CN110340937B - Industrial robot is with terminal flexible compensation arrangement - Google Patents
Industrial robot is with terminal flexible compensation arrangement Download PDFInfo
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- CN110340937B CN110340937B CN201910639037.1A CN201910639037A CN110340937B CN 110340937 B CN110340937 B CN 110340937B CN 201910639037 A CN201910639037 A CN 201910639037A CN 110340937 B CN110340937 B CN 110340937B
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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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Abstract
The invention discloses a tail end flexible compensation device for a robot, wherein an upper cone 14 and a lower cone 12 form a double-cone connector through interference fit of a locating pin 13, and the double-cone connector is placed between an upper connecting plate 6 and a lower connecting plate 7. The piston rod 3 passes through the pressing plate 4 and is connected with the upper cone 14 by a spring 19, the piston 20 is fixed on the piston rod 3, and the sealing ring 21 is arranged on the piston 20. The slide bar 18 is connected with the upper washer 11 and is mounted on the upper connection plate 6, the lower washer 10 is mounted in the lower frame 8, and the steel balls 15 are mounted between the upper washer 11 and the lower washer 10. The flexible compensation device is connected with the tail end of the robot through a mounting plate 1 and is connected with a specific execution element through a bottom plate 9. The invention has reasonable design, simple structure, small volume, convenient manufacture, high centering and large error flexibility compensation range, can be used as an auxiliary device at the tail end of a robot for high-precision assembly work, and can also be used for grabbing, loading and unloading, stacking and the like of the robot.
Description
Technical Field
The invention relates to an error compensation device, in particular to a high-precision flexible compensation device for an industrial robot, and belongs to the field of mechanical manufacturing equipment.
Background
Industrial robots are increasingly widely used in recent years, and industrial robots replace people to do repeated and complicated work in the fields of assembly, loading and unloading, grabbing and the like, but the industrial robots have no flexibility of arms, namely the flexibility control during assembly or loading and unloading can be realized, so that workpieces and end effectors are in implied fit without damaging the execution parts and the workpieces. In addition, industrial robots have large errors in precision positioning due to the effects of machining assembly errors and motor errors. For this reason, it is necessary to develop a flexible compensation device capable of compensating for the positioning error of the robot tip.
To realize accurate positioning of the tail end of the robot, the flexible execution function is required to be high in centering after the compensator performs actions except for precision compensation technical index requirements of angles in the directions of X direction, Y direction, inclination, rotation and the like, so that the robot can still follow the motion track and precision of the body. Existing compensators are divided into two types, active control compensators and adaptive compensators. The active control compensator is added with a detection mechanism and a detection system, and the moving distance or the angle of the compensator is actively controlled by a program to realize positioning compensation. But the active control compensator system is complex and has high cost. The self-adaptive compensator realizes passive flexible contact between the execution end and the workpiece through a flexible device such as a spring and a steel column with a specific hollowed shape, and further realizes active control through external force driving. But the existing self-adaptive compensator has small compensation range and higher flexible contact degree. There is therefore a need to develop a higher performance robot tip flexibility compensation device.
Disclosure of Invention
The invention aims to solve the technical problems of providing the flexible compensation device which has the advantages of high precision, large error compensation range, high centering degree, good rigidity, simple and compact structure and convenient manufacture and is used for high-precision automatic processing of assembly, grabbing, feeding and discharging, stacking and the like of an industrial robot.
