Ulwazi Oluyisisekelo Lwamarobhothi Ezimboni–Asihlangane Irobhothi Lezimboni

1. Umzimba oyinhloko

Imishini eyinhloko iyisisekelo kanye nokusetshenziswa kwendlela yokusebenza, okuhlanganisa ingalo, ingalo, isihlakala nesandla, kwakha amadigri amaningi enkululeko yohlelo lwemishini.Amarobhothi ezimboni anamadigri angu-6 enkululeko noma ngaphezulu futhi isihlakala ngokuvamile sino-1 ukuze Amadigri angu-3 enkululeko yokuhamba.

2. Isistimu yokushayela

Isistimu yokushayela yerobhothi yezimboni ihlukaniswe ngezigaba ezintathu ze-hydraulic, pneumatic kanye nogesi ngokusho komthombo wamandla.Ngokuvumelana nezidingo zezibonelo ezintathu nazo zingahlanganiswa kanye nesistimu ye-compound drive.Noma ngebhande le-synchronous, isitimela segiya, igiya kanye enye indlela yokudlulisa ngomshini ukushayela ngokungaqondile.Isistimu yokushayela inedivayisi yamandla kanye nendlela yokudlulisa, esetshenziselwa ukuqalisa isenzo esihambisanayo somshini.Ngayinye yezinhlelo ezintathu zokushayela eziyisisekelo inezici zayo.Manje okujwayelekile kuwuhlelo lokushayela ugesi.

3. Uhlelo lokulawula

Uhlelo lokulawula amarobhothi ubuchopho berobhothi kanye nesici esiyinhloko esinquma umsebenzi nomsebenzi werobhothi.Isistimu yokulawula ihambisana nokufaka kohlelo lokushayela uhlelo kanye nokuqaliswa kwe-ejensi ukuze kubuyiselwe umyalo. isignali, kanye nokulawula.Umsebenzi oyinhloko wobuchwepheshe bokulawula amarobhothi ezimbonini ukulawula ububanzi bokunyakaza, ukuma kanye nomkhondo werobhothi lezimboni endaweni yokusebenza, kanye nesikhathi sokwenza.Inezici zokuhlela ezilula, ukukhwabanisa kwemenyu yesofthiwe, isikhombikubona esinobungane sokusebenzelana komshini womuntu, ukusebenza ku-inthanethi ngokushesha futhi kulula ukusisebenzisa.

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.Ecacisiwe: inzwa yendawo, inzwa yokuma, inzwa ye-engeli njalonjalo.

Izinzwa zangaphandle: izinzwa ezisetshenziselwa ukubona indawo yerobhothi (njengokubona izinto, ibanga ukusuka ezintweni) nezimo (njengokubona 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 kwilunga le-manipulator, ngokuvamile esetshenziselwa ukubamba izinto, ukuxhuma nezinye izindlela, nokwenza umsebenzi odingekayo.Amarobhothi ezimboni ngokuvamile awaklami noma athengise izinto ezibulalayo.Ezimweni eziningi, bahlinzeka ngokubamba okulula.I-end-effector ivamise ukugxunyekwa ku-6-axis flange yerobhothi ukuze kuqedelwe imisebenzi endaweni enikeziwe, njengokushisela, ukudweba, ukunamathisela, kanye nokubamba ingxenye, okuyimisebenzi okudingeka agcwaliswe ngamarobhothi ezimboni.