Operating mechanism and robot

Abstract

The invention relates to the technical field of robots, and discloses an operating mechanism and a robot. The operating mechanism comprises a guide sleeve and a supporting sleeve; a containing groove and an elastic assembly are arranged in the guide sleeve; a first mounting hole and a second mounting hole are formed in the supporting sleeve, and the guide sleeve is inserted into the first mounting hole and fixedly connected with the supporting sleeve; an operating rod is arranged in the second mounting hole, the first end of the operating rod extends into the containing groove, the first end of the operating rod is provided with a spherical part, and the second end of the operating rod is provided with a switching part; a sliding groove communicating with the containing groove is formed in the peripheral face of the guide sleeve. The sliding groove comprises a first groove body and a second groove body, a first plug pin penetrates through the spherical part, the first plug pin penetrates through the first groove body and abuts against the inner wall face of the first groove body, and the first plug pin can slide to the second groove body under driving of the spherical part. The invention aims at solving the problem that when a robot executes a rotating and twisting task on a workpiece, due to the fact that an operation mechanism and the workpiece are not concentric, too large friction force is easily generated between mechanical parts when the robot retreats.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to an operating mechanism and a robot. Background Art

[0002] In high-pressure environments, toxic gas environments, or other extremely harsh conditions, it is difficult to perform rotation and twisting operations, especially when it comes to the assembly, maintenance, or inspection of precision mechanical parts. Traditional technologies rely on robots to perform such operations. However, when the robot performs rotation and twisting tasks on the workpiece, because the robot's operating mechanism is not concentric with the workpiece, it is easy for the robot to generate excessive friction between the mechanical parts when it exits the operating mechanism, causing the operating mechanism to get stuck, and the robot cannot successfully complete the exit step after the operation, and it will damage the mechanical parts. Summary of the invention

[0003] The purpose of the present invention is to provide an operating mechanism and a robot so as to solve the technical problem that when the robot performs a rotational twisting task on a workpiece, due to the non-concentricity between the operating mechanism of the robot and the workpiece, excessive friction is easily generated between mechanical parts when the robot exits the operating mechanism, causing the operating mechanism to get stuck, the robot cannot successfully complete the exit step after the operation, and the mechanical parts are damaged.

[0004] In order to achieve the above object, the present invention provides an operating mechanism, which includes:

[0005] A guide sleeve and a support sleeve connected to the guide sleeve;

[0006] An elastic component and a receiving groove extending along a first direction are arranged in the guide sleeve, and the elastic component is slidably arranged in the receiving groove;

[0007] The support sleeve is provided with a first mounting hole and a second mounting hole extending along the first direction, the first mounting hole is provided at the first end of the support sleeve, the second mounting hole is provided at the second end of the support sleeve, and the second mounting hole is connected to the first mounting hole; the inner diameter of the first mounting hole is larger than the inner diameter of the second mounting hole, the first end of the guide sleeve is away from the first mounting hole, the second end of the guide sleeve is inserted into the first mounting hole and fixedly connected to the first end of the support sleeve, so that the accommodating groove is connected to the first mounting hole;

[0008] An operating rod is provided in the second mounting hole, a first end of the operating rod extends into the receiving groove, a spherical portion is provided at the first end of the operating rod, the spherical portion abuts against the elastic component, and a diameter of the spherical portion is larger than an inner diameter of the second mounting hole; a second end of the operating rod extends out of the second mounting hole, and a transition portion is provided at the second end of the operating rod;

[0009] The outer circumferential surface of the second end of the guide sleeve is provided with a sliding groove extending along the first direction, and the sliding groove is connected to the accommodating groove; the sliding groove includes a first groove and a second groove that are connected to each other; in the first direction, the second groove is located on a side of the first groove away from the elastic component; in the second direction, the width of the first groove is smaller than the width of the second groove;

[0010] The spherical portion is provided with a first latch, and the first latch is provided in the first groove. Both ends of the first latch in the second direction abut against the inner wall surface of the first groove. The first latch can slide to the second groove under the driving of the spherical portion.

[0011] In the operating mechanism of the present application, the accommodating groove includes a guide groove and a movable groove, the guide groove is provided at the first end of the guide sleeve, the movable groove is provided at the second end of the guide sleeve, the movable groove is connected to the guide groove, and the sliding groove is connected to the movable groove;

[0012] The second end of the guide sleeve is inserted into the first mounting hole and fixedly connected to the first end of the support sleeve, so that the movable groove is connected to the first mounting hole.

