Parizvino, mazhinji emagetsi pamusika ane marudzi maviri enzira dzekudzora simba:
1. Ikozvino loop force control
Iyo iri nyore kuita yakajairwa simba rekudzora nzira, iyo inoziva kutonga kwesimba nekugadzirisa iyo yemukati ikozvino yemota.Chakanakira ndechekuti haina kuoma kuita, uye inogona kuwana simba rekutonga mukati meiyo 5% -15% kunyatsoita;chakashata ndechekuti kumhanya kwekufamba kunononoka, haigone kudzoserwa kumashure, uye haigone kuzadzisa zvinodiwa zvemamwe mamiriro ane yakakwirira chaiyo zvinodiwa.Mushure menguva yekushandiswa, kupfeka kwemagetsi kuchaunza zvikanganiso uye kuwedzera kuderedza kurongeka.
Vagadziri vakadaro kazhinji havana ma sensors, uye kunyangwe paine masensa, anongo shandiswa se "zviratidziro" zvesimba uye haatore chikamu mukutonga.Semuenzaniso, kuwedzera sensor kune yekutsikirira, sensor inoverenga saizi yesimba, uye inoratidza kukosha kuburikidza nemamita, iyo inoshandiswa kubatsira kugadziridzwa kwebhuku rehukuru hwesimba, asi kugadzirisa kwakadaro kazhinji hakuna chekuita. nekururama kwesimba.
Schematic diagraph, isina hukama nemifananidzo uye zvinyorwa
2. Sensor yakavharwa-loop simba rekudzora
Imwe nzira yekudzora simba ndeyekuwedzera yakajairwa simba sensor uye yakajairwa yakavharwa-loop control algorithm.Chakanakira ndechekuti iko kurongeka kwakagadziridzwa, asi chakashata ndechekuti kumhanya kuchiri kunonoka.Nenzira iyi, kurongeka kwesimba rekutonga kunogona kuwedzera kubva pa5% kusvika ku1%.Kana pasina chaiyo algorithm yekugadzirisa, kana iyo sensor kumhanya haina kukurumidza zvakakwana, inowanzoitika "kupfuura".
Simba Inodzorwa Actuator
The isingadzivisiki "overshoot"?
Iyo yakavharwa-loop simba rekudzora nzira ye sensor yakaoma kubata neiyo inokanganisa simba.Chiratidziro chakananga ndechekuti "overshoot" iri nyore kwazvo kuitika kana uchibata nezviitiko zvine high tempo zvinodiwa.
semuyenzaniso
Kazhinji, kana iri yekumhanya kwakanyanya uye yakakura kubuda, iyo nguva iyo actuator inobata iyo workpiece inowanzove yakakura.Semuenzaniso, kana simba rekusundira re actuator rakaiswa ku 10N, zviri nyore kusvika 11N uye 12N kana inobata workpiece, uye inobva yadaidzwa kudzokera ku10N kuburikidza nekutonga algorithm.Zvinetso zvakadaro zvinowanzoitika apo simba sensors uye inonzi simba-inodzorwa actuators inowedzerwa kumusika.
Iri ndiro dambudziko rekuti kasidhi yekupindura haina kukurumidza zvakakwana.Kumhanya kwepamusoro uye kwakaringana uye kwakagadzikana kubuda ndiwo maviri ekupesana mukati mavo.Kana pane overshoot (overshoot), simba chairo riripo harina zvarinoreva.
Kunyanya mune chaiyo yemidziyo process yekumanikidza kusangana, isina kusimba uye inodhura zvikamu, overshoot kazhinji haibvumirwe.
Yakazara simba rekutonga, yakakwira frequency uye yakanyanya kumhanya pasina overshoot?
TA inozviita sei?
Nokuda kwemamiriro ekushandiswa kwepamusoro-soro, nzira ye "soft landing" inogamuchirwa kuti ifunge nezvezvinodiwa zvekumhanya zvakanyanya uye nepamusoro-soro, kureva, kupatsanura simba rekutonga.Iyo actuator inokurumidza kusvika kune workpiece kuburikidza nechinzvimbo chekufamba modhi, inokurumidza kuchinjika kune simba rekudzora modhi panzvimbo iyo yave kuda kubata workpiece, uye zvishoma nezvishoma inowedzera kubuda kusvika yasvika kune preset kukosha.Position modhi + simba rekudzora modhi + kumanikidza kudzikamisa nguva, iyo yakazara nguva inoshandiswa ndiyo imwechete kuuraya kugona kweiyo actuator.
Yakasanganiswa ne-high-speed force sensor uye modhi-based predictive control algorithm, SoftForce®2.0 precision force-controlled actuator inogona kungoziva nzvimbo ye actuator uye nzvimbo yekubatana ne workpiece, kuitira kuti actuator, semagumo e automation. midziyo, ine basa rakafanana nereruoko rwemunhu.tactile maonero, kutonga uye kuuraya njere.
Pachinhambwe chimwe chete, iyo yakapfava yekumhara yekumhanyisa renji ye "SoftForce ®2.0 Precision Force Control" inowedzerwa, kushivirira kwakakura, uye inokwanisa kuwana kutonga kwakazara kwesimba, iyo inovandudza zvakananga kutenderera kwekugadzira uye inoderedza zvakanyanya mutengo wekuyedzwa uye. chokwadi chemhosho.
