鏈枃浠嬬垂浜嗘暩(sh霉)鎺ф搴婁己鏈嶇郴绲�(t菕ng)鐨勬帶鍒跺師鐞嗗強鐢㈢敓鎸暕鐨勫師鍥犲垎鏋�锛屾彁鍑轰簡鍏ㄩ枆鐠�(hu谩n)鏁�(sh霉)鎺ф帶鍒剁郴绲�(t菕ng)娑堥櫎鎸暕鐨勭悊璜栦緷鎿�(j霉)鍜屾柟娉曘€� 寮曡█ 鏁�(sh霉)鎺х郴绲�(t菕ng)鐨勬尟钑╃従(xi脿n)璞″凡鎴愮偤鏁�(sh霉)鎺у叏闁夌挵(hu谩n)绯荤当(t菕ng)鐨勫叡鍚屾€у晱椤�銆傚挨鍏跺湪鑷ュ紡甯剁珛鏌辩殑Z杌稿拰鏃嬭綁鏁�(sh霉)鎺у伐浣滆嚭B杌革紝鍏剁郴绲�(t菕ng)鍑虹従(xi脿n)鎸暕鐨勯牷鐜囪純楂�銆傝┎鍟忛宸叉垚鐐哄奖闊挎暩(sh霉)鎺цō鍌欐甯镐娇鐢ㄥ拰楂樺害鐨勯噸瑕佸洜绱犱箣涓€銆� 1銆佺敘鐢熸尟钑╃殑鍘熷洜鍒嗘瀽 鐢㈢敓鎸暕鐨勫師鍥犳湁寰堝锛岄櫝浜嗘姊版柟闈㈠瓨鍦ㄤ笉鍙秷闄ょ殑鍌冲嫊闁撻殭銆佸綀鎬ц畩褰�銆佹懇鎿﹂樆鍔涚瓑璜稿鍥犵礌澶�锛屼己鏈嶇郴绲�(t菕ng)鐨勬湁闂滃弮鏁�(sh霉)鐨勫奖闊夸篃鏄噸瑕佺殑涓€鏂归潰銆� 浼烘湇绯荤当(t菕ng)鏈変氦娴佸拰鐩存祦涔嬪垎锛屾湰鏂囦富瑕佽◣璜栫洿娴佷己鏈嶇郴绲�(t菕ng)鍥犲弮鏁�(sh霉)褰遍熆寮曡捣鐨勬尟钑┿€傚ぇ閮ㄥ垎鏁�(sh霉)鎺ф搴婇噰鐢ㄧ殑鏄叏闁夌挵(hu谩n)鏂瑰紡锛屽叾鎺у埗鍘熺悊鍦栧鍦�1鎵€绀恒€� 鐢卞湒1鍙湅鍑猴紝寮曡捣浼哄牨绯荤当(t菕ng)鎸嫊鐨勫師鍥犲ぇ鑷存湁鍥涚ó鎯呮硜锛� a. 浣嶇疆鐠�(hu谩n)涓嶈壇鍙堝紩璧疯几鍑洪浕澹撲笉绌�(w臎n)锛� b. 閫熷害鐠�(hu谩n)涓嶈壇寮曡捣鐨勬尟鍕曪紱 c. 浼烘湇绯荤当(t菕ng)鍙瀹氫綅鍣ㄥお浜哄紩璧烽浕澹撹几鍑哄け鐪�锛� d. 鍌冲嫊姗熸瑁濈疆锛堝绲叉】锛夐枔闅欏お澶�銆� 閫欎簺鎺у埗鐠�(hu谩n)鐨勮几鍑哄弮鏁�(sh霉)閲忓け鐪熸垨姗熸鍌冲嫊瑁濈疆闁撻殭澶ぇ閮芥槸寮曡捣鎸嫊鐨勪富瑕佸洜绱犮€傚畠鍊戦兘鍙互閫氶亷浼烘湇鎺у埗绯荤当(t菕ng)閫茶鍙冩暩(sh霉)鍎�(y艒u)鍖�銆� 2銆佹秷闄ゆ尟鍕曠殑鍩烘湰鏂规硶 