Space flexible adapter

Abstract

The invention relates to a space flexible adapter, which comprises an upper flange assembly, a lower flange assembly and an upper flange assembly, the piston assembly comprises a piston body, a center column and a reset assembly, the piston body is slidably connected to the piston cavity, and the center column abuts against the bottom of the piston cavity under the elastic pre-tightening effect of the reset assembly; and the middle ring is mounted on the upper flange assembly in a sleeving manner. The lower flange assembly is connected to the middle ring and covers one end of the upper flange assembly, a lateral moving space and an axial spacing space are formed between the lower flange assembly and the upper flange assembly, the lower flange assembly is provided with a plurality of conical pits, and the groove walls of at least part of the conical pits are provided with conical surfaces. And the ball socket assemblies are installed on the piston body at intervals, and each ball socket assembly abuts against the matched conical socket under the action of the elastic pre-tightening force borne by the piston body. The position and posture flexible adjustment in the multi-axis direction is achieved through the lower flange assembly, and space multi-axis position and posture relative errors are effectively compensated.

Description

Technical Field

[0001] This invention relates to the field of automated flexible connection technology, and more particularly to a spatial flexible adapter. Background Technology

[0002] In the operation of automated production lines, online inspection equipment is a key component in ensuring product quality. The robotic arm, as the core actuator of this equipment, is typically equipped with a joint mechanism and a gripping mechanism. The joint mechanism drives the gripping mechanism to achieve multi-directional movement, enabling the gripping, handling, and inspection of workpieces. Taking the automated production of automotive parts as an example, the robotic arm needs to automatically insert and remove wiring harnesses to perform online electrical testing on the automotive parts, ensuring that the electrical performance of the parts meets production standards.

[0003] However, in actual production, due to manufacturing errors in the automotive parts themselves, and the fact that the online transfer fixtures also produce certain errors during processing and manufacturing, the superposition of these two types of errors will result in relative errors in spatial multi-axis position and orientation between the female wire harness connector on the automotive parts and the male wire harness connector at the inspection station.

[0004] When the movable joint mechanism of the robotic arm device does not have multi-axis position and attitude adjustment functions, wire harness insertion and removal operations are prone to failure, which in turn prevents the normal operation of the inspection work and affects production efficiency. Even if the wire harness can be inserted or removed, the position and attitude deviation may cause the female connector of the wire harness on the automotive parts to be scratched, or even cause the metal pins inside the connector to bend, resulting in serious product quality problems, increasing production costs and defect rate. Therefore, improvements are needed. Summary of the Invention

[0005] To overcome the problems existing in related technologies, embodiments of the present invention provide a spatial flexible adapter to solve the technical problem that movable joint mechanisms cannot adapt to spatial multi-axis position and attitude relative error adjustments.

[0006] According to a first aspect of the present invention, a spatial flexible adapter is provided, comprising: The upper flange assembly is equipped with a piston chamber; A piston assembly includes a piston body, a central post slidably inserted into the piston body, and a reset assembly sleeved on the central post. The two ends of the reset assembly elastically abut against the central post and the piston body, respectively. The piston body is slidably connected to the piston cavity, and the central post abuts against the bottom of the piston cavity under the elastic pre-tightening action of the reset assembly. The middle ring is fitted and installed on the upper flange assembly; The lower flange assembly is connected to the middle ring and covers one end of the upper flange assembly. The lower flange assembly and the upper flange assembly have a lateral movement space and an axial spacing space. The lower flange assembly is provided with a plurality of conical recesses, and at least some of the groove walls of the conical recesses are provided with conical surfaces. Multiple ball-and-socket assemblies are spaced apart on the piston body, and each ball-and-socket assembly abuts against a matching conical socket under the elastic preload force applied to the piston body.

[0007] In one embodiment, the upper flange assembly includes an upper flange seat and a core, the middle ring is sleeved and abuts against the core, a portion of the core extends out of the lower flange assembly and is detachably connected to the upper flange seat, the lower flange assembly and the upper flange seat form an axially spaced space, and the lower flange assembly and the core form a lateral movement space.

[0008] In one embodiment, the core includes a laterally protruding support rib, the support rib having a support curved surface, and the middle ring slidably fitting against the support curved surface.

[0009] In one embodiment, the upper flange seat is provided with a pneumatic passage communicating with the piston chamber.

[0010] In one embodiment, the lower flange assembly includes a lower flange seat and an end cap detachably mounted on the lower flange seat, the conical recesses are spaced apart on the end cap, the core passes through the lower flange seat, and the lower flange seat is suspended and connected to the middle ring.

