CN112720557B - Internal support type operation self-adaptive flexible manipulator for special-shaped internal contour fragile thin-wall workpiece - Google Patents

Abstract

The invention relates to an internal support type operation self-adaptive flexible manipulator which can be used for a special-shaped inner contour fragile thin-wall workpiece, and comprises a cylindrical sleeve, a grabbing device and a self-adaptive connecting device, wherein the grabbing device is arranged on the sleeve; the grabbing device comprises a disc-shaped main body and an internal bracing mechanism arranged on the lower surface of the disc-shaped main body; the inner support mechanism comprises support legs fixed on the lower surface of the disc-shaped main body, sliding blocks along sliding holes at the lower ends of the support legs, arc-shaped inner support bodies fixed at the outer ends of the sliding blocks, arc-shaped elastic adjusting plates are arranged on the outer sides of the inner support bodies, and telescopic adjusting mechanisms are connected between the elastic adjusting plates and the inner support bodies.

Description

Inner support type self-adaptive smoothing machine that can be used for fragile and thin-walled workpieces with special-shaped inner contours manipulator

technical field

The invention relates to the technical field of robots, in particular to an inner support type self-adaptive and compliant manipulator which can be used for fragile and thin-walled workpieces with special-shaped inner contours.

Background technique

For industrial production robots, feeding and unloading are the most basic functions. However, the chucks required for different types of products are also different. For cylindrical workpieces, external clamping chucks are generally used, that is, from the workpiece The outer part of the chuck is used to clamp the workpiece, and these chucks mostly use three jaws to form a cylindrical hole to clamp and move the cylindrical workpiece; for tubular workpieces, a manipulator with an inner support structure is generally used, that is, from the workpiece Clamp the interior of the tube, use a plurality of inner supports to form a cylindrical structure and extend into the interior of the tubular workpiece to realize the grasping and moving of the tubular workpiece, such as the prior art (application number: CN202010355810.4, Topic name: Self-adaptive compliant manipulator for internal support operation of fragile thin-walled cylindrical inner wall workpieces), using multiple identical arc strip-shaped inner supports that move simultaneously in the radial direction to extend into the interior of tubular workpieces, Moreover, the radius of curvature of the inner support body matches the inner diameter of the workpiece to be grasped, and the workpiece is grasped in the form of an inner support. The working process is stable and the work efficiency is high. However, for workpieces with special-shaped inner contours, due to the internal The surface is irregular, so that the radius of curvature of the inner surface of this type of workpiece also changes, and it is impossible to use the traditional manipulator for grabbing tubular workpieces; therefore, it is urgent to develop a tool for grabbing special-shaped inner contour workpieces. manipulator.

Contents of the invention

In order to solve the above-mentioned problems, the present invention proposes an inner support type self-adaptive and compliant manipulator that can be used for fragile thin-walled workpieces with special-shaped inner contours.

The specific content is as follows: The self-adaptive and compliant manipulator of the internal support type that can be used for fragile and thin-walled workpieces with special-shaped inner contours. Adaptive connection means; characterized by:

The grabbing device includes a disc-shaped main body, at least four identical inner support mechanisms arranged on the lower surface of the disc-shaped main body and uniformly distributed along the circumference;

