b kim tra c lp thm c cu kim tra
song song v g t chnh xc v tr ca cc u o.

Hnh 4-19. S kim tra tch cc vi hiu chnh my khi mi v tm
1. at-tric; 2. Chi tit; 3. Bnh cc; 4. Nam chm in;
5, 7. Trc vt; 6. Bnh vt; 8. bnh dn.
2) Thit b kim tra tch cc c hiu chnh my khi mi v tm.

Khi mi v tm ngi ta thng dng thit b kim tra tch cc vi hiu
chnh my. Chi tit 2 c gia cng trn my mi v tm theo phng php n
dao dc. Sau khi mi cc chi tit c chuyn ti v tr kim tra bng at-tric 1
(hnh 4-19). Kch thc ca cc chi tit i sau s tng dn v gn bng gii hn
trn ca trng dung sai. Khi t n kch thc hiu chnh th at-tric 1 truyn
tn hiu - lnh ti c cu hiu chnh (hnh 4-19b). Ti y nam chm in 4 nhn
tn hiu v lm cho bnh cc 3 dch chuyn i mt rng. Bnh cc 3 c lp

149
cng vi trc vt 5. Do , bnh vt 6 s quay i mt gc v lm xoay trc vt 7.
Trc vt 7 dch chuyn dn 8 thc hin lng hiu chnh.
4.3.8. Kim tra tch cc khi mi phng
Phng php kim tra tch cc khi mi phng c nhng c im sau
y:
u o khng tip xc theo chu k vi cc chi tit gia cng (u o ri
vo ch trng gia cc chi tit gia cng).
Cc chi tit gia cng c g trc tip ln bn t, do khng th kim
tra trc tip c chiu cao hoc b dy ca chi tit.
Khi tnh n c im th nht, cc thit b kim tra tch cc c lp
thm c cu kh lnh hoc ch th trong thi im m u o nm khe h gia
cc chi tit gia cng. Nguyn l hot ng ca cc thit b ny l lm chm qu
trnh pht lnh hoc ngt kt ni u o vi c cu ch th khi u o i qua khe
h gia cc chi tit gia cng. Cc thit b kim tra tch cc khi mi phng c
chia lm hai loi:
- Thit b kim tra tch cc khng c hiu chnh my.
- Thit b kim tra tch cc c hiu chnh my.
a. Thit b kim tra tch cc khng c hiu chnh my khi mi phng

Hnh 4-20. S kim tra tch cc khng c hiu chnh my khi mi phng
1. u ; 2. Cn; 3. Nam chm in; 4, 9. L xo; 5. ng; 6. Vt hiu chnh; 7.
Nam chm in phanh hm; 8. Tay n.

150
Trn hnh 4-20 l s kim tra tch cc khi mi phng khng c hiu
chnh my. Khi o, u o 1 chm vo chi tit gia cng, lc ny u ca vt hiu
chnh 6 to vi mt u ca ng 5 mt khe h nht nh ( ln ca khe h ph
thuc vo kch thc ca chi tit gia cng). Khi kch thc gia cng t yu cu
th cc tn hiu - lnh cn thit c truyn ti c cu chp hnh ca my. Kt
qu kim tra kch thc cng c ghi li trn thang chia ca thit b kh nn. Khi
o, cn 2 c hm li bng b ngt mch ca nam chm in 3 v c gi ti
v tr ny bng l xo 4, do u o 1 khng b tt xung di b mt gia cng
khi i qua khe h gia cc chi tit. Sau mi hnh trnh kp ca bn my, dng
in i vo nam chm in 3, cn 2 c nng ln bng tay n 8 ca nam chm
in phanh hm 7. L xo 9 c tc dng to ra lc o cn thit. Nhc im ca
thit b trn y l kt cu phc tp do c b ngt mch hnh trnh ca nam chm
in phanh hm 7 v cc u o chng mn (v tip xc trc tip vi b mt gia
cng). khc phc cc nhc im ny ngi ta dng cc thit b o khng tip
xc trc tip.

Hnh 4-21. S kim tra tch cc khng tip xc trc tip v khng c hiu
chnh my khi mi phng
1. Bn t; 2. Chi tit gia cng; 3. ng kh nn; 4. C cu o; 5. C cu hm; 6.
Cam; 7. tay quay; 8. ; 9. L xo l; 10. Thanh dn; 11. Vt vi chnh; 12. C cu
ch th; 13. B n nh p lc.

Trn hnh 4-21 l s thit b khng tip xc trc tip v khng c hiu
chnh my kim tra chi tit trn cc my mi phng vi bn hnh ch nht v
bn quay trn. C cu o 4 c g pha trn ca cc chi tit gia cng 2. Cc

151
chi tit gia cng c g trn bn t 1 ca my. C cu o 4 c iu chnh th
theo thanh dn 10, cn iu chnh tinh bng vt vi chnh 11. hm c cu 5
ngi ta dng tay quay 7 ca cam 6. Nh tay quay 7 ca cam 6 m c cu hm 5
c nng ln v c treo trn 8 thng qua l xo l 9. B dy ca chi tit
c kim tra theo khe h s gia cc b mt gia cng v mt u ca ng kh nn
3. ng kh nn ny c ni bng cc ng mm vi cc c cu ch th 12 v b n
nh p lc 13 ca c cu o kh nn.
b. Thit b kim tra tch cc c hiu chnh my khi mi phng

Hnh 4-22. S kim tra tch cc vi hiu chnh my khi mi phng
1. mi; 2. Vt quay; 3. Cp bnh rng cn; 4. Hp gim tc; 5. ng c
in iu chnh; 6. B khuych i; 7. C cu o; 8. Chi tit gia cng; 9. mi.

Hnh 4-22 l s kim tra tch cc khi mi phng vi c cu hiu chnh
t ng my mi. Khi mi, cc chi tit gia cng 8 i qua c cu o 7 v chm
vo u o ca c cu o ny. Trong qu trnh mi, mi 9 mn nhanh, kch
thc ca cc chi tit theo chiu cao s tng dn v n khi bng hoc ln hn
kch thc hiu chnh th c cu o 7 pht tn hiu - lnh iu chnh my. Tn
hiu i qua b khuych i 6 v c truyn ti ng c in iu chnh 5, qua
hp gim tc 4 v cp bnh rng cn 3 lm quay vt 2 ca u mi 1 to ra mt
lng dch chuyn theo yu cu. Gi tr dch chuyn ca u mi c xc nh
bng thi gian quay ca ng c in iu chnh 5 c gn rle thi gian. Tc
dch chuyn ca u mi c th thay i trong khong 0,05 - 0,2 mm/pht (nh

152
iu chnh cc bnh rng thay th ca hp chy dao), do n m bo c
xung iu chnh cn thit.
4.3.9. Thit b kim tra tch cc khi mi khn
Mi khn l nguyn cng tinh gia cng cc l tr vi chnh xc cp
IT6, IT7 v nhm t R
a
= (0,32 0,02) m. Mi khn c thc hin bng
cc thanh mi vi cc chuyn ng quay v chuyn ng tnh tin i li, cn chi
tit ga cng c g c nh trn g. Trong qu trnh mi khn, cc thanh mi
mn khng u, do u khn c v tr khng c nh so vi tm ca l gia
cng. iu ny gy kh khn cho vic dng thit b kim tra tch cc trong nhng
trng hp cn g thit b kim tra ny ln u khn. Cc s kim tra tch cc
khi mi khn c trnh by trn hnh 4-23.
Trn hnh 4-23a: c cu o vi phn t nhy cm 1 c lp trc tip trn
u khn. Phn t nhy cm 1 l mt ng tit lu c ni vi ng kh nn. T
phn t 1 ny thng tin v kch thc gia cng c truyn ti at-tric, tip sau
thng tin ny c chuyn thnh tn hiu - lnh truyn ti cc c cu chp
hnh ca my hoc ti c cu ch th 3 quan st qu trnh gia cng. C cu
kim tra ny cho php kim tra lin tc ton b chiu di b mt gia cng ( l
u im chnh ca thit b). Tuy nhin, kt cu ca thit b phc tp v u o 2
khi lm vic b mn nhanh.

Hnh 4-23. Cc s kim tra tch cc khi mi khn
1. Phn t nhy cm; 2. u o; 3. C cu ch th; 4. at-tric tip xc in; 5.
Ca-lp cng; 6. Tay n; 7. at-tric chuyn i.