[0013] In the operating mechanism of the present application, the movable groove includes a third groove and a fourth groove that are connected to each other, the third groove is connected to the guide groove and the first groove, and the fourth groove is connected to the second groove and the first mounting hole; the inner diameter of the fourth groove is greater than the inner diameter of the third groove, and the inner diameter of the third groove is greater than or equal to the inner diameter of the guide groove;

[0014] The spherical portion abuts against the inner wall surface of the third slot, and the spherical portion can slide to the fourth slot under the drive of the operating rod, so that the spherical portion drives the first latch to slide from the first slot to the second slot.

[0015] In the operating mechanism of the present application, the fourth slot gradually becomes smaller from close to the first mounting hole to away from the first mounting hole.

[0016] In the operating mechanism of the present application, the elastic component includes a spring member and a guide column, the spring member is arranged in the guide groove, the guide column is arranged in the movable groove and abuts against the spring member, and the spherical portion abuts against the guide column.

[0017] In the operating mechanism of the present application, the spherical portion is provided with a first through hole extending along the axial centerline direction of the spherical portion, and the first latch is passed through the first through hole and fixedly connected to the spherical portion.

[0018] In the operating mechanism of the present application, the spherical portion is provided with a second through hole extending along the axis direction of the spherical portion, and the direction of the second through hole is perpendicular to the direction of the first through hole;

[0019] The first latch is provided with a third through hole extending in a radial direction of the first latch, and the operating mechanism further comprises a second latch, which is passed through the second through hole and the third through hole so that the first latch is fixedly connected to the spherical portion.

[0020] In the operating mechanism of the present application, a preset gap exists between the operating rod and the inner wall surface of the second mounting hole;

[0021] A plurality of pre-tightening holes are provided at the second end of the support sleeve, and the pre-tightening holes are connected to the second mounting hole. The plurality of pre-tightening holes are arranged at intervals on the outer peripheral surface of the support sleeve along the axial direction of the support sleeve, and a pre-tightening assembly is provided in each of the pre-tightening holes. The pre-tightening assembly is used to abut against the operating rod so that the operating rod is in the axial direction of the support sleeve.

[0022] In the operating mechanism of the present application, the pre-tightening assembly includes a support rod and a pre-tightening screw, the support rod abuts against the operating rod, and the pre-tightening screw abuts against the support rod.

[0023] In the operating mechanism of the present application, the pre-tightening assembly further includes a pre-tightening spring, which is disposed between the support rod and the pre-tightening screw, and two ends of the pre-tightening spring are respectively connected to the support rod and the pre-tightening screw.

[0024] In the operating mechanism of the present application, the operating mechanism further comprises a fastener;

[0025] The first end of the support sleeve is provided with a first threaded hole, the second end of the guide sleeve is provided with a second threaded hole, and the fastener is passed through the first threaded hole and the second threaded hole to ensure that the second end of the guide sleeve is fixedly connected to the first mounting hole.

[0026] In a second aspect, the present invention further provides a robot, comprising a robotic arm and the operating mechanism, wherein the robotic arm is connected to the operating mechanism.

[0027] The present invention provides an operating mechanism, which has the following beneficial effects:

[0028] When the operating mechanism is in operation, the robot arm applies external force to the workpiece through the operating mechanism, and the spherical part abuts against the elastic component, which is compressed at the left end of the receiving groove and has elastic potential energy. At this time, the first latch abuts against the inner wall surface of the first groove in the second direction. The first latch is restricted to the first groove and can only reciprocate in the first direction, but cannot swing in the second direction. At this time, the adapter at the right end of the operating rod is matched with the workpiece to be rotated, and the operating mechanism is rotated so that the adapter performs a rotational and twisting operation on the workpiece. When the robot arm releases external force on the workpiece through the operating mechanism, the elastic component releases elastic potential energy and pushes the spherical part to move in the direction of the first mounting hole, so that the first latch on the spherical part slides from the first groove to the second groove. Since the width of the second slot is greater than that of the first slot, when the first latch is located in the second slot, the operating rod can drive the first latch to be fine-tuned relative to the guide sleeve within a preset angle range. At this time, if the robot exits the entire operating mechanism, the operating rod has a certain degree of freedom along the first direction and a certain degree of freedom or swing space along the second direction. The operating rod can be fine-tuned to be concentric with the center of the workpiece. In this way, the robot is not easy to get stuck when exiting the operating mechanism, which improves the success rate of the robot's operation. The operating mechanism of this embodiment can replace the manual method to perform stable and safe rotation and twisting operations. When the operating mechanism is in the exit state, the operating rod has the degrees of freedom in the first direction and the second direction, which can avoid the operating mechanism from getting stuck and prevent damage to the operating mechanism or the workpiece structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A schematic diagram of the structure of an operating mechanism provided by an embodiment of the present invention;

