Amarobhothi ezimbonizisetshenziswa kakhulu ekukhiqizeni izimboni, njengokukhiqiza izimoto, izinto zikagesi, nokudla. Zingangena esikhundleni somsebenzi wokukhohlisa wesitayela somshini ophindaphindayo futhi ziwuhlobo lomshini othembele emandleni awo namandla okulawula ukufeza imisebenzi eyahlukahlukene. Ingamukela umyalo womuntu futhi ingasebenza ngokwezinhlelo ezihlelwe kusengaphambili. Manje ake sikhulume ngezingxenye eziyisisekelo zamarobhothi ezimboni.
1.Umzimba oyinhloko
Umzimba oyinhloko isisekelo somshini kanye ne-actuator, okuhlanganisa ingalo engaphezulu, ingalo engezansi, isihlakala nesandla, okwakha isistimu yemishini ye-multi-degree-of-freedom. Amanye amarobhothi nawo anendlela yokuhamba. Amarobhothi ezimboni anamadigri enkululeko angu-6 noma ngaphezulu, futhi isihlakala ngokuvamile sinenkululeko engu-1 kuya ku-3.
Uhlelo lokushayela lwamarobhothi ezimboni luhlukaniswe izigaba ezintathu ngokuya komthombo wamandla: i-hydraulic, i-pneumatic kanye nekagesi. Ngokwezidingo, lezi zinhlobo ezintathu zezinhlelo zokushayela zingabuye zihlanganiswe futhi zihlanganiswe. Noma ingashayelwa ngokungaqondile izindlela zokuhambisa ngomshini njengamabhande ahambisanayo, izitimela zamagiya, namagiya. Isistimu yokushayela inedivayisi yamandla kanye nendlela yokudlulisela ukwenza isixhumi sikhiqize izenzo ezihambisanayo. Lezi zinhlelo ezintathu zokushayela eziyisisekelo zinezici zazo. Okujwayelekile uhlelo lokushayela ugesi.
Ngenxa yokwamukelwa kabanzi kwe-inertia ephansi, ama-torque aphezulu e-AC kanye ne-DC servo motors kanye nabashayeli bawo abasekelayo be-servo (ama-AC inverters, ama-modulators we-DC pulse wide). Lolu hlobo lwesistimu aludingi ukuguqulwa kwamandla, kulula ukuyisebenzisa, futhi luzwela ukulawula. Amamotho amaningi adinga ukufakwa ngomshini wokudlulisa onembayo ngemuva kwawo: isinciphisi. Amazinyo ayo asebenzisa isiguquli sesivinini segiya ukunciphisa inani lokuzungezisa okuhlanekezela kwemoto enanini elifiswayo lokuzungezisa okuhlanekezelwe, futhi athole idivayisi ye-torque enkulu, ngaleyo ndlela kwehlise isivinini futhi kwandise i-torque. Uma umthwalo umkhulu, akubizi kakhulu ukukhulisa amandla e-servo motor ngobumpumputhe. I-torque yokukhiphayo ingathuthukiswa yisinciphisi ngaphakathi kwebanga elifanele lejubane. I-servo motor ijwayele ukushisa kanye nokudlidliza kwe-low-frequency ngaphansi kokusebenza kwe-low-frequency. Umsebenzi wesikhathi eside nophindaphindayo awuhambisani nokuqinisekisa ukusebenza kwawo okunembile nokuthembekile. Ukuba khona kwenjini yokunciphisa ukunemba kwenza injini ye-servo isebenze ngesivinini esifanele, iqinise ukuqina komzimba womshini, futhi ikhiphe itorque enkulu. Kukhona izinciphisi ezimbili ezijwayelekile manje: i-harmonic reducer ne-RV reducer
Uhlelo lokulawula irobhothi ubuchopho berobhothi futhi into eyinhloko enquma ukusebenza nokusebenza kwerobhothi. Uhlelo lokulawula luthumela amasiginali womyalo ohlelweni lwedrayivu kanye ne-actuator ngokohlelo lokufaka futhi luyilawule. Umsebenzi oyinhloko wobuchwepheshe bokulawula amarobhothi ezimboni ukulawula uhla lwemisebenzi, ukuma kanye nemigqa, kanye nesikhathi sezenzo zamarobhothi ezimboni endaweni yokusebenza. Inezici zohlelo olulula, ukusebenza kwemenyu yesoftware, isikhombimsebenzisi esinobungane sokusebenzisana nekhompiyutha yomuntu, ukwaziswa kokusebenza ku-inthanethi nokusebenzisa kalula.
