CN110695987A - A passive compliant device at the end of a robot - Google Patents

Abstract

The invention relates to a robot tail end passive compliance device, which comprises: the floating end is used for being connected with the tail end tool, a limiting shaft is arranged on the floating end, and the lower end of the limiting shaft is fixedly connected with the middle part of the upper end of the floating end; the upper fixed end is used for being connected with the robot, an axial limiting mechanism is arranged on the upper fixed end, and the lower end of the axial limiting mechanism is abutted against the upper end of the limiting shaft; the lower fixed end is sleeved on the outer side of the upper end of the limiting shaft, the upper wall of the lower fixed end is fixedly connected with the lower wall of the upper fixed end, a radial limiting mechanism is arranged between the lower fixed end and the limiting shaft, and a plurality of pre-tightening limiting mechanisms are arranged between the lower fixed end and the floating end along the circumferential direction of the limiting shaft. The invention can respectively lock the axial direction and the radial direction of the limiting shaft through the pre-tightening limiting mechanism, the axial limiting mechanism and the radial limiting mechanism, can avoid rigid collision between a tail end tool and a robot, and plays roles in buffering and passive compensation.

Description

Translated fromChinese

一种机器人末端被动柔顺装置A passive compliant device at the end of a robot

技术领域technical field

本发明涉及机器人技术领域，尤其涉及一种机器人末端被动柔顺装置。The invention relates to the technical field of robots, in particular to a passive compliant device for the end of a robot.

背景技术Background technique

随着工业自动化的快速发展，工业机器人在生产制造中得到广泛应用。在进行分拣、装配、打磨等作业时，末端夹具难免会与工件发生直接接触，如果作业工具与作业对象两者刚性都很大，不允许发生碰撞，这时就需要机器人末端具有柔性。此外，在作业工具与对象相互接触一瞬间只靠位置控制很难实现无碰撞的接触，这时要求机器人具有一定柔性，使作业工具与作业对象逐渐实现柔性接触或称“软着陆”，如果在机器人末端法兰盘与夹具之间加装被动柔顺手腕，可有效避免碰撞。With the rapid development of industrial automation, industrial robots are widely used in manufacturing. When sorting, assembling, grinding and other operations, the end fixture will inevitably come into direct contact with the workpiece. If the work tool and the work object are both rigid and collisions are not allowed, then the robot end needs to be flexible. In addition, it is difficult to achieve collision-free contact only by position control at the moment when the work tool and the object are in contact with each other. At this time, the robot is required to have a certain flexibility, so that the work tool and the work object gradually achieve flexible contact or "soft landing". A passive flexible wrist is installed between the flange at the end of the robot and the fixture, which can effectively avoid collision.

在机器人自动装配过程中，会遇到工件存在偏差或者对机器人重复定位精度要求很高的场合。如果刚性装配，会损坏工件和工具，或者引发机器人报警停机，影响生产效率。采用机器人末端柔顺装置进行工具转接，可有效解决此类问题。In the automatic assembly process of the robot, there will be occasions where there is a deviation of the workpiece or a high requirement for the repeatability of the robot. If it is rigidly assembled, it will damage the workpiece and tools, or cause the robot to alarm and stop, affecting the production efficiency. Using the robot end compliant device for tool transfer can effectively solve such problems.

发明内容SUMMARY OF THE INVENTION

本发明为了解决上述技术问题提供一种在机器人和末端工具之间起到缓冲和被动补偿的作用的机器人末端被动柔顺装置，以解决上述至少一项技术问题。In order to solve the above technical problem, the present invention provides a passive compliant device for the end of a robot that plays the role of buffering and passive compensation between the robot and the end tool, so as to solve at least one of the above technical problems.

