Papiso ea Litšebeliso tsa Liroboto tsa Servo tsa Axis tse Tharo tse nang le Maemo a Fapaneng a Nepahetseng

Papiso ea Litšebeliso tsa Liroboto tsa Servo tsa Axis tse Tharo tse nang le Maemo a Fapaneng a Nepahetseng

Leqhubung la boiketsetso ba indasteri, liroboto tsa servo tse nang le mekhahlelo e meraro, ka sebopeho sa tsona se bonolo le taolo e matla ea motsamao, li fetohile lisebelisoa tsa mantlha tse akaretsang masimo a mangata a kang tlhahiso ea lisebelisoa tsa elektroniki, indasteri ea likoloi le polokelo ea thepa. Ho nepahala, e le sesupo sa mantlha se khethollang meeli ea ts'ebeliso ea eona, ho ama ka kotloloho katleho ea tlhahiso, boleng ba sehlahisoa le litšenyehelo tsa tlhahiso. Sengoloa sena se tla qala ka litekanyetso tsa ho hlalosa maemo a nepahetseng, se bapise ka mokhoa o hlophisehileng liphapang maemong a ts'ebeliso bakeng sa liroboto tsa servo tse nang le mekhahlelo e meraro tse nang le maemo a fapaneng a ho nepahala, 'me se qaqise mohopolo oa khetho ea mantlha, se fane ka litšupiso bakeng sa litsebi tsa indasteri lefatšeng ka bophara.

1. Maemo a Bohlokoa a ho Hlalosa Maemo a Nepahetseng a Liroboto tsa Servo tsa Axis tse Tharo

2. Boemo bo Phahameng ba ho Sebetsa ka ho Sebetsa: Maemo a tlhahiso a maemo a hodimo a taolo ya maemo a micron

3. Boemo ba ho nepahala bo mahareng: Likopo tsa indasteri tse akaretsang tse tsamaisoang ke katleho ea litšenyehelo

4. Boemo bo Tloaelehileng ba ho Nepahala: Ho akaretsa maemo a bohlokoa bakeng sa boiketsetso ba motheo

5. Mokhoa oa Motheo oa Khetho e Nepahetseng: Moralo oa ho etsa liqeto o leka-lekanyang litlhoko le litšenyehelo

I. Maemo a Bohlokoa a ho Hlalosa Maemo a Nepahetseng a Liroboto tsa Servo tsa Axis tse Tharo

Lefapheng la indasteri, tlhaloso e nepahetseng ea liroboto tsa servo tse nang le li-axis tse tharo Haholo-holo e potoloha matšoao a mabeli a mantlha: ho nepahala ha ho pheta-pheta (ho kheloha ha boemo ba phello ea ho qetela ha roboto e etsa ketso e tšoanang khafetsa) le ho nepahala ha ho beha boemo ka botlalo (ho kheloha pakeng tsa maemo a 'nete le a khopolo-taba a phello ea ho qetela). Ha e kopantsoe le liparamente tse thusang tse kang bokhoni ba mojaro le lebelo la motsamao, sena se theha sistimi ea lihlopha tsa maemo a mararo e sebelisoang haholo indastering. Ho bohlokoa ho hlokomela hore limaraka tsa ho nepahala ha lia lekanngoa ka botlalo 'me li ka fetoloa hanyane ho latela litlhoko tse ikhethang tsa indasteri ea ts'ebeliso, empa mefuta ea mantlha e lula e tsitsitse:

- Sekala se Phahameng sa ho Sebetsa ka ho Sebetsa: Ho Pheta-pheta ≤ ±0.02mm, Ho Nepahala ha Sebaka ka ho Feletseng ≤ ±0.1mm. Hangata e kopantswe le dikarolo tsa kutlo tsa kantle tse kang dikala tse otlolohileng, e ikamahanya le motswako o nepahetseng wa di-servo motor le di-harmonic reducers, tse loketseng maemo a nang le ditlhoko tse thata bakeng sa ho laola ka manyane.

- Kereiti e Bohareng ea ho Nepahala: Ho pheta-pheta pakeng tsa ± 0.02mm le ± 0.1mm, Ho nepahala ha Sebaka ka Botlalo ≤ ± 0.3mm. E sebelisa mokhoa oa khale oa li-servo motors + li-reducer tsa planetary, tse emelang khetho ea indasteri e tloaelehileng e lekanyang ho nepahala le litšenyehelo.

