CN217572956U - Flexible compensation device with six degrees of freedom - Google Patents

Abstract

The utility model relates to a flexible compensation arrangement of six degrees of freedom, including cylinder body, movable cover, spring holder and be used for connecting the installation panel of manipulator, form the cavity in the cylinder body, be provided with the piston in the cavity, the one end of piston is connected with the piston rod, the piston rod passes the movable cover with the thimble that sets up in the spring holder sets up relatively, the inlet port has been seted up on the cylinder body, the inlet port with the cavity communicates with each other, acts on through gas the piston is to piston rod one side removal. When the air inlet hole of the utility model is filled with air, the air acts on the piston, pushes the piston rod and simultaneously drives the movable cover to move to one side of the spring seat until the thimble and the piston rod are butted and centered; after ventilation is not carried out, the movable plate is reset under the action of the spring, free swing is realized, and flexible compensation on six degrees of freedom is realized, namely the spring fixing screw and the spring gasket adopt a conical structure, so that the movement of the mounting panel on six degrees of freedom can be realized.

Description

Flexible compensation device with six degrees of freedom

Technical Field

The utility model relates to an error compensation device technical field especially relates to a flexible compensation arrangement of six degrees of freedom.

Background

In the process of carrying and loading and unloading of the robot, position deviation is caused by motion errors, debugging errors, assembly errors of related equipment devices and the like of the robot, eccentric load is generated in the process of butt joint, and the robot, a clamp, a machined part and the like are greatly damaged, so that unnecessary loss is caused. The existing active control compensator has complex system and higher cost, needs to design different programs for different workpieces and scenes, and wastes time and labor. In addition, the alignment of the compensator after the action is finished is high, so that the robot can be ensured to still follow the motion track and the precision of the body.

Disclosure of Invention

An object of the utility model is to provide a flexible compensation arrangement of six degrees of freedom can adapt to the robot of majority to different supplied materials, and application scenario is wide, and control accuracy is high moreover.

In order to achieve the above purpose, the utility model provides the following technical proposal,

the flexible compensation device with six degrees of freedom is characterized by comprising a cylinder body, a movable cover, a spring seat and a mounting panel for connecting a manipulator, wherein a cavity is formed in the cylinder body, a piston is arranged in the cavity, one end of the piston is connected with a piston rod, the piston rod penetrates through the movable cover and an ejector pin arranged in the spring seat, an air inlet hole is formed in the cylinder body, the air inlet hole is communicated with the cavity, and the piston moves to one side of the piston rod through gas action.

The utility model discloses further set up, a plurality of arrangement grooves have been seted up in the spring holder, be provided with the spring set screw in the arrangement groove, the one end of spring set screw extends to in the movable cover, the outside cover of spring set screw is equipped with the spring, the one end of spring with the movable cover offsets, other one end with the up end of arrangement groove offsets, the spring set screw is clearance fit rather than the arrangement groove.

The utility model discloses further set up, the outside of spring set screw still is provided with the screw gasket, be formed with first toper face on the screw gasket, the spring set screw corresponds first toper face forms second toper face.

The utility model discloses further set up, the piston with connect through connecting bolt between the piston rod, connecting bolt is located the settling hole that the piston center was seted up, the central point of piston rod puts and is formed with the connecting hole, connecting bolt's the other end is located the connecting hole.

The utility model discloses further set up, the spring set screw is evenly in the spring holder along the circumference.

The utility model discloses further set up, the mounting groove has been seted up on the side of cylinder body, the mounting groove is used for installing out magnetism position detection switch.

The utility model has the advantages that: the principle of the utility model is as follows: when the air inlet hole is filled with air, the air acts on the piston, pushes the piston rod and simultaneously drives the movable cover to move towards one side of the spring seat until the thimble and the piston rod are abutted and centered; after ventilation is not carried out, the movable plate is reset under the action of the spring, free swing is realized, and flexible compensation on six degrees of freedom is realized, namely the spring fixing screw and the spring gasket adopt a conical structure, so that the movement of the mounting panel on six degrees of freedom can be realized. Programming of the robot is simplified, and cost is saved; the centering effect and precision are improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

fig. 1 is a perspective view of an embodiment of the present invention.

Fig. 2 is a side view of an embodiment of the present invention.

Fig. 3 isbase:Sub>A cross-sectional view taken atbase:Sub>A-base:Sub>A in fig. 2.

Fig. 4 is a perspective view of the screw washer according to the embodiment of the present invention.

The reference numerals are used to designate the same elements,

10. a cylinder body;

20. a movable cover;

30. a spring seat;

40. installing a panel;

50. a cavity;

60. a piston;

70. a piston rod;

80. a thimble;

90. an air intake;

100. a placing groove;

110. a spring fixing screw;

120. a screw washer;

130. a spring;

140. a first tapered surface;

150. a second tapered surface;

160. a connecting bolt;

170. placing the hole;

180. connecting holes;

190. mounting grooves;

Detailed Description

Embodiments of the present application will be described in detail with reference to the drawings and examples, so that how to implement technical means to solve technical problems and achieve technical effects of the present application can be fully understood and implemented.

