CN116038741A - Compliant devices and manipulators - Google Patents

Abstract

The invention relates to the field of robots, and provides a compliant device and a manipulator, wherein the compliant device comprises a base mechanism and a motor mechanism, the base mechanism comprises a base body, a floating assembly and a locking assembly, the floating assembly and the locking assembly are arranged on the inner side of the base body, the floating assembly is suitable for being connected with an executing mechanism, and the locking assembly is arranged on the outer side of the floating assembly; the motor mechanism comprises a motor body and a transmission assembly, the transmission assembly comprises a rotating piece and a moving piece, a rotating shaft of the motor body is connected with the rotating piece to drive the rotating piece to rotate and drive the moving piece to move, the moving piece drives a locking assembly to switch between a pressing position and a separating position, the locking assembly locks the floating assembly in the pressing position, and the locking assembly unlocks the floating assembly in the separating position. The floating assembly is locked by the motor body matched with the transmission assembly through the locking assembly, and energy sources such as an additional air source besides electric energy are not needed, so that the problem of use limitation of the conventional compliant device and the mechanical arm without the air source is solved.

Description

Compliant devices and manipulators

technical field

The invention relates to the technical field of robots, in particular to an obedient device and a manipulator.

Background technique

The connection between the end of the existing mechanical arm and the jaw of the robot is basically a hard connection, that is, the jaw is directly fixed on the end of the mechanical arm with bolts. In practical applications such as robotic arm grabbing and handling, due to errors in the robotic arm, grippers, and action objects themselves, as well as deviations in visual recognition, there will be deviations in the gripping and handling of the grippers or direct grasping. The failure of picking and handling will affect the smooth execution of the entire action process. If the soft connection of the compliance device is added between the manipulator and the gripper, the error of the manipulator, gripper and action object can be absorbed within a certain range, making the entire action process can be executed smoothly. The pneumatic compliance device developed for industrial robots and used in applications such as collaborative manipulators needs to be controlled and adjusted through an additional air source, but the cost of air supply equipment is high, which is not conducive to promotion, and the air supply pipe is easily exposed on the surface of the manipulator. damage.

Contents of the invention

The present invention aims to solve at least one of the technical problems existing in the related art. To this end, the present invention proposes a compliance device, which uses the motor body to cooperate with the transmission component to lock the floating component through the locking component, without the need for additional energy supply such as air source other than electric energy. The overall structure of the compliance device is simple and compact, the transmission is stable, and the output It has high efficiency and is easy to replace. It solves the problem of limitations in the use of conventional compliance devices and robotic arms when there is no air source, and is suitable for complex operation scenarios.

The invention also proposes a manipulator.

The compliance device according to the embodiment of the first aspect of the present invention includes:

The base mechanism, the base mechanism includes a base body and a floating assembly and a locking assembly arranged inside the base body, the floating assembly is suitable for connecting with the actuator, and the locking assembly is arranged outside the floating assembly ;

The motor mechanism, the motor mechanism includes a motor body and a transmission assembly, the transmission assembly includes a rotating part and a moving part, the rotating shaft of the motor body is connected with the rotating part, so as to drive the rotating part to rotate and drive the moving part The moving part drives the locking assembly to switch between the pressing position and the disengaging position. In the pressing position, the locking assembly locks the floating assembly. In the disengaging position, The locking assembly unlocks the floating assembly.

According to the compliance device of the embodiment of the present invention, the motor body cooperates with the transmission assembly to lock the floating assembly through the locking assembly, and does not need an additional energy supply such as an air source other than electric energy. It is suitable for practical applications without air supply and fills the technical Blank, the obedience device has a simple and compact overall structure, stable transmission, high output efficiency, and easy replacement, which solves the problem of limitations in the use of conventional obedience devices and robotic arms when there is no air source, and is suitable for complex operation scenarios.

According to one embodiment of the present invention, the locking assembly includes:

a steel ball component, the steel ball component includes a plurality of steel balls, and the plurality of steel balls are arranged around the outer side of the floating assembly;

A locking component, the locking component includes a locking frame corresponding to each of the steel balls, and a guide provided on each of the locking frames, and the locking frame is arranged at a distance from the steel ball On one side of the floating assembly, the moving part is used to drive the guide part and the locking frame to move, and in the pressing position, the locking frame compresses the steel ball to make the steel ball The ball locks the floating assembly, and at the disengaged position, the locking frame releases the steel ball, so that the steel ball unlocks the floating assembly.

According to an embodiment of the present invention, the moving part is switched between an initial position and a driving position, in which the moving part is in contact with the guide part, and in the initial position, the moving part is in contact with the guiding part. A preset gap is set between the guide pieces.

According to an embodiment of the present invention, at least two guide members are arranged on each locking frame, and the guide members are arranged symmetrically with the center point of the steel ball as the center point.

According to one embodiment of the present invention, the guide includes:

a first guide post, the first guide post is connected to the locking frame, and the first guide post is arranged axially along the moving direction of the moving part;

A linear bearing, the linear bearing is arranged on the base body, and the linear bearing is sleeved on the outer side of the first guide shaft.

According to an embodiment of the present invention, the locking assembly further includes:

An elastic component is arranged along the axial direction of the guide member, and one end of the elastic component is limited to the locking frame, and the other end is limited to the base body.

According to an embodiment of the present invention, the base body is provided with a second guide post, and the moving part is provided with a guide hole suitable for insertion of the second guide post, so that the moving part can move along the Axial movement of the second guide post.

