He Aratohu Katoa mō te Tiaki i ia Rā mō ngā Mīhini Whakairo Werohanga me ngā Rōpoti Servo

He Aratohu Katoa mō te Tiaki i ia Rā Mīhini Whakarewa Werohanga Ngā Rōpoti Servo: 6 Ngā Hipanga Matua hei Whakaroa i te Ora o ngā Taputapu mā te 30%

I roto i ngā raina whakaputa whakarewa werohanga, ngā karetao servo Ko rātou te "ngākau o te aunoatanga." Ko tō rātou pumau mahi e whakatau tika ana i te pai o te whakaputa, te kounga o te hua, me ngā utu tiaki taputapu. E ai ki ngā tatauranga ahumahi, ka taea e te tiaki o ia rā te whakaiti i te tere rahunga o ngā karetao servo mīhini werohanga werohanga mā te neke atu i te 40% me te whakaroa i tō rātou roanga mahi mā te 30%. Heoi, ki te kore e aro ki te tiaki, ka arahi pea ki ngā raruraru nui pērā i te aukati o te karetao, te he o te tūnga, me te wera o te motuka servo, ka hua ake he mate whakaputa toharite o ia rā o ngā tekau mano yuan. E whakamārama ana tēnei tuhinga i ngā mahi tiaki o ia rā mō ngā karetao servo mīhini werohanga werohanga, mai i ngā tirotiro taketake ki te tiaki hohonu, e whakarato ana i ngā aratohu whai hua me te taea ki ngā kaimahi.

I. Te Whakarite i mua i te Tiaki: Me whakarite kia Haumaru me ngā Utauta

He mea nui te haumaru i mua i te tīmatanga o tētahi mahi tiaki. He taputapu miihini tino tika te karetao servo mō te mīhini whakakoi werohanga. Mēnā kāore i te tika te mahi, ka pāngia pea koe e te mīhini, ka poto te ara iahiko, me ētahi atu mōrearea. Nō reira, he mea nui ngā whakaritenga e whai ake nei:

Whakaweto me te Whakaweto i ngā Taputapu: Whakawetohia te pana hiko matua o te karetao, ka momotu i te taura whakahaere tohu ki te mīhini whakarewa werohanga kia tino kore ai e whakamahia te karetao. Mena he pātene whakamutu ohorere kei te karetao, pēhia, ka raka kia kore ai e whakahohea.

Whakatūpato Haumaru me te Wehenga: Whakatakotoria he tohu whakatūpato "Kei te haere tonu te tiaki, kāore he mahi" huri noa i te karetao. Whakamahia he taiapa haumaru, he rīpene whakatūpato rānei hei wehe i te wāhi mahi, ā, āraia te whakatata mai o ngā kaimahi kāore e mahi ana i te tiaki.

Ngā Utauta me ngā Mea Whakapau: Whakaritea ngā taputapu motuhake e ai ki te rārangi arowhai tiaki, tae atu ki te kī Allen (huinga), ngā tīwiri Phillips/kōhao, te kī taipana, te pū hinu, te kakahu kore puehu, te waipiro, te aukati waikura, me te hinu whakahinuhinu (whakaritea te momo kua tohua i roto i te pukapuka taputapu, pērā i te hinu lithium, te hinu taputapu rānei). Whakaritea hoki he rārangi tiaki hei tuhi i ngā hua tirotiro.

Manatoko Raraunga: Tikina te Pukapuka Whakahaere me ngā Tohutohu Tiaki a te karetao hei whakaū i ngā tawhā tiaki mō ia wāhanga (pēnei i te taipana pūtu, ngā wā whakahinuhinu, me te momo hinu) hei karo i te tiaki hē nā ngā tawhā hē.

II. Te Tiaki i te Hanganga Mīhini: "Te Tiaki Taketake" o ngā Wāhanga Matua

Ko te hanganga mīhini te waka mō ngā nekehanga tika a te karetao, ā, kei roto ko ngā wāhanga pēnei i te ringa, ngā hononga, ngā kaiārahi, me ngā kapu momi. Me arotahi te tiaki o ia rā ki ngā wāhanga matua e whā: te horoi, te whakahinuhinu, te whakau, me te tirotiro i te kakahu.

1. Ringaringa me ngā Hononga: Te Ārai i te Pūngao me te Haruru

Te Horoi: Whakamahia he kakahu kore puehu kua whakamakukuhia ki te iti o te waipiro hei muru i ngā para kirihou, te hinu, me te puehu mai i te mata o te ringa. Kia arotahi ki te horoi i ngā hononga, nā te mea he ngāwari ēnei wāhi ki te kohikohi i ngā paru, ā, ka ārai i te hurihanga.

