Mouvement Linéaire Optimisé (Mouvement Linéaire optimisé) ye

Sistɛmu min bɛ wele ko Optimisé Lineaire Motion System (Système de mouvement lineaire optimisé) ye mun ye?

Lamaga-lamagali sinsinni ɲuman bɛ wulicogo walima kuran-magnetiki boli fanga sɛmɛntiya ka kɛ tigɛli tilennen-sira taama tigitigi ye. A bɛ jɔyɔrɔ fili, yɛrɛyɛrɛ ani sigili waati minɛ fo ka se waleyali hakɛ dɔgɔmannin ma. Industriw ka otomatiki la, ɛntɛrinɛti injiniyɛriw bɛ se k’o sɔrɔ u kɛtɔ ka guide rail geometry, drive type ani servo control tuning bɛn ɲɔgɔn ma ka kɛɲɛ ni application doni, teliya ani baarakɛcogo yɛrɛ ye. O la, ɛntɛrinɛti injiniyɛriw bɛ lamaga-lamagali sinsinni ɲɛnabɔlen minɛ i n’a fɔ sistɛm-nivo kalan, a tɛ kɛ yɔrɔ kelen sɛgɛsɛgɛli ye. Nɛgɛso profillen kelen tɛ se ka lamaga ɲuman di. Nɛgɛso, wotoro, bolifɛn bolicogo ani a ɲɛminɛbaga ka kan ka baara kɛ i n’a fɔ fɛn kelen min labɛnna. Dilancogo lajɛ bɛɛ ka kan ka gɛlɛya, funteni kɛcogo, ani jaabiw ɲɛnabɔli jateminɛ ɲɔgɔn fɛ. N’o tɛ, nɛgɛso barikama min bɛ fara ɲɔgɔn kan ni servo loop ye min ma labɛn koɲuman, o bɛ tɛmɛsira ni sigili delay lase hali bi. Nin hakilina faralen ɲɔgɔn kan, o b’a ɲɛfɔ mun na "optimisé lineaire motion" bɛ injiniyɛri kɔlɔlɔ dɔ ɲɛfɔ, a tɛ fɛn dilannen suguya jɔlen dɔ ɲɛfɔ.

Yan an b'an ka TMS seires Linear Motion System jira aw la.

Aw bɛ se ka porozɛ wɛrɛw lajɛ walima ka taa an ka wideyow lajɛyɔrɔ la Youtube fɛ:https://www.youtube.com/@tallmanrobotics ka baarakɛyɔrɔ la

Structural Components minnu bɛ se ka baara kɛcogo ɲuman kɛ

Lamaga-lamagali sinsinni bɛ Se a cogo ɲuman na ni fɛn duuru ye minnu bɛ ɲɔgɔn Dòn. Fɔlɔ, profil linear guide rail bɛ doni radiyali ni moment doni ta. A fana bɛ bolicogo To mikron damadɔ kɔnɔ taama janya bɛɛ la. Filanan, wotoro min bɛ segin-ka-bɔ, o bɛ nɛgɛso boli bolo walima wuluwulu fɛnw kan minnu doni kaban. Preload ɲuman bɛ clearance bɔ ka sɔrɔ a ma fara friction tɛmɛnen kan. Sabanan, bolifɛnw bolicogo bɛ servo motɛri girinya sɛmɛntiya ka kɛ wulicogo sinsinni ye. Bolo kurukuru dɔ bɛ bɛn doni axial precision sanfɛ- ma. Cɛsirilan-module lineaire min bɛ boli, o bɛ bɛn taama jan-taama, teliya-teliya caman ma o nɔ na.

Naaninan, servo motor control loop bɛ current, velocity ani position gains (kurun, teliya ani jɔyɔrɔ sɔrɔli) Kɛ. Ɛntɛrinɛti ɲɛmɔgɔw bɛ o tɔnɔw labɛn ka kɛɲɛ ni a wulilen girinya ni taama janya ye. Duurunan, encodeur lineaire feedback bɛ loop datugu ni position directe sumani ye. O jaabi in bɛ fili misɛnninw tɛmɛn minnu bɛ kɛ ni screw pitch walima belt stretch ye n’o tɛ.

