Kutheni ii-Hub ze-Hex Shaft Zitshebeleza Ziphinde Zonakale Kwimidlalo ye-FTC—Nendlela Yokuzilungisa
Ii-hex hub ziyasilela ngexesha lemidlalo ngenxa yokuba izikrufu zokubamba zixhomekeke kwiindawo ezincinci zongquzulwano ezikhululekayo xa kukho ukunyuka ngesiquphe kwe-torque; ukutshintshela kwii-clamping hub ze-split-collar kuyisombulula le ngxaki ngokwasezimatshinini.
Ii-hex hub zakho ziyatshebeleza kwaye zonakala ngenxa yokuba izikrufu zokubamba (set screws) azikwazi ukumelana nomthwalo oqubulekayo we-dynamic shock. Xa umqhubi ejika irobhothi ngesiquphe ukusuka ekuqhubeleni phambili ngokupheleleyo ukuya ekurhoxeni ngasemva ngokupheleleyo, imoto ayikhuphi nje kuphela i-stall torque yayo eqhelekileyo; i-inertia ejikelezayo yamavili kunye nee-gearbox idala ukunyuka ngesiquphe kwe-torque okunqumla ungquzulwano lwesikrufu se-M3 okanye se-M4. Isikrufu singena ngamandla kwi-shaft, sidale umsantsa odala ukungcangcazela (backlash), kwaye sitshintshe lonke utshintsho olulandelayo lwendlala lube njengokubetha kwesando de amacala athe tyaba e-aluminiyam agobe aphelele.
Ulungiso lwezomatshini lulula kakhulu: faka endaweni yee-hub ezinezikrufu zokubamba ii-clamping hub ze-split-collar, qinisekisa umlinganiselo wokungahambelani kwe-shaft (shaft tolerances), kwaye uthobe ukunyuka ngesiquphe kokurhoxa kwisoftware.
I-Physics Yolandelelwano Lokusilela Kwezikrufu Zokubamba
Kwi-FIRST Tech Challenge (FTC), uninzi lwamaqela lusebenzisa ii-planetary gearmotor eziqhelekileyo (ezifana noomlinganiselo we-19.2:1 okanye 20:1) eziqhuba ii-hex shaft ze-5mm, ii-D-shaft ze-6mm, okanye ii-shaft ze-REX/hex ze-8mm. Xa imisiwe (at stall), imoto eqhelekileyo ivelisa malunga ne-0.17 Nm kwi-rotor, ephinda-phindwe nge-gearbox ifikelele phakathi kwe-3 kunye ne-4 Nm kwi-shaft ephumayo. Phantsi kweemeko eziqhelekileyo zokusebenza, isikrufu sokubamba se-cup-point esijijelwe ngamandla kwicala elithe tyaba le-aluminiyam singakwazi ukuwuthwala loo mthwalo.
Imidlalo ayiqhubeki phantsi kweemeko eziqhelekileyo zokusebenza. Xa irobhothi ye-18kg ehamba ngeemitha ezimbini ngesekhondi ijika ngokukhawuleza kwindawo enethayile, amandla entshukumo (kinetic energy) erobhothi kunye ne-rotor ejikelezayo abuyela emva kwinkqubo yokubaleka (drivetrain). Ukunyuka okuphezulu kwe-torque kungadlula ngokulula kwi-8 ukuya kwi-10 Nm kwimizuzwana embalwa kakhulu.
Isikrufu sokubamba simelana nokujikeleza sisebenzisa indawo encinci kakhulu yoqhagamshelwano lwenqaku (point contact). Xa ukunyuka kwe-torque kudlula olo ngquzulwano loqhagamshelwano, izinto ezintathu zenzeka ngokulandelelana:
- Ukugobeka okusisigxina (Plastic deformation): Incam yentsimbi eqinisiweyo yesikrufu sokubamba iluma kwi-shaft ye-aluminiyam ethambileyo, igrumbe umngxuma ize iphakamise ungcwantsi (burr) ojikeleze umphetho.
