Kodi magwiridwe antchito a loboti yamakina opangira jekeseni ya servo ya axis atatu akuchepa?

Kodi ntchito ya servo ya axis zitatu ndi yotani? Makina Opangira Jekeseni loboti yonyoza?

Pa mzere wopanga jekeseni, loboti yamakina opangira jakisoni ya servo yokhala ndi ma axis atatu ndi chida chachikulu chomwe chimalumikiza kutsegula ndi kutseka nkhungu, kuyika kwa chinthu, ndi kutumiza. Kukhazikika kwa magwiridwe antchito ake kumatsimikizira mwachindunji momwe zinthu zimagwirira ntchito, kuchuluka kwa kuyenerera kwa chinthu, ndi moyo wa zida. Pamene loboti ikukumana ndi mavuto monga kusinthasintha kolondola kwa malo, liwiro lochepa, kuchepa kwa mphamvu yonyamula katundu, kapena kuchedwa kuyenda, kulephera kupeza mwachangu chomwe chimayambitsa vutoli sikungoyambitsa nthawi yogwira ntchito kwa mzere wopanga komanso kungayambitse kuwonongeka kwachiwiri kwa zigawo chifukwa cha kukonza mosasamala. Nkhaniyi ipereka njira yowunikira chifukwa cha zolakwika kuchokera kumalingaliro anayi: kuzindikira chizindikiro chosazolowereka → kuthetsa mavuto a module-ndi-module → kutsimikizira cholakwika → kukonza zodzitetezera, kuthandiza akatswiri kuthetsa mavuto bwino.

1. Kuzindikira Koyambirira kwa Zolakwika pa Ntchito: Choyamba "Tengani Chizindikiro" Kenako "Lolani Chiwerengero"

Musanayambe kuthetsa mavuto, ndikofunikira kuzindikira zizindikiro zenizeni za kuchepa kwa magwiridwe antchito kudzera mukuwona ndi kusonkhanitsa deta kuti mupewe kuwononga nthawi pochita zinthu mosasankha. Izi ndi zizindikiro zodziwika bwino za magwiridwe antchito ndi madera oyamba kuzindikira matenda:

1. Kugawa Zizindikiro za Core Performance Anomaly

Kulondola kwa Malo: Loboti imapatuka kuchoka pamalo omwe ikufuna kugwira chinthu, imalephera kugwirizana bwino ndi lamba wonyamulira pamene ikuyika, kapena cholakwika chobwerezabwereza chimaposa mtengo womwe watchulidwa m'buku la zida (nthawi zambiri, kulondola kobwerezabwereza kwa servo ya axis zitatu Robot SZiyenera kukhala ≤±0.1mm). Zokayikitsa zoyambirira: Kusuntha kwa magawo a dongosolo la Servo, kuwonongeka kwa makina, ndi zolakwika za chizindikiro cha encoder.

Kuchepetsa Liwiro Logwira Ntchito: Pamene loboti yatsitsidwa kapena kukwezedwa, liwiro lenileni la mzere uliwonse (X-axis horizontal, Y-axis vertical, ndi Z-axis vertical) limakhala lotsika kuposa mtengo wokhazikitsidwa, ndipo pamakhala kuyimitsa panthawi yothamanga/kuchepetsa mphamvu. Zokayikitsa zoyamba: Kuchepetsa mphamvu ya Servo drive, kutayika kwa mphamvu ya injini, kapena kukana kwakukulu kwa katundu.

Kuchepetsa Kulemera: Chinthu chomwe chinkatha kugwidwa bwino (monga gawo lopangidwa ndi jakisoni wa 5kg) chimatsika chikagwidwa, kapena alamu yodzaza imayambitsidwa panthawi yogwira ntchito chifukwa cha katundu wochuluka. Kukayikira koyamba: Kusakwanira kwa torque ya servo motor, kutsetsereka kwa transmission, kapena kupanikizika kosakwanira mu pneumatic/hydraulic assistant system (ngati pali pneumatic gripper). Kuchedwa kwa Action Response: Pambuyo poti gulu la opareshoni lapereka lamulo, loboti imatenga masekondi 1-3 kuti ichitepo kanthu, kapena pamakhala kuyimitsa koonekera posintha pakati pa zochita. Kukayikira koyamba: Kuchedwa kwa kulumikizana kwa system control, kuchedwa kwa chizindikiro cha sensor, ndi magawo osakwanira a servo gain.