Profil de mouvement ani Servo Contrôle Optimisation

Jiginni tiɲɛni bɛ bɔ kosɛbɛ lamaga-lamagali cogoya la min bɛ ci ɲɛminɛbaga fɛ. Masina jɔcogo ɲuman dɔrɔn tɛ a garanti. S-curve motion profile bɛ dan sigi jerk la teliya ni teliya waati la. O de kosɔn, wotoro bɛ se teliya la ka ɲɛ, wa a bɛ sigi teliya la a laɲini yɔrɔ la. Trapezoidal profile bɛ bɛn point-to-point baara nɔgɔmanw ma o nɔ na, ​​yɔrɔ min na jerk control nafa ka dɔgɔ. Ɛntɛrinɛti ɲɛmɔgɔw bɛ profil cogoya sugandi fɔlɔ. O kɔ fɛ, u bɛ servo motor control gains (servo motor control gains) Labɛn o cogoya in lamini na. N’o tɛ, tɔnɔ nafa minnu bɛ baara kɛ trapezoidal move (trapezoidal move) kama, olu ka teli ka kɛ sababu ye ka overshoot (sɔrɔli) kɛ S-curve cikan kɔrɔ. O kɔfɛ, encodeur lineaire feedback bɛ a sɛgɛsɛgɛ ni tuned system bɛ a jɔyɔrɔfalen tiɲɛni laɲini dafa doni lakika kɔrɔ. No-load bench test tɛ se k’o sɛmɛntiya a yɛrɛ ma.

Tuma dɔw la, rezɔn bɛ bɔ wotoro ni doni nafama ka masin nafama frekansi kɛrɛfɛ. O cogo la, ɛntɛrinɛti injiniyɛriw bɛ notch filter kɛ drive kɔnɔ sanni ka gains jigin loop bɛɛ kɔnɔ. Tiɲɛ na, diɲɛ tɔnɔ dɔgɔyali bɛ sigili waati saraka hali bi yɔrɔ bɛɛ la aksidan kan.

Baarakɛyɔrɔ minnu bɛ Kɛ ka ɲɛsin Motion Lineaire Optimisée ma

Mouvement lineaire optimisé bɛ dɛmɛ don verticals caman ɲininenw na industrial automation bɛɛ kɔnɔ. Semikɔndukiri minɛcogo la, waferw tacogo taabolo bɛ bɔ sub-micron jɔyɔrɔfalen tiɲɛni na ani yɛrɛyɛrɛ fitinin na teliyaba- indexing waati. Dumuni ni minfɛnw foroko kɔnɔ, ko-rated modules bɛ se ka sigicogo ɲuman de wajibiya ka fara standard motion tuning kan. Yan, nɔgɔko kɛlɛli tɛ se ka cycle waati tiɲɛ. Furakɛminɛnw lajɛlen na, segin-ka-bɔnye surun-stroke lamagacogo bɛ baara dɔw dɛmɛ i n’a fɔ yɔrɔw doncogo ani sɛgɛsɛgɛli sinsinni. Mobili ni fanga kura dilanni na, taama janw-gantiriw bɛ doni girinmanw lamaga batiri, motɛri ani farikolo lajɛyɔrɔw la. Jɛkuluba ka pakew dilanni siraw la, cɛsirilan-driven linear modules bɛ teliya ni taama janya fɛ ka tɛmɛ gɛlɛya dantɛmɛnen kan. Bolo-kurunw bɛ o gɛlɛya di baara wɛrɛw ma o nɔ na. Kuma bɛɛ la, optimisation (ɲɛnabɔli) fɛɛrɛ bɛ To cogo kelen na vertical (yɔrɔ) duuru bɛɛ la. Ɛntɛrinɛti ɲɛmɔgɔw bɛ nɛgɛso hakɛ ni bolifɛn suguya bɛn walasa ka doni ta fɔlɔ, o kɔfɛ, u bɛ servo loop labɛn ka kɛɲɛ ni lamagacogo ye min bɛ sɔrɔ.

