A flexible compensation device

Abstract

The present application relates to the technical field of compensator, especially to a flexible compensation device, comprising: a shell with a working cavity in the inside; a movable block in the working cavity, the movable block comprising a main body part and a connecting part, the main body part having a locking protrusion with an arc on the top surface, the sidewall of the main body part having a contact surface in the shape of a circular arc, and the sidewall of the main body part having a positioning groove; a locking plate arranged in the working cavity and above the movable block, the bottom surface of the locking plate having a locking inner concave surface matched with the positioning protrusion; a limiting block arranged in the working cavity and used to contact the movable block; and the positioning block having a positioning protrusion matched with the positioning groove, the positioning protrusion having a roller rotatably arranged thereon, the movable block, the locking block, the limiting block and the positioning block being matched to make the flexible compensation device have a large compensation range in X, Y and Z directions, a large tilt and rotation compensation angle, and a rotation resettable characteristic.

Description

Technical Field

[0001] This invention relates to the field of compensator technology, and in particular to a flexible compensation device. Background Technology

[0002] A robotic arm's flexible compensator, as the name suggests, is a device installed on the robotic arm that absorbs and compensates for displacement, vibration, and deviations generated during operation. It senses and corrects minute deviations in the robotic arm with high precision in real time, ensuring that the robotic arm can complete its tasks accurately and smoothly.

[0003] The gripper of a robotic arm needs to possess flexible compensation capabilities in multiple directions, including movement, rotation, and tilting / deflection along the X, Y, and Z axes, to complete tasks. Furthermore, it must be able to reposition itself after completing a task for easy re-execution. However, existing flexible compensators have a limited compensation range and a relatively high degree of flexible contact, necessitating the development of higher-performance flexible compensation devices. Moreover, the adjustment and calibration process of flexible compensators can be relatively complex, requiring specialized technology and equipment. This increases the difficulty of use and maintenance, and may also affect the operational accuracy and stability of the robotic arm. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a flexible compensation device to overcome the problem that existing robotic arms cannot achieve efficient self-adaptation when pulling out and loading workpieces due to positional offset and angular deviation.

[0005] The technical solution adopted by this invention to solve its technical problem is: a flexible compensation device, comprising: The shell has a working cavity inside and a movable cavity on the bottom surface of the shell; The movable block is located inside the working cavity. The movable block includes a main body and a connecting part. The main body is located inside the working cavity. The top end of the connecting part is fixedly connected to the main body. The other end of the connecting part passes through the movable cavity and extends to the outside of the housing. The top surface of the main body has an arc-shaped locking protrusion. The side wall of the main body has an arc-shaped contact surface. The side wall of the main body is provided with a positioning groove. The working cavity allows the main body to move, tilt, deflect, or rotate within it. A locking plate is arranged inside the working cavity and is located above the movable block. The bottom surface of the locking plate has a locking concave surface that matches the locking protrusion. When the locking plate is pressed down so that the locking plate and the locking protrusion come into contact, the Z-axis position of the movable block is locked. A limiting block is arranged inside the working cavity and is used to contact the movable block. And a positioning block, which is arranged in the working cavity. The positioning block has a positioning protrusion that matches the positioning groove. A roller is rotatably arranged on the positioning protrusion. When the positioning block and the limiting block clamp the movable block and the positioning protrusion is aligned with the positioning groove, the positioning protrusion enters the positioning groove and, under the clamping of the positioning block (5) and the limiting block, the movable block is fixed in the XY axis plane. When the positioning block and the limiting block clamp the movable block and the positioning protrusion is aligned with the contact surface, the roller contacts the contact surface and, driven by the clamping force of the positioning block and the limiting block, the movable block rotates until the positioning protrusion is embedded in the positioning groove, thus completing the fixing of the movable block in the XY axis plane. Through the cooperation of the movable block, the locking block, the limiting block and the positioning block, the flexible compensation device has the characteristics of large compensation amplitude in the X, Y and Z directions, large tilt and rotation compensation angle, and rotation resettable, making the compensation range wider and the degree of freedom higher.

