CN112247972A

CN112247972A - Terminal conformal compliance module

Info

Publication number: CN112247972A
Application number: CN202011090804.7A
Authority: CN
Inventors: 国凯; 武冲; 袁田; 孙杰
Original assignee: Shandong University
Current assignee: Shandong University
Priority date: 2020-10-13
Filing date: 2020-10-13
Publication date: 2021-01-22
Anticipated expiration: 2040-10-13
Also published as: CN112247972B

Abstract

The invention discloses a tail end conformal compliance module, which solves the problem of poor conformal compliance capability of a tail end system of a robot in the prior art, has the advantages of compact installation, realization of compliant movement in X and Y directions and full-freedom-degree swing compliance, and has the following specific scheme: a tail end conformal compliance module comprises a pendulum body, XY compliance mechanisms, a swing compliance mechanism and an automatic centering mechanism, wherein the pendulum body is coaxially arranged with at least one group of XY compliance mechanisms and at least one group of swing compliance mechanisms, the pendulum body is arranged between the XY compliance mechanisms and the swing compliance mechanisms and supports the XY compliance mechanisms and the swing compliance mechanisms, the XY compliance mechanisms can achieve compliance movement in the X direction and the Y direction, the swing compliance mechanisms can drive the pendulum body to swing around a swing sphere center, an arc surface is arranged at the bottom end of the pendulum body and serves as an auxiliary track of swing compliance, the sphere center of the auxiliary track is overlapped with the swing sphere center of the swing compliance mechanisms, and the automatic centering mechanism is arranged at the lower end parts of the XY compliance mechanisms and the swing compliance mechanisms.

Description

Terminal conformal compliance module

Technical Field

The invention relates to the technical field of robots, in particular to a tail end conformal compliant module.

Background

The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.

In recent years, with the development of production and the continuous improvement of automation degree, robots and related technologies have been developed dramatically, and particularly, robots have been widely used in the manufacturing industry field, and have superior characteristics of high efficiency, safety and stability. In the field of mechanical manufacturing and assembly application, requirements on the precision of equipment components and the whole assembly size are continuously improved, and requirements on full-posture high-precision assembly are met, so that a robot plays an important role in an assembly production line.

The improvement of industrial production takt time and the enhancement of dynamic action among workpieces, the dynamic effect of the robot end effector to the processes of connecting, assembling, inserting and assembling and disassembling the workpieces becomes very prominent, and because the shapes of the parts assembled in the assembly system are different and the assembly precision requirements are different, the assembly position of the robot end effector cannot automatically conform to the shapes of the parts, so that the accurate control and adjustment of the assembly position are realized. The intelligent assembly system of the large equipment requires that the position and the posture of an end tool in the space field of the robot workpiece can be accurately controlled and adjusted, and the robot end effector can follow the shape of the posture of the robot end effector and adjust the position of a tool according to the machining form of the assembled parts.

The existing robot actuator and robot arm operating means are completely structured, control capability of conformal compliance is lacked, the end effector is compensated, the pose state of the tail end of the robot cannot be detected in real time, and a feedback mechanism is lacked, so that the assembly precision error of the existing workpiece is large, the automation efficiency is low, complex connection, assembly and the like in a changing environment are difficult to complete, the phenomenon that the workpiece with a complex shape cannot be assembled frequently occurs, the locking force of the existing robot end device is small, large parts cannot be assembled, and the end effector of the robot cannot be adjusted in a large-scale conformal compliance according to different assembly operation objects, so that the assembly precision of the robot to the workpiece is improved.

In conclusion, the inventor finds that the existing robot assembly technology for parts is insufficient, the repeated positioning precision is not high, the stability of a robot end system is poor, the following capability of the parts is poor, the end response speed of a robot end actuator is low, the following range of the following capability is small, the precision is low, the assembly precision of workpieces cannot be guaranteed, the locking force of the existing robot end locking device is small, only small and medium-sized parts can be clamped, and the automatic assembly of large-sized parts is difficult to realize.

Disclosure of Invention

In view of the shortcomings of the prior art, it is an object of the present invention to provide a compliant end module that has independent degrees of freedom, provides a high latching force, compliant movement in the X and Y directions, and compliant swing in all degrees of freedom.

In order to achieve the purpose, the invention is realized by the following technical scheme:

a tail end conformal compliance module comprises a pendulum body, XY compliance mechanisms, a swing compliance mechanism and an automatic centering mechanism, wherein the pendulum body is coaxially arranged with at least one group of XY compliance mechanisms and at least one group of swing compliance mechanisms, the pendulum body is arranged between the XY compliance mechanisms and the swing compliance mechanisms and supports the XY compliance mechanisms and the swing compliance mechanisms, the XY compliance mechanisms can achieve compliance movement in the X direction and the Y direction, the swing compliance mechanisms can drive the pendulum body to swing around a swing sphere center, an arc surface is arranged at the bottom end of the pendulum body and serves as an auxiliary track of swing compliance, the sphere center of the auxiliary track is overlapped with the swing sphere center of the swing compliance mechanisms, and the automatic centering mechanism is arranged at the lower end parts of the XY compliance mechanisms and the swing compliance mechanisms.

