Li-gearbox tsa Gear
Li-gearbox tsa liroboto li ka sebelisa mefuta e fapaneng ea lisebelisoa ho latela litlhoko tse ikhethang tsa moralo le ts'ebetso ea roboto.E meng ea mefuta e tloaelehileng ea likere tse sebelisoang mabokoseng a liroboto li kenyelletsa:
- Spur Gears:Li-gear tsa Spur ke mofuta o bonolo le o sebelisoang haholo oa lisebelisoa.Li na le meno a otlolohileng a bapileng le axis ea ho potoloha.Li-gear tsa Spur li sebetsa hantle bakeng sa ho fetisa matla lipakeng tsa li-shafts tse bapileng 'me hangata li sebelisoa ka mabokoseng a liroboto bakeng sa lits'ebetso tse lebelo le itekanetseng.
- Lisebelisoa tsa Helical:Li-gear tsa Helical li na le meno a nang le mahlakore a mabeli a sehiloeng ka lehlakoreng ho ea ho axis ea gear.Li-gear tsena li fana ka ts'ebetso e bonolo le matla a holimo a ho jara ha a bapisoa le a spur gear.Li loketse lits'ebetso moo ho hlokahalang lerata le tlase le phetisetso e phahameng ea torque, joalo ka manonyeletso a liroboto le matsoho a lebelo le holimo.
- Bevel Gears:Li-gear tsa bevel li na le meno a sebopeho sa conical 'me li sebelisetsoa ho fetisa motsamao lipakeng tsa li-shafts tse kopanang.Li sebelisoa hangata ka har'a li-gearbox tsa liroboto bakeng sa ho fetola tsela ea phetisetso ea matla, joalo ka mekhoeng e fapaneng ea literene tsa liroboto.
- Lisebelisoa tsa Lefatše:Lisebelisuoa tsa lipolanete li na le lisebelisoa tse bohareng (sesebelisuoa sa letsatsi) se pota-potiloeng ke gear e le 'ngoe kapa tse ngata tse ka ntle (li-planet gears) tse potolohang ho e potoloha.Li fana ka compactness, phetisetso ea torque e phahameng, le ho feto-fetoha ha maemo ho fokotsa lebelo kapa ho holisa.Li-gearset tsa lipolanete hangata li sebelisoa ka har'a li-gearbox tsa liroboto bakeng sa lits'ebetso tsa torque e phahameng, joalo ka matsoho a robotiki le mekhoa ea ho phahamisa.
- Li-Gears tsa Worm:Lisebelisuoa tsa liboko li na le seboko (seboko se kang sekoti) le lisebelisoa tsa ho roala tse bitsoang lebili la seboko.Li fana ka litekanyetso tse phahameng tsa phokotso ea li-gear 'me li loketse lits'ebetso moo ho hlokahalang katiso e kholo ea torque, joalo ka li-actuator tsa liroboto le mecheng ea ho phahamisa.
- Lisebelisoa tsa Cycloidal:Li-gear tsa Cycloidal li sebelisa meno a sebopeho sa cycloidal ho fihlela ts'ebetso e boreleli le e khutsitseng.Li fana ka ho nepahala ho holimo 'me hangata li sebelisoa ka har'a li-gearbox tsa liroboto bakeng sa lits'ebetso moo boemo bo nepahetseng le taolo ea motsamao li leng bohlokoa, joalo ka liroboto tsa indasteri le mechini ea CNC.
- Rack le Pinion:Li-gear tsa rack le pinion li na le lisebelisoa tse nang le mela (rack) le gear e chitja (pinion) e kopantsoeng hammoho.Li sebelisoa hangata ka har'a li-gearbox tsa liroboto bakeng sa lits'ebetso tse tsamaeang ka mela, joalo ka liroboto tsa Cartesian le li-gantries tsa liroboto.
Khetho ea likere bakeng sa lebokose la gear ea robotiki e ipapisitse le lintlha tse kang lebelo le lakatsehang, torque, ts'ebetso e nepahetseng, boemo ba lerata, mathata a sebaka le likhakanyo tsa litšenyehelo.Baenjiniere ba khetha mefuta e loketseng ea lisebelisoa le litlhophiso ho ntlafatsa ts'ebetso le ts'epahalo ea sistimi ea liroboto.
