Iirobhothi ezilawulwa kude ziya ziqhubeka nokwenza umsebenzi kwiimeko ezingxamisekileyo ezifana nokukhangela abasindileyo kwizakhiwo ezidilikileyo.
Ukuchongwa kwezinto ezinokuba yingozi, iimeko zokubanjwa okanye amanye amanyathelo okunyanzeliswa komthetho kunye nokulwa nobugrogrisi. Esi sixhobo sikhethekileyo sokusebenza kude sisebenzisa ii-micromotor ezichanekileyo kakhulu endaweni yabasebenzi abangabantu ukwenza imisebenzi eyingozi efunekayo, enokunciphisa kakhulu umngcipheko kubasebenzi ababandakanyekayo. Ukuphathwa ngokuchanekileyo kunye nokuphathwa kwezixhobo ngokuchanekileyo zizinto ezimbini ezibalulekileyo.
Njengoko iteknoloji iqhubeka nokukhula kwaye iphucuka, iirobhothi zingasetyenziswa kwimisebenzi enzima neyinzima. Ngenxa yoko, iirobhothi ngoku zisetyenziswa kakhulu kwiimeko ezingxamisekileyo eziyingozi kakhulu ebantwini - njengenxalenye yemisebenzi yemizi-mveliso, amanyathelo okunyanzeliswa komthetho okanye okulwa nobugrogrisi, njengokuchonga izinto ezirhanelekayo okanye ukucima iibhombu. Ngenxa yeemeko eziqatha kangaka, ezi zithuthi zokulawula kufuneka zibe ncinci kangangoko kunokwenzeka ukuze zihlangabezane neemfuno ezithile. Iingalo zazo zokubamba kufuneka zivumele iipatheni zokuhamba eziguquguqukayo ngelixa zibonisa ukuchaneka kunye namandla afunekayo ukusingatha uluhlu lwemisebenzi eyahlukeneyo. Ukusetyenziswa kwamandla nako kudlala indima ephambili: okukhona ukuqhuba kusebenza kakuhle, kokukhona ubomi bebhetri bude. Ii-micromotor ezikhethekileyo ezisebenzayo ziye zaba yinxalenye ebalulekileyo kwicandelo leerobhothi ezilawulwa kude, ziyahlangabezana ngokugqibeleleyo neemfuno ezinjalo.
Oku kusebenza nakwiirobhothi ezisebenza kancinci kakhulu zokuhlola.
Ezixhotyiswe ngeekhamera kwaye ngamanye amaxesha zide ziphoswe ngqo kwindawo ezisetyenziswa kuyo, ngoko ke kufuneka zikwazi ukumelana nokukhwankqiswa, ezinye iintshukumo kunye nothuli okanye ubushushu kwiindawo ezinokuba yingozi ngakumbi. Kwimeko enjalo, akukho mntu unokuya emsebenzini ngqo ukuze afune abasindileyo. Ii-Ugvs (izithuthi zomhlaba ezingenamqhubi) zinokwenza loo nto kanye. Kwaye, ngenxa ye-FAULHABER DC micromotor, kunye ne-planetary reducer eyonyusa i-torque, zithembeke kakhulu. Ubukhulu obuncinci bee-UGVs buvumela ukukhangela izakhiwo eziwileyo ngaphandle komngcipheko kwaye zithumela imifanekiso ngexesha langempela, nto leyo ezenza zibe sisixhobo esibalulekileyo sokwenza izigqibo kubaphenduli abangxamisekileyo xa kufikwa kwiimpendulo zobuchule.
I-motor kunye nezixhobo ze-Dc ezichanekileyo ezenziwe ngesixhobo se-compact drive esifanelekileyo kwimisebenzi eyahlukeneyo yokuqhuba. Ezi robhothi ziqinile, zithembekile kwaye azibizi kakhulu.
