WO2017041645A1 - 一种用于工业机器人精密装配的柔性单元及柔性手腕 - Google Patents
一种用于工业机器人精密装配的柔性单元及柔性手腕 Download PDFInfo
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- WO2017041645A1 WO2017041645A1 PCT/CN2016/097400 CN2016097400W WO2017041645A1 WO 2017041645 A1 WO2017041645 A1 WO 2017041645A1 CN 2016097400 W CN2016097400 W CN 2016097400W WO 2017041645 A1 WO2017041645 A1 WO 2017041645A1
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- flexible
- plate
- wrist
- precision assembly
- industrial robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B27/00—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Definitions
- the invention relates to a mechanical wrist, in particular to a flexible unit for an industrial robot and a flexible wrist for assembling assembly error compensation for precision assembly of an industrial robot.
- assembly errors including linear displacement directions and angular directions
- assembly precision between the components to be assembled is high, especially in the field of precision assembly required for 3C (computer, and communication consumer electronic equipment), which causes the robot to complete the assembly task. Therefore, robotic automated precision assembly systems must include devices that eliminate assembly errors.
- Assembly errors can be eliminated by improving the motion and machining accuracy of robots, material handling systems, fixtures, components, etc., but this method will greatly increase the cost of robotic precision assembly systems and is not suitable for large-scale, low-cost industrial applications.
- Another method is to passively eliminate the assembly error by using a flexible wrist. This solution eliminates the need for sensors and controllers. When the components to be assembled are in contact, the flexible wrist can pass. The elastic deformation of the flexible portion of the body to quickly compensate for assembly errors is a simple and low-cost assembly error compensation device.
- the conventional rigid robot wrist is usually composed of a rigid transmission mechanism such as a ball gear and a bevel gear combination, and can adjust the spatial position and posture under the drive of a plurality of drivers.
- a rigid transmission mechanism such as a ball gear and a bevel gear combination
- the movement flexibility is poor, the number of degrees of freedom is also small, and it cannot be applied to precision assembly work, and only operations such as handling and loading and unloading can be completed.
- the flexible wrist of the robot is a component that connects the robot arm to the end effector such as a robot or a jig, and can change the spatial posture and position of the end effector by utilizing the elastic deformation of the flexible structure to eliminate the assembly error in all directions, and complete the robot assembly. task.
- the flexible wrist of the robot has a flexible center located outside of its device, and the flexible center is designed to be in contact with the components to be assembled. Taking the shaft hole assembly as an example, this flexible center is designed at the end of the rod to be assembled. At this flexible center, the application of the horizontal force can only produce a horizontal displacement in the horizontal direction without generating displacements in other directions, and applying the torque will only produce angular displacement in the direction of the torque without generating displacements in other directions. . From the aspect of the stiffness matrix, it is stated that at this flexible center point, the stiffness matrix of the flexible wrist device is diagonal, ie without any coupling in the direction. Therefore, a robot employing a flexible wrist does not introduce new assembly errors in other directions in eliminating assembly errors in a certain direction.
- the earliest robotic flexible wrists usually consisted of two flexible units.
- One of the flexible units is used to provide assembly error compensation for linear displacement, and the other is used to provide assembly error compensation in the angular direction.
- This design consisting of two flexible units has a complicated structure.
- the flexible unit is usually in the form of a round rod with a flexible hinge at the end. This structural stress is concentrated, resulting in poor fatigue performance of the flexible wrist device. Therefore, this design There is no large-scale application in industry.
- the flexible wrist adopts a closed integrated flexible unit, but the closed integrated flexible rigidity is large, the assembly error that can be compensated under the fixed insertion force is limited, and the flexible unit can be replaced with the discrete flexible unit.
- the flexible unit will only be fully replaced and the maintenance cost will be high.
- Partially adopting the design of the coil spring can only realize the position and attitude adjustment in the three degrees of freedom direction, and can only compensate the assembly error in the direction of three degrees of freedom (such as the patent documents disclosed in CN101863035A, CN101863035B, CN201824359U).
- Most of the designs currently used in the industry are designed using flexible units constructed of a composite structure of metal and rubber.
- the composite mechanism of metal and rubber also has the following disadvantages: First, the processing is complicated, the processing cost is high, and it is difficult to apply to large-scale industrial applications. Secondly, such a structure can only allow a small range of elastic deformation, as larger deformation can cause fatigue and tearing of the rubber layer.
