Irobhothi yoshishinos zisetyenziswa ngokubanzi kwimveliso yemizi-mveliso, njengokwenziwa kweemoto, izixhobo zombane, ukutya, njl.njl. Ziyakwazi ukuthatha indawo yokusebenza ngokuphindaphindiweyo komatshini kwaye zingoomatshini abathembele kumandla abo kunye nobuchule bokulawula ukuphumeza imisebenzi eyahlukeneyo. Inokumelana nomyalelo womntu kwaye inokusebenza ngokweenkqubo ezicwangciswe kwangaphambili. Ngoku sithetha ngamacandelo angundoqo asisisekoirobhothi yoshishinos.
1.Isihloko
Owona matshini sisiseko soomatshini kunye nesixhobo sokusebenza, kubandakanya ingalo enkulu, ingalo yangaphambili, isihlahla kunye nesandla, ezenza inkqubo yoomatshini yenkululeko. Ezinye iirobhothi zineendlela zokuhamba.Irobhothi yoshishinosbabe ne-6 degrees yenkululeko okanye nangaphezulu. Isihlahla ngokubanzi sine-1 ukuya kwi-3 degrees yenkululeko yokuhamba.
2. Inkqubo yokuqhuba
Inkqubo yokuqhuba yeirobhothi yoshishinosyahlulwe ngokweendidi ezintathu ngokomthombo wamandla: ihydraulic, ipneumatic kunye nombane. Ezi ntlobo zintathu zinokudityaniswa zibe yinkqubo yokuqhubela phambili edibeneyo esekelwe kwiimfuno. Okanye uqhutywa ngokungangqalanga ngeendlela zothumelo ngoomatshini ezinje ngeebhanti ze-synchronous, oololiwe begiya, kunye neegiya. Inkqubo yokuqhuba inesixhobo samandla kunye nendlela yokuhambisa, esetyenziselwa ukuphumeza izenzo ezihambelanayo zendlela. Nganye kwezi ntlobo zintathu zeenkqubo zokuqhuba ezisisiseko zineempawu zayo. Eyona nto ikhoyo ngoku yinkqubo yokuqhuba umbane. Ngenxa ye-inertia ephantsi, i-torque enkulu ye-AC kunye ne-DC servo motors kunye nenkxaso yazo ye-servo drives (i-AC frequency converters, i-DC pulse wide modulators) isetyenziswa ngokubanzi. Olu hlobo lwenkqubo alufuni ukuguqulwa kwamandla, kulula ukuyisebenzisa, kwaye lunolawulo olubuthathaka. Uninzi lweenjini zifuna indlela ebuthathaka yothumelo: isinciphisi. Amazinyo ayo asebenzisa isiguquli sesantya segiya ukunciphisa inani lokujikeleza okubuyela umva kwemoto ukuya kwinani elifunekayo lokujikeleza okubuyela umva kunye nokufumana isixhobo esikhulu setorque, ngaloo ndlela kunciphisa isantya kunye nokwandisa itorque. Xa umthwalo umkhulu, i-servo motor inyuswe ngokungaboniyo Amandla anexabiso elibi kakhulu, kwaye i-torque ephumayo inokunyuswa ngokunciphisa ngaphakathi kwinqanaba elifanelekileyo lesantya. Iinjini ze-Servo zithandwa kakhulu kubushushu kunye ne-low-frequency vibration xa zisebenza kumaza aphantsi. Umsebenzi wexesha elide kunye nokuphindaphinda akuncedi ekuqinisekiseni ukusebenza okuchanekileyo nokuthembekileyo. Ubukho bemoto yokunciphisa echanekileyo ivumela i-servo motor ukuba isebenze ngesantya esifanelekileyo, iqinisa ukuqina komzimba womatshini kunye nokukhupha i-torque enkulu. Kukho abanciphisi ababini abaqhelekileyo namhlanje: i-harmonic reducer kunye ne-RV reducer.
