IMPAQT ROBOTICS PQ0-1G2S Universal Robots

Cov ntaub ntawv khoom

Specifications

• Khoom npe: URCAP rau Universal Robots
• Qauv: pneumagiQ, casemagiQ, pneuvaQ series
• Compatibility: Tau tshaj txhua tus qauv ntawm Universal Robots

Cov lus qhia siv khoom

1. Kev xav txog kev nyab xeeb

• • Kev Tsim Nyog Ua Haujlwm
    • Tsuas yog cov neeg ua haujlwm tau tso cai nrog kev paub txog kev tuav pneumatic thiab hluav taws xob circuits yuav tsum ua haujlwm ntawm cov khoom.
    • Xyuas kom nkag siab txog cov khoom siv phau ntawv ua ntej ua haujlwm.
• Cov Lus Qhia rau Kev Ua Haujlwm
  • Ib txwm txiav tawm I / O cable ua ntej ntxiv lossis tshem cov khoom siv ntxiv.
  • Neutralize lub siab sab hauv los ntawm kev kaw cov khoom siv pneumatic ua ntej hloov mus.
• pneumagiQ dhauview
• Lub pneumagiQ yog ib qho compact Universal Pneumatic EOAT Interface tsim los rau nruj-spaced tuav cov ntaub ntawv siv.
• Nws tso cai rau seamless mounting ntawm ob pneumatic EOATs, maximizing neeg hlau payload rau tuav hnyav qhov chaw.

Variants

• pneumagiQ PQ0-1G2S
• pneumagiQ PQ90-2G2S
• pneumagiQ PQ180-2G4S
• pneumagiQ PQ9020-2G4S

Siv URCap

URCap rau Universal Robots yog siv rau kev khiav hauj lwm pneumagiQ, casemagiQ, thiab pneuvaQ series.

FAQs

Q: Qhov ntsuas xwm txheej ntawm pneumagiQ txhais li cas?

A: Cov xwm txheej ntsuas ntawm pneumagiQ yog siv los sib txuas lus lub xeev tam sim no ntawm cov khoom thaum ua haujlwm.

Q: Kuv tuaj yeem rub tawm cov ntaub ntawv thiab cov ntaub ntawv ntxiv rau qhov twg cov khoom?

A: Koj tuaj yeem rub tawm cov ntaub ntawv thiab cov ntaub ntawv ntxiv ntawm https://www.impaqt-robotics.com.

Q: Dab tsi yog qhov tsawg kawg nkaus pom zoo polyscope version rau kev sib raug zoo nrog pneumagiQ?

A: Qhov kev pom zoo tsawg kawg nkaus ntawm polyscope hauv Universal Robots rau kev sib raug zoo nrog pneumagiQ yog muab rau hauv cov ntaub ntawv siv tau.

• Nyob zoo cov neeg muas zaub,
• Ntawm Impaqt Robotics, peb lub hom phiaj xa qhov cuam tshuam nrog txhua tus neeg hlau xa mus thoob ntiaj teb. Qhov no yog li cas peb ua kom yooj yim & ceev xa cov neeg hlau thiab cuam tshuam rau peb cov neeg koom tes cov kab hauv qab hauv kev xa Robots.
  Yog tias koj muaj lus nug lossis xav tau kev pab nrog cov khoom, tsis txhob yig tiv tauj peb los ntawm
• support@impaqt-robotics.com.
• Nyob zoo,
  Pab neeg Impaqt Robotics

Copyright

• Phau ntawv no thiab nws cov ntsiab lus yog nyob rau hauv copyright. Tus sau yog Impaqt Robotics Private Limited. Txhua txoj cai. Ib qho kev tsim tawm, kev ua, kev faib tawm (ua rau muaj rau peb tog), kev txhais lus, lossis lwm yam kev siv - txawm tias excerpts - ntawm phau ntawv tshwj xeeb yog txwv tsis pub thiab yuav tsum tau peb daim ntawv tso cai.
• Technical pauv:
  Peb muaj txoj cai los hloov kho rau kev txhim kho thiab kev tsim kho.

Kev kho dua

1. Hloov kho 16 Kaum Ib Hlis 2023

• Beta Tso Tawm

1. Hloov kho 29 Kaum Ib Hlis 2023

• Hloov kho qhov tseeb URCap version cov ntxaij vab tshaus.

1. Hloov kho 10 Plaub Hlis 2024

• Ntxiv pneumagiQ PQ0-1G2S.

1. Hloov kho 3 Cuaj hlis 2024

• Ntxiv casemagiQ CM100.
• Ntxiv pneuvaQ PV21.

