Abakoresha - "Imbaraga za Batiri" za Robo ya Humanoid

Imashini isanzwe igizwe nibice bine: anUmukoresha, sisitemu yo gutwara, sisitemu yo kugenzura, hamwe na sisitemu yo kumva.Imashini ya robo nicyo kintu robot yishingikirizaho kugirango ikore inshingano zayo, kandi mubisanzwe igizwe nurukurikirane rwihuza, ingingo, cyangwa ubundi buryo bwo kugenda.Imashini za robo zinganda zigabanyijemo ubwoko bune bwimikorere yintoki: iburyo-inguni ihuza amaboko irashobora kugendana na bitatu-iburyo;amaboko ya silindrike arashobora kuzamura, guhindukira, na telesikope;amaboko ahuza amaboko arashobora kuzunguruka, gutera, na telesikope;n'amaboko asobanutse afite ingingo nyinshi zizunguruka.Izi ngendo zose zisaba gukora.

KGG Yigenga Yayoboye

Abakoresha barashobora kugabanywamo ibyiciro bibiri bishingiye ku cyerekezo: kuzunguruka noumurongo.

1) Imikorere ya rotary izunguruka ikintu kumurongo runaka, ishobora kuba ntarengwa cyangwa itagira iherezo.Urugero rusanzwe rwumuzenguruko ni moteri yamashanyarazi, nigikorwa gihindura ibimenyetso byamashanyarazi mukuzenguruka kwizengurutsa ryacyo, kandi bikazenguruka moteri mugihe ikoreshwa rya moteri yibanze.Guhuza moteri mu buryo butaziguye umutwaro birema ibiyobora-bizunguruka, kandi ibyuma byinshi bizunguruka bihujwe nuburyo bukoreshwa nka mashini (inyungu) kugirango bigabanye umuvuduko wo kuzunguruka no kongera umuriro, niba ibisubizo byanyuma ari ukuzunguruka, ibisohoka mu nteko biracyazunguruka. 

KGGZR Axis

Umubumbe wa Roller 

2) Imikorere ya rotary nayo ihujwe nuburyo buhindura icyerekezo cyizunguruka mucyerekezo cyinyuma ninyuma, ibyo bita umurongo ukora.Imirongo ikora neza yimura ikintu mumurongo ugororotse, mubisanzwe inyuma n'inyuma.Ubu buryo bukubiyemo: imipira / imipira, umukandara na pulleys, rack na pinion.Imipira yumupiranaumugozini Byakoreshejwe Kuri Guhinduranyaicyerekezo cyumurongo, nko ku bigo bitunganya.Ibisumizi na pinion mubisanzwe byongera umuriro kandi bikagabanya umuvuduko wikizunguruka, kandi birashobora no gukoreshwa muburyo bwimikorere ihinduranya ibizunguruka.

Imashini zizunguruka zirimo cyane cyane kugabanya RV no kugabanya guhuza:

(1)Kugabanya RV: Ubusanzwe RV ikoreshwa hamwe na cycloid, ikoreshwa mubice binini bya robo ya torque, cyane cyane kuri kg 20 kugeza kuri kilo magana ya robot yimizigo, imwe, ebyiri, amashoka atatu ikoreshwa RV. 

.Harmonics irashobora gupakirwa na tque ntoya, ubusanzwe ikoreshwa mumaboko ya robo munsi ya kg 20.Kimwe mu bikoresho by'ingenzi mu guhuza ibintu biroroshye kandi bisaba guhindurwa byihuse cyane, bityo biroroshye kandi bifite ubushobozi buke bwo gutwara n'ubuzima kuruta RV.

Muncamake, actuator nikintu cyingenzi cyimashini kandi igira ingaruka zikomeye kumuzigo no kuri robo.Kugabanya Nibikoresho bigabanya bishobora kongera umuriro mugabanya umuvuduko wo kohereza umutwaro munini no gutsinda inenge moteri ya servo isohora itara rito.