- one of the objects of the present invention is to provide a flexible unit for precision assembly of industrial robots, which can provide a large linear displacement and angular direction.
- the flexible deformation compensates for large linear displacement and angular fit errors, and the cost is low and the service life is high.
- the second object of the present invention is to provide a flexible wrist for precision assembly of an industrial robot, which can effectively realize assembly error compensation on the basis of low cost and high service life.
- a flexible unit for precision assembly of an industrial robot includes an elongated flexible body having a plurality of slots formed at sides thereof, the slits being spaced apart along the length of the flexible body.
- the slots are staggered on opposite sides of the flexible body.
- the spacing of the adjacent slots is equal, the slot width of each slot is equal, and the slot depth of each slot is equal.
- the groove width of each slit is gradually increased or decreased from the both ends of the flexible body toward the center of the flexible body.
- the flexible body is a cylinder of equal section, the flexible body having a circular or regular polygonal cross section.
- a flexible wrist for precise assembly of an industrial robot using the flexible unit comprising an active plate, a driven plate and at least two flexible units, the active plate and the driven plate being parallel to each other and spaced apart from each other, two of the flexible units
- the ends are respectively detachably fixed to the active plate and the driven plate, and the flexible units are axially symmetrically distributed with respect to the central axis of the active plate.
- the diameter of the circle where the end of each flexible unit and the active plate is fixed is larger than the diameter of the circle where the end of the fixed plate is fixed.
- the active plate and the driven plate respectively have a plurality of mounting holes distributed in a circumferential array, and a mounting platform is arranged in the mounting hole, and two ends of the flexible unit are respectively inserted into the mounting holes and respectively locked by screws platform.
- the flexible wrist further includes a limiting rod, wherein the active plate and the driven plate respectively have a plurality of limiting holes distributed in a circumferential array, and one end of the limiting rod is fixed to the limiting hole of the active plate, and the limit is fixed. The other end of the rod is smaller than the limiting hole of the driven plate.
- the flexible wrist further comprises a locking mechanism
- the locking mechanism has a fixing portion and a locking portion extending from the fixing portion and performing a telescopic action, wherein: the fixing portion is fixed to the active plate, and the locking portion is retracted The position of the driven plate and the extended locking plate are switched, or the fixing portion is fixed to the driven plate, and the locking portion is switched between the position of retracting from the active plate and extending the locking active plate.
- the flexible unit of the present invention can obtain high-precision grooving by a process such as wire cutting, and after forming each grooving, a linear deformation and a large flexible deformation capability can be obtained, thereby compensating for a large linear displacement and angular fit.
- the error is more important.
- the flexible deformation ability can be obtained by cutting the flexible body to form the groove.
- the number, extension direction, width, depth and spacing of the groove can be flexibly adjusted according to the design requirements, and the design variables are more and enlarged.
- the flexible unit of the invention adopts a single material, has a simple processing method, reduces the processing and manufacturing cost, and has a high service life;
- the flexible wrist of the invention does not require external actuators such as a driver, a sensor, a controller and a control software, and can passively compensate for errors by deforming its own flexible unit, and can
- the assembly error compensation can be effectively realized on the basis of low cost and high service life, in particular, combining three or more flexible units can realize assembly error compensation of 6 degrees of freedom of the flexible wrist, and the axisymmetric distribution of the flexible unit forms Rotating symmetrical flexible wrist, the flexible unit is discretely distributed, so that after a certain flexible unit is damaged, the damaged flexible unit can be replaced separately, without requiring replacement, further reducing the cost;
- the flexible wrist of the present invention can also be used as a universal standard member, and can be quickly mounted and fixed by the active arm and the driven plate, and the existing arm end mounting surface and the top mounting surface of the manipulator, without modifying the existing machine equipment. .
- FIG. 1 is a schematic structural view of a flexible unit of the present invention
- FIG. 2 is a schematic structural view of a flexible wrist of the present invention having three flexible units
- FIG. 3 is a schematic structural view of a flexible wrist of the present invention having four flexible units
- FIG. 4 is a schematic structural view of a flexible wrist of the present invention having six flexible units
- FIG. 5 is a schematic structural view of a flexible wrist of the present invention with a limit rod.
