CN110340937A - A kind of industrial robot end flexible compensation device - Google Patents
A kind of industrial robot end flexible compensation device Download PDFInfo
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- CN110340937A CN110340937A CN201910639037.1A CN201910639037A CN110340937A CN 110340937 A CN110340937 A CN 110340937A CN 201910639037 A CN201910639037 A CN 201910639037A CN 110340937 A CN110340937 A CN 110340937A
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- plate
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- gasket
- industrial robot
- piston
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Mechanical Engineering (AREA)
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Abstract
The invention discloses a kind of robot end flexible compensation device, upper cone 14 and lower cone 12 are placed between upper junction plate 6 and lower connecting plate 7 by the interference fit composition double cone connector of positioning pin 13.Piston rod 3 passes through pressing plate 4, is connected with upper cone 14 with spring 19, piston 20 is fixed on piston rod 3, and sealing ring 21 is mounted on piston 20.Sliding bar 18 and Upper gasket 11 connect, and are mounted on upper junction plate 6, and lower gasket 10 is mounted in lower frame 8, and steel ball 15 is mounted between Upper gasket 11 and lower gasket 10.The flexible compensation device is connected by mounting plate 1 with robot end, is connect by bottom plate 9 with specific executive component.The present invention has rational design, structure is simple, small in size, easily manufactured, and big to neutral height, error flexible compensation range, can be used as the auxiliary device of robot end for high-precision assembly work, it can also be used to the crawl of robot, loading and unloading, stacking etc..
Description
Technical field
The present invention relates to a kind of error-compensating apparatus, more particularly to a kind of high-precision flexible compensation of industrial robot
Device belongs to machine-building equipment field.
Background technique
Industrial robot is applied more and more extensive in recent years, and industrial robot takes in the fields such as assembly, loading and unloading, crawl
Do and repeat and many and diverse work for people, but its but not flexibility of human arm --- when being able to achieve assembly or loading and unloading
Flexible control, so that not damaging executive item and workpiece again while tacit agreement cooperation between workpiece and end effector.Further, since
The influence of process and assemble error and motor error, industrial robot is in precision positioning, there is also large errors.For this purpose, needing
Exploitation can compensate for the flexible compensation device of robot end's position error.
Realize the accurate positionin of robot end, flexibly direct writing function, in addition to X is to deflections such as, Y-direction, inclination, rotations
Outside the accuracy compensation technical requirement of degree, high is also wanted to neutrality after the completion of compensator execution movement, just can guarantee machine in this way
Device people still follows the motion profile and precision of ontology.Existing compensator is divided into active control compensator and adaptive compensator two
Kind.Active control compensator increases testing agency and detection system, with the moving distance of program active control compensator or
Angle realizes positioning compensation.But active control compensator system is complicated, higher cost.Adaptive compensator passes through flexible device
The passive type flexible contact for executing end and workpiece is realized such as the steel column of spring, specific hollow out shape, and then passes through external force drive
It is dynamic to realize active control.But existing adaptive compensator compensation range is small, and flexible contact degree is higher.Therefore it also needs to develop more
High performance robot end's flexible compensation device.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of precision height, error compensation range are big, high to neutrality, rigid
It is good and simple and compact for structure, easily manufactured, it is High Precision Automatic for the assembly of industrial robot, crawl, loading and unloading, stacking etc.
Change the flexible compensation device of processing.
Design a kind of industrial robot end flexible compensation device to solve the above-mentioned problems, including mounting plate, top cover,
Piston rod, pressing plate, upper frame, upper junction plate, lower connecting plate, lower frame, bottom plate, lower gasket, Upper gasket, lower cone, positioning pin,
Upper cone, steel ball, fixed ring, positioning ring, sliding bar, spring, piston, sealing ring, it is characterized in that: the piston is mounted on top cover
In, it is provided with inlet channel in the top cover and is passed through gas push piston motion, described piston rod one end is mounted in piston, and
Across pressing plate, the other end is fixedly connected by spring with upper cone, and the upper frame is fixedly connected with top cover, the sliding bar with
Pressing plate is fixedly connected, and the upper junction plate is circumferentially evenly distributed with 4 through-holes and sliding bar can be moved up and down, the upper frame and upper company
Fishplate bar is fixedly connected, and the fixed ring is circumferentially evenly distributed with 4 grooves and is circumferentially evenly distributed with 4 to install 4 Upper gaskets, the lower frame
Groove is mounted between Upper gasket and lower gasket to install 4 lower gaskets, 4 steel balls, the lower connecting plate and upper company
Fishplate bar, fixed ring are interlocked, and the lower connecting plate is connected with lower frame by positioning ring, the lower frame and the fixed company of bottom plate
It connects, the upper cone need to be connected with lower cone by positioning pin forms double cone connector, and the upper cone is mounted on company
In fishplate bar, the hypocentrum is mounted in lower frame, and the mounting plate is connected with industrial robot end, the bottom plate and tool
The connection of body executive component.
