A variable stiffness connection device with vibration reduction function and a method of using the same

Abstract

The present invention discloses a variable stiffness connection device with a vibration reduction function and a method for using the same. The variable stiffness connection device includes a vibration reduction device and a variable stiffness device; wherein the vibration reduction device includes an upper connection flange, a passive vibration reduction unit, an active vibration reduction unit and a lower connection flange; the upper connection flange and the lower connection flange are respectively assembled at the upper end and the lower end of the passive vibration reduction unit, and the active vibration reduction unit is located inside the passive vibration reduction unit. The present invention has a vibration reduction device and a variable stiffness device, and the vibration reduction device includes a passive vibration reduction unit and an active vibration reduction unit, and has active and passive vibration reduction functions and end effector stiffness control functions; the vibration reduction device and the variable stiffness device of the present invention are independent modular structures, and different numbers of vibration reduction devices and variable stiffness devices can be combined as needed to achieve a compliant connection between a robot and an end effector; the present invention achieves vibration suppression and end effector stiffness control during operation through electromagnetic control.

Description

Technical Field

[0001] The present invention relates to a variable stiffness connection device, in particular to a variable stiffness connection device with a vibration reduction function and a use method thereof, which can be used for an end effector of a robot and belongs to the field of intelligent manufacturing technology. Background Art

[0002] Generally speaking, robot handling, as a type of robot operation, is widely used in various types of processing and production in the industrial field. Specifically, it is mostly used for loading and unloading of machine tools, automatic assembly, palletizing and handling, etc. Among them, the end effector is installed between the robot and the workpiece being processed. It is a key component for performing the corresponding operation task. Its performance largely determines the working performance of the entire robot. By replacing the end effector of the robot, operations of different occasions and different types of parts can be completed.

[0003] In the existing technology, 1) "Research on Optimization Design and Control System of Glass Handling Robot Arm" (Qilu University of Technology, Wang Yuchao, 2023), for glass handling robots, an array of vacuum suction cups was designed as the end gripping device; 2) "Design of End Effector of Thin Plate Production Line Handling Robot" (Shenyang University of Technology, Wang Rui et al., 2021) developed a set of electromagnetic suction cup end effectors for the actual production needs of thin plate production lines. The distance between the suction cups can be adjusted electrically, which can realize the function of handling and grasping plates of different specifications and sizes and irregular shapes. It can be seen from the existing technology that the existing end effectors are mainly simple handling functions, and are mainly for handling operations of specific loads. The adaptive adjustment function for dynamic changes in loads such as workpiece vibration is insufficient, and it is difficult to adjust the contact force according to load changes. Summary of the invention

[0004] The purpose of the present invention is to provide a connection device with vibration reduction function and adjustable suction cup stiffness in order to solve at least one of the above-mentioned technical problems, which can effectively reduce the vibration of the pneumatic suction cup during the adsorption and handling process. It is suitable for workpieces under different working conditions and frequency vibrations. It has vibration reduction and electromagnetic variable stiffness functions. It can achieve a flexible connection between the robot and the end effector, isolate or suppress the vibration generated during the handling process, and adapt to dynamic changes in the load. It is of great value to the robot operation system.

[0005] The present invention achieves the above-mentioned object through the following technical solutions: A variable stiffness connection device with a vibration reduction function, comprising a vibration reduction device and a variable stiffness device;

[0006] The vibration reduction device comprises an upper connecting flange, a passive vibration reduction unit, an active vibration reduction unit and a lower connecting flange; the upper connecting flange and the lower connecting flange are respectively mounted on the upper end and the lower end of the passive vibration reduction unit, and the active vibration reduction unit is located inside the passive vibration reduction unit;

[0007] The passive vibration reduction unit includes an upper pressure plate, a mounting plate, a spring, a limit plate, a guide rod and a support base plate, wherein the limit plate is located between the mounting plate and the support base plate;

[0008] The cross section of the mounting plate is in the shape of an I. The upper end of the mounting plate is provided with circumferentially distributed upper connecting flange mounting holes, and the lower end of the mounting plate is provided with circumferentially distributed bearing mounting holes. The linear bearing I is placed in the bearing mounting hole, and the upper part of the linear bearing I is pressed by an upper pressing plate.

[0009] The limit plate is provided with circumferentially distributed guide holes, the top of the guide rod passes through the limit plate, the mounting plate and the upper pressure plate in sequence, the lower end of the guide rod is installed on the supporting bottom plate through screws II, and the supporting bottom plate is provided with a groove I.

