Sei marobhoti asingakwanisi kuita mabasa nemazvo maererano nekudzokorora kwawo kwenzvimbo? Mune marobhoti mafambiro ekudzora masisitimu, kutsauka kweakasiyana masisitimu ekubatanidza chinhu chakakosha chinokanganisa kufamba kwerobhoti uye kudzokorora. Izvi zvinotevera ongororo yakadzama yeakasiyana coordination system deviations:
1, Base coordes
Iyo base coordination ndiyo bhenji kune ese akarongeka masisitimu uye pekutangira kumisikidza kinematic modhi yerobhoti. Paunenge uchivaka kinematic modhi pane software, kana kuseta kweiyo base coordination system isiri iyo, zvinotungamira mukuunganidzwa kwezvikanganiso muhurongwa hwese. Rudzi urwu rwekukanganisa runogona kusaonekwa zviri nyore panguva yekutevera kugadzirisa uye kushandiswa, sezvo software inogona kunge yakatoitwa inoenderana muripo wekugadzirisa mukati. Nekudaro, izvi hazvireve kuti kugadzika kweiyo base coordination inogona kufuratirwa, sezvo chero kutsauka kudiki kunogona kuve nekukanganisa kwakakosha pakufamba kwerobhoti.
2, DH zvirongwa
Iyo DH inoronga (Denavit Hartenberg anoronga) ireferensi yeaxis kutenderera kwega kwega, inoshandiswa kutsanangura chinzvimbo uye chimiro pakati pemajoini erobhoti. Paunenge uchivaka robot kinematic modhi pane software, kana kutungamira kweDH coordinate system kwakaiswa zvisizvo kana iyo linkage parameters (senge kureba, offset, torsion angle, etc.) haina kururama, inokonzera kukanganisa mukuverenga kwehomogeneous. shanduko matrix. Iyi mhando yekukanganisa ichakanganisa zvakananga iro robhoti inofamba trajectory uye chimiro. Kunyangwe zvingave zvisingaonekwe nyore panguva yekugadzirisa uye kushandiswa nekuda kwemukati muripo maitiro musoftware, nekufamba kwenguva, ichava nemhedzisiro yakaipa pakurongeka kwekufamba uye kugadzikana.
3、 Joint coordinates
Joint coordinates ndiyo bhenji yekufamba kwakabatana, ine hukama zvakanyanya nemaparamita senge reshiyo yekudzikisa uye nzvimbo yepakutanga yeaxis yega yega. Kana paine chikanganiso pakati pejoint coordinate system uye kukosha chaiko, zvinozotungamira kune isina kururama majoini kufamba. Uku kusarongeka kunogona kuratidza sezviitiko zvakaita sekurembera, kutungamira, kana kuzununguka mukufamba kwakabatana, zvichikanganisa zvakanyanya kufamba uye kugadzikana kwerobhoti. Kuti udzivise mamiriro ezvinhu aya, yakakwirira-chaiyo laser calibration zviridzwa zvinowanzo shandiswa kunyatso kuenzanisa iyo yekubatanidza coordination system iro robhoti risati rabuda mufekitori, kuve nechokwadi chechokwadi chekufamba kwemajoini.
4. Nyika inoronga
Makonisheni epasirese ndiwo mucherechedzo wekufamba kwemutsara uye zvine hukama nezvinhu zvakaita sekudzikisa reshiyo, nzvimbo yepakutanga, uye maparamendi ekubatanidza. Kana paine chikanganiso pakati penyika coordinate system uye kukosha chaiko, zvinozotungamira kune isina kurongeka mutsara kufamba kwerobhoti, nekudaro kukanganisa kugadziridzwa kwemaitiro ekupedzisira. Kusarongeka uku kunogona kuratidza sezvinoitika senge end effector deflection, tilt, or offset, zvinokanganisa zvakanyanya kushanda kwerobhoti nekuchengetedzwa. Naizvozvo, iro robhoti risati rabuda mufekitori, zvinodikanwa zvakare kushandisa laser calibration zviridzwa kunyatso ruramisa nyika kuronga system kuti ive nechokwadi chekufamba kwemutsara.
5, Workbench inoronga
Workbench coordination yakafanana neyepasirese coordinates uye zvakare inoshandiswa kutsanangura hukama chinzvimbo uye kumira kwemarobhoti pabench rebasa. Kana pane kukanganisa pakati pekugadzirisa hurongwa hwebasa rekushanda uye kukosha chaiko, kuchaita kuti robhoti isakwanise kufamba nemazvo mumutsara wakatwasuka uchitevedza bhenji rebasa rakaiswa. Kusarurama uku kunogona kuratidza sezvo robhoti richichinja, richizungunuka, kana kutadza kusvika panzvimbo yakatarwa pabhenji rebasa, zvichikanganisa zvakanyanya kushanda kwerobhoti uye nemazvo. Naizvozvo, rinhikubatanidza marobhoti ane workbenches, chaiyo calibration yeworkbench coordinate system inodiwa.
6, Tool coordinates
Turusi coordinates ndiwo mabenchmark anotsanangura chinzvimbo uye kutariswa kwechishandiso chekupedzisira maererano nerobhoti's base coordinate system. Kana paine chikanganiso pakati pechishandiso coordination system uye kukosha chaiko, zvinokonzeresa kutadza kuita chaiyo trajectory motion zvichibva pane yakagadziriswa magumo panguva yekuchinja maitiro. Kusarurama uku kunogona kuratidza sekushandisa kurereka, kurereka, kana kutadza kunyatsosvika panzvimbo yakatarwa panguva yekuvhiya, zvichikanganisa zvakanyanya kunaka uye kugona kwebasa rerobhoti. Mumamiriro ezvinhu apo kurongeka kwezvishandiso zvepamusoro kunodiwa, iyo 23 point nzira inogona kushandiswa kuenzanisa chishandiso uye mabviro kuti uvandudze huchokwadi hwekufamba. Iyi nzira inogonesa kurongeka kwechishandiso chekubatanidza sisitimu nekuita zviyero zvakawanda uye macalibrations panzvimbo dzakasiyana uye maratidziro, nekudaro kuvandudza kushanda kwerobhoti uye kudzokorora.
Kutsauka kweakasiyana-siyana masisitimu ekubatanidza kune yakakosha kukanganisa kwekufamba uye kudzokorora kugona kwemarobhoti. Naizvozvo, mukugadzira, kugadzira, uye kugadzirisa maitiro emarobhoti masisitimu, zvinodikanwa kuti ubatanidze kukosha kukuru kune calibration uye kurongeka kwekutonga kweakasiyana masisitimu ekurongeka kuona kuti marobhoti anogona nemazvo uye zvakatsiga kupedza mabasa akasiyana siyana.
Nguva yekutumira: Zvita-03-2024