The inner support mechanism includes a support leg fixed on the lower surface of the disc-shaped main body and protruding vertically outwards, the maximum distance from the outer surface of the support leg to the center of the disc-shaped main body is smaller than the radius of the disc-shaped main body; along the disc-shaped main body The radial direction of the sliding block that runs through the sliding hole at the lower end of the support leg, and the two ends are respectively connected to the connecting rod between the inner end of the sliding block and the movable part of the linear motion driver through a hinge shaft, and the lower end of the connecting rod is hinged to the inner end of the sliding block ; The arc-shaped inner support body fixed on the outer end of the sliding block, the middle position of the upper surface of the inner support body is fixed on the lower surface of the outer end of the corresponding sliding block, and the outer side of the inner support body is provided with arc-shaped elastic An adjustment plate, a central stud is connected between the elastic adjustment plate and the inner support body, the outer end of the central stud is vertically fixed at the center of the inner arc surface of the elastic adjustment plate, and the inner end of the central stud runs through the center of the inner support body The two clamping nuts are connected to the central stud by threads and are respectively clamped on the inner and outer arc surfaces of the inner support body. On the elastic adjustment plate Several telescopic adjustment mechanisms for changing the curvature radius of the elastic adjustment plate are also connected to the inner support body. Several telescopic adjustment mechanisms are symmetrically distributed on both sides of the central stud. There is a rubber shock-absorbing layer of uniform thickness.

Preferably, the sliding block includes a fixed block and an adjusting block that are slidingly telescopically connected, the inner end of the fixing block is hinged to the lower end of the connecting rod, the outer end of the adjusting block is fixed on the inner support body, and the outer end surface of the fixing block is vertical A square guide connecting rod protruding horizontally is fixed, and the inside of the adjustment block is provided with a sliding hole horizontally penetrating along its length and matching with the guide connecting rod. The guide connecting rod is inserted into the sliding hole from the inner end of the adjustment block to form a sliding pair, and the cross-sectional profiles of the fixed block and the adjusting block are correspondingly matched. There are symmetrical threaded holes connected with the sliding holes on both sides of the adjusting block. Guide the jackscrew on the side of the connecting rod.

Preferably, the telescopic adjustment mechanism includes an adjustment screw, the outer end of which is connected to the inner arc surface of the elastic adjustment plate, and the inner end of the adjustment screw passes through the corresponding swing hole on the inner support body and connects with the inner support body. connection, the above-mentioned swing holes are arranged horizontally, and the centerlines of all the adjusting screw rods and the centerlines of the central studs are on the same horizontal plane.

Preferably, the outer end of the adjusting screw is fixed on the inner arc surface of the elastic adjusting plate, the inner end of the adjusting screw passes through the corresponding swing hole on the inner support body and the two are fixed by two manual nuts, two The manual nuts are all threadedly connected to the adjusting screw and clamped respectively on the inner and outer circular arc surfaces of the inner support body.

Preferably, the swing hole is an oblong hole, and the inner port of the swing hole is provided with a spherical washer close to the arc surface of the inner support, and the corresponding adjusting screw penetrates through the inside of the spherical washer, and the spherical washer is clamped Tightly between the clamping nut on the corresponding side and the inner support body.

Preferably, the outer end of the adjustment screw is hinged on the hinge seat through a vertical first hinge shaft, and the hinge seat is correspondingly fixed on the inner arc surface of the elastic adjusting plate.

Preferably, the outer end of the adjusting screw is provided with an annular positioning groove, and a snap ring matching with it to form a rotating pair is coaxially installed on the positioning slot, and a first vertically symmetrical fixed ear is fixed on the snap ring , each first fixed ear is correspondingly hinged on the second fixed ear fixed to the inner circular surface of the elastic adjustment plate through the second hinge shaft, and a fixed nut is threaded on the adjusting screw rod, and the fixed nut is fixed with upper and lower Symmetrical third fixing lugs, each third fixing lug is correspondingly hinged on the fourth fixing lug fixed to the outer arc surface of the inner support through the third hinge axis, and the first hinge axis and the second hinge axis are parallel and vertical Straight, the inner end surface of the adjusting screw is provided with an inner hexagonal adjusting hole.

Preferably, the inner peripheral surface of the adjusting screw is provided with an annular boss with a diameter larger than its outer diameter, and the outer circumference of the adjusting screw is also provided with an annular slot, which is fitted with a The circlip matched with it forms the above-mentioned positioning groove between the circlip and the annular boss.

Preferably, a common washer is set on the central stud, and the common washer is clamped between the inner arc surface of the inner support body and the corresponding clamping nut.

