Nigute wakwizeza ko sisitemu ya Hydraulic ikora neza muri roboti ya Servo ifite umurongo wa gatatu?

Nigute wakwizeza ko sisitemu ya Hydraulic ikora neza muri roboti ya Servo ifite umurongo wa gatatu?

Mu gukora ibintu mu buryo bwikora, robots za servo zifite umurongo wa gatatu, bitewe n'ubuhanga bwazo bwo hejuru n'uburyo zikora neza, byabaye ibikoresho by'ingenzi mu gukaranga, guteranya no gukoresha. Sisitemu ya hydraulic, "umutima" w'ihererekanya ry'amashanyarazi ya robo, igena mu buryo butaziguye ubusugire bwayo, uburyo ihagaze neza, imikorere myiza, n'igihe imara mu bikoresho. Ihindagurika ry'umuvuduko, amazi ava mu kirere, no gufatirwa mu buryo bwa hydraulic ntibishobora kubangamira umusaruro gusa ahubwo bishobora no guteza ibibazo by'umutekano nko gutakaza ibikoresho no kwangirika kw'ibikoresho. Iyi nkuru izasuzuma ibice by'ingenzi bya sisitemu ya hydraulic, isesengura byimbitse ibintu by'ingenzi bigira ingaruka ku busugire no gutanga igisubizo cyuzuye kuva ku gishushanyo no guhitamo kugeza ku kubungabunga bihoraho, bifasha amasosiyete kugera ku mikorere ya sisitemu ya hydraulic mu gihe kirekire kandi ihamye.

Ubwa mbere, Sobanukirwa "Umutima":

Ibice by'ingenzi n'ibisabwa mu buryo buhamye bwa sisitemu y'amazi ya roboti ya Servo ifite umurongo wa gatatu

Kugira ngo sisitemu ya hydraulic ihamye, ni ngombwa kubanza gusobanukirwa ibice byayo by'ingenzi n'inshingano zabyo byihariye muri roboti ya servo ifite imirongo itatu. Bitandukanye na sisitemu zisanzwe za hydraulic, sisitemu ya hydraulic ya axis eshatu. Servo Manipulator bisaba imikoranire ya hafi na moteri ya servo na sisitemu yo kugenzura ya PLC kugira ngo yuzuze ibisabwa bikomeye byo "gutangira no guhagarara vuba, kugenzura umuvuduko neza, no gusubiza umuvuduko ako kanya." Ibice byayo by'ingenzi n'ibisabwa mu buryo buhamye bishobora gusobanurwa muri izi ngingo eshatu zikurikira:

1. Uruhare rw'Ibice by'ingenzi nk'"Ishingiro Rituje"

Sisitemu ya hydraulic ya servo manipulator ifite umurongo wa gatatu igizwe ahanini n'ibice bitanu: igikoresho cy'amashanyarazi (servo hydraulic pump), actuators (hydraulic silindiri/moteri), ibintu byo kugenzura (proportional valves, servo valves), ibice by'inyongera (ikigega cy'amavuta, filter, cooler), n'amavuta ya hydraulic.

Pompe ya Servo hydraulic: Nk'isoko y'amashanyarazi, imikorere yayo igomba kuba ijyanye neza n'umuvuduko wa moteri ya servo, bigatuma umuvuduko wayo udahungabana.

Valve zipima/ Servo: Kugenzura urujya n'uruza rw'amavuta ya hydraulic n'icyerekezo, ukamenya neza uko buri murongo wa robo uhagaze. Ndetse no gufata gato k'umutima wa valve bishobora gutera ikosa ryo gushyira ibintu aho biri.
Silinda za Hydraulic: Hindura ingufu za hydraulic mo ingufu za mekanike. Imikorere yazo yo kuzifunga hamwe n'ubuziranenge bwa silinda bifitanye isano itaziguye no gukora neza.
Ibikoresho by'inyongera: Akayunguruzo gafata imyanda, ibyuma bikonjesha bigenzura ubushyuhe bw'amavuta, kandi ibigega bya peteroli bibika amavuta, bigakuraho ubushyuhe, kandi bigashyira imyanda mu bigega, bigatanga "inkunga y'ibikoresho" kugira ngo sisitemu ihamye.

