Movement assisting mechanism and robot movable joint

Abstract

The invention discloses a movement assisting mechanism and a robot movable joint, and the movement assisting mechanism comprises a cylinder body, the outer side of the cylinder body is connected with a lower limiting piece, and the inner bottom side of the cylinder body is connected with a fixing rod vertically extending upwards; the bottom of the outer sleeve is inserted into the cylinder body, the top of the fixing rod is located in the outer sleeve, and the outer side of the top of the outer sleeve is connected with an upper limiting piece; the elastic assembly is connected between the upper limiting piece and the lower limiting piece, and the elastic assembly can generate elastic deformation in the vertical direction; the locking assembly is arranged in the outer sleeve, and the locking assembly and the fixing rod can be mutually locked or unlocked. After the device is mounted on the movable joint of the robot, through energy storage of the elastic assembly, the working energy consumption of the movable joint of the robot can be reduced, and the stability and accuracy of movement of the movable joint of the robot are improved; the device is especially suitable for the use requirement of larger load.

Description

Technical Field

[0001] The invention relates to a robot arm, and in particular to an activity auxiliary mechanism and a robot movable joint. Background Art

[0002] With the development of science and technology, people's performance requirements for robots are gradually increasing. For example, in order to meet the rated load requirements of heavy-duty robots, high-power drive motors are usually required, which often leads to reduced dynamic performance of the robot and increased energy consumption.

[0003] At present, some robot joints are equipped with spring devices for energy storage. However, since the time of energy storage and release cannot be controlled independently of the joint movement, when the spring undergoes elastic deformation to a certain extent, a large reaction force will be generated, causing the motor to consume more energy to offset this reaction force. The reaction force has a more obvious effect in symmetrically driven parallel robots. In addition, when the moving joint needs to be stationary, the energy stored in the spring element becomes redundant, and the spring may cause vibration interference to affect the expected control of the robot's joints, thereby hindering the movement and precise positioning of the robot's joints. Therefore, there is an urgent need for an auxiliary mechanism that can improve the stability of the robot's joints and reduce the energy consumption of the activity. Summary of the invention

[0004] The purpose of the present invention is to provide an activity-assisting mechanism and a robot movable joint to solve one or more technical problems existing in the prior art, and at least provide a beneficial choice or create conditions.

[0005] The solution of the present invention to solve its technical problem is:

[0006] A movement-assisting mechanism comprises: a cylinder body, with a lower limit piece connected to the outer side, and a fixing rod extending vertically upward connected to the inner bottom side of the cylinder body; an outer sleeve, with a bottom inserted into the cylinder body, the top of the fixing rod is located in the outer sleeve, and an upper limit piece is connected to the outer side of the top of the outer sleeve; an elastic component connected between the upper limit piece and the lower limit piece, and the elastic component can generate elastic deformation in the up and down directions; a locking component is arranged in the outer sleeve, and the locking component can be locked or unlocked with the fixing rod.

[0007] The technical solution has at least the following beneficial effects: the cylinder body is connected to the fixed point of the external robot active driving source, and the outer sleeve is connected to the active point of the robot active driving source. When the active point of the robot active driving source moves up and down relative to the fixed point, the locking component and the fixed rod are in a mutually unlocked state, and the outer sleeve can move up and down relative to the cylinder body, and drive the elastic component connected between the upper limit member and the lower limit member to undergo elastic deformation in the up and down directions. The elastic energy storage of the elastic component can assist the reverse movement of the active point of the robot active driving source, thereby reducing the energy consumption of the robot activity. When the active point of the robot active driving source moves to the set position and needs to be positioned, the locking component is used to lock the fixed rod. At this time, the mutually locking force between the locking component and the fixed rod can limit the active point of the robot active driving source from moving up and down relative to its fixed point, thereby reducing the driving load of the robot active driving source to maintain the current active state, which is conducive to realizing the precise positioning of the robot active driving source after moving into position. After being mounted on the robot active joint, the energy storage of the elastic component can reduce the working energy consumption of the robot active joint, and improve the stability and accuracy of the robot active joint activity, which is particularly suitable for use requirements with larger loads.

