Loboti ya mafakitales amagwiritsidwa ntchito kwambiri popanga mafakitale, monga kupanga magalimoto, zida zamagetsi, chakudya, ndi zina zotero. Amatha kulowa m'malo mwa ntchito zobwerezabwereza zamakanika ndipo ndi makina omwe amadalira mphamvu zawo ndi mphamvu zawo zowongolera kuti akwaniritse ntchito zosiyanasiyana. Amatha kupirira lamulo la anthu ndipo amathanso kugwira ntchito motsatira mapulogalamu omwe adakonzedweratu. Tsopano tikulankhula za zigawo zazikulu zazikulu zaloboti yamafakitales.
1. Mutu
Makina akuluakulu ndi maziko a makina ndi makina oyendetsera, kuphatikizapo mkono waukulu, mkono, dzanja ndi dzanja, zomwe zimapanga makina odziyimira pawokha. Maloboti ena alinso ndi makina oyendera.Loboti ya mafakitalesChidzanja chimakhala ndi ufulu wa madigiri 6 kapena kuposerapo. Chidzanja nthawi zambiri chimakhala ndi ufulu wa madigiri 1 mpaka 3.
2. Dongosolo loyendetsa
Dongosolo loyendetsera laloboti yamafakitalesimagawidwa m'magulu atatu malinga ndi gwero lamagetsi: hydraulic, pneumatic ndi electric. Mitundu itatu iyi imatha kuphatikizidwanso kukhala makina oyendetsera zinthu osiyanasiyana kutengera zofunikira. Kapena yoyendetsedwa mwanjira ina kudzera mu njira zotumizira zamagetsi monga malamba ogwirizana, sitima zamagiya, ndi magiya. Makina oyendetsera ali ndi chipangizo chamagetsi ndi njira yotumizira, zomwe zimagwiritsidwa ntchito kukhazikitsa zochita zofananira za makinawo. Mtundu uliwonse mwa mitundu itatu iyi ya makina oyendetsera zinthu oyambira uli ndi mawonekedwe akeake. Chofunikira kwambiri pakali pano ndi makina oyendetsera magetsi. Chifukwa cha kuchepa kwa mphamvu, ma mota akuluakulu a AC ndi DC servo ndi ma servo drive awo othandizira (AC frequency converters, DC pulse width modulators) amagwiritsidwa ntchito kwambiri. Mtundu uwu wa makina sufuna kusintha mphamvu, ndi wosavuta kugwiritsa ntchito, ndipo uli ndi mphamvu yowongolera. Ma mota ambiri amafuna njira yochepetsera mphamvu: chochepetsera. Mano ake amagwiritsa ntchito chosinthira liwiro la giya kuti achepetse kuchuluka kwa kuzungulira kwa injini mpaka kuchuluka kofunikira kwa kuzungulira kwa injini ndikupeza chipangizo chachikulu cha torque, motero amachepetsa liwiro ndikuwonjezera torque. Pamene katundu uli waukulu, mota ya servo imawonjezeka mosasamala. Mphamvu yake ndi yotsika mtengo kwambiri, ndipo torque yotulutsa imatha kuwonjezeka kudzera mu chochepetsera mkati mwa liwiro loyenera. Ma mota a Servo amakonda kutentha ndi kugwedezeka kochepa akamagwira ntchito pama frequency otsika. Ntchito yayitali komanso yobwerezabwereza siithandiza kuonetsetsa kuti ntchito yolondola komanso yodalirika ikugwira ntchito. Kukhalapo kwa mota yochepetsera molondola kumalola mota ya servo kugwira ntchito pa liwiro loyenera, kulimbitsa kulimba kwa thupi la makina ndikutulutsa torque yayikulu. Pali zochepetsera ziwiri zazikulu masiku ano: chochepetsera cha harmonic ndi chochepetsera cha RV.
