Ivumburwa nihindagurika ryimashini ikora icupa rya IS
Mu ntangiriro ya 1920, uwabanjirije isosiyete ya Buch Emhart i Hartford yavutse imashini ya mbere igena amacupa (Igice cya buri muntu), yagabanyijwemo amatsinda menshi yigenga, buri tsinda Irashobora guhagarika no guhindura ifu yigenga, kandi imikorere na kuyobora biroroshye cyane.Nibice bine IS umurongo wimashini ikora amacupa.Gusaba ipatanti byatanzwe ku ya 30 Kanama 1924, kandi ntibyatanzwe kugeza ku ya 2 Gashyantare 1932 ..Iyo moderi imaze kugurishwa mubucuruzi mu 1927, yamenyekanye cyane.
Kuva havumburwa gari ya moshi yonyine, yanyuze mu byiciro bitatu byo gusimbuka ikoranabuhanga: (Ibihe 3 by'ikoranabuhanga kugeza ubu)
1 Iterambere ryimashini ya IS imashini
Mu mateka maremare kuva mu 1925 kugeza 1985, imashini ikora amacupa yo mu bwoko bwa mashini niyo mashini nyamukuru mu nganda zikora amacupa.Ningoma ya mashini yingoma / pneumatike ya silinderi (Ingoma yigihe / Pneumatic Motion).
Iyo ingoma ya mashini ihuye, nkuko ingoma izunguruka buto ya valve kurugoma itwara gufungura no gufunga valve muri Block ya Mechanical Valve, kandi umwuka wafunitse utwara silinderi (Cylinder) kugirango isubirane.Kora ibikorwa byuzuye ukurikije inzira yo gushiraho.
2 1980-2016 Kugeza ubu (uyumunsi), gari ya moshi yigihe cya AIS (Icyiciro cyumuntu ku giti cye), kugenzura ibihe bya elegitoronike / gutwara amashanyarazi ya pneumatike (Electric Control / Pneumatic Motion) byavumbuwe kandi bihita bishyirwa mubikorwa.
Ikoresha tekinoroji ya elegitoroniki kugirango igenzure ibikorwa byo gukora nko gukora amacupa nigihe.Ubwa mbere, ikimenyetso cyamashanyarazi kigenzura solenoid valve (Solenoid) kugirango ibone ibikorwa byamashanyarazi, kandi umwuka muke uhumeka unyura mugukingura no gufunga valve ya solenoid, kandi ukoresha gaze kugirango ugenzure valve yintoki (Cartridge).Hanyuma ugenzure icyerekezo cya telesikopi ya silinderi yo gutwara.Nukuvuga ko ibyo bita amashanyarazi bigenzura umwuka mubi, kandi umwuka mubi ugenzura ikirere.Nkamakuru yamashanyarazi, ibimenyetso byamashanyarazi birashobora gukopororwa, kubikwa, gufatanya no guhanahana.Kubwibyo, isura yimashini ikoresha igihe cya elegitoronike AIS yazanye udushya twinshi mumashini ikora amacupa.
Kugeza ubu, amacupa menshi yikirahure kandi arashobora gukora inganda murugo no mumahanga gukoresha ubu bwoko bwimashini ikora amacupa.
3 2010-2016, imashini yuzuye ya servo yumurongo NIS, (Igipimo gishya, Igenzura ry'amashanyarazi / Icyerekezo cya Servo).Moteri ya Servo yakoreshejwe mumashini ikora amacupa kuva mumwaka wa 2000. Byakoreshejwe bwa mbere mugukingura no gufunga amacupa kumashini ikora amacupa.Ihame nuko ibimenyetso bya microelectronic byongerwaho numuzunguruko kugirango bigenzure neza kandi bitware ibikorwa bya moteri ya servo.
Kubera ko moteri ya servo idafite pneumatike, ifite ibyiza byo gukoresha ingufu nke, nta rusaku no kugenzura byoroshye.Noneho yateye imbere mumashini yuzuye icupa rya servo.Ariko, nkurikije ko nta nganda nyinshi zikoresha imashini zikora amacupa yuzuye ya servo mu Bushinwa, nzatangiza ibi bikurikira nkurikije ubumenyi bwanjye buke:
Amateka n'Iterambere rya Moteri ya Servo
Mu myaka ya za 1980 kugeza hagati ya za 1980, amasosiyete akomeye ku isi yari afite ibicuruzwa byuzuye.Kubwibyo, moteri ya servo yazamuwe cyane, kandi hariho imirima myinshi yo gukoresha moteri ya servo.Igihe cyose hari isoko yimbaraga, kandi haribisabwa kugirango ubeho, birashobora kuba birimo moteri ya servo.Nkibikoresho bitandukanye byo gutunganya imashini, ibikoresho byo gucapa, ibikoresho byo gupakira, ibikoresho byimyenda, ibikoresho byo gutunganya lazeri, robot, imirongo itandukanye ikora kandi nibindi.Ibikoresho bisaba ugereranije neza murwego rwo hejuru, gutunganya neza no kwizerwa kumurimo birashobora gukoreshwa.Mu myaka 20 ishize, amasosiyete akora amacupa yo mu mahanga akora amacupa nayo yakoresheje moteri ya servo kumashini ikora amacupa, kandi yakoreshejwe neza mumurongo nyirizina w'amacupa y'ibirahure.urugero.
