Pakadali pano, ma actuators ambiri pamsika ali ndi mitundu iwiri ya njira zowongolera mphamvu:
1. Kuwongolera kwamphamvu kwa loop
Njira yosavuta yogwiritsira ntchito mphamvu yoyendetsera mphamvu, yomwe imazindikira kulamulira mphamvu mwa kusintha mphamvu yamkati ya injini.Ubwino wake ndikuti ndizosavuta kukhazikitsa, ndipo zimatha kukwaniritsa kuwongolera mphamvu mkati mwa 5% -15% yolondola;kuipa kwake ndikuti kuthamanga kwamayendedwe kumakhala pang'onopang'ono, sikungayendetsedwe mobweza, ndipo sikungakwaniritse zosowa za zochitika zina zomwe zili ndi zofunikira zolondola kwambiri.Pambuyo pa nthawi yogwiritsira ntchito, kuvala kwa makina kudzabweretsa zolakwika ndikuchepetsanso kulondola.
Ma actuators oterowo nthawi zambiri alibe masensa, ndipo ngakhale pali masensa, amangogwiritsidwa ntchito ngati "zowonetsa" zamphamvu ndipo satenga nawo gawo pakuwongolera.Mwachitsanzo, kuwonjezera sensa kwa atolankhani, sensa imawerenga kukula kwa mphamvu, ndikuwonetsa mtengo kudzera pa mita, yomwe imagwiritsidwa ntchito kuthandizira kusintha kwamphamvu kwa mphamvu, koma kusintha koteroko nthawi zambiri kulibe chochita. ndi kulondola kwa mphamvu.
Chithunzi chojambula, chosagwirizana ndi zithunzi ndi zolemba
2. Sensor yotsekedwa-loop mphamvu yolamulira
Njira ina yoyendetsera mphamvu ndikuwonjezera kachipangizo kameneka kameneka ndi kachipangizo kameneka kamene kamatsekedwa.Ubwino wake ndikuti kulondola kumawongolera, koma choyipa ndichakuti liwiro likadali pang'onopang'ono.Mwanjira iyi, kulondola kwa mphamvu yowongolera mphamvu kumatha kuwonjezeka kuchokera ku 5% mpaka 1%.Ngati palibe ndondomeko yolondola ya algorithm, kapena liwiro la sensa silithamanga mokwanira, limakonda "kuwombera".
Kukakamiza Controlled Actuator
"Kuwombera" kosalephereka?
Njira yotsekera mphamvu yotsekera mphamvu ya sensa ndizovuta kuthana ndi mphamvu yamphamvu.Mawonetseredwe achindunji ndikuti "kudumphira" ndikosavuta kuchitika mukamachita ndi mawonekedwe omwe ali ndi zofunikira kwambiri za tempo.
Mwachitsanzo
Nthawi zambiri, pakakhala liwiro lalikulu komanso kutulutsa kwakukulu, nthawi yomwe cholumikizira chimagwira ntchito nthawi zambiri chimakhala chachikulu kwambiri.Mwachitsanzo, ngati kukankhira mphamvu ya actuator yakhazikitsidwa ku 10N, ndikosavuta kufika 11N ndi 12N ikakhudza chogwirira ntchito, ndiyeno imatchedwa kubwerera ku 10N kudzera munjira yowongolera.Mavuto oterowo amapezeka nthawi zambiri pamene masensa okakamiza ndi otchedwa olamulira mphamvu akuwonjezeredwa pamsika.
Ili ndilo vuto kuti liwiro la kuyankha silili lokwanira.Kuthamanga kwakukulu ndi kutulutsa kolondola komanso kokhazikika ndizotsutsana mwazokha.Ngati pali kupitirira (kupitirira), mphamvu yeniyeni yomwe ilipo imakhala yopanda tanthauzo.
Makamaka mu ndondomeko yolondola ya zida za msonkhano wokakamiza, magawo osalimba komanso okwera mtengo, kupitilira apo sikuloledwa.
