Ho theknoloji ea sejoale-joale ea liroboto, haholo lefapheng la liroboto tsa indasteri, mahlale a mahlano a bohlokoa a kenyelletsali-motor tsa servo, li-reducers, manonyeletso a tsamaeang, li-controller le li-activator. Litheknoloji tsena tsa mantlha ka kopanelo li haha sistimi e matla le sistimi ea taolo ea roboto, ho netefatsa hore roboto e ka fihlela taolo e nepahetseng, e potlakileng le e bonolo ea ho tsamaisa le ho etsa mosebetsi. Lintlha tse latelang li tla fana ka tlhahlobo e tebileng ea mahlale ana a mahlano a bohlokoa:
1. Servo motor
Servo motors ke "pelo" ea litsamaiso tsa matla a liroboto, tse ikarabellang bakeng sa ho fetola matla a motlakase ho ba matla a mochini le ho tsamaisa motsamao oa manonyeletso a fapaneng a roboto. Monyetla oa mantlha oa li-motor tsa servo o maemong a bona a holimo, lebelo le matla a ho laola torque.
Molao-motheo oa ho sebetsa: Li-motor tsa Servo hangata li sebelisa li-motor synchronous motors (PMSM) kapa li-servo motors tsa hajoale (AC Servo) ho laola hantle boemo le lebelo la enjene ka ho fetola mohato oa hona joale oa ho kenya. Encoder e hahelletsoeng e fana ka matšoao a maikutlo a nako ea nnete, e etsa sistimi e koetsoeng ea ho laola ho fihlella karabelo e matla le taolo e nepahetseng.
Litšobotsi: Li-motor tsa servo li na le litšobotsi tsa lebelo le pharalletseng, ts'ebetso e phahameng, inertia e tlase, joalo-joalo. Li ka qeta ho potlakisa, ho theola le ho beha liketso ka nako e khuts'oane haholo, e leng bohlokoa bakeng sa lits'ebetso tsa liroboto tse hlokang khafetsa ho emisa le ho beha maemo ka nepo. .
Taolo e bohlale: Li-motor tsa sejoale-joale tsa servo li boetse li kopanya li-algorithms tse tsoetseng pele joalo ka taolo ea PID, taolo e ikamahanyang le maemo, joalo-joalo, e ka ikamahanyang le maemo ho latela liphetoho tsa mojaro ho boloka ts'ebetso e tsitsitseng.
2. Mofokoli
Mosebetsi: Sehlahisoa se hokahane pakeng tsa servo motor le motsoako oa roboto, mme mosebetsi oa eona o ka sehloohong ke ho fokotsa tlhahiso ea lebelo le phahameng la koloi, ho eketsa torque, le ho fihlela litlhoko tsa torque e phahameng le lebelo le tlase la motsoako oa roboto. .
Mofuta: Lisebelisoa tse sebelisoang ka tloaelo li kenyelletsa li-harmonic reducers le li-reducers tsa RV. Har'a bona,Lisebelisoa tsa RVli loketse ka ho khetheha meaho e kopaneng ea li-axis tse ngata lirobotong tsa indasteri ka lebaka la ho tiea ha tsona ho phahameng, ho nepahala ho phahameng, le karolelano e kholo ea phetisetso.
Lintlha tsa tekheniki: Ho nepahala ha tlhahiso ea mochine o fokotsang ho ama ka ho toba ho pheta-pheta ho nepahala ha boemo le botsitso ba ts'ebetso ea roboto. Li-mesh tse ka hare tsa lisebelisoa tsa lisebelisoa tse phahameng li nyenyane haholo, 'me li hloka ho ba le khanyetso e ntle ea ho apara le bophelo bo bolelele ba tšebeletso.
4. Molaoli
Mosebetsi oa mantlha: Molaoli ke boko ba roboto, e amohelang litaelo le ho laola boemo ba ho sisinyeha ha lenonyeletso ka leng ho latela mananeo a seng a setiloe kapa liphetho tsa lipalo tsa nako ea nnete.
