CN113478426A - Passive compliant pneumatic torque actuator at tail end of robot - Google Patents
Passive compliant pneumatic torque actuator at tail end of robot Download PDFInfo
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- CN113478426A CN113478426A CN202110783210.2A CN202110783210A CN113478426A CN 113478426 A CN113478426 A CN 113478426A CN 202110783210 A CN202110783210 A CN 202110783210A CN 113478426 A CN113478426 A CN 113478426A
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- universal joint
- sleeve
- cylinder power
- main shaft
- main body
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- 230000036544 posture Effects 0.000 claims description 9
- 238000010009 beating Methods 0.000 claims description 7
- 230000000694 effects Effects 0.000 claims description 4
- 230000003139 buffering effect Effects 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 abstract description 3
- 239000012636 effector Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B21/00—Portable power-driven screw or nut setting or loosening tools; Attachments for drilling apparatus serving the same purpose
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B23/00—Details of, or accessories for, spanners, wrenches, screwdrivers
- B25B23/14—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Actuator (AREA)
- Manipulator (AREA)
Abstract
一种机器人末端的被动柔顺气动扭力执行器，包括万向接杆、气缸动力主体、流量控制器和进气管，本发明在实现气动扭矩输出功能的基础上，通过万向接杆自适应地对不同姿态的目标螺钉进行对中，实现被动柔顺操作，同时能够根据气体流量的变化来调节扭矩输出的大小，必要时也能够通过击打辅助拆解作业，适应不同的工作条件。本发明结构简单，适应性良好，适用于复杂工况下的自动拆解任务。
A passive compliant pneumatic torsion actuator at the end of a robot includes a universal post, a cylinder power main body, a flow controller and an air intake pipe. On the basis of realizing the aerodynamic torque output function, the invention adapts to the universal post adaptively. Target screws with different attitudes are centered to achieve passive and compliant operation. At the same time, the torque output can be adjusted according to the change of gas flow. When necessary, it can also be used to assist dismantling operations by hitting to adapt to different working conditions. The invention has simple structure and good adaptability, and is suitable for automatic dismantling tasks under complex working conditions.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a passive compliant pneumatic torque actuator at the tail end of a robot.
Background
The robot end effector is an execution member connected to a robot edge joint and having a function of performing a work. Typical robotic end effectors include robot grippers, suction cups, and the like. The automatic disassembling task under the complex working condition needs a robot end torque force actuator, which can self-adaptively center and twist target screws in different postures, realize passive flexible operation, adjust the magnitude of the required twisting moment according to the state of the target screws, and can assist the disassembling operation through beating when necessary.
Disclosure of Invention
The invention aims to provide a passive compliant pneumatic torque actuator at the tail end of a robot, which can self-adaptively center target screws in different postures and perform twisting operation, can adjust the magnitude of twisting moment according to the change of gas flow, can perform striking-assisted disassembly operation if necessary, and is suitable for the passive compliant pneumatic torque actuator at the tail end of the robot in different working conditions.
The technical solution of the invention is as follows:
the utility model provides a terminal passive gentle and agreeable pneumatic torsion executor of robot which characterized in that: the flow controller is connected with the cylinder power main body through the air inlet pipe; the universal joint pole constitute by main shaft universal joint, sleeve spring and universal joint spring, the main shaft universal joint with cylinder power main part link to each other, the main shaft universal joint pass through the universal joint with the sleeve universal joint link to each other, the universal joint spring be in the main shaft universal joint with the universal joint between, play fixedly the effect of the connection and the angle of adjustment of universal joint, the sleeve spring cover establish the sleeve universal joint outside, main shaft universal joint, universal joint and sleeve universal joint constitute and disassemble the main shaft, drive the sleeve revolve wrong screw.
In the process of screwing the screw by the sleeve, a main shaft consisting of the sleeve universal joint, the universal joint and the main shaft universal joint can provide striking and rotating motions under the driving of the cylinder power main body, and the sleeve spring provides buffering and resetting effects when the sleeve universal joint strikes; the sleeve can adjust a certain angle through the universal joint spring, and can be used for centering target screws in different postures, so that passive flexible operation is realized.
The cylinder power main body adjusts the gas flow according to the torque through the flow controller, thereby adapting to different working conditions.
The universal energy-saving striking function of the sleeve can be realized, and disassembly operation is assisted.
Compared with the prior art, the invention has the outstanding advantages that:
1. the universal joint rod centering device is simple in structure, can self-adaptively center target screws in different postures through the universal joint rod, performs torsion operation, achieves passive compliance, and improves adaptability to the target screws in different postures.
2. The invention adopts the flow controller to accurately provide gas flows with different sizes for the cylinder power main body in different torsion states, thereby changing the size of the torsion moment.
3 the invention has the beating function on the basis of realizing the function of passive compliant operation, and can assist the disassembling operation through beating for the objects which are difficult to disassemble, thereby improving the applicability of the end effector to different working conditions.
