CN106425366B - For the adjustable passive compliant device of component automatic assembling - Google Patents
For the adjustable passive compliant device of component automatic assembling Download PDFInfo
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- CN106425366B CN106425366B CN201610972110.3A CN201610972110A CN106425366B CN 106425366 B CN106425366 B CN 106425366B CN 201610972110 A CN201610972110 A CN 201610972110A CN 106425366 B CN106425366 B CN 106425366B
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- 230000007246 mechanism Effects 0.000 claims abstract description 40
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 11
- 230000005540 biological transmission Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- 238000000034 method Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
一种用于部件自动装配的可调节被动顺应装置，包括：分别设置于定平台顶部和底部的凸轮顶杆机构和平面展开机构，一端分别与定平台和平面展开机构转动连接的弹性吊杆以及与弹性吊杆另一端转动连接的动平台，由谐波减速器驱动的凸轮顶杆机构带动弹性吊杆转动，实现弹性吊杆倾角变化。本发明通过凸轮顶杆机构实现被动顺应装置的顺应中心调节，通过在弹性吊杆两端使用转动副和万向铰实现小刚度性能，通过设计凸轮形线实现被动顺应性能的简便控制，从而实现顺应中心沿装置中心轴线z轴更大范围调节，顺应性能更佳，控制方便准确。本发明结构紧凑、控制简便准确、承载性能好、刚度小、顺应中心可调节范围大。
An adjustable passive compliance device for automatic assembly of parts, comprising: a cam ejector mechanism and a plane unfolding mechanism respectively arranged on the top and bottom of a fixed platform, an elastic suspender that is rotationally connected to the fixed platform and the plane unfolding mechanism at one end, and The moving platform connected to the other end of the elastic boom in rotation, the cam ejector mechanism driven by the harmonic reducer drives the rotation of the elastic boom to realize the change of the inclination angle of the elastic boom. The invention realizes the adjustment of the compliance center of the passive compliance device through the cam ejector mechanism, realizes the small stiffness performance by using the rotating pair and the universal hinge at both ends of the elastic suspender, and realizes the simple control of the passive compliance performance by designing the cam shape line, thereby realizing The compliance center can be adjusted in a wider range along the z-axis of the central axis of the device, with better compliance performance and convenient and accurate control. The invention has the advantages of compact structure, convenient and accurate control, good bearing performance, small rigidity and large adjustable range of compliance center.
Description
技术领域technical field
本发明涉及的是一种装配技术领域的设备，具体是一种用于部件间孔轴精密装配的可调节刚度性能的被动顺应装置。The invention relates to equipment in the field of assembly technology, in particular to a passive compliance device with adjustable stiffness performance for precise assembly of hole shafts between parts.
背景技术Background technique
涡扇发动机低压涡轮轴装配、大型部件间装配等精密孔轴装配需要刚性装配装备具有极高的定位精度，以免刚性接触擦伤构件。在定位精度无法满足需求时，可以使用远中心被动顺应装置保证构件被动安全。顺应中心处具有刚度解耦性能，补偿装配干涉不产生其他干涉。但现有被动顺应装置具有顺应性能调节范围小，顺应中心刚度过高、调节精度低等不足。针对此问题，设计一种适合于顺应中心大范围可调节、控制方便、结构紧凑可靠、刚度性能适当降低的可调节被动顺应装置。Precise hole-shaft assembly such as low-pressure turbine shaft assembly of turbofan engine and assembly between large parts requires rigid assembly equipment with extremely high positioning accuracy to avoid rigid contact and abrasion of components. When the positioning accuracy cannot meet the requirements, a far-center passive compliance device can be used to ensure the passive safety of the component. The compliance center has stiffness decoupling performance, which compensates for assembly interference and does not produce other interference. However, the existing passive compliance devices have the disadvantages of small adjustment range of compliance performance, excessively high stiffness of the compliance center, and low adjustment accuracy. To solve this problem, an adjustable passive compliance device is designed, which is suitable for a wide range of adjustment of the compliance center, convenient control, compact and reliable structure, and appropriately reduced stiffness performance.
