CN106003140B - A kind of flexible unit and flexible waist - Google Patents
A kind of flexible unit and flexible waist Download PDFInfo
- Publication number
- CN106003140B CN106003140B CN201610616461.0A CN201610616461A CN106003140B CN 106003140 B CN106003140 B CN 106003140B CN 201610616461 A CN201610616461 A CN 201610616461A CN 106003140 B CN106003140 B CN 106003140B
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- locating part
- flexible
- blind hole
- limiting section
- convex portion
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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
- B25J17/02—Wrist joints
- B25J17/0208—Compliance devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
There is a locating part, multiple middle locating parts and the tail locating part being laminated along flexible body length direction interval the invention discloses the flexible body of a kind of flexible unit, including strip, in the flexible body；The first blind hole is recessed close to the side of the middle locating part of head locating part, the first limiting section convexed to form close to the opposite side of the middle locating part of tail locating part；First limiting section of one of them middle locating part in two neighboring middle locating part is stretched into the first blind hole of locating part in another；Side projections close to the head locating part of middle locating part form the second limiting section, and second limiting section is stretched into the first blind hole of the middle locating part adjacent with head locating part；The sidepiece of tail locating part close to middle locating part is recessed the second blind hole, and the first limiting section of the middle locating part adjacent with tail locating part is stretched into the second blind hole, and the flexible unit can integrate flexible and from limit function.The invention also discloses a kind of flexible waist using above-mentioned flexible unit.
Description
Technical field
The present invention relates to mechanical wrist, more particularly to a kind of flexible unit and flexible waist.
Background technology
In robot automation's assembling work, because the repeatability positioning precision of robot and material conveying system misses
Difference, frock clamp tolerance and parts machining tolerance etc., rigging error (including horizontal direction is had between parts to be assembled
And angle direction), and the assembly precision between general parts to be assembled requires higher, particularly in 3C (computer, communication
And electronic equipment for consumption) etc. require the field of precision assembly, so as to cause robot can not complete fittage.Therefore, machine
Device people's automatic precision assembly system must include the device for eliminating rigging error.This rigging error can by improve robot,
The motion of material conveying system, frock clamp, parts etc. and the mode of machining accuracy are eliminated, but the method will be carried significantly
The cost of high robot precision assembly system, be not suitable for the commercial Application of large-scale low-cost.Current existing solution method has
Two kinds：When by the way of visual servo or force feedback etc. actively eliminate, but this mode needs vision sensor or power to sense
The servo control loop of the compositions such as device, controller and the software systems of correlation, it will cause robotic assembly system's cost
Rise；Another method is passively to eliminate rigging error using flexible waist for robot, and this kind of solution method need not make
With sensor and controller etc., when being contacted between parts to be assembled, flexible waist can be become by the elasticity of itself flexible portion
Shape quickly compensates rigging error, is a kind of rigging error compensation device of simple low cost.
Traditional rigid machine human wrist generally the positive drive mechanism such as combines by spherical gear, bevel gear and connected and composed, can
Under the driving of multiple drivers, adjustment space position and posture.But limited by mechanical structure, kinematic dexterity is poor, freely
The number of degrees are also less, it is impossible to suitable for precision assembly operation, can only complete the operations such as carrying, loading and unloading.
Flexible waist for robot is the part for connecting the end effector such as robot arm and manipulator or fixture, and it can
Change the spatial attitude of end effector and position using the elastic deformation of itself flexible structure to eliminate in all directions
Rigging error, complete robotic asssembly task.Flexible waist for robot has a Remote Flexible being located at outside its device
Center, and the just design of this flexible central is in contact place between parts to be assembled.By taking peg-in-hole assembly as an example, this flexible central
It is designed in rod member end to be assembled.At this flexible central, the level in the horizontal direction can only be produced by applying horizontal force
Displacement is without producing the displacement on other directions；Angle displacement in the torque direction can only be produced without producing by applying moment of torsion
Displacement on other directions.Therefore, using flexible waist robot eliminate a direction on rigging error during
The new rigging error that will not be introduced on other directions.
