Te Hanganga Ā-Mīhini o tētahi Rōpoti Whakairo Werohanga Tuaka-Rima

Te Hanganga Ā-ringa o te Werohanga Tuaka-Rima Rōpoti WhakairoHe Tātaritanga Matua o te Puku Tika me te Mahi Tahi Whai Hua

I roto i te aunoatanga whakarewa werohanga hou, ngā karetao hanga werohanga tuaka-rima, me ō rātou āheinga whakahaere ngāwari, maha-ahu, kua noho hei taputapu matua mō te whakapai ake i te pai o te whakaputa me te whakaiti i ngā utu mahi. Ko tā rātou mahi tino pai e akiakihia ana e tētahi pūnaha miihini kua hoahoatia kia tino tika—mai i te wae taraiwa ki te kaiwhakaputa mutunga—kei reira te mahi whakarite o ia wāhanga e whakatau ana i te mahi a te karetao i roto i te hopu tere tere, te tūnga tika, me te nekehanga ara uaua. Ka whakaratohia e tēnei tuhinga he tātaritanga hohonu o te hanganga miihini matua o tētahi karetao hanga werohanga tuaka-rima, e whakaatu ana i te hononga ā-roto i waenga i te mahi taputapu me te hoahoa hanganga, e āwhina ana i ngā kamupene ki te whakatau tika ake i te kōwhiringa taputapu i te wā e whakapai ake ana i te aunoatanga.

Hoahoa Taketake: Te "Anga Anga" o te Pūnaha Nekehanga o ngā Tuaka-Rima

Ko te hanganga ā-pūkaha o tētahi karetao werohanga tuaka-rima e hangai ana ki tētahi pūnaha hononga maha-hononga. Mā te whakakotahi i ngā tuaka rārangi e toru (X, Y, me Z) me ngā tuaka hurihuri e rua (A me B), ka tutuki i a ia te whānuitanga katoa o te nekehanga i roto i ngā taha e toru. Ka hipa atu tēnei hoahoa i ngā herenga nekehanga o ngā taha e toru tuku iho.Ngā Rōpoti Tuaka, e whakaatu ana i ngā painga nui ki te whakahaere i ngā wāhanga i werohia he āhua rerekē te āhua me te tango i ngā wāhanga mai i ngā pokepokea uaua.

Ngā kōwae tuaka rārangi: Ko te tuaka-X (nekehanga taha), te tuaka-Y (toronga whakamua me te whakamuri), me te tuaka-Z (hikinga poutū) e whakamahi ana i te huinga o ngā aratohu rārangi tino tika me ngā tīwiri pōro. He mea hanga ngā aratohu ki te maitai koranu whakapakeke me te mata tino tika. I te whakakotahitanga me ngā reti me te utaina mua ka taea te whakarite, ka whakarite i ngā hapa rārangi i roto i te 0.02mm/m i te wā e nekehia ana. Ka honoa tika ngā tīwiri pōro ki te motuka taraiwa mā roto i ngā nati, ka huri i te nekehanga hurihuri ki te nekehanga rārangi. Mā tēnei ka eke te pai o te tuku ki runga ake i te 90%, he nui ake i ngā pūnaha whatanga me te pinion tuku iho, ka whakaitihia te ngaronga pūngao.

Ngā hononga tuaka hurihuri: Ko te tuaka-A (te hurihanga o te ringaringa) me te tuaka-B (te piu o te ringa) ngā huānga matua mō ngā whakatikatika tū uaua. Ka whakamahia ngā whakaiti haurore tino tika i roto i ngā hononga, me te whakahaere i te whiu whakamuri ki roto i te 1 meneti pewa. I te whakakotahitanga me te kaha kawenga radial me te tuaka o ngā peera roera whakawhiti, ka whakarite i te putanga hurihuri pakari me te tika o te tūnga 0.1°. I roto i ngā horopaki mahi tere teitei, ka taea e te tere urupare hihiri o te tuaka hurihuri te eke ki te 500°/s, e tutuki ai ngā hiahia o te whakaputa huringa tere.

Pūnaha Puku: Te "Kiko Uaua" o te Putanga Mana

Ko te pūnaha taraiwa o tētahi karetao tuaka-rima he rite ki tētahi "uaua," e whakarato ana i te mana whakahaere tika mō te nekehanga o ia tuaka. I tēnei wā, ko ngā otinga taraiwa matua e whakarōpūtia ana ko ngā motuka servo me ngā motuka stepper. Ko ngā puku servo, me ō rātou painga ki te whakahaere porowhita-katia, te mea nui rawa atu i te hanga whakarewa werohanga teitei.

Ko ngā waeine taraiwa servo he motuka servo, he encoder, me te taraiwa. Ka whakamahia e te motuka ngā aukume tūturu whenua onge, e tuku ana i te kiato taipana teitei me te putanga mana pumau ahakoa i ngā tere iti. Ko te taumira o te encoder ka eke ki te 20 bits (1,048,576 ngā pātere mō ia hurihanga). I te whakakotahitanga me te raupapa whakahaere PID a te taraiwa, ka tutuki he hapa whakahaere tūranga o te ≤0.01mm. I roto i ngā āhuatanga tango wāhanga tere-tiketike, ka taea te whakahaere i ngā wā whakatere me te whakaheke tere o te pūnaha servo i roto i te 0.1s, ka tutuki i ngā wā huringa neke atu i te 120 huringa ia meneti.

