Ni gute wakwemeza ko Roboti za Servo zifite umurongo wa gatanu zikora neza?

Ni gute wakwemeza ko Roboti za Servo zifite umurongo wa gatanu zikora neza? Kuva ku ikoranabuhanga ry'ibanze kugeza ku ishyirwa mu bikorwa

Mu gukora neza, guteranya ibikoresho by'ikoranabuhanga, gutunganya ibikoresho by'ubuvuzi, n'ibindi, gukoresha neza robots za servo zifite umurongo wa gatanu bigena neza ubwiza bw'ibicuruzwa n'imikorere myiza yabyo. Ugereranyije n'ibikoresho bitatuRoboti zo mu bwoko bwa Axis,sisitemu zifite imiterere itanu, hamwe n'inyongera ebyiri zizunguruka (ubusanzwe ni inshinga za A, C, cyangwa B), zishobora kugera ku ngendo zikomeye z'ahantu, ariko ibi binashyiramo ibisabwa byinshi ku kugenzura neza - ndetse n'ikosa rya 0.01mm rishobora gutuma igice cy'ibisigazwa n'umusaruro bihagarara. Iyi nkuru izasesengura uburyo bw'ingenzi bwo kwemeza ko robots za servo zifite umurongo wa gatanu zikora neza uhereye ku ngingo eshanu z'ingenzi: igishushanyo mbonera cya mekanike, sisitemu ya servo, algorithm yo kugenzura, gushyiraho no gukoresha, no kubungabunga buri gihe, bitanga ubuyobozi bufatika bwo guhitamo no gukora ikigo.

Ubwa mbere. Imiterere ya Mekanike: "Ishingiro rifatika" ry'Uburyo bwo Gukora: Kugenzura Amakosa bivuye ku Isoko ry'Igishushanyo

Ubuhanga bwa roboti ya servo ifite imirongo itanu bushingiye ahanini ku buryo imiterere yayo ihamye. Guhinduka, gukina, cyangwa kwangirika kw'ibice byayo bizahindura amakosa mu buryo butaziguye. Ibande ku bice bitatu by'ingenzi bikurikira:

1. Ibice by'ingenzi byo kohereza ubutumwa: Guhitamo ubwoko bukwiye no kugenzura neza
Sisitemu yo kohereza ubutumwa ni ingenzi mu kohereza ingufu no gukoresha neza. Uburyo busanzwe bwo kohereza ubutumwa burimo vis z'umupira, ibigabanya imbaraga, n'ibigabanya imbaraga mu mibumbe. Ibi bigomba guhuzwa hashingiwe ku bisabwa ku mutwaro n'ubuziranenge:

Udupira tw’umupira: Ibi bigira uruhare mu ihinduka ry’imirongo y’umurongo (nk’imirongo ya X/Y/Z). Ubuhanga bwabyo bugira ingaruka ku ikosa ryo gushyiramo. Turakugira inama yo guhitamo ubuziranenge bwa C3 cyangwa burenga iyo ukoresheje (ikosa ryo gushyiramo ≤ 0.008mm/300mm). Uburyo bwo gushyiramo ibintu mbere y’uko bishyirwamo (nk’umubyimba w’imirongo ibiri) bugomba gukoreshwa kugira ngo hakurweho gucika hagati y’umubyimba n’umubyimba. Icyuma gikomeye cyane (nk’icya SUJ2) kigomba gukundwa, kandi gikomere (ubukomere bw’ubuso ≥ HRC58) kugira ngo kigabanye kwangirika no guhinduka nyuma yo gukoreshwa igihe kirekire.

Uduce duto twa Harmonic: Dukoreshwa mu gusimbuza imisumari (nk'imisumari ya A/C), dutanga ibyiza nko kuba ifite ubushobozi bwo gukwirakwiza amakuru menshi n'ingano nto. Ariko, gusimbuza imisumari ya flexspline bishobora gutera amakosa yo kugarura amakuru. Hitamo moderi ifite ubushobozi bwo kugarura amakuru neza ifite ikosa ryo kugarura amakuru rya ≤1 arc minute. Nanone, genzura umuvuduko w'injira (wirinde kurenza 80% by'umuvuduko ugenwe) kugira ngo ugabanye kwangirika kw'umunaniro kuri flexspline. Ibikoresho bimwe na bimwe byo mu rwego rwo hejuru bikoresha uburyo bwo gusimbuza imisumari ya harmonic na absolute encoder kugira ngo bisubize amakosa yo gusimbuza imisumari mu gihe nyacyo.