Kuwongolera kwamphamvu kwathunthu, pafupipafupi komanso kuthamanga kwambiri popanda kupitilira?
Kodi TA imachita bwanji?
Pazochitika zogwiritsira ntchito molondola kwambiri, njira ya "kutera mofewa" imatengedwa kuti iganizire zofunikira za liwiro lapamwamba komanso kulondola kwakukulu, ndiko kuti, kulamulira kwamagulu.The actuator mofulumira kuyandikira workpiece mwa akafuna udindo zoyenda, mwamsanga kusintha kwa mode mphamvu ulamuliro pa malo amene ali pafupi kukhudzana workpiece, ndipo pang'onopang'ono kumawonjezera linanena bungwe mpaka kufika mtengo preset.Position mode + force control mode + mphamvu yokhazikika nthawi, nthawi yonse yomwe imagwiritsidwa ntchito ndi mphamvu imodzi yokha ya actuator.
Kuphatikizidwa ndi sensa yothamanga kwambiri komanso mtundu wolosera zolosera zam'tsogolo, SoftForce®2.0 yoyendetsedwa bwino ndi mphamvu yowongolera imatha kuzindikira yokha malo a actuator ndi malo olumikizirana ndi chogwirira ntchito, kuti cholumikiziracho, ngati mathero a automation. zipangizo, ali ndi ntchito yofanana ndi dzanja la munthu.tactile kuzindikira, kulamulira ndi kupha nzeru.
Pamtunda womwewo, kuthamanga kofewa kwa "SoftForce ®2.0 Precision Force Control" kumawonjezeka, kulolerana kumakhala kokulirapo, ndipo kumatha kukwaniritsa mphamvu zonse, zomwe zimathandizira mwachindunji kayendedwe ka kupanga ndikuchepetsa kwambiri mtengo wa mayesero ndi mayesero. kutsimikizira zolakwika.
▋Machulukitsidwe apamwamba kuti mukwaniritse ntchito yabwino
Kuzungulira kowerengera kwa "six-axis force sensor + robot" mphamvu yowongolera mphamvu yomwe imagwiritsidwa ntchito pamsika ndi 5-10 milliseconds, ndiye kuti, ma frequency opangira ndi 100-200 Hz.Kuchulukirachulukira kwa SoftForce®2.0 motsogozedwa ndi mphamvu zoyendetsedwa molunjika kumatha kufika 4000Hz (ie 0.25 milliseconds), ndipo mitundu yotsatizana kwambiri imatha kufika 8000Hz, yomwe ndi 4-8 kuchulukitsa pafupipafupi kwa ma activator oyendetsedwa ndi loboti.
▋Kuwongolera mwamphamvu kokhazikika, komwe kungatsatire kusintha kwa mphamvu yakunja
Kuyankha koyenera komanso kukakamiza pompopompo kumathandizira woyendetsa kuyankha nthawi yomweyo ku mphamvu zakunja ndikukwaniritsa kuwongolera mphamvu.Ngakhale mphamvu zakunja zimakumana nazo panthawi yogwira ntchito, zimatha kusinthidwa nthawi, ndikupangitsa kuti ndondomekoyi ikhale yolondola.Kutetezedwa bwino kwa workpieces.
Kuthamanga kwambiri komanso kuthamanga kwambiri popanda kupitirira
Ngakhale pamayendedwe apamwamba komanso othamanga kwambiri, imakhalabe yolondola kwambiri, ndipo nthawi yomweyo imatsimikizira "kutsetsereka kofewa" komanso "palibe kupitirira", imalumikizana ndi zigawo ndi liwiro lalikulu, mphamvu yaying'ono, ndikuchita zosinthika. kutola ndi kuyika magawo, ndi zina zotero, kupewa kuwonongeka kwa magawo osalimba komanso osalimba.Zigawo.
