Izinzuzo eziyinhloko ze-servo manipulator ene-axis ezintathu

Izinzuzo Eziyinhloko Zamarobhothi E-Servo Ane-Axis Ezintathu

Enkundleni yokunemba yokukhiqiza okuzenzakalelayo, ukunemba kwezinga le-millimeter akuseyona indlela yokugcina yokunemba. Amakhono okubeka ezingeni le-micron ngisho nasezingeni le-submicron ayisihluthulelo sokunquma ukusebenza kahle komugqa wokukhiqiza, amazinga okufaneleka komkhiqizo, kanye nokuncintisana okuyinhloko kwenkampani. Ngokunemba kwawo kokubeka okungenakuqhathaniswa, amarobhothi e-servo ane-axis ezintathu sezibe yimishini ebalulekile emikhakheni esezingeni eliphezulu njengokukhiqiza izinto zikagesi, ukubumba ngomjovo oqondile, kanye namadivayisi ezokwelapha. Lesi sihloko sizohlaziya ngokujulile izinzuzo eziyinhloko zokubeka kwazo ngokunemba okuphezulu kakhulu kusukela emibonweni emithathu: ubuchwepheshe obuyinhloko, ukusebenza, kanye nenani lemboni.

Okokuqala, isisekelo sobuchwepheshe sokunemba: "Ikhodi yokubambisana" yesistimu ye-Three-Axis Servo

Ukubekwa ngokunemba okuphezulu kakhulu kwerobhothi ye-servo enezingqimba ezintathu akuwona umsebenzi wengxenye eyodwa kuphela, kodwa kunalokho umphumela wokubambisana kwamamojula amathathu ayinhloko: i-servo motor, indlela yokudlulisa ngokunemba, kanye nohlelo lokulawula. Ndawonye, ​​lawa mamojula amathathu akha "unxantathu wobuchwepheshe" wokunemba.

1. I-Servo Motor: "Indlu Enamandla" Yokunemba

I-servo motor iyisisusa sokubekwa ngokunemba okuphezulu, futhi ukusebenza kwayo kunquma ngqo isivinini sokuphendula kwerobhothi kanye nephutha lokubekwa. Ngokungafani nama-stepper motors endabuko, ama-AC servo motors anezici zokulawula okuvaliwe. Impendulo yesikhathi sangempela evela ku-encoder ngesivinini se-motor kanye nendawo ivumela ukulawula okunembile kwesivinini, i-torque, kanye nendawo. Isibonelo, i-23-bit absolute encoder ejwayelekile ikhiqiza ama-pulse angu-8,388,608 ngokujikeleza ngakunye, okusho ukuthi i-engeli yokujikeleza yemoto ingalawulwa ngokunemba kwama-degree angu-0.000043, okunikeza isiqinisekiso esiyisisekelo sokuma kwerobhothi ngendlela encane. Ngaphezu kwalokho, umsebenzi we-"zero-speed lock" we-servo motor uqinisekisa ukuthi irobhothi lihlala lizinzile ngemva kokufinyelela endaweni eqondiwe, kuvinjelwe amaphutha "okukhukhuleka" abangelwa yi-inertia.

2. Ukudluliselwa Okunembile: "Isixhumanisi Sokudluliselwa" Kokunembile

Uma i-servo motor "iyinhliziyo," khona-ke indlela yokudlulisa ngokunemba "yimithambo yegazi," enesibopho sokudlulisa amandla aqondile emoto ngaphandle kokulahlekelwa yi-actuator yerobhothi. Izindlela zokudlulisa ezivamile ezisetshenziswa kumarobhothi e-servo ane-axis amathathu zifaka phakathi izikulufo zebhola, amabhande ahambisanayo, kanye neziqondiso eziqondile. Ukunemba kwalezi zintathu kuthinta ngqo umphumela wokugcina wokubeka.

