CN217144005U

CN217144005U - XYR flexible compensator

Info

Publication number: CN217144005U
Application number: CN202220503718.2U
Authority: CN
Inventors: 陈宗元; 刘钊; 刘亘
Original assignee: Spaco Intelligent Technology Dongguan Co ltd
Current assignee: Spaco Intelligent Technology Dongguan Co ltd
Priority date: 2022-03-07
Filing date: 2022-03-07
Publication date: 2022-08-09
Anticipated expiration: 2032-03-07

Abstract

The utility model discloses a XYR flexible compensator, including casing, return positive piston, compensation piece, flange and ventilation channel. The casing is including acceping the chamber, and return positive piston and compensation piece and locate and accept the intracavity, and the flange is connected with the compensation piece, returns positive piston and has first position and second position, and the compensation piece can be done radial removal and rotatory along the center pin, and when returning positive piston and being in the first position, compensation piece and flange can be done radial removal simultaneously and/or rotatory along the center pin, accept the chamber and constantly have the clearance between the positive piston in order to form the passageway of ventilating, when the passageway of ventilating, returns positive piston and moves to the second position from the first position. When returning positive piston and being in the second position, return positive piston and drive the compensation piece rotation and/or remove to make the compensation piece drive the flange and return positive the restoration, compare with prior art, the utility model discloses a XYR flexible compensator returns positive compensation piece and has accurate centering function that resets with the help of returning positive piston, is mobile and have flexible compensation function with the help of compensation piece.

Description

XYR flexible compensator

Technical Field

The utility model relates to a robot accessory field especially relates to a XYR flexible compensator.

Background

With the development of the manufacturing industry, the automatic manufacturing level of the robot is continuously improved, and accordingly the execution precision of the industrial robot is also continuously improved. When current industrial robot carries out processing, transport and assembly operation, there is still more problem: firstly, due to the size error, the position error and the like of the workpiece, the accurate pose relationship between the robot executing piece and the workpiece is difficult to ensure; secondly, when the fragile or flexible part is assembled, the rigid grabbing action at the tail end of the robot is easy to damage the workpiece.

In order to solve the above problems, the industrial robot needs to have X, Y flexibility compensation functions in multiple directions such as rotation along the axis, axial inclination, and the like, in order to complete the work. And after the operation is finished, the centering reset can be performed, so that the next execution work is facilitated.

The existing compensator adopts self-adaptive compensation devices such as springs and rubber columns to realize flexible contact between an end executing part of an industrial robot and a workpiece, and lacks a precise reset centering function.

Therefore, there is a need for a flexible compensation device for XYR with precise reset and centering functions and flexible compensation functions to overcome the above-mentioned drawbacks.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a rational and reduce cooling cost and improve cooling efficiency's XYR flexible compensator of space utilization.

In order to achieve the purpose, the XYR flexible compensator of the utility model comprises a shell, a return piston, a compensation block, a flange and a ventilation channel, the shell comprises an accommodating cavity which is provided with a downward opening, the correcting piston and the compensating block are sequentially arranged in the accommodating cavity from top to bottom, the flange covers the opening and is connected with the compensation block, the aligning piston is provided with a first position which moves upwards to be abutted against the top of the containing cavity and a second position which moves downwards to align the compensation block, the aligning piston can move along the up-and-down direction to move between the first position and the second position, the compensating block can move radially and rotate along the central shaft in the containing cavity, when the aligning piston is at the first position, the compensating block and the flange can move radially and/or rotate along a central shaft simultaneously; a gap is constantly reserved between the top wall of the containing cavity and the top surface of the correcting piston to form the ventilation channel, and when the ventilation channel is ventilated, the correcting piston moves downwards from the first position to the second position; when the aligning piston is at the second position, the aligning piston drives the compensating block to rotate and/or move, so that the compensating block drives the flange to be aligned and reset.

Compared with the prior art, the XYR flexible compensator of the utility model can move along the radial direction and rotate along the axial direction by the aid of the mutual matching of the centering piston, the compensation block and the flange, and the flange is connected with the compensation block, so that the flange can move or rotate correspondingly along with the external force when receiving the external force, thereby avoiding the rigid force from damaging the workpiece or damaging the part of the grabbing structure; after the installation procedure is completed, the flange needs to be aligned again at the moment, then the air is introduced into the air channel, the aligning piston is forced to move downwards from the first position to the second position by utilizing the air pressure, so that the compensation block is forced to do rotating aligning movement, and the flange is driven to rotate to align. The event the utility model discloses a XYR flexible compensator returns positive compensation piece and has accurate centering function that resets with the help of returning positive piston, is mobile and have flexible compensation function with the help of compensation piece.