SoftForce®2.0 Precision Force Control
Kusintha kwatsopano kwa HF
▋ Kutha kwamphamvu koletsa kuchulukira
Kutengera kumvetsetsa kwakuya kwazomwe zikuchitika pamalopo komanso kubwereza kangapo, gulu la Chengzhou lomwe langokweza kumene la SoftForce®2.0 precision force control la HF mu February chaka chino lili ndi kapangidwe ka sensa yophatikizika, ndipo kuthekera kwake kolimbana ndi kuchulukira kumakwera kangapo kuposa m'mbuyomu, yokhala ndi mphamvu yayitali komanso yosavuta kugwiritsa ntchito.Kulimbana ndi zovuta kwambiri.
▋Itha kuganizira mphamvu zazing'ono komanso zotulutsa zazikulu
Wokhala ndi SoftForce®2.0 yowongolera mphamvu yamphamvu kwambiri, tebulo lowongolera lomwe limayendetsedwa mwamphamvu ndi mphamvu ndi ndodo yokankhira yokhala ndi sitiroko yayikulu ndi katundu wamkulu zimatha kupanga mphamvu yaying'ono komanso yeniyeni pansi pa katundu wambiri, ndipo imathanso kuganizira mphamvu yomweyo. nthawi, ndipo zotulutsa zimakulirakulira.Chachikulu, mwachitsanzo, gulu lalikulu lamphamvu *.
*Force Dynamic Range: Chiyerekezo pakati pa mphamvu yayikulu ndi yochepa yomwe imatha kutulutsa.
Kuwongolera mwamphamvu kutha kugwiritsidwa ntchito panjira imodzi yokha
SoftForce®2.0 zowongolera zoyendetsedwa bwino ndi mphamvu sizingangogwiritsidwa ntchito mu axis imodzi, komanso zimapereka mwayi wopeza mayankho amisonkhano yama axis ambiri.Mwachitsanzo, "RM Chengzhou 2D Synchronous Precision Force Control Platform Control System" yaposachedwa kwambiri yomwe idakhazikitsidwa ndi Chengzhou Technology ili ndi makina awiri amagetsi oyendetsedwa ndi mphamvu ya Chengzhou, omwe angalowe m'malo mwa "six-axis sensor + robot" Control scheme, amagwiritsidwa ntchito pogaya mwatsatanetsatane ndikuchotsa mkati mwa mafoni am'manja, etc.
Chengzhou 2D synchronous mwatsatanetsatane mphamvu ulamuliro nsanja dongosolo ulamuliro
(Yokhala ndi SoftForce®2.0 high-precision force control system)
Ntchito zapamwamba komanso zosavuta kugwiritsa ntchito akatswiri
Advanced control algorithm ndi njira yosavuta yochepetsera zimabweretsa mwayi wogwiritsa ntchito kwa makasitomala.Ngakhale wogwiritsa ntchito yemwe ali ndi maziko otsika amatha kuyamba mu mphindi 5, "plug and play".
Pa nthawi yomweyo, Chengzhou Technology ndi akatswiri ndi amphamvu pambuyo malonda luso utumiki gulu akhoza kupereka makasitomala ndi yake, mabuku komanso opanda nkhawa luso thandizo nthawi yoyamba, kaya kukayikira luso, kuphunzitsa, kuthetsa mavuto kapena kukonza.
Chengzhou Technology yakhala yolimba mtima nthawi zonse kuti ikulitse malire ake.Ndi mphamvu zake zaukadaulo zolimba komanso zaukadaulo, yakhala ikuyambitsa mosalekeza zinthu zanzeru kwambiri, zolondola komanso zogwirizana kwambiri ndi zida zapamwamba kwambiri zopangira zida za semiconductor ndikuyesa, makina a 3C, kupanga mwatsatanetsatane, zamankhwala anzeru ndi mafakitale ena.zigawo zikuluzikulu monga machitidwe owongolera oyenda bwino ndi ma actuators.
Nthawi yotumiza: May-31-2022