The terminal conformal compliance module comprises an XY locking cylinder, a pressing plate, a first connecting plate, an enhancing locking mechanism and an XY moving rod, wherein the XY locking cylinder is coaxially mounted on the pendulum body, the XY locking cylinder is arranged in the circumferential direction of the XY moving rod and pushes the XY moving rod to move through the XY locking cylinder, the first connecting plate is arranged above the XY locking cylinder and the XY moving rod and used for outputting displacement in the XY direction, the pressing plate is mounted in an inner hole of the pendulum body and used for preventing the XY moving rod from displacing on the axis, and the enhancing locking mechanism is used for locking the XY moving rod.

The XY locking cylinder comprises a sliding cylinder barrel, a sliding special-shaped piston and a cross sliding pin, the sliding cylinder barrel is arranged on a cylinder mounting position of the pendulum body, a cavity is formed between the sliding cylinder barrel and the sliding special-shaped piston, an air passage communicated with the cavity is formed in the sliding cylinder barrel and used for introducing air into the cavity to push the sliding special-shaped piston to move, the sliding special-shaped piston and an inner cylinder of the sliding cylinder barrel are coaxially mounted, and an inclined surface is formed in the sliding special-shaped piston and used for outputting acting force of the XY locking cylinder;

the outer end face of the sliding cylinder barrel is provided with a Y-direction guide groove, the Y-direction guide groove enables the movement direction of the first connecting plate to move along the Y direction, and the inner end face of the first connecting plate is provided with an X-direction guide groove, so that the movement direction of the first connecting plate moves along the X-direction guide groove; the cross slide pin is installed in the Y-guide groove and the X-guide groove, and limits the degree of freedom of the first link plate in rotation about the axis.

According to the tail end conformal compliance module, the force increasing locking mechanism further comprises a sliding push shaft and a sliding locking spring, the pressing plate is provided with a locking spring mounting hole for mounting the sliding locking spring, and one end of the sliding locking spring is abutted to the sliding special-shaped piston;

the sliding push shaft is coaxially installed in a push shaft hole of the sliding cylinder barrel, one end of the sliding push shaft is provided with a roller groove and a rotating shaft hole, the force increasing rotating shaft I is installed in the rotating shaft hole of the sliding push shaft, the force increasing roller I is placed in the roller groove of the sliding push shaft, the force increasing roller I and the force increasing rotating shaft I are coaxially installed, and the outer circular surface of the force increasing roller I is tangent to the inclined surface of the sliding special-shaped piston and used for outputting a first-stage amplified locking force;

the XY movable rod is provided with a base plate with the size larger than that of the other side on one side close to the pressing plate, the other end of the sliding push shaft is provided with a special-shaped locking curved surface and a reset spring hole used for setting a reset spring, the locking press pin penetrates through a center hole of the pressing plate, one end of the locking press pin is provided with the special-shaped curved surface, the other end of the locking press pin is arranged to be a plane, the plane is in contact with the end face, far away from the pressing plate, of the XY movable rod base plate, and the special-shaped curved surface is in contact with the.

The swing compliance module comprises a second connecting plate, a swing cylinder, a swing locking mechanism and a swing body, wherein the second connecting plate supports the swing cylinder, the swing locking mechanism and the swing body, the swing cylinder and a cylinder mounting position of the second connecting plate are coaxially mounted and used for outputting air pressure and controlling the locking state of the swing compliance mechanism, the swing cylinder is connected with the swing body, the swing body is mounted in a mounting hole of the second connecting plate and used for outputting a swing angle, and the swing locking mechanism is mounted at the end part of the swing body and used for locking and releasing the swing angle of the swing body.

The tail end shape following compliance module comprises a swing cylinder barrel and a swing special-shaped piston, wherein a containing cavity is formed between the swing cylinder barrel and the swing special-shaped piston, the swing cylinder barrel is installed on the cylinder installation position of the second connecting plate, an input air circuit and a cleaning air circuit which are respectively communicated with the containing cavity are arranged on the swing cylinder barrel and are respectively used as swing tracks of input air pressure and a cleaning pendulum body, cutting and dust are prevented from entering the inside of the shape following compliance module, the stability of the shape following compliance module is improved, and the swing special-shaped piston and an inner cylinder of the swing cylinder barrel are coaxially installed and used for outputting acting force of the input air pressure acting on the swing special-shaped piston.

The swing body comprises a first support, a swing connecting rod, a reset damper and a second support, the second support is a supporting base of the swing body and is fixed in a mounting hole of a second connecting plate, the second support is provided with a connecting rod hinged support and a damper joint hinged support, the swing connecting rod is hinged to the connecting rod hinged support of the second support to achieve output of a swing angle, the reset damper is mounted on the damper joint hinged support and rotates along with the swing connecting rod, and after driving force disappears, the reset damper performs automatic centering reset.

The tail end conformal compliance module comprises a swing push shaft, swing locking springs are distributed and installed in locking spring installation holes of a second connecting plate and used for outputting spring locking force of the swing locking mechanism, the swing push shaft is coaxially installed in a push shaft hole of a swing cylinder barrel, one end of the swing push shaft is provided with a roller groove and a rotating shaft hole, the other end of the swing push shaft is provided with a special-shaped locking curved surface and a reset spring hole, a force increasing rotating shaft II is installed in a rotating shaft hole of the swing push shaft, a force increasing roller II is placed in the roller groove of the swing push shaft and coaxially installed with the force increasing rotating shaft II, the outer circular surface of the force increasing roller II is tangent to the inclined surface of a swing special-shaped piston, and first-level amplified locking force is output;

