CN106799728A - A kind of passive compliance device - Google Patents
A kind of passive compliance device Download PDFInfo
- Publication number
- CN106799728A CN106799728A CN201710155194.6A CN201710155194A CN106799728A CN 106799728 A CN106799728 A CN 106799728A CN 201710155194 A CN201710155194 A CN 201710155194A CN 106799728 A CN106799728 A CN 106799728A
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- CN
- China
- Prior art keywords
- torsionspring
- rotating frame
- compression spring
- handed
- dextrorotation
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- 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
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Vibration Prevention Devices (AREA)
- Prostheses (AREA)
Abstract
The invention discloses a kind of passive compliance device, including upper junction plate, three groups of elastic parts units, lower connecting plate and flange contiguous blocks；The upper surface of the upper junction plate is designed with flanged ends mouthful；The flange contiguous block is installed on lower connecting plate；Three groups of elastic parts units are uniformly distributed between upper junction plate and lower connecting plate；The elastic parts unit includes alignment pin, two pieces of inclination angle connecting plates, two pieces of base plates, one group of rubber spring unit and two groups of compression spring units；The compression spring unit includes the hypomere and compression spring assembly of the epimere being connected with upper junction plate and lower connecting plate connection；Epimere is identical with the structure of hypomere；The epimere includes dextrorotation torsionspring, rotary shaft, outer rotating frame, left-handed torsionspring and interior rotating frame.The device has that compliant range is big, decoupling performance is good, be conveniently replaceable flexible member and intermediate connector is to adjust shearing rigidity, bending stiffness and compliant control position.
Description
Technical field
The present invention relates to a kind of automatic assembling apparatus, specifically a kind of passive compliance device.
Background technology
With the development of industrial automation, automatic assembling is widely used in industrial production, wherein again with shaft hole series zero
Based on part automatic assembling.For the class in the artificial industrial robot that puts together machines of automatic assembling, general industry machine is different from
Device people, the people end that puts together machines is equipped with compliance device.Passive compliance device because its is easy to use, compliant range is larger,
Require relatively low to robot control system simultaneously and be widely used in industrial production.Most passive compliance mechanisms are applied now
It is RCC (Remote Center Compliance) mechanism.United States Patent (USP) 4098001 is by the use of metallic elastic component as elastomer
Be connected between lower platform, according to flexible member install distribution mode difference can make mechanism have diverse location it is submissive in
The heart, but because metallic elastic component deformability is smaller, in order to obtain the metal elastic that larger submissive displacement is generally needed to use
Property part size is larger, larger so as to cause passive compliance apparatus structure size, is not convenient to use.It is above-mentioned passive soft in order to improve
Along the submissive performance of device, metallic elastic component therein is replaced by rubber metal stacking rod member (Elastomer Shear
Pad, ESP), and the structure is also current commercial product structure.But because the nonlinear characteristic of ESP elastic components itself and ESP give birth to
The uniformity of all properties of product is difficult to ensure that in product, cause the passive compliance mechanism submissive performance receive one be fixed
Ring；Meanwhile, the axial force that the passive compliance mechanism can bear is smaller, it is impossible to complete the larger installation task of axial force demand.
United States Patent (USP) 67926899B2 proposes to increase axial limiting bar, for completing the offer of the axial force after preliminary submissive contraposition and holding
Receive；But the presence of gag lever post limits the compliant range of compliance device so that the device only can be suitably used for compliant range demand compared with
In small assembly work.
The content of the invention
In view of the shortcomings of the prior art, the technical problem that the present invention is intended to solve is to provide a kind of passive compliance device.The dress
Put with compliant range it is big, decoupling performance is good, be conveniently replaceable flexible member and intermediate connector is firm to have adjusted shearing rigidity, bending
Degree and compliant control position.
