Iirobhothi ezilawulwa kude ziye zanda ukwenza umsebenzi kwiimeko ezingxamisekileyo ezifana nokukhangela abasindileyo kwizakhiwo ezidilikileyo.
Ukufunyanwa kwezinto ezinokuba yingozi, iimeko zokubanjwa okanye ezinye iindlela zokuthotyelwa komthetho kunye nemilinganiselo yokulwa nobunqolobi.Esi sixhobo sikhethekileyo sokusebenza kude sisebenzisa ii-micromotors ezichanekileyo endaweni yabasebenzi abangabantu ukwenza imisebenzi eyimfuneko enobungozi, enokunciphisa kakhulu umngcipheko kubasebenzi ababandakanyekayo.Ukuphatha ngokuchanekileyo kunye nokuphatha izixhobo ezichanekileyo zizinto ezimbini ezibalulekileyo ezifunekayo.
Njengoko itekhnoloji iqhubeka nokuvela kunye nokuphucula, iirobhothi zinokusetyenziswa kwimisebenzi entsonkothileyo kunye nemiceli mngeni.Ngenxa yoko, iirobhothi ngoku zixhaphake ngokusetyenziswa kwiimeko ezingxamisekileyo eziyingozi kakhulu ebantwini - njengenxalenye yemisebenzi yefektri, ukunyanzeliswa komthetho okanye amanyathelo okulwa nobunqolobi, njengokuchonga izinto ezikrokrelekayo okanye ukuthomalalisa iibhombu.Ngenxa yeemeko ezinzima ngolo hlobo, ezi nqwelo-mafutha ze-manipulator kufuneka zicuthene kangangoko zinako ukuhlangabezana neemfuno ezithile.Iingalo zabo zokubamba kufuneka zivumele iipateni zentshukumo eziguquguqukayo ngelixa zibonisa ukuchaneka kunye namandla afunekayo ukuphatha uluhlu lwemisebenzi eyahlukeneyo.Ukusetyenziswa kwamandla nako kudlala indima ephambili: okukhona uqhuba kakuhle, kokukhona ubomi bebhetri bubude.Ii-micromotors ezikhethekileyo eziphezulu zokusebenza ziye zaba yinxalenye ebalulekileyo kwintsimi yeerobhothi ezikude, zihlangabezana ngokugqibeleleyo neemfuno ezinjalo.
Oku kusebenza nakwiirobhothi ezixineneyo zolwazi.
Ezixhotyiswe ngeekhamera kwaye ngamanye amaxesha zide zijulwe ngokuthe ngqo kwindawo yokusetyenziswa, ngoko ke kufuneka zikwazi ukumelana nezothuso, ezinye iintshukumo kunye nothuli okanye ubushushu kwiindawo ezinokuba yingozi ngakumbi.Kule meko, akukho mntu unokuya emsebenzini ngokuthe ngqo ukukhangela abasindileyo.Ii-Ugvs (izithuthi ezingaqhubiyo emhlabeni) zinokwenza kanye oko.Kwaye, ngenxa yeFAULHABER DC micromotor, idityaniswa nesinciphisi seplanethi esonyusa itorque, zithembeke kakhulu.Ubungakanani obuncinci be-UGVs buvumela ukukhangela umngcipheko wezakhiwo ezidilikileyo kwaye uthumela imifanekiso yexesha langempela, okwenza kube sisixhobo esibalulekileyo sokwenza izigqibo kubaphenduli bexakeka xa kuziwa kwiimpendulo zeqhinga.
Imoto echanekileyo ye-Dc kunye negiya eyenziwe ngesixhobo esibambeneyo sokuqhuba esilungele imisebenzi eyahlukeneyo yokuqhuba.Ezi robhothi zomelele, zithembekile kwaye azibizi mali ininzi.
Namhlanje, iirobhothi ezihambayo zisetyenziswa ngokuqhelekileyo kwiimeko ezinzima apho kukho umngcipheko omkhulu ebantwini nakwiindawo zokusebenza kwezoshishino.
Ukuthotyelwa komthetho okanye amanyathelo achasene nobunqolobi, njengokuchonga izinto ezikrokrelekayo okanye ukukhupha iibhombu.Kwezi meko zinzima kakhulu, aba "basebenzi bezithuthi" kufuneka bahlangabezane neemfuno ezithile.Ukusetyenziswa okuchanekileyo kunye nokuphathwa kwesixhobo esichanekileyo zizinto ezimbini eziyimfuneko ezisisiseko.Kakade ke, isixhobo kufuneka sibe sincinci kangangoko singena kwiipaseji ezimxinwa.Ngokwemvelo, ii-actuator ezisetyenziswa ziirobhothi ezinjalo ziyamangalisa.Ii-micromotors ezikhethekileyo zomgangatho ophezulu ziye zaba yinxalenye ebalulekileyo.
Senditshilo, ukuphakamisa i-30kg ekupheleni kwengalo sele kungumngeni.
Kwangaxeshanye, imisebenzi ethile ifuna ukuchaneka kunokusebenzisa amandla akhohlakeleyo.Ukongezelela, indawo yokudibanisa ingalo iyancipha kakhulu.Ke ngoko, i-lightweight, i-compact actuators iyimfuneko kwi-grippers.Ukuhlangabezana nezi mfuno zingumngeni, qinisekisa ukuba i-gripper kufuneka ikwazi ukujikeleza i-360 degrees ngelixa ihlangabezana nokuchaneka okufunekayo kunye nokukwazi ukuphatha imisebenzi eyahlukeneyo eyahlukeneyo.
Ukusetyenziswa kwamandla nakho kudlala indima ephambili xa kusetyenziswa izixhobo ezisebenza ngebhetri.Ukuphakama kokusebenza ngokufanelekileyo, ixesha elide lenkonzo."Ingxaki yokuqhuba" isonjululwa kusetyenziswa i-DC micromotor enezixhobo zeplanethi kunye neziqhoboshi.I-injini ye-3557 ye-series inokusebenza ukuya kwi-26w kwi-voltage elinganisiweyo ye-6-48v, kunye kunye ne-38/2 ye-series preset gear, inokunyusa amandla okuqhuba ukuya kwi-10Nm.Iigiya zentsimbi zonke azikho rhabaxa nje kuphela kodwa zikwangenaluvelwano kwimithwalo edlulayo.Imilinganiselo yokunciphisa ingakhethwa kwi-3.7: 1 ukuya kwi-1526: 1.I-compact motor gear iya kucwangciswa ngokuqinileyo kwindawo ephezulu ye-manipulator.I-Integrated braking iqinisekisa indawo yokugqibela kwimeko yokusilela kwamandla.Ukongezelela, izinto ezidibeneyo zilula ukuzigcina, kwaye iindawo eziphukileyo zinokutshintshwa ngokukhawuleza.Olunye uncedo oluphambili: Iinjini ezinamandla zeDC ezibrashwayo zifuna kuphela ulawulo olulula lwangoku.Impendulo yamandla akhoyo isetyenziswe kwi-remote control lever ngoxinzelelo lwangasemva, inika umqhubi amandla okusebenzisa i-gripper okanye "wrist".Indibano ye-compact drive yenziwe ngemoto ye-DC echanekileyo kunye nokulungelelanisa izixhobo.Ifanelekile kwimisebenzi eyahlukeneyo yokuqhuba.Zinamandla, zithembekile kwaye zingabizi.Ukusebenza okulula kwe-injini yecandelo eliqhelekileyo ihlangabezana neemfuno zexabiso eliphantsi, elikhawulezayo nelithembekileyo.