Irobhothi lezimbonis zisetshenziswa kakhulu ekukhiqizeni izimboni, njengokukhiqiza izimoto, izinto zikagesi, ukudla, njll. Zingashintsha imisebenzi yemishini ephindaphindayo futhi ziyimishini ethembele emandleni ayo nasemandleni okulawula ukufeza imisebenzi ehlukahlukene. Ingakwazi ukumelana nomyalelo womuntu futhi ingasebenza ngokwezinhlelo ezihlelwe ngaphambilini. Manje sikhuluma ngezingxenye eziyisisekelo eziyinhloko zeirobhothi lezimbonis.
1.Isihloko
Imishini eyinhloko isisekelo somshini kanye nendlela esebenza ngayo, okuhlanganisa ingalo enkulu, umphambili, isihlakala nesandla, okwakha uhlelo lwemishini oluneziqu eziningi zenkululeko. Amanye amarobhothi nawo anendlela yokuhamba.Irobhothi lezimbonisbabe namadigri enkululeko angu-6 noma ngisho nangaphezulu. Isihlakala ngokuvamile sinamadigri angu-1 kuya kwangu-3 enkululeko yokunyakaza.
2. Isistimu yeDrayivu
Uhlelo lokushayela lweirobhothi lezimbonisihlukaniswe izigaba ezintathu ngokomthombo wamandla: i-hydraulic, i-pneumatic kanye nekagesi. Lezi zinhlobo ezintathu zingabuye zihlanganiswe zibe isistimu yokushayela eyinhlanganisela ngokusekelwe ezidingweni. Noma ishayelwa ngokungaqondile ngezindlela zokudlulisa eziwumshini njengamabhande ahambisanayo, izitimela zamagiya, namagiya. Uhlelo lokushayela lunomshini wamandla kanye nendlela yokudlulisa, esetshenziselwa ukwenza izenzo ezihambisanayo zendlela. Ngayinye yalezi zinhlobo ezintathu zamasistimu okushayela ayisisekelo inezici zayo. Okujwayelekile kwamanje isistimu yokushayela kagesi. Ngenxa ye-inertia ephansi, ama-torque amakhulu e-AC kanye ne-DC servo motors kanye nama-servo drives awo asekelayo (iziguquli ze-AC frequency, ama-modulators we-DC pulse wide) asetshenziswa kabanzi. Lolu hlobo lwesistimu aludingi ukuguqulwa kwamandla, kulula ukuyisebenzisa, futhi linokulawula okubucayi. Amamotho amaningi adinga indlela yokudlulisa ethambile: isinciphisi. Amazinyo ayo asebenzisa isiguquli sejubane legiya ukuze kwehliswe inani lokuzungezisa okuhlanekezela kwemoto enanini elidingekayo lokuzungezisa okuhlehlayo futhi athole idivayisi ye-torque enkulu, ngaleyo ndlela kwehlise isivinini futhi kwandise itorque. Uma umthwalo umkhulu, i-servo motor ikhuphuka ngokungaboni Amandla abiza kakhulu, futhi i-torque ephumayo inganyuswa ngokusebenzisa isinciphisi ngaphakathi kwebanga elifanele lejubane. Ama-Servo motors ajwayele ukushisa kanye nokudlidliza kwefrikhwensi ephansi uma esebenza kumaza aphansi. Umsebenzi wesikhathi eside nophindaphindayo awuhambisani nokuqinisekisa ukusebenza okunembile nokuthembekile. Ukuba khona kwenjini yokunciphisa ukunemba kuvumela injini ye-servo ukuthi isebenze ngesivinini esifanelekile, iqinise ukuqina komzimba womshini futhi ikhiphe i-torque enkulu. Kunezinciphisi ezimbili ezivamile namuhla: i-harmonic reducer ne-RV reducer.