The technical scheme that the present invention solves the technical problem is to provide a kind of passive compliance device, including upper junction plate,
Lower connecting plate and flange contiguous block；The upper surface of the upper junction plate is designed with flanged ends mouthful；The flange contiguous block peace
Loaded on lower connecting plate；It is characterized in that the device also includes three groups of elastic parts units；Three groups of elastic parts units are equably
It is arranged between upper junction plate and lower connecting plate；The structure of three groups of elastic parts units is identical with connected mode；
The elastic parts unit include alignment pin, two pieces of inclination angle connecting plates, two pieces of base plates, one group of rubber spring unit and
Two groups of compression spring units；Two pieces of inclination angle connecting plates are connected with upper junction plate and lower connecting plate respectively, and alignment pin inclines for restriction
Position relationship between angle connecting plate and upper junction plate and lower connecting plate；Two pieces of base plates are respectively arranged in respective inclination angle connecting plate
On, alignment pin is used to limit the position relationship between base plate and inclination angle connecting plate；The rubber spring unit is located at elastic parts
The centre position of unit；The rubber spring unit is made up of two metal fixing ends with a polyurethane rubber spring, poly- ammonia
The two ends of ester rubber spring are connected with a metal fixing end respectively；Two metal fixing ends are respectively arranged in respective base plate
On；The compression spring unit is structure and identical two groups of connected mode, is installed on base plate and is symmetrically arranged in bullet
The two ends of property assembly unit；
The compression spring unit includes the hypomere and compression bullet of the epimere being connected with upper junction plate and lower connecting plate connection
Spring component；The two ends of the compression spring assembly are connected with epimere and hypomere respectively；Epimere is identical with the structure of hypomere；Institute
Stating epimere includes support plate, dextrorotation torsionspring fixed cover, dextrorotation torsionspring, copper sheathing, rotary shaft, outer rotating frame, left-handed torsion
Turn spring, left-handed torsionspring fixed cover and interior rotating frame；The compression spring assembly include slide guide block, compression spring and
Lower fixed block, the two ends of the compression spring are connected with one end of slip guide block and one end of lower fixed block respectively；The slip
The other end of guide block is installed in the central through hole of interior rotating frame of epimere, can be slided up and down along central through hole；Under described
The other end of fixed block is installed in the interior rotating frame of hypomere；Two support plates are fixed on base plate, are arranged symmetrically；Two copper sheathings
It is installed on respective support plate；The left and right sides of outer rotating frame is connected by two rotary shafts with two copper sheathings respectively, connection
Copper sheathing is separately installed with dextrorotation torsionspring and left-handed torsionspring with the outer end of two rotary shafts of outer rotating frame；Outer rotation
The front and rear both sides of framework are connected by two rotary shafts with interior rotating frame respectively；Rotating frame and outer rotating frame in connection
The outer end of two rotary shafts is separately installed with dextrorotation torsionspring and left-handed torsionspring；Dextrorotation torsionspring fixed cover is solid respectively
Due on support plate and outer rotating frame, positioned at rotary shaft shaft end；Left-handed torsionspring fixed cover is individually fixed in support plate and outward turning
Turn on framework, positioned at rotary shaft shaft end；One end of dextrorotation torsionspring is connected with rotary shaft, and the other end is consolidated with dextrorotation torsionspring
Fixed set connection；One end of left-handed torsionspring is connected with rotary shaft, and the other end is connected with left-handed torsionspring fixed cover.
Compared with prior art, beneficial effect of the present invention is：The present invention is combined using compression spring with rubber spring
Mode build the elastic parts unit of the passive compliance device so that the passive compliance device is ensureing have preferably laterally
On the basis of deforming submissive ability and the submissive ability of flexural deformation, its axial direction can be flexibly adjusted by changing compression spring and is held
Loading capability so that the passive compliance device can be used in the larger operating mode of axially mounted power demand (for example：Axis hole interference fit is filled
With).Compression spring assembly is installed on by rotary shaft and support plate and outer rotating frame and rotary shaft and outer rotating frame and interior rotation
On the class Hooke hinge seat that framework is constituted, the Hooke hinge seat ensure that passive compliance device has more preferable decoupling, have
Beneficial to completion assembly work；For connecting elastic parts unit with upper junction plate and the inclination angle connecting plate replacing side of lower connecting plate
Just, the mounted angle of elastic parts unit is conveniently adjusted, to change the compliant control position of passive compliance device so that this is passive
The axial workpiece that compliance device can be applied to different lengths is installed.Meanwhile, dextrorotation torsionspring in compression spring assembly and
Left-handed torsionspring can be changed, to adjust shearing rigidity and the compliant control position of passive compliance device.
