1. Imigaqo esisiseko kunye nesakhiwo serobhothi ye-axis emine:
1. Ngokomgaqo-siseko: I-robot ye-axis emine yenziwe ngamacandelo amane adityanisiweyo, ngalinye lingenza intshukumo ye-three-dimensional. Olu yilo lunika ukukwazi ukusebenza okuphezulu kunye nokuguquguquka, ukuyivumela ukuba yenze imisebenzi eyahlukeneyo kwiindawo ezimxinwa. Inkqubo yokusebenza ibandakanya ulawulo oluphambili lwekhomputha efumana imiyalelo yomsebenzi, ukuhlalutya kunye nokutolika imiyalelo yokumisela iiparamitha zentshukumo, ukwenza imisebenzi ye-kinematic, dynamic, kunye ne-interpolation, kunye nokufumana iiparameters zentshukumo ezilungelelanisiweyo kwijoyinti ngalinye. Ezi parameters ziphuma kwinqanaba lokulawula i-servo, ukuqhuba amajoyina ukuvelisa ukunyakaza okuhambelanayo. Izivamvo zibuyisela umva imiqondiso yentshukumo edibeneyo kwinqanaba lolawulo lwe-servo ukwenza ulawulo lwendawo oluvaliweyo, ukufikelela kwintshukumo echanekileyo yendawo.
2. Ngokubhekiselele kwisakhiwo, ngokuqhelekileyo iqulethe isiseko, umzimba wengalo, i-forearm, kunye ne-gripper. Inxalenye yokubamba inokuxhotyiswa ngezixhobo ezahlukeneyo ngokweemfuno ezahlukeneyo.
2. Uthelekiso phakathi kweerobhothi ezine ze-axis kunye neerobhothi ezintandathu:
1. Amanqanaba eNkululeko: I-quadcopter inamazinga amane enkululeko. Amalungu amabini okuqala ayakwazi ukujikeleza ngokukhululekileyo ngasekhohlo nasekunene kwinqwelo-moya ethe tye, ngelixa intonga yentsimbi yesithako sesithathu inokunyuka iphinde ihle kwinqwelomoya ethe nkqo okanye ijikeleze ijikeleze i-axis ethe nkqo, kodwa ayikwazi ukuthambeka; Irobhothi ye-axis emithandathu inedigri ezintandathu zenkululeko, amalungu amabini ngaphezu kwerobhothi ejikelezayo emine, kwaye inamandla afanayo neengalo kunye nezihlahla zomntu. Iyakwazi ukuthabatha amacandelo ajongene naluphi na ulwalathiso kwinqwelo-moya ethe tye kwaye iwabeke kwiimveliso ezipakishwe kwii-angles ezikhethekileyo.
2. Iimeko zesicelo: Iirobhothi ezine ze-axis zifanelekile kwimisebenzi efana nokuphatha, i-welding, i-dispensing, ukulayisha kunye nokukhulula ezifuna ukuguquguquka okuphantsi kodwa zineemfuno ezithile zesantya kunye nokuchaneka; Iirobhothi ze-axis ezintandathu ziyakwazi ukwenza imisebenzi enzima kunye nechanekileyo, kwaye isetyenziswa ngokubanzi kwiimeko ezifana nendibano enzima kunye nokuchaneka okuphezulu.
3. Iindawo zokusetyenziswa kwee-quadcopters 5:
1. Ukwenziwa kwemizi-mveliso: ekwaziyo ukutshintsha umsebenzi wezandla ukuze igqibezele imisebenzi enzima, eyingozi, okanye echanekileyo, efana nokuphatha, ukuncamathelisa, kunye nokuwelda kushishino lweemoto kunye nezithuthuthu; INdibano, uvavanyo, i-soldering, njl. kwishishini lemveliso ye-elektroniki.
2. Intsimi yezoNyango: Isetyenziselwa utyando oluncinci, ukuchaneka kwayo okuphezulu kunye nokuzinza kwenza imisebenzi yokuhlinzwa ichaneke kwaye ikhuselekile, ukunciphisa ixesha lokubuyisela isigulane.