General Inputs

• Download tau cov ntaub ntawv ntxiv thiab cov ntaub ntawv ntawm cov khoom ntawm https://www.impaqt-robotics.com.
• Variants
  Phau ntawv ua haujlwm no siv tau rau cov kev hloov hauv qab no:
  • pneumagiQ PQ0-1G2S
  • pneumagiQ PQ90-2G2S
  • pneumagiQ PQ180-2G4S
  • pneumagiQ PQ9020-2G4S
  • casmagiQ CM100
  • pneuvaQ PV 21
• Compatible Robots
• pneumagiQ tau tshaj txhua tus qauv ntawm Universal Robots.
• Pom zoo yam tsawg kawg nkaus ntawm polyscope hauv UR yog raws li hauv qab no:
  • Rau CB3 pib los ntawm v3.12.1
  • Rau E series pib los ntawm v5.11.1
• Cov ntaub ntawv siv tau
• Catalog ntawm cov khoom
• Phau ntawv ntawm cov khoom
• Phau ntawv ntawm cov accessories
• Kev xav txog kev nyab xeeb
  • Kev Tsim Nyog Ua Haujlwm
    • Tsuas yog cov neeg ua haujlwm tau tso cai nrog kev paub ua haujlwm ntawm kev tuav pneumatic thiab hluav taws xob circuits yuav tsum ua haujlwm ntawm cov khoom. Txhua tus tswj cov khoom yuav tsum tau nkag siab txog cov khoom sib txawv ntawm phau ntawv qhia.
• Cov lus qhia rau kev ua haujlwm
  • Ib txwm hloov-tawm pneumagiQ los ntawm kev txiav tawm I / O cable ua ntej ntxiv lossis tshem cov khoom siv. Ua ntej hloov tawm, nruab nrab lub siab sab hauv los ntawm kev kaw cov khoom siv pneumatic thiab ua kom cov cua tshuab tawm lossis cov chaw nres nkoj cua siv URCap (Saib rau phau ntawv ua haujlwm).

pneumagQ

pneumagiQ yog ib qho compact Universal Pneumatic EOAT Interface tsim los seamlessly mount ob pneumatic EOATs. Lub compact tsim ntawm pneumagiQ ua rau nws zoo tagnrho rau nruj-spaced cov ntaub ntawv tuav daim ntaub ntawv xws li tshuab tending thiab cov khoom tuav. Lub teeb yuag tsim maximizes lub payload ntawm neeg hlau rau tuav hnyav qhov chaw uas yog tshwj xeeb tshaj yog tseem ceeb rau kev sib koom robots.
Cov no yog cov variants ntawm pneumagiQ:

• pneumagiQ PQ0-1G2S
• pneumagiQ PQ90-2G2S
• pneumagiQ PQ180-2G4S
• pneumagiQ PQ9020-2G4S
  • URCap siv rau tag nrho peb tus qauv yog tib yam.
• pneumagiQ xeev
  • Thaum pneumagiQ tab tom ua haujlwm, cov cim qhia tau raug siv los sib txuas lus rau lub xeev tam sim no ntawm cov khoom.
• Qhov taw qhia xwm txheej
  • Qhov taw qhia xwm txheej yog nyob rau pem hauv ntej npog ntawm pneumagiQ ntawm ob sab ntawm 8-pin I/O connector.

LED Xim	Xeev
Liab	1. Flickering – Fais fab tuag. 2. Gripper actuation 3. Initiating Cua tshuab tawm
Ntsuab	1. Idle 2. Npaj rau kev ua haujlwm

• Qhov taw qhia qhov xwm txheej: Ntsuab
• Cov xwm txheej qhia tau ntsuab thaum pneumagiQ tsis ua haujlwm & npaj rau kev ua haujlwm.
• Qhov taw qhia qhov xwm txheej: Liab
  • Qhov taw qhia xwm txheej yog liab thaum:
    • Txhawb nqa cov khoom.
      • Thaum lub zog-up cov xwm txheej qhia flickers hauv Liab.
    • Tau txais kev sib txuas lus los ntawm cov neeg hlau los ntawm URCap
• Qhov taw qhia qhov xwm txheej: switched tawm.
• Cov xwm txheej qhia tau raug hloov-tawm tsuas yog thaum:
  • Tsis muaj hluav taws xob muab rau pneumagiQ.
  • I/O cable tsis txuas zoo.
  • Universal Robot tsis nyob hauv 'Normal mode'.
  • Cov cuab yeej I/O interface ntawm Universal Robot URCap tsis tau teeb tsa rau pneumagiQ.