[0030] Figure 2 Another structural schematic diagram of the operating mechanism provided by an embodiment of the present invention;

[0031] Figure 3 An exploded schematic diagram of an operating mechanism provided by an embodiment of the present invention;

[0032] Figure 4 Another exploded schematic diagram of the operating mechanism provided by an embodiment of the present invention;

[0033] Figure 5 A cross-sectional schematic diagram of an operating mechanism provided by an embodiment of the present invention when in a compressed state;

[0034] Figure 6 A cross-sectional schematic diagram of an operating mechanism provided by an embodiment of the present invention when in a non-compressed state;

[0035] Figure 7 A schematic diagram of the structure of a guide sleeve provided in an embodiment of the present invention;

[0036] Figure 8A cross-sectional schematic diagram of a guide sleeve provided in an embodiment of the present invention;

[0037] Fig. 9 A cross-sectional schematic diagram of a support sleeve provided in an embodiment of the present invention;

[0038] Fig.10 A schematic structural diagram of a pre-tightening assembly provided in an embodiment of the present invention.

[0039] The following are marked in the figure:

[0040] 10. Guide sleeve; 20. Support sleeve; 21. First mounting hole; 22. Second mounting hole; 23. Preload hole; 24. Preload assembly; 241. Support rod; 242. Preload screw; 243. Preload spring; 30. Elastic assembly; 31. Spring member; 32. Guide column; 40. Accommodating groove; 41. Guide groove; 42. Movable groove; 421. Third groove; 422. Fourth groove; 50. Operating rod; 51. Spherical portion; 52. Adapter portion; 53. First latch; 54. First through hole; 55. Second through hole; 56. Third through hole; 57. Second latch; 60. Sliding groove; 61. First groove; 62. Second groove; X, first direction; Y, second direction; 100. Operating mechanism. DETAILED DESCRIPTION

[0041] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0042] In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "back", "inside", "outside", etc. used in the present invention to indicate the orientation or positional relationship are based on the positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the devices and elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0043] In the description of the present invention, it should be understood that the present invention uses the terms "first", "second", etc. to describe various information, but these information should not be limited to these terms, and these terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present invention, "first" information may also be referred to as "second" information, and similarly, "second" information may also be referred to as "first" information.

[0044] like Figures 1 to 9As shown, an embodiment of the present invention provides an operating mechanism 100, which includes a guide sleeve 10 and a support sleeve 20 connected to the guide sleeve 10; an elastic component 30 and a receiving groove 40 extending along a first direction X are provided in the guide sleeve 10, and the elastic component 30 is slidably arranged in the receiving groove 40; a first mounting hole 21 and a second mounting hole 22 extending along the first direction X are provided in the support sleeve 20, the first mounting hole 21 is provided at a first end of the support sleeve 20, the second mounting hole 22 is provided at a second end of the support sleeve 20, and the second mounting hole 22 is connected to the first mounting hole 21; the inner diameter of the first mounting hole 21 is larger than the inner diameter of the second mounting hole 22, the first end of the guide sleeve 10 is away from the first mounting hole 21, the second end of the guide sleeve 10 is inserted into the first mounting hole 21 and is fixedly connected to the first end of the support sleeve 20, so that the receiving groove 40 is connected to the first mounting hole 21; an operating rod 50 is provided in the second mounting hole 22, and the first end of the operating rod 50 extends to the receiving groove 40. In the groove 40, a spherical portion 51 is provided at the first end of the operating rod 50, and the spherical portion 51 abuts against the elastic component 30, and the diameter of the spherical portion 51 is larger than the inner diameter of the second mounting hole 22; the second end of the operating rod 50 extends to the outside of the second mounting hole 22, and the second end of the operating rod 50 is provided with a connecting portion 52; the outer peripheral surface of the second end of the guide sleeve 10 is provided with a sliding groove 60 extending along the first direction X, and the sliding groove 60 is connected to the accommodating groove 40; the sliding groove 60 includes a first groove 61 and a second groove 62 that are connected to each other; in the first direction X, the second groove 62 is located on the side of the first groove 61 away from the elastic component 30; in the second direction Y, the width of the first groove 61 is smaller than the width of the second groove 62; a first latch 53 is penetrated by the spherical portion 51, and the first latch 53 is penetrated by the first groove 61, and the two ends of the first latch 53 in the second direction Y abut against the inner wall surface of the first groove 61, and the first latch 53 can slide to the second groove 62 under the drive of the spherical portion 51.

