CN114851247B - Flexible compensator with centripetal force structure - Google Patents
Flexible compensator with centripetal force structure Download PDFInfo
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- CN114851247B CN114851247B CN202210535394.5A CN202210535394A CN114851247B CN 114851247 B CN114851247 B CN 114851247B CN 202210535394 A CN202210535394 A CN 202210535394A CN 114851247 B CN114851247 B CN 114851247B
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- 229910000831 Steel Inorganic materials 0.000 claims description 33
- 239000010959 steel Substances 0.000 claims description 33
- 238000009434 installation Methods 0.000 claims description 21
- 230000003139 buffering effect Effects 0.000 claims description 5
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 238000007906 compression Methods 0.000 description 7
- 238000009423 ventilation Methods 0.000 description 7
- 230000006835 compression Effects 0.000 description 6
- 238000007789 sealing Methods 0.000 description 6
- 238000003780 insertion Methods 0.000 description 4
- 230000037431 insertion Effects 0.000 description 4
- 210000001503 joint Anatomy 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 2
- 235000017491 Bambusa tulda Nutrition 0.000 description 2
- 241001330002 Bambuseae Species 0.000 description 2
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 239000011425 bamboo Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
The invention provides a flexible compensator with a centripetal force structure, and belongs to the technical field of error compensation devices. The flexible compensator with the centripetal force structure comprises a cover plate, an angle buffer assembly, a locking assembly and a base which are sequentially arranged from top to bottom; the angle buffer assembly comprises an angle buffer plate assembly and a tension spring, the tension spring is sleeved on the angle buffer plate assembly, and a spring locking structure is arranged on the angle buffer plate assembly; the angle buffer plate assembly is connected with the base and the cover plate respectively, and can buffer through relative rotation between the base and the cover plate through the tension spring and the angle buffer plate assembly, and can reset through the tension spring. The beneficial effects of the invention are as follows: can effectually solve among the prior art manipulator to some appear inserting work piece and station existence angle deviation unable efficient self-adaptation, can effectually carry out the self-adaptation through the setting of angle buffer assembly, make flexible compensator use more nimble.
Description
Technical Field
The invention relates to the technical field of industrial manipulator tail end clamping and industrial automation equipment loading and unloading clamping, in particular to a flexible compensator with a centripetal force structure.
Background
In the field of industrial automation equipment and industrial automation line lamp automation, workpieces are often transported by a manipulator, and when the requirements on the position degree and the actions such as precise assembly of the workpieces are high, a flexible compensator is usually required to be installed at the tail end of the industrial manipulator.
The flexible compensator in the current market has the problems of large volume, complex structure and the like, and most of the current flexible compensation only has flexible compensation of an X axis and a Y axis, and the efficient self-adaption cannot be realized for some inserted workpieces and stations due to the angle deviation, so that the flexible compensator with the centripetal force structure is provided.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides the flexible compensator with the centripetal force structure, and solves the problem that the angle deviation between an inserted workpiece and a station in the prior art cannot be effectively self-adaptive.
The invention relates to a flexible compensator with a centripetal force structure, which comprises a cover plate, an angle buffer assembly, a locking assembly and a base which are sequentially arranged from top to bottom;
the angle buffer assembly comprises an angle buffer plate assembly and at least two groups of stretching spring rings, the stretching spring rings are sleeved on the angle buffer plate assembly, a spring locking structure is arranged on the angle buffer plate assembly, multiple groups of stretching spring rings are simultaneously arranged on the spring locking structure, and the spring locking structure can prevent relative displacement between the angle buffer plate assembly and the stretching spring rings;
the angle buffer plate assembly is respectively connected with the base and the cover plate, under the cooperation among the tension spring ring, the angle buffer plate assembly and the spring locking structure, when the base is subjected to external force to generate centripetal force, the base drives the angle buffer plate assembly to rotate, and the tension spring ring deforms; when the external force is eliminated, the angle buffer plate assembly is reset through the stretching spring ring;
the locking assembly comprises a piston plate and a pin column assembly, a boss is arranged on the base, a boss cavity matched with the boss is arranged at the bottom end of the piston plate, the piston plate is sleeved on the boss through the boss cavity, an air passage is arranged on the base and communicated with the upper end face of the boss, and the pin column assembly can be driven to be linked by the up-and-down movement of the piston plate, so that the locking state and the free state between the cover plate and the base are switched.
