技术领域technical field
本发明涉及一种自动装配装置，具体是一种被动柔顺装置。The invention relates to an automatic assembly device, in particular to a passive compliance device.
背景技术Background technique
随着工业自动化的发展，自动装配已广泛应用于工业生产中，其中又以轴孔类零件自动装配为主。用于自动装配的装配机器人为工业机器人中的一类，区别于普通工业机器人，装配机器人末端都配备有柔顺装置。被动柔顺装置由于其使用方便、柔顺范围较大，同时对机器人控制系统要求较低而广泛应用于工业生产中。当今应用最多的被动柔顺机构为RCC(Remote Center Compliance)机构。美国专利4098001利用金属弹性元件作为弹性体连接于上下平台之间，根据弹性元件安装分布方式不同可使机构具有不同位置的柔顺中心，但由于金属弹性元件变形能力较小，为了获得较大的柔顺位移通常需要使用的金属弹性件尺寸较大，从而造成了被动柔顺装置结构尺寸较大，不便于使用。为了改善上述被动柔顺装置的柔顺性能，其中的金属弹性元件被替换为橡胶金属层叠杆件(Elastomer ShearPad,ESP)，而该结构也是当今商用产品结构。但由于ESP弹性件自身非线性的特性及ESP生产中难以保证所有产品性能的一致性，造成了该被动柔顺机构的柔顺性能受到了一定影响；同时，该被动柔顺机构所能承受的轴向力较小，无法完成轴向力需求较大的安装任务。美国专利67926899B2提出增加轴向限位杆，用于完成初步柔顺对位后的轴向力的提供及承受；但限位杆的存在限制了柔顺装置的柔顺范围，使得该装置仅能适用于柔顺范围需求较小的装配工作中。With the development of industrial automation, automatic assembly has been widely used in industrial production, and the automatic assembly of shaft and hole parts is the main one. The assembly robot used for automatic assembly is a type of industrial robot. Different from ordinary industrial robots, the end of the assembly robot is equipped with a compliance device. Passive compliance devices are widely used in industrial production because of their ease of use, large compliance range, and low requirements for robot control systems. The most widely used passive compliance mechanism today is the RCC (Remote Center Compliance) mechanism. U.S. Patent No. 4098001 uses metal elastic elements as elastic bodies to connect between the upper and lower platforms. According to the installation and distribution of elastic elements, the mechanism can have different compliance centers. However, due to the small deformation capacity of metal elastic elements, in order to obtain greater compliance Displacement usually requires the use of large metal elastic parts, resulting in a large structural size of the passive compliance device, which is inconvenient to use. In order to improve the compliance performance of the above-mentioned passive compliance device, the metal elastic element is replaced by a rubber-metal laminated rod (Elastomer ShearPad, ESP), and this structure is also the structure of today's commercial products. However, due to the nonlinear characteristics of ESP elastic parts and the difficulty in ensuring the consistency of all product performance in ESP production, the compliance performance of the passive compliance mechanism has been affected to a certain extent; at the same time, the axial force that the passive compliance mechanism can withstand Small, unable to complete the installation tasks requiring large axial force. U.S. Patent 67926899B2 proposes to add an axial limit rod to provide and bear the axial force after the initial compliance alignment; but the existence of the limit rod limits the compliance range of the compliance device, making the device only suitable for compliance In assembly work where scope requirements are small.
发明内容Contents of the invention
针对现有技术的不足，本发明拟解决的技术问题是，提供一种被动柔顺装置。该装置具有柔顺范围大、解耦性能好、便于更换弹性元件及中间连接件以调整剪切刚度、弯曲刚度及柔顺中心位置。Aiming at the deficiencies of the prior art, the technical problem to be solved by the present invention is to provide a passive compliance device. The device has a large compliance range, good decoupling performance, and is convenient for replacing elastic elements and intermediate connectors to adjust shear stiffness, bending stiffness and compliance center position.
