Kubuchwepheshe besimanje be-robotics, ikakhulukazi emkhakheni wamarobhothi ezimboni, ubuchwepheshe obuhlanu obubalulekile buhlanganisaama-servo motors, izinciphisi, amalunga anyakazayo, izilawuli, nama-actuator. Lobu buchwepheshe obuyisisekelo bakha ngokuhlanganyela uhlelo oluguquguqukayo kanye nesistimu yokulawula irobhothi, iqinisekisa ukuthi irobhothi lingakwazi ukuzuza ukulawula ukunyakaza okunembayo, okusheshayo, nokuguquguqukayo kanye nokwenza umsebenzi. Okulandelayo kuzohlinzeka ngokuhlaziywa okujulile kwalezi zindlela zobuchwepheshe ezinhlanu ezibalulekile:
1. Servo motor
Ama-Servo motors "ayinhliziyo" yezinhlelo zamandla amarobhothi, anesibopho sokuguqula amandla kagesi abe amandla emishini kanye nokushayela ukunyakaza kwamalunga ahlukahlukene erobhothi. Inzuzo eyinhloko yama-servo motors ilele endaweni yawo enembayo ephezulu, isivinini, namandla okulawula itorque.
Umgomo wokusebenza: Ama-Servo motors ngokuvamile asebenzisa izinjini ezivumelanayo kazibuthe (PMSM) noma ama-servo motors amanje ashintshanayo (AC Servo) ukuze alawule ngokunembile indawo kanye nesivinini se-motor rotor ngokushintsha isigaba samanje okokufaka. Isishumeki esakhelwe ngaphakathi sinikeza amasiginali wempendulo yesikhathi sangempela, sakha isistimu yokulawula iluphu evaliwe ukuze kuzuzwe ukuphendula okuguquguqukayo okuphezulu nokulawula okunembile.
Izici: Ama-Servo motors anezici zebanga elibanzi lejubane, ukusebenza kahle okuphezulu, inertia ephansi, njll. Angakwazi ukuqedela ukusheshisa, ukwehlisa ijubane, nokubeka izenzo ngesikhathi esifushane kakhulu, okubalulekile ekusetshenzisweni kwamarobhothi okudinga ukuma kokuqala kanye nokuma okunembile. .
Ukulawula okuhlakaniphile: Ama-servo motors esimanje abuye ahlanganise ama-algorithms athuthukile njengokulawula kwe-PID, ukulawula okuguquguqukayo, njll., okungalungisa ngokuzenzakalelayo amapharamitha ngokuya ngezinguquko zokulayisha ukuze kugcinwe ukusebenza okuzinzile.
2. Umnciphisi
Umsebenzi: I-reducer ixhunywe phakathi kwe-servo motor kanye nejoyinti yerobhothi, futhi umsebenzi wayo oyinhloko ukunciphisa ukuphuma kwe-motor ngesivinini esikhulu, ukwandisa i-torque, futhi ihlangabezane nezidingo ze-torque ephezulu nesivinini esiphansi sejoyinti yerobhothi. .
Uhlobo: Izinciphisi ezisetshenziswa kakhulu zihlanganisa izinciphisi ze-harmonic kanye nezinciphisi ze-RV. Phakathi kwazo,Izinciphisi ze-RVafaneleka ngokukhethekile izakhiwo ezihlangene zama-eksisi amaningi kumarobhothi ezimboni ngenxa yokuqina kwawo okuphezulu, ukunemba okuphezulu, kanye nesilinganiso esikhulu sokudlulisela.
Amaphuzu okusebenza: Ukunemba kokukhiqiza kwesinciphisi kuthinta ngokuqondile ukunemba kokuma okuphindaphindiwe nokuzinza kokusebenza kwerobhothi. Ukususwa kwenetha legiya langaphakathi lezinciphisi ezisezingeni eliphezulu kuncane kakhulu, futhi zidinga ukumelana nokugqokwa okuhle nempilo ende yesevisi.
4. Isilawuli
Umsebenzi oyinhloko: Isilawuli ubuchopho berobhothi, obuthola imiyalelo futhi bulawule isimo sokunyakaza kwelunga ngalinye ngokusekelwe ezinhlelweni ezisethiwe noma imiphumela yokubala yesikhathi sangempela.