Lihlomo tsa Robotic Arms
Matsoho a liroboto ke likarolo tsa bohlokoa tsa lits'ebetso tse ngata tsa liroboto, tse sebelisoang lits'ebetsong tse fapaneng ho tloha ho tsa tlhahiso le ho kopanya ho isa tlhokomelong ea bophelo bo botle le lipatlisiso.Mefuta ea likere tse sebelisoang matsohong a liroboto li ipapisitse le lintlha tse kang sebopeho sa letsoho, mesebetsi e reriloeng, bokhoni ba ho lefa, le ho nepahala ho hlokahalang.Mona ke mefuta e meng e tloaelehileng ea likere tse sebelisoang matsohong a liroboto:
- Harmonic Drives:Harmonic drives, eo hape e tsejoang e le strain wave gears, e sebelisoa haholo matsohong a liroboto ka lebaka la moralo oa tsona o kopaneng, boima bo phahameng ba torque, le taolo e nepahetseng ea motsamao.Li na le likarolo tse tharo tse kholo: jenereithara ea maqhubu, spline e flexible (lebota le tšesaane le flexible gear), le spline e chitja.Li-drive tsa Harmonic li fana ka li-backlash tsa zero le litekanyetso tse phahameng tsa phokotso, li li etsa hore li tšoanelehe bakeng sa lits'ebetso tse hlokang ho beoa hantle le ho sisinyeha hantle, joalo ka opereishene ea robotiki le boiketsetso ba indasteri.
- Lisebelisoa tsa Cycloidal:Li-gear tsa Cycloidal, tse tsejoang hape e le li-cycloidal drives kapa cyclo drives, li sebelisa meno a sebopeho sa cycloidal ho fihlela ts'ebetso e boreleli le e khutsitseng.Li fana ka phetisetso ea torque e phahameng, ho khutlela morao ho fokolang, le ho monya ho ts'oenyeha ho hoholo, ho li etsa hore li tšoanelehe bakeng sa matsoho a robotiki libakeng tse thata kapa lits'ebetso tse hlokang mojaro o mongata le ho nepahala.
- Harmonic Planetary Gears:Lisebelisoa tsa lipolanete tsa Harmonic li kopanya melao-motheo ea li-drive tsa harmonic le lisebelisoa tsa polanete.Li na le lisebelisoa tsa selikalikoe tse feto-fetohang (tse ts'oanang le flexspline ka har'a li-drive tsa harmonic) le likere tse ngata tsa polanete tse pota-potileng lisebelisoa tsa letsatsi tse bohareng.Lisebelisoa tsa lipolanete tsa Harmonic li fana ka phetisetso e phahameng ea torque, compactness, le taolo e nepahetseng ea ho sisinyeha, e li etsang hore li tšoanelehe bakeng sa matsoho a robotiki lits'ebetsong tse joalo ka ts'ebetso ea ho khetha le ho tsamaisa thepa.
- Lisebelisoa tsa Lefatše:Lisebelisoa tsa lipolanete li sebelisoa hangata matsohong a liroboto bakeng sa moralo oa tsona o kopaneng, phetisetso e phahameng ea torque, le ho feto-fetoha ha maemo ho fokotsa lebelo kapa ho holisa.Li na le lisebelisoa tsa letsatsi tse bohareng, lisebelisoa tse ngata tsa polanete, le lisebelisoa tsa ka ntle tsa selikalikoe.Lisebelisoa tsa lipolanete li fana ka ts'ebetso e phahameng, ho khutlela morao ho fokolang, le bokhoni bo botle ba ho jara moroalo, e leng se etsang hore li tšoanelehe bakeng sa lisebelisoa tse fapaneng tsa letsoho tsa liroboto, ho kenyeletsoa liroboto tsa indasteri le liroboto tse sebelisanang (cobots).
- Spur Gears:Li-gear tsa Spur li bonolo ebile li sebelisoa haholo matsohong a liroboto bakeng sa boiketlo ba tsona ba ho etsa, ho baballa litšenyehelo, le ho tšoaneleha bakeng sa lits'ebetso tsa mojaro o itekanetseng.Li na le meno a otlolohileng a bapileng le axis ea gear 'me hangata a sebelisoa ho manonyeletso a letsoho la robotiki kapa lits'ebetso tsa phetisetso moo ho nepahala ho phahameng ho seng bohlokoa.
