Compensation device and robot

Abstract

The present invention provides a compensation device, including an input member, a ball head, a ball cage bottom, and an output member, wherein the input member is provided with a spherical groove, the ball head includes a spherical portion and a connecting portion, the spherical portion is connected to the connecting portion, the spherical portion is spherical, the spherical portion is arranged in the spherical groove, the connecting portion is connected to the output member, the ball cage bottom is located between the input member and the output member, and the ball cage bottom is fixedly connected to the input member, the ball cage bottom is provided with a first annular through hole, the inner wall of the first annular through hole is adapted to the shape of the spherical portion, the diameter of the first annular through hole on the side close to the input member is larger than the diameter of the first annular through hole on the side close to the output member, and the diameter of the first annular through hole on the side close to the input member is smaller than the diameter of the spherical portion. The compensation device of the present invention can improve production efficiency.

Description

Technical Field

[0001] The invention relates to the field of automation technology, and in particular to a compensation device and a robot. Background Art

[0002] With the popularization of industrial automation, the simple discrete processing of a single machine is gradually transformed into complex flexible collaborative operations of multiple stations, which involves the transfer or acceptance of materials between stations or mechanisms. For the transfer or acceptance of materials between stations or mechanisms, due to errors in processing or installation, there is often a problem that materials or transfer mechanisms cannot be adapted one by one.

[0003] Taking the six-axis robot as an example, the six-axis robot is highly flexible and occupies a relatively small area compared to the gantry frame structure. The application occasions of the six-axis robot are becoming more and more extensive. The typical application scenario is the robot loading and unloading application. The six-axis robot is equipped with a fixture for handling and positioning the workpiece, which transports the workpiece between the material warehouse and the workstation or between the workstations. Since the moving trajectory of the six-axis robot is formed by six-axis fitting, the positioning accuracy is basically between 0.08-0.15mm. If the workpiece is directly inserted into the positioning pin of the workstation by the six-axis robot fixture, the difficulty lies in that the pin hole of the workpiece cannot be guaranteed to be coaxial with the positioning pin of the workstation. If there is a slight deviation, it is difficult for the workpiece to be inserted into the workstation pin shaft. If it is forced into place, it will damage the six-axis robot, the workpiece or the fixture. Therefore, the teaching position of the six-axis robot and the grasping position of the workpiece are required to have high precision. When applied in large quantities, the grasping position is also required to have high consistency, otherwise the robot needs to be taught and adjusted every time a workpiece is grasped. In addition, after the six-axis robot has been running for a long time, the temperature of the transmission components will rise, which will cause the positioning accuracy to drift. Then the subsequent workpieces will no longer be able to be smoothly inserted into the locating pins of the workstation. At the same time, factors such as changes in ambient temperature, robot wear, vibration and impact of the surrounding or body, loose fasteners, foundation settlement, etc. will cause the robot's positioning accuracy to drift. Because most of the factors change over time and cannot be detected and avoided in a short period of time, when the workpiece cannot be normally inserted into the workstation locating pins at a high frequency, people will realize the problem of robot positioning accuracy drift.

[0004] At present, when the positioning accuracy of a six-axis robot drifts, the six-axis robot is usually taught to restore the positioning accuracy, which is time-consuming and laborious, and has high technical requirements for operators. In addition, the frequency of re-teaching is high, which affects production efficiency. If the robot needs to carry workpieces between multiple stations, then after the positioning accuracy of the six-axis robot drifts, it is necessary to teach and correct the grasping points of multiple stations, which is difficult and time-consuming.

[0005] Therefore, there is an urgent need for a compensation device to compensate for the positioning accuracy of the six-axis robot to prevent the positioning accuracy drift of the six-axis robot from affecting production efficiency. Summary of the invention

[0006] The object of the present invention is to provide a compensation device and a robot to solve the problem that the positioning accuracy drift of the robot causes the workpiece to be unable to be smoothly inserted into the positioning pin of the workstation, thereby affecting the production efficiency.

[0007] In order to solve the above technical problems, the present invention provides a compensation device, including an input member, a ball head, a ball cage lower, and an output member, the input member is provided with a spherical groove, the ball head includes a spherical portion and a connecting portion, the spherical portion and the connecting portion are connected, the spherical portion is spherical, the spherical portion is arranged in the spherical groove, the connecting portion is connected to the output member, the ball cage lower is located between the input member and the output member, and the ball cage lower is fixedly connected to the input member, the ball cage lower is provided with a first annular through hole, the inner wall of the first annular through hole is adapted to the shape of the spherical portion, the diameter of the first annular through hole close to the input member is larger than the diameter of the first annular through hole close to the output member, and the diameter of the first annular through hole close to the input member is smaller than the diameter of the spherical portion.

[0008] Optionally, a first limiting groove is provided at the bottom of the spherical groove, and the ball head has a first piston hole passing through the ball head. The compensation device also includes a deflection centering piston and a first driving member. The deflection centering piston is arranged in the first piston hole, and the deflection centering piston is slidingly connected to the ball head. The first driving member is used to drive the deflection centering piston to reciprocate axially in the first piston hole. The end of the deflection centering piston close to the input member is provided with a first limiting protrusion that cooperates with the first limiting groove.

[0009] Optionally, the first limiting protrusion is in the shape of a bevel gear, and the first limiting groove includes a plurality of V-shaped grooves matching with the first limiting protrusion.

[0010] Optionally, the first piston hole is cylindrical, the compensation device also includes a limit key, a first keyway is provided on the deflection centering piston, a second keyway is provided on the inner wall of the first piston hole, and the limit key is provided in the first keyway and the second keyway.

[0011] Optionally, it also includes a ball cage, which is located between the input piece and the bottom of the ball cage and fixedly connected to the input piece, and a second annular through hole is opened on the ball cage, and the inner wall of the second annular through hole is adapted to the shape of the spherical portion, and the diameter of the second annular through hole close to the input piece is smaller than the diameter of the second annular through hole close to the output piece, and the diameter of the second annular through hole close to the output piece is smaller than the diameter of the spherical portion.

