CN107511649A - Air-driven type is adjustable remote center compliance device - Google Patents
Air-driven type is adjustable remote center compliance device Download PDFInfo
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- CN107511649A CN107511649A CN201610416150.XA CN201610416150A CN107511649A CN 107511649 A CN107511649 A CN 107511649A CN 201610416150 A CN201610416150 A CN 201610416150A CN 107511649 A CN107511649 A CN 107511649A
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- Prior art keywords
- adjustable
- air
- compliance device
- remote center
- adjustable elastic
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
Abstract
A kind of air-driven type in mechanical assembly technique field is adjustable remote center compliance device, including：Fixed platform, some adjustable elastic units and motion platform, wherein：Fixed platform and motion platform are oppositely arranged up and down, and adjustable elastic unit is used in a manner of circumferential annular array centered on the center of circle of fixed platform end face outside, and is in tilted layout between fixed platform and motion platform；Described adjustable elastic unit includes：Top base, bottom base, the more inner chamber adjustable elastic structures of flap-type, stacking elastic construction and the gas path joint being coaxially disposed, wherein：The more inner chamber adjustable elastic structures of flap-type are fixed by socket in being laminated on elastic construction and forming some air flues, and the more inner chamber adjustable elastic structure upper and lower ends of flap-type are socketed with top base and bottom base sealing respectively, and gas path joint is fixedly connected with top base and is connected with air flue.The present invention improves the versatility of compliance device, disclosure satisfy that the peg-in-hole assembly job requirements of each size of series by increasing gas activated structure.
Description
Technical field
The present invention relates to a kind of technology in Automatic manual transmission field, specifically a kind of air-driven type is adjustable remote center compliance device.
Background technology
In Automated assembly operation, the presence of all kinds of errors easily causes jam between parts to be assembled etc., and engineering is normal in practice
Solve problems by the positioning compensation and error correction of the people that puts together machines.At present, robot inaccuracy compensation is mainly by submissive
Operate to realize, including active compliance and the class implementation of passive compliance two.Although passive compliance device has that precision is low, controllability
The problems such as bad, but have the advantages that fast response time, structure and control are simple, produce important in inhibiting for industrial automation.
In addition, the submissive operation of passive compliance device is not limited by part tolerance to be assembled requirement, thus there is the bigger scope of application.
Remote center compliance device is typical passive compliance device, is had a wide range of applications in peg-in-hole assembly operation.
Existing remote center compliance device uses the Flexible element with fixed structure size and flexible characteristic mostly, whole device
End flexibility center and horizontal/axial flexibility are unmodifiable, thus can not be applied to the changeable occasion of accessory size.In this base
Developed adjustable remote center compliance device on plinth again, the device mostly using mechanical movement come the stiffness parameters of regulation elasticity unit or
Arrangement parameter, so as to realize the position adjustments to the end flexibility center of compliance device, but mechanical adjustment mode needs to use rigid body
Mechanism can not only increase the quality and volume of compliance device, reduce the flexibility of assembly manipulation, but also can increase dress as auxiliary
The inertia of match system, control real-time is set to become difficult.
The content of the invention
The present invention be directed to deficiencies of the prior art, it is proposed that a kind of air-driven type is adjustable remote center compliance device, passes through increasing
Aerating body actuating structure, the versatility of compliance device is improved, meet the peg-in-hole assembly job requirements of each size of series.
The present invention is achieved by the following technical solutions,
The present invention includes：Fixed platform, some adjustable elastic units and motion platform, wherein：In fixed platform and motion platform
Under be oppositely arranged, adjustable elastic unit using in a manner of circumferential annular array, and is tilted centered on the center of circle of fixed platform end face outside
It is arranged between fixed platform and motion platform.
Described adjustable elastic unit includes：Top base, bottom base, the more inner chamber adjustable elastic structures of flap-type, the layer being coaxially disposed
Folded elastic construction and gas path joint, wherein：Stacking elastic construction periphery is provided with some air flue grooves, the more inner chambers of flap-type are adjustable bullet
Property structure be fixed by socket in forming some air flues on stacking elastic construction, the more inner chamber adjustable elastic structure upper and lower ends of flap-type respectively with it is upper
Pedestal and bottom base sealing socket, gas path joint is threadably secured with top base to be connected and is connected with air flue.
