1. Indima yezingxenye kazibuthe kumarobhothi
1.1. Ukuma okunembile
Ezinhlelweni zamarobhothi, izinzwa kazibuthe zisetshenziswa kakhulu. Isibonelo, kwamanye amarobhothi ezimboni, izinzwa kazibuthe ezakhelwe ngaphakathi zingathola izinguquko endaweni ezungezile kazibuthe ngesikhathi sangempela. Lokhu kutholwa kunganquma ngokunembile indawo nesiqondiso serobhothi endaweni enezinhlangothi ezintathu, ngokunemba kwamamilimitha. Ngokwezibalo zedatha ezifanele, iphutha lokuma kwamarobhothi amiswe izinzwa kazibuthe ngokuvamile lingaphakathi±5 mm, okunikeza isiqinisekiso esithembekile sokuthi amarobhothi enze imisebenzi enembayo ezindaweni eziyinkimbinkimbi.
1.2. Ukuzulazula okusebenzayo
Imigqa kazibuthe noma omaka kazibuthe abaphansi basebenza njengezindlela zokuzulazula futhi badlala indima ebalulekile ezigcawini ezifana nokugcinwa kwempahla okuzenzakalelayo, ukuhleleka kwempahla, nemigqa yokukhiqiza. Uma sithatha amarobhothi okuphatha ahlakaniphile njengesibonelo, ubuchwepheshe bokusebenzisa i-magnetic strip navigation sebukhulile, bubiza kancane, futhi bunembile futhi buthembekile ekumiseni. Ngemva kokubeka imichilo kazibuthe kulayini wokusebenza, irobhothi elihlakaniphile lingathola iphutha phakathi komshini ngokwawo nendlela yokulandelela okuqondiwe kuyo ngokusebenzisa isignali yedatha yenkundla ye-electromagnetic endleleni, futhi iqedele umsebenzi wokuzulazula wokuthuthwa komshini ngokubala okunembile nokunengqondo futhi ukulinganisa. Ngaphezu kwalokho, ukuzulazula kwezinzipho kazibuthe nakho kuyindlela evamile yokuhamba. Umgomo wayo wokusebenzisa ukuthola indlela yokushayela esekelwe kusignali yedatha kazibuthe etholwe inzwa yokuzulazula kusukela kuzipho kazibuthe. Ibanga phakathi kwezinzipho kazibuthe alikwazi ukuba likhulu kakhulu. Uma phakathi kwezinzipho ezikazibuthe ezimbili, irobhothi elibambayo lizoba sesimweni sokubala se-encoder.
1.3. I-adsorption ye-clamping enamandla
Ukuhlomisa irobhothi ngezinsimbi kazibuthe kungathuthukisa kakhulu ikhono lokusebenza lerobhothi. Isibonelo, i-Dutch GOUDSMIT ibamba kazibuthe ingafakwa kalula kulayini wokukhiqiza futhi ingaphatha ngokuphepha imikhiqizo ye-ferromagnetic enamandla okuphakamisa u-600 kg. I-MG10 magnetic gripper eyethulwe i-OnRobot inamandla ahlelekayo futhi ifakwe izinsimbi ezakhelwe ngaphakathi kanye nezinzwa zokuthola ingxenye zokukhiqiza, izinkundla zezimoto kanye ne-aerospace. Lezi zibopho zikazibuthe zingabamba cishe noma yikuphi ukuma noma uhlobo lwezinto zokusebenza ezivundile, futhi indawo encane yokuxhumana edingekayo ukuze kutholakale amandla aqinile okubamba.
1.4. Ukutholwa kokuhlanza okusebenzayo
Irobhothi elihlanzayo lingakwazi ukuhlanza ngempumelelo izingcezu zensimbi noma ezinye izinto ezincane phansi nge-adsorption kazibuthe. Isibonelo, irobhothi lokuhlanza i-adsorption lifakwe uzibuthe kagesi endaweni emise okwefeni ukuze isebenzisane neswishi yokulawula i-stroke, ukuze kuthi lapho i-slot emise okwefeni ingena endaweni enqunywe kusengaphambili, i-electromagnetic ivaliwe, ukuze udoti wensimbi. izingxenye ziwela endaweni yokuqoqa, futhi isakhiwo sokuphambukisa sinikezwa ngaphansi kwesikhala esimise okwefeni ukuze kuqoqwe uketshezi olulahlwayo. Ngesikhathi esifanayo, izinzwa kazibuthe zingasetshenziswa futhi ukuthola izinto zensimbi phansi, zisize irobhothi ukuthi lizivumelanise kangcono nemvelo futhi liphendule ngokufanele.
