Neeg hlau ua lag luams siv dav hauv kev tsim khoom lag luam, xws li kev tsim tsheb, cov khoom siv hluav taws xob, khoom noj, thiab lwm yam. Lawv tuaj yeem hloov cov haujlwm kho tshuab rov ua dua thiab yog cov tshuab uas vam khom lawv tus kheej lub zog thiab kev tswj hwm kom ua tiav ntau yam haujlwm. Nws tuaj yeem tiv taus tib neeg cov lus txib thiab kuj tuaj yeem ua haujlwm raws li cov kev pab cuam ua ntej. Tam sim no peb tham txog cov khoom tseem ceeb ntawmneeg hlau ua lag luams.
1. Cov ntsiab lus
Lub tshuab tseem ceeb yog lub hauv paus tshuab thiab lub tshuab ua haujlwm, suav nrog caj npab loj, caj npab caj npab, dab teg thiab tes, uas yog lub tshuab ua haujlwm ntau yam. Qee cov neeg hlau kuj muaj cov tshuab taug kev.Neeg hlau ua lag luamsmuaj 6 degrees ntawm kev ywj pheej lossis ntau dua. Lub dab teg feem ntau muaj 1 txog 3 degrees ntawm kev ywj pheej ntawm kev txav mus los.
2. Lub kaw lus tsav tsheb
Lub kaw lus tsav tsheb ntawmneeg hlau ua lag luamsMuab faib ua peb pawg raws li lub zog: hydraulic, pneumatic thiab hluav taws xob. Peb hom no kuj tuaj yeem ua ke rau hauv lub kaw lus tsav sib xyaw raws li qhov yuav tsum tau ua. Los yog tsav tsis ncaj qha los ntawm cov txheej txheem sib kis xws li siv txoj siv sib dhos, cov iav tsheb ciav hlau, thiab cov iav. Lub kaw lus tsav tsheb muaj lub cuab yeej fais fab thiab lub tshuab kis, uas yog siv los ua cov haujlwm sib xws ntawm lub tshuab. Txhua ntawm peb hom kev tsav tsheb yooj yim no muaj nws tus yam ntxwv. Lub hauv paus tseem ceeb tam sim no yog lub kaw lus tsav hluav taws xob. Vim tias tsis muaj inertia, cov torque loj AC thiab DC servo motors thiab lawv cov servo drives txhawb nqa (AC frequency converters, DC pulse width modulators) yog siv dav. Hom system no tsis xav tau kev hloov pauv zog, yooj yim siv, thiab muaj kev tswj hwm zoo. Feem ntau cov motors xav tau lub tshuab kis tau zoo: lub reducer. Nws cov hniav siv lub iav ceev converter los txo cov lej ntawm kev tig rov qab ntawm lub cev muaj zog mus rau tus lej ntawm kev tig rov qab thiab tau txais lub cuab yeej torque loj dua, yog li txo qhov ceev thiab nce lub torque. Thaum lub nra hnyav loj, lub cev muaj zog servo tau nce ntxiv. Lub zog yog qhov tsim nyog heev, thiab lub zog tso zis tuaj yeem nce ntxiv los ntawm lub reducer hauv qhov ceev tsim nyog. Servo motors feem ntau raug cua sov thiab kev co qis zaus thaum ua haujlwm ntawm cov zaus qis. Kev ua haujlwm ntev thiab rov ua dua tsis zoo rau kev ua haujlwm raug thiab txhim khu kev qha. Qhov muaj nyob ntawm lub cev muaj zog txo qis tso cai rau lub cev muaj zog servo ua haujlwm ntawm qhov ceev tsim nyog, txhawb nqa lub cev tshuab rigidity thiab tso zis ntau dua torque. Muaj ob lub reducers tseem ceeb niaj hnub no: harmonic reducer thiab RV reducer.
