Ingalo yerobhothi nokubopha——ingalo yomuntu

I-gripper yerobhothi lemboni, eyaziwa nangokuthi i-end-effector, ifakwe engalweni yerobhothi lemboni ukuze ibambe ucezu lokusebenza noma yenze imisebenzi ngokuqondile. Inomsebenzi wokubopha, ukuthutha nokubeka i-workpiece endaweni ethile.Njengoba nje ingalo eyimishini ilingisa ingalo yomuntu, into yokubamba isiphetho ilingisa isandla somuntu. Ingalo engumshini kanye nesibambi sokugcina kuhlanganisa ngokuphelele indima yengalo yomuntu.

I. I-Common end gripper

Isandla esingenayo iminwe, esifana nozipho oluhambisanayo;Kungaba into yokubamba i-humanoid, noma ithuluzi lomsebenzi wochwepheshe, njengesibhamu sokufutha noma ithuluzi lokushisela elibekwe esihlakaleni serobhothi.

1. Inkomishi yokumunca i-vacuum

Ngokuvamile, izinto zimuncwa ngokulawula iphampu yomoya. Ngokwezinhlobo ezihlukahlukene zezinto okufanele zibanjwe, ingaphezulu lezinto kufanele libe bushelelezi, futhi akufanele libe nzima kakhulu. Izimo zohlelo lokusebenza zinomkhawulo, okuvamise ukucushwa okujwayelekile kwengalo yomshini.

2. Intomba ethambile

Isandla esithambile esiklanywe futhi sakhiwe ngezinto ezithambile sidonse ukunaka okubanzi. Isandla esithambile singafinyelela umphumela wokuguqulwa ngokusebenzisa izinto eziguquguqukayo, futhi singakwazi ukumboza ngokuguquguqukayo into eqondiwe ngaphandle kokwazi ukuma kwayo okuqondile nosayizi kusengaphambili. Kulindeleke ukuthi kuxazululwe inkinga yokukhiqizwa okuzenzakalelayo okukhulu kwezindatshana ezingajwayelekile nezithambile.

3. Okuvame ukusetshenziswa embonini - iminwe ehambisanayo

Ukulawulwa kukagesi, isakhiwo esilula, esivuthiwe, esivame ukusetshenziswa embonini.

4. Ikusasa — Izandla ezineminwe eminingi

Ngokuvamile, i-engeli namandla kungalungiswa ngokunembile ngokulawula kukagesi ukuze kufinyelelwe ukubamba izigcawu eziyinkimbinkimbi. Uma kuqhathaniswa nesandla esiqinile esivamile, ukusetshenziswa kwesandla esineziqu eziningi zenkululeko kuthuthukisa kakhulu ubuhlakani nekhono lokulawula lesandla esineminwe eminingi esinobuqili.

Njengoba i-demographic dividend iphela, igagasi lokushintshwa kwemishini liyeza, futhi isidingo samarobhothi sikhula ngokushesha. Njengozakwethu ongcono kakhulu we-mechanical arm, imakethe yasekhaya ye-end grip nayo izoletha intuthuko esheshayo.

II. I-gripper yangaphandle

1. Intomba ethambile

Ngokungafani nama-grippers emishini yendabuko, ama-soft grippers agcwele umoya ngaphakathi futhi asebenzise izinto ezinwebekayo ngaphandle, ezingaxazulula ubunzima bamanje bokukha nokubamba emkhakheni wamarobhothi ezimboni.Ingasetshenziswa ekudleni, ezolimo, amakhemikhali nsuku zonke, izinto zokusebenza kanye neminye imikhakha.

2, i-electrostatic adhesion claw

Ifomu le-clamping clamping ehlukile, kusetshenziswa isimiso se-electrostatic adsorption.Izinsimbi zayo zokunamathisela ngogesi ziyavumelana nezimo futhi zinganqwabelanisa kalula izinto ezifana nesikhumba, ezinezikhala nemicu eyinhlanganisela enonemba okwanele ukubamba umucu wezinwele.

3. Iminwe emibili yomoya, iminwe emithathu

Nakuba ubuchwepheshe obuyinhloko emakethe buphethwe yizinkampani zangaphandle, kodwa ikhono lokufunda ekhaya linamandla kakhulu, kungakhathaliseki ukuthi i-claw kagesi noma i-flexible claw, izinkampani zasekhaya zenze kahle emkhakheni ofanayo, futhi kunezinzuzo ezinkulu ezindleko.Ake sibheke ukuthi abakhiqizi basekhaya benza kanjani.

III. Ukubamba kwasekhaya

Ukucushwa okulungiseka kabusha kweminwe emithathu:Njengoba kukhonjisiwe ekwakhiweni okulandelayo, uma kuqhathaniswa neminwe emihlanu yesandla serobhothi, okwamukelwe okuthathu kubhekisela ekubanjeni ukucushwa okulungiseka kabusha kwe-modular ngokuphumelelayo, akunakulahleka noma kulimale isisekelo sobuhlakani, kunciphise kakhulu ubunkimbinkimbi bemishini nohlelo lokulawula ugesi, kungafinyelela ukuguqa, ukuqaphela, ukubamba amandla, ukubamba, ukugoqa, ukubamba, ukubamba, ukugoqa, ukugoqa, ukugoqa, ukugoqa, ukugoba, ukugoba, ukugoqa, ukugoqa, ukugoqa, ukugoqa, ukugoqa, ukugoqa, ukugoqa, ukugoqa, ukugoqa, ukugoqa, ukugoqa, ukugoqa, ukugoqa, ukugoqa. Ukuma okungajwayelekile kwe-workpiece, indawo yonke eqinile, Ibambise isukela kumamilimitha ambalwa kuya kumamilimitha angama-200, isisindo esingaphansi kuka-1kg, umthamo womthwalo ongu-5kg.

Multi-fingered izandla dexterous kukhona ikusasa.Nakuba manje esetshenziswa ocwaningweni labhorethri, akubanga ukukhiqizwa ngezinga elikhulu kanye nokusetshenziswa ezimbonini, ngesikhathi esifanayo, intengo kuyabiza, kodwa eduze kakhulu umkhiqizo wesandla somuntu, babe inkululeko eyengeziwe, more angakwazi ukuzivumelanisa imvelo eyinkimbinkimbi, angenza imisebenzi eminingi, commonality eqinile, ungakwazi ukufeza ezihlukahlukene uguquko oluguquguqukayo phakathi kwe-clip diving, ikhono lokusebenza, ngale kwezindlela zendabuko kakhuluUbubanzi bemisebenzi yesandla serobhothi.