Iingenelo eziphambili ze-servo manipulator ezijikeleze i-three-axis

Iingenelo Eziphambili ZeeRobhothi ZeServo Ezine-Axis Ezintathu

Kwinqanaba lokuchaneka kwemveliso ezenzekelayo, ukuchaneka kwinqanaba le-millimeter akuseyona ndlela yokugqibela yokulinganisa ukuchaneka. Amandla okubeka kwinqanaba le-micron kwanakwinqanaba le-submicron zizinto ezibalulekileyo ekumiseleni ukusebenza kakuhle komgca wemveliso, amazinga okufaneleka kwemveliso, kunye nokhuphiswano oluphambili lwenkampani. Ngokuchaneka kwabo kokubeka endaweni okungenakuthelekiswa nanto, iirobhothi ze-servo ezinee-axis ezintathu ziye zaba zizixhobo ezibalulekileyo kwiinkalo eziphezulu ezifana nokuvelisa izixhobo ze-elektroniki, ukubumba ngenaliti ngokuchanekileyo, kunye nezixhobo zonyango. Eli nqaku liza kuhlalutya nzulu iingenelo eziphambili zokubeka kwazo ngokuchanekileyo kakhulu kwiimbono ezintathu: itekhnoloji engundoqo, ukusebenza, kunye nexabiso leshishini.

Okokuqala, iSiseko soBugcisa bokuchaneka: "Ikhowudi yoBudlelane" yeNkqubo yeServo ye-Three-Axis

Ukubekwa ngokuchanekileyo okuphezulu kakhulu kwerobhothi ye-servo ene-axis ezintathu ayingomsebenzi wecandelo elinye kuphela, kodwa sisiphumo sokusebenzisana kweemodyuli ezintathu eziphambili: i-servo motor, indlela yokudlulisa ngokuchanekileyo, kunye nenkqubo yolawulo. Xa zidibene, ezi modyuli zintathu zenza "unxantathu wobuchwephesha" wokuchaneka.

1. I-Servo Motor: "Indlu Enamandla" yePrecision

I-servo motor yeyona nto iqhubayo emva kokubeka ngokuchanekileyo, kwaye ukusebenza kwayo kumisela ngokuthe ngqo isantya sempendulo yerobhothi kunye nempazamo yokuyibeka. Ngokungafaniyo nee-stepper motors zemveli, ii-AC servo motors zine-closed-loop control. Impendulo yexesha langempela evela kwi-encoder kwisantya se-motor kunye nendawo ivumela ulawulo oluchanekileyo lwesantya, i-torque, kunye nendawo. Umzekelo, i-23-bit absolute encoder ephambili ivelisa ii-pulses eziyi-8,388,608 ngokujikeleza ngakunye, oko kuthetha ukuba i-engile yokujikeleza yemoto inokulawulwa ngokuchaneka kweedigri eziyi-0.000043, okubonelela ngesiqinisekiso esisisiseko sokubeka i-micro-positioning yerobhothi. Ngaphezu koko, umsebenzi we-"zero-speed lock" ye-servo motor uqinisekisa ukuba irobhothi ihlala izinzile emva kokufikelela kwindawo ekujoliswe kuyo, ithintela iimpazamo "zokuntywila" ezibangelwa yi-inertia.

2. Ukuhanjiswa Okuchanekileyo: "Ikhonkco Lokudluliselwa" Kokuchaneka

Ukuba i-servo motor "yintliziyo," indlela yokudlulisa ngokuchanekileyo "yimithambo yegazi," enoxanduva lokudlulisa amandla achanekileyo emoto ngaphandle kokulahlekelwa yi-actuator yerobhothi. Iindlela zokudlulisa eziqhelekileyo ezisetyenziswa kwiirobhothi ze-servo ezine-axis ezintathu ziquka izikrufu zebhola, iibhanti ezihambelanayo, kunye nezikhokelo ezithe ngqo. Ukuchaneka kwezi zintathu kuchaphazela ngokuthe ngqo isiphumo sokugqibela sokubeka.

