A micro floating joint at the end of an industrial robot

Abstract

The present invention relates to a micro floating joint at the end of an industrial robot, which is used to connect the end of the robot and the end tool, and includes a Z-direction floating sleeve, a Z-direction floating guide seat is provided in the gap inside the Z-direction floating sleeve, so that the Z-direction floating sleeve can move axially along the Z-direction floating guide seat; the end of the Z-direction movable guide seat is connected to a fixing piece, an intermediate floating body is provided at the end of the fixing piece away from the Z-direction floating guide seat, and the fixing piece and the intermediate floating body are connected through an X-direction floating mechanism; a floating slider is provided at the end of the intermediate floating body away from the fixing piece, and the intermediate floating body and the floating slider are connected through a Y-direction floating mechanism, and a floating flange is fixed at the end of the floating slider away from the intermediate floating body, so that the floating flange can move in the XY plane. The present invention can flexibly float and connect the end of the robot and the end tool, and has good return to centering performance.

Description

Technical Field

[0001] The invention relates to the field of automation equipment, and in particular to a micro floating joint used at the end of an industrial robot. Background Art

[0002] With the rapid development of industrial automation, industrial robots are widely used in manufacturing. When performing high-precision operations such as pin-hole assembly and plug-in inspection, the positioning accuracy of the robot end is required to be high. If the robot end and the tool are rigidly connected, once the tool or workpiece has a slight displacement, it will cause the assembly and inspection operations to fail, damage the workpiece and tool, or cause the robot to alarm and shut down, affecting production efficiency. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a micro floating joint at the end of an industrial robot, which can flexibly float and connect the end of the robot and an end tool, and has a small size and good return to neutrality.

[0004] The technical solution of the present invention to solve the above technical problems is as follows: an industrial robot end micro floating joint, used to connect the robot end and the end tool, comprises a Z-direction floating sleeve, a Z-direction floating guide seat is arranged in the gap of the Z-direction floating sleeve, so that the Z-direction floating sleeve can move axially along the Z-direction floating guide seat;

[0005] The end of the Z-direction movable guide seat is connected to a fixing piece, an end of the fixing piece away from the Z-direction floating guide seat is provided with an intermediate floating body, and the fixing piece and the intermediate floating body are connected via an X-direction floating mechanism;

[0006] A floating slider is provided at one end of the intermediate floating body away from the fixed part. The intermediate floating body is connected to the floating slider via a Y-direction floating mechanism. A floating flange is fixedly provided at one end of the floating slider away from the intermediate floating body so that the floating flange can move in the XY plane.

[0007] The beneficial effects of the present invention are as follows: the present invention is used to connect the end of a robot and an end tool, and the two are flexibly connected, thereby achieving the guidance and floating of the end tool of the robot in a plane.

[0008] Based on the above technical solution, the present invention can also be improved as follows.

[0009] Furthermore, the fixing member is provided with a central hole, a floating pin is fitted in the central hole, and the end of the floating pin is tapered;

[0010] The floating pin passes through the intermediate floating body, and the floating slider is provided with a recess matched with the end of the floating pin, and the end of the floating pin abuts against the recess of the floating slider.

[0011] The beneficial effect of adopting the above further solution is that the floating pin is located in the center hole and the through hole of the middle floating body, and the end of the floating pin abuts against the concave portion of the floating slider, so that the floating slider has good return to centering performance.

[0012] Furthermore, a floating spring is provided at the upper end of the floating pin, one end of the floating spring abuts against the floating pin and is away from one end of the floating slider, and the other end of the floating spring abuts against the Z-direction floating guide seat, and the floating spring is used to apply spring force to the floating pin.

[0013] The beneficial effect of adopting the above further solution is that after the external force acting on the intermediate floating body disappears, the floating pin applies a neutral force to the intermediate floating body under the action of the floating spring, so that the intermediate floating body automatically returns to the center, thereby making the floating flange return to the center better.

[0014] Furthermore, the X-direction floating mechanism includes a first slider arranged at the end of the fixed member and close to the intermediate floating body, and the intermediate floating body is provided with a first slide groove cooperating with the first slider. The first slider and the first slide groove are connected by a first guide mechanism, so that the fixed member and the intermediate floating body can slide relative to each other along the X direction.