Izakhiwo zobuchwepheshe: Ngokusekelwe kumasistimu ashumekiwe, isilawuli sihlanganisa amasekhethi ezingxenyekazi zekhompuyutha, amaphrosesa esignali yedijithali, ama-microcontrollers, nokuxhumana okuhlukahlukene ukuze kuzuzwe imisebenzi eyinkimbinkimbi efana nokuhlela ukunyakaza, ukukhiqizwa kwe-trajectory, kanye nokuhlanganiswa kwedatha yezinzwa.
Ama-algorithms okulawula okuthuthukile:Izilawuli zamarobhothi zanamuhlangokuvamile zisebenzisa amathiyori okulawula athuthukile njenge-Model Predictive Control (MPC), I-Sliding Mode Variable Structure Control (SMC), I-Fuzzy Logic Control (FLC), kanye ne-Adaptive Control ukuze kubhekwane nezinselele zokulawula ezidingweni zemisebenzi eyinkimbinkimbi kanye nezimo ezingaqinisekile.
5. Ifa
Incazelo Nomsebenzi: I-actuator iyisisetshenziswa esiguqula amasignali kagesi akhishwa yisilawuli enze izenzo zangempela zomzimba. Ngokuvamile ibhekisela kuyunithi yokushayela ephelele eyakhiwe ama-servo motors, izinciphisi, kanye nezingxenye zemishini ezihlobene.
Phoqelela ukulawula nokulawula isikhundla: I-actuator ayidingi nje kuphela ukuzuza ukulawula ukuma okunembayo, kodwa futhi idinga ukusebenzisa ukulawulwa kwetorque noma okuthintekayo kwempendulo ethile yokuhlanganisa ukunemba noma amarobhothi okuvuselela ezokwelashwa, okungukuthi, imodi yokulawula amandla, ukuze kuqinisekiswe ukuzwela kwamandla nokuphepha ngesikhathi. inqubo yokusebenza.
I-redundancy kanye nokusebenzisana: Kumarobhothi ahlangene amaningi, ama-actuator ahlukahlukene adinga ukuxhumanisa umsebenzi wawo, futhi amasu okulawula athuthukisiwe asetshenziswa ukuphatha imiphumela yokuhlangana phakathi kwamalunga, kuzuzwe ukunyakaza okuguquguqukayo kanye nokwenza kahle kwerobhothi emkhathini.
6. Ubuchwepheshe bezinzwa
Nakuba kungashiwo ngokucacile kubuchwepheshe obubalulekile obuyisihlanu, ubuchwepheshe bezinzwa buyingxenye ebalulekile yamarobhothi ukuze afinyelele umbono kanye nokwenza izinqumo ezihlakaniphile. Ukuze uthole ukunemba okuphezulu namarobhothi esimanje ahlakaniphile, ukuhlanganisa izinzwa eziningi (njengezinzwa zendawo, izinzwa ze-torque, izinzwa zokubona, njll.) ukuze uthole ulwazi lwezemvelo kanye nesimo sakho kubalulekile.
Izinzwa zokuma kanye nesivinini: Isishumeki sifakwe ku-servo motor ukuze sinikeze isimo sesikhathi sangempela kanye nempendulo yesivinini, sakha isistimu yokulawula iluphu evaliwe; Ngaphezu kwalokho, izinzwa zama-engeli ahlangene zingakala ngokunembile i-engeli yokuzungeza yangempela yelunga ngalinye elinyakazayo.
Izinzwa zamandla ne-torque: zishumekwe kumphumela wokugcina wama-actuator noma amarobhothi, asetshenziselwa ukuzwa amandla okuxhumana netorque, okuvumela amarobhothi ukuthi abe namandla okusebenza okushelelayo nezici zokusebenzisana eziphephile.
Izinzwa zokubona nemvelo: okuhlanganisa amakhamera, i-LiDAR, amakhamera ajulile, njll., asetshenziselwa ukwakhiwa kabusha kwesigcawu se-3D, ukunakwa okuqondiwe nokulandelela, ukuzulazula kokugwema izithiyo neminye imisebenzi, okwenza amarobhothi akwazi ukuzivumelanisa nezimo eziguquguqukayo futhi enze izinqumo ezihambisanayo.
7. Ukuxhumana Nobuchwepheshe Benethiwekhi
Ubuchwepheshe bokuxhumana obusebenzayo kanye nezakhiwo zenethiwekhi zibaluleke ngokulinganayo ezinhlelweni zamarobhothi amaningi kanye nezimo zokulawula kude.
