Me pēhea te whakarite i te tika o ngā karetao servo tuaka-rima?

Me pēhea te whakarite i te tika o ngā karetao servo tuaka-rima? Mai i te hangarau matua ki te whakatinanatanga

I roto i te hanga tino tika, te huihuinga hiko, te tukatuka taputapu hauora, me ētahi atu mara, ko te tika o ngā karetao servo tuaka-rima te mea e whakatau tika ana i te kounga o te hua me te whai huatanga o te whakaputa. Ki te whakatauritea ki ngā karetao e toru-tuakaNgā Rōpoti Tuaka,ngā pūnaha tuaka-rima, me ētahi atu tuaka hurihuri e rua (ko te tikanga ko ngā tuaka A, C, B rānei), ka taea te whakatutuki i te nekehanga ā-wāhi uaua ake, engari ka nui ake hoki ngā tono mō te whakahaere tika—ahakoa he hapa o te 0.01mm ka taea te whakamutu i ngā para wāhanga me te raina whakaputa. Ka tātarihia e tēnei tuhinga ngā tikanga matua mō te whakarite i te tika o ngā karetao servo tuaka-rima mai i ngā āhuatanga matua e rima: te hoahoa mīhini, te pūnaha servo, te raupapa whakahaere, te tāutanga me te tono, me te tiaki auau, e whakarato ana i tētahi aratohu mahi mō te kōwhiringa me te whakahaere umanga.

Tuatahi. Hanganga Ā-ringa: Te "Pūtake Tinana" o te Tika: Te Whakahaere Hapa mai i te Pūtake Hoahoa

Ko te tika o tētahi karetao servo tuaka-rima e whakawhirinaki ana ki te pumau o tōna hanganga mīhini. Ko te rerekētanga, te takaro, te pakaru rānei o ōna wāhanga ka puta he hapa nekehanga. Arotahi ki ngā wāhanga matua e toru e whai ake nei:

1. Ngā Wāhanga Tuku Matua: Te Kōwhiri i te Momo Tika me te Tika o te Mana Whakahaere
Ko te pūnaha tuku he mea nui mō te tuku hiko me te whakatinanatanga tika. Ko ngā tikanga tuku noa ko ngā tīwiri pōro, ngā whakaiti harmonic, me ngā whakaiti aorangi. Me taurite ēnei i runga i ngā whakaritenga kawenga me te tika:

Ngā tīwiri pōro: Ko ēnei te take o te nekehanga o ngā toki rārangi (pērā i ngā toki X/Y/Z). Ka pā tika tō rātou tika ki te hapa tūnga. Ka tūtohu mātou kia whiriwhiria te tika C3, teitei ake rānei (hapa tūnga ≤ 0.008mm/300mm). Me whakamahi he tikanga utaina-mua (pērā i te utaina-mua nati-rua) hei whakakore i te pānga i waenga i te tīwiri me te nati. Me pai ake te maitai koranu kaha-teitei (pērā i te SUJ2), ā, me whakapakeke (pakari o te mata ≥ HRC58) hei whakaiti i te kakahu me te whakarerekētanga i muri i te whakamahinga roa.

Ngā Whakaiti Harmoni: E whakamahia ana mō ngā toki hurihuri (pērā i ngā toki A/C), he painga anō hoki ēnei pērā i te ōwehenga tuku teitei me te rahi kiato. Heoi anō, mā te whakarerekētanga elastic o te flexspline ka puta pea ngā hapa whakahoki. Kōwhiria he tauira tino tika me te hapa whakahoki o ≤1 meneti pewa. Whakahaerehia hoki te tere whakauru (kaua e neke atu i te 80% o te tere kua whakatauria) hei whakaiti i te kino o te ngenge ki te flexspline. Ko ētahi taputapu teitei e whakamahi ana i te huinga o te whakaiti harmonic me te encoder tino hei utu mō ngā hapa whakarerekētanga elastic i te wā tūturu.