[0045] In this embodiment, the operating mechanism 100 is used to be connected to the robot arm, and the robot controls the operating mechanism 100 through the robot arm so that the operating mechanism 100 can perform a rotational and twisting operation on the workpiece. The operating mechanism 100 includes a guide sleeve 10 and a support sleeve 20, and the guide sleeve 10 and the support sleeve 20 can be made of metal material and have a sufficiently high structural strength to withstand the clamping and fixing of the robot arm.

[0046] It should be noted that the operating mechanism 100 has a first direction X and a second direction Y. The first direction X is the axial direction of the guide sleeve 10 and the support sleeve 20 , and the second direction Y is the radial direction of the guide sleeve 10 and the support sleeve 20 .

[0047] In the first direction X, a receiving groove 40 is provided in the guide sleeve 10, and an elastic component 30 is provided in the receiving groove 40. The elastic component 30 has a certain elasticity and can be compressed and deformed under the action of external force. A first mounting hole 21 is provided at the left end position inside the support sleeve 20, and a second mounting hole 22 connected to the first mounting hole 21 is provided at the right end position inside the support sleeve 20, and the cross-sections of the first mounting hole 21, the second mounting hole 22 and the receiving groove 40 are all circular. The right end of the guide sleeve 10 is inserted into the first mounting hole 21 and fixedly connected to the left end of the support sleeve 20, so that the guide sleeve 10 and the support sleeve 20 form an integral connection structure, the left end of the operating rod 50 is inserted into the receiving groove 40, and the spherical portion 51 at the left end of the operating rod 50 abuts against the elastic component 30 in the receiving groove 40, and the right end of the operating rod 50 extends from the second mounting hole 22, and the adapter portion 52 at the right end of the operating rod 50 is used to perform a rotational and twisting operation with the workpiece to be rotated. Among them, the structural form of the adapter portion 52 is not limited, such as Figure 1 As shown, the adapter 52 may be a quadrilateral sleeve structure, which is used to be sleeved on the screw for easy rotation, or as shown in FIG. Figure 2 As shown, the adapter portion 52 may also be an external hexagonal structure for docking with the nut for easy rotation.

[0048] The outer peripheral surface of the right end of the guide sleeve 10 is provided with a sliding groove 60 connected to the receiving groove 40, and the first latch 53 on the spherical portion 51 is inserted into the sliding groove 60, and the sliding groove 60 includes a first groove 61 and a second groove 62. Under the drive of the spherical portion 51, the first latch 53 reciprocates between the first groove 61 and the second groove 62.

[0049] During installation, the elastic component 30 is first installed into the receiving groove 40 of the guide sleeve 10, and then the left end of the operating rod 50 is inserted into the receiving groove 40 and the spherical portion 51 is abutted against the elastic component 30, and then the left end of the support sleeve 20 is sleeved with the right end of the guide sleeve 10, and the right end of the operating rod 50 is inserted from the first mounting hole 21 to the second mounting hole 22 and extends outward by a certain length. Since the diameter of the spherical portion 51 is larger than the inner diameter of the second mounting hole 22, the spherical portion 51 can only reciprocate along the first direction X in the receiving groove 40 and drive the elastic component 30 to compress and deform, and the spherical portion 51 cannot pass through the second mounting hole 22, preventing the operating rod 50 from slipping out of the support sleeve 20.

