Kwitekhnoloji yerobhothi yanamhlanje, ngakumbi kwicandelo leerobhothi zamashishini, itekhnoloji ezintlanu eziphambili zibandakanyaiimotor ze-servo, izinciphisi, amalungu ashukumayo, abalawuli, kunye nee-actuators. Ezi teknoloji zingundoqo zakha ngokudibeneyo inkqubo eguquguqukayo kunye nenkqubo yokulawula i-robot, iqinisekisa ukuba i-robot inokufikelela ngokuchanekileyo, ngokukhawuleza, kunye nokulawula ukunyakaza okuguquguqukayo kunye nokwenziwa komsebenzi. Oku kulandelayo kuya kubonelela ngohlalutyo olunzulu kwezi teknoloji zintlanu zingundoqo:
1. Servo motor
Ii-Servo motors "yintliziyo" yeenkqubo zamandla erobhothi, ezinoxanduva lokuguqula amandla ombane abe ngamandla oomatshini kunye nokuqhuba intshukumo yamalungu awohlukeneyo erobhothi. Eyona nto ilungileyo yeemoto ze-servo ilele kwindawo yazo echanekileyo, isantya, kunye nolawulo lwetorque.
Umgaqo osebenzayo: Iimotor ze-Servo zidla ngokusebenzisa iimotor zemagnethi ze-synchronous (PMSM) okanye iimotor ze-servo zangoku (AC Servo) ukulawula ngokuchanekileyo indawo kunye nesantya se-motor rotor ngokutshintsha isigaba segalelo langoku. I-encoder eyakhelwe-ngaphakathi inikezela ngezibonakaliso zengxelo yexesha langempela, ukwenza inkqubo yokulawula i-loop evaliweyo ukufezekisa impendulo ephezulu kunye nolawulo oluchanekileyo.
Iimpawu: Iinjini ze-Servo zineempawu zoluhlu olubanzi lwesantya, ukusebenza kakuhle okuphezulu, inertia ephantsi, njl.njl. Zinokugqiba ukukhawulezisa, ukuthoba, kunye nokubeka iintshukumo ngexesha elifutshane kakhulu, okubaluleke kakhulu kwizicelo zerobhothi ezifuna ukumisa ukuqala rhoqo kunye nokumiswa okuchanekileyo. .
Ulawulo oluhlakaniphile: Iimotor ze-servo zanamhlanje zidibanisa i-algorithms ephezulu efana nolawulo lwe-PID, ulawulo oluguquguqukayo, njl., Ezinokuthi zilungelelanise ngokuzenzekelayo iiparitha ngokuhambelana notshintsho lomthwalo ukugcina ukusebenza okuzinzileyo.
2. Umnciphisi
Umsebenzi: Isinciphisi sidityaniswe phakathi kwe-servo motor kunye nejoyinti yerobhothi, kwaye umsebenzi wayo ophambili kukunciphisa ukuphuma kwesantya esiphezulu sokujikeleza kwemoto, ukonyusa i-torque, kunye nokuhlangabezana neemfuno zetorque ephezulu kunye nesantya esisezantsi sejoyinti yerobhothi. .
Uhlobo: Abanciphisi abasetyenziswa ngokuqhelekileyo baquka i-harmonic reducers kunye ne-RV reducers. Phakathi kwabo,I-RV reducerszifanelekile ngokukodwa kwizakhiwo ezidibeneyo ze-multi axis kwiirobhothi zemizi-mveliso ngenxa yokuqina kwazo okuphezulu, ukuchaneka okuphezulu, kunye nomlinganiselo omkhulu wothumelo.
Amanqaku obugcisa: Ukuchaneka kwemveliso yokunciphisa kuchaphazela ngokuthe ngqo ukuphindaphinda ukuchaneka kokubeka kunye nokuzinza kokusebenza kwerobhothi. Ukukhutshwa kwe-mesh yangaphakathi ye-gear mesh ye-high-end reducers incinci kakhulu, kwaye kufuneka ibe nokuxhathisa okulungileyo kunye nobomi obude benkonzo.
4. Umlawuli
Umsebenzi ongundoqo: Umlawuli yingqondo yerobhothi, efumana imiyalelo kwaye ilawula imo yentshukumo yendibaniselwano nganye ngokusekelwe kwiiprogram ezicwangcisiweyo okanye iziphumo zokubala ngexesha langempela.
