Zviratidzo Zvikuru zveUnyanzvi uye Zvekufunga Nezvekutenga Marobhoti eServo ane Axis Three-Axis

Zviratidzo Zvikuru zveUnyanzvi uye Zvekufunga Nezvekutenga Marobhoti eServo ane Axis Three-Axis

Mukati mekufamba kwezvishandiso zvemaindasitiri, marobhoti eservo ane tambo nhatu, nehunyanzvi hwavo hwekuisa zvinhu panzvimbo chaiyo, kushanda zvakanaka, uye kuchinjika-chinjika, zvava chinhu chakakosha mumaindasitiri akawanda, kusanganisira kugadzira zvemagetsi, zvikamu zvemotokari, uye zvinhu zvekurongedza. Kune vatengi vekunze kwenyika, vakatarisana nemhando dzakasiyana dzezvigadzirwa uye zvakasiyana-siyana pamusika, kuongorora nemazvo zviratidzo zvehunyanzvi zvakakosha uye kusarudza michina inosangana nezvinodiwa zvavo zvekugadzira uku vachienzanisa kushanda kwemutengo uye kuvimbika kwakakosha pakugadzirisa maitiro ekugadzira uye kuwana purofiti yenguva refu pakudyara. Chinyorwa chino chichapa ongororo yakadzama yezviratidzo zvehunyanzvi zvemarobhoti eservo ane axis nhatu uye kugovera pfungwa dzekutenga dzinoshanda kuti dzipe referensi kune vatengi vepasi rose.

I. Zviratidzo zveKushanda Kwakakosha: "Simba Rakaoma" Rinosarudza Kushanda Kwakanaka uye Kushanda Zvakanaka

Zviratidzo zvekushanda kwepakati ndizvo "mweya" werobhoti reservo rine mativi matatu, zvichisarudza zvakananga kana richikwanisa kusangana nezvinodiwa zvekugadzirwa kwepakati zvakaita sekururama uye kumhanya, uye ndizvo zvinonyanya kutariswa panguva yekutenga.

(I) Kuronga Nzvimbo Yakarurama uye Kudzokororwa

Kurongeka kwenzvimbo kunoreva kutsauka pakati pemakonesheni chaiwo e Robhoti's end-effector kana yasvika panzvimbo yakatarwa uye ma coordinates ayo edzidziso, anowanzo kuyerwa mumamilimita (mm) kana ma microns (μm). Kudzokororwa kunoreva mwero wekupararira munzvimbo ye end-effector kana robhoti richigara richisvika panzvimbo imwecheteyo. Aya ma metrics maviri anokosha pakuyera kururama kwekushanda kwerobhoti uye akakosha zvikuru mumashandisirwo anoda kunyatsojeka kwakanyanya, senge electronic component assembly uye precision welding.

Kazhinji, marobhoti emhando yepamusoro emhando nhatu anogona kudzokororwa kwe±0.01mm, nepo zvigadzirwa zvemhando yepamusoro zvinowanzova pakati pe±0.05mm kusvika ±0.1mm. Paunenge uchitenga, funga nezvezvinodiwa zvemaitiro chaiwo. Semuenzaniso, mumabasa ekurongedza machip, zvigadzirwa zvine mukana wekudzokororwa we≤±0.02mm zvinofarirwa; mukushandiswa kwemabhokisi akajairwa, kururama kwe±0.1mm kwakakwana. Panguva imwe chete, zvakakosha kucherechedza zvinodiwa zvezvinodiwa pakusarudza. Vamwe vagadziri vanotsanangura kururama pasi pe "mamiriro ekusava nemutoro," asi kururama kunogona kudzikira pasi pemutoro chaiwo. Nokudaro, vatengesi vanofanira kukumbirwa kuti vape data chairo rakayerwa pasi pemutoro.

(II) Kumhanya Kwekushanda uye Kukurumidzisa

Kumhanya kwekushanda kunosanganisira kumhanya kwakanyanya kwekushanda kwe axis yega yega uye kumhanya kwakabatana kwe end effector. Kumhanya kunoratidza kugona kwerobhoti kuchinja kubva pakumira kuenda pakumhanya kwakanyanya kana zvinopesana. Pamwe chete, zvinhu zviviri izvi zvinosarudza kushanda zvakanaka kwerobhoti. Muzviitiko zvekugadzirwa kwakawanda, kumhanya kwakanyanya uye kukurumidza zvinoreva nguva pfupi yekutenderera, izvo zvinowedzera zvakananga kubereka kwemutsetse wekugadzira.

