CN107511649B - Distal center compliant device that air-driven type is adjustable - Google Patents
Distal center compliant device that air-driven type is adjustable Download PDFInfo
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- CN107511649B CN107511649B CN201610416150.XA CN201610416150A CN107511649B CN 107511649 B CN107511649 B CN 107511649B CN 201610416150 A CN201610416150 A CN 201610416150A CN 107511649 B CN107511649 B CN 107511649B
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- adjustable
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- adjustable elastic
- flap
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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
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Abstract
A kind of adjustable distal center compliant device of air-driven type in mechanical assembly technique field, it include: fixed platform, several adjustable elastic units and motion platform, wherein: fixed platform and motion platform are oppositely arranged up and down, adjustable elastic unit uses circumferential annular array mode centered on the center of circle of fixed platform end face outside, and is in tilted layout between fixed platform and motion platform；The adjustable elastic unit includes: the more inner cavity adjustable elastic structures of top base, bottom base, flap-type, stacking elastic construction and the gas path joint of coaxial arrangement, wherein: the more inner cavity adjustable elastic structures of flap-type be sleeved and fixed in stacking elastic construction on and form several air flues, the more inner cavity 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, can satisfy 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 adjustable remote submissive dress in center of air-driven type
It sets.
Background technique
In Automated assembly operation, the presence of all kinds of errors easily causes the card resistance etc. between components to be assembled, and engineering is real
Problems are often solved by the positioning compensation and error correction of the people that puts together machines in border.Currently, robot inaccuracy compensation master
It to be realized by submissive operation, including two class implementation of active compliance and passive compliance.Although passive smoothing device in the presence of
The problems such as precision is low, controllability is bad, but have many advantages, such as that fast response time, structure and control are simple, for industrial automation
Produce important in inhibiting.In addition, the submissive operation of passive smoothing device is not required to be limited by part tolerance to be assembled, thus
With the bigger scope of application.Distal center compliant device is typical passive smoothing device, is had in peg-in-hole assembly operation wide
General application.
Existing distal center compliant device mostly uses greatly the Flexible element with fixed structure size and flexible characteristic, entirely
The end flexibility center of device and laterally/axial direction flexibility are unmodifiable, thus can not be suitable for the changeable field of part size
It closes.Adjustable distal center compliant device is developed again on this basis, it is elastic single to adjust which mostly uses greatly mechanical movement
The stiffness parameters or arrangement parameter of member are adjusted the position at the end flexibility center of compliance device to realize, but mechanical tune
Section mode needs not only to will increase the quality and volume of compliance device as auxiliary using regid mechanism, reduce assembly manipulation
Flexibility, but also will increase the inertia of assembly system, become difficult control real-time, quickly.
Summary of the invention
The present invention In view of the above shortcomings of the prior art, proposes a kind of adjustable distal center compliant device of air-driven type,
By increasing gas activated structure, the versatility of compliance device is improved, the peg-in-hole assembly operation for meeting each size of series is wanted
It asks.
The present invention is achieved by the following technical solutions,
The present invention includes: fixed platform, several adjustable elastic units and motion platform, in which: fixed platform and movement are flat
Platform is oppositely arranged up and down, and adjustable elastic unit is centered on the center of circle of fixed platform end face outside using circumferential annular array side
Formula, and be in tilted layout between fixed platform and motion platform.
The adjustable elastic unit includes: the more inner cavity adjustable elastic knots of top base, bottom base, flap-type of coaxial arrangement
Structure, stacking elastic construction and gas path joint, in which: stacking elastic construction periphery is equipped with several air flue grooves, and flap-type is mostly interior
Chamber adjustable elastic structure is sleeved and fixed in forming several air flues on stacking elastic construction, above and below the more inner cavity adjustable elastic structures of flap-type
Both ends respectively with top base and bottom base sealing be socketed, gas path joint be threadably secured with top base connect and with air flue phase
Even.