Ubuchwephesha bobugcisa: Ngokusekelwe kwiinkqubo ezifakwe ngaphakathi, umlawuli udibanisa iisekethe ze-hardware, iiprosesa zesignali yedijithali, i-microcontrollers, kunye ne-interfaces eyahlukeneyo yokufezekisa imisebenzi enzima efana nokucwangciswa kwentshukumo, ukuveliswa kwetrajectory, kunye ne-sensor data fusion.
I-algorithms yolawulo oluphezulu:Abalawuli berobhothi banamhlanjengokuqhelekileyo bamkele iithiyori zolawulo oluphambili ezifana neModeli yoLawulo lokuQikelela (i-MPC), i-Sliding Mode Variable Structure Control (SMC), iFuzzy Logic Control (FLC), kunye ne-Adaptive Control ukujongana nemingeni yolawulo kwiimfuno zemisebenzi enzima kunye nokusingqongileyo okungaqinisekanga.
5. Umabi welifa
Ingcaciso kunye noMsebenzi: I-actuator sisixhobo esiguqula imiqondiso yombane ekhutshwa ngumlawuli ukuba ibe yintshukumo yokwenyani yenyama. Ngokwesiqhelo ibhekisa kwiyunithi epheleleyo yokuqhuba eyenziwe ziimotor ze-servo, izinciphisi, kunye nezinto ezinxulumene noomatshini.
Ukunyanzeliswa kokulawula kunye nolawulo lwendawo: I-actuator ayifuni nje ukufezekisa ulawulo oluchanekileyo, kodwa kufuneka isebenzise i-torque okanye i-tactile yolawulo lwengxelo yendibano echanekileyo okanye iirobhothi zokuvuselela unyango, oko kukuthi, imodi yokulawula amandla, ukuqinisekisa uvakalelo lwamandla kunye nokhuseleko ngexesha. inkqubo yokusebenza.
I-Redundancy kunye neNtsebenziswano: Kwiirobhothi ezininzi ezidityanisiweyo, ii-activators ezahlukeneyo kufuneka zilungelelanise umsebenzi wazo, kwaye amaqhinga olawulo oluphezulu asetyenziswa ukujongana neziphumo zokudibanisa phakathi kwamalungu, ukufezekisa ukunyakaza okuguquguqukayo kunye nokulungiswa kwendlela yerobhothi esithubeni.
6. Iteknoloji yoluvo
Nangona ingakhankanywanga ngokucacileyo kwiiteknoloji ezingundoqo ezintlanu, iteknoloji ye-sensor yinto ebalulekileyo yeerobhothi ukufezekisa ingqiqo kunye nokwenza izigqibo ezihlakaniphile. Ukuchaneka okuphezulu kunye neerobhothi zanamhlanje ezikrelekrele, ukudibanisa abenzi boluvo abaninzi (njengabavavanyi bendawo, izinzwa zetorque, izinzwa zombono, njl.njl.) ukufumana ulwazi lokusingqongileyo kunye nobume bobuqu kubalulekile.
Isikhundla kunye ne-velocity sensors: I-encoder ifakwe kwi-servo motor ukubonelela ngexesha langempela kunye nengxelo yesantya, ukwenza inkqubo yokulawula i-loop evaliweyo; Ukongezelela, i-joint angle sensors inokulinganisa ngokuchanekileyo i-angle yokujikeleza yokwenene yejoyinti ngalinye elihambayo.
I-Force kunye ne-torque sensors: ifakwe kwi-infector end of actuators okanye iirobhothi, ezisetyenziselwa ukuva amandla oqhagamshelwano kunye ne-torque, eyenza iirobhothi zibe namandla okusebenza kakuhle kunye neempawu zokusebenzisana ezikhuselekileyo.
Izaziso zokujonga okubonakalayo kunye nokusingqongileyo: kubandakanywa iikhamera, i-LiDAR, iikhamera ezinzulu, njl., ezisetyenziselwa ukuhlaziywa kwe-3D ye-scene, ukuqaphela okujoliswe kuyo kunye nokulandelela, ukuhamba komqobo kunye neminye imisebenzi, eyenza iirobhothi zivumelane neendawo eziguqukayo kunye nokwenza izigqibo ezihambelanayo.
7. Unxibelelwano kunye neTeknoloji yeNethiwekhi
Itekhnoloji yonxibelelwano esebenzayo kunye noyilo lwenethiwekhi ibaluleke ngokulinganayo kwiinkqubo zerobhothi ezininzi kunye neemeko zolawulo olude.
