Kupangidwa ndi kusinthika kwa makina opangira mabotolo a IS
Kumayambiriro kwa zaka za m'ma 1920, wotsogolera wa kampani ya Buch Emhart ku Hartford anabadwa makina oyambirira opangira botolo (Individual Section), yomwe inagawidwa m'magulu angapo odziimira okhaokha, gulu lirilonse likhoza kusiya ndi kusintha nkhungu paokha, ndi ntchito ndi kasamalidwe ndi yabwino kwambiri. Ndi makina opangira mabotolo okhala ndi magawo anayi a IS. Pempho la chivomerezocho linaperekedwa pa August 30, 1924, ndipo silinapatsidwe kufikira pa February 2, 1932. . Pambuyo pogulitsa malonda mu 1927, idatchuka kwambiri.
Chiyambireni kupangidwa kwa sitima yodziyendetsa yokha, yadutsa magawo atatu aukadaulo waukadaulo: (Nthawi zitatu zaukadaulo mpaka pano)
1 Kukula kwa makina amakina a IS
M'mbiri yakale kuyambira 1925 mpaka 1985, makina opangira mabotolo amakina anali makina opangira mabotolo. Ndi makina a drum/pneumatic cylinder drive (Timing Drum/Pneumatic Motion).
Pamene ng'oma yamakina ikugwirizana, pamene ng'oma imasinthasintha batani la valve pa ng'oma imayendetsa kutsegula ndi kutseka kwa valve mu Mechanical Valve Block, ndipo mpweya woponderezedwa umayendetsa silinda (Cylinder) kuti ibwezere. Pangani zochitazo molingana ndi njira yopangira.
2 1980-2016 Present (lero), sitima yamagetsi yamagetsi ya AIS (Advantage Individual Section), control time time/pneumatic cylinder drive (Electric Control/Pneumatic Motion) idapangidwa ndikuyika mwachangu popanga.
Imagwiritsa ntchito ukadaulo wa microelectronic kuwongolera zochita monga kupanga mabotolo ndi nthawi. Choyamba, chizindikiro chamagetsi chimayang'anira valve ya solenoid (Solenoid) kuti igwire ntchito yamagetsi, ndipo mpweya wochepa woponderezedwa umadutsa potsegula ndi kutseka kwa valve solenoid, ndipo amagwiritsa ntchito mpweya umenewu kuti athetse valve ya manja (Cartridge). Ndiyeno lamulirani kayendedwe ka telescopic ya silinda yoyendetsa. Ndiko kuti, magetsi otchedwa magetsi amalamulira mpweya wonyansa, ndipo mpweya woipa ndi umene umayendetsa mlengalenga. Monga chidziwitso chamagetsi, chizindikiro chamagetsi chikhoza kukopera, kusungidwa, kutsekedwa ndi kusinthanitsa. Chifukwa chake, mawonekedwe a makina apakompyuta a AIS abweretsa zatsopano pamakina opangira mabotolo.
Pakadali pano, botolo lagalasi ambiri komanso mafakitale kunyumba ndi kunja amagwiritsa ntchito makina opangira mabotolo awa.
3 2010-2016, makina amtundu wa servo NIS, (New Standard, Electric Control / Servo Motion). Ma Servo motors akhala akugwiritsidwa ntchito m'makina opangira mabotolo kuyambira 2000. Adagwiritsidwa ntchito koyamba pakutsegulira ndi kutsekereza mabotolo pamakina opangira mabotolo. Mfundo yake ndikuti chizindikiro cha microelectronic chimakulitsidwa ndi dera kuti chiwongolere mwachindunji ndikuyendetsa machitidwe a servo motor.
Popeza servo motor ilibe pneumatic drive, ili ndi zabwino zogwiritsa ntchito mphamvu zochepa, palibe phokoso komanso kuwongolera kosavuta. Tsopano yapanga makina opangira mabotolo a servo. Komabe, poganizira kuti kulibe mafakitale ambiri omwe amagwiritsa ntchito makina opangira mabotolo athunthu ku China, ndikuwonetsa izi molingana ndi chidziwitso changa chozama:
Mbiri ndi Kukula kwa Servo Motors
Pofika chapakati mpaka kumapeto kwa zaka za m'ma 1980, makampani akuluakulu padziko lapansi anali ndi zinthu zambirimbiri. Chifukwa chake, injini ya servo yalimbikitsidwa mwamphamvu, ndipo pali magawo ambiri ogwiritsira ntchito injini ya servo. Malingana ngati pali gwero lamagetsi, ndipo pali chofunikira kuti chikhale cholondola, nthawi zambiri chimaphatikizapo servo motor. Monga zida zosiyanasiyana za makina osindikizira, zida zosindikizira, zida zonyamula, zida za nsalu, zida zopangira laser, maloboti, mizere yosiyanasiyana yopangira makina ndi zina zotero. Zida zomwe zimafuna kulondola kwambiri, kukonza bwino komanso kudalirika kwa ntchito zingagwiritsidwe ntchito. M'zaka makumi awiri zapitazi, makampani opanga makina opanga mabotolo akunja adatengeranso ma servo motors pamakina opangira mabotolo, ndipo akhala akugwiritsidwa ntchito bwino pamzere weniweni wamabotolo agalasi. chitsanzo.