The more inner chamber adjustable elastic structural integrity formula castings of described flap-type, including：Thin-wall sleeve and the several columns of connection fixed thereto week
To uniform gas activated unit；
Cavity is provided with inside described gas activated unit, cavity is connected with air flue；Two neighbouring gas activated units are set
There is gap.
Preferably, the more inner chamber adjustable elastic structures of described flap-type are three-clove style.
Described fixed platform and motion platform is flat column structure, and the basal diameter of fixed platform is more than the bottom of motion platform
Face diameter.
Preferably, the maximum outside diameter of the more inner chamber adjustable elastic structures of described flap-type is the 95% of adjustable elastic unit maximum outside diameter.
Described fixed platform and motion platform are provided with sloped position hole, are threadably secured and are connected with the both ends of adjustable elastic unit.
Described stacking elastic construction is integral type column structure, including the alternately low stiffness layer and high rigidity layer of engagement, Low rigidity
Layer and high rigidity layer are glued by rough surface to be fixed.
The first cylinder boss, the second cylinder boss and three pairs of locating convex blocks are correspondingly provided with the inside of the top base and bottom base；Institute
The locating convex block stated circumferentially is distributed in top base, on bottom base, and groove is formed between two neighboring locating convex block on same pedestal；Institute
The outside for stating top base is provided with the straight pipe thread hole being tightly connected with gas path joint.
Described the first cylinder boss, the external diameter of the second cylinder boss are identical with stacking elastic construction external diameter, and the first cylinder boss
Provided with air channel corresponding with air flue groove.
The more inner chamber adjustable elastic structure upper and lower ends of described flap-type respectively with the first cylinder boss and the second cylinder boss sealing shroud
Connect.
Described top base and the end face outside of bottom base are respectively equipped with three uniform screwed holes of circumference, for being put down with corresponding
Platform location and installation.
Technique effect
Compared with prior art, the present invention is by increasing gas activated micro-structural so that the end flexibility center of compliance device and horizontal stroke
It is variable within the specific limits to/axial flexibility, compliance device is increased for the diversified adaptability of accessory size, ensure that dress
Efficient progress with operation.
Brief description of the drawings
Fig. 1 is that the positive of the present invention waits shaft side figure；
Fig. 2 is the front view of the present invention；
Fig. 3 is the front view of adjustable elastic unit in the present invention；
Fig. 4 is the elevation cross-sectional view of adjustable elastic unit in the present invention；
Fig. 5 is the more inner chamber adjustable elastic structure charts of three-clove style in the present invention；
In figure：(a) it is elevation cross-sectional view, (b) is top view；
Fig. 6 is the structure chart of top base in the present invention；
In figure：(a) it is end face outside top view, (b) is inner side fitting surface top view, and (c) is elevation cross-sectional view；
Fig. 7 is the structure chart of bottom base in the present invention；
In figure：(a) it is end face outside top view, (b) is inner side fitting surface top view, and (c) is elevation cross-sectional view；
Fig. 8 is the top view that elastic construction is laminated in the present invention；
In figure：The more inner chamber adjustable elastic structures 4 of motion platform 1, adjustable elastic unit 2, bottom base 3, three-clove style, thin-wall sleeve
5th, gas activated unit 6, top base 7, gas path joint 8, stacking elastic construction 9, low stiffness layer 10, high rigidity layer 11,
Fixed platform 12, cavity 13, sloped position screwed hole 14, the first cylinder boss 15, locating convex block 16, positioning spiro pit 17,
Straight pipe thread hole 18, air flue groove 19, the second cylinder boss 20, air channel 21.
Embodiment
Embodiments of the invention are elaborated below, the present embodiment is implemented under premised on technical solution of the present invention,
Detailed embodiment and specific operating process are given, but protection scope of the present invention is not limited to following embodiments.
