Robot ɗin masana'antus ana amfani da su sosai a masana'antu, kamar kera motoci, kayan lantarki, abinci, da sauransu. Suna iya maye gurbin ayyukan injiniya masu maimaitawa kuma injina ne waɗanda ke dogara da ƙarfinsu da ikon sarrafawa don cimma ayyuka daban-daban. Yana iya jure wa umarnin ɗan adam kuma yana iya aiki bisa ga shirye-shiryen da aka riga aka tsara. Yanzu muna magana game da manyan abubuwan da suka shafirobot ɗin masana'antus.
1. Maudu'i
Babban injinan sune tushen injin da kuma tsarin aiki, gami da babban hannu, hannu, wuyan hannu da hannu, waɗanda suka ƙunshi tsarin injina mai matakai daban-daban na 'yanci. Wasu robots kuma suna da tsarin tafiya.Robot ɗin masana'antussuna da digiri 6 na 'yanci ko ma fiye da haka. Hannun wuyan hannu gabaɗaya yana da digiri 1 zuwa 3 na 'yancin motsi.
2. Tsarin tuƙi
Tsarin tuƙi narobot ɗin masana'antusan raba shi zuwa rukuni uku bisa ga tushen wutar lantarki: na'ura mai aiki da karfin ruwa, na numfashi da na lantarki. Waɗannan nau'ikan guda uku kuma ana iya haɗa su cikin tsarin tuƙi mai haɗaka bisa ga buƙatu. Ko kuma a kaikaice ana tura su ta hanyar hanyoyin watsawa na inji kamar bel ɗin synchronous, jiragen ƙasa na gear, 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. Kowanne daga cikin waɗannan nau'ikan tsarin tuƙi guda uku na asali yana da nasa halaye. Babban abin da ake amfani da shi a yanzu shine tsarin tuƙi na lantarki. Saboda ƙarancin ƙarfin lantarki, ana amfani da manyan injinan AC da DC servo da na'urorin servo masu tallafawa (masu sauya mitar AC, masu daidaita faɗin bugun jini na DC) sosai. Wannan nau'in tsarin ba ya buƙatar canza kuzari, yana da sauƙin amfani, kuma yana da iko mai mahimmanci. Yawancin injinan suna buƙatar tsarin watsawa mai laushi: mai ragewa. Haƙoransa suna amfani da mai canza saurin gear don rage adadin juyawar juyawa na motar zuwa adadin juyawar juyawa da ake buƙata da kuma samun na'urar juyawa mafi girma, ta haka rage saurin da ƙara ƙarfin juyi. Lokacin da nauyin ya yi yawa, injin servo yana ƙaruwa da ido. Ƙarfin yana da matuƙar inganci, kuma ana iya ƙara ƙarfin fitarwa ta hanyar mai ragewa a cikin kewayon gudu mai dacewa. Injinan servo suna da saurin zafi da girgizar ƙasa lokacin aiki a ƙananan mitoci. Aiki na dogon lokaci da maimaituwa ba shi da amfani don tabbatar da aiki daidai da inganci. Kasancewar injin rage daidaito yana ba injin servo damar aiki a saurin da ya dace, yana ƙarfafa taurin jikin injin da kuma fitar da babban ƙarfin juyi. Akwai manyan masu rage gudu guda biyu a yau: mai rage harmonic da mai rage RV.