According to an embodiment of the present invention, the moving part is sleeved on the outer side of the rotating part and screwed to the rotating part.

According to one embodiment of the present invention, the floating assembly includes:

a floating rod, the floating rod is arranged coaxially with the rotating shaft of the motor body;

a spherical bearing, the spherical bearing is sleeved on one end of the floating rod close to the motor body;

A connection part, the connection part is arranged on the end of the floating rod away from the motor body, and the steel ball is arranged around the connection part.

According to an embodiment of the present invention, the connecting member, the floating rod, the rotating member and the rotating shaft of the motor body form an axially penetrating channel.

According to an embodiment of the present invention, the locking bracket is provided with an inclined surface, the inclined surface is in contact with the steel ball, and the inclined surface gradually moves away from the direction of the steel ball from the separation position to the pressing position. The direction is tilted.

According to an embodiment of the present invention, the base mechanism further includes:

A guide sleeve, the locking frame is provided with a vertical surface opposite to the inclined surface, the guide sleeve is sleeved on the outside of all the locking frames, and is in contact with all the vertical surfaces.

The manipulator according to the embodiment of the second aspect of the present invention includes:

a compliance device as described above;

mechanical arm;

an actuator, the actuator is connected to the mechanical arm through the compliance device.

The above one or more technical solutions in the embodiments of the present invention have at least one of the following technical effects:

In the obedient device according to the embodiment of the present invention, a floating component and a locking component are arranged inside the base body, and the rotating part of the locking component is driven to rotate through the rotation of the rotating shaft of the motor body, and the moving part is connected with the rotating part, thereby converting the rotating motion into a straight line Movement, that is, when the rotating part rotates, it drives the moving part to reciprocate synchronously in a straight line, so that the moving part drives the locking assembly to move between the pressing position and the separating position. The change in position can lock and unlock the floating assembly.

When the rotating shaft of the motor body rotates forward, the moving part drives the locking assembly to move to the pressing position. When the locking assembly reaches the pressing position, the locking assembly locks the floating assembly, and the floating assembly cannot move; when the rotating shaft of the motor body reverses When rotating in the opposite direction, the moving part drives the locking assembly to move toward the separation position, and when the locking assembly reaches the separation position, the locking assembly unlocks the floating assembly, and the floating assembly can resume moving.

The actuator is connected to the floating assembly. After the actuator completes the specified operation, the motor body cooperates with the transmission assembly to drive the locking assembly to lock the floating assembly to ensure that the operation and position of the actuator have a certain accuracy. The main body cooperates with the transmission component to drive the locking component to unlock the floating component. The floating component can ensure the deflection and floating of the actuator in a certain angle range and action state again, and can absorb the error and deviation of the operation within a certain range. In this way, the mutual switching of locking and floating functions within a certain range is formed, so that the action processes such as grasping and handling of the actuator can be carried out smoothly and with high precision.

The invention uses the motor body to cooperate with the transmission component to lock the floating component through the locking component, without the need for energy supply such as an additional gas source other than electric energy, which is suitable for the actual application without gas source supply, fills the technical gap, and the overall structure of the compliance device is simple It is compact, stable in transmission, high in output efficiency, and easy to replace. It solves the problem of limitations in the use of conventional compliance devices and robotic arms when there is no air source, and is suitable for complex operation scenarios.

Additional aspects and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the following will briefly introduce the drawings that need to be used in the descriptions of the embodiments or related technologies. Obviously, the drawings in the following description are only For some embodiments of the invention, those skilled in the art can also obtain other drawings based on these drawings without creative effort.

Fig. 1 is a structural schematic diagram of the obedience device for the robot provided by the invention;

Figure 2 is one of the cross-sectional views of the obedient device for the robot provided by the invention;

Fig. 3 is the second cross-sectional view of the obedient device for the robot provided by the invention.

Reference signs:

100, base mechanism; 110, base body; 120, floating component; 130, locking component; 140, guide sleeve; 150, sealing ring; 111, second guide column; 112, guide seat; 113, lower cover; Floating rod; 122, spherical bearing; 123, connecting part; 124, nut; 131, steel ball part; 132, locking part; 133, elastic part; 1231, connecting seat; 1232, connecting plate; 1311, steel ball; 1312 , steel ball frame; 1321, locking frame; 1322, guide piece; 1323, first guide column; 1324, linear bearing; 1325, inclined plane; 1326, vertical plane;

200, motor mechanism; 210, motor body; 220, transmission assembly; 230, first bearing; 240, top cover; 250, outer cover; 260, second bearing; 211, rotating shaft; 221, rotating part; 222, moving part;

300, channel; 310, first through hole; 320, second through hole; 330, third through hole; 340, fourth through hole.

Detailed ways

Embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but should not be used to limit the scope of the present invention.

In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right" , "vertical", "horizontal", "top", "bottom", "inner", "outer" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing this The embodiments and simplified descriptions of the invention do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as limiting the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and should not be construed as indicating or implying relative importance.

In the description of the embodiments of the present invention, it should be noted that unless otherwise specified and limited, the terms "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection, Or integrated connection; it can be mechanical connection or electrical connection; it can be direct connection or indirect connection through an intermediary. Those of ordinary skill in the art can understand the specific meanings of the above terms in the embodiments of the present invention in specific situations.

