Mumazuva ano robhoti tekinoroji, kunyanya mumunda wemarobhoti eindasitiri, iwo mashanu akakosha matekinoroji anosanganisiraservo motors, zvinoderedza, zvinofamba majoini, controller, uye actuators. Aya emusimboti matekinoroji anovaka pamwe chete iyo ine simba sisitimu uye yekudzora sisitimu yerobhoti, kuve nechokwadi chekuti robhoti rinogona kuwana chaiyo, nekukurumidza, uye inochinjika yekufamba kutonga uye kuita basa. Izvi zvinotevera zvinopa kuongororwa kwakadzama kweaya mashanu akakosha matekinoroji:
1. Servo injini
Servo motors ndiyo "moyo" yemarobhoti simba masisitimu, ane basa rekushandura simba remagetsi kuita remagetsi simba uye kutyaira mafambiro eakasiyana majoini erobhoti. Iyo yakakosha mukana we servo motors iri mune yavo yepamusoro-chaiyo chinzvimbo, kumhanya, uye torque kutonga masimba.
Kushanda musimboti: Servo motors anowanzo shandisa anogara magineti synchronous motors (PMSM) kana alternating azvino servo motors (AC Servo) kunyatso kudzora chinzvimbo uye kumhanya kwemotor rotor nekushandura chikamu chekuisa ikozvino. Iyo yakavakirwa-mukati encoder inopa chaiyo-nguva mhinduro masiginecha, ichigadzira yakavharwa-loop control system kuti iwane yakakwirira simba remhinduro uye kunyatso kudzora.
Hunhu: Servo motors dzine hunhu hwehupamhi hwekumhanya siyana, kushanda kwakanyanya, kuderera inertia, nezvimwewo. Vanokwanisa kupedzisa kukwidziridza, kudzikisira, uye kuisa zvinzvimbo munguva pfupi, izvo zvakakosha pakushandisa marobhoti zvinoda kugara uchitanga kumira uye kunyatsomira. .
Kudzora kwakangwara: Mazuva ano servo motors zvakare inobatanidza algorithms epamberi senge PID control, adaptive control, nezvimwe, izvo zvinogona kugadzirisa otomatiki paramita zvichienderana nekuchinja kwemutoro kuchengetedza kuita kwakagadzikana.
2. Reducer
Basa: Iyo inoderedza yakabatana pakati pe servo mota nejoint robhoti, uye basa rayo guru nderekudzikisa kumhanyisa-kumhanya kutenderera kubuda kwemota, kuwedzera torque, uye kusangana nezvinodiwa zveyakakwira torque uye yakaderera kumhanya kwejojo rerobhoti. .
Type: Inowanzo shandiswa zvinoderedza zvinosanganisira harmonic zvinoderedza uye RV zvinoderedza. Pakati pavo,RV kuderedzaanonyanya kukodzera kune akawanda axis akabatana zvimiro mumarobhoti eindasitiri nekuda kwekusimba kwavo kwakanyanya, kurongeka kwepamusoro, uye hombe yekutakura.
Tekinoroji mapoinzi: Iko kurongeka kwekugadzira kweinodzikisira kunobata zvakananga kudzokororwa kwenzvimbo kurongeka uye kugadzikana kwekushanda kwerobhoti. Iyo yemukati giya mesh clearance yeakakwira-magumo anodzikisa idiki zvakanyanya, uye ivo vanofanirwa kuve nekupfeka kwakanaka kuramba uye hupenyu hurefu hwebasa.
4. Mutongi
Core function: Iyo controller ihuropi hwerobhoti, iyo inogamuchira mirairo uye inodzora mamiriro ekufamba kwejoini rega rega zvichibva pane preset zvirongwa kana chaiyo-nguva kuverenga mhinduro.
Technical architecture: Zvichienderana neakamisikidzwa masisitimu, mutongi anobatanidza maseketi ehardware, madhijitari masaini processors, microcontrollers, uye akasiyana mainterface kuti aite mabasa akaomarara senge kuronga kwekufamba, trajectory chizvarwa, uye sensor data fusion.
Advanced control algorithms:Mazuva ano marobhoti controllersinowanzo tora dzidziso dzepamberi dzekutonga dzakadai seModel Predictive Control (MPC), Sliding Mode Variable Structure Control (SMC), Fuzzy Logic Control (FLC), uye Adaptive Control kugadzirisa zvipingamupinyi mumatambudziko akaomarara uye nharaunda dzisina chokwadi.
5. Muiti
Tsanangudzo uye Basa: An actuator chishandiso chinoshandura masaini emagetsi anoburitswa nemutongi kuita zviito chaizvo zvemuviri. Iyo inowanzo reva kune yakazara dhiraivha unit inoumbwa neservo motors, zvinoderedza, uye zvine chekuita nemichina michina.
Simba kudzora uye kudzora chinzvimbo: Iyo actuator haingodi chete kuwana chaiyo chinzvimbo chekutonga, asi inodawo kuita torque kana tactile mhinduro yekudzora kune imwe chaiyo gungano kana marobhoti ekugadzirisa ekurapa, kureva, simba rekudzora maitiro, kuve nechokwadi chekunzwa kwesimba uye kuchengetedzeka panguva. maitiro ekushanda.
Redundancy uye Kudyidzana: Mumarobhoti akawanda akabatanidzwa, akasiyana-siyana actuator anofanirwa kurongedza basa ravo, uye epamberi kudzora maitiro anoshandiswa kubata mhedzisiro yekubatanidza pakati pemajoini, kuwana inoshanduka kufamba uye nzira optimization yerobhoti muchadenga.
