CN110695987A - Passive compliant device for tail end of robot - Google Patents
Passive compliant device for tail end of robot Download PDFInfo
- Publication number
- CN110695987A CN110695987A CN201910982532.2A CN201910982532A CN110695987A CN 110695987 A CN110695987 A CN 110695987A CN 201910982532 A CN201910982532 A CN 201910982532A CN 110695987 A CN110695987 A CN 110695987A
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- piston
- floating
- robot
- limiting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention relates to a robot tail end passive compliance device, which comprises: the floating end is used for being connected with the tail end tool, a limiting shaft is arranged on the floating end, and the lower end of the limiting shaft is fixedly connected with the middle part of the upper end of the floating end; the upper fixed end is used for being connected with the robot, an axial limiting mechanism is arranged on the upper fixed end, and the lower end of the axial limiting mechanism is abutted against the upper end of the limiting shaft; the lower fixed end is sleeved on the outer side of the upper end of the limiting shaft, the upper wall of the lower fixed end is fixedly connected with the lower wall of the upper fixed end, a radial limiting mechanism is arranged between the lower fixed end and the limiting shaft, and a plurality of pre-tightening limiting mechanisms are arranged between the lower fixed end and the floating end along the circumferential direction of the limiting shaft. The invention can respectively lock the axial direction and the radial direction of the limiting shaft through the pre-tightening limiting mechanism, the axial limiting mechanism and the radial limiting mechanism, can avoid rigid collision between a tail end tool and a robot, and plays roles in buffering and passive compensation.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot tail end passive compliance device.
Background
With the rapid development of industrial automation, industrial robots are widely used in manufacturing. When the operations such as sorting, assembling and polishing are carried out, the end clamp inevitably comes into direct contact with a workpiece, and if the rigidity of the operation tool and the operation object is large and the collision is not allowed, the end of the robot needs to have flexibility. In addition, the collision-free contact is difficult to realize only by position control at the moment when the working tool and the object are contacted with each other, the robot is required to have certain flexibility at this moment, the flexible contact or soft landing between the working tool and the working object is gradually realized, and if a passive flexible wrist is additionally arranged between a flange plate at the tail end of the robot and a clamp, the collision can be effectively avoided.
In the automatic assembly process of the robot, the situation that the workpiece has deviation or the requirement on the repeated positioning precision of the robot is high can be met. If the rigid assembly is adopted, the workpiece and the tool can be damaged, or the alarm shutdown of the robot is caused, so that the production efficiency is influenced. The robot tail end flexible device is adopted for tool switching, so that the problems can be effectively solved.
Disclosure of Invention
The present invention is directed to solving the above-mentioned problems and to providing a passive compliant device for a robot end that provides a buffer and passive compensation between the robot and an end tool to solve at least one of the above-mentioned problems.
The technical scheme for solving the technical problems is as follows:
a robotic tip passive compliance device, comprising:
the floating end is used for being connected with a tail end tool, a limiting shaft is arranged on the floating end, and the lower end of the limiting shaft is fixedly connected with the middle part of the upper end of the floating end;
the upper fixing end is used for being connected with the robot, an axial limiting mechanism is arranged on the upper fixing end, and the lower end of the axial limiting mechanism is abutted against the upper end of the limiting shaft;
the lower fixed end is sleeved on the upper end outer side of the limiting shaft, the upper wall of the lower fixed end is fixedly connected with the upper wall of the lower fixed end, a radial limiting mechanism is arranged between the lower fixed end and the limiting shaft, and a plurality of pre-tightening limiting mechanisms are circumferentially arranged between the lower fixed end and the floating end.
The invention has the beneficial effects that: the robot end tool can play a role in buffering and passive compensation between the end tool and the robot; in the application, the axial direction and the radial direction of the limiting shaft can be respectively locked through the axial limiting mechanism and the radial limiting mechanism, so that rigid collision between a terminal tool and a robot can be avoided, and soft landing between the terminal tool and the robot can be flexibly realized; the pre-tightening limiting mechanism can enhance the stability between the lower fixed end and the floating end.
On the basis of the technical scheme, the invention can be further improved as follows.
Further, radial stop gear includes annular cylinder and a plurality of piston top, annular cylinder's annular inboard be equipped with the piston hole of piston top one-to-one, the one end of piston top stretch into in the piston hole with piston hole sliding connection, the other end of piston top passes and stretches out the piston hole with the lateral wall butt of spacing axle, the stiff end is equipped with the hole down, annular cylinder's outer fringe with the hole transition fit of stiff end down, one side of stiff end is equipped with first gas connection head down, the one end of first gas connection head with annular cylinder intercommunication.