In the embodiments of the present invention, unless otherwise specified and limited, the first feature may be in direct contact with the first feature or the first feature and the second feature may pass through the middle of the second feature. Media indirect contact. Moreover, "above", "above" and "above" the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. "Below", "beneath" and "beneath" the first feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is less horizontally than the second feature.

In the description of this specification, descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific examples", or "some examples" mean that specific features described in connection with the embodiment or example , structure, material or feature is included in at least one embodiment or example of the embodiments of the present invention. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the described specific features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples and features of different embodiments or examples described in this specification without conflicting with each other.

As shown in Figure 1, Figure 2 and Figure 3, the embodiment of the present invention provides a compliance device, including a base mechanism 100 and a motor mechanism 200, the base mechanism 100 includes a base body 110 and a floating assembly 120 and The locking assembly 130, the floating assembly 120 is suitable for connecting with the actuator, and the locking assembly 130 is arranged on the outside of the floating assembly 120; the motor mechanism 200 includes a motor body 210 and a transmission assembly 220, and the transmission assembly 220 includes a rotating part 221 and a moving part 222 , the rotating shaft 211 of the motor body 210 is connected with the rotating part 221 to drive the rotating part 221 to rotate and drive the moving part 222 to move, so that the moving part 222 drives the locking assembly 130 to switch between the pressing position and the separating position. , the locking component 130 locks the floating component 120 , and in the disengaged position, the locking component 130 unlocks the floating component 120 .

In the compliance device of the embodiment of the present invention, the floating assembly 120 and the locking assembly 130 are arranged inside the base body 110, and the rotating shaft 211 of the motor body 210 rotates to drive the rotating member 221 of the locking assembly 130 to rotate, and the moving member 222 is connected to the rotating member 221 In this way, the rotary motion is converted into a linear motion, that is, the rotating part 221 drives the moving part 222 to reciprocate linearly in a synchronous manner while the rotating part 221 rotates, so that the moving part 222 drives the locking assembly 130 to move and switch between the pressing position and the separating position, locking The assembly 130 is arranged on the outside of the floating assembly 120 , and the floating assembly 120 can be locked and unlocked by changing the position of the locking assembly 130 .

When the rotating shaft 211 of the motor body 210 rotates forward, the moving part 222 drives the locking assembly 130 to move to the pressing position, and when the locking assembly 130 reaches the pressing position, the locking assembly 130 locks the floating assembly 120, and the floating assembly 120 cannot Movement; when the rotating shaft 211 of the motor body 210 rotates in the opposite direction, the moving part 222 drives the locking assembly 130 to move to the disengaged position. When the locking assembly 130 reaches the disengaged position, the locking assembly 130 unlocks the floating assembly 120, and the floating assembly 120 can be restored move.

The actuator is connected to the floating assembly 120. After the actuator completes the specified operation, the motor body 210 cooperates with the transmission assembly 220 to drive the locking assembly 130 to lock the floating assembly 120 to ensure that the operation and position of the actuator have a certain degree of certainty. To ensure precision, the motor body 210 cooperates with the transmission assembly 220 to drive the locking assembly 130 to unlock the floating assembly 120. The floating assembly 120 can ensure the deflection and floating of the actuator in a certain angle range and action state again, and can absorb operating actions within a certain range. errors and deviations. In this way, the mutual switching of locking and floating functions within a certain range is formed, so that the action processes such as grasping and handling of the actuator can be carried out smoothly and with high precision.

The present invention uses the motor body 210 to cooperate with the transmission assembly 220 to lock the floating assembly 120 through the locking assembly 130, without the need for an additional energy supply such as an air source other than electric energy. The overall structure of the device is simple and compact, with stable transmission, high output efficiency, and easy replacement, which solves the problem of limitations in the use of conventional compliance devices and robotic arms when there is no air source, and is suitable for complex operation scenarios.

In this embodiment, the motor mechanism 200 is located above the base mechanism 100 , the lower end of the rotating shaft 211 of the motor body 210 is fixedly connected to the rotating member 221 , and the rotating member 221 is coaxially arranged with the rotating shaft 211 . In other embodiments, the relative positions of the motor mechanism 200 and the base mechanism 100 are variable.

In this embodiment, the motor mechanism 200 also includes a first bearing 230, a top cover 240, an outer cover 250, and a second bearing 260. The outer cover 250 is cylindrical, and the upper cover 240 is installed on the upper part of the outer cover 250 to form a joint with the outer cover 250. The space for accommodating the motor body 210 and the transmission assembly 220, the upper end of the rotating shaft 211 of the motor body 210 is connected to the top cover 240 through the first bearing 230, the second bearing 260 is installed inside the outer cover 250, and the inner ring of the second bearing 260 Part is connected with the lower end of the rotating shaft 211 of the motor body 210, the lower part of the inner ring of the second bearing 260 is connected with the upper end of the rotating member 221, and the second bearing 260 cooperates with the first bearing 230 to realize the connection between the rotating shaft 211 of the motor body 210 and the rotating member. 221 simultaneous free spins. The lower part of the outer cover 250 is fixedly connected with the base body 110 .

In this embodiment, the motor body 210 can be a frameless motor equipped with an encoder. The frameless motor controls the rotation of the shaft 211 through the encoder. The encoder realizes closed-loop control and precise control of the rotation of the shaft 211. The locking position is accurately controlled and a closed-loop control is formed, so that the control of the compliance device to the actuator is simple and the feedback is sensitive. It can be understood that, for different application situations, other types of motors can be used to realize the electric locking and unlocking functions.