[0012] Optionally, the input member includes an input plate and a ball lock, the input plate is provided with a second piston hole, the ball lock is arranged in the second piston hole, the ball lock can reciprocate along the axis in the second piston hole, the spherical groove is provided on a side surface of the ball lock close to the output member, and the compensation device also includes a second driving member, and the second driving member is used to drive the ball lock to move in the second piston hole in a direction close to the output member.

[0013] Optionally, it also includes a main body and a transition plate, wherein the main body is fixedly connected to the connecting part, the main body and the transition plate are slidably connected, the transition plate and the output member are slidably connected, and the transition plate can move along a first direction relative to the main body, and the output member can move along a second direction relative to the transition plate, wherein the first direction is perpendicular to the second direction.

[0014] Optionally, the output member is provided with a second limiting groove, the main body is provided with a third piston hole passing through the main body, the transition plate is provided with a transition hole passing through the transition plate, the compensation device also includes a linear centering piston and a third driving member, the linear centering piston is arranged in the third piston hole and the fourth piston, the third driving member is used to drive the linear centering piston to reciprocate axially in the third piston hole and the transition hole, and the end of the linear centering piston close to the output member is provided with a second limiting protrusion matching the second limiting groove.

[0015] Optionally, it also includes a locking piston and a fourth driving member, wherein an annular locking groove is provided at one end of the main body facing the output member, and the maximum diameter of the locking groove is smaller than the diameter of the transition hole, and the locking piston is located in the locking groove. The fourth driving member is used to drive the locking piston to move in the locking groove along the axis of the locking groove toward the output member, and is used to press the end face of the locking piston facing the output member against the output member.

[0016] The present invention also provides a robot, comprising a six-axis flange surface, a handling fixture and the above-mentioned compensation device, wherein the compensation device comprises an input piece, a ball head, a ball cage bottom, and an output piece, wherein the input piece is provided with a spherical groove, the ball head comprises a spherical portion and a connecting portion, the spherical portion is connected to the connecting portion, the spherical portion is spherical, the spherical portion is arranged in the spherical groove, the connecting portion is connected to the output piece, the ball cage bottom is located between the input piece and the output piece, and the ball cage bottom is fixedly connected to the input piece, a first annular through hole is provided in the ball cage bottom, the inner wall of the first annular through hole is adapted to the shape of the spherical portion, the diameter of the first annular through hole on the side close to the input piece is larger than the diameter of the first annular through hole on the side close to the output piece, and the diameter of the first annular through hole on the side close to the input piece is smaller than the diameter of the spherical portion, the input piece is used to be fixedly connected to the six-axis flange surface of the robot, and the output piece is used to be fixedly connected to the handling fixture.

[0017] The compensation device and robot provided by the present invention have the following beneficial effects:

[0018] First, since the input member is provided with a spherical groove, the spherical portion is spherical, the spherical portion is arranged in the spherical groove, the ball cage lower is located between the input member and the output member, and the ball cage lower is fixedly connected to the input member, and the ball cage lower is provided with a first annular through hole, the inner wall of the first annular through hole is adapted to the shape of the spherical portion, the diameter of the first annular through hole close to the input member is larger than the diameter of the first annular through hole close to the output member, and the diameter of the first annular through hole close to the input member is smaller than the diameter of the spherical portion, therefore, the ball head can be restricted between the input member and the ball cage lower, and the ball head can rotate relative to the input member and the ball cage lower. Since the spherical portion is connected to the connecting portion, and the connecting portion is connected to the output member, the output member can rotate relative to the input member. In this way, when the handling fixture and the six-axis flange surface of the robot are deflected, since the output member can rotate relative to the input member, the deflection can be compensated, thereby avoiding the handling fixture being unable to smoothly insert the workpiece into the locating pin of the workstation due to the deflection of the handling fixture and the six-axis flange surface of the robot, thereby improving production efficiency.

[0019] Secondly, the compensation device provided by the present invention can reduce the relative position accuracy requirements between components that need to be positioned with each other in the application scenario of two-to-two docking, greatly reduce the difficulty of debugging or teaching, improve processing efficiency, and avoid damage to components with eccentricity or offset during docking. At the same time, since the compensation device has a position locking function, when the six-axis robot adopts the compensation device of the present invention and then grabs the workpiece, the compensation device can be switched from a free state to a locked state, thereby keeping the relative position of the workpiece and the six-axis robot unchanged. In this way, the workpiece can be prevented from shaking relative to the six-axis robot, and the position of the workpiece relative to the six-axis robot can be kept unchanged, thereby keeping the position of the workpiece relative to the six-axis robot unchanged each time it is grabbed, and after grabbing the workpiece from the workstation, the workpiece can be accurately placed in the workstation. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a top view of a compensation device in an embodiment of the present invention;

[0021] Figure 2 yes Figure 1 The cross-sectional view of the compensation device along the AA line in the centering and zeroing state;

[0022] Figure 3 yes Figure 1 A cross-sectional view of the compensation device along line BB in the centering and zeroing state;

[0023] Figure 4 is a schematic structural diagram of a deflection centering piston in an embodiment of the invention;

[0024] Figure 5 yes Figure 1 A cross-sectional view of the compensation device in the free state along the AA line;

[0025] Figure 6 yes Figure 1 A cross-sectional view of the compensation device in the free state along the BB line;

[0026] Figure 7 yes Figure 1 A cross-sectional view of the compensation device along line AA in a locked state;

[0027] Figure 8 yes Figure 1 A cross-sectional view of the compensation device along line BB in the locked state.