2. Kusonkhanitsa ndi Kuyerekeza Deta Yofunika
Kuyang'ana maso kokha sikungathe kupeza vuto molondola; kufananiza deta ndikofunikira kuti muchepetse kuchuluka kwa zolakwika:

Lembani magawo ogwiritsira ntchito magetsi: Gwiritsani ntchito makina owongolera a robot (monga chophimba chokhudza cha PLC kapena gulu la servo drive) kuti muwerenge zambiri monga liwiro logwirira ntchito, kupotoka kwa malo, mphamvu ya mota, ndi mphamvu yotulutsa ya axis iliyonse. Yerekezerani izi ndi magawo omwe amagwiritsidwa ntchito nthawi zonse (onani buku la malangizo a chipangizocho kapena zolemba zakale za ntchito). Yang'anani kwambiri pa zizindikiro monga "mphamvu yokwera kwambiri," "kupotoka kwa malo kupitirira malire," ndi "kusinthasintha kwakukulu kwa mphamvu."

Mikhalidwe yoyambitsa zolakwika pa ziwerengero: Lembani ngati kuwonongeka kwa magwiridwe antchito kumalumikizidwa ndi zochitika zinazake, monga "kupotoka kumachitika kokha mukanyamula katundu," "liwiro limachepa pambuyo pa ola limodzi logwira ntchito," ndi "kulephera pafupipafupi kumachitika kutentha kwa mlengalenga kukakwera." Mikhalidwe iyi ingathandize kuchotsa zinthu zosagwirizana (monga momwe kutentha kwa mlengalenga ndi chinyezi zimakhudzira zida zamagetsi).​

2. Kuthetsa Mavuto a Module-ndi-Module Mozama: Kuchokera ku "Core Components" kupita ku "Auxiliary Systems"

Kugwira ntchito kwa loboti yamakina opangira jekeseni ya servo ya axis zitatu kumadalira magwiridwe antchito ogwirizana a "servo system → mechanical structure → control system → assistant systems." Kuthetsa mavuto kumafuna kusokoneza module ndi module, kutsimikizira kukhulupirika kwa ulalo uliwonse chimodzi ndi chimodzi.

A. Gwero la mphamvu yayikulu: Kuthetsa mavuto a makina a Servo (zomwe zimayambitsa mavuto opitilira 60% a magwiridwe antchito)

Dongosolo la servo ndi "mtima wamphamvu" wa loboti, lopangidwa ndi magawo atatu: mota ya servo, servo drive, ndi encoder. Kusakhazikika kulikonse mu gawo lililonse kudzatsogolera mwachindunji kuwonongeka kwa magwiridwe antchito. Kuthetsa mavuto kuyenera kutsatira mfundo ya "kuchokera pa drive kupita pa motor, kuchokera pa siginecha kupita pa hardware": (1) Servo drive: choyamba onani "alamu code" kenako tsimikizirani "parameter setting"

Gawo 1: Werengani khodi ya alamu: Bokosi la servo drive lidzawonetsa khodi yolakwika (monga "AL.E6" ya mndandanda wa Mitsubishi MR-J4 ikuyimira kulephera kwa encoder, ndipo "Err.11" ya mndandanda wa Panasonic A6 ikuyimira overcurrent). Mavuto oyambira (monga overvoltage, overcurrent, overheating, ndi encoder communication abnormalities) angapezeke poyerekeza ndi buku la zida.​

Gawo 2: Chongani magawo ofunikira: Ngati palibe ma alamu koma magwiridwe antchito achepa, yang'anani magawo otsatirawa:

Kupeza malo ozungulira (P Gain) ndi kupeza liwiro (V Gain): Kupeza kotsika kwambiri kumabweretsa kuyankhidwa pang'onopang'ono kwa malo ndi kutembenuka kwakukulu; kukwera kwambiri kungayambitse kugwedezeka. Sinthani bwino motsatira mfundo zomwe zaperekedwa m'buku la chipangizocho (nthawi zambiri sinthani kaye liwiro la malo, kenako sinthani malo).

