Isikhokelo seeNgcamango eziphambili zovavanyo kunye novavanyo lweeRhobhothi zeServo zeThree-Axis

Into ekufuneka uyifunde ngaphambi kokuba uyithenge: Isikhokelo seengongoma eziphambili zovavanyo kunye novavanyo lwe-Three-Axis Ingalo yeRobhothi yeServos

Kwixesha lokwenziwa kwezinto ngokuzenzekelayo kwimizi-mveliso, iingalo zerobhothi ze-servo ezinee-axis ezintathu, ngenxa yokuchaneka kwazo okuphezulu kunye nokuzinza, ziye zaba zizixhobo eziphambili kwimveliso ye-elektroniki, izixhobo zeemoto, ukupakishwa kokutya, kunye nezinye iindawo. Nangona kunjalo, ngenxa yeemveliso ezininzi ezikwimarike, kunzima ukumisela ukuba isixhobo sifanelekile na kwiimfuno zakho zemveliso ngokusekelwe kumaphepha edatha kuphela. Uvavanyo lwangaphambi kokuthenga kunye novavanyo ngamanyathelo abalulekileyo okunciphisa umngcipheko wotyalo-mali kunye nokuqinisekisa ukusebenza ngokufanelekileyo. Eli nqaku liza kuhlalutya amanqaku aphambili ovavanyo kunye novavanyo lweengalo zerobhothi ze-servo ze-three-axis ukusuka kwiimbono ezine: ukulungiselela kwangaphambi kovavanyo, uvavanyo lokusebenza oluphambili, ukuqinisekiswa kokhuseleko, kunye novavanyo lokuhambelana, ukunceda abathengi bakhethe ngokuchanekileyo izixhobo ezihlangabezana nolindelo lwabo.

I. Ngaphambi kovavanyo: Amalungiselelo amathathu asisiseko ovavanyo olusebenzayo ngakumbi

Uvavanyo lovavanyo alupheleli nje "ekufumaneni izixhobo nokuzivula." Ukulungiselela kakuhle kwangaphambili kunokuthintela ukuphambuka kwicala lovavanyo kwaye kuphucule ixabiso leziphumo. Sicebisa ukuba uqale ngezi zinto zintathu zilandelayo:

1. Cacisa iinjongo zovavanyo kunye nokuhambelana kwazo nemeko.

Okokuqala, chaza ngokucacileyo iinjongo zovavanyo ngokusekelwe kwiimfuno zakho zemveliso. Umzekelo:
Ukuba isixhobo sisetyenziselwa ukudibanisa izinto ze-elektroniki, gxila ekuvavanyeni "ukuphindaphinda" kunye "nobuthambileyo bentshukumo";
Ukuba isetyenziselwa ukuphatha izinto ezinzima (umz., iindawo ezinobunzima obungaphezulu kwe-5kg), gxila "kumthamo womthwalo" kunye "nozinzo lwe-torque ye-servo motor";
Ukuba iza kuhlanganiswa kumgca wemveliso okhoyo, kuyafuneka ukuqinisekisa kwangaphambili ukuba iyahambelana "nobungakanani besixhobo," "ujongano lokufakela," kunye noyilo lweworkshop.

Kucetyiswa ukuba kwenziwe "Uluhlu lweeMfuno zoVavanyo" kwaye kuchazwe ngokucacileyo "iikhrayitheriya zokufaneleka" kwinto nganye yovavanyo (umz., ukuphindaphindwa kufuneka kube yi-≤±0.02mm) ukuze kuthintelwe izigqibo ezithatha icala kamva ngenxa yokugweba ngokwembono yomntu.

2. Lungisa Indawo yoVavanyo efanelekileyo kunye nezixhobo

Ukusebenza kwengalo yerobhothi ye-servo ene-axis ezintathu kuchaphazeleka kakhulu yindalo esingqongileyo, ngoko ke imeko yovavanyo kufuneka ifane neemeko zokwenyani zemveliso:

Iimfuneko zeNdawo: Gcina "uhambo lokhuseleko" olwaneleyo lokuhamba kwesixhobo (jonga idatha yokuhamba nge-axis kwiphepha ledatha lesixhobo, umz., i-300mm ye-X-axis, i-200mm ye-Y-axis, kunye ne-150mm ye-Z-axis, kwaye uvumele indawo eyongezelelweyo ye-10%-20% ye-buffer).

