Iinjini zeStepper kwiirobhothi zeshishini

一, iirobhothi zamashishini ziye zaba yinxalenye ebalulekileyo yomgca wemveliso yanamhlanje.

Ngokufika kwexesha le-4.0 yoshishino, iirobhothi zoshishino ziye zaba yinxalenye ebalulekileyo yomgca wemveliso yanamhlanje. Njengesixhobo esingundoqo sokuqhuba iirobhothi zamashishini, uphuhliso lobuchwepheshe beemoto luchaphazela ngokuthe ngqo ukusebenza kunye nokusebenza kakuhle kweerobhothi zamashishini. Iinjini zeStepper, njengohlobo lwemoto enokulawula ngokuchanekileyo indawo kunye nesantya, zidlala indima ebalulekileyo kwiirobhothi zemizi-mveliso. Kweli phepha, siya kuqala kwinkcazo kunye neempawu zeenjini ze-stepper, sixoxe ngeenkcukacha malunga nokusetyenziswa kwayo kwiirobhothi zamashishini, kwaye sihlalutye ngeemeko ezifanelekileyo, ukwenzela ukubonelela ngesalathiso sokuphuhliswa kobuchwepheshe berobhothi.

二, inkcazo kunye neempawu ze-stepper motor

I-Stepper motor luhlobo lwemoto eguqula umqondiso we-pulse wombane ube yi-angular displacement okanye ukususwa komgca. Isekwe kowona mgaqo usisiseko we-electromagnetic, kwaye ngokulawula ukuphindaphindeka kunye nenani leempawu ze-pulse, iqonda ulawulo oluchanekileyo lwe-engile yokujikeleza kwemoto kunye nesantya. Injini yeStepper inezi mpawu zilandelayo:

Ulawulo oluchanekileyo:Imoto yokunyathela inokuqonda ulawulo lwendawo echanekileyo ngolawulo lwepulse oluchanekileyo, kwaye ukuchaneka kwendawo kunokufikelela ku-0.001 °.

Imo yokulawula elula:Ulawulo lwemoto yokunyathela lulula, kufuneka kuphela ukulawula ukuphindaphindeka kunye nesalathiso somqondiso we-pulse ukuqonda ulawulo lwentshukumo, akukho sidingo sokwenza uhlengahlengiso oluntsonkothileyo lwengxelo.

Ukuthembeka okuphezulu kunye nokuzinza:iinjini ze-stepper zinokuthembeka okuphezulu kunye nokuzinza, kwaye zinokusebenza ixesha elide ngaphandle komonakalo okanye ukusilela lula. Xa kuthelekiswa nezinye iintlobo zeenjini, ii-motor stepper azinazo iibhrashi kunye nabahambisi kunye nezinye iindawo zokunxiba, ngoko ke ubomi bude, iindleko zokugcina kunye nokulungiswa ziphantsi.

Isantya esisezantsi, iimpawu zetorque ephezulu:Iinjini ze-Stepper zinamandla okuvelisa i-torque ephezulu ngesantya esiphantsi, esivumela ukuba zisetyenziswe kwiimeko ezifuna ukukhutshwa kwetorque ephezulu.

Ukusetyenziswa kwamandla aphantsi:Iinjini ze-stepper zihlala zisebenzisa amandla kuphela xa zifuneka kwintshukumo, kwaye zidla phantse akukho mandla xa zibambe indawo, ngenxa yoko zisebenzisa amandla aphantsi.

三, usetyenziso lweemotor ezinyathelayo kwiirobhothi zamashishini

Indawo echanekileyo kunye nolawulo lwentshukumo

Iirobhothi zoshishino kufuneka zilawule ngokuchanekileyo isikhundla kunye nesimo sengqondo se-end-effector yazo ukugqiba imisebenzi eyahlukeneyo enzima. Iimotor zeStepper zinokuqonda ukuchaneka okuphezulu kokuma kunye nolawulo lwentshukumo yesiphelo serobhothi zeshishini ngolawulo oluchanekileyo lwepulse. Ngokomzekelo, ebudeni bendibano, iimotor ezikwaziyo ukulawula iingalo neminwe yerobhothi ukuze ziqinisekise ukuba iinxalenye zayo zibekwe kakuhle kwindawo ezikuyo. Olu lawulo luchanekileyo luphucula ukusebenza kakuhle kwerobhothi yoshishino kunye nomgangatho wemveliso.