Preferably, the housing includes an upper housing and a lower housing, the upper housing has a first receiving cavity, the first receiving cavity has a first opening facing downward, the lower housing has a second receiving cavity, the second receiving cavity has a second opening facing upward, the upper housing and the lower housing are butted in an up-down direction, and the first receiving cavity and the second receiving cavity are communicated with each other.

Preferably, the top of the accommodating cavity is provided with an upper abutting shoulder protruding downwards to block the aligning piston from moving upwards, the aligning piston is located at the first position when abutting against the upper abutting shoulder, and the gap is formed between the aligning piston and the top wall of the accommodating cavity.

Preferably, a lower stopping shoulder for stopping the returning movement from moving downwards extends inward from a side wall of the accommodating cavity, and the returning piston is located at the second position when being stopped by the lower stopping shoulder.

Preferably, the XYR flexible compensator of the present invention further comprises an elastic member, the elastic member is disposed between the centering piston and the housing, and the elastic member has a force that orders about the centering piston to move upward to the first position.

Preferably, a cross-shaped groove is formed in the lower surface of the centering piston, a protrusion matched with the groove is arranged on the upper surface of the compensation block, the groove wall of the groove is obliquely arranged, and the outer side wall of the protrusion is obliquely arranged.

Preferably, the protrusions are in a cross-shaped structure, and the protrusions are arranged at the intersections in a breaking manner, so that the number of the protrusions is four.

Preferably, the cross section of each protrusion is triangular, and the two groove walls opposite to the groove are obliquely arranged along the central line in a manner of gradually expanding from top to bottom.

Preferably, the bottom surface of the housing is recessed upwards to form a first annular groove, the top surface of the flange is recessed downwards to form a second annular groove, the first annular groove and the second annular groove are arranged in a right-to-upper direction, a first magnetic structure is arranged in one of the first annular groove and the second annular groove, and the other of the first annular groove and the second annular groove is provided with a second magnetic structure or a metal structure which is mutually attracted with the first magnetic structure.

Preferably, the utility model discloses a XYR flexible compensator still includes the holder, place in the holder accept the intracavity, the holder overlap in the periphery of compensation piece, the holder blocks compensation piece is along upper and lower direction activity.

Drawings

Fig. 1 is a perspective view of the XYR compliant compensator of the present invention.

Fig. 2 is a top view of the XYR compliant compensator of the present invention.

Fig. 3 is a front view of the XYR compliant compensator of the present invention.

Fig. 4 is a sectional view taken along section line a-a in fig. 3.

Fig. 5 is a perspective view of a compensation block of the XYR compliant compensator of the present invention.

Fig. 6 is a perspective view of the aligning piston of the XYR compliant compensator of the present invention.

Fig. 7 is a perspective view of the lower housing of the XYR compliant compensator of the present invention.

Fig. 8 is a perspective view of the upper housing of the XYR compliant compensator of the present invention.

Detailed Description

In order to explain technical contents and structural features of the present invention in detail, the following description is made with reference to the embodiments and the accompanying drawings.

Referring to fig. 1 to 8, the XYR flexible compensator 100 of the present invention is applied to the output end of a robot. The device comprises a shell 1, a centering piston 2, a compensation block 3, a flange 4 and a ventilation channel 5. The housing 1 includes a receiving cavity having an opening 123 facing downward. Specifically, in the present embodiment, the housing 1 includes an upper housing 11 and a lower housing 12, the upper housing 11 has a first receiving cavity 111, the first receiving cavity 111 has a first opening 112 facing downward, the lower housing 12 has a second receiving cavity 121, the second receiving cavity 121 has a second opening 122 facing upward, the upper housing 11 and the lower housing 12 are butted along the vertical direction, and the first receiving cavity 111 and the second receiving cavity 121 are communicated with each other. It can be understood that the first receiving cavity 111 and the second receiving cavity 121 form a receiving cavity, and the second receiving cavity 121 has a downward opening 123. The shell 1 is of a split structure, so that the manufacturing and the processing are convenient. For example, the upper case 11 and the lower case 12 are connected by screws 6.

