1. Udindo wa zigawo za maginito mu maloboti
1.1. Malo olondola
M'makina a robot, masensa a maginito amagwiritsidwa ntchito kwambiri. Mwachitsanzo, m'maloboti ena akumafakitale, masensa opangidwa mkati amatha kuzindikira kusintha kwamphamvu yamagetsi yozungulira munthawi yeniyeni. Kuzindikira kumeneku kungathe kudziwa bwino malo ndi kumene lobotiyo ili mu danga la mbali zitatu, molondola mamilimita. Malinga ndi ziwerengero zoyenera, cholakwika choyika maloboti omwe ali ndi masensa a maginito nthawi zambiri amakhala mkati±5 mm, yomwe imapereka chitsimikizo chodalirika kwa ma robot kuti agwire ntchito zolondola kwambiri m'malo ovuta.
1.2. Kuyenda bwino
Mizere ya maginito kapena zolembera za maginito zomwe zili pansi zimakhala ngati njira zoyendera ndipo zimagwira ntchito yofunika kwambiri pazithunzi monga zosungiramo zinthu zokha, zopangira zinthu, ndi mizere yopanga. Potengera chitsanzo cha maloboti anzeru, ukadaulo wogwiritsa ntchito maginito oyenda panyanja ndi okhwima, otsika mtengo, olondola komanso odalirika poyika. Pambuyo kuyika zingwe za maginito pamzere wogwirira ntchito, loboti yanzeru imatha kupeza cholakwika pakati pa makinawo ndi njira yotsata zomwe mukufuna kudzera pamtundu wa data wamagetsi panjira, ndikumaliza ntchito yoyendetsa makinawo powerengera molondola komanso momveka. kuyeza. Komanso, maginito misomali navigation ndi njira wamba navigation. Mfundo yake yogwiritsira ntchito ndikupeza njira yoyendetsera galimoto kutengera chizindikiro cha maginito chomwe chimalandidwa ndi sensa yoyendera kuchokera ku maginito msomali. Mtunda pakati pa misomali ya maginito sungakhale waukulu kwambiri. Ikakhala pakati pa misomali iwiri ya maginito, loboti yogwira ikhala pamlingo wa encoder mawerengedwe.
1.3. Wamphamvu clamping adsorption
Kuyika maloboti okhala ndi maginito kungathandize kwambiri kuti lobotiyo igwire bwino ntchito. Mwachitsanzo, Dutch GOUDSMIT maginito clamp akhoza kuikidwa mosavuta mu mzere kupanga ndipo akhoza bwinobwino kunyamula mankhwala ferromagnetic ndi pazipita kukweza mphamvu 600 makilogalamu. MG10 magnetic gripper yomwe idakhazikitsidwa ndi OnRobot ili ndi mphamvu yokhoza kutero ndipo ili ndi zingwe zomangirira komanso masensa ozindikira magawo opangira, magalimoto ndi minda yazamlengalenga. Maginito a maginitowa amatha kumangirira pafupifupi mawonekedwe aliwonse kapena mawonekedwe achitsulo, ndipo malo ang'onoang'ono okhudzana ndi omwe amafunikira kuti akwaniritse mphamvu yolimba.
1.4. Kuzindikira koyeretsa bwino
Loboti yotsuka imatha kuyeretsa bwino zidutswa zachitsulo kapena zinthu zina zazing'ono pansi pogwiritsa ntchito maginito adsorption. Mwachitsanzo, loboti yoyeretsa ma adsorption imakhala ndi maginito amagetsi mugawo lofanana ndi fan kuti igwirizane ndi switch yowongolera sitiroko, kotero kuti malo owoneka ngati fan akalowa m'malo omwe adakonzedweratu, maginito amagetsi amazimitsidwa, kotero kuti zinyalala zachitsulo zikalowa. Zigawo zimagwera m'malo osonkhanitsira, ndipo mawonekedwe osinthira amaperekedwa pansi pagawo lofanana ndi zimakupiza kuti atolere zinyalala. Panthawi imodzimodziyo, maginito a maginito amatha kugwiritsidwanso ntchito kuti azindikire zinthu zachitsulo pansi, kuthandiza robot kuti igwirizane ndi chilengedwe ndikuyankha moyenera.