Zvinodiwa pakumhanya kwema axes akasiyana zvinofanirwa kuenderana nemazvo zvichienderana negwara rekushanda. Semuenzaniso, X-axis (yakatambanudzwa) inowanzo shanda mabasa ekutakura kure uye inoda kumhanya kwakanyanya; Z-axis (yakatwasuka) inowanzo batanidzwa mukushanda kwakanyatsonaka kwekutora nekuisa uye inoda kukurumidza kwakasimba. Paunenge uchitenga, dzivisa kutevera "kumhanya kwakanyanya" usingafungi uye panzvimbo pezvo ongorora zvizere nzvimbo yekushanda. Kana nzvimbo yacho iri pfupi, kumhanya kwakanyanya kunogona kukonzera kuti robhoti rimhanye uye ridzike zvishoma nezvishoma, zvichikanganisa kushanda zvakanaka uye hupenyu hwemidziyo. Uyezve, kutarisisa kunofanirwa kupihwa pakukwanisa kwemidziyo kudzora kudedera panguva yekushanda nekukurumidza. Kudedera kwakanyanya kunogona kukanganisa kururama kwenzvimbo uye kunogonawo kuwedzera kupfeka pazvikamu zvemakanika.

(III) Kukwanisa Kutakura

Kukwanisa kurema kunoreva huremu hwakanyanya hunogona kutakura robhoti, kusanganisira huremu hwakabatana hwegripper, workpiece, nezvimwe zvinosungirirwa. Kusakwanisa kurema zvakakwana kunogona kukonzera kuderera kwekururama nekumhanya, uye kutokonzera kutadza kushanda kwakadai sekuwanda kwemota uye kushanduka kwemuchina. Kukwanisa kurema zvakanyanya, kune rumwe rutivi, kunogona kutungamira pakusarudzwa kwemidziyo yakawandisa, kuwedzera mari yekutenga uye kushandiswa kwesimba.

Pakutenga, zvakakosha kuverenga mutoro chaiwo nemazvo: kutanga waona huremu hwepamusoro hwebasa, wobva wasarudza gripper yakakodzera (semuenzaniso, pneumatic gripper, electric gripper, nezvimwewo) zvichienderana nezvinodiwa nebasa. Verenga huremu hwegripper nezvibatiso (semuenzaniso, sensors, vacuum cups), uye bvumira 10%-20% safety margin kuti iverenge kushanduka kwemutoro kusingatarisirwi. Panguva imwe chete, zvakakosha kucherechedza hukama huripo pakati pemutoro nekumhanya kwekushanda. Kumhanya kwakanyanya kwerobhoti rimwe chete pasi pemitoro yakasiyana kunosiyana. Mutoro mukuru, kumhanya kwepamusoro kunoderedza muganho wepamusoro. Vatengesi vanowanzopa ma "load-speed" characteristic curves, ayo anogona kushandiswa kuona kana michina ichikwanisa kusangana nezvinodiwa zvekushanda panguva yekutenga.

II. Zviratidzo Zvinoenderana: Kuve nechokwadi chekubatanidzwa kweMidziyo neZviitiko Zvekugadzira

Kuenderana kwerobhoti reservo rine mativi matatu kunokanganisa zvakananga kugona kwaro kubatana nemitsetse yekugadzira iripo, zvichideredza mari yekudyara uye zvichiita kuti pave nekutanga kugadzirwa nekukurumidza. Uku kuenderana kwakakosha panguva yekutenga.

