LRPT -06D100K-A Mai Aiki Sama Zuwa 100Kg babban kaya hexapod

Hexapod mai girma na LRT yana da saurin amsawa, babban madaidaici, kuma ƙungiyar fasaha mai ƙarfi da gogaggun tana tallafawa. Muna ba abokan ciniki cikakken mafita guda ɗaya{1}! Isasshen wadata, jigilar kayayyaki da sauri, bayarwa na lokaci, don samar da samfuran inganci da sabis, samfuranmu suna ta gwaji mai ƙarfi, ingantaccen inganci, maraba don tuntuɓar.

Tsarin sarrafa turntable yana ɗaukar cikakken tsarin sarrafa servo na dijital. Na'urar auna dabi'a tana auna ainihin yanayin lokaci na saman dandamali. Ta hanyar lissafin motsi, an ƙayyade matsayi na umarni na dandamali na sama. Kwamfutar sa ido tana aika matsayi na umarni zuwa microcontroller ta hanyar Ethernet. Bayan karɓar umarnin siginar motsi, microcontroller yana yin canjin ƙirar motsin sarari. Yin amfani da lissafin kinematics mai juzu'i, yana ƙididdige kusurwar jujjuyawar tuƙi, wanda ake watsawa ga direba ta bas. PC na ciki na direba yana sarrafa bayanai kuma yana tafiyar da injin lantarki, yana barin dandamali ya isa wurin da aka keɓe. Mai rikodin da aka ɗora akan motar lantarki yana gano juzu'i, saurin gudu, da bayanin matsayi a ainihin lokaci, aika zuwa direba. Rufaffen tsarin kula da madauki yana tabbatar da daidaitaccen lokaci na jujjuyawar kusurwar motar. Hakanan ana watsa bayanan zuwa microcontroller, wanda ke amfani da ƙididdige ƙididdigewa don tantance yanayin dandali na sama na yanzu a matsayin nuni ga ƙididdiga.

 

 

Babban ɗaukar nauyi mai aminci da abin dogaro mai ƙarfi kuma mai dorewa

 

DOF	Rage	Gudu	Hanzarta
Fita	± 13 digiri	± 30 digiri / s	± 150 digiri / s2
Mirgine	± 13 digiri	± 30 digiri / s	± 150 digiri / s2
Yaw	± 15 digiri	± 30 digiri / s	± 150 digiri / s2
Sway	±0.10m	0.5m/s	5m/s2
Surge	±0.10m	0.5m/s	5m/s2
Sama	±0.08m	0.5m/s	5m/s2

 

Naúrar:mm

Nauyi:145kg

Launi:Baki

Abu: Aluminum gami + Karfe

Kayan Aiki:100kg

Girman:1026mm*1185*750mm

Girman Load: Kasa da ko daidai da1000mm*1000*400mm

Hanyar shigarwa: Ramin zare

Nisan Hawan Ramin: Keɓance

 

 

Bukatun wutar lantarki	Ƙimar Wutar Lantarki: 220V AC (Range: -10% -10%)
	Mitar da aka ƙididdige: 50hz (Rage: -5% -5%)
	Ƙarfin ƙima: 1.8Kw
	Mafi girman ƙarfin: 2.4Kw
Muhalli Abubuwan bukatu	Yanayin ajiya: Zazzabi: -30-65 digiri Danshi: 5% -95% Matsin yanayi: 85-108Kpa Matsayin Kariya: IP54
	Yanayin aiki: Zazzabi: -20-50 digiri Danshi: 5% -95% Matsin yanayi: 85-108Kpa Matsayin Kariya: IP54

 

 

Tsare Tsare Tsaren Injini:
Dukkanin kayan aikin maɓalli{0} an tsara su daidai da ƙa'idodin soja na ƙasa, tare da ma'aunin tsaro na ƙirar injiniya wanda bai gaza 3.0 ba da gefen tuƙi wanda bai gaza 3.0 ba.

Fasalolin Tsaron Ƙirar Lantarki:
Don tabbatar da amintaccen amintaccen aiki na tsarin da kuma hana lalacewa ga tsarin dandamali idan akwai gazawar tsarin, ana aiwatar da aikin kariya uku{0}: kariya ta software, kariya ta da'ira, da kariyar kayan masarufi.

Kariyar Software:

A matsayin matakin farko na kariyar, kariyar software ita ce mafi mahimmancin tsaro kuma tana aiki a lokacin aikin sarrafa tsarin software. A cikin tsarin tsarin dandalin motsi na gwaji na ƙirar ƙirar software, an saita ƙofa don iyakar nisan tafiya, saurin aiki, da haɓakar injin don hana wuce gona da iri wanda ya haifar da wuce gona da iri ko saurin gudu yayin aikin mota.

