Robot pose rapid adjusting device based on force control

Abstract

The utility model 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 and convenient to install, and can be used for occasions such as robot assembly and robot polishing.

Description

Technical Field

[0001] This utility model belongs to, but is not limited to, the field of mechanical processing and manufacturing technology, and particularly relates to a robot posture rapid adjustment device based on force control. Background Technology

[0002] In industrial manufacturing, robots are being used more and more. However, in actual production processes, there are often situations where the initial assembly is not perfectly aligned or there are positional deviations during grinding. This can affect the accuracy of assembly or grinding, the performance and lifespan of the workpiece, etc. Readjusting the robot itself presents many problems such as design difficulties and slow response.

[0003] Based on the above analysis, the urgent technical problems that need to be solved in the existing technology are:

[0004] There is an urgent need to design a rapid adjustment device to quickly adjust the robot's pose. Utility Model Content

[0005] To address the problems existing in the prior art, this utility model provides a force control-based rapid robot pose adjustment device.

[0006] This utility model is implemented as follows: a force-controlled robot posture rapid adjustment device, characterized in that it comprises a force sensor, a transfer platform, a linear transmission mechanism, and a rotating mechanism. The transfer platform consists of four flat surfaces, allowing for installation at multiple angles with the robot. The linear transmission mechanism comprises a drive motor, a lead screw, a slide block, a bearing frame, and a movable support plate. The drive motor is fixedly mounted on the bearing frame, which is also fixedly mounted on the slide block. The lead screw is connected to the output shaft of the drive motor, and the movable support plate is threadedly connected to the lead screw and slidably connected to the slide block. The rotation of the drive motor drives the lead screw to rotate, enabling the translation of the movable support plate. The rotating mechanism comprises a rotary motor, a gear set, and a rotating platform. The rotary motor is bolted to the rotating platform, and the rotation of the rotary motor drives the gear set to rotate, thus achieving the rotation of the rotating platform. The force sensor is bolted to the rotating platform, and the rotation of the rotating platform directly drives the force sensor to rotate.

[0007] Furthermore, the adapter platform is bolted to the slide block and rotatably connected to the lead screw.

[0008] Furthermore, the rotary motor is fixedly mounted on the movable support plate.

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

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

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

[0012] Furthermore, the force-controlled robot pose rapid adjustment device operates as follows:

[0013] Based on the force sensing information, the drive motor and rotary motor are activated. The drive motor drives the lead screw to rotate, which in turn causes the movable support plate to move linearly. The rotary mechanism mounted on the movable support plate then translates accordingly, thereby enabling the robot end effector to translate. The rotary motor drives the gears to rotate, and through the gear transmission between the gear sets, the rotary platform is rotated, which in turn drives the force sensor mounted on the rotary platform to rotate, thus enabling the robot end effector to rotate. Through the translation and rotation of the robot end effector, the position and pose of the robot in a plane can be quickly adjusted. Attached Figure Description

[0014] Figure 1 This is an isometric view of the force-controlled robot pose rapid adjustment device provided in this embodiment of the present invention;

[0015] Figure 2 This is an isometric view of the force-controlled robot pose rapid adjustment device provided in this embodiment of the utility model, which has a grinding head installed on the robot.

[0016] In the diagram: 1. Adapter platform; 2. Drive motor; 3. Lead screw; 4. Slide; 5. Moving support plate; 6. Rotary motor; 7. Gear set; 8. Rotary platform; 9. Force sensor; 10. Bearing bracket; 11. Robot pose rapid adjustment device; 12. Six-axis robot; 13. Real-time controller of robot pose rapid adjustment device; 14. Controller of robot body; 15. Connection between controller and motor; 16. Grinding head. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this utility model clearer, the following detailed description is provided in conjunction with embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this utility model.

[0018] like Figure 1 As shown, this utility model embodiment provides a force control-based robot pose rapid adjustment device, which consists 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 a robot.

[0019] The adapter platform (1) consists of four flat surfaces, allowing for installation with the robot at multiple angles. The linear transmission mechanism consists of a drive motor (2), a lead screw (3), a slide block (4), a bearing frame (10), and a movable support plate (5). The drive motor (2) is fixedly mounted on the bearing frame (10), and the bearing frame (10) is fixedly mounted on the slide block (4). The lead screw (3) is connected to the output shaft of the drive motor (2), and the movable support plate (5) is threadedly connected to the lead screw (3) and slidably connected to the slide block (4). The rotation of the drive motor (2) drives the lead screw (3) to rotate, which enables the translation of the movable support plate (5); the rotating mechanism consists of a rotary motor (6), a gear set (7) and a rotating platform (8). The rotary motor (6) is bolted to the rotating platform (8). The rotation of the rotary motor (6) drives the gear set (7) to rotate, thus 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.