As shown in fig. 1-3, the utility model relates to a flexible compensation arrangement of six degrees of freedom, including cylinder body 10, movable cover 20, spring holder 30 and be used for connecting manipulator's installation panel 40, form cavity 50 in the cylinder body 10, be provided with piston 60 in the cavity 50, the one end of piston 60 is connected with piston 60 pole, piston 60 pole passes movable cover 20 with thimble 80 that sets up in the spring holder 30 sets up relatively, inlet port 90 has been seted up on the cylinder body 10, inlet port 90 with cavity 50 communicates with each other, acts on through gas piston 60 removes to piston 60 pole one side.

A plurality of placing grooves 100 are formed in the spring seat 30, spring fixing screws 110 are arranged in the placing grooves 100, one ends of the spring fixing screws 110 extend into the movable cover 20, springs 130 are sleeved outside the spring fixing screws 110, one ends of the springs 130 abut against the movable cover 20, the other ends of the springs 130 abut against the upper end face of the placing grooves 100, and the spring fixing screws 110 are in clearance fit with the placing grooves 100.

A screw washer 120 is further disposed outside the spring fixing screw 110, a first tapered surface 140 is formed on the screw washer 120, and a second tapered surface 150 is formed on the spring fixing screw 110 corresponding to the first tapered surface 140.

The piston 60 is connected with the rod of the piston 60 through a connecting bolt 160, the connecting bolt 160 is positioned in a mounting hole 170 formed in the center of the piston 60, a connecting hole 180 is formed in the center of the rod of the piston 60, and the other end of the connecting bolt 160 is positioned in the connecting hole 180.

The spring fixing screws are uniformly arranged in the spring seat 30 along the circumference, a mounting groove 190 is formed in the side face of the cylinder body 10, and the mounting groove 190 is used for mounting a magnetic position detection switch.

The principle of the utility model is as follows: when the air inlet hole 90 is filled with air, the air acts on the piston 60, pushes the rod of the piston 60 and simultaneously drives the movable cover 20 to move towards one side of the spring seat 30 until the thimble 80 and the rod of the piston 60 are abutted and centered; after ventilation is not performed, the movable plate is reset under the action of the spring 130, so that free swinging is realized, and flexible compensation on six degrees of freedom is realized, namely, the spring fixing screw 110 and the spring 130 gasket adopt a conical structure, so that the movement of the mounting panel 40 on six degrees of freedom can be realized. Programming of the robot is simplified, and cost is saved; the centering effect and precision are improved.

As used in the specification and in the claims, certain terms are used to refer to particular components. As one skilled in the art will appreciate, manufacturers may refer to a component by different names. This specification and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. "substantially" means within an acceptable error range, that a person skilled in the art can solve the technical problem within a certain error range to substantially achieve the technical effect.

It is noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrases "comprising one of \8230;" does not exclude the presence of additional like elements in an article or system comprising the element.

While the foregoing description shows and describes several preferred embodiments of the invention, it is to be understood, as noted above, that the invention is not limited to the forms disclosed herein, but is not intended to be exhaustive or to exclude other embodiments and may be used in various other combinations, modifications, and environments and is capable of changes within the scope of the inventive concept as expressed herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. But that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention, which is to be limited only by the claims appended hereto.

Claims (6)

1. The flexible compensation device with six degrees of freedom is characterized by comprising a cylinder body, a movable cover, a spring seat and a mounting panel for connecting a manipulator, wherein a cavity is formed in the cylinder body, a piston is arranged in the cavity, one end of the piston is connected with a piston rod, the piston rod penetrates through the movable cover and an ejector pin arranged in the spring seat and is arranged oppositely, an air inlet hole is formed in the cylinder body, the air inlet hole is communicated with the cavity, and the piston moves to one side of the piston rod through gas action.

2. The six-degree-of-freedom flexible compensation device according to claim 1, wherein a plurality of installation grooves are formed in the spring seat, spring fixing screws are arranged in the installation grooves, one ends of the spring fixing screws extend into the movable cover, springs are sleeved outside the spring fixing screws, one ends of the springs abut against the movable cover, the other ends of the springs abut against the upper end face of the installation grooves, and the spring fixing screws are in clearance fit with the installation grooves.

3. The six-degree-of-freedom flexibility compensation device according to claim 2, wherein a screw washer is further disposed outside the spring fixing screw, a first tapered surface is formed on the screw washer, and the spring fixing screw forms a second tapered surface corresponding to the first tapered surface.

4. The flexibility compensation device with six degrees of freedom according to claim 3, wherein the piston is connected with the piston rod through a connecting bolt, the connecting bolt is located in a mounting hole formed in the center of the piston, a connecting hole is formed in the center of the piston rod, and the other end of the connecting bolt is located in the connecting hole.

5. A six degree of freedom compliance compensation device, as claimed in claim 4, wherein said spring set screws are circumferentially uniform within the spring seat.

6. The six-degree-of-freedom flexible compensation device according to claim 5, wherein an installation groove is formed in a side surface of the cylinder body, and the installation groove is used for installing a magnetic position detection switch.

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