(I) Nzvimbo dzekufamba

Rutivi rwekufamba rwunoreva daro guru riri pakati pechikamu chimwe nechimwe che Bhodhi reRobhoti kufamba, zvichiratidza nzvimbo yekushanda kwayo. Kufamba kwerobhoti reservo rine mativi matatu kunowanzo tsanangurwa sedaro guru rekufamba kweX-axis (horizontal), Y-axis (vertical), uye Z-axis (vertical). Pakutenga, rwendo runofanira kutariswa zvichienderana nezvinhu zvakaita sekurongeka kwenzvimbo dzekugadzira, daro rekubata workpiece, uye nzvimbo yekuisa michina. Semuenzaniso, pakubata pakati pemativi maviri emutsetse wekubatanidza, rwendo rweX-axis runofanira kufukidza upamhi hwemutsara uye daro repadivi reworkpiece iri kubatwa. Mukurongedza mazinga akawanda, rwendo rweZ-axis runofanira kusvika pahurefu hwesherufu uye kukwirira kunodiwa pakurodha nekuburitsa zvinhu. Kusafamba kwakakwana kunodzivirira robhoti kufukidza zvizere nzvimbo yese yebasa; kufamba kwakanyanya kunowedzera nhanho yemidziyo nemari yekutenga. Zvinokurudzirwa kudhirowa dhizaini yakadzama yebasa usati watenga, uchitsanangura zvakajeka kufamba kushoma kunodiwa kune axis yega yega uye uchibvumira mukana wakakwana wekugadzirisa kuti ugone kugadzirisa mutsetse wekugadzira.

(II) Nzira dzeKuisa uye Zviyero zveNzvimbo

Marobhoti eservo ane mativi matatu anogona kuiswa nenzira nhatu huru: akamira pasi, akaiswa pamadziro, uye akatenderedzwa. Zvinodiwa panzvimbo yega yega yekuisa zvinosiyana zvakanyanya. Kuisa pasi kunoda nzvimbo yepasi asi kunopa kugona kwakanyanya kwekutakura mutoro. Kuisa pamadziro neakatenderedzwa kunochengetedza nzvimbo yepasi uye kwakakodzera kumaworkshop madiki, asi kunoda kugona kwakanyanya kwekutakura mutoro pamadziro kana padenga. Pakutenga, zvakakosha kutanga wajekesa zvipingamupinyi zvenzvimbo yekuisa: izvi zvinosanganisira kugona kwekutakura mutoro pasi/madziro/denga, kureba, upamhi, uye kukwirira kwenzvimbo yekuisa, uye marongero emidziyo yakakomberedza (senge maturusi emuchina nema conveyors). Zvakare, teerera saizi yerobhoti, kunyanya kana uchishanda munzvimbo dzakamanikana. Izvi zvinosanganisira radius yekutenderera kwerobhoti nenzvimbo yepamusoro inogarwa ne axis yega yega painotambanudza nekudzosera kumashure. Iva nechokwadi chekuti michina haizobonderane nezvinhu zvakakomberedza panguva yekushanda. Zvinokurudzirwa kukumbira modhi ye3D kana mifananidzo yakadzama yemidziyo kubva kumutengesi, uye kuita ongororo yemaitiro yakavakirwa panzvimbo yekugadzira.

(III) Kupindirana Kwemagumo

Chinobatidza magumo (gripper, suction cup, nezvimwewo) ndicho chikamu cherobhoti chinosangana zvakananga nechishandiso chebasa. Kushanda nesimba uye kuenderana kweinterface yayo kunosarudza kana michina ichigona kugamuchira mhando dzakasiyana dzezvishandiso zvekupedzisira uye kusangana nezvinodiwa zvakasiyana-siyana zvekushanda. Mhando dzezvishandiso zvakajairika dzinosanganisira maflange akajairwa, pneumatic interfaces, uye electric interfaces. Maflange akajairwa (akadai seISO standard flanges) ndiwo anonyanya kusarudzwa nekuda kwekuchinjika kwawo. Paunenge uchitenga, simbisa zvirevo zveinterface, zvakaita sedhayamita yeflange, nzvimbo yekuisa gomba, uye saizi yepini, kuti uve nechokwadi chekuti zvinoenderana nezvinobatidza zviripo kana zvakarongwa. Kana kuchinjwa kakawanda kwe end effector kuchidikanwa panguva yekugadzira (semuenzaniso, pakugadzirisa workpieces dzemaumbirwo akasiyana), kugona kweinterface kuchinja mamodheru nekukurumidza kwakakoshawo. Mimwe michina yepamusoro ine masisitimu ekuchinja otomatiki ezvishandiso, izvo zvinogona kuderedza zvakanyanya nguva yekuchinja. Uyezve, funga nezve kugona kweinterface yekutakura mutoro kuti ive nechokwadi chekuti inogona kutsigira huremu hwakabatana hwe end effector nechishandiso chebasa.

III. Kuvimbika uye Kugadzikana: "Dombo rekona" rekushanda kwenguva refu

Kugadzirwa kwemaindasitiri kunonyanya kudiwa pamidziyo kuti irambe ichishanda. Kuvimbika uye kugadzikana kwerobhoti reservo rine mativi matatu kunokanganisa zvakananga nguva yekushanda kwetambo dzekugadzira uye mari yekugadzirisa, uye zvakakosha pakuona kushanda zvakanaka kwemidziyo kwenguva refu.