[0008] As a further improvement of the above technical solution, the locking assembly includes an inner sleeve and a retaining sleeve, the inner sleeve is located inside the outer sleeve, the retaining sleeve is arranged in the outer sleeve at a position below the inner sleeve, the bottom end of the inner sleeve is connected to a transmission section, the transmission section passes downward through the retaining sleeve and is connected to a clamping block, the fixed rod extends upward into the transmission section and the inner sleeve, a plurality of clamping blocks are arranged around the fixed rod, and a clamping groove is formed in the retaining sleeve with the space gradually shrinking upward, and a plurality of the clamping blocks can enter the clamping groove and clamp the fixed rod. When in use, a manual or automatic locking switch is provided between the outer sleeve and the inner sleeve. When the locking assembly and the fixing rod need to be locked with each other, the locking switch applies an external force to the inner sleeve, so that the inner sleeve moves upward relatively in the outer sleeve, driving multiple clamping blocks to enter the clamping groove. Since the space of the clamping groove in the retaining sleeve gradually decreases upward, that is, the inner side wall of the clamping groove is inclined, the retaining sleeve is used to limit the multiple clamping blocks, and a clamping force that presses inward can be provided to the multiple clamping blocks, so that the multiple clamping blocks can clamp and fix the fixing rod at the same time, thus achieving The relative locking of the inner sleeve and the fixed rod provides a locking and fixing force that effectively reduces the load required for the robot's active joint to maintain the current position. When the locking assembly and the fixed rod need to be unlocked from each other, the locking switch applies an external force to the inner sleeve, causing the inner sleeve to move downward relatively in the outer sleeve. At this time, the multiple clamping blocks move downwardly away from the clamping grooves, and after the clamping limit of the retaining sleeve on the multiple clamping blocks is removed, the multiple clamping blocks no longer clamp the fixed rod. At this time, the inner sleeve and the fixed rod can be unlocked, and the outer sleeve can move up and down with the robot's active joint.

[0009] As a further improvement of the above technical solution, an inner fixing ring is connected to the inner side of the bottom of the outer sleeve, the outer diameter of the transmission section is smaller than the outer diameter of the inner sleeve, a top pressure spring is sleeved on the outer side of the transmission section, the upper end of the top pressure spring abuts against the bottom end of the inner sleeve, and the lower end of the top pressure spring abuts against the top end of the retaining sleeve, and the top pressure spring has a tendency to press the retaining sleeve downward against the top side of the inner fixing ring. Since the outer diameter of the transmission section is smaller than the outer diameter of the inner sleeve, an annular step for limiting is formed between the top end of the transmission section and the bottom end of the inner sleeve, the top pressure spring sleeved on the outer side of the transmission section can abut against the bottom end of the inner sleeve, and the retaining sleeve is pressed against the inner fixing ring by the top pressure spring, so that the retaining sleeve is relatively fixed in the outer sleeve, so that the retaining sleeve and the outer sleeve can be designed as a split design, which is convenient for overall production and assembly.

[0010] As a further improvement of the above technical solution, the outer diameter of the fixing rod is gradually reduced in the upward direction. The outer side wall of the fixing rod is inclined, and the entire outer side wall is in the shape of a tapered surface that gradually reduces from bottom to top. When a plurality of clamping blocks abut against the outer side wall of the fixing rod to clamp the fixing rod, the inclined outer side wall of the fixing rod can change the force direction of the clamping blocks, thereby increasing the clamping force of the clamping blocks against the outer surface of the fixing rod, thereby further increasing the locking force of the fixing rod.

[0011] As a further improvement of the above technical solution, a limiting protrusion protruding toward the direction close to the fixed rod is provided on the inner side of the top of the retaining sleeve, and the limiting protrusion extends around the retaining sleeve, and a limiting step is provided on the outer side of the clamping block, and the limiting step can be connected with the limiting protrusion in cooperation with each other. When multiple clamping blocks enter the clamping groove, the limiting steps on the outer sides of the multiple clamping blocks cooperate with the limiting protrusion on the inner side of the top of the retaining sleeve, so that the movement of the multiple clamping blocks can be limited, effectively preventing the multiple clamping blocks from excessively moving upward in the clamping groove, and the limiting protrusion of the retaining sleeve can provide a resisting force for the multiple clamping blocks to rotate toward the direction close to the fixed rod, further improving the clamping force of the multiple clamping blocks on the fixed rod.

