Ingalo yerobhothi iwuhlobo oluvame kakhulu lwerobhothi kumarobhothi esimanje ezimboni. Ingakwazi ukulingisa ukunyakaza nokusebenza okuthile kwezandla nezingalo zomuntu, futhi ingabamba, iphathe izinto noma isebenzise amathuluzi athile ngezinhlelo ezingaguquki. Kuyidivayisi esetshenziswa kakhulu ezishintshayo emkhakheni wamarobhothi. Amafomu ayo ahlukile, kodwa wonke anesici esivamile, okungukuthi angamukela imiyalelo futhi athole ngokunembile kunoma iyiphi indawo endaweni enezinhlangothi ezintathu (ezimbili) ukuze enze imisebenzi. Izici zayo ukuthi ingakwazi ukuqeda imisebenzi ehlukahlukene elindelekile ngohlelo, futhi ukwakheka nokusebenza kwayo kuhlanganisa izinzuzo zakho kokubili abantu nemishini eyimishini. Ingangena esikhundleni somsebenzi osindayo womuntu ukuze ibone ukwenziwa kwemishini nokuzenzakalela kokukhiqiza, futhi ingasebenza ezindaweni eziyingozi ukuze kuvikelwe ukuphepha komuntu siqu. Ngakho-ke, isetshenziswa kabanzi ekwenzeni imishini, i-electronics, imboni yokukhanya namandla e-athomu.
1.Izingalo ezijwayelekile zamarobhothi ikakhulukazi zakhiwe izingxenye ezintathu: umzimba omkhulu, indlela yokushayela kanye nesistimu yokulawula.
(I) Isakhiwo sikamakhenikha
1. I-fuselage yengalo yerobhothi iyingxenye eyisisekelo yokwesekwa kwayo yonke idivayisi, ngokuvamile eyenziwe ngezinto zensimbi eziqinile neziqinile. Akumele kuphela ikwazi ukumelana namandla ahlukahlukene kanye nama-torque akhiqizwa ingalo yerobhothi ngesikhathi somsebenzi, kodwa futhi inikeze indawo yokufaka ezinzile kwezinye izingxenye. Idizayini yayo idinga ukucabangela ibhalansi, ukuzinza kanye nokuzivumelanisa nezimo endaweni yokusebenza. 2. Ingalo Ingalo yerobhothi iyingxenye ebalulekile yokufeza izenzo ezihlukahlukene. Iqukethe uchungechunge lwezintambo zokuxhuma namajoyinti. Ngokujikeleza kwamalunga kanye nokunyakaza kwezinduku zokuxhuma, ingalo ingakwazi ukufeza ukunyakaza kwe-multi-degree-of-freedom emkhathini. Amalunga ngokuvamile aqhutshwa ama-motor anembe kakhulu, ama-reducers noma ama-hydraulic drive devices ukuqinisekisa ukunemba kokunyakaza kanye nesivinini sengalo. Ngesikhathi esifanayo, izinto zengalo zidinga ukuba nezici zamandla aphezulu kanye nesisindo esincane ukuze kuhlangatshezwane nezidingo zokunyakaza okusheshayo nokuthwala izinto ezinzima. 3. I-End effecter Lena ingxenye yengalo yerobhothi ethintana ngokuqondile nento esebenzayo, futhi umsebenzi wayo ufana nowesandla somuntu. Kunezinhlobo eziningi zomphumela wokugcina, futhi ezivamile ziyizinto zokubamba, izinkomishi zokumunca, izibhamu zokufafaza, njll. I-gripper ingenziwa ngokwezifiso ngokuhambisana nokuma nobukhulu bento futhi isetshenziselwa ukubamba izinto ezinobunjwa obuhlukahlukene; inkomishi yokumunca isebenzisa isimiso sokucindezela okungalungile ukuze imunce into futhi ifanele izinto ezinezindawo eziyisicaba; isibhamu se-spray singasetshenziselwa ukufafaza, ukushisela neminye imisebenzi.
