Izindaba Zemboni
0102030405
Irobhothi lemboni ye-axis eyisikhombisa vs irobhothi lezimboni eziyisithupha, yini amandla?
2023-12-08
Eminyakeni yamuva nje, iziqhwaga zamarobhothi ezizwe ngezizwe zethule amarobhothi ayisikhombisa embonini ye-axis ukuze abambe imakethe entsha yezinga eliphezulu, okuvuse ukucabanga kwethu okujulile ngerobhothi eyi-axis yezimboni eziyisikhombisa. Yiziphi izinzuzo zayo ezihlukile zobuchwepheshe, ubunzima bocwaningo kanye nentuthuko, futhi yimiphi imikhiqizo yerobhothi ye-axis eyisikhombisa eye yakhululwa emhlabeni jikelele eminyakeni yamuva nje? Irobhothi lezimboni kufanele libe nezimbazo ezingaki?
Njengamanje, amarobhothi ezimboni asetshenziswe kabanzi kuzo zonke izigaba zokuphila, kodwa siphinde sathola ukuthi amarobhothi ezimboni awanayo nje kuphela imilo ehlukene, kodwa futhi anezinombolo ezihlukene zezimbazo. Lokho okubizwa ngokuthi i-axis yerobhothi lezimboni kungachazwa yi-professional term degree of freedom. Uma irobhothi linamadigri amathathu enkululeko, lingakwazi ukuhamba ngokukhululeka kuma-ax angu-X, y kanye no-Z, kodwa alikwazi ukutshekisa noma ukuzungezisa. Uma isibalo sezimbazo zerobhothi sikhula, kuba lula erobhothini. Mangaki izimbazo okufanele amarobhothi ezimbonini abe nazo? Amarobhothi amathathu e-axis abizwa nangokuthi i-Cartesian coordinate noma irobhothi leCartesian. Izimbazo zayo ezintathu zingavumela irobhothi ukuthi lihambe phakathi kwezimbazo ezintathu. Lolu hlobo lwerobhothi ngokuvamile lusetshenziswa emsebenzini olula wokuphatha. 
Amarobhothi ama-eksisi amane angazungezisa ama-eksisi angu-X, y kanye no-Z. Ihlukile ku-three-eksisi irobhothi, ine-eksisi yesine ezimele. Ngokuvamile, irobhothi le-SCRA lingathathwa njengerobhothi le-axis emine. I-axis emihlanu ukucushwa kwamarobhothi amaningi ezimboni. Lawa marobhothi angakwazi ukuzungeza emijikelezweni emithathu yesikhala engu-X, y kanye no-Z. ngesikhathi esifanayo, angakwazi ukujika ngokuncika ku-eksisi esisekelweni kanye ne-eksisi ngokuzungezisa okuguquguqukayo kwesandla, okwandisa ukuguquguquka kwawo. Irobhothi le-eksisi eyisithupha lingadlula ku-X, y kanye no-Z, futhi i-eksisi ngayinye ingakwazi ukuzungeza ngokuzimela. Umehluko omkhulu kunayo yonke erobhothini le-axis emihlanu ukuthi kukhona i-eksisi eyengeziwe engazungeza ngokukhululeka. Omele irobhothi le-axis eyisithupha irobhothi i-youau. Ngekhava eluhlaza okwesibhakabhaka erobhothini, ungakwazi ukubala ngokucacile inani lezimbazo zerobhothi. Irobhothi le-axis eyisikhombisa, elaziwa nangokuthi irobhothi elingasasebenzi, uma liqhathaniswa namarobhothi e-eksisi ayisithupha, i-eksisi eyengeziwe ivumela irobhothi ukuthi ligweme okuthile okuhlosiwe, lenze isiphetho sifinyelele endaweni ethile, futhi lingakwazi ukuzivumelanisa nezimo nezimo ezithile zokusebenza okukhethekile. Ngokukhula kwenani lezimbazo, ukuguquguquka kwerobhothi nakho kuyanda. Kodwa-ke, ezinhlelweni zamanje zezimboni, amarobhothi e-axis amathathu, ama-axis amane kanye namarobhothi e-axis ayisithupha asetshenziswa kakhulu. Lokhu kungenxa yokuthi kwezinye izinhlelo zokusebenza, ukuguquguquka okuphezulu akudingekile, amarobhothi e-axis amathathu kanye ne-four-axis anezindleko eziphakeme, futhi amarobhothi ama-axis amathathu kanye