In order to solve the problems, the tail end flexible compensation device for the industrial robot comprises a mounting plate, a top cover, a piston rod, a pressing plate, an upper frame, an upper connecting plate, a lower frame, a bottom plate, a lower gasket, an upper gasket, a lower cone, a positioning pin, an upper cone, steel balls, a fixing ring, a positioning ring, a sliding rod, a spring, a piston and a sealing ring, and is characterized in that: the piston is installed in the top cap, be provided with the air inlet channel in the top cap and let in gas and promote the piston motion, piston rod one end is installed in the piston to pass the clamp plate, the other end passes through spring and last cone fixed connection, go up frame and top cap fixed connection, slide bar and clamp plate fixed connection, 4 through-holes of upper junction plate circumference equipartition make the slide bar reciprocate, go up frame and upper junction plate fixed connection, 4 recesses of solid fixed ring circumference equipartition are used for installing 4 upper gaskets, 4 recesses of lower frame circumference equipartition are used for installing 4 lower gaskets, 4 steel balls are installed between upper gaskets and lower gaskets, lower junction plate and upper junction plate, solid fixed ring lock mutually, lower junction plate is connected through the holding ring with lower frame, lower frame and bottom plate fixed connection, upper cone and lower cone need be connected through the locating pin and constitute the biconical connector, go up the cone is installed in last junction plate, the lower cone is installed in the lower frame, the mounting plate is connected with industrial robot end, the bottom plate is connected with concrete execution component.
The upper connecting plate and the lower connecting plate are half-buckled by adopting a mortise and tenon structure, and the fixed ring and the lower connecting plate are half-buckled by adopting a mortise and tenon structure.
The upper cone and the upper connecting plate are matched, the lower cone and the lower frame are matched at an angle of 0-90 degrees, the specific matching angle can adjust the inclination angles of the conical cavity and the conical surface according to working conditions and compensation requirements, and correspondingly, the gap between the upper connecting plate and the lower connecting plate and the inclination angles of the grooves of the upper gasket and the lower gasket are also required to be adjusted.
The group matching of the upper gasket, the steel balls and the lower gasket is not limited to 4 groups, and correspondingly, the number of the sliding rods and the number of the grooves uniformly distributed on the fixed ring also need to be adjusted according to the matched group number.
The fixed ring and the lower frame are not limited to be matched by inclined planes, but can be matched by planes or spherical surfaces.
The end flexible compensation device for the robot adopts the technical scheme, adopts the matching structure of the reverse double cone and the conical hole and the matching structure of the steel ball and the gasket groove, and can simultaneously realize the compensation of the executing end XY to the translational, tilting and rotating angles in all directions, namely, the flexible contact function requirement of the executing end and a workpiece is met; the pneumatic driving piston and the sliding column are adopted to compress the steel balls, so that the active control centering requirement of the flexible compensator can be realized; the main parts of the device are a revolution body structure, the structure is simple, and the processing is convenient.
Compared with the prior art, the terminal flexibility compensation device adopting the technical scheme has the advantages and positive effects that the terminal flexibility compensation device is remarkable, and is mainly embodied in the following aspects:
1. conical surface compensation locking structure. In order to meet the flexibility requirement, the existing compensator generally adopts an elastic compensation structure. However, the larger the elastic range of the elastic compensation structure is, the more difficult the locking is, and the rigidity is insufficient, so that the stability of the action performed after the robot grabs the workpiece is affected. The invention sets double cones as compensation structure, which not only can realize the error compensation of translational, rotational, oblique and other direction angles, but also can be used as connecting pieces connected with the upper and lower parts. When the device is in a locking state, the upper cone is locked to realize locking and corresponding technical requirements. The structure not only simplifies the structure of the device, but also can effectively promote the neutral property and rigidity of the device in the locking state.
2. Positioning steel ball structure. Most of positioning structures in the existing products are bosses with different shapes on the piston rod for positioning, but the mode needs to additionally increase a connecting structure to ensure the rigidity and connection of the upper part and the lower part, and the structure is complex. The steel ball structure is adopted as a compensation structure of the device, and the whole device is arranged as an integrated cylinder, but the steel ball is easy to loosen after being subjected to longitudinal tensile force (such as gravity) in the gasket, so that the robot has insufficient rigidity after grabbing a workpiece, the bearing is small, and the compensation range is also small by simply relying on the steel ball matching structure. The positioning steel ball structure is used for positioning and locking, the piston rod can lock the upper conical surface, downward pressure can be transmitted to the pressing plate and the upper gasket of the positioning steel ball, a certain range of compensation movement is realized through the steel ball matching structure, the flexibility of the device is further improved, and more importantly, the positioning steel ball structure can be quickly centered and assist the lower cone to realize conical surface matching in the locking state process, so that the high-centering and high-efficiency in the locking process of the device are realized.
