1. Indima yamacandelo magnetic kwiirobhothi
1.1. Indawo echanekileyo
Kwiinkqubo zerobhothi, i-magnetic sensors isetyenziswa ngokubanzi. Ngokomzekelo, kwezinye iirobhothi zemizi-mveliso, izinzwa zemagneti ezakhelwe ngaphakathi zinokubona utshintsho kwindawo engqonge imagnethi ngexesha langempela. Oku kuchongwa kunokuqinisekisa ngokuchanekileyo indawo kunye nolwalathiso lwerobhothi kwindawo ye-three-dimensional space, ngokuchaneka kweemilimitha. Ngokweenkcukacha-manani ezifanelekileyo zedatha, impazamo yokubeka iirobhothi ezibekwe ziinzwa zemagnethi zihlala ngaphakathi±5 mm, enika isiqinisekiso esithembekileyo kwiirobhothi ukwenza imisebenzi echanekileyo kwiindawo ezinzima.
1.2. Ukukhangela okusebenzayo
Imicu yemagnethi okanye iziphawuli zemagnethi emhlabeni zisebenza njengeendlela zokujonga kwaye zidlala indima ebalulekileyo kwimiboniso efana nokugcinwa kwezinto ezizenzekelayo, ulungiselelo, kunye nemigca yemveliso. Ukuthatha iirobhothi zokuphatha ezikrelekrele njengomzekelo, itekhnoloji yokusebenzisa i-magnetic strip navigation ikhulile, inexabiso eliphantsi, kwaye ichanekile kwaye inokuthenjwa ekubekweni kwayo. Emva kokubeka imichilo yamagnetic kumgca wokusebenza, irobhothi ekrelekrele inokufumana impazamo phakathi komatshini ngokwawo kunye nendlela yokulandelela ekujoliswe kuyo ngophawu lwedatha ye-electromagnetic field endleleni, kwaye igqibezele umsebenzi wokuhambisa umatshini ngokubala ngokuchanekileyo nangokufanelekileyo kwaye umlinganiselo. Ukongeza, ukuhamba ngezikhonkwane zamagnetic kukwayindlela eqhelekileyo yokuhamba. Umgaqo wayo wokusetyenziswa kukufumana indlela yokuqhuba esekelwe kwisignali yedatha yamagnetic efunyenwe yinzwa yokukhangela kwi-nail magnetic. Umgama phakathi kwezikhonkwane zemagneti awunakuba mkhulu kakhulu. Xa phakathi kwezikhonkwane ezizibuthe ezibini, irobhothi yokuphatha iya kuba kwimo yokubala i-encoder.
1.3. I-adsorption ye-clamping enamandla
Ukuxhobisa irobhothi ngeentambo zemagnethi kunokuphucula kakhulu indlela esebenza ngayo irobhothi. Ngokomzekelo, i-Dutch GOUDSMIT i-magnetic clamp inokufakwa ngokulula kumgca wemveliso kwaye inokusingatha ngokukhuselekileyo iimveliso ze-ferromagnetic ezinomthamo ophezulu wokuphakamisa we-600 kg. I-MG10 magnetic gripper eyaphehlelelwa yi-OnRobot inamandla anokucwangciswa kwaye ixhotyiswe ngeeclamp ezakhelwe ngaphakathi kunye nenxalenye yovavanyo lwe-sensor yokuvelisa, izithuthi kunye nemimandla ye-aerospace. Ezi zibambeli zimagnetic zinokubamba phantse nayiphi na imilo okanye uhlobo lwezixhobo zokusebenza ze-ferrous, kwaye kuphela indawo encinci yoqhagamshelwano efunekayo ukuze kuphunyezwe amandla okubamba ngamandla.
1.4. Ukuqaphela ukucoca okusebenzayo
Irobhothi yokucoca inokucoca ngokufanelekileyo amaqhekeza esinyithi okanye ezinye izinto ezincinci emhlabeni nge-adsorption yamagnetic. Ngokomzekelo, i-robot yokucoca i-adsorption ixhotyiswe nge-electromagnets kwi-slot emise okwefan ukuze isebenzisane ne-stroke control switch, ukwenzela ukuba xa i-slot efana ne-fan ingena kwindawo echazwe kwangaphambili, i-electromagnetic ivaliwe, ukwenzela ukuba inkunkuma yesinyithi. iinxalenye ziwela kwi-slot yokuqokelela, kunye nolwakhiwo lokuguqula lubonelelwe emazantsi e-fan-shaped slot ukuqokelela ulwelo lwenkunkuma. Kwangaxeshanye, izinzwa zamagnetic zingasetyenziselwa ukubona izinto zetsimbi emhlabeni, zinceda irobhothi ukuba ilungelelane kakuhle nokusingqongileyo kwaye iphendule ngokufanelekileyo.