3. Dongosolo lowongolera
Themakina owongolera lobotindi ubongo wa loboti ndipo chinthu chachikulu chomwe chimatsimikizira ntchito ndi ntchito za loboti. Dongosolo lowongolera limatumiza zizindikiro zolamulira ku dongosolo loyendetsera ndi njira yogwirira ntchito malinga ndi pulogalamu yolowera, ndikuziwongolera. Ntchito yayikulu yaloboti yamafakitale ukadaulo wowongolera ndikuwongolera mitundu yonse ya zochita, kaimidwe ka thupi ndi njira yake, komanso nthawi yochitira zinthuloboti yamafakitaleIli ndi mawonekedwe osavuta ogwiritsira ntchito mapulogalamu, menyu ya mapulogalamu, mawonekedwe abwino olumikizirana pakati pa anthu ndi makompyuta, malangizo ogwiritsira ntchito pa intaneti komanso kugwiritsa ntchito mosavuta. Dongosolo lowongolera ndilo maziko a loboti, ndipo makampani akunja oyenerera sakugwirizana ndi zoyeserera zathu. M'zaka zaposachedwa, ndi chitukuko cha ukadaulo wa ma microelectronics, magwiridwe antchito a ma microprocessor akhala okwera kwambiri, ndipo mtengo wakhala wotsika komanso wotsika. Tsopano, ma microprocessor a 32-bit omwe amawononga ndalama zokwana madola 1-2 aku US awonekera pamsika. Ma microprocessor otsika mtengo abweretsa mwayi watsopano wopangira ma robot controller, zomwe zapangitsa kuti zikhale zotheka kupanga ma robot controller otsika mtengo komanso ogwira ntchito kwambiri. Pofuna kuti dongosololi likhale ndi mphamvu zokwanira zowerengera ndi kusungira, ma robot controller tsopano amapangidwa ndi ma ARM series amphamvu, ma DSP series, ma POWERPC series, ma Intel series ndi ma chips ena. Popeza ntchito ndi ntchito za ma chips omwe alipo kale sizingakwaniritse mokwanira zofunikira za makina ena a robot pankhani ya mtengo, magwiridwe antchito, kuphatikiza ndi ma interface, izi zapangitsa kuti pakhale kufunikira kwa ukadaulo wa SoC (System on Chip) m'makina a robot. Purosesayi imalumikizidwa ndi ma interface ofunikira, zomwe zingathandize kupanga ma circuits a system peripheral, kuchepetsa kukula kwa makina, ndikuchepetsa ndalama. Mwachitsanzo, Actel imaphatikiza ma processor cores a NEOS kapena ARM7 muzinthu zake za FPGA kuti apange dongosolo lathunthu la SoC. Ponena za owongolera ukadaulo wa robot, kafukufuku wake makamaka amachitika ku United States ndi Japan, ndipo pali zinthu zokhwima, monga American DELTATAU Company, Japan's Pengli Co., Ltd., ndi zina zotero. Wowongolera kayendedwe kake amatenga ukadaulo wa DSP ngati maziko ake ndikugwiritsa ntchito kapangidwe kotseguka kochokera pa PC. 4. Chothandizira kumapeto Chogwirira ntchito chomaliza ndi gawo lolumikizidwa ku cholumikizira chomaliza cha manipulator. Nthawi zambiri chimagwiritsidwa ntchito kugwira zinthu, kulumikizana ndi makina ena ndikuchita ntchito zofunika. Opanga ma robot nthawi zambiri sapanga kapena kugulitsa zogwirira ntchito zomaliza; nthawi zambiri, amangopereka chogwirira chosavuta. Nthawi zambiri chogwirira ntchito chimayikidwa pa flange ya 6-axis ya loboti kuti amalize ntchito pamalo enaake, monga kuwotcherera, kupaka utoto, glue, ndi kutsitsa zida, 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 chowongolera chomwe chimagwiritsidwa ntchito kuwongolera ma servo motors. Ntchito yake ndi yofanana ndi ya chosinthira ma frequency pa ma AC motors wamba, ndipo ndi gawo la servo system. Kawirikawiri, servo motor imayendetsedwa kudzera m'njira zitatu: malo, liwiro ndi torque kuti ikwaniritse malo olondola kwambiri a transmission system.
1. Gulu la ma servo motors Yagawidwa m'magulu awiri: ma mota a DC ndi AC servo.
Ma mota a servo a AC amagawidwanso m'ma mota a servo osasinthasintha ndi ma mota a servo osasinthasintha. Pakadali pano, makina a AC akusintha pang'onopang'ono makina a DC. Poyerekeza ndi makina a DC, ma mota a servo a AC ali ndi ubwino wodalirika kwambiri, kutentha bwino, kusakhala ndi mphamvu zambiri, komanso kutha kugwira ntchito pansi pa kupanikizika kwakukulu. Chifukwa chakuti palibe maburashi ndi magiya oyendetsera, makina a servo a AC amakhalanso makina a servo opanda maburashi, ndipo ma mota omwe amagwiritsidwa ntchito ndi ma mota a asynchronous amtundu wa cage ndi ma mota okhazikika a maginito okhala ndi kapangidwe kopanda maburashi. 1) Ma mota a DC servo amagawidwa m'ma mota opukutidwa ndi opanda maburashi
①Ma mota opangidwa ndi burashi ali ndi mtengo wotsika, kapangidwe kosavuta, mphamvu yayikulu yoyambira, liwiro lalikulu, kulamulira kosavuta, amafunika kukonza, koma ndi osavuta kusamalira (kusintha maburashi a kaboni), kupanga kusokoneza kwa maginito, ali ndi zofunikira pa malo ogwiritsira ntchito, ndipo nthawi zambiri amagwiritsidwa ntchito powongolera mtengo. Zochitika zamakampani ndi zapagulu zimakhala zovuta;
②Ma mota opanda burashi ndi ang'onoang'ono kukula kwake komanso opepuka kulemera kwake, okhala ndi mphamvu yayikulu komanso yankho mwachangu. Ali ndi liwiro lalikulu komanso kusakhala ndi mphamvu zambiri, mphamvu yokhazikika komanso kuzungulira bwino. Kuwongolera kwake ndi kovuta komanso kwanzeru. Njira yosinthira magetsi yamagetsi ndi yosinthasintha. Imatha kusintha ndi mafunde a sikweya kapena mafunde a sine. Motayo ndi yopanda kukonza komanso yothandiza. Yosunga mphamvu, kuwala kochepa kwamagetsi, kukwera kutentha kochepa komanso kukhala ndi moyo wautali, yoyenera malo osiyanasiyana.
