Robhoti ruoko ndiyo yakajairika mhando yerobhoti mumarobhoti emazuva ano maindasitiri. Inogona kutevedzera mamwe mafambiro uye mabasa emaoko nemaoko evanhu, uye inogona kubata, kutakura zvinhu kana kushandisa chaiwo maturusi kuburikidza neakagadziriswa zvirongwa. Ndiyo inonyanya kushandiswa otomatiki mudziyo mumunda wemarobhoti. Mafomu ayo akasiyana, asi iwo ese ane chinhu chakafanana, icho ndechekuti ivo vanogona kugamuchira mirairo uye nemazvo kuwana kune chero nzvimbo munzvimbo yetatu-dimensional (two-dimensional) kuita maoparesheni. Hunhu hwayo ndehwekuti inokwanisa kupedzisa mabasa akasiyana-siyana anotarisirwa kuburikidza nehurongwa, uye chimiro chayo nekuita kwayo zvinosanganisa zvakanakira vanhu nemuchina. Inogona kutsiva basa rinorema revanhu kuona mechanization uye otomatiki yekugadzira, uye inogona kushanda munzvimbo dzinokuvadza kuchengetedza kuchengetedzwa kwemunhu. Naizvozvo, inoshandiswa zvakanyanya mukugadzira michina, zvemagetsi, indasitiri yemwenje uye simba reatomu.
1.Maoko emarobhoti akajairika anonyanya kuumbwa nezvikamu zvitatu: muviri mukuru, dhiraivha mashandiro uye hurongwa hwekutonga.
(I) Mechanical chimiro
1. Iyo fuselage yeruoko rwerobhoti ndiyo yekutanga tsigiro chikamu chechigadzirwa chose, kazhinji chinogadzirwa nesimbi yakasimba uye yakasimba. Izvo hazvifanirwe kungokwanisa kumirisana nemasimba akasiyana-siyana uye torques anogadzirwa nerobhoti ruoko panguva yebasa, asi zvakare kupa yakagadzikana yekuisa chinzvimbo kune zvimwe zvikamu. Magadzirirwo ayo anoda kutarisisa kuenzana, kugadzikana uye kuchinjika kune nharaunda yekushanda. 2. Ruoko Ruoko rwebhobhoti ndicho chikamu chinokosha chekuzadzisa zviito zvakasiyana-siyana. Inosanganisira mutsara wekubatanidza tsvimbo uye majoini. Kuburikidza nekutenderera kwemajoini uye kufamba kwematanda ekubatanidza, ruoko runogona kuwana madhigirii akawanda-e-kusununguka kufamba munzvimbo. Majoini acho anowanzo kufambiswa neakakwira-chaiyo mota, zvinoderedza kana hydraulic drive zvishandiso kuti ive nechokwadi chekufamba chaiko uye kumhanya kweruoko. Panguva imwecheteyo, zvinhu zveruoko zvinoda kuva neunhu hwekusimba kwepamusoro uye uremu huremu kuti uwane zvinodiwa zvekukurumidza kufamba uye kutakura zvinhu zvinorema. 3. End effector Ichi ndicho chikamu cheruoko rwebhobhoti inobata zvakananga chinhu chebasa, uye basa rayo rakafanana neroruoko rwemunhu. Kune marudzi akawanda emagumo ekupedzisira, uye anowanzova ma grippers, makapu ekusveta, pfuti dzepfapfaidzo, etc. Iyo gripper inogona kugadziriswa maererano nechimiro uye hukuru hwechinhu uye inoshandiswa kubata zvinhu zvakasiyana-siyana; mukombe wekusveta unoshandisa iyo yakaipa yekumanikidza musimboti kutora chinhu uye inokodzera zvinhu zvine sandara nzvimbo; pfuti yekupfapfaidza inogona kushandiswa kupfapfaidza, welding uye mamwe mabasa.
