Umthwalo oqinileyo, i-servo manipulator ene-axis ezintathu inezibonelelo ekuphatheni izinto ezinzima

Umthamo Onamandla Womthwalo: Iingenelo ZeeRobhothi Ze-Servo Ezine-Axis Ezintathu Ekuphatheni Izinto Ezinzima

Kwimveliso, uthutho kunye neendawo zokugcina impahla, izixhobo zeemoto, kunye nezinye iindawo, ukuphathwa kwezinto ezinzima kuhlala kuyinxalenye ebalulekileyo yenkqubo yemveliso, ingxaki eqhubekayo yokusebenza kakuhle kunye nobungozi obunokubakho bokhuseleko. Ukusuka kwiingozi eziphezulu kunye nokusebenza okuphantsi kokuphathwa ngesandla kwendabuko ukuya kwimida yomthwalo kunye nokungachaneki kwasekuqaleni. Ingalo yeRobhothis, eli shishini liyaqhubeka nokufuna izisombululo zokuphatha izinto ezinzima ezizinzileyo, ezisebenzayo nezikhuselekileyo.Iirobhothi ze-servo ezijikeleze ezintathu, ngenxa yokusebenza kakuhle komthwalo, ziba yinxalenye ebalulekileyo yezixhobo zokoyisa lo mceli mngeni, zichaza ngokutsha imigangatho kunye nokusebenza kakuhle kokuphathwa kwezinto ezinzima.

I. Amanqaku Obunzima Kwishishini Ekuphatheni Izinto Ezinzima: Kutheni "Umthamo Womthwalo" Ubalulekile?

Ngaphambi kokuba sihlolisise iingenelo zeerobhothi ze-servo ezine-axis ezintathu, kufuneka siqale sijongane neendawo eziqhelekileyo zentlungu ekuphatheni izinto ezinzima namhlanje—iindawo zentlungu ezigxininisa ukubaluleka okungenakutshintshwa komthamo oqinileyo womthwalo:

"Ingxaki ephindwe kabini" yokuphathwa ngesandla: Kwizinto ezinobunzima obungaphezulu kwe-50 kg (ezifana ne-chassis yeemoto, ii-mold ezinkulu, kunye ne-metal castings), ukuphathwa ngesandla akudingi nje kuphela intsebenziswano phakathi kwabantu abaninzi kodwa kunokubangela uxinzelelo lomzimba, okukhokelela ekunciphiseni ukusebenza kakuhle kunye neengozi zokhuseleko ezifana noxinzelelo lwemisipha kunye nezinto eziwileyo. Ngokwe-"Manufacturing Safety Accident Statistics Report," iingozi ezinxulumene nokuphathwa kwezinto ezinzima zibangela i-32% yazo zonke iingozi zasemsebenzini, i-80% yazo inxulumene nempazamo okanye ukudinwa ngesandla.

Iingxaki Zokusebenza Kwezixhobo Zoomatshini Zemveli: Nangona izixhobo zokuqala zerobhothi ezinomoya okanye izixhobo zokuphatha ezine-axis enye zazinokusingatha eminye imisebenzi enzima, zazineengxaki ezimbini eziphambili: umda ophantsi womthwalo ophezulu (ubukhulu becala wawungaphantsi kwe-100kg), nto leyo eyayizenza zingafaneleki ukusetyenziswa kwemizi-mveliso enzima; kunye nokuchaneka kokuma kakuhle (okudla ngokudlula i-±5mm), nto leyo enokubangela ukulahleka kwezinto okanye ukungaphumeleli kokuhlanganiswa ngexesha lokuhlanganiswa ngokuchanekileyo (njengokufaka iindawo zeemoto kwindawo yokubeka).

