Dzanja la robot ndi mtundu wodziwika bwino wa maloboti amakono amakampani. Imatha kutsanzira mayendedwe ndi ntchito zina za manja ndi mikono ya anthu, ndipo imatha kugwira, kunyamula zinthu kapena kugwiritsa ntchito zida zapadera kudzera pamapulogalamu okhazikika. Ndilo chida chomwe chimagwiritsidwa ntchito kwambiri pazantchito zama robotiki. Mawonekedwe ake ndi osiyana, koma onse ali ndi chinthu chofanana, chomwe ndi chakuti amatha kuvomereza malangizo ndikupeza molondola malo aliwonse mu malo atatu (awiri-dimensional) kuti agwire ntchito. Makhalidwe ake ndikuti imatha kumaliza ntchito zosiyanasiyana zomwe zimayembekezeredwa kudzera pamapulogalamu, ndipo kapangidwe kake ndi magwiridwe antchito amaphatikiza zabwino za anthu ndi makina amakina. Itha kusintha ntchito yolemetsa ya anthu kuti izindikire makina ndi makina opanga, ndipo imatha kugwira ntchito m'malo owopsa kuti iteteze chitetezo chamunthu. Chifukwa chake, amagwiritsidwa ntchito kwambiri popanga makina, zamagetsi, mafakitale opepuka komanso mphamvu za atomiki.
1.Mikono yodziwika bwino ya robotic imapangidwa makamaka ndi magawo atatu: thupi lalikulu, makina oyendetsera ndi makina owongolera.
(I) Kapangidwe ka makina
1. Fuselage ya mkono wa robot ndi gawo lothandizira pa chipangizo chonsecho, chomwe nthawi zambiri chimapangidwa ndi zitsulo zolimba komanso zolimba. Siziyenera kokha kulimbana ndi mphamvu zosiyanasiyana ndi ma torque omwe amapangidwa ndi mkono wa robot panthawi ya ntchito, komanso kupereka malo okhazikika oyika zigawo zina. Kapangidwe kake kamayenera kuganizira bwino, kukhazikika komanso kusinthasintha kwa malo ogwira ntchito. 2. Mkono Mkono wa robot ndi gawo lofunikira kuti mukwaniritse zochitika zosiyanasiyana. Amakhala ndi mndandanda wa ndodo zolumikizira ndi zolumikizira. Kupyolera mu kuzungulira kwa zolumikizira ndi kuyenda kwa ndodo zolumikizira, mkono ukhoza kukwaniritsa maulendo angapo a ufulu woyenda mumlengalenga. Malumikizidwewo nthawi zambiri amayendetsedwa ndi ma mota olondola kwambiri, zochepetsera kapena zida zama hydraulic drive kuti zitsimikizire kulondola kwakuyenda komanso kuthamanga kwa mkono. Panthawi imodzimodziyo, zida za mkono zimayenera kukhala ndi makhalidwe amphamvu kwambiri ndi kulemera kochepa kuti akwaniritse zosowa za kuyenda mofulumira ndi kunyamula zinthu zolemetsa. 3. Mapeto otsiriza Ichi ndi gawo la mkono wa robot womwe umagwirizanitsa mwachindunji chinthu chogwira ntchito, ndipo ntchito yake ndi yofanana ndi ya dzanja la munthu. Pali mitundu yambiri ya zotsatira zomaliza, ndipo zomwe zimagwiritsidwa ntchito ndizogwiritsira ntchito, makapu oyamwa, mfuti zopopera, ndi zina zotero. Chogwirizira chikhoza kusinthidwa malinga ndi mawonekedwe ndi kukula kwa chinthucho ndipo chimagwiritsidwa ntchito kulanda zinthu zamitundu yosiyanasiyana; chikho choyamwa chimagwiritsa ntchito mfundo yopondereza yolakwika kuti itenge chinthucho ndipo ndi yoyenera kwa zinthu zomwe zili ndi malo athyathyathya; mfuti yopopera itha kugwiritsidwa ntchito kupopera mbewu mankhwalawa, kuwotcherera ndi ntchito zina.