1.5. Ukulawula imoto okunembayo
Ezinhlelweni ezinjengama-DC motors kanye nama-stepper motors, ukuxhumana phakathi kwendawo kazibuthe nemoto kubalulekile. Ukuthatha izinto kazibuthe ze-NdFeB njengesibonelo, inomkhiqizo wamandla kazibuthe aphezulu futhi inganikeza amandla aqinile kazibuthe, ukuze injini yerobhothi ibe nezici zokusebenza kahle kakhulu, isivinini esikhulu kanye ne-torque ephezulu. Isibonelo, enye yezinto ezisetshenziswa nguZhongke Sanhuan emkhakheni wamarobhothi i-NdFeB. Emotweni yerobhothi, omagnethi be-NdFeB bangasetshenziswa njengozibuthe bemoto abangapheli ukuze banikeze amandla aqinile kazibuthe, ukuze injini ibe nezici zokusebenza kahle kakhulu, isivinini esikhulu kanye ne-torque ephezulu. Ngesikhathi esifanayo, kunzwa yerobhothi, omazibuthe be-NdFeB bangasetshenziswa njengengxenye eyinhloko yenzwa kazibuthe ukuze kutholwe futhi kukale ulwazi lwensimu kazibuthe ezungeze irobhothi.
2. Ukusetshenziswa kwamarobhothi kazibuthe unomphela
2.1. Ukusetshenziswa kwamarobhothi e-humanoid
Lezi zinkambu ezivelayo zamarobhothi e-humanoid zidinga izingxenye kazibuthe ukuze zibone imisebenzi efana nokuguqulwa kwamandla kagesi kanye nokuhlunga kwe-EMC. I-Maxim Technology ithe amarobhothi e-humanoid adinga izingxenye kazibuthe ukuze aqedele le misebenzi ebalulekile. Ngaphezu kwalokho, izingxenye kazibuthe nazo zisetshenziswa kumarobhothi e-humanoid ukushayela ama-motor futhi anikeze amandla okunyakaza kwamarobhothi. Mayelana nezinhlelo zokuzwa, izingxenye kazibuthe zingakwazi ukuzwa ngokunembile indawo ezungezile futhi zinikeze isisekelo sokuthatha izinqumo kwerobhothi. Mayelana nokulawula ukunyakaza, izingxenye kazibuthe zingaqinisekisa ukunyakaza kwerobhothi okunembayo nokuzinzile, zinikeze itorque eyanele namandla, futhi zinike amandla amarobhothi e-humanoid ukuthi aqedele imisebenzi ehlukahlukene yokunyakaza eyinkimbinkimbi. Isibonelo, lapho uphethe izinto ezisindayo, i-torque eqinile ingaqinisekisa ukuthi irobhothi liyakwazi ukubamba ngokuzinza futhi linyakaze izinto.
2.2. Ukusetshenziswa kwama-motor ahlangene
Izingxenye zikazibuthe ezihlala njalo zerotha kazibuthe yenjini ehlanganyelwe irobhothi zifaka umshini ozungezisayo kanye nendlela yokubamba. Iringi ejikelezayo emshinini wokuzungezisa ixhunywe kushubhu elikhwezayo ngepuleti lokusekela, futhi indawo engaphandle inikezwa umsele wokuqala wokukhweza wokukhweza ingxenye yokuqala kazibuthe, kanye nengxenye yokukhipha ukushisa nayo inikezwa ukuze kuthuthukiswe ukusebenza kahle kokukhipha ukushisa. . Iringithoni ebambayo endleleni ebambayo ihlinzekwa ngomsele wesibili wokukhweza wokukhwezwa kwengxenye yesibili kazibuthe. Uma isetshenziswa, umshini obambayo ungasethwa kalula ngaphakathi kwendlu ehlanganyelwe yemoto ngokusebenzisa iringi yokugcina, futhi indlela ezungezayo ingasethwa ku-rotor ehlanganyelwe ekhona ngeshubhu yokukhweza, futhi ishubhu lokukhweza liqiniswe futhi livinjelwe imbobo yokugcina. I-groove yokukhipha ukushisa inyusa indawo yokuthintana nodonga lwangaphakathi lwendlu yemoto ehlangene ekhona, ukuze indandatho ebambayo ikwazi ukudlulisa kahle ukushisa okumuncwe endlini yemoto, ngaleyo ndlela ithuthukise ukusebenza kahle kokukhipha ukushisa. Uma ishubhu lokukhweza lizungezisa ngerotha, lingakwazi ukushayela iringi ukuze ijikeleze ngepuleti lokusekela. Iringithoni ezungezayo isheshisa ukunqanyulwa kokushisa kusinki yokuqala yokushisa kanye