NGHIEN cufu-TRAO Ddi TiUH TOAN THIET KE THIET Bl Dl TRl/QT ROBOT CALCULATE AND DESIGN ROBOT SLIDER PGS,TS Biii Van Hanh Vien Co khi, Tnrdng Dai hgc Bach EChoa Ha Npi T6M TAT Thiet bf di trugt robot nhdm ma rpng pham vi thao tdc cua robot cong nghiep ddc biet la robot hdn ho quang Thiet bi di trugt co nhiem vu dua robot di chuyen den diim xa nhdt cua chi tiet de CO the thuc hiin thao tdc Bdi bdo ndy trinh bdy phuang phdp tinh todn chpn hop gidm toe vd ray ddn hu&ng cho thiet bi di trugt phuc vu cho qud trinh thiet ke vd che tgo thiet bi di trugt robot thay the nhdp khdu Tir khda: Thiit bi di trugt, robot, ray ddn hu&ng ABSTRACT Robot slider to expand the scope of operation of industrial robots especially arc welding robot Slider move robot to the farthest points of detail to be able to perform the operation This paper presents the calculation method selected gearbox and the guide rail for robot slider to design and manufacturing of robot slider import substitution Keywords: Slider, robot, guide rail ISSN 0866 - 7056 TAP CHi C O KHi VIET NAM, Sd l + n a m I www.cokhivietnam.vn NGHIEN cufu-TRAO D6| l.DATVANDE Khi chi tiet gia cdng cd kich thudc Idn, vugt khdi vimg hoat dpng ciia robot, giai phap hop ly va hieu qua nhat dang dugc iing dung tren the gidi la sir dung thiet bi di trugt robot Thiet bj di trugt mang robot di chuyen (tinh tien) den vi tri can thiet de cd the thyc hien dugc thao tac Chuyen ddng cua thiet bi di trugt ddng bd vdi chuyen ddng ciia robot tao mpt he thdng hoan ehinh Hinh Sa dpng hoc cua thiet bi di trugt 2.TINH TOAN CHON HQP GIAM TOC CHO THIET BI DI TRlTgnr ROBOT - De robot: De robot dupe thiet ke gdm cac tam thep ban lai vai Mat bich tr8n ciia de robot dugc khoan Id de dat vai robot 2.1 Thdng so dau vao - Hanh trinh di chuyen: 5000 (mm) - Tai trpng cd ich: 200 kg - Tdc dp tdi da: 15 (m/ph) - Dan dpng: Ddng ea servo xoay chilu - Truyen dpng: Hop giam tdc banh rang hanh tinh, bd truyen banh rang-thanh rang, dan hudng cua hang HIWIN 2.2 Mo hinh ciia thiet bi di trvot Cac bd phan ciia thiet bi di trugt: - Ray ddn hu&ng (con lan da): Diing de dan hudng chuyen dpng cho ciia thilt bi di trupt - Bp truyen banh rdng - rdng: Dung de truyen chuyen dpng quay cua motor hop giam tdc chuyen dpng tinh tiln cua thi6t di di truat 2.3 Tinh chgn h6p giam t^c cho thilt bi di tru-grt - Dpng ca: Diing de truyen chuyin dpng cho hop giam tdc, truyen ddng cho he thdng banh rang - rang de dich chuyen thiet bi tren ray dan hudng (con lan da) Sa dd tai trgng dugc mo ta nhu hinh va chu trinh tai trgng tren hinh - Hop gidm tdc: Diing de dieu chinh tdc dd tir tdc ciia dpng ca xudng tdc tinh toan de