Robot shu kungacha ishlab chiqilgan va asosiy kadrlar tuzilishi amalga oshirilgan. Uning rivojlanishi bir kechada emas, balki yarim asrdan ko'proq vaqt davomida sodir bo'ldi. Keling,' robotning tarkibi va rivojlanishi haqida gapiraylik.
1. Robotning tarkibi
The robot includes three major parts and six subsystems, of which the three major parts refer to the mechanical part, the sensing part, and the control part, and the six subsystems refer to the driving system, the mechanical structure system, the feeling system, the robot-environment interaction system, the human-computer interaction system, and The control system is shown in the figure below.
Oltita quyi tizimning funktsiyalari quyida tavsiflangan:
(1) Drayv tizimi. Haydash tizimi robotning ishlashi uchun har bir bo'g'in uchun, ya'ni har bir harakat erkinligi darajasi uchun tashkil etilgan uzatish moslamasidir. Drayv tizimi gidravlik uzatish, pnevmatik uzatish, elektr uzatish yoki ularni birlashtirgan keng qamrovli tizim yoki to'g'ridan-to'g'ri qo'zg'alish yoki sinxron tasmalar, zanjirlar, tishli poezdlar, garmonik viteslar va boshqalar kabi mexanik uzatish mexanizmlari orqali bevosita qo'zg'alish bo'lishi mumkin.
(2) Mechanical structure system. The mechanical structure system of the industrial robot includes three parts: the base, the arm, and the end operator. Each part has several degrees of freedom, forming a multi-degree-of-freedom mechanical system. If the base has a walking mechanism, it constitutes a walking robot; if the base does not have a walking and waist rotation mechanism, it constitutes a single robot arm. The arm generally includes three parts: the upper arm, the lower arm, and the wrist. The end operator is an important part directly mounted on the wrist. It can be a two-fingered or multi-fingered claw, or it can be a painting gun, welding tool, and other working tools.
(3) Feel the system. The sensing system includes an internal sensor module and an external sensor module, and its function is to obtain valuable information on the internal and external environmental states. Due to the use of intelligent sensors, the mobility, adaptability, and intelligence level of robots can be improved. Although the human sensory system is extremely sensitive to the information of the external world, for some special information, the sensor is more accurate than the human sensory system.
(4) Robot muhitining o'zaro ta'siri tizimi. Robot-muhitning o'zaro ta'siri tizimining roli sanoat roboti va tashqi muhitdagi uskunalar o'rtasidagi o'zaro aloqa va muvofiqlashtirishni amalga oshirishdan iborat. Sanoat robotlari va tashqi uskunalar qayta ishlash va ishlab chiqarish birliklari, payvandlash birliklari, yig'ish birliklari va boshqalar kabi funktsional birlikka birlashtirilishi mumkin. Albatta, bir nechta robotlar, bir nechta dastgoh asboblari yoki uskunalari, bir nechta qismlarni saqlash moslamalari va boshqalar ham bo'lishi mumkin. murakkab vazifalarni bajarish uchun funktsional birlikka birlashtirilgan.
(5) Inson va kompyuterning o'zaro ta'siri tizimi. Inson va kompyuterning o'zaro ta'siri tizimining roli operator'ning robotni boshqarishdagi ishtirokini va robot bilan aloqani amalga oshirishdan iborat. Masalan, kompyuterlar uchun standart terminallar, buyruq konsollari, ma'lumotni ko'rsatish panellari, xavf signallari signallari va boshqalar. Tizimni ikkita toifaga bo'lish mumkin, ya'ni buyruq berilgan qurilma va axborotni ko'rsatish qurilmasi.
(6) Boshqarish tizimi. Boshqaruv tizimining vazifasi robot'ning ishlash bo'yicha yo'riqnoma dasturiga va sensordan keladigan qayta aloqa signaliga muvofiq belgilangan harakat va funksiyani bajarish uchun robot' aktuatorini boshqarishdan iborat. Agar sanoat robotida axborotni qayta tiklash funktsiyasi bo'lmasa, u ochiq-oydin boshqaruv tizimidir; agar u axborotni qayta tiklash funktsiyasiga ega bo'lsa, u yopiq tsiklli boshqaruv tizimidir. Boshqarish printsipiga ko'ra, boshqaruv tizimini dasturiy boshqaruv tizimiga, moslashuvchan boshqaruv tizimiga va sun'iy intellektni boshqarish tizimiga bo'lish mumkin. Boshqarish harakati shakliga ko'ra, boshqaruv tizimini nuqta nazorati va traektoriyani boshqarishga bo'lish mumkin.
2. The development of robots
By the way, I would like to talk about the development status of robots around the world. In 1954, Davor in the United States first proposed the concept of industrial robots and applied for a patent. The key of the patent is to use servo technology to control the joints of the robot, to teach the robot movements with the help of human hands, and the robot has the function of recording and reproducing movements. This is the so-called teaching and reproduction robot, and most of the existing robots adopt this control method. Known as the "Father of Industrial Robots", Joseph F. Engel Berger founded the world's first robotics company, Unimation, in 1958, and participated in the design of the first Unimate robot. The robot is a five-axis hydraulically driven robot for die-casting operations, and the control of the arm is done by a dedicated computer. It uses discrete numerical control elements and is equipped with a magnetic drum to store information and can memorize 180 work steps. During this period, another American company, AMF, also began to develop Versatran industrial robots. It is mainly used for material transportation between machines and is driven by hydraulics. The arm of the robot can revolve around the base, lift up and down in the vertical direction, and can also expand and contract in the radial direction. In general, Unimate and Versatran can be considered the world's first industrial robots. The control methods of these two industrial robots are roughly similar to CNC machine tools, but their shape and characteristics are very different, mainly composed of human-like hands and arms.
Umuman olganda, robotlar zamonaviy texnologik taraqqiyotning muhim ramzidir. Bu mamlakat'ning har tomonlama milliy kuchining aniq ifodasidir.