A force-controlled end effector and an industrial robot

A technology of end effectors and actuators, which is applied in the direction of program-controlled manipulators, manipulators, manufacturing tools, etc., which can solve the problems of inability to achieve accurate tracking of contact force, single degree of freedom, and lack of multi-directional position adjustment capabilities to improve geometry. features, smooth motion, and reduced effects of singular poses

Active Publication Date: 2022-06-24
NINGBO INST OF MATERIALS TECH & ENG CHINESE ACADEMY OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the disadvantage of the above two types of end effectors is that they are single-degree-of-freedom and do not have the ability to adjust positions in multiple directions.
Chinese patent CN202010029488.6 discloses an end effector with two degrees of freedom, but it only measures the pressure on the cylinder during force control, not the actual contact force, and cannot achieve accurate tracking of the contact force

Method used

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  • A force-controlled end effector and an industrial robot
  • A force-controlled end effector and an industrial robot
  • A force-controlled end effector and an industrial robot

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Embodiment Construction

[0031] The present invention will be more fully understood from the following detailed description, which should be read in conjunction with the accompanying drawings. Detailed embodiments of the present invention are disclosed herein; however, it is to be understood that the disclosed embodiments are merely exemplary of the invention, which may be embodied in various forms. Therefore, specific functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and for teaching one skilled in the art to vary in virtually any suitable detailed embodiment. The manner adopts the representative basis of the present invention.

[0032] like figure 1 As shown in the figure, a force-controlled end effector disclosed in the embodiment of the present invention is connected with a controller (not shown in the figure), and under the action of the control force signal output by the controller, the entire force-controlled end effector and the wo...

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Abstract

The invention discloses a force-controlled end effector and an industrial robot. The force control end effector includes a fixed platform, a moving platform and multiple sets of motion components, each set of motion components includes an active translational joint and a kinematic chain component, one end of the active translational joint is connected to the fixed platform, and the other end is connected to the kinematic chain component One end is connected, and the other end of the kinematic chain assembly is connected with the moving platform; a displacement sensor is installed on the active translational joint, and a pressure sensor is installed on the moving platform. The displacement signal and contact force signal of the active translational joint are adjusted to adjust the output force of the active translational joint, thereby adjusting the contact force between the entire force-controlled end effector and the workpiece. The invention provides a force-controlled end effector with low inertia, large bearing capacity, high rigidity, impact resistance and high dynamic response, which is driven by rigid-flexible hybrid redundant drive.

Description

technical field [0001] The invention belongs to the technical field of industrial robots, and particularly relates to a force-controlled end effector and an industrial robot. Background technique [0002] In modern machining, burrs, rough surfaces and sharp edges often appear on the surface of the workpiece. The surface quality of the workpiece not only affects the appearance of the workpiece, but also has a significant impact on the wear resistance, fit quality, fatigue strength, corrosion resistance and other important properties of the workpiece. With the improvement of people's requirements for product quality and appearance, polishing and grinding are widely used in the production of mechanical parts, mold processing, aerospace and other fields. Traditional polishing is done manually, which has low production efficiency and requires greater labor intensity, but the polishing quality is unstable, and the environment is harsh, which is harmful to the processing personnel...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/00B25J9/16B25J13/08B25J17/00
CPCB25J15/00B25J9/1612B25J9/1633B25J13/085B25J13/088B25J17/00
Inventor 杨桂林张拓璞杨淼方灶军张驰
Owner NINGBO INST OF MATERIALS TECH & ENG CHINESE ACADEMY OF SCI
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