Lub gripper ntawm ib qho kev lag luam neeg hlau, tseem hu ua qhov kawg-effector, yog ntsia rau ntawm caj npab ntawm ib qho kev lag luam neeg hlau los tuav lub workpiece lossis ua haujlwm ncaj qha. Nws muaj kev ua haujlwm ntawm clamping, thauj thiab tso lub workpiece mus rau ib qho chaw ua haujlwm.Ib yam li tus neeg kho tshuab caj npab imitates tib neeg caj npab, qhov kawg gripper imitates tib neeg tes. Mechanical caj npab thiab qhov kawg gripper kiag li ua lub luag haujlwm ntawm tib neeg caj npab.
I. Common end gripper
Ib txhais tes tsis muaj ntiv tes, xws li ib qho kev sib txuas; Nws tuaj yeem yog tib neeg gripper, lossis ib qho cuab yeej rau kev ua haujlwm, xws li rab phom los yog vuam cuab yeej mounted ntawm tus neeg hlau lub dab teg.
1. Lub tshuab nqus tsev nqus tsev vacuum
Feem ntau, cov khoom yog absorbed los ntawm kev tswj lub twj tso kua mis. Raws li ntau hom ntawm cov khoom yuav tsum tau tuav, qhov saum npoo ntawm cov khoom yuav tsum du, thiab lawv yuav tsum tsis txhob hnyav dhau. Daim ntawv thov scenarios raug txwv, uas feem ntau yog tus qauv kev teeb tsa ntawm cov cuab yeej cuab tam.
2. Mos gripper
Cov tes mos tsim thiab tsim nrog cov ntaub ntawv mos tau nyiam dav. Cov tes mos tuaj yeem ua tiav cov txiaj ntsig ntawm deformation los ntawm kev siv cov ntaub ntawv hloov pauv, thiab tuaj yeem hloov kho lub hom phiaj yam tsis paub txog nws qhov tseeb thiab qhov loj me ua ntej. Nws xav tias yuav daws tau qhov teeb meem ntawm qhov loj-loj tsis siv neeg ntau lawm ntawm cov khoom tsis raug thiab tsis muaj zog.
3. Feem ntau siv hauv kev lag luam - cov ntiv tes sib npaug
Kev tswj hluav taws xob, qauv yooj yim, paub tab, feem ntau siv hauv kev lag luam.
4. Lub neej yav tom ntej — Multi-fingered dexterous ob txhais tes
Feem ntau, lub kaum sab xis thiab lub zog tuaj yeem raug kho kom raug los ntawm kev tswj hluav taws xob kom ua tiav qhov kev nkag siab ntawm cov xwm txheej nyuaj. Piv nrog rau cov tsoos txhav tes, daim ntawv thov ntawm ntau-degree-ntawm-kev ywj pheej tes zoo heev txhim kho lub dexterity thiab tswj peev xwm ntawm multi-ntiv tes dexterous tes.
Raws li cov pej xeem cov nyiaj faib tau ploj mus, cov dej ntws ntawm kev hloov tshuab yog los, thiab qhov kev thov rau cov neeg hlau tau nce sai heev. Raws li tus khub zoo tshaj plaws ntawm cov cuab yeej cuab tam, kev lag luam hauv tsev ntawm qhov kawg tuav tseem yuav ua rau kev loj hlob sai.
II. Txawv teb chaws gripper
1. Mos gripper
Sib txawv los ntawm cov khoom siv kho tshuab grippers, mos grippers tau ntim nrog huab cua sab hauv thiab siv cov ntaub ntawv elastic sab nraud, uas tuaj yeem daws cov teeb meem tam sim no ntawm kev xaiv thiab rub tawm hauv kev lag luam neeg hlau.
2, electrostatic adhesion claw
Cov ntawv nplaum tshwj xeeb clamping claw daim ntawv, siv lub hauv paus ntsiab lus ntawm electrostatic adsorption.Nws cov hluav taws xob nplaum clamps yog hloov tau thiab tuaj yeem yooj yim cov ntaub ntawv xws li tawv, mesh thiab puas fibers nrog txaus precision los tuav ib txoj hlua ntawm cov plaub hau.
3. Pneumatic ob ntiv tes, peb ntiv tes
Txawm hais tias cov thev naus laus zis tseem ceeb ntawm kev ua lag luam yog cov tuam txhab txawv teb chaws, tab sis kev kawm hauv tsev muaj peev xwm muaj zog heev, txawm hais tias nws yog hluav taws xob claw lossis hloov tau yooj yim claw, cov tuam txhab hauv tsev tau ua tiav zoo hauv tib lub teb, thiab muaj qhov zoo dua ntawm cov nqi. Cia peb saib seb yuav ua li cas cov tuam txhab lag luam hauv tsev ua haujlwm.
III. Hauv tsev gripper
Peb ntiv tes reconfigurable configurations: Raws li qhia nyob rau hauv cov qauv hauv qab no, piv nrog tsib ntiv tes dexterous neeg hlau tes, saws peb yog hais txog lob zoo dua modular reconfigurable configuration, tsis tau poob los yog kev puas tsuaj yog lub premise ntawm dexterity, zoo heev txo cov complexity ntawm mechanism thiab hluav taws xob tswj system, muaj peev xwm ua tau tuav, clamping, grips, muaj peev xwm kho tau, tuav, tuav, grips. thiab cov duab tsis zoo ntawm lub workpiece, muaj zog universality, Grab ntau ntawm ob peb millimeters mus rau 200 millimeters, hnyav dua 1kg, load peev ntawm 5kg.
Multi-fingered dexterous ob txhais tes yog lub neej yav tom ntej.Txawm hais tias tam sim no siv nyob rau hauv kev soj ntsuam kev tshawb fawb, tsis tau loj-scale ntau lawm thiab industrial siv, tib lub sij hawm, tus nqi yog kim, tab sis feem ntau ze rau cov khoom ntawm ib tug txiv neej txhais tes, muaj kev ywj pheej ntau dua, muaj peev xwm hloov mus rau qhov complex ib puag ncig, muaj peev xwm ua tau ntau yam dej num, muaj zog commonality, muaj peev xwm ua tau ntau yam hloov pauv hloov pauv ntawm lub xeev kev ua haujlwm, kev ua haujlwm ntawm kev sib tw, kneading. tsoos txhais tau tias ntau heevCov kev ua haujlwm ntawm tes neeg hlau.
Post lub sij hawm: Nov-10-2021
