TW201219176A - Remote center compliance device - Google Patents

Remote center compliance device Download PDF

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Publication number
TW201219176A
TW201219176A TW99139074A TW99139074A TW201219176A TW 201219176 A TW201219176 A TW 201219176A TW 99139074 A TW99139074 A TW 99139074A TW 99139074 A TW99139074 A TW 99139074A TW 201219176 A TW201219176 A TW 201219176A
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TW
Taiwan
Prior art keywords
position
compliant
plate
grooves
element
Prior art date
Application number
TW99139074A
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Chinese (zh)
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TWI404612B (en
Inventor
Han-Jou Li
Yang-Xin Lin
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Ind Tech Res Inst
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Priority to TW99139074A priority Critical patent/TWI404612B/en
Publication of TW201219176A publication Critical patent/TW201219176A/en
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Publication of TWI404612B publication Critical patent/TWI404612B/en

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Abstract

A remote center compliance device is adapted to a remote end of a robot. The remote center compliance device comprises a first plate connected with the remote end, a second plate, a center element connected with the second plate, and a compliance element. Two ends of the compliance element are connected with the first plate and the second plate, respectively. The compliance clement has at least a groove. The opening of the groove and the connection line between the two ends of the compliance element creates an acute angle. Accordingly, the remote center compliance device can absorb the offset induced by dimensional error, stiffness of robot, or positioning error.

Description

201219176 VI. Description of the invention: [Technical field to which the invention belongs] This proposal is for the replacement of the lion's 'Chen's replacement, the system is the distal end of the arm.' (4) Correction position correction device for correction error. [Prior Art] In the industry, the (four) arm is used to store people's health. The machine is often used for reclaiming and discharging. That is, the robot f takes out the prepared materials of the county, and then puts them to the The action of the predetermined location. When the robot arm performs the reclaiming or discharging action, the accuracy of the reclaiming point and the discharging point is very important. When the position of the reclaiming point or the discharging point is wrong, the robot arm will not be able to correctly complete the predetermined action. . The factors that affect the accuracy of the pick-and-place points include the dimensional error of each component in the robot arm, the rigidity of each component, and the positioning error. In order to correct the offset caused by the above error, the industry has proposed a compliance correction device, for example, in the U.S. Patent No. 7748136 issued on July 6, 2010, "Remote center compli relay device magnetic coffee (4) (with induction components) Compliance Correction Device), 197 pm, July 4, Announcement, US Patent "Remote center c〇_ance system", and September 21, 2004, Announcement No. 6792689 US patent "Remote center compliance device", these techniques are used to correct the above offset, and from the approval period, it can be easily known that this offset problem has occurred dozens of times. Year 'and still the topic that the #界 continues to solve. SUMMARY OF THE INVENTION 201219176 In view of the above-mentioned offset problem, the present proposal proposes that the compliant position correcting device is adapted to the distal end of the robot arm to offset the mechanical arm due to dimensional error, rigidity or positioning error. Quantity to solve the above problems. According to the embodiment, the correction device comprises a first plate connected to the distal end, a second plate, a central component connected to the second plate, and a positional cultivating, and the two ends of the positional collateral are respectively connected to the first plate and the The second plate and the position compliant element have at least a red edge between the red ends, and the opening σ direction of the groove and the line connecting the two ends are lost—an acute angle. According to an embodiment, the compliant element has two grooves, and the opening of the two grooves is based on the actual implementation, the compliant element has four grooves, and the opening direction of the adjacent grooves is substantially at an angle of 90 degrees. The component 'compliant component is a loop compliant position correcting device, a rigid factor or a positioning error. According to an embodiment, the correcting device has three compliant corners disposed between the first flat plate and the second flat plate.

