CN106003140A - Flexible unit and flexible wrist - Google Patents

Flexible unit and flexible wrist Download PDF

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Publication number
CN106003140A
CN106003140A CN201610616461.0A CN201610616461A CN106003140A CN 106003140 A CN106003140 A CN 106003140A CN 201610616461 A CN201610616461 A CN 201610616461A CN 106003140 A CN106003140 A CN 106003140A
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CN
China
Prior art keywords
locating part
blind hole
flexible
middle
protuberance
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CN201610616461.0A
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Chinese (zh)
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CN106003140B (en
Inventor
刘阳
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深圳果力智能科技有限公司
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Priority to CN201610616461.0A priority Critical patent/CN106003140B/en
Publication of CN106003140A publication Critical patent/CN106003140A/en
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Publication of CN106003140B publication Critical patent/CN106003140B/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00Joints
    • B25J17/02Wrist joints
    • B25J17/0208Compliance devices

Abstract

The invention discloses a flexible unit. The flexible unit comprises a strip-shaped flexible body, and the flexible body is internally provided with a head limiting piece, a plurality of middle limiting pieces and a tail limiting piece which are overlapped at intervals in the length direction of the flexible body; one side of each middle limiting piece close to the head limiting piece is inwards concaved to form a first blind hole, and the other side of each middle limiting piece close to the tail limiting piece is protruded to form a first limiting portion; the first limiting portion of one of every two adjacent middle limiting pieces stretches into the first blind hole of the other middle limiting piece; the side portion of the head limiting piece close to the middle limiting pieces is protruded to form a second limiting portion, and the second limiting portion stretches into the first blind hole of the middle limiting piece adjacent to the head limiting piece; the side portion of the tail limiting piece close to the middle limiting pieces is inwards concaved to form a second blind hole, the first limiting portion of the middle limiting piece adjacent to the tail limiting piece stretches into the second blind hole, and the flexible unit can integrate flexibility and a self-limiting function. The invention further discloses a flexible wrist adopting the flexible unit.

Description

A kind of flexible unit and flexible waist

Technical field

The present invention relates to mechanical wrist, particularly relate to a kind of flexible unit and flexible waist.

Background technology

In robot automation's assembling work, due to weighing of robot and material conveying system Multiple positioning precision error, frock clamp tolerance and parts machining tolerance etc., to be assembled zero Rigging error (including horizontal direction and angle direction) is had between part, and the most to be assembled Assembly precision between parts requires higher, particularly in 3C (computer, communication and disappear Expense class of electronic devices) etc. require the field of Fine Boring, thus cause robot cannot complete dress Join task.Therefore, robot automation's Fine Boring system must comprise elimination rigging error Device.This rigging error can by improve robot, material conveying system, frock clamp, zero The motion of parts etc. and the mode of machining accuracy eliminate, but the method will be greatly improved machine The cost of people's Fine Boring system, is not suitable for the commercial Application of large-scale low-cost.The most existing Solution have two kinds: one to be the mode using visual servo or force feedback etc. actively to eliminate, But this mode needs the servo control loop that vision sensor or force transducer, controller etc. are constituted And relevant software system, it will cause the rising of robotic assembly system's cost;Another kind of Method is to use flexible waist for robot to eliminate rigging error, this kind of solution passively Without using sensor and controller etc., when between parts to be assembled during contact, flexible waist can Quickly compensate rigging error by the elastic deformation of self flexible portion, be a kind of simple low one-tenth This rigging error compensation device.

Traditional rigid machine human wrist is generally by positive drive machines such as spherical gear, bevel gear combinations Structure connects and composes, and can adjust locus and attitude under the driving of multiple drivers.But it is subject to Frame for movement limits, and kinematic dexterity is poor, and number of degrees of freedom, is the most less, it is impossible to be applicable to precision Assembling work, only can complete the operations such as carrying, loading and unloading.