Beneficial technical effects of the present invention: the present invention is an inner support type operation self-adaptive compliant manipulator that can be used for fragile thin-walled workpieces with special-shaped inner contours. Adjust the overall length of the sliding block within a certain range to adapt to the contour changes in different positions inside the workpiece, so as to ensure that when the workpiece is grasped, all the elastic adjustment plates can be supported on the corresponding positions of the internal contour of the workpiece at the same time, and then the workpiece can be grasped. At the same time, there is a telescopic adjustment mechanism between the inner support body and the elastic adjustment plate. By changing the actual length of the adjustment screw in the telescopic adjustment mechanism, the curvature radius of the elastic adjustment plate is adjusted, so that the curvature radius of the elastic adjustment plate is consistent with the inside of the workpiece. The radius of curvature of the contour of the corresponding position matches, and when the elastic adjustment plate grabs the workpiece, the clamping contact area between the rubber shock-absorbing layer on the outer circular surface of the elastic adjustment plate and the corresponding inner wall of the workpiece is maximized to ensure stable operation At the same time, reduce the local pressure on the workpiece to avoid damage to the workpiece; finally, the present invention is provided with at least four internal support mechanisms to increase and disperse the force positions for clamping the workpiece with the inner contour of the opposite sex, and can form a stable support for the workpiece with the inner contour of the opposite sex , to ensure the stability and reliability of the working process, and to make the force of the workpiece more balanced during the clamping process, reduce the force intensity of a single point, and protect the fragile workpiece. Therefore, the manipulator of the present invention can be used for different working radii and contours Shaped workpieces, the operation process is safe and stable, ensuring work efficiency, reducing equipment occupation, improving equipment utilization, reducing production costs, and facilitating application and promotion.

Description of drawings

Fig. 1 is the schematic diagram of the three-dimensional structure of manipulator of the present invention;

Figure 2 is a bottom view of the internal support mechanism installed on the disc-shaped main body (including schematic diagram a of clamping an elliptical inner contour workpiece, schematic diagram b of clamping a rectangular inner contour workpiece, and schematic diagram c of clamping a diamond inner contour workpiece);

Fig. 3 is a schematic diagram of the mechanism connecting the inner support body to the elastic adjustment plate;

Fig. 4 is the sectional view of A-A direction in Fig. 3;

Fig. 5 is a specific structural schematic diagram of the connection between the inner support body and the elastic adjustment plate;

Fig. 6 is the sectional view of B-B direction in Fig. 5;

Fig. 7 is the specific structural schematic diagram II of the connection between the inner support body and the elastic adjustment plate;

Fig. 8 is the sectional view of C-C direction in Fig. 7;

Fig. 9 is a schematic diagram of the three-dimensional structure of the inner support in Fig. 5 or Fig. 7;

Fig. 10 is a specific structural schematic diagram of the connection between the inner support body and the elastic adjustment plate;

Fig. 11 is a sectional view of D-D direction in Fig. 10;

Fig. 12 is a schematic diagram of the three-dimensional structure of the inner support body in Fig. 10;

Fig. 13 is a schematic diagram of the three-dimensional structure of the adjusting screw in Fig. 10;

Fig. 14 is a schematic diagram of the three-dimensional structure of the elastic adjustment plate in Fig. 10;

In the figure: 31. Drive module, 32. Drive slider, 33. Compliant ring, 34. Connecting cylinder, 35. Limit ring, 36. Early warning spring, 1. Sleeve, 13. Flexible damping ring, 22. Return spring, 23. linear motion driver, 25. supporting leg, 28. sliding block, 29. disc-shaped main body;