Earliest flexible waist for robot is generally made up of two kinds of flexible units.One of which flexible unit is used for providing
Rigging error compensation in horizontal direction, another kind are used for providing rigging error compensation (such as Publication No. on angle direction
US4098001 and US4155169 patent document).Such a design being made up of two kinds of flexible units, structure are complex.This
Outside, the structure type of flexible unit is usually the round bar in the flexible hinge in end, and such a structural stress is more concentrated, caused soft
Property wrist device fatigue performance it is poor.Therefore, it is such a to be designed without industrially large-scale application.
Later, flexible wrist was using integrated flexible unit (such as Publication No. US7421799 patent text closed
Offer), but the integrated flexible rigidity closed is larger, and the rigging error that can compensate under fixed insertion force is limited, and compares
The replaceable part flexible unit of more discrete flexible unit, integrated flexible unit can only be changed all.
Also partially flexible wrist design uses the single flexible unit of discrete distribution, can be simultaneously provided in horizontal and angle
Rigging error compensation (such as Publication No. US4414750 patent document) on direction.This single flexible unit generally use mark
The helical spring of standardization or the composite construction of a kind of metal and rubber are formed.But by Coiled Spring Design into robot with soft
Property wrist has following deficiency：Because helical spring structure form is fixed, with the flexible central of its flexible waist device formed
Position is limited, and horizontal and angular error compensation ability is also very limited in addition, accordingly, it is difficult to industrially large-scale application.Portion
Divide position and the pose adjustment that can be only realized using the design of helical spring on three degree of freedom direction, only can compensate for three freedom
Rigging error (such as Publication No. CN101863035A, CN101863035B, CN201824359U patent text spent on direction
Offer).The design industrially applied now is to use the composite construction being formed by stacking that interlocks with layer of metal and one layer of rubber to be formed
Flexible unit design.But the composite structure of metal and rubber still has following deficiency：The structure lacks from stopping means；
The structure has certain flexibility, but under heavy load, it is larger due to deforming, the tear of rubber layer may be caused and broken
It is bad.The flexible waist device formed, the flexible waist device is (such as disclosure
Number be the A1 of US 2004/0128850 patent document) need additonal limit bar and corresponding spacing hole to carry out the limit of realization device
Bit function can cause the large deformation of destruction to protect flexible unit not produce.
The content of the invention
For overcome the deficiencies in the prior art, it is flexible and from limit function that an object of the present invention is to provide a kind of collection
The flexible unit being integrated.
The second object of the present invention is to provide a kind of flexible waist having from limit function.
An object of the present invention is realized using following technical scheme：
A kind of flexible unit, include the flexible body of strip, have in the flexible body along flexible body length direction
Interval is laminated and is respectively provided with a rigid locating part, multiple middle locating parts and a tail locating part, head locating part and tail locating part
It is divided into flexible body both ends；The first blind hole is recessed close to the side of the middle locating part of head locating part, close to tail locating part
Middle locating part the first limiting section for convexing to form of opposite side；One of them middle locating part in two neighboring middle locating part
First limiting section is stretched into the first blind hole of locating part in another, and for abutting cooperation with the first blind hole hole wall；It is close
The side projections of the head locating part of middle locating part form the second limiting section, second limiting section stretch into it is adjacent with head locating part in
In first blind hole of locating part, and for abutting cooperation with the first blind hole hole wall；Close to the sidepiece of the tail locating part of middle locating part
Be recessed the second blind hole, the first limiting section of the middle locating part adjacent with tail locating part is stretched into the second blind hole, and for
Second blind hole hole wall, which abuts, to be coordinated；Connected between head locating part, middle locating part and tail locating part by flexible layer.
Preferably, a kind of the first blind hole of above-mentioned flexible unit and the cross section of the second blind hole are circle.
