Ulwazi Oluyisisekelo Lwamarobhothi Ezimboni–Asihlangane Irobhothi Lemboni

1. Umzimba oyinhloko

Imishini eyinhloko iyisisekelo kanye nokusetshenziswa komshini, okuhlanganisa ingalo, ingalo, isihlakala nesandla, kwakha amadigri amaningi enkululeko yohlelo lwemishini.Amarobhothi ezimboni anamadigri enkululeko angu-6 noma ngaphezulu futhi isihlakala ngokuvamile sineziqu ezi-1 kuya kwezingu-3 zenkululeko yokuhamba.

2. Isistimu yeDrayivu

Isistimu yokushayela yerobhothi yezimboni ihlukaniswe izigaba ezintathu ezisebenza ngogesi, umoya nogesi kanye nomthombo wamandla.Ngokwezidingo zezibonelo ezintathu nazo zingahlanganiswa kanye nesistimu yokushayela ehlanganisiwe.Noma ngebhande le-synchronous, isitimela segiya, igiya kanye nolunye umshini wokudlulisa umshini ukuze ushayele ngokungaqondile. Ngayinye yezinhlelo ezintathu zokushayela eziyisisekelo inezici zayo. Manje okujwayelekile kuwuhlelo lokushayela ugesi.

3. Uhlelo lokulawula

Uhlelo lokulawula amarobhothi ubuchopho berobhothi futhi into eyinhloko enquma umsebenzi nomsebenzi werobhothi.Uhlelo lokulawula luhambisana nokufaka kohlelo lokushayela uhlelo kanye nokuqaliswa kwe-ejensi ukubuyisela isignali yomyalo, nokulawula.Umsebenzi oyinhloko wobuchwepheshe bokulawula amarobhothi ezimboni ukulawula uhla lokunyakaza, ukuma kanye nomkhondo werobhothi lezimboni endaweni yokusebenza, kanye nesikhathi sokwenza uhlelo olulula lwesoftware, i-mannimaming software inezici zomshini wokwenza izinto. isikhombimsebenzisi sokusebenzisana, ukusebenza ku-inthanethi ngokushesha futhi kulula ukuyisebenzisa.

4. Uhlelo lokubona

Yakhiwe imojula yenzwa yangaphakathi kanye nemojula yenzwa yangaphandle ukuze uthole ulwazi olunengqondo mayelana nesimo sendawo yangaphakathi nengaphandle.

Izinzwa zangaphakathi: izinzwa ezisetshenziselwa ukubona isimo serobhothi ngokwalo (njenge-Engeli phakathi kwezingalo), ikakhulukazi izinzwa zokuthola indawo kanye ne-Engeli.Izinzwa ezithile: inzwa yokuma, inzwa yokuma, inzwa ye-engeli nokunye.

Izinzwa zangaphandle: izinzwa ezisetshenziselwa ukubona indawo yerobhothi (njengokutholwa kwezinto, ibanga ukusuka ezintweni) nezimo (njengokuthola ukuthi izinto ezibanjiwe ziyawa).Izinzwa zebanga elithile, izinzwa ezibonakalayo, izinzwa zamandla nokunye.

Ukusetshenziswa kwezinhlelo zokuzwa ezihlakaniphile kuthuthukisa amazinga okuhamba, ukusebenza kanye nobuhlakani bamarobhothi. Izindlela zokuqonda zomuntu zihlakaniphile ngokwerobhothi mayelana nolwazi oluvela emhlabeni wangaphandle. Kodwa-ke, ngolwazi oluthile olukhethekile, izinzwa zisebenza kangcono kunezinhlelo zabantu.

5. Isiphetho

Isisebenzi sokuphela Ingxenye enamathiselwe kwijoyinti le-manipulator, ngokuvamile esetshenziselwa ukubamba izinto, ukuxhuma nezinye izindlela, nokwenza umsebenzi odingekayo.Amarobhothi ezimboni ngokuvamile awaklami noma athengise imiphumela yokugcina. Ezimweni eziningi, bahlinzeka ngokubamba okulula.I-end-effector ivamise ukugxunyekwa ku-6-axis flange yerobhothi ukuze iqedele imisebenzi endaweni enikeziwe, njengokushisela, ukupenda, ukunamathisela, kanye nokubamba ingxenye, okuyimisebenzi edinga ukuqedelwa amarobhothi ezimboni.