Planar flexible adapter

Abstract

The utility model provides a planar flexible adapter. The planar flexible adapter comprises a connecting assembly, an assembling assembly, a piston assembly and a movable body. The piston assembly is provided with a piston nest hole, the assembling assembly is provided with a press-fitting nest hole, the piston nest hole of the piston assembly enables the movable body to be limited in the press-fitting nest hole in an attached mode under the action of pretightening force, and the piston assembly and the assembling assembly have axial movement spaces. A radial moving space is formed in the connecting portion of the assembling assembly and the connecting assembly, the assembling assembly pushes the piston assembly to linearly move along the axial moving space through the moving body under the action of external force, and the assembling assembly moves along the radial moving space relative to the connecting assembly. The assembling assembly can achieve plane translation and / or plane rotation relative to the connecting assembly under the adjustment of the axial movement space and the radial movement space, then flexible adaptation and butt joint of parts are achieved, and the accuracy and efficiency of automatic operation are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of automation equipment and tooling, in particular to a plane flexible adapter. Background Art

[0002] In the field of automation equipment, mechanical press-fitting technology and material handling equipment, accurate and efficient operation is the key to improving production efficiency. However, in actual operation, due to the influence of various factors, such as equipment accuracy, workpiece position error, etc., deviations may occur during press-fitting or handling, affecting product quality and production efficiency. Therefore, how to ensure the accuracy and stability of the press-fitting or handling process in the presence of these deviations is an important issue facing current technology.

[0003] Existing solutions mainly improve the accuracy of the pressing or handling process through precise mechanical structure design and high-precision control systems. For example, by using high-precision sensors and controllers, the displacement and angle during the pressing or handling process can be monitored and adjusted in real time to ensure the accuracy of the pressing or handling.

[0004] However, existing technologies still have some problems and limitations in dealing with the problems of plane eccentricity and deflection. First, the existing mechanical structure design and control system have limited processing capabilities for tiny eccentricities and deflections. Once the eccentricity or deflection exceeds a certain range, it may lead to failure in press-fitting or handling. Secondly, existing technologies often require complex calculations and adjustments to deal with the problems of eccentricity and deflection, which not only increases the complexity and cost of the equipment, but also reduces production efficiency. Finally, existing technologies often cannot guarantee the stability of the press-fitting or handling process when dealing with the problems of eccentricity and deflection, which may lead to unstable product quality and may even cause safety issues. Utility Model Content

[0005] The utility model provides a planar flexible adapter, and the assembly component can achieve planar translation or planar rotation relative to the connection component under the adjustment of the axial activity space and the radial activity space, thereby achieving flexible adaptation and docking of parts, thereby improving the accuracy and efficiency of automated operation.

[0006] In order to achieve the above-mentioned purpose, this technical solution mainly adopts the following technical means:

[0007] The utility model discloses a planar flexible adapter, comprising a connecting component, an assembly component movably connected to the connecting component, a piston component slidably mounted on the connecting component, and a movable body mounted on the assembly component;

[0008] The piston assembly is provided with a piston socket, and the assembly assembly is provided with a press-fit socket. The piston socket of the piston assembly fits the movable body to the press-fit socket under the action of a preload force, and the piston assembly and the assembly assembly have an axial movable space;

[0009] The connection portion between the assembly component and the connecting component has a radial activity space. Under the action of external force, the assembly component pushes the piston component through the movable body to move linearly along the axial activity space, and the assembly component moves along the radial activity space relative to the connecting component to form a plane translation and / or a plane rotation.

[0010] In one embodiment, the connection component is provided with a radially protruding flange ring, the assembly component is provided with an annular movable groove, the assembly component is slidably connected to the flange ring via the movable groove, and the flange ring and the movable groove have radial movable space in the radial direction.