[0015] Furthermore, the Y-direction floating mechanism includes a second slide groove arranged at the end of the intermediate floating body and close to the floating slider, and the floating slider is provided with a second slider that cooperates with the second slide groove. The second slider is connected to the second slide groove through a second guide mechanism, so that the intermediate floating body and the floating slider can slide relative to each other along the Y direction.

[0016] Furthermore, the first guide mechanism includes a first slot provided on the fixing member, the intermediate floating body is provided with a second slot opposite to the first slot, and a first steel ball is installed between the first slot and the second slot;

[0017] The second guide mechanism comprises a third slot arranged on the intermediate floating body, the floating slider is provided with a fourth slot corresponding to the third slot, and a second steel ball is installed between the third slot and the fourth slot;

[0018] The first card slot and the third card slot are perpendicular to each other.

[0019] The beneficial effect of adopting the above further solution is that the first card slot and the second card slot are arranged opposite to each other, and a first steel ball is installed between the first card slot and the second card slot, so that the fixing member and the intermediate floating body can move relative to each other in the X direction, and the connection between the two is good, and the first steel ball further reduces the friction between the two, which is conducive to the displacement or return of the intermediate floating body;

[0020] The third card slot is arranged opposite to the fourth card slot, and a second steel ball is installed between the third card slot and the fourth card slot, so that the fixing member and the intermediate floating body can move relative to each other in the Y direction, and the connection between the two is good. The second steel ball further reduces the friction between the two, which is conducive to the displacement or return of the floating slider;

[0021] The first clamping groove and the second clamping groove are perpendicular to each other, so that the intermediate floating body can move arbitrarily within a specified plane, and further the floating flange can move arbitrarily within the specified plane.

[0022] Furthermore, a floating unit adapter flange is installed between the Z-direction floating guide seat and the fixing member, and the floating unit adapter flange is fixedly connected to both the Z-direction floating guide seat and the fixing member.

[0023] The beneficial effect of adopting the above-mentioned further scheme is that the floating unit adapter flange is used to connect the Z-axis floating guide seat and the fixing part, and the floating unit adapter flange limits the circumferential rotation and circumferential locking through the boss and circumferential bolts, thereby achieving the floating flange plate being unable to rotate circumferentially, which is beneficial to the connection between the robot end and the end tool. When the end tool is working, the operation is sensitive and accurate.

[0024] Further, the Z-direction floating guide seat comprises a guide shaft and a fixed seat, the end of the guide shaft is fixedly connected to the fixed shaft, and the guide shaft is inserted into the Z-direction floating sleeve;

[0025] The Z-direction floating sleeve includes a first sleeve and a second sleeve that are fixedly connected. The diameter of the first sleeve is smaller than that of the second sleeve. A return spring is disposed on the outer sleeve of the first sleeve so that two ends of the return spring are respectively in contact with the fixed seat and the end of the second sleeve.

[0026] The beneficial effect of adopting the above-mentioned further scheme is that a reset spring is arranged between the Z-direction floating sleeve and the Z-direction floating guide seat, so that after the Z-direction floating sleeve and the Z-direction floating guide seat move relative to each other, they automatically return to the initial position under the action of the reset spring, so that the robot end tool has a guiding function, and the assembly is accurate during high-precision pin-hole assembly, plug-in detection, etc.

[0027] Furthermore, a shell is installed on the outer periphery of the intermediate floating body and the floating sliding block, and the shell is connected to the fixing member by bolts.

[0028] The beneficial effect of adopting the above further scheme is that the shell is not only used to protect the intermediate floating body and the floating slider from external damage, but also used to limit the displacement of the intermediate floating body and the floating slider to prevent the intermediate floating block and the floating slider from exceeding the specified displacement distance.

[0029] Furthermore, the Z-direction floating sleeve is connected to the Z-direction floating guide seat by plugging bolts.

[0030] The beneficial effect of adopting the above further solution is that the bolt head is completely immersed in the Z-direction floating sleeve by using a plug bolt, thereby facilitating the connection between the present invention and the end of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A specific embodiment of the present invention is shown in FIG.

