Kubva pamaonero ezvivakwa, robhoti inogona kukamurwa kuita zvikamu zvitatu uye nhanhatu masisitimu, ayo zvikamu zvitatu ndezvi: mechanical chikamu (chinoshandiswa kuona zviito zvakasiyana-siyana), chikamu chekunzwa (chinoshandiswa kuona ruzivo rwemukati nekunze), kudzora chikamu (Dzora robhoti kuti upedze zviito zvakasiyana-siyana). Iwo masisitimu matanhatu ndeaya: munhu-kombuta yekudyidzana system, control system, drive system, mechanical mechanic system, sensory system, uye marobhoti-environment interaction system.
(1) Dhiraivha system
Kuita kuti robhoti imhanye, zvinodikanwa kuisa mudziyo wekutumira kune imwe neimwe yakabatana, ndiko kuti, imwe neimwe dhigirii yerusununguko rwekufamba, inova dhiraivha system. Iyo yekutyaira system inogona kuve hydraulic transmission, pneumatic transmission, electric transmission, kana yakazara system inovasanganisa; inogona kuve yakananga dhiraivha kana isina kunanga dhiraivha kuburikidza nemakanika ekufambisa masisitimu akadai semabhandi anowirirana, cheni, zvitima zvemavhiri, uye magiya anowirirana. Nekuda kwekugumira kwepneumatic uye hydraulic dhiraivha, kunze kwezviitiko zvakakosha, ivo havachatambe basa guru. Nekuvandudzwa kwemagetsi servo motors uye tekinoroji yekudzora, marobhoti emaindasitiri anonyanya kufambiswa nema servo motors.
(2) Mechanical structure system
Iyo mechanic chimiro system yerobhoti yeindasitiri ine zvikamu zvitatu: base, ruoko, uye magumo ekuita. Chikamu chega chega chine madhigirii akati wandei erusununguko, achigadzira akawanda-dhigirii-e-rusununguko mechanical system. Kana nheyo yacho yakashongedzerwa nemaitiro ekufamba, robhoti yekufamba inoumbwa; kana chigadziko chisina kufamba uye chiuno chekushandura nzira, rimwe robhoti ruoko runoumbwa. Ruoko runowanzo sanganisira ruoko rwepamusoro, ruoko rwezasi uye wrist. Iyo yekupedzisira effector chikamu chakakosha chakanyatsoiswa pawrist. Inogona kunge iri miviri-miviri kana yakawanda-minwe gripper, kana pendi yekupfapfaidza pfuti, welding maturusi uye mamwe maturusi ekushandisa.
(3) Sensory system
Iyo sensory system ine yemukati sensor modules uye ekunze sensor modules kuti uwane ruzivo rwakakosha nezvemukati uye kunze kwemamiriro ekunze. Iko kushandiswa kwema sensors akangwara kunovandudza mwero wekufamba, kuchinjika uye kungwara kwemarobhoti. Hunhu hwekunzwa hurongwa hwakanyanya hunyanzvi hwekuona ruzivo rwekunze kwenyika. Nekudaro, kune rumwe ruzivo rwakakosha, masensa anoshanda zvakanyanya kupfuura iyo yemunhu sensory system.
(4) Robot-zvakatipoteredzakudyidzana system
Iyo robhoti-yemamiriro ekudyidzana system isystem inoziva kubatana uye kurongeka pakati pemarobhoti eindasitiri nemidziyo munzvimbo yekunze. Marobhoti emabhizimisi uye zvigadzirwa zvekunze zvakabatanidzwa muchikwata chekushanda, zvakadai sekugadzirisa nekugadzira zvikamu, zvikwata zvekutengesa, zvikwata zvegungano, nezvimwewo. Zvechokwadi, mabhobhoti akawanda, maturusi akawanda emichina kana midziyo, midziyo yakawanda yekuchengetedza zvikamu, nezvimwewo zvinogonawo kubatanidzwa mune imwe sangano rinoshanda kuti riite mabasa akaoma.
(5) Hunhu-kombuta yekudyidzana system
Hunhu-kombuta yekudyidzana sisitimu mudziyo unogonesa mushandisi kutora chikamu mukutonga kwerobhoti uye kutaurirana nerobhoti, semuenzaniso, iyo yakajairika terminal yekombuta, command console, bhodhi rekuratidzira ruzivo, alarm chiratidzo chenjodzi, nezvimwewo. Iyo sisitimu inogona kupfupikiswa muzvikamu zviviri: murayiridzo wakapihwa mudziyo uye mudziyo wekuratidza ruzivo.
Basa rekutonga system ndere kudzora actuator yerobhoti kuti ipedze iyo yakatemerwa kufamba uye kushanda zvinoenderana neiyo robhoti yekushandisa kuraira chirongwa uye chiratidzo chinodyiswa kubva kune sensor. Kana iyo robhoti yeindasitiri isina ruzivo rwemhinduro maitiro, iyo yakavhurika-loop control system; kana iine ruzivo rwemhinduro maitiro, iyo yakavharwa-loop control system. Zvinoenderana nemusimboti wekutonga, iyo control system inogona kukamurwa kuita chirongwa chekudzora system, adaptive control system uye artificial intelligence control system. Zvinoenderana nechimiro chekudzora kufamba, iyo control system inogona kukamurwa kuita point control uye trajectory control.
Nguva yekutumira: Zvita-15-2022
