Ubwino waukulu wa manipulator ya servo ya axis zitatu

Ubwino Waukulu wa Maloboti Ogwiritsa Ntchito Servo Okhala ndi Ma Axis Atatu

Mu gawo lolondola la kupanga zokha, kulondola kwa mulingo wa millimeter sikulinso muyeso womaliza wa kulondola. Mphamvu zoyika mulingo wa micron komanso ngakhale wa submicron ndizofunikira kwambiri pakuzindikira magwiridwe antchito a mzere wopanga, kuchuluka kwa ziyeneretso za malonda, komanso mpikisano waukulu wa kampani. Ndi kulondola kwawo kosayerekezeka kwa malo, maloboti a servo a axis atatu zakhala zida zofunika kwambiri m'magawo apamwamba monga kupanga zamagetsi, kupanga jakisoni molondola, ndi zida zamankhwala. Nkhaniyi isanthula mozama zabwino zazikulu za malo awo olondola kwambiri kuchokera mbali zitatu: ukadaulo wapakati, magwiridwe antchito, ndi kufunika kwa makampani.

Choyamba, Maziko Aukadaulo a Precision: "Synergy Code" ya Three-Axis Servo System

Kuyika bwino kwambiri kwa loboti ya servo ya axis zitatu si ntchito yokhayo ya gawo limodzi, koma mphamvu yogwirizana ya ma module atatu oyambira: mota ya servo, njira yotumizira molondola, ndi makina owongolera. Pamodzi, ma module atatuwa amapanga "katatu kaukadaulo" kolondola.

1. Servo Motor: "Mphamvu" ya Precision

Mota ya servo ndiyo yomwe imayendetsa malo olondola kwambiri, ndipo magwiridwe ake amatsimikiza mwachindunji liwiro la yankho la loboti ndi cholakwika cha malo. Mosiyana ndi ma mota achikhalidwe a stepper, ma mota a AC servo ali ndi closed-loop control. Kuyankha kwa nthawi yeniyeni kuchokera ku encoder pa liwiro la injini ndi malo ake kumalola kuwongolera molondola liwiro, torque, ndi malo ake. Mwachitsanzo, chojambulira chachikulu cha 23-bit absolute encoder chimapanga ma pulses 8,388,608 pa kuzungulira kulikonse, zomwe zikutanthauza kuti ngodya yozungulira ya injiniyo imatha kulamulidwa ndi kulondola kwa madigiri 0.000043, kupereka chitsimikizo chofunikira cha malo ocheperako a loboti. Kuphatikiza apo, ntchito ya "zero-speed lock" ya servo motor imatsimikizira kuti lobotiyo imakhala yokhazikika ikafika pamalo omwe mukufuna, kupewa zolakwika "zosunthika" zomwe zimachitika chifukwa cha inertia.

2. Kutumiza Molondola: "Ulalo Wotumizira" wa Kulondola

Ngati injini ya servo ndi "mtima," ndiye kuti njira yotumizira molondola ndi "mitsempha yamagazi," yomwe imayang'anira kutumiza mphamvu yeniyeni ya injiniyo popanda kutayika ku actuator ya lobotiyo. Njira zofala zotumizira zomwe zimagwiritsidwa ntchito mu ma robot a servo a axis atatu zimaphatikizapo zomangira za mpira, malamba ogwirizana, ndi malangizo olunjika. Kulondola kwa zitatuzi kumakhudza mwachindunji zotsatira zomaliza zoyikira.

Zomangira za mpira: Monga gawo lofunikira la kayendedwe ka mzere, cholakwika chawo cha lead ndi chizindikiro chofunikira. Servo ManipulatorKawirikawiri amagwiritsa ntchito zomangira za mpira zomwe zili ndi C3 kapena kupitirira apo, ndipo cholakwika cha lead chimayendetsedwa mkati mwa 0.015mm pa mita imodzi. Mitundu ina yapamwamba imafika mpaka C2 (0.008mm pa mita imodzi). Makhalidwe a zomangira za mpira zomwe zimagudubuzika sizimangochepetsa kutayika kwa mphamvu komanso zimalepheretsa "kukwawa" komwe kumachitika chifukwa cha kukangana kotsetsereka, kuonetsetsa kuti kuyenda bwino komanso malo obwerezabwereza akuyenda.

