Angapo wambarobot ya mafakitalezolakwa zimawunikidwa ndikuzindikiridwa mwatsatanetsatane, ndipo njira zofananira zimaperekedwa pa cholakwa chilichonse, ndi cholinga chopatsa ogwira ntchito yosamalira ndi mainjiniya chitsogozo chokwanira komanso chothandiza kuti athetse mavutowa moyenera komanso motetezeka.
GAWO 1 Mau oyamba
Maloboti a mafakitaleamagwira ntchito yofunika kwambiri pakupanga zinthu zamakono. Sikuti amangokulitsa luso la kupanga, komanso amawongolera kuwongolera ndi kulondola kwa njira zopangira. Komabe, ndi kufalikira kwa zida zovutazi m'makampani, zolakwika zokhudzana ndi kukonza ndi kukonza zakula kwambiri. Mwa kusanthula zitsanzo zingapo za zolakwika za maloboti amakampani, titha kuthetsa ndikumvetsetsa zovuta zomwe zimachitika pagawoli. Kusanthula kwachitsanzo cholakwa chotsatirachi makamaka kumakhudza mfundo zazikuluzikulu zotsatirazi: nkhani zodalirika za hardware ndi deta, machitidwe osagwirizana ndi maloboti omwe akugwira ntchito, kukhazikika kwa ma motors ndi zigawo zoyendetsa galimoto, kulondola kwa kukhazikitsa ndi kukonza dongosolo, ndi machitidwe a maloboti m'malo osiyanasiyana ogwira ntchito. Kupyolera mu kusanthula mwatsatanetsatane ndi kukonza zolakwika zina, mayankho amaperekedwa kwa opanga ndi ogwira ntchito oyenerera amitundu yosiyanasiyana ya maloboti okonza omwe alipo kuti awathandize kukonza moyo wautumiki ndi chitetezo cha zida. Panthawi imodzimodziyo, cholakwa ndi chifukwa chake chimadziwika kuchokera kumbali zonse, zomwe zimasonkhanitsa maumboni othandiza pazochitika zina zofanana. Kaya m'gawo lamakono la maloboti amakampani kapena m'tsogolomu opanga mwanzeru omwe ali ndi chitukuko cha thanzi, magawo olakwika ndi kufufuza magwero ndi kukonza kodalirika ndizinthu zofunika kwambiri pakukulitsa matekinoloje atsopano komanso kuphunzitsa kupanga mwanzeru.
GAWO 2 Zitsanzo Zolakwa
2.1 Ma Alamu Othamanga Kwambiri Pakupanga kwenikweni, robot ya mafakitale inali ndi alamu yothamanga kwambiri, yomwe inakhudza kwambiri kupanga. Pambuyo pofufuza mwatsatanetsatane zolakwika, vutoli linathetsedwa. Zotsatirazi ndi zoyambira zake zozindikiritsa zolakwika ndi kukonzanso. Roboti imangotulutsa alamu yothamanga kwambiri ndikutseka panthawi yogwira ntchito. Alamu yothamanga imatha kuyambitsidwa ndi kusintha kwa parameter ya pulogalamu, makina owongolera ndi sensa.
1) Kusintha kwa mapulogalamu ndi kuzindikira kwadongosolo. Lowani ku dongosolo lowongolera ndikuyang'ana liwiro ndi mathamangitsidwe magawo. Yambitsani pulogalamu yodziyesa yokha kuti muzindikire zolakwika za hardware kapena mapulogalamu. Kugwira ntchito bwino kwadongosolo ndi magawo othamangitsira adayikidwa ndikuyesedwa, ndipo panalibe zolakwika.
2) Kuyang'ana kwa sensor ndi ma calibration. Yang'anani kuthamanga ndi masensa omwe amaikidwa pa robot. Gwiritsani ntchito zida zokhazikika kuti muyese masensa. Yambitsaninso ntchitoyo kuti muwone ngati chenjezo la liwiro likuchitikabe. Zotsatira: Sensa yothamanga idawonetsa cholakwika chowerengera pang'ono. Pambuyo pa kukonzanso, vuto likadalipo.