Ingxabano ekhulayo phakathi kokusebenza kakuhle kwemveliso kunye neendleko: Njengoko ishishini lokuvelisa litshintshela kwimveliso eguquguqukayo ngakumbi, iinkampani zifuna ukuguquguquka okukhulu kunye nokuqhubeka kokuphathwa kwezinto ezinzima. Izixhobo zemveli zihlala zifuna iindlela ezizinzileyo okanye ukufakwa okuntsonkothileyo kunye nokuqaliswa, okwenza ukutshintsha imigca yemveliso kuthathe ixesha kwaye kubize umsebenzi omninzi. Umthamo womthwalo owaneleyo uthintela ngokuthe ngqo ubungakanani bezinto eziphathwayo ngeshifti nganye, okwandisa umngcipheko wokuphazamiseka kwemigca yemveliso. 2. Iingenelo eziphambili zeeRobhothi zeServo ze-Three-Axis: Ukusuka "kuMthamo woMthwalo" ukuya "kuMsebenzi oPheleleyo"

Ukhetho olufanelekileyo lwerobhothi ye-servo ene-axis ezintathu yokuphatha izinto ezinzima luxhomekeke kumthamo wayo oqinileyo womthwalo, kunye neenzuzo zayo zokuchaneka okuphezulu, ukuzinza okuphezulu, kunye nokuguquguquka okuphezulu. Oku kuphumela ekusebenzeni ngcono ngokubanzi: imithwalo ephezulu ngokuphakamisa, indawo echanekileyo, kunye nokusebenza okuzinzileyo ixesha elide.

1. Umthamo womthwalo: Ukugqitha imida yobunzima ukuze kuhlangatyezwane neemfuno zezicelo ezinzima

Iirobhothi ze-servo ezine-axis ezintathu zinika amandla okuthwala umthwalo ukusuka kwi-50kg ukuya kwi-500kg, kunye neemodeli ezithile ezenzelwe wena ezidlula i-1000kg. Zingagubungela uninzi lweemeko zokuphathwa kwezinto ezinzima kwimizi-mveliso, njengokuphathwa kweenjini kwishishini leemoto, ukuhlanganiswa kwezinto ezinkulu kumatshini wokwakha, kunye nokudluliselwa kweepalethi ezinzima kwishishini lezothutho. Ukusebenza kwayo okuthwele umthwalo kuxhaswa kakhulu ziiteknoloji ezimbini eziphambili:

I-servo motor ene-torque ephezulu: Isebenzisa ii-servo motors ezingeniswe kwamanye amazwe, inkqubo inika amandla okukhupha i-torque ezinzileyo kwaye ivumela ukusebenza okuqhubekayo phantsi komthwalo opheleleyo, ithintela ixesha lokungasebenzi okanye ukwehla kwesantya ngenxa yamandla angonelanga.

Ulwakhiwo loomatshini oluqinisiweyo: Ingalo kunye namalungu akhiwe ngezinto ze-alloy ezinamandla aphezulu (ezifana nentsimbi ecinyiweyo neqinisiweyo ye-45# kunye ne-alloy ye-aluminium edityanisiweyo), zidityaniswe neebheringi ezichanekileyo. Oku kuqinisekisa ukuqina kwesakhiwo nokuba phantsi kwemithwalo enzima, okuthintela ukuguquguquka okunokuchaphazela ukuchaneka.

Umzekelo, kumzi-mveliso wezixhobo zeemoto, ukuqaliswa kwerobhothi ye-servo ene-axis ezintathu enomthwalo womthwalo oyi-200kg kwavumela irobhothi ukubamba, ukuthutha, kunye nokubeka iindawo zokuhambisa (ezinobunzima obuyi-180kg nganye), nto leyo ngaphambili yayifuna abasebenzi ababini ukuba basebenzise i-crane. Oku kusebenza kakuhle kokuphatha ngesandla esinye kunyuke ngama-300%, kususa isidingo sokungenelela ngesandla kwaye kunciphisa iingozi zokhuseleko.

