Zaɓi Harshe Lokacin da bala'i ya afku - ko girgizar ƙasa, rugujewar tsari, ko ɗigon sinadarai mai haɗari - muhDukin ya zama ƙaƙƙarfan tarkace da ba za a iya tsinkaya ba, tarkace mara ƙarfi, da slick. A cikin waɗannan yanayi mai girma, motsin masu amsawa na farko galibi ana iyakance shi ta hKowaar haɗari ta zahiri. Wannan shi ne inda na musamman makanikai na waƙoƙin caterpillar don mutummutumi zama tushen ainihin ginshiƙi na ayyukan bincike da ceto na zamani. Sabanin takwarorinsu masu ƙafafu waɗanda ke gwagwarmaya tare da babban ci gaba ko nutsewa cikin ƙasa mai laushi, a hKowaar robot tsarin yana ba da wurin ci gaba da zama dole don juyar da dandamalin injina zuwa mai tsira gabaɗaya.
Muhimmin Physics na Cigaban Tushen Tankin Robot
Don fahimtar dalilin da yasa a mutum-mutumi na binciken bincike shine ma'auni na zinariya don amsa bala'i, dole ne mutum ya dubi rarraba matsa lamba na ƙasa. A cikin aikin ceto, "ƙasa" ba ta da ƙarfi; sau da yawa yakan zama cakuda tsakuwa maras kyau, fashe-fashe da gilashin, da rigar rufi. Robot mai tayal yana maida hankalinsa gaba daya akan kananan faci guda hudu. A kan tarkace mai laushi ko rashin daidaituwa, wannan matsa lamba yana haifar da ƙafafu don tonowa, tare da daidaita robot ɗin a wurin yKARAa ya kamata.
Robot tanki waƙoƙi warware wannan ta hKowaar ka'idar yada lodi. Ta hKowaar yin amfani da ci gaba da madauki ta hKowaar sprockets na ciki, ana rarraba nauyin robot ɗin a duk tsawon sawun waƙar. Wannan ƙananan matsi na ƙasa yana ba na'urar damar "tasowa" kan cikas da za su hadiye taya na gargajiya. Bugu da ƙari kuma, da inji amfani da hKowaar robot ya ta'Dukaka ne a cikin tsayuwar sa. Saboda “grousers” da yawa ko takalmi suna cikin hulɗa da saman lokaci ɗaya, robot ɗin na iya yin amfani da jan hankali mai mahimmanci, yana ba shi damar hawa kan kankare tubalan ko jawo mKowaan na'urori masu auna firikwensin da hKowaoyin sadarwa ta hKowaar kunkuntar buɗe ido.
Kimiyyar Material da Juya zuwa Waƙoƙin Tankin Roba don Robots
A farkon zamanin robotics, ƙira da yawa sun karɓi aro daga tankunan soja, suna amfani da mKowaan hKowaoyin haɗin ƙarfe. Koyaya, don bincike da ceto, nauyi da rawar jiki sune abokan gaba masu mahimmanci. Fitowar ƙarfi mai ƙarfi robar tanki waƙoƙi don mutummutumi ya kawo sauyi a fagen. Waɗannan waƙoƙin yawanci sun ƙunshi abubuwan haɗin gwiwar da aka ƙarfafa, galibi ana haɗa su da ƙarfe na ciki ko igiyoyin Kevlar don hana shimfiɗawa yayin da suke riƙe da sassauci.
Zaɓin roba ba kawai game da rage nauyi ba ne. A cikin yanayin bincike da ceto na birni (USAR), mutum-mutumi yakan buƙaci ya ratsa ƙasa mai laushi ko slick, kamar gogaggen marmara a cikin falon da ya ruguje ko rigar ƙarfe a cikin masana'anta. Yayin da waƙoƙin ƙarfe na iya zamewa ko lalata ragowar tsarin ginin bene, robar tanki waƙoƙi don mutummutumi samar da babban coefficient na gogayya. Ƙwararren roba yana ba da damar waƙa don "daidaita" dan kadan zuwa micro-geometry na tarkace, yKARAa ya kamata "riƙe" gefuna na tubalin da bututu. Wannan "maɓDuki na inji" shine abin da ke ba da damar a mutum-mutumi na binciken bincike don hawan matakala ko kewaya guraben tarkace masu girman digiri 45 ba tare da zamewa da baya ba.