truyen chuyen dgng cho rang - banh rang /TTT\ Hinh Sa tdi trpng tdc dung len thiet bi di tru0 ISSN 0866 - 7056 TAP CHi CO KHi V I £ T NAM, Sd 1+2 nam www.cokhivietnam.vn 2015 NGHIEN C U T U - T R A O D O I kinh vdng lan banh rang la: • Chu trinh tai trpng: - Thai gian tang toe: t^ = 0,15s; - Thdi gian dn tdc: t^ = 360s; - Thdi gian giam tde: t^ = 0,15s; - Thdi gian dimg: t^ = Is; - Tdng thdi gian quay: t^ = 360,3s 7i.N^ (mm) 7C.3000 la thich hgp nhat *> Tinh mdmen Idn nhat tac dung len true cua h9p giam tdc Mdmen Idn nhat tac dyng len true hop giam tdc dugc xac dinh theo edng thiie: T ^ = T^^ + Tgg Trong dd: Hinh Chu trinh tdi • Tinh ty s^ truyin cua h6p giam t6c Ty sd truyen ciia hop giam tdc dupe xac dinh tir cdng thiie: T^^: Mdmen Idn nhSt tac dung len true hop giam toe Tg^: Mdmen gay bdi mdmen quan tinh Tgg: Mdmen gay bdi cac luc can - Mdmen gay bdi mdmen quan tinh xac dinh bdi cdng thirc: lOOO.Vo Trong dd: Trong do: - N^^: Sd vong quay dinh miic eua ddng ca, N ^ = 3000 (vdng/phiit); - Vg: Van tdc di chuyen ciia de robot, V^ ^ 15 (m/phiit); - U: Ty sd truyen cua hop giam tdc; - m, Z: Lan lugt la modun va sd rang banh rang Dya vao cdng thiic tren ta thay: Khi ty sd truyen U cang lan thi dudng kinh vdng Ian banh rang (D = m.Z) cang Idn Do dd mdmen quan tinh se cang Idn, Iam cho thiet bi di trugt lam vi?c cang kem dn dinh Tham khao cataloge hop giam tdc RV20E da chpn ta cd U = 141, dd dudng + ttj.: La gia tdc, dugc xac dinh bdi cdng thiic: 30.D^.t, 15 30.0,2245.0,15 l,85(rad/s') + Ij^ la mdmen quan tinh, [kg.m^]; Vdi he dan ddng sir dung ca cau banh rang- rang thi I^^ dugc tinh theo cdng thiic: I = W | ^ | =200.1 l ^ j •{'^J =2,52(kg.m') ISSN 0866 - 7056 TAP CHi CO KHi VIET NAM, Sd +2 nam 2015 www.cokhivietnam NGHIEN cufu-TRAO D61 Vay mdmen gay bdi mdmen quan ciia hop giam tdc la: tinh la: T^, \x- W = 2,52.14,85 - 37,4 (N.m) • Tinh SO vong quay trung binh cua true - Momen gay boi cac lyc can trSn mat trirgt: hop giam t6c Lyc can thilt bi di trugt di chuyen Sd vdng quay trung binh d dau ciia gay bdi cac ly sau: hop giam tde dugc xac dinh theo cdng thiie: + Lue ma sat can ciia cac d dd di truat (F,); , ' , , , L- j ^ /c \ +h Luc vonglech chancua daucac(F^); Lyc can can cac sy chenh sdng trugt (F^); I- Ma sat giiia rang va banh rang (F^); r Lye can tir eae bd phan cap (F^) t,.N, +t,.N-, +tvN, „ „ , , , N =-—!