Muaj robotsyog siv dav hauv kev tsim khoom, xws li kev tsim tsheb, khoom siv hluav taws xob, thiab khoom noj khoom haus. Lawv tuaj yeem hloov rov ua dua lub tshuab-style kev ua haujlwm thiab yog ib hom tshuab uas tso siab rau nws tus kheej lub zog thiab kev tswj xyuas kom ua tiav ntau yam haujlwm. Nws tuaj yeem lees txais tib neeg cov lus txib thiab tuaj yeem ua haujlwm raws li kev npaj ua ntej. Tam sim no cia peb tham txog cov ntsiab lus tseem ceeb ntawm kev lag luam robots.
1.Lub cev loj
Lub cev tseem ceeb yog lub hauv paus tshuab thiab lub actuator, nrog rau sab caj npab, sab caj npab, dab teg thiab tes, tsim ib tug multi-degree-of-freedom mechanical system. Qee cov neeg hlau kuj muaj cov txheej txheem taug kev. Cov neeg hlau muaj 6 degree ntawm kev ywj pheej lossis ntau dua, thiab lub dab teg feem ntau muaj 1 txog 3 degrees ntawm kev ywj pheej.
2. Tsav system
Kev tsav tsheb ntawm kev lag luam neeg hlau tau muab faib ua peb pawg raws li lub zog qhov chaw: hydraulic, pneumatic thiab hluav taws xob. Raws li kev xav tau, peb hom kev tsav tsheb no tuaj yeem ua ke thiab sib xyaw ua ke. Los yog nws tuaj yeem raug tsav ncaj qha los ntawm cov khoom siv sib kis xws li cov hlua khi, cov tsheb ciav hlau, thiab lub zog. Lub kaw lus tsav muaj lub tshuab hluav taws xob thiab lub tshuab xa hluav taws xob los ua kom tus actuator tsim cov kev coj ua. Peb lub tshuab tsav yooj yim no muaj lawv tus yam ntxwv. Lub ntsiab tseem ceeb yog lub zog tsav hluav taws xob.
Vim qhov kev lees paub dav dav ntawm qhov qis inertia, siab torque AC thiab DC servo motors thiab lawv cov kev txhawb nqa servo tsav (AC inverters, DC pulse width modulators). Hom kab ke no tsis xav tau lub zog hloov pauv, siv tau yooj yim, thiab tswj tau yooj yim. Feem ntau cov motors yuav tsum tau nruab nrog ib tug precision kis mechanism tom qab lawv: ib tug reducer. Nws cov hniav siv qhov hloov pauv ceev ntawm lub iav kom txo tau tus naj npawb ntawm rov qab rotations ntawm lub cev muaj zog mus rau qhov xav tau tus naj npawb ntawm rov qab rotations, thiab tau txais ib tug loj torque ntaus ntawv, yog li txo qhov ceev thiab nce lub torque. Thaum lub load loj, nws tsis raug nqi rau qhov muag tsis pom kev nce lub zog ntawm servo lub cev muaj zog. Cov zis torque tuaj yeem txhim kho los ntawm tus reducer nyob rau hauv qhov tsim nyog ceev ntau. Lub servo lub cev muaj zog ua rau cua sov thiab tsis tshua muaj kev vibration nyob rau hauv qis zaus ua haujlwm. Kev ua haujlwm ntev thiab rov ua haujlwm tsis zoo rau kev ua haujlwm kom raug thiab txhim khu kev qha. Lub neej ntawm lub cev muaj zog txo qis ua rau lub servo lub cev muaj zog ua haujlwm ntawm qhov tsim nyog ceev, ntxiv dag zog rau lub cev lub cev, thiab tso zis ntau dua torque. Tam sim no muaj ob lub ntsiab reducers: harmonic reducer thiab RV reducer
Lub tshuab tswj neeg hlau yog lub hlwb ntawm cov neeg hlau thiab lub ntsiab tseem ceeb uas txiav txim siab txog kev ua haujlwm thiab kev ua haujlwm ntawm tus neeg hlau. Lub kaw lus tswj xa cov lus txib mus rau lub kaw lus tsav thiab lub actuator raws li qhov kev pab cuam nkag thiab tswj nws. Lub luag haujlwm tseem ceeb ntawm kev lag luam neeg hlau tswj thev naus laus zis yog los tswj cov kev ua ub no, postures thiab trajectories, thiab lub sijhawm ntawm kev ua haujlwm ntawm cov neeg hlau hauv chaw ua haujlwm. Nws muaj cov yam ntxwv ntawm kev ua haujlwm yooj yim, software menu ua haujlwm, tus phooj ywg zoo tib neeg-khoos phis tawj sib cuam tshuam, kev ua haujlwm hauv online prompts thiab siv tau yooj yim.