Brief description of the drawings
Fig. 1 is a kind of overall structure axonometric schematic diagram of embodiment of passive compliance device of the present invention；
Fig. 2 is a kind of A-A directions cross section structure diagram of embodiment of passive compliance device of the present invention；
Fig. 3 is a kind of D-D directions cross section structure diagram of embodiment of passive compliance device of the present invention；
Fig. 4 is a kind of B-B directions cross section structure diagram of embodiment of passive compliance device of the present invention；
Fig. 5 is a kind of C-C directions cross section structure diagram of embodiment of passive compliance device of the present invention；(in figure：1st, upper company
Fishplate bar；2nd, elastic parts unit；3rd, lower connecting plate；4th, flange contiguous block；5th, alignment pin；6th, inclination angle connecting plate；7th, base plate；8th, prop up
Plate；9th, dextrorotation torsionspring fixed cover；10th, dextrorotation torsionspring；11st, copper sheathing；12nd, rotary shaft；13rd, outer rotating frame；14th, press
Contracting spring assembly；14.1st, guide block is slided；14.2nd, compression spring；14.3rd, lower fixed block；15th, left-handed torsionspring；16th, it is left-handed
Torsionspring fixed cover；17th, rubber spring unit；17.1st, metal fixing end；17.2nd, polyurethane rubber spring；18th, interior rotation
Framework；19th, compression spring unit)
Specific embodiment
Specific embodiment of the invention is given below.Specific embodiment is only used for further describing the present invention, does not limit
The application scope of the claims processed.
The invention provides a kind of passive compliance device (referring to Fig. 1-3, abbreviation device), including 1, three groups of bullets of upper junction plate
Property assembly unit 2, lower connecting plate 3 and flange contiguous block 4；
The upper surface of the upper junction plate 1 is designed with flanged ends mouthful, and dress is performed for external mechanical arm end etc.
Set terminal, to drive the passive compliance device to complete fittage；The flange contiguous block 4 is installed on down by hexagon socket head cap screw
On connecting plate 3, flange contiguous block 4 is used for the clamping devices such as external scroll chuck, to clamp part to be installed；Three groups of elastic parts lists
Unit is uniformly distributed between upper junction plate 1 and lower connecting plate 3, and angle is 60 ° between three groups of elastic parts units；Three groups of elasticity
The structure of assembly unit is identical with connected mode；
The elastic parts unit 2 includes 5, two pieces of alignment pin, 6, two pieces of inclination angle connecting plate, 7, one group of rubber spring list of base plate
Unit 17 and two groups of compression spring units 19；Two pieces of inclination angle connecting plates 6 by hexagon socket head cap screw respectively with upper junction plate 1 and lower connection
Plate 3 is connected, and alignment pin 5 is used to limit the position relationship between inclination angle connecting plate 6 and upper junction plate 1 and lower connecting plate 3, it is ensured that bullet
Property assembly unit 2 installation radius keep it is constant；Two pieces of base plates 7 are respectively arranged in respective inclination angle and connect by hexagon socket head cap screw
On plate 6, alignment pin 5 is used to limit the position relationship between base plate 7 and inclination angle connecting plate 6, it is ensured that its installation accuracy；The rubber
Spring unit 17 is located at the centre position of elastic parts unit 2；The rubber spring unit 17 is by two metal fixing ends 17.1
Constituted with a polyurethane rubber spring 17.2, the two ends of polyurethane rubber spring 17.2 respectively with a metal fixing end 17.1
Connection；Two metal fixing ends 17.1 are respectively arranged on respective base plate 7 by hexagon socket head cap screw；The compression spring unit
19 is structure and identical two groups of connected mode, and elasticity is installed on base plate 7 and be symmetrically arranged in by hexagon socket head cap screw
The two ends of assembly unit 2, cause elastic parts unit 2 when the power and torque of all directions is born using this kind of asymmetrical arrangement
There can be the submissive performance of identical；Rubber spring unit 17 can be changed according to requirements, to adjust passive compliance dress
The submissive performance put and compliant control position；
The compression spring unit 19 includes the hypomere and pressure of the epimere being connected with upper junction plate 1 and the connection of lower connecting plate 3
Contracting spring assembly 14；The two ends of the compression spring assembly 14 are connected with epimere and hypomere respectively；The structure of epimere and hypomere is complete