2. Ibisabwa byihariye ku buryo bwo guhagarara neza kuri sisitemu za Hydraulic muri Robots

Ugereranyije n'ibikoresho bya hydraulic bidahinduka, sisitemu ya hydraulic ya servo ifite umurongo wa gatatu Robot Mugomba kuzuza ibisabwa bitatu by'ingenzi:

Nta Guhindagurika k'Umuvuduko: Iyo roboti ifashe kandi ikajyana ibikoresho by'akazi, umuvuduko wa sisitemu ugomba kuguma uhoraho (ikosa ≤ ± 0.2 MPa). Bitabaye ibyo, ibikoresho by'akazi bishobora kugwa cyangwa amakosa yo gushyira ibintu mu mwanya wabyo.

Umuvuduko wo gusubiza uhuye: Umuvuduko w'amazi muri sisitemu ya hydraulic ugomba guhuzwa n'impinduka z'umuvuduko wa moteri ya servo, hamwe n'igihe cyo gutinda kiri munsi ya 50ms kugira ngo habeho uburyo bwo kugenda neza.

Nta gusohoka kw'amazi igihe kirekire: Kubera ko robo zikunze gukorera mu byumba by'isuku, gusohoka kw'amavuta ya hydraulic ntikwanduza gusa igikoresho cyo gukora ahubwo byanatera kugabanuka gutunguranye k'umuvuduko w'amazi, bishobora guteza ibibazo by'umutekano.

Icya kabiri, Gukurikirana Impamvu Nyayo:
Ibintu bitandatu by'ingenzi bigira ingaruka ku ihindagurika rya sisitemu ya Hydraulic ya Servo Manipulator ifite umurongo wa gatatu

Guhindagurika kwa sisitemu y'amazi akenshi biterwa n'ibintu byinshi bitandukanye. Hashingiwe ku bunararibonye nyakuri mu mikorere no kubungabunga, ibintu by'ingenzi bigira ingaruka bishobora gukubiye mu byiciro bitandatu bikurikira, bisaba kwitabwaho by'umwihariko:

1. Amavuta ya Hydraulic: Kwangirika kw' "amaraso" ni "umwicanyi utagaragara" w'ubudahangarwa.

Amavuta ya Hydraulic ni yo atuma ingufu zikwirakwira, kandi kwangirika k'imikorere yayo ni yo mpamvu nyamukuru ituma sisitemu inanirwa gukora:

Umwanda ukabije: Ivumbi rituruka mu kirere, imyanda y'ibyuma (nk'ituruka ku mugozi w'ipompo n'ingufu z'imvange), n'ubushuhe (bunyura mu mwobo w'umwuka w'ikigega) bishobora gutuma umwanda w'amavuta ya hydraulic urenga urugero (urwego rwa NAS rwa 8 cyangwa hejuru), bigatuma insinga z'imvange zifatana kandi zigafunga icyuma, ibyo bigatuma umuvuduko uhindagurika.

Ubushyuhe budasanzwe: Iyo ubushyuhe buri hasi cyane, ubushyuhe bw'amavuta ya hydraulic buriyongera, ubushyuhe bugabanuka, kandi uburyo sisitemu ikora bugatinda. Ubushyuhe bukabije (burenze 100°C) bushobora gutuma amavuta ya hydraulic yandura birenze urugero (urwego rwa NAS rwa 8 cyangwa hejuru). Ubushyuhe bwa 60°C) bugabanya ubushyuhe n'imbaraga za firime y'amavuta, bikongera kwangirika kw'amapompo na valves kandi byihutisha oxidation no kwangirika kw'amavuta.
Kwangirika kw'inyongeramusaruro: Ibintu birwanya kwangirika, antioxydants, n'ibindi bivangwa mu mavuta ya hydraulic bigenda bigabanuka uko igihe kigenda gihita, bigabanura kwangirika kw'amavuta kandi bigatera kwangirika vuba kw'imiyoboro ya pompe na silinda.