Umthombo wamandla kunye noMoya: Qinisekisa ukuba i-voltage yombane (umz., i-AC 220V/380V) kunye noxinzelelo lomoya (umz., i-0.5-0.7MPa) ziyahambelana neemfuno zesixhobo ukuthintela ukungasebenzi kakuhle kwe-servo motor okubangelwa kukungazinzi kwe-voltage.

Izixhobo zoVavanyo: Lungiselela izixhobo zokulinganisa ezichanekileyo (umz., i-micrometer, i-laser interferometer), izixhobo zokulinganisa umthwalo (umz., iibhloko zesinyithi ezinobunzima obufanelekileyo), kunye nefomu yokurekhoda idatha (ukurekhoda idatha yovavanyo kunye nokungaqheleki).

3. Cacisa iinkcukacha zenkxaso yovavanyo kunye nomthengisi.

Xelela umthengisi oku kulandelayo kwangaphambili ukuqinisekisa uvavanyo oluhamba kakuhle:

Ingaba kuza kunikwa ulwalathiso lobuchwephesha kwindawo leyo ukuthintela ukonakala kwezixhobo ngenxa yokusebenza ngendlela engafanelekanga;

Ingaba uvavanyo lweenkqubo ezenziwe ngokwezifiso (ezifana nokulinganisa umjikelo "wokubamba-ukuhambisa-indawo" osetyenziswa kwimveliso) luvumelekile na;

Ukuba ukusebenza akuhlangabezani neemfuno ngexesha lovavanyo, nokuba uhlengahlengiso lweeparameter okanye ukutshintshwa kweprototype yesixhobo kuyaxhaswa.

II. Uvavanyo lweNtsebenzo ePhambili: Ukugxila kwiiMetriki eziPhambili ezintlanu ukuze kuchongwe ukuchaneka kunye nozinzo lwezixhobo

Ixabiso eliphambili lengalo yerobhothi ye-servo ene-axis ezintathu lilele "kuchaneka okuphezulu" kunye "nozinzo oluphezulu." Uvavanyo lugxile ekuqinisekiseni ezi metric zintlanu zilandelayo. Uvavanyo ngalunye kufuneka luphindwe amaxesha ama-3-5, kwaye ixabiso eliphakathi libalwe ukunciphisa impazamo.

1. Ukuphinda-phinda: "Umgca wobomi" wezicelo zoshishino

Ukuphindaphinda kubhekisa ekuphambukeni kwindawo yesixhobo sokugqibela (njengegripper) emva kokuba isixhobo senze isenzo esifanayo amaxesha amaninzi. Yindlela ebalulekileyo yokulinganisa kwizicelo ezifana nokuhlanganiswa kwe-elektroniki kunye nokuwelda ngokuchanekileyo.​
Indlela yoVavanyo:
Faka isalathisi sokudayela esiphelweni sengalo yerobhothi kwaye ulungelelanise isalathisi sokudayela nendawo yokubhekisa esisigxina (njengephini yokufumana indawo kwindawo yokusebenza).
Bhala inkqubo yokuba ingalo yerobhothi ihambise isalathisi sokudayela kwindawo yokubhekisa kwaye urekhode ukufundwa kwesalathisi sokudayela.
Phinda esi senzo izihlandlo ezihlanu uze ubale umahluko phakathi kokufundwa okuphezulu kunye nokufundwa okuncinci. Oku kubonisa ukuphindaphindwa.
Iikhrayitheriya zokufaneleka: ​
Iingalo zerobhothi ze-servo ze-grade-three-axis servo ezisetyenziswa kwimizi-mveliso zifuna ukuphindaphindwa kwe-≤±0.05mm, ngelixa izixhobo ze-precision-grade zifuna ukuphindaphindwa kwe-≤±0.02mm (kuxhomekeke kwiimfuno zakho zemveliso, umzekelo, ukuhlanganiswa kwesikrini sefowuni ephathwayo kufuna i-≤±0.01mm).
Qaphela: Ngexesha lovavanyo, khubaza umsebenzi "wokuhlawula iimpazamo" (ezinye izixhobo zivulwe ngokuzenzekelayo, nto leyo enokufihla ukuchaneka kokwenyani). Qinisekisa ukuba umphezulu womsebenzi awunakungcangcazela (sebenzisa ii-anti-vibration pads ezisemgangathweni).