(II) Dhiraivha system
1. Motokari dhiraivha Iyo mota ndeimwe yeanonyanya kushandiswa nzira dzekutyaira muruwoko rwerobhoti. DC motors, AC motors uye stepper motors zvese zvinogona kushandiswa kutyaira kubatana kwekufamba kwerobhoti ruoko. Mota dhiraivha ine mabhenefiti eiyo yepamusoro kudzora kurongeka, kukurumidza kupindura kumhanya uye yakafara yekumhanyisa regulation renji. Nekudzora kumhanya uye kutungamira kwemota, iyo inofamba trajectory yerobhoti ruoko inogona kudzorwa nemazvo. Panguva imwecheteyo, mota inogona zvakare kushandiswa pamwe chete neakasiyana anoderedza kuwedzera torque yekubuda kuti isangane nezvinodiwa neruoko rwerobhoti kana uchitakura zvinhu zvinorema. 2. Hydraulic drive Hydraulic drive inoshandiswa zvakanyanya mune mamwe marobhoti maoko anoda simba rakakura kubuda. Iyo hydraulic system inomanikidza iyo hydraulic oiri kuburikidza ne hydraulic pombi kutyaira iyo hydraulic cylinder kana hydraulic mota kuti ishande, nekudaro inoona kufamba kweruoko rwerobhoti. Hydraulic drive ine zvakanakira simba repamusoro, kukurumidza kupindura kumhanya, uye kuvimbika kwakanyanya. Inokodzera mamwe anorema robhoti maoko uye zviitiko zvinoda kukurumidza kuita. Nekudaro, iyo hydraulic system zvakare ine zvakaipira kudonha, mutengo wakakura wekugadzirisa, uye zvakakwirira zvinodikanwa zvenzvimbo yekushanda. 3. Pneumatic drive Pneumatic drive inoshandisa mweya wakatsikirirwa sechitubu chesimba kutyaira macylinders uye mamwe ma actuators kushanda. Pneumatic drive ine zvakanakira chimiro chakareruka, mutengo wakaderera, uye kumhanya kwakanyanya. Inokodzera kune dzimwe nguva apo simba uye kunyatsojeka hazvidiwi. Nekudaro, iyo simba reiyo pneumatic system idiki, iko kutonga kwakadzika zvakare, uye inoda kuve yakashongedzerwa nemhepo yakamanikidzwa sosi uye zvine chekuita nepneumatic zvikamu.
(III) Kudzora system
1. Mutongi Mutongi ndiye uropi hweruoko rwerobhoti, ane mutoro wekugamuchira mirairo yakasiyana-siyana uye kutonga zviito zvedhiraivha system uye mechanical structure maererano nemirayiridzo. Iyo controller inowanzo shandisa microprocessor, programmable logic controller (PLC) kana yakatsaurirwa inofamba inodzora chip. Iyo inogona kuwana chaiyo kutonga kwechinzvimbo, kumhanya, kukwidziridza uye mamwe ma paramita erobhoti ruoko, uye inogona zvakare kugadzirisa ruzivo rwakadzoserwa neakasiyana masensa kuti uwane yakavharwa-loop control. Mutongi anogona kurongwa nenzira dzakasiyana-siyana, kusanganisira graphical programming, text programming, nezvimwewo, kuitira kuti vashandisi vagone kuronga uye kugadzirisa maererano nezvinodiwa zvakasiyana. 2. Sensors Sensor chikamu chakakosha chekuona kwemaoko erobhoti yekunze kwekunze uye mamiriro ayo. Iyo nzvimbo sensor inogona kutarisa chinzvimbo chega chega chega chega robhoti ruoko munguva chaiyo kuti ive nechokwadi chekufamba kweiyo robhoti ruoko; iyo simba sensor inogona kuona simba rerobhoti ruoko pakubata chinhu kudzivirira kuti chinhu chirege kutsvedza kana kukuvadzwa; iyo inoona sensor inogona kuziva uye kutsvaga chinhu chinoshanda uye kugadzirisa hungwaru hwerobhoti ruoko. Uye zvakare, kune tembiricha sensors, pressure sensors, nezvimwewo, iyo inoshandiswa kutarisa mamiriro ekushanda uye zvakatipoteredza paramita yerobhoti ruoko.
2.Kupatsanurwa kweruoko rwerobhoti kunowanzo kupatsanurwa maererano nechimiro chechimiro, kutyaira modhi, uye ndima yekushandisa.
(I) Kurongwa nechimiro chechimiro
1. Cartesian coordinate robhoti ruoko Ruoko rwerobhoti iri ruoko runofamba nematemo matatu erectangular coordinate system, anoti X, Y, uye Z axes. Iine zvakanakira chimiro chakareruka, kudzora kuri nyore, kurongeka kwepamusoro, nezvimwewo, uye inokodzera mamwe mabatiro akareruka, kubatanidza uye kugadzirisa mabasa. Nekudaro, iyo nzvimbo yekushanda yerectangular coordinate robhoti ruoko idiki uye kuchinjika kwakashata.