[0011] In one embodiment, the assembly component includes a lower flange and a blind cover, the lower flange is provided with a stepped hole-shaped mounting hole, the blind cover is assembled to the lower flange, the movable groove is formed in the area between the blind cover and the stepped surface of the mounting hole, the stepped surface of the mounting hole is fitted to the flange ring, and a radial movable space is formed between the side of the flange ring and the hole wall of the mounting hole.

[0012] In one embodiment, the connection assembly includes an upper flange and a middle flange connected to the upper flange, a step structure is formed between the middle flange and the upper flange, and the flange ring is arranged on the middle flange.

[0013] In one embodiment, the middle flange includes a plug-in portion, the flange ring protrudes radially from the plug-in portion, the side surface of the plug-in portion is at least partially provided with an inwardly concave conical surface, the lower flange is provided with a convex conical surface corresponding to the concave conical surface, and there is a movable space between the convex conical surface and the concave conical surface.

[0014] In one embodiment, at least a portion of the sliding surface of the piston assembly cooperating with the connecting assembly is configured as an anti-rotation surface.

[0015] In one embodiment, the piston assembly includes a piston member and a preload elastic member connected to the piston member, the piston member is slidably plugged into the connecting assembly, the piston socket is formed by a local depression at the end of the piston member, and the preload elastic member is used to apply a preload force to the piston member to abut against the movable body; wherein,

[0016] The pre-stressed elastic member is inserted into the piston member and abuts against the connecting assembly; and / or,

[0017] The pre-stressed elastic member elastically connects the piston member and the assembly component.

[0018] In one embodiment, the piston member is provided with a limiting surface, and the limiting surface is used to limit the maximum compression position of the piston member compressing the pre-compression elastic member.

[0019] In one embodiment, the piston assembly includes an upper gasket installed in the piston socket; and / or the assembly assembly includes a lower gasket installed in the press-fit socket, and the movable body is limited to the upper gasket and / or the lower gasket; the piston assembly pushes the movable body to squeeze the upper gasket and / or the lower gasket and then plugs and connects the assembly assembly.

[0020] In one embodiment, the assembly component is provided with a positioning groove, and when the piston component is inserted into the positioning groove, the piston component locks the movable space of the assembly component.

[0021] In one embodiment, the effective depth of the piston socket is about the same as the effective depth of the press-fit socket.

[0022] The sum of the effective depths is less than the diameter of the movable body, and the effective depth is the maximum depth of the surface to which the movable body is attached.

[0023] In one embodiment, the movable body is configured as a sphere, and there are two or more movable bodies;

[0024] The movable bodies are evenly distributed around the center of the piston assembly; or,

[0025] At least a portion of the movable body is disposed eccentrically relative to a center of the piston assembly.

[0026] In one embodiment, the planar flexible adapter includes a pneumatic pipeline connected to the connecting component, the pneumatic pipeline is connected to the piston chamber of the movable component, and the pneumatic pipeline is used to output a pneumatic locking force to pneumatically lock the relative posture of the piston component and the assembly component.

[0027] Compared with the existing technology, the beneficial effects of this technical solution are as follows:

[0028] 1. The utility model designs a new type of flat flexible adapter, which can flexibly adapt the matching features of the pressed parts and the product to be coaxial and angular before pressing them in the press-fitting application scenario, effectively solving the press-fitting error problem caused by plane eccentricity and deflection, and improving the accuracy and stability of press-fitting.

[0029] 2. In the application scenario of automated loading and unloading, when there is a plane eccentricity and deflection between the parts to be loaded and unloaded and the positioning fixture or the mold body, the plane flexible adapter can flexibly connect the matching features of the parts to be loaded and unloaded and the positioning fixture or the mold body to be coaxial and at the same angle, thereby ensuring that the loading and unloading are in place, effectively solving the problem of handling errors caused by plane eccentricity and deflection, and improving the accuracy and stability of handling.