Izikulufu zebhola: Njengengxenye eyinhloko yokunyakaza okuqondile, iphutha labo lokuhola liyisibonakaliso esibalulekile. I-Servo ManipulatorNgokuvamile zisebenzisa izikulufo zebhola ezilinganiselwe ku-C3 noma ngaphezulu, iphutha lomthofu lilawulwa ngaphakathi kuka-0.015mm ngemitha. Amanye amamodeli aphezulu afinyelela ngisho ku-C2 (0.008mm ngemitha). Izici zokungqubuzana okugoqekayo kwezikulufo zebhola azigcini nje ngokunciphisa ukulahleka kwamandla kodwa futhi zivimbela isenzakalo "sokuhuquzela" esibangelwa ukungqubuzana okushelelayo, okuqinisekisa ukunyakaza okubushelelezi kanye nokubekwa okuphindaphindwayo.

Iziqondiso Eziqondile: Zinikeza isiqondiso nokusekela. Amaphutha azo okufana kanye nokuba yisicaba anegalelo ngqo emaphutheni okubeka indawo ekugcineni. Ukusebenzisa iziqondiso eziqondile zebanga lokucacisa (njengebanga le-H) kungalawula iphutha eliseceleni ekunyakazeni kwe-single-axis kuya ngaphakathi kwe-0.005mm/1000mm, okunikeza "isiqinisekiso sethrekhi" sokuxhumanisa okuqondile kwe-three-axis.

3. Uhlelo Lokulawula: "Ubuchopho" Bokunemba

Uma ihadiwe "ingumzimba" wokunemba, khona-ke uhlelo lokulawula "luyingqondo" yalo. Uhlelo lokulawula lwe-servo enezingqimba ezintathu Irobhothi Nathiimiyalo ye-pulse noma ukuxhumana kwebhasi ukuhlela nokulungisa imizila yokunyakaza kwama-axes amathathu ngesikhathi sangempela. Izinzuzo zayo eziyinhloko zisezicini ezimbili ezilandelayo:

Ubuchwepheshe bokuxhunyaniswa kwezindlela: Kusetshenziswa ama-algorithms afana nokuxhunyaniswa okuqondile nokujikelezayo, izindlela eziyinkimbinkimbi zokunyakaza zingahlukaniswa zibe izingxenye ezincane eziqondile noma eziyindilinga. Amaphutha okubeka esigabeni ngasinye angalawulwa ezingeni le-micron, okuqinisekisa ukuthi isitho sokugcina silandela ngokuqinile indlela esethiwe ngesikhathi sokuxhumanisa kwe-multi-axis (njengokubamba okuqhubekayo, ukudlulisa, kanye nokubeka). Lokhu kuvimbela ukuphambuka kwendlela.

Ukulungiswa kwempendulo ye-Closed-loop: Ngaphezu kwempendulo ye-encoder eyakhelwe ngaphakathi ye-servo motor, amanye amamodeli aphezulu afaka namadivayisi okuthola angaphandle njengezikali ezibonakalayo noma ezisebenza ngogesi ku-effector yokugcina noma i-motion axis, okufeza "ukulawula kwe-closed-loop okubili." Uma idivayisi yokuthola yangaphandle ithola ukuphambuka phakathi kwezikhundla zangempela neziqondiwe, uhlelo lokulawula lulungisa ngokushesha umphumela wemoto ukuze kulungiswe iphutha libe ngaphakathi kuka-0.001mm. Leli khono "lokulungisa amaphutha ngesikhathi sangempela" liyisiqinisekiso esiyinhloko sokuma ngokunemba okuphezulu kakhulu.

Okwesibili, ukusebenza okunembile: izinzuzo eziphelele kusukela "ekuqondeni" kuya "ekuzinzeni"

Ngokusekelwe esisekelweni sobuchwepheshe esishiwo ngenhla, izinzuzo zokubeka ngokunemba okuphezulu kakhulu ze-servo manipulators ezihambisana ne-three-axis ekugcineni ziguqulwa zibe ukusebenza okulinganiselwe nokubonakalayo ezimweni zokukhiqiza, okuhlanganisa izilinganiso ezintathu eziyinhloko: ukunemba kokubeka, ukuphindaphindeka, kanye nokuqina kokunyakaza.

