NGHIEN cuu-TRAO DOI
NGHIEN CUfU, THIET KE VA CHE TAO ROBOT CAP PHOI C6 NHO
RESEARCH, DESIGN AND MANUFACTURE MINI FEEDER ROBOT
ThS. Ngo Van Tuan, ThS. Nguygn Minh Dat Hgc vien Ky thuat Quan su
TOM TAT
Bdi bdo trinh bdy kit qud nghien cmt, thiit ki vd chi tgo robot cdp phdi cd nhd de cdp phdi tu bdng tdi (hoac tit cdc ca cdu tuyen phdi) den mdy phay CNC de gia cdng vd van chuyin bdn thdnh phdm titvi tri gia cdng tren mdy din bdng tdi, hoac lam cdc cdng viec tuang tu trong ddy chuyin sdn xudt a phong thi nghiem, phuc vu ddo tgo, nghien cuu khoa hgc. Kit qud van hdnh cho thdy robot da Idm viec dn dinh, dgt dugc do chinh xdc cdn thiit.
Tu" khoa: Robot cdp phdi ca nhd; Mdy phay CNC; Bdng tdt
ABSTRACT
This paper presents the results of research, design and manufacture mini feeder robot to feed the embryo from the conveyor (or from recruited embryonic structure) to CNC milling for processing and transport semi-finished products from processed position on machines to conveyor, or doing the same job, in production lines in the laboratory, for training, scientific research. Results showed that robot
operators stably, achieve the necessary accuracy.
Keywords: Mini feeder Robot; CNC milling; Conveyor
1. DAT VAN DE the gidi. Tuy vay, viec ap dung cac nghien cuai Ung dung robot vao cac day chuyin san xu4t ^^ ™« ^^^'^^ ^^ ^^ thilt k l , chi tao robot phuc vu tu dgng dang mang lai nhung Igi ich to Idn d l ^^'^ ^ " '^^^ t^°°8 """^^ ^^^ ^ ' ^ ^ ^ ^ '=^^ ^^ "^^
tang nang su4t, ch4t lugng san ph4m va cai thien ^ ^ ^ - ^ ° ^^' ^^^^ ^S^*^^ • " ^ ' ^P *^^S cac bm dilu kien lam viec cho con ngudi. 6 Viet Nam, *«^^ ^^ ^^^^^^ ^^ '"^''^ ^^ ^^ ^^^^ ^^'^^ ^^' '^' nganh khoa hgc nghien euu v l robot con kha non ^^« '^^^' ^ ° " S nude la van de ckn thilt.
tre so vdi the gidi. Chung ta co thi tilp thu nhiing Trong qua trmh thiet ke robot, cd ikt nhilu bai ket qua nghien cuu ciia cac nuac tien tiln tren toan can phai dugc giai quyet. Tuy nhien, trong
TAP CHi CO KHi VIET NAM, Sfi 3 nam 2014 www.cokhivietnam.vn
khuon kho bai bao, tac gia trinh bay phuang an thiet ke va tinh toan dgng lire hgc cho robot cdp phoi cd nhd. Tac gia da chi tao va thu nghiem va dua ra danh gia do chinh xac cua robot khi hoat dong.
2. CO s d THIET KE
2.1. Ch9n phuong an dong hoc cho Robot cap phoi
Vdi yeu cau robot cap phoi cd nho lam viec trong phong thi nghiem, cung nhu phuc vu trong nghien cuu khoa hgc. Ta chgn kit ckxi dgng hgc ciia robot va cac yeu can ve kha nang lam viec du kien cua robot nhu sau:
+Kh6i lugng nang toi da: 0,5Kg;
+iCich thudc bao Idn nhat cua chi tilt: 60x60 (mm^);
+Kich thudc bao be nhSt ciia chi tilt: 15x15 (mm^);
+Tam vdi toi da theo phuang ngang: 350 mm;
+Khoang nang toi da theo phuang thang dung: 200 mm;
+Ngoai ra, robot phai thoa man mgt so yen cau khac, cu the la:
Robot phai tuong doi "kheo leo", co the gap, di chuyen va cap phoi tix bang tai hoac ca cau tuyen phoi din vi tri gia cong tren may hay vi tri khac va ngugc lai ma khong gay va cham vdi cac CO ciu cua may, cac phan tu do ga va cac thiet bi khac. Vi vay, ta chgn ket cau robot kieu tay ngudi [2], robot phai xac lap dugc tga do phoi theo yeu c§u gia cong hay lap rap, cu thi la co the dinh vi dugc phoi d vj tri bit ky trong vung cong tac, c6 thi dinh hudng phoi trong mgt mat phang bat ky d vung cong tac. Mu6n vay, c6 tay phai co hai khdp, TAP
khop thu nhat (khdp 4) co true song song vdi cac true khdp 2 va 3, khdp thu hai (khdp 5) co true vuong goc vdi khdp 4 nhu hinh 1.