鏈変簺鏁�(sh霉)鎺т己鏈嶇郴绲�(t菕ng)閲囩敤鐨勬槸鍗婇枆鐠�(hu谩n)瑁濈疆锛岃€屽叏闁夌挵(hu谩n)浼烘湇绯荤当(t菕ng)蹇呴爤鏄湪鏈熷眬閮ㄥ崐闁夌挵(hu谩n)绯荤当(t菕ng)涓嶇櫦(f膩)鐢熸尟鍕曠殑鍓嶆彁涓嬮€茶鍙冩暩(sh霉)瑾挎暣锛屾墍浠ュ叐鑰呭ぇ鍚屽皬鐣�锛屾湰鏂囩偤閬垮厤閲嶅京锛屾毇鍙◣璜栧叏闁夌挵(hu谩n)鎯呮硜涓嬬殑鍙冩暩(sh霉)鍎�(y艒u)鍖栨柟娉�銆� 2.1 闄嶄綆浣嶇疆鐠�(hu谩n)澧炵泭 鍦ㄤ己鏈嶇郴绲�(t菕ng)涓湁鍙冭€冪殑妯欐簴鍊硷紝渚嬪FANUCO-C绯诲垪鐐�3 000锛岃タ闁€瀛�3绯荤当(t菕ng)鐐� 1666锛屽嚭鐝�(xi脿n)鎸暕鍙仼鐣堕檷浣庡鐩�锛屼絾涓嶈兘闄嶅お澶�锛屽洜鐐鸿淇濊瓑绯荤当(t菕ng)鐨勭┅(w臎n)鎱�(t脿i)瑾ゅ樊銆� 2.2 闄嶄綆璨犺級鎱ｉ噺姣� 璨犺級鎱ｉ噺姣斾竴鑸ō缃湪鐧�(f膩)鐢熸尟鍕曟檪鎵€绀哄弮鏁�(sh霉)鐨�70%宸﹀彸锛屽涓嶈兘娑堥櫎鏁呴殰锛屼笉瀹滅辜绾�(x霉)闄嶄綆瑭插弮鏁�(sh霉)鍊笺€� 2.3 鍔犲叆姣斾緥寰⿳鍒嗗櫒锛圥ID锛� 姣斾緥寰⿳鍒嗗櫒鏄竴鍊嬪鍔熻兘鎺у埗鍣紝瀹冨€嬪儏鑳芥湁鏁堝湴灏嶉浕娴侀浕澹撲俊铏熼€茶姣斾緥澧炵泭锛屽悓鏅傚彲瑾跨瘈(ji茅)杓稿嚭淇¤櫉婊悗鎴栬秴鐨勫晱椤�锛屾尟钑╂晠闅滄湁鏅傚洜杓稿嚭闆绘祦闆诲鐧�(f膩)鐢熸化鍚庢垨瓒呭墠鎯呮硜鑰岀敘鐢�锛岄€欐檪鍙€氶亷PID渚嗚绡€(ji茅)杓稿嚭闆绘祦闆诲鐩镐綅銆� 2.4 閲囩敤楂橀牷鎶戝埗鍔熻兘 浠ヤ笂瑷庤珫鐨勬槸鏈夐棞浣庨牷鎸暕鏅傚弮鏁�(sh霉)鍎�(y艒u)鍖栨柟娉曪紝鑰屾湁鏅傛暩(sh霉)鎺х郴绲�(t菕ng)鏈冨洜姗熸涓婃煇浜涙尟钑╁師鍥犵敘鐢熷弽楗嬩俊铏熶腑鍚湁楂橀牷璜ф尝锛岄€欎娇杓稿嚭杞夌煩閲忎笉鎭掑畾锛屽緸鑰岀敘鐢熸尟鍕曘€� 灏嶄簬閫欑ó楂橀牷鎸暕鎯呮硜锛屽彲鍦ㄩ€熷害鐠�(hu谩n)涓婂姞鍏ヤ竴闅庝綆閫氭烤娉㈢挵(hu谩n)绡€(ji茅)锛屽嵆鐐鸿綁鐭╂烤娉㈠櫒銆傚叾鎺у埗鍘熺悊濡傚湒2鎵€灏忋€� 