- a flexible unit for precision assembly of an industrial robot as shown in FIG. 1 includes an elongated flexible body 11 having a plurality of slots 12 formed in a side portion thereof, each slot 12 being along the flexible body 11 The length direction is spaced apart.
- the flexible body 11 can be made of a metal material, the number of slots 12 and the slots 12
- the direction of extension can be set according to the design needs of the flexibility. In order to make the flexible unit 10 have uniform flexibility in each direction, this example can be set as follows:
- the slots 12 are staggered on opposite sides of the flexible body 11. The spacing between adjacent slots 12 is equal, the slot width of each slot 12 is equal, and the slot depth of each slot 12 is equal.
- the groove width of each slit 12 is gradually increased or decreased from the both ends of the flexible body 11 toward the center of the flexible body 11.
- the groove depth can be set such that the groove 12 on one side of the flexible body 11 has a groove depth larger than the groove on the other side of the flexible body 11 .
- the flexible body 11 of this example is a cylinder of equal section. As shown in FIG. 4, the flexible body 11 has a circular or regular polygon. In other embodiments, the cross section of the flexible body 11 can also be any symmetrical polygonal shape.
- a flexible wrist for precision assembly of an industrial robot using the flexible unit 10 includes an active plate 20, a driven plate 30, and at least two flexible units 10, an active plate 20 and
- the driven plates 30 are parallel to each other and spaced apart from each other, and both ends of the flexible unit 10 are detachably fixed to the active plate 20 and the driven plate 30, respectively, and the flexible units 10 are axially symmetrically distributed with respect to the central axis of the active plate 20.
- the active plate 20 is used to fix the robot arm of the industrial robot to provide active drive capability.
- the driven plate 30 is used to be fixed to the end effector of the industrial robot, and is moved or rotated by the active plate 20 and the flexible unit 10.
- the movement of the rod to be assembled leads to the movement of the end effector, thereby driving the movement of the driven plate 30 to move the flexible unit in parallel. 10 deformation.
- the active plate 20 and the driven plate 30 may each adopt a flange.
- the flexible unit 10 can be configured in more quantities depending on the design needs of the flexible capabilities.
- the arrangement of the flexible unit 10 can be configured with a cylindrical flexible unit 10 and a rectangular flexible unit 10.
- the cross section of the flexible unit 10 can also be set to any other polygonal shape, and the cylindrical flexible unit 10 is combined with the rectangular flexible unit 10
- the diameter of the circle where the flexible unit 10 of the present embodiment is fixed to the end of the active plate 20 is larger than the diameter of the circle where the end of the flexible plate 10 is fixed to the end of the driven plate 30, that is, the flexible units 10 are disposed obliquely, so that the flexible center is located to be assembled.
- the assembly error in each direction does not introduce new assembly errors in other directions during the elimination process.
- the tilt angle of the flexible unit 10 will serve as a design variable for further expanding the design field of the flexible wrist and controlling the flexibility and resilience of the flexible wrist.
- the active plate 20 and the driven plate 30 are respectively provided with a plurality of circumferences.
- the mounting hole 40 of the array is arranged, and the mounting hole 40 is provided with a mounting platform.
- the two ends of the flexible unit 10 are respectively inserted into the mounting hole 40 and locked to the mounting platform by screws 50 respectively, correspondingly, the flexible unit 10 can be A threaded hole is provided at the end for the screw 50 to lock in.
- the flexible wrist of the present example further includes a limiting lever 60.
- the active plate 20 and the driven plate 30 respectively have a plurality of limiting holes 70 distributed in a circumferential array.
- One end of the limiting rod 60 is fixedly connected with the limiting hole 70 of the active plate 20, and the other end of the limiting rod 60 is smaller than
- the limiting hole 70 of the movable plate 30 is formed to form a space between the other end of the limiting rod 60 and the limiting hole 70.
- the other end of the limiting rod 60 is restricted by the limiting hole 70, thereby effectively protecting the flexible wrist and preventing the flexible unit 10 from being excessively stretched and unable to be reset. It is also possible to provide a reverse head at the other end of the limit lever 60 to prevent the driven plate 30 from being over-stretched and overloaded in the vertical direction.
