Maitiro Ekuona Kuti Marobhoti Eservo Ane Akisi Mashanu Akarurama?

Maitiro Ekuona Kuti Marobhoti Eservo Ane MaAxis Mashanu Akarurama Here? Kubva paCore Technology Kusvika paImplementation

Mukugadzira nemazvo, kugadzira zvinhu zvemagetsi, kugadzira zvishandiso zvekurapa, nedzimwe nzvimbo, kururama kwemarobhoti eservo ane axis mashanu kunosarudza zvakananga kunaka kwechigadzirwa uye kushanda zvakanaka kwekugadzira. Zvichienzaniswa ne3-Marobhoti Akisi,masisitimu ane mativi mashanu, ine mamwe maekisesaizi maviri anotenderera (kazhinji maekisesaizi eA, C, kana B), inogona kuita kufamba kwakaomarara kwenzvimbo, asi izvi zvinowedzerawo kuda kutonga kwakanyatsojeka—kunyangwe kukanganisa kwe0.01mm kunogona kukonzera kumisa kwezvikamu zvetsvina uye tambo dzekugadzira. Chinyorwa chino chichaongorora nzira dzakakosha dzekuona kururama kwemarobhoti eservo ane axis mashanu kubva pazvinhu zvishanu zvakakosha: dhizaini yemakanika, sisitimu yeservo, algorithm yekudzora, kuisa nekutumira, uye kugadzirisa nguva dzose, zvichipa gwara rinoshanda rekusarudza nekushanda kwebhizinesi.

Chekutanga. Maumbirwo eMichina: "Nheyo yeChimiro" yeKururama: Kudzora Zvikanganiso kubva kuManyuko eDhizaini

Kururama kwerobhoti reservo rine mativi mashanu kunonyanya kutsamira pakugadzikana kwechimiro charo chemuchina. Chero kuchinja, kutamba, kana kupfeka kwezvikamu zvaro zvinoshandura zvakananga zvikanganiso zvekufamba. Tarisa pane zvikamu zvitatu zvikuru zvinotevera:

1. Zvikamu zveCore Transmission: Kusarudza Rudzi Rwakakodzera uye Kudzora Kwakarurama
Sisitimu yekutumira ndiyo kiyi yekutumira simba uye kunyatsoita nemazvo. Nzira dzakajairika dzekutumira dzinosanganisira screws dzebhora, harmonic reducers, uye planetary reducers. Izvi zvinofanirwa kuenzaniswa zvichienderana nezvinodiwa nemutoro uye kunyatsoita nemazvo:

Zvikuruu zvebhora: Izvi ndizvo zvinotungamira kufamba kwemaseko emutsetse (senge maeko eX/Y/Z). Kurongeka kwazvo kunokanganisa zvakananga kukanganisa kwekuisa. Tinokurudzira kusarudza kurongeka kweC3 kana kupfuura (kukanganisa kwekuisa ≤ 0.008mm/300mm). Muchina wekuisa bhora pakutanga (senge double-nut preload) unofanirwa kushandiswa kubvisa backlash pakati pesikuruu nenati. Simbi yesimbi yakasimba (senge SUJ2) inofanira kusarudzwa, uye kuomarara (kuomarara kwenzvimbo ≥ HRC58) kuderedza kupera nekukanganisika mushure mekushandiswa kwenguva refu.

Harmonic reducers: Inoshandiswa pakushandisa maaxes anotenderera (akadai seA/C axes), ine zvakanakira zvakaita se high transmission ratio uye compact size. Zvisinei, elastic deformation ye flexspline inogona kukonzera return errors. Sarudza modhi ine high-precision ine return error ye ≤1 arc minute. Zvakare, dzora input speed (dzivisa kudarika 80% ye rated speed) kuti uderedze kuneta kwe flexspline. Mimwe michina yepamusoro inoshandisa musanganiswa we harmonic reducer uye absolute encoder kutsiva elastic deformation errors munguva chaiyo.

