Following device and manipulator

Abstract

The utility model provides a compliance device and a manipulator, the compliance device comprises a mounting part, a floating assembly and an electromagnetic locking part, the mounting part forms a mounting cavity, the floating assembly and the electromagnetic locking part are arranged in the mounting cavity, the floating assembly is suitable for being connected with an actuating mechanism, and the electromagnetic locking part is driven by the electromagnetic locking part when the electromagnetic locking part is electrified. The electromagnetic locking component is suitable for generating magnetic attraction force to attract and lock the floating assembly, the floating assembly is switched to the locking state, the magnetic attraction force is not generated when the electromagnetic locking component is powered off, the floating assembly can be switched to the floating state, energy supply such as an additional air source is not needed, the electromagnetic locking component is suitable for the actual application occasion without air source supply, the technical blank is filled, and the application range is wide. And the compliance device is simple and compact in overall structure, stable in transmission, high in output efficiency and easy to replace, solves the problem of use limitation when a conventional compliance device and a mechanical arm do not have an air source, and is suitable for complex operation scenes.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a compliant device and a manipulator. Background Art

[0002] In the prior art, the connection between the end of the robot arm and the robot gripper is basically a hard connection, that is, the gripper is directly fixed to the end of the robot arm with bolts. In actual applications such as grasping and carrying by the robot arm, due to the errors in the robot arm, the gripper, the action object itself, and the deviation of visual recognition, the gripper will be offset during grasping and carrying, or the direct grasping and carrying will fail, affecting the smooth execution of the entire action process. In order to solve this technical problem, some solutions add a soft connection of a compliance device between the robot arm and the gripper, which can absorb the deviation of the robot arm, the gripper and the action object within a certain range, so that the entire action process can be executed smoothly. For example, a pneumatic compliance device developed for industrial robots and used in collaborative robot arms and other applications, but this solution requires control and adjustment of air supply through an additional air source, and the air supply equipment is expensive, which is not conducive to promotion, and the air supply pipe is exposed on the surface of the robot arm and is easily damaged, which has great limitations. Utility Model Content

[0003] The utility model aims to solve at least one of the technical problems existing in the related art. To this end, the utility model proposes a compliance device, which aims to solve the problem of the use limitation of the existing compliance device.

[0004] An embodiment of the second aspect of the utility model provides a robot arm.

[0005] The compliance device according to the first embodiment of the utility model comprises:

[0006] A mounting component is formed with a mounting cavity;

[0007] A floating assembly, disposed in the mounting cavity, wherein the floating assembly is suitable for connecting with an actuator;

[0008] The electromagnetic locking component is installed in the installation cavity. When the electromagnetic locking component is powered on, the electromagnetic locking component is suitable for generating a magnetic attraction force to attract and lock the floating component, switching the floating component to a locked state.

[0009] The compliant device according to the embodiment of the utility model includes a mounting component, a floating component and an electromagnetic locking component. The mounting component forms a mounting cavity. The floating component and the electromagnetic locking component are arranged in the mounting cavity. The floating component is suitable for connecting with the actuator. When the electromagnetic locking component is energized, the electromagnetic locking component is suitable for generating a magnetic attraction force to attract and lock the floating component, switching the floating component to a locked state. When the electromagnetic locking component is powered off, no magnetic attraction force is generated, and the floating component can be switched to a floating state. No additional energy supply such as an air source is required, which is suitable for actual applications without an air source supply, filling the technical gap. The overall structure of the compliant device is simple and compact, the transmission is stable, the output efficiency is high, and it is easy to replace. It solves the use limitation problem of conventional compliant devices and robotic arms when there is no air source, and is suitable for complex operation scenarios.

[0010] According to the compliance device of the embodiment of the utility model, the electromagnetic locking component includes an electromagnet and a magnetic component cooperating with the electromagnet, one of the mounting component and the floating assembly is installed with the electromagnet, and the other is provided with the magnetic component.

[0011] According to the compliant device of the embodiment of the utility model, the floating assembly is formed with a receiving cavity, and the electromagnetic locking component is partially disposed in the receiving cavity.

[0012] According to the compliance device of the embodiment of the utility model, there is a gap between the electromagnetic locking component and the side wall of the accommodating cavity.