本发明解决上述技术问题的技术方案如下：The technical scheme that the present invention solves the above-mentioned technical problems is as follows:

一种机器人末端被动柔顺装置，包括：A passive compliant device at the end of a robot, comprising:

用于与末端工具相连的浮动端，所述浮动端上设有限位轴，所述限位轴的下端与所述浮动端的上端中部固定连接；A floating end used for connecting with the end tool, a limit shaft is arranged on the floating end, and the lower end of the limit shaft is fixedly connected with the middle part of the upper end of the floating end;

用于与机器人相连的上固定端，所述上固定端上设有轴向限位机构，所述轴向限位机构的下端与所述限位轴的上端抵接；an upper fixed end for connecting with the robot, an axial limit mechanism is provided on the upper fixed end, and the lower end of the axial limit mechanism is in contact with the upper end of the limit shaft;

下固定端，所述下固定端套设于所述限位轴的上端外侧，所述下固定端的上壁与所述下固定端的上壁固定连接，所述下固定端与所述限位轴之间设有径向限位机构，所述下固定端与所述浮动端之间沿所述限位轴周向设有多个预紧限位机构。a lower fixed end, the lower fixed end is sleeved on the outer side of the upper end of the limit shaft, the upper wall of the lower fixed end is fixedly connected with the upper wall of the lower fixed end, and the lower fixed end is connected with the limit shaft A radial limit mechanism is arranged therebetween, and a plurality of preload limit mechanisms are arranged between the lower fixed end and the floating end along the circumferential direction of the limit shaft.

本发明的有益效果是：本申请能够在末端工具和机器人之间起到缓冲和被动补偿的作用；本申请中通过轴向限位机构和径向限位机构可以分别对限位轴的轴向和径向进行锁紧，可以避免末端工具与机器人之间刚性碰撞，柔性的实现末端工具与机器人之间“软着陆”；预紧限位机构可以增强下固定端与浮动端之间的稳定性。The beneficial effects of the present invention are: the application can play the role of buffering and passive compensation between the end tool and the robot; in the application, the axial limit mechanism and the radial limit mechanism can respectively adjust the axial direction of the limit shaft. Locking in the radial direction can avoid rigid collision between the end tool and the robot, and flexibly realize the "soft landing" between the end tool and the robot; the preload limit mechanism can enhance the stability between the lower fixed end and the floating end .

在上述技术方案的基础上，本发明还可以做如下改进。On the basis of the above technical solutions, the present invention can also be improved as follows.

进一步，所述径向限位机构包括环形气缸以及多个活塞顶子，所述环形气缸的环形内侧设有与所述活塞顶子一一对应的活塞孔，所述活塞顶子的一端伸入所述活塞孔内与所述活塞孔滑动连接，所述活塞顶子的另一端穿过并伸出所述活塞孔与所述限位轴的侧壁抵接，所述下固定端设有内孔，所述环形气缸的外缘与所述下固定端的内孔过渡配合，所述下固定端的一侧设有第一接气头，所述第一接气头的一端与所述环形气缸连通。Further, the radial limiting mechanism includes an annular cylinder and a plurality of piston tops, the annular inner side of the annular cylinder is provided with piston holes corresponding to the piston tops one-to-one, and one end of the piston tops extends into the piston top. The inside of the piston hole is slidably connected with the piston hole, the other end of the piston top passes through and extends out of the piston hole to abut against the side wall of the limiting shaft, and the lower fixed end is provided with an inner The outer edge of the annular cylinder is in transition fit with the inner hole of the lower fixed end, one side of the lower fixed end is provided with a first air-connecting head, and one end of the first air-connecting head communicates with the annular cylinder .

采用上述进一步方案的有益效果是：径向限位机构能够将限位轴的周向锁紧，利用气体的可压缩性，可以避免限位轴的摆动。The beneficial effect of adopting the above-mentioned further solution is that the radial limit mechanism can lock the circumferential direction of the limit shaft, and the compressibility of the gas can be used to avoid the swing of the limit shaft.

进一步，所述轴向限位机构包括缸体、缸盖、活塞以及锁紧轴，所述缸体设有开口向下的气槽，所述缸盖封盖于所述气槽的开口处与所述缸体固定连接，所述活塞设于所述气槽内与所述气槽的侧壁滑动连接，所述锁紧轴的一端与所述活塞的另一端滑动连接，所述锁紧轴的另一端穿过所述缸盖与所述限位轴的上端面抵接，所述上固定端的侧面设有第二接气头，所述第二接气头的一端与所述缸体的所述气槽连通。Further, the axial limiting mechanism includes a cylinder body, a cylinder head, a piston and a locking shaft, the cylinder body is provided with an air groove with a downward opening, and the cylinder head is sealed at the opening of the air groove and is connected to the air groove. The cylinder is fixedly connected, the piston is arranged in the air groove and is slidably connected to the side wall of the air groove, one end of the locking shaft is slidably connected to the other end of the piston, and the locking shaft The other end passes through the cylinder head and abuts against the upper end surface of the limiting shaft, the side surface of the upper fixed end is provided with a second air-connecting head, and one end of the second air-connecting head is in contact with the cylinder body. The air grooves are communicated.