Flexible waist for robot is to connect robot arm to hold with the end such as mechanical hand or fixture The parts of row device, it can utilize the elastic deformation of self flexible structure to change end effector Spatial attitude and position, to eliminate the rigging error in all directions, complete robotic asssembly and appoint Business.Flexible waist for robot have one be positioned at its device outside Remote Flexible center, and This flexible central is just designing to be positioned between parts to be assembled and is coming in contact place.With peg-in-hole assembly it is Example, this flexible central is designed in rod member end to be assembled.At this flexible central, apply water Flat power only can produce the horizontal displacement in this horizontal direction and not produce the position on other direction Move;Apply moment of torsion only to produce the angle displacement in this torque direction and not produce other direction On displacement.Therefore, the robot of flexible waist is used in the assembling eliminated in a direction by mistake The new rigging error on other direction will not be introduced during difference.

Flexible waist for robot the earliest is generally made up of two kinds of flexible unit.One of which is soft Property unit be used for providing the rigging error in horizontal direction to compensate, another kind of for providing angle side Rigging error upwards compensates (such as Publication No. US4098001 and the patent of US4155169 Document).The design that this kind is made up of two kinds of flexible unit, structure is complex.Additionally, it is soft Property unit version be usually the round bar having flexible hinge at end, this kind of structural stress is relatively For concentrating, cause the performance of flexible waist device fatigue poor.Therefore, this kind is designed without in work Large-scale application in industry.

Later, flexible waist is had to use the integrated flexible unit closed (such as Publication No. The patent documentation of US7421799), but the integrated flexible rigidity closed is relatively big, inserts fixing Enter the rigging error that can compensate under power limited, and it is replaceable to compare more discrete flexible unit Partially flexible unit, the flexible unit of integration can only all be changed.

Also have partially flexible wrist design to use the single flexible unit of Discrete Distribution, can carry simultaneously Compensate (such as Publication No. US4414750 for the rigging error in level and angle direction Patent documentation).This single flexible unit generally uses standardized helical spring or a kind of metal Constitute with the composite construction of rubber.But the flexible waist for robot become by Coiled Spring Design There is following deficiency: owing to helical spring structure form is fixed, fill with its flexible waist constituted The flexible central position put is limited, and additionally level and angular error compensation ability are the most very limited, Accordingly, it is difficult to industrially large-scale application.Part uses the design of helical spring only can realize Position on three degree of freedom direction and pose adjustment, only can compensate on three degree of freedom direction Rigging error (as Publication No. CN101863035A, CN101863035B, The patent documentation of CN201824359U).The design of present industrial application is to use with one layer Metal and the one layer of rubber flexible unit that the composite construction being formed by stacking constitutes of interlocking designs. But the composite structure of metal and rubber still has following deficiency: this structure lacks from stopping means; This structure has certain flexibility, but under heavy load, owing to deformation is relatively big, may draw Play tear and the destruction of rubber layer.In actual use, flexible unit structure is such as utilized to form Flexible waist device, this flexible waist device is (such as Publication No. US 2004/0128850 A1 Patent documentation) need additonal limit bar and corresponding spacing hole to realize the spacing merit of device The large deformation that may result in destruction can will not be produced with protection flexible unit.

Summary of the invention

In order to overcome the deficiencies in the prior art, an object of the present invention is to provide a kind of collection soft Property and the flexible unit being integrated from limit function.

The two of the purpose of the present invention are to provide a kind of flexible waist having from limit function.

An object of the present invention realizes by the following technical solutions:

A kind of flexible unit, including the flexible body of strip, has along soft in this flexible body Property the interval stacking and be respectively provided with a locating part of rigidity, multiple middle locating part of body length direction It is divided into flexible body two ends with a tail locating part, head locating part and tail locating part;Limit near head The side indent of the middle locating part of position part forms the first blind hole, near the middle locating part of tail locating part The first limiting section of convexing to form of opposite side;In one of them in adjacent two middle locating parts First limiting section of locating part stretches in the first blind hole of locating part in another one, and for First blind hole hole wall abuts and coordinates;Side projections near the head locating part of middle locating part forms the Two limiting sections, this second limiting section stretches into the first blind hole of the middle locating part adjacent with head locating part In, and for abutting cooperation with the first blind hole hole wall;Side near the tail locating part of middle locating part Portion's indent forms the second blind hole, and the first limiting section of the middle locating part adjacent with tail locating part stretches into In second blind hole, and for abutting cooperation with the second blind hole hole wall;Head locating part, middle locating part And all connected by flexible layer between tail locating part.

