Puas yog qhov ua tau zoo ntawm lub tshuab txhaj tshuaj molding peb-axis servo puas poob qis?

Puas yog qhov kev ua tau zoo ntawm peb-axis servo Tshuab Txhaj Tshuaj Molding robot puas ua rau neeg puas tsuaj?

Ntawm kab ntau lawm txhaj tshuaj molding, ib lub tshuab txhaj tshuaj molding peb-axis servo yog ib qho khoom siv tseem ceeb uas txuas cov pwm qhib thiab kaw, kev tso khoom, thiab kev xa khoom. Nws qhov kev ruaj khov ntawm kev ua haujlwm ncaj qha txiav txim siab qhov ua tau zoo ntawm kev tsim khoom, tus nqi tsim nyog ntawm cov khoom, thiab lub neej ntawm cov khoom siv. Thaum lub neeg hlau ntsib teeb meem kev ua tau zoo xws li qhov chaw raug qhov sib txawv, qeeb qeeb, txo qis lub peev xwm thauj khoom, lossis kev ncua sijhawm txav mus los, kev ua tsis tiav sai sai nrhiav tau qhov ua rau hauv paus tsis tsuas yog ua rau cov kab ntau lawm tsis ua haujlwm xwb tab sis kuj ua rau muaj kev puas tsuaj thib ob rau cov khoom vim kev kho tsis zoo. Tsab xov xwm no yuav muab cov kev daws teeb meem kev ntsuam xyuas qhov ua rau muaj qhov tsis zoo los ntawm plaub qhov kev xav: kev txheeb xyuas cov teeb liab tsis zoo → kev daws teeb meem module-by-module → kev txheeb xyuas qhov txhaum → kev saib xyuas tiv thaiv, pab cov kws kho tshuab daws teeb meem tau zoo.

1. Kev Kuaj Mob Thaum Ntxov ntawm Kev Ua Haujlwm Tsis Zoo: Ua ntej "Ntes Lub Cim" Tom qab ntawd "Xauv Lub Scope"

Ua ntej pib daws teeb meem, nws yog ib qho tseem ceeb kom txheeb xyuas cov tsos mob tshwj xeeb ntawm kev ua haujlwm tsis zoo los ntawm kev soj ntsuam thiab sau cov ntaub ntawv kom tsis txhob nkim sijhawm los ntawm kev daws teeb meem tsis xaiv neeg. Cov hauv qab no yog cov cim qhia txog kev ua haujlwm tsis zoo thiab lawv cov cheeb tsam kuaj mob thawj zaug:

1. Kev faib tawm ntawm cov teeb liab tsis zoo ntawm Core Performance Anomaly

Qhov Kev Ntsuas Qhov Tseeb Ntawm Qhov Chaw: Tus neeg hlau hloov ntawm qhov chaw thaum tuav cov khoom, tsis sib phim nrog txoj siv conveyor thaum muab tso rau, lossis qhov yuam kev rov ua dua ntau dua li tus nqi teev tseg hauv phau ntawv qhia khoom siv (feem ntau, qhov tseeb ntawm peb-axis servo Neeg Hlau Syuav tsum yog ≤±0.1 hli). Kev xav thawj zaug: Servo system parameter drift, mechanical hnav, thiab encoder teeb liab tsis zoo.

Kev Txo Qhov Ceev Ua Haujlwm: Thaum lub tshuab tsis thauj khoom lossis thauj khoom, qhov ceev tiag tiag ntawm txhua lub axis (X-axis kab rov tav, Y-axis ntsug, thiab Z-axis ntsug) qis dua tus nqi teeb tsa, thiab muaj kev ncua thaum lub sijhawm ua kom nrawm / qeeb. Kev xav thawj zaug: Kev txwv tam sim no ntawm servo tsav, lub zog poob ntawm lub cev muaj zog, lossis kev tiv thaiv thauj khoom ntau ntxiv.