采用上述进一步方案的有益效果是：轴向限位机构的锁紧轴抵接在限位轴的上端面上，可以有效的限制限位轴的周向运动。The beneficial effect of adopting the above-mentioned further solution is that the locking shaft of the axial limiting mechanism abuts on the upper end surface of the limiting shaft, which can effectively limit the circumferential movement of the limiting shaft.

进一步，所述活塞包括上活塞部、下活塞部以及密封圈，所述密封圈设于所述上活塞部与所述下活塞部之间，所述上活塞部和所述下活塞部通过螺栓与所述锁紧轴的上端连接，所述密封圈的外缘与所述气槽的内壁滑动连接。Further, the piston includes an upper piston part, a lower piston part and a sealing ring, the sealing ring is arranged between the upper piston part and the lower piston part, and the upper piston part and the lower piston part are connected by bolts It is connected with the upper end of the locking shaft, and the outer edge of the sealing ring is slidably connected with the inner wall of the air groove.

采用上述进一步方案的有益效果是：密封圈能够提升活塞的密封性，同时上活塞部、下活塞部和锁紧轴通过螺钉连接为一体可以提升锁紧轴对限位轴上端的锁紧作用。The beneficial effect of adopting the above-mentioned further scheme is that the sealing ring can improve the sealing performance of the piston, and at the same time, the upper piston part, the lower piston part and the locking shaft are connected together by screws to improve the locking effect of the locking shaft on the upper end of the limiting shaft.

进一步，所述上固定端上设有第一姿态传感器和电路板，所述浮动端上设有第二姿态传感器，所述第一姿态传感器和所述第二姿态传感器均电连接所述电路板。Further, a first attitude sensor and a circuit board are arranged on the upper fixed end, a second attitude sensor is arranged on the floating end, and both the first attitude sensor and the second attitude sensor are electrically connected to the circuit board .

采用上述进一步方案的有益效果是：姿态传感器能够分别得到上固定端以及浮动端的姿态数据，发送给机器人，可以保证本装置不收损坏。The beneficial effect of adopting the above-mentioned further scheme is that the attitude sensor can obtain the attitude data of the upper fixed end and the floating end respectively, and send them to the robot, so as to ensure that the device is not damaged.

进一步，所述上固端的环向侧壁上设有灯带，所述灯带电连接所述电路板。Further, a light strip is provided on the annular side wall of the upper fixed end, and the light strip is electrically connected to the circuit board.

采用上述进一步方案的有益效果是：灯带可以对浮动端与上固定端之间的相对位置进行显示，便于人工进行判断和操作，保护末端执行器和机器人不受损坏。The beneficial effect of adopting the above-mentioned further scheme is that the light strip can display the relative position between the floating end and the upper fixed end, which is convenient for manual judgment and operation, and protects the end effector and the robot from damage.

进一步，所述预紧限位机构包括预紧螺栓和弹簧，所述弹簧套设于所述预紧螺栓的外侧，所述弹簧的上端与所述下固定端固定连接，所述弹簧的下端与所述浮动端固定连接，所述预紧螺栓的上端与所述上固定端固定连接。Further, the pre-tightening and limiting mechanism includes a pre-tightening bolt and a spring, the spring is sleeved on the outer side of the pre-tightening bolt, the upper end of the spring is fixedly connected with the lower fixed end, and the lower end of the spring is connected to the lower fixed end. The floating end is fixedly connected, and the upper end of the pre-tightening bolt is fixedly connected with the upper fixed end.

采用上述进一步方案的有益效果是：预紧限位机构的弹簧能够驱动浮动端与上固定端之间的处于正常的工作状态，能够减少因刚性接触导致浮动端与固定端之间出现的变化，使浮动端与固定端处于正常的工作状态。The beneficial effect of adopting the above-mentioned further scheme is: the spring of the preloading and limiting mechanism can drive the floating end and the upper fixed end to be in a normal working state, and can reduce the change between the floating end and the fixed end caused by rigid contact, Make the floating end and the fixed end in normal working condition.