1.5. Kuwongolera molunjika kwagalimoto
M'makina monga ma DC motors ndi ma stepper motors, kuyanjana pakati pa maginito ndi ma mota ndikofunikira. Kutenga NdFeB maginito zipangizo monga chitsanzo, ali mkulu maginito mphamvu mankhwala ndipo angapereke amphamvu maginito mphamvu, kotero kuti loboti galimoto ali ndi makhalidwe a dzuwa mkulu, liwiro ndi mkulu makokedwe. Mwachitsanzo, chimodzi mwazinthu zomwe Zhongke Sanhuan amagwiritsa ntchito pa maloboti ndi NdFeB. Mu injini ya loboti, maginito a NdFeB atha kugwiritsidwa ntchito ngati maginito osatha a injiniyo kuti apereke mphamvu yamphamvu yamagetsi, kotero kuti galimotoyo imakhala ndi mawonekedwe othamanga kwambiri, kuthamanga kwambiri komanso torque yayikulu. Nthawi yomweyo, mu sensa ya loboti, maginito a NdFeB atha kugwiritsidwa ntchito ngati gawo lalikulu la sensa yamaginito kuti azindikire ndikuyesa chidziwitso cha maginito kuzungulira loboti.
2. Kugwiritsa ntchito maloboti okhazikika a maginito
2.1. Kugwiritsa ntchito maloboti a humanoid
Magawo omwe akubwerawa a maloboti a humanoid amafunikira maginito kuti azindikire ntchito monga kusintha kwa magetsi ndi kusefa kwa EMC. Maxim Technology adanena kuti maloboti a humanoid amafunikira maginito kuti amalize ntchito zofunikazi. Kuphatikiza apo, zida za maginito zimagwiritsidwanso ntchito m'maloboti a humanoid kuyendetsa ma motors ndikupereka mphamvu pakuyenda kwa maloboti. Pankhani ya makina ozindikira, zigawo za maginito zimatha kuzindikira bwino malo ozungulira ndikupereka maziko opangira zisankho za robot. Pankhani ya kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kawiri Mwachitsanzo, ponyamula zinthu zolemera, torque yamphamvu imatha kutsimikizira kuti loboti imatha kugwira ndikusuntha zinthu.
2.2. Kugwiritsa ntchito ma injini olowa
Zigawo za maginito zokhazikika za rotor ya maginito ya injini ya loboti imaphatikizapo makina ozungulira ndi njira yosungira. Mphete yozungulira pamakina ozungulira imalumikizidwa ndi chubu choyikira kudzera mu mbale yothandizira, ndipo kunja kwakunja kumaperekedwa ndi poyambira woyamba kuyika gawo loyamba la maginito, ndipo gawo lochotsa kutentha limaperekedwanso kuti liwongolere kutentha kwapang'onopang'ono. . Mphete yosungira mu makina osungira imaperekedwa ndi poyambira yachiwiri yoyikira gawo lachiwiri la maginito. Ikagwiritsidwa ntchito, makina osungira amatha kukhazikitsidwa mosavuta mkati mwa nyumba yolumikizirana yomwe ilipo kudzera mu mphete yosungira, ndipo makina ozungulira amatha kukhazikitsidwa pagawo lolumikizana lamoto kudzera mu chubu chokwera, ndipo chubu choyikiracho chimakhazikika ndikuletsedwa ndi dzenje kusunga. Kutentha kwapang'onopang'ono kumawonjezera malo olumikizirana ndi khoma lamkati la nyumba yolumikizirana yomwe ilipo, kotero kuti mphete yosungirayo imatha kusamutsa bwino kutentha komwe kumalowa m'nyumba yamagalimoto, potero kumapangitsa kuti kutentha kutheke. Pamene chubu chokwera chimayenda ndi rotor, chimatha kuyendetsa mphete yozungulira kuti izungulire mu mbale yothandizira. Mphete yozungulira imathandizira kutayika kwa kutentha kudzera m'sinki yoyamba yotenthetsera ndipo sinki yachiwiri yotenthetsera yokhazikika mbali imodzi ya chingwe chopangira kutentha. Nthawi yomweyo, kuyenda kwa mpweya komwe kumapangidwa ndi kuzungulira kwa injini yamoto kumatha kufulumizitsa kutulutsa kutentha mkati mwa mota kudzera padoko lotayira kutentha, kusunga malo ogwirira ntchito a chipika choyamba cha maginito ndi chipika chachiwiri cha maginito. Komanso, chipika choyamba cholumikizira ndi chipika chachiwiri cholumikizira ndi chosavuta kuyika ndikusintha mpando woyamba wooneka ngati L kapena mpando wachiwiri wooneka ngati L, kotero kuti chipika choyamba cha maginito ndi chipika chachiwiri chikhoza kukhazikitsidwa mosavuta. m'malo motengera momwe amagwiritsidwira ntchito.
