Ko te kōwhiringa o te tūāpapa nekehanga raina tino pai e hangai ana ki te karāhe, e whakawhirinaki ana ki te maha o ngā āhuatanga me ngā taurangi. He mea nui kia mōhiotia he huinga whakaritenga motuhake tō ia tono, me mārama, me whakarite hoki kia taea ai te whai i tētahi otinga whai hua mō tētahi tūāpapa nekehanga.
Ko tētahi o ngā otinga whānui ko te whakairi i ngā taumata tūnga motuhake ki runga i tētahi hanganga karāhe. Ko tētahi atu otinga noa ko te whakauru tika i ngā wāhanga e hanga ana i ngā tuaka nekehanga ki roto i te karāhe tonu. Ko te whiriwhiri i waenga i te tūāpapa nekehanga karāhe-ki-runga-i-te-karāhe me te tūāpapa nekehanga karāhe-whakauru (IGM) tētahi o ngā whakataunga o mua hei mahi i roto i te tukanga whiriwhiri. He mārama ngā rerekētanga i waenga i ngā momo otinga e rua, ā, he pai ake ia momo - me ngā whakatūpato - me mārama me te whai whakaaro.
Hei whakarato i tētahi tirohanga pai ake ki tēnei tukanga whakatau, ka arotakehia e mātou ngā rerekētanga i waenga i ngā hoahoa tūāpapa nekehanga rārangi matua e rua — he otinga atamira-i runga-i-te-kirihi tuku iho, me te otinga IGM — mai i ngā tirohanga hangarau me ngā tirohanga pūtea i roto i te ahua o tētahi rangahau take whāriki-mīhini.
Papamuri
Hei tūhura i ngā āhuatanga ōrite me ngā rerekētanga i waenga i ngā pūnaha IGM me ngā pūnaha tuku iho o te atamira-i runga i te karāhe, i hangaia e mātou ētahi hoahoa whakamātautau e rua:
- He whāriki mīhini, he atamira-i-runga-i-te-karati
- Whēra mīhini, IGM
I ngā āhuatanga e rua, e toru ngā tuaka nekehanga o ia pūnaha. E 1000 mm te nekehanga o te tuaka Y, ā, kei runga i te turanga o te hanganga karāhe. E 400 mm te nekehanga o te tuaka X, kei runga i te piriti o te huihuinga, e kawe ana i te tuaka-Z poutū me te 100 mm te nekehanga. E whakaaturia ana tēnei whakaritenga mā te pikitia.
Mō te hoahoa atamira-i runga i te karāhe, i whiriwhiria e mātou he atamira whānui-tinana PRO560LM mō te tuaka Y nā te mea he nui ake tōna kaha kawe kawenga, he mea noa mō ngā tono nekehanga maha e whakamahi ana i tēnei whakaritenga "Y/XZ split-bridge". Mō te tuaka X, i whiriwhiria e mātou he PRO280LM, e whakamahia whānuitia ana hei tuaka piriti i roto i ngā tono maha. Ka tukuna e te PRO280LM he taurite mahi i waenga i tōna tapuwae me tōna kaha ki te kawe i te tuaka Z me te kawenga a te kiritaki.
Mō ngā hoahoa IGM, i tino tāruatia e mātou ngā ariā hoahoa taketake me ngā tahora o ngā toki o runga ake nei, ko te rerekētanga matua ko te hanganga tika o ngā toki IGM ki roto i te hanganga karāhe, nō reira kāore i a rātou ngā turanga wāhanga mīhini e kitea ana i roto i ngā hoahoa atamira-i-runga-karāhe.
Ko te tuaka Z te mea e kitea whānuitia ana i ngā hoahoa e rua, i whiriwhiria hei atamira PRO190SL e peia ana e te tīwiri pōro. He tuaka tino rongonui tēnei hei whakamahi i te aronga poutū i runga i te piriti nā te mea he nui te kaha kawenga me te āhua kiato.