Mehaho ea botekgeniki: Ho ipapisitsoe le litsamaiso tse kentsoeng, molaoli o kopanya li-circuits tsa hardware, li-processor tsa matshwao a dijithale, li-microcontrollers, le li-interfaces tse fapaneng ho fihlela mesebetsi e rarahaneng joalo ka moralo oa motsamao, tlhahiso ea trajectory le fusion ea data ea sensor.
Litaolo tse tsoetseng pele tsa taolo:Liroboto tsa mehleng ea kajenohangata ba amohela likhopolo tse tsoetseng pele tsa taolo tse kang Model Predictive Control (MPC), Sliding Mode Variable Structure Control (SMC), Fuzzy Logic Control (FLC), le Adaptive Control ho rarolla mathata a taolo litlhoko tse rarahaneng tsa mosebetsi le tikoloho e sa tsitsang.
5. Mophethi wa phahlo ya mofu
Tlhaloso le Mosebetsi: Sets'oants'o ke sesebelisoa se fetolang lipontšo tsa motlakase tse hlahisoang ke molaoli hore e be liketso tsa 'mele. Hangata e bua ka yuniti e felletseng ea ho khanna e entsoeng ka li-servo motors, li- reducer, le likarolo tse amanang le mochini.
Matla a taolo le taolo ea maemo: Sebapali ha se hloke feela ho fihlela taolo e nepahetseng ea boemo, empa hape se hloka ho kenya ts'ebetsong taolo ea torque kapa tactile bakeng sa kopano e nepahetseng kapa liroboto tsa ntlafatso ea bongaka, ke hore, mokhoa oa taolo ea matla, ho netefatsa ts'ireletso ea matla le polokeho nakong. ts'ebetso ea ts'ebetso.
Redundancy le Tšebelisano: Lirobotong tse ngata tse kopaneng, li-activator tse fapaneng li hloka ho hokahanya mosebetsi oa tsona, 'me maano a taolo a tsoetseng pele a sebelisoa ho sebetsana le litlamorao tsa ho kopanya lipakeng tsa manonyeletso, ho fihlela motsamao o feto-fetohang le ts'ebetso ea ts'ebetso ea roboto sebakeng.
6. Theknoloji ea sensor
Le hoja ho sa buuoe ka ho hlaka litheknoloji tse hlano tsa bohlokoa, theknoloji ea sensor ke karolo ea bohlokoa bakeng sa liroboto ho finyella maikutlo le ho etsa liqeto ka bohlale. Bakeng sa liroboto tsa sejoale-joale tse nepahetseng haholo le tse bohlale, ho kopanya li-sensor tse ngata (tse kang li-position sensors, torque sensors, vision sensor, joalo-joalo) ho fumana leseli la tikoloho le boemo ba hau ke ba bohlokoa.
Li-sensor tsa boemo le lebelo: Encoder e kentsoe mochining oa servo ho fana ka boemo ba nako ea nnete le maikutlo a lebelo, ho etsa sistimi ea taolo e koetsoeng; Ntle le moo, li-sensor tsa angle tse kopaneng li ka lekanya ka nepo sekhahla sa ho potoloha sa lenonyeletso le leng le le leng le tsamaeang.
Li-sensor tsa Force le torque: tse kentsoeng qetellong ea li-actuator kapa liroboto, tse sebelisetsoang ho utloa matla a ho ikopanya le torque, tse nolofalletsang liroboto ho ba le bokhoni ba ts'ebetso e boreleli le litšobotsi tse sireletsehileng tsa ho sebelisana.
Li-sensor tsa pono le tikoloho: ho kenyeletsoa lik'hamera, LiDAR, lik'hamera tse tebileng, joalo-joalo, tse sebelisetsoang ho haha setšoantšiso sa 3D, ho lemoha sepheo le ho lata, ho sesa litšitiso le mesebetsi e meng, e nolofalletsang liroboto ho ikamahanya le maemo a matla le ho etsa liqeto tse lumellanang.