According to one embodiment of the present invention, the locking assembly 130 includes a steel ball part 131 and a locking part 132, the steel ball part 131 is arranged around the outside of the floating assembly 120; When the locking part 132 is driven to move, in the pressing position, the locking part 132 presses the steel ball part 131, so that the steel ball part 131 locks the floating assembly 120; in the separated position, the locking part 132 releases the steel ball part 131, Make the steel ball part 131 unlock the floating assembly 120 . In this embodiment, the locking part 132 makes the steel ball part 131 exert pressure on the floating assembly 120 in the pressing position, and the locking part 132 does not make the steel ball part 131 exert pressure on the floating assembly 120 in the disengaged position.

According to one embodiment of the present invention, the locking assembly 130 includes a steel ball part 131 and a locking part 132, the steel ball part 131 includes a plurality of steel balls 1311, and the plurality of steel balls 1311 are arranged around the outside of the floating assembly 120; the locking part 132 includes a locking frame 1321 corresponding to each steel ball 1311, and a guide 1322 provided on each locking frame 1321. The locking frame 1321 is arranged on the side of the steel ball 1311 away from the floating assembly 120. The moving part 222 It is used to drive the guide 1322 and the locking frame 1321 to move. In the pressing position, the locking frame 1321 presses the steel ball 1311 so that the steel ball 1311 locks the floating assembly 120. In the separated position, the locking frame 1321 releases the steel ball 1311 , make the steel ball 1311 unlock the floating assembly 120 . In this embodiment, a plurality of steel balls 1311 are arranged around the outside of the floating assembly 120, and each steel ball 1311 is correspondingly provided with a locking frame 1321, and the locking frame 1321 is located on the side of the steel ball 1311 away from the floating assembly 120, that is, the base The inside of the main body 110 is provided with a floating component 120, a steel ball 1311 and a locking frame 1321 in sequence from the inside to the outside. When the actuator operates, the floating component 120 will swing and rotate, and then drive the steel ball 1311 to move. Each locking frame 1321 is provided with a guiding piece 1322. When the rotating piece 221 rotates, it drives the moving piece 222 to move linearly synchronously. During the movement of the moving piece 222, the guiding piece 1322 can be driven to move, and then the locking frame can be driven by the guiding piece 1322. 1321 moves, and the locking frame 1321 can generate force on the steel ball 1311 during the moving process, that is, the moving part 222 drives the guide 1322 to move, so that the position of the locking frame 1321 changes, so that the steel ball 1311 exerts a force on the floating assembly 120. Locking and unlocking action.

When the rotating shaft 211 of the motor body 210 rotates forward, the rotating part 221 drives the moving part 222 to move, the moving part 222 drives the guide part 1322 to move, and the guide part 1322 drives the locking frame 1321 to move to the pressing position. When reaching the pressing position, The locking frame 1321 squeezes the steel ball 1311, the steel ball 1311 gradually presses the floating assembly 120, the steel ball 1311 locks the floating assembly 120, and the floating assembly 120 cannot move; Drive the moving part 222 to move, the moving part 222 drives the guide part 1322 to move, the guide part 1322 drives the locking frame 1321 to move to the separation position, when reaching the separation position, the locking frame 1321 no longer squeezes the steel ball 1311, and the steel ball 1311 gradually loosens The floating assembly 120, the steel ball 1311 unlocks the floating assembly 120, and the floating assembly 120 can resume moving.

Each steel ball 1311 cooperates with a locking frame 1321 and a guide 1322 on the locking frame 1321. During the movement of the moving part 222, each steel ball 1311 can be independently controlled for compression and separation, and the locking assembly 130 The cooperation with the transmission assembly 220 is more flexible, and the locking and unlocking control of the floating assembly 120 is more detailed and precise.

In this embodiment, the steel ball component 131 also includes a steel ball frame 1312, which is coaxially arranged with the floating assembly 120, and a plurality of steel balls 1311 are evenly installed in the steel ball frame 1312, and the steel ball frame 1312 can be connected with the The base body 110 is fixedly connected. It can be understood that the number of steel balls 1311 is set according to actual working conditions, and the number of steel ball holders 1312 is adjusted accordingly as the number of steel balls 1311 changes, so as to ensure the locking force of the locking assembly 130 and the floating assembly 120. function.

In other embodiments, the locking component 130 can also adopt other structures, which can lock and unlock the floating component 120 during the linear reciprocating movement of the moving part 222 , such as a claw controlled by a link structure.

According to one embodiment of the present invention, the moving part 222 is switched between the initial position and the driving position. In the driving position, the moving part 222 is in contact with the guide part 1322. Set a gap. In this embodiment, the moving part 222 and the guide part 1322 are two independent parts, and there is no fixed connection therebetween. When the floating assembly 120 is unlocked, the moving part 222 is generally in the initial position. At this time, the moving part 222 and the guide part There is a certain preset gap between 1322, that is, there is a certain movable space between the guide part 1322 and the moving part 222. When the actuator deflects and floats, it will drive the floating assembly 120 to move, and then push the steel ball 1311 to move, and the steel ball 1311 When moving, due to the position change, a force will be exerted on the corresponding locking frame 1321, and then the locking frame 1321 and the guide 1322 will move synchronously, and the activity space formed by the preset gap can be used for the locking frame 1321 and the guide The 1322 provides range of movement. When the floating assembly 120 needs to be locked and controlled, the moving part 222 is in the driving position, that is, the moving part 222 contacts the guide part 1322 to generate force.