nama-four-axis nawo anezinzuzo ezinhle ngesivinini. Ngokuzayo, embonini ye-3C edinga ukuguquguquka okuphezulu, irobhothi eliyi-axis industry eyisikhombisa lizoba nendawo yokudlala. Ngokunemba kwayo okwandayo, izongena esikhundleni sokuhlanganisa okwenziwa ngesandla kwemikhiqizo ye-elekthronikhi efana nomakhalekhukhwini esikhathini esizayo esiseduze. Iyini inzuzo yamarobhothi e-axis eyisikhombisa ngaphezu kwamarobhothi embonini ayisithupha? Ngobuchwepheshe, yiziphi izinkinga zamarobhothi embonini ayisithupha eksisi futhi yimaphi amandla amarobhothi ayisikhombisa e-eksisi ezimbonini? (1) Thuthukisa izici ze-kinematic Ku-kinematics yerobhothi, izinkinga ezintathu zenza ukunyakaza kwerobhothi kube nomkhawulo kakhulu. Esokuqala siwukucushwa okukodwa. Uma irobhothi lisekucushweni okukodwa, isiphetho salo asikwazi ukuhamba siye ohlangothini oluthile noma sisebenzise i-torque, ngakho-ke ukumiswa kobunye kuthinta kakhulu ukuhlelwa kokunyakaza. I-eksisi yesithupha kanye ne-eksisi yesine yerobhothi le-axis eyisithupha yi-collinear Okwesibili ukugudluzwa okuhlangene. Esimeni sangempela sokusebenza, ibanga le-engeli lejoyinti ngalinye lerobhothi lilinganiselwe. Isimo esikahle sihlanganisa noma susa amadigri angu-180, kodwa amalunga amaningi awakwazi ukukwenza. Ngaphezu kwalokho, irobhothi le-axis eyisikhombisa lingagwema ukunyakaza kwesivinini se-angular futhi lenze ukusabalalisa kwesivinini se-angular kufane kakhulu. Ibanga lokunyakaza kanye nesivinini se-angular esiphezulu se-eksisi ngayinye ye-Xinsong seven axis robot Okwesithathu, kunezithiyo endaweni yokusebenza. Endaweni yezimboni, kunezithiyo ezihlukahlukene zemvelo ngezikhathi eziningi. Irobhothi yendabuko ye-axis eyisithupha ayikwazi nje ukushintsha isimo sengqondo sendlela yokugcina ngaphandle kokushintsha indawo yomshini wokugcina. (2) Thuthukisa izici eziguqukayo Erobhothini le-axis eyisikhombisa, ukusebenzisa amadigri ayo enkululeko angenakulinganiswa akukwazi nje ukufeza izici ezinhle ze-kinematic ngokuhlela i-trajectory, kodwa futhi kusebenzise isakhiwo sayo ukuze kuzuzwe ukusebenza okuhle kakhulu okuguquguqukayo. Irobhothi le-axis eyisikhombisa lingakwazi ukubona ukwabiwa kabusha kwetorque ehlangene, okubandakanya inkinga yebhalansi emile yerobhothi, okungukuthi, amandla asebenza ekugcineni angabalwa nge-algorithm ethile. Kurobhothi yendabuko yama-eksisi ayisithupha, amandla ejoyinti ngalinye aqinisekile, futhi ukusatshalaliswa kwawo kungase kungabi nangqondo kakhulu. Kodwa-ke, ku-robot ye-axis eyisikhombisa, singakwazi ukulungisa i-torque yejoyinti ngalinye ngokusebenzisa i-algorithm yokulawula ukwenza i-torque ethweswe isixhumanisi esibuthakathaka ibe mncane ngangokunokwenzeka, ukuze ukusabalalisa kwe-torque yalo lonke irobhothi kufane kakhulu futhi kunengqondo. (3) Ukubekezelela amaphutha Uma kwenzeka ukwehluleka, uma ilunga elilodwa lihluleka, irobhothi elivamile le-axis eziyisithupha alikwazi ukuqhubeka nokuqedela umsebenzi, kuyilapho irobhothi le-axis eyisikhombisa lingaqhubeka nokusebenza ngokujwayelekile ngokulungisa kabusha ukusabalalisa kabusha ijubane lejoyinti elihlulekile (ukubekezelelana kwephutha le-kinematic) futhi i-torque yelunga elihlulekile (ukubekezelelana kwamaphutha ashukumisayo). 