Ngā Kaiārahi: Ka ārahi ēnei i te nekehanga o te karetao, ā, me mau tonu te whakarara ki ngā wāhanga tuku. E taunakihia ana ngā kaiārahi roera rārangi (he nui ake te kaha kawenga me te pakari i ngā kaiārahi pōro). I te wā tāutanga, whakatikatikahia te whakarara o te reriwe aratohu mā te whakamahi i te ine whakawhiti laser (ki te hapa o te ≤0.005mm/m) hei karo i te "ngoki" me te hē rānei o te whakarara i puta mai i te honga o te reriwe aratohu.

2. Anga: He taurite i waenga i te pakari me te mama

Mā te kore e ranea te pakari o te anga ka arahi pea ki te "whakarerekētanga wiri" i te wā e neke ana, inā koa i ngā tere teitei, i raro rānei i ngā kawenga taumaha, ka nui haere ngā hapa. Ngā whakaaro hoahoa:

Kōwhiringa rauemi: Ka taea te whakamahi i ngā koranu konumohe kaha-teitei (pēnei i te 6061-T6) mō ngā kaitahuri kawenga iti me te rahi, hei whakataurite i te māmā me te pakari. Mō ngā tono kawenga taumaha (kawenga > 50kg), e taunakihia ana te rino maka (pēnei i te HT300) me ngā hanganga maitai whakarewa. Ka taea te whakamahi i te maimoatanga tawhito hei whakakore i ngā ahotea o roto me te whakaiti i te whakarerekētanga i muri i te whakamahinga roa.

Te whakapai ake i te hanganga: Whakamahia he hoahoa "tautoko tapatoru" he "momo pouaka" rānei hei whakarei ake i te pakari o te anga. Tāpirihia he rara whakakaha ki ngā wāhi matua e mau ana i te kawenga (pēnei i ngā hononga tuaka hurihuri) hei karo i te kukū o te ahotea ā-rohe. Hei tauira, i whakaitihia e te kaiwhakahaere tuaka-rima mai i tētahi kaihanga wāhanga motuka te hapa nekehanga hihiri mā te 40% mā te whakanui ake i te pakari o te anga mai i te 150 N·m/° ki te 280 N·m/°.

3. Kaiwhakaputa pito: Whakarerekētia ki te kawenga me te whakaiti i te "whakaheke pito"

Ka pā te taumaha me te tika o te whakairinga o te pito pānga (pērā i te hopu, i te kapu momi rānei) ki te "tika o te tūnga pito" o te kaiwhakahaere. Me piri ki te mātāpono "taurite kawenga":

Kaua te kawenga mutunga e neke ake i te 80% o te kawenga kua whakatauria o te karetao (kia kore ai e rerekē te āhua o te pou i puta mai i te taumaha rawa);

Me whakau te hononga i waenga i te actuator me te flange karetao mā te whakamahi i ngā pine tākai me ngā pūtu kaha-teitei. Me ≤ 0.003mm te hapa papatahi o te mata flange, ā, me ≤ 0.005mm te hapa coaxiality hei ārai i te hē o te pito nā te rerekētanga o te hononga.

Tuarua. Pūnaha Ratonga: Te "Pūtake Mana" o te Tika, Te Whakaiti i te Hurihanga i te Taumata Whakahaere

Ko te tika o te nekehanga o tētahi karetao servo tuaka-rima ko te "kaha o te pūnaha servo ki te whai i ngā whakahau"—i muri i te tukunga o tētahi whakahau, me mahi tahi te motuka servo, te taraiwa, me te kaikōwae hei whakaiti i ngā hapa. Ko ngā āhuatanga e toru e whai ake nei me arotau matua:

1. Mōta Tūmau: Kōwhiria te Momo Tika + Whakapaitia te Taumira

Ko te motuka servo te "pūtake putanga mana," ā, ko tōna tika ka whakatau tika i te maeneene o te nekehanga me te tika o te tūnga.