(I) Kugadziriswa kweServo System

Sisitimu yeservo ndiyo "simba guru" rerobhoti reservo rine mativi matatu, rine servo motor, servo drive, uye encoder. Kushanda kwayo kunosarudza zvakananga kururama, kumhanya, uye kugadzikana kwerobhoti. Paunenge uchitenga, tarisa pane simba uye torque yemota yeservo, kumhanya kwemhinduro yeservo drive uye kurambwa kwekupindira, uye resolution ye encoder (iyo inosarudza kururama kwekuisa panzvimbo). Makambani makuru emota dzeservo akadai sePanasonic, Mitsubishi, uye Siemens anopa vimbiso yakakura yekugadzikana uye kugara kwenguva refu. Resolution ye encoder inowanzo ratidzwa mumitsara; nhamba yemitsara yakakwira, ndipo panonyanya kurongeka nzvimbo yacho. Standard Marobhoti Emaindasitiri kazhinji vanoshandisa ma encoders ane mitsetse chiuru kana kupfuura, nepo ma application akanyatsonaka achida ma encoders ane mitsetse chiuru kana kupfuura. Pamusoro pezvo, zvakakosha kusimbisa kana servo system ine maficha ekudzivirira akawandisa, overvoltage, uye overheating, sezvo izvi zvichigona kuderedza njodzi yekukundikana kwemidziyo.

(II) Maumbirwo eMichina uye Zvishandiso

Kugadzirwa kwechimiro chemuchina uye kusarudzwa kwezvinhu zvinokanganisa kuomarara, kuramba kupfeka, uye hupenyu hwebasa rerobhoti. robhoti reservo rine mativi matatu Zvinosanganisira zvinhu zvakaita sema "linear guides", ma "ball screws", uye ma "brackets". Ma "linear guides" nema "ball screws" ndiwo ma "core transmission components", uye kunyatsojeka kwavo uye kuramba kupfeka zvinosarudza zvakananga kururama kwebasa rerobhoti uye hupenyu hwebasa. Paunenge uchitenga, nyatsoteerera mhando ye "linear guides" (senge ma "ball guides" kana ma "roller guides", iyo yekupedzisira inopa kugona kukuru kwekutakura mutoro) uye giredhi rayo rekururama; lead ye "ball screw" (inokanganisa kumhanya kwekushanda), giredhi rayo rekururama, uye kana iine nzira yekuisa mutoro (inobvisa backlash uye inovandudza kuomarara). Nezvezvinhu, zvinhu zvinotakura mutoro zvakaita se "brackets" zvinofanirwa kugadzirwa ne "high-strength aluminium alloy" kana simbi, nekurapa pamusoro senge "anodizing" ne "quenching" kuti iwedzere ngura uye kuramba kupfeka. Zvakare, tarisa kururama kwe "assembly" ye "mechanical components", senge "parallelism" uye "perpendicularity" yema "axes". Kusakwana kwe "assembly" kunogona kutungamira pakunonoka kushanda, kudzikira kwekururama, uye kuwedzera kwe "component operating", uye kuwedzera kwe "component operating", uye kuwedzera kwe "component operating".

(III) Nguva Yepakati Pakati Pekukundikana (MTBF) uye Kurerutsira Kwekuchengetedza

Nguva Yepakati Pakati Pekukundikana (MTBF) chiratidzo chakakosha chehuwandu hwekuvimbika kwemidziyo, chinowanzoonekwa mumaawa. Kukosha kwepamusoro kunoratidza mukana wakaderera wekukundikana. Marobhoti eservo ane mativi matatu anowanzova neMTBF yemaawa anopfuura 10,000, nezvigadzirwa zvepamusoro zvinosvika maawa anopfuura 20,000. Paunenge uchitenga, kumbira mushumo weMTBF kubva kusangano rechitatu rekuyedza kuti usavimba chete nedata rekushambadzira remugadziri.