Abayobora: Aba bayobora robot kandi bagomba kugumana uburyo bwo guhuza ibintu n'ibice by'itumanaho. Abayobora umurongo ngenderwaho barasabwa (batanga ubushobozi bwo kuremerera no gukomera kurusha abayobora umupira). Mu gihe cyo gushyiraho, tunganya uburyo bwo guhuza umurongo ngenderwaho w'umurongo uyobora ukoresheje laser interferometer (ku makosa ya ≤0.005mm/m) kugira ngo wirinde "gucika intege" cyangwa kutagenda neza guterwa no kunyerera k'umurongo.

2. Igishushanyo: Kuringaniza hagati y'ubudahangarwa n'ubworoheje

Kudakomera bihagije kw'ishusho bishobora gutera "guhindagurika kw'ishusho" mu gihe cyo kugenda, cyane cyane ku muvuduko mwinshi cyangwa munsi y'imitwaro iremereye, aho amakosa yiyongera. Ibitekerezo ku gishushanyo:

Guhitamo ibikoresho: Aloyi za aluminiyumu zikomeye cyane (nka 6061-T6) zishobora gukoreshwa mu bikoresho bito n'ibiciriritse, kuringaniza uburemere n'ubudahangarwa. Ku bikoresho biremereye (ibiremereye > 50kg), ibyuma bikozwe mu cyuma (nka HT300) cyangwa ibyuma bivanze birasabwa. Uburyo bwo kuvura gusaza bushobora gukoreshwa mu gukuraho imihangayiko y'imbere no kugabanya ububobere nyuma yo gukoreshwa igihe kirekire.

Kunoza imiterere y'inyubako: Shyiraho igishushanyo cy' "inkunga y'impande eshatu" cyangwa "ubwoko bw'agasanduku" kugira ngo wongere ubukana bw'ishusho y'urukiramende. Shyira imbavu zo gushimangira ahantu hafite imizigo (nk'aho uhuza umurongo uzenguruka) kugira ngo wirinde uburemere bw'imihangayiko. Urugero, icyuma gikoresha umurongo wa gatanu cyakozwe n'uruganda rukora ibice by'imodoka cyagabanyije amakosa yo kugenda ku kigero cya 40% cyongera ubukana bw'ishusho y'urukiramende kuva kuri 150 N·m/° kugeza kuri 280 N·m/°.

3. Umusemburo w'impera: Hindura umutwaro kandi ugabanye "impera y'impera"

Uburemere n'ubuziranenge bw'icyuma gifata icyuma (nk'icyuma gifata icyuma cyangwa icyuma gifata icyuma) bizagira ingaruka ku "buziranenge bw'aho gipanze" cya manipulator. Ihame ryo "guhuza imizigo" rigomba kubahirizwa:

Umutwaro wa nyuma ntugomba kurenza 80% by'umutwaro wa roboti (kugira ngo hirindwe ko umugozi uhinduka bitewe no kurenza urugero rw'umutwaro);

Ihuza hagati y'icyuma gikoresha amashanyarazi n'urukiramende rwa robo rigomba gufatwa neza hakoreshejwe udupira tw'inkoni n'amaboliti akomeye cyane. Ikosa ry'ubuso bw'urukiramende rigomba kuba ≤ 0.003mm, naho ikosa ry'ubugari rigomba kuba ≤ 0.005mm kugira ngo hirindwe ko impera zitagenda neza bitewe n'uburyo bwo guhuza ibintu budasanzwe.