3. ULungiselelo kunye nokugcinwa kwempahla: Ukutshintshela okuzenzekelayo kweempahla ukusuka kwenye indawo ukuya kwenye, ukuphucula ukugcinwa kwezinto kunye nokusebenza kakuhle.
4. Ezolimo: Inokusetyenziswa kumabhoma kunye nezindlu zokugcina izityalo ukugqiba imisebenzi efana nokukha iziqhamo, ukuthena, nokutshiza, ukuphucula imveliso yezolimo esebenzayo kunye nomgangatho.
4. UkuCwangciswa kunye noLawulo lweeRobhothi ezine ze-Axis:
1. Ukucwangcisa: Kuyimfuneko ukuba ulawule ulwimi lwenkqubo kunye nesoftware yeerobhothi, ubhale iinkqubo ngokweemfuno ezithile zomsebenzi, kwaye ufezekise ulawulo lwentshukumo kunye nokusebenza kweerobhothi. Ngale software, iirobhothi zinokusebenza kwi-intanethi, kubandakanya unxibelelwano kunye nabalawuli, amandla e-servo, ukubuyisela imvelaphi, ukunyakaza kwe-intshi, ukulandelela amanqaku, kunye nemisebenzi yokubeka iliso.
2. Indlela yokulawula: Inokulawulwa nge-PLC kunye nabanye abalawuli, okanye ilawulwe ngesandla ngependant yokufundisa. Xa unxibelelana ne-PLC, kuyimfuneko ukulawula iiprothokholi zonxibelelwano ezifanelekileyo kunye neendlela zoqwalaselo ukuqinisekisa unxibelelwano oluqhelekileyo phakathi kwerobhothi kunye nePLC.
5. Ukulinganisa iliso lesandla lequadcopter:
1. Injongo: Kwizicelo ezisebenzayo zerobhothi, emva kokuxhobisa iirobhothi ezinezinzwa ezibonakalayo, kuyimfuneko ukuguqula ulungelelwaniso kwindlela yokujonga i-robot coordinate system. Ukulinganisa iliso lesandla kukufumana i-matrix yokuguqulwa ukusuka kwindlela yokujonga ukulungelelanisa ukuya kwinkqubo yokulungelelanisa yerobhothi.
2. Indlela: Kwi-robot ye-axis planar emine, ekubeni iindawo ezithathwe yikhamera kwaye ziqhutywe yingalo yerobhothi zombini iindiza, umsebenzi wokulinganisa iliso lesandla unokuguqulwa ekubaleni ukuguqulwa kwe-affine phakathi kweendiza ezimbini. Ngokuqhelekileyo, "indlela ye-9-point" isetyenzisiweyo, ebandakanya ukuqokelela idatha kwiiseti ezingaphezu kwe-3 (ngokuqhelekileyo iiseti ezi-9) zamanqaku ahambelanayo kunye nokusebenzisa indlela encinci yesikwere ukusombulula i-matrix yokuguqulwa.
6. Ugcino kunye nokugcinwa kwee-quadcopters:
1. Ukugcinwa kwansuku zonke: kubandakanywa nokuhlolwa rhoqo kokubonakala kwerobhothi, ukudityaniswa komdibaniso ngamnye, isimo sokusebenza kweenzwa, njl., Ukuqinisekisa ukusebenza okuqhelekileyo kwerobhothi. Ngexesha elifanayo, kuyimfuneko ukugcina indawo yokusebenza yerobhothi icocekile kwaye yomile, kwaye ugweme impembelelo yothuli, i-oil stains, njl.
2. Ukugcinwa rhoqo: Ngokusetyenziswa kwerobhothi kunye neengcebiso zomenzi, gcina irobhothi rhoqo, njengokutshintsha ioli yokuthambisa, ukucoca izihluzi, ukujonga iinkqubo zombane, njl njl. Umsebenzi wokulungisa unokwandisa ubomi benkonzo yeerobhothi, ukuphucula umsebenzi wabo. ukusebenza kakuhle kunye nokuzinza.
Ngaba kukho umahluko omkhulu weendleko phakathi kwerobhothi ye-axis emine kunye nerobhothi ye-axis ezintandathu?