The upper junction plate and lower connecting plate are fastened using joinery and its construction half, and the fixed ring and lower connecting plate use Tenon
Structure half fastens.
The cooperation inclination angle of the cooperation inclination angle of the upper cone and upper junction plate, the lower cone and lower frame is at 0 °~90 °
Between, specific fit angle can require the inclination angle of adjustment conical cavity and circular conical surface according to operating condition and compensation, correspondingly also need to adjust
The groove angle of the whole gap being vertically connected between plate and Upper gasket, lower gasket.
The Upper gasket and steel ball, lower gasket cooperate in groups is not limited to 4 groups, correspondingly in the quantity and fixed ring of sliding bar
Uniformly distributed groove number also needs to be adjusted according to joined together group of number.
It is not limited to cooperate using inclined-plane between the fixed ring and lower frame, plane or mating spherical surfaces can also be used.
The end flexible compensation device of robot by adopting the above technical scheme, using counter dual conic body and conical bore
It is each to translation, inclination, rotation that execution end XY can be achieved at the same time in the fit structure of fit structure and steel ball and gasket groove
The compensation of a orientation angle meets the flexible contact functional requirement for executing end and workpiece；Using pneumatically driven piston and cunning
Dynamic column compresses steel ball, it can be achieved that the active control of type flexible compensator requires neutrality；The device major part is rotary structure,
Structure is simple, easy to process.
End flexible compensation device by adopting the above technical scheme, its advantage and good effect are aobvious compared with prior art
Write, major embodiment in the following areas:
1. the conical surface compensates locking structure.Existing compensator generally takes elastic compensating structure to meet flexibility requirement.
But elastic compensating structure elastic range is bigger, is more difficult to lock, and rigidity is insufficient, this is executed after just influencing robot grabbing workpiece
Action stability.And double cone body is arranged as collocation structure in the present invention, is not only able to achieve translation, rotates, the directions such as inclination
The error compensation of angle is also used as the connector being connected with upper and lower two parts.When device is in locking state, upper circular cone
Body is sealed to realize locked and corresponding technical requirements.This structure not only simplifies apparatus structure, and can also effectively mention
Rise device in locking state to neutral and rigidity.
2. positioning ball structure.Location structure is mostly on piston rod in existing product plus different boss is to reality
Now position, but this mode needs additionally to increase connection structure and guarantees two-part rigidity and connection up and down, structure is complicated.?
Have using collocation structure of the steel ball structure as device, sets one-piece cylinder for whole device, but since steel ball is in gasket
In easily loosened afterwards by longitudinal pulling force (such as gravity), cause rigidity after robot grabbing workpiece insufficient, therefore small, the Er Qiedan of its carrying
It is pure also small by steel ball fit structure compensation range.And the technical program by positioning ball structure to position and lock, piston
Bar can not only lock circular conical surface, can also be transmitted to downward pressure on the Upper gasket of pressing plate and positioning ball, not only lead to
It crosses steel ball fit structure and realizes a certain range of compensation movement, and then improve the flexibility of device, and more importantly locking
During death situation state, positioning ball structure can with quick centring and assist lower cone realize cone match, realize device lock
It is high to neutral and high efficiency during dead.
