Feem ntau hais lus, industrial robots yog tsim los ntawm peb qhov tseem ceeb thiab rau subsystems.
Peb qhov tseem ceeb yog cov khoom siv tshuab, qhov ntsuas qhov ntsuas thiab qhov tswj tau.
Lub rau lub subsystems yuav muab faib mus rau hauv mechanical qauv system, tsav system, kev nkag siab system, neeg hlau-ib puag ncig kev sib cuam tshuam system, tib neeg-lub computer kev sib tshuam system thiab tswj system.
1. Mechanical qauv system
Los ntawm kev xav ntawm cov qauv siv tshuab, cov neeg hlau muaj feem ntau muab faib ua tandem neeg hlau thiab cov neeg hlau sib txuas. Tus yam ntxwv ntawm ib tug tandem neeg hlau yog hais tias lub zog ntawm ib tug axis yuav hloov lub coordinate keeb kwm ntawm lwm axis, thaum lub zog ntawm ib tug axis ntawm ib tug thaum uas tig mus neeg hlau yuav tsis hloov lub coordinate keeb kwm ntawm lwm axis. Thaum ntxov industrial robots tag nrho siv ib tug series mechanism. Ib qho kev sib txuas ua ke yog txhais tau tias yog lub voj kaw kaw uas lub platform txav thiab lub platform ruaj khov txuas nrog tsawg kawg yog ob txoj hlua ywj pheej, lub tshuab muaj ob lossis ntau dua qib ntawm kev ywj pheej, thiab tau tsav nyob rau hauv tib lub sijhawm. Parallel mechanism muaj ob yam, uas yog lub dab teg thiab caj npab. Qhov chaw ntawm kev txav ntawm caj npab muaj kev cuam tshuam zoo rau qhov chaw ntawm kev txav, thiab lub dab teg yog qhov sib txuas ntawm cov cuab yeej thiab lub cev. Piv nrog rau tandem neeg hlau, cov neeg hlau sib txuas muaj qhov zoo ntawm qhov siab nruj, cov qauv ruaj khov, muaj peev xwm loj, muaj peev xwm micro-txoj kev raug siab thiab kev txav me me. Nyob rau hauv cov nqe lus ntawm kev daws teeb meem, kev daws teeb meem rau pem hauv ntej ntawm tandem neeg hlau yog ib qho yooj yim, tab sis cov kev daws teeb meem rov qab yog qhov nyuaj heev, thaum cov neeg hlau sib txuas yog qhov sib txawv, qhov kev daws teeb meem zoo yog qhov nyuaj, tab sis kev daws teeb meem rov qab yog qhov yooj yim heev.
2. Tsav system
Lub tshuab tsav yog ib qho cuab yeej uas muab lub zog rau lub tshuab hluav taws xob. Raws li cov khoom siv hluav taws xob sib txawv, hom kev sib kis ntawm lub tshuab tsav tau muab faib ua plaub hom: hydraulic, pneumatic, hluav taws xob thiab txhua yam. Thaum ntxov industrial robots tau tsav hydraulically. Vim tias muaj teeb meem ntawm kev xau, suab nrov thiab tsis ruaj khov ntawm qhov ceev ceev hauv hydraulic system, thiab lub zog loj thiab kim zog, tsuas yog cov neeg hlau hnyav hnyav, cov neeg ua haujlwm sib luag thiab qee cov ntawv tshwj xeeb siv hydraulically tsav cov neeg hlau. Pneumatic tsav muaj qhov zoo ntawm kev ceev ceev, yooj yim system qauv, yooj yim txij nkawm thiab tus nqi qis. Txawm li cas los xij, kev ua haujlwm siab ntawm cov cuab yeej pneumatic yog qhov tsawg, thiab nws tsis yooj yim rau txoj haujlwm kom raug, yog li nws feem ntau tsuas yog siv rau kev tsav tsheb ntawm qhov kawg effector ntawm industrial robots. Pneumatic grippers, rotary cylinders thiab pneumatic suction khob yog siv los ua qhov kawg effectors rau me me thiab nruab nrab-loj workpiece tuav thiab sib dhos. Lub tshuab hluav taws xob yog ib hom kev tsav tsheb uas tau siv ntau tshaj plaws nyob rau tam sim no, thiab nws cov yam ntxwv yog tias lub zog siv tau yooj yim, cov lus teb yog ceev, lub zog tsav tsheb loj, lub teeb pom kev zoo, kev sib kis, kev ua haujlwm yooj yim, thiab ib qho Muaj ntau hom kev tswj tau yooj yim tuaj yeem txais yuav, lub tshuab tsav tsheb feem ntau siv lub tshuab stepper lossis servo lub cev muaj zog, thiab lub tshuab tsav ncaj qha kuj tseem siv rau tam sim no, tab sis tus nqi siab dua, thiab kev tswj kuj tseem nyuaj dua, thiab cov reducer uas phim lub cev muaj zog feem ntau txais kev sib haum xeeb reducer, cycloidal pin log reducer lossis planetary iav reducer. Vim muaj coob tus neeg tsav tsheb uas yuav tsum tau muaj nyob rau hauv parallel robots, linear motors tau dav siv nyob rau hauv lub teb ntawm parallel robots.