The beneficial effect of adopting the further scheme is that: the radial limiting mechanism can lock the circumference of the limiting shaft, and the swing of the limiting shaft can be avoided by utilizing the compressibility of gas.
Further, axial stop gear includes cylinder body, cylinder cap, piston and locking axle, the cylinder body is equipped with the decurrent gas tank of opening, the cylinder cap closing cap in the opening part of gas tank with cylinder body fixed connection, the piston is located the gas tank in with the lateral wall sliding connection of gas tank, the one end of locking axle with the other end sliding connection of piston, the other end of locking axle passes the cylinder cap with the up end butt of spacing axle, the side of going up the stiff end is equipped with the second and connects the gas head, the second connect the gas head the one end with the cylinder body the gas tank intercommunication.
The beneficial effect of adopting the further scheme is that: the locking shaft of the axial limiting mechanism is abutted against the upper end face of the limiting shaft, so that the circumferential movement of the limiting shaft can be effectively limited.
Further, the piston includes piston portion, lower piston portion and sealing washer, the sealing washer is located piston portion with down between the piston portion, go up piston portion with lower piston portion pass through the bolt with the upper end of locking axle is connected, the outer fringe of sealing washer with the inner wall sliding connection of gas tank.
The beneficial effect of adopting the further scheme is that: the sealing washer can promote the leakproofness of piston, goes up piston portion, lower piston portion and locking axle simultaneously and passes through the screw connection as an organic whole and can promote the locking effect of locking axle to spacing epaxial end.
Further, go up to be equipped with first attitude sensor and circuit board on the stiff end, floating is served and is equipped with second attitude sensor, first attitude sensor with second attitude sensor electricity all is connected the circuit board.
The beneficial effect of adopting the further scheme is that: the attitude sensor can respectively obtain the attitude data of the upper fixed end and the floating end, and send the data to the robot, so that the device can be prevented from being damaged.
Furthermore, a lamp strip is arranged on the circumferential side wall of the upper fixed end and is electrically connected with the circuit board.
The beneficial effect of adopting the further scheme is that: the lamp area can show the relative position between floating end and the last stiff end, and the manual work of being convenient for judges and operates, and protection end effector and robot do not receive the damage.
Furthermore, the pre-tightening limiting mechanism comprises a pre-tightening bolt and a spring, the spring is sleeved on the outer side of the pre-tightening bolt, the upper end of the spring is fixedly connected with the lower fixed end, the lower end of the spring is fixedly connected with the floating end, and the upper end of the pre-tightening bolt is fixedly connected with the upper fixed end.
The beneficial effect of adopting the further scheme is that: the spring of the pre-tightening limiting mechanism can drive the floating end and the upper fixed end to be in a normal working state, and can reduce the change between the floating end and the fixed end caused by rigid contact, so that the floating end and the fixed end are in a normal working state.
Further, the spring is a tower spring.
The beneficial effect of adopting the further scheme is that: the tower-shaped spring not only can reduce the axial action along the pre-tightening bolt, but also can reduce the swinging action when the floating end and the fixed end support swing.
Furthermore, the floating end comprises a shell and a floating flange plate, the floating flange plate is arranged on the lower side of the shell and fixedly connected with the shell, a limiting groove is formed in the shell, and the lower end of the pre-tightening bolt extends into the limiting groove and is in sliding connection with the limiting groove.
The beneficial effect of adopting the further scheme is that: the spacing groove can be spacing to the lower extreme of locking bolt, promotes the stability between stiff end and the floating shell.
Further, the lower extreme of pretension bolt is equipped with spacing portion, the lower pot head of pretension bolt is equipped with the taper bush, the taper bush with spacing groove interference fit, spacing portion with taper bush interference fit.
