Compliance device and manipulator

Abstract

The present invention relates to the field of robots, and provides a compliance device and a manipulator. The compliance device includes a base mechanism and a motor mechanism. The base mechanism includes a base body, a floating component and a locking component arranged inside the base body. The floating component is adapted to be connected to an actuator, and the locking component is arranged outside the floating component. The motor mechanism includes a motor body and a transmission component. The transmission component includes a rotating part and a moving part. The rotating shaft of the motor body is connected to the rotating part to drive the rotating part to rotate and drive the moving part to move, so that the moving part drives the locking component to switch between a pressing position and a separating position. In the pressing position, the locking component locks the floating component, and in the separating position, the locking component unlocks the floating component. The motor body is used in cooperation with the transmission component to lock the floating component through the locking component, without the need for additional energy sources such as an air source other than electric energy, thereby solving the problem of the use limitation of conventional compliance devices and robotic arms without an air source.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a compliance device and a manipulator. Background Art

[0002] The connection between the end of an existing robotic arm and a robot gripper is basically a hard connection, that is, the gripper is directly fixed to the end of the robotic arm with bolts. In practical applications such as the grasping and handling of robotic arms, due to the errors existing in the robotic arm, gripper, and the object itself, as well as the deviation of visual recognition, there will be offset phenomena or direct grasping and handling failures during the grasping and handling actions of the gripper, affecting the smooth execution of the entire action process. If a soft connection of a compliance device is added between the robotic arm and the gripper, the errors of the robotic arm, gripper, and the object can be absorbed within a certain range, enabling the entire action process to be smoothly executed. The pneumatic compliance device developed for industrial robots and applied to application scenarios such as collaborative robotic arms requires additional air source supply control and adjustment, but the cost of the air supply equipment is high, which is not conducive to popularization, and the air supply pipe is exposed on the surface of the robotic arm and is easily damaged. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems existing in the related art. For this purpose, the present invention proposes a compliance device that uses a motor body to cooperate with a transmission component to lock a floating component through a locking component, without the need for additional energy supply such as an external air source other than electric energy. The overall structure of the compliance device is simple and compact, with stable transmission, high output efficiency, and easy replacement, solving the usage limitation problems of conventional compliance devices and robotic arms without an air source, and being suitable for complex operation scenarios.

[0004] The present invention also proposes a manipulator.

[0005] According to an embodiment of the first aspect of the present invention, the compliance device includes:

[0006] A base mechanism, the base mechanism includes a base body and a floating component and a locking component disposed inside the base body. The floating component is adapted to be connected to an actuator, and the locking component is disposed outside the floating component;

[0007] A motor mechanism, the motor mechanism includes a motor body and a transmission component. The transmission component includes a rotating member and a moving member. The rotating shaft of the motor body is connected to the rotating member to drive the rotating member to rotate and drive the moving member to move, so that the moving member drives the locking component to switch between a pressing position and a separating position. In the pressing position, the locking component locks the floating component, and in the separating position, the locking component unlocks the floating component.

[0008] According to the compliant device of the embodiment of the present invention, the motor body cooperates with the transmission assembly to lock the floating assembly through the locking assembly. No additional energy supply such as air source is required except for electrical energy. It is suitable for actual applications without air source supply and fills 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 usage limitations of conventional compliant devices and robotic arms when there is no air source and is suitable for complex working scenarios.

[0009] According to one embodiment of the present invention, the locking assembly comprises:

[0010] A steel ball component, the steel ball component comprising a plurality of steel balls, the plurality of steel balls being arranged around the outer side of the floating assembly;

[0011] The locking component includes a locking frame arranged one-to-one corresponding to each of the steel balls, and a guide member arranged on each of the locking frames. The locking frame is arranged on the side of the steel ball away from the floating assembly. The moving member is used to drive the guide member and the locking frame to move. In the pressing position, the locking frame presses the steel ball so that the steel ball locks the floating assembly. In the separation position, the locking frame releases the steel ball so that the steel ball unlocks the floating assembly.

[0012] According to an embodiment of the present invention, the moving member switches between an initial position and a driving position, in which the moving member contacts the guide member, and in which the initial position a preset gap is provided between the moving member and the guide member.

[0013] According to an embodiment of the present invention, at least two guide members are arranged on each locking frame, and the guide members are symmetrically arranged with the center of the steel ball as the center point.

[0014] According to one embodiment of the present invention, the guide member comprises:

[0015] A first guide post, the first guide post is connected to the locking frame, and the first guide post is axially arranged along the moving direction of the moving member;

[0016] A linear bearing is arranged on the base body, and the linear bearing is sleeved on the outer side of the first guide shaft.

[0017] According to one embodiment of the present invention, the locking assembly further includes:

[0018] An elastic component is arranged along the axial direction of the guide member, and one end of the elastic component is limited to the locking frame, and the other end is limited to the base body.

[0019] According to an embodiment of the present invention, a second guiding column is provided on the base body, and a guiding hole adapted for the insertion of the second guiding column is provided on the moving member, so that the moving member can move along the axial direction of the second guiding column.

[0020] According to an embodiment of the present invention, the moving member is sleeved outside the rotating member and is threadedly connected to the rotating member.

[0021] According to an embodiment of the present invention, the floating assembly includes:

[0022] A floating rod, the floating rod is coaxially arranged with the rotating shaft of the motor body;

[0023] A spherical bearing, the spherical bearing is sleeved on one end of the floating rod close to the motor body;

[0024] A connecting member, the connecting member is arranged at one end of the floating rod far from the motor body, and the steel balls are arranged around the connecting member.