2. Cylindrical coordinate robhoti ruoko Ruoko rwe cylindrical coordinate robhoti ruoko rune mubatanidzwa unotenderera uye majoini maviri ane mutsara, uye nzvimbo yaro yekufamba i cylindrical. Iyo ine zvakanakira compact chimiro, hombe yekushanda, inoshanduka kufamba, nezvimwewo, uye inokodzera mamwe epakati-akaoma mabasa. Nekudaro, iyo yekumisikidza kurongeka kwecylindrical coordinate robhoti ruoko yakaderera, uye kuomerwa kwekutonga kwakakwira.
3. Spherical coordinate robhoti ruoko Ruoko rwespherical coordinate robhoti ruoko rune majoini maviri anotenderera uye rimwe mutsara wakabatana, uye nzvimbo yaro yekufamba ikaita denderedzwa. Iyo ine mabhenefiti ekufamba-famba, yakakura yekushanda, uye kugona kuchinjika kune yakaoma nharaunda yekushanda. Inokodzera mamwe mabasa anoda kurongeka kwepamusoro uye kuchinjika kwepamusoro. Nekudaro, chimiro cheiyo spherical coordinate robhoti ruoko chakaoma, kuomerwa kwekutonga kwakakura, uye mutengo wakakwira zvakare.
4. Ruoko rwemarobhoti rwakanamirwa Ruoko rwemarobhoti rwakatsanangurwa runotevedzera chimiro cheruoko rwemunhu, rune majoini akawanda anotenderera, uye anogona kuwana mafambiro akasiyana-siyana akafanana neruoko rwemunhu. Iyo ine mabhenefiti ekufamba-famba, yakakura yekushanda, uye kugona kuchinjika kune yakaoma nharaunda yekushanda. Parizvino ndiyo inonyanya kushandiswa mhando yerobhoti ruoko.
Nekudaro, kutonga kwearticulated robhoti maoko kwakaoma uye kunoda yakakwirira programming uye debugging tekinoroji.
(II) Kurongwa nedhiraivha modhi
1. Magetsi robhoti maoko Magetsi robhoti maoko anoshandisa injini sedhiraivha madivayiri, ane zvakanakira kudzora kudzora zvakarurama, kukurumidza kupindura nokukurumidza, uye pasi ruzha. Inokodzera kune dzimwe nguva nepamusoro zvinodiwa zvekurongeka uye nekukurumidza, senge kugadzira zvemagetsi, zvigadzirwa zvekurapa uye mamwe maindasitiri. 2. Hydraulic robotic arms Hydraulic robotic arms inoshandisa hydraulic drive madivayiri, ane zvakanakira simba repamusoro, kuvimbika kwepamusoro, uye kushanduka kwakasimba. Inokodzera mamwe anorema robhoti maoko uye zviitiko zvinoda hombe simba kubuda, sekuvaka, migodhi uye mamwe maindasitiri. 3. Pneumatic robotic maoko Pneumatic robotic maoko anoshandisa pneumatic drive zvishandiso, izvo zvine zvakanakira chimiro chakareruka, mutengo wakaderera, uye kukurumidza kukurumidza. Inokodzera zvimwe zviitiko zvisingade simba rakakwirira uye nekururama, zvakadai sekurongedza, kudhinda uye mamwe maindasitiri.
(III) Kurongwa nendima yekushandisa
1. Maindasitiri marobhoti maoko Maindasitiri erobhoti anonyanya kushandiswa muminda yekugadzira maindasitiri, senge kugadzira mota, kugadzira zvigadzirwa zvemagetsi, uye kugadzira michina. Inogona kuona kugadzira otomatiki, kuvandudza hunyanzvi hwekugadzira uye mhando yechigadzirwa. .
Shanduko dzinounzwa nemaoko emarobhoti mukugadzira maindasitiri hakusi iko otomatiki uye kugona kwekushanda, asi zvakare inoperekedza yemazuva ano manejimendi modhi yakashandura zvakanyanya nzira dzekugadzira uye kukwikwidza kwemusika kwemabhizinesi. Iko kushandiswa kwemarobhoti maoko mukana wakanaka wekuti mabhizinesi agadzirise chimiro chavo cheindasitiri uye kusimudzira nekushandura.
Nguva yekutumira: Sep-24-2024
