I-10 yolwazi oluqhelekileyo omele ukwazi malunga neerobhothi zoshishino, kuyacetyiswa ukuba ubhukhmaki!
1. Yintoni irobhothi yoshishino? Yenziwe ngantoni? Ihamba njani? Indlela yokulawula? Yiyiphi indima enokuyidlala?
Mhlawumbi kukho ukuthandabuza malunga noshishino lweerobhothi, kwaye ezi ngongoma ze-10 zolwazi zinokukunceda ngokukhawuleza ukuseka ukuqonda okusisiseko kweerobhothi zoshishino.
Irobhothi ngumatshini onamanqanaba amaninzi enkululeko kwindawo enemigangatho emithathu kwaye unokufikelela kwizenzo ezininzi ze-anthropomorphic kunye nemisebenzi, ngelixa iirobhothi zoshishino ziirobhothi ezisetyenziswa kwimveliso yeshishini. Iimpawu zayo zezi: ukucwangciswa, i-anthropomorphism, i-universality, kunye nokuhlanganiswa kwe-mechatronics.
2. Ngawaphi amacandelo enkqubo yeerobhothi zoshishino? Ziziphi iindima zabo?
Inkqubo yokuqhuba: isixhobo sokuhambisa esenza ukuba irobhothi isebenze. Inkqubo yolwakhiwo lweMechanical: idigri eninzi yenkululeko inkqubo yomatshini eyenziwe ngamacandelo amathathu amakhulu: umzimba, iingalo, kunye nezixhobo zokugqibela zengalo yerobhothi. Inkqubo yokubona: iqulunqwe iimodyuli zangaphakathi zenzwa kunye neemodyuli zenzwa zangaphandle zokufumana ulwazi malunga neemeko zendalo zangaphakathi nangaphandle. Inkqubo yokusebenzisana yerobhothi: inkqubo eyenza iirobhothi zoshishino zikwazi ukusebenzisana kunye nokulungelelanisa kunye nezixhobo kwindawo yangaphandle. Inkqubo yokusebenzisana koomatshini babantu: isixhobo apho abaqhubi bathatha inxaxheba kulawulo lwerobhothi kunye nokunxibelelana nerobhothi. Inkqubo yokulawula: Ngokusekwe kwiprogram yokufundisa umsebenzi werobhothi kunye nengxelo yengxelo evela kwi-sensors, ilawula indlela yokwenziwa kwerobhothi ukugqiba iintshukumo ezichaziweyo kunye nemisebenzi.
3. Lithetha ukuthini iqondo lerobhothi lenkululeko?
Amanqanaba enkululeko abhekiselele kwinani leentshukumo ezizimeleyo zolungelelwaniso lwe-axis ezinerobhothi, kwaye akufuneki zibandakanye idigri yokuvula nokuvala yenkululeko yesibambi (isixhobo sokuphela). Ukuchaza indawo kunye nokuma kwento kwisithuba esine-dimensional ezintathu kufuna izidanga ezintandathu zenkululeko, imisebenzi yesikhundla ifuna idigri ezintathu zenkululeko (esinqeni, egxalabeni, engqinibeni), kwaye imisebenzi yokuma ifuna idigri ezintathu zenkululeko (i-pitch, yaw, roll).
Izidanga zenkululeko yeerobhothi zoshishino ziyilwe ngokwenjongo yazo, ezinokuba ngaphantsi kwe-6 degrees yenkululeko okanye ngaphezulu kwe-6 degrees yenkululeko.
4. Ziziphi iiparamitha eziphambili ezibandakanyekayo kwiirobhothi zoshishino?
Inqanaba lenkululeko, ukuphinda-phinda ukuchaneka kokuma, uluhlu lokusebenza, isantya esiphezulu sokusebenza, kunye nomthamo wokuthwala umthwalo.
5. Yeyiphi imisebenzi yomzimba kunye neengalo ngokulandelelanayo? Yiyiphi imiba efanele iphawulwe?
I-fuselage licandelo elixhasa iingalo kwaye ngokubanzi lifezekisa iintshukumo ezifana nokuphakamisa, ukujika, kunye nokuphosa. Xa uyila i-fuselage, kufuneka ibe nokuqina okwaneleyo kunye nokuzinza; Umthambo kufuneka ube bhetyebhetye, kwaye ubude bomkhono wesikhokelo sokuphakamisa nokwehliswa abufanele bube bufutshane kakhulu ukuphepha ukujama. Ngokuqhelekileyo, kufuneka kubekho isixhobo esikhokelayo; Ulungelelwaniso lwesakhiwo kufuneka lube nengqiqo. Ingalo licandelo elixhasa imithwalo engatshintshiyo kunye neguquguqukayo yesandla kunye nomsebenzi, ngakumbi ngexesha lentshukumo yesantya esiphezulu, esiya kuvelisa amandla abalulekileyo angasebenziyo, okubangela iimpembelelo kunye nokuchaphazela ukuchaneka kokumiswa.
