Kev Sib Piv ntawm Cov Txheej Txheem Tsav Tsheb Sib Txawv rau Peb-Axis Servo Robots

Kev Sib Piv ntawm Cov Txheej Txheem Tsav Tsheb Sib Txawv rau Peb-Axis Servo Robots

Nyob rau hauv lub ntiaj teb nthwv dej ntawm kev txhim kho automation hauv kev tsim khoom, peb-axis servo robots tau dhau los ua cov khoom siv tseem ceeb hauv kev lag luam xws li kev sib dhos khoom siv hluav taws xob, kev ua cov khoom siv hauv tsheb, thiab kev ntim khoom noj. Kev xaiv txoj kev tsav tsheb kom raug txiav txim siab ncaj qha rau kev ua haujlwm zoo ntawm cov khoom siv, cov nqi kho, thiab rov qab los ntawm kev nqis peev - kev xaiv tsis raug tuaj yeem ua rau muaj peev xwm tsim khoom tsis txaus, kho ntau zaus, lossis txawm tias hloov khoom siv ua ntej lub sijhawm.

I. Vim li cas txoj kev tsav tsheb thiaj yog qhov kev xaiv tseem ceeb rau cov neeg hlau servo peb-axis?

Lub kaw lus tsav ntawm lub tshuab servo peb-axis zoo li nws "lub plawv muaj zog," uas yog lub luag haujlwm hloov lub zog kinetic ntawm lub tshuab servo mus rau hauv kev txav mus los ncaj qha lossis tig. Nws qhov kev ua tau zoo cuam tshuam ncaj qha rau peb qhov kev txhawj xeeb tseem ceeb ntawm kev yuav khoom:

Kev Siv Nyiaj Txiag Zoo: Qhov sib npaug ntawm tus nqi yuav khoom thawj zaug thiab tus nqi kho tom qab. Piv txwv li, thaum qee txoj kev tsav tsheb yuav muaj tus nqi yuav khoom thawj zaug qis, tus nqi hloov cov khoom siv txhua xyoo yuav nce ob npaug.

Kev Hloov Kho Tau: Seb nws puas tuaj yeem ua tau raws li cov kev cai tshwj xeeb ntawm kev lag luam, xws li qhov yuav tsum tau ua kom raug ± 0.01 hli hauv kev tsim khoom siv hluav taws xob, lossis kev lag luam tsheb xav tau cov khoom thauj ntau tshaj 50kg.

Kev Hloov Kho Thoob Ntiaj Teb: Cov khoom siv xa tawm yuav tsum ua tau raws li cov qauv ntawm lub hom phiaj ua lag luam, xws li kev siv hluav taws xob thiab kev txwv suab nrov hauv kev lag luam European thiab Asmeskas, thiab cov kev cai ua siab ntev rau qhov kub thiab txias siab hauv kev lag luam sab hnub tuaj Asia.

Cov ntaub ntawv los ntawm International Federation of Robotics (IFR) xyoo 2024 qhia tau tias tus nqi ntawm cov khoom siv tsis ua haujlwm vim yog kev xaiv tsav tsis raug tau txog 12%, nrog rau ntau dua 60% ntawm cov rooj plaub no tau hais txog qhov yuam kev sib xws los ntawm cov neeg yuav khoom lag luam wholesale. Yog li ntawd, kev sib piv tag nrho ntawm qhov sib txawv ntawm txoj kev tsav tsheb yog qhov tseem ceeb heev.

II. Kev Sib Piv Sib Txawv ntawm Cov Txheej Txheem Tsav Tsheb Tseem Ceeb rau Peb-Axis Servo Robots

Tam sim no, hauv kev lag luam thoob ntiaj teb, kev tsav tsheb hluav taws xob yog txoj kev tsav tsheb tseem ceeb rau peb-axis servo robots (suav txog ntau dua 85%), ntxiv los ntawm cov lej me me ntawm hydraulic / pneumatic drives rau cov ntawv thov tshwj xeeb. Hauv kev tsav tsheb hluav taws xob, peb qhov kev sib kis uas sawv cev tshaj plaws yog pob ntsia hlau, siv synchronous, thiab khib thiab pinion iav. Lawv qhov sib txawv tshwj xeeb yog raws li nram no:

