Robhoti reindasitiris anoshandiswa zvakanyanya mukugadzirwa kwemaindasitiri, sekugadzira mota, midziyo yemagetsi, chikafu, nezvimwe. Vanogona kutsiva kudzokorora mashandiro emuchina uye michina inovimba nesimba rayo uye masimba ekudzora kuita mabasa akasiyana. Inogona kumira murairo wevanhu uye inogonawo kushanda maererano ne-pre-programmed programs. Iye zvino totaura nezve zvakakosha zvikamu zverobhoti yemaindasitiris.
1.Nyaya
Muchina mukuru ndiwo hwaro hwemuchina uye iyo actuating mechanism, inosanganisira ruoko rukuru, forearm, wrist neruoko, izvo zvinoumba multi-degree-of-freedom mechanical system. Mamwe marobhoti anewo nzira dzekufamba.Robhoti reindasitirisvane 6 madhigirii erusununguko kana kutopfuura. Chanza kazhinji chine 1 kusvika ku3 madhigirii erusununguko rwekufamba.
2. Dhiraivha system
Iyo yekutyaira system yerobhoti yemaindasitirisyakakamurwa muzvikamu zvitatu maererano nemasimba emagetsi: hydraulic, pneumatic uye magetsi. Aya marudzi matatu anogona zvakare kusanganiswa kuita composite drive system zvichienderana nezvinodiwa. Kana kuti inotyairwa zvisina kunanga kuburikidza nemakanika ekufambisa masisitimu akadai semabhandi anowirirana, zvitima zvegiya, uye magiya. Iyo dhiraivha sisitimu ine mudziyo wemagetsi uye dhizaini yekufambisa, iyo inoshandiswa kuita zvinoenderana nezviito zvemuchina. Imwe neimwe yeaya matatu marudzi eiyo basic drive masisitimu ane maitiro ayo. Ikozvino mainstream ndiyo yemagetsi drive system. Nekuda kwekuderera inertia, hombe torque AC uye DC servo motors uye anotsigira servo madhiraivha (AC frequency converters, DC pulse wide modulators) anoshandiswa zvakanyanya. Iyi mhando yehurongwa haidi kutendeuka kwesimba, iri nyore kushandisa, uye ine inonzwisisika control. Mazhinji mota dzinoda yakapfava yekufambisa nzira: inoderedza. Mazino ayo anoshandisa giya rekumhanyisa shanduko kudzikisa huwandu hwekutenderera kutenderera kwemota kune inodiwa nhamba yekutenderera kutenderera uye kuwana yakakura torque mudziyo, nekudaro ichidzikisa kumhanya uye kuwedzera torque. Kana mutoro wacho wakakura, iyo servo mota inowedzerwa neupofu Iyo simba inodhura zvakanyanya, uye inobuda torque inogona kuwedzerwa kuburikidza neinoderedza mukati meyakakodzera kumhanya renji. Servo motors anowanzo kupisa uye yakaderera-frequency vibration kana ichishanda pane yakaderera frequency. Basa renguva refu uye rinodzokororwa harina kukodzera kuve nechokwadi chekushanda kwakarurama uye kwakavimbika. Kuvapo kweiyo chaiyo yekudzikisa mota inobvumira iyo servo mota kuti ishande nekumhanya kwakakodzera, ichisimbisa kuomarara kwemuviri wemuchina uye kuburitsa yakakura torque. Kune maviri makuru anoderedza nhasi: harmonic inoderedza uye RV inoderedza.
