Ukuboko kwa robo nubwoko busanzwe bwa robo muri robot zigezweho. Irashobora kwigana ibikorwa bimwe na bimwe byamaboko nintoki byabantu, kandi irashobora gufata, gutwara ibintu cyangwa gukoresha ibikoresho byihariye binyuze muri gahunda zihamye. Nibikoresho bikoreshwa cyane muri automatike mubijyanye na robo. Imiterere yabyo iratandukanye, ariko byose bifite ibintu bihuriweho, aribyo ko bashobora kwemera amabwiriza kandi bakamenya neza aho ariho hose mumwanya wa gatatu (ibiri-dimanse) kugirango bakore ibikorwa. Ibiranga ni uko ishobora kurangiza ibikorwa bitandukanye byateganijwe binyuze muri porogaramu, kandi imiterere n'imikorere byayo bihuza ibyiza byabantu ndetse nimashini zikoresha imashini. Irashobora gusimbuza imirimo iremereye yabantu kugirango imenye imashini nogukoresha umusaruro, kandi irashobora gukorera ahantu habi kugirango irinde umutekano wumuntu. Kubwibyo, ikoreshwa cyane mubikorwa byo gukora imashini, ibikoresho bya elegitoroniki, inganda zoroheje ningufu za atome.
1.Intwaro za robo zisanzwe zigizwe ahanini nibice bitatu: umubiri nyamukuru, uburyo bwo gutwara hamwe na sisitemu yo kugenzura
(I) Imiterere ya mashini
1. Fuselage yukuboko kwa robo nigice cyibanze cyigikoresho cyibikoresho byose, mubisanzwe bikozwe mubikoresho bikomeye kandi biramba. Ntigomba gusa kuba ishobora guhangana nimbaraga zitandukanye hamwe na torque zakozwe nimbaraga za robo mugihe cyakazi, ariko kandi zitange umwanya uhamye wo gushiraho ibindi bice. Igishushanyo cyacyo gikeneye kuzirikana kuringaniza, gutuza no guhuza n'imikorere. 2. Ukuboko Ukuboko kwa robo nigice cyingenzi kugirango tugere kubikorwa bitandukanye. Igizwe nuruhererekane rwo guhuza inkoni hamwe. Binyuze mu kuzenguruka kw'ingingo no kugenda kw'inkoni zihuza, ukuboko gushobora kugera ku ntera-nyinshi-y’ubwisanzure mu kirere. Ubusanzwe ingingo ziyobowe na moteri ihanitse cyane, kugabanya cyangwa ibikoresho bya hydraulic kugirango bigende neza kandi byihuta byukuboko. Muri icyo gihe, ibikoresho byamaboko bigomba kugira ibiranga imbaraga nyinshi nuburemere bworoshye kugirango bikemuke byihuse kandi bitware ibintu biremereye. 3. Impera yanyuma Iki nigice cyamaboko ya robo ihuza neza nakazi kakazi, kandi imikorere yacyo isa niy'ukuboko kwabantu. Hariho ubwoko bwinshi bwimikorere yanyuma, kandi ibisanzwe ni grippers, ibikombe byo guswera, imbunda za spray, nibindi. Gripper irashobora guhindurwa ukurikije imiterere nubunini bwikintu kandi ikoreshwa mugufata ibintu byuburyo butandukanye; igikombe cyokunywa gikoresha ihame ryumuvuduko mubi kugirango ukuremo ikintu kandi gikwiranye nibintu bifite ubuso bunini; imbunda ya spray irashobora gukoreshwa mugutera, gusudira nibindi bikorwa.
(II) Sisitemu yo gutwara
1. Ikinyabiziga gifite moteri Moteri nimwe muburyo bukoreshwa cyane mumashanyarazi mumaboko ya robo. Moteri ya DC, moteri ya AC na moteri yintambwe irashobora gukoreshwa mugutwara urujya n'uruza rwamaboko ya robo. Ikinyabiziga gifite moteri gifite ibyiza byo kugenzura neza, kwihuta kwihuta no kugenzura umuvuduko mugari. Mugenzura umuvuduko nicyerekezo cya moteri, inzira yimikorere yukuboko kwa robo irashobora kugenzurwa neza. Muri icyo gihe, moteri irashobora kandi gukoreshwa ifatanije nigabanuka ryinshi kugirango yongere umuriro usohoka kugirango uhuze ibyifuzo byamaboko ya robo mugihe utwaye ibintu biremereye. 2. Drive ya Hydraulic Drive Hydraulic ikoreshwa cyane mumaboko amwe ya robo asaba ingufu nini. Sisitemu ya hydraulic ihatira amavuta ya hydraulic ikoresheje pompe hydraulic kugirango itware silindiri ya hydraulic cyangwa moteri ya hydraulic ikora, bityo ikamenya kugenda kwamaboko ya robo. Disiki ya Hydraulic ifite ibyiza byimbaraga nyinshi, umuvuduko wihuse, hamwe no kwizerwa cyane. Irakwiriye kubikoresho bimwe bya robo biremereye nibihe bisaba ibikorwa byihuse. Nyamara, sisitemu ya hydraulic nayo ifite ibibi byo kumeneka, amafaranga menshi yo kubungabunga, hamwe nibisabwa cyane kubikorwa bikora. 3. Pneumatike Drive Pneumatic ikoresha umwuka ucometse nkisoko yingufu zo gutwara silinderi nizindi moteri zikora. Pneumatike ifite ibyiza byuburyo bworoshye, igiciro gito, n'umuvuduko mwinshi. Birakwiriye mubihe bimwe na bimwe aho imbaraga nibisobanuro bidasabwa. Nyamara, imbaraga za sisitemu ya pneumatike ni ntoya, kugenzura neza nabyo ni bike, kandi bigomba kuba bifite ibikoresho byumuyaga uhumanye hamwe nibice bifitanye isano na pneumatike.
