CN118163009A - Flexible adaptive force control contact device - Google Patents

Abstract

The invention provides a flexible self-adaptive stress control contact device, and relates to the technical field of robot control. The flexible self-adaptive stress control contact device comprises a hollow cavity, a movable end part, a tool connecting end and a plurality of flexible pipe bodies; the hollow cavity is provided with an inlet and an outlet, and the inlet is used for introducing pressure fluid; the flexible pipe bodies are arranged between the hollow cavity and the movable end part and are communicated to the outlet of the hollow cavity; the tool connecting end is connected to one side of the movable end part, which is far away from the flexible pipe body, and is used for installing a processing tool; the plurality of flexible tubes arranged in an array are adapted to cause adaptive deformation of the device under the force of the pressurized fluid flowing through the tube and the tool connection end, the adaptive deformation including expansion, contraction, rotation or oscillation. The flexible self-adaptive stress control contact device is used for realizing flexible contact between the processing tool and a workpiece to be processed in a flexible stress control scene and precisely controlling the contact force of the processing tool to the workpiece to be processed.

Description

Flexible adaptive force control contact device

Technical Field

The present invention relates to the technical field of robot force control, and in particular to a flexible adaptive force control contact device.

Background technique

Robotic automation is becoming increasingly important in industrial production, especially for contact operations such as surface treatment (such as grinding and polishing). Traditional surface treatment usually relies on manual hand-held tools to process the surface of the workpiece. The manual processing method is not affected by the shape of the workpiece surface and has good adaptability at any position, but the quality of manual processing is completely determined by the experience of the operator. During the surface treatment process, it is necessary to avoid uneven force on the workpiece. It is very difficult to require the operator to maintain constant pressure on the workpiece at all times. In addition, the efficiency of manual processing is low, which is not conducive to improving productivity. At the same time, pollutants such as dust generated during the processing are harmful to the human body. Therefore, robots are now being used to replace manual contact operations such as surface treatment.

When an industrial robot performs automated grinding and polishing, it mainly installs the grinding and polishing tool at the end of the robot. The robot moves along a specific trajectory, driving the grinding and polishing tool to contact the surface to be processed, so as to remove the surface material of the workpiece to achieve the purpose of grinding and polishing. In the actual processing process, due to the control accuracy of the robot, the installation accuracy of the grinding and polishing tool, the change of the curvature of the workpiece surface and other issues, it may cause the tool and the workpiece surface to have under-contact or over-contact. Both situations will affect the uniformity of the contact force and seriously affect the workpiece processing effect. Especially in the over-contact state, under a small displacement, a large impact force will be generated between the workpiece and the grinding and polishing tool, which will increase the amount of workpiece cutting, damage the workpiece surface, and even damage the industrial robot in severe cases. Therefore, when the robot performs contact operations, it is very necessary to control the force on the end of the robot. Usually, a force control device is added between the end of the robot and the end tool to avoid the above-mentioned under-contact and over-contact situations and realize precise control of the contact force during the processing process.

The force control devices currently used are divided into two types: active compliance devices and passive compliance devices. The patent application with application number 201711388747.9 discloses a servo-compensated constant force actuator, which is an active compliance device and is composed of motors, springs and other components. It uses mechanical interpolation to achieve active adjustment of force in one degree of freedom direction, but it does not have enough adaptability to irregular curved surfaces and relies entirely on the robot trajectory algorithm. In the actual processing process, the control is difficult and the accuracy is low. It is easy to generate edge stress during non-metallic grinding and polishing, which affects the grinding and polishing quality. The patent application with application number 202111316621.7 discloses a multi-degree-of-freedom force-controlled vibration reduction device. The device has multiple degrees of freedom, can actively adapt to curved surfaces, and actively adjust contact forces. However, the device is composed entirely of rigid components and can be approximated as rigid contact when contacting the workpiece surface. The adjustment of posture and force is completely determined by the control algorithm, which is difficult to control and has no fault tolerance. When the reaction speed is slightly slower, the workpiece surface may be damaged. The patent application with application number 201810665628.1 discloses a multi-directional passive compliance device for robot force control. The device can passively adapt to the surface shape of the workpiece and has low control requirements. However, the device cannot actively adjust the contact force. Since the elastic modulus of its internal elastic element is fixed, the size of the contact force is completely determined by the degree of compression of the internal elastic element, which is not conducive to use on complex workpieces and in different working conditions.