(II) Isistimu yokushayela
1. Ukushayela imoto Injini ingenye yezindlela zokushayela ezivame ukusetshenziswa engalweni yerobhothi. Ama-DC motors, ama-AC motors kanye nama-stepper motors angasetshenziswa ukushayela ukunyakaza okuhlangene kwengalo yerobhothi. I-motor drive inezinzuzo zokulawula ukunemba okuphezulu, isivinini sokuphendula esisheshayo kanye nobubanzi bokulawula isivinini. Ngokulawula isivinini nesiqondiso semoto, umzila onyakazayo wengalo yerobhothi ungalawuleka ngokunembile. Ngasikhathi sinye, i-motor ingasetshenziswa futhi ngokubambisana nezinciphisi ezihlukahlukene ukuze kwandiswe i-torque ephumayo ukuze ihlangabezane nezidingo zengalo yerobhothi lapho ithwala izinto ezinzima. 2. I-hydraulic drive Idrayivu ye-Hydraulic isetshenziswa kakhulu kwezinye izingalo zamarobhothi ezidinga ukuphuma kwamandla amakhulu. I-hydraulic system icindezela uwoyela we-hydraulic ngepompo ye-hydraulic ukuze ishayele isilinda esisebenza ngehydraulic noma i-hydraulic motor ukuze isebenze, ngaleyo ndlela ibona ukunyakaza kwengalo yerobhothi. Idrayivu ye-hydraulic inezinzuzo zamandla aphezulu, isivinini sokuphendula esisheshayo, nokuthembeka okuphezulu. Ifanele izingalo zamarobhothi ezisindayo kanye nezikhathi ezidinga isenzo esisheshayo. Kodwa-ke, i-hydraulic system nayo inobubi bokuvuza, izindleko eziphezulu zokulungisa, kanye nezidingo eziphezulu zendawo yokusebenza. 3. Idrayivu ye-pneumatic Idrayivu ye-pneumatic isebenzisa umoya ocindezelwe njengomthombo wamandla ukushayela amasilinda namanye ama-actuator ukuze asebenze. I-pneumatic drive inezinzuzo zesakhiwo esilula, izindleko eziphansi, nesivinini esikhulu. Ifanele izikhathi ezithile lapho amandla nokunemba kungadingeki. Kodwa-ke, amandla ohlelo lwe-pneumatic mancane kakhulu, ukunemba kokulawula nakho kuphansi, futhi kudinga ukuhlonyiswa ngomthombo womoya ocindezelwe kanye nezingxenye ze-pneumatic ezihlobene.
(III) Uhlelo lokulawula
1. Isilawuli Isilawuli siwubuchopho bengalo yerobhothi, sinesibopho sokuthola imiyalelo ehlukahlukene kanye nokulawula izenzo zesistimu yokushayela kanye nesakhiwo somshini ngokuya ngemiyalelo. Isilawuli ngokuvamile sisebenzisa i-microprocessor, isilawuli se-programmable logic (PLC) noma i-chip yokulawula ukunyakaza. Ingakwazi ukufinyelela ukulawula okunembile kwendawo, isivinini, ukusheshisa kanye nezinye izinhlaka zengalo yerobhothi, futhi ingacubungula ulwazi olunikezwa izinzwa ezihlukahlukene ukuze kuzuzwe ukulawula kweluphu evaliwe. Isilawuli singahlelwa ngezindlela ezihlukene, okuhlanganisa ukuhlelwa kwezithombe, ukuhlela umbhalo, njll., ukuze abasebenzisi bakwazi ukuhlela nokulungisa iphutha ngokuya ngezidingo ezahlukene. 2. Izinzwa Inzwa iyingxenye ebalulekile yombono wengalo yerobhothi ngendawo yangaphandle kanye nesimo sayo. Inzwa yesikhundla ingakwazi ukuqapha isikhundla sejoyinti ngalinye lengalo yerobhothi ngesikhathi sangempela ukuze kuqinisekiswe ukunemba kokunyakaza kwengalo yerobhothi; inzwa yamandla ingakwazi ukubona amandla engalo yerobhothi lapho ibamba into ukuvimbela into ukuthi ingasheleli noma yonakaliswe; inzwa ebonakalayo ingabona futhi ithole into esebenzayo futhi ithuthukise izinga lobuhlakani bengalo yerobhothi. Ngaphezu kwalokho, kunezinzwa zokushisa, izinzwa zokucindezela, njll, ezisetshenziselwa ukuqapha isimo sokusebenza kanye nemingcele yemvelo yengalo yerobhothi.
2.Ukuhlukaniswa kwengalo yerobhothi kuvame ukuhlukaniswa ngokwesakhiwo, imodi yokushayela, kanye nenkundla yokufaka isicelo.
(I) Ukuhlelwa ngokwesakhiwo
1. Ingalo yerobhothi ye-Cartesian coordinate Ingalo yale ingalo yerobhothi ihamba eduze kwama-ax amathathu axhumanisayo wesistimu yokuxhumanisa engunxande, okuyizimbazo ezingu-X, Y, kanye no-Z. Inezinzuzo zesakhiwo esilula, ukulawula okulula, ukunemba kokuma okuphezulu, njll., futhi ifanele ukuphatha imisebenzi ethile elula, ukuhlanganisa kanye nokucubungula. Kodwa-ke, indawo yokusebenza yengalo yerobhothi ehlanganisa unxande incane uma kuqhathaniswa futhi nokuvumelana nezimo kubi.
2. Ingalo yerobhothi ye-cylindrical coordinate Ingalo yerobhothi eyicylindrical coordinate iqukethe ilunga elijikelezayo namajoyinti alayini amabili, futhi isikhala salo sokunyakaza siyisilinda. Inezinzuzo zesakhiwo esihlangene, ububanzi bokusebenza obukhulu, ukunyakaza okuguquguqukayo, njll., futhi ilungele eminye imisebenzi eyinkimbinkimbi ephakathi. Kodwa-ke, ukunemba kokuma kwengalo yerobhothi ye-cylindrical coordinate iphansi kakhulu, futhi ubunzima bokulawula buphezulu uma kuqhathaniswa.