- Ukuphulukana noxinzelelo lokuqala (Loss of preload): Ngenxa yokuba impahla ye-shaft iye yagoba yancama, uxinzelelo olukwimisonto yesikrufu luwela ku-zero. Ulwelo oluvala imisonto (njenge-Loctite 242) luyasinqanda isikrufu ekubeni siphume kwi-hub, kodwa alukwazi ukubuyisela uxinzelelo lokubamba xa isinyithi esingaphantsi sifudusiwe.
- Ukunkqonkqoza ngamandla (Impact hammering): Ngoku njengoko isebenza ngomgama omncinci kakhulu wokushukuma (play), i-hub inkqonkqoza ngaphambili nangasemva kumacala athe tyaba e-shaft ngalo lonke ixesha irobhothi itshintsha indlela. Lo mthwalo wokunkqonkqoza ukhawuleza wonakalise ubume be-hex obusikiweyo ngaphakathi kwi-hub okanye ujikeleze iikona ze-shaft.
Kutheni ii-Clamping Hub ze-Split-Collar Zikuthintela Ukonakala
I-clamping hub—ingakumbi i-single-split okanye i-two-piece collar hub—ayixhomekekanga kuqhagamshelwano lwenqaku oluluma kwisinyithi. Endaweni yoko, isebenzisa ibholiti enqamlezileyo ukucinezela i-collar eyahlulweyo ejikeleze i-shaft, iguqulela uxinzelelo lwebholiti lube luxinzelelo olulinganayo lwe-radial kuwo omane amacala amathandathu athe tyaba e-hex.
Olu loyilo lutshintsha ngokupheleleyo indlela yokusilela kwezomatshini:
- Uqhagamshelwano lobuso endaweni yoqhagamshelwano lwenqaku: Amandla okubamba asabalala ngokulinganayo kuwo wonke ummandla wobuso bomngxuma we-hub, egcina uxinzelelo lwaloo ndawo lungaphantsi kakhulu kwamandla okumelana nokugoba kwayo yomibini i-shaft kunye ne-hub.
- Akukho sithuba sokungcangcazela sidalekayo: Ngenxa yokuba i-hub iyibamba ngokuqinileyo i-shaft kumjikelezo wayo, akukho sithuba sakujikeleza sikhoyo. Ngaphandle kwesi sithuba, ukunkqonkqoza ngamandla akukwazi ukuqalisa.
- Ukugcinwa kwemeko entle ye-shaft: Ii-collar zokubamba azonakalisi okanye zigobe i-shaft. Unako ukususa kwaye ulungise amavili ngaphandle kokuguba oonongcwantsi bezikrufu zokubamba ukuze nje utyibilikise i-bearing uyikhuphe.
Ukuba uqwalasela inkqubo yakho yokubaleka okanye iindlela zokutsala phambi kokhuphiswano lwengingqi, hlola onke amalungu anyakazayo; ukutshintsha uqhagamshelwano lwezikrufu zokubamba ezinomthwalo omkhulu ngezinye iindlela zokubamba ezivela kwi-khathalogu yehadwe yeerobhothiki yakwa-Sheen kuphelisa enye yeendawo eziqhelekileyo zokonakala kwezomatshini ebaleni.
Ingxaki Yezigaba Zomlinganiselo: Ayizizo Zonke Ii-Hex Ezilinganayo
Nangona kusetyenziswa ii-clamping hub, amaqela ngamanye amaxesha afumana ukutshebeleza ngenxa yokudibanisa izixhobo ezahlukeneyo ngaphandle kokulinganisa izigaba zokungahambelani. I-"5mm hex" okanye i-"1/2 inch hex" eqhelekileyo ayisoloko ingulo mlinganiselo ngqo.
