I-IMPAQT ROBOTICS PQ0-1G2S Amarobhothi Ajwayelekile

Ulwazi Lomkhiqizo

Imininingwane

• Igama Lomkhiqizo: I-URCAP yamarobhothi e-Universal
• Amamodeli: pneumagiQ, casemagiQ, pneuvaQ series
• Ukuhambisana: Ihambisana nawo wonke amamodeli of Universal Robots

Imiyalo yokusetshenziswa komkhiqizo

1. Ukucatshangelwa Kokuphepha

• • Iziqu Zabasebenzi
    • Abasebenzi abagunyaziwe kuphela abanolwazi lokuphatha amasekhethi womoya kanye nogesi okufanele basebenzise umkhiqizo.
    • Qinisekisa ukuqonda kwamamanyuwali omkhiqizo ngaphambi kokusebenza.
• Amanothi Okusebenza
  • Njalo nqamula ikhebula le-I/O ngaphambi kokwengeza noma ukukhipha izesekeli.
  • Yenza ukucindezela phakathi nendawo ngokuvala ukunikezwa kwe-pneumatic ngaphambi kokucisha.
• pneumagiQ Overview
• I-pneumagiQ iyi-compact Universal Pneumatic EOAT Interface eyenzelwe izinhlelo zokusebenza zokubamba izinto ezinezikhala eziqinile.
• Ivumela ukukhweza okungenamthungo kwama-EOAT amabili womoya, kukhuphule ukukhokhelwa kwamarobhothi ukuphatha izingxenye ezisindayo.

Okuhlukile

• i-pneumagiQ PQ0-1G2S
• i-pneumagiQ PQ90-2G2S
• i-pneumagiQ PQ180-2G4S
• i-pneumagiQ PQ9020-2G4S

Ukusebenzisa i-URCap

I-URCap yamarobhothi e-Universal isetshenziselwa ukusebenzisa uchungechunge lwe-pneumagiQ, i-casemagiQ, ne-pneuvaQ.

Imibuzo Evame Ukubuzwa

Q: Zisho ukuthini izinkomba zesimo ku-pneumagiQ?

A: Izinkomba zesimo ku-pneumagiQ zisetshenziselwa ukuxhumana nesimo samanje somkhiqizo ngesikhathi sokusebenza.

Q: Ngingaludawuniloda kuphi ulwazi olwengeziwe kanye nemibhalo imikhiqizo?

IMP: Ungalanda ulwazi olwengeziwe kanye nemibhalo ku https://www.impaqt-robotics.com.

Q: Iyiphi inguqulo encane enconyiwe ye-polyscope ukuze ihambisane ne-pneumagiQ?

A: Ubuncane obuncane obunconywayo benguqulo ye-polyscope ku-Universal Robots ukuze ihambisane ne-pneumagiQ bunikezwe kumadokhumenti asebenzayo.

• khasimende elithandekayo,
• Kwa-Impaqt Robotics, sihlose ukuletha umthelela ngawo wonke amarobhothi asetshenziswe emhlabeni jikelele. Lena yindlela esinika ngayo amandla ukukhishwa okulula nokusheshayo kwamarobhothi futhi sibe nomthelela emqondweni wozakwethu ekukhipheni amarobhothi.
  Uma unemibuzo noma udinga usizo ngomkhiqizo, ungangabazi ukuxhumana nathi
• support@impaqt-robotics.com.
• Ozithobayo,
  Iqembu le-Impaqt Robotics

I-copyright

• Leli bhukwana nokuqukethwe kwalo kungaphansi kwe-copyright. Umbhali yi-Impaqt Robotic Private Limited. Wonke Amalungelo Agodliwe. Noma yikuphi ukukhiqizwa, ukucubungula, ukusatshalaliswa (ukwenza kutholakale kwabanye abantu), ukuhumusha, noma okunye ukusetshenziswa - ngisho nezingcaphuno - zemanuwali kwenqatshelwe ngokukhethekile futhi kudinga imvume yethu ebhalwe phansi.
• Izinguquko zobuchwepheshe:
  Siligodlile ilungelo lokwenza izinguquko zokuthuthukiswa kobuchwepheshe nesakhiwo.

Izibuyekezo

1. Isibuyekezo 16 Novemba 2023

• Ukukhishwa kwe-Beta

1. Isibuyekezo 29 Novemba 2023

• Kubuyekezwe izikrini zenguqulo ye-URCap yakamuva.

1. Isibuyekezo 10 Ephreli 2024

• Kwengezwe i-pneumagiQ PQ0-1G2S.