101. Inner support body, 102. Elastic adjustment plate, 103. Rubber damping layer, 104. Telescopic adjustment mechanism, 105. Adjustment block, 106. Fixed block, 107. Central stud, 108. Guide connecting rod, 109. Top Wire, 112. Threaded hole, 113. Sliding hole, 114. Clamping nut, 115. Ordinary washer, 116. Adjusting screw, 117. Manual nut, 118. Spherical washer, 119. Hinged seat, 120. First hinged shaft, 121. Through hole, 122. Swing hole, 123. Second fixed ear, 124. Second hinge shaft, 125. First fixed ear, 126. Snap ring, 127. Fixed nut, 128. Third fixed ear, 129. The third articulated shaft, 130. the fourth fixed ear, 131. inner hexagonal adjustment hole, 132. positioning groove, 133. circular boss, 134. circlip, 135. card slot, 136. ellipse inner contour workpiece, 137 . Rectangular inner contour workpiece, 138. Rhombus inner contour workpiece.

Detailed ways

Embodiment 1, referring to Fig. 1-14, an inner support type self-adaptive compliant manipulator that can be used for fragile and thin-walled workpieces with special-shaped inner contours. The manipulator includes an external cylindrical sleeve, a grasping device installed in the sleeve, and The self-adaptive connection device installed on the upper end of the sleeve; the sleeve, the self-adaptive connection device and the specific mechanism of the grasping device and other undescribed parts in the present invention will not be described one by one in the present invention, please refer to the published Patent application documents (Application No.: CN202010355810.4, Subject Name: Self-adaptive and compliant manipulator for inner support operation of fragile thin-walled cylindrical inner wall workpiece);

The grabbing device includes a disc-shaped main body, at least four identical inner support mechanisms arranged on the lower surface of the disc-shaped main body and uniformly distributed along the circumference;

The inner support mechanism includes a support leg fixed on the lower surface of the disc-shaped main body and protruding vertically outwards, the maximum distance from the outer surface of the support leg to the center of the disc-shaped main body is smaller than the radius of the disc-shaped main body; along the disc-shaped main body The radial direction of the sliding block that runs through the sliding hole at the lower end of the support leg, and the two ends are respectively connected to the connecting rod between the inner end of the sliding block and the movable part of the linear motion driver through a hinge shaft, and the lower end of the connecting rod is hinged to the inner end of the sliding block ; The arc-shaped inner support body fixed on the outer end of the sliding block, the middle position of the upper surface of the inner support body is fixed on the lower surface of the outer end of the corresponding sliding block, and the outer side of the inner support body is provided with arc-shaped elastic An adjustment plate, a central stud is connected between the elastic adjustment plate and the inner support body, the outer end of the central stud is vertically fixed at the center of the inner arc surface of the elastic adjustment plate, and the inner end of the central stud runs through the center of the inner support body The two clamping nuts are connected to the central stud by threads and are respectively clamped on the inner and outer arc surfaces of the inner support body. On the elastic adjustment plate There are also several telescopic adjustment mechanisms used to change the radius of curvature of the elastic adjustment plate connected to the inner support body. The radius of curvature of the elastic adjustment plate can be changed by changing the length of the telescopic adjustment mechanism. At the same time, the radius of curvature of the elastic adjustment plate can be quickly changed by adjusting the actual length of the central stud. Several telescopic adjustment mechanisms are symmetrically distributed on both sides of the central stud. There is a rubber shock-absorbing layer of uniform thickness.

The sliding block includes a fixed block and an adjusting block that are connected by a sliding telescopic connection, the inner end of the fixed block is hinged to the lower end of the connecting rod, the outer end of the adjusting block is fixed on the inner support body, and the outer end surface of the fixed block is vertically fixed with a horizontal Outwardly protruding square guide connecting rod, the interior of the adjustment block is provided with a sliding hole horizontally penetrating along its length direction and matching with the guide connecting rod, the guide connecting rod is inserted into the sliding hole from the inner end of the adjustment block to form a sliding pair, and The cross-sectional profiles of the fixed block and the adjusting block are correspondingly matched. There are symmetrical threaded holes connected with the sliding holes on both sides of the adjusting block. Each threaded hole is threaded to match with it and is tightened on the guide connecting rod. Top wire on the side.