▋ High processing frequency kuita zvirinani kuita
Iyo yekuverenga kutenderera kwe "nhanhatu-axis simba sensor + robhoti" simba rekudzora chirongwa chinowanzo shandiswa pamusika ndeye 5-10 milliseconds, kureva kuti, iyo frequency yekugadzirisa ndeye 100-200 Hz.Iyo yekugadziridza frequency yeSoftForce®2.0 precision simba-inodzorwa actuators inogona kusvika 4000Hz (kureva 0.25 milliseconds), uye yakakwirira-frequency series modhi inogona kusvika 8000Hz, inova 4-8 nguva yekugadziridza frequency ye general robot force-controlled actuators.
▋Active compliant force control, inogona kutevera shanduko yesimba rekunze
Kubudirira kwekupindura chiyero uye pakarepo simba remhinduro inoita kuti actuator ipindure pakarepo kumasimba ekunze uye iwane kushanda kunoenderana nekutonga kwesimba.Kunyange kana masimba ekunze akasangana panguva yekushanda, inogona kugadziriswa munguva, zvichiita kuti nzira yacho inyatsojeka.Kudzivirirwa kurinani kweworkpieces.
High frequency uye high speed pasina overshoot
Kunyange pasi pe-high-frequency uye high-speed motion, inoramba ichichengetedza yakakwirira-kubuda kwakarurama, uye panguva imwechete inochengetedza "kunyorova" uye "hapana overshoot", inobata pamusoro pezvikamu ne-high-speed, duku simba, uye inoita kushanduka. kunhonga nekuiswa kwezvikamu, nezvimwewo, kudzivirira kukuvadzwa kwezvikamu zvakapfava uye zvisina kusimba.Zvikamu.
SoftForce®2.0 Precision Force Control
HF yakatevedzana kukwidziridzwa kutsva
▋ Yakasimba yekudzivirira-kuwandisa kugona
Zvichienderana nekunzwisisa kwakadzama kwemaitiro epa-saiti uye kudzokororwa kwakawanda, Chengzhou ichangobva kukwidziridzwa SoftForce®2.0 chaiyo simba rekutonga HF nhevedzano muna Kukadzi gore rino ine yakabatanidzwa sensor dhizaini, uye kugona kwayo kwekudzivirira-kuwandisa kwakakwira kakawanda kupfuura mu. yapfuura, nekusimba kwepamusoro uye nyore kushandisa.Bata nemamiriro ezvinhu akaoma.
▋Inogona kufunga nezvese simba diki uye rakakura kubuda
Yakashongedzerwa neSoftForce®2.0 yakakwirira-chaiyo simba rekutonga system, iyo chaiyo simba-inodzorwa-inodzorwa slide tafura uye kusunda tsvimbo ine hombe sitiroko uye yakakura mutoro inogona kuburitsa diki uye chaiyo simba pasi pemutoro mukuru, uye inogona zvakare kufunga nezve simba panguva imwe chete. nguva, uye huwandu hwekubuda hwakawedzera.Huru, kureva simba rakakura rinochinja-chinja *.
*Force Dynamic Range: Huyero pakati pehukuru uye hudiki simba rinogona kubuda.
Precision simba rekutonga rinogona kushandiswa chete pane imwe axis
SoftForce®2.0 precision-controlled controlled actuators haingoshandisi muakisi imwe chete, asi inopawo mikana yakawanda yemhinduro dzegungano re-multi-axis.Semuenzaniso, ichangoburwa "RM Chengzhou 2D Synchronous Precision Force Control Platform Control System" yakatangwa neChengzhou Technology inoumbwa neChengzhou precision force-controlled electric actuators, inogona kutsiva simba re "nhanhatu-axis sensor + robhoti" Kudzora chirongwa, inoshandiswa kunyatso kugaya uye kubvisa yemukati furemu yenharembozha, nezvimwe.
Chengzhou 2D synchronous chaiyo simba rekutonga chikuva kudzora system
(Yakashongedzerwa neSoftForce®2.0 yakakwirira-chaiyo simba rekudzora system)
Akanyanya uye ari nyore kushandisa masevhisi ehunyanzvi
Yepamberi kudzora algorithm uye yakapusa debugging maitiro inounza nyore mushandisi ruzivo kune vatengi.Kunyangwe mushandisi ane yakaderera-level kumashure anogona kutanga mu5 maminetsi, zvechokwadi "plug uye tamba".
Panguva imwecheteyo, Chengzhou Technology's inyanzvi uye yakasimba mushure mekutengesa tekinoroji sevhisi timu inogona kupa vatengi vane nguva, yakazara uye isina kunetseka-isinganetsi rutsigiro rwehunyanzvi panguva yekutanga, kungave kusava nechokwadi kwehunyanzvi, kudzidzisa, kugadzirisa matambudziko kana kugadzirisa.
Chengzhou Technology yakagara yakashinga zvakakwana kuti iwedzere miganhu yayo.Nesimba rayo rakasimba uye rekuvandudza tekinoroji, yakaramba ichiparura hungwaru, kunyatsojeka uye kunoenderana nemhando yepamusoro-yemhando yeactuator zvigadzirwa kuti ipe zvigadzirwa zvepamberi zve semiconductor packaging uye kuyedza, 3C otomatiki, kugadzira chaiko, kungwara kwekurapa uye mamwe maindasitiri.zvakakosha zvinoumba senge precision motion control system uye actuators.
Nguva yekutumira: May-31-2022