Xov xwm kev lag luam
0102 ib0304 ib05
Xya axis muaj neeg hlau vs rau axis muaj neeg hlau, dab tsi yog lub zog?
2023-12-08 IB
Nyob rau hauv xyoo tas los no, multinational neeg hlau loj loj tau pib xya axis industrial robots los txeeb lub lag luam tshiab high-end, uas tau ua rau peb qhov kev xav tob ntawm xya axis muaj neeg hlau. Dab tsi yog nws qhov tshwj xeeb kev zoo, kev tshawb fawb thiab kev txhim kho nyuaj, thiab dab tsi muaj xya axis neeg hlau cov khoom tau raug tso tawm thoob ntiaj teb xyoo tas los no? Muaj pes tsawg axes yuav tsum muaj neeg hlau muaj?
Tam sim no, kev lag luam neeg hlau tau siv dav hauv txhua qhov chaw ntawm lub neej, tab sis peb kuj pom tias cov neeg hlau ua lag luam tsis tsuas yog muaj cov duab sib txawv, tab sis kuj muaj cov lej sib txawv. Lub npe hu ua axis ntawm kev lag luam neeg hlau tuaj yeem piav qhia los ntawm lub sijhawm ua haujlwm ntawm kev ywj pheej. Yog tias tus neeg hlau muaj peb qib kev ywj pheej, nws tuaj yeem txav mus los ntawm X, y thiab Z axes, tab sis nws tsis tuaj yeem qaij lossis tig. Thaum tus naj npawb ntawm cov axes ntawm cov neeg hlau nce, nws hloov tau ntau dua rau cov neeg hlau. Muaj pes tsawg axes yuav tsum muaj robots? Peb axis neeg hlau tseem hu ua Cartesian coordinate lossis Cartesian neeg hlau. Nws peb axes tuaj yeem tso cai rau tus neeg hlau txav raws peb axes. Hom neeg hlau no feem ntau yog siv los ua haujlwm yooj yim. 
Plaub axis neeg hlau tuaj yeem tig raws X, y thiab Z axes. Sib txawv ntawm peb-axis neeg hlau, nws muaj ib qho kev ywj pheej thib plaub. Feem ntau hais lus, SCARA neeg hlau tuaj yeem suav tias yog plaub axis neeg hlau. Tsib axis yog qhov kev teeb tsa ntawm ntau lub tshuab hluav taws xob. Cov neeg hlau no tuaj yeem tig los ntawm peb qhov chaw ncig ntawm X, y thiab Z. tib lub sijhawm, lawv tuaj yeem tig los ntawm kev cia siab rau ntawm lub axis ntawm lub hauv paus thiab cov axis nrog kev hloov pauv ntawm tes, uas ua rau lawv yooj yim dua. Lub rau axis neeg hlau tuaj yeem dhau ntawm X, y thiab Z axes, thiab txhua axis tuaj yeem tig ntawm nws tus kheej. Qhov sib txawv loj tshaj plaws ntawm tsib axis neeg hlau yog tias muaj ib qho ntxiv axis uas tuaj yeem tig tau dawb. Tus neeg sawv cev ntawm rau axis neeg hlau yog youao neeg hlau. Los ntawm lub npog xiav ntawm tus neeg hlau, koj tuaj yeem suav cov lej ntawm cov axes ntawm tus neeg hlau. Xya axis neeg hlau, tseem hu ua redundant neeg hlau, piv nrog rau axis neeg hlau, cov axis ntxiv tso cai rau cov neeg hlau kom tsis txhob muaj qee lub hom phiaj tshwj xeeb, pab txhawb qhov kawg effector kom ncav cuag ib txoj haujlwm tshwj xeeb, thiab tuaj yeem hloov kho rau qee qhov chaw ua haujlwm tshwj xeeb. Nrog rau qhov nce ntawm cov axes, qhov yooj ntawm cov neeg hlau kuj nce. Txawm li cas los xij, hauv cov ntawv thov kev lag luam tam sim no, peb-axis, plaub-axis thiab rau axis industrial robots tau siv feem ntau. Qhov no yog vim hais tias hauv qee qhov kev siv, kev hloov pauv siab tsis tas yuav tsum tau, peb-axis thiab plaub-axis robots muaj kev siv nyiaj ntau dua, thiab peb-axis thiab plaub-axis robots kuj muaj qhov zoo ntawm kev ceev. Nyob rau hauv lub neej yav tom ntej, nyob rau hauv 3C kev lag luam uas