The gripper of an industrial robot, also known as the end-effector, is installed on the arm of an industrial robot to grasp the workpiece or perform operations directly. It has the function of clamping, transporting and placing the workpiece to a certain position.Just as the mechanical arm imitates the human arm, the end gripper imitates the human hand. The mechanical arm and the end gripper completely constitute the role of the human arm.
I. Common end gripper
A hand without fingers, such as a parallel claw;It can be a humanoid gripper, or a tool for professional work, such as a spray gun or welding tool mounted on the robot’s wrist.
1. Vacuum suction cup
Generally, objects are absorbed by controlling the air pump. According to the various forms of objects to be grasped, the surface of the objects should be smooth, and they should not be too heavy. The application scenarios are limited, which is usually the standard configuration of the mechanical arm.
2. Soft gripper
The soft hand designed and manufactured with soft materials has attracted wide attention. The soft hand can achieve the effect of deformation by using flexible materials, and can adaptively cover the target object without knowing its exact shape and size in advance. It is expected to solve the problem of large-scale automatic production of irregular and fragile articles.
3. Commonly used in industry — parallel fingers
Electric control, simple structure, more mature, commonly used in industry.
4. The future — Multi-fingered dexterous hands
Generally, the Angle and strength can be accurately adjusted through electric control to achieve the grasp of complex scenes. Compared with the traditional rigid hand, the application of multi-degree-of-freedom hand greatly improves the dexterity and control ability of multi-finger dexterous hand.
As the demographic dividend disappears, the tide of machine replacement is coming, and the demand for robot is rising rapidly. As the best partner of mechanical arm, the domestic market of end grip will also usher in rapid development.
II. Foreign gripper
1. Soft gripper
Different from traditional mechanical grippers, soft grippers are filled with air inside and use elastic materials outside, which can solve the current difficulties of picking and grabbing in the field of industrial robots.It can be used in food, agriculture, daily chemical, logistics and other fields.
2, electrostatic adhesion claw
Unique clamping claw form, using the principle of electrostatic adsorption.Its electrically adhesive clamps are flexible and can easily stack materials such as leather, mesh and composite fibers with enough precision to hold a strand of hair.
3. Pneumatic two fingers, three fingers
Although the main technology on the market is mastered by foreign companies, but the domestic learning ability is very strong, whether it is electric claw or flexible claw, domestic companies have done well in the same field, and there are greater advantages in cost.Let’s take a look at how domestic manufacturers are doing.
III. Domestic gripper
Three finger reconfigurable configurations:As shown in the following design, compared with five fingers dexterous robot hand, adopted three refers to grab more efficiently modular reconfigurable configuration, can in no loss or damage is the premise of dexterity, greatly reduce the complexity of mechanism and electric control system, can achieve kneading, grip, hold, clamp, with awareness, strength can be adjusted to grab rules and irregular shape of the workpiece, strong universality,Grab range from a few millimeters to 200 millimeters, weight less than 1kg, load capacity of 5kg.
Multi-fingered dexterous hands are the future.Although now used in laboratory research, has not been large-scale production and industrial use, at the same time, the price is expensive, but the most close to the product of a man’s hand, have more freedom, more can adapt to the complex environment, can perform multiple tasks, strong commonality, can achieve a variety of flexible transformation between structure state, kneading, clip, hold the diversification of grasping and operation ability, beyond the traditional means more greatlyThe range of functions of the robot hand.
Post time: Nov-10-2021