one end of the spherical piece is fixed on the swinging body, one end of the spherical piece is fixed on the first support of the swinging body, the other end of the spherical piece and the swinging friction rod are coaxially installed, the swinging friction rod is annular and is arranged in the circumferential direction of the spherical piece, one end of the swinging friction rod is provided with a spherical surface which is contacted with the spherical surface of the spherical piece to provide a friction surface for locking the swinging body, the swinging spherical center of the swinging compliance mechanism, namely the spherical center of the swinging body and the spherical surface of the swinging friction rod are concentric, the spherical center of the swinging body, the spherical center of the swinging friction rod and the spherical center of the auxiliary track are superposed, the spherical center of the swinging body is low, the locking torque generated by the swinging locking mechanism is large, the structural rigidity is high, the stability of the conformal compliance module is strong, the loading capacity of the robot end actuator is improved, the other end of the swinging friction rod is provided with a, and outputting the locking force amplified by the second stage.

The tail end conformal compliance module further comprises an automatic centering mechanism, wherein the automatic centering mechanism comprises a reset spring, a reset thimble, a sliding push shaft reset spring, a flat head bolt and a swinging push shaft reset spring, the reset thimble is arranged in an XY thimble mounting hole arranged in the circumferential direction of the pendulum body, the reset spring is arranged in an XY spring hole of the pendulum body, one end of the reset spring is in contact with a disc of the reset thimble, and the sliding push shaft reset spring and the swinging push shaft reset spring are respectively arranged in the XY compliance mechanism and the swinging compliance mechanism, namely in the reset spring hole of the sliding push shaft and the reset spring hole of the swinging push shaft;

the tail end conformal compliance module further comprises a module state detection mechanism, wherein the module state detection mechanism comprises a locking force sensor, an XY displacement detection mechanism and a swing angle sensor, and the locking force sensor is arranged at the end part of the XY moving rod and used for measuring the locking force of the XY compliance mechanism; the XY displacement detection mechanisms are arranged on the swinging body to acquire the movement condition of the XY moving rod, the swinging angle sensor is arranged on the swinging body to detect the swinging angle of the swinging body, and at least two groups of XY displacement detection mechanisms are arranged along the X direction and the Y direction.

The beneficial effects of the invention are as follows:

1) according to the robot, by arranging the integral structure, the posture can be adjusted along with the shape of the workpiece and the automatic centering can be realized, the detection signals of the pose of the module are fed back in real time, the tolerance/inaccuracy of the workpiece is compensated, the precision requirement during the assembly of the tail end of the robot is met, the integral design is compact, the distance from the tail end of the robot to the load end is reduced, the torque load requirement on the robot is reduced, and therefore the more economic and more cost-effective model of the robot can be selected; the whole structure is simple, and the processing and the manufacturing are convenient.

2) According to the invention, the XY compliance mechanism is arranged, the movement of the special-shaped piston sliding in the XY locking cylinder is adopted, the XY moving rod drives the first connecting plate to move, the compliance movement in the X direction and the Y direction is realized, the reinforcement locking mechanism is arranged, the mechanical locking is adopted, and the locking force is amplified for the second time through the inclined surface of the sliding special-shaped piston and the locking press pin, so that the maximum rigidity requirement is realized.

3) According to the invention, through the arrangement of the swing compliance mechanism, the swing of the swing body can be realized through the swing friction sense and the spherical part by swinging the movement of the special-shaped piston in the swing cylinder, and through the arrangement of the swing locking mechanism, mechanical locking is adopted, the locking force is secondarily amplified, and the requirement of maximum rigidity is realized.

4) The locking spherical centers of the spherical piece and the swinging friction rod are superposed, the spherical center of the swinging body is low, the locking torque generated by the tail end conformal compliance module is large, the structural strength is high, a closed-loop control mode is adopted, the robustness of the system is stable, the stability of the module is improved, and the load capacity of the robot tail end actuator is correspondingly improved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.

Fig. 1 is a cross-sectional view of an overall structure of an end conformal compliant module according to one or more embodiments of the present invention.

Figure 2 is a schematic diagram of an oscillator of an end conformal compliant module according to one or more embodiments of the present invention.

FIG. 3 is a top view of an upper end of a sliding cylinder according to one or more embodiments of the present invention.

Figure 4 is a schematic diagram of an XY compliance mechanism structure in accordance with one or more embodiments of the present invention.

Fig. 5 is a schematic diagram of an oscillating compliance mechanism in accordance with one or more embodiments of the present invention.

Fig. 6 is a schematic diagram of an end conformal compliance module according to one or more embodiments of the present invention attached to a robot end.

FIG. 7 is a flow diagram of an apparatus application of the present invention in accordance with one or more embodiments.

Fig. 8 is a schematic illustration of another end conformal compliant module of the present invention in accordance with one or more embodiments attached to a robot end.

In the figure: the spacing or dimensions between each other are exaggerated to show the location of the various parts, and the schematic is shown only schematically.

Wherein: a1, a first connecting plate; a2, sliding push shaft; a3, sliding air inlet; a4, sliding special-shaped pistons; a5, sliding approach switch; a6, an increasing roller I; a7, a sliding cylinder; a8, a magnetic ring; a9, sealing strips; a10, sliding fastening bolts; a11, XY moving rod; a11-1, locking and pressing pin; a11-2, a pressure plate; a12, vibration detection element; a13, sliding sealing strips; a14, a ball stud I; a15, a sliding push shaft return spring; a16, an increasing rotating shaft I; a17, an air pressure sensor; a18, a sliding locking spring; a19, a locking force sensor; a20, a positioning bolt; a21, an XY displacement detection mechanism; a22, a pendulum body; a23, cross sliding pin; a24, X-direction guide groove; a25, a return spring; a26, flat head bolt; a27, resetting the thimble.