Ingalo ngayinye ye-Yumi inamadigri ayisikhombisa enkululeko kanti isisindo somzimba singama-38 kg. Umthwalo wengalo ngayinye ungu-0.5kg, futhi ukunemba kokubeka okuphindaphindiwe kungafinyelela ku-0.02mm. Ngakho-ke, kufanelekile ikakhulukazi umhlangano wezingxenye ezincane, izimpahla zabathengi, amathoyizi nezinye izinkambu. Kusukela ezingxenyeni ezinembayo zamawashi ayimishini kuya ekucutshungulweni komakhalekhukhwini, amakhompyutha wethebhulethi nezingxenye zekhompiyutha yedeskithophu, i-Yumi ayinankinga, ebonisa izici ezinhle kakhulu zerobhothi elingasasebenzi, njengokwandisa indawo yokusebenza efinyelelekayo, ukuguquguquka, ukushesha nokunemba. -Yaskawa Motoman SIA I-YASKAWA kagesi, umkhiqizi wamarobhothi owaziwayo e-Japan futhi ongomunye "wemindeni emine", ukhiphe nenani lemikhiqizo yamarobhothi e-axis ayisikhombisa. Amarobhothi ochungechunge lwe-SIA angamarobhothi e-axis ayisikhombisa, anganikeza ukuguquguquka kwe-humanoid futhi asheshise ngokushesha. Idizayini engasindi futhi ehlelekile yalolu chungechunge lwamarobhothi iyenza ifaneleke kakhulu ukufakwa endaweni ewumngcingo. Uchungechunge lwe-SIA lunganikeza ukukhokhelwa okuphezulu (5kg kuya ku-50kg) kanye nebanga elikhulu lokusebenza (559mm kuya ku-1630mm), elifaneleka kakhulu ukuhlanganisa, ukubumba umjovo, ukuhlolwa nokunye ukusebenza. Ngaphezu kokukhanya kwemikhiqizo yamarobhothi e-axis eyisikhombisa, u-Yaskawa uphinde wakhipha uhlelo lokushisela amarobhothi e-axis ayisikhombisa. Izinga layo eliphakeme lenkululeko lingagcina ukuma okufanele kakhulu ngangokunokwenzeka ukuze kuzuzwe umphumela wekhwalithi ephezulu we-welding, ofaneleka kakhulu ukushisela kwangaphakathi kwendawo futhi uzuze indawo engcono kakhulu yokusondela. Ngaphezu kwalokho, umkhiqizo ungaba nesakhiwo esiphezulu, ugweme kalula ukuphazamiseka phakathi kwawo kanye ne-shaft kanye ne-workpiece, futhi ubonise umsebenzi wawo omuhle kakhulu wokugwema izithiyo. -Uma uhlakaniphe kakhulu, iPresto mr20 iyanda Ngasekupheleni kuka-2007, uNa bueryue wasungula irobhothi lenkululeko elineziqu eziyisikhombisa elithi "Presto mr20". Ngokwamukela idizayini yama-eksisi ayisikhombisa, irobhothi lingakwazi ukwenza ukugeleza komsebenzi okuyinkimbinkimbi futhi lihambe endaweni esebenzayo encane njengengalo yomuntu. Ngaphezu kwalokho, isiphetho sangaphambili seRobhothi I-torque ye (isihlakala) icishe iphindwe kabili kuneyerobhothi lendabuko eliyi-axis eziyisithupha. I-torque yokucushwa okujwayelekile ingu-20kg. Ngokusetha ububanzi besenzo, ingathwala kufika ku-30kg wama-athikili, ububanzi bokusebenza bungu-1260mm, futhi ukunemba kokuma okuphindaphindiwe ngu-0.1mm. Ngokwamukela ukwakheka kwama-eksisi ayisikhombisa, i-mr20 ingasebenza ohlangothini lwethuluzi lomshini lapho ithatha futhi ibeka izingcezu zokusebenza ethuluzini lomshini. Ngale ndlela, Ithuthukisa ukusebenza kahle kokulungiselela nokugcina kusenesikhathi. Isikhala esiphakathi kwamathuluzi omshini singancishiswa sibe ngaphansi kwengxenye yerobhothi elivamile le-eksisi eyisithupha. 
