Irobhothi yemizi-mvelisos zisetyenziswa kakhulu kwimveliso yemizi-mveliso, njengokwenziwa kweemoto, izixhobo zombane, ukutya, njl. Zingathatha indawo yokusebenza okuphinda-phindayo koomatshini kwaye ziimatshini ezixhomekeke kumandla azo kunye nobuchule bokulawula ukufezekisa imisebenzi eyahlukeneyo. Zinokumelana nomyalelo womntu kwaye zinokusebenza ngokweenkqubo ezicwangcisiweyo kwangaphambili. Ngoku sithetha ngezinto eziphambili ezisisisekoirobhothi yemizi-mvelisos.
1. Isihloko
Oomatshini abaphambili sisiseko somatshini kunye nendlela yokuqhuba, kuquka ingalo enkulu, ingalo yesandla, isandla nesandla, ezenza inkqubo yoomatshini enenkululeko ebanzi. Ezinye iirobhothi nazo zineendlela zokuhamba.Irobhothi yemizi-mvelisoszine-degrees ezi-6 zenkululeko okanye nangaphezulu. Isandla sidla ngokuba ne-degrees ezi-1 ukuya kwezi-3 zenkululeko yokuhamba.
2. Inkqubo yokuqhuba
Inkqubo yokuqhubairobhothi yemizi-mvelisosyahlulwe yangamacandelo amathathu ngokwemvelaphi yamandla: i-hydraulic, i-pneumatic kunye ne-electric. Ezi ntlobo zintathu zinokudityaniswa zibe yinkqubo yokuqhuba edibeneyo ngokusekelwe kwiimfuno. Okanye ziqhutywe ngokungathanga ngqo ngeendlela zokudlulisa oomatshini ezifana neebhanti ezihambelanayo, oololiwe begiya, kunye neegiya. Inkqubo yokuqhuba inesixhobo samandla kunye nendlela yokudlulisa, ezisetyenziselwa ukuphumeza izenzo ezifanayo zendlela. Uhlobo ngalunye kwezi ntlobo zintathu zeenkqubo zokuqhuba ezisisiseko zineempawu zalo. Eyona nto iphambili ngoku yinkqubo yokuqhuba ombane. Ngenxa yokungakhathali okuphantsi, iimoto ezinkulu ze-AC kunye ne-DC servo kunye nee-servo drives zazo ezixhasayo (ii-AC frequency converters, ii-DC pulse width modulators) zisetyenziswa kakhulu. Olu hlobo lwenkqubo alufuni ukuguqulwa kwamandla, kulula ukulusebenzisa, kwaye lunolawulo olunobunono. Uninzi lweemoto zifuna indlela yokudlulisa ethambileyo: i-reducer. Amazinyo ayo asebenzisa i-gear speed converter ukunciphisa inani lokujikeleza okungasemva kwemoto ukuya kwinani elifunekayo lokujikeleza okungasemva kwaye afumane isixhobo se-torque esikhulu, ngaloo ndlela kunciphisa isantya kwaye kwandiswe i-torque. Xa umthwalo umkhulu, i-servo motor inyuswa ngokungaboniyo. Amandla ayonga kakhulu, kwaye i-output torque inokwandiswa nge-reducer ngaphakathi koluhlu lwesantya olufanelekileyo. Iimoto ze-Servo zinobushushu kunye nokungcangcazela okuphantsi xa zisebenza kumaza aphantsi. Umsebenzi wexesha elide nophindaphindayo awulungelanga ukuqinisekisa ukusebenza ngokuchanekileyo nangokuthembekileyo. Ubukho bemoto yokunciphisa ngokuchanekileyo buvumela i-servo motor ukuba isebenze ngesantya esifanelekileyo, iqinisa ukuqina komzimba womatshini kwaye ikhuphe i-torque enkulu. Kukho ii-reducer ezimbini eziphambili namhlanje: i-harmonic reducer kunye ne-RV reducer.
