NGHIEN cufu - TRAO 06\ TINH TOAN THIET KE 0 GA HAI TRUC QUAY CALCULATE AND DESIGN 2-AXlS ROTARY JIGS PGS,TS Bui VSn Hanh Vien Ca khi, Trucmg Dai hpc Bach Khoa Ha Noi Do gd hai true quay Id thiet bi nhdm ma rdng khd ndng cong nghe cua robot cong nghie ddc biet Id robot hdn ho quang Do gd cd nhiem vu dua chi tiet vi vi tri di gia cdng nhdt di robo cd the viran tai vd thuc hien thao tdc Bdi bdo ndy trinh bdy phuong phdp linh todn lua chpn dpn ca cho cdc true cua gd quayphiic vu cho qud trinh thiit ki vd chi tao dd gd quay hai tnic thay the nhdp khdu Tir khoa: Do gd, ddng ca servo ABSTRACT Two-axis rotation jig is device to extend the capabilities of the industry robot included ar welding robot Jig is responsible for putting details on the most prominent outsourcing to robot can reach and take action This paper presents the calculation method selected servo motor and gearbox for the axis of rotation fixtures to design andfabrication of two-axis rotation jig import substitution Keywords: Jig, servo motor ISSN 0866 - 7056 TAP CHf CO KHi VIET NAM, Sa 1+2 nam 2015 www.cokhivietnam.vn NGHIEN cufu - TRAO D | BAT VAN DE - Pham vi gdc quay cac true: ±360" - Sd true quay: 02 - Tai trpng cd ich: 120 kg (tru thep trdn cd kich thudc 0350x150) - Tdc dp tdi da: True I la 12 vdng/phut va true la 14 vdng/phut - Dan dpng: Ddng co servo xoay chiSu - Truyen ddng: Hop giam toe banh rang hanh tinh - Quy md san xuat: Don chi8c va loat nhd Viec ling dung robot qua trinh san xuat da va dang thu dupe nhiing loi ich to Ion v8 nang suit ciing nhu chdt lupng san phSm Robot cd the thay ngudi vdi nang suit, ehSt lupng cao Tuy nhien, vdi nhiing chi ti6t khd nhu cac ehi tiet ed bien dang gia edng phiic tap khdng gian ba chidu hoac quy dao gia cdng dai, vupt qua tam vdi ciia canh tay robot thi se gap khd khan Idn Khi dd, ddi hdi phai trang bi them nhiing trang thidt bi phu tra nhu dd ga eho robot Tiiy thupc vao ket cau cua san > Hudng thiet ke dd ga; pham ma ta cd nhung loai ga thich hpp Vdi Hien nay, tren the gidi da ed nhieu hang nhimg ket eau cd trpng luong khdng Ion thi dd ga hai true quay la thich hgp hon ca de dam bao thiet ke, che tao ga hai true quay vdi hinh dang va ket cau khac Tuy nhien, ket cau dp linh hoat he thdng cao ga gdm hai true quay bd tri vudng gdc TINH TOAN LU'A CHON DQNG CO la phu hop nhat vdi robot Pham vi gdc quay cua moi true la 0-360°, dupe dan ddng bdi ddng TRUC CO servo Do yeu cau ve dieu khien van tdc, md men va dieu khien vi tri nen ung dung ddng co AC servo he thdng truyen ddng, ket hpp vdi hop giam tdc banh rang hanh tinh vdi dp Gv-1 chinh xac djiih vi cao Ve he thdng dieu khien sir dung mdt may tinh va card PCI; su dung phan mem dieu khien dupe viet bang ngdn ngii C# vdi giao dien cd the lua chpn bSng ti^ng viet hoac tieng anh Dd ga duac ket ndi va hoat ddng ddng bd cung vdi