Baarakɛcogo tɔnɔ: A hakɛ jateminɛlen

Ɛntɛrinɛti sɔrɔyɔrɔ yɛrɛmahɔrɔnyalenw b’a jira ko sistɛm-nivo optimisation bɛ se ka min sɔrɔ. Dual-gantry linear stage architecture, min jɔra semiconductor metrology kama, o sera teliya ma fo ka se g 5 ma. A fana ye jɔyɔrɔfalen tiɲɛni minɛ 0,5 mikron na. Ɛntɛrinɛti ɲɛmɔgɔw y’a jira ko nin jaabi in sababu bɔra X ni Y sɔgɔsɔgɔninjɛw bɔli la ani ka baara kɛ ni cross-gɛlɛyaba ye min ka nɔgɔn, min ka gɛlɛn kosɛbɛ- (SCHNEEBERGER, 2023). O danfara la, CNC jiri-rolling control gɛlɛn bɛ leadscrew dilanni ɲɛ sisan. O de kosɔn, jirisunw bɛ jɔyɔrɔ segin-segincogo minɛ mikron 1 kɔnɔ jiginni kelen kɔnɔ. Nin baarakɛcogo hakɛ in bɛ nafa sɔrɔ tigitigi wafer minɛcogo ni pikirijikɛlan-pɔnpe dicogo minɛnw na (Linear Motion Tips, 2019). Nin jatebɔ ninnu b’a jira mun na optimisation cɛsiriw bɛ ka sinsin ka taa a fɛ drive mechanism ni structurel stiffness kan ɲɔgɔn fɛ. Ɛntɛrinɛti ɲɛmɔgɔw t’u jate tugun i n’a fɔ dilancogo fɛɛrɛ danfaralenw.

Ɲininkali minnu bɛ kɛ tuma caman na

1. Mun bɛ danfara don optimisé linear motion system ni standard linear module cɛ?

Module standard dɔ bɛ taama daminɛcogo ni doni dantigɛliw dafa. Sisεmεti ɲuman dɔ bɛ Fàra o kan ka Bɛn ni lamaga-lamagali cogoya, servo gain tuning, ani feedback resolution ye ka Kɛɲɛ ni application kɛrɛnkɛrɛnnen ye. O de kosɔn, jɔyɔrɔfalen tiɲɛni ni sigili waati bɛ laɲini dafa baarakɛcogo lakikaw la, a tɛ kɛ banbali sɛgɛsɛgɛli dɔrɔn kɔnɔ.

2. Yala ne ka kan ka bololabaarakɛla dɔ sugandi walima ka cɛsirilan-module lineaire dɔ sugandi walasa ka aksidan ɲuman sɔrɔ wa?

Aw bɛ bololabaarakɛminɛn dɔ sugandi walasa a ka gɛlɛya kosɛbɛ ani ka a jɔcogo ɲuman sɔrɔ taama surun na. Aw bɛ cɛsirilan-driven linear module sugandi o nɔ na walasa ka taama jan kɛ ani ka teliya ka caya. Nin sugandi filanan in bɛ bɛn kosɛbɛ ni doni tɛ screw-nivo rigidity ɲini.

3. Encoder linear feedback bɛ optimization ɲɛ cogo di ni i y’a suma ni motor-only feedback ye?

Encodeur lineaire feedback bɛ wotoro jɔyɔrɔ suman k’a ɲɛsin a yɛrɛ ma. O la, a bɛ filiw minɛ ka bɔ kuruw wulicogo caman ɲɔgɔnna na, cɛsirilan sɔgɔli la, ani funteni bonya la, motɛri-fɔli dɔrɔn tɛ se ka minnu ye. O sumani tilennen in b’a to servo loop ka latilen masin kɛcogo lakika la, a tɛ kɛ ideal ye min bɛ miiri.

4. Mun bɛ kɛ sababu ye ka rezɔn sɔrɔ optimisé lineaire motion axis kɔnɔ, ani a bɛ ɲɛnabɔ cogo di?

A ka c’a la, rezɔn bɛ bɔ wotoro ni doni nafama min bɛ a kan, o ka frequency natural kɛrɛfɛ. O bɛ Kɛ siɲɛ kelen ni servo gains push response speed ka bon. O kɔfɛ, ɛntɛrinɛti injiniyɛriw b’a ɲɛnabɔ ni notch filter ye min bɛ labɛn ka kɛɲɛ ni o frequency ye. O fɛɛrɛ in bɛ loop gain mara yɔrɔ tɔw bɛɛ la axis kan.

5. Siɲɛ joli lamaga-lamagali siratigɛ la min ɲɛnabɔlen don, o ka kan ka segin ka -sɛgɛsɛgɛ a sigili kɔfɛ?

Segin ka -yɔrɔ sigicogo tiɲɛni ni encodeur sinsinni sɛgɛsɛgɛ ka tugu masin baara fɛn o fɛn kɔ, ka tugu ɲɔgɔn kɔ, walima ka doni nafama caman cili. O ko kɛlenw bɛ se ka tuning basigilen min sigira sen kan commissioning waati la, o wuli. San o san sɛgɛsɛgɛli bolodalen fana bɛ bɛn baara ma min bɛ kɛ ka taa a fɛ-baarakɛlaw ka sɛnɛfɛnw dilanni aksidanw na.