Izalathisi zoBugcisa eziphambili kunye nezinto ekufuneka uziqwalasele xa uthenga iiRobhothi zeServo ezinee-Axis ezintathu

Izalathisi zoBugcisa eziphambili kunye nezinto ekufuneka uziqwalasele xa uthenga iiRobhothi zeServo ezinee-Axis ezintathu

Kwixesha lokwenziwa kwezinto ngokuzenzekelayo kwimizi-mveliso, iirobhothi ze-servo ezinee-axis ezintathu, ngenxa yezakhono zazo zokubeka izinto ngokuchanekileyo, ukusebenza kakuhle, kunye nokuguquguquka, ziye zaba yimpahla exabisekileyo kumashishini amaninzi, kubandakanya ukwenziwa kwezinto ze-elektroniki, izixhobo zeemoto, kunye nokuhanjiswa kwezinto. Kubathengi bamazwe ngamazwe, abajongene neentlobo ngeentlobo zeemveliso kunye neenkcukacha ezahlukeneyo kwimarike, ukuvavanya ngokuchanekileyo izalathisi zobugcisa eziphambili kunye nokukhetha izixhobo ezihlangabezana neemfuno zabo zemveliso ngelixa ukulinganisela ukusebenza kakuhle kweendleko kunye nokuthembeka kubalulekile ekwenzeni ngcono iinkqubo zemveliso kunye nokufezekisa imbuyekezo yexesha elide kutyalo-mali. Eli nqaku liza kubonelela ngohlalutyo olunzulu lwezalathisi zobugcisa eziphambili zeerobhothi ze-servo ezi-axis ezintathu kwaye babelane ngezinto ezisetyenziswayo zokuthenga ukuze banike isalathiso kubathengi behlabathi.

I. Izalathisi Zokusebenza Eziphambili: "Amandla Anzima" Amisela Ukuchaneka Nokusebenza Kakuhle

Izalathi zokusebenza eziphambili "zingumphefumlo" werobhothi ye-servo ene-axis ezintathu, egqiba ngokuthe ngqo ukuba ingahlangabezana neemfuno zemveliso eziphambili ezifana nokuchaneka kunye nesantya, kwaye zezona khrayitheriya ziphambili zovavanyo ngexesha lokuthenga.

(I) Ukubeka Indawo ngokuchanekileyo kunye nokuphinda-phinda

Ukuchaneka kokubeka indawo kubhekisa ekuphambukeni phakathi kwee-coordinates zokwenyani ze IrobhothiI-end-effector xa ifikelela kwindawo ethile ekujoliswe kuyo kunye nee-coordinates zayo zethiyori, eziqhele ukulinganiswa ngeemilimitha (mm) okanye ii-microns (μm). Ukuphindaphinda kubhekisa kwinqanaba lokusasazeka kwindawo ye-end-effector xa irobhothi ifikelela ngokuphindaphindiweyo kwindawo efanayo ekujoliswe kuyo. Ezi metric zimbini zibalulekile ekulinganiseni ukuchaneka kokusebenza kwerobhothi kwaye zibaluleke kakhulu kwizicelo ezifuna ukuchaneka okuphezulu kakhulu, njengokuhlanganiswa kwezixhobo ze-elektroniki kunye nokuwelda ngokuchanekileyo.

Ngokubanzi, iirobhothi ze-servo ezine-axis ezintathu eziphezulu zinokufikelela ekuphindaphindweni kwe-±0.01mm, ngelixa iimveliso eziqhelekileyo zezinga loshishino zihlala ziqala kwi-±0.05mm ukuya kwi-±0.1mm. Xa uthenga, qwalasela iimfuno ezithile zenkqubo. Umzekelo, kwimisebenzi yokupakisha iitshiphusi, iimveliso ezinokuphindaphindwa kwe-≤±0.02mm ziyathandwa; kwizicelo zokuphatha iibhokisi eziqhelekileyo, ukuchaneka kwe-±0.1mm kwanele. Kwangaxeshanye, kubalulekile ukuqaphela izinto ezifunekayo kwiinkcukacha. Abanye abavelisi bachaza ukuchaneka phantsi "kweemeko ezingenamthwalo," kodwa ukuchaneka kunokuncipha phantsi komthwalo wokwenyani. Ke ngoko, ababoneleli kufuneka bacelwe ukuba banike idatha yokwenyani elinganisiweyo phantsi komthwalo.

