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Chng 1: GII THIU CHUNG 1.1 Nhng khi nim c bn Yu cu: 1.

Hiu v phn bit c cc khi nim + C kh ho qu trnh sn xut + T ng ho qu trnh sn xut + T ng ho tng phn + T ng ho hon ton + My t ng 2. Phn tch c u nhc im ca vic ng dng cc thit b t ng trong sn xut 3. L gii c nguyn nhn tng nng sut lao ng khi t ng ho qu trnh sn xut 4. ngha x hi ca, u im ca t ng ho sn xut. 1.2 c tnh c bn ca qu trnh sn xut Yu cu: Hiu c khi nim v ngha ca cc c tnh c bn ca qu trnh sn xut, bao gm - Chng loi v s lng sn phm - Cht lng sn phm - Nng sut lao ng - Tnh linh hot - Mc t ng ho - Hiu qu ca qu trnh sn xut. 1.3 Mi quan h gia kch thc, thi gian v thng tin trong sn xut tch hp Yu cu: 1. Bit cc yu cu t chc v iu khin c cc dng lu thng trong sn xut 2. L gii c ti sao kch thc, thi gian v thng tin li lin quan vi nhau

Chng 2: CC H THNG IU KHIN T NG 2.1 Khi nim v cc h thng iu khin t ng Yu cu: Hiu c cc khi nim: - H thng iu khin t ng - My t ng, my vn nng - H thng iu khin - Cc chc nng chung ca h thng iu khin t ng 2.2 Phn loi cc h thng iu khin t ng - H thng iu khin chng trnh khng theo s + H thng iu khin hnh trnh + H thng iu khin bng Cam + H thng iu khin bng dng chp hnh - H thng iu khin chng trnh theo s + H thng iu khin NC + H thng iu khin CNC + H thng iu khin thch nghi Chng 3: C CU TIP LIU 3.1 Nhng khi nim c bn Yu cu: Nm c cc ni dung sau: 1. Khi nim c cu tip liu cho my? 2. Nhng yu cu ch yu i vi c cu tip liu phi di 3. Phn loi c phi ri tng chic theo mc t ng ho Bao gm: + Nhm 1: Phi c kh nng nh hng t ng + Nhm 2:Cc loai phi nh hng bng tay + Nhm 3: Cc phi c kch thc rt ln 4. Cu trc chung ca cc c cu tip liu Bao gm: + C cu vn chuyn + C cu nh hng phi + C cu cp phi + Cc c cu khc c lp trn my

3.2 C cu nh hng phi dng phu Yu cu: 1. Hnh dung c cu trc chung ca c cu nh hng phi dng phu 1. Mng 2. C cu gt phi tha 3. C cu nh hng phi 4. Phu 5. Tay tm dng a 6. B truyn ng Hnh 3.1 C cp nh hng phi dng phu 2. Hiu c vai tr ca hnh dng phu trong nh hng phi nh hng bn trong phu ca phi chu nh hng ca t l gia chiu di l v ng knh phi; v tr ca tm cng vng; s lng phi trong phu v hnh dng ca phn y phu.

Hnh 3.2 Cc hnh dng ca phu c kh nng nh hng phi 3. Mt s bin php ph v ch vm cun trong qu trnh cp phi Bao gm: + Dng thnh st chc bng tay + Dng cc thanh o c kh + Rung phu + Dng b ngt + Dng c cu rung ng + Chn hnh dng phu

Hnh 3.3 Cc phng php ph v ch vm cun 4. C cu nh hng phi Qu trnh nh hng phi l c s thit k c cu cp pht t ng. V vy la chn phng n thit k v ch to c cu nh hng phi l mt trong nhng nhim v quan trng nht ca qu trnh thit k ch to cc c cu cp phi t ng. Di y gii thiu mt s phng php nh hng phi c dng rng ri trong sn xut.