Icya kabiri. Sisitemu ya Servo: "Ingufu z'ibanze" zo gukora neza, zigabanya ihindagurika ku rwego rw'ubuyobozi

Uburyo bwo gukora neza kw'imashini ya servo robot ifite umurongo wa gatanu mu by'ukuri ni "ubushobozi bwa sisitemu ya servo bwo gukurikiza amabwiriza" - nyuma yo koherezwa itegeko, moteri ya servo, umushoferi, na encoder bigomba gukorana kugira ngo bigabanye amakosa. Ibintu bitatu bikurikira bisaba kunoza imikorere:

1. Servo Moteri: Hitamo Ubwoko Bukwiye + Nonosora Ubushobozi

Moteri ya servo ni "isoko y'ingufu zisohoka," kandi ubunyangamugayo bwayo bugena neza uburyo bworoshye bwo kugenda n'uburyo bwo gushyiramo neza.

Guhitamo ubwoko: Moteri za servo zihoraho zikoresha magnet synchronous ni zo zikundwa cyane (zitanga umuvuduko wo gusubiza vuba wa 30% na torque ripple nkeya ya 20% ugereranyije na moteri zikoresha amashanyarazi adahindagurika). Ibi ni ingenzi cyane cyane mu bihe byo gutangira vuba cyane (nk'uburyo bwo gupima ibice by'ikoranabuhanga), kuko zishobora kugabanya amakosa "yabuze intambwe" aterwa no kudakora neza kwa torque.

Ubushobozi bwo gukosora: Imashini ikoresha "encoder" ni "ikintu cyo gusubiza aho uhagaze." Uko ubushobozi bwo gukosora buri hejuru, niko uburyo bwo kumenya aho uhagaze burushaho kuba bwiza. Ni byiza gukoresha imashini ikoresha "encoder" ya 23-bit (ubuziranenge bwo gushyira aho uhagaze ≤ 0.001mm) ku migozi igororotse na "encoder" ya 17-bit (ubuziranenge bwo gushyira aho uhagaze ≤ 0.005°) ku migozi izenguruka. Ugereranyije n'imashini zikoresha "encoder" ziyongera, imashini zikoresha "encoder" ntizisaba "gupima aho uhagaze", bishobora gukumira ihindagurika ry'aho uhagaze nyuma yo kunanirwa k'amashanyarazi no kongera gutangira.

2. Umushoferi: Hindura uburyo bwo kugenzura kugira ngo ugabanye amakosa akurikira

Umushoferi wa servo ni "ikigo cyo kugenzura moteri," kandi ireme rya algorithme yayo rigira ingaruka zitaziguye ku bushobozi bwayo bwo kwishyura amakosa. Imirimo y'ingenzi ikurikira igomba gukoreshwa:
Gutunganya imiterere ya PID: Umushoferi amenya umutwaro wa moteri n'uburemere bwayo, agakora ibipimo bya (P), integral (I), na differential (D) kugira ngo agabanye guhindagurika (urugero, guhindagurika mu gihe cyo kuyishyira mu mwanya wayo). Urugero, umukiriya wo mu nganda za 3C yagabanyije ikosa rya X-axis nyuma yo kuyikurikiza kuva kuri 0.02mm kugeza kuri 0.008mm binyuze mu gutunganya imiterere ya moteri.
Kugenzura imikorere y'umuvuduko w ...
Kugabanya Resonance: Kugira ngo hakorwe resonance ya mechanical mu gihe Robot Movement (urugero, vibration ya frame mu gihe cyo kugenda ku muvuduko mwinshi), umushoferi akoresha "notch filtering" kugira ngo akureho vibration ku murongo runaka, bigabanye accuracy offsets iterwa no resonance.

3. Igenzura rihuza imiyoboro itanu: Gukemura "Ikosa ryo guhuza imiyoboro hagati y'imiyoboro"

Ikibazo gikomeye kiri muri manipulators zifite umurongo wa gatanu ni uguhuza ingendo zifite umurongo wagutse. Iyo imirasire itanu yose igenda icyarimwe, umuvuduko n'umuvuduko wa buri murongo bigomba guhuzwa neza, bitabaye ibyo "amakosa yo mu miterere" (nk'ihindagurika ry'imiterere mu gihe cyo gutunganya ubuso bugongamye) azabaho. Ibi bisaba kunoza binyuze mu ikoranabuhanga rikurikira:

Algoritime zo mu mutwe wa Kinematic imbere n'izihindagurika: Koresha moderi ya kinematic ifite umurongo wa gatanu uhamye cyane kugira ngo ubare neza ibipimo by'ingendo bya buri murongo (nk'inguni zo kwishyura imigozi izunguruka) kugira ngo wirinde amakosa aterwa no gupima algorithm. Urugero, ku miterere ya "cradle-style" ya five-axis (A + C axes), algoritime igomba kwishyura ihinduka riri hagati y'imigozi izunguruka n'izunguruka.

