Tính toán thiết kế đồ gá hai trục quay

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 nghiep ddc biet Id robot hdn ho quang.. Do yeu c

NGHIEN cufu - TRAO 06\

TINH TOAN THIET KE 0 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 nghiep ddc biet Id robot hdn ho quang Do gd cd nhiem vu dua chi tiet vi vi tri di gia cdng nhdt di robot

cd the viran tai vd thuc hien thao tdc Bdi bdo ndy trinh bdy phuong phdp linh todn lua chpn dpng

ca cho cdc true cua do 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 arc 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 and fabrication 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

NGHIEN cufu - TRAO D 6 |

1 BAT VAN DE

Viec ling dung robot trong 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 con 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

trong 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

pham ma ta cd nhung loai do ga thich hpp Vdi

nhimg ket eau cd trpng luong khdng Ion thi dd

ga hai true quay la thich hgp hon ca de dam bao

dp linh hoat he thdng cao

2 TINH TOAN LU'A CHON DQNG CO

TRUC 2

G v - 1

Hinh 1 Mo hinh thiet ke sa bo cita do gd:

1 Thdn Dd gd;

2 Ddng cagidm toe ndi v&i true 1;

3 True quay 1(U quay hdn ndi v&i true vd ndi v&i

true dpng ca);

4 Dpng cagidm tdc noi v&i true 2;

5 True quay 2;

6 Bdn quay;

7 O lan dd hai ddu true L

2.1 Thong so dan vao va hwdug thiet ke do

ga

> Thdng sd dau vao:

- 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

2 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

> Hudng thiet ke dd ga;

Hien nay, tren the gidi da ed nhieu hang thiet ke, che tao do ga hai true quay vdi hinh dang va ket cau khac nhau Tuy nhien, ket cau

do ga gdm hai true quay bd tri vudng gdc nhau

la phu hop nhat vdi robot Pham vi gdc quay cua moi true la 0-360°, dupe dan ddng bdi ddng

CO servo Do yeu cau ve dieu khien van tdc, md men va dieu khien vi tri nen ung dung ddng co

AC servo trong he thdng truyen ddng, ket hpp vdi hop giam tdc banh rang hanh tinh vdi dp 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

2.2 Tinh toan, Ina chon dong co cho true 2

> Cac dii lieu dau vao

- Gidi han gdc quay cua true 2 (mam kep phdi):

± 360"

- Van toe dau ra ciia true 2: 30 (vdng/phiit)

- Khoang lech tam Idn nhat tinh tii tam phdi true 2: lOO(mm)

- Gia dinh phdi cd dang tru trdn dac bang thep

cd kich thudc 0350x150 (120kg) ^

ISSN 0866 - 7056

TAP CHi CO KHi VIET NAM, Sd 1+2 nam 2015

NGHIEN CtfU-TRAODOl

- Hop giam tdc true 2: Chpn model RV20E, ty • Tinh chpn ddng ca cho tryc 2

s6 truyen 141

- Chu trinh Iam viee: 70% 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 2 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 2 dupe md ta dau vao ciia hop giam tdc, sau dd ta se kiem tra nhu tren hinh 2 cac thdng sd cdn lai

Bihu kien cac thdng sd tinh chpn ddng

Hinh 2 Sa do 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) 6 Idn;

6) Vdt hdn;

a) Khodng l^ch tdm max

< T

• — * M A X

< T

Trong dd:

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

> Chu trinh tai trpng

- Thdi gian tang tdc: t, ^ 0,15s;

- Thdi gian van tde khdng ddi: t^ ^ 10-^360s;

Chpn tj = 360s;

- Thdi gian giam tdc: t^ = 0,15s;

- Thdi gian dung: t^ ^ I s;

- Tdng thdi gian quay: t^ = t +1 +t - 36I,3s

Hinh 3 Chu trinh tdi trpng

• Tinh mdmen xoan Idn nhit tac dung I6n true ddng CO

Momen xoan lan nhSt tac dung len hue dpng CO dupe xac dinh tir cdng thiic:

Trong dd:

T^p Mdmen xoan Idn nhSt tac dung len hue

dpng ca;

T^^: Mdmen xoan gay ra bdi mdmen quan tinh; T^g: Mdmen xoSn gay ra bdi tai trpng;

^cNLR- ^oroen can nhdl cua hop giam tdc; Tra trong cataloge vdi ddng ca cd sd vong quay