- Bevel Gears:Li-gear tsa bevel li sebelisoa matsohong a liroboto ho fetisa motsamao lipakeng tsa li-shafts tse fapanyetsanang ka li-angles tse fapaneng.Li fana ka ts'ebetso e phahameng, ts'ebetso e boreleli, le moralo o kopaneng, o li etsa hore li tšoanelehe bakeng sa ts'ebeliso ea letsoho ea robotiki e hlokang liphetoho tseleng, joalo ka mekhoa e kopaneng kapa li-effectors.
Khetho ea likere bakeng sa matsoho a liroboto e ipapisitse le litlhoko tse ikhethileng tsa ts'ebeliso, ho kenyeletsoa bokhoni ba ho patala, ho nepahala, lebelo, litšitiso tsa boholo le maemo a tikoloho.Baenjiniere ba khetha mefuta e loketseng ea lisebelisoa le litlhophiso ho ntlafatsa ts'ebetso, ts'epahalo le bokhoni ba letsoho la robotiki.
Mabili a Tsamaisa Likere
Li-drive tsa ka har'a mabili bakeng sa liroboto, mefuta e fapaneng ea likere e sebelisoa ho fetisetsa matla ho tloha ho enjene ho ea mabiling, ho lumella roboto hore e tsamaee le ho tsamaisa tikoloho ea eona.Khetho ea likere e ipapisitse le lintlha tse joalo ka lebelo le lakatsehang, torque, ts'ebetso, le lithibelo tsa boholo.Mona ke mefuta e meng e tloaelehileng ea likere tse sebelisoang ho khannoa ka mabili bakeng sa liroboto:
- Spur Gears:Li-gear tsa Spur ke e 'ngoe ea mefuta e atileng haholo ea likere tse sebelisoang ho khannoa ka mabili.Li na le meno a otlolohileng a bapileng le axis ea ho potoloha 'me a sebetsa hantle bakeng sa ho fetisa matla pakeng tsa li-shafts tse bapileng.Li-gear tsa Spur li loketse lits'ebetso moo ho hlokahalang bonolo, ho boloka litšenyehelo, le meroalo e itekanetseng.
- Bevel Gears:Li-gear tsa bevel li sebelisoa ho li-drive tsa mabili ho fetisa motsamao lipakeng tsa li-shaft tse thulanang ka lehlakoreng.Li na le meno a sebopeho sa conical 'me hangata li sebelisoa ho liroboto tsa mabili ho fetola tsela eo motlakase o fetisang ka eona, joalo ka mecheng e fapaneng ea liroboto tse tsamaisang phapang.
- Lisebelisoa tsa Lefatše:Li-gear tsa lipolanete li kopane 'me li fana ka phetisetso ea torque e phahameng, e li etsang hore li tšoanelehe bakeng sa mabili a liroboto.Li na le lisebelisoa tsa letsatsi tse bohareng, lisebelisoa tse ngata tsa polanete, le lisebelisoa tsa ka ntle tsa selikalikoe.Li-gear tsa lipolanete hangata li sebelisoa ho liroboto tsa mabili ho fihlela li-ratios tse phahameng tsa phokotso le katiso ea torque ka har'a sephutheloana se senyenyane.
- Li-Gears tsa Worm:Lisebelisuoa tsa liboko li na le seboko (seboko se kang sekoti) le lisebelisoa tsa ho roala tse bitsoang lebili la seboko.Li fana ka litekanyo tse phahameng tsa phokotso ea lisebelisoa 'me li loketse lits'ebetso moo ho hlokahalang katiso e kholo ea torque, joalo ka lirobotong tsa mabili a likoloi tsa likoloi tse boima kapa liroboto tsa indasteri.
- Lisebelisoa tsa Helical:Li-gear tsa Helical li na le meno a nang le mahlakore a mabeli a sehiloeng ka lehlakoreng ho ea ho axis ea gear.Li fana ka ts'ebetso e bonolo le matla a holimo a ho jara ha ho bapisoa le likere tsa spur.Li-gears tsa Helical li loketse liroboto tsa mabili moo ho hlokahalang lerata le phahameng le phetisetso ea torque e phahameng, joalo ka liroboto tse tsamaeang tse tsamaisang tikoloho ea kahare.
- Rack le Pinion:Li-gear tsa rack le pinion li sebelisoa ho liroboto tsa mabili ho fetolela motsamao o potolohang hore e be motsamao oa mola.Li na le lisebelisoa tse chitja (pinion) tse nang le mochini o nang le mochini o lekanang (rack).Li-gears tsa rack le pinion li sebelisoa hangata lits'ebetsong tse tsamaeang ka mela bakeng sa liroboto tsa mabili, joalo ka liroboto tsa Cartesian le mechini ea CNC.