7. Theknoloji ea puisano le marang-rang
Theknoloji e sebetsang ea puisano le meralo ea marang-rang e bohlokoa ka mokhoa o ts'oanang lits'ebetsong tsa liroboto tse ngata le maemong a taolo ea hole.
Puisano ea ka hare: Phapanyetsano ea data e potlakileng pakeng tsa balaoli le pakeng tsa balaoli le li-sensor e hloka theknoloji ea libese e tsitsitseng, e kang CANopen, EtherCAT, le mekhoa e meng ea nako ea sebele ea Ethernet ea indasteri.
Puisano ea kantle: Ka litheknoloji tsa puisano tse se nang mohala tse kang Wi Fi, 5G, Bluetooth, joalo-joalo, liroboto li ka sebelisana le lisebelisoa tse ling le li-server tsa leru ho fihlela tlhahlobo e hole, lintlafatso tsa mananeo, tlhahlobo e kholo ea data le mesebetsi e meng.
8. Taolo ea Matla le Matla
Sistimi ea motlakase: Khetha sesebelisoa sa motlakase se loketseng litšobotsi tsa mosebetsi oa roboto, 'me u rale sistimi e loketseng ea taolo ea matla ho netefatsa ts'ebetso e tsitsitseng ea nako e telele le ho fihlela litlhoko tsa tšohanyetso tsa matla a phahameng.
Theknoloji ea ho khutlisa matla le ho boloka matla: Litsamaiso tse ling tsa liroboto tse tsoetseng pele li se li qalile ho sebelisa theknoloji ea ho khutlisa matla, e fetolang matla a mochini ho boloka matla a motlakase nakong ea ho fokotseha ho ntlafatsa ts'ebetso ea matla ka kakaretso.
9. Software le Algorithm Level
Li-algorithms tsa ho rera le ho laola: Ho tloha molokong oa morao-rao le ho ntlafatsa tsela ho ea ho ho lemoha ho thulana le mekhoa ea ho qoba litšitiso, li-algorithms tse tsoetseng pele li tšehetsa motsamao o nepahetseng le o nepahetseng oa liroboto.
Artificial Intelligence and Autonomous Learning: Ka ho sebelisa mahlale a kang ho ithuta ka mochini le ho ithuta ka botebo, liroboto li ka tsoela pele ho koetlisa le ho pheta-pheta ho ntlafatsa bokhoni ba bona ba ho phethela mosebetsi, ho etsa hore ho be bonolo ho etsa liqeto le boits'oaro bo ikemetseng.
10.Theknoloji ea tšebelisano ea khomphutha ea batho
Maemong a mangata a ts'ebeliso, haholo-holo mafapheng a liroboto tsa lits'ebeletso le liroboto tse sebelisanang, theknoloji ea tšebelisano ea batho le likhomphutha e bohlokoa:
Tlhokomeliso ea puo le motsoako: Ka ho kopanya theknoloji ea ho sebetsa ha puo ea tlhaho (NLP), liroboto li khona ho utloisisa litaelo tsa lentsoe la motho le ho fana ka maikutlo ka puo e hlakileng le ea tlhaho.
Tšebelisano ea Tactile: Etsa liroboto tse nang le mekhoa ea ho fana ka maikutlo a tactile e ka etsisang maikutlo a sebele a tactile, ho ntlafatsa phihlelo ea mosebedisi le polokeho nakong ea ts'ebetso kapa puisano.
Tlhokomeliso ea boitšisinyo: Ho sebelisa theknoloji ea pono ea komporo ho tšoara le ho sekaseka boitšisinyo ba batho, ho nolofalletsa liroboto ho arabela litaelong tsa boitšisinyo tse sa amaneng le batho le ho fumana taolo e hlakileng ea ts'ebetso.
Ponahalo ea sefahleho le lipalo tsa maikutlo: Liroboto tsa sechaba li na le mokhoa oa ho hlahisa sefahleho le bokhoni ba ho lemoha maikutlo a ka hlalosang maikutlo, ka ho etsa joalo li ikamahanya le litlhoko tsa batho tsa maikutlo le ho ntlafatsa katleho ea puisano.
Nako ea poso: Sep-05-2024
