Muukadaulo wamakono wa robotics, makamaka pankhani ya maloboti ogulitsa mafakitale, matekinoloje asanu ofunikira amaphatikizama servo motors, zochepetsera, zolumikizira, zowongolera, ndi ma actuators. Matekinoloje apakatikati amamangirira limodzi njira yosinthira ndi kuwongolera kwa loboti, kuwonetsetsa kuti loboti imatha kukwaniritsa zowongolera, zachangu, komanso zosinthika komanso kuchita ntchito. Zotsatirazi zipereka kusanthula mozama kwa matekinoloje asanu ofunikawa:
1. Servo motor
Ma Servo motors ndi "mtima" wamagetsi amagetsi, omwe ali ndi udindo wosinthira mphamvu zamagetsi kukhala mphamvu zamakina ndikuyendetsa kayendedwe ka maloboti osiyanasiyana. Ubwino waukulu wa ma servo motors uli pamalo awo olondola kwambiri, kuthamanga, komanso mphamvu zowongolera ma torque.
Mfundo yogwira ntchito: Ma Servo motors nthawi zambiri amagwiritsa ntchito maginito synchronous motors (PMSM) kapena ma servo motors apano (AC Servo) kuti azitha kuyang'anira bwino lomwe malo ndi liwiro la mota yozungulira posintha gawo la zolowetsa pano. Encoder yomangidwa imapereka zizindikiro zenizeni zenizeni, kupanga njira yotsekera yotsekera kuti ikwaniritse kuyankha kwamphamvu komanso kuwongolera kolondola.
Makhalidwe: Ma Servo motors ali ndi mawonekedwe a liwiro lalikulu, kuthamanga kwambiri, kutsika pang'ono, ndi zina zambiri. Amatha kumaliza mathamangitsidwe, kutsika, ndi kuyikika munthawi yochepa kwambiri, zomwe ndizofunikira kwambiri pamaloboti omwe amafunikira kuyimitsidwa pafupipafupi komanso kuyimitsidwa bwino. .
Kuwongolera mwanzeru: Ma servo motors amakono amaphatikizanso ma aligorivimu apamwamba monga kuwongolera kwa PID, kuwongolera kosinthika, ndi zina zambiri, zomwe zimatha kusintha magawo malinga ndi kusintha kwa katundu kuti zisungidwe bwino.
2. Wochepetsera
Ntchito: Chotsitsacho chimalumikizidwa pakati pa injini ya servo ndi cholumikizira cha loboti, ndipo ntchito yake yayikulu ndikuchepetsa kutulutsa kothamanga kwagalimoto, kukulitsa torque, ndikukwaniritsa zofunikira za torque yayikulu komanso liwiro lotsika la loboti. .
Mtundu: Zochepetsera zomwe zimagwiritsidwa ntchito nthawi zambiri zimaphatikizapo zochepetsera za harmonic ndi zochepetsera ma RV. Mwa iwo,Zochepetsa ma RVndizoyenera kwambiri zomangira zolumikizirana ma axis angapo mumaloboti akumafakitale chifukwa cha kulimba kwawo, kulondola kwambiri, komanso chiwopsezo chachikulu chotumizira.
Mfundo zaumisiri: Kulondola kwa kupanga kwa chochepetsera kumakhudza mwachindunji kubwerezabwereza kulondola kwa malo ndi kukhazikika kwa ntchito ya robot. Chilolezo cha ma mesh amkati a ochepetsera apamwamba ndi ochepa kwambiri, ndipo amafunikira kukana kuvala bwino komanso moyo wautali wautumiki.
4. Wolamulira
Ntchito yaikulu: Wolamulira ndi ubongo wa robot, yomwe imalandira malangizo ndikuyang'anira kayendedwe ka mgwirizano uliwonse kutengera mapulogalamu okonzedweratu kapena zotsatira za kuwerengera nthawi yeniyeni.
Zomangamanga zaukadaulo: Kutengera makina ophatikizidwa, wowongolera amaphatikiza mabwalo a hardware, ma processor a digito, ma microcontrollers, ndi mawonekedwe osiyanasiyana kuti akwaniritse ntchito zovuta monga kukonza zoyenda, kupanga ma trajectory, ndi kuphatikizika kwa data ya sensor.
Ma algorithms apamwamba kwambiri:Owongolera ma robot amakonoNthawi zambiri amatengera malingaliro apamwamba owongolera monga Model Predictive Control (MPC), Sliding Mode Variable Structure Control (SMC), Fuzzy Logic Control (FLC), ndi Adaptive Control kuti athane ndi zovuta zowongolera pazofunikira zantchito zovuta komanso malo osatsimikizika.
5. Woyang'anira
Tanthauzo ndi Ntchito: Choyendetsa ndi chipangizo chomwe chimatembenuza ma siginecha amagetsi opangidwa ndi wowongolera kukhala zochita zenizeni. Nthawi zambiri amatanthauza gawo lathunthu loyendetsa lomwe limapangidwa ndi ma servo motors, zochepetsera, ndi zida zina zamakina.
Limbikitsani kuwongolera ndi kuwongolera malo: The actuator sikuti imangofunika kuwongolera bwino malo, komanso imafunikanso kuwongolera torque kapena tactile mayankho pamisonkhano yolondola kapena maloboti okonzanso zamankhwala, ndiko kuti, njira yowongolera mphamvu, kuwonetsetsa kukhudzidwa kwamphamvu ndi chitetezo panthawi. ndondomeko ya ntchito.
Redundancy ndi Kugwirizana: M'maloboti ambiri olumikizana, ma actuators osiyanasiyana amayenera kugwirizanitsa ntchito zawo, ndipo njira zowongolera zotsogola zimagwiritsidwa ntchito kuthana ndi zolumikizana pakati pa mafupa, kukwaniritsa kusuntha kosinthika komanso kukhathamiritsa kwa loboti mumlengalenga.