When the rotating shaft 211 of the motor body 210 rotates forward, the rotating part 221 drives the moving part 222 to move, and the moving part 222 gradually approaches the guide part 1322 until it touches the pressing guide part 1322, the preset gap disappears, and the guide part 1322 drives the locking frame 1321 to squeeze Press the steel ball 1311, the steel ball 1311 gradually compresses the floating assembly 120, when the locking frame 1321 reaches the pressing position, the steel ball 1311 locks the floating assembly 120, and the floating assembly 120 cannot move; when the rotating shaft 211 of the motor body 210 rotates in the opposite direction At this time, the rotating part 221 drives the moving part 222 to move, and the moving part 222 gradually moves away from the guide part 1322 until it is separated from the guide part 1322. The preset gap is restored, and the guide part 1322 drives the locking frame 1321 away from the steel ball 1311, and the steel ball 1311 gradually relaxes and floats. When the assembly 120 and the locking frame 1321 reach the disengaged position, the steel ball 1311 unlocks the floating assembly 120, and the floating assembly 120 can resume moving.

According to an embodiment of the present invention, at least two guide pieces 1322 are arranged on each locking frame 1321 , and the guide pieces 1322 are arranged symmetrically with the center point of the steel ball 1311 as the center point. In this embodiment, since the actuator deflects and swings, it will drive the floating assembly 120 to deflect and swing. At this time, each deflection and swing can only drive part of the steel balls 1311 to deflect and swing. In order to ensure the smooth linear motion of the locking frame 1321, each At least two guides 1322 are installed on the locking frame 1321, and the guides 1322 are symmetrically arranged on the side of the steel ball 1311 away from the floating assembly 120 with the center of the steel ball 1311 as the center point, so as to ensure that the locking frame 1321 is evenly stressed and can Make a smooth motion of approaching or moving away from the steel ball 1311.

According to one embodiment of the present invention, the guide member 1322 includes a first guide post 1323 and a linear bearing 1324, the first guide post 1323 is connected to the locking frame 1321, and the first guide post 1323 is axially arranged along the moving direction of the moving member 222 ; The linear bearing 1324 is disposed on the base body 110 , and the linear bearing 1324 is sleeved on the outside of the first guide column 1323 ; In this embodiment, the linear bearing 1324 is fixedly installed on the base body 110, and the first guide column 1323 is penetrated in the linear bearing 1324, and the first guide column 1323 can be driven by the moving part 222 to reciprocate linearly along its axial direction. , the linear bearing 1324 stably supports and guides the movement of the first guide column 1323 . The first guide column 1323 is fixedly connected with the locking frame 1321 , that is, the first guide column 1323 synchronously drives the locking frame 1321 to reciprocate linearly along the axial direction of the first guide column 1323 .

When the rotating shaft 211 of the motor body 210 rotates forward, the rotating part 221 drives the moving part 222 to move, and the moving part 222 gradually approaches the first guide post 1323 until it touches and presses the first guide post 1323, and the first guide post 1323 drives the locking frame 1321 Squeeze the steel ball 1311, the steel ball 1311 gradually presses the floating assembly 120, when the locking frame 1321 reaches the pressing position, the steel ball 1311 locks the floating assembly 120, and the floating assembly 120 cannot move; when the rotating shaft 211 of the motor body 210 reverses When rotating, the rotating part 221 drives the moving part 222 to move, and the moving part 222 gradually moves away from the first guide post 1323 until it is separated from the first guide post 1323. The first guide post 1323 drives the locking frame 1321 away from the steel ball 1311, and the steel ball 1311 gradually The floating assembly 120 is released, and when the locking frame 1321 reaches the disengaged position, the steel ball 1311 unlocks the floating assembly 120, and the floating assembly 120 can resume moving.

In this embodiment, when two guides 1322 are provided on one locking frame 1321, linear bearings 1324 and first guide posts 1323 are provided in pairs on one locking frame 1321, and so on when there are more than two guides 1322 . The movement of each locking frame 1321 is made more flexible, and the locking of the steel ball 1311 is more fit.

According to an embodiment of the present invention, the locking assembly 130 further includes an elastic member 133 disposed along the axial direction of the guide member 1322 , and one end of the elastic member 133 is limited to the locking frame 1321 , and the other end is limited to the base body 110 . In this embodiment, the elastic component 133 connects the locking frame 1321 with the base body 110 , and provides force for the initial position and movement recovery of the locking frame 1321 through the deformation and recovery capabilities of the elastic component 133 . The locking frame 1321 is pre-pressed by the elastic member 133, so that the locking frame 1321 always maintains a position in contact with the surface of the steel ball 1311. On the one hand, it can follow the movement of the steel ball 1311 to move up and down in a straight line; The up and down movement of the tight frame 1321 realizes the locking and unlocking of the steel ball 1311 .