robot Hinh Mo hinh thiet ke sa bo cita gd: Thdn Dd gd; Ddng cagidm toe ndi v&i true 1; 2.2 Tinh toan, Ina chon dong co cho true True quay 1(U quay hdn ndi v&i true vd ndi v&i true dpng ca); > Cac dii lieu dau vao Dpng cagidm tdc noi v&i true 2; True quay 2; - Gidi han gdc quay cua true (mam kep phdi): Bdn quay; ± 360" O lan dd hai ddu true L - Van toe dau ciia true 2: 30 (vdng/phiit) 2.1 Thong so dan vao va hwdug thiet ke - Khoang lech tam Idn nhat tinh tii tam phdi true 2: lOO(mm) ga - Gia dinh phdi cd dang tru trdn dac bang thep > Thdng sd dau vao: cd kich thudc 0350x150 (120kg) ^ ISSN 0866 - 7056 TAP CHi CO KHi VIET NAM, Sd 1+2 nam 2015 www.cokhivietnam.vn NGHIEN CtfU-TRAODOl - Hop giam tdc true 2: Chpn model RV20E, ty s6 truyen 141 - Chu trinh Iam viee: 70% • Tinh chpn ddng ca cho tryc De chpn dupe dpng ca hpp ly, ta se tinh chpn ddng ca dua tren ba thdng sd mdmen xoSn > So dd ket cau ciia true Idn nhat tac dung len tn^c dpng ea; Mdmen xo5n thuc tae dung len true dpng co; Sd vdng quay So dd ddng hpc ciia true dupe md ta dau vao ciia hop giam tdc, sau dd ta se kiem tra nhu tren hinh cac thdng sd cdn lai Bihu kien cac thdng sd tinh chpn ddng < T • — *MAX < T Trong dd: Hinh Sa ddng hoc cua true 2: 1) Dong ca servo true 2; 2) Hpp gidm toe true 2; 3) True quay 2; 4) Mam kep phoi; 5) Idn; 6) Vdt hdn; a) Khodng l^ch tdm max > Chu trinh tai trpng Tj^P : Mdmen xoan Idn nhat tac dung len true dpng co; T^^'- Mdmen xoan thuc tac dung len true dpng tdc; N^^^.^ - 3000 (vdng/phiit); ^MAx' ^RT^ ^dc '^ '^^^ g*^ ^ tuong ling cua ddng CO duac chpn • Tinh mdmen xoan Idn nhit tac dung I6n true ddng CO - Thdi gian tang tdc: t, ^ 0,15s; - Thdi gian van tde khdng ddi: t^ ^ 10-^360s; Momen xoan lan nhSt tac dung len hue Chpn tj = 360s; dpng CO dupe xac dinh tir cdng thiic: - Thdi gian giam tdc: t^ = 0,15s; - Thdi gian dung: t^ ^ I s; - Tdng thdi gian quay: t^ = t +1 +t - 36I,3s Trong dd: Hinh Chu trinh tdi trpng T^p Mdmen xoan Idn nhSt tac dung len hue dpng ca; T^^: Mdmen xoan gay bdi mdmen quan tinh; T^g: Mdmen xoSn gay bdi tai trpng; ^cNLR- ^oroen can nhdl cua hop giam tdc; Tra cataloge vdi ddng ca cd sd vong quay ISSN 0866 - 7056 TAP CHi CO KHi V I £ T NAJVI, Sd 1+2 nam 2015 www.cokhivietnam.vn NGHIEN ClJfU - TRAO ePl 3000 (vong/phut), cong sufa 0,5 -2 (KW) co: TcM.R = 0.85(N.m) + o^: Gia tdc gdc tren true ddng ca; ct^ ^ ci^.U^^, = 9,8.282 = 2763,6(rad/s^) Do qua trinh dong ca lam viec se sinh luc ma sat, cd the Iam tang mdmen Idn nhat tac dung ISn true dpng co Nen tinh chpn ddng co thi mdmen Idn nhat tae dung len true dong ca se duac nhan them vdi he sd an toan K (Uj^ = tdng ty sd truyen ciia true = ty sd truyen cua hop giam toe true 2.ty sd truyen bp tmySn banh rang tru) ^ 141.2 = 282) Gia tdc gdc tren true eua hop giam + I,^: Mdmen quan tinh eua vat quay; I,^ = I^, +w + lyj: Mdmen quan tinh tac dung len true hop giam tdc; toe: • " = - ^ =^ Van tdc dieu khien true 2: t'dfe = 1^2.