Litharollo tsa PCB tsa Boto ea Taolo ea Liroboto bakeng sa Liroboto

Liroboto li hahiloe holim'a lisebelisoa tsa elektroniki. Hore na u ntse u nts'etsapele matsoho a liroboto tsa indasteri, li-AGV/AMR, liroboto tsa litšebeletso, kapa lintja tsa liroboto tse nang le li-quadruped, botsitso le ho nepahala ha sistimi ho itšetlehile ka sete e hokahaneng ea li-PCB: taolo, temoho, kutlo, ho khanna, matla, puisano, I/O ea polokeho, le lisebelisoa tsa ho tjhaja/ho emisa. Mofuta o mong le o mong oa boto o na le litlhoko tse fapaneng bakeng sa botšepehi ba lets'oao, EMI, ts'ebetso ea mocheso, matla a mechini le tlhahlobo ea tlhahiso.

Highleap Electronics ke fektheri ea tlhahiso ea PCB le ea kopano ea PCB e tšehetsang li-PCB tsa boto ea taolo ea liroboto le li-module tse amanang le tsona ho tloha tlhahisong ea mohlala ho isa tlhahisong e kholo. Re fana ka tlhahiso e kopaneng le PCBA, hammoho le tlhahlobo le netefatso ea ts'ebetso, ho thusa lihlopha tsa liroboto ho fihlela boleng bo tsitsitseng le phepelo e tsitsitseng.

Fumana Qotsulo e Potlakileng

Ho Tsamaea ka Potlako

1. Mekhoa e Menyenyane ea Liroboto le Mefuta ea PCB
2. Boto e ka Sehloohong ea Taolo PCB
3. Li-PCB tsa Sistimi ea Pono le ea Sensor
4. Li-PCB tsa Taolo ea ho Khanna le ho Tsamaea
5. Matla, Betri, Ho tjhaja le Lisebelisoa
6. Lethathamo la Tlhahiso, Kopano, Liteko le Lethathamo la RFQ

---

Mekhoa e Menyenyane ea Liroboto le Mefuta ea PCB

Roboto ke sistimi ea litsamaiso. Boemong ba lisebelisoa tsa elektroniki, liroboto tse tšepahalang hangata li hlophisitsoe ka litsamaiso tse sebetsang tse hokahaneng le liboto tse inehetseng. Mokhoa ona oa modular o fokotsa ho kopana ha lerata, o ntlafatsa taolo ea mocheso, 'me o etsa hore ho be bonolo ho holisa meralo le ho e boloka tšimong.

• Taolo e ka sehloohong (PCB ea boto ea molaoli): ho bala ha kopo + taolo ea nako ea sebele, mokhoa oa polokeho, ho rekota, le li-interface tsa mantlha.
• Temoho (mapolanka a pono): diboto tsa sebopeho sa khamera/tsa bajari, dihokelo tsa lebelo le phahameng, mehato ya ho sireletsa, le di-power rails tse tsitsitseng.
• Ho lemoha (maboto a setsi sa sensor): IMU, di-encoder inputs, ToF/ultrasonic, force/torque sensing, analog conditioning, le di-sensor fusion interfaces.
• Ts'ebetso (maboto a ho khanna): Taolo ea enjene ea servo/BLDC, ho lemoha ha hona joale, lipotoloho tsa tšireletso, ho brakea, le litsela tsa mocheso.
• Matla (maboto a motlakase/BMS): Phetoho ea DC/DC, tšireletso, tlhokomelo, tsamaiso ea betri, le ho tjhaja/ho emisa.
• Mecha ea puisano le I/O: lipheletso tse ka pele tsa marangrang a indasteri, I/O e arohaneng, li-interface tsa wiring tsa masimo, likou tsa tšebeletso/liphoso, le tlhahlobo ea mafu.
• Lisebelisoa le lisebelisoa tse ka hare: liteishene tsa ho emisa, balaoli ba hole, liboto tsa ho ruta tse pendant, li-adapter tsa sebopeho, liboto tsa lipontšo le li-module tse nyane tsa taolo.