Magwara: Aya anotungamira kufamba kwerobhoti uye anofanira kuchengetedza kufanana kwezvinhu zvinotumirwa. Magwara emutsetse anotenderera anokurudzirwa (anopa mutoro wakakura uye kuomarara kupfuura magwara ebhora). Panguva yekuisa, gadzirisa kufanana kwegwara rekutungamira uchishandisa laser interferometer (kusvika pakukanganisa kwe ≤0.005mm/m) kudzivirira "kutsvedza" kana kusarongeka kunokonzerwa nekutsvedza kwegwara rekutungamira.

2. Furemu: Kuenzana pakati pekuomarara uye kureruka

Kusakwana kwekusimba kwechimiro kunogona kukonzera "kuchinjwa kwesimba" panguva yekufamba, kunyanya pakumhanya kwakanyanya kana pasi pemitoro inorema, uko zvikanganiso zvinowedzerwa.

Kusarudzwa kwezvinhu: Ma alloy ealuminium ane simba guru (akadai se6061-T6) anogona kushandiswa pakushandisa zvinhu zvidiki nepakati, zvichienzanisa kureruka uye kuomarara. Pakushandisa zvinhu zvinorema (zvinorema kupfuura 50kg), simbi yakaumbwa (yakadai seHT300) kana simbi yakasungirirwa inokurudzirwa. Kurapa kwekukwegura kunogona kushandiswa kubvisa kushushikana kwemukati uye kuderedza kushanduka kwechinhu mushure mekushandiswa kwenguva refu.

Kugadzirisa chimiro: Shandisa dhizaini ye "triangular support" kana "box-type" kuti uwedzere kuomarara kwefuremu. Wedzera mbabvu dzekusimbisa munzvimbo dzinotakura mutoro (senge dzinotenderera) kudzivirira kushushikana kwakanyanya. Semuenzaniso, chinodzora mafambiro mashanu kubva kumugadziri wezvikamu zvemotokari chakaderedza kukanganisa kwekufamba kwesimba ne40% nekuwedzera kuomarara kwefuremu kubva pa150 N·m/° kusvika pa280 N·m/°.

3. Mushandi wekupedzisira: Chinja zvinoenderana nemutoro uye deredza "kudonha kwemagumo"

Kurema uye kunyatsoita kwe end effector (senge gripper kana suction cup) zvichakanganisa "kunyatsoita end positioning accurate" kwe manipulator. Nheyo ye "load matching" inofanira kutevedzwa ku:

Mutoro wekupedzisira haufanirwe kudarika 80% yemutoro wakayerwa nerobhoti (kudzivirira kushanduka kwemubato kunokonzerwa nekuwanda kwemutoro);

Kubatana pakati pe actuator ne robot flange kunofanirwa kusimbiswa uchishandisa dowel pins nemabolts ane simba rakawanda. Kukanganisa kwe flange surface flatness kunofanirwa kunge kuri ≤ 0.003mm, uye kukanganisa kwe coaxiality kunofanirwa kunge kuri ≤ 0.005mm kudzivirira kusawirirana kwemagumo nekuda kwe eccentricity ye connection.

Chechipiri. Sisitimu yeServo: "Simba Guru" reKunyatsojeka, Rinoderedza Kutsauka paNhanho Yekudzora

Kunyatso famba kwerobhoti reservo rine mativi mashanu ndiko kugona kwe "servo system kutevedzera mirairo" — mushure mekunge murairo watumirwa, mota yeservo, mutyairi, uye encoder zvinofanirwa kushanda pamwe chete kuderedza zvikanganiso. Zvinhu zvitatu zvinotevera zvinoda kugadziriswa kwakakosha:

1. Servo Motor: Sarudza Rudzi Rwakakodzera + Kuvandudza Resolution

Mota yeservo ndiyo "simba rinoburitsa simba," uye kururama kwayo kunoratidza zvakananga kutsetseka kwekufamba uye kururama kwenzvimbo.

