Ngaba ukusebenza kwerobhothi yomatshini wokubumba i-servo ene-axis ezintathu kuyathotywa?

Ngaba ukusebenza kwe-servo ene-axis ezintathu Umatshini Wokubumba Ngenaliti irobhothi ihlazisayo?

Kumgca wemveliso yokubumba ngenaliti, irobhothi yomatshini wokubumba inaliti ye-servo ene-axis ezintathu sisixhobo esiphambili esidibanisa ukuvulwa nokuvalwa kwesikhunta, ukubekwa kwemveliso, kunye nokuhanjiswa kwayo. Uzinzo lwayo lokusebenza lumisela ngokuthe ngqo ukusebenza kakuhle kwemveliso, izinga lokufaneleka kwemveliso, kunye nobomi bezixhobo. Xa irobhothi ifumana imiba yokusebenza efana nokuphambuka kokuchaneka kokubeka, isantya esicothayo, umthamo womthwalo ophantsi, okanye ukulibaziseka kokuhamba, ukungaphumeleli ukufumana unobangela ngokukhawuleza akunakubangela kuphela ixesha lokungasebenzi komgca wemveliso kodwa kukwakhokelela kumonakalo wesibini kwizinto ngenxa yokulungiswa okungakhathaliyo. Eli nqaku liza kubonelela ngesisombululo sovavanyo lwesizathu sempazamo esicwangcisiweyo kwiimbono ezine: ukuchongwa kwesignali engaqhelekanga → ukusombulula ingxaki kwimodyuli nganye → ukuqinisekiswa kwempazamo → ukugcinwa kokuthintela, ukunceda iingcali zisombulule imiba ngokufanelekileyo.

1. Ukuxilongwa Kwangoko Kwezinto Ezingaqhelekanga Zokusebenza: Okokuqala "Thatha Umqondiso" Emva koko "Tshixa Ububanzi"

Ngaphambi kokuba uqale ukusombulula ingxaki, kubalulekile ukuchonga iimpawu ezithile zokuwohloka kokusebenza ngokujonga kunye nokuqokelelwa kwedatha ukuze kuthintelwe ukuchitha ixesha ngokwenza ukusombulula ingxaki ngokungakhethiyo. Ezi zilandelayo ziimpawu eziqhelekileyo zokungasebenzi kakuhle kunye neendawo zazo zokuqala zokuxilonga ezifanelekileyo:

1. Ulwahlulo lweSignali ye-Anomaly yeNtsebenzo ePhambili

Ukuchaneka kokubeka imveliso: Irobhothi iyaphambuka kwindawo ekujoliswe kuyo xa ibamba imveliso, ayihambelani ngokuchanekileyo nebhanti yokuhambisa xa iyifaka, okanye impazamo yokuphinda idlule ixabiso elichaziweyo kwincwadi yesixhobo (ngesiqhelo, ukuchaneka kokuphinda kwe-servo ye-axis ezintathu. Irobhothi Skufuneka ibe yi-≤±0.1mm). Iingxaki zokuqala: Ukushukuma kweparameter yenkqubo yeServo, ukuwohloka koomatshini, kunye nokungasebenzi kakuhle kwesignali ye-encoder.

Ukuncitshiswa kwesantya sokuSebenza: Xa irobhothi ikhutshiwe okanye ilayishiwe, isantya sokwenyani se-axis nganye (i-X-axis ethe tye, i-Y-axis ethe tye, kunye ne-Z-axis ethe tye) siphantsi kunexabiso elibekiweyo, kwaye kukho ukumisa ngexesha lokukhawulezisa/ukunciphisa isantya. Ukurhanelwa kokuqala: Ukuncitshiswa komsinga we-Servo drive, ukulahleka kwamandla emoto, okanye ukwanda kokumelana nomthwalo.