Malangizo Olunjika: Amapereka chitsogozo ndi chithandizo. Zolakwika zawo zofanana ndi kusalala zimathandiza mwachindunji ku zolakwika zoika kumapeto. Kugwiritsa ntchito malangizo olunjika olondola (monga H-grade) kumatha kuwongolera cholakwika cha mbali imodzi poyenda mpaka mkati mwa 0.005mm/1000mm, kupereka "chitsimikizo cha njanji" cha kulumikizana kwapamwamba kwa axis zitatu.

3. Dongosolo Lolamulira: "Ubongo" wa Kulondola

Ngati zida zamagetsi ndi "thupi" lolondola, ndiye kuti makina owongolera ndi "ubongo" wake. Makina owongolera a servo ya axis zitatu Ife Opanga RobotMalamulo a pulse kapena kulumikizana kwa basi kuti akonze ndikuwongolera mayendedwe a ma axes atatu nthawi yeniyeni. Ubwino wake waukulu uli m'mbali ziwiri izi:

Ukadaulo wolumikizira njira: Pogwiritsa ntchito ma algorithm monga kulumikiza mzere ndi kuzungulira, njira zovuta zoyendera zimatha kugawidwa m'magawo ang'onoang'ono owongoka kapena ozungulira. Zolakwika zoyika malo mu gawo lililonse zitha kulamulidwa mpaka mulingo wa micron, kuonetsetsa kuti chogwirira ntchito chomaliza chikutsatira njira yokonzedweratu panthawi yolumikizana kwa ma axis ambiri (monga kugwira kosalekeza, kusamutsa, ndi kuyika). Izi zimaletsa kupotoka kwa njira.

Kukonza mayankho otsekedwa: Kuwonjezera pa mayankho omangidwa mkati mwa injini ya servo, mitundu ina yapamwamba imaphatikizanso zida zodziwira zakunja monga masikelo owoneka kapena a maginito pa end effector kapena motion axis, zomwe zimapangitsa kuti "kulamulira kotsekedwa kawiri." Ngati chipangizo chodziwira chakunja chizindikira kusiyana pakati pa malo enieni ndi omwe akufunidwa, makina owongolera nthawi yomweyo amasinthira kutulutsa kwa injini kuti kulipire cholakwikacho mkati mwa 0.001mm. Mphamvu iyi ya "kukonza zolakwika zenizeni" ndiyo chitsimikizo chachikulu cha malo olondola kwambiri.

Chachiwiri, magwiridwe antchito mwachilengedwe: ubwino wonse kuyambira "kulondola" mpaka "kukhazikika"

Kutengera maziko aukadaulo omwe atchulidwa pamwambapa, ubwino wolondola kwambiri wa ma servo manipulators atatu-axis umasinthidwa kukhala magwiridwe antchito owerengeka komanso owoneka bwino pakupanga, kuphatikiza miyezo itatu yayikulu: kulondola kwa malo, kubwerezabwereza, ndi kukhazikika kwa kuyenda.

1. Kulondola kwa Malo: Kuyambira pa Milimita mpaka pa Milimita

Kulondola kwa malo kumatanthauza kusiyana pakati pa malo enieni omwe chida chogwiritsira ntchito chimafikira ndi malo omwe chili, ndipo ndi chizindikiro chachikulu cha kulondola. Ngakhale kulondola kwa malo a zida zogwiritsira ntchito mpweya wamba nthawi zambiri kumakhala 0.1-0.5mm, kulondola kwa malo a zida zogwiritsira ntchito servo zitatu-axis nthawi zambiri kumatha kufika 0.02-0.05mm, ndipo zitsanzo zapamwamba zimatha kufika 0.005-0.01mm. Potengera kulowetsa kwa electronic component mwachitsanzo, pin pitch ya chip ndi 0.3mm yokha. Ngati cholakwika cha malo a robot chikuposa 0.05mm, chingayambitse vuto la solder joint kapena short circuit. Komabe, robot ya servo ya axis zitatu yokhala ndi kulondola kwa malo a 0.01mm imatha kulumikizana bwino pakati pa mapini ndi ma pads, ndikuwonjezera kuchuluka kwa soldering kuchokera pa 95% mpaka kupitirira 99.9%.

