CN206633003U - A kind of passive compliance device - Google Patents
A kind of passive compliance device Download PDFInfo
- Publication number
- CN206633003U CN206633003U CN201720253028.5U CN201720253028U CN206633003U CN 206633003 U CN206633003 U CN 206633003U CN 201720253028 U CN201720253028 U CN 201720253028U CN 206633003 U CN206633003 U CN 206633003U
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- CN
- China
- Prior art keywords
- torsionspring
- compression spring
- handed
- dextrorotation
- connecting plate
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Abstract
The utility model discloses a kind of passive compliance device, including upper junction plate, three groups of elastic parts units, lower connecting plate and flange contiguous block；The upper surface of the upper junction plate is designed with flanged ends mouth；The flange contiguous block is installed on lower connecting plate；Three groups of elastic parts units are uniformly distributed between upper junction plate and lower connecting plate；The elastic parts unit includes alignment pin, two pieces of inclination angle connecting plates, two pieces of bottom plates, one group of rubber spring unit and two groups of compression spring units；The compression spring unit includes the epimere being connected with upper junction plate, the hypomere and compression spring assembly that are connected with lower connecting plate；Epimere is identical with the structure of hypomere；The epimere includes dextrorotation torsionspring, rotary shaft, outer rotating frame, left-handed torsionspring and internal rotation framework.The device has that compliant range is big, decoupling performance is good, be conveniently replaceable flexible member and intermediate connector is to adjust shearing rigidity, bending stiffness and compliant control position.
Description
Technical field
A kind of automatic assembling apparatus is the utility model is related to, specifically a kind of passive compliance device.
Background technology
With the development of industrial automation, automatic assembling is widely used in industrial production, wherein again with shaft hole series zero
Based on part automatic assembling.For one kind in the artificial industrial robot that puts together machines of automatic assembling, general industry machine is different from
Device people, the people end that puts together machines are equipped with compliance device.Passive compliance device because its is easy to use, compliant range is larger,
Relatively low is required to robot control system simultaneously and is widely used in industrial production.Most passive compliance mechanisms is applied now
For RCC (Remote Center Compliance) mechanism.United States Patent (USP) 4098001 is used as elastomer by the use of metallic elastic component
Be connected between lower platform, according to flexible member install distribution mode difference can make mechanism have diverse location it is submissive in
The heart, but because metallic elastic component deformability is smaller, in order to which the submissive displacement for obtaining larger usually requires the metal elastic used
Property part size is larger, larger so as to cause passive compliance apparatus structure size, is not convenient to use.It is above-mentioned passive soft in order to improve
Along the submissive performance of device, metallic elastic component therein is replaced by rubber metal stacking rod member (Elastomer Shear
Pad, ESP), and the structure is also current commercial product structure.But because the nonlinear characteristic of ESP elastic components itself and ESP are given birth to
The uniformity of all properties of product is difficult to ensure that in production, causing the submissive performance of the passive compliance mechanism, to receive one fixing
Ring；Meanwhile the axial force that the passive compliance mechanism can bear is smaller, the larger installation task of axial force demand can not be completed.
United States Patent (USP) 67926899B2 proposes increase axial limiting bar, for completing the offer of the axial force after preliminary submissive contraposition and holding
By；But the presence of gag lever post limits the compliant range of compliance device so that the device only can be suitably used for compliant range demand compared with
In small assembly work.
Utility model content
In view of the shortcomings of the prior art, the technical problem that the utility model intends to solve is to provide a kind of passive compliance device.
The device has that compliant range is big, decoupling performance is good, be conveniently replaceable flexible member and intermediate connector is to adjust shearing rigidity, curved
Stiffness and compliant control position.
