Mechanical Structure System
Ngokombono wesakhiwo semishini, amarobhothi ezimboni ngokuvamile ahlukaniswa abe amarobhothi e-serial namarobhothi ahambisanayo. Isici samarobhothi e-serial ukuthi ukunyakaza kwe-axis eyodwa kushintsha imvelaphi yesistimu yokuxhumanisa enye i-axis, kuyilapho ukunyakaza kwe-axis eyodwa ku-robot parallel akushintshi imvelaphi yesistimu yokuxhumanisa kwenye i-axis. Amarobhothi ezimboni zakuqala wonke asebenzisa izindlela ze-serial. Indlela ehambisanayo ichazwa ngokuthi-indlela eyiluphu evaliwe lapho iplathifomu ehambayo kanye neplathifomu egxilile zixhunywe okungenani amaketango amabili azimele e-kinematic, indlela inamadigri amabili noma ngaphezulu enkululeko, futhi iqhutshwa ngokufana. Indlela ehambisanayo inezingxenye ezimbili: isihlakala nengalo. Ibanga lokunyakaza kwengalo linomthelela obalulekile endaweni yokusebenza, kuyilapho isihlakala siwukuxhumana phakathi kwethuluzi nomzimba oyinhloko. Uma kuqhathaniswa namarobhothi e-serial, amarobhothi ahambisanayo anezinzuzo ezinjengokuqina okuphezulu, ukuqina kwesakhiwo, umthamo ophakeme wokuthwala{7}}umthamo wokuthwala, ukunemba okuphezulu okuphezulu{8}}okuncane kokunyakaza, nomthwalo ophansi wokunyakaza. Ekunqumeni isikhundla, isisombululo sangaphambili samarobhothi e-serial silula, kodwa isisombululo esiphambene sinzima kakhulu; ngokuphambene, kumarobhothi ahambisanayo, isisombululo sangaphambili sinzima, kodwa isisombululo esiphambene silula kakhulu.
Isistimu yeDrayivu
Uhlelo lokushayela luyidivayisi enikeza amandla ohlelweni lwesakhiwo semishini. Ngokuya ngomthombo wamandla, amasistimu okushayela ahlukaniswa ngezinhlobo ezine: i-hydraulic, i-pneumatic, i-electric, ne-mechanical. Amarobhothi akudala ezimboni ayesebenzisa amadrayivu we-hydraulic. Kodwa-ke, ngenxa yezinkinga ezinjengokuvuza, umsindo, nokuntengantenga-kwesivinini esiphansi, kanye namandla amakhulu futhi abizayo, amadrayivu asebenza ngogesi asetshenziswa kuphela kumarobhothi amakhulu, asindayo{4}}, amarobhothi acubungula ahambisanayo, nezinye izinhlelo zokusebenza ezikhethekile. Amadrayivu we-pneumatic anikeza izinzuzo ezifana nesivinini esikhulu, ukwakheka kwesistimu elula, ukunakekelwa okulula, nezindleko eziphansi. Kodwa-ke, amadivaysi omoya asebenza ngaphansi kwengcindezi ephansi, okwenza kube nzima ukuma okuqondile, futhi ngokuvamile asetshenziselwa ukushayela iziphetho kumarobhothi ezimboni. Ama-pneumatic grippers, amasilinda ajikelezayo, nezinkomishi zokumunca umoya zingasetshenziswa njengezinto zokugcina zokubamba nokuhlanganisa ucezu lomthwalo oluphakathi nendawo kuya emincane. Amadrayivu kagesi njengamanje ayindlela yokushayela esetshenziswa kakhulu. Izici zabo zihlanganisa ukunikezwa kwamandla okulula, ukusabela okusheshayo, amandla amakhulu okushayela, ukutholwa kwesignali elula, ukudlulisa, nokucubungula, kanye nekhono lokuqasha izindlela ezihlukahlukene zokulawula eziguquguqukayo. Izinjini zokushayela ngokuvamile zisebenzisa ama-stepper motors noma ama-servo motors; ama-direct drive motors nawo asetshenziswa, kodwa lawa abiza kakhulu futhi anokulawula okuyinkimbinkimbi. Izinciphisi ezimataniswa nezinjini ngokuvamile zinciphisa i-harmonic, izinciphisi ze-cycloidal pinwheel, noma izinciphisi zegiya leplanethi. Ngenxa yezidingo ezibalulekile zomugqa wokushayela kumarobhothi afanayo, amamotho alayini asetshenziswe kabanzi kulo mkhakha.
Isistimu Yezinzwa
Isistimu yezinzwa yerobhothi iguqula ulwazi oluhlukahlukene lwesimo sangaphakathi nemvelo kusukela kumasignali kuya kudatha nolwazi irobhothi ngokwalo noma amanye amarobhothi angaluqonda futhi alusebenzise. Ngaphandle kokuzwa amanani emishini ahlobene nesimo sawo sokusebenza, njengokufuduka, isivinini, namandla, ubuchwepheshe bokubona izinto ezibukwayo buyisici esibalulekile senzwa yamarobhothi ezimbonini. Amasistimu e-servo abonakalayo asebenzisa ulwazi olubonakalayo njengamasiginali wempendulo ukuze alawule futhi alungise indawo nokuma kwerobhothi. Amasistimu okubona ngomshini nawo asetshenziswa kabanzi ekuhloleni ikhwalithi, ukuhlonza izingcezu zokusebenza, ukuhlela ukudla, nokupakisha. Uhlelo lokuzwa luqukethe amamojula wezinzwa zangaphakathi nangaphandle; ukusetshenziswa kwezinzwa ezihlakaniphile kuthuthukisa ukuhamba kwerobhothi, ukuguquguquka, kanye nobuhlakani.
