Robot ụlọ ọrụ mmepụta ihe asaa vs isii axis arụ ọrụ robot, kedu ike dị?

Ka ọ dị ugbu a, a na-eji ígwè ọrụ rọbọt eme ihe n'ebe nile n'ụdị ndụ, ma anyị chọpụtakwara na ọ bụghị nanị na ígwè ọrụ ígwè ọrụ nwere ọdịdị dị iche iche, kamakwa nwere ọnụ ọgụgụ anyụike dị iche iche. Enwere ike ịkọwa ihe a na-akpọ axis nke robot mmepụta ihe site na okwu ọkachamara nke nnwere onwe. Ọ bụrụ na rọbọt ahụ nwere ikike nnwere onwe atọ, ọ nwere ike ịgagharị n'enweghị ihe ọ bụla n'akụkụ axes X, y na Z, mana ọ nweghị ike ịgbatị ma ọ bụ tụgharịa. Mgbe ọnụ ọgụgụ axes nke rọbọt na-abawanye, ọ na-enwekwu mgbanwe maka rọbọt. Anyụike ole kwesịrị inwe robọt ndị nrụpụta ọrụ? A na-akpọkwa robot axis atọ Cartesian coordinate ma ọ bụ Robot Cartesian. Anyụike atọ ya nwere ike ime ka rọbọt ahụ na-aga n'akụkụ anyụike atọ ahụ. A na-ejikarị ụdị rọbọt a eme ihe n'ọrụ njikwa dị mfe. Robot axis anọ nwere ike ịtụgharị n'akụkụ axe X, y na Z. Dị iche na atọ axis robot, o nwere axis anọ nọọrọ onwe ya. N'ikwu okwu n'ozuzu, SCARA robot nwere ike iwere dị ka robot axis anọ. Axis ise bụ nhazi nke ọtụtụ robots ụlọ ọrụ. Robots ndị a nwere ike ịtụgharị site na okirikiri oghere atọ nke X, y na Z. n'otu oge ahụ, ha nwere ike ịtụgharị site na ịdabere na axis na isi na axis na ntụgharị mgbanwe nke aka, nke na-eme ka mgbanwe ha dịkwuo elu. Robot axis isii nwere ike gafere site na X, y na Z axes, na axis nke ọ bụla nwere ike ịtụgharị onwe ya. Nnukwu ihe dị iche na robot axis ise bụ na enwere axis ọzọ nke nwere ike ịtụgharị n'efu. Onye nnọchi anya robot axis isii bụ youao robot. Site na mkpuchi na-acha anụnụ anụnụ na robot, ị nwere ike gbakọọ ọnụ ọgụgụ axes nke robot n'ụzọ doro anya. Robot asaa axis, nke a makwaara dị ka robot eji arụ ọrụ, ma e jiri ya tụnyere robot axis isii, axis ọzọ na-enye ohere ka robot zere ụfọdụ ebumnuche ụfọdụ, mee ka onye na-eme ihe kwụsị iru otu ọnọdụ, ma nwee ike ime mgbanwe na gburugburu ebe ọrụ pụrụ iche. Site na mmụba nke ọnụ ọgụgụ axes, mgbanwe nke robot na-abawanye. Otú ọ dị, n'ime ngwa ụlọ ọrụ mmepụta ihe ugbu a, a na-eji ígwè ọrụ robots atọ-axis, axis anọ na isii axis eme ihe. Nke a bụ n'ihi na na ụfọdụ ngwa, ọ dịghị mkpa mgbanwe dị elu, atọ-axis na anọ-axis robots nwere ọnụ ahịa dị elu karịa, na atọ-axis na anọ-axis robots nwekwara nnukwu uru na ọsọ. N'ọdịnihu, na ụlọ ọrụ 3C nke chọrọ mgbanwe dị elu, robot ụlọ ọrụ axis asaa ga-enwe ebe igwu egwu. Site na izi ezi ya na-abawanye, ọ ga-edochi mgbakọ akwụkwọ ntuziaka nke ngwaahịa eletrọnịkị ziri ezi dị ka ekwentị mkpanaaka n'ọdịnihu dị nso. Gịnị bụ uru nke asaa axis ụlọ ọrụ robot karịa isii axis ulo oru robot? Teknụzụ, kedu nsogbu dị na robots ụlọ ọrụ axis isii na kedu ihe ike nke robots ụlọ ọrụ axis asaa? (1) Melite