Ibyiza by'ingenzi bya manipulator ya servo ifite umurongo wa gatatu

Ibyiza by'ingenzi bya robots za Servo zifite umurongo wa gatatu

Mu rwego rwo gukora neza mu buryo bwikora, ubwiza bw'urwego rwa milimetero ntabwo bukiri igipimo cy'ingenzi cy'ubwiza. Ubushobozi bwo gushyira ibintu ku rwego rwa micron ndetse no ku rwego rwa submicron ni ingenzi mu kugena imikorere myiza y'umurongo w'umusaruro, igipimo cy'impamyabushobozi y'umusaruro, ndetse n'ubushobozi bw'ibanze bw'ikigo mu guhangana n'ibibazo. Bitewe n'ubwiza bw'imiterere yabo idasanzwe, robots za servo zifite umurongo wa gatatu byahindutse ibikoresho by'ingenzi mu nzego zigezweho nko gukora ibikoresho by'ikoranabuhanga, gukoresha inshinge neza, n'ibikoresho by'ubuvuzi. Iyi nkuru izasesengura byimbitse ibyiza by'ingenzi byo gushyira ibintu neza cyane mu buryo buhanitse uhereye ku bintu bitatu: ikoranabuhanga ry'ibanze, imikorere, n'agaciro k'inganda.

Ubwa mbere, Ishingiro rya Tekiniki ry’Ubuziranenge: "Kode y’Ubufatanye" ya Sisitemu ya Servo ifite umurongo wa gatatu

Uburyo bwo gushyira servo robot ifite umurongo wa gatatu mu buryo bunonosoye cyane si imikorere y'igice kimwe gusa, ahubwo ni ingaruka z'imikorere y'ibice bitatu by'ingenzi: moteri ya servo, uburyo bwo kohereza neza, na sisitemu yo kugenzura. Hamwe, izi module eshatu zigize "impandeshatu y'ikoranabuhanga" y'uburyo bunoze.

1. Servo Moteri: "Inzu ikomeye" ya Precision

Moteri ya servo ni yo iyobora imiterere y’imashini ikora neza cyane, kandi imikorere yayo igena umuvuduko w’imashini ikora neza n’ikosa ry’imashini ikora. Bitandukanye na moteri zisanzwe zikora neza, moteri za servo za AC zifite uburyo bwo kugenzura imikorere y’imashini. Uburyo bwo gusubiza ibintu mu buryo bwihuse butangwa n’imashini ikora neza ku muvuduko wa moteri n’aho ikorera butuma igenzura neza umuvuduko, torque, n’aho ikorera. Urugero, imashini ikora neza ya 23-bit absolute encoder ikora pulses 8,388,608 kuri buri muzunguruko, bivuze ko inguni izenguruka ya moteri ishobora kugenzurwa neza na dogere 0.000043, bitanga garanti y’ibanze ku miterere mito ya robo. Byongeye kandi, imikorere ya moteri ya servo "zero-speed lock" ituma robo iguma ihamye nyuma yo kugera aho igenewe, ikarinda amakosa "yo gutembera" aterwa no kutinjira neza.

2. Gukwirakwiza mu buryo bunoze: "Ihuriro ry'Ihererekanyamakuru" rya Precision

Niba moteri ya servo ari "umutima", ubwo uburyo bwo kohereza neza ni "imitsi y'amaraso," ishinzwe kohereza imbaraga nyazo za moteri nta gutakaza kuri actuator ya robo. Uburyo busanzwe bwo kohereza bukoreshwa muri robo za servo zifite umurongo wa gatatu burimo vis z'umupira, imikandara ihuza ibintu, n'amabwiriza ya lini. Ubuhanga bw'ibi bitatu bugira ingaruka zitaziguye ku ngaruka za nyuma zo gushyiramo.

Utuzu tw'umupira: Nk'igice cy'ingenzi cy'ingendo y'umurongo, ikosa ryabo ry'umugozi ni ikimenyetso cy'ingenzi. Servo ManipulatorMuri rusange bakoresha vis z'umupira zifite amanota ya C3 cyangwa arenga, aho amakosa y'icyuma agenzurwa muri 0.015mm kuri metero. Hari vis zimwe na zimwe zo mu rwego rwo hejuru zigera kuri C2 (0.008mm kuri metero). Imiterere y'ibisuguti bizunguruka bya vis z'umupira ntigabanya gusa gutakaza ingufu ahubwo inarinda ikintu "gikururuka" giterwa no kunyerera, bigatuma habaho kugenda neza no gushyirwa ahantu hashobora gusubirwamo.