[0025] According to an embodiment of the present invention, a channel penetrating axially is formed by the connecting member, the floating rod, the rotating member and the rotating shaft of the motor body.

[0026] According to an embodiment of the present invention, the locking frame is provided with an inclined surface, the inclined surface contacts the steel ball, and the inclined surface gradually inclines away from the steel ball in the direction from the separation position to the pressing position.

[0027] According to an embodiment of the present invention, the base mechanism further includes:

[0028] A guiding sleeve, the locking frame is provided with a vertical surface opposite to the inclined surface, the guiding sleeve is sleeved outside all the locking frames and contacts all the vertical surfaces.

[0029] The manipulator according to the second aspect embodiment of the present invention includes:

[0030] The compliance device as described above;

[0031] A robotic arm;

[0032] An actuating mechanism, the actuating mechanism is connected to the robotic arm through the compliance device.

[0033] One or more of the above technical solutions in the embodiments of the present invention have at least one of the following technical effects:

[0034] The compliance device according to the embodiment of the present invention has a floating component and a locking component disposed inside the base body. By rotating the rotating shaft of the motor body, the rotating member of the locking component is driven to rotate. The moving member is connected to the rotating member, thereby converting the rotational motion into a linear motion, that is, when the rotating member rotates, it drives the moving member to move linearly back and forth synchronously, realizing that the moving member drives the locking component to move and switch between the pressing position and the separating position. The locking component is disposed around the outside of the floating component, and the floating component can be locked and unlocked by the position change of the locking component.

[0035] When the rotating shaft of the motor body rotates forward, the moving member drives the locking component to move towards the pressing position. When the locking component reaches the pressing position, the locking component locks the floating component, and the floating component cannot move. When the rotating shaft of the motor body rotates in the reverse direction, the moving member drives the locking component to move towards the separating position. When the locking component reaches the separating position, the locking component unlocks the floating component, and the floating component can resume moving.

[0036] The actuator is connected to the floating component. After the actuator completes the specified operation action, the motor body cooperates with the transmission component to drive the locking component to lock the floating component, ensuring that the operation action and position of the actuator have a certain accuracy guarantee. The motor body cooperates with the transmission component to drive the locking component to unlock the floating component. The floating component can again enable the actuator to ensure deflection and floating within a certain angle range and action state, and can absorb the errors and deviations of the operation actions within a certain range. In this way, the mutual switching of the locking and floating functions within a certain range is formed, enabling the action processes such as grasping and handling of the actuator to proceed smoothly and with high precision.

[0037] The present invention uses the motor body to cooperate with the transmission component to lock the floating component through the locking component, without the need for additional energy sources such as air sources other than electric energy, which is suitable for practical application scenarios without air source supply, filling the technical gap. The overall structure of the compliance device is simple and compact, with stable transmission, high output efficiency, and easy replacement, solving the usage limitation problems of conventional compliance devices and robotic arms without air source, and being suitable for complex operation scenarios.

[0038] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be understood through the practice of the present invention. Description of the Drawings

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the following will briefly introduce the drawings required for use in the description of the embodiments or related technologies. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0040] Figure 1 It is a schematic structural diagram of a compliance device for a robot provided by the invention;

[0041] Figure 2 It is one of the sectional views of the compliance device for a robot provided by the invention;

[0042] Figure 3 It is the second sectional view of the compliance device for a robot provided by the invention.

[0043] Reference numerals:

[0044] 100, base mechanism; 110, base body; 120, floating assembly; 130, locking assembly; 140, guide sleeve; 150, sealing ring; 111, second guide post; 112, guide seat; 113, lower cover; 121, floating rod; 122, spherical bearing; 123, connecting member; 124, nut; 131, steel ball member; 132, locking member; 133, elastic member; 1231, connecting seat; 1232, connecting plate; 1311, steel ball; 1312, steel ball holder; 1321, locking frame; 1322, guide member; 1323, first guide post; 1324, linear bearing; 1325, inclined surface; 1326, vertical surface;

[0045] 200, motor mechanism; 210, motor body; 220, transmission assembly; 230, first bearing; 240, top cover; 250, outer cover; 260, second bearing; 211, rotating shaft; 221, rotating member; 222, moving member;

[0046] 300, channel; 310, first through hole; 320, second through hole; 330, third through hole; 340, fourth through hole. Detailed implementation manners

[0047] The following further describes in detail the implementation manners of the present invention in conjunction with the drawings and embodiments. The following embodiments are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0048] In the description of the embodiments of the present invention, it should be noted that the orientation or positional relationships indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the embodiments of the present invention 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 a limitation to the embodiments of the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0049] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly defined and limited, the terms "connected" and "coupled" 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 those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific situations.

[0050] In the embodiments of the present invention, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature may mean that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may mean that the first feature is directly above or obliquely above the second feature, or merely means that the first feature has a higher horizontal height than the second feature. The first feature being "under", "below" and "beneath" the second feature may mean that the first feature is directly below or obliquely below the second feature, or merely means that the first feature has a lower horizontal height than the second feature.

