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Force control device and robot

A technology of robots and mounting slots, which is applied to the parts of grinding machine tools, the control of workpiece feed movement, and metal processing equipment, etc. It can solve the problems of high cost of industrial robots and high price of six-dimensional force sensors.

Active Publication Date: 2021-07-06
库卡机器人制造(上海)有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the price of the six-dimensional force sensor is relatively high, making the cost of industrial robots relatively high

Method used

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  • Force control device and robot
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Embodiment Construction

[0020] In order to make the object, technical solution and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0021] In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Orientation indicated by rear, left, right, vertical, horizontal, top, bottom, inside, outside, clockwise, counterclockwise, etc. The positional relationship is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must hav...

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Abstract

The invention relates to the technical field of mechanical processing, in particular to a force control device and a robot. The force control device includes a fixed plate, a guide rod, a block, a connecting plate and an elastic piece; the fixed plate is used to connect with the robot; the two ends of the guide rod are fixedly connected with the fixed plate; The guide rod moves; the connecting plate is fixedly connected with the stopper; the connecting plate is used to install the grinding tool; one end of the elastic member is connected with the fixed plate, and the other end of the elastic member is connected with the stopper; when the connecting plate moves relative to the fixed plate, The elastic part is deformed; when the grinding tool is in contact with the object to be processed, the fixed plate can be driven by the robot to move to a set position, thereby controlling the deformation of the elastic part. The price of the force control device is relatively low, which can effectively reduce the cost of the robot.

Description

technical field [0001] The invention relates to the technical field of mechanical processing, in particular to a force control device and a robot. Background technique [0002] At present, an industrial robot includes a control assembly, a six-dimensional force sensor electrically connected to the control assembly, and a motor electrically connected to the control assembly. The output end of the motor is connected to a grinding tool. The motor drives the grinding tool to move, so that the grinding tool abuts against the object to be processed. The six-dimensional force sensor detects the pressure applied by the grinding tool to the object to be processed, and the control assembly adjusts the target position of the motor through the pressure value fed back by the six-dimensional force sensor, and then adjusts the position of the grinding tool to adjust the application of the grinding tool to the object to be processed pressure. However, the price of the six-dimensional forc...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B24B49/00B24B41/00
Inventor 刘笑
Owner 库卡机器人制造(上海)有限公司