ISSN 0866 - 7056 TAP CHi CO KHi V I £ T NAJVI, Sd 1+2 nam 2015

NGHIEN ClJfU - TRAO ePl

3000 (vong/phut), cong sufa 0,5 -2 (KW) co:

TcM.R = 0.85(N.m)

Do trong qua trinh dong c a lam viec se

sinh ra luc ma sat, cd the Iam tang mdmen Idn

nhat tac dung ISn true dpng co Nen khi tinh

chpn ddng co thi mdmen Idn nhat tae dung len

true dong c a se duac nhan them vdi he sd an

toan K

Gia tdc gdc tren true ra eua hop giam

toe:

Van tdc dieu khien true 2:

t'dfe = 1^2.^ 360 - 1 4 ^ 3 6 0 - 84 (dp/giay)

+ o^: Gia tdc gdc tren true ddng ca; ct^ ^ ci^.U^^,

= 9,8.282 = 2763,6(rad/s^) (Uj^ = tdng ty sd truyen ciia true 2 = ty

sd truyen cua hop giam toe true 2.ty sd truyen

bp tmySn banh rang tru) ^ 141.2 = 282)

+ I,^: Mdmen quan tinh eua vat quay; I,^ = I^, +w

+ lyj: Mdmen quan tinh tac dung len true ra hop giam tdc;

• " = - ^ = ^ = 5'''-"'"'*8.m^'=<''5'**8.cm=) Trong do: 1^ la momen quan tinh ciia vat quay;

Van toe ban quay dat dugc sau qua trinh

tang toe:

Vo=Vd

3,14

84-::^^ = l,47(rad/s)

180 180

Gia toe goc cua ban quay:

"^ t l 0,15 ' ^ ' •'

Gia tdc goc tren true ra cua hop giam toe:

« e = 0Cj Ubt= 9 , 8 ( r a d / s ^ )

- Tinh momen xoan gay ra boi momen quan

tinh:

Momen xoin gay bai momen quan tinh

dugc xac dinh bang eong tbiie:

T^^ = IML•'>„ [N-m]

120.0,175^ , 40.0,25^

= -^ +120.0,1^ + ^ = 4,29 Kg m2

£•++

u

Hinh 4 Tdi trpng tren true 2

+ Ij^: Momen quan tinh cua hop giam tdc; Tra cataloge hop giam tdc RV20E co:

= > W = U + I M 2 =0,54.10-^+0,29.10"'=5,69,10"' (kg.ni^) Vay, mdmen xoan gay ra bdi mdmen quan tinh la:

TMA=IML•^M-5,69.10-^2763,6 = 0,16(N.m) Trong do:

ISSN 0866 - 7056

TAP CHi CO KHi V I £ T NAM, Sd 1 +2 nam 2015

www.cokhivietnam.vn

NGHIEN cufu - TRAO D O I

- Momen xoan gay bcri tai trgng:

Tinh momen xoan gay ra boi tai trgng:

Phoi han dugc dat lech tam quay mgt

khoang Ion nhat a = 100 (mm) eho nen trgng

lirong cua phoi gay ra mot momen xoan co gia

tn:T, = P„.g.a

Trong do:

P,.,: Khai lugng eua chi tiSt; P^, = 120 (kg);

g: Gia tdc trgng truong; g = 9,8 (m/s2);

a: Khoang lech tam 1cm nhSt; e = 0,1 (m)

Thay so vao eong thiie ta co momen

xoin gay boi trgng lire dat lech tam quay la:

T20 = T„3 + T„^^ = 0,42 + 0,85 = 1,27 (N.m)

- Tj^: Momen tac dung len true dgng co khi giam toe

T , = | T „ + T c j „ i , - T „ | = |0,42 + 0,85-0,16J = l,n(NjD)

t, = 0,15(s);tj = 360(s);t, = 0,15(s);t,= l(s) Thay so vao cong thue tinh mfimen xoan thue tae dung len true dpng eg ta co:

T , = P, 120.9,8.0,1 = 117,6 (N.m)

V|y, momen xoan 1cm nhdt (eo ki d6n

anh huong cua ma sat voi he s6 an loan K= 1,3)

tae dung len true hop giam t6c la:

• ' • » - ( T „ + T „ , + T „ ) K = (0,16 + 0,42 + 0.85) l,3=l,43(N.m)

• Tinh momen xoan thirc tac dung len true

dgng eo

Momen xoan thuc tae dung len dpng ca

dupe xac dinh theo cong thiic:

0,15.1,43'+360.1,27'+0,15.1,11'