[0012] As a further improvement of the above technical solution, the elastic component includes a compression spring, a limiting ring and a tension spring. The limiting ring is sleeved on the outside of the outer sleeve, and the outer diameter of the limiting ring is larger than the outer diameter of the cylinder body. The compression spring is sleeved on the outside of the outer sleeve, and the upper and lower ends of the compression spring are respectively connected to the upper limit piece and the limiting ring. The tension spring is sleeved on the outside of the cylinder body, and the upper and lower ends of the tension spring are respectively connected to the limiting ring and the lower limit piece. A composite elastic structure is formed between the upper limit member, the compression spring, the limit ring, the tension spring and the lower limit member, which can provide different elastic forces for compression and tension respectively. Specifically, when the outer sleeve is subjected to an upward pulling force, the upper limit member is driven to move upward at the same time. At this time, the elastic deformation of the compression spring is stretched is small, and the tension spring produces the main elastic deformation. When the outer sleeve is subjected to downward pressure, the lower limit member is driven to move downward at the same time. Since the outer diameter of the limit ring is larger than the outer diameter of the cylinder body, the limit ring is against the top of the cylinder body at this time, and the tension spring is not compressed. The elastic deformation is mainly caused by the compression spring between the upper limit member and the limit ring. In this way, a composite elastic structure is formed, and the tension spring is used to provide the energy storage required for stretching, and the compression spring is used to provide the energy storage required for compression, thereby improving the performance of the robot's active joints under different stress conditions and providing a smoother mechanical response. Specifically, the compression spring effectively absorbs impact force when the joint is compressed, and the tension spring reduces the reaction force when the joint is stretched, thereby reducing vibration and improving the movement stability of the robot's active joints.

[0013] As a further improvement of the above technical solution, an outer side of the outer sleeve is connected to an outer fixing ring at a position below the limit ring, and the compression spring presses the limit ring downward against the outer fixing ring, and the outer fixing ring can be moved downward into the cylinder body. The outer fixing ring can limit the relative downward movement of the limit ring. When the outer sleeve moves upward, the limit ring is driven upward by the outer fixing ring. At this time, the compression spring between the upper limit piece and the limit ring is not stretched, and the stretching deformation is completely dependent on the stretching spring between the limit ring and the lower limit piece. When the outer sleeve moves downward, the outer sleeve drives the outer fixing ring into the cylinder body, and at this time, the compression spring between the upper limit piece and the limit ring is compressed.

[0014] As a further improvement of the above technical solution, the compression spring is a conical helical spring. Due to the nonlinear load-length characteristics of the conical helical spring, the compression spring can increase the energy storage effect as the compression amount increases, thereby compensating for the influence of the load center of gravity offset and further improving the stability when subjected to force.

[0015] As a further improvement of the above technical solution, the upper limit member is connected to the outer side of the outer sleeve by a thread, and the lower limit member is connected to the outer side of the cylinder body by a thread. The upper limit member can adjust the initial position of the upper limit member on the outer side of the outer sleeve by changing the threaded fit with the outer side of the outer sleeve, thereby adjusting the preload of the compression spring. Similarly, the lower limit member can adjust the initial position of the lower limit member on the outer side of the cylinder body by changing the threaded fit with the outer side of the cylinder body, thereby adjusting the preload of the tension spring. In this way, it can be adjusted according to different compression energy storage and tension energy storage needs, which is more convenient to use.

[0016] A robot movable joint comprises a linear drive component and the above-mentioned movable auxiliary mechanism, wherein the linear drive component has a fixed end and a movable end capable of linear reciprocating motion relative to the fixed end, the cylinder body is arranged at the fixed end, and the outer sleeve is arranged at the movable end.

[0017] This technical solution has at least the following beneficial effects: the linear drive member mainly provides a driving force for movement in a linear direction. During operation, the movable end can be close to or away from the fixed end. When the movable end moves up and down relative to the fixed end, the locking assembly and the fixed rod are in a mutually unlocked state. The outer sleeve can move up and down relative to the cylinder body driven by the movable end, and drive the elastic assembly connected between the upper limit member and the lower limit member to undergo elastic deformation in the up and down directions. The elastic energy storage of the elastic assembly can assist the reverse movement of the linear drive member and reduce the energy consumption of the robot activity. When the movable end of the linear drive member moves to the set position and needs to be positioned, the locking assembly is used to lock the fixed rod. At this time, the mutual locking force between the locking assembly and the fixed rod can limit the movable end of the linear drive member from moving up and down relative to the fixed end, so that the linear drive member maintains the driving load in the current active state, which is conducive to achieving precise positioning of the linear drive member after moving into position. In this way, in the movable joint of the robot, the energy storage of the elastic assembly can reduce the working energy consumption of the movable joint of the robot, and improve the stability and accuracy of the movement of the movable joint of the robot, which is particularly suitable for use with larger loads. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly describes the drawings required for use in the description of the embodiments. Obviously, the drawings described are only part of the embodiments of the present invention, not all of the embodiments, and those skilled in the art can also obtain other design solutions and drawings based on these drawings without creative work.