鍦�2琛ㄦ槑锛岄€熷害鎸囦护鑸囬€熷害鍙嶉淇¤櫉缍撻€熷害鎺у埗鍣ㄨ綁鍖栫偤杞夌煩淇¤櫉锛岃綁鐭╀俊铏熼€氶亷涓€闅庢烤娉㈢挵(hu谩n)绡€(ji茅)灏囬珮闋绘垚鍒嗘埅姝紝寰炶€屽緱鍒版湁鏁堢殑杞夌煩鎺у埗淇¤櫉銆傞€氶亷瑾跨瘈(ji茅)鍙冩暩(sh霉)鍙皣姗熸鐢㈢敓鐨�100Hz浠ヤ笂鐨勯牷鐜囨埅姝�锛屽緸鑰岄仈鍒版秷闄ら珮闋绘尟钑╃殑鏁堟灉銆� 2.5 閲囩敤闆欎綅缃弽楗嬪姛鑳� 闆欏弽楗嬫槸涓€绋敼璁婃帶鍒舵柟寮忕殑鏂规硶锛屽彲鍦ㄥ悓涓€鍊嬬郴绲�(t菕ng)閬告搰鍗婇枆鐠�(hu谩n)鎴栧叏闁夌挵(hu谩n)鏂瑰紡锛屽叾鍘熺悊鍦栧鍦�3鎵€绀�銆� 鐢卞湒3鍙湅鍑�锛岃宸帶鍒跺櫒ER1鍜孍R2鍒嗗垾琚敤浜庡叏闁夌挵(hu谩n)鍜屽崐闁夌挵(hu谩n)绯荤当(t菕ng)涓�銆備竴闅庡欢鏅傜挵(hu谩n)绡€(ji茅)鐨勫偝閬炲嚱鏁�(sh霉)鐐猴紙1锛嬒凷锛�-1锛屽彲瑕嬪闅涜宸瓻R涓昏鍙栨焙浜庝竴闅庡欢鏅傜挵(hu谩n)绡€(ji茅)涓檪闁撳父鏁�(sh霉)蟿锛岀殑鍙栧€硷細 鑻ハ勶紳O锛屽墖锛�1+蟿s锛�-1锛�1锛孍R锛滶R1锛嬶紙ER2锛岴R1锛夛紳 ER2锛屽彲瑕嬪湪姝ゆ儏娉佷笅瑭茬郴绲�(t菕ng)铏曚簬鍏ㄩ枆鐠�(hu谩n)鎺у埗瑾ゅ樊锛屽緸鑰屽彲浠ュ埄鐢ㄥ叏闁夌挵(hu谩n)鐨勮宸帶鍒舵柟娉曚締娑堥櫎鎸嫊鏁呴殰锛� 鑻ハ勶紳鈭�锛屽墖锛�1+蟿s锛�-1锛漁锛孍R锛滶R1锛屽彲瑕嬪湪姝ゆ儏娉佷笅瑭茬郴绲�(t菕ng)铏曚簬鍗婇枆鐠�(hu谩n)鎺у埗瑾ゅ樊锛屽緸鑰屽彲浠ュ埄鐢ㄥ崐闁夌挵(hu谩n)鐨勮宸帶鍒舵柟娉曚締娑堥櫎鎸嫊鏁呴殰銆� 缍滀笂鎵€杩�锛屽埄鐢ㄩ洐浣嶇疆鍙嶉鍙娇绯荤当(t菕ng)鍦ㄥ叏闁夌挵(hu谩n)鍜屽崐闁夌挵(hu谩n)鍏╃ó鏂瑰紡涓嬮€茶锛屽緸鑰屽ぇ澶ф彁楂樹簡绯荤当(t菕ng)鐨勮绡€(ji茅)鑼冨湇锛屼篃澧炲姞浜嗙郴绲�(t菕ng)鐨勮绡€(ji茅)鍙冩暩(sh霉)銆傚緸鏅傞枔甯告暩(sh霉)涓婂彲鐭�锛岃┎绯荤当(t菕ng)鍙湪鍋滄鐙€鎱�(t脿i)涓嬮€茶鍏ㄩ枆鐠�(hu谩n)瑾ゅ樊瑾挎暣锛屽湪閬庢浮鐙€鎱�(t脿i)涓嬪彲閫茶鍗婇枆鐠�(hu谩n)瑾挎暣?