B1, a swing cylinder; b2, swing air inlet; b3, swinging the special-shaped piston; b4, increasing the force roller II; b5 and an increasing rotating shaft II; b6, swing proximity switch; b7, a magnetic ring; b8, a swing locking spring; b9, a second connecting plate; b10, a swinging body; b10-1, a swing angle sensor; b10-2, a first support; b10-3, a swing connecting rod; b10-4 hinge support; b10-5, resetting the damper; b10-6, a damper joint hinged support; b10-7, a second support; b11, spherical piece; b12, a swinging friction lever; b13, swinging a sealing strip; b14, ball stud II; b15, sealing strips; b16, a swing push shaft return spring; b17, swinging the push shaft; b18, cleaning the air path.

I-1, a robot; i-2, swinging a compliance mechanism; i-3, an XY compliance mechanism; i-4, a robot end effector.

Detailed Description

It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an", and/or "the" are intended to include the plural forms as well, unless the invention expressly state otherwise, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;

term interpretation section: the terms "mounted," "connected," "fixed," and the like in the present invention are to be understood in a broad sense, and for example, the terms "mounted," "connected," and "fixed" may be fixed, detachable, or integrated; the two components can be connected mechanically or electrically, directly or indirectly through an intermediate medium, or connected internally or in an interaction relationship, and the terms used in the present invention should be understood as having specific meanings to those skilled in the art.

As described in the background art, the dynamic effect of the robot end effector on the process of connecting, assembling, inserting, loading and unloading workpieces becomes very prominent, the workpieces and the robot end are completely structured, and the self-adaptive floating control capability is lacked, so that the current automation efficiency is low, the complex connection and assembly in a changing environment are difficult to be completed, and the phenomena of no assembly, insufficient locking force and the like often occur. In order to solve the above technical problem, the present application provides a tip conformal compliant module.

In an exemplary embodiment of the invention, and with reference to FIG. 1, a compliant end module includes a pendulum A22, an XY compliance mechanism I-3, a pendulum compliance mechanism I-2, an automatic centering mechanism, and a module status detection mechanism. The swing body A22 and the swing compliance mechanism are coaxially installed, the XY compliance mechanism is installed at the upper end of the swing body A22 and is coaxially installed with the swing compliance mechanism, the automatic centering mechanism is installed at the lower end parts of the XY compliance mechanism and the swing compliance mechanism and is used for automatically centering and resetting the compliance module, and the module state detection mechanism is used for detecting the working state of the tail end conformal compliance module, transmitting a detection signal to the robot control system and controlling the specific motion state of the robot.

The pendulum body A22 is a bottom supporting component of the XY compliance mechanism and is also an upper end cover of the swing compliance mechanism, the upper end of the pendulum body is provided with a cylinder mounting position, the circumference of the pendulum body is provided with an XY spring hole and an XY thimble mounting hole, and the bottom end of the pendulum body is provided with an arc surface which is used as an auxiliary track for swing compliance.

The XY compliance mechanism comprises an XY locking cylinder, a pressure plate A11-2, a first connecting plate A1, an increasing force locking mechanism and an XY moving rod A11, the XY locking cylinder is coaxially mounted on a cylinder mounting position of a pendulum A22, the first connecting plate A1 and the XY moving rod A11 are coaxially mounted through a sliding fastening bolt A10 and used for outputting displacement in the XY direction, the pressure plate A11-2 is mounted in an inner hole of the pendulum A22 and used for preventing the XY moving rod A11 from displacing in the axial direction, a locking spring mounting hole is formed in the pressure plate A11-2, and the increasing force locking mechanism adopts a two-stage increasing force structure and is used for locking the XY moving rod A11.

The inner end face of the first connecting plate A1 is provided with an X-direction guide groove A24, so that the movement direction of the first connecting plate moves along the X-direction guide groove, and the upper end face is provided with a vibration detection mounting position.

As shown in fig. 3, the XY lock cylinder includes a sliding cylinder a7, a sliding special-shaped piston a4 and a cross sliding pin a23, the sliding cylinder a7 is mounted on the cylinder mounting position of the pendulum a22, the outer end surface thereof is provided with a Y-direction guide groove which moves the movement direction of the first connecting plate a1 in the Y direction, the sliding special-shaped piston a4 is mounted coaxially with the inner cylinder of the sliding cylinder a7, one side of the sliding special-shaped piston a4 close to the sliding push shaft has a slope through which the force of the XY lock cylinder is output, and the cross sliding pin a23 is mounted in the Y-direction guide groove of the upper end surface of the sliding cylinder a7 and the X-direction guide groove a24 of the first connecting plate a1 to restrict the degree of freedom of rotation of the first connecting plate a1 around the axis.

The sliding cylinder A7 is provided with a thrust hole on the inner cylinder, the outer wall of the cylinder is provided with an air passage for inputting air pressure and controlling the working state of the XY locking cylinder, the sliding special-shaped piston A4 is provided with a sealing ring mounting groove for mounting a cylinder sealing ring and a proximity switch magnetic ring, and the sealing ring A9-1 and the sealing ring A9-2 are mounted in the sealing ring mounting groove of the sliding special-shaped piston A4 and used for sealing the space of the cylinder, preventing air leakage and pressure release and ensuring the stability of the system.