E whakaatu ana te Pikitia 2 i ngā pūnaha wāhanga-i-runga-i-te-karati me te IGM i akohia.
Whakataurite Hangarau
He maha ngā tikanga me ngā wāhanga e hangaia ana mō ngā pūnaha IGM, he rite tonu ki ngā mea e kitea ana i roto i ngā hoahoa tuku iho o te atamira-i-runga-ki-te-kirihi. Nō reira, he maha ngā āhuatanga hangarau e rite ana i waenga i ngā pūnaha IGM me ngā pūnaha atamira-i-runga-ki-te-kirihi. I tetahi atu taha, mā te whakauru tika i ngā tuaka nekehanga ki roto i te hanganga o te kirihi ka puta he maha ngā āhuatanga motuhake e wehewehe ana i ngā pūnaha IGM mai i ngā pūnaha atamira-i-runga-ki-te-kirihi.
Tauwehenga Āhua
Ko te mea tino kitea pea ko te turanga o te mīhini — te karāhe. Ahakoa he rerekētanga ngā āhuatanga me ngā āheinga i waenga i ngā hoahoa atamira-i-runga-i-te-karahe me te IGM, he ōrite ngā rahinga whānui o te turanga karāhe, ngā ara whakarunga me te piriti. Ko te take matua o tēnei he ōrite ngā haerenga ingoa me ngā haerenga rohe i waenga i te atamira-i-runga-i-te-karahe me te IGM.
Hanganga
Ko te korenga o ngā turanga tuaka wāhanga-mīhini i roto i te hoahoa IGM he painga ki ngā otinga taumata-i runga i te karāhe. Ina koa, ko te whakaiti i ngā wāhanga i roto i te koropiko hanganga o te IGM ka āwhina ki te whakanui ake i te pakari o te tuaka whānui. Ka taea hoki te tawhiti poto i waenga i te turanga karāhe me te mata o runga o te waka. I roto i tēnei rangahau take motuhake, ka tukuna e te hoahoa IGM he teitei mata mahi 33% te iti iho (80 mm ki te 120 mm). Ehara i te mea ko tēnei teitei mahi iti anake ka taea te hanga hoahoa kiato ake, engari ka whakaitihia hoki ngā nekehanga mīhini mai i te motuka me te encoder ki te pūwāhi mahi, ka hua ake he iti iho ngā hapa Abbe, ā, ka pai ake te mahi tūnga pūwāhi mahi.
Ngā Wāhanga Tuaka
Ki te titiro hōhonu atu ki te hoahoa, he rite tonu ngā wāhanga matua o ngā otinga atamira-i-runga-i-te-karati me te IGM, pērā i ngā motuka raina me ngā kaiwhakawaehere tūnga. Ko te kōwhiringa noa o te kaha me te ara aukume ka hua ake he kaha whakaputa-kaha ōrite. Waihoki, ko te whakamahi i ngā kaiwhakawaehere ōrite i roto i ngā hoahoa e rua ka whakarato i te taumira pai ōrite mō te urupare tūnga. Nō reira, kāore i te tino rerekē te tika raina me te mahi whakahoki i waenga i ngā otinga atamira-i-runga-i-te-karati me te IGM. Ko te tahora wāhanga ōrite, tae atu ki te wehenga peera me te manawanui, ka hua ake he mahi ōrite i runga i ngā nekehanga hapa āhuahanga (arā, te tika whakapae me te poutū, te pitch, te hurihuri me te yaw). Hei whakamutunga, ko ngā wāhanga tautoko o ngā hoahoa e rua, tae atu ki te whakahaere taura, ngā rohe hiko me ngā aukati pakeke, he rite tonu te mahi, ahakoa he rerekē te āhua o te tinana.