Hinh I: Sa dd ddng hgc robot cdp phdi.
Ct dt
Hinh 2: Sa dd tinh todn robot cdp phdi.
2.2. Giai bai toan dong luc hoc robot cap phoi Do khdp CO tay cua Robot co chuc nang dinh hudng vat nang, kich thudc cac ca cau cua ban tay -i CHi CO KHi VIET NAM, So 3 nam 2014 fffl
www.cokhivietnam.vn • • • •
NGHIEN cuu-TRAO DOI
^(q)q + C(q.q)g + = T[2] (1) khong Idn, nen de bai toan dong luc hgc khong ciia phuong trinh Lagnange II:
qua phuc tap va khong anh hudng nhieu den ket qua tinh toan, ta coi nhu khoi lugng vat nang va ciia ban tay tap trung tai khdp co tay va coi nhu do la mgt phan cua canh tay, khong co chuyen dgng tuong doi vdi canh tay.
De don gian cho viec giai bai toan, vdi mgt sai so chap nhan dugc, ta bo qua cac luc ma sat va
Trong do, M(q) la ma tran khoi lugng suy rgng cua Robot. C(q.q) la ma tran li tam va Coriolis ciia Robot.n la ham the nang ciia robot.
Sau khi giai bai toan d6ng luc hgc thu§n, ta luc can tac dung len Robot. Khi giai bai toan dgng nhan dugc he phuang trinh vi phan chuyin dpng luc hgc Robot cap phoi, ta su dung dang ma tran ciia robot cap phoi nhu sau:
[^i.+h^C'+l^Xi+hXr.+hyCL + '^ilciCi+m.WciCjCj, +llCl +/c3C;)]^,
+ \:2m,ll,S,C,q,-2mShS,,C,,+ll S,C,+l,l,,(2S,C,,-S,))q, - (2) 2m3(/^,35',3Q3 + / , / „ C , 5 , , ) 4 3 + 2 ( 7 , , - / , J 5 , C , ^ , + 2 ( 4 , -/3^)5c3C,3(^, +^3)]^, = T ,
K + h. + m/ci + >»,fe +4' + 2/,/c3C)]^2 + ^3. + rn.ll, + Wik^C^q, -2m,lJ,S,q,q, + inA_S^C^+m,(l^S,C, +l^,S,,C^, +!Jc,(2C,S,, -S,)) -2^,^-l^X^i + ^^.-hX^C^qf-m,lJ^Af;ym,gl^,C, + m,g(l,C, + l^,C,,)=x, (3)
^3, + ^3/^3 + m,lj^,c)q, + (1,^ + m,ll}q, + \m,l,S._,(},C^ + l,C,,) ~ ^,^ - ljs,,c]ql
+ mJJc,S^q^+m^glc,C^, (4)
Trong cac phuang trinh tren, cac thong s6 dugc ky hieu nhu sau:
+ 1^.: Khoang each tu trgng tam khau I din khdp lien ket giiia khau i vdi khau i-1.
+ l: Khoang each tu khdp i- 1 din khdp i (chieu dai khau i).
+ q^: Cac bien khdp.
+ C: Cos q,, S.: Sm q^, C^: Cos(q+q^), S.:
Sin(q+q^).
Dua vao ket qua bai toan dgng hgc, dgng luc hgc thuan ta giai cac bai toan ngugc lam co sd dieu khien robot.
3. THI NGHIEM DANH GIA
Ta tien hanh thu nghiem do chinh xac ciia robot cap phoi sau khi cho cac tac nhan tii ben ngoai, cu the moi thi nghiem ta them vao cac khau robot mgt trgng lugng nhit dinh va kilm tta dp chinh xac cua khau cong tac.
