Idizayinelwe ukusebenza ngaphansi kohlelo lokulawula ukunyakaza, amathuluzi okuphela kwesikhohlisi sokuphela noma ingalo.
Inombolo ye-eksisi imele ingalo yomshini nokunye
Iziqu zenkululeko & kulo lonke;
.
Ngaphezu kwalokho, kukhona ingalo eyisizayo.
Njenge-eksisi yebhande lokuthutha, kodwa ngokuvamile azikho ngendlela yomshini exhunywe nengalo eyinhloko ye-manipulator.
Ezinhlotsheni ezahlukene ze-manipulator, ngokuvamile zihlukaniswa ngokuya nge-eksisi yesistimu yokuxhumanisa.
Imishini eminingi ingeyezinhlobo ezinhlanu eziyisisekelo ezilandelayo: I-Descartes noma isistimu yokuxhumanisa unxande, isistimu yokuxhumanisa i-cylindrical, i-rotary, noma inaliti
ithegi, izixhumanisi eziyindilinga noma ezipholile nesikhethi esithambile
uvemvane, isandla esisodwa (
I-SCRA)
umsebenzi wemishini yangaphandle ezenzakalelayo
Uhlelo oluphelele lwesakhiwo se-automation sakhiwe izingxenye eziningi, phakathi kwazo, ithuluzi lokusebenza kwengalo eseceleni, idivayisi yokuthutha impahla kanye nohlelo lokuhlonza/lokuqinisekisa luyingxenye eyinhloko
thumela nge-shaft, njll. , kodwa ngokuvamile azikho ngendlela yomshini exhunywe ngengalo eyinhloko ye-manipulator.
Ukuze manipulator ezahlukene njengoba ngokusho shape yayo & nezinye;
x”
,“
y'
”
,“
z”
Isistimu yokudidiyela eyakhiwe okuthathu okuyinhloko ekuhlukaniseni.
Imishini eminingi ingeyezinhlobo ezinhlanu eziyisisekelo ezilandelayo: I-Descartes noma isistimu yokuxhumanisa engunxande, isistimu yokuxhumanisa i-cylindrical, i-rotary noma i-hinged, izixhumanisi eziyindilinga noma ze-polar kanye ne-soft picker portfolio manipulator (
I-SCRA
2, umsebenzi wamadivayisi angaphandle azenzakalelayo
Uhlelo oluphelele lwesakhiwo se-automation sakhiwe izingxenye eziningi, okuhlanganisa amathuluzi okusebenza kwengalo, izinto zokwakha, idivayisi yezokuthutha futhi yingxenye eyinhloko yesistimu yokuqinisekisa ubuqiniso.
Ithuluzi lokusebenza lokuqeda ingalo elingu-1
i-manipulator iyithuluzi elisebenzisa ukuxhumana kwayo ukusuka endaweni eyodwa kuya kwenye indawo yethuluzi.
Amathuluzi okusebenza ohlangothini lwengalo kanye no-opharetha, asetshenziselwa ukubamba ukunyakaza kokuqondisa kwemikhiqizo nokuzwa amapharamitha okusebenza wengxenye.
Ezinhlelweni zokupakisha, isikhohlisi sokugcina ngokuvamile siklanyelwe ukusebenzisa ngokuqondile isethi ye-vacuum, noma inhlanganisela yalezi zinhlobo ezimbili ze-clamping claw.
Isikimu sabo sesakhiwo singasuka ku-vacuum elula isethwe ku-electro vacuum
izinhlelo zokusebenza zokupakisha, i-end manipulator ngokuvamile iklanyelwe ukusebenzisa ngokuqondile isethi ye-vacuum, noma inhlanganisela yalezi zinhlobo ezimbili ze-clamping claw.
Isikimu sabo sesakhiwo singasuka ku-vacuum elula isethwe ku-electro vacuum
usuku olwaziwa
noma ukuhlelwa kwesakhiwo sohlobo lwe-clamping claw, njll.
2.
Isidlulisi esibalulekile
impahla yokuthutha nokuphatha isenqubweni yokudlulisa nokukhiqiza, ukuthuthwa komkhiqizo, ukugcinwa kanye nokuthuthwa nokulawula ngokuzenzakalelayo lapho iselula idinga izinhlobo ezithile zemishini.
Kubandakanya isihambisi samandla, i-hoist, izimoto eziqondiswayo ezizenzakalelayo namarobhothi.