3. Inkqubo yokulawula
Iinkqubo yolawulo lwerobhothiyingqondo yerobhothi kwaye yeyona nto iphambili emisela imisebenzi kunye nemisebenzi yerobhothi. Inkqubo yolawulo ithumela imiqondiso yomyalelo kwinkqubo yokuqhuba kunye nendlela yokwenza ngokwenkqubo yokufaka, kwaye izilawule. Umsebenzi ophambili weirobhothi yemizi-mveliso Iteknoloji yokulawula kukulawula uluhlu lwemisebenzi, indlela yokuma kunye nendlela ohamba ngayo, kunye nexesha lokwenziwa kwesenzoirobhothi yemizi-mvelisos kwindawo yokusebenza. Ineempawu zokucwangcisa ezilula, ukusebenza kwemenyu yesoftware, ujongano olunobuhlobo phakathi kwabantu nekhompyutha, izindululo zokusebenza kwi-intanethi kunye nokusetyenziswa okulula. Inkqubo yokulawula yeyona nto iphambili kwirobhothi, kwaye iinkampani zangaphandle ezifanelekileyo zivaliwe kakhulu kwiimvavanyo zethu. Kwiminyaka yakutshanje, ngophuhliso lwetekhnoloji ye-microelectronics, ukusebenza kwee-microprocessors kuye kwanda, kwaye ixabiso liye landa kwaye lancipha. Ngoku, ii-microprocessors ezingama-32-bit ezibiza i-1-2 yeedola zaseMelika ziye zavela kwimarike. Ii-microprocessors ezingabizi kakhulu zizise amathuba amatsha ophuhliso kubalawuli beerobhothi, okwenza kube nokwenzeka ukuphuhlisa abalawuli beerobhothi abangabizi kakhulu nabasebenza kakhulu. Ukuze inkqubo ibe namandla aneleyo okubala kunye nokugcina, abalawuli beerobhothi ngoku baqulunqwe kakhulu luchungechunge olunamandla lwe-ARM, uthotho lwe-DSP, uthotho lwe-POWERPC, uthotho lwe-Intel kunye nezinye iitships. Ekubeni imisebenzi kunye nemisebenzi yeetships ezikhoyo ngokubanzi zingenakukwazi ukuhlangabezana ngokupheleleyo neemfuno zezinye iinkqubo zerobhothi ngokwexabiso, ukusebenza, ukuhlanganiswa kunye nee-interfaces, oku kuye kwabangela imfuno yetekhnoloji yeSoC (System on Chip) kwiinkqubo zerobhothi. Iprosesa idityaniswe nee-interfaces ezifunekayo, ezinokwenza lula uyilo lweesekethe ze-peripheral zenkqubo, zinciphise ubungakanani benkqubo, kwaye zinciphise iindleko. Umzekelo, i-Actel idibanisa ii-processor cores ze-NEOS okanye ze-ARM7 kwiimveliso zayo ze-FPGA ukuze zenze inkqubo epheleleyo ye-SoC. Ngokuphathelele abalawuli betekhnoloji yerobhothi, uphando lwayo lugxile kakhulu e-United States naseJapan, kwaye kukho iimveliso ezivuthiweyo, ezifana ne-American DELTATAU Company, i-Japan's Pengli Co., Ltd., njl. Umlawuli wayo wokuhamba uthatha itekhnoloji ye-DSP njengesiseko sayo kwaye wamkela isakhiwo esivulekileyo esisekelwe kwi-PC. 4. Isiphelisi sokugqibela I-end effector yinxalenye edityaniswe ne-joint yokugqibela ye-manipulator. Ngokuqhelekileyo isetyenziselwa ukubamba izinto, ukunxibelelana nezinye iindlela kunye nokwenza imisebenzi efunekayo. Abavelisi beerobhothi ngokubanzi abayili okanye bathengise ii-end effectors; kwiimeko ezininzi, babonelela nge-gripper elula kuphela. Ngokuqhelekileyo i-end effector ifakwe kwi-flange ye-6-axis yerobhothi ukuze igqibezele imisebenzi kwindawo ethile, efana nokuwelda, ukupeyinta, ukuncamathisela, kunye nokulayisha nokukhulula iindawo, imisebenzi efuna iirobhothi ukuba zigqitywe.