Referring to fig. 4, the centering piston 2 and the compensating block 3 are sequentially disposed in the accommodating chamber from top to bottom. The flange 4 covers the opening 123 and is connected to the compensating block 3. The aligning piston 2 has a first position moving upwards to abut against the top of the containing cavity and a second position moving downwards to align the compensating block 3, and the aligning piston 2 can move up and down to move between the first position and the second position. The compensating block 3 can move radially in the containing cavity and rotate along the central shaft. When the aligning piston 2 is in the first position, the compensating block 3 and the flange 4 can move radially and/or rotate along the central axis at the same time. For example, when the flange 4 is subjected to a radial force, the compensating blocks 3 perform a moving motion in the same direction, and when the flange 4 is subjected to a circumferential rotating force, the compensating blocks 3 perform a rotating motion in the same direction. A gap is formed between the top wall of the receiving cavity and the top surface of the aligning piston 2 to form a vent passage 5, and when the vent passage 5 is vented, the aligning piston 2 moves downwards from the first position to the second position. When the centering piston 2 is in the second position, the centering piston 2 drives the compensation block 3 to rotate and/or move, so that the compensation block 3 drives the flange 4 to return to the right position. It will be appreciated that the flange 4 is connected to the gripping mechanism. The housing 1 is connected to an air inlet connection 7, the air inlet connection 7 being in communication with the vent passage 5. More specifically, the following:

preferably, in this embodiment, the XYR flexible compensator 100 of the present invention further comprises an elastic member (not shown), the elastic member is located between the centering piston 2 and the accommodating cavity, and the elastic member constantly has a force for driving the centering piston 2 to return to the first position from the second position. When the air channel 5 is ventilated, the centering piston 2 overcomes the elasticity of the elastic piece to move to the second position, after the compensation block 3 is centered, the air channel 5 stops ventilating, and the elasticity of the elastic piece drives the centering piston 2 to reset to the first position. Of course, in other embodiments, a magnetically repulsive magnet may be disposed between the aligning piston 2 and the receiving cavity, and the force for driving the aligning piston 2 to move from the second position to the first position is also included, so the invention is not limited thereto. For example, the elastic member is a spring, but not limited thereto.

Referring to fig. 4, the XYR flexible compensator 100 of the present invention further includes a holder 10, the holder 10 is disposed in the accommodating cavity, the holder 10 is sleeved on the periphery of the compensation block 3, and the holder 10 blocks the compensation block 3 from moving up and down. Specifically, the compensation block 3 includes a stop ring 32 and a compensation body 31, and the stop ring 32 is formed by extending an outer side wall of the compensation body 31 outwards. The retainer 10 includes an upper limit ring 101 and a lower limit ring 102 opposite to the upper limit ring 101, the compensation body 31 is disposed in the upper limit ring 101 and the lower limit ring 102, the upper limit ring 101 is closely attached to the top surface of the stop ring 32, and the lower limit ring 102 is closely attached to the bottom surface of the stop ring 32. The compensating block 3 is prevented from moving in the up-down direction by the holder 10. Specifically, the outer sidewall of the compensation body 31 and the inner sidewall of the upper limit ring 101 have a distance 103 therebetween, and the compensation body 31 is radially movable within the range of the distance 103. Because the compensation block 3 is connected with the flange 4, when the flange 4 is acted by external force, the flange 4 drives the compensation block 3 to move.

Referring to fig. 4, an upper stopping shoulder 8 for stopping the aligning piston 2 from moving upwards is protruded downwards from the top of the accommodating cavity, and when the aligning piston 2 is stopped by the upper stopping shoulder 8, the aligning piston 2 is at the first position, and a gap is formed between the aligning piston 2 and the top wall of the accommodating cavity. By means of the upper abutment shoulder 8, the top of the aligning piston 2 does not abut against the top wall of the receiving chamber, so that a gap is formed between the aligning piston 2 and the top wall of the receiving chamber, thereby forming the vent channel 5.