3. Kev tswj hwm lub kaw lus
Lublub tshuab tswj hwm neeg hlauyog lub hlwb ntawm tus neeg hlau thiab yog lub hauv paus tseem ceeb uas txiav txim siab txog kev ua haujlwm thiab kev ua haujlwm ntawm tus neeg hlau. Lub kaw lus tswj hwm xa cov lus txib mus rau lub kaw lus tsav tsheb thiab cov txheej txheem ua tiav raws li qhov kev pab cuam nkag, thiab tswj lawv. Lub luag haujlwm tseem ceeb ntawmneeg hlau ua lag luam kev tswj hwm thev naus laus zis yog los tswj qhov ntau thiab tsawg ntawm cov haujlwm, kev sawv cev thiab kev mus ncig, thiab lub sijhawm ua haujlwm ntawmneeg hlau ua lag luams nyob rau hauv qhov chaw ua haujlwm. Nws muaj cov yam ntxwv ntawm kev sau programming yooj yim, software menu operation, tus phooj ywg tib neeg-computer sib cuam tshuam interface, online operation prompts thiab yooj yim siv. Lub tshuab tswj hwm yog lub hauv paus ntawm lub tshuab neeg hlau, thiab cov tuam txhab txawv teb chaws cuam tshuam tau ze rau peb qhov kev sim. Nyob rau hauv xyoo tas los no, nrog rau kev txhim kho ntawm microelectronics technology, kev ua tau zoo ntawm microprocessors tau dhau los ua siab dua thiab siab dua, thiab tus nqi tau dhau los ua pheej yig dua thiab pheej yig dua. Tam sim no, 32-bit microprocessors tus nqi 1-2 US duas tau tshwm sim hauv kev ua lag luam. Cov microprocessors pheej yig tau coj cov cib fim tshiab rau kev txhim kho rau cov neeg hlau tswj hwm, ua rau nws muaj peev xwm tsim cov neeg hlau tswj hwm pheej yig, ua tau zoo. Yuav kom ua rau lub kaw lus muaj peev xwm suav thiab khaws cia txaus, cov neeg hlau tswj hwm tam sim no feem ntau yog tsim los ntawm ARM series muaj zog, DSP series, POWERPC series, Intel series thiab lwm yam chips. Vim tias cov haujlwm thiab cov haujlwm ntawm cov chips uas twb muaj lawm tsis tuaj yeem ua tau raws li qhov xav tau ntawm qee lub tshuab neeg hlau hauv nqe, kev ua haujlwm, kev koom ua ke thiab kev sib txuas, qhov no tau ua rau muaj kev thov rau SoC (System on Chip) thev naus laus zis hauv cov tshuab neeg hlau. Lub processor tau koom ua ke nrog cov interfaces xav tau, uas tuaj yeem ua kom yooj yim rau kev tsim cov kab ke peripheral circuits, txo qhov loj ntawm lub cev, thiab txo cov nqi. Piv txwv li, Actel koom ua ke NEOS lossis ARM7 processor cores rau hauv nws cov khoom FPGA los tsim ib lub kaw lus SoC tiav. Hauv cov ntsiab lus ntawm cov tswj hwm thev naus laus zis neeg hlau, nws txoj kev tshawb fawb feem ntau yog tsom mus rau Tebchaws Meskas thiab Nyiv Pooj, thiab muaj cov khoom lag luam laus, xws li American DELTATAU Company, Nyiv Pooj Pengli Co., Ltd., thiab lwm yam. Nws cov tswj hwm kev txav mus los siv DSP thev naus laus zis ua nws lub hauv paus thiab siv PC-raws li qhib qauv. 4. Tus neeg ua haujlwm kawg Tus kawg effector yog ib qho khoom txuas nrog qhov sib koom ua ke kawg ntawm tus manipulator. Nws feem ntau yog siv los tuav cov khoom, txuas nrog lwm cov txheej txheem thiab ua cov haujlwm tsim nyog. Cov chaw tsim khoom neeg hlau feem ntau tsis tsim lossis muag cov kawg effectors; feem ntau, lawv tsuas yog muab cov gripper yooj yim. Feem ntau tus kawg effector tau teeb tsa rau ntawm 6-axis flange ntawm tus neeg hlau kom ua tiav cov haujlwm hauv ib puag ncig, xws li vuam, pleev xim, nplaum, thiab thauj khoom thiab tshem tawm cov khoom, uas yog cov haujlwm uas xav tau cov neeg hlau ua tiav.
Kev piav qhia txog cov servo motors Tus tsav tsheb servo, tseem hu ua "servo controller" thiab "servo amplifier", yog ib qho maub los siv los tswj cov servo motors. Nws txoj haujlwm zoo ib yam li lub converter zaus ntawm cov AC motors ib txwm muaj, thiab nws yog ib feem ntawm lub servo system. Feem ntau, lub servo motor raug tswj los ntawm peb txoj kev: txoj haujlwm, qhov ceev thiab torque kom ua tiav qhov chaw siab ntawm lub cev muaj zog kis.
1. Kev faib tawm ntawm cov servo motors Nws muab faib ua ob pawg: DC thiab AC servo motors.
AC servo motors raug muab faib ua asynchronous servo motors thiab synchronous servo motors. Tam sim no, AC systems maj mam hloov DC systems. Piv nrog DC systems, AC servo motors muaj qhov zoo ntawm kev ntseeg siab, cua sov zoo, lub sijhawm me me ntawm inertia, thiab muaj peev xwm ua haujlwm hauv qab siab. Vim tias tsis muaj txhuam thiab lub kauj iav, AC servo system kuj dhau los ua brushless servo system, thiab cov motors siv hauv nws yog cage-type asynchronous motors thiab permanent magnet synchronous motors nrog brushless qauv. 1) DC servo motors raug muab faib ua brushed thiab brushless motors
①Cov tshuab txhuam muaj tus nqi qis, cov qauv yooj yim, lub zog pib loj, qhov ceev dav, yooj yim tswj, xav tau kev saib xyuas, tab sis yooj yim rau kev saib xyuas (hloov cov txhuam carbon), tsim cov kev cuam tshuam electromagnetic, muaj cov kev cai ntawm qhov chaw siv, thiab feem ntau yog siv rau kev tswj tus nqi.