[0006] To address the issue of how to drive the limiting block to move, the housing is further provided with a first pneumatic cavity, in which a first pneumatic block, a first pneumatic rod, and a first reset element are arranged. One end of the first pneumatic rod is fixedly connected to the first pneumatic block, and the other end passes through the housing and is fixedly connected to the limiting block. The first reset element is sleeved on the first pneumatic rod, with one end of the first reset element abutting against the housing and the other end abutting against the first pneumatic block. The housing has a first air hole that communicates with the first pneumatic cavity.

[0007] To address the issue of how to drive the positioning block to move, the housing is further provided with a second pneumatic cavity. A second pneumatic block, a second pneumatic rod, and a second reset element are arranged inside the second pneumatic cavity. One end of the second pneumatic rod is fixedly connected to the second pneumatic block, and the other end passes through the housing and is fixedly connected to the positioning block. The second reset element is sleeved on the second pneumatic rod, with one end of the second reset element abutting against the housing and the other end abutting against the second pneumatic block. The housing has a second air hole that communicates with the second pneumatic cavity.

[0008] To address the issue of how to drive the locking plate to move, the system further includes a third pneumatic chamber that communicates with the working chamber inside the housing, a third air hole that communicates with the third pneumatic chamber on the top surface of the housing, a pneumatic plate that is slidably arranged inside the third pneumatic chamber, the pneumatic plate and the locking plate being fixedly connected, and air circulation in the third pneumatic chamber causing the pneumatic plate to descend.

[0009] To address the issue of low stability of the movable block within the accommodating cavity, the system further includes several positioning springs arranged within the movable cavity. These positioning springs are circumferentially spaced around the connecting portion of the movable block, and a collar is fitted onto the connecting shaft of the movable block. One end of each positioning spring is fixedly connected to the housing, and the other end is fixedly connected to the collar.

[0010] To address the issue of compensators being inconvenient for equipment connection, the flexible compensation device further includes a connecting plate, with the bottom end of the connecting plate and the movable block being fixedly connected.

[0011] To solve the problem of the roller protrusion obstructing the engagement between the positioning groove and the positioning protrusion, the method further includes providing a receiving groove on the groove wall of the positioning groove, which is used to place the roller, and the roller is arranged eccentrically. When the movable block is fixed in the XY axis plane, the roller is located in the receiving groove.

[0012] The beneficial effects of the present invention are: The flexible compensation device provided by the present invention, through the cooperation of the movable block, the locking block, the limiting block and the positioning block, enables the flexible compensation device to have large compensation amplitude in the X, Y and Z directions, as well as large tilt and rotation compensation angles and the characteristic of being able to be reset by rotation, so that the compensation range is wider and the degree of freedom is higher. Attached Figure Description

[0013] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0014] Figure 1 This is a three-dimensional structural schematic diagram of the present invention; Figure 2 This is a top view of the structure of the present invention; Figure 3 This is the present invention. Figure 2 Schematic diagram of the cross-sectional structure at point AA; Figure 4 This is a structural schematic diagram of the movable block, limiting block, and positioning block of the present invention; Figure 5 This is a structural schematic diagram of the movable block, limiting block, and positioning block of the present invention from another perspective.

[0015] In the figure: 1. Shell, 11. Working chamber, 12. Moving chamber, 13. First pneumatic chamber, 14. Second pneumatic chamber, 15. Third pneumatic chamber, 16. First air hole, 17. Second air hole, 18. Third air hole; 2. Movable block; 21. Main body; 22. Connecting part; 23. Locking protrusion; 24. Contact surface; 25. Positioning groove; 26. Receiving groove. 3. Locking plate; 31. Locking concave surface; 32. Pneumatic plate; 4. Limiting block; 41. First pneumatic block; 42. First pneumatic rod; 43. First reset element; 5. Positioning block; 51. Positioning protrusion; 52. Roller; 53. Second pneumatic block; 54. Second pneumatic rod; 55. Second reset element. 6. Positioning spring; 61. Collar 7. Connecting plate. Detailed Implementation