Li-platform tse fapaneng tsa liroboto li hatisa li-module tse fapaneng. Matsoho a indasteri hangata a shebana le motsamao o ikhethileng le polokeho. Liroboto tse tsamaeang li eketsa betri, ho tjhaja le ho lemoha ho tsamaea. Lintja tsa liroboto hangata li sebelisa liboto tse ngata tse ajoang hammoho le setsi sa sensor se tsitsitseng haholo bakeng sa taolo ea ho tsamaea, tsohle li le tlas'a thothomelo le li-transients tsa mojaro o potlakileng.

Highleap e tšehetsa malapa ana a boto ka phallo e kopaneng ea tlhahiso ka tlhahiso ea PCB le kopano ea PCB , kahoo likhetho tsa moralo li lula li tsamaellana le seo se ka hahuoang ka mokhoa o tšepahalang ka tekanyo e kholo.

Boto e ka Sehloohong ea Taolo PCB

Boto e ka sehloohong ea taolo ke setsi sa khokahano sa roboto. E hlophisa mesebetsi, e phethahatsa li-loops tsa taolo, e laola maemo a polokeho, e sebetsana le puisano, 'me e aba litaelo ho li-drive le lisebelisoa tse ling. Moralo o matla oa molaoli o leka-lekanya ts'ebetso e phahameng le boitšoaro ba nako ea sebele bo ikemiselitseng.

Liboloko tse tloaelehileng tsa boto ea molaoli

• Sebaka sa processor ea ts'ebeliso: e tsamaisa meralo, tsamaiso, le li-software stacks (hangata Linux/ROS), e laola li-log le liapdeite tsa OTA.
• Sebaka sa taolo sa nako ea sebele: Taolo ea MCU/nako ea sebele bakeng sa li-loops tse tiileng (boemo/lebelo/torque), mesebetsi ea ho lebela, le liketso tse sa hlōleheng.
• Memori le polokelo: taolo ea ho tsamaisa sebopeho sa memori ka lebelo le phahameng; polokelo e sa fetoheng bakeng sa firmware le li-log tsa liketsahalo.
• Nako le ho hokahanya: ho lekanya nako ka tsela e tsitsitseng, litšupiso tse sa tsitsang, le botšepehi bo hloekileng ba matla bakeng sa taolo e tiileng.
• Tšireletso ea sebopeho: Tšireletso le ho sefa ha ESD/transient ho lihokelo tsa kantle le ho sebetsa ha cable nako e telele.

Lintho tsa bohlokoa tse etelletsoeng pele ke moralo oa PCB tse amang botsitso ka kotloloho

• Botšepehi ba matla: Moralo oa PDN (ho arola ka bongata + maqhubu a phahameng), lerata le laoloang la ho fetola, le litsela tse hloekileng tsa ho khutla.
• Letšoao la botšepehi: tsela e laoloang ke impedance bakeng sa li-interface tsa lebelo le phahameng, taolo ea bolelele moo ho hlokahalang, le lifofane tse tsoelang pele tsa litšupiso.
• Taeo ea EMI: ho arola boto, leano la ho lebela/ho kgutlisa, le karohano pakeng tsa dibaka tsa matla tse lerata le dioache/disensara tse utlwahalang.
• Bokhoni ba ho sebetsa le ho lekoa: lihlooho tsa mananeo, lintlha tsa teko bakeng sa li-key rails, ho hlakola mabitso, le libaka tse laoloang tsa phihlello.

Ha molaoli a kopanya lihokelo tse ngata tsa lebelo le phahameng, mekhoa e laolehileng ea ho tsamaisa ho tsoa moralong oa PCB oa lebelo le phahameng e ba ea bohlokoa. Bakeng sa li-BGA tse teteaneng tsa ho tsamaisa le meralo e menyenyane, merero e mengata e sebelisa tlhahiso ea HDI PCB ho ntlafatsa tsela ea ho baleha, ho fokotsa ho tlala, le ho boloka likhokahano tsa bohlokoa li le khutšoane.

