I-Direct drive vs. geared rotary servomotor: Ukulinganisa kwenzuzo yedizayini: Ingxenye 1

Izinjongo Zokufunda

• Amasistimu e-real-world rotary servo ayasilela ekusebenzeni okuhle ngenxa yemikhawulo yobuchwepheshe.
• Izinhlobo ezimbalwa zama-servomotor ajikelezayo zinganikeza izinzuzo kubasebenzisi, kodwa ngayinye inenselelo ethile noma umkhawulo.
• Ama-servomotors e-Direct drive rotary anikeza ukusebenza okuhle kakhulu, kodwa abiza kakhulu kunama-gearmotor.

Sekungamashumi eminyaka, ama-servomotor ahlosiwe abe ngelinye lamathuluzi avame kakhulu ebhokisini lamathuluzi lezimboni ezishintshayo. Ama-sevromotor ahleliwe ahlinzeka ngokuma, ukufanisa isivinini, ikhamera ye-elekthronikhi, ukujikajika, ukuqina, ukuqinisa izinhlelo zokusebenza futhi afanise ngokuphumelelayo amandla e-servomotor nomthwalo. Lokhu kuphakamisa umbuzo: ingabe i-servomotor ehloselwe inketho engcono kakhulu yobuchwepheshe bokunyakaza kwe-rotary, noma ingabe sikhona isisombululo esingcono?

Emhlabeni ophelele, isistimu ye-rotary servo ingaba ne-torque nezilinganiso zesivinini ezihambisana nohlelo lokusebenza ukuze injini ingabi ngosayizi omkhulu noma ngaphansi. Inhlanganisela yenjini, izakhi zokudlulisa, kanye nomthwalo kufanele kube nokuqina okungapheli kwe-torsional kanye ne-zero backlash. Ngeshwa, amasistimu e-rotary servo omhlaba wangempela ayasilela kulokhu okuhle ngamazinga ahlukahlukene.

Kuhlelo lwe-servo olujwayelekile, i-backlash ichazwa njengokulahlekelwa ukunyakaza phakathi kwemoto kanye nomthwalo obangelwa ukubekezelelana kwemishini yezinto zokudlulisa; lokhu kuhlanganisa noma yikuphi ukulahleka kokunyakaza kuwo wonke ama-gearbox, amabhande, amaketango, nama-couplings. Lapho umshini uqala amandla, umthwalo uzontanta ndawana thize phakathi kokubekezelelana kwemishini (Umfanekiso 1A).

Ngaphambi kokuthi umthwalo ngokwawo unganyakaziswa injini, injini kufanele ijikelezise ukuze ithathe konke ukuxega okukhona ezintweni zokudlulisela (Umfanekiso 1B). Lapho i-motor iqala ukwehla ekupheleni komnyakazo, indawo yokulayisha ingase idlule indawo yemoto njengoba umfutho uthwala umthwalo ukudlula indawo yemoto.

Injini kufanele iphinde ithathe ukuxega iye kolunye uhlangothi ngaphambi kokufaka i-torque emthwalweni ukuze iwunciphise (Umfanekiso 1C). Lokhu kulahlekelwa kokunyakaza kubizwa ngokuthi i-backlash, futhi ngokuvamile kukalwa ngama-arc-amaminithi, alingana no-1/60th wedigri. Ama-Gearbox adizayinelwe ukusetshenziswa nama-servos ezinhlelweni zemboni ngokuvamile anezincazelo zokuhlehla ezisukela kumaminithi angu-3 ukuya kwangu-9 arc.

Ukuqina kwe-torsional ukumelana nokusonteka kwe-motor shaft, izakhi zokudlulisela, kanye nomthwalo ekuphenduleni ukusetshenziswa kwe-torque. Isistimu eqine ngokungenamkhawulo ingadlulisela i-torque emlayishweni ngaphandle kokuchezuka kwe-angular mayelana ne-eksisi yokuzungezisa; Nokho, ngisho nensimbi eqinile shaft izosonteka kancane ngaphansi komthwalo osindayo. Ubukhulu bokuphambuka buyahlukahluka nge-torque esetshenzisiwe, impahla yezinto zokudlulisa, kanye nokuma kwazo; intuitively, ende, izingxenye ezincane zizosonteka ngaphezu kwezifushane, ezinamafutha. Lokhu kumelana nokusonteka yikho okwenza iziphethu zekhoyili zisebenze, njengoba ukucindezela intwasahlobo kusonta ukujika ngakunye kocingo kancane; i-fatter wire yenza isiphethu siqine. Noma yini engaphansi kokuqina kwe-torsional okungapheli kubangela ukuthi isistimu isebenze njengentwasahlobo, okusho ukuthi amandla anamandla azogcinwa ohlelweni njengoba umthwalo umelana nokujikeleza.

Uma kuhlanganiswe ndawonye, ​​ukuqina kwe-torsional okulinganiselwe kanye nokuhlehla kungase kwehlise kakhulu ukusebenza kwesistimu ye-servo. I-backlash ingethula ukungaqiniseki, njengoba isishumeki senjini sibonisa indawo yeshaft yemoto, hhayi lapho ukuhlehla kuvumele umthwalo ukuthi uzinze. I-backlash iphinde yethula izinkinga zokulungisa njengoba umthwalo wezithandani kanye nama-uncouples ukusuka kumotho kafushane lapho umthwalo nemoto zihlehla indlela ehlobene. Ngokungeziwe ekubuyiseleni emuva, ukuqina kokuqina okulinganiselwe kugcina amandla ngokuguqula amanye amandla e-kinetic enjini bese ilayisha ibe amandla angaba namandla, iwakhiphe kamuva. Lokhu kukhishwa kwamandla okubambezelekile kubangela ukuzungeza komthwalo, kubangela ukuzwakala kwemisindo, kunciphisa izinzuzo zokushuna ezisebenzisekayo eziningi futhi kuba nomthelela omubi ekuphenduleni nesikhathi sokulungisa sesistimu ye-servo. Kuzo zonke izimo, ukunciphisa ukuhlehla emuva nokwandisa ukuqina kwesistimu kuzokhuphula ukusebenza kwe-servo futhi kube lula ukushuna.

Ukucushwa kwe-Rotary axis servomotor

Ukucushwa kwe-axis ejikelezayo okuvame kakhulu i-servomotor ejikelezayo ene-encoder eyakhelwe ngaphakathi ukuze uthole impendulo yendawo kanye nebhokisi legiya ukufanisa i-torque etholakalayo nesivinini se-motor ne-torque edingekayo kanye nesivinini somthwalo. I-gearbox iyisisetshenziswa samandla esingaguquki esiyi-analog yemishini ye-transformer yokufanisa umthwalo.

Ukucushwa kwe-hardware okuthuthukisiwe kusebenzisa i-servomotor ye-rotary drive eqondile, eqeda izici zokudlulisa ngokuhlanganisa ngokuqondile umthwalo emotweni. Nakuba ukucushwa kwe-gearmotor kusebenzisa i-coupling ku-shaft yobubanzi obuncane uma kuqhathaniswa, uhlelo lokushayela oluqondile lubopha umthwalo ngqo ku-rotor flange enkulu kakhulu. Lokhu kucushwa kuqeda ukuhlehla emuva futhi kukhulisa kakhulu ukuqina kwe-torsional. Ukubalwa kwezigxobo eziphakeme kanye nokuvunguza kwe-torque ephezulu kwamamotho okushayela aqondile afana ne-torque nezici zejubane ze-gearmotor enesilinganiso esingu-10:1 noma ngaphezulu.