Maloboti asanu ndi awiri a axis mafakitale vs maloboti asanu ndi limodzi axis mafakitale, mphamvu yake ndi yotani?

Pakalipano, ma robot a mafakitale akhala akugwiritsidwa ntchito kwambiri m'madera onse a moyo, koma tinapezanso kuti ma robot a mafakitale sali ndi maonekedwe osiyana, komanso amakhala ndi nkhwangwa zosiyanasiyana. Zomwe zimatchedwa olamulira a robot yamakampani zitha kufotokozedwa ndi digiri yaukadaulo yaufulu. Ngati lobotiyo ili ndi magawo atatu a ufulu, imatha kuyenda momasuka pa nkhwangwa za X, y ndi Z, koma siyingapendeke kapena kuzungulira. Kuchuluka kwa nkhwangwa za loboti kumawonjezeka, kumakhala kosavuta kusintha kwa robot. Kodi maloboti akumafakitale ayenera kukhala ndi nkhwangwa zingati? Maloboti atatu a axis amatchedwanso Cartesian coordinate kapena Cartesian robot. Nkhwangwa zake zitatu zimatha kulola loboti kuyenda motsatira nkhwangwa zitatuzo. Loboti yamtunduwu nthawi zambiri imagwiritsidwa ntchito pogwira ntchito zosavuta. Maloboti anayi a axis amatha kuzungulira motsatira ma ax X, y ndi Z. Mosiyana ndi loboti ya ma axis atatu, ili ndi axis yachinayi yodziyimira payokha. Nthawi zambiri, loboti ya SCORA imatha kuwonedwa ngati loboti inayi. Axis asanu ndi kasinthidwe ka maloboti ambiri ogulitsa mafakitale. Malobotiwa amatha kuzungulira magawo atatu a danga X, y ndi Z. nthawi yomweyo, amatha kutembenuka podalira olamulira pamunsi ndi olamulira ndi kusinthasintha kwa dzanja, zomwe zimawonjezera kusinthasintha kwawo. Maloboti asanu ndi limodzi a axis amatha kudutsa X, y ndi Z axs, ndipo olamulira aliwonse amatha kuzungulira palokha. Kusiyanitsa kwakukulu kuchokera ku robot ya axis asanu ndikuti pali olamulira owonjezera omwe amatha kuzungulira momasuka. Woyimira maloboti asanu ndi limodzi ndi youao robot. Kupyolera mu chivundikiro cha buluu pa robot, mukhoza kuwerengera momveka bwino chiwerengero cha nkhwangwa za robot. Seven axis robot, yomwe imadziwikanso kuti redundant robot, poyerekeza ndi maloboti asanu ndi limodzi axis, olamulira owonjezera amalola loboti kupeŵa zolinga zinazake, imathandizira womalizayo kuti afike pamalo enaake, ndipo amatha kusinthira ku malo ena apadera ogwirira ntchito. Ndi kuchuluka kwa nkhwangwa, kusinthasintha kwa robot kumawonjezekanso. Komabe, m'mafakitale omwe akugwiritsidwa ntchito masiku ano, maloboti amitundu itatu, ma axis anayi ndi maloboti asanu ndi limodzi omwe amagwiritsidwa ntchito kwambiri. Izi zili choncho chifukwa m'mapulogalamu ena, kusinthasintha kwakukulu sikofunikira, ma robot a ma axis atatu ndi anayi amakhala okwera mtengo kwambiri, ndipo ma robot a atatu ndi anayi amakhalanso ndi ubwino waukulu pa liwiro. M'tsogolomu, mu makampani a 3C omwe amafunikira kusinthasintha kwakukulu, robot ya mafakitale asanu ndi awiri a axis adzakhala ndi malo oti azisewera. Ndi kulondola kwake kochulukirachulukira, idzalowa m'malo mwa kusonkhanitsa kwamanja kwazinthu zamagetsi monga mafoni am'manja posachedwa. Ubwino wa maloboti asanu ndi awiri opitilira ma axis mafakitale ndi chiyani? Mwaukadaulo, ndimavuto otani omwe ali ndi maloboti asanu ndi limodzi a axis industry ndipo mphamvu za maloboti asanu ndi awiri a axis mafakitale ndi ati? (1) Sinthani mawonekedwe