Robot ya mafakitales amagwiritsidwa ntchito kwambiri popanga mafakitale, monga kupanga magalimoto, zipangizo zamagetsi, chakudya, ndi zina zotero. Angathe m'malo mwa makina obwerezabwereza ndipo ndi makina omwe amadalira mphamvu zawo ndi mphamvu zawo kuti akwaniritse ntchito zosiyanasiyana. Ikhoza kupirira kulamulidwa ndi anthu ndipo imathanso kugwira ntchito molingana ndi mapulogalamu omwe adakonzedweratu. Tsopano ife kulankhula za zikuluzikulu zigawo zikuluzikulu zarobot ya mafakitales.
1. Mutu
Makina akulu ndi makina oyambira ndi makina ogwiritsira ntchito, kuphatikiza mkono waukulu, mkono, mkono ndi dzanja, zomwe zimapanga makina amitundu yambiri yaufulu. Maloboti ena alinso ndi njira zoyendera.Robot ya mafakitaleskukhala ndi madigiri 6 a ufulu kapena kupitilira apo. Dzanja nthawi zambiri limakhala ndi 1 mpaka 3 madigiri a ufulu woyenda.
2. Kuyendetsa galimoto
Dongosolo loyendetsa larobot ya mafakitalesamagawidwa m'magulu atatu malinga ndi mphamvu: hydraulic, pneumatic ndi magetsi. Mitundu itatu iyi imathanso kuphatikizidwa kukhala makina opangira makina opangira zinthu malinga ndi zofunikira. Kapena kuyendetsedwa mosalunjika kudzera pamakina otumizirana makina monga malamba olumikizana, masitima apamtunda, ndi magiya. Dongosolo loyendetsa lili ndi chipangizo chamagetsi ndi njira yotumizira, yomwe imagwiritsidwa ntchito pokwaniritsa zomwe zimayenderana ndi makinawo. Iliyonse mwa mitundu itatu iyi ya machitidwe oyambira amagalimoto ali ndi mawonekedwe ake. Zomwe zilipo panopa ndi makina oyendetsa magetsi. Chifukwa cha kutsika kwamphamvu, ma torque akuluakulu a AC ndi DC servo motors ndi ma servo drives awo (otembenuza ma frequency a AC, DC pulse wide modulators) amagwiritsidwa ntchito kwambiri. Dongosolo lamtunduwu silifuna kutembenuka kwamphamvu, ndi losavuta kugwiritsa ntchito, komanso lili ndi mphamvu zowongolera. Ma motors ambiri amafunikira njira yosavuta yotumizira: chochepetsera. Mano ake amagwiritsa ntchito chosinthira liwiro la giya kuti achepetse kuchuluka kwa mozungulira mozungulira mpaka pamlingo wofunikira wozungulira mozungulira ndikupeza chipangizo chokulirapo, potero kuchepetsa liwiro ndikuwonjezera torque. Katunduyo ali wamkulu, servo motor imachulukitsidwa mwakhungu Mphamvu ndiyotsika mtengo kwambiri, ndipo torque yotulutsa imatha kuonjezeredwa kudzera mu chochepetsera mkati mwa liwiro loyenera. Ma Servo motors amatha kutentha komanso kugwedezeka kwapang'onopang'ono akamagwira ntchito pama frequency otsika. Kugwira ntchito kwa nthawi yayitali komanso kubwerezabwereza sikungathandize kuonetsetsa kuti ntchito yolondola komanso yodalirika ikugwira ntchito. Kukhalapo kwa injini yochepetsera yolondola kumapangitsa kuti servo mota izigwira ntchito pa liwiro loyenera, kulimbitsa kulimba kwa thupi la makina ndikutulutsa torque yayikulu. Pali ochepetsera awiri masiku ano: harmonic reducer ndi RV reducer.
