Industrial robots feem ntau muaj peb qhov tseem ceeb thiab rau lub subsystems. Peb qhov tseem ceeb yog cov khoom siv hluav taws xob, qhov ntsuas qhov ntsuas, thiab qhov tswj tau. Rau lub subsystems yuav muab faib ua mechanical structure system, drive system, perception system, robot-environment interaction system, human-machine interaction system, and control system.
Mechanical Structure System:
Los ntawm cov qauv kev xav, kev lag luam robots feem ntau muab faib ua serial robots thiab parallel robots. Ib tug yam ntxwv ntawm serial robots yog hais tias lub zog ntawm ib tug axis hloov lub coordinate keeb kwm ntawm lwm axis, thaum lub zog ntawm ib tug axis nyob rau hauv ib tug parallel neeg hlau tsis hloov lub coordinate keeb kwm ntawm lwm axis. Thaum ntxov industrial robots tag nrho siv serial mechanisms. Ib qho kev sib piv yog txhais tau tias yog qhov kaw - lub voj voog uas lub platform txav thiab lub platform ruaj khov txuas nrog yam tsawg kawg yog ob txoj hlua ywj pheej kinematic, lub tshuab muaj ob lossis ntau dua qib ntawm kev ywj pheej, thiab tau tsav mus rau qhov sib npaug.
Ib tug parallel mechanism muaj ob yam
Lub dab teg thiab caj npab. Lub caj npab ntau ntawm kev txav muaj feem cuam tshuam rau qhov chaw ua haujlwm, thaum lub dab teg yog qhov sib txuas ntawm lub cuab yeej thiab lub cev tseem ceeb. Piv nrog rau cov neeg hlau serial, cov neeg hlau sib txuas muaj qhov zoo xws li kev nruj dua, cov qauv kev ruaj ntseg, siab dua load-cov kabmob muaj peev xwm, siab dua micro- suab precision, thiab qis zog load. Hauv kev daws teeb meem ntawm txoj haujlwm, txoj kev rov qab mus rau pem hauv ntej yog ib qho yooj yim rau cov neeg hlau serial, tab sis nyuaj heev rau cov neeg hlau sib txuas; conversely, txoj kev inversion rau pem hauv ntej yog nyuaj, tab sis txoj kev inversion yog yooj yim heev.
Tsav System
Lub tshuab tsav tsheb muab lub zog rau cov neeg hlau cov pob qij txha thiab feem ntau muaj cov motors, txo cov zog, thiab cov khoom sib kis. Nws qhov kev ua tau zoo cuam tshuam rau tus neeg hlau cov lus teb ceev, kev ua haujlwm smoothness, thiab qhov tseeb ntawm qhov chaw. Cov txheej txheem tswj hwm yog lub hauv paus tseem ceeb ntawm kev lag luam neeg hlau, feem ntau yog siv los ua cov lus qhia hauv kev ua haujlwm, sib koom ua ke sib koom ua ke, thiab tswj cov tswv yim / tso tawm cov cim, ua tiav kev tswj hwm kev sib koom ua ke ntawm cov neeg hlau txoj hauv kev, lub cev, thiab kev ua haujlwm.
Sensing System
Lub kaw lus ntsuas tau txais cov ntaub ntawv hais txog tus neeg hlau lub xeev thiab ib puag ncig kev ua haujlwm, suav nrog txoj haujlwm, kev tshaj tawm, kev quab yuam, thiab cov yam ntxwv ntawm ib puag ncig sab nraud, muab kev tawm tswv yim rau kev tswj hwm. Los ntawm kev qhia txog cov ntaub ntawv sensor, cov neeg hlau muaj peev xwm tswj tau kev ua haujlwm ruaj khov nyob rau hauv cov xwm txheej nyuaj thiab, rau qee qhov, kho thiab txhim kho cov txheej txheem ua haujlwm. Qhov kawg effector yog cov khoom ntawm cov neeg hlau uas muaj kev sib cuag ncaj qha rau cov khoom siv lossis cov cuab yeej. Nws daim ntawv nws txawv nyob ntawm seb txoj hauj lwm, xws li ib tug gripper, welding torch, tshuaj tsuag rab phom, los yog cov cuab yeej tshwj xeeb, thiab nws yog ib qho tseem ceeb heev interface rau tej kev lag luam.
End Effector: Neeg hlau-Environment Interaction System
Ib tug neeg hlau -ib puag ncig kev sib cuam tshuam system yog ib qho system uas ua rau cov neeg hlau sib txuas lus thiab koom tes nrog cov cuab yeej hauv lawv qhov chaw sab nraud. Cov neeg hlau thiab cov khoom siv sab nraud tau muab tso rau hauv ib qho chaw ua haujlwm, xws li kev ua haujlwm thiab kev tsim khoom, chav vuam, lossis chav sib dhos. Xwb, ntau tus neeg hlau tuaj yeem muab tso ua ke rau hauv ib chav haujlwm ua haujlwm los ua cov haujlwm nyuaj.
Tib neeg -Machine Interaction System
Tib neeg- tshuab kev sib cuam tshuam yog ib qho khoom siv uas tso cai rau tib neeg sib txuas lus nrog thiab koom nrog kev tswj hwm ntawm tus neeg hlau. Piv txwv suav nrog cov qauv computer terminals, cov lus txib consoles, cov ntaub ntawv qhia vaj huam sib luag, thiab lub tswb ceeb toom.
Tswj System
Lub luag haujlwm ntawm kev tswj hwm yog tswj hwm tus neeg hlau actuators kom ua tiav cov kev taw qhia thiab kev ua haujlwm raws li tus neeg hlau cov lus qhia ua haujlwm thiab cov teeb liab rov qab los ntawm cov sensors. Yog hais tias tus neeg hlau tsis muaj cov yam ntxwv tawm tswv yim, nws yog qhov qhib - lub voj voog tswj; yog tias nws muaj cov yam ntxwv tawm tswv yim, nws yog qhov kaw - voj tswj qhov system. Raws li kev tswj hwm, cov txheej txheem tswj tau muab faib ua cov kev tswj hwm kev tswj hwm, kev tswj hwm kev tswj hwm, thiab kev tswj xyuas kev txawj ntse. Raws li daim ntawv ntawm kev tswj cov lus tsa suab, cov tshuab tswj tau muab faib ua cov ntsiab lus - mus rau - taw tes tswj thiab kev tswj tsis tu ncua.