[0050] Based on the above technical solution, Figure 5As shown, the operating mechanism 100 is in a compressed state (or operating state), and the robot arm applies an external force to the workpiece through the operating mechanism 100. The spherical portion 51 abuts against the elastic component 30, and the elastic component 30 is compressed at the left end of the accommodating groove 40 and has elastic potential energy. At this time, the first pin 53 abuts against the inner wall surface of the first groove 61 in the second direction Y. The first pin 53 is restricted to the first groove 61 and can only reciprocate along the first direction X, but cannot swing along the second direction Y. At this time, the adapter portion 52 at the right end of the operating rod 50 is matched with the workpiece to be rotated, and the operating mechanism 100 is rotated so that the adapter portion 52 performs a rotational and twisting operation on the workpiece.

[0051] like Figure 6 As shown, when the robot arm releases external force on the workpiece through the operating mechanism 100, the elastic component 30 releases elastic potential energy and pushes the spherical portion 51 to move in the direction of the first mounting hole 21, so that the first latch 53 on the spherical portion 51 slides from the first slot 61 to the second slot 62. Since the width of the second slot 62 is greater than that of the first slot 61, when the first latch 53 is located in the second slot 62, the operating rod 50 can drive the first latch 53 to be fine-tuned relative to the guide sleeve 10 within a preset angle range. At this time, if the robot exits the entire operating mechanism 100, the operating rod 50 has a certain degree of freedom along the first direction X and a certain degree of freedom or swing space along the second direction Y. The operating rod 50 can be fine-tuned to be concentric with the center of the workpiece. In this way, the robot is not easy to get stuck when exiting the operating mechanism 100, thereby improving the success rate of the robot's operation.

[0052] The operating mechanism 100 of this embodiment can replace manual methods to perform stable and safe rotation and twisting operations. When the operating mechanism 100 is withdrawn, the operating rod 50 has freedom in the first direction X and the second direction Y to prevent the operating mechanism 100 from getting stuck, thereby preventing damage to the operating mechanism 100 or the workpiece structure.

[0053] As an implementation method, Figure 5 , Figure 6 and Figure 8 As shown, the accommodating groove 40 includes a guide groove 41 and a movable groove 42. The guide groove 41 is arranged at the first end of the guide sleeve 10, and the movable groove 42 is arranged at the second end of the guide sleeve 10. The movable groove 42 is connected to the guide groove 41, and the sliding groove 60 is connected to the movable groove 42. The second end of the guide sleeve 10 is inserted into the first mounting hole 21 and fixedly connected to the first end of the support sleeve 20 so that the movable groove 42 is connected to the first mounting hole 21.

[0054] Specifically, the guide groove 41 is located at the left end of the guide sleeve 10, and the movable groove 42 is located at the right end of the guide sleeve 10, the sliding groove 60 is arranged at the right end of the guide sleeve 10 and is connected with the movable groove 42, and the right end of the guide sleeve 10 is inserted into the first mounting hole 21 and fixedly connected with the left end of the support sleeve 20, so that the first mounting hole 21 is connected with the movable groove 42 and the guide groove 41.

[0055] As an implementation method, Figure 5 As shown, the diameter of the spherical portion 51 is larger than the inner diameter of the guide groove 41. The spherical portion 51 does not enter the guide groove 41 when reciprocating in the movable groove 42, and the spherical portion 51 drives the first latch 53 to reciprocate between the first groove 61 and the second groove 62, so that the operating mechanism 100 can switch between the operating state and the exit state.

[0056] As an implementation method, Figure 8 As shown, the movable groove 42 includes a third groove 421 and a fourth groove 422 which are connected to each other, the third groove 421 is connected to the guide groove 41 and the first groove 61, and the fourth groove 422 is connected to the second groove 62 and the first mounting hole 21; the inner diameter of the fourth groove 422 is larger than the inner diameter of the third groove 421, and the inner diameter of the third groove 421 is larger than or equal to the inner diameter of the guide groove 41; wherein, the spherical portion 51 abuts against the inner wall surface of the third groove 421, and the spherical portion 51 can slide to the fourth groove 422 under the drive of the operating rod 50, so that the spherical portion 51 drives the first latch 53 to slide from the first groove 61 to the second groove 62.