Summary of the invention

The purpose of the present invention includes providing a flexible adaptive force control contact device, which can achieve flexible contact between a processing tool and a workpiece to be processed in a flexible force control scenario, and accurately control the contact force of the processing tool on the workpiece to be processed.

The embodiments of the present invention can be implemented as follows:

The present invention provides a flexible adaptive force-controlled contact device, the flexible adaptive force-controlled contact device comprising:

The hollow cavity is provided with an inlet and an outlet, wherein the inlet is used for introducing a pressurized fluid;

The movable end is spaced apart from the hollow cavity;

A plurality of flexible tubes are arranged between the hollow cavity and the movable end, and the flexible tubes are connected to the outlet of the hollow cavity;

A tool connection end is connected to a side of the movable end away from the flexible pipe body, and the tool connection end is used to install a processing tool;

The flexible pipe bodies arranged in a plurality of arrays are used to cause adaptive deformation of the device under the force applied to the tool connection end when a pressure fluid is introduced, and the adaptive deformation includes extension, contraction, rotation or swing.

In an optional embodiment, the flexible adaptive force-controlled contact device further includes:

Sensor equipment, used to collect status parameters of the workpiece to be processed or the device in real time;

The control valve is used to adjust the pressure of the pressure fluid entering the hollow cavity according to the state parameters, so as to control the deformation amount of the flexible pipe body.

In an optional embodiment, an array of outlets is provided on a surface of one side of the hollow cavity close to the flexible tube body, and the outlets are connected to the flexible tube body in a one-to-one correspondence.

In an optional embodiment, the axis of the flexible pipe body is arranged to be inclined relative to the vertical direction, and the inclined direction of the axis of the flexible pipe body is the circumferential direction of the hollow cavity.

In an alternative embodiment, the axis of the flexible pipe body is a straight line or a curved line.

In an optional embodiment, the flexible adaptive force-controlled contact device further includes:

The radial restraint is installed on the flexible pipe body and is used to limit the radial deformation of the flexible pipe body.

In an optional embodiment, the flexible adaptive force-controlled contact device further includes:

The external connection part is provided with an electrical interface and a fluid interface. The electrical interface is used to connect the power supply and the controller. The power supply is used to supply power to the sensor device and the control valve. The controller is used to receive the mechanical signal of the sensor device and control the control valve. The fluid interface is used to connect the supply equipment of the pressure fluid and deliver the pressure fluid to the control valve.

In an optional embodiment, the sensor device is a mechanical sensor, a deformation sensor or an air pressure sensor.

In an optional embodiment, the control valve is used to control the force applied by the machining tool to the workpiece to be machined to remain constant, or to control the pressure of the pressure fluid in the flexible pipe body to remain constant.

In an optional embodiment, the pressure of the fluid introduced into the flexible pipe body is controlled, and under the reaction force applied to the tool connecting end, the flexible pipe body and the tool connecting end rotate adaptively.

The flexible adaptive force-controlled contact device provided by the embodiment of the present invention has the following beneficial effects:

1. By arranging multiple flexible tubes between the hollow cavity and the movable end, the deformation of the flexible tubes can be controlled by filling or extracting pressure fluid into or out of the flexible tubes through the hollow cavity, so as to achieve precise control of the contact force of the processing tool on the workpiece at the tool connection end;

2. When the contact force of the processing tool on the workpiece needs to be kept constant, the amount of pressure fluid in the flexible pipe body can be controlled in real time under the real-time monitoring of the sensor device to ensure that the contact force of the processing tool on the workpiece remains constant;

3. Arranging multiple flexible pipes can achieve uniform force application on the movable end and the tool connection end. In the field of grinding and polishing, it can reduce the edge stress influence of the processing tool on the workpiece and improve the grinding and polishing quality;

4. The flexible tube body can rely on its own elasticity to adapt to the surface shape of the workpiece to be processed, improve the processing quality, and also play a good buffering role to protect the industrial robot and the workpiece to be processed.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