xav tau kev hloov tau yooj yim, xya axis muaj neeg hlau yuav muaj qhov chaw ua si. Nrog nws qhov tseeb zuj zus, nws yuav hloov phau ntawv sib dhos ntawm cov khoom siv hluav taws xob zoo xws li xov tooj ntawm tes nyob rau yav tom ntej. Dab tsi yog qhov zoo ntawm xya axis muaj neeg hlau ntau tshaj rau axis muaj neeg hlau? Technically, dab tsi yog cov teeb meem nrog rau axis industrial robots thiab dab tsi yog lub zog ntawm xya axis industrial robots? (1) Txhim kho cov yam ntxwv kinematic Hauv kinematics ntawm neeg hlau, peb qhov teeb meem ua rau kev txav ntawm cov neeg hlau txwv heev. Qhov thib ib yog qhov kev teeb tsa tus kheej. Thaum tus neeg hlau nyob hauv ib qho kev teeb tsa, nws qhov kawg effector tsis tuaj yeem txav mus rau hauv ib qho kev taw qhia lossis siv lub zog, yog li qhov kev teeb tsa tus kheej zoo heev cuam tshuam rau kev npaj cov lus tsa suab. Qhov thib rau axis thiab plaub axis ntawm rau axis neeg hlau yog collinear Qhov thib ob yog kev sib koom ua ke overrun. Hauv qhov xwm txheej ua haujlwm tiag tiag, lub kaum sab xis ntawm txhua qhov sib koom ua ke ntawm cov neeg hlau raug txwv. Lub xeev zoo tshaj yog ntxiv lossis rho tawm 180 degrees, tab sis ntau cov pob qij txha ua tsis tau. Tsis tas li ntawd, xya axis neeg hlau tuaj yeem zam dhau qhov nrawm nrawm nrawm thiab ua rau lub kaum sab xis sib faib ntau dua. Cov lus tsa suab thiab qhov siab tshaj plaws ntawm txhua qhov axis ntawm Xinsong xya axis neeg hlau Thib peb, muaj kev cuam tshuam hauv qhov chaw ua haujlwm. Hauv kev lag luam ib puag ncig, muaj ntau yam kev cuam tshuam ib puag ncig hauv ntau lub sijhawm. Cov tsoos rau axis neeg hlau tsis tuaj yeem hloov pauv tus cwj pwm ntawm qhov kawg mechanism yam tsis tau hloov txoj hauj lwm ntawm qhov kawg mechanism. (2) Txhim kho cov yam ntxwv dynamic Rau xya axis neeg hlau, siv nws redundant degrees ntawm kev ywj pheej tsis tau tsuas yog ua tau zoo kinematic yam ntxwv los ntawm trajectory npaj, tab sis kuj siv nws cov qauv kom ua tau zoo dynamic kev ua tau zoo. Lub xya axis neeg hlau tuaj yeem paub txog kev faib tawm ntawm kev sib koom ua ke torque, uas cuam tshuam txog qhov teeb meem ntawm qhov sib npaug ntawm cov neeg hlau, uas yog, lub zog ua haujlwm ntawm qhov kawg tuaj yeem suav los ntawm qee qhov algorithm. Rau cov tsoos rau axis neeg hlau, lub zog ntawm txhua qhov sib koom ua ke yog qhov tseeb, thiab nws qhov kev faib tawm yuav tsis tsim nyog. Txawm li cas los xij, rau xya axis neeg hlau, peb tuaj yeem kho lub zog ntawm txhua qhov sib koom ua ke los ntawm kev tswj hwm algorithm kom ua kom lub zog ua haujlwm los ntawm qhov tsis muaj zog txuas me me raws li qhov ua tau, kom lub zog faib ntawm tag nrho cov neeg hlau yog ntau yam thiab tsim nyog. (3) Fault kam rau ua Nyob rau hauv cov ntaub ntawv ntawm tsis ua hauj lwm, yog hais tias ib tug sib koom ua tsis tau tejyam, cov tsoos rau axis neeg hlau tsis tuaj yeem ua kom tiav cov hauj lwm, thaum lub xya axis neeg hlau tuaj yeem txuas ntxiv mus ua haujlwm ib txwm los ntawm kev hloov kho qhov kev faib tawm ntawm qhov nrawm ntawm kev sib koom ua tsis tiav (kinematic txhaum kam rau ua) thiab lub torque ntawm kev sib koom ua tsis tiav (dynamic fault kam rau ua). 