casmagiQ

casemagiQ yog ib qho kev cog lus Universal Case Forming EOAT tsim los tsim cov rooj plaub ntawm ntau qhov ntev. Lub compact tsim ntawm casemagiQ yog zoo tagnrho rau cov ntaub ntawv tsim / thawv erection daim ntaub ntawv nrog tsawg hneev taw.
Cov no yog cov variants ntawm casemagiQ:

• casmagiQ CM100
• casmagiQ CM50
  • URCap siv rau txhua qhov sib txawv yog tib yam.
• casmagiQ State
• Thaum casemagiQ tab tom ua haujlwm, cov xwm txheej qhia tau siv los sib txuas lus lub xeev tam sim no ntawm cov khoom.
•  Qhov taw qhia xwm txheej
• Qhov taw qhia xwm txheej yog nyob rau pem hauv ntej npog ntawm pneumagiQ ntawm ob sab ntawm 8-pin I/O connector.

LED Xim	Xeev
Liab	1. Flickering – Fais fab tuag. 2. Vacuum Actuation 3. Lub tog raj kheej ua haujlwm
Ntsuab	1. Idle 2. Npaj rau kev ua haujlwm

• Qhov taw qhia qhov xwm txheej: Ntsuab
  • Cov xwm txheej qhia tau ntsuab thaum casemagiQ tsis ua haujlwm & npaj rau kev ua haujlwm.
• Qhov taw qhia qhov xwm txheej: Liab
• Qhov taw qhia xwm txheej yog liab thaum:
• Txhawb nqa cov khoom.
  • Thaum lub zog-up cov xwm txheej qhia flickers hauv Liab.
• Tau txais kev sib txuas lus los ntawm cov neeg hlau los ntawm URCap
• Qhov taw qhia qhov xwm txheej: switched tawm.
• Cov xwm txheej qhia tau raug hloov-tawm tsuas yog thaum:
• Tsis muaj hluav taws xob muab rau casemagiQ.
• I/O cable tsis txuas zoo.
• Universal Robot tsis nyob hauv 'Normal mode'.
• Cov cuab yeej I / O interface ntawm Universal Robot URCap tsis tau teeb tsa rau pneumagiQ / casemagiQ / pneuvaQ.

pneuvaQ

pneuvaQ yog qhov sib xyaw ua ke Pneumatic & Nqus Interface tsim los ua kom yooj yim lub tsev kev cai EOATs rau cov ntawv thov xws li tshuab rau kev txhaj tshuaj molding thiab nias nres. Lub compact tsim ntawm pneuvaQ yog qhov zoo tagnrho rau ntxiv rau kev cai EOATs kom tswj tau ceev ntawm pneumatic thiab lub tshuab nqus tsev qhov hluav taws xob.
Lub npe sib txawv ntawm PV21 muaj qhov tshwj xeeb nomenclature. P yog rau pneumatics, denoting tus naj npawb ntawm compressed cua qhov hluav taws xob thiab V yog rau lub tshuab nqus tsev, denoting tus naj npawb ntawm lub tshuab nqus tsev qhov hluav taws xob. Li no, nyob rau hauv cov ntaub ntawv no, PV21 muaj ob compressed cua qhov hluav taws xob thiab ib lub tshuab nqus tsev qhov hluav taws xob. Cov no yog cov variants ntawm pneumagiQ:

• pneuvaQ PV 21
  • URCap siv rau txhua qhov sib txawv yog tib yam.
• pneuvaQ State
  • Thaum pneuvaQ tab tom ua haujlwm, cov xwm txheej qhia tau siv los sib txuas lus lub xeev tam sim no ntawm cov khoom.
• Qhov taw qhia xwm txheej
  • Qhov taw qhia xwm txheej yog nyob rau sab pem hauv ntej ntawm pneuvaQ ntawm ob sab ntawm 8-pin I/O connector.

LED Xim	Xeev
Liab	4. Flickering – Fais fab tuag. 5. Compressed Cua actuation 6. Lub tshuab nqus tsev vacuum
Ntsuab	3. Idle 4. Npaj rau kev ua haujlwm

• Qhov taw qhia qhov xwm txheej: Ntsuab
• Cov xwm txheej qhia tau ntsuab thaum pneuvaQ tsis ua haujlwm & npaj rau kev ua haujlwm.
• Qhov taw qhia qhov xwm txheej: Liab
• Qhov taw qhia xwm txheej yog liab thaum:
• Txhawb nqa cov khoom.
  • Thaum lub zog-up cov xwm txheej qhia flickers hauv Liab.
• Tau txais kev sib txuas lus los ntawm cov neeg hlau los ntawm URCap
• Qhov taw qhia qhov xwm txheej: switched tawm.
• Cov xwm txheej qhia tau raug hloov-tawm tsuas yog thaum:
• Tsis muaj hluav taws xob muab rau pneuvaQ.
• I/O cable tsis txuas zoo.
• Universal Robot tsis nyob hauv 'Normal mode'.
• Cov cuab yeej I / O interface ntawm Universal Robot URCap tsis tau teeb tsa rau pneuvaQ.