3.Isistimu yokulawula
Iuhlelo lokulawula amarobhothiubuchopho berobhothi kanye nesici esiyinhloko esinquma imisebenzi nemisebenzi yerobhothi. Uhlelo lokulawula luthumela amasiginali womyalo ohlelweni lokushayela kanye nendlela yokwenza ngokuvumelana nohlelo lokufaka, futhi luyawalawula. Umsebenzi oyinhloko weirobhothi lezimboni ukulawula ubuchwepheshe ukulawula uhla lwemisebenzi, ukuma kanye ne-trajectory, kanye nesikhathi sokwenzairobhothi lezimbonis endaweni yokusebenza. Inezici zohlelo olulula, ukusebenza kwemenyu yesoftware, isikhombimsebenzisi esinobungane sokusebenzisana nekhompiyutha yomuntu, ukwaziswa kokusebenza ku-inthanethi nokusebenzisa kalula. Isistimu yesilawuli iwumongo werobhothi, futhi izinkampani zangaphandle ezifanele zivalwe eduze nokuhlola kwethu. Eminyakeni yamuva, ngokuthuthukiswa kobuchwepheshe be-microelectronics, ukusebenza kwama-microprocessors kuye kwaba phezulu nangaphezulu, futhi intengo iye yaba eshibhile futhi eshibhile. Manje, ama-microprocessors angu-32-bit abiza ama-dollar angu-1-2 ase-US avele emakethe. Ama-microprocessors angabizi kakhulu alethe amathuba amasha okuthuthukiswa kubalawuli bamarobhothi, okwenza kube nokwenzeka ukuthuthukisa izilawuli zamarobhothi ezingabizi kakhulu, ezisebenza kahle kakhulu. Ukuze kwenziwe isistimu ibe nekhono elanele lekhompuyutha nelokugcina, abalawuli bamarobhothi manje iningi labo bakhiwe uchungechunge olunamandla lwe-ARM, uchungechunge lwe-DSP, uchungechunge lwe-POWERPC, uchungechunge lwe-Intel namanye ama-chips. Njengoba imisebenzi nemisebenzi yama-chips enhloso evamile ekhona ingakwazi ukuhlangabezana ngokugcwele nezimfuneko zezinye izinhlelo zamarobhothi ngokwenani, ukusebenza, ukuhlanganisa kanye nezindawo zokusebenzelana, lokhu kubangele isidingo sobuchwepheshe be-SoC (System on Chip) ezinhlelweni zamarobhothi. Iphrosesa ihlanganiswe nezindawo zokusebenzelana ezidingekayo, ezingenza lula ukuklama kwamasekhethi esistimu, kunciphise usayizi wesistimu, futhi kunciphise izindleko. Isibonelo, i-Actel ihlanganisa i-NEOS noma i-ARM7 processor cores emikhiqizweni yayo ye-FPGA ukwenza uhlelo oluphelele lwe-SoC. Mayelana nezilawuli zobuchwepheshe berobhothi, ucwaningo lwayo lugxile kakhulu e-United States naseJapan, futhi kunemikhiqizo evuthiwe, efana ne-American DELTATAU Company, Japan's Pengli Co., Ltd., njll. Isilawuli sayo sokunyakaza sithatha ubuchwepheshe be-DSP njengobunjalo bayo. core futhi yamukela isakhiwo esivulekile esisekelwe ku-PC. 4. Qeda umenzi I-effector yokugcina iyisakhi esixhunywe ekuhlanganyeleni kokugcina kwe-manipulator. Ngokuvamile isetshenziselwa ukubamba izinto, ukuxhumana nezinye izindlela nokwenza imisebenzi edingekayo. Abakhiqizi bamarobhothi ngokuvamile abaklami noma bathengise izinto ezisebenzayo; ezimweni eziningi, banikeza kuphela i-gripper elula. Ngokuvamile i-end effector ifakwa ku-6-axis flange yerobhothi ukuze kuqedelwe imisebenzi endaweni enikeziwe, njengokushisela, ukudweba, ukunamathisela, kanye nokulayisha nokukhipha izingxenye, okuyimisebenzi edinga ukuthi amarobhothi aqedele.