Namhlanje, iirobhothi ezihambayo zisetyenziswa kakhulu kwiimeko ezinzima apho kukho umngcipheko omkhulu ebantwini nakwiindawo ezithile zemisebenzi yemizi-mveliso.
Amanyathelo okuqinisekisa ukugcinwa komthetho okanye okulwa nobugrogrisi, njengokuchonga izinto ezirhanelekayo okanye ukuxovula iibhombu. Kwezi meko zinzima, aba "baqhubi bezithuthi" kufuneka bahlangabezane neemfuno ezithile. Ulawulo oluchanekileyo kunye nokuphathwa kwezixhobo ngokuchanekileyo zizinto ezimbini eziyimfuneko. Kakade ke, isixhobo kufuneka sibe sincinci kangangoko ukuze singene kwiindlela ezincinci. Ngokwemvelo, ii-actuators ezisetyenziswa ziirobhothi ezinjalo ziyamangalisa. Ii-micromotor ezikhethekileyo ezisebenza kakuhle ziye zaba yinxalenye ebalulekileyo.
Nangona kunjalo, ukuphakamisa iikhilogram ezingama-30 ekupheleni kwengalo sele kuyingxaki enkulu.
Kwangaxeshanye, imisebenzi ethile ifuna ukuchaneka kunokuba ibe ngamandla aqatha. Ukongeza, indawo yokuhlanganisa iingalo incinci kakhulu. Ke ngoko, ii-actuators ezilula nezincinci ziyimfuneko kwii-grippers. Ukuze uhlangabezane nezi mfuno zinzima, qinisekisa ukuba i-gripper kufuneka ikwazi ukujikeleza ii-degrees ezingama-360 ngelixa ihlangabezana nokuchaneka okufunekayo kunye nokukwazi ukusingatha imisebenzi eyahlukeneyo.
Ukusetyenziswa kwamandla nako kudlala indima ebalulekileyo xa kusetyenziswa izixhobo ezisebenzisa ibhetri. Okukhona ukusebenza kakuhle kokudlulisa, kokukhona ixesha lenkonzo liba lide. "Ingxaki yokuqhuba" isonjululwa kusetyenziswa i-DC micromotor enegiya zeplanethi kunye neebhuleki. Injini yochungechunge lwe-3557 ingasebenza ukuya kuthi ga kwi-26w kwi-voltage elinganisiweyo ye-6-48v, kwaye kunye negiya esetwe ngaphambili ye-38/2 series, zinokunyusa amandla okuqhuba ukuya kwi-10Nm. Iigiya zesinyithi zonke aziqinanga nje kuphela kodwa azinangxaki kwimithwalo ye-peak edlulayo. Umlinganiselo wokunciphisa amandla unokukhethwa ukusuka kwi-3.7:1 ukuya kwi-1526:1. Igiya ye-motor encinci kufuneka ibekwe ngokuqinileyo kummandla ophezulu we-manipulator. Ukuqhobosheka okudibeneyo kuqinisekisa indawo yokugqibela xa amandla engasebenzi. Ukongeza, izinto ezincinci kulula ukuzigcina, kwaye iindawo ezaphukileyo zinokutshintshwa ngokukhawuleza. Enye inzuzo ephambili: Iimoto ezinamandla ze-DC brushed zifuna kuphela ulawulo olulula lokunciphisa amandla. Impendulo yamandla angoku isetyenziswa kwi-lever yokulawula kude ngoxinzelelo lwangasemva, inika umqhubi imvakalelo yamandla okusebenzisa i-gripper okanye "isandla". I-compact drive assembly yenziwe nge-DC motor echanekileyo kunye nezixhobo zokulungisa. Ifanelekile kwimisebenzi eyahlukeneyo yokuqhuba. Inamandla, ithembekile kwaye ingabizi. Ukusebenza okulula kwe-component engine eqhelekileyo kuyahlangabezana neemfuno ze-motor engabizi, ekhawulezayo nethembekileyo.