[0057] Specifically, the diameter of the spherical portion 51 is larger than the inner diameter of the guide groove 41, and the diameter of the spherical portion 51 may be equal to the inner diameter of the third groove 421 and smaller than the inner diameter of the fourth groove 422, so that the spherical portion 51 can only move between the third groove 421 and the fourth groove 422, so that the first latch 53 can move between the first groove 61 and the second groove 62. When the operating mechanism 100 is in operation, the spherical portion 51 abuts against the inner wall surface of the third groove 421, and the first latch 53 abuts against the inner wall surface of the first groove 61 in the second direction Y, and the spherical portion 51 and the first latch 53 can only move along the first direction X. When the operating mechanism 100 releases external force on the workpiece, the elastic component 30 releases elastic potential energy and pushes the spherical portion 51 to move from the third groove 421 to the fourth groove 422. When the spherical portion 51 moves into the fourth groove 422, the first pin 53 is inserted into the second groove 62, so that the operating rod 50 can swing within a certain range around the center point of the spherical portion 51. The operating rod 50 has a certain degree of freedom along the first direction X and a certain degree of freedom or swinging space along the second direction Y. At this time, the robot exiting the operating mechanism 100 is not easy to get stuck.

[0058] As an implementation method, Figure 8As shown, the fourth slot 422 gradually becomes smaller from close to the first mounting hole 21 to away from the first mounting hole 21 .

[0059] Specifically, the third groove 421 is a cylindrical groove with a square cross section, while the fourth groove 422 has an inverted trapezoidal or V-shaped cross section, and its notch tends to gradually shrink. In this way, when the spherical portion 51 moves to the third groove 421, it can abut against the inner wall surface of the third groove 421 to limit the swing of the spherical portion 51 with the operating rod 50; when the spherical portion 51 moves to the fourth groove 422, there is a gap between the inner wall surface of the fourth groove 422, and the operating rod 50 can swing around the center of the spherical portion 51 within a certain angle range; when the spherical portion 51 moves from the fourth groove 422 to the third groove 421, the spherical portion 51 is gradually restricted and can only move along the first direction X.

[0060] As an implementation method, Figures 3 to 6 As shown, the elastic component 30 includes a spring member 31 and a guide post 32 . The spring member 31 is disposed in the guide slot 41 . The guide post 32 is disposed in the movable slot 42 and abuts against the spring member 31 . The spherical portion 51 abuts against the guide post 32 .

[0061] Specifically, the spring member 31 can be a compression spring. During installation, the spring member 31 is first placed in the guide groove 41, and then the guide column 32 is placed in the movable groove 42 and abuts against the spring member 31, and then the left end of the operating rod 50 is inserted into the movable groove 42 and abuts against the guide column 32. The spherical portion 51 and the guide column 32 have a larger contact area, which can generate a greater thrust on the elastic component 30. It can be understood that if the guide column 32 is not used, but only the spring member 31 is used, when the spherical portion 51 abuts against the spring member 31, due to the small contact area between the spherical portion 51 and the spring member 31, it is easy to cause the spring member 31 to fail to generate a large deformation. Therefore, by abutting the two ends of the guide column 32 against the spring member 31 and the spherical portion 51 respectively, on the one hand, the spring member 31 can generate a larger compression deformation, and on the other hand, the spherical portion 51 can generate a greater thrust on the elastic component 30.

[0062] As an implementation manner, the spring member 31 and the guide post 32 may be an integrated structure, that is, the right end of the spring member 31 is fixedly connected to the left end of the guide post 32 .

[0063] As an implementation method, Figure 3 As shown, the spherical portion 51 is provided with a first through hole 54 extending along the axis direction of the spherical portion 51 , and the first latch 53 is passed through the first through hole 54 and fixedly connected to the spherical portion 51 .

[0064] Specifically, the first latch 53 and the spherical portion 51 are detachably connected, and the first through hole 54 passes through the axial direction of the spherical portion 51. In order to prevent the first latch 53 from loosening from the first through hole 54, the first latch 53 and the first through hole 54 can adopt an interference fit, that is, the diameter of the first latch 53 is slightly larger than the inner diameter of the first through hole 54, and the first latch 53 is tightly embedded in the first through hole 54 to achieve a fixed connection between the first latch 53 and the spherical portion 51.

[0065] As an implementation method, Figure 3 and Figure 4 As shown, the spherical portion 51 is provided with a second through hole 55 extending along the axial direction of the spherical portion 51, and the direction of the second through hole 55 is perpendicular to the direction of the first through hole 54; the first latch 53 is provided with a third through hole 56 extending along the radial direction of the first latch 53, and the operating mechanism 100 also includes a second latch 57, and the second latch 57 is passed through the second through hole 55 and the third through hole 56 to fix the first latch 53 to the spherical portion 51.