(I) Kev Sib Piv ntawm Cov Txheej Txheem Kev Tsav Tsheb Core

(II) Kev Tshuaj Xyuas Txog Qhov Zoo Thiab Qhov Tsis Zoo ntawm Txhua Txoj Kev Tsav Tsheb

1. Ball Screw Drive: "Qhov Kev daws teeb meem zoo tshaj plaws" rau cov xwm txheej siab-precision

Cov ntsia hlau pob xa lub zog los ntawm kev dov cov pob hlau, hloov kev txav mus los ntawm lub cev muaj zog servo mus rau hauv kev txav mus los linear. Qhov no yog qhov kev daws teeb meem zoo tshaj plaws rau cov neeg hlau servo peb-axis uas muaj qhov tseeb siab. Nws qhov txiaj ntsig tseem ceeb yog nws qhov backlash me me heev (

Txawm li cas los xij, cov neeg yuav khoom yuav tsum paub txog nws cov kev txwv: Cov ntsia hlau ntev dua 2 meters feem ntau yuav poob vim lawv qhov hnyav, xav tau cov txheej txheem txhawb nqa ntxiv thiab nce nqi; thiab qhov ceev tshaj plaws raug txwv los ntawm qhov ceev tseem ceeb ntawm cov ntsia hlau (feem ntau tsis pub tshaj 2m / s), ua rau nws tsis haum rau cov xwm txheej ceev ceev. Ntxiv mus, cov chaw muaj plua plav ua rau cov hlau hnav sai dua, xav tau cov khoom siv pabcuam xws li cov npog tiv thaiv.

2. Siv Txoj Siv Synchronous: Ib Lub Cuab Yeej Siv Nyiaj Txiag Rau Kev Ua Haujlwm Ceev, Lub Teeb Meem

Cov siv txoj siv sia synchronous siv txoj siv sia polyurethane uas muaj hlau thiab muaj cov pulleys rau kev xa hluav taws xob. Lawv muaj peb qhov zoo tseem ceeb: kev ceev ceev, suab nrov tsawg, thiab tus nqi tswj tau. Lawv qhov ceev tshaj plaws tuaj yeem ncav cuag 5 m/s, ntau dua ob npaug ntawm cov ntsia hlau pob, thiab tus nqi yuav thawj zaug tsuas yog 30% ~ 50% ntawm cov ntsia hlau pob uas muaj tib yam kev qhia. Qhov no ua rau lawv zoo tagnrho rau kev siv lub teeb, kev siv ceev ceev xws li kev ua zaub mov thiab kev tuav cov khoom yas.

Cov neeg yuav khoom thoob ntiaj teb yuav tsum paub txog lawv cov kev txwv tsis pub dhau: Cov siv sia synchronous feem ntau yuav ua rau elastic deformation vim qhov kub thiab txias, ua rau qhov tseeb rov ua dua ntawm tsuas yog ± 0.1 ~ ± 0.3 hli, uas tsis tuaj yeem ua tau raws li qhov yuav tsum tau ua ntawm kev ua haujlwm precision. Ntxiv mus, lawv lub peev xwm thauj khoom tsawg (feem ntau

3. Rack thiab Pinion Drive: Yuav tsum muaj rau Hnyav-Duty, Long-Stroke Applications

Cov tsav tsheb khib thiab pinion siv kev sib hloov ntawm cov iav los tsav cov kab ncaj ntawm lub khib, muab cov txiaj ntsig tseem ceeb ntawm kev muaj peev xwm thauj khoom siab thiab tsis muaj kev txwv stroke. Nws qhov kev ntsuas load tuaj yeem ncav cuag ntau dua 1000kg, thiab los ntawm kev sib txuas ntau ntu khib, qhov stroke tshaj 10 meters tuaj yeem ua tiav, ua rau nws yog qhov kev daws teeb meem tseem ceeb rau cov xwm txheej hnyav xws li kev tuav cov khoom siv hauv tsheb thiab kev thauj khoom / tshem tawm cov cuab yeej tshuab loj.