0,15+360+,015+1 -'-''^-^^ Dua vao kk qua cua TMP; TMM; NTPHGT da tinh toan a tren va so sanh voi

cae thong so cua cae dgng ea trong cataloge,

ta chgn dugc dgng ea servo eua hang Sanyo Denki Nhat Ban model R2AA08075FCP0D (di

kem la biln tiin RS2A03A0AL0W00) voi kk

qua kiim tra nhu sau [4]:

fT„=l,43(N.m)< T^=8,5(N.m) T™ =1,27 (N.m)< T„ =2,39 (N.m) [Nn.„„T=N,^=3000 (vg/ph)

3 TINH TOAN LlfA CHON DQNG CO

TRUCl

t,.T|'„+t,.Tj;,+t,.T,^

t i + t j + t j + t ,

Trong do:

[N.m]

- Tj„: Momen xoan tac dung len true dpng eo

khi tang toe

T,o=T„= 1,43 (N.m)

- Tji,: Momen xoin tae dung len true dpng co

khi van toe khong d6i

•> Thong so dau vao cija true 1

- Phoi CO dang tru tron bing thep co kich tirade 0350x150 (mm);

- Sir dung ban quay dugc thiSt ki sa bg;

- Giai han goe quay eiia true I la ± 100°;

- Van toe dau ra eiia true 1 la 12 (vong/phiit);

- Hgp giam t6c true 2: chgn model RV40E, ty s6truyjn 153;

- Chu trinh tai trgng gi6ng nhu khi tinh chpn dgng CO true 2;

- Vat lieu: Gang xam 15-32;

- Kh6i lugng: 70 kg (gia dinh max);

- Momen quan tinh vol true quay: 1~ 1,39 kg.m' (xuat ra tii ban ve tren Solidworks, hinh 5)

ISSN 0866 - 7056 TAP CHi CO KHi VI$T NAM, S6 1+2 nam 2015

'rrt

Hinh 5 Thiet ke sa bp thdn true 2 vd cdc thong so

VOLUME - a0238170e+06 MM"3

SURFACE AREA- 1 2551274e*0$ MM

INERTIA wUi (MDOct lo LAPUQUAYTINHTQAN coonfcMte ftmi»

(TONNE * MM'Z)

INERTIA TpMcna

l)oiti>i.aCl394178a»«<Ol0000000tte*O0 aOO(IOOOO»*00

IzMl^Izz OOOOOOOOo^n OOGOaOOO&*00 1 3559(27o*03

Hinh 8 Sa do vdn toe vd idi trong theo th&i gian

• Tinh toan chpn dong cff cho true 1

• S c ah a§ng hpc cua true 1

So do dgng hpe cua true 1 dugc md ta

nhu tren hinh 6

_a

Hinh 6 Sa do dpng hpc ciia true 1

Hinh 7 Vi tri momen xodn lan nhdt tdc dung len

true ra hpp gidm toe

De chon dugc ddng ca hgp ly, ta se tinh chgn ddng ca dua tren ba thdng sd: Mdmen xoan lan nhat tac dung len true ddng ca Mdmen xoan thuc tac dung len true dgng ca, sd vdng quay dau vao cua hop giam tdc N|p|^j^.j.= 3000 (vdng/phiit), sau dd ta se kiem tra sir thda man cua cac thdng sd cdn lai

Dieu kien cac thdng sd tinh chgn dgng

T < T

^ M P — -"-MAX

T < T

N < N

-^^[PHGT — ^ ^ d c

Trong dd:

Tj^p: Mdmen xoan Idn nhat tac dung len true ddng ca;

T^^: Mdmen xoan thuc tac dung len true ddng

^iPHGT- ^ ° ^^"S quay dau vao cua hop giam tdc; N „ ^ - 3000 (vong/phiit)

IPHGT

^MAX' ^RT' ^dc ' ^ ^^^ S^^ ^ t u a n g umg ciia d d n g

CO d u a c c h o n ^

ISSN 0 8 6 6 - 7 0 5 6

TAP CHi CO KHi VIET NAM, Sd 1+2 nam 2015

www.cokhivletnam.vn

NGHIEN ClhJ-TRAOQOl

*> 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^^ ra 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 ra bcri momen quan tinh

T„j^: Momen xoin gay ra 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^)

trong 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 trong qua trinh lam viec se sinh ra +'„,: Momen quan tinh tac dung len true ra hop luc ma sat, eo the lam tang momen Ion nhit tae giam toe

dung len true dgng eo, cho nen khi 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 ra 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) T , , ,

