Basic muaj pes tsawg leeg ntawm tsoos sib koom neeg hlau
Traditional articulated robots yog tsim los ntawm lub cev yam ntxwv, reducers, servo motors, controllers, thiab lwm yam.
Lub cev qauv
Lub cev muaj zog neeg hlau yog tsim los ntawm rotating puag, sab caj npab, forearm thiab lwm yam, uas yog lub feem ntau ncaj qha mechanical qauv sab nraum cov neeg hlau. Cov txheej txheem ntawm cov neeg hlau lub cev muaj xws li cam khwb cia hlau, cam khwb cia hlau, cam khwb cia txhuas, structural steel thiab lwm yam ntaub ntawv.
reducer
Lub reducer yog siv los nqa lub nra ntawm txhua qhov sib koom ntawm cov neeg hlau. Lub siab ceev thiab qis torque tso zis los ntawm lub cev muaj zog dhau los ntawm lub reducer los tsim ib tug tsawg ceev thiab siab torque, yog li ua rau cov zis torque ntawm txhua axis ntawm tus neeg hlau, yog li ntawd tus neeg hlau yuav dais ib tug loj load. Cov neeg hlau muaj cov kev xav tau siab ntawm lub reducer, uas yuav tsum muaj lub reducer kom me me, me me hauv huab hwm coj, loj hauv kev txo qis, siab precision, thiab cuam tshuam resistant.
Tam sim no, feem ntau yog ob hom kev txo qis siv dav hauv ntau cov neeg hlau sib koom ua ke: ib qho yog RV reducer, thiab lwm yam yog kev sib haum xeeb reducer. RV reducers feem ntau muab tso rau ntawm qhov hnyav xws li caj npab thiab lub xub pwg nyom vim lawv qhov nruj dua thiab qhov tseeb ntawm kev sib hloov; harmonic reducers yog muab tso rau ntawm forearms thiab dab teg.
tsav tswj system
Cov kev tswj xyuas tsav yog siv los tswj cov neeg hlau kom txav mus raws li qhov teeb tsa cov lus tsa suab. Nws feem ntau suav nrog servo drives, servo motors thiab controllers.
(1) Servo motors feem ntau yog siv los tsav cov pob qij txha ntawm cov neeg hlau, thiab yuav tsum muaj lub zog siab tshaj plaws ntawm qhov sib piv thiab lub zog-rau-inertia piv, siab pib torque, tsis tshua muaj zog inertia, thiab kev tswj ceev nrawm;
(2) Tus neeg tsav tsheb servo yog ib qho cuab yeej uas tsav lub servo lub cev muaj zog txav. Raws li cov lus qhia ntawm tus maub los, tus neeg tsav tsheb servo muab qhov sib thooj tam sim no rau lub servo lub cev muaj zog, txhawm rau xyuas kom meej tias servo lub cev muaj zog txav raws li qhov xav tau txav nrawm, nrawm, thiab ua haujlwm txoj haujlwm. Qhov kev txav ntawm cov cuab yeej cuab tam ua tau raws li qhov yuav tsum tau ua.
(2) Tus maub los tuaj yeem teeb tsa nws cov kev ntsuas sab hauv kom paub txog ntau yam haujlwm xws li kev tswj txoj haujlwm, kev tswj ceev thiab kev tswj lub zog ntawm tus neeg hlau.
Rau axis serial neeg hlau "axis" muaj nuj nqi
Ib txwm muaj 6-axis industrial robots feem ntau muaj 6 degree ntawm kev ywj pheej, uas feem ntau suav nrog kev sib hloov (S-axis), sab caj npab (L-axis), sab caj npab (U-axis), dab teg tig (R-axis), dab teg viav vias ( B-axis) thiab lub dab teg tig. (T axis). 6 pob qij txha yog synthesized kom paub 6 degrees ntawm kev ywj pheej txav thaum kawg.
duab
Ib axis: Thawj axis yog ib feem txuas nrog lub hauv paus, uas nqa qhov hnyav ntawm tag nrho cov neeg hlau thiab sab laug thiab txoj cai tig ntawm lub hauv paus;
Ob axes: tswj lub hauv ntej thiab nram qab viav vias ntawm tus neeg hlau caj npab;
Peb-axis: tswj lub hauv ntej thiab nram qab viav vias ntawm caj npab neeg hlau;
Plaub-axis: tswj kev sib hloov ntawm caj npab ntawm tus neeg hlau;
Tsib-axis: Tswj thiab kho qhov kev sib hloov ntawm lub manipulator lub dab teg nce thiab nqis, feem ntau yog thaum cov khoom tuav thiab cov khoom tuaj yeem hloov tau;
Six-axis: Kev sib hloov muaj nuj nqi rau qhov kawg gripper ib feem kom paub meej qhov chaw rau cov khoom.
Raws li qhov sib txawv daim ntawv thov scenarios, lub dab teg ib feem kuj muaj cov qauv tsim qauv sib txawv. B (khoov) qhia tus qauv khoov, thiab R (revolve) qhia txog kev sib hloov.
Qhov zoo thiab qhov tsis zoo ntawm 6-axis serial neeg hlau
Qhov zoo
(1) Compact qauv, me me installation cheeb tsam;
(2) Kev hloov pauv tau zoo, ntau yam ntawm tes ncav cuag txoj haujlwm, thiab kev tiv thaiv kev ua haujlwm zoo;
(3) Tsis muaj kev sib koom ua ke, kev sib koom ua ke yog qhov zoo, kev sib txhuam me me, thiab inertia me me;
(4) Lub zog tsav ntawm kev sib koom ua ke yog me me thiab lub zog siv tsawg.
qhov tsis zoo
(1) Muaj teeb meem sib npaug thaum lub zog txav, thiab muaj kev sib txuas hauv kev tswj;
(2) Thaum lub boom thiab forearm yog stretched, lub structural rigidity ntawm tus neeg hlau yog tsis zoo;
(3) Muaj cov ntsiab lus tshwj xeeb hauv cov txheej txheem tswj kev txav, thiab kev siv thiab tswj algorithms yuav tsum zam.
