Do you know about the deep interpretation of robot arm extension?
When selecting robots, customers should not only pay attention to the load, but also pay attention to the maximum working space, i.e. the arm span and the maximum pick-up height at the end of the robot that can reach the azimuth point. Arm spread refers to the maximum working diameter of the cooperative robot on the horizontal plane, and the distance between the farthest point that the robot end can reach on the horizontal plane and the center point of the robot base is the maximum working radius, that is, half of the arm spread. The maximum pick-up height refers to the working range between the lowest point (generally lower than the robot's moving path) and the highest point that the robot end can reach.
However, in practice, different robots and different application scenarios affect the selection of robot arm span. In particular, when selecting robots, the following technical points should be paid special attention to:
1. The robot end reachable working space is divided into full working space and effective working space
Taking cooperative robot as an example, the total working space is a set of reachable points of the robot when all positions are given, which can be obtained by the method of arc intersection. Its shape is a three-dimensional space like an umbrella.
The effective working space lies in the limit condition of robot driving arrangement, which is a given safety limit angle after eliminating the interference of robot end posture and solid parts. Therefore, the useful working space is the largest available working area that can be reached by the robot end in the safety limit angle planning, which is a visual representation of the useful working space.
Considering the practical application of customers, the different structure of the actual parts of the robot results in different degrees of rigidity weakening.
2. The actual application of the pickup span needs to be at least 20cm less than the boom span.
Every company will give the motion plan of the robot, but if the robot is put into the actual integrated processing plan, the load, pick-up span, pick-up beat, operation speed of the conveyor belt and other relevant elements are all important factors affecting the selection of the boom.
3. Collaboration has the advantage of more space and floor space, and the boom can be extended at a high speed.
Compared with other industrial robots, robot end degrees of freedom and working space are not what cooperative robots are good at originally; and larger arm span will inevitably restrict the moving speed, and the production power cannot be substantially improved; the application scenarios of super arm span are mostly to transfer heavier objects, and the requirements of extreme operation planning, high speed and high load on structural stability are extremely high.