[0010] As a further technical solution of the present invention: the spring is sleeved on the guide rod, the upper end of the spring contacts the bottom of the bearing mounting hole, and the lower end of the spring contacts the limit plate.

[0011] As a further technical solution of the present invention: the guide rod is a stepped rod, an external thread I is left at the upper end of the guide rod, and a threaded hole VII is left at the lower end of the guide rod.

[0012] As a further technical solution of the present invention: the active vibration reduction unit comprises an electromagnetic sleeve, an electromagnetic mounting housing, an electromagnetic coil I and a permanent magnet I;

[0013] The cavity formed by the electromagnetic sleeve and the electromagnetic mounting housing is used to mount the electromagnetic coil I;

[0014] The through holes Ⅰ and Ⅱ in the middle of the electromagnetic sleeve are used to lead out the wires of the electromagnetic coil Ⅰ;

[0015] The permanent magnet I is mounted on the groove of the supporting base plate;

[0016] The upper end of the electromagnetic sleeve is connected to the mounting plate of the passive vibration reduction unit.

[0017] As a further technical solution of the present invention: the variable stiffness device comprises a connecting plate, an electromagnetic variable stiffness unit and a connecting flange;

[0018] The electromagnetic variable stiffness unit is located between the connecting plate and the connecting flange, and the upper end of the connecting plate is connected to the vibration reduction device;

[0019] The electromagnetic variable stiffness unit includes an electromagnetic coil II, an electromagnetic sleeve II, a guide rod, a permanent magnet II, a locking nut II, and a linear bearing II;

[0020] Among them, the upper end of the electromagnetic sleeve II is connected to the connecting plate, the electromagnetic coil II is wound in the cavity of the electromagnetic sleeve II, the linear bearing II is fixed at the end of the electromagnetic sleeve II to reduce the friction in the movement of the guide rod and play a positioning role, and the permanent magnet II is fixed on the guide rod through a pair of locking nuts II.

[0021] As a further technical solution of the present invention: a through hole III and a threaded hole I are reserved in the middle of the connecting plate for inserting and installing a linear bearing II, and threaded holes II and a through hole IV are reserved circumferentially for matching with a lower connecting flange and an electromagnetic variable stiffness unit.

[0022] As a further technical solution of the present invention: the electromagnetic sleeve II has an I-shaped appearance, and a threaded hole III is left at the upper end of the electromagnetic sleeve II to cooperate with the connecting plate;

[0023] The cavity of the electromagnetic sleeve II is used for winding the electromagnetic coil II. A through hole V and a threaded hole V are reserved at the lower end of the electromagnetic sleeve II for inserting and installing the linear bearing II. The guide rod passes through the through hole V and cooperates with the linear bearing II.

[0024] As a further technical solution of the present invention: the lower connecting flange has an I-shaped outer shape, and the upper end of the lower connecting flange is provided with circumferentially distributed threaded holes IV to cooperate with the supporting base plate, the lower end of the lower connecting flange is provided with circumferentially distributed countersunk holes to cooperate with the circumferentially distributed threaded holes II of the connecting plate, and a groove II is provided in the middle of the lower connecting flange to facilitate the embedding of the bottom end of the linear bearing II.

[0025] As a further technical solution of the present invention: the guide rod has a stepped rod shape with threads, an external thread II is reserved at the middle step portion of the guide rod for cooperating with a locking nut II to fix the permanent magnet II, and an external thread III is reserved at the end of the guide rod for cooperating with a threaded hole VI of the connecting flange.

[0026] A method for using a variable stiffness connection device with a vibration reduction function, the method comprising the following steps:

[0027] S1) The vibration reduction device and the variable stiffness device are integrated on the end effector. When the end effector grabs or adsorbs the workpiece, if vibration is generated during the operation, the spring on the guide rod is deformed in the vertical direction; at the same time, the vibration causes relative movement between the permanent magnet I and the electromagnetic coil I, and the relative movement causes the magnetic flux to change. The electromagnetic force is generated by adjusting the current of the electromagnetic coil I to suppress the relative movement between the permanent magnet I and the electromagnetic coil I, thereby achieving vibration suppression;

[0028] S2) After the end effector grabs or adsorbs the workpiece, the electromagnetic coil II is energized to generate a magnetic field. Under the action of the workpiece gravity G, the permanent magnet II connected to the guide rod is stationary at a balanced position with a distance δ from the top of the linear bearing II. When the workpiece load changes, the current of the electromagnetic coil II is adjusted to adjust the strength of the magnetic field and the electromagnetic force F around the permanent magnet II, so that the permanent magnet II connected to the guide rod is still in the balanced position of δ, and different load forces are balanced under the same displacement, thereby realizing the adjustment of the stiffness of the end effector.

