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Space three-degree-of-freedom parallel mild operation device and mild mode thereof

An operating device and degree-of-freedom technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as large errors, cumbersome processes, and low robot pose positioning accuracy.

Pending Publication Date: 2017-05-24
SHANGHAI AEROSPACE EQUIP MFG GENERAL FACTORY
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  • Summary
  • Abstract
  • Description
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AI Technical Summary

Problems solved by technology

[0003] However, the use of a single-degree-of-freedom active contact flange cannot completely solve the problems existing in the related processing process. Due to the constant output force direction of the above-mentioned device and the low positioning accuracy of the robot pose, it is impossible to perform real-time output force direction according to the surface shape of the workpiece. Self-adaptive, so the adjustment of the direction of the contact force in the processing process still needs to be realized through the precise control of the robot, and this process is quite cumbersome and has large errors

Method used

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  • Space three-degree-of-freedom parallel mild operation device and mild mode thereof
  • Space three-degree-of-freedom parallel mild operation device and mild mode thereof

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Embodiment Construction

[0016] Hereinafter, the spirit and essence of the present invention will be further elaborated in conjunction with the drawings and embodiments.

[0017] As an embodiment of the present invention, figure 1 It shows that the parallel compliant operation device claimed in the present invention is used in a robot-constrained operation process, specifically an application in a robot-assisted grinding process. combined reference figure 2 , the operating device 2 is arranged between the end flange of the robot 1 and the grinding tool 3, connected to the arm of the robot through the interface 11 of the parallel compliant operating device 2, and connected to the grinding tool 3 through the bracket 33; the parallel compliant operation The device 2 is mainly used to accurately control or adjust the force exerted by the grinding tool 3 on the workpiece 4 to be processed, to ensure that the force is along the normal direction of the surface of the workpiece 4 to be processed and has a p...

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Abstract

The invention discloses a space three-degree-of-freedom parallel mild operation device and a mild mode thereof. The space three-degree-of-freedom parallel mild operation device comprises a mechanical interface, a tool connecting bracket, at least three sets of motion branched chains connected between the mechanical interface and the bracket, and a controller; and the controller controls force output by the operation device.

Description

technical field [0001] The patent of the present invention relates to the robot's constrained operation process, and in particular to a space three-degree-of-freedom parallel compliant operation device and its compliant method. Background technique [0002] For robots with constrained operation processes, such as grinding, polishing, scrubbing, assembly, handling, etc., it is necessary to control the force of the tool acting on the surface of the workpiece during the process. Using robots to control positioning and tool force is generally not suitable for many applications. accurate. Take grinding and handling as an example to illustrate the significance of using a compliant device for a robot: During the grinding process of a robot, due to the low absolute positioning accuracy of the end of the robot, the running trajectory generally cannot be an accurate straight line or arc, and even has a few mm of trajectory error, so The active compliance device can realize active pow...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J9/08
CPCB25J9/003B25J9/08
Inventor 黄顺舟祁佩王力梁世盛
Owner SHANGHAI AEROSPACE EQUIP MFG GENERAL FACTORY
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