[0051] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the embodiments of the present invention. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0052] Such as Figure 1 、 Figure 2 and Figure 3As shown in the figure, an embodiment of the present invention provides a compliance device, which includes a base mechanism 100 and a motor mechanism 200. The base mechanism 100 includes a base body 110, a floating component 120 and a locking component 130 arranged inside the base body 110. The floating component 120 is adapted to be connected to an actuator, and the locking component 130 is arranged outside the floating component 120. The motor mechanism 200 includes a motor body 210 and a transmission component 220. The transmission component 220 includes a rotating part 221 and a moving part 222. The rotating shaft 211 of the motor body 210 is connected to the rotating part 221 to drive the rotating part 221 to rotate and drive the moving part 222 to move, so that the moving part 222 drives the locking component 130 to switch between a pressing position and a separating position. In the pressing position, the locking component 130 locks the floating component 120, and in the separating position, the locking component 130 unlocks the floating component 120.

[0053] In the compliance device according to the embodiment of the present invention, a floating component 120 and a locking component 130 are arranged inside the base body 110. By rotating the rotating shaft 211 of the motor body 210, the rotating part 221 of the locking component 130 is driven to rotate. The moving part 222 is connected to the rotating part 221, thereby converting the rotational motion into a linear motion, that is, while the rotating part 221 rotates, it drives the moving part 222 to move linearly back and forth synchronously, so as to realize that the moving part 222 drives the locking component 130 to move and switch between the pressing position and the separating position. The locking component 130 is arranged around the outside of the floating component 120. By changing the position of the locking component 130, the floating component 120 can be locked and unlocked.

[0054] When the rotating shaft 211 of the motor body 210 rotates forward, the moving part 222 drives the locking component 130 to move towards the pressing position. When the locking component 130 reaches the pressing position, the locking component 130 locks the floating component 120, and the floating component 120 cannot move. When the rotating shaft 211 of the motor body 210 rotates reversely, the moving part 222 drives the locking component 130 to move towards the separating position. When the locking component 130 reaches the separating position, the locking component 130 unlocks the floating component 120, and the floating component 120 can resume moving.

[0055] The actuator is connected to the floating component 120. After the actuator completes the specified operating action, the motor body 210 cooperates with the transmission component 220 to drive the locking component 130 to lock the floating component 120, ensuring a certain precision guarantee for the operating action and position of the actuator. The motor body 210 cooperates with the transmission component 220 to drive the locking component 130 to unlock the floating component 120. The floating component 120 can again enable the actuator to ensure deflection and floating within a certain angle range and operating state, and can absorb errors and deviations of the operating action within a certain range. In this way, a mutual switching of the locking and floating functions within a certain range is formed, enabling the grasping, handling and other action processes of the actuator to proceed smoothly and with high precision.

[0056] The present invention uses the motor body 210 to cooperate with the transmission component 220 to lock the floating component 120 through the locking component 130, without the need for additional energy sources such as air sources other than electric energy, which is suitable for application scenarios without air source supply in practice, fills the technical gap, and the compliant device has a simple and compact overall structure, stable transmission, high output efficiency, and is easy to replace, solving the problem of the use limitations of conventional compliant devices and robotic arms without air source, and is suitable for complex operation scenarios.

[0057] In this embodiment, the motor mechanism 200 is located above the base mechanism 100. The lower end of the rotating shaft 211 of the motor body 210 is fixedly connected to the rotating part 221, and the rotating part 221 is coaxially arranged with the rotating shaft 211. In other embodiments, the relative position of the motor mechanism 200 and the base mechanism 100 can be variable.

[0058] In this embodiment, the motor mechanism 200 further includes a first bearing 230, a top cover 240, an outer cover 250 and a second bearing 260. The outer cover 250 is cylindrical. The top cover 240 is installed on the upper part of the outer cover 250, and together with the outer cover 250, it encloses a space for accommodating the motor body 210 and the transmission component 220. The upper end of the rotating shaft 211 of the motor body 210 is connected to the top cover 240 through the first bearing 230. The second bearing 260 is installed inside the outer cover 250, and the upper part of the inner ring of the second bearing 260 is connected to the lower end of the rotating shaft 211 of the motor body 210, and the lower part of the inner ring of the second bearing 260 is connected to the upper end of the rotating part 221. The second bearing 260 cooperates with the first bearing 230 to achieve the synchronous free rotation of the rotating shaft 211 of the motor body 210 and the rotating part 221. The lower part of the outer cover 250 is fixedly connected to the base body 110.

[0059] In this embodiment, the motor body 210 can be a frameless motor equipped with an encoder. The frameless motor controls the rotation of the rotating shaft 211 through the encoder. The encoder realizes the closed-loop control and precise control of the rotational movement of the rotating shaft 211. By precisely controlling the locking position of the motor body 210 and forming a closed-loop control, the control of the compliance device over the actuator is simple and the feedback is sensitive. It can be understood that for different application scenarios, the electric locking and unlocking functions can be achieved through other types of motors.

[0060] According to an embodiment of the present invention, the locking assembly 130 includes a steel ball component 131 and a locking component 132. The steel ball component 131 is arranged around the outer side of the floating assembly 120; the locking component 132 is arranged corresponding to the steel ball component 131, and the moving member 222 is used to drive the locking component 132 to move. In the pressing position, the locking component 132 presses the steel ball component 131 to lock the floating assembly 120 by the steel ball component 131. In the separating position, the locking component 132 releases the steel ball component 131 to unlock the floating assembly 120 by the steel ball component 131. In this embodiment, in the pressing position, the locking component 132 enables the steel ball component 131 to apply pressure to the floating assembly 120, and in the separating position, the locking component 132 does not enable the steel ball component 131 to apply pressure to the floating assembly 120.