本发明解决所述技术问题的技术方案是，提供一种被动柔顺装置，包括上连接板、下连接板和法兰连接块；所述上连接板的上表面设计有法兰连接端口；所述法兰连接块安装于下连接板上；其特征在于该装置还包括三组弹性组件单元；三组弹性组件单元均匀地布置在上连接板和下连接板之间；三组弹性组件单元的结构和连接方式完全相同；The technical solution of the present invention to solve the technical problem is to provide a passive compliance device, including an upper connection plate, a lower connection plate and a flange connection block; the upper surface of the upper connection plate is designed with a flange connection port; the The flange connection block is installed on the lower connecting plate; it is characterized in that the device also includes three sets of elastic component units; the three sets of elastic component units are evenly arranged between the upper connecting plate and the lower connecting plate; the structure of the three sets of elastic component units is exactly the same as the connection method;
所述弹性组件单元包括定位销、两块倾角连接板、两块底板、一组橡胶弹簧单元和两组压缩弹簧单元；两块倾角连接板分别与上连接板和下连接板连接，定位销用于限定倾角连接板与上连接板和下连接板之间的位置关系；两块底板分别安装于各自的倾角连接板上，定位销用于限定底板与倾角连接板之间的位置关系；所述橡胶弹簧单元位于弹性组件单元的中间位置；所述橡胶弹簧单元由两个金属固定端与一个聚氨酯橡胶弹簧构成，聚氨酯橡胶弹簧的两端分别与一个金属固定端连接；两个金属固定端分别安装于各自的底板上；所述压缩弹簧单元为结构和连接方式完全相同的两组，安装于底板上并对称布置于弹性组件单元的两端；The elastic assembly unit includes positioning pins, two angled connecting plates, two bottom plates, one set of rubber spring units and two sets of compression spring units; the two angled connecting plates are respectively connected with the upper connecting plate and the lower connecting plate, and are used for positioning pins. To limit the positional relationship between the inclined connecting plate and the upper connecting plate and the lower connecting plate; two base plates are installed on the respective inclined connecting plates, and the positioning pins are used to limit the positional relationship between the bottom plate and the inclined connecting plate; The rubber spring unit is located in the middle of the elastic component unit; the rubber spring unit is composed of two metal fixed ends and a polyurethane rubber spring, and the two ends of the polyurethane rubber spring are respectively connected to a metal fixed end; the two metal fixed ends are respectively installed on the respective base plates; the compression spring units are two groups with identical structures and connection methods, installed on the base plates and arranged symmetrically at both ends of the elastic component units;
所述压缩弹簧单元包括与上连接板连接的上段、与下连接板连接的下段和压缩弹簧组件；所述压缩弹簧组件的两端分别与上段和下段连接；上段和下段的结构完全相同；所述上段包括支板、右旋扭转弹簧固定套、右旋扭转弹簧、铜套、旋转轴、外旋转框架、左旋扭转弹簧、左旋扭转弹簧固定套和内旋转框架；所述压缩弹簧组件包括滑动导块、压缩弹簧和下固定块，所述压缩弹簧的两端分别与滑动导块的一端和下固定块的一端连接；所述滑动导块的另一端安装于上段的内旋转框架的中心通孔内，能够沿中心通孔上下滑动；所述下固定块的另一端安装于下段的内旋转框架内；两个支板固定于底板上，对称布置；两个铜套安装于各自的支板上；外旋转框架的左右两侧分别通过两个旋转轴与两个铜套连接，连接铜套与外旋转框架的两个旋转轴的外端分别安装有右旋扭转弹簧和左旋扭转弹簧；外旋转框架的前后两侧分别通过两个旋转轴与内旋转框架连接；连接内旋转框架与外旋转框架的两个旋转轴的外端分别安装有右旋扭转弹簧和左旋扭转弹簧；右旋扭转弹簧固定套分别固定于支板和外旋转框架上，位于旋转轴轴端；左旋扭转弹簧固定套分别固定于支板和外旋转框架上，位于旋转轴轴端；右旋扭转弹簧的一端与旋转轴连接，另一端与右旋扭转弹簧固定套连接；左旋扭转弹簧的一端与旋转轴连接，另一端与左旋扭转弹簧固定套连接。The compression spring unit includes an upper section connected to the upper connecting plate, a lower section connected to the lower connecting plate, and a compression spring assembly; both ends of the compression spring assembly are respectively connected to the upper section and the lower section; the structures of the upper section and the lower section are identical; the The upper section includes a support plate, a right-handed torsion spring fixing sleeve, a right-handed torsion spring, a copper sleeve, a rotating shaft, an outer rotating frame, a left-handed torsion spring, a left-handing torsion spring fixing sleeve and an inner rotating frame; the compression spring assembly includes a sliding guide Block, compression spring and lower fixed block, the two ends of the compression spring are respectively connected with one end of the sliding guide block and one end of the lower fixed block; the other end of the sliding guide block is installed in the center through hole of the inner rotating frame of the upper section Inside, it can slide up and down along the central through hole; the other end of the lower fixed block is installed in the inner rotating frame of the lower section; two support plates are fixed on the bottom plate and arranged symmetrically; two copper sleeves are installed on the respective support plates ; The left and right sides of the outer rotating frame are respectively connected to two copper sleeves through two rotating shafts, and the outer ends of the two rotating shafts connecting the copper sleeve and the outer rotating frame are respectively equipped with a right-handed torsion spring and a left-handed torsion spring; The front and rear sides of the frame are respectively connected to the inner rotating frame through two rotating shafts; the outer ends of the two rotating shafts connecting the inner rotating frame and the outer rotating frame are respectively equipped with a right-handed torsion spring and a left-handed torsion spring; the right-handed torsion spring is fixed The sleeves are respectively fixed on the support plate and the outer rotating frame, and are located at the end of the rotating shaft; the left-handed torsion spring fixing sleeves are respectively fixed on the supporting plate and the outer rotating frame, and are located at the end of the rotating shaft; one end of the right-handed torsion spring is connected to the rotating shaft , the other end is connected with the fixed sleeve of the right-handed torsion spring; one end of the left-handed torsion spring is connected with the rotating shaft, and the other end is connected with the fixed sleeve of the left-handed torsion spring.
