Tsib qhov zoo ntawm kev lag luam neeg hlau nrog servo fais grippers
Hauv hluav taws xob gripper lossis servo gripper, lub cev muaj zog tswj kev txav ntawm lub puab tsaig los ntawm cov khoom siv hluav taws xob ntawm tus neeg hlau tswj. Cov cuab yeej cuab tam neeg hlau no tau nce zuj zus tuaj hauv kev lag luam kev lag luam. Nov yog tsib qhov zoo ntawm kev siv hluav taws xob grippers piv nrog rau lwm hom neeg hlau grippers.
1. Tswj txoj haujlwm ntawm cov ntiv tes
Los ntawm kev siv lub cev muaj zog thiab cov txheej txheem tswj kom tsim nyog, txoj haujlwm ntawm lub puab tsaig tuaj yeem txiav txim siab siv lub tshuab hluav taws xob. Ntawm qhov tsis sib xws, rau ib txwm grippers, nws yog ib qho tsim nyog yuav tsum tswj kom muaj kev mob stroke tag nrho txhua lub sijhawm. Thaum siv hluav taws xob gripper, koj tuaj yeem yooj yim siv tsuas yog qhov tsawg tshaj plaws uas tsim nyog tshem tawm mus rau qhov chaw, thiab tom qab ntawd ua rau qhov tsawg tshaj plaws los khaws nws. Ib feem qhib thiab kaw pab xaiv qhov dav ntawm qhov ntau thiab tsawg yam tsis cuam tshuam rau lub voj voog ntau lawm.
2. Kuaj tuav lub zog
Siv lub encoder, nws muaj peev xwm txiav txim siab seb tus gripper tau khaws qhov seem. Qee cov hluav taws xob grippers xa cov ntaub ntawv no rov qab mus rau tus neeg hlau maub los. Hauv ntau daim ntawv thov, tus kov yuav tsum raug kuaj kom tsis txhob ua yuam kev. Ua qhov no ntawm qib gripper tsis txhob tso lwm yam sensors hauv lub voj, ua kom yooj yim rau kev sib koom ua ke thiab txo cov nqi tag nrho.
3. Tswj tuav thiab ceev
Txij li thaum lub cev muaj zog tam sim no yog proportional rau cov ntaub ntawv torque, tuav daim ntawv quab yuam siv los ntawm cov ntawv hniav tuaj yeem tswj tau. Ib yam yog qhov tseeb ntawm qhov kaw nrawm. Piv txwv li, qhov no yuav pab tau thaum ua haujlwm nrog cov khoom tawg yooj yim.
4. Tsis muaj roj yeeb nkab: txuag hluav taws xob thiab nqi kho
Ntau lub tuam txhab tau hloov los ntawm pneumatic mus rau hluav taws xob los txo cov nqi khiav lag luam. Ib qho tseem ceeb ntawm qhov kev hloov pauv no yog txo tus nqi ntawm cov khoom siv pneumatic thiab cov nqi hluav taws xob.
5. Ncua huv
Qee daim ntawv thov xav tau ib puag ncig huv, txwv tsis pub cov pa tawm tuaj yeem ua rau muaj kuab paug. Hauv qhov no, hluav taws xob gripper yog tib txoj kev daws teeb meem los khaws cov khoom.