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471 results about "Constant force" patented technology
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A constant force is one type of force effect that may be used in a force feedback stimulus. A constant force applies a constant force in a specified direction. You define a constant force with the keyword constant_force.
Self-adaptive constant-force damping mechanism base and robot
The invention discloses a self-adaptive constant-force vibration reduction mechanism base and a robot, and belongs to the technical field of specialized robots. Two sets of buffer units and vibration reduction units are arranged at the front end and the rear end of the base correspondingly; driving wheels are arranged on the buffer unit and the vibration reduction unit; the buffer unit comprises a horizontal buffer structure, a vertical buffer structure and a support; the horizontal buffer structure is slidably connected with the support in the vertical direction; the top of the vertical buffer structure is hinged to the support, and the bottom is fixedly connected with the driving wheel; the support is fixedly connected with the base; the vibration reduction unit comprises a rotating support and a constant force component. According to the self-adaptive constant-force vibration reduction mechanism base and the robot, the problems that in the prior art, a vibration reduction mechanism cannot completely avoid vibration generated by a wheel type moving device in the vertical direction when the wheel type moving device moves on an uneven road surface, and consequently bolt looseness, wire harness interface looseness, material fatigue strain and the like occur can be effectively solved; and therefore, the wheel type moving device has a fault in the operation process and cannot stably operate, and the like.
Owner:CHENGDU HUMANOID ROBOT INNOVATION CENT CO LTD
Method for applying constant force to half-mode balance calibration system
The invention belongs to the technical field of multi-component aerodynamic load measurement sensors, and discloses a method for applying a constant force to a half-mode balance calibration system. The method for applying the constant force comprises the following steps: installing the constant force value loading device; accurate force value loading is carried out; carrying out displacement real-time compensation; constant force value output is kept at all the force application device point positions; and completing the ground static calibration of the half-mode balance. According to the method for applying constant force, the displacement of the electric cylinder is calculated according to the value of the applied force, after the corresponding displacement of the electric cylinder is completed through closed-loop control of the driving electric cylinder, the steel spring inevitably generates creep displacement in the process of waiting for arrival of a plurality of force application device point positions, and the creep displacement is changed into the creep displacement. The applied force value corresponding to the creep deformation is synchronously measured by the high-precision force sensor, the compensation displacement of the piezoelectric ceramic is correspondingly calculated, the creep deformation displacement is dynamically compensated in real time, the constant force value loading device is ensured to be always at the required constant force value, and the high-precision calibration of the half-mode balance is realized.
Owner:INST OF HIGH SPEED AERODYNAMICS OF CHINA AERODYNAMICS RES & DEV CENT
Detection device for constant-force combined spiral spring support hanger
Owner:JIANGSU TENGSHENG PIPELINE EQUIP CO LTD
Multi-degree-of-freedom supporting mechanism
The invention discloses a multi-degree-of-freedom supporting mechanism which comprises a base and a motion platform and further comprises a constant force compensation module connected between the base and the motion platform and used for balancing the motion platform and most of gravity loaded by the motion platform; the six-degree-of-freedom parallel fine adjustment module is connected between the base and the motion platform and used for providing six-degree-of-freedom accurate pose adjustment; the air floatation vibration isolation module is arranged between the base and the motion platform; the sensing system comprises a plurality of pressure sensors, and the pressure sensors are arranged on the constant force compensation module and / or the six-degree-of-freedom parallel fine adjustment module and used for monitoring stress information in real time; and the control system is in communication connection with the sensing system and the six-degree-of-freedom parallel fine adjustment module, and is used for controlling the six-degree-of-freedom parallel fine adjustment module to perform active vibration isolation and pose adjustment based on a feedback signal of the pressure sensor.
