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
- Publication number
- 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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- Prior art keywords
- cam
- boom
- elastic
- elastic boom
- ejection pin
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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
-
- 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- 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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
- Transmission Devices (AREA)
Abstract
A kind of adjustable passive compliant device for component automatic assembling, including：The cam ejection pin mechanism and plane unfolding mechanism being respectively arranged at the top and bottom of fixed platform, the elastic boom that one end is rotatablely connected respectively with fixed platform and plane unfolding mechanism and the moving platform with the rotation connection of the elastic boom other end, elastic boom rotation is driven by the cam ejection pin mechanism of harmonic speed reducer driving, realizes elastic boom change of pitch angle.The present invention realizes that the centre of compliance of passive compliant device is adjusted by cam ejection pin mechanism, by realizing small rigidity property using revolute pair and universal hinge at elastic boom both ends, realize that passively complying with the easy of performance controls by designing cam-shaped line, so as to fulfill the centre of compliance along the wider adjusting of device central axis z-axis, comply with performance more preferably, it is easy to control accurate.The present invention is compact-sized, control is easy accurately, load-carrying properties are good, rigidity is small, centre of compliance adjustable extent is big.
Description
Technical field
It is specifically a kind of for hole axle precision assembly between component the present invention relates to a kind of equipment in mounting technology field
Adjustable rigidity property passive compliant device.
Background technology
The accurate hole axle assembling such as assembling needs rigidity assembling equipment between the assembling of fanjet low-pressure turbine shaft, large component
With high positioning accuracy, in case rigid contact abrades component.Positioning accuracy can not meet demand when, can use it is remote in
The passive compliant device of the heart ensures component passive security.There is rigidity decoupling performance, compensation Assembly Interference does not generate at the centre of compliance
Other interference.But performance adjustable range is small, and centre of compliance rigidity is excessively high, degree of regulation is low with complying with for existing passive compliant device
The deficiencies of.For this problem, it is adjustable, easy to control, compact-sized reliable, firm on a large scale that design one kind is suitable for the centre of compliance
The adjustable passive compliant device that degree performance suitably reduces.
Invention content
The present invention can not accurately adjust the centre of compliance in real time for existing apparatus, and rigidity is big, is not suitable for ensureing accurate dress
The defects of passive security matched, proposes a kind of adjustable passive compliant device for component automatic assembling, passes through cam follower
Mechanism realizes that the centre of compliance of passive compliant device is adjusted, by small using revolute pair and universal hinge realization at elastic boom both ends
Rigidity property realizes that passively complying with the easy of performance controls, so as to fulfill the centre of compliance along device by designing cam-shaped line
The wider adjusting of mandrel line z-axis, complies with performance more preferably, easy to control accurate.The present invention is compact-sized, control is easy accurately,
Load-carrying properties are good, rigidity is small, centre of compliance adjustable extent is big.
The present invention is achieved by the following technical solutions：
The present invention includes：The cam ejection pin mechanism and plane unfolding mechanism being respectively arranged at the top and bottom of fixed platform, one
Elastic boom that end is rotatablely connected respectively with fixed platform and plane unfolding mechanism and with the rotation connection of the elastic boom other end
Moving platform drives elastic boom rotation by the cam ejection pin mechanism of harmonic speed reducer driving, realizes elastic boom change of pitch angle.
The cam ejection pin mechanism includes：The mandril sliding block machine that motor, harmonic speed reducer, cam and four are radially set
Structure, wherein：Harmonic speed reducer is connected with motor output shaft, and the mandril of mandril slide block mechanism is in contact with cam, and sliding block is set to
Fixed platform sliding rail, cam are set to fixed platform center.
The planar development mechanism includes：Two groups of each four L-shaped connecting rods, wherein：Every group of L-shaped connecting rod head and the tail are rotatablely connected
Closed loop is formed, the centre of L-shaped connecting rod is equipped with revolute pair and the totally eight revolute pairs corresponding rotation connection two-by-two of two groups of L-shaped connecting rods, and two
Totally four head and the tail rotating joints pass through revolute pair and the mandril slide block mechanism phase in cam ejection pin mechanism respectively in group L-shaped connecting rod
Even.
