CN108943022B - Radial compliance compensation device - Google Patents
Radial compliance compensation device Download PDFInfo
- Publication number
- CN108943022B CN108943022B CN201810904864.4A CN201810904864A CN108943022B CN 108943022 B CN108943022 B CN 108943022B CN 201810904864 A CN201810904864 A CN 201810904864A CN 108943022 B CN108943022 B CN 108943022B
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- Prior art keywords
- floating
- swinging
- cavity
- cylinder body
- shaft
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- 238000007667 floating Methods 0.000 claims abstract description 75
- 230000007246 mechanism Effects 0.000 claims abstract description 24
- 230000001681 protective effect Effects 0.000 claims description 5
- 239000007779 soft material Substances 0.000 claims description 3
- 238000011084 recovery Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 125000006850 spacer group Chemical group 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q23/00—Arrangements for compensating for irregularities or wear, e.g. of ways, of setting mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Jigs For Machine Tools (AREA)
Abstract
A radial compliance compensation device comprises a swinging mechanism and a recovery mechanism; the swing mechanism comprises a floating end cover, a floating cylinder body, a swing shaft and a limiting pin; the restoring mechanism comprises a floating cylinder body, a piston, a floating rear cover and an air pipe joint; the swinging shaft is positioned in the middle of the floating cylinder body and has the freedom degrees of axial rotation and radial swinging; the upper end face of the floating end cover is a mechanical connecting flange, and a groove is formed in the position, close to the edge, of the lower end face of the floating end cover; the middle position of the lower end surface of the floating end cover is a mechanical interface fixedly connected with the rotating shaft of the swinging shaft; a limiting pin fixed on the upper surface of the floating cylinder body is inserted into a groove on the lower end surface of the floating end cover; a plurality of vertical upward cavities are uniformly distributed on the inner circumference of the floating cylinder body, and the upper end and the lower end of the cavity are both open; the piston is arranged in the cavity and can slide along the inner wall of the cavity; an air passage is arranged in the cavity and is communicated with the air pipe joint; the floating rear cover is a flat plate and fixedly connected with the lower end of the floating cylinder body, and the air passage and the cavity form a closed air cavity.
Description
Technical Field
The invention relates to the field of intelligent equipment and automation, in particular to a radial compliance compensation device.
Background
In industrial production, industrial robots can perform conventional path planning and repetitive tasks, all performing work operations in a manner that achieves displacement. For the automatic surface operation treatment of replacing manual work by a machine, such as polishing, chamfering, deburring, weld removing and other operation modes requiring continuous contact between automatic equipment and a workpiece, the surface of most of the workpiece has certain curvature and machining errors, so that the surface shape of the workpiece can have any-direction fluctuation change, and the operation quality is affected.
In order to ensure the processing quality of the whole process, the robot and the tool need to move in a tightly combined mode along the surface or the edge of the workpiece, and meanwhile, the requirement of a certain precision of contact force can be ensured. Since the path execution mode of the robot is set by coordinate points, and the workpiece has unpredictable dimensional errors in many cases, it is difficult to ensure perfect fitting of the workpiece and to ensure the application of a required pressure to the surface of the workpiece. There is a need for a device that compensates for dimensional variations and machining errors in the surface of a workpiece while also ensuring a certain contact force when the tool is in contact. Most devices at present can only compensate force and displacement in a single dimension, but for large three-dimensional curved surfaces, the compensation in the single dimension cannot ensure complete contact, and the actual processing quality is affected. The existing radial compensation depends on specific tools, such as an electric spindle or a pneumatic spindle, can only perform deburring operation in a single working procedure, and cannot be adapted to other working procedures, so that a certain defect exists in use. There is currently no single radial compensation component that can be adapted to a variety of process tools.
Disclosure of Invention
The invention aims to: the object of the invention is to provide a separate radial compensation element which can be adapted to a plurality of process tools.
The technical scheme is as follows:
A radial compliance compensation device comprises a swinging mechanism, a non-swinging mechanism and a recovery mechanism;
the swing mechanism comprises a floating end cover and a swing shaft;
the non-swinging mechanism comprises a floating cylinder body, a swinging shaft support and a floating rear cover;
The restoring mechanism comprises a piston air pipe joint and a floating rear cover;
the swinging shaft is provided with swinging and rotating degrees of freedom or only has swinging degrees of freedom;
When the swinging shaft has swinging and rotating degrees of freedom, a limiting device is arranged between the swinging mechanism and the non-swinging mechanism, and the limiting device limits the swinging mechanism to have only swinging degrees of freedom;
the upper end face of the floating end cover is a mechanical connecting flange;
the middle position of the lower end surface of the floating end cover is directly or indirectly connected with the rotating shaft of the swinging shaft;
a plurality of vertical upward cavities are uniformly distributed on the inner circumference of the floating cylinder body, and the upper end and the lower end of each cavity are opened; the piston is arranged in the cavity and can slide along the inner wall of the cavity; an air passage is arranged in the cavity and is communicated with the air pipe joint;
the floating rear cover is of a flat plate structure and is fixedly connected with the lower end of the floating cylinder body, so that the air passage and the cavity form a closed air cavity.
