6 axis Force / Dareemka dareeraha waxaa sidoo kale loo yaqaan '6 axis F/T sensor' ama 6 axis loadcell, kaas oo cabbira xoogagga iyo qulqulka booska 3D (Fx, Fy, Fz, Mx, My iyo Mz).Dareemayaasha xoogga dhidibada badan leh ayaa loo adeegsadaa dhinacyo badan oo ay ku jiraan baabuurta iyo roboticska.Dareemayaasha xoogga/wareega waxa loo qaybin karaa laba kooxood:
Matrix-Lasoosaaray:Xoogagga iyo daqiiqadaha waxaa lagu helaa iyadoo horay loo dhufto 6X6 matrix kala-saarid lixda koronto ee wax soo saarka.Matrix-ka-goynta waxa laga heli karaa warbixinta is-xakamaynta ee la socota dareenka.
Qaab-dhismeed ahaan:Lixda wax-soo-saarku waa kuwo madaxbannaan, mid walbana wuxuu u taagan yahay mid ka mid ah xoogagga ama daqiiqadaha.Dareenka waxaa laga heli karaa warbixinta cabbirka.
Si aad u dooratid qaabka dareenka saxda ah ee codsi gaar ah, waa in la tixgeliyo arrimaha soo socda
1. Qiyaasta Qiyaasta
Xoogaga ugu badan iyo daqiiqadaha laga yaabo in lagu dabaqo mawduuca ayaa u baahan in la qiyaaso.Fiiro gaar ah waa in la siiyaa daqiiqadaha ugu badan.Dooro moodeel dareeme leh oo awood u leh 120% ilaa 200% culayska ugu badan ee suurtogalka ah (xoog & daqiiqado).Ogsoonow in culeyska xad dhaafka ah ee dareemaha aan loo tixgelin karin "awood" caadiga ah, maadaama loogu talagalay isticmaalka shilalka marka si xun loo maamulayo.
2. Saxnaanta cabbirka
Caadiga ah SRI 6 axis Force/Dareemka qulqulka ayaa leh aan toos ahayn iyo buufiska 0.5%FS, isdhaafsiga 2%.Aan toos ahayn iyo hysteresisku waa 0.2% FS qaabka saxnaanta sare (taxanaha M38XX).
3. Cabbirrada Dibadda iyo Hababka Koritaanka
Dooro qaabka dareemayaasha oo leh cabbirro waaweyn intii suurtagal ah.Dareemaha xoogga weyn/wareega weyn ee caadiga ah wuxuu bixiyaa awoodda daqiiqada sare.
4. Soo-saarka dareemayaasha
Waxaan leenahay labadaba dhijitaalka ah iyo kuwa analooga ah ee wax soo saarka xoogga/dareemaha.
EtherCAT, Ethernet, RS232 iyo CAN ayaa suurtogal u ah nooca wax soo saarka dhijitaalka ah.
Nooca wax soo saarka analoogga, waxaanu haynaa:
a.Wax-soo-saarka danab hooseeya - soo-saarka dareemayaasha wuxuu ku jiraa millivolt.Cod-weyneeye ayaa loo baahan yahay ka hor inta aan xogta la helin.Waxaan haynaa cod-weyneeye u dhigma M830X.
b.Wax soo saarka tamarta sare - cod-weyneeye ku xidhan ayaa lagu rakibay dareemaha gudaha
Marka laga hadlayo qaabka wax-soo-saarka danab hooseeya ama sare, calaamadda analoogga ah waxaa loo rogi karaa dhijitaal iyadoo la adeegsanayo sanduuqa is-dhexgalka ee M8128/M8126, oo leh EtherCAT, Ethernet, RS232 ama CAN isgaarsiinta.
Taxanaha Sensor SRI
6 Axis F/T dareemaha (6 dhidib Loadcell)
Taxanaha M37XX: ø15 ilaa ø135mm, 50 ilaa 6400N, 0.5 ilaa 320Nm, culayska xad dhaafka ah 300%
Taxanaha M33XX: ø104 ilaa ø199mm, 165 ilaa 18000N, 15 ilaa 1400Nm, culayska xad dhaafka ah 1000%
Taxanaha M35XX: 9.2mm khafiif ah oo dheeri ah,ø30 ilaa ø90mm, 150 ilaa 2000N, 2.2 ilaa 40Nm, culays xad dhaaf ah 300%
Taxanaha M38XX: saxsanaan sare, ø45 ilaa ø100mm, 40 ilaa 260N, 1.5 ilaa 28Nm, xad dhaaf ah 600% ilaa 1000%
Taxanaha M39XX: mug weyn, ø60 ilaa ø135mm, 2.7 ilaa 291kN, 96 ilaa 10800Nm, culays xad dhaaf ah 150%
Taxanaha M361X: 6 dhidibka xoogga madal, 1250 to10000N, 500 in 2000Nm, awoodda xad dhaafka ah 150%
Taxanaha M43XX: ø85 ilaa ø280mm, 100 ilaa 15000N, 8 ilaa 6000Nm, culayska xad dhaafka ah 300%
Axis Force Sensor Single
· M21XX taxane, taxane M32XX
Dareemka Isku-dhafka Robot
Taxanaha M2210X, taxane M2211X
Loadcell ee Tijaabada Joogteynta Atootiga
· M411X taxane, taxane M341X, taxane M31XX