Maloboti a mafakitaleamagwiritsidwa ntchito kwambiri popanga mafakitale, monga kupanga magalimoto, zida zamagetsi, ndi chakudya. Amatha kulowa m'malo mwa makina obwerezabwereza kachitidwe kachitidwe ka makina ndipo ndi mtundu wa makina omwe amadalira mphamvu zake ndi mphamvu zake zowongolera kuti akwaniritse ntchito zosiyanasiyana. Ikhoza kuvomereza lamulo laumunthu ndipo imathanso kugwira ntchito molingana ndi mapulogalamu omwe adakonzedweratu. Tsopano tiyeni tikambirane za zigawo zikuluzikulu za maloboti mafakitale.
1.Thupi lalikulu
Thupi lalikulu ndi makina oyambira ndi actuator, kuphatikiza mkono wakumtunda, mkono wakumunsi, dzanja ndi dzanja, kupanga makina amitundu yambiri yaufulu. Maloboti ena alinso ndi njira zoyendera. Maloboti aku mafakitale ali ndi madigiri 6 a ufulu kapena kupitilira apo, ndipo dzanja nthawi zambiri limakhala ndi 1 mpaka 3 madigiri a ufulu.
2. Drive system
Dongosolo loyendetsa lamaloboti amakampani amagawidwa m'magulu atatu malinga ndi gwero lamphamvu: hydraulic, pneumatic ndi magetsi. Malinga ndi zosowa, mitundu itatu iyi ya machitidwe amagalimoto amathanso kuphatikizidwa ndikuphatikizidwa. Kapena itha kuyendetsedwa mosalunjika ndi njira zotumizira mawotchi monga malamba olumikizana, masitima apamtunda, ndi magiya. Dongosolo loyendetsa lili ndi chipangizo chamagetsi komanso njira yotumizira kuti cholumikiziracho chizitulutsa zochita zofananira. Machitidwe atatu oyambira awa ali ndi mawonekedwe awoawo. Chachikulu ndi dongosolo lamagetsi lamagetsi.
Chifukwa cha kuvomerezedwa kwapang'onopang'ono kwa inertia yotsika, ma torque apamwamba a AC ndi DC servo motors ndi ma driver awo othandizira ma servo (AC inverters, DC pulse wide modulators). Dongosolo lamtunduwu silifuna kutembenuzidwa kwa mphamvu, ndi losavuta kugwiritsa ntchito, komanso limakhudzidwa ndi kuwongolera. Ma motors ambiri amafunikira kukhazikitsidwa ndi njira yolumikizira yolondola kumbuyo kwawo: chochepetsera. Mano ake amagwiritsa ntchito chosinthira liwiro la giya kuti achepetse kuchuluka kwa makina osinthira mozungulira mpaka pamlingo wofunikira wozungulira, ndikupeza chipangizo chokulirapo, potero kuchepetsa liwiro ndikuwonjezera torque. Pamene katunduyo ndi waukulu, sizotsika mtengo kuonjezera mwachimbulimbuli mphamvu ya servo motor. Ma torque otulutsa amatha kusinthidwa ndi chotsitsa mkati mwa liwiro loyenera. Makina a servo amatha kutentha komanso kugwedezeka kwapang'onopang'ono pansi pa ntchito yotsika kwambiri. Kugwira ntchito kwa nthawi yayitali komanso kubwerezabwereza sikungathandize kuonetsetsa kuti ntchito yake ndi yolondola komanso yodalirika. Kukhalapo kwa injini yochepetsera yolondola kumathandizira injini ya servo kuti igwire ntchito pa liwiro loyenera, kulimbitsa kulimba kwa thupi la makina, ndikutulutsa torque yayikulu. Pali zochepetsera ziwiri zazikulu tsopano: harmonic reducer ndi RV reducer
Dongosolo loyang'anira loboti ndi ubongo wa loboti komanso chinthu chachikulu chomwe chimatsimikizira ntchito ndi magwiridwe antchito a loboti. Dongosolo lowongolera limatumiza zidziwitso zamalamulo kumayendedwe oyendetsa ndi actuator molingana ndi pulogalamu yolowera ndikuwongolera. Ntchito yayikulu yaukadaulo wowongolera maloboti akumafakitale ndikuwongolera kuchuluka kwa zochitika, kaimidwe ndi njira, ndi nthawi ya zochita za maloboti amakampani pantchito. Ili ndi mawonekedwe a mapulogalamu osavuta, kugwiritsa ntchito menyu yamapulogalamu, mawonekedwe ochezera a anthu ndi makompyuta, kuwongolera kwapaintaneti komanso kugwiritsa ntchito bwino.
Dongosolo lowongolera ndiye pachimake cha loboti, ndipo makampani akunja amatsekedwa kwambiri ndi kuyesa kwa China. M'zaka zaposachedwapa, ndi chitukuko cha teknoloji ya microelectronics, ntchito ya microprocessors yakhala yokwera kwambiri, pamene mtengo wakhala wotsika mtengo komanso wotsika mtengo. Tsopano pali 32-bit microprocessors ya 1-2 madola aku US pamsika. Ma microprocessors otsika mtengo abweretsa mwayi watsopano wachitukuko kwa oyang'anira maloboti, zomwe zimapangitsa kuti pakhale zopanga zotsika mtengo, zogwira ntchito kwambiri. Pofuna kuti makinawa akhale ndi luso lokwanira la makompyuta ndi kusunga, olamulira a robot tsopano amapangidwa ndi magulu amphamvu a ARM, mndandanda wa DSP, mndandanda wa POWERPC, mndandanda wa Intel ndi tchipisi zina.
Popeza kuti ntchito za chip zomwe zilipo kale sizingathe kukwaniritsa zofunikira za machitidwe ena a robot ponena za mtengo, ntchito, kuphatikiza ndi mawonekedwe, makina a robot ali ndi kufunikira kwaukadaulo wa SoC (System on Chip). Kuphatikizira purosesa yeniyeni ndi mawonekedwe ofunikira kungapangitse kamangidwe ka mabwalo ozungulira a dongosolo, kuchepetsa kukula kwa dongosolo, ndi kuchepetsa ndalama. Mwachitsanzo, Actel imaphatikiza purosesa ya NEOS kapena ARM7 pazinthu zake za FPGA kuti ipange dongosolo lathunthu la SoC. Pankhani ya olamulira teknoloji ya robot, kafukufuku wake amakhazikika ku United States ndi Japan, ndipo pali zinthu zokhwima, monga DELTATAU ku United States ndi TOMORI Co., Ltd. ku Japan. Wowongolera wake amatengera ukadaulo wa DSP ndipo amatenga mawonekedwe otseguka a PC.
4. Mapeto zotsatira
Chotsatira chomaliza ndi chigawo cholumikizidwa ndi cholumikizira chomaliza cha manipulator. Nthawi zambiri amagwiritsidwa ntchito kugwira zinthu, kulumikizana ndi zida zina ndikuchita ntchito zofunika. Opanga maloboti nthawi zambiri sapanga kapena kugulitsa zida zomaliza. Nthawi zambiri, amangopereka chogwirizira chosavuta. Nthawi zambiri chimaliziro chimayikidwa pa flange ya nkhwangwa 6 za robot kuti amalize ntchito pamalo omwe apatsidwa, monga kuwotcherera, kujambula, gluing, ndi kutsitsa ndikutsitsa magawo, zomwe ndi ntchito zomwe zimafuna kuti ma robot amalize.
Nthawi yotumiza: Jul-18-2024