Amabwiriza y'umurongo: Atanga ubuyobozi n'inkunga. Amakosa yabo yo guhuza no guhagarara neza agira uruhare mu makosa yo gushyira mu mwanya wa nyuma. Gukoresha amabwiriza y'umurongo y'umurongo (nk'urugero rwa H) bishobora kugenzura ikosa ryo ku ruhande mu ngendo imwe kugeza kuri 0.005mm/1000mm, bigatanga "garanti y'inzira" yo guhuza umurongo w'umurongo ...

3. Sisitemu yo kugenzura: "Ubwonko" bwo gukora neza

Niba ibikoresho ari "umubiri" w'ubuhanga, noneho sisitemu yo kugenzura ni "ubwonko" bwayo. Sisitemu yo kugenzura ya serivo ifite umurongo wa gatatu Robot UsAmabwiriza ya pulse cyangwa itumanaho rya bisi kugira ngo itegure kandi ikosore inzira z'imigendere y'imirongo itatu mu gihe nyacyo. Ibyiza byayo by'ingenzi biri mu ngingo ebyiri zikurikira:

Ikoranabuhanga ryo guhuza inzira: Hakoreshejwe uburyo bwo guhuza inzira nk'umurongo n'uruziga, inzira z'ingendo zikomeye zishobora kugabanywamo ibice bito bigororotse cyangwa uruziga. Amakosa yo gushyira ibintu muri buri gice ashobora kugenzurwa kugeza ku rwego rwa mikoroni, bigatuma igikoresho kirangiza gikurikiza neza inzira yagenwe mu gihe cyo guhuza inzira nyinshi (nk'ugufata, kwimura no gushyira ibintu mu mwanya wabyo). Ibi birinda kunyura mu nzira.

Gukosora ibitekerezo bifunze: Uretse ibitekerezo bya moteri ya servo byubatswemo, amwe mu mamodeli yo mu rwego rwo hejuru anakoresha ibikoresho byo gupima hanze nka optique cyangwa magnetic scales kuri effector cyangwa motion axis, bigatuma habaho "gugenzura inshuro ebyiri zifunze." Iyo igikoresho cyo gupima hanze kibonye itandukaniro hagati y'aho ibintu biherereye n'aho bigeze, sisitemu yo kugenzura ihita ihindura umusaruro wa moteri kugira ngo isubize ikosa muri 0.001mm. Ubu bushobozi bwo "gukosora amakosa mu gihe nyacyo" ni bwo bwishingizi bw'ibanze bwo gushyiraho neza cyane.

Icya kabiri, imikorere isobanutse: inyungu zuzuye kuva ku "gukora neza" kugeza ku "guhagarara neza"

Hashingiwe ku ishingiro rya tekiniki ryavuzwe haruguru, ibyiza byo gushyira ibintu mu buryo bunonosoye cyane bya servo manipulators zifite umurongo wa gatatu amaherezo bihinduka imikorere igaragara kandi igaragara mu mikorere, ikubiyemo ibipimo bitatu by'ingenzi: uburyo bwo gushyira ibintu mu buryo bunoze, uburyo bwo gusubiramo ibintu, no kudahindagurika mu mikorere.

1. Ubuziranenge bw'aho ibintu biherereye: Kuva kuri milimetero kugeza kuri mikorometero

Uburyo bwo gushyiramo neza bivuze itandukaniro riri hagati y’aho igikoresho gikorera cyageze n’aho giherereye, kandi ni ikimenyetso cy’ingenzi cy’uburyo ibintu bimeze neza. Nubwo uburyo bwo gushyiramo neza ibyuma bisanzwe bikoresha umwuka (pneumatic manipulators) akenshi ari 0.1-0.5mm, uburyo bwo gushyiramo neza ibyuma bitatu bikoresha servo muri rusange bushobora kugera kuri 0.02-0.05mm, aho ibyuma binini bikoresha ikoranabuhanga bikoresha ikoranabuhanga rito bikoresha amashanyarazi, aho icyuma gipinisha ...

