Flexible waist for robot

Abstract

The invention relates to a flexible waist for a robot, which consists of a moving part, a swinging part, a displacement sensor and an angle sensor, wherein the moving part realizes the moving function in one direction, the swinging part realizes the swinging function in two directions, springs are arranged both in the moving part and the swinging part, the flexibility and the resetting function of the waist in the moving direction and the swinging direction can be realized through the elasticity of the springs, the contact state of operation objects can be identified through the information of a position sensor and the angle sensor arranged on the waist, and then, the position and the posture of the tail end of a robot body are regulated according to the information of the sensors, so the contact state of operation tools and the operation objects can be regulated, and the force / position mixed control can be realized. The invention has a simple structure, has flexibility, does not need the driving force, is applicable to operations such as grinding, polishing, hole insertion assembling, object outline reorganization and the like, and is particularly applicable to the grinding and polishing on curve surfaces in abnormal shapes.

Description

technical field [0001] The invention relates to a flexible wrist for a robot, in particular to a flexible wrist for a robot that can grind and polish special-shaped curved surfaces. Background technique [0002] The traditional robot wrist is a part that connects the robot arm and the end effector. Its function is to adjust and change the posture and position of the end of the robot arm in space to cooperate with the arm movement to complete various complex tasks. The degree of freedom and posture range of the wrist directly affect the flexibility and versatility of the robot. The wrists that are widely used in the current industrial robot structure include: three-axis perpendicular wrists, Trallfa wrists, ball gear wrists, continuous rotating bevel gear combined wrists, etc. These wrists are all driven by three driving sources. The tool completes any posture change, and because it can achieve any posture, it is usually called a flexible wrist. However, their transmission ...

AI Technical Summary

Problems solved by technology

However, their transmission structure is rigid, limited by the mechanical structure, the number of degrees of freedom (2 to 3) is small, the movement is not flexible, the controllability is poor, the force / position hybrid control cannot be realized, and it cannot adapt to the changing working environment. Therefore, the operating functions of these robots are limited. At present, they are mostly used for handling, loading and unloading, painting, welding, etc., and are not suitable for grinding, polishing, shaft hole assembly, etc.

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