Sarudzo yeRudzi: Mamota eservo asingaperi ane magineti anoenderana nemagetsi (permanent magnet synchronous servo motors) ndiwo anonyanya kufarirwa (anopa 30% kukurumidza kupindura nekukurumidza uye 20% torque ripple shoma pane mamota asinganzwisisike). Izvi zvakakosha zvikuru muzviitiko zvekutanga-kumira nekukurumidza (zvakadai se electronic component pickup), sezvo zvichigona kuderedza zvikanganiso zve "lost steps" zvinokonzerwa ne torque isina kukwana.

Kugadziriswa kweEncoder: Iyo encoder ndiyo "nzvimbo yemhinduro." Kana resolution yakakwira, ndipo panowanikwa nzira chaiyo yekuona nzvimbo. Zvinokurudzirwa kushandisa 23-bit absolute encoder (nzvimbo yekururama ≤ 0.001mm) yema axes ari linear uye 17-bit absolute encoder (angular accuracy ≤ 0.005°) yema axes anotenderera. Zvichienzaniswa nema incremental encoders, absolute encoders haadi "home calibration," izvo zvinogona kudzivirira kutsauka kwenzvimbo mushure mekukundikana kwemagetsi uye kutangazve.

2. Mutyairi: Gadzirisa algorithm yekudzora kuti uderedze kukanganisa kunotevera

Mutyairi weservo ndiyo "nzvimbo yekudzora mota," uye mhando yealgorithm yayo inokanganisa zvakananga kugona kwayo kubhadhara zvikanganiso. Mabasa epakati anotevera anofanira kugoneswa:
Kugadzirisa otomatiki kwePID parameter: Mutyairi anoona otomatiki mutoro wemota uye inertia, achigadzirisa maparamita eproportional (P), integral (I), uye differential (D) kuderedza kuwanda (semuenzaniso, oscillation panguva yekuisa). Semuenzaniso, mutengi muindasitiri ye3C akaderedza X-axis inotevera kukanganisa kubva pa0.02mm kusvika ku0.008mm kuburikidza nekugadzirisa otomatiki kwemutyairi.
Kudzora zvinopa simba: Izvi zvinofanotaura shanduko yemutoro wemota (semuenzaniso, simba risingashande panguva yekumhanyisa) pachine nguva uye zvinoburitsa torque combo kudzivirira kutsauka kwekukurumidza kunokonzerwa nekuchinja kwemutoro. Kune zviitiko zvekubatanidza zvine axis mashanu (semuenzaniso, kugadzira pamusoro), kudzora zvinopa simba kunogona kuderedza kukanganisa kwe contour neinopfuura 30%.
Kudzvinyirirwa kweResonance: Kugadzirisa kudzorwa kwemuchina panguva yekushandiswa kweResonance Robhoti Movement (semuenzaniso, kudedera kwefuremu panguva yekufamba nekukurumidza), mutyairi anoshandisa "kusefa kwenotch" kubvisa kudedera pamafrequencies chaiwo, zvichideredza kukanganiswa kwekururama kunokonzerwa neresonance.

3. Kudzora Kwakabatana kweAxis Five-Axis: Kugadzirisa "Chikanganiso Chekubatanidza Pakati peAxis"

Dambudziko guru rine manipulators e-axis mashanu nderekuti mafambiro e-axis akawanda anoenderana. Kana ma-axis ese mashanu achifamba panguva imwe chete, kumhanya nekukurumidzira kwe-axis imwe neimwe kunofanirwa kuenderana, zvikasadaro "zvikanganiso zvecontour" (zvakadai sekusiyana kwechimiro pakugadzira nzvimbo dzakakombama) zvichaitika. Izvi zvinoda kugadziriswa kuburikidza nematekinoroji anotevera:

Maalgorithms eKinematic forward neInverse: Shandisa modhi yekinematic ine axis five-axis chaiyo kuti uverenge nemazvo maparameter ekufamba kweaxis yega yega (senge angle compensation ye rotary axes) kudzivirira zvikanganiso zvinokonzerwa ne algorithmic approximations. Semuenzaniso, kune "cradle-style" five-axis configuration (A + C axes), algorithm inofanira kutsiva offset iri pakati penzvimbo dze rotary ne linear axes.

