A movable auxiliary mechanism and a robot movable joint

Abstract

The application discloses an activity auxiliary mechanism and a robot activity joint, wherein the activity auxiliary mechanism comprises a cylinder body, an outer side of which is connected with a lower limiting part, an inner bottom side of the cylinder body is connected with a fixed rod extending vertically upward, an outer sleeve is inserted into the cylinder body, a top of the fixed rod is located in the outer sleeve, a top of the outer sleeve is connected with an upper limiting part outside, an elastic component is connected between the upper limiting part and the lower limiting part, the elastic component can produce elastic deformation along the up-down direction, and a locking component is arranged in the outer sleeve, the locking component can be locked or unlocked with the fixed rod. After the application is installed on the robot activity joint, the energy storage of the elastic component can reduce the working energy consumption of the robot activity joint, improve the stability and precision of the robot activity joint, and is especially suitable for use requirements with larger load.

Description

Technical Field

[0001] This invention relates to a robotic arm, and more particularly to an assistive mechanism and a robotic joint. Background Technology

[0002] With the development of 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 a decrease in the dynamic performance of the robot and an increase in energy consumption.

[0003] Currently, some robot joints incorporate springs for energy storage. However, since the energy storage and release times cannot be controlled independently of joint movement, when the spring deforms to a certain extent, it generates a significant reaction force. This forces the motor to consume more energy to counteract this reaction force, which is even more pronounced in symmetrically driven parallel robots. Furthermore, when the joint needs to remain stationary, the energy stored in the spring becomes superfluous, and the spring may cause oscillations that interfere with the intended control of the robot's joints, thus hindering joint movement and precise positioning. Therefore, there is an urgent need for an auxiliary mechanism that can improve the stability of robot joints and reduce energy consumption during movement. Summary of the Invention

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

[0005] The solution to the technical problem of this invention is:

[0006] An activity assist mechanism includes: a cylinder body with a lower limit member connected to its outer side, and a vertically upward extending fixed rod connected to the bottom side of the cylinder body; an outer sleeve with its bottom inserted into the cylinder body, the top of the fixed rod located inside the outer sleeve, and an upper limit member connected to the outer side of the top of the outer sleeve; an elastic component connected between the upper limit member and the lower limit member, the elastic component being capable of elastic deformation in the vertical direction; and a locking component disposed inside the outer sleeve, the locking component being capable of locking or unlocking with the fixed rod.

[0007] This technical solution has at least the following beneficial effects: The cylinder is connected to the fixed point of the external robot motion drive source, and the outer sleeve is connected to the movable point of the robot motion drive source. When the movable point of the robot motion drive source moves up and down relative to the fixed point, the locking component and the fixed rod are unlocked. The outer sleeve can move up and down relative to the cylinder, and drive the elastic component connected between the upper limit component and the lower limit component to undergo elastic deformation in the vertical direction. The elastic force stored in the elastic component can assist the reverse movement of the movable point of the robot motion drive source, reducing the energy consumption of the robot motion. When the movable point of the robot motion drive source moves to the set position and needs to be positioned, the locking component locks the fixed rod. At this time, the mutual locking force between the locking component and the fixed rod can limit the up and down movement of the movable point of the robot motion drive source relative to its fixed point, thereby reducing the drive load of the robot motion drive source to maintain the current active state. This is conducive to achieving accurate positioning of the robot motion drive source after it moves into place. After being installed on the robot motion joint, the energy storage of the elastic component can reduce the working energy consumption of the robot motion joint and improve the stability and accuracy of the robot motion joint movement, which is especially suitable for applications with larger loads.