- Kereiti e Tloaelehileng ea ho Nepahala: Ho Pheta-pheta ≥ ± 0.1mm, Ho Nepahala ha Sebaka ka Botlalo ≤ ± 0.5mm. Hangata e sebelisa li-motor tsa servo tse kopantsoeng le mabanta a lumellanang kapa li-drive tsa gear, tse shebaneng le mesebetsi ea motheo ea ho sebetsana le ho beha sebaka.

Ntlha ea bohlokoa ea sehlopha sena sa lintlha ke ho finyella papiso e ntle ka ho fetisisa pakeng tsa "litlhoko tsa ho nepahala le litšenyehelo tsa tlhahiso" ka litlhophiso tse fapaneng tsa litsamaiso tsa ho khanna, mekhoa ea phetisetso, le likarolo tsa ho lemoha.

II. Boemo bo Phahameng ba ho Sebetsa ka ho Nepahala: Maemo a Phahameng a Tlhahiso Tlas'a Taolo ea Boemo ba Micrometer

Boleng ba mantlha ba liroboto tsa servo tse nang le li-axis tse tharo tse nepahetseng bo lutse ho laoleng liphoso tsa motsamao boemong ba micrometer, ho fihlela litlhoko tse thata tsa "lefela-sekoli" tlhahisong ea lihlahisoa tsa boleng bo holimo. Maemo a ts'ebeliso ea tsona ka kakaretso a na le litšobotsi tsa "li-high tse tharo": boleng bo phahameng ba sehlahisoa, ho rarahana ha ts'ebetso e phahameng, le litlhoko tse phahameng tsa tikoloho. Libaka tse tloaelehileng li kenyelletsa:

1. Tlhahiso ea Semiconductor le Microelectronics

Ho sebetsaneng le ho paka li-chip tsa silicon wafer, boleng ba wafer e le 'ngoe bo ka fihla ho li-euro tse likete, 'me ts'ebetso e se e phethile hoo e ka bang 90% ea mehato ea tlhahiso. Phoso efe kapa efe e nyane e ka lebisa ho hlakoloeng ha sehlopha sohle sa lihlahisoa. Nakong ena, liroboto tsa servo tse nang le li-axis tse tharo tse nang le ho nepahala ho pheta-phetoang ≤ ±0.01mm lia hlokahala ho phethela ts'ebetso ea wafer e iketsang, ho koahela ka photoresist, le lits'ebetso tse ling. Mohlala, liroboto tsa cleanroom tse nepahetseng haholo tse sebelisoang ke k'hamphani ea Jeremane SÜSS MicroTec ha li fihlelle feela ho nepahala ho felletseng ha li-micrometer tsa ±50 empa hape li fihlela litlhoko tsa cleanroom tsa ISO Class 3 ho isa ho ISO Class 4, li qoba tšenyo ho li-wafer tse bakoang ke motlakase o sa fetoheng le lerōle. Tsena Letsoho la RoboticHangata li sebelisa tlhophiso ea likhokahano tsa Cartesian, tse kopantsoeng le li-screw tsa bolo tsa sehlopha sa C3 le litataiso tse otlolohileng tsa letoto la THK HSR. Ho fokotsa khatello ea maikutlo pele ho fokotsa ho phatloha ha phetisetso, ho netefatsa motsamao o boreleli, o se nang ho thothomela.

2. Kopano e Nepahetseng ea Lisebelisoa tsa Bongaka

Ha ho etsoa likaroloana tsa bongaka tse nyenyane, tse kang ho bokelloa ha li-catheter tsa ho isa stent ea pelo le lisebelisoa tsa ho buoa tse sa keneleng metsi haholo, boholo ba likarolo hangata bo sekaleng sa millimeter, 'me libaka tsa ho kopana li hlokahala hore e be ≤0.02mm. Matsoho a robotiki a nang le li-axis tse tharo tse nepahetseng haholo a ka etsa ts'ebetso e bonolo joalo ka ho kopanya mocheso oa li-interface tsa catheter le ho beha le ho hokela li-micro-sensor. Ho pheta-pheta ha tsona ho laoloa pakeng tsa ±0.005mm le ±0.01mm, 'me li na le lithapo tsa letsoho tse khahlanong le static (ESD rating

3. Sephutheloana sa Likarolo tsa Elektroniki se Nepahetseng

Mekhoeng ea ho kenya chip le ho kenya boto ea PCB ea lihlahisoa tsa 3C, matsoho a roboto a nepahetseng haholo a tlameha ho fihlella ho lekana hantle ha li-pin le li-pad, ka ho pheta-pheta ha ±0.01mm. Mohlala, ts'ebetsong ea ho paka processor ea mohala oa thekeng, kamora hore roboto ea servo ea axis tse tharo e nke chip e sebelisa nozzle ea ho hula, e hloka ho phethela metsamao e hokahaneng ea X/Y/Z ka metsotsoana e 0.5 ho beha chip ka nepo sebakeng se khethiloeng holim'a substrate, ka ho kheloha ho laoloang ka har'a li-micrometer tse 5. Hangata liroboto tsena li sebelisa sistimi e kopaneng ea drive le taolo, e fihlella karabelo ea motsamao oa boemo ba millisecond ka bese ea EtherCAT ho netefatsa ho nepahala le botsitso nakong ea ts'ebetso ea lebelo le phahameng.