Umthamo Womthwalo Oncitshisiweyo: Imveliso ebinokuthi ibanjwe ngokuqhelekileyo ngaphambili (umz., inxalenye ebunjiweyo ye-5kg yenaliti) iyehla emva kokubanjwa, okanye i-alamu yokugqithisa ivuselelwa ngexesha lokusebenza ngenxa yomthwalo ogqithisileyo. Ukurhanelwa kokuqala: I-torque ye-servo motor engonelanga, ukutyibilika kothumelo, okanye uxinzelelo olunganelanga kwinkqubo yokuncedisa ye-pneumatic/hydraulic (ukuba kufakiwe i-pneumatic gripper). Ukulibaziseka kweNgxaki yoMsebenzi: Emva kokuba iphaneli yomqhubi ikhuphe umyalelo, irobhothi ithatha imizuzwana eli-1-3 ukwenza isenzo, okanye kukho ikhefu elibonakalayo xa utshintsha phakathi kwezenzo. Ukurhanelwa kokuqala: Ukulibaziseka konxibelelwano lwenkqubo yokulawula, ukulibaziseka kwesignali ye-sensor, kunye neeparameter zokufumana i-servo ezingafanelekanga.

2. Ukuqokelelwa kunye nokuThelekiswa kweDatha ePhambili
Ukuhlolwa ngokubonakalayo kukodwa akukwazi ukuyifumana ngokuchanekileyo ingxaki; uthelekiso lwedatha luyimfuneko ukunciphisa ububanzi bempazamo:

Rekhoda iiparameter zokusebenza zangoku: Sebenzisa inkqubo yolawulo lwerobhothi (njengesikrini sokuchukumisa se-PLC okanye iphaneli ye-servo drive) ukuze ufunde idatha efana nesantya sokusebenza, ukuphambuka kwesikhundla, umsinga wemoto, kunye nokukhupha i-torque ye-axis nganye. Thelekisa ezi parameters ngexesha lokusebenza okuqhelekileyo (jonga incwadi yesandla yesixhobo okanye iirekhodi zokusebenza zembali). Gxila kwizalathisi ezifana "nomsinga ophezulu ngokungaqhelekanga," "ukuphambuka kwesikhundla okugqitha umda," kunye "nokuguquguquka kwe-torque okugqithisileyo."

Iimeko ezibangela iimpazamo zezibalo: Bhala phantsi ukuba ukwehla kokusebenza kunxulunyaniswa neemeko ezithile, ezinje ngokuthi "ukuphambuka kwenzeka kuphela xa umthwalo uphantsi," "isantya siyehla emva kweyure e-1 yokusebenza," kunye "nokusilela rhoqo kwenzeka xa ubushushu obuphakathi bunyuka." Ezi meko zinokunceda ekususeni izinto ezingadibaniyo (ezifana nempembelelo yobushushu obuphakathi kunye nokufuma kwizinto ze-elektroniki).

2. Ukusombulula iingxaki zeModyuli ngeModyuli enzulu: Ukusuka "kwiiCore Components" ukuya "kwiiAuxiliary Systems"

Ukusebenza kwerobhothi yomatshini wokubumba i-servo ene-axis ezintathu kuxhomekeke ekusebenzeni okudibeneyo "kwenkqubo ye-servo → isakhiwo soomatshini → inkqubo yolawulo → iinkqubo ezincedisayo." Ukusombulula iingxaki kufuna ukuqhaqhwa kwemodyuli nganye, ukuqinisekisa ukuthembeka kokusebenza kwekhonkco ngalinye nganye nganye.