Kev Txo Qhov Muaj Peev Xwm Thauj Khoom: Ib yam khoom uas yav dhau los tuaj yeem tuav tau ib txwm (piv txwv li, ib feem txhaj tshuaj 5kg) poob tom qab tuav, lossis lub tswb ceeb toom overload raug qhib thaum lub sijhawm ua haujlwm vim muaj kev thauj khoom ntau dhau. Kev xav thawj zaug: Lub zog servo motor tsis txaus, kev sib kis tsis zoo, lossis kev siab tsis txaus hauv lub kaw lus pneumatic/hydraulic auxiliary (yog tias muaj lub gripper pneumatic). Kev Ncua Sijhawm Teb: Tom qab lub vaj huam sib luag ntawm tus neeg ua haujlwm tshaj tawm cov lus txib, lub tshuab hlau siv sijhawm 1-3 vib nas this los ua ib qho kev nqis tes ua, lossis muaj kev ncua sijhawm pom tseeb thaum hloov ntawm kev nqis tes ua. Kev xav thawj zaug: Kev ncua sijhawm sib txuas lus ntawm lub kaw lus tswj hwm, kev lag luam teeb liab sensor, thiab cov kev ntsuas servo tsis raug.

2. Kev Sau thiab Sib Piv Cov Ntaub Ntawv Tseem Ceeb
Kev tshuaj xyuas pom ib leeg xwb tsis tuaj yeem nrhiav tau qhov teeb meem; kev sib piv cov ntaub ntawv yog qhov tsim nyog los txiav txim siab qhov ua yuam kev:

Sau cov kev teeb tsa tam sim no: Siv lub tshuab tswj hwm neeg hlau (xws li PLC kov lub vijtsam lossis servo tsav vaj huam sib luag) los nyeem cov ntaub ntawv xws li qhov ceev ua haujlwm, qhov sib txawv ntawm qhov chaw, lub cev muaj zog tam sim no, thiab qhov tso zis torque ntawm txhua lub axis. Piv cov no rau cov kev teeb tsa thaum lub sijhawm ua haujlwm ib txwm (saib phau ntawv qhia ntaus ntawv lossis cov ntaub ntawv ua haujlwm keeb kwm). Ua tib zoo saib cov cim qhia xws li "tam sim no siab dhau," "qhov sib txawv ntawm qhov chaw tshaj qhov txwv," thiab "kev hloov pauv torque ntau dhau."

Cov xwm txheej ua rau muaj qhov yuam kev suav lej: Sau seb qhov kev ua haujlwm poob qis puas cuam tshuam nrog cov xwm txheej tshwj xeeb, xws li "kev hloov pauv tsuas yog tshwm sim thaum muaj kev thauj khoom," "kev ceev qeeb tom qab 1 teev ntawm kev ua haujlwm," thiab "kev ua tsis tiav ntau zaus tshwm sim thaum qhov kub thiab txias nce siab." Cov xwm txheej no tuaj yeem pab tshem tawm cov yam tsis muaj feem cuam tshuam (xws li qhov cuam tshuam ntawm qhov kub thiab txias thiab av noo rau cov khoom siv hluav taws xob).​

2. Kev daws teeb meem tob tob ntawm Module-by-Module: Los ntawm "Core Components" mus rau "Auxiliary Systems"

Kev ua haujlwm ntawm lub tshuab txhaj tshuaj molding peb-axis servo nyob ntawm kev ua haujlwm sib koom tes ntawm "servo system → mechanical structure → control system → auxiliary systems." Kev daws teeb meem yuav tsum tau muab cov module-by-module disassembly, txheeb xyuas qhov ua haujlwm ntawm txhua qhov txuas ib qho los ntawm ib qho.