Izikrufu zebhola: Njengenxalenye ephambili yentshukumo ethe tye, impazamo yazo yelead sisalathisi esibalulekileyo. I-Servo ManipulatorNgokwesiqhelo zisebenzisa izikrufu zebhola ezilinganiswe kwi-C3 nangaphezulu, apho impazamo yelothe ilawulwa ngaphakathi kwe-0.015mm ngemitha. Ezinye iimodeli eziphezulu zifikelela kwi-C2 (0.008mm ngemitha). Iimpawu zokungqubana okuqengqelekayo kwezikrufu zebhola azinciphisi nje kuphela ukulahleka kwamandla kodwa zikwathintela into "yokurhubuluza" ebangelwa kukungqubana okutyibilikayo, ukuqinisekisa intshukumo egudileyo kunye nokubekwa endaweni ephindaphindwayo.

Izikhokelo ezithe tye: Zibonelela ngesikhokelo kunye nenkxaso. Iimpazamo zazo zokufana kunye nokuthamba zinegalelo ngokuthe ngqo kwiimpazamo zokubeka indawo ekupheleni. Ukusebenzisa izikhokelo ezithe tye (ezifana ne-H-grade) kunokulawula impazamo esecaleni kwintshukumo ye-single-axis ukuya ngaphakathi kwe-0.005mm/1000mm, okubonelela "ngesiqinisekiso somkhondo" sokudibanisa okuthe tye okuphezulu kwe-three-axis.

3. Inkqubo yoLawulo: "Ingqondo" yoBuchule

Ukuba i-hardware "ngumzimba" wokuchaneka, ngoko ke inkqubo yolawulo "yingqondo" yayo. Inkqubo yolawulo ye-servo ene-axis ezintathu Irobhothi NathiImiyalelo ye-pulse okanye unxibelelwano lwebhasi ukucwangcisa nokulungisa iindlela zokuhamba kwee-axes ezintathu ngexesha langempela. Iingenelo zayo eziphambili zikwimiba emibini elandelayo:

Iteknoloji yokudibanisa i-trajectory: Ukusebenzisa ii-algorithms ezifana nokudibanisa okuthe tye nokujikelezayo, ii-trajectories zentshukumo ezintsonkothileyo zingahlulwa zibe ziinxalenye ezincinci ezithe tye okanye ezijikelezayo. Iimpazamo zokubeka kwindawo nganye zingalawulwa ukuya kwinqanaba le-micron, ukuqinisekisa ukuba i-end effector ilandela ngokungqongqo indlela emiselweyo ngexesha lokudibanisa i-multi-axis (njengokubamba okuqhubekayo, ukudlulisa, kunye nokubeka). Oku kuthintela ukuphambuka kwendlela.

Ukulungiswa kwempendulo evaliweyo: Ukongeza kwimpendulo ye-encoder eyakhelwe ngaphakathi ye-servo motor, ezinye iimodeli eziphezulu nazo ziquka izixhobo zokufumanisa zangaphandle ezifana nezikali ze-optical okanye ze-magnetic kwi-effector yokugqibela okanye kwi-motion axis, zifezekisa "ulawulo oluphindwe kabini oluvaliweyo." Ukuba isixhobo sokufumanisa sangaphandle sibona ukuphambuka phakathi kweendawo zokwenyani kunye nezo zijoliswe kuzo, inkqubo yolawulo ilungisa ngoko nangoko imveliso yemoto ukuze ihlawulele impazamo ibe ngaphakathi kwe-0.001mm. Olu buchule "bokulungisa iimpazamo ngexesha langempela" sisiqinisekiso esiphambili sokubeka ngokuchanekileyo kakhulu.

Okwesibini, ukusebenza okubonakalayo: iingenelo ezipheleleyo ukusuka "ukuchaneka" ukuya "kuzinza"

Ngokusekelwe kwisiseko sobugcisa esikhankanyiweyo apha ngasentla, iingenelo zokubeka indawo ngendlela echanekileyo kakhulu ze-three-axis servo manipulators ekugqibeleni ziguqulwa zibe kukusebenza okubonakalayo nokubonakalayo kwiimeko zemveliso, kuquka iimetrikhi ezintathu eziphambili: ukuchaneka kokubeka indawo, ukuphindaphindwa, kunye nozinzo lokuhamba.