Ngā peera
Mō tēnei hoahoa motuhake, ko tētahi o ngā rerekētanga tino kitea ko te kōwhiringa o ngā peera arataki rārangi. Ahakoa e whakamahia ana ngā peera pōro hurihanga i roto i ngā pūnaha wāhanga-i-runga-karati me ngā pūnaha IGM, mā te pūnaha IGM ka taea te whakauru i ngā peera nui ake, pakari ake ki roto i te hoahoa me te kore e whakanui ake i te teitei mahi o te tuaka. Nā te mea e whakawhirinaki ana te hoahoa IGM ki te karati hei turanga, he rerekē ki tētahi turanga wāhanga-mīhini motuhake, ka taea te whakahoki mai i ētahi o ngā whenua poutū ka pau pea i te turanga mīhini, ā, ko te tikanga ka whakakīia tēnei wāhi ki ngā peera nui ake me te whakaiti tonu i te teitei katoa o te waka i runga ake i te karati.
Te pakari
He pānga nui te whakamahinga o ngā peera nui ake i roto i te hoahoa IGM ki te pakari o te koki. Mō te tuaka o raro whānui-tinana (Y), ka tukuna e te otinga IGM he pakari hurihuri neke atu i te 40% te nui ake, he pakari pitch nui ake i te 30% me te pakari yaw 20% te nui ake i te hoahoa atamira-i runga i te karāniti. Waihoki, ka tukuna e te piriti o te IGM he pikinga wha-whakarea o te pakari hurihuri, he rua te pakari pitch me te pakari yaw neke atu i te 30% te nui ake i tōna hoa atamira-i runga i te karāniti. He painga te pakari koki teitei ake nā te mea ka whai wāhi tika ki te whakapai ake i te mahi hihiri, he mea nui ki te whakahohe i te kaha o te mīhini kia nui ake.
Te kaha utaina
Nā te nui ake o ngā whāriki o te otinga IGM, ka nui ake te kaha o te kawenga i te otinga taumata-i-runga-i-te-karati. Ahakoa he 150 kg te kaha kawenga o te tuaka-turanga PRO560LM o te otinga taumata-i-runga-i-te-karati, ka taea e te otinga IGM e rite ana te whakauru i te kawenga 300 kg. Waihoki, ka tautoko te tuaka piriti PRO280LM o te otinga taumata-i-runga-i-te-karati i te 150 kg, engari ka taea e te tuaka piriti o te otinga IGM te kawe i te 200 kg.
Te Papatipu Nekehanga
Ahakoa he pai ake ngā āhuatanga mahi koki me te kaha kawe kawenga o ngā peera nui i roto i ngā tuaka peera-mīhini IGM, he nui ake, he taumaha ake hoki ō rātou taraka. Hei tāpiri, kua hangaia ngā waka IGM kia tangohia ētahi āhuatanga mīhini e tika ana mō te tuaka atamira-i-runga-i-te-kirihi (engari kāore e hiahiatia ana e te tuaka IGM) hei whakanui ake i te pakari o te wāhanga me te whakahaere i te hanga. Ko te tikanga o ēnei āhuatanga he nui ake te taumaha neke o te tuaka IGM i te tuaka atamira-i-runga-i-te-kirihi e rite ana. Ko tētahi ngoikoretanga kāore e taea te whakahē ko te iti ake o te whakaterenga mōrahi o te IGM, me te whakaaro kāore te kaha o te motuka e rerekē. Heoi, i ētahi wā, he pai ake pea te taumaha neke nui ake mai i te tirohanga ka taea e tōna ātete nui ake te whakarato i te ātete nui ake ki ngā raruraru, ka taea te hono atu ki te pikinga o te pumau i roto i te tūranga.
