Iirobhothi ezisixhenxe zemizi-mveliso vs iirobhothi ezintandathu zeshishini, athini amandla?

Okwangoku, iirobhothi zoshishino zisetyenziswe ngokubanzi kuzo zonke iinkalo zobomi, kodwa siphinde safumanisa ukuba iirobhothi zemizi-mveliso azinayo nje imilo eyahlukeneyo, kodwa zinamanani ahlukeneyo amazembe. Into ebizwa ngokuba yi-axis yerobhothi yoshishino inokuchazwa ngokwenqanaba lobuchwephesha lenkululeko. Ukuba irobhothi inedigri ezithathu zenkululeko, ingahamba ngokukhululekileyo ecaleni kwe-X, y kunye no-Z axes, kodwa ayikwazi ukuphethuka okanye ukujikeleza. Xa inani leezembe zerobhothi likhula, liguquguquka ngakumbi kwirobhothi. Zingaphi iizembe ekumele zibenazo iirobhothi zamashishini? Iirobhothi ezintathu ze-axis ikwabizwa ngokuba yiCartesian coordinate okanye irobhothi yeCartesian. Amazembe ayo amathathu anokuvumela irobhothi ukuba ihambe ecaleni kwezi zembe zintathu. Olu hlobo lwerobhothi lusetyenziswa ngokubanzi kumsebenzi olula wokuphatha. Iirobhothi ezine eziziiasi ziyakwazi ukujikeleza kwii-X, y kunye no-Z. Ihluke kwi-robot ye-axis emithathu, ine-axis yesine ezimeleyo. Ngokubanzi, irobhothi ye-SCRA inokuthathwa njengerobhothi ezine axis. I-axis emihlanu kukucwangciswa kweerobhothi ezininzi zamashishini. Ezi robhothi zinokujikeleza ngemijikelo emithathu yendawo ye-X, y kunye no-Z. ngaxeshanye, zinokujika ngokuthembela kwi-axis kwisiseko kunye ne-axis ngokujikeleza okuguquguqukayo kwesandla, okwandisa ukuguquguquka kwabo. Irobhothi ye-axis emithandathu inokudlula kwi-X, y kunye ne-Z, kwaye i-axis nganye inokujikeleza ngokuzimeleyo. Umahluko omkhulu kwi-robot ye-axis emihlanu kukuba kukho i-axis eyongezelelweyo ekwazi ukujikeleza ngokukhululekileyo. Ummeli werobhothi ye-axis ezintandathu yi-youau irobhothi. Ngesigqubuthelo esiluhlaza kwirobhothi, unokubala ngokucacileyo inani lee-ax zerobhothi. Irobhothi esixhenxe ye-axis, eyaziwa ngokuba yi-robot engafunekiyo, xa kuthelekiswa ne-axis ezintandathu irobhothi, i-axis eyongezelelweyo ivumela irobhothi ukuba iphephe iithagethi ezithile, iququzelele isiphelo sesiphumo ukuba ifikelele kwindawo ethile, kwaye inokuguquguquka ngakumbi kwindawo ethile yokusebenza ekhethekileyo. Ngokunyuka kwenani lama-axes, ukuguquguquka kwerobhothi kuyanda. Nangona kunjalo, kwizicelo zangoku zoshishino, iirobhothi ze-axis ezintathu, ezine-axis ezine kunye nezintandathu zisetyenziswa kakhulu. Oku kungenxa yokuba kwezinye izicelo, ukuguquguquka okuphezulu akufuneki, iirobhothi ezine-axis ezintathu kunye ne-four-axis zinexabiso eliphezulu, kwaye iirobhothi ezine-axis ezine-axis ezine nazo zineenzuzo ezinkulu kwisantya. Kwixesha elizayo, kwishishini le-3C elifuna ukuguquguquka okuphezulu, i-robot ye-axis ye-industrial esixhenxe iya kuba nendawo yokudlala. Ngokuchaneka kwayo okukhulayo, iya kuthatha indawo yokuhlanganisa ngesandla kweemveliso zombane ezichanekileyo ezifana neeselfowuni kungekudala. Yintoni inzuzo yerobhothi yemizi-mveliso esixhenxe ngaphezulu kweerobhothi ezintandathu? Ngobuchwephesha, zithini iingxaki ngeerobhothi zemizi-mveliso emithandathu kwaye ngawaphi amandla eerobhothi zemizi-mveliso ezisixhenxe? (1) Ukuphucula iimpawu ze-kinematic Kwi-kinematics yerobhothi, iingxaki ezintathu zenza ukushukuma kwerobhothi