Cho Robot thuc hien cong viec gap mgt chi tiet hinh tru co khoi lugng 150g tir mgt vi tri tren
"bang chuyen" gia dinh vao mgt vi tri da dugc xac lap tren ban may. Cho robot lap di lap lai 10 lan cong viec tren. Tai ban may, ta tao ra mgt he tga do vuong goc xOy bang cac thanh can mlu, K H TAP CHi CO KHi VIET NAM, Sfi 3 nam 2014
www.cokhivietnam.vn
sau do, xem xet sai s6 vi tri cua chi tilt bang each do khoang each tir mat tru cua no din hai tnic tga do Ox va Oy. Cac sai s6 vi tti tuyet d6i dugc xac dinh theo cong thiic:
Sai so lap lai dugc xac djnh bSng khoang each tir vi tri chi tiet cua cac thi nghiem din tam dudng tron co ban kinh be nhit chira tit ca cac diem tam chi tiet.
Trong thi nghiem cac gia tri thi hien nhu sau:
+ x^; y^,: Tga do diem cudi ciia tam chi tilt ma robot can mang den.
+ x; y: Tga do diem cuoi ciia tam chi tilt ma robot mang den.
+ x^; y^: Tga do tam dudng tron co ban kinh be nhat chiia tat ca cac diem tam chi tilt.
3.1. Thi nghiem 1
Ta tien hanh thu nghiem robot khi chua gin vat nang tren cac khau.
il
Hinh 3. Thu nghiem do chinh xdc Robot cdp phdi.
l i n thu
\
y.
X y AX Ay X|
y, AX, Ay, Sal so
vitri Sai so lap lai Sai so Sai so 1
Bdng 1
1 54.5 62.8 54.2 62.8 -0.3 0 54.0 62.92 0.2 -0.12
0.3
0.23 v i t r i T B ip lai TB
." Ket que 2 54.5 62.8 53.9 62.7 -0.6 -0.1 54.0 62.92 -0.1 -0.22 0.61 0.24
thi nghiem do chinh xdc dinh vi Robot cdp phdi (dan vi
3 54.5 62.8 53.9 62.9 -0.6
0.1 54.0 62.92 -0.1 -0.02 0.61
0.10 i 54.5 62.8 54.1 62.7 -0.4 -0.1 54.0 62.92 0.1 -0.22 0.41
0.24 5 54.5 62.8 54.3 63.1 -0.2 0.3 54.0 62.92 0.3 0.18 0.36
0.35 6 54.5 62.8 53.9 62.8 -0.6
0 54.0 62.92 -0.1 -0.12 0.60
0.16 0.51 0.22
7 54.5 62.8 53.8 63.0 -0.7
0.2 54.0 62.92 -0.2 0.08 0.73
0.22 8 54.5 62.8 54.2 62.9 -0.3 0.1 54.0 62.92 0.2 -0.02
0.32
0.20 inh mm)
9 54.5 62.8 54.1 63.2 -0.4 0.4 54.0 62.92
0.1 0.28 0.57
0.30 10 54.5 62.8 54,0 63.1 -0.5 0.3 54.0 62.92
0 0.18 0.58
0.18
TAP CHi CO KHi VIET NAM, Sfi 3 nam 2014 f f H www.cokhivietnam.vn • • • •
NGHIEN cuu-TRAODOI
3.2. Thi nghiem 2
G5n them mot qua nang co ldi6i lugng 500g vao canh tay giaa robot.
Thirc hien cac buac nhu thi nghiem 1 ta co ket qua theo bang 2.
Hinh 4: Thu nghiem khi Robot mang vdt ndng a giiia cdnh tay.
Bdng 2; Kit qud thi nghiem do chinh xdc dinh vi khi Robot mang vdt nang a giira cdnh tay (dem vi tinh: mm)
Lan thii
Xc yo X y AX Ay X, y.
AX, Ay, Sai so
vi tri Sai so lap lai Sai so Sai so
1 54.5 62.8 54.2 62.6 -0.3 -0.2 54.03 62.73 0.17 -0.13 0.36
0.21 v i t r i T B ap laiTB
2 54.5 62.8 53.8 62.7 -0.7 -0.1 54.03 62.73 -0.23 -0.03 0.71
0.23 3 54.5 62.8 53.9 62.5 -0.6 -0.3 54.03 62.73 -0.13 -0.23 0.6
0.26 4 54.5 62.8 54.2 62.4 -0.3 -0.4 54.03 62.73 0.17 -0.33
0.50
0.37 5 54.5 62.8 54.1 63.0 -0.4 0.2 54.03 62.73 0.07 0.27 0.48
0.28 6 54.5 62.8 53.7 62.8 -0.8 0 54.03 62.73 -0.33 0.07 0.80
0.33 7 54.5 62.8 54.0 62.5 -0.5 -0.3 54.03 62.73 -0.03 -0.23 0.58
0.23 8 54.5 62.8 54.4 62.7 -0.1 -0.1 54.03 62.73 0.37 -0.03 0.14
0.37 9 54.5 62.8 53.9 63.2 -0.6 0.4 54.03 62.73 -0.13 0.47 0.72
0.49 10 54.5 62.8 54.1 62.9 -0.4 0.1 54.03 62.73 0.07 0.17 0.41
0.18 0.53
0.30 I TAP CHi CO KHi VIET NAM, So 3 nam 2014
www.cokhivietnam.vn
3.3. Thi nghiem 3
Gan them mgt qua nang co kh6i lugng 500g vao canh tay cu6i robot. Thuc hien cac budc nhu thi nghiem 1 ta cd kit qua theo bang 3.