- the flexible wrist of this example is set as follows: the flexible wrist of this example is also A locking mechanism (not shown) is provided, the locking mechanism has a fixing portion and a locking portion extending from the fixing portion and performing a telescopic action, wherein the fixing portion is fixed to the active plate 20, and the locking portion is retracted Switching between the position of the driven plate 30 and the extending locking plate 30, or the fixing portion is fixed to the driven plate 30, and the locking portion is retracted away from the active plate 20 and the extended locking main The position of the movable plate 20 is switched.
- the locking mechanism can be pneumatically driven, and when the mechanical arm is started, the locking portion is extended and locked.
- the active plate 20 or the driven plate 30 forms a rigid whole of the active plate 20 and the driven plate 30 through the connection of the fixing portion and the locking portion, so that the robot arm can be quickly started and moved quickly to avoid shaking, and when assembly is required,
- the locking portion can be retracted, the rigid connection of the active plate 20 and the driven plate 30 is released, and the flexible unit 10 is put into the assembly error compensation work.
- the working principle of the flexible wrist is as follows:
- the flexible wrist will utilize its own uniform discretely symmetrically distributed flexible unit 10 to produce elastic deformation, passively sliding the member to be assembled onto the hole, thereby compensating for the assembly of the member to be assembled and the hole. error.
- the flexible unit 10 in the flexible wrist device again adjusts the angle of the member to be assembled by elastic deformation, thereby compensating for the error in the angular direction and completing the assembly.
- the flexible unit 10 of the flexible wrist can be quickly restored to its original position.