kuthintelwe kakhulu. Eyokuqala lulungelelwaniso lwesinye. Xa i-robot ikwisimo esisodwa, umphumo wayo wokugqibela awukwazi ukuhamba kwicala elithile okanye usebenzise i-torque, ngoko ke ukucwangciswa kwesinye kuchaphazela kakhulu ukucwangciswa kwentshukumo. I-axis yesithandathu kunye ne-axis yesine ye-robot ye-axis ezintandathu ziyi-collinear Okwesibini kukufuduswa ngokudibeneyo. Kwimeko yangempela yokusebenza, i-angle ye-angle ye-joint nganye ye-robot ilinganiselwe. Indawo efanelekileyo idibanisa okanye thabatha i-180 degrees, kodwa amalungu amaninzi awakwazi ukuyenza. Ukongeza, i-axis esixhenxe irobhothi inokunqanda ukuhamba ngokukhawuleza kwe-angular velocity kwaye yenze ukuhanjiswa kwe-angular velocity ngakumbi. Uluhlu lwentshukumo kunye nesantya esiphezulu se-angular ye-axis nganye ye-Xinsong i-axis yerobhothi ezisixhenxe Okwesithathu, kukho imiqobo kwindawo yokusebenza. Kwimeko yoshishino, kukho imiqobo eyahlukeneyo yokusingqongileyo kwiimeko ezininzi. I-robot yendabuko ye-axis ezintandathu ayikwazi ukutshintsha kuphela isimo sengqondo sendlela yokugqibela ngaphandle kokutshintsha indawo yendlela yokugqibela. (2) Ukuphucula iimpawu eziguqukayo Kwi-robot ye-axis esixhenxe, ukusebenzisa idigri zayo zenkululeko ezingafunekiyo azikwazi ukufikelela kuphela iimpawu ezintle ze-kinematic ngokucwangcisa umkhondo, kodwa nokusebenzisa ubume bayo ukufezekisa eyona ntsebenzo inamandla. I-robot ye-axis esixhenxe inokuqonda ukwabiwa kwakhona kwe-joint torque, ebandakanya ingxaki ye-static balance ye-robot, oko kukuthi, amandla asebenzayo ekupheleni anokubalwa nge-algorithm ethile. Kwirobhothi yesiqhelo emithandathu, amandla ejoyinti ngalinye aqinisekile, kwaye ukuhanjiswa kwayo kunokuba kungabikho ngqiqweni. Nangona kunjalo, kwi-robot ye-axis esixhenxe, sinokulungelelanisa i-torque ye-joint nganye ngokusebenzisa i-algorithm yokulawula ukwenza i-torque ithwalwe yikhonkco ebuthathaka ibencinci kangangoko, ukwenzela ukuba ukuhanjiswa kwe-torque ye-robot yonke ifanayo kwaye ibe nengqiqo. (3) Ukunyamezela iimpazamo Kwimeko yokusilela, ukuba ilungu elinye liyasilela, irobhothi yemveli emithandathu ye-axis ayinakuqhubeka nokugqibezela umsebenzi, ngelixa i-robot ye-axis esixhenxe inokuqhubeka nokusebenza ngokuqhelekileyo ngokulungisa kwakhona ulwabiwo lwesantya somdibaniso ongaphumeleliyo (ukunyamezela i-kinematic fault tolerance) kunye i-torque ye-joint ehlulekile (ukunyamezela impazamo eguqukayo). Kungakhathaliseki ukuba kumbono wemveliso okanye kwimbono yesicelo, i-robot ye-axis ye-industrial esixhenxe isekho kwinqanaba lokuqala lophuhliso, kodwa abavelisi abakhulu baye batyhala iimveliso ezifanelekileyo kwimiboniso emikhulu. Kunokucingelwa ukuba banethemba elikhulu malunga nophuhliso lwalo lwexesha elizayo. -KUKA LBR iiwa NgoNovemba ka-2014, i-KUKA yakhupha okokuqala i-7-DOF irobhothi ebuthathaka ukukhanya kwe-lbriiwa ye-KUKA kumboniso we-China International Industry Expo. Irobhothi ye-Lbriiwa ye-axis ezisixhenxe iyilwe ngokusekelwe kwingalo yomntu. Idityaniswe nenkqubo ye-sensor edibeneyo, i-robot yokukhanya inovelwano olucwangcisiweyo kunye nokuchaneka okuphezulu kakhulu. Zonke ii-axes ze-axis ezisixhenxe ze-lbriiwa zixhotyiswe nge-high-performance collision