与现有技术相比，本发明有益效果在于：本发明采用压缩弹簧与橡胶弹簧相结合的方式构建该被动柔顺装置的弹性组件单元，使得该被动柔顺装置在保证具有较好的横向变形柔顺能力及弯曲变形柔顺能力的基础上，通过更换压缩弹簧能够灵活的调整其轴向承载能力，使得该被动柔顺装置能够用于轴向安装力需求较大的工况(例如：轴孔过盈配合装配)。压缩弹簧组件安装于由旋转轴和支板及外旋转框架与旋转轴和外旋转框架及内旋转框架所构成的类虎克铰底座上，该虎克铰底座保证了被动柔顺装置具有更好的解耦性，有利于完成装配工作；用于连接弹性组件单元与上连接板及下连接板的倾角连接板更换方便，便于调整弹性组件单元的安装倾角，以改变被动柔顺装置的柔顺中心位置，使得该被动柔顺装置能够适用于多种长度的轴类零件安装。同时，压缩弹簧组件中的右旋扭转弹簧和左旋扭转弹簧可进行更换，以调整被动柔顺装置的剪切刚度和柔顺中心位置。Compared with the prior art, the beneficial effect of the present invention is that: the present invention adopts the combination of compression spring and rubber spring to construct the elastic component unit of the passive compliance device, so that the passive compliance device can ensure better lateral deformation compliance ability On the basis of the compliance ability of bending and deformation, the axial bearing capacity can be flexibly adjusted by replacing the compression spring, so that the passive compliance device can be used in working conditions that require a large axial installation force (for example: shaft hole interference fit assembly ). The compression spring assembly is installed on a Hooke-like hinge base composed of a rotating shaft, a support plate, an outer rotating frame, a rotating shaft, an outer rotating frame, and an inner rotating frame. The Hooke hinge base ensures that the passive compliance device has better Decoupling is beneficial to the completion of the assembly work; the angled connection plates used to connect the elastic component unit with the upper connection plate and the lower connection plate are easy to replace, and it is convenient to adjust the installation inclination angle of the elastic component unit to change the compliance center position of the passive compliance device. This makes the passive compliance device applicable to the installation of shaft parts of various lengths. At the same time, the right-handed and left-handed torsion springs in the compression spring assembly can be replaced to adjust the shear stiffness and compliance center position of the passive compliance device.
