Kuenzanisa Mashandisirwo eThree-Axis Servo Robots ane Mazinga Akasiyana Ekugadzirisa

Kuenzanisa Mashandisirwo eThree-Axis Servo Robots ane Mazinga Akasiyana Ekugadzirisa

Mukati mehurongwa hwekushanda kwemaindasitiri otomatiki, marobhoti eservo ane mativi matatu, ane chimiro chawo chiri nyore uye kugona kudzora kufamba kwakasimba, ave michina mikuru inosanganisira nzvimbo dzakawanda dzakadai sekugadzira zvemagetsi, indasitiri yemotokari, uye nzvimbo yekuchengetedza zvinhu. Kunyatsojeka, sechiratidzo chikuru chinoona miganhu yekushandisa, chinokanganisa zvakananga kushanda zvakanaka kwekugadzira, mhando yechigadzirwa, uye mari yekugadzira. Chinyorwa chino chichatanga nematanho ekutsanangura mazinga ekunyatsojeka, kuenzanisa zvakarongeka misiyano muzviitiko zvekushandisa marobhoti eservo ane mativi matatu ane mazinga akasiyana ekunyatsojeka, uye kutsanangura pfungwa yekusarudza kwepakati, ichipa referensi kune vanoita zvemaindasitiri pasi rese.

1. Mitemo Yepamusoro Yekutsanangura Mazinga Emarobhoti EServo Ane Akisi Matatu

2. Nhamba Yakanyatsojeka: Mamiriro ekugadzira epamusoro-soro ari pasi pekutonga kwechikamu che micron

3. Chikamu Chepakati Chekunyatsojeka: Mashandisirwo akajairika emaindasitiri anokonzerwa nekushandisa mari zvakanaka

4. Standard Precision Level: Kuvhara mamiriro ezvinhu akakosha ekushandisa otomatiki

5. Pfungwa Yekusarudza Zvakanaka: Hurongwa hwekuita sarudzo hunoenzanisa zvinodiwa nemari

I. Mitemo Yekutanga Yekutsanangura Mazinga Emarobhoti EServo Ane Akisi Matatu

Mundima yeindasitiri, tsananguro chaiyo ye marobhoti eservo ane tambo nhatu Zvinonyanya kutenderera pazviratidzo zviviri zvepakati: kurongeka kwekudzokororwa (kutsauka kwenzvimbo ye end effector apo robhoti rinodzokorora kuita chimwe chinhu) uye kurongeka kwekugadzika kwakazara (kutsauka pakati penzvimbo dze end effector chaidzo nedzedzidziso). Pamwe chete nema parameter ekubatsira akadai sekukwanisa kurema uye kumhanya kwekufamba, izvi zvinoumba sisitimu yekupatsanura yematanho matatu inowanzoshandiswa muindasitiri. Zvakakosha kuziva kuti magiredhi ekururama haana kunyatsogadziriswa uye anogona kugadziriswa zvishoma zvichienderana nezvinodiwa neindasitiri yekushandisa, asi huwandu hwepakati hunoramba hwakafanana:

- High Precision Grade: Kudzokororwa ≤ ±0.02mm, Absolute Positioning Accuracy ≤ ±0.1mm. Inowanzobatanidzwa nezvinhu zvekunze zvakaita se linear scales, inochinjika kusanganiswa kwakanyatsonaka kwema servo motors nema harmonic reducers, zvakakodzera mamiriro ezvinhu ane zvinodiwa zvakasimba zve micro-manipulation.

- Giredhi Repakati Nekunyatsojeka: Kudzokororwa pakati pe ±0.02mm ne ±0.1mm, Kunyatsorongeka Kwenzvimbo ≤ ±0.3mm. Inoshandisa magadzirirwo ekare emamota eservo + mapuraneti anodzikisa simba, zvichimiririra sarudzo huru yeindasitiri inoenzanisa kururama nemutengo.

- Standard Precision Grade: Kudzokororwa ≥ ±0.1mm, Kunyatsorongeka Kwekuisa Nzvimbo ≤ ±0.5mm. Inonyanya kushandisa servo motors dzakabatana nemabhandi akabatana kana madhiraivha egiya, ichinyanya kutarisa pakubata nekugadzirisa zvinhu.