The radial compliance compensation means, preferably: the swing shaft is in a specific form of a floating joint, a spherical bearing, a coupler or a universal shaft.
The radial compliance compensation means, preferably: the floating end cover is connected with the swing shaft through a fastener directly or indirectly through a main shaft.
The radial compliance compensation means, preferably: the fasteners are connected through bolts and nuts.
The radial compliance compensation means, preferably: comprises a floating end cover and a protective sleeve at the joint between floating cylinder bodies; the protective sleeve is made of soft materials.
The radial compliance compensation means, preferably: the limiting device is a limiting pin fixed on the floating cylinder body, and the limiting pin is inserted into a groove on the lower end face of the floating end cover.
The radial compliance compensation means, preferably: the form of the groove comprises a circular or other through hole or semi-closed concave hole.
The advantages and effects:
the device can independently realize the radial force control floating function without external tools, meets the requirements of different tools and different application scenes, and breaks the limitation of tool application.
Drawings
FIG. 1 is a general diagram of the present invention;
FIG. 2 is an exploded view of the components;
FIG. 3 is a cross-sectional view;
Fig. 4 and 5 are schematic views of corresponding components.
The drawing is marked: 1 floating end cover, 2 protective sleeve, 3 floating cylinder body, 4 floating back cover, 5 oscillating axle, 6 piston, 7 spacer pin, 8 air pipe joint.
Detailed Description
The swinging mechanism comprises a floating end cover 1, a floating cylinder body 3, a swinging shaft 5 and a limiting pin 7
The restoring mechanism comprises a floating cylinder body 3, a piston 6, a floating rear cover 4 and an air pipe joint 8
Fig. 4 shows in detail the structure of the floating end cap 1, the upper end face of which is a standard flange interface, and can be used for connecting tools or devices, the lower end face of the floating end cap 1 is provided with a connecting hole in the middle and a groove at the edge, the connecting hole is fixedly connected with the rotating shaft of the swinging shaft 5, and the typical characteristic of the swinging shaft 5 is that the structure can rotate around the shaft and swing, in this example, the structure is shown in the form of a spherical hinge, and specific implementation modes include but are not limited to spherical hinge, universal hinge, spherical bearing, coupling and other components.
Fig. 5 shows the structure of the floating cylinder 3 in detail, wherein the interior of the floating cylinder comprises a middle cavity and piston cavities uniformly distributed on the periphery, and an annular groove air passage is formed in the lower end surface of the piston cavity and is communicated with an air inlet hole in the side wall of the floating cylinder 3. The air inlet is connected with the air pipe joint 8, and the base of the swinging shaft 5 is arranged in the middle cavity and is fixedly connected with the middle cavity. The limiting pin 7 is fixedly connected to the upper end face of the floating cylinder body 3, the other end of the limiting pin 7 is deeply positioned in a groove on the lower end face of the floating end cover 1, and when the floating end cover 1 moves along with the swinging shaft 5, the limiting pin 7 can prevent the floating end cover 1 from rotating around the shaft, so that the floating end cover 1 realizes a pure swinging movement mode.
Fig. 3 shows the structure of the piston 6 in detail, which comprises a piston seat and a piston rod, wherein a plurality of pistons 6 are uniformly distributed in the piston cavity of the floating cylinder body 3 and can slide along the inner wall of the cavity, and the uppermost end of the piston can extend out of the upper end face of the floating cylinder body 3 and enable the piston rod of the piston 6 to just contact with the lower end face of the floating end cover 1 through a limiting step in the cavity.
Fig. 2 shows the structure of the floating back cover 4 in detail, which is a flat plate structure and is fixedly connected with the lower end of the floating cylinder body 3, so that the groove air channel and the cavity form a closed air cavity. When external compressed gas enters the airtight air cavity through the air pipe joint 8, the piston 6 slides upwards under the action of the compressed air and props against the lower end face of the floating end cover 1, when the floating end cover 1 is subjected to leftward inclined swing by external force, the left piston 6 is forced to slide downwards along the piston cavity of the floating cylinder body, at the moment, the floating end cover 1 is also subjected to reverse acting force of the piston 6, the reverse acting force provides restoring moment for the floating end cover 1 to return to a neutral position, the swing restoring moment can be changed by adjusting the intensity of the external compressed air, and 360-degree radial floating with adjustable restoring moment can be realized due to the fact that the pistons 6 are uniformly distributed around the floating cylinder body 3.