2. Kubwerezabwereza: "Chitsimikizo Chokhazikika" cha Kupanga Zinthu Mochuluka

Kubwerezabwereza kumatanthauza kusiyana kwa kusiyana pamene lobotiyo ifika pamalo omwewo kangapo, zomwe zimatsimikiza mwachindunji kusinthasintha kwa zinthu zopangidwa mochuluka. Kubwerezabwereza kwa loboti ya servo ya axis zitatu nthawi zambiri kumafikira ±0.01mm, ndipo mitundu ina yapamwamba imafikira ±0.003mm. Mu makampani opanga ma injection molding molondola, popanga zida zopyapyala monga mafoni am'manja, Robot ayenera kugwira bwino gawo lomwe lili mkati mwa chikombolecho ndikuchiyika pamalo owunikira. Ngati kubwerezabwerezako kupitirira 0.02mm, kungayambitse kusakhazikika kwa magawo ndi kulephera kuyang'anira. Kubwerezabwereza kwakukulu kwambiri kumatsimikizira kugwira ndi kuyika nthawi zonse, kusunga kulolerana kwa magawo popanga zinthu zambiri mkati mwa 0.01mm.

3. Kukhazikika kwa Kuyenda: Kulondola Kosasintha pa Liwiro Lalikulu

Kulondola kwambiri sikutanthauza kulondola kokhazikika kokha komanso kukhazikika kwamphamvu. Roboti ya servo ya axis zitatu, yomwe imagwira ntchito pa liwiro lalikulu (monga, liwiro lopanda katundu la 1-2m/s), imapewa kusinthasintha kwa malo komwe kumachitika chifukwa cha kugwedezeka kwa inertial kudzera mu yankho lamphamvu la makina owongolera komanso kuthandizira kolimba kwa makina otumizira. Mwachitsanzo, mu mizere yolumikizira zinthu ya 3C, roboti iyenera kumaliza ntchito ya "grasp a screw - isamutse ku dzenje la screw - limbitsa" mkati mwa sekondi imodzi. Kugwedezeka kulikonse kapena kupotoka kulikonse panthawi yoyenda kungayambitse kuti screw iterereke kapena kusakhazikika. Makhalidwe othamanga kwambiri komanso okhazikika a roboti ya servo ya axis zitatu amathandizira kuti end effector ikhalebe pamalo oyenera panthawi yoyenda mwachangu, kusunga cholakwika cha coaxiality panthawi yolimbitsa screw mkati mwa 0.02mm, zomwe zimapangitsa kuti magwiridwe antchito komanso ubwino wa msonkhano ukhale wabwino kwambiri.

Chachitatu, Kuzindikira Mtengo wa Makampani: Kupatsa Mphamvu Zogwira Ntchito Kuchokera ku "Kuchepetsa Mtengo" Kupita ku "Kukonza Mphamvu"

Ubwino waukulu wa malo olondola kwambiri uyenera kumasuliridwa kukhala phindu lenileni m'mafakitale. M'magawo osiyanasiyana opanga zinthu zapamwamba, ubwino wolondola wa maloboti a servo a axis atatu ndikusintha mitundu yopanga, zomwe zimathandiza kusintha kuchoka pa ntchito yamanja kupita ku kupanga zinthu mwadongosolo.

1. Kupanga Zamagetsi: "Zowongolera Zolondola" za Zigawo Zing'onozing'ono

Kupanga zinthu zamagetsi ndi chimodzi mwa zinthu zofunika kwambiri pakupanga zinthu molondola. Kuyambira kulongedza zinthu pogwiritsa ntchito chip mpaka kuyika zinthu pogwiritsa ntchito PCB board mpaka kulongedza zinthu pogwiritsa ntchito electronic component, pamafunika luso loyika zinthu pogwiritsa ntchito micron level. Mwachitsanzo, potengera kulongedza zinthu pogwiritsa ntchito kamera ya foni yam'manja, kusiyana pakati pa zinthu monga lenzi, sensa, ndi fyuluta mkati mwa module kuyenera kuyendetsedwa mkati mwa 0.01mm. Kugwiritsa ntchito ndi manja sikungokhala kopanda ntchito komanso kungayambitse zolakwika pakupanga zinthu chifukwa chogwirana ndi manja. Roboti ya servo yokhala ndi ma axis atatu, kudzera mu malo olondola kwambiri komanso kulamulira kotsekedwa, imakwaniritsa "zopanda mpata" wolumikizira zigawo, ndikuwonjezera magwiridwe antchito ochulukirapo katatu ndikuchepetsa chiwopsezo cha zolakwika kuchokera pa 5% mpaka pansi pa 0.1%. Kuphatikiza apo, pogwira ma wafer a semiconductor, lobotiyo iyenera kugwira ma wafer a mainchesi 300mm (okha 0.77mm makulidwe) ndikuyika molondola patebulo la lithography, ndi cholakwika choyimitsa chosakwana 0.005mm. Kulondola kwambiri kwa loboti ya servo ya three-axis kwakhala "chimake chachikulu" cha kupanga ma wafer.