2. Ukuchaneka kokubeka: Ukulinganisela umthwalo kunye nokuchaneka, Ukuhlangabezana neemfuno zeNdibano yokuQonda

Ngokwesiko, "umthwalo ophezulu" udla ngokunxulunyaniswa "nokuchaneka okuphantsi." Nangona kunjalo, irobhothi ye-servo ene-axis ezintathu ifikelela "ekubekeni ngokuchanekileyo phantsi kwemithwalo enzima" ngokudibanisa inkqubo yolawulo lwe-servo kunye nendlela yokudlulisela ngokuchanekileyo:

Ulawulo lweServo Closed-Loop: Isebenzisa inkqubo yolawulo lwe-PLC + servo drive closed-loop, irobhothi inika ingxelo ngexesha langempela malunga nendawo kunye nesantya, ilungisa ngokuzenzekelayo amandla aphumayo ngokusekelwe kutshintsho lomthwalo. Oku kuqinisekisa impazamo yokubeka ngaphakathi kwe-±0.1mm ukuya kwi-±0.5mm phantsi komthwalo opheleleyo, ukuhlangabezana neemfuno zokudibanisa ngokuchanekileyo (umz., ukufaka izinto ezinzima ngezixhobo, ukudibanisa ngokuchanekileyo izinto ezininzi).

I-Precision Ball Screw/Timing Belt Drive: Izixhobo ze-core drive zisebenzisa izikrufu zebhola ezichanekileyo kakhulu okanye iibhanti ze-timing, nto leyo efikelela kwi-95%. Oku kunciphisa ukuphambuka kokubeka okubangelwa yi-backlash, kuqinisekisa ukubekwa rhoqo kumawaka eepasi, ingakumbi kwimisebenzi yokuphatha ephindaphindayo. Emva kokusebenzisa irobhothi ye-servo ene-axis ezintathu enomthwalo womthwalo we-300kg, inkampani yoomatshini bokwakha yanciphisa impazamo yokuhlanganisa phakathi kwesilinda enkulu ye-hydraulic (nganye inobunzima be-280kg) kunye nomzimba womatshini ukusuka kwi-±2mm ukuya kwi-±0.3mm, yandisa izinga lokupasa lokuhlanganisa ukusuka kwi-85% ukuya kwi-99.5%, kwaye yanciphisa iindleko zokuphinda usebenze ngenxa yeempazamo zokuhlanganisa ngaphezulu kwe-500,000 yuan ngonyaka.

3. Uzinzo kunye nokuthembeka: Ukusebenza okungenaxinzelelo, okuthwala umthwalo onzima ixesha elide kunye neendleko zokulungisa ezincitshisiweyo

Ukuphathwa kwezinto ezinzima kubeka imfuneko ephezulu kakhulu kuzinzo lwezixhobo. Ukungaphumeleli ngexesha lokusebenza komthwalo opheleleyo akunakumisa nje kuphela imigca yemveliso kodwa kunokubangela nomonakalo wezixhobo okanye iziganeko zokhuseleko ngenxa yokuwa kwezinto. Irobhothi ye-servo ene-axis ezintathu iqinisekisa ukusebenza okuzinzileyo kwexesha elide ngokusebenzisa ezi mpawu zilandelayo zoyilo:

Ukhuseleko Lomthwalo Ogqithisileyo: Umthwalo ogqithisileyo owakhelwe ngaphakathi, umthwalo ogqithisileyo we-torque, kunye nokhuseleko lomthwalo ogqithisileyo wobushushu. Xa umthwalo udlula ixabiso elibekiweyo okanye ubushushu bemoto buphezulu kakhulu, isixhobo sizima ngokuzenzekelayo size sikhuphe i-alamu, sithintele umonakalo kwiindawo eziphambili.

Uyilo Olungenalo Ulondolozo: Izinto eziphambili (ezifana ne-servo motor, iibheringi, kunye ne-drive screw) zivaliwe ukuthintela ukungcola kothuli kunye neoyile. Inkqubo yokuthambisa ibonelela ngeoyile ngokuzenzekelayo, inciphisa ukugcinwa ngesandla. Ixesha eliphakathi lesixhobo phakathi kokungasebenzi kakuhle (i-MTBF) linokufikelela kwiiyure ezingaphezu kwama-8,000, lidlule kakhulu iiyure ezingama-5,000 zeengalo zerobhothi zemveli.