A. Lub zog tseem ceeb: Kev daws teeb meem ntawm lub cev servo (suav txog ntau dua 60% ntawm cov teeb meem kev ua tau zoo)

Lub servo system yog "lub plawv muaj zog" ntawm lub robot, muaj peb ntu: servo motor, servo drive, thiab encoder. Txhua qhov tsis zoo hauv ib feem yuav ua rau kev ua haujlwm poob qis. Kev daws teeb meem yuav tsum ua raws li txoj kev xav ntawm "los ntawm kev tsav mus rau lub cev muaj zog, los ntawm lub teeb liab mus rau kho vajtse": (1) Servo drive: thawj zaug xyuas "lub tswb code" thiab tom qab ntawd txheeb xyuas "parameter setting"

Kauj Ruam 1: Nyeem cov lej ceeb toom: Lub vaj huam sib luag tsav servo yuav tso saib cov lej ua yuam kev (xws li "AL.E6" ntawm Mitsubishi MR-J4 series sawv cev rau qhov tsis ua haujlwm ntawm encoder, thiab "Err.11" ntawm Panasonic A6 series sawv cev rau overcurrent). Cov teeb meem yooj yim (xws li overvoltage, overcurrent, overheating, thiab encoder kev sib txuas lus tsis zoo) tuaj yeem nrhiav tau los ntawm kev sib piv nrog phau ntawv qhia khoom siv.

Kauj Ruam 2: Xyuas cov yam tseem ceeb: Yog tias tsis muaj cov lej ceeb toom tab sis kev ua haujlwm poob qis, tsom mus rau cov yam hauv qab no:

Qhov nce ntawm txoj hauj lwm voj voog (P Gain) thiab qhov nce ntawm qhov ceev (V Gain): Qhov nce qis dhau yuav ua rau qhov teb qeeb qeeb thiab qhov sib txawv loj; qhov nce siab dhau yuav ua rau muaj kev co. Kho kom zoo raws li cov nqi pom zoo hauv phau ntawv qhia ntaus ntawv (feem ntau kho qhov ceev voj voog ua ntej, tom qab ntawd qhov voj voog txoj hauj lwm).

Qhov sib piv ntawm lub iav hluav taws xob: Qhov kev teeb tsa qhov sib piv ntawm lub iav tsis raug yuav ua rau muaj qhov tsis sib xws ntawm qhov chaw hais kom ua thiab qhov chaw tiag tiag (piv txwv li, kev txav mus los ntawm 100mm tab sis tsuas yog 50mm). Xyuas kom tseeb tias qhov sib piv ntawm lub iav phim qhov sib piv ntawm kev sib kis (xws li lub pob ntsia hlau).

Kev teeb tsa tam sim no thiab torque txwv: Yog tias lub tsav tsheb raug teeb tsa yuam kev rau "hom txwv tam sim no" lossis qhov txwv torque qis dhau, lub zog tso zis ntawm lub cev muaj zog yuav tsis txaus, ua rau qeeb qeeb thiab txo qhov muaj peev xwm thauj khoom. Rov qab kho cov nqi txwv tsis pub dhau los yog rov pib dua raws li qhov yuav tsum tau thauj khoom.

B, Servo motor: Kev txiav txim siab "kho vajtse noj qab haus huv" los ntawm "kev ua haujlwm xwm txheej"

Kev Tshuaj Xyuas Kev Xav: Thaum lub cev muaj zog khiav, kov lub tsev lub cev muaj zog nrog koj txhais tes (ua tib zoo kom tsis txhob kub hnyiab). Yog tias qhov kub tshaj 70 ℃ (qhov kub ib txwm nce ntawm lub cev muaj zog yog ≤40 ℃), nws yuav yog tias lub kauj tsheb laus lawm, lub bearing hnav, lossis lub nra hnyav dhau; mloog lub suab khiav ntawm lub cev muaj zog. Yog tias muaj lub suab "buzzing" lossis "kev sib txhuam", nws yuav yog tias lub bearing tsis muaj roj lossis puas lawm. Nws yog qhov tsim nyog los rhuav tshem thiab tshuaj xyuas thiab hloov lub bearing (nws raug pom zoo kom siv cov bearings txawv teb chaws ntawm tib tus qauv, xws li NSK thiab SKF).