Kugadzirisa algorithm yeInterpolation: Shandisa "spline interpolation" kana "NURBS interpolation" (panzvimbo petsika yekubatanidza mutsara) kuti uwane kufamba kwakapfava kwe axis yega yega uye kuderedza zvikanganiso zvinokonzerwa nekuchinja kwekumhanya kamwe kamwe. Mugadziri wezvishandiso zvekurapa akavandudza kururama kwekugadzira majoini ekugadzira kubva pa ±0.03mm kusvika ±0.015mm nekushandisa NURBS interpolation.

Chechitatu. Kubhadhariswa Kwezvikanganiso: "Nzira Yekugadzirisa" Yekururama, Kushandisa Tekinoroji Kubvisa Kutsauka Kwechisikigo

Kunyangwe mushure mekunge masisitimu emakanika neservo agadziriswa, zvikanganiso zvirimo (zvakadai sekukanganisa kwekupisa, kukanganisa kwekuisa, uye kukanganisa kwejiyometri) zvicharamba zviripo, zvichida matekiniki ekugadzirisa anoshanda kuti azvideredze zvakanyanya:

1. Kutsiva Zvikanganiso zveThermal: "Muurayi Asingaonekwe" weKuchinja kweTembiricha

Kana robhoti rine mativi mashanu richishanda, kukweshana kunounza kupisa mumota, sikuruu yemutobvu, uye gwara rekutungamira, zvichikonzera kukura nekushanduka kwezvikamu. Semuenzaniso, pakuwedzera kwega kwega kwe1°C mukupisa kwesikuruu yebhora, kureba kunowedzera neinenge 11μm/m, zvichikonzera zvakananga kukanganisa kwenzvimbo yemutsetse. Mhinduro dzinosanganisira:

Zvishandiso: Isa masensa ekupisa (akadai sePT1000) pedyo nemota uye sikuruu yelead kuti utarise kuchinja kwekupisa panguva chaiyo.

Software: Gadzira modhi yemasvomhu ye "tembiricha-kukanganisa" (senge linear regression model) kuti iverenge otomatiki uye igadzirise zvikanganiso zvichibva padata re sensor. Semuenzaniso, mugadziri wematurusi emuchina akashandisa thermal error compensation kuti asimbise kushanda kwenguva refu (kwenguva yemaawa masere) kwerobhoti rine axis mashanu kubva pa ±0.025mm kusvika ±0.012mm.

2. Kugadzirisa Zvikanganiso Pakuisa Nzvimbo: Kushandisa Laser Interferometer "Kuenzanisa Nhanho Imwe Neimwe"

Kukanganisa kwekuisa nzvimbo kunoreva kutsauka pakati penzvimbo chaiyo yerobhoti nenzvimbo yakarairwa. Inofanira kuyerwa uye kubhadharwa uchishandisa michina yakasarudzika:
Zvishandiso zvekuyera: Shandisa laser interferometer (yakadai seRenishaw XL-80) kuyera kukanganisa kwenzvimbo, kukanganisa kwekudzokorora, uye backlash ye axis yega yega.
Nzira Yekubhadhara: Tumira data rekuyera mu Robhoti Chiintrol system, gadzira "tafura yekubhadharisa zvikanganiso," uye shandisa kugadzirisa panguva chaiyo panguva yekufamba. Semuenzaniso, pamugadziri wezvikamu zvendege, laser interferometer calibration yakaderedza kukanganisa kweX-axis positioning kubva pa0.018mm kusvika pa0.006mm.

