Ingalo yerobhothi lolona hlobo luxhaphakileyo lwerobhothi kwiirobhothi zale mihla. Iyakwazi ukuxelisa iintshukumo ezithile kunye nemisebenzi yezandla kunye neengalo zomntu, kwaye iyakwazi ukubamba, iphathe izinto okanye isebenzise izixhobo ezithile ngeenkqubo ezisisigxina. Sesona sixhobo sisetyenziswa kakhulu kwi-automation kwintsimi yerobhothi. Iifom zayo zihlukile, kodwa zonke zinento efanayo, oko kukuthi, ziyakwazi ukwamkela imiyalelo kwaye zifumane ngokuchanekileyo nakweyiphi na indawo kwisithuba se-three-dimensional (two-dimensional) ukwenza imisebenzi. Iimpawu zayo kukuba inokugqiba imisebenzi eyahlukeneyo elindelekileyo ngokucwangciswa, kwaye isakhiwo sayo kunye nokusebenza kudibanisa iinzuzo zabantu kunye noomatshini bomatshini. Ingathatha indawo yomsebenzi onzima womntu ukuqonda umatshini kunye ne-automation yemveliso, kwaye inokusebenza kwindawo enobungozi ukukhusela ukhuseleko lomntu. Ke ngoko, isetyenziswa kakhulu kwimveliso yoomatshini, i-elektroniki, ishishini lokukhanya kunye namandla eathom.
1.Iingalo zerobhothi eziqhelekileyo zenziwa ikakhulu ngamacandelo amathathu: umzimba ophambili, indlela yokuqhuba kunye nenkqubo yolawulo.
(I) Ubume boomatshini
1. I-fuselage yengalo yerobhothi yinxalenye yenkxaso esisiseko yesixhobo sonke, ngokuqhelekileyo senziwe ngezinto eziqinileyo kunye nezixhobo zetsimbi. Akumele kuphela ikwazi ukumelana nemikhosi eyahlukeneyo kunye neetorque eziveliswa yingalo yerobhothi ngexesha lomsebenzi, kodwa zibonelela ngendawo yokufakela ezinzile kwamanye amacandelo. Uyilo lwayo kufuneka luthathele ingqalelo ukulinganisela, ukuzinza kunye nokulungelelaniswa kwendawo yokusebenza. 2. Ingalo Ingalo yerobhothi yinxalenye ephambili yokufezekisa izenzo ezahlukeneyo. Iqukethe uluhlu lweentonga zokudibanisa kunye namalungu. Ngokujikeleza kwamalungu kunye nokuhamba kweentambo zokudibanisa, ingalo inokufikelela kwi-multi-degree-of-freedom movement kwindawo. Amalungu ahlala eqhutywe ngama-motor-precision high-precision motors, i-reducers okanye izixhobo zokuqhuba i-hydraulic drive ukuqinisekisa ukuchaneka kwentshukumo kunye nesantya sengalo. Ngelo xesha, izinto zengalo kufuneka zibe neempawu zamandla aphezulu kunye nobunzima obulula ukuhlangabezana neemfuno zokuhamba ngokukhawuleza kunye nokuthwala izinto ezinzima. 3. Ukuphela komphumela Le nxalenye yengalo yerobhothi edibanisa ngokuthe ngqo into yomsebenzi, kwaye umsebenzi wayo ufana nesandla somntu. Kukho iintlobo ezininzi zeempembelelo zokugqibela, kwaye eziqhelekileyo ziyi-grippers, iikomityi zokufunxa, izibhamu zokutshiza, njl. ikomityi yokufunxa isebenzisa umgaqo woxinzelelo olubi ukufunxa into kwaye ifanelekile kwizinto ezinomgangatho osicaba; umpu wokutshiza ungasetyenziselwa ukutshiza, ukuwelda kunye neminye imisebenzi.