Kev ntsuam xyuas kev ua tau zoo: Tshem lub cev muaj zog ntawm lub tshuab kis (kev ntsuam xyuas tsis muaj load). Yog tias lub cev muaj zog khiav ceev thiab lub zog torque yog qhov ib txwm thaum tsis muaj load, nws txhais tau tias qhov txhaum yog nyob rau ntawm qhov kawg ntawm kev thauj khoom; yog tias nws tseem tsis zoo thaum tsis muaj load, siv lub multimeter los ntsuas qhov tsis kam ntawm peb theem winding ntawm lub cev muaj zog (feem ntau, peb theem yuav tsum sib npaug, nrog qhov sib txawv ntawm ≤5%). Yog tias qhov tsis kam ntawm ib theem yog qhov tsis kawg, nws txhais tau tias lub winding tawg thiab lub cev muaj zog yuav tsum tau kho lossis hloov.

C, Encoder: Lub teeb liab "xoom yuam kev" yog qhov tseem ceeb rau qhov tseeb ntawm qhov chaw.

Lub encoder yog "lub qhov muag" ntawm lub servo system, lub luag haujlwm rau kev pub rov qab rau qhov chaw ntawm lub cev muaj zog thiab cov teeb liab ceev. Cov teeb liab tsis zoo yuav ua rau muaj kev hloov pauv ntawm qhov chaw. Txoj kev daws teeb meem:

Kev Tshuaj Xyuas Kab: Xyuas kab txuas ntawm lub encoder thiab tus tsav tsheb (feem ntau yog cov xov hlau uas muaj ntaub thaiv) kom pom tias puas muaj cov khoom sib txuas xoob, cov xov hlau puas, lossis cov txheej tiv thaiv tsis zoo (yog tias cov txheej tiv thaiv tsis tau muaj ntaub thaiv, nws yuav ua rau muaj kev cuam tshuam electromagnetic thiab ua rau muaj kev hloov pauv ntawm cov teeb liab). Nws raug pom zoo kom rov ntsaws lub connector thiab hloov cov xov hlau puas.

Kev kuaj teeb liab: Siv lub oscilloscope los ntsuas cov teeb liab A, B, thiab Z theem ntawm lub encoder. Nyob rau hauv qhov xwm txheej ib txwm muaj, nws yuav tsum yog lub teeb liab square wave ruaj khov. Yog tias muaj kev cuam tshuam waveform, poob pulse, lossis qhov amplitude qis dhau (tsawg dua 5V), nws txhais tau tias cov khoom sab hauv ntawm lub encoder puas lawm thiab lub encoder ntawm tib tus qauv yuav tsum tau hloov (nco ntsoov tias qhov kev daws teeb meem encoder yuav tsum phim tus tsav tsheb, xws li 17 bits lossis 23 bits). 2. Lub zog thiab kev txav mus los: Kev daws teeb meem ntawm cov qauv kho tshuab (yooj yim tsis quav ntsej "tus neeg tua neeg tsis pom") Txawm tias lub kaw lus servo yog ib txwm muaj, kev hnav, xoob lossis kev hloov pauv ntawm cov qauv kho tshuab yuav ua rau kev ua haujlwm poob qis, vim tias kev txav mus los ntawm tus neeg tswj hwm yuav tsum tau xa mus los ntawm "lub cev muaj zog → kev sib txuas → pob ntsia hlau / siv sib dhos → kev taw qhia tsheb ciav hlau", thiab kev poob ntawm txhua qhov txuas yuav ua rau lub zog xa mus tsis muaj zog: (1) Lub tshuab xa mus: tsom mus rau "hnav" thiab "concentricity" Pob ntsia hlau: Raws li lub hauv paus kis tau ntawm X, Y, thiab Z axes, kev hnav ntawm lub ntsia hlau yuav ua rau "nce rov qab clearance" (uas yog, thaum lub cev muaj zog tig mus rau hauv qhov kev taw qhia rov qab, tus neeg tswj hwm muaj qhov mob stroke khoob), uas qhia tau tias yog qhov chaw hloov pauv. Txoj kev tshuaj xyuas: Siv lub cim qhia kom kho lub slider thiab thawb lub slider tes. Yog tias lub cim qhia qhia hloov pauv ntau dua 0.05 hli, nws txhais tau tias lub ntsia hlau tau hnav hnyav; tib lub sijhawm, saib seb puas muaj khawb, xeb lossis roj qhuav ntawm qhov chaw ntawm lub ntsia hlau. Yuav tsum tau ntxiv cov roj tshwj xeeb (xws li cov roj lithium) tsis tu ncua. Thaum qhov hnav tshaj qhov txwv, yuav tsum tau hloov cov ntsia hlau (nws raug pom zoo kom xaiv cov ntsia hlau pob nrog qib C3 lossis siab dua).
Kev Sib Txuas: Yog tias qhov sib txuas uas txuas lub cev muaj zog servo thiab lub pob ntsia hlau muaj qhov tawg, lub elastomer laus lawm, lossis qhov kev teeb tsa tsis sib xws, nws yuav ua rau lub zog xa hluav taws xob tsis ruaj khov, khiav jams lossis qhov chaw hloov pauv. Txoj kev tshuaj xyuas: Tom qab nres lub tshuab, tig lub coupling los ntawm tes kom paub seb puas muaj kev jamming lossis looseness. Yog tias qhov sib txuas thiab lub cev muaj zog / lub ncej ntsia hlau tsis sib xws (deviation> 0.1 hli), qhov concentricity yuav tsum tau rov kho dua.
Siv txoj siv sib dhos ua ke (yog tias muaj): Lub X-axis ntawm qee cov neeg hlau siv txoj siv sib dhos ua ke. Yog tias txoj siv sib dhos ua ke xoob lossis qhov chaw hniav hnav, nws yuav ua rau "slipping", uas yuav tshwm sim los ntawm kev txo qis hauv kev ceev thiab qhov chaw tsis raug. Txoj kev tshuaj xyuas: Nias txoj siv sib dhos ua ke. Yog tias qhov deflection tshaj 10 hli, nws txhais tau tias nws xoob dhau thiab yuav tsum tau kho lub tensioner; yog tias qhov chaw hniav hnav lossis tawg, txoj siv sib dhos ua ke yuav tsum tau hloov (nws raug pom zoo kom siv txoj siv polyurethane synchronous, uas yog qhov tsis yooj yim hnav).

