A parallel passive compliance device

A passive and flexible technology, applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., can solve the problems of complex branch structure, high economic cost, complicated structure, etc., and achieve the effect of simple branch structure, high economic benefit and simple structure

Active Publication Date: 2022-05-24
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The Chinese patent with the publication number CN1951645 introduces a passive compliance mechanism for automatic assembly or docking systems, which has the characteristics of large adjustment range and high flexibility, but its structure is relatively complicated, production is relatively difficult, and the economic cost is high
The Chinese patent with the publication number CN105835084A introduces a multi-dimensional passive compliance device with adjustable stiffness, which uses liquid with adjustable viscosity to achieve adjustable stiffness, and installs springs in other dimensions to meet the requirements of multiple degrees of freedom, but obviously Its structure is still relatively complicated and the manufacturing cost is high
The Chinese patent with the publication number CN106695757A introduces a parallel compliant operation device with three degrees of freedom in space. There are branches in the middle and the periphery of the parallel mechanism, but the peripheral branch structure is complicated, and the whole has only three degrees of freedom, so it is difficult to solve complex space problem
The Chinese patent with the notification number CN206633003U introduces a passive compliance device for shaft hole assembly, which consists of three sets of springs connecting the upper and lower planes. Each set of springs is composed of two springs, which are refitted from RCC and have many functions. The position and bending stiffness of the compliance center can be adjusted, but for simpler assembly occasions, there is no need to adjust the position of the compliance center, bending stiffness, or change functions such as the compliance center, so too many functions make the structure more complicated

Method used

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Embodiment 1

[0018] Please combine Figure 1 As shown, one embodiment of a parallel passive supple device provided for the present invention. The parallel passive supplexing apparatus comprises an upper platform 300, a lower platform 100, a plurality of peripheral branches connected to the upper platform 300 and the lower platform 100, an intermediate branch between the upper platform and the lower platform, the several peripheral branches are set around the intermediate branch. Wherein the lower platform 100 as a dynamic platform. In the present embodiment, the upper platform 300 and the lower platform 100 are equilateral triangle shapes. The upper platform 300 and the lower platform 100 are of the same shape and symmetrical up and down structure. There are three peripheral branches, evenly distributed around the periphery of the upper and lower platforms, that is, connected to the various corners of the platform, the intermediate branches are connected to the geometric center of the upper and...

Embodiment 2

[0020] Please combine Figure 2As shown, one embodiment of a parallel passive supple device provided for the present invention. The parallel passive supplexing apparatus comprises an upper platform 300, a lower platform 100, a plurality of peripheral branches connected to the upper platform 300 and the lower platform 100, an intermediate branch between the upper platform and the lower platform, the several peripheral branches are set around the intermediate branch. In the present embodiment, the upper platform 300 and the lower platform 100 are equilateral triangle shapes. The upper platform 300 and the lower platform 100 are of the same shape and symmetrical up and down structure. There are three peripheral branches, evenly distributed around the periphery of the upper and lower platforms, that is, connected to the various corners of the platform, the intermediate branches are connected to the geometric center of the upper and lower platforms, and each branch is in a vertical stat...

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Abstract

The invention discloses a parallel passive compliance device, which includes an upper platform, a lower platform, a peripheral branch, and a middle branch. The peripheral branch is composed of a peripheral spring and a spring fixing assembly. The middle branch may include a cylindrical subassembly and a Hooke hinge. The assembly may also include a moving sub-assembly and a ball sub-assembly. The cylinder sub-assembly or the moving sub-assembly is equipped with an intermediate spring, and the middle spring has a relatively high rigidity. Connect peripheral branches with intermediate branches. The invention is used for compensating the positioning error, and the lower platform has six degrees of freedom, and because the middle spring has a relatively high rigidity, it moves relatively slowly, which is easy to adapt to the soft assembly environment and improves the positioning accuracy.

Description

Technical field [0001] The present invention relates to a parallel passive supple device. Background [0002] The supple mechanism or supple device present in the prior art, the multi-structure is complex, and the degree of freedom achievable is not high. The supple mechanism is preferably six degrees of freedom, which can not only compensate for the positioning error, but also provide a certain spatial buffer force, in addition, the multi-degree of freedom can adapt to more error cases. The Chinese patent with publication number CN1951645 introduces a passive supple mechanism for automatic assembly or docking system, which has the characteristics of large adjustment range and high flexibility, but its structure is more complex, production and manufacturing are more difficult, and the economic cost is high. Publication number CN105835084A Chinese patent introduces a multi-dimensional passive softening device with adjustable stiffness, which uses a viscosity adjustable liquid to a...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
CPCB25J9/0045
Inventor 李成刚陈飞翔储亚东王剑岳云双
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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