1.5. Ulawulo lwemoto oluchanekileyo
Kwiinkqubo ezinjengeenjini ze-DC kunye neenjini ze-stepper, intsebenziswano phakathi kwendawo yamagnetic kunye nemoto ibalulekile. Ukuthatha izinto zemagneti ze-NdFeB njengomzekelo, unomveliso wamandla ombane kwaye unokubonelela ngamandla ombane oqinileyo, ukuze i-robot motor ineempawu zokusebenza okuphezulu, isantya esiphezulu kunye ne-torque ephezulu. Ngokomzekelo, enye yezinto ezisetyenziswa nguZhongke Sanhuan kwintsimi yeerobhothi yiNdFeB. Kwimotor yerobhothi, iimagnethi zeNdFeB zinokusetyenziswa njengemagnethi esisigxina yemoto ukunika amandla ombane anamandla, ukuze imotor ibe neempawu zokusebenza okuphezulu, isantya esiphezulu kunye netorque ephezulu. Kwangaxeshanye, kwinzwa yerobhothi, iimagnethi zeNdFeB zingasetyenziswa njengeyona nxalenye iphambili yenzwakazi ukufumanisa nokulinganisa ulwazi lwemagnethi ejikeleze irobhothi.
2. Ukusetyenziswa kweerobhothi zemagnethi ezisisigxina
2.1. Ukusetyenziswa kweerobhothi ze-humanoid
Ezi nkalo zivelayo zeerobhothi ze-humanoid zifuna izixhobo zemagneti ukuqonda imisebenzi efana nokuguqulwa kombane kunye nokucoca i-EMC. I-Maxim Technology yathi iirobhothi ze-humanoid zifuna amacandelo amagnetic ukugqiba le misebenzi ebalulekileyo. Ukongeza, izixhobo zemagneti zikwasetyenziswa kwiirobhothi ze-humanoid ukuqhuba iimotor kunye nokubonelela ngamandla okuhamba kweerobhothi. Ngokubhekiselele kwiinkqubo zokuva, iinxalenye zemagnethi zinokuziva ngokuchanekileyo indawo engqongileyo kwaye zinike isiseko sokuthatha isigqibo serobhothi. Ngokubhekiselele kulawulo lwentshukumo, iinxalenye zemagnethi zinokuqinisekisa iintshukumo ezichanekileyo nezizinzileyo zerobhothi, zibonelela ngetorque eyaneleyo kunye namandla, kwaye zenze iirobhothi ze-humanoid zigqibezele imisebenzi eyahlukeneyo enzima. Umzekelo, xa uphethe izinto ezinzima, itorque eyomeleleyo inokuqinisekisa ukuba irobhothi iyakwazi ukubamba ngokuzinzileyo kwaye ihambise izinto.
2.2. Ukusetyenziswa kweenjini ezidibeneyo
Amalungu emagnethi asisigxina erotor enemagnethi yesixhobo sokuhlangana serobhothi abandakanya indlela ejikelezayo kunye nesixhobo sokugcina. Iringi ejikelezayo kwindlela ejikelezayo idityaniswe kwityhubhu exhomayo ngepleyiti yokuxhasa, kwaye umphezulu wangaphandle unikwe umjelo wokuqala wokunyuka wokunyusela icandelo lokuqala lemagnethi, kunye necandelo lokulahla ubushushu likwabonelelwa ukuphucula ukusebenza kakuhle kokutshabalalisa ubushushu. . Iringi yogcino kwindlela yogcino ibonelelwe ngegroove yesibini yokunyusela icandelo lesibini lamagnetic. Xa isetyenziswa, umatshini wokugcina unokumiselwa ngokufanelekileyo ngaphakathi kwendlu ekhoyo edibeneyo yemoto ngokusebenzisa umsesane wokugcina, kwaye indlela ejikelezayo inokusetwa kwi-rotor ekhoyo edibeneyo yemoto ngokusebenzisa ityhubhu yokukhwela, kwaye ityhubhu yokuxhoma imiselwe kwaye ithintelwe umngxuma wokugcina. I-groove yokutshatyalaliswa kobushushu yandisa indawo yoqhagamshelwano kunye nodonga lwangaphakathi