Li-PCB tsa Sistimi ea Pono le ea Sensor

Boleng ba pono bo beha siling bakeng sa ts'ebetso ea roboto. Maboto a pono le a sensor a tlameha ho boloka matšoao a fokolang, ho boloka nako, le ho qoba ho kopana ha lerata ho tsoa ho motlakase le li-drive. Ha ho etsoa lisebelisoa tsa 'nete, mekhoa ea ho hloleha hangata e sebetsa: mokhathala oa lihokelo, liphoso tsa ho emisa, ho nka EMI, kapa li-sensor rails tse sa tsitsang.

Maboto a sistimi ea pono

• Liboto tsa sebopeho sa khamera: litsela tse lebelo le phahameng, impedance e laoloang, lihokelo tse matla, le matla a tsitsitseng bakeng sa lisebelisoa tsa ho nka litšoantšo.
• Maboto a bajari ba pono: bala di-module carrier + I/O breakouts, mehato ya tshireletso, le taolo ya mocheso bakeng sa mesebetsi e tswelang pele.
• Mabone/liboto tsa ho qhaqha (tlhahlobo ea indasteri): taolo ea strobe e tsamaellanang, tšireletso, le ho nepahala ha nako.

Haeba sehlahisoa sa hau se sebelisa li-module tsa khamera kapa lik'hamera tsa tlhahlobo, mekhoa e inehetseng ea kaho e ka fokotsa kotsi le ho sebetsa bocha. Highleap e tšehetsa kaho e amanang le khamera ka tlhahiso ea PCB ea khamera.

Setsi sa kutlo le liboto tsa matšoao a tsoakiloeng

• IMU le ho lemoha motsamao: litšupiso tse tsitsitseng le sebaka se hlokomelang ho thothomela; mobu o hloekileng ho sireletsa ho nepahala.
• Li-encoder le li-interface tsa maikutlo: ho hapa le ho lokisa lerata bakeng sa motsamao o nepahetseng oa li-axis tse ngata.
• Ho lemoha khatello ea ToF/ultrasonic/khatello: dipheletso tse ka pele tsa analoge tse nang le ho sefa le ho arola dibaka tse lerata.
• Ho lemoha matla/torque: tekanyo ea analoge ea boemo bo tlase ka ho tsamaisa ka hloko, leano la ho sireletsa, le literene tse tsitsitseng tsa ho tsosa.

Khokahano e feto-fetohang bakeng sa meaho e tsamaeang

Liroboto tse nang le manonyeletso a tsamaeang, lihlooho tse potolohang, li-gimbal tse nyane, kapa liphutheloana tse tiileng tsa kahare hangata li rua molemo ho khokahano e tenyetsehang. Ho sebelisa kopano ea PCB e tenyetsehang kapa PCB e thata e tenyetsehang ho ka fokotsa palo ea lihokelo, ho ntlafatsa ts'epo tlas'a motsamao o pheta-phetoang, le ho nolofatsa tsela ea ka hare.

Li-PCB tsa Taolo ea ho Khanna le ho Tsamaea

Maboto a ho kganna a fetolela matshwao a taolo motsamaong wa mmele. Hangata ke di-PCB tse nang le kgatello e hodimo ka ho fetisisa robotong ka lebaka la motlakase o phahameng, mathoko a ho fetola ka potlako, bongata ba mocheso le ho thothomela. Sena ke nnete bakeng sa ditsamaiso tsa servo tsa diindasteri mme se hloka le ho feta bakeng sa dintja tsa diroboto, moo di-drive tse ngata tse kopaneng tse sebetsang tlasa ho tshoha ho sa feleng le meroalo ya nakoana.