- the assembly error of the linear displacement will not cause new assembly errors when it is eliminated, and the angular assembly error will not cause other new assembly when it is eliminated. error.
- the assembly error of the linear displacement refers to an assembly error in the horizontal direction.
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Abstract
一种用于工业机器人精密装配的柔性单元，包括长条状的柔性本体（11），该柔性本体（11）的侧部开有多个切槽（12），各切槽（12）沿柔性本体（11）的长度方向间隔分布。一种使用该柔性单元（10）的柔性手腕。该柔性单元（10）可在线性位移和角度方向提供较大的柔性变形，且成本低廉、使用寿命长。
Description
本发明涉及机械手腕，尤其涉及一种对工业机器人精密装配进行装配误差补偿的工业机器人用柔性单元及柔性手腕。
在机器人自动化装配作业中，由于机器人和物料运送系统的可重复定位精度误差、工装夹具公差和零部件加工公差等，待装配的零部件之间会有装配误差(包括线性位移方向和角度方向)，而一般待装配的零部件之间的装配精度要求较高，特别是在3C(计算机、和通讯消费类电子设备)等要求精密装配的领域，从而导致机器人无法完成装配任务。因此，机器人自动化精密装配系统必须包含消除装配误差的装置。
装配误差可通过提高机器人、物料运送系统、工装夹具、零部件等的运动和加工精度的方式来消除，但此方法必将大幅提高机器人精密装配系统的成本，不适合大规模低成本的工业应用。目前已有的解决方法有两种：一是采用视觉伺服或力反馈等主动消除的方式，但此方式需要视觉传感器或力传感器、控制器等构成的伺服控制回路以及相关的软件系统，将会导致机器人装配系统成本的上升；另一种方法是采用机器人用柔性手腕被动地来消除装配误差，该种解决方法无需使用传感器和控制器等，当待装配零部件间接触时，柔性手腕可通过自身柔性部分的弹性变形来快速补偿装配误差，是一种简单低成本的装配误差补偿装置。
传统的刚性机器人手腕通常由球齿轮、锥齿轮组合等刚性传动机构连接构成，可在多个驱动器的驱动下，调整空间位置和姿态。但受机械结构限制，运动灵活性较差，自由度数也较少，不能适用于精密装配作业，仅可完成搬运、上下料等作业。
机器人用柔性手腕是连接机器人手臂与机械手或夹具等末端执行器的部件，其可利用自身柔性结构的弹性变形来改变末端执行器的空间姿态和位置以消除各个方向上的装配误差，完成机器人装配任务。
机器人用柔性手腕具有一个位于其装置之外的柔性中心，而此柔性中心设计在位于待装配零部件间的接触处。以轴孔装配为例，此柔性中心被设计在待装配杆件末端。在此柔性中心处，施加水平力仅可产生在该水平方向上的水平位移而不产生其它方向上的位移，施加扭矩仅会产生在该扭矩方向上的角度位移而不产生其它方向上的位移。从刚度矩阵方面阐述则为，在此柔性中心点处，柔性手腕装置的刚度矩阵是对角的，即无任何方向上的耦合。因此，采用柔性手腕的机器人在消除某一方向上的装配误差的过程中不会引入其它方向上的新的装配误差。
最早的机器人用柔性手腕通常有两种柔性单元组成。其中一种柔性单元用来提供线性位移的装配误差补偿，另一种用来提供角度方向上的装配误差补偿。此种由两种柔性单元构成的设计，结构较为复杂。此外，柔性单元的结构形式通常为在末端有柔性铰链的圆杆，此种结构应力较为集中，导致柔性手腕装置疲劳表现较差。因此，此种设计
没有在工业上大规模应用。
后来，有柔性手腕采用封闭的一体化柔性单元，但封闭的一体化柔性刚度较大，在固定插入力下能够补偿的装配误差有限，而且相比较离散的柔性单元可更换部分柔性单元，一体化的柔性单元将只能全部更换，维护成本高。
还有部分柔性手腕设计采用离散分布的单种柔性单元，可同时提供在线性位移和角度方向上的装配误差补偿。此单种柔性单元通常采用标准化的螺旋弹簧或一种金属和橡胶的复合结构构成。然而由螺旋弹簧设计成的机器人用柔性手腕有以下不足：由于螺旋弹簧结构形式固定，用其所构成的柔性手腕装置的柔性中心位置有限，另外线性位移和角度误差补偿能力也非常有限，因此，难以在工业上大规模应用。部分采用螺旋弹簧的设计仅可实现三个自由度方向上的位置和姿态调整，仅可补偿三个自由度方向上的装配误差(如公开号为CN101863035A、CN101863035B、CN201824359U的专利文献)。现在工业上应用的设计多是采用以金属和橡胶的复合结构构成的柔性单元设计而成。然而金属和橡胶的复合机构也有以下不足：首先加工复杂，加工成本较高，难以大规模工业应用。其次，此种结构仅可允许小范围的弹性变形，因为较大变形可使橡胶层发生疲劳和撕裂。
