Flexible flange for robot and robot

Abstract

The invention provides a flexible flange for a robot and the robot. The flexible flange comprises a shell, a connection flange, an elastic component and a limiting component, wherein an input interface used for inputting gas or liquid with preset pressure is formed in the shell, and an opening is formed in one end of the shell; the connection flange is movably arranged at the end, provided with the opening, of the shell, and the connection portion of the connection flange extends out of the opening; the base portion of the connection flange is located in the shell, and a sealed chamber for accommodating the gas or liquid is formed between the connection flange and the shell; the elastic component is arranged in the sealed chamber, is connected with the connection flange, and can drive the connection flange to do certain elastic stretching and contracting, so that the connection flange accordingly floats in cooperation with the elastic component under the effects of gas or liquid pressure and external force; and the limiting component is used for preventing the connection flange from rotating around the axis of the connection flange. The flexible flange disclosed by the invention can do multi-degree-of-freedom movement, so that the problem that the robot impacts a workpiece and damages the workpiece caused by the fact that the robot cannot move flexibly during an assembly and machining process or signal feedback is delayed is solved.

Description

technical field [0001] The invention relates to the field of robots, in particular to a transition connection device between a robot and an actuator. Background technique [0002] At present, the application of industrial robots is becoming more and more common, and the scope of application is becoming wider and wider. Due to its own structure, articulated industrial robots have relatively high repeatability and low positioning accuracy, which limits the application of industrial robots in the field of assembly and processing. [0003] The existing solution is to use a high-precision six-dimensional force sensor as a transitional connection between the robot and the actuator. The six-dimensional force sensor can measure the force in the three directions of x, y, and z and the torque around the three axes. The force and torque signals obtained by the sensor are fed back to the robot's control system, so that the robot can respond accordingly. However, this method has the fo...

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Problems solved by technology

[0005] The object to be solved by the present invention is to provide a flexible flange for robots, which can move with multiple degrees of freedom, and solve the problem of collision damage to the workpiece caused by the inability of the robot to move flexibly or the delay of signal feedback during the assembly and processing process

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