Txhua caj npab ntawm Yumi muaj xya degrees ntawm kev ywj pheej thiab lub cev hnyav yog 38 kg. Lub nra ntawm txhua caj npab yog 0.5kg, thiab qhov rov ua dua qhov tseeb tuaj yeem ncav cuag 0.02mm. Yog li ntawd, nws yog qhov tshwj xeeb tshaj yog rau cov khoom me me sib dhos, cov khoom siv, cov khoom ua si thiab lwm yam. Los ntawm qhov tseeb ntawm cov neeg kho tshuab watches mus rau kev ua haujlwm ntawm cov xov tooj ntawm tes, ntsiav tshuaj computers thiab desktop computer qhov chaw, Yumi tsis muaj teeb meem, uas qhia txog cov yam ntxwv zoo ntawm cov neeg hlau tsis tu ncua, xws li nthuav dav qhov chaw ua haujlwm, yooj yim, nrawm thiab raug. - Yaskawa Motoman SIA YASKAWA hluav taws xob, lub tuam txhab paub zoo neeg hlau nyob hauv Nyij Pooj thiab ib qho ntawm "plaub tsev neeg", kuj tau tso tawm ntau yam ntawm xya axis neeg hlau khoom. SIA series neeg hlau yog lub teeb agile xya axis neeg hlau, uas tuaj yeem muab kev hloov pauv ntawm tib neeg thiab nrawm nrawm. Lub teeb yuag thiab streamlined tsim ntawm no series ntawm robots ua rau nws zoo heev rau installation nyob rau hauv ib tug nqaim qhov chaw. SIA series tuaj yeem muab kev them nyiaj siab (5kg txog 50kg) thiab kev ua haujlwm loj (559mm txog 1630mm), uas yog qhov tsim nyog rau kev sib dhos, txhaj tshuaj molding, tshuaj xyuas thiab lwm yam haujlwm. Ntxiv rau lub teeb xya axis neeg hlau khoom, Yaskawa kuj tau tso tawm xya axis neeg hlau vuam tshuab. Nws cov qib siab ntawm kev ywj pheej tuaj yeem tswj hwm tus cwj pwm tsim nyog tshaj plaws kom deb li deb tau kom ua tiav cov txiaj ntsig zoo vuam, tshwj xeeb tshaj yog tsim rau sab hauv vuam vuam thiab ua tiav txoj haujlwm zoo tshaj plaws. Ntxiv mus, cov khoom muaj peev xwm muaj ib tug high-density layout, yooj yim zam kev cuam tshuam ntawm nws thiab ncej thiab workpiece, thiab qhia tau hais tias nws zoo heev tiv thaiv kev ua haujlwm. -Qhov ntau ntse, ntau Presto mr20 Thaum ntxov thaum xaus ntawm 2007, Na bueryue tau tsim xya qib ntawm kev ywj pheej neeg hlau "Presto mr20". Los ntawm kev siv xya axis tsim, tus neeg hlau tuaj yeem ua haujlwm ntau dua thiab txav mus rau hauv qhov chaw ua haujlwm nqaim zoo li tib neeg caj npab. Tsis tas li ntawd, Robot pem hauv ntej kawg Lub torque ntawm (lub dab teg) yog li ob zaug ntawm cov thawj tsoos rau axis neeg hlau. Lub torque ntawm tus qauv configuration yog 20kg. Los ntawm kev teeb tsa qhov kev ua haujlwm, nws tuaj yeem nqa txog 30kg ntawm cov khoom, kev ua haujlwm ntau yog 1260mm, thiab qhov rov ua dua qhov tseeb yog 0.1mm. Los ntawm kev txais yuav xya axis qauv, mr20 tuaj yeem ua haujlwm ntawm sab ntawm lub tshuab cuab yeej thaum noj thiab muab cov khoom ua haujlwm ntawm lub tshuab cuab yeej. Nyob rau hauv txoj kev no, Nws txhim kho kev ua tau zoo ntawm kev npaj thiab txij nkawm ua ntej. Qhov chaw nruab nrab ntawm cov cuab yeej siv tshuab tuaj yeem raug txo kom tsawg dua ib nrab ntawm cov tsoos rau axis neeg hlau. 
