Chiyambi cha Manipulator

Achowongolerandi chipangizo chogwiritsira ntchito chokha chomwe chingatsanzire ntchito zina za dzanja ndi mkono wa munthu kuti chigwire ndikunyamula zinthu kapena kusintha zida malinga ndi pulogalamu yokhazikika. Chimadziwika ndi kuthekera kokonzedwa kuti chigwire ntchito zosiyanasiyana zomwe zimayembekezeredwa, ndipo chili ndi ubwino womanga ndi kugwira ntchito kwa makina a anthu komanso owongolera.

Manipulators ndi manipulators oyamba a mafakitale komanso manipulators oyamba amakono omwe angalowe m'malo mwa ntchito yolemetsa ya anthu kuti akwaniritse makina ndi kupanga zokha, ndipo amatha kugwira ntchito m'malo oopsa kuti ateteze chitetezo cha munthu, kotero amagwiritsidwa ntchito kwambiri popanga makina, zitsulo, zamagetsi, mafakitale opepuka, ndi mphamvu ya atomiki.

Masiku ano, ukadaulo ukupita patsogolo tsiku ndi tsiku, kusiyana kwakukulu pakati pa mkono wowongolera ndi mkono wa munthu ndi kusinthasintha ndi mphamvu. Izi zikutanthauza kuti, ubwino waukulu wa wowongolera ungathe kuchita zomwezo mobwerezabwereza ngati makina wamba osatopa! Kugwiritsa ntchito manja owongolera kudzafalikira kwambiri, wowongolera ndi zida zapamwamba zopangira zokha zomwe zapangidwa m'zaka zaposachedwa, kulondola kwa ntchito komanso kuthekera komaliza ntchito m'chilengedwe. Nthambi yofunika kwambiri yamawotchi owongolera mafakitale.

Malinga ndi njira yoyendetsera galimoto, makinawa akhoza kugawidwa m'magulu awiri: hydraulic, pneumatic, electric, mechanical. Kapangidwe kake ndi magwiridwe antchito ake zimaphatikiza ubwino wa makina a anthu ndi makina owongolera.

Manipulator makamaka imakhala ndi magawo atatu akuluakulu: actuator, drive mechanism, ndi control system. Dzanja ndi gawo lomwe limagwiritsidwa ntchito kugwira workpiece (kapena chida) ndipo lili ndi mitundu yosiyanasiyana ya kapangidwe monga mtundu wa clamping, bracketing type ndi adsorption type kutengera mawonekedwe, kukula, kulemera, zipangizo ndi zofunikira pa ntchito ya chinthu chogwidwa. Njira yoyendetsera, kotero kuti dzanja limalize kuzungulira kosiyanasiyana (oscillation), mayendedwe kapena mayendedwe ophatikizika kuti likwaniritse zomwe zanenedwa, kusintha malo ndi kaimidwe ka chinthu chogwidwa. Kuyenda kodziyimira pawokha kwa njira yoyendetsera, monga kukweza, telescoping ndi kuzungulira, kumatchedwa digiri ya ufulu wa manipulator. Kuti munthu agwire chinthu pamalo aliwonse ndi momwe chilili mumlengalenga, amafunika madigiri asanu ndi limodzi a ufulu. Madigiri a ufulu ndiye magawo ofunikira pakupanga manipulator. Madigiri ambiri a ufulu, manipulator imasinthasintha kwambiri, kusinthasintha kwake kumakhala kwakukulu, komanso kapangidwe kake kumakhala kovuta. Kawirikawiri, yapaderazida zowongoleraIli ndi madigiri awiri kapena atatu a ufulu. Dongosolo lowongolera limagwiritsidwa ntchito kumaliza mayendedwe enaake powongolera mota ya digiri iliyonse ya ufulu wa manipulator. Imalandiranso mayankho kuchokera ku masensa kuti apange ulamuliro wokhazikika wotsekedwa. Pakati pa dongosolo lowongolera nthawi zambiri pamakhala chip chowongolera chaching'ono monga microcontroller kapena dsp, chomwe chimakonzedwa kuti chikwaniritse ntchito yomwe mukufuna.