锛孎(xi脿n)浠� FANUCO锛岰鐐轰緥锛屽皣鍏烽珨鍙冩暩(sh霉)瑾挎暣閬庣▼閫茶绨″柈浠嬬垂銆� 棣栧厛瑷疆鍙冩暩(sh霉)P84ll锛冿紙DPFB锛夌偤1锛屽嵆鐐洪伕鎿囬洐浣嶇疆鍙嶉鍔熻兘锛汸8449鐐轰綅缃弽楗嬬殑鏈€澶ф尟骞�锛屼竴鑸ō缃偤0锛汸8478锛堝垎瀛愶級鍜孭8479锛堝垎姣嶏級鐐轰笂鍦栦腑浣嶇疆杞夋彌鐠�(hu谩n)绡€(ji茅)鐨勫父鏁�(sh霉)瑷疆锛屽彲鏍规摎(j霉)瑕佹眰瑷疆锛汸8480鐐轰竴闅庡欢鏅傜挵(hu谩n)绡€(ji茅)鐨勫弮鏁�(sh霉)瑷疆浠ｈ櫉锛屽叾瑷疆鑼冨湇鐐�10 ms锝�300 ms锛屼竴鑸ō瀹氱偤100ms宸﹀彸锛汸8481鐐洪浂榛炲箙搴�锛屼竴鑸儏娉佷笅鐐�0锛屼絾鍥犳尟钑╁彲閬╃暥瑾块珮涓€榛�銆� 闆欎綅缃弽楗嬪姛鑳芥槸涓€绋瘮杓冮潏娲荤殑瑾ゅ樊淇鏂瑰紡锛屽湪绯荤当(t菕ng)瑾胯│閬庣▼涓湁寰堝ソ鐨勫弮鏁�(sh霉)鍎�(y艒u)鍖栧拰淇濊瓑绯荤当(t菕ng)绌�(w臎n)瀹氭€х殑鍔熻兘銆� 2.6 閲囩敤姗熸鍙嶉鍔熻兘 鍦ㄤ繚璀夊崐闁夌挵(hu谩n)绌�(w臎n)瀹氭€у悗锛屼娇鐢ㄥ叏闁夌挵(hu谩n)绯荤当(t菕ng)渚嗚鏁寸郴绲�(t菕ng)鏈夐棞鍙冩暩(sh霉)銆傝嫢鍏舵姊扮挵(hu谩n)绡€(ji茅)寮曡捣鐨勫綀鎬ф尟钑╂晠闅�锛岄渶閲囩敤姗熸鍙嶉鐠�(hu谩n)绡€(ji茅)渚嗚鏁村弮鏁�(sh霉)锛屽彲閬斿埌寰堝ソ鐨勬晥鏋溿€傚叾鍘熺悊鎺у埗鍦栧鍦�4鎵€绀�銆� 鍏朵腑锛欿1V鐐洪€熷害绌嶅垎澧炵泭锛汯2V鐐洪€熷害姣斾緥澧炵泭锛浳辩偤姗熸閫熷害鍙嶉澧炵泭銆� 鐢卞湒4鍙湅鍑�锛岄浕姗熻垏宸ヤ綔鑷轰箣闁撶殑褰堟€ф姊拌缃彲鑳界敘鐢熻畩褰紝鑰屼綅缃娓富瑕佷締鑷綅缃法纰煎櫒锛岄€熷害鍙嶉鐩存帴渚嗚嚜闆绘绶ㄧ⒓鍣�銆傚緸鏁村€嬪叏闁夌挵(hu谩n)閬庣▼渚嗙湅锛屽洜姗熸褰堟€ц缃殑褰㈣畩鐢㈢敓鍏ㄩ枆鐠�(hu谩n)涓綅缃弽楗嬫化鍚庝簬鍏跺畠閫熷害鐠�(hu谩n)绡€(ji茅)锛屽緸鑰屽紩璧风郴绲�(t菕ng)鎸暕銆� 