2. Ukuchaneka kokubekwa: Ukuqinisekisa ukuchaneka koMkhondo woThutho

Ukuchaneka kokubeka kubhekisa ekuphambukeni phakathi kwendawo yokwenyani yesixhobo sokugqibela kunye nendawo ecwangcisiweyo emva kokuba isixhobo senze intshukumo, nto leyo echaphazela ukuqhubeka kwenkqubo yemveliso. Indlela yoVavanyo:
Sebenzisa i-laser interferometer ukwakha inkqubo yokulinganisa, kwaye ufake i-reflector ekupheleni kwengalo yerobhothi.
Khetha ngokulinganayo amanqaku ovavanyo ama-5-8 ngaphakathi koluhlu lokuhamba lwee-axis ze-X, Y, kunye ne-Z (umz., ukusuka kwi-0mm ukuya kuhambo oluphezulu kwi-axis ye-X, khetha inqaku rhoqo kwi-50mm).
Lawula ingalo yerobhothi kwindawo nganye ebekwe kuyo, urekhode ukuphambuka kwendawo okuboniswa yi-laser interferometer, kwaye ubale ukuphambuka okuphezulu kuzo zonke iindawo.

Iikhrayitheriya zokufaneleka: Ukuchaneka kwendawo kufuneka kube ≤ kabini kunokuphindaphindeka (umz., ukuphindaphindeka ±0.02mm, ukuchaneka kwendawo ≤ ±0.04mm), kwaye ukuphambuka kufuneka kuzinze (kungabikho kuguquguquka ngequbuliso).

3. Umthamo woMthwalo: Qinisekisa "Umda woMthwalo" weZixhobo

Umthamo womthwalo ubhekisa kubunzima obuphezulu (kuquka ubunzima begripper) obunokuxhaswa sisiphelo sengalo yerobhothi ngesantya esilinganiselweyo. Ukudlula umthwalo olinganiselweyo kunokubangela ukuba i-servo motor ifudumale kakhulu, inciphise isantya sokuhamba, okanye yonakalise izixhobo. Indlela yoVavanyo:

Faka isixhobo somthwalo esiqhelekileyo ekupheleni kwengalo yerobhothi (ubunzima buyanda kancinci ukusuka kwi-50% ukuya kwi-120% yomthwalo olinganisiweyo. Umzekelo, ukuba umthwalo olinganisiweyo yi-5kg, vavanya ubunzima be-2.5kg, 5kg, kunye ne-6kg).

Cwangcisa ingalo yerobhothi ukuze igqibezele umjikelo "wokuphakamisa + ukuguqulela" ngesantya esilinganisiweyo (jonga iphepha ledatha lesixhobo, umz., isantya esiphezulu se-X-axis se-500mm/s) (vavanya imijikelo eli-10 kumthwalo ngamnye).

Jonga imeko yokusebenza kwesixhobo: nakuphi na ukuhla kwesantya, ingxolo engaqhelekanga yemoto, okanye ii-alamu (ezifana nokugqithisela).

Iikhrayitheriya zokufaneleka:

Phantsi komthwalo olinganisiweyo, isixhobo akufuneki sivelise ingxolo okanye ii-alamu ezingaqhelekanga, kwaye isantya sokuhamba masihambelane nedatha. Kwi-110%-120% yomthwalo olinganisiweyo, kuvumelekile ukwehla kancinci kwesantya (≤10%), kodwa akukho zi-alamu okanye ukucima okuvumelekileyo.