Ngā Āhuatanga Hanganga
Ko te pakari o te whāriki me te kawe pakari o te pūnaha IGM e whakarato ana i ētahi atu painga e kitea ana i muri i te whakamahi i tētahi kete pūmanawa tātari huānga-mutunga (FEA) hei whakahaere i tētahi tātaritanga aratau. I roto i tēnei rangahau, i tirotirohia e mātou te oro tuatahi o te kawe neke nā tōna pānga ki te whānui o te servo. Ka tūtaki te kawe PRO560LM ki tētahi oro i te 400 Hz, ko te kawe IGM e rite ana ka pāngia e te aratau kotahi i te 430 Hz. E whakaatu ana te Pikitia 3 i tēnei hua.
Ko te teitei ake o te haruru o te otinga IGM, ki te whakaritea ki te atamira-i-runga-karati tuku iho, ka taea te kī ko te hoahoa o te kawe me te peera he pakari ake. Mā te haruru kawe teitei ake ka taea te whai i te whānui o te servo, ā, ka pai ake te mahi hihiri.
Taiao Whakahaere
He mea nui tonu te hiri o te tuaka ina kitea ngā poke, ahakoa i puta mai i te tukanga a te kaiwhakamahi, i roto rānei i te taiao o te mīhini. He tino pai ngā otinga atamira-i runga i te karāhe i roto i ēnei āhuatanga nā te āhua kati o te tuaka. Hei tauira, ko ngā atamira raina raupapa-PRO he uhi mārō me ngā hiri taha e tiaki ana i ngā wāhanga o roto o te atamira mai i te poke ki tētahi taumata whaitake. Ka taea hoki te whirihora i ēnei atamira me ngā horoi papa hei tango i ngā paru mai i te uhi mārō o runga i te wā e whiti ana te atamira. I tētahi atu taha, he tuwhera te āhua o ngā papa nekehanga IGM, me ngā peera, ngā motuka me ngā kaiwhakamārama e kitea ana. Ahakoa ehara i te mea he raruraru i roto i ngā taiao ma, ka raru pea tēnei ina kitea te poke. Ka taea te whakatika i tēnei take mā te whakauru i tētahi uhi ara momo-pūwero motuhake ki roto i te hoahoa tuaka IGM hei tiaki i ngā paru. Engari ki te kore e whakatinanahia tika, ka taea e te pūwero te awe kino i te nekehanga o te tuaka mā te tuku kaha o waho ki runga i te kawe i a ia e neke ana i roto i tōna whānuitanga katoa o te haere.
Te tiaki
Ko te ngāwari o te mahi he rerekētanga i waenga i ngā papa nekehanga atamira-i runga i te karāniti me ngā papa nekehanga IGM. E mōhiotia whānuitia ana ngā toki motuka-rārangi mō tō rātou pakari, engari i ētahi wā ka hiahiatia te mahi tiaki. He māmā noa iho ētahi mahi tiaki, ā, ka taea te whakatutuki me te kore e tangohia, e wetewete rānei i te toki e pā ana, engari i ētahi wā ka hiahiatia he wawahi hohonu ake. Ina he papa nekehanga he papa motuhake e mau ana ki runga i te karāniti, he mahi tino māmā te mahi tiaki. Tuatahi, tangohia te atamira mai i te karāniti, kātahi ka mahi i ngā mahi tiaki e tika ana, ka tāuta anō. Ki te kore, whakakapia noa ki tētahi atamira hou.
I ētahi wā, ka nui ake te uaua o ngā otinga IGM i te wā e mahi ana i te tiaki. Ahakoa he tino māmā te whakakapi i tētahi ara aukume kotahi o te motuka raina i tēnei wā, ko te tiaki me te whakatikatika uaua ake he maha ngā wā ka uru katoatia ngā wāhanga e hanga ana i te tuaka, ka nui ake te wā e pau ana ina whakairihia tika ngā wāhanga ki te karāhe. He uaua ake hoki te whakarite anō i ngā tuaka e hangai ana ki te karāhe tetahi ki tetahi i muri i te mahi tiaki - he mahi tino māmā ake me ngā wāhanga motuhake.