[0030] 3. The plane flexible adapter in the utility model constrains the displacement flexibility limit and the swing angle flexibility limit, thereby ensuring the safety of the flexible adapter in the application scenario of loading and unloading, and effectively avoiding equipment damage or personal safety problems caused by excessive displacement or swing angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The drawings described herein are used to provide a further understanding of this specification and constitute a part of this specification. The illustrative embodiments and descriptions of this specification are used to explain this specification and do not constitute an improper limitation on this specification. In the drawings:

[0032] Figure 1 A top view of a planar flexible adapter provided by the utility model;

[0033] Figure 2 A cross-sectional view of a planar flexible adapter provided by the utility model;

[0034] Figure 3 A schematic diagram of an eccentric arrangement of an assembly component provided by the utility model;

[0035] Figure 4 A schematic cross-sectional view of a planar flexible adapter provided by the utility model;

[0036] Figure 5 A schematic cross-sectional view of a planar flexible adapter provided with a pneumatic pipeline provided by the utility model;

[0037] Figure 6 yes Figure 5 Schematic diagram of the pneumatic locking eccentricity of the planar flexible adapter shown;

[0038] Figure 7 yes Figure 5 Schematic diagram of the pneumatically locked rotation of the planar flexible adapter shown;

[0039] Figure 8 yes Figure 5 Schematic diagram of gas pressure locking of a planar flexible adapter is shown.

[0040] In the figure, connecting component 10; upper flange 11; middle flange 12; flange ring 121; plug-in part 122; concave cone 123; piston component 20; axial movable space 201; piston socket 202; piston member 21; upper groove 211; lower groove 212; anti-rotation surface 213; piston hole 214; limiting surface 215; pre-stressed elastic member 22; tension spring 23; upper gasket 24; stop groove 25; lower gasket 26; stop boss 27; movable body 30; assembly component 40; movable groove 401; radial movable space 41; press-fit socket 42; mounting hole 421; cover 43; positioning groove 431; lower flange 44; convex cone 441; pneumatic pipeline 50. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solutions and advantages of this specification more clear, the technical solutions of this specification will be clearly and completely described below in combination with the specific embodiments of this specification and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of this specification, not all of them. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this specification.

[0042] The technical solutions provided by the embodiments of this specification are described in detail below in conjunction with the accompanying drawings.

[0043] like Figures 1 to 3 As shown, the utility model discloses a planar flexible adapter, which includes a connecting component 10, an assembly component 40 movably connected to the connecting component 10, a piston component 20 slidably mounted on the connecting component 10, and a movable body 30 mounted on the assembly component 40. The connecting component 10 is used to connect to a moving part, such as the connecting component 10 is mounted to a moving part such as a manipulator, a moving mechanism, etc. The piston component 20 is installed in the connecting component 10 and the assembly component 40, and is used to provide movable guidance and limit for the assembly component 40.

[0044] The piston assembly 20 is provided with a piston socket 202, and the assembly assembly 40 is provided with a press-fit socket 42. The piston socket 202 of the piston assembly 20 fits and limits the movable body 30 to the press-fit socket 42 under the action of the preload force. The piston socket 202 and the press-fit socket 42 are groove structures, which can be set as a conical groove, a curved groove or a step groove. The piston socket 202 and the press-fit socket 42 are arranged opposite to each other, and the center lines of the two are coaxially arranged to jointly limit the two sides of the movable body 30.

[0045] In a preferred embodiment, the sum of the effective depth of the piston socket 202 and the effective depth of the press-fit socket 42 is less than the diameter of the movable body 30, and the effective depth is the maximum depth of the surface that the movable body 30 is in contact with. The depth of the movable body 30 in the piston socket 202 is the effective depth, that is, when the movable body 30 is in contact with the side of the piston socket 202, the maximum depth of the movable body 30 from the opening of the piston socket 202 is the effective depth. Based on the same principle, when the movable body 30 is in contact with the side of the press-fit socket 42, the maximum depth of the movable body 30 from the opening of the press-fit socket 42 is the effective depth. The piston assembly 20 and the assembly assembly 40 are always spaced apart to provide axial and radial movement space.

