Mabhenefiti makuru ekushandisa manipulator yeservo ine axis nhatu

Mabhenefiti Akakosha eMarobhoti eServo Ane Akisi Matatu

Munzvimbo yekunyatsorongeka kwekugadzirwa otomatiki, kurongeka kwechikamu che millimeter hakusisiri chiyero chekupedzisira chekunyatsorongeka. Kugona kwekuisa mazinga e micron uye kunyange submicron ndizvo zvakakosha pakuona kushanda kwemutsetse wekugadzira, mwero wekukodzera chigadzirwa, uye kukwikwidzana kwekambani. Nekunyatsorongeka kwavo kwekuisa mazinga, marobhoti eservo ane tambo nhatu zvave zvishandiso zvakakosha muminda yepamusoro-soro yakadai sekugadzira zvemagetsi, kugadzira majekiseni ekugadzira nekushandisa majekiseni, uye zvishandiso zvekurapa. Chinyorwa chino chichaongorora zvakadzama mabhenefiti makuru ekuisa kwavo zvinhu nemazvo kubva pamaonero matatu: tekinoroji huru, mashandiro, uye kukosha kweindasitiri.

Chekutanga, Nheyo yeUnyanzvi yeKunyatsojeka: "Synergy Code" yeThree-Axis Servo System

Kuiswa kwakanyatsojeka kwerobhoti reservo rine mativi matatu hakusi iko chete kunoitwa nechikamu chimwe chete, asi kuti ndiko kushanda pamwe chete kwemamodule matatu makuru: mota yeservo, nzira yekutumira zvinhu nemazvo, uye system yekudzora. Pamwe chete, mamodule matatu aya anoumba "triangle yehunyanzvi" yekunyatsojeka.

1. Servo Motor: "Simba guru" rePrecision

Mota yeservo ndiyo inofambisa zvinhu zviri nyore, uye mashandiro ayo anosarudza zvakananga kumhanya kwerobhoti pakupindura uye kukanganisa kwenzvimbo. Kusiyana nemamota ekare estepper, mamota eAC servo ane closed-loop control. Mhinduro chaiyo kubva ku encoder pamusoro pekumhanya kwemota nenzvimbo inoita kuti ikwanise kudzora kumhanya, torque, uye nzvimbo chaiyo. Semuenzaniso, 23-bit absolute encoder inogadzira 8,388,608 pulses pakuchinjana, zvichireva kuti angle yekutenderera kwemota inogona kudzorwa nekururama kwe0.000043 degrees, zvichipa vimbiso huru ye micro-positioning yerobhoti. Uyezve, basa re "zero-speed lock" yemota yeservo rinoita kuti robhoti irambe yakagadzikana mushure mekusvika panzvimbo yainoda, kudzivirira "drift" errors inokonzerwa nekusagadzikana.

2. Kutumira Kwakarurama: "Chinongedzo Chekutumira" cheKunyatsojeka

Kana mota yeservo iri "moyo," saka nzira yekutapurirana chaiyo ndiyo "tsinga dzeropa," dzine basa rekutumira simba chairo remota pasina kurasikirwa neactuator yerobhoti. Nzira dzinoshandiswa mukushandisa marobhoti eservo ane mativi matatu dzinosanganisira screws dzebhora, mabhandi akabatana, uye magwara emutsara. Kururama kwezvitatu izvi kunokanganisa zvakananga mhedzisiro yekupedzisira yekuisa mota.

Skuruu dzebhora: Sechikamu chikuru chekufamba kwemutsara, kukanganisa kwavo kwelead chiratidzo chikuru. Servo ManipulatorKazhinji vanoshandisa masikuruu ebhora ane chiyero cheC3 kana kupfuura, uye kukanganisa kwelead kunodzorwa mukati me0.015mm pamita. Mamwe mamodheru emhando yepamusoro anotosvika C2 (0.008mm pamita). Hunhu hwekukweshana kwebhora hunotenderera hahungodzikisi kurasikirwa nesimba chete asiwo hunodzivirira chiitiko che "kukweshana" chinokonzerwa nekukweshana kunotsvedza, zvichiita kuti kufamba kwakatsetseka uye nzvimbo inodzokororwa idzokororwe.

