Yintoni irobhothi yoshishino? Yenziwe ngantoni? Ihamba njani? Uyilawula njani? Wenza ntoni?
Mhlawumbi uzele yimibuzo malunga noshishino lweerobhothi zoshishino. La manqaku angama-9 olwazi anokukunceda ngokukhawuleza ukuseka ukuqonda okusisiseko kweerobhothi zoshishino.
1. Yintoni irobhothi yoshishino?
Irobhothi ngumatshini onee-degrees ezininzi zenkululeko kwindawo emacala-ntathu kwaye inokuqonda uninzi lwezenzo ze-anthropomorphic kunye nemisebenzi, kwaye irobhothi yoshishino isetyenziswa kwimveliso yeerobhothi. Iimpawu zayo ziyacwangciswa, i-anthropomorphic, i-universal, kunye ne-mechatronics.
2. Ziziphi iinkqubo zeerobhothi zoshishino? Wenza ntoni ewenzeni?
Inkqubo yokuqhuba: Ukuhanjiswa okwenza irobhothi isebenze.
Inkqubo yesakhiwo somatshini: inkqubo ye-multi-degree-of-freedom mechanical eyakhiwe nge-fuselage, ingalo, kunye nesixhobo ekupheleni kwe-manipulator.
Inkqubo yokubona: Iqulunqwe yimodyuli ye-sensor yangaphakathi kunye nemodyuli ye-sensor yangaphandle ukufumana ulwazi lwemeko yangaphakathi nangaphandle.
Inkqubo yokunxibelelana yerobhothi: Inkqubo eqonda intsebenziswano kunye nolungelelwaniso phakathi kweerobhothi zoshishino kunye nezixhobo ezikummandla wangaphandle.
Inkqubo yokusebenzisana nomatshini woluntu: umqhubi uthatha inxaxheba kulawulo lwerobhothi kunye nesixhobo sokunxibelelana nerobhothi.
Inkqubo yokulawula: Ngokwenkqubo yomyalelo wokusebenza werobhothi kunye nomqondiso wempendulo evela kwinzwa yokulawula indlela yokulawula yerobhothi ukugqiba intshukumo echaziweyo kunye nomsebenzi.
3. Iyintoni intsingiselo yenkululeko yerobhothi?
Iqondo lenkululeko libhekiselele kwinani leentshukumo ezizimeleyo zolungelelwaniso lwe-axis yerobhothi, engafanele iquke iqondo lokuvula nokuvala lenkululeko yozipho lwesandla (isixhobo sokuphela). Kwisithuba esine-dimensional ezintathu, idigri ezintandathu zenkululeko ziyafuneka ukuchaza indawo kunye nesimo sengqondo sento, idigri ezintathu zenkululeko ziyafuneka ekusebenzeni kwesikhundla (esinqeni, ehlombe, nasengqinibeni), kunye nemigangatho emithathu yenkululeko yokusebenza kwengqondo (i-pitch, i-yaw kunye ne-roll).
Iirobhothi zemizi-mveliso ziyilwe ngokwenjongo yazo kwaye zinokuba ngaphantsi okanye zibe nkulu kunedigri ezintandathu zenkululeko.
4. Ziziphi iiparamitha eziphambili ezibandakanyekayo kwiirobhothi zoshishino?
Amanqanaba enkululeko, ukuchaneka okuphindaphindiweyo kokuma, uluhlu lokusebenza, isantya esiphezulu sokusebenza, kunye nomthamo wokuthwala.
5. Yiyiphi imisebenzi yefuselage kunye nengalo? Yintoni esifanele sinikele ingqalelo kuyo?
I-fuselage yinxalenye yengalo exhasayo, eqonda ngokubanzi ukunyakaza kokuphakamisa kunye nokukhwela. I-fuselage kufuneka yenziwe ngokuqina okwaneleyo kunye nokuzinza; Ukunyakaza kufuneka kube nokuguquguqukayo, ubude bomkhono wesikhokelo sokunyuka kwentshukumo akufanele kube bufutshane kakhulu, ukuphepha ukwenzeka kokubanjwa, ngokuqhelekileyo, kufuneka kubekho isixhobo sesikhokelo; Ubume besakhiwo kufuneka bube ingalo enengqiqo ngumthwalo omileyo kunye noguquguqukayo wesandla sesandla kunye nomsebenzi, ngakumbi xa intshukumo yesantya esiphezulu iya kuvelisa amandla amakhulu e-inetia, impembelelo ebangela, ichaphazela ukuchaneka kokumisa.
