Sarudza Mutauro Nzvimbo yemazuva ano yemaindasitiri yakazadzwa nemhoteredzo idzo dzakagara dzichivenga kuvepo kwevanhu. Kubva pamikoto yakamanikana, ine mwaranzi yemwaranzi yezvicherwa zvenyukireya zvakaparara kuenda kumapaipi anonanzviwa nedhaka eminda yeoiri iri kure, kudiwa kwekutarisa kuri kure kwakavimbika hakuna kumbova kukuru. Pakati pekuchinja kwehunyanzvi uku ndiko yakateverwa yekuongorora robhoti , muchina wakanyatsogadzirwa kuti uende panotadza kufamba mavhiri uye vanhu vasingatyi kutsika. Kusiyana nemapuratifomu ane mavhiri anovimba nenzvimbo yepamusoro yegiravhiti uye nzira dzakajeka, masisitimu aya akasarudzika anoshandisa kuenderera mberi kwekufamba kugovera huremu uye kuwedzera kubata. Shanduko yekutarisa kuzvimiririra uye semi-yakazvimirira haingori maitiro ekubudirira; iko kushanduka kwakakosha mukuchengetedza uye manejimendi enjodzi kune yakakwirira-stakes zvivakwa.
Ukuru hwe a yakateverwa yekuongorora robhoti mune izvi zviitiko zvinonyanya kukonzerwa nekugona kwayo kubata "isina kurongeka" nzvimbo. Murabhoritari, vhiri ndimambo; zvisinei, mune yakadonha mineshaft kana mafashama utility mugero, pasi kashoma sandara. Zvipingamupinyi zvakaita semarara asina kusimba, mitsetse yakadzika, uye matope akadzika anoita sezvipingamupinyi zvechinyakare kufamba. Kusiyana neizvi, iyo inoteedzerwa system inogadzira yayo nzira. Iyo nzvimbo yakakura yenzvimbo yemakwara inovimbisa kuti robhoti harinyure mumanyoro manyoro, nepo hukasha hwekutsika mapatani hunopa iyo mechanic interlocking inodiwa kukwira pamusoro pezvipingamupinyi zvakakura kupfuura urefu hwerobhoti chassis. Izvi zvinoita kuti iyo inoteverwa puratifomu ive shasha isina kupokana yekunyanyisa kufambisa nharaunda.
Engineering Resilience kuburikidza neAdvanced Robot Track Geometry
Pamwoyo pese inobudirira mobile platform pane robhoti track , chikamu chinoshanda sechiratidziro pakati pehungwaru hwemuchina nenyika inobatika. Dhizaini yemakwara aya idhizaini yakaomesesa yekunetsana, kuchinjika, uye kupokana. Yakagadzirwa zvakanaka robhoti track inofanira kunge ichikwanisa kumirisana nemasimba makuru ekugera kana robhoti richiita "skid-steer" kutendeuka-kutenderera uko manjanji anotenderera achitenderedza robhoti panzvimbo. Uku kugona kutenderera mukati memutsindo wayo kwakakosha pamabasa ekuongorora munzvimbo dzakasimba, senge mukati mehombe dzemvura dzemvura kana pakati pemitsara yemichina yemaindasitiri.
Iyo mukati mekuvaka kwe robhoti track zvakare inosarudza iyo system yese simba rekushandisa. Mainjiniya anotarisa padanho uye kusimbiswa kweiyo track kuti ive nechokwadi chekuti simba kubva kumadhiraivha emotokari rinoendeswa pasi nekurasikirwa kushoma. Mune yepamusoro-yekupedzisira yekuongorora masisitimu, iyo track inowanzogadzirwa ne "self-kuchenesa" lugs anodurura madhaka nemarara sezvaanotenderera achitenderedza drive sprocket. Izvi zvinodzivirira kuvakwa kwezvinhu zvinogona kutungamira kune "yakakandwa track," yekutadza modhi inogona kusiya robhoti rinodhura rakavharirwa munzvimbo isingasvikiki. Nekuisa pamberi peiyo mechanic kutendeseka kweiyo track, vagadziri vanopa mwero wekuvimbika wakakosha kune mishoni uko kupora isiri sarudzo.
Iyo Mechanical Advantage yeCaterpillar Tracks yeRobhoti
Pfungwa yekuenderera mberi kwekutsika haisi itsva, asi kushandiswa kwe makwara emarobhoti yaona kusvetuka kukuru muhunyanzvi hwekuita tekinoroji. Sechinyakare, masisitimu aya aisanganiswa nematangi anorema uye matarakita ekurima, airatidzwa neruzha rukuru uye huremu hukuru. Marobhoti emazuva ano ane miniaturized uye akanatsa tekinoroji iyi, achigadzira lightweight, high-torque masisitimu anopa zvinoshamisa kukwira. Caterpillar tracks yemarobhoti bvumira michina iyi kufamba masitepisi, mikombero, uye kunyange zvipingamupinyi zvakati sandara zvine mwero wekugadzikana uyo marobhoti ane mavhiri matatu kana mana asingagoni kuwana.