Khetho ea likere bakeng sa ho khanna ka mabili a liroboto e ipapisitse le lintlha tse joalo ka boholo ba roboto, boima ba eona, sebaka, litlhoko tsa lebelo le mohloli oa matla.Baenjineri ba khetha mefuta e nepahetseng ea lisebelisoa le litlhophiso ho ntlafatsa ts'ebetso, bokhoni le ts'epahalo ea sistimi ea liroboto.
Li-Grippers le Li-Gears tsa End Effecters
Li-grippers le li-effectors ke likarolo tse hoketsoeng qetellong ea matsoho a robotiki bakeng sa ho tšoara le ho qhekella lintho.Le ha li-gear e kanna ea se be karolo ea mantlha ho li-grippers le li-end effect, li ka kenyelletsoa mecheng ea tsona bakeng sa ts'ebetso e itseng.Mona ke kamoo li-gear li ka sebelisoang lisebelisoa tse amanang le li-grippers le li-effectors:
- Libapali:Hangata li-grippers le li-effectors li hloka hore li-activators li bule le ho koala mochine o tšoarang.Ho ipapisitsoe le moralo, li-actuator tsena li ka kenyelletsa likere ho fetolela motsamao oa enjene motsamaong o hlokahalang ho bula le ho koala menoana e ts'oaroang.Li-gear li ka sebelisoa ho holisa torque kapa ho lokisa lebelo la motsamao ho li-actuator tsena.
- Mekhoa ea phetiso:Maemong a mang, li-grippers le li-effectors tsa ho qetela li ka hloka hore litsamaiso tsa phetisetso li fetisoe matla ho tloha ho actuator ho ea mochining oa ho ts'oara.Li-gears li ka sebelisoa ka har'a lisebelisoa tsena tsa phetisetso ho fetola tsela, lebelo, kapa torque ea matla a fetisoang, e leng se lumellang hore ho be le taolo e nepahetseng holim'a ketso ea ho tšoara.
- Mekhoa ea ho Fetola:Li-grippers le li-effectors hangata li hloka ho amohela lintho tsa boholo bo fapaneng le libopeho.Li-gears li ka sebelisoa mecheng ea ho lokisa ho laola boemo kapa sebaka sa menoana ea gripper, e ba lumellang hore ba ikamahanye le lintho tse fapaneng ntle le tlhoko ea phetoho ea matsoho.
- Mekhoa ea Tšireletso:Li-grippers tse ling le lisebelisoa tsa ho qetela li kenyelletsa likarolo tsa polokeho ho thibela tšenyo ho gripper kapa lintho tse tšoaroang.Li-gears li ka sebelisoa mecheng ena ea polokeho ho fana ka ts'ireletso ea moroalo o mongata kapa ho theola gripper haeba ho ka ba le matla a feteletseng kapa ho jamelloa.
- Positioning Systems:Li-grippers le li-effectors tsa ho qetela li ka hloka boemo bo nepahetseng ho utloisisa lintho ka nepo.Li-gears li ka sebelisoa lits'ebetsong tsa ho beha maemo ho laola motsamao oa menoana ea gripper ka ho nepahala ho phahameng, e lumellang ts'ebetso e ts'epahalang le e pheta-phetoang ea ho ts'oara.
- Sehlomathiso sa ho Qetela:Ntle le menoana ea gripper, li-effectors li ka kenyelletsa lihokelo tse ling joalo ka linoelo tse monyang, limatlase kapa lisebelisoa tsa ho itšeha.Li-gears li ka sebelisoa ho laola motsamao kapa ts'ebetso ea lihokelo tsena, ho lumella ts'ebetso e fapaneng ho sebetsana le mefuta e fapaneng ea lintho.
Le ha likere e kanna ea se be karolo ea mantlha ho li-grippers le li-end effect, li ka bapala karolo ea bohlokoa ho ntlafatseng ts'ebetso, ho nepahala le ho tenyetseha ha likarolo tsena tsa liroboto.Moralo o ikhethileng le ts'ebeliso ea likere ho li-grippers le li-effectors tsa ho qetela li tla ipapisa le litlhoko tsa ts'ebeliso le litšobotsi tse lakatsehang tsa ts'ebetso.
Lisebelisoa tse ling tsa Kaho moo Belon Gears