[0016] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0017] like Figure 1 This is a schematic diagram of the structure of the present invention, a flexible compensation device, comprising: The housing 1 has a working cavity 11 inside and a movable cavity 12 on the bottom surface of the housing 1. like Figure 2 , Figure 3 , Figure 4 As shown, the movable block 2 is located in the working cavity 11. The movable block 2 includes a main body 21 and a connecting part 22. The main body 21 is located in the working cavity 11. The top end of the connecting part 22 is fixedly connected to the main body 21. The other end of the connecting part 22 passes through the movable cavity 12 and extends to the outside of the housing 1. The top surface of the main body 21 has an arc-shaped locking protrusion 23. The locking protrusion 23 is a conical surface that slopes downward from the center to the surrounding area. The side wall of the main body 21 has an arc-shaped contact surface 24. The contact surface 24 is an arc surface. The side wall of the main body 21 is provided with a positioning groove 25. The working cavity 11 allows the main body 21 to move, tilt, deflect, or rotate within it. like Figure 2 , Figure 3 , Figure 4 As shown, the locking plate 3 is arranged in the working cavity 11 and is located above the movable block 2. The bottom surface of the locking plate 3 has a locking concave surface 31 that cooperates with the locking protrusion 23. When the locking plate 3 is pressed down so that the locking plate 3 and the locking protrusion 23 come into contact, the Z-axis position of the movable block 2 is locked. A third pneumatic cavity 15 communicating with the working cavity 11 is provided in the housing 1. A third air hole 18 communicating with the third pneumatic cavity 15 is provided on the top surface of the housing 1. A pneumatic plate 32 is slidably arranged in the third pneumatic cavity 15. The pneumatic plate 32 and the locking plate 3 are fixedly connected. Air is introduced into the third pneumatic cavity 15 so that the pneumatic plate 32 descends.

[0018] like Figure 2 , Figure 3 , Figure 4 As shown, the limiting block 4 is arranged in the working cavity 11 and is used to contact the movable block 2; the housing 1 has a first pneumatic cavity 13, in which a first pneumatic block 41, a first pneumatic rod 42 and a first reset element 43 are arranged. The first reset element 43 is a spring. One end of the first pneumatic rod 42 is fixedly connected to the first pneumatic block 41, and the other end passes through the housing 1 and is fixedly connected to the limiting block 4. The first reset element 43 is sleeved on the first pneumatic rod 42. One end of the first reset element 43 abuts against the housing 1 and the other end abuts against the first pneumatic block 41. The housing 1 has a first air hole 16 that communicates with the first pneumatic cavity 13.

[0019] In another embodiment, the end face of the limiting block 4 near the movable block 2 can be an inwardly concave arc surface, which can better cooperate with the movable block 2. This is because the flexible compensation device is used to compensate for the movement error of mechanical equipment.

[0020] The first pneumatic block 41, the first pneumatic rod 42, and the first reset element 43 are all one-to-one. The first pneumatic block 41 may be one or more, and no specific limitation is made in this application.

[0021] like Figure 2 , Figure 3 , Figure 4 As shown, the positioning block 5 is arranged in the working cavity 11. The positioning block 5 has a positioning protrusion 51 that matches the positioning groove 25. A roller 52 is rotatably arranged on the positioning protrusion 51. When the positioning block 5 and the limiting block 4 clamp the movable block 2 and the positioning protrusion 51 is aligned with the positioning groove 25, the positioning protrusion 51 enters the positioning groove 25 and is fixed in the XY axis plane under the clamping of the positioning block (5) and the limiting block 4. When the positioning block 5 and the limiting block 4 clamp the movable block 2 and the positioning protrusion 51 is aligned with the contact surface 24, the roller 52 contacts the contact surface 24 and is driven by the clamping force of the positioning block 5 and the limiting block 4, so that the movable block 2 rotates until the positioning protrusion 51 is embedded in the positioning groove 25, thus completing the fixation of the movable block 2 in the XY axis plane. The positioning groove 25 has a V-shaped structure.

[0022] The positioning groove 25 has a receiving groove 26 connected to it on its groove wall. The receiving groove 26 is used for placing the roller 52. When the movable block 2 is fixed in the XY axis plane, the roller 52 is located in the receiving groove 26. The roller 52 is eccentrically arranged, that is, it is off-center from the center of the positioning block 5.