(II) Inkqubo yokuqhuba
1. Ukuqhutywa kweemoto Imoto yenye yezona ndlela zixhaphakileyo zokuqhuba kwingalo yerobhothi. Iimotor zeDC, iimotor zeAC kunye neemotor ezinyathelayo zingasetyenziselwa ukuqhuba intshukumo edibeneyo yengalo yerobhothi. I-Motor drive ineenzuzo zokuchaneka kolawulo oluphezulu, isantya sokuphendula ngokukhawuleza kunye noluhlu olubanzi lolawulo lwesantya. Ngokulawula isantya kunye nesalathiso semoto, umkhondo oshukumayo wengalo yerobhothi unokulawulwa ngokuchanekileyo. Kwangaxeshanye, i-motor inokusetyenziswa ngokubambisana neentlobo ezahlukeneyo zokunciphisa ukunyusa i-torque ephumayo ukuhlangabezana neemfuno zengalo yerobhothi xa uphethe izinto ezinzima. 2. I-hydraulic drive I-Hydraulic drive isetyenziswa ngokubanzi kwezinye iingalo zerobhothi ezifuna ukuphuma kwamandla amakhulu. Inkqubo ye-hydraulic icinezela ioli ye-hydraulic ngokusebenzisa ipompo ye-hydraulic ukuqhuba i-cylinder ye-hydraulic okanye i-hydraulic motor ukuze isebenze, ngaloo ndlela iqonda ukuhamba kwengalo yerobhothi. I-hydraulic drive inezibonelelo zamandla aphezulu, isantya sokuphendula ngokukhawuleza, kunye nokuthembeka okuphezulu. Ilungele ezinye iingalo zerobhothi ezinzima kunye neziganeko ezifuna isenzo esikhawulezileyo. Nangona kunjalo, inkqubo yehydraulic nayo ineengxaki zokuvuza, iindleko eziphezulu zokugcinwa, kunye neemfuno eziphezulu zendawo yokusebenza. 3. I-Pneumatic drive I-Pneumatic drive isebenzisa umoya ocinezelweyo njengomthombo wamandla wokuqhuba iisilinda kunye nezinye ii-actuator ukuba zisebenze. I-Pneumatic drive ineenzuzo zesakhiwo esilula, ixabiso eliphantsi, kunye nesantya esiphezulu. Ifanelekile kwezinye iimeko apho amandla kunye nokuchaneka kungafuneki. Nangona kunjalo, amandla enkqubo ye-pneumatic encinci, ukuchaneka kokulawula kuphantsi, kwaye kufuneka kuxhotyiswe ngomthombo womoya oxinzelelweyo kunye nezinto ezinxulumene ne-pneumatic.
(III) Inkqubo yokulawula
1. Umlawuli Umlawuli yingqondo yengalo yerobhothi, enoxanduva lokufumana imiyalelo eyahlukeneyo kunye nokulawula izenzo zenkqubo yokuqhuba kunye nesakhiwo somatshini ngokwemiyalelo. Umlawuli ngokuqhelekileyo usebenzisa i-microprocessor, isilawuli se-logical logic (PLC) okanye i-chip yokulawula intshukumo ezinikeleyo. Inokufezekisa ulawulo oluchanekileyo lwendawo, isantya, isantya kunye nezinye iiparamitha zengalo yerobhothi, kwaye inokuqhuba kwakhona ulwazi oluxhaswe ngabaphandi abahlukeneyo ukufikelela kulawulo oluvaliweyo. Umlawuli unokucwangciswa ngeendlela ezahlukeneyo, kubandakanywa ukuhlelwa kwegraphical, inkqubo yokubhaliweyo, njl., ukwenzela ukuba abasebenzisi bakwazi ukucwangcisa kunye nokulungiswa ngokweemfuno ezahlukeneyo. 2. Ii-Sensors I-sensor yinxalenye ebalulekileyo yembono yengalo ye-robot yendawo yangaphandle kunye nemo yayo. I-sensor yesikhundla inokubeka iliso kwindawo yokudibanisa nganye yengalo yerobhothi ngexesha langempela ukuqinisekisa ukuchaneka kokuhamba kwengalo yerobhothi; i-force sensor iyakwazi ukubona amandla engalo yerobhothi xa ibamba into ukukhusela into ukuba ingatyibiliki okanye yonakaliswe; inzwa yokubona inokubona kwaye ifumane into esebenzayo kwaye iphucule inqanaba lobukrelekrele bengalo yerobhothi. Ukongezelela, kukho izinzwa zokushisa, izinzwa zoxinzelelo, njl., ezisetyenziselwa ukubeka iliso isimo sokusebenza kunye neeparitha zokusingqongileyo zengalo yerobhothi.
2. Ulwahlulo lwengalo yerobhothi luhlelwa ngokubanzi ngokwendlela yesakhiwo, indlela yokuqhuba, kunye nenkundla yesicelo.
(I) Ukuhlelwa ngokwefomu yolwakhiwo
1. Ingalo yerobhothi yolungelelaniso yeCartesian Ingalo yalengalo yerobhothi ihamba ecaleni kwee-axes ezintathu zolungelelwaniso lwenkqubo yolungelelwaniso oluxande, ezizezi, X, Y, no-Z. Ineenzuzo zesakhiwo esilula, ulawulo olufanelekileyo, ukuchaneka kokumisa okuphezulu, njl., kwaye ifanelekile ukuphatha izinto ezilula, ukudibanisa kunye nokusebenza. Nangona kunjalo, indawo yokusebenza yengalo yerobhothi yokulungelelaniswa koxande incinci kwaye ukuguquguquka kubi.