As shown in FIG. 4, the boosting locking mechanism comprises a sliding pushing shaft A2, a boosting roller I A6, a boosting rotating shaft I A16, a sliding locking spring A18, a ball stud I A14 and a locking pressure pin A11-1, wherein the sliding locking spring A18 is distributed and installed in a locking spring installation hole of a pressure plate A11-2 and used for outputting the spring locking force of the XY compliance mechanism, the sliding pushing shaft A2 is coaxially installed in a pushing shaft hole of a sliding cylinder A7, one end of a sliding pushing shaft A2 is provided with a roller groove and a rotating shaft hole, the other end of the sliding pushing shaft A2 is provided with a special-shaped locking curved surface and a return spring hole, a sliding sealing strip A13 is installed in a sealing strip installation groove of a sliding pushing shaft A2, the boosting rotating shaft I A16 is installed in a rotating shaft hole of a sliding pushing shaft A2, the boosting roller I A6 is placed in a roller groove of a sliding pushing shaft A2, the boosting roller and the boosting rotating shaft A16 are coaxially installed, and an inclined plane of a boosting piston 6 is tangent with an outer circular piston 4, outputting the locking force amplified by the first stage.

The locking press pin A11-1 penetrates through a center hole in the press plate A11-2, one end of the locking press pin A11-1 is provided with a special-shaped curved surface, the other end of the locking press pin A11-1 is provided with a plane, the plane is contacted with the upper end face of a chassis of the XY moving rod A11, the special-shaped curved surface is contacted with the special-shaped locking curved surface of the sliding push shaft A2 to output second-stage amplified locking force, and the ball stud I A14 is installed in a threaded hole of the sliding cylinder A7 to guide and limit the movement of the sliding push shaft A2.

Further, the number of the slide lock springs a18 may be adjusted according to the magnitude of the required clamping force, and may be set to two or three, or more.

The swing compliance mechanism comprises a second connecting plate B9, a swing cylinder, a swing locking mechanism and a swing body B10, the second connecting plate B9 is a supporting component of the swing compliance mechanism, a locking spring mounting hole is formed in the end face of the second connecting plate B9, the swing cylinder and the cylinder mounting position of the second connecting plate B9 are mounted coaxially and used for outputting air pressure and controlling the locking state of the swing compliance mechanism, the swing body B10 is mounted in the mounting hole of the second connecting plate B9 and outputting the swing angle, the swing locking mechanism is mounted at the upper end of the swing body B10, and a secondary locking structure is adopted and used for locking and releasing the swing angle of the swing body.

The swing cylinder comprises a swing cylinder B1 and a swing special-shaped piston B3, a swing cylinder B1 is installed on a cylinder installation position of a second connecting plate B9, an input air circuit B2 and a cleaning air circuit B18 are arranged on the swing cylinder B1 and are respectively used as swing compliance tracks of input air pressure and a cleaning pendulum body, cutting and dust are prevented from entering the interior of the compliance module, the stability of the module is improved, the swing special-shaped piston B3 and an inner cylinder of the swing cylinder B1 are coaxially installed and used for outputting acting force of the input air pressure acting on the swing special-shaped piston B3, a sealing ring installation groove is formed in the swing special-shaped piston B3, and a sealing strip B15 is installed on the swing special-shaped piston B3 and used for installing a cylinder sealing ring and a proximity switch magnetic ring.

As shown in FIG. 2, the swing body B10 includes a first support B10-2, a swing link B10-3, a reset damper B10-5 and a second support B10-7, the second support B10-7 is a support base of the swing body and is fixed in a mounting hole of a second connecting plate B9, a link hinge support B10-4 and a damper joint hinge support B10-6 are arranged on the upper surface of the second support, the swing link B10-3 is hinged with the link hinge support B10-4 of the second support B10-7 to achieve output of a swing angle, the reset damper B10-5 is mounted on the damper joint support B10-6 and rotates along with the swing link B10-3, and when the posture of the swing body is adjusted, the reset damper B10-5 performs self-centering reset.

As shown in fig. 5, the swing locking mechanism includes a swing pushing shaft B17, an increasing roller iib 4, an increasing rotating shaft iib 5, a swing locking spring B8, a swing friction rod B12, a spherical member B11 and a ball stud iib 14, the swing locking spring B8 is distributed and installed in a locking spring installation hole of a second connecting plate B9 for outputting a spring locking force of the swing locking mechanism, a swing pushing shaft B17 is coaxially installed in a pushing shaft hole of a swing cylinder B1, one end of a swing pushing shaft B17 is provided with a roller groove and a rotating shaft hole, the other end is provided with a special-shaped locking curved surface and a return spring hole, a swing sealing strip B13 is installed in a sealing ring of a swing pushing shaft B17, an increasing rotating shaft iib 5 is installed in a rotating shaft hole of a swing pushing shaft B17, a increasing roller iib 4 is placed in a roller groove of a swing pushing shaft B17 and installed with the center of a piston 5, and an outer circular-shaped inclined surface of the increasing roller iib 4 is tangent to a swing piston 3, outputting the locking force amplified by the first stage.