3. Ingalo yerobhothi edidiyelwe eyindilinga Ingalo yerobhothi eliyisiyingi lihlanganisa amalunga amabili ajikelezayo kanye nelunga elilodwa elingumugqa, futhi isikhala salo sokunyakaza siyindilinga. Inezinzuzo zokuhamba okuguquguqukayo, ububanzi bokusebenza obukhulu, kanye nekhono lokuzivumelanisa nezimo zokusebenza eziyinkimbinkimbi. Ifanele imisebenzi ethile edinga ukunemba okuphezulu nokuvumelana nezimo okuphezulu. Kodwa-ke, ukwakheka kwengalo yerobhothi eyindilinga iyinkimbinkimbi, ubunzima bokulawula bukhulu, futhi izindleko nazo ziphezulu.
4. Ingalo yerobhothi egqamile Ingalo yerobhothi ephinyisiwe ilingisa ukwakheka kwengalo yomuntu, iqukethe amalunga amaningi ajikelezayo, futhi ingakwazi ukufeza ukunyakaza okuhlukahlukene okufana nengalo yomuntu. Inezinzuzo zokuhamba okuguquguqukayo, ububanzi bokusebenza obukhulu, kanye nekhono lokuzivumelanisa nezimo zokusebenza eziyinkimbinkimbi. Njengamanje iwuhlobo olusetshenziswa kakhulu lwengalo yerobhothi.
Kodwa-ke, ukulawula izingalo zerobhothi ezishiwoyo kunzima futhi kudinga ubuchwepheshe obuphezulu bokuhlela nokulungisa amaphutha.
(II) Ukuhlukaniswa ngemodi yokushayela
1. Izikhali zamarobhothi zikagesi Izingalo zamarobhothi kagesi zisebenzisa izinjini njengamadivayisi okushayela, anezinzuzo zokulawula ukunemba okuphezulu, isivinini sokuphendula esisheshayo, nomsindo ophansi. Ifanele izikhathi ezithile ezinezidingo eziphezulu zokunemba nesivinini, njengokukhiqiza ngogesi, okokusebenza kwezokwelapha nezinye izimboni. 2. Izikhali zamarobhothi ezisetshenziswa yi-hydraulic robotic arms zisebenzisa ama-hydraulic drive devices, anezinzuzo zamandla aphezulu, ukwethembeka okuphezulu, nokuvumelana nezimo okuqinile. Ifanele izingalo ezithile ezisindayo zerobhothi nezikhathi ezidinga ukuphuma kwamandla amakhulu, njengokwakha, izimayini nezinye izimboni. 3. Izingalo zerobhothi zomoya Izikhali zerobhothi zomoya zisebenzisa amadivaysi okushayela umoya, anezinzuzo zesakhiwo esilula, izindleko eziphansi, kanye nesivinini esikhulu. Ilungele ezinye izikhathi ezingadingi amandla aphezulu nokunemba, njengokupakisha, ukuphrinta nezinye izimboni.
(III) Ukuhlelwa ngokwenkambu yesicelo
1. Izikhali zamarobhothi zezimboni Izingalo zamarobhothi zezimboni zisetshenziswa kakhulu emikhakheni yokukhiqiza yezimboni, njengokukhiqiza izimoto, ukukhiqizwa kwemikhiqizo ye-elekthronikhi, kanye nokucutshungulwa kwemishini. Ingabona ukukhiqizwa okuzenzakalelayo, ithuthukise ukusebenza kahle kokukhiqiza kanye nekhwalithi yomkhiqizo. 2. Ingalo yerobhothi yesevisi Ingalo yerobhothi yesevisi isetshenziswa kakhulu ezimbonini zesevisi, ezifana nezokwelapha, ezokudla, izinsiza zasekhaya, njll. Ingahlinzeka abantu ngezinsizakalo ezihlukahlukene, njengobuhlengikazi, ukulethwa kokudla, ukuhlanza, njll. 3. Ingalo ekhethekile yerobhothi Ingalo yerobhothi ekhethekile isetshenziswa kakhulu emikhakheni ethile ekhethekile, efana ne-aerospace, ezempi, i-deep-sea ukuhlola, njll. Idinga ukuba nezimfuneko ezikhethekile zokusebenza kwendawo yokusebenza, njll.
Izinguquko ezilethwa izingalo zamarobhothi emkhiqizweni wokukhiqiza izimboni azigcini nje ngokuzenzakalelayo nokusebenza kahle, kodwa futhi imodeli yokuphatha yesimanje ehambisana nayo iziguqule kakhulu izindlela zokukhiqiza kanye nokuncintisana kwemakethe kwamabhizinisi. Ukusetshenziswa kwezingalo zamarobhothi kuyithuba elihle lokuthi amabhizinisi alungise ukwakheka kwawo kwezimboni futhi athuthukise futhi aguqule.
Isikhathi sokuthumela: Sep-24-2024
