Ama-Stepper motors kumarobhothi ezimboni

一、amarobhothi ezimboni abe yingxenye ebalulekile yomugqa wokukhiqiza wezimboni wesimanje.

Ngokufika kwenkathi yemboni ye-4.0, amarobhothi ezimboni abe yingxenye ebalulekile yomugqa wokukhiqiza wezimboni wesimanje. Njengomshini wokushayela oyinhloko wamarobhothi ezimboni, ukuthuthukiswa kobuchwepheshe bezimoto kuthinta ngqo ukusebenza nokusebenza kahle kwamarobhothi ezimboni. Ama-Stepper motors, njengohlobo lwenjini engalawula ngokunembile indawo nesivinini, adlala indima ebalulekile kumarobhothi ezimboni. Kuleli phepha, sizoqala encazelweni nezici zama-stepper motors, sixoxe ngokusetshenziswa kwawo kumarobhothi ezimboni ngokuningiliziwe, futhi siwahlaziye ngamacala afanelekile, ukuze sinikeze ireferensi yokuthuthukiswa kobuchwepheshe berobhothi lezimboni.

二, incazelo nezici ze-stepper motor

I-Stepper motor iwuhlobo lwenjini eguqula isignali ye-pulse kagesi ibe i-angular displacement noma i-line displacement. Isekelwe esimisweni esiyisisekelo sikazibuthe kagesi, futhi ngokulawula imvamisa nenani lamasignali eshayela, ibona ukulawulwa okunembile kwe-engeli yokuzungezisa imoto nesivinini. I-Stepper motor inezici ezilandelayo:

Ukulawula okunembile:I-stepping motor ingakwazi ukubona ukulawula indawo okunembile ngokulawula ukushaya kwenhliziyo okunembile, futhi ukunemba kokuma kungafinyelela ku-0.001°.

Imodi yokulawula elula:isilawuli se-steping motor silula, sidinga kuphela ukulawula imvamisa nesiqondiso sesignali ye-pulse ukuze uqaphele ukulawula ukunyakaza, asikho isidingo sokwenza ukulungisa okuyinkimbinkimbi kwempendulo.

Ukuthembeka okuphezulu nokuzinza:ama-stepper motors anokwethenjelwa okuphezulu nokuzinza, futhi angasebenza isikhathi eside ngaphandle kokulimala noma ukwehluleka kalula. Uma kuqhathaniswa nezinye izinhlobo zama-motor, ama-stepper motors awanawo amabhulashi nabagibeli kanye nezinye izingxenye zokugqoka, ngakho-ke impilo yinde, izindleko zokulungisa nokulungisa ziphansi.

Isivinini esiphansi, izici zetorque ephezulu:Ama-Stepper motors anamandla okukhipha i-torque ephezulu ngesivinini esiphansi, esiwavumela ukuthi asetshenziswe ezimeni ezidinga ukuphuma kwe-torque ephezulu.

Ukusetshenziswa kwamandla okuphansi:ama-stepper motors ngokuvamile adla amandla kuphela lapho edingeka ukuze anyakaze, futhi awasebenzisi cishe amandla lapho ebambe indawo, ngakho asebenzisa amandla aphansi.

三, ukusetshenziswa kwama-stepper motors kumarobhothi ezimboni

Ukuma okunembile nokulawula ukunyakaza

Amarobhothi ezimboni adinga ukulawula ngokunembile isikhundla nesimo sengqondo somenzi wawo wokugcina ukuze aqedele imisebenzi ehlukahlukene eyinkimbinkimbi. Ama-Stepper motors angakwazi ukubona ukuma okunembe okuphezulu nokulawula ukunyakaza kwe-end-effector yamarobhothi ezimboni ngokulawula ukushaya kwenhliziyo okunembile. Ngokwesibonelo, phakathi nokuhlanganisa, izinjini ezinyathelayo zingalawula ngokunembile ukunyakaza kwezingalo neminwe yerobhothi ukuze kuqinisekiswe ukuthi izingxenye zibekwe ngokunembile ezindaweni ezimisiwe. Lokhu kulawula okunembayo kuthuthukisa ukusebenza kahle kwerobhothi lezimboni kanye nekhwalithi yomkhiqizo.