Hoahoa Hononga Tuku: Ka honoa te pūnaha taraiwa me te tuaka neke mā te hononga ngāwari, mā te whitiki tukutahi rānei. Ka taea e ngā hononga rapa te whakatika i te hē o te tāutanga me te whakaiti i te pānga o ngā kawenga ru ki te motuka. He pai ngā puku whitiki tukutahi mō te tuku hiko tawhiti. Mā te tinana whitiki polyurethane me te hanganga matua waea maitai ka tika te tuku me te tu atu i te pakaru me te haehae neke atu i te 10,000 hāora o te mahi tonu.

Kaiwhakaputa Whakamutunga: Te "Ringa" o te Taunekeneke Whakahaere

Ko te kaiwhakawhiwhi mutunga (te kaihopu) te wāhanga e taunekeneke tika ana ki te Ringa Rōpoti me te wāhanga i werohia kia pokepokea. Me whakarite tōna hoahoa hanganga kia rite ki ngā āhuatanga o te hua. Ko ngā momo noa ko ngā hopu hau, ngā kapu momi korehau, me ngā taputapu aukume. Ko tōna arotahi matua ko te whakawhiti tere me te mahi tahi pumau me te ringa karetao.

Hanganga o te Pūtake Whakamutunga: Ka whakamahia e te pūmau hau he puku piston rua me te whānuitanga kaha pupuri ka taea te whakarite i waenga i te 5-500N. He rite ki ngā maihao silicone, polyurethane rānei hei whakauru i ngā wāhanga i werohia kia pokepokea ai o ngā rauemi me ngā āhua rerekē. Ka whakamahia e te kapu momi korehau he pūhiko Venturi hei whakaputa i te pēhanga kino o te -80kPa. Ka taea e te pūmau kotahi te pupuri i te neke atu i te 5kg, he mea tino pai mō ngā wāhanga kirihou nui, papatahi. Ko ētahi tauira teitei he rite ki ngā atanga whakawhiti tere, e whakaiti ana i te wā whakawhiti ki raro i te 30 hēkona, e tutuki ai ngā hiahia o te whakaputanga momo-nui, iti-rahi.

Hoahoa taurite-kawenga: Ka tāutahia he pūoko kawenga ki te hononga i waenga i te pito o te kaiwhakaputa me te ringaringa hei aroturuki i te taumaha hopu i te wā tonu. Ina neke atu te kawenga i te paepae kua whakaritea (ko te tikanga he 120% o te kawenga kua whakatauria), ka whakaoho aunoa te pūnaha i tētahi tikanga tiaki, ka aukati i te nekehanga me te tuku i tētahi whakaoho hei ārai i te kino o te hanganga mīhini nā te taumaha rawa. Mā tēnei hoahoa ka taea e te karetao te whakauru i ngā kawenga mai i te 5 ki te 50 kg, e kapi ana i ngā hiahia whakaputa mai i ngā wāhanga hiko iti ki ngā wāhanga kirihou nui o te motuka.

Hanganga tautoko: Ko te "tinana" e whakapūmau ana i te pumau

Kei roto i te hanganga tautoko ngā wāhanga e mau ana i te kawenga pērā i te turanga, ngā pou, me ngā kurupae. Ko tōna pakari me tōna hoahoa māmā ka pā tika ki te tika o te nekehanga me te whakapaunga pūngao o te karetao. Ko ngā karetao tuaka-rima o ēnei rā e whakamahi ana i te hoahoa ā-pūrua, e whakamahi ana i te tātari huānga mutunga kore hei arotau i te tohatoha ahotea hanganga.

Te whiriwhiri rauemi me te rauemi: Ko ngā pou me ngā kurupae he mea hanga i ngā kōtaha konumohe kaha-teitei (pēnei i te 6061-T6), he mea whakakikorua kia kore ai e waikura, kia kore ai hoki e pakaru. Ka whakauruhia ngā whakakaha maitai ki ngā wāhi matua e mau ana i te kawenga, ka whakaitihia te taumaha katoa mā te 30% me te whakarite kia kore e rerekē te āhua o te turanga ki te ≤0.5mm/m. He rino maka te mea hanga ai te turanga, ā, mā te maimoatanga tawhito ka whakakorea ngā ahotea o roto, ka whakarite kia pumau te mahi.

Hoahoa mimiti wiri me te tiaki: Kua tāutahia ngā papa mimiti wiri ki te hononga i waenga i te hanganga tautoko me te whenua, e mimiti ana i te neke atu i te 90% o ngā wiri auau teitei. Kua tāutahia ngā taupoki tiaki ka taea te hoki ki te taha o ngā wāhanga neke, he mea hanga mai i te kānawehi nairona maha-paparanga me te hanganga anga whakarewa. Ka eke ki te whakatauranga IP54, ā, ka tino tiaki i te puehu me te parahanga hinu i roto i te awheawhe whakarewa werohanga.

Uara Whakaputa i Kawea Mai e ngā Painga Hanganga

Ko te hoahoa ā-pūkaha o te karetao mīhini werohanga tuaka-rima ka whai hua ki te whakapai ake i te pai o te whakaputa me te kounga o te hua. Mā tōna hononga tuaka-maha ka piki ake te tere arotau o te ara tango wāhanga mā te 40%, ka taea te hopu i ngā wāhanga mai i ngā teihana maha i roto i ngā pokepokea uaua i te wā kotahi me te kore e pokanoa ki te kōhao. Mā te tūnga tino tika (te āheinga ki te whakahoki ≤±0.05mm) ka whakaiti i te mōrearea o te tukinga i waenga i ngā wāhanga me ngā pokepokea, ka whakaiti i te tere hapa ki raro iho i te 0.1%.