Isishwankathelo seemoto ze-servo Umqhubi weServo, okwaziwa ngokuba yi-"servo controller" kunye ne-"servo amplifier", sisilawuli esisetyenziselwa ukulawula ii-servo motors. Umsebenzi waso ufana nowe-frequency converter kwii-AC motors eziqhelekileyo, kwaye siyinxalenye yenkqubo ye-servo. Ngokubanzi, i-servo motor ilawulwa ngeendlela ezintathu: indawo, isantya kunye ne-torque ukuze kufezekiswe indawo echanekileyo yenkqubo yothumelo.
1. Udidi lweemoto ze-servo Yahlulwe yangamacandelo amabini: iimoto ze-servo ze-DC kunye neze-AC.
Iimoto ze-AC servo zahlulwe ngakumbi zaba ziimoto ze-servo ezingatshintshiyo kunye neemoto ze-servo ezihambelanayo. Okwangoku, iinkqubo ze-AC zithatha indawo yeenkqubo ze-DC kancinci kancinci. Xa kuthelekiswa neenkqubo ze-DC, iimoto ze-AC servo zineengenelo zokuthembeka okuphezulu, ukusasaza ubushushu kakuhle, umzuzu omncinci wokungakhathali, kunye nokukwazi ukusebenza phantsi koxinzelelo oluphezulu. Ngenxa yokuba akukho bhrashi kunye neegiya zokuqhuba, inkqubo ye-AC servo ikwaba yinkqubo ye-servo engenabhrashi, kwaye iimoto ezisetyenziswa kuyo ziimoto ze-asynchronous zohlobo lwekheji kunye neemoto ze-synchronous zemagnet ezisisigxina ezinesakhiwo esingenabhrashi. 1) Iimoto ze-servo ze-DC zahlulwe zaba ziimoto ezixutyiweyo nezingenamabhrashi
①Iimoto ezibrashiweyo zinexabiso eliphantsi, isakhiwo esilula, i-torque enkulu yokuqalisa, ububanzi besantya, ulawulo olulula, zifuna ukulungiswa, kodwa kulula ukuzigcina (zitshintsha iibrashi zekhabhoni), zivelisa ukuphazamiseka kwe-electromagnetic, zinemfuneko kwindawo yokusetyenziswa, kwaye zihlala zisetyenziselwa ukulawula iindleko Iimeko ezibuthathaka zoshishino kunye nezoluntu ngokubanzi;
②Iimoto ezingenabhrashi zincinci ngobukhulu kwaye zilula ngobunzima, zinomphumo omkhulu kunye nempendulo ekhawulezayo. Zinesantya esiphezulu kunye ne-inertia encinci, i-torque ezinzileyo kunye nokujikeleza okugudileyo. Ulawulo luyinkimbinkimbi kwaye lukrelekrele. Indlela yokutshintsha nge-elektroniki iyaguquguquka. Ingatshintsha nge-square wave okanye i-sine wave. Imoto ayinayo i-maintenance kwaye isebenza kakuhle. Ukonga amandla, i-electromagnetic radiation encinci, ukunyuka kobushushu obuphantsi kunye nobomi obude, ifanelekile kwiindawo ezahlukeneyo.
