Te whakamahinga o te mīhini whakakoi werohanga i roto i te umanga hikohiko

Te tono o Mīhini Whakarewa Werohanga te kaiwhakahaere servo i roto i te umanga hikohiko

Kupu Whakataki
I roto i te umanga hiko e tere whanake ana i ēnei rā, ko te whai huatanga o te whakaputa, te kounga o te hua me te whakahaere utu he mea nui ki te whakataetae a ngā kamupene. Hei taputapu aunoa matatau, te mīhini whakakoi werohanga servo manipulator kei te haere haere tonu hei taputapu nui i roto i te ao hanga hikohiko.

1. Whakataki ki te mīhini whakakoi werohanga servo manipulator
Ko te mīhini werowero servo manipulator he taputapu aunoa e taea ai te whai i ngā mahi a ngā waewae o runga o te tangata. Ka peia e te motuka servo kia tutuki ai te aunoatanga tino tika me te tere. Ko te nuinga o te mea he pūnaha whakahaere, he pūnaha taraiwa me te pūnaha whakahaere, ā, ka taea te whakaoti i te raupapa o ngā mahi pēnei i te hopu, te whakawhiti me te whakarārangi i ngā wāhanga werowero kia rite ki te kaupapa kua whakaritea. Ki te whakatauritea ki ngā manipulator pneumatic tuku iho, ki ngā manipulator puku auau rerekē rānei, he nui ake te tika, te pumau kaha me te pai ake o ngā manipulator servo.

2. Te whakamahinga o te mīhini werohanga werohanga servo manipulator i roto i te umanga hikohiko
(I) Te hanga wāhanga waea pūkoro
Ko te umanga waea pūkoro tētahi o ngā māngai matua o te umanga hikohiko, ā, he tino teitei ngā whakaritenga mō te tika me te whai huatanga o te hanga i ōna wāhanga. He mea nui te mahi a ngā mīhini werohanga werohanga i roto i te hanga i ngā wāhanga waea pūkoro, hei tauira:
Te whakarewa anga waea pūkoro: Ka taea e te kaiwhakahaere te tango tere me te tika i te anga waea pūkoro kua whakarewahia, ka mahi i te whakarārangi, te tuku rānei i muri mai. Ko tōna kaha ki te tūnga tino tika ka whakarite i te tika o te rahi me te kounga o te āhua o te anga.
Te hanga kī me te tauera: Mō ngā wāhanga iti pēnei i ngā kī me ngā tauera, ka taea e te kaiwhakahaere servo te mahi ngāwari i roto i te wāhi iti hei whakaoti i ngā mahi uaua o te kohikohi me te whakatakoto i ngā wāhanga.
(II) Ngā rorohiko me ngā taputapu tāpiri
Kāore e taea te wehewehe i te hanga rorohiko me ā rātou taputapu tāpiri (pēnei i ngā papapātuhi, kiore, anga whakaaturanga, me ētahi atu) mai i ngā mīhini whakarewa werohanga me ngā kaiwhakahaere servo. Ko ōna whakamahinga ko:
Te whakahāngai werohanga kī papapātuhi: Ka taea e te kaiwhakahaere te tango wawe i ngā kī kua whakahāngaihia ki te werohanga ka whakanoho pai ki runga i te whitiki kawe. Ehara i te mea ka whakapai ake i te pai o te whakaputanga mā tēnei mahi aunoa, engari ka whakaitihia hoki ngā hapa ka puta mai i te mahi ā-ringa.
Te hanga anga whakaaturanga: Mō ngā anga whakaaturanga nui, ka taea e te kaiwhakahaere servo te whakaoti ngāwari i te tuku mai i te mīhini whakarewa werohanga ki ngā taputapu tukatuka e whai ake nei. Ko tōna kaha kawenga me te pumau teitei ka whakarite i te haumaru me te pono o te anga i te wā o te tukanga tuku.
(III) Te hanga i ngā wāhanga hiko
Ko te hanga i ngā wāhanga hiko (pērā i ngā ātete, ngā pūnga, ngā inductors, me ētahi atu) me whai taumata tiketike o te aunoatanga me te whakahaere tika. Ko ngā tono a ngā karetao servo mīhini werohanga werohanga i roto i te hanga i ngā wāhanga hiko ko:
Te whakahāngai werohanga o ngā wāhanga iti: Te Ka taea te karetao Ka tangohia tika ngā wāhanga iti kua werohia kia whakanohoia ki te tūranga kua tohua. Mā te tino tika o te tūnga me te tere o te nekehanga ka taea te urutau ki ngā whakaritenga teitei o te hanga wāhanga hiko.
Te takai wāhanga: I te wā o te tukanga takai, ka taea e te karetao servo te whakakotahi tika i te anga wāhanga i werohia me ngā wāhanga o roto. Ehara i te mea ka whakapai ake i te pai o te whakaputanga anake tēnei mahi aunoa, engari ka whakarite hoki i te ōritetanga o te kounga o te takai.
(IV) Ngā wāhanga hiko o ngā taputapu kāinga
E whakamahia whānuitia ana hoki ngā karetao servo mīhini whakarewa werohanga i roto i ngā wāhanga hiko o te umanga taputapu kāinga (pēnei i ngā mana mamao pouaka whakaata, ngā papa whakahaere oumu raihi, me ētahi atu). Ko ōna tono ko:
Te whakarewa werohanga anga mamao: Ka taea e te karetao te tango tere me te tika i te anga mamao kua whakarewahia ki te werohanga ka whakanoho ki runga i te whitiki kawe. Ehara i te mea ka whakapai ake i te pai o te whakaputanga mā tēnei mahi aunoa, engari ka whakaitihia hoki ngā hapa ka puta mai i te mahi ā-ringa.
Te hanga papa whakahaere: Mō ngā papa whakahaere uaua, ka taea e ngā kaiwhakahaere servo te mahi ngāwari i waenga i ngā teihana maha hei whakaoti i te raupapa o ngā mahi mai i te werohanga pokepoke ki te huihuinga. Nā tōna tūnga tino tika me te nekehanga tere ka taea e ia te urutau ki ngā whakaritenga teitei o te hanga waahanga hiko o ngā taputapu kāinga.