附图说明Description of drawings
图1为本发明被动柔顺装置一种实施例的整体结构轴测示意图；Fig. 1 is a schematic axonometric view of the overall structure of an embodiment of the passive compliance device of the present invention;
图2为本发明被动柔顺装置一种实施例的A-A方向剖视结构示意图；Fig. 2 is a schematic diagram of a cross-sectional structure in the direction A-A of an embodiment of the passive compliance device of the present invention;
图3为本发明被动柔顺装置一种实施例的D-D方向剖视结构示意图；Fig. 3 is a schematic diagram of the D-D direction sectional structure of an embodiment of the passive compliance device of the present invention;
图4为本发明被动柔顺装置一种实施例的B-B方向剖视结构示意图；Fig. 4 is a schematic diagram of the B-B direction sectional structure of an embodiment of the passive compliance device of the present invention;
图5为本发明被动柔顺装置一种实施例的C-C方向剖视结构示意图；(图中：1、上连接板；2、弹性组件单元；3、下连接板；4、法兰连接块；5、定位销；6、倾角连接板；7、底板；8、支板；9、右旋扭转弹簧固定套；10、右旋扭转弹簧；11、铜套；12、旋转轴；13、外旋转框架；14、压缩弹簧组件；14.1、滑动导块；14.2、压缩弹簧；14.3、下固定块；15、左旋扭转弹簧；16、左旋扭转弹簧固定套；17、橡胶弹簧单元；17.1、金属固定端；17.2、聚氨酯橡胶弹簧；18、内旋转框架；19、压缩弹簧单元)Fig. 5 is the C-C direction sectional structure schematic diagram of an embodiment of the passive compliance device of the present invention; (in the figure: 1, the upper connection plate; 2, the elastic assembly unit; 3, the lower connection plate; 4, the flange connection block; 5 , Locating pin; 6, Angle connecting plate; 7, Bottom plate; 8, Support plate; 9, Right-handed torsion spring fixed sleeve; 10, Right-handed torsion spring; ;14. Compression spring assembly; 14.1. Sliding guide block; 14.2. Compression spring; 14.3. Lower fixing block; 15. Left-handed torsion spring; 16. Left-hand torsion spring fixing sleeve; 17. Rubber spring unit; 17.2, polyurethane rubber spring; 18, inner rotating frame; 19, compression spring unit)
具体实施方式detailed description
下面给出本发明的具体实施例。具体实施例仅用于进一步详细说明本发明，不限制本申请权利要求的保护范围。Specific examples of the present invention are given below. The specific embodiments are only used to further describe the present invention in detail, and do not limit the protection scope of the claims of the present application.
本发明提供了一种被动柔顺装置(参见图1-3，简称装置)，包括上连接板1、三组弹性组件单元2、下连接板3和法兰连接块4；The present invention provides a passive compliance device (refer to Figures 1-3, referred to as the device), which includes an upper connecting plate 1, three sets of elastic component units 2, a lower connecting plate 3 and a flange connecting block 4;
所述上连接板1的上表面设计有法兰连接端口，用于外接机械手臂末端等执行装置末端，以驱动该被动柔顺装置完成装配任务；所述法兰连接块4通过内六角螺丝安装于下连接板3上，法兰连接块4用于外接三爪卡盘等夹紧装置，以夹紧待安装件；三组弹性组件单元均匀地布置在上连接板1和下连接板3之间，三组弹性组件单元之间夹角为60°；三组弹性组件单元的结构和连接方式完全相同；The upper surface of the upper connecting plate 1 is designed with a flange connection port, which is used to externally connect the end of the actuator such as the end of the mechanical arm to drive the passive compliance device to complete the assembly task; the flange connection block 4 is installed on the On the lower connecting plate 3, the flange connecting block 4 is used to externally connect clamping devices such as three-jaw chucks to clamp the parts to be installed; three sets of elastic component units are evenly arranged between the upper connecting plate 1 and the lower connecting plate 3 , the angle between the three groups of elastic component units is 60°; the structures and connection methods of the three groups of elastic component units are exactly the same;
所述弹性组件单元2包括定位销5、两块倾角连接板6、两块底板7、一组橡胶弹簧单元17和两组压缩弹簧单元19；两块倾角连接板6通过内六角螺丝分别与上连接板1和下连接板3连接，定位销5用于限定倾角连接板6与上连接板1和下连接板3之间的位置关系，保证弹性组件单元2的安装半径保持不变；两块底板7通过内六角螺丝分别安装于各自的倾角连接板6上，定位销5用于限定底板7与倾角连接板6之间的位置关系，保证其安装精度；所述橡胶弹簧单元17位于弹性组件单元2的中间位置；所述橡胶弹簧单元17由两个金属固定端17.1与一个聚氨酯橡胶弹簧17.2构成，聚氨酯橡胶弹簧17.2的两端分别与一个金属固定端17.1连接；两个金属固定端17.1通过内六角螺丝分别安装于各自的底板7上；所述压缩弹簧单元19为结构和连接方式完全相同的两组，通过内六角螺丝安装于底板7上并对称布置于弹性组件单元2的两端，采用该种对称布置方式使得弹性组件单元2在承受各方向的力和力矩时能够具有相同的柔顺性能；橡胶弹簧单元17可根据使用要求进行更换，以调整被动柔顺装置的柔顺性能和柔顺中心位置；The elastic component unit 2 includes a positioning pin 5, two angle connecting plates 6, two base plates 7, one group of rubber spring units 17 and two groups of compression spring units 19; The connecting plate 