Iyo delta robhotiimhando yerobhoti rakafanana rinowanzoshandiswa mumaindasitiri otomatiki. Iyo ine maoko matatu akabatana kune yakajairwa base, neruwoko rumwe norumwe rune nhevedzano yezvibatanidza zvakabatanidzwa nemajoini. Maoko anodzorwa nemotor uye masensa kuti afambe nenzira yakarongeka, zvichiita kuti robhoti riite mabasa akaomarara nekukurumidza uye nemazvo. Muchikamu chino, tichakurukura nezvekutanga kushanda kweiyo delta robhoti control system, kusanganisira iyo control algorithm, sensors, uye actuators.
Kudzora algorithm
Iyo delta robhoti yekudzora algorithm ndiyo moyo weiyo control system. Iyo ine basa rekugadzirisa masaini ekuisa kubva kumarobhoti sensors uye nekuashandura kuita mafambiro emirairo yemamotor. Iyo control algorithm inoitwa pane programmable logic controller (PLC) kana microcontroller, iyo yakadzikwa mukati meiyo robhoti control system.
Iyo control algorithm ine zvikamu zvitatu zvikuru: kinematics, trajectory kuronga, uye mhinduro yekudzora. Kinematics inotsanangura hukama huripomarobhoti akabatana makona uye chinzvimbouye kutaridzika kweiyo robhoti yekupedzisira-effector (kazhinji gripper kana chishandiso). Kuronga kwetrajectory kune chekuita nechizvarwa chemirairo yekufamba kufambisa robhoti kubva pachinzvimbo chayo kuenda kunzvimbo yainoda maererano nenzira yakatarwa. Kudzora kwemhinduro kunosanganisira kugadzirisa mafambiro erobhoti zvichibva pane ekunze mhinduro masaini (semuenzaniso sensor kuverenga) kuve nechokwadi chekuti robhoti rinotevera raunoda trajectory nemazvo.
Sensors
Iyo delta robot's control systeminovimba neseti yemasensa kuti atarise akasiyana maitirwo erobhoti, senge chinzvimbo charo, kumhanya, uye kukurumidza. Masensa anonyanya kushandiswa mumarobhoti edelta maoptical encoder, anoyera kutenderera kwemajoini erobhoti. Aya ma sensors anopa angular chinzvimbo mhinduro kune iyo control algorithm, ichigonesa kuti ione nzvimbo yerobhoti uye velocity munguva chaiyo-nguva.
Imwe mhando yakakosha ye sensor inoshandiswa mu delta marobhoti ndeye simba masensa, ayo anoyera masimba uye torques anoshandiswa neanopedzisa robhoti. Masensa aya anoita kuti robhoti riite mabasa anodzorwa nesimba, akadai sekubata zvinhu zvisina kusimba kana kushandisa simba chairo panguva yekuungana.
Actuators
Iyo delta robhoti yekudzora system ine basa rekudzora mafambiro erobhoti kuburikidza neseti yemagetsi. Iwo anonyanya kushandiswa actuators anoshandiswa mumarobhoti edelta mota dzemagetsi, dzinotyaira majoini erobhoti kuburikidza nemagiya kana mabhandi. Iwo mamotor anodzorwa neiyo control algorithm, iyo inovatumira iwo chaiwo mafambiro mirairo zvichibva pane inopinza kubva kune iyo robhoti sensors.
Pamusoro pemotor, delta marobhoti anogona zvakare kushandisa mamwe marudzi emagetsi, senge hydraulic kana pneumatic actuators, zvichienderana nezvinodiwa zvekushandisa.
Mukupedzisa, iyo yekudzora sisitimu yedelta robhoti yakaoma uye yakanyanya optimized sisitimu inoita kuti robhoti riite mabasa nekumhanya kwakanyanya uye nemazvo. Iyo control algorithm ndiyo moyo weiyo sisitimu, kugadzirisa masaini ekuisa kubva kumarobhoti sensors uye kudzora mafambiro erobhoti kuburikidza neseti yemagetsi. Masensa ari mudelta robhoti anopa mhinduro pane chinzvimbo cherobhoti, kumhanya, uye kukurumidza, ukuwo ma actuator anotyaira mafambiro erobhoti nenzira yakarongeka. Nekubatanidza chaiyo kudzora algorithms ne advanced sensor uye actuator tekinoroji, delta marobhoti ari kushandura nzira iyo maindasitiri otomatiki anoitwa.
Nguva yekutumira: Sep-27-2024