Kurerutsa kugadzirisa kwakakoshawo, zvichikanganisa kushanda zvakanaka uye mutengo wekugadzirisa mushure mekukundikana kwemidziyo. Paunenge uchitenga, funga nezvekugadzirwa kwekugadzirisa michina: kana zvinhu zvakakosha (senge maguides nema lead screws) zvichinyoroveswa uye kucheneswa zviri nyore, kana sisitimu yekuongorora zvikanganiso iripo (kuti uwane nekukurumidza nzvimbo yezvikanganiso), kana zvikamu zvekusakara (senge seals nema bearings) zvichigona kutsiviwa zviri nyore, uye kana mutengesi achipa zvikamu zvakakwana zvezvimwe. Uyezve, nzwisisa zvinodiwa zvekugadzirisa michina zuva nezuva (sekunge nguva dzekuzora mafuta uye kuwanda kwekuchenesa) uye ongorora kana basa rekugadzirisa riri mukati mesimba rako rekushanda.

IV. Zviratidzo zveUngwaru uye Kukwanisa Kukura: "Mukana" weKuchinjika kuKuvandudzwa kweKugadzirwa Kwemangwana

Nekufambira mberi kweIndustry 4.0, hungwaru uye kugona kukura kwave zviratidzo zvakakosha zvekukwikwidzana kwemidziyo. Paunenge uchitenga, funga nezvezvinodiwa pari zvino uye mukana wekuvandudza mune ramangwana kudzivirira kusashanda nekukurumidza.

(I) Sisitimu Yekudzora uye Nzira Yekuronga

Sisitimu yekudzora ndiyo "pfungwa" yerobhoti, inoona kuti iri nyore sei kushanda uye kuti inoshanda sei. Masisitimu ekudzora anoshandiswa anoshandisa maPLC kana ma controllers akazvipira kufamba, anotsigira multi-axis linkage control uye kuronga kwakaoma kwenzira (senge linear, denderedzwa, uye point-to-point motion). Paunenge uchitenga, funga kana interface yesystem yekudzora iri nyore kunzwisisa uye iri nyore kunzwisisa, kana ichitsigira mitauro yakawanda (kunyanya kune vanotenga kunze kwenyika, interface yeChirungu chinhu chakakosha), uye kana iine kugona kwekuchengetedza data uye kutumira kunze kwenyika (kuti iite kuti data rive nyore kuteverwa).

Nzira dzekugadzira mapurogiramu dzinosanganisira kudzidzisa mukati nekushanda kunze kwekombiyuta. Kugadzira mapurogiramu ekudzidzisa mukati kwakakodzera nzira dziri nyore dzekushanda, zvichiita kuti zvive nyore kushandisa uye hazvidi ruzivo rwakakosha rwekugadzira mapurogiramu. Kugadzira mapurogiramu kunze kwekombiyuta kwakakodzera kuronga nzira dzakaoma, zvichiita kuti mapurogiramu apedziswe pakombuta uye apinzwe mumidziyo pasina kukanganisa mashandiro ekugadzira. Kana kugadzira kunosanganisira nzira dzakawanda dzakaoma dzekushanda, zvinokurudzirwa kusarudza system yekudzora inotsigira mapurogiramu ekunze kwekombiyuta. Pamusoro pezvo, zvakakosha kusimbisa kana system yekudzora ichitsigira kuvandudzwa kwechipiri kuti isangane nezvinodiwa zvekugadzirisa mashandiro anotevera.

(II) Kutaurirana kweNzira uye Kugona Kutaurirana neData

Mumitsetse yekugadzira yakangwara, marobhoti anofanirwa kuchinjana data uye kushanda pamwe chete nePLCs, MES systems, nezvimwe zvishandiso zvinozvigadzira. Nokudaro, kupfuma uye kuenderana kwezviratidziro zvekutaurirana kwakakosha. Zviratidziro zvekutaurirana zvakajairika zvinosanganisira Ethernet (mapuroteni eEthernet eindasitiri akadai seEtherNet/IP neProfinet), RS485, uye I/O interfaces. Paunenge uchitenga, simbisa kana interface yekutaurirana yemuchina ichienderana nesystem yekudzora yemutsetse wekugadzira uripo. Semuenzaniso, kana mutsetse wekugadzira ukashandisa Siemens PLC, iva nechokwadi chekuti robhoti inotsigira protocol yeProfinet. Zvakare, teerera kune chaiyo-nguva uye kugadzikana kwekuchinjana data. Kusashanda zvakanaka kwenguva chaiyo kunogona kukonzera kunonoka mukubatana kwemidziyo, zvichikanganisa kushanda zvakanaka kwekugadzira. Kune makambani ari kuronga kuvaka internet yeindasitiri, zvakakoshawo kusimbisa kana michina ichitsigira zvinhu zvakaita seOTA (zvigadziriso zvepamhepo) uye kutarisa kure, zvichigonesa kushanda kure, kugadzirisa, uye manejimendi.