[0011] In one embodiment, the contact surface between the lower flange seat and the middle ring is a plane.

[0012] In one embodiment, the end of the central column is spherical, and a first spacing in the axial direction of the central column is smaller than a second spacing. The first spacing is the axial movable spacing between the lower flange assembly and the central column, and the second spacing is the axial movable spacing between the lower flange assembly and the upper flange assembly.

[0013] In one embodiment, an anti-rotation mechanism is provided between the piston assembly and the piston chamber, the anti-rotation mechanism being used to guide the piston assembly to move linearly relative to the upper flange assembly.

[0014] In one embodiment, the ball-and-socket assembly includes an elastic element mounted within the piston assembly and a positioning ball elastically abutting against the elastic element. The positioning ball elastically abuts against the cone-shaped socket, and the cone-shaped socket defines a depth of the positioning ball that is greater than or equal to half the radius of the positioning ball.

[0015] In one embodiment, the sliding surfaces of the piston body and the central column have a first sealing ring, and the sliding surface between the piston body and the piston cavity has a second sealing ring.

[0016] The technical solutions provided by the embodiments of the present invention can include the following beneficial effects: A spatial flexible adapter enables multi-axis flexible adjustment; the lower flange assembly can move relative to the upper flange assembly in both lateral and axial space; the piston assembly pushes against the ball joint assembly, pressing it against the conical recess of the lower flange assembly; the ball joint assembly pushes the piston assembly to move and compress during the torsion of the lower flange assembly, achieving rotational freedom. Utilizing the lateral and axial space between the lower flange assembly and the upper flange assembly, the lower flange assembly can swing relative to the upper flange assembly, achieving circumferential swing freedom. The lower flange assembly achieves flexible adjustment of position and attitude in multiple axes, effectively compensating for relative errors in spatial multi-axis position and attitude. Attached Figure Description

[0017] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0018] Figure 1 This is a schematic diagram of the structure of a flexible space adapter according to one embodiment.

[0019] Figure 2 This is a top view schematic diagram of a space flexible adapter according to one embodiment.

[0020] Figure 3 yes Figure 2 A schematic diagram of the cross-section of EE.

[0021] Figure 4 yes Figure 3 A cross-sectional schematic diagram of FF.

[0022] Figure 5 yes Figure 3 A cross-sectional schematic diagram of KK.

[0023] In the figure, the components are: upper flange assembly 10; piston chamber 11; upper flange seat 12; air pressure channel 121; core 13; support rib 131; support curved surface 132; axial spacing space 14; lateral movement space 15; positioning pin 16; second sealing ring 17; first sealing ring 18; lower flange assembly 20; lower flange seat 21; hanging rib 211; end cap 22; conical recess 221; conical surface 222; piston assembly 30; piston body 31; central column 32; reset assembly 33; ball-and-socket assembly 40; positioning ball 41; elastic element 42; middle ring 50; anti-rotation mechanism 60; guide pin 61; guide groove 62. Detailed Implementation

[0024] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components. In the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," "right," "inner," and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the accompanying drawings are only for illustrative purposes and should not be construed as limiting the present invention. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0025] like Figures 1 to 3 As shown, the present invention provides a spatial flexible adapter, which includes an upper flange assembly 10, a piston assembly 30, a middle ring 50, a lower flange assembly 20, and a plurality of ball-and-socket assemblies 40 installed on the piston assembly 30. The upper flange assembly 10 is provided with a piston cavity 11, and the piston assembly 30 is slidably connected to the piston cavity 11. The middle ring 50 is sleeved and installed on the upper flange assembly 10. The lower flange assembly 20 covers one end of the upper flange assembly 10 and is suspended and connected to the middle ring 50. The suspension and connection means that the upper flange assembly 10 is suspended and connected to the periphery of the middle ring 50 by means of ring ribs or bosses.

[0026] The lower flange assembly 20 and the upper flange assembly 10 have a lateral movement space 15 and an axial spacing space 14. The lateral movement space 15 is an annular movement space around the upper flange assembly 10 by the lower flange assembly 20, and the upper flange assembly 10 can move translationally in the plane direction formed by the X-axis and Y-axis. The axial spacing space 14 is a Z-axis movement space between the lower flange assembly 20 and the upper flange assembly 10 in the sliding direction of the piston assembly 30.