Whakahinuhinu: Whakakīia ngā hononga whāriki ki te momo hinu kua tohua (pērā i te hinu lithium pāmahana-tiketike) e ai ki te tohutohu i roto i te pukapuka. Ina whakamahi ana i te pū hinu, werohia mārire kia rere ōrite te hinu i waho o ngā āputa whāriki (kaua e nui rawa te poke o te hinu). Mēnā he ara iahiko hinu whakahinuhinu kei te hononga, tirohia te ara iahiko mēnā he rere kāore e āraia, ka whakakī anō i te hinu whakahinuhinu ki te taumata kua tohua.

Te Whakakī me te Tirotiro: Whakamahia he kī taipana hei tirotiro i ngā pūtu me ngā nati i te hononga mō te wetewete (whakakī ki te taipana kua tohua i roto i te pukapuka, hei tauira, 25-30 N·m mō ngā pūtu M8). Tirohia te hononga mō ngā haruru rerekē, te piri, te wetewete rānei i te wā e hurihuri ana. Mena ka kitea he pakaru o te peera, he nui rawa rānei te āputa, whakakapia tonutia ngā wāhanga e toe ana.

2. Ngā Aratohu me ngā Rererangi: Te Whakapūmau i te Tika o te Mahi

Te Horoi: Ko ngā ara ārahi te uho o te nekehanga rārangi a te karetao. Whakamahia he paraihe hei tango i ngā kongakonga rino me ngā matūriki kirihou mai i te mata o te ara ārahi. Kātahi, whakamahia he kakahu kore-miro kua whakamakukuhia ki te horoi ara ārahi hei muru i te hinu whakahinuhinu tawhito me te paru mai i te ara ārahi me ngā mata reti. Te Whakahinuhinu: Pania te hinu ara ārahi kia ōrite te roanga o te ara ārahi (ka tūtohu mātou kia whakamahia he hinu ara ārahi ārai-kakahu me te matotoru ngawari, pērā i te 32#, 46# rānei). Whai muri i te paninga, nekehia ā-ringa te reti ki mua, ki muri hoki, kia 2-3 ngā wā kia tino kapi te hinu whakahinuhinu i te mata pa o te ara ārahi. Mena kei te whakamahi te pūnaha i tētahi pūnaha whakahinuhinu aunoa, tirohia te taumata hinu me te pēhanga o te papu whakahinuhinu, me te mea kei te tutuki te wā whakahinuhinu kua whakaritea (hei tauira, te whakahinuhinu kotahi i ia haora o te mahi) i ngā whakaritenga.
Tirotiro i te Pakaru: Tirohia te mata o te arai ārahi mō ngā karawarawa, ngā poka, te waikura rānei. Whakamahia he ine ine hei ine i te āputa i waenga i te reti me te arai ārahi. Mena ka neke atu te āputa i te 0.1mm, ka rerekē pea te tūnga o te karetao, ā, me whakakapi te reti, te arai ārahi rānei. 3. Ngā Pānga Mutunga: "Ngā Wāhi Pa Hira" hei Whakarerekē ki ngā Hiahia Whakaputa

Ka pā tika ngā pito pānga (pērā i ngā kapu momi me ngā pupuri) ki ngā hua i werohia, me tiaki motuhake i runga i tō rātou momo:

Ngā kapu momi: Tirohia ngā kapu mō ngā pakaru me ngā tawhito (hei tauira, ngā ngatata o te mata, te ngoikore rānei o te ngāwari). Mena kāore e ranea te momi, horoia te puehu me te hinu i roto i ngā kapu, whakakapia rānei ki ētahi mea hou. Tirohia hoki ngā paipa korehau mō ngā turuturu (ka taea tēnei te whakatau mā te aukati i te whakatuwheratanga o te kapu momi, te tīmata i te papu korehau, me te tirotiro mēnā he pumau te pānui ine korehau). Whakakīia ngā hononga paipa, ka whakakapia ngā hiri kua pakaru.

Ngā Pūmau: Horoia ngā toenga kirihou mai i ngā mata o ngā pūmau, ka tirotirohia ngā niho mō te pakaru (mēnā ka paheke te pūmau i te wā e pupuri ana i te hua, tera pea nā te pakaru). Tāpirihia he iti o te hinu whakahinuhinu ki te tokotoko o te puoto taraiwa o te pūmau, ka tirotirohia te puoto mō ngā turuturu me te nekehanga maeneene.