Kariyar kewaye:

A matsayin matakin kariya na biyu, kariyar da'ira tana aiki yayin ƙarfin tsarin{0}} akan lokacin aiki. Mai kula da injin tuƙi na tsarin yana saita ƙofa don ƙimar fitarwar motar, matsakaicin saurin gudu, haɓakawa, da matsakaicin fitarwa na yanzu don hana wuce gona da iri da injin ke haifarwa. Bugu da ƙari, ana shigar da maɓalli masu iyaka a matsananciyar matsayi. Hankalin kewayawa na waɗannan iyakoki yana haɗe da tuƙi. Lokacin da abubuwan motsi na tsarin suka kai matsananciyar matsayi, ana kashe fitar da abin tuƙi don hana wuce gona da iri yayin motsi.

Kariyar Hardware:

A matsayin matakin kariya na uku kuma mafi girma, kariyar kayan aiki tana aiki a duk tsawon rayuwar tsarin bayan shigarwa da karɓa. Yana tabbatar da cewa a ƙarƙashin kowane yanayi, tsarin dandamali na gwaji ya kasance cikakke, kayan gwajin mai amfani ba shi da lahani, kuma tsarin dandamali ya kasance amintacce a ƙarƙashin duk yanayin aiki da ajiya.

Ƙarin Modulolin Tsaro:

An sanye da tsarin tare da cikakkun ayyukan kariya na tsaro, kamar yadda aka jera a ƙasa:

Maɓallin Tsaida Gaggawa na Console:
Yayin aiki, idan an gano yanayi mara kyau, mai aiki a cikin ɗakin kulawa zai iya danna maɓallin dakatar da gaggawa don dakatar da kayan aiki nan da nan kuma ya kula da matsayi na yanzu.

Maɓallin Tsaida Console:
Yayin aiki, idan an gano yanayi mara kyau, mai aiki zai iya danna maɓallin tsayawa don dakatar da kayan aiki nan da nan kuma ya kula da matsayi na yanzu.
Rashin Wutar Lantarki ta atomatik da Gajeren -Kariyar kewayawa don Dandalin Gwaji:
Idan akwai gazawar wutar lantarki na 220V ko gajeriyar kewayawa, hasken mai nuna alama yana kashe, birki na motar yana aiki, kuma kayan aikin suna kiyaye matsayin da yake yanzu.

Kariyar Juya Motoci ta atomatik:
Motar servo na tsarin na iya ɗaukar nauyi sau 3. Idan faifan ya gano abin hawa, yana kunna siginar ƙararrawa, yana haɗa birkin motar, kuma kayan aikin suna kiyaye matsayin da yake yanzu.

Motoci Ta atomatik Kan -Kariyar zafin jiki:
Idan tuƙi ya gano yanayin zafin motar da ya wuce kima, yana kunna siginar ƙararrawa, yana shiga birki, kuma kayan aikin suna kiyaye matsayin da yake yanzu.

Kariyar Laifin Encoder Mai atomatik:
Idan akwai abin hawa fiye da gudu, tsayawa, ko tasirin wuce gona da iri, tuƙin yana gano kuskuren encoder, yana kunna siginar ƙararrawa, ya haɗa birkin motar, kuma kayan aikin suna kiyaye matsayin da yake yanzu.

Kariyar ɗimbin yawa na Drive ta atomatik:
Idan halin yanzu na tuƙi ya yi lodi, yana kunna siginar ƙararrawa, yana kunna birkin motar, kuma kayan aikin suna kiyaye matsayin da yake yanzu.

Kariyar Wutar Wuta ta atomatik:
Idan tuƙi ya sami ƙarfin ƙarfin wuta, yana kunna siginar ƙararrawa, yana kunna birkin motar, kuma kayan aikin suna kiyaye matsayin da yake yanzu.

Fitar da Wuta ta atomatik -Kariyar zafin jiki:
Idan zafin tuƙi ya wuce kima, yana kunna siginar ƙararrawa, yana kunna birkin motar, kuma kayan aikin suna kiyaye matsayin da yake yanzu.

Kariyar Gano Canjawa ta atomatik:
Lokacin da abubuwan motsi na dandalin gwaji suka kai matsananciyar matsayi, tuƙi da kwamfuta mai sarrafawa a lokaci guda suna toshe siginar shigarwar gaba, suna barin motsi kawai daga matsananciyar matsayi.

Kariyar Iyakar Gudun Mota ta atomatik:
Yayin aiki, idan tsarin sarrafawa ya gano saurin da ya wuce iyaka, birki na motar ya shiga, kuma kayan aiki suna kiyaye matsayi na yanzu.

Kariyar Haɗawar Mota ta atomatik:
A lokacin aiki, idan tsarin sarrafawa ya gano saurin wuce iyaka, birki na motar yana aiki, kuma kayan aiki suna kiyaye matsayin da yake yanzu.