FIG1 is a schematic structural diagram of a flexible adaptive force-controlled contact device provided by an embodiment of the present invention;

FIG2 is a schematic diagram of the structure of FIG1 without a flexible pipe body and a radial restraining member mounted thereon;

FIG3 is a schematic diagram of the structure of FIG1 after all the flexible pipe bodies and the radial restraining members thereon are omitted;

FIG4 is a schematic diagram of the arrangement of the flexible pipe body and the radial restraining member mounted thereon;

FIG5 is a schematic diagram of the axis of the flexible pipe body;

FIG6 is a schematic diagram of simulated expansion of a flexible pipe body without radial restraints;

FIG7 is a schematic diagram of simulated expansion of a flexible pipe body with radial restraints added;

FIG8 is a schematic diagram of simulated deformation of the flexible pipe body in a free state when the flexible pipe body in the annular array arrangement is filled with a fluid pressure of 0.1 MPa;

FIG9 is a schematic diagram of simulated deformation of the flexible pipe body in a free state when the flexible pipe body in the annular array arrangement is filled with a fluid pressure of 0.2 MPa;

FIG10 is a schematic diagram of the simulation of the flexible pipe body contacting the flat plate after the flexible pipe body is stretched in the vertical direction;

Figure 11 is a force-fluid pressure curve;

FIG12 is a schematic diagram showing the deformation of the flexible adaptive force-controlled contact device provided in this embodiment when adapting to a curved surface.

Icons: 1-drive connection end; 11-mounting hole; 2-external connection part; 21-electrical interface; 22-fluid interface; 3-hollow cavity; 31-outlet; 4-movable end; 5-sensor device; 6-tool connection end; 61-tool interface; 7-flexible pipe body; 8-radial constraint; 9-mounting frame; 10-control valve; 100-contact plate.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. 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.

It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not require further definition and explanation in the subsequent drawings.

In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings, or is the orientation or position relationship in which the product of the invention is usually placed when used. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

In addition, the terms “first”, “second”, etc., if used, are merely used to distinguish between the descriptions and should not be understood as indicating or implying relative importance.

It should be noted that, in the absence of conflict, the features in the embodiments of the present invention may be combined with each other.

Please refer to Figures 1 to 4. This embodiment provides a flexible adaptive force control contact device, which is mainly used in flexible force control scenarios, such as workpiece processing scenarios (including polishing), equipment assembly scenarios (including screw assembly, workpiece clamping, etc.), massage scenarios, etc.

The flexible adaptive force-controlled contact device includes a drive connection end 1, an external connection part 2, a hollow cavity 3, a movable end 4, a sensor device 5, a tool connection end 6, a flexible pipe body 7, a radial constraint 8, a mounting frame 9 and a control valve 10.

The driving connection end 1, the external connection part 2 and the hollow cavity 3 are connected in sequence. The driving connection end 1 is provided with a mounting hole 11 for connecting a robot. The robot refers to a processing robot connected to a processing tool through a flexible adaptive force control contact device. The processing tool can be a tool for performing processes such as polishing, and can also be a screwdriver, a bionic massage device, etc.

The hollow cavity 3 is provided with an inlet (not shown in the figure) and an outlet 31 . The inlet is used for introducing a pressurized fluid, which may be a gas or a liquid.

The movable end portion 4 is spaced apart from the hollow cavity 3. A plurality of flexible tube bodies 7 are disposed between the hollow cavity 3 and the movable end portion 4. In this embodiment, the sensor device 5 is a mechanical sensor, and the sensor device 5 is connected to a side of the movable end portion 4 away from the flexible tube body 7. The tool connection end 6 is connected to a side of the sensor device 5 away from the flexible tube body 7, and the tool connection end 6 is used to install a processing tool.

The movable end portion 4 is coaxial with the hollow cavity 3 when no external force is applied. When an external force is applied to the movable end portion 4, the movable end portion 4 can move to any position relative to the hollow cavity 3 within a certain limit.