3. Tenon partly fastens frame structure.Movement by type flexible compensator collocation structure and location structure is limited, existing
The frame of product is just for the sake of fixed and dust-proof.Some products directly carry out device or more two parts with spring or pliable member
Connection, but this mode not only make elasticity flexible compensation structural bearing it is excessive, reduce its service life, and error
Compensation precision can also be reduced with the gradually failure of elastic component.The Tenon that the technical program uses partly fastens frame, not only may be used
With movement needs of the realization device in working condition, and bearing capacity and stiffness is all promoted, and fixed ring and lower frame it
Between inclined-plane cooperation realize axially inclined compensation rapidly and efficiently, ensure that flexible compensation device in working condition and locked shape
The high compensation precision and service life of state.
In conclusion the present invention is novel in design rationally, structure is simple, weight is small, easily manufactured, meet the product of the marketization
It is required that and to it is neutral it is good, rigidity is big, compensation precision is high, the error auxiliary device particularly suitable as industrial robot end
For high-precision assembly work, it can also be used to which other high-precisions work operating condition of industrial robot for example grabs, loading and unloading, stacking
Etc..
Detailed description of the invention
Fig. 1 is the main sectional view (i.e. conical surface compensation locking structure and positioning ball structure) of present example.
Fig. 2 is figure top view of the present invention (i.e. mounting plate and air inlet pipe position distribution).
Fig. 3 is the A-A cross-sectional view (i.e. positioning ball structure distribution) of Fig. 2 of the present invention.
Fig. 4 is the B-B cross-sectional view (i.e. half fastening structure of Tenon) of Fig. 1 of the present invention.
Fig. 5 is the top view of the part fixed ring 16 in Fig. 1 of the present invention.
In attached drawing 1-3: 1 --- mounting plate, 2 --- top cover, 3 --- piston rod, 4 --- pressing plate, 5 --- upper frame,
6 --- upper junction plate, 7 --- lower connecting plate, 8 --- lower frame, 9 --- bottom plate, 10 --- lower gasket, 11 --- Upper gasket,
12 --- lower cone, 13 --- positioning pin, 14 --- upper cone, 15 --- steel ball, 16 --- fixed ring, 17 --- positioning ring,
18 --- sliding bar, 19 --- spring, 20 --- piston, 21 --- sealing ring.
Specific embodiment
It elaborates below with reference to examples and drawings to the present invention.
Referring to attached drawing 1, the top cover 2 is connect with mounting plate 1, and the piston 20 is mounted in top cover 2 in piston hole, described
3 one end of piston rod is mounted in piston 20, and the other end is connect by spring 19 with upper cone 14 after passing through upper frame 5 and pressing plate 4,
The upper cone 14 is mounted in upper junction plate 6, and the upper junction plate 6 is fixedly connected with upper frame 5, and the upper cone 14 passes through
Positioning pin 13 is connected with lower cone 12 forms double cone connector, and the lower cone 12 is mounted in lower frame 8, the pressing plate
4 transmit power by the convex shoulder on piston rod 3, and the sliding bar 18 is fixedly connected with pressing plate 4, and the Upper gasket 11 is embedded into
In 6 groove of connecting plate and with by 18 passing movement of sliding bar, the lower gasket 10 is embedded into 8 groove of lower frame, the steel
Pearl 15 is mounted in the groove in Upper gasket 11 and lower gasket 10, and the fixed ring 16 is fixedly connected with upper junction plate 6, it is described on
Connecting plate 6 is interlocked with lower connecting plate 7, and the lower connecting plate 7 and lower frame 8 are connected by positioning ring 17, the bottom plate 9 with
Lower frame 8 is fixedly connected, and the top cover 2 is provided with venthole, and the mounting plate 1 is connect with robot body, the bottom plate 9 with
Specific performer connection.
Referring to attached drawing 1 and Fig. 4, the upper junction plate 6 and lower connecting plate 7 are fastened using joinery and its construction half, between two parts
There are certain intervals to guarantee being mutually shifted between the two-part bonding strength of device or more and device or more two parts simultaneously.Between
Gap is determined according to specific operating condition and compensation range, and is matched with the tilt angle of the taper of circular conical surface, positioning ball gasket groove
It closes and realizes compensation.Cooperated between fixed ring 16 and lower frame 8 using inclined-plane, which is not limited to 2 °, specific inclined-plane inclination
Angle can require to be adjusted according to specific operating condition and compensation.The inclined-plane can guarantee smoothness rapidly for axially inclined angle
Degree compensates, and the protective device when operating condition reaches capacity angle.
