IRobhothi yesigcawungokwesiqhelo yamkela uyilo olubizwa ngokuba yiParallel Mechanism, esisiseko sesakhiwo sayo esingundoqo. Uphawu lweendlela ezihambelanayo kukuba amatyathanga ashukumayo amaninzi (okanye amatyathanga esebe) adityaniswe ngokuhambelana neqonga elimiselweyo (isiseko) kunye neqonga elishukumayo (isiphelo somphumela), kwaye la matyathanga esebe asebenza ngaxeshanye ukumisela ngokudibeneyo isikhundla kunye nesimo sengqondo iqonga elihambayo elihambelana neqonga elimiselweyo.
Uhlobo oluqhelekileyo lwendlela ehambelanayo kwiiirobhothi zesigcawuyi Delta(Δ)Ulwakhiwo oluphambili lweziko ikakhulu luqulathe la macandelo alandelayo:
1. I-Base Plate: Njengesiseko sokuxhasa i-robot yonke, igxininisekile kwaye ngokuqhelekileyo ixhunywe kumhlaba okanye ezinye izakhiwo ezixhasayo.
2. Acumfundisi Iingalo: Esinye isiphelo sengalo nganye esebenzayo similiselwe kwiqonga elisisigxina, kwaye elinye isiphelo lidityaniswe kwikhonkco eliphakathi ngokudibanisa. Ingalo esebenzayo idla ngokuqhutywa yimoto yombane (efana ne-servo motor) kwaye iguqulelwe kwi-linear echanekileyo okanye intshukumo ejikelezayo ngokunciphisa kunye nendlela yokuhambisa.
3. Unxulumano: Ngokuqhelekileyo ilungu eliqinileyo elixhunywe ekupheleni kwengalo esebenzayo, lenza isakhelo esivaliweyo sikanxantathu okanye imilo ye-quadrilateral. Olu nxibelelwano lubonelela ngenkxaso kunye nesikhokelo kwiqonga eliphathwayo.
4. Iqonga leefowuni (i-End Effector): ekwabizwa ngokuba yi-end effector, yinxalenye yefowuni yesigcawu apho abantu banxibelelana ngokuthe ngqo kunye nento yokusebenza, kwaye banokufaka izixhobo ezahlukeneyo ezifana ne-grippers, iikomityi zokufunxa, imilomo, njl njl. ixhunywe kwikhonkco eliphakathi ngokusebenzisa intonga yokudibanisa, kunye nokutshintsha indawo kunye nesimo sengqondo ngokuhambelana nokuhamba kwengalo esebenzayo.
5. Amalungu: Ingalo esebenzayo ixhunywe kwikhonkco eliphakathi, kwaye ikhonkco eliphakathi lidibaniswe neqonga elihambayo ngokusebenzisa i-high-precision rotary joints okanye ii-hinges zebhola, ukuqinisekisa ukuba ikhonkco ngalinye lesebe liyakwazi ukuhamba ngokuzimeleyo nangokuhambelanayo.
Uyilo lwesixhobo esihambelanayo somzimba womntu wefowuni yesigcawu sinezi nzuzo zilandelayo:
Isantya esiphezulu: Ngenxa yokusebenza kwangaxeshanye kwamasebe amaninzi endlela ehambelanayo, akukho zidanga zenkululeko ezingafunekiyo ngexesha lenkqubo yokunyakaza, ukunciphisa ubude kunye nobuninzi bekhonkco lokuhamba, ngaloo ndlela kufezekiswa impendulo yesantya esiphezulu.
Ukuchaneka okuphezulu: Izithintelo zejometri zeendlela ezihambelanayo zomelele, kwaye ukunyakaza kwekhonkco legatsha ngalinye kunyanzeliswa ngokufanayo, okulungele ukuphucula ukuchaneka kokumiswa ngokuphindaphindiweyo. Ngoyilo oluchanekileyo lomatshini kunye nolawulo oluchanekileyo lwe-servo,IRobhothi yesigcawuinokufikelela kwi-sub millimeter yokuchaneka kokubeka indawo.
Ukuqina okuqinileyo: I-triangulal okanye i-polygonal yokudibanisa i-rod structure inokuqina okulungileyo, inokumelana nemithwalo ephezulu kunye nokugcina ukusebenza kakuhle okuguquguqukayo, kwaye ifanelekile kwi-high-speed and high-precision material handling, indibano, ukuhlolwa kunye neminye imisebenzi.
Ulwakhiwo olubambeneyo: xa kuthelekiswa nothotho lweendlela (ezinje ngothotho lweerobhothi ze-axis ezintandathu), indawo eshukumayo yeendlela ezihambelanayo zigxininiswe phakathi kwamaqonga azinzileyo kunye namaqonga ashukumayo, okwenza ulwakhiwo lulonke ludityaniswe ngakumbi kwaye luthathe indawo encinci, lusenza ukuba silungele ukusebenza kwindawo encinci. iindawo ezingqongileyo.
Isishwankathelo, umzimba oyintloko werobhothi yefowuni yesigcawu uyayamkelauyilo lwesixhobo esihambelanayo, ngokukodwa umatshini we-Delta, onika i-robot ngeempawu ezifana nesantya esiphezulu, ukuchaneka okuphezulu, ukuqina okuqinileyo, kunye nesakhiwo esincinci, okwenza ukuba yenze kakuhle ekupakisheni, ukuhlela, ukuphatha kunye nezinye izicelo.
Ixesha lokuposa: May-14-2024
