A force-controlled joint device that keeps the 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: 2022-02-11
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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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 adopting a unique structural design The joint can keep the contact pressure between the grinding tool head and the working surface constant when the grinding tool head is disturbed by the unevenness of the working surface. Its structure is simple, compact and quick to adjust.

Method used

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  • A force-controlled joint device that keeps the output force constant
  • A force-controlled joint device that keeps the output force constant
  • A force-controlled joint device that keeps the output force constant

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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, which comprises a base, an elastic mechanism component, a pneumatic muscle structure component, a displacement sensor component and an output end. It is characterized in that two sets of symmetrically arranged elastic mechanism components output thrust, and pneumatic muscle structure components output pulling force. The resultant force of the two is used to jointly control the output force of the joint, and the displacement sensor is used to monitor the real-time deformation of the current joint in real time, so as to facilitate follow-up Data processing and real-time control of joint output force. The invention is used for pressure control, wherein the special structural design enables the joint to keep the contact pressure between the grinding tool head and the workpiece surface constant even when the joint is disturbed by the unevenness of the grinding tool head on the working surface.

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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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/00B25J9/10B25J9/14
CPCB25J9/1075B25J9/14B25J17/00
Inventor 王伟王琦珑赵彦伟
Owner BEIHANG UNIV
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