njirimara kinematic Na kinematics nke robot, nsogbu atọ na-eme ka ngagharị nke robot dị oke oke. Nke mbụ bụ nhazi nke otu. Mgbe robot dị na nhazi nke otu, njedebe njedebe ya enweghị ike ịkwaga n'otu akụkụ ma ọ bụ tinye torque, ya mere nhazi nke otu na-emetụta nnukwu atụmatụ mmegharị ahụ. Axis nke isii na axis nke anọ nke robot axis isii bụ collinear Nke abụọ bụ ngafe n'ike n'ike. N'ọnọdụ ọrụ n'ezie, akụkụ akụkụ nke nkwonkwo nke ọ bụla nke robot nwere oke. Ọnọdụ dị mma bụ gbakwunyere ma ọ bụ mwepu ogo 180, mana ọtụtụ nkwonkwo enweghị ike ime ya. Na mgbakwunye, robot axis asaa ahụ nwere ike zere mmegharị ngwa ngwa akụkụ angular ma mee ka nkesa ọsọ angular dịkwuo otu. Oke ngagharị na ọsọ angular kacha nke axis nke Xinsong robot asaa axis Nke atọ, enwere ihe mgbochi na gburugburu ebe ọrụ. Na gburugburu ụlọ ọrụ mmepụta ihe, enwere ihe mgbochi gburugburu ebe obibi dị iche iche n'ọtụtụ oge. The omenala isii axis robot nwere ike ọ bụghị naanị ịgbanwe àgwà nke ọgwụgwụ usoro na-enweghị na-agbanwe ọnọdụ nke ọgwụgwụ usoro. (2) Melite njirimara ike Maka robot axis asaa, iji ogo nnwere onwe ya na-abawanye ụba nwere ike ọ bụghị naanị nweta njirimara kinematic dị mma site na atụmatụ trajectory, kamakwa jiri usoro ya rụọ ọrụ kacha mma. The asaa axis robot nwere ike ịghọta redistribution nke nkwonkwo torque, nke na-agụnye nsogbu nke static itule nke robot, ya bụ, ike na-eme na njedebe nwere ike gbakọọ ụfọdụ algọridim. Maka robot axis isii ọdịnala, ike nke nkwonkwo ọ bụla bụ ihe doro anya, na nkesa ya nwere ike bụrụ ihe ezi uche na-adịghị na ya. Otú ọ dị, maka robot axis asaa, anyị nwere ike ịhazigharị mgbatị nke nkwonkwo ọ bụla site na njikwa algorithm iji mee ka ọkpụkpụ na-ebugharị site na njikọ na-adịghị ike dị ka obere dị ka o kwere mee, nke mere na nkesa nkesa nke robot dum na-ejikọta ya na ihe ezi uche dị na ya. (3) Nnagide mmejọ Bụrụ na nke ọdịda, ma ọ bụrụ na otu nkwonkwo ada ada, omenala isii axis robot enweghị ike ịnọgide na-emecha ọrụ, mgbe asaa axis robot nwere ike ịnọgide na-arụ ọrụ na-emekarị site na-emezigharị nke redistribution nke ọsọ nke okpu nkwonkwo (kinematic kpatara ndidi) na torque nke nkwonkwo dara ada (dynamic fault tolerance). Ma site n'echiche ngwaahịa ma ọ bụ site na ngwa ngwa, robot ụlọ ọrụ axis asaa ka nọ na mmalite mmepe mmalite, mana ndị na-emepụta isi akwalitewo ngwaahịa ndị dị mkpa na nnukwu ihe ngosi. Enwere ike iche na ha nwere nchekwube banyere ikike mmepe ya n'ọdịnihu. -KUKA LBR iiwa Na Nọvemba 2014, KUKA bu ụzọ wepụta KUKA mbụ 7-DOF ìhè robot lbriiwa na ihe ngosi robot nke China International Industry Expo. Lbriiwa robot axis asaa ka emebere dabere na ogwe aka mmadụ. Ejikọtara ya na sistemu ihe mmetụta