1. Mfundo zoyambira ndi kapangidwe ka maloboti anayi ozungulira:
1. Malinga ndi mfundo: Loboti ya axis inayi imapangidwa ndi mfundo zinayi zolumikizidwa, zomwe zimatha kuchita maulendo atatu. Kapangidwe kameneka kamapangitsa kuti ikhale yosinthika kwambiri komanso yosinthika, yomwe imalola kuti igwire ntchito zosiyanasiyana m'malo opapatiza. Njira yogwirira ntchito imaphatikizapo makompyuta akuluakulu omwe amalandila malangizo a ntchito, kusanthula ndi kutanthauzira malangizowo kuti adziwe zoyenda, kuchita ma kinematic, dynamic, ndi interpolation, ndikupeza magawo oyenda ogwirizana pagulu lililonse. Magawo awa amatulutsidwa ku gawo lowongolera la servo, ndikuyendetsa zolumikizira kuti zipangitse kuyenda kogwirizana. Zomverera zimabwezeretsanso ma siginecha olumikizana omwe amachokera kumalo owongolera a servo kuti apange chiwongolero chotsekeka chapafupi, ndikukwaniritsa kusuntha koyenera kwa malo.
2. Ponena za kapangidwe kake, nthawi zambiri zimakhala ndi maziko, thupi la mkono, mkono, ndi chogwirira. Gawo la gripper litha kukhala ndi zida zosiyanasiyana malinga ndi zosowa zosiyanasiyana.
2. Kuyerekeza pakati pa maloboti anayi a axis ndi maloboti asanu ndi limodzi:
1. Madigiri a Ufulu: Quadcopter ili ndi magawo anayi a ufulu. Magulu awiri oyambirira amatha kuzungulira momasuka kumanzere ndi kumanja pa ndege yopingasa, pamene ndodo yachitsulo ya mgwirizano wachitatu imatha kusuntha ndi kutsika mu ndege yowongoka kapena kuzungulira mozungulira, koma sungapendeke; Roboti ya axis sikisi ili ndi magawo asanu ndi limodzi a ufulu, zolumikizana ziwiri kuposa loboti ya axis anayi, ndipo ili ndi kuthekera kofanana ndi mikono ndi manja a anthu. Ikhoza kunyamula zigawo zomwe zikuyang'ana njira iliyonse pa ndege yopingasa ndikuziyika muzinthu zomwe zimayikidwa pamakona apadera.
2. Zochitika zogwiritsira ntchito: Maloboti anayi a axis ndi oyenera kugwira ntchito monga kugwira, kuwotcherera, kugawa, kukweza ndi kutsitsa zomwe zimafuna kusinthasintha kochepa koma zimakhala ndi zofunikira zina kuti zifulumire ndi kulondola; Maloboti asanu ndi limodzi a axis amatha kugwira ntchito zovuta komanso zolondola, ndipo amagwiritsidwa ntchito kwambiri pazochitika monga kusonkhana kovutirapo komanso kukonza makina olondola kwambiri.
3. Magawo ogwiritsira ntchito ma quadcopter 5:
1. Kupanga mafakitale: kutha kusintha ntchito zamanja kuti amalize ntchito zolemetsa, zowopsa, kapena zolondola kwambiri, monga kugwira, gluing, ndi kuwotcherera m'makampani opanga magalimoto ndi njinga zamoto; Assembly, kuyesa, soldering, etc. mu makampani opanga zamagetsi.
2. Malo azachipatala: Amagwiritsidwa ntchito pa opaleshoni yochepa kwambiri, kulondola kwake komanso kukhazikika kwake kumapangitsa kuti opaleshoni ikhale yolondola komanso yotetezeka, kuchepetsa nthawi yochira kwa odwala.
3. Kasamalidwe ndi kasungidwe: Kusamutsa katundu kuchokera pamalo amodzi kupita kwina, kukonza bwino kasungidwe ndi kasamalidwe kazinthu.
