Robot masana'antus ana amfani da su sosai a masana'antar masana'antu, kamar kera motoci, kayan lantarki, abinci, da sauransu. Za su iya maye gurbin ayyukan injina mai maimaitawa kuma injin ne waɗanda ke dogaro da ikon kansu da ikon sarrafawa don cimma ayyuka daban-daban. Yana iya jure umarnin ɗan adam kuma yana iya aiki bisa ga shirye-shiryen da aka riga aka tsara. Yanzu muna magana game da asali main aka gyara narobot masana'antus.
1.Maudu'i
Babban injina shine tushe na injin da injin kunnawa, gami da babban hannu, gaba, wuyan hannu da hannu, wanda ya zama tsarin injina na yanci da yawa. Wasu robots kuma suna da hanyoyin tafiya.Robot masana'antussuna da digiri 6 na 'yanci ko ma fiye. Hannun hannu gabaɗaya yana da digiri 1 zuwa 3 na 'yancin motsi.
2. Tsarin tuƙi
Tsarin tuki narobot masana'antusAn kasu kashi uku bisa ga tushen wutar lantarki: na'ura mai aiki da karfin ruwa, mai huhu da lantarki. Hakanan ana iya haɗa waɗannan nau'ikan nau'ikan guda uku zuwa tsarin tuƙi wanda ya danganta da buƙatu. Ko kuma a kaikaice ana tura shi ta hanyar hanyoyin sadarwa na inji kamar bel na aiki tare, jiragen kasa na kaya, da gears. Tsarin tuƙi yana da na'urar wutar lantarki da tsarin watsawa, waɗanda ake amfani da su don aiwatar da ayyukan da suka dace na tsarin. Kowane ɗayan waɗannan nau'ikan tsarin tuƙi guda uku yana da halayensa. Babban abin da ke faruwa a yanzu shine tsarin tuƙi na lantarki. Saboda ƙananan inertia, ana amfani da manyan juzu'i na AC da DC servo Motors da faifan servo masu goyan bayan su (masu sauya mitar AC, masu haɓaka bugun bugun jini na DC) ko'ina. Irin wannan tsarin baya buƙatar canjin makamashi, yana da sauƙin amfani, kuma yana da kulawa mai mahimmanci. Yawancin injina suna buƙatar tsarin watsawa mai laushi: mai ragewa. Haƙoran sa suna amfani da mai sauya saurin kaya don rage adadin jujjuyawar motar zuwa adadin da ake buƙata na jujjuyawar juyi da samun na'urar juzu'i mai girma, ta haka za ta rage gudu da ƙara ƙarfin wuta. Lokacin da nauyin ya yi girma, motar servo tana ƙaruwa da makanta Ƙarfin yana da tasiri sosai, kuma za a iya ƙara ƙarfin fitarwa ta hanyar mai ragewa a cikin kewayon saurin da ya dace. Motocin Servo suna da saurin zafi da ƙaramar girgizawa yayin aiki a ƙananan mitoci. Aiki na dogon lokaci da maimaitawa bai dace ba don tabbatar da ingantaccen aiki da abin dogaro. Kasancewar madaidaicin raguwar injin yana ba da damar injin servo yayi aiki a cikin saurin da ya dace, yana ƙarfafa tsattsauran jikin injin da fitar da mafi girman juzu'i. Akwai manyan masu ragewa guda biyu a yau: mai rage jituwa da mai rage RV.