Chiŵerengero cha giya yamagetsi: Kukhazikitsa chiŵerengero cholakwika cha giya kungayambitse kusalingana pakati pa malo olamulidwa ndi malo enieni (mwachitsanzo, kuyenda kwa seti ya 100mm koma 50mm yokha). Tsimikizirani kuti chiŵerengero cha giya chikugwirizana ndi chiŵerengero cha magiya amakina (monga mpira wa screw lead).

Zokonzera za malire a current ndi torque: Ngati drive yayikidwa molakwika ku "current limit mode" kapena malire a torque ndi otsika kwambiri, mphamvu yotulutsa injini sidzakhala yokwanira, zomwe zimapangitsa kuti liwiro liziyenda pang'onopang'ono komanso kuti katundu azitha kuchepetsedwa. Bwezeretsani malire okhazikika kapena konzanso kutengera zomwe zimafunika pa katundu.

B, Servo motor: Kuweruza "thanzi la hardware" kuchokera ku "momwe ntchito ikuyendera"

Kuyang'ana mozama: Pamene mota ikugwira ntchito, gwirani chitseko cha mota ndi dzanja lanu (samalani kuti musapse). Ngati kutentha kwapitirira 70℃ (kukwera kwabwinobwino kwa mota ya servo ndi ≤40℃), mwina coil ya mota ikukalamba, bearing yatha, kapena katundu ndi wamkulu kwambiri; mverani phokoso la mota. Ngati pali phokoso la "buzzing" kapena "friction", mwina bearing ilibe mafuta kapena yawonongeka. Ndikofunikira kusokoneza ndikuyang'ana ndikusintha bearing (ndikofunikira kugwiritsa ntchito ma bearing ochokera kunja a mtundu womwewo, monga NSK ndi SKF).

Mayeso a Kagwiridwe ka Ntchito: Chotsani mota ku makina opatsira (mayeso osanyamula katundu). Ngati liwiro la injini ndi mphamvu yake zili bwino pamene palibe katundu, zikutanthauza kuti cholakwika chili kumapeto kwa katundu wa makina; ngati sichili bwino pamene palibe katundu, gwiritsani ntchito multimeter kuti muyese kukana kwa kuzunguliza kwa magawo atatu a injini (nthawi zambiri, magawo atatuwo ayenera kukhala olinganizidwa, ndi kupotoka kwa ≤5%). Ngati kukana kwa gawo limodzi kuli kopanda malire, zikutanthauza kuti kuzunguliza kwasweka ndipo injiniyo ikufunika kukonzedwa kapena kusinthidwa.

C, Encoder: Chizindikiro "cholakwika zero" ndicho chinsinsi cha kulondola kwa malo.

Chojambulira ndi "diso" la servo system, lomwe limayang'anira kubwezeretsa malo a injini ndi zizindikiro za liwiro. Zizindikiro zosazolowereka zidzatsogolera mwachindunji ku kusintha kwa malo. Njira yothetsera mavuto:

Kuyang'ana mzere: Yang'anani mzere wolumikizira pakati pa encoder ndi dalaivala (nthawi zambiri chingwe chotetezedwa) kuti muwone ngati pali zolumikizira zotayirira, zingwe zowonongeka, kapena nthaka yoyipa ya gawo loteteza (ngati gawo loteteza silili pansi, lidzayambitsa kusokoneza kwa maginito ndikuyambitsa kusinthasintha kwa chizindikiro). Ndikofunikira kulumikizanso cholumikiziracho ndikusintha chingwe chowonongekacho.