The technical scheme that the utility model solves the technical problem is to provide a kind of passive compliance device, including upper company
Fishplate bar, lower connecting plate and flange contiguous block；The upper surface of the upper junction plate is designed with flanged ends mouth；The flange connection
Block is installed on lower connecting plate；It is characterized in that the device also includes three groups of elastic parts units；Three groups of elastic parts units are equal
It is arranged in evenly between upper junction plate and lower connecting plate；The structure of three groups of elastic parts units is identical with connected mode；
The elastic parts unit include alignment pin, two pieces of inclination angle connecting plates, two pieces of bottom plates, one group of rubber spring unit and
Two groups of compression spring units；Two pieces of inclination angle connecting plates are connected with upper junction plate and lower connecting plate respectively, and alignment pin inclines for restriction
Position relationship between angle connecting plate and upper junction plate and lower connecting plate；Two pieces of bottom plates are respectively arranged in respective inclination angle connecting plate
On, alignment pin is used to limit the position relationship between bottom plate and inclination angle connecting plate；The rubber spring unit is located at elastic parts
The centre position of unit；The rubber spring unit is made up of two metal fixing ends and a polyurethane rubber spring, poly- ammonia
The both ends of ester rubber spring are connected with a metal fixing end respectively；Two metal fixing ends are respectively arranged in respective bottom plate
On；The compression spring unit is structure and identical two groups of connected mode, is installed on bottom plate and is symmetrically arranged in bullet
The both ends of property assembly unit；
The compression spring unit includes the epimere being connected with upper junction plate, the hypomere being connected with lower connecting plate and compression bullet
Spring component；The both ends of the compression spring assembly are connected with epimere and hypomere respectively；Epimere is identical with the structure of hypomere；Institute
Stating epimere includes support plate, dextrorotation torsionspring fixed cover, dextrorotation torsionspring, copper sheathing, rotary shaft, outer rotating frame, left-handed torsion
Turn spring, left-handed torsionspring fixed cover and internal rotation framework；The compression spring assembly include slide guide block, compression spring and
Lower fixed block, the both ends of the compression spring are connected with sliding one end of guide block and one end of lower fixed block respectively；The slip
The other end of guide block is installed in the central through hole of internal rotation framework of epimere, can be slided up and down along central through hole；Under described
The other end of fixed block is installed in the internal rotation framework of hypomere；Two support plates are fixed on bottom plate, are arranged symmetrically；Two copper sheathings
It is installed on respective support plate；The left and right sides of outer rotating frame is connected by two rotary shafts with two copper sheathings respectively, connection
Copper sheathing and the outer end of two rotary shafts of outer rotating frame are separately installed with dextrorotation torsionspring and left-handed torsionspring；Outer rotation
The front and rear sides of framework are connected by two rotary shafts with internal rotation framework respectively；Connect internal rotation framework and outer rotating frame
The outer end of two rotary shafts is separately installed with dextrorotation torsionspring and left-handed torsionspring；Dextrorotation torsionspring fixed cover is solid respectively
Due on support plate and outer rotating frame, positioned at rotary shaft shaft end；Left-handed torsionspring fixed cover is individually fixed in support plate and outward turning
Turn on framework, positioned at rotary shaft shaft end；One end of dextrorotation torsionspring is consolidated with rotation axis connection, the other end with dextrorotation torsionspring
Fixed set connection；One end of left-handed torsionspring is connected with rotation axis connection, the other end with left-handed torsionspring fixed cover.
Compared with prior art, the utility model beneficial effect is：The utility model is using compression spring and rubber bullet
The mode that spring is combined builds the elastic parts unit of the passive compliance device so that the passive compliance device ensure have compared with
On the basis of the good submissive ability of transversely deforming and the submissive ability of flexural deformation, can flexibly it be adjusted by changing compression spring
Its axial carrying capacity so that the passive compliance device can be used in the larger operating mode of axially mounted power demand (such as：Axis hole mistake
Cooperation of being full of is assembled).Compression spring assembly is installed on by rotary shaft and support plate and outer rotating frame and rotary shaft and outer rotating frame
And on the class Hooke hinge seat that is formed of internal rotation framework, the Hooke hinge seat ensure that passive compliance device has preferably solution
Coupling, be advantageous to complete assembly work；For connecting elastic parts unit and upper junction plate and the inclination angle connecting plate of lower connecting plate
It is convenient to change, and the mounted angle of elastic parts unit is conveniently adjusted, to change the compliant control position of passive compliance device so that
The axial workpiece that the passive compliance device can be applied to different lengths is installed.Meanwhile the dextrorotation in compression spring assembly is reversed
Spring and left-handed torsionspring can be changed, to adjust the shearing rigidity of passive compliance device and compliant control position.