[0008] As a further improvement to the above technical solution, the locking assembly includes an inner sleeve and a retaining sleeve. The inner sleeve is located inside the outer sleeve, and the retaining sleeve is located inside the outer sleeve 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 fixing rod extends upward to the transmission section and the inner sleeve. Multiple clamping blocks are arranged around the fixing rod. The retaining sleeve is surrounded by a clamping groove with a gradually narrowing upward space. The multiple clamping blocks can enter the clamping groove and clamp the fixing rod. In use, a manual or automatic locking switch is installed between the outer sleeve and the inner sleeve. When it is necessary to lock the locking assembly and the fixing rod together, the locking switch applies external force to the inner sleeve, causing the inner sleeve to move upward relative to the outer sleeve, driving multiple clamping blocks into the clamping groove. Because the space of the clamping groove inside the retaining sleeve gradually decreases upward, that is, the inner sidewall of the clamping groove is inclined, the retaining sleeve limits the multiple clamping blocks, and can provide an inward clamping force to the multiple clamping blocks, so that the multiple clamping blocks clamp and fix the fixing rod simultaneously. This achieves... The relative locking between the inner sleeve and the fixed rod provides a locking force that effectively reduces the load required to maintain the current position of the robot's moving joints. When it is necessary to unlock the locking assembly and the fixed rod, the locking switch applies an external force to the inner sleeve, causing the inner sleeve to move downward relative to the outer sleeve. At this time, multiple clamping blocks move downward away from the clamping groove. After the retaining sleeve removes the clamping limit on the multiple clamping blocks, the multiple clamping blocks no longer clamp and fix 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 moving joints.

[0009] As a further improvement to the above technical solution, an inner fixing ring is connected to the bottom inner side of the outer sleeve. The outer diameter of the transmission section is smaller than the outer diameter of the inner sleeve. A top-compression spring is sleeved on the outer side of the transmission section. The upper end of the top-compression spring abuts against the bottom end of the inner sleeve, and the lower end of the top-compression spring abuts against the top end of the retaining sleeve. The top-compression 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-compression spring sleeved on the outer side of the transmission section can abut against the bottom end of the inner sleeve, and the top-compression spring can be used to press the retaining sleeve against the inner fixing ring, thereby fixing the retaining sleeve relatively inside the outer sleeve. In this way, the retaining sleeve and the outer sleeve can be designed as separate units, which facilitates overall production and assembly.

[0010] As a further improvement to the above technical solution, the outer radial direction of the fixing rod gradually decreases upwards. The outer side wall of the fixing rod is inclined, and the entire outer side wall is a tapered surface that gradually decreases from bottom to top. When multiple clamping blocks abut against the outer side wall of the fixing rod and clamp the fixing rod, the inclined outer side wall of the fixing rod can change the direction of the force applied by the clamping blocks, increase the clamping force of the clamping blocks pressing against the outer surface of the fixing rod, and thus further improve the locking force on the fixing rod.

[0011] As a further improvement to the above technical solution, a limiting protrusion is provided on the inner top side of the retaining sleeve, protruding towards the fixing rod. The limiting protrusion extends around the retaining sleeve, and a limiting step is provided on the outer side of the clamping block. The limiting step can cooperate with the limiting protrusion. 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 top side of the retaining sleeve, thus limiting the movement of the multiple clamping blocks and effectively preventing the multiple clamping blocks from moving excessively upward in the clamping groove. Furthermore, the limiting protrusion on the retaining sleeve can provide a counterforce to the multiple clamping blocks to rotate towards the fixing rod, further improving the clamping force of the multiple clamping blocks on the fixing rod.

[0012] As a further improvement to 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. The compression spring is sleeved on the outside of the outer sleeve, and its upper and lower ends are respectively connected to the upper limiting member and the limiting ring. The tension spring is sleeved on the outside of the cylinder, and its upper and lower ends are respectively connected to the limiting ring and the lower limiting member. The upper limit component, compression spring, limit ring, tension spring, and lower limit component form a composite elastic structure that can provide different elastic forces for compression and tension respectively. Specifically, when the outer sleeve is subjected to an upward pulling force, it causes the upper limit component to move upward simultaneously. At this time, the elastic deformation of the compression spring is relatively small, while the tension spring produces the main elastic deformation. When the outer sleeve is subjected to a downward pressure, it causes the lower limit component to move downward simultaneously. Since the outer diameter of the limit ring is larger than the outer diameter of the cylinder, the limit ring abuts against the top of the cylinder. The tension spring is not compressed, and the elastic deformation is mainly due to the compression spring between the upper limit component and the limit ring. This forms a composite elastic structure, using the tension spring to provide the energy storage required for tension and the compression spring to provide the energy storage required for compression. This improves the performance of the robot's movable joint under different stress conditions and provides a smoother mechanical response. Specifically, the compression spring effectively absorbs the impact force when the joint is compressed, while the tension spring reduces the reaction force when the joint is stretched, thereby reducing vibration and improving the motion stability of the robot's movable joint.