Chinangwa chikuru chekupatsanura magiredhi aya ndechekuwana kuenzana kwakakwana pakati pe "zvinodiwa zvekururama nemari yekugadzira" kuburikidza nemagadzirirwo akasiyana emadhiraivha, nzira dzekutumira, uye zvinhu zvinonzwa.

II. Kunyatsoongorora: Mamiriro Ekugadzira Epamusoro-soro Ari Pasi Pekudzora Kwemazinga eMicrometer

Kukosha kukuru kwemarobhoti eservo ane mativi matatu akanyatsogadzirwa kuri mukudzora zvikanganiso zvekufamba padanho re micrometer, zvichisangana nezvinodiwa zvakasimba zve "zero-defect" mukugadzira zvigadzirwa zvine mutengo wakakwira. Maitiro ekushandisa kwavo anowanzo kuve nehunhu hwe "three highs": kukosha kwakanyanya kwechigadzirwa, kuomarara kwemaitiro, uye zvinodiwa zvakanyanya zvakatipoteredza. Nzvimbo dzakajairika dzinosanganisira:

1. Kugadzira Semiconductor uye Microelectronics

Mukugadzirisa silicon wafer uye kurongedza chips, kukosha kwewafer imwe chete kunogona kusvika zviuru zvemaeuro, uye kugadzirisa kwatove kwapedza 90% yematanho ekugadzira. Chero kukanganisa kudiki kunogona kutungamira mukubviswa kwezvigadzirwa zvese. Panguva ino, marobhoti eservo ane axis matatu ane kurongeka kwekudzokororwa ≤ ±0.01mm anodiwa kuti apedzise otomatiki wafer handling, photoresist coating, uye mamwe maitiro. Semuenzaniso, marobhoti ekuchenesa akanyatsogadzirwa anoshandiswa nekambani yeGerman SÜSS MicroTec haangogumiri pakuwana kurongeka kwakakwana kwekuisa kwe ±50 micrometers asiwo anosangana nezvinodiwa zve ISO Class 3 kusvika ISO Class 4 cleanroom, kudzivirira kukuvara kwewafers kubva kumagetsi asingachinji uye guruva. ​​Izvi Ruoko rweRoboticKazhinji anoshandisa Cartesian coordinate configuration, yakabatana neC3-grade ball screws uye THK HSR series linear guides. Pre-tensioning inobvisa transmission backlash, zvichiita kuti pave nekufamba kwakatsetseka, kusina kudedera.

2. Kuunganidzwa Kwakarurama Kwemidziyo Yekurapa

Mukugadzirwa kwezvinhu zvidiki-diki zvekurapa, zvakaita sekuunganidzwa kwemacatheter ekupa stent yemwoyo uye zvishandiso zvekuvhiya zvisingapindike zvakanyanya, zviyero zvezvikamu zvinowanzova pachiyero che millimeter, uye nzvimbo dzekusangana dzinofanirwa kuva ≤0.02mm. Maoko erobhoti ane servo akanyatsogadzirwa zvakanaka anogona kuita mabasa akaomarara akadai se heat-fusion welding ye catheter interfaces uye kuisa uye kunamatira ma micro-sensors. Kudzokororwa kwawo kunodzorwa pakati pe ±0.005mm ne ±0.01mm, uye ane tambo dzemaoko dzinodzivirira static (ESD rating

3. Kurongedza Zvikamu Zvemagetsi Zvakanyatsonaka

Mukugadzirisa machip uye kuisa PCB board yezvigadzirwa zve3C, maoko erobhoti akanyatsogadzirwa anofanira kuenderana nemapini nemapedhi, zvichigona kudzokororwa kwe±0.01mm. Semuenzaniso, mukugadzirisa ma processor efoni, mushure mekunge robhoti reservo rine mativi matatu ratora chip richishandisa suction nozzle, rinofanira kupedzisa kufamba kweX/Y/Z axis kwakarongeka mukati memasekonzi 0.5 kuti riise chip panzvimbo yakatarwa pa substrate, nekutsauka kunodzorwa mukati mema micrometer mashanu. Marobhoti aya anowanzo shandisa system yekufambisa nekutonga yakabatanidzwa, ichiwana mhinduro yekufamba kwe millisecond-level kuburikidza nebhazi reEtherCAT kuti ive nechokwadi chekuti yakarurama uye yakagadzikana panguva yekushanda nekukurumidza.