Hnh 3.4 nh hng phi bng cch lng phi vo mc vo cht 1. Mc 2. Phu quay 3. Phi 4. B di chuyn phi

1. Phi 2. phu 3. Cht cha 4. ng dn 5. Mc

Hnh 3.5 C cu nh hng phi mc 1 bc

1. Phi (vng m) 2. Phu 3. Cht cha 4. Xng dao ng Hot ng gy va p, nn d h hng 1. Vng quay 2. Hc cha 3. Tm chn 4. Cht chuyn 5. Mng cha Dng cho phi nh, c l d Dng cp phi dng np

1. Phu 2. Mng cha 3. a quay 4. Mc

1. Phu 2. a quay 3. Mc 4. Mng cha Dng cho phi nh, c l d

Hnh 3.6 Cc c cu nh hng phi hai bc

1. di qut 2. khe nh hng

1. a quay 2. y phu 3. rnh 4. tay gt 5. l xo

Dng nh hng vng m, bulng..

1. Thnh phu 2. Thnh dn ng 3. Mng cha 4. Thanh o phi

1. Phu 2. Thanh o phi 3. Mng 4. Cam

Dng nh hng ai c

Dng nh hng vng m

Hnh 3.7 nh hng phi bng rnh

1. a quay 2. Ti nh hnh 3. Phi 4. Phu 5. Mng cha

Hnh 3.7 nh hng phi bng ti nh hnh

Hnh 3.8 nh hng phi bng ng di ng (a) nh hng bng ng quay (b) nh hng bng ng chuyn ng tnh tin

Hnh 3.9 nh hng phi bng ng x v ng rung ng

5. Cc phng php tch phi tha Di y gii thiu mt s phng php tch phi tha 1. Thanh gt 2. B ly hp 3. Mc 4. Mng cha 5. Phi 6. Bnh cc

1. Mng cha 2. Phi

1. Mng cha 2. Tay gt 3. Van trt 4. Cam

1. Mng cha 2. Thng cha phi d 3. L thot phi 4. a cp phi

Hnh 3.10: Cc phng php tch phi tha

Video Clip

3.5 C cu cp phi dng tch Yu cu: 1. Nm c khi nim c cu cp phi dng tch C cu cp phi dng tch l t hp cc c cu chp hnh thc hin vic cp phi ri tng chic t tch ti v tr gia cng. Trong trng hp ny nh hng phi v cp phi vo tch c thc hin bng tay. 2. Nm c khi nim tch v cc phng php dch chuyn phi trong tch

Hnh 3.11 Cc loi tch nh tc dng ca trng lc di chuyn

Hnh 3.12 Cc loi tch dng ng, dng phu, dng phu rung ng

Hnh 3.13 tch s dng phng php dch chuyn cng bc 4. Hiu c c cu cp phi dng tch Kt cu ca c cu tip liu dng tch rt a dng, n ph thuc vo kt cu ca my, hnh dng v kch thc ca chi tit. Tu thuc vo dng chuyn ng ca khu tip liu, c cu tip liu c chia lm nhm chuyn ng tnh tin kh hi, nhm chuyn ng dao ng kh hi, chuyn ng quay v chuyn ng phc tp.

Hnh 3.14 Cc c cu tip liu dng tch

Hnh 3.15 Cc c cu tip liu dng a(a,b), dng xch(c), dng xon vit (d,e) 5. Hiu c c cu ngt liu cho tch C cu ngt liu l c cu iu chnh s lng phi c cp t tch ti c cu tip liu. Tu thuc vo c tnh ca chuyn ng, cc c cu ngt liu c chia lm 4 nhm: chuyn ng tnh tin kh hi, chuyn ng dao ng, chuyn ng xoay v chuyn ng phc tp.

Hnh 3.16 C cu ngt liu dng chuyn ng kh hi

Hnh 3.18 C cu ngt liu dng tang trng, dng cam v dng xon vt 6. Hiu c c cu tho phi v mt s c cu tho phi in hnh. C cu tho phi c dng tho cc chi tit gia cng v chuyn ti mng tho, ti thng cha v ti bng ti. Tho phi thng c thc hin sau khi gia cng xong chi tit v thi gian tho phi l 1 phn ca thi gian chu k. V vy, khi thit k c cu thao phi phi ngh cch gim thi gian hot ng ca c cu.

Hnh 3.19 C cu tho phi bng tay tm mng gt

Hnh 3.20 Tho phi bng thanh chn v mng gt

Hnh 3.21 Tho phi bng thanh y v mng dao ng

Hnh 3.22 Tho phi bng c cu chuyn dng

3.6 C cu cp phi rung ng Yu cu: 1. Nm c cu trc ca c cu cp phi rung ng v mt s nhm phi c th dng c cu tip liu bng phu rung c mng xon vt.