[0013] As a further improvement to the above technical solution, an outer fixing ring is connected to the outer side of the outer sleeve below the limiting ring. The compression spring presses the limiting ring downward against the outer fixing ring, and the outer fixing ring can move downward into the cylinder body. The outer fixing ring can limit the relative downward movement of the limiting ring. When the outer sleeve moves upward, the outer fixing ring drives the limiting ring to move upward. At this time, the compression spring between the upper limiting member and the limiting ring is not stretched, and the stretching deformation relies entirely on the tension spring between the limiting ring and the lower limiting member. When the outer sleeve moves downward, the outer sleeve drives the outer fixing ring into the cylinder body, at which time the compression spring between the upper limiting member and the limiting ring is compressed.

[0014] As a further improvement to the above technical solution, the compression spring is a conical helical spring. Due to the nonlinear load length characteristic of the conical helical spring, the compression spring can increase its energy storage effect with the increase of compression, thereby compensating for the influence of load center of gravity offset and further improving stability under force.

[0015] As a further improvement to the above technical solution, the upper limit member is threadedly connected to the outside of the outer sleeve, and the lower limit member is threadedly connected to the outside of the cylinder body. The upper limit member can be adjusted by changing its threaded connection with the outside of the outer sleeve, thereby adjusting its initial position and thus the preload of the compression spring. Similarly, the lower limit member can be adjusted by changing its threaded connection with the outside of the cylinder body, thereby adjusting its initial position and thus the preload of the tension spring. This allows for adjustment according to different compression and tension energy storage needs, making it more convenient to use.

[0016] A robot joint includes a linear drive and the aforementioned auxiliary mechanism. The linear drive has a fixed end and a movable end that can reciprocate along a straight line relative to the fixed end. A cylinder is disposed at the fixed end, and an outer sleeve is disposed at the movable end.

[0017] This technical solution has at least the following beneficial effects: The linear drive mainly provides the driving force for movement in a straight line. During operation, the movable end can move closer to or further away from the fixed end. When the movable end moves up and down relative to the fixed end, the locking component and the fixed rod are unlocked. The outer sleeve can move up and down relative to the cylinder under the drive of the movable end, and drive the elastic component connected between the upper limit component and the lower limit component to undergo elastic deformation in the up and down direction. The elastic energy stored in the elastic component can assist the reverse movement of the linear drive, reducing the energy consumption of the robot's movement. When the movable end of the linear drive moves to the set position and needs to be positioned, the locking component locks the fixed rod. At this time, the mutual locking force between the locking component and the fixed rod can limit the up and down movement of the movable end of the linear drive relative to the fixed end, so that the linear drive maintains the driving load of the current active state, which is conducive to achieving accurate positioning of the linear drive after it moves into place. Thus, in this robot's active joint, the energy storage of the elastic component can reduce the working energy consumption of the robot's active joint and improve the stability and accuracy of the robot's active joint movement, which is especially suitable for applications with larger loads. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly explained below. Obviously, the described drawings are only a part of the embodiments of the present invention, and not all of them. Those skilled in the art can obtain other design schemes and drawings based on these drawings without creative effort.

[0019] Figure 1 This is a front view of the active auxiliary mechanism of the present invention.

[0020] Figure 2 yes Figure 1 A schematic diagram of the AA cross-sectional structure.

[0021] Figure 3 yes Figure 2 A magnified view of part B.

[0022] Figure 4 It is a 3D diagram of the robot's moving joints.

