Imashini yimashinis zikoreshwa cyane mubikorwa byinganda, nkibikorwa byimodoka, ibikoresho byamashanyarazi, ibiryo, nibindi. Birashobora gusimbuza imikorere yubukanishi kandi ni imashini zishingiye kububasha bwazo no kugenzura kugirango zigere kubikorwa bitandukanye. Irashobora kwihanganira itegeko ryabantu kandi irashobora no gukora ukurikije gahunda zateguwe mbere. Noneho turavuga kubyingenzi byingenzi bigizerobot yingandas.
1.Ingingo
Imashini nyamukuru nuburyo bwimashini hamwe nuburyo bukoresha, harimo ukuboko gukomeye, ukuboko, ukuboko, ukuboko nintoki, bigizwe na sisitemu yubukanishi-bwisanzure. Imashini zimwe na zimwe zifite uburyo bwo kugenda.Imashini yimashiniskugira impamyabumenyi 6 z'ubwisanzure cyangwa birenze. Ubusanzwe intoki ifite dogere 1 kugeza kuri 3 yubwisanzure bwo kugenda.
2. Sisitemu yo gutwara
Sisitemu yo gutwararobot yingandasigabanijwemo ibyiciro bitatu ukurikije ingufu zamashanyarazi: hydraulic, pneumatic and amashanyarazi. Ubu bwoko butatu burashobora kandi guhurizwa hamwe muri sisitemu igizwe na sisitemu ishingiye kubisabwa. Cyangwa mu buryo butaziguye binyuze mu buryo bwo guhererekanya imashini nk'umukandara uhuza, gari ya moshi, na gare. Sisitemu yo gutwara ibinyabiziga ifite ingufu nuburyo bwo kohereza, bikoreshwa mugushira mubikorwa ibikorwa byuburyo. Buri bwoko muri ubu bwoko butatu bwa sisitemu yibanze ifite ibiyiranga. Inzira nyamukuru iriho ni sisitemu yo gutwara amashanyarazi. Bitewe nubusembure buke, moteri nini ya AC na DC servo moteri hamwe na servo zabo zishyigikira (AC frequency converters, DC pulse ubugari modulator) irakoreshwa cyane. Ubu bwoko bwa sisitemu ntibusaba guhindura ingufu, biroroshye gukoresha, kandi bifite ubugenzuzi bworoshye. Moteri nyinshi zisaba uburyo bwo kohereza bworoshye: kugabanya. Amenyo yacyo akoresha ibyuma byihuta byihuta kugirango agabanye umubare wikizunguruka cya moteri kugeza ku mubare usabwa wo guhinduranya no kubona igikoresho kinini kinini, bityo kugabanya umuvuduko no kongera umuriro. Iyo umutwaro ari munini, moteri ya servo yongerewe buhumyi Imbaraga zihenze cyane, kandi urumuri rusohoka rushobora kwiyongera binyuze muri kugabanya umuvuduko ukwiye. Moteri ya Servo ikunda gushyuha no kunyeganyega kwinshi iyo ikorera kumurongo muto. Umurimo muremure kandi usubirwamo ntabwo ufasha gukora neza kandi wizewe. Kubaho kwa moteri igabanya neza ituma moteri ya servo ikora ku muvuduko ukwiye, ishimangira ubukana bwumubiri wimashini no gusohora umuriro mwinshi. Hariho ibice bibiri byingenzi bigabanya uyumunsi: kugabanya guhuza no kugabanya RV.