The flexible tube body 7 is connected to the outlet 31 of the hollow cavity 3. The pressure fluid entering the hollow cavity 3 through the inlet then enters the flexible tube body 7 through the outlet 31. The flexible tube body 7 is used to adaptively deform when the pressure fluid is introduced. The adaptive deformation here includes elongation, contraction, rotation or swinging, so as to actively adjust the position state of the processing tool. When the processing tool is squeezed by the workpiece to be processed, the flexible tube body 7 can adaptively adjust the expansion and contraction deformation, rotation or swing angle to make the pressure of the processing tool on the workpiece constant, so as to achieve precise control of the contact force of the processing tool on the workpiece on the tool connection end 6.

The flexible tube body 7 can be an elastic hose, an artificial muscle tube or an air spring. In this embodiment, the flexible tube body 7 is taken as an example of an elastic hose.

The sensor device 5 may be a six-dimensional force sensor, which can measure the magnitude of the resultant force by measuring the force and torque at a certain point. The sensor device 5 is installed between the movable end 4 and the tool connection end 6, and can move synchronously with the movable end 4. In other embodiments, the sensor device 5 may also be an air pressure sensor, a deformation sensor, etc., which can be flexibly selected according to the monitoring parameters required in a specific scenario. The installation position of the sensor device 5 can be flexibly set according to the monitoring parameters that need to be collected.

It can be known from Newton's second law that the contact force between the processing tool and the movable end 4 is equal to the force collected by the sensor device 5, which is equal to the force acting on the flexible tube body 7. When the contact force of the processing tool on the workpiece to be processed needs to be kept constant, the amount of pressure fluid in the flexible tube body 7 can be controlled in real time under the real-time monitoring of the sensor device 5 to ensure that the contact force of the processing tool on the workpiece to be processed remains constant.

A tool interface 61 for connecting a processing tool is provided on the tool connection end 6. The specific structural shape of the tool connection end 6 can be flexibly designed according to the required processing tool.

Specifically, the hollow cavity 3 is provided with an array of outlets 31 on the surface of one side away from the driving connection end 1, and the outlets 31 are connected to the flexible tube bodies 7 one by one. In this way, the flexible tube bodies 7 are also arranged in an array, so that the flexible tube bodies 7 can evenly apply force to the surface of the tool connection end 6, and in the field of grinding and polishing, the edge stress effect of the processing tool on the workpiece can be reduced, and the grinding and polishing quality can be improved.

Preferably, the multiple inlets are evenly opened along the annular interval around the center of the hollow cavity 3, so that the multiple flexible tubes 7 are also arranged in a ring form; the multiple inlets can also be arranged in a matrix form or other forms.

The radial restraint 8 is installed on the flexible pipe body 7, and the radial restraint 8 is used to limit the radial deformation of the flexible pipe body 7. In this way, under the action of the radial restraint 8, the diameter of the flexible pipe body 7 does not change substantially, and the deformation types of the flexible pipe body 7 include rotation around the center line of the hollow cavity 3, expansion and contraction along its own axis, and inclination (swing) relative to its own axis.

The radial restraint 8 is a ring or a knitted mesh sleeved on the flexible tube body 7, or a hollow cylindrical tube sleeve, and all the flexible tube bodies 7 are arranged inside the tube sleeve. In this embodiment, the radial restraint 8 is a ring as an example, and the radial restraint 8 is sleeved on the flexible tube body 7 at even intervals along the length direction of the flexible tube body 7.

The mounting frame 9 is mounted on the movable end portion 4, and the control valve 10 is mounted on the mounting frame 9. The control valve 10 is used to adjust the pressure of the pressure fluid entering the hollow cavity 3. In this way, the mounting frame 9 and the control valve 10 are arranged in the cavity surrounded by the hollow cavity 3, the movable end portion 4 and the flexible tube body 7, which can not only protect the control valve 10, but also reduce the volume of the device and realize a miniaturized design.

In other embodiments, the mounting bracket 9 and the control valve 10 may also be arranged at other positions, such as at one side of the driving connection end 1, or even outside the device body, and connected to the flexible pipe body 7 through a connecting pipe.