[0061] According to one embodiment of the present invention, the locking assembly 130 includes a steel ball component 131 and a locking component 132. The steel ball component 131 includes a plurality of steel balls 1311, and the plurality of steel balls 1311 are arranged around the outer side of the floating assembly 120; the locking component 132 includes a locking frame 1321 arranged one-to-one corresponding to each steel ball 1311, and a guide member 1322 arranged on each locking frame 1321. The locking frame 1321 is arranged on the side of the steel ball 1311 away from the floating assembly 120. The moving member 222 is used to drive the guide member 1322 and the locking frame 1321 to move. In the pressing position, the locking frame 1321 presses the steel ball 1311 so that the steel ball 1311 locks the floating assembly 120. In the separation position, the locking frame 1321 releases the steel ball 1311 so that the steel ball 1311 unlocks the floating assembly 120. In this embodiment, a plurality of steel balls 1311 are arranged around the outer side of the floating component 120, and a locking frame 1321 is correspondingly arranged for each steel ball 1311. The locking frame 1321 is located on the side of the steel ball 1311 away from the floating component 120, that is, the interior of the base body 110 is arranged with the floating component 120, the steel ball 1311 and the locking frame 1321 from the inside to the outside. When the actuator is actuated, the floating component 120 will swing and rotate, thereby driving the steel ball 1311 to move. A guide piece 1322 is provided on each locking frame 1321. When the rotating piece 221 rotates, it drives the moving piece 222 to move synchronously in a straight line. During the movement of the moving piece 222, the guide piece 1322 can be driven to move, and then the locking frame 1321 can be driven to move through the guide piece 1322. During the movement of the locking frame 1321, a force can be generated on the steel ball 1311, that is, the guide piece 1322 is driven to move through the moving piece 222, so that the locking frame 1321 changes its position, so that the steel ball 1311 can lock and unlock the floating component 120.

[0062] When the rotating shaft 211 of the motor body 210 rotates forward, the rotating member 221 drives the moving member 222 to move, the moving member 222 drives the guide member 1322 to move, and the guide member 1322 drives the locking frame 1321 to move to the pressing position. When the pressing position is reached, the locking frame 1321 squeezes the steel ball 1311, the steel ball 1311 gradually presses the floating assembly 120, the steel ball 1311 locks the floating assembly 120, and the floating assembly 120 cannot move; when the rotating shaft 211 of the motor body 210 rotates reversely, the rotating member 221 drives the moving member 222 to move, the moving member 222 drives the guide member 1322 to move, and the guide member 1322 drives the locking frame 1321 to move to the separation position. When the separation position is reached, the locking frame 1321 no longer squeezes the steel ball 1311, the steel ball 1311 gradually relaxes the floating assembly 120, the steel ball 1311 unlocks the floating assembly 120, and the floating assembly 120 can resume movement.

[0063] Each steel ball 1311 is paired with a locking frame 1321 and a guiding member 1322 on the locking frame 1321. During the movement of the moving member 222, each steel ball 1311 can be independently controlled for pressing and separation. The cooperation action between the locking assembly 130 and the transmission assembly 220 is more flexible, and the locking and unlocking control of the floating assembly 120 is more refined and accurate.

[0064] In this embodiment, the steel ball component 131 further includes a steel ball holder 1312. The steel ball holder 1312 is coaxially arranged with the floating assembly 120. A plurality of steel balls 1311 are evenly installed in the steel ball holder 1312, and the steel ball holder 1312 can be fixedly connected to the base body 110 through bolts. It can be understood that the number of steel balls 1311 is set according to actual working conditions, and the number of steel ball holders 1312 is adjusted accordingly with the change in the number of steel balls 1311, as long as the locking force of the locking assembly 130 and the floating function of the floating assembly 120 can be achieved.

[0065] In other embodiments, the locking assembly 130 can also adopt other structures, as long as it can lock and unlock the floating assembly 120 during the linear reciprocating movement of the moving member 222, such as a claw controlled by a link structure.

[0066] According to an embodiment of the present invention, the moving member 222 switches between an initial position and a driving position. At the driving position, the moving member 222 contacts the guiding member 1322. At the initial position, a preset gap is provided between the moving member 222 and the guiding member 1322. In this embodiment, the moving member 222 and the guiding member 1322 are two independent components without a fixed connection. In the unlocked state of the floating assembly 120, the moving member 222 is generally in the initial position. At this time, there is a certain preset gap between the moving member 222 and the guiding member 1322, that is, there is a certain movement space between the guiding member 1322 and the moving member 222. When the actuator deflects and floats, it will drive the floating assembly 120 to move, and then push the steel ball 1311 to move. When the steel ball 1311 moves, due to the change in position, it will exert a force on its corresponding locking frame 1321, thereby causing the locking frame 1321 and the guiding member 1322 to move synchronously. The movement space formed by the preset gap can provide a movement range for the locking frame 1321 and the guiding member 1322. When it is necessary to lock and control the floating assembly 120, the moving member 222 is in the driving position, that is, the moving member 222 contacts the guiding member 1322 to generate a force.

