Force control end effector and industrial robot

Abstract

The invention discloses a force control end effector and an industrial robot. The force control end effector comprises a fixed platform, a movable platform and multiple motion assemblies. Each motionassembly comprises an active translational joint and a kinematic chain assembly, wherein one end of the active translational joint is connected with the fixed platform, the other end of the active translational joint is connected with one end of the kinematic chain assembly, and the other end of the kinematic chain assembly is connected with the movable platform. A displacement sensor is arrangedon each active translational joint, a pressure sensor is arranged on the movable platform, the displacement sensors and the pressure sensor are both connected with a controller, the controller adjuststhe output force of the active translational joints according to displacement signals and contact force signals fed back by the displacement sensors, and therefore the contact force between the wholeforce control end effector and a workpiece is adjusted. The rigid-flexible hybrid redundant drive force control end effector has the advantages of low inertia, large bearing capacity, high rigidity,impact resistance and high dynamic response.

Description

technical field [0001] The invention belongs to the technical field of industrial robots, and in particular relates to a force-controlled end effector and an industrial robot. Background technique [0002] In modern machining, burrs, rough surfaces and sharp edges often appear on the surface of workpieces. The surface quality of the workpiece not only affects the appearance of the workpiece, but also has a significant impact on the wear resistance, fit quality, fatigue resistance, corrosion resistance and other important properties of the workpiece. With the improvement of people's requirements for product quality and appearance, polishing is widely used in the production of mechanical parts, mold processing, aerospace and other fields. Traditional polishing is done manually, which has problems such as low production efficiency and high labor intensity, but the polishing quality is unstable, and the environment is harsh, which is harmful to the processing personnel. Indust...

AI Technical Summary

Problems solved by technology

However, the disadvantage of the above two types of end effectors is that they are single-degree-of-freedom and do not have the ability to adjust positions in multiple directions.

Chinese patent CN202010029488.6 discloses an end effector with two degrees of freedom, but it only measures the pressure on the cylinder during force control, not the actual contact force, and cannot achieve accurate tracking of the contact force

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