(II) Isantya sokuSebenza kunye nokuKhawulezisa

Isantya sokusebenza siquka isantya esiphezulu sokusebenza se-axis nganye kunye nesantya esidibeneyo se-effector yokugqibela. Ukukhawulezisa kubonisa amandla erobhothi okutshintsha ukusuka ekumeni ukuya kwisantya esiphezulu okanye ngokuchaseneyo. Zimbini ezi zinto zimisela ukusebenza kakuhle kwerobhothi. Kwiimeko zemveliso yobuninzi, isantya esiphezulu kunye nokukhawulezisa kuthetha amaxesha amafutshane omjikelo, nto leyo enyusa ngokuthe ngqo imveliso yomgca wemveliso.

Iimfuno zesantya see-axes ezahlukeneyo kufuneka zihambelane ngokufanelekileyo ngokusekelwe kwindlela yokusebenza. Umzekelo, i-X-axis (ethe tye) idla ngokujongana nemisebenzi yokuthutha umgama omde kwaye ifuna isantya esiphezulu; i-Z-axis (ethe tye) idla ngokubandakanyeka kwimisebenzi yokukhetha nokubeka ngokuchanekileyo kwaye ifuna ukukhawulezisa okuzinzileyo. Xa uthenga, kuphephe ukulandela "isantya esiphezulu" ngokungaboniyo kwaye endaweni yoko uvavanye ngokupheleleyo uluhlu lokusebenza. Ukuba uluhlu lufutshane, isantya esiphezulu kakhulu sinokubangela ukuba irobhothi ikhawuleze kwaye yehle rhoqo, nto leyo echaphazela kakubi ukusebenza kakuhle kunye nobomi bezixhobo. Ngaphezu koko, kufuneka kunikwe ingqalelo kubuchule bezixhobo bokulawula ukungcangcazela ngexesha lokusebenza ngesantya esiphezulu. Ukungcangcazela okugqithisileyo kunokuchaphazela ukuchaneka kokubeka kwaye kunokunyusa ukuguguleka kwizixhobo zoomatshini.

(III) Umthamo woMthwalo

Umthamo womthwalo ubhekisa kubunzima obukhulu obunokuthwala isixhobo sokugqibela serobhothi, kubandakanya ubunzima obudibeneyo begripha, isixhobo somsebenzi, kunye nezinye izinto ezincamathiselweyo. Umthamo womthwalo onganeleyo unokukhokelela ekuchanekeni okuncinci kunye nesantya, kwaye unokubangela ukungaphumeleli okufana nokuxinana kwemoto kunye nokuguquguquka koomatshini. Umthamo womthwalo ogqithisileyo, kwelinye icala, unokukhokelela ekukhetheni izixhobo ezingafunekiyo, ukonyusa iindleko zokuthenga kunye nokusetyenziswa kwamandla.

Xa uthenga, kubalulekile ukubala ngokuchanekileyo umthwalo wokwenyani: kuqala umisele ubunzima obukhulu besixhobo somsebenzi, uze ukhethe isixhobo sokugquma esifanelekileyo (umz., isixhobo sokugquma esinomoya, isixhobo sokugquma sombane, njl.njl.) ngokusekwe kwiimfuno zomsebenzi. Bala ubunzima besixhobo sokugquma kunye neziqhoboshelo (umz., izixhobo zokubona, iikomityi ze-vacuum), kwaye uvumele umda wokhuseleko we-10%-20% ukubala ukutshintshatshintsha komthwalo okungalindelekanga. Kwangaxeshanye, kubalulekile ukuqaphela ulwalamano phakathi komthamo womthwalo kunye nesantya sokusebenza. Isantya esiphezulu serobhothi enye phantsi kwemithwalo eyahlukeneyo siya kwahluka. Okukhona umthwalo umkhulu, kokukhona umda wesantya esiphezulu uphantsi. Ababoneleli badla ngokubonelela ngee-curves "zesantya somthwalo", ezinokusetyenziselwa ukuqinisekisa ukuba izixhobo zinokuhlangabezana neemfuno zokusebenza eziguqukayo ngexesha lokuthenga.

