Rigidity-adjustable multi-dimensional passive compliance device

Abstract

The invention discloses a rigidity-adjustable multi-dimensional passive compliance device which comprises an upper part and a lower part. A groove is formed in the lower part, and a flexible tail end is arranged in the groove. An upper supporting mechanism is arranged on the upper part, and a plurality of lower supporting mechanisms are arranged on the lower part. The upper supporting mechanism comprises an upper working fluid cylinder, an upper fluid storing cylinder, an upper ejector and an upper working fluid cylinder spring, the upper fluid storing cylinder communicates with the upper working fluid cylinder, and an upper fluid storing cylinder piston set and an upper fluid storing cylinder spring are arranged in the upper fluid storing cylinder. Each lower supporting mechanism comprises a lower working fluid cylinder, a lower fluid storing cylinder, a lower ejector and a lower working fluid cylinder spring, wherein the lower fluid storing cylinder communicates with the lower working fluid cylinder, a lower fluid storing cylinder piston set and a lower fluid storing cylinder spring are arranged in the lower fluid storing cylinder, and the upper working fluid cylinder and the lower working fluid cylinder are both filled with viscosity-adjustable fluid. During work, the flexible tail end can move in the groove in any direction, multi-dimensional compliance movement is achieved, and the adjustable rigidity is achieved through the viscosity-adjustable fluid.

Description

technical field [0001] The invention is used in the technical field of automation equipment, and in particular relates to a multi-dimensional passive compliance device with adjustable stiffness. Background technique [0002] When the robot performs tasks such as precision assembly and grinding, due to many uncertainties and emergencies in the working environment, failures often occur in the actual work process. For example, the slight deviation between the assembly parts of the assembly robot may cause the assembly parts to fail to complete the assembly due to the excessive rigidity of the mechanical arm, or damage the assembly parts or peripheral equipment, or even cause the complete failure of the shaft hole assembly; the end of the grinding robot has a proper The flexibility is more conducive to the realization of the function of the grinding robot. But at the same time, the robot moves to the working space at a certain position. Ideally, the robot is expected to have ab...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the problems that existing passive compliance devices used for tasks such as automatic assembly and grinding that have contact with the working environment have non-adjustable compliance ch

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