III. Boemo ba ho nepahala bo mahareng: Ditshebediso tse ka sehloohong tsa indasteri tse susumetswang ke ho boloka ditjeo ka nepo

Liroboto tsa servo tse mahareng tse nepahetseng tse nang le mekhahlelo e meraro, ka melemo ea tsona ea mantlha ea "ho nepahala ho itekanetseng + litšenyehelo tse laoloang," li nka karolo e fetang 70% ea indasteri ea lefats'e. Roboto Market share. Li sebelisoa haholo maemong a tlhahiso a maholo joalo ka tlhahiso ea likoloi, kopano ea lihlahisoa tsa 3C, le ho bōptjoa ha ente. Ts'ebetso ea tsona e nepahetseng e lumellana hantle le litlhoko tsa mantlha tsa "tlhahiso e phahameng ea bongata + boleng bo tsitsitseng" maemong ana.

1. Tlhahiso ea Likarolo tsa Likoloi

Litšebetsong tsa ho tjheseletsa likoloi le ho kopanya ka hare, liroboto tse nepahetseng ka mokhoa o mahareng (tse nang le ho nepahala ho pheta-phetoang ha ±0.05mm ho isa ho ±0.1mm) li ka phethela lits'ebetso tse kang ho kenya hinge ea mamati le ho beha dashboard. Mohlala, OEM ea lapeng e sebelisa roboto ea NC ea axis tse tharo e nang le bokhoni ba mojaro oa tonne. Mojaro o moholo ka leoto o feta 800 kg, 'me ho pheta-pheta ke

2. Kopano ea Lihlahisoa tsa 3C ea maemo a mahareng

Mekhoa e kang ho polisha sekotjana sa mohala oa thekeng le ho tiisa li-screw tsa laptop, matsoho a roboto a nepahetseng bohareng a ka fihlella ho pheta-pheta ha ± 0.02 mm ho isa ho ± 0.05 mm, ho fihlela litlhoko tsa ho kopanya likarolo. Mohlala, letsoho la roboto la Siweike "Lushan" la li-axis tse tharo le na le boima ba ho jara ba 3-8 kg mme le tsamaisana le lithane tse 80-420. Mochini oa ho Enta ka Entes. E iketsetsa ho tlosa le ho beha diforeimi tse bohareng tsa fono ka boiketsetso. Tshebediso ya yona ya sistimi ya servo ya Huichuan le moralo o kopaneng wa drive le taolo e fokotsa ditjeo tsa disebediswa ha e ntse e netefatsa ho nepahala. Bakeng sa ditshebetso tse kang ho tiisa dikurufu, enjene ya servo ya 200W e kopantsweng le sesebelisoa sa ho fokotsa dipolanete sa 1:5 e ka laola torque le boemo ba ho tiisa ka nepo, e thibela ho hlobola kapa ho tiisa ho feteletseng ho ka senyang dikarolo.

3. Boiketsetso ba ho Enta ka Ente

Indastering ea ho etsa li-enjene, lits'ebetso tse kang ho tlosa sehlahisoa se felileng le ho ngola li-in-mold li hloka matsoho a roboto ka litlhoko tsa ho nepahala ho tloha ho ± 0.03mm ho isa ho ± 0.1mm. Liroboto tsa servo tsa letoto la ST tsa Shini USA, haholo-holo mohlala oa letsoho le le leng, li lumellana le mechini ea ho etsa li-enjene ea lithane tse 80-160, ka nako e fokolang ea ho tlosa ea metsotsoana e 1.3 feela, e netefatsang hore e beoa ka mokhoa o tsitsitseng ha e ntse e tlosa lihlahisoa tse nang le mabota a masesaane ka potlako. Mohlala oa Siweike SW7112DS, o nang le potoloho ea metsotsoana e 3.3 ea ho se sebetse, o lumellana le mechini ea ho etsa li-enjene ea lebelo le phahameng ea lithane tse 450. Bokhoni ba eona bo tloaelehileng ba mojaro oa 5kg bo e lumella ho sebetsana le ho tlosa sehlahisoa le ts'ebetso e rarahaneng joalo ka ho ngola li-in-mold, ho bonts'a ho tenyetseha ho sebetsang ha letsoho la roboto le nepahetseng ka mokhoa o mahareng.