Kōwhiringa Momo: Ko ngā motuka servo tukutahi aukume tuturu te mea e pai ake ana (e 30% te tere o te urupare me te 20% te iti iho o te ripple taipana i ngā motuka kore tukutahi). He mea nui rawa atu tēnei i roto i ngā āhuatanga tīmatanga-mutu tere-teitei (pēnei i te kohikohinga wāhanga hiko), nā te mea ka taea e rātou te whakaiti i ngā hapa "ngaro hikoinga" i puta mai i te korenga o te taipana.

Taumira Whakawaehere: Ko te kaiwhakawaehere te "huānga urupare tūnga." Ko te teitei ake o te taumira, ko te tika ake o te kitenga tūnga. E taunakihia ana kia whakamahia he kaiwhakawaehere tino 23-moka (tika tūnga ≤ 0.001mm) mō ngā tuaka rārangi me te kaiwhakawaehere tino 17-moka (tika koki ≤ 0.005°) mō ngā tuaka hurihuri. Ki te whakatauritea ki ngā kaiwhakawaehere piki haere, kāore e hiahiatia he "whakataurite kāinga" mō ngā kaiwhakawaehere tino, ka taea te ārai i ngā peka tūnga i muri i te korenga o te hiko me te tīmatanga anō.

2. Atekōkiri: Arotauhia te pūnaha whakahaere hei whakaiti i te hapa e whai ake nei

Ko te taraiwa servo te "pokapū whakahaere motuka," ā, ka pā tika te kounga o tana rauropi ki ōna āheinga whakatika hapa. Me whakahohe ngā mahi matua e whai ake nei:
Te whakahāngai aunoa i te tawhā PID: Ka tautuhia aunoatia e te taraiwa te kawenga me te inertia o te motuka, ka arotau i ngā tawhā ōwehenga (P), ōwehenga (I), me te rerekētanga (D) hei whakaiti i te nui rawa (hei tauira, te wiri i te wā e tū ana). Hei tauira, i whakaitihia e te kiritaki i roto i te umanga 3C te hapa whai i te tuaka-X mai i te 0.02mm ki te 0.008mm mā te whakahāngai aunoa i te taraiwa.
Mana whakahaere whāngai whakamua: Ka matapaetia e tēnei ngā huringa kawenga motuka (hei tauira, te kaha ā-inertia i te wā whakaterenga) i mua i te wā, ā, ka whakaputa wawe i te utu taipana hei karo i ngā rerekētanga tere i puta mai i ngā rerekētanga kawenga. Mō ngā horopaki hononga tuaka-rima (hei tauira, te miihini mata), ka taea e te mana whakahaere whāngai whakamua te whakaiti i te hapa āhuarangi neke atu i te 30%.
Te pehi i te haruru: Hei whakatika i te haruru ā-pūkaha i te wā Rōpoti MI roto i te nekehanga (hei tauira, te wiri anga i te wā e neke ana i te tere nui), ka whakamahia e te taraiwa te "tātari notch" hei whakakore i ngā wiri i ngā auau motuhake, ka whakaiti i ngā rerekētanga tika i puta mai i te haruru.

3. Mana Whakahaere Taurite Tuaka-Rima: Te Whakatau i te "Hapa Hononga Tuaka-Iwi"

Ko te wero nui rawa atu ki ngā kaitahuri tuaka-rima ko te whakataurite i te nekehanga maha-tuaka. Ina neke ngātahi ngā tuaka e rima, me tino ōrite te tere me te whakaterenga o ia tuaka, ki te kore ka puta he "hapa āhua" (pērā i te rerekētanga āhua i te wā e miihini ana i ngā mata piko). Me arotau tēnei mā roto i ngā hangarau e whai ake nei:

Ngā rauropi whakamuri me te whakamuri o te kinematic: Whakamahia he tauira kinematic tuaka-rima tino tika hei tatau tika i ngā tawhā nekehanga o ia tuaka (pēnei i te utu koki mō ngā tuaka hurihuri) hei karo i ngā hapa i puta mai i ngā whakatau tata rauropi. Hei tauira, mō te whirihoranga tuaka-rima "kāhua-poraka" (tuaka A + C), me utu e te rauropi te rerekētanga i waenga i ngā pokapū o ngā tuaka hurihuri me ngā tuaka raina.