3.Control system
Therobhoti control systemihwo huropi hwerobhoti uye chinhu chikuru chinotarisa mabasa nemabasa erobhoti. Iyo yekudzora sisitimu inotumira masaini ekuraira kune yekutyaira system uye execution michina zvinoenderana nechirongwa chekuisa, uye inovadzora. Basa guru rerobhoti yemaindasitiri kudzora tekinoroji ndeyekudzora huwandu hwezviitiko, chimiro uye trajectory, uye nguva yekuitarobhoti yemaindasitiris 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 akakodzera makambani ekunze akavharwa zvakanyanya kune edu kuyedza. Mumakore achangopfuura, nekuvandudzwa kwemakroelectronics tekinoroji, kuita kwe microprocessors kwave kwakakwira nepamusoro, uye mutengo wave wakachipa uye wakachipa. Ikozvino, 32-bit microprocessors inodhura 1-2 US madhora aonekwa pamusika. Mari-inoshanda mamicroprocessors akaunza mikana mitsva yekuvandudza kune vanodzora marobhoti, zvichiita kuti zvikwanise kuvandudza-inodhura, yepamusoro-inoshanda marobhoti controller. Kuti iite kuti sisitimu ive nekombuta yakakwana uye kugona kuchengetedza, vanodzora marobhoti vava kunyanya kuumbwa ane simba ARM akatevedzana, DSP akatevedzana, POWERPC akatevedzana, Intel akatevedzana uye mamwe machipisi. Sezvo mabasa uye mashandiro eiyo aripo general-chinangwa machipisi asingakwanise kuzadzisa zvizere zvinodikanwa zvemamwe marobhoti masisitimu maererano nemutengo, kushanda, kubatanidzwa uye mainterfaces, izvi zvakapa kudiwa kweiyo SoC (System paChip) tekinoroji mumarobhoti masisitimu. Iyo processor inosanganiswa neinodiwa mainterfaces, ayo anogona kurerutsa dhizaini yesystem peripheral circuits, kuderedza saizi yehurongwa, uye kuderedza mutengo. Semuenzaniso, Actel inobatanidza NEOS kana ARM7 processor cores mune yayo FPGA zvigadzirwa kugadzira yakazara SoC system. Panyaya yemarobhoti tekinoroji controllers, kutsvagisa kwayo kwakanyanya kuUnited States neJapan, uye kune zvigadzirwa zvakura, zvakaita seAmerican DELTATAU Company, Japan's Pengli Co., Ltd., nezvimwewo. Mutongi wayo wekufamba anotora tekinoroji yeDSP seyayo. musimboti uye inotora PC-yakavakirwa yakavhurika 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; kazhinji, vanongopa chete gripper iri nyore. Kazhinji iyo yekupedzisira effector inoiswa pa6-axis flange yerobhoti kuti ipedze mabasa munzvimbo yakapihwa, senge welding, kupenda, gluing, uye zvikamu kurodha nekuburitsa, ari mabasa anoda kuti marobhoti apedze.
Mhedziso ye servo motors Servo mutyairi, anozivikanwawo se "servo controller" uye "servo amplifier", mutongi anoshandiswa kudzora servo motors. Basa rayo rakafanana nere frequency converter pane akajairwa AC motors, uye iri chikamu che servo system. Kazhinji, iyo servo mota inodzorwa nenzira nhatu: chinzvimbo, kumhanya uye torque kuti iwane yakakwirira-chaiyo chinzvimbo cheiyo yekufambisa system.
1. Kurongwa kwe servo motors Yakakamurwa kuita mapoka maviri: DC uye AC servo mota.
AC servo motors inopatsanurwa kuita asynchronous servo motors uye synchronous servo mota. Parizvino, masisitimu eAC ari kutsiva DC masisitimu zvishoma nezvishoma. Kuenzaniswa neDC masisitimu, AC servo mota dzine zvakanakira kuvimbika kwepamusoro, kunaka kwekupisa kupisa, nguva diki yeinertia, uye kugona kushanda pasi pekumanikidzwa kwakanyanya. Nekuti hapana mabhurashi uye magiya ekutungamirira, iyo AC servo system zvakare inova brushless servo system, uye mamotor anoshandiswa mairi ndeakeji-mhando asynchronous motors uye anogara magineti synchronous motors ane brushless chimiro. 1) DC servo mota dzakakamurwa kuita brashi uye brushless mota
①Mabhurashi emota ane mutengo wakaderera, chimiro chakareruka, hombe yekutanga torque, yakakura kumhanya siyana, kudzora kuri nyore, inoda gadziriso, asi iri nyore kuchengetedza (tsiva kabhoni mabhurashi), inogadzira kupindira kwemagetsi, ine zvinodiwa panharaunda yekushandisa, uye inowanzo shandiswa kudzora mutengo Sensitive general maindasitiri uye vagari mamiriro;
②Brushless motors idiki muhukuru uye huremu huremu, ine yakakura kubuda uye nekukurumidza kupindura. Vane kumhanya kukuru uye inertia diki, torque yakagadzikana uye kutenderera kwakatsetseka. Kudzora kwakaoma uye kwakangwara. Iyo yemagetsi commutation nzira inochinjika. Inogona kutenderera ne square wave kana sine wave. Iyo mota haina kugadzirisa uye inoshanda. Kuchengetedza magetsi, madiki emagetsi emagetsi, yakaderera tembiricha kukwira uye hupenyu hurefu, inokodzera kwakasiyana nharaunda.