[0023] The housing 1 has a second pneumatic cavity 14. The second pneumatic cavity 14 is equipped with a second pneumatic block 53, a second pneumatic rod 54 and a second reset element 55. One end of the second pneumatic rod 54 is fixedly connected to the second pneumatic block 53. The second reset element 55 is a spring, and the other end passes through the housing 1 and is fixedly connected to the positioning block 5. The second reset element 55 is sleeved on the second pneumatic rod 54. One end of the second reset element 55 abuts against the housing 1 and the other end abuts against the second pneumatic block 53. The housing 1 has a second air hole 17 that communicates with the second pneumatic cavity 14.

[0024] The second pneumatic block 53, the second pneumatic rod 54, and the second reset element 55 are all one-to-one. There may be one or more second pneumatic blocks 53, and no specific limitation is made in this application.

[0025] like Figure 2 , Figure 3, Figure 4 As shown, a number of positioning springs 6 are arranged in the movable cavity 12. The positioning springs 6 are distributed circumferentially around the connecting part 22 of the movable block 2. A collar 61 is sleeved on the connecting shaft of the movable block 2. One end of the positioning spring 6 is fixedly connected to the housing 1, and the other end is fixedly connected to the collar 61. In this application, there are eight positioning springs 6, which are evenly distributed. The positioning springs 6 are used to increase the damping of the movement of the movable block 2 and to assist in the repair of the position of the movable block 2.

[0026] In another embodiment, a power element such as a cylinder or a lead screw mechanism can be used to drive the locking plate 3, the limiting block 4, and the positioning block 5 away from or close to the movable block 2, and after contact, squeeze the movable block 2 to reset it.

[0027] like Figure 1 , Figure 2 As shown, the flexible compensation device also includes a connecting plate 7, and the bottom end of the connecting part 22 of the connecting plate 7 and the movable block 2 is fixedly connected.

[0028] Working principle: When the flexible compensation device is in the air-off state (i.e., the air is cut off in the first pneumatic chamber 13, the second pneumatic chamber 14 and the third pneumatic chamber 15), the limiting block 4 and the positioning block 5 (under the action of the first reset element 43 and the second reset element 55) are in a state away from the movable block 2. The movable block 2 is in the Z-axis limit position due to the action of gravity. At this time, the main body 21 of the movable block 2 can move, tilt, deflect or rotate in the working chamber 11.

[0029] Before material is picked up, the flexible compensation device is inflated. Air enters the first pneumatic chamber 13 and the second pneumatic chamber 14 to correct the position of the movable block 2. Air enters the third pneumatic chamber 15 to correct the movable block 2 and position it to its initial position. The flexible compensation device continues to be inflated until it moves above the material picking station.

[0030] During material handling, the gripper installed on the flexible compensation device has positional and angular offsets between the gripper and the workpiece. This causes the movable block 2 of the flexible compensation device to deflect, change position, and rotate, compensating for the XY, tilt, and circumferential errors between the gripper and the workpiece. This allows the gripper to be aligned with the gripping part of the workpiece (avoiding damage to the workpiece) and thus complete the gripping process.

[0031] After material is picked up, air enters the first pneumatic cavity 13 and the second pneumatic cavity 14 successively. Due to pneumatic drive, there is a certain elastic movement gap during the clamping of the movable block 2 by the positioning block 5 and the limiting block 4, causing the first pneumatic block 41 to move within the first pneumatic cavity 13. At this time, the first reset element 43 retracts, and the first pneumatic block 41 drives the limiting block 4 to move closer to the movable block 2 via the first pneumatic rod 42, causing the second pneumatic block 53 to move within the second pneumatic cavity 14. At this time, the second reset element 55 retracts, and the second pneumatic block 53 drives the positioning block 5 to move closer to the movable block 2 via the second pneumatic rod 54. If the movable block 2 basically does not rotate or the rotation amplitude is small (the positioning protrusion 51 of the positioning block 5 can be directly aligned with the positioning groove 25), then the positioning protrusion 51 of the positioning block 5 can directly align with the positioning groove 25. The positioning block 2 is aligned with the positioning groove 25 and enters the positioning groove 25. The limiting block 4 contacts the movable block 2 and is clamped by the positioning block 5, thus fixing the movable block 2 in the XY axis plane, which completes the angle correction (reset) (precise reset in the XY direction) of the movable block 2. If the movable block 2 rotates a large range, that is, the positioning protrusion 51 of the positioning block 5 cannot be directly aligned with the positioning groove 25 and enter the positioning groove 25, the roller 52 on the positioning protrusion 51 of the positioning block 5 first contacts the contact surface 24 on the outer periphery of the movable block 2, and under the squeezing and clamping of the limiting block 4, the movable block 2 is forced to rotate circumferentially until the positioning protrusion 51 enters the positioning groove 25, thus fixing the movable block 2 in the XY axis plane, which completes the angle correction (reset) (precise reset in the XY direction) of the movable block 2. Air enters the third pneumatic chamber 15, causing the pneumatic plate 32 to descend and drive the locking plate 3 to descend synchronously and approach the movable block 2. When the locking plate 3 abuts against the movable block 2, the movable block 2 is reset and locked in the height direction due to the cooperation of the locking protrusion 23 and the locking concave surface 31.