II. Izalathisi Zokuhambelana: Ukuqinisekisa Ukuhlanganiswa Okungenamthungo Kwezixhobo Neemeko Zemveliso

Ukuhambelana kwerobhothi ye-servo ene-axis ezintathu kuchaphazela ngokuthe ngqo amandla ayo okudibana nemigca yemveliso ekhoyo, kunciphisa utyalo-mali oluhambelanayo kwaye kuvumela ukuqaliswa kwemveliso ngokukhawuleza. Oku kuqwalaselwa kokuhambelana okubalulekileyo ngexesha lokuthenga.

(I) Uluhlu lokuHamba

Uluhlu lokuhamba lubhekisa kumgama ophezulu kwi-axis nganye ye Itini yeRobhothi ukuhamba, okumisela uluhlu lwesithuba sokugubungela kwayo ukusebenza. Uluhlu lokuhamba lwerobhothi ye-servo ene-axis ezintathu ludla ngokubonakaliswa njengomgama ophezulu wokuhamba we-X-axis (ethe tye), i-Y-axis (ethe nkqo), kunye ne-Z-axis (ethe nkqo). Xa uthenga, uluhlu lokuhamba kufuneka lumiselwe ngokusekelwe kwizinto ezifana noyilo lwezikhululo zemveliso, umgama wokuphatha izinto zokusebenza, kunye nendawo yokufaka izixhobo. Umzekelo, ekuphatheni phakathi kwamacala amabini omgca wokuhlanganisa, uhambo lwe-X-axis kufuneka lugubungele ububanzi bomgca kunye nomgama osecaleni wento yokusebenza ephathwayo. Kwi-racking yamanqanaba amaninzi, uhambo lwe-Z-axis kufuneka luhlangabezane nokuphakama kweshelufu kunye nokuphakama okufunekayo kokulayisha nokukhulula. Ukuhamba okunganelanga kuthintela irobhothi ekugubungeleni ngokupheleleyo indawo yokusebenza yonke; ukuhamba kakhulu kwandisa iindleko zezixhobo kunye nokuthengwa. Kucetyiswa ukuba uzobe uyilo oluneenkcukacha lwendawo yokusebenza ngaphambi kokuthenga, uchaze ngokucacileyo uhambo oluncinci olufunekayo kwi-axis nganye kwaye uvumele umda owaneleyo wokulungisa ukulungiselela ukulungiswa okulandelayo komgca wemveliso.

(II) Iindlela zoFakelo kunye nobukhulu beNdawo

Iirobhothi ze-servo ezinee-axis ezintathu zingafakelwa ngeendlela ezintathu eziphambili: ukuma phantsi, ukufakelwa eludongeni, kunye nokujika. Iimfuneko zendawo yokufakelwa ngakunye ziyahluka kakhulu. Ukufakelwa okuma phantsi kufuna indawo yomgangatho kodwa kunika amandla aphezulu okuthwala umthwalo. Ukufakelwa okufakwe eludongeni kunye nokujika kugcina indawo yomgangatho kwaye kufanelekile kwiindawo zokusebenzela ezincinci, kodwa zifuna amandla aphezulu okuthwala umthwalo eludongeni okanye eluphahleni. Xa uthenga, kubalulekile ukucacisa kuqala imida yendawo yokufakela: ezi ziquka amandla okuthwala umthwalo womgangatho/udonga/isilingi, ubude, ububanzi, kunye nokuphakama kwendawo yokufakela, kunye noyilo lwezixhobo ezingqongileyo (ezifana nezixhobo zoomatshini kunye nee-conveyors). Kwakhona, qwalasela ubukhulu berobhothi, ngakumbi xa usebenza kwiindawo ezixineneyo. Ezi ziquka i-radius yokujikeleza kwerobhothi kunye nendawo ephezulu ethathwa yi-axis nganye xa inwebeka kwaye ijika. Qinisekisa ukuba izixhobo aziyi kungqubana nezinto ezingqongileyo ngexesha lokusebenza. Kucetyiswa ukuba ucele imodeli ye-3D okanye imizobo eneenkcukacha yezixhobo kumthengisi, kwaye wenze uqinisekiso loyilo olulinganisiweyo olusekwe kwindawo yemveliso.