A. Umthombo wamandla ongundoqo: Ukusombulula iingxaki zenkqubo yeServo (ezibangela iingxaki zokusebenza ezingaphezulu kwama-60%)

Inkqubo ye-servo "yintliziyo yamandla" yerobhothi, equlathe iinxalenye ezintathu: i-servo motor, i-servo drive, kunye ne-encoder. Nakuphi na ukungaqheleki kuyo nayiphi na into kuya kukhokelela ngokuthe ngqo ekuwohlokeni kokusebenza. Ukusombulula iingxaki kufuneka kulandele ingqiqo ethi "ukusuka kwi-drive ukuya kwi-motor, ukusuka kwisignali ukuya kwi-hardware": (1) I-Servo drive: qala ujonge "ikhowudi ye-alamu" uze uqinisekise "useto lweparameter"

Inyathelo 1: Funda ikhowudi ye-alamu: Iphaneli ye-servo drive iya kubonisa ikhowudi yempazamo (efana ne-"AL.E6" yothotho lweMitsubishi MR-J4 imele ukusilela kwe-encoder, kwaye i-"Err.11" yothotho lwePanasonic A6 imele umbane ogqithisileyo). Iingxaki ezisisiseko (ezifana nombane ogqithisileyo, umbane ogqithisileyo, ubushushu obugqithisileyo, kunye nokungaqhelekanga konxibelelwano lwe-encoder) zinokufunyanwa ngokuthelekisa nencwadana yemiyalelo yezixhobo.​

Inyathelo lesi-2: Jonga iiparameter eziphambili: Ukuba akukho zikhowudi ze-alamu kodwa ukusebenza kwayo kuyehla, gxila kwezi parameter zilandelayo:

Ukwanda kwe-loop yesikhundla (P Gain) kunye nokwanda kwe-loop yesantya (V Gain): Ukwanda okuphantsi kakhulu kuya kubangela impendulo ecothayo kwindawo kunye nokuphambuka okukhulu; ukuphinda okuphezulu kakhulu kunokubangela ukungcangcazela. Lungisa ngokwexabiso elicetyiswayo kwincwadi yesixhobo (ngokuqhelekileyo lungisa i-loop yesantya kuqala, uze emva koko utshintshe i-loop yesikhundla).

Umlinganiselo wegiya ye-elektroniki: Useto olungalunganga lomlinganiselo wegiya lunokubangela ukungalingani phakathi kwendawo elawulwayo nendawo yokwenyani (umzekelo, intshukumo esetiweyo ye-100mm kodwa yi-50mm kuphela). Qinisekisa ukuba umlinganiselo wegiya uhambelana nomlinganiselo wokudluliselwa koomatshini (njenge-ball screw lead).

Useto lomlinganiselo wangoku kunye nowe-torque: Ukuba i-drive ibekwe ngempazamo kwi-"current limit mode" okanye umda we-torque uphantsi kakhulu, amandla okukhupha injini aya kuba anele, nto leyo ekhokelela kwisantya esicothayo kunye nomthamo womthwalo ophantsi. Buyisela amaxabiso omda omiselweyo okanye uwasete kwakhona ngokusekelwe kwiimfuno zomthwalo.

B, Injini yeServo: Ukugweba "impilo yehardware" "kwimeko yokusebenza"

Ukuhlolwa kweemvakalelo: Xa imoto isebenza, chukumisa indawo yokubeka imoto ngesandla sakho (lumka ukuze ungatshi). Ukuba ubushushu budlula i-70℃ (ukunyuka okuqhelekileyo kobushushu bemoto ye-servo yi-≤40℃), kusenokwenzeka ukuba ikhoyili yemoto iyaguga, ibheri igugile, okanye umthwalo mkhulu kakhulu; mamela isandi sokusebenza kwemoto. Ukuba kukho isandi "sokubhonga" okanye "sokungqubana", kusenokwenzeka ukuba ibheri ayinayo ioyile okanye yonakele. Kuyimfuneko ukuyiqhaqha nokuhlola nokutshintsha ibheri (kucetyiswa ukusebenzisa iibheri ezingeniswe kwamanye amazwe zemodeli efanayo, njenge-NSK kunye ne-SKF).

