Robot pose rapid adjusting device based on force control

Abstract

The invention belongs to the field of machining and manufacturing, and discloses a quick robot pose adjusting device based on force control, which consists of a force sensor, a switching platform, a linear transmission mechanism and a rotating mechanism, and is characterized in that the switching platform consists of four flat plates and is used for multi-angle installation with a robot; the linear transmission mechanism is composed of a driving motor, a lead screw, a sliding base, a bearing frame and a movable supporting plate, the lead screw is driven to rotate through rotation of the driving motor, and translation of the movable supporting plate can be achieved. The rotating mechanism is composed of a rotating motor, a gear set and a rotating platform, the rotating motor is connected with the rotating platform through bolts, the gear set is driven to rotate through rotation of the rotating motor, and rotation of the rotating platform is achieved; the force sensor is in bolted connection with the rotating platform, and rotation of the rotating platform can directly drive the force sensor to rotate. The device is compact in structure, convenient to install and capable of being used for occasions such as robot assembly and robot grinding.

Description

Technical Field

[0001] The present invention belongs to but is not limited to the field of mechanical processing and manufacturing technology, and in particular relates to a robot posture rapid adjustment device based on force control. Background Art

[0002] In industrial manufacturing, more and more robots are being used. However, in the actual production process, there are often situations where the first assembly is not fully aligned or there are posture deviations during polishing, which will affect the accuracy of assembly or polishing, the performance and life of the workpiece, etc. The robot's own readjustment has many problems such as design difficulties and slow response.

[0003] In view of the above analysis, the technical problems that need to be solved urgently in the prior art are:

[0004] There is an urgent need to design a quick adjustment device to quickly adjust the robot's position and posture. Summary of the invention

[0005] In view of the problems existing in the prior art, the present invention provides a robot posture rapid adjustment device based on force control.

[0006] The present invention is implemented as follows: a robot posture rapid adjustment device based on force control, characterized in that the robot posture rapid adjustment device based on force control is composed of a force sensor, a transfer platform, a linear transmission mechanism and a rotating mechanism. The transfer platform is composed of four flat plates, which can be installed at multiple angles with the robot; the linear transmission mechanism is composed of a driving motor, a screw, a slide, a bearing frame and a movable support plate. The driving motor is fixedly mounted on the bearing frame, and the bearing frame is fixedly mounted on the slide. The screw is connected to the output shaft of the driving motor, and the movable support plate is threadedly connected to the screw and slidably connected to the slide. The rotation of the driving motor drives the screw to rotate, so that the translation of the movable support plate can be realized; the rotating mechanism is composed of a rotating motor, a gear set and a rotating platform. The rotating motor is bolted to the rotating platform, and the rotation of the rotating motor drives the gear set to rotate, thereby realizing the rotation of the rotating platform; the force sensor is bolted to the rotating platform, and the rotation of the rotating platform can directly drive the force sensor to rotate.

[0007] Furthermore, the transfer platform is bolted to the slide seat and is rotationally connected to the lead screw.

[0008] Furthermore, the rotating motor is fixedly mounted on the moving support plate.

[0009] Furthermore, the gear set is inside the rotating platform.

[0010] Furthermore, the force-control-based robot posture rapid adjustment device can rapidly adjust the posture of the robot tool end by controlling the rotary motor and the drive motor according to the force sensing information, while keeping the position of the robot tool end unchanged or rapidly adjusting it within a small range.

[0011] Furthermore, the robot posture rapid adjustment device based on force control can cooperate with the rotation of the robot end to achieve posture adjustment in three-dimensional space. The robot posture rapid adjustment device can achieve rapid adjustment of position and posture within a plane, which is achieved through the real-time controller of the robot posture rapid adjustment device; switching of multiple planes is achieved through the rotation of the robot end, thereby achieving a control effect in three-dimensional space, and its rotation is achieved through the controller of the robot body.

[0012] Furthermore, the working process of the robot posture rapid adjustment device based on force control is as follows:

[0013] According to the force sensing information, the driving motor and the rotating motor are started. The driving motor drives the lead screw to rotate, thereby making the movable support plate move in a straight line. The rotating mechanism installed on the movable support plate translates accordingly, thereby making the end of the robot translate. The rotating motor drives the gears to rotate, and the rotation of the rotating platform is realized through the gear transmission between the gear groups, which drives the force sensor installed on the rotating platform to rotate, thereby realizing the rotation of the end of the robot. Through the translation and rotation of the end of the robot, the position and posture of the robot in a plane can be quickly adjusted.