[0029] The beneficial effects of the present invention are:

[0030] 1) The present invention has a vibration reduction unit and an electromagnetic variable stiffness device, the vibration reduction device includes a passive vibration reduction unit and an active vibration reduction unit, and has active and passive vibration reduction functions and end effector stiffness control functions;

[0031] 2) The vibration reduction device and variable stiffness device of the present invention are independent modular structures, and different numbers of vibration reduction devices and variable stiffness devices can be combined as needed to achieve a flexible connection between the robot and the end effector; the present invention achieves vibration suppression and end effector stiffness regulation during the operation process through electromagnetic control. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a structural diagram of the connecting device of the present invention;

[0033] Figure 2 is a structural diagram of the vibration reduction unit of the present invention;

[0034] Figure 3 is a structural diagram of the passive vibration reduction unit of the present invention;

[0035] Figure 4 It is a structural diagram of the mounting plate of the present invention;

[0036] Figure 5 is a cross-sectional view of a mounting plate of the present invention;

[0037] Figure 6 It is a structural diagram of the limiting plate of the present invention;

[0038] Figure 7 is a cross-sectional view of a guide rod of the present invention;

[0039] Figure 8 is a cross-sectional view of a supporting base plate of the present invention;

[0040] Fig. 9 is a structural diagram of the active vibration reduction unit of the present invention;

[0041] Fig.10 is a cross-sectional view of the active vibration reduction unit of the present invention;

[0042] Fig.11 is a connection cross-sectional view of the active vibration reduction unit of the present invention;

[0043] Fig.12 It is a structural diagram of the lower connecting flange of the present invention;

[0044] Fig.13 is a cross-sectional view of the lower connecting flange of the present invention;

[0045] Fig.14 is a structural diagram of the variable stiffness device of the present invention;

[0046] Fig.15 It is a structural diagram of the connecting plate of the present invention;

[0047] Fig.16 It is a structural diagram of the electromagnetic variable stiffness unit of the present invention;

[0048] Fig.17 is a cross-sectional view of the electromagnetic variable stiffness unit of the present invention;

[0049] Fig.18 is a cross-sectional view of a guide rod of the present invention;

[0050] Fig.19 It is a structural diagram of the electromagnetic sleeve II of the present invention;

[0051] Fig. 20 It is a cross-sectional view of the electromagnetic sleeve II of the present invention;

[0052] Fig.21 A structural diagram of the device of the present invention used for robot handling;

[0053] Fig. 22 It is a structural diagram of the electromagnetic variable stiffness splicing device of the present invention;

[0054] Fig.23 This is a robot handling structure diagram of the electromagnetic variable stiffness splicing device of the present invention;

[0055] Fig.24 It is the force diagram of the electromagnetic variable stiffness unit of the present invention;

[0056] In the figure:

[0057] 001, vibration reduction unit, 002, variable stiffness device, 003, suction cup, 004, workpiece, 005, robotic arm,

[0058] 010, upper cross plate, 020, ball joint, 030, lower cross plate,

[0059] 100, upper connecting flange, 110, flange hole,

[0060] 200, passive vibration reduction unit, 210, upper pressure plate,

[0061] 220, mounting plate, 221, upper connecting flange mounting hole, 222, bearing mounting hole,

[0062] 230, spring, 240, limit plate,

[0063] 250, guide rod, 251, external thread Ⅰ, 252, threaded hole Ⅶ,

[0064] 260, support base plate, 261, groove I,

[0065] 300, Active vibration reduction unit,

[0066] 310, electromagnetic sleeve, 311, electromagnetic mounting housing, 312, electromagnetic coil I,

[0067] 320, Permanent Magnet I,

[0068] 400, lower connecting flange, 410, threaded hole IV, 420, countersunk hole, 430, groove II,

[0069] 500, connecting plate, 510, threaded hole Ⅰ, 520, threaded hole Ⅱ,

[0070] 600, electromagnetic variable stiffness unit, 610, electromagnetic coil II,