Uburyo bwo kunoza uburyo bwo guhuza imiterere y'amajwi: Koresha "interpolation ya spline" cyangwa "interpolation ya NURBS" (aho gukoresha interpolation isanzwe) kugira ngo ugere ku muvuduko woroshye kuri buri murongo kandi ugabanye amakosa y'ingaruka aterwa n'impinduka zitunguranye z'umuvuduko. Uruganda rukora ibikoresho by'ubuvuzi rwongereye uburyo bwo gutunganya ubuso bw'amajwi y'ubukorano kuva kuri ± 0.03mm kugeza kuri ± 0.015mm rukoresheje interpolation ya NURBS.

Icya gatatu. Kwishyura Amakosa: "Uburyo bwo gukosora" mu buryo buboneye, hakoreshejwe ikoranabuhanga mu gukemura ibibazo by'impinduka zisanzwe

Nubwo sisitemu za mechanical na servo zimaze kunozwa, amakosa asanzwe (nk'ikosa ry'ubushyuhe, ikosa ryo gushyira ibintu mu mwanya, n'ikosa rya geometrike) azakomeza kubaho, bisaba uburyo bwo kugabanya ayo makosa kugira ngo birusheho kugabanuka:

1. Kwishyura Amakosa yo mu Bushyuhe: "Umwicanyi utagaragara" w'impinduka z'ubushyuhe

Iyo roboti ifite umurongo wa gatanu ikora, gukururana bitera ubushyuhe muri moteri, vis y'icyuma, n'inzira y'icyuma iyobora, bigatera kwaguka no guhinduka kw'ibice. Urugero, kuri buri kwiyongera kwa 1°C mu bushyuhe bwa vis y'icyuma, uburebure bwiyongeraho hafi 11μm/m, bigatera amakosa yo gushyira umurongo w'icyuma mu mwanya. Ibisubizo birimo:

Ibikoresho: Shyiramo ibikoresho byo gupima ubushyuhe (nka PT1000) hafi ya moteri na vis y'icyuma gipima ubushyuhe kugira ngo urebe impinduka z'ubushyuhe mu gihe nyacyo.

Porogaramu: Kora icyitegererezo cya "ikosa ry'ubushyuhe" (nk'icyitegererezo cyo gusubira inyuma kw'umurongo) kugira ngo kibare kandi gisubize amakosa mu buryo bwikora hashingiwe ku makuru ya sensor. Urugero, uruganda rw'ibikoresho by'imashini rwakoresheje icyitegererezo cy'ikosa ry'ubushyuhe kugira ngo ruhamye uburyo bwo gukora igihe kirekire (mu gihe cy'amasaha 8) bwa robo ifite umurongo wa gatanu kuva kuri ± 0.025mm kugeza ± 0.012mm.

2. Gutanga Ikosa ryo Gushyira mu Bice: Gukoresha Interferometer ya Laser kugira ngo "Ukosore Intambwe Buri"

Ikosa ryo gushyiramo imiterere risobanura itandukaniro riri hagati y’aho robo iherereye n’aho itegetswe. Igomba gupimwa no kwishyurwa hakoreshejwe ibikoresho byabugenewe:
Ibikoresho byo gupima: Koresha interferometer ya laser (nk'iya Renishaw XL-80) kugira ngo upime ikosa ryo gushyiramo, ikosa ryo gusubiramo, n'ingaruka mbi kuri buri murongo.
Uburyo bwo kwishyura: Kwinjiza amakuru yo gupima mu Robot ikisisitemu yo kugenzura, gukora "imbonerahamwe yo kwishyura amakosa," no gukoresha uburyo bwo gukosora mu gihe nyacyo mu gihe cyo kugenda. Urugero, mu ruganda rukora ibice by'indege, gupima interferometer ya laser byagabanyije ikosa ryo gushyira X-axis intera hagati ya 0.018mm na 0.006mm.

