Irobhothi lezimbonis zisetshenziswa kabanzi ekukhiqizeni kwezimboni, njengokukhiqiza izimoto, izinto zikagesi, ukudla, njll. Zingathatha indawo yokusebenza okuphindaphindiwe kwemishini futhi ziyimishini ethembele emandleni ayo kanye namakhono okulawula ukuze ifeze imisebenzi eyahlukahlukene. Ingamelana nomyalo womuntu futhi ingasebenza ngokwezinhlelo ezihlelwe kusengaphambili. Manje sikhuluma ngezingxenye eziyinhloko eziyisisekelo zeirobhothi lezimbonis.
1. Isihloko
Umshini oyinhloko isisekelo somshini kanye nendlela yokunyakaza, okuhlanganisa ingalo enkulu, ingalo engalweni, isihlakala kanye nesandla, okwakha uhlelo lwemishini olunenkululeko ehlukahlukene. Amanye amarobhothi nawo anezindlela zokuhamba.Irobhothi lezimboniszinenkululeko engama-degree ayi-6 noma ngaphezulu. Isihlakala ngokuvamile sinenkululeko yokunyakaza engama-degree ayi-1 kuya kwangu-3.
2. Uhlelo lokushayela
Uhlelo lokushayela lweirobhothi lezimbonisihlukaniswe ngezigaba ezintathu ngokuya ngomthombo wamandla: i-hydraulic, i-pneumatic kanye ne-electric. Lezi zinhlobo ezintathu zingahlanganiswa zibe uhlelo lokushayela oluhlanganisiwe ngokusekelwe ezidingweni. Noma ziqhutshwa ngokungaqondile ngezindlela zokudlulisa ngomshini ezifana namabhande ahambisanayo, izitimela zamagiya, kanye namagiya. Uhlelo lokushayela lunedivayisi yamandla kanye nendlela yokudlulisa, esetshenziselwa ukusebenzisa izenzo ezihambisanayo zalo mshini. Uhlobo ngalunye lwalezi zinhlobo ezintathu zezinhlelo zokushayela eziyisisekelo lunezici zalo. Okuyinhloko kwamanje uhlelo lokushayela ngogesi. Ngenxa yokungahlali kahle, ama-motor amakhulu e-AC kanye ne-DC servo kanye nama-servo drive awo asekelayo (ama-converter e-AC frequency, ama-modulators e-DC pulse width) asetshenziswa kabanzi. Lolu hlobo lwesistimu aludingi ukuguqulwa kwamandla, kulula ukulusebenzisa, futhi lunokulawula okubucayi. Iningi lama-motor lidinga indlela yokudlulisa ebucayi: i-reducer. Amazinyo alo asebenzisa i-gear speed converter ukunciphisa inani lokujikeleza okuphambene kwe-motor kuya enanini elidingekayo lokujikeleza okuphambene futhi athole idivayisi ye-torque enkulu, ngaleyo ndlela anciphise ijubane futhi andise i-torque. Uma umthwalo umkhulu, i-servo motor ikhuliswa ngokungaboni. Amandla ayonga kakhulu, futhi i-torque yokukhipha ingakhuliswa nge-reducer ngaphakathi kwebanga lejubane elifanele. Ama-motor e-Servo athambekele ekushiseni nasekudlidlizeni okuphansi lapho esebenza kuma-frequency aphansi. Umsebenzi wesikhathi eside nophindaphindayo awukhuthazi ukuqinisekisa ukusebenza okunembile nokuthembekile. Ukuba khona kwe-precision reduction motor kuvumela i-servo motor ukuthi isebenze ngesivinini esifanele, kuqinisa ukuqina komzimba womshini futhi kukhiphe i-torque enkulu. Kunezinhlobo ezimbili ezijwayelekile zokunciphisa namuhla: i-harmonic reducer kanye ne-RV reducer.
