Liyini irobhothi lezimboni? Yenziwe ngani? Ihamba kanjani? Uyilawula kanjani? Lenzani?
Mhlawumbe ugcwele imibuzo mayelana nemboni yamarobhothi ezimboni. Lawa maphuzu olwazi angu-9 angakusiza ukuthi uthole ngokushesha ukuqonda okuyisisekelo kwamarobhothi ezimboni.
1. Liyini irobhothi lezimboni?
Irobhothi lingumshini onamazinga enkululeko engeziwe endaweni enezinhlangothi ezintathu futhi lingabona izenzo nemisebenzi eminingi ye-anthropomorphic, futhi irobhothi lezimboni lisetshenziswa ekukhiqizeni izimboni zamarobhothi. Izici zayo ziyahleleka, i-anthropomorphic, i-universal, kanye ne-mechatronics.
2. Yiziphi izinhlelo zamarobhothi ezimboni? Yini eyenza ewenzeni?
Isistimu yokushayela: Ukudlulisa okwenza irobhothi lisebenze.
Isistimu yesakhiwo semishini: isistimu yemishini ye-degree-of-freedom mechanical eyakhiwe i-fuselage, ingalo, kanye nethuluzi ekugcineni kwesishintshi.
Isistimu yezinzwa: Yakhiwa imojula yenzwa yangaphakathi kanye nemojula yenzwa yangaphandle ukuze uthole ulwazi lwesimo sendawo yangaphakathi nengaphandle.
Isistimu esebenzisanayo yerobhothi: Uhlelo olubona ukusebenzisana nokuxhumana phakathi kwamarobhothi ezimboni nezinto zokusebenza endaweni yangaphandle.
Uhlelo lokusebenzisana nomshini womuntu: opharetha ubamba iqhaza ekulawuleni irobhothi kanye nedivayisi yokuxhumana namarobhothi.
Isistimu yokulawula: Ngokohlelo lwemiyalo yokusebenza kwerobhothi kanye nesignali yempendulo evela kunzwa yokulawula indlela yokuphatha yerobhothi ukuze kuqedelwe ukunyakaza nokusebenza okucacisiwe.
3. Ithini incazelo yenkululeko yamarobhothi?
Izinga lenkululeko lisho inombolo yokunyakaza kwe-axis ehlanganisiwe ezimele yerobhothi, okungafanele ihlanganise izinga lokuvula nokuvala lenkululeko yozipho lwesandla (ithuluzi lokugcina). Esikhaleni esinezinhlangothi ezintathu, kudingeka amadigri enkululeko ayisithupha ukuze kuchazwe indawo nesimo sengqondo sento, amadigri amathathu enkululeko ayadingeka ekusebenzeni kwesikhundla (ukhalo, ihlombe, nendololwane), kanye namadigri amathathu enkululeko ekusebenzeni kwesimo sengqondo (i-pitch, yaw and roll).
Amarobhothi ezimboni aklanywe ngokwenhloso yawo futhi angase abe ngaphansi noma abe ngaphezu kwamadigri ayisithupha enkululeko.
4. Yiziphi imingcele eyinhloko ehilelekile kumarobhothi ezimboni?
Amadigri enkululeko, ukunemba kokuma okuphindaphindiwe, ububanzi bokusebenza, isivinini esikhulu sokusebenza, namandla okuthwala.
5. Iyini imisebenzi yefuselage nengalo? Yini okufanele siyinake?
I-fuselage iyingxenye yengalo esekelayo, ngokuvamile eqaphela ukunyakaza kokuphakamisa nokuphonsa. I-fuselage kufanele iklanywe ngokuqina okwanele nokuzinza; Ukunyakaza kufanele kube nokuguquguqukayo, ubude bomkhono womhlahlandlela wokunyakaza kokuphakamisa akufanele bube bufushane kakhulu, ukugwema into yokubambeka, ngokuvamile, kufanele kube khona idivayisi yokuqondisa; Isakhiwo sesakhiwo kufanele sibe ingalo enengqondo umthwalo omile futhi oguquguqukayo wesandla sesihlakala kanye nendawo yokusebenza, ikakhulukazi lapho ukunyakaza kwesivinini esikhulu kuzokhiqiza amandla amakhulu e-inetia, imbangela umthelela, kuthinte ukunemba kokuma.
