Amasanduku y'ibikoresho by'ikoranabuhanga
Utwuma tw’imashini twa roboti dushobora gukoresha ubwoko butandukanye bw’ibikoresho bitewe n’ibikenewe byihariye ku gishushanyo n’imikorere ya roboti. Bumwe mu bwoko bw’utwuma dusanzwe dukoreshwa muri utwuma tw’imashini twa roboti burimo:
- Ibikoresho bya Spur:Imashini zikoresha spur ni zo zoroshye kandi zikoreshwa cyane. Zifite amenyo agororotse kandi ajyanye n'umurongo w'izunguruka. Imashini zikoresha spur zikora neza mu kohereza imbaraga hagati y'imirongo ihuza kandi zikunze gukoreshwa mu masanduku ya roboti mu gukoresha umuvuduko uringaniye.
- Ibikoresho bya Helical:Udukingirizo twa Helical dufite amenyo afite inguni kandi aciwe ku nguni igana ku murongo wa gear. Utu dukingirizo dutanga imikorere yoroshye kandi dushobora gutwara imizigo myinshi ugereranije n'udukingirizo twa spur. Dukwiriye gukoreshwa aho usanga hakenewe urusaku ruke n'imbaraga nyinshi, nk'aho duhuza roboti n'amaboko ya roboti yihuta cyane.
- Ibikoresho bya Bevel:Udukingirizo tw’imashini dufite amenyo asa n’ay’inyuma kandi akoreshwa mu kohereza ingendo hagati y’imirongo ihurira. Dukunze gukoreshwa mu dukingirizo tw’imashini za roboti mu guhindura icyerekezo cy’ihererekanya ry’ingufu, nko mu buryo butandukanye bw’imashini zitwara amashanyarazi za roboti.
- Ibikoresho by'Isi:Ibyuma by'imibumbe bigizwe n'icyuma cyo hagati (icyuma cy'izuba) kizengurutswe n'icyuma kimwe cyangwa byinshi byo hanze (icyuma cy'imibumbe) bizenguruka. Bitanga ubushobozi bwo gufunga, kohereza torque nyinshi, no gukoresha uburyo butandukanye mu kugabanya cyangwa kongera umuvuduko. Ibyuma by'imibumbe bikunze gukoreshwa mu byuma by'imibumbe bya roboti mu gukoresha imbaraga nyinshi, nko gukoresha amaboko ya roboti no guterura.
- Ibikoresho by'inzoka:Ibyuma by'inzoka bigizwe n'imbogo (igikoresho gisa n'ibikururu) n'igikoresho cyo guhuza cyitwa imbogo. Bitanga igipimo cyo kugabanya ingufu nyinshi kandi birakwiriye gukoreshwa aho bikenewe ko habaho gukuba imbaraga nyinshi, nko mu bikoresho bya roboti n'uburyo bwo guterura.
- Ibikoresho bya Cycloidal:Utwuma twa Cycloidal dukoresha amenyo asa n’ay’icyuma kugira ngo tugere ku gukora neza no gutuza. Dutanga ubuziranenge bwo hejuru kandi dukunze gukoreshwa mu dusanduku tw’amagiteri twa roboti mu bikorwa aho gushyira neza no kugenzura imikorere ari ngombwa, nko mu maroboti yo mu nganda no mu mashini za CNC.
- Igikoresho cyo kuraramo n'urushundura:Imashini zo gupakira n'izikoresha pinion zigizwe n'imashini ifata umurongo (rack) n'imashini izengurutse (pinion) bifatanye. Bikunze gukoreshwa mu mamashini ya roboti mu gukoresha umurongo ngenderwaho, nko muri roboti za Cartesian na roboti za roboti.
Guhitamo vitesi za robotike biterwa n'ibintu nk'umuvuduko wifuzwa, torque, imikorere myiza, urusaku, imbogamizi z'umwanya, n'ibiciro. Abahanga mu by'imashini bahitamo ubwoko bw'ibikoresho n'imiterere ikwiye kugira ngo bongere imikorere n'ubwizigirwa bya sisitemu ya robotike.