^ 360 - ^ - 84 (dp/giay) Van toe ban quay dat dugc sau qua trinh tang toe: Vo=Vd 180 tl 0,15 Trong do: 1^ la momen quan tinh ciia vat quay; = 120.0,175^ , 40.0,25^ -^ +120.0,1^ + ^ = 4,29 Kg m2 3,14 84-::^^ = l,47(rad/s) 180 Gia toe goc cua ban quay: "^ = 5'''-"'"'*8.m^'= Tinh momen xoan \&n nhat tac dung len trncflongcff ' «c = « T U „ = a, = 8,37 (rad/s') Momen xoin 16n nhit tae dung len true ", '^'"^ " ™ ™ "o^" S^^ boi momen quan dgng CO dupe xac dinh tir cong thiie: ' " Momen xoan gay boi momen quan tinh dugc xac dinh bang cong thiie: Trong do: T,^: Momen xoin 1cm nhat tae dung len true dpng ca Trong do: Tj^: Momen xoan gay bcri momen quan tinh T„j^: Momen xoin gay boi tai trgng + "M^ G''' '6c goc tren true dgng eo, a^ = ae.Uj TcuLt.'- Momen can nhat ciia hop giam t6c, tra " 8,37.153 = 1281 (rad/s^) cataloge voi dgng eg eo s6 vong quay (^g' ^ '™g ty so truyen ciia hop giam t6c true 3000 (vong/phiit), eong suit 0,5 -2 (KW) eo: '= 153) ^cNLR~ 0.85 (N.m) +1,^: Mamen quan tinh cila vat quay; I,^ = 1^^, M2' Do qua trinh lam viec se sinh +'„,: Momen quan tinh tac dung len true hop luc ma sat, eo the lam tang momen Ion nhit tae giam toe dung len true dgng eo, cho nen tinh chpn dpng CO thi momen 1cm nhit tae dung len true _ I, 15,12 _, j dgng eose dugc nhan them vai he s6 an toan K '»" ^ p ~ - ^ [ ^ = *''*Sl'' (kg.m ) - Tinh gia tae goc tren true ciia hop giam t6e: Van t6e diSu khiSn true 1: ^ " ^ °' I^ = 15,12 kg.m^ (xem hinh 8) + I„j: Momen quan tinh eua hop giam tac Vdl =V„. .360 = 12.—.360 = 72 (do/giay) 60 60 ** •" tang toe: T ,, , Tra cataloge hop giam toe [29] co: _, , = > V - I « , + I„, =6,46.10-'+ 1,03 10-'=6,56.10^ (kgm') V.=V^TTr= 72.-| = 1,256 (rad/s) '*" '*° Gia t6c goc cua khai A: Vay, momen xoin gay bai momen quan tinh la: TMA = V-aM =6,56.10-'.1281 = 8,4 (N.m) _ VJ _ 1,256 " ' " V ^ ' o T T " * ' ^ ' ' f"""^') Gia tec goe tren true eua hop giam -Momen xoan gay bcri trgng lire vat han dat lech tam quay: Do trpng tam cila cae vat tren ban quay ISSN 0866 - 7056 TAP CHf CO KHI VIET NAM, S6 1-F2nam2015 www.cokhivietnam.vn NGHIEN ClJfU - TRAO D O I dat len true lech khoi tam quay khoang e = T, = T„,= 11,85 (N.m) 0,175(m) cho nen trpng lupng cua cac vat quay se gay mpt momen xoin eo gia tri: Tj^: Mdmen xoan tac dung len true ddng co T, = P.g.e van tdc khdng ddi: Tjo = T„„ + T ^ , = 2,15 + 0,85 = 3(N.m) Trong do: T • mdmen tac dung len true dgng ca giam tdc: P: Khai lugng etia cac vat quay (xem hinh T « = | T „ B + T , , ^ - T ^ | = |2,15 + 0,85-8,4| = 5,4(N.m) 1.13); Pct= 120-l-72=192(kg); g: Gia tdc trgng truong; g = 9,8 (m/s^); t, = 0,15 (s) ; t^ - 360 (s); tj - 0,15 (s); t^ - (s) e: Khoang lech tam Ion nhit; e = 0,175(m) Thay sd vao cdng thiic tinh mdmen Thay sa vao cang