2. Makhalidwe a mitundu yosiyanasiyana ya ma servo motors
1) Ubwino ndi kuipa kwa mota ya DC servo Ubwino: kuwongolera liwiro molondola, mphamvu yolimba kwambiri komanso mawonekedwe a liwiro, mfundo yosavuta yowongolera, yosavuta kugwiritsa ntchito, komanso mtengo wotsika. Zoyipa: kusintha kwa burashi, malire a liwiro, kukana kwina, kupanga tinthu tomwe timawonongeka (sikoyenera malo opanda fumbi komanso ophulika)
2) Ubwino ndi kuipa kwa mota ya AC servo Ubwino: makhalidwe abwino owongolera liwiro, kuwongolera kosalala mu liwiro lonse, pafupifupi palibe kugwedezeka, kugwira ntchito bwino kopitilira 90%, kupanga kutentha kochepa, kuwongolera kuthamanga kwambiri, kuwongolera malo molondola (kutengera kulondola kwa encoder), malo ogwirira ntchito ovoteledwa. Mkati mwake, imatha kukwaniritsa torque yokhazikika, kuchepa kwa inertia, phokoso lochepa, kusavala burashi, komanso kusakonza (koyenera malo opanda fumbi komanso ophulika). Zoyipa: Kuwongolera kumakhala kovuta kwambiri, magawo a dalaivala amafunika kusinthidwa pamalopo ndipo magawo a PID amatsimikiziridwa, ndipo maulumikizidwe ambiri amafunika. Pakadali pano, ma servo drive akuluakulu amagwiritsa ntchito ma digital signal processors (DSP) ngati core control, omwe amatha kugwiritsa ntchito ma algorithms ovuta kwambiri owongolera ndikupeza digitization, networking, ndi luntha. Zipangizo zamagetsi nthawi zambiri zimagwiritsa ntchito ma drive circuits opangidwa ndi ma intelligent power modules (IPM) ngati core. IPM imaphatikiza drive circuit ndipo ili ndi ma circuits ozindikira zolakwika ndi kuteteza monga overvoltage, overcurrent, overheating, ndi undervoltage. Mapulogalamu amawonjezedwanso ku main circuit. Yambitsani circuit kuti muchepetse kukhudzidwa kwa njira yoyambira pa driver. Power drive unit poyamba imakonza mphamvu yamagetsi ya magawo atatu kapena mains kudzera mu three-phase full-bridge rectifier circuit kuti mupeze direct current yofanana. Power ya magawo atatu kapena mains yokonzedwa imasinthidwa kukhala frequency ndi inverter yamagetsi ya sinusoidal PWM ya magawo atatu kuti iyendetse three-phase permanent magnet synchronous AC servo motor. Njira yonse ya power drive unit inganenedwe kuti ndi AC-DC-AC process. Main topological circuit ya rectifier unit (AC-DC) ndi three-phase full-bridge uncontrolled rectifier circuit.
Mawonekedwe ophulika a harmonic reducer Zinatenga zaka 6-7 kuchokera pamene kampani ya Nabtesco yaku Japan inapereka lingaliro la kapangidwe ka RV kumayambiriro kwa zaka za m'ma 1980 mpaka kufika pakupeza chitukuko chachikulu mu kafukufuku wochepetsa ma RV mu 1986; ndipo Nantong Zhenkang ndi Hengfengtai, omwe anali oyamba kupanga zotsatira ku China, nawonso adatenga nthawi. Zaka 6-8. Kodi zikutanthauza kuti mabizinesi athu am'deralo alibe mwayi? Nkhani yabwino ndi yakuti pambuyo pa zaka zingapo zogwiritsidwa ntchito, makampani aku China potsiriza apanga zinthu zina zatsopano.
*Nkhaniyi yatengedwa kuchokera pa intaneti, chonde titumizireni uthenga kuti tichotse kuphwanya malamulo.
Nthawi yotumizira: Sep-15-2023