[0023] In the attached diagram: 100-cylinder body, 110-lower limit component, 120-fixed rod, 200-outer sleeve, 210-upper limit component, 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 drive component, 510-fixed end, 520-moving end. Detailed Implementation

[0024] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0025] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0026] In the description of this invention, "several" means one or more, "more than" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0027] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0028] Reference Figure 1 and Figure 2An auxiliary mechanism for movement includes a cylinder 100, an outer sleeve 200, an elastic component, and a locking component. A lower limiting member 110 is connected to the outer side of the cylinder 100, and a vertically extending fixing rod 120 is connected to the inner bottom side of the cylinder 100. The bottom of the outer sleeve 200 is inserted into the cylinder 100, and the top of the fixing rod 120 is located inside the outer sleeve 200. An upper limiting member 210 is connected to the outer side of the top of the outer sleeve 200. The elastic component is connected between the upper limiting member 210 and the lower limiting member 110, and the elastic component can generate elastic deformation in the vertical direction. The locking component is disposed inside the outer sleeve 200, and the locking component can be locked or unlocked with the fixing rod 120.

[0029] As described above, the cylinder 100 is connected to the fixed point of the external robot drive source, and the outer sleeve 200 is connected to the movable point of the robot drive source. When the movable point of the robot drive source moves up and down relative to the fixed point, the locking component and the fixing rod 120 are mutually unlocked. The outer sleeve 200 can move up and down relative to the cylinder 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 vertical direction. The elastic force of the elastic component stores energy to assist the reverse movement of the movable point of the robot drive source, reducing the energy consumption of the robot's movement. When the point moves to the set position and needs to be positioned, the locking assembly locks 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 moving point of the robot's motion drive source relative to its fixed point, thereby reducing the drive load of the robot's motion drive source to maintain the current active state. This is beneficial to achieving accurate positioning of the robot's motion drive source after it has moved into place. When installed on the robot's movable joint, the energy storage of the elastic component can reduce the working energy consumption of the robot's movable joint and improve the stability and accuracy of the robot's movable joint movement, which is especially suitable for applications with larger loads.

[0030] The locking assembly is mainly used to lock the outer sleeve 200 and the fixing rod 120 together. For example, a three-jaw chuck can be directly installed inside the outer sleeve 200, with the fixing rod 120 passing through it. When the fixing rod 120 needs to be locked, the three jaws in the three-jaw chuck clamp and position the fixing rod 120. When the fixing rod 120 needs to be unlocked, the three jaws in the three-jaw chuck release the fixing rod 120. In this embodiment, the locking assembly includes an inner sleeve 310 and a retaining sleeve 320. The inner sleeve 310 is located inside the outer sleeve 200, and the retaining sleeve 320... 20 is located inside the outer sleeve 200, below the inner sleeve 310. The bottom end of the inner sleeve 310 is connected to a transmission section 311. The transmission section 311 passes downward through the retaining sleeve 320 and is connected to a clamping block 312. The fixing rod 120 extends upward into the transmission section 311 and the inner sleeve 310. Multiple clamping blocks 312 are arranged around the fixing rod 120. The retaining sleeve 320 is surrounded by a clamping groove that gradually narrows upward. Multiple clamping blocks 312 can enter the clamping groove and clamp the fixing rod 120. In practical applications, 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-button switch located at the top of the outer sleeve 200, with the movable end 520 at the bottom of the push-button switch connected to the inner sleeve 310. Each time the push-button switch is pressed, it can drive the inner sleeve 310 to move up or down. Alternatively, the locking switch can be a screw or cylinder, which is fixed inside the outer sleeve 200 and drives the inner sleeve 310, allowing it to move up and down. When it is necessary to lock the locking assembly and the fixing rod 120 together, the locking switch applies external force to the inner sleeve 310, causing the inner sleeve 310 to move upward relative to the outer sleeve 200, driving multiple clamping blocks 312 into the clamping groove. Since the space of the clamping groove inside the retaining sleeve 320 gradually decreases upward, that is, the inner wall of the clamping groove is inclined... The retaining sleeve 320 limits the multiple clamping blocks 312, providing an inward clamping force to the multiple clamping blocks 312, so that the multiple clamping blocks 312 simultaneously clamp and fix the fixing rod 120. This achieves relative locking between the inner sleeve 310 and the fixing rod 120. The provided locking force effectively reduces the load required for the robot's moving joints to maintain their current position. When it is necessary to unlock the locking assembly and the fixing rod 120, the locking switch applies an external force to the inner sleeve 310, causing the inner sleeve 310 to move downward relative to the outer sleeve 200. At this time, the multiple clamping blocks 312 move downward away from the clamping groove. After the retaining sleeve 320 is removed from the clamping limit of the multiple clamping blocks 312, the multiple clamping blocks 312 no longer clamp and fix the fixing rod 120. At this time, the inner sleeve 310 and the fixing rod 120 can be unlocked, and the outer sleeve 200 can move up and down with the robot's moving joints.