4. Isantya kunye nokuKhawulezisa: Ukuchaphazela ukusebenza kakuhle kweMveliso

Isantya kunye nokukhawulezisa kuqinisekisa ngokuthe ngqo ukusebenza kakuhle kwerobhothi. Uvavanyo kufuneka lwenziwe ngokuhambelana neemfuno zomjikelo wemveliso ukuqinisekisa ukuba isixhobo sinokufikelela ekusebenzeni okulindelweyo.
Indlela yoVavanyo:
Sebenzisa isibali-xesha ukurekhoda ixesha elithathwa yirobhothi ukugqiba "umgama ukusuka kwindawo A ukuya kwindawo B" (umgama owaziwayo, ofana nentshukumo ye-200mm X-axis) uze ubale isantya sokwenyani (isantya = umgama / ixesha).
Vavanya intshukumo yerobhothi kwiindlela ezahlukeneyo zokukhawulezisa (umz., ukwandisa isantya ukusuka kwi-0.5m/s² ukuya kwi-1.5m/s²) ukuze ubone ukuba kukho na "ukushukuma" okanye "ukudubula ngaphezulu" (oko kukuthi, ukubuya umva emva kokudlula indawo ebekiweyo).

Iikhrayitheriya zokufaneleka:
Isantya sokwenyani masibe yi-≥ 90% yexabiso elichazwe kwiphepha ledatha (umz., ukuba iphepha ledatha lichaza isantya esiphezulu se-X-axis se-600mm/s, isantya sokwenyani masibe yi-≥ 540mm/s). Ngexesha lohlengahlengiso lokukhawulezisa, intshukumo mayibe bushelelezi, kungabikho ukudubula okubonakalayo (ukudubula okungaphezulu kufuneka kube yi-≤ ±0.1mm).

5. Uzinzo Lokusebenza Oluqhubekayo: Ukulinganisa Imeko Yemveliso Yexesha Elide

I Irobhothi MKufuneka usebenze ngokuqhubekayo iiyure ezisi-8-12 kwindawo yemizi-mveliso. Uvavanyo lozinzo lunokuchonga iingxaki ezinokubakho ezinxulumene nokusebenza ixesha elide (umz., ukufudumala kakhulu kwenjini, uqhagamshelo olubi lweentambo). Indlela yoVavanyo:

Yenza inkqubo yomjikelo elinganisa imveliso yokwenyani (umz., "bamba - hambisa - beka - buyela kwindawo oqale kuyo," umjikelo ngamnye uthatha imizuzwana eli-10).

Sebenzisa izixhobo rhoqo iiyure ezi-4, urekhoda idatha ebalulekileyo rhoqo emva kwemizuzu engama-30: ubushushu bemoto ye-servo (bulinganiswa nge-thermometer ye-infrared, ngokuqhelekileyo i-≤60°C), ingxolo yokusebenza (elinganiswa ngemitha yengxolo, ngokuqhelekileyo i-≤70dB), kunye nazo naziphi na ii-alamu.

Emva kokuba ugqibile, phinda uvavanye ukuba ukuphinda-phinda kuyaphi ukuze ubone ukuba ukuveliswa kobushushu kubangele ukwehla kokuchaneka.

Iikhrayitheriya zokufaneleka:

Akukho zi-alamu okanye ingxolo engaqhelekanga ngexesha lokusebenza okuqhubekayo, ubushushu bemoto obuzinzileyo (umahluko wobushushu ≤10°C); ukuphambuka okuphindaphindwayo emva kokubaleka yi-≤15% yexabiso lokuqala lovavanyo.

III. Uvavanyo loKhuseleko kunye nokuHlangana: Ukuphepha imingeni yokuLungisa kamva

Ukongeza ekusebenzeni okungundoqo, ukhuseleko kunye nokuhambelana kuchaphazela ngokuthe ngqo "ixabiso lokufika" kwezixhobo. Ukungahoyi ezi mvavanyo zimbini kunokukhokelela kutshintsho lwemigca yemveliso, iziganeko zokhuseleko, kunye neminye imiba.