Ngaphezu kwalokho, i-nazhibueryue iphinde yakhipha amarobhothi amabili ezimboni, i-mr35 (enomthwalo we-35kg) kanye ne-mr50 (nomthwalo we-50kg), engasetshenziswa ezindaweni ezincane nezindawo ezinezithiyo. -OTC i-robot eyi-axis eyisikhombisa yezimboni U-Odish weqembu le-daihen e-Japan wethule amarobhothi e-axis ayisikhombisa akamuva (fd-b4s, fd-b4ls, fd-v6s, fd-v6ls kanye nama-fd-v20s). Ngenxa yokujikeleza kwe-eksisi yesikhombisa, bangakwazi ukubona isenzo sokusonteka esifanayo nezihlakala zomuntu kanye nokushisela isikhathi esingaphezu kwesonto elilodwa; ngaphezu kwalokho, amarobhothi ayisikhombisa e-axis angabantu (fd-b4s, fd-b4ls) ikhebula lokushisela lifihlwe emzimbeni werobhothi, ngakho-ke asikho isidingo sokunaka ukuphazamiseka phakathi kwerobhothi, i-welding fixture kanye ne-workpiece ngesikhathi umsebenzi wokufundisa. Isenzo sibushelelezi kakhulu, futhi izinga lenkululeko yokuma kwe-welding lithuthukisiwe, elingenza iphutha lokuthi irobhothi lendabuko alikwazi ukungena ekushiseleni ngenxa yokuphazamiseka kwe-workpiece noma i-welding fixture. -UBaxter noSawyer bacabanga kabusha ngeRobhothi Cabanga kabusha ngamarobhothi uyingqalabutho yamarobhothi asebenzisanayo. Phakathi kwazo, irobhothi lika-Baxter dual arm irobhothi, elasungulwa okokuqala, linamadigri ayisikhombisa enkululeko kuzo zombili izingalo, kanti izinga eliphezulu lokusebenza kwengalo eyodwa ngu-1210mm. U-Baxter angacubungula imisebenzi emibili ehlukene ngesikhathi esisodwa ukuze andise ukusebenza, noma acubungule umsebenzi ofanayo ngesikhathi sangempela ukuze akhulise okukhiphayo. I-Sawyer, eyethulwe ngonyaka odlule, iyirobhothi elingalo elilodwa le-axis yesikhombisa. Amalunga ayo aguquguqukayo asebenzisa uchungechunge olufanayo lwe-elastic actuator, kodwa i-actuator esetshenziswa emalungeni ayo iklanywe kabusha ukuze iyenze ibe mncane. Ngenxa yokuthi umklamo wama-eksisi ayisikhombisa uyamukelwa futhi uhla lokusebenza lunwetshwa lufinyelele ku-100mm, lungaqedela umsebenzi womsebenzi ngomthwalo omkhulu, futhi umthwalo ungafinyelela ku-4kg, omkhulu kakhulu kunomthwalo okhokhelwayo werobhothi ka-Baxter ongu-2.2kg. -Yamaha eziyisikhombisa eksisi irobhothi Ya uchungechunge Ngo-2015, i-Yamaha yethula amarobhothi amathathu e-eksisi ayisikhombisa "ya-u5f", "ya-u10f" kanye "ya-u20f", aqhutshwa futhi alawulwa isilawuli esisha "ya-c100". Irobhothi le-7-axis line-e-eksisi elingana nendololwane yomuntu, ngakho-ke lingakwazi ukuqedela ngokukhululekile ukugoba, ukugoqa, ukunwetshwa nezinye izenzo. Ngisho nasegebeni elincane lapho kunzima khona ngerobhothi ukwenza umsebenzi ongaphansi kwezimbazo eziyisi-6, ukusebenza nokusetha kungaqedwa kahle. Ngaphezu kwalokho, ingakwazi futhi ukubona indawo ye-squat ephansi kanye nesenzo sokuzungeza ngemuva kwedivayisi. I-actuator enesakhiwo esingenalutho iyamukelwa, futhi ikhebuli yedivayisi nepayipi lomoya kwakhiwa engalweni ewumshini, engeke iphazamise okokusebenza okuzungezile futhi ingathola umugqa wokukhiqiza ohlangene.