[0014] In combination with the above technical solutions and the technical problems solved, the advantages and positive effects of the technical solutions to be protected by the present invention are as follows:

[0015] First, the robot posture rapid adjustment device of the present invention can realize rapid adjustment of position and posture in a plane, and can also realize three-dimensional space control in conjunction with the rotation of the robot end. The present invention realizes rapid adjustment of the robot end posture by sensing the force condition of the robot tool end, and has the advantages of compact structure, low cost, fast response, and intelligence.

[0016] Second, as auxiliary evidence of the inventiveness of the claims of the present invention, it is also reflected in the following two important aspects:

[0017] (1) The technical solution of the present invention fills the technical gap in the industry at home and abroad:

[0018] The technical solution of the present invention realizes rapid terminal posture adjustment of the robot based on force control, realizes posture adjustment within a plane through a compact two-dimensional structure, and can realize three-dimensional posture adjustment in conjunction with the robot terminal.

[0019] (2) The technical solution of the present invention solves a technical problem that people have been eager to solve but have never been able to solve successfully:

[0020] The technical solution of the present invention solves people's desire to use a compact structure to achieve rapid posture adjustment based on force sensing information, and has strong practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is an axonometric diagram of a robot posture rapid adjustment device based on force control provided by an embodiment of the present invention;

[0022] Figure 2 It is an axonometric diagram of a robot posture rapid adjustment device based on force control provided by an embodiment of the present invention, in which a grinding head is installed and the device is installed on a robot;

[0023] In the figure: 1. Transfer platform; 2. Drive motor; 3. Screw; 4. Slide; 5. Moving support plate; 6. Rotating motor; 7. Gear set; 8. Rotating platform; 9. Force sensor; 10. Bearing frame; 11. Robot posture rapid adjustment device; 12. Six-axis robot; 13. Real-time controller of the robot posture rapid adjustment device; 14. Controller of the robot body; 15. Connection between the controller and the motor; 16. Grinding head. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0025] like Figure 1 As shown, an embodiment of the present invention provides a robot posture rapid adjustment device based on force control, which is composed of a force sensor, a transfer platform, a linear transmission mechanism and a rotation mechanism. It has a compact structure and is convenient for multi-angle installation on the robot.

[0026] The transfer platform (1) is composed of four flat plates, which can be installed at multiple angles with the robot; the linear transmission mechanism is composed of a drive motor (2), a screw rod (3), a slide seat (4), a bearing frame (10) and a movable support plate (5); the drive motor (2) is fixedly mounted on the bearing frame (10), the bearing frame (10) is fixedly mounted on the slide seat (4), the screw rod (3) is connected to the output shaft of the drive motor (2), the movable support plate (5) is threadedly connected to the screw rod (3), and is slidably connected to the slide seat (4), and is connected to the movable support plate (5) by a screw thread. The rotation of the driving motor (2) drives the screw rod (3) to rotate, thereby realizing the translation of the movable support plate (5); the rotating mechanism is composed of a rotating motor (6), a gear set (7) and a rotating platform (8); the rotating motor (6) is bolted to the rotating platform (8); the rotating motor (6) drives the gear set (7) to rotate, thereby realizing the rotation of the rotating platform (8); the force sensor (9) is bolted to the rotating platform (8); the rotation of the rotating platform (8) can directly drive the force sensor (9) to rotate.

[0027] like Figure 1 As shown, the transfer platform (1) is bolted to the slide seat (4) and is rotationally connected to the screw rod (3). The rotary motor (6) is fixedly mounted on the moving support plate (5). The gear set (7) is inside the rotary platform (8).

[0028] like Figure 2 As shown, a robot posture rapid adjustment device (11) based on force control is installed on a six-axis robot (12). According to force sensing information, a real-time controller (13) of the robot posture rapid adjustment device can control a driving motor (2) and a rotating motor (6) to rapidly adjust the posture of the robot tool end, i.e., a grinding head (16), while keeping the position of the robot tool end unchanged or rapidly adjusting it within a small range.

[0029] like Figure 2 As shown, the position and posture adjustment in three-dimensional space can be achieved by cooperating with the rotation of the robot end. The robot position and posture rapid adjustment device (11) realizes the rapid adjustment of the position and posture in a plane, which is realized by the real-time controller (13) of the robot position and posture rapid adjustment device; the switching of multiple planes is realized by the rotation of the robot end, thereby achieving the control effect in three-dimensional space, and its rotation is realized by the controller (14) of the robot body.

