Chogwirira cha mtundu wa zero-gravity yamagetsi chokweza mkono

Mfundo yogwirira ntchito
Pakatikati pa chogwirira chamagetsi cha mtundu wa zero-gravity chili mu dongosolo lake lanzeru lowongolera magetsi la servo, lomwe ndi losiyana kwambiri ndi zogwirira zamagetsi zachikhalidwe kapena ma pneumatic assistant manipulators:

Kuyendetsa kwamagetsi kwa servo system:
Sichidalira mpweya, koma chimagwiritsa ntchito ma servo motors olondola kwambiri. Servo motor imatha kuwongolera molondola liwiro la kayendedwe, malo ndi mphamvu ya mkono wonyamula.

Masensa amphamvu (kapena masensa a torque) ndi ofunika kwambiri. Masensa awa amaphatikizidwa mu chogwirira chogwirira ntchito kapena mkono wonyamula ndipo amatha kumva mphamvu yaying'ono kapena cholinga chomwe wogwiritsa ntchitoyo akugwiritsa ntchito nthawi yeniyeni.

Mfundo yoyendetsera bwino ya "Zero gravity":
Wogwiritsa ntchito akakhudza chogwirira ndikuyesera kusuntha katunduyo, sensa ya mphamvu nthawi yomweyo imabwezeretsa cholinga cha wogwiritsa ntchitoyo (monga mmwamba, pansi, patsogolo, kumbuyo) ndi mphamvu yogwiritsidwa ntchito kwa wowongolera.
Kutengera zizindikiro izi ndi chidziwitso cha kulemera kwa katundu nthawi yeniyeni, wowongolerayo amayendetsa motere ya servo molondola kuti apange mphamvu yobwezera nthawi yeniyeni. Mphamvu yobwezera iyi imachotsa kwathunthu kulemera kwa katundu, kotero kuti wogwiritsa ntchito sangamve kulemera kwa katunduyo, ngati kuti chinthucho chili mu mkhalidwe wa "zero gravity".

Kusinthasintha: Dongosololi limatha kuzindikira kulemera kwa katunduyo. Ngakhale kulemera kwa katunduyo kusinthe (mkati mwa mulingo wovomerezeka), dongosololi limatha kusintha nthawi yomweyo mphamvu yolipirira popanda kuyika pamanja kapena kusintha.

Kuwongolera chogwirira ntchito ndi ntchito yodziwikiratu:

Chogwirira chowongolera: Chogwirira chogwiritsira ntchito chapangidwa mwaluso ndipo chimakhala chosavuta kugwira. Wogwiritsa ntchito amatha kutsogolera katundu kuti ayende momasuka m'malo amitundu itatu popanda mphamvu zambiri.
Kuphatikiza kwa ntchito zambiri: Chogwirira nthawi zambiri chimaphatikizidwa ndi mabatani angapo a ntchito, monga:
Kusintha kwa chitoliro chokwezera/kutsitsa: kuti mupeze malo olondola a millimeter.
Kutsegula ndi kutseka kwa chogwirira: lamulirani chogwirira kumapeto (chogwirira).
Kusintha kwa mawonekedwe: monga "floating mode" (zero gravity free), "positioning mode" (precise locking position), ndi zina zotero.
Batani loyimitsa mwadzidzidzi: kuonetsetsa kuti pali chitetezo pakagwa ngozi.

Chothandizira kumapeto (chogwirira/chogwirira):
Konzani ma gripper okonzedwa mwamakonda monga ma gripper a makina, makapu a vacuum, makapu amagetsi kapena zolumikizira zida zapadera malinga ndi momwe zimagwiritsidwira ntchito komanso mawonekedwe a chinthucho.
Njira yotetezera:
Kuzimitsa/kutseka mabuleki: Ngakhale magetsi atazimitsidwa mwangozi, choyimitsa magetsi chimatha kusunga katunduyo bwino kudzera mu mabuleki a injini kapena mabuleki amakanika kuti asagwe.
Chitetezo cha katundu wochuluka: Pamene katundu wovomerezeka wapitirira, dongosolo lidzachenjeza ndikusiya kugwira ntchito.
Kuletsa kugundana/kuletsa kugwedezeka: Machitidwe ena apamwamba alinso ndi ntchito zoletsa kugwedezeka komanso zanzeru zowongolera njira kuti apititse patsogolo chitetezo cha ntchito.

