Roboti yo mu ngandas zikoreshwa cyane mu nganda, nko mu nganda zikora imodoka, ibikoresho by'amashanyarazi, ibiribwa, nibindi. Zishobora gusimbura ibikorwa bya mekanike bisubirwamo kandi ni imashini zishingikiriza ku mbaraga zazo n'ubushobozi bwazo bwo kugenzura kugira ngo zigere ku mirimo itandukanye. Zishobora kwihanganira amabwiriza y'abantu kandi zishobora no gukora hakurikijwe gahunda zateguwe mbere. Noneho turavuga ku bice by'ingenzi by'ingenzi byaroboti y'ingandas.
1. Ingingo
Imashini nyamukuru ni imashini ikoreshwa n'uburyo bwo kuyikoresha, harimo ukuboko gunini, ukuboko, ukuboko n'ukuboko, bigize sisitemu y'ubwisanzure bwinshi. Amwe mu marobo afite uburyo bwo kugenda.Roboti yo mu ngandasifite umudendezo wa dogere 6 cyangwa irenga. Ukuboko muri rusange kugira umudendezo wa dogere 1 kugeza kuri 3.
2. Sisitemu yo gutwara
Sisitemu yo gutwararoboti y'ingandasigabanyijemo ibyiciro bitatu hakurikijwe isoko y'amashanyarazi: hydraulic, pneumatic na electromagnetic. Ubwo bwoko butatu bushobora kandi guhuzwa muri sisitemu yo gutwara ibintu ivanze hashingiwe ku bisabwa. Cyangwa ikanyuzwa mu buryo butaziguye binyuze mu buryo bwo kohereza ibintu nka imikandara ihuza ibintu, gari ya moshi, na vitesi. Sisitemu yo gutwara ibintu ifite igikoresho cy'amashanyarazi n'uburyo bwo kohereza ibintu, bikoreshwa mu gushyira mu bikorwa ibikorwa bijyanye n'uburyo bwo gukora ibintu. Buri bwoko butatu muri ubu bwoko butatu bwa sisitemu y'ibanze yo gutwara ibintu bufite imiterere yabwo. Inzira nyamukuru y'ubu ni sisitemu yo gutwara ibintu ikoresha amashanyarazi. Bitewe n’uko nta muvuduko uhagije, moteri nini za AC na DC servo hamwe na servo drives zazo zishyigikira (AC frequency converters, DC pulse width modulators) zikoreshwa cyane. Ubu bwoko bwa sisitemu ntibusaba guhindura ingufu, bworoshye gukoresha, kandi bufite uburyo bwo kugenzura. Moteri nyinshi zikenera uburyo bworoshye bwo kohereza: igabanya. Amenyo yazo akoresha ihindura umuvuduko wa gear kugira ngo agabanye umubare w’ihindura ry ...
3. Sisitemu yo kugenzura
Itsindasisitemu yo kugenzura roboni ubwonko bwa roboti, ikaba ari na yo mpamvu nyamukuru igena imikorere n'imikorere ya roboti. Sisitemu yo kugenzura yohereza ibimenyetso by'amabwiriza kuri sisitemu yo gutwara no gushyira mu bikorwa hakurikijwe porogaramu yinjiye, kandi ikabigenzura. Inshingano nyamukuru yaroboti y'inganda Ikoranabuhanga ryo kugenzura ni ukugenzura urwego rw'ibikorwa, aho umuntu ahagaze n'aho anyura, n'igihe cyo gukoraroboti y'ingandas mu mwanya w'akazi. Ifite imiterere yoroshye yo gukora porogaramu, imikorere ya porogaramu, uburyo bworoshye bwo guhuza abantu na mudasobwa, uburyo bwo gukoresha interineti no kuyikoresha byoroshye. Sisitemu yo kugenzura ni yo shingiro ry’imashini zigenzura, kandi amasosiyete y’amahanga abifitiye ububasha yegereye cyane igerageza ryacu. Mu myaka ya vuba aha, hamwe n’iterambere ry’ikoranabuhanga rya microelectronics, imikorere ya microprocessors yarushijeho kwiyongera, kandi igiciro cyarushijeho kugabanuka. Ubu, microprocessors za 32-bit zigura amadolari 1-2 y’Amerika zagaragaye ku isoko. Microprocessors zihendutse zazanye amahirwe mashya yo guteza imbere robo controlers, bituma bishoboka guteza imbere robo controlers zihendutse kandi zikora neza. Kugira ngo sisitemu ibe ifite ubushobozi buhagije bwo kubara no kubika, robo controlers ubu zigizwe ahanini na ARM series zikomeye, DSP series, POWERPC series, Intel series n’izindi chips. Kubera ko imikorere n'imikorere ya chips zisanzweho zidashobora kuzuza ibisabwa