Owner:EAST CHINA NORMAL UNIV
Intelligent control method and system for precise grinding of robot
InactiveCN121245691AProgramme-controlled manipulatorGrinding feed controlConstant forceControl engineering
The invention discloses an intelligent control method for precise grinding of a robot, and the method comprises the steps: obtaining the information of a to-be-ground workpiece and initial grinding parameters, and the initial grinding parameters comprise the load gravity of the tail end of the robot; generating a target contact force based on the to-be-ground workpiece information and the initial grinding parameters; constructing a gravity compensation model through preset coordinate parameters based on the load gravity at the tail end of the robot; in the grinding process, grinding force data are collected in real time; on the basis of the grinding force data, actual contact force is obtained through a gravity compensation model; comparing the actual contact force with the target contact force to generate a contact force deviation and a deviation change rate; based on the contact force deviation and the deviation change rate, a force-position hybrid control instruction is output through a fuzzy PID controller; and on the basis of the force-position hybrid control instruction, control adjustment parameters of the robot are generated. By forming a complete intelligent control closed loop, constant-force grinding can be achieved, and the problems of uneven surface roughness, excessive grinding and the like are effectively solved.
Owner:HUZHOU DINGSHENG MASCH CO LTD
Constant-force damping mechanism and robot
The invention discloses a constant-force vibration reduction mechanism and a robot, and belongs to the technical field of specialized robots, the constant-force vibration reduction mechanism comprises at least two vibration reduction units arranged on a base and a plurality of driving wheels consistent with the vibration reduction units; the vibration reduction unit comprises a rotating support and a constant force component. The rotating bracket is rotatably connected with the base; the rotating bracket is respectively connected with the driving wheel and the constant force component; the constant force component is used for applying counter-acting force to the base, and it is guaranteed that the base and an upper structure of the base are kept stable in the vertical direction in the moving process. According to the constant-force vibration reduction mechanism and the robot, the problems that in the prior art, a vibration reduction mechanism cannot completely avoid vibration generated by a wheel type moving device in the vertical direction when the wheel type moving device moves on an uneven road surface, and consequently bolt looseness, wire harness interface looseness, material fatigue strain and the like occur can be effectively solved; and therefore, the wheel type moving device has a fault in the operation process and cannot stably operate, and the like.
Owner:CHENGDU HUMANOID ROBOT INNOVATION CENT CO LTD
Gripping device
A gripping device comprises an electric linear motor having a motor stator and a motor slider which is movable in a longitudinal direction, a first gripper finger and a second gripper finger, a redirecting mechanism which is coupled to the motor slider as well as to at least one of the first and second gripper fingers, and a constant force generator having a stator and a slider which is movable relative to the stator in the longitudinal direction. The stator has a magnetically conductive or permanently magnetic stator region, and the slider has a permanently magnetic or magnetically conductive slider region. In a gripping position, the slider region and the stator region only partly overlap in the longitudinal direction, while in an open position, the slider region and the stator region do not overlap in the longitudinal direction.
Owner:NTI
Robot end effector force control method and system for conformal vibration polishing of optical element
The invention belongs to the technical field of robot control, discloses a robot end effector force control method and system for conformal vibration polishing of an optical element, and solves the problems of periodic disturbance, friction nonlinearity, multi-axis mutual interference and the like caused by conformal tangential vibration in the polishing process of a complex curved surface of the optical element. And the normal constant force precision, the polishing consistency and the machining surface shape quality are guaranteed. According to the algorithm, a multi-module collaborative architecture is adopted, and means of an observer, adaptive filtering, mutual interference modeling, feedforward friction compensation and the like are combined, so that a set of composite control scheme with high real-time performance, high robustness and good adaptability is formed. High-precision force control under conformal vibration polishing complex disturbance of the robot is achieved; multi-module coordination mechanisms such as a fourth-order extended state observer (4th-ESO), frequency selection filtering and inverse trapped wave compensation, friction feedforward and mutual interference decoupling are introduced;
Owner:HUAZHONG UNIV OF SCI & TECH
Variable impedance constant force control method for complex environment based on reinforcement learning
The invention discloses a variable impedance constant force control method for a complex environment based on reinforcement learning, which integrates reinforcement learning adaptive compensation, double-loop force position control and a parameter smooth transition mechanism, and does not need to depend on a large amount of manual annotation data to carry out offline calibration. The damping coefficient in the impedance parameters can be dynamically adjusted in the full life cycle of the robot, and continuous optimization and self-adaptive updating are achieved. Compared with a fixed impedance method, the environmental adaptability is remarkably improved; compared with a traditional self-adaptive impedance method, the self-adaptive impedance method has the advantages that higher convergence speed and higher steady-state precision are achieved in a nonlinear and strong disturbance environment by utilizing the autonomous exploration capability of reinforcement learning, so that the robot can quickly converge to expected contact force in a curved surface, an inclined surface, an uneven terrain and a complex environment; the method has the advantages of being high in response speed, small in overshoot, high in steady-state precision and high in environmental adaptability.