1. Ukuchaneka kokubeka indawo: Ukusuka kwiMilimitha ukuya kwiMikromitha

Ukuchaneka kokubeka kubhekisa ekuphambukeni phakathi kwendawo yokwenyani efikelelwe yi-end effector ye-manipulator kunye nendawo ekujoliswe kuyo, kwaye luphawu oluphambili lokuchaneka. Ngelixa ukuchaneka kokubeka kwe-manipulator eziqhelekileyo ze-pneumatic ngokuqhelekileyo kungama-0.1-0.5mm, ukuchaneka kokubeka kwe-manipulator ze-servo ezine-axis ezintathu ngokubanzi kunokufikelela kwi-0.02-0.05mm, kunye neemodeli eziphezulu ezifikelela ngokuchanekileyo kungama-0.005-0.01mm. Ukuthatha i-soldering ye-electronic component njengomzekelo, i-chip pin pitch yi-0.3mm kuphela. Ukuba impazamo yokubeka yerobhothi idlula i-0.05mm, inokubangela i-solder joint embi okanye i-short circuit. Nangona kunjalo, irobhothi ye-servo ene-axis ezintathu enokuchaneka kokubeka kwe-0.01mm inokufikelela ngokuchanekileyo phakathi kwee-pins kunye nee-pad, inyusa izinga lokupasa kwe-soldering ukusuka kwi-95% ukuya ngaphezulu kwe-99.9%.

2. Ukuphindaphinda: "Isiqinisekiso Sokuhambelana" kwiMveliso yoBuninzi

Ukuphindaphinda kubhekisa kuluhlu lokuphambuka xa irobhothi ifikelela kwindawo efanayo ekujoliswe kuyo amaxesha amaninzi, nto leyo emisela ngokuthe ngqo ukuhambelana kweemveliso eziveliswa ngobuninzi. Ukuphindaphinda kwerobhothi ye-servo ene-axis ezintathu kudla ngokufikelela kwi-±0.01mm, kwaye ezinye iimodeli eziphezulu zifikelela kwi-±0.003mm. Kwishishini lokubumba i-injection echanekileyo, xa kuveliswa iindawo ezinodonga oluncinci ezifana neekheyisi zefowuni, Irobhothi kufuneka uyibambe ngokuchanekileyo inxalenye engaphakathi kwesikhunta kwaye uyibeke kwisikhululo sokuhlola. Ukuba ukuphindaphindwa kwayo kudlula i-0.02mm, kunokukhokelela ekungalungelelaniseni kwenxalenye kunye nokuhlolwa okungaphumelelanga. Ukuphindaphindwa kwayo okuphezulu kakhulu kuqinisekisa ukubamba kunye nokubeka rhoqo ngalo lonke ixesha, kugcina ukunyamezelana kwemilinganiselo yenxalenye kwimveliso yobuninzi kungaphakathi kwe-0.01mm.

3. Uzinzo lweNtshukumo: Ukuchaneka okungagungqiyo kwisantya esiphezulu

Ukuchaneka okuphezulu akufuneki nje kuphela ukuchaneka okungaguqukiyo kodwa kunye nokuzinza okuguquguqukayo. Irobhothi ye-servo ene-axis ezintathu, esebenza ngesantya esiphezulu (umz., isantya esingenamthwalo se-1-2m/s), ithintela ukuphambuka kokubeka okubangelwa kukothuka okungenamandla ngokusebenzisa impendulo eguquguqukayo yenkqubo yolawulo kunye nenkxaso eqinileyo yendlela yokudlulisa. Umzekelo, kwimigca yokuhlanganisa imveliso ye-3C, irobhothi kufuneka igqibezele isenzo esithi "bamba isikrufu - usihambise kwi-screw hole - qinisa" kwisithuba semizuzwana eli-1. Nakuphi na ukungcangcazela okanye ukuphambuka ngexesha lokuhamba kunokubangela ukuba isikrufu sityibilike okanye singalingani. Iimpawu zesantya esiphezulu nezizinzileyo zerobhothi ye-servo ene-axis ezintathu zenza ukuba i-end effector igcine indawo echanekileyo ngexesha lokuhamba ngokukhawuleza, igcine impazamo ye-coaxiality ngexesha lokuqiniswa kwesikrufu ngaphakathi kwe-0.02mm, nto leyo ephucula kakhulu ukusebenza kakuhle kwendibano kunye nomgangatho.