3.Inkqubo yokulawula
Iinkqubo yokulawula irobhothiyingqondo yerobhothi kunye neyona nto iphambili emisela imisebenzi kunye nemisebenzi yerobhothi. Inkqubo yokulawula ithumela imiqondiso yomyalelo kwinkqubo yokuqhuba kunye nendlela yokuphumeza ngokwenkqubo yokufaka, kwaye ilawula. Umsebenzi ophambili weirobhothi yoshishino itekhnoloji yokulawula kukulawula uluhlu lwemisebenzi, ukuma kunye ne-trajectory, kunye nexesha lesenzo seirobhothi yoshishinos kwindawo yokusebenza. Ineempawu zenkqubo elula, ukusebenza kwemenyu yesoftware, ujongano olunobuhlobo phakathi kwabantu nekhompyuter, ukukhuthaza ukusebenza kwi-intanethi kunye nokusetyenziswa ngokulula. Inkqubo yokulawula ngundoqo werobhothi, kwaye iinkampani zangaphandle ezifanelekileyo zivaliwe ngokusondeleyo kwiimvavanyo zethu. Kwiminyaka yakutshanje, ngophuhliso lwetekhnoloji ye-microelectronics, ukusebenza kwe-microprocessors kuye kwaba phezulu nangaphezulu, kwaye ixabiso liye lancinci kwaye lincinci. Ngoku, ii-microprocessors ze-32-bit ezixabisa i-1-2 yeedola zase-US zivele kwimarike. Ii-microprocessors ezingabizi kakhulu ziye zazisa amathuba amatsha ophuhliso kubalawuli beerobhothi, okwenza kube lula ukuphuhlisa abalawuli beerobhothi abaphantsi kweendleko eziphezulu. Ukuze wenze inkqubo ibe namandla okwaneleyo ekhompyutheni kunye nokugcina, abalawuli be-robot ngoku baqulunqwe ngochungechunge olunamandla lwe-ARM, uchungechunge lwe-DSP, uchungechunge lwe-POWERPC, uchungechunge lwe-Intel kunye nezinye iitshiphusi. Ekubeni imisebenzi kunye nemisebenzi ye-chips ekhoyo ngokubanzi-injongo ayinakukwazi ukuhlangabezana ngokupheleleyo neemfuno zezinye iinkqubo zerobhothi ngokwexabiso, ukusebenza, ukudibanisa kunye nokudibanisa, oku kubangele imfuno yeteknoloji ye-SoC (System on Chip) kwiinkqubo zerobhothi. Iprosesa idityaniswe kunye nojongano olufunekayo, olunokwenza lula ukuyilwa kweesekethe ze-peripheral system, ukunciphisa ubungakanani benkqubo, kunye nokunciphisa iindleko. Umzekelo, i-Actel idibanisa i-NEOS okanye i-ARM7 processor cores kwiimveliso zayo zeFPGA ukwenza inkqubo ye-SoC epheleleyo. Ngokubhekiselele kubalawuli betekhnoloji yerobhothi, uphando lwayo lugxile kakhulu e-United States naseJapan, kwaye kukho iimveliso ezivuthiweyo, njengeNkampani ye-DELTATAU yaseMelika, iPengli Co., Ltd. yaseJapan, njl njl. ngundoqo kwaye yamkele i-PC-based open structure. 4. Ukuphelisa umphumo Isiphumo sokugqibela siyinxalenye edityaniswe kwikhonkco lokugqibela le-manipulator. Ngokuqhelekileyo isetyenziselwa ukubamba izinto, ukudibanisa nezinye iindlela kunye nokwenza imisebenzi efunekayo. Abavelisi beRobhothi ngokubanzi abayili okanye bathengisi iimpembelelo zokugqibela; kwiimeko ezininzi, zibonelela kuphela i-gripper elula. Ngokuqhelekileyo umphumo wokugqibela ufakwe kwi-6-axis flange ye-robot ukugqiba imisebenzi kwindawo enikeziweyo, njenge-welding, ipeyinti, i-gluing, kunye neengxenye zokulayisha kunye nokukhulula, okuyimisebenzi efuna ukuba iirobhothi zizalise.