Preferably, the first blind hole of above-mentioned a kind of flexible unit and the cross section of the second blind hole are equal For circle.

Preferably, the first blind hole and the second blind hole hole wall top of above-mentioned a kind of flexible unit are equal Being provided with annular flange flange, each first limiting section is respectively protruding into the first blind hole and by annular flange flange collar extension In two blind holes, and stretch into the end outer wall of each first limiting section in the first blind hole and the second blind hole Being equipped with annular Access Division, the annular Access Division of the first limiting section is used for annular flange flange towards blind Sidewall in hole abuts and coordinates;Second limiting section is stretched in the first blind hole by annular flange flange collar extension, And second limiting section stretch into the end outer wall of the first blind hole and be provided with annular Access Division, the second limiting section Annular Access Division for abutting cooperation with annular flange flange towards the sidewall in blind hole.

Preferably, the first limiting section and second limiting section of above-mentioned a kind of flexible unit are circle Cylinder.

Preferably, the flexible layer of above-mentioned a kind of flexible unit is rubber layer, head locating part, in Locating part and tail locating part are made by metal material.

Preferably, the flexible body of above-mentioned a kind of flexible unit is cylinder.

Preferably, the middle locating part of above-mentioned a kind of flexible unit to be respectively provided on two sides with first convex Portion and the second protuberance, be respectively equipped with near the head locating part of middle locating part and the sidepiece of tail locating part 3rd protuberance and the 4th protuberance, when flexible body is along its axial-rotation, spacing in adjacent two In one of them in part, the first protuberance of locating part is for in another one the of locating part Two protuberances abut and coordinate, and the first protuberance of the middle locating part adjacent with head locating part is for limiting with head 3rd protuberance of position part abuts and coordinates, and the second protuberance of the middle locating part adjacent with tail locating part is used Cooperation is abutted in the 3rd protuberance with tail locating part.

Preferably, the first protuberance of above-mentioned a kind of flexible unit, the second protuberance, the 3rd protuberance Quantity all correspondence and more than one with the 4th protuberance.

The two of the purpose of the present invention realize by the following technical solutions:

Flexible waist, including the described flexible unit of active plate, follower plate and at least two, actively Plate and follower plate are parallel to each other and spaced, and the two ends of flexible unit are respectively with dismountable side Formula is fixed in active plate and follower plate, and each flexible unit is about the central axis axial symmetry of active plate Distribution.

Preferably, the active plate of above-mentioned flexible waist and follower plate have multiple circumferentially The installing hole of array distribution, is provided with mounting platform in installing hole, the two ends of flexible unit are inserted respectively In being loaded on installing hole and pass through screw lock respectively in mounting platform.

Compared to existing technology, the beneficial effects of the present invention is:

1, it is spaced stacking by flexible body length direction in making flexible body and is respectively provided with rigidity A locating part, multiple middle locating part and a tail locating part, head locating part, middle locating part and All connected by flexible layer between tail locating part, and the second limiting section of head locating part can be with adjacent First blind hole hole wall of middle locating part abuts and coordinates, and the first limiting section of adjacent middle locating part can be with The first corresponding blind hole hole wall abuts and coordinates, and the first of the middle locating part adjacent with tail locating part Limiting section can abut cooperation with the second blind hole hole wall of tail locating part, so can make flexible body certainly Body can realize from limit function in X-axis, Y-axis and three horizontal direction displacements of Z axis, from And not only make flexible unit integrate flexibility and from limit function, but also improve flexible single Unit's stability under the operating modes such as bigger load or impact, and avoid the damage of flexible unit Bad;

2, by being equipped with annular flange flange in the first blind hole and the second blind hole hole wall top, and make The end outer wall stretching into each first limiting section in the first blind hole and the second blind hole is equipped with annular Access Division, the second limiting section stretches into the end outer wall of the first blind hole and is provided with annular Access Division;So, Cooperation is abutted with annular flange flange towards the sidewall in blind hole in the annular Access Division of the first limiting section, And second annular Access Division and the annular flange flange of limiting section abut towards the sidewall in blind hole and join Under conjunction, can, make flexible unit be possible not only to realize three horizontal direction displacements from limit function, Can also realize, along X-axis and the angle displacement of Y-axis both direction, wanting with satisfied different operating modes Ask;