The beneficial effect of adopting the further scheme is that: the taper bush is matched with the limiting part to limit the line segment of the pre-tightening bolt, so that the stability of connection between the floating end and the fixed end can be kept.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a front cross-sectional view of the structure of the present invention;
FIG. 3 is a top cross-sectional view of the lower anchor end of the present invention;
fig. 4 is a top cross-sectional view of the floating shell of the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
1. the device comprises an upper fixed end, 2, a lower fixed end, 3, a first attitude sensor, 4, an axial limiting mechanism, 401, a cylinder body, 402, a cylinder cover, 403, a piston, 4031, an upper piston part, 4032, a lower piston part, 4033, a sealing ring, 404, a locking shaft, 405, a second air receiving head, 5, a lamp strip, 6, a radial limiting mechanism, 601, an annular cylinder, 602, a piston top, 603, a first air receiving head, 7, a floating end, 701, a floating shell, 702, a floating flange plate, 703, a limiting groove, 704, a conical bushing, 8, a pre-tightening limiting mechanism, 801, a pre-tightening bolt, 802, a spring, 803, a limiting part, 9, a limiting shaft, 10, a second attitude sensor, 11 and a circuit board.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
Examples
As shown in fig. 1, the robot end passive compliance device of the present invention includes: the floating end 7 is used for being connected with a tail end tool, the floating end 7 is provided with a limiting shaft 9, and the lower end of the limiting shaft 9 is fixedly connected with the middle part of the upper end of the floating end 7; the upper fixing end 1 is used for being connected with the robot, an axial limiting mechanism 4 is arranged on the upper fixing end 1, and the lower end of the axial limiting mechanism 4 is abutted against the upper end of a limiting shaft 9; the upper end outside of spacing axle 9 is located to lower stiff end 2, lower stiff end 2 cover, and the upper wall of lower stiff end 2 and the lower wall fixed connection of last stiff end 1 are equipped with radial stop gear 6 down between stiff end 2 and the spacing axle 9, are equipped with a plurality of pretension stop gear 8 along spacing axle 9 circumference between stiff end 2 and the floating end 7 down.
The radial limiting mechanism 6 comprises an annular cylinder 601 and a plurality of piston jacks 602, piston holes corresponding to the piston jacks 602 one by one are arranged on the annular inner side of the annular cylinder 601, one end of each piston jack 602 extends into each piston hole to be connected with the corresponding piston hole in a sliding manner, the other end of each piston jack 602 penetrates through and extends out of each piston hole to be abutted against the side wall of the limiting shaft 9, an inner hole is formed in the lower fixing end 2, the outer edge of the annular cylinder 602 is in transition fit with the inner hole of the lower fixing end 2, a first air receiving head 603 is arranged on one side of the lower fixing end 2, one end of the first air receiving head 603 is communicated with the annular cylinder 601, an annular air passage is arranged in the annular cylinder 601, one end of each piston hole is communicated with the air passage; the piston top 602 is cylindrical, the axis of the piston hole is overlapped with the radial direction of the limiting shaft 9, the piston top 602 moves along the piston hole, and one end of the piston top is close to and abutted against the side wall of the limiting shaft 9 to lock the limiting shaft 9; preferably, the piston crown 602 of the present application has six.
Axial stop gear 4 includes cylinder body 401, cylinder cap 402, piston 403 and locking shaft 404, cylinder body 401 is equipped with the decurrent gas tank of opening, cylinder cap 402 closing cap is in the opening part and cylinder body 401 fixed connection of gas tank, piston 403 locates the gas tank in with the lateral wall sliding connection of gas tank, the one end of locking shaft 404 and the other end sliding connection of piston, the other end of locking shaft 404 passes the up end butt of cylinder cap 402 with spacing axle 9, the side of going up stiff end 1 is equipped with second gas connector 405, the one end of second gas connector 405 and the gas tank intercommunication of cylinder body 1.
The piston 403 includes an upper piston portion 4031, a lower piston portion 4032, and a seal ring 4033, the seal ring 4033 is disposed between the upper piston portion 4031 and the lower piston portion 4032, the upper piston portion 4031 and the lower piston portion 4032 are connected to the upper end of the locking shaft 404 by bolts, and an outer edge of the seal ring 4033 is slidably connected to an inner wall of the air groove.
The upper fixed end 1 is provided with a first attitude sensor 3 and a circuit board 11, the floating end 7 is provided with a second attitude sensor 10, and the first attitude sensor 3 and the second attitude sensor 10 are both electrically connected with the circuit board 11; the models of the first attitude sensor and the second attitude sensor are WT901C 485; and a first mounting threaded hole for being connected with a robot is formed in the upper end wall surface of the upper fixing end 2.
The annular side wall of the upper fixed end 1 is provided with a lamp strip 5, the lamp strip 5 is electrically connected with a circuit board 11, the circuit board 11 is provided with a detection circuit for collecting a first attitude sensor 3 and a second attitude sensor 10, and the circuit board is also provided with a chip writing attitude judgment algorithm, judges attitude signals of the detection circuit in real time and sends the signals to the robot controller and the lamp strip 5; when floating end 7 reached the biggest spacing angle, lamp area 5 showed red, is the early warning or reports to the police for the purpose, if when being in locking state, lamp area 5 shows green, if when being in the state of floating, lamp area 5 shows yellow.