Okwesithathu, Ukuqonda Ixabiso Leshishini: Ukunika Amandla Okusebenzayo ukusuka "Ekuncitshisweni Kweendleko" ukuya "Ekuphuculeni Ukusebenza Kakuhle"

Inzuzo ephambili yokubeka izinto ngokuchanekileyo kakhulu kufuneka ekugqibeleni iguqulelwe kwixabiso elisebenzayo kwizicelo zoshishino. Kumacandelo ahlukeneyo okuvelisa izinto aphezulu, iingenelo zokuchaneka kweerobhothi ze-servo ezine-axis ezintathu kukutshintsha iimodeli zemveliso, okuvumela utshintsho ukusuka kumsebenzi wezandla ukuya kwimveliso yokuchaneka okuzenzakalelayo.

1. Ukwenziwa kwee-elektroniki: "Iindlela zokulawula ngokuchanekileyo" zee-Micro Components

Ukwenziwa kwezinto ze-elektroniki yenye yeenkalo ezineemfuno ezichanekileyo kakhulu. Ukusuka ekupakisheni iitshiphusi ukuya ekusongweni kwebhodi ye-PCB ukuya ekuhlanganisweni kwezinto ze-elektroniki, kufuneka amandla okubeka umgangatho we-micron. Umzekelo, xa kuthathwa ukuhlanganiswa kweemodyuli zekhamera zefowuni ephathwayo, umsantsa phakathi kwezinto ezifana nelensi, isenzi, kunye nesihluzo ngaphakathi kwemodyuli kufuneka ulawulwe ngaphakathi kwe-0.01mm. Ukusebenza ngesandla akupheleli nje ekubeni kungasebenzi kakuhle kodwa kukwakho neempazamo zokufakela ngenxa yokuxhawula ngesandla. Irobhothi ye-servo ene-axis ezintathu, ngokusebenzisa indawo echanekileyo kakhulu kunye nolawulo oluvaliweyo, ifikelela ekufakweni kwezinto "ezingenamsantsa" "kwesithuba", yandisa ukusebenza kakuhle kwendibano ngaphezu kwezihlandlo ezithathu kwaye inciphise izinga lesiphene ukusuka kwi-5% ukuya ngaphantsi kwe-0.1%. Ngaphezu koko, ekuphatheni i-wafer ye-semiconductor, irobhothi kufuneka ibambe ii-wafers ezinobubanzi obuyi-300mm (ezinobukhulu obuyi-0.77mm kuphela) kwaye izibeke ngokuchanekileyo kwitafile ye-lithography, kunye nempazamo yokubeka engaphantsi kwe-0.005mm. Ukuchaneka okuphezulu kakhulu kwerobhothi ye-servo ye-three-axis kuye kwaba "yindawo ephambili" yokwenziwa kwe-wafer.