Ukubuka konke kwama-servo motors Umshayeli we-Servo, owaziwa nangokuthi "isilawuli se-servo" kanye "ne-servo amplifier", uyisilawuli esisetshenziselwa ukulawula ama-servo motors. Umsebenzi wayo ufana nowokuguqula imvamisa kumamotho ajwayelekile e-AC, futhi uyingxenye yesistimu ye-servo. Ngokuvamile, i-servo motor ilawulwa ngezindlela ezintathu: isikhundla, isivinini kanye ne-torque ukuze kuzuzwe ukuma okunembayo okuphezulu kohlelo lokudlulisela.
1. Ukuhlukaniswa kwama-servo motors Ihlukaniswe izigaba ezimbili: DC kanye AC servo motors.
Ama-AC servo motors aphinde ahlukaniswe abe ama-asynchronous servo motors nama-synchronous servo motors. Njengamanje, amasistimu e-AC kancane kancane ashintsha amasistimu e-DC. Uma kuqhathaniswa nezinhlelo ze-DC, ama-AC servo motors anezinzuzo zokuthembeka okuphezulu, ukukhishwa okuhle kokushisa, umzuzu omncane we-inertia, kanye nekhono lokusebenza ngaphansi kwengcindezi ephezulu. Ngenxa yokuthi awekho amabhulashi namagiya okuqondisa, uhlelo lwe-AC servo luphinde lube uhlelo lwe-servo olune-brushless, futhi ama-motor asetshenziswa kulo ama-asynchronous motors ohlobo lwekheji kanye nezinjini ezihambisanayo ozibuthe unomphela ezinesakhiwo esingenamabhulashi. I-1) Ama-DC servo motors ahlukaniswe ama-motor brushed nama-brushless
①Izinjini ezixutshiwe zinezindleko eziphansi, isakhiwo esilula, i-torque enkulu yokuqala, ijubane elibanzi, ukulawula okulula, kudinga ukulungiswa, kodwa kulula ukuzigcina (shintsha amabhulashi ekhabhoni), akhiqiza ukuphazamiseka kukazibuthe, anezidingo endaweni esetshenziswayo, futhi ngokuvamile asetshenziselwa ukulawulwa kwezindleko Izimo ezibucayi ezijwayelekile zezimboni kanye nezomphakathi;
②Amamotho angama-Brushless mancane ngosayizi futhi alula ngesisindo, anokuphuma okukhulu nokuphendula okusheshayo. Zinesivinini esikhulu kanye ne-inertia encane, i-torque ezinzile kanye nokujikeleza okubushelelezi. Ukulawula kuyinkimbinkimbi futhi kuhlakaniphile. Indlela ye-elekthronikhi yokushintshashintsha iyashintshashintsha. Ingakwazi ukuhamba ngegagasi eliyisikwele noma i-sine wave. Injini ayilungiswa futhi iyasebenza. Ukonga amandla, imisebe emincane kagesi, ukunyuka kwezinga lokushisa eliphansi nempilo ende, ilungele izindawo ezahlukahlukene.
