2 2-AXIS COMPLIANCE DEVICE WITH FORCE SENSING CAPABILITY

摘要

The present invention relates to a 2-axis compliance apparatus with a force measuring function, which is able to reduce manufacturing cost, to use a simple force control method, to not be influenced by a rotary vibration of a working tool, to measure two forces for each of an X-axis and a Y-axis on an X-Y-Z shaft formed at a work point where the work is done, to provide information on the force formed on the working tool to a working robot, and to precisely control force. According to the present invention, the 2-axis compliance apparatus with the force measuring function comprises: a fixed frame wherein a fixed starting point of a fixed coordinate system made of three axis of X, Y, and Z is defined; a moving block installed on an upper side of the fixed frame by being distanced to be movable with a reference of the fixed coordinate system of the fixed frame, wherein a moving starting point of a moving coordinate system made of three axis of X, Y, and Z is defined; a compliance apparatus unit installed in between the fixed frame and the moving block to elastically support the moving block against the fixed frame; a detection measuring unit which, when an external force works on the moving starting point of the moving block to move between positions with the fixed starting point of the fixed frame as a reference, detects an elastic deformation volume from the compliance apparatus unit, and measures two forces for each direction of the X-axis and the Y-axis working on the moving starting point of the moving block with the fixed coordinate system as a reference; and a rotation limitation unit installed in between the fixed frame and the moving block to limit a rotation in a direction of the Z-axis working on the moving starting point of the moving block with the fixed coordinate system as a reference.