(III) Kukwanisa Kushanda Kwebasa

Zvinodiwa pakugadzira zvinogona kuchinja zvichienderana nemafambiro emusika, uye kugona kwerobhoti kusimudzira mashandiro ayo kunosarudza kugona kwayo kugadzirisa zvigadzirwa mune ramangwana. Paunenge uchitenga, funga kana michina iyi ichitsigira kudzora kwakawedzerwa kweaxis (semuenzaniso, kana ichida kuwedzerwa kuita robhoti ine axis ina kana axis shanu), kana ichigona kugadziriswa kuti ienderane nemaitiro ekuona (kuti ionekwe nemazvo uye kuti ionekwe sei), uye masisitimu emhinduro ekumanikidza (kuti iite nemazvo pakugadzira).

Uyewo, simbisa kana mutoro wemuchina uye huwandu hwekufamba zvichibvumira kuvandudzwa. Semuenzaniso, kana bracket ichigona kuwedzerwa nekurebeswa, uye kana system yeservo ichigona kugadziriswa kuti ikwane mitoro mikuru kuburikidza nekuvandudzwa kwema parameter. Midziyo ine mukana wakanaka wekukwenenzverwa inogona kuderedza zvinobudirira mari yekudyara yekuvandudzwa kwemitsara yekugadzira inotevera uye kuwedzera hupenyu hwemuchina.

VI. Pfungwa Dzinokosha Dzekutenga: Maitiro Akakwana Ekuita Sarudzo Kubva Pazvinodiwa Kusvika Pakuitwa Kwazvo

Chinangwa chikuru chekududzira zviratidzo zvehunyanzvi ndechekupa ruzivo nezvesarudzo dzekutenga. Pamwe chete nezviratidzo zvataurwa pamusoro apa, maitiro ekutenga anofanira kutevedzera pfungwa yakazara ye "kujekesa zvinodiwa - kuenzanisa nekusarudza - kusimbisa nekuona - ongororo yakazara" kuve nechokwadi chekutenga michina yakakodzera.

(I) Tsanangura Zvaunoda Nemazvo

Usati wasvika kune vatengesi, unofanira kutanga watsanangura zvinodiwa zvako zvikuru: kusanganisira mamiriro ekushanda (kubata, kuunganidza, kusanganisa, nezvimwewo), ma workpiece parameters (huremu, saizi, zvinhu), zvinodiwa pakunyatsorongeka (kunyatsorongeka kwekuisa, kudzokororwa), zvinangwa zvekushanda zvakanaka (nguva yekutenderera), zvirambidzo zvenzvimbo yekuisa, uye ma protocol e interface emitsetse iripo yekugadzira. Verenga zvaunoda muzvikamu zvakati uye dzivisa zvirevo zvisina kujeka (zvakadai se "kunyatsorongeka kwakanyanya" kana "kukurumidza kumhanya") kuti uve nechokwadi chekufananidza chigadzirwa kwakarurama uye kuita kuti kuongororwa kuenzaniswe kunotevera kuve nyore.

(II) Kuenzanisa kweVashandi Vakawanda uye Kusimbiswa Kwenzvimbo

Sarudza vatengesi vaviri kusvika vatatu vanokwanisa (izvi zvinogona kuwanikwa kuburikidza nekuratidzwa kweindasitiri, mapuratifomu eB2B ekutengeserana kwekunze, mazano evezera, nedzimwe nzira). Kumbira tsanangudzo dzakadzama dzezvigadzirwa, mhinduro dzehunyanzvi, uye masevhisi ekuyedza prototype. Tarisa pakuenzanisa zviratidzo zvekushanda, marongero esystem yeservo uye chimiro chemakanika, uye zviyero zvekuvimbika zvakaita seMTBF. Tarisawo ruzivo rwemutengesi muindasitiri (semuenzaniso, zvidzidzo zvemuenzaniso zvakabudirira mumaindasitiri akafanana) uye kugona kwebasa mushure mekutengesa (semuenzaniso, nzvimbo dzebasa mumusika wakatarwa, nguva yekupindura, nguva yewaranti, nezvimwewo).