Ibikoresho byo mu maboko ya roboti
Amaboko ya roboti ni ingenzi mu buryo bwinshi bwa roboti, bukoreshwa mu bikorwa bitandukanye kuva mu nganda no guteranya kugeza ku buvuzi n'ubushakashatsi. Ubwoko bw'ibikoresho bikoreshwa mu maboko ya roboti buterwa n'ibintu nk'igishushanyo cy'ukuboko, imirimo igenewe, ubushobozi bwo gutwara, n'ubuhanga bukenewe. Dore ubwoko bumwe na bumwe bw'ibikoresho bikoreshwa mu maboko ya roboti:
- Imiyoboro ya Harmonic:Imashini zikoresha umwuka wa Harmonic, zizwi kandi nka strain wave gears, zikoreshwa cyane mu maboko ya roboti bitewe n'imiterere yazo nto, ubucucike bwa torque bwinshi, no kugenzura neza ingendo. Zigizwe n'ibice bitatu by'ingenzi: generator y'umuraba, flex spline (ibikoresho byoroshye bifite inkuta), na spline izengurutse. Imashini zikoresha umwuka wa Harmonic ntizitanga imbaraga zo guhagarara neza no kugabanya cyane, bigatuma zikoreshwa mu buryo busaba gushyirwa neza no kugenda neza, nko kubaga roboti no gukora mu nganda.
- Ibikoresho bya Cycloidal:Ibikoresho bya Cycloidal, bizwi kandi nka cycloidal drives cyangwa cyclo drives, bikoresha amenyo ameze nk'aya cycloidal kugira ngo bikore neza kandi mu buryo butuje. Bitanga ubushobozi bwo kohereza amashanyarazi menshi, imbaraga nke zo guhagarara, kandi bikanatuma amenyo arushaho guhagarara neza, bigatuma akoreshwa mu maboko ya roboti ahantu habi cyangwa hasaba ubushobozi bwinshi bwo gutwara no gukoresha neza.
- Ibikoresho by'imibumbe bihuza (Harmonic Planetary Gears):Ibyuma by’imibumbe bya Harmonic bihuza amahame ya harmonic drives na planetary gears. Bifite uruziga rworoshye (rusa na flexspline muri harmonic drives) na planetary gears nyinshi zizenguruka ku zuba. Ibyuma by’imibumbe bya Harmonic bitanga torque nyinshi, ubugari, no kugenzura neza ingendo, bigatuma bikoreshwa mu maboko ya roboti mu bikorwa nko gufata no gushyira ibintu mu mwanya wabyo no mu gucunga ibikoresho.
- Ibikoresho by'Isi:Ibikoresho by'imibumbe bikunze gukoreshwa mu maboko ya roboti kubera imiterere yabyo nto, kohereza torque nyinshi, no gukoresha uburyo bwinshi mu kugabanya cyangwa kongera umuvuduko. Bigizwe n'ibikoresho byo hagati by'izuba, ibikoresho byinshi by'imibumbe, n'ibikoresho byo hanze by'impeta. Ibikoresho by'imibumbe bitanga umusaruro mwiza, imbaraga nke zo guhangana n'ibibazo, kandi bitanga ubushobozi bwiza bwo gutwara imizigo, bigatuma bikoreshwa mu bikorwa bitandukanye byo gukoresha amaboko ya roboti, harimo roboti zo mu nganda n'amaroboti akorana (cobots).
- Ibikoresho bya Spur:Ibikoresho bya Spur byoroshye kandi bikoreshwa cyane mu maboko ya roboti kubera ko byoroshye kubikora, bihendutse, kandi bikwiranye no gukoreshwa mu mutwaro uringaniye. Bigizwe n'amenyo agororotse ajyanye n'umurongo w'ibikoresho kandi bikunze gukoreshwa mu ngingo z'amaboko ya roboti cyangwa sisitemu zo kohereza amakuru aho ubwiza buhanitse butari ngombwa.
- Ibikoresho bya Bevel:Ibikoresho bya Bevel bikoreshwa mu maboko ya roboti kugira ngo byohereze ingendo hagati y’imirongo ihurira ku mfuruka zitandukanye. Bitanga imikorere myiza, imikorere igenda neza, kandi bifite imiterere mito, bigatuma bikoreshwa mu gukoresha amaboko ya roboti bisaba impinduka mu cyerekezo, nko mu mikorere y’ingingo cyangwa mu mikorere y’inyuma.