Unxibelelwano lwangaphakathi: Utshintshiselwano lwedatha yesantya esiphezulu phakathi kwabalawuli naphakathi kwabalawuli kunye neenzwa kufuna iteknoloji yebhasi ezinzile, njengeCANopen, EtherCAT, kunye nezinye iiprothokholi ze-Ethernet zexesha langempela.
Unxibelelwano lwangaphandle: Ngokusebenzisa itekhnoloji yonxibelelwano engenazingcingo njenge-Wi Fi, i-5G, iBluetooth, njl., iirobhothi zinokusebenzisana nezinye izixhobo kunye neeseva zefu ukuphumeza ukubeka iliso kude, uhlaziyo lwenkqubo, uhlalutyo olukhulu lwedatha, kunye neminye imisebenzi.
8. Ulawulo lwamandla kunye namandla
Inkqubo yamandla: Khetha unikezelo lwamandla olufanelekileyo kwiimpawu zomsebenzi werobhothi, kwaye uyile inkqubo yolawulo lwamandla olufanelekileyo ukuqinisekisa ukusebenza okuzinzileyo kwexesha elide kunye nokuhlangabezana neemfuno zamandla aphezulu ngequbuliso.
Ukubuyiselwa kwamandla kunye netekhnoloji yokonga amandla: Ezinye iinkqubo zerobhothi eziphambili sele ziqalisile ukwamkela itekhnoloji yokubuyisela amandla, eguqula amandla oomatshini kwindawo yokugcina amandla ombane ngexesha lokuncipha ukuphucula ukusebenza kakuhle kwamandla.
9. I-Software kunye neNqanaba le-Algorithm
Ukucwangciswa kwentshukumo kunye nolawulo lwe-algorithms: Ukusuka kwisizukulwana setrajectory kunye nokulungiswa kwendlela ukuya ekubhaqweni kongquzulwano kunye nezicwangciso zokuthintela imiqobo, i-algorithms ephucukileyo ixhasa ukunyakaza okusebenzayo kunye nokuchanekileyo kweerobhothi.
Ubukrelekrele boBuchule kunye nokuFunda okuZimelayo: Ngokusebenzisa itekhnoloji efana nokufunda koomatshini kunye nokufunda nzulu, iirobhothi zinokuqhubeka ziqeqesha kwaye ziphindaphinde ukuze ziphucule izakhono zazo zokugqibezela umsebenzi, zivumela ukuba kube nzima ukwenza izigqibo kunye nokuziphatha okuzimeleyo.
10.Itekhnoloji yokunxibelelana kwekhompyuter yabantu
Kwiimeko ezininzi zokusetyenziswa, ngakumbi kwimimandla yenkonzo yeerobhothi kunye neerobhothi ezisebenzisanayo, itekhnoloji yokunxibelelana nabantu kwikhompyuter ibalulekile:
Ukuqatshelwa kwentetho kunye nokudibanisa: Ngokudibanisa iteknoloji yokucubungula ulwimi lwendalo (NLP), iirobhothi ziyakwazi ukuqonda imiyalelo yelizwi lomntu kunye nokubonelela ngempendulo kwintetho ecacileyo kunye nendalo.
Ukusebenzisana kweTactile: Yila iirobhothi ezineendlela zokuphendula ezibambekayo ezinokulinganisa iimvakalelo ezibambekayo, eziphucula amava omsebenzisi kunye nokhuseleko ngexesha lokusebenza okanye ukusebenzisana.
Ukuqaphela umqondiso: Ukusebenzisa iteknoloji yombono wekhompyutheni ukubamba kunye nokuhlalutya izimbo zomzimba zabantu, okwenza iirobhothi ziphendule kwimiyalelo ye-non-contact gesture kunye nokufezekisa ulawulo olusebenzayo olusebenzayo.
Imbonakalo yobuso kunye nokubala kweemvakalelo: Iirobhothi zentlalo zinenkqubo yokubonakalisa ubuso kunye nesakhono sokuqaphela iimvakalelo ezinokubonisa iimvakalelo, ngaloo ndlela zilungelelanise ngcono iimfuno zeemvakalelo zabantu kunye nokuphucula ukusebenza konxibelelwano.
Ixesha lokuposa: Sep-05-2024