The flap-type more inner cavity adjustable elastic structural integrity formulas casting, comprising: if thin-wall sleeve and connection fixed thereto
The circumferentially uniformly distributed gas activated unit of dry column；
Cavity is equipped with inside the gas activated unit, cavity is connected with air flue；Neighbouring two are gas activated
Unit is equipped with gap.
Preferably, the more inner cavity adjustable elastic structures of the flap-type are three-clove style.
The fixed platform and motion platform is flat column structure, and it is flat that the basal diameter of fixed platform is greater than movement
The basal diameter of platform.
Preferably, the maximum outside diameter of the more inner cavity adjustable elastic structures of the flap-type is adjustable elastic unit maximum outside diameter
95%.
The fixed platform and motion platform is equipped with sloped position hole, solid by screw thread with the both ends of adjustable elastic unit
Fixed connection.
The stacking elastic construction is integral type column structure, low stiffness layer and high rigidity layer including alternately engagement,
Low stiffness 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 convexes are correspondingly provided on the inside of the top base and bottom base
Block；The locating convex block is circumferentially distributed in top base, on bottom base, is formed between two neighboring locating convex block on same pedestal
Groove；The outside of the top base is equipped with the straight pipe thread hole being tightly connected with gas path joint.
The outer diameter of first cylinder boss, the second cylinder boss is identical as stacking elastic construction outer diameter, and the first circle
Column boss is equipped with air channel corresponding with air flue groove.
The more inner cavity adjustable elastic structure upper and lower ends of the flap-type respectively with the first cylinder boss and the second cylinder boss
Sealing socket.
The end face outside of the top base and bottom base is respectively equipped with three circumferentially uniformly distributed threaded holes, for it is opposite
The platform location and installation answered.
Technical effect
Compared with prior art, the present invention is by increasing gas activated micro-structure, so that in the end flexibility of compliance device
The heart and laterally/axial direction flexibility can be changed in a certain range, increase compliance device adaptability diversified for part size,
It ensure that the efficient progress of assembling work.
Detailed description of the invention
Fig. 1 is positive equal shaft side figures of the invention；
Fig. 2 is front view of the invention；
Fig. 3 is the front view of adjustable elastic unit in the present invention；
Fig. 4 is the sectional front view of adjustable elastic unit in the present invention；
Fig. 5 is the more inner cavity adjustable elastic structure charts of three-clove style in the present invention；
In figure: (a) being sectional front view, (b) be top view；
Fig. 6 is the structure chart of top base in the present invention；
In figure: (a) being end face outside top view, (b) be inside fitting surface top view, (c) be sectional front view；
Fig. 7 is the structure chart of bottom base in the present invention；
In figure: (a) being end face outside top view, (b) be inside fitting surface top view, (c) be sectional front view；
Fig. 8 is the top view that elastic construction is laminated in the present invention；
In figure: the more inner cavity adjustable elastic structures 4 of motion platform 1, adjustable elastic unit 2, bottom base 3, three-clove style, thin-wall sleeve
5, gas activated unit 6, top base 7, gas path joint 8, stacking elastic construction 9, low stiffness layer 10, high rigidity layer 11, fixation are flat
Platform 12, cavity 13, sloped position threaded 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.
Specific embodiment
It elaborates below to the embodiment of the present invention, the present embodiment carries out under the premise of the technical scheme of the present invention
Implement, the detailed implementation method and specific operation process are given, but protection scope of the present invention is not limited to following implementation
Example.
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 about 12 fixed platform are oppositely arranged, and adjustable elastic unit 2 is with the circle of 12 end face outside of fixed platform
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, the adjustable elastic unit 2 include: the top base 7 of coaxial arrangement, bottom base 3,
The more inner cavity adjustable elastic structures 4 of three-clove style, stacking elastic construction 9 and gas path joint 8, in which: stacking 9 periphery of elastic construction
If the more inner cavity adjustable elastic structures 4 of three-clove style are sleeved and fixed in formation three on stacking elastic construction 9 there are three air flue groove 19
Air flue, more 4 upper and lower ends of inner cavity adjustable elastic structure of three-clove style are socketed with top base 7 and the sealing of bottom base 3 respectively, gas path joint
8 are threadably secured with top base 7 and connect and be connected with air flue.