3.Ubugenzuzi
Uwitekasisitemu yo kugenzura robotni ubwonko bwa robo nibintu byingenzi bigena imikorere nimikorere ya robo. Sisitemu yo kugenzura yohereza ibimenyetso byerekana sisitemu yo gutwara hamwe nuburyo bwo gukora ukurikije gahunda yinjiza, ikanabigenzura. Igikorwa nyamukuru cyarobot yinganda kugenzura ikoranabuhanga ni ukugenzura urwego rwibikorwa, igihagararo na trayectory, nigihe cyibikorwa byarobot yingandas mu mwanya wakazi. Ifite ibiranga porogaramu yoroshye, imikorere ya software ikora, inshuti ya mudasobwa ikorana na interineti, ibikorwa byo kumurongo byerekana no gukoresha neza. Sisitemu yo kugenzura niyo shingiro rya robo, kandi ibigo byamahanga bireba bifunze cyane mubushakashatsi bwacu. Mu myaka yashize, hamwe niterambere ryikoranabuhanga rya micrélectronics, imikorere ya microprocessor yarushijeho kuba hejuru, kandi igiciro cyabaye gito kandi gihendutse. Ubu, microprocessor 32-biti igura amadolari ya Amerika 1-2 yagaragaye ku isoko. Microprocessors ikora neza yazanye amahirwe mashya yiterambere kubagenzuzi ba robo, bituma bishoboka guteza imbere imashini ziciriritse zidahenze, zikora cyane. Kugirango sisitemu igire ubushobozi buhagije bwo kubara no kubika, abagenzuzi ba robo ubu bigizwe ahanini nuruhererekane rukomeye rwa ARM, urukurikirane rwa DSP, urukurikirane rwa POWERPC, urukurikirane rwa Intel nizindi chip. Kubera ko imikorere n'imikorere ya chip-rusange isanzwe isanzwe idashobora kuzuza byuzuye ibisabwa na sisitemu zimwe na zimwe za robo mubijyanye nigiciro, imikorere, kwishyira hamwe hamwe ninteruro, ibi byatumye habaho tekinoroji ya SoC (Sisitemu kuri Chip) muri sisitemu ya robo. Gutunganya byahujwe nintera isabwa, ishobora koroshya igishushanyo mbonera cya sisitemu ya peripheri, kugabanya ingano ya sisitemu, no kugabanya ibiciro. Kurugero, Actel ihuza intungamubiri za NEOS cyangwa ARM7 mubicuruzwa byayo bya FPGA kugirango ikore sisitemu yuzuye ya SoC. Ku bijyanye n’ubugenzuzi bw’ikoranabuhanga rya robo, ubushakashatsi bwabwo bwibanze cyane muri Amerika no mu Buyapani, kandi hari ibicuruzwa bikuze, nka Sosiyete y'Abanyamerika DELTATAU, Ubuyapani Pengli Co., Ltd., n'ibindi. intangiriro kandi ifata PC ishingiye kumurongo. 4. Kurangiza Impera yanyuma nikintu gihujwe nuheruka wanyuma wa manipulator. Mubisanzwe bikoreshwa mu gufata ibintu, guhuza nubundi buryo no gukora imirimo isabwa. Abakora robot muri rusange ntibashushanya cyangwa kugurisha amaherezo; mubihe byinshi, batanga gusa gripper yoroshye. Mubisanzwe, amaherezo ya enterineti ashyirwa kuri 6-axis flange ya robot kugirango arangize imirimo mubidukikije runaka, nko gusudira, gushushanya, gufunga, hamwe no gupakira no gupakurura, ibyo bikaba aribikorwa bisaba robot kurangiza.
Incamake ya moteri ya servo Umushoferi wa Servo, uzwi kandi nka "servo mugenzuzi" na "servo amplifier", ni umugenzuzi ukoreshwa mugucunga moteri ya servo. Imikorere yacyo isa niy'umuhinduzi uhinduranya kuri moteri isanzwe ya AC, kandi ni igice cya sisitemu ya servo. Mubisanzwe, moteri ya servo igenzurwa hakoreshejwe uburyo butatu: umwanya, umuvuduko na torque kugirango ugere kumwanya uhagije wa sisitemu yo kohereza.
1. Gutondekanya moteri ya servo Igabanijwemo ibyiciro bibiri: moteri ya DC na AC servo.
Moteri ya AC servo yongeye kugabanywa muri moteri ya servo idafite imbaraga hamwe na moteri ya servo. Kugeza ubu, sisitemu ya AC isimbura buhoro buhoro sisitemu ya DC. Ugereranije na sisitemu ya DC, moteri ya AC servo ifite ibyiza byo kwizerwa cyane, gukwirakwiza ubushyuhe bwiza, umwanya muto wa inertia, hamwe nubushobozi bwo gukora munsi yumuvuduko mwinshi. Kuberako nta brush na bikoresho byo kuyobora, sisitemu ya AC servo nayo ihinduka sisitemu ya servo idafite amashanyarazi, kandi moteri ikoreshwa muri yo ni moteri ya cage yo mu bwoko bwa asinchronous moteri na moteri ihoraho ya magnetiki hamwe na moteri idafite ubwubatsi. 1) Moteri ya DC servo igabanijwemo moteri yogejwe kandi idafite brush
①Moteri yogejwe ifite igiciro gito, imiterere yoroshye, nini nini yo gutangira, umuvuduko mwinshi, kugenzura byoroshye, bisaba kubungabungwa, ariko biroroshye kubungabunga (gusimbuza karuboni ya karubone), kubyara amashanyarazi, bikagira ibyo bisabwa kubidukikije, kandi mubisanzwe bikoreshwa kugenzura ibiciro Ibyiyumvo rusange byinganda nimbonezamubano;
②Moteri ya Brushless ni ntoya mubunini n'umucyo muburemere, hamwe nibisohoka binini kandi byihuse. Bafite umuvuduko mwinshi hamwe nubusembure buto, itara rihamye hamwe no kuzunguruka neza. Igenzura riragoye kandi ryubwenge. Uburyo bwo kugabanya uburyo bwa elegitoronike buroroshye. Irashobora kugendana na kwaduka kare cyangwa sine. Moteri ntishobora kubungabungwa kandi neza. Kuzigama ingufu, imirasire ntoya ya electromagnetique, kuzamuka kwubushyuhe buke no kuramba, bikwiranye nibidukikije bitandukanye.