[0027] The piston assembly 30 includes a piston body 31, a central post 32 slidably inserted into the piston body 31, and a reset assembly 33 sleeved on the central post 32. A plurality of ball-and-socket assemblies 40 are spaced apart and installed on the piston body 31, and are arranged around the center of the piston body 31. Optionally, three, four, five, or six ball-and-socket assemblies 40 may be provided. Preferably, three ball-and-socket assemblies 40 are provided to abut against the lower flange assembly 20.

[0028] The two ends of the reset assembly 33 elastically abut against the central column 32 and the piston body 31, respectively. The piston body 31 is slidably connected to the piston cavity 11, and the central column 32 abuts against the bottom of the piston cavity 11 under the elastic pre-tightening action of the reset assembly 33. The lower flange assembly 20 is provided with multiple conical recesses 221, and at least some of the recesses 221 have conical surfaces 222 on their groove walls. Each ball-and-socket assembly 40 abuts against a matching conical recess 221 under the elastic pre-tightening force on the piston body 31. Correspondingly, the lower flange assembly 20 is tensioned and suspended on the middle ring 50 under the elastic pre-tightening force of the reset assembly 33, so that the lower flange assembly 20 and the upper flange assembly 10 are tightly connected with no gaps at the mating parts and a high degree of tightness.

[0029] The lower flange assembly 20 can move within the lateral movement space 15 and the axial spacing space 14 relative to the upper flange assembly 10. The piston assembly 30 pushes against the ball joint assembly 40, pressing it against the tapered recess 221 of the lower flange assembly 20. During the torsion of the lower flange assembly 20, the ball joint assembly 40 pushes the piston assembly 30 to move and compress, achieving rotational freedom. The sliding directions of the lower flange assembly 20 perpendicular to the piston assembly 30 are defined as the X-axis and Y-axis directions, which are perpendicular to each other. The sliding direction of the lower flange assembly 20 parallel to the piston assembly 30 is defined as the Z-axis direction.

[0030] The working principle of the space flexible adapter includes: 1. The lower flange assembly 20 swings and resets relative to the upper flange assembly 10 around the X-axis and Y-axis: When the lower surface of the lower flange assembly 20 is subjected to upward pressure, the lower flange assembly 20 moves upward, pushing the piston body 31 to move. The piston body 31 pushes the reset assembly 33 to continue compressing, and the lower flange assembly 20 can swing clockwise or counterclockwise within a preset range along the X-axis and / or Y-axis. When the pressure applied to the lower flange assembly 20 disappears, the reset assembly 33 releases and pushes the piston body 31 downward. The piston body 31 resets and pushes the lower ball assembly 40 into the cone socket 221, thereby pushing the lower flange assembly 20 to reset to a coaxial position with the upper flange assembly 10.

[0031] 2. When the lower surface of the lower flange assembly 20 is subjected to tension: the lower flange assembly 20 is pulled taut against the upper surface of the middle ring 50. At this time, the lower flange assembly 20 and the middle ring 50 move synchronously. The middle ring 50 swings clockwise or counterclockwise within a preset angle relative to the contact surface of the upper flange assembly 10 along the X-axis and / or Y-axis. When the tension applied to the lower flange assembly 20 disappears, the piston is pushed down and reset under the elastic force of the reset assembly 33. The ball socket assembly 40 and the corresponding cone socket 221 are aligned so that the lower flange assembly 20 is reset to the coaxial position.

[0032] 3. When the lower flange assembly 20 is subjected to lateral tension or thrust: The lower flange assembly 20, subjected to an externally applied lateral force, moves a predetermined distance relative to the upper flange assembly 10 along the corresponding X-axis and / or Y-axis directions. Simultaneously, the conical surface 222 of the conical recess 221 moves relative to the ball-and-socket assembly 40, causing the ball-and-socket assembly 40 to push the piston body 31 to slide and continue compressing the reset assembly 33. After the lateral force on the lower flange assembly 20 disappears, the piston is pushed downwards and reset under the elastic force of the reset assembly 33. The ball-and-socket assembly 40 and the corresponding conical recess 221 align, causing the lower flange assembly 20 to reset to a coaxial position.

[0033] IV. When the lower flange assembly 20 is subjected to pressure: The lower surface of the lower flange assembly 20 is subjected to pressure, and the lower flange assembly 20 moves a preset range of motion along the Z-axis. At the same time, the lower flange assembly 20 pushes the piston body 31 through the ball joint assembly 40 to continuously compress the reset assembly 33. After the external pressure on the lower surface of the lower flange assembly 20 disappears, the reset assembly 33 elastically pushes the piston body 31 to move the lower flange assembly 20 downward to reset.

