1. Umubiri nyamukuru
Imashini nyamukuru nizo shingiro nogushyira mubikorwa uburyo, harimo ukuboko, ukuboko, ukuboko nintoki, bigize urwego rwubwisanzure bwa sisitemu yubukanishi.Imashini zo mu nganda zifite dogere 6 zubwisanzure cyangwa zirenga kandi intoki ubusanzwe ifite 1 kugeza Impamyabumenyi 3 z'ubwisanzure bwo kugenda.
Sisitemu yo gutwara
Sisitemu yo gutwara robot yinganda igabanijwemo hydraulic, pneumatic na mashanyarazi ibyiciro bitatu ukurikije inkomoko yingufu.Nkurikije ibikenewe byingero eshatu birashobora kandi guhuzwa hamwe na sisitemu yo gutwara ibinyabiziga. Cyangwa binyuze mumukandara uhuza, gari ya moshi, ibikoresho na ubundi buryo bwo gukwirakwiza imashini itwara mu buryo butaziguye. Sisitemu yo gutwara ifite ibikoresho byamashanyarazi hamwe nuburyo bwo kohereza, bikoreshwa mugushira mubikorwa ibikorwa byuburyo.Buri kimwe muri bitatu byibanze bya sisitemu ifite ibiranga.Noneho inzira nyamukuru ni sisitemu yo gutwara amashanyarazi.
3. Sisitemu yo kugenzura
Sisitemu yo kugenzura robot nubwonko bwa robo nibintu byingenzi bigena imikorere nimikorere ya robo. Sisitemu yo kugenzura ijyanye no kwinjiza porogaramu yo gutwara sisitemu no gushyira mubikorwa ikigo kugirango igarure itegeko ibimenyetso, no kugenzura. Igikorwa nyamukuru cyubuhanga bwogukora robo yinganda ni ukugenzura urwego rwimikorere, igihagararo hamwe na trayektori ya robo yinganda mumwanya ukoreramo, nigihe cyo gukora. Ifite ibiranga porogaramu yoroshye, gukoresha menu ya software, urugwiro man-imashini imikoranire, ibikorwa kumurongo byihuse kandi byoroshye gukoresha.
4. Sisitemu yo kwiyumvisha
Igizwe na sensor y'imbere module hamwe na sensor yo hanze kugirango ibone amakuru afatika kubyerekeye imiterere yimbere ninyuma.
Ibyuma byimbere: ibyuma byifashishwa mu kumenya imiterere ya robo ubwayo (nka Inguni iri hagati yamaboko), cyane cyane ibyuma byerekana imyanya na Angle. Byihariye: sensor ya posisiyo, sensor ya position, sensor ya Angle nibindi.
Ibyuma bifata ibyuma byo hanze: ibyuma byifashishwa mu kumenya ibidukikije bya robo (nko gutahura ibintu, intera iri hagati yikintu) hamwe nuburyo bumeze (nko kumenya niba ibintu byafashwe bigwa) .Icyerekezo cyihariye, ibyuma byerekana amashusho, ibyuma byerekana imbaraga nibindi.
Gukoresha sisitemu yo kwiyumvisha ubwenge itezimbere ibipimo byimikorere, ibikorwa nubwenge bya robo.Sisitemu yo kwiyumvisha abantu irabangikanya kubijyanye namakuru yo hanze.Ariko, kumakuru amwe yihariye, sensor ikora neza kuruta sisitemu yabantu.
5. Kurangiza
Impera-yanyuma Igice gifatanye na manipulatrice, mubisanzwe bikoreshwa mugutahura ibintu, guhuza nubundi buryo, no gukora umurimo usabwa. Imashini za robo zo muruganda ntizishushanya cyangwa kugurisha amaherezo.Mubihe byinshi, batanga gripper yoroshye.Indangarugero-isanzwe ikora kuri robot ya 6-axis ya robot kugirango irangize imirimo ahantu runaka, nko gusudira, gushushanya, gufunga, no gufata igice, ibyo bikaba ari imirimo igomba kuzuzwa na robo yinganda.
Igihe cyo kohereza: Kanama-09-2021