2. Izici zezinhlobo ezahlukene zama-servo motors
1) Izinzuzo kanye nokubi kwe-DC servo motor Izinzuzo: ukulawulwa kwesivinini okunembile, i-torque eqinile kakhulu nezici zesivinini, isimiso sokulawula esilula, ukusetshenziswa okulula, kanye nentengo eshibhile. Ukungalungi: ukuguqulwa kwebhulashi, umkhawulo wejubane, ukumelana okwengeziwe, ukukhiqizwa kwezinhlayiya ezigugile (akuzifanele izindawo ezingenalo uthuli neziqhumane)
2) Izinzuzo kanye nokubi kwe-AC servo motor Izinzuzo: izici zokulawula isivinini ezinhle, ukulawula okubushelelezi kulo lonke uhla lwesivinini, cishe akukho-oscillation, ukusebenza kahle okuphezulu okungaphezu kuka-90%, ukukhiqizwa kokushisa okuncane, ukulawulwa kwesivinini esikhulu, ukulawulwa kwesikhundla sokunemba okuphezulu (kuye ngokuthi ukunemba kwesishumeki), kukalwe. indawo yokusebenza Ngaphakathi, ingakwazi ukuthola i-torque engashintshi, inertia ephansi, umsindo ophansi, ukungagugi kwebhulashi, nokungalungiseki (ifanele indawo engenalo uthuli neziqhumane). Ukungalungi: Ukulawula kuyinkimbinkimbi kakhulu, imingcele yomshayeli idinga ukulungiswa esizeni futhi imingcele ye-PID iyanqunywa, futhi ukuxhumana okwengeziwe kuyadingeka. Njengamanje, amadrayivu e-servo ajwayelekile asebenzisa ama-digital signal processors (DSP) njengomongo wokulawula, angasebenzisa ama-algorithms okulawula ayinkimbinkimbi futhi azuze ukufakwa kwedijithali, ukuxhumana nobuhlakani. Amadivayisi kagesi ngokuvamile asebenzisa amasekhethi okushayela aklanywe ngamamojula wamandla ahlakaniphile (IPM) njengomongo. I-IPM ihlanganisa umjikelezo wedrayivu futhi inokutholwa kwephutha nokuvikela amasekhethi afana nokugcwala ngokweqile, i-overcurrent, ukushisa ngokweqile, kanye nokungabi namandla kwamandla. Isofthiwe iphinde yengezwe kumjikelezo oyinhloko. Qala umjikelezo ukuze unciphise umthelela wenqubo yokuqalisa kumshayeli. Iyunithi yedrayivu yamandla iqala ngokulungisa amandla okokufaka ezigaba ezintathu noma amandla amapayipi ngokusebenzisa isifunda sesigaba sesithathu sebhuloho eligcwele lokulungisa kabusha ukuze kutholwe wamanje oqondile ohambisanayo. Amandla alungisiwe ezigaba ezintathu noma amandla amapayipi abe eseguqulelwa kufrikhwensi ngesiguquli se-voltage se-sinusoidal PWM esinezigaba ezintathu ukuze ashayele injini yezigaba ezintathu ezihlala unomphela zikazibuthe eyi-AC servo motor. Yonke inqubo yeyunithi yedrayivu yamandla ingamane kushiwo ukuthi iyinqubo ye-AC-DC-AC. Isekhethi ye-topological eyinhloko yeyunithi yokubuyisela (AC-DC) iyisekhethi yesigaba ezintathu esigcwele-ibhuloho elingalawuleki lesilungisi.
Ukubuka okuqhumile kwesinciphisi se-harmonic Kuthathe iminyaka eyi-6-7 Inkampani yaseJapane i-Nabtesco kusukela ekuphakamiseni idizayini ye-RV ekuqaleni kwawo-1980 ukuze izuze impumelelo enkulu ocwaningweni lokunciphisa i-RV ngo-1986; kanye no-Nantong Zhenkang no-Hengfengtai, ababengabokuqala ukukhiqiza imiphumela e-China, nabo bachitha isikhathi. Iminyaka engu-6-8. Ngabe kusho ukuthi amabhizinisi angakithi awanawo amathuba? Izindaba ezinhle ukuthi ngemuva kweminyaka embalwa yokuthunyelwa, izinkampani zaseShayina zigcine zenze impumelelo ethile.
*I-athikili ikhiqizwa kabusha ku-inthanethi, sicela usithinte ukuze kususwe ukwephulwa komthetho.
Isikhathi sokuthumela: Sep-15-2023