Trn hnh 4-23b: c cu o vi ca-lp cng 5 thc hin chuyn ng
thng i li cng vi u khn v khi kch thc gia cng t yu cu th ca-lp

153
cng 5 lt vo l v ng cng tc ca at-tric tip xc in 4 truyn tn hiu -
lnh cho dng my. C cu o ny c dng rng ri trong sn xut. B mt lm
vic ca ca-lp c ch to hnh cu tng kh nng t nh v vo l gia cng.
Trn hnh 4-23c l c cu o dng tay n li c lp pha trc u
khn, cho nn n cho php ch kim tra c mt u ca l gia cng (u di
ca l). Hai tay n 6 ca thit b o ch lt vo l gia cng sau khi u khn
ra khi l gia cng. Khi kch thc gia cng t yu cu, phn trn ca hai tay
n 6 c m rng ht c, cn phn di ca hai tay n ny ng cng tc tip
xc ca at-tric chuyn i 7. T at-tric chuyn i ny tn hiu - lnh cn thit
c truyn ti cc c cu chp hnh ca my ngng qu trnh gia cng. C
cu kim tra dng tay n c th lp pha sau u khng. Trong trng hp ny
n s ch kim tra c kch thc u trn ca chi tit.

Hnh 4-24. Kt cu ca thit b kim tra tch cc khng tip xc khi mi khn
1. Khp ni bn l; 2. ng dn; 3. ng u ra; 4. Thn u khn; 5. Thanh gi;
6. Chi tit gia cng.

154
Trong cc thit b kim tra tch cc khi mi khn thng thng ngi ta
s dng cc h thng o kh nn khng tip xc. Hnh 4-24 l kt cu ca mt
thit b kim tra dng ny. u khn c kp cht vi trc chnh ca my bng
hai khp ni bn l 1. Kh nn i vo ng 2, sau theo hai ng dn, kh nn i
xung ng u ra 3. ng u ra 3 c p cht vo thn ca u khn 4. Cc
thanh 5 c tc dng gi cho cc u ra khng b hng (khng b mn), ng thi
chng c tc dng dn hng m bo chnh xc nh tm khi cc thi khn
mn khng u. Khi kch thc l gia cng 6 tng th khe h gia mt u ca
ng u ra v b mt gia cng cng tng, do p lc kh nn nhnh (ng
nhnh) o ca xi-phng vi sai gim. Xi-phng vi sai phi c kt cu sao cho khi
kch thc l gia cng t yu cu th p lc c hai pha phi nh nhau v lc
ny cng tc in c ng li v truyn lnh ngng gia cng.
4.4. Thit b kim tra phn loi t ng
Trong sn xut hng lot ln v hng khi ngi ta thng dng cc thit
b kim tra phn loi t ng kim tra v phn loi chi tit sau tng nguyn
cng. i khi cc thit b cn c dng ng mc chi tit. Cc thit b t
ng thng dng thng l cc thit b vi h thng o: c kh, tip xc in, tip
xc in - kh nn v cm ng. Thit b kim tra - phn loi t ng vi h thng
o c kh phn loi b cu c trnh by trn hnh 4-25.

Hnh 4-25. Thit b kim tra phn loi t ng bi cu
1. Thng cha; 2. Xch ti; 3. Thc c g; 4. Mng tch; 5. Thc phng.

155
Bi cu t thng cha 1 ri vo rnh ca xch ti 2. Xch ti 2 chuyn ng
gia hai ci thc: mt ci thc phng 5 v mt ci thc c g 3. Hai thc ny
to thnh mt mng hnh cn (b hp nm pha di). Khe h gia cc b mt
ca cc thc 3 v 5 to thnh mt dy ca-lp vi kch thc gim dn t trn
xung di. Khi xch ti chuyn ng t trn xung di, vin bi lc chm vo b
mt ca thc c g 3 m khong cch t b mt ti b mt ca thc phng 5
nh hn kch thc vin bi s lm cho vin bi trt theo thc c g v ri vo
thng cha theo mng 4. Nh vy, mi mng 4 tch c mt loi kch thc ca
bi. My t ng ny cho php phn loi bi vi ng knh (4 10) mm vi
khong phn loi trong phm vi t 1 n 10 m. Phm vi phn loi c iu
chnh v cp nh thay i gc nghing ca mt trong hai thc. Nng sut ca
my c th t (15.000 18.000) bi/gi.

Hnh 4-26. Thit b kim tra phn loi t ng bi a

Hnh 4-26 l s thit b phn loi bi a t ng vi c cu o quang
in. Cc chi tit cn kim tra 2 t thng cha quay 1 ri vo c cu vn chuyn
3, sau ri vo mng 4. Thanh ct liu 5 tch tng chi tit (bi) nh lc tc ng
ca chnh cc chi tit (cc bi). Chi tit ny c chuyn ti ch kim tra nh a
7. V tr kim tra c c nh bng l xo l 12. Kim tra kch thc ca chi tit
c thc hn bng thit b quang in 15, thit b ny c lin kt vi cn o

156
13 bng h thng tay n 14. T v tr kim tra chi tit c y vo mt trong
nhng rnh ca a 8 v do a 8 quay nn chi tit c a ti thng cha 10.
pha trn thng cha c thanh nam chm in 11, li ca n di ra m y 9
ca rnh thuc a 8, do chi tit vi nhm kch thc thch hp c th ri vo
thng cha 10. Cam 6 c s dng nng cn o 13 trc khi chi tit i vo v
tr kim tra.
Thit b t ng ny c th phn loi bi a theo 5 nhm kch thc (theo
ng knh vi khong phn loi l 0,002 mm, ng thi my cng c th phn
ra hai nhm ph phm (loi ph phm khng sa cha c v loi ph phm sa
cha c). Nng sut ca my l (15.000 20.000) bi/gi.

157
Chng 5
T ng ho lp rp
5.1. Cc vn chung
5.1.1. Khi nim chung
Lp rp l khu cui cng ca qu trnh sn xut. Trong qu trnh lp rp
ngi ta thc hin lin kt cc chi tit vi nhau to ra sn phm yu cu. Trong
nhng nm gn y, lng sn phm x hi tng mnh, mc phc tp v cht
lng ca chng ngy cng cao, do vy, khi lng cc cng vic c lin quan
n lp rp sn phm ngy cng tng, nhu cu v lp rp t ng cng ht sc cp
bch. Tuy vy, lp rp t ng l mt vn rt phc tp. Khi p dng lp rp t
ng, phi gii quyt mt lot cc vn nh nh v, hiu chnh v tr tng i
ca cc chi tit v cm chi tit, vn chuyn, kim tra, th nghim sn phm...
Cng nh qu trnh gia cng c, qu trnh lp rp c nh hng trc tip n cht
lng v tui th ca sn phm. Chnh trong qu trnh lp rp, cc thng s k
thut thit k s c m bo. c th thc hin qu trnh lp rp t ng, bn
thn cc chi tit v cm chi tit tham gia vo qu trnh lp rp phi c tnh cng
ngh cao, khng cn n cc nguyn cng gia cng c v sa ngui khi lp rp,
d nh v v vn chuyn, cho php s dng cc qu trnh cng ngh v thit b
lp rp tin tin, hin i.
Hin nay, vic p dng lp rp t ng cn b hn ch bi mt lot cc
kh khn sau y:
- Tn ti mt s nguyn cng v mt s bc rt kh TH hoc TH
chng khng mang li hiu qu kinh t cao.
- Mc tp trung nguyn cng trn mt v tr lp rp b hn ch do yu
cu v khng gian (hay din tch) lm vic ca cc c cu chc nng
ln.
- Mt s bc lp rp cn cc trang b k thut chuyn dng i khi rt
phc tp, gi thnh cao.
- S lng cc chi tit lp rp rt ln v a dng. lp rp chng,
nhiu khi phi thit k cc my lp rp t ng chuyn dng, hiu qu
s dng khng cao.
- L thuyt v lp rp t ng cho n nay vn cha hon thin.
- Yu cu v nh hng, vn chuyn v nh v cc chi tit c kt cu,
vt liu v tnh cht khc nhau vi vn tc v chnh xc cao s lm
cho cc thit b lp rp t ng tr nn phc tp, t tin v km hiu
qu.