(2) Cov kev taw qhia thiab cov sliders: "Smoothness" txiav txim siab qhov kev ruaj khov ntawm kev khiav

Lub slider qhia kev taw qhia yog lub luag haujlwm los txhawb cov khoom txav ntawm tus neeg hlau. Yog tias nws tsis tau lubricated txaus lossis hnav, nws yuav ua rau muaj kev tiv thaiv kev txav mus los, ua rau qeeb qeeb thiab jamming. Kev daws teeb meem:

Siv tes nias lub slider kom paub seb puas muaj qhov tsis kam lossis lo rau. Yog tias muaj, tshem lub slider kom paub seb puas muaj qhov hnav ntawm cov pob bearings sab hauv thiab cov tawb khaws cia tawg. Ntxuav cov plua plav thiab cov khib nyiab ntawm qhov chaw ntawm txoj kev qhia thiab siv cov roj nplua nyeem uas tsim tshwj xeeb rau txoj kev qhia (xws li ISO VG32).

Siv lub micrometer los ntsuas qhov sib luag ntawm cov hlau qhia. Yog tias qhov sib txawv ntawm qhov sib luag tshaj 0.1 hli / m, lub zog tsis sib xws yuav raug siv rau lub slider thaum lub sijhawm ua haujlwm, ua rau hnav sai dua. Qhov chaw teeb tsa ntawm cov hlau qhia yuav tsum tau rov kho dua.