Kuyesa kwa chizindikiro: Gwiritsani ntchito oscilloscope kuti muyese zizindikiro zotulutsa gawo la A, B, ndi Z za encoder. Nthawi zonse, iyenera kukhala chizindikiro chokhazikika cha mafunde a sikweya. Ngati pali kusokonekera kwa mawonekedwe a mafunde, kutayika kwa pulse, kapena amplitude ndi yotsika kwambiri (yochepera 5V), zikutanthauza kuti zigawo zamkati za encoder zawonongeka ndipo encoder ya mtundu womwewo iyenera kusinthidwa (dziwani kuti resolution ya encoder iyenera kufanana ndi driver, monga ma bits 17 kapena ma bits 23). 2. Kutumiza mphamvu ndi kuyenda: Kuthetsa mavuto a kapangidwe ka makina (komwe sikungalandiridwe mosavuta "wakupha wosawoneka") Ngakhale makina a servo ali abwinobwino, kuwonongeka, kutayirira kapena kusintha kwa kapangidwe ka makina kungayambitse kuwonongeka kwa magwiridwe antchito, chifukwa kuyenda kwa manipulator kuyenera kutumizidwa kudzera mu "motor → coupling → ball screw / synchronous lamba → guide rail slider", ndipo kutayika kwa ulalo uliwonse kudzafooketsa mphamvu yotumizira mphamvu: (1) Njira yotumizira: kuyang'ana kwambiri "kuvala" ndi "concentricity" Ball screw: Monga gawo lotumizira la X, Y, ndi Z axles, kuwonongeka kwa screw kudzatsogolera ku "kuwonjezeka kwa reverse clearance" (ndiko kuti, pamene mota ikuzungulira mbali ina, manipulator imakhala ndi stroke yopanda kanthu), yomwe imawonekera ngati kupotoka kwa malo. Njira yowunikira: Gwiritsani ntchito dial indicator kuti mukonze slider ndikukankhira slider pamanja. Ngati dial indicator pointer ikusintha ndi kupitirira 0.05mm, zikutanthauza kuti screw yawonongeka kwambiri; nthawi yomweyo, yang'anani ngati pali mikwingwirima, dzimbiri kapena mafuta ouma pamwamba pa screw. Mafuta apadera (monga mafuta ochokera ku lithiamu) ayenera kuwonjezeredwa nthawi zonse. Pamene kutopa kwapitirira malire, sikuru iyenera kusinthidwa (ndibwino kusankha sikuru ya mpira yokhala ndi C3 level accuracy kapena kupitirira apo).​
Kulumikiza: Ngati cholumikizira cholumikiza mota ya servo ndi sikulu ya mpira chili ndi ming'alu, elastomer yakalamba, kapena kukhazikitsa sikuli kozungulira, kungayambitse kufalikira kwa mphamvu kosakhazikika, kugwedezeka kwa magetsi kapena kusintha kwa malo. Njira yowunikira: Mukayimitsa makina, tembenuzani cholumikiziracho ndi dzanja kuti mumve ngati pali kugwedezeka kapena kumasuka. Ngati cholumikiziracho ndi shaft ya mota/sikulu ya sikulu yapakati (kupotoka> 0.1mm), kuzungulirako kuyenera kukonzedwanso.
Lamba wolumikizana (ngati alipo): X-axis ya maloboti ena imagwiritsa ntchito chowongolera cha lamba wolumikizana. Ngati lamba wolumikizana ndi lotayirira kapena pamwamba pa dzino pavalidwa, zimayambitsa "kutsetsereka", komwe kudzawonekera ngati kuchepa kwa liwiro komanso malo olakwika. Njira yowunikira: Kanikizani lamba wolumikizana. Ngati kupotoka kupitirira 10mm, zikutanthauza kuti ndi lotayirira kwambiri ndipo chotenthetsera chikufunika kusinthidwa; ngati pamwamba pa dzino paoneka kuti pavalidwa kapena pavalidwa, lamba wolumikizana ndi lotayirira liyenera kusinthidwa (ndibwino kugwiritsa ntchito lamba wolumikizana ndi polyurethane, womwe sutha kusweka).

(2) Ma rail otsogolera ndi ma slider: "Kusalala" kumatsimikizira kukhazikika kwa kuthamanga

Chowongolera njanji yowongolera ndi chomwe chimagwira ntchito yothandizira magawo oyenda a loboti. Ngati sichinapake mafuta okwanira kapena kusweka, chidzawonjezera kukana kwa kayendedwe, zomwe zimapangitsa kuti liwiro lichepe komanso kugwedezeka.

