Robhoti remaindasitiris anoshandiswa zvakanyanya mukugadzira maindasitiri, akadai sekugadzira mota, midziyo yemagetsi, chikafu, nezvimwewo. Anogona kutsiva mashandiro emakanika anodzokororwa uye imashini dzinovimba nesimba radzo uye kugona kudzora mabasa akasiyana-siyana. Anogona kutsungirira kuraira kwevanhu uye anogonawo kushanda zvichienderana nemapurogiramu akarongwa kare. Iye zvino tava kutaura nezvezvikamu zvikuru zverobhoti remaindasitiris.
1.Musoro wenyaya
Michina mikuru ndiyo hwaro hwemuchina uye mashandiro ekufambisa, kusanganisira ruoko rukuru, ruoko rwemukono, ruoko neruoko, izvo zvinoumba sisitimu yemakanika ine rusununguko rwakakura. Mamwe marobhoti anewo mashandiro ekufamba.Robhoti remaindasitirisRuoko runowanzova nerusununguko rwekufamba netsoka kubva pa1 kusvika ku3.
2. Sisitimu yekutyaira
Sisitimu yekufambisa yerobhoti remaindasitirisYakakamurwa kuita zvikamu zvitatu zvichienderana nekwakabva simba: hydraulic, pneumatic uye electric. Mhando nhatu idzi dzinogonawo kusanganiswa kuita composite drive system zvichienderana nezvinodiwa. Kana kuti inofambiswa zvisina kunanga kuburikidza ne mechanical transmission mechanisms dzakadai se synchronous belts, gear trains, uye gear. Drive system ine simba remagetsi uye transmission mechanism, izvo zvinoshandiswa kuita zviito zvinoenderana zve mechanism. Imwe neimwe yemhando nhatu idzi dze basic drive systems ine hunhu hwayo. Iyo huru iripo ndiyo electric drive system. Nekuda kwekusashanda zvakanaka, mota dzeAC neDC servo motors dzakakura dzine torque uye ma servo drive adzo anotsigira (AC frequency converters, DC pulse width modulators) dzinoshandiswa zvakanyanya. Rudzi urwu rwesystem harudi shanduko yesimba, ruri nyore kushandisa, uye rune simba rekutonga. Mota zhinji dzinoda nzira yekutumira yakapfava: reducer. Mazino adzo anoshandisa gear speed converter kuderedza huwandu hwekutenderera kwemota kusvika pahuwandu hunodiwa hwekutenderera kwe reverse uye kuwana torque yakakura, nokudaro zvichideredza kumhanya uye kuwedzera torque. Kana mutoro wacho wakura, mota yeservo inowedzerwa zvisina kujeka. Simba racho rinodhura zvishoma, uye torque inobuda inogona kuwedzerwa kuburikidza ne reducer mukati me speed range yakakodzera. Servo motors dzinowanzo pisa uye low-frequency vibration kana dzichishanda pama frequency akaderera. Kushanda kwenguva refu uye kunodzokororwa hakubatsiri kuona kushanda kwakarurama uye kwakavimbika. Kuvapo kwe precision reduction motor kunobvumira servo motor kushanda nekumhanya kwakakodzera, zvichisimbisa kuomarara kwemuchina uye zvichiburitsa torque yakakura. Kune maviri mainstream reducers nhasi: harmonic reducer uye RV reducer.