1. Isibuyekezo 3 Septhemba 2024

• Kwengezwe i-casemagiQ CM100.
• Kwengezwe i-pneuvaQ PV21.

Okufakiwe Okujwayelekile

• Landa ulwazi olwengeziwe kanye nemibhalo yemikhiqizo ku https://www.impaqt-robotics.com.
• Okuhlukile
  Le manuwali yokusebenza isebenza kokuhlukile okulandelayo:
  • i-pneumagiQ PQ0-1G2S
  • i-pneumagiQ PQ90-2G2S
  • i-pneumagiQ PQ180-2G4S
  • i-pneumagiQ PQ9020-2G4S
  • I-casemagiQ CM100
  • i-pneuvaQ PV21
• Amarobhothi Ahambisanayo
• i-pneumagiQ iyahambisana nawo wonke amamodeli we-Universal Robots.
• Ubuncane benguqulo enconyiwe ye-polyscope ku-UR imi kanje:
  • Okwe-CB3 iqala ku-v3.12.1
  • Ochungechungeni luka-E luqala ku-v5.11.1
• Amadokhumenti Asebenzayo
• Ikhathalogi yemikhiqizo
• Amamanuwali wemikhiqizo
• Izincwadi zezesekeli
• Ukucatshangelwa Kokuphepha
  • Iziqu Zabasebenzi
    • Abasebenzi abagunyaziwe kuphela abanolwazi lokusebenza ukuphatha amasekhethi womoya kanye nogesi okufanele basebenzise umkhiqizo. Noma ubani ophethe umkhiqizo kufanele ngabe uyawaqonda amamanuwali omkhiqizo ahlukene.
• Amanothi okusebenza
  • Njalo vala i-pneumagiQ ngokunqamula ikhebula le-I/O ngaphambi kokwengeza noma ukukhipha izisekeli. Ngaphambi kokucisha, nciphisa ingcindezi ngaphakathi ngokuvala ukuhlinzekwa komoya kanye nokucupha ukufutheka komoya noma izimbobo zokuphuma komoya usebenzisa i-URCap (Bheka imanuwali yokusebenza).

pneumagiQ

I-pneumagiQ iyi-compact Universal Pneumatic EOAT Interface eklanyelwe ukukhweza ngaphandle komthungo ama-EOAT amabili omoya. Idizayini ehlangene ye-pneumagiQ iyenza ilungele izinhlelo zokusebenza zokubamba izinto ezinezikhala eziqinile ezifana nokusingathwa komshini nokubamba impahla. Idizayini engasindi ikhulisa ukukhokhelwa kwerobhothi ukuze libambe izingxenye ezisindayo ezibaluleke kakhulu kumarobhothi asebenzisanayo.
Lezi yizinhlobonhlobo ze-pneumagiQ:

• i-pneumagiQ PQ0-1G2S
• i-pneumagiQ PQ90-2G2S
• i-pneumagiQ PQ180-2G4S
• i-pneumagiQ PQ9020-2G4S
  • I-URCap esetshenziswa kuwo womathathu amamodeli ayafana.
• pneumagiQ State
  • Ngenkathi i-pneumagiQ isebenza, izinkomba zesimo zisetshenziselwa ukuxhumana nesimo samanje somkhiqizo.
• Inkomba Yesimo
  • Inkomba yesimo ikukhava yangaphambili ye-pneumagiQ nhlangothi zombili zesixhumi se-I/O esingu-8-pin.

Umbala we-LED	Izwe
Okubomvu	1. Ukucwayiza - Ukunika amandla. 2. I-Gripper actuation 3. Ukuqalisa Ukushaywa komoya
Okuhlaza	1. Ukungenzi lutho 2. Ilungele ukusebenza

• Inkomba Yesimo: Okuhlaza
• Inkomba yesimo iluhlaza uma i-pneumagiQ ingenzi lutho futhi ilungele ukusebenza.
• Inkomba Yesimo: Okubomvu
  • Inkomba yesimo ibomvu uma:
    • Inika amandla umkhiqizo.
      • Ngesikhathi sokuqinisa inkomba yesimo iyalokoza ngokubomvu.
    • Ithola ukuxhumana nerobhothi nge-URCap
• Inkomba Yesimo: icishiwe.
• Isikhombi sesimo siyacishwa kuphela uma:
  • Akukho ukunikezwa kwamandla okunikezwa ku-pneumagiQ.
  • Ikhebuli ye-I/O ayixhunyiwe kahle.
  • I-Universal Robot ayikho 'kwimodi evamile'.
  • I-interface ye-I/O yethuluzi le-Universal Robot URCap ayisethelwe ku-pneumagiQ.