Kankhirani chotsetsereka ndi manja kuti mumve ngati pali kukana kapena kumamatira. Ngati ndi choncho, chotsani chotsetserekacho kuti muwone ngati chawonongeka pa mabearing amkati ndi makhola osungiramo zinthu osweka. Tsukani fumbi ndi zinyalala zilizonse kuchokera pamwamba pa njanji yotsogolera ndikugwiritsa ntchito mafuta odzola omwe amapangidwira makamaka njanji zotsogolera (monga ISO VG32).

Gwiritsani ntchito micrometer kuti muyese kufanana kwa njanji zowongolera. Ngati kusiyana kwa kufanana kwa njanji zowongolera kukupitirira 0.1 mm/m, mphamvu yosagwirizana idzagwiritsidwa ntchito pa chotsetsereka panthawi yogwira ntchito, zomwe zimachepetsa kuwonongeka. Malo oyika njanji zowongolera adzafunika kukonzedwanso.

Chachitatu. Malo olamulira ndi mayankho: kuthetsa mavuto a makina owongolera

Dongosolo lowongolera (kuphatikiza PLC, gulu logwirira ntchito, sensa) lili ndi udindo wotumiza malamulo ogwirira ntchito komanso kulandira zizindikiro zobwezera. Ngati cholakwika chachitika, chimayambitsa "malamulo sangathe kutumizidwa" kapena "kusokoneza chizindikiro cha ndemanga", komwe kumawonetsedwa ngati kuchepa kwa magwiridwe antchito:

(1) PLC ndi pulogalamu: "Kulondola kolondola" ndiye maziko

Onetsetsani ngati PLC ili ndi chizindikiro cha alamu (monga kuwala kwa ERR). Ngati ndi choncho, werengani khodi yolakwika (monga kulephera kwa gawo lolowera/lotulutsa, cholakwika cha pulogalamu) kudzera mu pulogalamu ya mapulogalamu, ndikuwona ngati chingwe cholumikizirana pakati pa PLC ndi servo drive ndi sensa (monga RS485, chingwe cholumikizirana cha EtherCAT) chili chomasuka. Tsimikizani malingaliro a pulogalamu: Ngati pulogalamu ya PLC yasinthidwa posachedwa, ndikofunikira kuyerekeza pulogalamu yosungira kuti muwone ngati pali mavuto monga "kuchedwa kwa lamulo" ndi "cholakwika cha zochita" (mwachitsanzo, kuchita lamulo lokwera musanayambe kugwira ntchito). Njira yogwiritsira ntchito pulogalamuyo ikhoza kutsimikiziridwa sitepe ndi sitepe kudzera mu "single step run".

(2) Sensor: "Kulondola kwa chizindikiro" ndiye chinsinsi cha mayankho

Masensa omwe amagwiritsidwa ntchito kwambiri mu manipulators ndi monga masensa a malo (monga ma switch a photoelectric, ma switch a proximity) ndi masensa opanikizika (monga ma gripper pressure sensors). Ngati chizindikiro cha sensa sichili bwino, chidzapangitsa kuti ntchitoyo isaganizidwe bwino:

Sensa Yoika: Onetsetsani ngati malo oyika sensa ali otsekedwa (monga chosinthira cha photoelectric sichikugwirizana ndi malo ozindikira cholinga), gwiritsani ntchito multimeter kuti muyese chizindikiro chotulutsa sensa (monga sensa yamtundu wa NPN, yomwe imatulutsa mulingo wotsika panthawi yozindikira). Ngati chizindikiro sichisintha kapena kusinthasintha, sinthani malo oyika kapena sinthani sensa.

Sensa Yokakamiza: Ngati chogwirira chikuyenda ndi mpweya, sensa yokakamiza imakhala ndi udindo wozindikira kuthamanga kwa chogwirira. Ngati kuthamanga kuli kotsika kuposa mtengo wokhazikika (monga mtengo wokhazikika wa 0.5MPa, mtengo weniweni ndi 0.3MPa), chogwiriracho sichidzakhala ndi mphamvu yokwanira yogwirira, zomwe zimapangitsa kuti chinthucho chigwe. Ndikofunikira kuwona ngati kuthamanga kwa mpweya kuli kwabwinobwino (nthawi zambiri kuthamanga kwa mpweya kuyenera kukhala ≥0.6MPa) komanso ngati sensayo yakonzedwa (mtengo wotulutsa sensa ukhoza kuyesedwa pogwiritsa ntchito njira yoyesera kuthamanga).