Uvavanyo lokusebenza: Nqamla imoto kwindlela yokudlulisa (uvavanyo lokungathwali mthwalo). Ukuba isantya sokusebenza kwemoto kunye ne-torque ziqhelekile xa kungekho mthwalo, oko kuthetha ukuba impazamo ikwisiphelo somthwalo woomatshini; ukuba ayikaqheleki xa kungekho mthwalo, sebenzisa i-multimeter ukulinganisa ixabiso lokuxhathisa lokujija kwemoto okunezigaba ezintathu (ngokwesiqhelo, izigaba ezintathu kufuneka zilinganiswe, ngokuphambuka kwe-≤5%). Ukuba ukuxhathisa kwesigaba esinye akunasiphelo, oko kuthetha ukuba ukujija kwaphukile kwaye imoto kufuneka ilungiswe okanye itshintshwe.

C, Ikhowudi: Isiginali ethi "zero error" sisitshixo sokuchaneka kokubeka indawo.

I-encoder "liliso" lenkqubo ye-servo, enoxanduva lokubuyisela indawo yemoto kunye nemiqondiso yesantya. Imiqondiso engaqhelekanga iya kukhokelela ngokuthe ngqo ekuphambukeni kwindawo. Indlela yokusombulula iingxaki:

Ukuhlolwa komgca: Jonga umgca woqhagamshelo phakathi kwe-encoder kunye nomqhubi (ngesiqhelo intambo ekhuselweyo) ukuze ubone ukuba kukho izihlanganisi ezikhululekileyo, iintambo ezonakeleyo, okanye ukugalelwa kakubi komgangatho wophahla lophahla (ukuba umaleko wophahla awugalelwanga phantsi, uya kungenisa ukuphazamiseka kwe-electromagnetic kwaye ubangele ukuguquguquka kwesignali). Kucetyiswa ukuba uphinde ufake isihlanganisi kwaye utshintshe intambo eyonakeleyo.

Uvavanyo lweSignali: Sebenzisa i-oscilloscope ukulinganisa imiqondiso yesiphumo sesigaba se-A, B, kunye ne-Z se-encoder. Kwiimeko eziqhelekileyo, kufuneka ibe yisignali yewave yesikwere esizinzileyo. Ukuba kukho ukuphambuka kwe-waveform, ukulahleka kwe-pulse, okanye i-amplitude iphantsi kakhulu (ngaphantsi kwe-5V), oko kuthetha ukuba izinto zangaphakathi ze-encoder zonakele kwaye i-encoder yomzekelo ofanayo kufuneka itshintshwe (qaphela ukuba isisombululo se-encoder kufuneka sihambelane nomqhubi, njengeebhithi ezili-17 okanye iibhithi ezingama-23). 2. Ukuhanjiswa kwamandla kunye nokuhamba: Ukusombulula ingxaki yesakhiwo soomatshini (esingajongwa lula "umbulali ongabonakaliyo") Nokuba inkqubo ye-servo iqhelekile, ukuguguleka, ukuguquguquka okanye ukuguqulwa kwesakhiwo soomatshini kuya kukhokelela ekonakaleni kokusebenza, kuba intshukumo ye-manipulator kufuneka idluliselwe nge-"motor → coupling → ball screw / synchronous belt → guide rail slider", kwaye ukulahleka kwayo nayiphi na ikhonkco kuya kwenza buthathaka ukusebenza kakuhle kokudluliselwa kwamandla: (1) Indlela yokudluliselwa: gxila "ekugugulekeni" kunye "nokuxinana" I-Ball screw: Njengenxalenye yokudluliselwa kwe-core ye-X, Y, kunye ne-Z axes, ukuguguleka kwe-screw kuya kukhokelela "ekwandeni kwe-reverse clearance" (oko kukuthi, xa imoto ijikeleza kwicala elichaseneyo, i-manipulator ine-stroke engenanto), ebonakala njengokuphambuka kwindawo. Indlela yokuhlola: Sebenzisa i-dial indicator ukulungisa i-slider kwaye utyhale i-slider ngesandla. Ukuba i-dial indicator pointer itshintsha ngaphezulu kwe-0.05mm, kuthetha ukuba i-screw iguguleke kakhulu; kwangaxeshanye, jonga ukuba kukho imikrwelo, umhlwa okanye i-grease eyomileyo kumphezulu we-screw. Igrisi ekhethekileyo (njengegrisi esekwe kwi-lithium) kufuneka yongezwe rhoqo. Xa ukuguguleka kudlule umda, isikrufu kufuneka sitshintshwe (kucetyiswa ukuba ukhethe isikrufu sebhola esinobuchane bezinga le-C3 okanye ngaphezulu).
Ukudibanisa: Ukuba i-coupling edibanisa i-servo motor kunye ne-ball screw inee-cracks, i-elastomer igugile, okanye ukufakwa kwayo akuna-concentric, kuya kubangela ukudluliselwa kwamandla okungazinzi, ukuxinana okusebenzayo okanye ukuphambuka kwindawo. Indlela yokuhlola: Emva kokumisa umatshini, jika i-coupling ngesandla ukuze uve ukuba kukho na ukuxinana okanye ukuyekelela. Ukuba i-coupling kunye ne-motor shaft/screw shaft azina-concentric (ukuphambuka> 0.1mm), i-concentricity kufuneka ihlengahlengiswe.
Ibhanti ehambelanayo (ukuba ikhona): I-X-axis yezinye iirobhothi isebenzisa i-synchronous belt drive. Ukuba i-synchronous belt ikhululekile okanye umphezulu wezinyo unxityiwe, kuya kubangela "ukutyibilika", okuya kubonakala njengokwehla kwesantya kunye nokubekwa ngendlela engachanekanga. Indlela yokuhlola: Cinezela i-synchronous belt. Ukuba ukuphambuka kudlula i-10mm, kuthetha ukuba ikhululekile kakhulu kwaye i-tensioner kufuneka ilungiswe; ukuba umphezulu wezinyo ucacile ukuba unxityiwe okanye uqhekekile, i-synchronous belt kufuneka itshintshwe (kucetyiswa ukusebenzisa i-polyurethane synchronous belt, ekwaziyo ukumelana nokunxitywa).