2. Gusubiramo: "Ingwate y'Ubudasa" ku musaruro mwinshi

Gusubiramo bivuze intera yo kunyuramo iyo robo igeze ku mwanya umwe w’intego inshuro nyinshi, ibyo bikaba bigena mu buryo butaziguye imiterere y’ibicuruzwa bikorerwa mu bwinshi. Gusubiramo imikorere ya robo ya servo ifite umurongo wa gatatu akenshi bigira ± 0.01mm, hamwe na moderi zimwe na zimwe zo mu rwego rwo hejuru zigera kuri ± 0.003mm. Mu nganda zikora ibikoresho byo gushushanya neza, iyo zikora ibice bifite inkuta nto nka za terefone zigendanwa, Robot agomba gufata neza igice kiri mu ibumba akagishyira ahantu ho kugenzura. Iyo ubushobozi bwo gusubiramo burenze 0.02mm, bishobora gutuma ibice bidakora neza kandi bigasiba igenzura. Uburyo bwo gusubiramo bukabije butuma ibice bifatwa neza kandi bigashyirwa ahantu hatandukanye buri gihe, bigatuma ubushobozi bwo kwihanganira ibice mu gukora ibintu byinshi bugera kuri 0.01mm.

3. Guhagarara neza mu migendere: Kudahinduka mu buryo bunyuranyije n'amahame ku muvuduko mwinshi

Ubuhanga bwo hejuru ntabwo busaba gusa ubuziranenge butajegajega ahubwo bunasaba ubuziranenge buhamye. Roboti ya servo ifite imigozi itatu, ikora ku muvuduko wo hejuru (urugero, umuvuduko udafite umutwaro wa 1-2m/s), yirinda kunyura mu myanya iterwa no guhungabana kw'ingufu binyuze mu buryo buhindagurika bwa sisitemu yo kugenzura no gushyigikira uburyo bwo kohereza. Urugero, mu mirongo y'ibicuruzwa bya 3C, roboti igomba kurangiza igikorwa cya "gufata screw - kuyimurira mu mwobo wa screw - gukaza" mu isegonda 1. Kunyeganyega cyangwa kunyura mu gihe cyo kugenda bishobora gutuma screw inyerera cyangwa ihindagurika nabi. Imiterere y'umuvuduko wo hejuru kandi udahindagurika ya roboi ya servo ifite imigozi itatu ituma icyuma gitera imbaraga kigumana aho gihagaze neza mu gihe cyo kugenda vuba, bigatuma ikosa rya coaxiality mu gihe cyo gukaza screw riguma muri 0.02mm, birushaho kunoza cyane imikorere n'ubwiza bw'ikigo.

Icya gatatu, Gushyira mu bikorwa agaciro k'inganda: Guteza imbere ibikorwa bifatika kuva ku "kugabanya ikiguzi" kugeza ku "kunoza imikorere myiza"

Inyungu nyamukuru yo gushyira ibintu mu buryo bunoze cyane igomba guhindurwamo agaciro gafatika mu nganda. Mu nzego zitandukanye z’inganda zigezweho, inyungu z’ubuhanga bw’amarobo ya servo afite umurongo mugari ni ukuvugurura uburyo bwo gukora, bigatuma habaho ihinduka kuva ku mirimo y’amaboko kugera ku gukora ibintu binoze mu buryo bwikora.

1. Gukora ibikoresho by'ikoranabuhanga: "Amayeri yo gukora neza" y'ibice bito

Gukora ibikoresho by'ikoranabuhanga ni kimwe mu bigo bifite ibisabwa cyane mu buryo bunoze. Kuva ku gupakira chips kugeza ku gusoda PCB board kugeza ku guteranya ibice by'ikoranabuhanga, ubushobozi bwo gushyira ibintu ku rwego rwa micron burakenewe. Dufashe urugero rwo guteranya modules za kamera za telefoni zigendanwa, icyuho kiri hagati y'ibice nka lens, sensor, na filter muri module kigomba kugenzurwa muri 0.01mm. Gukoresha intoki ntabwo ari imikorere myiza gusa ahubwo binashobora no gukora amakosa yo gushyiramo bitewe no gutindana n'intoki. Roboti ya servo ifite axis eshatu, binyuze mu gushyiraho neza cyane no kugenzura uko ibintu bimeze, bituma ibice bishyirwa mu buryo "butagira icyuho" (zero-gap), byongera ubushobozi bwo guteranya inshuro zirenze eshatu kandi bigabanya igipimo cy'ubusembwa kuva kuri 5% kugera munsi ya 0.1%. Byongeye kandi, mu gukoresha wafer ya semiconductor, robo igomba gufata wafers zifite umurambararo wa mm 300 (ubugari bwa mm 0.77 gusa) kandi ikabishyira neza ku meza ya lithography, hamwe n'ikosa ryo gushyiramo riri munsi ya mm 0.005. Ubuhanga buhanitse cyane bwa robo ya servo ifite umurongo wa gatatu bwabaye "ihuriro ry'ingenzi" mu gukora wafers.