agbakwunyere, rọbọt ọkụ nwere nghọta nwere ike ime yana oke izi ezi. All axes nke asaa axis lbriiwa na-onwem na elu-arụmọrụ nkukota nchọpụta ọrụ na integrated nkwonkwo torque sensọ ịghọta nwoke-igwe imekọ ihe ọnụ. Nhazi axis asaa na-eme ka ngwaahịa KUKA nwee mgbanwe dị elu ma nwee ike ịgafe ihe mgbochi ngwa ngwa. Ihe owuwu nke robot lbriiwa bụ nke aluminom, na ịdị arọ ya bụ naanị 23.9 kg. Enwere ụdị ibu abụọ, 7 kg na 14 n'otu n'otu, na-eme ka ọ bụrụ robot ọkụ nke mbụ nwere ibu karịrị kilogram 10. - ABB YuMi Na Eprel 13, 2015, abb weputara robot Yumi nke nwere ogwe aka mbụ nke ụwa nke na-ahụ n'ezie imekọ ihe ọnụ nke igwe na ahịa na Expo Industrial na Hanover, Germany. Otu ogwe aka nke Yumi nwere ogo asaa nke nnwere onwe yana ịdị arọ ahụ bụ kilogram 38. Ibu nke ogwe aka ọ bụla bụ 0.5kg, na nkwụghachi n'ọnọdụ ziri ezi nwere ike iru 0.02mm. Ya mere, ọ dị mma karịsịa maka mgbakọ obere akụkụ, ngwaahịa ndị na-azụ ahịa, ihe egwuregwu ụmụaka na ubi ndị ọzọ. Site na akụkụ ziri ezi nke elekere igwe ruo na nhazi nke ekwentị mkpanaaka, kọmpụta mbadamba na akụkụ kọmputa desktọpụ, Yumi abụghị nsogbu, nke na-egosipụta njirimara mara mma nke igwe eji arụ ọrụ, dị ka ịgbasa ebe ọrụ a na-enweta, mgbanwe, ike na izi ezi. -Yaskawa Motoman SIA YASKAWA electric, onye na-emepụta rọbọt a ma ama na Japan na otu n'ime "ezinụlọ anọ", ewepụtala ngwaahịa robot axis asaa. SIA usoro roboti bụ robot axis asaa agile, nke nwere ike inye mgbanwe mmadụ ma mee ngwa ngwa ngwa ngwa. Nhazi nke usoro rọbọt a dị arọ na nke dị larịị na-eme ka ọ dị mma maka ntinye na oghere dị warara. Usoro SIA nwere ike inye nnukwu ụgwọ ọrụ (5kg na 50kg) na nnukwu ọrụ (559mm ruo 1630mm), nke dị mma maka mgbakọ, ịkpụzi injection, nyocha na ọrụ ndị ọzọ. Na mgbakwunye na ọkụ asaa axis robot ngwaahịa, Yaskawa ewepụtala asaa axis robot ịgbado ọkụ usoro. Nnwere onwe ya dị elu nwere ike ịnọgide na-enwe ọnọdụ kachasị mma dị ka o kwere mee iji nweta mmetụta ịgbado ọkụ dị elu, karịsịa kwesịrị ekwesị maka ịgbado ọkụ n'ime ime ma nweta ọnọdụ kachasị mma. Ọzọkwa, ngwaahịa ahụ nwere ike ịnwe nhazi ọkwa dị elu, na-ezere ngwa ngwa nnyonye anya n'etiti ya na ogwe aka na workpiece, ma gosipụta ọmarịcha ọrụ mgbochi mgbochi ya. -Ka inwe ọgụgụ isi, ka Presto mr20 N'ihe dị ka njedebe nke 2007, Na bueryue mepụtara ogo robot nnwere onwe "Presto mr20". Site n'inwe atụmatụ axis asaa ahụ, rọbọt ahụ nwere ike ịrụ ọrụ siri ike karị wee gaa n'ebe ọrụ dị warara dị ka ogwe aka mmadụ. Na mgbakwunye, Robot n'ihu njedebe The torque nke (wrist) bụ ihe okpukpu abụọ karịa nke mbụ omenala isii axis robot. Ike nke nhazi ọkọlọtọ bụ 20kg. Site na ịtọ usoro ihe omume, ọ nwere ike ibu ihe ruru 30kg nke isiokwu, oke ọrụ bụ 1260mm, na nguzozi ugboro