Umzekelo, iziko lokugcina impahla, lizise irobhothi ye-servo enomthamo we-500kg enobubanzi be-axis ezintathu yokuphatha iipallet ezinzima (nganye inobunzima be-450kg) ngaphakathi nangaphandle kwe-warehouse. Isebenza ngokuqhubekayo iiyure ezili-12 ngosuku kwaye ifuna uhlolo olunye oluqhelekileyo ngenyanga. Iindleko zokulungisa ziphantsi ngama-40% kunee-forklift zemveli, kwaye iziko alikaze liphazamiseke nakanye kwindawo yokugcina izinto ngenxa yokusilela kwezixhobo.

4. Ukuguquguquka: Ukuziqhelanisa ngokukhawuleza neemeko ezahlukeneyo kwaye uphendule kwiimfuno zemveliso eziguquguqukayo.

Xa kuthelekiswa nezixhobo zemveli zokuphatha izinto ezinzima ezisemgangathweni (ezifana neekhreyini kunye neengalo zerobhothi ezisemgangathweni), irobhothi ye-servo ene-axis ezintathu Inika iingenelo ezibalulekileyo zokuguquguquka:

Ukufakela okulula: Akukho mfuneko yeetreyi zomhlaba ezintsonkothileyo okanye iifreyimu zentsimbi eziphezulu; inokuxhonywa nje emhlabeni okanye ebhentshini yokusebenzela, idale indawo encinci kwaye ivumelane nohlengahlengiso loyilo lweworkshop.

Ukutshintsha Inkqubo Ngokukhawulezileyo: Indlela yokuphatha, iiparameter zokulayisha, kunye nee-coordinates zokubeka izinto zingatshintshwa kusetyenziswa isikrini sokuchukumisa. Uhlengahlengiso lwenkqubo kwimisebenzi eyahlukeneyo yokuphatha izinto luthatha imizuzu emi-5-10 kuphela, ngelixa izixhobo zemveli zifuna iiyure okanye iintsuku zokulungisa iimpazamo.

Ukusebenzisana kwezitishi ezininzi: Ingadityaniswa nemigca yokuhambisa, ii-AGV, kunye nezinye izixhobo ukuze kufezekiswe intsebenziswano yezitishi ezininzi. Umzekelo, izinto ezinzima zingathathwa eshelufini, zisiwe kwizixhobo zokucubungula, zize zisiwe kwisikhululo sokuhlola emva kokucubungula. Le nkqubo ezenzekelayo ngokupheleleyo isusa isidingo sokudluliselwa ngesandla.

III. Imizekelo eqhelekileyo yokusetyenziswa kweeRobhothi zeServo ze-Three-Axis: Ukusuka "ekuPhathweni okukodwa" ukuya "ekuXhotyisweni kweNkqubo epheleleyo"

Umthamo onamandla womthwalo werobhothi ye-servo ene-axis ezintathu kunye nokusebenza kwayo okubanzi kuye kwayivumela ukuba itshintshe ukusuka ekubeni "sisixhobo sokuphatha esinye" ukuya ekubeni "sisixhobo sokunika amandla esipheleleyo" kumashishini amaninzi. Ezi zilandelayo ziimeko ezintathu eziqhelekileyo zokusetyenziswa:

1. Ukwenziwa kweeMoto kunye neeCandelo: "Iimfuno ezimbini" zeMithwalo enzima kunye nokuchaneka

Ishishini leemoto licandelo elibalulekileyo ekuphathweni kwezinto ezinzima. Ukusuka kwiindawo zomzimba ezifakwe isitampu (50-150kg nganye) ukuya kwiinjini kunye neetransmissions (100-300kg nganye), kufuneka izixhobo zokuphatha ezinomthwalo ophezulu nezichanekileyo. Iirobhothi ze-servo ezine-axis ezintathu zinokwenza oku kulandelayo:

Ivenkile Yokunyathela: Thabatha iipleyiti zentsimbi ezinzima kwirakhi, uzihambisele kwindawo yokunyathela, uze uzihambisele kwinkqubo elandelayo emva kokunyathela, ucime ukuguquka okubangelwa kukuphathwa ngesandla.