Owner:ZHENGZHOU RES INST OF MECHANICAL ENG CO LTD
Constant-force grinding device for grinding automobile parts
The invention discloses an automobile part grinding constant-force grinding device, and relates to the technical field of constant-force grinding, the automobile part grinding constant-force grinding device comprises a longitudinal adjusting assembly, a transverse adjusting assembly, a clamping assembly, a grinding assembly and a grinding wheel wear monitoring assembly, the three-direction force sensing module is used for measuring the stress variation of the clamping assembly in the X-axis direction, the Y-axis direction and the Z-axis direction, the total grinding force direction and amplitude are obtained, the control terminal receives data and controls the Y-axis motor, the X-axis motor and the Z-axis motor to conduct position compensation on the clamping assembly, the grinding force is adjusted in real time through closed-loop feedback control, quick response is achieved, and the grinding efficiency is improved. A longitudinal damping vibration attenuation module and a transverse damping vibration attenuation module are arranged in the grinding assembly, damping force is changed through current, the influence of vibration on grinding force adjustment is reduced, the grinding wheel abrasion monitoring assembly can obtain abrasion data of abrasive particles on the surface of a grinding wheel through a laser detection module, and the abrasive particles can be replaced in time after abrasion exceeds a threshold value.
Owner:DISPOS INTELLIGENT MFG TECH (NANTONG) CO LTD
Compliant constant force mechanism, clamping mechanism and clamping method of clamping mechanism
The invention relates to a compliant constant force mechanism, a clamping mechanism and a clamping method of the clamping mechanism. The compliant constant force mechanism comprises a base, a double-beam connection type constant force mechanism, a bridge type displacement amplifier and a piezoelectric actuator. The bridge type displacement amplifier is connected to the base, the piezoelectric actuator is arranged in the bridge type displacement amplifier, and the bridge type displacement amplifier is provided with an output port; the double-beam connection type constant force mechanism is connected to the base and an output port of the bridge type displacement amplifier, and a mechanism output end face is arranged at the tail end of the double-beam connection type constant force mechanism. Wherein the output of the piezoelectric actuator generates first-stage amplified displacement at an output port through the bridge type displacement amplifier; and the displacement at the output port is subjected to second-stage amplification at the output end face of the mechanism through the double-beam connection type constant force mechanism. The driving structure is arranged in the flexible clamping mechanism, periodic offset of parts is achieved, self-adaptive alignment assembly of misaligned parts can be achieved by means of the active and controllable periodic movement, and higher engineering application value is achieved.