Chachinayi. Dongosolo lothandizira: Kuthetsa mavuto a pneumatic/hydraulic ndi magetsi (ntchito zothandizira sizimaganiziridwa mosavuta)

(1) Dongosolo la pneumatic/hydraulic (ngati lili ndi ma gripper kapena zochita zothandizira)

Dongosolo la pneumatic: Onani ngati kuthamanga kwa mpweya wa compressor kuli bwino, ngati chitoliro cha mpweya chikutuluka, komanso ngati valavu ya solenoid yakhazikika (valavu ya solenoid ikhoza kuchotsedwa kuti iyeretse pakati pa valavu). Ngati mphamvu yogwira ya gripper sikokwanira, onani ngati chisindikizo cha silinda chasweka (sinthani chisindikizo) ndipo ngati valavu yowongolera kuthamanga yasinthidwa kuti igwirizane ndi kuthamanga koyenera (nthawi zambiri 0.4-0.6MPa). Dongosolo la hydraulic (logwiritsidwa ntchito ndi ma manipulators ochepa olemera): Onani ngati mulingo wa mafuta a hydraulic uli mkati mwa mulingo woyenera, ngati mafuta awonongeka (ngati mafuta ali ndi matope kapena ali ndi zodetsa, sinthani mafuta a hydraulic ndikuyeretsa chinthu chosefera), komanso ngati kuthamanga kwa hydraulic pump kuli bwino. Ngati kuthamanga sikukwanira, onani ngati thupi la pampu lasweka kapena valavu yodzaza ndi vuto.

(2) Dongosolo lamagetsi: "Magetsi okhazikika" ndi chinthu chofunikira kuti zida zigwire ntchito.

Onetsetsani ngati magetsi (monga AC220V, DC24V) a servo drive, PLC, ndi sensa ali okhazikika. Gwiritsani ntchito multimeter kuti muyese ngati kusinthasintha kwa magetsi kukupitirira ± 5% (magetsi otsika kwambiri angapangitse kuti torque isakwane pa mota ya servo, ndipo magetsi okwera kwambiri adzayatsa zida zamagetsi).

Onetsetsani ngati pali zizindikiro za kutopa pa chosinthira mpweya ndi cholumikizira mu bokosi logawa. Ngati zolumikizirazo zasungunuka, pepala losanjikiza liyenera kugwiritsidwa ntchito kupukuta kapena kusintha zigawo zake kuti magetsi asasokonezeke chifukwa cha kukhudzana kosayenera.

3. Kutsimikizira chifukwa cha cholakwika: Gwiritsani ntchito "njira yosinthira" ndi "kuyesa kopanda katundu" kuti mutsimikizire chomwe chimayambitsa vutoli.

Pambuyo potseka malo okayikiridwa kuti ndi olakwika kudzera mu kuthetsa mavuto a module ndi module, chifukwa cha vutoli chiyenera kutsimikiziridwa kudzera mu kuyesa kutsimikizira kuti tipewe kuweruza molakwika:

1. Njira yosinthira: Tsimikizirani mwachangu mtundu wa zigawo.

Ngati galimoto ya servo ikukayikiridwa kuti ndi yolakwika, isintheni ndi mota wamba wa mtundu womwewo. Ngati magwiridwe antchito abwezeretsedwa mutasintha, zikutanthauza kuti galimoto yoyambirira yawonongeka. Ngati galimoto yokayikiridwa kuti ndi yolakwika, sinthani chingwe cha encoder kapena encoder kuti muwone ngati chizindikirocho chabwerera mwakale. Ngati mukukayikiridwa kuti sensa yalephera, sinthani sensa yomwe ili pamalo abwino (monga switch yowonjezera ya photoelectric) ndi malo omwe akukayikiridwa kuti ndi yolakwika. Ngati chizindikirocho chili bwino, sensa yoyambirira yawonongeka.

