ca as |. - no fe a | P wd eee cee LALA) = 8 8 & € 8 2 £m 8 8S. ~ ae Spf egges Ss s Sy 8 Hint 5.4: Phan bO robot theo tam vei va the tich ving cong tic 5.1.4. Do chinh xac dinh vi BO chink xic 35 315 dink si 1 (post a0 fee We Honing accuracy) thé hign kha nang 25 ose reen nsec cae doi wgng dat wong dy pa] bepg genes duge chinh xac 161 diem dich. PG 15 Fo cp po] prt Io mor thong 86 yy [oo oO wel fc ral quan trong, 5 si mo dé pf43 4 4 bd Lf pe qegee anh hudng dén sit 2 z1 thao tée chinh xde og or cla phan cong tic So & & 6 © 6 6 a 1 < Y “ & rent Va kha nang bin ST quy dao cha né. . ee fs oahd, de dh yay da Hink 5. 5: Phén bo robor thee ad chin xe diah vi Di voi thiét bi diéu khién 86, do chink xdc dinh vi lien quan dén 2 thong 86, 1a dé phen gidi diéu khién (control resatution) vii dé lap lai (repeatability). tohTuy theo yeu cong nghé, ngudi ta ding cdc roboi ¢6 dé chinh xae dink vi trong khoiing 40.05 +5) nen. Hinh 5.3 cho thay 70% s6 robot cO sai s6 dinh vi khong qua 47,0 mii. Voi kha nang cla ma thie khong gay véin dé y §,1.5. Toe dé dich chuyén tink vie cde 1 bi didu khién hign nay thi viée gid sai so dink vi xuéng QS stor A Ky thnat kinh té vi Xét vé nang suit, ngudi ta mong muén toe dé dich chuyén (thang hodic gc) cla phan cong 4c hoae eta timg khau cng cao cing tot. Tuy nhien, xét_vé mai co hoc. We dé cao sé dain déa nhing vin dé bir gid tink én dial. luc quan tinh kin, suc hur mon nhanh cag co ef Xt vé mat didu hhiéa, vei dé phan gidi nhat dinh cha bo diéu khién. muda tang te do dich chuyén co thé pha We do dich chy am do chinh xac din . Vi vay, vin dé chon vén hop ly hin luén phai duoc dat ra khi thigt ké cing ahw hrs chon robot. khign va he thong chap hinh hién dai che phép nang toc do digu khién tei hang tram meét/phit nhung. nhu wen hinh 5.6 cho thay 161 da trong khodng #60 2 1/000 phan én robot es we do dich chu ry 8 8B & § & mrs ¥ “oo NOV YY5.1.6, Dac tinh cia hé diéu khién H¢ diéu khién anh hudng rat 16n dén tinh nang cla robot. Khi chon he diéu khién, ngudi ta quan tim dén cae Khia cunb sau: 5.4.6.4. Kiéu diéu khien C6 hai kicu didu khién hay dig nuit cho RBON, do Li dién hen diém ~ didn vd didu khién coniae. Piéu khién diém - diém duce ding cho cae robot haa diém, tin dinh, van chuydn.... Bids khién contour van nang hon, song tude day duge dimg é hou vi phai str dung he théing digu khién phitc tap va dat tién. Ngay nay, nbd su phat trién cia k¥ thuat diéu Khién s6 c6 tro gitip cla may tinh, no duoc ding ngiy cing pho bith. 5.1.6.2. Dung luong 66 nho Bo nhé trén robot hign dai thutmg due chia Bam 2 foai: bo hd hé shong Va b6 ahd chiteng trink, Bo nbd he thong ding dé luu we phan mem hé théng. phan mém cong dung chung, nhur hé diéu hanh, dif ligu may, cdc modul chuong trink tinh toan ding hoc. dong ue hoc... BO ahd chucing tinh dé Juu cir cde chuong trinh tng dung cla ngudi ding va cde dit | quan. Thuong thi bd nhé chuong trinh li RAM, cé dung luong han ch dung Nong clic bo nile chiteng with WA mot thong sé k¥ thuat ding quan tam. Né c6 thé duoc tinh bang KB hoac bang 6 tir, sé cau lénh. 3.1.6.3. Giao dién voi thiét bi ngoai vi Céc thiét bi ngoai vi cd thé 1a cae thiet bi cong nghé ma robot phai phuc vu hay cing lam viée, nh may cong cu, phirong Léa van chuyén, hoae ode thiét bi luu tré, hién thi, in an,... Phéin lén cc robot phuc vy trong day chuyén san xuat c6 kha nang n6i ghép trong he CIM thong qua giao dién va mang truyén thong chudn. 5.1.6.4. Cac tién ich Doi voi rat quan trong. 96 c6 thé 1A tién ich Lap triah c6 tre gitip dé hoa, hé thong day (ieach-in), mé phong.... ‘u lién nén cae thigt bj duoc digu khica bing may tinh thi cée tign ich 1a Bo thong s6 ky thuat chinh cia cac robot thuong mai thudng duge cdc nha ché tao cung cap day du trong cdc catalog. Trong mét sé s6 tay cling c6 cac ban thong ké vé thong sé ky thuat cia cde robot do’ cdc hang In trén thé gidi san xudt.