2.3. Micro robot application
Ndi magnetizing loboti yaying'ono, imatha kutembenuka ndikuyenda m'malo ovuta. Mwachitsanzo, ofufuza ku Beijing Institute of Technology pamodzi NdFeB particles ndi zofewa silikoni PDMS zipangizo kupanga loboti yaying'ono zofewa, ndi kuphimba pamwamba ndi biocompatible hydrogel wosanjikiza, kugonjetsa adhesion pakati pa chinthu yaying'ono ndi nsonga yofewa ya loboti, kuchepetsa kukangana kwapakati pa loboti yaying'ono ndi gawo lapansi, ndikuchepetsa kuwonongeka kwa zolinga zachilengedwe. Dongosolo loyendetsa maginito limapangidwa ndi ma electromagnets oyimirira. Loboti yaying'ono imatembenuka ndikunjenjemera molingana ndi mphamvu ya maginito. Chifukwa chakuti lobotiyo ndi yofewa, imatha kupindika thupi lake momasuka ndipo imatha kutembenuka m'malo ovuta kwambiri. Osati zokhazo, loboti yaying'ono imathanso kuwongolera zinthu zazing'ono. M'masewera a "mikanda yosuntha" yopangidwa ndi ofufuza, loboti yaying'ono imatha kuwongoleredwa ndi mphamvu ya maginito, kudzera m'magulu a maze kuti "asunthire" mikanda yomwe mukufuna kulowa munjira yomwe mukufuna. Ntchitoyi ikhoza kutha m'mphindi zochepa chabe. M'tsogolomu, ofufuzawo akukonzekera kuchepetsa kukula kwa robot yaing'ono ndikuwongolera kulondola kwake, zomwe zimatsimikizira kuti robot yaying'ono ili ndi kuthekera kwakukulu kogwiritsa ntchito intravascular.
3. Zofunikira za robot pazinthu zamaginito
Mtengo wa gawo limodzi la maginito la loboti ya humanoid ndi nthawi 3.52 kuposa maginito a NdFeB. Chigawo cha maginito chikufunika kuti chikhale ndi mawonekedwe a torque yayikulu, kuchepa kwa maginito pang'ono, kukula kwa injini yaying'ono, komanso zofunikira zazikulu zamaginito. Ikhoza kukwezedwa kuchokera ku chinthu chosavuta cha maginito kupita ku chinthu cha maginito.