[0019] Figure 1 It is a front view of the activity assisting mechanism of the present invention.

[0020] Figure 2 yes Figure 1 Schematic diagram of the AA cross-section structure.

[0021] Figure 3 yes Figure 2 A partial enlarged schematic diagram of part B.

[0022] Figure 4 It is a three-dimensional diagram of the robot's active joints.

[0023] In the accompanying drawings: 100-cylinder body, 110-lower limit member, 120-fixing rod, 200-outer sleeve, 210-upper limit member, 220-inner fixing ring, 230-outer fixing ring, 310-inner sleeve, 311-transmission section, 312-clamping block, 320-retaining sleeve, 321-limiting protrusion, 330-top pressure spring, 410-compression spring, 420-limiting ring, 430-tension spring, 500-linear driving member, 510-fixed end, 520-movable end. DETAILED DESCRIPTION

[0024] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0025] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0026] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood as not including the number itself, and "above", "below", "within" etc. are understood as including the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0027] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0028] Reference Figure 1 and Figure 2, an activity assisting mechanism, comprising a cylinder body 100, an outer sleeve 200, an elastic component and a locking component, wherein a lower limit piece 110 is connected to the outer side of the cylinder body 100, and a fixing rod 120 extending vertically upward is connected to the inner bottom side of the cylinder body 100; the bottom of the outer sleeve 200 is inserted into the cylinder body 100, the top of the fixing rod 120 is located in the outer sleeve 200, and an upper limit piece 210 is connected to the outer side of the top of the outer sleeve 200; the elastic component is connected between the upper limit piece 210 and the lower limit piece 110, and the elastic component can generate elastic deformation in the up and down directions; the locking component is arranged in the outer sleeve 200, and the locking component can be locked or unlocked with the fixing rod 120.

[0029] As can be seen from the above, the cylinder body 100 is connected to the fixed point of the external robot active driving source, and the outer sleeve 200 is connected to the active point of the robot active driving source. When the active point of the robot active driving source moves up and down relative to the fixed point, the locking component and the fixed rod 120 are in a mutually unlocked state. The outer sleeve 200 can move up and down relative to the cylinder body 100, and drive the elastic component connected between the upper limit member 210 and the lower limit member 110 to undergo elastic deformation in the up and down directions. The elastic force energy storage of the elastic component can assist the reverse movement of the active point of the robot active driving source, reduce the energy consumption of the robot activity, and when the activity of the robot active driving source When the point moves to the set position and needs to be positioned, the locking assembly is used to lock the fixed rod 120. At this time, the mutual locking force between the locking assembly and the fixed rod 120 can limit the up and down movement of the active point of the robot's active driving source relative to its fixed point, thereby reducing the driving load of the robot's active driving source to maintain the current active state, which is conducive to achieving accurate positioning of the robot's active driving source after moving into place. After being mounted on the robot's active joint, the energy storage of the elastic assembly can reduce the working energy consumption of the robot's active joint, and improve the stability and accuracy of the robot's active joint activity, which is especially suitable for use with larger loads.