By virtue of the above-described compliant position correcting device, the offset of the mechanical arm due to the dimensional error can be effectively corrected by the groove. [Embodiment] Referring to "Fig. 1", it is a perspective view of a compliant position correcting device according to the present invention.顺 位置 补 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ The error, the _ prime, or the fixed difference is the offset. This offset may be = single: direction (such as one of the two horizontal axes or the vertical axis), or both (iv) axial (two horizontal axes and vertical). The offset of the single axis or the three axes is corrected by the positional correction.卩L刖Please also refer to “i-fi” and “figure 2” at the same time, “The first compliance-receiving question--the third element of the arsenic component-real _=Fig., as can be seen from the figure, compliance The position correction attack includes a first tablet 2;, a 'towel' " reading % and positional turnover 30a, 3Gb (also referred to as an elastic column). The first plate 20 is connected to the distal end of the robot arm 9〇, The central component % is connected to the second flat plate 25. The position compliant component is applied, and the two ends 32a of the 3〇b are respectively connected to the first plate 20 and the second plate 25. As can be seen from the figure, the position compliant component is taken, b壬Cylindrical (class (four) miscellaneous cylinder), the cross-sectional shape of the end faces of both ends is annular, but it is not limited to this. The position can be a solid cylindrical, square, pentagonal or hexagonal material. Preferably, the closing shape or the equilateral shape is preferred for the riding amount to the stress needle and the uniformity, and the position compliant member is disposed between the first flat plate (9) and the second flat plate 25, according to the top view thereof. It is arranged in an equiangular manner to achieve better balance when correcting. Position compliant component 3Ga, 3% two ends 32a, 32b connection In the "Fig. 2", the Z-axis, that is, the position-adapting element is applied, the bird-direction, the position-adapting elements 30a, 30b have two grooves 32a, 32b, and the ground 34c, 34d, groove The fabrication of 34a, 34b, 34c, 34d can be accomplished by any means of processing such as, but not limited to, waterjet cutting, electric discharge wire cutting, laser cutting, ore cutting, wire cutting or media 201219176 cutting. This groove application, bird, 34c, _, can be cut in the metal cylinder (such as spring steel, non-fine, tool steel and other metal materials), cut (four) fixed texture, make the metal cylinder into a flexible material, take the metal cut The good resistance to degradation allows it to achieve anti-z-axis tension and compensate movement on the χγ-axis. To further illustrate the structure and characteristics of the trenches 34a and the ground ice, please refer to the figure, "4c" and "the still picture", where "3" is the side view of "2" "4A", "4B", "4C" and "4D" are cross-sectional views of "3" at positions ^4, 4B-4B, 4CMC and 4D_4D, respectively. For the sake of explanation, we will assign the "34A", "the first map", "the first map" and "the first map" to the groove 34〇41), 3 private 34 (1 respectively named first The trench 3 is, for example, the second trench 3, the third trench 34c, and the fourth trench 34d. Here, only the wire cutting is taken as an example. As can be seen from the "Fig. 4A", the first trench 34a疋 is cut from the +Y direction and the γ direction; as can be seen from the "figure map", the second grooved bird is cut in the direction of +γ in the direction of the wealth; as can be seen from "4C" The second groove is cut from the _χ direction toward the +χ direction, and as can be seen from the 4D11′′, the fourth groove tear is cut from the direction of the direction toward the −X direction. Therefore, the position compliant component The position where the 34c, 34d is cut in each of the grooves will have appropriate elasticity. Taking "4a" as an example, the position compliant element 30a will be in the direction of the y-axis along the connecting section 35. The lion's = sex, the magnitude of the swing (ie, the correction of the ζ axis) is related to the visibility h of the first groove (see "3"), and the width of the cut is wider. The movement of the 201219176 country is related to the area of the wind connection of 35, when: and the circle: increase the coffee, fine (10) = ^ = the connection of the segment 35 〗 〖The bigger the _ the greater the _ sex, the elastic Yu Xiao Γ In addition, from "After 4A", "Picture", "4C" and "Heart", it can be seen that the cutting direction (or the direction of the mouth) of each groove is also appropriately arranged π -x, +x). The purpose is to make the correction of the position compliant element 30a for each axial direction not to concentrate on a certain region (upper or lower in the axial direction), but to disperse, so that it can be rotated and uniformly dispersed. Stress, although in this embodiment, the cutting side is arranged in the order of +x, but it is not limited thereto, and any arrangement, even the number of loadings, is achieved by the purpose of the present invention. Then, the _ _ σ direction of the grooves 34a, 34b, 34e, 34d) may be a specific angle from the χ axial direction or the γ axial direction except for the direction of +γ, U + ,, such as but not limited to 30. Degree, 45 degrees, 60 degrees, etc. The groove direction, the opening direction of the grounding (10) can be regarded as the opposite direction of the cutting of the grooves 34a, 34b, 34C, 34d. Taking "4A" as an example, the groove 34a is cut from the +γ direction toward the _γ direction. Therefore, its opening direction is the +γ direction. In the present embodiment, the opening directions of all the grooves 34a, 34b, 34c, 34d are at an angle of about 90 degrees with the axial direction (z-axis) of the position compliant member 30a, but the invention is not limited thereto, and the groove is not limited thereto. The opening directions of 34a, 34b, 34c, 34d may be at an acute angle to the axial direction (Z-axis) of the position compliant member 30a, so that the offset of the single grooves 34a, 34b, 34c, 34d can be corrected. Limited to a single axial direction. Further, the opening directions of the respective grooves 34a, 34b, 34c, 34d may be the same or different. 201219176 Furthermore, it can be seen from "Fig. 3" that the position compliant element 30a has a plurality of grooves 34a, 34b, 34c, 34d' and the number of grooves 34a, 34b, 34c, 34d also affects the correctable offset. The larger the number of the grooves 34a, 34b, 34c, 34d, the more the total width is X, so the total offset of the correction is also larger. In addition, the pitch p (Pitch) between the grooves also affects the rigidity of the position compliant member 3A. Therefore, in design, the design can be designed with reference to the required correction amount of the robot arm, for example, the grooves 34a, 34b, 34c are designed according to the respective offsets of the X, γ, and z axes corrected. , the visibility h, the depth d and the pitch P, and the wall thickness t of the position compliant element 30a, and although the distance between the first plate 20 and the second plate 25 is fixed, the grooves 34a, 34b can be appropriately adjusted. The width h, the depth d and the pitch p of the 34c, 34d, and the wall thickness t of the position 30a of the member 30a can also be selected to achieve the offset of the desired correction.

