Endpoint force feedback system and method applied to grinding industry robot operation

An industrial robot and force feedback technology, applied in the field of force feedback system, can solve problems such as damage to the grinding head and quality problems, and achieve the effects of easy control, simple structure and lower production costs

Inactive Publication Date: 2015-12-30
JIANGSU HUIBO ROBOTICS TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

If the path is not set to match the surface or dimensions of the part, there will be immediate quality issues and possible damage to the grinding head

Method used

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  • Endpoint force feedback system and method applied to grinding industry robot operation
  • Endpoint force feedback system and method applied to grinding industry robot operation
  • Endpoint force feedback system and method applied to grinding industry robot operation

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Embodiment Construction

[0034] Embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0035] see figure 1 Referring to Fig. 3, the present invention provides a terminal force feedback system applied to grinding industrial robots, which is connected to the mechanical arm through a flange 1, including a lower base 2, an upper base 9, an air spring 4, a guide device 6, a displacement Sensor 5, compression spring 8, linear motion ball bearing 7, proportional valve 3, dust cover 11 and air compressor 12.

[0036] see Figure 2a and Figure 2b , the lower base 2 is connected to the flange 1, and is used to connect the terminal force feedback system applied to the grinding industrial robot operation with the mechanical arm of the robot; the upper base 9 is arranged opposite to the lower base 2, And form an accommodating space with the lower base 2 . Two ends of the dustproof cover 11 are respectively fixed on the upper base 9 and the lower...

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PUM

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Abstract

The invention discloses an endpoint force feedback system and method applied to grinding industry robot operation. The endpoint force feedback system is connected with a mechanical arm by virtue of a flange and comprises a lower foundation support, an upper foundation support, an air spring, a guide device, a displacement sensor, a compression spring, a linear motion ball bearing, a proportional valve and an air compressor. The pressure in the air spring is controlled by virtue of the proportional valve, the combined force generated by the air spring and the compression spring is applied to the contact between a workpiece to be ground and a grinding tool, the contact force can be adjusted, the requirement on the position precision of an industrial robot during the grinding process can be lowered, the production cost can be reduced, and the product quality can be improved; moreover, the system is simple in structure, convenient to control and easy to popularize on a grinding production line.

Description

technical field [0001] The invention relates to the field of force feedback systems, in particular to a terminal force feedback system and method applied to grinding industrial robots. Background technique [0002] In the past 20 years, robots have provided an effective economic means for realizing industrial automation, and it has been widely used in the fields of deburring, chamfering and grinding finishing of parts. With the increasing application of robots in various fields, many occasions require robots to have the ability to sense and control contact force. The external actuator is in contact with the environment. Therefore, to complete these tasks, the robot must have the ability of compliant control based on force feedback. The traditional way of programming robots uses the principle of defining paths and velocities. That is to say, no matter how much force is applied during processing, the running path and speed of the robot always maintain the preset value. If ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J11/00B25J9/08G05D15/01
Inventor 王振华陈国栋孙立宁黄婷樊成李闯
Owner JIANGSU HUIBO ROBOTICS TECH CO LTD
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