Preferably, a kind of the first blind hole of above-mentioned flexible unit and the second blind hole hole wall top are equipped with annular flange,
Each first limiting section is respectively protruding into the first blind hole and the second blind hole by annular flange collar extension, and stretches into the first blind hole and second blind
The end outer wall of each first limiting section in hole is equipped with annular Access Division, and the annular Access Division of the first limiting section is used for and annular
Flange abuts towards the side wall in blind hole to be coordinated；Second limiting section is stretched into the first blind hole by annular flange collar extension, and the second limit
The end outer wall that position portion stretches into the first blind hole is provided with annular Access Division, and the annular Access Division of the second limiting section is used for and annular flange
Abut and coordinate towards the side wall in blind hole.
Preferably, a kind of the first limiting section of above-mentioned flexible unit and the second limiting section are cylinder.
Preferably, a kind of flexible layer of above-mentioned flexible unit is rubber layer, head locating part, middle locating part and tail locating part
It is made by metal material.
Preferably, a kind of flexible body of above-mentioned flexible unit is cylinder.
Preferably, a kind of both sides of the middle locating part of above-mentioned flexible unit are respectively equipped with the first convex portion and the second convex portion,
The 3rd convex portion and the 4th convex portion are respectively equipped with close to the head locating part of middle locating part and the sidepiece of tail locating part, on flexible body edge
During its axial-rotation, the first convex portion of one of them middle locating part in two neighboring middle locating part is used for being limited in another
Second convex portion of position part, which abuts, to be coordinated, and the first convex portion of the middle locating part adjacent with head locating part is used for the with head locating part the 3rd
Convex portion, which abuts, to be coordinated, and the second convex portion of the middle locating part adjacent with tail locating part is used to abut with the 3rd convex portion of tail locating part to match somebody with somebody
Close.
Preferably, the quantity of a kind of the first convex portion of above-mentioned flexible unit, the second convex portion, the 3rd convex portion and the 4th convex portion
Corresponding and more than one.
The second object of the present invention is realized using following technical scheme：
Flexible waist, including active plate, follower plate and at least two flexible units, active plate and follower plate are mutually flat
Capable and spaced, the both ends of flexible unit are removably fixed in active plate and follower plate, each flexible unit respectively
Central axis axial symmetry on active plate is distributed.
Preferably, the active plate of above-mentioned flexible waist and follower plate have the installation of multiple circumferentially array distributions
Hole, is provided with mounting platform in mounting hole, the both ends of flexible unit be plugged in respectively mounting hole it is interior and respectively by screw lock in
Mounting platform.
Compared with prior art, the beneficial effects of the present invention are：
1st, by being laminated in flexible body flexible body length direction interval and being respectively provided with a rigid locating part, more
Individual middle locating part and a tail locating part, are connected between head locating part, middle locating part and tail locating part by flexible layer, and head limits
Second limiting section of position part can abut cooperation with the first blind hole hole wall of adjacent middle locating part, and the first of adjacent middle locating part is spacing
Portion can abut with corresponding first blind hole hole wall to be coordinated, and the first limiting section of the middle locating part adjacent with tail locating part can be with tail
Second blind hole hole wall of locating part, which abuts, to be coordinated, and can so allow flexible body itself in three X-axis, Y-axis and Z axis level sides
Realize from limit function to displacement, so as to not only make flexible unit integrate flexibility and from limit function, and also improve
Stability of the flexible unit under the operating mode such as larger load or impact, and avoid the damage of flexible unit；
2nd, by being equipped with annular flange in the first blind hole and the second blind hole hole wall top, and make to stretch into the first blind hole and
The end outer wall of each first limiting section in two blind holes is equipped with annular Access Division, and the second limiting section stretches into the end of the first blind hole
Outer wall is provided with annular Access Division；In this way, supported in the annular Access Division of the first limiting section with annular flange towards the side wall in blind hole
Cooperation is connect, and the annular Access Division of the second limiting section is abutted under cooperation with annular flange towards the side wall in blind hole, can, make soft
Property unit can not only realize three horizontal direction displacements from limit function, can also realize along X-axis and Y-axis both direction
Angle displacement, to meet different working condition requirements；
3rd, by setting the first convex portion and the second convex portion respectively in the both sides of middle locating part, close to the spacing of middle locating part
The sidepiece of part and tail locating part sets the 3rd convex portion and the 4th convex portion respectively, therefore, when flexible body is along its axial-rotation, phase
First convex portion of one of them middle locating part in adjacent two middle locating parts can be supported with the second convex portion of locating part in another
Cooperation is connect, and the first convex portion of the middle locating part adjacent with head locating part can abut cooperation with the 3rd convex portion of head locating part, with
Second convex portion of the adjacent middle locating part of tail locating part can abut cooperation with the 3rd convex portion of tail locating part, so that flexible unit
Flexible unit can also be realized along the angle displacement of Z-direction from limit function；
4th, stopping means need not then be increased using the flexible waist of above-mentioned flexible unit, on the one hand can realizes multiple levels
Displacement and angle displacement from spacing, so as to effectively protect this flexible waist, and substantially reduce cost, it is on the other hand soft in simplification
Property wrist while can provide extra physical space to carry out other designs to flexible waist, such as in the case of ultrahigh speed assembling
Need that pneumatic control component etc. is installed in flexible hand.