Brief description of the drawings
Fig. 1 is a kind of overall structure axonometric schematic diagram of embodiment of the utility model passive compliance device；
Fig. 2 is a kind of A-A directions cross section structure diagram of embodiment of the utility model passive compliance device；
Fig. 3 is a kind of D-D directions cross section structure diagram of embodiment of the utility model passive compliance device；
Fig. 4 is a kind of B-B directions cross section structure diagram of embodiment of the utility model passive compliance device；
Fig. 5 is a kind of C-C directions cross section structure diagram of embodiment of the utility model passive compliance device (in figure：1、
Upper junction plate；2nd, elastic parts unit；3rd, lower connecting plate；4th, flange contiguous block；5th, alignment pin；6th, inclination angle connecting plate；7th, bottom plate；
8th, support plate；9th, dextrorotation torsionspring fixed cover；10th, dextrorotation torsionspring；11st, copper sheathing；12nd, rotary shaft；13rd, outer rotating frame；
14th, compression spring assembly；14.1st, guide block is slided；14.2, compression spring；14.3rd, lower fixed block；15th, left-handed torsionspring；16、
Left-handed torsionspring fixed cover；17th, rubber spring unit；17.1st, metal fixing end；17.2nd, polyurethane rubber spring；18th, it is interior
Rotating frame；19th, compression spring unit)
Embodiment
Specific embodiment of the utility model is given below.Specific embodiment is only used for being further described this practicality newly
Type, the application scope of the claims is not limited.
The utility model provides a kind of passive compliance device (referring to Fig. 1-3, abbreviation device), including upper junction plate 1, three
Group elastic parts unit 2, lower connecting plate 3 and flange contiguous block 4；
The upper surface of the upper junction plate 1 is designed with flanged ends mouth, and dress is performed for external mechanical arm end etc.
Set terminal, to drive the passive compliance device to complete fittage；The flange contiguous block 4 is installed on down by hexagon socket head cap screw
On connecting plate 3, flange contiguous block 4 is used for the clamping devices such as external scroll chuck, to clamp part to be installed；Three groups of elastic parts lists
Member is uniformly distributed between upper junction plate 1 and lower connecting plate 3, and angle is 60 ° between three groups of elastic parts units；Three groups of elasticity
The structure of assembly unit is identical with connected mode；
The elastic parts unit 2 includes 5, two pieces of alignment pin, 6, two pieces of inclination angle connecting plate, 7, one groups of rubber spring lists of bottom plate
Member 17 and two groups of compression spring units 19；Two pieces of inclination angle connecting plates 6 by hexagon socket head cap screw respectively with upper junction plate 1 and lower connection
Plate 3 connects, and alignment pin 5 is used to limit the position relationship between inclination angle connecting plate 6 and upper junction plate 1 and lower connecting plate 3, ensures bullet
Property assembly unit 2 installation radius keep it is constant；Two pieces of bottom plates 7 are respectively arranged in respective inclination angle by hexagon socket head cap screw and connected
On plate 6, alignment pin 5 is used to limit the position relationship between bottom plate 7 and inclination angle connecting plate 6, ensures its installation accuracy；The rubber
Spring unit 17 is located at the centre position of elastic parts unit 2；The rubber spring unit 17 is by two metal fixing ends 17.1
Formed with a polyurethane rubber spring 17.2, the both ends of polyurethane rubber spring 17.2 respectively with a metal fixing end 17.1
Connection；Two metal fixing ends 17.1 are respectively arranged on respective bottom plate 7 by hexagon socket head cap screw；The compression spring unit
19 be structure and identical two groups of connected mode, is installed on by hexagon socket head cap screw on bottom plate 7 and is symmetrically arranged in elasticity
The both ends of assembly unit 2, cause elastic parts unit 2 when bearing the power and torque of all directions using this kind of asymmetrical arrangement
There can be the submissive performance of identical；Rubber spring unit 17 can be changed according to requirements, to adjust passive compliance dress
The submissive performance put and compliant control position；