a kinematic Mu kinematics ya robot, zovuta zitatu zimapangitsa kuyenda kwa loboti kukhala kochepa kwambiri. Choyamba ndi kasinthidwe kamodzi. Pamene loboti ili mumgwirizano umodzi, mapeto ake sangathe kusuntha mbali ina kapena kugwiritsa ntchito torque, kotero kusinthika kwapadera kumakhudza kwambiri kukonzekera koyenda. Mzere wachisanu ndi chimodzi ndi axis wachinayi wa roboti yachisanu ndi chimodzi ndi ma colinear Chachiwiri ndi kusamuka kwapang'onopang'ono. Muzochitika zenizeni zogwirira ntchito, ma angle a mbali iliyonse ya robot ndi ochepa. Malo abwino ndi kuphatikiza kapena kuchotsera madigiri 180, koma olowa ambiri sangathe kutero. Kuphatikiza apo, loboti isanu ndi iwiri ya axis imatha kupewa kuyenda mwachangu kwa angular velocity ndikupanga kugawa kwa angular velocity kukhala yunifolomu. Mayendedwe osiyanasiyana komanso ma liwiro okwera kwambiri a axis a Xinsong seven axis robot Chachitatu, pali zopinga m'malo ogwirira ntchito. M'mafakitale, pali zopinga zosiyanasiyana zachilengedwe nthawi zambiri. Roboti yachikhalidwe isanu ndi umodzi ya axis sangangosintha malingaliro a makina omaliza popanda kusintha malo omaliza. (2) Sinthani mawonekedwe amphamvu Kwa loboti ya ma axis asanu ndi awiri, kugwiritsa ntchito madigiri ake owonjezera a ufulu sikungokwaniritsa mikhalidwe yabwino ya kinematic kudzera mukukonzekera njira, komanso kugwiritsa ntchito kapangidwe kake kuti akwaniritse magwiridwe antchito abwino kwambiri. Maloboti asanu ndi awiri a axis amatha kuzindikira kugawidwa kwa torque yolumikizana, komwe kumakhudza vuto la static balance ya loboti, ndiye kuti, mphamvu yomwe imagwira kumapeto imatha kuwerengedwa ndi algorithm inayake. Kwa loboti yachikhalidwe ya axis sikisi, mphamvu ya cholumikizira chilichonse ndi chotsimikizika, ndipo kugawa kwake kungakhale kopanda nzeru. Komabe, kwa roboti zisanu ndi ziwiri za axis, tikhoza kusintha makokedwe a mgwirizano uliwonse kudzera mu ndondomeko yoyendetsera kayendetsedwe kake kuti phokosolo likhale lochepa kwambiri momwe tingathere, kotero kuti kugawa kwa torque kwa robot yonse kumakhala kofanana komanso koyenera. (3) Kulekerera zolakwa Pakalephera, ngati olowa limodzi likulephera, mwambo sikisi olamulira loboti sangathe kupitiriza ntchitoyo, pamene asanu olamulira loboti akhoza kupitiriza kugwira ntchito bwinobwino mwa kukonzanso kugawiranso liwiro la olowa analephera (kinematic cholakwika kulolerana) ndi torque ya mgwirizano wolephera (kulekerera zolakwika). Kaya kuchokera kumalo opangira mankhwala kapena kuchokera ku malo ogwiritsira ntchito, makina asanu ndi awiri a axis industrial robot akadali pachitukuko choyambirira, koma opanga akuluakulu adakankhira zinthu zofunikira pazowonetsera zazikulu. Zitha kuganiziridwa kuti ali ndi chiyembekezo chamtsogolo chamtsogolo. -KUKA LBR iiwa Mu Novembala 2014, KUKA idatulutsa koyamba loboti ya KUKA ya 7-DOF yopepuka ya lbriiwa pachiwonetsero cha maloboti a China International Industry Expo. Loboti ya Lbriiwa seven axis idapangidwa kutengera mkono wa munthu. Kuphatikizidwa ndi makina ophatikizika a sensor, loboti yopepuka imakhala ndi chidwi chokonzekera komanso kulondola kwambiri. Nkhwangwa zonse za ma axis lbriiwa