Ukuqhathaniswa Kwezindlela Ezihlukene Zokushayela Zamarobhothi E-Three-Axis Servo

Ukuqhathaniswa Kwezindlela Ezihlukene Zokushayela Zamarobhothi E-Three-Axis Servo

Egagasini lomhlaba wonke lokuthuthukiswa kokuzenzakalela ekukhiqizeni, amarobhothi e-servo ane-axis ezintathu sezibe yimishini eyinhloko ezimbonini ezifana nokuhlanganiswa kwezinto zikagesi, ukucubungula izingxenye zezimoto, kanye nokupakishwa kokudla. Ukukhetha indlela efanele yokushayela kunquma ngqo ukusebenza kahle kokukhiqiza kwemishini, izindleko zokulungisa, kanye nembuyiselo yomjikelezo wokutshalwa kwezimali—ukukhetha okungalungile kungaholela ekunganele kokukhiqiza, ukulungiswa okuvamile, noma ngisho nokushintsha imishini ngaphambi kwesikhathi.

I. Kungani indlela yokushayela iyisici esiyinhloko sokukhetha amarobhothi e-servo ane-axis ezintathu?

Uhlelo lokushayela lwerobhothi le-servo elinezingqimba ezintathu lufana "nenhliziyo yalo enamandla," olunesibopho sokuguqula amandla e-kinetic enjini ye-servo abe ukunyakaza okuqondile noma okujikelezayo. Ukusebenza kwalo kuthinta ngqo izinto ezintathu ezibalulekile zokuthenga:

Izindleko Zokutshalwa Kwezimali Ezisebenzayo: Ibhalansi phakathi kwezindleko zokuthenga kokuqala kanye nezindleko zokulungisa ezilandelayo. Isibonelo, yize ezinye izindlela zokushayela zingase zibe nentengo yokuthenga yokuqala ephansi, izindleko zokushintsha izingxenye ezigugile minyaka yonke zingase ziphindwe kabili.

Ukuzivumelanisa Nokukhiqizwa: Kungakhathaliseki ukuthi ingahlangabezana nezidingo ezithile zemboni, njengemfuneko yokunemba ye-±0.01mm ekukhiqizweni kwezinto zikagesi, noma isidingo semboni yezimoto semithwalo engaphezu kwe-50kg.

Ukuzivumelanisa Nezimo Emhlabeni Wonke: Imishini ethunyelwa kwamanye amazwe kumele ihlangabezane nezindinganiso zemakethe eqondiwe, njengokusetshenziswa kwamandla kanye nemikhawulo yomsindo ezimakethe zaseYurophu naseMelika, kanye nezidingo zokubekezelela izindawo ezinokushisa okuphezulu kanye nomswakama ezimakethe zaseNingizimu-mpumalanga ye-Asia.

Idatha evela kwi-International Federation of Robotics (IFR) ngo-2024 ikhombisa ukuthi izinga lokungasebenzi kahle kwemishini ngenxa yokukhetha okungafanele kwedrayivu lifinyelele ku-12%, kanti ngaphezu kuka-60% walezi zimo kubangelwa amaphutha okuhambisana nabathengi abathengisa ngobuningi. Ngakho-ke, ukuqhathanisa okuphelele komehluko wendlela yokushayela kubalulekile.

II. Ukuqhathaniswa Okujulile Kwezindlela Zokushayela Ezijwayelekile Zamarobhothi E-Servo Ane-Axis Ezintathu

Njengamanje, emakethe yomhlaba wonke, i-electric drive iyindlela yokushayela eyinhloko yamarobhothi e-servo ane-axis amathathu (angaphezu kuka-85%), ehambisana nenani elincane lama-hydraulic/pneumatic drives ezinhlelo zokusebenza ezikhethekile. Kuma-electric drives, izakhiwo ezintathu zokudlulisela ezimele kakhulu yizikulufo zebhola, amabhande ahambisanayo, kanye namagiya e-rack kanye ne-pinion. Umehluko wawo othize umi kanje:

(I) Ukuqhathaniswa kwamapharamitha obuchwepheshe be-Core Drive Method

(II) Ukuhlaziywa Kwezinzuzo Eziyinhloko Nokungalungile Kwendlela Ngayinye Yokushayela

