Indlela yokufumanisa ngokukhawuleza ukuba injini ye-servo manipulator yonakele

Indlela yokufumanisa ngokukhawuleza ukuba injini ye I-Servo Manipulator yonakele

Kwinkqubo yokwenza izinto ngokuzenzekelayo kwimizi-mveliso, i-servo manipulator idlala indima ebalulekileyo njengesixhobo esibalulekileyo sokuphucula ukusebenza kakuhle kwemveliso kunye nokuchaneka. I-servo motor yenye yezona zinto ziphambili ze-servo manipulator, kwaye ukusebenza kwayo kunxulumene ngqo nemeko yokusebenza kwesixhobo sonke. Ke ngoko, kubalulekile ukuba abathengi bamazwe ngamazwe kunye nabasebenzi bokulungisa abanxulumene nabo bakwazi ukufumanisa ngokukhawuleza nangokuchanekileyo ukuba imoto ye isixhobo sokulawula i-servo yonakele. Eli nqaku liza kwazisa ngokweenkcukacha iindlela ezahlukeneyo zokugweba ezinokukunceda ufumane iingxaki ezinokubakho ngenjini ngexesha elifanelekileyo, ukunciphisa ixesha lokungasebenzi, kunye nokunciphisa ilahleko kwimveliso.

1. Jonga inkangeleko
Jonga umphezulu wemoto: Okokuqala, jonga ngononophelo ukuba kukho na iimpawu ezibonakalayo zomonakalo obonakalayo ezifana nokuqhekeka, ukuguquka, kunye nokutsha kwiqokobhe langaphandle lemoto. Ukuba ezi meko zifunyenwe, kusenokwenzeka ukuba ingaphakathi lemoto nalo lonakele kwaye kufuneka uhlolwe ngokunzulu. Ukongeza, jonga ukuba izikrufu zokufaka zemoto zikhululekile na. Ukuba zikhululekile, imoto inokungcangcazela ngexesha lokusebenza, nto leyo eya konakalisa izinto zemoto ekuhambeni kwexesha.
Jonga ii-terminals zocingo kunye neentambo: Jonga ukuba ii-terminals zocingo zemoto zi-oxidized, zitshile, okanye zikhululekile. Nokuba iintambo zonakele, zigugile, okanye ziphukile. Ukudibana okubi okanye umonakalo wentambo kunokuchaphazela umbane oqhelekileyo kunye nokudluliselwa kwesignali yemoto, kwaye kunokubangela ukuba imoto ingasebenzi kakuhle okanye ingasebenzi kakuhle.

2. Ukugweba ngokuva nokuchukumisa
Mamela isandi semoto: Ngexesha lokusebenza kwemoto, i-servo motor eqhelekileyo idla ngokukhupha isandi esiqinileyo nesinesingqi. Ukuba uva isandi sokungqubana esibukhali, kusenokuba kungenxa yokuguguleka kweebheringi okanye ukungqubana phakathi kwerotor kunye ne-stator; iingxolo ezingaqhelekanga ezihlala zisenzeka rhoqo zibonisa iingxaki ngezinto zokuhambisa iigiya; izandi zokungqongqoza ezingaqhelekanga zinokubangelwa zizakhiwo zoomatshini ezikhululekileyo okanye ezingalinganiyo; kwaye izandi zokubhomboloza zihlala zinxulumene nentsimi ye-electromagnetic okanye inkqubo yolawulo lwemoto, enokubangelwa kukuseta iiparameter zomqhubi ezingafanelekanga okanye ii-internal short circuits kwimoto.
Chukumisa i-motor housing: Emva kokuba i-motor isebenza ixesha elithile, chukumisa i-motor housings ngobunono ngasemva kwesandla sakho ukuze uzive ukuba ubushushu bayo bunyuka ngendlela engaqhelekanga na. Ubushushu obugqithisileyo bunokubangelwa kukungachithi kakuhle kobushushu, ukugqithiswa kakhulu, okanye ukujikeleza okufutshane kwi-internal winding ye-motor. Kwiimeko eziqhelekileyo, ubushushu be-motor housings kufuneka bugcinwe kumgama ofanelekileyo, ngokubanzi bungadluli kwi-80°C. Ubushushu obuthile kufuneka bumiselwe ngokusekelwe kwizinto ezifana namandla, imodeli, kunye nendawo yokusebenza ye-motor. Kwangaxeshanye, qaphela ukuba umphezulu we-motor uyangcangcazela na. Ukuba ukungcangcazela kukhulu kakhulu, kunokubonisa ukuba i-motor bearing igugile, i-rotor ayilingani, okanye ukufakwa koomatshini akulunganga.