Referring to attached drawing 1 and Fig. 3, the cooperation inclination angle of the upper cone 14 and upper junction plate 6, the lower cone 12 and lower frame
Between 0 °~90 °, cooperation inclination angle should facilitate processing at 8 cooperation inclination angle, and giving with reference to angle is 60 °.Specific fit angle can
The inclination angle that adjustment conical cavity and circular conical surface is required according to operating condition and compensation, correspondingly also needs adjustment to be vertically connected with the gap between plate
And the groove angle of Upper gasket 11, lower gasket 10.
Referring to attached drawing 4 and Fig. 5, the Upper gasket 11 cooperates in groups with steel ball 15, lower gasket 10 is not limited to 4 groups, accordingly
Uniformly distributed groove number also needs to be adjusted according to joined together group of number in the quantity and fixed ring 16 of ground sliding bar 18.Positioning ball structure is answered
When uniformly distributed with evenly dispersed stress in lower frame 8, and quantity should be greater than being equal to 4 groups.
The working principle of the invention is briefly described as below: the lightweight in order to realize the flexible compensation device, using pneumatic element
Power is provided, passes through and piston 20 and connected piston rod 3 is pushed to transmit power.When starting contact workpiece, it is not passed through
Gas, when end effector contact indentation workpiece, can be so that the piston 20 in cylinder be pressed into the bottom of piston hole in top cover 2.
The main compliant component of the present apparatus is upper cone 14, lower cone 12 and spring 19.Upper cone 14, lower cone 12 and its
Gap is provided between installation taper hole, centre is mutually agreed with using joinery and its construction, and fixed using the swelling positioning pin 13 of interference fit
Connection.The design of the both ends conical surface allows to the movement such as tilt, rotate, translate, vertically move intracavitary.Piston rod 3 and upper
Cone 14 is connected with spring 19.Main setting element is the cooperation knot that steel ball 15 and Upper gasket 11 and lower gasket 10 form
Structure, gasket compression can make 15 centering of steel ball position.Main connection structure is that there are the phase buckle structures in gap.
When the piston 20 in cylinder is in relaxation state, double cone body fit structure can move in cavity, in gasket
Steel ball 15 can also be mobile in a certain range.When end effector receives the feedback force of workpiece, double cone body fit structure and steel ball
Fit structure, which cooperates, realizes that compensation requires.Two parts up and down of device can realize required plane X at this time, and Y-direction is mobile,
The compensation of orientation angles such as tilt, turn about the Z axis；When cylinder charge band piston 20 push, 3 holddown spring 19 of piston rod and to
Lower transmission force compresses cone 14 in the conical cavity of upper junction plate 6, and device is locked at this time.Meanwhile 3 lead agency of piston rod
The Upper gasket 11 of positioning ball 15 is compressed, so that 15 centering of steel ball is locked, and then the conical bore in lower frame 8 is driven to compress lower cone
Body 12, further locking device.The advantages of invention, is that bearing capacity is big, rigidity when locking and to neutral high.
Claims (5)
1. a kind of industrial robot end flexible compensation device, including mounting plate 1, top cover 2, piston rod 3, pressing plate 4, upper frame
5, upper junction plate 6, lower connecting plate 7, lower frame 8, bottom plate 9, lower gasket 10, Upper gasket 11, lower cone 12, positioning pin 13, epicone
Body 14, steel ball 15, fixed ring 16, positioning ring 17, sliding bar 18, spring 19, piston 20, sealing ring 21, it is characterized in that: the work
Plug 20 is mounted in top cover 2, and inlet channel is provided in the top cover 2 and is passed through the movement of gas push piston 20, the piston rod 3
One end is mounted in piston 20, and passes through pressing plate 4, and the other end is fixedly connected by spring 19 with upper cone 14, the upper frame 5
It is fixedly connected with top cover 2, the sliding bar 18 is fixedly connected with pressing plate 4, and circumferential uniformly 4 through-holes of upper junction plate 6 make
Sliding bar 18 can move up and down, and the upper frame 5 is fixedly connected with upper junction plate 6, and the fixed ring 16 is circumferential to be evenly distributed with 4 grooves
To install 4 Upper gaskets 11, the lower frame 8 is circumferential to be evenly distributed with 4 grooves to install 4 lower gaskets 10,4 steel balls
15 are mounted between Upper gasket 11 and lower gasket 10, and the lower connecting plate 7 is interlocked with upper junction plate 6, fixed ring 16, under described
Connecting plate 7 is fixedly connected with lower frame 8, the lower frame 8 is fixedly connected with bottom plate 9, and the upper cone 14 and lower cone 12 need
It is connected by positioning pin 13 and forms double cone connector, the upper cone 14 is mounted in upper junction plate 6, the lower cone 12
It is mounted in lower frame 8, the mounting plate 1 is connected with industrial robot end, and the bottom plate 9 connects with specific executive component
It connects.
