Amarobhothi alawulwa kude aya ngokuya enza umsebenzi ezimeni eziphuthumayo njengokusesha abasinde kumabhilidi abhidlikile.
Ukutholwa kwezinto ezingaba yingozi, izimo zokuthunjwa noma ezinye izinyathelo zomthetho kanye nezinyathelo zokulwa nobuphekula.Lesi sixhobo esikhethekile sokusebenza kude sisebenzisa ama-micromotor anembe kakhulu esikhundleni sezisebenzi ezingabantu ukuze zenze imisebenzi eyingozi edingekayo, enganciphisa kakhulu ubungozi kubasebenzi abahilelekile.Ukuphatha okunembe kanye nokuphatha ithuluzi okunembayo kuyizimfuneko ezimbili ezibalulekile.
Njengoba ubuchwepheshe buqhubeka nokuvela futhi buthuthuka, amarobhothi angasetshenziswa emisebenzini eyinkimbinkimbi neyinselele.Ngenxa yalokho, amarobhothi manje asevame ukusetshenziswa kakhulu ezimeni eziphuthumayo eziyingozi kakhulu kubantu - njengengxenye yemisebenzi yezimboni, umthetho noma izinyathelo zokulwa nobuphekula, njengokuhlonza izinto ezisolisayo noma ukuqeda amabhomu.Ngenxa yalezi zimo ezimbi kakhulu, lezi zimoto ezikhohlisayo kufanele zibe minyene ngangokunokwenzeka ukuze zihlangabezane nezidingo ezithile.Izingalo zabo ezibambayo kufanele zivumele amaphethini okunyakaza aguquguqukayo kuyilapho bebonisa ukunemba namandla adingekayo ukuze kusingathwe uhla lwemisebenzi ehlukene.Ukusetshenziswa kwamandla nakho kudlala indima ebalulekile: uma idrayivu isebenza kahle kakhulu, iba yinde impilo yebhethri.Ama-micromotor akhethekile asebenza kahle abe yingxenye ebalulekile yensimu yamarobhothi okulawula kude, ahlangabezana ngokuphelele nezidingo ezinjalo.
Lokhu kuyasebenza nakumarobhothi acuphe kakhulu.
Afakwe amakhamera futhi ngezinye izikhathi aze aphonswe ngqo endaweni okusetshenziswa kuyo, ngakho kufanele akwazi ukumelana nokushaqeka, okunye ukudlidliza nothuli noma ukushisa ezindaweni ezingaba yingozi kakhulu.Kulokhu, akekho umuntu ongaya emsebenzini ngokuqondile ukuze afune abasindile.Ama-Ugvs (izimoto zaphansi ezingashayeli) zingakwenza lokho.Futhi, ngenxa ye-micromotor ye-FAULHABER DC, ehambisana nesinciphisi seplanethi enyusa i-torque, zithembeke kakhulu.Usayizi omncane wama-UGV uvumela ukusesha okungenangozi kwezakhiwo eziwile futhi uthumela izithombe zesikhathi sangempela, okuzenza zibe ithuluzi elibalulekile lokwenza izinqumo labaphenduli besimo esiphuthumayo uma kuziwa ezimpendulweni zamaqhinga.
I-Dc precision motor kanye negiya elenziwe nge-compact drive device elifanele imisebenzi ehlukahlukene yokushayela.La marobhothi aqinile, anokwethenjelwa futhi awabizi.
Namuhla, amarobhothi eselula avame ukusetshenziswa ezimeni ezibucayi lapho kunobungozi obukhulu kubantu nasezingxenyeni ezithile zokusebenza kwezimboni.
Izinyathelo zomthetho noma zokulwa nobuphekula, njengokuhlonza izinto ezisolisayo noma ukukhulula amabhomu.Kulezi zimo ezimbi kakhulu, laba "opharetha bezimoto" bayadingeka ukuze bahlangabezane nezidingo ezithile.Ukukhohlisa okunembe kanye nokuphatha ithuluzi okunembe yizimfuneko ezimbili eziyisisekelo.Yiqiniso, idivayisi kufanele futhi ibe mncane ngangokunokwenzeka ukuze ingene ezindleleni eziwumngcingo.Ngokwemvelo, ama-actuator asetshenziswa amarobhothi anjalo ayaphawuleka impela.Ama-micromotor akhethekile asebenza kahle abe yingxenye ebalulekile.
Sengikushilo lokho, ukuphakamisa u-30kg ekugcineni kwengalo kakade kuyinselele impela.
Ngesikhathi esifanayo, imisebenzi ethile idinga ukunemba kunokuba amandla anonya.Ngaphezu kwalokho, isikhala somhlangano wengalo sincane kakhulu.Ngakho-ke, ama-actuator angasindi, ama-compact ayadingeka kuma-grippers.Ukuze uhlangabezane nalezi zidingo eziyinselele, qinisekisa ukuthi into yokubamba kufanele ikwazi ukuzungezisa amadigri angu-360 kuyilapho ihlangabezana nokunemba okudingekayo nekhono lokusingatha imisebenzi eyahlukene eyahlukene.
Ukusetshenziswa kwamandla nakho kudlala indima ebalulekile lapho kusetshenziswa amadivayisi asebenza ngebhethri.Uma kuphezulu ukusebenza kahle kokudlulisela, isikhathi sesevisi siba side."Inkinga yokushayela" ixazululwa kusetshenziswa i-DC micromotor enamagiya eplanethi namabhuleki.Injini engu-3557 series ingagijima ifike ku-26w nge-voltage elinganiselwe engu-6-48v, futhi ihambisana negiya esethiwe ngaphambili elingu-38/2, ingakhuphula amandla okushayela abe ku-10Nm.Amagiya e-All-metal awagcini nje ngokumangelengele kodwa futhi awazwani nemithwalo ephakeme edlulayo.Izilinganiso zokunciphisa zingakhethwa kusukela ku-3.7:1 kuya ku-1526:1.I-compact motor gear izohlelwa ngokuqinile endaweni engaphezulu ye-manipulator.I-integrated braking iqinisekisa indawo yokugcina uma kwenzeka ukuphelelwa amandla.Ngaphezu kwalokho, izingxenye ezihlangene kulula ukuzigcina, futhi izingxenye eziphukile zingashintshwa ngokushesha.Enye inzuzo ebalulekile: Amamotho anebhulashi e-DC anamandla adinga kuphela izilawuli ezinciphisa umkhawulo zamanje.Impendulo yamandla amanje isetshenziswa ku-remote control lever ngokucindezela i-backpressure, inikeze opharetha umuzwa wamandla okusebenzisa i-gripper noma "wrist".I-compact drive assembly yakhiwe nge-DC motor enembile kanye negiya lokulungisa.Ifanele imisebenzi ehlukahlukene yokushayela.Zinamandla, zithembekile futhi zishibhile.Ukusebenza okulula kwenjini yengxenye ejwayelekile kuhlangabezana nezidingo ezishibhile, ezisheshayo nezithembekile.