Cov teeb meem tseem ceeb ntawm lub kaw lus tsav tsheb no yog nyob rau hauv suab nrov thiab kev tswj hwm qhov tseeb: qhov tsis txaus ntawm kev tsim khoom raug tuaj yeem tsim suab nrov> 75dB thaum lub iav thiab khib mesh, xav tau ntxiv lub hau tiv thaiv suab nrov; ntxiv rau, backlash yuav tsum tau tshem tawm los ntawm lub cuab yeej ua ntej-tightening, txwv tsis pub qhov tseeb yuav poob qis dua ± 0.05 hli. Hmoov zoo, European thiab Asmeskas cov npe tau txhim kho qhov tseeb mus rau qib ± 0.01 hli los ntawm kev sib tsoo hniav nto, txawm hais tias qhov no ua rau cov nqi yuav khoom nce ntxiv 20% ~ 30%.

4. Cov Tshuab Hydraulic/Pneumatic: "Cov Kev Daws Teeb Meem Ntxiv" rau Cov Xwm Txheej Tshwj Xeeb

Cov tsav hydraulic, nrog lawv lub peev xwm nqa tau ntau pua kilograms, tseem siv rau hauv cov xwm txheej hnyav xws li kev tuag casting hnyav. Txawm li cas los xij, qhov kev pheej hmoo ntawm cov roj xau thiab kev ua qias tuaj, nrog rau tus nqi siab ntawm cov chaw nres tsheb hydraulic, tau ua rau lawv hloov maj mam los ntawm cov khib nyiab siab thiab pinion drives. Pneumatic drives, vim lawv tus nqi qis thiab kev ua haujlwm sai, tseem siv rau hauv cov tshuab yas me me, tab sis lawv qhov tseeb ± 0.5 hli thiab lub peev xwm thauj khoom tsawg tsis txaus rau qhov xav tau ntawm cov khoom siv servo-level.

Daim ntawv tshaj tawm xyoo 2024 los ntawm International Federation of Robotics (IFR) qhia tau hais tias cov tsav hydraulic/pneumatic tam sim no suav rau tsawg dua 5% ntawm cov neeg hlau servo peb-axis, nrog rau cov tsav hluav taws xob dhau los ua qhov tseem ceeb tshaj plaws - tshwj xeeb tshaj yog kev sib xyaw ua ke ntawm servo motors thiab cov txheej txheem kis tau meej, uas sib xyaw ua ke qhov tseeb thiab kev ywj pheej.

III. 3 Kauj Ruam Los Xauv Qhov Kev daws teeb meem zoo tshaj plaws rau kev tsav tsheb

Kauj Ruam 1: Piav Qhia Txog Cov Qauv Tseem Ceeb
Ua ntej yuav khoom, yuav tsum tau txheeb xyuas peb yam tseem ceeb kom tsis txhob xaiv qhov muag tsis pom kev:
Cov Kev Cai Kom Tseeb: Kev tsim khoom siv hluav taws xob xav tau ± 0.02 hli (cov ntsia hlau pob nyiam dua); kev lag luam ntim khoom xav tau ± 0.5 hli (siv txoj siv sib dhos txaus).

Kev Thauj Khoom thiab Stroke: Rau cov khoom thauj ib-axis > 50kg, xaiv rack thiab pinion; rau strokes > 3 meters, siv rack thiab pinion lossis synchronous siv ua ntej (cov ntsia hlau pob xav tau kev txhawb nqa ntxiv).

Kev Ceev Ua Haujlwm: Rau lub sijhawm voj voog > 120 voj voog/feeb, xaiv txoj siv sib dhos; rau kev ua haujlwm ceev qis, xaiv lub pob ntsia hlau.

Kauj Ruam 2: Sib phim cov xwm txheej kev lag luam uas lub hom phiaj xav tau
Cov lag luam sib txawv muaj cov kev cai sib txawv rau cov txheej txheem tsav tsheb. Xav txog cov yam ntxwv ntawm kev lag luam thoob ntiaj teb, cov kev hloov kho hauv qab no tuaj yeem siv ua piv txwv:

Cov Khoom Siv Hluav Taws Xob/Semiconductors (feem ntau yog Tebchaws Europe thiab Amelikas): Yuav tsum muaj qhov tseeb siab thiab suab nrov tsawg. Cov tsav pob ntsia hlau raug pom zoo. Kev sib koom ua ke nrog Delta ASD series servo drives tuaj yeem ua tiav qhov tseeb ± 0.005 hli, ua tau raws li cov qauv ntawm cov chaw tsim khoom siv hluav taws xob hauv Tebchaws Europe thiab Amelikas.