发明内容Contents of the invention
本发明针对现有装置无法实时精确调节顺应中心，刚度大，不适合于保证精密装配的被动安全等缺陷，提出一种用于部件自动装配的可调节被动顺应装置，通过凸轮顶杆机构实现被动顺应装置的顺应中心调节，通过在弹性吊杆两端使用转动副和万向铰实现小刚度性能，通过设计凸轮形线实现被动顺应性能的简便控制，从而实现顺应中心沿装置中心轴线z轴更大范围调节，顺应性能更佳，控制方便准确。本发明结构紧凑、控制简便准确、承载性能好、刚度小、顺应中心可调节范围大。Aiming at the defects that the existing device cannot adjust the compliance center accurately in real time, has high rigidity, and is not suitable for ensuring the passive safety of precision assembly, the present invention proposes an adjustable passive compliance device for automatic assembly of components, which realizes passive compliance through the cam ejector mechanism. The compliance center adjustment of the compliance device realizes small stiffness performance by using rotating joints and universal hinges at both ends of the elastic suspender, and realizes the simple control of passive compliance performance by designing the cam shape line, so as to realize the adjustment of the compliance center along the z-axis of the central axis of the device. Wide range of adjustment, better compliance performance, convenient and accurate control. The invention has the advantages of compact structure, convenient and accurate control, good bearing performance, small rigidity and large adjustable range of compliance center.
本发明是通过以下技术方案实现的：The present invention is achieved through the following technical solutions:
本发明包括：分别设置于定平台顶部和底部的凸轮顶杆机构和平面展开机构，一端分别与定平台和平面展开机构转动连接的弹性吊杆以及与弹性吊杆另一端转动连接的动平台，由谐波减速器驱动的凸轮顶杆机构带动弹性吊杆转动，实现弹性吊杆倾角变化。The invention comprises: a cam ejector mechanism and a planar unfolding mechanism respectively arranged on the top and bottom of the fixed platform, an elastic suspender connected to the fixed platform and the planar unfolded mechanism at one end and a moving platform rotatably connected to the other end of the elastic suspender, The cam ejector mechanism driven by the harmonic reducer drives the rotation of the elastic suspender to realize the change of the inclination angle of the elastic suspender.
所述的凸轮顶杆机构包括：电机、谐波减速器、凸轮和四根径向设置的顶杆滑块机构，其中：谐波减速器与电机输出轴相连，顶杆滑块机构的顶杆与凸轮相接触，滑块设置于定平台滑轨，凸轮设置于定平台中央。The cam ejector mechanism includes: a motor, a harmonic reducer, a cam and four radially arranged ejector slider mechanisms, wherein the harmonic reducer is connected to the output shaft of the motor, and the ejector rod of the ejector slider mechanism In contact with the cam, the slide block is arranged on the slide rail of the fixed platform, and the cam is arranged at the center of the fixed platform.
所述的平面展开机构包括：两组各四根L形连杆，其中：每组L形连杆首尾转动连接组成闭环，L形连杆的中间设有转动副且两组L形连杆共八个转动副两两对应转动连接，两组L形连杆中共四个首尾转动连接点分别通过转动副与凸轮顶杆机构中的顶杆滑块机构相连。The planar unfolding mechanism includes: two groups of four L-shaped connecting rods each, wherein: each group of L-shaped connecting rods is rotationally connected from head to tail to form a closed loop, a rotating pair is arranged in the middle of the L-shaped connecting rods, and the two groups of L-shaped connecting rods are connected together to form a closed loop. The eight revolving pairs are correspondingly connected in pairs, and the two groups of L-shaped connecting rods have a total of four end-to-end rotating connection points, which are respectively connected to the ejector slider mechanism in the cam ejector mechanism through the revolving pairs.
所述的弹性吊杆包括：G字形结构的吊杆体和弹性组件，其中：弹性组件的两端分别与吊杆体的一端及中部相连，吊杆体的中部与定平台转动连接，所述一端与平面展开机构转动连接，另一端与动平台转动连接，具体地，弹性吊杆通过转动副与凸轮顶杆机构滑块上转动副座相连；平面展开机构通过转动副与弹性吊杆的一端相连；弹性吊杆另一端通过万向铰或转动副与动平台相连。The elastic boom includes: a G-shaped boom body and an elastic component, wherein: the two ends of the elastic component are respectively connected to one end and the middle part of the boom body, the middle part of the boom body is connected to the fixed platform in rotation, and the one end is connected to the plane The unfolding mechanism is rotatably connected, and the other end is rotatably connected with the moving platform. Specifically, the elastic suspender is connected with the rotational subseat on the slider of the cam ejector mechanism through a swivel pair; the plane unfolding mechanism is connected with one end of the elastic suspender through a swivel pair; The other end of the boom is connected to the moving platform through a universal joint or a rotating joint.