1 is connected with the lower connecting plate 3, and the positioning pin 5 is used to limit the positional relationship between the inclined connecting plate 6 and the upper connecting plate 1 and the lower connecting plate 3, so as to ensure that the installation radius of the elastic component unit 2 remains unchanged; two Bottom plate 7 is respectively installed on respective inclination angle connection plate 6 by hexagon socket head cap screws, and positioning pin 5 is used to limit the positional relationship between bottom plate 7 and inclination angle connection plate 6, guarantees its installation accuracy; Described rubber spring unit 17 is positioned at The middle position of the unit 2; the rubber spring unit 17 is composed of two metal fixed ends 17.1 and a polyurethane rubber spring 17.2, and the two ends of the polyurethane rubber spring 17.2 are respectively connected with a metal fixed end 17.1; the two metal fixed ends 17.1 pass The inner hexagonal screws are respectively installed on the respective base plates 7; the compression spring units 19 are two groups with the same structure and connection mode, which are installed on the base plate 7 by the inner hexagonal screws and symmetrically arranged at the two ends of the elastic component unit 2, The use of this symmetrical arrangement enables the elastic component unit 2 to have the same compliance performance when bearing forces and moments in all directions; the rubber spring unit 17 can be replaced according to the use requirements to adjust the compliance performance and compliance center position of the passive compliance device ;
所述压缩弹簧单元19包括与上连接板1连接的上段、与下连接板3连接的下段和压缩弹簧组件14；所述压缩弹簧组件14的两端分别与上段和下段连接；上段和下段的结构完全相同；所述上段包括支板8、右旋扭转弹簧固定套9、右旋扭转弹簧10、铜套11、旋转轴12、外旋转框架13、左旋扭转弹簧15、左旋扭转弹簧固定套16和内旋转框架18；所述压缩弹簧组件14包括滑动导块14.1、压缩弹簧14.2和下固定块14.3，所述压缩弹簧14.2的两端通过焊接的方式分别与滑动导块14.1的一端和下固定块14.3的一端连接；所述滑动导块14.1的另一端安装于上段的内旋转框架18的中心通孔内，能够沿中心通孔上下滑动；所述下固定块14.3的另一端通过内六角螺丝安装于下段的内旋转框架18内；两个支板8通过内六角螺丝固定于底板7上，对称布置；两个铜套11安装于各自的支板8上，二者过盈配合；外旋转框架13的左右两侧分别通过两个旋转轴12与两个铜套11连接，连接铜套11与外旋转框架13的两个旋转轴12的外端分别安装有右旋扭转弹簧10和左旋扭转弹簧15；外旋转框架13的前后两侧分别通过两个旋转轴12与内旋转框架18连接；连接内旋转框架18与外旋转框架13的两个旋转轴12的外端分别安装有右旋扭转弹簧10和左旋扭转弹簧15；右旋扭转弹簧固定套9通过内六角螺丝分别固定于支板8和外旋转框架13上，位于旋转轴12轴端；左旋扭转弹簧固定套16通过内六角螺丝分别固定于支板8和外旋转框架13上，位于旋转轴12轴端；右旋扭转弹簧10的一端与旋转轴12连接，另一端与右旋扭转弹簧固定套9连接；左旋扭转弹簧15的一端与旋转轴12连接，另一端与左旋扭转弹簧固定套16连接；旋转轴12用于连接支板8与外旋转框架13以及内旋转框架18与外旋转框架13，形成类虎克铰结构，使得压缩弹簧单元19能够承受多方向的力或力矩；右旋扭转弹簧10和左旋扭转弹簧15为双向弹性阻尼结构，用于调整压缩弹簧单元19的剪切刚度；当压缩弹簧单元19一端固定，另一端承受横向力时，压缩弹簧单元19中的压缩弹簧组件14将带动旋转轴12旋转，由于压缩弹簧组件14的剪切刚度和弯曲刚度远大于右旋扭转弹簧10和左旋扭转弹簧15的扭转刚度，保证了压缩弹簧组件14的横向变形性能。通过更换压缩弹簧组件14中的压缩弹簧14.2，以调整被动柔顺装置的压缩刚度和柔顺中心位置。压缩弹簧单元19中的右旋扭转弹簧10和左旋扭转弹簧15可进行更换，以调整被动柔顺装置的剪切刚度和柔顺中心位置。通过更换不同倾斜角度的倾角连接板6可改变弹性组件单元2的安装角度，从而改变被动柔顺装置柔顺中心。Described compression spring unit 19 comprises the upper segment that is connected with upper connecting plate 1, the lower segment that is connected with lower connecting plate 3 and compression spring assembly 14; The two ends of described compression spring assembly 14 are connected with upper segment and lower segment respectively; Upper segment and lower segment The structure is exactly the same; the upper section includes a support plate 8, a right-handed torsion spring fixed sleeve 9, a right-handed torsion spring 10, a copper sleeve 11, a rotating shaft 12, an outer rotating frame 13, a left-handed torsion spring 15, and a left-handed torsion spring fixed sleeve 16 And the inner rotating frame 18; the compression spring assembly 14 includes a sliding guide block 14.1, a compression spring 14.2 and a lower fixed block 14.3, and the two ends of the compression spring 14.2 are respectively fixed to one end and the lower end of the sliding guide block 14.1 by welding One end of the block 14.3 is connected; the other end of the sliding guide block 14.1 is installed in the center through hole of the inner rotating frame 18 of the upper section, and can slide up and down along the center through hole; Installed in the inner rotating frame 18 of the lower