60 60 ** •" Tra cataloge hop giam toe [29] co: tang toe: _ , ,

= > V - I « , + I„, =6,46.10-'+ 1,03 10-'=6,56.10^ (kgm') V.=V^TTr= 72.-| = 1,256 (rad/s) Vay, momen xoin gay ra bai momen '*" '*° quan tinh la:

Gia t6c goc cua khai A:

TMA = V-aM =6,56.10-'.1281 = 8,4 (N.m) _ VJ _ 1,256

" ' " V ^ ' o T T " * ' ^ ' ' f"""^') -Momen xoan gay bcri trgng lire khi vat han dat

lech tam quay:

Gia tec goe tren true ra eua hop giam

Do trpng tam cila cae vat tren ban quay

ISSN 0866 - 7056 TAP CHf CO KHI VIET NAM, S6 1-F2nam2015

NGHIEN ClJfU - TRAO D O I

dat len true 1 lech khoi tam quay khoang e =

0,175(m) cho nen trpng lupng cua cac vat quay

se gay ra mpt momen xoin eo gia tri:

T, = P.g.e

Trong do:

P: Khai lugng etia cac vat quay (xem hinh

1.13); Pct= 120-l-72=192(kg);

g: Gia tdc trgng truong; g = 9,8 (m/s^);

e: Khoang lech tam Ion nhit; e = 0,175(m)

Thay sa vao cang thiic ta co momen

xoin gay boi trgng lire dat leeh tSm quay la:

Tj = P g.e = 192.9,8.0,175 = 329,3 (N.m)

- Mamen xoan gay bai tai trgng:

Mamen xoan gay ra bcri tai trgng dupe

xac dinh bang edng thiic:

T 329 3

T ™ = - ^ = ^=^»2,15(N.m)

U,„ 153

Vay, mdmen xoan Idn nhit (cd kk ddn

anh hudng cua ma sat vdi he sd an toan K^ 1,3)

tac dung len true hop giam tdc la:

fMP=(T^u+T^o + T,^).K = (8,4-i-2,6 + 0,85), 1,3 = 11,85 (N.m)

• Tinh mdmen xoSn thyc tic dung len true

ddng CO*

Mdmen xoan thue tac dung len ddng ca

dugc xac dinh theo cdng thuc:

^ t,T.Ut,.T^„+t3.T/,

^ - ^ ^ t , + t , + t 3 - H t , ^ ^ ^

Trong do:

T,(,: Mdmen xoan tac dung len true dgng co khi

tang tdc:

T, = T„,= 11,85 (N.m) Tj^: Mdmen xoan tac dung len true ddng co khi van tdc khdng ddi:

Tjo = T„„ + T ^ , = 2,15 + 0,85 = 3(N.m)

T • mdmen tac dung len true dgng ca khi giam tdc:

T 3 « = | T „ B + T , , ^ - T ^ | = |2,15 + 0,85-8,4| = 5,4(N.m)

t, = 0,15 (s) ; t^ - 360 (s); tj - 0,15 (s); t^ - 1 (s) Thay sd vao cdng thiic tinh mdmen xoan thue tac dung len true ddng co ta cd:

^- = ' ' 0,15 + 360.0,15 + 1 =' ^ - " ^

Theo ket qua cua TMP; TMM; NIPHGT

da tinh toan d tren va so sanh vdi eae thdng sd ciia cac ddng ca trong cataloge, ta chgn dugc ddng ca servo ciia hang Sanyo Denki Nhat Ban model R2AAB8100FCP00 (di kem la drive

RS2A05 AOALOWOO) vdi kk qua kigm tra nhu

sau [4]:

[T„p = ll,85(N.m)< T ^ - 1 4 , 3 ( N n i ) T„„=3(N.m)< T,, -3,18(N.m) [ N , P H O T = N , , - 3 0 0 0 (vg/ph)

4 KET LUAN Phuang phap tinh toan chgn ddng co

servo cho cac he dan ddng ca khi dugc dura ra

trong bai bao nay la phuang phap tinh toan cho

do tin cay va do chinh xac cao Sa do tinh toan

CO ke den cac thanh phan tai trgng, do lech tam ciia tai trgng va mdmen quan tinh ciia cac vat quay la hoan toan hgp ly Cac ket qua tinh toan

da dugc ap dung che tao thanh cdng dd ga quay hai true Do ga boat dgng tdt, dam bao do chinh

xac dinh vi theo yeu cau • ^

ISSN 0866 - 7056 TAP CHi CO KHI V I £ T NAM, Sd 1 +2 nam 2015

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 khi 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 do 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