A multifunctional force control joint

Abstract

The invention discloses a multifunctional force control joint, which integrates a built-in electric grinding / polishing tool and force control and dust removal functions, including a base part, an elastic mechanism component, a pneumatic muscle component, a displacement sensor, and an electric speed-adjustable grinding / polishing The tool component, the dust removal tool, the rail part and the output end are characterized in that two groups of symmetrically arranged elastic mechanism components output thrust, and pneumatic muscle components output pulling force, and the resultant force of the two is used to jointly control the output force of the joint. The displacement sensor monitors the current deformation of the joint in real time for subsequent data processing and real-time control of the joint output force. The grinding / polishing tool has stable torque and adjustable speed, and can quickly switch between different tools by replacing the end grinding disc. Dust extraction tools keep the work environment tidy and reduce the risk of dust pollution and explosions. The invention performs precise contact force control on force control during grinding, and can adapt to tools with complex shapes such as curved surfaces.

Description

technical field [0001] The invention relates to a multifunctional force control joint, which belongs to the field of robots. Background technique [0002] The development of industry requires continuous improvement of product quality. In traditional machine tool processing, due to the wear and tear of the tool and the uneven surface of the part, the contact force between the tool and the part is unstable, resulting in a large cylindricity error in the actually processed part, which affects the quality of the part. Although the previous force control joints have basically solved the above problems, the degree of integration is low, the structure is not compact enough, and the weight is heavy, which is not convenient for application in the fields of robot grinding and other fields that require high flexibility and weight. Therefore, there is an urgent need to improve the integration of force control joints to meet higher work requirements. Contents of the invention [0003...

AI Technical Summary

Problems solved by technology

In traditional machine tool processing, due to the wear and tear of the tool and the uneven surface of the part, the contact force between the tool and the part is unstable, resulting in a large cylindricity error in the actually processed part, which affects the quality of the part

Although the previous force control joints have basically solved the above problems, but the degree of integration is low, the structure is not compact enough, and the weight is heavy, which is not convenient for application in the fields of robot grinding and other fields that require high flexibility and weight.

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