2. Servo Hydraulic Pompe: Ingufu zituruka ku isoko zituma "Ingufu zidahagije"

Pompe ya servo hydraulic ni "umutima w'imbaraga" wa sisitemu, kandi amakosa yayo atuma habura 30% by'ibibazo byose bya sisitemu ya hydraulic:

Ubusa bwa pompe: Nyuma y'igihe kirekire ikora, icyuho kiri hagati ya rotor ya pompe na stator kiriyongera, bigatuma amazi yinjira imbere mu kirere, umuvuduko w'amazi ugabanuka, ndetse no kudashobora kugumana umuvuduko uhamye.

Uburyo buhindagurika bwo gufata: Imyanda ishobora gufatirwa muri piston ihindagurika ya pompe ya servo, ikayibuza guhindura uburyo itembera bitewe n'umutwaro ukenewe. Ibi bituma "umuvuduko udahagije mu gihe cy'imizigo myinshi n'umuvuduko mwinshi mu gihe cy'imizigo mike," bigatera ihindagurika ry'umuvuduko.

Guhindagurika kwa Pompe ya Moteri: Iyo moteri ya servo na pompe ya hydraulic bishyizwemo coaxiality irenga 0.1mm, imbaraga za radial zirakorwa, bikongera kwangirika k'umugozi wa pompe no kongera vibration n'urusaku, bigira ingaruka ku buryo butaziguye ku mikorere ya sisitemu.

3. Ibice byo kugenzura: Kunanirwa kwa valve niyo mpamvu nyamukuru itera "Gutakaza neza"

Ibice byo kugenzura nka valves zipima imiterere yazo na valves za servo bigena neza uko ingendo zigenda, kandi gutsindwa kwazo bishobora gutuma roboti zikora "bitari byo":

Kwambara no gufatana kwa Valve Spool: Imyanda iri mu mavuta ya hydraulic ishobora gukurura valve spool cyangwa agapfunyika ka valve, bigatuma icyuho cy’imbere kirushaho kwiyongera. Valve Spool Sticking ishobora gukumira kugenzura neza uburyo valve ifunguka, bigatuma amazi ahindagurika.

Kwangirika k'imikorere ya Solenoid: Nyuma y'uko solenoid ya valve ikoreshwa igihe kirekire, coil irashaje, bigatuma igabanuka ry'umuvuduko, imikorere ya valve igenda buhoro, ndetse n'ibimenyetso bidahuye na sisitemu yo kugenzura servo.

Kuziba k'aho valve inyura: Imyanda mito ifunga aho valve inyura ishobora gutuma habaho kugenzura amazi adahindagurika, bikagaragara nk'ingendo za roboti "zigenda zihindagurika".

4. Uburyo bwo Gufunga: Gusohoka kw'amazi ni yo mpamvu itaziguye itera "Gutakaza Umuvuduko"

Kunanirwa kw'ibifunga ntibipfa ubusa amazi ya hydraulic gusa ahubwo binabangamira mu buryo butaziguye uburinganire bw'umuvuduko w'imikorere:

Gushaza kw'udupfundikizo: Udupfundikizo twa nitrile dukunda gukomera no kwangirika mu bidukikije birimo ubushyuhe bwinshi, bitwikirwa n'amavuta, bigatuma dutakaza ubushobozi bwo gufunga;

Gushyiraho nabi: Imivurungano ku byuma bifunga mu gihe cyo guteranya, hamwe no gukandagira bidahagije cyangwa bikabije, bishobora gutuma byuma bifunga binanirwa;

Kwangirika kw'inkoni ya silinda/piston: Imivurungano ku rukuta rw'imbere rw'umuvurungano wa silinda ya hydraulic no gushishwa kw'igitambaro cya piston bishobora kongera kwangirika kw'igipfundikizo, bigatera uruhererekane rubi rw' "kwangirika cyane, gusohora cyane, gusohora cyane, kwangirika cyane."

5. Kugenzura ubushyuhe bw'amavuta: Kudahuza kw'ubushyuhe bitera gusaza kw'umubiri imburagihe

Ubushyuhe bw'amavuta ni "ubushyuhe bw'umubiri" bw'iyi sisitemu ya hydraulic. Ubushyuhe busanzwe bwo gukora bugomba kuguma kuri dogere selisiyusi 35-55. Kurenga uru rugero bishobora gutera ibibazo byinshi:

Ubushyuhe bwinshi bw'amavuta bwihutisha ogisijeni y'amavuta ya hydraulic (buri bushyuhe bwa dogere selisiyusi 15 bugabanya igihe cy'ubushyuhe cya peteroli ho kimwe cya kabiri), bigatera kwangirika kw'ipfundo no kugabanya imikorere myiza ya pompe ya hydraulic.

