Robot gripper is a form of end effector. Robot end effector is an additional device installed on the wrist of the robot for some operation or operation. There are many kinds of robot end effectors to meet the different operation requirements of robots. The end effector can be divided into handling, processing and measuring.
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The end actuator for handling refers to various clamping devices used to grab or absorb the objects being transported.
The end actuator is a robot additional device with the processing tools such as gun, welding gun, grinding wheel and milling cutter, which is used for corresponding processing.
The end actuator for measurement is an additional device equipped with measuring head or sensor, which is used for measurement and inspection.
When designing the robot end actuator, the following problems should be paid attention to;
1. the robot end actuator is designed according to the requirements of robot operation. The appearance of a new end actuator can add a new application place for robots. Therefore, the new robot end actuator created according to the needs of the work and people's imagination will continue to expand the application field of robot.
2. the allowable load force of the robot, including the weight of the robot end actuator, the weight of the object being seized and the total operating force of the robot. Therefore, the robot end actuator is required to be small in volume, light in weight and compact in structure.
3. the specificity of the robot end actuator is contradictory. The end actuator is very complex in structure and even difficult to realize. For example, the humanoid robot dexterous hand has not been practical yet. At present, the end actuators of robots with simple structure and weak structure can be used in production. From the practical application of industry, we should focus on developing various special and efficient end actuators of robots, and the quick replacement of end actuators to realize various functions of robots, rather than using one end actuator to complete various operations. Because the structure of this actuator is complex and expensive.
4. universality refers to two concepts, which refers to multi-energy of one machine, while universality refers to limited end actuators, which can be used for different robots. This requires that the end actuators have standard mechanical interfaces (such as flange) to standardize and block the end actuators.
5. the robot end actuator shall be easy to install and maintain, and be easy to realize computer control. It is convenient to control by computer is the electric actuator. Therefore, the main stream of industrial robot actuator is electrical type, followed by hydraulic type and pneumatic type (in the drive interface, the electro-hydraulic or electrical gas transformation link is required).