[0046] The piston assembly 20 is telescopically mounted on the connecting assembly 10, and the piston assembly 20 and the assembly assembly 40 have an axial activity space 201. The assembly assembly 40 is movably connected to the connecting assembly 10, and has an axial activity space 201 at the connecting portion of the assembly assembly 40 and the connecting assembly 10, wherein the axial activity space 201 and the radial activity space 41 are mutually perpendicular activity planes, specifically, the freedom of the piston assembly 20 is linear reciprocating movement along the axial activity space 201, and the assembly assembly 40 is plane rotation and / or plane rotation along the radial activity space 41.

[0047] Under the action of external force, the assembly component 40 pushes the piston component 20 along the axial activity space 201 straight line through the movable body 30, and the assembly component 40 moves along the radial activity space 41 relative to the connecting component 10 to form a plane translation or a plane rotation.

[0048] The connecting component 10 moves between the press-fitted part and the product under the driving of the moving part, and the assembly component 40 adjusts the angle adaptively under the force transmitted by the press-fitted part to adapt to the current press-fitted part posture. The assembly component 40 realizes planar movement or rotation in the process of spatial change of the axial activity space 201 and the radial activity space 41 through the movable body 30, thereby adapting to the press-fitted part posture, and has good adaptability.

[0049] like Figures 2 to 6 As shown, in one embodiment, the connection component 10 is provided with a radially protruding flange ring 121, and the assembly component 40 is provided with an annular active groove 401. The assembly component 40 is slidably connected to the flange ring 121 through the active groove 401, and the flange ring 121 and the active groove 401 have a radial active space 41 in the radial direction. The connection component 10 and the assembly component 40 are movably connected through the cooperation between the flange ring 121 and the active groove 401. The outer diameter of the flange ring 121 is smaller than the groove bottom of the active groove 401, and the diameter of the flange ring 121 at the protruding starting position is smaller than the size of the opening position of the active groove 401, that is, the radial active space 41 is formed by the aperture difference between the flange ring 121 and the active groove 401.

[0050] The assembly component 40 is connected to the flange ring 121 to form a connection structure. Optionally, the assembly component 40 is closed and buckled to the flange ring 121 from both sides, so that the assembly component 40 is hoisted on the flange ring 121. Optionally, the assembly component 40 is assembled and connected to the connection component 10 in parts, wherein the assembly component 40 includes a lower flange 44 and a blind cover 43, the lower flange 44 is provided with a step-shaped mounting hole 421, and the blind cover 43 is assembled to the lower flange 44. The blind cover 43 is assembled to the lower flange 44 along the opening at one end of the large hole diameter of the mounting hole 421, and the flange ring 121 is movable in the small hole diameter of the mounting hole 421, which can not only realize coaxial assembly, but also form a movable groove 401 in the area between the blind cover 43, the large hole wall of the mounting hole 421 and the step surface.

[0051] like Figures 2 to 6 As shown, the step surface of the mounting hole 421 is fitted to the flange ring 121, and a radial activity space 41 is formed between the side of the flange ring 121 and the hole wall of the mounting hole 421. When the planar flexible adapter is in a vertical state, the assembly component 40 is hung on the flange ring 121 through the step surface. Preferably, the thickness of the radial activity space 41 is substantially the same as the thickness of the flange ring 121 to achieve planar sliding.

[0052] In an optional embodiment, the connection assembly 10 includes an upper flange 11 and a middle flange 12, a step structure is formed between the middle flange 12 and the upper flange 11, and a flange ring 121 is arranged on the middle flange 12. Optionally, the upper flange 11 and the middle flange 12 are detachably connected to form an assembly structure, and its internal space and external connection are easy to assemble. Optionally, the upper flange 11 and the middle flange 12 are an integral structure, and the step structure is formed by machining and cutting.