Owner:SOUTH CHINA UNIV OF TECH
Two-degree-of-freedom piezoelectric stick-slip micro-clamping system with constant force output
A two-degree-of-freedom piezoelectric stick-slip micro-clamping system with constant force output belongs to the technical field of precision operation and comprises a rotary stick-slip motion platform, a connecting piece and a stick-slip micro-clamping device. The rotary stick-slip motion platform comprises a base, a multidirectional flexible piezoelectric driving mechanism and a rotating part; the rotating part and the multidirectional flexible piezoelectric driving mechanism are mounted on the base, and the rotating part can rotate relative to the base; the output end of the multidirectional flexible piezoelectric driving mechanism is in contact with the peripheral side surface of the rotating part; the multi-directional compliant piezoelectric driving mechanism realizes multi-step superposed large-stroke motion of the rotating part under the action of periodic driving voltage, and the multi-directional compliant piezoelectric driving mechanism realizes precise positioning motion of a smooth track of the rotating part under the action of smooth driving voltage; the connecting piece is installed on the rotating piece, the stick-slip micro gripper is installed on the connecting piece, and constant-force output clamping operation can be achieved. The method has the advantages of high precision, large single-step displacement and stick-slip rollback motion inhibition, and has good motion stability.
Owner:HUZHOU UNIVERSITY
Chip attitude adaptive bonding mechanism, method and system with precise force control
The invention discloses a chip posture self-adaptive bonding mechanism with precise force control, a method and a system. The chip posture self-adaptive bonding mechanism with the precise force control function comprises a constant force mechanism, a rapid feeding driving device and a micro-motion device. The constant force mechanism comprises a positive stiffness mechanism, a negative stiffness mechanism, a first output piece and a second output piece, and the second output piece is movably arranged on the first output piece and has a relative displacement value; the positive rigidity mechanism and the negative rigidity mechanism are connected in parallel so that the output force of the second output piece within the preset relative displacement range can be constant. The fast feed driving device is used for driving the constant force mechanism to move in the first direction, and the micro-motion device is used for driving the first output piece to move in the first direction; and when the relative displacement value is within the preset relative displacement range, the micro-motion device is turned on, and the rapid feed driving device is turned off. The constant bonding force can be provided, the control precision of the bonding force and the stability of the bonding force are improved, the control process of chip bonding is simplified, and the efficiency is improved.
Owner:GUANGDONG UNIV OF TECH
Self-adaptive variable-impedance constant-force control system for mechanical arm
The invention discloses a mechanical arm self-adaptive variable impedance constant force control system which comprises an inverse kinematics unit, a fractional order active disturbance rejection controller unit, a mechanical arm and a self-adaptive variable impedance controller unit, and the input of the system is a tail end expected position and expected contact force. According to the method, the force overshoot is remarkably reduced, the steady-state error approaches zero, and the force tracking precision and robustness are improved.
Owner:SHANGHAI RUIJINGTONG MEDICAL TECHNOLOGY CO LTD
Gravity compensation constant force adjustable aero-engine blade polishing and grinding device and method
PendingCN120941215AEdge grinding machinesGrinding work supportsPressure stabilizationDynamic balance
The invention relates to a constant-force grinding device and method based on gravity-elastic force dynamic balance, solves the problem of contact force fluctuation caused by blade profile deviation, actuating mechanism positioning error and grinding tool abrasion, and ensures that normal pressure is stabilized at a set threshold value in the polishing process. The device comprises a constant-force coil spring, a motor, a base, a limiting block, a linear guide rail, a balancing weight, a grinding wheel and a foundation frame. The linear guide rail in the vertical direction is installed on the foundation frame, the base is connected to the linear guide rail in a sliding mode and can move up and down on the linear guide rail, the motor is fixed to the base, the upper end of the constant-force coil spring is fixedly connected to the top of the foundation frame, and the lower end of the constant-force coil spring is connected with the base. The balancing weight is installed on the motor or the base, and the balancing weight requirement is calculated according to the target downward pressure F. The contact force stability is improved; the maintenance period is prolonged, and the constant-force floating structure does not need electrical maintenance.
Owner:STATE-OWNED SICHUAN WEST MASCH FACTORY
A constant force grinding method for complex surfaces of a robot based on force feedback
The present invention belongs to the field of robotics technology, specifically a constant force grinding method for complex surfaces of a robot based on force feedback. The method comprises the following steps: Step 1, collecting information of a six-dimensional force sensor through a robot controller; Step 2, introducing a fastest differential tracker in the self-disturbance rejection control; Step 3, forming an admittance control model by the robot and the environment to realize the outer loop control of the robot manipulator; Step 4, constructing a non-singular terminal sliding film control law to realize the inner loop control of the robot manipulator, thereby realizing the grinding of the curved workpiece surface. The present invention can improve the force tracking effect of the manipulator in a complex and unknown environment, thereby greatly improving the robot grinding accuracy.
