Itandukaniro riri hagati y'uburyo bwo gucukura imigozi itatu n'uburyo bwo gucukura imigozi itanu

Itandukaniro riri hagati y'uburyo bwo gucukura ibintu butatu n'uburyo bwo gucukura ibintu butatu: isesengura ryuzuye n'ubuyobozi bw'ikoreshwa ryabyo

Mu rwego rw’inganda zikora ibintu mu buryo bwihuta muri iki gihe, ibikoresho bikoreshwa mu gukosora ikoreshwa ry’ibikoresho, nk’ibikoresho by’ingenzi bisimbura imirimo y’amaboko, byakoreshejwe cyane mu buryo butandukanye bwo gukora. Amayeri yo gucunga ibintu atatu naho udukoresho two gupima ibintu duto dutanu (five-axis manipulators) ni ubwoko bubiri busanzwe, buri bumwe bufite imiterere yabwo yihariye n'uburyo bwo kubukoresha. Iyi nkuru izasuzuma itandukaniro riri hagati y'udukoresho two gupima ibintu duto dutanu (three-axis manipulators) n'udukoresho two gupima ibintu duto dutanu (five-axis manipulators) mu buryo bwimbitse kugira ngo bifashe abaguzi mpuzamahanga bagurisha ibintu byinshi mu bucuruzi bw'ibi bikoresho, ibyiza n'imiterere ifatika y'ibi bikoresho byombi, bityo bigatanga inkunga ikomeye ku byemezo byabo byo kugura.

1. Ibitekerezo by'ibanze ku bikoresho by'ikoranabuhanga bifite umurongo wa gatatu n'ibikoresho bifite umurongo wa gatanu
(I) Imashini zikoresha imiterere itatu
Umuyoboro w’amashanyarazi ufite imirongo itatu ni igikoresho cyikora gifite imiterere itatu y’ubwisanzure, kandi icyerekezo cyacyo gikunze kuba umurongo ugororotse ku mirongo itatu igororotse (imirongo ya X, Y, na Z). Imiterere y’uyu muyoboro w’amashanyarazi iroroshye cyane, ahanini igizwe na actuator, uburyo bwo gutwara, na sisitemu yo kugenzura. Intego y’umwimerere y’igishushanyo cy’umuyoboro w’amashanyarazi ufite imirongo itatu yari iyo kurangiza imirimo imwe n’imwe yoroshye, nko Imashini yo Gutera Inshinge gukurura, gukata ibikoresho, gufata ikirahure, no gukurura no gushyira ibicuruzwa mu byiciro.
(II) Umukoresha w'imirongo itanu
Umucungamutungo w’imirongo itanu wongeraho uburebure bubiri bushingiye kuri mucungamutungo w’imirongo itatu, ubusanzwe harimo umucungamutungo mukuru wo gukuraho ukuboko, umucungamutungo w’ukuboko uzamuka no hasi, umucungamutungo w’ukuboko umufasha, umucungamutungo w’ukuboko umufasha no hasi n’umucungamutungo utambitse. Imiterere y’uyu mucungamutungo iragoye cyane kandi ishobora kurangiza ingendo n’ibikorwa bigoye cyane. Umucungamutungo w’imirongo itanu ntushobora kurangiza gusa imirimo yose ya mucungamutungo w’imirongo itatu, ahubwo unakora ibikorwa bigoye cyane, nko gushyiramo ibishushanyo, kwandika ibishushanyo, guteranya ibishushanyo, nibindi.