The invention further improves, the angle buffer plate assembly comprises an upper angle buffer plate and a lower angle buffer plate, the number of the stretching spring rings is two, the two stretching spring rings are a first stretching spring ring and a second stretching spring ring respectively, and the two stretching spring rings are sleeved on the upper angle buffer plate and the lower angle buffer plate respectively.
The invention is further improved, the spring locking structure comprises a spring locking block and a notch arranged on the angle buffer plate assembly, the spring locking block is fixedly arranged in the notch through a stretching spring ring, part of the spring locking block protrudes out of the opening of the notch, and the stretching spring ring at the notch is stretched through the spring locking block.
The invention is further improved, and the lower end surface of the angle buffer component is provided with a buffer space for buffering the X-axis and Y-axis directions of the piston plate; be provided with on the angle buffer plate subassembly with round pin post subassembly complex round pin post hole, round pin post hole runs through the upper and lower terminal surface of angle buffer plate subassembly, and the round pin post subassembly sets up at the piston plate up end to the round pin post subassembly sets up in the round pin post hole.
The invention further improves, also comprises a cover plate connecting piece and a base connecting piece, wherein the upper angle buffer plate is provided with a cover plate connecting hole matched with the cover plate connecting piece, the cover plate is fixedly connected with the lower angle buffer plate by penetrating through the cover plate connecting hole through the cover plate connecting piece, the lower angle buffer plate is provided with a base connecting hole matched with the base connecting piece, and the base is fixedly connected with the upper angle buffer plate by penetrating through the base connecting hole through the base connecting piece.
According to the invention, the edges of the upper angle buffer plate and the lower angle buffer plate are respectively provided with a first spring installation groove and a second spring installation groove, the first spring installation groove and the second spring installation groove are used for positioning the positions of the stretching spring rings, the first stretching spring rings are sleeved on the first spring installation grooves, and the second stretching spring rings are sleeved on the second spring installation grooves.
The invention further improves, and also comprises a plurality of first steel balls, wherein the first steel balls are arranged between the upper angle buffer plate and the lower angle buffer plate, the first steel balls are in butt joint with the lower end surface of the upper angle buffer plate, the first steel balls are in butt joint with the upper end surface of the lower angle buffer plate, the first steel balls can play a supporting role on the upper angle buffer plate and the lower angle buffer plate, and the friction force between the upper angle buffer plate and the lower angle buffer plate can be reduced.
According to the invention, the number of the spring locking blocks is more than two groups, the number of the notches is consistent with that of the spring locking blocks, and the notches are arranged on the angle buffer plate assembly at equal intervals.
According to the invention, a spring limiting groove is formed in the spring locking block and used for limiting the position of the stretching spring ring, and the stretching spring ring is sleeved on the spring limiting groove.
The invention is further improved, the pin column assembly comprises a pin column and a second steel ball, the upper end surface of the pin column is provided with a V-shaped groove matched with the second steel ball, and the lower end surface of the cover plate is provided with a positioning groove matched with the second steel ball.
Compared with the prior art, the invention has the beneficial effects that: by adopting the mechanism, the problem that the efficient self-adaptation cannot be realized due to the fact that the angle deviation exists between the inserted workpiece and the station for some insertion by the mechanical arm in the prior art can be effectively solved, and the flexible compensator can be used more flexibly due to the fact that the angle buffer assembly is arranged.
