Los ntawm qhov kev xav ntawm architecture, tus neeg hlau tuaj yeem muab faib ua peb ntu thiab rau lub tshuab, ntawm peb ntu yog: txhua yam (siv kom paub txog ntau yam kev ua), kev nkag siab (siv rau kev nkag siab cov ntaub ntawv sab hauv thiab sab nraud), kev tswj hwm ( Tswj cov neeg hlau kom ua tiav ntau yam kev ua). Rau lub tshuab yog: human-computer interaction system, tswj system, tsav system, mechanical mechanism, sensory system, thiab robot-environment interaction system.
(1) Tsav system
Txhawm rau ua kom cov neeg hlau khiav, nws yog ib qho tsim nyog yuav tsum tau nruab ib lub tshuab xa mus rau txhua qhov sib koom ua ke, uas yog, txhua qib ntawm kev ywj pheej ntawm kev txav, uas yog lub zog tsav. Lub tshuab tsav tsheb tuaj yeem yog hydraulic kis tau tus mob, pneumatic kis tau tus mob, hluav taws xob kis tau tus mob, los yog ib qho kev sib txuas ua ke; nws tuaj yeem yog tsav ncaj qha los yog tsav tsis ncaj los ntawm kev sib kis ntawm cov khoom siv xws li synchronous siv, chains, log tsheb ciav hlau, thiab lub zog sib haum xeeb. Vim muaj kev txwv ntawm pneumatic thiab hydraulic tsav, tshwj tsis yog rau lub sijhawm tshwj xeeb, lawv tsis ua lub luag haujlwm tseem ceeb. Nrog rau txoj kev loj hlob ntawm hluav taws xob servo motors thiab tswj technology, industrial robots yog tsuas yog tsav los ntawm servo motors.
(2) Mechanical qauv system
Cov txheej txheem txheej txheem ntawm cov neeg hlau muaj peb ntu: lub hauv paus, ib sab caj npab, thiab qhov kawg effector. Txhua feem muaj ob peb theem ntawm kev ywj pheej, tsim ntau-degree-of-freedom mechanical system. Yog hais tias lub hauv paus yog nruab nrog ib tug taug kev mechanism, ib tug taug kev neeg hlau yog tsim; yog tias lub hauv paus tsis muaj kev taug kev thiab lub duav tig mechanism, ib leeg neeg hlau caj npab yog tsim. Lub caj npab feem ntau muaj sab caj npab, sab caj npab thiab dab teg. Qhov kawg effector yog ib feem tseem ceeb ncaj qha mounted rau ntawm dab teg. Nws tuaj yeem yog ob-ntiv tes lossis ntau tus ntiv tes tuav, lossis rab phom pleev xim, cov cuab yeej vuam thiab lwm yam cuab yeej ua haujlwm.
(3) Sensory system
Lub sensory system muaj nyob rau hauv lub sensor modules thiab sab nraud sensor modules kom tau txais cov ntaub ntawv tseem ceeb ntawm sab hauv thiab sab nraud ib puag ncig xeev. Kev siv cov ntse sensors txhim kho qib ntawm kev txav mus los, kev hloov pauv thiab kev txawj ntse ntawm cov neeg hlau. Tib neeg qhov kev hnov lus yog qhov tsis txaus ntseeg rau kev nkag siab cov ntaub ntawv ntawm lub ntiaj teb sab nraud. Txawm li cas los xij, rau qee cov ntaub ntawv tshwj xeeb, sensors muaj txiaj ntsig zoo dua li tib neeg kev hnov lus.
(4) Neeg hlau-ib puag ncigkev sib txuas lus system
Cov neeg hlau-ib puag ncig kev sib cuam tshuam yog ib qho system uas paub txog kev sib koom ua ke thiab kev sib koom tes ntawm cov neeg hlau thiab cov khoom siv hauv ib puag ncig sab nraud. Muaj cov neeg hlau thiab cov cuab yeej siv sab nraud tau muab tso rau hauv ib qho chaw ua haujlwm, xws li kev ua haujlwm thiab kev tsim khoom, cov khoom siv vuam, cov khoom sib dhos, thiab lwm yam. Tau kawg, ntau cov neeg hlau, ntau lub tshuab cuab yeej lossis cov khoom siv, ntau qhov chaw cia khoom, thiab lwm yam. rau hauv ib chav ua haujlwm kom ua haujlwm nyuaj.
(5) Kev sib cuam tshuam ntawm tib neeg-lub computer
Tib neeg-khoos phis tawj kev sib txuas lus yog ib qho khoom siv uas ua rau tus neeg teb xov tooj tuaj yeem koom nrog hauv kev tswj cov neeg hlau thiab sib txuas lus nrog cov neeg hlau, piv txwv li, lub davhlau ya nyob twg tus qauv ntawm lub khoos phis tawj, cov lus txib console, cov ntaub ntawv qhia zaub mov, lub tswb ceeb toom. .
Lub luag haujlwm ntawm kev tswj hwm yog tswj lub actuator ntawm tus neeg hlau kom ua tiav qhov kev txav mus los thiab ua haujlwm raws li tus neeg hlau cov lus qhia kev khiav haujlwm thiab cov teeb liab pub rov qab los ntawm lub sensor. Yog hais tias cov neeg hlau muaj tsis muaj cov ntaub ntawv tawm tswv yim yam ntxwv, nws yog ib tug qhib-voj tswj system; Yog hais tias nws muaj cov ntaub ntawv tawm tswv yim yam ntxwv, nws yog kaw-voj tswj system. Raws li lub hauv paus ntsiab lus ntawm kev tswj hwm, kev tswj hwm tuaj yeem muab faib ua cov kev tswj hwm kev tswj hwm, kev tswj hwm kev tswj hwm thiab kev tswj xyuas kev txawj ntse. Raws li daim ntawv ntawm kev tswj cov lus tsa suab, lub kaw lus tswj tau muab faib ua qhov taw tes tswj thiab tswj trajectory.
Post lub sij hawm: Dec-15-2022