[0053] In a preferred embodiment, the middle flange 12 passes through the lower flange 44 and is connected to the upper flange 11, so that the lower flange 44 can be suspended and connected to the flange ring 121 of the middle flange 12. The plug-in portion 122 and the flange ring 121 of the middle flange 12 are in a stepped structure. Preferably, the middle flange 12 includes the plug-in portion 122, and the flange ring 121 protrudes radially from the plug-in portion 122. The plug-in portion 122 passes through the step hole of the lower flange 44 and is inserted into the upper flange 11, and the cover 43 is assembled to the step hole and close to the lower surface of the middle flange 12, so that the flange ring 121 is confined between the cover 43 and the step surface.

[0054] Further, at least part of the side surface of the plug-in portion 122 is provided with an inwardly concave concave surface 123, and the lower flange 44 is provided with a convex conical surface 441 corresponding to the concave conical surface 123, and there is a movable space between the convex conical surface 441 and the concave conical surface 123. The concave conical surface 123 and the convex conical surface 441 are complementary structures, and the convex conical surface 441 can penetrate into the concave conical surface 123 to form automatic guiding and pressing. Preferably, the movable space of the concave conical surface 123 and the convex conical surface 441 is greater than or equal to the radial movable space 41.

[0055] In one embodiment, at least part of the sliding surface of the piston assembly 20 and the connecting assembly 10 is set as an anti-rotation surface 213. The piston assembly 20 is provided with an anti-rotation surface 213 to keep the piston assembly 20 moving back and forth in a straight line. In addition, the anti-rotation surface 213 can be set as a curved surface or a flat surface to form an anti-rotation structure. Preferably, the piston assembly 20 includes a piston member 21, the piston member 21 is slidably plugged into the connecting assembly 10, and the piston member 21 is provided with two or three evenly distributed anti-rotation surfaces 213 to form a straight line reciprocating movement.

[0056] Further, the piston assembly 20 includes a preload elastic member 22 connected to the piston member 21, and the preload elastic member 22 acts on the piston member 21 to keep the piston rod in an elastic preload. The preload elastic member 22 is an elastic tension or elastic pressure acting on the piston member 21 to achieve an elastic preload of the piston rod. Optionally, the piston socket 202 is formed by a local depression at the end of the piston member 21, and the preload elastic member 22 is used to apply a preload force to the piston member 21 to abut against the movable body 30. The piston socket 202 is set to one or more. When the piston socket 202 is set to multiple, the piston sockets 202 are evenly distributed around the axis of the piston member 21.

[0057] In an optional embodiment, the pre-stressed elastic member 22 is a compression spring structure, wherein the pre-stressed elastic member 22 is inserted into the piston member 21 and abuts against the connecting assembly 10. The piston member 21 is provided with an upper groove 211, the pre-stressed elastic member 22 is assembled on the piston member 21 and extends into the upper groove 211 of the piston member 21, and the pre-stressed elastic member 22 abuts against the upper flange 11, so that the piston member 21 moves toward the direction of the cover 43 under the elastic force of the pre-stressed elastic member 22.

[0058] In an optional embodiment, the pre-stress elastic member 22 is a tension spring 23, wherein the pre-stress elastic member 22 elastically connects the piston member 21 and the assembly component 40. The piston member 21 is provided with a lower groove 212, and the pre-stress elastic member 22 is assembled on the piston member 21 and extends into the lower groove 212 of the piston member 21. The pre-stress elastic member 22 connects the piston member 21 and the blind cover 43, so that the piston member 21 moves toward the blind cover 43 under the elastic force of the pre-stress elastic member 22.

[0059] Preferably, the piston member 21 is provided with both a compression spring structure and a tension spring structure to form a balanced telescopic structure.