V1 Hng tc dng ca lc ly tm V2 Hng dch chuyn ca phi

Hnh 3.23 S c cu cp phi rung ng

Hnh 3.24 C cu cp phi rung ng c phu ph 2. Cc loi phu trn in hnh

Hnh 3.25 C cu cp phi rung ng c nam chm in

Hnh 3.26 Cc loi phu trn in hnh Phu trn l phn c bn ca c cu cp phi rung ng. Kt cu ca phu trn c nh hng ln n kh nng lm vic ca c cu cp phi rung ng

3. Hiu c cch nh hng phi trong phu trn

Hnh 3.27 C cu nh hng phi trong phu trn

Chng 4: DY TRUYN T NG Yu cu: Nm vng c cc ni dung sau 1. Lch s pht trin ca dy truyn t ng? 2. Th no dy truyn, c im ca dy truyn Dy truyn l h thng cc my mc c lp t cnh nhau. hot ng c lp vi nhau, cn chi tit gia cng c chuyn t my ny sang my khc thc hin tt c cc nguyn cng. My ca dy truyn v nguyn tc thng l my bn t ng, do vic cp tho phi, vn chuyn phi gia cc my v kim tra chi tit c thc hin bng tay.

Hnh 4.1 M hnh mt dy truyn sn xut c im: - Gi thnh h - Nng sut cao - Chi ph v lao ng cn nhiu 3. Th no l dy truyn t ng c lin kt cng, c im ca chng - Lin kt vn chuyn cng gia cc my - Dy truyn t ng c kt cu n gin - Gi thnh h, chi ph lao ng sng nh hn so vi dy truyn - Chi ph thi gian ngoi chu k vn cn nhiu - Nng sut vn cha cao

4. Th no l dy truyn t ng c lin kt mm, c im ca chng - C tch phi gia cc my - Kt cu phc tp, gi thnh cao - Nng sut cao hn so vi dy truyn t ng c lin kt cng 5. Th no l dy truyn t ng c chia lm nhiu cng on,, c im ca chng L mt h thng m gia cc my trong mt cng on c lin kt vn chuyn t ng cng, gia cc cng on c tch tr phi (lin kt mm) 6. Chng loi chi tit gia cng trn dy truyn? 7. Yu cu i vi phi gia cng trn dy truyn t ng? 8. nh v chi tit gia cng trn dy truyn t ng? 9. Lp qui trnh cng ngh cho dy truyn t ng? 10. Vn hnh dy truyn t ng? + Yu cu i vi ngi vn hnh dy truyn + Cch bo qun d phng v iu kin lm vic bnh thng cho dy truyn t ng + Nhng sai st khi iu chnh dy truyn t ng + Nhng nguyn nhn nh hng n cht lng gia cng trn dy truyn t ng

Video clip Dy truyn t ng hn khung t

Chng 5: ROBOT CNG NGHIP Yu cu: Hiu v nm bt c cc ni dung sau 1. Khi nim v robot cng nghip (RI) RI l mt my t ng linh hot thay th tng phn hoc ton b cc hot ng c bp v hot ng tr tu ca con ngi trong nhiu kh nng thch nghi khc nhau.

Hnh 5.1 Robot lp rp ng c t 2. Bc t do ca Robot (Dof - Degree of Freedom) L s kh nng chuyn ng ca mt c cu trong khng gian

n: S khu ng Pi: S khp loi i (i = 1,2,3,4,5 l s bc t do b hn ch) S bc t do ca tay my l khng k n cc chuyn ng ng m ca bn kp

Hnh 5.2 Tay my c 4 bc t do

Hnh 5.3 Tay my c 3 bc t do

Hnh 5.4 Tay my c 5 bc t do Gia mi bc t do c 1 khu c chiu di nht nh, i khi mt khp c nhiu bc t do trong cng mt v tr

Hnh 5.5 Bc t do nu tnh theo cng thc s bng 0

3. H to (coordinate frames) Mi robot thng nhiu khu (links) cc khu lin kt vi nhau bng khp (joints) to thnh mt xch ng hc xut pht t khu c bn (base) ng yn. H to gn vi khu c bn gi l h to i c bn (h to chun). Cc h to trung gian khc gn vi khu ng gi l h to suy rng. Trong tng thi im hot ng, cc h to suy rng xc nh cu hnh ca robot bng cc chuyn dch di hoc chuyn dch gc ca cc khp tnh tin hoc khp xoay

Hnh 5.6 Cc h to suy rng ca robot tay phi.