[0013] According to the compliance device of the embodiment of the utility model, the mounting component is provided with a reset member and an elastic member, the floating assembly is provided with a groove, one end of the elastic member is connected to the floating assembly, and the other end is connected to the mounting component so that the reset member abuts against the groove.

[0014] According to the compliant device of the embodiment of the utility model, the cross-sectional area of ​​the groove gradually increases along the direction approaching the reset member.

[0015] According to the compliance device of the embodiment of the utility model, the mounting component is provided with an adjustment component, and the adjustment component is suitable for adjusting the height of the reset component to adjust the distance between the floating component and the electromagnetic locking component; or, the reset component is threadedly connected to the mounting component.

[0016] According to the compliance device of the embodiment of the utility model, the reset member includes:

[0017] A reset column, comprising a first end and a second end, wherein the first end is connected to the mounting component,

[0018] A universal ball is arranged at the second end, and the universal ball is suitable for rolling and rotating along the groove.

[0019] According to the compliant device of the embodiment of the utility model, the floating assembly includes:

[0020] A floating plate, disposed in the mounting cavity;

[0021] A connecting plate, arranged outside the mounting cavity, the connecting plate being suitable for connecting with the actuator;

[0022] A connecting member connects the floating plate and the connecting plate.

[0023] According to the compliant device of the embodiment of the utility model, the floating plate, the connecting plate and the connecting member are an integral structure.

[0024] According to the compliance device of the embodiment of the utility model, the electromagnetic locking component, the floating plate and the middle part of the connecting plate form a wiring channel that penetrates along the axial direction.

[0025] The second embodiment of the utility model provides a manipulator, comprising:

[0026] The compliant device according to any one of the above embodiments;

[0027] Robotic arm;

[0028] An actuator is connected to the mechanical arm through the compliance device.

[0029] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the utility model or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0031] Figure 1 It is a schematic diagram of the structure of the compliance device provided by the embodiment of the utility model;

[0032] Figure 2 is a top view of a compliant device provided by an embodiment of the utility model;

[0033] Figure 3 yes Figure 2 Schematic diagram of the cross section of AA;

[0034] Figure 4 yes Figure 3 A local enlarged schematic diagram of point B in the middle.

[0035] Reference numerals:

[0036] 100, mounting component; 110, reset member; 120, elastic member; 111, reset column; 112, universal ball; 1111, first end; 1112, second end;

[0037] 200, floating assembly; 210, accommodating cavity; 220, groove; 230, floating plate; 240, connecting plate; 250, connecting member;

[0038] 300, electromagnetic locking component; 310, electromagnet;

[0039] 400. Wiring channel. DETAILED DESCRIPTION

[0040] The following is a further detailed description of the implementation of the present utility model in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present utility model, but cannot be used to limit the scope of the present utility model.

[0041] In the description of the embodiments of the present utility model, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present utility model and simplifying the description, rather than indicating or implying 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 limiting the embodiments of the present utility model. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0042] In the description of the embodiments of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present utility model can be understood according to specific circumstances.

[0043] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" 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. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0044] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model embodiment. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0045] The embodiments of the present utility model refer to Figure 1-Figure 4 As shown, a compliant device and a manipulator are provided.

[0046] According to an embodiment of the present utility model, please refer to Figure 1 and Figure 3 According to the compliant device of the embodiment of the utility model, the compliant device includes a mounting component 100, which is formed with a mounting cavity; a floating component 200, which is arranged in the mounting cavity, and the floating component 200 is suitable for connecting with the actuator; an electromagnetic locking component 300, which is installed in the mounting cavity. When the electromagnetic locking component 300 is energized, the electromagnetic locking component 300 is suitable for generating a magnetic attraction force to attract and lock the floating component 200, and switch the floating component 200 to a locked state.