Lihlopha tse tloaelehileng tsa boto ea ho khanna

• Liboto tsa taolo ea drive ea Servo: taolo e koetsoeng (boemo/lebelo/torque), maikutlo a encoder, taolo ea liphoso, le ho tima ho sireletsang.
• Liboto tsa taolo ea enjene ea BLDC: taolo ea phetoho/FOC, ho lemoha ha hona joale, boitšoaro ba ho thiba li-brake, le ntlafatso ea bokhoni.
• Liboto tsa Actuator/effector: li-gripper, li-actuator tse otlolohileng, li-valve, li-solenoid, lihlooho tsa lisebelisoa, le li-module tse nang le enjene e ka ntle.
• Mapolanka a manonyeletso a ajoang (lintja tsa roboto): di-module tse ngata tse nyane haufi le maoto/manonyeletso, tse totobatsang matla a mocheso le a ho thothomela.

Khanna moralo oa PCB le ho haha ​​likotsi ho laola

• Taolo ea ho fetola sekgoqetsane: fokotsa di-loop tse phahameng tsa di/dt ho fokotsa EMI le ho lla; ntlafatsa sebaka sa mokhanni oa heke le litsela tsa ho khutla.
• Botšepehi ba tekanyo ea hona joale: Kelvin o utloa moo ho hlokahalang; matšoao a tekanyo ea tsela hole le li-node tse fetohang.
• Litsela tsa mocheso: kabo ea koporo, li-vias tsa mocheso, le li-interface tsa mechine (li-heatsink/li-pad) tse tsamaellanang le ho qhalana ha 'nete.
• Boitšoaro ba tšireletso: Tšireletso ea motlakase o feteletseng/ho feta tekano/mocheso le ho sebetsana le liphoso tse ka boleloang esale pele.
• Matla a mochini: Lihokelo tse matlafalitsoeng, li-inductor, le likarolo tse telele tlas'a khatello ea ho thothomela le ho sebetsana le tsona.

Bakeng sa tataiso e sebetsang ea boto ea ho khanna e sebelisoang ke lihlopha tse ngata tsa liroboto, sheba PCB ea mokhanni oa enjene . Lithibelo tsa phetoho ea matla a phahameng le mokhoa oa inverter hangata li rarolloa ka meralo ea li-PCB tsa elektroniki tsa motlakase le mekhoa ea kaho.

Kabo ea motlakase o phahameng le leano la koporo

Moo ho teteana ha hona jwale le ho phahama ha mocheso e leng mabaka a sitisang, meralo e mengata e amohela ho hasana ha hona jwale ka mekhahlelo e mengata, mme ha ho loketse, dikgetho tsa PCB tse boima tsa koporo ho ntlafatsa matla a mocheso le bokgoni ba ho jara hona jwale.

Matla, Betri, Ho tjhaja le Lisebelisoa

Tshebetso ya diroboto e itshetlehile ka phano e tsitsitseng ya motlakase. Diboto tsa motlakase di boloka dikhomphutha le di-sensor di tsitsitse tlasa di-transients, di sireletsa ditsamaiso diphosong, mme di nolofalletsa ho tjhaja/ho emisa. Diroboto tse tsamayang le dintja tsa diroboto di eketsa ditlhoko tse matla tsa BMS hobane diphetoho tsa ho tsamaya le diketsahalo tsa ho potlakisa di baka diphetoho tse potlakileng tsa mojaro.

Mefuta ea li-PCB tsa motlakase le betri tse sebelisoang lirobotong

• Liboto tsa motlakase tsa DC/DC: balaoli ba ntlha ea mojaro bakeng sa k'homphieutha, pono, li-sensor le likhokahano tse nang le ho sefa le tšireletso.
• Maboto a kabo ea motlakase: diphetho tse kopantsweng, tlhokomelo ya hajwale, ditsamaiso tsa dihokelo, le ditsela tse laolwang tsa ho kgutlisa.
• Maboto a taolo ea betri: tlhokomelo, tšireletso, ho leka-lekanya, le ho paka puisano ka PCB ea taolo ea betri.
• Maboto a ho tjhaja le ho emisa: ho koalla mabitso, dipotoloho tsa ho lemoha, le ditharollo tse se nang ho ama tse kang PCB ea ho tjhaja waelese.

