Cov neeg hlau sib koom ua ke yog lub luag haujlwm tseem ceeb ntawm kev lag luam robots, lub luag haujlwm tseem ceeb xws li kev xa hluav taws xob, kev hloov tus cwj pwm, thiab kev tswj xyuas qhov tseeb. Nws muaj pes tsawg leeg ncaj qha txiav txim siab tus neeg hlau lub peev xwm thauj khoom, qhov tseeb ntawm cov lus tsa suab, cov lus teb ceev, thiab kev ntseeg tau. Cov qib kev sib koom ua ke feem ntau yog tsim los ntawm kev sib koom ua ke (sib txawv ntawm cov pej xeem lossis cov kev tshawb fawb qib cais cov qauv), thiab lawv cov khoom tseem ceeb tuaj yeem muab faib ua plaub ntu: cov qauv siv tshuab, lub zog tsav, kev xav tawm tswv yim, lubrication thiab kev tiv thaiv system. Txhua lub module ua haujlwm ua ke kom ua tiav qhov kaw tiav - voj ntawm "lub zog input zog hloov dua siab tshiab tswj kev tswj". Hauv qab no yog cov ncauj lus kom ntxaws disassembly:
1, Mechanical qauv module (cov tub ntxhais thauj khoom-cov kabmob thiab cov lus tsa suab kis tau tus mob)
Cov qauv siv tshuab yog lub hauv paus ntawm lub hauv paus ntawm kev sib koom ua ke, uas yuav tsum tau ua kom tau raws li peb qhov yuav tsum tau ua ntawm "siab nruj, hnyav, thiab siab- kis tau tus mob" ib txhij. Cov khoom tseem ceeb muaj xws li:
1. Harmonic reducer / RV reducer (cov tub ntxhais kis tau tus mob)
Muaj nuj nqi: Hloov lub siab -ceev tsis tshua muaj torque tso zis ntawm lub cev muaj zog mus rau hauv qis-ceev siab torque, thaum ua kom cov kis tau tus mob thiab rigidity. Nws yog "power amplification core" ntawm kev sib koom ua ke module.
Hom thiab daim ntawv thov scenarios:
Harmonic reducer: tsim los ntawm lub tshuab hluav taws xob nthwv dej, lub log hloov tau yooj yim, thiab lub log nruj, nrog qhov sib kis sib kis ntawm 50-320 thiab rov qab tshem tawm tsawg dua lossis sib npaug li 1 arc feeb. Nws yog lub teeb yuag, compact nyob rau hauv cov qauv, thiab haum rau cov pob qij txha xws li lub forearm thiab dab teg ntawm me me thiab nruab nrab load robots (nrog ib tug load ntawm 10-50kg);
RV reducer: tsim los ntawm cycloidal pinwheel, planetary carrier, thiab rab koob iav vaj tse, nrog rau qhov sib kis ntawm 30-120 thiab rov qab tshem tawm tsawg dua lossis sib npaug li 0.5 arc feeb. Nws muaj zog rigidity thiab zoo heev cuam tshuam tsis kam, thiab yog haum rau cov pob qij txha tseem ceeb xws li lub hauv paus, boom, thiab lub xub pwg nyom ntawm hnyav-duty robots (nrog ib tug load ntawm tshaj 50kg).
2. Lub cev muaj zog tso zis ncej thiab coupling
Lub cev muaj zog tso zis ncej: ua los ntawm siab- lub zog alloy steel, nto kho nrog carburizing thiab quenching kom ntseeg tau tias hnav tsis kam thiab torsional lub zog, rigidly txuas rau qhov kawg ntawm lub reducer;
Coupling: Siv los them rau qhov kev ua yuam kev coaxiality ntawm lub cev muaj zog thiab cov tswv yim ntawm lub reducer, nws tau muab faib ua cov couplings nruj (xws li kev sib txuas tseem ceeb, lub tes tsho nthuav dav) thiab elastic couplings (xws li cov roj hmab pads, corrugated raj hom). Rigid couplings feem ntau yog siv nyob rau hauv industrial robots kom tsis txhob kis lag luam.
3. Plhaub thiab installation flange
Plhaub: Ua los ntawm aluminium alloy, aluminium alloy yog tsim rau lub teeb yuag, thiab cam khwb cia hlau yog tsim rau cov xwm txheej siab nruj; Lub sab hauv tsim ntawm lub plhaub muaj xws li ib tug reducer installation chamber, lub rooj zaum lub cev muaj zog installation, ib tug sensor installation groove, thiab sab nraud reserved tshav kub dissipation tav thiab sealing grooves;
Kev teeb tsa flange: Siv cov qauv sib txuas rau kev sib txuas cov qauv sib txuas thiab cov neeg hlau caj npab ntu, lub flange nto yog precision machined (flatness Tsawg dua los yog sib npaug rau 0.01mm) kom ntseeg tau tias qhov tseeb installation.