3, by being respectively provided with the first protuberance and the second protuberance in the both sides of middle locating part, close The head locating part of middle locating part and the sidepiece of tail locating part are respectively provided with the 3rd protuberance and the 4th convex Portion, therefore, when flexible body is along its axial-rotation, in adjacent two middle locating parts wherein First protuberance of one middle locating part can abut with the second protuberance of locating part in another one joins Close, and the first protuberance of the middle locating part adjacent with head locating part can be convex with the 3rd of head locating part the Portion abuts and coordinates, and the second protuberance of the middle locating part adjacent with tail locating part can be with tail locating part 3rd protuberance abuts and coordinates, so that flexible unit flexible unit can also realize along Z-direction Angle displacement from limit function;

4, use the flexible waist of above-mentioned flexible unit then without increasing stopping means, on the one hand Can realize multiple horizontal displacement and angle displacement from spacing, thus effectively protect this flexible hand Wrist, and it is substantially reduced cost, on the other hand can provide extra while simplifying flexible waist Physical space, so that flexible waist to carry out other designs, needs in the case of such as ultrahigh speed assembling Pneumatic control component etc. is installed in flexible hand.

Accompanying drawing explanation

Fig. 1 is the sectional view of the flexible unit in the embodiment of the present invention one;

Fig. 2 is the sectional view of the flexible unit in the embodiment of the present invention two;

Fig. 3 is the structural representation of the flexible unit in the embodiment of the present invention three;

Fig. 4 is the flexible waist structural representation using the flexible unit in embodiment one;

In figure: 10, flexible body;11, head locating part;111, the second limiting section;112、 3rd protuberance;12, middle locating part;121, the first limiting section;122, the first blind hole;123、 First protuberance;124, the second protuberance;13, tail locating part;131, the second blind hole;132、 4th protuberance;14, flexible layer;15, annular flange flange;16, annular Access Division;20, flexible Unit;21, active plate;22, follower plate;23, installing hole.

Detailed description of the invention

Below, in conjunction with accompanying drawing and detailed description of the invention, the present invention is described further:

Embodiment one:

A kind of flexible unit 20 as shown in Figure 1, including the flexible body 10 of strip, should Have in flexible body 10 along the interval stacking of flexible body 10 length direction and be respectively provided with rigidity One locating part 11, multiple middle locating part 12 and a tail locating part 13, head locating part 11 He Tail locating part 13 is divided into flexible body 10 two ends;Middle locating part near head locating part 11 The side indent of 12 forms the first blind hole 122, the middle locating part 12 of close tail locating part 13 The first limiting section 121 that opposite side convexes to form;In adjacent two middle locating parts 12 wherein First limiting section 121 of one middle locating part 12 stretches in another one the first of locating part 12 In blind hole 122, and for abutting cooperation with the first blind hole 122 hole wall;Near middle locating part The side projections of the head locating part 11 of 12 forms the second limiting section 111, this second limiting section 111 Stretch in the first blind hole 122 of the middle locating part 12 adjacent with head locating part 11, and for First blind hole 122 hole wall abuts and coordinates;Sidepiece near the tail locating part 13 of middle locating part 12 Indent forms the second blind hole 131, the first limit of the middle locating part 12 adjacent with tail locating part 13 Position portion 121 stretches in the second blind hole 131, and for abutting cooperation with the second blind hole 131 hole wall; Head locating part 11, all connected by flexible layer 14 between middle locating part 12 and tail locating part 13. If the length direction of flexible body 10 is set to Z-direction, then be located at a locating part 11, Flexible body 10 can be existed by the flexible layer 14 between middle locating part 12 and tail locating part 13 Translation displacements in Z-direction limits;Due to its in adjacent two middle locating parts 12 In the first limiting section 121 of a middle locating part 12 stretch in another one the of locating part 12 In one blind hole 122, the second limiting section 111 of head locating part 11 stretches into and head locating part 11 phase In first blind hole 122 of adjacent middle locating part 12, the middle locating part adjacent with tail locating part 13 First limiting section 121 of 12 stretches in the second blind hole 131, and head locating part 11, in spacing Part 12 and tail locating part 13 are respectively provided with rigidity, and therefore flexible body 10 is along away from Z axis During the bending of direction, the second limiting section 111 of head locating part 11 will be with adjacent middle locating part 12 First blind hole 122 hole wall abut coordinate, the first limiting section 121 of adjacent middle locating part 12 Will abut with the first corresponding blind hole 122 hole wall and coordinate, and adjacent with tail locating part 13 First limiting section 121 of middle locating part 12 will be with the second blind hole 131 hole of tail locating part 13 Wall abuts and coordinates, thus to flexible body 10 in the X-axis vertical with Z axis and Y direction Translation displacements well limit so that flexible unit 20 can to X-axis, Y-axis and Three horizontal direction displacements of Z axis are carried out from spacing, thus not only make flexible unit 20 collect flexible It is integrated with from limit function, but also improves flexible unit 20 at bigger load or shock Stability under the operating modes such as impact, and avoid the damage of flexible unit 20.