3.Control tsarin
Thetsarin sarrafa mutum-mutumiita ce kwakwalwar mutum-mutumi kuma babban abin da ke tantance ayyuka da ayyukan mutum-mutumin. Tsarin sarrafawa yana aika sakonnin umarni zuwa tsarin tuki da tsarin aiwatarwa bisa ga shirin shigar da su, kuma yana sarrafa su. Babban aikinrobot masana'antu fasahar sarrafawa ita ce sarrafa kewayon ayyuka, matsayi da yanayi, da lokacin aiki narobot masana'antus a cikin wurin aiki. Yana da halaye na shirye-shirye masu sauƙi, aikin menu na software, hulɗar hulɗar ɗan adam da kwamfuta, faɗakarwar aiki ta kan layi da amfani mai dacewa. Tsarin mai sarrafawa shine tushen robot, kuma kamfanoni na ƙasashen waje masu dacewa suna kusa da rufewa ga gwaje-gwajenmu. A cikin 'yan shekarun nan, tare da haɓaka fasahar microelectronics, aikin microprocessors ya zama mafi girma kuma mafi girma, kuma farashin ya zama mai rahusa kuma mai rahusa. Yanzu, 32-bit microprocessors farashin dalar Amurka 1-2 sun bayyana a kasuwa. Microprocessors masu amfani da tsada sun kawo sabbin damar ci gaba ga masu sarrafa mutum-mutumi, suna ba da damar haɓaka ƙarancin farashi, masu sarrafa na'ura mai ƙarfi. Domin a sanya tsarin ya sami isassun ƙarfin kwamfuta da kuma ajiya, masu sarrafa robot a yanzu galibi sun ƙunshi jerin ARM masu ƙarfi, jerin DSP, jerin POWERPC, jerin Intel da sauran kwakwalwan kwamfuta. Tunda ayyuka da ayyukan kwakwalwan kwamfuta na gama-gari na yau da kullun ba za su iya cika buƙatun wasu tsarin mutum-mutumi ba dangane da farashi, aiki, haɗin kai da musaya, wannan ya haifar da buƙatar fasahar SoC (System on Chip) a cikin tsarin robot. An haɗa na'ura mai sarrafawa tare da mu'amalar da ake buƙata, wanda zai iya sauƙaƙa ƙirar tsarin da'irori, rage girman tsarin, da rage farashi. Misali, Actel yana haɗa abubuwan sarrafawa na NEOS ko ARM7 cikin samfuran FPGA ɗin sa don samar da cikakken tsarin SoC. Dangane da masu sarrafa fasahar mutum-mutumi, bincikensa ya fi karkata ne a Amurka da Japan, kuma akwai kayayyakin da suka balaga, kamar Kamfanin DELATAU na Amurka, da Pengli Co., Ltd. na Japan, da dai sauransu. core kuma yana ɗaukar tsarin buɗaɗɗen tushen PC. 4. Ƙarshen sakamako Ƙarshen sakamako shine ɓangaren da aka haɗa zuwa haɗin gwiwa na ƙarshe na manipulator. Ana amfani da shi gabaɗaya don ɗaukar abubuwa, haɗa tare da wasu hanyoyin da aiwatar da ayyukan da ake buƙata. Masu kera robot gabaɗaya ba sa ƙira ko siyar da abubuwan da za su iya ƙarewa; a mafi yawan lokuta, kawai suna ba da ƙugiya mai sauƙi. Yawancin lokaci ana shigar da mai amfani da ƙarshen a kan 6-axis flange na robot don kammala ayyuka a cikin yanayin da aka ba da su, kamar walda, zane-zane, gluing, da sassa na kaya da saukewa, ayyuka ne da ke buƙatar robots don kammalawa.
Bayani na servo Motors Direban Servo, wanda kuma aka fi sani da "servo controller" da "servo amplifier", mai kula ne da ake amfani da shi don sarrafa injinan servo. Ayyukansa yayi kama da na mai sauya mitar a kan motocin AC na yau da kullun, kuma yana cikin tsarin servo. Gabaɗaya, ana sarrafa motar servo ta hanyoyi guda uku: matsayi, saurin gudu da juzu'i don cimma daidaitaccen matsayi na tsarin watsawa.
1. Rarraba servo Motors An kasu kashi biyu: DC da AC servo Motors.
Motocin AC servo an ƙara raba su zuwa injinan servo na asynchronous da kuma injunan servo masu aiki tare. A halin yanzu, tsarin AC a hankali yana maye gurbin tsarin DC. Idan aka kwatanta da tsarin DC, AC servo Motors suna da abũbuwan amfãni daga babban abin dogara, mai kyau zafi watsawa, karamin lokacin inertia, da ikon yin aiki a karkashin babban matsa lamba. Saboda babu goge-goge da sitiyari, tsarin AC servo shima ya zama tsarin servo maras goge, kuma injinan da ake amfani da su a cikinsa injinan asynchronous ne masu nau'in keji da injina na ma'aunin maganadisu na dindindin tare da tsari mara goge. 1) Motocin servo na DC sun kasu kashi-kashi masu goge-goge da injunan goge-goge
①Motocin da aka goge suna da ƙarancin farashi, tsari mai sauƙi, babban ƙarfin farawa, kewayon saurin gudu, sauƙi mai sauƙi, buƙatar kulawa, amma suna da sauƙin kulawa (maye gurbin gogewar carbon), samar da tsangwama na lantarki, suna da buƙatu akan yanayin amfani, kuma galibi ana amfani dasu don kula da farashi Mahimmancin yanayin masana'antu da jama'a;
②Motoci marasa gogewa suna da ƙananan girman da haske a cikin nauyi, tare da babban fitarwa da amsa mai sauri. Suna da babban gudu da ƙananan inertia, barga mai ƙarfi da jujjuyawar santsi. Gudanarwa yana da rikitarwa kuma mai hankali. Hanyar tafiye-tafiye ta lantarki tana da sassauƙa. Yana iya tafiya tare da raƙuman murabba'i ko igiyar ruwa. Motar ba shi da kulawa kuma mai inganci. Ajiye makamashi, ƙananan radiation electromagnetic, ƙananan zafin jiki da kuma tsawon rai, dace da yanayi daban-daban.
