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
CN105196296AInactive Publication Date: 2015-12-30JIANGSU HUIBO ROBOTICS TECH CO LTD
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Patent Information

Authority / Receiving Office
CN ยท China
Patent Type
Applications(China)
Current Assignee / Owner
JIANGSU HUIBO ROBOTICS TECH CO LTD
Publication Date
2015-12-30
Estimated Expiration
Not applicable ยท inactive patent

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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.
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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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