The protection sleeve 2 is made of soft materials (not limited by rubber), so that the protection sleeve 2 has the protection grade of IP68, and meanwhile, the protection sleeve 2 has certain expansion capacity in the axial direction and the radial direction.
Claims (5)
1. A radial compliance compensation device, characterized by:
Comprises a swinging mechanism, a non-swinging mechanism and a restoring mechanism;
the swinging mechanism comprises a floating end cover (1) and a swinging shaft (5);
the non-swinging mechanism comprises a floating cylinder body (3), a swinging shaft support and a floating rear cover (4);
the restoring mechanism comprises a piston (6), an air pipe joint (8) and a floating rear cover (4);
the swinging shaft (5) is provided with swinging and rotating degrees of freedom;
When the swinging shaft (5) has swinging and rotating degrees of freedom, a limiting device is arranged between the swinging mechanism and the non-swinging mechanism, and the limiting device limits the floating end cover (1) of the swinging mechanism to have only swinging degrees of freedom;
the swing shaft (5) is positioned in the middle of the floating cylinder body (3);
the upper end face of the floating end cover (1) is a mechanical connecting flange;
The middle position of the lower end surface of the floating end cover (1) is directly or indirectly connected with the rotating shaft of the swinging shaft (5);
A plurality of vertical upward cavities are uniformly distributed on the inner circumference of the floating cylinder body (3), and the upper end and the lower end of each cavity are opened; a piston (6) is arranged in the cavity and can slide along the inner wall of the cavity; an air passage is arranged in the cavity and is communicated with an air pipe joint (8);
The floating rear cover (4) is of a flat plate structure and is fixedly connected with the lower end of the floating cylinder body (3), so that the air passage and the cavity form a closed air cavity;
Comprises a floating end cover (1) and a protective sleeve (2) at the joint between the floating cylinder body (3); the protective sleeve (2) is made of soft materials;
The limiting device is a limiting pin (7) fixed on the floating cylinder body (3), and the limiting pin (7) is inserted into a groove on the lower end face of the floating end cover (1).
2. The radial compliance compensation device of claim 1, wherein: the swing shaft (5) is specifically formed by a floating joint, a spherical bearing, a coupler or a universal shaft.
3. The radial compliance compensation device of claim 1, wherein: the floating end cover (1) is connected with the rotating shaft of the swinging shaft (5) in a way of direct connection of a fastener or indirect connection through a main shaft.
4. A radial compliance compensation device in accordance with claim 3, wherein: the fasteners are connected through bolts and nuts.
5. The radial compliance compensation device of claim 1, wherein: the form of the groove comprises a circular or other through hole or semi-closed concave hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810904864.4A CN108943022B (en) | 2018-08-09 | 2018-08-09 | Radial compliance compensation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810904864.4A CN108943022B (en) | 2018-08-09 | 2018-08-09 | Radial compliance compensation device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108943022A CN108943022A (en) | 2018-12-07 |
| CN108943022B true CN108943022B (en) | 2024-06-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810904864.4A Active CN108943022B (en) | 2018-08-09 | 2018-08-09 | Radial compliance compensation device |
Country Status (1)
| Country | Link |
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| CN (1) | CN108943022B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110450188A (en) * | 2019-09-02 | 2019-11-15 | 嘉兴学院 | A kind of robot three-degree of freedom flexible wrist joint |
| CN110814930B (en) * | 2019-10-30 | 2021-12-07 | 北京空间机电研究所 | Device and method for processing SiC material optical element |
| CN111283552A (en) * | 2020-04-11 | 2020-06-16 | 安徽圣尔沃智能装备有限公司 | Joint floating mounting disc |
| CN111645110B (en) * | 2020-07-01 | 2024-05-03 | 无锡盈连科技有限公司 | Radial floating device |
| CN114310546A (en) * | 2022-01-05 | 2022-04-12 | 苏州明志科技股份有限公司 | Polishing shaft for flexibly cleaning casting blank |
| CN117415857B (en) * | 2023-12-18 | 2024-03-22 | 浙江大学 | A multifunctional leg-foot robot test platform with position compensation mechanism |
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| CN105196305A (en) * | 2015-11-05 | 2015-12-30 | 上海戴屹科技有限公司 | Flexible flange for robot and robot |
| CN107571147A (en) * | 2017-09-11 | 2018-01-12 | 南宁宇立仪器有限公司 | A kind of radial direction constant force floating installation |
| CN208841452U (en) * | 2018-08-09 | 2019-05-10 | 张欢 | A kind of radially compliant compensation device |
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| Publication number | Publication date |
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| CN108943022A (en) | 2018-12-07 |
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