Binciken Fasaha na Tsarin gyare-gyare don Robots Ta Waya Mai Zaman Kanta
Robots na hannu masu cin gashin kansu (AMRs) sune ainihin kayan aiki a masana'antu masu hankali da dabaru masu wayo. Tsarin gyare-gyaren su yana tasiri kai tsaye ga amincin samfur, daidaito, da matakin hankali. A halin yanzu, tsarin gyare-gyaren AMR da farko ya ƙunshi maɓalli huɗu masu mahimmanci: ƙirar tsari, zaɓin kayan aiki, ƙirar ƙira, da haɗin tsarin. Haɓaka waɗannan fannoni ta hanyar haɗin kai shine mabuɗin don cimma manyan ayyuka na mutum-mutumin -.
A lokacin tsarin ƙira, injiniyoyi dole ne su yi amfani da ƙirar mutum-mutumin kinematic da kuzari don ɗaukar nauyi, tsarin ƙira mai sauƙi don tabbatar da daidaito tsakanin ƙarfin chassis da sassauci. Hanyoyi na yau da kullun sun haɗa da aluminum gami extrusion da carbon fiber composite gyare-gyare. Tsohuwar tana daidaita farashi da ƙarfi, yayin da na ƙarshen yana rage nauyi gabaɗaya kuma yana inganta rayuwar baturi. Zaɓin kayan aiki, ban da kaddarorin injina, kuma yana buƙatar la'akari da dacewa ta hanyar lantarki (EMC) da daidaitawar muhalli. Misali, harshen wuta{4}}allon PC/ABS yawanci ana amfani dashi don harsashi na waje, yayin da gilashin{5}}fiber{6}}ana yin amfani da nailan mai ƙarfi don maƙallan ciki don jure dogon jijjiga.{7}}
Ƙimar mashin ɗin ya ƙunshi sarrafa juzu'ai da tabbatar da daidaiton taro. Maɓalli kamar ƙafafun tuƙi da maƙallan firikwensin yawanci ana yin su ta amfani da injinan CNC don tabbatar da daidaiton matsayi mai maimaitawa na ± 0.01mm. Fuskokin hawa na firikwensin kamar lidar da kyamarori suna buƙatar daidaitawa ta amfani da na'ura mai daidaitawa (CMM) don hana gazawar kewayawa saboda kurakuran taro.
A ƙarshe, tsarin haɗin gwiwar tsarin yana haɗa ƙananan tsarin kamar tsarin injina, tuƙin mota, da algorithm na kewayawa cikin haɗaɗɗen gabaɗaya. Tabbatar da mahalli ta hanyar gwajin girgiza, gwajin feshin gishiri, da kuma na ainihi{1}}sake gyara duniya na SLAM (Lokacin Maɓalli da Taswira) algorithm yana tabbatar da tsayayyen aiki na AMR a cikin al'amura masu rikitarwa. A nan gaba, tare da aikace-aikacen sabbin fasahohi kamar haɗaɗɗun mutun{3}} simintin gyare-gyare da masana'anta, tsarin gyare-gyaren AMR zai ƙara haɓaka zuwa ingantaccen inganci da mafi girman hankali.