2. Uburyo bwo Gutera Inshinge mu buryo Bunoze: "Umuyoboro Udacogora" hagati y'Ibikoresho n'Ibice

Mu gukora imashini ikoze neza, ubuhanga bwa robo bugira ingaruka ku buryo butaziguye ku kurinda imashini n'ubwiza bw'igice. Iyo imashini ikoze neza ifunguye kandi igafunga, robo igomba kugera neza mu mwobo w'imashini kugira ngo ifate igice. Guhinduka uko byakabaye kurenza 0.05mm bishobora gutera kugongana n'imashini, bigatera kwangirika kw'imashini ibihumbi mirongo. Gushyira igikoresho neza cyane kuri robo ifite umurongo wa gatatu bituma habaho kugabanuka kuri munsi ya 0.02mm kuri buri gice, bigakuraho burundu ibyago byo kugongana n'imashini. Byongeye kandi, mu imashini ikoze neza cyangwa ikoze neza, robo igomba gushyiramo neza ikintu gishyirwamo (nk'icyuma) mu mwobo w'imashini, gifite umwanya wa 0.03mm gusa. Gushyiramo neza cyane bituma "gushyiramo rimwe gusa, neza," birinda ko igice gishyirwamo nabi no kongera ikoreshwa ry'ibikoresho ku kigero kirenga 15%.

3. Ibikoresho byo kwa muganga: "Ibipimo by'ingwate" mu bidukikije bifite isuku nyinshi

Gukora ibikoresho by'ubuvuzi bisaba cyane ubushishozi n'isuku. Uburyo bwo gukoresha nk'uburyo bwo gutunganya urushinge rwa siringi, gutunganya ingingo z'ubukorano, no guteranya catheter y'ubuvuzi byose bisaba ibikoresho byikora neza cyane. Dufashe urugero rwo gutunganya ingingo z'ubukorano za titaniyumu, ubukana bw'ubuso bw'ingingo bugomba kugenzurwa muri Ra0.8μm. Ikosa ryose ryo gushyira mu nzira yo gutunganya rirenze 0.01mm rizagira ingaruka ku buryo ingingo ikora n'igihe ikora. Roboti ya servo ifite imirongo itatu, binyuze mu guhuza gahunda nziza yo kugenzura inzira no kugenzura imbaraga z'inyuma, ishobora kugenzura inzira yo gutunganya, ikagenzura neza ubuso bukenewe mu gihe yirinda umwanda w'ivumbi n'ihindagurika ry'uburyo bukoreshwa mu gutunganya intoki. Mu guteranya catheter y'ubuvuzi, roboti igomba guhuza neza catheter ifite umurambararo wa 0.5mm n'icyuma gihuza, aho gushyiramo ibintu bidafite aho bihuriye na 0.02mm. Ibyiza by'uburyo roboti ya servo ifite imirongo itatu byizeza ko nta makosa na make akorwa mu gihe cyo gushyira ibikoresho by'ubuvuzi, bikagenzura umutekano n'ubwirinzi bw'ibikoresho by'ubuvuzi.

