Ngokombono wokwakha, i-robot inokwahlulwa ibe ngamacandelo amathathu kunye neenkqubo ezintandathu, apho la macandelo mathathu alandelayo: inxalenye yomatshini (esetyenziselwa ukuqonda izenzo ezahlukeneyo), inxalenye yokuva (esetyenziselwa ukuqonda ulwazi lwangaphakathi nangaphandle), inxalenye yokulawula Lawula irobhothi ukugqiba iintshukumo ezahlukeneyo). Ezi nkqubo zintandathu zezi: inkqubo yonxibelelwano lomntu nekhompyuter, inkqubo yolawulo, inkqubo yokuqhuba, inkqubo yematshini, inkqubo yeemvakalelo, kunye nenkqubo yokunxibelelana yerobhothi.
(1) Inkqubo yokuqhuba
Ukwenza i-robot iqhube, kuyimfuneko ukufakela isixhobo sokuhambisa kwilungu ngalinye, oko kukuthi, idigri nganye yenkululeko yokunyakaza, okuyinkqubo yokuqhuba. Inkqubo yokuqhuba ingaba yi-hydraulic transmission, i-pneumatic transmission, ukuhanjiswa kombane, okanye inkqubo ebanzi yokudibanisa; ingaqhuba ngokuthe ngqo okanye iqhube ngokungathanga ngqo ngokusebenzisa iindlela zothumelo ngoomatshini ezifana namabhanti e-synchronous, amatyathanga, oololiwe abangamavili, kunye nezixhobo ze-harmonic. Ngenxa yokunciphisa i-pneumatic kunye ne-hydraulic drives, ngaphandle kwezihlandlo ezikhethekileyo, abasayi dlala indima enkulu. Ngophuhliso lweemotor ze-servo zombane kunye netekhnoloji yokulawula, iirobhothi zamashishini ziqhutywa ikakhulu ziimotor ze-servo.
(2) Inkqubo yokwakhiwa koomatshini
Inkqubo yolwakhiwo lomatshini werobhothi yoshishino inamacandelo amathathu: isiseko, ingalo, kunye nesiphumo sokugqibela. Ilungu ngalinye linamabanga aliqela enkululeko, lisenza inkqubo yomatshini ye-multi-degree-of-freedom. Ukuba isiseko sixhotyiswe ngendlela yokuhamba, i-robot ehambayo yenziwa; ukuba isiseko asinalo ukuhamba kunye nesinqe sokuguqula indlela, ingalo yerobhothi enye yenziwa. Ingalo ngokubanzi ibandakanya ingalo ephezulu, ingalo engezantsi kunye nesihlahla. Isiphelo sesiphumo siyinxalenye ebalulekileyo efakwe ngokuthe ngqo kwisandla. Ingaba yiminwe emibini okanye i-multi-fingered gripper, okanye isibhamu sokutshiza ipeyinti, izixhobo ze-welding kunye nezinye izixhobo zokusebenza.
(3) Inkqubo yoluvo
Inkqubo ye-sensory iqukethe iimodyuli zangaphakathi zenzwa kunye neemodyuli zangaphandle zenzwa zokufumana ulwazi olunentsingiselo malunga namazwe angaphakathi nangaphandle kokusingqongileyo. Ukusetyenziswa kweenzwa ezihlakaniphile kuphucula umgangatho wokuhamba, ukuguquguquka kunye nengqondo yeerobhothi. Isixokelelwano soluvo somntu sinobuchule obugqithisileyo bokubona ulwazi lwehlabathi langaphandle. Nangona kunjalo, ngolwazi oluthile olukhethekileyo, izinzwa zisebenza ngakumbi kunenkqubo yomntu.
(4) Robot-indaloinkqubo yentsebenziswano
Inkqubo ye-robot-esingqongileyo yokusebenzisana yinkqubo eqonda ukudibanisa kunye nokulungelelaniswa phakathi kweerobhothi zoshishino kunye nezixhobo kwindawo yangaphandle. Iirobhothi zoshishino kunye nezixhobo zangaphandle zihlanganiswe kwiyunithi esebenzayo, njengokucwangcisa kunye neeyunithi zokuvelisa, iiyunithi ze-welding, iiyunithi zendibano, njl. Kakade ke, iirobhothi ezininzi, izixhobo zomatshini ezininzi okanye izixhobo, izixhobo ezininzi zokugcina izixhobo, njl. kwiyunithi enye yokusebenza ukwenza imisebenzi enzima.
(5) Inkqubo yokunxibelelana kwabantu nekhompyuter
Inkqubo yokudityaniswa kwekhompyuter yomntu sisixhobo esenza ukuba umqhubi athathe inxaxheba kulawulo lwerobhothi kwaye anxibelelane nerobhothi, umzekelo, i-terminal esemgangathweni yekhompyuter, ikhonsoli yomyalelo, ibhodi yokubonisa ulwazi, i-alarm yomqondiso wengozi. , njl. njl
Umsebenzi wenkqubo yokulawula kukulawula i-activator ye-robot ukugqiba intshukumo emiselweyo kunye nomsebenzi ngokwenkqubo ye-robot yomyalelo wokusebenza kunye nesignali eyondliwe emva kwi-sensor. Ukuba i-robot ye-industrial ayinayo iimpawu zengxelo yolwazi, yinkqubo yokulawula i-loop evulekile; ukuba ineempawu zengxelo yolwazi, yinkqubo yolawulo evaliweyo. Ngokomgaqo wolawulo, inkqubo yokulawula inokwahlulwa ibe yinkqubo yolawulo lwenkqubo, inkqubo yolawulo eguquguqukayo kunye nenkqubo yolawulo lobukrelekrele bokwenziwa. Ngokwendlela yokulawula intshukumo, inkqubo yokulawula inokwahlulwa ibe yindawo yokulawula amanqaku kunye nokulawulwa kwendlela.
Ixesha lokuposa: Dec-15-2022