£2. TMP KE VA TO HOP ROBOT S.2.E. Cae nguyén hie chung Veco ban, thiét ke robot cling tuan thee nhiing aguyén tac chung cla vige THiS) Ke mdy. Chiing ta s@ gy dang cde nguyen Ide dé vao dé trong vu the la robot. S244, Xuat phat or yeu cau cong nghe vi ch Mai robot deu due rhict ke Siao dé (ue itp thue hien hoac phuc vu cho mot qua trinh san xuat cu the. Vi vay. céc thang si ky thuat he. Vidu. robot cla robot phai dan ung yeu cau clia nguyen cong cong n han bo erang phai co kha mang d chuyén que bin theo duéng han dinh Tntde: e6 We dé di chuyén cis phan cong te (hep que han} phai phir hop do haa: cd Mit nin voi ch ni dig chinh dé duy ti kholing edch va poe nebieng cua que han so ve mat vat hi day han... Robot nd dung ché cay tap vi thye h by pha co co cau ty dong edp Hichuyen va d Hip dua. day, kep....1, Cating 6 didu khic nahi dé nhan bitt vi fda vat Jap va te déng Iya nd then tinh hucng. Jp sip phai ed khi nding nim duce vat. thao ta cd dé chinh xée dink vi cao he thich due trang bi 5.2.1.2. Dem bao su dong ba hs théng hai lam view Gone Robo © héng cong nghe cing wi cic thiét bi Khe nen chting phai phoi hep nhip nhang vsi nhan. Vi du, robot phuc va Cehayer, ga phon vi diay dung cu) cho may cong cu. khi nkan due tin bust gia cong xong chi Get phai the d mo kep, nhat chi tit bd len ii mbat phdi 1 bing ti Kid dat vo co cau hop, kep phoi. Hitt ra Aaoi ving gia cong, phitt tin higy kep song dé cho phép may cong cu liny phai i khicn déng ho vd nhau. Sur true trae . trang thai am dé trong phoi hop sé gay r6i loan vi aguy hiém, Chon ket cin dién hinh &e cua may, robot, cic Bing 14 duce thuting xuyen sim Ke tht het c ula mét nguyen tac co ban ota thicl ke may. Khi thict ong. @ hay mhie Ke ahira ket hint bod ket cau fa su ke hia két cau mot cach cd ¥ ke dit co y hay & 1 rde dé. Dig Ihite v8 06 18 chite bing cach he thong hod ket cau. t8 chite k& edn thanh hink. C Wh. hice chink ching nea neusi thict ke cpp pha ae vice cla ngudl thigt KOH chon két cfu dién . Sir dung ket phon cn 104eau dién hinh lam cho qua trinh thiet ké va che tao duge don gidan. abanh chéng, chat Iugng vd ré liga. Thict ké robot theo phueng phdp to hop modul (sé duge tinh bay & phén sau) IA dang phat wién cao cha su dién hinh hod kt cdu 5.2.1.4. Baim hao sit hoa hop gifta robot vot moi trusng Neuyén tic nay dam bao sith ée e6 higu qua, tin cay. an foan, bén Tau etia robot. N6 tinh den nbict dé moi trudng, de am. Luong khi hoac chat gay hai, mat do bui, mute do rung dong,... Cé 2 bien php dam bao su trong. Bitn phip thi al iruémg, nhu dieu hod khong khi, Toc bui, Ie dé Bign phap nay kém higu qua khi pl hod hop gitta robot wi m 1a cai tao moi cach ty dé ching rung am vi Am viée cha robot rong. vi du trong phan xudng. trong him mé.... Khi dé nguii ta dang bien phaip thi hai. 1a bdo ¥é robot hole cic bo phan cilia nd khdi téc dong c6 hai eta moi lam mat cuc h6 cée bd phan phat nhiet hoge ang kha nang chiu nhiét ctia ching. Nhigu khi phdi hop > kin cde khoi diéu khiéi tring. vi du cae bign phap 66 thé many lai hidu qué cao. 2d Ww hea hop giira robot v6i ngudi dang 16 la tinh den sw ta dimg. Ngay nay. neuoi ta bay ndi den qu doog cits thiét bi dén tam, sinh ly cla ngudi he “than thign” gia may mée voi aguii ding. Né la kei hop cla i nganb Khoa hoc. nu tam sink |y hoe, 16 chite lao dong... Su hai hod dé thé hiéa ¢ bink: dang, hick thude, vi uri, mau sic, am thanh,... ma con ngudi cam nhan khi Lisp xiic vdi thiét by Cé mai nginh khoa hoc. nghién cttu vé cdc giai phap thie ke dim bio sv hod hop giitta may méc va con gud. Eryonontics, Da lan dong. oan 1 eo tink the hién tink phi hop sida thiet bi va con nud due gi li tik er genomic. S.2.1.6. Thiet ke'co dink hadug san xudit Nguyén tac nay noi vé tinh cong nehe cla kél cau. Dinh hudng ciia nd Ri thit ke ra két cau sae che viée cbé tao nd duge dé daay ohat. ré tiéa phat. Chi sie eta tink cong nghé Ei chi tidu kink té, nhung bide hign cla né rit khie mhau. tad thide d xwat cu thé. Chinh vi the, nguyen fae nay con cd tén 1a vet ké dink hurting phin xtong (Workshop Oriented Desren). 105ién hank khi thiét ké rebot 5.2.2. Cac cong viée pha Robot la thiet bi r tim cd qude gia cita cde nygdnh hode cde hang cong nghigp dn. Rieng KE robot dBi héi khOi Lang cong viée rit In, da dang ctla cdc tap thé can bd thiét ké ¢6 inh dé chuyén mon cao. Thudng cdc tap thé dé duge fanh dao béi céc tdng cong trinh su, chiu wdch mhigm thiét ké he thong va diéu hanh chung va cdc nhém can bo thiét ké chuyén nganh, phu trach cdc hé thong riéng biét, nhur co khi, thuy luc, khié nén, diéu khién va truy k¥ thuat mang tinh toan cau nh hién nay, khong may khi nguéi ta thiet ke va ché tao cic thiet bi “te A dén 7%". Tuy nhién, dé ban doc hiah dung 1 phiic tap, nén thigt ks va ché to 6 La cong vide 6 viée 1h n dong dién, . Trong bdi canh giao luu kinh té vi ich tong guat qué trinh thiét ké robot, ching 10i néu ra cdc céng viée can Him hy sau: 1, Phan tich qua trinh cong nghé dé xdc dinh khau nio can phai sit dung robot, chii ¥ dae biet cdc khau sit dung lao dong chan tay hodc diéu kien lao dong khée nghidt. So bo dinh git khd ning va bieu qua cita vite str dung robot vao cae khan 6. 