3. Uhlelo lokulawula
Iuhlelo lokulawula irobhothiubuchopho berobhothi kanye nesici esiyinhloko esinquma imisebenzi nemisebenzi yerobhothi. Uhlelo lokulawula luthumela izimpawu zomyalo ohlelweni lokushayela kanye nendlela yokwenza ngokuvumelana nohlelo lokufaka, futhi luzilawule. Umsebenzi oyinhloko weirobhothi lezimboni ubuchwepheshe bokulawula buwukulawula uhla lwemisebenzi, ukuma kanye nomzila, kanye nesikhathi sesenzoirobhothi lezimbonis endaweni yokusebenza. Inezici zokuhlela okulula, ukusebenza kwemenyu yesofthiwe, isikhombikubona sokuxhumana esinobungane phakathi kwabantu nekhompyutha, izixwayiso zokusebenza eziku-inthanethi kanye nokusetshenziswa okulula. Uhlelo lokulawula luyisisekelo serobhothi, futhi izinkampani zakwamanye amazwe ezifanele zivaliwe kakhulu ekuhlolweni kwethu. Eminyakeni yamuva nje, ngokuthuthukiswa kobuchwepheshe be-microelectronics, ukusebenza kwama-microprocessor kuye kwanda kakhulu, futhi intengo iye yancipha futhi yancipha. Manje, ama-microprocessor angu-32-bit abiza amadola angu-1-2 ase-US avele emakethe. Ama-microprocessor angabizi kakhulu alethe amathuba amasha okuthuthukiswa kubalawuli bamarobhothi, okwenza kube nokwenzeka ukuthuthukisa abalawuli bamarobhothi abangabizi kakhulu nabasebenza kahle. Ukuze uhlelo lube namandla okwanele okusebenzisa ikhompyutha nokugcina, abalawuli bamarobhothi manje bakhiwe kakhulu uchungechunge lwe-ARM olunamandla, uchungechunge lwe-DSP, uchungechunge lwe-POWERPC, uchungechunge lwe-Intel namanye ama-chip. Njengoba imisebenzi nemisebenzi yama-chip ajwayelekile akhona engakwazi ukuhlangabezana ngokugcwele nezidingo zezinhlelo ezithile zamarobhothi ngokwentengo, ukusebenza, ukuhlanganiswa kanye nezixhumanisi, lokhu kubangele isidingo sobuchwepheshe be-SoC (System on Chip) ezinhlelweni zamarobhothi. Iprosesa ihlanganiswe nezixhumanisi ezidingekayo, okungenza kube lula ukwakheka kwezifunda ezingaphandle kwesistimu, kuncishiswe usayizi wesistimu, futhi kuncishiswe izindleko. Isibonelo, i-Actel ihlanganisa ama-cores eprosesa e-NEOS noma e-ARM7 emikhiqizweni yayo ye-FPGA ukuze yakhe uhlelo oluphelele lwe-SoC. Ngokuphathelene nabalawuli bobuchwepheshe bamarobhothi, ucwaningo lwayo lugxile kakhulu e-United States naseJapan, futhi kunemikhiqizo evuthiwe, njenge-American DELTATAU Company, i-Japan's Pengli Co., Ltd., njll. Isilawuli sayo sokunyakaza sithatha ubuchwepheshe be-DSP njengengqikithi yaso futhi samukela isakhiwo esivulekile esisekelwe ku-PC. 4. Isiphetho somphumela I-end effector iyisakhi esixhunywe esihlanganyelweni sokugcina se-manipulator. Ngokuvamile isetshenziselwa ukubamba izinto, ukuxhuma nezinye izindlela nokwenza imisebenzi edingekayo. Abakhiqizi bamarobhothi ngokuvamile abaklami noma bathengise ama-end effector; ezimweni eziningi, bahlinzeka kuphela nge-gripper elula. Ngokuvamile i-end effector ifakwa ku-flange engu-6-axis yerobhothi ukuze iqedele imisebenzi endaweni ethile, njengokushisela, ukupenda, ukunamathisela, kanye nokulayisha nokukhulula izingxenye, okuyimisebenzi edinga amarobhothi ukuthi 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 waso ufana nowomshini wokuguqula imvamisa kuma-motor ajwayelekile e-AC, futhi uyingxenye yesistimu ye-servo. Ngokuvamile, imoto ye-servo ilawulwa ngezindlela ezintathu: isikhundla, isivinini kanye ne-torque ukuze kufezwe indawo enembile kakhulu yesistimu yokudlulisa.
1. Ukuhlukaniswa kwama-servo motors Ihlukaniswe ngezigaba ezimbili: ama-motor e-DC kanye ne-AC servo.
Ama-motor e-AC servo ahlukaniswe kabanzi ngama-servo motor angenasilinganiselo kanye nama-servo motor angenasilinganiselo. Njengamanje, izinhlelo ze-AC zithatha indawo yezinhlelo ze-DC kancane kancane. Uma kuqhathaniswa nezinhlelo ze-DC, ama-motor e-AC servo anezinzuzo zokuthembeka okuphezulu, ukushabalalisa ukushisa okuhle, umzuzu omncane wokungangeni, kanye nekhono lokusebenza ngaphansi kwengcindezi ephezulu. Ngenxa yokuthi azikho amabhulashi namagiya okuqondisa, uhlelo lwe-AC servo nalo luba uhlelo lwe-servo olungenasilinganiselo, futhi ama-motor asetshenziswa kuwo angama-motor angenasilinganiselo ohlobo lwekheji kanye nama-motor ahlala njalo angenasilinganiselo oxhumano anesakhiwo esingenasilinganiselo. 1) Ama-motor e-DC servo ahlukaniswe ngama-motor axutshwe kanye nama-motor angenama-brush
①Ama-motor axutshwe anezindleko eziphansi, isakhiwo esilula, i-torque enkulu yokuqala, ibanga elibanzi lesivinini, ukulawula okulula, adinga ukulungiswa, kodwa kulula ukuwanakekela (ukufaka esikhundleni amabhulashi e-carbon), akhiqiza ukuphazamiseka kwe-electromagnetic, anezidingo endaweni yokusetshenziswa, futhi avame ukusetshenziselwa ukulawula izindleko. Izimo ezibucayi zezimboni nezomphakathi;
②Ama-motor angenamabhulashi mancane ngobukhulu futhi alula ngesisindo, anomkhiqizo omkhulu kanye nokusabela okusheshayo. Anesivinini esikhulu kanye ne-inertia encane, i-torque ezinzile kanye nokujikeleza okubushelelezi. Ukulawula kuyinkimbinkimbi futhi kuhlakaniphile. Indlela yokushintshashintsha ngogesi iyaguquguquka. Ingaguquguquka nge-square wave noma i-sine wave. I-motor ayinayo i-maintenance futhi isebenza kahle. Ukonga amandla, imisebe emincane kagesi, ukuphakama kwezinga lokushisa eliphansi kanye nokuphila isikhathi eside, kufanelekile ezindaweni ezahlukene.
