Iirobhothi zemizi-mvelisozisetyenziswa kakhulu kwimizi-mveliso, njengokwenza iimoto, izixhobo zombane, kunye nokutya. Banokutshintsha umsebenzi ophindaphindayo wokwenza umatshini kwaye luhlobo lomatshini oluxhomekeke kumandla alo kunye namandla okulawula ukufezekisa imisebenzi eyahlukeneyo. Inokwamkela umyalelo womntu kwaye ingasebenza ngokweenkqubo ezicwangciswe kwangaphambili. Ngoku makhe sithethe ngezinto ezisisiseko zeerobhothi zoshishino.
1.Umzimba ophambili
Umzimba oyintloko usisiseko somatshini kunye ne-actuator, kubandakanywa ingalo engaphezulu, ingalo ephantsi, isandla kunye nesandla, ukwenza inkqubo ye-multi-degree-of-freedom mechanical. Ezinye iirobhothi zineendlela zokuhamba. Iirobhothi zemizi-mveliso zine-degrees ezi-6 zenkululeko okanye ngaphezulu, kwaye isihlahla ngokuqhelekileyo sine-1 ukuya kwi-3 degrees yenkululeko.
Inkqubo yokuqhuba yeerobhothi zoshishino yahlulwe yangamacandelo amathathu ngokomthombo wamandla: ihydraulic, pneumatic and electric. Ngokweemfuno, ezi ntlobo zintathu zeenkqubo zokuqhuba zinokudityaniswa kwaye zihlanganiswe. Okanye inokuqhutywa ngokungangqalanga ziindlela zothumelo ngoomatshini ezinje ngeebhanti ze-synchronous, oololiwe begiya, kunye neegiya. Inkqubo yokuqhuba inesixhobo samandla kunye nesixhobo sokuhambisa ukwenza i-activator ivelise izenzo ezihambelanayo. Ezi nkqubo zintathu zokuqhuba ezisisiseko zineempawu zazo. Eyona nto iphambili yinkqubo yokuqhuba umbane.
Ngenxa yokwamkelwa ngokubanzi kwe-inertia ephantsi, i-torque ephezulu ye-AC kunye ne-DC servo motors kunye nabaqhubi be-servo abaxhasayo (i-AC inverters, i-DC pulse wide modulators). Olu hlobo lwenkqubo alufuni ukuguqulwa kwamandla, kulula ukuyisebenzisa, kwaye lunovakalelo lokulawula. Uninzi lweenjini kufuneka zifakwe ngendlela echanekileyo yokuhambisa emva kwazo: isinciphisi. Amazinyo ayo asebenzisa isiguquli sesantya segiya ukunciphisa inani lokujikeleza okubuyela umva kwemoto ukuya kwinani elinqwenelekayo lokujikeleza okubuyela umva, kunye nokufumana isixhobo esikhulu setorque, ngaloo ndlela kunciphisa isantya kunye nokwandisa itorque. Xa umthwalo umkhulu, akubizi mali ukunyusa ngokungaboniyo amandla emoto ye-servo. I-torque ephumayo inokuphuculwa ngokunciphisa ngaphakathi kwinqanaba elifanelekileyo lesantya. I-servo motor idla ngokutshisa kunye ne-low-frequency vibration phantsi kwe-low-frequency operation. Umsebenzi wexesha elide kunye nokuphindaphinda akuncedi ekuqinisekiseni ukusebenza kwayo ngokuchanekileyo nangokuthembekileyo. Ubukho bemoto yokunciphisa echanekileyo yenza ukuba i-servo motor isebenze ngesantya esifanelekileyo, yomeleza ukuqina komzimba womatshini, kunye ne-torque enkulu. Kukho abanciphisi ababini abaqhelekileyo ngoku: i-harmonic reducer kunye ne-RV reducer
Inkqubo yokulawula irobhothi yingqondo yerobhothi kunye neyona nto iphambili emisela umsebenzi kunye nokusebenza kwerobhothi. Inkqubo yokulawula ithumela imiqondiso yomyalelo kwinkqubo yokuqhuba kunye ne-activator ngokwenkqubo yokufaka kwaye uyayilawula. Umsebenzi oyintloko weteknoloji yokulawula i-robot yezoshishino kukulawula uluhlu lwemisebenzi, i-postures kunye ne-trajectories, kunye nexesha lezenzo zeerobhothi zoshishino kwindawo yokusebenza. Ineempawu zenkqubo elula, ukusebenza kwemenyu yesoftware, ujongano olunobuhlobo phakathi kwabantu nekhompyuter, ukukhuthaza ukusebenza kwi-intanethi kunye nokusetyenziswa ngokulula.
