Hajoale, li-actuator tse ngata 'marakeng li na le mefuta e' meli ea mekhoa ea taolo ea matla:
1. Taolo ea hona joale ea matla a loop
Mokhoa o batlang o le bonolo oa ho kenya ts'ebetsong mokhoa o tloaelehileng oa ho laola matla, o hlokomelang taolo ea matla ka ho fetola motlakase o ka hare oa motlakase.Molemo ke hore ha ho thata ho e kenya ts'ebetsong, 'me e ka finyella taolo ea matla ka har'a mefuta e nepahetseng ea 5% -15%;bothata ke hore lebelo la ho sisinyeha le lieha, le ke ke la khannoa ka tsela e fapaneng, 'me ha le khone ho finyella litlhoko tsa maemo a mang a nang le litlhoko tse phahameng tse nepahetseng.Ka mor'a nako ea tšebeliso, ho roala ha mechine ho tla tlisa liphoso le ho fokotsa ho nepahala.
Hangata li-actuator tse joalo ha li na li-sensor, 'me le haeba ho na le li-sensor, li sebelisoa feela e le "lipontšo" tsa matla' me ha li kopanele taolong.Mohlala, ho eketsa sensor mochineng oa khatiso, kutlo e bala boholo ba matla, 'me e bonts'a boleng ka metara, e sebelisetsoang ho thusa ho fetola boholo ba matla, empa phetoho e joalo ka kakaretso ha e na letho. ka ho nepahala hoa matla.
Setšoantšo sa schematic, ha se amane le litšoantšo le mongolo
2. Sensor e koetsoeng-loop matla a ho laola
Mokhoa o mong oa taolo ea matla ke ho eketsa sensor e tloaelehileng ea matla le algorithm e tloaelehileng ea taolo ea loop.Molemo ke hore ho nepahala ho ntlafalitsoe, empa bothata ke hore lebelo le ntse le lieha.Ka tsela ena, ho nepahala ha taolo ea matla ho ka eketseha ho tloha ho 5% ho ea ho 1%.Haeba ho se na ts'ebetso e nepahetseng ea algorithm, kapa lebelo la sensor ha le potlake ka ho lekaneng, le tloaetse ho "overshoot".
Qobella Actuator Controlled
"Letlobo" le ke keng la qojoa?
Mokhoa oa ho laola matla a koaletsoeng oa sensor o thata ho sebetsana le matla a ts'usumetso.Pontšo e tobileng ka ho fetisisa ke hore "overshoot" e bonolo haholo ho etsahala ha u sebetsana le liketsahalo tse nang le litlhoko tse phahameng tsa tempo.
ka mohlala
Ka kakaretso, tabeng ea lebelo le phahameng le tlhahiso e kholo, nako eo actuator e kopanang le workpiece hangata e kholo haholo.Ka mohlala, haeba matla a sututsang a actuator a behiloe ho 10N, ho bonolo ho fihla 11N le 12N ha e ama mosebetsi, ebe e bitsoa ho khutlela 10N ka algorithm ea taolo.Hangata mathata a joalo a etsahala ha li-sensor tsa matla le seo ho thoeng ke li-activator tse laoloang ka matla li kenngoa 'marakeng.
Ena ke bothata ba hore lebelo la karabo ha le potlake ka ho lekaneng.Lebelo le phahameng le tlhahiso e nepahetseng le e tsitsitseng ke para ea likhanyetsano ka botsona.Haeba ho na le letlobo le leholo (ho feta), matla a tobileng a teng ha a na moelelo.
Haholo-holo ts'ebetsong ea lisebelisoa tse nepahetseng tsa kopano ea khatello, likarolo tse fokolang le tse theko e phahameng, ho feta ha ho lumelloe ka kakaretso.
Taolo ea matla a felletseng, maqhubu a phahameng le lebelo le holimo ntle le ho feta?
TA e etsa joang?
Bakeng sa maemo a phahameng a ts'ebeliso e nepahetseng, mokhoa oa "ho lulisa ha bonolo" o amoheloa ho ela hloko litlhoko tsa lebelo le phahameng le ho nepahala ho phahameng, ke hore, taolo ea matla a arohaneng.The actuator e potlakela ho atamela workpiece ka mokhoa oa ho sisinyeha ha boemo, e potlakela ho fetola mokhoa oa ho laola matla sebakeng seo e leng mothating oa ho ikopanya le workpiece, 'me butle-butle e eketsa tlhahiso ho fihlela e fihla ho boleng bo behiloeng esale pele.Boemo ba boemo + mokhoa oa ho laola matla + nako ea ho tsitsisa matla, nako eohle e sebelisoang ke ts'ebetso e le 'ngoe ea ts'ebetso ea actuator.
Ha e kopantsoe le sensor ea lebelo le phahameng le algorithm ea taolo e thehiloeng ho mohlala, SoftForce®2.0 precision force-controlled actuator e ka tsebahatsa boemo ba actuator le boemo ba ho ikopanya le workpiece, e le hore actuator e be pheletso ea automation. thepa, e na le mosebetsi o tšoanang le oa letsoho la motho.temoho e tactile, bohlale ba ho laola le ho phethahatsa.
Ka sebaka se le seng, lebelo le bonolo la ho lulisa "SoftForce ®2.0 Precision Force Control" le eketseha, mamello e kholoanyane, 'me e ka ba ea finyella taolo e feletseng ea matla, e ntlafatsang ka ho toba potoloho ea tlhahiso le ho fokotsa haholo litšenyehelo tsa teko le. netefatso ea phoso.