[0071] 620, electromagnetic sleeve II, 621, threaded hole III, 622, threaded hole V,

[0072] 630, guide rod, 631, external thread II, 632, external thread III,

[0073] 640, Permanent Magnet II,

[0074] 700, connecting flange, 710, threaded hole VI,

[0075] A01, screw Ⅰ, A02, screw Ⅱ, A03, screw Ⅲ, A04, screw Ⅳ,

[0076] B01, nut Ⅰ, B02, locking nut Ⅱ,

[0077] C01, linear bearing Ⅰ, C02, linear bearing Ⅱ,

[0078] D01, through hole I, D02, through hole II, D03, through hole III, D04, through hole IV, D05, through hole V. DETAILED DESCRIPTION

[0079] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0080] Embodiment 1, as Figure 1 As shown, a variable stiffness connection device with a vibration reduction function includes: a vibration reduction unit 001 and a variable stiffness device 002.

[0081] like Figure 2As shown, the vibration reduction unit 001 includes an upper connecting flange 100, a passive vibration reduction unit 200, an active vibration reduction unit 300 and a lower connecting flange 400; wherein the active vibration reduction unit 300 is located inside the passive vibration reduction unit 200; the upper connecting flange 100 and the lower connecting flange 400 are respectively assembled at the upper end and the lower end of the passive vibration reduction unit 200.

[0082] like Figure 3 As shown, the passive vibration reduction unit 200 is composed of an upper pressure plate 210, a mounting plate 220, a spring 230, a limit plate 240, a guide rod 250, and a support base plate 260. The limit plate 240 is located between the mounting plate 220 and the support base plate 260. The spring 230 is sleeved on the guide rod 250. The upper end of the spring 230 contacts the bottom of the bearing mounting hole 222, and the lower end contacts the limit plate 240.

[0083] like Figure 4 and Figure 5 As shown, the cross-section of the mounting plate 220 is an I-shape, and the upper end of the mounting plate 220 is provided with circumferentially distributed upper connecting flange mounting holes 221 that cooperate with the upper connecting flange 100, and the lower end of the mounting plate 220 is provided with circumferentially distributed bearing mounting holes 222, and the linear bearing IC01 is placed in the bearing mounting hole 222, and the upper pressure plate 210 is used to press the linear bearing IC01.

[0084] like Figure 6 As shown, the limit plate 240 is provided with circumferentially distributed guide holes, the top of the guide rod 250 passes through the limit plate 240, the mounting plate 220, and the upper pressure plate 210 in sequence, and the lower end of the guide rod 250 is mounted on the supporting base plate 260 by screws ⅡA02.

[0085] like Figure 7 As shown, the guide rod 250 is a stepped rod, with an external thread I251 at the upper end cooperating with a nut IB01 to fix the limit plate 240 , and a threaded hole VII252 at the lower end cooperating with the support base plate 260 .

[0086] like Figure 8 As shown, the support base plate 260 is provided with a groove I 261 for mounting the permanent magnet 320 , and through holes are provided around it for matching the guide rod 260 and the lower connecting flange 400 .

[0087] like Fig. 9 and Fig.10As shown, the active vibration reduction unit 300 is composed of an electromagnetic sleeve 310, an electromagnetic mounting shell 311, an electromagnetic coil I 312 and a permanent magnet I 320; a threaded hole matching the electromagnetic mounting shell 311 and the mounting plate 220 is opened at the upper end of the electromagnetic sleeve 310, and is connected by a screw IIA02; the cavity formed by the electromagnetic sleeve 310 and the electromagnetic mounting shell 311 is used to install the electromagnetic coil I 312; the through hole I D01 and the through hole II D02 in the middle of the electromagnetic sleeve 310 are used to lead out the wires of the electromagnetic coil I 312; the supporting bottom plate 260 is opened with a groove I 261 matching the permanent magnet I 320 for installing the permanent magnet I 320.

[0088] like Fig.11 As shown, the upper end of the electromagnetic sleeve 310 is connected to the mounting plate 220 of the passive vibration reduction unit 200 via screws IA02.

[0089] like Fig.12 and Fig.13 As shown, the lower connecting flange 400 has an I-shaped appearance, and the upper end of the lower connecting flange 400 has circumferentially distributed threaded holes IV410 connected to the supporting base plate 260 through screws IA01, and the lower end has circumferentially distributed countersunk holes 420 connected to the circumferentially distributed threaded holes II520 of the connecting plate 500 through screws IIIA03, and a groove II430 is left in the middle to facilitate the embedding of the bottom end of the linear bearing C02.