Ulawulo oludibeneyo lweRobhothi

Ukudityaniswa kweerobhothi zemizi-mveliso zihlala ziqhutywa ziimotor ezininzi ukufezekisa iindlela ezishukumayo ezinzima. Iinjini zeStepper lukhetho lweenjini zokuqhuba ngokudibeneyo, kwaye ukuchaneka kwazo okuphezulu kunye neendlela ezilula zokulawula zenza ulawulo oludibeneyo lube lula ukuqonda. Ngokulawula i-engile yokujikeleza kunye nesantya seenjini ze-stepper, iintshukumo ezidibeneyo zeerobhothi zamashishini zinokulawulwa ngokuchanekileyo ukuze ziqonde iintlobo ezahlukeneyo zeentshukumo kunye nokuma.

Ulawulo lwesiphumo sokuphela

I-End-effector sisixhobo esithe ngqo kwiirobhothi zoshishino ukuphumeza imisebenzi, njenge-gripper, i-welding gun, njl. Ngenxa yokuthembeka okuphezulu kunye nokuzinza kwee-motor stepper, kunokuqinisekisa ukuzinza kunye nokuthembeka komphumo wokuphela komsebenzi wexesha elide.

Ulawulo lweqonga lokushukuma

Kwinkqubo yerobhothi yoshishino, iqonga elishukumayo lisetyenziselwa ukuthwala umzimba werobhothi kunye nesiphelo somphumo wokuqonda ukunyakaza kunye nokuma. Iinjini zokunyathela zingasetyenziselwa ukuqhuba intshukumo yeqonga elishukumayo ukuqaphela ukuchaneka okupheleleyo kokuma okuphezulu kunye nokuhamba kwerobhothi. Ngokulawula i-trajectory kunye nesantya se-motor stepper, ukuzinza kunye nokuchaneka kwerobhothi kunokuqinisekiswa.

Iimeko zesicelo ezisebenzayo

Ukuthatha irobhothi yokuwelda yomenzi wemoto njengomzekelo, irobhothi ithatha iimotor ezinyathelayo njengeemotor ezidibeneyo zokuqhuba. Ngokulawula ngokuchanekileyo i-angle yokujikeleza kunye nesantya se-motor stepper, i-robot iyakwazi ukuhambisa ngokuchanekileyo umpu we-welding kwindawo echaziweyo kwaye wenze imisebenzi ye-welding echanekileyo. Xa kuthelekiswa neemoto eziqhelekileyo ze-servo motors, ii-motor stepper azinikezeli kuphela ukuchaneka kwendawo ephezulu kunye nokuzinza, kodwa kunye neendleko eziphantsi kunye nolawulo olulula. Oku kwenza ukuba le robhothi ye-welding ifezekise iziphumo eziphawulekayo ekuphuculeni imveliso kunye nokunciphisa iindleko zemveliso.

四, Isiphelo

Iinjini zeStepper zisetyenziswa ngokubanzi kwiirobhothi zemizi-mveliso kulawulo lwazo oluchanekileyo, iindlela zokulawula ezilula, ukuthembeka okuphezulu kunye nokuzinza. Ngokulawula ngokuchanekileyo i-angle yokujikeleza kunye nesantya se-stepper motor, inokuqonda ulawulo oluchanekileyo oluchanekileyo lwe-end-effector, i-joints kunye neqonga lentshukumo yeerobhothi zoshishino, kunye nokuphucula ukusebenza kakuhle kunye nomgangatho wemveliso yeerobhothi zamashishini. Ngokufika kwexesha leshishini le-4.0 kunye nophuhliso oluqhubekayo lokuvelisa ngobukrelekrele, ukusetyenziswa kweenjini ze-stepper kwiirobhothi zamashishini kuya kuba nekamva elibanzi.