Constant-force conduction device

Abstract

The invention aims to provide a constant-force conduction device. The constant-force conduction device comprises a force input end, a force output end, an upper force conduction piece, a first middleguide device and a connecting rod assembly, wherein the upper force conduction piece comprises a first upper force conduction piece and a second upper force conduction piece; the connecting rod assembly comprises a first connecting rod assembly; one end of the first upper force conduction piece is connected with the force input end, and the other end of the first upper force conduction piece is connected with a first end of the first middle guide device; one end of the second upper force conduction piece is connected with a second end of the first middle guide device, and the other end of thesecond upper force conduction piece is connected with the force output end; and one end of the first connecting rod assembly is connected with the force input end, the other end of the first connecting rod assembly is connected with the force output end, and the middle part of the first connecting rod assembly is connected with the first middle guide device. Through the arrangement for the connecting rod assembly, constant-force output is achieved; and the constant-force conduction device is simple in structure, and easy to machine and manufacture.

Description

Technical field[0001]This application relates to the field of force transmission, and in particular to a constant force transmission device.Background technique[0002]At present, most of the research on the precision operation technology of robots in unknown environments is achieved through force control technology and closed-loop control through force control algorithms. However, operating in an unknown environment may cause the robot's end-effector to be overloaded or subjected to transient mutations. Under the impact of collision, the signal of the force or torque sensor is easily overwhelmed by interference signals, resulting in a very complicated or invalid force control algorithm; it may even exceed the range of the force or torque sensor, which may cause system damage.[0003]Therefore, the existing precision operation methods of robots based on force control will bring a series of problems to the cost of system software and hardware, operation safety and reliability. It is nece...

AI Technical Summary

Problems solved by technology

[0002] At present, most of the research on fine manipulation technology of robots in unknown environments is realized through force control technology, and closed-loop control is carried out through force control algorithms. Due to the impact of collision, the signal of the force or torque sensor is easily overwhelmed by the interference signal, causing the force control algorithm to be very complicated or invalid; it may even exceed the range of the force or torque sensor, causing the risk of system damage

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