2. Ukubumba Ngomjovo Ochanekileyo: "IsiXhobo Esingenamthungo" phakathi kweMolds kunye neeParts

Kwimveliso yokubumba ngomjovo ochanekileyo, ukuchaneka kwerobhothi kuchaphazela ngokuthe ngqo ukhuseleko lwesikhunta kunye nomgangatho wenxalenye. Xa isikhunta somjovo sivuleka kwaye sivaleka, irobhothi kufuneka ifikelele ngqo kwingxobo yesikhunta ukuze ibambe inxalenye. Nakuphi na ukuphambuka kokubeka okungaphezulu kwe-0.05mm kunokubangela ukungqubana nesikhunta, okubangela amashumi amawaka eeyuan kumonakalo wesikhunta. Indawo echanekileyo kakhulu yerobhothi ye-servo ene-axis ezintathu iqinisekisa ukuphambuka kwesithuba esingaphantsi kwe-0.02mm kwi-batch nganye, okususa ngokupheleleyo umngcipheko wokungqubana kwesikhunta. Ngaphezu koko, kwi-double-shot okanye i-insert molding, irobhothi kufuneka ifake ngokuchanekileyo i-insert (njenge-metal nut) kwingxobo yesikhunta, kunye nokususwa kwe-0.03mm kuphela. Indawo echanekileyo kakhulu iqinisekisa "ukufakwa kube kanye, ngokuchanekileyo," ukuthintela ukulahlwa kwenxalenye okubangelwa kukungahambi kakuhle kokufaka kunye nokwandisa ukusetyenziswa kwezinto ngaphezulu kwe-15%.

3. Izixhobo zonyango: "Ii-Precision Guarantors" kwiindawo ezicocekileyo kakhulu

Ukwenziwa kwezixhobo zonyango kubeka iimfuno ezingqongqo kokubini ukuchaneka kunye nokucoceka. Izicelo ezifana nokucubungula inaliti yesirinji, ukupolisha amalungu okwenziwa, kunye nokuhlanganiswa kwe-catheter yezonyango zonke zifuna izixhobo ezizenzekelayo ezichanekileyo. Ukuthatha umzekelo wokupolisha amalungu okwenziwa e-titanium alloy, uburhabaxa bomphezulu wejoyinti kufuneka bulawulwe ngaphakathi kwe-Ra0.8μm. Nasiphi na impazamo yokubeka kwindlela yokupolisha edlula i-0.01mm iya kuchaphazela ukulingana kwejoyinti kunye nobomi benkonzo. Irobhothi ye-servo ene-axis ezintathu, ngokudityaniswa kocwangciso oluchanekileyo lwendlela kunye nolawulo lwamandla okuphela, inokufikelela kulawulo lwenqanaba le-micron lendlela yokupolisha, iqinisekise ukuchaneka komphezulu okufunekayo ngelixa ithintela ungcoliseko lothuli kunye nokuguquguquka ngokuchanekileyo okunxulumene nokupolisha ngesandla. Kwindibano ye-catheter yezonyango, irobhothi kufuneka ilungelelanise ngokuchanekileyo i-catheter enobubanzi obuyi-0.5mm kunye nesixhumi, kunye nokuphambuka kokubeka okungaphantsi kwe-0.02mm. Iingenelo zokuchaneka kwerobhothi ye-servo ene-axis ezintathu ziqinisekisa ukuba akukho zimpazamo ngexesha lenkqubo yokumisa, iqinisekisa ukhuseleko kunye nokuthembeka kwezixhobo zonyango.

4. Iinxalenye zeeMoto: "Abagcini boMgangatho" kwiMveliso ePhakamileyo

Njengoko iimoto zisiya ziphucuka, iimfuno zokuchaneka kokwenziwa kwezinto eziphambili ezifana neenjini kunye neetransmissions ziyaqhubeka nokunyuka. Iingenelo zokuchaneka kweerobhothi zeservo ezinee-axis ezintathu zithatha indawo yomsebenzi wezandla wendabuko kunye nezixhobo ezichanekileyo. Ukuthatha umzekelo wokufakwa kweringi yepiston yenjini, ukuvuleka phakathi kweringi yepiston kunye nomngxuma wepiston kufuneka kulawulwe ngaphakathi kwe-0.02-0.05mm. Ukufakelwa ngesandla kunokubangela ngokulula ukuguquguquka kweringi yepiston ngenxa yamandla angalinganiyo kunye neempazamo zokubeka. Nangona kunjalo, irobhothi yeservo ene-axis ezintathu, ngokusebenzisa indawo echanekileyo kunye nokubamba okuguquguqukayo, ivumela "ukufakelwa okungonakalisiyo nokuchanekileyo" kweeringi zepiston, okunyusa izinga lokupasa kokufakwa ukusuka kwi-98% ukuya kwi-99.9%. Ngexesha lokuhlanganiswa kwegiya yokudlulisa, irobhothi kufuneka ifake ngokuchanekileyo igiya kwi-drive shaft, kunye nokuvuleka kwe-0.015mm kuphela phakathi komngxuma wangaphakathi wegiya kunye ne-drive shaft. Indawo echanekileyo kakhulu iqinisekisa ukuhlangana phakathi kwegiya kunye ne-drive shaft, ukunciphisa ingxolo kunye nokuguguleka ngexesha lokusebenza kwe-transmission kunye nokwandisa ubomi bemveliso.