The telescopic adjustment mechanism includes an adjustment screw, the outer end of which is connected to the inner arc surface of the elastic adjustment plate, and the inner end of the adjustment screw passes through the corresponding swing hole on the inner support body and is connected with the inner support body. The swing holes are arranged horizontally, and the centerlines of all the adjusting screw rods and the centerlines of the central studs are on the same horizontal plane.

The outer end of the adjusting screw is fixed on the inner arc surface of the elastic adjusting plate, the inner end of the adjusting screw runs through the corresponding swing hole on the inner support body and is fixed by two manual nuts, both of which are It is threadedly connected to the adjusting screw rod and respectively clamped on the inner and outer circular arc surfaces of the inner support body.

The swing hole is an oblong hole, and the inner port of the swing hole is provided with a spherical washer close to the arc surface of the inner support, and the corresponding adjusting screw penetrates through the inside of the spherical washer, and the spherical washer is clamped on the corresponding Between the clamping nut on the side and the inner support body.

The outer end of the adjusting screw is hinged on the hinge seat through the vertical first hinge shaft, and the hinge seat is correspondingly fixed on the inner arc surface of the elastic adjusting plate.

The outer end of the adjusting screw is provided with a ring-shaped positioning groove, and a snap ring matching with it to form a rotating pair is coaxially installed on the positioning slot, and a first vertically symmetrical fixed ear is fixed on the snap ring, each The first fixing lugs are respectively hinged on the second fixing lugs fixed to the inner arc surface of the elastic adjustment plate through the second hinge shaft, and a fixing nut is threaded on the adjusting screw rod, and the fixing nut is fixed with a vertically symmetrical first fixing lug. Three fixed ears, each third fixed ear is correspondingly hinged on the fourth fixed ear fixed to the outer arc surface of the inner support through the third hinge axis, and the first hinge axis and the second hinge axis are parallel and vertical, so The inner end surface of the adjusting screw is provided with an inner hexagonal adjusting hole, the inner circumference of the adjusting screw is provided with a circular boss with a diameter larger than its outer diameter, and the outer circumference of the adjusting screw is also provided with a circular ring. The draw-in slot, the draw-in slot is equipped with a snap ring matching it, and the above-mentioned positioning groove is formed between the snap ring and the annular boss, and the snap ring is detachable, so that the adjusting screw rod can be installed on the snap ring as required.

A common washer is sleeved on the central stud, and the common washer is clamped between the inner arc surface of the inner support body and the corresponding clamping nut.

Working process and principle of the present invention:

According to the inner contour shape of the workpiece, adjust the specific length of each sliding block, that is, loosen the top screw, pull the adjustment block to a suitable position, then tighten the top screw to fix the adjustment block and the guide connecting rod on the fixed block, and then according to each The radius of curvature of the elastic adjustment plate at the corresponding position on the inner contour of the workpiece is used to adjust the radius of curvature of the elastic adjustment plate, that is, to change the actual working length of the adjustment screw in each telescopic adjustment mechanism on the same elastic adjustment plate to adjust the curvature of the corresponding elastic adjustment plate Radius, so that the radius of curvature of the elastic adjustment plate matches the radius of curvature of the corresponding position on the inner contour of the workpiece. After the inner support mechanism is adjusted, the workpiece is then grabbed. For the specific process of the manipulator of the present invention to grab the workpiece, please refer to the published The working process part of the patent application document (Application No.: CN202010355810.4, Subject Name: Self-supporting Self-adaptive Compliant Manipulator for Fragile Thin-Walled Cylindrical Inner Wall Workpiece).