[0031] In the above embodiments, the retaining sleeve 320 can be directly fixed inside the outer sleeve 200, but it is difficult to assemble the two together. Alternatively, the retaining sleeve 320 and the outer sleeve 200 can be directly integrally formed, but since the retaining sleeve 320 also needs to have an upwardly tapering groove formed inside, it is also difficult to directly integrally form. In order to improve the convenience of overall assembly, in this embodiment, an inner fixing ring 220 is connected to the bottom inner side of the outer sleeve 200. The outer diameter of the transmission section 311 is smaller than the outer diameter of the inner sleeve 310. A top pressure spring 330 is sleeved on the outer side of the transmission section 311. 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. The top pressure spring 330 has the 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 the position 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 abut against the bottom end of the inner sleeve 310, and the top pressure spring 330 uses the retaining sleeve 320 to abut against the inner fixing ring 220, so that the retaining sleeve 320 is relatively fixed inside the outer sleeve 200. In this way, the retaining sleeve 320 and the outer sleeve 200 can be designed as separate units, which facilitates the overall production and assembly.

[0032] In practical applications, the clamping block 312 located at the bottom of the connecting section has an elastic restoring force that moves away from the fixed rod 120 when it is not subjected to the inward pressure of the retaining sleeve 320. This reduces the contact between the fixed rod 120 and the clamping block 312 and improves the smoothness of the relative vertical displacement between the fixed 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 provided by the clamping block 312 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 radial direction of the fixing rod 120 gradually decreases. 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 abut against the outer wall of the fixing rod 120 and clamp the fixing rod 120, the inclined outer wall of the fixing rod 120 can change the direction of the force applied by the clamping block 312, increase the clamping force of the clamping block 312 against the outer surface of the fixing rod 120, and thus further improve the locking force on the fixing rod 120.

[0034] Furthermore, such as Figure 3As shown, the retaining sleeve 320 has a limiting protrusion 321 on its top inner side, protruding towards the fixing rod 120. The limiting protrusion 321 extends around the retaining sleeve 320. The clamping block 312 has a limiting step on its outer side, which can cooperate with the limiting protrusion 321. When multiple clamping blocks 312 enter the clamping groove, the limiting steps on the outer side of the multiple clamping blocks 312 cooperate with the limiting protrusion 321 on the top inner side of the retaining sleeve 320. This limits the movement of the multiple clamping blocks 312, effectively preventing the multiple clamping blocks 312 from moving excessively upward in the clamping groove. Furthermore, the retaining sleeve 320 with the limiting protrusion 321 can provide a resistance force to the multiple clamping blocks 312 as they rotate towards the fixing rod 120, further increasing the clamping force of the multiple clamping blocks 312 on the fixing rod 120.