[0028] 110-input member; 111-spherical groove; 112-first limiting groove;

[0029] 113-input plate; 114-ball lock; 115-anti-rotation protrusion;

[0030] 120 - output member; 121 - second limiting groove;

[0031] 130 - ball head; 131 - spherical portion; 132 - connecting portion; 133 - first piston hole;

[0032] 140 - lower part of the ball cage; 141 - first annular through hole;

[0033] 150 - on the ball cage; 151 - second annular through hole; 152 - anti-rotation groove;

[0034] 160-deflection centering piston; 161-first deflection piston section; 162-second deflection piston section; 163-first limiting protrusion;

[0035] 170-limit key;

[0036] 180-main body; 181-third piston hole; 182-first hole; 183-retaining ring groove; 184-second hole; 185-locking groove;

[0037] 190-transition plate; 191-transition hole;

[0038] 210 - linear centering piston; 211 - first linear piston section; 212 - second linear piston section;

[0039] 220-locking piston; 221-locking screw;

[0040] 230-limit retaining ring;

[0041] 241 - first pressure hole; 242 - second pressure hole; 243 - third pressure hole; 244 - fourth pressure hole; 245 - fifth pressure hole;

[0042] 251 - first mounting hole; 252 - second mounting hole; 253 - third mounting hole;

[0043] 261 - first sensor; 262 - second sensor; 263 - third sensor. DETAILED DESCRIPTION

[0044] The compensation device and the robot proposed by the present invention are further described in detail below in conjunction with the accompanying drawings and specific embodiments. The advantages and features of the present invention will become clearer according to the following description. It should be noted that the accompanying drawings are all in a very simplified form and are not in precise proportions, and are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention.

[0045] refer to Figure 1 , Figure 2 and Figure 3 , Figure 1 is a top view of the compensation device in an embodiment of the present invention, Figure 2 yes Figure 1The cross-sectional view of the compensation device along the AA line in the centering and zeroing state. Figure 3 yes Figure 1 The compensation device in the figure is a cross-sectional view along line BB in the centering and zeroing state, wherein the compensation device comprises an input member 110, a deflection compensation assembly and an output member 120, wherein the input member 110 is rotationally connected to the deflection compensation assembly, and the deflection compensation assembly is connected to the output member 120.

[0046] Specifically, the deflection compensation assembly includes a ball head 130 and a ball cage lower 140 . The input member 110 is provided with a spherical groove 111, the ball head 130 includes a spherical portion 131 and a connecting portion 132, the spherical portion 131 and the connecting portion 132 are connected, the spherical portion 131 is spherical, the spherical portion 131 is arranged in the spherical groove 111, the connecting portion 132 is connected to the output member 120, the lower ball cage 140 is located between the input member 110 and the output member 120, and the lower ball cage 140 is fixedly connected to the input member 110, and the lower ball cage 140 is provided with a first annular through hole 141, the inner wall of the first annular through hole 141 is adapted to the shape of the spherical portion 131, the diameter of the first annular through hole 141 close to the input member 110 is larger than the diameter of the first annular through hole 141 close to the output member 120, and the diameter of the first annular through hole 141 close to the input member 110 is smaller than the diameter of the spherical portion 131.

[0047] Since the input member 110 is provided with a spherical groove 111, the spherical portion 131 is spherical, the spherical portion 131 is arranged in the spherical groove 111, the lower ball cage 140 is located between the input member 110 and the output member 120, and the lower ball cage 140 is fixedly connected to the input member 110, and the lower ball cage 140 is provided with a first annular through hole 141, the inner wall of the first annular through hole 141 is adapted to the shape of the spherical portion 131, the diameter of the first annular through hole 141 close to the input member 110 is larger than the diameter of the first annular through hole 141 close to the output member 120, and the diameter of the first annular through hole 141 close to the input member 110 is smaller than the diameter of the spherical portion 131, therefore, the ball head 130 can be restricted between the input member 110 and the lower ball cage 140, and the ball head 130 can rotate relative to the input member 110 and the lower ball cage 140. Since the spherical portion 131 is connected to the connecting portion 132, and the connecting portion 132 is connected to the output member 120, the output member 120 can rotate relative to the input member 110. In this way, when the handling fixture and the six-axis flange surface of the robot are deflected, since the output member 120 can rotate relative to the input member 110, the deflection can be compensated, thereby avoiding the handling fixture being unable to smoothly insert the workpiece into the locating pin of the workstation due to the deflection of the six-axis flange surface of the handling fixture and the robot, thereby improving production efficiency.

[0048] Preferably, the cage bottom 140 includes a first semicircular ring and a second semicircular ring, which are disk-shaped when matched together and surround the first annular through hole 141. In this way, the cage bottom 140 can be fixedly connected to the input member 110.

[0049] For further reference, Figure 2 and Figure 3The deflection compensation assembly further includes a ball cage upper 150. The ball cage upper 150 is located between the input member 110 and the ball cage lower 140 and is fixedly connected to the input member 110. The ball cage upper 150 is provided with a second annular through hole 151, the inner wall of the second annular through hole 151 is adapted to the shape of the spherical portion 131, the diameter of the second annular through hole 151 on the side close to the input member 110 is smaller than the diameter of the second annular through hole 151 on the side close to the output member 120, and the diameter of the second annular through hole 151 on the side close to the output member 120 is smaller than the diameter of the spherical portion 131. In this way, the ball cage upper 150 can limit the ball head 130 from moving toward the side closer to the input member 110 relative to the ball cage lower 140 and the input member 110, and the ball cage lower 140 can limit the ball head 130 from moving toward the side away from the input member 110 relative to the ball cage lower 140 and the input member 110, thereby allowing the ball head 130 to rotate smoothly relative to the input member 110.

[0050] For further reference, Figure 2 and Figure 3 The bottom of the spherical groove 111 is provided with a first limiting groove 112. The ball head 130 has a first piston hole 133 that penetrates the ball head 130. The deflection compensation assembly further includes a deflection centering piston 160 and a first driving member. The deflection centering piston 160 is disposed in the first piston hole 133. The deflection centering piston 160 is slidably connected to the ball head 130. The first driving member is used to drive the deflection centering piston 160 to reciprocate axially in the first piston hole 133. The end of the deflection centering piston 160 close to the input member 110 is provided with a first limiting protrusion 163 that matches the first limiting groove 112. In this way, when the deflection centering piston 160 moves axially in the first piston hole 133 in the direction close to the input member 110 until the first limiting groove 112 and the first limiting protrusion 163 cooperate with each other, the deflection centering piston 160 can be limited to rotate along the spherical surface relative to the input member 110. Since the deflection centering piston 160 is slidingly connected to the ball head 130, the deflection centering piston 160 can be used to limit the rotation of the ball head 130 relative to the input member 110, so that the position of the input member 110 relative to the ball head 130 can be returned to zero, and the position of the input member 110 relative to the output member 120 can be returned to zero.