Owner:SHENZHEN HUACHENG IND CONTROL
Electric drive intelligent constant force radial compensation system
The invention is suitable for the technical field of grinding, and provides an electric drive intelligent constant force radial compensation system which comprises an intelligent electric radial floating grinding device, the intelligent electric radial floating grinding device comprises a dust cover and a linear motor in the dust cover, and the linear motor is composed of a motor stator and a motor rotor. A grinding tool is arranged at the output end of the linear motor, a fixing base is installed on one side of the linear motor, a cone swinging device and an adjusting ring are installed on the fixing base, and the grinding tool and the cone swinging device are sealed in a labyrinth mode and provided with a labyrinth sealing outer ring and a labyrinth sealing inner ring. According to the scheme, the stability of driving force is improved, the mechanism design is optimized, the response speed for responding to external force changes and sealing are achieved, meanwhile, the influence on output torque is reduced to the minimum, the yield of high-precision polishing can be greatly improved, the polishing technological process is simplified, and the polishing efficiency is improved.
Owner:宁波斯帝尔科技有限公司
Grinding and measuring integrated self-adaptive variable-stiffness force-position combined grinding system
The invention relates to the technical field of grinding systems, in particular to a grinding and measuring integrated self-adaptive variable stiffness force-position combined grinding system. The problems that according to an existing grinding technology, the comprehensive error between the grinding technology and the equipment tail end is large, part of grinding systems adopt the air bag technology, the response is slow, or a macro-micro composite motion platform lacks flexible buffering, and the inherent frequency cannot be matched with surface changes of machined workpieces in real time through manual adjustment are mainly solved. In order to solve the problems that grinding constant force control, response speed and real-time inherent frequency adjustment are seriously insufficient, the following technical scheme is provided: the device comprises an industrial robot, and the operating end of the industrial robot is provided with a connecting piece; and the rigid-flexible coupling force control module is arranged between the industrial robot and the connecting piece and used for achieving constant-force grinding and adjusting the inherent frequency in real time according to the change of the machined surface at the same time. Constant-force grinding, accurate displacement compensation and real-time rigidity adjustment are achieved, the grinding quality and efficiency are greatly improved, and the applicability of equipment in complex workpiece machining scenes is expanded.
Owner:GUANGDONG UNIV OF TECH
Ground pressure control for agricultural implement
A harrow implement comprises of a tool bar with harrow sections attached in which each section is supported by one or more hydraulic cylinders mounted such that the cylinders force translated through the section provides a substantially constant force to the ground throughout the cylinders travel. A hydraulic pressure control is used such that the hydraulic oil on both sides of each hydraulic cylinder is regulated. The control is operated to vary the pressure differential between sides of the cylinder allowing a continuous range of ground force between zero (sections lifted) and a maximum, transferring tool bar mass to the sections.
Owner:ELMERS WELDING & MFG LTD
Self-adaptive constant-force buffer mechanism base and robot
The invention discloses a self-adaptive constant-force buffering mechanism base and a robot, and belongs to the technical field of specialized robots. Two sets of buffering units and constant-force buffering assemblies are arranged at the front end and the rear end of the base correspondingly; driving wheels are arranged on the buffer unit and the constant-force buffer assembly; the buffer unit comprises a horizontal buffer structure, a vertical buffer structure and a support; the horizontal buffer structure is slidably connected with the support in the vertical direction; the top of the vertical buffer structure is hinged to the support, and the bottom is fixedly connected with the driving wheel; the support is fixedly connected with the base; the constant-force buffering assembly comprises a main support and a constant-force spring. The self-adaptive constant-force buffer mechanism base and the robot can effectively solve the problems that a damping mechanism in the prior art cannot completely avoid vibration generated by a wheel type moving device in the vertical direction when the wheel type moving device moves on an uneven road surface, so that bolt looseness, wire harness interface looseness, material fatigue strain and the like occur; and therefore, the wheel type moving device has a fault in the operation process and cannot stably operate, and the like.
