Ukuthelekiswa kweendlela ezahlukeneyo zokuqhuba kwiirobhothi ze-Servo ze-Three-Axis

Ukuthelekiswa kweendlela ezahlukeneyo zokuqhuba kwiirobhothi ze-Servo ze-Three-Axis

Kwihlabathi lonke lokuphucula oomatshini kwimveliso, iirobhothi ze-servo ezinee-axis ezintathu ziye zaba zizixhobo eziphambili kumashishini afana nokudibanisa izixhobo ze-elektroniki, ukucubungula iinxalenye zeemoto, kunye nokupakishwa kokutya. Ukukhetha indlela efanelekileyo yokuqhuba kumisela ngokuthe ngqo ukusebenza kakuhle kwemveliso yezixhobo, iindleko zokugcinwa, kunye nembuyekezo kumjikelo wotyalo-mali—ukhetho olungalunganga lunokukhokelela ekubeni kungabikho mandla okuvelisa aneleyo, ukulungiswa rhoqo, okanye nokutshintshwa kwezixhobo ngaphambi kwexesha.

I. Kutheni indlela yokuqhuba iyindlela yokukhetha ephambili kwiirobhothi ze-servo ezine-axis ezintathu?

Inkqubo yokuqhuba yerobhothi ye-servo ene-axis ezintathu ifana "nentliziyo yayo enamandla," enoxanduva lokuguqula amandla e-kinetic enjini ye-servo ibe yintshukumo echanekileyo okanye ejikelezayo. Ukusebenza kwayo kuchaphazela ngokuthe ngqo izinto ezintathu eziphambili zokuthenga:

Utyalo-mali oluSebenza kakuhle: Ibhalansi phakathi kweendleko zokuthenga zokuqala kunye neendleko zokulungisa ezilandelayo. Umzekelo, nangona ezinye iindlela zokuqhuba zinokuba nexabiso eliphantsi lokuthenga ekuqaleni, iindleko zokutshintsha iindawo ezigugileyo minyaka le zinokuphinda kabini.

Ukulungelelaniswa Kwemveliso: Nokuba ingahlangabezana neemfuno ezithile zoshishino, ezifana nemfuneko yokuchaneka kwe-±0.01mm kwimveliso ye-elektroniki, okanye imfuneko yeshishini leemoto yokuthwala imithwalo engaphezulu kwe-50kg.

Ukuguquguquka kweHlabathi: Izixhobo ezithunyelwa kwamanye amazwe kufuneka zihlangabezane nemigangatho yemarike ekujoliswe kuyo, njengokusetyenziswa kwamandla kunye nemiqathango yengxolo kwiimarike zaseYurophu naseMelika, kunye neemfuno zokunyamezelana kweemeko zobushushu obuphezulu kunye nokufuma kwiimarike zaseMzantsi-mpuma Asia.

Idatha evela kwi-International Federation of Robotics (IFR) ngo-2024 ibonisa ukuba izinga lokungasebenzi kwezixhobo ngenxa yokukhethwa okungafanelekanga kokuqhuba lifikelele kwi-12%, kwaye ngaphezulu kwama-60% kwezi meko zibangelwa ziimpazamo zokuhambelana ngabathengi abathengisa ngobuninzi. Ke ngoko, uthelekiso olupheleleyo lomahluko wendlela yokuqhuba lubalulekile.

II. Uthelekiso olunzulu lweendlela zokuqhuba eziphambili zeerobhothi ze-Servo ze-Three-Axis

Okwangoku, kwimarike yehlabathi, i-electric drive yeyona ndlela iphambili yokuqhuba iirobhothi ze-servo ezine-axis ezintathu (ezingaphezulu kwama-85%), zongezwa linani elincinci lee-hydraulic/pneumatic drives zezicelo ezikhethekileyo. Kwii-electrical drives, izakhiwo ezintathu ezimele kakhulu zii-ball screws, ii-synchronous belts, kunye nee-rack and pinion gears. Umahluko wazo ngolu hlobo lulandelayo:

(I) Uthelekiso lweeParamitha zoBugcisa zeCore Drive Method

(II) Uhlalutyo lweeNzuzo kunye neeNgxaki eziphambili zeNdlela nganye yokuqhuba

1. I-Ball Screw Drive: "Isisombululo Esifanelekileyo" Seemeko Ezichanekileyo Kakhulu

Izikrufu zebhola zidlulisela amandla ngokuqengqeleka kweebhola zentsimbi, ziguqula intshukumo yokujikeleza kwemoto ye-servo ibe yintshukumo ethe tye. Esi sisisombululo esikhethwayo kwiirobhothi ze-servo ezine-axis ezintathu ezichanekileyo. Inzuzo yayo ephambili ikukubuyela umva okuncinci kakhulu (

Nangona kunjalo, abathengi kufuneka bazi ngemida yayo: Izikrufu ezinde kuneemitha ezi-2 ziyakwazi ukugoba ngenxa yobunzima bazo, zifuna iindlela ezongezelelweyo zokuxhasa kunye neendleko ezonyukayo; kwaye isantya esiphezulu sinqunyelwe sisantya esibalulekileyo sesikrufu (ngesiqhelo esingadluli kwi-2m/s), nto leyo eyenza ukuba singafaneleki kwiimeko zesantya esiphezulu. Ngaphezu koko, iindawo ezinothuli zikhawulezisa ukuguguleka kwebhola yentsimbi, nto leyo ebangela ukuba kufuneke izixhobo ezincedisayo ezifana nezigqubuthelo zokukhusela.

2. I-Synchronous Belt Drive: Isixhobo Esisebenza Ngexabiso Eliphantsi Sokusebenza Ngesantya Esiphezulu Nomthwalo Olula

Ii-Synchronous belt drives zisebenzisa i-meshing yentsimbi-core polyurethane belt ene-pulleys yokudlulisa umbane. Zibonelela ngeenzuzo ezintathu eziphambili: isantya esiphezulu, ingxolo ephantsi, kunye nexabiso elilawulekayo. Isantya sazo esiphezulu sinokufikelela kwi-5 m/s, ngaphezulu kwesibini kunee-ball screws, kwaye ixabiso lokuqala lokuthenga liyi-30% ~ 50% kuphela ye-ball screw drive yeempawu ezifanayo. Oku kuzenza zilungele ukusetyenziswa komthwalo olula, okhawulezayo njengokulungisa ukutya kunye nokuphatha iindawo zeplastiki.

Abathengi bamazwe ngamazwe kufuneka baqaphele imida yabo yokuchaneka: Iibhanti ezihambelanayo zinokuguquguquka okuthambileyo ngenxa yobushushu, nto leyo ebangela ukuchaneka okuphindaphindwayo kwe-±0.1~±0.3 mm kuphela, okungenakuhlangabezana neemfuno zomatshini wokuchaneka. Ngaphezu koko, umthamo wazo womthwalo ulinganiselwe (ngesiqhelo ungaphantsi kwe-100 kg), nto leyo edinga ukutshintshwa rhoqo kweebhanti kwizicelo zemithwalo enzima, nto leyo enyusa iindleko zokugcinwa kwexesha elide. Nangona kunjalo, iibhanti ezintsha ezihambelanayo zentsimbi zilawule ukuguqulwa kokutsalwa ukuya kuthi ga kwi-0.02%, nto leyo eyenza ukuba zibe yindlela efanelekileyo yokuthatha izikrufu zebhola kwezinye izicelo eziphakathi.

3. I-Rack and Pinion Drive: Eyona nto ibalulekileyo xa usebenzisa i-Stroke enzima nende.

Ii-rack kunye nee-pinion drives zisebenzisa ukujikeleza kweegiya ukuqhuba intshukumo ethe tye ye-rack, zibonelela ngeenzuzo eziphambili zomthamo ophezulu wokuthwala umthwalo kunye ne-stroke engenamkhawulo. Umthwalo wayo olinganiselweyo unokufikelela ngaphezulu kwe-1000kg, kwaye ngokuhlanganisa ii-rack segments ezininzi, i-stroke edlula iimitha ezili-10 inokufezekiswa, okwenza kube sisisombululo esibalulekileyo kwiimeko ezinzima ezifana nokuphatha kunye nokulayisha/ukukhulula izixhobo zomatshini ezinkulu zemoto.