3. Sebenzisa izixhobo ukuze ubone
Ukufunyanwa kwe-multimeter
Linganisa ukumelana nokujika: Cima amandla emoto kwaye uhlukanise izinto ezifanelekileyo ukuze uveze ii-terminals zokujika zemoto. Sebenzisa uluhlu lokumelana lwe-multimeter ukulinganisa amaxabiso okujika phakathi kwee-windings zesigaba sesithathu ngokulandelelana. Kwiimeko eziqhelekileyo, amaxabiso okujika ee-windings zesigaba sesithathu kufuneka alingane okanye asondele. Ukuba ixabiso lokujika lesigaba esinye okanye ezibini ngokucacileyo likhulu okanye lincinci, okanye lingenasiphelo (isekethe evulekileyo) okanye li-zero (isekethe emfutshane), oko kuthetha ukuba ukujika kwemoto kunempazamo. Umzekelo, ukuba ixabiso lokujika lesigaba esinye likhulu kakhulu kunelezinye izigaba ezibini, kunokubonisa ukuba ukujika kwesigaba kunengxaki yesekethe evulekileyo okanye unxibelelwano olubi; ukuba ixabiso lokujika li-zero, kubonisa ukuba ukujika kufutshane.
Jonga ukumelana nobushushu: Sebenzisa imitha yokulinganisa ukumelana nobushushu (i-megohmmeter) ukulinganisa ukumelana nobushushu phakathi kokujikeleza kwemoto kunye ne-casing. Kwiimeko eziqhelekileyo, ixabiso lokumelana nobushushu kufuneka libe ngaphezulu kwee-megohms ezininzi. Ukuba ixabiso lokumelana nobushushu liphantsi kakhulu, oko kuthetha ukuba ukusebenza kokukhusela kwemoto kuye konakala, kwaye kunokubakho umngcipheko wokuvuza, okunokubangela ukuba ukujikeleza kwemoto kuqhekeke kwaye konakalise, okanye kubangele ingozi yokhuseleko.
Ukufunyanwa kwe-Oscilloscope: Uhlobo lwe-waveform yesignali yombane yemoto lunokubonwa ngokulula nge-oscilloscope. Qhagamshela i-probe ye-oscilloscope kwisiphelo se-output yemoto okanye kumgca wesignali yokulawula efanelekileyo ukuze ubone ukuba ii-waveforms zesignali ezifana ne-voltage kunye ne-current ziqhelekile na. Umzekelo, isignali ye-motor drive eqhelekileyo kufuneka ibe yi-wave yesikwere eqhelekileyo okanye i-sine wave. Ukuba i-waveform igqwethekile, ijijekile, iqhekekile okanye ine-amplitude engaqhelekanga, oko kuthetha ukuba imoto okanye umqhubi unempazamo. Ukufunyanwa kwe-Oscilloscope kunokunceda iingcali ukuba zifumane indawo yempazamo ngokukhawuleza, njengokugweba ukuba isignali ye-encoder iqhelekile na kunye nokuba imveliso yomqhubi izinzile na.