It is exactly the same；The epimere include support plate 8, dextrorotation torsionspring fixed cover 9, dextrorotation torsionspring 10, copper sheathing 11, rotary shaft 12,
Outer rotating frame 13, left-handed torsionspring 15, left-handed torsionspring fixed cover 16 and interior rotating frame 18；The compression spring set
Part 14 includes sliding guide block 14.1, compression spring 14.2 and lower fixed block 14.3, and the two ends of the compression spring 14.2 are by weldering
The one end of the mode for connecing respectively with one end and lower fixed block 14.3 for sliding guide block 14.1 is connected；It is described to slide the another of guide block 14.1
One end is installed in the central through hole of interior rotating frame 18 of epimere, can be slided up and down along central through hole；The lower fixed block
14.3 other end is installed in the interior rotating frame 18 of hypomere by hexagon socket head cap screw；Two support plates 8 pass through hexagon socket head cap screw
It is fixed on base plate 7, is arranged symmetrically；Two copper sheathings 11 are installed on respective support plate 8, the two interference fit；Outer rotating frame
13 left and right sides is connected by two rotary shafts 12 with two copper sheathings 11 respectively, connection copper sheathing 11 and the two of outer rotating frame 13
The outer end of individual rotary shaft 12 is separately installed with dextrorotation torsionspring 10 and left-handed torsionspring 15；Front and rear the two of outer rotating frame 13
Side is connected by two rotary shafts 12 with interior rotating frame 18 respectively；Connect two of interior rotating frame 18 and outer rotating frame 13
The outer end of rotary shaft 12 is separately installed with dextrorotation torsionspring 10 and left-handed torsionspring 15；Dextrorotation torsionspring fixed cover 9 leads to
Cross hexagon socket head cap screw to be individually fixed on support plate 8 and outer rotating frame 13, positioned at the shaft end of rotary shaft 12；Left-handed torsionspring is fixed
Set 16 is individually fixed on support plate 8 and outer rotating frame 13 by hexagon socket head cap screw, positioned at the shaft end of rotary shaft 12；Bullet is reversed in dextrorotation
One end of spring 10 is connected with rotary shaft 12, and the other end is connected with dextrorotation torsionspring fixed cover 9；One end of left-handed torsionspring 15
It is connected with rotary shaft 12, the other end is connected with left-handed torsionspring fixed cover 16；Rotary shaft 12 is used to connect support plate 8 with outer rotation
Framework 13 and interior rotating frame 18 and outer rotating frame 13, form class Hooke's hinge structure so that compression spring unit 19 can
Bear multidirectional power or torque；Dextrorotation torsionspring 10 and left-handed torsionspring 15 are bidirectional elastic damping structure, for adjusting
The shearing rigidity of seamless contracting spring unit 19；When the one end of compression spring unit 19 is fixed, when the other end bears cross force, bullet is compressed
Compression spring assembly 14 in spring unit 19 will be rotated axle 12 and rotate, due to the shearing rigidity of compression spring assembly 14 and curved
Stiffness is much larger than dextrorotation torsionspring 10 and the torsional rigidity of left-handed torsionspring 15, it is ensured that the horizontal stroke of compression spring assembly 14
To deformation performance.It is firm with the compression for adjusting passive compliance device by changing the compression spring 14.2 in compression spring assembly 14
Degree and compliant control position.Dextrorotation torsionspring 10 and left-handed torsionspring 15 in compression spring unit 19 can be changed,
To adjust shearing rigidity and the compliant control position of passive compliance device.By the inclination angle connecting plate 6 for changing differing tilt angles
The setting angle of elastic parts unit 2 can be changed, so as to change passive compliance device compliant control.
The operation principle and workflow of passive compliance device of the present invention be：Shaft hole series are carried out using the passive compliance device
During component assembly, device is first installed on execution equipment end (such as mechanical arm by the flanged ends mouthful of upper junction plate 1
End), and the chuck for accommodating part to be installed is installed on flange contiguous block 4.Peg-in-hole assembly and class axle are carried out using the device
During the assembling work of hole, its assembling process is commonly divided into four-stage, i.e.,：Close to stage, chamfered transition stage, rank is a little contacted
Section and two-point contact stage.