[0030] The locking assembly is mainly used to lock and fix the outer sleeve 200 and the fixed rod 120 to each other. For example, a three-jaw chuck can be directly set on the inner side of the outer sleeve 200, and the fixed rod 120 passes through the three-jaw chuck. When the fixed rod 120 needs to be locked, the three clamping claws in the three-jaw chuck clamp the fixed rod 120 for positioning. When the fixed rod 120 needs to be unlocked, the three clamping claws in the three-jaw chuck release the fixed rod 120. In this embodiment, the locking assembly includes an inner sleeve 310 and a retaining sleeve 320. The inner sleeve 310 is located in the outer sleeve 200, and the retaining sleeve 320 is 20 is arranged in the outer sleeve 200 at a position below the inner sleeve 310, and the bottom end of the inner sleeve 310 is connected to the transmission section 311, and the transmission section 311 passes downward through the retaining sleeve 320 and is connected to the clamping block 312, and the fixed rod 120 extends upward into the transmission section 311 and the inner sleeve 310, and a plurality of clamping blocks 312 are arranged around the fixed rod 120, and a clamping groove with a space gradually shrinking upward is formed in the retaining sleeve 320, and a plurality of the clamping blocks 312 can enter the clamping groove and clamp the fixed rod 120. In actual application, a manual or automatic locking switch is provided between the outer sleeve 200 and the inner sleeve 310. For example, the locking switch can be a push switch provided at the top of the outer sleeve 200. The movable end 520 on the bottom side of the push switch is connected to the inner sleeve 310. Each time the push switch is pressed, the inner sleeve 310 can be driven to move upward or downward. Alternatively, the locking switch adopts a screw rod or a cylinder, etc. The screw rod or the cylinder is fixed in the outer sleeve 200 and is transmission-connected to the inner sleeve 310, which can drive the inner sleeve 310 to move up and down. When it is necessary to lock the locking assembly and the fixing rod 120 with each other, the locking switch applies an external force to the inner sleeve 310, so that the inner sleeve 310 moves upward relatively in the outer sleeve 200, driving the multiple clamping blocks 312 to enter the clamping groove. Since the space of the clamping groove in the retaining sleeve 320 gradually shrinks upward, that is, the inner side wall of the clamping groove is inclined. The arrangement is such that the retaining sleeve 320 is used to limit the plurality of clamping blocks 312, and a clamping force that presses inward can be provided to the plurality of clamping blocks 312, so that the plurality of clamping blocks 312 can clamp and fix the fixed rod 120 at the same time, so that the relative locking of the inner sleeve 310 and the fixed rod 120 can be achieved, and the locking and fixing force provided can effectively reduce the load required for the robot's movable joint to maintain the current position. When it is necessary to unlock the locking assembly and the fixed rod 120 from each other, the locking switch applies an external force to the inner sleeve 310, so that the inner sleeve 310 moves downward relatively in the outer sleeve 200, and at this time, the plurality of clamping blocks 312 leave the clamping groove downward, and after the clamping limit of the retaining sleeve 320 on the plurality of clamping blocks 312 is removed, the plurality of clamping blocks 312 no longer clamp and fix the fixed rod 120, and at this time, the inner sleeve 310 and the fixed rod 120 can be unlocked, and the outer sleeve 200 can move up and down with the robot's movable joint.

[0031] In the above embodiment, the retaining sleeve 320 can be directly fixed in the outer sleeve 200, but it is difficult to assemble the two when they are fixed to each other. Alternatively, the retaining sleeve 320 and the outer sleeve 200 are directly integrally formed, but since a clamping groove that gradually shrinks upward also needs to be formed in the retaining sleeve 320, it is also difficult to directly form them as one piece. In order to improve the convenience of overall assembly, in the present embodiment, the inner side of the bottom of the outer sleeve 200 is connected to the inner side, the outer diameter of the transmission section 311 is smaller than the outer diameter of the inner sleeve 310, and a pressure spring 330 is provided on the outer side of the transmission section 311. The upper end of the pressure spring 330 abuts against the bottom end of the inner sleeve 310, and the lower end of the pressure spring 330 abuts against the top end of the retaining sleeve 320. The pressure spring 330 has a tendency to press the retaining sleeve 320 downward against the top side of the inner fixing ring 220. Since the outer diameter of the transmission section 311 is smaller than the outer diameter of the inner sleeve 310, an annular step for limiting is formed between the top end of the transmission section 311 and the bottom end of the inner sleeve 310. The top pressure spring 330 sleeved on the outside of the transmission section 311 can be pressed against the bottom end of the inner sleeve 310, and the top pressure spring 330 is used to press the retaining sleeve 320 against the inner fixing ring 220, so that the retaining sleeve 320 is relatively fixed in the outer sleeve 200. In this way, the retaining sleeve 320 and the outer sleeve 200 can be designed as a split design, which is convenient for overall production and assembly.

[0032] In actual applications, the clamp block 312 located at the bottom end of the connecting section has an elastic restoring force to move away from the fixing rod 120 when there is no inward pressure from the retaining sleeve 320, thereby reducing the contact between the fixing rod 120 and the clamp block 312 and improving the smoothness of the relative upward and downward displacement of the fixing rod 120 and the inner sleeve 310.