Qhov thib peb. Chaw hais kom ua thiab tawm tswv yim: kev daws teeb meem ntawm lub kaw lus tswj hwm

Lub kaw lus tswj (xws li PLC, vaj huam sib luag ua haujlwm, sensor) yog lub luag haujlwm xa cov lus txib ua haujlwm thiab txais cov teeb liab tawm tswv yim. Yog tias muaj qhov yuam kev tshwm sim, nws yuav ua rau "cov lus txib tsis tuaj yeem xa mus" lossis "cov teeb liab tawm tswv yim tsis sib xws", uas yog qhov ua rau kev ua haujlwm poob qis:

(1) PLC thiab qhov kev pab cuam: "Kev ua kom raug" yog lub hauv paus

Xyuas seb PLC puas muaj lub cim qhia ceeb toom (xws li lub teeb ERR qhib). Yog tias muaj, nyeem cov lej txhaum (xws li qhov tsis ua haujlwm ntawm module input/output, qhov yuam kev ntawm qhov program) los ntawm software programming, thiab xyuas seb txoj kab sib txuas lus ntawm PLC thiab servo drive thiab sensor (xws li RS485, EtherCAT txoj kab sib txuas lus) puas xoob. Xyuas kom meej cov logic ntawm qhov program: Yog tias qhov program PLC tau hloov kho tsis ntev los no, nws yog qhov tsim nyog los sib piv qhov backup program kom xyuas seb puas muaj teeb meem xws li "kev ncua sijhawm hais kom ua" thiab "kev ua yuam kev ua raws li qhov ua tiav" (piv txwv li, ua tiav cov lus txib nce ua ntej qhov kev ua tiav). Cov txheej txheem ua tiav qhov program tuaj yeem txheeb xyuas ib kauj ruam zuj zus los ntawm hom "ib kauj ruam khiav".

(2) Sensor: "Qhov tseeb ntawm lub teeb liab" yog qhov tseem ceeb rau kev tawm tswv yim

Cov sensors feem ntau siv rau hauv cov manipulators suav nrog cov sensors txoj hauj lwm (xws li photoelectric switches, proximity switches) thiab cov sensors siab (xws li gripper pressure sensors). Yog tias lub teeb liab sensor tsis zoo, nws yuav ua rau kev txiav txim siab tsis raug ntawm qhov kev nqis tes ua:

Lub sensor qhov chaw: Xyuas seb qhov chaw teeb tsa sensor puas raug teeb tsa (xws li lub photoelectric switch tsis sib phim nrog lub hom phiaj nrhiav pom), siv lub multimeter los ntsuas lub teeb liab tso zis ntawm lub sensor (xws li NPN hom sensor, uas tso tawm qib qis thaum lub sijhawm nrhiav pom). Yog tias lub teeb liab tsis hloov lossis hloov pauv, kho qhov chaw teeb tsa lossis hloov lub sensor.

Lub ntsuas siab: Yog tias lub gripper yog tsav los ntawm lub tshuab cua, lub ntsuas siab yog lub luag haujlwm los ntes lub siab ntawm lub gripper. Yog tias tus nqi siab qis dua tus nqi teeb tsa (xws li tus nqi teeb tsa ntawm 0.5MPa, tus nqi tiag tiag yog 0.3MPa), lub gripper yuav tsis muaj lub zog tuav txaus, uas yuav ua rau cov khoom poob. Nws yog ib qho tsim nyog los xyuas seb qhov cua qhov chaw siab puas yog qhov ib txwm muaj (feem ntau qhov cua qhov chaw siab yuav tsum yog ≥0.6MPa) thiab seb lub sensor puas tau calibrated (tus nqi tso zis ntawm lub sensor tuaj yeem calibrated siv lub ntsuas siab tus qauv).

Plaub. Lub kaw lus pabcuam: Kev daws teeb meem ntawm lub tshuab cua/hydraulic thiab lub zog fais fab (yooj yim tsis quav ntsej txog "lub luag haujlwm txhawb nqa")

(1) Lub tshuab cua/hydraulic (yog tias nws muaj cov grippers lossis cov haujlwm pabcuam)