2. Ibiranga ubwoko butandukanye bwa moteri ya servo
1) Ibyiza nibibi bya moteri ya DC servo Ibyiza: kugenzura neza umuvuduko, gukomera cyane no kuranga umuvuduko, ihame ryoroshye ryo kugenzura, byoroshye gukoresha, nigiciro gihenze. Ibibi: guswera kugabanuka, umuvuduko ukabije, kwihanganira kwiyongera, kubyara uduce duto two kwambara (ntibikwiranye n’ibidukikije bitagira ivumbi kandi biturika)
2) Ibyiza nibibi bya moteri ya AC servo Ibyiza: kugenzura neza umuvuduko mwiza, kugenzura neza murwego rwose rwihuta, hafi nta guhungabana, gukora neza hejuru ya 90%, kubyara ubushyuhe buke, kugenzura umuvuduko mwinshi, kugenzura imyanya ihanitse (bitewe nukuri kuri kodegisi), byapimwe Agace gakoreramo Imbere, irashobora kugera kumurongo uhoraho, inertia nkeya, urusaku ruke, nta kwambara brush, no kubungabunga ibidukikije (bikwiranye nubutaka butagira ivumbi nibidukikije). Ibibi: Igenzura riragoye, ibipimo bya shoferi bigomba guhindurwa kurubuga kandi ibipimo bya PID byagenwe, kandi birakenewe guhuza byinshi. Kugeza ubu, imiyoboro rusange ya servo ikoresha ibyuma byerekana ibimenyetso (DSP) nkibikoresho byo kugenzura, bishobora gushyira mubikorwa algorithm igoye kandi ikagera kuri digitifike, imiyoboro nubwenge. Ibikoresho byingufu muri rusange bikoresha ibizunguruka byateguwe hamwe nimbaraga zubwenge (IPM) nkibyingenzi. IPM ihuza umuzenguruko wa disiki kandi ifite amakosa yo gutahura no gukingira ibintu nka volvoltage, kurenza urugero, gushyuha cyane, na volvoltage. Porogaramu nayo yongewe kumurongo nyamukuru. Tangira umuzenguruko kugirango ugabanye ingaruka zuburyo bwo gutangira umushoferi. Igice cyo gutwara amashanyarazi kibanza gukosora ibyinjijwemo ibyiciro bitatu cyangwa bigakoresha ingufu binyuze mubice bitatu byuzuye-ikiraro gikosora umuzenguruko kugirango ubone icyerekezo gihuye. Imbaraga zikosowe zicyiciro cya gatatu cyangwa imbaraga zingirakamaro noneho zihindurwamo inshuro na feri eshatu sinusoidal PWM voltage inverter kugirango itware ibyiciro bitatu bihoraho magnet synchronous AC servo moteri. Inzira yose yumuriro wamashanyarazi urashobora kuvugwa gusa ko ari inzira ya AC-DC-AC. Inzira nyamukuru ya topologiya yumurongo ukosora (AC-DC) nicyiciro cya gatatu cyuzuye-ikiraro cyuzuye kitagenzuwe neza.
Ibisasu biturika bigabanya guhuza Byatwaye Isosiyete y'Abayapani Nabtesco imyaka 6-7 kuva itanga igitekerezo cya RV mu ntangiriro ya za 1980 kugeza igeze ku ntera ishimishije mu bushakashatsi bugabanya RV mu 1986; na Nantong Zhenkang na Hengfengtai, babaye aba mbere mu gutanga ibisubizo mu Bushinwa, na bo bamaranye igihe. Imyaka 6-8. Bishatse kuvuga ko ibigo byiwacu bidafite amahirwe? Amakuru meza nuko nyuma yimyaka myinshi yoherejwe, amasosiyete yubushinwa yarangije gutera intambwe.
*Ingingo yakuwe kuri enterineti, nyamuneka twandikire kugirango dusibe ihohoterwa.
Igihe cyo kohereza: Nzeri-15-2023