III. Te Tiaki i te Pūnaha Hiko: Āraihia ngā Ara Poto me ngā Rahunga Tohu

Ko te pūnaha hiko o te karetao servo o te mīhini whakakoi werohanga, tae atu ki te kāpata whakahaere, ngā motuka servo, ngā pūoko, me ngā taura, koinei te "pokapū io" o ngā taputapu. Me arotahi te tiaki ki te whakamahana, ngā hononga, me te whakamararatanga wera hei ārai i te wā e kore ai e pakaru te hiko:
1. Kāpata Whakahaere: Puritia kia maroke, kia hauhautanga hoki
Te Horoi me te Tango Puehu: Whai muri i te whakaweto i te hiko, whakatuwheratia te tatau o te kāpata whakahaere, ka whakamahi i te whakamaroke makawe (i te aratau hau makariri) i te paraihe rānei hei tango i te puehu i roto i te kāpata. (Tena koa arotahi ki te kohikohi puehu i runga i ngā whakapā, ngā whakawhiti, me ngā kaitahuri hei ārai i ngā ara iahiko poto, i te kore rānei e pai te tohatoha wera.) Horoia te mata pa me te pātene i roto i te tatau o te kāpata ki te kakahu kore puehu hei pupuri i te atanga kia mārama.
Tirotiro Waea: Tirohia ngā pito waea katoa mō ngā hononga korekore (whakakīia ia pito ki te tīwiri). Tirohia te whakamarumaru waea mō ngā tohu tawhito, pakaru rānei (hei tauira, te kōwhai, te ngatata rānei). Mena kua pakaru ētahi waea, takaihia ki te rīpene whakamarumaru, whakakapia rānei. Tirohia hoki mēnā he pono te ara iahiko whenua (me iti iho i te 4Ω te ātete whenua) hei ārai i te hiko pateko, i te turuturu rānei kei pakaru ngā taputapu. Tirotiro whakamarara wera: Ko te pā whakamatao me te totohu wera i roto i te kāpata whakahaere he mea nui. Horoia te mata o te pā kia tika ai te mahi (mēnā ka puta he haruru rerekē, ka mutu rānei te pā, whakakapia tonutia). Tirohia te totohu wera mō te aukati. Mēnā he teitei te pāmahana taiao (hei tauira, i roto i te awheawhe hanga werohanga neke atu i te 35°C), tāutahia ngā taputapu whakamatao āwhina (pērā i te hauhautanga ahumahi).

2. Mōta Tūmau: Mana Matua "Aroturuki Hauora"

Āhua me te Mahana: Tirohia te mata o te motuka servo mō te hinu me te puehu, ā, tirohia te anga o te motuka mō te āhua rerekē, te pakaru rānei. I mua i te whakamahinga, pā atu ki te anga o te motuka hei tirotiro i te pāmahana noa (kāore te mahi noa e neke ake i te 60°C. Ki te wera rawa, tera pea nā te taumaha rawa, te pakaru o te peera, te ngoikore rānei o te tohatoha wera).

Waea me te Ārai: Tirohia te mana o te motuka me te waea o te kaiwhakawaehere mō ngā hononga piripono me te kino o te taura kaiwhakawaehere. Tirohia te taura kaiwhakawaehere mō tetahi kino (ka pā tika te tohu kaiwhakawaehere ki te tika o te tūnga, ā, ka taea e te kino o te taura te whakararu i te karetao). Whakamahia he mita maha hei ine i te ātete ārai o ngā takai motuka (me nui ake te ātete ārai ā-wāhanga-ki-wāhanga i te 10MΩ) hei ārai i ngā ara iahiko poto ka kino pea te motuka. Haruru me te Wiri Rerekē: Tīmatahia te karetao ka whakarongo mō ngā haruru rerekē (pēnei i te haruru, te tioro rānei) mai i te motuka servo i te wā e whakahaerehia ana. Inehia te wiri o te motuka me te mita wiri (he iti iho i te 0.05mm te kaha). Ko te wiri nui rawa atu pea he tohu kua pakaru ngā peera motuka, he rotor kore taurite rānei, me wetewete me te whakatika.