2. Ingalo yerobhothi yokulungelelanisa i-cylindrical Ingalo ye-cylindrical coordinate yengalo yerobhothi iqukethe i-rotary joint kunye ne-linear joints, kwaye indawo yayo yokunyakaza i-cylindrical. Ineenzuzo zesakhiwo esidibeneyo, uluhlu olukhulu lokusebenza, intshukumo eguquguqukayo, njl., kwaye ifanelekile kwimisebenzi ethile ephakathi. Nangona kunjalo, ukuchaneka kokumiswa kwengalo yerobhothi yokulungelelanisa i-cylindrical iphantsi, kwaye ubunzima bokulawula buphezulu.
3. Ingalo yerobhothi yolungelelwaniso olungqukuva Ingalo yengalo yerobhothi engqukuva inezihlanganisi ezimbini ezijikelezayo kunye nomgca omnye, kwaye indawo yayo eshukumayo ingqukuva. Ineenzuzo zokuhamba okuguquguqukayo, uluhlu olukhulu lokusebenza, kunye nokukwazi ukuziqhelanisa neendawo zokusebenza ezinzima. Ifanelekile kwimisebenzi ethile efuna ukuchaneka okuphezulu kunye nokuguquguquka okuphezulu. Nangona kunjalo, ulwakhiwo lwengalo yerobhothi yolungelelwaniso olungqukuva luntsonkothile, ubunzima bolawulo bukhulu, kwaye iindleko nazo ziphezulu.
4. Ingalo yerobhothi echaziweyo Ingalo yerobhothi echaziweyo ilinganisa ukwakheka kwengalo yomntu, iqulethwe ngamacandelo amaninzi ajikelezayo, kwaye inokufikelela kwiintshukumo ezahlukeneyo ezifana nengalo yomntu. Ineenzuzo zokuhamba okuguquguqukayo, uluhlu olukhulu lokusebenza, kunye nokukwazi ukuziqhelanisa neendawo zokusebenza ezinzima. Okwangoku lolona hlobo lusetyenziswa kakhulu lwengalo yerobhothi.
Nangona kunjalo, ulawulo lweengalo zerobhothi ezichaziweyo lunzima kwaye lufuna ukucwangciswa okuphezulu kunye nokulungiswa kwetekhnoloji.
(II) Ukuhlelwa ngokwendlela yokuqhuba
1. Iingalo zerobhothi zombane Iingalo zerobhothi zombane zisebenzisa iimotor njengezixhobo zokuqhuba, ezineenzuzo zokuchaneka kolawulo oluphezulu, isantya sokuphendula ngokukhawuleza, kunye nengxolo ephantsi. Ifanelekile ngamanye amaxesha aneemfuno eziphezulu zokuchaneka kunye nesantya, ezifana nokuveliswa kwe-elektroniki, izixhobo zonyango kunye namanye amashishini. 2. Iingalo zerobhothi zeHydraulic iingalo zerobhothi zeHydraulic zisebenzisa izixhobo zokuqhuba i-hydraulic, ezineenzuzo zamandla aphezulu, ukuthembeka okuphezulu, kunye nokuguquguquka okuqinileyo. Ilungele ezinye iingalo zerobhothi ezinzima kunye neziganeko ezifuna ukuphuma kwamandla amakhulu, njengokwakha, imigodi kunye namanye amashishini. 3. Iingalo zerobhothi zepneumatic zisebenzisa izixhobo zokuqhuba umoya, ezineenzuzo zesakhiwo esilula, ixabiso eliphantsi, kunye nesantya esiphezulu. Ifanelekile kwezinye iimeko ezingadingi amandla aphezulu kunye nokuchaneka, njengokupakisha, ukuprinta kunye namanye amashishini.
(III) Ukuhlelwa ngokwendawo yesicelo
1. Iingalo zerobhothi zoshishino iingalo zerobhothi zisetyenziswa ikakhulu kwimimandla yemveliso yemizi-mveliso, efana nokuvelisa iimoto, ukwenziwa kweemveliso zombane, kunye nokulungiswa koomatshini. Iyakwazi ukuqonda imveliso ezenzekelayo, ukuphucula ukusebenza kakuhle kwemveliso kunye nomgangatho wemveliso. 2. Inkonzo yerobhothi ingalo Inkonzo yerobhothi ingalo isetyenziswa ikakhulu kumashishini enkonzo, njengezonyango, ukutya, iinkonzo zasekhaya, njl. Inokubonelela abantu ngeenkonzo ezahlukeneyo, ezifana nobuhlengikazi, ukuhanjiswa kwesidlo, ukucoca, njl.
Utshintsho oluziswa ziingalo zerobhothi kwimveliso yokwenziwa kwemizi-mveliso ayikuphela nje ukuzenzekelayo kunye nokusebenza kakuhle, kodwa kunye nemodeli yolawulo lwangoku ekhaphayo itshintshe kakhulu iindlela zokuvelisa kunye nokhuphiswano lwemarike lwamashishini. Ukusetyenziswa kweengalo zerobhothi lithuba elihle lokuba amashishini ahlengahlengise isakhiwo sawo soshishino kunye nokuphucula kunye nokuguqula.
Ixesha lokuposa: Sep-24-2024