②Cov tshuab hluav taws xob tsis txhuam yog me me thiab tsis hnyav, muaj cov zis loj thiab teb sai. Lawv muaj kev ceev ceev thiab inertia me me, torque ruaj khov thiab tig du. Kev tswj hwm yog qhov nyuaj thiab ntse. Txoj kev hloov pauv hluav taws xob yog qhov yooj ywm. Nws tuaj yeem hloov pauv nrog cov nthwv dej square lossis sine. Lub tshuab tsis tas yuav saib xyuas thiab ua haujlwm tau zoo. Txuag hluav taws xob, hluav taws xob electromagnetic me me, kub qis thiab lub neej ntev, haum rau ntau qhov chaw.
2. Cov yam ntxwv ntawm ntau hom servo motors
1) Cov txiaj ntsig thiab qhov tsis zoo ntawm DC servo motor Qhov zoo: kev tswj qhov ceev meej, lub zog torque thiab cov yam ntxwv ceev, txoj cai tswj yooj yim, yooj yim siv, thiab pheej yig. Qhov tsis zoo: kev hloov pauv ntawm txhuam, kev txwv ceev, kev tiv thaiv ntxiv, kev tsim cov khoom siv hnav (tsis haum rau qhov chaw tsis muaj hmoov av thiab tawg)
2) Cov txiaj ntsig thiab qhov tsis zoo ntawm AC servo motor Qhov Zoo: kev tswj ceev zoo, kev tswj du hauv tag nrho qhov ceev, yuav luag tsis muaj oscillation, kev ua haujlwm siab dua 90%, tsim cua sov tsawg dua, kev tswj ceev, kev tswj qhov chaw siab (nyob ntawm qhov tseeb ntawm encoder), thaj chaw ua haujlwm ntsuas Hauv, nws tuaj yeem ua tiav lub zog tas li, inertia tsawg, suab nrov tsawg, tsis muaj txhuam hnav, thiab tsis tas yuav saib xyuas (haum rau cov chaw tsis muaj plua plav thiab tawg). Qhov tsis zoo: Kev tswj hwm nyuaj dua, cov kev teeb tsa tsav tsheb yuav tsum tau kho rau ntawm qhov chaw thiab cov kev teeb tsa PID raug txiav txim siab, thiab xav tau ntau qhov kev sib txuas. Tam sim no, cov servo drives feem ntau siv cov digital signal processors (DSP) ua lub hauv paus tswj, uas tuaj yeem siv cov algorithms tswj uas nyuaj heev thiab ua tiav digitization, networking thiab kev txawj ntse. Cov khoom siv fais fab feem ntau siv cov drive circuits tsim nrog cov ntse power modules (IPM) ua lub hauv paus. IPM koom ua ke lub drive circuit thiab muaj cov kev kuaj pom qhov yuam kev thiab kev tiv thaiv circuits xws li overvoltage, overcurrent, overheating, thiab undervoltage. Software kuj ntxiv rau lub main circuit. Pib circuit kom txo qhov cuam tshuam ntawm cov txheej txheem pib rau tus tsav tsheb. Lub tshuab tsav fais fab ua ntej kho cov input peb-theem fais fab lossis lub zog tseem ceeb los ntawm peb-theem full-bridge rectifier circuit kom tau txais cov tam sim no ncaj qha. Lub rectified peb-theem fais fab lossis lub zog tseem ceeb ces hloov mus rau zaus los ntawm peb-theem sinusoidal PWM voltage inverter los tsav peb-theem permanent magnet synchronous AC servo motor. Tag nrho cov txheej txheem ntawm lub tshuab tsav fais fab tuaj yeem hais tias yog AC-DC-AC txheej txheem. Lub ntsiab topological circuit ntawm lub rectifier uncontrolled rectifier circuit (AC-DC) yog peb-theem full-bridge rectifier circuit.
Pom kev tawg ntawm harmonic reducer Nws siv sijhawm 6-7 xyoo los ntawm kev tawm tswv yim tsim RV thaum xyoo 1980s thaum ntxov mus txog rau kev ua tiav qhov kev tshawb fawb tseem ceeb hauv RV reducer xyoo 1986; thiab Nantong Zhenkang thiab Hengfengtai, uas yog thawj tus tsim cov txiaj ntsig hauv Suav teb, kuj siv sijhawm. 6-8 xyoo. Puas yog nws txhais tau tias peb cov lag luam hauv zos tsis muaj lub sijhawm? Qhov xov xwm zoo yog tias tom qab ob peb xyoos ntawm kev xa tawm, cov tuam txhab Suav tau ua tiav qee qhov kev tshawb fawb.
*Tsab xov xwm no yog luam tawm los ntawm Is Taws Nem, thov hu rau peb kom rho tawm qhov kev ua txhaum cai.
Lub sijhawm tshaj tawm: Cuaj hlis-15-2023