进一步，所述弹簧为塔型弹簧。Further, the spring is a tower spring.

采用上述进一步方案的有益效果是：塔型弹簧不仅能够减少沿预紧螺栓轴向的作用还能减少因浮动端与固定端支架出现摆动时的摆动作用。The beneficial effect of adopting the above-mentioned further scheme is that the tower spring can not only reduce the action along the axial direction of the pre-tightening bolt, but also reduce the swing action caused by the swing of the floating end and the fixed end bracket.

进一步，所述浮动端包括壳体以及浮动法兰板，所述浮动法兰板设于所述壳体下侧与所述壳体固定连接，所述壳体上设有限位槽，所述预紧螺栓的下端伸入所述限位槽内与所述限位槽滑动连接。Further, the floating end includes a casing and a floating flange plate, the floating flange plate is arranged on the lower side of the casing and is fixedly connected to the casing, the casing is provided with a limit groove, the pre- The lower end of the tightening bolt extends into the limiting groove and is slidably connected with the limiting groove.

采用上述进一步方案的有益效果是：限位槽能够对锁紧螺栓的下端进行限位，提升固定端与浮动壳体之间的稳定性。The beneficial effect of adopting the above-mentioned further scheme is that: the limiting groove can limit the lower end of the locking bolt, thereby improving the stability between the fixed end and the floating housing.

进一步，所述预紧螺栓的下端设有限位部，所述预紧螺栓的下端套设有锥形衬套，所述锥形衬套与所述限位槽过盈配合，所述限位部与所述锥形衬套过盈配合。Further, the lower end of the pre-tightening bolt is provided with a limiting portion, the lower end of the pre-tightening bolt is sleeved with a conical bushing, the conical bushing is in interference fit with the limiting groove, and the limiting portion Interference fit with the tapered bushing.

采用上述进一步方案的有益效果是：锥形衬套与限位部配合能够对预紧螺栓的线段进行限位，这样可以保持浮动端与固定端之间连接的稳定性。The beneficial effect of adopting the above-mentioned further solution is that the tapered bushing and the limiting portion can limit the line segment of the pre-tightening bolt, so that the stability of the connection between the floating end and the fixed end can be maintained.

附图说明Description of drawings

图1为本发明结构示意图；Fig. 1 is the structural representation of the present invention;

图2为本发明结构主剖视图；Fig. 2 is the main sectional view of the structure of the present invention;

图3为本发明下固定端的俯剖视图；Fig. 3 is the top sectional view of the lower fixed end of the present invention;

图4为本发明浮动壳体的俯剖视图。FIG. 4 is a top sectional view of the floating housing of the present invention.

附图中，各标号所代表的部件列表如下：In the accompanying drawings, the list of components represented by each number is as follows:

1、上固定端，2、下固定端，3、第一姿态传感器，4、轴向限位机构，401、缸体，402、缸盖，403、活塞，4031、上活塞部，4032、下活塞部，4033、密封圈，404、锁紧轴，405、第二接气头，5、灯带，6、径向限位机构，601、环形气缸，602、活塞顶子，603、第一接气头，7、浮动端，701、浮动壳体，702、浮动法兰板，703、限位槽，704、锥形衬套，8、预紧限位机构，801、预紧螺栓，802、弹簧，803、限位部,9、限位轴，10、第二姿态传感器，11、电路板。1. Upper fixed end, 2. Lower fixed end, 3. First attitude sensor, 4. Axial limit mechanism, 401, Cylinder block, 402, Cylinder head, 403, Piston, 4031, Upper piston, 4032, Lower Piston part, 4033, sealing ring, 404, locking shaft, 405, second air connection head, 5, light strip, 6, radial limit mechanism, 601, annular cylinder, 602, piston top, 603, first Air connector, 7, floating end, 701, floating shell, 702, floating flange plate, 703, limit groove, 704, tapered bushing, 8, preload limit mechanism, 801, preload bolt, 802 , spring, 803, limit part, 9, limit shaft, 10, second attitude sensor, 11, circuit board.

具体实施方式Detailed ways

以下结合附图对本发明的原理和特征进行描述，所举实例只用于解释本发明，并非用于限定本发明的范围。The principles and features of the present invention will be described below with reference to the accompanying drawings. The examples are only used to explain the present invention, but not to limit the scope of the present invention.