158
- Do cc chi tit cu thnh sn phm c ch to ti nhiu ni, cc
thi im khc nhau, nn d xy ra s khng tng thch v vt liu,
chnh xc, thi gian cung ng v nhiu vn khc lm cho qu
trnh lp rp b gin on.
hn ch v loi b cc vn trn, p dng c hiu qu lp rp t
ng, phi gii quyt mt s vn v t chc, cng ngh v k thut tng hp
sau:
- Bo m cht lng ch to n nh.
- Gim s cm chi tit cu thnh trn c s p dng nguyn tc thit k
theo mun.
- Nng cao mc tiu chun ho ca chi tit, cm chi tit.
- Chuyn mn ho v tp trung ho sn xut.
- S dng rng ri cc qu trnh cng ngh in hnh v cng ngh
nhm c mc TH cao.
- Nng cao tnh cng ngh ca chi tit khi lp rp t ng.
- Nghin cu p dng cc phng php lp rp mi tin tin.
- Nghin cu p dng cc phng php m hnh ho v m phng cc
qu trnh cng ngh lp rp vi mc ch ti u ho qu trnh.
- S dng cng ngh thng tin trong thit k v t chc cc qu trnh lp
rp t ng.
- Nghin cu, d on nhu cu v xu hng pht trin ca lp rp t
ng.
- Nghin cu ch to cc thit b lp rp iu khin theo chng trnh c
kh nng iu chnh nhanh khi i tng lp rp thay i.
- o to i ng cng nhn vin lnh ngh.
5.1.2. Cc nhim v c bn ca TH qu trnh lp rp
Hu ht cc sn phm s dng trong cng nghip v i sng hin nay
u c lp rp t nhiu chi tit v cm chi tit ring bit. Mi n v lp rp
u c chc nng nht nh, chng ch c to ra sau qu trnh lp rp. Qu
trnh gia cng c c nhim v to ra cc chi tit ring r thc hin lp ghp vi
nhau thnh cc n v lp rp. Tn ti hai dng mi lp c bn trong cc n v
lp rp, l mi lp c nh v mi lp di ng. Trong cc mi lp di ng cc
n v lp phi c v tr tng quan vi chnh xc yu cu. V tr ny thng
c bo m nh mt nhm cc n v lp rp c nh khc. Cc mi lp c
nh thng c thc hin thng qua mi lp c di hoc mi lp ren. Chng
l cc b phn chnh s tip nhn ti trng vn hnh ca my.

159
Trong qu trnh thc hin cc mi lp c nh, xut hin trng thi ng
sut lm bin dng vt liu. Do , kch thc v hnh dng hnh hc ca cc b
mt trc tip thc hin chuyn ng cng tc chnh s b thay i. S thay i
kch thc, hnh dng v v tr tng quan ca cc b mt thc hin chuyn ng
cng tc chnh ca cc mi lp c nh khi lp rp c gi l quan h lp rp.
Quan h lp rp ph thuc vo c im kt cu ca cc n v lp rp, tnh cng
ngh trong lp rp v chnh xc ch to ca cc chi tit tham gia vo qu trnh
lp rp. Nh vy, lp rp cng nh gia cng c c nh hng trc tip n
chnh xc v cht lng lm vic ca cc chuyn ng cng tc cng nh ton b
sn phm cui cng.
Lp rp t ng c mt s nhim v sau:
Nhim v th nht ca lp rp t ng l xc nh mc nh hng
ca quan h lp rp trong cc mi lp c nh ti cc b mt thc hin chuyn
ng cng tc chnh.
Nhim v th hai ca lp rp t ng l xc nh nh hng ca ti
trng vn hnh ti chui kch thc cng ngh khp kn khi lp rp. Sn phm
trong qu trnh vn hnh s chu tc ng ca nhiu loi ti trng, gi l ti trng
vn hnh. Cc ti trng ny s c cc chi tit v cc phn t cu thnh ca cc
n v lp rp v sn phm tip nhn. Di tc ng ca ti trng, xut hin cc
dch chuyn v bin dng lm thay i chui kch thc cng ngh khp kn. Khi
tnh ton chui kch thc, nu khng tnh ti ti trng vn hnh, cc thng s k
thut thit k ca sn phm s khng t c iu kin lm vic c th. xc
nh chui kch thc cng ngh khp kn chnh xc, ph hp vi iu kin lm
vic c th, chng ta phi tnh ti khu khp kn ca chui ng hc. Khu khp
kn ca chui ng hc c th xc nh theo phng trnh sau y:

+ =
1
1
. .
m
i
q i i
D A A

Trong :

A - kch thc khu khp kn ca chui kch thc cng ngh.

i
A - kch thc ca cc khu thnh phn trong chui.
i
- hm truyn.

D - lng dch chuyn tng cng trong chui kch thc ca n v lp

do hin tng khp kn ng hc khi lm vic gy ra.
q
- hm truyn, c trng cho phng tc ng ca khu khp kn ca
chui kch thc ng hc.

160
Nhim v th ba ca lp rp t ng l xc nh v nh gi cc sai s
cng ngh trn cc nguyn cng lp rp cc mi lp c nh, tm kim cc
phng php hp l nhm loi b chng, nng cao cht lng ca mi lp v sn
phm. Khi thc hin qu trnh lp rp c th xy ra mt s sai lch v ch v
iu kin so vi gi tr thit k. Cc sai lch ny s gy ra cc sai s cng ngh
lm nh hng ti cht lng qu trnh lp rp, tin cy v nhiu ch tiu c gi
tr ln hn c. Do , bo m cho cc mi lp c c cht lng yu cu,
cn thit phi xc nh chnh xc hp l ca cc b mt lp rp.
Nhim v th t ca lp rp t ng l s dng gia cng c loi b
nh hng ca quan h lp rp v ti trng vn hnh cng nh cc sai s cng
ngh xut hin khi vn hnh. Trong mt s trng hp lp rp, c th loi b nh
hng ca quan h lp rp ti cht lng ca cc mi lp c nh thng qua mt
s nguyn cng gia cng c b sung. V d, mt gng ca xilanh trong mt s
ng c ch c gia cng tinh sau khi n c lp vo thn ng c. Bin
php ny cho php loi b cc bin dng b mt thc hin chuyn ng cng tc
chnh ca cm (mt gng ca xilanh) di tc ng ca lc lp rp. loi b
nh hng ca ti trng vn hnh ti cht lng sn phm, trong nhiu trng
hp, ngi ta thc hin gia cng mt trong cc b mt thc hin chuyn ng
cng tc chnh theo cc prfin c bit c tnh ton trc (v d, trnh
nh hng ca gin n nhit trong thi gian lm vic, mt s pttng c ch to
vi tit din van hoc x rnh phn y). C hai trng hp k trn cc nguyn
cng lp rp c ghp vo qu trnh gia cng.
Nhim v th nm ca lp rp t ng l nghin cu thit lp cc
phng php v cc c cu chp hnh lm vic theo nguyn l sao chp li qu
o chuyn ng c trng ca cc mi lp c khe h an ton, khi thc hin cc
mi lp c nh, loi b hin tng kt khi lp rp. Khi chuyn cc mi lp c
nh v dng cc mi lp c khe h, qu trnh lp rp s thc hin d dng hn,
khng gy ra quan h lp rp, cht lng mi ghp ch ph thuc vo chnh
xc trc m khng ph thuc vo bn thn qu trnh lp rp. C nhiu
phng php chuyn cc mi ghp c nh v dng c khe h nh dng tc ng
ca nhit lm thay i t l kch thc cc chi tit, to iu kin lp rp d
dng, khng gy hin tng kt v quan h lp rp. thc hin nhim v th
nm, thng phi gii quyt hai vn sau:
- Xc nh qu o chuyn ng c trng v v tr gii hn ca chng
cho c lot chi tit.