The compression spring unit 19 includes the epimere being connected with upper junction plate 1, the hypomere being connected with lower connecting plate 3 and pressure
Contracting spring assembly 14；The both ends of the compression spring assembly 14 are connected with epimere and hypomere respectively；The structure of epimere and hypomere is complete
It is exactly the same；The epimere include support plate 8, dextrorotation torsionspring fixed cover 9, dextrorotation torsionspring 10, copper sheathing 11, rotary shaft 12,
Outer rotating frame 13, left-handed torsionspring 15, left-handed torsionspring fixed cover 16 and internal rotation framework 18；The compression spring set
Part 14 includes slip guide block 14.1, compression spring 14.2 and lower fixed block 14.3, the both ends of the compression spring 14.2 and passes through weldering
The mode connect is connected with sliding one end of guide block 14.1 and one end of lower fixed block 14.3 respectively；It is described to slide the another of guide block 14.1
One end is installed in the central through hole of internal rotation framework 18 of epimere, can be slided up and down along central through hole；The lower fixed block
14.3 other end is installed in the internal rotation framework 18 of hypomere by hexagon socket head cap screw；Two support plates 8 pass through hexagon socket head cap screw
It is fixed on bottom plate 7, is arranged symmetrically；Two copper sheathings 11 are installed on respective support plate 8, the two interference fit；Outer rotating frame
13 left and right sides is connected by two rotary shafts 12 with two copper sheathings 11 respectively, connection copper sheathing 11 and the two of outer rotating frame 13
The outer end of individual rotary shaft 12 is separately installed with dextrorotation torsionspring 10 and left-handed torsionspring 15；Front and rear the two of outer rotating frame 13
Side is connected by two rotary shafts 12 with internal rotation framework 18 respectively；Connect two of internal rotation framework 18 and outer rotating frame 13
The outer end of rotary shaft 12 is separately installed with dextrorotation torsionspring 10 and left-handed torsionspring 15；Dextrorotation torsionspring fixed cover 9 is logical
Cross hexagon socket head cap screw to be individually fixed on support plate 8 and outer rotating frame 13, positioned at the shaft end of rotary shaft 12；Left-handed torsionspring is fixed
Set 16 is individually fixed on support plate 8 and outer rotating frame 13 by hexagon socket head cap screw, positioned at the shaft end of rotary shaft 12；Bullet is reversed in dextrorotation
One end of spring 10 is connected with rotary shaft 12, and the other end is connected with dextrorotation torsionspring fixed cover 9；One end of left-handed torsionspring 15
It is connected with rotary shaft 12, the other end is connected with left-handed torsionspring fixed cover 16；Rotary shaft 12 is used to connect support plate 8 and outer rotation
Framework 13 and internal rotation framework 18 and outer rotating frame 13, form class Hooke's hinge structure so that compression spring unit 19 can
Bear multidirectional power or torque；Dextrorotation torsionspring 10 and left-handed torsionspring 15 are bidirectional elastic damping structure, for adjusting
The shearing rigidity of seamless contracting spring unit 19；When the one end of compression spring unit 19 is fixed, when the other end bears cross force, bullet is compressed
Compression spring assembly 14 in spring unit 19 will drive rotary shaft 12 to rotate, due to the shearing rigidity of compression spring assembly 14 and curved
Stiffness ensure that the horizontal stroke of compression spring assembly 14 much larger than the torsional rigidity of dextrorotation torsionspring 10 and left-handed torsionspring 15
To deformation performance.It is firm to adjust the compression of passive compliance device by changing the compression spring 14.2 in compression spring assembly 14
Degree and compliant control position.Dextrorotation torsionspring 10 and left-handed torsionspring 15 in compression spring unit 19 can be changed,
To adjust the shearing rigidity of passive compliance device and compliant control position.By the inclination angle connecting plate 6 for changing differing tilt angles
The setting angle of elastic parts unit 2 can be changed, so as to change passive compliance device compliant control.