1. Ixabiso lecandelo 4:
1. Umnciphisi: Umnciphisi yinxalenye ebalulekileyo yeendleko zerobhothi. Ngenxa yenani elikhulu lamalungu, iirobhothi ze-axis ezintandathu zifuna ezinye izinciphisi, kwaye zihlala zineemfuno zokuchaneka okuphezulu kunye nomthamo womthwalo, ezinokufuna abanciphisi bomgangatho ophezulu. Umzekelo, ii-RV reducers zinokusetyenziswa kwezinye iindawo eziphambili, ngelixa iirobhothi ezine ze-axis zineemfuno ezisezantsi zokunciphisa. Kwezinye iimeko zesicelo, iinkcukacha kunye nomgangatho wabanciphisi abasetyenzisiweyo unokuba ngaphantsi kunezo iirobhothi ezintandathu ze-axis, ngoko ke iindleko zokunciphisa iirobhothi ezintandathu ziya kuba phezulu.
2. Ii-motor ze-Servo: Ukulawulwa kwentshukumo yeerobhothi ze-axis ezintandathu kunzima ngakumbi, kufuna ii-motor ezininzi ze-servo ukulawula ngokuchanekileyo intshukumo yejoyinti ngalinye, kunye neemfuno eziphezulu zokusebenza kwee-motor ze-servo ukufezekisa impendulo yesenzo esikhawulezayo nesichanekileyo, esonyusa iindleko ze-servo. iimotor kwiirobhothi ze-axis ezintandathu. Iirobhothi ezine ze-axis zinezihlanganisi ezimbalwa, ezifuna ii-motor ze-servo ezincinci kunye neemfuno ezisezantsi zokusebenza, okukhokelela kwiindleko eziphantsi.
2. Iindleko zenkqubo yokulawula: Inkqubo yokulawula i-robot ye-axis ezintandathu idinga ukujongana nolwazi oluninzi lwentshukumo kunye nokucwangciswa kwe-trajectory eyinkimbinkimbi, okubangelwa ubunzima obuphezulu be-algorithms yokulawula kunye nesofthiwe, kunye nophuhliso oluphezulu kunye neendleko zokulungisa. Ngokwahlukileyo, ukulawulwa kwentshukumo yerobhothi ye-axis emine kulula, kwaye iindleko zenkqubo yokulawula ziphantsi.
3. I-R&D kunye neendleko zokuyila: Ubunzima boyilo lweerobhothi ze-axis ezintandathu zikhulu, zifuna iteknoloji yobunjineli kunye notyalo-mali lwe-R&D ukuqinisekisa ukusebenza kwabo kunye nokuthembeka. Umzekelo, uyilo lolwakhiwo oludibeneyo, i-kinematics, kunye nohlalutyo lwe-dynamics yeerobhothi ze-axis ezintandathu zifuna uphando olunzulu ngakumbi kunye nokuphucula, ngelixa ukwakhiwa kweerobhothi ezine ze-axis zilula kwaye iindleko zoyilo lophando kunye nophuhliso ziphantsi.
4. Iindleko zokuvelisa kunye nendibano: Iirobhothi ze-axis ezintandathu zinenani elikhulu lamacandelo, kwaye iinkqubo zokuvelisa kunye nendibano zinzima kakhulu, zifuna ukuchaneka okuphezulu kunye neemfuno zenkqubo, ezikhokelela ekunyuseni kweendleko zabo zokuvelisa kunye nokudibanisa. Isakhiwo serobhothi ye-axis emine ilula, inkqubo yokuvelisa kunye nendibano ilula, kwaye iindleko nazo ziphantsi.
Nangona kunjalo, umahluko weendleko ezithile nawo uya kuphenjelelwa zizinto ezinje ngophawu, iiparamitha zokusebenza, kunye nolungelelwaniso olusebenzayo. Kwezinye iimeko zesicelo esisezantsi, umahluko weendleko phakathi kweerobhothi ezine ze-axis kunye neerobhothi ezintandathu ze-axis zinokuba zincinci; Kwintsimi yesicelo esiphezulu, ixabiso le-robot ye-axis ezintandathu ingaba phezulu kakhulu kune-robot ye-axis emine.
Ixesha lokuposa: Nov-08-2024