实施例Example

如图1所示，本发明的一种机器人末端被动柔顺装置，包括：用于与末端工具相连的浮动端7，浮动端7上设有限位轴9，限位轴9的下端与浮动端7的上端中部固定连接；用于与机器人相连的上固定端1，上固定端1上设有轴向限位机构4，轴向限位机构4的下端与限位轴9的上端抵接；下固定端2，下固定端2套设于限位轴9的上端外侧，下固定端2的上壁与上固定端1的下壁固定连接，下固定端2与限位轴9之间设有径向限位机构6，下固定端2与浮动端7之间沿限位轴9周向设有多个预紧限位机构8。As shown in FIG. 1 , a passive compliant device for the end of a robot of the present invention includes: a floating end 7 for connecting with an end tool; The upper fixedend 1 is used to connect with the robot, and the upper fixedend 1 is provided with an axial limit mechanism 4, and the lower end of the axial limit mechanism 4 is in contact with the upper end of thelimit shaft 9; Thefixed end 2, the lower fixedend 2 is sleeved on the outer side of the upper end of thelimit shaft 9, the upper wall of the lower fixedend 2 is fixedly connected with the lower wall of the upper fixedend 1, and the lower fixedend 2 and thelimit shaft 9 are provided with In the radial limit mechanism 6, a plurality of preload limit mechanisms 8 are arranged along the circumferential direction of thelimit shaft 9 between the lower fixedend 2 and the floating end 7.

径向限位机构6包括环形气缸601以及多个活塞顶子602，环形气缸601的环形内侧设有与活塞顶子602一一对应的活塞孔，活塞顶子602的一端伸入活塞孔内与活塞孔滑动连接，活塞顶子602的另一端穿过并伸出活塞孔与限位轴9的侧壁抵接，下固定端2设有内孔，环形气缸602的外缘与下固定端2的内孔过渡配合，下固定端2的一侧设有第一接气头603，第一接气头603的一端与环形气缸601连通，环形气缸601内设有环形的气道，活塞孔的一端与气道相连通，气道与第一接气头603相连通；活塞顶子602为圆柱形，活塞孔的轴线与限位轴9的径向重合，活塞顶子602沿活塞孔移动，其一端靠近并与限位轴9的侧壁抵接，锁紧限位轴9；优选的，本申请的活塞顶子602设有六个。The radial limiting mechanism 6 includes anannular cylinder 601 and a plurality ofpiston tops 602. The annular inner side of theannular cylinder 601 is provided with piston holes corresponding to thepiston tops 602 one-to-one. The piston hole is slidably connected, the other end of thepiston top 602 passes through and extends out of the piston hole to abut against the side wall of thelimit shaft 9 , the lower fixedend 2 is provided with an inner hole, and the outer edge of theannular cylinder 602 is connected to the lower fixedend 2 The inner hole of the lower fixedend 2 is provided with a firstair connection head 603, and one end of the firstair connection head 603 is communicated with theannular cylinder 601. Theannular air cylinder 601 is provided with an annular air passage, and the piston hole One end is communicated with the air passage, and the air passage is communicated with the first air-connectinghead 603; thepiston top 602 is cylindrical, the axis of the piston hole coincides with the radial direction of thelimit shaft 9, and thepiston top 602 moves along the piston hole, One end thereof is close to and abuts against the side wall of thelimiting shaft 9, and thelimiting shaft 9 is locked; preferably, there are sixpiston tops 602 in the present application.

轴向限位机构4包括缸体401、缸盖402、活塞403以及锁紧轴404，缸体401设有开口向下的气槽，缸盖402封盖于气槽的开口处与缸体401固定连接，活塞403设于气槽内与气槽的侧壁滑动连接，锁紧轴404的一端与活塞的另一端滑动连接，锁紧轴404的另一端穿过缸盖402与限位轴9的上端面抵接，上固定端1的侧面设有第二接气头405，第二接气头405的一端与缸体1的气槽连通。The axial limit mechanism 4 includes acylinder block 401, acylinder head 402, a piston 403 and a lockingshaft 404. Thecylinder block 401 is provided with an air groove with an opening downward, and thecylinder head 402 covers the opening of the air groove and thecylinder block 401. Fixed connection, the piston 403 is arranged in the air groove and is slidably connected to the side wall of the air groove, one end of the lockingshaft 404 is slidably connected to the other end of the piston, and the other end of the lockingshaft 404 passes through thecylinder head 402 and thelimit shaft 9 The upper end face of the upperfixed end 1 is in contact with the upper end face, and the side surface of the upperfixed end 1 is provided with a second air connection head 405 , and one end of the second air connection head 405 communicates with the air groove of thecylinder block 1 .

