Ulwazi olujwayelekile oluyi-10 okufanele ukwazi mayelana namarobhothi ezimboni, kunconywa ukuthi ubeke uphawu lokubekisa!
1. Liyini irobhothi lezimboni? Ihlanganiswe yini? Ihamba kanjani? Ukuyilawula kanjani? Ingadlala yiphi indima?
Mhlawumbe kukhona ukungabaza mayelana nemboni ye-robot yezimboni, futhi lawa maphuzu wolwazi we-10 angakusiza ukuthi uthole ukuqonda okuyisisekelo kwamarobhothi ezimboni.
Irobhothi umshini onamazinga amaningi enkululeko endaweni enezinhlangothi ezintathu futhi ungafinyelela izenzo nemisebenzi eminingi ye-anthropomorphic, kuyilapho amarobhothi ezimboni angamarobhothi asetshenziswa ekukhiqizeni kwezimboni. Izici zayo yilezi: ukuhleleka, i-anthropomorphism, i-universality, kanye nokuhlanganiswa kwe-mechatronics.
2. Yiziphi izingxenye zesistimu zamarobhothi ezimboni? Yiziphi izindima zabo?
Isistimu yokushayela: idivayisi yokudlulisa eyenza irobhothi likwazi ukusebenza. Isistimu yesakhiwo semishini: i-multi degree of freedom mechanical system eyakhiwe izingxenye ezintathu ezinkulu: umzimba, izingalo, namathuluzi okugcina engalo yerobhothi. Uhlelo lokuzwa: lwakhiwe amamojula wezinzwa zangaphakathi kanye namamojula wezinzwa zangaphandle ukuze uthole ulwazi ngezimo zemvelo zangaphakathi nezangaphandle. Uhlelo lokusebenzisana kwemvelo yerobhothi: uhlelo oluvumela amarobhothi ezimboni ukuthi axhumane futhi axhumanise namadivayisi asendaweni yangaphandle. Isistimu yokusebenzisana yemishini yabantu: idivayisi lapho opharetha bebamba iqhaza ekulawuleni irobhothi futhi baxhumane nerobhothi. Isistimu yokulawula: Ngokusekelwe kuhlelo lweziqondiso zomsebenzi werobhothi futhi isayina impendulo evela kuzinzwa, ilawula indlela yokusebenza yerobhothi ukuze iqedele ukunyakaza nemisebenzi ethile.
3. Kusho ukuthini i-robot degree of freedom?
Amadigri enkululeko abhekisela enanini lokunyakaza kwe-eksisi exhumanisa ezimele irobhothi, futhi akumele ifake amadigri enkululeko yokuvula nawokuvala ye-gripper (ithuluzi lokugcina). Ukuchaza ukuma nokuma kwento endaweni enezinhlangothi ezintathu kudinga amadigri enkululeko ayisithupha, ukusebenza kwesikhundla kudinga amadigri amathathu enkululeko (ukhalo, ihlombe, indololwane), kanye nokusebenza kokuma kudinga amadigri amathathu enkululeko (i-pitch, yaw, roll).
Amadigri enkululeko yamarobhothi ezimboni aklanywe ngokwenhloso yawo, angaba ngaphansi kwamadigri enkululeko angu-6 noma abe mkhulu kunamadigri angu-6 enkululeko.
4. Yiziphi imingcele eyinhloko ehilelekile kumarobhothi ezimboni?
Izinga lenkululeko, ukunemba kokuma okuphindaphindayo, ububanzi bokusebenza, isivinini esikhulu sokusebenza, namandla okuthwala umthwalo.
5. Iyini imisebenzi yomzimba nezingalo ngokulandelana? Yiziphi izinkinga okufanele ziphawulwe?
I-fuselage iyingxenye esekela izingalo futhi ngokuvamile ifinyelela ukunyakaza okufana nokuphakamisa, ukuphenduka, nokuphonsa. Lapho uklama i-fuselage, kufanele ibe nokuqina okwanele nokuzinza; Ukuzivocavoca kufanele kube okuvumelana nezimo, futhi ubude bomkhono womhlahlandlela wokuwuphakamisa nokwehlisa akufanele bube bufushane kakhulu ukuze ugweme ukuminyana. Ngokujwayelekile, kufanele kube nethuluzi eliqondisayo; Ukuhlelwa kwesakhiwo kufanele kube okunengqondo. Ingalo iyingxenye esekela imithwalo emile futhi eguquguqukayo yesihlakala kanye nomsebenzi, ikakhulukazi phakathi nokunyakaza kwesivinini esikhulu, okuzokhiqiza amandla abalulekile angasebenzi, abangele imithelela futhi athinte ukunemba kokuma.