Ripanga 1. He whakarāpopototanga o ngā rerekētanga hangarau taketake i waenga i ngā otinga papa-i-runga-i-te-karati me te IGM.
| Whakaahuatanga | Pūnaha Āpiti-i-runga-i-te-Karāniti, Peera Mīhini | Pūnaha IGM, Peera Mīhini | |||
| Tuaka Pūtake (Y) | Tuaka Piriti (X) | Tuaka Pūtake (Y) | Tuaka Piriti (X) | ||
| Te Pakari Noa | Poutū | 1.0 | 1.0 | 1.2 | 1.1 |
| Taha | 1.5 | ||||
| Te papa | 1.3 | 2.0 | |||
| Rōra | 1.4 | 4.1 | |||
| Āue | 1.2 | 1.3 | |||
| Te Kaha Utaina (kg) | 150 | 150 | 300 | 200 | |
| Taumaha Neke (kg) | 25 | 14 | 33 | 19 | |
| Teitei o te Papa Tēpu (mm) | 120 | 120 | 80 | 80 | |
| Te āheinga ki te hiri | Mā te uhi mārō me ngā hiri taha ka tiakina mai i ngā paru e uru ana ki te tuaka. | He hoahoa tuwhera te IGM. Me tāpiri he taupoki pupuhi, he mea rite rānei mō te hiri. | |||
| Te āheinga ki te mahi | Ka taea te tango i ngā wāhanga me te ngāwari ki te tiaki, ki te whakakapi rānei. | Kua hangaia ngā toki ki roto i te hanganga o te karāhe, ā, ka uaua ake te mahi tiaki. | |||
Whakataurite Ōhanga
Ahakoa ka rerekē te utu tuturu o tētahi pūnaha nekehanga i runga i ētahi āhuatanga tae atu ki te roa o te haere, te tika o te tuaka, te kaha kawenga me ngā āheinga hihiri, ko ngā whakatauritenga whanaunga o ngā pūnaha nekehanga IGM me ngā pūnaha nekehanga atamira-i runga i te kirikiri rite i mahia i roto i tēnei rangahau e kī ana ka taea e ngā otinga IGM te tuku nekehanga reo-ki-te-tika-nui i ngā utu iti iho i ō rātou hoa atamira-i runga i te kirikiri.
E toru ngā wāhanga utu matua o tā mātou rangahau ōhanga: ngā wāhanga mīhini (tae atu ki ngā wāhanga i hangaia me ngā wāhanga i hokona), te huihuinga karāhe, me te utu mahi me ngā utu whakahaere.
Ngā Wāhanga Mīhini
He nui ngā penapena a te otinga IGM i ngā wāhanga mīhini i runga i te otinga atamira-i-runga-ki-te-kirihi. Ko te take matua o tēnei ko te korenga o ngā turanga atamira i hangaia kia uaua ki te mīhini i runga i ngā tuaka Y me te X, e tāpiri ana i te uaua me te utu ki ngā otinga atamira-i-runga-ki-te-kirihi. Hei tāpiri, ko ngā penapena utu ka taea te kī ko te whakangawari i ētahi atu wāhanga mīhini i runga i te otinga IGM, pērā i ngā waka neke, he ngāwari ake ngā āhuatanga me ngā manawanui ngāwari ake ina hangaia mō te whakamahi i roto i te pūnaha IGM.
Ngā Huihuinga Granite
Ahakoa te āhua rite tonu o ngā huihuinga turanga-ara-piriti-karati i roto i ngā pūnaha IGM me ngā pūnaha atamira-i-runga-karati, he iti ake te utu o te huihuinga karati IGM. Nā te mea ko te karati i roto i te otinga IGM te whakakapi i ngā turanga atamira kua mīhinihia i roto i te otinga atamira-i-runga-karati, e hiahia ana kia kaha ake ngā ātete o te karati i ngā rohe tino nui, tae atu ki ngā āhuatanga tāpiri, pērā i ngā tapahi kua puta me/ngā whakaurunga maitai miro rānei, hei tauira. Heoi, i roto i tā mātou rangahau take, ko te uauatanga tāpiri o te hanganga karati kua nui ake te utu nā te whakangawari i ngā wāhanga mīhini.
