Force control joint device capable of keeping output force constant

A technology of outputting force and joints, applied in the field of robotics, can solve problems such as unstable contact pressure

Active Publication Date: 2018-06-15
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In view of the problem of unstable contact pressure in the prior art and the urgent need for a solution to control the contact force, the present invention proposes a force control joint device for pressure control, in which the force control is achieved by adopti

Method used

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  • Force control joint device capable of keeping output force constant
  • Force control joint device capable of keeping output force constant
  • Force control joint device capable of keeping output force constant

Examples

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Embodiment Construction

[0029] Figure 1 and figure 2 What is shown is a force-controlled joint device for keeping the output force constant according to an embodiment of the present invention, including:

[0030] base (1), displacement sensor (2), elastic mechanism component (3), pneumatic muscle structure component (4), output end (5), guide rail component (6),

[0031] Among them, the base (1) provides support for the elastic mechanism component (3), the displacement sensor (2), the pneumatic muscle structure component (4) and the guide rail component (6), and can adjust the air pressure in the pneumatic muscle structure component (4) ; The output end (5) includes the upper joint (28) of the pneumatic muscle structure component and the bolt hole (29) of the connecting rod seat; the elastic mechanism component (3), and the pneumatic muscle structure component (4) work together to control the force control joint The output of the device; the force-displacement sensor (2) is used to measure the join...

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Abstract

The invention discloses a force control joint device. The force control joint device comprises a base, elastic mechanism assemblies, a pneumatic muscle structure assembly, a displacement sensor assembly and an output end. The force control joint device is characterized in that the two symmetrically-arranged elastic mechanism assemblies output thrust, the pneumatic muscle structure assembly outputstensile force, and the resultant force of the thrust and the tensile force is used for controlling output force of a joint jointly. The displacement sensor assembly is used for monitoring the currentreal-time deformation quantity of the joint so as to facilitate subsequent data processing and real-time control over the output force of the joint. The force control joint device is used for controlling pressure, and through special structural design, when the joint carries a grinding tool head, under interference of the uneven work surface condition, the contact pressure of the grinding tool head and the surface of a workpiece can be kept to be constant.

Description

technical field [0001] The invention relates to a force control joint device for maintaining constant output force, which belongs to the field of robots. Background technique [0002] With the continuous acceleration of industrial development, in order to pursue products with more complete functions and better performance, higher requirements are put forward for the quality of robot-processed products. However, in the processing of traditional machine tools, due to the influence of factors such as tool wear and measurement errors, especially when the cutting amount is not equal due to tool wear and the uneven surface of the part, the contact pressure between the tool and the part is greatly reduced. When there is a deviation between the actual processed part size and the theoretical size (such as turning a slender shaft), the bending deformation of the workpiece under the action of the cutting force will form a drum-shaped cylindricity error after processing, which will affe...

Claims

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Application Information

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IPC IPC(8): B25J17/00B25J9/10B25J9/14
CPCB25J9/1075B25J9/14B25J17/00
Inventor 王伟赵彦伟王琦珑
Owner BEIHANG UNIV
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