1. Uvavanyo loKhuseleko: Iinkalo ezintathu zoKhuseleko loMsebenzi

Iingalo zerobhothi ze-servo ezine-axis ezintathu zizixhobo ezizenzekelayo kwaye kufuneka zihambelane nemigangatho yokhuseleko lwemizi-mveliso (njenge-ISO 13849). Izinto eziphambili ezijongiweyo kuvavanyo ziquka:

Umsebenzi Wokumisa Ngokungxamisekileyo: Emva kokucofa iqhosha lokumisa ngokungxamisekileyo, isixhobo kufuneka sime kwimizuzwana eyi-0.5, zonke ii-axes zitshixiwe (akukho kutyibilika ngokukhululekileyo). Emva kokuqalisa kwakhona, kufuneka sibuyele kwindawo yaso yokuqala ngaphambi kokuba sisebenze.

Izixhobo zoKhuseleko: Ukuba isixhobo sixhotyiswe ngekhethini yesibane sokhuseleko/ucango lokhuseleko, ukuba into ivala ikhethini yesibane okanye ivula ucango lokhuseleko, isixhobo kufuneka sime ngoko nangoko kwaye asinakuqalwa kwakhona ngesandla (kufuneka siphinde sisetyenziswe ngaphambi kokuba siqale ukusebenza).

Ukhuseleko Lomthwalo Ogqithisileyo: Xa umthwalo wokugqibela udlula i-150% yexabiso elilinganisiweyo, isixhobo kufuneka sivule i-alamu yomthwalo ogqithisileyo size sivale ukuthintela ukutsha kwemoto (oku kunokuvavanywa ngokulayisha isixhobo esinomthwalo ogqithisileyo).

2. Uvavanyo lokuHlangana: Ukuqinisekisa ukuDityaniswa kwiMigca yeMveliso ekhoyo

Ukuba ingalo yerobhothi ethengiweyo kufuneka isetyenziswe nezixhobo ezikhoyo (ezifana nee-conveyors, iinkqubo zolawulo ze-PLC, okanye izixhobo zokuhlola ngokubonakalayo), uvavanyo lokuhambelana lubalulekile:

Ukuhambelana koMdibaniso woNxibelelwano: Vavanya ukuba ujongano lonxibelelwano lwesixhobo (njenge-RS485, i-EtherCAT, okanye i-Profinet) lunokunxibelelana ngokufanelekileyo ne-PLC ekhoyo kwaye ingaba unxibelelwano "lwe-PLC luthumela umyalelo - irobhothi iphumeza isenzo" lunokufezekiswa na (umz., emva kokuba umthumeli ehambise umsebenzi kwindawo echaziweyo, irobhothi iyawubamba ngokuzenzekelayo);

Ukuhambelana kweSoftware: Faka isoftware yokulawula yomthengisi kwaye uvavanye ukuba isebenza kwiinkqubo zekhompyutha ezikhoyo (umz., iWindows 10/11), ixhasa ukwenziwa kweenkqubo ngokwezifiso (umz., iidayagram zeleli, ikhowudi ye-G), kwaye kulula ukuyisebenzisa (umz., inomdibaniso womsebenzisi obonakalayo kunye nobuchule bokuchonga iimpazamo);

Ukuhambelana kweSiphumo sokugqibela: Vavanya ukuba ujongano lweflange yesixhobo luyahambelana na neegripper ezikhoyo (umz., iigrippers zomoya, iikomityi zevacuum), kwaye luxhasa impendulo yesignali yegripper (umz., imiqondiso ethi "impumelelo/ukungaphumeleli" edluliselwa kwinkqubo yolawulo).

IV. Uvavanyo Emva: Gqibezela imisebenzi emibini yokuvala ukuze ubonelele ngesiseko sezigqibo zokuthenga

Emva kovavanyo, idatha kufuneka icwangciswe ngokukhawuleza kwaye naziphi na iingxaki zichazwe ukuze kuthintelwe naziphi na izinto ezingafanelekanga ezinokuchaphazela izigqibo zokuthenga.

