Imashini za robozikoreshwa cyane mu nganda, nko gukora imodoka, ibikoresho by'amashanyarazi, n'ibiribwa. Barashobora gusimbuza imashini isubiramo uburyo bwa manipulation akazi kandi ni ubwoko bwimashini yishingikiriza kububasha bwayo nubushobozi bwo kugenzura kugirango igere kubikorwa bitandukanye. Irashobora kwemera itegeko ryabantu kandi irashobora no gukora ukurikije gahunda zateguwe mbere. Noneho reka tuvuge ibice byibanze bya robo yinganda.
1.Umubiri nyamukuru
Umubiri nyamukuru ni imashini ishingiye hamwe na moteri ikora, harimo ukuboko hejuru, ukuboko hepfo, ukuboko n'ukuboko, bikora sisitemu yo mu rwego rwa-bwisanzure. Imashini zimwe na zimwe zifite uburyo bwo kugenda. Imashini zikoresha inganda zifite dogere 6 zubwisanzure cyangwa zirenga, kandi muri rusange intoki ifite dogere 1 kugeza kuri 3 zubwisanzure.
Sisitemu yo gutwara ama robo yinganda igabanijwemo ibyiciro bitatu ukurikije isoko yingufu: hydraulic, pneumatic and amashanyarazi. Ukurikije ibikenewe, ubu bwoko butatu bwa sisitemu yo gutwara nayo irashobora guhuzwa no guhuzwa. Cyangwa irashobora gutwarwa nuburyo butaziguye nuburyo bwo kohereza imashini nkumukandara uhuza, gariyamoshi, na gare. Sisitemu yo gutwara ibinyabiziga ifite ingufu nuburyo bwo kohereza kugirango moteri ikore ibikorwa bijyanye. Izi sisitemu eshatu zibanze zifite imiterere yazo. Inzira nyamukuru ni sisitemu yo gutwara amashanyarazi.
Bitewe no kwemerwa kwinshi kwa inertia nkeya, moteri ndende ya AC na DC servo moteri hamwe nabashoferi babo ba servo (AC inverters, DC pulse ubugari bwa modulator). Ubu bwoko bwa sisitemu ntibusaba guhindura ingufu, biroroshye gukoresha, kandi byoroshye kugenzura. Moteri nyinshi zigomba gushyirwaho hamwe nuburyo bwo kohereza neza inyuma yazo: kugabanya. Amenyo yacyo akoresha umuvuduko wihuta wibikoresho kugirango ugabanye umubare wikizunguruka cya moteri kugeza kumubare wifuzwa wo kuzenguruka, kandi ubone igikoresho kinini cya torque, bityo kugabanya umuvuduko no kongera umuriro. Iyo umutwaro ari munini, ntabwo bisaba amafaranga kongera buhumyi imbaraga za moteri ya servo. Ibisohoka bisohoka birashobora kunozwa nuwagabanije murwego rukwiye. Moteri ya servo ikunda gushyuha no kunyeganyega kwinshi munsi yimikorere mike. Igikorwa kirekire kandi gisubirwamo ntabwo gifasha kwemeza imikorere yacyo neza kandi yizewe. Kubaho moteri igabanya neza ituma moteri ya servo ikora kumuvuduko ukwiye, gushimangira ubukana bwumubiri wimashini, no gusohora umuriro mwinshi. Hano hari ibice bibiri byingenzi bigabanya ubu: kugabanya guhuza no kugabanya RV
Sisitemu yo kugenzura robot nubwonko bwa robo nibintu byingenzi bigena imikorere nimikorere ya robo. Sisitemu yo kugenzura yohereza ibimenyetso byerekana sisitemu ya sisitemu na actuator ukurikije gahunda yinjiza ikabigenzura. Inshingano nyamukuru yubuhanga bwogukora robot yinganda nugukurikirana ibikorwa, imyifatire ninzira, hamwe nigihe cyibikorwa bya robo yinganda mubikorwa. Ifite ibiranga porogaramu yoroshye, imikorere ya software ikora, inshuti ya mudasobwa ikorana na interineti, ibikorwa byo kumurongo byerekana no gukoresha neza.
Sisitemu yo kugenzura niyo shingiro rya robo, kandi amasosiyete yamahanga arafunzwe cyane mubushakashatsi bwabashinwa. Mu myaka yashize, hamwe niterambere ryikoranabuhanga rya micrélectronics, imikorere ya microprocessor yarushijeho kwiyongera, mugihe igiciro cyabaye gito kandi gihendutse. Ubu hariho microprocessor ya 32-bit ya 1-2 US $ kumasoko. Microprocessors ikora neza yazanye amahirwe mashya yiterambere kubagenzuzi ba robo, bituma bishoboka guteza imbere imashini ziciriritse zidahenze, zikora cyane. Kugirango sisitemu igire ubushobozi buhagije bwo kubara no kubika, abagenzuzi ba robo ubu ahanini bigizwe nuruhererekane rukomeye rwa ARM, urukurikirane rwa DSP, urukurikirane rwa POWERPC, urukurikirane rwa Intel nizindi chip.
Kubera ko imikorere rusange ya chip yibikorwa hamwe nibiranga bidashobora kuzuza byuzuye ibisabwa na sisitemu zimwe na zimwe za robo mubijyanye nigiciro, imikorere, kwishyira hamwe hamwe ninteruro, sisitemu ya robo ikeneye tekinoroji ya SoC (Sisitemu kuri Chip). Guhuza intungamubiri yihariye hamwe ninteruro isabwa birashobora koroshya igishushanyo mbonera cya sisitemu ya sisitemu ya sisitemu, kugabanya ingano ya sisitemu, no kugabanya ibiciro. Kurugero, Actel ihuza intungamubiri ya NEOS cyangwa ARM7 kubicuruzwa byayo FPGA kugirango ikore sisitemu yuzuye ya SoC. Ku bijyanye n’abashinzwe ikoranabuhanga rya robo, ubushakashatsi bwayo bwibanze cyane muri Amerika no mu Buyapani, kandi hari ibicuruzwa bikuze, nka DELTATAU muri Amerika na TOMORI Co., Ltd. mu Buyapani. Igenzura ryayo rishingiye ku buhanga bwa DSP kandi rikoresha imiterere ya PC ifunguye.
4. Kurangiza
Impera yanyuma nikintu gihujwe nuheruka wanyuma wa manipulator. Mubisanzwe bikoreshwa mugutahura ibintu, guhuza nubundi buryo no gukora imirimo isabwa. Abakora robot muri rusange ntibashushanya cyangwa kugurisha amaherezo. Mubihe byinshi, batanga gusa gripper yoroshye. Mubisanzwe, amaherezo ya enterineti ashyirwa kumurongo wa axe 6 ya robo kugirango urangize imirimo ahantu runaka, nko gusudira, gushushanya, gufunga, hamwe no gupakira no gupakurura, ibyo bikaba aribikorwa bisaba robot kurangiza.
Igihe cyoherejwe: Nyakanga-18-2024