Drawings
For a clearer description of the present application or of the solutions of the prior art, a brief introduction will be given below to the drawings used in the description of the embodiments or of the prior art, it being apparent that the drawings in the description below are some embodiments of the present application, from which other drawings can be obtained, without the inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of another view angle structure of the whole present invention;
FIG. 3 is a cross-sectional view taken along the direction A-A in FIG. 2;
FIG. 4 is a schematic diagram of an exploded construction of the present invention;
in the figure, 1-cover plate, 3-piston plate, 4-base, 5-pin assembly, 6-first steel ball, 7-limiting plate, 8-hexagon socket screw, 9-connecting pin barrel, 10-compression spring, 11-positioning groove, 12-dust step, 21-upper angle buffer plate, 22-lower angle buffer plate, 23-first tension spring ring, 24-second tension spring ring, 25-spring locking block, 26-first spring mounting groove, 27-second spring mounting groove, 28-notch, 29-first spring limiting groove, 30-second spring limiting groove, 31-boss cavity, 41-boss, 42-ventilation air passage, 43-sealing ring, 44-dust wall, 51-pin, 52-second steel ball, 211-pin hole, 212-cover plate connecting hole, 221-base connecting hole, 222-buffer boss, 223-spring through hole.
Detailed Description
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used in the description of the applications herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having" and any variations thereof in the description and claims of the present application and in the description of the figures above are intended to cover non-exclusive inclusions. The terms first, second and the like in the description and in the claims or in the above-described figures, are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
In order to better understand the technical solutions of the present application, the following description will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings.
As shown in fig. 1 to 4, the flexible compensator with the centripetal force structure of the present invention comprises a cover plate 1, an angle buffer assembly, a locking assembly and a base 4 which are sequentially arranged from top to bottom.
The locking assembly comprises a piston plate 3 and a pin assembly 5.
The locking assembly is capable of switching the locking state and the free state of the flexible compensator having a centripetal force structure.
The base 4 is provided with a boss 41, the bottom end of the piston plate 3 is provided with a boss cavity 31 matched with the boss 41, and the piston plate 3 is sleeved on the boss 41 through the boss cavity 31.
The base 4 is provided with an air passage 42, and the air passage 42 is communicated with the upper end face of the boss 41.
By inflating the ventilation air channel 42, the air flow can push the piston plate 3 upwards.
The flexible compensator with the centripetal force structure further comprises the sealing ring 43, the boss 41 is provided with a sealing installation groove, the sealing ring 43 is arranged in the sealing installation groove, and the air tightness of the boss 41 and the piston plate 3 assembly can be effectively improved through the sealing ring 43.
The piston plate 3 is provided with three groups of pin assemblies 5, and the three groups of pin assemblies 5 are arranged on the piston plate 3 at equal intervals.
The angle buffer assembly includes an angle buffer plate assembly and a tension spring coil.
The angle buffer plate assembly includes an upper angle buffer plate 21 and a lower angle buffer plate 22.
The number of tension coils is two, and the two tension coils are a first tension coil 23 and a second tension coil 24, respectively.
The angle buffer plate assembly is provided with a spring locking structure which comprises a spring locking block 25 and a notch 28 arranged on the angle buffer plate assembly.
The spring locking structure can prevent relative displacement between the angle buffer plate component and the tension spring ring.
The quantity of spring locking piece 25 is four groups, and the quantity of breach 28 is unanimous with spring locking piece 25, all is four groups, is provided with first spring mounting groove 26 on the upper angle buffer board 21 edge, is provided with second spring mounting groove 27 on the lower angle buffer board 22, and breach 28 all sets up on first spring mounting groove 26 and second spring mounting groove 27, and the opening part of the partial protrusion breach 28 of spring locking piece 25.
The notches 28 are V-shaped, and four sets of notches 28 are equally spaced apart on the first spring mounting groove 26 and the second spring mounting groove 27.
The spring locking block 25 is provided with a first spring limit groove 29 and a second spring limit groove 30, the first spring limit groove 29 is matched with the first tension spring ring 23, and the second spring limit groove 30 is matched with the second tension spring ring 24.
The first tension spring ring 23 is sleeved on the first spring mounting groove 26 and the first spring limiting groove 29, the second tension spring ring 24 is sleeved on the second spring mounting groove 27 and the second spring limiting groove 30, and the first tension spring ring 23 and the second tension spring ring 24 jointly fix the spring locking block 25 in the notch 28.