[0047] It can be understood that in this embodiment, the compliance device includes a mounting component 100, a floating component 200 and an electromagnetic locking component 300. The mounting component 100 is formed with a mounting cavity. The floating component 200 and the electromagnetic locking component 300 are arranged in the mounting cavity. The floating component 200 is suitable for connecting with the actuator. When the electromagnetic locking component 300 is powered on, the electromagnetic locking component 300 is suitable for generating a magnetic attraction to attract and lock the floating component 200, switching the floating component 200 to a locked state. When the electromagnetic locking component 300 is powered off, no magnetic attraction is generated, and the floating component 200 can be switched to a floating state. The locking of the floating component 200 is achieved by the electromagnetic locking component 300, and no additional energy supply such as an air source is required. It is suitable for actual applications without air source supply, filling the technical gap, and the overall structure of the compliance device is simple and compact, the transmission is stable, the output efficiency is high, and it is easy to replace, which solves the problem of the use limitations of conventional compliance devices and mechanical arms when there is no air source, and is suitable for complex operation scenarios.

[0048] Compared with pneumatic locking or other mechanical locking devices, the electromagnetic locking method has a faster response speed and can achieve faster switching or fixing operations. The electromagnetic locking has a strong locking force and can firmly fix the floating assembly 200 to prevent it from accidentally moving or falling off during operation, which helps to improve the accuracy and reliability of the equipment. At the same time, it also reduces the need for maintenance and adjustment. The control is flexible and convenient, and it is easy to realize automatic control.

[0049] The compliance device of this embodiment can switch the floating assembly 200 to a locked state or a floating state as needed. Through the control of the electromagnetic locking component 300, the floating assembly 200 can be fixed or released, thereby meeting the needs of different working scenarios. When the electromagnetic locking component 300 is powered on, the electromagnetic locking component 300 generates a magnetic attraction, which can attract the floating assembly 200 to lock the floating assembly 200, so that the floating assembly 200 cannot move; when the electromagnetic locking component 300 is powered off, the magnetic attraction of the electromagnetic locking component 300 disappears, the floating assembly 200 switches to a floating state, and the floating assembly 200 can resume moving.

[0050] It can be understood that in this embodiment, when the electromagnetic locking component 300 is energized to generate magnetic attraction and attract the floating component 200 to switch the floating component 200 to a locked state, the floating component 200 can be adsorbed to contact with the electromagnetic locking component 300, or the floating component 200 can be adsorbed to a certain gap between it and the electromagnetic locking component 300. No matter which adsorption method is used, it is necessary to ensure that the electromagnetic locking component 300 can provide sufficient magnetic attraction and that the floating component 200 can be firmly fixed in the selected position to ensure the normal operation of the compliance device. This embodiment does not make specific limitations on this.

[0051] The actuator is connected to the floating assembly 200. After the actuator completes the specified operation, the electromagnetic locking component 300 is used to lock the floating assembly 200 to ensure that the operating action and position of the actuator have a certain degree of accuracy. After the electromagnetic locking component 300 is powered off, the floating assembly 200 is unlocked. The floating assembly 200 can again ensure the deflection and floating of the actuator within a certain angle range and action state, and can absorb the errors and deviations of the operation within a certain range. In this way, the locking and floating functions within a certain range are switched, so that the action processes of the actuator such as grabbing and carrying can be carried out smoothly and with high accuracy.

[0052] According to one embodiment of the present invention, referring to Figure 3 The electromagnetic locking component 300 includes an electromagnet 310 and a magnetic component that cooperates with the electromagnet 310. One of the mounting component 100 and the floating component 200 is installed with the electromagnet 310, and the other is provided with the magnetic component.

[0053] It can be understood that, in an optional embodiment, the electromagnetic locking component 300 includes an electromagnet 310 and a magnetic component, and one of the mounting component 100 and the floating component 200 is installed with the electromagnet 310, and the other is installed with the magnetic component. When the electromagnet 310 is energized, it generates a magnetic attraction force on the magnetic part, thereby causing the mounting component 100 and the floating component 200 to attract each other, providing a locking force for locking the floating component 200, and keeping the floating component 200 in a locked state.

[0054] In some embodiments, the electromagnet 310 is fixedly mounted on the top of the mounting component 100, and the magnetic component is mounted on the top of the floating component 200. In other embodiments, the positions of the electromagnet 310 and the magnetic component can be interchanged, that is, the magnetic component is fixedly mounted on the top of the mounting component 100, and the electromagnet 310 is mounted on the top of the floating component 200. As long as the electromagnet 310 can generate sufficient magnetic attraction to fix the floating component 200 when energized, this embodiment does not make any specific limitation on this.