3. Mortise and tenon half-fastening frame structure. The frames of the prior art are limited by the motion of the flexible compensator compensating structure and the positioning structure, only for fixing and dust prevention. The upper part and the lower part of the device are directly connected by the springs or the flexible parts, but in the mode, the elastic flexible compensation structure is overlarge in bearing, the service life of the elastic flexible compensation structure is reduced, and the error compensation precision is reduced along with the gradual failure of the elastic parts. According to the mortise and tenon half-fastening frame adopted by the technical scheme, the motion requirement of the device in a working state can be met, the bearing capacity and the rigidity are improved, the quick and efficient axial inclination compensation is realized through the slope cooperation between the fixed ring and the lower frame, and the high compensation precision and the service life of the flexible compensation device in the working state and the locking state are ensured.
In conclusion, the invention has novel and reasonable design, simple structure, small weight and convenient manufacture, meets the market product requirements, has good neutrality, large rigidity and high compensation precision, is particularly suitable for being used as an error auxiliary device at the tail end of an industrial robot for high-precision assembly work, and can also be used for other high-precision working conditions of the industrial robot such as grabbing, loading and unloading, stacking and the like.
Drawings
Fig. 1 is a front cross-sectional view of an example of the present invention (i.e., a conical surface compensating locking structure and a positioning steel ball structure).
Fig. 2 is a top view of the present invention (i.e., mounting plate and air inlet tube position distribution).
Fig. 3 is a cross-sectional view A-A of fig. 2 (i.e., the distribution of detent ball structures) in accordance with the present invention.
Fig. 4 is a cross-sectional view of fig. 1 (i.e., mortise and tenon half-fastening structure) according to the present invention.
Fig. 5 is a top view of the part securing ring 16 of fig. 1 in accordance with the present invention.
In fig. 1-3: 1-mounting plate, 2-top cover, 3-piston rod, 4-pressing plate, 5-upper frame, 6-upper connecting plate, 7-lower connecting plate, 8-lower frame, 9-bottom plate, 10-lower gasket, 11-upper gasket, 12-lower cone, 13-locating pin, 14-upper cone, 15-steel ball, 16-fixed ring, 17-locating ring, 18-sliding rod, 19-spring, 20-piston, 21-sealing ring.
Detailed Description
The present invention will be described in detail with reference to the following examples and drawings.
Referring to fig. 1, the top cover 2 is connected with the mounting plate 1, the piston 20 is installed in a piston hole in the top cover 2, one end of the piston rod 3 is installed in the piston 20, the other end is connected with the upper cone 14 through a spring 19 after passing through the upper frame 5 and the pressing plate 4, the upper cone 14 is installed in the upper connecting plate 6, the upper connecting plate 6 is fixedly connected with the upper frame 5, the upper cone 14 is connected with the lower cone 12 through a locating pin 13 to form a double-cone connector, the lower cone 12 is installed in the lower frame 8, the pressing plate 4 transmits power through a shoulder on the piston rod 3, the sliding rod 18 is fixedly connected with the pressing plate 4, the upper gasket 11 is embedded in a groove of the upper connecting plate 6 and transmits motion through the sliding rod 18, the lower gasket 10 is embedded in a groove of the lower frame 8, the steel balls 15 are installed in grooves in the upper gasket 11 and the lower gasket 10, the fixing ring 16 is fixedly connected with the upper connecting plate 6, the upper connecting plate 6 is buckled with the lower connecting plate 7, the lower connecting plate 7 is connected with the lower frame 8 through a locating ring 17, the lower connecting plate 8 is fixedly connected with the top cover 9 and the top cover 2 is fixedly connected with the mounting plate 1, and the machine body is connected with the mounting plate 9.