1. Lungisa Ingxelo yoVavanyo ukuze ulinganise ukusebenza kwezixhobo

Hlela yonke idatha yovavanyo kwitheyibhile, ichaza ngokucacileyo "into yovavanyo, ixabiso eliqhelekileyo, ixabiso lokwenyani, kunye nokuthobela." Umzekelo:

Into yoVavanyo
Ixabiso Eliqhelekileyo
Ixabiso Lokwenyani
Ukuthobela imithetho
Ukuphindaphinda (i-X-axis)
≤±0.02mm
± 0.015mm
Ithotyelwe
Isantya sokuSebenza soMthwalo oLinganisiweyo
≥500mm/s
480mm/s
Ayiphumelelanga
Ixesha Lokuphendula Ngokungxamisekileyo
≤0.5s
0.3s
Ithotyelwe

Kwakhona, bhala phantsi naziphi na izinto ezingaqhelekanga ezifunyenwe ngexesha lovavanyo (umz., "I-X-axis yenza ingxolo engaqhelekanga phantsi komthwalo we-6kg" okanye "Unxibelelwano ngamanye amaxesha luyaqhawuka") kwaye uqaphele isisombululo somthengisi (umz., "Ingxolo inyamalale emva kokulungisa iiparameter zemoto").

2. Thelekisa ababoneleli abaninzi kwaye uvavanye ngokupheleleyo ukusebenza kakuhle kweendleko

Ukuba uvavanya izixhobo ezivela kubaboneleli abaninzi, cinga ngothelekiso olupheleleyo olusekelwe ekuthobeleni ukusebenza, ixabiso, kunye nenkonzo yasemva kokuthengisa:

Ukuthobela ukusebenza: Beka phambili izixhobo ezihlangabezana nazo zonke iinkcukacha eziphambili (ezifana nokuphindaphinda kunye nozinzo), kunye neempawu ezincinci (ezifana nengxolo) ezidlula imigangatho kodwa ezilungisekayo.

Ixabiso: Kuphephe ukulandela ngokungakhathali ixabiso eliphantsi; bala ixabiso lokuthenga + iindleko zokulungisa eziqhubekayo (ezifana newaranti yemoto ye-servo kunye nezixhobo ezingasetyenziswanga).

Inkonzo emva kokuthengisa: Qinisekisa ukuba umthengisi ubonelela ngokufakela nokufaka, uqeqesho lwabaqhubi, kunye newaranti yonyaka omnye ubuncinane, kwaye nokuba banayo na iziko lenkonzo emva kokuthengisa (oku kunokunciphisa ixesha lokusombulula iingxaki).

Isiphelo: Uvavanyo lovavanyo lufana "nomshuwalense wokuthenga," kwaye iinkcukacha zimisela ixabiso lokugqibela.

Ixabiso lokuthenga ingalo yerobhothi ye-servo ene-axis ezintathu Ngokwesiqhelo isusela kumashumi amawaka ukuya kumakhulu amawaka e-yuan. Uvavanyo lovavanyo lokuthenga kwangaphambili aluyonto "indleko eyongezelelweyo" kodwa "lutyalo-mali oluyimfuneko" lokunciphisa umngcipheko. Ngokuchaza ngokucacileyo iinjongo zovavanyo, ukugxila ekusebenzeni okuphambili, kunye nokuqinisekisa ukhuseleko kunye nokuhambelana, abathengi banokumisela ngokuchanekileyo ukuba izixhobo ziyahambelana neemfuno zemveliso, bephepha imiba efana "nokuthenga izixhobo ezingalunganga" kunye "nobunzima botshintsho olulandelayo."

Ukuba udibana nobunzima bobuchwephesha ngexesha lovavanyo (njengokusebenzisa i-laser interferometer okanye ukubhala inkqubo yovavanyo), zive ukhululekile ukuqhagamshelana neqela lobuchwephesha lomthengisi okanye udibane nearhente yovavanyo lwezixhobo ezizenzekelayo. Khumbula: zizixhobo kuphela eziqinisekisiweyo ngovavanyo lwasentsimini ezinokukwazi ukunciphisa iindleko kunye nokuphucula ukusebenza kakuhle kwimveliso yemizi-mveliso.