Kev khiav hauj lwm pneumagiQ, casemagiQ & pneuvaQ

• Txhawm rau tswj cov pneumagiQ, casemagiQ thiab pneuvaQ los ntawm Universal Robot, ib tus xav tau URCap uas yuav tsum tau nruab rau hauv cov neeg hlau. Nrog nws, txhua lub pneumatic EOATs, lub tshuab cua tshuab tawm chaw nres nkoj, compressed cua qhov hluav taws xob, lub tshuab nqus tsev qhov hluav taws xob, flap txoj hauj lwm yuav tswj tau yooj yim. Muaj qhov sib txawv URCaps rau pneumagiQ, casemagiQ thiab pneuvaQ.
•  Kev teeb tsa ntawm URCap
• URCap ntawm pneumagiQ, casemagiQ thiab pneuvaQ muaj nyob rau hauv cov nplooj ntawv cov khoom lag luam. Rub tawm URCap rau USB tsav thiab ntsaws USB tsav mus rau Universal Robot's USB chaw nres nkoj nyob rau hauv cov qhia pendant lossis tus neeg hlau maub los.

1. Txhawm rau nruab URCap, coj mus rhaub Hamburger icon () nyob rau sab xis saum toj ntawm txhua qhov chaw hauv Polyscope.
2. Xaiv Chaw.
3. Hauv cov ntawv qhia zaub mov sab laug, xaiv System.
4. Mus rau UCaps.
5. Nyem lub '+' khawm, mus rau USB disk, thiab ntxiv URCap sib raug (ex.ample: pneumagiQ-X.XX.urcap).
   1.  Nco ntsoov siv qhov tseeb version ntawm URCap los ntawm nplooj ntawv khoom ntawm peb webqhov chaw.
6. Thaum URCap raug teeb tsa, xyuas kom meej tias muaj cov cim ntsuab ntawm ib sab ntawm pneumagiQ hauv ntu Active URCaps raws li qhia hauv daim duab 5.
7. Pib dua tus neeg hlau tom qab txhim kho URCap.

