Ins & Outs z'intwaro z'amaroboti y'inganda

Ins & Outs z'intwaro z'amaroboti y'inganda

Nk’ibikoresho vy’ubuhinga bwikoresha bikoreshwa mu bibanza vy’inganda, ukuboko kw’ururoboti kw’inganda gufise ibikoresho bitatu canke birenze bishobora gutegurwa.

Bishoboza guhindura ahantu ibikoresho canke ibikoresho bikoreshwa kugira ngo bishobore gushitsa uburyo bwo gukora nk’ugusudira, gutera irangi, gutera amapaleti, gushiramwo/gukuraho ibikoresho vy’imashini no kubikoranya.

1. Itandukaniro hagati y’Ibirwanisho vy’Ivyuma vy’Inganda n’Ivyuma vy’Ivyuma Bikorana

Amaboko y'amarobo y'inganda n’umuvuduko mwinshi wo gukora n’inguvu zikomeye zo gutera, vyagenewe umuvuduko munini, umuzigo uremereye n’ugukomeza gukora vyinshi. Bitegerezwa gukikuzwa n'inzitiro z'umutekano kugira ngo bitandukanye abantu n'amamashini, bikaba bituma ugukorana kw'abantu-roboti kwa hafi kudashoboka.

Amarobot akorana n’abandi afise ibikoresho vyubatswemwo-bishobora gutahura inguvu zishobora gutahura iyo umuntu akoranye, ivyo bikaba bizohagarara ubwo nyene iyo bihuye n’abakozi. Naho umuvuduko n’ubushobozi bwo gutwara ibintu bishobora guhungabana, muri rusangi ntibisaba inzitiro zo kwikingira kandi birashobora gukorana n’ababikoresha ku kibanza kimwe co gukoreramwo.

2. Ubutandukane mu mirongo y'ibikorwa

Inyungu z’amaboko y’amaroboti y’inganda: umuvuduko munini wo gukora, umuzigo uremereye n’ugushika kure, bibereye gukora vyinshi bikomeye bikomeza.

Inyungu z’amaroboti akorana n’abandi: araremereye kandi arashobora guhinduka, yamara arafise umuvuduko muto be n’umuzigo munini, akoreshwa gusa mu gukora ibikoresho bitobito be n’ibikoresho bitobito.

3. Ivyerekeye Uguhingura Bishobora Gukoreshwa

Amaboko y'amarobo y'inganda: ibikorwa vy'umuzigo munini-n'umuzigo uremereye-harimwo gusudira, gutera ibikoresho biremerera, gutera ibimenyetso, no gucungera imashini.

Amarobot akorana: ibice bito-koranya, gusuzuma, gusukura, gukoresha umuco, no gukora mu buryo buhinduka n'ibice bito n'ubwoko butandukanye bw'ibicuruzwa.

Amaboko y'amaroboti y'inganda afise imiterere y'uruhererekane. Igishingiro gikomeye gishizwe hasi, gifise amahuzu menshi y’ubuhinga n’amahuza azunguruka ahuye kuva ku mpera-kugeza ku mpera -, gushika ku kiganza no ku mpera y’igikoresho. Ivyinshi mu bikoresho vy’amarobo biri kw’isoko bikoresha iyo nzira y’uruhererekane; hariho umubare mutoyi w’amaroboti asa n’ayo ariko afise ibintu bikeyi bishobora gukoreshwa, ivyo tuzobivuga mu nyuma. Igihuza cose gihuye n’umurongo umwe w’inyigisho ushobora kugenzurwa wigenga, kandi ibigereranyo bisanzwe bifise umurongo utandatu wanditsweko J1 gushika kuri J6.

Izo nsenga zitandatu zica mu mirwi ibiri: Izo shoka zitatu za mbere J1 (ishimikiro), J2 (urutugu) na J3 (inkokora) ni shoka zo gushiramwo. J1 azunguruka ukuboko kwose ibubamfu n’iburyo, J2 azunguruka ukuboko kwo hasi imbere n’inyuma, J3 na we akaduza ukuboko kwo hejuru akakumanura. Bakorana, barashobora gukura ikiganza mu kibanza ico ari co cose kiri mu ibahasha ry’akazi.

Ibindi bice bitatu J4, J5 na J6 bishizwe imbere mu kiganza nk’ibice vy’inzira. Bashobora gutera, guhengamira no guhindura igikoresho c’iherezo kugira ngo kijane n’ibikoresho bikoreshwa mu mfuruka iyo ari yo yose.