Hnh 5.7 Qui tc bn tay phi

Cc h to gn trn cc khu ca robot phi c xc nh tun theo qui tc bn 4. Trng cng tc ca robot (workspace or Range of Motion) L ton b th tch c qut bi khu chp hnh cui khi robot thc hin tt c cc chuyn ng c th.

Hnh 5.8 Biu din trng cng tc ca robot

5. Cc thnh phn chnh ca mt robot cng nghip

Hnh 5.9 Cc thnh phn chnh ca mt robot cng nghip 6. Kt cu ca tay my Chuyn ng c bn ca cc khu - Tnh tin theo phng x, y, z trong khng gian Descarde, thng k hiu chuyn ng ny l T (Translation) hoc P (Prismatic) - Xoay quanh cc trc x, y, z. K hiu R (Rotation) Cc thng s cn quan tm trong thit k v s dng: - Tm vi (trng cng tc) - S bc t do - cng vng - Ti trng vt nng - Lc kp ..vv Cc kt cu thng gp ca tay my

Hnh 5.10 Robot kiu to Descarde

Hnh 5.11 Robot kiu to tr

Hnh 5.12 Robot kiu to cu

Hnh 5.13 Robot kiu to gc

Hnh 5.14 Robot kiu to Scara (Selective Compliant Articulated Robot Arm)

7. Kt cu tay tm

Hnh 5.15 Cc c cu tay tm ca robot

Hnh 5.16 Tay tm c cc m kp thay i 8. ng dng ca robot cng nghip (a) Lp rp

Hnh 5.17 C cu tay tm dng ngn tay

Video clip Robot lp rp chi

(b) Nng h, di chuyn

Video clip robot vn chuyn b sa trong xng lnh, tit trng (c) Sn

Video Clip Robto sn t

Chng 6 T NG HO QU TRNH KIM TRA Yu cu: Hiu v nm bt c nhng ni dung sau: 1. Phn loi cc thit b kim tra? 2. Kim tra t ng kch thc ngoi bng phng php trc tip xc trc tip?

1,2 Chi tit kim tra 3. Calip 4. Thanh di chuyn 5,6. Cng tc 7. Calip hnh chm 8. Calip phng 9. Khi V 10. Thanh kim tra 11. Tay n lc l 12. C cu nh dng 13. Chi tit kim tra

Hnh 6.1 Cc kim tra kch thc ngoi bng phng php trc tip 3. Kim tra t ng ng knh ngoi bng phng php khng tip xc trc tip 1. Mt t 2. Chi tit kim tra 3. Ngun sng 4. Thu knh 5. Khe h 6. Tm ngn 7. Vt knh 8. T bo quan in 9,13,16. Chi tit ktra 10. ng dn kh nn 11. Mng 12. Cng tc 14. Li 15. Cun dy 17,18 Vng pht(thu)

Hnh 6.2 Cc s kim tra t ng ng knh ngoi bng phng php khng tip xc trc tip

4. Kim tra t ng ng knh l 1. ng knh l 2. Calip gii hn 3. Calip cn 4. Tay n dng ko 5. Calip kh nn 6. Qu cu 7. Khp quay 8,10. Khp di ng 11,12. Cng tc 13. Tay n 14. Chi tit kim tra Hnh 6.3 Cc s kim tra t ng ng knh l 5. Kim tra t ng sai s hnh dng v sai s v tr tng quan

1,4,6,10. Chi tit 2,5,14,16. Dattric 3. Khi V 7. u o 8. Tay n 9. Cng tc 11. Thanh ng 12. Thanh ngang

Hnh 6.4 Cc s kim tra t ng sai s hnh dng v sai s v tr tng quan 6. Kim tra tch cc khi mi mn ngoi bao gm thit b kim tra tch cc tip xc mt im, tip xc hai im v tip xc ba im 1. Vt chnh 2. L xo l 3. L xo 4. Cm bin 6. Tay n 6. B gim chn 7. u o 8. Chi tit gia cng 9. Bung kh nn P. p sut kh nn Hnh 6.5 Thit b kim tra tch cc tip xc mt im