Drawings
FIG. 1 is an overall block diagram of the intelligent end pneumatic torque actuator of the robot of the present invention;
FIG. 2 is a partial block diagram of the universal joint rod of the present invention;
FIG. 3 is an exploded view of the robotic intelligent end pneumatic torque actuator of the present invention;
in the figure: 1 is a universal connecting rod 2, is a cylinder power main body 3, is a flow controller 11, is a main shaft universal joint 12, is a universal joint 13, is a sleeve universal joint 14, is a sleeve 15, is a sleeve spring 16, is a universal joint spring 21, is a flange 31 and is an air inlet pipe
Detailed Description
The invention is further described in the following by means of specific embodiments,
referring to fig. 1, the robot intelligent end pneumatic torque actuator of the present invention includes a universal connecting rod 1, a cylinder power body 2, a flow controller 3 and an air inlet pipe 31: the universal connecting rod 1 is connected with the cylinder power main body 2 through a main shaft universal joint 11, and the flow controller 3 is connected with the cylinder power main body 2 through an air inlet pipe 31.
As shown in fig. 2, the universal joint rod 1 is composed of a main shaft universal joint 11, a universal joint 12, a sleeve universal joint 13, a sleeve 14, a sleeve spring 15 and a universal joint spring 16. The main shaft universal joint 11 with the cylinder power main part 2 link to each other, and the main shaft universal joint 11 pass through universal joint 12 with sleeve universal joint 13 link to each other, universal joint spring 16 play fixed universal joint 12's the connection and angle of adjustment's effect, through universal joint spring 16, sleeve 14 can adjust certain angle. The main shaft universal joint 11, the universal joint 12 and the sleeve universal joint 13 form a dismantling main shaft, and screws are screwed by driving the sleeve 14. During the process of screwing the screw by the sleeve 14, the main shaft consisting of the sleeve universal joint 13, the universal joint 12 and the main shaft universal joint 11 can perform striking and rotating motions under the driving of the cylinder power main body 2, and the sleeve spring 15 provides buffering and resetting functions when the sleeve universal joint 13 strikes. The sleeve 14 is suitable for use with a range of sizes of screws.
The internal structure of the cylinder power main body 2 is similar to that of a pneumatic wrench, and comprises parts including a cylinder, blades, a blade shaft, an impact frame, a striking block and the like.
Referring to fig. 3, when the invention works, the tail part of the cylinder power body is connected with the tail end of the mechanical arm through a flange 21, and the lower part of the cylinder power body 2 is connected with the flow controller 3 through the air inlet pipe 31. The flow controller 3 is connected with the cylinder power main body 2 through an air inlet pipe 31, and controls the flow of gas input:
when the sleeve 14 does not contact the screw, the required torque is small, the flow controller 3 controls less gas to enter the cylinder power body 2, and the sleeve 14 rotates slowly; when the sleeve 14 twists the screw, the torque is larger, the flow controller 3 controls more gas to enter the cylinder power main body 2, the sleeve 14 rotates rapidly, and the sleeve universal joint 13 provides striking action with a certain frequency; after disassembly is completed, the torque of the sleeve 14 is reduced, and the flow controller 3 reduces the flow rate to return to the original state.
The universal connecting rod 1 is simple in structure, can self-adaptively center and twist target screws in different postures, achieves passive flexible operation of the tail end pneumatic torque actuator, and improves adaptability to the target screws in different postures; the flow controller 3 can accurately provide gas flows with different sizes for the cylinder power main body 2 in different torsion states, so that the size of the torsion moment is changed; on the basis of realizing the function of passive gentle and agreeable operation, have simultaneously and hit the function of beating, to the object that is difficult to disassemble, can dismantle the operation through beating the assistance, improved the suitability of end effector to different operating modes.
Experiments show that on the basis of realizing the pneumatic torque output function, the universal connecting rod is used for centering target screws in different postures in a self-adaptive manner, so that passive compliant operation is realized, the torque output can be adjusted according to the change of the gas flow, and the pneumatic torque output device can also be used for assisting disassembly operation through beating if necessary, so that the pneumatic torque output device is suitable for different working conditions. The automatic disassembling device is simple in structure, good in adaptability and suitable for automatic disassembling tasks under complex working conditions.
The above-mentioned embodiment is only one of the preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, so: all equivalent changes made according to the structure, shape and principle of the invention are covered by the protection scope of the invention.
Claims (4)
1. The utility model provides a terminal passive gentle and agreeable pneumatic torsion executor of robot which characterized in that: the air cylinder power device comprises a universal connecting rod (1), an air cylinder power main body (2), a flow controller (3) and an air inlet pipe (31), wherein the universal connecting rod (1) is connected with the air cylinder power main body (2) through a main shaft universal joint (11), and the flow controller (3) is connected with the air cylinder power main body (2) through the air inlet pipe (31); the universal connecting rod (1) consists of a main shaft universal joint (11), a universal joint (12), a sleeve universal joint (13), a sleeve (14), a sleeve spring (15) and a universal joint spring (16), the main shaft universal joint (11) is connected with the cylinder power main body (2), the main shaft universal joint (11) is connected with the sleeve universal joint (13) through the universal joint (12), the universal joint spring (16) plays a role in fixing the connection and angle adjustment of the universal joint (12) between the main shaft universal joint (11) and the universal joint (12), the sleeve spring (15) is sleeved outside the sleeve universal joint (13), the spindle universal joint (11), the universal joint (12) and the sleeve universal joint (13) form a disassembling spindle, and the sleeve (14) is driven to screw a screw.