lwangaphakathi lwendlu ekhoyo ye-motor edibeneyo, ukwenzela ukuba i-ring yokugcina inokudlulisa ngokufanelekileyo ubushushu obufunliweyo kwizindlu zemoto, ngaloo ndlela iphucula ukusebenza kakuhle kokutshatyalaliswa kobushushu. Xa i-tube yokukhwela ijikeleza kunye ne-rotor, inokuqhuba i-ring ejikelezayo ukujikeleza ngeplate yokuxhasa. Iringi ejikelezayo ikhawulezisa ukutshatyalaliswa kobushushu kwindawo yokuqala yokutshisa ubushushu kunye nesesibini sobushushu esisisigxina kwelinye icala lomgca wokuqhuba ubushushu. Kwangaxeshanye, ukuhamba komoya okwenziwa kukujikeleza kwe-motor rotor kunokukhawulezisa ukukhutshwa kobushushu ngaphakathi kwi-motor ngokusebenzisa i-port yokuchitha ubushushu, ukugcina indawo eqhelekileyo yokusebenza yebhloko yokuqala yemagnethi kunye neyesibini ibhloko yemagnethi. Ngaphezu koko, ibhloko yokuqala yokudibanisa kunye neyesibini ibhloko yokuqhagamshela ikulungele ukufakwa kunye nokutshintshwa kwesihlalo sokuqala esifana no-L okanye isihlalo sesibini esinobunjwa obungu-L, ukwenzela ukuba ibhloko yokuqala yemagnethi kunye neyesibini ibhloko enozibuthe ifakwe ngokufanelekileyo kwaye utshintshwe ngokweyona meko yokusetyenziswa.
2.3. Ukusetyenziswa kwerobhothi encinci
Ngokwenza imagnethi irobhothi encinci, inokujika ngokulula kwaye ihambe kwindawo entsonkothileyo. Ngokomzekelo, abaphandi baseBeijing Institute of Technology badibanisa amasuntswana e-NdFeB kunye nezinto ezithambileyo ze-silicone ze-PDMS ukwenza irobhothi ethambileyo, kwaye bagqume umphezulu nge-biocompatible hydrogel layer, ukoyisa ukuncamathela phakathi kwento encinci kunye nencam ethambileyo yerobhothi, inciphisa. ingxabano phakathi kwerobhothi encinci kunye ne-substrate, kunye nokunciphisa umonakalo kwiithagethi zebhayoloji. Inkqubo yemagnethi yokuqhuba iqulathe ipere yee-electromagnets ezithe nkqo. Irobhothi encinci iyajika kwaye ingcangcazele ngokwemagnethi. Ngenxa yokuba irobhothi ithambile, iyakwazi ukugoba umzimba wayo kwaye inokujika ngokulula kwimekobume entsonkothileyo. Ayisiyiyo loo nto kuphela, irobhothi encinci inokuphinda isebenzise izinto ezincinci. Kumdlalo “wokuhambisa amaso” oyilwe ngabaphandi, irobhothi encinci inokulawulwa ngumhlaba wemagnethi, kusetyenziswa iileya zemazes “ukuhambisa” amaso ekujoliswe kuwo ukuya kwindawo ekujoliswe kuyo. Lo msebenzi unokugqitywa ngemizuzu nje embalwa. Kwixesha elizayo, abaphandi baceba ukunciphisa ngakumbi ubungakanani berobhothi encinci kunye nokuphucula ukuchaneka kolawulo, okubonisa ukuba i-robot encinci inamandla amakhulu okusebenza kwe-intravascular.
3. Iimfuno zerobhothi zamacandelo magnetic
Ixabiso lemagnethi enye yerobhothi ye-humanoid yi-3.52 ngokuphindwe kabini kunemagnethi ye-NdFeB. Icandelo lemagnethi liyafuneka ukuba libe neempawu zetorque enkulu, ukuhla kwemagnethi encinci, ubungakanani bemoto encinci, kunye neyunithi ephezulu yeemfuno zokusebenza kwemagnethi. Inokuphuculwa ukusuka kwisixhobo esilula semagnethi ukuya kwimveliso yecandelo lamagnetic.