• Txhawm rau tshem tawm URCap, xaiv pneumagiQ los ntawm hauv qab URCaps nquag thiab nyem lub pob '-' hauv qab. Raws li ib txwm rov pib dua tus neeg hlau tom qab tshem URCap.
• Teem lub Installation Tab
• Txhawm rau tswj cov pneumagiQ nrog Universal Robots, yuav tsum teeb tsa txoj cai hauv kev teeb tsa tab raws li hauv qab no:
• UCaps > pneumagiQ Chaw
  Nyob rau hauv lub tab Installation, nyob rau hauv URCaps, nyob rau hauv pneumagiQ Settings, xaiv lub pneumagiQ Variant los ntawm lub drop-down box, Tool Hom li Pneumatic Grippers thiab xaiv lub gripping hom ntawm ob lub cuab tam 1 & Tool 2 raws li sab nraud Gripping los yog Internal Gripping. Los ntawm lub neej ntawd, hom gripping yog nyob rau sab nraud hom gripping.
  Txhawm rau txheeb xyuas cov cuab yeej sai sai hauv pneumagiQ PQ90 & PQ9020, Tool Mounting Face 1 yog cim nrog ib qho chaw, thaum Tool Mounting Face 2 muaj ob lub dots, ntawm ob sab ntawm cov khoom. Nyob rau hauv cov ntaub ntawv ntawm pneumagiQ PQ180, nws yog cim li 1 & 2 nyob rau hauv qab lub ntsej muag. Xa mus rau Phau Ntawv Qhia Kev Teeb Meem rau qhov sib thooj pneumagiQ variant kom paub ntau ntxiv.
  UCaps> casemagiQ Chaw
  Hauv kev teeb tsa tab, nyob rau hauv URCaps, nyob rau hauv casemagiQ Chaw, xaiv casemagiQ Variant los ntawm lub npov nco-down, thiab hom kev sib txuas lus, uas yog seb nws txuas nrog UR Tool Chaw nres nkoj lossis tus neeg hlau maub los.
• UCaps > pneuvaQ Chaw
  Hauv kev teeb tsa tab, nyob rau hauv URCaps, nyob rau hauv pneuvaQ Chaw, xaiv pneuvaQ Variant los ntawm lub npov nco-down, thiab hom kev sib txuas lus, uas yog seb nws txuas nrog UR Tool Chaw nres nkoj lossis tus neeg hlau maub los.
• General > Tool I/O
  Tam sim no, Tool I/O interface ntawm tus neeg hlau yuav tsum tau tswj los ntawm pneumagiQ. Tsuas yog tom qab ntawd, qhov tsim nyog Analog Inputs, Kev Sib Txuas Lus Sib Tham thiab Digital Output hom tuaj yeem teeb tsa raws li xav tau los ntawm pneumagiQ. Yog li ntawd, nyob rau hauv lub installation tab, nyob rau hauv cov zaub mov sab hauv qab General, xaiv Tool I / O.
  Hauv qab I / O Interface Control, rau kev tswj hwm los ntawm, xaiv pneumagiQ lossis casemagiQ lossis pneuvaQ nyob ntawm URCap ntsia. Qhov no yuav teeb tsa tag nrho cov teeb tsa raug rau Tool I/O Interface kom tswj tau los ntawm pneumagiQ lossis casemagiQ lossis pneuvaQ. Tam sim no hais tias lub cuab yeej I / O teeb tsa tau raug teeb tsa kom raug, cov khoom lag luam yuav hloov pauv nrog lub teeb liab flickers hauv qhov ntsuas xwm txheej. Xa mus rau ntu 3.1 lossis 4.1 lossis 5.1 kom paub ntau ntxiv txog Status Indicator.
• Tool Center Point
  Cov cuab yeej Center Point yog lub ntsiab lus tshwj xeeb ntawm EOAT uas tus neeg hlau tswj kev siv los ua haujlwm thiab taw qhia EOAT. Los ntawm lub neej ntawd, TCP ntawm Universal Robots yog teem rau qhov kawg ntawm tus neeg hlau caj npab.
  Nco tseg: Hauv phau ntawv no, peb tab tom muab TCP nkaus xwb los ntawm Sab saum toj Mounting Lub ntsej muag ntawm cov khoom kom txog rau thaum qhov chaw nruab nrab ntawm Cov Cuab Yeej Mounting Face (Saib rau cov khoom siv kev teeb tsa kom paub ntau ntxiv.). Li no, thaum xam TCP, ib tug yuav tsum tau ua tib zoo xav txog Robot Coupler, Tool Coupler, hom cuab yeej, cuab tam peripherals xws li
  ntiv tes / puab tsaig thiab daim ntawv thov neeg hlau tshwj xeeb. Yog li, TCP yuav tsum tau muab xam los ntawm tus neeg koom ua ke / tus neeg siv kawg nyob ntawm kev teeb tsa daim ntawv thov zaum kawg.
• pneumagQ
  Hauv pneumagiQ vim muaj ob lub EOATs, peb yuav tsum teeb tsa ob qhov sib txawv TCPs rau txhua tus EOATs. Tus nqi TCP kuj hloov pauv rau txhua qhov pneumagiQ variants. Li no, siv cov ntaub ntawv los ntawm Table 1 los tsim TCP rau txhua qhov Tool Mounting Faces 1 & 2 raws li qhia hauv daim duab 9.
• Table 3: Tool Center Point mus rau hauv qab Mounting ntsej muag ntawm pneuvaQ

Khoom	PQ 0	PQ 90		PQ 180			PQ 9020
Tool Mounting ntsej muag	1	1	2	1		2	1	2
X	0	- 33.65 Nws	- 33.65 Nws	- 200.00 Nws	200.00		- 38.89 Nws	38.89
Y	0	0	0	0		0	0	0
Z	34.00	48.64	48.64	37.5	37.5		53.89	53.89
Rx	0	0	0	0		0	0	0
Ry	0	- 45 Nws	45	0		0	- 45 Nws	45
Rz	0	0	0	0	180		0	0

Table 1: Tool Center Point mus rau Tool Mounting Face of pneumagiQ

casmagiQ

• nyob rau hauv cov ntaub ntawv ntawm casemagiQ, tsuas muaj ib lub ntsej muag rau cov ntaub ntawv / thawv yuav tsum tau xaiv. Yog li ntawd, nws yog ntau yooj yim dua.