—-—-—-—- (Vong/phut) •" t +1 +1 tyf^ Irong o - N^: Van tdc diu ciia hop giam tdc; Lyc ma sat can cua cac d dd di trugt dugc tinh theo cdng diuc:F, =p.? ; vai // =0,01 la ^2 = ^ = ^,0^2245 ^^^'^ ^^^ (Vong/phiit); he sd ma sat => F, = //.P = 0,01.2000-20 (N) - N,; 'Ny Van toe dau trung bmh cua hop Luc ma sat F, cd the tra theo cataloge ^^^^ ^^^ d giai doan tang tdc va giam tdc ciia hang Hiwin [2] la: f^ = 3,9 (N) QJ^ ^^ ^^^ tdc tang theo dudng tuyIn tinh thi: - ^""Ai^M'lZu ^^"^ "^ ^ ''*'" "^^ N, =N3 = ^ ^ = 10,65 (Vdng/phut) nen: Fj^ 6.3,9^23,4 (N) 2 Cae lue F,; F.; F, cd the theo cataloge J -m.^- • ~ *• U' j ' -.V^ / ^ , , „ • 5'1 ^ , i ^ ^ ^ -1,: Thai gian on dinh toe dp; t, = 360 (s); cua hang Hiwm 2], ta cd tdng F, + F, + F = ^^ TI, • • • - ' - khr ^ 294 (N) -t3:Thoigian giam toe; t3 = 0,15 (s) , , ^; , , Vay, tong cac luc can: Vay sd vdng quay trung binh d dau , „ ,, ; ,, » -1 -^ » hgp giam toe la: F + F +F +F +F =20 +23 +294 r, -rrj-rr^-rr^-rr^ Z.\J-rz.J,^-r^yn = 337,4 (N) Mdmen gay bdi cac lyc can qua trinh chay: De 0,2245 T , , = F ^ = 3 ^ = 37,9(N.m) ''"^ t, N,+t-N,+t, N, 0,15 10,65 + 36021,3 + 0,15.10,65 ,, ^„ ,+i,+t,— = 0,15+360+0,15 -^^''^^ (Vdng/phut) ,; J^^^^^ mgmen trung binh tac dung len true *"* ^^^ ^^^ ^^™ **'*^ Mdmen trung binh tae dung len true Vay, mdmen lan nhat tac dung len true cua hop giam tdc dugc xac djnh bang cdng thiic: ISSN 0866 - 7056 TAP CHi CO KHi V I £ T NAM, S6 1+2 nam - L-liii'iiit-iijn 2015 NGHIEN ClJfU - TRAO D O I T.=f- Trong dd: Tj: Mdmen tang tdc; T, = T - 75,3 (N.m); T^: Mdmen van tdc khdng ddi; T^ = TSB ^ 37,9 (N.m); T^: Mdmen giam tdc; T3=|TsB-TsJ = | , - , | = 0,5(N.m) t, = 0,15 ; t2 = 360; t = 0,15; Nj - 21,3 (vdng/phut); N, = N^ - 10,65 (vdng/ phiit) Thay sd vao cdng thiic ta dugc mdmen xoan trung binh tac dung len true cua hop giam tde: 0,15.10.65.75,3' +360 21,337,9'+0,15 10.65-0,S' ~ \ 0,15 10,65 + 360,21,3 + 0.15,10,65 Dua vao ket qua ciia T T =4O,I69(NJC) ; N ; T max' m' da /a tinh toan tren va so sanh vdi cac thdng sd ciia hop giam tdc cataloge, ta chgn dugc hop giam tdc RV20E vdi ket qua kiem tra nhu sau: Hinh Sa tdi trpng tinh todn chon ray ddn hu&ng 3.2 Tinh toan tai trpng tinh tac dung len trinrt Tai trgng tTnh tac dung len cac trugt duge tinh toan theo so dd tai trgng hinh vdi cac thdng sd: - W = 200(kg)=1960(N); - F = 50 (kg) - 490 (N); - Khoang lech tam: a = b ^ (m); e = d =^ 0,4 (m) ' T ^ =79,8(N.m)1< Nhu vay, trugt da chgn thda man - f^: He sd tai trpng, vdi van tdc V^=15(m/ph) thugc lo^i tai nhe nen chgn f ^ K £ T LUAN Thay sd vao cdng thiic, ta cd tudi thg lam viSc cua ray trugt: Phuang phap tinh toan chpn hop giam tdc va ray dan hudng cho thiet bi di trugt robot dupe dua bai bao la phuang phap tinh toan eho dp tin cay va dp chinh xac cao Cac ket qua tinh toan da dupe ap dung che tao cdng thiet bi di trugt robot Thiet bi di trugt robot da che tao hoat dpng tdt, dam bao dp chinh xac dinh vi theo yeu cau.