[0035] The elastic component is mainly used to provide elastic deformation in the vertical direction. It has various structural forms; for example, an elastic component may use only one type of spring. In this embodiment, the elastic component includes 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, and its outer diameter is larger than that of the cylinder 100. The compression spring 410 is sleeved on the outside of the outer sleeve 200, and its upper and lower ends are respectively connected to the upper limiting member 210 and the limiting ring 420. The tension spring 430 is sleeved on the outside of the cylinder 100, and its upper and lower ends are respectively connected to the limiting ring 420 and the lower limiting member 110. The upper limit member 210, compression spring 410, limit ring 420, tension spring 430, and lower limit member 110 form a composite elastic structure that can provide different elastic forces for compression and tension respectively. Specifically, when the outer sleeve 200 is subjected to an upward pulling force, it causes the upper limit member 210 to move upward simultaneously. At this time, the elastic deformation of the compression spring 410 is relatively small, while the tension spring 430 produces the main elastic deformation. When the outer sleeve 200 is subjected to a downward pressure, it causes the lower limit member 110 to move downward simultaneously. Since the outer diameter of the limit ring 420 is larger than the outer diameter of the cylinder body 100, the limit ring 420 abuts against the cylinder body 110 at this time. At the top of 00, the tension spring 430 is not compressed. The compression spring 410 between the upper limit member 210 and the limit ring 420 is elastically deformed, thus forming a composite elastic structure. The tension spring 430 provides the energy required for tension, and the compression spring 410 provides the energy required for compression. This improves the performance of the robot's movable joint under different stress conditions and provides a smoother mechanical response. Specifically, the compression spring 410 effectively absorbs the impact force when the joint is compressed, while the tension spring 430 reduces the reaction force when the joint is stretched, thereby reducing vibration and improving the motion stability of the robot's movable joint.

[0036] To better distinguish the energy storage functions of the compression spring 410 and the tension spring 430, in this embodiment, an outer fixing ring 230 is connected to the outer side of the outer sleeve 200 below the limiting ring 420. 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 down into the cylinder body 100. The outer fixing ring 230 can limit the relative downward movement of the limiting ring 420. When the outer sleeve 200 moves upward, the outer fixing ring 230 drives the limiting ring 420 to move upward. At this time, the compression spring 410 located between the upper limit member 210 and the limiting ring 420 is not stretched, and it is stretched and deformed entirely by the tension spring 430 between the limiting 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 into the cylinder 100, which compresses the compression spring 410 located between the upper limit member 210 and the limiting ring 420.

[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 its energy storage effect with the increase of compression, thereby compensating for the influence of load center of gravity offset and further improving stability under stress.

[0038] To better meet different usage needs, in this embodiment, the upper limit member 210 is threadedly connected to the outside of the outer sleeve 200, and the lower limit member 110 is threadedly connected to the outside of the cylinder body 100. The upper limit member 210 can be adjusted by changing its threaded engagement with the outside of the outer sleeve 200, thereby adjusting the preload on the compression spring 410. Similarly, the lower limit member 110 can be adjusted by changing its threaded engagement with the outside of the cylinder body 100, thereby adjusting the preload on the tension spring 430. This allows for adjustment according to different compression and tension energy storage needs, making it more convenient to use. In practical applications, the upper limit member 210 and the lower limit member 110 can be fixed to the outer side of the outer sleeve 200 and the cylinder body 100, respectively. 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 position 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 outer side 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 outer side of the cylinder body 100 through a thread, and the bottom of the tension spring 430 is connected to the lower connecting ring. In this way, the position of the upper limit member 210 and the lower limit member 110 can also be adjusted during use.

[0039] A type of robotic joint, such as Figure 4 As shown, the device includes a linear drive 500 and the aforementioned movable auxiliary mechanism. The linear drive 500 has a fixed end 510 and a movable end 520 that can reciprocate linearly relative to the fixed end 510. The cylinder 100 is disposed at the fixed end 510, and the outer sleeve 200 is disposed at the movable end 520. The number of movable auxiliary mechanisms can be one or more.