3. Tsarin sarrafawa
Thetsarin sarrafa robotshine kwakwalwar robot kuma babban abin da ke ƙayyade ayyuka da ayyukan robot. Tsarin sarrafawa yana aika siginar umarni zuwa tsarin tuƙi da tsarin aiwatarwa bisa ga shirin shigarwa, kuma yana sarrafa su. Babban aikinrobot ɗin masana'antu Fasahar sarrafawa ita ce ta sarrafa kewayon ayyuka, yanayin aiki da yanayin tafiya, da lokacin aikirobot ɗin masana'antuYana da halaye na shirye-shirye masu sauƙi, aikin menu na software, hulɗar hulɗa tsakanin ɗan adam da kwamfuta, umarnin aiki akan layi da kuma sauƙin amfani. Tsarin sarrafawa shine ginshiƙin robot ɗin, kuma kamfanonin ƙasashen waje masu dacewa sun kusa yin amfani da gwaje-gwajenmu. A cikin 'yan shekarun nan, tare da haɓaka fasahar microelectronics, aikin microprocessors ya ƙaru, kuma farashin ya zama mai rahusa da rahusa. Yanzu, microprocessors masu bit 32 waɗanda farashinsu ya kai dala 1-2 na Amurka sun bayyana a kasuwa. Microprocessors masu araha sun kawo sabbin damarmaki na haɓakawa ga masu sarrafa robot, wanda hakan ya ba da damar haɓaka masu sarrafa robot masu araha da aiki mai yawa. Domin sanya tsarin ya sami isasshen ƙarfin kwamfuta da ajiya, masu sarrafa robot yanzu galibi sun ƙunshi manyan jerin ARM, jerin DSP, jerin POWERPC, jerin Intel da sauran kwakwalwan kwamfuta. Tunda ayyuka da ayyukan kwakwalwan kwamfuta na yau da kullun ba za su iya cika buƙatun wasu tsarin robot ba dangane da farashi, aiki, haɗawa da hanyoyin sadarwa, wannan ya haifar da buƙatar fasahar SoC (Tsarin akan Chip) a cikin tsarin robot. An haɗa na'urar sarrafawa tare da hanyoyin sadarwa da ake buƙata, wanda zai iya sauƙaƙe ƙirar da'irorin kewaye na tsarin, rage girman tsarin, da rage farashi. Misali, Actel yana haɗa ƙwayoyin na'urori masu sarrafawa na NEOS ko ARM7 a cikin samfuran FPGA don samar da cikakken tsarin SoC. Dangane da masu sarrafa fasahar robot, bincikensa ya fi mayar da hankali ne a Amurka da Japan, kuma akwai samfuran da suka tsufa, kamar Kamfanin DELTATAU na Amurka, Pengli Co., Ltd. na Japan, da sauransu. Mai sarrafa motsi nata yana ɗaukar fasahar DSP a matsayin tushenta kuma yana ɗaukar tsarin buɗewa wanda aka gina akan PC. 4. Mai aiwatarwa na ƙarshe Mai aiwatar da ƙarshen abu wani ɓangare ne da aka haɗa shi da haɗin ƙarshe na mai sarrafa abu. Yawanci ana amfani da shi don ɗaukar abubuwa, haɗawa da wasu hanyoyin aiki da kuma yin ayyukan da ake buƙata. Masana'antun robot gabaɗaya ba sa tsara ko sayar da masu aiwatar da ƙarshen abu; a mafi yawan lokuta, suna ba da riƙo mai sauƙi kawai. Yawanci ana sanya mai aiwatar da ƙarshen abu a kan flange mai kusurwa 6 na robot don kammala ayyuka a cikin wani yanayi da aka bayar, kamar walda, fenti, mannewa, da lodawa da sauke sassa, waɗanda ayyuka ne da ke buƙatar robots su kammala.
Bayani game da injunan servo Direban Servo, wanda aka fi sani da "mai kula da servo" da "amplifier servo", wani mai sarrafawa ne da ake amfani da shi don sarrafa injinan servo. Aikinsa yayi kama da na mai canza mita akan injinan AC na yau da kullun, kuma yana cikin tsarin servo. Gabaɗaya, ana sarrafa injin servo ta hanyoyi uku: matsayi, gudu da karfin juyi don cimma matsayi mai kyau na tsarin watsawa.
1. Rarraba injinan servo An raba shi zuwa rukuni biyu: Injinan DC da AC servo.
An ƙara raba injinan AC servo zuwa injinan servo marasa daidaituwa da injinan servo masu daidaitawa. A halin yanzu, tsarin AC yana maye gurbin tsarin DC a hankali. Idan aka kwatanta da tsarin DC, injinan AC servo suna da fa'idodin aminci mai yawa, watsar da zafi mai kyau, ƙaramin lokacin rashin aiki, da ikon aiki a ƙarƙashin matsin lamba mai yawa. Saboda babu gogewa da gears na sitiyari, tsarin AC servo shi ma ya zama tsarin servo mara gogewa, kuma injinan da ake amfani da su a ciki injinan asynchronous ne na nau'in keji da injinan magnet na dindindin masu tsarin gogewa mara gogewa. 1) Injinan DC servo an raba su zuwa injinan gogewa da marasa gogewa
①Injinan da aka goge suna da ƙarancin farashi, tsari mai sauƙi, babban ƙarfin farawa, kewayon gudu mai faɗi, sauƙin sarrafawa, suna buƙatar kulawa, amma suna da sauƙin kulawa (maye gurbin burushin carbon), suna samar da tsangwama ta lantarki, suna da buƙatu kan yanayin amfani, kuma yawanci ana amfani da su don sarrafa farashi. Yanayi na masana'antu da na farar hula masu mahimmanci;
②Motocin da ba su da gogewa ƙanana ne kuma suna da sauƙin ɗauka, tare da babban fitarwa da kuma amsawa da sauri. Suna da babban gudu da ƙaramin rashin kuzari, ƙarfin juyi mai ƙarfi da kuma juyawa mai santsi. Kulawa tana da rikitarwa da wayo. Hanyar sauye-sauyen lantarki tana da sassauƙa. Tana iya tafiya tare da murabba'in raƙuman ruwa ko kuma sine wave. Motar ba ta da kulawa kuma tana da inganci. Tana adana makamashi, ƙaramin hasken lantarki, ƙarancin zafin jiki da tsawon rai, ya dace da yanayi daban-daban.