Lub tshuab tswj hwm yog lub hauv paus ntawm cov neeg hlau, thiab cov tuam txhab txawv teb chaws raug kaw ze rau kev sim hauv Suav. Nyob rau hauv xyoo tas los no, nrog kev txhim kho ntawm microelectronics thev naus laus zis, kev ua tau zoo ntawm microprocessors tau dhau los ua siab dua thiab siab dua, thaum tus nqi tau pheej yig dua thiab pheej yig dua. Tam sim no muaj 32-ntsis microprocessors ntawm 1-2 US nyiaj hauv khw. Tus nqi tsim nyog microprocessors tau coj txoj hauv kev tshiab rau cov neeg hlau maub los, ua rau nws muaj peev xwm tsim tau tus nqi qis, kev ua haujlwm siab ntawm cov neeg hlau. Txhawm rau ua kom lub kaw lus muaj peev xwm ua tau zoo thiab khaws cia, cov neeg hlau tswj tam sim no feem ntau yog tsim los ntawm cov muaj zog ARM series, DSP series, POWERPC series, Intel series thiab lwm yam chips.
Txij li thaum lub hom phiaj tseem ceeb ntawm cov nti ua haujlwm thiab cov yam ntxwv tsis tuaj yeem ua tau raws li qhov yuav tsum tau ua ntawm qee cov neeg hlau tshuab hais txog tus nqi, kev ua haujlwm, kev sib koom ua ke thiab kev sib txuas, cov neeg hlau system xav tau SoC (System on Chip) thev naus laus zis. Kev sib koom ua ke ntawm cov txheej txheem tshwj xeeb nrog cov kev xav tau sib txuas tuaj yeem ua kom yooj yim rau kev tsim cov kab ke ntawm cov kab ke peripheral, txo qhov system loj, thiab txo cov nqi. Piv txwv li, Actel integrates lub processor core ntawm NEOS lossis ARM7 ntawm nws cov khoom FPGA los ua tiav SoC system. Nyob rau hauv cov nqe lus ntawm robots technology controllers, nws cov kev tshawb fawb yog mas concentrated nyob rau hauv lub tebchaws United States thiab Nyiv, thiab muaj mature cov khoom, xws li DELTATAU nyob rau hauv lub tebchaws United States thiab TOMORI Co., Ltd. nyob rau hauv Nyiv. Nws lub zog tswj yog ua raws li DSP thev naus laus zis thiab txais yuav qhib PC-raws li qauv.
4. End effector
Qhov kawg effector yog ib feem txuas nrog lub xeem sib koom ua ke ntawm tus manipulator. Nws feem ntau yog siv los tuav cov khoom, txuas nrog lwm cov txheej txheem thiab ua cov haujlwm uas yuav tsum tau ua. Robot manufacturers feem ntau tsis tsim los yog muag kawg effectors. Feem ntau, lawv tsuas muab ib qho yooj yim gripper. Feem ntau qhov kawg effector yog ntsia rau ntawm flange ntawm tus neeg hlau 6 axes kom ua tiav cov haujlwm hauv ib puag ncig, xws li vuam, pleev xim, gluing, thiab qhov chaw thauj khoom thiab tshem tawm, uas yog cov haujlwm uas yuav tsum tau ua kom tiav.
Post lub sij hawm: Lub Xya hli ntuj-18-2024
