10 ruzivo rwakajairika iwe rwaunofanirwa kuziva nezve maindasitiri marobhoti, zvinokurudzirwa kuisa bookmark!
1. Chii chinonzi robhoti yeindasitiri? Yakagadzirwa nei? Inofamba sei? Nzira yekuidzora sei? Chingaita basa rei?
Zvichida pane kusava nechokwadi nezveindasitiri yemarobhoti eindasitiri, uye aya gumi eruzivo mapoinzi anogona kukubatsira nekukurumidza kumisa kunzwisisa kwekutanga kwemarobhoti eindasitiri.
Robhoti muchina une madhigirii akawanda erusununguko munzvimbo ine mativi matatu uye unokwanisa kuwana akawanda anthropomorphic zviito nemabasa, nepo mabhobhoti emaindasitiri ari marobhoti anoshandiswa mukugadzirwa kwemaindasitiri. Hunhu hwayo ndeiyi: programmability, anthropomorphism, universality, uye mechatronics kubatanidzwa.
2. Ndezvipi zvikamu zvehurongwa zvemarobhoti emaindasitiri? Ndeapi ari mabasa avo akasiyana?
Dhiraivha system: mudziyo wekutumira unogonesa robhoti kushanda. Mechanical chimiro sisitimu: yakawanda dhigirii yerusununguko mechanika system inoumbwa nezvikamu zvitatu zvikuru: muviri, maoko, uye ekupedzisira maturusi erobhoti ruoko. Sensing system: inoumbwa nemukati sensor modules uye ekunze sensor modules kuti uwane ruzivo rwemukati uye kunze kwemamiriro ekunze. Robhoti nharaunda yekudyidzana system: sisitimu inogonesa marobhoti emaindasitiri kudyidzana uye kurongeka nemidziyo iri munzvimbo yekunze. Muchina wekudyidzana system: chishandiso umo vashandisi vanotora chikamu mukudzora marobhoti uye kutaurirana nerobhoti. Kudzora sisitimu: Zvichienderana nerobhoti rekuraira chirongwa uye inosaina mhinduro kubva kumasensa, inodzora marobhoti ekuuraya maitiro kupedzisa mafambiro akatsanangurwa uye mabasa.
3. Robhoti dhigirii rerusununguko zvinorevei?
Madhigirii erusununguko anoreva huwandu hweakazvimiririra coordinate axis mafambiro ane robhoti, uye haifanirwe kusanganisira kuvhura nekuvhara madhigirii erusununguko rwechibatiso (yekupedzisira chishandiso). Kutsanangura nzvimbo nemamiriro echinhu chiri munzvimbo ine mativi matatu kunoda madhigirii matanhatu erusununguko, mashandiro echinzvimbo anoda madhigirii matatu erusununguko (chiuno, pfudzi, gokora), uye mashandiro echimiro anoda madhigirii matatu erusununguko (pitch, yaw, roll).
Iwo madhigirii erusununguko emarobhoti eindasitiri akagadzirwa zvinoenderana nechinangwa chawo, angave ari pasi pemadhigirii matanhatu erusununguko kana kupfuura madhigirii matanhatu erusununguko.
4. Ndeapi maparameter makuru anobatanidzwa mumarobhoti eindasitiri?
Dhigirii yerusununguko, kudzokorora kurongeka kwechokwadi, chiyero chekushanda, kumhanya kukuru kwekushanda, uye kutakura mutoro.
5. Ndeapi mabasa emuviri nemaoko zvakatevedzana? Inyaya dzipi dzinofanira kucherechedzwa?
Iyo fuselage inhengo inotsigira maoko uye inowanzoita mafambiro akadai sekusimudza, kutendeuka, uye kukanda. Paunenge uchigadzira fuselage, inofanira kuva nekuoma kwakakwana uye kugadzikana; Kuekisesaiza kunofanira kunge kuchichinjika, uye kureba kweruoko rwegwara rekusimudza nekudzikisa hachifanirwe kupfupika kuti usaite jamming. Kazhinji, panofanira kuva negwara rinotungamirira; Kurongeka kwemaitiro kunofanira kuva kunonzwisisika. Ruoko chinhu chinotsigira static uye dynamic mitoro yewrist uye workpiece, kunyanya panguva yekumhanya-mhanya, iyo inoburitsa yakakura inertial masimba, zvichikonzera kukanganisa uye kukanganisa iko kurongeka.