Ubushyuhe bwinshi bw'amavuta byongera ubushyuhe bw'amavuta, byongera ubudahangarwa bw'amazi kandi bigatuma gucika kw'amazi mu gihe sisitemu itangiye gukora. Ibi bishobora gutera gucika kw'amazi mu mashini, guhindagura no gusakuza.

6. Imiterere ya sisitemu: Inenge karemano zihishe "Ingorane zihishe zo kudahagarara neza"

Ubudahangarwa bwa sisitemu zimwe na zimwe za hydraulic buterwa n'inenge ziri mu cyiciro cy'igishushanyo mbonera:

Imiterere idahwitse y'uruziga: Urugero, valve yo gufasha iri kure cyane y'ipompo, bigatuma umuvuduko ugabanuka ku gihe; guhitamo nabi valve yo kugosora bituma habaho uburyo bwo guhindura ingano y'amazi mu buryo budahuye n'impinduka z'umutwaro wa robo;

Ubusembwa mu miterere y’ikigega cya lisansi: Ingano y’ikigega ni nto cyane (muri rusange inshuro 3-5 z’umuvuduko w’ikigega), bigatuma ubushyuhe budakwirakwira neza; kutagira aho gufunga mu kigega bituma amavuta agaruka n’ayo gukurura yivanga, bikarinda gutandukana neza kw’utubyimba mu mavuta;

Imiterere y’imiyoboro igoye: Imirongo igonga imiyoboro ni mito cyane, bigatuma igitutu gitakaza cyane aho giherereye; imirongo ifite igitutu kinini n’imivuduko mike iragenda ihurira, ikabangamirana bigatuma habaho gutigita.

Icya gatatu, Igisubizo cya Sisitemu:
Kuva ku gishushanyo mbonera kugeza ku mikorere no kubungabunga, ingamba zirindwi z'ingenzi zo kwemeza ko sisitemu y'amazi ihoraho ikora

Kugira ngo hakemurwe ibibazo byavuzwe haruguru, hagomba gushyirwaho uburyo burambuye bwo gucunga no kugenzura ibikorwa, burimo "gutunganya imiterere - kugenzura guhitamo - gushyiraho ibintu bisanzwe - gushyiraho neza - gukoresha neza imikorere no kubungabunga - gukurikirana no kuburira hakiri kare - no gukemura ibibazo byihuse." Ingamba zihariye ni izi zikurikira:

1. Kunoza igishushanyo mbonera: Gushyiraho urufatiro ruhamye rwo guhagarara neza

Mu gihe cyo gushushanya, igisubizo cya sisitemu ya hydraulic kigomba kunozwa hashingiwe ku miterere y'umutwaro n'inzira y'imigendere y'amazi. servo manipulator ifite axis eshatu:

Igishushanyo mbonera cy'uruziga: Koresha sisitemu yo kugenzura ibiri ya "servo pump + proportional valve." Pompe ya servo igenzura urujya n'uruza rwinshi, mu gihe valve proportional igenzura urujya n'uruza nyarwo kugira ngo igabanye ihindagurika ry'umuvuduko. Agakoresho kongerera ingufu gashyirwa ku gice cyo gusohora pompe kugira ngo gagabanye ukwiyongera k'umuvuduko mu gihe cyo gutangira. Hashyirwaho icyuma gikonjesha mu murongo w'amavuta yo kugarura kugira ngo habeho ubushyuhe buhamye bw'amavuta.

