Active flexible force control device

Abstract

The present invention discloses an active flexible force control device comprising a force control body including an upper cover, a shield and a bottom plate. The force control body is internally provided with a fixing mechanism, an intermediate movement connecting mechanism and a moving platform mechanism. The intermediate movement connecting mechanism is arranged on and slides along the fixing mechanism, and the moving platform mechanism is arranged on the lower side of the upper cover and the moving platform mechanism is slidable along the fixing mechanism. The upper cover is provided with a screw hole, and a force control object to be controlled is installed on the force control body through the screw hole. The force control body is also provided with a linear grating sensor for detecting the position change of the moving platform mechanism. The device cost is low, the versatility is strong, the installation is flexible and easy, and the control body can install various custom tools to carry on the force control. The dynamic response speed is fast and the force control precision is high. A servo motor is adopted to form a fully-closed loop with the linear grating sensor and an inclination angle sensor, the deadweight and load can be overcome, and the two-way force control and load range can be adjusted easily.

Description

technical field [0001] The invention relates to the technical field of industrial equipment, in particular to an active flexible force control equipment. Background technique [0002] Active flexible force control refers to the ability to simultaneously control the output force of the moving components during the movement of the mechanism. In the field of automation and robot applications, active force control technology is one of the key technologies that need to be used in many application scenarios, such as automatic polishing, automatic grinding and automatic assembly. Most of the existing solutions in this type of application use the cylinder as the drive to control the output force by controlling the internal pressure. Another solution in the application of robotics is to use a six-axis universal robot with a force sensor installed at its end. According to Force feedback is used to control the output torque of each joint motor, and then control the size of the end con...

AI Technical Summary

Problems solved by technology

Most of the force control technologies used in the market are passive force control, which can only realize force control in a single environment, without versatility and intelligence

[0003]The cost of using the cylinder as the drive is relatively low, and it is very suitable for low-speed applications that do not require high force control. The disadvantage is that the output force will There is a relatively long hysteresis, which cannot be applied to a relatively high-speed environment

When using a six-axis general-purpose robot, the torque output of each joint motor is controlled according to the force feedback of the end force sensor. The accuracy and speed are good. The disadvantage is that the cost is very high. It is tried for high-end automation equipment, and the cost is too high for low-end automation applications.

[0004]Secondly, the existing equipment still has the following problems: 1) The force control of the existing equipment is not universal; 2) The influence of the self-weight on the end of the force control has not been eliminated; 3) Due to the influence of the terminal's own weight, only force control in a fixed direction can be achieved (except for six-axis robots using force sensors)

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