Xa uyila ingalo, ingqalelo kufuneka ihlawulwe kwiimfuno zokuqina okuphezulu, isikhokelo esihle, ubunzima obulula, intshukumo egudileyo, kunye nokuchaneka kokuma okuphezulu. Ezinye iisistim zothumelo kufuneka zibe mfutshane kangangoko ukuze kuphuculwe ukuchaneka kunye nokusebenza kakuhle; Uyilo lwecandelo ngalinye kufuneka lube nengqiqo, kwaye ukusebenza kunye nokugcinwa kufuneka kube lula; Iimeko ezikhethekileyo zifuna ingqalelo ekhethekileyo, kwaye impembelelo yemitha ye-thermal kufuneka ithathelwe ingqalelo kwiindawo eziphezulu zokushisa. Kwiindawo ezinobungozi, kufuneka kuthathelwe ingqalelo uthintelo lomhlwa. Iindawo eziyingozi kufuneka ziqwalasele imiba yothintelo lwezixholoxholo.
6. Nguwuphi owona msebenzi uphambili wamaqondo enkululeko esihlahleni?
Iqondo lenkululeko esihlahleni ikakhulu ukuphumeza ukuma okufunwayo kwesandla. Ukuqinisekisa ukuba isandla sinokuba kulo naliphi na icala emajukujukwini, kuyafuneka ukuba isihlahla sijikelezise ama-axes amathathu alungelelanisa u-X, Y, no-Z esithubeni. Inamaqondo amathathu enkululeko: ukuphaphatheka, ukuphosa, kunye nokuphambuka.
7. Umsebenzi kunye neempawu zeRobhothi yokuphela kwezixhobo
Isandla serobhothi licandelo elisetyenziselwa ukubamba izixhobo zokusebenza okanye izixhobo, kwaye licandelo elizimeleyo elinokuba neenzipho okanye izixhobo ezikhethekileyo.
8. Ziziphi iintlobo zezixhobo zokugqibela ezisekelwe kumgaqo wokudibanisa? Zeziphi iifom ezithile ezibandakanyiweyo?
Ngokutsho umgaqo clamping, isiphelo clamping izandla zahlulwe zibe ziindidi ezimbini: iintlobo clamping ziquka uhlobo inkxaso yangaphakathi, uhlobo clamping lwangaphandle, translational uhlobo clamping lwangaphandle, uhlobo hook, kunye nohlobo spring; Iintlobo ze-Adsorption ziquka ukufunxa ngemagnethi kunye nokufunxa umoya.
9. Nguwuphi umahluko phakathi kokuhanjiswa kwehydraulic kunye ne-pneumatic ngokwemigaqo yamandla okusebenza, ukusebenza kothumelo, kunye nokusebenza kokulawula?
Amandla okusebenza. Uxinzelelo lwe-Hydraulic lunokuvelisa intshukumo ebalulekileyo yomgca kunye namandla ajikelezayo, kunye nobunzima bokubamba kwe-1000 ukuya kwi-8000N; Uxinzelelo lomoya lunokufumana intshukumo encinci yomgca kunye nemikhosi yokujikeleza, kwaye ubunzima bokubamba bungaphantsi kwe-300N.
Ukusebenza kokuhanjiswa. Ukunyanzeliswa kwe-Hydraulic ukuhanjiswa okuncinci kuzinzile, ngaphandle kwempembelelo, kwaye ngokusisiseko ngaphandle kwe-lag yokudlulisa, ebonisa isantya sentshukumo esibucayi ukuya kwi-2m / s; Umoya oxiniweyo oneviscosity ephantsi, ukulahleka kwemibhobho ephantsi, kunye nesantya sokuhamba okuphezulu kunokufikelela kwizantya eziphezulu, kodwa ngesantya esiphezulu, unozinzo olubi kunye nefuthe elibi. Ngokuqhelekileyo, i-cylinder yi-50 ukuya kwi-500mm / s.
Lawula ukusebenza. Uxinzelelo lwe-Hydraulic kunye nesantya sokuhamba kulula ukulawula, kwaye lunokulungelelaniswa ngokulawulwa kwesantya esingenasinyathelo; Uxinzelelo lomoya wesantya esisezantsi kunzima ukulawula kunye nokufumana indawo ngokuchanekileyo, ngoko ke ulawulo lwe-servo alukwenziwanga.
10. Uthini umahluko ekusebenzeni phakathi kweemotor ze-servo kunye ne-stepper motors?
Ukuchaneka kokulawula kuyahluka (ukuchaneka kokulawulwa kweenjini ze-servo kuqinisekiswa yi-encoder ejikelezayo ekupheleni kwe-motor shaft, kwaye ukuchaneka kokulawulwa kwee-motor servo kuphezulu kuneemotor stepper); Iimpawu ezahlukeneyo ze-frequency ephantsi (iinjini ze-servo zisebenza ngokutyibilikayo kwaye azifumani vibration nakwizantya ezisezantsi. Ngokuqhelekileyo, iimotor ze-servo zinomsebenzi ongcono we-low-frequency kune-stepper motors); Izakhono ezahlukeneyo zokulayisha ngaphezulu (iimotor ze-stepper azinawo amandla okulayisha ngaphezulu, ngelixa iimotor ze-servo zinesakhono esinamandla sokulayisha); Ukusebenza okuhlukeneyo (ulawulo oluvulekileyo lwe-loop yee-motor stepper kunye nolawulo oluvaliweyo lwe-AC servo drive systems); Ukusebenza kwempendulo yesantya kuyahluka (ukusebenza ngokukhawuleza kwe-AC servo system kungcono).
Ixesha lokuposa: Dec-01-2023
