Kubva pamaonero ezvivakwa, robhoti rinogona kukamurwa kuita zvikamu zvitatu uye zvitanhatu masisitimu, izvo zvikamu zvitatu izvi: mechanical chikamu (chinoshandiswa kuona zviito zvakasiyana-siyana), sensing chikamu (chinoshandiswa kuona mukati nekunze ruzivo), kudzora chikamu ( Dzora robhoti kuti upedze zviito zvakasiyana). 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 eindasitiri uye midziyo yekunze inosanganiswa muchikamu chinoshanda, senge kugadzirisa uye kugadzira zvikamu, welding mayuniti, magungano eungano, nezvimwe. Chokwadi, marobhoti akawanda, akawanda maturusi emuchina kana midziyo, akawanda mativi ekuchengetedza midziyo, nezvimwe zvinogona zvakare kubatanidzwa. muchikamu chimwe chekushanda kuita mabasa akaoma.
(5) Hunhu-kombuta yekudyidzana system
Iyo yemunhu-kombuta yekudyidzana system chishandiso chinoita kuti mushandisi atore chikamu mukutonga kwerobhoti uye kutaurirana nerobhoti, semuenzaniso, iyo yakajairwa terminal yekombuta, command console, bhodhi rekuratidza ruzivo, alarm chiratidzo chenjodzi. , etc. Iyo system inogona kupfupikiswa muzvikamu zviviri: murayiridzo wakapihwa mudziyo uye ruzivo rwekuratidzira mudziyo.
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