[0032] After the robotic arm grasps the workpiece and moves it to the installation location, the flexible compensation device remains inflated, thus locking the position of the movable block 2.

[0033] During assembly, when the workpiece grasped by the robot arm moves above the installation position, the flexible compensation device cuts off the air supply. The limit block 4 and the positioning block 5 (under the action of the first reset element 43 and the second reset element 55) are in a state away from the movable block 2. Due to gravity, the movable block 2 is at the Z-axis limit position, allowing it to move freely. The robot arm moves downward. If there is an error between the workpiece and the installation position, the workpiece enters the installation position under the position compensation of the flexible compensator. The robot arm is released, and the flexible compensation device is re-inflated to reset the position of the movable block 2. The flexible compensation device is kept inflated until the robot arm moves above the material handling station.

[0034] During the complete material handling and loading process, the robot arm moves above the workpiece, the flexible compensation device inflates and resets the movable block 2 to its initial position, then the flexible compensation device deflates, allowing the movable block 2 to move freely. The robot arm descends to grab the workpiece. After grabbing, the flexible compensation device remains inflated, resetting and locking the position of the movable block 2 until the workpiece moves above the installation position. At this point, the flexible compensation device deflates, allowing the movable block 2 to move freely. If there is an error between the workpiece and the installation position when the robot arm moves downward, the workpiece enters the installation position under the compensation of the flexible compensator. The robot arm releases, and the flexible compensation device inflates again to reset the position of the movable block 2.

[0035] The gripper can move the workpiece to the designated assembly position. There are offsets (errors) in the position and angle between the workpiece and the workstation. The air is cut off in the first pneumatic chamber 13, the second pneumatic chamber 14, and the third pneumatic chamber 15. During the assembly process, the existing errors will cause the movable block 2 of the compensator to undergo changes such as deflection, position, and rotation. This compensates for the errors in the XY, tilt, and circumferential directions between the workpiece and the workstation, so that the workpiece can be aligned with the workstation, avoiding damage to the workpiece and the workstation, thereby completing the assembly.

[0036] When the air supply to the first pneumatic chamber 13, the second pneumatic chamber 14, and the third pneumatic chamber 15 is cut off, the limiting block 4 and the positioning block 5 return to their initial positions under the elastic force of the first reset element 43 and the second reset element 55, respectively. The movable block 2 is in an active state, that is, the movable block 2 can have changes such as deflection, position, and rotation.