4. Ulimi: Itha kugwiritsidwa ntchito m'minda ya zipatso ndi nyumba zobiriwira kuti mumalize ntchito zothyola zipatso, kudulira, ndi kupopera mbewu mankhwalawa, kupititsa patsogolo ulimi waulimi bwino komanso wabwino.
4. Kukonza ndi Kuwongolera Maloboti Anayi a Axis:
1. Kupanga Mapulogalamu: Ndikofunikira kudziwa bwino chilankhulo cha mapulogalamu ndi mapulogalamu a maloboti, kulemba mapulogalamu molingana ndi zofunikira zantchito, ndikukwaniritsa kuwongolera ndi magwiridwe antchito a maloboti. Kupyolera mu pulogalamuyi, maloboti amatha kugwiritsidwa ntchito pa intaneti, kuphatikiza kulumikizana ndi owongolera, mphamvu ya servo, kuyambiranso koyambira, kuyenda kwa inchi, kutsatira mfundo, ndi ntchito zowunikira.
2. Njira yoyang'anira: Ikhoza kuwongoleredwa kudzera pa PLC ndi olamulira ena, kapena kuyendetsedwa pamanja kudzera pa pendant yophunzitsa. Mukamalankhulana ndi PLC, ndikofunikira kudziwa bwino njira zoyankhulirana ndi njira zosinthira kuti muwonetsetse kulumikizana kwanthawi zonse pakati pa loboti ndi PLC.
5. Kusintha kwa diso la dzanja la quadcopter:
1. Cholinga: Muzochita zogwirira ntchito za robot, mutatha kukonza ma robot okhala ndi zowonera, ndikofunikira kutembenuza ma coordinates omwe ali mu dongosolo loyang'anira zowonera ku dongosolo la robot. Kuwongolera kwa diso lamanja ndiko kupeza masinthidwe osinthika kuchokera ku dongosolo loyang'anira zowonera kupita ku dongosolo la robot.
2. Njira: Kwa loboti inayi ya axis planar, popeza madera omwe amatengedwa ndi kamera ndikugwiritsidwa ntchito ndi mkono wa robot ndi ndege zonse, ntchito yoyang'anira maso pamanja ikhoza kusinthidwa ndikuwerengera kusintha kwa affine pakati pa ndege ziwirizi. Nthawi zambiri, "njira ya 9-point" imagwiritsidwa ntchito, yomwe imaphatikizapo kusonkhanitsa deta kuchokera kumagulu oposa 3 (kawirikawiri ma seti 9) a mfundo zofanana ndikugwiritsa ntchito njira yocheperako kwambiri kuti athetse matrix osinthika.
6. Kusamalira ndi kusamalira ma quadcopter:
1. Kusamalira tsiku ndi tsiku: kuphatikizapo kuyang'anitsitsa nthawi zonse maonekedwe a robot, kugwirizana kwa mgwirizano uliwonse, momwe ma sensor amagwirira ntchito, ndi zina zotero, kuti atsimikizire kuti roboti ikugwira ntchito bwino. Panthawi imodzimodziyo, ndikofunikira kuti malo ogwirira ntchito a robot azikhala oyera komanso owuma, ndikupewa kutengera fumbi, madontho amafuta, ndi zina zambiri pa robot.
2. Kusamalira nthawi zonse: Malinga ndi kagwiritsidwe ntchito ka roboti ndi malingaliro a wopanga, sungani loboti nthawi zonse, monga kusintha mafuta opaka mafuta, zosefera, kuyang'ana makina amagetsi, ndi zina zotero. bwino ndi kukhazikika.
Kodi pali kusiyana kwakukulu kwamitengo pakati pa loboti ya axis anayi ndi loboti ya axis sikisi?