6. Sensor teknolojia
Kunyangwe zvisina kutaurwa zvakajeka mumashanu akakosha matekinoroji, sensor tekinoroji chinhu chakakosha kuti marobhoti awane maonero uye nehungwaru kuita sarudzo. Kune epamusoro-chaiyo uye akangwara emazuva ano marobhoti, kubatanidza akawanda masensa (akadai senzvimbo sensors, torque sensors, vision sensors, nezvimwewo) kuti uwane ruzivo rwezvakatipoteredza uye wega wega kwakakosha.
Nzvimbo uye velocity sensors: Iyo encoder yakaiswa pane servo mota kuti ipe chaiyo-nguva chinzvimbo uye velocity mhinduro, ichigadzira yakavharwa-loop control system; Mukuwedzera, majoint angle sensors anogona kunyatsoyera kona chaiyo yekutenderera yejoini rega rega rinofamba.
Simba uye torque sensors: yakadzikwa mumagumo emagetsi emagetsi kana marobhoti, anoshandiswa kunzwa simba rekubatana uye torque, zvichiita kuti marobhoti ave nekushanda kwakatsetseka uye maitiro akachengeteka ekudyidzana.
Zvinoona uye zvakatipoteredza zvekuona ma sensors: anosanganisira makamera, LiDAR, kudzika makamera, nezvimwewo, inoshandiswa pachiitiko 3D kuvakazve, kucherechedzwa kwechinangwa uye kuronda, zvipingamupinyi kudzivirira kufamba uye mamwe mabasa, zvichiita kuti marobhoti ajaire kunharaunda dzine simba uye kuita sarudzo dzinoenderana.
7. Kukurukurirana uye Network Technology
Inoshanda tekinoroji yekutaurirana uye network architecture yakakosha zvakaenzana mumarobhoti akawanda masisitimu uye kure kure kudzora mamiriro.
Kukurukurirana kwemukati: Kukurumidzira dhata kuchinjanisa pakati pevatongi uye pakati pevatongi uye masensa kunoda yakagadzikana tekinoroji yebhazi, yakadai seCANopen, EtherCAT, uye mamwe-chaiyo-nguva maindasitiri Ethernet protocol.
Kukurukurirana kwekunze: Kuburikidza newaya isina waya matekinoroji akadai seWi Fi, 5G, Bluetooth, nezvimwewo, marobhoti anogona kudyidzana nemamwe maturusi uye maseva emakore kuti awane kutarisisa kure, kugadziridza chirongwa, hombe data kuongororwa, uye mamwe mabasa.
8. Simba uye Simba Management
Sistimu yemagetsi: Sarudza magetsi anokodzera hunhu hwebasa rerobhoti, uye gadzira inonzwisisika simba manejimendi system kuti ive nechokwadi chekushanda kwakagadzikana kwenguva refu uye kusangana nekukasira kukwira-simba kudiwa.
Kudzoreredza magetsi uye tekinoroji yekuchengetedza simba: Mamwe marobhoti epamberi masystem atanga kutora tekinoroji yekudzoreredza simba, iyo inoshandura simba remagetsi kuita magetsi ekuchengetedza simba panguva yekudzikisira kuvandudza simba rose.
9. Software uye Algorithm Level
Kuronga kwekufamba uye kudzora maalgorithms: Kubva pakutevedza chizvarwa uye nzira optimization kusvika pakuona kudhumhana uye nzira dzekudzivirira zvipingamupinyi, maalgorithms epamberi anotsigira kufamba kwakanaka uye kwakaringana kwemarobhoti.
Artificial Intelligence uye Autonomous Kudzidza: Nekushandisa matekinoroji akadai sekudzidza kwemuchina uye kudzidza kwakadzama, marobhoti anogona kuramba achidzidzisa uye nekudzokorora kuvandudza kugona kwavo kwekuita basa, achigonesa kuomarara kwekuita sarudzo uye kuzvimiririra.
10.Human computer interaction tekinoroji
Mune akawanda maficha ekushandisa, kunyanya muminda yemarobhoti ebasa uye marobhoti anodyidzana, tekinoroji yekudyidzana kwevanhu-kombuta yakakosha:
Kuzivikanwa kwekutaura uye synthesis: Nekubatanidza tekinoroji yemutauro wechisikigo (NLP), marobhoti anokwanisa kunzwisisa mirairo yezwi remunhu uye kupa mhinduro mukutaura kwakajeka uye kwechisikigo.
Tactile kupindirana: Dhizaina marobhoti ane tactile mhinduro maitiro anogona kutevedzera echokwadi tactile sensations, inovandudza ruzivo rwemushandisi uye kuchengetedzeka panguva yekushanda kana kusangana.
Kuzivikanwa kwechiratidzo: Kushandisa komputa yekuona tekinoroji kubata uye kuongorora maitiro evanhu, zvichiita kuti marobhoti apindure kune isiri-yekubata gesture mirairo uye kuwana intuitive mashandiro ekutonga.
Chitarisiko chechiso uye kuverenga manzwiro: Marobhoti emagariro ane masisitimu echitarisiko chechiso uye kugona kwekuziva manzwiro anogona kuratidza manzwiro, nekudaro kuchinjika zviri nani kune zvido zvevanhu zvepamoyo uye nekuvandudza kugona kwekutaurirana.
Nguva yekutumira: Sep-05-2024