Magwara emutsetse: Anopa gwara nerutsigiro. Kukanganisa kwavo kweparallelism uye flatness kunobatsira zvakananga mukukanganisa kwenzvimbo yekupedzisira. Kushandisa magwara emutsetse ane precision-grade (akadai seH-grade) kunogona kudzora kukanganisa kwedivi mukufamba kwe single-axis kusvika mukati me 0.005mm/1000mm, zvichipa "gwara rekutevera" rekubatanidza kwe three-axis kwakanyatsojeka.

3. Sisitimu Yekudzora: "Uropi" Hwakarurama

Kana hardware iri "muviri" wekuita nemazvo, saka system yekudzora i"pfungwa" dzayo. Sisitimu yekudzora yeservo ine mativi matatu Isu Robhoties pulse commands kana kutaurirana kwebhazi kuronga nekugadzirisa mafambiro ematanho matatu panguva chaiyo. Zvakanakira zvayo zvikuru zviri muzvinhu zviviri zvinotevera:

Tekinoroji yekubatanidza nzira: Uchishandisa maalgorithms akadai sekubatanidza nzira dzakatwasuka uye dzakatenderera, nzira dzakaoma dzekufamba dzinogona kupatsanurwa kuita zvikamu zvidiki zvakatwasuka kana zvakatenderera. Zvikanganiso zvekuisa nzvimbo muchikamu chimwe nechimwe zvinogona kudzorwa kusvika padanho re micron, zvichiita kuti end effector inyatsotevera nzira yakatarwa panguva yekubatanidza nzira dzakawanda (senge kubata nguva dzose, kutamisa, uye kuisa). Izvi zvinodzivirira kutsauka kwenzira.

Kugadziriswa kwemhinduro dzakavharika: Kuwedzera kune mhinduro ye servo motor yakavakirwa mukati, mamwe mamodheru epamusoro-soro anosanganisirawo zvishandiso zvekuona zvekunze zvakaita se optical kana magnetic scales pa end effector kana motion axis, zvichiita kuti "dual closed-loop control." Kana mudziyo wekuona kunze ukaona kutsauka pakati penzvimbo chaidzo nedzakananga, system yekudzora inogadzirisa pakarepo kubuda kwemota kuti idzorere kukanganisa kusvika mukati me 0.001mm. Uku kugona kwe "real-time error correction" ndiyo vimbiso huru yekuisa ultra-high-precision positioning.

Chechipiri, kushanda kwechokwadi: mabhenefiti akazara kubva pa "kunyatsojeka" kusvika pa "kugadzikana"

Zvichibva pahwaro hwehunyanzvi hwataurwa pamusoro apa, mabhenefiti ekuisa zvinhu nemazvo emhando yepamusoro-soro ekushandisa ma-servo manipulators anozoshandurwa kuita mashandiro anoyerwa uye anoonekwa mukugadzirwa, anosanganisira zviyero zvitatu zvikuru: kururama kwekuisa zvinhu, kudzokororwa, uye kugadzikana kwekufamba.

1. Kurongeka Kwenzvimbo: Kubva paMamirimita kusvika paMakiromita

Kurongeka kwenzvimbo kunoreva kutsauka pakati penzvimbo chaiyo inosvikwa ne end effector ye manipulator nenzvimbo yavanoda, uye chiratidzo chikuru chekururama. Kunyange zvazvo kurongeka kwenzvimbo dzema manipulator akajairika e pneumatic kunowanzova 0.1-0.5mm, kurongeka kwenzvimbo dzema servo manipulator ane axis matatu kunogona kusvika 0.02-0.05mm, nema models epamusoro-soro achisvika pakurongeka kwakaderera se 0.005-0.01mm. Tichitora electronic component soldering semuenzaniso, chip pin pitch inongova 0.3mm chete. Kana kukanganisa kwerobhoti kuisa kwakapfuura 0.05mm, kunogona kukonzera kusashanda zvakanaka kwe solder joint kana short circuit. Zvisinei, three-axis servo robot ine positioning accuracy ye 0.01mm inogona kuwana alignment chaiyo pakati pema pins nema pads, zvichiwedzera soldering pass rate kubva pa 95% kusvika pamusoro pe 99.9%.