Indawo Yokugqibela Yokuhlanganisa: Ncamathisela ngokuchanekileyo izinto ezinzima ezifana neenjini kunye nee-axle zangasemva kwiindawo zazo ezifanelekileyo emzimbeni wesithuthi, kunye neempazamo zokubeka ngaphakathi kwe-±0.5mm ukuqinisekisa ukuchaneka kokuhlanganisa.

Indawo yokugcina impahla: Ukulayisha nokukhulula iipalethi ezinzima ezithwele iinxalenye zeemoto ngokuzenzekelayo, ukutshintsha iiforklift kunye nokunciphisa umsebenzi wezandla.

Emva kokuba umzi-mveliso weemoto odibeneyo uqalise iirobhothi ezingama-20 ze-servo ezine-three-axis ezinomthwalo ongama-200-300kg, ukusebenza kakuhle kwevenkile yokugqibela yokuhlanganisa izinto ezisindayo kwanda ngama-40%, izinga leziphene zokuhlanganisa lehla ngama-60%, kwaye ukonga iindleko zomsebenzi ngonyaka kudlule kwi-3 yezigidi zeeyuan.

2. Oomatshini Bokwakha Nezixhobo Ezinzima: "Ukusebenza Okuzinzileyo" Phantsi Komthwalo Ogqithisileyo

Oomatshini bokwakha (abafana nee-excavator kunye nee-crane) bahlala benamacandelo anzima (umz., iibhakethi ze-excavator zinobunzima obuyi-500-800kg nganye) kunye nomthamo omkhulu. Ukuphathwa kwendabuko kuxhomekeke kudibaniso lwe-crane kunye nesikhokelo sesandla, esingasebenzi kakuhle kwaye sithwala iingozi eziphezulu zokhuseleko. Iirobhothi ze-servo ezine-axis ezintathu (ezinokwenziwa ngokwezifiso ngomthwalo ohlawulwayo we-500-1000kg) zivumela:

Ukudluliselwa kweendawo ezinkulu ngaphakathi kweworkshop ngaphandle kwesikhokelo sehoki ngesandla, ngaloo ndlela kuthintela ukungqubana kwezinto;

Ukulungelelaniswa ngokuchanekileyo kweendawo kunye nemizimba yoomatshini, njengokuhambisa iimpompo ezinzima ze-hydraulic kwimingxunya yokufaka kwimizimba yoomatshini ngokuchanekileyo kwendawo eyi-±1mm, kunciphisa izikhewu zokuhlanganisa;

Ukuphathwa kwezixhobo ezigqityiweyo ngaphandle komgca, njengokuhambisa ii-excavator ezincinci ezidibeneyo (ezinobunzima obuziitoni ezi-3-5 kwaye zifuna ukulungelelaniswa kweerobhothi ezininzi) ukusuka kumgca wemveliso ukuya kwindawo yokugcina.

3. Uthungelwano kunye neNdawo yokugcina impahla: "Ukuhamba kakuhle kweePallets ezinzima"

Ngophuhliso lwe-e-commerce kunye ne-logistics yokwenziwa kwemveliso, imfuno yokuphatha iipallet ezinzima (ezigcwele izixhobo zasekhaya, ifenitshala, kunye nezinto ezikrwada zoshishino) iyanda. Iirobhothi ze-servo ezine-axis ezintathu zingasetyenziswa kunye neendawo zokugcina iimpahla eziphezulu kunye neenkqubo ze-AGV ukufezekisa oku:

Ukulayisha nokukhupha iipalethi ezinzima kwiindawo zokugcina impahla eziphezulu, ezinomthamo omnye wokuphatha ofikelela kwi-500 kg, ukonyuka kwama-50% xa kuthelekiswa nee-crane ze-stacker zemveli;

Ukuhlela imithwalo enzima kwiimpahla ezithunyelwa kwamanye amazwe, njengokuhambisa iipalethi ezingama-300-400 kg zezinto zokwenza imveliso zoshishino ukusuka kwizikhongozeli ukuya kumgca wokuhlela, ukutshintsha umsebenzi wezandla kunye neefolokhwe, kunye nokwandisa ukusebenza kakuhle ngama-200%;

Ukuhlanganiswa okungenamthungo phakathi kwemigca yemveliso kunye neendawo zokugcina impahla, njengokuvumela iimveliso ezigqityiweyo ezinzima ezivela kumgca wemveliso ukuba zidluliselwe ngqo yirobhothi ukuya kwiipallet ze-AGV, ezithi emva koko zidluliselwe kwindawo yokugcina impahla yi-AGV, nto leyo esusa ukudluliselwa okuphakathi.