3.1. I torque enkulu
I-torque ye-magnetic esisigxina ye-synchronous motor ichatshazelwa zizinto ezininzi, phakathi kwazo amandla ombane wemagnethi yenye yezinto eziphambili. Isixhobo semagnethi esisigxina kunye nolwakhiwo olulungiselelweyo lwesekethe yemagnethi kwicandelo lozibuthe lunokonyusa amandla emagnethi, ngaloo ndlela luphucula ukuphuma kwetorque yemoto. Ngokomzekelo, ubukhulu bentsimbi yemagnethi buchaphazela ngokuthe ngqo amandla ombane wemagnethi. Ngokubanzi, ubukhulu bentsimbi yemagnethi, kokukhona amandla emagnethi angaphezulu. Amandla amakhulu emagnethi anokubonelela ngamandla anamandla omagnetic, ngaloo ndlela anyuse itorque yemoto. Kwiirobhothi ze-humanoid, i-torque enkulu iyafuneka ukunyusa umthamo wokuthwala umthwalo wokugqiba imisebenzi eyahlukeneyo enzima, njengokuthwala izinto ezinzima.
3.2. Ukuhla kwemagnethi encinci
Ukuhla kwemagnethi encinci kunokunciphisa iimpazamo zokuhamba. Kulawulo lwentshukumo yeerobhothi ezingabantu, iintshukumo ezichanekileyo zibalulekile. Ukuba ukuhla kwemagnethi kukhulu kakhulu, i-torque ye-motor ayiyi kuzinza, ngaloo ndlela ichaphazela ukuchaneka kwentshukumo yerobhothi. Ke ngoko, iirobhothi ze-humanoid zifuna i-engile encinci kakhulu yokuncipha kwemagnethi yamacandelo kazibuthe ukuze kuqinisekiswe iintshukumo ezichanekileyo zerobhothi.
3.3. Ubungakanani beenjini ezincinci
Uyilo lweerobhothi ezinobuntu ngokuqhelekileyo kufuneka zithathelwe ingqalelo imida yendawo, ngoko ke ubukhulu bemoto yecandelo lemagnethi kufuneka bube buncinci. Ngoyilo olufanelekileyo lokujija, ukwenziwa kolwakhiwo lwesekethe yemagnethi kunye nokukhetha kobubanzi beshaft, ubuninzi betorque yemoto bunokuphuculwa, ngaloo ndlela kuphunyezwa ukukhutshwa kwetorque enkulu ngelixa unciphisa ubungakanani bemoto. Oku kunokwenza ulwakhiwo lwerobhothi ludibane ngakumbi kwaye luphucule ukuguquguquka kunye nokuguquguquka kwerobhothi.
3.4. Iimfuno eziphezulu zeyunithi yokusebenza kwemagnethi
Izinto zemagneti ezisetyenziswa kwiirobhothi ze-humanoid kufuneka zibe neyunithi ephezulu yokusebenza kwemagnethi. Oku kungenxa yokuba iirobhothi ze-humanoid kufuneka zifezekise ukuguqulwa kwamandla okusebenzayo kunye nokulawula ukunyakaza kwindawo elinganiselwe. Amacandelo emagnethi aneyunithi ephezulu yokusebenza kwemagnethi inokubonelela ngamandla ombane wemagnethi, okwenza imotor ibe nokusebenza okuphezulu kunye nokusebenza. Kwangaxeshanye, ukusebenza kweyunithi ephezulu yamagnetic kunokunciphisa ubungakanani kunye nobunzima becandelo lamagnetic, ukuhlangabezana neemfuno zeerobhothi ze-humanoid zokukhanya.
4. Uphuhliso lwexesha elizayo
Amacandelo emagnethi abonise ixabiso eligqwesileyo kwiinkalo ezininzi ngenxa yokusebenza kwazo okukhethekileyo, kwaye amathemba ophuhliso aqaqambile. Kwintsimi yoshishino, luncedo oluphambili ekubekweni kwerobhothi ngokuchanekileyo, ukuhamba ngokufanelekileyo, ukugoba okuqinileyo kunye ne-adsorption, ukucoca okusebenzayo kunye nokufumanisa, kunye nolawulo lwemoto oluchanekileyo. Iyafuneka kwiindidi ezahlukeneyo zeerobhothi ezinje ngeerobhothi ezingabantu, iimotor ezidityanisiweyo, kunye neerobhothi ezincinci. Ngokunyuka okuqhubekayo kwemfuno yemarike, iimfuno zamacandelo asebenza kakuhle amagnetic nazo ziyenyuka. Amashishini kufuneka aqhubeke ephucula umgangatho wemveliso kunye nenqanaba lobugcisa kwinkqubo yophuhliso ukwenza iimveliso zecandelo lamagnetic kunye nokusebenza okuphezulu kunye nomgangatho othembekileyo. Imfuno yemalike kunye nohlaziyo lwetekhnoloji luya kukhuthaza ngakumbi ishishini lemagnethi ukuya kwikamva elibanzi.
Ixesha lokuposa: Nov-19-2024
