Ni ukubera iki Gupfundikanya Ibishishwa bya Robo ya Humanoid munsi yumubyigano mwinshi?

Imashini za robo zabantu - zikorera mumirongo yiteranirizo yinganda, guhangana n’ibiza, hamwe n’ibikoresho byo mu bikoresho - bigira ibibazo bikomeye. Moteri yihuta ya servo, moteri ya garebox ihuza, hamwe nibirenge byombi bigira imbaraga zinyeganyega zikomeza kwihuta ( 100 Hz - 2000 Hz ) mugice cyose cyimashini ya robo.

Iyo ibisanzwe bisanzwe bitwikiriye inganda cyangwa amarangi yabanje kuvurwa ashyirwa kuri aluminium (nka 6061-T6 cyangwa 5052-H32 ) cyangwa ibishishwa bya robot bikomatanya, utwo tuntu twinshi twa micro-vibrasiyasi itera firime yihuta, gusenya micro, no gusiga irangi. Kwirinda kunanirwa gutwikiriye bisaba gusobanukirwa ningaruka zoguhagarika kumurongo wamabara yicyuma no guhindukira mukudashobora kwinyeganyeza, byoroshye polyurethane cyangwa epoxy coil / spray coatings hamwe na nanometero mbere yo kuvura.

Dynamic Resonance & Interfacial Shear Stress

Ibisasu bya robo ya Humanoid ikora nkibibaho byumvikana kuri moteri yimbere:

Micro-Flexing and Standing Waves: Imiyoboro ihanitse ya disiki irema imiyoboro ihagaze hejuru yikigina cyoroshye. Izi micro-deflections zitanga cyclic shear ihangayikishije kumupaka wa substrate.

Interlamer Delamination: Niba ibice by'irangi bidafite ibishishwa bihagije bya viscoelastique, inzinguzingo zisubiramo zisubiramo ibice bya mashini, bigatuma firime ihindagurika kandi igahita. 

Ubushuhe & Modulus Bidahuye (Δ E  na Δ  α )

Kunyeganyega bihuza no kwagura ubushyuhe kugirango byihute kunanirwa:

Inganda zikomeye ninganda zinyeganyega zoroshye

Kudahuza kwa Elastique: Epoxy ikomeye cyangwa ifu isanzwe ifite modulus yo hejuru (E). Mugihe cyo kunyeganyega, aluminium substrate ihindagurika mugihe irangi ryoroshye ridashobora, bigatera guhangayika no guhita.

Micro-Voids Interfacial: Gutegura nabi hejuru bisiga amavuta ya microscopique cyangwa icyuho cyumwuka munsi ya firime irangi, bitanga ingingo zo gutangiriraho imbaraga zo guhangayika.

Sisitemu yo gutwikira munsi yinyeganyeza

Imbonerahamwe ikurikira iragereranya ibipimo bya tekiniki byerekana irangi ryinganda ninganda zinyeganyega zoroshye zoroshye kuri robotic shell:

Ibyiza byingenzi muri robot ya Humanoid

Ibibazo

Q1Kuki kuki ifu isanzwe ifata ibipfukisho bya robot byihuse?

.Igisubizo ​ ​Kunyeganyega kwinshi kuva kuri moteri ya servo bitera icyuma cyuzuzanya cyimyanya ndangagitsina ishimangira vuba firime yamabara yamenetse, biganisha ku kwihuta.

Q2: Nigute primer yoroheje ya polyurethane irinda kunyeganyega?

Igisubizo: Imiterere ya polyurethane yibanze ifite imiterere ya viscoelastic ikurura ingufu zinyeganyega nyinshi. Gukora nk'imashini ikurura imashini hagati ya aluminium substrate na topcoat, primer ikwirakwiza imbaraga zumuvuduko mwinshi mbere yuko zisenya imikoranire.

3

Igisubizo: Yego. Amabati ya aluminiyumu yabanje gutwikirwa hifashishijwe ibipimo byinshi bya polyurethane yerekana ibintu 5B byambukiranya imipaka. Iyo unyuze hamwe nibikoresho bya karbide bikarishye kuri RPM ndende, irangi rigabanya neza nta mikorobe cyangwa gukubita ku mpande zaciwe.

Q4: Nigute kwanduza amavuta yo hejuru bitera amarangi mugihe cyo gukora robot?

Igisubizo: Kuzenguruka amavuta cyangwa gutunganya amazi asigaye kuri aluminiyumu mbisi akora nk'imyanda ihumanya umubiri, ikabuza ibisigazwa by'irangi gukora imigozi ya molekile hamwe na substrate y'icyuma. Imifuka ya firime idasize irangi imifuka ihindagurika byoroshye kandi igashishwa munsi yinyeganyeza.              

Q5: Nibihe bikoresho byo gukingira bisabwa kugirango wohereze amabati ya aluminiyumu yabanje gutwikirwa ibishishwa bya robo?

.Igisubizo

Umwanzuro

Kurandura ibishishwa hejuru yimashini ya robo ya humanoid bisaba kuva mumarangi akomeye nyuma yo guhimbwa ukajya hejuru cyane, viscoelastic isahani ya aluminiyumu yabanje gushyirwaho.

Kugirango uhindure ibikoresho byo guhitamo gahunda ya robotics ya humanoid:

Mandate Yateguwe mbere ya Flexible Polyurethane (PU) Sisitemu: Kugaragaza ibipapuro byoroshye bya polyurethane cyangwa birebire cyane bya polyester (HDP) byakozwe muburyo bworoshye (≤0T-1T igipimo cyerekana).

Saba Guhindura Imiti Mbere yo Kuvura: Menya neza ko insimburangingo ya aluminiyumu mbuto ikorwa na titanium-zirconium nanometero kugirango ihindure ASTM D3359 5B ibipimo bifatika.

Iyemeze Kwihuta Kwihuta Kwipimisha: Shyira mbere ya shitingi prototypes mbere yogusuzumwa kwinshi kwa axis acoustic vibration (100 Hz-2000 Hz kumasaha 100+) kugirango hamenyekane irangi rya zeru mbere yumusaruro mwinshi.