[0034] 5. When the lower flange assembly 20 is subjected to rotational torque in the Z-axis direction, the lower flange assembly 20 rotates clockwise or counterclockwise relative to the upper flange assembly 10 by a corresponding angle around the Z-axis. Simultaneously, the conical surface 222 of the conical recess 221 presses and pushes the ball-and-socket assembly 40, which in turn pushes the piston body 31 upward to compress the reset assembly 33. When the external torque on the lower flange assembly 20 disappears, the reset assembly 33 elastically pushes the piston body 31 downward, and the ball-and-socket assembly 40 and the conical recess 221 automatically align and descend, so that the lower flange assembly 20 returns to its coaxial position.

[0035] In summary, by utilizing the lateral movement space 15 and axial spacing space 14 between the lower flange assembly 20 and the upper flange assembly 10, the lower flange assembly 20 can swing relative to the upper flange assembly 10, achieving circumferential swing freedom. The lower flange assembly 20 achieves flexible adjustment of position and attitude in multiple axes, effectively compensating for relative errors in spatial multi-axis position and attitude.

[0036] In one embodiment, the upper flange assembly 10 includes an upper flange seat 12 and a core 13. The upper flange seat 12 and the core 13 are separate structures and can be detachably connected to improve the convenience of assembling and connecting various components and to form spaces of different sizes. The core 13 has a stepped structure on its side, and the middle ring 50 is fitted onto the stepped structure of the core 13. The lower flange assembly 20 is an annular structure. Preferably, the lower flange assembly 20 includes a lower flange seat 21 and an end cap 22 detachably installed on the lower flange seat 21. The lower flange seat 21 is an annular structure, and a hanging rib 211 protruding towards the center is formed at one end opening of the lower flange seat 21 so that the size of the lower end opening of the lower flange seat 21 is larger than the size of the opening formed by the hanging rib 211.

[0037] A portion of the core 13 extends out of the lower flange assembly 20 and is detachably connected to the upper flange seat 12. Another portion of the core 13 is located within the lower flange assembly 20. The lower flange assembly 20 is suspended from the core 13 by a central ring 50 via a suspension rib 211, allowing the lower flange assembly 20 and the upper flange assembly 10 to be assembled and connected. The inner diameter of the suspension rib 211 is larger than the outer diameter of the corresponding portion of the core 13, creating an axial gap 14 between the suspension rib 211 and the corresponding portion of the core 13. This space forms the lateral movement space 15 between the lower flange assembly 20 and the core 13. A Z-axis gap is formed between the top surface of the lower flange seat 21 and the bottom surface of the upper flange seat 12, which is the axial gap 14 between the lower flange assembly 20 and the upper flange seat 12.

[0038] Preferably, the contact surface between the lower flange seat 21 and the middle ring 50 is a plane, and correspondingly, the lower flange seat 21 moves relative to the middle ring 50 in the plane of the X-axis and Y-axis directions corresponding to the contact surface along the lateral movement space 15.

[0039] Furthermore, the core 13 includes a laterally protruding support rib 131, which has a support curved surface 132. The middle ring 50 slides against the support curved surface 132. The support rib 131 is a rib structure, and its size is larger than the inner hole size of the hanging rib 211. The middle ring 50 is sleeved on the core 13 and abuts against the support rib 131. The mating surface between the middle ring 50 and the support rib 131 is a curved surface, which can guide the middle ring 50 to swing relative to the core 13, improving the swing flexibility.

[0040] like Figures 3 to 5 As shown, in one embodiment, the end cap 22 is detachably mounted on the lower flange seat 21 and is disposed opposite to the hanging rib 211 to confine the lower portion of the core 13 within the lower flange assembly 20. Conical recesses 221 are spaced apart on the end cap 22, and the ball-and-socket assembly 40 is mounted on the end of the piston body 31 and is correspondingly matched with the conical recesses 221.

[0041] In one embodiment, the ball-and-socket assembly 40 includes an elastic element 42 installed within the piston assembly 30 and a positioning ball 41 elastically abutting against the elastic element 42, the positioning ball 41 elastically abutting against the conical recess 221. The piston body 31 has multiple mounting holes, the centerlines of which are parallel to the center of the piston body 31, and the elastic element 42 is installed within these holes. The mounting holes are stepped holes, with the elastic element 42 located in the small hole region and the positioning ball 41 located in the large hole region. At least a portion of the positioning ball 41 extends beyond the end face of the piston body 31. Preferably, the end face of the piston body 31 is curved to facilitate the lower flange assembly 20 swinging around the end face of the piston body 31.