Guhitamo ibikoresho byo gukoresha mu ntoki za roboti biterwa n'ibisabwa byihariye mu gukoresha, harimo ubushobozi bwo gutwara imizigo, ubwiza, umuvuduko, ingano, n'ibintu bifitanye isano n'ibidukikije. Abahanga mu by'ubwubatsi bahitamo ubwoko bw'ibikoresho n'imiterere ikwiye kugira ngo bongere imikorere, ubwizerwe, n'ubushobozi bw'ukuboko kwa roboti.
Ibyuma bitwara amapine
Imashini zikoresha amapine mu byuma bya roboti, ubwoko butandukanye bwa gear bukoreshwa mu kohereza ingufu kuva kuri moteri kugera ku mapine, bigatuma roboti igenda no kuzenguruka aho iherereye. Guhitamo gear biterwa n'ibintu nk'umuvuduko wifuza, torque, imikorere myiza, n'ingano. Dore ubwoko bumwe na bumwe bwa gear busanzwe bukoreshwa mu byuma bikoresha amapine mu byuma bya roboti:
- Ibikoresho bya Spur:Imashini zikoresha spur ni zimwe mu bwoko busanzwe bwa spur zikoreshwa mu gutwara ibiziga. Zifite amenyo agororotse ajyanye n'umurongo w'izunguruka kandi zikora neza mu kohereza imbaraga hagati y'imirongo ihuza. Imashini zikoresha spur zikwiriye gukoreshwa aho bisaba koroshya, gukoresha neza amafaranga, no kuremerera neza.
- Ibikoresho bya Bevel:Udukingirizo tw’amapine dukoreshwa mu mashini ziyobora amapine kugira ngo twohereze ingendo hagati y’imirongo ihurira ku nguni. Dufite amenyo asa n’ay’inyuma kandi akoreshwa cyane mu mashini ziyobora amapine za roboti kugira ngo duhindure icyerekezo cy’ihererekanya ry’ingufu, nko mu buryo butandukanye bwa roboti ziyobora amapine.
- Ibikoresho by'Isi:Imashini zikoresha imibumbe ni nto kandi zitanga ubushobozi bwo kohereza amashanyarazi menshi, bigatuma zikoreshwa mu gutwara amagare ya roboti. Zigizwe n'imashini zikoresha izuba hagati, imashini nyinshi zikoresha imibumbe, n'imashini y'impeta yo hanze. Imashini zikoresha imibumbe akenshi zikoreshwa mu gutwara amagare ya roboti kugira ngo zigere ku gipimo cyo kugabanya cyane no gukuba amashanyarazi mu ipaki nto.
- Ibikoresho by'inzoka:Ibyuma by'inzoka bigizwe n'imbogo (igikoresho gisa n'ibikururu) n'igikoresho cyo guhuza cyitwa imbogo. Bitanga igipimo cyo kugabanya ingufu nyinshi kandi birakwiriye gukoreshwa aho bikenewe ko habaho gukuba imbaraga nyinshi, nko mu modoka zitwara amapine za roboti ku modoka ziremereye cyangwa roboti zo mu nganda.
- Ibikoresho bya Helical:Imashini zikoresha helical zifite amenyo afite amenyo acitse ku mfuruka igana ku murongo wa gear. Zitanga imikorere yoroshye kandi zitwara imizigo myinshi ugereranije na spur gear. Imashini zikoresha helical zikwiriye ibyuma bya robo aho usanga hakenewe urusaku ruke n'imbaraga nyinshi, nko muri robo zigendanwa zigenda mu kirere.
- Igikoresho cyo kuraramo n'urushundura:Imashini zifata imizigo n'izifata imizigo zikoreshwa mu mashini zitwara imizigo za roboti kugira ngo zihindure ingendo zizenguruka mu ngendo zigororotse. Zigizwe n'imashini izengurutse (pinion) ifatanye n'imashini ifata imizigo (rack). Imashini zifata imizigo n'izifata imizigo zikoreshwa cyane mu buryo bw'ingendo zifata imizigo za roboti, nko muri roboti za Cartesian na CNC.
Guhitamo vitesi zo gukoresha roboti zikoresha amapine biterwa n'ibintu nk'ingano ya roboti, uburemere bwayo, ubutaka bwayo, umuvuduko wayo, n'ingufu zayo. Abahanga mu by'ubwubatsi bahitamo ubwoko bw'ibitesi bikwiye n'imiterere yabyo kugira ngo bongere imikorere, imikorere myiza, n'ubwizigirwa bwa sisitemu yo kugenda ya roboti.