[0040] In this robot's movable joint, the linear drive 500 mainly provides the driving force for movement in a linear direction. It can be a cylinder, lead screw, or hydraulic cylinder, etc. During operation, the movable end 520 can move closer to or further 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 mutually unlocked. Under the drive of the movable end 520, 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 component 210 and the lower limit component 110 to undergo elastic deformation in the vertical direction. The elastic force stored in the elastic component can assist the reverse movement of the linear drive 500, reducing the robot's energy consumption. When the movable end 520 of the linear drive 500 moves to the set position and needs to be positioned, the locking assembly locks the fixed rod 120. At this time, the mutual locking force between the locking assembly and the fixed rod 120 can restrict the movable end 520 of the linear drive 500 from moving up and down relative to the fixed end 510, so that the linear drive 500 maintains the driving load of the current active state, which is conducive to achieving accurate positioning of the linear drive 500 after it moves into place. In this way, through the energy storage of the elastic component in this robot joint, the working energy consumption of the robot joint can be reduced, and the stability and accuracy of the robot joint movement can be improved, which is especially suitable for use with larger loads.

[0041] The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the embodiments described. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention, and these equivalent modifications or substitutions are all included within the scope defined by the claims of this application.

Claims

1. An activity assist mechanism, characterized in that: include: The cylinder body (100) has a lower limit member (110) connected to its outer side, and a vertically upward extending fixing rod (120) is connected to the inner bottom side of the cylinder body (100). The outer sleeve (200) is inserted into the cylinder (100) at its bottom, the top of the fixing rod (120) is located inside the outer sleeve (200), and an upper limit member (210) is connected to the outer side of the top of the outer sleeve (200). An elastic component is connected between the upper limit member (210) and the lower limit member (110), and the elastic component can generate elastic deformation in the vertical direction; A locking assembly is disposed within the outer sleeve (200). The locking assembly can be locked or unlocked with the fixing rod (120). The locking assembly includes an inner sleeve (310) and a retaining sleeve (320). The inner sleeve (310) is located within the outer sleeve (200), and the retaining sleeve (320) is disposed within the outer sleeve (200) below the inner sleeve (310). A transmission section (311) is connected to the bottom end of the inner sleeve (310). The transmission section (311) passes downward through the retaining sleeve (320) and is connected to a clamping block (312). The fixing rod (120) extends upward into the transmission section (311) and the inner sleeve (310). Multiple clamping blocks (312) are disposed around the fixing rod (120). The retaining sleeve (320) is surrounded by a shaped... The clamping groove has a gradually narrowing upward space, and multiple clamping blocks (312) can enter the clamping groove and clamp the fixing rod (120). The elastic component includes 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), and the outer diameter of the limiting ring (420) is larger than the outer diameter of the cylinder (100). The compression spring (410) is sleeved on the outside of the outer sleeve (200), and 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 (100), and the upper and lower ends of the tension spring (430) are respectively connected to the limiting ring (420) and the lower limit member (110).

2. The activity assist mechanism according to claim 1, characterized in that: An inner fixing ring (220) is connected to the bottom inner side of the outer sleeve (200). The outer diameter of the transmission section (311) is smaller than the outer diameter of the inner sleeve (310). A top pressure spring (330) is sleeved on the outer side of the transmission section (311). 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). 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).

3. The activity assist mechanism according to claim 2, characterized in that: The outer radial direction of the fixing rod (120) gradually decreases.

4. The activity assist mechanism according to claim 2, characterized in that: The top inner side of the retaining sleeve (320) is provided with a limiting protrusion (321) that protrudes towards the fixing rod (120). The limiting protrusion (321) extends around the retaining sleeve (320). The outer side of the clamping block (312) is provided with a limiting step. The limiting step can cooperate with the limiting protrusion (321).

5. The activity assist mechanism according to claim 1, characterized in that: An outer fixing ring (230) is connected to the outer side of the outer sleeve (200) below the limiting ring (420). The compression spring (410) presses the limiting ring (420) downward against the outer fixing ring (230). The outer fixing ring (230) can be moved down into the cylinder (100).

6. The activity assist mechanism according to claim 1, characterized in that: The compression spring (410) is a conical helical spring.

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

8. A robotic movable joint, characterized in that: Includes a linear drive (500) and an active auxiliary mechanism as described in any one of claims 1 to 7, wherein the linear drive (500) has a fixed end (510) and an active end (520) that can reciprocate in a straight line relative to the fixed end (510), the cylinder (100) is disposed at the fixed end (510), and the outer sleeve (200) is disposed at the active end (520).

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