4. Tso zis ncej thiab bearing Cheebtsam
Cov zis ncej: txuas nrog cov zis kawg ntawm lub reducer, siv los xa cov torque mus rau cov neeg hlau caj npab, qhov saum npoo yuav tsum tau ua kom tiav, thiab qhov kawg yog tsim los nrog keyway, threaded qhov lossis expansion tes tsho interface;
Cov kabmob cov kabmob: Hla cov menyuam kabmob lossis cov kabmob sib haum xeeb feem ntau yog siv. Hla cov menyuam bearings muaj zog load- bearing muaj peev xwm (radial + axial composite load) thiab siab rigidity. Harmonic bearings yog tsim nyog rau kev sib piv cov kev sib raug zoo, thiab qhov tseeb ntawm cov kabmob yuav tsum ncav cuag P4 lossis siab dua kom ntseeg tau tias kev sib koom ua haujlwm raug.
2, Tsav system module (lub zog tso zis thiab tswj tub ntxhais)
Lub kaw lus tsav muab lub zog rau kev sib koom ua ke, ua tiav qhov kev hloov pauv ntawm qhov nrawm thiab lub zog. Cov khoom tseem ceeb muaj xws li:
1. Servo lub cev muaj zog (lub zog qhov chaw)
Hom: Cov kev sib koom ua ke ntawm cov neeg hlau ua haujlwm txhua tus siv cov hlau nplaum ruaj khov synchronous servo motors, uas muaj cov yam ntxwv ntawm lub zog siab ceev, siab teb ceev, qis inertia, thiab lwm yam. Raws li txoj kev teeb tsa, lawv tau muab faib ua hom sab hauv (lub cev muaj zog thiab reducer tau muab tso rau hauv vaj tse) thiab lwm hom (lub cev muaj zog txuas nrog lub tsev los ntawm flange);
Cov yam ntxwv tseem ceeb: ntsuas lub zog (100W-15kW), ntsuas ceev (3000-6000rpm), rotor inertia (0.01-0.5kg · m ²), torque tas li (0.1-5N · m/A), kom phim nrog lub gearbox kis tau tus mob (lub cev muaj zog tso zis torque 5} kis tau tus mob piv).
2. Servo tsav (tswj chav tsev)
Muaj nuj nqi: Tau txais cov lus qhia tswj (txoj haujlwm, nrawm, lub zog hluav taws xob) los ntawm lub khoos phis tawj sab saud (robot maub los), tso tawm PWM cov cim los ntawm PID kev tswj hwm kom tsav lub servo lub cev muaj zog ua haujlwm, thiab ua tiav cov haujlwm tiv thaiv xws li overcurrent, overvoltage, overload, thiab overheating;
Kev siv thev naus laus zis: Txhawb txoj haujlwm hom (tswj lub kaum sab xis sib koom ua ke), hom nrawm (tswj sib koom ua ke), thiab hom torque (tswj cov zis torque). Qee qhov siab - tsav tsheb kawg ua ke nrog cov khoom siv hluav taws xob hluav taws xob, kev vibration suppression, thiab kev tswj cov txheej txheem hloov kho kom zoo dua qub thiab raug.
3. Fais fab cables thiab interfaces
Fais fab cable: Nws xa peb -theem fais fab mov (U / V / W) thiab nres cov cim ntawm lub servo lub cev muaj zog, siv cov kab hloov tau yooj yim (nrog kev khoov ntawm ntau dua lossis sib npaug li 10 lab lub sijhawm), thiab cov khoom siv tawv nqaij yog PVC lossis PUR, nrog cov roj tsis kam, hnav tsis kam, thiab tiv thaiv - cuam tshuam cov yam ntxwv;
Interface: Txais kev lag luam tus qauv interface, lub zog interface thiab lub teeb liab interface yog tsim los sib cais kom tsis txhob cuam tshuam electromagnetic.
3, Sensor tawm tswv yim module (precision tswj thiab saib xyuas xwm txheej)
Lub sensor tawm tswv yim sau cov ntaub ntawv tiag tiag -lub sijhawm ntawm kev sib koom ua haujlwm, nrawm, lub zog, thiab lwm yam, muab lub hauv paus rau kev kaw - lub voj voog tswj thiab yog tus yuam sij kom ntseeg tau tias cov neeg hlau txav tau raug. Cov khoom tseem ceeb muaj xws li:
1. Txoj hauj lwm sensor (core tawm tswv yim tivthaiv)
Hom: Lub hauv paus tseem ceeb txais tus nqi encoders, uas tau muab faib ua photoelectric, magneto hluav taws xob, thiab hom capacitive. Hauv kev lag luam robots, photoelectric absolute tus nqi encoders feem ntau yog siv (kev daws teeb meem Ntau dua lossis sib npaug rau 17 khoom, qee qhov siab - khoom kawg txog 25 khoom);
Txoj kev txhim kho: ncaj qha ntsia ntawm tus Tsov tus tw ntawm lub servo lub cev muaj zog (kom pom lub cev muaj zog), los yog ua ke los ntawm cov khoom tso tawm ntawm lub reducer (kom pom qhov tseeb ntawm qhov sib koom ua ke thiab tshem tawm cov kev sib kis tsis raug);
Muaj nuj nqi: Realtime output of absolute position information (angle value) of joints. Lub khoos phis tawj sab saud suav txog qhov yuam kev ntawm txoj haujlwm raws li cov ntaub ntawv no thiab kho cov haujlwm ua haujlwm ntawm servo lub cev muaj zog kom ntseeg tau tias qhov sib koom ua haujlwm raug (rov ua dua qhov tseeb qhov tsawg dua lossis sib npaug ± 0.02mm).