(III) Sisitemu yo kugenzura
1. Ubusanzwe umugenzuzi akoresha microprocessor, porogaramu ishobora gukoreshwa (PLC) cyangwa chip yabugenewe. Irashobora kugera kugenzura neza imyanya, umuvuduko, kwihuta nibindi bipimo byamaboko ya robo, kandi irashobora kandi gutunganya amakuru yatanzwe ninyuma zitandukanye kugirango igere kumugenzuzi. Igenzura rishobora gutegurwa muburyo butandukanye, harimo gushushanya ibishushanyo mbonera, kwandika inyandiko, nibindi, kugirango abakoresha bashobore gukora programu no gukemura bakurikije ibikenewe bitandukanye. 2. Imyanya yimyanya irashobora gukurikirana umwanya wa buri rugingo rwamaboko ya robo mugihe nyacyo kugirango hamenyekane neza uko ikiganza cya robo kigenda neza; imbaraga za sensor zirashobora kumenya imbaraga zamaboko ya robo mugihe ufashe ikintu kugirango wirinde ikintu kunyerera cyangwa kwangirika; sensor igaragara irashobora kumenya no kumenya ikintu gikora no kuzamura urwego rwubwenge bwamaboko ya robo. Mubyongeyeho, hari ibyuma byerekana ubushyuhe, ibyuma byerekana ingufu, nibindi, bikoreshwa mugukurikirana imikorere yimiterere nibidukikije byamaboko ya robo.
2.Icyiciro cyamaboko ya robo muri rusange ashyirwa muburyo ukurikije imiterere, uburyo bwo gutwara, hamwe numwanya wo gusaba
(I) Gutondekanya muburyo bw'imiterere
1. Ifite ibyiza byuburyo bworoshye, kugenzura byoroshye, guhagarara neza neza, nibindi, kandi birakwiriye kubikorwa byoroshye, guteranya no gutunganya imirimo. Ariko, umwanya wakazi wurukiramende rwimikorere ya robot ukuboko ni ntoya kandi guhinduka ni bibi.
. Ifite ibyiza byuburyo bworoshye, urwego runini rwakazi, kugenda byoroshye, nibindi, kandi birakwiriye kubikorwa bimwe na bimwe bigoye. Nyamara, umwanya uhagaze neza wa silindrike ya coorde ya robot ukuboko ni muke, kandi ingorane zo kugenzura ni ndende.
3. Ukuboko kwimashini ya robo ya shobuja Ukuboko kwamaboko ya robot ya spherical coordinate robot igizwe ningingo ebyiri zizunguruka hamwe numurongo umwe, kandi umwanya wacyo ni spherical. Ifite ibyiza byo kugenda byoroshye, urwego runini rwakazi, nubushobozi bwo guhuza nibikorwa bigoye. Birakwiriye kubikorwa bimwe bisaba ibisobanuro bihanitse kandi byoroshye. Nyamara, imiterere ya spherical coordinate robot ukuboko iragoye, kugenzura ingorane nini, kandi ikiguzi nacyo kiri hejuru.
4. Ifite ibyiza byo kugenda byoroshye, urwego runini rwakazi, nubushobozi bwo guhuza nibikorwa bigoye. Ubu ni ubwoko bukoreshwa cyane bwamaboko ya robo.
Nyamara, kugenzura intwaro za robo zivuga biragoye kandi bisaba porogaramu yo hejuru hamwe na tekinoroji yo gukemura.
(II) Gutondekanya muburyo bwo gutwara
1. Irakwiriye mubihe bimwe na bimwe bisabwa cyane kugirango bisobanuke neza kandi byihuse, nkibikoresho bya elegitoroniki, ibikoresho byubuvuzi nizindi nganda. 2. Irakwiriye intwaro za robo ziremereye hamwe nibihe bisaba ingufu nyinshi, nk'ubwubatsi, ubucukuzi bw'amabuye y'agaciro n'izindi nganda. 3. Amaboko ya robine ya pneumatike Intwaro za robine zikoresha pneumatike zikoresha ibikoresho bya pneumatike, bifite ibyiza byuburyo bworoshye, bidahenze, n'umuvuduko mwinshi. Irakwiriye mubihe bimwe na bimwe bidasaba imbaraga nini nukuri, nko gupakira, gucapa nizindi nganda.
(III) Gutondekanya kubisabwa
1. Irashobora kumenya umusaruro wikora, kuzamura umusaruro nubuziranenge bwibicuruzwa. .
Impinduka intwaro za robo zizana mu nganda zikora inganda ntabwo ari ugukora gusa no gukora neza ibikorwa, ahubwo nuburyo bujyanye nubuyobozi bugezweho bwahinduye cyane uburyo bwo kubyaza umusaruro no guhangana kumasoko yibigo. Gukoresha intwaro za robo ni amahirwe meza kubigo byo guhindura imiterere yinganda no kuzamura no guhindura.
Igihe cyo kohereza: Nzeri-24-2024