III. Nhanho Yepakati Nepakati Yekunyatsojeka: Mashandisirwo Emaindasitiri Anonyanya Kushandiswa Nekushandisa Mari Zvisingadhuri

Marobhoti eservo ane mativi matatu akanyatsogadzirwa zvakanaka, ane mabhenefiti awo makuru ekuti "mutengo wakaringana uye unodzoreka," anotora chikamu chinodarika 70% chemaindasitiri epasi rose. Robhoti Mmugove wearket. Anoshandiswa zvakanyanya mukugadzirwa kukuru kwemotokari, kuunganidza zvigadzirwa zve3C, uye kugadzira majekiseni. Kushanda kwawo nemazvo kunoenderana zvakakwana nezvinodiwa zve "kugadzirwa kwepamusoro-soro + mhando yakagadzikana" mune izvi zviitiko.

1. Kugadzira Zvikamu zveMotokari

Mukugadzirisa mota nekugadzira mukati, marobhoti ane hunyanzi hwepakati nepakati (ane hunyanzi hwepamusoro hwe ±0.05mm kusvika ±0.1mm) anogona kupedzisa mabasa akadai sekuiswa kwehinji yemusuwo uye kuiswa kwedashboard. Semuenzaniso, kambani yeOEM yemumba inoshandisa robhoti ine mativi matatu yeNC ine hunyanzi hwekutakura hune tani. Mutoro wepamusoro pagumbo rimwe nerimwe unodarika 800 kg, uye hunyanzi hwepamusoro hwekutakura hunosvika

2. Kuunganidzwa kweZvigadzirwa zve3C zvepakati

Mumabasa akadai sekupukuta nharembozha uye kusungirira screws palaptop, maoko erobhoti ane hunyanzi hwepakati anogona kudzokorora kubva pa ±0.02 mm kusvika ±0.05 mm, zvichizadzisa zvinodiwa pakubatanidza zvikamu. Semuenzaniso, ruoko rwerobhoti rweSiweike "Lushan" rune tambo nhatu rune tambo ine huremu hwe 3-8 kg uye runoenderana nematani 80-420. Jekiseni Kuumba Machines. Inoita otomatiki kubviswa uye kuiswa kwekutanga kwema mid-frames efoni. Kushandiswa kwayo kweHuichuan servo system uye dhizaini yedhiraivha yakabatanidzwa uye yekudzora kunoderedza mitengo yemidziyo uku ichivimbisa kururama. Kune maitiro akadai sekusimbisa screw, mota yeservo ye200W yakabatana ne 1:5 planetary reducer inogona kudzora torque yekusunga nenzvimbo, ichidzivirira kubvisa kana kusimbisa zvakanyanya zvinogona kukuvadza zvikamu.

3. Kugadzira Jekiseni Kugadzira Otomatiki

Muindasitiri yekugadzira majekiseni, maitiro akadai sekubvisa chigadzirwa chakapedzwa uye kunyora majekiseni muchimiro zvinoda maoko erobhoti ane zvinodiwa nemazvo zvinotangira pa ±0.03mm kusvika ±0.1mm. Marobhoti eShini USA's ST series three-axis servo, kunyanya modhi yeruoko rumwe chete, anoenderana nemichina yekuisa majekiseni ye80-160 ton, ine nguva shoma yekubvisa yemasekondi 1.3 chete, ichivimbisa kuiswa kwakafanana uku ichibvisa nekukurumidza zvigadzirwa zvine madziro matete. Modhi yeSiweike SW7112DS, ine 3.3-second idling cycle, inoenderana nemichina yekuisa majekiseni ye450-ton high-speed. Kukwanisa kwayo kwekutakura kwe5kg kunoibvumira kubata zvese kubviswa kwechigadzirwa uye mashandiro akaomarara senge kunyora majekiseni muchimiro, zvichiratidza kuchinjika kwebasa rerobhoti rine hunyanzi hwepakati.