[0030] The working process of the embodiment of the present invention is as follows: Based on the force sensing information obtained by the force sensor (9), the real-time controller (13) of the robot posture rapid adjustment device controls the drive motor (2) and the rotary motor (6), and the drive motor (2) drives the screw rod (3) to rotate, thereby causing the movable support plate (5) to move linearly, and the rotary mechanism installed on the movable support plate (5) to translate accordingly, thereby enabling the robot to translate. The rotary motor (6) drives the gears to rotate, and through the gear transmission between the gear sets (7), the rotation of the rotary platform (8) is realized, which drives the force sensor (9) installed on the rotary platform to rotate, thereby realizing the rotation of the robot end, i.e., the grinding head (16). Through the translation and rotation of the robot end, the position and posture of the robot in a plane can be quickly adjusted, and the grinding head (16) can be used to accurately grind the target.

[0031] It should be noted that the embodiments of the present invention can be implemented by hardware, software, or a combination of software and hardware. The hardware part can be implemented using dedicated logic; the software part can be stored in a memory and executed by an appropriate instruction execution system, such as a microprocessor or dedicated design hardware. It can be understood by a person of ordinary skill in the art that the above-mentioned devices and methods can be implemented using computer executable instructions and / or contained in a processor control code, such as a carrier medium such as a disk, CD or DVD-ROM, a programmable memory such as a read-only memory (firmware), or a data carrier such as an optical or electronic signal carrier. Such code is provided on the carrier medium. The device and its modules of the present invention can be implemented by hardware circuits such as very large-scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, etc., or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc., can also be implemented by software executed by various types of processors, and can also be implemented by a combination of the above-mentioned hardware circuits and software, such as firmware.

[0032] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any modifications, equivalent substitutions and improvements made by any technician familiar with the technical field within the technical scope disclosed by the present invention and within the spirit and principle of the present invention should be covered by the protection scope of the present invention.

Claims

1. A robot posture rapid adjustment device based on force control, characterized in that: The robot posture rapid adjustment device based on force control is composed of a force sensor, a transfer platform, a linear transmission mechanism and a rotating mechanism. The transfer platform is composed of four flat plates, which can be installed at multiple angles with the robot; the linear transmission mechanism is composed of a driving motor, a screw, a slide, a bearing frame and a movable support plate. The driving motor is fixedly installed on the bearing frame, and the bearing frame is fixedly installed on the slide. The screw is connected to the output shaft of the driving motor, and the movable support plate is threadedly connected to the screw and slidably connected to the slide. The rotation of the driving motor drives the screw to rotate, so that the translation of the movable support plate can be realized; the rotating mechanism is composed of a rotating motor, a gear set and a rotating platform. The rotating motor is bolted to the rotating platform, and the rotation of the rotating motor drives the gear set to rotate, so that the rotation of the rotating platform is realized; the force sensor is bolted to the rotating platform, and the rotation of the rotating platform can directly drive the force sensor to rotate.

2. The robot posture rapid adjustment device based on force control as claimed in claim 1, characterized in that: The transfer platform is connected with the slide seat bolts and is rotationally connected with the lead screw.

3. The robot posture rapid adjustment device based on force control as claimed in claim 1, characterized in that: The rotating motor is fixedly mounted on the moving support plate.

4. The robot posture rapid adjustment device based on force control as claimed in claim 1, characterized in that: The gear set is inside the rotating platform.

5. The robot posture rapid adjustment device based on force control as claimed in claim 1, characterized in that: The robot posture rapid adjustment device based on force control can rapidly adjust the posture of the robot tool end by controlling the rotary motor and the drive motor according to the force sensing information, while keeping the position of the robot tool end unchanged or rapidly adjusting it within a small range.

6. The robot posture rapid adjustment device based on force control as claimed in claim 1, characterized in that: The robot posture rapid adjustment device based on force control can realize posture adjustment in three-dimensional space in coordination with the rotation of the robot end. The robot posture rapid adjustment device realizes rapid adjustment of position and posture in a plane, which is realized by the real-time controller of the robot posture rapid adjustment device; switching of multiple planes is realized by the rotation of the robot end, thereby achieving control effect in three-dimensional space, and its rotation is realized by the controller of the robot body.

7. The robot posture rapid adjustment device based on force control as claimed in claim 1, characterized in that: The working process of the robot posture rapid adjustment device based on force control is as follows: According to the force sensing information, the driving motor and the rotating motor are started. The driving motor drives the lead screw to rotate, thereby making the movable support plate move in a straight line. The rotating mechanism installed on the movable support plate translates accordingly, thereby making the end of the robot translate. The rotating motor drives the gears to rotate, and the rotation of the rotating platform is realized through the gear transmission between the gear groups, which drives the force sensor installed on the rotating platform to rotate, thereby realizing the rotation of the end of the robot. Through the translation and rotation of the end of the robot, the position and posture of the robot in a plane can be quickly adjusted.

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