VI, Iirobhothi zeServo ze-Three-Axis zingayiphucula njani ngakumbi "iNzuzo yoMthwalo" wazo?

Ngokuphucuka kwetekhnoloji ye-automation yemizi-mveliso, ukusetyenziswa ii-servo manipulators ezine-axis ezintathu ekuphathweni kwezinto ezinzima kuya kwanda ngakumbi, kwaye umthamo wazo womthwalo uya kuphuculwa ukuze ube krelekrele ngakumbi, udityaniswe, kwaye ube luhlaza.

Uhlengahlengiso lomthwalo olukrelekrele: Ngokuzisa iisensa (ezifana neesensa zobunzima kunye neesensa zokulawula amandla), ukuchongwa komthwalo ngokuzenzekelayo kunye nokulungiswa kuyafezekiswa. I-manipulator ingabona ubunzima bezinto ngexesha langempela kwaye ilungise ngokuzenzekelayo ukuphuma kwamandla kunye nesantya sokuhamba, iphephe inkunkuma yamandla ebangelwa "yisantya esiphantsi kwimithwalo enzima kunye nesantya esiphezulu kwimithwalo elula" ngelixa iphucula ngakumbi ukuchaneka kokubeka.

Intsebenziswano kunye nokudibanisa ii-multi-axis: Kwixesha elizayo, kuya kuvela iinkqubo zokubambisana "ezi-three-axis + multi-axis". Umzekelo, i-three-axis I-Servo Manipulator ingaphatha imithwalo enzima, ngelixa ingalo yerobhothi ene-axis ezintandathu inokwenza indibano echanekileyo, idale isisombululo esidibeneyo "sokuphatha imithwalo enzima + imisebenzi ebuthathaka."

Uyilo oluluhlaza nolonga amandla: Ngelixa kwandiswa umthamo womthwalo, ukusetyenziswa kwamandla kuncitshiswa ngokusebenzisa ukusebenza kakuhle kweemoto, ii-servo drives ezonga amandla, kunye nokubuyiselwa kwamandla okubhuleka. Umzekelo, uhlobo oluthile lwe-servo manipulator ene-axis ezintathu enomthamo womthwalo we-300kg itya amandla angaphantsi ngama-25% kunezixhobo zemveli, igcina ngaphezulu kwe-10,000 yuan kwiibhili zombane ngonyaka.

Isiphelo: Ukugqitha "ngoMthwalo Onamandla" kunye nokuXhobisa "ngoMsebenzi Opheleleyo"

Eyona nto ibuhlungu xa kuphathwa izinto ezisindayo ngokuyintloko kukungangqinelani phakathi kweemfuno zomthwalo kunye nobuchule bezixhobo ezikhoyo. Ii-servo manipulators ezine-axis ezintathu, ezigxile kakhulu "kumthamo womthwalo onamandla," zidibanisa ukuchaneka okuphezulu, uzinzo oluphezulu, kunye nokuguquguquka okuphezulu. Azijongi nje kuphela "umngeni wobunzima" bokuphathwa kwezinto ezisindayo kodwa zikwaphucula ukusebenza kakuhle kwemveliso kwaye zinciphisa iingozi zokhuseleko ngokusebenzisa inkqubo epheleleyo yokwenza izinto ngokuzenzekelayo, nto leyo ezenza zibe yinxalenye ebalulekileyo yezixhobo ekutshintsheni kweshishini lokuvelisa libe "ziifektri ezikrelekrele."