Embodiment 1
As depicted in figs. 1 and 2, the present embodiment includes：1, three adjustable elastic unit 2 of motion platform and fixed platform 12,
Wherein：Motion platform 1 and fixed platform are oppositely arranged about 12, and adjustable elastic unit 2 is with the circle of the end face outside of fixed platform 12
Circumferential annular array is used centered on the heart, is obliquely installed between motion platform 1 and fixed platform 12；
As shown in Fig. 3, Fig. 4 and Fig. 8, described adjustable elastic unit 2 includes：Top base 7, the bottom base being coaxially disposed
3rd, the more inner chamber adjustable elastic structures 4 of three-clove style, stacking elastic construction 9 and gas path joint 8, wherein：It is laminated the circumference of elastic construction 9
Outside is provided with three air flue grooves 19, and the more inner chamber adjustable elastic structures 4 of three-clove style are fixed by socket in forming three on stacking elastic construction 9
Bar air flue, the more upper and lower ends of inner chamber adjustable elastic structure 4 of three-clove style are socketed with top base 7 and the sealing of bottom base 3 respectively, and gas circuit connects
First 8 are threadably secured with top base 7 and are connected and are connected with air flue.
Described annular array can also motion platform 1, fixed platform 12 other planes the center of circle centered on carry out circular array
Row.
Described stacking elastic construction 9 is integral type column structure, including the alternately low stiffness layer 10 and high rigidity layer 11 of engagement.
As depicted in figs. 1 and 2, described motion platform 1 and fixed platform 12 are flat column structure, fixed platform 12
Basal diameter be more than motion platform 1 basal diameter.
Described motion platform 1 and fixed platform 12 are provided with sloped position screwed hole 14, for adjustable elastic unit 2
Lower both ends are fixedly connected, and the sloped position screwed hole 14 that is located through of platform and Flexible element is completed.
As shown in figure 5, the more integral casts of inner chamber adjustable elastic structure 4 of described three-clove style, including：Thin-wall sleeve 5 and therewith
The circumferential uniform gas activated unit 6 of three row being fixedly connected；
The described inside of gas activated unit 6 is provided with cavity 13, and described cavity 13 is connected with air flue；Neighbouring two
Gas activated unit 6 is provided with gap.
Preferably, the maximum outside diameter of the more inner chamber adjustable elastic structures 4 of described three-clove style is the maximum outside diameter of adjustable elastic unit 2
95%.
As shown in Fig. 4, Fig. 6 and Fig. 7, the inner side of the top base 7 and bottom base 3 be correspondingly provided with the first cylinder boss 15,
Second cylinder boss 20 and three pairs of locating convex blocks 16；Described locating convex block 16 is circumferential to be distributed in top base 7, on bottom base 3,
Groove is formed between two neighboring locating convex block 16 on same pedestal, for the more inner chamber adjustable elastic structures 4 of three-clove style and stacking
The assembly that elastic construction 9 forms is positioned；The outside of the top base 7 is provided with the straight tube spiral shell being tightly connected with gas path joint 8
Pit 18.
Described the first cylinder boss 15, the external diameter of the second cylinder boss 20 are identical with the stacking external diameter of elastic construction 9, and first
Cylinder boss 15 is provided with air channel 21 corresponding with air flue groove 19.
The more upper and lower ends of inner chamber adjustable elastic structure 4 of described three-clove style respectively with the first cylinder boss 15 and the second cylinder boss
20 sealing sockets.
Described top base 7 and the end face outside of bottom base 3 are respectively equipped with three uniform positioning spiro pits of circumference 17, are used for
Auxiliary positioning and installation are carried out with corresponding platform.
Described motion platform 1 and the material of fixed platform 12 is aluminium alloy, described top base 7, bottom base 3 and Gao Gang
It is ABS plastic to spend the material of layer 11, and described low stiffness layer 10 and the more materials of inner chamber adjustable elastic structure 4 of three-clove style are silicon
Glue, the described material of gas path joint 8 are copper.