1. Ukunemba Kokubeka: Kusukela Kumamilimitha Kuya Kuma-Micrometer

Ukunemba kokubeka kubhekisela ekuphambukeni phakathi kwesikhundla sangempela esifinyelelwe yi-end effector ye-manipulator kanye nesikhundla esiqondiwe, futhi kuyisibonakaliso esiyinhloko sokunemba. Ngenkathi ukunemba kokubeka kwama-manipulator avamile e-pneumatic ngokuvamile kungama-0.1-0.5mm, ukunemba kokubeka kwama-manipulator e-servo ane-axis ezintathu ngokuvamile kungafinyelela ku-0.02-0.05mm, kanti amamodeli aphezulu afinyelela ukunemba okuphansi njengo-0.005-0.01mm. Uma kuthathwa ukusonta kwezingxenye ze-elekthronikhi njengesibonelo, iphimbo lephini le-chip lingu-0.3mm kuphela. Uma iphutha lokubeka lerobhothi lidlula u-0.05mm, lingabangela i-solder joint embi noma i-short circuit. Kodwa-ke, irobhothi le-servo eline-axis ezintathu elinokunemba kokubeka okungu-0.01mm lingafinyelela ukuhambisana okuqondile phakathi kwama-pin nama-pad, okwandisa izinga lokudlula kwe-soldering kusuka ku-95% kuya ngaphezu kuka-99.9%.

2. Ukuphindaphinda: "Isiqinisekiso Sokuvumelana" Sokukhiqiza Okukhulu

Ukuphindaphinda kubhekisela ebangeni lokuphambuka lapho irobhothi lifinyelela indawo efanayo yokuqondisa izikhathi eziningi, okunquma ngqo ukuhambisana kwemikhiqizo ekhiqizwa ngobuningi. Ukuphindaphinda kwerobhothi ye-servo enezingqimba ezintathu ngokuvamile kufinyelela ku-±0.01mm, kanti amanye amamodeli aphezulu afinyelela ku-±0.003mm. Embonini yokubumba ngomjovo onembile, lapho kukhiqizwa izingxenye ezinodonga oluncane njengezikebhe zefoni ephathekayo, Irobhothi kumele ibambe kahle ingxenye engaphakathi kwesikhunta bese iyibeka esiteshini sokuhlola. Uma ukuphindaphindeka kudlula u-0.02mm, kungaholela ekungahambelani kahle kwezingxenye kanye nokuhlolwa okungafanele. Ukuphindaphindeka okuphezulu kakhulu kuqinisekisa ukubamba nokubeka okuqhubekayo njalo, kugcina ukubekezelelana kwezingxenye ekukhiqizweni okukhulu kungaphakathi kuka-0.01mm.

3. Ukuqina Kokunyakaza: Ukunemba Okungaguquki Ngesivinini Esiphezulu

Ukunemba okuphezulu akudingi nje ukunemba okungaguquki kodwa futhi nokuzinza okuguquguqukayo. Irobhothi le-servo elinama-axis amathathu, elisebenza ngesivinini esiphezulu (isb., isivinini esingenamthwalo esingu-1-2m/s), ligwema ukuphambuka kokubeka okubangelwa ukushaqeka okungenamsebenzi ngokusebenzisa impendulo eguquguqukayo yesistimu yokulawula kanye nokusekelwa okuqinile kwendlela yokudlulisa. Isibonelo, emigqeni yokuhlanganisa umkhiqizo we-3C, irobhothi kumele liqedele isenzo esithi "bamba isikulufu - usihambise emgodini wesikulufu - siqinise" ngaphakathi komzuzwana owodwa. Noma yikuphi ukudlidliza noma ukuphambuka ngesikhathi sokunyakaza kungabangela ukuthi isikulufu sishelele noma singalingani kahle. Izici zesivinini esiphezulu nezizinzile zerobhothi le-servo elinama-axis amathathu zivumela i-end effector ukuthi igcine indawo eqondile ngesikhathi sokunyakaza okusheshayo, igcine iphutha le-coaxiality ngesikhathi sokuqinisa isikulufu ngaphakathi kuka-0.02mm, okuthuthukisa kakhulu ukusebenza kahle kwenhlangano kanye nekhwalithi.