Xa uyila ingalo, ingqalelo kufuneka ihlawulwe kwiimfuno zokuqina okuphezulu, ukuhamba kakuhle, ukukhaphukhaphu, intshukumo egudileyo, kunye nokuchaneka kokuma okuphezulu. Ezinye iisistim zothumelo kufuneka zibe mfutshane kangangoko ukuze kuphuculwe ukuchaneka kunye nokusebenza kakuhle; Uyilo lwecandelo ngalinye kufuneka lube nengqiqo, kwaye ukusebenza kunye nokugcinwa kufuneka kube lula; Ngaphantsi kweemeko ezikhethekileyo, umphumo wemitha ye-thermal kufuneka ithathelwe ingqalelo kwindawo ephezulu yokushisa kunye nokukhuselwa kwe-corrosion kufuneka kuthathelwe ingqalelo kwindawo engcolileyo. Indawo enobungozi kufuneka ithathele ingqalelo ulawulo lodushe.
6. Nguwuphi owona msebenzi uphambili womlinganiselo wenkululeko esihlahleni?
Iqondo lenkululeko esihlahleni ikakhulu malunga nokufezekisa isimo sengqondo esifunwayo sesandla. Ukuze wenze isandla sibe kulo naliphi na icala lesithuba, isihlahla sinokuqonda ukujikeleza kwee-axes ezintathu zokulungelelanisa u-X, Y, no-Z esithubeni. Oko kukuthi, inamaqondo amathathu enkululeko, i-pitch ejikelezayo, kunye nokuphambuka.
7. Imisebenzi kunye neempawu zezixhobo zokugqibela zerobhothi
Isandla serobhothi licandelo elisetyenziselwa ukubamba i-workpiece okanye isixhobo. Licandelo elahlukileyo elinokuba nozipho okanye isixhobo esikhethekileyo.
8. Ngokomgaqo wokubamba, zeziphi iintlobo zezixhobo zokugqibela ezahlulwe ngazo? Zeziphi iifom ezithile ezibandakanyiweyo?
Ngokomgaqo wokubamba, isandla sokubamba isiphelo sahlulwe saba ngamacandelo amabini: iklasi yokudibanisa ibandakanya uhlobo lwenkxaso yangaphakathi, uhlobo lokudibanisa lwangaphandle, ukuguqulela uhlobo lwe-clamping yangaphandle, uhlobo lwe-hook, kunye nohlobo lwasentwasahlobo; Udidi lwe-adsorption lubandakanya uhlobo lokufunxa ngemagnethi kunye nohlobo lokufunxa umoya.
9. Umahluko phakathi kokuhanjiswa kwe-hydraulic kunye ne-pneumatic kumandla okusebenza, ukusebenza kokuhanjiswa, kunye nokusebenza kokulawula?
Amandla okusebenza. I-Hydraulic inokufumana intshukumo enkulu yomgca kunye namandla ajikelezayo, ibambe ubunzima be-1000 ukuya kwi-8000N; Uxinzelelo lomoya lunokufumana amandla amancinci ahambayo kunye namandla ajikelezayo, kwaye ubunzima bokumbamba bungaphantsi kwe-300N.
Ukusebenza kokuhanjiswa. Uxinzelelo lweHydraulic lugqithiso oluncinci olugudileyo, akukho mpembelelo, ngokusisiseko, akukho nto yokuhambisa, ebonisa isantya sentshukumo ebuthathaka ukuya kuthi ga kwi-2m / s; Uxinzelelo lwe-viscosity yomoya luncinci, ilahleko yombhobho incinci, isantya sokuhamba sikhulu, isantya siphezulu, kodwa ukuzinza kubi kwisantya esiphezulu, impembelelo inzima. Ngokuqhelekileyo, i-cylinder yi-50 ukuya kwi-500mm / s.
Lawula ukusebenza. Uxinzelelo lwe-hydraulic kunye nokuhamba kulula ukulawula, ukulawulwa kwesantya esingenanyathelo ngommiselo; Uxinzelelo oluphantsi alulula ukulawula, kunzima ukulifumana ngokuchanekileyo, kwaye ngokubanzi alwenzi ulawulo lwe-servo.
Ixesha lokuposa: Dec-07-2022