At work, fixed platform 12 puts together machines people end the present apparatus, and motion platform 1 is provided with chuck to press from both sides
Hold axle to be assembled；When with moving axis and pilot hole chamfer contact occurs for the people that puts together machines, the effect of side force can make shaft end to assembling
Hole center movement, occur single-contact, so as to realize at compliant control lateral attitude deviation it is submissive；When put together machines people after
Continuous when doing the action being downwardly into moving axis, the side that shaft end is not in contact can contact with the inwall of pilot hole and then form at 2 points and connect
Touch, corresponding moment of flexure can be produced with moving axis and rotated so that axle and pilot hole are coaxial, so as to realize to axis angle deviation at compliant control
It is submissive；When length change occurs for axle to be assembled, the internal pressure can change that cavity 13 is adjusted by gas path joint 8 is submissive
The end flexibility center of device is changed with adapting to the length of axle.
Claims (10)
- A kind of 1. air-driven type is adjustable remote center compliance device, it is characterised in that including：Fixed platform, some adjustable elastic units And motion platform, wherein：Fixed platform and motion platform are oppositely arranged up and down, and adjustable elastic unit is with fixed platform end face outside Circumferential annular array mode is used centered on the center of circle, and is in tilted layout between fixed platform and motion platform；Described adjustable elastic unit includes：The top base that is coaxially disposed, bottom base, the more inner chamber adjustable elastic structures of flap-type, stacking Elastic construction and gas path joint, wherein：Stacking elastic construction periphery is provided with some air flue grooves, the more inner chamber adjustable elastics of flap-type Structure is fixed by socket in forming some air flues on stacking elastic construction, the more inner chamber adjustable elastic structure upper and lower ends of flap-type respectively with upper base Seat and bottom base sealing socket, gas path joint is threadably secured with top base to be connected and is connected with air flue.
- 2. air-driven type according to claim 1 is adjustable remote center compliance device, it is characterized in that, the more inner chambers of described flap-type can Elasticity adjusting structural integrity formula is cast, including：Thin-wall sleeve and the circumferentially uniform gas activated unit of the several columns of connection fixed thereto；Cavity is provided with inside described gas activated unit, described cavity is connected with air flue；Two neighbouring gases cause Moving cell is provided with gap.
- 3. air-driven type according to claim 1 is adjustable remote center compliance device, it is characterized in that, described fixed platform and fortune Moving platform is flat column structure, and the basal diameter of fixed platform is more than the basal diameter of motion platform.
- 4. the adjustable remote center compliance device of air-driven type according to claim 1 or 3, it is characterized in that, described fixed platform Sloped position screwed hole is provided with motion platform, for being fixedly connected with the upper and lower ends of adjustable elastic unit.
- 5. air-driven type according to claim 1 is adjustable remote center compliance device, it is characterized in that, described stacking elastic construction Pass through rough surface for integral type column structure, including the low stiffness layer and high rigidity layer, low stiffness layer and high rigidity layer that alternately engage It is glued and fixes.
- 6. air-driven type according to claim 1 is adjustable remote center compliance device, it is characterized in that, the top base and bottom base Inner side be correspondingly provided with the first cylinder boss, the second cylinder boss and some to locating convex block；Described locating convex block is circumferentially distributed in On top base, bottom base, groove is formed between two neighboring locating convex block on same pedestal；The outside of the top base is provided with and gas The straight pipe thread hole that pipeline connector is tightly connected.
- 7. air-driven type according to claim 6 is adjustable remote center compliance device, it is characterized in that, the first described cylinder boss, The external diameter of second cylinder boss and stacking elastic construction external diameter are identical and close with the more inner chamber adjustable elastic structure upper and lower ends of flap-type respectively Big envelope connects.
- 8. the adjustable remote center compliance device of air-driven type according to claim 6 or 7, it is characterized in that, the first described cylinder Boss is provided with air channel corresponding with air flue groove.
- 9. air-driven type according to claim 1 or 2 is adjustable remote center compliance device, it is characterized in that, how interior described flap-type is The maximum outside diameter of chamber adjustable elastic structure is the 95% of adjustable elastic unit maximum outside diameter.