2. Kupangira Injection Moyenera: "Cholumikizira Chopanda Msoko" pakati pa Ma Mold ndi Zigawo

Pakupanga bwino kwambiri jakisoni, kulondola kwa loboti kumakhudza mwachindunji chitetezo cha nkhungu ndi ubwino wa gawo. Pamene jakisoni itsegulidwa ndi kutsekedwa, lobotiyo iyenera kufikira molondola m'bowo la nkhungu kuti igwire gawolo. Kupatuka kulikonse komwe kuli pamwamba pa 0.05mm kungayambitse kugundana ndi nkhungu, zomwe zimapangitsa kuti nkhungu iwonongeke ndi ma yuan masauzande ambiri. Kuyika bwino kwambiri kwa loboti ya servo yokhala ndi ma axis atatu kumatsimikizira kuti malo ake ndi osakwana 0.02mm pa chogwirira chilichonse, zomwe zimachotsa chiopsezo cha kugundana ndi nkhungu. Kuphatikiza apo, pakuyika kawiri kapena kuyika, lobotiyo iyenera kuyika bwino choyika (monga nati yachitsulo) m'bowo la nkhungu, ndi malo okwana 0.03mm okha. Kuyika bwino kwambiri kumatsimikizira "kuyika kamodzi kokha, kolondola," kupewa zidutswa zomwe zimachitika chifukwa cha kusakhazikika bwino kwa choyika ndikuwonjezera kugwiritsa ntchito zinthu ndi 15%.

3. Zipangizo Zachipatala: "Zitsimikizo Zolondola" M'malo Oyera Kwambiri

Kupanga zipangizo zachipatala kumaika zofunikira kwambiri pa kulondola ndi ukhondo. Ntchito monga kukonza singano ya sirinji, kupukuta mafupa opangidwa, ndi kusonkhanitsa catheter yachipatala zonse zimafuna zida zodziwikiratu zokha. Mwachitsanzo, kupukuta mafupa opangidwa ndi titanium alloy, kuuma kwa pamwamba pa cholumikizira kuyenera kuyendetsedwa mkati mwa Ra0.8μm. Cholakwika chilichonse choyika pamalo opukutira chopitirira 0.01mm chidzakhudza momwe cholumikiziracho chilili komanso nthawi yake yogwirira ntchito. Roboti ya servo yokhala ndi ma axis atatu, kudzera mu kuphatikiza kukonzekera kolondola kwa njira ndi kuwongolera mphamvu kumapeto, imatha kukwaniritsa kuwongolera kwa micron kwa njira yopukutira, kuonetsetsa kuti malo ake ndi olondola pomwe ikupewa kuipitsidwa kwa fumbi ndi kusinthasintha kolondola komwe kumakhudzana ndi kupukuta kwamanja. Pakusonkhanitsa catheter yachipatala, loboti iyenera kulumikiza bwino catheter ya mainchesi 0.5mm ndi cholumikizira, ndi kupotoka kwa malo kosakwana 0.02mm. Ubwino wolondola wa loboti ya servo yokhala ndi ma axis atatu umatsimikizira kuti palibe zolakwika panthawi yoyika, kuonetsetsa kuti zida zachipatala zili otetezeka komanso zodalirika.