[0055] In another optional embodiment, in order to reduce the number of installed parts and reduce the volume of the compliant device, it is not necessary to provide an additional magnetic component, and only a specific area of ​​the mounting component 100 or the floating component 200 needs to be made of magnetic material.

[0056] Specifically, in some embodiments, the electromagnet 310 is installed on the top of the mounting component 100, and the top of the floating component 200 is made of magnetic material. When the electromagnet 310 is energized, it can directly generate magnetic attraction to the floating component 200 to fix the floating component 200. In this embodiment, the floating component 200 is light in weight and simple in structure, which is convenient for controlling the movement of the actuator. In other embodiments, the electromagnet 310 is installed on the top of the floating component 200, and the top of the mounting component 100 is made of magnetic material, which can also generate sufficient magnetic attraction to fix the floating component 200. This embodiment does not specifically limit this.

[0057] It is understandable that the magnetic material can be iron, cobalt, nickel, neodymium iron boron, barium ferrite, aluminum nickel cobalt, chromium cobalt, or other magnetic materials such as ferrite, aluminum nickel iron, iron niobium, etc. Suitable magnetic materials can be selected according to specific needs, and this embodiment does not make specific limitations on this.

[0058] According to one embodiment of the present invention, referring to Figure 3 The floating assembly 200 is formed with a receiving cavity 210 , and the electromagnetic locking component 300 is at least partially disposed in the receiving cavity 210 .

[0059] It is understandable that, in this embodiment, a receiving cavity 210 can be formed by recessing the middle of the floating component 200 downward, and during the operation of the electromagnetic locking component 300, the electromagnetic locking component 300 is at least partially placed in the receiving cavity 210 of the floating component 200, so that the structure of the entire compliant device is more compact, which can effectively reduce the thickness of the compliant device and reduce its space occupation. In addition, partially arranging the electromagnetic locking component 300 in the receiving cavity 210 can also enhance the magnetic attraction. The bottom and side of the electromagnetic locking component 300 can generate magnetic attraction to the floating component 200. The attraction area between the electromagnetic locking component 300 and the receiving cavity 210 is large, and the magnetic attraction can be more evenly distributed on the floating component 200, which can improve the stability and reliability of locking the floating component 200, prevent the occurrence of insufficient or excessive local magnetic attraction, and improve the reliability and ease of use of the entire system.

[0060] In a specific embodiment, the electromagnetic locking component 300 includes an electromagnet 310 , which is mounted on the top of the mounting component 100 , and a portion of the electromagnet 310 is disposed in the accommodating cavity 210 of the floating assembly 200 .

[0061] According to one embodiment of the present invention, referring to Figure 3 As shown, there is a gap between the electromagnetic locking component 300 and the side wall of the accommodating cavity 210 .

[0062] It is understandable that, in this embodiment, a certain gap is reserved between the electromagnetic locking component 300 and the side wall of the accommodating chamber 210, which can provide a certain margin for the deflection and swing of the floating component 200. Such a design can enable the floating component 200 to swing freely when unlocking, thereby making it easier to release the locked state. When the electromagnet 310 is activated, the electromagnet 310 generates a magnetic attraction to attract the floating component 200, so that the floating component 200 switches to the locked state, and when the current stops, the magnetic field of the electromagnet 310 disappears, and the floating component 200 can swing freely and release the locked state. By setting a gap between the electromagnet 310 and the side wall of the accommodating chamber 210, it can be ensured that the floating component 200 can swing smoothly when unlocking, increasing the flexibility and reliability of the locking component, while reducing the difficulty of unlocking caused by friction or jamming.

[0063] According to one embodiment of the present invention, referring to Figure 3 and Figure 4 As shown, the mounting component 100 is provided with a reset member 110 and an elastic member 120 , and the floating component 200 is provided with a groove 220 . One end of the elastic member 120 is connected to the floating component 200 , and the other end is connected to the mounting component 100 , so that the reset member 110 abuts against the groove 220 .