2. Nghien cttu cdc thong sé ket cdu cilia déi tugng dit dinh sé xit ly bang robot, nhu hin dang, kich thudc, khdi hing, trang thai vat Iy (cttng, mém, fong....), su phan bé khéi Lugnp cia tai trong, 3. Nghién ctu diéu kitn moi trudng sit dung robot nhu nhiét dé, byi. rung déng, kha nang gay chdy né... 4. Xde dinh cdc thong sé k¥ thuat chinh cia robot theo yéu céu cong nghé. Tu dé tinh toan cdc chi ticu kink té - ky thuat, Iya chon phuong dn thiét ke hop ly vé mat k¥ thuat va kinh té. 5. Phan chia két cau thanh cdc cum co cau chinh. Xde dinh cym nao cd san wén thi oweng, cé thé mua duce; cum nao 6 thé sit dung thiét ké da im nao phai thiét ke va ché tao méi hodn toan. Phan chia nhiém vu thiét ké cdc cum cho cdc bo phan chuyén nganh. 6. T6 hop he thong. thirnghiem tren mo hinh. Trong giai doan nay nén su dung k¥ thuat mo hinh hod wén may tinh dé giam chi phi va thoi gian thir nghiém. 7. Ché thir. thir nghiém robot trong phong thiéi ké va trong sin xual. 1068, Danh gia két cau vé tinh nang ky thual. cong nghé ché tyo, kinh t. Tir dé dé xuat cdc bien phdp hoan thién kel cdu va cong nghé che to robot. ‘Trong mdi bute thiét ké can chi ¥ tham khao céc mau robot da cé hoa tim mua cic cum chee nang tiéu chuan, cd san trén thi trudng. Cing cn hét sife quan Lam dén diéu kién ch€ tao cdc cum ket cau moi, Tuy tinh hinh cu thé, mot sé bude c6 thé 1a khong can thict hoac trinh uy thuc hién chung c6 thé thay déi. 5.2.3. Thiét ké robot theo phuong phap té hop modul Phuong phap té bop theo modul duoc dp dung trong thict ké va san xudt may méc ndi chung. Phuong pkap nay dac biét c6 higu qua doi voi Ban chat cla phitong phdp nay {2 16 hop thiét bi tir cde cum két cdu 66 cong dung chung. nhu than, co cau phat va truyén luc, phan cong tic, phan didu khign.... Chting duoc néi ghép va truyén nang yong hode thong tin cho nhau nhd cde chi tiét noi ghép nhanh. Mudn thiét ké va san xudt robot theo phucng, phap t6 hep modul thi c&c cum ket cdu phai duoc thong nhat hod, ti¢u chudn hod. Vi vay, thiét ké theo phuong phap t6 hop modut gan lién véi thong nhat hod, tiéu chuan hod két cau. cde sin phdm thong dung, nhu 6 t6, mdy céng cu, robot,... Phuong phép t6 hop modut cd cae uu diém chinh sau: - Gidm thai gian thiét ké va ché tao, vi sit dung cdc ban thiét ké hoac cde cum ché tio co sin trén thi trudng. Nhi¢m vu cia ngudi thiét ke mdi chi 1a chon va t hop ching theo yéu cdu thuc té va ché tao bd sung cdc chi ti¢t phu. - Thoa man cdc diéu ki m viéc tiéu chudn véi két cdu don gidn, sir dung duac ¢ Két cau va chite nang thita. Khi thay déi yéu cdu cong nghé, vi du khi cdi tao day chuyén sin xuat, khong nbat thiét phat mua han robot mdi mA co thé thay ddi. bd sung mot s6 modul cla nd. ic gidi phdp kel c4u 16i uu. it pham phi c: ~ Nang cao chat luong va dé tin cay cia thidt bi, vi cdc cum tigu chudin due ché tao vii chat luong cao, duoc thi nghiém tai cde co sé chuyén mon hoa, ¢6 kinh nghiém, duge dau tu day di cdc thiét bi gia cong va thit nghi¢m chuyen ding. - Gidm gid thinh thiét bj. vi cdc cum duge san xudi véi tinh loat cao. 107- Vi cde modul eta robot duge chuan hod cao nén ahiéu robot s& str dung chung mot sé it modul giong nhau, tao dé dang trong vide hao ducing. bio ti, stta chit. thay thé ching sau Nhutge diéim co ban ciia phucmg phap t6 hop modul 1a khé thoa man cde yeu cau cd biet. CO mot se trueme hop lam cho thiét bi céng kénh. ning né. tinh nang ky thuat khong hop | at ki nhicu cho vie théng nhai hod, ticu chudn hod ket cau, Su th san pham, dung ching. Mat khac, su phat trién khong nating trong cong nghé, vat liu, ket cai chuan d@ xay dung. Lua chor chi tigu dé thdng nhat hoa va tigu chuiin hod 18 viée khé khin. Doi vai robot, ngud¥ ta da chon cae chi tieu sau . phai ton kém rit g nhat hod, tice chudn hod ket nham giim sé ching loai 'n luon tuon mau thudn véi tinh da dang trong kel cau