Robot force control end effector and control method thereof

Abstract

The invention discloses a robot force control end effector and a control method thereof. The robot force control end effector comprises a connecting flange, a voice coil motor module and a grinding module. The voice coil motor module comprises a voice coil motor, a support, a linear guide rail and a displacement sensor, the linear guide rail and a stator of the voice coil motor are both fixedly mounted on the support, a rotor of the voice coil motor and a sliding block on the linear guide rail are fixedly mounted, and the connecting flange and the support are fixedly mounted. One end of a force sensor and the rotor of the voice coil motor are fixedly mounted, the grinding module is mounted at the other end of the force sensor, the displacement sensor is mounted on the linear guide rail, and the grinding module comprises an electric spindle and a grinding head fixedly mounted at one end of the electric spindle. The controller reads signals of the force sensor and the displacement sensor and controls the voice coil motor and the electric spindle. The controller is adopted for processing the signals of the displacement sensor and the signals of the force sensor, and constant-force grinding control over the end effector is achieved through real-time adjustment of the grinding and polishing force and the posture of the robot force control end effector.

Description

technical field [0001] The invention belongs to the technical field of automation equipment and robots, and in particular relates to a robot force-controlled end effector and a control method thereof. Background technique [0002] With the increasing demands on the surface quality of free-form workpieces, such as large fan blades, aircraft turbine blades and propellers, the polishing process is complicated and accompanied by higher and higher precision levels required. At present, most polishing still requires skilled technicians to do it manually, which has the problems of high risk, high labor intensity, high processing cost, low operating efficiency and low precision. In order to solve the limitations and deficiencies of manual polishing, robotic polishing systems and other types of automatic polishing equipment have been proposed and developed. Among them, industrial robots have the advantages of low price, large working space, and strong flexibility, but they lack forc...

AI Technical Summary

Problems solved by technology

However, the pneumatic drive method has disadvantages such as slow response speed and hysteresis, and the mechanical structure transmission has defects such as complex mechanism, large mechanical vibration during motion, and poor control performance.

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