(2) Iireli zesikhokelo kunye nezilayida: "Ubushelelezi" bumisela uzinzo lokusebenza

I-guide rail slider inoxanduva lokuxhasa iindawo ezihambayo zerobhothi. Ukuba ayithambisanga ngokwaneleyo okanye ayigugi, iya kwandisa ukumelana nokuhamba, nto leyo ekhokelela kwisantya esicothayo kunye nokuxinana.

Cinezela ngesandla isilayida ukuze uve ukuba akukho kuxhathisa okanye ukunamathela okubonakalayo. Ukuba kunjalo, qhaqha isilayida ukuze ujonge ukuba akukho kugqwetheka kwiibheringi zangaphakathi kunye neekheyiji zokugcina eziqhekekileyo. Coca naluphi na uthuli kunye nenkunkuma kumphezulu wereyile yesikhokelo kwaye ufake i-lubricant eyenzelwe ngokukodwa iireyile zesikhokelo (ezifana ne-ISO VG32).

Sebenzisa i-micrometer ukulinganisa ukufana kweereyile zesikhokelo. Ukuba ukuphambuka kokufana kudlula i-0.1 mm/m, amandla angalinganiyo aya kusetyenziswa kwisilayida ngexesha lokusebenza, okukhawulezisa ukuguguleka. Indawo yokufaka ireyile yesikhokelo kuya kufuneka ihlengahlengiswe.