3.Control dongosolo
Therobot control systemndi ubongo wa robot ndi chinthu chachikulu chomwe chimatsimikizira ntchito ndi ntchito za robot. Dongosolo lowongolera limatumiza zidziwitso zamalamulo kumayendedwe oyendetsa ndi makina ochitira molingana ndi pulogalamu yolowera, ndikuwongolera. Ntchito yaikulu yarobot ya mafakitale ukadaulo wowongolera ndikuwongolera kuchuluka kwa zochitika, kaimidwe ndi njira, ndi nthawi yochitapo kanthurobot ya mafakitales m'malo antchito. Ili ndi mawonekedwe a mapulogalamu osavuta, kugwiritsa ntchito menyu yamapulogalamu, mawonekedwe ochezera a anthu ndi makompyuta, kuwongolera kwapaintaneti komanso kugwiritsa ntchito bwino. Dongosolo loyang'anira ndiye maziko a loboti, ndipo makampani oyenerera akunja ndi otseka kwambiri pazoyeserera zathu. M'zaka zaposachedwapa, ndi chitukuko cha teknoloji ya microelectronics, ntchito ya microprocessors yakhala yokwera kwambiri, ndipo mtengo wakhala wotsika mtengo komanso wotsika mtengo. Tsopano, ma 32-bit microprocessors okwera madola 1-2 aku US awonekera pamsika. Ma microprocessors otsika mtengo abweretsa mwayi watsopano wachitukuko kwa owongolera ma robot, zomwe zimapangitsa kuti pakhale owongolera otsika mtengo, ochita bwino kwambiri. Pofuna kuti makinawa akhale ndi mphamvu zokwanira zamakompyuta ndi zosungira, olamulira a robot tsopano amapangidwa ndi magulu amphamvu a ARM, mndandanda wa DSP, mndandanda wa POWERPC, mndandanda wa Intel ndi tchipisi zina. Popeza ntchito ndi ntchito za tchipisi zomwe zilipo kale sizingakwaniritse zofunikira zamakina ena amaloboti potengera mtengo, magwiridwe antchito, kuphatikiza ndi kulumikizana, izi zapangitsa kuti pakhale kufunikira kwaukadaulo wa SoC (System on Chip) pamakina a robot. Purosesa imaphatikizidwa ndi ma interfaces ofunikira, omwe amatha kupangitsa kuti ma circulation apangidwe mosavuta, kuchepetsa kukula kwa dongosolo, komanso kuchepetsa ndalama. Mwachitsanzo, Actel imaphatikiza ma processor a NEOS kapena ARM7 muzinthu zake za FPGA kuti apange dongosolo lathunthu la SoC. Pankhani ya olamulira luso la robot, kafukufuku wake amakhazikika ku United States ndi Japan, ndipo pali zinthu zokhwima, monga American DELTATAU Company, Japan's Pengli Co., Ltd., ndi zina zotero. pachimake ndikutengera mawonekedwe otseguka a PC. 4. Mapeto zotsatira Chotsatira chomaliza ndi chigawo cholumikizidwa ndi cholumikizira chomaliza cha manipulator. Nthawi zambiri amagwiritsidwa ntchito kugwira zinthu, kulumikizana ndi njira zina ndikuchita ntchito zofunika. Opanga maloboti nthawi zambiri sapanga kapena kugulitsa zida zomaliza; nthawi zambiri, amangopereka chogwirizira chosavuta. Kawirikawiri mapeto omaliza amaikidwa pa 6-axis flange ya robot kuti amalize ntchito pamalo omwe apatsidwa, monga kuwotcherera, kujambula, gluing, ndi kutsitsa ndi kutulutsa magawo, zomwe ndi ntchito zomwe zimafuna kuti ma robot amalize.
Chidule cha ma servo motors Dalaivala wa Servo, yemwe amadziwikanso kuti "servo controller" ndi "servo amplifier", ndi wowongolera omwe amagwiritsidwa ntchito kuwongolera ma servo motors. Ntchito yake ndi yofanana ndi yosinthira pafupipafupi pama motors wamba a AC, ndipo ndi gawo la servo system. Nthawi zambiri, injini ya servo imayendetsedwa kudzera m'njira zitatu: malo, liwiro ndi torque kuti ikwaniritse bwino kwambiri makina opatsirana.
1. Gulu la ma servo motors Imagawidwa m'magulu awiri: DC ndi AC servo motors.
Ma AC servo motors amagawidwanso kukhala ma asynchronous servo motors ndi synchronous servo motors. Pakalipano, machitidwe a AC akusintha pang'onopang'ono machitidwe a DC. Poyerekeza ndi machitidwe a DC, ma AC servo motors ali ndi ubwino wodalirika kwambiri, kutentha kwabwino, kamphindi kakang'ono ka inertia, komanso kutha kugwira ntchito mopanikizika kwambiri. Chifukwa palibe maburashi ndi magiya owongolera, makina a AC servo amakhalanso ma brushless servo system, ndipo ma motors omwe amagwiritsidwa ntchito mmenemo ndi ma asynchronous motors amtundu wa khola ndi maginito okhazikika a synchronous motors okhala ndi brushless. 1) DC servo motors amagawidwa kukhala ma brushless motors ndi brushless motors
①Ma motors opukutidwa ali ndi mtengo wotsika, mawonekedwe osavuta, torque yayikulu, liwiro lalikulu, kuwongolera kosavuta, kumafuna kukonza, koma ndikosavuta kukonza (kusintha maburashi a kaboni), kumapangitsa kusokoneza kwamagetsi, kumakhala ndi zofunikira pakugwiritsa ntchito, ndipo nthawi zambiri amagwiritsidwa ntchito Kuwongolera mtengo Kuvuta kwazinthu zamakampani ndi zachikhalidwe;
②Ma motors opanda maburashi ndi ang'onoang'ono kukula kwake komanso kulemera kwake, okhala ndi zotulutsa zazikulu komanso kuyankha mwachangu. Amakhala ndi liwiro lalikulu komanso inertia yaying'ono, torque yokhazikika komanso kuzungulira kosalala. Kuwongolera ndizovuta komanso zanzeru. Njira yosinthira pakompyuta ndi yosinthika. Itha kusinthasintha ndi square wave kapena sine wave. Galimoto ndiyopanda kukonza komanso yothandiza. Kupulumutsa mphamvu, ma radiation ang'onoang'ono amagetsi, kutentha pang'ono komanso moyo wautali, oyenera madera osiyanasiyana.