Uhlelo lwesilawuli luwumgogodla werobhothi, futhi izinkampani zakwamanye amazwe zivaliwe kakhulu ekuhloleni kwaseShayina. Eminyakeni yamuva, ngokuthuthukiswa kobuchwepheshe be-microelectronics, ukusebenza kwama-microprocessors kuye kwaba phezulu nangaphezulu, kuyilapho intengo iye yaba eshibhile futhi eshibhile. Manje sekunama-microprocessors angu-32-bit we-1-2 US dollars emakethe. Ama-microprocessors angabizi kakhulu alethe amathuba amasha okuthuthukisa izilawuli zamarobhothi, okwenza kube nokwenzeka ukuthuthukisa izilawuli zamarobhothi ezingabizi kakhulu, ezisebenza kahle kakhulu. Ukuze kwenziwe isistimu ibe namandla anele okwenza ikhompuyutha nawokugcina, abalawuli bamarobhothi manje sebehlanganiswe kakhulu nochungechunge oluqinile lwe-ARM, uchungechunge lwe-DSP, uchungechunge lwe-POWERPC, uchungechunge lwe-Intel namanye ama-chips.
Njengoba imisebenzi ye-chip yenjongo evamile ekhona nezici zingakwazi ukuhlangabezana ngokugcwele nezimfuneko zezinye izinhlelo zamarobhothi ngokwenani, umsebenzi, ukuhlanganiswa nesixhumi esibonakalayo, uhlelo lwamarobhothi lunesidingo sobuchwepheshe be-SoC (System on Chip). Ukuhlanganisa iphrosesa ethile nesixhumi esibonakalayo esidingekayo kungenza idizayini ibe lula yamasekhethi omngcele wesistimu, kwehlise usayizi wesistimu, futhi kunciphise izindleko. Isibonelo, i-Actel ihlanganisa umgogodla wokucubungula we-NEOS noma i-ARM7 emikhiqizweni yayo ye-FPGA ukwenza uhlelo oluphelele lwe-SoC. Mayelana nezilawuli zobuchwepheshe berobhothi, ucwaningo lwayo lugxile kakhulu e-United States naseJapan, futhi kunemikhiqizo evuthiwe, efana ne-DELTATAU yase-United States kanye ne-TOMORI Co., Ltd. e-Japan. Isilawuli saso sokunyakaza sisekelwe kubuchwepheshe be-DSP futhi samukela isakhiwo esisekelwe kwi-PC evulekile.
4. Qeda umenzi
I-effector yokugcina iyisakhi esixhunywe ekuhlanganyeleni kokugcina kwe-manipulator. Ngokuvamile isetshenziselwa ukubamba izinto, ukuxhumana nezinye izindlela nokwenza imisebenzi edingekayo. Abakhiqizi bamarobhothi ngokuvamile abaklami noma bathengise izinto ezisebenzayo zokugcina. Ezimweni eziningi, banikeza kuphela i-gripper elula. Ngokuvamile isiphetho sifakwa kuhlangothi lwezimbazo ezingu-6 zerobhothi ukuze kuqedelwe imisebenzi endaweni ethile, njengokushisela, ukupenda, ukunamathisela, kanye nokulayishwa nokukhipha izingxenye, okuyimisebenzi edinga ukuthi amarobhothi aqedelwe.
Isikhathi sokuthumela: Jul-18-2024