monitoring function kunye ne-joint joint torque sensor ukuqonda intsebenziswano yomatshini womntu. Uyilo lwe-axis ezisixhenxe lwenza imveliso ye-KUKA ibe nokuguquguquka okuphezulu kwaye inokuwela ngokulula imiqobo. Ubume be-robot ye-lbriiwa yenziwe nge-aluminium, kwaye ubunzima bayo bu-23.9 kg kuphela. Kukho iintlobo ezimbini zemithwalo, i-7 kg kunye ne-14 kg ngokulandelanayo, okwenza kube irobhothi yokuqala yokukhanya enomthwalo ongaphezu kwe-10 kg. - ABB YuMi Ngomhla we-13 kuTshazimpuzi ngo-2015, u-abb uphehlelele ngokusesikweni irobhothi yokuqala yeengalo ezimbini zehlabathi iYumi eqonda ngokwenene intsebenziswano yomatshini woluntu kwintengiso kwi-Industrial Expo eHanover, eJamani. Ingalo enye yeYumi ineedigri ezisixhenxe zenkululeko kwaye ubunzima bomzimba bungama-38 kg. Umthwalo wengalo nganye ngu-0.5kg, kwaye ukuchaneka kokubeka ngokuphindaphindiweyo kunokufikelela kwi-0.02mm. Ngoko ke, ifaneleke ngokukodwa kwindibano yamacandelo amancinci, iimpahla zabathengi, amathoyizi kunye nezinye iindawo. Ukusuka kwiindawo ezichanekileyo zeewotshi zoomatshini ukuya ekusetyenzweni kweefowuni eziphathwayo, iikhompyuter zethebhulethi kunye neenxalenye zekhompyuter ye-desktop, iYumi ayinangxaki, ebonisa iimpawu ezibalaseleyo zerobhothi engafunekiyo, njengokwandisa indawo yokusebenza efikelelekayo, ukuguquguquka, ubuchule kunye nokuchaneka. -Yaskawa Motoman SIA Umbane we-YASKAWA, umenzi werobhothi owaziwayo eJapan kunye nenye "yeentsapho ezine", ikhuphe inani leemveliso ezisixhenxe zerobhothi. Iirobhothi ze-SIA zilula ngokukhawuleza iirobhothi ze-axis ezisixhenxe, ezinokubonelela ngokuguquguquka kwe-humanoid kunye nokukhawuleza ngokukhawuleza. Uyilo olukhaphukhaphu kunye nolulungelelanisiweyo lolu luhlu lweerobhothi lwenza ukuba lufaneleke kakhulu ukufakwa kwindawo emxinwa. Uchungechunge lwe-SIA lunokubonelela ngomthwalo ophezulu wokuhlawula (i-5kg ukuya kwi-50kg) kunye noluhlu olukhulu lokusebenza (559mm ukuya kwi-1630mm), olulungele kakhulu ukudibanisa, ukubunjwa kwesitofu, ukuhlolwa kunye neminye imisebenzi. Ukongeza kwiimveliso zerobhothi ze-axis ezisixhenxe, uYaskawa ukwakhuphe inkqubo yokuwelda iirobhothi ezisixhenxe. Iqondo layo eliphezulu lenkululeko linokugcina i-posture efanelekileyo kakhulu ngokusemandleni ukufezekisa umphumo we-welding ephezulu, ngokukodwa ukulungelelaniswa kwe-welding yangaphakathi kunye nokufezekisa indawo engcono kakhulu yokufikelela. Ngaphezu koko, imveliso inokuba ne-high-density layout, iphephe ngokulula ukuphazamiseka phakathi kwayo kunye ne-shaft kunye ne-workpiece, kwaye ibonise umsebenzi wayo obalaseleyo wokuphepha umqobo. -Okukhona ukrelekrele, kokukhona Presto mr20 Kwasekupheleni kuka-2007, uNa bueryue waphuhlisa idigri esixhenxe yerobhothi yenkululeko "Presto mr20". Ngokwamkela uyilo lwe-axis ezisixhenxe, irobhothi inokwenza ukuhamba komsebenzi okuntsonkothileyo kwaye ihambe kwindawo emxinwa yokusebenza njengengalo yomntu. Ukongeza, isiphelo sangaphambili seRobhothi I torque ye (wrist) imalunga nokuphinda kabini kweyona irobhothi yemveli yemveli ezintandathu. I-torque ye-standard configuration yi-20kg. Ngokumisela uluhlu lwezenzo, lunokuthwala ukuya kuthi ga kwi-30kg yamanqaku, uluhlu olusebenzayo luyi-1260mm, kwaye