(III) Ujongano lweSiphumo soMsebenzi

I-end-effector (igripha, indebe yokufunxa, njl.njl.) yinxalenye yerobhothi enxibelelana ngqo ne-workpiece. Ukuguquguquka kunye nokuhambelana kwe-interface yayo kumisela ukuba izixhobo zinokuthwala iintlobo ezahlukeneyo ze-end-effectors kwaye zihlangabezane neemfuno ezahlukeneyo zokusebenza. Iintlobo ze-interface eziqhelekileyo ziquka ii-flanges ezisemgangathweni, ii-pneumatic interfaces, kunye nee-electric interfaces. Ii-standard flanges (ezifana nee-ISO standard flanges) zezona zikhethwa kakhulu ngenxa yokuzivumelanisa nazo. Xa uthenga, qinisekisa iinkcukacha ze-interface, ezifana nobubanzi be-flange, indawo yokufaka umngxuma, kunye nobukhulu be-pin, ukuqinisekisa ukuhambelana nee-end effectors ezikhoyo okanye ezicwangcisiweyo. Ukuba kufuneka utshintsho rhoqo lwe-end effector ngexesha lokuvelisa (umz., xa kusetyenzwa ngaxeshanye ii-workpieces zeemilo ezahlukeneyo), amandla e-interface okutshintsha ngokukhawuleza iimodeli nawo abalulekile. Ezinye izixhobo eziphezulu zixhotyiswe ngeenkqubo zokutshintsha izixhobo ngokuzenzekelayo, ezinokunciphisa kakhulu ixesha lokutshintsha. Ngaphezu koko, cinga ngomthamo wokuthwala umthwalo we-interface ukuqinisekisa ukuba inokuxhasa ngokuzinzileyo ubunzima obudibeneyo be-end effector kunye ne-workpiece.

III. Ukuthembeka kunye nozinzo: "Ilitye lembombo" lokusebenza ixesha elide

Imveliso yemizi-mveliso ibeka iimfuno eziphezulu kakhulu kwizixhobo zokusebenza rhoqo. Ukuthembeka nokuzinza kwerobhothi ye-servo ene-axis ezintathu kuchaphazela ngokuthe ngqo ixesha lokungasebenzi komgca wemveliso kunye neendleko zokugcinwa, kwaye kubalulekile ekumiseleni ukusebenza kakuhle kwezixhobo ixesha elide.

(I) Uqwalaselo lweNkqubo yeServo

Inkqubo ye-servo "yi-power core" yerobhothi ye-servo ene-axis ezintathu, equlathe i-servo motor, i-servo drive, kunye ne-encoder. Ukusebenza kwayo kumisela ngokuthe ngqo ukuchaneka kokusebenza kwerobhothi, isantya, kunye nokuzinza. Xa uthenga, gxila kwiimpawu zamandla kunye ne-torque ye-servo motor, isantya sempendulo ye-servo drive kunye nokwaliwa kokuphazamiseka, kunye nesisombululo se-encoder (esimisela ukuchaneka kokubeka). Iimpawu eziphambili ze-servo motor ezifana nePanasonic, iMitsubishi, kunye neSiemens zibonelela ngoqinisekiso olukhulu lokuzinza kunye nokuqina. Isisombululo se-encoder sidla ngokubonakaliswa kwimigca; okukhona inani lomgca liphezulu, kokukhona indawo ichanekileyo. Iirobhothi zeShishini Ngokwesiqhelo zisebenzisa ii-encoders ezinemigca eli-1000 nangaphezulu, ngelixa usetyenziso oluchanekileyo kakhulu lufuna ii-encoders ezinemigca engama-2000 nangaphezulu. Ukongeza, kubalulekile ukuqinisekisa ukuba inkqubo ye-servo ineempawu zokukhusela ezigqithisileyo, ezigqithisileyo, kunye nobushushu obugqithisileyo, njengoko ezi zinokunciphisa ngempumelelo umngcipheko wokusilela kwezixhobo.