Paunenge uchigadzira ruoko, kutarisisa kunofanirwa kubhadharwa kune yakakwira kuomarara zvinodiwa, kutungamira kwakanaka, huremu huremu, kufamba kwakatsetseka, uye kurongeka kwepamusoro. Mamwe masisitimu ekutapurirana anofanira kunge ari mapfupi sezvinobvira kuti avandudze kutapurirana chaiko uye kugona; Kurongeka kwechikamu chimwe nechimwe kunofanirwa kuve kunonzwisisika, uye kushanda nekugadzirisa kunofanira kunge kuri nyore; Mamiriro ezvinhu akakosha anoda kutariswa kwakakosha, uye kukanganisa kwemwaranzi yekupisa kunofanirwa kuverengerwa munzvimbo dzekupisa kwepamusoro. Munzvimbo dzine ngura, kudzivirira kusvibiswa kunofanirwa kutariswa. Nzvimbo dzine njodzi dzinofanirwa kufunga nezvekudzivirira mhirizhonga.
6. Nderipi basa guru remadhigirii erusununguko paruoko?
Chiyero cherusununguko paruoko chinonyanya kuzadzisa chimiro chinodiwa cheruoko. Kuti ive nechokwadi chekuti ruoko runogona kunge rwuri munzira ipi neipi muchadenga, zvinodikanwa kuti chanza chikwanise kutenderedza matomu matatu ekuronga X, Y, uye Z muchadenga. Iine madhigirii matatu erusununguko: kupenengura, kukanda, uye kutsauka.
7. Basa uye Hunhu hweRobhoti End Tools
Ruoko rwerobhoti chinhu chinoshandiswa kubatirira maturusi ebasa kana maturusi, uye chinhu chakazvimiririra chinogona kuve nemachira kana maturusi anehunyanzvi.
8. Ndeapi marudzi ekupedzisira maturusi akavakirwa pane clamping musimboti? Ndeapi mafomu chaiwo anosanganisirwa?
Maererano clamping musimboti, kuguma clamping maoko akakamurwa kuva mhando mbiri: clamping mhando dzinosanganisira mukati rutsigiro mhando, zvokunze clamping mhando, translational zvokunze clamping mhando, hook mhando, uye chitubu mhando; Adsorption marudzi anosanganisira magineti kuyamwa uye kukweva kwemhepo.
9. Ndeupi misiyano pakati pe hydraulic uye pneumatic transmission maererano nekushanda kwesimba, kutapurirana kwekuita, uye kutonga kushanda?
Simba rekushanda. Hydraulic pressure inogona kugadzira yakakosha mutsara kufamba uye kutenderera simba, ine huremu hunobata hwe1000 kusvika 8000N; Iyo mhepo yekumanikidza inogona kuwana diki mutsara wekufamba uye kutenderera masimba, uye huremu hwekubata husingasviki 300N.
Transmission performance. Hydraulic compression diki kutapurirana yakagadzikana, isina kukanganisa, uye zvakanyanya isina kutapurirana lag, ichiratidza inonzwisa tsitsi yekumhanya inosvika 2m/s; Mhepo yakadzvanywa ine yakaderera viscosity, yakaderera pombi kurasikirwa, uye yakanyanya kuyerera velocity inogona kusvika kumusoro kumhanya, asi nekumhanya kwakanyanya, ine kusagadzikana kwakashata uye kukanganisa kwakanyanya. Kazhinji, humburumbira ndeye 50 kusvika 500mm / s.
Kudzora kuita. Hydraulic pressure uye kuyerera mwero zviri nyore kudzora, uye zvinogona kugadziridzwa kuburikidza nenhanho yekumhanya mutemo; Kudzikira kumhanyisa kwemhepo kunonetsa kudzora uye kuwana nemazvo, saka servo control haiwanzo kuitwa.
10. Ndeupi musiyano mukushanda pakati pe servo motors uye stepper motors?
Kurongeka kwekutonga kwakasiyana (kurongeka kwekutonga kwe servo motors kunovimbiswa neiyo rotary encoder kumucheto kumashure kwemota shaft, uye iko kurongeka kwekutonga kwe servo motors kwakakwira kupfuura iyo ye stepper motors); Yakasiyana yakaderera-frequency maitiro (servo motors inoshanda zvakatsiga uye haina kuona vibration kunyangwe ichimhanya yakaderera. Kazhinji, servo motors ine nani yakaderera-frequency performance pane stepper motors); Yakasiyana-siyana yekuremedza masimba (stepper motors haina kuwandisa, nepo servo motors ine simba rakawandisa rekugona); Kushanda kwakasiyana-siyana (kuvhura-loop kutonga kwema stepper motors uye yakavharwa-loop control ye AC servo drive system); Iyo yekumhanyisa mhinduro kuita kwakasiyana (iyo yekumhanyisa kuita kweAC servo system iri nani).
Nguva yekutumira: Zvita-01-2023