2. Makhalidwe a mitundu yosiyanasiyana ya ma servo motors
1) Ubwino ndi kuipa kwa DC servo motor Ubwino: kuwongolera liwiro lolondola, torque yolimba kwambiri komanso mawonekedwe othamanga, mfundo yosavuta yowongolera, yosavuta kugwiritsa ntchito, komanso mtengo wotsika mtengo. Zoyipa: kusintha kwa maburashi, malire othamanga, kukana kwina, kutulutsa tinthu tating'onoting'ono (zosayenera malo opanda fumbi komanso ophulika)
2) Ubwino ndi kuipa kwa AC servo mota Ubwino: mawonekedwe abwino owongolera liwiro, kuwongolera kosalala pa liwiro lonselo, pafupifupi osasunthika, kugwiritsa ntchito bwino kwambiri kuposa 90%, kutulutsa kutentha pang'ono, kuthamanga kwambiri, kuwongolera mwatsatanetsatane malo (kutengera kulondola kwa encoder), ovotera. Malo ogwirira ntchito M'kati mwake, imatha kukwaniritsa torque nthawi zonse, kutsika pang'ono, phokoso lochepa, osavala maburashi, komanso osasamalira (oyenera malo opanda fumbi komanso malo ophulika). Zoyipa: Kuwongolera kumakhala kovuta kwambiri, magawo oyendetsa amayenera kusinthidwa pamalowo ndipo magawo a PID amatsimikiziridwa, ndipo maulumikizidwe ambiri amafunikira. Pakadali pano, ma servo drives ambiri amagwiritsa ntchito digito ma sign processors (DSP) ngati maziko owongolera, omwe amatha kugwiritsa ntchito njira zowongolera zovuta ndikukwaniritsa ma digito, ma network ndi luntha. Zipangizo zamagetsi nthawi zambiri zimagwiritsa ntchito mabwalo oyendetsa opangidwa ndi ma module anzeru (IPM) ngati maziko. IPM imaphatikiza mayendedwe oyendetsa ndipo imakhala ndi zowongolera zolakwika komanso zoteteza monga kuchulukirachulukira, kupitilira apo, kutenthedwa, komanso kuperewera. Mapulogalamu amawonjezeredwa ku dera lalikulu. Yambani kuzungulira kuti muchepetse zotsatira za njira yoyambira pa dalaivala. Gawo loyendetsa magetsi limakonza kaye zolowetsa za magawo atatu kapena mphamvu ya mains kudzera pagawo la magawo atatu a full-bridge rectifier kuti apezeko komweko. Mphamvu yokonzedwa ya magawo atatu kapena mphamvu ya mains ndiye imasinthidwa kukhala ma frequency ndi inverter yamagetsi ya sinusoidal PWM yoyendetsa magawo atatu okhazikika maginito synchronous AC servo motor. Njira yonse ya gawo loyendetsa mphamvu imatha kunenedwa kuti ndi njira ya AC-DC-AC. Dera lalikulu la topological la rectifier unit (AC-DC) ndi gawo la magawo atatu lathunthu la mlatho wosalamulirika.
Kuphulika kwa mawonekedwe a harmonic reducer Zinatengera Kampani yaku Japan ya Nabtesco zaka 6-7 kuti ipereke lingaliro la kapangidwe ka RV koyambirira kwa 1980s kuti ikwaniritse bwino kwambiri kafukufuku wochepetsera RV mu 1986; ndi Nantong Zhenkang ndi Hengfengtai, omwe anali oyamba kutulutsa zotsatira ku China, adakhalanso nthawi. 6-8 zaka. Kodi zikutanthauza kuti mabizinesi athu akumaloko alibe mwayi? Nkhani yabwino ndiyakuti patatha zaka zingapo zotumizidwa, makampani aku China achita bwino.
*Nkhaniyi yapangidwanso kuchokera pa intaneti, chonde titumizireni kuti zolakwazo zichotsedwe.
Nthawi yotumiza: Sep-15-2023