Ibikoresho byo gukurura n'ibikoresho byo kurangiza
Udukoresho two gufata no gukoresha mu gusohora ni ibice bifatanye n'amaboko ya roboti kugira ngo bifate kandi bikoreshe ibintu. Nubwo utwuma dushobora kuba atari two dukoresho tw'ingenzi muri utwuma two gufata no gukoresha mu gusohora ibintu, dushobora gushyirwa mu buryo bwabyo kugira ngo dukore neza. Dore uko utwuma dushobora gukoreshwa mu bikoresho bifitanye isano n'udukoresho two gufata no gukoresha mu gusohora ibintu:
- Abakora porogaramu:Udukoresho two gufata n'udukoresho two kurangiza akenshi bisaba ko udukoresho dufungura kandi tugafunga uburyo bwo gufata. Bitewe n'imiterere, utu dukoresho dushobora gushyiramo udukoresho kugira ngo duhindure uburyo moteri izenguruka mu buryo busanzwe bukenewe kugira ngo dufungure kandi dufunge intoki zatwo. Udukoresho dushobora gukoreshwa mu kongera imbaraga cyangwa guhindura umuvuduko w'ingendo muri utu dukoresho.
- Sisitemu zo kohereza amakuru:Mu bihe bimwe na bimwe, ibyuma bikoresha ibyuma bitwara umuriro n'ibikoresho byo kurangiza bishobora gusaba sisitemu zo kohereza umuriro kwimura ingufu kuva kuri actuator kugera kuri sisitemu yo gufata. Ibyuma bishobora gukoreshwa muri izi sisitemu zo kohereza umuriro kugira ngo bihindure icyerekezo, umuvuduko, cyangwa imbaraga z'imbaraga zoherejwe, bigatuma habaho kugenzura neza igikorwa cyo gufata umuriro.
- Uburyo bwo Guhindura:Udukoresho two gufata ibintu n'udukoresho two kurangiza ibintu akenshi dukenera gushyiramo ibintu bifite ingano n'imiterere bitandukanye. Udukoresho dushobora gukoreshwa mu buryo bwo gukosora ibintu kugira ngo tugenzure aho intoki zatwo ziherereye cyangwa aho ziherereye, bigatuma zimenyera ibintu bitandukanye bitabaye ngombwa ko zihindurwa n'intoki.
- Uburyo bwo kwirinda:Hari ibikoresho byo gufatiraho ibintu n'ibikoresho byo kurangiza birimo ibintu by'umutekano kugira ngo birinde kwangirika kw'ibikoresho byo gufatiraho ibintu cyangwa ibikoresho biri gukorwaho. Ibikoresho bishobora gukoreshwa muri ubu buryo bw'umutekano kugira ngo birinde kurenza urugero cyangwa gukuraho ibikoresho byo gufatiraho ibintu mu gihe habaye imbaraga nyinshi cyangwa gufungana.
- Sisitemu zo Gushyira Ahantu Hatandukanye:Udukoresho two gufata ibintu n'udukoresho two kurangiza ibintu dushobora gusaba ko ibintu bishyirwa ahantu neza kugira ngo bifate neza. Udukoresho dushobora gukoreshwa mu buryo bwo gushyira ibintu aho biri kugira ngo tugenzure urujya n'uruza rw'intoki za gripper mu buryo bunoze cyane, bigatuma ibikorwa byo gufata ibintu byizewe kandi bisubirwamo.
- Ibikoresho byometseho bya End Effector:Uretse intoki zo gufata, ibikoresho byo ku mpera bishobora kuba birimo ibindi bikoresho nk'ibikombe byo gukurura, rukuruzi, cyangwa ibikoresho byo gukata. Ibikoresho bishobora gukoreshwa mu kugenzura urujya n'uruza cyangwa imikorere y'ibyo bikoresho, bigatuma habaho imikorere inyuranye mu gufata ubwoko butandukanye bw'ibintu.
Nubwo verisiyo zishobora kuba atari zo zigize ingenzi muri grippers na end effectors, zishobora kugira uruhare runini mu kunoza imikorere, ubunyangamugayo, no gukoresha neza ibi bice bya roboti. Imiterere yihariye n'imikoreshereze ya verisiyo muri grippers na end effectors bizaterwa n'ibisabwa mu ikoreshwa n'imiterere y'imikorere yifuzwa.
Ibindi bikoresho by'ubwubatsi aho Belon Gears