Okwesithathu, Ukuqashelwa Kwenani Lemboni: Ukunika Amandla Okusebenzayo Kusukela "Ekuncishisweni Kwezindleko" Kuya "Ekuthuthukisweni Kokusebenza Kahle"

Inzuzo eyinhloko yokubeka izinto ngokunemba okuphezulu kakhulu kumele ekugcineni ihunyushwe ibe yinzuzo esebenzayo ezicelweni zemboni. Kuzo zonke imikhakha ehlukahlukene yokukhiqiza ephezulu, izinzuzo zokunemba zamarobhothi e-servo ane-axis amathathu ziwukubumba kabusha amamodeli okukhiqiza, okuvumela ukuguquka kusuka emsebenzini wezandla kuya ekukhiqizeni ngokunemba okuzenzakalelayo.

1. Ukukhiqizwa Kwezinto Zogesi: "Ama-Precision Manipulators" Ezingxenye Ezincane

Ukukhiqizwa kwezinto zikagesi kungenye yezinkambu ezinezidingo zokunemba ezidinga kakhulu. Kusukela ekupakisheni ama-chip kuya ekusongweni kwebhodi le-PCB kuya ekuhlanganisweni kwezingxenye zikagesi, kudingeka amakhono okubeka ezingeni le-micron. Uma sibheka ukuhlanganiswa kwamamojula ekhamera kamakhalekhukhwini njengesibonelo, igebe phakathi kwezingxenye ezifana nelensi, inzwa, kanye nesihlungi ngaphakathi kwemojula kumele lilawulwe ngaphakathi kuka-0.01mm. Ukusebenza ngesandla akugcini nje ngokungasebenzi kahle kodwa futhi kuvame ukuba namaphutha okufaka ngenxa yokuxhawula ngesandla. Irobhothi le-servo elinama-axis amathathu, ngokusebenzisa indawo eqondile kakhulu kanye nokulawula i-closed-loop, kufinyelela ukufakwa kwezingxenye "ezingenasikhawu" "ezingenasikhala", kwandisa ukusebenza kahle kokuhlanganiswa ngokuphindwe kathathu futhi kunciphisa izinga lokukhubazeka kusuka ku-5% kuya ngaphansi kuka-0.1%. Ngaphezu kwalokho, ekuphatheni i-semiconductor wafer, irobhothi kumele libambe ama-wafer angu-300mm ububanzi (angu-0.77mm ubukhulu kuphela) bese liwabeka ngokunembile etafuleni le-lithography, ngephutha lokubeka elingaphansi kuka-0.005mm. Ukunemba okuphezulu kakhulu kwerobhothi ye-servo ene-axis ezintathu sekuphenduke "isikhungo esiyinhloko" sokukhiqiza ama-wafer.