[0033] When the outer wall of the fixing rod 120 is a vertical cylindrical structure, the clamping force that the clamping block 312 can provide when clamping the outer side of the fixing rod 120 is relatively small. Therefore, in order to better improve the clamping force of the clamping block 312 on the fixing rod 120, in this embodiment, the outer diameter of the fixing rod 120 is gradually reduced. The outer wall of the fixing rod 120 is inclined, and the entire outer wall is a tapered surface that gradually decreases from bottom to top. When multiple clamping blocks 312 are against the outer wall of the fixing rod 120 to clamp the fixing rod 120, the inclined outer wall of the fixing rod 120 can change the force direction of the clamping block 312, thereby increasing the clamping force of the clamping block 312 against the outer surface of the fixing rod 120, thereby further increasing the locking force on the fixing rod 120.

[0034] Further, such as Figure 3As shown, a limiting protrusion 321 is provided on the inner side of the top of the retaining sleeve 320, which protrudes toward the fixed rod 120. The limiting protrusion 321 extends around the retaining sleeve 320, and a limiting step is provided on the outer side of the clamping block 312, which can be connected with the limiting protrusion 321. When the multiple clamping blocks 312 enter the clamping groove, the limiting steps on the outer sides of the multiple clamping blocks 312 cooperate with the limiting protrusion 321 on the inner side of the top of the retaining sleeve 320, so that the movement of the multiple clamping blocks 312 can be limited, effectively preventing the multiple clamping blocks 312 from excessively moving upward in the clamping groove, and the limiting protrusion 321 of the retaining sleeve 320 can provide a resisting force for the multiple clamping blocks 312 to rotate toward the fixed rod 120, further improving the clamping force of the multiple clamping blocks 312 on the fixed rod 120.

[0035] The elastic component is mainly used to provide elastic deformation along the up and down directions, and its structural forms are various. For example, the elastic component only uses one type of spring. In the present embodiment, the elastic component includes a compression spring 410, a limit ring 420 and a tension spring 430. The limit ring 420 is sleeved on the outside of the outer sleeve 200. The outer diameter of the limit ring 420 is larger than the outer diameter of the cylinder body 100. The compression spring 410 is sleeved on the outside of the outer sleeve 200. The upper and lower ends of the compression spring 410 are respectively connected to the upper limit member 210 and the limit ring 420. The tension spring 430 is sleeved on the outside of the cylinder body 100. The upper and lower ends of the tension spring 430 are respectively connected to the limit ring 420 and the lower limit member 110. The upper limit member 210, the compression spring 410, the limiting ring 420, the tension spring 430 and the lower limit member 110 form a composite elastic structure, which can provide different elastic forces for compression and tension respectively. Specifically, when the outer sleeve 200 is subjected to an upward pulling force, the upper limit member 210 is driven to move upward at the same time. At this time, the elastic deformation of the compression spring 410 is small, and the tension spring 430 produces a major elastic deformation. When the outer sleeve 200 is subjected to a downward pressure, the lower limit member 110 is driven to move downward at the same time. Since the outer diameter of the limiting ring 420 is larger than the outer diameter of the cylinder body 100, the limiting ring 420 is against the cylinder body 100 at this time. 00, the tension spring 430 is not compressed, and is mainly deformed elastically by the compression spring 410 between the upper limit member 210 and the limit ring 420, thus forming a composite elastic structure. The tension spring 430 provides the energy storage required for tensioning, and the compression spring 410 provides the energy storage required for compression, thereby improving the performance of the robot's active joints under different stress conditions and providing a smoother mechanical response. Specifically, the compression spring 410 effectively absorbs impact force when the joint is compressed, and the tension spring 430 reduces the reaction force when the joint is stretched, thereby reducing vibration and improving the movement stability of the robot's active joints.

[0036] In order to better distinguish the energy storage effects of the compression spring 410 and the tension spring 430, in the present embodiment, an outer fixing ring 230 is connected to the outer side of the outer sleeve 200 below the limiting ring 420, and the compression spring 410 presses the limiting ring 420 downward against the outer fixing ring 230, and the outer fixing ring 230 can be moved downward into the cylinder body 100. The outer fixing ring 230 can limit the relative downward movement of the limit ring 420. When the outer sleeve 200 moves upward, the outer fixing ring 230 is used to drive the limit ring 420 to move upward. At this time, the compression spring 410 located between the upper limit member 210 and the limit ring 420 is not stretched, and the stretching deformation is completely dependent on the tension spring 430 between the limit ring 420 and the lower limit member 110. When the outer sleeve 200 moves downward, the outer sleeve 200 drives the outer fixing ring 230 to enter the cylinder body 100, and at this time, the compression spring 410 located between the upper limit member 210 and the limit ring 420 is compressed.