va su thuat thigt ke, - luén een cd xu hudng pha vi cae tiéu Theo tinh nang, ngudi ta phan robot chia think cde "gam" vé stic nang, tc dO dich chuyén, tim voi, dé chinh xde dinh vi... Mér so tink nang khong thé thay ddi, mot so khde 66 thé thay doi trong noi b6 gam. Tuong tu, ngudi ta cing phan khién di + diém. diéu khiga coniony, Theo chiie nang, nouisi ta thong nhat hod. tiéu chudn hea hom robot theo kigu diéu kbign, vj du diéu ic cum chete co ban nhu cum chuyén dong thang. chuydn dong géc, phan cong ¢ diéu khign, hé chap hdmi, thidt bi do, Ching ta ¢6 thé tim thay thong so kF thuat cla ex cum few chuan trang ede nang phii ¢5 vai tro Adc Lap nhii dinh, dong tho phii co timh van ning. Vi du. 69 diéu khien cin e6 kha nang fam vise viii he chap hanh dién co, thuy Slay. Mot cum chite bi kep khide nbau, Theo cong nghé. ngunvi ta thong nhat hod va tigu ch nt hod diéu kien stedung robot, vi du robot han, son, rebot phue vu day chuyén san xual... MOL sO vi du didn hinh ket cau 16 hop modul c6 thé thay 6 robot MH Senior, MUU Junior, MHU Minior cia hang Electrolux (Thuy Dign); MBU-500 cia hang Bosch (Phap). Robitus RC cba Misubishi (Nkat). 108(b) Hinh 5.7: Céc robot kieu Robins RC due to hop ue cdc modul cing kiét Trén hinh 5.7 (a) va hinh 5.7 (b) Ja hai robot khdc nhau thudc kiéu Robitus RC. Robot tht nhat duve dat co dinh wén nén, canh tay chuyén dong lén xu6ng. viing cong tac 1a mot phan hinh céu. Robot tht hai kiéu céng, en dng tren ray, ving cong tée c6 dang hinh chit nhat. Diéu ding chi ¥ la modul canh tay va toan bo hé thong truyén dng thuy luc va he théng diéu khign li¢n quan déu cing kiéu. ‘nh tay duge treo va chur So do t6 hop trong hinh 5.8 cho thay su phong phi va da dang hon cla cae phuong dn 16 hop modul. Tir mot s6 modul: canh tay 1 v6i co cau chuyén dong qua lai, co cau quay canh tay lén-xudng tong mat phang anh tay trong mat phang thang ditng 3, co cau xoay c6 tay Ién-xudng trong mat phing thing dig 4, co cau xoay c6 lay trdi-phai trong mat phing thang ding 5, phan cong tac 6 va cc modul than, gid (8 +10) c6 thé t6 hop thanh cde robot Robitus RC khac nhau: robot cé dinh, than quay, c6 2 cénh tay gat git (a); robot di dong tén ray, than quay, mét canh tay lén xuéng (b); robot di dong, than quay, mot canh tay lén xu6ng va gat git (c); robot treo, chuyén di dong tren ray, mot canh tay (d); robot c6 dinh, mot canh tay gat git (e); robot 6 dinh, than quay, mot cdnh tay gat gir (f). Phuong an cudi cing tuong ting véi mau robot trén-hinh 5.7 (a). thang dimg 2. co cau nang ha 109Hinh 5. 8: Cac phuwong dn t6 hyp modul ctia robot ho Robitus RC Cie robot ho Rebitus RC cé thé ding hé tuyén dong khi né luc va hé diéu. khién mot, hai hay 3 toa do.Tuy theo bo diéu khién va thuy truyén dong ma tai trong clia chting c6 thé la (15 +55) kg, do chinh xdc dinh vi 1a 40,/ mim hoac 4,2 mm. Trén hinh 5.9 (a) A bon phuong dn t6 hop robot véi cdc hé toa do Dé- céc, tru, cau tir 12 modul khae nhau. Tir céc mii ten trong so dé chiing ta 6 thé nhan biet chite nang cla timg modul va trinh ty t6 hop chting. Hinh 5.9 (b) la mot mau tuong ting voi mt trong nhiing phuong dn to hgp ndi trén (phuong dn d). 110Hinh S. 9: Céc robot Robitus RC duoc t6 hop tit cde modul cing kiéu 5.3. MOT SO KET CAU DIEN HINH CUA ROBOT Dé minh hoa cdc tu tutmg chung vé thiét ké robot da trinh bay & trén, déng thai gitip ban doc hinh dung duge phan nao vé két cau cita robot, ké thita c6 chon loc chiing khi cén phai thiét ké robot, phan nay gidi thi¢u mOt sé két cau dién hinh cua cde robot do cde hang khdc nhau trén thé giGi san xuat. 5.3.1. Robot cé dinh trén nén, ding hé toa do Dé-cac ya toa do tru Dang don gian nhat thude nhém nay 1a robot ¢6 canh tay chuyén dong tren iru dan hung cong xén. Mot trong nhiing dai dién ciia nhém ket cu nay 1A robot MP4 cita Lién x6 (cit). Dé 1A loai robot dién-co véi so dé dong duoc bigu dién tren hinh 5.10. Trong than 1 cia robot chifa co cau nang tay va quay né xung quanh truc thang dig, Chuyén dong quay duoc phat dong tir bo dong co-gidm 11tc 3, qua cap banh rang 5 - 4. Banh rang 4 gan lién voi Sng 6 va tang tong 7. Gée quay cia tang trong va cla cénh tay duge gidm sat nho cap sensor khong tip xdc 8. Xilanh khi nén 9 c6 tée dung dinh vi chinh xdc vi trf g6c eta cnh tay, Co cau nang cénh tay gém dong co dién 18, bd