3.1. Torque yayikulu
Ma torque a maginito okhazikika a synchronous motor amakhudzidwa ndi zinthu zingapo, zomwe mphamvu ya maginito ndi imodzi mwazinthu zofunika kwambiri. Zida za maginito zokhazikika komanso mawonekedwe okhathamiritsa a maginito amagetsi amatha kukulitsa mphamvu ya maginito, potero kumapangitsa kutulutsa kwa torque ya mota. Mwachitsanzo, kukula kwa chitsulo cha maginito kumakhudza mwachindunji mphamvu ya maginito ya injini. Nthawi zambiri, chitsulo chokulirapo chimakhala ndi mphamvu ya maginito. Mphamvu yokulirapo ya maginito imatha kupereka mphamvu yamphamvu ya maginito, potero imakulitsa kutulutsa kwa torque ya mota. Mumaloboti a humanoid, torque yayikulu imafunikira kuti iwonjezere mphamvu yonyamula katundu kuti amalize ntchito zosiyanasiyana zovuta, monga kunyamula zinthu zolemetsa.
3.2. Kutsika kochepa kwa maginito
Kutsika pang'ono kwa maginito kumatha kuchepetsa zolakwika zoyenda. Pakuwongolera koyenda kwa maloboti a humanoid, kusuntha kolondola ndikofunikira. Ngati kutsika kwa maginito kuli kwakukulu, torque ya injiniyo imakhala yosakhazikika, zomwe zimasokoneza kulondola kwa loboti. Chifukwa chake, maloboti a humanoid amafunikira ngodya zazing'ono kwambiri za maginito kuti zitsimikizire kusuntha kolondola kwa loboti.
3.3. Kukula kwa injini yaying'ono
Mapangidwe a maloboti a humanoid nthawi zambiri amafunika kuganizira za kuchepa kwa malo, kotero kukula kwa injini ya gawo la maginito kumafunika kukhala kochepa. Kupyolera mu kapangidwe kabwino ka mapindikidwe, kukhathamiritsa kwa mawonekedwe a maginito ndi kusankha kwa shaft m'mimba mwake, kachulukidwe ka torque ka mota amatha kuwongolera, potero kutulutsa ma torque ambiri ndikuchepetsa kukula kwa mota. Izi zitha kupanga kapangidwe ka loboti kukhala kocheperako ndikuwongolera kusinthasintha komanso kusinthika kwa loboti.
3.4. High unit maginito ntchito zofunika
Zida zamaginito zomwe zimagwiritsidwa ntchito mumaloboti a humanoid zimafunika kukhala ndi maginito apamwamba kwambiri. Izi ndichifukwa choti maloboti a humanoid amafunika kukwaniritsa kutembenuka kwamphamvu kwamphamvu komanso kuwongolera koyenda pamalo ochepa. Zida za maginito zomwe zimakhala ndi maginito apamwamba zimatha kupereka mphamvu yamphamvu yamaginito, zomwe zimapangitsa kuti galimotoyo ikhale yogwira ntchito komanso yogwira ntchito kwambiri. Nthawi yomweyo, magwiridwe antchito apamwamba a maginito amathanso kuchepetsa kukula ndi kulemera kwa gawo la maginito, kukwaniritsa zofunikira za maloboti a humanoid kuti akhale opepuka.
4. Chitukuko chamtsogolo
Zida za maginito zawonetsa phindu lalikulu m'magawo ambiri chifukwa cha machitidwe awo apadera, ndipo chiyembekezo chawo cha chitukuko ndi chowala. M'munda wamafakitale, ndiwothandiza kwambiri pakuyika maloboti molondola, kuyenda bwino, kutsekereza mwamphamvu ndi kutsatsa, kuyeretsa bwino ndikuzindikira, ndikuwongolera bwino magalimoto. Ndizofunikira kwambiri m'mitundu yosiyanasiyana yamaloboti monga ma loboti a humanoid, ma motors olowa, ndi ma loboti ang'onoang'ono. Ndikukula kosalekeza kwa kufunikira kwa msika, zofunikira pazigawo zamphamvu zamaginito zikukweranso. Mabizinesi amayenera kupititsa patsogolo luso lazogulitsa ndi luso laukadaulo popanga chitukuko kuti apange zinthu zamaginito zomwe zimagwira ntchito kwambiri komanso zodalirika. Kufuna kwamisika ndikusintha kwaukadaulo kupititsa patsogolo msika wazinthu zamaginito mtsogolomo.
Nthawi yotumiza: Nov-19-2024