Cov Khoom Siv Tsheb (Sib xws thoob ntiaj teb): Qhov yuav tsum tau siv rau kev thauj khoom hnyav thiab lub zog ntev yog qhov tseem ceeb. Cov tsav tsheb rack thiab pinion yog qhov kev daws teeb meem zoo tshaj plaws. Nws raug pom zoo kom xaiv cov khib av, hloov kho rau Siemens V90 servo systems los txhim kho kev ruaj khov.

Khoom Noj/Ntim Khoom (feem ntau yog nyob rau sab hnub tuaj Es Xias): Tus nqi thiab qhov ceev tau raug hais txog. Cov siv txoj siv sib dhos ua ke muab qhov sib piv zoo tshaj plaws ntawm tus nqi thiab kev ua tau zoo. Kev siv cov ntaub ntawv polyurethane ua tau raws li qhov yuav tsum tau ua kom huv ntawm kev lag luam khoom noj, thiab lub voj voog txij nkawm tau hloov kho rau cov peev xwm txij nkawm ntawm cov chaw tsim khoom nyob rau sab hnub tuaj Es Xias.

Kauj Ruam 3: Xam Tus Nqi Tag Nrho Lub Neej
Kev yuav khoom thoob ntiaj teb yuav tsum xav txog ob qho tib si kev nqis peev thawj zaug thiab kev ua haujlwm ntev thiab kev saib xyuas. Raws li lub neej 100,000 teev, cov kev suav hauv qab no tau ua:

Lub Pob Ntsia Hlau Tsav: Tus nqi yuav khoom pib siab (kwv yees li 20,000 RMB), tab sis tus nqi txij nkawm qis (500 RMB ib xyoos), tag nrho tus nqi kwv yees li 25,000 RMB.

Synchronous Belt Drive: Tus nqi yuav khoom pib qis (kwv yees li 8,000 RMB), tab sis yuav tsum tau hloov siv 4 zaug (200 RMB txhua zaus), tag nrho tus nqi kwv yees li 9,000 RMB.

Rack thiab Gear Drive: Tus nqi yuav khoom pib nruab nrab (kwv yees li 14,000 RMB), kev hloov kho qhov chaw meshing nruab nrab yog 800 RMB ib xyoos, tag nrho tus nqi kwv yees li 22,000 RMB.

IV. Cov Qauv Tshiab hauv Kev Siv Tshuab Tsav Tsheb hauv xyoo 2025

Cov Txheej Txheem Tsav Tsheb Sib Xyaws: Kev tsav tsheb sib xyaws nrog lub zog cua thiab lub zog hluav taws xob tab tom dhau los ua ib qho teeb meem tshiab. Piv txwv li, kev tuav siv cov tsav tsheb pneumatic (tus nqi qis), thaum kev teeb tsa siv cov tsav siv synchronous (kev raug siab), uas tuaj yeem txo cov nqi los ntawm 30% thaum ua tau raws li qhov yuav tsum tau ua kom raug nruab nrab.

Tsav ncaj qha yam tsis muaj iav txo qis: High-torque, low-speed cov cav servo Tsis tas yuav tsum tau reducer thiab txuas ncaj qha rau lub pob ntsia hlau lossis khib thiab pinion iav, txo cov kev poob ntawm cov khoom siv los ntawm 50% thiab txuas lub neej ntev dua 150,000 teev. Cov thev naus laus zis no tam sim no siv rau hauv cov qauv siab los ntawm cov hom lag luam xws li Stäubli.

Cov txheej txheem hloov kho ntse: Lub tshuab tswj hwm servo tiam xya sib xyaw ua ke cov txheej txheem neural network uas hloov kho cov kev tsav tsheb raws li kev hloov pauv ntawm qhov hnyav. Piv txwv li, Doosan Robotics 'VX series siv cov thev naus laus zis no los txo cov nqi tsis ua tiav los ntawm 60%, ua rau nws zoo tagnrho rau ntau yam xwm txheej tsim khoom.

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