161
- Xc nh gi tr v phng tc ng ca lc lp rp hp l, sao cho lc
ny khng lm thay i qu o chuyn ng ca cc chi tit trong
qu trnh lp rp v khng gy bin dng do trn cc b mt tip xc.
5.1.3. Hon thin chun b cng ngh ca qu trnh lp rp t ng
Chun b cng ngh khi TH cc qu trnh lp rp bao gm mt s cng
vic chnh sau y:
- Phn tch tnh cng ngh ca kt cu. Nu kt cu cha hon thin,
cn tin hnh hon thin tnh cng ngh ca kt cu.
- Xc nh dng v trnh t thc hin cc nguyn cng lp rp t ng.
- Xc nh cc thng s ca h thng lp rp nh s v tr lp rp, kiu
c cu cp pht chi tit, cu trc ti u ca h thng, kt cu ca c
cu vn chuyn v iu khin h thng.
- Xc nh din tch v khng gian yu cu ca h thng.
- Chun b i ng nhn vin phc v.
- Thit lp cc ti liu cng ngh v k thut cn thit.
Chun b cng ngh cho cc phn xng hoc nh my lp rp t ng
lp rp cc sn phm t nhiu cm chi tit l mt bi ton phc tp. Ch trn
c s ca cc gii php ng b, ton din vi s tr gip ca cng ngh thng
tin v k thut my tnh mi c th tm c cc gii php k thut hiu hiu qu.
Hiu qu ca qu trnh chun b cng ngh khi lp rp t ng c th
c nng ln nu p dng mt s gii php theo cc hng sau y:
- S dng l thuyt graph m t hnh thc cc cm lp hoc qu trnh
cng ngh.
- Thnh lp cc ngn hng d liu v cc c cu ca h thng lp rp v
cc nguyn cng cng ngh lp rp.
- Ci tin, nghin cu, thit lp cc h thng lp rp iu khin theo
chng trnh.
- Nghin cu t hp cc thit b lp rp c mc tp trung nguyn
cng ti u.
- Ti u ho chui cc thng s c bn ca cc u lp rp t ng
c th ch to, lp rp chng vi tiu hao v thi gian v gi thnh nh
nht bng phng php lp trnh ng.
5.1.4. Mt s phng hng pht trin ca TH lp rp
nng cao hiu qu ca qu trnh lp rp t ng, m bo trnh k
thut cao ca n, cn lu mt s bin php v phng hng pht trin sau y:
- o to i ng chuyn gia bc cao trong lnh vc cng ngh v TH
cc qu trnh lp rp.

162
- Nghin cu cc phng php mi c hiu qu m hnh ho v ti
u ho cc qu trnh lp rp, qu trnh thit k sn phm, thit k cng
ngh, thit k ch to cc trang thit b chnh v ph.
- Thit lp cc qu trnh cng ngh, cc phng php lp rp mi c
nng sut cao.
- Thit lp cc h thng lp rp linh hot thc hin cc qu trnh lp
rp khi sn phm thay i.
- Thit lp mt h thng m bo k thut thng nht cho cc qu trnh
cng ngh lp rp trn c s cc thnh tu mi nht ca cng ngh
thng tin, cng ngh my tnh v k thut o ca th gii.
- Thit lp c s khoa hc v kinh t cho qu trnh rbt ho cc qu
trnh lp rp t ng.
- Hon thin phng php tnh ch lp rp v lng phi d tr trc
khi thc hin lp rp.
- Thit lp v hon thin c s khoa hc xy dng cc mun k thut,
cho php s dng trong cc lnh vc cng nghip khc nhau.
- T chc sn xut tp trung cc mun tiu chun c tnh ti nhu cu thc t.
- Xy dng v hon thin k thut thit k cho cc thit b lp rp iu
khin theo dy chuyn, c kh nng iu chnh nhanh theo nguyn l
mun cho cc nhm i tng in hnh.
- Thit k ch to cc rbt v mun lp rp chuyn dng iu khin
thch nghi.
- Nghin cu ch to cc dng c lp rp - lm ngui hiu qu vi
chng loi v s lng ln, cht lng cao.
- Nghin cu thit lp cc phng php lp rp v t chc lp rp mi
cho cc iu kin khc nhau.
5.2. Tnh cng ngh ca kt cu trong lp rp t ng
5.2.1. Cc yu cu chung v tnh cng ngh lp rp t ng
C nhiu c cu v chng loi my khng th lp rp t ng c, v
chng c tnh cng ngh rt thp. Trong nhiu trng hp, tnh cng ngh trong
lp rp t ng i khi li mu thun vi tnh cng ngh trong gia cng c. Do
tnh cng ngh khi lp rp t ng rt kh p dng nh mt quy tc cho mi
trng hp, phng php v iu kin lp rp. Mc d vy, tn ti mt s yu cu
chung i vi tnh cng ngh ca sn phm khi lp rp t ng.
Yu cu 1. Sn phm phi c tnh phn chia (cu thnh t nhiu khi).
Kt cu c phn chia thnh cc khi ring l s thun tin cho qu trnh ch to
v lp rp. Vic TH gia cng v lp rp cc khi ring l trn cc cng on

163
khc nhau s thc hin d dng nh cc trang thit b n gin. Vic kim tra,
hiu chnh cng d dng hn, chnh xc cao hn so vi gia cng, lp rp cc
sn phm phc tp.
Yu cu 2. Kt cu sn phm n gin, yu cu ny cng trng vi tnh
cng ngh trong gia cng c. Hnh dng n gin s cho php s dng cc c cu
nh v n gin vi s bc nh v t nht. kt cu cc cha t ng cng n
gin. Vic vn chuyn trong mng dn hoc dy chuyn s d dng v tin cy
hn, t xy ra cc hin tng kt v ph v nh v ban u.
Yu cu 3. S lng chi tit trong cc n v lp cng t cng tt, iu
ny c v mu thun vi tnh phn chia ca sn phm. Tuy nhin, vic gim s
chi tit thnh phn s cho php gim bt s mi lp, gim bt cc sai s cng
ngh v cc ng tc khi thc hin lp ghp sn phm, lm cho thit b lp rp
n gin hn. C th s dng cng ngh tin tin to ra cc chi tit phc tp
khng cn lp ghp nh chi tit bng nha, c p lc...
Yu cu 4. V tr ca cc chi tit phi hp l, n nh. Qu trnh lp rp
s thun li hn nu v tr ca chi tit c s khng thay i khi lp rp, qu trnh
lp rp c thc hin t mt pha l tt nht (v d, t trn xung). Nu lp rp
c thc hin t hai hoc nhiu pha rt d gy ra s c v khng ng b
ca cc c cu chc nng.
Yu cu 5. chnh xc, dung sai ca cc b mt lp ghp phi cho
php thc hin lp rp bng phng php lp ln hon ton. Dung sai cc kch
thc tnh t b mt lp ghp ti cc mt chun phi c tnh ton hp l, nu
qu trnh nh v khng thc hin c trc tip bng cc b mt lp ghp. V d,
khi lp rp chi tit dng bc bng tay, nu mi lp khng c yu cu c bit, th
ng tm gia mt tr ngoi vi l khng cn cao. Nhng nu p dng phng
php lp rp t ng c c cu kp nh v bc bng mt tr ngoi th lch tm
ca mt ngoi vi mt trong phi c khng ch trong gii hn cho php.
Nghin cu k lng tnh cng ngh ca chi tit s cho php xc nh
chnh xc kh nng thc hin lp rp t ng v tnh hiu qu ca qu trnh.
nh gi tnh cng ngh ca sn phm, ngoi cc yu cu trn, cn mt lot cc
ch tiu ph tr khc nh khng c c cc khuyt tt lm bin i hnh dng
sn phm, cc khuyt tt gy kh khn cho qu trnh nh v v lin kt chi tit;
kt cu phi cho php thc hin qu trnh lp rp theo cm bng phng php lp
tun t. Tnh cng ngh cng c xem xt cho tng phng php lp rp v i
tng lp rp c th.

164

Hnh 5-1. Cc chi tit kp c tnh cng ngh cao
a) Vt kp c rnh trn c hai u; b) Vt c chui dn hnh tr: d
1
, l
1
. ng
knh v chiu di tr dn; c) Vt t khoan l v ct ren khi lp rp; d) ai c gn
nha do; e) Vt c m.


Hnh 5-2. Kt cu khng hp l v hp l v tnh cng ngh lp rp
a) Ngng trc ren; b) Cht ch; c) Vt chn dc trc; d) vt c nh ngang trc.