Lub tshuab cua: Xyuas seb lub tshuab cua compressor puas siab, seb cov yeeb nkab cua puas xau, thiab seb lub solenoid valve puas daig (lub solenoid valve tuaj yeem rhuav tshem kom ntxuav lub valve core). Yog tias lub zog tuav ntawm lub gripper tsis txaus, xyuas seb lub foob ntawm lub tog raj kheej puas hnav (hloov lub foob) thiab seb lub valve tswj kev siab puas tau kho kom raug (feem ntau yog 0.4-0.6MPa). Lub tshuab hydraulic (siv los ntawm ob peb lub tshuab hnyav): Xyuas seb cov roj hydraulic puas nyob hauv qhov ntau thiab tsawg, seb cov roj puas puas lawm (yog tias cov roj turbid lossis muaj cov khoom tsis huv, hloov cov roj hydraulic thiab ntxuav lub lim dej), thiab seb lub twj tso kua mis hydraulic puas yog qhov qub. Yog tias lub siab tsis txaus, xyuas seb lub cev twj tso kua mis puas hnav lossis lub valve overflow puas tsis zoo.

(2) Lub zog fais fab: "Kev muab hluav taws xob ruaj khov" yog qhov yuav tsum tau ua ua ntej rau kev ua haujlwm ntawm cov khoom siv.

Xyuas seb lub zog fais fab (xws li AC220V, DC24V) ntawm lub servo drive, PLC, thiab sensor puas ruaj khov. Siv lub multimeter los ntsuas seb qhov voltage fluctuation puas tshaj ± 5% (voltage uas qis dhau yuav ua rau lub torque tsis txaus rau lub servo motor, thiab voltage uas siab dhau yuav hlawv cov khoom siv hluav taws xob).

Xyuas seb puas muaj cov cim qhia tias lub tshuab hloov cua thiab lub contactor hauv lub thawv faib khoom puas kub hnyiab. Yog tias cov contacts raug oxidized, yuav tsum siv ntawv xuab zeb los txhuam lossis hloov cov khoom kom tsis txhob muaj kev cuam tshuam hluav taws xob vim yog kev sib cuag tsis zoo.

3. Kev txheeb xyuas qhov ua rau muaj qhov tsis zoo: Siv "txoj kev hloov pauv" thiab "kev sim tsis muaj kev thauj khoom" los paub meej qhov ua rau muaj qhov tsis zoo.

Tom qab xauv qhov chaw ua txhaum uas xav tias muaj los ntawm kev daws teeb meem module-by-module, qhov ua rau muaj qhov txhaum yuav tsum tau lees paub los ntawm kev kuaj xyuas kom tsis txhob txiav txim siab yuam kev:

1. Txoj kev hloov: Xyuas kom meej qhov zoo ntawm cov khoom.

Yog tias lub cev muaj zog servo raug xav tias muaj qhov tsis zoo, hloov nws nrog lub cev muaj zog ib txwm ntawm tib tus qauv. Yog tias qhov kev ua tau zoo rov qab los tom qab hloov pauv, nws txhais tau tias lub cev muaj zog qub puas lawm. Yog tias lub encoder raug xav tias muaj qhov tsis zoo, hloov lub encoder cable lossis encoder kom saib seb lub teeb liab rov qab mus rau qhov qub. Yog tias muaj qhov tsis ua haujlwm ntawm lub sensor, hloov lub sensor hauv qhov chaw ib txwm (xws li lub hloov photoelectric seem) nrog qhov chaw xav tias muaj qhov tsis zoo. Yog tias lub teeb liab zoo li qub, lub sensor qub puas lawm.

2. Kev Sib Piv Tsis Muaj Khoom Thauj Khoom vs. Khoom Thauj Khoom
Kev sim tsis muaj kev thauj khoom: Tshem tawm lub neeg hlau ntawm qhov khoom thauj (xws li lub gripper lossis khoom) thiab ua haujlwm txhua lub axis. Yog tias kev ua haujlwm zoo li qub (qhov ceev thiab qhov tseeb ntawm qhov chaw ua tau raws li cov lus qhia) thaum tsis muaj kev thauj khoom, qhov teeb meem yog nrog qhov khoom thauj (xws li lub gripper daig lossis khoom hnyav dhau). Yog tias qhov tsis zoo no tseem muaj thaum tsis muaj kev thauj khoom, qhov teeb meem yog nrog lub kaw lus servo lossis cov qauv kho tshuab.
Kev sim thauj khoom: Tom qab qhov kev sim tsis muaj kev thauj khoom yog qhov qub, maj mam nce qhov kev thauj khoom (pib ntawm 50% ntawm qhov kev thauj khoom ntsuas) thiab saib xyuas kev hloov pauv ntawm kev ua tau zoo. Yog tias qhov tsis zoo tshwm sim thaum qhov kev thauj khoom mus txog qhov ntsuas, xyuas seb lub cev muaj zog servo puas sib xws thiab seb lub tshuab kis tau tuaj yeem tiv taus qhov kev thauj khoom (piv txwv li, seb lub pob ntsia hlau qhov kev ntsuas thauj khoom dynamic puas ua tau raws li qhov yuav tsum tau ua).

