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Robot force-controlled end effector and control method thereof

A technology of end effector and control method, which is applied in the direction of automatic grinding control device, workpiece feed movement control, manufacturing tools, etc., can solve the problems of poor control performance, slow response speed, large mechanical vibration, etc., and achieve simple structure Compactness, slow response, noise and vibration reduction effects

Active Publication Date: 2022-04-19
TIANJIN UNIVERSITY OF TECHNOLOGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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.

Method used

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  • Robot force-controlled end effector and control method thereof
  • Robot force-controlled end effector and control method thereof
  • Robot force-controlled end effector and control method thereof

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0038] A force-controlled end effector for a robot, comprising: a connecting flange 1, a voice coil motor module 2, a force sensor 9, a controller, and a grinding module 10, and the voice coil motor module 2 includes: a voice coil motor, a bracket 3, and a linear guide rail 7 and the displacement sensor 4, the linear guide 7 and the stator of the voice coil motor are fixed on the bracket 3, the mover of the voice coil motor is fixed to the slider on the linear guide, and the linear guide is used as a guide connecting the mover and stator of the voice coil motor The device is used to connect the flange 1 and the bracket 3, and is used to fix the voice coil motor module 2 and the robot, so as to realize the connection between the pose control of the robot and the grinding and polishing force control of the force-controlled end effector of the robot; the force sensor One end of 9 is fixedly installed with the mover of the voice coil motor, and the other end is installed with a gri...

Embodiment 2

[0041] On the basis of Embodiment 1, the force sensor 9 is fixed to the mover of the voice coil motor through a mounting flange 8 . The electric spindle is parallel to the sliding direction of the slide block on the linear guide rail 7 (axial grinding) or vertical (radial grinding).

Embodiment 3

[0043] On the basis of Embodiment 2, when the electric spindle is parallel to the sliding direction of the slider on the linear guide rail 7, the grinding module 10 further includes: a sleeve 11, the sleeve 11 is installed on the force sensor 9, and one end of the electric spindle is positioned on the sleeve The other end of the cylinder 11 protrudes from the sleeve 11 and is fixed with the grinding head 13 . The electric spindle is fixedly installed with the sleeve through the fixing flange 12.

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Abstract

The invention discloses a robot force control end effector and a control method thereof. The robot force control end effector includes: a connecting flange, a voice coil motor module and a grinding module, and the voice coil motor module includes: a voice coil motor, a bracket, a linear The guide rail and the displacement sensor, the linear guide rail and the stator of the voice coil motor are fixed on the bracket, the mover of the voice coil motor is fixed on the slider on the linear guide rail, and the connecting flange is fixed on the bracket; one end of the force sensor is connected to the voice coil The mover of the motor is fixed, and the other end is equipped with a grinding module. The displacement sensor is installed on the linear guide rail. The grinding module includes: the electric spindle and the grinding head fixed at one end of the electric spindle; the controller reads the force sensor and the displacement sensor. Signal and control voice coil motor and electric spindle. The invention adopts the controller to process the signal of the displacement sensor and the signal of the force sensor, and realizes the constant force grinding control of the end effector through the real-time adjustment of the grinding and polishing force and posture of the end effector controlled by the robot.

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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B24B19/00B24B41/00B24B41/04B24B47/20B24B49/12B24B51/00
CPCB24B19/00B24B41/04B24B47/20B24B51/00B24B41/00B24B49/12
Inventor 周海波马世泰王桂莲赵磊王勇邓誉鑫周顺
Owner TIANJIN UNIVERSITY OF TECHNOLOGY
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