An electrical interface 21 and a fluid interface 22 are provided on the external connection part 2. The electrical interface 21 is used to connect a power source and a controller. The power source is used to supply power to the sensor device 5 and the control valve 10. The controller is used to receive the mechanical signal of the sensor device 5 and control the control valve 10. The fluid interface 22 is used to connect a pressure fluid supply device and deliver the pressure fluid to the control valve 10. The control valve 10 can adjust the pressure of the pressure fluid entering the inlet of the hollow cavity 3 according to the state parameters of the workpiece to be processed or the device collected by the sensor device 5, thereby controlling the deformation amount of the flexible tube body 7. Specifically, the state parameters can be the force, air pressure or deformation amount of the flexible tube body 7 or the workpiece to be processed. The control valve 10 can control the force applied by the processing tool to the workpiece to be processed to remain constant, or control the pressure of the pressure fluid in the flexible tube body 7 to remain constant.

The axis of the flexible tube body 7 is a straight line or a curve. In this embodiment, the axis of the flexible tube body 7 is shown as curve A'B in Figure 5. In the A'-xyz three-dimensional coordinate system, the end of the flexible tube body 7 connected to the movable end 4 is the origin (point A'), the plane where the x-axis and the y-axis are located is coplanar with the surface of the movable end 4, the end of the flexible tube body 7 connected to the hollow cavity 3 is point B, and the plane where the curve AB is located is coplanar with the surface of the hollow cavity 3. The axis of the flexible tube body 7 is projected on the plane formed by the array points A, B, A', and B', which is specifically expressed as a diagonal line (straight line A'B) of the rectangle ABB'A', which forms an angle θ with the straight line AB.

In this embodiment, the axis of the flexible tube body 7 is designed to be a curve. When pressure fluid is introduced or the force applied to the tool connection end 6 is adapted, the flexible tube body 7 can rotate more smoothly and reach the desired rotation angle in a timely and smooth manner.

Figure 6 is a schematic diagram of the simulated expansion of the flexible tube body 7 in this embodiment without the addition of the radial constraint 8, wherein the initial effective length of the flexible tube body 7 is 100 mm, the outer diameter is 20 mm, the wall thickness is 1 mm, and when the interior of the flexible tube body 7 is filled with a fluid pressure of 0.1 MPa, without the addition of the radial constraint 8, the elongation of the flexible tube body 7 is 16.72 mm.

FIG7 is a schematic diagram of simulated expansion of the flexible tube body 7 in the present embodiment when the radial constraint 8 is added. The elongation of the flexible tube body 7 is 38.39 mm. The simulation proves that the radial constraint 8 promotes the deformation of the flexible tube body 7 in the length direction, which is beneficial to the active control of the force of the device in the length direction of the flexible tube body 7. It can be seen from FIG6 and FIG7 that the radial constraint 8 effectively limits the radial expansion of the flexible tube body 7. It should be understood that the above-mentioned various specific parameters and the shapes of the flexible tube body 7 and the radial constraint 8 are only for better explanation of the working principle and advantages of the device, and do not impose any restrictions on the device.

FIG8 shows the simulated deformation of the flexible tube body 7 in a free state when the flexible tube body 7 in the annular array arrangement is filled with a fluid pressure of 0.1 MPa, and the elongation of the flexible tube body 7 is 29.02 mm.

FIG9 shows the simulated deformation of the flexible tube body 7 in a free state when the flexible tube body 7 in the annular array arrangement is filled with a fluid pressure of 0.2 MPa, and the elongation of the flexible tube body 7 is 46.45 mm.

Please refer to Figure 10. Initially, the contact plate 100 is 5mm away from the flexible tube body 7. Then, air with a certain pressure is filled into the flexible tube body 7. The flexible tube body 7 is extended 5mm in the vertical direction and then contacts the contact plate 100. The contact force between the flexible tube body 7 and the contact plate 100 is measured to be 7.46N.

Initially, the contact plate 100 is 10 mm away from the flexible tube body 7. Then, air of a certain pressure is filled into the flexible tube body 7. The flexible tube body 7 is extended 10 mm in the vertical direction and then contacts the contact plate 100. The contact force between the flexible tube body 7 and the contact plate 100 is measured to be 6.9N.

It can be seen that the error of the contact force in the two cases in FIG10 is basically 0.5 N. Combined with the force-fluid pressure curve shown in FIG11 , the feasibility of force control of the device is verified.