[0067] When the rotating shaft 211 of the motor body 210 rotates forward, the rotating member 221 drives the moving member 222 to move, and the moving member 222 gradually approaches the guiding member 1322 until it contacts and presses the guiding member 1322, and the preset gap disappears. The guiding member 1322 drives the locking frame 1321 to squeeze the steel ball 1311, and the steel ball 1311 gradually compresses the floating assembly 120. When the locking frame 1321 reaches the pressing position, the steel ball 1311 locks the floating assembly 120, and the floating assembly 120 cannot move. When the rotating shaft 211 of the motor body 210 rotates reversely, the rotating member 221 drives the moving member 222 to move, and the moving member 222 gradually moves away from the guiding member 1322 until it separates from the guiding member 1322, and the preset gap is restored. The guiding member 1322 drives the locking frame 1321 to move away from the steel ball 1311, and the steel ball 1311 gradually relaxes the floating assembly 120. When the locking frame 1321 reaches the separating position, the steel ball 1311 unlocks the floating assembly 120, and the floating assembly 120 can resume moving.

[0068] According to an embodiment of the present invention, at least two guiding members 1322 are provided on each locking frame 1321, and the guiding members 1322 are symmetrically arranged with the center of the ball of the steel ball 1311 as the center point. In this embodiment, since the floating assembly 120 will be driven to deflect and swing when the actuator deflects and swings, at this time, each deflection and swing can only drive some of the steel balls 1311 to deflect and swing. To ensure the smooth linear movement of the locking frame 1321, at least two guiding members 1322 are installed on each locking frame 1321, and the guiding members 1322 are symmetrically arranged with the center of the ball of the steel ball 1311 as the center point on the side of the steel ball 1311 away from the floating assembly 120, ensuring that the locking frame 1321 is evenly stressed and can move smoothly closer to or away from the steel ball 1311.

[0069] According to an embodiment of the present invention, the guiding member 1322 includes a first guiding column 1323 and a linear bearing 1324. The first guiding column 1323 is connected to the locking frame 1321, and the axial direction of the first guiding column 1323 is arranged along the moving direction of the moving member 222; the linear bearing 1324 is arranged on the base body 110, and the linear bearing 1324 is sleeved on the outside of the first guiding column 1323. In this embodiment, the linear bearing 1324 is fixedly installed on the base body 110, the first guiding column 1323 is inserted into the linear bearing 1324, and the first guiding column 1323 can perform linear reciprocating movement along its axial direction under the drive of the moving member 222, and the linear bearing 1324 stably supports and guides the movement of the first guiding column 1323. The first guiding column 1323 is fixedly connected to the locking frame 1321, that is, the first guiding column 1323 synchronously drives the locking frame 1321 to perform linear reciprocating movement along the axial direction of the first guiding column 1323.

[0070] When the rotating shaft 211 of the motor body 210 rotates forward, the rotating member 221 drives the moving member 222 to move. The moving member 222 gradually approaches the first guide post 1323 until it contacts and presses the first guide post 1323. The first guide post 1323 drives the locking frame 1321 to squeeze the steel ball 1311, and the steel ball 1311 gradually compresses the floating assembly 120. When the locking frame 1321 reaches the pressing position, the steel ball 1311 locks the floating assembly 120, and the floating assembly 120 cannot move. When the rotating shaft 211 of the motor body 210 rotates in the reverse direction, the rotating member 221 drives the moving member 222 to move. The moving member 222 gradually moves away from the first guide post 1323 until it separates from the first guide post 1323. The first guide post 1323 drives the locking frame 1321 away from the steel ball 1311, and the steel ball 1311 gradually releases the floating assembly 120. When the locking frame 1321 reaches the separation position, the steel ball 1311 unlocks the floating assembly 120, and the floating assembly 120 can resume moving.

[0071] In this embodiment, when two guide members 1322 are provided on one locking frame 1321, a linear bearing 1324 and a first guide post 1323 are provided in pairs on one locking frame 1321, and so on when there are more than two guide members 1322. This makes the movement of each locking frame 1321 more flexible and the locking of the steel ball 1311 more fitting.

[0072] According to an embodiment of the present invention, the locking assembly 130 further includes an elastic member 133. The elastic member 133 is arranged along the axial direction of the guide member 1322, and one end of the elastic member 133 is limited to the locking frame 1321, and the other end is limited to the base body 110. In this embodiment, the elastic member 133 connects the locking frame 1321 and the base body 110, and provides a force for the initial position and movement recovery of the locking frame 1321 through the deformation and recovery ability of the elastic member 133. Under the pre-pressure of the elastic member 133, the locking frame 1321 always maintains a position state of contacting the surface of the steel ball 1311. On the one hand, it can perform up and down linear motion following the movement of the steel ball 1311. On the other hand, it can achieve the locking and unlocking of the steel ball 1311 through the up and down movement of the locking frame 1321.