[0051] Furthermore, the first limiting protrusion 163 is arranged to protrude from the outer surface of the spherical part 131. Therefore, when the deflection centering piston 160 moves in the first piston hole 133 in the axial direction toward the output member 120 until the gap between the first limiting protrusion 163 and the first limiting groove 112 is the largest, the first limiting protrusion 163 still protrudes from the outer surface of the spherical part 131, so that the rotation range of the ball head 130 relative to the input member 110 can be limited, which is convenient for the ball head 130 to return to zero when centered, and at the same time, it can prevent the output member 120 from shaking too much relative to the input member 110. However, in this case, the ball head 130 may still rotate around the axis of the deflection centering piston 160 relative to the input member 110.

[0052] Preferably, reference Figure 4 , Figure 4 1 is a schematic diagram of the structure of the deflection centering piston 160 in the embodiment of the invention, wherein the first limiting protrusion 163 is in the shape of a bevel gear, and the first limiting groove 112 includes a plurality of V-shaped grooves matched with the first limiting protrusion 163. In this way, after the first limiting groove 112 and the first limiting protrusion 163 cooperate with each other, the deflection centering piston 160 can be limited to rotate around the axis of the deflection centering piston 160 relative to the input member 110, thereby improving the accuracy of the position return of the input member 110 relative to the output member 120. In addition, when there is a certain gap between the first limiting groove 112 and the first limiting protrusion 163, the ball head 130 can be rotated relative to the input member 110, so the range of rotation of the ball head 130 relative to the input member 110 is smaller than that of the case where the deflection centering piston 160 is not limited to rotate around the axis of the deflection centering piston 160 relative to the input member 110, so that the output member 120 can be prevented from shaking too much relative to the input member 110.

[0053] Specifically, refer to Figure 2 , the first piston hole 133 is cylindrical, the deflection compensation assembly further includes a limit key 170, a first key slot is provided on the deflection centering piston 160, a second key slot is provided on the inner wall of the first piston hole 133, and the limit key 170 is provided in the first key slot and the second key slot, so that the deflection centering piston 160 can only slide relative to the ball head 130, but cannot rotate relative to each other. In other embodiments, the deflection centering piston 160 is polygonal, and the shape of the first piston hole 133 is adapted to the shape of the deflection centering piston 160, so that the deflection centering piston 160 can only slide relative to the first piston hole 133.

[0054] In this embodiment, the limit key 170 is a flat key. In other embodiments, the limit key 170 may also be a spline.

[0055] refer to Figure 2 and Figure 3 The input member 110 includes an input plate 113 and a ball lock 114. The input plate 113 is provided with a second piston hole. The ball lock 114 is disposed in the second piston hole. The ball lock 114 can reciprocate along the axis in the second piston hole. The spherical groove 111 is disposed on a side surface of the ball lock 114 close to the output member 120. The compensation device further includes a second driving member, which is used to drive the ball lock 114 to move in the second piston hole toward the direction close to the output member 120. Thus, when the ball lock 114 is driven by the second driving member to move in the second piston hole toward the direction close to the output member 120, the ball lock 114 can be squeezed by the second driving member, and then the ball lock 114 can squeeze the ball head 130, so that the friction between the ball head 130 and the ball lock 114 can limit the rotation of the ball head 130 relative to the ball lock 114, thereby locking the relative position of the ball head 130 and the ball lock 114, that is, locking the relative position between the output member 120 and the input member 110. When the ball lock 114 is not driven by the second driving member to move in the second piston hole toward the direction close to the output member 120, a certain gap can be formed between the ball head 130 and the ball lock 114, so that the ball head 130 can rotate relative to the ball lock 114.

[0056] For further reference, Figure 2 and Figure 3 A stop groove 152 is provided on the ball cage 150, and a stop protrusion 115 matching the stop groove 152 is extended from the edge of the ball lock 114 toward the side facing the output member 120, so that the ball lock 114 can be limited to rotate axially in the second piston hole through the stop groove 152.

[0057] Specifically, the ball lock 114 is cylindrical.

[0058] The compensation device further includes a linear compensation component, one side of which is connected to the deflection compensation component, and the other side of which is connected to the output member 120 .

[0059] Specifically, refer to Figure 2 and Figure 3The linear compensation assembly includes a main body 180 and a transition plate 190, wherein the main body 180 is fixedly connected to the connecting portion 132, the main body 180 and the transition plate 190 are slidably connected, the transition plate 190 and the output member 120 are slidably connected, and the transition plate 190 can move relative to the main body 180 along a first direction, and the output member 120 can move relative to the transition plate 190 along a second direction, wherein the first direction is perpendicular to the second direction. In this way, the connecting portion 132 can move relative to the output member 120 along the first direction and the second direction, that is, the input plate 113 can move in the first direction and the second direction on the basis of rotating relative to the output member 120. In this way, when the handling fixture and the robot's six-axis flange surface are displaced, since the output part 120 can move in the first direction and the second direction relative to the input part 110, the displacement can be compensated, thereby avoiding the handling fixture being unable to smoothly insert the workpiece into the positioning pin of the workstation due to the displacement of the handling fixture and the robot's six-axis flange surface, thereby improving production efficiency.

