A gas-electric hybrid force-controlled end effector for robots

Abstract

The invention discloses a gas-electric hybrid force-controlled end effector for a robot, which comprises a fixed platform jointed with the end of a mechanical arm and a movable platform that can move relative to the fixed platform through a guide device. An air telescopic spring and a linear motor arranged in parallel are arranged between the moving platform and the fixed platform, which are used to drive the moving platform to move axially along the guiding device; the guiding device is provided with a displacement sensor for detecting the moving position of the moving platform; There are pressure sensors and inclination sensors; the displacement sensor, pressure sensor and inclination sensor send feedback signals to the controller, and the controller adjusts the output force of the air telescopic spring and the linear motor to realize the decoupling of the force / position control of the mechanical arm. The invention adopts gas-electric hybrid drive, has the advantages of high precision, fast response, good flexibility, large force control adjustment range, light weight, low cost, etc., and can realize surface finishing of continuous curved surfaces, and is especially suitable for polishing and grinding industries.

Description

technical field [0001] The invention relates to an end effector device in the field of industrial robots, in particular to a gas-electric hybrid force-controlled end effector for a robot. Background technique [0002] In the process of mechanical processing and mold production, there are often some problems on the surface of the processed workpiece, such as surface roughness, surface scratches and edge burrs, etc. These problems seriously affect the surface quality of the workpiece, which further leads to an increase in the reject rate of the product . In order to improve the surface quality of the workpiece and reduce the reject rate of the product, it is usually necessary to carry out surface finishing on the processed workpiece. [0003] With the development of science and technology, industrial robots are more widely used in mechanical production, not only for non-continuous contact operations, such as loading and unloading, welding, spraying, etc., but also for contact...

AI Technical Summary

Problems solved by technology

Due to the shortcomings of the pneumatic system itself, such as slow response, low precision, and long hysteresis time, it cannot well meet the real-time and rapid force control requirements during the polishing process.

The electric drive type realizes the force output of the end effector through the telescopic movement of the linear motor. The advantages are high force control precision and fast response speed, but this method has disadvantages such as poor flexibility and large quality, and it is easy to generate vibration during the polishing process.

The existing gas-electric hybrid makes up for the shortcomings of poor flexibility of the electric drive, but the mass is still relatively large, and the output force is too large, and the force adjustment range is small, which cannot meet the needs of actual working conditions.

Images