V d, gim hin tng nghing ca vt khi lp rp vi l ren, ngi ta
s dng vt c phn tr dn (hnh 5-1b). ng knh d
1
bng ng knh trong

165
ca ren, cn chiu di l
1
= 0,9d
1
. Mc d tiu hao vt liu c tng cht t, nhng s
dng kt cu ny thng mang li hiu qu kinh t khi lp rp t ng.
Trn hnh 52 l mt s v d v kt cu khng hp l v hp l v tnh
cng ngh lp rp.
5.2.2. Cc ch tiu nh gi tnh cng ngh lp rp
nh gi tnh cng ngh ca sn phm (n v lp rp) ngi ta a ra
3 ch tiu c bn: c kh nng lp rp tun t, tnh cng ngh ca mi ghp, kh
nng bo m chnh xc lp rp.
nh gi tnh cng ngh lp rp ca tng chi tit ngi ta a ra
khong 15 ch tiu thuc 4 nhm sau:
Hnh dng v tnh n nh ca cc b mt: Duy tr c hnh dng khi
lp rp, b mt n nh, khng b h hng...
nh hng v np chi tit vo vng lp rp: Cc chi tit dng trn
xoay, cc chi tit dng lng tr (khi ch nht).
nh v chi tit trong qu trnh lp rp: Tn ti b mt nh v chi
tit, c th s dng chun cng ngh lm chun g t khi lp rp.
Tnh lp rp hay kh nng duy tr nh hng trong qu trnh lp rp.
Trong tng ch tiu ngi ta a ra nhng du hiu c th ho. Mi
mt du hiu c nh gi bng im a (t 0 n 1). Kh nng lp rp t ng
tt c cho bng 1 cn khng th lp rp t ng - cho bng 0. Ngoi ra ngi
ta cn a ra mc ngha ca tng ch tiu q i vi tnh cng ngh ca chi tit.
Tnh cng ngh lp rp t ng ca mt chi tit c tnh nh sau:
ctj
m
i
i
j i
j
Q
a q
T

=
=
1
(5.1)
T
j
Tnh cng ngh lp rp chi tit th j.
q
i
H s nh gi mc nh hng ca ch tiu th i n tnh cng
ngh lp rp (Cc h s nhn gi tr trong khong t 1 - 10 v c xc nh theo
iu kin c th).
i
j
a - im ca ch tiu th i ca chi tit th j.
Q
ctj
Tng h s mc ngha ca chi tit th j :

=
=
m
i
i ctj
q Q
1

V d 1: im ca mt s ch tiu:
Trong ch tiu 1 (nhm 1) c du hiu l kh nng duy tr hnh dng ca
b mt du hiu ny chia thnh 4 mc im (bng 5.1).

166
Trong ch tiu 2 v nh hng v np chi tit vo vng gia cng c 9 du
hiu da vo hnh dng ca cc chi tit m ch yu l chi tit dng trn xoay v
chi tit dng hnh hp.
Bng 5.1
im ca ch tiu 1
Chi tit hon ton duy tr hnh dng ca mnh trong qu trnh lp rp. 1
Chi tit c th b bin dng di tc dng ca cc lc cng tc ca
c cu nh hng np chi tit, lp rp, ...
0,9; 0,8;
0,7; 0,6;
0,5; 0,4.
Chi tit thay i hnh dng trong phu cp phi di tc dng ca
trng lng chi tit khc hoc thay i hnh dng di tc dng ca
t trng:
0,3; 0,2;
0,1
Chi tit khng gi c hnh dng hnh hc xc nh 0

V d 2: Mt trong nhng du hiu v nh hng chi tit theo bng 5.2.
Bng 5.2
im ca ch tiu 2
Chi tit c hnh dng hnh hc n gin thng ch yu cu mt c
cu nh hng.
1
Nhng chi tit c mt s phn t kt cu lm phc tp hnh dng
hnh hc v do lm phc tp qu trnh nh hng. y cng
cn tnh n nh hng ca vt liu chi tit n kh nng nh
hng.
0,9; 0,8;
0,7; 0,6;
0,5; 0,4
Kh nng nh hng ca chi tit l ng nghi ng. 0,3; 0,2;
0,1
Khng th nh hng chi tit t ng: 0

nng cao tnh cng ngh ca kt cu cn phi: thay i kt cu theo
hng phn chia sn phm thnh tng khi hay tng cm, n gin ho cc chi
tit v lp ghp, gim s lng chi tit, a ra cc gi tr dung sai v kch thc
mt cch hp l.
5.3. nh v v lin kt chi tit khi lp rp t ng
5.3.1. nh v cng khi lp rp t ng
Cc chi tit trong qu trnh lp rp t ng phi c t trn cc v tr
sao cho chng c th lp rp d dng vi chi tit khc khi kch thc ca n nm
trong phm vi dung sai cho php. y l nhim v quan trng nht ca vic t

167
chc cc qu trnh lp rp t ng. Tn ti hai phng php tnh ton v thc hin
nh v tng i chi tit: nh v cng v t nh v (t tm kim v c iu
khin). Trn hnh 5-3 l v tr ca trc v bc trc khi thc hin lp rp bng
phng php nh v cng.
Trc c kp vo mt mt t cn bc c kp vo mt t khc. Khong
cch gia cc mt t l h. Trong qu trnh lp rp c th xut hin hin tng, khi
im ngoi cng a ca trc chm qua mp ca l bc (vt ra ngoi im b, hnh
5-3c). Khi di chuyn xung, trc s t vo mt u ca l lm cho qu trnh lp
rp khng thc hin c. Cn nhn mnh rng, hin tng ny s xy ra c khi
trc v bc c ch to trong phm vi dung sai, ngha l kch thc d
b
ca trc
nh hn kch thc d
o
ca l, v trc d dng chui vo l khi lp rp bng phng
php th cng. Khi lp rp t ng do cc nguyn nhn nh khng ng tm
ca mt trong vi mt ngoi ca bc, sai s ca kch thc ng knh ngoi v
nhiu yu t khc, m qu trnh lp rp khng thc hin c. Do , cc chi tit
dng trong lp rp t ng phi c yu cu v chnh xc rt cht ch.
Xt iu kin lp ghp ca trc v bc khi nh v cng. Bc c a t
di ln, trc a t trn xung. Bc c ng knh ngoi D, dung sai
H
. Do ,
ng knh ngoi ca bc c th thay i t D
M
ti D

. L c ng knh d
o
dung
sai
b
, nn ng knh l c th thay i t d
OM
ti d
O
, e l lch tm ca l vi
ng knh ngoi ca bc. Cc mt t c nh ca bc v trc c th c b tr
t hai pha i din hnh (5-3c) hoc cng mt pha hnh (5-3d). Cn lu rng,
phng n trn hnh (5-3d) km thun tin hn khi lp t cc c cu dn y
ca u lp rp. V tr gii hn tri ca im bn phi a ca l s xut hin khi
bc c ng knh ngoi D
M
v ng knh l d
OM
b nht, cn lch tm e t
gi tr ln nht v nm lch v pha bn tri so vi ng tm bc (hnh 5-3a).
Vi cc iu kin ny khong cch tnh t mt t c nh ca bc ti im cnh
bn phi a ca l (hnh 5-3a) s c gi tr:
e
d D d D
D h
OM M OM M
M

+
=

=
2 2
(5.2)
Khi cc mt t b tr theo phng n nh trn hnh 5-3c, qu trnh lp
rp t ng c th thc hin c, khong cch t mt t c nh ca trc ti mt
t c nh ca bc phi c gi tr ng bng h. Nu mt t ca trc nm bn phi
im a (hnh 5-3a), th khi trc di chuyn xung s chm vo mt u ca bc.
V tr gii hn phi ca im cnh bn tri b ca l s l v tr ng vi bc
c ng knh ngoi ln nht D

; l bc c ng knh nh nht d
OM
; cn lch
tm e t gi tr ln nht v nm lch v pha bn phi so vi ng tm bc

168
(hnh 5-3b). Khong cch gia mt t c nh ca bc ti im gii hn phi ca mp
tri l l:
e
d D
h
OM
+
+
=
2
1

(5.3)
Khi cc mt t phn b cng mt pha (hnh 5-3d), khong cch gia
chng phi c gi tr bng h
1
. Khong khng gian gia hai im a v b (hnh 5-
3a, b) s l khong t do nu kch thc ca bc nm trong phm vi dung sai cho
php. Do , nu trc c kch thc ng knh ngoi d
b
khng ln hn gi tr
ca ab, cn khong cch gia cc mt t c gi tr ng bng gi tr tnh ton
theo cng thc (5.2) v (5.3), qu trnh lp rp t ng gia trc v bc s c
thc hin.