As shown in Figure 4, the flexible waist in the present embodiment includes active plate 21, follower plate 22 At least two above-mentioned flexible unit 20, and active plate 21 and follower plate 22 be parallel to each other And spaced, the two ends of flexible unit 20 are fixed in active plate the most removably 21 and follower plate 22, each flexible unit 20 is divided about the central axis axial symmetry of active plate 21 Cloth.Wherein, active plate 21 is for being fixed on the mechanical arm of industrial robot, it is provided that actively Driving force.Before carrying out Fine Boring, follower plate 22 is for being fixed on industrial robot End effector, by active plate 21, flexible unit 20 drive under move or rotate.? When carrying out Fine Boring, owing to can contact between parts to be assembled, cause rod member to be assembled Motion, drive end effector motion, and then drive follower plate 22 motion linkage Flexible unit 20 deformation.And owing to the flexible unit 20 in the present embodiment collects flexibility and from spacing Function is integrated, and the flexible waist therefore using this flexible unit 20 is then spacing without being further added by Device, on the one hand can realize the self compensation of rigging error, thus effectively protect this flexible waist, And it is substantially reduced cost, on the other hand can provide extra while simplifying flexible waist structure Physical space, so that flexible waist to carry out other designs, needs in the case of such as ultrahigh speed assembling Pneumatic control component etc. is installed in flexible hand.

For convenience of flexible unit 20 and active plate 21 and the installation of follower plate 22, it is beneficial to more Changing maintenance, as shown in Figure 4, active plate 21 and follower plate 22 have multiple circumferentially battle array The installing hole 23 of column distribution, is provided with mounting platform, the two of flexible unit 20 in installing hole 23 In end is plugged in installing hole 23 respectively and pass through screw lock respectively in mounting platform, accordingly, Hole can be threaded at flexible unit 20 two ends to lock for screw.

Additionally, in order to make the first limiting section 121 and the second limiting section 111 be subject in the horizontal direction Power equalizes, and is respectively provided with by the cross section of the first blind hole 122 and the second blind hole 131 in the present embodiment For circle, further, it is also possible to the first limiting section 121 and the second limiting section 111 are all provided with It is set to cylinder and processes and equalize flexible body 10 for convenience, flexible body 10 can be set It is set to cylinder.Additionally, in order to cost-effective and strengthen the connection of locating part and flexible layer 14 Stability, the flexible layer 14 in the present embodiment is rubber layer, and head locating part 11, in spacing Part 12 and tail locating part 13 are made by metal material.The most according to actual needs, can be right Shape and the material of the above-mentioned each parts of flexible body 10 are adjusted, and are not limited to the present embodiment In mode.