Khoom	ib CM100
X	0
Y	0
Z	93.7
Rx	0
Ry	0
Rz	0

Khoom	ib CM100
X	0
Y	0
Z	25
Rx	0
Ry	0
Rz	0

Them nyiaj

• Lub payload rau Universal Robots hais txog qhov hnyav tag nrho cov neeg hlau yuav tsum nqa. Los ntawm lub neej ntawd, lub payload raug suav tias yog 0kg ntawm qhov kawg ntawm tus neeg hlau caj npab. Nyob rau hauv cov ntaub ntawv ntawm pneumagiQ, muaj 2 EOATs, uas tuav payloads ntxiv deb ntawm qhov kawg ntawm tus neeg hlau caj npab. Yog li ntawd, lub Center of Gravity (CoG) dhau los ua qhov tseem ceeb.

 

Lub Center of Gravity (CoG) yog hais txog lub ntsiab lus uas tag nrho qhov hnyav ntawm tus neeg hlau yog concentrated. Qhov no yog ib qho tseem ceeb rau kev tswj cov neeg hlau rau kev sib npaug, kev ruaj ntseg, kev npaj txav, kev them nyiaj tuav thiab kev nyab xeeb neeg hlau.

1. CoG for pneumagiQ
   Raws li muaj 2 cais EOATs ua ke los ntawm pneumagiQ, 4 qhov sib txawv Payloads yuav tsum tau tsim nrog rau cov cim CoGs raws li hauv qab no:
2.  pneumagiQ Tsis-Load Payload suav nrog:

o pneumagiQ variant

• o tag nrho cov peripheral
  • • ▪ I/O Cable
    • ▪ 8 hli pneumatic raj
    • ▪ Robot Couplers
    • ▪ Cov cuab yeej couplers
    • ▪ EOATs
  • ▪ EOAT peripherals xws li ntiv tes / puab tsaig, sensors, thiab lwm yam.
• Tool 1 Payload muaj xws li:
  • o pneumagiQ Tsis-Load Payload
  • o Tshooj tuav los ntawm Tool 1
• Tool 2 Payload muaj xws li:
  • pneumagiQ Tsis-Load Payload
  • Tshooj tuav los ntawm Tool 2
• pneumagiQ Puv Payload suav nrog:
  • pneumagiQ Tsis-Load Payload
  • Tshooj tuav los ntawm Tool 1
  • Tshooj tuav los ntawm Tool 2

Khoom	PQ 0	PQ 90	PQ 180	PQ 9020
Qhov hnyav	0.41 Kg	.58 Kg	.87 Kg	1.1 Kg
Cx	0	0	0	0
Cy	0	- 0.92 Nws	- 1.2 Nws	-4
Cz	16.5	32.12	30.3	30.2

Table 4: pneumagiQ CoG kom txog rau thaum Tool Mounting Face

Xa mus rau Table 4 rau lub Payload ntawm tag nrho cov variants ntawm pneumagiQ thiab nws yuav muab ntxiv rau lub Universal Robots raws li qhia nyob rau hauv daim duab 11. Qhov no tsuas yog rau cov khoom. Raws li tau hais saum toj no, tag nrho cov nyiaj them poob haujlwm tau hais los saum toj no yuav tsum tau suav los ntawm tus neeg koom ua ke / tus neeg siv kawg nyob ntawm qhov kev thov zaum kawg.

CoG for casemagiQ

• Lub CoG rau casemagiQ yog qhov txawv me ntsis. Raws li cov khoom lag luam tuaj yeem ncav cuag 100mm thiab cov ntaub ntawv tsim cov flap tuaj yeem qhib lossis tawm. Li no, CoG yuav hloov pauv nyob ntawm qhov teeb tsa ntawm casemagiQ.

Khoom	Tsis Txuas Ntxiv				Extended - 100 mm
	Flap tawm		Flap rau		Flap tawm		Flap rau
Qhov hnyav	1.352 Kg		1.352 Kg		1.352 Kg		1.352 Kg
Cx	14.4		- 15.2 Nws		4.2		5.0
Cy	- 2.6 Nws		- 2.6 Nws		- 2.6 Nws		- 2.6 Nws
Cz	53.0		58.3		53.0		58.3

Table 5: casemagiQ CoG mus txog thaum lub khob nqus dej

CoG for pneuvaQ

• Lub CoG rau casemagiQ yog qhov txawv me ntsis. Raws li cov khoom lag luam tuaj yeem ncav cuag 100mm thiab cov ntaub ntawv tsim cov flap tuaj yeem qhib lossis tawm. Li no, CoG yuav hloov pauv nyob ntawm qhov teeb tsa ntawm casemagiQ.