casemagiQ

I-casemagiQ iyi-compact Universal Case Forming EOAT eklanyelwe ukwenza kalula amacala ezinhlobonhlobo zobukhulu. Idizayini ehlangene ye-casemagiQ ilungele ukwakhiwa kwamacala / izinhlelo zokumisa amabhokisi ezinonyawo oluncane.
Lezi yizinhlobonhlobo ze-casemagiQ:

• I-casemagiQ CM100
• I-casemagiQ CM50
  • I-URCap esetshenziselwa zonke izinhlobo iyafana.
• CasemagiQ State
• Ngenkathi i-casemagiQ isebenza, izinkomba zesimo zisetshenziselwa ukuxhumana nesimo samanje somkhiqizo.
•  Inkomba Yesimo
• Inkomba yesimo ikukhava yangaphambili ye-pneumagiQ nhlangothi zombili zesixhumi se-I/O esingu-8-pin.

Umbala we-LED	Izwe
Okubomvu	1. Ukucwayiza - Ukunika amandla. 2. Ukwenza iVacuum 3. Ukusebenza Kwesilinda
Okuhlaza	1. Ukungenzi lutho 2. Ilungele ukusebenza

• Inkomba Yesimo: Okuhlaza
  • Inkomba yesimo iluhlaza uma i-casemagiQ ingenzi lutho futhi ilungele ukusebenza.
• Inkomba Yesimo: Okubomvu
• Inkomba yesimo ibomvu uma:
• Inika amandla umkhiqizo.
  • Ngesikhathi sokuqinisa inkomba yesimo iyalokoza ngokubomvu.
• Ithola ukuxhumana nerobhothi nge-URCap
• Inkomba Yesimo: icishiwe.
• Isikhombi sesimo siyacishwa kuphela uma:
• Akukho ukunikezwa kwamandla okunikezwa ku-casemagiQ.
• Ikhebuli ye-I/O ayixhunyiwe kahle.
• I-Universal Robot ayikho 'kwimodi evamile'.
• Isixhumi esibonakalayo sethuluzi le-I/O le-Universal Robot URCap alisethelwe ku-pneumagiQ/ casemagiQ/ pneuvaQ.

pneuvaQ

I-pneuvaQ iyi-compact Integrated Pneumatic & Vacuum Interface eklanyelwe ukwenza lula ama-EOAT okwakha ngokwezifiso ezisetshenziswa ezifana nokugada umshini wokubumba umjovo kanye nokucindezela ibhuleki. Idizayini ehlangene ye-pneuvaQ ilungele ukungeza kuma-EOAT angokwezifiso ukuze unike amandla ukulawula okusheshayo kwe-pneumatics nezindawo zokuvala.
Igama elihlukile elithi PV21 linegama elithile. I-P ingeye-pneumatics, ekhombisa inombolo yezindawo zokukhipha umoya ezicindezelwe futhi u-V ngeye-vacuum, okubonisa inani lezikhala zevacuum. Ngakho-ke, kulokhu, i-PV21 inezindawo ezimbili zomoya ezicindezelwe kanye ne-vacuum eyodwa yokukhipha. Lezi yizinhlobonhlobo ze-pneumagiQ:

• i-pneuvaQ PV21
  • I-URCap esetshenziselwa zonke izinhlobo iyafana.
• pneuvaQ State
  • Ngenkathi i-pneuvaQ isebenza, izinkomba zesimo zisetshenziselwa ukuxhumana nesimo samanje somkhiqizo.
• Inkomba Yesimo
  • Inkomba yesimo ikukhava yangaphambili ye-pneuvaQ nhlangothi zombili zesixhumi se-I/O esingu-8-pin.

Umbala we-LED	Izwe
Okubomvu	4. Ukucwayiza - Ukunika amandla. 5. I-Compressed Air actuation 6. Ukuvula i-vacuum
Okuhlaza	3. Ukungenzi lutho 4. Ilungele ukusebenza

• Inkomba Yesimo: Okuhlaza
• Inkomba yesimo iluhlaza uma i-pneuvaQ ingenzi lutho futhi ilungele ukusebenza.
• Inkomba Yesimo: Okubomvu
• Inkomba yesimo ibomvu uma:
• Inika amandla umkhiqizo.
  • Ngesikhathi sokuqinisa inkomba yesimo iyalokoza ngokubomvu.
• Ithola ukuxhumana nerobhothi nge-URCap
• Inkomba Yesimo: icishiwe.
• Isikhombi sesimo siyacishwa kuphela uma:
• Akukho ukunikezwa kwamandla okunikezwa ku-pneuvaQ.
• Ikhebuli ye-I/O ayixhunyiwe kahle.
• I-Universal Robot ayikho 'kwimodi evamile'.
• I-interface ye-I/O yethuluzi le-Universal Robot URCap ayisethiwe ku-pneuvaQ.

