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
CN108161978BActive Publication Date: 2022-02-11BEIHANG UNIV
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Patent Information

Authority / Receiving Office
CN Β· China
Patent Type
Patents(China)
Current Assignee / Owner
BEIHANG UNIV
Publication Date
2022-02-11

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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.
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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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