The Spider Robotkazhinji inotora dhizaini inonzi Parallel Mechanism, inova hwaro hwechimiro chayo chikuru. Chimiro chemaitiro akafanana ndechekuti macheni akawanda ekufamba (kana cheni dzemapazi) akabatanidzwa mukufanana kune yakagadziriswa chikuva (base) uye chikuva chekufamba (end effector), uye aya maketani ebazi anoita panguva imwe chete kuti aone pamwe chete chinzvimbo uye maitiro eiyo. kufambisa chikuva chinoenderana neyakagadzika chikuva.
Rudzi rwakajairwa rwemafanirwo akafanana mumarobhoti espider iDelta (Δ) Chimiro chikuru chesangano chinonyanya kuumbwa nezvikamu zvinotevera:
1. Base Plate: Senheyo yekutsigira yerobhoti yose, inogadziriswa uye inowanzobatanidzwa pasi kana zvimwe zvivako zvinotsigira.
2. Actor Arms: Rumwe rutivi rworuoko rumwe norumwe runoshanda rwakagadzirirwa papuratifomu yakagadzika, uye imwe magumo yakabatanidzwa kune imwe yepakati link kuburikidza nekubatana. Ruoko runoshanda runowanzo fambiswa nemota yemagetsi (senge servo mota) uye inoshandurwa kuita chaiyo mutsara kana inotenderera inofamba kuburikidza neinoderedza uye nzira yekufambisa.
3. Kubatana: Kazhinji nhengo yakasimba yakabatana kusvika kumagumo eruoko runoshanda, ichiita yakavharwa furemu ye triangle kana quadrilateral shape. Izvi zvinongedzo zvinopa rutsigiro uye kutungamira kune mobile platform.
4. Nharembozha yepuratifomu (End Effector): inozivikanwawo sekuguma kwekuita, chikamu che spider foni apo vanhu vanopindirana zvakananga nechinhu chebasa, uye vanogona kuisa zvishandiso zvakasiyana-siyana zvakadai se grippers, suction cups, nozzles, etc. The mobile platform yakabatana nepakati link kuburikidza netambo yekubatanidza, uye inoshandura chinzvimbo uye maitiro synchronously nekufamba kweruoko runoshanda.
5. Majoini: Ruoko runoshanda rwakabatanidzwa kune chinongedzo chepakati, uye chinongedzo chepakati chakabatana nepuratifomu inofamba kuburikidza nepamusoro-chaiyo rotary majoini kana bhora hinges, kuve nechokwadi chekuti ketani yega yega yebazi inogona kufamba yakazvimirira uye yakabatana.
Iyo yakafanana dhizaini dhizaini yemuviri wemunhu yespider foni ine zvinotevera zvakanakira:
Kumhanya kwepamusoro: Nekuda kwekushanda panguva imwe chete yematavi akawanda eiyo parallel mechanism, hapana madhigirii akawandisa erusununguko panguva yekufamba, kuderedza kureba uye kuwanda kweketani yekufamba, nekudaro kuwana yakakwirira-kumhanya kwekufamba mhinduro.
Kunyatsojeka kwepamusoro: Zvipingamupinyi zvejometri zvemaitiro akafanana zvakasimba, uye kufamba kweketani yebazi rimwe nerimwe kunosungirirwa, izvo zvinobatsira pakuvandudza kururamisa kwekudzokororwa kwekugadzirisa. Kuburikidza nekunyatso dhizaini dhizaini uye yakakwirira-chaiyo servo control, Spider Robot inogona kuwana sub millimeter level yekumisikidza kurongeka.
Strong rigidity: Iyo triangular kana polygonal yekubatanidza tsvimbo chimiro ine yakanaka kusimba, inogona kumira mitoro yakakwira uye inochengetedza kuita kwakanaka kwesimba, uye inokodzera yakakwirira-kumhanya uye yakakwirira-chaiyo yekubata zvinhu, kusangana, kuongorora uye mamwe mabasa.
Compact chimiro: Kuenzaniswa nenhevedzano nzira (senge dzakatevedzanamatanhatu axis marobhoti), nzvimbo yekufamba yemagadzirirwo anoenderana inonangana pakati peyakagadziriswa uye nharembozha, ichiita kuti chimiro chese chiwedzere compact uye kutora nzvimbo shoma, zvichiita kuti inyanyokodzera kushanda munzvimbo ine nzvimbo shoma.
Muchidimbu, muviri mukuru wespider foni robhoti inotora dhizaini yakafanana, kunyanya iyo Delta michina, iyo inopa iro robhoti ine hunhu hwakadai senge kumhanyisa, kurongeka kwakanyanya, kusimba kwakasimba, uye compact chimiro, ichiita kuti iite zvakanaka mukurongedza, kuronga, kubata uye mamwe maapplication.
Nguva yekutumira: Kubvumbi-26-2024