Okwesithathu. Iziko lomyalelo kunye nempendulo: ukusombulula iingxaki zenkqubo yolawulo

Inkqubo yolawulo (kuquka i-PLC, iphaneli yokusebenza, i-sensor) inoxanduva lokuthumela imiyalelo yesenzo kunye nokufumana imiqondiso yempendulo. Ukuba kukho impazamo, iya kubangela "imiyalelo ayinakudluliselwa" okanye "ukuphazamiseka kwesignali yempendulo", okubonakaliswa njengokuwohloka kokusebenza:

(1) I-PLC kunye nenkqubo: "Ukuchaneka okunengqiqo" sisiseko

Jonga ukuba i-PLC inesalathisi se-alamu (njengokukhanya kwe-ERR okuvuliweyo). Ukuba kunjalo, funda ikhowudi yempazamo (njengokusilela kwemodyuli yokufaka/yokuphuma, impazamo yenkqubo) ngesoftware yokuprograma, kwaye ujonge ukuba umgca wonxibelelwano phakathi kwe-PLC kunye ne-servo drive kunye ne-sensor (njenge-RS485, umgca wonxibelelwano we-EtherCAT) awukhululekile. Qinisekisa ingqiqo yenkqubo: Ukuba inkqubo ye-PLC itshintshiwe kutshanje, kuyimfuneko ukuthelekisa inkqubo yogcino ukuze ujonge ukuba kukho iingxaki ezinje "ngokulibaziseka komyalelo" kunye "nempazamo yolandelelwano lwesenzo" (umzekelo, ukwenza umyalelo onyukayo ngaphambi kokuba isenzo sokubamba sigqitywe). Inkqubo yokuqhutywa kwenkqubo ingaqinisekiswa inyathelo ngenyathelo ngemo ye "single step run".

(2) Inzwa: "Ukuchaneka kwesignali" ngundoqo kwimpendulo

Izinzwa eziqhelekileyo ezisetyenziswa kwiimanipulators ziquka izinzwa zendawo (ezifana nezitshintshi ze-photoelectric, izitshintshi zokusondela) kunye nezinzwa zoxinzelelo (ezifana nezinzwa zoxinzelelo lwe-gripper). Ukuba isignali yesinzwa ayiqhelekanga, iya kukhokelela ekugwebeni gwenxa kwesenzo:

Isenzi sendawo: Jonga ukuba indawo yokufakela isenzi ivaliwe na (njengokuba iswitshi ye-photoelectric ayihambelani nendawo yokufumanisa ekujoliswe kuyo), sebenzisa i-multimeter ukulinganisa isignali yokuphuma kwesenzi (njengesenzi se-NPN type, esikhupha inqanaba eliphantsi ngexesha lokufumanisa). Ukuba isignali ayitshintshi okanye iyatshintshatshintsha, lungisa indawo yokufakela okanye utshintshe isenzi.

Isenzi soxinzelelo: Ukuba igripha iqhutywa ngomoya, isenzi soxinzelelo sinoxanduva lokufumanisa uxinzelelo lwegripha. Ukuba ixabiso loxinzelelo liphantsi kunexabiso elimiselweyo (njengexabiso elimiselweyo le-0.5MPa, ixabiso lokwenyani yi-0.3MPa), igripha ayinamandla aneleyo okubamba, nto leyo eya kubangela ukuba imveliso iwe. Kubalulekile ukujonga ukuba uxinzelelo lomthombo womoya luqhelekile na (ngesiqhelo uxinzelelo lomthombo womoya kufuneka lube yi-≥0.6MPa) kwaye nokuba isenzi silinganisiwe na (ixabiso lokukhupha isenzi linokulinganiswa kusetyenziswa igeyiji yoxinzelelo eqhelekileyo).