section; two support plates 8 are fixed on the bottom plate 7 by hexagon socket screws, arranged symmetrically; two copper sleeves 11 are installed on the respective support plates 8, and the two are interference fit; external rotation The left and right sides of the frame 13 are respectively connected to two copper sleeves 11 through two rotating shafts 12, and the outer ends of the two rotating shafts 12 connecting the copper sleeve 11 and the outer rotating frame 13 are respectively equipped with right-handed torsion springs 10 and left-handed torsion springs. Spring 15; the front and rear sides of outer rotating frame 13 are respectively connected with inner rotating frame 18 by two rotating shafts 12; The spring 10 and the left-handed torsion spring 15; the right-handed torsion spring fixed sleeve 9 is respectively fixed on the support plate 8 and the outer rotating frame 13 through the inner hexagonal screw, and is located at the shaft end of the rotating shaft 12; the left-handed torsion spring fixed sleeve 16 is respectively fixed by the inner hexagonal screw It is fixed on the support plate 8 and the outer rotating frame 13, and is located at the shaft end of the rotating shaft 12; one end of the right-handed torsion spring 10 is connected with the rotating shaft 12, and the other end is connected with the right-handed torsion spring fixing sleeve 9; one end of the left-handed torsion spring 15 It is connected with the rotating shaft 12, and the other end is connected with the left-handed torsion spring fixed sleeve 16; the rotating shaft 12 is used to connect the support plate 8 and the outer rotating frame 13 and the inner rotating frame 18 and the outer rotating frame 13 to form a Hooke hinge structure, so that The compression spring unit 19 can bear multidirectional force or moment; the right-handed torsion spring 10 and the left-hand torsion spring 15 are two-way elastic damping structures, which are used to adjust the shear stiffness of the compression spring unit 19; when one end of the compression spring unit 19 is fixed, the other When one end bears lateral force, the compression spring assembly 14 in the compression spring unit 19 will drive the rotating shaft 12 to rotate, because the shear stiffness and bending stiffness of the compression spring assembly 14 are much greater than the torsional stiffness of the right-handed torsion spring 10 and the left-hand torsion spring 15 , to ensure the lateral deformation performance of the compression spring assembly 14 . By replacing the compression spring 14.2 in the compression spring assembly 14, the compression stiffness and compliance center position of the passive compliance device can be adjusted. The right-hand torsion spring 10 and the left-hand torsion spring 15 in the compression spring unit 19 can be replaced to adjust the shear stiffness and compliance center position of the passive compliance device. The installation angle of the elastic assembly unit 2 can be changed by changing the inclination connecting plate 6 with different inclination angles, thereby changing the compliance center of the passive compliance device.
本发明被动柔顺装置的工作原理和工作流程是：利用该被动柔顺装置进行轴孔类零件装配时，先将装置通过上连接板1的法兰连接端口安装于执行设备末端(例如机械手臂末端)，并将加持待安装件的卡盘安装于法兰连接块4上。使用该装置进行轴孔装配和类轴孔装配作业时，其装配过程通常可分为四个阶段，即：接近阶段、倒角过渡阶段，一点接触阶段和两点接触阶段。The working principle and working process of the passive compliance device of the present invention are: when using the passive compliance device to assemble shaft and hole parts, the device is first installed on the end of the actuator (such as the end of the mechanical arm) through the flange connection port of the upper connecting plate 1 , and install the chuck holding the part to be installed on the flange connection block 4 . When the device is used for shaft hole assembly and quasi-shaft hole assembly, the assembly process can usually be divided into four stages, namely: approach stage, chamfering transition stage, one-point contact stage and two-point contact stage.