所述的凸轮，其形线半径与转动角度具有线性传递关系。Said cam has a linear transmission relationship between its shape radius and rotation angle.
所述的谐波减速器具有更高的减速比，更高的精度和平顺的传动。The harmonic reducer has a higher reduction ratio, higher precision and smooth transmission.
技术效果technical effect
与现有技术相比，本发明使用凸轮带动的顶杆滑块实现了被动顺应装置顺应性能的实时调节，使用平面展开机构保证装置具有顺应中心，使用转动副或万向铰改善被动顺应性能实现小刚度，其中：顺应中心位于动平台外侧，顺应中心处刚度解耦。该装置可以实现长孔轴精密装配，减小定位精度需求，实现精密孔轴装配。Compared with the prior art, the present invention realizes the real-time adjustment of the compliance performance of the passive compliance device by using the ejector slider driven by the cam, uses a planar expansion mechanism to ensure that the device has a compliance center, and uses a rotating pair or a universal hinge to improve the passive compliance performance. Small stiffness, where: the compliance center is located outside the moving platform, and the stiffness at the compliance center is decoupled. The device can realize the precise assembly of the long hole shaft, reduce the demand for positioning accuracy, and realize the precise assembly of the hole shaft.
附图说明Description of drawings
图1为本发明侧视图a和俯视图b；Fig. 1 is a side view a and a top view b of the present invention;
图2为本发明正等侧视图；Fig. 2 is the positive side view of the present invention;
图3为本发明展开时的侧视图；Fig. 3 is a side view when the present invention is deployed;
图4为本发明展开时的俯视图，隐藏凸轮和定平台；Fig. 4 is a top view when the present invention is deployed, hiding the cam and the fixed platform;
图5为本发明收缩时的侧视图；Fig. 5 is the side view when the present invention shrinks;
图6为本发明收缩时的俯视图，隐藏凸轮和定平台；Figure 6 is a top view of the present invention when it is contracted, hiding the cam and the fixed platform;
图7为本发明平面展开机构结构；Fig. 7 is the plane unfolding mechanism structure of the present invention;
图8为顺应装置简化模型及吊杆形式；Figure 8 is a simplified model of the compliance device and the form of the boom;
图9为顺应装置刚度性能；Figure 9 shows the stiffness performance of the compliance device;
图中：凸轮顶杆1、滑块2、滑轨3、定平台4、转动副座5、上摆杆6、挡片7、弹性单元8、连接片9、下摆杆10、转动副座11、动平台12、转动副座13、转动关节14、平面展开机构15、L形连杆16、转动关节17、谐波减速器18、凸轮19、电机20、转动关节21、转动关节22。In the figure: cam ejector rod 1, slider 2, slide rail 3, fixed platform 4, rotating sub-seat 5, upper swing rod 6, stop piece 7, elastic unit 8, connecting piece 9, lower swing rod 10, rotating sub-seat 11 , moving platform 12, rotating secondary seat 13, revolving joint 14, plane unfolding mechanism 15, L-shaped connecting rod 16, revolving joint 17, harmonic reducer 18, cam 19, motor 20, revolving joint 21, revolving joint 22.
具体实施方式Detailed ways
如图1、2所示，本实施例包括：凸轮顶杆1、滑块2、滑轨3、定平台4、转动副座5、上摆杆6、挡片7、弹性单元8、连接片9、下摆杆10、U副座11、动平台12、转动副座13、转动关节14、平面展开机构15、L形连杆16、转动关节17、谐波减速器18、凸轮19、电机20、转动关节21、转动关节22。As shown in Figures 1 and 2, this embodiment includes: cam ejector rod 1, slider 2, slide rail 3, fixed platform 4, rotating auxiliary seat 5, upper swing rod 6, blocking piece 7, elastic unit 8, connecting piece 9. Lower pendulum link 10, U auxiliary seat 11, moving platform 12, rotating auxiliary seat 13, rotating joint 14, plane unfolding mechanism 15, L-shaped connecting rod 16, rotating joint 17, harmonic reducer 18, cam 19, motor 20 , Revolving joint 21, revolving joint 22.
所述的凸轮顶杆机构中包括：凸轮顶杆1、滑块2、滑轨3、凸轮19、谐波减速器18、电机20。The cam ejector mechanism includes: a cam ejector 1, a slider 2, a slide rail 3, a cam 19, a harmonic reducer 18, and a motor 20.
