Thechida chowongolera mphamvu cha kapangidwe ka trussndi chipangizo chatsopano chogwiritsira ntchito zinthu chomwe chimaphatikiza ubwino woyenda molunjika wa truss (gantry) ndi mawonekedwe othandizira pamanja a manipulator amphamvu (kapena balance crane). Chapangidwa kuti chipatse ogwiritsa ntchito njira yayikulu, yolondola kwambiri, yosavuta komanso yopulumutsa ndalama zothandizira ndi kuyika zinthu zolemera, makamaka pazochitika zamafakitale zomwe zimafuna kugwiritsa ntchito pamanja mosavuta komanso malo ogwirira ntchito akuluakulu.
Kapangidwe kake kapakati ndi mfundo yogwirira ntchito
Kapangidwe ka Truss (Kapangidwe ka Gantry):
Matabwa ndi zipilala: amapanga chimango chokhazikika chooneka ngati "chitseko" chomwe chimaphimba malo onse ogwirira ntchito.
Ma rail owongolera molondola ndi machitidwe oyendetsa: Ma rail owongolera owongolera olondola kwambiri amayikidwa pa matabwa, nthawi zambiri amawongoleredwa ndi ma gear racks, malamba ogwirizana kapena zomangira za mpira zomwe zimayendetsedwa ndi ma servo motors, kotero kuti trolley (kapena makina oyendetsera) omwe ali ndi manipulator amphamvu amatha kuyenda molondola, bwino komanso pamtunda waukulu motsatira X-axis (njira yopingasa). Machitidwe ena amathanso kuyenda motsatira Y-axis kuti aphimbe malo akuluakulu.
Chowongolera Mphamvu/ Balancer Arm: Iyi ndi gawo lofunikira kwambiri la makinawa, lomwe limayikidwa pansi pa trolley yoyenda pa truss. Imagwiritsa ntchito pneumatic balance, electric balance kapena mechanical balance principle kuti ichotse kapena kulinganiza kulemera kwakukulu kwa workpiece yogwidwa, kuti wogwiritsa ntchito athe kusuntha mosavuta zinthu zolemera ndi mphamvu yochepa yokankhira ndi kukoka. Power manipulator yokha ili ndi mphamvu yokweza ndi kutsitsa mu Z axis (njira yolunjika), komanso mtundu wina wa kuzungulira ndi ufulu wopendekera. End-Effect / Gripper: Yoyikidwa kumapeto kwa power manipulator, ndi gawo lomwe limalumikizana mwachindunji ndi workpiece. Imasinthidwa malinga ndi mawonekedwe a chinthu chonyamulidwa (mawonekedwe, kukula, kulemera, zinthu, kukhudzidwa kwa pamwamba, ndi zina zotero). Zodziwika bwino ndi izi: pneumatic grippers, vacuum suction cups, electromagnetic suction cups, clamps, hooks, ndi zina zotero. Wogwiritsa ntchito amalamulira kutsegula ndi kutseka kwa gripper kudzera mu chogwirira chogwirira ntchito kapena batani pa power manipulator. Control System: Poyerekeza ndi maloboti odziyimira okha, control system yake ndi yosavuta. Makamaka imayang'anira:
Kuyika ndi kusuntha kwa trolley ya X/Y axis (ikhoza kugwiritsidwa ntchito pogwiritsa ntchito magetsi kapena kungogwiritsa ntchito manja pongokankhira).
Kusintha kwa mphamvu yolinganiza ya manipulator yamagetsi.
Kulamulira kutsegula ndi kutseka kwa chotsekera.
Ntchito yoteteza chitetezo.
Ubwino
Chochitika chabwino kwambiri chopulumutsa ntchito: Kuphatikiza ndi mphamvu ya "zero gravity" ya chipangizo chowongolera mphamvu, ogwiritsa ntchito amatha kunyamula mosavuta makilogalamu mazana ambiri kapena matani a zinthu zolemera.
Kuphimba kwakukulu kwa ntchito: Kapangidwe ka truss kamapereka malo ogwirira ntchito ochulukirapo kuposa crane yodziyimira payokha kapena chowongolera mphamvu chimodzi, chomwe chingaphimbe malo onse ogwirira ntchito kapena kuphimba zida zingapo.
Kuyika bwino kwambiri malo ndi kusinthasintha kwa manja: Kumaphatikiza luso lolondola la makina ndi kusinthasintha kwa munthu. Ogwiritsa ntchito amatha kugwiritsa ntchito mayankho ogwira mtima komanso kuwunika kowoneka bwino kuti akwaniritse malo ndi kusonkhanitsa komwe kuli kolondola, kosinthasintha, komanso kosinthika pazochitika zovuta kuposa maloboti enieni.
Kuwongolera magwiridwe antchito: Kumachepetsa ntchito ya thupi ndikufulumizitsa kugwira ntchito, motero kumawongolera magwiridwe antchito onse a mzere wopanga.
Onetsetsani kuti ntchito ndi yotetezeka: Chepetsani kwambiri chiopsezo cha kuvulala kuntchito monga kuvulala, kuvulala, ndi kuvulala komwe kungachitike chifukwa chogwira zinthu zolemera ndi manja.
Sinthani magwiridwe antchito ovuta: Ma power manipulators opangidwa ndi Truss ali ndi ubwino wapadera pa ma workpieces omwe ali ndi mawonekedwe osasinthasintha, malo osakhazikika a mphamvu yokoka, kapena omwe amafunikira kusintha kwa ma angles ndi manja.
Kugwiritsa ntchito malo ambiri: Nthawi zambiri imayikidwa pamwamba pa mzere wopanga, simatenga malo ofunika pansi.
Ndalama zosinthika pang'ono: Poyerekeza ndi makina a roboti odziyendetsa okha, ndalama zake zoyambirira komanso zovuta zake nthawi zambiri zimakhala zochepa, ndipo zimakhala ndi phindu lalikulu pa ndalama zomwe zayikidwa.
Nthawi yotumizira: Juni-09-2025