4. Kev Txij Nkawm Tiv Thaiv: Txij "Kev Kho Dua Tshiab" mus rau "Kev Tiv Thaiv Ua Ntej"

Tom qab daws qhov teeb meem tam sim no, tsim kom muaj ib qho kev tiv thaiv kev txij nkawm tuaj yeem tiv thaiv kev ua haujlwm ntawm tus neeg hlau thiab ua kom lub neej ua haujlwm ntawm cov khoom siv ntev dua:

Kev Siv Lubrication Tsis Tu Ncua: Ntxiv cov roj tshwj xeeb rau lub pob ntsia hlau thiab cov hlau qhia kev txhua lub lim tiam, thiab xyuas txhua hli seb puas muaj roj qhuav kom tiv thaiv kev hnav los ntawm kev sib txhuam qhuav.

Kev Kho Kom Zoo Li Qub: Kho qhov tseeb ntawm qhov chaw thiab qhov rov ua dua ntawm txhua lub axis txhua peb lub hlis siv lub laser interferometer. Yog tias qhov kev hloov pauv tshaj qhov tus qauv, kho qhov kev hloov pauv ntawm servo lossis hloov cov khoom qub sai sai.

Kev Thaub Qab Parameter: Thaub qab cov kev pab cuam PLC thiab servo drive parameters txhua hli kom tiv thaiv cov khoom siv tsis ua haujlwm vim yog poob parameter.

Kev Tswj Xyuas Ib Puag Ncig: Tswj kom muaj ib qho chaw ua haujlwm huv thiab qhuav rau tus neeg hlau kom tiv thaiv cov hmoov av thiab roj nkag mus rau hauv lub cev muaj zog servo lossis encoder. Tswj qhov kub thiab txias ntawm 0 thiab 40 ° C (qhov kub siab ua rau cov khoom siv hluav taws xob laus sai dua).

Kev Kawm Txuj Ci Rau Cov Neeg Ua Haujlwm: Muab kev cob qhia rau cov neeg ua haujlwm thiab cov neeg ua haujlwm txij nkawm kom tiv thaiv kev ua haujlwm tsis zoo los ntawm kev ua haujlwm tsis raug (xws li kev hloov kho cov kev teeb tsa servo lossis kev thauj khoom ntau dhau).

Xaus lus
Tus yuam sij rau kev ntsuam xyuas qhov kev ua haujlwm tsis zoo ntawm lub tshuab txhaj tshuaj pwm peb-axis servo yog nyob rau hauv kev daws teeb meem thiab kev txhawb nqa cov ntaub ntawv. Ua ntej, txheeb xyuas qhov teeb meem siv cov tsos mob thiab cov ntaub ntawv, tom qab ntawd rhuav tshem nws raws li qhov kev txiav txim ntawm "servo system → mechanical structure → control system → auxiliary system." Thaum kawg, txheeb xyuas qhov ua rau hauv paus los ntawm kev hloov pauv thiab kev sim sib piv. Kev ua tus thawj coj ntawm txoj hauv kev no tsis yog tsuas yog tso cai rau kev daws teeb meem tam sim no sai xwb tab sis kuj txo qhov ua tsis tiav los ntawm kev saib xyuas tiv thaiv, kom ntseeg tau tias kev ua haujlwm ruaj khov ntawm cov kab txhaj tshuaj pwm.