1. I-Ball Screw Drive: "Isixazululo Esifanele" Sezimo Ezinobunono Obuphezulu

Izikulufu zebhola zidlulisa amandla ngokugingqika kwamabhola ensimbi, ziguqula ukunyakaza kokujikeleza kwemoto ye-servo kube ukunyakaza okuqondile. Lesi yisisombululo esithandwayo samarobhothi e-servo ane-axis ezintathu enembile kakhulu. Inzuzo yayo eyinhloko isekujikijeleni kwayo okuncane kakhulu (

Kodwa-ke, abathengi kufanele baqaphele ukulinganiselwa kwayo: Izikulufo ezinde ngaphezu kwamamitha amabili zivame ukugoba ngenxa yesisindo sazo, zidinga izindlela ezengeziwe zokusekela kanye nezindleko ezikhulayo; futhi isivinini esiphezulu sinqunyelwe isivinini esibucayi sesikulufo (ngokuvamile esingadluli ama-2m/s), okwenza singafaneleki ezimweni zesivinini esikhulu kuphela. Ngaphezu kwalokho, izindawo ezinothuli zisheshisa ukuguguleka kwebhola lensimbi, okudinga imishini yokusiza njengezimbozo zokuvikela.

2. I-Synchronous Belt Drive: Ithuluzi Elisebenza Kahle Ngezindleko Zokusebenza Ngesivinini Esiphezulu Nomthwalo Olula

Ama-drive ebhande ahambisanayo asebenzisa i-meshing yebhande le-polyurethane eliyinsimbi elinomgogodla onezimbobo zokudlulisa amandla. Anikeza izinzuzo ezintathu eziyinhloko: isivinini esiphezulu, umsindo ophansi, kanye nezindleko ezilawulekayo. Isivinini sawo esiphezulu singafinyelela ku-5 m/s, okungaphezu kokuphindwe kabili kunezikulufo zebhola, kanti izindleko zokuqala zokuthenga zingama-30% ~ 50% kuphela kune-ball screw drive enezincazelo ezifanayo. Lokhu kuwenza afaneleke kakhulu ekusetshenzisweni okulula, okusheshayo njengokucubungula ukudla kanye nokuphatha izingxenye zepulasitiki.

Abathengi bamazwe ngamazwe kufanele baqaphele ukulinganiselwa kwabo kokunemba: Amabhande ahambisanayo athambekele ekuguqukeni okunwebekayo ngenxa yokushisa, okuholela ekunembileni kokuphindaphinda okungu-±0.1~±0.3 mm kuphela, okungenakuhlangabezana nezidingo zomshini wokulungisa ngokunemba. Ngaphezu kwalokho, umthamo wawo womthwalo ulinganiselwe (ngokuvamile ngaphansi kuka-100 kg), okudinga ukushintshwa njalo kwamabhande ezisetshenziswa ezisindayo, ngaleyo ndlela kwandisa izindleko zokugcinwa kwesikhathi eside. Kodwa-ke, amabhande amasha ahambisanayo ensimbi alawule ukuguquguquka kokudonsa kube ngaphakathi kuka-0.02%, okwenza abe yindlela engcono kunezikulufo zebhola kwezinye izinhlelo zokusebenza eziphakathi nendawo.

3. I-Rack and Pinion Drive: Okubalulekile Ekusetshenzisweni Kwe-Stroke Enzima Neyinde

Ama-rack drive nama-pinion asebenzisa ukujikeleza kwamagiya ukuze aqhube ukunyakaza okuqondile kwe-rack, enikeza izinzuzo eziyinhloko zomthamo ophezulu wokuthwala umthwalo kanye nokushaya okungenamkhawulo. Umthwalo wayo olinganiselwe ungafinyelela ngaphezu kuka-1000kg, futhi ngokuhlanganisa izingxenye eziningi ze-rack, kungafinyelelwa ukushaya okungaphezu kwamamitha ayi-10, okwenza kube yisisombululo esibalulekile sezimo ezinzima njengokuphatha izingxenye zezimoto nokulayisha/ukukhulula amathuluzi amakhulu omshini.