活塞403包括上活塞部4031、下活塞部4032以及密封圈4033，密封圈4033设于上活塞部4031与下活塞部4032之间，上活塞部4031和下活塞部4032通过螺栓与锁紧轴404的上端连接，密封圈4033的外缘与气槽的内壁滑动连接。The piston 403 includes anupper piston part 4031, alower piston part 4032 and asealing ring 4033, thesealing ring 4033 is arranged between theupper piston part 4031 and thelower piston part 4032, and theupper piston part 4031 and thelower piston part 4032 are connected to the lockingshaft 404 by bolts The upper end of thesealing ring 4033 is slidably connected with the inner wall of the air groove.

上固定端1上设有第一姿态传感器3和电路板11，浮动端7上设有第二姿态传感器10，第一姿态传感器3和第二姿态传感器10均电连接电路板11；第一姿态传感器和第二姿态传感器的型号均为WT901C485；在上固定端2的上端壁面上设有用于与机器人连接的第一安装螺纹孔。Afirst attitude sensor 3 and a circuit board 11 are arranged on the upperfixed end 1, and asecond attitude sensor 10 is arranged on the floating end 7. Thefirst attitude sensor 3 and thesecond attitude sensor 10 are both electrically connected to the circuit board 11; the first attitude The models of the sensor and the second attitude sensor are both WT901C485; the upper end wall of the upperfixed end 2 is provided with a first installation threaded hole for connecting with the robot.

上固定端1的环向侧壁上设有灯带5，灯带5电连接电路板11，电路板11上设有用于采集第一姿态传感器3和第二姿态传感器10的检测电路，还设有芯片写入姿态判断算法，对检测电路的姿态信号进行实时判断，并将信号发送到机器人控制器以及灯带5；如浮动端7达到最大限位角度时，灯带5显示红色，意为预警或报警，如处于锁紧状态时，灯带5显示绿色，如处于浮动状态时，灯带5显示黄色。The annular side wall of the upperfixed end 1 is provided with alight strip 5, and thelight strip 5 is electrically connected to the circuit board 11. The circuit board 11 is provided with a detection circuit for collecting thefirst attitude sensor 3 and thesecond attitude sensor 10, and is also provided. There is an attitude judgment algorithm written in the chip, which judges the attitude signal of the detection circuit in real time, and sends the signal to the robot controller and thelight strip 5; if the floating end 7 reaches the maximum limit angle, thelight strip 5 displays red, which means Early warning or alarm, such as in the locked state, thelight strip 5 will display green, such as in the floating state, thelight strip 5 will display yellow.

预紧限位机构8包括预紧螺栓801和弹簧802，弹簧802套设于预紧螺栓801的外侧，弹簧802的上端与下固定端2固定连接，弹簧802的下端与浮动端7固定连接，预紧螺栓801的上端与上固定端1螺纹固定连接。The preload limit mechanism 8 includes apreload bolt 801 and aspring 802. Thespring 802 is sleeved on the outer side of thepreload bolt 801. The upper end of thespring 802 is fixedly connected with the lowerfixed end 2, and the lower end of thespring 802 is fixedly connected with the floating end 7. The upper end of thepre-tightening bolt 801 is threadedly connected to the upper fixingend 1 .

弹簧802为塔型弹簧，在浮动端7朝向下固定端2的一侧设有内凹孔，塔型弹簧的大直径端伸入内凹孔内与内凹孔的底壁固定连接，塔型弹簧的小直径端与下固定端2的下壁固定连接；塔型弹簧在处于工作状态时，浮动端7受到外力作用时，塔型弹簧压缩，起到缓冲和被动补偿作用。Thespring 802 is a tower-type spring, and a concave hole is provided on the side of the floating end 7 facing the lowerfixed end 2. The large-diameter end of the tower-type spring extends into the concave hole and is fixedly connected to the bottom wall of the concave hole. The small-diameter end of the spring is fixedly connected to the lower wall of the lowerfixed end 2; when the tower spring is in the working state, when the floating end 7 is subjected to external force, the tower spring compresses, which plays a role of buffering and passive compensation.