(II) Njira yoyendetsera
1. Kuyendetsa galimoto The motor ndi imodzi mwa njira zomwe zimagwiritsidwa ntchito kwambiri mu mkono wa robot. Ma motors a DC, ma AC motors ndi ma stepper motors onse amatha kugwiritsidwa ntchito kuyendetsa kayendedwe ka mkono wa loboti. Kuyendetsa galimoto kumakhala ndi ubwino wowongolera bwino kwambiri, kuthamanga kwachangu kuyankha komanso kuwongolera liwiro. Poyang'anira liwiro ndi njira yagalimoto, njira yoyenda ya mkono wa loboti imatha kuyendetsedwa molondola. Nthawi yomweyo, mota imatha kugwiritsidwanso ntchito molumikizana ndi zochepetsera zosiyanasiyana kuti muwonjezere torque kuti ikwaniritse zosowa za mkono wa robot mukanyamula zinthu zolemetsa. 2. Hydraulic drive Hydraulic drive imagwiritsidwa ntchito kwambiri m'manja mwa roboti yomwe imafunikira mphamvu yayikulu. Dongosolo la hydraulic limakakamiza mafuta a hydraulic kudzera papampu ya hydraulic kuyendetsa silinda ya hydraulic kapena hydraulic motor kuti igwire ntchito, potero kuzindikira kusuntha kwa mkono wa robot. Kuyendetsa kwa Hydraulic kuli ndi ubwino wa mphamvu zambiri, kuthamanga kwachangu, komanso kudalirika kwakukulu. Ndizoyenera zida zolemera za loboti komanso zochitika zomwe zimafunikira kuchitapo kanthu mwachangu. Komabe, ma hydraulic system alinso ndi zovuta zakutayikira, kukwera mtengo kokonzekera, komanso zofunika kwambiri pamalo ogwirira ntchito. 3. Pneumatic drive Pneumatic drive imagwiritsa ntchito mpweya woponderezedwa ngati gwero lamphamvu kuyendetsa masilindala ndi ma actuators ena kuti agwire ntchito. Kuyendetsa kwa pneumatic kuli ndi ubwino wamapangidwe osavuta, otsika mtengo, komanso kuthamanga kwambiri. Ndizoyenera nthawi zina pomwe mphamvu ndi kulondola sizikufunika. Komabe, mphamvu ya dongosolo la pneumatic ndi yaying'ono, kuwongolera kuwongolera kumakhalanso kochepa, ndipo kumafunika kukhala ndi gwero la mpweya woponderezedwa ndi zigawo zina za pneumatic.
(III) Control System
1. Wolamulira Woyang'anira ndi ubongo wa mkono wa robot, yemwe ali ndi udindo wolandira malangizo osiyanasiyana ndikuwongolera zochita za kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe kake. Wowongolera nthawi zambiri amagwiritsa ntchito microprocessor, programmable logic controller (PLC) kapena chipangizo chodzipatulira chowongolera. Itha kukwanitsa kuwongolera bwino malo, kuthamanga, kuthamanga ndi magawo ena a mkono wa loboti, komanso imathanso kukonza chidziwitso chomwe chimaperekedwa ndi masensa osiyanasiyana kuti mukwaniritse kuwongolera kotseka. Wowongolera amatha kukonzedwa m'njira zosiyanasiyana, kuphatikiza ma graphical programming, text programming, etc., kuti ogwiritsa ntchito athe kukonza ndikusintha malinga ndi zosowa zosiyanasiyana. 2. Sensor Sensor ndi gawo lofunikira la malingaliro a mkono wa robot pa chilengedwe chakunja ndi dziko lake. Sensa ya malo imatha kuyang'anira malo a mgwirizano uliwonse wa mkono wa robot mu nthawi yeniyeni kuti iwonetsetse kulondola kwa kayendedwe ka mkono wa robot; mphamvu ya mphamvu imatha kuzindikira mphamvu ya mkono wa robot pamene ikugwira chinthu kuti chiteteze chinthucho kuti chisagwedezeke kapena kuwonongeka; sensa yowoneka bwino imatha kuzindikira ndikupeza chinthu chomwe chikugwira ntchito ndikuwongolera mulingo wanzeru wa mkono wa loboti. Kuphatikiza apo, pali zowunikira kutentha, zowunikira, ndi zina zambiri, zomwe zimagwiritsidwa ntchito poyang'anira momwe ntchito ikugwirira ntchito komanso magawo achilengedwe a mkono wa loboti.
2.Magulu a mkono wa loboti nthawi zambiri amagawidwa molingana ndi mawonekedwe, mawonekedwe oyendetsa, ndi gawo logwiritsira ntchito.
(I) Kugawikana ndi mawonekedwe
1. Cartesian coordinate loboti mkono wa roboti mkono wa loboti uwu umayenda motsatira nkhwangwa zitatu zolumikizirana zamakona anayi, zomwe ndi X, Y, ndi Z. Ili ndi ubwino wa dongosolo losavuta, kuwongolera kosavuta, kulondola kwapamwamba kwambiri, ndi zina zotero, ndipo ndizoyenera kugwira ntchito zosavuta, kusonkhana ndi kukonza. Komabe, malo ogwirira ntchito a mkono wa roboti wa rectangular coordinate ndi wocheperako ndipo kusinthasintha kwake ndi koyipa.