Through the opening part of the partly salient breach 28 of spring lock 25 for first stretching spring 23 and the second stretching spring 24 of breach 28 department are ejecting by spring lock 25, by the tensile, the stability that first stretching spring 23 and second stretching spring 24 set up can be improved through the setting of spring lock 25, make can not take place the displacement between angle buffer assembly and the stretching spring, receive external force to produce certain centripetal force when base 4, thereby base 4 drives down angle buffer board 22 rotation, stretching spring takes place deformation, angle buffer board 22 resets through the stretching spring when external force disappears.
The angle buffer plate assembly is provided with a pin hole 211 matched with the pin assembly 5, the pin hole 211 comprises a first pin hole arranged on the upper angle buffer plate 21 and a second pin hole arranged on the lower angle buffer plate 22, the first pin hole penetrates through the upper end face and the lower end face of the upper angle buffer plate 21, and the second pin hole penetrates through the upper end face and the lower end face of the lower angle buffer plate 22.
The pin assembly 5 is disposed in a first pin bore and a second pin bore, the second pin bore having a bore size greater than the cross section of the pin assembly.
The pin assembly 5 comprises a pin 51 and a second steel ball 52, the upper end face of the pin 51 is provided with a V-shaped groove matched with the second steel ball 52, the lower end face of the cover plate 1 is provided with a positioning groove 11 matched with the second steel ball 52, and the second steel ball 52 is placed to be positioned accurately due to the arrangement of the V-shaped groove.
By inflating the vent air channel 42, the air flow pushes the piston plate 3 upward, which moves the pin assembly 5 upward while the piston plate 3 moves upward.
In the upward movement process of the pin assembly 5, the pin 51 gradually pushes against the second steel ball 52, so that the second steel ball 52 pushes against the cover plate 1, and finally, the fixed locking between the cover plate 1 and the base 4 is realized, and shaking is not easy to occur.
The flexible compensator with the centripetal force structure further comprises a first steel ball 6, wherein the first steel ball 6 is arranged on the upper angle buffer plate 21 and the lower angle buffer plate 22, the first steel ball 6 is in butt joint with the lower end face of the upper angle buffer plate 21, and the first steel ball 6 is in butt joint with the upper end face of the lower angle buffer plate 22.
The contact area between the upper angle buffer plate 21 and the lower angle buffer plate 22 can be effectively reduced through the arrangement of the first steel balls 6, and the relative movement of the upper angle buffer plate 21 and the lower angle buffer plate 22 assembly in the angle buffer process is facilitated.
The flexible compensator with the centripetal force structure further comprises a limiting plate 7, wherein the limiting plate 7 is arranged on the upper end face of the lower angle buffer plate 22, and the movement range of the first steel balls 6 can be effectively limited through the limiting plate 7.
The flexible compensator with the centripetal force structure further comprises cover plate connecting pieces and base connecting pieces, wherein the cover plate connecting pieces and the base connecting pieces comprise connecting pin barrels 8 and inner hexagon screws 8, the base connecting pieces are three groups, the cover plate connecting pieces are inner hexagon screws 8, and the cover plate connecting pieces are three groups.
The lower angle buffer plate 22 is provided with three groups of base connecting holes 221 at equal intervals, the base 4 passes through the base connecting holes 221 through three groups of base connecting pieces to be fixedly connected with the upper angle buffer plate 21, the connecting pin barrel 9 is arranged in the base connecting holes 221, the aperture size of the base connecting holes 221 is larger than the cross section of the connecting pin barrel 9, and the base 4 passes through the connecting pin barrel 9 in the base connecting holes 221 through the socket head cap screws 8 to be fixedly connected with the upper angle buffer plate 21.
The upper angle buffer plate 21 is provided with a cover plate connecting hole 212, the lower angle buffer plate 22 is provided with a buffer part matched with the piston plate 3, the upper end of the buffer part is a buffer boss 222, the lower end of the buffer part is a buffer cavity, the piston plate 3 can move up and down in the buffer cavity, the buffer boss 222 is arranged in the cover plate connecting hole 212, the aperture size of the cover plate connecting hole 212 is larger than the cross section of the buffer boss 222, the cover plate 1 is fixedly connected with the buffer boss 222 arranged in the cover plate connecting hole 212 through three groups of cover plate connecting pieces, and the cover plate 1 is fixedly connected with the lower angle buffer plate 22 through three groups of inner hexagon screws 8.