[0090] like Fig.14 As shown, the variable stiffness device 002 consists of a connecting plate 500, an electromagnetic variable stiffness unit 600 and a connecting flange 700; wherein the electromagnetic variable stiffness unit 600 is located between the connecting plate 500 and the connecting flange 700, the upper end of the connecting plate 500 is connected to the vibration reduction unit 001, and the connecting flange 700 is used to connect the end effector.

[0091] like Fig.15 As shown, the connecting plate 500 has a through hole IIID03 and a threaded hole I510 in the middle for mounting the linear bearing IIC02, and has threaded holes II520 and a through hole IVD04 in the circumferential direction for mounting the lower connecting flange 400 and the electromagnetic variable stiffness unit 600.

[0092] like Fig.16 and Fig.17 As shown, the electromagnetic variable stiffness unit 600 includes an electromagnetic coil II 610, an electromagnetic sleeve II 620, a guide rod 630, a permanent magnet II 640, a locking nut II B02, and a linear bearing II C02; wherein, the upper end of the electromagnetic sleeve II 620 is connected to the connecting plate 500, the electromagnetic coil II 610 is wound in the cavity of the electromagnetic sleeve II 620, and the linear bearing II C02 is fixed at the end of the electromagnetic sleeve II to reduce the friction in the axial movement of the guide rod 630 and to play a positioning role, and the permanent magnet II 640 is fixed to the guide rod by a pair of locking nuts II B02.

[0093] like Fig.18 As shown, the guide rod 630 has the shape of a stepped rod with threads, and an external thread II 631 is left at the middle step portion of the guide rod 630 for cooperating with the locking nut II B02 to fix the permanent magnet II 640, so that the permanent magnet II 640 and the guide rod 630 are connected as a whole and move together, and an external thread III 632 is left at the end of the guide rod 630 to cooperate with the threaded hole VI 710 of the connecting flange 700.

[0094] like Fig.19 and Fig. 20 As shown, the electromagnetic sleeve II620 has an I-shaped appearance, and a threaded hole III621 is reserved at the upper end of the electromagnetic sleeve II and is fixedly connected to the connecting plate 500 by means of screws IVA04; the cavity of the electromagnetic sleeve II620 is used to wind the electromagnetic coil II610, and a through hole VD05 and a threaded hole V622 are reserved at the lower end of the electromagnetic sleeve II for installing a linear bearing IIC02, which is fixed by screws IVA04, and the guide rod 630 passes through the through hole VD05 and cooperates with the linear bearing IIC02.

[0095] like Fig.21 As shown, the connection device of the present invention can be used for robot handling operations, the upper connection flange 100 is connected to the robot arm 005, the connection flange 700 is connected to the suction cup 003, the suction cup 003 adsorbs the workpiece 004 and is carried under the drive of the robot arm 005, and the current in the electromagnetic coil I 312 and the electromagnetic coil II 610 is adaptively adjusted according to the load and vibration frequency of the workpiece 004 during the handling process to achieve stable handling;

[0096] like Fig. 22 As shown, on the basis of the connection device of the present invention, the electromagnetic variable stiffness units 600 are assembled in parallel to form the device structure in the figure, and the connection device is composed of four electromagnetic variable stiffness units 600 in parallel to replace the previous coaxially connected electromagnetic variable stiffness unit 600; the electromagnetic sleeve II620 of the electromagnetic variable stiffness unit 600 is fixedly connected to the upper cross plate 010, and the guide rod 630 is connected to the lower cross plate 030 by a ball joint 020; the current in the electromagnetic coil II610 at the symmetrical position is changed to make it unequal in size, and the guide rod 630 at the symmetrical position is of different lengths under the action of the electromagnetic force, and the suction cup 003 is tilted at this time; multi-posture handling can be achieved by adjusting the current in the electromagnetic coil II610 at the symmetrical position.

[0097] like Fig.23 As shown, Fig. 22 The connecting device is used in robot handling operations. The connecting device not only has the functions of vibration reduction and variable stiffness, but also has the function of posture transformation, which can realize multi-posture stable handling of workpiece 004.