1. Thn 2. u ra 3,6. Vt 4. L xo l 6. Tay treo 7. C cu iu khin ch th 8, 10. u tip xc 9. Chi tit cn kim tra Hnh 6.6 Thit b kim tra tch cc tip xc hai im

1,3,6. C t 2. Vng cp 6. ng h so 7. Tay n 8. B gim chn 9. Hp chn mi

Hnh 6.7 Thit b kim tra tch cc tip xc ba im 7. Kim tra tch cc khi mi trn trong

1. Calip 2,4,20. Chi tit mi 3. sau 6,17,19,21. u o 6,9,11. L xo 7,14. Cn t 8. ng h so 10,11,12. Cng tc 13,16,18. Tay n

Hnh 6.7 Cc s kim tra tch cc khi mi trn trong

8. My kim tra phn loi t ng bi cu

1. Thng cha 2. Xch ti 3. Thc c g 4. Mng tch 6. Thc phng

Hnh 6.8 My kim tra phn loi t ng b cu 9. Cc dng c kim tra t ng bng laser

Height vision width or edge position on thin materials

Product length

Flatness measurement

Roll diameter measurement

Thickness & width measurement

Loop measurement

Video Clip thit b kim tra phng b mt bng laser

Chng 7: T NG HO QU TRNH LP RP Yu cu: Hiu v nm bt c cc ni dung sau: 1. Cu trc tng qut ca t hp my lp rp t ng Bao gm: + C cu cp phi t ng + C cu tip liu a chi tit vo v tr lp rp + C ci nhn chi tit t c cu tip liu v nh v chi tit v tr xc nh + C cu thao tc cng vic lp rp (vn bulng, hn mi ghp ..) + C cu chuyn dng tho sn phm lp rp (c th c hoc khng). 2. nh v chi tit trn v tr lp rp Chi tit v tr lp rp phi c nh v, c ngha l phi c v tr n nh v phi c hn ch c 6 bc t do. nh v chi tit trn v tr lp rp cng c thc hin nh trong g gia cng (da theo nguyn tc 6 im) v c thm yu cu b sung l m bo v tr n nh ca b mt lp rp khi kch thc ca chi tit dao ng trong phm vi dung sai.

Hnh 7.1 nh v chi tit c hnh dng khc nhau

3. nh hng tng i ca cc chi tit lp rp, xc nh lng dch chuyn ca ng tm cho php, gc trong ca tm trc so vi tm l

Hnh 7.2 S xc nh lng dch chuyn cho php ln nht (a,b) v gc xoay ca tm trc trc khi lp rp Lng dch chuyn ca ng tm cho php

max =

Dd 2

Trng hp trc v l c gi tr gii hn

max =

Dmin d max 2
Dmin d max + CB + Co 2

Trng hp trc v l c thm vt mp

max =

Trng hp lp ghp c di

max = CB + C0
4. Yu cu i vi kt cu ca sn phm lp rp t ng? i vi n v lp rp + Kt cu ca sn phm phc tp cn c chia lm cc Modun + Kt cu ca n v lp rp phi c thit k sao cho khi lp rp khng phi chia ra na + G t chi tit khi lp rp phi c thc hin vi s lng chuyn ng theo cc trc l t nht + khi lp rp cn phi m bo cho dng c tin vo v tr lp rp c thun li + Cn gim s chi tit trong n v lp

i vi chi tit lp rp + Cc chi tit v cc yu t kt cu phi c tiu chun ho + Cc chi tit khng c dnh vo nhau khi lu gi, vn chuyn v cp pht cho v tr lp rp + nh hng thun li th chi tit phi c kt cu i xng, mt s chi tit ngi ta c th b sung kt cu, nhng khng lm nh hng n chc nng ca chng. + Chi tit phi vt mp mt u khi lp rp c thun li + Chi tit phi c b mt thun li cho robot tm n 5. Phn tch chui kch thc lp rp? Mc ch ca phn tch chui kch thc lp rp l m bo cht lng sn phm v kh nng lp rp t ng. Nhim v chnh ca phn tch chui kch thc lp rp t ng l xc nh mi quan h kch thc tt c cc giai on ca qu trnh lp rp t ng, chn phng php v thit b lp rp t ng, xc nh yu cu i vi cc chi tit lp rp v i vi thit b lp rp. 6. iu kin ng dng lp rp t ng? 7. Trnh t thit k qui trnh cng ngh lp rp t ng? 8. Mt s thit b lp rp t ng in hnh?

