Inkqubo yoLwakhiwo loomatshini
Ukusuka kumbono wesakhiwo soomatshini, iirobhothi zamashishini zahlulwe ngokubanzi kwiirobhothi ezilandelelanayo kunye neerobhothi ezihambelanayo. Uphawu lweerobhothi ezilandelelanayo kukuba ukuhamba kwe-axis enye kutshintsha imvelaphi yenkqubo yokulungelelanisa enye i-axis, ngelixa ukuhamba kwe-axis enye kwi-robot ehambelanayo ayitshintshi imvelaphi yenkqubo yokulungelelanisa enye i-axis. Iirobhothi zakuqala zoshishino zonke zasebenzisa iindlela ezilandelelanayo. Indlela enxuseneyo ichazwa njengento evaliweyo{3}}yendlela yeluphu apho iqonga elishukumayo kunye neqonga elisisigxina zidityaniswe ubuncinane ngamatyathanga amabini azimeleyo ekinematic, indlela inamadigri amabini okanye ngaphezulu enkululeko, kwaye iqhutywa ngokuhambelanayo. Indlela ehambelanayo inamacandelo amabini: isihlahla kunye nengalo. Uluhlu lwentshukumo lwengalo lunempembelelo ebalulekileyo kwindawo yokusebenza, ngelixa isihlahla silunxibelelwano phakathi kwesixhobo kunye nomzimba oyintloko. Xa kuthelekiswa neerobhothi ezilandelelanayo, iirobhothi ezinxuseneyo zineengenelo ezifana nokuqina okuphezulu, uzinzo lwesakhiwo, umthamo ophezulu wokuthwala{7}}umthamo wokuthwala, ukuchaneka kwentshukumo ephezulu{8}, kunye nomthwalo osezantsi oshukumayo. Ekuzimiseleni kwesikhundla, isisombululo sangaphambili kwiirobhothi ze-serial silula, kodwa isisombululo esichasayo sinzima kakhulu; ngokuchaseneyo, kwiirobhothi ezihambelanayo, isisombululo sangaphambili sinzima, kodwa isisombululo esichasayo silula kakhulu.
Inkqubo yokuqhuba
Inkqubo yokuqhuba sisixhobo esinika amandla kwinkqubo yesakhiwo soomatshini. Ngokuxhomekeke kumthombo wamandla, iinkqubo zokuqhuba zihlelwa ngokweendidi ezine: ihydraulic, pneumatic, electric, and mechanical. Iirobhothi zamandulo zisebenzisa iidrive zehydraulic. Nangona kunjalo, ngenxa yeengxaki ezinjengokuvuza, ingxolo, kunye nokungazinzi-kwesantya esisezantsi, kunye namandla amakhulu kunye nexabiso leyunithi, ii-hydraulic drives zisetyenziswa kuphela kwiirobhothi ezinkulu,{4}}ezinzima, iirobhothi ezihambelanayo, kunye nezinye iinkqubo ezizodwa. Iidrive ze-pneumatic zibonelela ngezinto eziluncedo ezifana nesantya esiphezulu, ubume benkqubo elula, ukugcinwa lula, kunye neendleko eziphantsi. Nangona kunjalo, izixhobo ze-pneumatic zisebenza kuxinzelelo oluphantsi, zenza kube nzima ukubeka indawo echanekileyo, kwaye ngokubanzi zisetyenziselwa ukuqhuba iziphumo zokugqibela kwiirobhothi zamashishini. I-pneumatic grippers, iisilinda ezijikelezayo, kunye neekomityi zokufunxa umoya zingasetyenziswa njengeempembelelo zokuphela komthwalo ophakathi ukuya komncinci wokubamba kunye nokuhlanganisa. Iidrive zombane ngoku zezona ndlela zisetyenziswa kakhulu zokuqhuba. Iimpawu zabo zibandakanya ukunikezelwa kwamandla afanelekileyo, ukuphendula ngokukhawuleza, amandla amakhulu okuqhuba, ukufumanisa umqondiso ofanelekileyo, ukuhanjiswa, kunye nokucubungula, kunye nokukwazi ukusebenzisa iindlela ezahlukeneyo zokulawula eziguquguqukayo. Iinjini zokuqhuba ngokuqhelekileyo zisebenzisa iimotor ze-stepper okanye ii-servo motors; iinjini zokuqhuba ngqo nazo ziyasetyenziswa, kodwa ezi zibiza kakhulu kwaye zinolawulo oluntsonkothileyo. Izinciphisi ezihambelana neemotor zihlala zinciphisa i-harmonic, izinciphisi ze-cycloidal pinwheel, okanye izinciphisi zegiya zeplanethi. Ngenxa yeemfuno ezibalulekileyo zokuqhuba umgca kwiirobhothi ezinxuseneyo, iimoto zomgca zamkelwe ngokubanzi kule ndawo.
Inkqubo yoVavanyo
Inkqubo yezivamvo yerobhothi iguqula ulwazi olwahlukeneyo lwangaphakathi kunye nendalo esingqongileyo ukusuka kwimiqondiso ukuya kwidatha kunye nolwazi olunokuthi irobhothi ngokwayo okanye ezinye iirobhothi ziqonde kwaye zisebenzise. Ngaphandle kokubona ubungakanani bomatshini obunxulumene nemeko yayo yokusebenza, njengokufuduswa, isantya, kunye namandla, itekhnoloji yembono yokubona yeyona nto ibalulekileyo yokubona irobhothi kwishishini. Iinkqubo ze-servo ezibonakalayo zisebenzisa ulwazi olubonakalayo njengemiqondiso yempendulo yokulawula kunye nokulungelelanisa indawo yerobhothi kunye nokuma. Iinkqubo zokubona ngoomatshini zikwasetyenziswa ngokubanzi ekuhloleni umgangatho, ukuchongwa kwesixhobo sokusebenza, ukuhlela ukutya, kunye nokupakishwa. Inkqubo yokuva iqulethe iimodyuli zenzwa zangaphakathi nangaphandle; ukusetyenziswa kwezivamvo ezikrelekrele kuphucula ukushukuma kwerobhothi, ukuguquguquka, kunye nobukrelekrele.