"The correction range of the f-axis is related to the width of the groove, the number of the willows, 34e, (10), and the width h of the groove (4) ("Fig. 3"), that is, the wider the cutting width h, the groove, Na, 34c, the number of tears The larger the Yuxi's wealthy crane is, the larger the deformation of the left and right positions is, the number of grooves, the number of 34C, 34d, the spacing of the grooves 34a, 34b, 34c, 34d, and the depth of the cut h (" 4A"") and the width of the connecting section, the wall thickness t of the cylinder, the deeper the cutting depth h, the smaller the connecting section and wall thickness t, the smaller the residual, the larger the bombing, the greater the rigidity. The bigger the elasticity, the smaller the elasticity. Then, please refer to "5A" and "5B", which is the compliant and corrective proof. The ® towel is the schematic of the distal end 90 of the tender robot f to align the centerpiece 5〇 with the recessed hole 92. In Figure 5A, it can be seen that when the Lai 201219176 arm moves the center plough 50 to the recessed hole 92, the difference between the center turn 5G and the recessed hole is - an offset, at this time, when the robot arm will be centered When the tree 5 () moves to the lower (10) Z direction of the drawing surface, the center element 5 先 first contacts the lead angle above the concave portion, and then, because the position compliant element passes through the χ, γ, Μ are biased. By correcting the ability, the center element 5〇 can be smoothly placed into the recessed hole 92. b Further, please refer to "FIG. 6", which is a second embodiment of the compliant position correction according to the present invention. As can be seen from the figure, between the first plate 2 and the second plate 25 There is only a single position compliant element tear, the position compliant element tearing diameter is only slightly smaller than the first plate 20 and the second plate 25, and at the same time, the position compliant element has only the groove 34e, the opening direction and position of the groove 34e The axis of the accommodating element tearing (long axis or Z axis) is not a right angle but an acute angle, and in this example, + is about 30 degrees. Kouyue Tongsi> Test Figures 7 and 8 are the schematic diagram of another embodiment of the position compliant component, while the latter is a compliant position correction device for the component compliant tearing according to the "Fig. 7" position. The top surface of the third embodiment shows money. It can be seen from the figure that the position compliant element 30e has a plate shape and has a plurality of grooves 3, and the shore is used for the compliant position correction device (10), which can be arranged as shown in "Fig. 8". = The arrangement of the angular triangles can make the offset correction effect of each groove secret is balanced and there is no stress concentration. According to the technology of this proposal, the position compliant component has a correction of 2.6 cm (mm) in the χγ direction, a bending range of up to 5 degrees, a rotation range (four) axis of up to 2 degrees, and a pressure of up to 5 _Newton, the reach of the tension 201219176 j曰 Newton's but the above-mentioned position compliance ability (or rectification ability) is not limited to this proposal 'location position element satay as long as the job design, match the position to adapt to the ϋ '' and elasticity can get different position compliance. "Not as described"; '_ Recording correction I can effectively observe the offset generated by the robot size county, _ factor, or positioning error by the configuration of the position compliant component. In view of the above-mentioned best practices, Cai Lin is used to limit the number of books, and anyone who is familiar with the art can make some changes and refinements in the spirit and scope of this proposal. Therefore, the patent of this proposal. The scope of protection shall be as defined in the scope of the patent application attached to this specification. [Simplified description of the drawings] Fig. 1 is a schematic view of the first embodiment of the compliant position correction device according to the present proposal. Probable Position Correction Device Position Compliance Element φ First-dimensional schematic view of the first embodiment. Fig. 3 is a side view of "Fig. 2". Sections 4, 4, 3, and 4D are cross-sectional views of "3rd" at 4A-4A, 4B-4B, 4C-4C, and 4D-4D, respectively. Figures 5A and 5B are schematic views of the use of a compliant position correction device. Figure 6 is a second embodiment of a compliant position (four) positive device in accordance with the present invention. Figure 7 is a schematic illustration of another embodiment of a position compliant element. = The figure is a top plan view of a third embodiment of a compliant position correcting device in accordance with the "Fig. 7" position. 201219176 [Main component symbol description] 20 First plate 25 Second plate 30a, 30b, 30c Position compliant component 32a, 32b Two ends 34a, 34b, 34c, 34d, 34e, 34f Groove 35 Connection section 50 Center element 90 Far end 92 recessed hole