The elastic boom includes：The boom body and elastic parts of G character form structures, wherein：The both ends of elastic parts point
It is not connected with one end of boom body and middle part, middle part and the fixed platform of boom body are rotatablely connected, described one end and plane developing machine
Structure is rotatablely connected, and the other end is rotatablely connected with moving platform, and specifically, elastic boom passes through revolute pair and cam ejection pin mechanism sliding block
Upper rotation counter-base is connected；Planar development mechanism is connected by revolute pair with one end of elastic boom；The elastic boom other end passes through
Universal hinge or revolute pair are connected with moving platform.
The cam, shape line radius have linear transitive relation with rotational angle.
The harmonic speed reducer has the transmission of higher reduction ratio, higher precision and smooth-going.
Technique effect
Compared with prior art, the present invention realizes passive compliant device using the mandril sliding block of cam driven and complies with performance
Real-time adjusting, ensure that device has the centre of compliance using planar development mechanism, improved using revolute pair or universal hinge passive suitable
Performance is answered to realize small rigidity, wherein：The centre of compliance is located on the outside of moving platform, rigidity decoupling at the centre of compliance.The device can be real
Now long hole axle precision assembly reduces positioning accuracy demand, realizes accurate hole axle assembling.
Description of the drawings
Fig. 1 is side view a of the present invention and vertical view b；
Fig. 2 just waits side views for the present invention；
Side view when Fig. 3 is present invention expansion；
Vertical view when Fig. 4 is present invention expansion, hides cam and fixed platform；
Fig. 5 is the side view when present invention is shunk；
Fig. 6 is the vertical view when present invention is shunk, and hides cam and fixed platform；
Fig. 7 is planar development mechanism of the present invention structure；
Fig. 8 is compliant device simplified model and Brace allocation；
Fig. 9 is compliant device rigidity property；
In figure：Cam follower 1, sliding block 2, sliding rail 3, fixed platform 4, rotation counter-base 5, upper pendulum bar 6, catch 7, Flexible element 8,
Connection sheet 9, draft link 10, rotation counter-base 11, moving platform 12, rotation counter-base 13, cradle head 14, planar development mechanism 15, L-shaped
Connecting rod 16, cradle head 17, harmonic speed reducer 18, cam 19, motor 20, cradle head 21, cradle head 22.
Specific embodiment
As shown in Figure 1, 2, the present embodiment includes：Cam follower 1, sliding block 2, sliding rail 3, fixed platform 4, rotation counter-base 5, upper pendulum
Bar 6, catch 7, Flexible element 8, connection sheet 9, draft link 10, U counter-bases 11, moving platform 12, rotation counter-base 13, cradle head 14,
Planar development mechanism 15, cradle head 17, harmonic speed reducer 18, cam 19, motor 20, cradle head 21, turns L-shaped connecting rod 16
Movable joint 22.
The cam ejection pin mechanism includes：Cam follower 1, sliding block 2, sliding rail 3, cam 19, harmonic speed reducer 18, electricity
Machine 20.
The elastic boom includes：Rotate counter-base 5, upper pendulum bar 6, catch 7, Flexible element 8, connection sheet 9, draft link
10, the upper end of elastic boom is connected by rotating counter-base 5 with sliding block 2, and lower end is connected by U counter-bases 11 with moving platform 12.
The planar development mechanism 11 includes eight L-shaped connecting rods 16, wherein：Revolute pair connects between 16 end of L-shaped connecting rod
Cradle head 21,22 is formed, is connected between 16 midpoint of L-shaped connecting rod and forms cradle head 21；Cradle head 21 is by revolute pair with turning
Movable joint 14 connects, and cradle head 14 is connect by revolute pair with rotation counter-base 13.
As shown in fig. 3 to 7, the present apparatus expansion and shrink by motor 6 drive cam ejection pin mechanism 1 realize, on mandril 7
Under revolute pair and U pairs for coordinating the amount of feeding, 3 stress of planar development mechanism is functioned as and is locked when motor 6 is not fed
7 top revolute pair of mandril.The motor 6 is inputted as driving, driving device movement.By adjusting link angle, end is realized
Different-stiffness performance on moving platform 5, realization passively comply with assembling.