Amarobhothi ama-eksisi amane angazungezisa ama-eksisi angu-X, y kanye no-Z. Ihlukile ku-three-eksisi irobhothi, ine-eksisi yesine ezimele. Ngokuvamile, irobhothi le-SCRA lingathathwa njengerobhothi le-axis emine. I-axis emihlanu ukucushwa kwamarobhothi amaningi ezimboni. Lawa marobhothi angakwazi ukuzungeza emijikelezweni emithathu yesikhala engu-X, y kanye no-Z. ngesikhathi esifanayo, angakwazi ukujika ngokuncika ku-eksisi esisekelweni kanye ne-eksisi ngokuzungezisa okuguquguqukayo kwesandla, okwandisa ukuguquguquka kwawo. Irobhothi le-eksisi eyisithupha lingadlula ku-X, y kanye no-Z, futhi i-eksisi ngayinye ingakwazi ukuzungeza ngokuzimela. Umehluko omkhulu kunayo yonke erobhothini le-axis emihlanu ukuthi kukhona i-eksisi eyengeziwe engazungeza ngokukhululeka. Omele irobhothi le-axis eyisithupha irobhothi i-youau. Ngekhava eluhlaza okwesibhakabhaka erobhothini, ungakwazi ukubala ngokucacile inani lezimbazo zerobhothi. Irobhothi le-axis eyisikhombisa, elaziwa nangokuthi irobhothi elingasasebenzi, uma liqhathaniswa namarobhothi e-eksisi ayisithupha, i-eksisi eyengeziwe ivumela irobhothi ukuthi ligweme okuthile okuhlosiwe, lenze isiphetho sifinyelele endaweni ethile, futhi lingakwazi ukuzivumelanisa nezimo nezimo ezithile zokusebenza okukhethekile. Ngokukhula kwenani lezimbazo, ukuguquguquka kwerobhothi nakho kuyanda. Kodwa-ke, ezinhlelweni zamanje zezimboni, amarobhothi e-axis amathathu, ama-axis amane kanye namarobhothi e-axis ayisithupha asetshenziswa kakhulu. Lokhu kungenxa yokuthi kwezinye izinhlelo zokusebenza, ukuguquguquka okuphezulu akudingekile, amarobhothi e-axis amathathu kanye ne-four-axis anezindleko eziphakeme, futhi amarobhothi ama-axis amathathu kanye nama-four-axis nawo anezinzuzo ezinhle ngesivinini. Ngokuzayo, embonini ye-3C edinga ukuguquguquka okuphezulu, irobhothi eliyi-axis industry eyisikhombisa lizoba nendawo yokudlala. Ngokunemba kwayo okwandayo, izongena esikhundleni sokuhlanganisa okwenziwa ngesandla kwemikhiqizo ye-elekthronikhi efana nomakhalekhukhwini esikhathini esizayo esiseduze. Iyini inzuzo yamarobhothi e-axis eyisikhombisa ngaphezu kwamarobhothi embonini ayisithupha? Ngobuchwepheshe, yiziphi izinkinga zamarobhothi embonini ayisithupha eksisi futhi yimaphi amandla amarobhothi ayisikhombisa e-eksisi ezimbonini? (1) Thuthukisa izici ze-kinematic Ku-kinematics yerobhothi, izinkinga ezintathu zenza ukunyakaza kwerobhothi kube nomkhawulo kakhulu. Esokuqala siwukucushwa okukodwa. Uma irobhothi lisekucushweni okukodwa, isiphetho salo asikwazi ukuhamba siye ohlangothini oluthile noma sisebenzise i-torque, ngakho-ke ukumiswa kobunye kuthinta kakhulu ukuhlelwa kokunyakaza. I-eksisi yesithupha kanye ne-eksisi yesine yerobhothi le-axis eyisithupha yi-collinear Okwesibili ukugudluzwa okuhlangene. Esimeni sangempela sokusebenza, ibanga le-engeli lejoyinti ngalinye lerobhothi lilinganiselwe. Isimo esikahle sihlanganisa noma susa amadigri angu-180, kodwa amalunga amaningi awakwazi ukukwenza. Ngaphezu kwalokho, irobhothi le-axis eyisikhombisa lingagwema ukunyakaza kwesivinini se-angular futhi lenze ukusabalalisa kwesivinini se-angular