truyén true vit - banh vit 19, banh rang 20, thanh rang gan uén Ong 6. Cénh tay duoc kep va lén xudng theo ong nay. Canh tay cla robot co dudi duge nho déng co 10, cap banh rang - thanh rang 11. Vi wif theo huéng kinh cia canh tay duoc gidm sat nhd sensor khong tiép xite va cae "cd" gin wen cic ranh chit T cla tam 12. Diém dimg chinh xie cia cénh tay dat duge nhos xilanh khi nén 14. Robot duge trang bi b6 diéu khién chu trinh. Hinh 5.10: Su dé dong cia robot MP4 Vi co cau nang canh tay kiéu cong x6n nhu mé ta 6 trén, Khoang dich chuyén cla cénh tay theo phuong thing dimg bi han ché béi chiéu dai din hung thudng nhé. Vi vay né duge ding cho cdc robot nang chuyén 112don gian, lam viec trong hé toa do vudng goc hoac toa dé tru, ding truyen dong khi nén hoac dién - co va bo diéu khién chu trinh don gin Dé khac phue khuyét diém cia co cau nang canh tay ni tren, cénh tay duge gan trén ban truot (hinh 5.11). Tru dan huéng tua 2 dau cho phép nang chiéu cao ving cOng tac t6i 2 m, tai trong / + 1000 kg, 86 bac tu do 3 +7. Robot thuée nhém nay duge san xuat tai hau hét cde nuGe Ién trén thé gidi, vi du Lién x6 c6 Pb-1001 C, MTSKAP, PKTB; Bulgari cé PB- 231, PB-232, PB-233; Hungari c6 IR-51; Balan c6 HM-3, MP-25; Mj c6. ho robot Versatran; Nhat cé6 MHY Junior, Versatran E-302, UM1320PT.... trong d6 c6 thé coi ho robot Ve in cua hing AMF Versatran Automation System cia M trong céinh tay. Tuy theo yéu cau sit dung, ching c6 thé duge trang bi cade loai diéu khién khéc nhau. Loai don gian nhat trong chting chi lwu trit duoc khong 20 lénh; loai hién dai hon c6 bd nhé trong mé rong, cho cde chu trinh chudn. phép sit dung chuong trinh con vi Hinh 5.11: So dé ket cau robot voi cdnh tay gan trén ban wuot 8- KTRB 113Mot dang khde thude nhém nay 1a céc robot c6 cdnh tay gdp. DS 1a sin phim cua cée hang Nagoya Kiko, Icnikon Industries, Tokyo Keiki (Nhat). Trén hinh 5.12 la so dé dong hoc cla robot MATBAC IRB-10 do hang Tokyo Keiki san xuat. Trén than | lp cac hé thong nang ha va quay gid canh tay 33. Canh tay gom 2 khau (22 va 25) dai nhur nhau, ndi v6i nhau bang khép tru va truyén dong qua nhau bing xich. Géc quay ctla khau bi dong 22 gap doi g6c quay cua khau chit dong 25 dé duy tri phuong chuyén dong ngang cla phan cong téc. Phuong nim ngang cila ban tay duoc duy ti nhé co cau binh hanh, gdm cdc khau 22, 25 va cde thanh noi 21, 28. Tren dau mut khau 22 gan gid 20 cla cé tay va ban tay. Pong cot thuy luc 15 quay cé tay. Dong co thuy luc 19 tao chuyén dong ra vao (Kep, nha) ciia cc ngén tay. Chuyén dong nang ha gid 33 do dong co thuy luc 34 dam nhan. Co cau quay gid 33 g6m 2 xilanh thuy luc 2 va bo truyén xich 7. Xilanh thuy luc 35 thuc hién viec co dudi cainh tay. Cac cam bién 12, 32, 37 ding dé gidm sat vi i cla ban quay 10, cénh tay 25 va gid 33, Hinh 5.12; So dé dong ctia robot MATBAC IRB-10 Cac: robot 06 thé duge trang bi bd diéu khién TKC-10 cita hang Keiki (Nhat) hoac RC-7000 (Thuy Dién). TKC-10 1 bo diéu khign vi ti, ding tin hiéu tuong ty, N6 c6 thé diéu khién déng thoi 2 roa 46. RC-7000 La bo diéu khién s6, c6 thé diéu khién déng thdi 7 toa do, bo nh6 c6 thé chia 250 +5000 lénh. N6 c6 20cdngvao va ra dé néi ghép véi cdc thiét bi ngoai. 1145.3.2. Robot cd dinh trén nén, ding hé toa do cau Trong hé toa do cau, dé dich chuyén ban tay theo phuong thang ding can phoi hop 3 chuyén dong: tinh tién cang tay theo huGng kinh R, quay canh tay quanh khép vai trong mat phing thing ding mét géc @ va chuyén dong quay cia ban tay quanh khop cé tay dé bir goe quay o Mun chuyén dong theo mot quy dao bal ky, thudng robot phai c6 ti 5 + 6 bac ty do. Cac robot UNIMATE cita hang Unimation Inc (My) li dai dien dién hinh cua loai robot nay. Hang da san xuat tren 10 mau co so de thuc hién céc nhiém vu khae nbau trén day chuyén nhiéu nu6éc da san xuat robot toa dé cau theo thiét ké cia Unimation Inc. in x Ngoai ra Hinh 5.13: So do két cau cita robot Unimate Mark iL Tren hinh 5.13 1a so dé ki cla robot Unimate Mark I. No tu do. Cénh tay duoc gén tren tru 31, quay quank truc thang ding nho xilanh thuy lye 18. Xilanh thuy lue 17 tao nén chuyén dong lic (quay) cita cénh tay quanh khép vai. Xilanh 30 wo chuyén dong ra vao (huéng kinh) cua cang tay. Xilanh 13 thong qua b6 truyén xich 14 tao chuyén dong quay cla cO tay quanh truc. Chu: 6 5 bac