Embodiment two:

As in figure 2 it is shown, the present embodiment two is, in the present embodiment from the different places of embodiment one The first blind hole 122 and the second blind hole 131 hole wall top be equipped with annular flange flange 15, each One limiting section 121 is respectively protruding into the first blind hole 122 and the second blind hole by annular flange flange 15 collar extension In 131, and stretch into each first limiting section 121 in the first blind hole 122 and the second blind hole 131 End outer wall be equipped with annular Access Division 16;Second limiting section 111 is by annular flange flange 15 ring Mouth stretches in the first blind hole 122, and the second limiting section 111 stretches into the end of the first blind hole 122 Outer wall is provided with annular Access Division 16;Owing to the annular Access Division 16 of the first limiting section 121 can be with Annular flange flange 15 abuts towards the sidewall in blind hole and coordinates, and the annular of the second limiting section 111 Access Division 16 can abut cooperation with annular flange flange 15 towards the sidewall in blind hole, therefore, in reality Execute flexible unit 20 in example one can realize three horizontal direction displacements outside limit function, also Can realize the angle displacement along X-axis and Y-axis both direction from limit function, to enter one Step strengthen flexible unit 20 from limit function, and make in this flexible unit 20 of employing soft Property the strengthening from limit function, with satisfied different duty requirements of wrist.

Embodiment three:

As it is shown on figure 3, the present embodiment three is, in the present embodiment from the different places of embodiment two Middle locating part 12 be respectively provided on two sides with the first protuberance 123 and the second protuberance 124, close The head locating part 11 of middle locating part 12 and the sidepiece of tail locating part 13 are respectively equipped with the 3rd protuberance 112 and the 4th protuberance 132, therefore, when flexible body 10 is along its axial-rotation, adjacent two In one of them in individual middle locating part 12, the first protuberance 123 of locating part 12 can be with other one Individual middle locating part 12 second protuberance 124 abut coordinate, and adjacent with head locating part 11 in First protuberance 123 of locating part 12 can abut cooperation with the 3rd protuberance 112 of head locating part 11, Second protuberance 124 of the middle locating part 12 adjacent with tail locating part 13 can be with tail locating part 13 The 3rd protuberance 112 abut coordinate so that the flexible unit 20 in the present embodiment is not only Three horizontal direction displacements can be realized and along X-axis and the angle displacement of Y-axis both direction From limit function, it is also possible to realize the angle displacement along Z-direction from limit function, with Further enhance flexible unit 20 from limit function, and in making this flexible unit 20 of employing The strengthening from limit function, with satisfied different duty requirements of flexible waist.Further also may be used With by arrange first protuberance the 123, second protuberance 124 corresponding to more than one and quantity, Three protuberance 112 and the 4th protuberances 132, to strengthen the flexible unit 20 angle along Z-direction Displacement.

It will be apparent to those skilled in the art that can technical scheme as described above and structure Think, make other various corresponding changes and deformation, and all these changes and deformation Within all should belonging to the protection domain of the claims in the present invention.

Claims (10)