na sisitemu zimwe na zimwe za roboti mu bijyanye n'igiciro, imikorere, guhuza na interfaces, ibi byatumye habaho ikoranabuhanga rya SoC (System on Chip) muri sisitemu za roboti. Poroseseri ihuzwa n'interfaces zikenewe, zishobora koroshya imiterere ya sisitemu, kugabanya ingano ya sisitemu, no kugabanya ikiguzi. Urugero, Actel ihuza NEOS cyangwa ARM7 processor cores mu bicuruzwa byayo bya FPGA kugira ngo ikore sisitemu yuzuye ya SoC. Ku bijyanye n'abagenzura ikoranabuhanga rya roboti, ubushakashatsi bwayo bwibanda cyane muri Leta Zunze Ubumwe za Amerika no mu Buyapani, kandi hari ibicuruzwa bikuze, nka sosiyete y'Abanyamerika ya DELTATAU, Pengli Co., Ltd. yo mu Buyapani, nibindi. Igenzura ry'imikorere yaryo rifata ikoranabuhanga rya DSP nk'ishingiro ryaryo kandi rigakoresha imiterere ifunguye ishingiye kuri mudasobwa. 4. Impera y'ingaruka Ingufu yo kurangiza ni igice gihujwe n'ingingo ya nyuma ya manipulator. Muri rusange ikoreshwa mu gufata ibintu, guhuza n'izindi nzira no gukora imirimo isabwa. Abakora robo muri rusange ntibashushanya cyangwa ngo bagurishe ingufu zo kurangiza; akenshi, batanga gusa icyuma cyoroshye cyo gufata. Ubusanzwe ingufu yo kurangiza ishyirwa ku mpandeshatu ya robo kugira ngo irangize imirimo mu gace runaka, nko gusudira, gusiga amarangi, gusiga kole, no gupakira no gupakurura ibice, ari byo bikorwa bisaba robo kurangiza.
Incamake ya moteri za servo Umushoferi wa Servo, uzwi kandi ku izina rya "servo controller" na "servo amplifier", ni umuyoboro ukoreshwa mu kugenzura moteri za servo. Imikorere yawo isa n'iya converter ya frequency kuri moteri zisanzwe za AC, kandi ni igice cya sisitemu ya servo. Muri rusange, moteri ya servo igenzurwa binyuze mu buryo butatu: aho iherereye, umuvuduko na torque kugira ngo igere ku mwanya mwiza wa sisitemu yo kohereza ubutumwa.
1. Gushyira mu byiciro moteri za servo Igabanyijemo ibyiciro bibiri: moteri za DC na AC servo.
Moteri za servo za AC zigabanyijemo moteri za servo zitagendana na moteri za servo zitagendana. Kuri ubu, sisitemu za AC zigenda zisimbura sisitemu za DC buhoro buhoro. Ugereranyije na sisitemu za DC, moteri za servo za AC zifite ibyiza byo kwizerwa cyane, gukwirakwiza ubushyuhe neza, kugira akanya gato k'ubudahangarwa, no gushobora gukora munsi y'umuvuduko mwinshi. Kubera ko nta brush na verisiyo ziyobora, sisitemu ya servo ya AC nayo ihinduka sisitemu ya servo idakoresha uburoso, kandi moteri zikoreshwamo ni moteri zitagendana na moteri zihoraho zifite imiterere idakoresha uburoso. 1) Moteri za DC servo zigabanyijemo moteri zikozwe mu buryo bwa brushed na moteri zidafite brush
①Moteri zikozwe muri brush zifite igiciro gito, imiterere yoroshye, imbaraga nini zo gutangira, umuvuduko munini, uburyo bworoshye bwo kugenzura, zikenera gusanwa, ariko zoroshye kubungabunga (zisimbuza brushes za karuboni), zikora interference ya electromagnetic, zifite ibisabwa ku bidukikije, kandi zikoreshwa mu kugenzura ikiguzi. Imiterere y’inganda n’imiturire rusange iteye ubwoba;
②Moteri zitagira uburoso ni ntoya kandi zoroshye, zifite umusaruro munini kandi zikora vuba. Zifite umuvuduko mwinshi n'ubudahangarwa buto, torque ihamye kandi izunguruka neza. Uburyo bwo kugenzura ni ingenzi kandi bufite ubwenge. Uburyo bwo guhindura imikorere hakoreshejwe ikoranabuhanga buragoye. Ishobora guhindura imikorere hakoreshejwe umuraba wa kare cyangwa umuraba wa sine. Moteri ntifata neza kandi ikora neza. Izigama ingufu, imirasire mito ya elegitoroniki, ubushyuhe buke kandi iramba, ikwiriye ahantu hatandukanye.