Figure 12 is a schematic diagram of the deformation of the flexible adaptive force control contact device provided in this embodiment when adapting to a curved surface. It can be seen that when one end of the flexible adaptive force control contact device provided in this embodiment is fixed, the other end can move freely within a certain degree. When fitting the curved surface, it can better adapt to curved surfaces of various curvatures.

The working mode of the device provided in this embodiment is described in detail below in conjunction with a robot automated grinding system. The system includes an industrial robot, a controller, a processing tool, a pressure fluid supply device and the flexible adaptive force control contact device provided in this embodiment.

The device is installed at the end of the industrial robot via the driving connection end 1, and a processing tool is installed on the tool connection end 6 of the device. The processing tool can specifically be a grinding tool, and the pressure fluid can be compressed air.

In the initial state, the compressed air enters the control valve 10 through the fluid interface 22 on the external connection part 2. At this time, the controller gives a signal to make the control valve 10 adjust the pressure of the compressed air intake. The compressed air (pressure is P0) after pressure adjustment enters the hollow cavity 3 through the inlet of the hollow cavity 3, and then enters the flexible tube 7 through the outlet 31 of the hollow cavity 3. At this time, the fluid pressure inside the device is P0. The force balance relationship when the device, the processing tool and the ground are kept vertical is: the gravity G of the device + the force Fp applied to the flexible tube 7 by the fluid pressure = the elastic deformation force Fk of the flexible tube 7.

When the machining tool contacts the surface of the workpiece to be machined, the contact force is F. At the moment of contact, G+Fp＜Fk+F. The sensor device 5 feeds back the measured contact force F to the controller. When F<target force Ft, the controller sends a signal to the control valve 10 to increase the fluid pressure according to the fluid pressure control curve to increase Fp until F=Ft, G+Fp=Fk+Ft; when F>Ft, the controller sends a signal to the control valve 10 to reduce the fluid pressure according to the fluid pressure control curve to reduce Fp until F=Ft, G+Fp=Fk+Ft.

When the grinding tool needs to adapt to the curved surface, the movable end 4 will deflect relative to the hollow cavity 3, which is specifically manifested as part of the flexible tube 7 being compressed in the vertical direction and the rest of the flexible tube 7 being stretched in the vertical direction. When the total amount of gas inside the hollow cavity 3 and the flexible tube 7 remains unchanged, the volume of the compressed flexible tube 7 decreases, and the instantaneous fluid pressure inside it increases. Since all flexible tubes 7 and the hollow cavity 3 are common, the gas in the high-pressure area will flow to the low-pressure area, and finally the overall fluid pressure will be consistent. When the increase in fluid pressure is greater than the pressure relief threshold, a portion of the gas will be discharged through the pressure relief port of the control valve 10, maintaining the stability of the fluid pressure inside the device and ensuring that the contact force between the processing tool and the processing surface is constant.

In this way, the movable end 4 of the device is connected to the hollow cavity 3 by a flexible flexible tube body 7. When used in a robot processing system, a flexible area is formed between the processing tool and the industrial robot, which has sufficient buffering capacity and can avoid damage to the workpiece, robot damage, etc. caused by collision between the processing tool and the workpiece to be processed due to misoperation.

The flexible adaptive force-controlled contact device provided by the embodiment of the present invention has the following beneficial effects:

1. By arranging a plurality of flexible tubes 7 between the hollow cavity 3 and the movable end 4, the deformation of the flexible tube 7 can be controlled by filling or extracting a pressure fluid into or out of the flexible tube 7 through the hollow cavity 3, thereby realizing precise control of the contact force of the machining tool on the workpiece on the tool connection end 6;

2. When the contact force of the machining tool on the workpiece needs to be kept constant, the amount of the pressure fluid in the flexible pipe body 7 can be controlled in real time under the real-time monitoring of the sensor device 5 to ensure that the contact force of the machining tool on the workpiece remains constant;

3. Arranging multiple flexible tubes 7 can realize uniform force application on the movable end 4 and the tool connection end 6. In the field of grinding and polishing, it can reduce the edge stress influence of the processing tool on the workpiece to be processed and improve the grinding and polishing quality;

4. The flexible tube body 7 can adapt to the surface shape of the workpiece to be processed by its own elasticity, improve the processing quality, and also play a good buffering role to protect the industrial robot and the workpiece to be processed;

5. The axis of the flexible tube body 7 is tilted relative to the vertical direction, so that the flexible tube body 7 can rotate during the extension and retraction process, that is, the tool connection end 6 and the processing tool are rotated during the extension or retraction process, which can produce a twisting effect. It is beneficial to the tight assembly of workpieces in assembly scenarios, and can also imitate the effect of hand massage in massage scenarios.