asanu ndi awiri zili ndi ntchito yozindikira kugunda kwapamwamba komanso sensa yophatikizika ya torque kuti izindikire mgwirizano wamakina amunthu. Mapangidwe asanu ndi awiri a axis amapangitsa kuti malonda a KUKA azitha kusinthasintha kwambiri ndipo amatha kuwoloka zopinga mosavuta. Mapangidwe a loboti ya Lbriiwa amapangidwa ndi aluminiyamu, ndipo kulemera kwake ndi 23.9 kg. Pali mitundu iwiri ya katundu, 7 kg ndi 14 kg motsatana, kupangitsa kukhala loboti yoyamba yopepuka yokhala ndi katundu wopitilira 10 kg. -ABB YuMi Pa Epulo 13, 2015, abb adakhazikitsa loboti yoyamba yapadziko lonse yamitundu iwiri ya Yumi yomwe imazindikiradi mgwirizano wamakina pamsika pa Industrial Expo ku Hanover, Germany. Dzanja lililonse la Yumi lili ndi magawo asanu ndi awiri a ufulu ndipo kulemera kwa thupi ndi 38 kg. Katundu wa mkono uliwonse ndi 0.5kg, ndipo mobwerezabwereza malo olondola amatha kufika 0.02mm. Choncho, makamaka oyenera zigawo zazing'ono msonkhano, ogula katundu, zidole ndi minda ina. Kuchokera kumadera olondola a mawotchi amakina mpaka kukonza mafoni a m'manja, makompyuta apakompyuta ndi ma kompyuta apakompyuta, Yumi ilibe vuto, lomwe limawonetsa mikhalidwe yabwino kwambiri ya loboti yopanda ntchito, monga kukulitsa malo ogwirira ntchito, kusinthasintha, mphamvu komanso kulondola. -Yaskawa Motoman SIA YASKAWA yamagetsi, yodziwika bwino yopanga ma robot ku Japan komanso imodzi mwa "mabanja anayi", yatulutsanso zida zisanu ndi ziwiri za axis robot. Maloboti a SIA ndi maloboti opepuka asanu ndi awiri a axis, omwe amatha kupereka kusinthasintha kwa humanoid ndikuthamanga mwachangu. Mapangidwe opepuka komanso owongolera a ma roboti awa amapangitsa kuti ikhale yoyenera kwambiri kuyika pamalo opapatiza. Mndandanda wa SIA ukhoza kupereka malipiro apamwamba (5kg mpaka 50kg) ndi ntchito yaikulu (559mm mpaka 1630mm), yomwe ili yoyenera kwambiri kusonkhana, kuumba jekeseni, kuyang'anitsitsa ndi ntchito zina. Kuphatikiza pa kuwala kwa maloboti asanu ndi awiri a axis, Yaskawa adatulutsanso makina asanu ndi awiri a axis wowotcherera. Ufulu wake wapamwamba ukhoza kukhala ndi mawonekedwe abwino kwambiri momwe mungathere kuti mukwaniritse zotsatira zowotcherera, makamaka zoyenera kuwotcherera mkati ndikukwaniritsa malo abwino kwambiri. Komanso, mankhwalawa amatha kukhala ndi kachulukidwe kakang'ono kwambiri, kupewa mosavuta kusokoneza pakati pake ndi shaft ndi workpiece, ndikuwonetsa ntchito yake yabwino yopewera zopinga. -Pokhala wanzeru kwambiri, Presto mr20 imachulukira Kumapeto kwa 2007, Na bueryue adapanga loboti yaufulu zisanu ndi ziwiri "Presto mr20". Potengera kapangidwe ka ma axis asanu ndi awiri, loboti imatha kugwira ntchito movutikira kwambiri ndikusuntha malo ocheperako ngati mkono wa munthu. Kuphatikiza apo, kumapeto kwa Roboti The torque ya (dzanja) ndi pafupifupi kuwirikiza kawiri kwa loboti yachikhalidwe yoyambira isanu ndi umodzi. Makokedwe a kasinthidwe wamba ndi 20kg. Pakukhazikitsa zomwe zikuchitika, imatha kunyamula mpaka 30kg yazinthu, mawonekedwe ogwirira ntchito ndi 1260mm, ndipo kulondola kobwerezabwereza ndi 0.1mm. Potengera mawonekedwe a ma axis asanu ndi awiri, mr20 imatha kugwira ntchito kuchokera