1. Mtengo wagawo 4:
1. Reducer: Reducer ndi gawo lofunika la mtengo wa robot. Chifukwa cha kuchuluka kwa maulumikizidwe, maloboti asanu ndi limodzi a axis amafunikira zochepetsera zambiri, ndipo nthawi zambiri amakhala ndi zolondola komanso zonyamula katundu, zomwe zingafunike zochepetsera zapamwamba. Mwachitsanzo, zochepetsera ma RV zitha kugwiritsidwa ntchito m'malo ena ofunikira, pomwe maloboti anayi okhala ndi ma axis ali ndi zofunikira zochepa pazochepetsa. Muzochitika zina zogwiritsira ntchito, ndondomeko ndi khalidwe la zochepetsera zomwe zimagwiritsidwa ntchito zingakhale zotsika kusiyana ndi za maloboti asanu ndi limodzi a axis, kotero mtengo wa zochepetsera kwa maloboti asanu ndi limodzi udzakhala wapamwamba.
2. Servo motors: Kuwongolera koyenda kwa maloboti asanu ndi limodzi a axis ndizovuta kwambiri, kumafuna ma servo motors kuti azitha kuwongolera bwino kayendetsedwe ka gulu lililonse, komanso zofunikira zamphamvu zamagalimoto a servo kuti akwaniritse kuyankha mwachangu komanso molondola, zomwe zimawonjezera mtengo wa servo. ma motors a maloboti asanu ndi limodzi. Maloboti anayi a axis ali ndi zolumikizira zochepa, zomwe zimafuna ma servo motors ochepa komanso zofunikira zocheperako, zomwe zimapangitsa kuti mtengo wake ukhale wotsika.
2. Mtengo wowongolera: Dongosolo loyang'anira loboti ya axis sikisi liyenera kuthana ndi zambiri zoyenda molumikizana komanso kukonza zovuta zamayendedwe, zomwe zimapangitsa kuti pakhale zovuta zambiri zowongolera ma aligorivimu ndi mapulogalamu, komanso mtengo wapamwamba wa chitukuko ndi kukonza zolakwika. Mosiyana ndi zimenezi, kayendetsedwe ka kayendetsedwe ka robot ya axis anayi ndi yosavuta, ndipo mtengo wa kayendetsedwe ka kayendetsedwe kake ndi wotsika kwambiri.
3. R & D ndi ndalama zopangira: Kuvuta kwa mapangidwe a ma robot a axis asanu ndi limodzi ndi aakulu, kumafuna teknoloji yambiri yaumisiri ndi ndalama za R & D kuti zitsimikizire ntchito zawo ndi kudalirika. Mwachitsanzo, mapangidwe ophatikizana, ma kinematics, ndi kusanthula kwamphamvu kwa maloboti asanu ndi limodzi a axis amafunikira kafukufuku wozama komanso kukhathamiritsa, pomwe kapangidwe ka maloboti anayi ndi osavuta komanso mtengo wopangira kafukufuku ndi chitukuko ndiwotsika kwambiri.
4. Kupanga ndi kusonkhanitsa ndalama: Ma roboti asanu ndi limodzi a axis ali ndi chiwerengero chokulirapo cha zigawo zikuluzikulu, ndipo njira zopangira ndi kusonkhana zimakhala zovuta kwambiri, zomwe zimafuna kulondola kwapamwamba ndi zofunikira za ndondomeko, zomwe zimapangitsa kuti pakhale kuwonjezeka kwa ndalama zawo zopangira ndi kusonkhanitsa. Mapangidwe a loboti ya axis anayi ndi osavuta, kupanga ndi kusonkhana kumakhala kosavuta, ndipo mtengo wake ndi wotsika kwambiri.
Komabe, kusiyanasiyana kwamitengo kudzatengeranso zinthu monga mtundu, magawo a magwiridwe antchito, ndi masinthidwe ogwirira ntchito. Muzochitika zina zotsika mtengo, kusiyana kwa mtengo pakati pa maloboti anayi a axis ndi maloboti asanu ndi limodzi a axis kungakhale kochepa; Pamalo ogwiritsira ntchito apamwamba kwambiri, mtengo wa roboti ya axis sikisi ukhoza kukhala wokwera kwambiri kuposa wa loboti ya axis anayi.
Nthawi yotumiza: Nov-08-2024
