Active self-adaptive force control device for mechanical arm and control method thereof

Abstract

The invention relates to the technical field of robot grinding or polishing constant force control, in particular to an active self-adaptive force control device for a mechanical arm and a control method of the active self-adaptive force control device. The active self-adaptive force control device is characterized by comprising a control module, a force sensor, the mechanical arm, a communication module, a display module and an electric cylinder, the mechanical arm is connected with the electric cylinder, the force sensor is arranged on the mechanical arm, the control module is connected with the force sensor, the electric cylinder, the display module and the communication module, the control module can output control signals and conduct signal transmission with other modules, and the force sensor can detect the contact force between the electric cylinder and the surface of a workpiece in real time and transmit the contact force to the control module; the display module can display a force signal transmitted to the control module by the force sensor in real time; and the communication module can achieve transparent information transmission between the control module and a PC terminal, various parameters of the control device are sent to the PC terminal through data packets, and the active self-adaptive force control device has the advantages of being simple in structure, good in control effect, sensitive in force control, stable in work and the like.

Description

technical field [0001] The invention relates to the technical field of robot grinding or polishing constant force control, in particular to an active self-adaptive force control device for a mechanical arm with simple structure, good control effect, sensitive force control and stable operation and a control method thereof. Background technique [0002] As we all know, the finishing technology of molds and parts with complex surface shapes is the frontier research field of modern finishing and automatic manufacturing technology interdisciplinary, and it is an important symbol to measure the level of a country's manufacturing and processing technology. At the same time, the grinding and polishing technology based on the surface of the workpiece is widely used in many industries such as machinery, electronics, automobiles, aerospace, etc. It is mainly used for surface grinding of workpieces, deburring of edges and corners, grinding of weld seams, deburring of inner cavity and in...

AI Technical Summary

Problems solved by technology

[0003] At present, in the application practice of robot grinding, one of the difficulties is the control of the grinding force. The size of the grinding force will directly affect the accuracy of the processing operation, thereby affecting the processing quality.

If the contact force is too large, the grinding amount will be too large, and the workpiece will be scrapped. If the contact force is too small, the processing efficiency will be low, and the expected grinding effect will not be achieved.

Force control controls the torque of each joint of the robot to make the end output a certain force, also known as direct force control. This control method needs to control both the position and the force, so the implementation is more complicated.

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