DSPOWER ya fara ne a cikin 2013 kuma masana'anta ne da ke mai da hankali kan bincike da haɓakawa, masana'antu da ilimi don servos na robot,masu amfani da robot mai hankali, drone servos, da na'urorin haɗi masu alaƙa.
Tun lokacin da aka kafa shi, mun mai da hankali kan buƙatun robobi da servos, da ƙira da haɓaka samfuran servo waɗanda suka dace da masu amfani da robot.
A yau, za mu raba maganin hannun mutum-mutumi.
Hannun mutum-mutumi yana sarrafa motsi, kamar allurar rai a cikin kwarangwal na karfe, kuma servo shine kwamandan da ya fi dacewa. A cikin taron R&D na DSPOWER, kowace rana muna iya ganin waɗannan abubuwan da aka canza daga zane zuwa raye-rayen injiniyoyi.
A yau, ina so in gaya muku yadda servo ke sa hannun mutum-mutumi ke aiki a sassauƙa kamar hannun ɗan adam, wanda ya haɗa da daidaitattun kayan aiki tare da juna da kuma tsara tsari mai hankali.
Yadda Servo Ke Sarrafa Kusurwar Hannun Robotic
Sabis ɗin yana haɗa da tsarin amsawa mai hankali sosai. Potentiometer yana lura da matsayin mashin fitarwa a ainihin lokacin lokacin karɓar siginar sarrafawa. Bayan kwatanta wannan matsayi tare da matsayi na manufa, nan da nan ya daidaita jujjuyawar motar.
Wannan yayi kama da taɓa abu da hannunka yayin da kake kare idanunka, inda yatsunka suke ci gaba da yin gyare-gyare na mintuna har sai an sami daidaitaccen matsayi. Sabis ɗin da muka tsara da kyau don tsaftace mutummutumi yana amfani da hanyar sadarwa ta TTL, yana ba kowane haɗin gwiwa damar ba da rahoton bayanan matsayi.Wannan yana tabbatar da cewa lokacin da hannun mutum-mutumi ya kasance a kusurwar da aka riga aka saita, kuskuren bai wuce digiri 0.5 ba.
A aikace-aikace masu amfani, kowane haɗin gwiwa a cikin hannun mutum-mutumi dole ne ya daidaita a kusurwoyi daban-daban. Misali, lokacin kama kofin da aka karkatar da shi, servo na wuyan hannu dole ne ya rama karkatawar digiri 15, yayin da servo na kafada yana kiyaye digiri 30 na tallafi.
Wannan haɗin kai na kusurwa da yawa yana buƙatar servos don amsawa da sauri. Muna amfani da tsarin kayan aiki na ƙarfe wanda zai iya kiyaye kwanciyar hankali ko da ƙasa da 85 kgf.cm na karfin juyi, kamar ƙara tsokoki masu jure gajiya ga hannun mutum-mutumi.
Me yasa ya zama dole don servos da yawa suyi aiki tare?
Sabis guda ɗaya kawai zai iya cimma sauƙi mai sauƙi, duk da haka hannu na mutum-mutumi dole ne yayi aiki tare da matuƙar ruwa na hannun ɗan adam. Ka yi tunanin rike alkalami da rubutu; wannan aikin yana buƙatar haɗin gwiwar motsi na wuyan hannu, gwiwar hannu, da kafada.
A cikin axis na'ura mai ba da hanya tsakanin hanyoyin sadarwa guda biyar wanda abokin aikinmu ya haɓaka, Sabis ɗin haɗin gwiwa na gaba yana ɗaukar kaya, matsakaicin matakin haɗin gwiwa yana sarrafa motsi na haɓaka, kuma ƙarshen matakin servos yana yin motsi mai kyau. Wannan rabe-rabe na aiki yana kama da rukunin kade-kade na kade-kade tsakanin kayan kida daban-daban.
A cikin tsarin servo da yawa, sarrafa lokaci yana da mahimmanci musamman. Mun taɓa samun shari'ar inda wani mutum-mutumi ya jiƙe yayin da ya kama kwai. Daga baya mun gano cewa hakan ya faru ne saboda jinkiri na millisecond 10 a cikin amsawar wuyan hannu da safofin hannu. Ta hanyar inganta rarraba siginar PWM, mun sami damar cimma cikakkiyar aiki tare na duk servos, kamar ƙwararrun mawaƙa. Yanzu, wannan tsarin zai iya kama danyen kwai da kyau ba tare da fashe shi ba.
Ta yaya karfin juyi na servo ke shafar hannun mutum-mutumi?