I-pneumagiQ esebenzayo, i-casemagiQ & i-pneuvaQ

• Ukuze ulawule i-pneumagiQ, i-casemagiQ ne-pneuvaQ kusukela ku-Universal Robot, umuntu udinga i-URCap efanelekile ukuze ifakwe irobhothi. Ngayo, i-EOAT ngayinye ye-pneumatic, amachweba wokushaywa komoya, izindawo zokuphuma komoya ezicindezelwe, izindawo zokuvala, indawo ye-flap ingalawulwa kalula. Kunama-URCap ahlukene e-pneumagiQ, i-casemagiQ ne-pneuvaQ.
•  Ukufakwa kwe-URCap
• I-URCap ye-pneumagiQ, i-casemagiQ ne-pneuvaQ iyatholakala emakhasini afanele womkhiqizo. Landa i-URCap kudrayivu ye-USB futhi uxhume idrayivu ye-USB embobeni ye-USB ye-Universal Robot kungaba kubude obufundisayo noma kusilawuli serobhothi.

1. Ukuze ufake i-URCap, thepha isithonjana se-Hamburger ( ) phezulu kwesokudla kunoma yikuphi ku-Polyscope.
2. Khetha Izilungiselelo.
3. Kumenyu eseceleni kwesokunxele, khetha System.
4. Iya ku-URCaps.
5. Chofoza inkinobho ethi '+', zulazulela kudiski ye-USB, bese wengeza i-URCap ehambisanayo (isibample: pneumagiQ-X.XX.urcap).
   1.  Qiniseka ukuthi usebenzisa inguqulo yakamuva ye-URCap evela ekhasini lomkhiqizo ekhasini lethu webindawo.
6. Uma i-URCap isifakiwe, qinisekisa ukuthi kunophawu lokuhlola oluluhlaza eduze kwe-pneumagiQ esigabeni se-Active URCaps njengoba kuboniswe kuMfanekiso 5.
7. Qala kabusha irobhothi ngemva kokufaka i-URCap.