IV. Boemo bo Tloaelehileng ba ho Nepahala: Ho Akaretsa Maemo a Bohlokoa bakeng sa Boiketsetso ba Motheo

Liroboto tsa servo tse tloaelehileng tse nang le li-axis tse tharo tse nepahetseng tsepamisa maikutlo ho "qetella litšenyehelo tsa motheo tsa ho beha le ho laola." Hangata ho pheta-pheta ha tsona ho pakeng tsa ± 0.1mm le ± 0.5mm. Li sebelisoa haholo-holo maemong ao ho sa hlokeheng ho nepahala ho phahameng ha maemo, joalo ka ho sebetsana, ho hlopha le ho kenya lipaleteng. Li emela lisebelisoa tsa "boemo ba pele" bakeng sa ho iketsetsa lits'ebetso tsa indasteri.

1. Bobolokelo ba thepa le ho hlopha

Maemong a kang ho hlophisa ka potlako ho tlisa le ho boloka thepa ka inthanete, liroboto li hloka ho tšoara, ho arola le ho bokella liphutheloana. Ho pheta-pheta ha ± 0.2mm ho isa ho ± 0.5mm ho lekane. Litšebeliso tsena hangata li sebelisa liroboto tse nang le li-axis tse tharo tse nang le bolelele ba potoloho ea θ-axis ea 0°-360°. Ha li kopantsoe le sistimi ea ho lemoha pono, li ka tsebahatsa boholo ba sephutheloana le tlhaiso-leseling ea barcode kapele, e leng se nolofalletsang ho beoa ka nepo libakeng tse fapaneng. Mokhoa oa tsona oa phetisetso hangata ke lebanta le lumellanang, le jang 1/3 feela ea sekurufu sa bolo, 'me le na le lerata le tlase, tlhokomelo e bonolo, le ho tšoaneleha bakeng sa ts'ebetso e tsoelang pele ea lihora tse 24.

2. Indasteri ea Lijo le Liphutheloana

Ha ho pakoa lijo le ho beoa ha lino tse tahang, matsoho a roboto a nepahetseng a tloaelehileng a ka iketsetsa tsamaiso ea mekotla le libotlolo, hangata a hloka ho nepahala ha ±0.3mm ho isa ho ±0.5mm. Ha ho nahanoa ka litlhoko tsa bohloeki ba indasteri ea lijo, matsoho ana a roboto hangata a sebelisa likhetla tsa tšepe e sa ruseng le setlolo sa boemo ba lijo ho qoba likotsi tsa tšilafalo. Mohlala, moleng oa tlhahiso ea liphutheloana tsa noodle hang-hang, letsoho la roboto la servo le nang le mekhahlelo e meraro le ka beha likuku tsa noodle le lipakete tsa linoko ka tatellano ka mabokoseng, ka bokhoni ba ho sebetsana le mabokose a fetang 2000 ka hora, e ntlafatsang haholo bokhoni ba ho hlopha le ho fokotsa litšenyehelo tsa basebetsi.

3. Ho sebetsana le thepa e boima

Libakeng tse boima tsa indasteri tse kang ho betla le ho lahla, matsoho a roboto a hloka ho sebetsana le dikgeo kapa dihlahiswa tse fedisitsweng tse boima ba ≥50Kg. Tabeng ena, tlhoko ya ho nepahala e ka fokotswa ho tloha ho ±0.1mm ho isa ho ±0.3mm, ka ho tsepamisa maikutlo hodima bokgoni ba mojaro le botsitso ba sebopeho. Mefuta ena ya matsoho a roboto hangata e sebedisa mmele wa sebopeho sa tshepe le drive e thuswang ke hydraulic. Leeto la X/Y/Z axis le etswa ka tsela e ikgethang ho ya ka sebaka sa mosebetsi. Mohlala, sebakeng sa ho betla mabili a dikoloi, roboto ya servo ya axis tse tharo e ka tlosa mabili a mocheso o phahameng hlobo ya ho betla mme ya a fetisetsa sebakeng sa ho phodisa, e qoba dikotsi tsa polokeho tsa tshebetso ya letsoho.