浮动端7包括浮动壳体701以及浮动法兰板702，浮动法兰板702设于浮动壳体701下侧与浮动壳体701固定连接，浮动壳体701上设有限位槽703，预紧螺栓801的下端伸入限位槽703内与限位槽703滑动连接；浮动法兰板702上设有用于与末端工具相连的第二安装螺纹孔。The floating end 7 includes a floatingshell 701 and a floatingflange plate 702. The floatingflange plate 702 is arranged on the lower side of the floatingshell 701 and is fixedly connected to the floatingshell 701. The floatingshell 701 is provided with alimit groove 703, and the pre-tightening bolts The lower end of the 801 extends into the limitinggroove 703 and is slidably connected to the limitinggroove 703 ; the floatingflange plate 702 is provided with a second installation threaded hole for connecting with the end tool.

预紧螺栓801的下端设有限位部803，预紧螺栓801的下端套设有锥形衬套704，锥形衬套704与限位槽703的内壁过盈配合，限位部803与锥形衬套704过盈配合；限位部803为圆台形，锥形衬套704内部设有与限位部803侧壁配合的锥形孔。The lower end of thepre-tightening bolt 801 is provided with a limitingportion 803, the lower end of thepre-tightening bolt 801 is sleeved with atapered bushing 704, the taperedbushing 704 is in interference fit with the inner wall of the limitinggroove 703, and the limitingportion 803 is in contact with the taperedbushing 704. Thebushing 704 is in an interference fit; the limitingportion 803 is in the shape of a truncated cone, and the taperedbushing 704 is provided with a tapered hole which is matched with the side wall of the limitingportion 803 .

本发明在工作锁紧时：缸体401通过第二接气口405连接压缩空气气源，活塞403在气压作用下驱动锁紧轴404的下端与限位轴9的上端面压紧，使预紧螺栓801的限位部803通过锥形衬套704锁紧在限位槽703的开口处；第一接气头603与气源连接，使六个活塞顶子602向限位轴9方向移动，一端压紧限位轴9的侧壁，这样限位轴9的轴向和周向均被锁紧，在安装末端工具时，可以减少末端工具对机器人的刚性碰撞；第一姿态传感器3和第二姿态传感器10分别将姿态信号发送给电路板11，经对比后，确定浮动端7与固定端的相对位置，可以保护末端执行器和机器人不受损坏，灯带5用于显示本申请的工作状态，便于人工判断和操作。When the present invention is working and locked, thecylinder 401 is connected to the compressed air source through the second air connection port 405, and the piston 403 drives the lower end of the lockingshaft 404 and the upper end surface of thelimit shaft 9 to compress under the action of air pressure, so that the pre-tightening The limitingportion 803 of thebolt 801 is locked at the opening of the limitinggroove 703 by theconical bushing 704; One end presses the side wall of thelimit shaft 9, so that the axial and circumferential directions of thelimit shaft 9 are locked, and when the end tool is installed, the rigid collision of the end tool to the robot can be reduced; thefirst attitude sensor 3 and the second attitude Thesensor 10 sends the attitude signal to the circuit board 11 respectively. After comparison, the relative position of the floating end 7 and the fixed end is determined, which can protect the end effector and the robot from damage. Thelight strip 5 is used to display the working state of the application, which is convenient for Human judgment and action.

以上所述仅为本发明的较佳实施例，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection of the present invention. within the range.

Claims (10)

1. A robot tip passive compliance device, comprising:

the floating end (7) is used for being connected with a tail end tool, a limiting shaft (9) is arranged on the floating end (7), and the lower end of the limiting shaft (9) is fixedly connected with the middle part of the upper end of the floating end (7);

the robot comprises an upper fixed end (1) used for being connected with a robot, wherein an axial limiting mechanism (4) is arranged on the upper fixed end (1), and the lower end of the axial limiting mechanism (4) is abutted against the upper end of a limiting shaft (9);

lower stiff end (2), stiff end (2) cover is located down the upper end outside of spacing axle (9), down the upper wall of stiff end (2) with the lower wall fixed connection of last stiff end (1), stiff end (2) down with be equipped with radial stop gear (6) between spacing axle (9), stiff end (2) down with float and follow between end (7) spacing axle (9) circumference is equipped with a plurality of pretension stop gear (8).