I-Robot Joint Control

Ukuhlangana kwamarobhothi ezimboni kuvame ukuqhutshwa amamotho amaningi ukuze kuzuzwe ama-trajectories ayinkimbinkimbi. Ama-Stepper motors ayinketho yama-joint drive motors, futhi ukunemba kwawo okuphezulu nezindlela zokulawula ezilula zenza ukulawula okuhlangene kube lula ukukubona. Ngokulawula i-engeli yokuzungeza kanye nesivinini samamotho anyathelayo, ukunyakaza okuhlangene kwamarobhothi ezimboni kungalawulwa ngokunembile ukuze kubonakale ukunyakaza okuyinkimbinkimbi nokuma.

Ukulawula komphumela

I-End-effector iyithuluzi eliqondile lamarobhothi ezimboni ukufeza imisebenzi, efana ne-gripper, isibhamu sokushisela, njll. Ama-Stepper motors angasetshenziswa ukushayela ukunyakaza kwesisebenzi sokugcina ukuze kubonwe ukugoqa okunembile, ukukhulula, ukushisela neminye imisebenzi. Ngenxa yokuthembeka okuphezulu nokuzinza kwama-stepper motors, kungaqinisekisa ukuzinza nokuthembeka komenzi wokugcina emsebenzini wesikhathi eside.

Ukulawula inkundla yokunyakaza

Ohlelweni lwamarobhothi ezimboni, inkundla enyakazayo isetshenziselwa ukuthwala umzimba werobhothi kanye nesiphetho ukuze kubonakale ukunyakaza nokuma okuphelele. Ama-stepping motors angasetshenziswa ukushayela ukunyakaza kweplathifomu enyakazayo ukuze kubonakale ukuma okunembe okuphezulu nokunyakaza kwerobhothi. Ngokulawula i-trajectory kanye nesivinini se-stepper motors, ukuzinza nokunemba kwerobhothi kungaqinisekiswa.

Amacala okusebenza asebenzayo

Sithatha irobhothi elishiselayo lomkhiqizi wezimoto njengesibonelo, irobhothi lithatha ama-stepper motors njengama-joint drive motors. Ngokulawula ngokunembile i-angle yokujikeleza kanye nesivinini se-stepper motor, irobhothi liyakwazi ukuhambisa ngokunembile isibhamu sokushisela endaweni ethile futhi lenze imisebenzi yokushisela enembile. Uma kuqhathaniswa nama-servo motors ajwayelekile, ama-stepper motors awanikezi kuphela ukunemba kokuma okuphezulu nokuzinza, kodwa futhi nezindleko eziphansi nokulawula okulula. Lokhu kwenza leli robhothi lokushisela lifinyelele imiphumela emangalisayo ekuthuthukiseni umkhiqizo kanye nokunciphisa izindleko zokukhiqiza.

四, Isiphetho

Ama-Stepper motors asetshenziswa kakhulu kumarobhothi ezimboni ngokulawula kwawo okunembayo, izindlela zokulawula ezilula, ukuthembeka okuphezulu nokuzinza. Ngokulawula ngokunembile i-engeli yokujikeleza nesivinini se-stepper motor, ingakwazi ukubona ukulawula okunembayo okuphezulu kwe-end-effector, amalunga kanye nenkundla yokunyakaza yamarobhothi ezimboni, futhi ithuthukise ukusebenza kahle kanye nekhwalithi yomkhiqizo wamarobhothi ezimboni. Ngokufika kwenkathi yemboni ye-4.0 kanye nokuthuthukiswa okuqhubekayo kokukhiqiza okuhlakaniphile, ukusetshenziswa kwama-motor stepper kumarobhothi ezimboni kuzoba nekusasa elibanzi.