Isibambi serobhothi yeshishini, eyaziwa ngokuba yi-end-effector, ifakwe kwingalo yerobhothi yeshishini ukuze ibambe i-workpiece okanye isebenze ngokuthe ngqo.Inomsebenzi wokudibanisa, ukuthutha kunye nokubeka i-workpiece kwindawo ethile.Njengoko ingalo yomatshini ixelisa ingalo yomntu, isiphelo sokubamba sixelisa isandla somntu.Ingalo yomatshini kunye nesiphelo sokubamba sidibanisa ngokupheleleyo indima yengalo yomntu.
I. Isiphelo sesiqhelo sokubamba
Isandla esingenaminwe, esifana nozipho olunxuseneyo;Inokuba yinto yokubamba i-humanoid, okanye isixhobo somsebenzi wobuchule, njengompu wokutshiza okanye isixhobo sokuwelda esixhonywe esihlahleni serobhothi.
1. Ikomityi yokufunxa ifunxa
Ngokuqhelekileyo, izinto zifunxwa ngokulawula impompo yomoya.Ngokweendlela ezahlukeneyo zezinto eziza kubanjwa, umphezulu wezinto kufuneka ube mpuluswa, kwaye akufanele ube nzima kakhulu.Iimeko zesicelo zikhawulelwe, ngokuqhelekileyo ukucwangciswa okusemgangathweni kwengalo yomatshini.
2. Isibambi esithambileyo
Isandla esithambileyo esiyilwe kwaye senziwa ngezinto ezithambileyo sitsale ingqalelo ebanzi.Isandla esithambileyo sinokufikelela kwisiphumo sokuguqulwa ngokusebenzisa izinto eziguquguqukayo, kwaye sinokugubungela ngokufanelekileyo into ekujoliswe kuyo ngaphandle kokwazi imilo kunye nobukhulu bayo kwangaphambili.Kulindeleke ukuba isombulule ingxaki yemveliso enkulu ngokuzenzekelayo yamanqaku angaqhelekanga kunye ne-fragile.
3. Ngokuqhelekileyo isetyenziswe kwishishini - iminwe ehambelanayo
Ukulawulwa kombane, isakhiwo esilula, esikhulile ngakumbi, esisetyenziswa ngokuqhelekileyo kwishishini.
4. Ikamva — Izandla ezineminwe emininzi
Ngokubanzi, i-Angle kunye namandla anokulungelelaniswa ngokuchanekileyo ngolawulo lombane ukufezekisa ukubamba imiboniso enzima.Xa kuthelekiswa nesandla esingqongqo semveli, ukusetyenziswa kwesandla esine-multi-degree-of-freedom kuphucula kakhulu ubuchwephesha kunye nobuchule bokulawula besandla esineminwe emininzi.
Njengoko i-demographic dividend iyanyamalala, umsinga wokutshintshwa koomatshini uyeza, kwaye imfuno yerobhothi ikhula ngokukhawuleza.Njengelona qabane libalaseleyo lengalo yomatshini, imarike yasekhaya yokubamba isiphelo nayo iya kuzisa uphuhliso olukhawulezayo.
II.I-gripper yangaphandle
1. Isibambi esithambileyo
Ngokwahlukileyo kwii-grippers zemveli, ii-soft grippers zizaliswe ngumoya ngaphakathi kwaye zisebenzisa izinto ezi-elastic ngaphandle, ezinokusombulula ubunzima obukhoyo bokuchola kunye nokubamba kwintsimi yeerobhothi zoshishino. eminye imimandla.
2, i-electrostatic adhesion claw
Ifomu yozipho olulodwa lokubamba, kusetyenziswa umgaqo we-electrostatic adsorption.Izibambo zayo zokuncamathelisa ngombane ziyabhetyebhetye kwaye zinokupakisha ngokulula imathiriyeli efana nesikhumba, umnatha kunye neentsinga ezidibeneyo ezichaneke ngokwaneleyo ukubamba inwele yeenwele.
3. Iminwe emibini yomoya, iminwe emithathu
Nangona iteknoloji ephambili kwimarike ilawulwa ziinkampani zangaphandle, kodwa ubuchule bokufunda basekhaya bunamandla kakhulu, nokuba yi-claw yombane okanye i-claw eguquguqukayo, iinkampani zasekhaya zenze kakuhle kwintsimi efanayo, kwaye kukho iinzuzo ezinkulu kwiindleko. jonga indlela abavelisi basekhaya abaqhuba ngayo.
III.Ukubamba kwasekhaya
Ulungelelwaniso lweminwe emithathu: Njengoko kubonisiwe kolu yilo lulandelayo, xa kuthelekiswa neminwe emihlanu yesandla serobhothi, eyamkelweyo emithathu ibhekisa ekubambeni ngokufanelekileyo uhlengahlengiso lwemodyuli yoqwalaselo, ayinakulahlekelwa okanye yonakalisa isiseko sobuchule, ukunciphisa kakhulu ukuntsonkotha komatshini kunye Inkqubo yokulawula umbane, inokufezekisa ukuxova, ukubamba, ukubamba, i-clamp, ngokuqaphela, amandla anokulungelelaniswa ukuba abambe imithetho kunye nemilo engaqhelekanga ye-workpiece, i-universality eyomeleleyo, i-Grab range ukusuka kwiimilimitha ezimbalwa ukuya kwi-200 millimeters, ubunzima obungaphantsi kwe-1kg, umthwalo umthamo we-5kg.
Multi-fingered izandla dexterous are the future.Nangona ngoku isetyenziswa kuphando elebhu, akuzange kubekho imveliso enkulu kunye nokusetyenziswa kwemizi-mveliso, kwangaxeshanye, ixabiso liyabiza, kodwa kakhulu kufutshane imveliso yesandla somntu, babe. inkululeko ethe kratya, ngakumbi inokulungelelanisa nemekobume entsonkothileyo, inokwenza imisebenzi emininzi, iqheleke ngamandla, inokufikelela kwiinguqu ezahlukeneyo eziguquguqukayo phakathi kobume besakhiwo, ukuxova, ikliphu, ukubamba ukuhlukahlukana kokubamba kunye nobuchule bokusebenza, ngaphaya kweendlela zemveli kakhulu. yemisebenzi yesandla irobhothi.
Ixesha lokuposa: Nov-10-2021