3. Hurongwa hwekutonga
Iyosisitimu yekudzora marobhotiUropi hwerobhoti uye chinhu chikuru chinosarudza mashandiro erobhoti. Sisitimu yekudzora inotumira zviratidzo zvemirairo kusistimu yekutyaira uye nzira yekuita zvinoenderana nepurogiramu yekupinda, uye inovadzora. Basa guru rerobhoti remaindasitiri tekinoroji yekudzora ndeyekudzora mhando dzezviitiko, chimiro uye nzira, uye nguva yezviitorobhoti remaindasitiris munzvimbo yebasa. Ine hunhu hwekuronga mapurogiramu ari nyore, mashandiro emenu yesoftware, interface yekudyidzana kwevanhu nekombuta, mirairo yekushanda online uye kushandiswa kuri nyore. Sisitimu yekutonga ndiyo musimboti werobhoti, uye makambani ekunze akakodzera haana kupindirana nezvatinoedza. Mumakore achangopfuura, nekuvandudzwa kwetekinoroji ye microelectronics, mashandiro ema microprocessors akawedzera kukwira, uye mutengo wave kuderera uye kuderera. Iye zvino, ma microprocessors e32-bit anodhura 1-2 US dollars aonekwa pamusika. Ma microprocessors anodhura zvishoma akaunza mikana mitsva yekuvandudza kune ma robot controllers, zvichiita kuti zvikwanisike kugadzira ma robot controllers anodhura zvishoma uye anoshanda zvakanyanya. Kuti sisitimu ive nehunyanzvi hwakakwana hwekuverenga nekuchengetedza, ma robot controllers ikozvino anosanganisira ma ARM series ane simba, DSP series, POWERPC series, Intel series nedzimwe chips. Sezvo mabasa nemashandiro emachipisi aripo asingakwanise kuzadzisa zvizere zvinodiwa nemamwe masisitimu emarobhoti maererano nemutengo, mashandiro, kubatanidzwa uye mainterfaces, izvi zvakakonzera kudiwa kwetekinoroji yeSoC (System on Chip) mumasisitimu emarobhoti. Iyo processor yakabatanidzwa nemainterfaces anodiwa, izvo zvinogona kurerutsa dhizaini yemaseketi eperipheral system, kuderedza saizi yesisitimu, uye kuderedza mitengo. Semuenzaniso, Actel inobatanidza macores eprosesa eNEOS kana ARM7 muzvigadzirwa zvayo zveFPGA kuti igadzire sisitimu yakakwana yeSoC. Panyaya yevanodzora tekinoroji yemarobhoti, tsvakiridzo yayo inonyanya kuitirwa muUnited States neJapan, uye kune zvigadzirwa zvakakura, zvakaita seAmerican DELTATAU Company, Japan's Pengli Co., Ltd., nezvimwewo. Iyo motion controller inotora tekinoroji yeDSP sepakati payo uye inoshandisa chimiro chakavhurika chakavakirwa paPC. 4. Mugumisiro wekupedzisira Chinobatidza chinhu chakabatana nechikamu chekupedzisira chemanipulator. Chinowanzo shandiswa kubata zvinhu, kubatana nedzimwe nzira uye kuita mabasa anodiwa. Vagadziri vemarobhoti havawanzo gadzira kana kutengesa ma end effectors; kazhinji, vanongopa gripper iri nyore. Kazhinji chinobatidza chinoiswa pa 6-axis flange yerobhoti kuti chipedzise mabasa munzvimbo yakatarwa, senge welding, pendi, gluing, uye kurodha nekuburitsa zvikamu, ayo ari mabasa anoda kuti marobhoti apedzise.
Pfupiso yemota dzeservo Servo driver, inozivikanwawo se "servo controller" uye "servo amplifier", inodzora inoshandiswa kudzora servo motors. Basa rayo rakafanana nere frequency converter pamota dzeAC dzakajairwa, uye chikamu cheservo system. Kazhinji, servo motor inodzorwa nenzira nhatu: nzvimbo, kumhanya uye torque kuti iwane nzvimbo chaiyo ye transmission system.
1. Kupatsanurwa kwemota dzeservo Yakakamurwa kuita mapoka maviri: mota dzeDC neAC servo.
Mamota eAC servo akakamurwa kuita mamota eservo asynchronous uye mamota eservo asynchronous. Parizvino, mamota eAC ari kutsiva mamota eDC zvishoma nezvishoma. Kana tichienzanisa nemamota eDC, mamota eAC servo ane zvakanakira zvekuvimbika zvakanyanya, kupisa kwakanaka, kusagadzikana kudiki, uye kugona kushanda pasi pekumanikidzwa kwakanyanya. Nekuti hapana mabhurashi nemagiya ekufambisa, sisitimu yeAC servo inovawo sisitimu yeservo isina mabhurashi, uye mamota anoshandiswa mairi imota dzemhando yecage asynchronous uye mamota emagetsi asingachinjiki ane chimiro chisina mabhurashi. 1) Mota dzeDC servo dzakakamurwa kuita mota dzakakweshwa uye dzisina mabhurashi
①Mota dzakakweshwa dzine mutengo wakaderera, chimiro chiri nyore, torque huru yekutanga, kumhanya kwakafara, kudzora kuri nyore, dzinoda kugadziriswa, asi dziri nyore kuchengetedza (kutsiva mabhurashi ecarbon), dzinogadzira kupindirana kwemagetsi, dzine zvinodiwa pakushandiswa, uye dzinowanzo shandiswa kudzora mutengo. Mamiriro ekunze akajairika eindasitiri nemagariro evanhu;
②Mota dzisina mabhurashi diki uye dzakareruka, dzine simba guru uye dzinokurumidza kupindura. Dzine kumhanya kwakanyanya uye dzine simba diki, torque yakagadzikana uye kutenderera kwakatsetseka. Kudzora kwacho kwakaoma uye kwakangwara. Nzira yemagetsi inochinjika. Inogona kuchinja ne square wave kana sine wave. Mota haina kugadziriswa uye inoshanda zvakanaka. Inochengetedza simba, mwaranzi diki yemagetsi, kukwira kwekushisa kwakaderera uye inogara kwenguva refu, yakakodzera nharaunda dzakasiyana siyana.