Hnh 5-3. nh v cng chi tit khi lp rp

Xut pht t cc php tnh hnh hc v i s d dng tm c cng thc
bo m iu kin lp ghp:
e
H
2
2
min
+ =

(5.4)

169
y:
min
- khe h b nht cho php ca mi lp,
O OM
d d =
min

Nu dung sai ca cc chi tit lp rp khng p ng c cng thc (5.4),
c th thc hin qu trnh lp rp, cc chi tit bt buc phi c vt mp.
Lng vt mp c xc nh t iu kin lp rp t do theo cng thc sau y:
e c
H
2
2
min
+ =

(5.5)
Trong thc t, bi ton nh v tng i chi tit khi lp rp l cc bi
ton khng gian nhiu chiu, v ngoi dch chuyn theo cc trc to lun tn
ti hin tng quay quanh mt vi trc to hnh (5-4a) do mt trong cc chi
tit c ch to km chnh xc, hoc do mt chun ch to b sai lch
(hnh 5-4b). Cc sai lch do nghing ng tm c th c loi b nh
chuyn ng t do ca mt trong hai chi tit lp rp, v d, hnh 5-4c.
Vic nh v t ng cc chi tit c ren cn c bit quan tm v d xy ra
hin tng t, hng ren khi lp rp t ng. S lp rp t ng cc mi lp
ren c th m t trn hnh 5-5.

Hnh 5-4. Cc kh nng xy ra nghing ng trc chi tit trc khi lp rp

ai c c nh tm trn v tr lp bng c cu n hi, cn vt c gi
trong c cu nh v. C cu nh tm v c cu nh v c lp t ng tm vi
sai s cho php. Trn s ta thy dch chuyn ng tm ca cc chi tit lp
rp (hnh 5 - 5a) chnh l khu khp kn ca chui sai s nh v.
L = l
1
+ l
2
+ l
3
(5.6)
Trong :
l
1
- khng ng tm ca c cu nh v v nh hng;
l
2
- lng dch chuyn ln nht ca tm vt so vi tm ca c cu nh v
v c tnh theo cng thc sau y:

170
2 2 2
2
op
b b
l

+ = (5.7)
Trong :
b
- khe h yu cu gia c cu nh v vi vt;
b
- dung sai ng knh ngoi ca vt;
op
- dung sai ng knh l ca c cu nh v.

Hnh 5-5. nh v cc chi tit khi lp cc mi ghp ren

Lng dch chuyn ln nht ca tm ai c so vi tm ca c cu nh
hng l
3
c tnh theo cng thc sau y:
2 2 2
2

+ +

=
r r
l (5.8)
Trong :
r
- khe h yu cu gia l ca ai c v cht nh v;
r
- dung sai ng knh l ai c;

- dung sai ch to cht nh v.

Lng dch chuyn ln nht cho php ca ng tm cc mt lp ghp
ca mi lp ren (khng tnh ti nghing ca cc ng tm) theo iu kin
khng xut hin hin lm rng (ct chn ren) c xc nh theo cng thc:
l
1
+ l
2
+ l
3
= 0,325.P
c)

171
Vi P l bc ren.
Hnh 5-5b l hin tng ct chn ren. Gc nghing gii hn khi xut hin
ct chn ren
max
(hnh 5-5c) c xc nh t cng thc thc nghim sau:
d
P
d d
tg P
tg
o
cp
. 5 , 0
30 . . 5 , 0
1 1
max
=
+ +

(5.9)
Trong :
d - ng knh ngoi ca ren;
d
cp
- ng knh trung bnh ca ren;
d
1
- ng knh trong ca ren;
cp
- dung sai ng knh trung bnh ca ren;
1
- dung sai ng knh trong ca ren.
5.3.2. T nh v hay nh v t tm kim
Do nhng nhc im ca phng php nh v cng, phng php t
nh v khi lp rp t ng c nghin cu v ng dng rng ri, Theo
phng php ny, mt chi tit c kp c nh, chi tit cn li c kh nng dch
chuyn t do trong khng gian mt phm vi nht nh. Do vy, khi lp rp, n
c kh nng t nh v theo mt lp ghp ca chi tit c nh. V d trn hnh 5 -
6a l s t nh v n gin nht. Khi cam c prphin hnh sng quay s lm
cho chi tit lp rp dao ng v t ri vo l lp ca bc c kp c nh trn
g lp rp.

Hnh 5-6. Lp rp theo phng php nh v t tm kim
b): 1, 7. Thn c nh; 2, 6. Phn di ng; 3. Chi tit lp rp; 4. L xo; 5. C
cu chp hnh; D. it. c), d): 1. C cu to chuyn ng nh hng; 2. Thanh
n; 3. Thn; 4. g lp rp; 5. Chi tit lp rp.

172
Hnh 5-6b l c cu t nh v da trn nguyn l rung ng. Hai nam
chm in b tr vung gc vi nhau c phn thn c nh 1 v 7 c lp cng
vi thn c nh ca g lp rp. Phn di ng 2 v 6 ca cc nam chm ny
c gn vo c cu chp hnh 5 ca g. Trn c cu chp hnh c chi tit lp
rp 3. C cu chp hnh c kh nng dch chuyn theo hai phng tc ng ca
cc nam chm v tr v v tr cn bng nh l xo 4. Chi tit lp rp cn li c
chuyn ng theo phng vung gc vi mt phng ca bn v. Khi mch iu
khin c cp ngun in c pha lch nhau 90
o
, c cu chp hnh 5 s c
chuyn ng theo qu o trn hoc elp, to iu kin cho qu trnh lp rp xy
ra d dng.
Hnh 5-6c v d l c cu t nh v c cm cng tc di ng. to cho
u lp rp c chuyn ng yu cu, trong rnh ca thn 3 ngi lp thanh n 2.
Thanh n c kh nng quay quanh cht di ng c tm O. Mt u ca thanh
n c gn vi c cu to chuyn ng nh hng 1, cn u kia gn vi
g lp 4, trn c chi tit cn lp 5. Tu thuc vo dng chuyn ng ca c cu
to chuyn ng nh hng, qu o chuyn ng ca g c th c dng
xon c (hnh 5- 6c) hoc quay (hnh 5-6d).
Trn hnh 5-7 l mt c cu lp rp t ng c thit k theo nguyn tc
t nh v.

Hnh 5-7. u lp rp hot ng theo nguyn tc t nh v
1. Mt t; 2, 3. Chi tit lp rp; 4. g t la; 5. Tm chn; 6. L xo.

173
Qu trnh nh v trn cc g ny thc hin qua hai giai on. u tin
cc chi tit lp rp c nh v s b bng cch y st vo mt t 1 (hnh 5-7a).
Sau o lc lp rp P s dch chuyn chi tit 2 theo phng php lp rp vi chi tit
3 ca cm lp rp. Nu chi tit 2 gp cn tr do qu trnh nh v s b cha
chnh xc v c sai s
O
, th chi tit s c nh v ln cui nh mt cn nh v

.
Ti im tip xc K ca cc chi tit s xut hin lc P
O
lm cho chi tit 2
dch chuyn theo phng cn thit c th thc hin lp rp c. g t la
4 c lp t trng thi cn bng trung tm so vi ca s ca tm chn 5 nh
cc l xo b tr hng tm 6 (hnh 5-7b). Khi g t s b chi tit 2 ln v tr lp
rp ca my t ng, b mt lp ghp ca n phi nm trong trng tm kim A,
ngha l trong vng di chuyn ca g t la. Gi tr ti thiu ca trng tm
kim A
min
c biu din trn hnh 5 - 7c. C th thay i gi tr ca trng tm
kim bng cch iu chnh li c cu. Gi tr ca trng tm kim A c xc
nh theo cng thc sau:
O
A > ; vi

+ =
H c O
(5.10)
Trong :
O
- sai s nh hng tng cng ca chi tit c nh (mm);
c
- chnh xc nh hng s b chi tit c nh (mm);
H
- sai s ch to chi tit c nh (mm);
Thi gian nh v c xc nh theo cng thc:
an
A
t = (5.11)
y:
n - s dao ng trong 1 pht;
a - bin dao ng c chn bng mt na khe h yu cu
2
3
A
(hnh
5-7c) ca mi lp (nu chi tit c vt mp, nh lng ny c th tng).
Nu khe h ca mi lp b, c th thc hin lp rp t ng, yu cu
chnh xc ca qu trnh nh v rt cao, do thit b lp rp phi c ch to
rt chnh xc. Lp rp t ng s rt kh khn khi thc hin cc mi lp m mt
trong s cc b mt lp ghp khng c mt mt chun n nh v tin cy. Hin
tng ny thng xy ra vi cc chi tit c hnh dng khng cn xng, ngn hoc
cha qua gia cng... Cng nghip ch to dng c thng gp cc trng hp
ny. Lp rp theo phng php t nh v c nhc im l qu trnh tm kim

174
lm trng tm ca cc chi tit lp ghp hon ton mang tnh ngu nhin, tin
cy khng cao.