3. Kubhadhara Zvikanganiso zveGeometric: Kubvisa "Kutsauka Kwechisikigo" muKugadzira Zvivako

Zvikanganiso zve geometric zverobhoti rine mativi mashanu zvinosanganisira zvikanganiso zve axis perpendicularity uye rotational axis eccentricity errors, izvo zvinoda muripo kuburikidza nenzira dzinotevera:

Kuenzanisa Kuenzana Kwemativi: Shandisa chiratidzo chechikwere nechadhi kana laser interferometer kuyera kuenzana kwemativi pakati pemitsara yakatsetseka (semuenzaniso, kuenzana kwemativi pakati pemitsara yeX neY kunofanira kuva ≤ 0.005 mm/m). Gadzirisa kukanganisa uku uchishandisa basa re "perpendicularity compensation" resystem yekudzora.

Rotational Axis Eccentricity Compensation: Shandisa ballbar kuyera eccentricity ye rotational axis (semuenzaniso, offset iri pakati peA-axis rotation centre neZ-axis). Eccentricity compensation parameters inobva yabatanidzwa mu kinematic model kudzivirira kutsauka kwenzvimbo yekupedzisira kunokonzerwa nekusagadzikana.

Chechina. Kuisa uye Kuisa Pabasa: "Kiyi Yekuita" Kururama; Ruzivo Runozivisa Mhedzisiro Yekupedzisira

Kunyangwe kana michina yacho pachayo ikasangana nekururama kunodiwa, kuiswa kwayo nekuiswa kwayo zvisina kunaka kunogona kukonzera kurasikirwa nekunyatsojeka kwayo. Maitiro anotevera anofanira kutevedzerwa zvakasimba:

1. Nzvimbo Yokuisa: Iva nechokwadi chekuti nheyo yacho yakagadzikana uye yakaenzana

Zvinodiwa paFoundation: Pamusoro pacho robhoti Iyo yakaiswa inofanira kunge yakagadzirwa nekongiri (simba ≥ C30) uye ≥ ukobvu 200mm kudzivirira kutsveyama kunokonzerwa nekudonha kwevhu.

Kuenzanisa Kwakatambanudzwa: Shandisa nhanho chaiyo (kunyatsojeka 0.02mm/m) kuti uenzanise muviri wemuchina kuti uone kuti wakatambanudzwa sei. Chikanganiso chakatambanudzwa chemutsetse wemutsara chinofanira kuva ≤ 0.01mm/m, uye kumhanya kwemupendero wemutsetse werotary kunofanira kuva ≤ 0.005mm.

2. Kugadzirisa Matambudziko eAxis System: Gadzirisa nhanho nhanho kubva pa-single-axis kuenda ku-coordinated

Kugadzirisa mafambiro echinhu chimwe chete: Kutanga edza kunyatsojeka kwemafambiro (kukanganisa kwekuisa uye kudzokorora) kwechinhu chimwe nechimwe chimwe nechimwe. Kana kunyatsojeka kwechinhu chimwe chete kwasangana nezvinodiwa, edza kugadzirisa mafambiro echinhu chimwe chete.

Kugadzirisa zvinhu nenzira yakarongeka: Kuburikidza nekuyedza kutema kana kuyedza kutevedza nzira (semuenzaniso, kufambisa robhoti nenzira yakarongwa uye kushandisa laser tracker kuona kutsauka kwenzira), gadzirisa maparamita ekubatanidza mashanu-axis kuti uve nechokwadi chekuti kurongeka kwenzvimbo kwakabatana nezvinodiwa.

3. Kuedzwa Kwemutoro: Tevedzera Mamiriro Ekushanda Echokwadi Kuti Uone Kugadzikana Kwakarurama

Ita bvunzo yekutakura zvinhu nguva dzose kwemaawa 8-12 zvichibva pane "mutoro wepamusoro" uye "kumhanya kwepamusoro" kunoshandiswa mukugadzirwa chaiko.

Ita ongororo dzekururama nguva nenguva panguva yekuedza (semuenzaniso, kuyera kukanganisa kwenzvimbo yekupedzisira uchishandisa chiratidzo chekudhaira maawa maviri ega ega) kuti uve nechokwadi chekuti kururama kunoramba kuri mukati memiganhu inogamuchirika mumamiriro ezvinhu ekutakura.