Referring to fig. 1 and 4, the upper connecting plate 6 and the lower connecting plate 7 are half-fastened by adopting a mortise-tenon structure, and a certain gap is reserved between the two parts so as to ensure the connection strength of the upper part and the lower part of the device and the mutual movement between the upper part and the lower part of the device. The gap is determined according to specific working conditions and compensation ranges, and the gap is matched with the taper of the conical surface and the inclination angle of the positioning steel ball gasket groove to realize compensation. The fixed ring 16 and the lower frame 8 are matched by inclined planes, the inclination angle is not limited to 2 degrees, and the specific inclined plane inclination angle can be adjusted according to specific working conditions and compensation requirements. The inclined plane can ensure that the axial inclination angle can be compensated smoothly and rapidly, and the device is protected when the working condition reaches the limit angle.
Referring to fig. 1 and 3, the upper cone 14 and the upper connecting plate 6 have a matching inclination angle, the lower cone 12 and the lower frame 8 have a matching inclination angle between 0 ° and 90 °, the matching inclination angle should be convenient for processing, and the reference angle is 60 °. The specific matching angle can adjust the inclination angles of the conical cavity and the conical surface according to working conditions and compensation requirements, and correspondingly, the gap between the upper connecting plate and the lower connecting plate and the inclination angles of grooves of the upper gasket 11 and the lower gasket 10 are also required to be adjusted.
Referring to fig. 4 and 5, the upper washer 11, the steel balls 15 and the lower washer 10 are assembled in groups and are not limited to 4 groups, and accordingly, the number of the sliding rods 18 and the number of the grooves uniformly distributed on the fixed ring 16 also need to be adjusted according to the matched groups. The positioning steel ball structures should be uniformly distributed in the lower frame 8 to uniformly disperse the stress, and the number should be greater than or equal to 4 groups.
The working principle of the invention is briefly described below: in order to reduce the weight of the flexible compensation device, a pneumatic element is used to provide power, and the power is transmitted by pushing the piston 20 and the piston rod 3 connected thereto. When the end effector contacts the workpiece, the piston 20 in the cylinder can be pressed into the bottom of the piston hole in the top cover 2 without introducing gas. The main compliant elements of the device are the upper cone 14, the lower cone 12 and the springs 19. Gaps are arranged between the upper cone 14 and the lower cone 12 and the mounting cone holes, and the middle of the upper cone and the lower cone is matched with each other by adopting a tenon-and-mortise structure and is fixedly connected by using an expansion locating pin 13 in interference fit. The design of the two conical surfaces can enable the two conical surfaces to do tilting, rotating, translating, vertical moving and other movements in the cavity. The piston rod 3 and the upper cone 14 are connected with a spring 19. The main positioning element is a matching structure formed by the steel balls 15, the upper gasket 11 and the lower gasket 10, and the gasket is tightly pressed to enable the steel balls 15 to be positioned in a centering way. The main connecting structure is a buckling structure with a gap.
When the piston 20 in the cylinder is in a relaxed state, the double cone fitting structure can move in the cavity, and the steel balls 15 in the gasket can also move in a certain range. When the end effector receives the feedback force of the workpiece, the double-cone matching structure and the steel ball matching structure are matched with each other to realize the compensation requirement. At the moment, the upper part and the lower part of the device can realize the compensation of the required direction angles such as the movement in the X direction, the inclination, the rotation around the Z axis and the like of the plane; when the cylinder is inflated to drive the piston 20 to press downwards, the piston rod 3 compresses the spring 19 and transmits downward force to enable the upper cone 14 to compress the conical cavity of the upper connecting plate 6, and the device is locked at the moment. Meanwhile, the piston rod 3 drives the mechanism to press the upper gasket 11 of the positioning steel ball 15, so that the steel ball 15 is locked in a centering way, and further drives the conical hole in the lower frame 8 to press the lower cone 12, so as to further lock the device. The invention has the advantages of high bearing capacity, high rigidity and high centering during locking.