Igishushanyo cy'ikigega cy'amavuta: Ubushobozi bw'ikigega buruta inshuro enye ubushobozi bw'ikigega bukoreshwa mu gukurura, kugarura no guhagarara kw'amazi. Igishushanyo mbonera cy'ikigega gishyirwa ku gice cyo kugarura amavuta, aho amavuta aturuka, kandi aho amavuta aturuka hashyirwa ku gipimo cya 0.150mm uvuye hasi mu kigega kugira ngo hirindwe ko imyanda yangiritse yakwinjira. Hashyizweho umupfundikizo wo guhumeka ufite agakoresho ko gusukura amazi hejuru y'ikigega kugira ngo hirindwe ko amazi yinjira mu mazi.

Imiterere y'imiyoboro: Imiyoboro ifite umuvuduko mwinshi (umuvuduko ≥16MPa) ikoresha umuyoboro w'icyuma udakora neza ufite umurambararo ugonga inshuro ≥10 z'umurambararo w'umuyoboro. Imiyoboro ifite umuvuduko muto ikoresha imiyoboro ya nylon kugira ngo hirindwe ko ibice bya roboti byangirika.Udukingirizo tw'imiyoboro dukoreshwa mu gufata imiyoboro kugira ngo tugabanye uburyo bwo gutigita.

2. Guhitamo neza: Hitamo ibice by'ingenzi "Bihuye"

Guhitamo ibice bigomba gukurikiza amahame yo "guhuza umutwaro, gutanga ubuziranenge, no kwemeza ko ari byiza":

Pompe ya Servo Hydraulic: Gerageza kubara umuvuduko ntarengwa ukenewe ukurikije umutwaro ntarengwa wa manipulator n'umuvuduko w'ingendo. Mu guhitamo pompe, reka 20% by'umuvuduko w'amazi. Pompe za piston zihinduka zikundwa, kuko zitanga umusaruro mwinshi (≥90%) n'umuvuduko wihuse wo kugenzura umuvuduko w'amazi.

Ibice byo kugenzura: Valve zipima hamwe na valve za servo zigomba gutoranywa zifite umurambararo uhuye n'umuvuduko w'amazi. Umuvuduko wazo upima ugomba kuba uri hejuru ya 30% ugereranije n'umuvuduko w'imikorere ya sisitemu. Valve za servo za electro-hydraulic zifite spool position feedback ni zo zikundwa, zitanga uburyo bwo kugenzura bungana na ± 0.5%.

Ifunze: Hitamo ibikoresho byo gufunga bikwiye ukurikije ubwoko bw'amavuta ya hydraulic n'ubushyuhe bw'imikorere (urugero, fluororubber ku bidukikije bishyuha cyane na nitrile rubber ku bidukikije bishyuha bike). Genzura uburyo bwo gufunga ku bidukikije mu gihe kiri hagati ya 20% na 30% kugira ngo urebe ko bifunze neza kandi wirinde kwangirika gukabije.

Amavuta ya Hydraulic: Amavuta ya Hydraulic arwanya kwangirika (urugero, L-HM46), afite igipimo cya viscosity ≥140 kandi arwanya oxidation cyane. Ku bidukikije bifite ubushyuhe buke, amavuta ya Hydraulic arwanya kwangirika ya L-HV46 ashobora gukoreshwa kugira ngo atume ubushyuhe buke bugera ku rugero rwo hasi.

3. Gushyiramo ibintu bisanzwe: Kwirinda "Ibibazo byo gushyiramo ibintu byabonetse"

Ubwiza bw'imitangire y'ibikoresho bigira ingaruka zitaziguye ku buryo sisitemu ihamye kandi bigomba kubahiriza amabwiriza akurikira:

Guhindura uburyo bwo guhuza imiterere y'imashini n'imashini: Koresha ikimenyetso cyerekana ko itandukaniro hagati y'umugozi wa moteri n'umugozi wa pompe ari ≤0.05mm, naho itandukaniro ry'uburyo bwo guhuza imiterere y'imashini ni ≤0.1mm/m.

Gushyiraho imiyoboro: Gusudira imiyoboro bikorwa hakoreshejwe uburyo bwa argon arc welding. Nyuma yo gusudira, kora pickling na passivation kugira ngo ukureho slag na scale ya weld. Mbere yo guteranya, sukura imiyoboro n'umwuka ufunze kugira ngo urebe ko nta mwanda irimo. Kangura ibikoresho ukoresheje torque wrench kuri torque yagenwe (urugero, kuri fitting ya M20, torque ni ≤0.05mm). 50-60N·m);

Gushyiraho Silinda ya Hydraulic: Silinda ya Hydraulic na Manipulator bihujwe hakoreshejwe ingingo zireremba kugira ngo byishyure amakosa yo gushyiraho. Igipfukisho cy'umukungugu kigomba gushyirwa ku mpera ya piston kugira ngo hirindwe ko umukungugu winjira muri silinda.