Brief description of the drawings
Fig. 1 is the sectional view of the flexible unit in the embodiment of the present invention one；
Fig. 2 is the sectional view of the flexible unit in the embodiment of the present invention two；
Fig. 3 is the structural representation of the flexible unit in the embodiment of the present invention three；
Fig. 4 is the flexible waist structural representation using the flexible unit in embodiment one；
In figure：10th, flexible body；11st, head locating part；111st, the second limiting section；112nd, the 3rd convex portion；12nd, middle locating part；
121st, the first limiting section；122nd, the first blind hole；123rd, the first convex portion；124th, the second convex portion；13rd, tail locating part；131st, second is blind
Hole；132nd, the 4th convex portion；14th, flexible layer；15th, annular flange；16th, annular Access Division；20th, flexible unit；21st, active plate；22、
Follower plate；23rd, mounting hole.
Embodiment
Below, with reference to accompanying drawing and embodiment, the present invention is described further：
Embodiment one：
A kind of flexible unit 20 as shown in Figure 1, include the flexible body 10 of strip, there is edge in the flexible body 10
The length direction interval of flexible body 10 is laminated and to be respectively provided with a rigid locating part 11, multiple middle tails of locating part 12 and one spacing
Part 13, head locating part 11 and tail locating part 13 are divided into the both ends of flexible body 10；The middle locating part 12 of close head locating part 11
Side is recessed the first blind hole 122, and first that the opposite side of the middle locating part 12 of close tail locating part 13 convexes to form is spacing
Portion 121；First limiting section 121 of one of them middle locating part 12 in two neighboring middle locating part 12, which is stretched into another, to be limited
In first blind hole 122 of position part 12, and for abutting cooperation with the hole wall of the first blind hole 122；Close to the spacing of middle locating part 12
The side projections of part 11 form the second limiting section 111, and second limiting section 111 stretches into the middle locating part adjacent with head locating part 11
In 12 the first blind hole 122, and for abutting cooperation with the hole wall of the first blind hole 122；Close to the tail locating part 13 of middle locating part 12
Sidepiece be recessed the second blind hole 131, the first limiting section 121 of the middle locating part 12 adjacent with tail locating part 13 stretches into second
In blind hole 131, and for abutting cooperation with the hole wall of the second blind hole 131；Head locating part 11, middle locating part 12 and tail locating part 13 it
Between connected by flexible layer 14.If the length direction of flexible body 10 is set into Z-direction, located at head locating part 11,
Flexible layer 14 between middle locating part 12 and tail locating part 13 be able to will enter to the translation displacements of flexible body 10 in the Z-axis direction
Row limitation；Because the first limiting section 121 of one of them middle locating part 12 in two neighboring middle locating part 12 stretches into other one
In first blind hole 122 of individual middle locating part 12, the second limiting section 111 of head locating part 11 stretch into it is adjacent with head locating part 11 in
In first blind hole 122 of locating part 12, it is blind that the first limiting section 121 of the middle locating part 12 adjacent with tail locating part 13 stretches into second
In hole 131, and head locating part 11, middle locating part 12 and tail locating part 13 are respectively provided with rigidity, therefore flexible body 10 is along away from Z
During the direction bending of axle, the second limiting section 111 of head locating part 11 will be with the hole wall of the first blind hole 122 of adjacent middle locating part 12
Abutting and coordinate, the first limiting section 121 of adjacent middle locating part 12 will abut with the corresponding hole wall of first blind hole 122 to be coordinated, and
First limiting section 121 of the middle locating part 12 adjacent with tail locating part 13 will be with the hole wall of the second blind hole 131 of tail locating part 13
Abut and coordinate, so as to be limited well translation displacements of the flexible body 10 in the X-axis and Y direction vertical with Z axis,
So that flexible unit 20 can be carried out to three X-axis, Y-axis and Z axis horizontal direction displacements from spacing, so as to not only make flexible unit
20 integrate flexibility and from limit function, and also improve flexible unit 20 under the operating mode such as larger load or impact
Stability, and avoid the damage of flexible unit 20.