Hinh 5: Thu nghiem khi Robot mang vdt ndng a cdng tay cuoi Bdng 3. Kit qud thi nghiem do chinh xdc dinh vikhi Robot mang vdt ndng
a cudi cdng tayfdan vi tinh: mm) L^thii
x„
y.
X
y AX Ay
",
y.
AX, Ay, Sai so vitri Sai so lap lai
1 54.5 62.8 54.1 62.7 -0.4 -0.1 54.0 62.68 0.1 0.02 0.41
0.10 Sai s6 vj tri TB Sai so ] ap lai TB
2 54.5 62.8 53.9 62.5 -0.6 -0.3 54.0 62.68 -0.1 -0.18 0.67
0.21 3 54.5 62.8 53.8 62.3 -0.7 -0.5 54.0 62.68 -0.2 -0.38 0.86
0.43 4 54.5 62.8 54.2 62.5 -0.3 -0.3 54.0 62.68 0.2 -0.18 0.42
0.23 5 54.5 62.8 54.1 63.0 -0.4
0.2 54.0 62.68 0.1 0.32 0.45
0.34 6 54.5 62.8 53.7 62.6 -0.8 -0.2 54.0 62.68 -0.3 -0.08 0.82
0.31 7 54.5 62.8 53.9 62.4 -0.6 -0.4 54.0 62.68 -0.1 -0.28 0.72
0.30 8 54.5 62.8 54.4 62.7 -0.1 -0.1 54.0 62.68 0.4 0.02 0.14
0.40 9 54.5 62.8 54.1 63.1 -0.4 0.3 54.0 62.68 0.1 0.42 0.50
0.43 10 54.5 62.8 53.8 63.0 -0.7 0.2 54.0 62.68 -0.2 0.32 0.73
0.38 0.57
0.32
TAP CHI CO KHi VIET NAM, So 3 nam 2014 R M www.cokhivietnam.vn • • • •
NGHIEN cuu-TRAODOI
Danh gia kit qua thuc nghiem
Tu cac bang kit qua thu ngiem tren day, co the dua ra mgt s6 nhan xet, danh gia sau day:
Khi lam viec trong vimg cho phep vdi dieu kien bmh (khong co tac dgng cua cac y l u to ben ngoai), robot lam viec on dinh vdi sai so vi tri va sai so lap lai nho (0.53mm va 0.22 mm).
Khi lam viec vdi tac dgng cua cac tai trgng ben ngoai, robot ciing dat dugc do on dinh can thiet, sai s6 vi tri khong vugt qua 0,57mm, sai so lap lai khong vugt qua 0,32mm.
4. K E T LUAN
Robot dugc c h i tao va co kha nang lam viec dap ling dugc yen cau cua viec cap phoi cho cac may gia cong cd nho.
Robot CO t h i dugc dua vao trong day chuyen san xuat d phong thi nghiem, phuc vu dao tao, nghien cuu khoa hgc.*!*
Ngay nhan bai: 24/02/2014 Ngay phan bien: 17/3/2014
Tai lieu tham khao:
[1]. Dao Van Hiep, Ky thudt Robot (in lin thiir ba.), NXB. Khoa hgc va Ky thuat (2006).
[2]. Nguyen Van Khang, Dgng luc hgc he nhieu vat, NXB. Khoa hoc va Ky thuat (2007).
[3]. J. Denavit, R.S Hartenberg, A Kinematic Notation for low Pair mechanisms based on Matrices.
fffH TAP C H i CO KHi V I £ T NAM, So 3 nam 2014
• • • • www.cokhivietnam.vn