[0032] Figure 2 A diagram of a Z-direction floating unit according to a specific embodiment of the present invention;

[0033] Figure 3 It is a diagram of an XY plane floating unit of a specific embodiment of the present invention;

[0034] Figure 4 It is a cross-sectional structural diagram of an XY plane floating unit of a specific embodiment of the present invention;

[0035] Figure 5 It is a schematic diagram of the connection structure between the fixing member and the intermediate floating body according to a specific embodiment of the present invention;

[0036] Figure 6 The figure is a schematic diagram of the connection structure between the intermediate floating body and the floating slider according to a specific embodiment of the present invention.

[0037] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0038] 1. Z-direction floating unit; 2. XY plane floating unit;

[0039] 101. Plug bolt; 102. Z-direction floating sleeve; 103. Reset spring; 104. Z-direction floating guide seat; 105. Floating unit adapter flange;

[0040] 201, floating spring; 202, floating pin; 203, fixing member; 204, intermediate floating body; 205, floating slider; 206, housing; 207, floating flange; 208, first slider; 209, second slider;

[0041] 301, first card slot; 302, second card slot; 303, third card slot; 304, fourth card slot; 305, first steel ball; 306, second steel ball; 307, first slide groove; 308, second slide groove. DETAILED DESCRIPTION

[0042] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0043] In the description of the present invention, it is necessary to understand that the terms "center", "length", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "inside", "outside", "peripheral", "circumferential" and the like indicate orientations or positional relationships 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 referred system or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0044] In the description of the present invention, “plurality” means at least two, for example, two, three, etc., unless otherwise clearly and specifically defined.

[0045] 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, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0046] like Figure 1 As shown, a micro floating joint at the end of an industrial robot is used to connect the end of the robot and the end tool, and mainly includes a Z-direction floating unit 1 and an XY plane floating unit 2. The Z-direction floating unit 1 is mainly used for floating the floating joint in the Z direction and guiding the end tool to move in the Z direction. The XY plane floating unit 2 enables the end tool to move in a specified plane, so that the end tool can move in three-dimensional space.

[0047] like Figure 2 As shown, the Z-direction floating unit 1 includes a Z-direction floating sleeve 102, and a Z-direction floating guide seat 104 is provided in the gap inside the Z-direction floating sleeve 102, so that the Z-direction floating sleeve 102 can move axially along the Z-direction floating guide seat 104, and the Z-direction floating guide seat 104 guides the Z-direction floating sleeve 102 axially to limit radial movement. In a specific embodiment, a return spring 103 is provided between the Z-direction floating sleeve 102 and the Z-direction floating guide seat 104, and the return spring 103 is used to automatically return to the initial position after the external force acting on the Z-direction floating sleeve disappears.

[0048] In this embodiment, the Z-direction floating guide seat 104 includes a guide shaft and a fixed seat, the end of the guide shaft is fixedly connected to the fixed shaft, and the guide shaft is inserted into the Z-direction floating sleeve 102. The Z-direction floating sleeve 102 includes a first sleeve and a second sleeve that are fixedly connected, the first sleeve has a smaller diameter than the second sleeve, and a return spring 103 is disposed on the outer sleeve of the first sleeve, so that the two ends of the return spring 103 are respectively in contact with the fixed seat and the end of the second sleeve.

[0049] The Z-direction floating sleeve 102 is connected to the Z-direction floating guide seat 104 by a driving bolt 101. Specifically, the driving bolt 101 is fixedly connected to the top of the Z-direction floating guide seat 104 by a thread. An avoidance hole is provided in the Z-direction floating sleeve 102 for the driving bolt 101 to avoid. The bolt head of the driving bolt 101 is located in the avoidance hole, so that when the Z-direction floating guide seat 104 and the Z-direction floating sleeve 102 slide relative to each other, the bolt head of the driving bolt 101 can move in the avoidance hole, thereby achieving Z-direction floating of the Z-direction floating guide seat 104.