The annular array can also by motion platform 1, other planes of fixed platform 12 the center of circle centered on carry out ring
Shape array.
The stacking elastic construction 9 is integral type column structure, low stiffness layer 10 and high rigidity including alternately engagement
Layer 11.
As depicted in figs. 1 and 2, the motion platform 1 and fixed platform 12 are flat column structure, fixed platform 12
Basal diameter be greater than motion platform 1 basal diameter.
The motion platform 1 and fixed platform 12 be equipped with sloped position threaded hole 14, for adjustable elastic unit 2
Upper and lower ends are fixedly connected, and the sloped position threaded hole 14 that is located through of platform and Flexible element is completed.
As shown in figure 5, more 4 integral casts of inner cavity adjustable elastic structure of the three-clove style, comprising: thin-wall sleeve 5 and with
The three circumferentially uniformly distributed gas activated units 6 of column being fixedly connected；
Cavity 13 is equipped with inside the gas activated unit 6, the cavity 13 is connected with air flue；Neighbouring two
A gas activated unit 6 is equipped with gap.
Preferably, the maximum outside diameter of the more inner cavity adjustable elastic structures 4 of the three-clove style is that adjustable elastic unit 2 is maximum outer
The 95% of diameter.
As shown in Fig. 4, Fig. 6 and Fig. 7, the inside 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；The locating convex block 16 is circumferential to be distributed in top base 7, on bottom base 3, together
Groove is formed between two neighboring locating convex block 16 on one pedestal, for the more inner cavity 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 equipped with the straight tube being tightly connected with gas path joint 8
Threaded hole 18.
The outer diameter of first cylinder boss 15, the second cylinder boss 20 is identical as stacking 9 outer diameter of elastic construction, and the
One cylinder boss 15 is equipped with air channel 21 corresponding with air flue groove 19.
More 4 upper and lower ends of inner cavity adjustable elastic structure of the three-clove style respectively with the first cylinder boss 15 and the second cylinder
The sealing socket of boss 20.
The end face outside of the top base 7 and bottom base 3 is respectively equipped with three circumferentially uniformly distributed positioning spiro pits 17, uses
It carries out auxiliary positioning in corresponding platform and installs.
The motion platform 1 and 12 material of fixed platform is aluminium alloy, the top base 7, bottom base 3 and Gao Gang
Spending 11 material of layer is ABS plastic, and the low stiffness layer 10 and more 4 materials of inner cavity adjustable elastic structure of three-clove style are silicon
Glue, 8 material of gas path joint are copper.
At work, fixed platform 12 is mounted on the people end that puts together machines to the present apparatus, motion platform 1 be equipped with chuck to
Clamp axis to be assembled；When with moving axis and pilot hole chamfer contact occurs for the people that puts together machines, the effect of lateral force can make shaft end
It is mobile to the center of pilot hole, single-contact occurs, thus realize at compliant control lateral position deviation it is submissive；Work as assembly
Robot continuation is when doing the movement being downwardly into moving axis, the side that shaft end is not in contact can be contacted with the inner wall of pilot hole into
And two-point contact is formed, corresponding moment of flexure, which will drive axis and generate, to be rotated so that axis and pilot hole are coaxial, to realize in submissive
Axis angle deviation is submissive at the heart；When length variation occurs for axis to be assembled, adjusted in cavity 13 by gas path joint 8
Pressure can change the end flexibility center of compliance device to adapt to the length of axis and change.