Lapho uklama ingalo, kufanele kuqashelwe izidingo zokuqina okuphezulu, isiqondiso esihle, isisindo esilula, ukunyakaza okushelelayo, nokunemba kokuma okuphezulu. Ezinye izinhlelo zokudlulisa kufanele zibe zifushane ngangokunokwenzeka ukuze kuthuthukiswe ukunemba nokusebenza kahle kokudlulisela; Ukuhlelwa kwengxenye ngayinye kufanele kube okunengqondo, futhi ukusebenza nokugcinwa kufanele kube lula; Izimo ezikhethekile zidinga ukucatshangelwa okukhethekile, futhi umthelela wemisebe yokushisa kufanele ucatshangelwe ezindaweni ezishisa kakhulu. Ezindaweni ezonakalisayo, ukuvimbela ukugqwala kufanele kubhekwe. Izindawo eziyingozi kufanele zicabangele izindaba zokuvimbela uthuthuva.
6. Imuphi umsebenzi oyinhloko wamadigri enkululeko esihlakaleni?
Izinga lenkululeko esihlakaleni ngokuyinhloko ukuzuza ukuma okufunayo kwesandla. Ukuze kuqinisekiswe ukuthi isandla singaba kunoma iyiphi indlela emkhathini, kuyadingeka ukuthi isihlakala sikwazi ukuzungezisa izimbazo ezintathu zokuxhumanisa u-X, Y, no-Z emkhathini. Inamazinga amathathu enkululeko: ukupheqa, ukugoba, nokuchezuka.
7. Umsebenzi kanye Nezimpawu Zamathuluzi Okuphela Kwerobhothi
Isandla serobhothi siyingxenye esetshenziselwa ukubamba izinto zokusebenza noma amathuluzi, futhi siyingxenye ezimele engaba nezinzipho noma amathuluzi akhethekile.
8. Yiziphi izinhlobo zamathuluzi okugcina asekelwe kumgomo wokubopha? Imaphi amafomu athile afakiwe?
Ngokusho kwesimiso sokubopha, izandla zokubopha ekugcineni zihlukaniswe zibe izinhlobo ezimbili: izinhlobo zokubopha zihlanganisa uhlobo lwangaphakathi lokusekela, uhlobo lwe-clamping yangaphandle, uhlobo lwe-clamping yangaphandle yokuhumusha, uhlobo lwe-hook, nohlobo lwasentwasahlobo; Izinhlobo ze-Adsorption zifaka ukumunca kazibuthe nokudonsa komoya.
9. Yimuphi umehluko phakathi kwe-hydraulic kanye ne-pneumatic transmission ngokwamandla okusebenza, ukusebenza kokudlulisa, nokusebenza kokulawula?
Amandla okusebenza. Ukucindezela kwe-hydraulic kungakhiqiza ukunyakaza okubalulekile komugqa namandla ajikelezayo, ngesisindo esibambayo esingu-1000 kuya ku-8000N; Umfutho womoya ungathola amandla amancane okunyakaza okuqondile kanye nokuzungezisa, futhi isisindo sokubamba singaphansi kuka-300N.
Ukusebenza kokudlulisela. Ukucindezelwa kwe-Hydraulic ukudlulisa okuncane kuzinzile, akunawo umthelela, futhi ngokuyisisekelo ngaphandle kokusalela kokudlulisela, okubonisa isivinini sokunyakaza esibucayi esingafika ku-2m/s; Umoya ocindezelwe one-viscosity ephansi, ukulahleka kwepayipi eliphansi, kanye nesivinini sokugeleza okuphezulu ungafinyelela isivinini esikhulu, kodwa ngesivinini esikhulu, unokusimama okungekuhle nomthelela onzima. Imvamisa, isilinda singama-50 kuye ku-500mm/s.
Lawula ukusebenza. Ingcindezi ye-hydraulic kanye nesilinganiso sokugeleza kulula ukuyilawula, futhi ingalungiswa ngokulawulwa kwesivinini esingenasinyathelo; Umfutho womoya wesivinini esiphansi kunzima ukuwulawula nokuwuthola ngokunembile, ngakho ukulawulwa kwe-servo ngokuvamile akwenziwa.
10. Uyini umehluko ekusebenzeni phakathi kwama-servo motors nama-stepper motors?
Ukunemba kokulawula kuhlukile (ukunemba kokulawula kwama-servo motors kuqinisekiswa isishumeki esijikelezayo ekugcineni kwangemuva kwe-motor shaft, futhi ukunemba kokulawula kwama-servo motors kuphakeme kunama-stepper motors); Izici ezihlukile ze-low-frequency (ama-servo motors asebenza kahle kakhulu futhi awakuzwa ukudlidliza ngisho nangesivinini esiphansi. Ngokuvamile, ama-servo motors anokusebenza okungcono kwe-low-frequency kune-stepper motors); Amakhono ahlukene okulayisha ngokweqile (ama-stepper motors awanawo amandla okulayisha ngokweqile, kuyilapho ama-servo motors enamandla okulayisha ngokweqile); Ukusebenza okuhlukile kokusebenza (ukulawulwa kwe-open-loop motors stepper kanye nokulawulwa kwe-loop evaliwe yezinhlelo ze-AC servo drive); Ukusebenza kwempendulo yesivinini kuhlukile (ukusebenza kokusheshisa kwesistimu ye-AC servo kungcono).
Isikhathi sokuthumela: Dec-01-2023