[0020] like Figure 1 As shown, the transfer platform (1) is bolted to the slide (4) and rotatably connected to the lead screw (3). The rotary motor (6) is fixedly mounted on the movable support plate (5). The gear set (7) is inside the rotary platform (8).

[0021] like Figure 2 As shown, the force-controlled robot pose rapid adjustment device (11) is installed on the six-axis robot (12). Based on the force perception information, the drive motor (2) and the rotary motor (6) are controlled by the real-time controller (13) of the robot pose rapid adjustment device to quickly adjust the posture of the robot tool end, namely the grinding head (16), while keeping the position of the robot tool end unchanged or adjusting it rapidly within a small range.

[0022] like Figure 2As shown, the robot can adjust its position and orientation in three-dimensional space by rotating the robot end effector. The robot pose adjustment device (11) enables rapid adjustment of position and orientation in a plane, which is achieved by the real-time controller (13) of the robot pose adjustment device; the robot end effector can switch between multiple planes by rotating the robot end effector, thereby achieving the control effect in three-dimensional space, and its rotation is achieved by the controller (14) of the robot body.

[0023] The working process of this utility model embodiment is as follows: Based on the force sensing information obtained by the force sensor (9), the drive motor (2) and the rotary motor (6) are controlled by the real-time controller (13) of the robot posture rapid adjustment device. The drive motor (2) drives the lead screw (3) to rotate, thereby causing the moving support plate (5) to move linearly. The rotating mechanism installed on the moving support plate (5) then translates accordingly, thereby enabling the robot to translate. The rotary motor (6) drives the gear to rotate. Through the gear transmission between the gear sets (7), the rotation of the rotating platform (8) is realized, which drives the force sensor (9) installed on the rotating 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 are rapidly adjusted, and the grinding head (16) is used to accurately grind the target.

[0024] It should be noted that embodiments of this invention can be implemented using hardware, software, or a combination of both. The hardware portion can be implemented using dedicated logic; the software portion can be stored in memory and executed by a suitable instruction execution system, such as a microprocessor or dedicated hardware. Those skilled in the art will understand that the above-described devices and methods can be implemented using computer-executable instructions and / or included in processor control code, for example, such code provided on a carrier medium such as a disk, CD, or DVD-ROM, a programmable memory such as read-only memory (firmware), or a data carrier such as an optical or electronic signal carrier. The devices and modules of this invention can be implemented using hardware circuitry such as very large-scale integrated circuits or gate arrays, semiconductors such as logic chips or transistors, or programmable hardware devices such as field-programmable gate arrays or programmable logic devices; they can also be implemented using software executed by various types of processors; or they can be implemented using a combination of the above-described hardware circuitry and software, such as firmware.

[0025] The above description is only a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any modifications, equivalent substitutions and improvements made by those skilled in the art within the technical scope disclosed in this utility model, and within the spirit and principles of this utility model, should be included within the protection scope of this utility model.

Claims

1. A force control based robot pose quick adjustment device, characterized in that, The robot pose fast adjustment device based on force control is composed of a force sensor, a switching platform, a linear transmission mechanism and a rotating mechanism, the switching platform is composed of four flat plates, and can realize multi-angle installation with the robot; the linear transmission mechanism is composed of a driving motor, a screw rod, a sliding seat, a bearing frame and a moving support plate, the driving motor is fixedly installed on the bearing frame, the bearing frame is fixedly installed on the sliding seat, the screw rod is connected with the output shaft of the driving motor, the moving support plate is threadedly connected with the screw rod and slidably connected with the sliding seat, and the moving support plate can realize translation through rotation of the driving motor to drive the screw rod to rotate.

2. The robot pose fast adjustment device based on force control according to claim 1, wherein, The switching platform is bolted with the sliding seat and rotationally connected with the screw rod.

3. The robot pose fast adjustment device based on force control according to claim 1, wherein, The rotating motor is fixedly installed on the moving support plate.

4. The robot pose fast adjustment device based on force control according to claim 1, wherein, The gear set is arranged in the rotating platform.

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