[0050] like Figure 2 , Figure 3 , Figure 4 As shown, the XY plane floating unit 2 includes a fixing part 203, which is cylindrical as a whole. The fixing part 203 is connected to the end of the Z-direction movable guide seat 104, and an intermediate floating body 204 is provided at one end of the fixing part 203 away from the Z-direction floating guide seat 104. The fixing part 203 and the intermediate floating body 204 are connected by an X-direction floating mechanism, so that the fixing part 203 and the intermediate floating body can float relative to the X-direction. A floating slider 205 is provided at one end of the intermediate floating body 204 away from the fixed part 203. The intermediate floating body 204 and the floating slider 205 are connected by a Y-direction floating mechanism, so that the intermediate floating body 204 and the floating slider 205 can achieve relative floating in the Y direction, and then the floating flange 207 connected to the floating slider 205 can move in the XY plane. The floating flange 207 is located at the end of the floating slider 205 away from the intermediate floating body. The floating flange 207 and the floating slider 205 are fixedly connected by bolts. The floating slider 205 moves in the plane, driving the floating flange 207 to move synchronously.

[0051] In some embodiments, the X-direction floating mechanism includes a first slider 208 disposed at the end of the fixed member 203 and close to the intermediate floating body 204, and a first slide groove 307 cooperating with the first slider 208 is disposed on the intermediate floating body 204. The first slider 208 and the first slide groove 307 are connected by a first guide mechanism, so that the fixed member 203 and the intermediate floating body 204 can slide relative to each other along the X direction. Similarly, the Y-direction floating mechanism includes a second slide groove 308 disposed at the end of the intermediate floating body 204 and close to the floating slider 205, and a second slider 209 cooperating with the second slide groove 308 is disposed on the floating slider 205. The second slider 209 and the second slide groove 308 are connected by a second guide mechanism, so that the intermediate floating body 204 and the floating slider 205 can slide relative to each other along the Y direction.

[0052] like Figure 5 , Figure 6 As shown, in this embodiment, the X-direction floating mechanism includes a first slot 301 disposed on the fixing member 203, a second slot 302 opposite to the first slot 301 is disposed on the intermediate floating body 204, and a first steel ball 305 is installed between the first slot 301 and the second slot 302. The first steel ball 305 is used to reduce the friction between the intermediate floating body 204 and the fixing member 203. When the fixing member 203 and the intermediate floating body 204 slide relative to each other along the X direction, the resistance is small. In order to further limit the displacement direction of the first steel ball 305, in this embodiment, the first slot 301 and the second slot 302 are both V-shaped. In other embodiments, the first slot 301 and the second slot 302 may be strip-shaped or trapezoidal.

[0053] The Y-direction floating mechanism includes a third slot 303 disposed on the intermediate floating body 204, the first slot 301 and the third slot 303 are perpendicular to each other, the first slot 301 and the third slot 303 face different directions, and the floating slider 205 can reach the specified position within the specified plane. The floating slider 205 is provided with a fourth slot 304 corresponding to the third slot 303, and a second steel ball 306 is installed between the third slot 303 and the fourth slot 304, so that the intermediate floating body 204 and the floating slider 205 can slide relative to each other along the Y direction. In this embodiment, the third slot 303 and the fourth slot 304 are also V-shaped. In other embodiments, the third slot 303 and the fourth slot 304 can be strip-shaped or trapezoidal.

[0054] In another embodiment, a slot is provided on the fixing member 203 or the intermediate floating body 204, and a boss that matches the slot is provided on the corresponding intermediate floating body 204 or the fixing member 203. The boss is limited by the slot, so that the fixing member 203 and the intermediate floating body 204 can only slide relative to each other in a certain direction. Similarly, the intermediate floating body 204 and the floating slider 205 can also use the matching connection of the slot and the boss to achieve relative sliding in a single direction.