4. Ulwazi lwe-alamu yesalathiso kunye neekhowudi zempazamo
Jonga isalathisi se-alamu yomqhubi: Abaqhubi abaninzi beemoto ze-servo baxhotyiswe ngezibonakaliso ze-alamu, kwaye imibala kunye neepateni ezikhanyayo zezi zibonakaliso zihlala zinolwazi oluthile lwempazamo. Umzekelo, isibane esibomvu sesalathisi esihlala sivuliwe sinokubonisa ukusilela kwehardware, njengokugqithisela kwemoto, i-short circuit okanye ukusilela komqhubi; isibane esityheli sesalathisi esikhanyayo sinokubonisa ukugqithisela, ukugqithisa okanye ukungaqheleki kwesignali ye-encoder. Intsingiselo ethile kufuneka itolikwe ngokwencwadi yemiyalelo yomqhubi.
Funda ikhowudi yempazamo: Xa i-servo manipulator ingaphumeleli, inkqubo yolawulo idla ngokurekhoda ikhowudi yempazamo ehambelanayo. Ezi khowudi zempazamo zisisiseko esibalulekileyo sokuxilongwa kwempazamo ngokukhawuleza. Abathengi okanye abasebenzi bokulungisa banokufumana iinkcazo ezineenkcukacha zeekhowudi zempazamo ngokujonga incwadi yomsebenzisi ye-servo manipulator okanye ngokuqhagamshelana nomthengisi wezixhobo. Umzekelo, ikhowudi yempazamo "20504" yohlobo oluthile lwe-servo manipulator ibonisa ukuba ubushushu bemoto buphezulu kakhulu, obunokubangelwa ziingxaki zokusasaza ubushushu okanye ukugqithisa kakhulu; ikhowudi yempazamo "10023" inokubonisa ukusilela kwe-encoder, kwaye kufuneka kuhlolwe ngakumbi uqhagamshelo lwe-encoder, ukulinganiswa okanye umonakalo.

5. Yenza uvavanyo olusebenzayo
Uvavanyo lokusebenza ngaphandle komthwalo: Phantsi kwengcamango yokuqinisekisa ukhuseleko, qala wenze uvavanyo lokusebenza ngaphandle komthwalo kwi-servo manipulator. Jonga ukuba ukuqala kwemoto, ukuma, ukujikeleza phambili nokubuyela umva, kunye nemisebenzi yokulawula isantya iqhelekile na phantsi kweemeko zokungasebenzi komthwalo. Ukuba imoto ineengxaki ezifana nobunzima bokuqalisa, ukusebenza okungazinzanga, ukuphambuka kwesantya okugqithisileyo, okanye ingxolo engaqhelekanga xa ingasebenzi, kusenokwenzeka ukuba kukho isiphene kwimoto ngokwayo okanye kwinkqubo yolawulo lwedrive. Umzekelo, ukuguguleka kwebheyire yemoto kunokubangela ukwanda kokungcangcazela kunye nengxolo ngexesha lokusebenza ngaphandle komthwalo; useto olungalunganga lweparameter yomqhubi lunokubangela isantya semoto esingazinzanga, njl.
Uvavanyo lokusebenza komthwalo: Ngokwesiseko sokusebenza okuqhelekileyo okungenamthwalo, yonyusa umthwalo kancinci kancinci ukuze i-servo manipulator ifane nemeko yokusebenza yokwenyani. Jonga ukusebenza kwemoto phantsi kweemeko zomthwalo kwaye ujonge ukuba kukho iingxaki ezinje ngokugqithisela, isenzo sokukhusela ukugqithisa, ukuhla kwesantya esigqithisileyo, indawo engachanekanga, njl. Ukuba imoto ayikwazi ukusebenza ngokuqhelekileyo phantsi komthwalo olinganisiweyo, njenge-alamu yokugqithisa, isantya siphantsi kakhulu kunexabiso elibekiweyo, okanye i-torque elindelekileyo ayinakufezekiswa, kusenokwenzeka ukuba ukusebenza kwemoto kuyonakele okanye yonakele. Umzekelo, i-short circuit yendawo kwi-motor winding iya kunciphisa amandla ayo okukhupha kwaye ayinakuhlangabezana neemfuno xa umthwalo usanda; ukungaphumeleli kwecandelo lothumelo loomatshini kunokubangela ukuba umthwalo wemoto ube mkhulu kakhulu, ngaloo ndlela kuchaphazele ukusebenza okuqhelekileyo kwemoto.