ukuchaneka kokubeka ngokuphindaphindiweyo ngu-0.1mm. Ngokwamkela ulwakhiwo lwe-axis ezisixhenxe, i-mr20 inokusebenza ukusuka kwicala lesixhobo somatshini xa uthatha kwaye ubeka izixhobo zokusebenza kwisixhobo somatshini. Ngale ndlela, Iphucula ukusebenza kakuhle kwamalungiselelo kunye nokugcina kwangaphambili. Isithuba phakathi kwezixhobo zoomatshini sinokuncitshiswa sibe ngaphantsi kwesiqingatha serobhothi yemveli ye-axis ezintandathu. Ukongeza, i-nazhibueryue ikhuphe iirobhothi ezimbini zoshishino, i-mr35 (enomthwalo we-35kg) kunye ne-mr50 (enomthwalo we-50kg), enokusetyenziswa kwiindawo ezimxinwa kunye neendawo ezinemiqobo. -OTC i-robot ye-axis yezoshishino ezisixhenxe U-Odish weqela le-daihen eJapan uqalise iirobhothi ze-axis ezisixhenxe zakutsha nje (fd-b4s, fd-b4ls, fd-v6s, fd-v6ls kunye ne-fd-v20s). Ngenxa yokujikeleza kwe-axis yesixhenxe, banokuqonda isenzo esifanayo sokujija njengezandla zomntu kunye ne-welding ngaphezu kweveki enye; Ukongeza, iirobhothi ezisixhenxe ze-axis zingabantu (fd-b4s, fd-b4ls) intambo ye-welding ifihliwe kumzimba we-robot, ngoko akukho mfuneko yokunikela ingqalelo ekuphazamisekeni phakathi kwerobhothi, i-welding fixture kunye ne-workpiece ngexesha umsebenzi wokufundisa. Isenzo sihamba kakuhle, kwaye iqondo lenkululeko ye-welding posture liphuculwe, elinokuthi lenze isiphene ukuba i-robot yendabuko ayikwazi ukungena kwi-welding ngenxa yokuphazamiseka kwe-workpiece okanye i-welding fixture. -UBaxter kunye noSawyer wokucinga ngokutsha iiRobhothi Phinda ucinge iirobhothi nguvulindlela osebenza ngokubambisana. Phakathi kwazo, uBaxter dual arm irobhothi, eyathi yaphuhliswa okokuqala, inedigri ezisixhenxe zenkululeko kwiingalo zombini, kwaye ubuninzi bokusebenza kwengalo enye yi-1210mm. U-Baxter unokwenza imisebenzi emibini eyahlukeneyo ngexesha elinye ukwandisa ukusebenza, okanye aqhube umsebenzi ofanayo ngexesha lokwenyani ukwandisa imveliso. I-Sawyer, eyasungulwa kulo nyaka uphelileyo, yirobhothi yengalo enye ye-axis ezisixhenxe. Amalungu ayo aguquguqukayo asebenzisa uthotho olufanayo lwe-elastic actuator, kodwa i-actuator esetyenziswa kumalungu ayo iye yahlengahlengiswa ukuze iyenze ibe ncinci. Ngenxa yokuba uyilo lwe-axis ezisixhenxe lwamkelwe kwaye uluhlu olusebenzayo lwandiswe kwi-100mm, luyakwazi ukugqibezela umsebenzi womsebenzi ngomthwalo omkhulu, kwaye umthwalo unokufikelela kwi-4kg, enkulu kakhulu kunomthwalo we-2.2kg wokuhlawula kwerobhothi kaBaxter. -Yamaha ezisixhenxe axis irobhothi Ya series Kwi-2015, i-Yamaha iqalise iirobhothi ezintathu ze-axis "ya-u5f", "ya-u10f" kunye ne "ya-u20f", eziqhutywa kwaye zilawulwa ngumlawuli omtsha "ya-c100". I-robot ye-7-axis ine-e-axis elingana ne-elbow yomntu, ngoko inokugqiba ngokukhululekile ukugoba, ukuxubha, ukwandiswa kunye nezinye izenzo. Kwanakwisithuba esimxinwa apho kunzima ukuba irobhothi yenze umsebenzi ongaphantsi kwama-axes ama-6, ukusebenza kunye nokuseta kunokugqitywa kakuhle. Ukongeza, inokuqonda indawo ye-squat ephantsi kunye nesenzo sokujija ngasemva kwesixhobo. I-actuator enesakhiwo esingenanto iyamkelwa, kwaye intambo yesixhobo kunye ne-hose yomoya yakhiwe kwingalo yomatshini, engayi kuphazamisa izixhobo ezijikelezayo kwaye inokuqonda umgca wokuvelisa i-compact.