• Ukuze ususe i-URCap, khetha i-pneumagiQ ngaphansi kwe-URCaps esebenzayo bese uchofoza inkinobho ethi '-' ezansi. Njengokuvamile qalisa kabusha irobhothi ngemva kokukhipha i-URCap.
• Isetha ithebhu yokufaka
• Ukuze ulawule i-pneumagiQ ngamarobhothi e-Universal, udinga ukusetha izilungiselelo ezifanele kuthebhu yokufaka ngale ndlela elandelayo:
• I-URCaps > Izilungiselelo ze-pneumagiQ
  Kuthebhu yokufaka, ngaphansi kwe-URCaps, ngaphansi kwezilungiselelo ze-pneumagiQ, khetha Okuhlukile kwe-pneumagiQ ebhokisini lokudonsela phansi, Uhlobo Lwethuluzi Njenge-Pneumatic Grippers bese ukhetha imodi yokubamba yakho kokubili Ithuluzi 1 & Ithuluzi 2 njengokubambelela Kwangaphandle noma Ukubamba Kwangaphakathi. Ngokuzenzakalelayo, imodi yokubamba ikumodi yangaphandle yokubamba.
  Ukuze uhlonze ithuluzi ngokushesha ku-pneumagiQ PQ90 & PQ9020, Ithuluzi Lokufaka Ubuso 1 limakwe ngechashazi elilodwa, kuyilapho Ithuluzi Lokufaka Ubuso 2 linamachashazi amabili, ezinhlangothini zombili zomkhiqizo. Esimeni se-pneumagiQ PQ180, imakwe njengo-1 no-2 ebusweni obungezansi. Bheka Ibhukwana Lokufaka ukuze uthole okuhlukile okuhambisanayo kwe-pneumagiQ ukuze wazi kabanzi.
  URCaps > Izilungiselelo ze-casemagiQ
  Kuthebhu yokufaka, ngaphansi kwe-URCaps, ngaphansi kokuthi Izilungiselelo ze-casemagiQ, khetha i-casemagiQ Variant ebhokisini lokudonsela phansi, kanye nemodi yokuxhumana, okuwukuthi ingabe ixhunywe Kumbobo Yethuluzi Le-UR noma isilawuli serobhothi.
• I-URCaps > Izilungiselelo ze-pneuvaQ
  Kuthebhu yokufaka, ngaphansi kwe-URCaps, ngaphansi kwezilungiselelo ze-pneuvaQ, khetha i-pneuvaQ Variant ebhokisini lokudonsela phansi, kanye nemodi yokuxhumana, okuwukuthi ixhumeke ku-UR Tool Port noma isilawuli serobhothi.
• Okujwayelekile > Ithuluzi I/O
  Manje, isixhumi esibonakalayo seThuluzi I/O serobhothi sidinga ukulawulwa yi-pneumagiQ. Kulapho kuphela, izindlela ezifanele Zokufaka kwe-Analogi, Isixhumi esibonakalayo sokuxhumana kanye namamodi okukhiphayo Digital angasethwa njengoba kudingwa yi-pneumagiQ. Ngakho, kuthebhu yokufaka, kumenyu eseceleni ngaphansi kokuthi Okujwayelekile, khetha Ithuluzi I/O.
  Ngaphansi kwe-I/O Interface Control, ukuze kulawulwe, khetha i-pneumagiQ noma i-casemagiQ noma i-pneuvaQ kuye nge-URCap efakiwe. Lokhu kuzosetha zonke izilungiselelo ezilungile ze-I/O Interface Yethuluzi ukuthi ilawulwe yi-pneumagiQ noma i-casemagiQ noma i-pneuvaQ. Manje njengoba isethingi Yethuluzi I/O isethwe kahle, umkhiqizo uzokhanyisa ngokucwayiza kwesibani esibomvu kusibonisi sesimo. Bheka esigabeni 3.1 noma 4.1 noma 5.1 ukuze uthole okwengeziwe mayelana Nesikhombi Sesimo.
• I-Tool Center Point
  I-Tool Center Point iyindawo ethize ye-EOAT esetshenziswa uhlelo lokulawula irobhothi ukuze lumise futhi luqondise i-EOAT. Ngokuzenzakalelayo, i-TCP ye-Universal Robots isethwe ekugcineni kwengalo yerobhothi.
  Qaphela: Kule manuwali, sihlinzeka nge-TCP kuphela kusukela kubuso obukhweza Phezulu bomkhiqizo kuze kube iphuzu elimaphakathi le-Tool Mounting Face (Bheka kumamanuwali wokufaka umkhiqizo ofanele ukuze wazi kabanzi.). Ngakho-ke, ngenkathi kubalwa i-TCP, umuntu kufanele acabangele i-Robot Coupler, i-Tool Coupler, uhlobo lwamathuluzi, ama-peripherals amathuluzi afana
  iminwe/imihlathi kanye nohlelo oluthile lwerobhothi. Ngakho, i-TCP idinga ukubalwa umdidiyeli/ umsebenzisi wokugcina kuye ngokusethwa kokugcina kohlelo lokusebenza.
• pneumagiQ
  Ku-pneumagiQ njengoba kunama-EOAT amabili, sidinga ukumisa ama-TCP amabili ahlukene ku-EOAT ngayinye. Inani le-TCP liphinde lishintshe kokuhlukile ngakunye kwe-pneumagiQ. Ngakho-ke, sebenzisa idatha evela kuThebula 1 ukuze udale i-TCP ngayinye Yethuluzi Lokufaka Ubuso 1 & 2 njengoba kukhonjisiwe kuMfanekiso 9.
• Ithebula 3: Isikhungo Sethuluzi Khomba phezulu kuBuso Obukhwelisa Phansi be-pneuvaQ

Umkhiqizo	PQ0	PQ90		PQ180			PQ9020
Ubuso Bokukhweza Ithuluzi	1	1	2	1		2	1	2
X	0	-33.65	-33.65	-200.00	200.00		-38.89	38.89
Y	0	0	0	0		0	0	0
Z	34.00	48.64	48.64	37.5	37.5		53.89	53.89
Rx	0	0	0	0		0	0	0
Ry	0	-45	45	0		0	-45	45
Rz	0	0	0	0	180		0	0

Ithebula 1: Isikhungo Samathuluzi Khomba phezulu Kubuso Bokukhweza Ithuluzi be-pneumagiQ

casemagiQ

• esimweni se-casemagiQ, kunobuso obubodwa kuphela bekesi/ibhokisi okufanele lithathwe. Ngakho-ke, iqonde kakhulu.

