Touch sensing auxiliary system for assisting working end of mechanical arm in operation

Abstract

The invention discloses a touch sensing auxiliary system for assisting a working end of a mechanical arm in operation. The touch sensing auxiliary system is arranged between a tail end of the mechanical arm and the working end of the mechanical arm, and comprises a pressure control unit, a distance measuring unit and a computer device; the pressure control unit is used for enabling the working endto keep a stable forward force to make contact with a work piece and work; the distance measuring unit is used for detecting the displacement of the working end relative to the work piece and outputting data; the computer device is used for receiving the displacement data of the distance measuring unit to control the pressure control unit to keep in the working state with the stable forward force; and when the working end of the mechanical arm is in contact with a working end of the work piece and is used for performing the set work on the working end of the work piece, and the touch sensingauxiliary system is used for enabling the working end of the mechanical arm to keep the stable forward force to make contact with the work piece so that the working efficiency and precision of the working end can be effectively improved.

Description

technical field [0001] The invention relates to a tactile sensing auxiliary system, especially a system applied between the end of a mechanical arm and its working end, so that the working end can continuously maintain the A predetermined stable positive force. Background technique [0002] Robotic arms have been widely used in automation equipment, such as using a measuring probe (such as to detect the surface curvature of the workpiece) or processing tools such as grinding wheels, polishing wheels, milling cutters, etc. (such as for grinding, polishing , milling cutter processing, etc.), and installed on the end of a mechanical arm to become the working end of the mechanical arm, so that the working end can set the working end of a workpiece by using the action of the mechanical arm work, such as surface treatment (such as surface grinding, surface polishing, etc.) or machining (such as milling, etc.). [0003] When the working end of a mechanical arm is used to set the ...

AI Technical Summary

Problems solved by technology

[0003] When the working end of a mechanical arm is used to set the working end of a work piece, here, the working end is described with a grinding or polishing wheel as an example, but it is not limited, although it can be controlled by digital control technology The mechanical arm is used to define or operate the working route of the grinding wheel, but the grinding wheel (working end) itself still has to be moved with a pre-set appropriate positive force (that is, the normal direction pressure exerted by the working end on the working surface) Only by touching the surface of the work piece can the purpose of grinding or polishing work be achieved; however, if the appropriate positive force is set through the mechanical arm, that is, the working route and positive force of the working end are all achieved by the mechanical arm, It is easy to make the mechanical design of the mechanical arm and the arrangement of the work content relatively complicated. For example, different positive forces must be designed for the working ends of different working properties, and the positive force will be reduced due to the loss of the grinding wheel (working end). With the change, relatively increase the production cost of the robot arm

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