kufane kakhulu. Ibanga lokunyakaza kanye nesivinini se-angular esiphezulu se-eksisi ngayinye ye-Xinsong seven axis robot Okwesithathu, kunezithiyo endaweni yokusebenza. Endaweni yezimboni, kunezithiyo ezihlukahlukene zemvelo ngezikhathi eziningi. Irobhothi yendabuko ye-axis eyisithupha ayikwazi nje ukushintsha isimo sengqondo sendlela yokugcina ngaphandle kokushintsha indawo yomshini wokugcina. (2) Thuthukisa izici eziguqukayo Erobhothini le-axis eyisikhombisa, ukusebenzisa amadigri ayo enkululeko angenakulinganiswa akukwazi nje ukufeza izici ezinhle ze-kinematic ngokuhlela i-trajectory, kodwa futhi kusebenzise isakhiwo sayo ukuze kuzuzwe ukusebenza okuhle kakhulu okuguquguqukayo. Irobhothi le-axis eyisikhombisa lingakwazi ukubona ukwabiwa kabusha kwetorque ehlangene, okubandakanya inkinga yebhalansi emile yerobhothi, okungukuthi, amandla asebenza ekugcineni angabalwa nge-algorithm ethile. Kurobhothi yendabuko yama-eksisi ayisithupha, amandla ejoyinti ngalinye aqinisekile, futhi ukusatshalaliswa kwawo kungase kungabi nangqondo kakhulu. Kodwa-ke, ku-robot ye-axis eyisikhombisa, singakwazi ukulungisa i-torque yejoyinti ngalinye ngokusebenzisa i-algorithm yokulawula ukwenza i-torque ethweswe isixhumanisi esibuthakathaka ibe mncane ngangokunokwenzeka, ukuze ukusabalalisa kwe-torque yalo lonke irobhothi kufane kakhulu futhi kunengqondo. (3) Ukubekezelela amaphutha Uma kwenzeka ukwehluleka, uma ilunga elilodwa lihluleka, irobhothi elivamile le-axis eziyisithupha alikwazi ukuqhubeka nokuqedela umsebenzi, kuyilapho irobhothi le-axis eyisikhombisa lingaqhubeka nokusebenza ngokujwayelekile ngokulungisa kabusha ukusabalalisa kabusha ijubane lejoyinti elihlulekile (ukubekezelelana kwephutha le-kinematic) futhi i-torque yelunga elihlulekile (ukubekezelelana kwamaphutha ashukumisayo). Imikhiqizo yamarobhothi e-axis eyisikhombisa yezimboni zamazwe ngamazwe
Noma ngabe ngokombono womkhiqizo noma ngokombono wohlelo lokusebenza, irobhothi eliyi-axis industry eyisikhombisa lisesesigabeni sokuqala sokuthuthukiswa, kodwa abakhiqizi abakhulu baphushele imikhiqizo efanele emibukisweni emikhulu. Kungacatshangwa ukuthi banethemba elikhulu mayelana namandla ayo okuthuthukiswa kwesikhathi esizayo. -KUKA LBR iiwa NgoNovemba 2014, i-KUKA yakhipha okokuqala irobhothi elizwela ukukhanya kwe-KUKA elingu-7-DOF embukisweni wamarobhothi we-China International Industry Expo. I-Lbriiwa seven axis irobhothi yakhelwe ngokusekelwe engalweni yomuntu. Ihlanganiswe nesistimu yezinzwa ehlanganisiwe, irobhothi elikhanyayo linokuzwela okuhlelekayo nokunemba okuphezulu kakhulu. Wonke ama-eksisi e-axis lbriiwa ayisikhombisa afakwe umsebenzi wokuthola ukushayisana kokusebenza okuphezulu kanye nenzwa ehlanganisiwe ye-torque ehlangene ukuze kubonakale ukubambisana komshini womuntu. Idizayini yama-eksisi ayisikhombisa yenza umkhiqizo we-KUKA ube nokuguquguquka okuphezulu futhi ukwazi ukweqa kalula izithiyo. Isakhiwo se-lbriiwa irobhothi senziwe nge-aluminium, futhi isisindo saso singama-23.9 kg kuphela. Kunezinhlobo ezimbili zemithwalo, i-7 kg kanye ne-14 kg ngokulandelanayo, okwenza kube irobhothi lokuqala