Direct drive vs. Grakura rotary rotary servomotor: kuwanda kwekugadzirwa kwekugadzira: chikamu 1

Kudzidza Zvinangwa

• Real-World Rotary servo masystems inodonha ichipindira kuita nekuda kwehunyanzvi hwehunyanzvi.
• Mhando dzinoverengeka dzekutenderera shanksotors dzinogona kupa mabhenefiti kune vashandisi, asi imwe neimwe ine dambudziko rakati kana kusimudzwa.
• Direct drive rotary shopu inopa zvakanyanya kuita, asi ivo vanodhura kupfuura magoriya.

Kwemakumi emakore, sindomotors yakavezwa yave iri imwe yemashandisiro midziyo inowanzoitika muindasitiri quustriation tongbox. Geared Sevromotors inopa chinzvimbo, velocity inoenderana, view campoming campoming, mhepo, kushushikana, kusimbisa mashandiro uye zvinobudirira simba resimba remutoro kumutoro. Izvi zvinomutsa mubvunzo: ishandirwi yakagadzirirwa sarudzo yakanakisa yeTortary Fotal Teamiology, kana iripo mhinduro iri nani?

Munyika yakakwana, sertary sertoro system yaizove neTorque uye mhanyisa ratings ayo anoenderana nekushandisa kuitira kuti mota isingawedzere-shuwa. Iko kusanganiswa kwemotokari, kutumira zvinhu, uye mutoro unofanirwa kuve uine kusakwana tonional kuomarara uye zero backlash. Nehurombo, nyika chaiyo inotenderera servo masisitimu inodonha yeiyi yakakodzera kumadhigirii akasiyana.

Mune yakajairika servo system, backlash inotsanangurwa sekurasikirwa kwekufamba pakati pemotokari uye mutoro wakakonzerwa neyechina mishonga yezvinhu zvekutapurirana; Izvi zvinosanganisira chero kurasikirwa kwekunyepedzera mumabhokisi migari migari, mabhanhire, maketani, uye coupls. Kana muchina wacho unotanga kuiswa, iyo mutoro unozotenderera kune imwe nzvimbo pakati peiyo mechancal tolerances (Mufananidzo 1a).

Mutoro usati waomerwa nemotokari, mota yacho inofanira kutenderera kuti utore zvese zvisizvo zviripo pazvinhu zvekutakura (Mufananidzo 1B). Kana mota ichitanga kufananidzira pakupera kwekufamba, chinzvimbo chemutoro chinogona kunge chikawedzera potera nzvimbo seMutambo inotakura mutoro unopfuura mota chinzvimbo.

Iyo mota inofanira zvakare kutora iyo inononoka mune yakatarisana pamberi pekushandisa torque kune mutoro wekuzvishongedza (Mufananidzo 1C). Uku kurasikirwa kwekufamba kunodaidzwa kuti backlash, uye kunowanzo kuyerwa mu arc-maminitsi, yakaenzana ne1 / 60th yeiyo degree. MaGearboxes yakagadzirirwa kushandiswa nevaranda mune maindasitiri ekushandisa maindasitiri anowanzove nekudzokera shure kubva ku3 kusvika ku9 ARC-maminitsi.

Torsional Sthiffness ndiko kuramba kupinza kweiyo mota shaft, kutumira zvinhu, uye mutoro mukupindura kushandisirwa kwe torque. System isingaenzaniswi yakasimba yaizoendesa torque kune mutoro pasina maAngul deflection nezve axis yekutenderera; Nekudaro, kunyange shaft yakasimba yesimbi inosvetuka zvishoma pasi pemutoro unorema. Ukuru hwekusarudzika hunosiyana neTorque wakashandiswa, izvo zvinyorwa zvezvinhu zvinotumira, uye chimiro chavo; Intuitively, refu, mativi matombo anokanganisa kupfuura pfupi, mafuta. Uku kupokana nekutsvaira ndiko kunoita kuti Coil matsime ekrita, sekumanikidza chitubu chakashanduka tambo imwe neimwe yewaya zvishoma; Kufuta waya kunoita stiffer chitubu. Chero chipi zvacho chakaderera pane zvisingafarirwi tonional kuomarara kunoita kuti system iite sechitubu, zvichireva simba rinogona kuchengetwa muhurongwa hwekutenderera.

Kana ikabatanidzwa pamwe chete, kupomerwa kuomarara kuomarara uye backlash kunogona kukanganisa zvakanyanya kuita kweserto system. Backlash inogona kuunza kusagadzikana, sezvo iyo mota inoratidza iyo chinzvimbo cheMota shaft, kwete iyo iyo backlash yabvumira mutoro wekugadzirisa. Backlash zvakare inosvitsa nyaya dzekutonga sezvo mutoro wakaroora uye unfup kubva pamota muchidimbu kana mutoro wacho uye mota dzakatenderedza hukama. Pamusoro peBokalash, kupomeresa kuomesa musoro kuchengeta simba nekushandura rimwe renzvimbo yekinetic yemota uye mutoro mune inogona kuve simba, zvichisunungura gare gare. Iyi yakanonoka kusunungurwa simba inokonzeresa kurodha, induces resonance, inoderedza yakasarudzika tuning inowana uye yakashata inokanganisa kupindura uye kugadzirisa nguva yeserto system. Muzviitiko zvese, kuderedza backlash uye kuwedzera kusindimara kwehurongwa kuchawedzera servo performance uye kurerutsa tuning.

Rotary axis servomotor yekugadzirisa

Iyo yakajairika inotenderera axis yekugadziriswa kweiyo rotary sevhisi ine yakavakirwa-mukusvitswa kweiyo nzvimbo yekushandisa uye gearbox kufananidza iyo torque kune iyo torque kune iyo torque inodiwa uye kumhanyisa kwemutoro. Iyo gearbox inguva inogara isingagumi iyo ndiyo mechanical analog yeshanduko yekufananidza.

Iyo yakavandudzwa hardware inogadziriswa inoshandisa dhizaira drive rotary rotary servoomotor, iyo inobvisa zvinhu zvekutapurika nekukwira zvakananga kutakura mutoro kumota. Ipo maGearmotor gadziriso inoshandisa coupling kune diki diki diamita Shaft Shaft, iyo Direct Death System inobatanidza mutoro zvakananga kune yakakura rotor flange. Kugadziriswa uku kunobvisa backlash uye zvakanyanya inowedzera kuomarara. Iyo yepamusoro pole count uye yakakwira torque mhepo yedhiira drive motors motors inoenderana neTorque uye mhanya maitiro eGearmotor ine chiyero chegumi: 1 kana kupfuura.