nesinki sokushisa sesibili esigxilwe ohlangothini olulodwa lomucu obamba ukushisa. Ngesikhathi esifanayo, ukugeleza komoya okukhiqizwa ukujikeleza kwe-rotor ye-motor kungasheshisa ukuphuma kokushisa ngaphakathi kwe-motor ngokusebenzisa i-port dissipation port, ukugcina indawo evamile yokusebenza ye-block yokuqala magnetic kanye ne-block yesibili magnetic. Ngaphezu kwalokho, ibhulokhi yokuqala yokuxhuma kanye nebhulokhi yokuxhuma yesibili ilungele ukufakwa nokushintshwa kwesihlalo esihambelanayo esimise okwe-L noma isihlalo sesibili esimise okwe-L, ukuze ibhulokhi yokuqala kazibuthe kanye neyesibili kazibuthe kufakwe kalula futhi. ishintshwe ngokuya ngesimo sangempela sokusetshenziswa.
2.3. Uhlelo lokusebenza lwerobhothi elincane
Ngokwenza uzibuthe irobhothi elincane, lingaphenduka kalula futhi lihambe endaweni eyinkimbinkimbi. Isibonelo, abacwaningi e-Beijing Institute of Technology bahlanganisa izinhlayiya ze-NdFeB nezinto ezithambile ze-silicone PDMS ukuze benze irobhothi elincane elithambile, futhi bemboza indawo engaphezulu ngongqimba lwe-hydrogel ye-biocompatible, benqoba ukunamathela phakathi kwento encane nechopho elithambile lerobhothi, banciphisa. ukungqubuzana phakathi kwerobhothi elincane ne-substrate, kanye nokunciphisa ukulimala kokuhlosiwe kwebhayoloji. Isistimu yokushayela kazibuthe iqukethe ipheya kazibuthe ome mpo. Irobhothi elincane liyaphenduka futhi lidlidlizele ngokuya ngesizinda sikazibuthe. Ngenxa yokuthi irobhothi lithambile, lingakwazi ukugoba umzimba walo futhi likwazi ukuphenduka kalula endaweni eyinkimbinkimbi enezinhlangothi ezimbili. Akukhona lokho kuphela, irobhothi elincane lingaphinda lisebenzise izinto ezincane. Kugeyimu "enyakazayo yobuhlalu" edizayinwe abacwaningi, irobhothi elincane lingalawulwa yinkundla kazibuthe, ngokusebenzisa izendlalelo zama-maze "ukuhambisa" ubuhlalu obuqondiwe bungene endaweni eqondiwe. Lo msebenzi ungaqedwa emizuzwini embalwa nje. Ngokuzayo, abacwaningi bahlela ukuqhubeka nokunciphisa usayizi werobhothi elincane futhi bathuthukise ukunemba kokulawula, okufakazela ukuthi irobhothi elincane linamandla amakhulu okusebenza kwe-intravascular.
3. Izidingo zerobhothi zezingxenye kazibuthe
Inani lengxenye eyodwa kazibuthe yerobhothi le-humanoid liphindwe izikhathi ezingu-3.52 kunelikazibuthe we-NdFeB. Ingxenye kazibuthe iyadingeka ukuze ibe nezici zetorque enkulu, ukwehla kukakazibuthe okuncane, usayizi wemoto encane, kanye neyunithi ephezulu yezidingo zokusebenza kazibuthe. Ingase ithuthukiswe isuka kokulula kazibuthe iye komkhiqizo wengxenye kazibuthe.
3.1. I-torque enkulu
I-torque ye-motor synchronous yamagnetic unomphela ithintwa yizici eziningi, phakathi kwazo amandla kazibuthe angenye yezinto ezibalulekile. Izinto zikazibuthe ezihlala njalo kanye nesakhiwo sesekethe kazibuthe esenziwe kahle engxenyeni kazibuthe kungakhuphula amandla kazibuthe, ngaleyo ndlela kuthuthukise ukuphuma kwetorque yenjini. Isibonelo, ubukhulu bensimbi kazibuthe buthinta ngokuqondile amandla kazibuthe wemoto. Ngokuvamile, uma insimbi kazibuthe inkulu, amandla kazibuthe makhulu. Amandla kazibuthe amakhulu anganikeza amandla kazibuthe anamandla, ngaleyo ndlela andise ukuphuma kwetorque yenjini. Emarobhothini e-humanoid, i-torque enkulu iyadingeka ukuze kwandiswe umthamo wokuthwala umthwalo ukuze uqedele imisebenzi ehlukahlukene eyinkimbinkimbi, njengokuthwala izinto ezisindayo.