2. Kudzokororwa: "Vimbiso Yekuenderana" Kwekugadzirwa Kwakawanda

Kudzokororwa kunoreva kutsauka kana robhoti rasvika panzvimbo imwe chete kakawanda, izvo zvinosarudza zvakananga kuenderana kwezvigadzirwa zvinogadzirwa zvakawanda. Kudzokororwa kwerobhoti reservo rine mativi matatu kunowanzo svika ±0.01mm, nemamwe mamodheru epamusoro achisvika ±0.003mm. Muindasitiri yekugadzira majekiseni ekugadzira majekiseni, pakugadzira zvikamu zvakatetepa zvakaita semafoni, Robhoti inofanira kubata chikamu chiri mukati mechiumbwa ichi nemazvo yochiisa panzvimbo yekuongorora. Kana kudzokorora kuchidarika 0.02mm, zvinogona kukonzera kusarongeka kwezvikamu uye kukundikana kuongororwa. Kudzokorora kwakanyanya kwazvo kunoita kuti kubata nekuiswa nguva dzose, zvichiita kuti zvikamu zvirambe zvichikwanisa kushivirira kugadzirwa kwezvikamu kusvika mukati me0.01mm.

3. Kugadzikana Kwekufamba: Kunyatsojeka Kusingachinji paHigh Speed

Kunyatsorongeka kwakanyanya hakudi kungoenderana chete nekumira kwakasimba asiwo kugadzikana kwakasimba. Robhoti reservo rine mativi matatu, rinoshanda nekumhanya kwakanyanya (semuenzaniso, kumhanya kusina mutoro we1-2m/s), rinodzivirira kutsauka pakuisa zvinhu kunokonzerwa nekuvhunduka kweinertial kuburikidza nemhinduro inochinja yesystem yekudzora uye rutsigiro rwakasimba rwemuchina wekutumira. Semuenzaniso, mumitsara ye3C product assembly, robhoti rinofanira kupedzisa chiito che "grasp a screw - fambisa kuburi rescrew - simbisa" mukati mesekondi imwe chete. Chero kudedera kana kutsauka panguva yekufamba kunogona kukonzera kuti screw itsvedze kana kusarongeka. Hunhu hwekumhanya kwakanyanya uye hwakagadzikana hwerobhoti reservo rine mativi matatu hunoita kuti end effector irambe yakaisa zvinhu chaiyo panguva yekufamba nekukurumidza, ichichengetedza coaxiality error panguva yekusimbisa screw mukati me0.02mm, zvichivandudza zvakanyanya kushanda zvakanaka kweassembly uye mhando.

Chechitatu, Kuwanikwa Kwekukosha Kweindasitiri: Kupa Simba Rinoshanda Kubva "Kuderedza Mutengo" Kuenda "Kuvandudza Kushanda"

Chinhu chikuru chekuisa zvinhu nemazvo zvakanyanya chinofanira kushandurwa kuita basa rinokosha muindasitiri. Muzvikamu zvakasiyana-siyana zvekugadzira zvinhu zvepamusoro-soro, mabhenefiti ekunyatsojeka emarobhoti eservo ane mativi matatu ari kuchinja mamodheru ekugadzira, zvichibvumira shanduko kubva pakushanda nemaoko kuenda pakugadzira zvinhu nemazvo otomatiki.

1. Kugadzira Magetsi: "Zvishandiso Zvakarurama" zveZvikamu Zvidiki

Kugadzira zvemagetsi ndeimwe yenzvimbo dzine zvinodiwa zvakanyanya pakunyatsojeka. Kubva pakurongedza machip kusvika pakusonesa bhodhi rePCB kusvika pakusangana kwezvikamu zvemagetsi, kugona kwekuisa micron-level kunodiwa. Semuenzaniso, kuunganidza mamodule emakamera efoni semuenzaniso, musiyano uripo pakati pezvikamu zvakaita se lens, sensor, uye filter mukati memodule unofanirwa kudzorwa mukati me 0.01mm. Kushanda nemaoko hakungobatsiri chete asiwo kunowanzoita zvikanganiso zvekuisa nekuda kwekuzungunuswa nemaoko. Robhoti reservo rine mativi matatu, kuburikidza nekuiswa kwakanyatsonaka uye kudzora kweclosed-loop, inoita kuti zvikamu zvikwanise "zero-gap" kuiswa, zvichiwedzera kushanda zvakanaka kwekuunganidza nekanopfuura katatu uye kuderedza chiyero chekukanganisa kubva pa5% kusvika pasi pe0.1%. Uyezve, mukubata semiconductor wafer, robhoti rinofanira kubata mawafer ane dhayamita ye300mm (ane ukobvu hwe0.77mm chete) uye kuaisa nemazvo patafura ye lithography, nekukanganisa kwekuisa pasi pe0.005mm. Kunyatsojeka kwakanyanya kwerobhoti yeservo ye three-axis kwave "nzvimbo huru" yekugadzira mawafer.

