6 axis force / torque sensor nayo yitwa 6 axis F / T sensor cyangwa 6 axis loadcell, ipima imbaraga na torque mumwanya wa 3D (Fx, Fy, Fz, Mx, My na Mz).Imbaraga-axis imbaraga za sensor zikoreshwa mubice byinshi birimo ibinyabiziga na robo.Imbaraga / torque sensor zirashobora kugabanywamo amatsinda abiri:
Matrix-Yatandukanijwe:Imbaraga nibihe biboneka mukubanza kugwiza matrice ya 6X6 kuri voltage esheshatu zisohoka.Matrix ya decoupling irashobora kuboneka muri raporo ya kalibrasi yatanzwe na sensor.
Byubatswe muburyo:Ibisohoka bitandatu bisohoka birigenga, buri kimwe kigereranya imwe mumbaraga cyangwa ibihe.Ibyiyumvo birashobora kuboneka muri raporo ya kalibrasi.
Guhitamo icyerekezo cyiza cya sensor ya progaramu runaka, umuntu agomba gusuzuma ibintu bikurikira
1. Urwego rwo gupima
Imbaraga ntarengwa nibihe bishoboka gukoreshwa kubintu bigomba kugereranywa.Byakagombye kwitabwaho byumwihariko mugihe ntarengwa.Hitamo icyerekezo cya sensor ifite ubushobozi bwa 120% kugeza 200% byimitwaro myinshi ishoboka (imbaraga & ibihe).Menya ko ubushobozi burenze urugero bwa sensor budashobora gufatwa nk "ubushobozi" busanzwe, kubera ko bwagenewe gukoreshwa kubwimpanuka mugihe ukoresheje nabi.
2. Ibipimo byo gupima
Ubusanzwe SRI 6 axis imbaraga / sensor sensor ifite idafite umurongo hamwe na hystereze ya 0.5% FS, umuhanda wa 2%.Kutagira umurongo hamwe na hystereze ni 0.2% FS kubwikitegererezo cyo hejuru (M38XX ikurikirana).
3. Ibipimo byo hanze nuburyo bwo gushiraho
Hitamo sensor ya moderi ifite ibipimo binini bishoboka.Imbaraga nini / torque sensor isanzwe itanga ubushobozi bwigihe gito.
4. Ibisohoka Sensor
Dufite ibyuma byombi bigereranya imbaraga hamwe na sensor ya torque.
EtherCAT, Ethernet, RS232 na CAN birashoboka kubisohoka muburyo bwa digitale.
Kuri analog isohoka verisiyo, dufite:
a.Umuvuduko muke usohoka - sensor isohoka iri muri milivolt.Amplifier irasabwa mbere yo gushaka amakuru.Dufite amplifier ihuza M830X.
b.Umuvuduko mwinshi mwinshi - ushyizwemo amplifier yashyizwe imbere muri sensor
Kubyerekeranye na moderi ntoya cyangwa nini ya voltage isohora sensor, ibimenyetso bisa birashobora guhindurwa muburyo bwa digitale ukoresheje agasanduku ka M8128 / M8126, hamwe na EtherCAT, Ethernet, RS232 cyangwa itumanaho rya CAN.
SRI Sensor
6 Axis F / T sensor (6 axis Loadcell)
· M37XX ikurikirana: ø15 kugeza ø135mm, 50 kugeza 6400N, 0.5 kugeza 320Nm, ubushobozi burenze 300%
· Urukurikirane rwa M33XX: ø104 kugeza ø199mm, 165 kugeza 18000N, 15 kugeza 1400Nm, ubushobozi burenze 1000%
· Urukurikirane rwa M35XX: inyongera yoroheje 9.2mm, ø30 kugeza ø90mm, 150 kugeza 2000N, 2.2 kugeza 40Nm, ubushobozi burenze 300%
· Urukurikirane rwa M38XX: ubunyangamugayo buhanitse, ø45 kugeza kuri 100mm, 40 kugeza 260N, 1.5 kugeza 28Nm, kurenza 600% kugeza 1000%
· M39XX ikurikirana: ubushobozi bunini, ø60 kugeza kuri 135mm, 2.7 kugeza 291kN, 96 kugeza 10800Nm, ubushobozi burenze 150%
· Urukurikirane rwa M361X: 6 imbaraga zingirakamaro, 1250 kugeza 10000N ， 500 kugeza 2000Nm, ubushobozi burenze 150%
· Urukurikirane rwa M43XX: ø85 kugeza 80280mm, 100 kugeza 15000N, 8 kugeza 6000Nm, ubushobozi burenze 300%
Umuyoboro umwe wa Axis
· Urukurikirane rwa M21XX, urukurikirane rwa M32XX
Imashini ihuriweho na Torque Sensor
· M2210X ikurikirana, M2211X ikurikirana
Loadcell kubizamini biramba
· M411X ikurikirana, M341X ikurikirana, M31XX