IV. Nhanho Yakajairika Yekunyatsorongeka: Kuvhara Mamiriro Ezvinhu Akakosha Ekushandisa Otomatiki Yekutanga

Marobhoti eservo akaenzana nemazvo akaenzana matatu Tarisa pa "kupedzisa nzvimbo yekutanga uye mari yekudzora." Kudzokororwa kwadzo kunowanzova pakati pe ± 0.1mm ne ± 0.5mm. Dzinonyanya kushandiswa mumamiriro ezvinhu apo kururamisa kwakanyanya kwenzvimbo hakudiwi, senge kubata, kurongedza, uye kuisa mapellet. Dzinomiririra michina "yekutanga" yekushandisa otomatiki maitiro eindasitiri.

1. Kuchengetera uye Kuronga Zvinhu

Muzviitiko zvakaita sekuronga zvinhu nekukurumidza uye kuchengetedza zvinhu muzvitoro zvemagetsi, marobhoti anofanira kubata, kuisa muzvikamu, uye kuisa mapakeji. Kudzokororwa kwe ±0.2mm kusvika ±0.5mm kwakakwana. Mashandisirwo aya anowanzo shandisa marobhoti ane cylindrical coordinate three-axis ane θ-axis rotation range ye 0°-360°. Pamwe chete ne vision recognition system, anogona kukurumidza kuona saizi yemapakeji neruzivo rwebarcode, zvichiita kuti akwanise kuiswa munzvimbo dzakasiyana. Transmission mechanism yavo inowanzova bhandi rinoenderana, rinodhura 1/3 ye ball screw, uye rine ruzha rwakaderera, kugadzirisa kuri nyore, uye kukodzera kushanda kwemaawa makumi maviri nemana nguva dzose.

2. Indasitiri yezvekudya nekutakura

Mumapakeji ezvekudya uye ma pallet ezvinwiwa, maoko erobhoti akagadzirwa nemazvo anogona kushandisa mabhegi nemabhodhoro otomatiki, kazhinji zvinoda kurongeka kwe ±0.3mm kusvika ±0.5mm. Tichifunga nezvezvinodiwa nehutsanana hweindasitiri yezvekudya, maoko aya erobhoti anowanzo shandisa magoko esimbi isina ngura uye mafuta emhando yepamusoro yezvekudya kudzivirira njodzi dzekusvibiswa. Semuenzaniso, mumutsara wekugadzira ma noodle package nekukurumidza, ruoko rwerobhoti rwe servo rune mativi matatu runogona kuisa makeke enoodle nemapaketi ezvinonhuwira mumakatoni, ane kugona kwekugadzirisa kwemakatoni anopfuura 2000 paawa, zvichivandudza zvakanyanya kushanda kwekugadzirisa uye kuderedza mari yevashandi.

3. Kubata Zvinhu Zvine Basa Rakawanda

Munzvimbo dzakaoma dzemaindasitiri dzakadai sekugadzira nekukanda, maoko erobhoti anofanira kubata zvinhu zvisina chinhu kana zvigadzirwa zvakapedzwa zvinorema ≥50Kg. Muchiitiko ichi, kurongeka kunogona kudzoreredzwa kusvika ±0.1mm kusvika ±0.3mm, nekutarisa pakukwanisa kwemutoro uye kugadzikana kwechimiro. Mhando idzi dzemaoko erobhoti dzinowanzo shandisa muviri wechimiro chesimbi uye dhiraivha inobatsirwa ne hydraulically. Kufamba kweX/Y/Z axis kunogadziriswa zvichienderana nenzvimbo yebasa. Semuenzaniso, mu workshop yekukanda mavhiri emotokari, robhoti yeservo ine mativi matatu inogona kubvisa mavhiri anodziya zvakanyanya kubva muforoma yekukanda uye kuaendesa kunzvimbo inotonhorera, ichidzivirira njodzi dzekuchengetedza dzekushanda nemaoko.