6. Jonga izinto ezinxulumene noko
Ukuhlolwa kwe-encoder: I-encoder yinxalenye ebalulekileyo ye-servo motor kwaye isetyenziselwa ukubona indawo kunye nolwazi lwesantya semoto. Sebenzisa isixhobo sobuchwephesha sokufumanisa i-encoder ukuthumela isignali yovavanyo kwaye ujonge ukuba idatha yempendulo ye-encoder ichanekile kwaye izinzile na. Ukuba idatha iyatsiba, ilahlekile, okanye impazamo inkulu kakhulu, inokubonisa ukuba i-encoder yonakele okanye ayinanxibelelwano luhle. Ukongeza, ungajonga nembonakalo ye-encoder, umgca woqhagamshelo, kunye nokuba ukufakelwa kukhululekile na ukuze wenze isigqibo sokuqala sokuba kuyinto eqhelekileyo na. Umzekelo, ukuba idiski ye-encoder grating ingcolile okanye yonakele, kwaye nokuba intambo yokudibanisa igugile okanye iphukile kuya kuchaphazela ukusebenza kwayo okuqhelekileyo.
Ukuhlolwa kweebheringi: Jika ishaft yemoto ngesandla ukuze uzive ukuba kukho ukuma, ukumelana okungaqhelekanga okanye ukuyekelela. Ukuba ukujikeleza akuguquguquki okanye kukho isandi esingaqhelekanga, oko kunokuthetha ukuba ibheringi igugile, ayinayo ioyile okanye yonakele. Kwiimoto ezifakwe kwi-manipulator, ungagweba ngokungathanga ngqo imeko yebheringi ngokujonga ukuba i-manipulator ihamba ngokuguquguquka nangokutyibilikayo na. Umzekelo, ukuba i-manipulator iyashukuma, iyaqina okanye ukuchaneka kokubekwa ngokuphindaphindiweyo kwehla ngexesha lokuhamba, kunokubangelwa kukusilela kwebheringi yemoto.
Ukuhlolwa kwenkqubo yokupholisa: Jonga ukuba ifeni yokupholisa yemoto isebenza kakuhle na kwaye ingaba isinki yobushushu ivalekile na luthuli. Ukuba ubushushu buphantsi, ubushushu bemoto buya kunyuka, bukhawulezise ukuguga kwezinto zokukhusela ngaphakathi kwemoto, kwaye bubangele ukungasebenzi kwemoto. Ukuba kuyimfuneko, umoya oxinzelelweyo ungasetyenziselwa ukucoca uthuli kwisinki yobushushu ukuqinisekisa ukuba umjelo wobushushu awuthintelwa. Kwangaxeshanye, jonga ukuba imotor yefeni yokupholisa yonakele na. Ukuba yonakele, kufuneka itshintshwe ngexesha.

7. Thelekisa iiparameter eziqhelekileyo zemoto
Qokelela ulwazi lwepleyiti yegama lemoto: Ngaphambi kokuba uqalise ukuthelekisa, jonga ngononophelo iiparameter ezahlukeneyo kwipleyiti yegama lemoto, kuquka imodeli yemoto, ivolthi elinganisiweyo, umbane olinganisiweyo, amandla alinganisiweyo, isantya esilinganisiweyo, inqanaba lobushushu, inqanaba lokhuseleko, njl. Ezi parameter ziziseko ezibalulekileyo zokugweba ukuba imoto isebenza ngokufanelekileyo na.
Ukulinganisa kunye nokuthelekisa okwenyani: Sebenzisa izixhobo ezihambelanayo, ezifana ne-clamp ammeter ukulinganisa umsinga wokusebenza wemoto, i-tachometer ukulinganisa isantya sokwenyani semoto, njl.njl., kwaye uthelekise iziphumo zokulinganisa kunye neeparameter ezilinganisiweyo kwi-nameplate. Ukuba umsinga wokwenyani udlula kakhulu umsinga olinganisiweyo, kunokubonisa ukuba imoto igcwele kakhulu okanye kukho i-short circuit. Ukuba isantya sokwenyani siphambuka kakhulu kwisantya esilinganisiweyo, kusenokuba kukusilela kwenkqubo yokulawula yemoto okanye ukungaqheleki kwezinto zothumelo lwemishini.