By the buffer chamber as a buffer space for the piston plate 3, the piston plate 3 can be buffered in the X-axis and Y-axis directions in the buffer chamber when the ventilation air passage 42 is not filled with air holes.
By setting the aperture size of the base connection hole 221 to be larger than the cross section of the connection pin barrel 9, the aperture size of the cover connection hole 212 to be larger than the cross section of the buffer boss 222, and the aperture size of the second pin hole to be larger than the cross section of the pin assembly, the buffer range of providing the angle error can be effectively compensated for flexibility of the centripetal force.
The flexible compensator with the centripetal force structure further comprises a compression spring 222, a spring through hole 223 matched with the compression spring 222 is formed in the buffer boss 222, the spring through hole 223 penetrates through the upper end face and the lower end face of the buffer boss 222, one end of the compression spring 222 is arranged on the upper end face of the piston plate 3, and the other end of the compression spring 222 is in contact connection with the lower end face of the cover plate 1.
Be provided with dustproof wall 44 on the bottom plate, be provided with on the apron 1 with dustproof wall 44 complex dustproof step 12, through dustproof wall 44 and dustproof step 12's cooperation can effectually solve debris and fly into inside the product, lead to the product to use the problem that breaks down.
The application method of the flexible compensator with the centripetal force structure provided by the embodiment is as follows: the embodiment of the invention provides a method for realizing high-efficiency self-adaption to some stations with deviation of placement angles.
The flexible compensator with centripetal force structure is mounted at the end of the manipulator.
When the manipulator clamps and carries a workpiece, the ventilation air passage 42 of the base 4 is ventilated, the air flow pushes the piston plate 3 upwards, the piston plate 3 moves in the buffer cavity, and the piston plate 3 synchronously drives the pin assembly 5 to move upwards, so that the pin 51 jacks up the second steel balls 52, the compression spring 222 is gradually compressed, and the second steel balls are gradually clamped into the positioning groove 11.
When the second steel ball is completely clamped into the positioning groove 11 on the cover plate 1, the flexible compensator with the centripetal force structure is in a locking state.
When the manipulator is ready to insert a workpiece into a station, the ventilation air duct 42 is subjected to air interruption, the piston plate 3 is reduced downwards due to the gravity action of the compression springs 222 and the piston plate 3, and the piston plate 3 can perform displacement buffering in the X-axis and Y-axis directions in the buffer cavity.
After the gas interruption is finished, the manipulator inserts the workpiece into the station, and the workpiece continuously adjusts and adjusts errors in the horizontal direction due to the matching of the buffer cavity and the piston plate 3, when errors of the installation angle of the station and the workpiece occur, the station can apply an angle correction force to the base 4, so that the base generates centripetal force, and the base drives the angle buffer plate 22 to rotate and adjust.
Due to the fact that the spring locking blocks 25 are arranged between the first stretching spring ring 23 and the second stretching spring ring 24, and the lower angle buffer plate 22 and the upper angle buffer plate 21 rotate relatively, the first stretching spring ring 23 and the second stretching spring ring 24 deform, so that a workpiece is buffered in installation angle, errors of installation angles of a station and the workpiece are made up, and a manipulator is better protected when the station is correctly inserted.
When the workpiece is inserted, the manipulator loosens the workpiece, and the first tension spring ring 23 and the second tension spring ring 24 reset due to the cooperation of the first tension spring ring 23 and the second tension spring ring 24 and the spring locking block 25, and meanwhile, the piston plate 3 resets in the X axis and Y axis directions, so that the flexible compensator is reset integrally.
And after the resetting is finished, continuing to ventilate the ventilation holes 42, then performing air-break operation on the ventilation air passages 42, finally performing error compensation, finally finishing the insertion of the workpiece once, and repeating the steps to realize the flexible compensation of the workpiece insertion station.
From the above, the beneficial effects of the invention are as follows: by adopting the mechanism, the problem that the efficient self-adaptation cannot be realized due to the fact that the angle deviation exists between the inserted workpiece and the station for some insertion by the mechanical arm in the prior art can be effectively solved, and the flexible compensator can be used more flexibly due to the fact that the angle buffer assembly is arranged.