(II) Ulwakhiwo lweMishini kunye nezixhobo

Uyilo lwesakhiwo soomatshini kunye nokukhethwa kwezinto ezisetyenziswayo kuchaphazela ukuqina, ukumelana nokuguguleka, kunye nobomi benkonzo yerobhothi. irobhothi ye-servo ene-axis ezintathu Ngokuyintloko ibandakanya izinto ezifana nezikhokelo ezithe ngqo, izikrufu zebhola, kunye nezibiyeli. Izikhokelo ezithe ngqo kunye nezikrufu zebhola zizinto eziphambili zokuhambisa, kwaye ukuchaneka kwazo kunye nokumelana nokuguguleka kumisela ngokuthe ngqo ukuchaneka kokusebenza kwerobhothi kunye nobomi benkonzo. Xa uthenga, nikela ingqalelo kuhlobo lwesikhokelo esithe ngqo (ezifana nezikhokelo zebhola okanye izikhokelo zeroli, ezi zokugqibela zinika amandla amakhulu okuthwala umthwalo) kunye nomgangatho wokuchaneka kwayo; intambo yesikrufu sebhola (esichaphazela isantya sokusebenza), umgangatho wokuchaneka kwayo, kunye nokuba inomatshini wokulayisha kwangaphambili (osusa umva kwaye uphucule ubulukhuni). Ngokuphathelele izixhobo, izinto ezithwala umthwalo ezifana nezibiyeli kufuneka zenziwe nge-alloy ye-aluminium enamandla aphezulu okanye intsimbi, kunye nonyango lomphezulu olufana nokudiza kunye nokucima ukonyusa ukugqwala kunye nokumelana nokuguguleka. Kwakhona, jonga ukuchaneka kokuhlanganiswa kwezinto zoomatshini, ezifana nokuhambelana kunye nokuma kwee-axes. Ukuchaneka kokuhlanganiswa okunganelanga kunokukhokelela ekubambezelekeni kokusebenza, ukuchaneka okunciphileyo, kunye nokunyuka kokuguguleka kwecandelo.

(III) Ixesha Eliphakathi Phakathi Kokusilela (MTBF) kunye Nokulula Kokugcinwa

Ixesha Eliphakathi Phakathi Kokusilela (i-MTBF) luphawu olubalulekileyo lobungakanani bokuthembeka kwezixhobo, oludla ngokubonakaliswa kwiiyure. Ixabiso eliphezulu libonisa amathuba aphantsi okusilela. Iirobhothi ze-servo ezizii-three-axis eziqhelekileyo zihlala zine-MTBF engaphezulu kweeyure ezili-10,000, kunye neemveliso eziphezulu ezifikelela kwiiyure ezingama-20,000. Xa uthenga, cela ingxelo ye-MTBF kwiarhente yovavanyo yomntu wesithathu ukuze uphephe ukuthembela kuphela kwidatha yokukhuthaza yomenzi.

Ukulungiswa lula kubaluleke ngokulinganayo, kuchaphazela ukusebenza kakuhle kunye neendleko zokulungisa emva kokusilela kwezixhobo. Xa uthenga, cinga ngoyilo lokugcinwa kwezixhobo: nokuba izinto eziphambili (ezifana nee-guides kunye nezikrufu ze-lead) zithambisa kwaye zicocwe lula, nokuba inkqubo yokuxilonga iimpazamo ifakiwe (ukufumana ngokukhawuleza indawo apho ziphosakele khona), nokuba iindawo ezigugileyo (ezifana nezitywini kunye neebheringi) zinokutshintshwa lula na, kunye nokuba umthengisi unikezela ngokubonelela okwaneleyo kwezixhobo ezingasetyenziswayo. Ngaphezu koko, qonda iimfuno zokugcinwa kwezixhobo zemihla ngemihla (ezifana nexesha lokuthambisa kunye nokuphindaphinda kokucoca) kwaye uvavanye ukuba umthwalo wokugcinwa ungaphakathi kwamandla akho okusebenza.

IV. Izalathisi zobukrelekrele kunye nokuKhula: "Amathuba" okuZiqhelanisa noPhuculo lweMveliso yexesha elizayo

Ngokuhambela phambili kwe-Industry 4.0, ubukrelekrele kunye nokukhula kube zizibonakaliso ezibalulekileyo zokukhuphisana kwezixhobo. Xa uthenga, cinga ngeemfuno zangoku kunye namathuba okuphucula kwixesha elizayo ukuze uphephe ukuphelelwa lixesha ngokukhawuleza.