Hnh 5-8. S thit b lp rp vi ng tm nghing

S ca thit b lp rp t nh v (hay t nh hng) vi ng tm
nghing th hin trn hnh 5-8. Cc giai on lp t nh hng khi lp bc vo
trc c m t trn hnh 5-8a. Ban u chi tit c nh hng sao cho ng
tm ca chng to ra mt gc tng i ln. Bc 2 cng tm p 3 c th dch
chuyn tng i so vi cht 1 trong hng vung gc vi mt phng hnh v
hoc theo mt u ca n. Nh chuyn ng ngang trong mt phng ca hnh v
u trc s chui vo l.
giai on u ca qu trnh t nh v, cc chi tit tip xc vi nhau
theo cc cnh ca cc b mt lp mi ghp ch ti mt im, th d im A1, do

175
sai s nh hng trong hng vung gc vi mt phng hnh v. Di tc dng
ca lc hnh thnh ti im tip xc ca cc chi tit, bc dch chuyn theo hng
ngang v lm gim sai s nh hng. Ti thi im sai s nh hng b loi tr,
ngha l cc chi tit tip xc thm im A2, s bt u giai on hai ca qu
trnh t nh hng. Bc b p gia trc v tm p 3 to nn p lc theo hng ca
mi tn.
Trc tip tc chuyn ng lm cc chi tit tip xc thm im A3 (giai
on III), cn cc im A1, A2 dn dn tin st nhau cui cng trng nhau ti
im A4 pha bn kia ca im A3. Khi bc chui vo trc di tc dng ca
lc p (giai on IV).
Trn hnh 5-8c s thit b lp rp chi tit theo nguyn l trn. Trc
7 lp trn mm quay 8. Cc 6 c a n trc p 9 nh thit b cp phi rung
ng 5. Trc p 9 lp trn u lp rp 1. u ny c th quay xung quanh ng
tm ca mnh (vung gc vi hnh v). Nh lc p ca l xo 4 u lp rp 1 t ln
cht 2. L xo 3 y trc p 9 xung di.
Khi trc 7 quay cng mm 8, u mt ca n chui vo l ca cc v ko
cc cng trc p 9 quay theo. Lc ny l xo 4 b ko dong ra, cn l xo 3 nn
li. Khi quay cng trc 7, cc 6 lun lun t g l ln u trc cho n khi chng
ng tm vi nhau. Di tc dng ca l xo 3 cc s chui vo l, cong u lp
rp 1 s tr v v tr ban u nh l xo 4.
5.3.3. Cc phng php v c cu nh v c iu khin khi lp rp
S dng nh v cng s lm cho qu trnh lp rp kh khn, bi tin
cy ca qu trnh nh v thp. Phng php t nh v c nghin cu pht trin
mnh m. Tuy nhin do ng tm ca cc chi tit trong vng tm kim c v tr
ngu nhin, nn chuyn ng tm kim s tun theo quy lut xc sut. Do vy,
nu iu kin lp rp khng n nh s dn ti tin cy ca qu trnh lp rp
thp. Tuy nhin, nu thc hin mt s iu kin phi hp nht nh, chng ta c
th lp rp m khng cn qu trnh tm kim k trn. Chng ta s nghin cu cc
iu kin ny. Sau khi c ly ra khi c cu cp phi t ng, cc chi tit c
a vo c cu nh v v kp cht. V tr ca cc chi tit trong khng gian thng
thng s b dch chuyn trong mt phng XOY nh trn hnh 5-9.
Coi trc 1 trn c cu kp ca tay my v bc 2 trong c cu nh v c
nh c v tr nh trn hnh 5-9. Gi s ng tm ca chng song song vi nhau,
hnh chiu ca ng tm trc trn XOY l im O
1
s c v tr tng i so vi
gc to O theo bn knh vect
1
r , cn v tr hnh chiu O
2
ca ng tm bc
cng trong mt phng ny c biu th bng vect
2
r . lch tm gia O
1
v

176
O
2
l bn knh vect
2 1
O O e = . nh v chi tit chnh xc cn bo m iu
kin 0
2 1
= = O O e , ngha l tm O
1
v O
2
phi trng nhau.

Hnh 5 - 9. nh v c iu khin khi lp rp

Trong thc t, v tr ca O
1
v O
2
c xc nh thng qua ln ca
vect e v gc to vi trc OY ph thuc vo rt nhiu yu t v khng th xc
nh chnh xc c. Nu tin hnh dch chuyn im O
1
ti O
2
theo ng ngn
nht O
1
O
2
ta s loi b c qu trnh tm kin. Qu trnh dch chuyn c th do
mt hoc c hai chi tit thc hin ng thi. thc hin c chuyn ng ny,
thit b phi c cc gii php thit k tng ng. Ngoi ra, phi c thm c cu
kim tra v c cu chp hnh. C cu kim tra s xc nh gi tr ca dch chuyn
v to ra cc lnh cn thit loi b khng ng tm bng tc ng ca c
cu chp hnh. Nh vy, trong thnh phn ca c cu nh v phi c cc b
chuyn i v b truyn trung gian, v d, h khuch i v rle... bo m
cho cc chi tit c v tr yu cu trc khi lp rp.
nh v c iu khin c th thc hin theo ba phng n. Trong phng
n th nht, c cu kim tra s tm ra gi tr tuyt i ca e v gc (hnh 5-9)
ri lnh cho c cu chp hnh thc hin dch chuyn theo phng cho ti khi
no c cu phn hi xc nh rng sai lch c loi b. Lc ny, c cu chp
hnh s nhn c lnh dng li v thc hin c nh cho tit. Kt cu ca thit b

177
theo phng n th nht thng phc tp v cn nh hai i lng e v ng
thi. Phng n th hai cng kh thc hin v vi mi mt ln thc hin mi lp
mi cng loi, c cu chp hnh li phi thc hin chuyn ng quay theo cc
ng trong c bn knh khc nhau. V th, trong thc t k thut, phng n th
ba c s dng rng ri nht.
Tu thuc vo nguyn tc iu khin c cu chp hnh, c cu nh v c
iu khin c chia lm hai loi: iu khin theo sai lch v iu khin theo
kch thch. Khi iu khin theo sai lch, c cu chp hnh t ng dng li khi sai
lch c li b, cn khi iu khin theo kch thch, lc tng hp tc ng ln
chi tit di ng s bng khng khi sai lch b loi b.
C cu nh v c iu khin theo phng n th ba vi h thng iu
khin theo sai lch c trnh by trn hnh 5-10.



Hnh 5-10. S ca c cu nh v iu khin theo sai lch
1. ng c; 2. B khuych i; 3. B so snh; 4. g; 5. Bc cn lp; 6. Trc;
7. u lp; CB
1
, CB
2
. B cm bin.

Chuyn ng t ng c 1, qua b truyn trc vt 9 v l xo l 8 s lm
cho u lp rp 7 dch chuyn theo mi tn L. Trc 6 c g trn u 7; bc cn
lp 5 c g trn g 4. ng c 1 qua b khuych i 2 v b so snh 3 c
ni vi cc cm bin CB
1
v CB
2
. Cc cm bin c th c ch to theo nhiu
kiu (cm ng, quang in...).

