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Electric control integrated active force control device and control method thereof

A control method and integrated technology, applied in the direction of manufacturing tools, manipulators, etc., can solve problems such as over-throwing, workpiece or tool damage, rigid contact, etc., to achieve the effects of accurate calculation, improved accuracy, and reduced total volume

Pending Publication Date: 2019-07-19
清博(昆山)智能科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

It is easy to have rigid contact between the workpiece and the tool installed at the end of the robot, resulting in over-throwing problems and, in severe cases, damage to the workpiece or tool

Method used

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  • Electric control integrated active force control device and control method thereof
  • Electric control integrated active force control device and control method thereof
  • Electric control integrated active force control device and control method thereof

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Experimental program
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Embodiment Construction

[0037] In order to make the technical means, creative features, goals and effects achieved by the present invention easy to understand, the present invention will be further described below in conjunction with specific illustrations.

[0038] refer to Figure 1 to Figure 5 , the electronic control integrated active power control device provided by the present invention includes a housing 100, and a control circuit 200, at least one cylinder 300, at least one displacement sensor 400, at least one force sensor 500 and at least one Solenoid valve structure.

[0039] A first mechanical interface 110 and a second mechanical interface 120 are respectively provided on the upper and lower sides of the housing 100 , the first mechanical interface 110 is used to connect the tool end, and the second mechanical interface 120 is used to connect the robot end.

[0040] The cylinder 300 is specifically a double-acting cylinder, which is detachably fixed on the housing 100 through two cylind...

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Abstract

The invention discloses an electric control integrated active force control device and a control method thereof. The electric control integrated active force control device comprises a shell, a control circuit arranged in the shell, an air cylinder, a displacement sensor connected with the control circuit, a force sensor connected with the control circuit and an electromagnetic valve structure. The shell is provided with a first mechanical interface and a second mechanical interface. The piston output end of the air cylinder and the piston end of the displacement sensor are fixed to the forcesensor through connecting pieces, and the force sensor is connected with the first mechanical interface through a crank connecting piece. The electromagnetic valve structure is connected with the control circuit and the air cylinder. According to the control method, in the force control device contact force control process, the gravity action of a tool and a force control device motion unit is offset, and the contact force is controlled at the expected value through the force control algorithm. The electric control integrated active force control device is simple in structure and small in size, the contact force control precision can be effectively improved, contact force control in any direction is achieved, operation is convenient, and the work efficiency is high.

Description

technical field [0001] The invention relates to the field of force control, in particular to a device and a control method that can be used to actively control contact force in robot operations. Background technique [0002] Grinding is involved in the processing of parts in different industries such as aerospace, auto parts, and bathroom hardware. However, at present, the grinding of many parts still mainly relies on manual grinding. However, manual grinding has many problems such as low efficiency and difficult guarantee of grinding quality. Robot grinding is gradually becoming a development trend and has been increasingly used in industrial fields. [0003] In the existing grinding and polishing process of robots, contact force control measures are not considered or only simple passive force control is adopted between the grinding head and the workpiece in most cases. In this case, the actual contact force during grinding is not accurately controlled. Rigid contact be...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J11/00B25J13/00B25J13/08B25J19/00
CPCB25J11/0065B25J19/00B25J13/00B25J13/085
Inventor 陈凡王晓锋张锲王培成
Owner 清博(昆山)智能科技有限公司
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