(I) Inkqubo yoLawulo kunye neNkqubo

Inkqubo yolawulo "yingqondo" yerobhothi, emisela ukuba kulula ukuyisebenzisa kunye nokukhula kwayo okusebenzayo. Iinkqubo zolawulo eziphambili zisebenzisa ii-PLC okanye abalawuli bokuhamba abazinikeleyo, abaxhasa ulawulo lonxibelelwano olune-axis ezininzi kunye nocwangciso oluntsonkothileyo lwendlela (njengokuhamba okuthe ngqo, okujikelezayo, kunye nokushukuma okuthe ngqo). Xa uthenga, cinga ukuba ingaba ujongano lomsebenzisi wenkqubo yolawulo lucacile kwaye kulula ukuliqonda, nokuba luxhasa iilwimi ezininzi (ingakumbi kubathengi bamazwe ngamazwe, ujongano lwesiNgesi luyimfuneko esisiseko), kwaye nokuba lunamandla okugcina idatha kunye nokuthumela ngaphandle (ukulungiselela ukulandelelwa kwedatha yemveliso).

Iindlela zokucwangcisa ziquka ukufundisa ngaphakathi kunye nokucwangcisa ngaphandle kweintanethi. Ukufundisa ngaphakathi kulungele iindlela ezilula zokusebenza, okunika lula ukuyisebenzisa kwaye akufuneki ulwazi olukhethekileyo lwenkqubo. Ukucwangcisa ngaphandle kweintanethi kufanelekile kucwangciso oluntsonkothileyo lwendlela, okuvumela ukwenziwa kwenkqubo ukuba kugqitywe kwikhompyutha kwaye kungeniswe kwizixhobo ngaphandle kokuphazamisa imisebenzi yomgca wemveliso. Ukuba imveliso ibandakanya iindlela ezininzi zokusebenza ezinzima, kuyacetyiswa ukuba kukhethwe inkqubo yolawulo exhasa ukwenziwa kwenkqubo ngaphandle kweintanethi. Ukongeza, kubalulekile ukuqinisekisa ukuba inkqubo yolawulo ixhasa uphuhliso lwesibini ukuhlangabezana neemfuno ezilandelayo zokwenza ngokwezifiso.

(II) Iindlela zoNxibelelwano kunye neZakhono zokuNxibelelana ngeDatha

Kwimigca yemveliso ekrelekrele, iirobhothi kufuneka zitshintshiselane ngedatha kwaye zisebenzisane nee-PLC, iinkqubo ze-MES, kunye nezinye izixhobo ezizenzekelayo. Ke ngoko, ubutyebi kunye nokuhambelana kweendawo zonxibelelwano kubalulekile. Iindawo zonxibelelwano eziqhelekileyo ziquka i-Ethernet (iiprotokholi ze-Ethernet zezimboni ezifana ne-EtherNet/IP kunye ne-Profinet), ii-RS485, kunye nee-interfaces ze-I/O. Xa uthenga, qinisekisa ukuba indawo yonxibelelwano yezixhobo iyahambelana na nenkqubo yolawulo lomgca wemveliso okhoyo. Umzekelo, ukuba umgca wemveliso usebenzisa i-Siemens PLC, qinisekisa ukuba irobhothi ixhasa iprotokholi ye-Profinet. Kwakhona, nikela ingqalelo kwixesha langempela kunye nokuzinza kokutshintshiselana kwedatha. Ukusebenza okungonelanga ngexesha langempela kunokukhokelela ekubambezelekeni kokulungelelaniswa kwezixhobo, okuchaphazela ukusebenza kakuhle kwemveliso. Kwiinkampani eziceba ukwakha i-intanethi yezimboni, kubalulekile ukuqinisekisa ukuba izixhobo ziyazixhasa na iimpawu ezifana ne-OTA (uhlaziyo lwasemoyeni) kunye nokubeka esweni kude, okuvumela ukusebenza, ukugcinwa, kunye nolawulo kude.

(III) Ubungakanani bokusebenza

Iimfuno zemveliso zinokutshintshatshintsha ngokweendlela zemarike, kwaye ukuguquguquka kokusebenza kwerobhothi kumisela ukulungelelaniswa kwayo nokuphuculwa kwemveliso kwixesha elizayo. Xa uthenga, cinga ukuba izixhobo ziyayixhasa na ulawulo olongezelelweyo lwe-axis (umzekelo, ukuba kufuneka lwandiswe lube yirobhothi ene-axis ezine okanye ezintlanu), nokuba ingalungiselelwa na kwiinkqubo zokubona (ukuze kuchongwe ngokuchanekileyo umsebenzi kunye nokubekwa), kunye neenkqubo zokuphendula ngenkani (kwimisebenzi yokuhlanganisa ngokuchanekileyo).