As shown in figure 4, to include active plate 21, follower plate 22 and at least two above-mentioned soft for flexible waist in the present embodiment
Property unit 20, and active plate 21 and follower plate 22 are parallel to each other and spaced, the both ends of flexible unit 20 are respectively with detachable
Mode be fixed in active plate 21 and follower plate 22, each flexible unit 20 is distributed on the central axis axial symmetry of active plate 21.
Wherein, active plate 21 is used for the mechanical arm for being fixed on industrial robot, there is provided active drive ability.Carrying out precision assembly
Before, follower plate 22 is used for the end effector for being fixed on industrial robot, is moved down by the drive of active plate 21, flexible unit 20
Dynamic or rotation.When carrying out precision assembly, due to that can be in contact between parts to be assembled, cause the motion of rod member to be assembled,
The motion of end effector is driven, and then drives the deformation of motion linkage flexible unit 20 of follower plate 22.And due to this implementation
Flexible unit 20 in example is integrated flexible and then need not from limit function, therefore using the flexible waist of the flexible unit 20
Stopping means is further added by, on the one hand can realize the self compensation of rigging error, so as to effectively protect this flexible waist, and is dropped significantly
Low cost, extra physical space on the other hand can be provided to carry out it to flexible waist while flexible waist structure is simplified
He designs, for example needs to install pneumatic control component etc. in flexible hand in the case of ultrahigh speed assembling.
For convenience of the installation of flexible unit 20 and active plate 21 and follower plate 22, safeguarded in favor of changing, as shown in figure 4,
Active plate 21 and follower plate 22 have the mounting hole 23 of multiple circumferentially array distributions, and it is flat to be provided with installation in mounting hole 23
Platform, the both ends of flexible unit 20 are plugged in mounting hole 23 and respectively by screw lock in mounting platform respectively, accordingly, can
Hole is threaded so that screw is locked at the both ends of flexible unit 20.
In addition, in order that the first limiting section 121 and the second limiting section 111 stress equalization in the horizontal direction, the present embodiment
The middle cross section by the first blind hole 122 and the second blind hole 131 is disposed as circle, further, can also be by the first limiting section
121 and second limiting section 111 be disposed as cylinder and process for convenience and balanced flexible body 10, can be by flexible body 10
It is arranged to cylinder.In addition, in order to save cost and strengthen the connective stability of locating part and flexible layer 14, in the present embodiment
Flexible layer 14 is rubber layer, and head locating part 11, middle locating part 12 and tail locating part 13 are made by metal material.Certain basis
It is actually needed, the shape and material of above-mentioned 10 each part of flexible body can be adjusted, and is not limited in the present embodiment
Mode.