The pre-tightening limiting mechanism 8 comprises a pre-tightening bolt 801 and a spring 802, the spring 802 is sleeved on the outer side of the pre-tightening bolt 801, the upper end of the spring 802 is fixedly connected with the lower fixed end 2, the lower end of the spring 802 is fixedly connected with the floating end 7, and the upper end of the pre-tightening bolt 801 is fixedly connected with the upper fixed end 1 through threads.
The spring 802 is a tower-shaped spring, an inner concave hole is formed in one side, facing the lower fixed end 2, of the floating end 7, the large-diameter end of the tower-shaped spring extends into the inner concave hole and is fixedly connected with the bottom wall of the inner concave hole, and the small-diameter end of the tower-shaped spring is fixedly connected with the lower wall of the lower fixed end 2; when the tower-shaped spring is in a working state, and the floating end 7 is acted by external force, the tower-shaped spring is compressed to play roles in buffering and passive compensation.
The floating end 7 comprises a floating shell 701 and a floating flange plate 702, the floating flange plate 702 is arranged on the lower side of the floating shell 701 and is fixedly connected with the floating shell 701, a limit groove 703 is arranged on the floating shell 701, and the lower end of the pre-tightening bolt 801 extends into the limit groove 703 and is in sliding connection with the limit groove 703; the floating flange plate 702 is provided with a second threaded mounting hole for attachment to an end tool.
The lower end of the pre-tightening bolt 801 is provided with a limiting part 803, the lower end of the pre-tightening bolt 801 is sleeved with a conical bushing 704, the conical bushing 704 is in interference fit with the inner wall of the limiting groove 703, and the limiting part 803 is in interference fit with the conical bushing 704; the limiting portion 803 is in a truncated cone shape, and a tapered hole matched with the side wall of the limiting portion 803 is formed in the tapered bushing 704.
When the invention works and locks: the cylinder body 401 is connected with a compressed air source through a second air inlet 405, the piston 403 drives the lower end of the locking shaft 404 to be pressed with the upper end face of the limiting shaft 9 under the action of air pressure, and the limiting part 803 of the pre-tightening bolt 801 is locked at the opening of the limiting groove 703 through the conical bushing 704; the first air connector 603 is connected with an air source, so that the six piston jacks 602 move towards the direction of the limiting shaft 9, and one end of each piston jack compresses the side wall of the limiting shaft 9, so that the axial direction and the circumferential direction of the limiting shaft 9 are locked, and when a tail end tool is installed, the rigid collision of the tail end tool to the robot can be reduced; first attitude sensor 3 and second attitude sensor 10 are respectively with attitude signal transmission for circuit board 11, through the contrast back, confirm the relative position of floating end 7 and stiff end, can protect end effector and robot not damaged, and lamp area 5 is used for showing the operating condition of this application, the manual work of being convenient for judges and operates.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A robot tip passive compliance device, comprising:
the floating end (7) is used for being connected with a tail end tool, a limiting shaft (9) is arranged on the floating end (7), and the lower end of the limiting shaft (9) is fixedly connected with the middle part of the upper end of the floating end (7);
the robot comprises an upper fixed end (1) used for being connected with a robot, wherein an axial limiting mechanism (4) is arranged on the upper fixed end (1), and the lower end of the axial limiting mechanism (4) is abutted against the upper end of a limiting shaft (9);
lower stiff end (2), stiff end (2) cover is located down the upper end outside of spacing axle (9), down the upper wall of stiff end (2) with the lower wall fixed connection of last stiff end (1), stiff end (2) down with be equipped with radial stop gear (6) between spacing axle (9), stiff end (2) down with float and follow between end (7) spacing axle (9) circumference is equipped with a plurality of pretension stop gear (8).
2. The passive compliant device for a robot tip of claim 1, the radial limiting mechanism (6) comprises an annular cylinder (601) and a plurality of piston tops (602), the annular inner side of the annular cylinder (601) is provided with piston holes which are in one-to-one correspondence with the piston tops (602), one end of the piston top (602) extends into the piston hole and is connected with the piston hole in a sliding way, the other end of the piston top (602) penetrates through and extends out of the piston hole to be abutted against the side wall of the limiting shaft (9), the lower fixed end (2) is provided with an inner hole, the outer edge of the annular cylinder (602) is in transition fit with the inner hole of the lower fixed end (2), one side of stiff end (2) is equipped with first joint of gas (603) down, the one end of first joint of gas (603) with annular cylinder (601) intercommunication.