Kwakhona, qinisekisa ukuba umthamo womthwalo wezixhobo kunye nomgama wokuhamba ziyakuvumela na ukuphuculwa. Umzekelo, ukuba ibracket inokwandiswa kwaye yolulwe, kwaye ingaba inkqubo ye-servo inokulungiswa kwimithwalo emikhulu ngokuphuculwa kweeparameter. Izixhobo ezinokulinganiswa okuhle zinokunciphisa ngokufanelekileyo iindleko zotyalo-mali zokuhlaziywa komgca wemveliso olandelayo kwaye zandise ubomi bezixhobo.

VI. Izinto Ezibalulekileyo Eziqwalaselweyo Zokuthenga: Inkqubo Ebanzi Yokwenza Izigqibo Ukusuka Kwiimfuno Ukuya Ekuphunyezweni

Eyona njongo iphambili yokutolika izikhombisi zobugcisa kukunika ulwazi ngezigqibo zokuthenga. Ngokuhambelana nezi zikhombisi zikhankanyiweyo apha ngasentla, inkqubo yokuthenga kufuneka ilandele ingqiqo epheleleyo "yokucacisa iimfuno - ukuthelekisa nokukhetha - ukuqinisekisa nokuqinisekisa - uvavanyo olupheleleyo" ukuqinisekisa ukuthengwa kwezixhobo ezifanelekileyo.

(I) Zichaze ngokuchanekileyo iimfuno zakho

Ngaphambi kokuba uthethe nabathengisi, kufuneka uqale ucacise iimfuno zakho eziphambili: kubandakanya imeko yokusebenza (ukuphathwa, ukuhlanganiswa, ukuwelda, njl.njl.), iiparameter zomsebenzi (ubunzima, ubungakanani, izinto), iimfuno zokuchaneka (ukuchaneka kokubeka, ukuphindaphindwa), iithagethi zokusebenza kakuhle (ixesha lomjikelo), imida yendawo yokufakela, kunye neenkqubo zonxibelelwano zemigca yemveliso ekhoyo. Bala iimfuno zakho kwiiparameter ezithile kwaye uphephe iingxelo ezingacacanga (ezifana "nokuchaneka okuphezulu" okanye "isantya esikhawulezayo") ukuqinisekisa ukufana ngokuchanekileyo kwemveliso kunye nokwenza lula uvavanyo oluthelekisayo olulandelayo.

(II) Uthelekiso lwamaqabane amaninzi kunye nokuqinisekiswa kwendawo

Dwelisa ababoneleli ababini ukuya kwabathathu abafanelekileyo (oku kunokufumaneka ngemiboniso yoshishino, amaqonga e-B2B orhwebo lwangaphandle, iingcebiso zontanga, kunye nezinye iindlela). Cela iinkcukacha zemveliso ezineenkcukacha, izisombululo zobugcisa, kunye neenkonzo zovavanyo lweeprototype. Gxila ekuthelekiseni izalathisi zokusebenza eziphambili, inkqubo ye-servo kunye nolwakhiwo loomatshini, kunye neemetrikhi zokuthembeka ezifana ne-MTBF. Kwakhona qaphela amava omthengisi kushishino (umz., izifundo zetyala eziphumeleleyo kumashishini afanayo) kunye nobuchule benkonzo emva kokuthengisa (umz., iindawo zenkonzo kwimarike ekujoliswe kuyo, ixesha lokuphendula, ixesha lewaranti, njl.njl.).

Xa iimeko zivuma, qiniseka ukuba wenza uvavanyo lweprototype kwindawo: linganisa iimeko zokwenyani zemveliso, vavanya ukuchaneka kwendawo irobhothi ekuyibeke kuyo, isantya sokusebenza, kunye nomthamo womthwalo, jonga uzinzo kunye nokungcangcazela kwesixhobo emva kokusebenza ixesha elide, kwaye uqinisekise ukuba kulula kangakanani na ukusebenzisa inkqubo yolawulo. Kwizinto ezithengwayo kurhwebo lwamazwe ngamazwe, qinisekisa nokuba izixhobo ziyahlangabezana na nemigangatho yoshishino ekujoliswe kuyo (umz.,

iziqinisekiso ze-CE kunye ne-UL) ukuthintela imiba echaphazela ukucocwa nokusetyenziswa kwempahla.