3) Sensor m'malo ndi mayeso athunthu. M'malo mwa sensor liwiro latsopano. Mukasintha kachipangizo, yesetsani kudziyesa nokha ndikuyesanso chizindikiro. Yendetsani mitundu ingapo ya ntchito kuti muwone ngati loboti yabwerera mwakale. Zotsatira: Sensa yatsopano yothamanga itayikidwa ndikusinthidwa, chenjezo la overspeed silinawonekenso.
4) Mapeto ndi yankho. Kuphatikiza njira zambiri zozindikiritsira zolakwika, chifukwa chachikulu chazomwe zimachitika mopitilira muyeso wa roboti yamakampani iyi ndi kulephera kwa sensor yothamanga, kotero ndikofunikira kusintha ndikusintha sensa yatsopano yothamanga[.
2.2 Phokoso losazolowereka Loboti imakhala ndiphokoso modabwitsa ikamagwira ntchito, zomwe zimapangitsa kuti pakhale kuchepa kwa magwiridwe antchito a fakitale.
1) Kuyendera koyambirira. Chigamulo choyambirira chingakhale kuvala kwa makina kapena kusowa kwa mafuta. Imitsani lobotiyo ndikuwunika mwatsatanetsatane mbali zamakina (monga maunyolo, magiya ndi ma bere). Sunthani mkono wa loboti pamanja kuti mumve ngati pali kutha kapena kukangana. Zotsatira: Malumikizidwe onse ndi magiya ndizabwinobwino komanso kuthirira ndikokwanira. Chifukwa chake, kuthekera uku sikuloledwa.
2) Kuwunikanso: kusokoneza kunja kapena zinyalala. Yang'anani mozungulira maloboti ndi njira yoyendamo mwatsatanetsatane kuti muwone ngati pali zinthu zakunja kapena zinyalala. Chotsani ndi kuyeretsa mbali zonse za loboti. Pambuyo poyang'anitsitsa ndi kuyeretsa, palibe umboni wa gwero umene unapezeka, ndipo zinthu zakunja sizinaphatikizidwe.
3) Kuyang'ananso: Kulemera kosafanana kapena kulemetsa. Yang'anani zoikamo za mkono wa loboti ndi zida. Yerekezerani katundu weniweni ndi katundu wovomerezeka mu ndondomeko ya robot. Yendetsani mapulogalamu angapo oyesa kuti muwone ngati pali mawu olakwika. Zotsatira: Pa pulogalamu yoyezetsa katundu, phokoso losazolowereka linakula kwambiri, makamaka pansi pa katundu wambiri.
4) Mapeto ndi yankho. Kupyolera mu mayesero ndi kusanthula mwatsatanetsatane pa malo, wolembayo amakhulupirira kuti chifukwa chachikulu cha phokoso losazolowereka la robot ndilosiyana kapena katundu wambiri. Yankho: Konzaninso ntchito zogwirira ntchito kuti muwonetsetse kuti katunduyo akugawidwa mofanana. Sinthani makonda a parameter ya mkono wa robotiyi ndi chida kuti mugwirizane ndi katundu weniweni. Yesaninso dongosololi kuti mutsimikizire kuti vutoli lathetsedwa. Njira zamakono zomwe zili pamwambazi zathetsa vuto la phokoso lachilendo la loboti, ndipo zipangizozi zimatha kupangidwa bwino.
2.3 Alamu ya kutentha kwa injini yamoto Loboti imadzidzimutsa poyesa. Chifukwa cha alamu ndi chakuti galimoto yatenthedwa kwambiri. Dzikoli ndi vuto lomwe lingakhalepo ndipo likhoza kusokoneza ntchito yotetezeka ndi kugwiritsa ntchito robot.