Claims (1)

  1. 201219176 VII. Patent application scope: 1. A compliant bit plane positive device, suitable for the distal end of the mechanical arm, the correction device comprises: a first plate connected to the distal end; a second plate; a central member coupled to the second plate; and a position compliant member, the two ends of the position compliant member being coupled to the first plate and the second plate, respectively, the position compliant member having between the two ends a groove, the opening D direction of the groove and the line connecting the two ends - an acute angle.乂 2·If requested! The compliant position complements the implant, wherein the position compliant member has two of the grooves, and the openings of the two grooves are different in direction. 3. The compliant device is as described in the request, the anger position is compliant with the component and there are four such grooves, and the opening directions of the adjacent grooves are substantially clamped. 4. As described in claim 1. The compliant position is used to correct the dressing 罝. The position of the compliant component is a cylinder, 5 hai. One is the axial circular end face of the § hai column. 5. Compliance position as claimed in claim 1 wherein the position compliant element is a concentric, the two ends being the axial annular end faces of the cylinder. π 6. Compliance position correction, locating the position 戦 element, position catering element, $2 between the first slab and the second slab as claimed in claim 1. The sturdy position correction device is as described in claim 6. The position compliant component 13 201219176 has four such grooves, and the opening directions of the adjacent grooves are substantially clamped. 90 degree angle. 14
TW99139074A 2010-11-12 2010-11-12 Remote center compliance device TWI404612B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
TW99139074A TWI404612B (en) 2010-11-12 2010-11-12 Remote center compliance device

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
TW99139074A TWI404612B (en) 2010-11-12 2010-11-12 Remote center compliance device
CN201010572073.XA CN102463574B (en) 2010-11-12 2010-12-02 Compliance position compensating device

Publications (2)

Publication Number Publication Date
TW201219176A true TW201219176A (en) 2012-05-16
TWI404612B TWI404612B (en) 2013-08-11

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Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105034018B (en) * 2015-09-09 2017-05-10 深圳果力智能科技有限公司 Flexible unit and flexible wrist for industrial robot precision assembly
CN106003140B (en) * 2016-07-29 2018-03-30 深圳果力智能科技有限公司 A kind of flexible unit and flexible waist

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4098001A (en) * 1976-10-13 1978-07-04 The Charles Stark Draper Laboratory, Inc. Remote center compliance system
US4379363A (en) * 1981-04-24 1983-04-12 The Charles Stark Draper Laboratory, Inc. Damped remote center compliance device
US4414750A (en) * 1981-10-19 1983-11-15 The Charles Stark Draper Laboratory, Inc. Single stage remote center compliance device
EP0104871B1 (en) * 1982-09-21 1987-07-08 Fujitsu Limited Supporting device
GB2152473B (en) * 1984-01-12 1987-01-21 British Nuclear Fuels Ltd Improvements in compliant devices
JPH0585292B2 (en) * 1988-08-05 1993-12-07 Ina Seiko Kk
DE4334069A1 (en) * 1993-06-21 1995-04-13 Zeiss Carl Fa Ausbalancierbares tripod
JPH0885089A (en) * 1994-09-19 1996-04-02 Toshiba Corp Floating device
DE19509116C2 (en) * 1995-03-16 2000-01-05 Deutsch Zentr Luft & Raumfahrt flexible structure
US6792689B2 (en) * 2003-01-08 2004-09-21 Sang-Wan Joo Remote center compliance device
KR100801220B1 (en) * 2006-06-16 2008-02-11 주상완 Strain Sensor Embedded Remote Center Compliance Device
KR100706298B1 (en) * 2006-06-22 2007-04-04 주상완 Remote center compliance device having an elastic body
TWI347257B (en) * 2008-11-11 2011-08-21 King Yuan Electronics Co Ltd

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TWI404612B (en) 2013-08-11
CN102463574A (en) 2012-05-23

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