3.2. Ukuwohloka okuncane kazibuthe
Ukwehla kukakazibuthe okuncane kunganciphisa amaphutha okunyakaza. Ekulawulweni kokunyakaza kwamarobhothi e-humanoid, ukunyakaza okuqondile kubalulekile. Uma ukwehla kukakazibuthe kukukhulu kakhulu, itorque ephumayo yemoto izozinza, ngaleyo ndlela kuthinte ukunemba kokunyakaza kwerobhothi. Ngakho-ke, amarobhothi e-humanoid adinga ama-engeli amancane kakhulu wokuwohloka kazibuthe wezingxenye kazibuthe ukuze kuqinisekiswe ukunyakaza okunembile kwerobhothi.
3.3. Usayizi wemoto omncane
Idizayini yamarobhothi e-humanoid ngokuvamile idinga ukucabangela ukulinganiselwa kwesikhala, ngakho usayizi wemoto wengxenye kazibuthe kudingeka ube mncane. Ngokuklama okuphuphile okunengqondo, ukwenziwa ngcono kwesakhiwo sesekethe kazibuthe kanye nokukhetha kobubanzi beshaft, ukuminyana kwetorque yemoto kungathuthukiswa, ngaleyo ndlela kuzuzwe ukuphuma okukhulu kwetorque ngenkathi kunciphisa usayizi wenjini. Lokhu kungenza ukwakheka kwerobhothi kuhlangane kakhudlwana futhi kuthuthukise ukuguquguquka nokuvumelana nezimo kwerobhothi.
3.4. Izimfuneko eziphezulu zokusebenza kazibuthe zeyunithi
Izinto ezisetshenziswa kazibuthe ezisetshenziswa kumarobhothi e-humanoid zidinga ukuba neyunithi ephezulu yokusebenza kazibuthe. Lokhu kungenxa yokuthi amarobhothi e-humanoid adinga ukuzuza ukuguqulwa kwamandla okusebenzayo nokulawula ukunyakaza endaweni elinganiselwe. Izingxenye zikazibuthe ezineyunithi ephezulu yokusebenza kazibuthe zinganikeza amandla anamandla kazibuthe, zenze injini ibe nokusebenza kahle nokusebenza okuphezulu. Ngasikhathi sinye, ukusebenza kazibuthe kweyunithi ephezulu kunganciphisa usayizi nesisindo sengxenye kazibuthe, kuhlangabezane nezidingo zamarobhothi e-humanoid ukuze angasindi.
4. Intuthuko yesikhathi esizayo
Izingxenye zikazibuthe zibonise inani elihle kakhulu emikhakheni eminingi ngenxa yokusebenza kwazo okuyingqayizivele, futhi amathemba azo okuthuthuka aqhakazile. Emkhakheni wezimboni, iwusizo oluyisihluthulelo lokuma kwerobhothi okunembayo, ukuzulazula okuphumelelayo, ukugoqa okuqinile nokukhangisa, ukuhlanza okusebenzayo nokutholwa, kanye nokulawula imoto okunembayo. Kubaluleke kakhulu ezinhlotsheni ezahlukene zamarobhothi njengamarobhothi e-humanoid, ama-joint motors, namarobhothi amancane. Ngokukhula okuqhubekayo kwesidingo semakethe, izidingo zezingxenye kazibuthe ezisebenza kahle ziyakhuphuka. Amabhizinisi adinga ukuqhubeka ethuthukisa ikhwalithi yomkhiqizo kanye nezinga lobuchwepheshe kunqubo yokuthuthukiswa ukuze adale imikhiqizo yengxenye kazibuthe ngokusebenza okuphezulu kanye nekhwalithi ethembeke kakhulu. Isidingo semakethe kanye nezinguquko zobuchwepheshe kuzothuthukisa imboni yezingxenye kazibuthe ekufezeni ikusasa elibanzi.
Isikhathi sokuthumela: Nov-19-2024
