Irobhothi yedeltaluhlobo lwerobhothi ehambelanayo edla ngokusetyenziswa kwimizi-mveliso ezenzekelayo. Iqukethe iingalo ezintathu ezidityaniswe kwisiseko esiqhelekileyo, kunye nengalo nganye equkethe uluhlu lwezikhonkco ezidityaniswe ngamacandelo. Iingalo zilawulwa ziinjini kunye nezinzwa ukuba zihambe ngendlela elungelelanisiweyo, ivumela irobhothi ukuba yenze imisebenzi enzima ngesantya nangokuchanekileyo. Kweli nqaku, siza kuxoxa ngokusetyenzwa okusisiseko kwenkqubo yokulawula irobhothi yedelta, kubandakanywa i-algorithm yokulawula, izinzwa, kunye ne-actuators.
I-algorithm yokulawula
I-algorithm yokulawula i-robot ye-delta yintliziyo yenkqubo yokulawula. Inoxanduva lokucubungula imiqondiso yegalelo kwi-sensors yerobhothi kwaye iguqulelwe kwimiyalelo eshukumayo yeemotor. I-algorithm yokulawula iqhutywe kwi-programmable logic controller (PLC) okanye i-microcontroller, efakwe ngaphakathi kwenkqubo yokulawula i-robot.
I-algorithm yokulawula iqulethe izinto ezintathu eziphambili: i-kinematics, isicwangciso somzila, kunye nokulawula impendulo. IKinematics ichaza ubudlelwane phakathiii-engile ezidibeneyo zerobhothi kunye nendawokunye nokuqhelaniswa nesiphelo serobhothi (ngokuqhelekileyo isibambi okanye isixhobo). Isicwangciso somkhondo sichaphazela ukuveliswa kwemiyalelo eshukumayo ukuhambisa irobhothi ukusuka kwindawo yayo yangoku ukuya kwindawo oyifunayo ngokwendlela ethile. Ulawulo lwengxelo lubandakanya ukulungelelanisa intshukumo yerobhothi ngokusekelwe kwimiqondiso yengxelo yangaphandle (umzekelo, ukufundwa koluvo) ukuqinisekisa ukuba irobhothi ilandela umkhondo ofunekayo ngokuchanekileyo.
Izivamvo
Inkqubo yokulawula yerobhothi yedeltaixhomekeke kwiseti yabenzi boluvo ukujonga imiba eyahlukeneyo yokusebenza kwerobhothi, njengendawo yayo, isantya, kunye nesantya. Ezona zivamvo zixhaphakileyo kwiirobhothi zedelta zii-optical encoders, ezilinganisa ukujikeleza kwamalungu erobhothi. Ezi zinzwa zibonelela ngengxelo yendawo ye-angular kwi-algorithm yolawulo, iyenza ikwazi ukumisela indawo yerobhothi kunye nesantya ngexesha lokwenyani.
Olunye uhlobo olubalulekileyo lwenzwa olusetyenziswa kwiirobhothi ze-delta zizinzwa zamandla, ezilinganisa amandla kunye neetorque ezisetyenziswa yi-effector yokugqibela yerobhothi. Ezi zivamvo zenza irobhothi ikwazi ukwenza imisebenzi elawulwa ngamandla, efana nokubamba izinto eziethe-ethe okanye ukusebenzisa umlinganiselo othe ngqo wamandla xa idibanisa.
Abenzi bezinto
Inkqubo yolawulo yerobhothi yedelta inoxanduva lokulawula iintshukumo zerobhothi ngokusebenzisa iseti yee actuators. Ezona actuator zixhaphakileyo ezisetyenziswa kwiirobhothi zedelta ziimotor zombane, eziqhuba amalunga erobhothi ngegiya okanye amabhanti. Iinjini zilawulwa yi-algorithm yokulawula, ebathumela imiyalelo yokunyakaza echanekileyo ngokusekelwe kwigalelo elivela kwiinzwa zerobhothi.
Ukongeza kwii-motor, iirobhothi ze-delta zinokusebenzisa ezinye iindidi zee-actuator, ezifana ne-hydraulic okanye i-pneumatic actuators, ngokuxhomekeke kwiimfuno ezithile zesicelo.
Ukuqukumbela, inkqubo yokulawula i-robot ye-delta yinkqubo enzima kwaye ephuculwe kakhulu eyenza ukuba irobhothi yenze imisebenzi ngesantya esiphezulu kunye nokuchaneka. I-algorithm yokulawula yintliziyo yesistim, ukucwangcisa izibonakaliso zegalelo kwi-robot sensors kunye nokulawula ukuhamba kwerobhothi ngokusebenzisa isethi ye-actuator. Abenzi boluvo kwi-delta yerobhothi banika ingxelo malunga nokuma kwerobhothi, isantya, kunye nesantya, ngelixa ii-actuator ziqhuba iintshukumo zerobhothi ngendlela elungelelanisiweyo. Ngokudibanisa i-algorithms yolawulo oluchanekileyo kunye ne-sensor ephezulu kunye neteknoloji ye-actuator, iirobhothi ze-delta ziguqula indlela eyenziwa ngayo i-industrial automation.
Ixesha lokuposa: Sep-27-2024