Mu mvugo yoroshe: amashoka atatu ni yo agena aho ico gikoresho kiri, mu gihe ayandi atatu agahindura aho gihagaze. Ivyuma bitandatu bigereranya uburyo bukeyi busabwa kugira ngo umuntu ashobore gushiramwo igikoresho mu buryo bubereye ku ntumbero iyo ari yo yose no mu mfuruka iyo ari yo yose mu kirere, ni co gituma amaboko y’amaroboti atandatu -ari umuti nyamukuru wo gukoresha uruganda.

Amaze kugabanya ivyiciro vy’ibigereranyo nk’amaboko y’amaroboti y’imirongo itandatu-, amaroboti akorana n’amaroboti akora amapaleti, impapuro z’ibisobanuro zikora nk’inzira nyamukuru yo gusuzuma ubushobozi bw’ikigereranyo kimwekimwe cose. Ivyo bipimo vy’izina bitangwa n’abahinguzi ni ahanini agaciro keza karonswa mu bihe vyiza vy’ibikorwa, ivyo bikaba akenshi bihisha imipaka y’ibikorwa bihambaye kandi bishobora gutuma umuntu ahitamwo nabi ikigereranyo.

Ibintu bitanu nyamukuru bigena ata guca ku ruhande ubushobozi bw’amaboko y’amaroboti: umuzigo ugereranijwe, umurongo w’ibikorwa, ukuri kw’ugusubiramwo, igihe c’ingendo, n’ingero z’umwidegemvyo (umubare w’imirongo). Ikizwi ni uko umuzigo w’amahera n’umurongo w’ibikorwa bifatanya; birakenewe ko hakorwa isuzuma ryose ry’ibintu vyose aho gusuzuma ikintu kimwe cose kiri ukwaco.

1. Umuzigo

iyo ukora ku muvuduko ugereranijwe n’ugushika ku rugero rusanzwe, ata gusenyuka kw’ibikorwa canke gutakaza ubuzima bw’igikorwa.Imitego nyamukuru yo kwirinda mu gihe co guhitamwo ikigereranyo

Ntuharure gusaIt yerekeza ku buremere bw’umuzigo burengeye ubundi bwose ukuboko kw’ururobo gushobora kwikorera ata guhinduka guheze uburemere bw’igikoresho ubwaco; uburemere bwose bw'Iherezo-ry'-Ibikoresho vy'Iminwe (EOAT) butegerezwa kwongerwako, harimwo ibikoresho nk'ibifata, ibikombe vy'amazi, ibikoresho vy'uguhindura vuba-, ibimenyetso n'imirongo.

Ivyangombwa bibiri vy'ingenzi

 

Ivyo bikoresho bisobanurwa bishingiye ku kibanza c’uburemere bw’isi n’urugendo rwo gutera. Ibikoresho biremerera cane canke guhindura ikibanza c’uburemere bw’isi bizogabanura ubushobozi nyabwo bwo kwikorera. Igihe cose suzuma umurongo w'umuzigo-ushika aho kwizigira gusa agaciro k'umuzigo w'izina kwamamajwe.

 Igitigiri c’umutekano co kuva kuri 20% gushika kuri 30% kigomba kubikwa mu gihe co guhitamwo ivyerekanwa kugira ngo umuntu ashobore kurwanya ubudahinduka mu gihe co kwihutisha no guhagarara no kwakira ibikoresho bizosubirwamwo mu gihe kizoza. Umuzigo w’inyungu uhuye gusa n’ibisabwa vyo gukora vyerekana ko ataco ukora.

2. Gushikira cane

Bisigura urugendo rwo hejuru rw'umurongo ugororotse-va hagati y'ishingiro ry'ukuboko kw'ururobo gushika ku ruhande rw'igikoresho, rugena ibahasha ry'ibikorwa ryiza. Aho ikora si umubumbe usanzwe; uturere tw’impumyi turiho hejuru n’inyuma y’aho umuntu ashobora gukora, kandi ugutembera kw’amagufa ni nabi cane mu bice biri hafi y’aho umuntu ashobora gukora.