Okwesine. Inkqubo yokuncedisa: Ukusombulula iingxaki zombane/zomoya kunye nombane (ezijongwa lula "njengeendima zokuxhasa")

(1) Inkqubo ye-pneumatic/hydraulic (ukuba inee-grippers okanye ii-actions ezincedisayo)

Inkqubo yomoya: Jonga ukuba uxinzelelo lwe-air compressor luqhelekile na, ukuba umbhobho womoya uyavuza na, nokuba ivalvu ye-solenoid ibambekile na (ivalvu ye-solenoid ingasuswa ukuze kucocwe umongo wevalvu). Ukuba amandla okubamba egripper awanelanga, jonga ukuba isitywina sesilinda sigugile na (tshintsha isitywina) kwaye ukuba ivalvu elawula uxinzelelo ilungisiwe kuxinzelelo oluchanekileyo (ngesiqhelo yi-0.4-0.6MPa). Inkqubo ye-hydraulic (esetyenziswa zii-manipulators ezimbalwa ezisebenza nzima): Jonga ukuba inqanaba leoyile ye-hydraulic lingaphakathi koluhlu oluqhelekileyo, nokuba ioyile yonakele na (ukuba ioyile imdaka okanye iqulethe ukungcola, tshintsha ioyile ye-hydraulic kwaye ucoce i-filter element), kwaye nokuba uxinzelelo lwepompo ye-hydraulic luqhelekile na. Ukuba uxinzelelo alwanele, jonga ukuba umzimba wepompo ugugile na okanye ivalvu yokugcwala ayilungile.

(2) Inkqubo yokubonelela ngombane: "Umbane ozinzileyo" yimfuneko yokusebenza kwezixhobo.

Jonga ukuba i-voltage yombane (efana ne-AC220V, i-DC24V) ye-servo drive, i-PLC, kunye ne-sensor izinzile na. Sebenzisa i-multimeter ukulinganisa ukuba ukutshintshatshintsha kwe-voltage kudlula na ±5% (i-voltage ephantsi kakhulu iya kubangela ukuba i-torque inganeli kwi-servo motor, kwaye i-voltage ephezulu kakhulu iya kutshisa izinto ze-elektroniki).

Jonga ukuba akukho zimpawu zokutsha kwiswitshi yomoya kunye necontactor kwibhokisi yokusasaza. Ukuba izihlanganisi zinyibilikisiwe, kufuneka kusetyenziswe iphepha lokusila ukupolisha okanye ukutshintsha izinto ukuze kuthintelwe ukuphazamiseka kombane ngenxa yokunxibelelana okubi.

3. Ukuqinisekiswa kwesizathu sempazamo: Sebenzisa "indlela yokutshintsha" kunye "no-load test" ukuqinisekisa unobangela oyintloko.

Emva kokutshixa indawo ekrokrelwayo yempazamo ngokusombulula ingxaki yemodyuli nganye, unobangela wempazamo kufuneka uqinisekiswe ngovavanyo lokuqinisekisa ukuze kuthintelwe ukugwetywa gwenxa:

1. Indlela yokutshintsha: Qinisekisa ngokukhawuleza umgangatho wezinto ezikhoyo.

Ukuba kurhanelwa ukuba i-servo motor inesiphako, yitshintshe nge-motor eqhelekileyo yohlobo olufanayo. Ukuba ukusebenza kwayo kubuyiselwa emva kokutshintshwa, oko kuthetha ukuba i-motor yokuqala yonakele. Ukuba kurhanelwa ukuba i-encoder inesiphako, tshintsha intambo ye-encoder okanye i-encoder ukuze ubone ukuba isignali ibuyela kwisiqhelo na. Ukuba kurhanelwa ukuba i-sensor ayisebenzi kakuhle, tshintsha i-sensor kwindawo eqhelekileyo (njengeswitshi ye-photoelectric eyongezelelweyo) nge-sensor ekrokrelwayo enesiphako. Ukuba isignali iqhelekile, i-sensor yokuqala yonakele.