2. Halayen nau'ikan nau'ikan injin servo
1) Abũbuwan amfãni da rashin amfani na DC servo motor Abũbuwan amfãni: madaidaicin sarrafa saurin gudu, ƙaƙƙarfan juzu'i da halaye na sauri, ƙa'idar sarrafawa mai sauƙi, sauƙin amfani, da farashi mai arha. Hasara: goga commutation, gudun iyaka, ƙarin juriya, ƙarni na lalacewa barbashi (bai dace da ƙura da kuma fashe muhallin)
2) Fa'idodi da rashin amfani na AC servo motor Abũbuwan amfãni: kyawawan halaye na sarrafa saurin gudu, kulawa mai santsi a cikin duk kewayon saurin, kusan babu oscillation, babban inganci fiye da 90%, ƙarancin samar da zafi, iko mai sauri, matsakaicin matsayi mai girma (dangane da daidaiton encoder), rated Wurin aiki A ciki, zai iya cimma madaidaicin juzu'i, ƙarancin rashin ƙarfi, ƙaramar amo, ba goge goge ba, da rashin kulawa (wanda ya dace da mahalli mara ƙura da fashewa). Rashin hasara: Kulawa ya fi rikitarwa, ana buƙatar daidaita sigogin direba a kan rukunin yanar gizon kuma an ƙayyade sigogin PID, kuma ana buƙatar ƙarin haɗin gwiwa. A halin yanzu, na'urorin servo na yau da kullun suna amfani da na'urori masu sarrafa siginar dijital (DSP) azaman tushen sarrafawa, waɗanda zasu iya aiwatar da ingantattun algorithms sarrafawa da cimma ƙididdigewa, sadarwar yanar gizo da hankali. Na'urorin wuta gabaɗaya suna amfani da da'irori masu tuƙi waɗanda aka ƙera tare da na'urori masu ƙarfi na fasaha (IPM) azaman ainihin. IPM tana haɗa da'irar tuƙi kuma tana da gano kuskure da da'irori na kariya irin su wuce gona da iri, wuce gona da iri, zafi, da rashin ƙarfi. Hakanan ana ƙara software zuwa babban kewayawa. Fara kewayawa don rage tasirin tsarin farawa akan direba. Naúrar tuƙin wutar lantarki ta farko tana gyara shigar da wutar lantarki mai mataki uku ko babban wutar lantarki ta hanyar da'ira mai cikakken gada mai hawa uku don samun daidaitaccen halin yanzu. Ƙarfin wutar lantarki da aka gyara na lokaci uku ko na yau da kullun ana canza shi zuwa mita ta hanyar inverter PWM na sinusoidal mai lamba uku don fitar da injin maganadisu na dindindin na lokaci uku na aiki tare AC servo motor. Gabaɗayan aikin naúrar tuƙin wutar lantarki ana iya cewa shi ne tsarin AC-DC-AC. Babban da'irar topological na naúrar gyara (AC-DC) da'irar gyara ce mai cikakken gada mai hawa uku maras sarrafawa.
Fashewar kallon mai rage jituwa Ya ɗauki Kamfanin Nabtesco na Jafananci 6-7 shekaru daga ba da shawarar ƙirar RV a farkon 1980s don cimma babban ci gaba a cikin binciken rage RV a 1986; da Nantong Zhenkang da Hengfengtai, wadanda su ne suka fara samar da sakamako a kasar Sin, su ma sun shafe lokaci. 6-8 shekaru. Shin yana nufin kamfanonin mu na cikin gida ba su da wata dama? Labari mai dadi shi ne, bayan kwashe shekaru da dama ana aiki, a karshe kamfanonin kasar Sin sun samu ci gaba.
*An sake buga labarin daga Intanet, da fatan za a tuntuɓe mu don share ƙeta.
Lokacin aikawa: Satumba-15-2023