2. Ceev sensor
Feem ntau ua ke nrog txoj hauj lwm sensors (xws li kev ntsuas ceev ntawm cov encoders), qhov sib koom ua ke ceev yog xam los ntawm kev txheeb xyuas qhov zaus ntawm cov teeb liab mem tes encoder. Qee qhov siab -kawg qhov sib koom ua ke yuav ntxiv rau nruab Hall sensors lossis lub tshuab hluav taws xob ceev kom txhim kho qhov ceev kom paub tseeb qhov tseeb thaum lub sijhawm ua haujlwm qis - ceev.
3. Torque sensor (yeem xaiv tau)
Kev Ua Haujlwm: Tshawb xyuas cov khoom tsim tawm ntawm cov pob qij txha rau kev saib xyuas kev sib tsoo, kev sib tsoo, thiab kev tswj xyuas kev ua haujlwm (xws li kev sib dhos thiab polishing);
Hom: Strain gauge, magneto elastic, thiab optical. Kev ntsuas lub zog ntsuas lub zog muaj tus nqi qis thiab qhov tseeb siab (± 0.5% FS), thiab yog qhov kev xaiv tseem ceeb rau kev lag luam robots. Lawv raug ntsia nruab nrab ntawm cov zis ncej thiab caj npab los yog hauv lub reducer.
4. Kub sensors thiab vibration sensors
Kub sensor: ntsia rau ntawm lub cev muaj zog winding thiab reducer vaj tse kom pom qhov ntsuas kub. Thaum qhov kub siab tshaj qhov pib (feem ntau yog 80-100 degree), lub servo tsav ua rau overheating tiv thaiv;
Kev co sensor: siv lub acceleration sensor los xyuas qhov kev vibration amplitude thiab zaus thaum lub sij hawm kev sib koom ua hauj lwm, siv rau kev ceeb toom txhaum (xws li reducer hnav, bearing puas), tsuas yog configured nyob rau hauv siab -end industrial robots sib koom modules.
4, Lubrication thiab tiv thaiv qhov system module (kev ntseeg ruaj khov)
Lub lubrication thiab kev tiv thaiv system yog siv los txuas ntxiv lub neej kev pab cuam ntawm kev sib koom ua ke modules thiab hloov mus rau ib puag ncig hnyav hauv cov chaw lag luam. Cov khoom tseem ceeb muaj xws li:
1. Lubrication Cheebtsam
Lubricant: roj tshwj xeeb nrog cov viscosity siab, tiv thaiv - hnav thiab tiv thaiv - cov yam ntxwv kev laus yog siv los txo qis, thiab cov roj lubricating los yog roj yog siv rau lub cev muaj zog;
Lubrication qauv: Lub reducer yog tsim los nrog cov roj txhaj tshuaj thiab cov roj tso tawm qhov hauv, thiab qee cov khoom siab - kawg yog nruab nrog cov tshuab lubrication tsis siv neeg (sijhawm thiab kev txhaj tshuaj ntau npaum li cas). Lub qhov rais lubricating roj soj ntsuam yog tshwj tseg sab nraum lub tsev kom yooj yim txij nkawm.
2. Cov khoom sib khi
Kev sib khi zoo li qub: siv O- lub nplhaib thiab cov pav ca rau kev sib txuas ntawm lub plhaub thiab flange, lub cev muaj zog thiab lub plhaub, txhawm rau tiv thaiv cov roj lubricating thiab cov plua plav nkag;
Dynamic sealing: siv cov pob txha roj ntsaws ruaj ruaj thiab V- zoo li lub nplhaib sealing, siv rau qhov sib hloov ntawm cov zis ncej thiab vaj tse. Skeleton roj foob yog tsim rau nruab nrab thiab qis -ceev xwm txheej ceev.
3. Cov txheej txheem tiv thaiv thiab cua sov dissipation qauv
Kev tiv thaiv txheej: Qhov saum npoo ntawm lub plhaub tau kho nrog anodizing (aluminium alloy) thiab pleev xim rau (cam khwb cia hlau), uas muaj kev tiv thaiv -corrosion thiab hnav- cov yam ntxwv tiv taus. Qee cov khoom siv peb txheej pov thawj (anti ntsev tsuag, tiv thaiv cov av noo, tiv thaiv pwm), haum rau sab nraum zoov lossis hnyav rhiav ib puag ncig;
Thaum tshav kub kub dissipation qauv: Lub cev muaj zog lub tsev yog tsim los nrog cov cua kub dissipation tav, thiab qee qhov siab - lub zog sib koom ua ke tau nruab nrog cov kiv cua cua sov lossis dej - cov cua txias kom ntseeg tau tias qhov kub thiab txias ntawm lub cev muaj zog thiab tsav tsheb thaum lub sijhawm ua haujlwm ntev -.