[0064] It can be understood that, in the present embodiment, by connecting one end of the elastic member 120 to the floating component 200 and the other end to the mounting component 100, the elastic member 120 provides a certain pre-force in the initial state, so that the floating component 200 has a certain damping effect when floating, and when the floating component 200 swings, the elastic member 120 can follow the movement of the floating component 200 due to its flexibility; at the same time, the elastic member 120 can ensure that the reset member 110 remains in contact with the groove 220, and the contact between the reset member 110 and the groove 220 can ensure that the floating component 200 can return to its initial position after the swinging ends.

[0065] In this embodiment, the elastic member 120 includes but is not limited to a spring or other components with elastic recovery function. By appropriately selecting and designing the material and shape of the elastic member, the required restoring force and restoring speed for restoring the floating assembly 200 can be achieved.

[0066] According to one embodiment of the present invention, referring to Figure 3 and Figure 4 As shown, along the direction approaching the restoring member 110, the cross-sectional area of ​​the groove 220 gradually increases.

[0067] It is understandable that by gradually increasing the cross-sectional area of ​​the groove 220 in the direction close to the reset member 110, the reset member 110 can abut the bottom of the groove 220, thereby ensuring high reset accuracy. In an optional embodiment, the groove 220 is conical in shape, and its cross-sectional area gradually increases along a specific direction. In this design, the reset member 110 can slide along the side of the conical groove 220 and finally abut the bottom of the groove 220, thereby achieving accurate reset. The design of the conical cross section can provide guidance and support for the reset member 110, ensuring that the reset member 110 remains stable during the sliding process and finally accurately abuts the bottom of the groove 220. Through this design, even if the floating assembly 200 swings to a large extent, the reset member 110 can naturally return to the initial position, maintain an accurate reset position, and improve the reset accuracy and stability of the compliant device.

[0068] According to one embodiment of the utility model, the mounting component 100 is provided with an adjustment assembly (not shown in the figure), which is suitable for adjusting the height of the reset member 110 to adjust the distance between the floating component 200 and the electromagnetic locking component 300; or, the reset member 110 is threadedly connected to the mounting component 100.

[0069] It is understandable that the magnitude of the magnetic field generated by the electromagnet 310 when it is energized is related to the magnitude of the current, the number of turns of the coil, the magnetic conductive material, the shape and size of the coil, and the magnitude of the magnetic attraction can be adjusted by changing these parameters, thereby adjusting the locking force of the floating assembly 200 when it is in a locked state. Without changing the electromagnet 310, the magnitude of the magnetic attraction on the floating assembly 200 can also be adjusted by adjusting the distance between the floating assembly 200 and the electromagnet 310.

[0070] In an optional embodiment, the mounting component 100 is provided with an adjustment component for adjusting the height of the reset component 110. The height of the reset component 110 is adjusted by the adjustment component. Since the reset component 110 and the groove 220 of the floating component 200 always keep in contact, the distance between the floating component 200 and the electromagnetic locking component 300 can be adjusted by adjusting the height of the reset component 110, thereby adjusting the magnitude of the magnetic attraction force generated by the electromagnetic locking component 300 on the floating component 200. By adjusting the height of the reset component 110, the distance between the floating component 200 and the electromagnetic locking component 300 can be controlled. A larger distance will reduce the magnetic attraction force of the electromagnetic locking component 300 on the floating component 200, while a smaller distance will increase the magnetic attraction force, thereby improving the locking force on the floating component 200.

[0071] It should be noted that the adjustment component includes but is not limited to rack and pinion adjustment, worm gear adjustment or other adjustment methods, as long as it can achieve the height adjustment of the reset member 110, and this embodiment does not make any specific limitation on this.

[0072] In another optional embodiment, the reset member 110 is threadedly connected to the mounting member 100, and the reset member 110 can be moved in the height direction by rotating the reset member 110, thereby adjusting the height of the reset member 110 relative to the mounting member 100. This adjustment method is indeed very simple and quick, and does not require additional adjustment components for adjustment, while also avoiding the accuracy and stability problems that may exist in other adjustment components. As long as the threaded connection between the reset member 110 and the mounting member 100 is well matched, the distance between the reset member 110 and the floating assembly 200 can be changed by rotating the reset member 110, thereby adjusting the magnitude of the magnetic attraction generated by the electromagnetic locking component 300 on the floating assembly 200.