Tsis tas li ntawd, nazhibueryue kuj tau tso tawm ob lub tshuab ua lag luam, mr35 (nrog rau kev thauj khoom ntawm 35kg) thiab mr50 (nrog rau qhov hnyav ntawm 50kg), uas tuaj yeem siv rau hauv qhov chaw nqaim thiab qhov chaw uas muaj teeb meem. -OTC xya axis muaj neeg hlau Odish ntawm daihen pawg hauv Nyij Pooj tau tshaj tawm xya axis neeg hlau tshiab (fd-b4s, fd-b4ls, fd-v6s, fd-v6ls thiab fd-v20s). Vim yog kev sib hloov ntawm lub xya axis, lawv tuaj yeem paub qhov sib tw twist tib yam li tib neeg lub dab teg thiab vuam rau ntau tshaj ib lub lis piam; Nyob rau hauv tas li ntawd, xya axis neeg hlau yog tib neeg (fd-b4s, fd-b4ls) welding cable yog muab zais rau hauv lub cev neeg hlau, yog li tsis tas yuav tsum tau them sai sai rau kev cuam tshuam ntawm cov neeg hlau, vuam fixture thiab cov workpiece thaum lub sij hawm. kev qhia ua haujlwm. Qhov kev txiav txim yog du heev, thiab qib ntawm kev ywj pheej ntawm vuam posture tau raug txhim kho, uas tuaj yeem ua rau muaj qhov tsis xws luag uas cov neeg hlau tsis tuaj yeem nkag mus rau qhov vuam vim muaj kev cuam tshuam nrog lub workpiece lossis vuam fixture. -Baxter thiab Sawyer ntawm rov xav Robotics Rov xav dua robotics yog ib tug pioneer ntawm kev koom tes robots. Ntawm lawv, Baxter dual caj npab neeg hlau, uas tau tsim thawj zaug, muaj xya qib kev ywj pheej ntawm ob txhais caj npab, thiab qhov siab tshaj plaws ua haujlwm ntawm ib sab caj npab yog 1210mm. Baxter tuaj yeem ua tiav ob txoj haujlwm sib txawv tib lub sijhawm kom muaj peev xwm ua tau, lossis ua haujlwm tib lub sijhawm kom ua tiav cov txiaj ntsig. Sawyer, launched xyoo tas los, yog ib sab caj npab xya axis neeg hlau. Nws cov pob qij txha hloov tau siv tib lub tshuab ua haujlwm elastic, tab sis cov actuator siv hauv nws cov pob qij txha tau raug kho dua tshiab los ua kom nws me dua. Vim hais tias xya axis tsim tau txais yuav thiab kev ua haujlwm tau txuas ntxiv mus rau 100mm, nws tuaj yeem ua tiav cov haujlwm ua haujlwm nrog cov khoom loj dua, thiab cov load tuaj yeem ncav cuag 4kg, uas yog ntau dua li 2.2kg payload ntawm Baxter neeg hlau. -Yamaha xya axis neeg hlau Ya series Nyob rau hauv 2015, Yamaha tau tsim peb xya axis neeg hlau "ya-u5f", "ya-u10f" thiab "ya-u20f", uas tau tsav thiab tswj los ntawm tus tswj tshiab "ya-c100". 7-axis neeg hlau muaj e-axis sib npaug rau tib neeg lub luj tshib, yog li nws tuaj yeem ua tiav kev khoov, torsion, txuas ntxiv thiab lwm yam haujlwm. Txawm tias nyob rau hauv qhov nqaim qhov sib txawv uas nws nyuaj rau cov neeg hlau ua haujlwm hauv qab 6 axes, kev ua haujlwm thiab kev teeb tsa tuaj yeem ua tiav zoo. Tsis tas li ntawd, nws tseem tuaj yeem paub qhov qis squat txoj hauj lwm thiab qhov kev txiav txim ntawm winding nyob rau sab nraum qab ntawm lub cuab yeej. Lub actuator nrog cov qauv hollow yog saws, thiab cov cuab yeej cable thiab cua hose tau tsim nyob rau hauv lub tshuab ua haujlwm, uas yuav tsis cuam tshuam nrog cov khoom siv nyob ib puag ncig thiab tuaj yeem paub txog cov kab ntau lawm.