n dong quay c6 tay wong mat phang thang dig do xilanh va bo truyén xich dat trong Ong cang tay thuc hien 115Hinh 5.14: So dé kéi cdu ciia roboi Coat-A-Matic Mot phuong dn két cau khac cia robot ding hé toa do edu 18 canh tay nhiéu khdu. Uu diém cita két cau nay 1a gon, cé ving am viée Ién. Ching thudng str dung truc tiépdong cochuyén dong quay, nhung mot so van ding cic dong co chuyén dong thing kém theo co cfu bién déi chuyén dong nhw sich, thanh ring, don... dé tao chuyén dong quay ciia khau bi dan. Nho va trong khi céc khau din chuyén dong quay. Co cau nhu vay duoe ting, dung tren robot phun son COAT-A-MATIC cita hang Retab (Thuy Dién). So do ket cau cua né cho trén hinh 5.14. Robot c6 6 bac ty do. Mam 16 quay quanh truc thang dig nhé Xilanh thuy luc 18. Cénh tay lign ket véi mam qua khép quay. Xilanh thuy luc 21 cé mot dau gin v6i mam quay qua tam n6i 20, diu kia gin v6i khau 8 thong qua chac 24, tao chuyén dong lac lu cho khau 8. Chuyén dong quay ctia khau 28 do xilanh thuy luc 9 thi thuc hién nhd 2 dong co thuy luc quay | v , bd phan cong tac van giit duoc chuyén dong thang ¢ hién. Chuyén dong lac cita ¢6 tay quanh 2 truc vudng gc duge 3. Dong co thuy luc 6 quay 116gid kep sting phun son quanh truc cdn lai. Trang thai cia hé théng duge gidm sat nhd cdc sensor kiéu chiét 4p 2. 4, 5, 7, 15. Trén robot ding bo diéu khién contour. Vig lap trinh duge thuc hién bing phuong phap day, nghia 1a ngudi van hanh dich chuyén dau phun theo quy dao can thiét, bo diéu khién nhé lai quy dao dui dang chuong trinh. Ld xo 11 giit vai can bang, gitip cho viée dich chuyén dau phun bing tay duge dé dang 5.3.3. Robot treo Céc robot treo duoc lap va chuyén dong trén cdc dudng ray trén khong. Uu diém co ban cita ching [a khong chiém dien tich san xuat, it can tr hoat dong cia cdc thiét bi khéc va c6 ving lam viée rong. Cae robot treo c6 the van chuyén nguyén vat liéu, thiét bi trong ting phan xudng hoac gitta cic phan xuéng. Ching co thé phuc vu nhiéu thict bi khée nhau tong day chuyén san xudt. Ching cing c6 thé duoc ding vao cae cong viée ip rap, rita, phun son, han,... Theo s6 phuong chuyén dong ctia tay, c6 thé phan cdc robot treo thanh 2 loai: robot chuyén d6ng theo mot phuong ( palang) va robot chuyén dong theo 2 phuong (kiéu cau truc). Robot CM40@2.80.1 (Lin x6) 1a dai di¢n dién hinh cia robot kiéu pa truc chinh nim ngang, bé tri theo mot hang hoac hai hang song song. So dé dong hoc cla robot CM402.80.1 duge cho trén hinh 5.15. Hinh 5.15: So dé dong hoc ctia robot CM40@2.80.1 117Cinh ty ella robot duge pan tren gid 1 cd thé di chuyén ien ray trong khosing 12 m nhé dong co bude thuy lye M1, hp gidm We 2 cap vi co cau bin rang - thank rang. ‘Th due gain trén than rey (1. Khdu dan 3 va khau bi din 5 cia cénh te thuy Ic cb Khuyech dai thuy Jue M nh rang chuyén déng nh cle dang eo bus 20 M3. thong qua hdp gidim 166 mot cap va cle cap vit me = dai be bi 1G Va & D6 1a cite chuvén dong quay. Tie Le quanh cae truc 2 va 6. Trong cic bop gids we o6 cae Ly hop dién - Hie EMU va EM2 de phanh cae cv cat khi nest dong diéa cung cap cho dong ca Diu luc 4 voi vikenh thay lve XLE tao chusén dong quay SLL cO U Kobor CM402.80.1 duce trang bi bo dieu Fhign VINM-331 vei dune lung bo nbd 0.5 42 fp trinh bing phiong phap day cary Robot kicu cau try hou Kigu paling. Tuy nhign, 21 6 tin hoal dong. dO ciiag ving vi site 1 cau can ire cong kenh va phai gin didn voi nha xing, Pe them riot kha nna chuyén dong che robet cau true, can bé sung mot hé cuyén dong. Ngedi did dé ra, ket cea bot k 5.3.4, Robot 6 dien khien thich aghi phan t uniy khong c6 yt thay déi so vet re pe lang Robot ed dign kbien thich nghi (goi Gat Fa robot thich nghi) ki loai robot o Alvi nang tu phan dng mot céch o6 lei trude sy bien déng kheng ludng trie dete Petia mdi tring. Se phan ting dé dua yao cde thong sé do duce ctia mii treényg. vi du cfs oi, link chat var ly cla doi ong, howe diva sto tangy thai cla cde co cau trong robot. Trong intényg hop ny. chyony trink dicu khica cht dint by sich} howt dong eta robot, Chin a6 sd phai "fe hicu". thu thap hd sung vii chinh xg boat hoat ding cue Nho kha nang thick dng Linh hoat v4i mdi bong ma cae robot thich nghi Kim duce utink trén co si plan Uch tinh trang thue i@ eta méi trudng nhing vige ma robot thong thuting khong Him