3. Ngā Pūoko me ngā Pana: Kia Tika te Tohu

Ngā Pūoko Tūnga (pēnei i ngā pūoko hikohiko me ngā pana tata): Horoia te pane o te pūoko (kia kore ai e ārai te puehu i te pūoko, kia kore ai hoki e hē te whakamārama i te tohu). Tirohia te tūnga whakairinga o te pūoko mō te rerekētanga (ka taea te whakamahi i te rīpene ine mō te whakatikatika). Whakamahia he mita maha hei whakamātautau i te tohu putanga o te pūoko (hei tauira, ka puta he taumata teitei i te pūoko NPN ina kore e kitea, he taumata iti hoki ina kitea) hei whakarite i te pumau o te tohu.

Ngā Pātene Here: He mea nui ngā pātene here haere a te karetao (pēnei i te pātene takenga me ngā pātene tūnga tino tawhiti) mō te haumaru. Whakaoho ā-ringa i te pātene hei manatoko kei te tika te whakaweto i te tohu whakaoho (mēnā ka whakaohohia te pātene here, ko te Rōpoti S(me mutu tonu). Ki te hē te mahi a te pana, whakakapia ngā hoapā, te pana katoa rānei.

IV. Te Tiaki Pūnaha Servo: Te Pūtāhui Matua o te Mana Whakahaere Tika

Ko te pūnaha servo (tae atu ki te puku servo, te encoder, me te motuka servo) e whakatau ana i te tika o te nekehanga me te tere o te urupare a te karetao. Me arotahi te tiaki ki te pumau o ōna tawhā, te tūnga, me te marara wera:

1. Puku Ratonga: Tirohia anō ngā Tawhā me te Tūnga

Tirotiro Tawhā: Whakamahia te papatohu whakahaere o te puku, te pūmanawa patuiro rānei e hono ana ki te rorohiko hei manatoko kei te rite ngā tawhā servo (pēnei i te whakanui i te tūnga o te koropiko, te whakanui i te tere o te koropiko, te rohe taipana, me ētahi atu) ki ngā tautuhinga wheketere. Mā ngā whakarerekētanga tawhā hē ka puta he kore pumau. Rōpoti Mte nekenekehanga (pērā i te wiri me te taikaha). Mena he rerekē ngā tawhā, whakahokia mai ngā tautuhinga wheketere ka patuiro anō.

Aroturuki Tūnga: Whai muri i te tīmatanga o te puku, tirohia te waehere tūnga e whakaaturia ana i te papatohu kia mōhio ai kei te noa (hei tauira, "00" mō te tūtatari, "01" mō te mahi). Mena ka puta he waehere hapa (hei tauira, "E02" mō te iahiko nui, "E05" mō te rahunga o te encoder), tirohia te pukapuka ā-ringa hei tautuhi i te take. (Hei tauira, ko te iahiko nui pea he tohu i te ara iahiko poto o te motuka, i te kawenga nui rānei, ko te rahunga o te encoder pea he tohu i te hononga taura ngoikore).

Te tiaki i te werawera: Ka puta he wera nui mai i ngā puku servo i te wā e whakamahia ana. Horoia ngā kōhao me ngā tara o te mata o te puku hei whakarite kia kore e araia te werawera. Tirohia te pā o te puku mō te mahi tika. Ki te kore e pai te mahi a te pā, whakakapia tonutia kia kore ai e pakaru te puku nā te wera nui.

2. Kaiwhakakōwaehere: Ko te whakatikatika te mea nui ki te tika o te tūnga

Te horoi me te hononga: Ko te kaikōwae te uho o te tūnga me te whakatere o te karetao. Tirohia mēnā kua hiritia pai te whare o te kaikōwae kia kore ai e uru te puehu me te hinu. Horoia te hononga taura tohu o te kaikōwae ka hono anō kia pono ai te whakapā atu. Ko ngā taura tohu wetekina tetahi o ngā take noa o ngā hapa tūnga.

Whakatikatika ira kore: Mena ka pāngia te karetao e ngā hapa tūnga (pēnei i ngā tūranga hopu ā-whakakore), mahia te whakatikatika ira kore a te kaikōnae. Nekehia ā-ringa te karetao ki te tūnga "takenga miihini" ka mahi i te mahi "tautuhi anō kore" mā te whakamahi i te papa taraiwa, i te pūmanawa patuiro rānei. Whakahokia te whakamātautau whakatikatika 3-5 ngā wā kia mōhio ai kei roto te hapa tūnga i te awhe e whakaaetia ana (i roto i te ±0.02mm te nuinga).