Umkhiqizo	CM100
X	0
Y	0
Z	93.7
Rx	0
Ry	0
Rz	0

Umkhiqizo	CM100
X	0
Y	0
Z	25
Rx	0
Ry	0
Rz	0

Inkokhelo

• Umthwalo okhokhelwayo we-Universal Robots ubhekisela esisindweni esiphelele irobhothi okufanele lisiphakamise. Ngokuzenzakalelayo, umthwalo okhokhelwayo uthathwa njengo-0kg ekugcineni kwengalo yerobhothi. Endabeni ye-pneumagiQ, kukhona ama-EOAT angu-2, abamba imithwalo ekhokhelwayo kude nokuphela kwengalo yerobhothi. Ngakho-ke, iCentre of Gravity (CoG) iba yisici esibalulekile.

 

I-Centre of Gravity (CoG) ibhekisela endaweni lapho isisindo esiphelele serobhothi sigxila khona. Lokhu kubalulekile ohlelweni lokulawula irobhothi lwebhalansi, Ukuzinza, Ukuhlela Ukunyakaza, Ukuphatha Umthwalo Wokukhokhelwa kanye Nokuphepha Kwerobhothi.

1. I-CoG ye-pneumagiQ
   Njengoba kunama-EOAT ama-2 ahlukene ahlanganiswe nge-pneumagiQ, kufanele kudalwe ama-Payloads angu-4 ahlukene kanye nama-CoG ahlukile ngendlela elandelayo:
2.  I-pneumagiQ No-Load Payload ihlanganisa:

o ukwahluka kwe-pneumagiQ

• o wonke ama-peripherals
  • • ▪ Ikhebula le-I/O
    • ▪ Ishubhu lomoya elingu-8mm
    • ▪ Amarobhothi Abashadile
    • ▪ Amathuluzi Abashadile
    • ▪ Ama-EOAT
  • ▪ Ama-peripheral e-EOAT njengeminwe/imihlathi, izinzwa, njll.
• Ithuluzi 1 Ukukhokha kuhlanganisa:
  • o pneumagiQ No-Load Payload
  • o Ingxenye ephethwe Ithuluzi 1
• Ithuluzi 2 Ukukhokha kuhlanganisa:
  • I-pneumagiQ Akukho-Layisha Inkokhelo
  • Ingxenye isingathwe Ithuluzi 2
• I-pneumagiQ Full Payload ihlanganisa:
  • I-pneumagiQ Akukho-Layisha Inkokhelo
  • Ingxenye isingathwe Ithuluzi 1
  • Ingxenye isingathwe Ithuluzi 2

Umkhiqizo	PQ0	PQ90	PQ180	PQ9020
Isisindo	0.41 Kg	.58 Kg	.87 Kg	1.1 Kg
Cx	0	0	0	0
Cy	0	-0.92	-1.2	-4
Cz	16.5	32.12	30.3	30.2

Ithebula 4: pneumagiQ CoG kuze kube Ithuluzi Lokukhweza Ubuso

Bheka kuThebula lesi-4 ukuze uthole Ukulayisha kwakho konke okuhlukile kwe-pneumagiQ futhi kungengezwa kumarobhothi Asemhlabeni wonke njengoba kukhonjisiwe kuMfanekiso 11. Lokhu okomkhiqizo kuphela. Njengoba kushiwo phezulu, zonke izinkokhelo ezishiwo ngenhla zidinga ukubalwa umdidiyeli/ umsebenzisi wokugcina kuye ngokusethwa kokugcina kwesicelo.

I-CoG ye-casemagiQ

• I-CoG ye-casemagiQ ihluke kancane. Njengoba umkhiqizo unganwebeka ufike ku-100mm futhi i-case forming flap ingavulwa noma icishwe. Ngakho-ke, i-CoG izoshintsha kuye ngokucushwa kwe-casemagiQ.

Umkhiqizo	Akunwetshiwe				Kunwetshiwe - 100 mm
	Gcoba		Gcoba		Gcoba		Gcoba
Isisindo	1.352 Kg		1.352 Kg		1.352 Kg		1.352 Kg
Cx	14.4		-15.2		4.2		5.0
Cy	-2.6		-2.6		-2.6		-2.6
Cz	53.0		58.3		53.0		58.3

Ithebula 5: casemagiQ CoG kuze kube izinkomishi zokumunca

I-CoG ye-pneuvaQ

• I-CoG ye-casemagiQ ihluke kancane. Njengoba umkhiqizo unganwebeka ufike ku-100mm futhi i-case forming flap ingavulwa noma icishwe. Ngakho-ke, i-CoG izoshintsha kuye ngokucushwa kwe-casemagiQ.

