Mubuhanga bugezweho bwa tekinoroji, cyane cyane mubijyanye na robo yinganda, tekinoroji eshanu zingenzi zirimomoteri ya servo, kugabanya, guhuza icyerekezo, kugenzura, hamwe na moteri. Izi tekinoroji yibanze yubaka sisitemu ya dinamike na sisitemu yo kugenzura robot, ikemeza ko robot ishobora kugera kubintu byihuse, byihuse, kandi byoroshye kugenzura no gukora imirimo. Ibikurikira bizatanga isesengura ryimbitse ryubu buryo butanu bwingenzi:
1. Moteri ya servo
Moteri ya Servo n "" umutima "wa sisitemu yingufu za robo, ishinzwe guhindura ingufu z'amashanyarazi ingufu za mashini no gutwara urujya n'uruza rw'ibice bitandukanye bya robo. Inyungu yibanze ya moteri ya servo iri murwego rwo hejuru-rwuzuye, umuvuduko, hamwe nubushobozi bwo kugenzura.
Ihame ryakazi: moteri ya Servo mubisanzwe ikoresha moteri ihoraho ya moteri (PMSM) cyangwa guhinduranya moteri ya servo ya moteri (AC Servo) kugirango igenzure neza umwanya n'umuvuduko wa rotor ya moteri uhindura icyiciro cyinjiza. Byubatswe muri kodegisi itanga ibimenyetso-byukuri byo gutanga ibitekerezo, ikora sisitemu yo gufunga-kugenzura kugirango igere ku gisubizo gihanitse kandi igenzurwa neza.
Ibiranga: Moteri ya Servo ifite ibiranga umuvuduko mugari, gukora neza, inertia nkeya, nibindi. Birashobora kurangiza kwihuta, kwihuta, no gukora ibikorwa mugihe gito cyane, ibyo nibyingenzi mubikorwa bya robo bisaba guhagarara kenshi no guhagarara neza. .
Igenzura ryubwenge: Moteri ya servo igezweho nayo ihuza algorithm igezweho nko kugenzura PID, kugenzura imiterere, nibindi, bishobora guhita bihindura ibipimo ukurikije impinduka zumutwaro kugirango bikomeze imikorere ihamye.
2. Kugabanya
Imikorere: Kugabanya byahujwe na moteri ya servo hamwe na robot ihuriweho, kandi umurimo wingenzi wacyo ni ukugabanya umuvuduko mwinshi wo kuzunguruka kwa moteri, kongera umuriro, no kuzuza ibisabwa byumuriro mwinshi n'umuvuduko muke wa robo ihuriweho .
Ubwoko: Igabanywa rikunze gukoreshwa harimo kugabanya guhuza no kugabanya RV. Muri bo,Kugabanya RVBirakwiriye cyane cyane kubice byinshi bifatanyirijwe hamwe muri robo yinganda bitewe nuburemere bwazo bukomeye, busobanutse neza, hamwe nigipimo kinini cyo kohereza.
Ingingo ya tekiniki: Gukora neza kugabanura bigira ingaruka ku buryo butaziguye kandi bigahinduka neza kuri robo. Ibikoresho byimbere byimbere bigabanya kugabanuka kurwego rwo hejuru ni nto cyane, kandi bakeneye kugira imyambarire myiza yo kubaho no kuramba.
4. Umugenzuzi
Imikorere yibanze: Igenzura ni ubwonko bwa robo, yakira amabwiriza kandi ikagenzura imiterere yimikorere ya buri rugingo rushingiye kuri progaramu zateganijwe cyangwa ibisubizo nyabyo byo kubara.
Ubwubatsi bwa tekiniki: Bishingiye kuri sisitemu yashyizwemo, umugenzuzi ahuza imirongo yibikoresho, ibyuma byerekana ibimenyetso bya digitale, microcontrollers, hamwe nintera zitandukanye kugirango bigere kumurimo utoroshye nko gutegura icyerekezo, kubyara inzira, hamwe no guhuza amakuru.
Igenzura ryambere rya algorithms:Igenzura rya robo igezwehomubisanzwe ukoreshe igenzura rigezweho nka Model Predictive Control (MPC), Slide Mode Variable Structure Control (SMC), Fuzzy Logic Control (FLC), hamwe na Adaptive Control kugirango ukemure ibibazo byubugenzuzi mubisabwa bigoye kandi bidukikije.
5. Umuyobozi
Ibisobanuro n'imikorere: Acuator nigikoresho gihindura ibimenyetso byamashanyarazi bitangwa numugenzuzi mubikorwa bifatika bifatika. Mubisanzwe bivuga igice cyuzuye cyo gutwara kigizwe na moteri ya servo, kugabanya, hamwe nibikoresho bijyanye.
Kugenzura imbaraga no kugenzura imyanya: Acuator ntabwo ikeneye gusa kugenzura neza neza imyanya, ahubwo igomba no gushyira mubikorwa kugenzura ibitekerezo bya torque cyangwa tactile kubitekerezo bimwe na bimwe byateranijwe neza cyangwa ama robo yo gusubiza mu buzima busanzwe imiti, ni ukuvuga uburyo bwo kugenzura imbaraga, kugirango harebwe imbaraga n’umutekano mugihe Igikorwa.
Ubucucike nubufatanye: Muri robo nyinshi zihuriweho, abakoresha batandukanye bakeneye guhuza akazi kabo, kandi ingamba zambere zo kugenzura zikoreshwa mugukemura ingaruka zifatika hagati yingingo, kugera kubikorwa byoroshye no guhuza inzira ya robo mumwanya.