[0037] Based on the above-described preferred embodiments of the present invention, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A flexible compensation device, characterized in that, include: The housing (1) has a working cavity (11) inside, and a movable cavity (12) is provided on the bottom surface of the housing (1). The movable block (2) is located in the working cavity (11). The movable block (2) includes a main body (21) and a connecting part (22). The main body (21) is located in the working cavity (11). The top end of the connecting part (22) is fixedly connected to the main body (21). The other end of the connecting part (22) passes through the movable cavity (12) and extends to the outside of the housing (1). The top surface of the main body (21) has an arc-shaped locking protrusion (23). The side wall of the main body (21) has an arc-shaped contact surface (24). The side wall of the main body (21) is provided with a positioning groove (25). The working cavity (11) allows the main body (21) to move, tilt, deflect, or rotate within it. A locking plate (3) is arranged in the working cavity (11) and the locking plate (3) is located above the movable block (2). The bottom surface of the locking plate (3) has a locking concave surface (31) that cooperates with the locking protrusion (23). When the locking plate (3) is pressed down so that the locking plate (3) and the locking protrusion (23) come into contact, the Z-axis position of the movable block (2) is locked. A limiting block (4) is arranged in the working cavity (11) and the limiting block (4) is used to contact the movable block (2); And a positioning block (5), which is arranged in the working cavity (11), the positioning block (5) has a positioning protrusion (51) that matches the positioning groove (25), and a roller (52) is rotatably arranged on the positioning protrusion (51). When the positioning block (5) and the limiting block (4) clamp the movable block (2) and the positioning protrusion (51) is aligned with the positioning groove (25), the positioning protrusion (51) enters the positioning groove (25) and is positioned on the positioning block (5) and the limiting block (4). Under clamping, the movable block (2) is fixed in the XY axis plane. When the positioning block (5) and the limiting block (4) clamp the movable block (2) and the positioning protrusion (51) is aligned with the contact surface (24), the roller (52) contacts the contact surface (24) and under the clamping force of the positioning block (5) and the limiting block (4), the movable block (2) rotates until the positioning protrusion (51) is embedded in the positioning groove (25), thus completing the fixing of the movable block (2) in the XY axis plane.

2. The flexible compensation device as described in claim 1, characterized in that: The housing (1) has a first pneumatic cavity (13). The first pneumatic cavity (13) is provided with a first pneumatic block (41), a first pneumatic rod (42) and a first reset element (43). One end of the first pneumatic rod (42) is fixedly connected to the first pneumatic block (41), and the other end passes through the housing (1) and is fixedly connected to the limiting block (4). The first reset element (43) is sleeved on the first pneumatic rod (42). One end of the first reset element (43) abuts against the housing (1) and the other end abuts against the first pneumatic block (41). The housing (1) has a first air hole (16) that communicates with the first pneumatic cavity (13).

3. The flexible compensation device as described in claim 1, characterized in that: The housing (1) is provided with a second pneumatic cavity (14). The second pneumatic cavity (14) is provided with a second pneumatic block (53), a second pneumatic rod (54) and a second reset element (55). One end of the second pneumatic rod (54) is fixedly connected to the second pneumatic block (53), and the other end passes through the housing (1) and is fixedly connected to the positioning block (5). The second reset element (55) is sleeved on the second pneumatic rod (54). One end of the second reset element (55) abuts against the housing (1) and the other end abuts against the second pneumatic block (53). The housing (1) has a second air hole (17) that communicates with the second pneumatic cavity (14).

4. The flexible compensation device as described in claim 1, characterized in that: The housing (1) has a third pneumatic chamber (15) that communicates with the working chamber (11). The top surface of the housing (1) has a third air hole (18) that communicates with the third pneumatic chamber (15). A pneumatic plate (32) is slidably arranged in the third pneumatic chamber (15). The pneumatic plate (32) and the locking plate (3) are fixedly connected. Air is circulated in the third pneumatic chamber (15) to make the pneumatic plate (32) descend.

5. The flexible compensation device as described in claim 1, characterized in that: A number of positioning springs (6) are arranged in the movable cavity (12). The positioning springs (6) are distributed circumferentially around the connecting part (22) of the movable block (2). A collar (61) is sleeved on the connecting shaft of the movable block (2). One end of the positioning spring (6) is fixedly connected to the housing (1), and the other end is fixedly connected to the collar (61).

6. The flexible compensation device as described in claim 1, characterized in that: The flexible compensation device also includes a connecting plate (7), which is fixedly connected to the bottom end of the connecting part (22) of the movable block (2).

7. The flexible compensation device as described in claim 1, characterized in that: The positioning groove (25) has a receiving groove (26) communicating with it on its groove wall. The receiving groove (26) is used for placing the roller (52), which is eccentrically arranged. When the movable block (2) is fixed in the XY axis plane, the roller (52) is located in the receiving groove (26).

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