2. Hunhu hwemhando dzakasiyana dze servo motors
1) Zvakanakira uye zvakaipira zveDC servo mota Zvakanakira: chaiyo yekumhanyisa kudzora, yakaoma kwazvo torque uye kumhanya hunhu, nyore kudzora musimboti, nyore kushandisa, uye mutengo wakachipa. Zvakaipa: kuchinjika kwebhurashi, kukurumidza muganho, kuwedzera kuramba, chizvarwa chekupfeka zvimedu (zvisina kukodzera nzvimbo dzisina guruva uye dzinoputika)
2) Zvakanakira uye zvakaipira zve AC servo mota Zvakanakira: yakanaka yekumhanyisa kudzora maitiro, yakatsetseka kudzora mukati mese kumhanya siyana, kunenge kusingaite oscillation, kushanda kwakanyanya kweanopfuura 90%, kushoma kupisa chizvarwa, kukurumidza-kumhanya kudzora, yakakwirira-chaiyo chinzvimbo chekutonga (zvinoenderana nekurongeka kwe encoder), yakatarwa. kushanda nzvimbo Mukati, inogona kuwana nguva dzose torque, yakaderera inertia, yakaderera ruzha, isina kupfeka brashi, uye isina kugadzirisa (yakakodzera nzvimbo isina guruva uye inoputika). Zvakaipa: Kudzora kwacho kwakanyanya kuomarara, maparamita emutyairi anoda kugadziridzwa pa-saiti uye maPID paramita akatemerwa, uye zvimwe zvinongedzo zvinodiwa. Parizvino, mainstream servo madhiraivha anoshandisa dhijitari siginecha processors (DSP) semusimboti wekutonga, iyo inogona kuita yakaomesesa yekudzora algorithms uye kuwana digitization, networking uye hungwaru. Zvishandiso zvemagetsi zvinowanzo shandisa dhiraivha maseketi akagadzirwa ane hungwaru simba modules (IPM) semusimboti. Iyo IPM inobatanidza dhiraivha yedhiraivha uye ine kutadza kuona uye kudzivirira maseketi akadai se overvoltage, overcurrent, overheating, uye undervoltage. Software inowedzerwawo kudunhu guru. Tanga dunhu kuti uderedze maitiro ekutanga maitiro pamutyairi. Iyo magetsi dhiraivha unit inotanga kugadzirisa iyo yekuisa-nhatu-chikamu simba kana mains simba kuburikidza nematatu-chikamu akazara-bhiriji rectifier wedunhu kuti uwane inoenderana yakananga ikozvino. Iyo yakagadziridzwa matatu-chikamu simba kana mains simba rinobva rashandurwa kuita frequency neatatu-chikamu sinusoidal PWM voltage inverter kutyaira matatu-chikamu chisingaperi magineti synchronous AC servo mota. Iyo yese maitiro eiyo magetsi drive unit inogona kungonzi ndeye AC-DC-AC maitiro. Iyo huru yepamusoro-soro redunhu reiyo rectifier unit (AC-DC) idanho retatu-rakazara-bhiriji risingadzoreki rectifier redunhu.
Yakaputika maonero e harmonic reducer Zvakatora Kambani yeJapan Nabtesco makore 6-7 kubva pakukurudzira dhizaini yeRV mukutanga kwema1980 kusvika pakuwana budiriro yakakura muRV inoderedza tsvagiridzo muna 1986; uye Nantong Zhenkang naHengfengtai, avo vaive vekutanga kuburitsa mhedzisiro muChina, vakapedzawo nguva. 6-8 makore. Zvinoreva here kuti makambani edu emuno haana mikana? Nhau dzakanaka ndedzekuti mushure memakore akati wandei ekutumirwa, makambani eChinese akazopedzisira aita mamwe mabudiro.
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Nguva yekutumira: Sep-15-2023
