Iyosimba rekugadzirisa truss structuremudziyo wekugadzirisa zvinhu mutsva unosanganisa mabhenefiti ekufamba kwemutsetse wetruss (gantry) nehunhu hwekubatsira nemaoko hwepower manipulator (kana balance crane). Yakagadzirirwa kupa vashandisi mhinduro yakakura, yakanyatsojeka, iri nyore uye inochengetedza vashandi yekubata nekumisa zvinhu zvinorema, kunyanya kune zviitiko zvemaindasitiri zvinoda kushanda nemaoko uye nzvimbo yakakura yekushanda.
Kuumbwa kwepakati uye musimboti wekushanda
Chimiro chikuru cheTruss (Chimiro cheGantry):
Matanda nemakoramu: gadzira furemu yakagadzikana yakaita se "gonhi" iyo inofukidza nzvimbo yese yekushandira.
Mataira ekutungamira nemasisitimu ekufambisa: Mataira ekutungamira ane magadzirirwo akanyatsogadzirwa anoiswa pamatanda, anowanzo dzorwa nemagiya, mabhandi anoenderana kana screws dzebhora dzinofambiswa nemamota eservo, kuitira kuti trolley (kana kuti running mechanism) inotakura manipulator emagetsi ikwanise kufamba nemazvo, zvakanaka uye nepamusoro penzvimbo yakakura ichitevedza X-axis (nzira yakatambanuka). Mamwe masisitimu anogonawo kukwanisa kufamba achitevedza Y-axis kuti afukidze nzvimbo yakakura yendege.
Chinodhonza Simba/ Balancer Arm: Iyi ndiyo core operating unit yesystem, yakaiswa pasi pemobile trolley patruss. Inoshandisa pneumatic balance, electric balance kana mechanical balance principle kuti ibvise kana kuenzana huremu hwakawanda hweworkpiece yakabatwa, kuitira kuti mushandi agone kufambisa zvinhu zvinorema zviri nyore nesimba diki rekusundidzira nekudhonza. Power manipulator pachayo ine kugona kusimudza nekudzika muZ axis (vertical direction), pamwe nerudzi rwakati rwekutenderera nekutsvedza. End-Effect / Gripper: Yakaiswa pamagumo epower manipulator, ndiyo chikamu chinosangana zvakananga neworkpiece. Yakagadzirwa zvinoenderana nehunhu hwechigadzirwa chakatakurwa (chimiro, saizi, huremu, zvinhu, surface sensitivity, nezvimwewo). Yakajairika ndeiyi: pneumatic grippers, vacuum suction cups, electromagnetic suction cups, clamps, hooks, nezvimwewo. Mushandi anodzora kuvhurwa nekuvharwa kwegripper kuburikidza nemubato wekushanda kana bhatani papower manipulator. Control System: Kana ichienzaniswa nemarobhoti anozvishandira ega, control system yayo iri nyore. Inonyanya kuita basa re:
Kuisa uye kufamba kwetrolley yeX/Y axis (inogona kushandiswa nemagetsi kana kudhonzwa nemaoko chete).
Kugadziriswa kwesimba rekuenzanisa kwesimba rekushandisa simba.
Kudzora kuvhura nekuvhara kwechibatiso.
Basa rekuchengetedza.
Zvakanakira
Ruzivo rwakanakisisa rwekuchengetedza vashandi: Pamwe chete ne "zero gravity" effect yesimba rinoshandisa simba, vashandi vanogona kutakura mazana emakirogiramu kana matani ezvinhu zvinorema zviri nyore.
Kufukidzwa kwakakura kwekushanda: Chimiro chetruss chinopa nzvimbo yakakura yekushanda yakatambanuka kupfuura crane ye cantilever yakazvimirira kana power manipulator imwe chete, iyo inogona kufukidza nzvimbo yese yekushandira kana kufukidza zvishandiso zvakawanda.
Kuisa zvinhu nemazvo uye kuchinjika nemaoko: Kunobatanidza kugona kwekuisa zvinhu nemazvo kwemuchina nekutonga kwemunhu. Vashandisi vanogona kushandisa mhinduro yekubata uye kutonga kwekuona kuti vawane nzvimbo uye kuunganidza zvinhu nenzira yakanyatsojeka, inochinjika, uye inochinjika kune mamiriro akaomarara kupfuura marobhoti chaiwo.
Kuvandudza kushanda zvakanaka kwekugadzira: Kunoderedza kushanda nesimba uye kukurumidzisa kubata, nokudaro zvichivandudza kushanda zvakanaka kwemutsara wekugadzira.
Iva nechokwadi chekuti basa rakachengeteka: Deredza zvakanyanya njodzi yekukuvara kunokonzerwa nebasa senge kupwanyika, kusvetwa, uye kukuvara kwekupwanywa kunogona kukonzerwa nekubata zvinhu zvinorema nemaoko.
Gadzirira maworkpiece akaomarara: Mapower manipulators ane mabhenefiti akasiyana kune maworkpiece ane maumbirwo asina kurongeka, nzvimbo dzisina kugadzikana dzegiravhiti, kana kuti anoda kugadziriswa kwema angle nemaoko.
Kushandiswa kwenzvimbo yakakura: Kazhinji kacho yakaiswa pamusoro pemutsetse wekugadzira, haitore nzvimbo inokosha pasi.
Kudyara mari kunochinjika zvishoma nezvishoma: Kana tichienzanisa nemarobhoti anongoshanda otomatiki, mari yekutanga uye kuoma kwayo kushandisa mapurogiramu kunowanzova kwakaderera, uye kune purofiti yakawanda pakudyara mari.
Nguva yekutumira: Chikumi-09-2025