[0073] According to one embodiment of the present invention, referring to Figure 3 and Figure 4 As shown, the reset member 110 includes a reset column 111 and a universal ball 112 , the reset column 111 includes a first end 1111 and a second end 1112 , the first end 1111 is connected to the mounting component 100 , the universal ball 112 is disposed at the second end 1112 , and the universal ball 112 is suitable for rolling and rotating along the groove 220 .

[0074] It can be understood that, in this embodiment, the reset member 110 may include a reset column 111 and a universal ball 112, the reset column 111 is in contact with the groove 220 through the universal ball 112, and the universal ball 112 can rotate and roll on the groove surface of the groove 220, so as to facilitate the flexible deflection and swing of the floating assembly 200 and improve the flexibility and applicability of the reset member 110.

[0075] In an alternative embodiment, reference Figure 2 and Figure 3 As shown, there are multiple reset members 110 and grooves 220, and the reset members 110 and the grooves 220 are evenly or unevenly arranged along the circumferential direction of the compliant device, and the reset members 110 are located on the same plane. The reset columns 111 distributed on the same plane are used as fulcrums for compliance. With multiple fulcrums, a wider range of compliant movement and feedback can be achieved, thereby adapting to more usage scenarios and needs, and the stability and accuracy of the compliant device can be increased, so that it can respond to external forces and changes more accurately, making the compliant feedback more flexible and quick.

[0076] According to one embodiment of the present invention, referring to Figure 2 As shown, the floating assembly 200 includes a floating plate 230 , a connecting plate 240 and a connecting member 250 . The floating plate 230 is arranged in the installation cavity, the connecting plate 240 is arranged outside the installation cavity, the connecting plate 240 is suitable for connecting to the actuator, and the connecting member 250 connects the floating plate 230 and the connecting plate 240 .

[0077] It can be understood that in this embodiment, the connecting plate 240 and the floating plate 230 are connected by the connecting member 250, so that the compliance state of the connecting plate 240 can be transmitted to the floating plate 230 through the connecting member 250, so as to realize real-time feedback, and at the same time, the electromagnetic locking component 300 generates a magnetic attraction when energized to realize locking of the floating plate 230, thereby achieving the purpose of locking the actuator connected to the connecting plate 240. The floating plate 230 is plate-shaped and has a large area, which can increase the magnetic attraction of the electromagnetic locking component 300 to the floating assembly 200.

[0078] Through this design, mechanical transmission between the connecting plate 240 and the floating plate 230 can be achieved, thereby achieving real-time feedback. When the connecting plate 240 is subjected to external forces or changes, its compliance state will be transmitted to the floating plate 230 through the connecting member 250, so that the floating plate 230 can make corresponding adjustments. At the same time, when the actuator needs to be locked, the electromagnetic locking component 300 can generate magnetic attraction by energizing, and the floating plate 230 is locked, thereby ensuring the firm connection and safety of the actuator.

[0079] In this embodiment, the connector 250 may be a connector column, and the number of the connector columns may be multiple and evenly and symmetrically arranged along the circumferential direction, which can increase its load-bearing capacity and rigidity, thereby having better bending and torsion resistance. In addition, multiple connector columns can evenly distribute the load, avoiding a single connection point from bearing too much load, thereby improving the stability and reliability of the overall connector 250. At the same time, evenly and symmetrically arranging the connector columns along the circumferential direction can make the connector 250 have better balance and symmetry when bearing loads, thereby reducing unnecessary stress concentration and deformation, and extending the service life of the connector 250.

[0080] According to one embodiment of the present invention, referring to Figure 3 As shown, the floating plate 230, the connecting plate 240 and the connecting member 250 are an integrated structure.

[0081] It is easy to understand that by designing the floating plate 230, the connecting plate 240 and the connecting piece 250 as an integrated structure, the installation steps can be simplified, the number and complexity of parts can be reduced, and the assembly cost and maintenance work can be reduced; in addition, since the integrated structure design has better structural consistency and uniformly distributed stress, its overall strength and stability are also higher, which improves the connection strength and stability and avoids the occurrence of problems such as loosening or breakage.

[0082] According to one embodiment of the present invention, referring to Figure 2 and Figure 3 As shown, the electromagnetic locking component 300, the floating plate 230 and the middle part of the connecting plate 240 form a wiring channel 400 that penetrates in the axial direction.