[0098] Embodiment 2: In addition to the variable stiffness connection device with vibration reduction function in Embodiment 1, this embodiment also includes a method for using the variable stiffness connection device, and the method includes:

[0099] Step 1, after the suction cup 003 absorbs the workpiece 004, the robot 005 body starts to move, and when the robot 005 body vibrates, the spring 230 on the guide rod 250 is deformed in the vertical direction to isolate the vibration between the robot 005 body and the workpiece 004; at the same time, the vibration of the robot 005 body and the workpiece 004 will cause relative movement between the permanent magnet Ⅰ320 and the electromagnetic coil Ⅰ312, and the relative movement causes the magnetic flux to change. By adjusting the current of the electromagnetic coil Ⅰ312, an electromagnetic force is generated, thereby suppressing the relative movement between the permanent magnet Ⅰ320 and the electromagnetic coil Ⅰ312, and achieving vibration suppression;

[0100] Step 2. After the suction cup 003 adsorbs the workpiece 004, the electromagnetic coil II 610 is energized to generate a magnetic field. Under the action of the gravity G of the workpiece 004, the permanent magnet II 640 connected to the guide rod 630 remains stationary in the equilibrium position δ with the top of the linear bearing II C02; when the load of the workpiece 004 changes, the current of the electromagnetic coil II 610 is adjusted to adjust the strength of the magnetic field and the electromagnetic force F around the permanent magnet II 640, so that the permanent magnet II 640 connected to the guide rod 630 is still in the equilibrium position δ, and different load forces are balanced under the same displacement, thereby realizing the adjustment of the suction cup stiffness.

[0101] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0102] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A method for using a variable stiffness connection device with a vibration reduction function, characterized in that: A variable stiffness connection device having a vibration reduction function is provided, comprising a vibration reduction device (001) and a variable stiffness device (002); The vibration reduction device (001) comprises an upper connecting flange (100), a passive vibration reduction unit (200), an active vibration reduction unit (300) and a lower connecting flange (400); the upper connecting flange (100) and the lower connecting flange (400) are respectively mounted on the upper end and the lower end of the passive vibration reduction unit (200), and the active vibration reduction unit (300) is located inside the passive vibration reduction unit (200); The passive vibration reduction unit (200) comprises an upper pressure plate (210), a mounting plate (220), a spring (230), a limit plate (240), a guide rod (250) and a support base plate (260), wherein the limit plate (240) is located between the mounting plate (220) and the support base plate (260); The cross section of the mounting plate (220) is in the shape of an I-shaped character. The upper end of the mounting plate (220) is provided with circumferentially distributed upper connecting flange mounting holes (221). The lower end of the mounting plate (220) is provided with circumferentially distributed bearing mounting holes (222). The linear bearing I (C01) is placed in the bearing mounting hole (222). The upper portion of the linear bearing I (C01) is pressed by an upper pressing plate (210). The limit plate (240) is provided with guide holes distributed in a circumferential direction. The top of the guide rod (250) passes through the limit plate (240), the mounting plate (220), and the upper pressure plate (210) in sequence. The lower end of the guide rod (250) is mounted on the support base plate (260) by means of a screw II (A02). The support base plate (260) is provided with a groove I (261). The active vibration reduction unit (300) comprises an electromagnetic sleeve (310), an electromagnetic mounting housing (311), an electromagnetic coil I (312), and a permanent magnet I (320). The variable stiffness device (002) comprises a connecting plate (500), an electromagnetic variable stiffness unit (600), and a connecting flange (700). The electromagnetic variable stiffness unit (600) comprises an electromagnetic coil II (610), an electromagnetic sleeve II (620), a guide rod (630), a permanent magnet II (640), a locking nut II (B02), and a linear bearing II (C02). The method of use comprises the following steps: S1: The vibration reduction device (001) and the variable stiffness device (002) are integrated on the end effector. When the end effector grasps or adsorbs the workpiece, if vibration is generated during the operation, the spring (230) on the guide rod (250) is deformed in the vertical direction. At the same time, the vibration causes relative movement between the permanent magnet I (320) and the electromagnetic coil I (312). The relative movement causes the magnetic flux to change. The electromagnetic force is generated by adjusting the current of the electromagnetic coil I (312), thereby suppressing the relative movement between the permanent magnet I (320) and the electromagnetic coil I (312), thereby achieving vibration suppression. S2: After the end effector grasps or adsorbs the workpiece, the electromagnetic coil II (610) is energized to generate a magnetic field. Under the action of the gravity G of the workpiece (004), the permanent magnet II (640) connected to the guide rod (630) remains stationary at a balanced position with a distance δ from the top of the linear bearing II (C02); when the load of the workpiece (004) changes, the current of the electromagnetic coil II (610) is adjusted to adjust the strength of the magnetic field and the electromagnetic force F around the permanent magnet II (640), so that the permanent magnet II (640) connected to the guide rod (630) is still in the balanced position of δ, and different load forces are balanced under the same displacement, thereby realizing the adjustment of the stiffness of the end effector.