3. The passive compliant device for a robot tip of claim 1, the axial limiting mechanism (4) comprises a cylinder body (401), a cylinder cover (402), a piston (403) and a locking shaft (404), the cylinder body (401) is provided with an air groove with a downward opening, the cylinder cover (402) is covered at the opening of the air groove and is fixedly connected with the cylinder body (401), the piston (403) is arranged in the air groove and is in sliding connection with the side wall of the air groove, one end of the locking shaft (404) is in sliding connection with the other end of the piston, the other end of the locking shaft (404) passes through the cylinder cover (402) and is abutted against the upper end face of the limiting shaft (9), go up the side of stiff end (1) and be equipped with second air connector (405), the one end of second air connector (405) with cylinder body (1) the gas tank intercommunication.
4. The passive compliant device for robot end according to claim 3, wherein the piston (403) comprises an upper piston portion (4031), a lower piston portion (4032) and a sealing ring (4033), the sealing ring (4033) is disposed between the upper piston portion (4031) and the lower piston portion (4032), the upper piston portion (4031) and the lower piston portion (4032) are connected to the upper end of the locking shaft (404) through bolts, and the outer edge of the sealing ring (4033) is connected to the inner wall of the air groove in a sliding manner.
5. The robot tail end passive compliance device according to claim 1, wherein a first attitude sensor (3) and a circuit board (11) are arranged on the upper fixed end (1), a second attitude sensor (10) is arranged on the floating end (7), and both the first attitude sensor (3) and the second attitude sensor (10) are electrically connected with the circuit board (11).
6. The robot tail end passive compliance device, according to claim 5, characterized in that a light strip (5) is provided on the circumferential side wall of the upper fixing end (1), and the light strip (5) is electrically connected to the circuit board (11).
7. The robot tail end passive compliance device according to any one of claims 1 to 6, wherein the pre-tightening limiting mechanism (8) comprises a pre-tightening bolt (801) and a spring (802), the spring (802) is sleeved outside the pre-tightening bolt (801), the upper end of the spring (802) is fixedly connected with the lower fixed end (2), the lower end of the spring (802) is fixedly connected with the floating end (7), and the upper end of the pre-tightening bolt (801) is fixedly connected with the upper fixed end (1) through threads.
8. A robot end passive compliance device, according to claim 7, characterized in that the spring (802) is a tower spring.
9. The robot tail end passive compliance device according to claim 7, wherein the floating end (7) comprises a floating shell (701) and a floating flange plate (702), the floating flange plate (702) is arranged on the lower side of the floating shell (701) and fixedly connected with the floating shell (701), a limit groove (703) is formed in the floating shell (701), and the lower end of the pre-tightening bolt (801) extends into the limit groove (703) and is slidably connected with the limit groove (703).
10. The robot tail end passive compliance device as claimed in claim 9, wherein a limiting portion (803) is arranged at the lower end of the pre-tightening bolt (801), a tapered bushing (704) is sleeved at the lower end of the pre-tightening bolt (801), the tapered bushing (704) is in interference fit with the inner wall of the limiting groove (703), and the limiting portion (803) is in interference fit with the tapered bushing (704).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910982532.2A CN110695987A (en) | 2019-10-16 | 2019-10-16 | Passive compliant device for tail end of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910982532.2A CN110695987A (en) | 2019-10-16 | 2019-10-16 | Passive compliant device for tail end of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110695987A true CN110695987A (en) | 2020-01-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910982532.2A Pending CN110695987A (en) | 2019-10-16 | 2019-10-16 | Passive compliant device for tail end of robot |
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| Country | Link |
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| CN (1) | CN110695987A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112077834A (en) * | 2020-08-24 | 2020-12-15 | 枣庄学院 | Reconfigurable rope-driven series-parallel variable-rigidity household service mechanical arm |
| CN113397711A (en) * | 2021-06-16 | 2021-09-17 | 上海微创医疗机器人（集团）股份有限公司 | Mechanical arm, penetrating device assembly, surgical robot system and control method |
-
2019
- 2019-10-16 CN CN201910982532.2A patent/CN110695987A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112077834A (en) * | 2020-08-24 | 2020-12-15 | 枣庄学院 | Reconfigurable rope-driven series-parallel variable-rigidity household service mechanical arm |
| CN112077834B (en) * | 2020-08-24 | 2021-11-05 | 枣庄学院 | Reconfigurable rope-driven series-parallel variable-rigidity household service mechanical arm |
| CN113397711A (en) * | 2021-06-16 | 2021-09-17 | 上海微创医疗机器人（集团）股份有限公司 | Mechanical arm, penetrating device assembly, surgical robot system and control method |
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