Kariyar Laifin Sadarwa ta Bas ta CAN ta atomatik:
Yayin aiki, idan tsarin sarrafawa ya gano kuskuren sadarwar bas na CAN, birki na motar ya shiga, kuma kayan aiki suna kiyaye matsayin da yake yanzu.

Kariyar Laifin Sadarwar Sadarwar Sadarwar atomatik:
Yayin aiki, idan tsarin sarrafawa ya gano kuskuren sadarwar sadarwar, birki na motar ya shiga, kuma kayan aiki suna kiyaye matsayi na yanzu.

Kariyar Laifin Kwamfuta na Babban Sarrafa ta atomatik:
Yayin aiki, idan kwamfutar da ke sa ido ba ta gano wani amsa daga babban kwamfutar da ke sarrafa ba, birkin motar yana shiga, kuma kayan aikin suna kiyaye matsayin da yake yanzu.

 

Hexapod wani tsari ne na musamman wanda zai iya kwaikwayi duk yuwuwar motsin abu a cikin sararin sarari guda uku-. Sunansa kai tsaye yana nuna aikinsa: samar da digiri na 'yanci na 'yanci guda shida.

Waɗannan digiri shida sun haɗa da digiri na 'yanci na fassara guda uku da digiri na 'yanci na juyawa uku:

 

 

• Matsayin Fassara guda uku na 'Yanci:

 

1. Heave: Motsi a tsaye tare da axis Z{1} (sama da ƙasa).
2.Sway: Motsi na gefe tare da axis Y{1} (hagu da dama).
3.Surge: Motsi na tsayi tare da axis X{1} (gaba da baya).

 

 

• Matakin Juyawa Uku na 'Yanci:

 

4. Yaw: Juyawa kewaye da axis Z{1} (juyawa hagu da dama).
5. Pitch: Juyawa kewaye da axis Y{1} ( noke gaba da baya).
6. Mirƙira: Juyawa a kusa da X{1}} (karɓar gefe zuwa gefe).

 

Nau'in dandali na 6-DOF da aka fi sani da shi yana amfani da tsari na Stewart Platform, nau'in inji mai kama da mutum-mutumi. Abubuwan da ke cikin sa sun haɗa da:

 

Ka'idar Aiki:
Tsarin sarrafawa yana ƙididdige madaidaicin tsayi kowane ɗayan silinda na lantarki shida yana buƙatar tsawatawa ko ja da baya bisa hanyar motsi da ake so. Haɗaɗɗen tsayin daka da gajarta waɗannan silinda guda shida suna turawa da ja saman dandamali gaba ɗaya, suna haɗa hadaddun motsin da ake buƙata a duk matakan 'yanci guda shida. Misali, don kwaikwayi wani jirgin sama yana tashi sama, tsarin sarrafawa zai umurci manyan silinda na gaba su fadada kuma na baya su ja da baya.

 

 

 

 

Saboda iyawar motsinsu na musamman, 6{1}}Dandali na DOF suna da makawa a cikin manyan fagage masu yawa:

 

 

• Masu Simulators na Jirgin Sama: Aikace-aikacen gargajiya, yana ba matukan jirgi da ingantaccen ra'ayi na kinesthetic don tashi, saukarwa, tashin hankali, da motsa jiki.

 

• Tuki Simulators: Ana amfani da su don simintin aikin motoci, tankuna, da jiragen ruwa, don gwajin aikin abin hawa, horar da direba, da ƙirar ƙira.

 

• Motion Theaters/Hawan Nishaɗi: Samar da ƙwararrun nishaɗin nishadantarwa, motsa masu sauraro cikin daidaitawa tare da aikin fim ɗin.

 

Bincike & Gwaji:

 

• Kwaikwaiwar Jijjiga: Yin kwaikwayon tasirin girgizar ƙasa, rashin ƙarfi na hanya, da sauransu, akan tsari ko kayan aiki.

 

• Kwaikwayo Hali: Ana amfani da ƙasa{0}} gwajin simintin ɗabi'a na tauraron dan adam, jiragen sama, eriya, da sauransu.

 

• Machining Machining & Docking: Ana amfani da shi a cikin ci-gaba na masana'antu da tafiyar matakai na buƙatar daidaita daidaitaccen matsayi mai girma-.

 

 

Kamar yadda kuka koya a baya, silinda na lantarki sune manyan masu kunnawa waɗanda ke samar da babban dandamali na 6-DOF{0}. Ayyukan dandamali (misali, daidaito, gudu, ƙarfi) kai tsaye ya dogara da aikin silinda na lantarki da aka yi amfani da su. Bugu da ƙari, mahimman ayyukan kariya na aminci (kamar masu iya canzawa, kariyar wuce gona da iri, tsayawar gaggawa) don irin wannan hadadden tsarin daidaita daidai da ƙirar aminci da ka'idodin kariyar lantarki da kuka tambaya a baya.

 

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