V. Mokhoa oa Bohlokoa oa Khetho e Nepahetseng: Moralo oa ho Etsa Liqeto o Leka-lekanyang Litlhoko le Litšenyehelo

Ho khetha boemo bo nepahetseng ba roboto ea servo ea li-axis tse tharo ho kenyelletsa ho fumana tekano lipakeng tsa "litlhoko tsa ts'ebetso, litšenyehelo tsa tlhahiso le katleho ea ts'ebetso." Melao-motheo e meraro e latelang ea mantlha e ka thusa lik'hamphani ho etsa liqeto tse nang le tsebo:

1. Beha Pele ho Nepahalo ea Ts'ebetso

Pele ho kgetho, moeli wa ho nepahala ha ditshebetso tsa mantlha o tlameha ho hlaloswa ka ho hlaka: Bakeng sa ditshebetso tse nyane tse kang ho paka ha semiconductor, mohlala o nepahetseng haholo o nang le ≤±0.02mm o tlameha ho kgethwa; bakeng sa kopano ya dikarolo tsa dikoloi, mohlala o nepahetseng wa mahareng o lekane; bakeng sa tsamaiso ya motheo ya thepa, sehlahiswa se nepahetseng sa maemo ke tharollo e ntle ka ho fetisisa. Mohlala, ho tjheseletsa ha PCB ho hloka ho nepahala ha ±0.01mm, ha ho hlopha thepa ho ka fokotswa ho ±0.5mm. Ho phehella ho nepahala ho hoholo ka bofofu ho tla lebisa feela ditjeong tse senyehileng.

2. Ho Leka-lekanya Mojaro le ho Ikamahanya le Tikoloho

Ho nepahala ha se yona feela tekanyo; tlhahlobo e felletseng e itshetlehileng hodima ditlhoko tsa mojaro e a hlokahala. Maemong a boima, esita le ka ditlhoko tsa ho nepahala ho itekanetseng, mohlala o nepahetseng o mahareng o nang le sebopeho se tiileng haholo o a hlokahala. Maemong a diphaposi tse hlwekileng, diroboto tse hlwekileng tse nepahetseng haholo di lokela ho etelletswa pele, ho ena le ho phehella phokotso ya ditjeo feela. Mohlala, indastering ya bongaka, ho hlopha dithethefatsi, le hoja ho hlokahala ho nepahala ha ±0.1mm (ho welang ka hara sebaka sa ho nepahala ho mahareng), ho hloka sebopeho se sa keneleng lerole le se sa fetoheng, mohopolo wa kgetho o fapaneng ka ho felletseng le wa maemo a tlwaelehileng a diindasteri.

3. Ho Bala Litšenyehelo Tsohle tsa Potoloho ea Bophelo

Litšenyehelo tsa ho reka roboto e nepahetseng haholo li ka ba makhetlo a 3-5 ho feta roboto e nepahetseng ka ho feletseng, 'me litšenyehelo tsa tlhokomelo (tse kang ho lekanya grating ruler le ho nkela harmonic reducer sebaka) li phahame le ho feta. Likhamphani li hloka ho bala phapang pakeng tsa "phokotso ea sekhahla sa lithōle ka lebaka la ho nepahala ho ntlafetseng" le "litšenyehelo tse ling tsa matsete." Haeba boemo ba ho paka li-chip bo fella ka sekhahla sa lithōle sa 5% ka lebaka la ho se nepahale ho lekaneng, matsete a eketsehileng robotong e nepahetseng haholo a ka khutlisoa nakong ea likhoeli tse 3; leha ho le joalo, maemong a tloaelehileng a thepa, litšenyehelo tsena ha li hlokahale ka ho feletseng.

Qetello

Ha ho na bophahamo kapa bofokoli bo felletseng hara diroboto tsa servo tsa axis tse tharo tse nang le maemo a fapaneng a ho nepahala; phapang e teng feela "ho loketse ha tsona maemo a fapaneng." Ho tloha tlhahisong ya semiconductor ya boemo ba micron ho isa ho hlopheng thepa ya boemo ba mithara, kgetho ya boemo ba ho nepahala kamehla e potoloha mohopolo wa mantlha wa "ho fihlela ditlhoko tsa tshebetso le ho laola ditjeo tse utlwahalang." Ka ntshetsopele ya theknoloji ya ho kganna le ho lemoha servo, diroboto tsa servo tsa axis tse tharo di fihlella katleho e habeli "ho nepahala ho hoholo" le "ditjeo tse tlase," mme di tla nolofalletsa matlafatso e nepahetseng maemong a mangata a indasteri nakong e tlang.

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