2. Ibiranga ubwoko butandukanye bwa moteri za servo
1) Ibyiza n'ibibi bya moteri ya DC servo Ibyiza: kugenzura umuvuduko neza, imiterere ikomeye cyane ya torque n'umuvuduko, ihame ryoroshye ryo kugenzura, byoroshye gukoresha, kandi igiciro gito. Ibibi: guhindura uburoso, umuvuduko ntarengwa, kongera imbaraga zo gukora, gukora uduce twangiritse (ntibikwiriye ahantu hatari ivumbi cyangwa ahantu haturika)
2) Ibyiza n'ibibi bya moteri ya servo ya AC Ibyiza: Imiterere myiza yo kugenzura umuvuduko, kugenzura neza umuvuduko wose, hafi nta guhindagurika, gukora neza cyane ku kigero kirenze 90%, gutanga ubushyuhe buke, kugenzura umuvuduko mwinshi, kugenzura ahantu nyaburanga (biterwa n'ubuziranenge bw'imashini ikoresha imashini), ahantu ho gukorera hagenwe. Muri yo, ishobora kugera ku muvuduko uhoraho, kutagira urusaku rwinshi, kudakoresha uburoso, no kudakoresha uburoso (bikwiriye ahantu hatari ivumbi cyangwa ibisasu). Ingaruka mbi: Uburyo bwo kugenzura buragoye cyane, ibipimo by'umushoferi bigomba guhindurwa aho biri kandi ibipimo bya PID bikamenyekana, kandi hakenewe uburyo bwinshi bwo guhuza. Muri iki gihe, servo drivers zisanzwe zikoresha poroseseri z'ibimenyetso bya digitale (DSP) nk'ishingiro ry'ubuyobozi, zishobora gushyira mu bikorwa algorithme zikomeye zo kugenzura no kugera ku ihinduka ry'ikoranabuhanga, itumanaho n'ubwenge. Ibikoresho by'amashanyarazi muri rusange bikoresha circuits za drive zakozwe na modules z'amashanyarazi zijijutse (IPM) nk'ishingiro. IPM ihuza circuits za drive kandi ifite circuits zo kubona amakosa no kurinda nko gushyuha cyane, gushyuha cyane, gushyuha cyane, na undervoltage. Porogaramu nayo yongerwa kuri circuits nini. Tangira circuits kugira ngo ugabanye ingaruka z'igikorwa cyo gutangira kuri driver. Igice cy'amashanyarazi gibanza gukosora ingufu z'amashanyarazi cyangwa mains zinjira binyuze muri circuits y'amashanyarazi yuzuye y'ibiro bitatu kugira ngo haboneke amashanyarazi ajyanye nayo. Ingufu z'amashanyarazi cyangwa mains zikosowe zihinduka inshuro nyinshi na inverter ya voltage ya sinusoidal PWM y'ibiro bitatu kugira ngo itware moteri ya servo ya AC ihoraho ya magnet synchronous y'ibiro bitatu. Inzira yose y'igice cy'amashanyarazi ishobora kuvugwa ko ari process ya AC-DC-AC. Urwego rukuru rwa topological rw'igice cy'amashanyarazi (AC-DC) ni circuits y'amashanyarazi yuzuye y'ibiro bitatu.
Ishusho yaturitse ya harmonic reducer Byatwaye imyaka 6-7 isosiyete y’Abayapani ya Nabtesco kuva yatanga igitekerezo cy’igishushanyo mbonera cya RV mu ntangiriro za 1980 kugeza igeze ku iterambere rikomeye mu bushakashatsi ku kugabanya RV mu 1986; kandi Nantong Zhenkang na Hengfengtai, ari zo za mbere zatanze umusaruro mu Bushinwa, nazo zamaze igihe. Imyaka 6-8. Bivuze ko ibigo byacu byo mu gace nta mahirwe bifite? Inkuru nziza ni uko nyuma y’imyaka myinshi yo gushyirwa mu bikorwa, ibigo by’Abashinwa byageze ku iterambere.
*Iyi nkuru yakuwe kuri interineti, turagusaba ko watwandikira kugira ngo tugusibeho icyaha.
Igihe cyo kohereza: 15 Nzeri 2023