2. Ukubumba Ngomjovo Oqondile: "Isixhumi Esingenamthungo" phakathi Kwezikhunta Nezingxenye

Ekukhiqizweni kokubumba ngomjovo oqondile, ukunemba kwerobhothi kuthinta ngqo ukuvikelwa kwesikhunta kanye nekhwalithi yengxenye. Lapho isikhunta somjovo sivuleka futhi sivala, irobhothi kumele lifinyelele ngqo emgodini wesikhunta ukuze libambe ingxenye. Noma yikuphi ukuphambuka kokubeka okudlula u-0.05mm kungabangela ukushayisana nesikhunta, okubangela amashumi ezinkulungwane zama-yuan ekulimaleni kwesikhunta. Ukubekwa ngokunemba okuphezulu kwerobhothi ye-servo ene-axis ezintathu kuqinisekisa ukuphambuka kwesimo okungaphansi kuka-0.02mm ekubambeni ngakunye, okuqeda ngokuphelele ingozi yokushayisana kwesikhunta. Ngaphezu kwalokho, ekubumbeni okuphindwe kabili noma okufakwayo, irobhothi kumele lifake ngokunembile i-insert (njenge-nut yensimbi) emgodini wesikhunta, ngokuvuleka okungu-0.03mm kuphela. Ukubekwa ngokunemba okuphezulu kuqinisekisa "ukufakwa kanye, okuqondile," kugwema ukulahlwa kwengxenye okubangelwa ukungalungi kahle kokufaka nokwandisa ukusetshenziswa kwezinto ngaphezu kuka-15%.

3. Amadivayisi Ezokwelapha: "Iziqinisekiso Ezinembile" Ezindaweni Ezihlanzekile Kakhulu

Ukukhiqizwa kwamadivayisi ezokwelapha kubeka izidingo eziqinile kokubili ukunemba nokuhlanzeka. Izicelo ezifana nokucubungula inaliti yesirinji, ukupholisha amalunga okwenziwa, kanye nokuhlanganiswa kwe-catheter yezokwelapha konke kudinga imishini ezenzakalelayo enembile kakhulu. Uma sibheka ukupholisha amalunga okwenziwa e-titanium alloy njengesibonelo, ubulukhuni bomphezulu wejoyinti kumele bulawulwe ngaphakathi kwe-Ra0.8μm. Noma yiliphi iphutha lokubeka endleleni yokupholisha elidlula i-0.01mm lizothinta ukulingana kwejoyinti kanye nokuphila kwenkonzo. Irobhothi le-servo elinama-axis amathathu, ngokuhlanganiswa kokuhlela okunembile komzila kanye nokulawula amandla okuphela, lingafinyelela ukulawulwa kwezinga le-micron kwendlela yokupholisha, liqinisekise ukunemba komphezulu okudingekayo ngenkathi ligwema ukungcola kothuli kanye nokuguquguquka kokunemba okuhlobene nokupholisha ngesandla. Ekuhlanganisweni kwe-catheter yezokwelapha, irobhothi kumele livumelanise ngokunembile i-catheter enobubanzi obungu-0.5mm nesixhumi, kanye nokuphambuka kokubeka okungaphansi kuka-0.02mm. Izinzuzo zokunemba zerobhothi le-servo elinama-axis amathathu ziqinisekisa ukuthi azikho amaphutha ngesikhathi senqubo yokufaka idokhi, ziqinisekise ukuphepha nokuthembeka kwamadivayisi ezokwelapha.

4. Izingxenye Zezimoto: "Abaqaphi Bekhwalithi" Emkhakheni Wokukhiqiza Osezingeni Eliphezulu

Njengoba izimoto ziba zithuthuke kakhulu, izidingo zokunemba kokukhiqiza zezingxenye eziyinhloko njengezinjini nama-transmission ziyaqhubeka nokukhula. Izinzuzo zokunemba zamarobhothi e-servo ane-axis amathathu zithatha indawo yomsebenzi wendabuko wezandla kanye nemishini enembile kancane. Uma sibheka ukufakwa kwendandatho ye-piston yenjini njengesibonelo, ukuvuleka phakathi kwendandatho ye-piston kanye nomsele we-piston kumele kulawulwe ngaphakathi kuka-0.02-0.05mm. Ukufakwa ngesandla kungabangela kalula ukuguqulwa kwendandatho ye-piston ngenxa yamandla angalingani kanye namaphutha okubeka. Kodwa-ke, irobhothi le-servo eline-axis amathathu, ngokusebenzisa ukubeka kahle kakhulu nokubamba okuguquguqukayo, lenza "ukufakwa okungonakalisi nokunembile" kwama-piston rings, okwandisa izinga lokudlula kokufakwa kusuka ku-98% kuya ku-99.9%. Ngesikhathi sokuhlanganiswa kwegiya lokudlulisa, irobhothi kumele lifake kahle igiya ku-drive shaft, ngokuvuleka okungu-0.015mm kuphela phakathi kwembobo yangaphakathi yegiya kanye ne-drive shaft. Ukubekeka kahle kakhulu kuqinisekisa ukuhlangana phakathi kwegiya kanye ne-drive shaft, kunciphisa umsindo nokuguguleka ngesikhathi sokusebenza kokudlulisa futhi kwandise impilo yomkhiqizo.