Mapangidwe a servo motor
Woyendetsa
Cholinga chogwira ntchito cha servo drive chimachokera ku malangizo (P, V, T) operekedwa ndi woyang'anira wapamwamba.
Makina a servo ayenera kukhala ndi woyendetsa kuti azizungulira. Nthawi zambiri, timatcha servo mota kuphatikiza dalaivala wake. Imakhala ndi injini ya servo yofanana ndi dalaivala. Njira yoyendetsera dalaivala ya AC servo motor nthawi zambiri imagawidwa m'njira zitatu zowongolera: malo servo (P command), liwiro servo (V command), ndi torque servo (T command). Njira zowongolera zofala kwambiri ndi malo servo ndi liwiro servo.Servo Njinga
Ma stator ndi rotor ya servo motor amapangidwa ndi maginito osatha kapena ma coils achitsulo. Maginito okhazikika amapanga mphamvu ya maginito ndipo ma coils apakatikati achitsulo amapanganso mphamvu ya maginito atapatsidwa mphamvu. Kulumikizana pakati pa stator magnetic field ndi rotor magnetic field kumapanga torque ndi kuzungulira kuyendetsa katundu, kuti asamutse mphamvu yamagetsi mu mawonekedwe a maginito. Kusinthidwa kukhala mphamvu zamakina, injini ya servo imazungulira pakakhala chizindikiro chowongolera, ndikuyima ngati palibe chizindikiro. Posintha chizindikiro chowongolera ndi gawo (kapena polarity), liwiro ndi mayendedwe a servo motor zitha kusinthidwa. Rotor mkati mwa servo motor ndi maginito okhazikika. Magetsi a magawo atatu a U / V / W omwe amayendetsedwa ndi dalaivala amapanga munda wamagetsi, ndipo rotor imazungulira pansi pa mphamvu ya maginito iyi. dalaivala, ndipo dalaivala amafananiza mtengo wa ndemanga ndi mtengo wamtengo wapatali kuti asinthe mawonekedwe ozungulira a rotor. Kulondola kwa injini ya servo kumatsimikiziridwa ndi kulondola kwa encoder (chiwerengero cha mizere)
Encoder
Pacholinga cha servo, encoder imayikidwa coaxially pamagalimoto otulutsa. Injini ndi encoder zimazungulira molumikizana, ndipo encoder imazunguliranso injini ikazungulira. Panthawi imodzimodziyo, chizindikiro cha encoder chimatumizidwa kwa dalaivala, ndipo dalaivala amaweruza ngati mayendedwe, liwiro, malo, ndi zina zotero za injini ya servo ndizolondola molingana ndi chizindikiro cha encoder, ndikusintha zotsatira za dalaivala. molingana.The encoder imaphatikizidwa ndi servo motor, imayikidwa mkati mwa servo motor
Dongosolo la servo ndi njira yodziwongolera yokha yomwe imathandizira kuchuluka komwe kumayendetsedwa monga malo, mawonekedwe, ndi chikhalidwe cha chinthucho kuti chitsatire kusintha kosasinthika kwa chandamale (kapena mtengo woperekedwa). Kutsata kwake kwa servo makamaka kumadalira ma pulse kuti akhazikike, zomwe zimatha kumveka motere: injini ya servo imatembenuza ngodya yofananira ndi kugunda ikalandira kugunda, potero kuzindikira kusamuka, chifukwa encoder mu servo motor imazunguliranso, ndipo ili ndi mphamvu yotumiza Ntchito ya pulse, kotero nthawi iliyonse injini ya servo ikazungulira ngodya, imatumiza chiwerengero chofananira cha pulse, chomwe chimafanana ndi ma pulse omwe amalandiridwa ndi servo motor, ndikusinthana zambiri ndi deta, kapena kuzungulira kotseka. Ndi ma pulse angati omwe amatumizidwa ku injini ya servo, ndi ma pulse angati omwe amalandiridwa nthawi imodzi, kuti kuzungulira kwa injini kukhoza kuyendetsedwa bwino, kuti akwaniritse malo enieni. Pambuyo pake, imazungulira kwakanthawi chifukwa cha inertia yake, kenako imasiya. The servo motor imayima ikayima, ndikupita ikanenedwa kuti ikupita, ndipo yankho limakhala lothamanga kwambiri, ndipo palibe kutayika kwa sitepe. Kulondola kwake kumatha kufika 0.001 mm. Panthawi imodzimodziyo, nthawi yoyankhira yofulumira komanso yofulumira ya servo motor imakhalanso yochepa kwambiri, nthawi zambiri mkati mwa makumi a milliseconds (1 sekondi ikufanana ndi 1000 milliseconds)Pali kutsekedwa kwa chidziwitso pakati pa wolamulira servo ndi dalaivala wa servo pakati pawo. chizindikiro chowongolera ndi mayankho a data, ndipo palinso chizindikiro chowongolera ndi mayankho a data (otumizidwa kuchokera ku encoder) pakati pa dalaivala wa servo ndi mota ya servo, ndipo chidziwitso pakati pawo chimapanga chipika chotsekedwa. Choncho, ulamuliro wake kalunzanitsidwe kulondola kwambiri mkulu
Nthawi yotumiza: Mar-14-2022