▋Maqhubu a phahameng a ho sebetsa ho fihlela tšebetso e ntlafetseng
Potoloho ea lipalo ea "six-axis force sensor + robot" ea matla a taolo ea matla e sebelisoang hangata 'marakeng ke 5-10 milliseconds, ke hore, frequency ea ho sebetsa ke 100-200 Hz.Maqhubu a ts'ebetso ea li-activator tse laoloang ka matla a SoftForce®2.0 ka mokhoa o nepahetseng a ka fihla ho 4000Hz (ke hore 0.25 milliseconds), 'me mefuta e mengata ea maqhubu a phahameng e ka fihla ho 8000Hz, e leng makhetlo a 4-8 a ho sebetsa ha li-activator tse laoloang ke liroboto ka kakaretso.
▋ Taolo ea matla e sebetsang, e ka latelang phetoho ea matla a kantle
Sekhahla se sebetsang hantle sa karabelo le maikutlo a matla a hang-hang a thusa actuator ho arabela hang-hang ho matla a kantle le ho fihlela taolo e lumellanang ea matla.Esita le haeba matla a ka ntle a kopana le nakong ea ts'ebetso, e ka fetoloa ka nako, ho etsa hore mokhoa ona o be o nepahetseng haholoanyane.Tšireletso e betere ea li-workpieces.
Maqhubu a phahameng le lebelo le phahameng ntle le ho feta
Esita le tlas'a ts'ebetso e phahameng ea maqhubu le lebelo le phahameng, e ntse e boloka ho nepahala ha tlhahiso e phahameng, 'me ka nako e ts'oanang e tiisa "ho lulisa ha bonolo" le "ho se na overshoot", e kopana le holim'a likarolo tse nang le lebelo le phahameng, matla a manyenyane,' me e etsa lintho tse feto-fetohang. ho khetha le ho beha likarolo, joalo-joalo, ho qoba tšenyo ea likarolo tse pshatlehang le tse pshatlehang.Likaroloana.
SoftForce®2.0 Precision Force Control
HF letoto la ntlafatso e ncha
▋ Matla a matla a ho thibela ho tlala
Ho ipapisitsoe le kutloisiso e tebileng ea ts'ebetso ea sebaka sa marang-rang le ho pheta-pheta makhetlo a mangata, letoto la Chengzhou le sa tsoa ntlafatsoa la SoftForce®2.0 la HF ka Hlakola selemong sena le na le moralo o kopaneng oa sensor, 'me matla a eona a ho thibela ho feta a phahame ka makhetlo a mangata ho feta nakong e fetileng, e nang le botsitso bo phahameng le boiketlo ba tšebeliso.Sebetsana ka katleho le maemo a thata haholoanyane.
▋E ka ela hloko matla a manyane le tlhahiso e kholo
E na le tsamaiso ea matla a matla a SoftForce®2.0, tafole ea li-slide e laoloang ka matla ka mokhoa o nepahetseng le molamu oa sutu o nang le stroke e kholo le mojaro o moholo o ka hlahisa matla a manyenyane le a nepahetseng tlas'a mojaro o phahameng, hape o ka nahanela matla ka nako e le 'ngoe. nako, 'me mefuta e mengata ea lihlahisoa e pharalletse.E kholoanyane, ke hore, mefuta e mengata ea matla a matla *.
*Force Dynamic Range: Karo-karolelano lipakeng tsa matla a holimo le a tlase a ka hlahisoang.
Taolo ea matla e nepahetseng e ka sebelisoa feela sebakeng se le seng
Li-activator tse laoloang ke matla a SoftForce®2.0 li ke ke tsa sebelisoa feela ka axis e le 'ngoe, empa hape li fana ka menyetla e mengata bakeng sa tharollo ea kopano ea li-multi-axis.Ka mohlala, "RM Chengzhou 2D Synchronous Precision Force Control Platform Control System" ea morao-rao e qalileng ke Chengzhou Technology e entsoe ka lisebelisoa tse peli tsa motlakase tse laoloang ke matla a Chengzhou, tse ka nkang sebaka sa matla a "six-axis sensor + robot" Control scheme, e sebelisetsoang ho sila le ho phunya foreimi e ka hare ea mehala ea thekeng, joalo-joalo.
Chengzhou 2D synchronous precision force control platform system system
(E na le SoftForce®2.0 sistimi ea taolo e nepahetseng e phahameng ea matla)
Litšebeletso tse tsoetseng pele le tse bonolo ho li sebelisa
Algorithm ea taolo e tsoetseng pele le mokhoa o bonolo oa ho lokisa liphoso o tlisa boiphihlelo bo bonolo ba mosebelisi ho bareki.Esita le opareitara e nang le maemo a tlase a ka qala ka mor'a metsotso e 5, "plug and play" kannete.
Ka nako e ts'oanang, sehlopha sa ts'ebeletso sa botekgeniki sa Chengzhou Technology se matla le se matla kamora ho rekisa se ka fa bareki tšehetso ea tekheniki e nakong, e felletseng le e se nang matšoenyeho ka lekhetlo la pele, ebang ke lipelaelo tsa tekheniki, ho ruta, ho rarolla mathata kapa tlhokomelo.
Chengzhou Technology haesale e le sebete sa ho atolosa meeli ea eona.Ka matla a eona a tiileng le a macha a tekheniki, e ntse e tsoela pele ho qala lihlahisoa tse bohlale, tse nepahetseng le tse lumellanang haholoanyane ho fana ka lihlahisoa tse tsoetseng pele bakeng sa ho paka le ho etsa liteko tsa semiconductor, 3C automation, tlhahiso e nepahetseng, bongaka bo bohlale le liindasteri tse ling.likarolo tsa mantlha tse kang litsamaiso tse nepahetseng tsa taolo ea motsamao le li-activators.
Nako ea poso: May-31-2022