Te arotau i te pūnaha whakapūtātanga: Whakamahia te "whakapūtātanga spline" me te "whakapūtātanga NURBS" rānei (kaua ki te whakapūtātanga raina tuku iho) hei whakatutuki i te nekehanga maeneene ake mō ia tuaka, me te whakaiti i ngā hapa pānga i puta mai i ngā huringa tere ohorere. I whakapai ake tētahi kaihanga taputapu hauora i te tika o te miihini mata hononga horihori mai i te ±0.03mm ki te ±0.015mm mā te whakatinana i te whakapūtātanga NURBS.

Tuatoru. Te Whakautu Hapa: He "Tikanga Whakatikatika" mō te Tika, Te Whakamahi i te Hangarau hei Whakakore i ngā Peketanga Tūturu

Ahakoa kua arotauhia ngā pūnaha miihini me ngā pūnaha servo, ka noho tonu ngā hapa ā-roto (pēnei i te hapa wera, te hapa tūnga, me te hapa āhuahanga), me whai tikanga utu hohe hei whakaiti ake i aua hapa:

1. Te Whakakore i ngā Hapa Wera: Te "Kaiwhakamate Kāore e Kitea" o ngā Huringa Pāmahana

Ina whakahaerehia he karetao tuaka-rima, ka puta te wera i roto i te motuka, te tīwiri mata, me te ara ārahi i te waku, ka puta te whānui me te rerekētanga o ngā wāhanga. Hei tauira, mō ia pikinga 1°C o te pāmahana tīwiri pōro, ka piki te roa mā te 11μm/m pea, ka arahi tika ki ngā hapa tūnga tuaka rārangi. Ko ngā otinga ko:

Pūmārō: Tāutahia ngā pūoko pāmahana (pēnei i te PT1000) ki te taha o te mōta me te tīwiri mata hei aroturuki i ngā huringa pāmahana i te wā tonu.

Pūmanawa: Whakawhanakehia he tauira pāngarau "hapa pāmahana" (pēnei i te tauira whakatauira rārangi) hei tatau aunoa me te whakatika i ngā hapa i runga i ngā raraunga pūoko. Hei tauira, i whakamahia e tētahi kaihanga taputapu mīhini te whakatika hapa wera hei whakau i te tika o te mahi mō te wā roa (i roto i te wā 8-hāora) o tētahi karetao tuaka-rima mai i te ±0.025mm ki te ±0.012mm.

2. Te Whakautu i ngā Hapa Tūnga: Te Whakamahi i te Interferometer Laser hei "Whakataurite i ia Hipanga"

Ko te hapa tūnga e pā ana ki te rerekētanga i waenga i te tūranga tuturu o te karetao me te tūranga i whakahaua. Me ine me te whakatikatika mā te whakamahi i ngā taputapu motuhake:
Ngā Utauta Ine: Whakamahia he ine whakawhiti taiaho (pēnei i te Renishaw XL-80) hei ine i te hapa tūnga, te hapa tukurua, me te urupare whakamuri mō ia tuaka.
Tikanga Utu: Kawemai i ngā raraunga ine ki roto i te He aha te karetaopūnaha whakahaere, waihangahia he "ripanga utu hapa," me te whakamahi i ngā whakatikatika wā-tūturu i te wā e neke ana. Hei tauira, i tētahi kaihanga wāhanga rererangi, i whakaitihia e te whakatikatika ine whakawhiti laser te hapa tūnga tuaka-X mai i te 0.018mm ki te 0.006mm.