Khoom

Flap tawm

Qhov hnyav	0.3 Kg
Cx	7.3
Cy	0.4
Cz	11.5

Table 6: casemagiQ CoG mus txog thaum lub khob nqus dej

Program Tab

• Txhawm rau pib siv pneumagiQ nrog Universal Robots thiab tswj EOATs, mus rau qhov Program tab. Hauv cov ntawv qhia zaub mov sab, nyob rau hauv URCaps, tag nrho cov lus txib ntawm tag nrho cov URCaps ntsia hauv cov neeg hlau yuav pom ntawm no.
• pneumagiQ Cov cuab yeej
  Hauv cov phiaj xwm neeg hlau ntoo, txhawm rau ua kom EOATs, yuav tsum siv cov  . Rau example, yog tias Cov Cuab Yeej Xaiv tau xaiv raws li Pneumatic Grippers nyob rau hauv pneumagiQ Chaw nyob hauv Installation tab, ces xaiv Gripper 1 lossis Gripper 2 tab. Tom qab ntawd, teeb tsa qhov kev txiav txim siab raws li Grip lossis Tso. Qhov kev tuav tes qhia cov ntiv tes / lub puab tsaig ntawm cov grippers txav ntawm ib leeg rau Sab Nraud Gripping thaum rau Internal Gripping, nws txhais tau hais tias cov ntiv tes / lub puab tsaig ntawm lub gripper txav deb ntawm ib leeg.
  Rau example, yog tias tus neeg siv kawg tau hloov kho kho vajtse hauv daim ntawv thov thiab tam sim no yuav tsum siv Internal Gripping es tsis yog Sab Nraud Gripping, tsis tas yuav hloov qhov kev pabcuam tiav ntoo los ntawm kev sib pauv tuav thiab tso tawm ua. Hloov chaw, tsuas yog hloov lub cuab yeej tuav hom los ntawm Sab Nraud Gripping rau Internal Gripping thiab cov kev pabcuam nodes yuav hloov kho lawv tus kheej.

1. Cov lus qhia Sensor
   Txhawm rau nkag siab txog lub xeev tam sim no ntawm pneumatic grippers, txuas cov sensors xws li Reed keyboards rau gripper thiab sensor connector ntawm pneumagiQ. Tam sim no, thaum xaiv lub checkbox ntawm Sensor Feedback, lub pneumagiQ tswj system yuav ncua cov kev pab cuam tsob ntoo kom txog rau thaum tau txais cov lus teb los ntawm sensor ports. Lub Sensor Feedback kuaj xyuas cov xwm txheej hauv qab no kom paub meej tias Grip lossis Tso Tawm.

pneumagQ	Node Action	Gripper 1		Gripper 2
Variant		1P	1Q	2P	2Q
PQ0-1G2S	tuav	On
	Tso tawm		On
PQ90-2G2S	tuav	On		On
	Tso tawm	Tawm		Tawm
PQ180-2G4S PQ9020-2G4S	tuav	On		On
	Tso tawm		On		On

• Lub sijhawm Sensor
• Raws li lub npe qhia, qhov no yog lub sijhawm ncua sij hawm rau Sensor Feedback. Lub sijhawm ua haujlwm yog 2 vib nas this. Yog hais tias lub node tsis tau txais cov lus tawm tswv yim sensor nyob rau hauv lub sij hawm no, qhov kev pab cuam tsob ntoo yuav tsum tau ncua thiab yuav qhia lub dialog box raws li qhia nyob rau hauv daim duab 13. Tus neeg siv yuav yog mus txuas ntxiv qhov kev pab cuam los yog nres nws los ntawm qhov point no.