The cam ejection pin mechanism 1 and elastic boom 7 have the arrangement form of circumference array distribution.
In the present embodiment, by designing parameters and the bullets such as cam ejection pin mechanism, material, the size of changing elastic element 8
Property 7 length of sunpender can be changed in different-stiffness performance.
It is as shown in Figure 8 and Figure 9 passive compliant device simplified model and rigidity property, PE represents centre of compliance distance,
Above-mentioned specific implementation can by those skilled in the art under the premise of without departing substantially from the principle of the invention and objective with difference
Mode carry out local directed complete set to it, protection scope of the present invention is subject to claims and not by above-mentioned specific implementation institute
Limit, each implementation within its scope is by the constraint of the present invention.
Claims (3)
1. a kind of adjustable passive compliant device for component automatic assembling, which is characterized in that including：It is respectively arranged at and allocates
Cam ejection pin mechanism and plane unfolding mechanism at the top and bottom of platform, one end connect respectively with fixed platform and the rotation of plane unfolding mechanism
The elastic boom connect and the moving platform being rotatablely connected with the elastic boom other end, the cam follower machine driven by harmonic speed reducer
Structure drives elastic boom rotation, realizes elastic boom change of pitch angle；
The cam ejection pin mechanism includes：The mandril slide block mechanism that motor, harmonic speed reducer, cam and four are radially set,
Wherein：Harmonic speed reducer is connected with motor output shaft, and the mandril of mandril slide block mechanism is in contact with cam, and sliding block, which is set to, to be allocated
Platform sliding rail, cam are set to fixed platform center；
The planar development mechanism includes：Two groups of each four L-shaped connecting rods, wherein：Every group of L-shaped connecting rod head and the tail rotation connection composition
Closed loop, the centre of L-shaped connecting rod is equipped with revolute pair and the totally eight revolute pairs corresponding rotation connection two-by-two of two groups of L-shaped connecting rods, two groups of L-shaped
Totally four head and the tail rotating joints are connected respectively by revolute pair with the mandril slide block mechanism in cam ejection pin mechanism in connecting rod；
The elastic boom includes：The boom body and elastic parts of G character form structures, wherein：The both ends of elastic parts respectively with
One end and middle part of boom body are connected, and middle part and the fixed platform of boom body are rotatablely connected, and described one end turns with planar development mechanism
Dynamic connection, the other end are rotatablely connected with moving platform.
2. according to claim 1 be adjusted passive compliant device, it is characterized in that, in the elastic boom：Elastic lifting
Bar is connected by revolute pair with rotating counter-base on cam ejection pin mechanism sliding block；Planar development mechanism passes through revolute pair and elastic boom
One end be connected；The elastic boom other end is connected by universal hinge or revolute pair with moving platform.
3. it is according to claim 1 be adjusted passive compliant device, it is characterized in that, the cam, shape line radius with
Rotational angle has linear transitive relation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610972110.3A CN106425366B (en) | 2016-11-04 | 2016-11-04 | For the adjustable passive compliant device of component automatic assembling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610972110.3A CN106425366B (en) | 2016-11-04 | 2016-11-04 | For the adjustable passive compliant device of component automatic assembling |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106425366A CN106425366A (en) | 2017-02-22 |
| CN106425366B true CN106425366B (en) | 2018-06-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610972110.3A Active CN106425366B (en) | 2016-11-04 | 2016-11-04 | For the adjustable passive compliant device of component automatic assembling |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110216551B (en) * | 2019-06-26 | 2021-03-26 | 华中科技大学 | Active-passive compliant polishing tail end |
| CN111922686B (en) * | 2020-06-24 | 2021-07-30 | 中研技术有限公司 | Auxiliary detection equipment for assembling electromagnetic brake |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8151660B2 (en) * | 2007-02-23 | 2012-04-10 | RPY Motion, Inc. | Three axes rotational motion-positioning apparatus |
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2016
- 2016-11-04 CN CN201610972110.3A patent/CN106425366B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 | Publication date |
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| CN106425366A (en) | 2017-02-22 |
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