2. The passive compliant device for a robot tip of claim 1, the radial limiting mechanism (6) comprises an annular cylinder (601) and a plurality of piston tops (602), the annular inner side of the annular cylinder (601) is provided with piston holes which are in one-to-one correspondence with the piston tops (602), one end of the piston top (602) extends into the piston hole and is connected with the piston hole in a sliding way, the other end of the piston top (602) penetrates through and extends out of the piston hole to be abutted against the side wall of the limiting shaft (9), the lower fixed end (2) is provided with an inner hole, the outer edge of the annular cylinder (602) is in transition fit with the inner hole of the lower fixed end (2), one side of stiff end (2) is equipped with first joint of gas (603) down, the one end of first joint of gas (603) with annular cylinder (601) intercommunication.

3. The passive compliant device for a robot tip of claim 1, the axial limiting mechanism (4) comprises a cylinder body (401), a cylinder cover (402), a piston (403) and a locking shaft (404), the cylinder body (401) is provided with an air groove with a downward opening, the cylinder cover (402) is covered at the opening of the air groove and is fixedly connected with the cylinder body (401), the piston (403) is arranged in the air groove and is in sliding connection with the side wall of the air groove, one end of the locking shaft (404) is in sliding connection with the other end of the piston, the other end of the locking shaft (404) passes through the cylinder cover (402) and is abutted against the upper end face of the limiting shaft (9), go up the side of stiff end (1) and be equipped with second air connector (405), the one end of second air connector (405) with cylinder body (1) the gas tank intercommunication.

4. The passive compliant device for robot end according to claim 3, wherein the piston (403) comprises an upper piston portion (4031), a lower piston portion (4032) and a sealing ring (4033), the sealing ring (4033) is disposed between the upper piston portion (4031) and the lower piston portion (4032), the upper piston portion (4031) and the lower piston portion (4032) are connected to the upper end of the locking shaft (404) through bolts, and the outer edge of the sealing ring (4033) is connected to the inner wall of the air groove in a sliding manner.

5. The robot tail end passive compliance device according to claim 1, wherein a first attitude sensor (3) and a circuit board (11) are arranged on the upper fixed end (1), a second attitude sensor (10) is arranged on the floating end (7), and both the first attitude sensor (3) and the second attitude sensor (10) are electrically connected with the circuit board (11).

6. The robot tail end passive compliance device, according to claim 5, characterized in that a light strip (5) is provided on the circumferential side wall of the upper fixing end (1), and the light strip (5) is electrically connected to the circuit board (11).

7. The robot tail end passive compliance device according to any one of claims 1 to 6, wherein the pre-tightening limiting mechanism (8) comprises a pre-tightening bolt (801) and a spring (802), the spring (802) is sleeved outside the pre-tightening bolt (801), the upper end of the spring (802) is fixedly connected with the lower fixed end (2), the lower end of the spring (802) is fixedly connected with the floating end (7), and the upper end of the pre-tightening bolt (801) is fixedly connected with the upper fixed end (1) through threads.

8. A robot end passive compliance device, according to claim 7, characterized in that the spring (802) is a tower spring.

9. The robot tail end passive compliance device according to claim 7, wherein the floating end (7) comprises a floating shell (701) and a floating flange plate (702), the floating flange plate (702) is arranged on the lower side of the floating shell (701) and fixedly connected with the floating shell (701), a limit groove (703) is formed in the floating shell (701), and the lower end of the pre-tightening bolt (801) extends into the limit groove (703) and is slidably connected with the limit groove (703).

10. The robot tail end passive compliance device as claimed in claim 9, wherein a limiting portion (803) is arranged at the lower end of the pre-tightening bolt (801), a tapered bushing (704) is sleeved at the lower end of the pre-tightening bolt (801), the tapered bushing (704) is in interference fit with the inner wall of the limiting groove (703), and the limiting portion (803) is in interference fit with the tapered bushing (704).

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