1. Bn my 2. Phu rung 3. u lp rp 4. C cu nh v 5. Bn quay 6. My cha

Hnh 7.3 S my lp rp bn t ng (a,b) v t ng (c) mt v tr (a) Chi tit c s c cp bng tay, chi tit lp ghp c cp t ng (b) (c) Chi tit c s v chi tit lp ghp c cp pht t ng

1. Mng 2. Bn quay 3. u cp pht 4. C cu nh v 5,7,9 C cu cp phi 6,8 Cc u lp rp 10. Cht 11. Bng ti

Hnh 7.4 S lp rp t ng 4 v tr c bn quay

1. 2,6 Tay my 3. C cu truyn ng 4. Phu cha 5,11 tch 7. u dao 8. Tr 9. Bn quay nhiu v tr 10. C cu nh v 12. Cc dng c lp rp Hnh 7.5 Trung tm lp rp c bn quay 9. H thng lp rp linh hot? 10. Hiu qu kinh t ca lp rp t ng?

Chng 8: HNG PHT TRIN CA T NG HO QU TRNH SN XUT Trong nhng thp nin qua, th gii c nhng thay i nhanh chng trong lnh vc khoa hc k thut, do nh hng ngy cng tng ca cng ngh thng tin v k thut in t. Ngy nay, cc phng php k thut c in vi cch thc tip cn truyn thng khng cn p ng c thc tin ca pht trin cng nghip na. Theo , sn phm ca cng ngh tin tin ca cng nghip khng cn l sn phm ca cc ngnh ring bit m l s tch hp thnh tu ca nhiu ngnh, c bit t nhiu ngnh k thut hin i. Di y l hng pht trin ca t ng ho trong qu trnh sn xut: 1. S dng my vi h thng iu khin linh hot Mt trong nhng hng t ng ho trong sn xut hng ho l s dng my iu khin chng trnh theo s (CNC) vi h iu khin linh hot. c im: + Gim nh sc lao ng ca cng nhn. + Gii phng cng nhn ra khi cng vic c tnh cht n iu, lp li nhiu ln. + Gim nh qu trnh iu khin my + Nng cao nng xut lao ng. 2. Sn xut hng lot theo dy chuyn Trong iu kin sn xut hng lot (chng loi chi tit nhiu v s lng chi tit trong tng loi li t). loi tr nhc im chnh ca sn xut v lp rp l tnh gin on, ngi ta xy dng cc my theo dy truyn. c im: Ngoi cc u im ca h thng t ng ho + Gim c chu k gia cng + Nng cao nng sut lao ng. 3. Sn xut t ng ho linh hot H thng sn xut t ng ho linh hot l h thng t ng ho pht trin c iu khin bng my tnh. H thng sn xut ny bao gm cc my gia cng c lin kt vi nhau bng h thng vn chuyn phi t ng, tch phi t ng, thay dao t ng, kim tra t ng, ng thi bao hm c qu trnh thit k sn phm t ng, chun b cng ngh t ng, v iu khin t ng.

c im chnh ca h thng sn xut linh hot (h thng sn xut mm) l tnh linh hot rt cao, n cho php: + Trong iu kin sn xut hng lot nh v hng lot va bt k thi im no c th dng cng vic gia cng chi tit trn dy truyn iu chnh dy truyn cho vic gia cng chi tit khc. + Trn cc my khc nhau c th gia cng cc chi tit c hnh dng khc nhau vi s lng tu . Trong iu kin sn xut bnh thng th vic iu chnh cc my gia cng cc loat chi tit nh trn c th gim 30% nng sut gia cng ca cc my. + C th thay th cc my b hng bng cc my ca h thng linh hot m khng lm cho dy chuyn sn xut ngng tr. + C th di chuyn chi tit gia cng theo nhng qu o tu . Nh vy, h thng sn xut mm c th gim c s lng my v tng h s s dng my. 4. ng dng k thut CIM CIM (Center for Intelligent Machines) 5. ng dng robot cng nghip 6. ng dng tr tu nhn to

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