Embodiment two：
As shown in Fig. 2 the present embodiment two and the difference of embodiment one are in the He of the first blind hole 122 in the present embodiment
The hole wall top of second blind hole 131 is equipped with annular flange 15, and each first limiting section 121 is respectively protruding into by the collar extension of annular flange 15
In one blind hole 122 and the second blind hole 131, and each first limiting section 121 stretched into the first blind hole 122 and the second blind hole 131
End outer wall is equipped with annular Access Division 16；Second limiting section 111 is stretched into the first blind hole 122 by the collar extension of annular flange 15, and
The end outer wall that second limiting section 111 stretches into the first blind hole 122 is provided with annular Access Division 16；Due to the ring of the first limiting section 121
Shape Access Division 16 can abut cooperation, and the annular Access Division of the second limiting section 111 with annular flange 15 towards the side wall in blind hole
16 can abut cooperation with annular flange 15 towards the side wall in blind hole, and therefore, flexible unit 20 can realize three in embodiment one
Individual horizontal direction displacement from outside limit function, can also realize along the angle displacement of X-axis and Y-axis both direction from spacing work(
Can, with further enhance flexible unit 20 from limit function, and make using the flexible waist in the flexible unit 20 from
Limit function strengthens, to meet different duty requirements.
Embodiment three：
As shown in figure 3, the difference of the present embodiment three and embodiment two is in two of middle locating part 12 in the present embodiment
Side is respectively equipped with the first convex portion 123 and the second convex portion 124, close to the head locating part 11 of middle locating part 12 and the side of tail locating part 13
Portion is respectively equipped with the 3rd convex portion 112 and the 4th convex portion 132, therefore, when flexible body 10 is along its axial-rotation, in two neighboring
First convex portion 123 of one of them middle locating part 12 in locating part 12 can be with the second convex portion of locating part in another 12
124 abut and coordinate, and the first convex portion 123 of the middle locating part 12 adjacent with head locating part 11 can with it is the 3rd of head locating part 11 convex
Portion 112, which abuts, to be coordinated, the second convex portion 124 of the middle locating part 12 adjacent with tail locating part 13 can with it is the 3rd of tail locating part 13 convex
Portion 112 abut coordinate so that the flexible unit 20 in the present embodiment can not only realize three horizontal direction displacements and
Along the angle displacement of X-axis and Y-axis both direction from limit function, limiting certainly along the angle displacement of Z-direction can also be realized
Bit function, with further enhance flexible unit 20 from limit function, and make using the flexible waist in the flexible unit 20
From limit function strengthen, to meet different duty requirements.Further can also be by setting more than one and quantity correspondence
The first convex portion 123, the second convex portion 124, the 3rd convex portion 112 and the 4th convex portion 132, to strengthen flexible unit 20 along Z-direction
Angle displacement.
It will be apparent to those skilled in the art that technical scheme that can be as described above and design, make other various
Corresponding change and deformation, and all these changes and deformation should all belong to the protection domain of the claims in the present invention
Within.
Claims (10)
1. a kind of flexible unit, it is characterised in that the flexible body including strip, the flexible body is interior to be had along flexible body
Length direction interval is laminated and is respectively provided with a rigid locating part, multiple middle locating parts and a tail locating part, head locating part and
Tail locating part is divided into flexible body both ends；The first blind hole is recessed close to the side of the middle locating part of head locating part, it is close
The first limiting section that the opposite side of the middle locating part of tail locating part convexes to form；In one of them in two neighboring middle locating part
First limiting section of locating part is stretched into the first blind hole of locating part in another, and is matched somebody with somebody for being abutted with the first blind hole hole wall
Close；Side projections close to the head locating part of middle locating part form the second limiting section, and second limiting section stretches into and head locating part
In first blind hole of adjacent middle locating part, and for abutting cooperation with the first blind hole hole wall；Tail close to middle locating part is spacing
The sidepiece of part is recessed the second blind hole, and the first limiting section of the middle locating part adjacent with tail locating part is stretched into the second blind hole,
And for abutting cooperation with the second blind hole hole wall；Connected between head locating part, middle locating part and tail locating part by flexible layer.
2. a kind of flexible unit according to claim 1, it is characterised in that the cross section of the first blind hole and the second blind hole is equal
For circle.
3. a kind of flexible unit according to claim 1, it is characterised in that the first blind hole and the second blind hole hole wall top are equal
Provided with annular flange, each first limiting section is respectively protruding into the first blind hole and the second blind hole by annular flange collar extension, and stretches into
The end outer wall of each first limiting section in one blind hole and the second blind hole is equipped with annular Access Division, the annular snap of the first limiting section
Socket part is used to abut cooperation towards the side wall in blind hole with annular flange；It is blind that second limiting section by annular flange collar extension stretches into first
In hole, and the second limiting section stretches into the end outer wall of the first blind hole and is provided with annular Access Division, the annular Access Division of the second limiting section
For abutting cooperation towards the side wall in blind hole with annular flange.