Wannan yana kama da jin girgiza hannun ɗan adam.
Duk da haka, mafi girma karfin juyi ba koyaushe ya fi kyau ba. Yawan karfin juyi yana kara yawan amfani da kuzari kuma yana iya haifar da babban tsari. Sabis ɗin da muka tsara don mutummutumi na tebur zai iyacimma mafi m ayyuka tare da karfin juyi na 6.3 kgf.cm. Makullin shine daidaita karfin juzu'i da bukatu na kaya na hannun mutum-mutumi, kamar yadda lokacin zabar injin mota, ba koyaushe kuna buƙatar bin iyakar ƙarfin doki ba.
Yadda ake Zaɓan Robotic Arm Servo Model
Lokacin zabar samfurin servo, la'akari da yanayin aiki na mutum-mutumi. Don aikace-aikacen da ke buƙatar farawa da tsayawa akai-akai, ana ba da shawarar servo na dijital tare da aikin birki. Shari'ar abokin ciniki ɗaya da muka ci karo da ita ta ƙunshi layin samarwa mai sarrafa kansa wanda ke buƙatarhannun mutum-mutumi don cimma daidaitattun tasha 20 a minti daya. Sabis na analog na al'ada zai sha wahala daga kurakurai masu tarawa, yayin da servos na dijital, tare da mafi girman adadin wartsakewa, suna magance wannan matsalar daidai.
Hakanan ma'aunin daidaitawa yana da mahimmanci. A baya, wasu abokan ciniki sun sanya daidaitattun servos a cikin ƙananan makamai na robotic, wanda ya haifar da rashin ƙarancin zafi. Daga baya mun haɓaka servo gripper 26mm da aka kera ta musamman, wanda shine ƙarami 40% yayin da muke riƙe juzu'i na 3 kg · cm. Yana kama da keɓance tufafi don hannu na mutum-mutumi-yana buƙatar ba da izinin motsi kyauta ba tare da sako-sako ba.
Menene bambance-bambance a cikin ka'idojin sarrafa servo?
Ka'idar PWM, mai kama da mai bugun bugun zuciya, tana watsa umarni ta hanyar faɗin bugun bugun jini, yayin da jerin gwanon TTL, kamar tattaunawa, na iya watsa ƙarin ma'auni masu rikitarwa. A cikin dakin binciken DSPOWER, sau da yawa muna kwatanta waɗannan ka'idoji guda biyu.
PWM ya dace da sauƙi mai sauƙi don sarrafawa, kamar kunna ko kashewa, yayin daTTL na iya samun siginar amsa da yawa a lokaci guda, kamar matsayi, zazzabi, da halin yanzu.
A halin yanzu, ƙarin makamai na mutum-mutumi suna ɗaukar ƙa'idodin ƙa'idodi, kamar aikin hannu na mutum-mutumi na bionic. Ƙungiyoyi na asali suna amfani da ikon PWM don tabbatar da aiki na lokaci-lokaci, yayin da ingantaccen daidaitawa tare da TTL ke watsa cikakkun sigogi.
Wannan yana kama da tuƙin mota, inda ake buƙatar amfani da fedal don sarrafa gudu da dashboard don saka idanu kan matsayi. Wannan tsari mai sassauƙa yana ba da damar makamai na mutum-mutumi don daidaitawa zuwa wuraren aiki masu rikitarwa.
Yadda ake Haɓaka daidaiton Sarrafa Servo
Inganta daidaito yana buƙatar hardware da software. A cikin kayan masarufi, muna amfani da ingantattun injina na 0.1mm don rage koma bayan watsawa. Wani abokin ciniki ya ruwaitomaƙarƙashiyar 2mm mai tsayi a ƙarshen hannun mutum-mutumi. Bayan bincike, mun gano cewa wannan ya samo asali ne ta hanyar mayar da kayan aiki.
Ta hanyar maye gurbin gears tare da tsarin gear helical, an warware matsalar. Wannan yayi kama da motsin agogo: daidaiton kowane kayan aiki yana shafar tsarin kiyaye lokaci gabaɗaya.
Hakanan mahimmanci shine software. Tsarin mu na rigakafin girgiza yana annabta rashin kuzarin motsin hannun mutum-mutumi kuma yana rama shi a gaba. Misali, yayin tsayawar gaggawa, yana haifar da siginar daidaitawa mai kyau don kawar da wuce gona da iri da rashin aiki ke haifarwa, kamar yadda gogaggen direba ke shafa birki a hankali don tabbatar da tsayuwar santsi, ba tare da toshewa ba.
Lokacin aikawa: Oktoba-23-2025