Imingeni ephambili yale nkqubo yokuqhuba ikwingxolo kunye nolawulo oluchanekileyo: ukuchaneka okungonelanga kokuvelisa kunokuvelisa ingxolo engaphezulu kwe-75dB xa iigiya kunye ne-rack mesh zisebenza, nto leyo efuna ukongezwa kwesigqubuthelo esingenamsindo; ngaphezu koko, umva kufuneka ususwe ngesixhobo sokuqinisa kwangaphambili, kungenjalo ukuchaneka kuya kwehla ngaphantsi kwe-±0.05mm. Ngethamsanqa, iimpawu zaseYurophu nezaseMelika ziphucule ukuchaneka ukuya kwinqanaba le-±0.01mm ngokusebenzisa ubuchwepheshe bokugaya umphezulu wamazinyo, nangona oku kunyusa iindleko zokuthenga nge-20% ~ 30%.

4. IiHydraulic/Pneumatic Drives: "Izisombululo ezongezelelweyo" zeMeko ezikhethekileyo

Ii-hydraulic drives, ezinomthamo wazo wokuphakamisa ongama-kilogram angamakhulu, zisasetyenziswa kwiimeko ezinzima kakhulu ezifana ne-heavy die casting. Nangona kunjalo, umngcipheko wokuvuza kweoyile kunye nongcoliseko, kunye neendleko eziphezulu zezikhululo ze-hydraulic, kukhokelele ekutshintshweni kwazo kancinci kancinci ngee-rack kunye nee-pinion drives ezinemithwalo ephezulu. Ii-pneumatic drives, ngenxa yexabiso lazo eliphantsi kunye nokusebenza ngokukhawuleza, zisasetyenziswa koomatshini abancinci beplastiki, kodwa ukuchaneka kwazo kwe-±0.5mm kunye nomthamo womthwalo olinganiselweyo azanelanga kwiimfuno zezixhobo ze-servo-level.

Ingxelo ka-2024 ye-International Federation of Robotics (IFR) ibonisa ukuba ii-hydraulic/pneumatic drives ngoku zingaphantsi kwe-5% yeerobhothi ze-servo ezine-axis ezintathu, apho ii-electric drives ziba zezona ziphambili—ingakumbi indibaniselwano yee-servo motors kunye neendlela zokudlulisa ngokuchanekileyo, ezidibanisa ukuchaneka kunye nokuguquguquka.

III. Amanyathelo ama-3 okuKhiya isisombululo se-Optimal Drive

Inyathelo 1: Cacisa iiParamitha zeMfuno ePhambili
Ngaphambi kokuthenga, kufuneka kuchongwe imiqondiso emithathu ebalulekileyo ukuze kuthintelwe ukukhetha ngokungacwangciswanga:
Iimfuno zokuchaneka: Ukwenziwa nge-elektroniki kufuna ±0.02mm (kuthandwa izikrufu zebhola); ishishini lokupakisha lifuna ±0.5mm (iibhanti ezihambelanayo zanele).

Umthwalo kunye neStroke: Kwimithwalo ye-single-axis engaphezulu kwama-50kg, khetha i-rack kunye ne-pinion; kwi-stroke engaphezulu kwama-3 eemitha, sebenzisa i-priority rack kunye ne-pinion okanye ibhanti ehambelanayo (izikrufu zebhola zifuna inkxaso eyongezelelweyo).

Isantya sokuSebenza: Kumaxesha omjikelo > ii-cycles ezili-120 ngomzuzu, khetha ibhanti ehambelanayo; kwimisebenzi yokuchaneka ngesantya esiphantsi, khetha isikrufu sebhola.

Inyathelo lesi-2: Ukuhambelana neemeko zoShishino olujoliswe kulo
Amashishini ahlukeneyo aneemfuno ezahlukeneyo kakhulu zeendlela zokuqhuba. Xa kujongwa iimpawu zemarike yamazwe ngamazwe, le ngqiqo ilandelayo yokulungelelanisa ingasetyenziswa njengesalathiso:

Ii-Electronics/Semiconductors (ngokuyintloko eYurophu naseMelika): Ukuchaneka okuphezulu kunye nengxolo ephantsi kuyafuneka. Ii-ball screw drives ziyacetyiswa. Ukudibanisa nee-Delta ASD series servo drives kunokufikelela kwi-±0.005mm ngokuchanekileyo, ukuhlangabezana nemigangatho yefektri ye-elektroniki yaseYurophu naseMelika.