4. a kind of flexible unit according to claim 2, it is characterised in that the first limiting section and the second limiting section are circle
Cylinder.
5. a kind of flexible unit according to claim 1, it is characterised in that flexible layer is rubber layer, head locating part, middle limit
Position part and tail locating part are made by metal material.
6. a kind of flexible unit according to claim 1, it is characterised in that flexible body is cylinder.
7. according to a kind of flexible unit described in claim any one of 1-6, it is characterised in that the both sides of middle locating part are set respectively
Have the first convex portion and the second convex portion, close to middle locating part head locating part and tail locating part sidepiece be respectively equipped with the 3rd convex portion and
4th convex portion, when flexible body is along its axial-rotation, first of one of them middle locating part in two neighboring middle locating part
Convex portion is used to abut cooperation with the second convex portion of locating part in another, and the first of the middle locating part adjacent with head locating part is convex
Portion is used to abut cooperation with the 3rd convex portion of head locating part, and the second convex portion of the middle locating part adjacent with tail locating part is used for and tail
3rd convex portion of locating part, which abuts, to be coordinated.
8. a kind of flexible unit according to claim 7, it is characterised in that the first convex portion, the second convex portion, the 3rd convex portion and
The quantity of four convex portions corresponds to and more than one.
9. using the flexible waist of any one of the claim 1-8 flexible unit, it is characterised in that including active plate, driven
Plate and at least two flexible units, active plate and follower plate are parallel to each other and spaced, the both ends difference of flexible unit
Active plate and follower plate are removably fixed in, each flexible unit is distributed on the central axis axial symmetry of active plate.
10. flexible waist according to claim 9, it is characterised in that active plate and follower plate have multiple in circle
The mounting hole of all array distributions, mounting hole is interior to be provided with mounting platform, and the both ends of flexible unit are plugged in mounting hole and divided respectively
Not by screw lock in mounting platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610616461.0A CN106003140B (en) | 2016-07-29 | 2016-07-29 | A kind of flexible unit and flexible waist |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610616461.0A CN106003140B (en) | 2016-07-29 | 2016-07-29 | A kind of flexible unit and flexible waist |
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| CN106003140A CN106003140A (en) | 2016-10-12 |
| CN106003140B true CN106003140B (en) | 2018-03-30 |
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Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4098001A (en) * | 1976-10-13 | 1978-07-04 | The Charles Stark Draper Laboratory, Inc. | Remote center compliance system |
| GB2152473B (en) * | 1984-01-12 | 1987-01-21 | British Nuclear Fuels Ltd | Improvements in compliant devices |
| DE19509116C2 (en) * | 1995-03-16 | 2000-01-05 | Deutsch Zentr Luft & Raumfahrt | Flexible structure |
| US6792689B2 (en) * | 2003-01-08 | 2004-09-21 | Sang-Wan Joo | Remote center compliance device |
| CN2618359Y (en) * | 2003-04-29 | 2004-05-26 | 魏顶启 | Electromagnetic muscle power plant |
| US7421799B2 (en) * | 2006-06-22 | 2008-09-09 | Sang-Wan Joo | Remote center compliance device with one elastic body |
| TWI404612B (en) * | 2010-11-12 | 2013-08-11 | Ind Tech Res Inst | Remote center compliance device |
| CN105034018B (en) * | 2015-09-09 | 2017-05-10 | 深圳果力智能科技有限公司 | Flexible unit and flexible wrist for industrial robot precision assembly |
| CN205852829U (en) * | 2016-07-29 | 2017-01-04 | 深圳果力智能科技有限公司 | A kind of flexible unit and flexible waist |
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2016
- 2016-07-29 CN CN201610616461.0A patent/CN106003140B/en active Active
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| CN106003140A (en) | 2016-10-12 |
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