接近阶段是机器人或其他操作平台将该装置和被装配件(轴或类似件)送向待安装件的过程，该过程将使得被安装件尽量的接近待安装件的中心或倒角；倒角过渡阶段是被安装件在机器人或其他操作平台提供的驱动力下，借助该装置的柔顺性以通过倒角部分；The approach stage is the process in which the robot or other operating platform sends the device and the assembled part (shaft or similar) to the part to be installed, which will make the installed part as close as possible to the center or chamfer of the part to be installed; chamfering The transition stage is that the installed part passes through the chamfered part with the help of the flexibility of the device under the driving force provided by the robot or other operating platform;
在倒角过渡阶段，当被装配件倒角与待安装件倒角相接触时产生的接触力可为轴向接触力和横向接触力，由于弹性组件单元2的轴向刚度相比于剪切刚度大(至少5倍以上)，因此，轴向力所产生的变形较小，甚至可以忽略不计，而弹性组件单元2在横向力作用下使得聚氨酯橡胶弹簧17.2产生剪切变形，同时由于压缩弹簧14.2的刚度远大于右旋扭转弹簧10和左旋扭转弹簧15的刚度，使得弹性组件单元2中的类虎克铰产生转动，从而使得弹性组件单元2产生横向移动，即产生被动柔顺能力，使得被装配件滑入待安装件孔中；In the chamfering transition stage, when the chamfer of the assembled part is in contact with the chamfer of the part to be installed, the contact force can be axial contact force and lateral contact force, because the axial stiffness of the elastic component unit 2 is compared with the shear The rigidity is large (at least 5 times more), so the deformation caused by the axial force is small, or even negligible, and the elastic component unit 2 makes the polyurethane rubber spring 17.2 produce shear deformation under the action of the lateral force, and at the same time due to the compression of the spring The stiffness of 14.2 is much greater than that of the right-handed torsion spring 10 and the left-handed torsion spring 15, so that the Hooke-like hinge in the elastic component unit 2 rotates, thereby causing the elastic component unit 2 to move laterally, that is, to generate passive compliance, so that the The assembly slides into the hole to be installed;
一点接触阶段与倒角过渡阶段类似，此时只有倒角消失位置一点与轴侧面相接触，其在机器人或类似执行装置驱动下继续利用该装置的柔顺性下移；当轴或类似件位置下降到一定深度时，其底端也将与孔的内壁相接触，而此时装配便进入了两点装配阶段；The one-point contact stage is similar to the chamfer transition stage. At this time, only one point where the chamfer disappears is in contact with the side of the shaft, and it continues to move down using the flexibility of the device driven by a robot or similar actuator; when the position of the shaft or similar parts drops When it reaches a certain depth, its bottom end will also be in contact with the inner wall of the hole, and at this time, the assembly enters the two-point assembly stage;
在进入两点接触阶段后，被动柔顺装置中的弹性组件单元2在弯矩作用下将提供角度调整功能，使得被装配件在待安装件孔中不出现“堵塞”或“楔入”的状况，进而装配能够继续进行。当装配进入两点接触阶段在经过该装置的调整后，装配过程有可能会重新回归一点接触阶段，而后该装置将继续进行调整直至装配完成。After entering the two-point contact stage, the elastic component unit 2 in the passive compliance device will provide an angle adjustment function under the action of the bending moment, so that the assembled part does not appear "blocked" or "wedged" in the hole of the part to be installed , and assembly can continue. When the assembly enters the two-point contact stage, after the adjustment of the device, the assembly process may return to the one-point contact stage, and then the device will continue to adjust until the assembly is completed.
本发明未述及之处适用于现有技术。What is not mentioned in the present invention is applicable to the prior art.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710155194.6ACN106799728B (en) | 2017-03-16 | 2017-03-16 | Passive compliant device |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710155194.6ACN106799728B (en) | 2017-03-16 | 2017-03-16 | Passive compliant device |
| Publication Number | Publication Date |
|---|---|
| CN106799728Atrue CN106799728A (en) | 2017-06-06 |
| CN106799728B CN106799728B (en) | 2023-04-25 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710155194.6AActiveCN106799728B (en) | 2017-03-16 | 2017-03-16 | Passive compliant device |
| Country | Link |
|---|---|
| CN (1) | CN106799728B (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109129426A (en)* | 2018-09-25 | 2019-01-04 | 苏州富强科技有限公司 | The mounting structure of manipulator and the synchronous wheel assembly of retarder, wrist and forearm casting |
| CN109382828A (en)* | 2018-10-30 | 2019-02-26 | 武汉大学 | A kind of Robot Peg-in-Hole assembly system and method based on learning from instruction |
| CN109623868A (en)* | 2018-11-29 | 2019-04-16 | 清华大学 | Flexible adaptive device and mechanical arm |