- 10. the adjustable remote center compliance device of air-driven type according to claim 1 or 9, it is characterized in that, how interior described flap-type is Chamber adjustable elastic structure is three-clove style.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610416150.XA CN107511649B (en) | 2016-06-15 | 2016-06-15 | Distal center compliant device that air-driven type is adjustable |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610416150.XA CN107511649B (en) | 2016-06-15 | 2016-06-15 | Distal center compliant device that air-driven type is adjustable |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107511649A true CN107511649A (en) | 2017-12-26 |
| CN107511649B CN107511649B (en) | 2019-04-05 |
Family
ID=60720349
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610416150.XA Active CN107511649B (en) | 2016-06-15 | 2016-06-15 | Distal center compliant device that air-driven type is adjustable |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107511649B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110412875A (en) * | 2019-08-11 | 2019-11-05 | 哈尔滨理工大学 | A kind of gas nozzle and a kind of adaptive stabilizing platform |
| CN110480338A (en) * | 2019-08-28 | 2019-11-22 | 苏州大学 | A kind of compliance device of big L/D ratio peg-in-hole assembly, assembly system, assembly method |
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|---|---|---|---|---|
| US4414750A (en) * | 1981-10-19 | 1983-11-15 | The Charles Stark Draper Laboratory, Inc. | Single stage remote center compliance device |
| US4556203A (en) * | 1984-01-05 | 1985-12-03 | The Charles Stark Draper Laboratory, Inc. | Remote center compliance device |
| US4720923A (en) * | 1985-04-17 | 1988-01-26 | International Business Machines Corporation | Remote center compliance system |
| JPH11138487A (en) * | 1997-11-05 | 1999-05-25 | Takahiro Hayakawa | Remote center compliance device |
| US20010018804A1 (en) * | 2000-03-03 | 2001-09-06 | Won Sang-Cheol | Remote center compliance system having variable center |
| KR20020030536A (en) * | 2000-10-18 | 2002-04-25 | 정명식 | Remote center compliance device with variable center |
| US6792689B2 (en) * | 2003-01-08 | 2004-09-21 | Sang-Wan Joo | Remote center compliance device |
| KR20050065466A (en) * | 2005-05-18 | 2005-06-29 | 이상철 | Variable remote center compliance with stiffness adjusting mechanism |
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2016
- 2016-06-15 CN CN201610416150.XA patent/CN107511649B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4414750A (en) * | 1981-10-19 | 1983-11-15 | The Charles Stark Draper Laboratory, Inc. | Single stage remote center compliance device |
| US4556203A (en) * | 1984-01-05 | 1985-12-03 | The Charles Stark Draper Laboratory, Inc. | Remote center compliance device |
| US4720923A (en) * | 1985-04-17 | 1988-01-26 | International Business Machines Corporation | Remote center compliance system |
| JPH11138487A (en) * | 1997-11-05 | 1999-05-25 | Takahiro Hayakawa | Remote center compliance device |
| US20010018804A1 (en) * | 2000-03-03 | 2001-09-06 | Won Sang-Cheol | Remote center compliance system having variable center |
| US6473985B2 (en) * | 2000-03-03 | 2002-11-05 | Pohang University Of Science And Technology Foundation | Remote center compliance system having variable center |
| KR20020030536A (en) * | 2000-10-18 | 2002-04-25 | 정명식 | Remote center compliance device with variable center |
| US6792689B2 (en) * | 2003-01-08 | 2004-09-21 | Sang-Wan Joo | Remote center compliance device |
| KR20050065466A (en) * | 2005-05-18 | 2005-06-29 | 이상철 | Variable remote center compliance with stiffness adjusting mechanism |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110412875A (en) * | 2019-08-11 | 2019-11-05 | 哈尔滨理工大学 | A kind of gas nozzle and a kind of adaptive stabilizing platform |
| CN110412875B (en) * | 2019-08-11 | 2022-08-23 | 哈尔滨理工大学 | Air faucet |
| CN110480338A (en) * | 2019-08-28 | 2019-11-22 | 苏州大学 | A kind of compliance device of big L/D ratio peg-in-hole assembly, assembly system, assembly method |
| CN110480338B (en) * | 2019-08-28 | 2020-08-25 | 苏州大学 | Compliant device, assembly system and assembly method for assembling shaft hole with large length-diameter ratio |
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| Publication number | Publication date |
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| CN107511649B (en) | 2019-04-05 |
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