Okwesine, Ukukhetha Nokusetshenziswa: Ungawandisa Kanjani Amanzuzo Okunemba Okuphezulu?

Ukuze kuqashelwe ngokugcwele izinzuzo zokubeka kahle kakhulu zamarobhothi e-servo ane-axis ezintathu, izinkampani kufanele zicabangele amaphuzu amathathu alandelayo ngesikhathi sokukhetha nokufaka imodeli:

1. Cacisa izidingo zokunemba: Gwema ukukhetha ngokweqile noma ukukhetha ngaphansi

Izidingo zokunemba ziyahlukahluka kakhulu kuzo zonke izimboni nezinqubo. Izinkampani kumele ziqale zibone izinkomba eziyinhloko—ukunemba kokubeka, ukuphindeka, kanye nesivinini sokunyakaza—ngaphambi kokukhetha ukucushwa okufanele. Isibonelo, ekuhlanganisweni kwezingxenye ze-elekthronikhi okujwayelekile, imodeli enokunemba kokubeka okungu-0.03-0.05mm ingakhethwa, kuyilapho ukuphathwa kwe-wafer ye-semiconductor kudinga imodeli ephezulu enokunemba kokubeka okungu-0.005-0.01mm. Lokhu kugwema ukwanda kwezindleko ngenxa “yokunemba ngokweqile” noma ukuthinta ukukhiqizwa ngenxa “yokungaqondile kahle.”

2. Gxila ekuqineni okuphelele: "Isiqinisekiso esingabonakali" sokunemba

Ukuqina kwerobhothi kuthinta ngqo ukuqina kwayo ngokunemba ngesikhathi sokunyakaza kwesivinini esikhulu. Uma ukuqina kwefreyimu kanye nezimbazo zokunyakaza kunganele, ukuguquguquka kungenzeka kwenzeke ngesikhathi sokunyakaza kwesivinini esikhulu, okuholela emaphutheni okubeka. Ngakho-ke, lapho ukhetha irobhothi, naka izinto zomzimba (njenge-aluminium alloy noma insimbi ephonswe) kanye nokuqina kwezingxenye zokudlulisela (njengobubanzi besikulufu sebhola kanye nohlobo lwesitimela esiqondisayo) ukuqinisekisa ukuthi isakhiwo sonke singasekela ukunyakaza okunembile kakhulu.

3. Gcizelela Ukuthunywa Nokugcinwa: "Isiqinisekiso Sesikhathi Eside" Sokunemba

Ngisho namarobhothi e-servo asezingeni eliphezulu angama-three-axis angase abhekane nokwehla kancane kancane kokunemba uma eqashwe ngendlela engafanele noma enganakwa. Izinkampani kufanele zihlele ukufakwa nokuqaliswa kobuchwepheshe, zithuthukise amapharamitha esistimu yokulawula (njengokulungiswa kwe-gain kanye nezilungiselelo zokuhlunga) ukuze kufezwe ukunemba okuphelele. Ukugcinwa njalo kufanele kufake ukuhlanzwa njalo kwezingxenye zokudlulisela, ukugcwalisa kabusha amafutha, kanye nokuhlola ukuhlanzeka kwama-encoder kanye nezikali ukuvimbela ukulahlekelwa ukunemba ngenxa yokuguguleka nokungcola.