| CN110480338A (en)* | 2019-08-28 | 2019-11-22 | 苏州大学 | A kind of compliance device of big L/D ratio peg-in-hole assembly, assembly system, assembly method |
| CN111993394A (en)* | 2020-09-08 | 2020-11-27 | 中南大学 | Passive compliance device |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0994789A (en)* | 1995-09-29 | 1997-04-08 | Sekisui Chem Co Ltd | Compliance joint |
| CN104551592A (en)* | 2014-11-28 | 2015-04-29 | 中国科学院自动化研究所 | Passive smoothening device for automatic assembly or butt joint |
| CN206633003U (en)* | 2017-03-16 | 2017-11-14 | 天津工业大学 | A kind of passive compliance device |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0994789A (en)* | 1995-09-29 | 1997-04-08 | Sekisui Chem Co Ltd | Compliance joint |
| CN104551592A (en)* | 2014-11-28 | 2015-04-29 | 中国科学院自动化研究所 | Passive smoothening device for automatic assembly or butt joint |
| CN206633003U (en)* | 2017-03-16 | 2017-11-14 | 天津工业大学 | A kind of passive compliance device |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109129426A (en)* | 2018-09-25 | 2019-01-04 | 苏州富强科技有限公司 | The mounting structure of manipulator and the synchronous wheel assembly of retarder, wrist and forearm casting |
| CN109129426B (en)* | 2018-09-25 | 2024-03-29 | 苏州富强科技有限公司 | Mounting structure of manipulator and speed reducer synchronizing wheel assembly, wrist and forearm casting |
| CN109382828A (en)* | 2018-10-30 | 2019-02-26 | 武汉大学 | A kind of Robot Peg-in-Hole assembly system and method based on learning from instruction |
| CN109382828B (en)* | 2018-10-30 | 2021-04-16 | 武汉大学 | A robot shaft hole assembly system and method based on teaching and learning |
| CN109623868A (en)* | 2018-11-29 | 2019-04-16 | 清华大学 | Flexible adaptive device and mechanical arm |
| CN110480338A (en)* | 2019-08-28 | 2019-11-22 | 苏州大学 | A kind of compliance device of big L/D ratio peg-in-hole assembly, assembly system, assembly method |
| CN110480338B (en)* | 2019-08-28 | 2020-08-25 | 苏州大学 | Compliant device, assembly system and assembly method for assembling shaft hole with large length-diameter ratio |
| CN111993394A (en)* | 2020-09-08 | 2020-11-27 | 中南大学 | Passive compliance device |
| Publication number | Publication date |
|---|---|
| CN106799728B (en) | 2023-04-25 |
| Publication | Publication Date | Title |
|---|---|---|
| CN106799728B (en) | Passive compliant device | |
| CN206633003U (en) | A kind of passive compliance device | |
| CN105904441B (en) | The movement of one kind two two rotates four-degree-of-freedom holohedral symmetry parallel institution | |
| CN102444674A (en) | Cardan joint with three degrees of freedom | |
| CN105034018A (en) | Flexible unit and flexible wrist for industrial robot precision assembly | |
| CN104325458B (en) | A flexible parallel platform device | |
| IL267763A (en) | Flexural pivot | |
| CN105619389B (en) | A kind of symmetric parallel mechanism without Singularity | |
| CN107020643A (en) | Object clamping part and robot | |
| CN106272353A (en) | A kind of planar three freedom meek parallel institution of large stroke and high precision | |
| CN105643488A (en) | Universal supporting seat | |
| CN111003158B (en) | A connecting device for a flap actuator | |
| CN201109120Y (en) | A two-translation parallel structure micro-positioning platform | |
| CN206869903U (en) | Object clamping part and robot | |
| CN206154294U (en) | Gentle and agreeable parallel mechanism of three degrees of freedom on plane of big stroke high accuracy | |
| JP6216410B2 (en) | Shaft coupling assembly, method for connecting two shafts by shaft coupling assembly, and maintenance method | |
| CN105397505B (en) | A kind of six-degree-of-freedom adjusting | |
| CN205075074U (en) | A flexible unit and flexible wrist for industrial robot precision assembly | |
| CN104090359A (en) | Five-freedom-degree auxiliary lens adjusting mechanism of astronomical telescope working in extreme environment | |
| CN108621104B (en) | Major diameter flange face meets floating support device | |
| CN203285834U (en) | Hinge with three degrees of freedom | |
| CN101301753A (en) | Swing arm six degrees of freedom mechanism | |
| CN216882638U (en) | Full-automatic flexible switching strand | |
| CN108789375A (en) | Two translation of one kind, one rotation 2URR-CPR parallel institutions | |
| CN204286687U (en) | A kind of motor turning outside link ball pivot dust cover sealing test clamping tooling |
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |