A flexible structure, a flexible connector, an actuator, a mechanical arm and a robot

Abstract

The present invention discloses a flexible structure, a flexible connector, an actuator, a mechanical arm and a robot. The actuator comprises a driving device, a flexible connector and a universal sleeve. The flexible connector is formed by two flexible structures connected in series. The driving device and the universal sleeve are respectively connected to the two axial ends of the flexible connector. The flexible connector of the present invention can realize the flexible connection between the driving device and the universal sleeve and can transmit torque. When the actuator and the operating component are not aligned accurately, the universal sleeve and the operating component are kept coaxial through the adaptive twisting of the flexible connector, which can reduce the probability of damage to the operating component.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical arms, and in particular to a flexible structure, a flexible connector, an actuator, a mechanical arm and a robot. Background Art

[0002] The high-voltage distribution room of a power plant is usually equipped with a large number of distribution cabinets depending on the capacity. In traditional technology, daily inspections and simple operations of distribution cabinets are all done manually, which is time-consuming, inefficient, and has certain safety hazards.

[0003] The development of robot technology has greatly improved the above situation. In the prior art, there are precedents of using special robots to replace manual inspections and simple operations in the power distribution room. In order to complete such simple operations, such as switching, the robot is generally equipped with a mechanical arm, which drives the actuator on it to rotate to complete the switching operation.

[0004] However, when the actuator is not moved into position, the pivot of the actuator is not coaxial with the center line of the operating component. When the actuator is forced to rotate, the actuator or the operating component will be damaged. This misalignment often occurs. In order to avoid the above situation, the prior art sets a series of auxiliary structures to ensure the alignment accuracy of the actuator, resulting in high costs.

[0005] In view of this, a new technical solution is urgently needed to solve the above technical problems. Summary of the invention

[0006] The purpose of the present invention is to solve the problems existing in the above-mentioned prior art and to provide a flexible structure, a flexible connector, an actuator, a mechanical arm and a robot.

[0007] In order to achieve the above object, the present invention adopts the following technical solution:

[0008] One of the purposes of the present invention is to provide a flexible structure, which comprises a first diaphragm, a swinging member and a second diaphragm which are sequentially arranged at intervals along an axis;

[0009] The swinging member is provided with two pivots perpendicular to each other, and the two pivots are respectively pivotally connected to the first diaphragm and the second diaphragm, so that the first diaphragm and the second diaphragm can twist in a direction deviating from the axis, and the first diaphragm and the second diaphragm maintain synchronous rotation connection.

[0010] As a further improvement, a mutually engaging structure is provided on the assembly surface between the first diaphragm and the second diaphragm, and the mutually engaging structure includes a protrusion and a groove respectively provided on two adjacent assembly surfaces.

[0011] The second object of the present invention is to provide a flexible connector, which includes a rear diaphragm, a first swinging member, a middle diaphragm, a second swinging member and a front diaphragm which are sequentially arranged along an axis.

[0012] The first swinging member and the second swinging member each have two pivots that are perpendicular to each other;

[0013] The two pivots of the first swinging member are respectively pivoted to the rear diaphragm and the middle diaphragm, and the two pivots of the second swinging member are respectively pivoted to the front diaphragm and the middle diaphragm, so that the rear diaphragm, the middle diaphragm and the front diaphragm can twist in a direction deviating from the axis, and the three maintain synchronous rotation connection.

[0014] As a further improvement, the assembly surface between the rear diaphragm and the middle diaphragm and the assembly surface between the front diaphragm and the middle diaphragm are both provided with mutually interlocking structures, and the mutually interlocking structures include protrusions and grooves respectively arranged on two adjacent assembly surfaces.

[0015] As a further improvement, a plurality of first elastic members are compressed between the rear diaphragm and the middle diaphragm, and the plurality of first elastic members are evenly distributed around the axis;

[0016] A plurality of second elastic members are compressed between the front diaphragm and the middle diaphragm, and the plurality of second elastic members are evenly distributed around the axis.

[0017] As a further improvement, the first elastic member and the second elastic member are both springs, and four of each are provided.

[0018] As a further improvement, the first swing member and the second swing member have the same structure, both comprising a swing block and four driving bolts, the four driving bolts are in pairs, and the four driving bolts are fixed around the swing block in a cross shape.

[0019] The third object of the present invention is to provide an actuator, which includes a driving device, a universal sleeve and the flexible connecting member as described above;

[0020] The driving device and the universal sleeve are respectively connected to two axial ends of the flexible connecting member.

[0021] As a further improvement, the actuator also includes a micro switch, which is installed in a touch surface, and the touch surface is perpendicular to the axis; the micro switch includes a contact and a touch spring, and the touch spring can be deformed by external force and contact the contact, thereby triggering the micro switch.

[0022] As a further improvement, the actuator is also provided with a bracket plate, which is fixedly mounted on one side of the flexible connector, and the front end of the bracket plate extends to the same side of the universal sleeve; the front end surface of the bracket plate is the touch surface, and the micro switch is installed in the front end surface of the bracket plate.

[0023] As a further improvement, two bracket plates are provided, and the two bracket plates are respectively fixedly mounted on opposite sides of the flexible connector, and two micro switches are provided in the front end surface of each bracket plate.

[0024] As a further improvement, the universal sleeve includes a flange seat and a butt end, the flange seat is fixedly connected to the front diaphragm, and the butt end is used to connect to an external tool.

[0025] As a further improvement, the front end surface of the front diaphragm is provided with a pit, a square-shaped connecting block is convexly provided in the middle of the pit, and the flange seat of the universal sleeve is provided with a structure matching the pit and the connecting block for coaxially fixing the two.

[0026] A fourth object of the present invention is to provide a mechanical arm comprising a plurality of swing arms connected in sequence;

[0027] Among them, the actuator as described above is installed on the swing arm at the end.

[0028] As a further improvement, a fixing piece is provided at the end of the last swing arm, and the driving device is mounted on the fixing piece; a plurality of connecting pieces are protruding from the outer peripheral wall of the rear diaphragm, and the connecting pieces are fixedly connected to the pivot shaft of the driving device.

[0029] A fifth object of the present invention is to provide a robot for performing operation tasks, which includes the actuator as described above.

[0030] Compared with the prior art, the present invention brings the following beneficial effects:

[0031] The flexible structure of the present invention includes a first diaphragm and a second diaphragm, with a swinging member arranged therebetween. The two pivots of the swinging member are respectively pivotally connected to the first diaphragm and the second diaphragm, so that the two diaphragms can twist relative to each other. At the same time, the flexible structure can achieve the effect of transmitting torque from one end of the axis to the other end.

[0032] The flexible connector of the present invention is essentially a series connection of two flexible structures. The two series connections can increase the twisting angle of the flexible connector and enhance the effect of its flexible connection.

[0033] The driving device and the universal sleeve of the actuator are connected by a flexible connector. When there is a certain angle deviation between the axes of the actuator and the operating part, the universal sleeve can be kept coaxial with the operating part through the adaptive twisting of the flexible connector. At the same time, the torque of the driving device can be smoothly transmitted to the universal sleeve, thereby completing the corresponding operation.

[0034] The actuator of the present invention is applied to a mechanical arm or a robot. When performing an operation task on an operating part, even if there is a misalignment, the flexible connection part of the actuator can be used to adaptively twist so that the universal sleeve finally remains coaxial with the operating part. At the same time, the torque of the driving device can be smoothly transmitted to the universal sleeve, thereby completing the corresponding operation. Due to the existence of the above-mentioned adaptive twisting mechanism, the present invention actually reduces the accuracy requirements of the actuator during alignment, and at the same time can reduce the probability of damage to the operating parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0036] Figure 1 A three-dimensional diagram of an actuator according to a preferred embodiment of the present invention;

[0037] Figure 2 for Figure 1 A partial enlarged view of point B in the middle;

[0038] Figure 3 A top view of an actuator according to a preferred embodiment of the present invention;

[0039] Figure 4 A front view of an actuator according to a preferred embodiment of the present invention;

[0040] Figure 5 and Figure 6 A three-dimensional diagram of a flexible connector in two viewing angles according to a preferred embodiment of the present invention;

[0041] Figure 7 It is a structural exploded view of a flexible connector according to a preferred embodiment of the present invention;

[0042] Figure 8 It is a three-dimensional diagram of a middle diaphragm in a preferred embodiment of the present invention.

[0043] Description of main component symbols:

[0044] 100-actuator; A-axis; 1-drive motor; 2-flexible connector; 201-rear diaphragm; 202-first swinging member; 203-middle diaphragm; 204-second swinging member; 205-front diaphragm; 206-swinging block; 207-plug bolt; 208-first protrusion; 209-second protrusion; 210-second groove; 211-first groove; 212-third protrusion; 213-third groove; 214-pit; 215-connecting block; 216-connecting sheet; 217-spring; 3-universal sleeve; 301-flange seat; 302-docking end; 41-micro switch; 42-touch spring; 43-bracket plate; 50-fixing member; F-touch surface. DETAILED DESCRIPTION

[0045] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0046] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0047] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0048] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like 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 a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0049] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a 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, a first feature being "above", "above" or "above" a 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. A first feature being "below", "below" or "below" a 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.

[0050] Embodiment 1

[0051] See also Figure 1 , Figure 3 and Figure 4 This embodiment discloses an actuator 100, including a driving device, a flexible connector 2 and a universal sleeve 3; the driving device and the universal sleeve 3 are respectively connected to the axial ends of the flexible connector 2, and the flexible connector 2 is used to achieve a flexible connection between the two, that is, the driving device and the universal sleeve 3 can be twisted relative to each other so that the axes of the two are at a certain angle; the flexible connector 2 is also used to transmit the torque of the driving device to the universal sleeve 3, so that the actuator 100 can complete the rotation operation task.

[0052] In this embodiment, the driving device is a driving motor 1 for providing rotational power.

[0053] The universal sleeve 3 is used to connect with an external tool. During operation, the external tool rotates under the drive of the universal sleeve 3, thereby completing the corresponding operation. The external tool depends on the specific operating component, such as a wrench.

[0054] See also Figures 5 to 8 The flexible connector 2 is a series connection of two flexible structures, each of which includes a first diaphragm, a swinging member and a second diaphragm arranged in sequence along an axis A; the swinging member is provided with two pivots perpendicular to each other, and the two pivots are respectively pivoted on the first diaphragm and the second diaphragm, so that the first diaphragm and the second diaphragm can be twisted in a direction deviating from the axis A, and the first diaphragm and the second diaphragm maintain a synchronous rotation connection.

[0055] A mutually engaging structure is provided on the assembly surface between the first diaphragm and the second diaphragm, and the mutually engaging structure includes a protrusion and a groove respectively provided on two adjacent assembly surfaces.

[0056] See also Figure 7Specifically, the flexible connector 2 includes a rear diaphragm 201, a first swinging member 202, a middle diaphragm 203, a second swinging member 204 and a front diaphragm 205 which are sequentially arranged along an axis A. The rear diaphragm 201, the first swinging member 202 and the middle diaphragm 203 form a flexible structure, and the middle diaphragm 203, the second swinging member 204 and the front diaphragm 205 form another flexible structure, and the two flexible structures are connected in series.

[0057] Specifically in this embodiment, the outer contours of the rear membrane 201 , the middle membrane 203 and the front membrane 205 are all circular and have a certain thickness.

[0058] The first swinging member 202 and the second swinging member 204 both have two pivots that are perpendicular to each other.

[0059] Specifically, the first swing member 202 and the second swing member 204 have the same structure, both including a square swing block 206 and four driving bolts 207. The four driving bolts 207 are cross-fixed around the swing block 206. The four driving bolts 207 are arranged in pairs, and each pair of driving bolts 207 constitutes a pivot of the swing block 206. Therefore, a swing block 206 has two pivots in total, and the two pivots are perpendicular to each other.

[0060] The two pivots of the first swinging member 202 are respectively pivoted on the rear diaphragm 201 and the middle diaphragm 203, so that the rear diaphragm 201 and the middle diaphragm 203 can be twisted relative to each other in a direction deviating from the axis A, and the two are synchronously rotationally connected; the two pivots of the second swinging member 204 are respectively pivoted on the front diaphragm 205 and the middle diaphragm 203, so that the front diaphragm 205 and the middle diaphragm 203 can be twisted relative to each other in a direction deviating from the axis A, and the two are synchronously rotationally connected.

[0061] Specifically, two first protrusions 208 are provided on the end face of the rear diaphragm 201, and the two first protrusions 208 are located at opposite ends of the end face, and the two first protrusions 208 both protrude toward the middle diaphragm 203; a through hole is provided on the two first protrusions 208, and a pair of plug bolts 207 of the first swinging member 202 are respectively penetrated through the above two through holes to realize that one of the pivots of the first swinging member 202 is pivotally connected to the rear diaphragm 201.

[0062] One of the end faces of the middle diaphragm 203 is provided with two second protrusions 209, the two second protrusions 209 are located at opposite ends of the end face, and the two second protrusions 209 both protrude toward the rear diaphragm 201; the two second protrusions 209 are each provided with a through hole, and another pair of plug bolts 207 of the first swinging member 202 are respectively penetrated through the above two through holes to realize that the other pivot of the first swinging member 202 is pivotally connected to the middle diaphragm 203.

[0063] At this point, the rear diaphragm 201 and the middle diaphragm 203 are flexibly connected through the first swinging member 202 , so that the rear diaphragm 201 and the middle diaphragm 203 can twist relative to each other in a direction deviating from the axis A. The line connecting the two first protrusions 208 is perpendicular to the line connecting the two second protrusions 209 . Moreover, the middle diaphragm 203 is provided with a second groove 210 corresponding to the two first protrusions 208, and the rear diaphragm 201 is provided with a first groove 211 corresponding to the two second protrusions 209. After assembly, the two first protrusions 208 partially extend into the second groove 210, and the two second protrusions 209 partially extend into the first groove 211, thereby forming a mutually engaged structure between the rear diaphragm 201 and the middle diaphragm 203, and this structure is used to further ensure that the rear diaphragm 201 and the middle diaphragm 203 rotate synchronously, that is, when one of the rear diaphragm 201 and the middle diaphragm 203 rotates around the axis, the other can be driven to rotate around the axis through the mutual interference between the protrusions and the grooves. Among them, the first groove 211 and the second groove 210 are perpendicular to each other.

[0064] The assembly structure between the middle diaphragm 203 and the front diaphragm 205 is of the same type as the assembly structure between the middle diaphragm 203 and the front diaphragm 205 .

[0065] Two second protrusions 209 protruding toward the front diaphragm 205 are provided on the other end face of the middle diaphragm 203, and the two second protrusions 209 are both provided with through holes, and the two through holes are used for one of the pivots of the second swinging member 204 to be pivotally connected thereto; two third protrusions 212 protruding toward the middle diaphragm 203 are provided on one end face of the front diaphragm 205, and the two third protrusions 212 are both provided with through holes, and the two through holes are used for another pivot of the second swinging member 204 to be pivotally connected thereto; at this point, the middle diaphragm 203 and the front diaphragm 205 are flexibly connected through the second swinging member 204, so that the middle diaphragm 203 and the front diaphragm 205 can twist relative to each other in a direction deviating from the axis A, and the two are synchronously rotationally connected.

[0066] At the same time, the middle diaphragm 203 is provided with a second groove 210 corresponding to the two third protrusions 212, and the front diaphragm 205 is provided with a third groove 213 corresponding to the two second protrusions 209, and the extension direction of the second groove 210 is perpendicular to the extension direction of the third groove 213; after assembly, the two third protrusions 212 partially extend into the second groove 210, and the two second protrusions 209 partially extend into the third groove 213, thereby forming a mutually interlocking structure between the middle diaphragm 203 and the front diaphragm 205, and this structure is used to further ensure that the middle diaphragm 203 and the front diaphragm 205 rotate synchronously, that is, when one of the middle diaphragm 203 and the front diaphragm 205 rotates around the axis, the other can be driven to rotate around the axis through the mutual interference between the above-mentioned protrusions and grooves.

[0067] The extension directions of the second grooves 210 located at the front and rear end surfaces of the middle diaphragm 203 are perpendicular to each other. This structural setting can ensure that the mass of the middle diaphragm 203 is centrally symmetrically distributed about the axis A of the flexible connector 2 .

[0068] At this point, the rear diaphragm 201, the middle diaphragm 203 and the front diaphragm 205 are flexibly connected, so that the flexible connector 2 can twist in a direction deviating from its axis A, and the torque at one end of the flexible connector 2 can be transmitted to the other end in sequence through the rear diaphragm 201, the middle diaphragm 203 and the front diaphragm 205, and the three rotate synchronously.

[0069] When the actuator 100 is assembled, the drive motor 1 is connected to one axial end of the flexible connector 2, and the universal sleeve 3 is connected to the other end of the flexible connector 2, that is, the drive motor 1 is installed together with the rear diaphragm 201, and the universal sleeve 3 is installed together with the front diaphragm 205.

[0070] See also Figure 1 and Figure 3 Specifically, the universal sleeve 3 includes a flange seat 301 and a butt end 302, wherein the flange seat 301 is fixedly connected to the front diaphragm 205, and the butt end 302 is used to connect to an external tool. A pit 214 is provided on the front end surface of the front diaphragm 205, and a square-shaped connecting block 215 is convexly provided in the middle of the pit 214. The flange seat 301 of the universal sleeve 3 is provided with a structure matching the pit 214 and the connecting block 215, so as to make the universal sleeve 3 and the rear diaphragm 201 coaxially fixedly connected, thereby realizing the assembly connection between the universal sleeve 3 and the flexible connector 2.

[0071] Please refer to 5 and Figure 7It is understood that the shape of the swing block 206 is not limited to the square shape of the present embodiment, but may be other centrally symmetrical geometric shapes, such as a round pancake shape, etc. The connection structure between the front diaphragm 205 and the universal sleeve 3 is not limited to the situation in the present embodiment, but may be other shapes, for example, the connection block 215 is a hexagonal prism, a cross-shaped prism, a straight-shaped prism, etc.

[0072] The pivot of the drive motor 1 is fixedly connected to the rear diaphragm 201 . Specifically, a plurality of connecting pieces 216 are protruded from the outer peripheral wall of the rear diaphragm 201 . The plurality of connecting pieces 216 are fixedly connected to the pivot of the drive motor 1 , thereby realizing the assembly connection between the drive motor 1 and the flexible connector 2 .

[0073] The working principle of the actuator 100 is as follows:

[0074] The driving motor 1 is started, driving the flexible connecting member 2 to rotate, and then driving the universal sleeve 3 and the external tool to rotate synchronously, thereby completing the corresponding operation task.

[0075] 1. When the actuator 100 is aligned with the center line of the operating component, the drive motor 1, the rear diaphragm 201, the middle diaphragm 203, the front diaphragm 205, the universal sleeve 3, the external tool and the operating component are all on the same axis A. The operating task can be successfully completed by starting the drive motor 1.

[0076] 2. When the actuator 100 is not aligned with the center line of the operating component and there is a certain angle, the drive motor 1, the rear diaphragm 201, the middle diaphragm 203, the front diaphragm 205, the universal sleeve 3 and the external tool are on the same axis A; when the actuator 100 continues to drive the external tool to be inserted and connected to the operating component, since the flexible connector 2 can twist in the direction deviating from the axis A, the axis A of the external tool, the universal sleeve 3 and the front diaphragm 205 is adaptively offset to the direction consistent with the center line of the operating component, and then the drive motor 1 is started to smoothly transmit the torque to the operating component to complete the operation task.

[0077] As can be seen from the above, providing the flexible connector 2 on the actuator 100 actually reduces the precision requirement for the actuator 100 during alignment. Even if there is a certain angle between the actuator 100 and the center line of the operating component, the flexible connector 2 can still be adaptively twisted to make the axis A of the external tool, the universal sleeve 3 and the front diaphragm 205 consistent with the center line of the operating component, thereby starting the drive motor 1 to transmit the torque to the operating component to complete the operating task.

[0078] As a further improvement, several first elastic members are compressed between the rear diaphragm 201 and the middle diaphragm 203, and the several first elastic members are evenly distributed around the axis A; several second elastic members are compressed between the front diaphragm 205 and the middle diaphragm 203, and the several second elastic members are evenly distributed around the axis A.

[0079] Specifically, the first elastic member and the second elastic member are both springs 217, and four of the first elastic member and the second elastic member are provided. Therefore, the flexible connector is provided with eight springs 217 in total. It should be noted that the elastic coefficients and other specification parameters of the eight springs 217 are kept consistent, and are used to keep the rear diaphragm 201, the middle diaphragm 203 and the front diaphragm 205 separated by equal spacing when idle, and are also used to provide an elastic restoring force to return the flexible connector 2. That is, after the actuator 100 completes the operation task, it drives the external tool to withdraw from the operating component. At this time, under the action of the eight springs 217, the axis A of the external tool, the universal sleeve 3 and the front diaphragm 205 adaptively shifts to the initial position, that is, the position consistent with the axis A of the actuator 100.