In the present invention, the sliding block is composed of a telescopically connected fixed block and an adjusting block, and the overall length of the sliding block can be adjusted within a certain range to adapt to the change of the contour in different positions inside the workpiece, so as to ensure that all elastic adjustments are made when grabbing the workpiece. The plate can be supported on the corresponding position of the inner contour of the workpiece at the same time, and then the workpiece can be picked up. At the same time, a telescopic adjustment mechanism is provided between the inner support body and the elastic adjustment plate. By changing the actual working length of the adjustment screw in the telescopic adjustment mechanism, To adjust the radius of curvature of the elastic adjustment plate, so that the radius of curvature of the elastic adjustment plate matches the radius of curvature of the contour of the corresponding position inside the workpiece. When the elastic adjustment plate grabs the workpiece, the rubber on the outer arc surface of the elastic adjustment plate The clamping contact area between the damping layer and the corresponding inner wall of the workpiece is maximized to ensure stable operation while reducing the pressure on the workpiece and avoiding damage to the workpiece; and the present invention is provided with at least four internal support mechanisms to increase and disperse clamping The force position of the heterogeneous inner contour workpiece can form a stable support for the heterosexual inner contour workpiece, ensure the stability and reliability of the working process, and make the workpiece more balanced in the process of clamping, reducing the single point force intensity, Fragile workpieces are protected, so the manipulator of the present invention can be used for workpieces with different working radii. The operation process is safe and stable, ensuring work efficiency, reducing equipment occupation, improving equipment utilization, reducing production costs, and facilitating application and promotion.

Claims (7)

1. The self-adaptive flexible manipulator for internal support type operation of the special-shaped inner contour fragile thin-wall workpiece comprises an external cylindrical sleeve, a grabbing device arranged in the sleeve and a self-adaptive connecting device arranged at the upper end of the sleeve; the method is characterized in that:

the grabbing device comprises a disc-shaped main body and at least four identical internal supporting mechanisms which are arranged on the lower surface of the disc-shaped main body and uniformly distributed along the circumference;

the inner supporting mechanism comprises supporting legs which are fixed on the lower surface of the disc-shaped main body and extend outwards perpendicularly, and the maximum distance from the outer side surface of each supporting leg to the center of the disc-shaped main body is smaller than the radius of the disc-shaped main body; the sliding block penetrates through the sliding hole at the lower end of the supporting leg along the radial direction of the disc-shaped main body, two ends of the sliding block are respectively connected with a connecting rod between the inner end of the sliding block and a movable part of the linear motion driver through a hinge shaft, and the lower end of the connecting rod is hinged with the inner end of the sliding block; the middle position of the upper surface of the inner support body is fixed on the lower surface corresponding to the outer end of the sliding block, an arc-shaped elastic adjusting plate is arranged on the outer side of the inner support body, a central stud is connected between the elastic adjusting plate and the inner support body, the outer end of the central stud is vertically fixed at the center of the inner arc surface of the elastic adjusting plate, the inner end of the central stud penetrates through a through hole in the central position of the inner support body and is fixed by two clamping nuts, the two clamping nuts are connected on the central stud through threads and are respectively clamped on the inner arc surface and the outer arc surface of the inner support body, a plurality of telescopic adjusting mechanisms for changing the curvature radius of the elastic adjusting plate are also connected between the elastic adjusting plate and the inner support body, the telescopic adjusting mechanisms are symmetrically distributed on two sides of the central stud, and a rubber shock absorbing layer with uniform thickness is arranged on the outer arc surface of the elastic adjusting plate;

the telescopic adjusting mechanism comprises an adjusting screw, the outer end of the adjusting screw is connected to the inner arc surface of the elastic adjusting plate, the inner end of the adjusting screw penetrates through the corresponding swinging hole on the inner support body and is connected with the inner support body, the swinging holes are horizontally arranged, and the center lines of all the adjusting screw and the center line of the center stud are on the same horizontal plane;

the outer end of the adjusting screw is fixed on the inner arc surface of the elastic adjusting plate, the inner end of the adjusting screw penetrates through the corresponding swing hole on the inner support body and is fixed by two manual nuts, and the two manual nuts are connected to the adjusting screw through threads and are respectively clamped on the inner arc surface and the outer arc surface of the inner support body.