When the rotating shaft 211 of the motor body 210 rotates forward, the rotating part 221 drives the moving part 222 to move, and the moving part 222 gradually approaches the first guide post 1323 until it touches and presses the first guide post 1323, and the first guide post 1323 drives the locking frame 1321 Squeeze the steel ball 1311, the locking frame 1321 moves along the direction of the first guide column 1323 axially close to the steel ball 1311, the elastic member 133 is stretched synchronously under tension, the steel ball 1311 gradually presses the floating assembly 120, and the locking frame 1321 reaches In the pressed position, the steel ball 1311 locks the floating assembly 120, and the floating assembly 120 cannot move; when the rotating shaft 211 of the motor body 210 rotates in the opposite direction, the rotating part 221 drives the moving part 222 to move, and the moving part 222 gradually moves away from the first guide column 1323 until separated from the first guide column 1323, the first guide column 1323 drives the locking frame 1321 away from the steel ball 1311, the locking frame 1321 moves along the direction of the first guide column 1323 axially away from the steel ball 1311, and the elastic member 133 is restored The force affects the synchronous contraction, helping the locking frame 1321 and the first guide column 1323 to reset, the steel ball 1311 gradually loosens the floating assembly 120, when the locking frame 1321 reaches the separated position, the steel ball 1311 unlocks the floating assembly 120, and the floating assembly 120 can resume moving .

When the moving part is in the initial position, the elastic member 133 is affected by the movement of the steel ball 1311 to help the guide part 1322 to move and reset. , the elastic part 133 contracts under the influence of pressure, when the steel ball 1311 moves away from the locking frame 1321, and when the locking frame 1321 moves downward along the axial direction of the first guide post 1323, the elastic part 133 is elongated under the influence of the restoring force, ensuring the lock The tight frame 1321 is in contact with the steel ball 1311 all the time.

In this embodiment, the elastic component 133 is a spring, and the spring is sheathed outside the linear bearing 1324 . One end of the spring is fixedly connected to the base body 110 , and the other end of the spring is fixedly connected to the locking frame 1321 . In other embodiments, the elastic member 133 can also use elastic and restorative materials such as rubber sleeves.

It can be understood that, during the process of moving the moving member 222 from the pressing position to the disengaging position, the reset of the first guide column 1323 and the locking frame 1321 can be completed by the elastic member 133, or the first guide column 1323 can be directly connected to the locking frame 1321. The moving part 222 is connected, and the moving part 222 directly drives the first guide column 1323 and the locking frame 1321 to reset.

According to an embodiment of the present invention, the base body 110 is provided with a second guide post 111, and the moving part 222 is provided with a guide hole suitable for inserting the second guide post 111, so that the moving part 222 can move along the second guide post 111. axial movement. In this embodiment, the second guide post 111 is fixedly arranged on the base body 110, and a guide hole suitable for the insertion of the second guide post 111 is provided on the moving part 222 corresponding to the position of the second guide post 111, through which the second guide post 111 Cooperating with the second guide hole, it can not only guide the linear motion of the moving part 222 stably, but also limit the rotating motion of the moving part 222, and then convert the rotating motion into a linear motion, so that the moving part 222 can smoothly move between the pressing position and the Movement between separate positions.

It can be understood that the number of the second guide pillars 111 and the number of the guide holes can be set according to actual needs.

According to an embodiment of the present invention, the moving member 222 is sheathed on the outer side of the rotating member 221 and screwed to the rotating member 221 . In this embodiment, the rotating shaft 211 of the motor body 210 rotates to drive the rotating member 221 to rotate. The moving member 222 is sleeved on the rotating member 221 and is threadedly connected with the rotating member 221, that is, the transmission assembly 220 is a threaded structure. The connection transforms the forward and reverse rotation motion into linear reciprocating motion, that is, the rotating part 221 drives the moving part 222 to reciprocate synchronously along its axial direction while the rotating part 221 rotates, so that the moving part 222 drives the locking assembly 130 to switch between the pressing position and the separating position .

In this embodiment, the outer surface of the rotating member 221 is provided with external threads, and the inner surface of the moving member 222 is provided with internal threads that cooperate with the external threads. It can be understood that the moving part 222 can also be sleeved on the inner side of the rotating part 221, the inner surface of the rotating part 221 is provided with internal threads, and the outer surface of the moving part 222 is provided with external threads matching with the internal threads. In other embodiments, the transmission assembly 220 can also be a tooth structure, such as the rotating part 221 is a gear, the moving part 222 is a rack or worm gear meshed with the gear, and the forward and reverse of the gear drives the rack or worm. Linear reciprocating motion.

According to one embodiment of the present invention, the floating assembly 120 includes a floating rod 121, a spherical bearing 122 and a connecting part 123, the floating rod 121 is coaxially arranged with the rotating shaft 211 of the motor body 210; the spherical bearing 122 is sleeved on the floating rod 121 close to the motor One end of the body 210 ; the connection part 123 is disposed on the end of the floating rod 121 away from the motor body 210 , and the steel ball 1311 is disposed around the connection part 123 . In this embodiment, the connecting part 123 is connected to the actuator, one end of the floating rod 121 is connected to the connecting part 123, the other end of the floating rod 121 is equipped with a spherical bearing 122, and the steel ball 1311 is arranged on the circumferential side of the connecting part 123, Through the setting of the spherical bearing 122, during the execution of the actuator, the floating rod 121 can be driven by the connecting part 123 to realize deflection and floating around the X axis, Y axis and Z axis within a certain range. , the steel ball 1311 presses the surface of the connecting part 123 to lock the connecting part 123, the floating rod 121, the connecting part 123 and the actuator are integrated and locked, the steel ball 1311 loosens the connecting part 123, and the connecting part 123 is unlocked, the floating rod 121, The connecting part 123 and the actuator act separately and independently.