It is that the device and assembly (axle or similarity piece) are sent to and wait to pacify by robot or other operating platforms close to the stage
The process of piece installing, the process is by the center of part close to be installed for mounted piece is tried one's best or chamfering；The chamfered transition stage is
Mounted piece under the driving force that robot or other operating platforms are provided, by the compliance of the device with by chamfered section
Point；
In the chamfered transition stage, the contact force produced when assembly chamfering is in contact with part chamfering to be installed can be axle
To contact force and transverse contact forces, due to the axial rigidity of elastic parts unit 2 it is big compared to shearing rigidity (at least 5 times with
On), therefore, the deformation produced by axial force is smaller, it might even be possible to ignore, and elastic parts unit 2 is in Lateral Force
Down so that polyurethane rubber spring 17.2 produces detrusion, simultaneously because the rigidity of compression spring 14.2 is reversed much larger than dextrorotation
The rigidity of spring 10 and left-handed torsionspring 15 so that the class Hooke's hinge in elastic parts unit 2 produces rotation, so that bullet
Property assembly unit 2 produce transverse shifting, that is, produce passive compliance ability so that assembly is slipped into part hole to be installed；
Some contact phases are similar with the chamfered transition stage, and now only chamfering disappearance position a little connects with axle side
Touch, its compliance that the device is continued with the case where robot or similar performs device drive is moved down；When axle or similarity piece position
When dropping to certain depth, also be in contact for the inwall with hole by its bottom, and now assemble and just enter 2 assembling stages；
After the two-point contact stage is entered, the elastic parts unit 2 in passive compliance device will be provided under Moment
Angle regulation function so that assembly occurs without the situation of " blocking " or " wedging " in part hole to be installed, and then assembles energy
Enough proceed.When being fitted into the two-point contact stage by after the adjustment of the device, assembling process is possible to return again
Normalizing point contact phase, then the device will proceed adjustment until assembling complete.
The present invention does not address part and is applied to prior art.
Claims (5)
1. a kind of passive compliance device, including upper junction plate, lower connecting plate and flange contiguous block；The upper surface of the upper junction plate
It is designed with flanged ends mouthful；The flange contiguous block is installed on lower connecting plate；It is characterized in that the device also includes three groups
Elastic parts unit；Three groups of elastic parts units are uniformly distributed between upper junction plate and lower connecting plate；Three groups of elastic parts
The structure of unit is identical with connected mode；
The elastic parts unit includes alignment pin, two pieces of inclination angle connecting plates, two pieces of base plates, one group of rubber spring unit and two groups
Compression spring unit；Two pieces of inclination angle connecting plates are connected with upper junction plate and lower connecting plate respectively, and alignment pin is used to limit inclination angle company
Position relationship between fishplate bar and upper junction plate and lower connecting plate；Two pieces of base plates are respectively arranged on respective inclination angle connecting plate,
Alignment pin is used to limit the position relationship between base plate and inclination angle connecting plate；The rubber spring unit is located at elastic parts unit
Centre position；The rubber spring unit is made up of two metal fixing ends with a polyurethane rubber spring, polyurethane rubber
The two ends of glue spring are connected with a metal fixing end respectively；Two metal fixing ends are respectively arranged on respective base plate；Institute
Compression spring unit is stated for structure and identical two groups of connected mode, elastic parts is installed on base plate and is symmetrically arranged in
The two ends of unit；
The compression spring unit includes the hypomere and compression spring set of the epimere being connected with upper junction plate and lower connecting plate connection
Part；The two ends of the compression spring assembly are connected with epimere and hypomere respectively；Epimere is identical with the structure of hypomere；On described
Section includes support plate, dextrorotation torsionspring fixed cover, dextrorotation torsionspring, copper sheathing, rotary shaft, outer rotating frame, left-handed torsion bullet
Spring, left-handed torsionspring fixed cover and interior rotating frame；The compression spring assembly includes sliding guide block, compression spring and lower solid
Determine block, the two ends of the compression spring are connected with one end of slip guide block and one end of lower fixed block respectively；The slip guide block
The other end be installed in the central through hole of interior rotating frame of epimere, can be slided up and down along central through hole；The lower fixation
The other end of block is installed in the interior rotating frame of hypomere；Two support plates are fixed on base plate, are arranged symmetrically；Two copper sheathings are installed
In on respective support plate；The left and right sides of outer rotating frame is connected by two rotary shafts with two copper sheathings respectively, connects copper sheathing
Dextrorotation torsionspring and left-handed torsionspring are separately installed with the outer end of two rotary shafts of outer rotating frame；Outer rotating frame
Front and rear both sides be connected with interior rotating frame by two rotary shafts respectively；Connect two of interior rotating frame and outer rotating frame
The outer end of rotary shaft is separately installed with dextrorotation torsionspring and left-handed torsionspring；Dextrorotation torsionspring fixed cover is individually fixed in
On support plate and outer rotating frame, positioned at rotary shaft shaft end；Left-handed torsionspring fixed cover is individually fixed in support plate and outer rotating frame
On frame, positioned at rotary shaft shaft end；One end of dextrorotation torsionspring is connected with rotary shaft, the other end and dextrorotation torsionspring fixed cover
Connection；One end of left-handed torsionspring is connected with rotary shaft, and the other end is connected with left-handed torsionspring fixed cover.