Amabwirizwa yo guhitamwo ivyitegererezo

Ntuhitemwo ikigereranyo gishingiye gusa ku vyo umuntu ashobora gushikako. Suzuma ibahasha ry'ibikorwa ku bijanye n'aho gutora -n'aho -hashirwa, imiterere y'ibikoresho, n'aho ibikoresho binjira/bisohoka. Iherezo ry’ibikoresho rishobora kwagura umurongo w’ibikorwa, yamara imfuruka z’uguhinduranya z’amaguru zizogabanya urutonde rw’ibikorwa vyiza. Gushika kure cane bihuye n’ubushobozi bwo gutwara ibintu bukeyi be n’ikirenge kinini co hasi c’ikigo, kuko ivyo bipimo bibuzanya.

3. Gusubiramwo Ugushiramwo Ivyiza vs Ugushiramwo Ivyiza

Gusubiramwo ukuri kw'aho ushize

Uguhuza kw’ukuboko kw’ururobo gusubira kenshi ku ntumbero z’intumbero zigishijwe n’amaboko, mu bisanzwe ±0.0X mm. Ni ikintu nyamukuru co guteza imbere kigaragazwa n’abahinguzi kandi kibereye ibikorwa vyinshi bifise inzira z’inyigisho zidahinduka.

Ugushirwa ahantu kwose

Ugushikama kw’ukuboko kw’ururobo gushika ku nzira zitamenyerejwe zikomoka ku bishushanyo vya CAD, porogarama zo gukora porogarama zitari ku murongo canke ubuhinga bwo kubona. Ico kigereranyo c’ukuri kiri hasi cane y’ugusubiramwo ukuri kw’aho umuntu ari kandi ntikigaragara cane mu bisobanuro vy’ibintu. Ikora nk'ikigereranyo nyamukuru c'iporogarama zitari ku murongo, ubufatanye bw'iyerekwa n'ibikorwa vyo guhinduranya amarobo.

Iciyumviro kitari co gisanzwe

Ivyo bipimo bibiri ntibishobora guhinduranwa. Ugusubiramwo cane gushiramwo ibintu vy’ukuri ntivyemeza ko umuntu ashobora gushiramwo ibintu vy’ukuri vy’ukuri.

4. Igihe c'ingendo / umuvuduko wo gukora

Iyi parametere yerekana ubushobozi bwo gukora ibikoresho kandi iserukira urutonde rwiza kuruta izindi mu bijanye n’ibisobanuro vy’ibicuruzwa. Igihe c'ingendo n'umuvuduko munini vyasohowe n'abahinguzi biharurwa mu buryo busanzwe bw'ibikorwa bifise urugendo rugufi, imizigo mikeyi n'ibipimo vyiza, bidashobora guhura n'ibidukikije vy'ukuri-vy'isi.

Igihe nyaco c’ingendo gishikirwa n’uburemere bw’umuzigo, urugendo rw’urugendo, inzira ziri hagati, n’igihe co guhagarara (co gutanga, gusudira, gucungera neza). Umusaruro nyawo w’umwimbu muri rusangi uri hasi y’agaciro kagereranywa. Amakuru y’igerageza yagereranywa canke ibisubizo vy’igereranyo bizoba ari vyo bihambaye ku bijanye n’ibintu nyamukuru vy’uguhingura.

5. Ingero z'Umwidegemvyo (DOF) / Umubare w'Imirongo

Bivuga umubare w’ingingo zishobora kwinyiganza zidashingiye ku kuboko kw’ururobo, ivyo bikaba ari vyo bigena ukuntu umukozi w’iherezo ashobora guhindura uko akora:

1. 4-axis robots (amaroboti ya SCARA, amaroboti menshi akoresha amapaleti): Umuvuduko munini kandi ukomeye, n’ibikoresho vy’iherezo bishobora gukora gusa mu buryo buhagaze. Ni vyiza ku bikorwa vyo gutoragura-n'aho bishirwa, gutera amapaleti n'ibikorwa vy'iteraniro vyoroshe.

2. Amaboko y’amaroboti afise imirongo 6: Ashobora guhindurwa mu mfuruka zose, bikaba bituma umuntu ashobora gushiramwo ibintu bishobora gukoreshwa. Ibereye gusudira, gukoranya ibintu bikomeye, no gushiramwo/gukurako imashini ibikoresho bifise imiterere idasanzwe.

3. 7-axis redundant robotic arms: Ishobora kwirinda intambamyi z’ibikoresho mu gihe iguma ihagaze neza kw’iherezo-effector mbere no mu bibanza vy’akazi bikomeye, bibereye mu bihe bikomeye vy’akazi bifise umwanya muto.