[0060] For further reference, Figure 2 and Figure 3, the output member 120 is provided with a second limiting groove 121, the main member 180 is provided with a third piston hole 181 penetrating the main member 180, the transition plate 190 is provided with a transition hole 191 penetrating the transition plate 190, the linear compensation assembly further comprises a linear centering piston 210 and a third driving member, the linear centering piston 210 is provided in the third piston hole 181 and the fourth piston, the third driving member is used to drive the linear centering piston 210 to reciprocate axially in the third piston hole 181 and the transition hole 191, and the end of the linear centering piston 210 close to the output member 120 is provided with a second limiting protrusion matched with the second limiting groove 121. In this way, when the linear centering piston 210 moves axially in the third piston hole 181 in the direction close to the output member 120 until the second limiting groove 121 and the second limiting protrusion cooperate with each other, the linear centering piston 210 can be limited to move relative to the output member 120 in the first direction and the second direction. Since the linear centering piston 210 is slidably connected to the main body 180, the main body 180 can be limited to move relative to the output member 120 in the first direction and the second direction by the linear centering piston 210, so that the position of the output member 120 relative to the main body 180 can be reset to zero, that is, the position of the ball head 130 relative to the output member 120 can be reset to zero in the first direction and the second direction. In addition, when the linear centering piston 210 moves in the third piston hole 181 in the axial direction toward the input member 110 until the second limiting groove 121 and the second limiting protrusion are separated from each other and have a certain gap, the connecting portion 132 can be moved relative to the output member in the first direction and the second direction, that is, the input plate 113 can be moved in the first direction and the second direction on the basis of rotating relative to the output member, wherein the transition hole 191 can limit the range of movement of the input plate 113 in the first direction and the second direction on the basis of rotating relative to the output member.

[0061] For further reference, Figure 2 and Figure 3The compensation device also includes a locking piston 220 and a fourth driving member. An annular locking groove 185 is formed at one end of the main body 180 facing the output member 120. The maximum diameter of the locking groove 185 is smaller than the diameter of the transition hole 191. The locking piston 220 is located in the locking groove 185. The fourth driving member is used to drive the locking piston 220 to move in the locking groove 185 along the axis of the locking groove 185 toward the direction close to the output member 120, and is used to press the end face of the locking piston 220 facing the output member 120 against the output member 120. When the fourth driving member drives the locking piston 220 to move toward the output member 120 and makes the end face of the locking piston 220 facing the output member 120 abut against the output member 120, a certain friction force can be created between the locking piston 220 and the output member 120, thereby preventing the main member 180 from moving relative to the output member 120, thereby achieving locking so that the position of the main member 180 relative to the output member 120 remains unchanged.

[0062] Preferably, the locking piston 220 is provided with a plurality of screw holes along the circumferential direction, and the compensation device further comprises a locking screw 221 , wherein the locking screw 221 is arranged in the screw hole to increase the friction force between the locking piston 220 and the output member 120 .

[0063] Specifically, Figure 2 and Figure 3As shown, the compensation device further includes a limit retaining ring 230. The third piston hole 181 is T-shaped, and the third piston hole 181 includes a first hole 182 and a second hole 184, wherein the first hole 182 is arranged closer to the input member 110 than the second hole 184, and the aperture of the first hole 182 is larger than the aperture of the second hole 184, and a retaining ring groove 183 is provided on the hole wall of the first hole 182, and the limit retaining ring 230 is arranged in the retaining ring groove 183. The deflection centering piston 160 and the linear centering piston 210 are T-shaped. The aperture of the first piston hole 133 is smaller than the aperture of the third piston hole 181. The deflection centering piston 160 includes a first deflection piston segment 161 and a second deflection piston segment 162, wherein the first deflection piston segment 161 and the second deflection piston segment 162 are connected, and the diameter of the first deflection piston segment 161 is smaller than the diameter of the second deflection piston segment 162. The linear centering piston 210 includes a first linear piston section 211 and a second linear piston section 212. The first linear piston section 211 and the second linear piston section 212 are connected, and the diameter of the first linear piston section 211 is greater than the diameter of the second linear piston section 212. The first deflection piston section 161 is disposed in the first piston hole 133, the second deflection piston section 162 is disposed in the first hole 182, the first linear piston section 211 is disposed in the first hole 182, the second linear piston section 212 is disposed in the second hole 184, and the limit ring 230 is located between the deflection centering piston 160 and the linear centering piston 210.

[0064] The first driving member includes a first pressure hole 241, a second pressure hole 242, a first compressed air end, and a second compressed air end. The first pressure hole 241 is provided on the main body 180, one end of the first pressure hole 241 is communicated with the first compressed air end, the other end of the first pressure hole 241 is communicated with the third piston hole 181, and the other end of the first pressure hole 241 is communicated with the retaining ring groove 183. The second pressure hole 242 is provided on the connecting portion 132 of the ball head 130, one end of the second pressure hole 242 is communicated with the second compressed air end, the other end of the second pressure hole 242 is communicated with the third piston hole 181, and the other end of the second pressure hole 242 is arranged facing the end surface of the second deflection piston section 162 close to the input member 110, or the other end of the second pressure hole 242 is communicated with the first piston hole 133. In this way, when compressed air is introduced into the first pressure hole 241 through the first compressed air end, the deflection centering piston 160 can be moved toward the direction close to the input member 110, so that the first limiting protrusion 163 of the deflection centering piston 160 cooperates with the first limiting groove 112 of the input member 110 to realize the centering return of the compensation device. When compressed air is introduced into the second pressure hole 242 through the second compressed air end, the deflection centering piston 160 can be moved toward the direction close to the output member 120, so that the first limiting protrusion 163 of the deflection centering piston 160 and the first limiting groove 112 of the input member 110 have a certain gap, so that the output member 120 can rotate within a certain range relative to the input member 110. In this way, when the handling fixture and the robot six-axis flange surface deflect, the compensation device can compensate for the deflection, thereby avoiding the handling fixture being unable to smoothly insert the workpiece into the positioning pin of the workstation due to the deflection of the handling fixture and the robot six-axis flange surface.

[0065] In other embodiments, for example, the deflection centering piston 160 may be driven to move up and down in the first piston hole 133 by a cylinder fixedly disposed on the ball head 130. Liquid medium may also be introduced into the first pressure hole 241 and the second pressure hole 242 to drive the deflection centering piston 160 to move up and down in the first piston hole 133.