8. Ukugcinwa rhoqo kunye nokuhlolwa kokuthintela
Yenza isicwangciso sokulungisa: Ukuze kuqinisekiswe ukuba i-motor ye-servo manipulator ihlala isebenza kakuhle kwaye inciphise amathuba okungasebenzi kakuhle, kufuneka kwenziwe isicwangciso sokulungisa esifanelekileyo rhoqo. Ngokwexesha lokusetyenziswa kwezixhobo kunye nendawo yokusebenza, kucetyiswa ngokubanzi ukuba kwenziwe uhlolo olupheleleyo kunye nolondolozo rhoqo kwiinyanga ezi-3 ukuya kwezi-6. Umxholo wokulungisa uquka ukucoca uthuli kunye nenkunkuma kumphezulu nangaphakathi kwe-motor, ukujonga ukuba izibophelelo ze-motor zikhululekile na, ukuthambisa iibheringi, kunye nokujonga ukuba inkqubo yokupholisa iqhelekile na.
Uhlolo lokuthintela: Xa kusetyenziswa imihla ngemihla, kwenziwa uhlolo lokuthintela rhoqo ukuze kufunyanwe iimpazamo ezinokubakho ngexesha elifanelekileyo. Umzekelo, jonga ukuba kukho utshintsho olungaqhelekanga kwisandi esisebenzayo, ubushushu, ukungcangcazela, njl.njl. kwemoto; jonga ukuba ii-terminals zemoto kunye neentambo zineempawu zokushisa kakhulu, i-oxidation, ukwaphuka, njl.njl.; qwalasela isalathisi se-alamu kunye nomboniso wekhowudi yempazamo yomqhubi. Ngolu hlolo lulula lwemihla ngemihla, iingxaki zinokufunyanwa kwinqanaba lokuqala lempazamo, ukuze kuthathwe amanyathelo afanelekileyo ukuthintela ukwanda ngakumbi kwempazamo.

9. Uhlalutyo lwezizathu eziqhelekileyo zomonakalo wemoto
Ukusebenza ngokugqithisileyo: Ukusebenza ngokugqithisileyo ixesha elide yenye yezona zinto ziqhelekileyo zomonakalo wemoto ye-servo. Xa umthwalo othwalwa yimoto udlula amandla ayo alinganiselweyo, kuya kubangela ukuba umsinga wemoto ube mkhulu kakhulu kwaye ukujija kushushu kakhulu, ngaloo ndlela kukhawulezise ukuguga kwezinto zokukhusela, kwaye ekugqibeleni kubangele ukujija kube yi-short-circuit, i-open circuit okanye i-ground fault. Umzekelo, kwinkqubo yokuphathwa komthwalo onzima okanye ukuqala nokumisa rhoqo i-manipulator, ukuba iiparameter zomthwalo okanye amaqhinga okulawula awenziwanga ngokufanelekileyo, kulula ukuyijija kakhulu imoto.
Ingxaki yobonelelo lwamandla: Ubonelelo lwamandla olungazinzanga luya kuba nempembelelo enkulu kwi-servo motor. Umbane ogqithisileyo uya kubangela ukuba ukujija kwemoto kushushu kakhulu kwaye kuphuke ubushushu; umbane ophantsi kakhulu unokubangela ubunzima ekuqaliseni imoto, ukungaphumeleli ukusebenza ngokuqhelekileyo, okanye ukutshisa imoto. Ukongeza, ukuphazamiseka kwe-harmonic kubonelelo lwamandla kunokubangela iingxaki ezifana nokungcangcazela kwemoto, ingxolo eyongezelelekileyo, kunye nokusebenza okunciphileyo. Umzekelo, kwinkqubo yamandla efektri, ukuba kukho izinto ezinje ngokuqala nokuma kwezixhobo ezinkulu, ukusilela kwegridi yamandla okanye ukuguga kwemigca yamandla, umgangatho wobonelelo lwamandla unokuncipha, okuchaphazela ukusebenza okuqhelekileyo kwemoto.
Izinto ezichaphazela imeko-bume: Indawo yokusebenza enzima iya kukhawulezisa umonakalo wemoto. Umzekelo, kwindawo enobushushu obuphezulu, ukufuma okuphezulu, uthuli oluphezulu, igesi erhabaxa, njl.njl., ukusebenza kokusasazwa kobushushu kwemoto kuya kuncipha, izinto zokukhusela ziya kuba manzi kwaye ziguge ngokulula, kwaye iindawo zesinyithi ziya kugqwala kwaye zibole, nto leyo echaphazela ukusebenza kunye nobomi bemoto. Ukuba inqanaba lokhuseleko lwemoto alanele, izinto zangaphandle ezifana neefayile zentsimbi, amabala eoyile, amanzi, njl.njl. ziya kungena, nto leyo eya kubangela iingxaki ezifana nokujikeleza okufutshane kwangaphakathi, unxibelelwano olubi okanye ukuxinana kwemoto ngoomatshini.
Ukusilela koomatshini: Ukusilela kolwakhiwo loomatshini kuya kubangela umonakalo kwimoto. Umzekelo, ukuguguleka kweebheringi, ukonakala kwegiya, ukuguga kwebhanti kunye nokukhululeka kuya kubangela ukuba ukungcangcazela kwemoto kuqine ngexesha lokusebenza, kwandise umthwalo, kwaye emva koko kubangele ukuba imoto ishushu kakhulu kwaye ukujijeka kube ngumonakalo wokudinwa. Ukongeza, ukufakwa okungafanelekanga kwamacandelo oomatshini, okufana nokungangqinelani kokudibanisa kunye nokugoba kweshafti yokudlulisela, kuya kubangela ukungcangcazela okungaqhelekanga kunye nengxolo yemoto, okuchaphazela ukusebenza okuqhelekileyo kwemoto.