Geometry na kewayawa a cikin Robot Binciken Bibiya
A mutum-mutumi na binciken bincike ba kasafai kawai akwati ne akan bel guda biyu ba. Nagartattun makanikai sun haɗa da “flippers” ko na’urori masu ƙayatarwa waɗanda ke ba da damar mutum-mutumin ya canza siffarsa a hankali. Wannan muhimmin mataki ne na juyin halitta waƙoƙin caterpillar don mutummutumi . Ta hKowaar fayyace sassan gaba ko na baya na waƙar, mutum-mutumi na iya zuwa sama don kama gefen wani babban tudu ko kuma ya miƙe ƙafar ƙafarsa don haɗa tazara mai faɗi tsakanin sassa biyu da suka rushe.
Wannan daidaitawar lissafi yana tabbatar da cewa tsakiyar nauyi ya kasance a cikin sawun waƙoƙin ko da lokacin matsananciyar motsi. A cikin nema da ceto, sau da yawa makasudin shine isar da kamara ko firikwensin carbon dioxide zuwa cikin "sararin da ba shi da komai" inda za a iya kama masu tsira. Idan mutum-mutumi ya juye, aikin ya ƙare. Faɗin matsayi da ƙananan bayanan da ke cikin ciki robobi tank waƙoƙi samar da wani dandali na dabi'a wanda ke ƙin tipping, ko da lokacin da mutum-mutumi yana ɗauke da kayan aikin LIDAR masu nauyi ko makamai na mutum-mutumi a saman benensa.
Cin galaba a kan Gwargwadon Skidding da tuƙi in Robot Tank Tracks
Daya daga cikin mafi hadKARAun inji sassa na robobi tank waƙoƙi ita ce hKowaar tuƙi. Ba kamar motocin da ke amfani da tuƙi-da-pinion don juya ƙafafu ba, yawancin robobin da ake bin diddigin suna amfani da "steering-skid." Wannan ya haɗa da tuƙi ɗaya waƙa da sauri fiye da ɗayan ko juyar da waƙa ɗaya yayin da ɗayan yana gaba. Duk da yake wannan yana ba da damar radius-juya-mahimmanci a cikin m, claustrophobic iyakokin ginin da ya ruguje-yana haifar da matsananciyar damuwa a gefe. hKowaar robot kanta.
Dole ne injiniyoyin cikin gida su kasance masu ƙarfi sosai don sarrafa waɗannan rundunonin sassan. Wannan shine dalilin da ya sa keɓancewar keɓancewa tsakanin sprocket ɗin tuƙi da maƙDukan waƙa daidai ne-injiniya. A cikin a mutum-mutumi na binciken bincike , "fiti" na waƙar dole ne ya kasance daidai ko da a cikin babban tashin hankali don hana "de-tracking" (waƙar da ke fadowa daga ƙafafun). Mutum-mutumin ceto na zamani galibi suna nuna tsarin tashin hankali wanda ke amfani da maɓuɓɓugan ruwa ko na'urori masu amfani da ruwa don kiyaye su waƙoƙin caterpillar don mutummutumi taut, tabbatar da cewa ko da dutse ya sami masauki a cikin taron tuƙi, waƙar ta kasance a zaune kuma tana aiki.
Dorewa da Kulawa na Robot Tank Tracks a cikin MuhDukin Maƙiya
Yanayin aikin ceto yana da kyawu ta hKowaar sinadarai da ta jiki. Kurar da aka niƙa daga kankare tana aiki kamar takarda yashi akan sassa masu motsi, kuma ruwan da ke tsaye yana iya lalata ɓangarorin ciki. Zane na robar tanki waƙoƙi don mutummutumi sau da yawa ya haɗa da tsarin tattake "tsaftar kai". Waɗannan ramuka ne masu kusurwa waɗanda ke amfani da jujjuyawar dabi'ar robar yayin da take zagaye sprocket don fitar da laka da ƙananan duwatsu waɗanda in ba haka ba za su lalata injin ɗin.
Bugu da ƙari, yanayin ƙulli na nadi na cikin waƙar yana da mahimmanci. Domin a mutum-mutumi na binciken bincike na iya buƙatar shiga cikin ginshiƙai mai cike da ambaliya ko motsawa ta cikin kumfa mai kashe wuta, maƙDukan injina a cikin firam ɗin waƙa galibi ana lullube su a hatimin O-ring. The hKowaar robot yana aiki azaman layin tsaro na farko, yana ɗaukar tasirin jagged rebar da gilashin da ya karye domin na'urorin lantarki masu mahimmanci da ke cikin chassis su kasance cikin kariya daga girgizar tashin hankali na tafiya.
Lokacin da bala’i ya afku – ko girgizar ƙasa, rugujewar tsari, ko ɗigon sinadarai mai haɗari – muhDukin ya zama ƙaƙƙarfan tarkace da ba za a iya tsinkaya ba, tarkace mara ƙarfi, da slick.