3. Te Whakakore i ngā Hapa Āhuahanga: Te Whakakore i ngā "Hēketanga Tūturu" i roto i te Hoahoa Hanganga

Ko ngā hapa āhuahanga o tētahi karetao tuaka-rima ko ngā hapa poutū o te tuaka me ngā hapa rerekē o te tuaka hurihuri, e hiahia ana kia whakatikatikaina mā roto i ngā tikanga e whai ake nei:

Whakatikatika i te Tūnga Poutū: Whakamahia he tohu tapawhā me te tohu mata, he ine whakawhiti taiaho rānei hei ine i te tūnga poutū i waenga i ngā tuaka rārangi (hei tauira, ko te hapa tūnga poutū i waenga i ngā tuaka X me Y me ≤ 0.005 mm/m). Whakatikahia tēnei hapa mā te whakamahi i te mahi "whakautu tūnga poutū" a te pūnaha whakahaere.

Te Whakautu i te Taupatupatu o te Tuaka Hurihuri: Whakamahia he pae porowhita hei ine i te taupatupatu o te tuaka hurihanga (hei tauira, te rerekētanga i waenga i te pokapū hurihanga o te tuaka-A me te tuaka-Z). Kātahi ka whakauruhia ngā tawhā utu taupatupatu ki te tauira kinematic hei karo i ngā pekapeka o te tūranga pito i puta mai i te taupatupatu.

Tuawhā. Te Tāutanga me te Whakatūnga: Te "Kī ki te Whakatinanatanga" o te Tika; Ko ngā Taipitopito te Kaiwhakatau i ngā Hua Whakamutunga

Ahakoa kua tutuki i te taputapu te tika e hiahiatia ana, ka taea tonu e te tāutanga me te whakatinanatanga hē te arahi ki te ngaronga o te tika. Me tino whai i ngā tikanga e whai ake nei:

1. Tūāpapa Tāutanga: Me whakarite kia pumau, kia taurite hoki te tūāpapa

Ngā Whakaritenga Tūāpapa: Te mata e te karetao Me whakamaroke te mea kua tāutahia ki te raima (kaha ≥ C30) me te matotoru ≥ 200mm hei ārai i te honga i puta mai i te totohu o te whenua.

Whakatikatika Whakapae: Whakamahia he taumata tika (tika 0.02mm/m) hei whakatikatika i te tinana mīhini mō te whakapae. Ko te hapa whakapae o te tuaka rārangi me ≤ 0.01mm/m, ā, ko te oma pito-mata o te tuaka hurihuri me ≤ 0.005mm.

2. Te Whakatikatika i te Pūnaha Tuaka: Te arotau i ngā taahiraa mai i te tuaka kotahi ki te tuaka kua whakaritea

Te patuiro tuaka-kotahi: Whakamātauria tuatahi te tika o te nekehanga (te hapa tūnga me te auautanga) o ia tuaka takitahi. Kia tutuki te tika o te tuaka-kotahi ki te paerewa, haere tonu ki te patuiro taunga maha-tuaka.

Te patuiro kua whakaritea: Mā te whakamātautau tapahi, te whakamātautau aroturuki ara rānei (hei tauira, te neke i te karetao i te taha o te pihi kua whakaritea me te whakamahi i te aroturuki laser hei kite i te pekapeka ara), arotauhia ngā tawhā hononga tuaka-rima kia tino tutuki ai te tika o te ara ki te paerewa.

3. Whakamātautau Utaina: Whakatauira i ngā Āhuatanga Whakahaere Tuturu hei Manatoko i te Pūmautanga o te Tika

Whakamātauria te kawenga tonu mō ngā hāora 8-12 i runga i te "kawenga mōrahi" me te "tere mōrahi" e whakamahia ana i roto i te mahi whakaputa tuturu.

Mahia ngā tirotiro tika i ia wā i te wā whakamātautau (hei tauira, te ine i te hapa tūranga-mutunga me te tohu waea i ia 2 hāora) kia mau tonu ai te tika i roto i ngā rohe e whakaaetia ana i raro i ngā āhuatanga kawenga.