[0066] Specifically, the second driving member includes a third pressure hole 243 and a third compressed air end. The third pressure hole 243 is arranged on the input plate 113, and one end of the third pressure hole 243 is connected to the third compressed air end, and the other end of the third pressure hole 243 is connected to the second piston hole. In this way, when compressed air is introduced into the third pressure hole 243 through the third compressed air end, the second driving member can drive the ball lock 114 to move in the second piston hole toward the direction close to the output member 120. The ball lock 114 can be squeezed by the second driving member, and then the ball lock 114 can squeeze the ball head 130, so that the friction between the ball head 130 and the ball lock 114 can limit the rotation of the ball head 130 relative to the ball lock 114, thereby locking the position of the ball head 130, that is, locking the position between the output member 120 and the input member 110. When compressed air is not introduced into the third pressure hole 243 through the third compressed air terminal, a certain gap may be provided between the ball head 130 and the ball head lock 114 , so that the ball head 130 may rotate relative to the ball head lock 114 .

[0067] Specifically, the third driving member includes a fourth pressure hole 244 and a fourth compressed air end. The fourth pressure hole 244 is provided on the main body 180, and one end of the fourth pressure hole 244 is communicated with the fourth compressed air end, and the other end of the fourth pressure hole 244 is communicated with the first hole 182, and the other end of the fourth pressure hole 244 is arranged facing the end surface of the first linear piston section 211 close to the output member 120, or the other end of the fourth pressure hole 244 is communicated with the second hole 184. In this way, when compressed air is introduced into the first pressure hole 241 through the first compressed air end, the linear centering piston 210 can be moved in a direction close to the output member 120, and the linear centering piston 210 can be driven to move axially in the third piston hole 181 in a direction close to the output member 120 until the second limiting groove 121 cooperates with the second limiting protrusion, thereby limiting the linear centering piston 210 from moving relative to the output member 120 in the first direction and the second direction. When compressed air is introduced into the fourth pressure hole 244 through the fourth compressed air end, the linear centering piston 210 can be moved toward the direction close to the input member 110, and the linear centering piston 210 can be driven to move axially in the third piston hole 181 toward the output member 120 until there is a certain gap between the second limiting groove 121 and the second limiting protrusion, thereby allowing the linear centering piston 210 to move relative to the output member 120 in the first direction and the second direction.

[0068] Specifically, the fourth driving member includes a fifth pressure hole 245 and a fifth compressed air end. The fifth pressure hole 245 is provided on the main body 180, and one end of the fifth pressure hole 245 is communicated with the fifth compressed air end, and the other end of the fifth pressure hole 245 is communicated with the locking groove 185. When compressed air is introduced into the fifth pressure hole 245 through the fifth compressed air end, the locking piston 220 can be moved toward the direction close to the output member 120, and the end surface of the locking piston 220 facing the output member 120 can be pressed against the output member 120, so that there is a certain friction between the locking piston 220 and the output member 120, thereby preventing the main body 180 from moving relative to the output member 120, and then achieving locking, so that the position of the main body 180 relative to the output member 120 remains unchanged.

[0069] The compensation device further includes a first mounting hole 251, a second mounting hole 252, a third mounting hole 253, a first sensor 261, a second sensor 262 and a third sensor 263. The first mounting hole 251, the second mounting hole 252 and the third mounting hole 253 are provided on the main body 180, the first mounting hole 251, the second mounting hole 252 and the third mounting hole 253 are connected with the first hole 182 of the third piston hole 181, and the first mounting hole 251 is located on a side of the limit retaining ring 230 close to the input member 110 and is arranged close to the limit retaining ring 230, the second mounting hole 252 is located on a side of the limit retaining ring 230 close to the output member 120 and is arranged close to the limit retaining ring 230, and the second mounting hole 252 is located on a side of the limit retaining ring 230 close to the output member 120 and is arranged farther from the limit retaining ring 230 than the second mounting hole 252. The first sensor 261 is arranged in the first mounting hole 251, the second sensor 262 is arranged in the second mounting hole 252, and the third sensor 263 is arranged in the third mounting hole 253. The first sensor 261 is used to detect whether the deflection centering piston 160 is close to the limit retaining ring 230, the second sensor 262 is used to detect whether the linear centering piston 210 is close to the limit retaining ring 230, and the third sensor 263 is used to detect whether the second limit protrusion in the linear centering piston 210 is matched with the second limit groove 121.

[0070] Among them, Figure 2 and Figure 3 As shown, the input plate 113 has a shoulder on one side away from the output member 120 , and the compensation device is positioned by the shoulder and connected to the robot six-axis flange by screws and pins.

[0071] The output member is provided with a stopper, a screw hole, and a pin hole on the side away from the input member 110, which can be connected with the corresponding shoulder, screw, and pin of the handling fixture. The output member is provided with a boss on the side close to the input member 110, and the locking piston 220 can abut against the boss. The surface of the boss is heat-treated to increase the surface hardness and friction. The second limiting groove 121 is a conical countersunk hole.

[0072] A groove for installing a sealing ring is provided on the mating surface between the ball lock 114 and the second piston hole, so as to ensure that the ball lock 114 can be pushed downward without air leakage after the third pressure hole 243 of the input plate 113 is ventilated.

[0073] The connecting portion 132 of the ball head 130 is in the shape of a disk. A stopper is provided on the end surface of the connecting portion 132 of the ball head 130 on the side close to the output member 120. A groove for installing a sealing ring is provided on the end of the connecting portion 132 of the ball head 130 close to the output member 120, a groove for installing a sealing ring is provided on the circumferential surface where the second deflection piston section 162 of the deflection centering piston 160 matches with the third piston hole 181, and a groove for installing a sealing ring is provided on the circumferential surface where the first deflection piston section 161 of the deflection centering piston 160 matches with the first piston hole 133, so as to ensure that after the compressed air is introduced into the second pressure hole 242 through the second compressed air end, the deflection centering piston 160 can be pushed toward the direction close to the limit stop ring 230 without air leakage.

[0074] The end surface of the main body 180 close to the input member 110 is provided with a shoulder that can be matched with the stopper of the connecting portion 132 of the ball head 130 .

[0075] A guide rail installation groove is provided on an end surface of the main body 180 facing the output member 120 .

[0076] The transition plate 190 has guide rail mounting grooves on its end surface facing the input member 110 and its end surface facing the output member 120 . The guide rail mounting groove on the end surface facing the input member 110 is perpendicular to the guide rail mounting groove on the end surface facing the output member 120 .