Liboto tsa lisebelisoa le tsa kantle tse atisang ho romelloa haufi le liroboto

• Li-dock tsa ho tjhaja le li-adapter: diboto tsa ho ikopanya, tshireletso, le di-module tsa taolo ya sebopeho.
• Balaoli ba hole/li-pendant tsa ho ruta: Liboto tsa ho kenya UI, liboto tsa ponts'o/ponts'o, le li-interface tse matla tsa lihokelo.
• Dimojule tsa katoloso tsa I/O: di-input tse arohaneng, di-relay/di-driver output, le tlhokomelo ya tlhahlobo.
• Liboto tsa heke/sehokelo: lipheletso tse ka pele tsa marang-rang, marang-rang a tšireletso, le li-adapter tsa likhoele tsa wiring.

Lisebelisoa tsena tsa elektroniki tse potolohileng li tlameha ho lumellana le litebello tse ts'oanang tsa ts'epo joalo ka roboto ka boeona: lihokelo tse tsitsitseng, boits'oaro ba tšireletso bo ka boleloang esale pele, le boleng ba tlhahiso bo ka phetoang ho pholletsa le lihlopha.

Fumana Qotsulo e Potlakileng

Lethathamo la Tlhahiso, Kopano, Liteko le Lethathamo la RFQ

Lihlahisoa tsa liroboto li hloka meralo e ka etsoang le lits'ebetso tsa tlhahiso tse ka phetoang. Highleap e tšehetsa phano e kopaneng ho tloha tlhahisong ea PCB ho ea kopanong ea PCB , ka theko e kopaneng le kemiso ka kopano ea PCB ea turnkey.

Taolo ea ts'ebetso ea PCBA e bohlokoa bakeng sa liroboto

• Taolo ea SMT e nang le molumo o motle: Ho hatisa le ho ntsha peista e tsitsitseng bakeng sa di-BGA/QFN le balaodi ba teteaneng.
• Kopano ea theknoloji e tsoakiloeng: SMT + lesoba le phunyeletsang bakeng sa lihokelo tse nang le motlakase o phahameng le likarolo tse hatelletsoeng ka mechine.
• Boitokisetso ba sebopeho sa mocheso: li-heatsink/li-pad le li-keep-out tse tsamaellanang le moralo le lithibelo tsa mechini.
• Meaho e hlokomelang ho thothomela: maano a ho matlafatsa dihokelo le ditaolo tse loketseng tsa kopano moo ho hlokahalang.

Tlhahlobo le liteko bakeng sa ts'epo e phahameng

• Tlhahlobo ea X-ray: netefatsa manonyeletso a solder a BGA/QFN ka Tlhahlobo ea X-ray.
• Tšireletso ea motlakase ea ICT: netefatsa likarolo le matlooa ka tlhahlobo ea potoloho (ICT).
• Teko ea Ts'ebetso (FCT): Netefatsa boits'oaro ba tšebeliso ea ho qetela u sebelisa Teko ea ts'ebetso ea PCB.

Lethathamo la RFQ bakeng sa khotheishene e potlakileng le e nepahetseng

• Lintlha tsa PCB: Gerber/ODB++, difaele tsa ho phunya, botenya ba boto, boima ba koporo, dipheo tsa impedance, le ditlhoko tsa ho bokellana.
• BOM: linomoro tsa likarolo tsa moetsi, libaka tse ling tse amohetsoeng, le likarolo life kapa life tse laoloang tse hlokang ho latelwa.
• Sephutheloana sa kopano: faele ea ho khetha le ho beha, litšoantšo tsa kopano, lintlha tsa polarity, le litlhoko tse khethehileng tsa ts'ebetso.
• Lenaneo le teko: Litlhoko tsa ho kenya firmware, litlhoko tsa ICT/FCT, lisebelisoa, le litekanyetso tsa kamohelo.
• Lipheo tsa tikoloho: ho thothomela, mocheso o fapaneng, potoloho ea mosebetsi, le litlhoko life kapa life tsa tšireletso/ho roala.
• Morero oa bongata: palo ea mehlala, tšebetso ea teko, le khakanyo ea khoeli le khoeli bakeng sa ho fumana le ho hlophisa lintho ka mokhoa o tsitsitseng.