3. Kwishyura Amakosa ya Jewometiri: Gukuraho "Impinduka z'umwimerere" mu gishushanyo mbonera cy'imiterere

Amakosa ya geometrike ya robo ifite umurongo wa gatanu arimo amakosa yo ku ruhande rumwe n'amakosa yo ku ruhande rumwe, asaba kwishyurwa binyuze mu buryo bukurikira:

Gupima Ubudahangarwa bw'Impera: Koresha ikimenyetso kare n'ikimenyetso cya dial cyangwa interferometer ya laser kugira ngo upime ubudahangarwa bw'Impera hagati y'imirongo igororotse (urugero, ikosa ry'ubudahangarwa bw'Impera hagati y'imirongo ya X na Y rigomba kuba ≤ 0.005 mm/m). Kosora iri kosa ukoresheje uburyo bwo kugenzura "ubudahangarwa bw'Impera".

Ingurane y'Ubwiza bw'Umurongo Uzenguruka: Koresha agakoresho gapima ubugari bw'umurongo uzenguruka (urugero, aho hagati y'aho uruziga rwa A-axis ruzenguruka n'umurongo wa Z ruhurira). Ibipimo by'ubwiza bw'Ubwiza bishyirwa muri moderi ya kinematic kugira ngo hirindwe ko iherezo ry'aho rikinga ritagenda bitewe n'ubugari.

Icya kane. Gushyiraho no Gutanga Serivisi: "Urufunguzo rwo Gushyira mu Bikorwa Ubuziranenge"; Ibisobanuro birambuye ni byo Bigena Ibisubizo bya Nyuma

Nubwo ibikoresho ubwabyo byaba byujuje ubuziranenge busabwa, gushyiraho nabi no gukoresha nabi bishobora gutuma ikoranabuhanga ritakaza ubuziranenge. Amabwiriza akurikira agomba gukurikizwa neza:

1. Ishingiro ryo gushyiraho: Reba neza ko ishingiro rihamye kandi rigororotse

Ibisabwa ku rufatiro: Ubuso bw'aho roboti Ishyirwaho rigomba kuba rifite sima ikozwe neza (ingufu ≥ C30) n'ubugari ≥ 200mm kugira ngo hirindwe ko ubutaka bugwa nabi.

Gupima mu buryo butambitse: Koresha urwego rw'ubuziranenge (ubuziranenge bwa 0.02mm/m) kugira ngo upime umubiri w'imashini kugira ngo urebe ko ugororotse. Ikosa ry'umurongo utambitse w'umurongo rigomba kuba ≤ 0.01mm/m, naho iherezo ry'umurongo utambitse w'umurongo utambitse rigomba kuba ≤ 0.005mm.

2. Gukosora Sisitemu y'Umurongo: Hindura intambwe uva kuri 'single-axis' ujya kuri 'coordinated'

Gukosora umurongo umwe: Banza ugerageze uburyo bwo gusuzuma neza imiterere y'umurongo umwe (ikosa ryo gushyiramo no gusubiramo) bya buri murongo umwe. Iyo uburyo bwo gusuzuma umurongo umwe bugeze ku gipimo ngenderwaho, komeza usuzume uburyo bwo gusuzuma umurongo umwe.

Gukosora amakosa mu buryo buhuriweho: Binyuze mu gukata cyangwa gukurikirana inzira (urugero, kwimura roboti ku murongo wagenwe mbere no gukoresha icyuma gikurikirana inzira kugira ngo hamenyekane aho inzira inyura), ongera uburyo bwo guhuza ibintu bukoresha umurongo mugari (5-axis linkage parameters) kugira ngo urebe neza ko umurongo uhuye n'ibipimo ngenderwaho.

3. Gupima imizigo: Kwigana imiterere nyayo y'imikorere kugira ngo wemeze ko ukuri guhamye

Kora ikizamini cyo gupima imizigo mu gihe cy'amasaha 8-12 ukurikije "umutwaro ntarengwa" n' "umuvuduko ntarengwa" bikoreshwa mu gukora ibintu nyabyo.