[0037] In some embodiments, the compression spring 410 is a conical helical spring. Due to the nonlinear load-length characteristics of the conical helical spring, the compression spring 410 can increase the energy storage effect as the compression amount increases, thereby compensating for the impact of the load center of gravity offset and further improving the stability when subjected to force.

[0038] In order to better meet different usage needs, in this embodiment, the upper limit member 210 is connected to the outer side of the outer sleeve 200 by threading, and the lower limit member 110 is connected to the outer side of the cylinder body 100 by threading. The upper limit member 210 can adjust the initial position of the upper limit member 210 on the outer side of the outer sleeve 200 by changing the threaded fit with the outer side of the outer sleeve 200, thereby adjusting the preload of the compression spring 410. Similarly, the lower limit member 110 can adjust the initial position of the lower limit member 110 on the outer side of the cylinder body 100 by changing the threaded fit with the outer side of the cylinder body 100, thereby adjusting the preload of the tension spring 430. In this way, it can be adjusted according to different compression energy storage and tension energy storage needs, which is more convenient to use. In actual applications, the upper limit member 210 and the lower limit member 110 can be fixed on the outside of the outer sleeve 200 and the cylinder body 100 respectively, and then the compression spring 410 and the tension spring 430 can be connected to the upper limit member 210 and the lower limit member 110 respectively. In order to facilitate the adjustment of the positions of the upper limit member 210 and the lower limit member 110 during use, an upper connecting ring can be connected to the bottom side of the upper limit member 210 through a bearing, the upper limit member 210 is connected to the outside of the outer sleeve 200 through a thread, and the top of the compression spring 410 is connected to the bottom side of the upper connecting ring. Similarly, a lower connecting ring can be connected to the top side of the lower limit member 110 through a bearing, the lower limit member 110 is connected to the outside of the cylinder body 100 through a thread, and the bottom end of the tension spring 430 is connected to the lower connecting ring. In this way, the positions of the upper limit member 210 and the lower limit member 110 can also be adjusted during use.

[0039] A robot movable joint, such as Figure 4 As shown, it includes a linear driving member 500 and the above-mentioned activity auxiliary mechanism, wherein the linear driving member 500 has a fixed end 510 and a movable end 520 that can reciprocate along a straight line relative to the fixed end 510, the cylinder body 100 is arranged at the fixed end 510, and the outer sleeve 200 is arranged at the movable end 520. The number of the activity auxiliary mechanism can be one or more.

[0040] In this robot movable joint, the linear drive member 500 mainly provides the driving force for movement in the linear direction, and can be a cylinder, a screw or a hydraulic cylinder, etc. During operation, the movable end 520 can be close to or away from the fixed end 510. When the movable end 520 moves up and down relative to the fixed end 510, the locking assembly and the fixed rod 120 are in a mutually unlocked state. The outer sleeve 200 can move up and down relative to the cylinder body 100 driven by the movable end 520, and drive the elastic assembly connected between the upper limit member 210 and the lower limit member 110 to undergo elastic deformation in the up and down directions. The elastic force energy storage of the elastic assembly can assist the reverse movement of the linear drive member 500, thereby reducing the energy consumption of the robot's activities. When the movable end 520 of the linear drive member 500 moves to the set position and needs to be positioned, the locking assembly is used to lock the fixed rod 120. At this time, the mutual locking force between the locking assembly and the fixed rod 120 can limit the movable end 520 of the linear drive member 500 from moving up and down relative to the fixed end 510, so that the linear drive member 500 maintains the driving load in the current active state, which is conducive to achieving accurate positioning of the linear drive member 500 after moving into place. In this way, in this robot active joint, the energy storage of the elastic component can reduce the working energy consumption of the robot active joint, and improve the stability and accuracy of the robot active joint activity, which is particularly suitable for use with larger loads.

