I-Actuator – “Ibhetri yaMandla” yeeRobhothi zeHumanoid

Irobhothi ikholisa ukuba namacandelo amane: ii actuator, inkqubo yokuqhuba, inkqubo yokulawula, kunye nenkqubo yokuva. I-activator yerobhothi liqumrhu apho irobhothi ixhomekeke kuyo ukwenza umsebenzi wayo, kwaye idla ngokuqulunqwa ngothotho lwekhonkco, amalungu, okanye ezinye iindlela zokushukuma. Iirobhothi zoshishino zohlulwe zibe ziindidi ezine zokushukuma kwengalo: iingalo ezilungelelaniswayo ze-engile ekunene zinokuhamba zilungelelanisa ezintathu-engile ekunene; iingalo ze-cylindrical coordinate zinokuphakamisa, ukujika, kunye netelescope; iingalo ezingqukuva ezingqukuva ziyakwazi ukujikeleza, ukutsibela kunye neteleskopu; kwaye iingalo ezichaziweyo zineendawo ezininzi ezijikelezayo. Zonke ezi ntshukumo zifuna ii-activators.

KGG Self Self Manipulator

IiActuator zinokwahlulwa zibe ngamacandelo amabini ngokusekwe kwintshukumo: ii-activators ezijikelezayo kunyeii actuator zomgca.

I-1) I-activators ye-Rotary iya kujikeleza into ethile nge-angle ethile, enokuthi ibe nesiphelo okanye engapheliyo. Umzekelo oqhelekileyo we-rotary actuator yimoto yombane, eyi-actuator eguqula isignali yombane kwintshukumo ejikelezayo ye-shaft yayo, kwaye ijikeleze i-motor xa isetyenziswa ngoku kwi-motor esisiseko. Ukudibanisa i-motor ngokuthe ngqo kumthwalo kudala i-activator ye-rotary ejikelezayo, kwaye ezininzi ii-activators ezijikelezayo zidibene kunye nesixhobo esisetyenziswa njenge-lever mechanical (inzuzo) ukunciphisa isantya sokujikeleza kunye nokwandisa i-torque, ukuba isiphumo sokugqibela sijikeleza, imveliso yendibano iseyi-activator ejikelezayo. 

KGG UkuchanekaZR Axis Actuator

I-Planetary Roller Screw 

2) Ii-activators ezijikelezayo zikwadityanisiwe kwindlela eguqula intshukumo ejikelezayo ibe yintshukumo yangasemva naphambili, ebizwa ngokuba yi-linear actuator. Ii actuators zomgca zihambisa into ngomgca othe ngqo, idla ngokubuyela emva naphambili. Ezi ndlela ziquka: izikrufu zebhola/i-roller, amabhanti kunye neepuli, i-rack kunye ne-pinion.Izikrufu zebholakwayeizikrufu zerolaziqhele ukusetyenziswa ukuguqula isindululo esijikelezayo sibeintshukumo yomgca echanekileyo, njengakumaziko omatshini. IiRacks kunye neepinions ngokuqhelekileyo zonyusa i-torque kwaye zinciphisa isantya sokuhamba okujikelezayo, kwaye zinokusetyenziswa ngokubambisana neendlela eziguqula ukunyakaza okujikelezayo kwintshukumo yomgca.

Ii-activators ezijikelezayo ikakhulu zibandakanya izinciphisi zeRV kunye nezinciphisi ze-harmonic:

(1)I-RV reducer: I-RV idla ngokusetyenziswa kunye ne-cycloid, esetyenziselwa i-robot enkulu ye-torque joints, ubukhulu becala kwi-20 kg ukuya kwiikhilogram ezingamakhulu aliqela e-robot yomthwalo, enye, ezimbini, i-axes ezintathu zisetyenziswa RV. 

(2) Isinciphisi seHarmonic: I-Harmonic yayidla ngokubandakanya imilo yezinyo, kodwa ngoku abanye abavelisi basebenzisa imilo yezinyo yearc kabini. I-Harmonics inokulayishwa nge-torque encinci, idla ngokusetyenziselwa iingalo zerobhothi phantsi kwe-20 kg. Enye yeegiya eziphambili kwi-harmonics iyaguquguquka kwaye ifuna ukuguqulwa okuphindaphindiweyo kwesantya esiphezulu, ngoko i-ethe-ethe ngakumbi kwaye inomthwalo omncinci womthwalo kunye nobomi kune-RV.

Isishwankathelo, i-actuator yinxalenye ephambili yerobhothi kwaye inempembelelo ebalulekileyo kumthwalo kunye nokuchaneka kwerobhothi. I-Reducer I-drive yokunciphisa inokunyusa i-torque ngokunciphisa isantya sokuhambisa umthwalo omkhulu kwaye inqobe isiphene ukuba i-servo motor ikhupha i-torque encinci.