Isishwankathelo seenjini ze-servo Umqhubi we-Servo, owaziwa ngokuba yi "servo controller" kunye ne "servo amplifier", ngumlawuli osetyenziselwa ukulawula iimotor ze-servo. Umsebenzi wayo ufana nowokuguqulela rhoqo kwiimotor eziqhelekileyo ze-AC, kwaye yinxalenye yenkqubo ye-servo. Ngokubanzi, i-servo motor ilawulwa ngeendlela ezintathu: isikhundla, isantya kunye ne-torque ukufezekisa ukuchaneka okuphezulu kwendlela yokuhambisa.
1. Ukuhlelwa kweenjini ze-servo Yahlulwe yangamacandelo amabini: DC kunye AC servo motors.
Iimotor ze-AC servo zohlulwe ngakumbi kwiimotor ze-servo ezilinganayo kunye neemotor ze-servo ezihambelanayo. Okwangoku, iinkqubo ze-AC ngokuthe ngcembe zithatha indawo yeenkqubo ze-DC. Xa kuthelekiswa neenkqubo ze-DC, ii-motor ze-AC servo zineenzuzo zokuthembeka okuphezulu, ukuchithwa kakuhle kobushushu, umzuzu omncinci we-inertia, kunye nokukwazi ukusebenza phantsi koxinzelelo oluphezulu. Ngenxa yokuba azikho iibhrashi kunye neegiya zokuqhuba, inkqubo ye-AC servo iphinda ibe yinkqubo ye-servo ye-brushless, kwaye iimotor ezisetyenziswa kuyo ziimotor zohlobo lwe-cage-asynchronous motors kunye ne-magnetic synchronous motors esisigxina ene-brushless structure. 1) Iinjini ze-DC servo zahlulwe zaba ziinjini ezixutyiweyo kunye neebrashi
①Iimoto ezixutyiweyo zinexabiso eliphantsi, ulwakhiwo olulula, itorque enkulu yokuqala, uluhlu olubanzi lwesantya, ulawulo olulula, lufuna ukugcinwa, kodwa kulula ukuzigcina (buyisela iibrashi zekhabhoni), zivelisa ukuphazamiseka kombane, zineemfuno kwindawo yokusetyenziswa, kwaye zihlala zisetyenziselwa Ulawulo lweendleko Iimeko zoshishino jikelele ezinovakalelo jikelele kunye nezoluntu;
②Iinjini ze-brushless zincinci ngobukhulu kwaye zilula ngobunzima, zinemveliso enkulu kunye nokuphendula ngokukhawuleza. Banesantya esiphezulu kunye ne-inertia encinci, i-torque ezinzileyo kunye nokujikeleza okugudileyo. Ulawulo lunzima kwaye luhlakaniphile. Indlela yokutshintsha i-elektroniki iyaguquguquka. Iyakwazi ukujikeleza nge-square wave okanye i-sine wave. Injini ayilondolozi kwaye iyasebenza. Ukonga amandla, imitha encinci ye-electromagnetic, ukunyuka kwamaqondo obushushu aphantsi kunye nobomi obude, bulungele iindawo ezahlukeneyo.