thiic ta co momen xoan thue tac dung len true ddng co ta cd: xoin gay boi trgng lire dat leeh tSm quay la: Tj = P g.e = 192.9,8.0,175 = 329,3 (N.m) ^- ='' 0,15 + 360.0,15 + =' ^ - " ^ - Mamen xoan gay bai tai trgng: Theo ket qua cua TMP; TMM; NIPHGT Mamen xoan gay bcri tai trgng dupe da tinh toan d tren va so sanh vdi eae thdng sd xac dinh bang edng thiic: ciia cac ddng ca cataloge, ta chgn dugc ddng ca servo ciia hang Sanyo Denki Nhat Ban T 329 model R2AAB8100FCP00 (di kem la drive T ™ = - ^ = ^=^»2,15(N.m) RS2A05 AOALOWOO) vdi kk qua kigm tra nhu U,„ 153 sau [4]: Vay, mdmen xoan Idn nhit (cd kk ddn anh hudng cua ma sat vdi he sd an toan K^ 1,3) [T„p = ll,85(N.m)< T^-14,3(N.ni) tac dung len true hop giam tdc la: T„„=3(N.m)< T,, -3,18(N.m) fMP=(T^u+T^o + T,^).K = (8,4-i-2,6 + 0,85), 1,3 = 11,85 (N.m) [ N , P H O T = N , , - 0 (vg/ph) • Tinh mdmen xoSn thyc tic dung len true KET LUAN ddng CO* Phuang phap tinh toan chgn ddng co Mdmen xoan thue tac dung len ddng ca servo cho cac he dan ddng ca dugc dura dugc xac dinh theo cdng thuc: bai bao la phuang phap tinh toan cho tin cay va chinh xac cao Sa tinh toan ^ t,T.Ut,.T^„+t3.T/, CO ke den cac phan tai trgng, lech tam ^-^ ^ t,+t,+t3-Ht, ^ ^^ ciia tai trgng va mdmen quan tinh ciia cac vat quay la hoan toan hgp ly Cac ket qua tinh toan Trong do: da dugc ap dung che tao cdng dd ga quay T,(,: Mdmen xoan tac dung len true dgng co hai true Do ga boat dgng tdt, dam bao chinh xac dinh vi theo yeu cau • ^ tang tdc: ISSN 0866 - 7056 TAP CHi CO KHI V I £ T NAM, Sd +2 nam 2015 www.cokhivietnam.vn NGHliN cufu - TRAO Ddi Ngay nhan bai: 05/01/2015 Ngay phan bien: 19/02/2015 Tai Ii£u tham khao: [1] GS,TS Trin Van Dich, PGS,TS Le Van Tiin , PGS.TS Trin Xuan Viet, Bo gd ca vd tu lot hoa, NXB Khoa hoc va Ky thuat, 2010 [2] Trinh Chit, Le Van Uyen, Tinh todn thiit ki he dan dong ca khi- tap 1, 2, NXB Qiao due, 2008 [3] GS.TS Trin Van Dich, Atiat gd, NXB Khoa hoc va Ky thuat, 2004 [4] Sanyo Denki Corporation, SANMOTION - SERVO SYSTEMS Catalogue [5] Sanyo Denki, Sanmotion - Servo Systems - R Advanced Model - User's Manual [6] Cac nguon tai li?u khac qua internet: http://www.otcdaihen.co.jp ISSN 0866 - 7056 TAP CHl CO KHi VIET NAM, Sa 1+2 nam 2015 www.cokhivietnam.vn ... thi dd ga hai true quay la thich hgp hon ca de dam bao thiet ke, che tao ga hai true quay vdi hinh dang va ket cau khac Tuy nhien, ket cau dp linh hoat he thdng cao ga gdm hai true quay bd tri... true True quay 1(U quay hdn ndi v&i true vd ndi v&i true dpng ca); > Cac dii lieu dau vao Dpng cagidm tdc noi v&i true 2; True quay 2; - Gidi han gdc quay cua true (mam kep phdi): Bdn quay; ± 360"... lech tam quay: Do trpng tam cila cae vat tren ban quay ISSN 0866 - 7056 TAP CHf CO KHI VIET NAM, S6 1-F2nam2015 www.cokhivietnam.vn NGHIEN ClJfU - TRAO D O I dat len true lech khoi tam quay khoang