178
Do ng tm ca bc v trc khng trng nhau, cc cm bin CB1 v
CB2 s hnh thnh nn cc tn hiu khc nhau. Cc tn hiu ny c so snh
trong b so snh 3, sai lch ca chng s c khuch i v dng iu khin
ng c lm dch chuyn u lp rp theo phng gim sai lch. Dch chuyn
theo phng T cng c thc hin tng t. Khi tm bc trng vi tm trc, tn
hiu sai lch t cc b cm ng s bng khng, ng c t ng dng li, trc s
c lp vi bc nh lc F. Trong v d ny, qu trnh nh v ch thc hin theo
mt phng.
Tn ti nhiu phng php lp rp m qu trnh lm trng tm ca cc
chi tit lp ghp c thc hin nh cc chuyn ng c ch nh theo mt qu
o ngn nht O
1
O
2
(hnh 5-11a).
Hnh chiu ca ng tm trc O
1
trong h to hai chiu c c
trng bng on l to vi trc x mt gc .


Hnh 5 - 11. nh v theo nguyn l kh ng hc

179
Hnh 5-11b l s lp rp da trn nguyn l kh ng hc. y l s
lp rp da vo nguyn l nh v c iu khin theo kch thch. Nu a dng
kh nn vi p lc nht nh qua l t di ln s to ra mt lc R c tc dng
nh tm trc vi l theo phng O
1
O
2
. Lc ny c th tnh c theo cng thc:
.
2
.
2
v
R = (5.12)
Vi:
L
S - din tch mt ct ngang ca trc, LH S
L
=
H - chiu di dy cung (mm);
L - chiu di ng sinh ca trc

Hnh 5 - 12. C cu nh v c iu khin theo lc kch thch
1. Thanh y; 2. Trc; 3, 19. ng dn p; 4, 7, 20. u p; 5, 15. Cht c
nh; 6. Van tit lu ca u; 7, 8. ai c; 9. Cam; 10. Thanh trt; 11. Phin
g; 12. Thanh treo; 13. Chi tit g; 14, 21. L xo; 16. Tm ; 17. Chi tit cn
lp rp; 18. Khi V; 22. M kp.

180
Trong trng hp chung, qu trnh nh v cn thc hin theo nhiu
phng vi phng thc tng t. Xt c cu nh v c iu khin theo lc kch
thch (hnh 5-12) dng lp trc 2 vi l trn chi tit c hnh khi V s 17.
u lp rp gm khi V s 18 v m kp 22. M kp 22 c kp cht
vo khi V s 18 nh l xo 21. u lp c a vo v tr lp rp nh mt dn
ng ring (khng biu din trn hnh 5-12). Trong u lp rp l trc 2, pha trn
c thanh y 1. Pha di, trn tm 16 l chi tit cn lp rp 17 c l s lp vi
trc. Chi tit 17 c nh v v c nh nh c cu lp trn phin g 11. C cu
ny c hnh thnh t hai cht c nh 15 to vi nhau mt gc 120
o
v cht di
ng 5 lp trn thanh trt 10. Hai cht c nh c g c nh trn thn ca
thanh treo 12. Khi phin g 11 chuyn ng ln pha trn theo phng G, thanh
trt 10 di tc ng ca l xo 14 s trt ra khi cam 9 g trn chi tit 13. Lc
ny cht 5 v 15 s thc hin nh v chi tit 17 theo l lp rp. Nu tm l bc v
trc khng trng nhau, c cu nh v c ch ch s bt u lm cic. C cu ny
lm vic nh h thng iu khin kh nn, gm u p 4 v 7. Van tit lu ca
u p 4 chnh l trc 2, cn van tit lu (ca kh) ca u p 7 l chi tit s 6
c gn cng vi thanh trt 10 g trn ai 8.

Hnh 5-13. S h thng kh nn iu khin theo lc kch thch

H thng kh nn lin kt vi u p 4 nh ng dn 3, c dng
nh v trc, cn h thng kh nn lin kt vi u p 7 s o ng knh D ca l
bc. H thng kh nn lin kt vi u p 20 bng ng dn 19 dng xc nh
ng knh d ca trc 2. Gi tr ca d v D s c so snh vi nhau. Do vy, c
th nh gi c gi tr khe h ca mi lp. Khe h S
u1
, s xc nh v tr ca
ng sinh bn phi ca trc. Cn khe h S
u2
s xc nh ng knh D ca l v
v tr ng sinh bn phi ca n. Bng cch o S
u3
xc nh c gi tr ca

181
ng knh trc d. So snh S
u2
v S
u3
ta bit c tng quan ca ng knh D v
d. Cn khi so snh S
u1
v S
u2
ta bit c v tr tng quan ca cc ng tm trc
v bc trc khi lp rp. u lp rp c khi V s dch chuyn tng i so
vi c cu cp phi t ng (khng v trn hnh) bng mng n hi M nh
trn hnh 5-13.
H thng kh nn c iu chnh sao cho khi trc v bc c kch thc
danh ngha d
DN
v D
DN
th cc khe h S
u3
v S
u2
bng nhau (hnh 5-13). Ngoi ra,
nu cc ng sinh bn phi ca trc v bc cng nm trn mt ng thng, th
cc khe h S
u1
v S
u2
cng bng nhau. Trong iu kin ny bung kh vi mng
n hi M cng vi trc s nm trng thi cn bng. Khi S
u3
> S
u2
th trc cha
t c v tr cn bng ca mng n hi. Cn khi S
u1
< S
u2
trc s nm ln
mt phn ca mt u chi tit 17 (hnh 5-12). Trong c hai trng hp, bung n
hi s dch chuyn u lp rp c trc v v tr cn bng. Thanh y 1 (hnh 5-12)
s y trc vo l ca chi tit 17. Sau khi lp trc, u lp rp vi khi V s 18
c hi v v bn phi, m kp 22 m ra, phin g 11 h xung lm cho trc i
xung ht chiu di lp yu cu v cm lp s c y ra ngoi.
5.3.4. iu khin v xc nh ch lp rp t ng
Trong qu trnh lp rp sn phm, c cu lp rp s c cc tc ng lc,
nhit v l ho ln cc b mt lp ghp. Cc thnh phn ca lc tc ng c th l
lc lp rp F
c
, lc kp F
k
v lc qun tnh F
q
. Cc lc ny s tc ng ln cc chi
tit tham gia vo qu trnh lp rp, ln cc b mt lp ghp ca chng v ln ton
b sn phm. Xc nh quy lut phn b ca cc lc ny trong h thng cng
ngh rt kh. c th thc hin qu trnh lp rp, m bo cht lng, thi gian
v gi thnh nh nht, an ton cao nht cn gii quyt mt s vn sau:
- Xc nh i tng tip nhn tc ng ca lc lp rp trn sn phm.
- Xc nh gi tr ti hn ca lc tc ng ln cc c cu tip nhn tc
ng ca lc.
- Xc nh gi tr ti thiu cn thit ca lc thc hin qu trnh lp.
- So snh lc ti hn vi lc ti thiu quyt nh ch lp rp v
iu khin hp l.
- Xc nh iu kin iu khin ca cc tc ng cng ngh.
- Xc nh cc phng php v chn c cu iu khin ca cc tc ng
cng ngh.
Cc vn trn chnh l ni dung ca l thuyt thit k cc h thng lp
rp t ng k c cc h thng ngi my cng nghip s dng trong cc qu
trnh sn xut c kh. Tuy vy nhng ni dung ny khng nm trong khun kh
ca gio trnh. Nhng ai quan tm c th tham kho trong [1], [2], [6].

182
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2. Trn Vn ch - T ng ho sn xut - Nh xut bn KH v KT - 2007.
3. Nguyn Vn Hng - My t ng v ng dy t ng - Nh xut bn KH
v KT - 1978.
4. Phan Quc Ph, Nguyn c Chin - Gio trnh cm bin - Nh xut bn
KH v KT - 2006.
5. Nguyn Phng - Gio trnh my cng c t ng ho - i hc Bch khoa
H ni - 1991.
6. . . - -
- 1976.
7. M.. - -
- 1976.
8. .. -
- - 1973.
9. - ( 5) -
- 1973.
10. . . -
- - 2004.
11. Hugh Jack - Intergration and automation of manufacturing systems -
2001.
12. C. Ray Asfahl - Robot and manufacturing automation - John Wiley &
Sons, Inc - 1992.