2. a kind of industrial robot according to claim 1 end flexible compensation device, it is characterized in that: the upper connection
Plate 6 and lower connecting plate 7 are fastened using joinery and its construction half, and the fixed ring 16 is fastened with lower connecting plate 7 using joinery and its construction half.
3. a kind of industrial robot according to claim 2 end flexible compensation device, it is characterized in that: the upper cone
14 with the cooperation inclination angle of upper junction plate 6, the cooperation inclination angle of the lower cone 12 and lower frame 8 is specific to cooperate between 0 °~90 °
Angle can require the inclination angle of adjustment conical cavity and circular conical surface according to operating condition and compensation, and adjustment is correspondingly also needed to be vertically connected between plate
Gap and Upper gasket 11, lower gasket 10 groove angle.
4. a kind of industrial robot according to claim 3 end flexible compensation device, it is characterized in that: the Upper gasket
11 cooperate be not limited to 4 groups in groups with steel ball 15, lower gasket 10, correspondingly uniformly distributed recessed in the quantity and fixed ring 16 of sliding bar 18
Slot number also needs to be adjusted according to joined together group of number.
5. a kind of industrial robot according to claim 4 end flexible compensation device, it is characterized in that: fixed ring 16 with
It is not limited to cooperate using inclined-plane between lower frame 8, plane or mating spherical surfaces can also be used.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910639037.1A CN110340937B (en) | 2019-07-16 | 2019-07-16 | Industrial robot is with terminal flexible compensation arrangement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910639037.1A CN110340937B (en) | 2019-07-16 | 2019-07-16 | Industrial robot is with terminal flexible compensation arrangement |
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| Publication Number | Publication Date |
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| CN110340937A true CN110340937A (en) | 2019-10-18 |
| CN110340937B CN110340937B (en) | 2023-05-26 |
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| CN201910639037.1A Active CN110340937B (en) | 2019-07-16 | 2019-07-16 | Industrial robot is with terminal flexible compensation arrangement |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112091937A (en) * | 2020-06-10 | 2020-12-18 | 湖南大学 | Precise flexible pneumatic compensation device |
| CN112873203A (en) * | 2021-01-13 | 2021-06-01 | 安徽大学 | Omnibearing part assembly error self-adaptive compensation system |
| CN113124025A (en) * | 2021-04-30 | 2021-07-16 | 洛阳尚奇机器人科技有限公司 | Robot tail end flange interface with flexibility |
| CN114536034A (en) * | 2022-04-22 | 2022-05-27 | 沈阳和研科技有限公司 | XYZ-axis three-direction precision compensation structure suitable for precision carrying mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112091937A (en) * | 2020-06-10 | 2020-12-18 | 湖南大学 | Precise flexible pneumatic compensation device |
| CN112873203A (en) * | 2021-01-13 | 2021-06-01 | 安徽大学 | Omnibearing part assembly error self-adaptive compensation system |
| CN112873203B (en) * | 2021-01-13 | 2021-10-08 | 安徽大学 | Omnibearing part assembly error self-adaptive compensation system |
| CN113124025A (en) * | 2021-04-30 | 2021-07-16 | 洛阳尚奇机器人科技有限公司 | Robot tail end flange interface with flexibility |
| CN114536034A (en) * | 2022-04-22 | 2022-05-27 | 沈阳和研科技有限公司 | XYZ-axis three-direction precision compensation structure suitable for precision carrying mechanism |
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| CN110340937B (en) | 2023-05-26 |
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