2. Uvavanyo lokuthelekisa olungenamthwalo xa kuthelekiswa nolulayishiweyo
Uvavanyo lokungathwali mthwalo: Nqamula irobhothi kumthwalo (njengegripper okanye imveliso) kwaye usebenzise i-axis nganye. Ukuba ukusebenza kuqhelekile (isantya kunye nokuchaneka kwendawo kuhambelana nemigangatho) xa kungekho mthwalo, ingxaki ikumthwalo (njengegripper ebambekileyo okanye imveliso etyebileyo). Ukuba ukungaqhelekanga kuyaqhubeka xa kungekho mthwalo, ingxaki ikukwinkqubo ye-servo okanye ulwakhiwo loomatshini.
Uvavanyo lomthwalo: Emva kokuba uvavanyo lokungathwali mthwalo luqhelekile, yonyusa umthwalo kancinci kancinci (uqala kwi-50% yomthwalo olinganisiweyo) kwaye ujonge utshintsho lokusebenza. Ukuba kukho ukungaqheleki xa umthwalo ufikelela kwixabiso elilinganisiweyo, jonga ukuba i-torque yemoto ye-servo iyahambelana na kwaye ingaba indlela yokudlulisa iyakwazi na ukumelana nomthwalo (umzekelo, ukuba umlinganiselo womthwalo oguqukayo wesikrufu sebhola uyahlangabezana neemfuno).

4. Ukugcinwa Kokuthintela: Ukusuka "Kukulungiswa Kokusabela" ukuya "Kuthintelo Olusebenzayo"

Emva kokusombulula ingxaki ekhoyo ngoku, ukumisela inkqubo yokulungisa izinto ezithintelayo kunokuthintela ngempumelelo ukonakala komsebenzi werobhothi kwaye kwandise ubomi benkonzo yesixhobo:

Ukuthambisa rhoqo: Yongeza igrisi ekhethekileyo kwi-screw yebhola kunye neereyile zesikhokelo veki nganye, kwaye ujonge igrisi eyomileyo nyanga zonke ukuthintela ukuguguleka okubangelwa kukungqubana okomileyo.

Uhlengahlengiso Oluqhelekileyo: Lungisa ukuchaneka kwendawo kunye nokuphindaphinda kwe-axis nganye ngekota usebenzisa i-laser interferometer. Ukuba ukuphambuka kudlula umgangatho, lungisa iiparameter zokufumana i-servo okanye ufake ezinye iindawo ezigugileyo ngokukhawuleza.

I-Parameter Backup: Yenza i-backup yenkqubo ye-PLC kunye nee-servo drive nyanga zonke ukuthintela ukungasebenzi kakuhle kwezixhobo ngenxa yokulahleka kwe-parameter.

Ulawulo Lokusingqongileyo: Gcina indawo yokusebenza icocekile kwaye yomile ukuze irobhothi ithintele uthuli kunye neoyile ukuba ingangeni kwi-servo motor okanye kwi-encoder. Gcina ubushushu obuphakathi kwe-0 kunye ne-40°C (ubushushu obuphezulu bukhawulezisa ukuguga kwezinto ze-elektroniki).

Uqeqesho lwaBasebenzi: Ukubonelela ngoqeqesho kubaqhubi kunye nabasebenzi bokulungisa ukuthintela ukwehla kokusebenza okubangelwa kukusebenza gwenxa (njengokutshintsha ngokuchanekileyo iiparameter ze-servo okanye ukulayisha ngaphezulu).

Isiphelo
Isitshixo sokuvavanya ukuwohloka kokusebenza kwerobhothi yomatshini wokubumba i-servo ene-axis ezintathu sikwingxaki ecwangcisiweyo kunye nenkxaso yedatha. Okokuqala, chonga ingxaki usebenzisa iimpawu kunye nedatha, uze uyihlukanise ngokulandelelana "kwenkqubo ye-servo → isakhiwo soomatshini → inkqubo yolawulo → inkqubo yokuncedisa." Okokugqibela, qinisekisa unobangela ngokutshintsha kunye novavanyo oluthelekisayo. Ukuqonda le ndlela akuvumeli kuphela ukusonjululwa ngokukhawuleza kwengxaki ekhoyo kodwa kunciphisa amathuba okungaphumeleli ngokugcinwa kokuthintela, ukuqinisekisa ukusebenza okuzinzileyo komgca wokubumba inaliti.