In this embodiment, gas is used as the pressure fluid to mainly illustrate the structural features, usage scenarios, and usage methods of the device. Non-important components such as pipe connections, circuit connections, mechanical connectors, waterproof and dustproof covers involved in the device are not shown in the figure, but it should be understood that all of the above will be used in the device.

The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims (10)

1. A flexible adaptive force-controlled contact device, characterized in that the flexible adaptive force-controlled contact device comprises: The hollow cavity (3) is provided with an inlet and an outlet (31), wherein the inlet is used for admitting a pressurized fluid; The movable end portion (4) is spaced apart from the hollow cavity (3); a plurality of flexible tubes (7) disposed between the hollow cavity (3) and the movable end (4), the flexible tubes (7) being connected to the outlet (31) of the hollow cavity (3); A tool connection end (6) connected to a side of the movable end (4) away from the flexible pipe body (7), the tool connection end (6) being used to install a processing tool; The flexible pipe bodies (7) arranged in a plurality of arrays are used to cause adaptive deformation of the device under the force applied to the tool connection end (6) when pressure fluid is introduced, wherein the adaptive deformation includes extension, contraction, rotation or swing. 2. The flexible adaptive force control contact device according to claim 1, characterized in that the flexible adaptive force control contact device further comprises: Sensor equipment (5), used for collecting status parameters of the workpiece to be processed or the device in real time; A control valve (10) is used to adjust the pressure of the pressure fluid entering the hollow cavity (3) according to the state parameter, thereby controlling the deformation amount of the flexible pipe body (7). 3. The flexible adaptive force control contact device according to claim 1 is characterized in that the outlets (31) arranged in an array are opened on the surface of one side of the hollow cavity (3) close to the flexible tube body (7), and the outlets (31) are connected to the flexible tube body (7) in a one-to-one correspondence. 4. The flexible adaptive force control contact device according to claim 1, characterized in that the axis of the flexible tube body (7) is inclined relative to the vertical direction, and the inclination direction of the axis of the flexible tube body (7) is the circumferential direction of the hollow cavity (3). 5. The flexible adaptive force-controlled contact device according to claim 4, characterized in that the axis of the flexible tube body (7) is a straight line or a curve. 6. The flexible adaptive force control contact device according to claim 1, characterized in that the flexible adaptive force control contact device further comprises: A radial restraining member (8) is mounted on the flexible pipe body (7), and the radial restraining member (8) is used to limit radial deformation of the flexible pipe body (7). 7. The flexible adaptive force control contact device according to claim 2, characterized in that the flexible adaptive force control contact device further comprises: The external connection part (2) is provided with an electrical interface (21) and a fluid interface (22), wherein the electrical interface (21) is used to connect a power source and a controller, wherein the power source is used to supply power to the sensor device (5) and the control valve (10), wherein the controller is used to receive a mechanical signal from the sensor device (5) and control the control valve (10), and wherein the fluid interface (22) is used to connect a pressure fluid supply device and deliver the pressure fluid to the control valve (10). 8. The flexible adaptive force-controlled contact device according to claim 2, characterized in that the sensor device (5) is a mechanical sensor, a deformation sensor or an air pressure sensor. 9. The flexible adaptive force-controlled contact device according to claim 2 is characterized in that the control valve (10) is used to control the force applied by the processing tool to the workpiece to be processed to remain constant, or to control the pressure of the pressure fluid in the flexible pipe body (7) to remain constant. 10. The flexible adaptive force-controlled contact device according to claim 5 is characterized in that the fluid pressure introduced into the flexible tube body (7) is controlled so that the flexible tube body (7) and the tool connecting end (6) adaptively rotate under the reaction force applied to the tool connecting end (6).