duoc. vi du tim kiém, han biet di Urang, thay Phan HO) die kep. dink si heac dink hudne chi tié anb robot thich Wthém he fon robot thang thudmg ec the re ehi chvong tinh phan Thong Gn thu dirge va re agavet dink theo chien luge nkat dinh. thong sensor dé thy phan theng Gn vs mdi trudn, Hin 5.16 mé ta hoat done ca co cau thich neil ee robot kidu HET. Hand Expert-2 cia hing Hitachi (Nhat). Né due ding dé ling 2 chi cet fi nhow. Minh 5.16 G0 tron xeay ¥ so dé chung cba toan he Widng thictbi lap rap, g6m robot chinh 4 cé 3 bac ty do, ding hé toa do Dé cic va mot robot phu 7 c6 mot bac tu do (quay quanh truc thang dimg). Hai mang 5 va 6 cung cap hai chi tiét céin lap. Co edu thich nghi duge Kip tren tay 3 ciia robot chinh 4 qua Id xo phang, dang chit thap 2. Trén 1d xo co, dan hé tenzomet dé xdc dinh 3 thanh phan x, y, z cla luc tiép xtc gitta hai chi tiét. Tuy theo ty Ié gitta cdc thanh phan luc ma chuong trinh diéu khién xc dinh phuong di chuyén cla tay, sao cho tam truc tring voi tam 16 dé c6 thé léng chting v6i nhau (hinh 5.16 (b)). Véi co cu nay, robot ¢6 thé lip bd doi c6 khe hé khoang 20 um. it abuhp —Dichuydn Dob Lip Hoan thin A SO EY b) Hinh 5.16: Co cau thich nghi cita robot kip rép HI-T-Hand Expert-2 Hinh 5.17 1a so dé co cau thich nghi, ph6i hop giita thiét bi quan sat quang hoc va hé théng xtic gidc co dién, duge Lip trén robot ETL cia Nhat. Robot cé 6 bac tu do. Trén cdc ngén tay c6 gin cae sensor xtic gidc, lim viéc 6 ché do 1-0, dé gitip robot tim vi tri va hudng ciia cdc vat trong ving cong tac. 119Hinh 5.17: Co edu thich nghi phoi hep trén robot ETL Vi tri cla cdc ng6n tay khi tiép xe véi vat duoc gidm sat nhd cdc sensor vi tri dat trén ban tay, tir d6 xe dinh kich thuéc ctia vat va thay ddi luc kep cita cic ngén tay. Hé thong quan sat, g6m cdc camera 1, 3 cling kinh loc mau 2 dé nhan biét hinh dang, vi tri va mau séc cia cde vat tren mat ban; cdc kh6i phan tich: 5 - mau sac, 6 - hinh dang, 7 - vi tri. Khoi 8 tao chuong trinh diéu khién. khoi 9 diéu khién chuyén dong cia robot, khoi 10 diéu khién ban tay theo tin hieu xtic gidc. 5.4. CO CAU TAY KEP 1. Khai ni¢m va phan loai tay kep Phan cong tac cita robot rat da dang. Trén cae robot chuyén ding thi phan cong tac ciing 1a thiét bi chuyén ding. Vi du, phan cong tac cla robot phun son la sting phun son, cla robot han 1a kim kep day han,... Trén mot loat cdc robot van nang, thudng 1a robot van chuyén, lap rap, xép dé... thi phan cong téc c6 chtic nang nam, giit va thuc hién cdc thao tae khdc nhau véi di tugng (xoay, lua, dat,...). Bd qua su kndc biét vé ket 120cau, can ett vao chée nang chinh cla co cau ching ta goi n6 la tay Rep” Mue nay s@ khong dé cap dén phin cong tée chuyén ding ma chi ndi vé co cau tay kep. Cac d6i tugng ma robot phai xi ly rat khac nhau vé kich thude, hinh dang va tinh chat vat ly. nén tay kep cting het stic da dang. Yeu cdu co ban doi voi tay kep 1a lam vie 1 dting doi tuong, gitt chi uhung khong kim hong doi tuong. Ngoai ra, n6 can gon nhe, téc dong nhanh. Tinh van nang va su gon nhe luén luén mau thudn voi nhau. Mot mal ngudi ta cé gang mé rong pham vi hoat dong ca timg tay kep. Mat khic npudi la tao ra bo cac tay kep cé tinh nang khdc nhau dé ngudi ding 6 thé chan tay kep phi hop ahat cho timg vige cu thé. ‘Tay kep duae phan loai theo nhiéu dac trung khac nhau, nbu theo cong, dung, theo phuong phap gid vat, theo tinh van nang,... Chung ta quan tam den cae die trung lién quan trve tip dén két cau, niu sau: - Theo nguyen ly tée dong c6 tay kep cot bhi, chen khong, ne truding, tink dicen - Theo kha nang digu khién cd tay kep khong 6 diéu khién, diéu khién cig. diéu khién thich nghi. = Theo nguén nang hiog 6 cdc loai tay kep cd déin dong va khong cé din done $.4.2. Két cau ctia tay kep Do surda dang vé ket cau ciia cde tay kep. ti liu nay khong thé mo ta hét cdc dang két cau cla chung ma chi nghién ctfu két cdu cha mot s6 loai tay kep dién hinh. 5.4.2.4. Tay kep co khi D6 [a loai tay kep dé git, di chuyén d6i tugng bing cae mé kep, méc, cang. tam dé... Tay kep Aliiny co diéu Ahién ding cdc loai mo, nhip, chau... dé kep vat nh tic dung cla 16 xo hoae who lye dan héi cha chinh cdc chi tiét 2 hé théng (hinh 5.18). Két edu cba lay kep loai niy rat don gidn. “Kai nba munh su tuong ww gidla ay méy va tay ngudi, e6 thé goi co eu nay La ban iay (Hund). Niwtag a6 thutng duge goi 1a co cu kep, tay kep : "Jaxpatuce ycTpolicreo’ hoa "Gripper". 