[0060] like Figures 2 to 6As shown, in one embodiment, the piston member 21 is provided with a limiting surface 215, and the limiting surface 215 is used to limit the maximum compression position of the piston member 21 compressing the pre-compression elastic member 22. The piston member 21 is provided with a step structure, and the limiting surface 215 is provided at the end surface of the piston member 21 to form a limiting structure. Accordingly, a step-shaped piston hole 214 is provided on the middle flange 12, and the piston member 21 slides in the piston hole 214. The piston member 21 passes through the middle flange 12 and is slidably connected to the upper flange 11. The limiting surface 215 and the piston hole 214 define each other to form an axial activity space 201.

[0061] In one embodiment, the piston socket 202 and the press-fit socket 42 are arranged opposite to each other and define the movable body 30. The piston assembly 20 includes an upper gasket 24 installed in the piston socket 202, and the upper gasket 24 is made of elastic material. For example, the upper gasket 24 can be provided with an elastic ring. The upper gasket 24 is installed in the piston socket 202 and can elastically define the movable body 30.

[0062] In an optional embodiment, the assembly component 40 includes a lower gasket 26 installed in the press-fit socket 42, and the lower gasket 26 is made of elastic material. For example, the lower gasket 26 can be provided with an elastic ring. The lower gasket 26 is installed in the press-fit socket 42 and can elastically limit the movable body 30.

[0063] In an optional embodiment, the piston socket 202 is used to mount the upper gasket 24 , the press-fit socket 42 is used to mount the lower gasket 26 , and the movable body 30 is defined between the upper gasket 24 and the lower gasket 26 .

[0064] In the above embodiment, the upper gasket 24 and the lower gasket 26 can adjust the movement distance of the piston member 21, and then adjust the rotation angle and translation distance of the lower flange 44, thereby improving the flexibility of the assembly component 40.

[0065] Furthermore, the piston assembly 20 pushes against the movable body 30 to squeeze the upper gasket 24 and / or the lower gasket 26 and then plugs and connects the assembly assembly 40. After the assembly assembly 40 positions and presses the parts, the piston assembly 20 continues to push and squeeze the upper gasket 24 and the lower gasket 26 to elastically deform, and part of the piston member 21 penetrates into the cover 43. The cover 43 is provided with a positioning groove 431, and the piston member 21 extends into the positioning groove 431 to realize the positioning structure.

[0066] The assembly component is provided with a positioning groove 431. Specifically, the positioning groove 431 is provided on the cover 43. The piston assembly 20 continues to be subjected to force in the axial direction. For example, when the piston assembly 20 is subjected to gas pressure, when the piston assembly 20 is compressed by the upper gasket 24 or the lower gasket 26, the piston assembly 20 extends into the positioning groove 431 of the cover 43. The piston assembly 20 and the positioning groove 431 are mutually limited, and the piston assembly 20 locks the activity space of the assembly component, with a good limiting effect.

[0067] Furthermore, the end of the piston assembly 20 partially protrudes to form a stop boss 27, and a stop groove 25 is formed between the stop boss 27 and the outer peripheral wall of the piston assembly. The stop groove 25 is located outside the end of the piston member 21 to form a step structure, and the stop boss 27 is inserted into the positioning groove 431 to limit the radial movement distance of the assembly assembly. When the upper gasket 24 or the lower gasket 26 is not compressed, the stop boss 27 is within the range of movement of the cover 43 to limit the radial movement space of the assembly assembly 40.

[0068] In one embodiment, the movable body 30 is configured as a sphere, and two or more movable bodies 30 are provided. The movable body 30 is configured as a rigid spherical structure so as to be rotated in all directions, and the rotation direction is flexible. Optionally, there are two, three, four, five, or six movable bodies 30. Optionally, the movable bodies 30 are evenly distributed around the center of the piston assembly 20 to form a balanced distribution of various items, and the balancing effect is good. Optionally, at least part of the movable body 30 is eccentrically arranged relative to the center of the piston assembly 20 to form an automatic reset. For example, one movable body 30 is centrally arranged, and at least one movable body 30 is eccentrically arranged.