2. Hunhu hwemhando dzakasiyana dzemota dzeservo
1) Zvakanakira nezvazvakaipira zvemota yeDC servo Zvakanakira: kudzora kumhanya kwakanyatsojeka, torque yakasimba uye maitiro ekumhanya, musimboti wekudzora uri nyore, nyore kushandisa, uye mutengo wakaderera. Zvakashata: kuchinja kwemabhurashi, muganho wekumhanya, kuramba kwakawedzerwa, kugadzirwa kwezvikamu zvekusakara (hazvina kukodzera nzvimbo dzisina guruva uye dzinoputika)
2) Zvakanakira nezvazvakaipira zvemota yeAC servo Zvakanakira: hunhu hwakanaka hwekudzora kumhanya, kudzora kwakapfava munzvimbo dzese dzekumhanya, kunenge kusina kutenderera, kushanda zvakanaka kweinopfuura 90%, kupisa kushoma, kudzora nekukurumidza, kutonga kwakanyatsojeka kwenzvimbo (zvichienderana nekururama kwe encoder), nzvimbo yekushanda yakayerwa. Mukati, inogona kuwana torque inogara iripo, inertia yakaderera, ruzha rwakaderera, kusapfeka kwemabhurashi, uye isina kugadziriswa (yakakodzera nzvimbo dzisina guruva uye dzinoputika). Zvakashata: Kudzora kwacho kwakaoma, ma parameter emutyairi anofanira kugadziriswa panzvimbo yacho uye ma parameter ePID anotsanangurwa, uye kubatana kwakawanda kunodiwa. Parizvino, ma mainstream servo drives anoshandisa digital signal processors (DSP) senzvimbo yekudzora, iyo inogona kushandisa ma algorithms ekudzora akaomarara uye kuita kuti digitization, networking uye intelligence ibudirire. Zvishandiso zvemagetsi zvinowanzoshandisa ma drive circuits akagadzirwa ne intelligent power modules (IPM) senzvimbo yekudzora. IPM inobatanidza drive circuit uye ine zvikanganiso zvekuona nekudzivirira zvikanganiso zvakaita se overvoltage, overcurrent, overheating, uye undervoltage. Software inowedzerwawo ku main circuit. Tanga circuit kuderedza kukanganiswa kwe startup process pamutyairi. Power drive unit inotanga yagadzirisa input three-phase power kana mains power kuburikidza ne three-phase full-bridge rectifier circuit kuti iwane direct current inoenderana. Power kana mains power yakagadziriswa inozoshandurwa kuita frequency ne three-phase sinusoidal PWM voltage inverter kuti ityaire three-phase permanent magnet synchronous AC servo motor. Maitiro ese e power drive unit anogona kungonzi i AC-DC-AC process. Main topological circuit ye rectifier unit (AC-DC) i three-phase full-bridge unrecontrolled rectifier circuit.
Maonero akaputika e harmonic reducer Zvakatora Kambani yeNabtesco yeJapan makore 6-7 kubva pakupa zano rekugadzira maRV kutanga kwema1980 kusvika pakubudirira kukuru mukutsvagisa kwekuderedza maRV muna 1986; uye Nantong Zhenkang naHengfengtai, avo vakatanga kugadzira mhedzisiro muChina, vakapedzawo nguva. Makore 6-8. Zvinoreva here kuti mabhizinesi edu emuno haana mikana? Mashoko akanaka ndeekuti mushure memakore akati wandei ekushandiswa, makambani ekuChina pakupedzisira akabudirira.
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Nguva yekutumira: Gunyana-15-2023