[0041] The preferred embodiments of the present invention are specifically described above, but the invention is not limited to the embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. An activity assisting mechanism, characterized in that: include: A cylinder body (100) is connected to a lower stopper (110) on the outside, and a fixing rod (120) extending vertically upward is connected to the inner bottom side of the cylinder body (100); The outer sleeve (200) has a bottom portion inserted into the cylinder body (100), the top portion of the fixing rod (120) is located in the outer sleeve (200), and an upper limit member (210) is connected to the outer side of the top portion of the outer sleeve (200); An elastic component connected between the upper limit member (210) and the lower limit member (110), wherein the elastic component can generate elastic deformation in an up-down direction; A locking assembly is disposed in the outer sleeve (200), and the locking assembly can be mutually locked or unlocked with the fixing rod (120).

2. The activity assisting mechanism according to claim 1, characterized in that: The locking assembly comprises an inner sleeve (310) and a retaining sleeve (320), wherein the inner sleeve (310) is located inside the outer sleeve (200), and the retaining sleeve (320) is arranged inside the outer sleeve (200) at a position below the inner sleeve (310), and the bottom end of the inner sleeve (310) is connected with a transmission section (311), and the transmission section (311) passes downward through the retaining sleeve (320) and is connected with a clamping block (312), and the fixing rod (120) extends upward into the transmission section (311) and the inner sleeve (310), and a plurality of clamping blocks (312) are arranged around the fixing rod (120), and a clamping groove with a space gradually shrinking upward is formed inside the retaining sleeve (320), and a plurality of the clamping blocks (312) can enter the clamping groove and clamp the fixing rod (120).

3. The activity assisting mechanism according to claim 2, characterized in that: The inner side of the bottom of the outer sleeve (200) is connected to an inner fixing ring (220), the outer diameter of the transmission section (311) is smaller than the outer diameter of the inner sleeve (310), and the outer side of the transmission section (311) is provided with a top pressure spring (330), the upper end of the top pressure spring (330) abuts against the bottom end of the inner sleeve (310), and the lower end of the top pressure spring (330) abuts against the top end of the retaining sleeve (320), and the top pressure spring (330) has a tendency to press the retaining sleeve (320) downward against the top side of the inner fixing ring (220).

4. The activity assisting mechanism according to claim 2, characterized in that: The outer diameter of the fixing rod (120) gradually decreases in the upward direction.

5. The activity assisting mechanism according to claim 2, characterized in that: A limiting protrusion (321) is provided on the inner side of the top of the retaining sleeve (320) and protrudes towards the fixing rod (120). The limiting protrusion (321) extends around the retaining sleeve (320). A limiting step is provided on the outer side of the clamping block (312). The limiting step can be mutually matched and connected with the limiting protrusion (321).

6. The activity assisting mechanism according to claim 1, characterized in that: The elastic component comprises a compression spring (410), a limiting ring (420) and a tension spring (430); the limiting ring (420) is sleeved on the outside of the outer sleeve (200); the outer diameter of the limiting ring (420) is greater than the outer diameter of the cylinder body (100); the compression spring (410) is sleeved on the outside of the outer sleeve (200); the upper and lower ends of the compression spring (410) are respectively connected to the upper limit member (210) and the limiting ring (420); the tension spring (430) is sleeved on the outside of the cylinder body (100); the upper and lower ends of the tension spring (430) are respectively connected to the limiting ring (420) and the lower limit member (110).

7. The activity assisting mechanism according to claim 6, characterized in that: An outer fixing ring (230) is connected to the outer side of the outer sleeve (200) at a position below the limiting ring (420); the compression spring (410) presses the limiting ring (420) downward onto the outer fixing ring (230); and the outer fixing ring (230) cooperates to move downward into the cylinder body (100).

8. The activity assisting mechanism according to claim 6, characterized in that: The compression spring (410) is a conical helical spring.

9. The activity assisting mechanism according to claim 1, characterized in that: The upper limit member (210) is connected to the outside of the outer sleeve (200) via threads, and the lower limit member (110) is connected to the outside of the cylinder body (100) via threads.

10. A robot movable joint, characterized in that: The invention comprises a linear drive member (500) and a movable auxiliary mechanism as claimed in any one of claims 1 to 9, wherein the linear drive member (500) has a fixed end (510) and a movable end (520) capable of linear reciprocating movement relative to the fixed end (510), the cylinder body (100) is arranged at the fixed end (510), and the outer sleeve (200) is arranged at the movable end (520).

Images