Claims (10)
1. a kind of adjustable distal center compliant device of air-driven type characterized by comprising fixed platform, several adjustable elastic units
And motion platform, in which: fixed platform and motion platform are oppositely arranged up and down, and adjustable elastic unit is with fixed platform end face outside
The center of circle centered on using circumferential annular array mode, and be in tilted layout between fixed platform and motion platform；
The adjustable elastic unit includes: the more inner cavity adjustable elastic structures of top base, bottom base, flap-type of coaxial arrangement, layer
Folded elastic construction and gas path joint, in which: stacking elastic construction periphery is equipped with several air flue grooves, and the more inner cavities of flap-type are adjustable
Elastic construction is sleeved and fixed in forming several air flues on stacking elastic construction, and the more inner cavity adjustable elastic structure upper and lower ends of flap-type are divided
It is not socketed with top base and bottom base sealing, gas path joint is threadably secured with top base to be connect and be connected with air flue.
2. the adjustable distal center compliant device of air-driven type according to claim 1, characterized in that the more inner cavities of the flap-type can
Elasticity adjusting structural integrity formula casting, comprising: thin-wall sleeve and the circumferentially uniformly distributed gas activated unit of the several columns of connection fixed thereto；
Cavity is equipped with inside the gas activated unit, the cavity is connected with air flue；Two neighbouring gases cause
Moving cell is equipped with gap.
3. the adjustable distal center compliant device of air-driven type according to claim 1, characterized in that the fixed platform and fortune
Moving platform is flat column structure, and the basal diameter of fixed platform is greater than the basal diameter of motion platform.
4. the adjustable distal center compliant device of air-driven type according to claim 1 or 3, characterized in that the fixed platform
It is equipped with sloped position threaded hole with motion platform, for being fixedly connected with the upper and lower ends of adjustable elastic unit.
5. the adjustable distal center compliant device of air-driven type according to claim 1, characterized in that the stacking elastic construction
For integral type column structure, including replacing the low stiffness layer engaged and high rigidity layer, low stiffness layer and high rigidity layer pass through coarse
Surface, which is glued, to be fixed.
6. the adjustable distal center compliant device of air-driven type according to claim 1, characterized in that the top base and bottom base
Inside be correspondingly provided with the first cylinder boss, the second cylinder boss and several pairs of locating convex blocks；The locating convex block is circumferentially equal
It is distributed in top base, on bottom base, forms groove between two neighboring locating convex block on same pedestal；It is set on the outside of the top base
There is the straight pipe thread hole being tightly connected with gas path joint.
7. the adjustable distal center compliant device of air-driven type according to claim 6, characterized in that first cylinder is convex
Platform, the outer diameter of the second cylinder boss and stacking elastic construction outer diameter are identical and respectively and above and below the more inner cavity adjustable elastic structures of flap-type
Both ends sealing socket.
8. the adjustable distal center compliant device of air-driven type according to claim 6 or 7, characterized in that first cylinder
Boss is equipped with air channel corresponding with air flue groove.
9. the adjustable distal center compliant device of air-driven type according to claim 1 or 2, characterized in that the flap-type is mostly interior
The maximum outside diameter of chamber adjustable elastic structure is the 95% of adjustable elastic unit maximum outside diameter.
10. the adjustable distal center compliant device of air-driven type according to claim 1 or 2, characterized in that the flap-type is mostly interior
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 |
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| Publication Number | Publication Date |
|---|---|
| CN107511649A CN107511649A (en) | 2017-12-26 |
| CN107511649B true CN107511649B (en) | 2019-04-05 |
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| 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 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115657459A (en) * | 2019-08-11 | 2023-01-31 | 哈尔滨理工大学 | Self-adaptive stable platform |
| 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 |
Family Cites Families (8)
| 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 |
| EP0198134B1 (en) * | 1985-04-17 | 1989-06-28 | International Business Machines Corporation | Remote centre compliance system |
| JPH11138487A (en) * | 1997-11-05 | 1999-05-25 | Takahiro Hayakawa | Remote center compliance device |
| KR100374783B1 (en) * | 2000-03-03 | 2003-03-04 | 학교법인 포항공과대학교 | Remote center compliance device with variable center |
| KR100407814B1 (en) * | 2000-10-18 | 2003-12-01 | 학교법인 포항공과대학교 | 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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| CN107511649A (en) | 2017-12-26 |
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