2. Imiterere y'ibyuma bikoresha ibyuma bikoresha amashami atatu n'ibyuma bikoresha amashami atanu
(I) Umukoresha w'imirongo itatu
Imiterere y'imiterere
Udukoresho duto duto dukoresha amashami atatu akenshi tuba dufite ukuboko kumwe gusa, kandi amwe mu mamoderi ashobora kuba afite amaboko y'inyongera, ariko ni gake cyane. Ingendo zayo zikoreshwa cyane cyane na silindiri cyangwa moteri za servo.
Uburyo bwo kugenda uzamuka ujya hasi, kugenda utambitse no kugenda usohora ukuboko gukomeye bigenzurwa n'uburyo butandukanye bwo gutwara.
Ibyiza
Imiterere yoroshye: Kubera ko hari urwego rutatu rw'ubwisanzure, imiterere yayo iroroshye kandi yoroshye kuyibungabunga no kuyikoresha.
Igiciro gito: Ugereranyije na manipulators zifite umurongo wa gatanu, igiciro cya manipulators zifite umurongo wa gatatu kirahendutse.
Umuvuduko wo kwiruka vuba: Mu mirimo yoroshye yo kugenda ku murongo cyangwa ku ruziga, icyuma gikoresha imirongo itatu kigenda vuba.
Imbogamizi
Ubworoherane buke: Bitewe n'umubare muto w'ubwisanzure, igikoresho cya manipulator gifite imiterere itatu ntabwo gishoboye gukora neza mu mikorere igoye.
Imikorere imwe: Ikwiriye cyane cyane imirimo yoroshye yo gutoranya no gutunganya, kandi biragoye kurangiza gutunganya cyangwa guteranya ibintu bigoye.
(II) Umukoresha w'imirongo itanu
Imiterere y'imiterere
Utwuma duto duto (five-axis manipulators) dukunze kuba dufite ukuboko gukuru n'ukuboko kwa kabiri, buri kuboko kugira imikorere yo guterura no kuyobora. Ingendo zako ziyoborwa na moteri ya servo.
Sisitemu yo kugenzura ya manipulator ifite imiterere itanu iragoye cyane kandi ishobora kugera ku kugenzura neza ingendo.
Ibyiza
Ubworoherane bwinshi: Ingero ebyiri z'ubwisanzure bw'ikinyabutabire gifite imirongo itanu zigifasha kurangiza ibikorwa bigoye kurushaho.
Imirimo ikomeye: Ntabwo ishobora kurangiza gusa imirimo yose ya manipulator ifite umurongo wa gatatu, ahubwo inakora ibikorwa bigoye nko gushyiramo imashini, kwandika imashini, no guteranya imashini hanze y’imashini.
Ubuhanga bwo hejuru: Kubera ko ifite servo drive yuzuye, manipulator ifite umurongo wa gatanu ifite ubuhanga bwo hejuru bwo kugenda.
Imbogamizi
Imiterere igoye: Imiterere ya manipulator ifite umurongo wa gatanu iragoye kandi ikiguzi cyo kuyibungabunga kiri hejuru.
Ihenze: Ugereranyije na manipulators zifite imiterere itatu, manipulators zifite imiterere itanu zirahenze cyane.
Ibisabwa cyane ku bakoresha: Bitewe n'ubugoranye bwayo, imikorere n'ibungabungwa rya manipulators zifite umurongo wa gatanu bisaba abatekinisiye b'inzobere.

3. Imiterere y'ikoreshwa rya manipulators z'imirongo itatu n'izifite imirongo itanu
(I) Imashini zikoresha imiterere itatu
Inganda zikora inshinge zo gushushanya
Utwuma duto dukoreshwa cyane mu gukuraho ibikoresho byarangiye n'imizingo y'imashini zikora inshinge. Imiterere yatwo yoroshye ituma dushobora kurangiza vuba gukuraho ibice byakozwe mu inshinge no kunoza umusaruro.
Inganda zikora sitampu
Mu gukora sitampu, imashini zikora imigozi itatu zishobora kurangiza gukusanya no gutwara ibikoresho by'ibice bitera sitampu. Imiterere yazo yihuse ishobora kunoza neza imikorere y'imirongo ikora sitampu.
Gufata no gushyira hamwe ibintu
Utwuma duto dutatu dushobora gukoreshwa mu gucunga ibicuruzwa no gukusanya imirimo. Uburyo bworoshye bwo kugenda butuma ikora neza muri iyo mirimo.
(II) Imashini zikoresha amashami atanu (five-axis manipulators)
Inganda zikora inshinge zo gushushanya
Udukoresho duto two mu bwoko bwa "five-axis manipulators" ntabwo dushobora kurangiza gukuraho ibice byabumbwe mu injection gusa, ahubwo tunakora ibikorwa bigoye nko gushyiramo udukoresho mu injection no gushyiramo udukoresho mu injection. Uburyo bworoshye bwo kuyikoresha butuma ibasha kwimenyereza uburyo butandukanye bwo kuyishyiraho mu injection.
Gutunganya imashini
Utwuma duto duto (five-axis manipulators) na two dukoreshwa cyane mu bijyanye no gutunganya. Dushobora kurangiza imirimo igoye yo gutunganya nko gusya, gucukura, n'ibindi.
Guteranya hakoreshejwe ikoranabuhanga
Mu nganda zikora ibikoresho by'ikoranabuhanga, ibikoresho byo mu bwoko bwa "five-axis manipulators" bikoreshwa mu guteranya ibikoresho by'ikoranabuhanga. Ubuhanga bwabyo bwo hejuru n'ubushobozi bwo gukora ibintu bitandukanye bituma birangiza imirimo igoye yo guteranya ibikoresho by'ikoranabuhanga.
Gutunganya ibiribwa
Udukoresho duto two mu bwoko bwa "five-axis manipulators" na two dukoreshwa mu gutunganya no gupakira ibiribwa. Dushobora gukoreshwa mu gufata, gutondeka no gupakira ibiribwa.