[0077] The first linear piston section 211 and the second linear piston section 212 of the linear centering piston 210 are provided with grooves for installing sealing rings on the outer periphery of the third piston hole 181, so as to ensure that after compressed air is introduced into the fourth pressure hole 244 through the fourth compressed air end, the linear centering piston 210 can be pushed in the direction close to the limit ring 230 without air leakage.

[0078] The locking piston 220 and the locking groove 185 have grooves for installing sealing rings on their outer and inner surfaces, ensuring that after compressed air is introduced into the fifth pressure hole 245 through the fifth compressed air end, the locking piston 220 can be pushed toward the output member 120 without air leakage.

[0079] When the compensation device needs to be centered and returned to zero, refer to Figure 2 and Figure 3 , compressed air can be introduced into the first pressure hole 241 through the first compressed air end to move the deflection centering piston 160 toward the direction close to the input member 110, so that the first limiting protrusion 163 of the deflection centering piston 160 cooperates with the first limiting groove 112 of the input member 110 to achieve the centering return of the compensation device. At the same time, compressed air can be introduced into the first pressure hole 241 through the first compressed air end to move the linear centering piston 210 toward the direction close to the output member 120, and the linear centering piston 210 can be driven to move axially toward the output member 120 in the third piston hole 181 until the second limiting groove 121 cooperates with the second limiting protrusion, thereby limiting the linear centering piston 210 from moving relative to the output member 120 in the first direction and the second direction, and achieving the centering return of the linear compensation assembly. When the compensation device is centered and returned to zero, the first sensor 261 detects that the deflection centering piston 160 is in place, and the third sensor 263 detects that the linear centering piston 210 is in place.

[0080] When the output member 120 in the compensation device needs to rotate or move freely relative to the input member 110, that is, when the compensation device is in a free state, refer to Figure 5 and Figure 6 , Figure 5 yes Figure 1 The cross-sectional view of the compensation device along the AA line in the free state, Figure 6 yes Figure 1The cross-sectional view of the compensation device in the free state along the BB line can simultaneously introduce high-pressure air into the second pressure hole 242 and the fourth pressure hole 244. When compressed air is introduced into the second pressure hole 242 through the second compressed air end, the deflection centering piston 160 can be moved in the direction close to the output member 120, so that the first limiting protrusion 163 of the deflection centering piston 160 and the first limiting groove 112 of the input member 110 have a certain gap, so that the output member 120 can rotate within a certain range relative to the input member 110. When compressed air is introduced into the fourth pressure hole 244 through the fourth compressed air end, the linear centering piston 210 can be moved in the direction close to the input member 110, and the linear centering piston 210 can be driven to move in the third piston hole 181 along the axial direction close to the output member 120 until there is a certain gap between the second limiting groove 121 and the second limiting protrusion, so that the linear centering piston 210 can move in the first direction and the second direction relative to the output member 120. When the compensation device is in a free state, the first sensor 261 detects that the deflection centering piston 160 is in place, and the second sensor 262 detects that the linear centering piston 210 is in place.

[0081] When the compensation device needs to be locked, that is, when the compensation device is in a locked state, refer to Figure 7 and Figure 8 , Figure 7 yes Figure 1 The cross-sectional view of the compensation device along the AA line in the locked state, Figure 8 yes Figure 1 The cross-sectional view of the compensation device in the locked state along the BB line shows that high-pressure air can be simultaneously introduced into the third pressure hole 243 and the fifth pressure hole 245. When compressed air is introduced into the third pressure hole 243 through the third compressed air end, the second driving member can drive the ball lock 114 to move in the second piston hole toward the direction close to the output member 120. The ball lock 114 can be squeezed by the second driving member, and then the ball lock 114 can squeeze the ball head 130, so that the friction between the ball head 130 and the ball lock 114 can limit the rotation of the ball head 130 relative to the ball lock 114, thereby locking the position of the ball head 130, that is, locking the position between the output member 120 and the input member 110. When compressed air is introduced into the fifth pressure hole 245 through the fifth compressed air end, the locking piston 220 can be moved toward the direction close to the output member 120, and the end surface of the locking piston 220 facing the output member 120 can be pressed against the output member 120, so that there is a certain friction between the locking piston 220 and the output member 120, thereby preventing the main body 180 from moving relative to the output member 120, and then achieving locking, so that the position of the main body 180 relative to the output member 120 remains unchanged.

[0082] In this embodiment, by introducing high-pressure air into the first pressure hole 241, the second pressure hole 242, the third pressure hole 243, the fourth pressure hole 244 and the fifth pressure hole 245, or stopping the introduction of high-pressure air, the compensation device can be switched between the centering zero state, the locking state and the free state. For example, by introducing high-pressure air into the first pressure hole 241 and stopping the introduction of high-pressure air into the second pressure hole 242, the third pressure hole 243, the fourth pressure hole 244 and the fifth pressure hole 245, the compensation device can be placed in the centering zero state. By introducing high-pressure air into the second pressure hole 242 and the fourth pressure hole 244 and stopping the introduction of high-pressure air into the first pressure hole 241, the third pressure hole 243 and the fifth pressure hole 245, the compensation device can be placed in the free state. By introducing high-pressure air into the first pressure hole 241 and the fifth pressure hole 245 and stopping the introduction of high-pressure air into the first pressure hole 241, the second pressure hole 242 and the fourth pressure hole, the compensation device can be placed in the locking state. When in use, the compensation device can be first placed in a centering and zeroing state, then in a free state, and then in a locked state.