125Chung khéng c6 ngudn din déng riéng, khong cd co cau him nén lye kep dao déng theo kich thudec cia déi tugng. Vi vay, ching thuge loai tay kep. chuyén ding, dugc thiét ké cho timg loai déi tong cy thé, vot pham vi thay déi kich thuée hep. Do cac dac diém tren. ching duge ding chi yeu trong sin xudt hang khoi. Hinh 5.18. Tay kep khang 6 diéu khiév Dé dam bio su Lim vide tin cay va én dinh ngay cd khi c6 bin dong kich thude cla déi tuong, tay kep duoc bé sung co cdu ham, vi du nhu co cau trong hinh 5.19. Nho co cdu ham ma tay kep Kim viée voi hanh winh kep. nha mét cach ranh mach hom mac di van Khare co ngudn den dong riéng. Tay kep trén hinh 5.19 (a) due ding vai chi iét tron xoay. Luc kep duoc tao ra khi duéi téc dung ca trong luc, tam ném 4 tae dung len mat nghiéng trén dudi cla cdc mé kep 1. Khi dat vat xuéng, ném 4 ticn gén dén vat, bai m6 kep duoc giai phéng. nha vat do luc kéo cua Jd xo 13. Dang cho ¥ G day $4 co edu ham. No g6m than 7 gan lién voi cén 5. Choe ham 10 gn tén can 12 nhung cé thé quay tu do trén dé. Trong 1é ctta than 7 cé léng (khong quay duyc) 2 bac 8 va 9. Bac 8 c6 cdc vau phia dudi, bac 9 c6 vau ca tren va dudi. Cae vu nay. mdi lan an khép va truct tuong d6i vdi cde vau trén cht 10 sé Fam quay choit dé 45 do. Trong hinh Chott LO rep xtc 5 khi di xudng tiép xtc véi mat trén cha bac 9 fai quay tiép 45" va bj mac in dén dau trinh nha, than 7 tié 122trong 16. Hai mé kep bi gitt 6 tang théi nha. Trong hanh trinh kep, sau khi chot 2 tiep xtic véi vat, dau 3 va than 7 tién gén dén nhau. Chot 10 tiép xtic vGi bac 8, bi quay 45°. Khi di xudrig, chét 10 lai tiép xtic v6i bac 9, bi quay tiép 45° nia. Két qua 1a chot lot qua duge anh va lot ra khdi 16. Cae m6 1 duce khod 6 trang thai kep. Hinh 5.19: Tay kep co khi 6 cocdu ham (c) 19 (b) lam viéc theo nguyén ly tuong tu, nhung .. trong tu thé thang Tay kep trén hinh ding dé kep cdc chi tiet dang dia, banh rang, ba ding. Hai loai tay kep trén duoc ding trong san xuat hang khéi, dé nhae cdc vat tron xoay cé khéi Iugng khong qua 30 ke, kich thude khong dutoe dao dong qua 0,5 mm. Ching duoc coi la tay kep c6 pham vi cong tdc cting.Voi nguyén ly lam viée tuong tu nhu hai loai trén, tay kep trong hinh 5.19 (c) thudc loai cé pham vi céng tée hep, cho phép dao dong kich thudc 1dn hon, tir /,5 dén 2 mm. N6 kep vao mat tru trong cua vat nho mot day bi 2 xép theo vong tron. Mat con 1, ¢ sat giita cdc vién bi va vat liu chi tiét (thudng 5 + 6 do), tao ra luc kep khi nhac vat (chuyén dong len) va nha vat (chuyén dong xu6ng). con nhé hon géc ma Dé tang d6 tin cay khi kep va nha, c6 lye kep Ién, pham vi cong téc rong, ngudi ta ding tay kep cé dan dong. Nguén dong luc thudng 1a dong co thuy Iue hoac khi nén Hinh 5.20: Tay kep cé truyén dong thuy luc Tren hinh 5.20 Ia so dé két cau tay kep c6 truyén dong thuy luc. Hinh 5.20 (a) 1a hai tay kep, ding chung cum co la xi Janh thuy luc va hai cang dan dong. Mé kep cé thé thay duge, vi vay cé thé ding dé kep vao mat trong ho&c mat ngoai ctia chi ti¢t. Két cu tay kep trén hinh 5.20 (b) cho phép diéu chinh Khoang cach gitta 2 mo kep. Trén hinh 5.21 la so dé ket cau cdc tay kep vdi truyén dong Kkhi nén. Céc tay kep kiéu (a) va (b) c6 mé kep thay déi duoc dé diing v6i céc bé mat khac nhau vé hinh dang va kich thudée. Tay kep kigu (c) sit dung co cau binh hanh, duy ui duge do song song gitta 2 m6 kep ca khi do mé thay déi trong pham vi rong 124Hinh 5.21: Tay kep c6 truyén dong khi nén Thay cho co cau truyén dong bang cing, tay don... én nhidu tay kep nguéi ta ding co cau thanh rang, trong dé dudi cdc mé kep c6 dang quat rang (hinh 5.22). Uw diém chinh cua co cau nay 1a gon, lam viée tin cay. Cac so dé tren hinh vé ciing biéu dién céc dang mé kep ty dinh tam. Ching c6 thé Lim viée 6 2 tri, vi du vi tri kep phoi va vi tri dua phoi vao mam cap cla may tién (b). Két cdu (c) cho phép dinh vi chi tiét tai 3 diém. Su két hop giita truyén dong thanh rang véi don cting gap tren nhiéu kiéu tay kep. Khi da cé nguén din dong riéng, cac tay kep c6 thé duge diéu khién tir chuong trinh, bang cde lénh nha - kep don gian hoac cdc chu tinh diéu khién phic tap hon, nhu thay déi khoang cong tac, lam viec nhiéu vi tri,...