2. Mayeso Oyerekeza Osanyamula katundu vs. Odzaza
Mayeso Osanyamula: Chotsani lobotiyo pa katundu (monga chogwirira kapena chinthu) ndikugwiritsa ntchito mzere uliwonse. Ngati magwiridwe antchito ndi abwinobwino (liwiro ndi kulondola kwa malo zikugwirizana ndi zofunikira) pamene palibe katundu, vuto limakhala ndi katundu (monga chogwirira chomangika kapena chinthu cholemera kwambiri). Ngati vuto likupitirira pamene palibe katundu, vuto limakhala ndi dongosolo la servo kapena kapangidwe ka makina.
Mayeso a katundu: Pambuyo poti mayeso osanyamula katundu ndi abwinobwino, pang'onopang'ono onjezerani katunduyo (kuyambira pa 50% ya katundu wovoteledwa) ndikuwona kusintha kwa magwiridwe antchito. Ngati pali vuto pamene katunduyo wafika pamtengo wovoteledwa, yang'anani ngati torque ya servo motor ikugwirizana ndi ntchitoyo komanso ngati njira yotumizira imatha kupirira katunduyo (mwachitsanzo, ngati kuchuluka kwa mphamvu ya screw ya mpira kukukwaniritsa zofunikira).

4. Kusamalira Zoteteza: Kuchokera ku "Kukonza Moyenera" mpaka "Kuteteza Moyenera"

Pambuyo pothetsa vuto lomwe lilipo, kukhazikitsa njira yodzitetezera kungalepheretse kuwonongeka kwa ntchito ya loboti ndikuwonjezera nthawi yogwirira ntchito ya chipangizocho:

Mafuta Odzola Nthawi Zonse: Onjezani mafuta apadera ku screw ya mpira ndi ma guide rails sabata iliyonse, ndipo yang'anani mafuta ouma pamwezi kuti mupewe kuwonongeka komwe kumachitika chifukwa cha kukangana kouma.

Kulinganiza Kwanthawi Zonse: Konzani kulondola kwa malo ndi kubwerezabwereza kwa mzere uliwonse kotala pogwiritsa ntchito laser interferometer. Ngati kusintha kwadutsa muyezo, sinthani magawo a servo gain kapena sinthani ziwalo zosweka mwachangu.

Kusunga Ma Parameter: Konzani zosungira za pulogalamu ya PLC ndi magawo a servo drive mwezi uliwonse kuti mupewe kulephera kwa zida chifukwa cha kutayika kwa ma parameter.

Kuwongolera Zachilengedwe: Sungani malo ogwirira ntchito oyera komanso ouma kuti loboti isalowe mu servo motor kapena encoder. Sungani kutentha kwapakati pa 0 ndi 40°C (kutentha kwambiri kumathandizira kukalamba kwa zida zamagetsi).

Maphunziro a Ogwira Ntchito: Perekani maphunziro kwa ogwira ntchito ndi ogwira ntchito yokonza kuti apewe kuwonongeka kwa magwiridwe antchito chifukwa cha ntchito yolakwika (monga kusintha molakwika magawo a servo kapena kudzaza kwambiri).

Mapeto
Chinsinsi chowunikira kuwonongeka kwa magwiridwe antchito a loboti yamakina opangira jekeseni ya servo ya axis atatu chili pakukonza mavuto mwadongosolo komanso kuthandizira deta. Choyamba, zindikirani vuto pogwiritsa ntchito zizindikiro ndi deta, kenako lichotseni motsatira dongosolo la "servo system → mechanical structure → control system → assistant system." Pomaliza, tsimikizirani chomwe chimayambitsa vutoli kudzera mu kusintha ndi kuyesa koyerekeza. Kudziwa bwino njira imeneyi sikungothandiza kuthetsa vutoli mwachangu komanso kumachepetsa mwayi wolephera kudzera mu kukonza koteteza, kuonetsetsa kuti chingwe chopangira jekeseni chikugwira ntchito bwino.