Plaub axis neeg hlau tuaj yeem tig raws X, y thiab Z axes. Sib txawv ntawm peb-axis neeg hlau, nws muaj ib qho kev ywj pheej thib plaub. Feem ntau hais lus, SCARA neeg hlau tuaj yeem suav tias yog plaub axis neeg hlau. Tsib axis yog qhov kev teeb tsa ntawm ntau lub tshuab hluav taws xob. Cov neeg hlau no tuaj yeem tig los ntawm peb qhov chaw ncig ntawm X, y thiab Z. tib lub sijhawm, lawv tuaj yeem tig los ntawm kev cia siab rau ntawm lub axis ntawm lub hauv paus thiab cov axis nrog kev hloov pauv ntawm tes, uas ua rau lawv yooj yim dua. Lub rau axis neeg hlau tuaj yeem dhau ntawm X, y thiab Z axes, thiab txhua axis tuaj yeem tig ntawm nws tus kheej. Qhov sib txawv loj tshaj plaws ntawm tsib axis neeg hlau yog tias muaj ib qho ntxiv axis uas tuaj yeem tig tau dawb. Tus neeg sawv cev ntawm rau axis neeg hlau yog youao neeg hlau. Los ntawm lub npog xiav ntawm tus neeg hlau, koj tuaj yeem suav cov lej ntawm cov axes ntawm tus neeg hlau. Xya axis neeg hlau, tseem hu ua redundant neeg hlau, piv nrog rau axis neeg hlau, cov axis ntxiv tso cai rau cov neeg hlau kom tsis txhob muaj qee lub hom phiaj tshwj xeeb, pab txhawb qhov kawg effector kom ncav cuag ib txoj haujlwm tshwj xeeb, thiab tuaj yeem hloov kho rau qee qhov chaw ua haujlwm tshwj xeeb. Nrog rau qhov nce ntawm cov axes, qhov yooj ntawm cov neeg hlau kuj nce. Txawm li cas los xij, hauv cov ntawv thov kev lag luam tam sim no, peb-axis, plaub-axis thiab rau axis industrial robots tau siv feem ntau. Qhov no yog vim hais tias hauv qee qhov kev siv, kev hloov pauv siab tsis tas yuav tsum tau, peb-axis thiab plaub-axis robots muaj kev siv nyiaj ntau dua, thiab peb-axis thiab plaub-axis robots kuj muaj qhov zoo ntawm kev ceev. Nyob rau hauv lub neej yav tom ntej, nyob rau hauv 3C kev lag luam uas xav tau kev hloov tau yooj yim, xya axis muaj neeg hlau yuav muaj qhov chaw ua si. Nrog nws qhov tseeb zuj zus, nws yuav hloov phau ntawv sib dhos ntawm cov khoom siv hluav taws xob zoo xws li xov tooj ntawm tes nyob rau yav tom ntej. Dab tsi yog qhov zoo ntawm xya axis muaj neeg hlau ntau tshaj rau axis muaj neeg hlau? Technically, dab tsi yog cov teeb meem nrog rau axis industrial robots thiab dab tsi yog lub zog ntawm xya axis industrial robots? (1) Txhim kho cov yam ntxwv kinematic Hauv kinematics ntawm neeg hlau, peb qhov teeb meem ua rau kev txav ntawm cov neeg hlau txwv heev. Qhov thib ib yog qhov kev teeb tsa tus kheej. Thaum tus neeg hlau nyob hauv ib qho kev teeb tsa, nws qhov kawg effector tsis tuaj yeem txav mus rau hauv ib qho kev taw qhia lossis siv lub zog, yog li qhov kev teeb tsa tus kheej zoo heev cuam tshuam rau kev npaj cov lus tsa suab. Qhov thib rau axis thiab plaub axis ntawm rau axis neeg hlau yog collinear Qhov thib ob yog kev sib koom ua ke overrun. Hauv qhov xwm txheej ua haujlwm tiag tiag, lub kaum sab xis ntawm txhua qhov sib koom ua ke ntawm cov neeg hlau raug txwv. Lub xeev zoo tshaj yog ntxiv lossis rho tawm 180 degrees, tab sis ntau cov pob qij txha ua tsis tau. Tsis tas li ntawd, xya axis neeg hlau tuaj yeem zam dhau qhov nrawm nrawm nrawm thiab ua rau lub kaum sab xis