Owner:CHENGDU HUMANOID ROBOT INNOVATION CENT CO LTD
Main shaft polishing device for maintenance of generator set
The invention discloses a main shaft grinding device for generator set maintenance, and belongs to the technical field of main shaft grinding, the main shaft grinding device for generator set maintenance comprises a supporting frame, a plurality of sliding grooves which are symmetrically arranged in a rectangular shape are formed in the top of the supporting frame, and meanwhile the sides, away from the interior of the supporting frame, of the sliding grooves are arranged in an opening state; the supporting frame located in the sliding groove is slidably connected with a rack, the rack is limited by the supporting frame, meanwhile, one side of the rack is in transmission connection with a lifting gear, the lifting gear is rotationally connected with the supporting frame, and the two lifting gears located on one side of the supporting frame are fixedly connected with a connecting rod. And the connecting rod is rotationally connected with the supporting frame in a penetrating manner. By adopting the constant-force grinding assembly and the rotary supporting assembly, the grinding plate with the constant clamping force makes contact with the surface of the rotating main shaft, uniform grinding is achieved, excessive heat concentration can be effectively avoided, and hardening or cracking of the surface of the main shaft due to local high temperature is prevented.
Owner:SHANDONG BIVOS MECHANICAL & ELECTRICAL ENG CO LTD
Magnetically-driven artificial anal sphincter device based on magnetic conductance modulation
The invention relates to a magnetically-driven artificial anal sphincter device based on magnetic conductance modulation. The magnetically-driven artificial anal sphincter device comprises a shell, an external magnetic driving assembly, a transmission assembly and a constant force assembly, the transmission assembly and the constant force assembly are arranged in the shell; the external magnetic driving assembly comprises a high-speed turntable, a first permanent magnet and a motor; the transmission assembly comprises a low-speed turntable, a second permanent magnet and a connecting rod; the constant force assembly comprises an upper sliding block, a constant force spring and a lower sliding block. Human body rectum tissues are placed below the main shell and the cover plate; when the low-speed rotating disc rotates, the connecting rod is driven to push the upper sliding block to move downwards, the upper sliding block pushes the constant-force spring and the lower sliding block to move downwards, and then the rectum tissue between the lower sliding block and the bottom plate is clamped. Compared with the prior art, non-contact energy transmission of the artificial anal sphincter can be achieved, the rectal tissue is clamped in a constant-force mode, and the problem that intestinal canal tissue is damaged due to the fact that clamping contact stress is too large is solved.
Owner:UNIV OF SHANGHAI FOR SCI & TECH
Self-adaptive conveying belt longitudinal tearing three-dimensional scanning recognition system
The invention relates to a self-adaptive conveying belt longitudinal tearing three-dimensional scanning recognition system, and relates to the technical field of conveying belt damage detection.The self-adaptive conveying belt longitudinal tearing three-dimensional scanning recognition system comprises a supporting plate, a detection assembly, an adjusting assembly, a longitudinal tearing recognition body and a compensation assembly; the adjusting assembly comprises an adjusting box, a connecting column, a permanent magnet plate, an electromagnet and a current adjusting part, the compensation assembly comprises a first compensation block, a second compensation block and a compensation power part, and the electromagnet can quickly adjust the position of the connecting column under the constant force abutting detection of the detection rod on the conveying belt; and under the compensation action of the first compensation block, the second compensation block and the compensation power part, the longitudinal tearing identification main body can keep the optimal shooting distance on the basis of not enlarging the shooting gap. According to the invention, the shooting distance of the high-speed three-dimensional camera can be met without enlarging the shooting gap of the protective shell.