2. Iimpawu zeentlobo ezahlukeneyo zeemoto ze-servo
1) Iingenelo kunye nokungalungi kwemoto ye-servo ye-DC Iingenelo: ulawulo lwesantya oluchanekileyo, i-torque eqinileyo kakhulu kunye neempawu zesantya, umgaqo olula wolawulo, kulula ukuyisebenzisa, kunye nexabiso eliphantsi. Izinto ezingalunganga: ukutshintsha kwebrashi, umda wesantya, ukumelana okongezelelekileyo, ukuveliswa kwamasuntswana agugileyo (awafanelekanga kwiindawo ezingenathuli neziqhumayo)
2) Iingenelo kunye nokungalungi kwemoto ye-AC servo Iingenelo: iimpawu ezilungileyo zokulawula isantya, ulawulo olugudileyo kulo lonke uluhlu lwesantya, phantse akukho ntshukumo, ukusebenza kakuhle okungaphezulu kwe-90%, ukuveliswa kobushushu okuncinci, ulawulo olukhawulezayo, ulawulo oluchanekileyo lwendawo (kuxhomekeke ekuchanekeni kwekhowudi), indawo yokusebenza elinganisiweyo Ngaphakathi, inokufezekisa i-torque engaguqukiyo, i-inertia ephantsi, ingxolo ephantsi, akukho kunxitywa kwebrashi, kwaye ayinakugcinwa (ifanelekile kwiindawo ezingenathuli neziqhumayo). Iingxaki: Ulawulo luyinkimbinkimbi ngakumbi, iiparameter zomqhubi kufuneka zilungiswe kwindawo kwaye iiparameter ze-PID zichongiwe, kwaye kufuneka uqhagamshelo olungakumbi. Okwangoku, ii-servo drives eziphambili zisebenzisa iiprosesa zesignali zedijithali (i-DSP) njengesiseko solawulo, esinokusebenzisa ii-algorithms zolawulo ezintsonkothileyo kwaye sifezekise ukwenziwa kwedijithali, uthungelwano kunye nobukrelekrele. Izixhobo zamandla zihlala zisebenzisa ii-drive circuits eziyilwe ngee-intelligent power modules (IPM) njengesiseko. I-IPM idibanisa i-drive circuit kwaye inee-fault detection kunye ne-protection circuits ezifana ne-overvoltage, i-overcurrent, i-overheating, kunye ne-undervoltage. Isoftware ikwafakwa kwi-main circuit. Qala i-circuit ukunciphisa impembelelo yenkqubo yokuqalisa kumqhubi. I-power drive iyunithi kuqala ilungisa amandla e-input amathathu-phase okanye amandla e-mains nge-full-bridge rectifier circuit ye-three-phase ukuze ifumane i-direct current ehambelanayo. Amandla e-mains okanye amandla e-mains alungisiweyo emva koko aguqulwa abe yi-frequency yi-three-phase sinusoidal PWM voltage inverter ukuqhuba i-three-phase permanent magnet synchronous AC servo motor. Yonke inkqubo ye-power drive unit inokuthiwa yi-AC-DC-AC process. I-main topological circuit ye-rectifier unit (AC-DC) yi-three-phase full-bridge rectifier rectifier circuit.
Umbono oqhumayo we-harmonic reducer Kwathatha iminyaka eyi-6-7 iNkampani yaseJapan iNabtesco ukususela ekucebiseni uyilo lweRV ekuqaleni kweminyaka yoo-1980 ukuya ekufezekiseni inkqubela phambili enkulu kuphando lokunciphisa iiRV ngo-1986; kwaye iNantong Zhenkang kunye neHengfengtai, ezazingabokuqala ukuvelisa iziphumo eTshayina, nazo zachitha ixesha. Iminyaka eyi-6-8. Ngaba oko kuthetha ukuba amashishini ethu asekuhlaleni awanamathuba? Iindaba ezimnandi zezokuba emva kweminyaka eliqela yokusasazwa, iinkampani zaseTshayina ekugqibeleni zenze inkqubela phambili.
*Eli nqaku likhutshwe kwi-Intanethi, nceda unxibelelane nathi ukuze kucinywe ukwaphulwa komthetho.
Ixesha lokuthumela: Septemba-15-2023