2. The method for using the variable stiffness connection device with vibration reduction function according to claim 1, characterized in that: The spring (230) is sleeved on the guide rod (250), the upper end of the spring (230) is in contact with the bottom of the bearing mounting hole (222), and the lower end of the spring (230) is in contact with the limit plate (240).

3. The method for using the variable stiffness connection device with vibration reduction function according to claim 1, characterized in that: The guide rod (250) is a stepped rod, an external thread I (251) is left at the upper end of the guide rod (250), and a threaded hole VII (252) is left at the lower end of the guide rod (250).

4. The method for using the variable stiffness connection device with vibration reduction function according to claim 1, characterized in that: The cavity formed by the electromagnetic sleeve (310) and the electromagnetic mounting housing (311) is used to mount the electromagnetic coil I (312); The through hole I (D01) and the through hole II (D02) in the middle of the electromagnetic sleeve (310) are used for leading out the wires of the electromagnetic coil I (312); The permanent magnet I (320) is mounted on the groove (261) of the supporting base plate (260); The upper end of the electromagnetic sleeve (310) is connected to the mounting plate (220) of the passive vibration reduction unit (200).

5. The method for using the variable stiffness connection device with vibration reduction function according to claim 1, characterized in that: The electromagnetic variable stiffness unit (600) is located between the connecting plate (500) and the connecting flange (700), and the upper end of the connecting plate (500) is connected to the vibration reduction device (001); The upper end of the electromagnetic sleeve II (620) is connected to the connecting plate (500), the electromagnetic coil II (610) is wound in the cavity of the electromagnetic sleeve II (620), the linear bearing II (C02) is fixed to the end of the electromagnetic sleeve II (620) to reduce the friction of the guide rod (630) during movement and to play a positioning role, and the permanent magnet II (640) is fixed to the guide rod via a pair of locking nuts II (B02).

6. The method for using the variable stiffness connection device with vibration reduction function according to claim 5, characterized in that: The connecting plate (500) has a through hole III (D03) and a threaded hole I (510) in the middle for inserting and installing a linear bearing II (C02), and has a threaded hole II (520) and a through hole IV (D04) in the circumferential direction for matching with a lower connecting flange (400) and an electromagnetic variable stiffness unit (600).

7. The method for using the variable stiffness connection device with vibration reduction function according to claim 6, characterized in that: The electromagnetic sleeve II (620) has an I-shaped appearance, and a threaded hole III (621) is provided at the upper end of the electromagnetic sleeve II (620) to cooperate with the connecting plate (500); The cavity of the electromagnetic sleeve II (620) is used for winding the electromagnetic coil II (610), and a through hole V (D05) and a threaded hole V (622) are reserved at the lower end of the electromagnetic sleeve II (620) for inserting and installing a linear bearing II (C02). The guide rod (630) passes through the through hole V (D05) and cooperates with the linear bearing II (C02).

8. The method for using the variable stiffness connection device with vibration reduction function according to claim 7, characterized in that: The lower connecting flange (400) is in the shape of an "I" character. The upper end of the lower connecting flange (400) is provided with circumferentially distributed threaded holes IV (410) for matching with the supporting base plate (260), and the lower end is provided with circumferentially distributed countersunk holes (420) for matching with circumferentially distributed threaded holes II (520) of the connecting plate (500). A groove II (430) is provided in the middle to facilitate the embedding of the bottom end of the linear bearing II (C02).

9. The method for using the variable stiffness connection device with vibration reduction function according to claim 8, characterized in that: The guide rod (630) is in the shape of a stepped rod with threads. An external thread II (631) is left at the middle step portion of the guide rod (630) for cooperating with a locking nut II (B02) to fix the permanent magnet II (640). An external thread III (632) is left at the end of the guide rod (630) for cooperating with a threaded hole VI (710) of the connecting flange (700).

Images