4. Igereranya ry'imikorere hagati y'ibyuma bikoresha amashami atatu n'ibyuma bikoresha amashami atanu
(I) Guhindura imiterere y'ingendo
Udukoresho duto two gukora ibintu duto: Ubushobozi buke bwo gukora ibintu, cyane cyane bukwiriye gukora ibintu byoroshye cyangwa uruziga.
Udukoresho tworoshye two gukora ibintu mu buryo butanu: Ubushobozi bwo gukora ibintu mu buryo bworoshye, bushobora kurangiza uburyo bwo gukora ibintu mu buryo butatu.
(II) Ubuziranenge bw'ingendo
Udukoresho duto two gukora udukoresho: Ntidukora neza cyane mu gihe umuntu akora ibintu byinshi, kandi birakwiriye imirimo yoroshye.
Manipulators zifite umurongo mugari: Ikoranabuhanga ryo hejuru, rikwiriye imirimo igoye yo gutunganya no guteranya.
(III) Ubushobozi bwo gutwara imizigo
Udukoresho duto two gupima ibintu dutandukanye: Ubushobozi bwo gutwara ibintu buratandukanye bitewe n'icyitegererezo, ariko muri rusange bukwiriye imitwaro yoroheje cyangwa iringaniye.
Umucungamutungo ufite amashami atanu: Ubushobozi bukomeye bwo gutwara imizigo, bukwiriye imitwaro iremereye cyangwa igoye.
(IV) Umuvuduko w'imikorere
Umuvuduko w'imikorere wihuta mu mirimo yoroshye.
Umuvuduko w'imikorere ugenda buhoro mu mirimo igoye, ariko ushobora kurangiza imirimo igoye kurushaho.
(V) Ikiguzi
Umuyoboro w'ibyuma ugizwe n'imirongo itatu: Igiciro gito cyane n'ikiguzi cyo kubungabunga kiri hasi.
Umuyoboro w'amashanyarazi ufite amashami atanu: Igiciro gihenze kandi ikiguzi cyo kubungabunga kiri hejuru.

5. Hitamo imashini ikoresha imigozi itatu cyangwa imashini ikoresha imigozi itanu?
Guhitamo icyuma gikoresha imigozi itatu cyangwa icyuma gikoresha imigozi itanu biterwa n'ibisabwa byihariye mu gukoresha ndetse n'ingengo y'imari. Niba akazi koroshye, nko gukuraho ibice byakozwe mu inshinge cyangwa imirimo yoroshye yo gukora, icyuma gikoresha imigozi itatu ni amahitamo ahendutse. Gishobora kurangiza akazi vuba kandi gifite ikiguzi gito cyo kugasana.
Ariko, niba akazi kagoye cyane, nko gushyiramo ibikoresho bikozwe mu ibumba, kwandika mu ibumba cyangwa gukora ibikoresho bigoye, imashini ikoresha umurongo wa gatanu ni amahitamo meza. Nubwo igiciro cyayo n'ikiguzi cyo kuyitunganya biri hejuru, ubushobozi bwayo bwo koroshya no gukoresha ibintu byinshi bishobora guhaza ibyo ikeneye mu mirimo igoye.

6. Iterambere ry'ejo hazaza rya manipulator ifite axis eshatu na manipulator ifite axis eshanu
Bitewe n’iterambere rihoraho ry’ikoranabuhanga rikoresha ikoranabuhanga mu nganda, ikoranabuhanga rikoresha amashami atatu (three-axis manipulator) n’ikoranabuhanga rikoresha amashami atanu (five-axis manipulator) nabyo birimo gutera imbere mu buryo buhoraho. Mu gihe kizaza, izi mashini zombi zizatera imbere zigana ku buhanga bwo hejuru, ubushobozi bwo koroshya ibintu no kugabanya ikiguzi. Muri icyo gihe, hamwe n’ikoreshwa ry’ubwenge bw’ubukorano n’ikoranabuhanga rya interineti y’ibintu, ikoranabuhanga rikoresha ikoranabuhanga rikoresha ikoranabuhanga rigezweho (Internet of Things), ikoranabuhanga rikoresha ikoranabuhanga rikoresha ikoranabuhanga rigezweho (Manipulator) rizaba rifite ubushobozi bwo kwigira no kugenzura kure.

7. Incamake
Imashini zikora ibikoresho bitatu n'izikora ibikoresho bitanu, buri imwe ifite imiterere yayo yihariye n'uburyo ikoreshwa. Imashini zikora ibikoresho bitatu zikwiriye imirimo yoroshye yo gutoranya no gukora, kuko zoroshye, zihendutse kandi zikora neza. Imashini zikora ibikoresho bitanu zikwiriye imirimo igoye yo gutunganya no guteranya, kuko zoroshye cyane, zifite ubushobozi bwo gukora ibintu byinshi kandi zikora neza. Mu guhitamo imashini ikora ibikoresho, igomba gusuzumwa neza hakurikijwe ibisabwa byihariye byo gukoresha ndetse n'ingengo y'imari.