[0073] When the rotating shaft 211 of the motor body 210 rotates forward, the rotating member 221 drives the moving member 222 to move. The moving member 222 gradually approaches the first guiding column 1323 until it contacts and presses the first guiding column 1323. The first guiding column 1323 drives the locking frame 1321 to squeeze the steel ball 1311. The locking frame 1321 moves along the axial direction of the first guiding column 1323 in the direction approaching the steel ball 1311. The elastic member 133 is stretched synchronously under tension. The steel ball 1311 gradually compresses the floating assembly 120. When the locking frame 1321 reaches the pressing position, the steel ball 1311 locks the floating assembly 120, and the floating assembly 120 cannot move. When the rotating shaft 211 of the motor body 210 rotates reversely, the rotating member 221 drives the moving member 222 to move. The moving member 222 gradually moves away from the first guiding column 1323 until it separates from the first guiding column 1323. The first guiding column 1323 drives the locking frame 1321 away from the steel ball 1311. The locking frame 1321 moves along the axial direction of the first guiding column 1323 in the direction away from the steel ball 1311. The elastic member 133 contracts synchronously under the influence of the restoring force to help the locking frame 1321 and the first guiding column 1323 reset. The steel ball 1311 gradually releases the floating assembly 120. When the locking frame 1321 reaches the separating position, the steel ball 1311 unlocks the floating assembly 120, and the floating assembly 120 can resume moving.

[0074] When the moving member is in the initial position, the elastic member 133 is affected by the movement of the steel ball 1311 to help the guiding member 1322 move and reset. When the steel ball 1311 moves to push the locking frame 1321 to move upward along the axial direction of the first guiding column 1323, the elastic member 133 contracts under pressure. When the steel ball 1311 moves away from the locking frame 1321 and the locking frame 1321 moves downward along the axial direction of the first guiding column 1323, the elastic member 133 elongates under the influence of the restoring force to ensure that the locking frame 1321 is always in contact with the steel ball 1311.

[0075] In this embodiment, the elastic member 133 is a spring. A spring is sleeved outside the linear bearing 1324. One end of the spring is fixedly connected to the base body 110, and the other end of the spring is fixedly connected to the locking frame 1321. In other embodiments, the elastic member 133 can also be made of substances with elasticity and restorability such as rubber sleeves.

[0076] It can be understood that during the process of the moving member 222 moving from the pressing position to the separating position, the reset of the first guiding column 1323 and the locking frame 1321 can be completed by the elastic member 133, or the first guiding column 1323 can be directly connected to the moving member 222, and the moving member 222 directly drives the first guiding column 1323 and the locking frame 1321 to reset.

[0077] According to an embodiment of the present invention, a second guiding column 111 is provided on the base body 110, and a guiding hole adapted for the insertion of the second guiding column 111 is provided on the moving member 222, so that the moving member 222 can move along the axial direction of the second guiding column 111. In this embodiment, the second guiding column 111 is fixedly provided on the base body 110, and a guiding hole adapted for the insertion of the second guiding column 111 is provided at a position corresponding to the second guiding column 111 on the moving member 222. Through the cooperation of the second guiding column 111 and the second guiding hole, the linear motion of the moving member 222 can be stably guided, and the rotational motion of the moving member 222 can also be restricted. Furthermore, the rotational motion is converted into a linear motion, enabling the moving member 222 to smoothly move between the pressing position and the separating position.

[0078] It can be understood that the number of the second guiding columns 111 and the number of the guiding holes can be set according to actual needs.

[0079] According to an embodiment of the present invention, the moving member 222 is sleeved outside the rotating member 221 and is in threaded connection with the rotating member 221. In this embodiment, the rotating shaft 211 of the motor body 210 rotates to drive the rotating member 221 to rotate. The moving member 222 is sleeved on the rotating member 221 and is in threaded connection with the rotating member 221, that is, the transmission assembly 220 is a threaded structure cooperation. In this way, the forward and reverse rotational motion is converted into a linear reciprocating motion through the threaded connection, that is, when the rotating member 221 rotates, it drives the moving member 222 to reciprocate axially synchronously, realizing the switching of the moving member 222 to drive the locking assembly 130 between the pressing position and the separating position.

[0080] In this embodiment, an external thread is provided on the outer side surface of the rotating member 221, and an internal thread adapted to the external thread is provided on the inner side surface of the moving member 222. It can be understood that the moving member 222 can also be sleeved inside the rotating member 221. An internal thread is provided on the inner side surface of the rotating member 221, and an external thread adapted to the internal thread is provided on the outer side surface of the moving member 222. In other embodiments, the transmission assembly 220 can also be a tooth structure cooperation. For example, the rotating member 221 is a gear, and the moving member 222 is a rack or a worm meshing with the gear. The forward and reverse rotation of the gear drives the linear reciprocating motion of the rack or the worm.

[0081] According to an embodiment of the present invention, the floating component 120 includes a floating rod 121, a spherical bearing 122, and a connecting component 123. The floating rod 121 is coaxially arranged with the rotating shaft 211 of the motor body 210; the spherical bearing 122 is sleeved on one end of the floating rod 121 close to the motor body 210; the connecting component 123 is arranged on the end of the floating rod 121 far from the motor body 210, and the steel balls 1311 are arranged around the connecting component 123. In this embodiment, the connecting component 123 is connected to the actuator. One end of the floating rod 121 is connected to the connecting component 123, and a spherical bearing 122 is installed at the other end of the floating rod 121. The steel balls 1311 are arranged on the circumferential side surface of the connecting component 123. Through the setting of the spherical bearing 122, during the process of the actuator performing an action, the floating rod 121 can be driven by the connecting component 123 to deflect and float within a certain range around the X-axis, Y-axis, and Z-axis. After the actuator action is in place, the steel balls 1311 press the surface of the connecting component 123 to lock the connecting component 123, and the floating rod 121, the connecting component 123, and the actuator are integrated and locked. When the steel balls 1311 release the connecting component 123 to unlock the connecting component 123, the floating rod 121, the connecting component 123, and the actuator move independently.