3. Ngā painga hangarau o ngā mīhini werohanga werohanga servo manipulators
(I) Te tino tika
Ka whakamahia e ngā mīhini werowero servo manipulators ngā motuka servo me ngā encoder tino tika hei whakatutuki i te tūnga tika me te whakahaere nekehanga. Hei tauira, ko te servo Reisai L5 he encoder 17-bit, ka taea te whakarite i te tika o te tūnga o te manipulator i raro i ngā āhuatanga hanganga miihini noa. He mea nui tēnei āheinga tūnga tino tika mō te whakaputa tino tika i roto i te umanga hiko.
(II) Te whai huatanga teitei
He tino pai te tere whakahaere me te mahi whakatere me te whakaheke tere o te manipulator servo, ka taea ai te whakapai ake i te pai o te whakaputa. Hei tauira, ka whakanuia e te servo Reisai te tere o te motuka mā te whakamahi i tētahi rauropi motuhake hei whakarite kia tutuki i te huringa whakahaere o te manipulator whakakoi werohanga ngā hiahia o te kiritaki. Mā tōna nekehanga tere me te mahi tino pai ka taea e ia te urutau ki ngā whakaritenga nui o te umanga hiko.
(III) Te pumau teitei
He tino pumau te mahi a ngā mīhini werowero servo ina mahi tonu, ā, he onge te korenga e rahua. Hei tauira, kei te oma tonu te servo L5 o te Leadsun L5 i te wāhi e hangaia ai te mīhini werowero, ā, he kounga pono hoki. He mea tino nui tēnei pumautanga mō te mahi tonu i roto i te umanga hiko.
(IV) Kaha te kaha ki te ārai i te pokanoa
He uaua te taiao hikohiko i te wāhi o te mīhini whakarewa werohanga, ā, me āhei te taraiwa o te servo manipulator ki te ārai i te pokanoa. Hei tauira, ka taea te whakamahi angitu i te servo Leadsun ki te horopaki tono whakaurunga nati karetao hei whakarite i te tūranga tika o te tango me te whakanoho. Mā tēnei āheinga ārai-pokanoa ka whakarite kia pumau te mahi a te manipulator i roto i te taiao whakaputa hiko uaua.