[0069] like Figures 5 to 8 As shown, based on the above-mentioned planar flexible adapter embodiment, the planar flexible adapter further includes a press-fitting posture that further locks the assembly component 40. The planar flexible adapter includes a pneumatic pipeline 50 connected to the connection component 10, the pneumatic pipeline 50 is connected to the piston chamber of the movable component movement, and the pneumatic pipeline 50 is used to output a pneumatic locking force to pneumatically lock the relative posture of the piston component 20 and the assembly component 40. The pneumatic pipeline 50 is connected to the upper flange 11, and the pneumatic pipeline 50 is communicated with the piston member 21 to push the piston member 21 to push the movable body 30 and extend into the assembly component 40, so that the piston member 21 is inserted into the groove of the cover 43, so as to lock the position of the assembly component 40, and prevent the lower flange 44 and the upper flange 11 from relative movement, such as preventing the lower flange 44 from relative rotation and movement.

[0070] Based on the above embodiments, the planar flexible adapter can be applied in the following application scenarios:

[0071] 1. Planar flexible adaptation technology for automated press-fitting application scenarios: at least two movable bodies 30 are evenly distributed in the axial movable space 201, and the movable body 30 is constrained between the piston socket 202 at one end of the piston member 21 and the press-fitting socket 42. A pre-compression spring is installed at the other end of the piston member 21, and its pre-compression force is applied to the lower flange 44 through the piston socket 202 of the piston member 21-the movable body 30-the press-fitting socket 42. The lower flange 44 can move to a certain extent in the plane X-axis and Y-axis relative to the upper flange 11, and at the same time, the lower flange 44 can rotate to a certain angle around the Z-axis relative to the upper flange 11.

[0072] 2. Planar flexible docking technology for automated loading and unloading application scenarios: Using the same method, the parts to be loaded and unloaded are fixed under this planar flexible adapter. When there is a planar eccentricity and deflection angle between the parts to be loaded and unloaded and the positioning fixture or the mold body, the matching features of the parts to be loaded and unloaded and the positioning fixture or the mold body can be flexibly docked to be coaxial and angular.

[0073] 3. Limited constraint technology of plane displacement flexibility and plane rotation flexibility in the application scenario of automated loading and unloading: The radial activity space 41 between the lower flange 44 and the middle flange 12 is used to constrain the limit amplitude of the displacement flexibility of the lower flange 44 along the X-axis and the Y-axis. The middle flange 12 is limited by the piston 21 to constrain the limit angle of the rotation flexibility of the lower flange 44 around the Z-axis.

[0074] 4. Process locking technology for automated loading and unloading application scenarios: During the handling process, the pneumatic pipeline 50 introduces compressed air through the air inlet interface, thereby driving the piston 21 to move. The piston 21 applies a uniform axial locking force to the cover 43 through the movable body 30.

[0075] 5. During the transportation process of the utility model, the flat flexible adapter introduces compressed air through the air inlet interface, thereby driving the piston 21 to move. The piston 21 applies a uniform axial locking force to the cover 43 through the movable body 30, ensuring that the lower flange 44 and the transported object installed thereunder are in a stable state when performing high-speed movement during the transportation process, thereby achieving a stable and safe technical effect during the transportation process, and effectively improving the stability and safety of the transportation process.

[0076] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0077] The above description is only an embodiment of the present specification and is not intended to limit the present specification. For those skilled in the art, the present specification may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present specification shall be included in the scope of the claims of the present specification.

Claims

1. A planar flexible adapter, characterized in that: It comprises a connecting component, an assembly component movably connected to the connecting component, a piston component slidably mounted on the connecting component, and a movable body mounted on the assembly component; The piston assembly is provided with a piston socket, and the assembly assembly is provided with a press-fit socket. The piston socket of the piston assembly fits the movable body to the press-fit socket under the action of a preload force, and the piston assembly and the assembly assembly have an axial movable space; The connection part between the assembly component and the connection component has radial movement space, The assembly component pushes the piston component to move linearly along the axial activity space through the movable body under the action of external force, and the assembly component moves along the radial activity space relative to the connecting component to form a plane translation and / or a plane rotation.