[0042] The conical recess 221 limits the depth of the positioning ball 41 to be greater than or equal to half the radius of the positioning ball 41. The depth of the conical recess 221 limits the range of motion of the positioning ball 41. When the flange assembly 20 is subjected to torsional or lateral force, the end cover 22 moves laterally, causing the conical surface 222 of the conical recess 221 to press against the positioning ball 41. The positioning ball 41 then presses against the elastic element 42 to maintain a gapless contact between the positioning ball 41 and the conical recess 221. When the external force on the flange assembly 20 disappears, the elastic element 42 pushes the positioning ball 41 against the conical recess 221, thereby achieving automatic reset.

[0043] The end cap 22 and the lower flange seat 21 are connected by an insertion assembly. The lower flange seat 21 has a stepped groove, and the end cap 22 is installed into the stepped groove to form a positioning connection. Preferably, a lower retaining ring is installed at the stepped groove to fix the axial position of the end cap 22.

[0044] Furthermore, a positioning element is provided between the lower flange seat 21 and the end cap 22. The positioning element is used to limit the relative angle between the end cap 22 and the lower flange seat 21, thereby preventing misalignment of the end cap 22 from affecting the repositioning consistency of the cone socket 221 and the ball socket assembly 40. Preferably, the lower flange seat 21 is provided with a positioning groove, and the end cap 22 is provided with a positioning notch. The positioning element is inserted into the positioning groove and the positioning notch to form an anti-rotation structure.

[0045] In one embodiment, the core 13 is inserted into the upper flange seat 12 to form an assembly connection. Further, a locating pin 16 is provided between the upper flange seat 12 and the core 13, which positions the upper flange seat 12 and the core 13 relative to each other, greatly improving assembly accuracy. Even further, the upper flange seat 12 and the core 13 are locked together by fasteners, which penetrate from the top of the upper flange seat 12 and lock the core 13, thus locking the insertion portion of the core 13.

[0046] In one embodiment, the upper flange seat 12 is provided with a pneumatic passage 121 communicating with the piston chamber 11, through which gas can be introduced or discharged. When gas at a preset pressure is introduced into the pneumatic passage 121, the piston assembly 30 presses against the lower flange assembly 20 under the action of the pressurized gas, thereby locking the angle and position of the lower flange assembly 20.

[0047] In one embodiment, the end of the central column 32 is spherical. A first spacing in the axial direction of the central column 32 is smaller than a second spacing. The first spacing is the axial movement distance between the lower flange assembly 20 and the central column 32, and the second spacing is the axial movement distance between the lower flange assembly 20 and the upper flange assembly 10. The central column 32 and the piston body 31 are connected by a sliding joint. The elastic preload of the reset assembly 33 causes the central column 32 and the piston body 31 to tend to move in opposite directions. When the central column 32 abuts against the bottom of the piston chamber 11, the piston body 31 can move in the opposite direction.

[0048] When the lower flange assembly 20 is under pressure, the lower flange assembly 20 moves toward the upper flange assembly 10 until the end cover 22 abuts against the spherical surface of the central column 32. Since the contact surface of the central column 32 is a spherical surface, the lower flange assembly 20 can swing and move around the spherical surface at any angle. The spherical surface constitutes the basic support point for rotation and also constitutes the movable support point of the lower flange assembly 20.

[0049] like Figures 3 to 5 As shown, the piston assembly 30 and the piston chamber 11 are slidably connected, and further, the piston assembly 30 slides directionally along the piston chamber 11. An anti-rotation mechanism 60 is provided between the piston assembly 30 and the piston chamber 11, which guides the linear movement of the piston assembly 30 relative to the upper flange assembly 10. The anti-rotation mechanism 60 is limited by the sliding fit between the piston body 31 and the core 13.

[0050] Optionally, the anti-rotation mechanism 60 includes an anti-rotation surface disposed on the piston body 31, and the core 13 and the upper flange seat 12 together form the piston cavity 11. The core 13 is provided with a mating surface adapted to the anti-rotation surface to form the anti-rotation mechanism 60. For example, the anti-rotation surface and the mating surface are configured as planar or non-circular curved surfaces.