In this embodiment, the spherical bearing 122 includes an inner ring with a spherical outer surface and an outer ring with a spherical inner surface. The outer ring is sleeved outside the inner ring so that the two spherical surfaces are in contact. Since the sliding surface is spherical , can perform tilting and rotating movements within a certain angle range, meeting the deflection and floating requirements of the floating rod 121 .

The base body 110 and the steel ball frame 1312 are clamped and fixed by the outer ring of the spherical bearing 122 through bolt connection, the inner ring of the spherical bearing 122 fits the shaft shoulder of the floating rod 121, and the floating rod 121 is at the end near the shaft shoulder. Threads are provided, and the nut 124 is mounted on the floating rod 121 through threads, so that the nut 124 and the inner ring of the spherical bearing 122 are fixed against each other.

In other embodiments, the floating rod 121 can also realize the small rotational deflection of the floating rod 121 by installing structures such as self-made spherical surfaces or universal joints.

According to an embodiment of the present invention, the connecting member 123 , the floating rod 121 , the rotating member 221 and the rotating shaft 211 of the motor body 210 form a channel 300 penetrating in the axial direction. In this embodiment, the compliance device is designed to be hollow, and the channel 300 connects the connecting member 123, the floating rod 121, the rotating member 221 and the rotating shaft 211 of the motor body 210 sequentially in the axial direction, so that the internal wiring of the compliance device passes through the channel 300 Clustering facilitates the arrangement of wiring harnesses, avoids the problem of cable exposure, reduces the chance of actuators and cables being entangled during use, and avoids cable damage caused by robot movements. cable life.

In this embodiment, the connecting part 123 includes a connecting seat 1231 and a connecting plate 1232 , the connecting seat 1231 is coaxially fixedly connected with the floating rod 121 , and the connecting plate 1232 connected with the actuator is mounted on the connecting seat 1231 . The floating rod 121 is connected to the connection seat 1231 through threads, and the steel ball 1311 is arranged around the connection seat 1231 along the circumference of the connection seat 1231 . The shaft 211 of the motor body 210 is provided with a first through hole 310 along its axial direction, the rotating member 221 and the rotating shaft 211 are fixedly connected by bolts, the rotating member 221 is provided with a second through hole 320 along its axial direction, and the floating rod 121 and the rotating shaft 211 of the motor body 210 are coaxially arranged, and the floating rod 121 is provided with a third through hole 330 penetrating along its axial direction. The fourth through hole 340 , the first through hole 310 , the second through hole 320 , the third through hole 330 and the fourth through hole 340 are sequentially connected to form the channel 300 .

In this embodiment, the first through hole 310, the second through hole 320, the third through hole 330 and the fourth through hole 340 are coaxial and have the same diameter. In other embodiments, the first through hole 310, the second through hole The second through hole 320 , the third through hole 330 and the fourth through hole 340 may also be holes with different axes or different diameters, and it is only necessary to ensure that the holes are sequentially connected to form a through channel 300 .

According to an embodiment of the present invention, the locking frame 1321 is provided with an inclined surface 1325 , the inclined surface 1325 is in contact with the steel ball 1311 , and the inclined surface 1325 gradually inclines away from the steel ball 1311 from the separation position to the pressing position. In this embodiment, the locking frame 1321 is in contact with the surface of the steel ball 1311 through the inclined surface 1325, the inclined surface 1325 is always in contact with the steel ball 1311, and the inclined surface 1325 is extended in a state of being tangent to the steel ball 1311, and the inclined surface 1325 is in contact with the connecting seat Between the outer surfaces of 1231 are steel balls 1311. During the movement of the moving part 222 between the pressing position and the separating position, the movement of the locking frame 1321 makes the space between the inclined surface 1325 and the outer surface of the connecting seat 1231 gradually Constriction, and then the inclined surface 1325 gradually exerts pressure on the steel ball 1311, squeezing the steel ball 1311 around the connecting seat 1231. The design of the slope 1325 can not only ensure the locking force of the locking frame 1321 on the steel ball 1311, but also ensure that the locking frame 1321 has sufficient displacement during the locking process of the locking part 132 on the connecting part 123.

In other embodiments, the steel ball frame 1312 can also be designed as an arc-shaped enveloping structure adapted to the spherical surface, which can adapt to the movement of the steel ball 1311 and only needs to be able to exert extrusion force on the steel ball 1311 .

According to an embodiment of the present invention, the base mechanism 100 further includes a guide sleeve 140, the locking frame 1321 is provided with a vertical surface 1326 opposite to the inclined surface 1325, the guide sleeve 140 is sleeved on the outside of all the locking frames 1321, and is compatible with all The vertical faces 1326 are in contact. In this embodiment, the guide sleeve 140 is arranged inside the base body 110, and since the steel ball member 131 is arranged around the floating assembly 120, the locking member 132 is also arranged around the floating assembly 120, so each locking frame 1321 is also in a state of being arranged around the floating assembly 120. Around the form distribution of the connection base, the guide sleeve 140 is set on the outside of the ring-shaped distribution frame. One side of the locking frame 1321 is an inclined surface 1325, and the side opposite to the inclined surface 1325 is a vertical surface 1326. The vertical surface 1326 is along the On the surface extending in the moving direction of the locking frame 1321 , all the vertical surfaces 1326 of the locking frame 1321 are in contact with the inner surface of the outer guide sleeve 140 , that is, the guide sleeve 140 is sleeved on the outer side of the locking frame 1321 . During use, the locking frame 1321 tends to be deflected in the horizontal direction during the moving process, and the guide sleeve 140 makes the locking frame 1321 move linearly along the guide sleeve 140, which improves the stability of the locking member 132 during use .