Ubwino
Chogwirira chamagetsi cha mtundu wa zero-gravity chili ndi ubwino waukulu poyerekeza ndi zida zonyamulira zachikhalidwe ndi manipulators othandizira pneumatic:
Ergonomics yabwino kwambiri komanso chitetezo:
Chidziwitso chenicheni cha "zero gravity": Kulamulira kwa servo yamagetsi kumakhala kosalala komanso kolondola kuposa kugwiritsa ntchito mpweya, zomwe zimapangitsa kuti munthu azimva bwino kwambiri popanda kuchita khama lililonse.
Chotsani kutopa ndi matenda a kuntchito: Kumasula antchito kuntchito zolemetsa, zobwerezabwereza, zosasangalatsa komanso zomwe zimawapangitsa kuti azidwala matenda a kuntchito, zomwe zimachepetsa kwambiri chiopsezo cha kuvulala kwa minofu ndi mafupa (MSIs).
Chitetezo chapamwamba: Ma algorithms apamwamba owongolera ndi zida zotetezera zomwe zili mkati (monga kudzizimitsa ndi kudziteteza ku zinthu zambiri) zimaonetsetsa kuti katunduyo ndi wotetezeka komanso wokhazikika nthawi iliyonse.

Kulondola kwambiri komanso kusinthasintha:
Malo Okhazikika Molondola: Mota ya servo imatha kukhala ndi malo okhazikika bwino a millimeter, makamaka oyenera kusonkhanitsa, kukweza ndi kutsitsa makina omwe amafunikira kulinganiza bwino.
Liwiro losinthasintha mopanda malire: Kuwongolera liwiro kumakhala kosalala komanso kolondola, ndipo kumatha kuyendetsedwa mosinthasintha kuyambira kuyenda pang'onopang'ono mpaka kuyenda mwachangu.
Katundu wosinthika: Dziwani ndikulinganiza katundu wolemera wosiyanasiyana popanda kusintha pamanja, zomwe zimapangitsa kuti ntchito ikhale yosavuta komanso yogwira ntchito bwino.

Kugwira ntchito bwino komanso kukulitsa zokolola:
Limbikitsani kayimbidwe ka ntchito: Ogwira ntchito amatha kunyamula ndikuyika zinthu zolemera mwachangu komanso mosavuta, kufupikitsa kayimbidwe ka ntchito, ndikukweza kayimbidwe ka ntchito.
Ntchito ya munthu mmodzi: Ntchito yosamalira zinthu zolemera yomwe poyamba inkafuna mgwirizano wa anthu angapo tsopano ikhoza kumalizidwa mosavuta ndi munthu mmodzi, zomwe zingathandize kuchepetsa ndalama zogwirira ntchito.
Kutsata deta: Machitidwe ena apamwamba amatha kuphatikizidwa ndi machitidwe a MES/ERP kuti akwaniritse kusonkhanitsa deta ndi kusanthula ndikukonza njira zopangira.

Kusunga mphamvu ndi kuteteza chilengedwe:

Kugwiritsa ntchito mphamvu zochepa: Machitidwe a Servo nthawi zambiri amakhala ndi mphamvu zochepa kuposa machitidwe a pneumatic, makamaka m'malo oimirira kapena okhala ndi katundu wopepuka.

Palibe kuipitsa mpweya: Sipakufunika compressor ya mpweya, palibe kuipitsa phokoso ndi kuipitsa mafuta komwe kumachitika, ndipo ndi yoyenera kugwiritsidwa ntchito m'ma workshop oyera kapena malo omwe ali ndi zofunikira kwambiri pa chilengedwe.

Mtengo wotsika wokonza:
Makina amagetsi ali ndi malo ochepa okonzera zinthu, kuchuluka kwa kulephera kugwira ntchito komanso nthawi yayitali yogwirira ntchito kuposa makina opumira.

Zochitika zogwiritsira ntchito
Zogwirizira zamagetsi zamtundu wa zero-gravity zimagwiritsidwa ntchito kwambiri m'mafakitale osiyanasiyana okhala ndi zofunikira kwambiri pakulondola, kugwira ntchito bwino, chitetezo komanso ergonomics:
Kupanga magalimoto: Kusonkhanitsa ndi kusamalira zida zolemera monga mainjini, ma gearbox, zitseko, mipando, ndi zina zotero.
Kupanga makina olemera: Kukweza ndi kutsitsa makina, kuthandiza kuwotcherera ndi kusonkhanitsa zinthu zazikulu zotayidwa, zomangira ndi zida zomangira.
Kupanga ndi kusintha nkhungu: Kusamalira bwino ndikusintha nkhungu zolemera zoponda ndi zopaka jekeseni.
Ndege: Kukonza bwino ndi kuyika zida za ndege pamalo oyenera.
Kupanga zipangizo zapakhomo: Kusamalira ndi kusonkhanitsa zinthu zazikulu monga zitseko za firiji ndi ma drum a makina ochapira.
Kukonza zinthu ndi malo osungiramo zinthu: Kuthandiza pakutola zinthu molondola kwambiri, kulongedza ndi kuyika ma pallet.
Thandizo pa Zida: Kuthandiza ogwiritsa ntchito kugwiritsa ntchito zida zolemera (monga kulimbitsa mfuti, zopukusira, mfuti zowotcherera) kwa nthawi yayitali, kuchepetsa kulemera kwa zidazo.
Kukonza ndi kuyang'anira bwino: Njira zomwe zimafuna kukonza bwino ndi kuyika bwino zida zazikulu.