Marobhoti eindasitirianoshandiswa zvakanyanya mukugadzira maindasitiri, sekugadzira mota, midziyo yemagetsi, uye chikafu. Ivo vanogona kutsiva kudzokorora muchina-maitiro ekugadzirisa basa uye imhando yemuchina unovimba nesimba rawo uye masimba ekutonga kuita mabasa akasiyana. Inogona kugamuchira murairo wevanhu uye inogonawo kushanda maererano nezvirongwa zvakafanorongwa. Zvino ngatitaurei nezve zvakakosha zvikamu zvemaindasitiri marobhoti.
1.Muviri mukuru
Muviri mukuru ndiyo base yemuchina uye actuator, kusanganisira ruoko rwepamusoro, ruoko rwezasi, wrist uye ruoko, ichigadzira yakawanda-dhigirii-ye-rusununguko mechanical system. Mamwe marobhoti anewo nzira dzekufamba. Marobhoti emaindasitiri ane 6 madhigirii erusununguko kana kupfuura, uye wrist kazhinji ine 1 kusvika 3 madhigirii erusununguko.
Iyo drive system yemarobhoti emaindasitiri yakakamurwa kuita zvikamu zvitatu zvinoenderana nemagetsi sosi: hydraulic, pneumatic uye magetsi. Zvinoenderana nezvinodiwa, aya matatu marudzi edhiraivha masisitimu anogona zvakare kusanganiswa uye kusanganiswa. Kana kuti inogona kufambiswa zvisina kunanga nemichina yekufambisa nzira senge mabhandi anowirirana, zvitima zvegiya, uye magiya. Iyo dhiraivha system ine mudziyo wemagetsi uye nzira yekufambisa yekuita kuti actuator ibudise zviito zvinoenderana. Aya matatu ekutanga madhiraivha masisitimu ane hunhu hwawo. Iyo mainstream ndiyo yemagetsi drive system.
Nekuda kwekugamuchirwa kwakapararira kweiyo yakaderera inertia, yakakwira torque AC uye DC servo mota uye avo anotsigira servo madhiraivha (AC inverters, DC pulse width modulators). Iyi mhando yehurongwa haidi kutendeuka kwesimba, iri nyore kushandisa, uye inonzwa kudzora. Mazhinji mota dzinoda kuisirwa iine chaiyo yekufambisa nzira kumashure kwavo: inoderedza. Mazino ayo anoshandisa chinomhanyisa chegiya kudzikisa huwandu hwekutenderera kutenderera kwemota kune yaidiwa nhamba yekutenderera kutenderera, uye kuwana yakakura torque mudziyo, nekudaro ichidzikisa kumhanya uye kuwedzera torque. Kana mutoro wacho wakakura, haisi mari-inoshanda kuti uwedzere upofu simba re servo motor. Iyo torque inobuda inogona kuvandudzwa neinoderedza mukati meiyo yakakodzera yekumhanyisa renji. Iyo servo mota inojaira kupisa uye yakaderera-frequency vibration pasi pekushanda kwakaderera-frequency. Basa renguva refu uye rinodzokorora hazviiti kuti rive nechokwadi chekushanda kwayo kwakarurama uye kwakavimbika. Kuvepo kweiyo chaiyo yekudzikisa mota inoita kuti servo mota ishande nekumhanya kwakakodzera, kusimbisa kuomarara kwemuviri wemuchina, uye kubuda yakakura torque. Kune maviri makuru ekudzikisa izvozvi: harmonic inoderedza uye RV inoderedza
Iyo robhoti yekudzora sisitimu ndiyo huropi hwerobhoti uye chinhu chikuru chinotarisa kushanda uye kuita kwerobhoti. Iyo yekudzora sisitimu inotumira masaini ekuraira kudhiraivha system uye iyo actuator zvinoenderana nechirongwa chekuisa uye inoitonga. Basa guru remaindasitiri robhoti kudzora tekinoroji ndere kudzora huwandu hwezviitiko, zvimiro uye trajectories, uye nguva yezviito zvemaindasitiri marobhoti munzvimbo yebasa. Iyo ine hunhu hwehurongwa hwakareruka, software yemenu mashandiro, hushamwari hwevanhu-kombuta yekudyidzana interface, online mashandiro ekukurudzira uye kushandiswa kuri nyore.
Iyo controller system ndiyo musimboti werobhoti, uye makambani ekunze akavharwa zvakanyanya kuongororo dzeChinese. Mumakore achangopfuura, nekuvandudza tekinoroji yemicroelectronics, kuita kwemamicroprocessors kwave kwakakwira nepamusoro, nepo mutengo wave wakachipa uye wakachipa. Ikozvino kune 32-bit microprocessors ye1-2 US madhora pamusika. Mari-inoshanda mamicroprocessors akaunza mikana mitsva yekuvandudza yevanodzora marobhoti, zvichiita kuti zvikwanise kuvandudza-inodhura, yepamusoro-inoshanda marobhoti controller. Kuti iite kuti sisitimu ive yakakwana yemakomputa uye kugona kuchengetedza, marobhoti controller ave kunyanya kuumbwa akasimba ARM akatevedzana, DSP akatevedzana, POWERPC akatevedzana, Intel akatevedzana uye mamwe machipisi.
Sezvo iripo general-chinangwa chip mabasa uye maficha haakwanise kuzadzisa zvizere zvinodikanwa zvemamwe marobhoti masisitimu maererano nemutengo, basa, kusanganisa uye interface, iyo marobhoti system ine inoda yeSoC (System paChip) tekinoroji. Kubatanidza imwe processor ine inodiwa interface inogona kurerutsa dhizaini yemadhizaini eiyo system, kuderedza saizi yehurongwa, uye kuderedza mitengo. Semuyenzaniso, Actel inobatanidza iyo processor musimboti weNEOS kana ARM7 pane yayo FPGA zvigadzirwa kugadzira yakazara SoC system. Panyaya yevanodzora tekinoroji yerobhoti, kutsvagisa kwayo kunonyanya kutariswa muUnited States neJapan, uye kune zvigadzirwa zvakakura, senge DELTATAU muUnited States uye TOMORI Co., Ltd. muJapan. Yayo inofambisa controller yakavakirwa paDSP tekinoroji uye inotora yakavhurika PC-yakavakirwa chimiro.
4. End effector
Iyo yekupedzisira effector inhengo yakabatana kune yekupedzisira joint ye manipulator. Inowanzo shandiswa kubata zvinhu, kubatana nedzimwe nzira uye kuita mabasa anodiwa. Vagadziri vemarobhoti kazhinji havagadziri kana kutengesa magumo ekupedzisira. Muzviitiko zvakawanda, vanongopa chete gripper iri nyore. Kazhinji iyo yekupedzisira effector inoiswa paflange ye6 erobhoti kuti ipedze mabasa munzvimbo yakapihwa, senge welding, pendi, gluing, uye zvikamu kurodha nekuburitsa, ari mabasa anoda kuti marobhoti apedze.
Nguva yekutumira: Jul-18-2024
