A joint force control platform device, method and related device

A technology for controlling platform and joint force, applied in the field of machinery, can solve problems such as inability to realize robot force control, expensive six-dimensional force sensor, and limited promotion

Active Publication Date: 2020-12-01
SHENYANG SIASUN ROBOT & AUTOMATION
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, most of the force control of the robot is obtained by installing a six-dimensional force sensor at the end of the robot. This control method is simple to implement, but the six-dimensional force sensor is often expensive, which limits the promotion of applications.
On the other hand, the six-dimensional force sensor is installed at the end of the robot, which determines that this robot can only achieve force control at the end of the robot
That is, at each joint of the robot, the robot cannot realize the force control of the robot

Method used

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  • A joint force control platform device, method and related device
  • A joint force control platform device, method and related device
  • A joint force control platform device, method and related device

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Embodiment Construction

[0025] In order to enable those skilled in the art to better understand the solutions of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only It is an embodiment of a part of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0026] The terms "first", "second", "third", "fourth", etc. (if any) in the description and claims of the present invention and the above drawings are used to distinguish similar objects and not necessarily Describe a particular order or sequence. It is to be understood that the terms so used are interchangeable under appropriate c...

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Abstract

The invention relates to the field of machinery, and particularly discloses a joint force control platform device. The joint force control platform device comprises an installation seat, a power unitlocated on the installation seat, a connection rod connected with the output end of the power unit, a joint torque sensor which is located between the power unit and the connection rod and used for measuring the torque of the output end of the power unit, and a control unit which is used for controlling working of the power unit according to detection information of the joint torque sensor. The control unit is used for carrying out corresponding operation when the detection information of the joint torque sensor exceeds the preset threshold value. According to the joint force control platformdevice, the joint torque sensor is directly connected with the connection rod, the conditions of force applied to all corners of a robot can be detected accurately in time, the collision preventing function of the robot is achieved, and human and robot cooperation is finally realized. Meanwhile, the invention further provides a joint force control method and a manipulator.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a joint force control platform device, method and related devices. Background technique [0002] Industrial robots have been widely used in manufacturing fields such as handling, assembly, and grinding. Their common characteristics are large size, repetitive and single working mode, and disadvantages such as high energy consumption and difficult installation. Moreover, the traditional industrial robot technology is relatively mature, and its application is relatively fixed. It can only do some repetitive work in the fence, and cannot further contact with humans. With the advancement of technology and the development of society, it is inevitable that robots and humans have a common workspace, and even work together with humans to complete more complex application tasks. In the process of cooperation between robots and humans, if a collision occurs, the primary job is to ensure the safety o...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J13/08
Inventor 曲道奎徐方王宏玉宋吉来张彦超李国彬祁迹
Owner SHENYANG SIASUN ROBOT & AUTOMATION
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