One end of a spherical member B11 is fixed on a first support B10-2 of the swinging body B10, the other end of the spherical member B11 is coaxially installed with a swinging friction rod B12, one end of the swinging friction rod B12 is provided with a spherical surface which is in contact with the spherical surface of the spherical member B11 to provide a friction surface for locking the swinging body B10, the spherical center of the swinging body B10 is concentric with the spherical center of the swinging friction rod B12, the spherical center of the swinging body B10 is utilized to be low, the locking torque generated by a locking mechanism is large, the structural rigidity is high, the stability of a conformal compliance module is strong, the loading capacity of the robot end effector is improved, the other end of the swinging friction rod B12 is provided with a curved surface which is in contact with the special-shaped locking curved surface of the swinging push shaft B17 to output the second-stage amplified locking force, a ball head bolt II B14 is installed in a threaded hole of a cylinder barrel B38.

Further, the swinging friction lever is annular and is provided in the circumferential direction of the spherical member.

It should be explained that the structures of the swing special-shaped piston and the slide special-shaped piston are consistent, the inner sides of the swing special-shaped piston and the slide special-shaped piston relative to the swing push shaft or the slide push shaft are inclined planes, the inclined planes are in arc transition with the outer side faces, and in addition, the structural arrangement of the swing cylinder barrel and the slide cylinder barrel is also the same.

The automatic centering mechanism comprises a return spring A25, a reset thimble A27, a sliding push shaft return spring A15, a flat head bolt A26 and a swinging push shaft return spring B16, wherein the reset thimble A27 is installed in an XY thimble installation hole circumferentially arranged on a pendulum body A22, the return spring A25 is installed in the XY spring hole of the pendulum body A22, one end of a return spring A25 is in contact with a disc of the reset thimble A27, the XY moving rod is automatically reset in a released state, the flat head bolt A26 is used for limiting the return spring A25, the sliding push shaft return spring A15 and the swinging push shaft return spring B16 are respectively installed in a return spring hole of the sliding push shaft A2 and a return spring hole of the swinging push shaft B17, and the sliding push shaft A2 and the swinging push shaft B17 are reset to original positions by the elastic force of the return spring A25 in the released state.

The module state detection mechanism comprises an air pressure sensor A17, a locking force sensor A19, an XY displacement detection mechanism A21, a positioning bolt A20, a swing angle sensor B10-1, a vibration detection element A12 and an external close element of the cylinder barrel, wherein the air pressure sensor A17 is installed on the outer walls of the swing cylinder barrel B1 and the sliding cylinder barrel A7 and used for detecting the state of the cylinder during gas transmission, gas leakage or blockage of the cylinder is prevented, and the safety and the stability of the whole device are ensured, the locking force sensor A19 is installed at the lower end of a chassis of an XY moving rod A11 and used for measuring the locking force of the XY compliance mechanism and detecting the safety of the module, and sudden change of the locking force in the using process is prevented.

An XY displacement detection mechanism A21 is installed in an XY thimble installation hole at the bottom of a pendulum body A22, two groups of detection mechanisms are arranged along the X direction and the Y direction and are used for detecting the moving conditions of an XY moving rod A11 in the X direction and the Y direction in the using process of an XY compliance mechanism, the position signal of the XY moving rod A11 is fed back, a positioning bolt A20 is used for a limiting element of the XY displacement detection mechanism A21 to ensure stable output displacement signals, a swing angle sensor B10-1 is installed at the center of a support on the pendulum body B10 and is used for detecting the swing angle of the pendulum body B10 and feeding back the swing angle signals of the swing compliance mechanism, the posture state of a robot tail end conformal compliance module is output by the XY displacement detection mechanism A21 and the swing angle sensor B10-1, a robot tail end actuator is accurately controlled, the assembling precision of the robot is improved, a vibration detection element A12 is installed at the vibration detection installation position of a first connecting plate A1, the vibration condition of the tail end of the robot is detected, the pose state of the tail end conformal compliance module is adjusted in real time according to the feedback vibration signal, the stability of the whole system and the accuracy of pose control are guaranteed, a proximity element outside a cylinder barrel detects the position of a special-shaped piston, and the locking state of the tail end module is fed back.

The XY displacement detection mechanism A21 adopts a spring automatic reset displacement sensor, and when the XY displacement detection mechanism A21 is reset, the spring automatic reset displacement sensor and the reset thimble A27 act simultaneously to perform automatic centering and resetting.

The proximity element outside the cylinder barrel comprises a magnetic ring A8(B7), a sliding proximity switch A5 and a swinging proximity switch B6, the magnetic ring A8(B7) is installed in a sliding special-shaped piston A4 and a swinging special-shaped piston B3, the sliding proximity switch A5 and a swinging proximity switch B6 are installed on switch installation positions on the outer sides of the swinging cylinder barrel B1 and the sliding cylinder barrel A7, displacement change generated by the magnetic ring A8(B7) is detected, and the clamping state of the end conformal compliance module is fed back.

As shown in figure 6, when the device is applied, a first connecting plate A1 of an XY compliance mechanism I-3 and a robot end effector I-4 are installed together through a flange, a second connecting plate B9 of a swing compliance mechanism I-2 is connected with a mechanical arm I-1 of a robot through a flange, the conformal compliance state of a module is realized under the ventilation state of the conformal compliance device, the robot end effector I-4 picks up a part, the pose state of the end effector is automatically adjusted according to the shape of the part, after the state adjustment is finished, a cut-off air source is used for locking the conformal compliance module by a boosting locking mechanism and a swing locking mechanism, the part to be assembled is moved to an assembling position, the pose of the end effector is ensured not to be changed in the moving process of the part, the conformal compliance module at the end is ventilated in the assembling process, automatic centering and homing are realized by the automatic centering mechanism, the pose state is adjusted according to the requirement of the assembly position and the feedback signal of the module state detection mechanism, conformal compliant assembly is realized, and the assembly precision and the system stability are improved.