sib faib ntau dua. Cov lus tsa suab thiab qhov siab tshaj plaws ntawm txhua qhov axis ntawm Xinsong xya axis neeg hlau Thib peb, muaj kev cuam tshuam hauv qhov chaw ua haujlwm. Hauv kev lag luam ib puag ncig, muaj ntau yam kev cuam tshuam ib puag ncig hauv ntau lub sijhawm. Cov tsoos rau axis neeg hlau tsis tuaj yeem hloov pauv tus cwj pwm ntawm qhov kawg mechanism yam tsis tau hloov txoj hauj lwm ntawm qhov kawg mechanism. (2) Txhim kho cov yam ntxwv dynamic Rau xya axis neeg hlau, siv nws redundant degrees ntawm kev ywj pheej tsis tau tsuas yog ua tau zoo kinematic yam ntxwv los ntawm trajectory npaj, tab sis kuj siv nws cov qauv kom ua tau zoo dynamic kev ua tau zoo. Lub xya axis neeg hlau tuaj yeem paub txog kev faib tawm ntawm kev sib koom ua ke torque, uas cuam tshuam txog qhov teeb meem ntawm qhov sib npaug ntawm cov neeg hlau, uas yog, lub zog ua haujlwm ntawm qhov kawg tuaj yeem suav los ntawm qee qhov algorithm. Rau cov tsoos rau axis neeg hlau, lub zog ntawm txhua qhov sib koom ua ke yog qhov tseeb, thiab nws qhov kev faib tawm yuav tsis tsim nyog. Txawm li cas los xij, rau xya axis neeg hlau, peb tuaj yeem kho lub zog ntawm txhua qhov sib koom ua ke los ntawm kev tswj hwm algorithm kom ua kom lub zog ua haujlwm los ntawm qhov tsis muaj zog txuas me me raws li qhov ua tau, kom lub zog faib ntawm tag nrho cov neeg hlau yog ntau yam thiab tsim nyog. (3) Fault kam rau ua Nyob rau hauv cov ntaub ntawv ntawm tsis ua hauj lwm, yog hais tias ib tug sib koom ua tsis tau tejyam, cov tsoos rau axis neeg hlau tsis tuaj yeem ua kom tiav cov hauj lwm, thaum lub xya axis neeg hlau tuaj yeem txuas ntxiv mus ua haujlwm ib txwm los ntawm kev hloov kho qhov kev faib tawm ntawm qhov nrawm ntawm kev sib koom ua tsis tiav (kinematic txhaum kam rau ua) thiab lub torque ntawm kev sib koom ua tsis tiav (dynamic fault kam rau ua). Xya axis industrial neeg hlau khoom ntawm thoob ntiaj teb cov neeg loj heev
Txawm hais tias los ntawm cov khoom lag luam pom lossis los ntawm cov ntawv thov kev pom, xya axis muaj neeg hlau tseem nyob rau theem pib txhim kho, tab sis cov tuam txhab loj tau thawb cov khoom lag luam hauv kev nthuav dav loj. Nws tuaj yeem xav tias lawv zoo siab heev txog nws txoj kev loj hlob yav tom ntej. - KUB LBR iiwa Thaum lub Kaum Ib Hlis 2014, KUKA thawj zaug tso tawm KUKA thawj 7-DOF lub teeb rhiab neeg hlau lbriiwa ntawm tus neeg hlau exhibition ntawm Tuam Tshoj International Industry Expo. Lbriiwa xya axis neeg hlau yog tsim los ntawm tib neeg caj npab. Ua ke nrog kev sib xyaw sensor system, lub teeb neeg hlau muaj programmable rhiab heev thiab raug siab heev. Tag nrho cov axes ntawm xya axis lbriiwa tau nruab nrog kev sib tsoo kom pom kev ua haujlwm siab thiab kev sib koom ua ke torque sensor kom paub txog kev sib koom tes ntawm tib neeg-tshuab. Lub xya axis tsim ua rau KUKA cov khoom muaj kev hloov pauv tau yooj yim thiab tuaj yeem hla cov teeb meem yooj yim. Cov qauv ntawm lbriiwa neeg hlau yog ua los ntawm txhuas, thiab nws tus kheej qhov hnyav tsuas yog 23.9 kg. Muaj ob hom kev thauj khoom, 7 kg thiab 14 kg feem, ua rau nws yog