Sisitemu yo gusudira ya Roboti – Umutwe wo gusudira wa Galvanometer

Umutwe ucunga ikirere ukoresha igikoresho cya mekanike nk'urubuga rushyigikira, kandi ugenda ugana inyuma no inyuma mu gikoresho cya mekanike kugira ngo ugere ku gusudira kw'imashini zifite inzira zitandukanye. Ubuziranenge bwo gusudira bushingiye ku buziranenge bw'igikoresho, bityo hari ibibazo nko kudakora neza, umuvuduko wo gusubiza buhoro, no kudakora neza cyane. Sisitemu yo gupima galvanometer ikoresha moteri kugira ngo ihindukire lens. Moteri itwarwa n'umuyoboro runaka kandi ifite ibyiza byo kudakora neza cyane, kudakora neza gato, no kwihuta. Iyo urumuri rumuritswe kuri lens ya galvanometer, guhindukira kwa galvanometer bihindura inguni yo kwerekana urumuri rw'umuyoboro wa laser. Kubwibyo, umuyoboro wa laser ushobora gupima inzira iyo ari yo yose mu gice cyo gupima binyuze muri sisitemu ya galvanometer. Umutwe uhagaze ukoreshwa muri sisitemu yo gusudira ya robotiki ni porogaramu ishingiye kuri iri hame.

Ibice by'ingenzi bigizesisitemu yo gupima galvanometerni collimator yo kwagura imirasire, lenzi yo gufatisha, galvanometer yo gupima ifite umurongo wa XY, ikibaho cyo kugenzura na sisitemu ya porogaramu ya mudasobwa. Galvanometer yo gupima yerekeza ahanini ku mitwe ibiri ya XY galvanometer yo gupima, itwarwa na moteri za servo zisubiranamo zihuta cyane. Sisitemu ya servo ifite umurongo wa kabiri ituma galvanometer yo gupima ifite umurongo wa XY inyura mu murongo wa X na Y mu kohereza ibimenyetso by'amabwiriza kuri moteri za servo za X na Y. Muri ubu buryo, binyuze mu ngendo za lenzi ya XY ifite umurongo wa kabiri, sisitemu yo kugenzura ishobora guhindura ikimenyetso binyuze kuri galvanometer hakurikijwe icyitegererezo cy'ibishushanyo bya porogaramu ya mudasobwa yashyizweho n'uburyo bw'inzira, kandi ikagenda vuba ku murongo w'igikorwa kugira ngo ikore inzira yo gupima.

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Dukurikije isano iri hagati y’ikirahuri cyo gupima n’icyuma gipima urumuri cya laser, uburyo bwo gupima urumuri bwa galvanometer bushobora kugabanywamo ibice bibiri: gupima imbere (ishusho y’ibumoso) no gupima inyuma (ishusho y’iburyo). Bitewe n’uko hariho itandukaniro ry’inzira y’urumuri iyo umurasire wa laser uhindukiye ukajya mu myanya itandukanye (intera yo kohereza urumuri iratandukanye), urwego rw’urumuri rwa laser mu gikorwa cyo gupima urumuri cyabanje ni ubuso bugonganye, nk’uko bigaragara ku ishusho y’ibumoso. Uburyo bwo gupima inyuma bugaragara ku ishusho y’iburyo, aho ikirahuri cyo gupima urumuri ari ikirahuri cyo gupima urumuri. Ikirahuri cyo gupima urumuri gifite imiterere yihariye y’urumuri.

Sisitemu yo gusudira ya Roboti

Mu gushyiramo uburyo bwo gukosora amashusho, umurongo wa hemispherical focal plane w’umuraba wa laser ushobora guhindurwa ukajya ku murongo. Guskana inyuma bibereye cyane cyane porogaramu zifite ibisabwa byo gutunganya neza no gukora neza, nko gushyira ikimenyetso kuri laser, gusudira microstructure ya laser, nibindi. Uko agace ko guskana kagenda kiyongera, umwanya w’ikirahure nacyo uriyongera. Bitewe n’imbogamizi za tekiniki n’ibikoresho, igiciro cya flense nini zo guskana kirahenze cyane, kandi iki gisubizo nticyemerwa. Guhuza sisitemu yo guskana ya galvanometer imbere y’ikirahure n’irobo ifite umurongo utandatu ni igisubizo gishoboka gishobora kugabanya kwishingikiriza ku bikoresho bya galvanometer, kandi gishobora kugira urwego runini rw’ubuziranenge bwa sisitemu no guhuza neza. Iki gisubizo cyakiriwe n’abahuza benshi, bakunze kwitwa gusudira indege. Guskana kwa module busbar, harimo no gusukura inkingi, bifite porogaramu zo kuguruka, zishobora kongera imiterere yo gutunganya mu buryo bworoshye kandi bunoze.

Byaba ari ugusuzuma imbere cyangwa gupima inyuma, aho urumuri rwa laser rushyirwa, ntabwo rushobora kugenzurwa kugira ngo rukomeze gupima. Ku buryo bwo gusuzuma imbere, iyo igikoresho kigomba gutunganywa ari gito, lens ifite uburebure runaka bw'ubujyakuzimu, bityo ishobora gukora gupima imbere hakoreshejwe imiterere mito. Ariko, iyo indege igomba gupimwa ari nini, ingingo zegereye impande ntiziba zigaragara kandi ntizishobora kwibanda ku buso bw'igikoresho kigomba gutunganywa kuko kirenze imipaka yo hejuru n'iyo hasi y'ubujyakuzimu bwa laser. Kubwibyo, iyo icyuma cya laser gikenewe kwibanda neza ahantu hose ku gice cyo gusuzuma kandi urwego rw'ishusho ari runini, gukoresha lens ifite uburebure bw'ubujyakuzimu buhamye ntibishobora kuzuza ibisabwa mu gupima.

Sisitemu yo kwibanda ku bushobozi bw'izuba ni sisitemu y'izuba ifite uburebure bw'izuba bushobora guhindurwa uko bikenewe. Kubwibyo, hakoreshejwe lensi ikoresha imbaraga kugira ngo ihuze itandukaniro ry'inzira y'izuba, lensi yometseho (itanga umusatsi) igenda ku murongo ugororotse ku murongo w'izuba kugira ngo igenzure aho ireba, bityo igera ku bwishyu bw'itandukaniro ry'inzira y'izuba ry'ubuso bugomba gutunganywa mu myanya itandukanye. Ugereranyije na galvanometer ya 2D, imiterere ya galvanometer ya 3D yongeraho "sisitemu y'izuba y'izuba ya Z", ituma galvanometer ya 3D ihindura neza aho ireba mu gihe cyo gusudira no gukora ubuso buzunguruka, hatabayeho guhindura aho ireba mu buryo bworoshye, hagahindurwa uburebure bw'aho ireba nk'igikoresho cy'imashini cyangwa roboti nka galvanometer ya 2D.

Sisitemu yo gushingira ku bintu ikoresha imbaraga ishobora guhindura ingano ya defocus, guhindura ingano y'ahantu, guhindura focus ya Z-axis, no gutunganya ibintu mu buryo butatu.

Intera yo gukora isobanurwa nk'intera iri hagati y'inkombe y'imbere ya lens n'iy'icyerekezo cyangwa urwego rwo gushakisha intego. Witondere kutavanga ibi n'uburebure bw'icyerekezo (EFL) bw'intego. Ibi bipimirwa uhereye ku gice cy'ingenzi, urwego rw'icyitegererezo aho sisitemu yose ya lens ifatwa nk'aho isubira inyuma, ukagera ku gice cy'icyitegererezo cy'insinga y'icyerekezo.