The operation principle and workflow of the utility model passive compliance device be：Axle is carried out using the passive compliance device
When hole type parts assemble, first device is installed on by the flanged ends mouth of upper junction plate 1 and performs equipment end (such as machinery
Arm end), and the chuck for accommodating part to be installed is installed on flange contiguous block 4.Using the device carry out peg-in-hole assembly and
During class peg-in-hole assembly operation, its assembling process is commonly divided into four-stage, i.e.,：Close to stage, chamfered transition stage, any connects
The stage of touching and two-point contact stage.
It is that the device and assembly (axle or similarity piece) are sent to and wait to pacify by robot or other operating platforms close to the stage
The process of piece installing, the process will cause center or the chamfering of the close part to be installed of mounted piece as far as possible；The chamfered transition stage is
Mounted piece is under the driving force that robot or other operating platforms provide, by the compliance of the device to pass through chamfered section
Point；
In the chamfered transition stage, be in contact when assembly chamfering with part chamfering to be installed caused by contact force can be axle
To contact force and transverse contact forces, due to the axial rigidity of elastic parts unit 2 it is big compared to shearing rigidity (at least 5 times with
On), therefore, deformation is smaller caused by axial force, it might even be possible to ignore, and elastic parts unit 2 is in Lateral Force
Down so that polyurethane rubber spring 17.2 produces detrusion, simultaneously because the rigidity of compression spring 14.2 is reversed much larger than dextrorotation
The rigidity of spring 10 and left-handed torsionspring 15 so that the class Hooke's hinge in elastic parts unit 2 produces rotation, so that bullet
Property assembly unit 2 produce transverse shifting, that is, produce passive compliance ability so that assembly is slipped into part hole to be installed；
Some contact phases are similar with the chamfered transition stage, and now only chamfering disappearance position a little connects with axle side
Touch, it continues with the compliance of the device under robot or similar performs device driving and moved down；When axle or similarity piece position
When dropping to certain depth, the inwall with hole is also in contact by its bottom, and now assembles and just enter 2 assembling stages；
After the two-point contact stage is entered, the elastic parts unit 2 in passive compliance device will provide under Moment
Angle regulation function so that assembly occurs without the situation of " blocking " or " wedging " in part hole to be installed, and then assembles energy
Enough continue.When being fitted into the two-point contact stage after the adjustment by the device, assembling process is possible to return again
Normalizing point contact phase, then the device will continue adjustment until assembling complete.
The utility model does not address part and is applied to prior art.
Claims (5)
1. a kind of passive compliance device, including upper junction plate, lower connecting plate and flange contiguous block；The upper surface of the upper junction plate
It is designed with flanged ends mouth；The flange contiguous block is installed on lower connecting plate；It is characterized in that the device also includes three groups
Elastic parts unit；Three groups of elastic parts units are uniformly distributed between upper junction plate and lower connecting plate；Three groups of elastic parts
The structure of unit is identical with connected mode；
The elastic parts unit includes alignment pin, two pieces of inclination angle connecting plates, two pieces of bottom plates, one group of rubber spring unit and two groups
Compression spring unit；Two pieces of inclination angle connecting plates are connected with upper junction plate and lower connecting plate respectively, and alignment pin is used to limit inclination angle company
Position relationship between fishplate bar and upper junction plate and lower connecting plate；Two pieces of bottom plates are respectively arranged on respective inclination angle connecting plate,
Alignment pin is used to limit the position relationship between bottom plate and inclination angle connecting plate；The rubber spring unit is located at elastic parts unit
Centre position；The rubber spring unit is made up of two metal fixing ends and a polyurethane rubber spring, polyurethane rubber
The both ends of glue spring are connected with a metal fixing end respectively；Two metal fixing ends are respectively arranged on respective bottom plate；Institute
It is structure and identical two groups of connected mode to state compression spring unit, is installed on bottom plate and is symmetrically arranged in elastic parts
The both ends of unit；
The compression spring unit includes the epimere being connected with upper junction plate, the hypomere being connected with lower connecting plate and compression spring set