thawj lub teeb neeg hlau nrog lub nra ntawm ntau tshaj 10 kg. - ABB YuMi Thaum Lub Plaub Hlis 13, 2015, abb tau tshaj tawm lub ntiaj teb thawj ob sab caj npab muaj neeg hlau Yumi uas paub txog tib neeg-tshuab kev koom tes rau kev ua lag luam ntawm Industrial Expo hauv Hanover, Lub teb chaws Yelemees Txhua caj npab ntawm Yumi muaj xya degrees ntawm kev ywj pheej thiab lub cev hnyav yog 38 kg. Lub nra ntawm txhua caj npab yog 0.5kg, thiab qhov rov ua dua qhov tseeb tuaj yeem ncav cuag 0.02mm. Yog li ntawd, nws yog qhov tshwj xeeb tshaj yog rau cov khoom me me sib dhos, cov khoom siv, cov khoom ua si thiab lwm yam. Los ntawm qhov tseeb ntawm cov neeg kho tshuab watches mus rau kev ua haujlwm ntawm cov xov tooj ntawm tes, ntsiav tshuaj computers thiab desktop computer qhov chaw, Yumi tsis muaj teeb meem, uas qhia txog cov yam ntxwv zoo ntawm cov neeg hlau tsis tu ncua, xws li nthuav dav qhov chaw ua haujlwm, yooj yim, nrawm thiab raug. - Yaskawa Motoman SIA YASKAWA hluav taws xob, lub tuam txhab paub zoo neeg hlau nyob hauv Nyij Pooj thiab ib qho ntawm "plaub tsev neeg", kuj tau tso tawm ntau yam ntawm xya axis neeg hlau khoom. SIA series neeg hlau yog lub teeb agile xya axis neeg hlau, uas tuaj yeem muab kev hloov pauv ntawm tib neeg thiab nrawm nrawm. Lub teeb yuag thiab streamlined tsim ntawm no series ntawm robots ua rau nws zoo heev rau installation nyob rau hauv ib tug nqaim qhov chaw. SIA series tuaj yeem muab kev them nyiaj siab (5kg txog 50kg) thiab kev ua haujlwm loj (559mm txog 1630mm), uas yog qhov tsim nyog rau kev sib dhos, txhaj tshuaj molding, tshuaj xyuas thiab lwm yam haujlwm. Ntxiv rau lub teeb xya axis neeg hlau khoom, Yaskawa kuj tau tso tawm xya axis neeg hlau vuam tshuab. Nws cov qib siab ntawm kev ywj pheej tuaj yeem tswj hwm tus cwj pwm tsim nyog tshaj plaws kom deb li deb tau kom ua tiav cov txiaj ntsig zoo vuam, tshwj xeeb tshaj yog tsim rau sab hauv vuam vuam thiab ua tiav txoj haujlwm zoo tshaj plaws. Ntxiv mus, cov khoom muaj peev xwm muaj ib tug high-density layout, yooj yim zam kev cuam tshuam ntawm nws thiab ncej thiab workpiece, thiab qhia tau hais tias nws zoo heev tiv thaiv kev ua haujlwm. -Qhov ntau ntse, ntau Presto mr20 Thaum ntxov thaum xaus ntawm 2007, Na bueryue tau tsim xya qib ntawm kev ywj pheej neeg hlau "Presto mr20". Los ntawm kev siv xya axis tsim, tus neeg hlau tuaj yeem ua haujlwm ntau dua thiab txav mus rau hauv qhov chaw ua haujlwm nqaim zoo li tib neeg caj npab. Tsis tas li ntawd, Robot pem hauv ntej kawg Lub torque ntawm (lub dab teg) yog li ob zaug ntawm cov thawj tsoos rau axis neeg hlau. Lub torque ntawm tus qauv configuration yog 20kg. Los ntawm kev teeb tsa qhov kev ua haujlwm, nws tuaj yeem nqa txog 30kg ntawm cov khoom, kev ua haujlwm ntau yog 1260mm, thiab qhov rov ua dua qhov tseeb yog 0.1mm. Los ntawm kev txais yuav xya axis qauv, mr20 tuaj yeem ua haujlwm ntawm sab ntawm lub tshuab cuab yeej thaum noj thiab muab cov khoom ua haujlwm ntawm lub tshuab cuab yeej. Nyob rau hauv txoj kev no, Nws txhim kho kev ua tau zoo ntawm kev npaj thiab txij nkawm ua ntej. Qhov chaw nruab nrab