V. Pfungwa Yekutanga Yekusarudza Zvakanaka: Hurongwa Hwekuita Sarudzo Hwekuenzanisa Zvinodiwa Nemari

Kusarudza mwero chaiwo werobhoti reservo rine mativi matatu kunosanganisira kuwana chiyero pakati pe "zvinodiwa nemaitiro, mari yekugadzira, uye kushanda zvakanaka." Nheyo nhatu dzinotevera dzinogona kubatsira makambani kuita sarudzo dzine ruzivo:

1. Isa Kurongeka Kwemaitiro Pamberi

Pamberi pekusarudza, chiyero chekunyatsojeka chemaitiro makuru chinofanira kutsanangurwa zvakajeka: Pamabasa madiki akadai sekurongedza kwema semiconductor, modhi yakanyatsojeka ine ≤±0.02mm inofanira kusarudzwa; pakusanganisa zvikamu zvemotokari, modhi yakanyatsojeka yakakwana; pakubata zvinhu zvepakutanga, chigadzirwa chakanyatsojeka ndiyo mhinduro yakanakisisa. Semuenzaniso, PCB soldering inoda ±0.01mm chaiyo, nepo kurongedza zvinhu kunogona kudzoreredzwa kusvika ±0.5mm. Kutevera kunyatsojeka kwakanyanya kunongokonzera mari shoma.

2. Kuenzanisa Mutoro uye Kuchinjika Kwenzvimbo

Kururama hakusi iko chete kunoyerwa; ongororo yakazara yakavakirwa pazvinodiwa nemutoro inodiwa. Muzviitiko zvine mutoro wakanyanya, kunyangwe paine zvinodiwa zvine mwero wekururama, modhi ine mwero wekururama ine chimiro chakasimba kwazvo inodiwa. Munzvimbo dzakachena, marobhoti ane mwero wekuchenesa anofanira kukosheswa, pane kungotsvaga kudzikisa mutengo. Semuenzaniso, muindasitiri yezvekurapa, kurongeka kwemishonga, nepo kuchida ±0.1mm kururamisa (uko kuri mukati mepakati pekuenzanisa), kunoda chimiro chinodzivirira guruva uye chinodzivirira kusagadzikana, pfungwa yekusarudza yakasiyana zvachose neyezviitiko zvemaindasitiri zvakajairika.

3. Kuverenga Mutengo Wese Wehupenyu

Mari yekutenga robhoti rine hunyanzvi hwepamusoro inopetwa ka3-5 pane yerobhoti rine hunyanzvi hwepamusoro, uye mari yekugadzirisa (yakadai sekugadzirisa ruler ne harmonic reducer) yakakwira zvakanyanya. Makambani anofanirwa kuverenga mutsauko uripo pakati pe "kudzikiswa kwehuwandu hwezvimedu nekuda kwekuvandudzwa kwekururama" uye "mari yekudyara yekuwedzera." Kana mamiriro ekurongedza machipisi akakonzera huwandu hwe5% hwezvimedu nekuda kwekusakwana kwekururama, mari yekuwedzera murobhoti rine hunyanzvi hwepamusoro inogona kudzoserwa mukati memwedzi mitatu; zvisinei, mumamiriro ezvinhu enguva dzose ekutakura zvinhu, mari iyi haina basa zvachose.

Mhedziso

Hapana hunhu hwakakwana kana husina kunaka pakati pemarobhoti eservo ane mativi matatu ane mazinga akasiyana ekunyatsorongeka; musiyano uripo chete mu "kukodzera kwawo mumamiriro akasiyana-siyana." Kubva pakugadzira semiconductor yemazinga e micron kusvika pakuronga logistics yemazinga emita, kusarudzwa kwemazinga ekunyatsorongeka kunogara kuchitenderera papfungwa huru ye "kusangana nezvinodiwa zvemaitiro uye kudzora mitengo inonzwisisika." Nekuvandudzwa kwetekinoroji yekufambisa nekuona maservo, marobhoti eservo ane mativi matatu ari kuwana budiriro mbiri mu "kunyatsorongeka kwakanyanya" uye "mutengo wakaderera," uye zvichagonesa kusimbiswa kwakarurama mumamiriro ezvinhu emaindasitiri mune ramangwana.

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