Tuarima. Te Tiaki i ia Rā: "Te Whakamanatanga Mō te Wā Roa" mō te Tika: He Pai ake te Ārai i te Whakatika

Ka heke te tika o tētahi karetao servo tuaka-rima i roto i te wā, nō reira he mea nui kia whai wā tiaki auau:

1. Te Tiaki i ngā Wāhanga Whakawhiti: Te Whakahinuhinu me te Horoi hei Whakaiti i te Pakaru

Tīwiri Pōro/Reri Arataki: Tāpirihia he hinu motuhake (hei tauira, he hinu kei roto i te konukōreiti) i ia 50 hāora o te whakamahinga hei ārai i te pakaru i puta mai i te waku maroke. Horoia te taupoki puehu o te reri arataki i ia marama hei ārai i te puehu kei uru ki roto i te reri arataki.

Whakaiti Harmoni: Tirohia te taumata hinu whakahinuhinu i ia 200 hāora o te mahi, ā, tāpirihia he hinu whakahinuhinu motuhake (hei tauira, te hinu taputapu whakaiti harmoni) ina hiahiatia. Whakakapia te hinu whakahinuhinu i ia tau.

2. Te Tiaki Pūnaha Ratonga: Ngā Tirotiro Auau me ngā Whakatūpato Moata

Kaiwhakakōwaehere: Horoia te whare whakakōwaehere ia toru marama, ka tirohia te haumaru o ngā hononga taura hei ārai i te pokanoa o te tohu e puta mai ana i ngā taura korekore.

Taraiwa: Tirohia te pā whakamatao o te taraiwa i ia marama mō te mahi tika, ā, horoia te puehu mai i ngā kōhao whakamatao hei ārai i te hekenga o te mahi nā te wera nui.

3. Arotakenga Anō mō ​​te Tika: Te Whakatikatika Auau me te Whakatikatika Wā

Tirohia anō te tika o ia tuaka i ia toru marama mā te whakamahi i tētahi ine whakawhiti taiaho, i tētahi pae pōro rānei. Mēnā ka nui ake te hapa i te paepae (hei tauira, te hapa tūnga > 0.01mm), me whakatika tonu.

Whakahaerehia he "whakatikatika tika katoa" i ia tau, tae atu ki te tirotiro hanganga miihini, te arotau i ngā tawhā servo, me ngā whakahoutanga whakatikatika hapa, kia mau tonu ai te mahi tino tika o te taputapu mō te wā roa.

Whakatau: He "kaupapa pūnaha" te tika o tētahi karetao servo tuaka-rima, ehara i te taahiraa kotahi.

Hei whakarite i te tika o tētahi karetao servo tuaka-rima, me whai huarahi whānui mō te huringa ora: "te hoahoa me te whiriwhiri - te hanga - te tāutanga me te tono - te tiaki auau." Ko te hanganga miihini te turanga, ko te pūnaha servo te uho, ko te whakatikatika hapa te huarahi, ā, ko te tāutanga me te tiaki ngā ārai. Mō ngā pakihi, hei tāpiri atu ki te whiriwhiri i ngā taputapu tino tika, he mea nui kia whakawhanakehia he "māramatanga whakahaere tino tika"—mā te whakatikatika auau, te aroturuki raraunga, me te arotau tonu—kia tino tutuki ai te tika o te karetao i ngā whakaritenga whakaputa.

Mena ka tūtaki koe ki ngā take motuhake e pā ana ki te whakahaere tika o tētahi karetao servo tuaka-rima (pērā i te hapa nui rawa atu i roto i te tuaka kotahi, i te kore rānei e tika te āhua o te hononga i te wā e hono ana), ka taea te whakamahi i ētahi atu tātaritanga i runga i ngā āhuatanga whakahaere tuturu hei whakawhanake i ngā otinga arotau kua tohua, kia taea ai e te taputapu te tino whakatutuki i tōna uara "hanga tika".