[0083] The present embodiment further provides a robot, the robot comprising a six-axis flange surface, a handling fixture and the compensation device in the above embodiment, the compensation device comprising an input member 110, a ball head 130, a ball cage bottom 140, and an output member 120, the input member 110 is provided with a spherical groove 111, the ball head 130 comprises a spherical portion 131 and a connecting portion 132, the spherical portion 131 and the connecting portion 132 are connected, the spherical portion 131 is spherical, the spherical portion 131 is arranged in the spherical groove 111, the connecting portion 132 is connected to the output member 110, the ball cage bottom 140 is located between the input member 110 and the output member 120 0, and the ball cage lower 140 is fixedly connected to the input member 110, the ball cage lower 140 is provided with a first annular through hole 141, the inner wall of the first annular through hole 141 is adapted to the shape of the spherical portion 131, the diameter of the first annular through hole 141 close to the input member 110 is larger than the diameter of the first annular through hole 141 close to the output member 120, and the diameter of the first annular through hole 141 close to the input member 110 is smaller than the diameter of the spherical portion 131, the input member 110 is used to be fixedly connected to the six-axis flange surface of the robot, and the output member 120 is used to be fixedly connected to the handling compensation device.

[0084] The compensation device and robot in the above embodiments can be used in situations where precision compensation and position locking are required for handling, loading and unloading or docking, such as automatic insertion and extraction of pins, quick change of compensation devices, loading and unloading of workpieces, plugging and unplugging of water, electricity and gas interfaces, and other automated or semi-automated situations where relative position accuracy needs to be ensured for two-to-two docking applications.

[0085] The above description is only a description of the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention. Any changes or modifications made by a person skilled in the art in the field of the present invention based on the above disclosure shall fall within the scope of protection of the claims.

Claims

1. A compensation device, characterized in that: The invention comprises an input member, a ball head, a ball cage lower and an output member, wherein the input member is provided with a spherical groove, the ball head comprises a spherical portion and a connecting portion, the spherical portion is connected to the connecting portion, the spherical portion is spherical, the spherical portion is arranged in the spherical groove, the connecting portion is connected to the output member, the ball cage lower is located between the input member and the output member, and the ball cage lower is fixedly connected to the input member, the ball cage lower is provided with a first annular through hole, the inner wall of the first annular through hole is adapted to the shape of the spherical portion, the diameter of the first annular through hole on the side close to the input member is larger than the diameter of the first annular through hole on the side close to the output member, and the diameter of the first annular through hole on the side close to the input member is smaller than the diameter of the spherical portion; A first limiting groove is provided at the bottom of the spherical groove, and the ball head has a first piston hole penetrating the ball head. The compensation device also includes a deflection centering piston and a first driving member. The deflection centering piston is arranged in the first piston hole, and the deflection centering piston is slidingly connected to the ball head. The first driving member is used to drive the deflection centering piston to reciprocate axially in the first piston hole. The end of the deflection centering piston close to the input member is provided with a first limiting protrusion that cooperates with the first limiting groove.

2. The compensation device according to claim 1, characterized in that: The first limiting protrusion is in the shape of a bevel gear, and the first limiting groove includes a plurality of V-shaped grooves matched with the first limiting protrusion.

3. The compensation device according to claim 2, characterized in that: The first piston hole is cylindrical, and the compensation device also includes a limit key. A first key groove is arranged on the deflection centering piston, and a second key groove is arranged on the inner wall of the first piston hole. The limit key is arranged in the first key groove and the second key groove.

4. The compensation device according to claim 1, characterized in that: It also includes a ball cage, which is located between the input piece and the lower part of the ball cage and fixedly connected to the input piece. The ball cage is provided with a second annular through hole, and the inner wall of the second annular through hole is adapted to the shape of the spherical portion. The diameter of the second annular through hole close to the input piece is smaller than the diameter of the second annular through hole close to the output piece, and the diameter of the second annular through hole close to the output piece is smaller than the diameter of the spherical portion.

5. The compensation device according to claim 1, characterized in that: The input member includes an input plate and a ball lock, the input plate is provided with a second piston hole, the ball lock is arranged in the second piston hole, the ball lock can reciprocate along the axis in the second piston hole, the spherical groove is provided on a side surface of the ball lock close to the output member, and the compensation device also includes a second driving member, the second driving member is used to drive the ball lock to move in the second piston hole in a direction close to the output member.

6. The compensation device according to claim 1, characterized in that: It also includes a main body and a transition plate, wherein the main body is fixedly connected to the connecting portion, the main body and the transition plate are slidably connected, the transition plate and the output member are slidably connected, and the transition plate can move relative to the main body along a first direction, and the output member can move relative to the transition plate along a second direction, wherein the first direction is perpendicular to the second direction.

7. The compensation device according to claim 6, characterized in that The output member is provided with a second limiting groove, the main member is provided with a third piston hole passing through the main member, and the transition plate is provided with a transition hole passing through the transition plate. The compensation device also includes a linear centering piston and a third driving member. The linear centering piston is arranged in the third piston hole and the transition hole. The third driving member is used to drive the linear centering piston to reciprocate axially in the third piston hole and the transition hole. The end of the linear centering piston close to the output member is provided with a second limiting protrusion matching the second limiting groove.

8. The compensation device according to claim 7, characterized in that: It also includes a locking piston and a fourth driving member. An annular locking groove is provided at one end of the main body facing the output member. The maximum diameter of the locking groove is smaller than the diameter of the transition hole. The locking piston is located in the locking groove. The fourth driving member is used to drive the locking piston to move in the locking groove along the axis of the locking groove toward the output member, and to press the end face of the locking piston facing the output member against the output member.

9. A robot, characterized in that: The robot comprises a six-axis flange surface, a handling fixture and a compensation device as claimed in any one of claims 1 to 8, wherein the compensation device comprises an input member, a ball head, a ball cage lower and an output member, wherein the input member is provided with a spherical groove, the ball head comprises a spherical portion and a connecting portion, the spherical portion is connected to the connecting portion, the spherical portion is spherical, the spherical portion is arranged in the spherical groove, the connecting portion is connected to the output member, the ball cage lower is located between the input member and the output member, and the ball cage lower is fixedly connected to the input member, a first annular through hole is provided in the ball cage lower, the inner wall of the first annular through hole is adapted to the shape of the spherical portion, the diameter of the first annular through hole on the side close to the input member is larger than the diameter of the first annular through hole on the side close to the output member, and the diameter of the first annular through hole on the side close to the input member is smaller than the diameter of the spherical portion, the input member is used to be fixedly connected to the six-axis flange surface of the robot, and the output member is used to be fixedly connected to the handling fixture.

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