In the above embodiment, the number of the tension springs is two, the two tension springs are the first tension spring 23 and the second tension spring 24, the edge of the upper angle buffer plate 21 is provided with the first spring installation groove 26, the lower angle buffer plate 22 is provided with the second spring installation groove 27, the spring locking block 25 is provided with the first spring limit groove 29 and the second spring limit groove 30, the first tension spring 23 is sleeved on the first spring installation groove 26 and the first spring limit groove 29, the second tension spring 24 is sleeved on the second spring installation groove 27 and the second spring limit groove 30, the first tension spring 23 and the second tension spring 24 fix the spring locking block 25 in the notch 28 together, it is obvious that the two tension springs are sleeved on the spring locking block 25 through the structure to realize the base rotation, the tension spring deformation and the external force vanishing reset function, the number of the tension springs can be also set three, four or five groups, and so on, according to the actual situation, the technical effect of the scheme can be realized as well.
In the above-mentioned embodiment, the upper angle buffer plate 21 is provided with the apron connecting hole 212, the aperture size of apron connecting hole 212 is greater than the cross section of buffering boss 222, apron 1 is through three sets of apron connecting pieces and the buffering boss 222 fixed connection of setting in apron connecting hole 212, apron 1 is through three sets of socket head cap screws 8 and lower angle buffer plate 22 fixed connection, equidistant three sets of base connecting hole 221 on the lower angle buffer plate 22, the aperture size of base connecting hole 221 is greater than the cross section of connecting pin section of thick bamboo 9, the base 4 passes connecting pin section of thick bamboo 9 and the upper angle buffer plate 21 fixed connection in the base connecting hole 221 through socket head cap screws 8, it is obvious that the mode of being connected with apron 1 and base 4 respectively through this structure realizes angle buffer plate subassembly, still can adopt apron 1 and upper angle buffer plate 21 to be connected, base 4 and lower angle buffer plate 22 are connected, central point between upper angle buffer plate 21 and the lower angle buffer plate 22 movable is put and is connected with a spacing spliced pole, upper angle buffer plate 21 and lower angle buffer plate 22 homoenergetic use spacing spliced pole to rotate as the center, spacing spliced pole is used for realizing between the same angle buffer plate 21 and the upper angle range of upper buffer plate 22.
The above embodiments are preferred embodiments of the present invention, and are not intended to limit the scope of the present invention, which includes but is not limited to the embodiments, and equivalent modifications according to the present invention are within the scope of the present invention.
Claims (10)
1. A flexible compensator having a centripetal force structure, characterized by: comprises a cover plate, an angle buffer assembly, a locking assembly and a base which are sequentially arranged from top to bottom;
the angle buffer assembly comprises an angle buffer plate assembly and at least two groups of stretching spring rings, the stretching spring rings are sleeved on the angle buffer plate assembly, a spring locking structure is arranged on the angle buffer plate assembly, multiple groups of stretching spring rings are simultaneously arranged on the spring locking structure, and the spring locking structure can enable relative displacement between the angle buffer plate assembly and the stretching spring rings not to occur;
the angle buffer plate assembly is respectively connected with the base and the cover plate, under the cooperation of the tension spring ring, the angle buffer plate assembly and the spring locking structure, when the base is subjected to external force to generate centripetal force, the base drives the angle buffer plate assembly to rotate, and the tension spring ring deforms; when the external force is eliminated, the angle buffer plate assembly is reset through the stretching spring ring;
the locking assembly comprises a piston plate and a pin assembly, a boss is arranged on the base, a boss cavity matched with the boss is arranged at the bottom end of the piston plate, the piston plate is sleeved on the boss through the boss cavity, an air passage is arranged on the base and communicated with the upper end face of the boss, and the pin assembly can be driven to be linked by moving up and down through the air passage, so that the locking state and the free state between the cover plate and the base can be switched.
