Direct drive vs. geared rotary servomotor: Kuchulukitsa kwa mwayi wopanga: Gawo 1

Zolinga za Maphunziro

• Makina amtundu wa rotary servo amalephera kuchita bwino chifukwa cha zolephera zaukadaulo.
• Mitundu ingapo ya ma servomotors a rotary imatha kupereka zopindulitsa kwa ogwiritsa ntchito, koma iliyonse ili ndi zovuta kapena malire.
• Ma Direct drive rotary servomotors amapereka magwiridwe antchito abwino kwambiri, koma ndiokwera mtengo kuposa ma gearmotor.

Kwa zaka zambiri, ma servomotors omwe ali ndi geared akhala chimodzi mwazinthu zomwe zimagwiritsidwa ntchito kwambiri m'bokosi la zida zamagetsi zamagetsi. Ma sevromotors okonzekera amapereka malo, kufananitsa liwiro, camming yamagetsi, mafunde, kukanikiza, kulimbitsa ntchito ndikufananiza bwino mphamvu ya servomotor ndi katundu. Izi zimadzutsa funso: kodi servomotor yokhazikika ndiyo njira yabwino kwambiri paukadaulo woyenda mozungulira, kapena pali njira yabwinoko?

M'dziko langwiro, makina ozungulira a servo amatha kukhala ndi ma torque ndi liwiro lomwe limafanana ndi ntchitoyo kotero kuti injiniyo sikhala yokulirapo kapena yocheperako. Kuphatikiza kwa injini, zinthu zotumizira, ndi katundu kuyenera kukhala ndi kuuma kopitilira muyeso ndi zero backlash. Tsoka ilo, machitidwe enieni a rotary servo amalephera kukwaniritsa izi mosiyanasiyana.

Mu dongosolo la servo, kubwereranso kumatanthauzidwa ngati kutayika kwa kayendetsedwe kake pakati pa galimoto ndi katundu chifukwa cha kulekerera kwa makina azinthu zopatsirana; Izi zikuphatikizapo kutayika kulikonse mu gearbox, malamba, maunyolo, ndi zomangira. Pamene makina ayamba kuyendetsedwa, katunduyo amayandama kwinakwake pakati pa kulolerana kwa makina (Chithunzi 1A).

Katundu wokha usanasunthidwe ndi mota, injiniyo iyenera kuzungulira kuti itenge zofooka zonse zomwe zilipo muzinthu zotumizira (Chithunzi 1B). Motor ikayamba kutsika kumapeto kwa kusuntha, malo onyamula amatha kupitilira malo agalimoto pomwe mphamvu imanyamula katundu kupitilira malo agalimoto.

Galimotoyo iyeneranso kuyimitsanso mbali ina isanagwiritse ntchito torque kuti ichepetse (Chithunzi 1C). Kutayika kumeneku kumatchedwa backlash, ndipo nthawi zambiri kumayesedwa mu arc-minute, yofanana ndi 1/60th ya digiri. Ma gearbox opangidwa kuti azigwiritsidwa ntchito ndi ma servos pamafakitale nthawi zambiri amakhala ndi mawonekedwe obwerera kumbuyo kuyambira 3 mpaka 9 arc-minutes.

Kuuma kwa torsional ndikukana kupotoza kwa shaft yamoto, zinthu zotumizira, ndi katundu poyankha kugwiritsa ntchito torque. Dongosolo lolimba lopanda malire limatha kutumiza torque ku katundu popanda kupotoza kozungulira kozungulira; komabe, ngakhale chitsulo cholimba chachitsulo chidzagwedezeka pang'ono pansi pa katundu wolemera. Kukula kwa kupatuka kumasiyanasiyana ndi torque yomwe imagwiritsidwa ntchito, zinthu zomwe zimapatsirana, ndi mawonekedwe awo; mwachidziwitso, mbali zazitali, zopyapyala zidzapindika kuposa zazifupi, zonenepa. Kukana kupotoza uku ndiko kumapangitsa kuti akasupe a koyilo azigwira ntchito, monga kukanikiza kasupe kumapotoza kutembenuka kulikonse kwa waya pang'ono; waya wonenepa amapanga masika olimba. Chilichonse chocheperapo chopanda malire cholimba cha torsional chimapangitsa kuti dongosolo likhale ngati kasupe, kutanthauza kuti mphamvu zomwe zingatheke zidzasungidwa mu dongosolo pamene katunduyo amatsutsa kuzungulira.

Zikaphatikizidwa palimodzi, kuuma kwapang'onopang'ono kwapang'onopang'ono ndi kubwerera kumbuyo kumatha kusokoneza kwambiri magwiridwe antchito a servo system. Kubwerera kumbuyo kumatha kuyambitsa kusatsimikizika, popeza choyimitsa chamoto chimawonetsa malo a shaft ya mota, osati pomwe kubwezako kwalola kuti katunduyo akhazikike. Backlash imayambitsanso zovuta zosintha monga momwe zimakhalira zolemetsa komanso zoseweretsa kuchokera pagalimoto kwakanthawi pomwe katundu ndi mota zimasinthana. Kuphatikiza pakubwerera m'mbuyo, kuuma kwapang'onopang'ono kumasunga mphamvu potembenuza mphamvu ya kinetic ya injini ndikuyika mphamvu yomwe ingatheke, ndikuyitulutsa pambuyo pake. Kuchedwetsako kutulutsa mphamvuku kumayambitsa kugwedezeka kwa katundu, kumapangitsa kumveka bwino, kumachepetsa kupindula kwakukulu kogwiritsa ntchito ndikusokoneza nthawi yoyankhira ndi kukhazikika kwa makina a servo. Nthawi zonse, kuchepetsa kubweza kumbuyo ndikuwonjezera kuuma kwa kachitidwe kumakulitsa magwiridwe antchito a servo ndikuwongolera kuphweka.

Kukonzekera kwa rotary axis servomotor

Kusintha kofala kwambiri kwa rotary axis ndi servomotor yozungulira yokhala ndi encoder yomangidwa kuti ipereke mayankho ndi gearbox kuti igwirizane ndi torque yomwe ilipo komanso liwiro la mota ku torque yofunikira komanso kuthamanga kwa katundu. Bokosi la gear ndi chipangizo champhamvu chokhazikika chomwe ndi analogi yamakina a transformer kuti agwirizane ndi katundu.

Kukonzekera kwa hardware kwabwino kumagwiritsa ntchito servomotor yoyendetsa molunjika, yomwe imachotsa zinthu zotumizira pogwirizanitsa katunduyo ku galimotoyo. Pomwe kasinthidwe ka gearmotor kumagwiritsa ntchito chophatikizira ku shaft yaying'ono, makina oyendetsa molunjika amabowoleza katunduyo molunjika ku flange yayikulu kwambiri. Kukonzekera uku kumathetsa kukhumudwa ndikuwonjezera kwambiri kuuma kwa torsion. Kuchuluka kwa ma pole ndi ma torque apamwamba a ma motor drive molunjika amafanana ndi torque ndi liwiro la gearmotor yokhala ndi chiyerekezo cha 10: 1 kapena kupitilira apo.