[0083] It is understandable that in this embodiment, by forming the wiring channel 400 with a hollow design in the middle of the electromagnetic locking component 300, the floating plate 230 and the connecting plate 240, the cables or pipes can be passed through it, thereby avoiding exposure and damage of the cables, and also reducing the space occupied by the cables, thereby improving the compactness of the system. In addition, the hollow design can also facilitate the wiring and maintenance of the cables, thereby improving the reliability of the system.

[0084] An embodiment of the second aspect of the utility model provides a manipulator, comprising a compliance device, a manipulator arm and an actuator according to the above embodiment, wherein the actuator is connected to the manipulator arm via the compliance device.

[0085] It can be understood that the robotic arm is the core component of the manipulator, which can be composed of multiple joints and connecting rods and has a structure similar to that of the human arm; the actuator is the end device of the manipulator, which can complete tasks such as grasping, placing and manipulating objects. The types of actuators include but are not limited to grippers, suction cups, pliers, etc., and this embodiment does not specifically limit this.

[0086] It should be noted that if the compliant device has the beneficial effects of the above embodiments, then the manipulator will correspondingly have the beneficial effects of the above embodiments. The specific implementation methods thereof may refer to the above embodiments, and will not be described in detail in this application.

[0087] Finally, it should be noted that the above implementation modes are only used to illustrate the present invention, rather than to limit the present invention. Although the present invention is described in detail with reference to the embodiments, a person skilled in the art should understand that various combinations, modifications or equivalent replacements of the technical solutions of the present invention do not deviate from the spirit and scope of the technical solutions of the present invention, and should be included in the protection scope of the present invention.

Claims

1. A compliant device, characterized in that: include: A mounting component is formed with a mounting cavity; A floating assembly, at least partially disposed in the mounting cavity, the floating assembly being adapted to be connected to an actuator; The electromagnetic locking component is installed in the installation cavity. When the electromagnetic locking component is powered on, the electromagnetic locking component is suitable for generating a magnetic attraction force to attract and lock the floating component, switching the floating component to a locked state.

2. The compliant device according to claim 1, characterized in that The electromagnetic locking component includes an electromagnet and a magnetic component matched with the electromagnet. One of the mounting component and the floating assembly is equipped with the electromagnet, and the other is provided with the magnetic component.

3. The compliant device according to claim 1, characterized in that The floating assembly is formed with a receiving cavity, and the electromagnetic locking component is at least partially disposed in the receiving cavity.

4. The compliant device according to claim 3, characterized in that There is a gap between the electromagnetic locking component and the side wall of the accommodating cavity.

5. The compliant device according to claim 1, characterized in that The installation component is provided with a reset member and an elastic member, the floating component is provided with a groove, one end of the elastic member is connected to the floating component, and the other end is connected to the installation component, so that the reset member abuts against the groove.

6. The compliant device according to claim 5, characterized in that Along the direction approaching the restoring member, the cross-sectional area of ​​the groove gradually increases.

7. The compliant device according to claim 5, characterized in that The mounting component is provided with an adjusting assembly, and the adjusting assembly is suitable for adjusting the height of the reset component to adjust the distance between the floating component and the electromagnetic locking component; or, the reset component is threadedly connected to the mounting component.

8. The compliant device according to claim 5, characterized in that The reset element comprises: A reset column, comprising a first end and a second end, wherein the first end is connected to the mounting component, A universal ball is arranged at the second end, and the universal ball is suitable for rolling and rotating along the groove.

9. A compliant device according to any one of claims 1 to 8, characterized in that: The floating assembly comprises: A floating plate, disposed in the mounting cavity; A connecting plate, arranged outside the mounting cavity, the connecting plate being suitable for connecting with the actuator; A connecting member connects the floating plate and the connecting plate.

10. The compliant device according to claim 9, characterized in that The floating plate, the connecting plate and the connecting member are an integrated structure.

11. The compliant device of claim 9, wherein: The electromagnetic locking component, the floating plate and the middle part of the connecting plate form a wiring channel that penetrates along the axial direction.

12. A robot, characterized in that: include: A compliant device as claimed in any one of claims 1 to 11; Robotic arm; An actuator is connected to the mechanical arm through the compliance device.

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