所述的弹性吊杆中包括：转动副座5、上摆杆6、挡片7、弹性单元8、连接片9、下摆杆10，弹性吊杆的上端通过转动副座5同滑块2相连，下端通过U副座11与动平台12相连。The elastic suspender includes: a rotating auxiliary seat 5, an upper swing rod 6, a retainer 7, an elastic unit 8, a connecting piece 9, and a lower swing rod 10, and the upper end of the elastic suspender is connected with the slider 2 through the rotating auxiliary seat 5 , the lower end is connected with the moving platform 12 through the U auxiliary seat 11.
所述的平面展开机构11包括八根L形连杆16，其中：L形连杆16末端间转动副连接形成转动关节21、22，L形连杆16中点间连接形成转动关节21；转动关节21通过转动副与转动关节14连接，转动关节14通过转动副与转动副座13连接。The planar unfolding mechanism 11 includes eight L-shaped connecting rods 16, wherein: the rotating pairs between the ends of the L-shaped connecting rods 16 are connected to form revolving joints 21, 22, and the midpoints of the L-shaped connecting rods 16 are connected to form a revolving joint 21; The joint 21 is connected with the rotary joint 14 through the rotary pair, and the rotary joint 14 is connected with the rotary secondary seat 13 through the rotary pair.
如图3‐7所示，本装置的展开和收缩通过电机6带动凸轮顶杆机构1实现，顶杆7上下的转动副和U副用于协调进给量，平面展开机构3受力，作用相当于当电机6不进给时锁死顶杆7上部转动副。所述电机6作为驱动输入，带动装置运动。通过调整连杆角度，实现末端动平台5上的不同刚度性能，实现被动顺应装配。As shown in Figure 3-7, the expansion and contraction of the device is realized by the motor 6 driving the cam ejector mechanism 1. The upper and lower rotating pairs and the U pair of the ejector rod 7 are used to coordinate the feed amount. Equivalent to locking the upper part of the push rod 7 rotating pair when the motor 6 does not feed. The motor 6 is used as a driving input to drive the device to move. By adjusting the angle of the connecting rod, different stiffness performances on the end moving platform 5 are realized, and passive compliance assembly is realized.
所述的凸轮顶杆机构1和弹性吊杆7具有圆周阵列分布的布置形式。The cam ejector mechanism 1 and elastic suspenders 7 are arranged in a circular array distribution.
本实施例中，通过设计凸轮顶杆机构、修改弹性元件8的材料、尺寸等参数以及弹性吊杆7长度可以获得变化中的不同刚度性能。In this embodiment, different stiffness performances can be obtained by designing the cam ejector mechanism, modifying parameters such as the material and size of the elastic element 8 and the length of the elastic suspension rod 7 .
如图8和图9所示为被动顺应装置简化模型和刚度性能，PE表示顺应中心距离，Figure 8 and Figure 9 show the simplified model and stiffness performance of the passive compliance device, PE represents the compliance center distance,
上述具体实施可由本领域技术人员在不背离本发明原理和宗旨的前提下以不同的方式对其进行局部调整，本发明的保护范围以权利要求书为准且不由上述具体实施所限，在其范围内的各个实现方案均受本发明之约束。The above specific implementation can be partially adjusted in different ways by those skilled in the art without departing from the principle and purpose of the present invention. The scope of protection of the present invention is subject to the claims and is not limited by the above specific implementation. Each implementation within the scope is bound by the invention.
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| GB2462882A (en) * | 2008-08-29 | 2010-03-03 | Benjamin John Ridehough | Gripper mechanism for a robot including a rotary actuator |
| JP2010094804A (en) * | 2010-01-19 | 2010-04-30 | Taiyo Ltd | Motor-driven hand |
| CN105563468A (en) * | 2016-02-04 | 2016-05-11 | 陕西科技大学 | Parallel mechanical arm controlled by cams |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| GB2462882A (en) * | 2008-08-29 | 2010-03-03 | Benjamin John Ridehough | Gripper mechanism for a robot including a rotary actuator |
| JP2010094804A (en) * | 2010-01-19 | 2010-04-30 | Taiyo Ltd | Motor-driven hand |
| CN105563468A (en) * | 2016-02-04 | 2016-05-11 | 陕西科技大学 | Parallel mechanical arm controlled by cams |
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