2. Kugadzira Jekiseni Nemajekiseni Akakodzera: "Chinobatanidza Chisina Musono" pakati peMakumbo neZvikamu

Mukugadzirwa kwejekiseni rekuumba nemazvo, kururama kwerobhoti kunokanganisa zvakananga kuchengetedzwa kweforoma uye kunaka kwechikamu. Kana furuu yejekiseni yavhurika uye yavharwa, robhoti rinofanira kusvika zvakananga mugomba reforoma kuti ribate chikamu chacho. Chero kutsauka kwenzvimbo kunodarika 0.05mm kunogona kukonzera kuroverana neforoma, zvichikonzera makumi ezviuru zveyuan mukukuvadzwa kweforoma. Kuiswa kwakanyatsojeka kwerobhoti reservo rine mativi matatu kunovimbisa kutsauka kwenzvimbo kuri pasi pe0.02mm pakubata kwega kwega, zvichibvisa zvachose njodzi yekuroverana kweforoma. Uyezve, mukuumbwa kwepfuti mbiri kana kupinza, robhoti rinofanira kunyatsoisa chinhu chinopinza (senge nzungu yesimbi) mugomba reforoma, ne 0.03mm chete. Kuiswa kwakanyatsojeka kunovimbisa "kuiswa kamwe chete, kwakanyatsojeka," kudzivirira zvidimbu zvezvikamu zvinokonzerwa nekusarongeka kwekuisa uye kuwedzera kushandiswa kwezvinhu neinopfuura 15%.

3. Midziyo Yekurapa: "Zvivimbiso Zvakakwana" Munzvimbo Dzakachena Zvikuru

Kugadzirwa kwemidziyo yekurapa kunoda zvakanyanya kunyatsorongeka uye kuchena. Mashandisirwo akaita sekugadzirisa netsono dzesirinji, kupukuta majoini ekugadzira, uye kuungana kwecatheter yekurapa zvese zvinoda michina inoshanda otomatiki nemazvo. Tichitora kupukuta majoini ekugadzira etitanium alloy semuenzaniso, kuomarara kwejoini kunofanirwa kudzorwa mukati meRa0.8μm. Chero kukanganisa kwekuisa panzvimbo yekupukuta kunodarika 0.01mm kuchakanganisa kukwana kwejoini uye hupenyu hwebasa rayo. Robhoti reservo rine mativi matatu, kuburikidza nekusanganiswa kwekuronga kwakanyatsojeka kwenzira uye kutonga kwesimba rekupedzisira, rinogona kuwana kutonga kwe micron-level kwenzira yekupukuta, richiona kuti nzvimbo yacho yakanyatsojeka uku richidzivirira kusvibiswa kweguruva uye kushanduka-shanduka kwechokwadi kunoenderana nekupukuta nemaoko. Mukubatanidza catheter yekurapa, robhoti rinofanira kurongedza catheter ine dhayamita ye0.5mm neconnector, nekusiyana kwenzvimbo kuri pasi pe0.02mm. Zvakanakira kunyatsojeka zverobhoti reservo rine mativi matatu zvinoita kuti pasave nekukanganisa panguva yekuisa docking, zvichiona kuchengetedzeka uye kuvimbika kwemidziyo yekurapa.