Ibigize moteri ya servo
Umushoferi
Intego yakazi ya servo drive ishingiye cyane cyane kumabwiriza (P, V, T) yatanzwe numugenzuzi wo hejuru.
Moteri ya servo igomba kugira umushoferi kuzunguruka.Mubisanzwe, twita moteri ya servo harimo na shoferi wayo.Igizwe na moteri ya servo ihuye na shoferi.Uburyo rusange bwo gutwara ibinyabiziga bya AC servo bugabanijwe muburyo butatu bwo kugenzura: imyanya servo (P itegeko), servo yihuta (V itegeko), na torque servo (T command).Uburyo busanzwe bwo kugenzura ni imyanya servo n'umuvuduko wa servo.Servo Moteri
Stator na rotor ya moteri ya servo igizwe na magnesi zihoraho cyangwa ibyuma byibyuma.Imashini zihoraho zitanga imbaraga za magneti kandi ibyuma byibyuma nabyo bizabyara umurima wa magneti nyuma yo guhabwa ingufu.Imikoranire hagati ya magnetiki ya stator hamwe na rotor ya magnetiki yumuriro itanga umuriro kandi ikazunguruka kugirango itware umutwaro, kugirango wohereze ingufu z'amashanyarazi muburyo bwa magneti.Ihindurwamo ingufu za mashini, moteri ya servo irazunguruka mugihe hari ibimenyetso byinjira byinjira, kandi bigahagarara mugihe nta kimenyetso cyinjiza.Muguhindura ibimenyetso byo kugenzura nicyiciro (cyangwa polarite), umuvuduko nicyerekezo cya moteri ya servo irashobora guhinduka.Rotor imbere ya moteri ya servo ni rukuruzi ihoraho.Amashanyarazi U / V / W ibyiciro bitatu bigenzurwa numushoferi akora umurima wa electromagnetique, hanyuma rotor ikazenguruka munsi yumurimo wu murima wa magneti.Mu gihe kimwe, ikimenyetso cyo gusubiza kodegisi izana na moteri yoherejwe kuri umushoferi, kandi umushoferi agereranya ibitekerezo byagaciro nagaciro kagenewe kugirango ahindure inguni ya rotor.Ubusobanuro bwa moteri ya servo bugenwa nukuri kwa kodegisi (umubare wumurongo)
Encoder
Kugirango intego ya servo, encoder ishyizwe hamwe kubisohoka kuri moteri.Moteri na kodegisi bizunguruka icyarimwe, kandi encoder nayo irazunguruka moteri imaze kuzunguruka.Mugihe kimwe cyo kuzunguruka, ibimenyetso bya kodegisi bisubizwa umushoferi, hanyuma umushoferi agasuzuma niba icyerekezo, umuvuduko, umwanya, nibindi bya moteri ya servo ari byo ukurikije ibimenyetso bya kodegisi, kandi bigahindura ibisohoka bya shoferi. kubwibyo. Kodegisi ihujwe na moteri ya servo, yashyizwe imbere muri moteri ya servo
Sisitemu ya servo ni sisitemu yo kugenzura yikora ituma ibisohoka bigenzurwa nkumwanya, icyerekezo, hamwe na leta yikintu kugirango ukurikire impinduka uko zishakiye winjiza intego (cyangwa agaciro katanzwe).Gukurikirana servo yacyo ahanini ishingiye kuri pulses kugirango ihagarare, ishobora kumvikana muburyo bukurikira: moteri ya servo izunguruka inguni ihuye na pulse mugihe yakiriye impiswi, bityo ikamenya kwimuka, kuko encoder iri muri moteri ya servo nayo irazunguruka, kandi ifite ubushobozi bwo kohereza Imikorere ya pulse, burigihe burigihe moteri ya servo izengurutse inguni, izohereza umubare uhwanye na pulses, isubiramo impiswi yakiriwe na moteri ya servo, kandi ihanahana amakuru namakuru, cyangwa a gufunga.Ni impinga zingahe zoherejwe kuri moteri ya servo, nangahe impiswi yakirwa icyarimwe, kugirango kuzunguruka kwa moteri gushobore kugenzurwa neza, kugirango bigere kumwanya uhamye.Nyuma, izunguruka mugihe gito kubera inertia yayo, hanyuma ihagarare.Moteri ya servo nuguhagarara iyo ihagaze, no kugenda iyo bivugwa ko igenda, kandi igisubizo kirihuta cyane, kandi nta gutakaza intambwe.Ukuri kwayo kurashobora kugera kuri mm 0.001.Muri icyo gihe, igihe cyo gusubiza imbaraga zo kwihuta no kwihuta kwa moteri ya servo nacyo ni kigufi cyane, mubisanzwe muri milisegonda icumi (isegonda 1 ihwanye na milisegonda 1000) Hariho uruzitiro rufunze rwamakuru hagati yumugenzuzi wa servo numushoferi wa servo hagati ikimenyetso cyo kugenzura nibitekerezo byatanzwe, kandi hariho kandi ibimenyetso byo kugenzura nibitekerezo byatanzwe (byoherejwe na kodegisi) hagati yumushoferi wa servo na moteri ya servo, kandi amakuru hagati yabo akora uruziga rufunze.Kubwibyo, kugenzura kwayo guhuza neza ni hejuru cyane
Igihe cyo kohereza: Werurwe-14-2022