Izinselele ezinkulu zalolu hlelo lokushayela zisekulawuleni umsindo nokunemba: ukunemba okwanele kokukhiqiza kungadala umsindo >75dB uma amagiya kanye ne-rack mesh, okudinga ukwengezwa kwesembozo esingangeni msindo; ngaphezu kwalokho, ukusabela okungekuhle kumele kususwe ngedivayisi yokuqinisa, ngaphandle kwalokho ukunemba kuzokwehla ngaphansi kuka-±0.05mm. Ngenhlanhla, imikhiqizo yaseYurophu naseMelika ithuthukise ukunemba kwafinyelela ezingeni lika-±0.01mm ngobuchwepheshe bokugaya ubuso bamazinyo, yize lokhu kwandisa izindleko zokuthenga ngo-20% ~30%.

4. Ama-Hydraulic/Pneumatic Drives: "Izixazululo Ezingeziwe" Zezimo Ezikhethekile

Ama-hydraulic drive, anomthamo wawo wokuphakamisa ongamakhulu amakhilogremu, asasetshenziswa ezimweni ezinzima kakhulu njengokukhipha i-die casting esindayo. Kodwa-ke, ingozi yokuvuza kukawoyela nokungcola, kanye nezindleko eziphezulu zeziteshi ze-hydraulic, kuholele ekuthathelweni kwawo kancane kancane ngama-rack nama-pinion drive anemithwalo ephezulu. Ama-pneumatic drive, ngenxa yezindleko zawo eziphansi kanye nesenzo esisheshayo, asasetshenziswa emishinini emincane yepulasitiki, kodwa ukunemba kwawo okungu-±0.5mm kanye nomthamo womthwalo olinganiselwe akwanele izidingo zemishini yezinga le-servo.

Umbiko ka-2024 we-International Federation of Robotics (IFR) ukhombisa ukuthi ama-hydraulic/pneumatic drives manje angaphansi kuka-5% wamarobhothi e-servo ane-axis ezintathu, kanti ama-electric drives aba yiwona ahamba phambili—ikakhulukazi inhlanganisela yama-servo motors kanye nezindlela zokudlulisa ngokunemba, okuhlanganisa ukunemba nokuguquguquka.

III. Izinyathelo ezi-3 Zokuthola Isixazululo Esifanele Se-Drive

Isinyathelo 1: Cacisa Amapharamitha Emfuneko Eyinhloko
Ngaphambi kokuthenga, izinkomba ezintathu ezibalulekile kudingeka zitholakale ukuze kugwenywe ukukhetha okungahleliwe:
Izidingo Zokunemba: Ukukhiqiza ngogesi kudinga ±0.02mm (kuthandwa izikulufo zebhola); imboni yokupakisha idinga ±0.5mm (amabhande ahambisanayo anele).

Umthwalo kanye Nokushaywa: Uma ulayisha imithwalo ene-axis eyodwa > 50kg, khetha i-rack kanye ne-pinion; uma ushayela imithwalo ene-priority rack kanye ne-pinion > 3 metres, sebenzisa i-priority rack kanye ne-pinion noma ibhande elihambisanayo (izikulufo zebhola zidinga ukwesekwa okwengeziwe).

Isivinini Sokusebenza: Ezikhathini zomjikelezo > imijikelezo engu-120 ngomzuzu, khetha ibhande elihambisanayo; ekusebenzeni okunembe ngesivinini esiphansi, khetha isikulufu sebhola.

Isinyathelo 2: Ukuqondanisa Izimo Zemboni Eqondiwe
Izimboni ezahlukene zinezidingo ezihluke kakhulu zezindlela zokushayela. Uma sicabangela izici zemakethe yamazwe ngamazwe, i-logic yokuzivumelanisa nezimo elandelayo ingasetshenziswa njengereferensi:

Ama-elekthronikhi/ama-semiconductor (ikakhulukazi eYurophu naseMelika): Kudingeka ukunemba okuphezulu nomsindo ophansi. Kunconywa ama-ball screw drive. Ukuhlanganisa nama-servo drive ochungechunge lwe-Delta ASD kungafinyelela ukunemba okungu-±0.005mm, kuhlangabezane nezindinganiso zefektri ze-elekthronikhi zaseYurophu naseMelika.