Ingingo ngenderwako y'uguhitamwo: Gutunganya amashoka bivanye n’ivyo usaba vy’ukuri. Ivyitegererezo vy'imirongo myinshi-ivy'agaciro kanini ntibikenewe ku bikorwa vyoroshe vy'umurongo kugira ngo wirinde gukoresha amahera adakenewe.

Impapuro z’ibisobanuro zigira insiguro gusa iyo zihuye n’imigenderanire nyayo y’uguhingura. Ugusubiramwo kwa ±0.05 mm, igipimo gihambaye co gusudira, ntaco bimaze ku mirongo y’ugutera ibimenyetso y’amatoni 400, aho igihe co kwinyiganza n’ikirenge co hasi bifata imbere.

1. Gusudira: Hitamwo amarobot ashingiye ku nzira yo gusudira aho guhitamwo umuzigo

Arc welding yizigiye cane gukurikirana neza inzira. Ivyumba vy’ugusudira akenshi biragoramye, bihagaze canke bipfutse imbere cane mu bikoresho bifatanya. Itara ry’ugusudira ritegerezwa kuguma rifise urugendo rudahinduka rwo guhagarara be n’umwanya w’urugendo, kuko ikidengeri co gusudira gishobora gushikirwa cane n’ugukevya gutoyi. Amatara n’imirongo yayo bipima ibiro bikeyi gusa, rero umuzigo w’inyungu si co kintu gihambaye kuruta ibindi vyose. Ibisabwa nyamukuru birimwo inzira ikomeye cane, ukuboko guke kandi kwihuta, n'ugushika ku kazi. Umuti ushimikijwe ni ururobo rufise imirongo 6-rufise umuzigo w’ibiro 6–20, rufise ubuhinga bwo gukurikirana umurongo canke ubuhinga bwo gutahura ibintu biciye mu nzira n’umugenzuzi ashobora gutuma umuntu ashobora gukora neza.

2. Gusigira no Gutanga Ivyuma Bifatanya: Gushira Imbere Gupfuka Bimwe Kuruta Umuvuduko wo Gutera

Ivyiyumviro bibiri vy'ingenzi birakoreshwa mu gusigira amaroboti: ubwubatsi bushitse-bushobora guturika n'uburemere buhoraho bw'impuzu. Ivyumba vy’irangi birimwo umugabo w’umuriro, ivyo bikaba bituma amaboko y’amarobo asanzwe aba akaga gakomeye k’umuriro. Imbunda yo gutera imiti itegerezwa kuguma ifise urugendo, imfuruka n’umuvuduko w’urugendo; ukwinyiganza kudahuye bituma umuntu agira utunenge dusanzwe nk’ugusenyuka, ibice bitagira ikintu n’ugusenyuka kw’igiti c’umuceri. Imyobo biciye muri-amaboko imbere mu nzira y'irangi n'imiyoboro y'umuyaga kugira ngo wirinde guhungabanya imiyoboro n'uburyo bwo gutera. Ivyuma bifise uburemere buke, bifise uburebure burebure-bishobora guturika-bifise imirongo 6 ni vyiza cane, bifise uburinzi bushitse bwa IP ku bijanye n’uguterwa n’imiti myinshi kandi bibereye inzira zidahinduka aho gukoresha ibintu bikomeye.

3. Gutera amapaleti no gukuraho amapaleti: Hitamwo amaroboti hakurikijwe umuzigo, igihe co gushikako n’igihe co gukora

Ugukora neza cane ntibikenewe kugira ngo umuntu akoreshe amapaleti. Guhitamwo ivyerekanwa bishingiye ku bintu bitatu: umuzigo, umurongo w’akazi n’umuvuduko w’ingendo. Amakarito asanzwe apima ibiro 15–50, kandi amaroboti ategerezwa gupfuka ahantu hose amapaleti ateranywa. Igipande giteretse ku metero 2 c’uburebure gisaba nk’imetero 3 z’uburebure, n’umusaruro upimwa mu makarito ku munota. 4-amaroboti atera amapaleti atanga ibikorwa vyiza. Amaboko yabo ahagaze yihariye akuraho amashoka atari ngombwa, agatuma inguvu zose z’umuyagankuba zija mu bushobozi bwo gutwara ibintu kandi zigashika ahantu henshi kugira ngo zikoreshe amahera menshi.

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