elilula elinomthwalo ongaphezu kuka-10 kg. - ABB YuMi Ngomhla ziyi-13 kuMbasa, 2015, i-abb yethula ngokusemthethweni irobhothi lemboni yezingalo ezimbili i-Yumi elibona ngempela ukubambisana komshini womuntu emakethe e-Industrial Expo e-Hanover, eJalimane. Ingalo ngayinye ye-Yumi inamadigri ayisikhombisa enkululeko kanti isisindo somzimba singama-38 kg. Umthwalo wengalo ngayinye ungu-0.5kg, futhi ukunemba kokubeka okuphindaphindiwe kungafinyelela ku-0.02mm. Ngakho-ke, kufanelekile ikakhulukazi umhlangano wezingxenye ezincane, izimpahla zabathengi, amathoyizi nezinye izinkambu. Kusukela ezingxenyeni ezinembayo zamawashi ayimishini kuya ekucutshungulweni komakhalekhukhwini, amakhompyutha wethebhulethi nezingxenye zekhompiyutha yedeskithophu, i-Yumi ayinankinga, ebonisa izici ezinhle kakhulu zerobhothi elingasasebenzi, njengokwandisa indawo yokusebenza efinyelelekayo, ukuguquguquka, ukushesha nokunemba. -Yaskawa Motoman SIA I-YASKAWA kagesi, umkhiqizi wamarobhothi owaziwayo e-Japan futhi ongomunye "wemindeni emine", ukhiphe nenani lemikhiqizo yamarobhothi e-axis ayisikhombisa. Amarobhothi ochungechunge lwe-SIA angamarobhothi e-axis ayisikhombisa, anganikeza ukuguquguquka kwe-humanoid futhi asheshise ngokushesha. Idizayini engasindi futhi ehlelekile yalolu chungechunge lwamarobhothi iyenza ifaneleke kakhulu ukufakwa endaweni ewumngcingo. Uchungechunge lwe-SIA lunganikeza ukukhokhelwa okuphezulu (5kg kuya ku-50kg) kanye nebanga elikhulu lokusebenza (559mm kuya ku-1630mm), elifaneleka kakhulu ukuhlanganisa, ukubumba umjovo, ukuhlolwa nokunye ukusebenza. Ngaphezu kokukhanya kwemikhiqizo yamarobhothi e-axis eyisikhombisa, u-Yaskawa uphinde wakhipha uhlelo lokushisela amarobhothi e-axis ayisikhombisa. Izinga layo eliphakeme lenkululeko lingagcina ukuma okufanele kakhulu ngangokunokwenzeka ukuze kuzuzwe umphumela wekhwalithi ephezulu we-welding, ofaneleka kakhulu ukushisela kwangaphakathi kwendawo futhi uzuze indawo engcono kakhulu yokusondela. Ngaphezu kwalokho, umkhiqizo ungaba nesakhiwo esiphezulu, ugweme kalula ukuphazamiseka phakathi kwawo kanye ne-shaft kanye ne-workpiece, futhi ubonise umsebenzi wawo omuhle kakhulu wokugwema izithiyo. -Uma uhlakaniphe kakhulu, iPresto mr20 iyanda Ngasekupheleni kuka-2007, uNa bueryue wasungula irobhothi lenkululeko elineziqu eziyisikhombisa elithi "Presto mr20". Ngokwamukela idizayini yama-eksisi ayisikhombisa, irobhothi lingakwazi ukwenza ukugeleza komsebenzi okuyinkimbinkimbi futhi lihambe endaweni esebenzayo encane njengengalo yomuntu. Ngaphezu kwalokho, isiphetho sangaphambili seRobhothi I-torque ye (isihlakala) icishe iphindwe kabili kuneyerobhothi lendabuko eliyi-axis eziyisithupha. I-torque yokucushwa okujwayelekile ingu-20kg. Ngokusetha ububanzi besenzo, ingathwala kufika ku-30kg wama-athikili, ububanzi bokusebenza bungu-1260mm, futhi ukunemba kokuma okuphindaphindiwe ngu-0.1mm. Ngokwamukela ukwakheka kwama-eksisi ayisikhombisa, i-mr20 ingasebenza ohlangothini lwethuluzi lomshini lapho ithatha futhi ibeka izingcezu zokusebenza ethuluzini lomshini. Ngale ndlela, Ithuthukisa ukusebenza kahle kokulungiselela nokugcina