10. Isishwankathelo
Ukufumanisa ngokukhawuleza nangokuchanekileyo ukuba injini isixhobo sokulawula i-servo yonakele, kuyimfuneko ukusebenzisa iindlela ezahlukeneyo kunye nezixhobo zidityanisiwe. Ukususela ekuhlolweni kwembonakalo, ukugweba ukuva nokuchukumisa, ukuya ekufumaneni izixhobo, uhlalutyo lolwazi lwe-alamu, ukuya ekuhlolweni kwecandelo elinxulumeneyo kunye novavanyo lokusebenza, yonke ikhonkco ibalulekile. Ngale ndlela, ungayiqonda ngokupheleleyo imeko yokusebenza kwemoto kwaye ufumane iingxaki ezinokubakho ngexesha.
Kubathengi bamazwe ngamazwe abathengisa ngobuninzi, xa ukhetha i-servo manipulator, kufuneka uqaphele umgangatho, ukusebenza kunye nenkonzo yasemva kokuthengisa yezixhobo. Nika ingqalelo kwiimpawu ezaziwayo kunye nababoneleli abathembekileyo ukuqinisekisa ukuba izixhobo ezithengiweyo zineenjini ezithembekileyo kunye nemigaqo-nkqubo yewaranti egqibeleleyo. Ngexesha lokusetyenziswa kwezixhobo, landela ngokungqongqo iinkqubo zokusebenza, wenze ulondolozo rhoqo, kwaye unikezele ngoqeqesho lobuchwephesha kubaqhubi ukuphucula amandla abo okuchonga nokusingatha ukusilela kwezixhobo.
Xa udibana neziphene ezinzima ezifana nomonakalo wemoto, musa ukuzilungisa ngokwakho. Kufuneka uqhagamshelane nombutho wolondolozo oqeqeshiweyo okanye umthengisi wezixhobo ngexesha elifanelekileyo, kwaye ube neengcali zobugcisa ezenza ulondolozo kunye nokutshintsha iindawo. Kwangaxeshanye, misela ifayile yokusilela kwezixhobo ukuze urekhode ixesha, isiganeko, unobangela kunye namanyathelo okugcinwa kokusilela ngakunye. Oku kuya kunceda ukuhlalutya imithetho yokusilela kwezixhobo, kuqulunqwe isicwangciso solondolozo esisengqiqweni nesisengqiqweni, kuphuculwe ukuthembeka kunye nobomi benkonzo yezixhobo, kwaye kuqinisekiswe inkqubela phambili egudileyo yemveliso.