Umkhiqizo

Gcoba

Isisindo	0.3 Kg
Cx	7.3
Cy	0.4
Cz	11.5

Ithebula 6: casemagiQ CoG kuze kube izinkomishi zokumunca

Ithebhu Yohlelo

• Ukuze uqale ukusebenzisa i-pneumagiQ ngamarobhothi Avamile futhi ulawule ama-EOAT, hamba kuthebhu yoHlelo. Kumenyu eseceleni, ngaphansi kwe-URCaps, yonke imiyalo yawo wonke ama-URCaps afakwe irobhothi izoboniswa lapha.
• pneumagiQ Amathuluzi
  Esihlahleni sohlelo lwamarobhothi, ukuze usebenzise ama-EOAT, udinga ukusebenzisa i  . Okwesiboneloample, uma Uhlobo Lwethuluzi lukhethwe njenge-Pneumatic Grippers ku-pneumagiQ Izilungiselelo kuthebhu yokufaka, bese ukhetha ithebhu ye-Gripper 1 noma ye-Gripper 2. Bese, setha isenzo se-gripper njenge-Grip noma Release. I-Action Grip isho iminwe/imihlathi yokubamba enyakazela ibheke kwenye ngokubamba Kwangaphandle kuyilapho i-Internal Grip, ichaza iminwe/ imihlathi yokubamba isuka kwenye.
  Okwesiboneloampfuthi, uma umsebenzisi wokugcina enoshintsho lwezingxenyekazi zekhompuyutha kuhlelo lokusebenza futhi manje kufanele asebenzise Ukubamba Kwangaphakathi esikhundleni Sokubamba Kwangaphandle, asikho isidingo sokushintsha isihlahla sohlelo esiphelele ngokushintshanisa izenzo zokubamba kanye Nokukhipha. Esikhundleni salokho, vele uguqule imodi yokubamba Yethuluzi ukusuka ekubambeni kwangaphandle ukuya ekubambeni kwangaphakathi futhi amanodi wohlelo azozibuyekeza ngokwawo.

1. Impendulo Yezinzwa
   Ukuze uqonde isimo samanje se-pneumatic grippers, xhuma izinzwa ezifana nokushintshwa kwe-Reed ku-gripper nesixhumi senzwa se-pneumagiQ. Manje, uma ibhokisi likaqhwishi Lempendulo Yezinzwa likhethiwe, isistimu yokulawula ye-pneumagiQ izomisa isihlahla sohlelo kuze kube yilapho uthola impendulo evela kuzimbobo zenzwa. Impendulo Yezinzwa ihlola izimo ezilandelayo ukuze kuqinisekiswe isenzo sokubamba noma sokukhulula.

pneumagiQ	Isenzo se-Node	I-gripper 1		I-gripper 2
Okuhlukile		1P	1Q	2P	2Q
I-PQ0-1G2S	Ukubamba	On
	Khulula		On
I-PQ90-2G2S	Ukubamba	On		On
	Khulula	Valiwe		Valiwe
PQ180-2G4S PQ9020-2G4S	Ukubamba	On		On
	Khulula		On		On

• Isikhathi Sokuphela Kwenzwa
• Njengoba igama lisho, lesi yisikhathi sokuvala sempendulo yenzwa. Ubude besikhathi sokuvala amasekhondi angu-2. Uma inodi ingatholi impendulo yenzwa phakathi nalesi sikhathi, isihlahla sohlelo sizomiswa okwesikhashana futhi sizobonisa ibhokisi lengxoxo njengoba kuboniswa kuMfanekiso 13. Umsebenzisi angaqhubeka nohlelo noma alumise kusukela kuleli phuzu.