4. Ibice by'imodoka: "Abarinzi b'Ubwiza" mu nganda zigezweho

Uko imodoka zigenda zitera imbere, ibisabwa mu gukora neza ku bice by'ingenzi nka moteri na transmission bikomeza kwiyongera. Inyungu zo gukora neza za robots za servo zifite umurongo wa gatatu ni ugusimbura ibikoresho bisanzwe by'amaboko n'ibikoresho bidakoresha neza cyane. Dufashe urugero rwo gushyiraho impeta ya piston ya moteri, umwanya uri hagati ya ring ya piston n'umuyoboro wa piston ugomba kugenzurwa muri mm 0.02-0.05. Gushyiraho intoki bishobora gutuma impeta ya piston ihinduka bitewe n'ikosa ritari ryinshi mu mbaraga no mu myanya. Ariko, robots za servo zifite umurongo wa gatatu, binyuze mu gushyiraho neza no gufata neza, bituma impeta za piston "zitangiza kandi zinoze" zishyirwaho, byongera igipimo cyo gushyiramo kuva kuri 98% kugeza kuri 99.9%. Mu gihe cyo guteranya ibikoresho bya transmission, robots zigomba gushyira neza ibikoresho mu mwobo wo gutwara, aho hagati y'umwobo w'imbere wa gear n'umuyoboro wo gutwara imodoka hagumaho 0.015mm gusa. Gushyiramo neza cyane bituma habaho guhindagurika hagati ya gear n'umuyoboro wo gutwara imodoka, bikagabanya urusaku n'ingufu mu gihe cyo gukoresha transmission kandi bikongera igihe cyo kubaho kw'ibicuruzwa.

Icya kane, Guhitamo no Gukoresha: Nigute Wakongera Ibyiza byo Gukoresha Uburyo Buhanitse?

Kugira ngo amasosiyete amenye neza ibyiza byo gushyiramo imiterere myiza cyane ya robots za servo zifite umurongo wa gatatu, agomba kuzirikana ingingo eshatu zikurikira mu gihe cyo guhitamo no gukoresha moderi:

1. Sobanura ibisabwa kugira ngo ubone amakuru akwiye: Irinde guhitamo cyane cyangwa guhitamo nabi

Ibisabwa mu buryo bw'ubuhanga biratandukanye cyane mu nganda no mu mikorere. Ibigo bigomba kubanza kumenya ibimenyetso by'ingenzi—uburyo bwo gushyira ibintu mu buryo bw'ubuhanga, uburyo bwo gusubiramo ibintu, n'umuvuduko w'ingendo—mbere yo guhitamo uburyo bukwiye bwo kubishyiraho. Urugero, ku gice rusange cy'ibikoresho by'ikoranabuhanga, icyitegererezo gifite uburyo bwo gushyira ibintu mu buryo bw'ubuhanga bwa 0.03-0.05mm gishobora gutoranywa, mu gihe uburyo bwo gufata imashini ya semiconductor busaba icyitegererezo cyo mu rwego rwo hejuru gifite uburyo bwo gushyira ibintu mu buryo bw'ubuhanga bwa 0.005-0.01mm. Ibi birinda kongera ibiciro bitewe no "gukora ibintu mu buryo bukabije" cyangwa kugira ingaruka ku musaruro bitewe no "kudakora neza."

2. Ibande ku gukomera muri rusange: "Ingwate itagaragara" y'ubuziranenge

Uburimbane bwa roboti muri rusange bugira ingaruka ku buryo butaziguye ku buziranenge bwayo mu gihe cyo kugenda cyane. Niba uburimbane bw'umurabyo n'imirongo yo kugenda bidahagije, uburimbane bushobora kubaho mu gihe cyo kugenda cyane, bigatera amakosa yo gushyiramo. Kubwibyo, mu gihe uhitamo roboti, witondere ibikoresho by'umubiri (nk'icyuma cya aluminiyumu cyangwa icyuma gishongeshejwe) n'uburimbane bw'ibice byo kohereza (nk'umurambararo w'umupira n'ubwoko bw'inzira y'umuhanda) kugira ngo urebe neza ko imiterere rusange ishobora gushyigikira uburimbane buhanitse.

3. Shimangira Gutanga no Kubungabunga: "Ingwate y'igihe kirekire" y'Ubuziranenge

Ndetse na roboti zo mu rwego rwo hejuru zifite umurongo wa gatatu zishobora kugabanuka buhoro buhoro mu bijyanye n'ubuziranenge iyo zikozwe nabi cyangwa zirengagijwe. Ibigo bigomba gutegura uburyo bwo gushyiraho no gukoresha ibikoresho by'umwuga, kunoza ibipimo bya sisitemu yo kugenzura (nk'uburyo bwo guhindura ibintu no kuyungurura) kugira ngo bigerweho neza. Gukomeza kubungabunga bigomba kuba birimo gusukura buri gihe ibice bikwirakwiza, kongera amavuta, no kugenzura isuku y'ibikoresho byo gusimbuza n'ibipimo kugira ngo hirindwe ko bitakaza ubuziranenge bitewe no kwangirika no kwangirika.