Owner:SHANXI DEDICATED MEASUREMENT CONTROL CO LTD
Adjustable constant-force clamping jaw based on torsion quasi-zero stiffness
The adjustable constant-force clamping jaw comprises a torsion input shaft, a torsion output shaft, a constant-force output mechanism and a force adjusting mechanism, the torsion input shaft is in transmission connection with the output end of a first motor, and the torsion output shaft is rotationally connected to the end, away from the torsion output shaft, of an outer frame; the torsion input shaft and the torsion output shaft rotate coaxially, the two ends of the constant force output mechanism are connected with the torsion input shaft and the torsion output shaft correspondingly, the constant force output mechanism is used for flexibly connecting the torsion input shaft and the torsion output shaft and outputting constant torsion to the torsion output shaft, and the force adjusting mechanism is connected with the torsion input shaft. And the force adjusting mechanism is rotationally connected with the torsion output shaft, and the force adjusting mechanism is used for adjusting the torsion output to the torsion input shaft by the constant force output mechanism, and through the technical scheme, the problem that in the prior art, a constant force clamping jaw is difficult to clamp through set clamping force is solved.
Owner:YANSHAN UNIV
Stepless self-adaptive large-range load quasi-zero stiffness vibration isolation platform and use method
ActiveCN120946741AMeasurement devicesNon-rotating vibration suppressionViscous dampingVibration control
The invention belongs to the technical field of vibration control and isolation, and discloses a stepless self-adaptive large-range load quasi-zero stiffness vibration isolation platform and a use method.The use method comprises the steps that the load and motion state is monitored in real time through a stepless variable load vibration isolation supporting leg binding force sensor and an acceleration sensor, and after being processed by a signal conditioning module, the load and motion state is output; the passive grading quasi-zero stiffness system and the electromagnetic constant force module are regulated and controlled by the semi-active controller, so that stepless self-adaptive adjustment of a large-range load is realized; the passive grading system provides stepped load bearing, the electromagnetic constant-force module realizes stepless adjustment in a hierarchy, and the passive grading system and the electromagnetic constant-force module are combined to cover a wide-area load demand; the linear bearing reduces friction, viscous damping consumes vibration energy, the quasi-zero stiffness vibration isolation characteristic can be effectively exerted, the vibration isolation effect is improved, the application range is widened, and the vibration isolation device is suitable for vibration isolation in various load scenes.
Owner:TONGJI UNIV
Self-adaptive constant force buffer mechanism and robot
The invention discloses a self-adaptive constant-force buffering mechanism and a robot, and belongs to the technical field of specialized robots, the self-adaptive constant-force buffering mechanism comprises at least two buffering units arranged on a base and a plurality of driving wheels consistent with the buffering units; the plurality of driving wheels are respectively connected with the base through the buffer units; the buffer unit is used for applying counter-acting force to the base to counteract the gravity of the base and the upper structure of the base, and it is guaranteed that the base and the upper structure of the base are kept stable in the vertical direction in the moving process; the buffer unit comprises a horizontal buffer structure, a vertical buffer structure and a support. According to the self-adaptive constant-force buffering mechanism and the robot, the problems that in the prior art, a damping mechanism cannot completely avoid vibration generated by a wheel type moving device in the vertical direction when the wheel type moving device moves on an uneven road surface, and consequently bolt looseness, wire harness interface looseness, material fatigue strain and the like occur can be effectively solved; and therefore, the wheel type moving device has a fault in the operation process and cannot stably operate, and the like.