Referring to fig. 4, the sidewall of the receiving cavity extends inward to form a lower stop shoulder 9 for stopping the return piston from moving downward, and the return piston 2 is located at the second position when abutting against the lower stop shoulder 9. Specifically, in the present embodiment, the lower stopping shoulder 9 and the housing 1 are a split structure, but in other embodiments, the lower stopping shoulder 9 and the housing 1 are an integral structure, and thus the invention is not limited thereto. The lower resisting shoulder 9 is sleeved on the aligning piston 2. Specifically, in the present embodiment, the aligning piston 2 includes a main body portion 21 and a limiting portion 22 disposed on the periphery of the main body portion 21, the main body portion 21 penetrates the lower abutting shoulder 9, and the limiting portion 22 is located above the lower abutting shoulder 9. It can be understood that the outer side wall of the main body part 21 is in clearance fit with the inner side wall of the lower abutment shoulder 9, and the main body part 21 can only move in the up-down direction but not in the radial direction under the action of the lower abutment shoulder 9. For example, the lower abutment shoulder 9 is an annular block-like structure.

Referring to fig. 4 to 6, the lower surface of the aligning piston 2 is provided with a cross-shaped recess 211, and the upper surface of the compensating block 3 is provided with a protrusion 311 matching with the recess 211. It can be understood that the protrusion 311 has a cross-shaped structure, and the protrusion 311 is disposed on the compensation body 31. Preferably, in the present embodiment, the protrusions 311 are disposed at the intersections in a breaking manner, so that the number of the protrusions 311 is four. With this arrangement, the aligning piston 2 is more flexibly engaged with the boss 311. The groove wall 2111 of the groove 211 is inclined, and the outer side wall of the protrusion 311 is inclined. By virtue of the slope of the groove wall 2111 of the groove 211 and the outer side wall 3111 of the protrusion 311, when the aligning piston 2 moves downwards, the protrusion 311 is forced to rotate back to be aligned under the action of the slope, so that the protrusion 311 and the groove 211 are in recessed fit with each other.

Referring to fig. 5 and 6, each protrusion 311 has a triangular cross section, and two opposite walls 2111 of the groove 211 are inclined from top to bottom along a center line. Of course, in other embodiments, the cross section of each protrusion 311 may be a trapezoid, so the disclosure is not limited thereto.

Referring to fig. 4, a first annular groove is recessed upward on the bottom surface of the housing 1, a second annular groove is recessed downward on the top surface of the flange 4, and the first annular groove and the second annular groove are arranged opposite to each other in the vertical direction. For example, a first magnetic structure 13 is disposed in the first annular groove, and a second magnetic structure 14 that is attracted to the first magnetic structure 13 is disposed in the second annular groove. Of course, in other embodiments, the first annular groove has a magnetic structure built therein and the second annular groove has a metal structure built therein. The flange 4 and the housing 1 are connected by the first magnetic structure 13 and the second magnetic structure 14 which are mutually attracted, so that the flange 4 and the housing 1 have mutually attracted force, and after the flange 4 is subjected to external acting force, the flange 4 is reset by magnetic attraction after the action disappears, so that the flange 4 and the housing 1 are kept in a relative central position. Preferably, after the centering piston 2 is centered on the position of the compensating block 3, the centered position can be maintained by the magnetic attraction between the flange 4 and the housing 1.

The operation principle of the XYR flexible compensator 100 of the present invention is explained with reference to the accompanying drawings: the flange 4 is connected with the grabbing mechanism, when the grabbing mechanism drives a workpiece to be installed, if the grabbing mechanism receives radial acting force in the installation process, the flange 4 receives the radial acting force and moves along with the force, and when the radial acting force disappears, the flange 4 is reset to the central position by means of magnetic attraction between the first magnetic structure 13 and the second magnetic structure 14. After the grabbing mechanism finishes grabbing, the flange 4 needs to be reset to be right for the next grabbing process. At this time, the air passage 5 is filled with air, the pressure of the air passage 5 forces the aligning piston 2 to move downwards, so that the groove 211 and the compensation block 3 are forced to perform rotational centering motion so that the groove 211 is finally matched with the protrusion 311 of the compensation block 3, the rotational resetting motion of the compensation block 3 drives the flange 4 to perform rotational resetting aligning motion, and the state of the flange 4 after aligning is maintained by means of the first magnetic structure 13 and the second magnetic structure 14. When the ventilation channel 5 finishes ventilation, the elastic element drives the return piston 2 to return to the first position.