2. passive compliance device according to claim 1, it is characterised in that angle is between three groups of elastic parts units
60°。
3. passive compliance device according to claim 1, it is characterised in that dextrorotation torsionspring and left-handed torsionspring are
Bidirectional elastic damping structure.
4. passive compliance device according to claim 1, it is characterised in that the shearing rigidity of compression spring assembly and bending
Rigidity is more than dextrorotation torsionspring and the torsional rigidity of left-handed torsionspring.
5. passive compliance device according to claim 1, it is characterised in that the passive compliance device is used for shaft hole series part
Assembling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710155194.6A CN106799728B (en) | 2017-03-16 | 2017-03-16 | Passive compliant device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710155194.6A CN106799728B (en) | 2017-03-16 | 2017-03-16 | Passive compliant device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106799728A true CN106799728A (en) | 2017-06-06 |
| CN106799728B CN106799728B (en) | 2023-04-25 |
Family
ID=58988006
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710155194.6A Active CN106799728B (en) | 2017-03-16 | 2017-03-16 | Passive compliant device |
Country Status (1)
| Country | Link |
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| CN (1) | CN106799728B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109129426A (en) * | 2018-09-25 | 2019-01-04 | 苏州富强科技有限公司 | The mounting structure of manipulator and the synchronous wheel assembly of retarder, wrist and forearm casting |
| CN109382828A (en) * | 2018-10-30 | 2019-02-26 | 武汉大学 | A kind of Robot Peg-in-Hole assembly system and method based on learning from instruction |
| CN109623868A (en) * | 2018-11-29 | 2019-04-16 | 清华大学 | Flexible adaptive device and mechanical arm |
| CN110480338A (en) * | 2019-08-28 | 2019-11-22 | 苏州大学 | A kind of compliance device of big L/D ratio peg-in-hole assembly, assembly system, assembly method |
| CN111993394A (en) * | 2020-09-08 | 2020-11-27 | 中南大学 | Passive compliance device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0994789A (en) * | 1995-09-29 | 1997-04-08 | Sekisui Chem Co Ltd | Compliance joint |
| CN104551592A (en) * | 2014-11-28 | 2015-04-29 | 中国科学院自动化研究所 | Passive smoothening device for automatic assembly or butt joint |
| CN206633003U (en) * | 2017-03-16 | 2017-11-14 | 天津工业大学 | A kind of passive compliance device |
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2017
- 2017-03-16 CN CN201710155194.6A patent/CN106799728B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0994789A (en) * | 1995-09-29 | 1997-04-08 | Sekisui Chem Co Ltd | Compliance joint |
| CN104551592A (en) * | 2014-11-28 | 2015-04-29 | 中国科学院自动化研究所 | Passive smoothening device for automatic assembly or butt joint |
| CN206633003U (en) * | 2017-03-16 | 2017-11-14 | 天津工业大学 | A kind of passive compliance device |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109129426A (en) * | 2018-09-25 | 2019-01-04 | 苏州富强科技有限公司 | The mounting structure of manipulator and the synchronous wheel assembly of retarder, wrist and forearm casting |
| CN109129426B (en) * | 2018-09-25 | 2024-03-29 | 苏州富强科技有限公司 | Mounting structure of manipulator and speed reducer synchronizing wheel assembly, wrist and forearm casting |
| CN109382828A (en) * | 2018-10-30 | 2019-02-26 | 武汉大学 | A kind of Robot Peg-in-Hole assembly system and method based on learning from instruction |
| CN109382828B (en) * | 2018-10-30 | 2021-04-16 | 武汉大学 | Robot shaft hole assembling system and method based on teaching learning |
| CN109623868A (en) * | 2018-11-29 | 2019-04-16 | 清华大学 | Flexible adaptive device and mechanical arm |
| CN110480338A (en) * | 2019-08-28 | 2019-11-22 | 苏州大学 | A kind of compliance device of big L/D ratio peg-in-hole assembly, assembly system, assembly method |
| CN110480338B (en) * | 2019-08-28 | 2020-08-25 | 苏州大学 | Compliant device, assembly system and assembly method for assembling shaft hole with large length-diameter ratio |
| CN111993394A (en) * | 2020-09-08 | 2020-11-27 | 中南大学 | Passive compliance device |
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| Publication number | Publication date |
|---|---|
| CN106799728B (en) | 2023-04-25 |
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