pneumagiQ Cua tshuab tawm

Daim duab 14: pneumagiQ PQ180, PQ9020 & PQ0 Air blow-off node

• Nyob rau hauv lub tshuab cua tshuab tuaj yeem ua 3 yam sib txawv: Active, Inactive thiab Pulse.
• Ua kom muaj zog: qhov qhib qhov ntxig ntxig yuav qhib lub Cua tshuab tawm, yog li tshuab cua compressed los ntawm qhov chaw nres nkoj Cua tshuab.
• Inactivate: lub inactive node tso yuav deactivate lub Cua tshuab-tawm, yog li nres lub ntws ntawm compressed cua los ntawm lub Cua blow-off chaw nres nkoj.
• Pulse: lub pulse node yuav qhib lub Cua blow-off chaw nres nkoj rau lub sij hawm teem raws li tau txiav txim los ntawm tus nqi slider thiab ces deactivates nws.
  • Lub sijhawm ntawm cov mem tes tuaj yeem hloov pauv ntawm 0.5 vib nas this mus rau 10 vib nas this ntawm qhov nce ntawm 0.5 vib nas this.
• Nco tseg: Ob lub pneumagiQ PQ90-2G2S thiab PQ9020-2G4S tsuas muaj ib lub tshuab cua tshuab xwb thaum lub pneumagiQ PQ180-2G4S muaj ob lub tshuab cua tshuab tawm.
• CasemagiQ Flap / Laser
  • CasemagiQ Flap / Laser node yog siv los tswj cov ntaub ntawv sib sau nrov plig plawg thiab lub laser aligner. Raws li pom nyob rau hauv daim duab 15, cov ntaub ntawv tsim nrov plig plawg tuaj yeem hloov tau los yog tawm siv cov node. Qhov no yog siv los khoov thiab tsim cov rooj plaub ca / cartons rau hauv qhov qhib cuboid npaj rau taping.
  • Tib lub node kuj siv tau los hloov / tawm lub laser aligner. Lub laser aligner dhau los ua ib qho kev qhia yooj yim rau tus neeg hlau programmer los kho cov casemagiQ txoj cai ntawm qhov quav ntawm rooj plaub / thawv thaum muab qhov chaw khaws khoom. Li no, rooj plaub tsim
  • nrov plig plawg yog positioned zoo kawg nkaus khoov cov ntaub ntawv tiaj tus / thawv ntawm lub fold rau hauv lub cuboid.
• CasemagiQ Nqus tsev
  • CasemagiQ Nqus Node yog siv los tswj ob lub tshuab nqus tsev loj siv los tuav rooj plaub / thawv thiab lub tshuab nqus tsev flap siv los tuav lub ntsej muag ntawm rooj plaub / thawv.
• pneuvaQ Co. Cua
  • PneuvaQ Comp. Cua node yog siv los tswj ob lub qhov hluav taws xob compressed. Lawv tuaj yeem hloov pauv ntawm tus kheej thiab tawm siv pneuvaQ URCap. Rau lwm qhov sib txawv ntawm pneuvaQ, pneuvaQ Comp. Cua node yuav muaj cov tab ntxiv kom tswj tau tag nrho cov compressed cua qhov hluav taws xob.
• pneuvaQ Lub tshuab nqus tsev vacuum
  • Lub pneuvaQ Nqus node yog siv los tswj lub tshuab nqus tsev qhov hluav taws xob. Lub tshuab nqus tsev tuaj yeem hloov mus rau thiab tawm siv pneuvaQ URCap. Rau lwm qhov sib txawv ntawm pneuvaQ, pneuvaQ Nqus node yuav muaj cov tab ntxiv kom muaj peev xwm tswj tau txhua lub tshuab nqus tsev.
• Kuaj khawm
  • Lub pneumagiQ, casemagiQ thiab pneuvaQ nodes muaj lub pob Test uas tuaj yeem siv los ntsuas qhov kev ua haujlwm tam sim no ntawm node. Li no, ua ntej khiav cov cai hauv cov neeg hlau program tsob ntoo, ntsuas nws rau txhua txoj kev xaiv kom nkag siab txog kev ua haujlwm tiav ntawm cov node.
• UR + khawm
  • Lub UR + khawm ntawm lub npe bar muab kev nkag tau yooj yim rau kev ua txhua yam ntawm pneumagiQ, casemagiQ & pneumagiQ thiab nthuav qhia cov xwm txheej ntawm Sensors sai sai. UR + khawm ib txwm nyob rau sab xis saum toj ntawm UR qhia pendant raws li qhia hauv
• Hloov kho URCap
  • URCap ntawm pneumagiQ tau hloov kho tas li los muab kev sib koom ua ke zoo tshaj plaws & kev ua haujlwm ntawm pneumagiQ. Li no, ib qho yuav tsum tau nruab qhov tseeb version ntawm URCap. URCap muaj nyob rau hauv cov khoom lag luam hauv nplooj ntawv Impaqt Robotics.

cov ntaub ntawv ntxiv

• 267 Kilpauk Garden Road, Chennai 600 010
• Is Nrias teb Tel: +91 44 4294 9000
• support@impaqt-robotics.com
• www.impaqt-robotics.com
• © Impaqt Robotics Private Limited Txhua txoj cai

Cov ntaub ntawv / Cov ntaub ntawv

IMPAQT ROBOTICS PQ0-1G2S Universal Robots [ua pdf] Phau ntawv qhia PQ0-1G2S Universal Robots, PQ0-1G2S, Universal Robots, Neeg Hlau

Cov ntaub ntawv

• Cov neeg siv phau ntawv