[0082] In this embodiment, the spherical bearing 122 includes an inner ring with a spherical outer side and an outer ring with a spherical inner side. The outer ring is sleeved outside the inner ring so that the two spherical surfaces are in contact. Since the sliding surface is spherical, it can perform tilting and rotating movements within a certain angle range to meet the deflection and floating requirements of the floating rod 121.

[0083] Both the base body 110 and the steel ball holder 1312 clamp and fix the outer ring of the spherical bearing 122 through bolt connections. The inner ring of the spherical bearing 122 fits with the shaft shoulder of the floating rod 121. The floating rod 121 is provided with threads at the end close to the shaft shoulder, and the nut 124 is installed on the floating rod 121 through thread fit so that the nut 124 abuts against and fixes the inner ring of the spherical bearing 122.

[0084] In other embodiments, the floating rod 121 can also be realized by installing a self-made spherical surface or a universal joint and other structures to achieve a small rotation and deflection of the floating rod 121.

[0085] According to an embodiment of the present invention, a channel 300 is formed axially through the connecting member 123, the floating rod 121, the rotating member 221, and the rotating shaft 211 of the motor body 210. In this embodiment, the compliance device is designed in a hollow style, and the channel 300 axially penetrates the connecting member 123, the floating rod 121, the rotating member 221, and the rotating shaft 211 of the motor body 210 in sequence, so that the internal wiring of the compliance device is bundled through the channel 300, facilitating the routing of the wire harness, avoiding the problem of cable exposure, reducing the probability of entanglement between the actuator and the cable during use, preventing the cable from being pulled and damaged when the robot moves, effectively protecting the surface of the cable, and improving the service life of the cable.

[0086] In this embodiment, the connecting member 123 includes a connecting seat 1231 and a connecting plate 1232. The connecting seat 1231 is coaxially and fixedly connected to the floating rod 121, and a connecting plate 1232 connected to the actuator is installed on the connecting seat 1231. The floating rod 121 is connected to the connecting seat 1231 by a thread, and steel balls 1311 are arranged around the connecting seat 1231 along the circumferential direction of the connecting seat 1231. A first through hole 310 penetrating axially is provided on the rotating shaft 211 of the motor body 210. The rotating member 221 and the rotating shaft 211 are fixedly connected by bolts. A second through hole 320 penetrating axially is provided on the rotating member 221. The floating rod 121 and the rotating shaft 211 of the motor body 210 are coaxially arranged. A third through hole 330 penetrating axially is provided on the floating rod 121. The connecting seat 1231 and the connecting plate 1232 are fixedly connected by bolts. A fourth through hole 340 penetrating through is provided at the center of the connecting plate 1232. The first through hole 310, the second through hole 320, the third through hole 330, and the fourth through hole 340 are sequentially connected to form the channel 300.

[0087] In this embodiment, the first through hole 310, the second through hole 320, the third through hole 330, and the fourth through hole 340 are coaxial and have the same diameter. In other embodiments, the first through hole 310, the second through hole 320, the third through hole 330, and the fourth through hole 340 may also be non - coaxial or have different diameters, as long as it can ensure that the holes are sequentially connected to form a through - channel 300.

[0088] According to an embodiment of the present invention, the locking frame 1321 is provided with an inclined surface 1325, the inclined surface 1325 contacts the steel ball 1311, and the inclined surface 1325 inclines gradually away from the steel ball 1311 in the direction from the separation position to the pressing position. In this embodiment, the locking frame 1321 contacts the surface of the steel ball 1311 through the inclined surface 1325. The inclined surface 1325 always remains in contact with the steel ball 1311, and the inclined surface 1325 extends in a state of being tangent to the steel ball 1311. The steel ball 1311 is located between the inclined surface 1325 and the outer side surface of the connecting seat 1231. During the movement of the moving member 222 between the pressing position and the separation position, the movement of the locking frame 1321 gradually restricts the space between the inclined surface 1325 and the outer side surface of the connecting seat 1231. Thus, the inclined surface 1325 gradually presses the steel ball 1311, squeezing the steel ball 1311 around the connecting seat 1231. The design of the inclined surface 1325 can not only ensure the locking force of the locking frame 1321 on the steel ball 1311, but also ensure that the locking frame 1321 has sufficient displacement during the locking of the locking member 132 to the connecting member 123.

[0089] In other embodiments, the steel ball holder 1312 can also be designed as an arc-shaped surrounding structure adapted to the spherical surface, which can adapt to the movement of the steel ball 1311 and can apply an extrusion force to the steel ball 1311.

[0090] According to an embodiment of the present invention, the base mechanism 100 further includes a guide sleeve 140. The locking frame 1321 is provided with a vertical surface 1326 opposite to the inclined surface 1325. The guide sleeve 140 is sleeved on the outside of all the locking frames 1321 and contacts all the vertical surfaces 1326. In this embodiment, the guide sleeve 140 is arranged inside the base body 110. Since the steel ball component 131 is arranged around the floating component 120, the locking component 132 is also arranged in a state of surrounding the floating component 120. Therefore, each locking frame 1321 is also distributed in a form surrounding the connecting base. The guide sleeve 140 is arranged on the outside of the annularly distributed connecting frames. One side of the locking frame 1321 is the inclined surface 1325, and the side opposite to the inclined surface 1325 is the vertical surface 1326. The vertical surface 1326 is a surface extending along the moving direction of the locking frame 1321. The vertical surfaces 1326 of all the locking frames 1321 are in contact with the inner side surface of the outer guide sleeve 140, that is, the guide sleeve 140 is sleeved on the outside of the locking frame 1321. During use, during the movement of the locking frame 1321, it is prone to skew in the horizontal direction. The guide sleeve 140 enables the locking frame 1321 to move linearly along the guide sleeve 140, improving the stability of the locking component 132 during use.