2. Iimpawu zeentlobo ezahlukeneyo zeenjini ze-servo
1) Izinto eziluncedo kunye nezingeloncedo kwi-DC servo motor Izinto ezilungileyo: ulawulo oluchanekileyo lwesantya, i-torque enzima kakhulu kunye neempawu zesantya, umgaqo olula wokulawula, kulula ukuyisebenzisa, kunye nexabiso elincinci. Ukungalungi: ukuguqulwa kwebrashi, umda wesantya, ukuchasana okongeziweyo, ukuveliswa kwamasuntswana anxibileyo (ayifanelekanga indawo engenathuli kunye neendawo eziqhumayo)
2) Izinto ezilungileyo kunye nokungalunganga kwe-AC servo motor Izinto eziluncedo: iimpawu zokulawula isantya esilungileyo, ulawulo olugudileyo kulo lonke uluhlu lwesantya, phantse akukho oscillation, ukusebenza kakuhle okuphezulu okungaphezulu kwe-90%, ukuveliswa kobushushu obuncinci, ukulawulwa kwesantya esiphezulu, ulawulo oluchanekileyo lwendawo (kuxhomekeke ekuchanekeni kwe-encoder) indawo yokusebenza Ngaphakathi, inokufezekisa i-torque eqhubekayo, inertia ephantsi, ingxolo ephantsi, ukungabikho kwebrashi yokunxiba, kunye nokugcinwa kwe-free (efanelekile kwiindawo ezingenalo uthuli kunye neziqhushumbisi). Ukungalungi: Ulawulo luyinkimbinkimbi ngakumbi, iiparameters zomqhubi kufuneka zilungiswe kwi-site kunye neeparitha ze-PID zinqunywe, kwaye uxhulumaniso olungakumbi luyafuneka. Okwangoku, iidrive ze-servo eziqhelekileyo zisebenzisa iiprosesa zesiginali yedijithali (DSP) njengeyona nto iphambili yolawulo, enokuphumeza ii-algorithms zolawulo oluntsonkothileyo kunye nokufezekisa idigitization, inethiwekhi kunye nobukrelekrele. Izixhobo zamandla ngokubanzi zisebenzisa iisekethe zokuqhuba eziyilwe ngeemodyuli zamandla akrelekrele (IPM) njengondoqo. I-IPM idibanisa i-drive circuit kwaye inokubona iimpazamo kunye neesekethe zokukhusela ezifana ne-overvoltage, overcurrent, overheating, kunye ne-undervoltage. Isoftware nayo yongezwa kwisekethe ephambili. Qala isiphaluka ukunciphisa impembelelo yenkqubo yokuqalisa kumqhubi. Iyunithi yokuqhuba amandla kuqala ilungisa igalelo lamandla esigaba sesithathu okanye amandla ombane ngokusebenzisa inqanaba lesithathu lebhulorho egcweleyo yokulungisa isekethe ukufumana umsinga ohambelana ngqo. Amandla esigaba esithathu alungisiweyo okanye amandla aphambili aguqulwa abe ngamaza aphindwe ngenqanaba lesithathu le-sinusoidal PWM inverter yombane ukuze aqhube inqanaba lesithathu lemagnethi esisigxina ye-synchronous AC servo motor. Yonke inkqubo yeyunithi yokuqhuba amandla inokuthiwa nje yinkqubo ye-AC-DC-AC. Isekethe ye-topological engundoqo yeyunithi yokubuyisela (AC-DC) yinqanaba lesithathu lebhulorho egcweleyo engalawulekiyo yesekethe yokulungisa.
Umbono ogqabhukileyo we-harmonic reducer Ithathe iNkampani yaseJapan yaseJapan iminyaka eyi-6-7 ukusuka ekucebiseni uyilo lweRV ekuqaleni koo-1980 ukuphumeza impumelelo enkulu kuphando lokunciphisa iRV ngo-1986; kunye neNantong Zhenkang kunye neHengfengtai, ababengabokuqala ukuvelisa iziphumo eChina, nabo bachitha ixesha. 6-8 iminyaka. Ngaba ithetha ukuba amashishini ethu asekuhlaleni akanamathuba? Iindaba ezimnandi zezokuba emva kweminyaka eliqela yokuthunyelwa, iinkampani zaseTshayina ekugqibeleni zenze inkqubela phambili.
*Eli nqaku liveliswe kwi-Intanethi, nceda uqhagamshelane nathi ukuze kucinywe ukophulwa komthetho.
Ixesha lokuposa: Sep-15-2023