Cheshanu. Kugadzirisa Zuva Nezuva: "Vimbiso Yenguva Refu" Yekururama: Kudzivirira Kuri Nani Pane Kugadzirisa

Kururama kwerobhoti reservo rine mativi mashanu kuchaderera nekufamba kwenguva, saka purogiramu yekugadzirisa nguva dzose inokosha:

1. Kugadzirisa Chikamu Chekutumira: Kuzora uye Kuchenesa Kuti Zvideredze Kupfekwa

Skuruu Yebhora/Nzira Dzekutungamira: Isa mafuta akasarudzika (semuenzaniso, mafuta anobva ku lithium) maawa makumi mashanu ega ega ekushanda kudzivirira kupera kunokonzerwa nekukweshana kwakaoma. Chenesa chifukidziro cheguruva renzira yekutungamira mwedzi wega wega kudzivirira guruva kupinda munzira yekutungamira.

Harmonic Reducer: Tarisa huwandu hwemafuta anozorwa maawa ega ega ekushanda uye wedzera mafuta akasarudzika (semuenzaniso, mafuta emagetsi anozorwa anozorwa) sezvinodiwa. Chinja mafuta emafuta gore rega rega.

2. Kugadziriswa kweServo System: Kuongorora Nguva Dzose uye Nyevero Dzekutanga

Encoder: Chenesa imba ye encoder kota imwe neimwe uye tarisa kubatanidza kwetambo kuti uone kuchengetedzeka kudzivirira kukanganiswa kwemasaini kunokonzerwa netambo dzisina kusimba.

Kutyaira: Tarisa feni yekutonhodza yemutyairi mwedzi wega wega kuti ishande zvakanaka here uye chenesa guruva kubva mumakomba ekutonhodza kudzivirira kudzikira kwebasa nekuda kwekupisa zvakanyanya.

3. Kuongororazve Kururama: Kugadzirisa Nguva Dzose uye Kugadzirisa Panguva

Tarisazve kururama kwe axis yega yega mwedzi mitatu yega yega uchishandisa laser interferometer kana ballbar. Kana kukanganisa kukapfuura mwero (semuenzaniso, kukanganisa kwekuisa > 0.01mm), dzorerazve nekukurumidza.

Ita "kuongororwa kwakazara kwekururamisa" gore rega rega, kusanganisira kuongorora chimiro chemuchina, kugadzirisa parameter yeservo, uye kugadzirisa error compensation, kuve nechokwadi chekuti michina inoramba ichishanda nemazvo kwenguva refu.

Mhedziso: Kururama kwerobhoti reservo rine mativi mashanu i "chirongwa chemasisitimu," kwete danho rimwe chete.

Kuve nechokwadi chekuti robhoti reservo rine mativi mashanu rakarurama kunoda nzira yakazara yehupenyu: "dhizaini nekusarudza - kugadzira - kuisa nekupa basa - kugadzirisa nguva dzose." Chimiro chemakanika ndicho hwaro, sisitimu yeservo ndiyo musimboti, muripo wezvikanganiso ndiyo nzira, uye kuisa nekugadzirisa ndizvo zvinodzivirira. Kune mabhizinesi, pamusoro pekusarudza michina yakanyatsogadzirwa, zvakakosha kuti vave ne "ruzivo rwekutarisira nemazvo" - kuburikidza nekuongororwa nguva dzose, kutarisa data, uye kugadzirisa nguva dzose - kuve nechokwadi chekuti kururama kwerobhoti kunosangana nezvinodiwa zvekugadzira nguva dzose.

Kana ukasangana nematambudziko chaiwo nekudzora kwakarurama kwerobhoti reservo rine mativi mashanu (sekukanganisa kwakanyanya mu axis imwe chete kana kusakwana kwe contour accuracy panguva yekubatanidza), ongororo yakawedzerwa yakavakirwa pamamiriro chaiwo ekushanda inogona kushandiswa kugadzira mhinduro dzekugadzirisa dzakanangwa, zvichibvumira michina kuti inyatsoona kukosha kwayo kwe "kugadzira nemazvo".