Uku kugadzikana kunokonzerwa ne "low ground pressure" maitiro ekugadzirwa kwegonye. Nekuda kwekuti huremu hwerobhoti hwakapararira munzvimbo yakakura, muchina uyu haugone kukonzeresa masensa kana kudhirika nzvimbo dzisina kusimba panguva yekuongorora. Pakutarisira tsvina ine ngozi, ichi chinhu chakakosha chekuchengetedza. Uyezve, makwara emarobhoti kupa mamwe mapoinzi ekusangana. Kana chimwe chikamu chenjanji chikarasikirwa nekubata pachigamba chemafuta kana chando, kureba kwasara kwenjanji kunowanzo chengetedza kukwesha kwakakwana kuchengetedza muchina uchifambira mberi. Kuvimbika uku ndosaka zvikwata zvekupindura zvine hunyanzvi uye mainjiniya ezvivakwa zvinokanganisa masisitimu akateedzerwa kana mutengo wekutadza wakakwira.
Material Sayenzi uye Kusiyana-siyana kweRubber Robot Tracks
Nepo maturu esimbi akakodzera kuvakwa kunorema, nyika yekuongorora zvivakwa zvinotsamira pazviri. rubber robot tracks . Sarudzo yerabha-kazhinji yakakura-density, yakawanda-layer composite-inopa yakasarudzika seti yezvakanakira iyo yakakosha kune yemukati uye yakasarudzika nharaunda. Rubber marobhoti tracks inopa zvakanakisa kunyorovesa zvivakwa, izvo zvinodzivirira zvinonzwika pabhodhi zvemagetsi, seLiDAR scanner uye yakakwirira-tsananguro yemafuta emakamera, kubva kune inozunguza mavhiri epasi asina kuenzana. Uku kuzviparadzanisa nevamwe kwakakosha pakutora data rakajeka, rinoshandiswa panguva yekuongorora.
Uyezve, rubber robot tracks vasina kuroora uye vakanyarara. Muimba yakachena, chipatara, kana chirimwa chekugadzira chikafu, robhoti inofanirwa kukwanisa kuita mabasa ayo pasina kukuvadza epoxy pasi kana kugadzira ruzha runokanganisa mashandiro. Iyo yakakwirira-yakabata hunhu hwerabha inobvumira iro robhoti kukwira yakatsetseka simbi inclines kana kufamba matiles akanyorova pasina kutsvedza. Vagadziri vanowanzopinza matiraki aya nemakomisheni ane hunyanzvi kuti aite kuti asagadzikane nemafuta, maasidhi, uye kupisa kwakanyanya, kuve nechokwadi chekuti rubber robot tracks usaderedze kana uchinge uchinge uchinge uchinge uchinge uchinge uchinge uchinge uchinge uchinge uchinge uchinge uchinge uchinge uchinge uchinge uchinge uchinge uchinge uchinge uchinge uchinge uchinge uchinge uchinge uchinge uchinge uchinge uchinge uchinge uchinge uchinge uchinge uchinge uchinge uchinge uchinge uchinge uchinge uchinge uchinge uchinge uchinge uchinge uchinge uchinge uchinge uchinge uchi .
Kuwiriranisa Simba nePrecision Robot Track Wheels
Chikamu chekupedzisira chelocomotion puzzle ndiko kubatanidzwa kwepamusoro-kuita robhoti track mavhiri . Aya haasi mavhiri echinyakare mupfungwa yokuti anobata pasi; pachinzvimbo, iwo ndiwo emukati sprockets uye idlers anotungamira, kushushikana, uye kutyaira iyo track pachayo. Magadzirirwo e robhoti track mavhiri zvakakosha kudzivirira "kukanganisa." Vhidhi rekutyaira rinofanira kunge riine chimiro chezino chainyatsoenderana netrack remukati makumbo kudzivirira kutsvedza, kunyanya panguva yekukwira-torque.
Mune advanced yakateverwa yekuongorora robhoti , mavhiri asina basa anowanzoiswa pane suspension system inobvumira nzira kuti ienderane nechimiro chechipingamupinyi chiri kuyambuka. Iyi "conformal" kufamba inovimbisa kuti huwandu hwakanyanya hwekutsika hunoramba hwakabatana nepasi nguva dzese. Mukuwedzera, zvinhu zvinoshandiswa robhoti track mavhiri —kazhinji ultra-high-molecular-weight (UHMW) mapurasitiki kana anodized aluminium-anosarudzwa kuderedza uremu uye kukwesha. Nekudzikisa kupikisa kwemukati kwevhiri-ne-track musangano, mainjiniya anogona kuwedzera hupenyu hwebhatiri rerobhoti, zvichibvumira mishoni dzekuongorora kwenguva refu munzvimbo dzakakura dzepasi pevhu kana pamwe nemakiromita epombi.
Nzvimbo yemazuva ano yemaindasitiri yakazadzwa nemhoteredzo idzo dzakagara dzichivenga kuvepo kwevanhu.
