Answer: Clamp-type end effector, suction-type end effector, electric (electromagnetic), hydraulic and pneumatic, handling end effector, processing end effector, measuring end effector, etc.
Answer analysis:
The end effector of a robot arm is an additional device installed at the end of the robot arm to perform various operations or tasks. According to the different designs, structures and applications, end effectors can be roughly divided into the following types:
Classification by clamping method
1. Clamp-type end effector
- Features: The most commonly used end effector form in industry, mainly composed of a transmission mechanism and a drive mechanism, and the object is clamped by the opening and closing action of the hand grip.
- Classification:
- Mechanical clamp: Use jaws or fingers to grasp objects, which is simple, strong and reliable, and is often used in applications that require a firm and stable grasp, such as pick-and-place operations or assembly tasks. Mechanical clamps can be further classified according to the type of jaws or fingers used, such as parallel clamps, angle clamps or three-finger clamps.
- Servo gripper: Uses motors and gearboxes to precisely control the gripping force and positioning of the robot, and is used in applications that require high precision and flexibility, such as quality control or inspection tasks.
2. Adsorption-type end effector
- Features: Mainly uses adsorption force to obtain materials, suitable for grasping some relatively small objects or objects with smooth surfaces.
- Classification:
- Vacuum gripper: Uses suction cups to grasp and fix objects, mainly used in applications that handle flat, smooth or porous objects, such as glass panels or printed circuit boards. Vacuum suction cups are easy to use, have short cycle times and high reliability, but may not be suitable for handling irregular shapes or heavy payloads.
- Magnetic gripper: Uses magnetic fields to clamp ferromagnetic items, such as steel plates, and is suitable for applications that handle heavy or irregularly shaped objects. Magnetic grippers are highly reliable and require minimal maintenance, but may not be suitable for handling non-ferromagnetic materials.
Classification by function
1. Handling end effector
- Mainly used to grasp or adsorb the objects being handled, including the clamp-type and adsorption-type end effectors mentioned above.
2. End effectors for machining
- Robot attachments with machining tools such as spray guns, welding guns, grinding wheels, milling cutters, etc., used to perform the corresponding machining operations. For example:
- Welding guns: supply a large amount of current to the workpieces to be welded, forming a strong and permanent bond after cooling.
- Paint spray guns: used as end effectors in robotic painting systems, designed to apply precise and consistent amounts of paint to workpieces.
- Cutting tools: used to cut and shape workpieces, and can be designed for a variety of materials and thicknesses.
3. End effectors for measurement
- Attachments equipped with measuring heads or sensors for measurement and inspection operations. For example:
- Proximity sensors: used to detect the presence of objects near the end effector.
- Force/torque sensors: measure the amount of force or torque applied to the robot or the objects it interacts with.
- Cameras: provide visual feedback on the position, orientation, and movement of the end effector and the objects it interacts with, and are often used for object recognition, tracking, navigation, and obstacle avoidance.
Other classification methods
According to the mechanical structure characteristics, the end effector can also be divided into electric (electromagnetic), hydraulic and pneumatic types, as well as their mutual combinations.
In addition, there are special types of end effectors such as compliance devices, which are used to meet specific operation requirements.
In summary, there are various types of end effectors for robot arms, each with its own characteristics and applicable scenarios.
When selecting an end effector, it is necessary to comprehensively consider factors such as specific operation requirements, working environment and object characteristics.