[0055] For example Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 As shown, in this embodiment, a floating unit adapter flange 105 is installed between the Z-direction floating guide seat 104 and the fixing member 203, and the floating unit adapter flange 105 is fixedly connected to both the Z-direction floating guide seat 104 and the fixing member 203. In this embodiment, a square boss is provided on the floating unit adapter flange 105, and a recess that cooperates with the square boss is provided on the Z-direction floating guide seat 104. The floating unit adapter flange 105 is connected to the Z-direction floating guide seat 104 through the square boss and the circumferential bolts. Specifically, after the connecting flange 105 cooperates with the recess on the Z-direction floating guide seat through the square boss, the boss on the Z-direction floating guide seat is provided with a through hole, and the square boss is provided with a bolt hole corresponding to the position of the through hole, and the boss and the direction boss are locked by the circumferential bolts, so that the floating unit adapter flange 105 limits circumferential rotation and axial locking.

[0056] The fixing member 203 is provided with a center hole, and the ends of the fixing member 203 are provided with an intermediate floating body 204 and a floating slider 205 in sequence. A floating pin 202 is fitted in the clearance in the center hole, and the floating pin 202 can slide axially along the center hole. The end of the floating pin 202 is tapered, and the floating pin 202 passes through the intermediate floating body 204. The floating slider 205 is provided with a recessed portion that matches the end of the floating pin 202, and the end of the floating pin 202 abuts against the recessed portion of the floating slider 205.

[0057] The floating pin 202 is in the shape of a stepped shaft, and the diameter of the middle part of the floating pin 202 is smaller than the diameter of the end part, so that the gap between the middle part of the floating pin 202 and the through hole on the intermediate floating body 204 is relatively large after assembly, thereby facilitating the sliding of the intermediate floating body 204. In this embodiment, a floating spring 201 is further provided at the upper end of the floating pin 202, one end of the floating spring 201 abuts against the floating pin 202 and away from one end of the floating slider 205, and the other end of the floating spring 201 abuts against the Z-direction floating guide seat 104, and the floating spring 201 is used to apply a spring force to the floating pin 202.

[0058] After assembly, the floating unit adapter flange 105 fixedly connected to the fixing part 203 blocks the center hole, so that the floating spring 201 is compressed. The floating spring 201 has a certain spring force acting on the floating pin 202. The force exerted on the floating pin 202 then acts on the recessed part on the floating slider 205, and the floating slider 205 is subjected to a centering force.

[0059] In the absence of external force, the floating pin 202 is subjected to the spring force of the floating spring 201, and the tapered end of the floating pin 202 fits tightly with the recess on the floating slider 205. Since the taper of the front end of the floating pin 202 is the same as the taper of the upper end of the floating slider 205, it can play a centering role. At this time, the floating flange 207 is coaxial with the fixing part 203.

[0060] When the floating flange 207 is acted upon by an external force, the floating flange 207 transmits the force to the floating slider 205. Since the fixing member 203, the intermediate floating body 204, and the floating slider 205 are connected by a steel ball linear slide rail, and the first slot 301 and the third slot 304 are arranged at 90 degrees, the four degrees of freedom of the floating slider are limited, and the floating slider 205 can only float in the XY plane. Therefore, when the floating slider 205 moves, the concave portion on the floating slider 205 and the end of the floating pin 202 are relatively displaced, thereby compressing the reset spring 201, and the reaction force of the reset spring 201 on the floating pin 202 is further increased.

[0061] When the external force disappears, the floating pin 202 exerts a force on the floating slider 205 under the force of the reset spring 201. Since the end of the floating pin 202 is tapered and the floating slider 205 is provided with a concave portion that matches the tapered end of the floating pin 202, the floating slider 205 automatically returns to the center under the action of the spring force, and then brings the fixed floating flange 207 back to the initial position. The floating force can be adjusted by replacing the reset spring 201 with different stiffness, which can be applied to the connection between various different robot ends and end tools.

[0062] The outer periphery of the intermediate floating body 204 and the floating slider 205 is also provided with a housing 206, which is connected to the fixing member 203 by bolts. The housing 206 can be used to protect the vulnerable intermediate floating body 204 and the floating slider 205. Meanwhile, the floating stroke can be adjusted by replacing different floating pins 202 and housings, so as to be applicable to the connection between different types of robot ends and end tools.

[0063] 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.

[0064] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A micro floating joint at the end of an industrial robot, used to connect the end of the robot and the end tool, characterized by: It comprises a Z-direction floating sleeve (102), wherein a Z-direction floating guide seat (104) is provided in a gap inside the Z-direction floating sleeve (102), so that the Z-direction floating sleeve (102) can move axially along the Z-direction floating guide seat (104); The end of the Z-direction movable guide seat (104) is connected to a fixing member (203), the fixing member (203) is cylindrical, an intermediate floating body (204) is provided at one end of the fixing member (203) away from the Z-direction floating guide seat (104), and the fixing member (203) and the intermediate floating body (204) are connected via an X-direction floating mechanism; A floating slider (205) is provided at one end of the intermediate floating body (204) away from the fixing member (203); the intermediate floating body (204) and the floating slider (205) are connected via a Y-direction floating mechanism; a floating flange (207) is fixedly provided at one end of the floating slider (205) away from the intermediate floating body (204), so that the floating flange (207) can move in an XY plane; The X-direction floating mechanism comprises a first slider (208) arranged at the end of the fixing member (203) and close to the intermediate floating body (204); a first slide groove (307) cooperating with the first slider (208) is arranged on the intermediate floating body (204); the first slider (208) and the first slide groove (307) are connected through a first guide mechanism, so that the fixing member (203) and the intermediate floating body (204) can slide relative to each other along the X-direction; The Y-direction floating mechanism comprises a second slide groove (308) arranged at the end of the intermediate floating body (204) and close to the floating slider (205); the floating slider (205) is provided with a second slider (209) matched with the second slide groove (308); the second slider (209) and the second slide groove (308) are connected by a second guide mechanism, so that the intermediate floating body (204) and the floating slider (205) can slide relative to each other along the Y direction; The first guide mechanism comprises a first slot (301) arranged on the fixing member (203), a second slot (302) opposite to the first slot (301) is arranged on the intermediate floating body (204), and a first steel ball (305) is installed between the first slot (301) and the second slot (302); The second guide mechanism comprises a third slot (303) arranged on the intermediate floating body (204), a fourth slot (304) corresponding to the third slot (303) is arranged on the floating slider (205), and a second steel ball (306) is installed between the third slot (303) and the fourth slot (304); The first card slot (301) and the third card slot (303) are perpendicular to each other; A floating unit adapter flange (105) is installed between the Z-direction floating guide seat (104) and the fixing member (203), and the floating unit adapter flange (105) is fixedly connected to both the Z-direction floating guide seat (104) and the fixing member (203); The Z-direction floating guide seat (104) comprises a guide shaft and a fixed seat, the end of the guide shaft is fixedly connected to the fixed shaft, and the guide shaft is inserted into the Z-direction floating sleeve (102); The Z-direction floating sleeve (102) comprises a first sleeve and a second sleeve which are fixedly connected, the first sleeve has a smaller diameter than the second sleeve, and a return spring (103) is disposed on the outer sleeve of the first sleeve so that two ends of the return spring (103) are respectively in contact with the fixed seat and the end of the second sleeve.

2. The industrial robot end micro floating joint according to claim 1, characterized in that: The fixing member (203) is provided with a central hole, a floating pin (202) is fitted in the central hole in a clearance, and the end of the floating pin (202) is tapered; The floating pin (202) passes through the intermediate floating body (204), and the floating slider (205) is provided with a recessed portion that matches the end of the floating pin (202), and the end of the floating pin (202) abuts against the recessed portion of the floating slider (205).

3. The industrial robot end micro floating joint according to claim 2, characterized in that: A floating spring (201) is also provided at the upper end of the floating pin (202), one end of the floating spring (201) abuts against the floating pin (202) and is away from one end of the floating slider (205), and the other end of the floating spring (201) abuts against the Z-direction floating guide seat (104), and the floating spring (201) is used to apply spring force to the floating pin (202).

4. The industrial robot end micro floating joint according to claim 1, characterized in that: A housing (206) is also installed on the outer periphery of the intermediate floating body (204) and the floating sliding block (205), and the housing (206) is connected to the fixing member (203) by bolts.

5. The industrial robot end micro floating joint according to claim 4, characterized in that: The Z-direction floating sleeve (102) is connected to the Z-direction floating guide seat (104) via a plug bolt (101).

Images