[0051] In a preferred embodiment, the outer peripheral wall of the piston body 31 is provided with one or more protruding structures, which can be configured as ribs or pillars. The piston cavity 11 is provided with guide grooves 62 adapted to the protruding structures, and the protruding structures are inserted into the guide grooves 62 to form a directional sliding structure. Furthermore, the piston body 31 is fixedly connected with three guide pins 61, and the piston cavity 11 wall of the core 13 portion is recessed with three guide grooves 62, and the guide pins 61 are inserted into the guide grooves 62 to form a guiding connection.

[0052] The piston body 31 slides relative to the central column 32 and the piston chamber 11. Preferably, the sliding surfaces of the piston body 31 and the central column 32 have a first sealing ring 18, and the sliding surfaces between the piston body 31 and the piston chamber 11 have a second sealing ring 17. The first sealing ring 18 and the second sealing ring 17 can gas seal the moving parts, thereby preventing gas pressure leakage and reducing friction.

[0053] Based on the above embodiments, the upper flange seat 12 and the lower flange seat 21 are configured as circular structures, which can achieve coaxiality between the two. The adapter has both three-axis movement flexibility and three-axis swing flexibility, and has six-axis spatial flexibility in both compression and pull (insertion and removal) directions, which greatly improves the detection accuracy of online detection equipment and reduces the influence of cumulative error factors.

[0054] It should be understood that this application is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. This application is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of this application and include common knowledge or customary techniques in the art that are not disclosed in this invention.

Claims

1. A flexible space adapter, characterized in that, include: The upper flange assembly is equipped with a piston chamber; A piston assembly includes a piston body, a central post slidably inserted into the piston body, and a reset assembly sleeved on the central post. The two ends of the reset assembly elastically abut against the central post and the piston body, respectively. The piston body is slidably connected to the piston cavity, and the central post abuts against the bottom of the piston cavity under the elastic pre-tightening action of the reset assembly. The middle ring is fitted and installed on the upper flange assembly; The lower flange assembly is connected to the middle ring and covers one end of the upper flange assembly. The lower flange assembly and the upper flange assembly have a lateral movement space and an axial spacing space. The lower flange assembly is provided with a plurality of conical recesses, and at least some of the groove walls of the conical recesses are provided with conical surfaces. Multiple ball-and-socket assemblies are spaced apart on the piston body, and each ball-and-socket assembly abuts against a matching conical socket under the elastic preload force applied to the piston body.

2. The spatial flexible adapter according to claim 1, characterized in that, The upper flange assembly includes an upper flange seat and a core. The middle ring is sleeved and abuts against the core. A portion of the core extends out of the lower flange assembly and is detachably connected to the upper flange seat. The lower flange assembly and the upper flange seat form an axially spaced space, and the lower flange assembly and the core form a lateral movement space.

3. The spatial flexible adapter according to claim 2, characterized in that, The core includes a laterally protruding support rib, the support rib having a support curved surface, and the middle ring slidingly fitting the support curved surface.

4. The spatial flexible adapter according to claim 2, characterized in that, The upper flange seat is provided with a pneumatic passage that communicates with the piston chamber.

5. The spatial flexible adapter according to claim 2 or 3, characterized in that, The lower flange assembly includes a lower flange seat and an end cap detachably installed on the lower flange seat. The conical recesses are spaced apart on the end cap. The core passes through the lower flange seat, and the lower flange seat is suspended and connected to the middle ring.

6. The spatial flexible adapter according to claim 5, characterized in that, The contact surface between the lower flange seat and the middle ring is a plane.

7. The spatial flexible adapter according to claim 1, characterized in that, The end of the central column is spherical. The first spacing in the axial direction of the central column is smaller than the second spacing. The first spacing is the axial movable spacing between the lower flange assembly and the central column, and the second spacing is the axial movable spacing between the lower flange assembly and the upper flange assembly.

8. The spatial flexible adapter according to claim 1, characterized in that, An anti-rotation mechanism is provided between the piston assembly and the piston chamber, the anti-rotation mechanism being used to guide the piston assembly to move linearly relative to the upper flange assembly.

9. The spatial flexible adapter according to claim 1, characterized in that, The ball-and-socket assembly includes an elastic element installed within the piston assembly and a positioning ball elastically abutting against the elastic element. The positioning ball elastically abuts against the cone-shaped recess, and the cone-shaped recess defines the depth of the positioning ball as greater than or equal to half the radius of the positioning ball.

10. The spatial flexible adapter according to claim 1, characterized in that, The sliding surfaces of the piston body and the central column have a first sealing ring, and the sliding surface between the piston body and the piston cavity has a second sealing ring.

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