1) Kuyang'ana koyambirira: Dongosolo lozizira la mota ya loboti. Poganizira kuti vuto ndilakuti kutentha kwa injini ndikokwera kwambiri, tidayang'ana kwambiri kuyang'ana njira yozizirira ya mota. Masitepe ogwirira ntchito: Imitsani loboti, fufuzani ngati chotenthetsera choziziritsa mota chikugwira ntchito bwino, ndipo onani ngati njira yozizirirayo yatsekedwa. Chotsatira: Chotenthetsera chozizira cha injini ndi njira yozizirira ndizabwinobwino, ndipo vuto la makina oziziritsa silingachitike.
2) Yang'ananinso thupi lagalimoto ndi dalaivala. Mavuto ndi galimoto kapena dalaivala wake mwiniyo angakhalenso chifukwa cha kutentha kwakukulu. Masitepe ogwirira ntchito: Onani ngati waya wolumikizira mota wawonongeka kapena kumasuka, pezani kutentha kwapamtunda kwa mota, ndipo gwiritsani ntchito oscilloscope kuti muwone momwe ma waveform apano ndi magetsi amatulutsira ndi woyendetsa galimoto. Zotsatira: Zinapezeka kuti ma waveform omwe amapangidwa ndi woyendetsa galimoto anali osakhazikika.
3) Mapeto ndi yankho. Pambuyo pa njira zingapo zowunikira, tidazindikira chomwe chimayambitsa kutentha kwa injini ya robot. Yankho: Bwezerani kapena konza dalaivala wosakhazikika. Mukasintha kapena kukonza, yesaninso dongosolo kuti mutsimikizire ngati vutolo lathetsedwa. Pambuyo posinthidwa ndikuyesa, lobotiyo idayambiranso kugwira ntchito bwino ndipo palibe chenjezo la kutentha kwamoto.
2.4 Chidziwitso cha vuto loyambitsa vuto loyambitsa pamene loboti ya mafakitale iyambiranso ndikuyambitsa, zovuta zingapo za ma alarm zimachitika, ndipo kuzindikira zolakwika kumafunikira kuti mupeze chomwe chayambitsa.
1) Yang'anani chizindikiro cha chitetezo chakunja. Zimaganiziridwa poyamba kuti zimagwirizana ndi chizindikiro cha chitetezo chakunja chachilendo. Lowetsani "put into operation" mode kuti muwone ngati pali vuto ndi chitetezo chakunja kwa roboti. Roboti ikugwira ntchito mu "pa", koma woyendetsa sangathebe kuchotsa kuwala kochenjeza, kuthetsa vuto la kutaya chizindikiro cha chitetezo.
2) Mapulogalamu ndi dalaivala fufuzani. Onani ngati pulogalamu yoyang'anira roboti yasinthidwa kapena palibe mafayilo. Onani madalaivala onse, kuphatikiza ma driver ndi ma sensor. Zimapezeka kuti mapulogalamu ndi madalaivala onse ali ndi nthawi ndipo palibe mafayilo omwe akusowa, choncho zatsimikiziridwa kuti izi sizovuta.
3) Dziwani kuti cholakwikacho chimachokera ku makina olamulira a robot. Sankhani Ikani kuti igwire ntchito → Ntchito yogulitsa pambuyo pa malonda → Ikani m'machitidwe ogwiritsira ntchito mumndandanda waukulu wa pendant yophunzitsa. Yang'ananinso zambiri za alarm. Yatsani mphamvu ya loboti. Popeza kuti ntchitoyi siinabwererenso, zikhoza kudziwika kuti robot yokhayo ili ndi vuto.
4) Chingwe ndi cholumikizira cheke. Chongani zingwe zonse ndi zolumikizira zolumikizidwa ndi loboti. Onetsetsani kuti palibe kuwonongeka kapena kutayikira. Zingwe zonse ndi zolumikizira zili zonse, ndipo cholakwika sichili pano.