Part；The both ends of the compression spring assembly are connected with epimere and hypomere respectively；Epimere is identical with the structure of hypomere；On described
Section includes support plate, dextrorotation torsionspring fixed cover, dextrorotation torsionspring, copper sheathing, rotary shaft, outer rotating frame, left-handed torsion bullet
Spring, left-handed torsionspring fixed cover and internal rotation framework；The compression spring assembly includes sliding guide block, compression spring and lower solid
Determine block, the both ends of the compression spring are connected with sliding one end of guide block and one end of lower fixed block respectively；The slip guide block
The other end be installed in the central through hole of internal rotation framework of epimere, can be slided up and down along central through hole；The lower fixation
The other end of block is installed in the internal rotation framework of hypomere；Two support plates are fixed on bottom plate, are arranged symmetrically；Two copper sheathing installations
In on respective support plate；The left and right sides of outer rotating frame is connected by two rotary shafts with two copper sheathings respectively, connects copper sheathing
Dextrorotation torsionspring and left-handed torsionspring are separately installed with the outer end of two rotary shafts of outer rotating frame；Outer rotating frame
Front and rear sides be connected respectively by two rotary shafts with internal rotation framework；Connect two of internal rotation framework and outer rotating frame
The outer end of rotary shaft is separately installed with dextrorotation torsionspring and left-handed torsionspring；Dextrorotation torsionspring fixed cover is individually fixed in
On support plate and outer rotating frame, positioned at rotary shaft shaft end；Left-handed torsionspring fixed cover is individually fixed in support plate and outer rotating frame
On frame, positioned at rotary shaft shaft end；One end of dextrorotation torsionspring and rotation axis connection, the other end and dextrorotation torsionspring fixed cover
Connection；One end of left-handed torsionspring is connected with rotation axis connection, the other end with left-handed torsionspring fixed cover.
2. passive compliance device according to claim 1, it is characterised in that angle is between three groups of elastic parts units
60°。
3. passive compliance device according to claim 1, it is characterised in that dextrorotation torsionspring and left-handed torsionspring are
Bidirectional elastic damping structure.
4. passive compliance device according to claim 1, it is characterised in that the shearing rigidity of compression spring assembly and bending
Rigidity is more than the torsional rigidity of dextrorotation torsionspring and left-handed torsionspring.
5. passive compliance device according to claim 1, it is characterised in that the passive compliance device is used for shaft hole series part
Assembling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720253028.5U CN206633003U (en) | 2017-03-16 | 2017-03-16 | A kind of passive compliance device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720253028.5U CN206633003U (en) | 2017-03-16 | 2017-03-16 | A kind of passive compliance device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206633003U true CN206633003U (en) | 2017-11-14 |
Family
ID=60249734
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720253028.5U Withdrawn - After Issue CN206633003U (en) | 2017-03-16 | 2017-03-16 | A kind of passive compliance device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206633003U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106799728A (en) * | 2017-03-16 | 2017-06-06 | 天津工业大学 | A kind of passive compliance device |
| CN108908395A (en) * | 2018-06-26 | 2018-11-30 | 湘潭大学 | A kind of multi-direction passive smoothing device for Robot Force control |
| CN111609081A (en) * | 2020-06-08 | 2020-09-01 | 上海大学 | Novel vibration damper based on Stewart configuration |
-
2017
- 2017-03-16 CN CN201720253028.5U patent/CN206633003U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106799728A (en) * | 2017-03-16 | 2017-06-06 | 天津工业大学 | A kind of passive compliance device |
| CN106799728B (en) * | 2017-03-16 | 2023-04-25 | 天津工业大学 | Passive compliant device |
| CN108908395A (en) * | 2018-06-26 | 2018-11-30 | 湘潭大学 | A kind of multi-direction passive smoothing device for Robot Force control |
| CN108908395B (en) * | 2018-06-26 | 2021-05-07 | 湘潭大学 | Multi-direction passive compliance device for robot force control |
| CN111609081A (en) * | 2020-06-08 | 2020-09-01 | 上海大学 | Novel vibration damper based on Stewart configuration |
| CN111609081B (en) * | 2020-06-08 | 2021-05-04 | 上海大学 | Novel vibration damper based on Stewart configuration |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20171114 Effective date of abandoning: 20230425 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20171114 Effective date of abandoning: 20230425 |
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