ntawm cov cuab yeej siv tshuab tuaj yeem raug txo kom tsawg dua ib nrab ntawm cov tsoos rau axis neeg hlau. Tsis tas li ntawd, nazhibueryue kuj tau tso tawm ob lub tshuab ua lag luam, mr35 (nrog rau kev thauj khoom ntawm 35kg) thiab mr50 (nrog rau qhov hnyav ntawm 50kg), uas tuaj yeem siv rau hauv qhov chaw nqaim thiab qhov chaw uas muaj teeb meem. -OTC xya axis muaj neeg hlau Odish ntawm daihen pawg hauv Nyij Pooj tau tshaj tawm xya axis neeg hlau tshiab (fd-b4s, fd-b4ls, fd-v6s, fd-v6ls thiab fd-v20s). Vim yog kev sib hloov ntawm lub xya axis, lawv tuaj yeem paub qhov sib tw twist tib yam li tib neeg lub dab teg thiab vuam rau ntau tshaj ib lub lis piam; Nyob rau hauv tas li ntawd, xya axis neeg hlau yog tib neeg (fd-b4s, fd-b4ls) welding cable yog muab zais rau hauv lub cev neeg hlau, yog li tsis tas yuav tsum tau them sai sai rau kev cuam tshuam ntawm cov neeg hlau, vuam fixture thiab cov workpiece thaum lub sij hawm. kev qhia ua haujlwm. Qhov kev txiav txim yog du heev, thiab qib ntawm kev ywj pheej ntawm vuam posture tau raug txhim kho, uas tuaj yeem ua rau muaj qhov tsis xws luag uas cov neeg hlau tsis tuaj yeem nkag mus rau qhov vuam vim muaj kev cuam tshuam nrog lub workpiece lossis vuam fixture. -Baxter thiab Sawyer ntawm rov xav Robotics Rov xav dua robotics yog ib tug pioneer ntawm kev koom tes robots. Ntawm lawv, Baxter dual caj npab neeg hlau, uas tau tsim thawj zaug, muaj xya qib kev ywj pheej ntawm ob txhais caj npab, thiab qhov siab tshaj plaws ua haujlwm ntawm ib sab caj npab yog 1210mm. Baxter tuaj yeem ua tiav ob txoj haujlwm sib txawv tib lub sijhawm kom muaj peev xwm ua tau, lossis ua haujlwm tib lub sijhawm kom ua tiav cov txiaj ntsig. Sawyer, launched xyoo tas los, yog ib sab caj npab xya axis neeg hlau. Nws cov pob qij txha hloov tau siv tib lub tshuab ua haujlwm elastic, tab sis cov actuator siv hauv nws cov pob qij txha tau raug kho dua tshiab los ua kom nws me dua. Vim hais tias xya axis tsim tau txais yuav thiab kev ua haujlwm tau txuas ntxiv mus rau 100mm, nws tuaj yeem ua tiav cov haujlwm ua haujlwm nrog cov khoom loj dua, thiab cov load tuaj yeem ncav cuag 4kg, uas yog ntau dua li 2.2kg payload ntawm Baxter neeg hlau. -Yamaha xya axis neeg hlau Ya series Nyob rau hauv 2015, Yamaha tau tsim peb xya axis neeg hlau "ya-u5f", "ya-u10f" thiab "ya-u20f", uas tau tsav thiab tswj los ntawm tus tswj tshiab "ya-c100". 7-axis neeg hlau muaj e-axis sib npaug rau tib neeg lub luj tshib, yog li nws tuaj yeem ua tiav kev khoov, torsion, txuas ntxiv thiab lwm yam haujlwm. Txawm tias nyob rau hauv qhov nqaim qhov sib txawv uas nws nyuaj rau cov neeg hlau ua haujlwm hauv qab 6 axes, kev ua haujlwm thiab kev teeb tsa tuaj yeem ua tiav zoo. Tsis tas li ntawd, nws tseem tuaj yeem paub qhov qis squat txoj hauj lwm thiab qhov kev txiav txim ntawm winding nyob rau sab nraum qab ntawm lub cuab yeej. Lub actuator nrog cov qauv hollow yog saws, thiab cov cuab yeej cable thiab cua hose tau tsim nyob rau hauv lub tshuab ua haujlwm, uas yuav tsis cuam tshuam nrog cov khoom siv nyob ib puag ncig thiab tuaj yeem paub txog cov kab ntau lawm.