Ukuxhumana kwangaphakathi: Ukushintshaniswa kwedatha enesivinini esikhulu phakathi kwezilawuli naphakathi kwezilawuli nezinzwa kudinga ubuchwepheshe bebhasi obuzinzile, obufana ne-CANopen, i-EtherCAT, nezinye izivumelwano zesikhathi sangempela ze-Ethernet yezimboni.
Ukuxhumana kwangaphandle: Ngobuchwepheshe bokuxhumana okungenantambo obufana ne-Wi Fi, i-5G, i-Bluetooth, njll., amarobhothi angakwazi ukusebenzisana namanye amadivayisi namaseva wamafu ukuze afinyelele ukuqapha okukude, ukubuyekezwa kwezinhlelo, ukuhlaziya idatha enkulu, neminye imisebenzi.
8. Ukuphathwa Kwezamandla Namandla
Isistimu yamandla: Khetha ugesi ofanele izici zomthwalo werobhothi, futhi uklame isistimu yokuphatha amandla enengqondo ukuze uqinisekise ukusebenza okuzinzile kwesikhathi eside futhi uhlangabezane nezidingo zamandla aphezulu kungazelelwe.
Ukuvuselelwa kwamandla kanye nobuchwepheshe bokulondoloza amandla: Ezinye izinhlelo zamarobhothi ezithuthukisiwe seziqalile ukusebenzisa ubuchwepheshe bokubuyisela amandla, okuguqula amandla omshini abe isitoreji samandla kagesi ngesikhathi sokunciphisa izinga ukuze kuthuthukiswe ukusebenza kahle kwamandla.
9. Isoftware kanye nezinga le-algorithm
Ukuhlelwa kokunyakaza nokulawula ama-algorithms: Kusukela ekwenziweni kwe-trajectory kanye nokwenza ngcono indlela ukuya ekutholeni ukushayisana namasu okugwema izithiyo, ama-algorithms athuthukisiwe asekela ukunyakaza okusebenzayo nokunemba kwamarobhothi.
I-Artificial Intelligence nokufunda okuzenzakalelayo: Ngokusebenzisa ubuchwepheshe obufana nokufunda komshini nokufunda okujulile, amarobhothi angakwazi ukuqeqesha ngokuqhubekayo futhi aphindaphinde ukuze athuthukise amakhono awo okuqedela umsebenzi, anikeze amandla okucabanga okuyinkimbinkimbi okwenza izinqumo kanye nokuziphatha okuzimele.
10.Ubuchwepheshe bokusebenzisana kwekhompyutha yabantu
Ezimeni eziningi zohlelo lokusebenza, ikakhulukazi emikhakheni yamarobhothi esevisi namarobhothi asebenzisanayo, ubuchwepheshe bokusebenzisana namakhompiyutha abantu bubalulekile:
Ukuqashelwa kwenkulumo nokuhlanganisa: Ngokuhlanganisa ubuchwepheshe bokucubungula ulimi lwemvelo (NLP), amarobhothi ayakwazi ukuqonda imiyalo yezwi lomuntu futhi anikeze impendulo enkulumweni ecacile nengokwemvelo.
Ukusebenzisana okuthintekayo: Dizayina amarobhothi anezindlela zokuphendula ezithintekayo ezingalingisa imizwa engokoqobo ethintekayo, athuthukise ulwazi lomsebenzisi nokuphepha phakathi nokusebenza noma ukuxhumana.
Ukuqashelwa kokuthinta: Ukusebenzisa ubuchwepheshe bokubona ngekhompyutha ukuze kuthwebule futhi kuhlaziye ukuthinta komuntu, okuvumela amarobhothi ukuthi aphendule emiyalweni yokuthinta okungathintana naye futhi afinyelele ukulawula kokusebenza okunembile.
Isimo sobuso nokubalwa kwemizwelo: Amarobhothi omphakathi anezinhlelo zokubonisa ubuso kanye namakhono okubona imizwa akwazi ukuveza imizwa, ngaleyo ndlela ajwayelane kangcono nezidingo zomzwelo zabantu futhi athuthukise ukusebenza kahle kokuxhumana.
Isikhathi sokuthumela: Sep-05-2024