As shown in fig. 7, before the assembly of the workpiece, the XY compliance mechanism and the swing compliance mechanism are assembled together through the pendulum body a22, the first connecting plate a1 of the XY compliance mechanism is connected with the robot end effector I-4 through a flange, and the second connecting plate B9 of the swing compliance mechanism is connected with the mechanical arm of the robot I-1.

After the device is assembled, the robot moves to a part picking position, a robot position signal is fed back to a robot control system, or a person operates the device to open an air source, air pressure is input through a sliding air inlet A3 of an XY compliance mechanism and a swinging air inlet B2 of a swinging compliance mechanism, a follow-up compliance module at the tail end of the robot is in a follow-up compliance state and is automatically centered and reset, a robot tail end executor I-4 picks up the special-shaped part, the tail end module of the robot automatically adjusts the posture according to the shape of the part, and a posture signal is sent to the robot control system through a module state detection mechanism to adjust the optimal assembling state according to the fed-back posture signal.

After the parts to be assembled are picked up and the postures of the parts are adjusted, the air source is closed, the force increasing locking mechanism and the swinging locking mechanism provide locking force, so that the tail end conformal compliance module is in a locking state, the parts are ensured to move, the gesture accuracy is realized by moving the robot I-1 to the assembling position, switching on the air source to enable the tail end conformal compliant module to be in a release state, automatically centering and returning the XY moving rod A11 and the spherical body by the automatic centering mechanism and the reset damper, thereby adjusting the assembly pose, transmitting the pose signal and the air pressure signal in the air cylinder to a robot control system, observing the specific assembling state and control precision, adjusting the assembling posture through the feedback of signals, the form following compliance is carried out according to the form of the part and the requirement of the assembly position, so that the assembly precision of the workpiece and the robustness of the system are improved.

It should be noted that, in the connection, assembly, insertion, and assembly processes of the components, the purpose to be achieved is different, the assembly requirements are different, and the module can be connected with a single XY compliance mechanism or a swing compliance mechanism.

As shown in figure 8, in some assembly positions with high assembly position requirements, the module can be assembled for use, multi-degree-of-freedom conformal compliant assembly is carried out, the installation postures of the module are adjusted for multiple times, the tail end conformal compliant module is installed at the tail end of an arm of a robot I-1, a swinging compliant mechanism I-2 and an XY compliant mechanism I-3 are assembled together, in order to meet the precision requirement and the complex assembly position and part shape when the robot I-1 works, a single device of the swinging compliant mechanism I-2 or the XY compliant mechanism I-3 can be assembled on a flange of the tail end conformal compliant module through a flange, and then a robot tail end actuator I-4 is assembled at the tail end of the swinging compliant mechanism I-2 or the XY compliant mechanism I-3.

The number of the used tail end conformal compliant modules is required to be adjusted according to actual conditions, a set of tail end conformal compliant modules can be used for an assembly part with high precision requirement, and multiple assembly and multiple pose state adjustment can be carried out on an assembly position with complex assembly positions and part forms, so that different assembly postures are realized according to different part forms, and the assembly precision requirement is met.

It should be noted that, in the above two embodiments, the XY compliance mechanism and the swing compliance mechanism are both made of light-weight and high-strength materials, so that the overall weight of the device is greatly reduced while the strength requirement is met.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A tail end conformal compliance module is characterized by comprising a pendulum body, an XY compliance mechanism, a swinging compliance mechanism and an automatic centering mechanism, wherein the pendulum body is coaxially arranged with at least one group of XY compliance mechanism and at least one group of swinging compliance mechanism, the pendulum body is arranged between the XY compliance mechanism and the swinging compliance mechanism and supports the XY compliance mechanism and the swinging compliance mechanism, the XY compliance mechanism can realize compliance movement in the X direction and the Y direction, the swinging compliance mechanism can drive the pendulum body to swing around a swinging sphere center, an arc surface is arranged at the bottom end of the pendulum body and serves as an auxiliary track of swinging compliance, the sphere center of the auxiliary track is overlapped with the swinging sphere center of the swinging compliance mechanism, and the automatic centering mechanism is arranged at the lower end parts of the compliance mechanism and the swinging compliance mechanism.

2. The conformal terminal compliant module according to claim 1, wherein the XY compliant mechanism comprises an XY lock cylinder and an increasing force lock mechanism, the XY lock cylinder is coaxially mounted on the pendulum, the XY lock cylinder is disposed in a circumferential direction of the XY moving rod and pushes the XY moving rod to move through the XY lock cylinder, the first connecting plate is disposed above the XY lock cylinder and the XY moving rod for outputting displacement in XY directions, the pressing plate is mounted in an inner hole of the pendulum for preventing the XY moving rod from displacing on an axis, and the increasing force lock mechanism is used for locking the XY moving rod.