2. The planar flexible adapter according to claim 1, characterized in that: The connecting component is provided with a radially protruding flange ring, the assembling component is provided with an annular movable groove, the assembling component is slidably connected to the flange ring through the movable groove, and the flange ring and the movable groove have radial movable space in the radial direction.

3. The planar flexible adapter according to claim 2, characterized in that: The assembly component includes a lower flange and a blind cover, the lower flange is provided with a stepped hole-shaped mounting hole, the blind cover is assembled to the lower flange, the movable groove is formed in the area between the blind cover and the stepped surface of the mounting hole, the stepped surface of the mounting hole is fitted to the flange ring, and a radial movable space is formed between the side of the flange ring and the hole wall of the mounting hole.

4. The planar flexible adapter according to claim 3, characterized in that: The connection assembly includes an upper flange and a middle flange connected to the upper flange, a step structure is formed between the middle flange and the upper flange, and the flange ring is arranged on the middle flange.

5. The planar flexible adapter according to claim 4, characterized in that: The middle flange includes a plug-in portion, the flange ring protrudes radially from the plug-in portion, the side surface of the plug-in portion is at least partially provided with an inwardly concave conical surface, the lower flange is provided with a convex conical surface corresponding to the concave conical surface, and there is a movable space between the convex conical surface and the concave conical surface.

6. The planar flexible adapter according to claim 1, characterized in that: At least part of the sliding surface of the piston assembly that cooperates with the connecting assembly is configured as an anti-rotation surface.

7. The planar flexible adapter according to claim 6, characterized in that: The piston assembly comprises a piston member and a preload elastic member connected to the piston member, the piston member is slidably plugged into the connecting assembly, the piston socket is formed by a local depression at the end of the piston member, and the preload elastic member is used to apply a preload force to the piston member to abut against the movable body; wherein, The pre-stressed elastic member is inserted into the piston member and abuts against the connecting assembly; and / or, The pre-stressed elastic member elastically connects the piston member and the assembly component.

8. The planar flexible adapter according to claim 7, characterized in that: The piston member is provided with a limiting surface, and the limiting surface is used to limit the maximum compression position of the piston member compressing the pre-compression elastic member.

9. The planar flexible adapter according to claim 1, characterized in that: The piston assembly includes an upper gasket mounted on the piston socket; and / or the assembly assembly includes a lower gasket mounted on the press-fit socket, and the movable body is limited to the upper gasket and / or the lower gasket; The piston assembly pushes the movable body to squeeze the upper gasket and / or the lower gasket and then is plugged and connected to the assembly assembly.

10. The planar flexible adapter according to claim 9, characterized in that: The assembly component is provided with a positioning groove, and when the piston component is inserted into the positioning groove, the piston component locks the movable space of the assembly component.

11. The planar flexible adapter according to claim 1, characterized in that: The sum of the effective depth of the piston socket and the effective depth of the press-fit socket is less than the diameter of the movable body, and the effective depth is the maximum depth of the surface to which the movable body is in contact.

12. The planar flexible adapter according to claim 1, characterized in that: The movable body is set as a sphere, and there are two or more movable bodies; The movable bodies are evenly distributed around the center of the piston assembly; or, At least a portion of the movable body is disposed eccentrically relative to a center of the piston assembly.

13. The planar flexible adapter according to any one of claims 1 to 12, characterized in that: The planar flexible adapter includes a pneumatic pipeline connected to the connecting component, the pneumatic pipeline is connected to the piston chamber of the movable component, and the pneumatic pipeline is used to output a pneumatic locking force to pneumatically lock the relative posture of the piston component and the assembly component.

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