[0080] It should be noted that the number of the first elastic member and the second elastic member can also be set to three or five, depending on the size of the entire actuator 100 and the performance of the spring 217 .

[0081] It is worth mentioning that the flexible connector 2 in the actuator 100 is actually two flexible connectors 2 connected in series, but in fact, the purpose of the present invention can also be achieved by using one flexible structure. Compared with the case of using one flexible structure, the flexible connector 2 of this embodiment has a larger twisting angle and better flexibility in torque transmission.

[0082] Embodiment 2

[0083] See also Figures 1 to 3 In this embodiment, the actuator 100 also includes a micro switch 41, which is installed in a touch surface F, and the touch surface F is perpendicular to the axis A; the micro switch 41 includes a contact and a touch spring 42, and the touch spring 42 can be deformed by an external force and contact the contact, thereby triggering the micro switch 41.

[0084] Specifically, the actuator 100 is also provided with a bracket plate 43, which is fixedly mounted on one side of the flexible connector 2, and the front end of the bracket plate 43 extends to the same side of the universal sleeve 3; the front end surface of the bracket plate 43 is the touch surface F, and the micro switch 41 is installed in the front end surface of the bracket plate 43.

[0085] More specifically, two bracket plates 43 are provided, and the two bracket plates 43 are respectively fixedly mounted on opposite sides of the flexible connector 2 , and two micro switches 41 are provided in the front end surface of each bracket plate 43 .

[0086] See also Figure 3 , wherein the distance between the touch surface F and the front end surface of the universal sleeve 3 needs to be determined according to the length of the universal sleeve 3 and the surface of the device where the operating component is located.

[0087] The working principle of the micro switch 41 is as follows:

[0088] When performing a specific operation task, the actuator 100 needs to drive the external tool to be inserted into the operating component to a certain depth, and then start the drive motor 1 to rotate after the tool is inserted into place.

[0089] 1. When the insertion position is too shallow, that is, when it is not inserted into place, the external tool is not firmly connected to the operating part, and the external tool may fall off during the rotation process.

[0090] 2. When the actuator 100 is inserted into place and does not receive any feedback, the actuator 100 will continue to move forward, which may cause damage to the operating parts.

[0091] The function of the micro switch 41 in this embodiment is to prevent the above-mentioned phenomenon of too shallow or too deep insertion. When the actuator 100 drives the external tool to insert the operating component, at a certain moment, the touch spring piece 42 on the touch surface F just happens to contact other structures of the device where the operating component is located; when further pushed forward, the touch spring piece 42 is pushed by the device and contacts the contact point, thereby triggering the micro switch 41, and then giving the actuator 100 a feedback signal to stop the actuator 100 from advancing, indicating that the external tool is inserted into place.

[0092] Embodiment 3

[0093] This embodiment provides a mechanical arm, which includes a plurality of swing arms connected in sequence; wherein the actuator 100 as described in Embodiment 1 or 2 is installed on the endmost swing arm.

[0094] See also Figure 1 and Figure 4 Specifically, a fixing part 50 is provided at the end of the last swing arm, and the driving motor 1 of the actuator 100 is installed on the fixing part 50; a plurality of connecting pieces 216 are protrudingly provided on the outer peripheral wall of the rear diaphragm 201, and the connecting pieces 216 are fixedly connected to the pivot of the driving motor 1, and the driving motor 1 and the flexible connecting piece 2 are respectively located on both sides of the fixing part 50.

[0095] The robotic arm of this embodiment can drive the actuator 100 to move near the operating part, and then perform the operating task. When the actuator 100 is not aligned with the operating part, the flexible connector 2 of the actuator 100 is adaptively twisted so that the universal sleeve 3 finally remains coaxial with the operating part, and the torque of the drive motor 1 can be smoothly transmitted to the universal sleeve 3, so as to successfully complete the corresponding operation. Due to the existence of the above-mentioned adaptive twisting mechanism, the precision requirements of the actuator 100 during positioning can be reduced, and the probability of damage to the operating parts can be reduced. In the case of reducing the alignment accuracy, there is no need to set an additional auxiliary structure on the robotic arm to improve the alignment accuracy of the actuator 100, thereby achieving the purpose of simplifying the structure and reducing costs.