Claims (4)
1. The utility model provides an industrial robot is with terminal flexible compensation arrangement, includes mounting panel (1), top cap (2), piston rod (3), clamp plate (4), goes up frame (5), upper connecting plate (6), lower connecting plate (7), lower frame (8), bottom plate (9), lower gasket (10), go up gasket (11), lower cone (12), locating pin (13), go up cone (14), steel ball (15), solid fixed ring (16), solid fixed ring (17), slide bar (18), spring (19), piston (20), sealing washer (21), characterized by: the piston (20) is arranged in the top cover (2), an air inlet channel is arranged in the top cover (2) to push the piston (20) to move, one end of the piston rod (3) is arranged in the piston (20) and penetrates through the pressing plate (4), the other end of the piston rod is fixedly connected with the upper cone (14) through a spring (19), the upper frame (5) is fixedly connected with the top cover (2), the sliding rod (18) is fixedly connected with the pressing plate (4), 4 through holes are circumferentially and uniformly distributed in the upper connecting plate (6) to enable the sliding rod (18) to move up and down, 4 grooves are circumferentially and uniformly distributed in the upper frame (5) and the upper connecting plate (6) to be used for installing 4 upper gaskets (11), 4 grooves are circumferentially and uniformly distributed in the lower frame (8) to be used for installing 4 lower gaskets (10), the steel balls (15) are arranged between the upper gaskets (11) and the lower gaskets (10), the lower connecting plate (7) is buckled with the upper connecting plate (6) and the fixing ring (16), the lower connecting plate (7) is fixedly connected with the lower frame (8) and the lower cone (12) through the upper cone (14) and the lower frame (12) to be fixedly connected with the upper cone (13), the upper cone (14) is arranged in the upper connecting plate (6), the lower cone (12) is arranged in the lower frame (8), the mounting plate (1) is connected with the tail end of the industrial robot, and the bottom plate (9) is connected with a specific execution element.
2. The tip flexibility compensating apparatus for an industrial robot according to claim 1, wherein: the upper connecting plate (6) and the lower connecting plate (7) are semi-buckled by adopting a mortise and tenon structure, and the fixed ring (16) and the lower connecting plate (7) are semi-buckled by adopting a mortise and tenon structure.
3. The tip flexibility compensating apparatus for an industrial robot according to claim 2, wherein: the upper cone (14) and the upper connecting plate (6) are matched, the lower cone (12) and the lower frame (8) are matched at an angle of 0-90 degrees, the specific matching angle can adjust the inclination angles of the conical cavity and the conical surface according to working conditions and compensation requirements, and accordingly, the gap between the upper connecting plate and the lower connecting plate and the inclination angles of the grooves of the upper gasket (11) and the lower gasket (10) are also required to be adjusted.
4. A tip flexibility compensating apparatus for an industrial robot as claimed in claim 3, characterized in that: the fixed ring (16) and the lower frame (8) are not limited to be matched by inclined planes, and can be matched by planes or spheres.
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| CN201910639037.1A CN110340937B (en) | 2019-07-16 | 2019-07-16 | Industrial robot is with terminal flexible compensation arrangement |
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| CN201910639037.1A CN110340937B (en) | 2019-07-16 | 2019-07-16 | Industrial robot is with terminal flexible compensation arrangement |
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| CN110340937A CN110340937A (en) | 2019-10-18 |
| CN110340937B true CN110340937B (en) | 2023-05-26 |
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Families Citing this family (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 |
| CN112873203B (en) * | 2021-01-13 | 2021-10-08 | 安徽大学 | Omnibearing part assembly error self-adaptive compensation system |
| CN113124025B (en) * | 2021-04-30 | 2022-09-23 | 洛阳尚奇机器人科技有限公司 | Robot tail end flange interface with flexibility |
| CN114536034B (en) * | 2022-04-22 | 2022-07-15 | 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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