2. The passive compliant pneumatic torque actuator of claim 1 wherein: in the process of screwing the screw by the sleeve (14), a main shaft formed by the sleeve universal joint (13), the universal joint (12) and the main shaft universal joint (11) can provide striking and rotating motion under the driving of the cylinder power main body (2), and the sleeve spring (15) provides buffering and resetting effects when the sleeve universal joint strikes; the sleeve (14) can adjust a certain angle through the universal joint spring (16), and can center target screws in different postures, so that passive compliant operation is realized.
3. The passive compliant pneumatic torque actuator of claim 1 wherein: the cylinder power main body (2) adjusts the gas flow according to the torque through the flow controller (3), thereby adapting to different working conditions.
4. The passive compliant pneumatic torque actuator of claim 1 wherein: the sleeve universal joint (13) can realize the beating function and assist in disassembling operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110783210.2A CN113478426A (en) | 2021-07-12 | 2021-07-12 | Passive compliant pneumatic torque actuator at tail end of robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110783210.2A CN113478426A (en) | 2021-07-12 | 2021-07-12 | Passive compliant pneumatic torque actuator at tail end of robot |
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| CN113478426A true CN113478426A (en) | 2021-10-08 |
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| CN202110783210.2A Pending CN113478426A (en) | 2021-07-12 | 2021-07-12 | Passive compliant pneumatic torque actuator at tail end of robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115107018A (en) * | 2021-11-01 | 2022-09-27 | 杭州申昊科技股份有限公司 | Centering mechanism of robot ground knife executing mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5592396A (en) * | 1992-08-10 | 1997-01-07 | Ingersoll-Rand Company | Monitoring and control of fluid driven tools |
| CN102615617A (en) * | 2012-03-31 | 2012-08-01 | 山东电力研究院 | Special sound control spanner of high-voltage live working robot |
| CN208005130U (en) * | 2018-01-26 | 2018-10-26 | 航天智造（上海）科技有限责任公司 | A kind of fully automatic bolt tightening machine people's system |
| CN210188987U (en) * | 2019-04-26 | 2020-03-27 | 上海蔚来汽车有限公司 | Torque transmission device, torque output device and power exchange robot |
| CN210524382U (en) * | 2019-04-26 | 2020-05-15 | 上海蔚来汽车有限公司 | Torque transmission device, torque output device and power exchange robot |
| CN111300028A (en) * | 2019-12-09 | 2020-06-19 | 国网智能科技股份有限公司 | Flexible connector, tool and robot system for bolt fastening operation of transformer substation live equipment |
| CN211414965U (en) * | 2019-11-08 | 2020-09-04 | 华域汽车车身零件(烟台)有限公司 | Novel pneumatic torque guaranteeing device |
| CN215394923U (en) * | 2021-07-12 | 2022-01-04 | 上海咏序科技有限公司 | Passive compliant pneumatic torque actuator at tail end of robot |
-
2021
- 2021-07-12 CN CN202110783210.2A patent/CN113478426A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5592396A (en) * | 1992-08-10 | 1997-01-07 | Ingersoll-Rand Company | Monitoring and control of fluid driven tools |
| CN102615617A (en) * | 2012-03-31 | 2012-08-01 | 山东电力研究院 | Special sound control spanner of high-voltage live working robot |
| CN208005130U (en) * | 2018-01-26 | 2018-10-26 | 航天智造（上海）科技有限责任公司 | A kind of fully automatic bolt tightening machine people's system |
| CN210188987U (en) * | 2019-04-26 | 2020-03-27 | 上海蔚来汽车有限公司 | Torque transmission device, torque output device and power exchange robot |
| CN210524382U (en) * | 2019-04-26 | 2020-05-15 | 上海蔚来汽车有限公司 | Torque transmission device, torque output device and power exchange robot |
| CN211414965U (en) * | 2019-11-08 | 2020-09-04 | 华域汽车车身零件(烟台)有限公司 | Novel pneumatic torque guaranteeing device |
| CN111300028A (en) * | 2019-12-09 | 2020-06-19 | 国网智能科技股份有限公司 | Flexible connector, tool and robot system for bolt fastening operation of transformer substation live equipment |
| CN215394923U (en) * | 2021-07-12 | 2022-01-04 | 上海咏序科技有限公司 | Passive compliant pneumatic torque actuator at tail end of robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115107018A (en) * | 2021-11-01 | 2022-09-27 | 杭州申昊科技股份有限公司 | Centering mechanism of robot ground knife executing mechanism |
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Application publication date: 20211008 |