4. Zvikamu zveMotokari: "Varindi veUnhu Hwakanaka" muKugadzira Kwemhando Yepamusoro

Mota padzinofambira mberi, zvinodiwa zvekugadzira nemazvo zvezvikamu zvepakati zvakaita semainjini nematransmissions zviri kuramba zvichikwira. Mabhenefiti ekunyatsoita marobhoti eservo ane mativi matatu ari kutsiva mashandiro emaoko echinyakare uye michina isina kunyatsoita nemazvo. Tichitora semuenzaniso wekuisa ring yepiston yeinjini, nzvimbo iri pakati pering yepiston nepiston groove inofanira kudzorwa mukati me 0.02-0.05mm. Kuisa nemaoko kunogona kukonzera kuchinja kwering yepiston nekuda kwekusaenzana kwesimba uye kukanganisa kwekuisa. Zvisinei, robot yeservo ine mativi matatu, kuburikidza nekuisa kwakanyatsoita nemazvo uye kubata kwakachinjika, inobvumira "kuiswa kwepiston kusina kuparadza uye kwakanyatsojeka" kwerings dzepiston, zvichiwedzera mwero wekupfuura kwekuisa kubva pa98% kusvika pa99.9%. Panguva yekubatanidza giya rekutumira, robhoti rinofanira kuisa giya nemazvo mudhiraivha, nekubviswa kwe 0.015mm chete pakati pegomba remukati regiya nedhiraivha. Kuiswa kwakanyatsoita nemazvo kunovimbisa kubatana pakati pegiya nedhiraivha, kuderedza ruzha nekupfekwa panguva yekushanda kwedhiraivha uye kuwedzera hupenyu hwechigadzirwa.

Chechina, Kusarudzwa uye Kushandiswa: Maitiro Ekuwedzera Mabhenefiti Ekushandisa Zvakanyanya?

Kuti makambani anyatsoona mabhenefiti ekugona kuisa marobhoti eservo ane mativi matatu nemazvo, anofanirwa kufunga nezvezvinhu zvitatu zvinotevera panguva yekusarudza nekushandisa modhi:

1. Tsanangura zvinodiwa pakururamisa: Dzivisa kusarudzwa zvakanyanya kana kusasarudzwa zvakanyanya

Zvinodiwa pakunyatsorongeka zvinosiyana zvakanyanya mumaindasitiri nemaitiro. Makambani anofanirwa kutanga aona zviratidzo zvikuru—kunyatsorongeka kwenzvimbo, kudzokororwa, uye kumhanya kwekufamba—asati asarudza magadzirirwo akakodzera. Semuenzaniso, pakuungana kwezvikamu zvemagetsi, modhi ine kurongeka kwekurongeka kwe0.03-0.05mm inogona kusarudzwa, nepo kubata semiconductor wafer kunoda modhi yepamusoro ine kurongeka kwekurongeka kwe0.005-0.01mm. Izvi zvinodzivirira kuwedzera kwemitengo nekuda kwe "kunyatsorongeka" kana kukanganisa kugadzirwa nekuda kwe "kusanyatsorongeka."

2. Tarisa pakuomarara kwese: "Vimbiso isingaoneki" yekunyatsojeka

Kuomarara kwerobhoti kunokanganisa zvakananga kugadzikana kwayo kwakarurama panguva yekufamba nekumhanya kukuru. Kana kuomarara kwefuremu nemaaxes ekufamba kusina kukwana, kuchinja kunogona kuitika panguva yekufamba nekumhanya kukuru, zvichikonzera zvikanganiso zvekuisa zvinhu panzvimbo. Saka, pakusarudza robhoti, nyatsoteerera zvinhu zvemuviri (zvakadai sealuminium alloy kana cast iron) uye kuomarara kwezvikamu zvekutumira (zvakadai sedhayamita yebhora screw uye rudzi rwegwara rekutungamira) kuti uve nechokwadi chekuti chimiro chose chinogona kutsigira kufamba kwakanyatsojeka.

3. Simbisa Kutumira uye Kugadzirisa: "Vimbiso Yenguva Refu" Yekururama

Kunyangwe marobhoti emhando yepamusoro emhando nhatu anogona kuona kudzikira zvishoma nezvishoma mukururama kana akashandiswa zvisina kunaka kana kuti akaregeredzwa. Makambani anofanira kuronga kuiswa nekugadzirwa kwehunyanzvi, kugadzirisa maparamendi ehurongwa hwekudzora (akadai sekugadzirisa hunyanzvi uye magadzirirwo emafirita) kuti awane kunyatsorongeka. Kugadziriswa kwemazuva ese kunofanirwa kusanganisira kucheneswa kwezvikamu zvinotumira magetsi nguva dzose, kuzadza mafuta ekuwedzera, uye kutarisa kuchena kwema encoders nema scales kudzivirira kurasikirwa nekurongeka nekuda kwekusakara nekusvibiswa.