[0096] This embodiment also provides a robot including the actuator 100 as described in the first or second embodiment, and the robot has the same advantages as the first or second embodiment.

[0097] 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 present invention. 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.

[0098] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A flexible connector, one end of which is connected to a driving device, and the other end of which is connected to a universal sleeve, characterized in that: It includes a rear diaphragm, a first swinging member, a middle diaphragm, a second swinging member and a front diaphragm which are sequentially arranged at intervals along an axis; The first swinging member and the second swinging member each have two pivots that are perpendicular to each other; The two pivots of the first swinging member are respectively pivotally connected to the rear diaphragm and the middle diaphragm, and the two pivots of the second swinging member are respectively pivotally connected to the front diaphragm and the middle diaphragm, so that the rear diaphragm, the middle diaphragm and the front diaphragm can twist in a direction deviating from the axis, and the three maintain synchronous rotation connection; The first swing member and the second swing member have the same structure, both comprising a swing block and four driving bolts, the four driving bolts are in pairs, and the four driving bolts are fixed around the swing block in a cross shape; The rear diaphragm, the first swinging member and the middle diaphragm form a flexible structure, the middle diaphragm, the second swinging member and the front diaphragm form another flexible structure, and the two flexible structures are connected in series; The assembly surface between the rear diaphragm and the middle diaphragm, and the assembly surface between the front diaphragm and the middle diaphragm are both provided with mutually engaging structures, and the mutually engaging structures include protrusions and grooves respectively arranged on two adjacent assembly surfaces; A plurality of first elastic members are compressed between the rear diaphragm and the middle diaphragm, and the plurality of first elastic members are evenly distributed around the axis; A plurality of second elastic members are compressed between the front diaphragm and the middle diaphragm, and the plurality of second elastic members are evenly distributed around the axis.

2. The flexible connector according to claim 1, characterized in that: The first elastic member and the second elastic member are both springs, and four of each are provided.

3. An actuator, characterized in that: It comprises a driving device, a universal sleeve and a flexible connecting piece as claimed in any one of claims 1 to 2; The driving device and the universal sleeve are respectively connected to two axial ends of the flexible connecting member.

4. The actuator according to claim 3, characterized in that: It also includes a micro switch, which is installed in a touch surface, and the touch surface is perpendicular to the axis; the micro switch includes a contact point and a touch spring piece, and the touch spring piece can be deformed by an external force to contact the contact point, thereby triggering the micro switch.

5. The actuator according to claim 4, characterized in that: A bracket plate is also provided, which is fixedly mounted on one side of the flexible connector, and the front end of the bracket plate extends to the same side of the universal sleeve; the front end surface of the bracket plate is the touch surface, and the micro switch is installed in the front end surface of the bracket plate.

6. The actuator according to claim 5, characterized in that: There are two support plates, which are fixedly mounted on opposite sides of the flexible connector respectively, and two micro switches are arranged in the front end surface of each support plate.

7. The actuator according to claim 3, characterized in that: The universal sleeve comprises a flange seat and a butt end, the flange seat is fixedly connected to the front diaphragm, and the butt end is used to connect to an external tool.

8. The actuator according to claim 7, characterized in that: The front end surface of the front diaphragm is provided with a pit, the middle of the pit is convexly provided with a square-shaped connecting block, and the flange seat of the universal sleeve is provided with a structure matching the pit and the connecting block for coaxially fixing the two.

9. A robotic arm, characterized in that: It includes a plurality of swing arms connected in sequence; Wherein, the actuator as described in any one of claims 3-8 is installed on the end swing arm.

10. The mechanical arm according to claim 9, characterized in that: A fixing piece is provided at the end of the last swing arm, and the driving device is installed on the fixing piece; a plurality of connecting pieces are protruding from the outer peripheral wall of the rear diaphragm, and the connecting pieces are fixedly connected to the pivot shaft of the driving device.

11. A robot for performing an operation task, characterized in that: Comprising an actuator as described in any one of claims 3-8.

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