3. Kev xaav system
Ntxiv rau qhov xav tau kom pom cov khoom siv hluav taws xob muaj feem cuam tshuam nrog nws tus kheej lub xeev ua haujlwm, xws li kev hloov pauv, ceev thiab quab yuam, kev pom kev siv tshuab yog ib qho tseem ceeb ntawm kev lag luam neeg hlau xaav. Lub qhov muag pom kev servo siv cov ntaub ntawv pom pom los ua lub teeb liab tawm tswv yim los tswj thiab kho qhov chaw thiab lub cev ntawm tus neeg hlau. Lub tshuab tsis pom kev tshuab kuj tau siv dav hauv txhua yam ntawm kev tshuaj xyuas zoo, kev txheeb xyuas cov khoom ua haujlwm, kev faib zaub mov, thiab ntim khoom. Kev nkag siab system muaj xws li ib qho sensor module thiab ib qho sensor sab nraud, thiab kev siv cov ntse sensors txhim kho kev txav mus los, kev hloov pauv thiab kev txawj ntse theem ntawm tus neeg hlau.
4. Neeg hlau-ib puag ncig kev sib cuam tshuam
Cov neeg hlau-ib puag ncig kev sib cuam tshuam yog ib qho system uas paub txog kev sib cuam tshuam thiab kev sib koom tes ntawm cov neeg hlau thiab cov khoom siv hauv ib puag ncig 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, chav sib dhos, thiab lwm yam. Tau kawg, nws kuj tuaj yeem yog chav haujlwm ua haujlwm uas sib koom ua ke ntau cov neeg hlau los ua cov haujlwm nyuaj.
5. Human-computer interaction system
Tib neeg-khoos phis tawj kev sib txuas lus yog ib qho cuab yeej rau tib neeg los txuas nrog cov neeg hlau thiab koom nrog kev tswj xyuas neeg hlau. Piv txwv li: lub computer tus qauv davhlau ya nyob twg, hais kom ua console, cov ntaub ntawv qhia zaub mov, tswb ceeb toom, thiab lwm yam.
6. Tswj qhov system
Lub luag haujlwm ntawm kev tswj hwm yog tswj cov actuator ntawm tus neeg hlau 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 pub rov qab los ntawm cov sensors. Yog hais tias tus neeg hlau tsis muaj cov ntaub ntawv tawm tswv yim cov yam ntxwv, nws yog qhov qhib-kab tswj qhov system, thiab yog tias nws muaj cov ntaub ntawv tawm tswv yim cov yam ntxwv, nws yog qhov kaw-voj tswj qhov system. Raws li kev tswj hwm txoj cai, nws tuaj yeem muab faib ua qhov kev tswj hwm kev tswj hwm, kev tswj hwm kev tswj hwm thiab kev txawj ntse tswj qhov system. Raws li daim ntawv ntawm kev tswj kev txav, nws tuaj yeem muab faib ua qhov taw tes tswj thiab kev tswj xyuas kev ua haujlwm tas mus li.