kumbali ya chida cha makina potenga ndikuyika zida zogwirira ntchito pamakina. Mwanjira iyi, Imawongolera bwino kukonzekera ndi kukonza pasadakhale. Malo pakati pa zida zamakina amatha kuchepetsedwa mpaka theka la loboti yachikhalidwe isanu ndi umodzi. Kuphatikiza apo, nazhibueryue yatulutsanso ma robot awiri ogulitsa mafakitale, mr35 (yokhala ndi 35kg) ndi mr50 (yokhala ndi 50kg), yomwe ingagwiritsidwe ntchito m'malo opapatiza komanso malo okhala ndi zopinga. -OTC seven axis industrial robot Odish wa gulu la daihen ku Japan wakhazikitsa maloboti asanu ndi awiri aposachedwa a axis (fd-b4s, fd-b4ls, fd-v6s, fd-v6ls ndi fd-v20s). Chifukwa cha kuzungulira kwa nsonga yachisanu ndi chiwiri, amatha kuzindikira kupotoza komweko monga manja a munthu ndi kuwotcherera kwa sabata yoposa imodzi; Kuonjezera apo, maloboti asanu ndi awiri a axis ndi anthu (fd-b4s, fd-b4ls) chingwe chowotcherera chimabisika mu thupi la robot, kotero palibe chifukwa chomvera kusokoneza pakati pa robot, chowotcherera chowotcherera ndi chogwirira ntchito pa nthawi ya ntchito. ntchito yophunzitsa. Chochitacho ndi chosalala kwambiri, ndipo mlingo wa ufulu wa kuwotcherera kaimidwe wakhala bwino, amene akhoza kupanga kwa chilema kuti loboti chikhalidwe sangathe kulowa kuwotcherera chifukwa kusokoneza workpiece kapena kuwotcherera fixture. -Baxter ndi Sawyer akuganizanso za Robotic Rethink robotics ndi mpainiya wamaloboti ogwirizana. Pakati pawo, loboti ya Baxter yapawiri ya mkono, yomwe idapangidwa koyamba, ili ndi magawo asanu ndi awiri a ufulu pa mikono yonse iwiri, ndipo gawo lalikulu la mkono umodzi ndi 1210mm. Baxter akhoza kukonza ntchito ziwiri zosiyana nthawi imodzi kuti awonjezere kugwiritsiridwa ntchito, kapena kukonza ntchito yomweyo mu nthawi yeniyeni kuti achulukitse zotsatira. Sawyer, yomwe idakhazikitsidwa chaka chatha, ndi loboti imodzi yokhala ndi mkono umodzi. Malumikizidwe ake osinthika amagwiritsa ntchito cholumikizira cholumikizira chofanana, koma cholumikizira chomwe chimagwiritsidwa ntchito pamalumikizidwe ake chidapangidwanso kuti chikhale chaching'ono. Chifukwa chakuti mapangidwe asanu ndi awiri a axis amavomerezedwa ndipo ntchito yogwira ntchito ikupitirira mpaka 100mm, imatha kumaliza ntchitoyo ndi katundu wokulirapo, ndipo katunduyo amatha kufika 4kg, yomwe ndi yaikulu kwambiri kuposa 2.2kg yolipira ya robot ya Baxter. -Yamaha asanu ndi awiri olamulira loboti Ya mndandanda Mu 2015, Yamaha adayambitsa maloboti atatu olamulira "ya-u5f", "ya-u10f" ndi "ya-u20f", omwe amayendetsedwa ndikuyendetsedwa ndi woyang'anira watsopano "ya-c100". Loboti ya 7-axis ili ndi e-axis yofanana ndi chigongono chamunthu, kotero imatha kupindika momasuka, kugwedezeka, kukulitsa ndi zina. Ngakhale mumpata wopapatiza komwe kumakhala kovuta kuti loboti igwire ntchitoyo pansi pa nkhwangwa 6, ntchitoyo ndi kukhazikitsa zitha kutha bwino. Kuphatikiza apo, imatha kuzindikiranso malo otsika a squat ndi machitidwe okhotakhota kumbuyo kwa chipangizocho. The actuator yokhala ndi dzenje imatengedwa, ndipo chingwe cha chipangizocho ndi payipi ya mpweya zimamangidwa mumkono wamakina, zomwe sizingasokoneze zida zozungulira ndipo zimatha kuzindikira mzere wopangira.