(III) Ukugxila kwiindleko zoMjikelo woBomi

Iindleko zokuthenga azibandakanyi nje kuphela ixabiso lokuthenga izixhobo ngokwazo, kodwa neendleko zomjikelo wobomi bonke, kubandakanya ukufakela nokufaka izixhobo, izixhobo ezingasetyenziswanga, ukugcinwa, kunye nokusetyenziswa kwamandla. Umzekelo, ezinye izixhobo zinokuba nexabiso eliphantsi lokuthenga kodwa zisebenzisa izixhobo ezingezizo ezisemgangathweni, nto leyo eyenza ukuba iindawo ezingasetyenziswanga zibe nzima kwaye zibize kakhulu ukuzifumana. Ezinye izixhobo, nangona zibiza kakhulu, zinokuba nomlinganiselo ophezulu wokusetyenziswa kwamandla kwenkqubo ye-servo, nto leyo ekhokelela ekongeni umbane ixesha elide. Ukugcinwa kwenziwa lula, kwaye izixhobo ezingasetyenziswanga ziyafumaneka ngokulula, nto leyo ebangela iindleko eziphantsi zomjikelo wobomi.

Xa kuvavanywa iindleko, kubalulekile ukubala ixabiso eliqhelekileyo lotyalo-mali lonyaka ngokusekelwe kubomi obulindelekileyo bezixhobo (ngesiqhelo iminyaka emi-5-10). Ixabiso eliseleyo lezixhobo (umz., nokuba zingaphinda zithengiswe okanye zitshintshwe emva kokuthatha umhlalaphantsi) kufuneka liqwalaselwe ukuze kufezekiswe uvavanyo olupheleleyo lokusebenza kakuhle kweendleko.

(IV) Gxininisa kwiNkonzo yasemva koThengiso kunye neNkxaso yoBugcisa

Ii-servo manipulators ezine-axis ezintathu zizixhobo ezichanekileyo zokwenza izinto ngokuzenzekelayo, ezifuna inkxaso yobungcali emva kokuthengisa ukuze kufakelwe, kuqaliswe, kugcinwe, kulungiswe, kwaye kuphuculwe ubuchwephesha. Xa uthenga, kubalulekile ukucacisa iinkonzo zomthengisi emva kokuthengisa: nokuba kufakelwe okanye kuqaliswe simahla, nokuba uqeqesho lomqhubi lunikezelwa, ixesha lewaranti (izinto eziphambili ezifana neemoto ze-servo zihlala zinewaranti yeminyaka eli-1-2, ngelixa yonke iyunithi inewaranti yeenyanga ezi-6 ukuya kunyaka omnye), ixesha lokuphendula iimpazamo (lifuna impendulo ngaphakathi kweeyure ezingama-24 kunye nenkonzo kwindawo ngaphakathi kweeyure ezingama-48), kwaye nokuba iingcebiso zobugcisa zexesha elide ziyabonelelwa.

Kwizinto ezithengwayo kurhwebo lwamazwe ngamazwe, kubalulekile ukuqinisekisa ukuba umthengisi unikezela ngenkonzo emva kokuthengisa kwamanye amazwe okanye unobudlelwane nababoneleli beenkonzo basekuhlaleni kwimarike ekujoliswe kuyo ukuze kuthintelwe ukusilela kwezixhobo okunokubangela ukuba umgca wemveliso ungasebenzi ixesha elide ngenxa yokulungiswa kwangethuba.

Isiphelo

Ukuthenga irobhothi ye-servo ene-axis ezintathu yiprojekthi ecwangcisiweyo equka ubuchwepheshe, iindleko, kunye nenkonzo. Isitshixo sikukufanisa ngokuchanekileyo iimfuno zakho zemveliso neenkcukacha zobugcisa zezixhobo. Ukusuka "kumandla anzima" okusebenza okuphambili ukuya "ekuhambelaneni" kokuguquguquka, ukuya "ekuzinzeni" kokuthembeka kunye "namandla" okukhula, isalathisi ngasinye sibalulekile ekusebenzeni okwenyani kwezixhobo kunye nexabiso lazo lexesha elide.