4. Aratohu Hoko mō ngā Kaiwhakahaere Servo mō ngā Mīhini Whakarewa Werohanga
(I) Te Kōwhiri i tētahi Kaiwhakarato Tika
I te hoko i tētahi mīhini whakakoi servo mō tētahi mīhini whakakoi werohanga, he mea nui kia whiriwhiria he kaiwhakarato pono. Me whai i te kaiwhakarato ēnei āhuatanga e whai ake nei:
Ngā pūkenga hangarau ngaio: Ka taea te whakarato i ngā taputapu whakahaere servo tino tika me te tino whai hua e tutuki ai ngā hiahia o te umanga hikohiko.
Ratonga muri-hoko tino pai: tae atu ki te tāutanga me te whakatūnga taputapu, te tautoko hangarau me te tiaki i muri-hoko.
Rongonui pai o te mākete: Kia mārama ki te ingoa pai o te kaiwhakarato me te kounga o te hua mā te aromatawai kiritaki me ngā urupare mai i te mākete.
(II) Whakaarohia ngā tawhā hangarau o ngā taputapu
I te hoko i tētahi mīhini whakakoi servo mō tētahi mīhini whakakoi werohanga, me āta whakaaro ki ngā tawhā hangarau o ngā taputapu i runga i ngā hiahia whakaputa o te umanga hikohiko. Kei roto i ēnei tawhā:
Te kaha kawenga: Kōwhiria he taputapu whakahaere me te kaha kawenga e tika ana kia rite ki te taumaha o te wāhanga i werohia.
Te whānuitanga o te mahi: Me whakarite kia tutuki i te whānuitanga o te nekehanga o te kaitahuri ngā hiahia o ia teihana mahi i runga i te raina whakaputa.
Te tika o te tukurua: Mō te whakaputa tika i roto i te umanga hikohiko, he tohu matua te tika o te tukurua.
Te tere me te mahi whakatere me te whakaheke tere: Mā ngā nekehanga tere me te mahi whakatere me te whakaheke tere pai ka pai ake te whai huatanga o te whakaputa.
(III) Aromatawai i te whai huatanga o ngā taputapu
I runga i te kaupapa o te whakatutuki i ngā whakaritenga hangarau, ko te whai huatanga o ngā taputapu he mea nui hei whakaaroaro i te wā e hoko ana. Ka taea te aromatawai i te whai huatanga o ngā taputapu i ēnei huarahi:
Te utu mō ngā taputapu: Whakatauritehia ngā utu mai i ngā kaiwhakarato rerekē, ka tīpako i ngā taputapu he utu whaitake, he kounga pono hoki.
Te utu whakahaere: Kei roto ko te whakapaunga pūngao, te utu tiaki, me ētahi atu. Hei tauira, he iti te whakapaunga pūngao o ngā kaiwhakahaere servo, ā, he māmā noa iho te tiaki, ka taea ai te whakaiti i ngā utu whakahaere mō te wā roa.
Te roa o te ratonga: Mā te whiriwhiri i ngā taputapu he roa te ora o te ratonga, ā, he tino pono hoki, ka taea te whakaiti i te auau o te whakakapinga taputapu me te whakaiti i ngā utu whānui.

5. Tātaritanga take
(I) Tauira tono a te kaihanga waea pūkoro
I whakauruhia e tētahi kaihanga waea pūkoro rongonui ngā mīhini whakakoi werohanga me ngā taputapu whakahaere servo ki tana raina whakaputa mō te hanga anga waea pūkoro me ngā pātene. Mā te whakamahi i ngā taputapu whakahaere servo, i tutuki i te kaihanga ngā hua e whai ake nei:
Te whakanui ake i te whai huatanga o te whakaputanga: Nā te tere o te nekehanga me te mahi tino whai hua o te taputapu whakahaere i whakapoto te huringa whakaputa mā te 30%.
Kounga hua kua whakapaitia: Nā te tūnga tino tika me te mahi pumau i whakaiti i te tere o ngā hapa o ngā hua.
Te whakaiti i ngā utu mahi: Nā te mahi aunoa i whakaitihia te wawaotanga ā-ringa, ā, i whakaitihia hoki ngā utu mahi.
(II) Tauira tono mō tētahi kaihanga taputapu kāinga
I whakamahia e tētahi kaihanga taputapu kāinga ngā mīhini whakakoi werohanga i runga i tana raina whakaputa hei hanga i ngā mana mamao pouaka whakaata me ngā papa whakahaere tunu raihi. Ko ngā whakatutukitanga a te kaihanga ko:
Kua tino pai ake te whai huatanga o te whakaputanga: Nā te tere o te nekehanga me te mahi tino whai hua o te taputapu whakahaere i piki ake te whai huatanga o te whakaputanga mā te 40%.
Kua whakapaitia te kounga o te hua: Nā te tūnga tino tika me te mahi pumau i whakarite kia rite te kounga o te hua.
Taiao whakaputa kua whakapaitia: Nā te mahi aunoa i whakaitihia te whakapā ā-ringa, ā, i whakapaitia hoki te taiao whakaputa.

6. Whakamutunga
He whānui ngā tūmanakohanga tono mō ngā mīhini werowero servo manipulators i roto i te umanga hikohiko. Ko ōna painga hangarau o te tino tika, te tino whai hua, te tino pumau me te kaha ātete-whakararu ka taea te whakatutuki i ngā whakaritenga tino pakari o te hanga hikohiko. Mō ngā kaihoko rarawe o te ao, mā te mārama ki te tono me ngā painga hangarau o ngā karetao servo mīhini werowero me te mōhio ki ngā aratohu hoko ka āwhina i a rātou ki te whakarato hua me ngā otinga whakataetae ake ki ngā kaihoko. I te haere tonu o te whanaketanga o te hangarau me te pikinga o te tono mākete, ka nui haere te mahi a ngā karetao servo mīhini werowero servo i roto i te umanga hikohiko.