ugboro bụ 0.1mm. Site n'inwe usoro axis asaa ahụ, mr20 nwere ike ịrụ ọrụ site n'akụkụ akụrụngwa mgbe ị na-ewere ma na-etinye workpieces na ngwa igwe. N'ụzọ dị otú a, Ọ na-eme ka arụmọrụ nke nkwadebe na mmezi dịkwuo mma n'ọdịnihu. Enwere ike ibelata ohere dị n'etiti ngwaọrụ igwe na-erughị ọkara nke robot axis isii ọdịnala. Tụkwasị na nke ahụ, nazhibueryue ewepụtala robots abụọ mmepụta ihe, mr35 (nke nwere ibu 35kg) na mr50 (na ibu 50kg), nke a pụrụ iji mee ihe na oghere dị warara na ebe nwere ihe mgbochi. -OTC asaa axis ụlọ ọrụ robot Odish nke otu daihen na Japan ewepụtala roboti axis asaa kacha ọhụrụ (fd-b4s, fd-b4ls, fd-v6s, fd-v6ls na fd-v20s). N'ihi na adiana nke asaa axis, ha nwere ike na-aghọta na otu na-atụgharị uche omume dị ka mmadụ nkwojiaka na ịgbado ọkụ n'ihi na ihe karịrị otu izu; na mgbakwunye, robots asaa axis bụ mmadụ (fd-b4s, fd-b4ls) eriri ịgbado ọkụ na-ezo n'ime ahụ robot, yabụ na ọ dịghị mkpa ịṅa ntị na nnyonye anya n'etiti robot, ihe ịgbado ọkụ na workpiece n'oge ọrụ nkuzi. Ihe omume ahụ dị ezigbo mma, na ogo nke nnwere onwe nke ịgbado ọkụ ka agbanweela, nke nwere ike mejupụta ntụpọ nke robot ọdịnala enweghị ike ịbanye na ịgbado ọkụ n'ihi nnyonye anya na workpiece ma ọ bụ ịgbado ọkụ. -Baxter na Sawyer nke ịtụgharị uche na Robotics Rethink robotics bụ ọsụ ụzọ nke rọbọtị ndị na-emekọ ihe ọnụ. N'ime ha, Baxter dual arm robot, bụ nke mbụ mepụtara, nwere ogo asaa nke nnwere onwe na ogwe aka abụọ, na oke ọrụ nke otu ogwe aka bụ 1210mm. Baxter nwere ike hazie ọrụ abụọ dị iche iche n'otu oge iji mee ka ọ dị mfe, ma ọ bụ hazie otu ọrụ ozugbo iji bulie mmepụta. Sawyer, ulo oru n'afọ gara aga, bụ otu ogwe aka asaa axis robot. Njikọ ya na-agbanwe agbanwe na-eji otu usoro ihe na-agbanwe agbanwe, ma ihe eji eme ihe na nkwonkwo ya emezigharị ka ọ dị ntakịrị. N'ihi na a nakweere imewe axis asaa na-arụ ọrụ na-agbatị ruo 100mm, ọ nwere ike mezue ọrụ ọrụ na ibu ibu, na ibu nwere ike iru 4kg, nke dị ukwuu karịa 2.2kg ụgwọ nke Baxter robot. -Yamaha asaa axis robot Ya usoro Na 2015, Yamaha weputara robots atọ axis "ya-u5f", "ya-u10f" na "ya-u20f", nke onye njikwa ọhụrụ "ya-c100" na-achịkwa ma na-achịkwa ya. Robot 7-axis nwere e-axis nke kwekọrọ n'ikpere mmadụ, yabụ na ọ nwere ike mezue ịgbagọ n'efu, torsion, ndọtị na omume ndị ọzọ. Ọbụlagodi na oghere dị warara ebe ọ na-esiri robot ike ịrụ ọrụ n'okpuru axes 6, ọrụ na ntọala nwere ike mechaa nke ọma. Tụkwasị na nke ahụ, ọ nwekwara ike ịghọta ọnọdụ squat dị ala na omume nke ikuku gburugburu azụ nke ngwaọrụ ahụ. The actuator na oghere Ọdịdị na-nakweere, na ngwaọrụ USB na ikuku sooks na-wuru na n'ibu ogwe aka, nke na-agaghị egbochi na gburugburu ngwá na ike na-aghọta a kọmpat mmepụta akara.