5) Onani bolodi la CCU. Malinga ndi alamu, pezani mawonekedwe a SYS-X48 pa bolodi la CCU. Yang'anani mawonekedwe a board a CCU. Zinapezeka kuti mawonekedwe a board a CCU adawonetsedwa molakwika, ndipo zidatsimikiziridwa kuti bolodi la CCU lawonongeka. 6) Mapeto ndi yankho. Pambuyo pa masitepe 5 omwe ali pamwambawa, zidatsimikiziridwa kuti vuto linali pa bolodi la CCU. Yankho lake linali kusintha bolodi la CCU lowonongeka. Bungwe la CCU litasinthidwa, dongosolo la robotli likhoza kugwiritsidwa ntchito mwachizolowezi, ndipo alamu yoyamba yolakwika inachotsedwa.
2.5 Revolution counter data loss Chitayatsidwa, woyendetsa maloboti adawonetsa "SMB serial port measurement board battery yatayika, data ya robot revolution yatayika" ndipo sanathe kugwiritsa ntchito pendant yophunzitsa. Zinthu zaumunthu monga zolakwika zogwirira ntchito kapena kusokonezedwa ndi anthu nthawi zambiri ndizomwe zimayambitsa kulephera kwadongosolo.
1) Kulankhulana musanayambe kusanthula zolakwika. Funsani ngati makina a maloboti akonzedwa posachedwa, ngati ena okonza kapena oyendetsa asinthidwa, komanso ngati maopaleshoni achilendo ndi kukonza zidachitika.
2) Yang'anani zolemba zogwirira ntchito zamakina ndi zipika kuti mupeze zochitika zilizonse zomwe sizikugwirizana ndi momwe zimagwirira ntchito. Palibe zolakwika zoonekeratu zogwirira ntchito kapena kusokoneza kwaumunthu komwe kunapezeka.
3) bolodi lozungulira kapena kulephera kwa hardware. Kusanthula kwachoyambitsa: Chifukwa chimakhudza "SMB serial port measurement board", izi nthawi zambiri zimagwirizana mwachindunji ndi dera la hardware. Chotsani magetsi ndikutsata njira zonse zotetezera. Tsegulani kabati yoyang'anira maloboti ndikuyang'ana bolodi yoyezera doko la SMB ndi mabwalo ena okhudzana nawo. Gwiritsani ntchito chida choyesera kuti muwone kulumikizana kwa dera ndi kukhulupirika. Yang'anani kuwonongeka kwa thupi, monga kuwotcha, kusweka kapena zolakwika zina. Pambuyo poyang'anitsitsa mwatsatanetsatane, bolodi la dera ndi hardware yogwirizana ikuwoneka ngati yachibadwa, popanda kuwonongeka kwa thupi kapena kugwirizanitsa. Kuthekera kwa bolodi lozungulira kapena kulephera kwa hardware ndikochepa.
4) Kusunga batire vuto. Popeza kuti mbali ziwiri zomwe zili pamwambazi zikuwoneka ngati zabwinobwino, ganiziraninso zotheka zina. Mlendo wophunzitsa amatchula momveka bwino kuti "batire yosunga zobwezeretsera yatayika", yomwe imakhala yofunika kwambiri. Pezani komwe kuli batire yosunga zobwezeretsera pa kabati yowongolera kapena loboti. Onani mphamvu ya batri. Yang'anani ngati mawonekedwe a batri ndi kulumikizana kuli bwino. Zinapezeka kuti mphamvu ya batire yosunga zobwezeretsera inali yotsika kwambiri kuposa momwe yakhalira, ndipo panalibe mphamvu yotsalira. Kulepheraku kumachitika chifukwa chakulephera kwa batire yosunga zobwezeretsera.