2. Cylindrical coordinate robot arm Mkono wa roboti ya cylindrical coordinate ili ndi cholumikizira chozungulira ndi mfundo ziwiri zozungulira, ndipo malo ake oyenda ndi cylindrical. Ili ndi ubwino wamapangidwe ang'onoang'ono, ntchito zazikulu zogwirira ntchito, kuyenda kosasinthasintha, ndi zina zotero, ndipo ndizoyenera ntchito zina zovuta. Komabe, kulondola kwa malo a roboti ya cylindrical coordinate ndi yotsika, ndipo vuto lowongolera ndilokwera kwambiri.
3. Mkono wa loboti wozungulira wozungulira Mkono wa loboti yozungulira ili ndi zolumikizira ziwiri zozungulira ndi mzere umodzi, ndipo malo ake oyenda ndi ozungulira. Zili ndi ubwino wa kayendetsedwe ka kayendetsedwe ka kayendetsedwe kake, ntchito yaikulu yogwirira ntchito, komanso luso lotha kusintha malo ogwirira ntchito ovuta. Ndizoyenera ntchito zina zomwe zimafuna kulondola kwambiri komanso kusinthasintha kwakukulu. Komabe, kapangidwe ka mkono wa loboti yozungulira ndizovuta, zovuta zowongolera ndizokulirapo, komanso mtengo wake ndi wokwera.
4. Mkono wa robot wotchulidwa Mkono wa robot wotchulidwa umatsanzira mawonekedwe a mkono wa munthu, umakhala ndi ma rotary angapo, ndipo ukhoza kukwaniritsa kayendetsedwe kake kofanana ndi mkono wa munthu. Zili ndi ubwino wa kayendetsedwe ka kayendetsedwe ka kayendetsedwe kake, ntchito yaikulu yogwirira ntchito, komanso luso lotha kusintha malo ogwirira ntchito ovuta. Pakali pano ndi mtundu wogwiritsidwa ntchito kwambiri wa mkono wa robotic.
Komabe, kuyang'anira zida za robotic zomwe zafotokozedwa ndizovuta ndipo zimafuna ukadaulo wapamwamba wokonza ndi kukonza zolakwika.
(II) Gulu ndi galimoto mode
1. Mikono yamagetsi yamagetsi yamagetsi Mikono yamagetsi yamagetsi imagwiritsa ntchito ma motors monga zida zoyendetsera galimoto, zomwe zimakhala ndi ubwino wowongolera bwino kwambiri, kuthamanga kwachangu, ndi phokoso lochepa. Ndizoyenera nthawi zina zomwe zimakhala ndi zofunika kwambiri pakulondola komanso kuthamanga, monga kupanga zamagetsi, zida zamankhwala ndi mafakitale ena. 2. Mikono ya hydraulic robotic hydraulic robotic arms imagwiritsa ntchito zida zoyendetsa ma hydraulic, zomwe zimakhala ndi ubwino wa mphamvu zambiri, kudalirika kwakukulu, ndi kusinthasintha kwamphamvu. Ndizoyenera zida zolemera za robotic ndi zochitika zomwe zimafuna mphamvu zazikulu, monga zomangamanga, migodi ndi mafakitale ena. 3. Mikono yama robotiki ya pneumatic imagwiritsa ntchito zida zoyendetsa pneumatic, zomwe zili ndi ubwino wa dongosolo losavuta, lotsika mtengo, komanso kuthamanga kwambiri. Ndizoyenera nthawi zina zomwe sizifuna mphamvu zapamwamba komanso zolondola, monga kulongedza, kusindikiza ndi mafakitale ena.
(III) Gulu ndi gawo lofunsira
1. Zida zama robotic za mafakitale zida zama robotic zimagwiritsidwa ntchito makamaka m'mafakitale opanga, monga kupanga magalimoto, kupanga zinthu zamagetsi, ndi kukonza makina. Itha kuzindikira kupanga zokha, kuwongolera magwiridwe antchito komanso mtundu wazinthu. 2. Utumiki wa robotic mkono Utumiki wa robotic umagwiritsidwa ntchito makamaka m'mafakitale ogwira ntchito, monga zachipatala, zoperekera zakudya, ntchito zapakhomo, etc. Ikhoza kupereka anthu ntchito zosiyanasiyana, monga unamwino, chakudya, kuyeretsa, ndi zina zotero.
Zosintha zomwe zida za roboti zimabweretsa pakupanga mafakitale sikungokhala zodziwikiratu komanso magwiridwe antchito, komanso njira zamakono zoyendetsera ntchito zasintha kwambiri njira zopangira komanso mpikisano wamsika wamabizinesi. Kugwiritsa ntchito zida za robotic ndi mwayi wabwino kuti mabizinesi asinthe mawonekedwe awo amafakitale ndikukweza ndikusintha.
Nthawi yotumiza: Sep-24-2024