3. The end conformal compliance module of claim 2, wherein the XY locking cylinder comprises a sliding cylinder, a sliding profiled piston and a cross-shaped sliding pin, the sliding cylinder is mounted on the cylinder mounting position of the pendulum body, a cavity is formed between the sliding cylinder and the sliding profiled piston, the sliding cylinder is provided with an air passage communicated with the cavity, the sliding profiled piston and the inner cylinder of the sliding cylinder are mounted coaxially, and the sliding profiled piston is provided with an inclined surface for outputting the acting force of the XY locking cylinder;

the outer end face of the sliding cylinder barrel is provided with a Y-direction guide groove, and the inner end face of the first connecting plate is provided with an X-direction guide groove; the cross slide pin is installed in the Y-guide groove and the X-guide groove, and limits the degree of freedom of the first link plate in rotation about the axis.

4. The end conformal compliance module according to claim 3, wherein the force-increasing locking mechanism further comprises a sliding push shaft and a sliding locking spring, the pressure plate is provided with a locking spring mounting hole for mounting the sliding locking spring, and one end of the sliding locking spring abuts against the sliding special-shaped piston;

the sliding push shaft is coaxially installed in a push shaft hole of the sliding cylinder barrel, the force increasing rotating shaft I is installed in a rotating shaft hole of the sliding push shaft, the force increasing roller I is placed in a roller groove of the sliding push shaft, and the outer circular surface of the force increasing roller I is tangent to the inclined surface of the sliding special-shaped piston and used for outputting first-stage amplified locking force;

and one side of the XY moving rod, which is close to the pressing plate, is provided with a chassis with the size larger than that of the other side, the locking pressing pin penetrates through a center hole of the pressing plate, one end of the locking pressing pin is provided with a special-shaped curved surface, the other end of the locking pressing pin is provided with a plane, the plane is in contact with the end surface, far away from the pressing plate, of the XY moving rod chassis, and the special-shaped curved surface is in contact with the special-shaped locking curved surface of.

5. The compliant end module of claim 1 wherein said oscillating compliant mechanism comprises a second connecting plate supporting an oscillating cylinder, an oscillating lock mechanism and an oscillating body, the oscillating cylinder being mounted coaxially with the cylinder mounting location of the second connecting plate, the oscillating cylinder being connected to said oscillating body, the oscillating body being mounted in the mounting hole of the second connecting plate to output the angle of oscillation, the oscillating lock mechanism being mounted at the end of the oscillating body for locking and releasing the angle of oscillation of the oscillating body.

6. The end conformal compliance module of claim 5, wherein the swing cylinder comprises a swing cylinder barrel and a swing special-shaped piston, a cavity is formed between the swing cylinder barrel and the swing special-shaped piston, the swing cylinder barrel is mounted on the cylinder mounting position of the second connecting plate, the swing cylinder barrel is provided with an input gas path and a cleaning gas path which are respectively communicated with the cavity, the swing special-shaped piston and the inner cylinder of the swing cylinder barrel are mounted coaxially, and the inner side of the swing special-shaped piston is provided with an inclined surface.

7. The end conformal compliance module of claim 5, wherein the oscillating body comprises a first support, an oscillating link, a reset damper and a second support, the second support is fixed in the mounting hole of the second connecting plate, the second support is provided with a link hinge support and a damper joint hinge support, the oscillating link is hinged with the link hinge support of the second support, the reset damper is mounted on the damper joint hinge support and rotates along with the oscillating link, and the reset damper performs self-centering reset after the driving force disappears.

8. The end conformal compliance module of claim 5, wherein the swing locking mechanism comprises a swing push shaft, the swing locking springs are distributed and installed in locking spring installation holes of the second connecting plate, the swing push shaft is coaxially installed in a push shaft hole of the swing cylinder barrel, the swing push shaft is provided with a force increasing rotating shaft II and a force increasing roller II, an outer circular surface of the force increasing roller II is tangent to an inclined surface of the swing special-shaped piston, and a first-stage amplified locking force is output;

one end of the spherical piece is fixed on the swinging body, the other end of the spherical piece is coaxially installed with the swinging friction rod, one end of the swinging friction rod is provided with a spherical surface and is in contact with the spherical surface of the spherical piece, the swinging spherical center of the swinging compliance mechanism, namely the spherical center of the swinging body and the spherical surface of the swinging friction rod are concentric, the other end of the swinging friction rod is provided with a curved surface, and the curved surface is in contact with the special-shaped locking curved surface of the swinging push shaft to output the second-stage amplified locking force.

9. The conformal terminal compliance module of claim 1, further comprising an automatic centering mechanism, wherein the automatic centering mechanism comprises a return spring, a return pin, a sliding push pin return spring and a swinging push pin return spring, the return pin is mounted in an XY pin mounting hole circumferentially arranged on the pendulum body, the return spring is mounted in the XY spring hole of the pendulum body, one end of the return spring is in contact with a disc of the return pin, and the sliding push pin return spring and the swinging push pin return spring are respectively mounted on the XY compliance mechanism and the swinging compliance mechanism.

10. The conformal terminal compliant module according to claim 5, further comprising a module status detecting mechanism, wherein the module status detecting mechanism comprises a locking force sensor, an XY displacement detecting mechanism and a swing angle sensor, the locking force sensor is mounted at the end of the XY moving rod for measuring the locking force of the XY compliant mechanism; the XY displacement detection mechanism is mounted on the pendulum body to acquire the movement condition of the XY moving rod, and the swing angle sensor is mounted on the pendulum body to detect the swing angle of the pendulum body.