Inkqubo yokulawula ingundoqo yerobhothi, kwaye iinkampani zangaphandle zivaliwe ngokusondeleyo kwiimvavanyo zaseTshayina. Kwiminyaka yakutshanje, ngophuhliso lwetekhnoloji ye-microelectronics, ukusebenza kwee-microprocessors kuye kwaba phezulu nangaphezulu, ngelixa ixabiso liye lancinci kwaye lincinci. Ngoku kukho i-32-bit microprocessors ye-1-2 yeedola zase-US kwimarike. Ii-microprocessors ezingabizi kakhulu ziye zazisa amathuba amatsha ophuhliso kubalawuli beerobhothi, okwenza kube lula ukuphuhlisa abalawuli beerobhothi abaphantsi kwexabiso eliphantsi, eliphezulu. Ukuze wenze inkqubo ibe namandla okwaneleyo ekhompyutheni kunye nokugcina, abalawuli be-robot ngoku baqulunqwe ngochungechunge oluqinileyo lwe-ARM, uchungechunge lwe-DSP, uchungechunge lwe-POWERPC, uchungechunge lwe-Intel kunye nezinye iitshiphusi.
Ekubeni imisebenzi ye-chip yenjongo jikelele ekhoyo kunye neempawu azikwazi ukuhlangabezana ngokupheleleyo neemfuno zezinye iinkqubo zerobhothi ngokwexabiso, umsebenzi, ukudibanisa kunye ne-interface, inkqubo yerobhothi inesidingo sobuchwepheshe be-SoC (System on Chip). Ukudibanisa iprosesa ethile kunye nojongano olufunekayo kunokwenza lula uyilo lweesekethe ze-peripheral zenkqubo, ukunciphisa ubungakanani benkqubo, kunye nokunciphisa iindleko. Ngokomzekelo, i-Actel idibanisa i-processor core ye-NEOS okanye i-ARM7 kwiimveliso zayo ze-FPGA ukwenza inkqubo ye-SoC epheleleyo. Ngokubhekiselele kubalawuli beteknoloji yerobhothi, uphando lwayo lugxininiswe kakhulu e-United States naseJapan, kwaye kukho iimveliso ezivuthiweyo, ezifana ne-DELTATAU e-United States kunye ne-TOMORI Co., Ltd. eJapan. Isilawuli saso esishukumayo sisekelwe kwitekhnoloji ye-DSP kwaye samkela isakhiwo esisekwe kwi-PC evulekileyo.
4. Ukuphelisa umphumo
Isiphumo sokugqibela siyinxalenye edityaniswe kwikhonkco lokugqibela le-manipulator. Ngokuqhelekileyo isetyenziselwa ukubamba izinto, ukudibanisa nezinye iindlela kunye nokwenza imisebenzi efunekayo. Abavelisi beRobhothi ngokuqhelekileyo abayili okanye bathengise iziphumo zokugqibela. Kwiimeko ezininzi, babonelela kuphela i-gripper elula. Ngokuqhelekileyo i-effector end ifakwe kwi-flange yee-ax ze-6 ze-robot ukugqiba imisebenzi kwindawo enikeziweyo, efana ne-welding, ipeyinti, i-gluing, kunye neengxenye zokulayisha kunye nokukhulula, okuyimisebenzi efuna ukuba iirobhothi zizalise.
Ixesha lokuposa: Jul-18-2024