Izingxenye Zezimoto (Ziyahambisana Nomhlaba Wonke): Izidingo zomthwalo osindayo kanye nokushaya isikhathi eside zivelele. Ama-rack nama-pinion drive yisisombululo esifanele. Kunconywa ukukhetha ama-ground racks, afanelana nezinhlelo ze-servo ze-Siemens V90 ukuze kuthuthukiswe ukuzinza.

Ukudla/Ukupakishwa (ikakhulukazi eNingizimu-mpumalanga ye-Asia): Izindleko nesivinini kuyagcizelelwa. Ama-drive ebhande ahambisanayo anikeza isilinganiso esihle kakhulu sokusebenza kwezindleko. Ukusebenzisa izinto ze-polyurethane kuhlangabezana nezidingo zokuhlanzeka kwemboni yokudla, futhi umjikelezo wokulungisa uhambisana namakhono okulungisa amafektri aseNingizimu-mpumalanga ye-Asia.

Isinyathelo 3: Ukubala Izindleko Zomjikelezo Wokuphila Konke
Ukuthengwa kwempahla kwamanye amazwe kudinga ukucabangela kokubili ukutshalwa kwezimali kokuqala kanye nokusebenza kwesikhathi eside kanye nokugcinwa kwayo. Ngokusekelwe esikhathini sokuphila samahora ayi-100,000, kwenziwa izibalo ezilandelayo:

I-Ball Screw Drive: Izindleko zokuqala eziphezulu zokuthenga (cishe ama-RMB angu-20,000), kodwa izindleko zokulungisa eziphansi (ama-RMB angu-500 ngonyaka), izindleko eziphelele cishe ama-RMB angu-25,000.

I-Synchronous Belt Drive: Izindleko zokuqala zokuthenga eziphansi (cishe ama-RMB angu-8,000), kodwa zidinga ukushintshwa kwebhande izikhathi ezine (ama-RMB angu-200 isikhathi ngasinye), izindleko eziphelele cishe ama-RMB angu-9,000.

I-Rack kanye ne-Gear Drive: Izindleko zokuthenga zokuqala eziphakathi nendawo (cishe ama-RMB ayi-14,000), ukulungiswa kwe-meshing clearance isilinganiso sama-RMB angu-800 ngonyaka, izindleko eziphelele cishe ama-RMB angu-22,000.

IV. Izitayela Ezintsha Kubuchwepheshe BeDrayivu ngo-2025

Izinhlelo Zokushayela Ezihlanganisiwe: Ama-drive kagesi kanye nama-pneumatic e-hybrid aseba yindaba entsha eshisayo. Isibonelo, izenzo zokubamba zisebenzisa ama-drive omoya (izindleko eziphansi), kuyilapho izenzo zokubeka zisebenzisa ama-drive ebhande ahambisanayo (ukunemba okuphezulu), okunganciphisa izindleko ngo-30% ngenkathi kuhlangatshezwana nezidingo zokunemba okuphakathi.

Ukushayela ngqo ngaphandle kwegiya lokunciphisa: I-torque ephezulu, isivinini esiphansi ama-servo motors Akudingi sinciphisi futhi kuxhuma ngqo kuma-screw ebhola noma kumagiya e-rack kanye ne-pinion, kunciphisa ukulahlekelwa kwemishini ngo-50% futhi kwandise isikhathi sokuphila sibe ngaphezu kwamahora angu-150,000. Lobu buchwepheshe okwamanje busetshenziswa kumamodeli aphezulu yimikhiqizo efana ne-Stäubli.

I-algorithm yokuzivumelanisa ehlakaniphile: Isilawuli se-servo sesizukulwane sesikhombisa sihlanganisa i-algorithm yenethiwekhi ye-neural elungisa ngokuzenzakalelayo amapharamitha okushayela ngokusekelwe ekushintsheni komthwalo. Isibonelo, uchungechunge lwe-VX lwe-Doosan Robotics lusebenzisa lobu buchwepheshe ukunciphisa amazinga okuhluleka ngo-60%, okwenza kube kuhle kakhulu ezimweni zokukhiqiza ezihlukahlukene.

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