Kora igenzura ry’ubuziranenge buri gihe mu gihe cy’ikizamini (urugero, gupima ikosa ry’aho ibintu bigarukira ukoresheje ikimenyetso cy’aho bigarukira buri masaha 2) kugira ngo urebe neza ko ubuziranenge buguma mu rugero rwemewe mu gihe cy’imizigo.

Icya gatanu. Gutunganya buri munsi: "Ingwate y'igihe kirekire" y'ukuri: Kwirinda ni byiza kuruta gusana

Ubunyangamugayo bwa roboti ya servo ifite imirongo itanu buzagabanuka uko igihe kigenda gihita, bityo gahunda yo kuyisana ihoraho ni ngombwa:

1. Kubungabunga ibice bya transmission: Gusiga amavuta no gusukura kugira ngo bigabanye kwangirika

Ingufu zo mu mupira/Ingufu zo kuyobora: Shyira amavuta yihariye (urugero, amavuta ashingiye kuri lithium) buri masaha 50 y'akazi kugira ngo wirinde kwangirika guterwa no gukururana kwumye. Sukura umukungugu wo ku gipfundikizo cy'umukungugu buri kwezi kugira ngo wirinde ko umukungugu winjira mu gipfundikizo cy'umukungugu.

Harmonic Reducer: Reba urwego rw'amavuta buri masaha 200 y'akazi hanyuma wongereho amavuta yihariye (urugero, amavuta ya harmonic reducer gear) uko bikenewe. Hindura amavuta buri mwaka.

2. Kubungabunga sisitemu ya Servo: Gusuzuma buri gihe no kuburira hakiri kare

Imashini ikora incamake: Sukura aho imashini ikora incamake buri gihembwe kandi urebe neza aho insinga zihurira kugira ngo hirindwe ko ibimenyetso byangirika bitewe n'insinga zidafite aho zibohoye.

Gutwara: Reba buri kwezi umuyaga ushyushya umushoferi kugira ngo urebe niba urimo gukora neza kandi usukure ivumbi riva mu byobo bikonjesha kugira ngo wirinde kwangirika kw'imikorere bitewe no gushyuha cyane.

3. Gusubiramo Ubuziranenge: Gusuzuma buri gihe no gukosora ku gihe

Ongera urebe neza uburyo buri murongo uhagaze buri mezi atatu ukoresheje laser interferometer cyangwa ballbar. Niba ikosa rirenze urugero (urugero, ikosa ryo gushyiramo ibintu > 0.01mm), ongera usubize vuba.

Kora "gusuzuma neza uburyo ibintu bikorerwa" buri mwaka, harimo no kugenzura imiterere y'ibikoresho, gukoresha neza imiterere ya servo, no kuvugurura uburyo bwo kwishyura amakosa, kugira ngo urebe neza ko ibikoresho bikomeza gukora neza mu gihe kirekire.

Umwanzuro: Ubunyangamugayo bwa roboti ya servo ifite umurongo wa gatanu ni "umushinga wa sisitemu," ntabwo ari intambwe imwe.

Kugenzura ko robo ya servo ifite imirongo itanu ari nziza bisaba uburyo burambuye bwo gukora: "igishushanyo mbonera n'uburyo bwo guhitamo - gukora - gushyiraho no gukoresha - kubungabunga buri gihe." Imiterere ya mashini ni yo shingiro, sisitemu ya servo ni yo shingiro, kwishyura amakosa ni uburyo, naho kuyishyiraho no kuyibungabunga ni bwo buryo bwo kurinda. Ku bigo, uretse guhitamo ibikoresho bifite ubuhanga buhanitse, ni ngombwa kugira "ubuhanga bwo gucunga neza" - binyuze mu gupima buri gihe, gukurikirana amakuru, no kunoza buri gihe - kugira ngo harebwe ko ubuhanga bwa robo buhora buhuye n'ibisabwa mu gukora.

Iyo uhuye n'ibibazo byihariye bijyanye no kugenzura neza robo ya servo ifite umurongo wa gatanu (nk'ikosa rikabije mu murongo umwe cyangwa kudakora neza mu gihe cyo guhuza), isesengura ryinshi rishingiye ku miterere nyayo y'imikorere rishobora gukoreshwa mu gutegura ibisubizo by'imikorere bigamije kunoza, bigatuma ibikoresho bigera ku gaciro kabyo ko "gukora neza".