Gushyiraho akayunguruzo: Akayunguruzo ko gukurura kagomba gushyirwa ku cyambu cyo kwinjira mu kigega, gafite ubushobozi bwo kuyungurura bwa ≥100μm. Akayunguruzo gafite umuvuduko mwinshi kagomba gushyirwa ku gice cyo gusohora ipompo, gafite ubushobozi bwo kuyungurura bwa ≥10μm. Akayunguruzo k'amavuta yo kugarura kagomba gushyirwa ku murongo w'amavuta yo kugarura, gafite ubushobozi bwo kuyungurura bwa ≥20μm n'ikimenyetso cyo kuziba.

4. Gutunganya neza: Kugera ku guhuza neza imikoranire hagati y'abantu n'imashini

Gutunganya ni intambwe y'ingenzi mu kwemeza imikorere ihuriweho ya sisitemu ya hydraulic na sisitemu yo kugenzura servo:

Gupima umuvuduko: Nyuma yo gutangira sisitemu, hindura buhoro buhoro valve yo gufasha kugira ngo umuvuduko wa sisitemu ugere ku gaciro kabigenewe (urugero, 12 MPa). Komeza umuvuduko mu gihe cy'iminota 30 kandi urebe igabanuka ry'umuvuduko rya ≤0.1 MPa. Gerageza umuvuduko wa sisitemu ukoresheje Robot Bizindi zipakuruwe kandi zuzuye kugira ngo hatabaho ihindagurika rikomeye ry'umuvuduko.

Gutunganya Umuvuduko w'amazi: Ohereza ibimenyetso byo kugenzura by'imivuduko itandukanye binyuze muri PLC kugira ngo uhindure uburyo valve ifunguye, upime umuvuduko w'amazi ujyanye nayo, kandi ugaragaze umurongo w'amazi "w'umuvuduko w'amazi" kugira ngo urebe ko umurongo ugororotse ari ≥95%.

Gutunganya neza: Kosora sisitemu ya hydraulic hamwe na moteri ya servo na sisitemu yo kugenzura ya PLC. Gerageza uburyo bwo kumenya neza uko ibintu bigenda (urugero: ikosa ryo gushyiramo ≤±0.02mm) n'umuvuduko wo gusubiza (urugero: igihe kuva aho ihagaze kugeza ku muvuduko ugenwe ≤0.5s) bya buri murongo wa robo kugira ngo urebe ko hari ibisubizo bihuye hagati ya sisitemu ya hydraulic n'amashanyarazi.

5. Imikorere n'Imitunganyirize ya Siyansi: Gushyiraho Sisitemu yo "Gutunganya Ibisanzwe + Igihe Bikenewe"

Gusana buri munsi ni ingenzi mu kongera igihe cy'ubuzima bwa sisitemu za hydraulic no kwemeza ko zihamye. Hakwiye gushyirwaho uburyo busanzwe bwo kubungabunga:

Kubungabunga Amavuta ya Hydraulic: Ku bijyanye n'uburyo bushya, simbura amavuta ya Hydraulic nyuma y'amasaha 100 atangiye gukora, na buri masaha 2.000 nyuma yaho. Gerageza amavuta buri kwezi kugira ngo urebe niba yanduye (urugero rwa NAS rwa 8 cyangwa munsi yarwo ni rwo rwemewe), ubushyuhe (ubushyuhe burenze ≤ ± 10% kuri 40°C), n'ubushuhe (≤0.1%). Kungura amavuta (ubuziranenge bwo kuyayungurura ≥ 10μm) mugihe uyavugurura, urebe neza ko ahuye n'ikirango cy'umwimerere.