In this embodiment, the base body 110 includes a guide seat 112 and a lower cover 113, the upper end of the guide seat 112 is connected with the outer cover 250 of the motor mechanism 200, and the lower end of the guide seat 112 is connected with the lower cover 113, that is, the guide seat 112 and the lower cover 113 A space for accommodating the locking assembly 130 , the floating assembly 120 and the guide sleeve 140 is enclosed. The guide sleeve 140 abuts against the lower cover 113 .

The linear bearing 1324 is installed on the guide seat 112. At the position where the guide seat 112 corresponds to the installation position of the linear bearing 1324 and is close to the motor mechanism 200, a sealing ring 150 is set as a sealing structure to seal the inside of the guide seat 112 to prevent the motor mechanism 200 from contacting the base. The environment within the organization 100 influences each other.

An embodiment of the present invention provides a manipulator, including the obedience device, a robot arm, and an actuator as described in the above embodiments, and the actuator is connected to the robot arm through the obedience device.

In the manipulator according to the embodiment of the present invention, the actuator can use operating tools such as grippers that can be integrated on the manipulator.

Finally, it should be noted that the above embodiments are only used to illustrate the present invention, but not to limit the present invention. Although the present invention has been described in detail with reference to the embodiments, those skilled in the art should understand that various combinations, modifications or equivalent replacements of the technical solutions of the present invention do not depart from the spirit and scope of the technical solutions of the present invention, and all should cover Within the scope of the claims of the present invention.

Claims (13)

1. A compliance device, characterized in that it comprises: The base mechanism, the base mechanism includes a base body and a floating assembly and a locking assembly arranged inside the base body, the floating assembly is suitable for connecting with the actuator, and the locking assembly is arranged outside the floating assembly ; The motor mechanism, the motor mechanism includes a motor body and a transmission assembly, the transmission assembly includes a rotating part and a moving part, the rotating shaft of the motor body is connected with the rotating part, so as to drive the rotating part to rotate and drive the moving part The moving part drives the locking assembly to switch between the pressing position and the disengaging position. In the pressing position, the locking assembly locks the floating assembly. In the disengaging position, The locking assembly unlocks the floating assembly. 2. The compliance device according to claim 1, wherein the locking assembly comprises: a steel ball component, the steel ball component includes a plurality of steel balls, and the plurality of steel balls are arranged around the outer side of the floating assembly; A locking component, the locking component includes a locking frame corresponding to each of the steel balls, and a guide provided on each of the locking frames, and the locking frame is arranged at a distance from the steel ball On one side of the floating assembly, the moving part is used to drive the guide part and the locking frame to move, and in the pressing position, the locking frame compresses the steel ball to make the steel ball The ball locks the floating assembly, and at the disengaged position, the locking frame releases the steel ball, so that the steel ball unlocks the floating assembly. 3. The compliance device according to claim 2, wherein the moving member is switched between an initial position and an actuated position, in which the moving member is in contact with the guiding member, and in the driving position, the moving member is in contact with the guiding member. In the initial position, a preset gap is set between the moving part and the guiding part. 4. The compliance device according to claim 2, wherein at least two guide pieces are arranged on each locking frame, and the guide pieces are arranged symmetrically with the center point of the steel ball as the center point . 5. The compliance device of claim 2, wherein the guide comprises: a first guide post, the first guide post is connected to the locking frame, and the first guide post is arranged axially along the moving direction of the moving part; A linear bearing, the linear bearing is arranged on the base body, and the linear bearing is sleeved on the outer side of the first guide shaft. 6. The compliance device according to claim 2, wherein the locking assembly further comprises: An elastic component is arranged along the axial direction of the guide member, and one end of the elastic component is limited to the locking frame, and the other end is limited to the base body. 7. The compliance device according to any one of claims 1 to 6, wherein the base body is provided with a second guide column, and the moving part is provided with a hole suitable for the insertion of the second guide column. A guide hole is provided so that the moving part can move along the axial direction of the second guide post. 8 . The compliance device according to any one of claims 1 to 6 , wherein the moving member is sleeved on the outer side of the rotating member and screwed to the rotating member. 9 . 9. The compliant device of claim 2, wherein the float assembly comprises: a floating rod, the floating rod is arranged coaxially with the rotating shaft of the motor body; a spherical bearing, the spherical bearing is sleeved on one end of the floating rod close to the motor body; A connection part, the connection part is arranged on the end of the floating rod away from the motor body, and the steel ball is arranged around the connection part. 10 . The compliance device according to claim 9 , wherein the connection member, the floating rod, the rotating member and the rotating shaft of the motor body form an axially penetrating channel. 11 . 11. The compliance device according to claim 10, wherein the locking frame is provided with an inclined surface, the inclined surface is in contact with the steel ball, and the direction of the inclined surface from the separation position to the pressing position is Gradually tilt to the direction away from the steel ball. 12. The compliant device of claim 11, wherein the base mechanism further comprises: A guide sleeve, the locking frame is provided with a vertical surface opposite to the inclined surface, the guide sleeve is sleeved on the outside of all the locking frames, and is in contact with all the vertical surfaces. 13. A manipulator, characterized in that, comprising: A compliant device as claimed in any one of claims 1 to 12; mechanical arm; an actuator, the actuator is connected to the mechanical arm through the compliance device.

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