发明内容
为了克服现有技术的不足，本发明的目的之一在于提供一种用于工业机器人精密装配的柔性单元，可在线性位移和角度方向提供较大
的柔性变形，从而补偿较大的线性位移和角度配合误差，且成本低廉、使用寿命高。
本发明的目的之二在于提供一种用于工业机器人精密装配的柔性手腕，能在成本低廉、使用寿命高的基础上有效实现装配误差补偿。
本发明的目的之一采用以下技术方案实现：
一种用于工业机器人精密装配的柔性单元，包括长条状的柔性本体，该柔性本体的侧部开有多个切槽，各切槽沿柔性本体的长度方向间隔分布。
优选地，切槽交错分布于柔性本体相对的两侧。
优选地，相邻切槽的间距相等，各切槽的槽宽相等，各切槽的槽深相等。
优选地，各切槽的槽宽由柔性本体的两端向柔性本体的中心逐渐增大或逐渐减小。
优选地，柔性本体为等截面的柱体，该柔性本体的截面为圆形或正多边形。
本发明的目的之二采用以下技术方案实现：
采用所述柔性单元的一种用于工业机器人精密装配的柔性手腕，包括主动板、从动板和至少二个所述柔性单元，主动板和从动板相互平行且相互间隔，柔性单元的两端分别以可拆卸的方式固接主动板和从动板，各柔性单元关于主动板的中心轴线轴对称分布。
优选地，各柔性单元与主动板固接一端所在圆的直径大于与从动板固接一端所在圆的直径。
优选地，主动板和从动板分别开有多个呈圆周阵列分布的安装孔，安装孔内设有安装平台，柔性单元的两端分别插装于安装孔内并分别通过螺钉锁紧于安装平台。
优选地，所述柔性手腕还包括限位杆，主动板和从动板分别开有多个呈圆周阵列分布的限位孔，限位杆的一端与主动板的限位孔固接，限位杆的另一端小于从动板的限位孔。
优选地，所述柔性手腕还包括锁紧机构，该锁紧机构具有固定部和由固定部伸出并作伸缩动作的锁紧部，其中：固定部固定于主动板，锁紧部在缩回脱离从动板和伸出锁紧从动板的位置间切换，或者，固定部固定于从动板，锁紧部在缩回脱离主动板和伸出锁紧主动板的位置间切换。
相比现有技术，本发明的有益效果在于：
本发明的柔性单元，通过线切割等工艺则可获得高精度的切槽，各切槽形成后，能获得线性位移和扭转方向较大的柔性变形能力，从而补偿较大的线性位移和角度配合误差，更关键是，通过对柔性本体切切割形成切槽就能获得柔性变形能力，而且，切槽的数量、延伸方向、宽度、深度、间距可根据设计需要灵活调节，设计变量更多，扩大了柔性单元的设计域，和同类的采用金属橡胶复合结构作为柔性单元的柔性手腕相比，本发明中的柔性单元采用单种材料，加工方法简单，降低了加工制造成本，且使用寿命高；
本发明的柔性手腕，无需驱动器、传感器、控制器和控制软件等外部执行机构，可被动通过自身柔性单元变形来补偿误差，能够在成
本低廉、使用寿命高的基础上有效实现装配误差补偿，特别是结合三个以上柔性单元，就能实现柔性手腕6个自由度的装配误差补偿，并且，柔性单元的轴对称分布，形成了有旋转对称性的柔性手腕，该柔性单元的离散分布，以便在某个柔性单元损坏后，可单独更换受损柔性单元，无需全部更换，进一步利于降低成本；
本发明的柔性手腕还能作为一种通用标准件，通过主动板和从动板，与已有的机械臂末端安装面和机械手的顶部安装面均可实现快速安装固定，无需改造已有机器设备。
图1为本发明柔性单元的结构示意图；
图2为本发明柔性手腕具备三个柔性单元的结构示意图；
图3为本发明柔性手腕具备四个柔性单元的结构示意图；
图4为本发明柔性手腕具备六个柔性单元的结构示意图；
图5为本发明柔性手腕具备限位杆的结构示意图。
图中：10、柔性单元；11、柔性本体；12、切槽；20、主动板；30、从动板；40、安装孔；50、螺钉；60、限位杆；70、限位孔。
下面，结合附图以及具体实施方式，对本发明做进一步描述：
如图1所示的一种用于工业机器人精密装配的柔性单元，包括长条状的柔性本体11，该柔性本体11的侧部开有多个切槽12，各切槽12沿柔性本体11的长度方向间隔分布。
该柔性本体11可采用金属材质制成，切槽12的数量和切槽12
的延伸方向，可根据柔性能力的设计需要来对应设置。为使柔性单元10各向具备均匀的柔性能力，本例可作如下设置：
切槽12交错分布于柔性本体11相对的两侧。相邻切槽12的间距相等，各切槽12的槽宽相等，各切槽12的槽深相等。
当然，根据柔性能力和复位能力的设计需要，也可作出如下设置：