I-pneumagiQ Air blow-off

Umfanekiso 14: pneumagiQ PQ180, PQ9020 & PQ0 Air blow-off node

• Ku-Air blow-off node ingenza izenzo ezi-3 ezahlukene: I-Active, Engasebenzi kanye ne-Pulse.
• Cupha: i-node esebenzayo efakiwe izovula Ukuvuthela komoya, ngaleyo ndlela iphephethe umoya ocindezelwe ngembobo yokukhipha umoya.
• Vala: i-node engasebenzi efakiwe izovala Ukuvuthela komoya, ngaleyo ndlela imise ukugeleza komoya ocindezelwe ngembobo yokukhipha umoya.
• I-Pulse: i-pulse node izovula imbobo yokuphuma komoya ngesikhathi esimisiwe njengoba kunqunywa inani lesilayidi bese isenza singasebenzi.
  • Ubude besilinganiso sokushaya kwenhliziyo bungahluka kusuka kumasekhondi angu-0.5 kuye kweyi-10 ngokunyuka kwamasekhondi angu-0.5.
• Qaphela: Kokubili i-pneumagiQ PQ90-2G2S kanye ne-PQ9020-2G4S inechweba elilodwa kuphela lokukhipha umoya ngenkathi i-pneumagiQ PQ180-2G4S inamachweba amabili okuphuma emoyeni.
• i-casemagiQ Flap / Laser
  • I-casemagiQ Flap / Laser node isetshenziselwa ukulawula i-case forming flap kanye ne-laser aligner. Njengoba kukhonjisiwe kuMfanekiso 15, i-case forming flap ingavulwa noma ivalwe sebenzisa le nodi. Lokhu kusetshenziselwa ukugoba kanye nokubumba amakesi / amabhokisi ayisicaba abe yi-cuboid evulekile elungele ukuteph.
  • I-node efanayo ingasetshenziswa futhi ukuvula / ukuvala ukuvumelanisa kwe-laser. I-laser aligner iba umhlahlandlela olula wokuthi umhleli werobhothi aqondanise i-casemagiQ khona kanye ekugoqeni kwekesi/ibhokisi lapho ebeka indawo yokulanda. Ngale ndlela, kwakhiwa icala
  • i-flap ibekwe kahle ukuze igobe ikesi eliyisicaba/ibhokisi ekugoqweni libe yi-cuboid.
• I-casemagiQ Vacuum
  • I-casemagiQ Vacuum node isetshenziselwa ukulawula kokubili i-vacuum eyinhloko esetshenziselwa ukubamba ikesi / ibhokisi kanye ne-flap vacuum esetshenziselwa ukubamba ubuso obuseceleni bekesi / ibhokisi.
• pneuvaQ Comp. Umoya
  • Inkampani pneuvaQ Comp. I-air node isetshenziselwa ukulawula kokubili izindawo zomoya ezicindezelwe. Angavulwa futhi avaliwe ngawodwana kusetshenziswa i-pneuvaQ URCap. Kwezinye izinhlobo ze-pneuvaQ, i-pneuvaQ Comp. I-air node izoba namathebhu engeziwe ukuze ikwazi ukulawula zonke iziteshi zomoya ezicindezelwe.
• pneuvaQ Vacuum
  • I-pneuvaQ Vacuum node isetshenziselwa ukulawula i-vacuum outlet. Ivacuum ingavulwa futhi ivalwe kusetshenziswa i-pneuvaQ URCap. Kwezinye izinhlobo ze-pneuvaQ, i-pneuvaQ Vacuum node izoba namathebhu engeziwe ukuze ikwazi ukulawula zonke izindawo zokuvala.
• Inkinobho yokuhlola
  • I-pneumagiQ, i-casemagiQ ne-pneuvaQ node inenkinobho yokuhlola eyakhelwe ngaphakathi engasetshenziswa ukuhlola isimo samanje sokusebenza se-node. Ngakho-ke, ngaphambi kokusebenzisa ikhodi esihlahleni sohlelo lwamarobhothi, ihlole ukuze uthole zonke izinketho ezikhona ukuze uqonde ukuhamba komsebenzi okuphelele kwe-node.
• Inkinobho ye-UR+
  • Inkinobho ye-UR+ kubha yesihloko inikeza ukufinyelela okulula ekusebenziseni wonke ama-node e-pneumagiQ, i-casemagiQ & pneumagiQ futhi ikhombisa ngokushesha isimo Sezinzwa. Inkinobho ye-UR+ ihlezi iphezulu kwesokudla sependenti yokufundisa ye-UR njengoba kuboniswe ku
• Ibuyekeza i-URCap
  • I-URCap ye-pneumagiQ ivuselelwa njalo ukuze inikeze ukuhlanganiswa okungenamthungo nokusebenza kwe-pneumagiQ. Ngakho, umuntu kufanele ahlale efaka inguqulo yakamuva ye-URCap. I-URCap iyatholakala ekhasini lomkhiqizo elifanele ekhasini le-Impaqt Robotics.

ulwazi olwengeziwe

• 267 Kilpauk Garden Road, Chennai 600 010
• I-India Ucingo: + 91 44 4294 9000
• support@impaqt-robotics.com
• www.impaqt-robotics.com
• © Impaqt Robotics Private Limited Wonke amalungelo agodliwe

Amadokhumenti / Izinsiza

I-IMPAQT ROBOTICS PQ0-1G2S Amarobhothi Ajwayelekile [pdf] Incwadi Yeziqondiso I-PQ0-1G2S Amarobhothi Avamile, i-PQ0-1G2S, Amarobhothi Aphelele, Amarobhothi

Izithenjwa

• Imaniwali yosebenzisayo