2. Izici zezinhlobo ezahlukene zama-servo motors
1) Izinzuzo kanye nokungalungi kwemoto ye-DC servo Izinzuzo: ukulawula isivinini okunembile, i-torque eqinile kakhulu kanye nezici zesivinini, isimiso sokulawula esilula, kulula ukuyisebenzisa, kanye nentengo ephansi. Okubi: ukushintshashintsha kwebhulashi, umkhawulo wejubane, ukumelana okwengeziwe, ukukhiqizwa kwezinhlayiya ezigugile (akufanele izindawo ezingenathuli neziqhumayo)
2) Izinzuzo kanye nokungalungi kwenjini ye-AC servo Izinzuzo: izici ezinhle zokulawula isivinini, ukulawula okubushelelezi kulo lonke ibanga lesivinini, cishe akukho ukushukuma, ukusebenza kahle okuphezulu okungaphezu kuka-90%, ukukhiqizwa kokushisa okuncane, ukulawula isivinini esikhulu, ukulawula isikhundla esinembile kakhulu (kuye ngokuthi i-encoder inembile kangakanani), indawo yokusebenza ekalwe ngaphakathi, ingafinyelela i-torque engaguquki, i-inertia ephansi, umsindo ophansi, ukuguguleka kwamabhulashi, kanye nokungabi nokugcinwa (kufanelekela izindawo ezingenalo uthuli neziqhumayo). Okubi: Ukulawula kuyinkimbinkimbi kakhulu, amapharamitha omshayeli adinga ukulungiswa endaweni futhi amapharamitha e-PID anqunywa, futhi kudingeka ukuxhumana okwengeziwe. Njengamanje, ama-servo drive ajwayelekile asebenzisa ama-processor esignali yedijithali (i-DSP) njenge-core yokulawula, engasebenzisa ama-algorithms okulawula ayinkimbinkimbi futhi afinyelele ukwenziwa kwedijithali, ukuxhumana kanye nobuhlakani. Amadivayisi kagesi ngokuvamile asebenzisa ama-drive circuits aklanywe ngama-power modules ahlakaniphile (i-IPM) njenge-core. I-IPM ihlanganisa i-drive circuit futhi ine-fault detection kanye nama-circuits okuvikela njenge-overvoltage, overcurrent, overheating, kanye ne-undervoltage. Isofthiwe nayo yengezwa kwi-main circuit. Qala i-circuit ukuze unciphise umthelela wenqubo yokuqalisa kumshayeli. I-power drive iyunithi iqale ilungise amandla kagesi noma amandla amakhulu okufaka ngesigaba sesithathu ngokusebenzisa i-full-bridge rectifier circuit yesigaba sesithathu ukuze kutholakale i-direct current ehambisanayo. Amandla kagesi noma amandla amakhulu alungisiwe abese eguqulwa abe yi-frequency yi-inverter ye-sinusoidal PWM voltage yesigaba sesithathu ukuze ishayele i-AC servo motor ehlala njalo ene-magnet synchronous AC servo motor yesigaba sesithathu. Yonke inqubo ye-power drive unit ingathiwa nje yi-AC-DC-AC process. I-main topological circuit ye-rectifier unit (i-AC-DC) iyi-full-bridge rectifier engalawulwa ngesigaba sesithathu.
Umbono oqhumile we-harmonic reducer Kwathatha iNkampani yaseJapan iNabtesco iminyaka engu-6-7 kusukela ekuphakamiseni umklamo we-RV ekuqaleni kwawo-1980 kuya ekufinyeleleni intuthuko enkulu ocwaningweni lokunciphisa i-RV ngo-1986; kanti iNantong Zhenkang kanye neHengfengtai, ezazingabokuqala ukukhiqiza imiphumela eShayina, nazo zachitha isikhathi. Iminyaka engu-6-8. Ingabe kusho ukuthi amabhizinisi ethu endawo awanawo amathuba? Izindaba ezinhle ukuthi ngemva kweminyaka eminingana yokuthunyelwa, izinkampani zaseShayina ekugcineni zenze intuthuko ethile.
*Lesi sihloko sithathwe kwi-inthanethi, sicela uxhumane nathi ukuze ususe ukwephulwa komthetho.
Isikhathi sokuthunyelwe: Septhemba 15-2023