Iinxalenye zeeMoto (Ziyahambelana neHlabathi): Iimfuno zomthwalo onzima kunye ne-long stroke ziyabonakala. Ii-rack kunye nee-pinion drives zezona sisombululo sifanelekileyo. Kucetyiswa ukuba ukhethe ii-ground racks, ezilungelelaniswe neenkqubo ze-servo ze-Siemens V90 ukuphucula uzinzo.

Ukutya/Ukupakishwa (ingakumbi eMzantsi-mpuma Asia): Ixabiso kunye nesantya ziyagxininiswa. Ii-synchronous belt drives zibonelela ngomlinganiselo ongcono kakhulu weendleko kunye nokusebenza. Ukusebenzisa izixhobo ze-polyurethane kuyahlangabezana neemfuno zococeko kwishishini lokutya, kwaye umjikelo wokugcinwa ulungelelaniswe nokukwazi ukugcinwa kweefektri zaseMzantsi-mpuma Asia.

Inyathelo lesi-3: Ukubala iindleko zoMjikelo woBomi obupheleleyo
Ukuthengwa kwempahla kwamanye amazwe kufuneka kuqwalasele utyalo-mali lokuqala kunye nokusebenza kunye nokugcinwa kwexesha elide. Ngokusekelwe kubomi beeyure ezili-100,000, kwenziwa ezi zibalo zilandelayo:

I-Ball Screw Drive: Ixabiso lokuqala eliphezulu lokuthenga (malunga ne-20,000 RMB), kodwa ixabiso lokulungisa liphantsi (500 RMB ngonyaka), ixabiso lilonke limalunga ne-25,000 RMB.

I-Synchronous Belt Drive: Ixabiso lokuthenga eliphantsi lokuqala (malunga ne-8,000 RMB), kodwa lifuna ukutshintshwa kwebhanti izihlandlo ezi-4 (200 RMB ngexesha ngalinye), ixabiso lilonke limalunga ne-9,000 RMB.

I-Rack kunye neGear Drive: Ixabiso eliphakathi lokuqala lokuthenga (malunga ne-14,000 RMB), uhlengahlengiso lwe-meshing clearance luyi-800 RMB ngonyaka, ixabiso lilonke limalunga ne-22,000 RMB.

IV. Iindlela Ezintsha KwiTekhnoloji Yokuqhuba ngo-2025

Iinkqubo zeHybrid Drive: IiHybrid pneumatic kunye nee-electric drives ziba ngumxholo omtsha oshushu. Umzekelo, izenzo zokubamba zisebenzisa ii-pneumatic drives (ixabiso eliphantsi), ngelixa izenzo zokubeka indawo zisebenzisa ii-synchronous belt drives (uchaneko oluphezulu), nto leyo enokunciphisa iindleko ngama-30% ngelixa ihlangabezana neemfuno ze-medium precision.

Ukuqhuba ngqo ngaphandle kwezixhobo zokunciphisa: I-torque ephezulu, isantya esiphantsi iimoto zeservo Ayidingi sinciphisi kwaye iqhagamshela ngqo kwiiskrufu zebhola okanye kwiigiya ze-rack kunye ne-pinion, inciphisa ilahleko zoomatshini ngama-50% kwaye yandise ubomi bayo ukuya kuthi ga kwiiyure ezingaphezu kwe-150,000. Le teknoloji ngoku isetyenziswa kwiimodeli eziphezulu ziimpawu ezifana neStäubli.

I-algorithm yokulungelelanisa ekrelekrele: Isilawuli se-servo sesizukulwana sesixhenxe sidibanisa i-algorithm yenethiwekhi ye-neural elungisa ngokuzenzekelayo iiparameter zedrayivu ngokusekelwe kutshintsho lomthwalo. Umzekelo, uthotho lwe-VX lweDoosan Robotics lusebenzisa obu buchwepheshe ukunciphisa amazinga okusilela ngama-60%, okwenza ukuba lube lolona lufanelekileyo kwiimeko zemveliso ezahlukeneyo.

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