V.Te Tiaki i te Pūnaha Hauā: ​​Te "Pūtake Pūmau" o te Tuku Mana
Ko ngā mea whai pānga mutunga me ngā nekehanga āwhina (pēnei i te whakatuwheratanga me te katinga o te pūaha) o te nuinga mīhini werohanga werohanga karetao servo whakawhirinaki ki ngā pūnaha hau. Me arotahi te tiaki ki te whakarite kia ma te puna hau, kia ora tonu ngā wāhanga, me te kore he arai o ngā paipa.

1. Wāhanga Tukatuka Hau: Me whakarite kei te wātea te tātari, te whakahaere pēhanga, me te whakahinuhinu.

Tātari Hau: Whakatuwheratia te takirere whakaheke tātari hei whakaheke i te wai whakapūkara (e taunakitia ana kia 1-2 ngā wā i te rā, kia maha ake ngā wā i ngā taiao haumākū). Tangohia te wae tātari i ia wā (hei tauira, i ia wiki) ka horoi anō ki te hau kōpeke (ka kore pea e ranea te rere o te hau mēnā ka purua). Mena kua pakaru te wae tātari, whakakapia ki tētahi mea hou (e taunakitia ana kia tātarihia ngā paru ki te tātari 5μm).

Takirere Whakaiti Pēhanga: Tirohia te pēhanga putanga o te takirere whakaiti pēhanga mō te pumau (e whakatakotoria ana ki te 0.4-0.6 MPa, ka whakatikatikaina kia rite ki ngā whakaritenga o te kaiwhakaoho). Mena ka tino rerekē te pēhanga, wetewetehia te matua takirere hei horoi, ka pania he iti noa te hinu hau. Tirohia hoki te ine pēhanga mō te tika. Mena ka mau te ine, whakakapia te ine. Kaiwhakahinuhinu: Tirohia te taumata hinu i roto i te kaiwhakahinuhinu (tāpirihia he hinu hau, pērā i te ISO VG32) ka whakatikatikaina te rahinga o te kohu hinu (e whakatakotoria ana ki te 1-2 pata hinu mō ia 1000L o te hau). Ka taea e te korenga o te kohu hinu te pakaru o te rango me te takirere solenoid, ko te hinu nui ka taea te poke i te hinu.

2. Te Pūwero me te Takirere Solenoid: "Te Whakamana i te Mahi Maeneene"

Puoto: Tirohia te tinana o te puoto mēnā he turuturu (panihia he wai hopi ki te tokotoko piston me te pane o te puoto, tirohia mēnā he mirumiru). Tirohia te mata o te tokotoko piston mēnā he karawarawa, he waikura rānei (mēnā he mea, orohia ki te pepa oro pai, ka pania he aukati waikura).

VI. Tāpirihia he iti o te hinu whakahinuhinu ki te hononga i waenga i te tokotoko piston me te pane rango kia maeneene, kia kore e araia te toronga me te whakaroa o te rango.

Takirere Solenoid: Horoia te puehu mai i te mata o te takirere solenoid, tirohia te waea o te takirere solenoid mō te haumarutanga, ā, whakahohehia ā-ringa te pātene ā-ringa o te takirere solenoid kia kite ai mēnā he pai te neke o te matua takirere. Ki te puhoi te neke o te matua takirere, tera pea kua mau, ā, me wetewete, me horoi, me whakakapi rānei te takirere solenoid. Whakamātautau me te Tuhi i Muri i te Tiaki: Whakahaere Porowhita-Kati hei Ārai i ngā Mea i Mahue

I muri i te otinga o ngā mahi tiaki o runga ake nei, me whai tukanga porowhita-katia (whakamātautau kore-kawenga → whakamātautau kawenga → tuhi tawhā) hei whakarite kua hoki te karetao ki te mahi noa:

Whakamātautau Kore-kawenga: Honoa te hiko, tukuna te aukati ohorere, ka whakahaere ā-ringa i te karetao hei mahi i ngā nekehanga taketake pēnei i te hiki, te hoki whakamuri, me te hurihuri. Tirohia mēnā he pai te mahi a ngā wāhanga katoa, me mēnā he haruru rerekē. Tirohia te tika o te tūnga o te pūnaha servo (hei tauira, mēnā kei roto i te awhe paerewa te hapa whakahoki) me te pumau o te pēhanga o te pūnaha hau.