Te Mahi me te Utu Whakahaere
Nā te maha o ngā āhuatanga ōrite o te huihui me te whakamātautau i ngā pūnaha IGM me ngā pūnaha atamira-i runga i te karāhe, kāore he rerekētanga nui o ngā utu mahi me ngā utu whakahaere.
Kia whakakotahihia ēnei āhuatanga utu katoa, ko te otinga IGM whāriki-ā-ringa motuhake i tirotirohia i tēnei rangahau he tata ki te 15% te iti iho i te utu i te otinga whāriki-ā-ringa, atamira-i runga i te karāhe.
Ko ngā hua o te tātari ōhanga, ehara i te mea ko ngā āhuatanga pēnei i te roa o te haere, te tika me te kaha kawenga anake, engari ko ngā āhuatanga pēnei i te whiriwhiri i te kaiwhakarato karāhe. Hei tāpiri, he mea whakaaro nui kia whakaarohia ngā utu tuku me ngā utu whakahaere e pā ana ki te hoko i tētahi hanganga karāhe. He tino āwhina mō ngā pūnaha karāhe nui rawa atu, ahakoa he pono mō ngā rahi katoa, mā te whiriwhiri i tētahi kaiwhakarato karāhe whai tohu e tata ana ki te wāhi o te huihuinga pūnaha whakamutunga ka āwhina i te whakaiti i ngā utu.
Me mōhio anō hoki kāore tēnei tātaritanga e whai whakaaro ki ngā utu i muri i te whakatinanatanga. Hei tauira, me kī me mahi te pūnaha nekehanga mā te whakatika, te whakakapi rānei i tētahi tuaka nekehanga. Ka taea te mahi i tētahi pūnaha atamira-i runga i te kirikiri mā te tango noa me te whakatika/whakakapi i te tuaka e pāngia ana. Nā te hoahoa āhua atamira he āhua-whakawhiti, ka taea te mahi i tēnei me te ngāwari me te tere, ahakoa te utu tīmatanga teitei ake. Ahakoa ka taea te tiki i ngā pūnaha IGM i te nuinga o te wā i te utu iti iho i ō rātou hoa atamira-i runga i te kirikiri, ka uaua ake te wetewete me te mahi nā te āhua whakauru o te hanganga.
Whakamutunga
He mārama kei ia momo hoahoa tūāpapa nekehanga — te atamira-i runga-i-te-kirihi me te IGM — ka taea te tuku i ngā painga motuhake. Heoi, kāore i te tino mārama ko tēhea te kōwhiringa tino pai mō tētahi tono nekehanga. Nō reira, he tino whai hua te mahi tahi me tētahi kaiwhakarato pūnaha nekehanga me te aunoatanga mātau, pērā i a Aerotech, e tuku ana i tētahi huarahi whakawhitiwhiti kōrero e arotahi ana ki te tono hei tūhura me te whakarato i ngā māramatanga whai hua ki ngā huarahi otinga hei ārai i ngā tono whakahaere nekehanga me te aunoatanga wero. Ko te mārama ehara i te mea ko te rerekētanga i waenga i ēnei momo otinga aunoatanga e rua, engari ko ngā āhuatanga matua o ngā raruraru e hiahiatia ana kia whakatauhia e rātou, koia te kī matua ki te angitu i roto i te whiriwhiri i tētahi pūnaha nekehanga e aro ana ki ngā whāinga hangarau me ngā whāinga pūtea o te kaupapa.
Nā AEROTECH.
Wā tuku: Hakihea-31-2021