Kubungabunga akayunguruzo: Sukura akayunguruzo gasunika amazi buri mezi atatu, kandi usimbuze akayunguruzo gafite umuvuduko mwinshi n'akagarura amazi buri mezi atandatu. Niba inzogera ibuza akazinga, kasimbuze ako kanya.

Gusana Ifuru: Suzuma ifuru za silindiri na valve za hydraulic buri mwaka. Hitamo gusimbuza amazi cyangwa kwangirika kw'aho ari ho hose. Mu gihe usimbuza ifuru, sukura ubuso bwo kuyishyiraho kugira ngo wirinde kwanduza.

Kubungabunga Pompe ya Servo: Sukura ibifunga buri minsi 3.000. Reba neza ko pompe yambaye ubusa buri saha hanyuma upime aho poroteyine na stator biherereye (usimbuze niba birengeje mm 0.1). Simbuza amavuta ya pompe buri mwaka kandi urebe niba uburyo bwo guhindura umuvuduko buhagaze.
Kugenzura ubushyuhe bw'amavuta: Menya neza ko icyuma gikonjesha gikora neza. Niba ubushyuhe bw'ikirere buri hejuru cyane mu mpeshyi, ongeramo icyuma gishyushya umwuka kugira ngo ugabanye ubushyuhe. Mu gihe cy'itumba, shyushya amavuta kugeza kuri dogere selisiyusi 20 mbere yo gutangiza imashini ukoresheje icyuma gishyushya.

6. Gukurikirana mu buryo nyabwo: Gushyiraho uburyo bwo "kuburira hakiri kare"

Dukoresheje ikoranabuhanga rya IoT, dukoresha uburyo bwo kugenzura mu buryo bwihuse sisitemu za hydraulic kugira ngo tumenye amakosa ashobora kubaho:

Igenzura ry'ibipimo by'ingenzi: Ibipimo by'umuvuduko, ibipimo by'umuvuduko, n'ibipimo by'ubushyuhe bikusanya amakuru y'umuvuduko, umuvuduko, n'ubushyuhe bwa sisitemu mu gihe nyacyo, bigatuma habaho uburyo bwo kumenyesha (urugero, ibipimo by'umuvuduko uhindagurika wa ± 0.3 MPa n'ubushyuhe bwa peteroli ≥60°C).

Gukurikirana urusaku n'imitingito: Ibyuma bipima imitingito bishyirwa hafi ya pompe ya servo na silindiri ya hydraulic kugira ngo bigenzure kwihuta kw'imitingito (ubusanzwe ≤10 m/s²). Imitingito idasanzwe cyangwa urusaku bishobora kugaragaza ko pompe yangiritse cyangwa ko valve ifata.

Gukurikirana aho amazi asohoka: Ibyuma bipima amazi asohoka bishyirwa munsi y'ikigega cy'amavuta, kandi hashyirwaho kaseti yo kumenya aho amazi asohoka ku ngingo z'ingenzi. Ibyuma bitanga amakuru ako kanya bitangira gukoreshwa iyo habonetse aho amazi asohoka kugira ngo hirindwe ko byangirika.

7. Gukemura ibibazo byihuse: Shyiraho uburyo bwo "gushyiraho neza imiterere - gucunga neza"

Iyo habayeho ikibazo cy’imikorere mibi ya sisitemu y’amazi, kurikiza ihame rya "byoroshye mbere, bigoranye nyuma, inyuma mbere, imbere nyuma" kugira ngo ukemure ikibazo vuba kandi ugikemure:

Ihindagurika ry'Umuvuduko: Banza urebe niba amavuta ya hydraulic yanduye kandi afite ubukana. Niba ari ibisanzwe, reba uburyo ipompo ya servo ikoresha uburyo butandukanye bwo kuyihindura kugira ngo ifate, hanyuma urebe niba ikoreshwa mu gupima uburyo ikoreshwa mu gusohora amazi rihagaze.

Umuvuduko udahagije: Banza urebe neza ko akayunguruzo kafunga, hanyuma upime umuvuduko w'ipompo. Niba idahagije, simbura ipompo ya servo.

Gusohoka: Banza urebe niba ingingo zifunguye, hanyuma urebe niba zifunze neza, hanyuma urebe niba silinda na piston byangiritse.