濡傛灉渚濆湒4涓姞鍏ユ姊伴€熷害鍙嶉鐠�(hu谩n)绡€(ji茅)锛屼娇姗熸閫熷害婊悗寰楀埌瑁滃劅锛屽緸鑰岄仈鍒版秷闄ゆ尟钑╃殑鏁堟灉銆備緥濡傚皪浜嶧ANUCO锛岰绯荤当(t菕ng)渚嗚锛屽皣鍙冩暩(sh霉)P8421锛僱瑷疆鐐�1鍚庡氨鍙暉鐢ㄦ姊伴€熷害鍙嶉瑁濈疆銆傜劧鍚庢牴鎿�(j霉)瑕佹眰瑷疆鍏跺畠鏈夐棞鍙冩暩(sh霉)锛屽彲鍙冪収鍏剁郴绲�(t菕ng)鍙冩暩(sh霉)瑾槑鏇镐締瑾跨瘈(ji茅)銆� 浠ヤ笂涓昏瑷庤珫浜嗗咕绋秷闄ゆ暩(sh霉)鎺х郴绲�(t菕ng)鎸暕鏁呴殰鐨勫熀鏈柟娉�锛屾牴鎿�(j霉)涓嶅悓绯荤当(t菕ng)鍙伕鎿囦笉鍚岀殑鏂瑰紡閫茶鍙冩暩(sh霉)鍎�(y艒u)鍖栥€備富瑕佹槸瑕佷簡瑙ｆ尟钑╃殑鍘熷洜鎵嶈兘閲囧彇鐩告噳鐨勬秷闄ゆ柟寮忛€茶瑾挎暣锛屼笉鍙洸鐩€茶鍙冩暩(sh霉)淇敼锛屼互鍏嶅奖闊垮埌鏁村€嬬郴绲�(t菕ng)鐨勭┅(w臎n)瀹氭€ц垏鍙潬鎬с€� 3銆佺祼璜� 鏈枃瑷庤珫浜嗗咕绋秷闄ゆ暩(sh霉)鎺ф尟钑╂晠闅滅殑甯歌鏂规硶锛屽悇绋帶鍒剁挵(hu谩n)绡€(ji茅)閮芥湁瑭崇窗鐨勬帶鍒剁悊璜栧仛渚濇摎(j霉)锛屽湪淇濊瓑鎺у埗绯荤当(t菕ng)鐨勭┅(w臎n)瀹氭€у拰鍙潬鎬х殑鍚屾檪锛屾湁鏁堢殑娑堥櫎鎸暕鍟忛锛屾彁楂樼敓鐢㈡晥鐜囥€傜暥鐒�锛屽湪鏈変簺鎺у埗鐠�(hu谩n)绡€(ji茅)閭勫瓨鍦ㄤ竴浜涘晱椤岋紝闇€瑕佷互鍚庣辜绾�(x霉)鍔犳繁浜嗚В鍜岃В姹�銆� 鏁�(sh霉)鎺х郴绲�(t菕ng)鎸暕鍟忛鏄暩(sh霉)鎺ф搴婅瑭︽垨閬嬭涓父瑕嬬殑鏁呴殰锛屽皪浜庣敓鐢㈠姞宸ラ亷绋�锛屽強鏅傝檿鐞嗗ソ鏁呴殰鍟忛锛屼互淇濊瓑鐢熺敘姝ｅ父閬嬭銆傚悓鏅傚皪浜庨€插彛鍔犲伐涓績闇€瑕侀噸榛炵董璀�锛屽皪浜庡嚭鐝�(xi脿n)甯歌鐨勬尟钑╁晱椤岋紝闇€瑕侀暦鏅傞枔鐨勭⿳绱拰灏嶅晱椤岀殑鐞嗘€у垽鏂锋墠鑳藉仛鍒版湁鏁堢殑缍鍜屼繚椁�(y菐ng)銆傛墍浠�锛屽皪浜庡悇绋笉鍚岀殑鏁�(sh霉)鎺х郴绲�(t菕ng)闇€瑕侀噰鐢ㄤ笉鍚岀殑瑷烘柗鏂规硶锛屾牴鎿�(j霉)鏁�(sh霉)鎺х郴绲�(t菕ng)鐨勭壒榛炲埗瀹氭湁鏁堢殑鏁呴殰鎺掗櫎鎺柦锛屾彁楂樼敓鐢㈤亱琛岃兘鍔�锛屼繚璀夊姞宸ユ晥鐜囥€