Active handling apparatus and method for contact tasks

A technology of operating device and contact force, applied in the direction of joints, instruments, manipulators, etc., can solve problems such as the increase of contact force

Active Publication Date: 2013-12-04
FERROBOTICS COMPLIANT ROBOT TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For a rigid system such as a standard industrial robot, even the slightest movement, if it occurs too quickly, can result in a large increase in contact force

Method used

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  • Active handling apparatus and method for contact tasks
  • Active handling apparatus and method for contact tasks
  • Active handling apparatus and method for contact tasks

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Embodiment Construction

[0022] As an embodiment of the present invention, figure 1 Shown is a robot-assisted automatic grinding plant with an industrial robot as manipulator 20, a grinder 40 as implement and a handling device 30' arranged on the end effector flange 21 of the manipulator 20 Between the tool 40 and the tool 40 , it is mainly used for precision control or precise adjustment of the movement of the tool 40 relative to the workpiece 50 to be processed and to adjust the force exerted by the tool 40 on the workpiece 50 to be processed. The structure of the manipulator 20 has the following secondary functions. This embodiment uses a standard industrial robot with four arm segments 20a, 20b, 20c and 20d. The function of the manipulator is mainly to position the tool 40 on or above the surface of the workpiece 50 to be processed in the operating position. The present invention performs precise positioning adjustment, especially precise active force adjustment, through the operating device 30'...

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Abstract

A handling apparatus for automated or robot-supported contact tasks is disclosed. The handling apparatus has the following components: a mechanical interface for releasably or fixedly connecting the handling apparatus to a manipulator; a holder, which is movable in relation to the interface, for holding a tool; at least one static-frictionless adjusting element for positioning the holder in relation to the interface to the manipulator; a sensor device for directly or indirectly measuring the force acting on the at least one adjusting element; and a regulating device which is configured to regulate the contact force depending on a predefinable force profile when there is contact between the handling apparatus and a surface.

Description

technical field [0001] The invention relates to active handling devices and methods for automated contact work (manipulation and positioning work), for example for robot-assisted surface treatment or machine component or workpiece handling during assembly, stacking, sorting, etc. Background technique [0002] Various devices are known for robot-assisted automated surface contact work, such as surface processing (grinding, polishing, etc.) and handling of workpieces or machine parts (stacking, palletizing, assembling, etc.). The grinding device described in publication US 5,299,389 can be taken as an example. As far as this device is concerned, an industrial robot is used to move a rotating grinding wheel onto the workpiece surface to be ground. Identifying the contact of the grinding wheel with the surface by the load current of the motor driving the grinding wheel provides a method that is too imprecise for many applications. In general, in the case of robot-assisted auto...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J17/02
CPCG05B2219/39319B25J17/0208Y10S901/09G05B2219/39349B25J11/0065B25J9/1633G05B2219/39577G05B2219/49356B25J9/1687
Inventor R·纳德雷P·费拉拉A·罗尔霍弗
Owner FERROBOTICS COMPLIANT ROBOT TECH
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