6. Ikoranabuhanga rya Sensor
Nubwo bitavuzwe neza muri tekinoroji eshanu zingenzi, tekinoroji ya sensor ni ikintu cyingenzi kuri robo kugirango igere ku myumvire no gufata ibyemezo byubwenge. Kuri robot-yuzuye-yubwenge kandi yubwenge igezweho, guhuza ibyuma byinshi (nkibikoresho byerekana imyanya, ibyuma byerekana umuriro, ibyuma byerekana icyerekezo, nibindi) kugirango ubone amakuru y’ibidukikije ndetse na leta wenyine ni ngombwa.
Umwanya n'umuvuduko wihuta: Encoder yashyizwe kuri moteri ya servo kugirango itange umwanya-nyabyo nibitekerezo byihuta, ikora sisitemu yo gufunga-gufunga; Mubyongeyeho, ibyuma bifatanyiriza hamwe bishobora gupima neza impande zifatika zifatika.
Imbaraga na sensor ya sensor: yashyizwe mubikorwa byanyuma bya moteri cyangwa robot, bikoreshwa mukumva imbaraga zo guhuza hamwe na torque, bigafasha robot kugira ubushobozi bwo gukora neza nibiranga imikoranire myiza.
Ibyuma bifata amajwi n'ibidukikije: harimo kamera, LiDAR, kamera zimbitse, nibindi, bikoreshwa mukwiyubaka kwa 3D, kumenyekanisha intego no gukurikirana, kwirinda inzitizi zo kugendana nindi mirimo, bigafasha robot guhuza ibidukikije kandi bigafata ibyemezo bijyanye.
7. Itumanaho n’ikoranabuhanga
Ikorana buhanga ryitumanaho hamwe nubwubatsi bwurusobekerane ningirakamaro muri sisitemu nyinshi za robo hamwe no kugenzura kure
Itumanaho ryimbere: Guhana amakuru yihuse hagati yabagenzuzi no hagati yabagenzuzi na sensor bisaba tekinoroji ya bisi ihamye, nka CANopen, EtherCAT, nizindi nganda nyayo-nganda ya Ethernet protocole.
Itumanaho ryo hanze: Binyuze mu ikoranabuhanga ryitumanaho ridafite umuyaga nka Wi Fi, 5G, Bluetooth, nibindi, robot irashobora gukorana nibindi bikoresho na seriveri yibicu kugirango igere kure, ivugurura rya porogaramu, isesengura ryamakuru makuru, nibindi bikorwa.
8. Gucunga ingufu nimbaraga
Sisitemu y'amashanyarazi: Hitamo amashanyarazi akwiranye n'ibiranga akazi ka robo, hanyuma ushushanye uburyo bunoze bwo gucunga ingufu kugirango ukore neza igihe kirekire kandi uhuze ibyifuzo bitunguranye.
Kugarura ingufu hamwe n’ikoranabuhanga rizigama ingufu: Sisitemu zimwe na zimwe za robo zateye imbere zatangiye gukoresha tekinoroji yo kugarura ingufu, zihindura ingufu za mashini mu bubiko bw’amashanyarazi mu gihe cyo kwihuta kugira ngo zongere ingufu muri rusange.
9. Porogaramu na Algorithm Urwego
Gutegura icyerekezo no kugenzura algorithms: Kuva mubyerekezo byinzira no gutezimbere inzira kugeza kugongana no gufata ingamba zo kwirinda inzitizi, algorithms zateye imbere zishyigikira imikorere ya robo ikora neza.
Ubwenge bwa artificiel hamwe no Kwiga byigenga: Ukoresheje ikoranabuhanga nko kwiga imashini no kwiga byimbitse, robot zirashobora guhora zitoza kandi zigasubiramo kugirango zongere ubushobozi bwinshingano zabo zo kurangiza, zifasha cyane gufata ibyemezo bigoye no gufata ibyemezo byigenga.
10.Ikoranabuhanga rya mudasobwa
Mubintu byinshi byakoreshwa, cyane cyane mubijyanye na robo ya serivise hamwe na robo ikorana, tekinoroji ya kimuntu ikoreshwa na mudasobwa ni ngombwa:
Kumenyekanisha imvugo no guhuza: Muguhuza tekinoroji yo gutunganya ururimi karemano (NLP), robot zirashobora kumva amategeko yijwi ryabantu kandi zigatanga ibitekerezo mumvugo isobanutse kandi karemano.
Imikoreshereze yubukorikori: Shushanya robot hamwe nuburyo bwo gutanga ibitekerezo bushobora kwigana ibyiyumvo bifatika, byongera uburambe bwabakoresha numutekano mugihe cyo gukora cyangwa imikoranire.
Kumenyekanisha ibimenyetso: Gukoresha tekinoroji yo kureba mudasobwa kugirango ifate kandi isesengure ibimenyetso byabantu, ifasha robot gusubiza amategeko yerekana ibimenyetso bidahuza no kugera kubikorwa byimbitse.
Kugaragara mu maso no kubara amarangamutima: Imashini za robo zifite uburyo bwo kwerekana isura hamwe nubushobozi bwo kumenya amarangamutima bushobora kwerekana amarangamutima, bityo bigahuza neza nibyifuzo byabantu kandi bikanoza itumanaho neza
Igihe cyo kohereza: Nzeri-05-2024