Whakamātautau Utaina: Tāutahia he hua i werohia hei whakatauira i ngā āhuatanga whakaputa tuturu, ā, whakahaerehia te karetao mō ngā huringa 10-20 karapīpiti. Tirohia te pumau o te hopu o te pito mutunga (hei tauira, mēnā kei te turuturu te kapu momi, kei te paheke rānei te hopu). Tirohia te ia me te pāmahana i te wā e whakahaerehia ana kia mōhio ai kei te noa (kaua te ia o te motuka servo e neke ake i te 80% o te ia kua whakatauria). Ngā Rekoata Tiaki: Whakaotia te "Puka Rekoata Tiaki Robot Servo Mīhini Momi Werohanga," e whakaatu ana i ngā rā tiaki, ngā taonga tiaki, ngā wāhanga kua whakakapia (pēnei i ngā kapu momi, ngā huānga tātari, me ngā momo hinu), ngā raraunga whakamātautau (pēnei i te hapa tūnga me te pāmahana motuka), ngā take katoa i kitea, me tō rātou whakatau. Mā tēnei ka āwhina i te whai ake me te whakamahere tiaki auau.

VII. Ngā Huringa Tiaki me ngā Whakaaro Hē Noa

1. Whakamaherehia ngā Huringa Tiaki mā te Pūtaiao

Te Tiaki o ia Rā: Horoia te ringa me te pito o te taputapu, tirohia te rerenga o te tātari hau, ā, whakamātauria te mahi kore-uta a te karetao.

Tiaki ā-Wiki: Whakahinuhinuhia ngā hononga me ngā ara ārahi, tirohia te pūmautanga o ngā pūtu, ka horoia te puehu mai i te kāpata whakahaere.

Te Tiaki Marama: Tirohia te ātete whakamahana o te motuka servo, whakatikatika i te pūwāhi kore o te encoder, ka whakakapi i te huānga tātari.

Tiakitanga Hauwhā: Tirohia pai ngā hiri o te pūnaha hau, whakakapia te hinu o te puku servo me ngā peera motuka, ka whakamātau i te ātete whenua.

Te Tiaki ā-Tau: Wetewetehia, tirohia hoki ngā wāhanga matua mō te pakaru (pērā i ngā ara ārahi, ngā reti, me ngā peera motuka servo), ā, whakakapia ngā taura me ngā hiri kua tawhito.
2. Āraia ngā whakaaro hē o te tiaki

Whakaaro Hē 1: He pai ake te nui o te hinu whakahinuhinu – Ka taea e te hinu whakahinuhinu nui te whakapoke i te hua, te moumou i ngā taonga pau, ā, ka pā pea ki te tika o te mahi a te karetao nā te nui rawa o te ātete.

Whakaaro Hē 2: Te Whakahāwea i ngā Haruru Iti – Ko ngā haruru iti i roto i ngā hononga me ngā motuka he tohu tōmua o te pakaru. Ki te kore e whakatikahia wawetia, ka raru pea ngā wāhanga me te wā e kore ai e mahi ngā mahi whakatikatika i te mīhini.

Whakaaro Hē 3: Te Whakarērea o ngā Hikoi Haumaru – Ki te kore e momotuhia te hiko i te wā tiaki, ka pāngia pea koe e te mīhini me te poto o ngā ara iahiko. Me whai pūmau i ngā tikanga whakaweto, whakaweto hiko, me te whakatūpato.

Whakaaro Hē 4: Te Whakamahi i ngā Wāhanga Eke Whānui hei Whakakapinga – Me tohu ngā wāhanga eke pērā i te hinu o te motuka servo, te hinu arataki, me ngā kapu momi i roto i te pukapuka ā-ringa taputapu. Tērā pea ka pakaru ngā taputapu i ngā wāhanga eke whānui nā te kore hototahi.

Whakamutunga

Ehara i te mea he horoi me te whakahinuhinu noa iho te tiaki i ia rā o ngā karetao servo mō ngā mīhini whakakoi werohanga; he tukanga pūnaha e whakauru ana i ngā ture haumaru, ngā āhuatanga o ngā wāhanga, me te whakahaere tika. Mā te whai i ngā kaupae matua e ono kua whakarārangihia i roto i tēnei tuhinga, ka taea e ngā kaimahi te whakatū i ngā tikanga tiaki paerewa, e huri ana i ngā "whakatikatika i muri i te mahi" hei "ārai i mua i te mahi". Ehara i te mea ka whakaiti noa i ngā mate whakaputa i puta mai i ngā rahunga taputapu, engari ka taea hoki e te karetao te pupuri i te tika o te mahi me te kaha whakaputa pai mō te wā roa. Kia maumahara: Ko te haumi ki te tiaki he iti iho i te utu o te whakatika, ā, he iti iho i te mate i puta mai i te wā kore mahi.