Kana mamiriro ezvinhu achibvumira, iva nechokwadi chekuti waita bvunzo dzemuenzaniso panzvimbo yacho: tevedzera mamiriro chaiwo ekugadzira, edza kururama kwenzvimbo yerobhoti, kumhanya kwekushanda, uye kugona kwayo kurema, tarisa kugadzikana uye kudedera kwemuchina mushure mekushanda kwenguva refu, uye simbisa kuti system yekudzora iri nyore kushandisa. Pakutenga kwekutengeserana kwenyika dzese, simbisawo kana michina yacho ichizadzisa zvinodiwa nemusika weindasitiri (semuenzaniso,

zvitupa zveCE neUL) kudzivirira matambudziko anokanganisa kubvumidzwa kwemutero nekushandiswa kwemutero.

(III) Tarisa paMari Inoshandiswa paKurarama Kwese

Mari yekutenga haingosanganisiri mutengo wekutenga michina chete, asiwo mari yese yehupenyu, kusanganisira kuisa nekuisa, zvikamu zvekuchengetedza, kugadzirisa, uye kushandiswa kwesimba. Semuenzaniso, mimwe michina inogona kunge iine mutengo wakaderera wekutenga asi ichishandisa zvikamu zvisiri zvemhando yepamusoro, zvichiita kuti zvikamu zvekuchengetedza zviome uye zvidhure kuwana. Mimwe michina, kunyange ichidhura zvakanyanya, inogona kunge iine mwero wepamusoro wekushandisa simba remagetsi, zvichikonzera kuchengetedza magetsi kwenguva refu. Kugadzirisa kuri nyore, uye zvikamu zvekuchengetedza zvinowanikwa zviri nyore, zvichikonzera mitengo yakaderera yehupenyu.

Pakuongorora mari inoshandiswa, zvakakosha kuverenga avhareji yemari inoshandiswa pagore zvichienderana nehupenyu hwemuchina hunotarisirwa (kazhinji makore mashanu kusvika gumi). Kukosha kwasara kwemuchina (semuenzaniso, kana uchigona kutengeswazve kana kuchinjwa mushure mekurega basa) kunofanirwawo kutariswa kuti pave neongororo yakakwana yekushanda zvakanaka kwemuchina.

(IV) Simbisa Basa reKutengesa Mushure meKutengesa uye Rutsigiro rweTechnical

Ma-servo manipulators ane axis nhatu michina chaiyo inoshanda otomatiki, inoda rutsigiro rwehunyanzvi mushure mekutengesa kuti iiswe, iiswe, igadziriswe, igadziriswe, uye ivandudzwe nehunyanzvi. Pakutenga, zvakakosha kujekesa mabasa emutengesi mushure mekutengesa: kana kuiswa uye kuiswa kwemahara kuchipihwa, kana kudzidziswa kwemushandisi kuchipihwa, nguva yewarandi (zvikamu zvikuru zvakaita semamota eservo zvinowanzova newarandi yegore 1-2, nepo unit yese iine warandi yemwedzi 6 kusvika pagore 1), nguva yekupindura kukanganisa (inoda mhinduro mukati memaawa makumi maviri nemana uye sevhisi panzvimbo yacho mukati memaawa makumi mana nemasere), uye kana kubvunzana kwehunyanzvi kwenguva refu kuchipihwa.

Pakutenga zvinhu zvekutengeserana nedzimwe nyika, zvakakoshawo kusimbisa kana mutengesi achipa sevhisi yekuyambuka miganhu kana kuti aine hukama nevanopa masevhisi vemunharaunda vari mumusika wakatarwa kudzivirira kutadza kwemidziyo kunogona kukonzera kuti michina ishande kwenguva refu nekuda kwekugadzirisa kusingatarisirwi.

Mhedziso

Kutenga robhoti reservo rine mativi matatu ipurojekiti yakarongeka inosanganisira tekinoroji, mutengo, uye sevhisi. Chinokosha ndechekufananidza zvinodiwa zvako zvekugadzira nehunyanzvi hwemuchina. Kubva pa "simba rakaoma" rekushanda kwepakati kusvika pa "kuenderana" kwekuchinja, kusvika pa "kugadzikana" kwekuvimbika uye "kugona" kwekuwedzera, chiratidzo chimwe nechimwe chakakosha pakushanda kwemuchina uye kukosha kwenguva refu.