5) Yankho. Gulani batire yatsopano yachitsanzo chofanana ndi mawonekedwe a batire yoyambirira ndikusintha molingana ndi malangizo a wopanga. Pambuyo m'malo batire, kuchita dongosolo initialization ndi mawerengedwe malinga ndi malangizo a Mlengi kuti achire otaika kapena kuonongeka deta. Pambuyo pochotsa batire ndikuyambitsa, chitani mayeso athunthu kuti muwonetsetse kuti vutoli lathetsedwa.
6) Pambuyo pofufuza mwatsatanetsatane ndikuwunika, zolakwika zomwe poyamba zinkaganiziridwa kuti zikugwira ntchito ndi bolodi la dera kapena zolephera za hardware sizinatsimikizidwe, ndipo pamapeto pake zidatsimikiziridwa kuti vutoli lidayambitsidwa ndi batire yolephera yosunga zobwezeretsera. Posintha batire yosunga zobwezeretsera ndikukhazikitsanso ndikuwongolera dongosolo, lobotiyo yayambiranso kugwira ntchito bwino.
GAWO 3 Malangizo Osamalira Tsiku ndi Tsiku
Kukonzekera kwa tsiku ndi tsiku ndiko kuonetsetsa kuti maloboti amakampani azigwira ntchito mokhazikika, ndipo mfundo zotsatirazi ziyenera kukwaniritsidwa. (1) Kuyeretsa nthawi zonse ndi kudzoza mafuta Nthawi zonse fufuzani zigawo zikuluzikulu za robot ya mafakitale, chotsani fumbi ndi zinthu zakunja, ndi mafuta kuti muwonetsetse kuti zigawozo zikugwira ntchito bwino.
(2) Sensor calibration Nthawi zonse sungani masensa a robot kuti muwonetsetse kuti amapeza molondola ndi deta ya ndemanga kuti atsimikizire kuyenda ndi ntchito yolondola.
(3) Yang'anani mabawuti ndi zolumikizira Onani ngati mabawuti ndi zolumikizira za loboti zili zomasuka ndikumangitsa munthawi yake kuti musagwedezeke ndi makina osakhazikika.
(4) Kuyang'ana kwa chingwe Nthawi zonse fufuzani chingwe kuti chivale, ming'alu kapena kutsekedwa kuti muwonetsetse kukhazikika kwa chizindikiro ndi kufalitsa mphamvu.
(5) Kuwerengera kwa zida zosinthira Sungani kuchuluka kwa zida zosinthira zazikulu kuti zida zolakwika zitha kusinthidwa munthawi yake pakagwa ngozi kuti muchepetse nthawi.
GAWO 4 Mapeto
Pofuna kudziwa ndi kupeza zolakwika, zolakwika zomwe zimachitika m'mafakitale amagawidwa kukhala zolakwika za hardware, zolakwika za mapulogalamu ndi mitundu yodziwika bwino ya robot. Zolakwika zomwe zimachitika pagawo lililonse la robot yamakampani ndi mayankho ndi njira zodzitetezera zimafotokozedwa mwachidule. Kupyolera mu chidule chatsatanetsatane chamagulu, tikhoza kumvetsa bwino mitundu yolakwika ya robot za mafakitale pakalipano, kuti tithe kuzindikira mwamsanga ndi kupeza chomwe chimayambitsa vuto pamene cholakwika chikuchitika, ndikuchisunga bwino. Ndi chitukuko cha mafakitale kupita ku automation ndi luntha, maloboti akumafakitale adzakhala ofunikira kwambiri. Kuphunzira ndi kufotokoza mwachidule ndikofunikira kwambiri pakuwongolera mosalekeza luso ndi liwiro la kuthetsa mavuto kuti zigwirizane ndi zomwe zikusintha. Ndikukhulupirira kuti nkhaniyi ikhala ndi tanthauzo linalake kwa akatswiri odziwa ntchito zamaloboti amakampani, kuti alimbikitse chitukuko cha maloboti amakampani ndikutumikira bwino makampani opanga zinthu.
Nthawi yotumiza: Nov-29-2024