2. The self-adaptive compliant manipulator for internal bracing operation for a fragile thin-walled workpiece with a special-shaped inner contour according to claim 1, wherein the self-adaptive compliant manipulator is characterized in that: the sliding block comprises a fixed block and an adjusting block which are connected in a sliding telescopic manner, the inner end of the fixed block is hinged to the lower end of the connecting rod, the outer end of the adjusting block is fixed to the inner support body, a square guide connecting rod which extends outwards horizontally is vertically fixed to the outer end face of the fixed block, a sliding hole which is horizontally communicated with the guide connecting rod in the length direction of the adjusting block is formed in the adjusting block, the guide connecting rod is inserted into the sliding hole from the inner end of the adjusting block to form a sliding pair, the cross section profiles of the fixed block and the adjusting block are correspondingly matched, symmetrical threaded holes which are communicated with the sliding hole are formed in two side faces of the adjusting block, and jackscrews which are matched with the threaded holes and tightly propped against the side face of the guide connecting rod are arranged in each threaded hole.

3. The self-adaptive compliant manipulator for internal bracing operation for a fragile thin-walled workpiece with a special-shaped inner contour according to claim 1, wherein the self-adaptive compliant manipulator is characterized in that: the swing hole is a slotted hole, a spherical washer clung to the inner arc surface of the inner support body is arranged at the inner port of the swing hole, the corresponding adjusting screw penetrates through the spherical washer, and the spherical washer is clamped between the clamping nut at the corresponding side and the inner support body.

4. The self-adaptive compliant manipulator for internal bracing operation for a fragile thin-walled workpiece with a special-shaped inner contour of claim 3, wherein the manipulator comprises: the outer end of the adjusting screw is hinged to a hinge seat through a vertical first hinge shaft, and the hinge seat is correspondingly fixed on the inner arc surface of the elastic adjusting plate.

5. The self-adaptive compliant manipulator for internal bracing operation for a fragile thin-walled workpiece with a special-shaped inner contour according to claim 1, wherein the self-adaptive compliant manipulator is characterized in that: the outer end of adjusting screw be equipped with annular constant head tank, coaxial mounting has the snap ring rather than matching formation revolute pair on this constant head tank, is fixed with the first fixed ear of upper and lower symmetry on this snap ring, every first fixed ear all corresponds the articulated on the second fixed ear fixed with the interior cambered surface of elastic adjustment board through the second articulated shaft, has fixation nut through threaded connection on adjusting screw, is fixed with the third fixed ear of upper and lower symmetry on this fixation nut, every third fixed ear all corresponds the articulated on the fourth fixed ear fixed with the outer circular arc surface of internal stay body through the third articulated shaft, and first articulated shaft and second articulated shaft are parallel and vertical, adjusting screw's inner terminal surface be equipped with interior hexagonal regulation hole.

6. The self-adaptive flexible manipulator for internal bracing operation for a fragile thin-walled workpiece with a special-shaped inner contour according to claim 5, which is characterized in that: the inner circumferential surface of the adjusting screw is provided with a circular boss with the diameter larger than the outer diameter of the adjusting screw, the outer circumference of the adjusting screw is also provided with a circular clamping groove, the clamping groove is provided with a clamping spring matched with the clamping spring, and the positioning groove is formed between the clamping spring and the circular boss.

7. The self-adaptive compliant manipulator for internal bracing operation for a fragile thin-walled workpiece with a special-shaped inner contour according to claim 1, wherein the self-adaptive compliant manipulator is characterized in that: and the center stud is sleeved with a common gasket, and the common gasket is clamped between the inner arc surface of the inner support body and the corresponding clamping nut.

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