kusenesikhathi. Isikhala esiphakathi kwamathuluzi omshini singancishiswa sibe ngaphansi kwengxenye yerobhothi elivamile le-eksisi eyisithupha. Ngaphezu kwalokho, i-nazhibueryue iphinde yakhipha amarobhothi amabili ezimboni, i-mr35 (enomthwalo we-35kg) kanye ne-mr50 (nomthwalo we-50kg), engasetshenziswa ezindaweni ezincane nezindawo ezinezithiyo. -OTC i-robot eyi-axis eyisikhombisa yezimboni U-Odish weqembu le-daihen e-Japan wethule amarobhothi e-axis ayisikhombisa akamuva (fd-b4s, fd-b4ls, fd-v6s, fd-v6ls kanye nama-fd-v20s). Ngenxa yokujikeleza kwe-eksisi yesikhombisa, bangakwazi ukubona isenzo sokusonteka esifanayo nezihlakala zomuntu kanye nokushisela isikhathi esingaphezu kwesonto elilodwa; ngaphezu kwalokho, amarobhothi ayisikhombisa e-axis angabantu (fd-b4s, fd-b4ls) ikhebula lokushisela lifihlwe emzimbeni werobhothi, ngakho-ke asikho isidingo sokunaka ukuphazamiseka phakathi kwerobhothi, i-welding fixture kanye ne-workpiece ngesikhathi umsebenzi wokufundisa. Isenzo sibushelelezi kakhulu, futhi izinga lenkululeko yokuma kwe-welding lithuthukisiwe, elingenza iphutha lokuthi irobhothi lendabuko alikwazi ukungena ekushiseleni ngenxa yokuphazamiseka kwe-workpiece noma i-welding fixture. -UBaxter noSawyer bacabanga kabusha ngeRobhothi Cabanga kabusha ngamarobhothi uyingqalabutho yamarobhothi asebenzisanayo. Phakathi kwazo, irobhothi lika-Baxter dual arm irobhothi, elasungulwa okokuqala, linamadigri ayisikhombisa enkululeko kuzo zombili izingalo, kanti izinga eliphezulu lokusebenza kwengalo eyodwa ngu-1210mm. U-Baxter angacubungula imisebenzi emibili ehlukene ngesikhathi esisodwa ukuze andise ukusebenza, noma acubungule umsebenzi ofanayo ngesikhathi sangempela ukuze akhulise okukhiphayo. I-Sawyer, eyethulwe ngonyaka odlule, iyirobhothi elingalo elilodwa le-axis yesikhombisa. Amalunga ayo aguquguqukayo asebenzisa uchungechunge olufanayo lwe-elastic actuator, kodwa i-actuator esetshenziswa emalungeni ayo iklanywe kabusha ukuze iyenze ibe mncane. Ngenxa yokuthi umklamo wama-eksisi ayisikhombisa uyamukelwa futhi uhla lokusebenza lunwetshwa lufinyelele ku-100mm, lungaqedela umsebenzi womsebenzi ngomthwalo omkhulu, futhi umthwalo ungafinyelela ku-4kg, omkhulu kakhulu kunomthwalo okhokhelwayo werobhothi ka-Baxter ongu-2.2kg. -Yamaha eziyisikhombisa eksisi irobhothi Ya uchungechunge Ngo-2015, i-Yamaha yethula amarobhothi amathathu e-eksisi ayisikhombisa "ya-u5f", "ya-u10f" kanye "ya-u20f", aqhutshwa futhi alawulwa isilawuli esisha "ya-c100". Irobhothi le-7-axis line-e-eksisi elingana nendololwane yomuntu, ngakho-ke lingakwazi ukuqedela ngokukhululekile ukugoba, ukugoqa, ukunwetshwa nezinye izenzo. Ngisho nasegebeni elincane lapho kunzima khona ngerobhothi ukwenza umsebenzi ongaphansi kwezimbazo eziyisi-6, ukusebenza nokusetha kungaqedwa kahle. Ngaphezu kwalokho, ingakwazi futhi ukubona indawo ye-squat ephansi kanye nesenzo sokuzungeza ngemuva kwedivayisi. I-actuator enesakhiwo esingenalutho iyamukelwa, futhi ikhebuli yedivayisi nepayipi lomoya kwakhiwa engalweni ewumshini, engeke iphazamise okokusebenza okuzungezile futhi ingathola umugqa wokukhiqiza ohlangene.