1. a flexible unit, it is characterised in that include the flexible body of strip, this flexibility This is the most internal has along the interval stacking of flexible body length direction and to be respectively provided with of rigidity spacing Part, multiple middle locating part and a tail locating part, head locating part and tail locating part are divided into flexibility originally Body two ends;Side indent near the middle locating part of head locating part forms the first blind hole, near tail The first limiting section that the opposite side of the middle locating part of locating part convexes to form;In adjacent two spacing In one of them in part, the first limiting section of locating part stretches in another one the of locating part In one blind hole, and for abutting cooperation with the first blind hole hole wall;Spacing near middle locating part The side projections of part forms the second limiting section, and this second limiting section stretches into adjacent with head locating part In first blind hole of middle locating part, and for abutting cooperation with the first blind hole hole wall;Near middle limit The sidepiece indent of tail locating part of position part forms the second blind hole, adjacent with tail locating part in spacing First limiting section of part stretches in the second blind hole, and for abutting cooperation with the second blind hole hole wall; Head locating part, all connected by flexible layer between middle locating part and tail locating part.
A kind of flexible unit the most according to claim 1, it is characterised in that the first blind hole It is circle with the cross section of the second blind hole.
A kind of flexible unit the most according to claim 1, it is characterised in that the first blind hole Being equipped with annular flange flange with the second blind hole hole wall top, each first limiting section is by annular flange flange collar extension Be respectively protruding in the first blind hole and the second blind hole, and stretch in the first blind hole and the second blind hole each The end outer wall of the first limiting section is equipped with annular Access Division, the annular Access Division of the first limiting section For abutting cooperation with annular flange flange towards the sidewall in blind hole;Second limiting section is by annular flange flange Collar extension stretches in the first blind hole, and the second limiting section stretches into the end outer wall of the first blind hole and is provided with ring Shape Access Division, the annular Access Division of the second limiting section is used for annular flange flange towards the side in blind hole Wall abuts and coordinates.
A kind of flexible unit the most according to claim 2, it is characterised in that first is spacing Portion and the second limiting section are cylinder.
A kind of flexible unit the most according to claim 1, it is characterised in that flexible layer is Rubber layer, head locating part, middle locating part and tail locating part are made by metal material.
A kind of flexible unit the most according to claim 1, it is characterised in that flexible body For cylinder.
7. according to a kind of flexible unit described in any one of claim 1-6, it is characterised in that Middle locating part be respectively provided on two sides with the first protuberance and the second protuberance, near middle locating part head limit The sidepiece of position part and tail locating part is respectively equipped with the 3rd protuberance and the 4th protuberance, on flexible body edge During its axial-rotation, the first protuberance of locating part in one of them in adjacent two middle locating parts For abutting cooperation with the second protuberance of locating part in another one, adjacent with head locating part in First protuberance of locating part is for abutting cooperation with the 3rd protuberance of head locating part, with tail locating part Second protuberance of adjacent middle locating part is for abutting cooperation with the 3rd protuberance of tail locating part.
A kind of flexible unit, it is characterised in that the first protuberance, The quantity of the second protuberance, the 3rd protuberance and the 4th protuberance all correspondence and more than one.
9. using the flexible waist of flexible unit described in any one of claim 1-8, its feature exists In, including the described flexible unit of active plate, follower plate and at least two, active plate and follower plate Being parallel to each other and spaced, the two ends of flexible unit are fixed in master the most removably Dynamic plate and follower plate, each flexible unit is distributed about the central axis axial symmetry of active plate.
Flexible waist the most according to claim 9, it is characterised in that active plate and from Dynamic plate has the installing hole of multiple circumferentially array distribution, is provided with installation flat in installing hole Platform, in the two ends of flexible unit are plugged in installing hole respectively and passes through screw lock respectively in installation Platform.
CN201610616461.0A 2016-07-29 2016-07-29 A kind of flexible unit and flexible waist CN106003140B (en)

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US7421799B2 (en) * 2006-06-22 2008-09-09 Sang-Wan Joo Remote center compliance device with one elastic body
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CN105034018A (en) * 2015-09-09 2015-11-11 刘阳 Flexible unit and flexible wrist for industrial robot precision assembly
CN205852829U (en) * 2016-07-29 2017-01-04 深圳果力智能科技有限公司 A kind of flexible unit and flexible waist

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4098001A (en) * 1976-10-13 1978-07-04 The Charles Stark Draper Laboratory, Inc. Remote center compliance system
GB2152473A (en) * 1984-01-12 1985-08-07 British Nuclear Fuels Ltd Improvements in compliant devices
US6012494A (en) * 1995-03-16 2000-01-11 Deutsche Forschungsanstalt Fur Luft- Und Raumfahrt E.V. Flexible structure
US20040128850A1 (en) * 2003-01-08 2004-07-08 Sang-Wan Joo Remote center compliance device
CN2618359Y (en) * 2003-04-29 2004-05-26 魏顶启 Electromagnetic muscle power plant
US7421799B2 (en) * 2006-06-22 2008-09-09 Sang-Wan Joo Remote center compliance device with one elastic body
CN102463574A (en) * 2010-11-12 2012-05-23 财团法人工业技术研究院 Adaptability position correction device
CN105034018A (en) * 2015-09-09 2015-11-11 刘阳 Flexible unit and flexible wrist for industrial robot precision assembly
CN205852829U (en) * 2016-07-29 2017-01-04 深圳果力智能科技有限公司 A kind of flexible unit and flexible waist

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