Owner:CHENGDU HUMANOID ROBOT INNOVATION CENT CO LTD
A robotic force-controlled polishing end effector with active suppression
The present application discloses a robotic force-controlled polishing end effector with active suppression, comprising a rotary motion component, a constant force adjustment component, a motion decoupling component, and a polishing disc component; the rotary motion component transmits rotary power to a ball spline via a spline shaft; the constant force adjustment component transmits axial force to the ball spline, which can move axially while rotating synchronously with the motor, thereby achieving decoupling of rotation and axial movement, while simultaneously monitoring the force applied to the polishing disc component in real time; the polishing disc component is connected to the ball spline to achieve synchronous rotation and synchronous telescopic movement with the ball spline. The present application can achieve precise control of axial force and rotational speed, while actively suppressing vibration during the polishing process. The overall structure is simple and compact, easy to control, with high force control accuracy and a high response bandwidth.
Owner:GUANGDONG UNIV OF TECH
Grinding robot rigidity self-adaption constant force impedance control method and system and storage medium
The invention discloses a grinding robot rigidity self-adaption constant force impedance control method and system and a storage medium, and relates to the technical field of robot control, and the method comprises the following steps: firstly, obtaining original point cloud data of a to-be-ground workpiece through a camera, carrying out filtering noise reduction and down-sampling processing on the original point cloud data, and fitting a workpiece curved surface; secondly, establishing an impedance control model between the tail end of the robot and the workpiece, and constructing a complete control law; secondly, a three-dimensional vision system is introduced to obtain workpiece surface information, and a rigidity and position self-adaptive estimation mechanism integrating vision and a force sensor is constructed; and finally, designing an adaptive law based on a Lyapunov function to guarantee global asymptotic stability of the system. The robot can stably apply constant grinding force under the conditions of a complex curved surface and rigidity change, and the grinding precision, the force control stability and the system self-adaptive capacity are effectively improved; the method is suitable for free-form surface high-precision grinding scenes in the fields of aviation, military industry and the like.
Owner:HEFEI UNIV OF TECH
Constant-force polishing control method, device and equipment for forging die, medium and product
The invention discloses a constant-force polishing control method, device and equipment for a forging die, a medium and a product, and relates to the technical field of die polishing. The method comprises the steps that control parameters of an industrial robot are initialized in a polishing mode, and current control parameters are obtained; the industrial robot is fixedly connected with a polishing device; the polishing device comprises a connecting piece connected with the industrial robot, a clamp arranged at the end of the connecting piece, a pneumatic grinding wheel arranged on the clamp and a force sensor arranged on the connecting piece and used for monitoring stress of the pneumatic grinding wheel. The pneumatic grinding wheel is connected with a pneumatic system; the pneumatic grinding wheel is controlled to polish the mold based on the obtained current control parameters, and monitoring data collected by the force sensor is obtained at preset time intervals in the polishing process; and based on a pre-constructed polishing position correction model and the monitoring data, the current position of the pneumatic grinding wheel is corrected, so that the pneumatic grinding wheel keeps constant force when polishing the mold. The polishing efficiency and the polishing quality of the die can be effectively improved.
Owner:BEIJING RESEARCH INSTITUTE OF MECHANICAL & ELECTRICAL TECHNOLOGY CO LTD CAM
Cable insulation performance detection device
PendingCN121324851ATesting dielectric strengthMeasurement instrument housingConstant forceStructural engineering
The invention belongs to the technical field of cable detection, and particularly discloses a cable insulation performance detection device which comprises two annular frames which are symmetrically and fixedly arranged at intervals. The rotating rings are arranged on the two ring frames respectively; the translation sliding table is connected between the two rotating rings; the clamping mechanisms are arranged on the ring frames and are symmetrical up and down along the axis; the dynamic bending applying mechanism is arranged on the translation sliding table; wherein one clamping mechanism is provided with a constant force straightening mechanism used for applying constant pulling force to the cable. A controllable and dynamic bending stress is applied to a to-be-detected cable under constant axial tension through a radial force application assembly capable of moving in the axial direction and the circumferential direction of the cable, and potential defects such as microcracks or interface stripping in an insulating layer which is physically compacted and covered can be actively exposed and excited through the scheme; therefore, 360-degree multi-plane and axial omnibearing stress loading detection of the cable in the circumferential direction is realized.
Owner:HUAN CABLE TECHNOLOGY CO LTD