Lapho uklama ingalo, kufanele kuqashelwe izidingo zokuqina okuphezulu, ukuqondisa kahle, ukulula, ukunyakaza okushelelayo, nokunemba kokuma okuphezulu. Ezinye izinhlelo zokudlulisa kufanele zibe zifushane ngangokunokwenzeka ukuze kuthuthukiswe ukunemba kokudlulisela kanye nokusebenza kahle; Ukuhlelwa kwengxenye ngayinye kufanele kube okunengqondo, futhi ukusebenza nokugcinwa kufanele kube lula; Ngaphansi kwezimo ezikhethekile, umphumela wemisebe eshisayo kufanele ucatshangelwe endaweni enezinga lokushisa eliphezulu futhi ukuvikelwa kokugqwala kufanele kucatshangelwe endaweni edlayo. Indawo eyingozi kufanele icabangele ukulawula izibhelu.
6. Uyini umsebenzi oyinhloko wezinga lenkululeko esihlakaleni?
Izinga lenkululeko esihlakaleni ikakhulukazi limayelana nokuzuza isimo sengqondo esifiswayo sesandla. Ukuze wenze isandla sibe kunoma iyiphi indlela yesikhala, isihlakala singabona ukuzungezisa kwezimbazo ezintathu zokuxhumanisa u-X, Y, no-Z emkhathini. Okusho ukuthi, inamazinga amathathu enkululeko, iphimbo eliphetshwayo, nokuchezuka.
7. Imisebenzi kanye nezici zamathuluzi okugcina erobhothi
Isandla serobhothi siyingxenye esetshenziselwa ukubamba ucezu lokusebenza noma ithuluzi. Kuyingxenye ehlukile engaba nozipho noma ithuluzi elikhethekile.
8. Ngokusho kwesimiso sokubopha, yiziphi izinhlobo zamathuluzi okugcina ahlukaniswe? Imaphi amafomu athile afakiwe?
Ngokusho kwesimiso sokubopha, isandla sokugcina sokugcina sihlukaniswe izigaba ezimbili: isigaba sokubopha sihlanganisa uhlobo lokusekela lwangaphakathi, uhlobo lwe-clamping yangaphandle, uhlobo lwe-clamping yangaphandle yokuhumusha, uhlobo lwe-hook, nohlobo lwasentwasahlobo; Isigaba se-adsorption sihlanganisa uhlobo lokumunca kazibuthe kanye nohlobo lokumunca umoya.
9. Umehluko phakathi kokudluliswa kwe-hydraulic kanye ne-pneumatic kumandla okusebenza, ukusebenza kokudlulisa, nokusebenza kokulawula?
Amandla okusebenza. I-Hydraulic ingathola ukunyakaza okuhle komugqa namandla ajikelezayo, ibambe isisindo sika-1000 kuya ku-8000N; Umfutho womoya ungathola amandla amancane alayini wokunyakaza namandla ajikelezayo, futhi isisindo sokubamba singaphansi kuka-300N.
Ukusebenza kokudlulisela. Ukucindezelwa kweHydraulic ukudluliswa okuncane okubushelelezi, akunamthelela, ngokuyisisekelo, akukho mkhuba wokudlulisa, okubonisa ukunyakaza okubucayi kufika ku-2m / s; I-viscosity yomoya ecindezelwe incane, ukulahleka kwepayipi kuncane, izinga lokugeleza likhulu, isivinini siphezulu, kodwa ukuzinza akubi ngesivinini esikhulu, umthelela ubucayi. Imvamisa, isilinda singama-50 kuye ku-500mm/s.
Lawula ukusebenza. Ukucindezela nokugeleza kweHydraulic kulula ukulawula, ukulawulwa kwesivinini esingenasinyathelo ngomthethonqubo; Ukucindezela okuphansi akulula ukulawula, kunzima ukukuthola ngokunembile, futhi ngokuvamile akukwenzi ukulawula kwe-servo.
Isikhathi sokuthumela: Dec-07-2022