Okwesine, Ukukhetha kunye nokusetyenziswa: Ungaziphucula njani iingenelo zoBuchule obuPhezulu?

Ukuze iinkampani ziqonde ngokupheleleyo iingenelo zokubeka iirobhothi ze-servo ezine-axis ezintathu ngokuchanekileyo, kufuneka ziqwalasele la manqaku mathathu alandelayo ngexesha lokukhetha kunye nokusetyenziswa kwemodeli:

1. Cacisa iimfuno zokuchaneka: Kuphephe ukukhetha kakhulu okanye ukukhetha ngaphantsi

Iimfuneko zokuchaneka zahluka kakhulu kumashishini nakwiinkqubo. Iinkampani kufuneka ziqale zichonge izalathisi eziphambili—ukuchaneka kokubeka, ukuphindaphindwa, kunye nesantya sokuhamba—ngaphambi kokukhetha uqwalaselo olufanelekileyo. Umzekelo, kwindibano yezixhobo ze-elektroniki ngokubanzi, imodeli enokuchaneka kokubeka eyi-0.03-0.05mm inokukhethwa, ngelixa ukuphathwa kwe-semiconductor wafer kufuna imodeli ephezulu enokuchaneka kokubeka eyi-0.005-0.01mm. Oku kuthintela ukunyuka kweendleko ngenxa "yokuchaneka okugqithisileyo" okanye ukuchaphazela imveliso ngenxa "yokungachaneki ngokwaneleyo."

2. Gxila kubungqongqo ngokubanzi: "Isiqinisekiso esingabonakaliyo" sokuchaneka

Ukuqina kwerobhothi iyonke kuchaphazela ngokuthe ngqo ukuzinza kwayo ngokuchanekileyo ngexesha lokuhamba ngesantya esiphezulu. Ukuba ukuqina kwesakhelo kunye nee-axes zokuhamba akwanelanga, ukuguquguquka kunokwenzeka ngexesha lokuhamba ngesantya esiphezulu, okukhokelela kwiimpazamo zokubeka indawo. Ke ngoko, xa ukhetha irobhothi, qwalasela izinto zomzimba (ezifana ne-aluminium alloy okanye i-cast iron) kunye nokuqina kwezinto zothumelo (ezifana nobubanzi besikrufu sebhola kunye nohlobo lwereyile yesikhokelo) ukuqinisekisa ukuba isakhiwo siphela sinokuxhasa ukushukuma okuchanekileyo.

3. Gxininisa ukuQokelelwa kunye noLondolozo: "Isiqinisekiso sexesha elide" sokuChaneka

Kwaneerobhothi ze-servo ezine-axis ezintathu eziphezulu zinokuwohloka kancinci kancinci kokuchaneka ukuba azifakwanga ngendlela efanelekileyo okanye azihoywanga. Iinkampani kufuneka zilungiselele ukufakwa kunye nokuqaliswa kobuchwephesha, ukuphucula iiparameter zenkqubo yolawulo (ezifana nokulungiswa kwe-gain kunye nezicwangciso zesihluzi) ukuze kufezekiswe ukuchaneka okufanelekileyo. Ukugcinwa rhoqo kufuneka kuquke ukucocwa rhoqo kwezinto zokuhambisa, ukuzalisa ii-lubricants, kunye nokujonga ukucoceka kwee-encoders kunye nezikali ukuthintela ukulahleka kokuchaneka ngenxa yokuguguleka kunye nokungcola.