如图1所示，各切槽12的槽宽由柔性本体11的两端向柔性本体11的中心逐渐增大或逐渐减小。特别地，槽深可作如下设置：柔性本体11一侧的切槽12槽深大于柔性本体11另一侧切槽12槽身。
为方便制造加工，控制加工成本，同时提供各向均匀的柔性能力，本例的柔性本体11为等截面的柱体，如图4所示，该柔性本体11的截面为圆形或正多边形。在其它实施例中，柔性本体11的截面也可以是对称的任意多边形。
如图2～5所示，采用所述柔性单元10的一种用于工业机器人精密装配的柔性手腕，包括主动板20、从动板30和至少二个所述柔性单元10，主动板20和从动板30相互平行且相互间隔，柔性单元10的两端分别以可拆卸的方式固接主动板20和从动板30，各柔性单元10关于主动板20的中心轴线轴对称分布。
主动板20用于固定在工业机器人的机械手臂，提供主动驱动能力。在进行精密装配前，从动板30用于固定在工业机器人的末端执行器，通过主动板20、柔性单元10的带动下移动或旋转。在进行精密装配时，由于待装配零部件之间会相接触，导致待装配杆件的运动，带动末端执行器的运动，进而带动从动板30的运动并联动柔性单元
10形变。为方便主动板20和从动板30的固定，主动板20和从动板30可分别采用法兰盘。
当柔性单元10为三个以上时，可补偿6个自由度方向上的位置误差。当使用两个柔性单元10，则变为平面机构，可仅补偿部分自由度方向上的位置误差。当然柔性单元10可根据柔性能力的设计需要来配置更多的数量。特别地，如图4所示，柔性单元10的设置，可采用圆柱形的柔性单元10与矩形的柔性单元10相间配置。特别地，也可将柔性单元10的截面设为其它任意的多边形形状，并结合圆柱形的柔性单元10与矩形的柔性单元10相间设置
示例性地，本例的各柔性单元10与主动板20固接一端所在圆的直径大于与从动板30固接一端所在圆的直径，即各个柔性单元10倾斜设置，使柔性中心位于待装配零件间的装配接触点处，使得每一个方向上的装配误差在消除的过程中都不会引入其它方向上的新的装配误差。该柔性单元10的倾角将作为设计变量，用于进一步扩大本柔性手腕的设计域，控制柔性手腕柔性能力和恢复能力。
示例性地，为方便柔性单元10与主动板20和从动板30的安装，以利于更换维护，如图2、图3所示，主动板20和从动板30分别开有多个呈圆周阵列分布的安装孔40，安装孔40内设有安装平台，柔性单元10的两端分别插装于安装孔40内并分别通过螺钉50锁紧于安装平台，对应地，可在柔性单元10两端设置螺纹孔以供螺钉50锁入。
备选地，如图5所示，本例的所述柔性手腕还包括限位杆60，
主动板20和从动板30分别开有多个呈圆周阵列分布的限位孔70，限位杆60的一端与主动板20的限位孔70固接，限位杆60的另一端小于从动板30的限位孔70，以使限位杆60另一端与限位孔70之间形成间隔。当主动板20和从动板30发生相对位移时，限位杆60的另一端可在所述间隔的范围内移动，以提供装配误差补偿，而当主动板20和从动板30的相对位置偏离过大时，为防止过载，限位杆60的另一端则被限位孔70限制，从而有效保护了本柔性手腕，避免柔性单元10拉伸过度而无法复位。也可在限位杆60的另一端设置倒扣头，以在竖直方向上防止从动板30被过度拉伸而过载。
备选地，由于在高速自动化装配应用上对装配周期时间有较高要求，所以工业机器人的运动速率都较快，对应地，工业机器人的机械手臂反应速率、移动速率一般较快，因此，在机械手臂开始加速启动时，由于惯性，主动板20已开始偏离从动板30，但从动板30仍保持静止，此时容易导致柔性单元10拉伸过大，而导致从动板30后续的晃动，导致晃动后，在装配时就必须等待柔性手腕装置静止后再进行装配操作，这样会增加装配周期，为解决该问题，本例的柔性手腕作出如下设置：本例的所述柔性手腕还包括锁紧机构(图中未示出)，该锁紧机构具有固定部和由固定部伸出并作伸缩动作的锁紧部，其中：固定部固定于主动板20，锁紧部在缩回脱离从动板30和伸出锁紧从动板30的位置间切换，或者，固定部固定于从动板30，锁紧部在缩回脱离主动板20和伸出锁紧主动板20的位置间切换。
锁紧机构可采用气动驱动，机械手臂启动时，令锁紧部伸出锁紧
主动板20或从动板30，使主动板20和从动板30通过固定部、锁紧部的连接形成刚性整体，以便机械手臂快速启动和快速移动，避免晃动，而在需要进行装配时，可缩回锁紧部，解除主动板20和从动板30的刚性连接，使柔性单元10投入装配误差补偿工作。
以杆件装配到孔中为例，采用本柔性手腕的工作原理如下：