4. Zigawo Zamagalimoto: "Oteteza Ubwino" Pakupanga Zinthu Zapamwamba

Pamene magalimoto akupita patsogolo kwambiri, zofunikira pakupanga zinthu zofunika kwambiri monga injini ndi ma transmission zikupitirira kukwera. Ubwino wolondola wa ma robot a servo a axis atatu ukulowa m'malo mwa ntchito yamanja yachikhalidwe komanso zida zosalondola kwenikweni. Mwachitsanzo, potengera kukhazikitsa mphete ya piston ya injini, kusiyana pakati pa mphete ya piston ndi groove ya piston kuyenera kuyendetsedwa mkati mwa 0.02-0.05mm. Kukhazikitsa ndi manja kungayambitse kusintha kwa mphete ya piston chifukwa cha mphamvu zosafanana komanso zolakwika zoyikira. Komabe, loboti ya servo ya axis itatu, kudzera mu kuyikira bwino kwambiri komanso kugwira mosinthasintha, imalola "kuyika kosawononga komanso kolondola" kwa mphete za piston, ndikuwonjezera kuchuluka kwa kuyika kuchokera pa 98% mpaka 99.9%. Pakusonkhanitsa zida zotumizira, lobotiyo iyenera kuyika bwino giyayo mu shaft yoyendetsera, ndi mtunda wa 0.015mm pakati pa dzenje lamkati la giya ndi shaft yoyendetsera. Kuyika bwino kwambiri kumatsimikizira kuti giya ndi shaft yoyendetsera zimakhala zofanana, kuchepetsa phokoso ndi kuwonongeka panthawi yogwiritsa ntchito giya ndikuwonjezera moyo wa chinthucho.

Chachinayi, Kusankha ndi Kugwiritsa Ntchito: Kodi Mungatani Kuti Muwonjezere Ubwino wa Kusamala Kwambiri?

Kuti makampani azindikire bwino ubwino wokhazikika bwino wa maloboti a servo okhala ndi ma axis atatu, ayenera kuganizira mfundo zitatu izi posankha ndikugwiritsa ntchito mtundu:

1. Fotokozani zofunikira pa kulondola: Pewani kusankha mopitirira muyeso kapena kusankha pang'ono

Zofunikira pa kulondola zimasiyana kwambiri m'mafakitale ndi machitidwe. Makampani ayenera choyamba kuzindikira zizindikiro zazikulu—kulondola kwa malo, kubwerezabwereza, ndi liwiro la kuyenda—asanasankhe kasinthidwe koyenera. Mwachitsanzo, pakupanga zinthu zamagetsi, chitsanzo chokhala ndi kulondola kwa malo cha 0.03-0.05mm chingasankhidwe, pomwe kusamalira ma wafer a semiconductor kumafuna chitsanzo chapamwamba chokhala ndi kulondola kwa malo cha 0.005-0.01mm. Izi zimapewa kukweza ndalama chifukwa cha "kulondola kwambiri" kapena kusokoneza kupanga chifukwa cha "kusalondola kwenikweni."

2. Yang'anani kwambiri pa kulimba konse: "Chitsimikizo chosawoneka" cha kulondola

Kulimba konse kwa loboti kumakhudza mwachindunji kukhazikika kwake kolondola panthawi yoyenda mwachangu. Ngati kulimba kwa chimango ndi ma axes oyenda sikukwanira, kusinthaku kungachitike panthawi yoyenda mwachangu, zomwe zimapangitsa kuti pakhale zolakwika pa malo. Chifukwa chake, posankha loboti, samalani ndi zinthu za thupi (monga aluminiyamu kapena chitsulo choponyedwa) ndi kulimba kwa zigawo zotumizira (monga diameter ya screw ya mpira ndi mtundu wa njanji yotsogolera) kuti muwonetsetse kuti kapangidwe kake konse kakhoza kuthandizira kuyenda kolondola kwambiri.

3. Tsindikani Kutumiza ndi Kusamalira: "Chitsimikizo Cha Nthawi Yaitali" Cha Kulondola

Ngakhale ma servo robot apamwamba kwambiri amatha kuchepa pang'onopang'ono ngati atagwiritsidwa ntchito molakwika kapena kunyalanyazidwa. Makampani ayenera kukonzekera kukhazikitsa ndi kugwiritsa ntchito mwaukadaulo, kukonza magawo a makina owongolera (monga kusintha kwa gain ndi makonda a fyuluta) kuti akwaniritse kulondola koyenera. Kusamalira pafupipafupi kuyenera kuphatikizapo kuyeretsa nthawi zonse zida zotumizira, kubwezeretsanso mafuta odzola, ndikuwunika ukhondo wa ma encoders ndi ma scales kuti apewe kutayika kwa kulondola chifukwa cha kuwonongeka ndi kuwonongeka.