Uburyo bwo Kugenda Butinze: Banza urebe niba amavuta ya hydraulic ari menshi cyane, hanyuma urebe niba hari imiterere mibi ya valve solenoids, hanyuma urebe niba hari silinda za hydraulic zifata.

Icya kane, Inyigo y'Urugero:
Kunoza uburyo sisitemu ya Hydraulic ihagaze neza mu ruganda rukora ibikoresho by'imodoka

Roboti ya servo ifite umurongo wa gatatu mu ruganda rukora ibikoresho by'imodoka yahuraga n'ibibazo byinshi birimo ihindagurika ry'umuvuduko (kugeza kuri ± 0.5 MPa) n'amakosa yo gushyiramo ibintu arenga ± 0.1 mm mu gihe cyo gufata ibikoresho mu gihe cyo gukora umurongo wayo wo gukanda. Ibi byatumye umusaruro ugabanukaho 15%. Nyuma yo gushyira mu bikorwa ingamba zikurikira zo kunoza, uburyo bwo guhagarara bwarushijeho kunozwa cyane:

Isuzuma ry'Impamvu: Isuzuma ryagaragaje ko ubushyuhe bw'amavuta ya hydraulic bugera ku rwego rwa NAS rwa 10, icyuho cya 0.15mm hagati ya rotor ya servo pump na stator, gushwanyagurika kuri spool ya valve ingana, n'ubushobozi bwo kubika amazi inshuro ebyiri gusa ugereranyije n'umuvuduko w'amazi ya system. Ubushyuhe budahagije bwatumye ubushyuhe bw'amavuta bukunze kurenga 65°C.

Ingamba zo kunoza:

Nasimbuye amavuta ya hydraulic ya L-HM46, nsukura ikigega, nshyiraho amabaffle n'icyuma gikonjesha.

Nasimbuje pompe ya servo na valve ingana, kandi nahinduye coaxiality ya moteri na pompe kuri 0.03mm.

Hashyizweho uburyo bwo gupima umuvuduko, ubushyuhe, n'uburyo bwo gutigita, buhujwe na sisitemu ya MES y'uruganda, kandi bushyiraho uburyo bwo kumenyesha mu gihe nyacyo.

Hashyizweho inzira yo kubungabunga imikorere y'"isuzuma rya buri kwezi ry'amavuta, gusimbuza akayunguruzo buri gihembwe, no kugenzura ibifunga buri gice cy'umwaka."

Ibisubizo byo kunoza: Ihindagurika ry'umuvuduko wa sisitemu ryagenzuwe muri ± 0.1MPa, amakosa yo gushyiramo yari ≤± 0.02mm, kandi igihe cyo kuruhuka cyagabanijwe kuva ku masaha 8 ku kwezi kigera munsi y'amasaha 0.5, byongera umusaruro ku kigero cya 20%.

Icya gatanu, Incamake: Ishingiro ry'imikorere ihamye ni "Imicungire y'ubuzima bwose"

Imikorere ihamye ya roboti ya servo ifite imirongo itatu Sisitemu y'amazi ntishobora kugerwaho binyuze mu kunoza intambwe imwe; ahubwo, isaba imicungire yuzuye mu gihe cyose cy'ubuzima bwayo, kuva ku gishushanyo no guhitamo kugeza ku gushyiraho, gukoresha, gukoresha, kubungabunga, no gukurikirana. Ikintu cy'ingenzi kiri muri ibi bikurikira: kwemeza ko ibice bigize iyi robo bihuye n'imiterere y'imitwaro n'ingendo byayo; gushyira imbere kubungabunga mu buryo bwo kwirinda binyuze mu gucunga amavuta no kugenzura buri gihe; no gushyigikira igenzura ry'ubwenge, gukoresha ibikoresho by'ikoranabuhanga n'uburyo bushingiye ku makuru kugira ngo bitange imburi nyazo hakiri kare. Ni mu gushyiraho sisitemu yo gucunga no kugenzura ikorwa neza kandi ihamye gusa, sisitemu y'amazi ishobora kuba "umutima wizewe" wa robo ya servo ifite imirongo itatu, itanga imbaraga zihoraho kandi zihamye zo gukora mu buryo bwikora.