Robot yawanci ya ƙunshi sassa huɗu: anmai kunnawa, tsarin tuƙi, tsarin sarrafawa, da tsarin ji.Mai kunna robobin shine mahallin da robot ɗin ya dogara da shi don aiwatar da aikinsa, kuma yawanci yana haɗa da jerin hanyoyin haɗin gwiwa, haɗin gwiwa, ko wasu nau'ikan motsi.An raba mutum-mutumi na masana'antu zuwa nau'ikan motsi na hannu guda huɗu: daidaitawar hannaye na kusurwar dama na iya motsawa tare da daidaitawar kusurwa uku na dama;Silindrical daidaita makamai na iya ɗagawa, juyawa, da na'urar hangen nesa;na'urorin daidaitawa na sassa daban-daban na iya juyawa, farar fata, da na'urar hangen nesa;kuma hannaye masu fa'ida suna da mahaɗar juyawa masu yawa.Duk waɗannan motsi suna buƙatar masu kunnawa.
KGG Mai sarrafa kansa
Ana iya raba masu kunnawa zuwa nau'i biyu dangane da motsi: rotary actuators damasu aiki da linzamin kwamfuta.
1) Rotary actuators za su juya wani abu ta wani kusurwa, wanda zai iya zama iyaka ko marar iyaka.Misalin misalan na’urar kunna wutar lantarki shi ne injin lantarki, wanda shine mai kunnawa wanda ke canza siginar lantarki zuwa motsi na jujjuyawar ragon sa, kuma yana jujjuya injin lokacin da ake amfani da wutar lantarki zuwa ainihin motar.Haɗa motar kai tsaye zuwa kaya yana haifar da mai kunnawa mai jujjuya kai tsaye, kuma yawancin masu kunna wutar lantarki suna haɗuwa tare da tsarin da ake amfani da shi azaman lever na inji (amfani) don rage saurin jujjuyawa da ƙara ƙarfin juzu'i, idan sakamakon ƙarshe shine juyawa. fitowar taron har yanzu rotary actuator ne.
KGG daidaiciZR Axis Actuator
2) Ana kuma haɗa masu kunna wutar lantarki zuwa wata hanyar da ke jujjuya motsin motsi zuwa motsi baya da gaba, wanda ake kira linzamin kwamfuta.Masu kunnawa masu linzami da gaske suna motsa abu a madaidaiciyar layi, yawanci baya da gaba.Waɗannan hanyoyin sun haɗa da: ƙwallon ƙwallon ƙafa, bel da jakunkuna, rak da pinion.Ƙwallon ƙwallon ƙafakumanadi sukuroriyawanci ana amfani da su don canza motsin rotary zuwadaidaitaccen motsi na linzamin kwamfuta, kamar a kan machining cibiyoyin.Racks da pinions yawanci suna ƙara juzu'i kuma suna rage saurin jujjuyawar motsi, kuma ana iya amfani da su tare da hanyoyin da ke juyar da motsin motsi zuwa motsi na layi.
Rotary actuators galibi sun haɗa da masu rage RV da masu rage jituwa:
(1)RV ragewa: RV yawanci amfani da cycloid, amfani da manyan karfin juyi robot gidajen abinci, yafi na 20 kg zuwa da dama da daruruwan kilogiram na load robot, daya, biyu, uku gatari ana amfani da RV.
(2) Mai ragewa masu jituwa: Harmonic a da ya kasance galibi involute siffar haƙori, amma yanzu wasu masana'antun suna amfani da sifar haƙori biyu.Harmonics za a iya lodawa tare da ƙananan juzu'i, yawanci ana amfani da makamai na robotic ƙasa da kilogiram 20.Ɗayan maɓalli mai mahimmanci a cikin jituwa yana da sassauƙa kuma yana buƙatar maimaita nakasar saurin sauri, don haka ya fi rauni kuma yana da ƙarancin nauyi da rayuwa fiye da RV.
A taƙaice, mai kunnawa wani muhimmin sashi ne na mutum-mutumi kuma yana da tasiri mai mahimmanci akan kaya da daidaiton na'urar.Reducer Yana da raguwar motsi wanda zai iya ƙara ƙarfin wuta ta hanyar rage gudun don watsa babban kaya da kuma shawo kan lahani wanda motar servo ke fitar da ƙarami.
Lokacin aikawa: Jul-07-2023
