Robot system yog tsim los ntawm cov neeg hlau, cov khoom siv ua haujlwm thiab ib puag ncig, suav nrog kev siv tshuab, tsav tsheb, kev tswj hwm thiab kev nkag siab.
Mechanical systems
Cov txheej txheem kev lag luam ntawm cov neeg hlau muaj xws li lub fuselage, caj npab, dab teg, kawg manipulator thiab taug kev mechanism, thiab txhua feem muaj ntau qib ntawm kev ywj pheej, yog li tsim ib lub tshuab tshuab nrog ntau qib ntawm kev ywj pheej.
Tsis tas li ntawd, qee cov neeg hlau kuj muaj cov txheej txheem taug kev.
Yog hais tias tus neeg hlau muaj ib tug taug kev mechanism, nws yog ib tug taug kev neeg hlau;
Yog hais tias tus neeg hlau tsis tau nruab nrog taug kev thiab lub duav tig mechanism, ib leeg neeg hlau caj npab yog tsim.
Qhov kawg manipulator yog ib feem tseem ceeb ntsia ncaj qha rau ntawm dab teg. Nws tuaj yeem yog ob-ntiv tes lossis ntau- ntiv tes claw, lossis nws tuaj yeem yog rab phom, phom vuam thiab lwm yam cuab yeej ua haujlwm.
Cov tshuab tshuab ntawm kev lag luam robots ua raws li qhov sib npaug ntawm tib neeg lub cev (xws li pob txha pob txha, tes, caj npab thiab ceg).
Tsav system
Tsav system feem ntau yog hais txog cov cuab yeej tsav uas tsav qhov kev txiav txim ntawm kev siv tshuab.
Raws li qhov sib txawv ntawm kev tsav tsheb, kev tsav tsheb tuaj yeem muab faib ua peb hom hluav taws xob, hydraulic thiab pneumatic thiab lawv cov kev sib xyaw ua ke ntawm kev ua tiav.
Qhov no ua haujlwm zoo li tib neeg cov leeg.
Lub tshuab hluav taws xob tau siv dav hauv kev lag luam neeg hlau, uas tuaj yeem muab faib ua peb hom kev tsav tsheb: stepper lub cev muaj zog, DC servo lub cev muaj zog thiab AC servo lub cev muaj zog.
Thaum ntxov, stepper lub cev muaj zog tau siv los tsav, thiab tom qab ntawd DC servo lub cev muaj zog tau tsim, thiab AC servo lub cev muaj zog tau maj mam thov.
Qee qhov ntawm cov tsav tsheb saum toj no yog siv los tsav lub tshuab ncaj qha, thiab qee qhov tsav lub tshuab los ntawm kev sib haum xeeb reducer deceleration, cov qauv yog yooj yim thiab compact.
Hydraulic tsav system muaj zog ruaj khov thiab muaj peev xwm thauj khoom loj, yog li nws tsim nyog siv hydraulic tsav rau hnyav thauj khoom thiab cov khoom ua haujlwm robots.
Txawm li cas los xij, hydraulic tsav muaj qee qhov tsis zoo xws li cov kav dej sib txuas thiab kev tu tsis yooj yim, yog li nws daim ntawv thov hauv kev sib dhos yog txwv.
Txawm hais tias hluav taws xob lossis hydraulically tsav, qhib thiab kaw ntawm claws ntawm tus neeg hlau txais daim ntawv pneumatic.
Lub pneumatic tsav neeg hlau yog yooj yim nyob rau hauv cov qauv, ceev nyob rau hauv kev txiav txim thiab tsis tshua muaj nqi, tab sis nws ua hauj lwm ceev tsis ruaj khov vim compressibility ntawm huab cua.
Txawm li cas los xij, qhov compressibility ntawm huab cua tuaj yeem txhim kho kev ua raws li claw thaum rub los yog clamping cov khoom, thiab tiv thaiv kom tsis txhob muaj zog ntau dhau los ntawm kev puas tsuaj rau cov khoom lossis claw nws tus kheej.
Lub siab ntawm lub tshuab cua siab feem ntau yog 0.7mpa, yog li lub zog tuav me me, tsuas yog kaum ob tus nyuj rau ntau pua tus nyuj.
Tswj qhov system
The task of the control system is to control the robot's actuator according to the robot's operation instruction program and the signal feedback from the sensor, so that it can complete the specified movement and function.
Yog hais tias tus neeg hlau tsis muaj cov ntaub ntawv tawm tswv yim yam ntxwv, kev tswj hwm yog hu ua qhib voj tswj system.
Yog hais tias tus neeg hlau muaj cov yam ntxwv ntawm cov ntaub ntawv tawm tswv yim, lub kaw lus tswj hu ua kaw - voj tswj qhov system.
Qhov no feem ntau yog siv computer hardware thiab tswj software.
Lub software feem ntau yog tsim los ntawm tib neeg -computer kev sib cuam tshuam system thiab tswj algorithm.
Qhov no ua haujlwm zoo li tib neeg lub hlwb.
Kev nkag siab system
Lub kaw lus ntsuas yog tsim los ntawm cov sensors sab hauv thiab sab nraud sensors, thiab nws txoj haujlwm yog kom tau txais cov ntaub ntawv nyob hauv thiab sab nraud ntawm tus neeg hlau, thiab tawm tswv yim cov ntaub ntawv no rau kev tswj hwm.
Lub ntsuas hluav taws xob sab hauv lub xeev siv los txheeb xyuas txoj haujlwm, nrawm thiab lwm yam hloov pauv ntawm txhua qhov sib koom ua ke thiab muab cov lus qhia tawm tswv yim rau qhov kaw - voj servo tswj qhov system.
Lub xeev sab nraud sensor yog siv los txheeb xyuas qee lub xeev qhov sib txawv ntawm cov neeg hlau thiab ib puag ncig ib puag ncig, xws li kev nyob deb, qhov sib thooj thiab kev sib cuag, thiab siv los coj tus neeg hlau kom nws tuaj yeem paub txog cov khoom thiab ua cov khoom sib xws.
Sab nraud sensors tuaj yeem ua rau cov neeg hlau teb rau nws ib puag ncig hauv txoj kev hloov pauv, ua kom cov neeg hlau muaj kev txawj ntse.
Lub luag haujlwm ntawm ntu no yog sib npaug rau tib neeg tsib lub siab.
Robot yog ib hom kev siv tshuab tsis siv neeg, uas muaj qee qhov kev txawj ntse zoo ib yam li tib neeg lossis tsiaj txhu, xws li kev nkag siab, kev npaj muaj peev xwm, muaj peev xwm ua tau thiab muaj peev xwm sib koom ua ke. Nws yog ib lub tshuab tsis siv neeg hloov tau yooj yim heev.