[0091] In this embodiment, the base body 110 includes a guide seat 112 and a lower cover 113. The upper end of the guide seat 112 is connected to the outer cover 250 of the motor mechanism 200, and the lower end of the guide seat 112 is connected to the lower cover 113. That is, the guide seat 112 and the lower cover 113 enclose a space for accommodating the locking assembly 130, the floating assembly 120, and the guide sleeve 140. The guide sleeve 140 abuts against the lower cover 113.

[0092] The linear bearing 1324 is installed on the guide seat 112. At a position on the guide seat 112 near the motor mechanism 200 corresponding to the installation location of the linear bearing 1324, a sealing ring 150 is provided as a sealing structure to seal the interior of the guide seat 112 and prevent the mutual influence between the motor mechanism 200 and the internal environment of the base mechanism 100.

[0093] An embodiment of the present invention provides a manipulator, which includes a compliance device, a robotic arm, and an actuator as described in the above embodiment. The actuator is connected to the robotic arm through the compliance device.

[0094] For the manipulator according to the embodiment of the present invention, the actuator can adopt an operating tool such as a gripper that can be integrated on the robotic arm.

[0095] Finally, it should be noted that the above embodiments are only used to illustrate the present invention, rather than to limit the present invention. Although the present invention has been described in detail with reference to the embodiments, those of ordinary skill in the art should understand that various combinations, modifications, or equivalent replacements of the technical solutions of the present invention do not depart from the spirit and scope of the technical solutions of the present invention, and should all be covered within the scope of the claims of the present invention.

Claims

1. A compliance device, characterized in that, Comprising: A base mechanism, the base mechanism includes a base body and a floating component and a locking component arranged inside the base body. The floating component is adapted to be connected to an actuator, and the locking component is arranged outside the floating component; A motor mechanism, the motor mechanism includes a motor body and a transmission component. The transmission component includes a rotating part and a moving part. The rotating shaft of the motor body is connected to the rotating part to drive the rotating part to rotate and drive the moving part to move, so that the moving part drives the locking component to switch between a pressing position and a separating position. In the pressing position, the locking component locks the floating component, and in the separating position, the locking component unlocks the floating component; The locking component includes: A steel ball component, the steel ball component includes a plurality of steel balls, and the plurality of steel balls are arranged around the outside of the floating component; A locking part, the locking part includes locking frames arranged corresponding to each of the steel balls one by one, and guide members arranged on each of the locking frames. The locking frames are arranged on the side of the steel balls away from the floating component, and the moving part is used to drive the guide members and the locking frames to move. In the pressing position, the locking frames press the steel balls to lock the floating component with the steel balls, and in the separating position, the locking frames release the steel balls to unlock the floating component with the steel balls; The guide member includes: A first guide post, the first guide post is connected to the locking frame, and the axial direction of the first guide post is arranged along the moving direction of the moving part; the first guide post performs a linear movement along its axial direction under the drive of the moving part; A linear bearing, the linear bearing is arranged on the base body, and the linear bearing is sleeved outside the first guide post; The floating component includes: A floating rod, the floating rod is coaxially arranged with the rotating shaft of the motor body; A spherical bearing, the spherical bearing is sleeved on one end of the floating rod close to the motor body; A connecting component, the connecting component is arranged on the end of the floating rod away from the motor body, and the steel balls are arranged around the connecting component. The connecting component, the floating rod, the rotating part and the rotating shaft of the motor body form an axially through channel.

2. The compliance device according to claim 1, characterized in that, The moving part switches between an initial position and a driving position. In the driving position, the moving part contacts the guide member, and in the initial position, a preset gap is provided between the moving part and the guide member.

3. The compliance device according to claim 1, wherein, At least two of the guide members are arranged on each of the locking frames, and the guide members are symmetrically arranged with the center of the ball of the steel ball as the center point.

4. The compliance device according to claim 1, wherein The locking component further includes: An elastic component, the elastic component is arranged along the axial direction of the guide member, and one end of the elastic component is limited to the locking frame, and the other end is limited to the base body.

5. The compliance device according to any one of claims 1 to 4, characterized in that, A second guide post is provided on the base body, and a guide hole adapted for the second guide post to be inserted is provided on the moving part, so that the moving part can move along the axial direction of the second guide post.

6. The compliance device according to any one of claims 1 to 4, characterized in that, The moving part is sleeved outside the rotating part and is threadedly connected to the rotating part.

7. The compliance device according to claim 6, wherein The locking frame is provided with an inclined surface which contacts the steel ball, and the inclined surface is inclined gradually away from the steel ball in the direction from the separation position to the pressing position.

8. The compliance device according to claim 7, wherein The base mechanism further includes: A guide sleeve. The locking frame is provided with a vertical surface opposite to the inclined surface. The guide sleeve is sleeved outside all the locking frames and contacts all the vertical surfaces.

9. A manipulator, characterized in that, Comprising: The compliance device according to any one of claims 1 to 8; A robotic arm; An actuator, which is connected to the robotic arm through the compliance device.

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