Compared with the prior art, the XYR flexible compensator 100 of the utility model can move along the radial direction and rotate along the axial direction by the aid of the cooperation of the centering piston 2, the compensating block 3 and the flange 4, and the flange 4 is connected with the compensating block 3, so that the flange 4 can move or rotate correspondingly along with the external force when the external force acts on the flange, thereby preventing the rigid force from damaging the workpiece or the part of the grabbing mechanism; after the installation process is completed, the flange 4 needs to be aligned again at this time, the air channel 5 is filled with air, the aligning piston 2 is forced to move downwards from the first position to the second position by using air pressure, so that the compensation block 3 is forced to rotate to be aligned again, and the flange 4 is driven to rotate to be aligned again. Therefore, the XYR flexible compensator 100 of the present invention has the precise reset centering function by returning the positive piston 2 to the positive compensation block 3, and has the flexible compensation function by moving the compensation block 3.

The above disclosure is only a preferred embodiment of the present invention, and the scope of the claims of the present invention should not be limited thereby, and all the equivalent changes made in the claims of the present invention are intended to be covered by the present invention.

Claims

1. A XYR flexible compensator is characterized in that the XYR flexible compensator comprises a shell, a return piston, a compensation block, a flange and a ventilation channel, the shell comprises an accommodating cavity which is provided with a downward opening, the correcting piston and the compensating block are sequentially arranged in the accommodating cavity from top to bottom, the flange covers the opening and is connected with the compensation block, the aligning piston is provided with a first position which moves upwards to be abutted against the top of the containing cavity and a second position which moves downwards to align the compensation block, the aligning piston can move along the up-and-down direction to move between the first position and the second position, the compensating block can move radially and rotate along the central shaft in the containing cavity, when the aligning piston is at the first position, the compensating block and the flange can move radially and/or rotate along a central shaft simultaneously; a gap is constantly reserved between the top wall of the containing cavity and the top surface of the correcting piston to form the ventilation channel, and when the ventilation channel is ventilated, the correcting piston moves downwards from the first position to the second position; when the aligning piston is at the second position, the aligning piston drives the compensating block to rotate and/or move, so that the compensating block drives the flange to be aligned and reset.

2. The XYR compliant compensator according to claim 1, wherein the housing comprises an upper housing and a lower housing, the upper housing having a first receiving chamber with a first opening facing downward, the lower housing having a second receiving chamber with a second opening facing upward, the upper housing and the lower housing are butted in an up-and-down direction, and the first receiving chamber and the second receiving chamber are communicated with each other.

3. The XYR compliant compensator according to claim 1, wherein the top of the receiving cavity is protruded downward with an upper stop shoulder for stopping the aligning piston from moving upward, and the aligning piston is in the first position when the aligning piston is stopped by the upper stop shoulder, and the gap is formed between the aligning piston and the top wall of the receiving cavity.

4. The XYR compliant compensator according to claim 1, wherein the side wall of the receiving cavity has an inwardly extending lower stop shoulder for stopping the return motion from moving downward, and the return piston is in the second position when the return motion piston stops against the lower stop shoulder.

5. The XYR compliant compensator of claim 1, further comprising a spring disposed between the centering piston and the housing, the spring having a force urging the centering piston upward to the first position.

6. The XYR flexible compensator according to claim 1, wherein the lower surface of the centering piston is provided with a cross-shaped groove, the upper surface of the compensating block is provided with a protrusion matching with the groove, the wall of the groove is inclined, and the outer side wall of the protrusion is inclined.

7. The XYR compliant compensator according to claim 6, wherein the protrusions have a cross-shaped configuration, the protrusions being arranged in a broken configuration at the intersections such that there are four protrusions.

8. The XYR compliant compensator according to claim 6, wherein each of the protrusions has a triangular cross-section, and two opposite groove walls of the groove are inclined along a central line from top to bottom in a gradually expanding manner.

9. The XYR flexible compensator according to claim 1, wherein the bottom surface of the housing is recessed upward to form a first annular groove, the top surface of the flange is recessed downward to form a second annular groove, the first annular groove and the second annular groove are disposed opposite to each other in the vertical direction, one of the first annular groove and the second annular groove has a first magnetic structure, and the other of the first annular groove and the second annular groove has a second magnetic structure or a metal structure attracting the first magnetic structure.

10. The XYR flexible compensator according to claim 1, further comprising a retainer, wherein the retainer is disposed in the receiving cavity, the retainer is sleeved on the periphery of the compensating block, and the retainer blocks the compensating block from moving in the vertical direction.