A force-controlled connection device for flexible operation of industrial robots
An industrial robot, flexible operation technology, applied in manipulators, manufacturing tools, etc., can solve the problems of complex active compliance control scheme and high manufacturing cost
Active Publication Date: 2021-05-18
CENT SOUTH UNIV
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Problems solved by technology
[0004] The main purpose of the present invention is to provide a force-controlled connection device for the flexible operation of industrial robots, aiming to solve the problems that the existing active compliance control scheme is too complicated and the manufacturing cost is high
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[0034] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
[0035] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relationship between the components in a certain posture (as shown in the accompanying drawings). Relative positional relationship, movement conditions, etc., if the specific posture changes, the directional indication will also change accordingly.
[0036] In addition, in t...
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The invention discloses a force control connection device for flexible operation of an industrial robot, which comprises a lower fixing plate, a guide rod, a linear bearing, a sleeve, a cylinder assembly, a first electro-pneumatic proportional valve, a second electro-pneumatic proportional valve valve, air pump, controller, first pressure sensor, second pressure sensor and displacement sensor; the guide rod is fixedly connected to the bottom of the lower fixing plate; the linear bearing is slidingly sleeved on the guide rod; the sleeve is provided with a through hole; the guide rod can It is installed in the through hole; the linear bearing is fixed on the inner wall of the through hole; the cylinder body assembly includes the cylinder body and the piston rod; the cylinder body is fixedly connected to the bottom of the lower fixing plate; the force control connection for the flexible operation of the industrial robot proposed by the present invention The structure of the device is relatively simple, and a large number of complicated force sensors are omitted. Only pressure sensors and displacement sensors are required to actively and compliantly control the working process of the robot in real time. The cost is low and the practicability is high.
Description
technical field [0001] The invention relates to the field of industrial robot equipment, in particular to a force-controlled connection device for flexible operation of industrial robots. Background technique [0002] An industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device for the industrial field. It can perform work automatically and is a machine that realizes various functions by its own power and control capabilities. Compared with manual production, the use of industrial robots for production has the advantages of good stability, high efficiency and high precision, and has been widely used in all aspects of industrial production. [0003] When industrial robots are performing production operations, simple position control is no longer suitable for changing production environments; a small positional deviation between the workpiece and the end of the robot may cause a huge contact force on the industrial robot, and further damage the ...
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IPC IPC(8): B25J13/08B25J11/00
CPCB25J11/0065B25J13/081B25J13/088
Inventor 许都陆新江
Owner CENT SOUTH UNIV