2. The flexible compensator with centripetal force structure of claim 1, wherein: the angle buffer plate assembly comprises an upper angle buffer plate and a lower angle buffer plate, the number of the stretching spring rings is two, the two stretching spring rings are respectively a first stretching spring ring and a second stretching spring ring, and the two stretching spring rings are respectively sleeved on the upper angle buffer plate and the lower angle buffer plate.
3. The flexible compensator with centripetal force structure of claim 1, wherein: the spring locking structure comprises a spring locking block and a notch arranged on the angle buffer plate assembly, the spring locking block is fixedly arranged in the notch through the tension spring ring, and the spring locking block protrudes out of the opening of the notch, and the tension spring ring at the notch is stretched through the spring locking block.
4. The flexible compensator with centripetal force structure of claim 1, wherein: the lower end face of the angle buffer assembly is provided with a buffer space for buffering the piston plate in the X-axis and Y-axis directions; the angle buffer plate assembly is provided with a pin hole matched with the pin assembly, the pin hole penetrates through the upper end face and the lower end face of the angle buffer plate assembly, the pin assembly is arranged on the upper end face of the piston plate, and the pin assembly is arranged in the pin hole.
5. The flexible compensator with centripetal force structure of claim 2, wherein: still include apron connecting piece and base connecting piece, go up be provided with on the angle buffer board with apron connecting piece complex apron connecting hole, the apron passes through the apron connecting piece pass the apron connecting hole with angle buffer board fixed connection down, be provided with on the angle buffer board down with base connecting piece complex base connecting hole, the base passes through the base connecting piece pass the base connecting hole with go up angle buffer board fixed connection.
6. The flexible compensator with centripetal force structure of claim 2, wherein: the upper angle buffer plate and the lower angle buffer plate are respectively provided with a first spring installation groove and a second spring installation groove on the edges, the first spring installation groove and the second spring installation groove are used for positioning the positions of the tension spring rings, the first tension spring rings are sleeved on the first spring installation grooves, and the second tension spring rings are sleeved on the second spring installation grooves.
7. The flexible compensator with centripetal force structure of claim 2, wherein: still include a plurality of first steel balls, first steel ball sets up go up between angle buffer board and the lower angle buffer board, first steel ball with the terminal surface butt under the angle buffer board, first steel ball with lower angle buffer board up end butt, through first steel ball can be right play the supporting role between angle buffer board and the lower angle buffer board, and can reduce go up the frictional force between angle buffer board and the lower angle buffer board.
8. A flexible compensator having a centripetal force structure according to claim 3, wherein: the number of the spring locking blocks is more than two groups, the number of the notches is consistent with that of the spring locking blocks, and the notches are arranged on the angle buffer plate assembly at equal intervals.
9. A flexible compensator having a centripetal force structure according to claim 3, wherein: the spring locking block is provided with a spring limiting groove, the spring limiting groove is used for limiting the position of the stretching spring ring, and the stretching spring ring is sleeved on the spring limiting groove.
10. The flexible compensator with centripetal force structure of claim 4, wherein: the pin assembly comprises a pin and a second steel ball, the upper end face of the pin is provided with a V-shaped groove matched with the second steel ball, and the lower end face of the cover plate is provided with a positioning groove matched with the second steel ball.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210535394.5A CN114851247B (en) | 2022-05-17 | 2022-05-17 | Flexible compensator with centripetal force structure |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210535394.5A CN114851247B (en) | 2022-05-17 | 2022-05-17 | Flexible compensator with centripetal force structure |
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| CN114851247A CN114851247A (en) | 2022-08-05 |
| CN114851247B true CN114851247B (en) | 2024-01-12 |
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Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| DE102008051628A1 (en) * | 2008-10-19 | 2010-04-22 | Philipp, Steffen | Apparatus and method for routing utility lines along the structure of an industrial robot |
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| JP2013086793A (en) * | 2011-10-21 | 2013-05-13 | Hugo Kern & Liebers Gmbh & Co Kg Platinen- & Federnfabrik | Seatbelt-retracting device |
| WO2014190764A2 (en) * | 2013-06-01 | 2014-12-04 | Liu Suhua | Extraction machine connection rod built-in reciprocating-impact extraction portion |
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| CN114851247A (en) | 2022-08-05 |
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