2. Halayen nau'ikan injinan servo daban-daban
1) Amfani da rashin amfani da injin DC servo Ribobi: daidaitaccen sarrafa gudu, ƙarfin juyi mai ƙarfi da halaye na gudu, ƙa'idar sarrafawa mai sauƙi, sauƙin amfani, da farashi mai arha. Rashin amfani: saurin goga, iyaka, ƙarin juriya, samar da ƙwayoyin cuta masu lalacewa (ba su dace da muhallin da ba su da ƙura da fashewa ba)
2) Amfani da rashin amfani da injin AC servo Fa'idodi: kyawawan halaye na sarrafa gudu, sarrafa santsi a cikin dukkan kewayon gudu, kusan babu juyawa, ingantaccen aiki fiye da 90%, ƙarancin samar da zafi, sarrafa sauri mai sauri, sarrafa matsayi mai daidaito (ya danganta da daidaiton mai shigar da bayanai), yankin aiki mai ƙima A ciki, zai iya cimma matsakaicin juyi, ƙarancin inertia, ƙarancin hayaniya, babu gogewa, kuma babu kulawa (ya dace da yanayin da ba ya ƙura da fashewa). Rashin Amfani: Kulawar ta fi rikitarwa, ana buƙatar daidaita sigogin direba a wurin kuma ana tantance sigogin PID, kuma ana buƙatar ƙarin haɗi. A halin yanzu, manyan na'urorin servo suna amfani da na'urori masu sarrafa siginar dijital (DSP) a matsayin tushen sarrafawa, wanda zai iya aiwatar da algorithms na sarrafawa masu rikitarwa kuma ya cimma digitization, hanyar sadarwa da hankali. Na'urorin wutar lantarki gabaɗaya suna amfani da da'irorin tuƙi waɗanda aka tsara tare da na'urorin wutar lantarki masu hankali (IPM) a matsayin tushen. IPM yana haɗa da'irar tuƙi kuma yana da da'irorin gano lahani da kariya kamar overvoltage, overcurrent, overheating, da undervoltage. Hakanan ana ƙara software zuwa babban da'irar. Da'irar farawa don rage tasirin tsarin farawa akan direba. Na'urar tuƙi ta farko tana gyara wutar lantarki mai matakai uku ko wutar mains ta hanyar da'irar rectifier mai matakai uku don samun wutar lantarki kai tsaye. Sannan wutar lantarki mai matakai uku ko wutar mains ɗin da aka gyara ana canza ta zuwa mita ta hanyar inverter na wutar lantarki na PWM mai matakai uku don tuƙa motar AC servo mai aiki da maganadisu mai matakai uku. Duk tsarin na'urar tuƙi ta wutar lantarki za a iya cewa shine tsarin AC-DC-AC. Babban da'irar topological na na'urar rectifier (AC-DC) da'irar rectifier mai matakai uku ne wanda ba a sarrafa shi ba.
Fashewar ra'ayi na na'urar rage harmonic Kamfanin Nabtesco na Japan ya ɗauki shekaru 6-7 daga gabatar da ƙirar RV a farkon shekarun 1980 zuwa cimma babban ci gaba a binciken rage RV a 1986; kuma Nantong Zhenkang da Hengfengtai, waɗanda suka fara samar da sakamako a China, suma sun ɓata lokaci. Shekaru 6-8. Shin hakan yana nufin cewa kamfanoninmu na gida ba su da dama? Labari mai daɗi shine bayan shekaru da yawa na tura su, kamfanonin China sun sami wasu ci gaba.
*An sake buga labarin daga Intanet, don Allah a tuntube mu don share keta doka.
Lokacin Saƙo: Satumba-15-2023