6. Tekinoloje ya sensor
Ngakhale sizinatchulidwe momveka bwino mu matekinoloje asanu ofunikira, ukadaulo wa sensor ndi gawo lofunikira kuti ma robot akwaniritse kuzindikira komanso kupanga zisankho mwanzeru. Kwa maloboti amakono olondola kwambiri komanso anzeru, kuphatikiza masensa angapo (monga ma sensor a malo, masensa torque, masensa masomphenya, ndi zina zotero) kuti apeze chidziwitso cha chilengedwe ndi kudzikonda ndikofunikira.
Masensa a malo ndi liwiro: Encoder imayikidwa pa injini ya servo kuti ipereke malo enieni komanso mayankho othamanga, kupanga njira yotsekera yotseka; Kuphatikiza apo, masensa a ma angle olowa amatha kuyeza molondola momwe mbali yozungulira yolumikizirana iliyonse imayendera.
Masensa amphamvu ndi ma torque: ophatikizidwa kumapeto kwa ma actuators kapena maloboti, omwe amagwiritsidwa ntchito kuzindikira mphamvu yolumikizirana ndi torque, kupangitsa maloboti kukhala ndi magwiridwe antchito bwino komanso mawonekedwe otetezeka.
Zowonera komanso zachilengedwe: kuphatikiza makamera, LiDAR, makamera akuya, ndi zina zotere, zomwe zimagwiritsidwa ntchito pomanganso mawonekedwe a 3D, kuzindikira chandamale ndikutsata, zopinga zopewera kuyenda ndi ntchito zina, kupangitsa maloboti kuti agwirizane ndi malo osinthika ndikupanga zisankho zofananira.
7. Kuyankhulana ndi Network Technology
Ukadaulo wolumikizana bwino komanso kamangidwe kamaneti ndizofunikiranso pamakina ambiri a roboti komanso zochitika zakutali.
Kuyankhulana kwamkati: Kusinthana kwa data kwachangu pakati pa olamulira ndi pakati pa olamulira ndi masensa kumafuna teknoloji yokhazikika ya basi, monga CANopen, EtherCAT, ndi ma protocol ena enieni a mafakitale a Ethernet.
Kulankhulana kwakunja: Kupyolera mu matekinoloje olankhulirana opanda zingwe monga Wi Fi, 5G, Bluetooth, ndi zina zotero, maloboti amatha kulumikizana ndi zida zina ndi maseva amtambo kuti akwaniritse kuwunika kwakutali, zosintha zamapulogalamu, kusanthula kwakukulu kwa data, ndi ntchito zina.
8. Kuwongolera Mphamvu ndi Mphamvu
Dongosolo lamagetsi: Sankhani magetsi oyenererana ndi momwe loboti imagwirira ntchito, ndikupanga dongosolo lowongolera mphamvu kuti muwonetsetse kuti ikuyenda bwino kwanthawi yayitali ndikukwaniritsa zofuna zamphamvu zadzidzidzi.
Kubwezeretsa mphamvu ndi ukadaulo wopulumutsa mphamvu: Makina ena otsogola a maloboti ayamba kugwiritsa ntchito ukadaulo wobwezeretsa mphamvu, womwe umasintha mphamvu zamakina kukhala zosungira mphamvu zamagetsi panthawi yochepetsera mphamvu kuti ziwongolere mphamvu zonse.
9. Mapulogalamu ndi Algorithm Level
Kukonzekera ndi kuwongolera ma aligorivimu: Kuchokera pakupanga njira ndi kukhathamiritsa kwa njira mpaka kuzindikira kugundana ndi njira zopewera zopinga, ma aligorivimu apamwamba amathandizira kuyenda koyenera komanso kolondola kwa maloboti.
Artificial Intelligence and Autonomous Learning: Pogwiritsa ntchito matekinoloje monga kuphunzira pamakina ndi kuphunzira mozama, maloboti amatha kuphunzitsa ndikubwerezabwereza kuti apititse patsogolo luso lawo lomaliza ntchito, zomwe zimathandizira kupanga zisankho zovuta komanso kudziyimira pawokha.
10.Tekinoloje yolumikizana ndi makompyuta amunthu
M'malo ambiri ogwiritsira ntchito, makamaka pankhani ya maloboti ogwira ntchito ndi maloboti ogwirizana, ukadaulo wolumikizana ndi anthu ndi makompyuta ndikofunikira:
Kuzindikira zolankhula ndi kaphatikizidwe: Pophatikiza ukadaulo wa chilankhulo chachilengedwe (NLP), maloboti amatha kumvetsetsa malamulo amawu amunthu ndikupereka mayankho momveka bwino komanso mwachilengedwe.
Kuyanjana kwa Tactile: Pangani maloboti okhala ndi njira zoyankhulirana zomwe zimatha kutsanzira zowoneka bwino, kupititsa patsogolo chidziwitso cha ogwiritsa ntchito komanso chitetezo pakamagwira ntchito kapena polumikizana.
Kuzindikira ndi manja: Kugwiritsa ntchito ukadaulo wowonera pakompyuta kujambula ndi kusanthula manja amunthu, kupangitsa maloboti kuyankha ku malamulo osalumikizana ndi manja ndikuwongolera magwiridwe antchito mwanzeru.
Maonekedwe a nkhope ndi kuwerengera momwe akumvera: Maloboti amtundu wa anthu ali ndi mawonekedwe amaso komanso luso lozindikira momwe akumvera, potero amasintha momwe anthu akumvera komanso amalumikizana bwino.
Nthawi yotumiza: Sep-05-2024