因为待装配杆件有装配误差，所以杆件无法精确地落入孔中，杆件将会落在孔上的倒角上。随着机器人继续进行装配，这时柔性手腕就会利用自身均匀离散对称分布的柔性单元10产生弹性变形，被动地将待装配杆件滑落到孔上，从而补偿了待装配杆件和孔的装配误差。当杆件插入孔中后，如有角度方向上的装配误差，柔性手腕装置中的柔性单元10会再次通过弹性变形调整待装配杆件的角度，从而补偿角度方向上的误差，完成装配。当装配完成无外力作用后，柔性手腕的柔性单元10可迅速恢复原位。
将柔性手腕的柔性中心设计在杆件末端也即装配发生面，则线性位移的装配误差在消除的时候不会引起新的装配误差，角度装配误差在消除的时候也不会引起其他新的装配误差。特别地，当柔性手腕的主动板20、从动板30均为水平设置时，线性位移的装配误差指水平方向的装配误差。
对本领域的技术人员来说，可根据以上描述的技术方案以及构思，做出其它各种相应的改变以及形变，而所有的这些改变以及形变都应该属于本发明权利要求的保护范围之内。
Claims (10)
- 一种用于工业机器人精密装配的柔性单元，其特征在于，包括长条状的柔性本体，该柔性本体的侧部开有多个切槽，各切槽沿柔性本体的长度方向间隔分布。
- 根据权利要求1所述的用于工业机器人精密装配的柔性单元，其特征在于，切槽交错分布于柔性本体相对的两侧。
- 根据权利要求2所述的用于工业机器人精密装配的柔性单元，其特征在于，相邻切槽的间距相等，各切槽的槽宽相等，各切槽的槽深相等。
- 根据权利要求2所述的用于工业机器人精密装配的柔性单元，其特征在于，各切槽的槽宽由柔性本体的两端向柔性本体的中心逐渐增大或逐渐减小。
- 根据权利要求1～4任一项所述的用于工业机器人精密装配的柔性单元，其特征在于，柔性本体为等截面的柱体，该柔性本体的截面为圆形或正多边形。
- 采用权利要求1～5任一项柔性单元的一种用于工业机器人精密装配的柔性手腕，其特征在于，包括主动板、从动板和至少二个所述柔性单元，主动板和从动板相互平行且相互间隔，柔性单元的两端分别以可拆卸的方式固接主动板和从动板，各柔性单元关于主动板的中心轴线轴对称分布。
- 根据权利要求6所述的用于工业机器人精密装配的柔性手腕，其特征在于，各柔性单元与主动板固接一端所在圆的直径大于与从动板固接一端所在圆的直径。
- 根据权利要求6所述的用于工业机器人精密装配的柔性手腕，其特征在于，主动板和从动板分别开有多个呈圆周阵列分布的安装孔，安装孔内设有安装平台，柔性单元的两端分别插装于安装孔内并分别通过螺钉锁紧于安装平台。
- 根据权利要求6所述的用于工业机器人精密装配的柔性手腕，其特征在于，所述柔性手腕还包括限位杆，主动板和从动板分别开有多个呈圆周阵列分布的限位孔，限位杆的一端与主动板的限位孔固接，限位杆的另一端小于从动板的限位孔。
- 根据权利要求6～9任一项所述的用于工业机器人精密装配的柔性手腕，其特征在于，所述柔性手腕还包括锁紧机构，该锁紧机构具有固定部和由固定部伸出并作伸缩动作的锁紧部，其中：固定部固定于主动板，锁紧部在缩回脱离从动板和伸出锁紧从动板的位置间切换，或者，固定部固定于从动板，锁紧部在缩回脱离主动板和伸出锁紧主动板的位置间切换。
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| CN110666785A (zh) * | 2019-09-16 | 2020-01-10 | 广东工业大学 | 一种模块化绳驱动仿人手臂 |
| CN114251348A (zh) * | 2020-09-25 | 2022-03-29 | 武汉科技大学 | 一种非对称式柔性铰链 |
| CN115837550A (zh) * | 2023-01-09 | 2023-03-24 | 福建省特种设备检验研究院 | 一种锅筒焊接机器人的补偿连接装置 |
| CN115958625A (zh) * | 2023-02-06 | 2023-04-14 | 上海清宝引擎机器人有限公司 | 仿真机器人手腕柔性结构 |
| CN119141510A (zh) * | 2024-08-21 | 2024-12-17 | 北京科技大学 | 一种可灵活运动的外骨骼装置 |
| CN119159349A (zh) * | 2024-10-24 | 2024-12-20 | 大连理工大学 | 一种微小间隙轴孔零件主、被动柔顺自动装配装置与方法 |
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| CN105034018A (zh) | 2015-11-11 |
| CN105034018B (zh) | 2017-05-10 |
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