| Uhlobo lwe-Shaft | Unyamezelo Oluqhelekileyo lwe-Shaft | Umngxuma we-Hub Oqhelekileyo | Indlela Yokusilela Ukuba Azihambelani |
|---|---|---|---|
| I-Cold-drawn 5mm Hex | -0.05mm ukuya ku -0.10mm (incinci kakhulu) | +0.02mm ukuya ku +0.05mm (inkulu kakhulu) | Izikrufu zokubamba zitshekisa i-hub kumbindi; ii-clamping hub kufuneka zivale umsantsa omkhulu kakhulu kwaye ziphulukane namandla okubamba. |
| I-Precision Ground Hex | -0.01mm ukuya ku -0.03mm (ixineneyo) | +0.01mm ukuya ku +0.03mm (esiqhelekileyo) | Ukulunga okugqwesileyo; amandla okubamba adluliselwa ngqo ekumelaneni ne-torque. |
| I-Broached Aluminum Hub | Iyahluka ngokwe-brand (+0.05mm eqhelekileyo) | Ukuthomalalisa kweekona ezisikiweyo (Broached corner relief) | Iikona ziba zingqukuva ngokukhawuleza ukuba i-shaft incinci kakhulu kwaye kukho umsantsa wokushukuma. |
Isitokhwe se-hex ye-aluminiyam esolulwe ngaphandle kobushushu (cold-drawn) sihlala sifika sincinci kancinci ukuqinisekisa ukuba sityibilika ngokukhululekileyo kwi-bearing. Ukuba i-shaft yakho ilinganiselwa ku-4.90mm kumacala athe tyaba kwaye i-hub yakho isikwe ku-5.05mm, unomsantsa opheleleyo we-0.15mm. Isikrufu sokubamba esiqhelekileyo siya kutyhala i-shaft ngokupheleleyo kwicala elinye, sizenze ivili lakho lingajikelezi kumbindi kwaye siqinisekise ukukhululeka okukhawulezileyo. I-split-collar hub inako ukunciphisa inxalenye yaloo msantsa, kodwa kuphela kwimida eguqukayo yokusikwa kwayo.
Soloko uqinisekisa imilinganiselo ye-shaft ngezixhobo zokulinganisa zedijithali (digital callipers). Ukuba isitokhwe sakho sincinci ngokuphawulekayo, fumana ii-shaft ezenziwe ngokuchanekileyo okanye utshintshele kwiindlela ezinezitshixo/ezibambayo ezinolawulo olungqongqo lokwenziwa.
Ulungiso lweSoftware Lwemizuzu Elishumi
Oomatshini bathwala umthwalo, kodwa isoftware idala ukunyuka ngesiquphe. Ukuba abaqhubi bakho basebenzisa i-linear tank okanye i-arcade drive apho amaxabiso e-stick adityaniswa ngqo ku-motor.setPower(), ucela ihadwe yakho ukuba ifunxe isantya esingenamkhawulo sokukhawulezisa.
Ukongeza umda wesantya olula (slew rate limiter) kwi-FTC OpMode yakho kukhusela ii-hub zakho ngaphandle kokuchaphazela ukusabela komqhubi:
- Beka umda kwisantya esiphezulu sotshintsho lwamandla sibe phakathi kwe-2.0 kunye ne-4.0 yeeyunithi ngesekhondi. Ukutsiba ukusuka ku-1.0 ukuya phambili ukuya ku -1.0 ukurhoxa emva kuya kuthatha malunga nemizuzwana eyi-0.5 ukudlula ku-zero.
- Le nxalenye yesekhondi ivumela i-back-EMF yemoto ukuba ibhuleke irobhothi ngokutyibilikayo, inciphisa ukunyuka okuphezulu kwe-torque kwi-shaft ngaphezu kwesiqingatha.
- Abaqhubi bakho abayi kuva kulibaziseka phantse konke konke, kodwa ii-gearbox, ii-sprocket, kunye nee-hex hub zakho ziya kusinda kwimidlalo yokhuselo enongquzulwano olupheleleyo zingenamyocu.
Ukufumana izikhokelo ezingakumbi zoyilo lwenkqubo yokubaleka kunye noluhlu lokukhangela lokhuphiswano, jonga izikhokelo zethu kwi-ziko lobugcisa le-FTC lakwa-Sheen Robotics.