[0066] Specifically, in order to further fix the first latch 53 in the first through hole 54, the present embodiment further provides a second through hole 55 in the spherical portion 51, and a third through hole 56 in the first latch 53. During installation, the first latch 53 is first inserted into the first through hole 54 in the spherical portion 51, and then the third through hole 56 of the first latch 53 is aligned with the second through hole 55 in the spherical portion 51, and then the second latch 57 is passed through the second through hole 55 and the third through hole 56, so as to limit and fix the first latch 53 on the spherical portion 51.

[0067] As an implementation method, Figures 3 to 6 as well as Fig. 9 As shown, there is a preset gap between the operating rod 50 and the inner wall surface of the second mounting hole 22; a plurality of pre-tightening holes 23 are provided at the second end of the support sleeve 20, and the pre-tightening holes 23 are connected to the second mounting hole 22. The plurality of pre-tightening holes 23 are arranged at intervals on the outer peripheral surface of the support sleeve 20 along the axial direction of the support sleeve 20, and a pre-tightening assembly 24 is provided in each pre-tightening hole 23. The pre-tightening assembly 24 is used to abut against the operating rod 50 so that the operating rod 50 is in the axial direction of the support sleeve 20.

[0068] Specifically, the operating rod 50 is in the shape of an elongated rod, and its diameter is smaller than the inner diameter of the second mounting hole 22 in the support sleeve 20, so that it can move in the second mounting hole 22 along the first direction X. Since there is a preset gap between the operating rod 50 and the inner wall surface of the second mounting hole 22, the operating rod 50 has a certain degree of freedom to avoid excessive friction with the inner wall surface of the support sleeve 20. When the spherical portion 51 moves to the fourth groove 422, the operating rod 50 can swing around the center of the spherical portion 51 within a certain angle range.

[0069] like Fig. 9As shown, the right end of the support sleeve 20 (i.e., the position corresponding to the second mounting hole 22) is provided with a plurality of pre-tightening holes 23 and a plurality of pre-tightening components 24. The pre-tightening components 24 are set from the pre-tightening holes 23 at different positions of the outer peripheral surface of the support sleeve 20. The pre-tightening components 24 are used to apply a pre-tightening force to the operating rod 50. By adjusting the pre-tightening force of the pre-tightening component 24, the position of the operating rod 50 in the axial direction of the support sleeve 20 can be fine-tuned to ensure that the operating rod 50 is in the axial direction of the support sleeve 20, thereby improving the matching accuracy of the operating rod 50 and the workpiece.

[0070] For example, Figure 3 and Figure 4 As shown, in the first direction X, two groups of pre-tightening components 24 are arranged at intervals on the outer circumferential surface of the support sleeve 20, and each group of pre-tightening components 24 includes four pre-tightening components 24. Among the four pre-tightening components 24, the angle between two adjacent pre-tightening components 24 is the angle, that is, the four pre-tightening components 24 are arranged at intervals in the radial direction of the support sleeve 20, and the eight pre-tightening components 24 apply pre-tightening force to the operating rod 50 from the upper, lower, left and right positions of the front and rear ends of the support sleeve 20, so that the operating rod 50 is in the axial direction of the support sleeve 20.

[0071] As an implementation method, Fig.10 As shown, the pre-tightening assembly 24 includes a support rod 241 and a pre-tightening screw 242 . The support rod 241 abuts against the operating rod 50 , and the pre-tightening screw 242 abuts against the support rod 241 .

[0072] Specifically, the support rod 241 is in the shape of an elongated rod, and its length and diameter are determined according to the size of the pre-tightening hole 23. The lower end of the support rod 241 is an abutment surface, which contacts the outer wall surface of the operating rod 50. The abutment surface can be a plane, a curved surface or other shapes to ensure good contact and stable support with the operating rod 50. The upper end of the support rod 241 is provided with a threaded hole or other connecting structure for connecting with the pre-tightening screw 242. During installation, the support rod 241 and the pre-tightening screw 242 are successively inserted into the pre-tightening hole 23, and a pre-tightening force is applied to the support rod 241 by the pre-tightening screw 242, so that the support rod 241 abuts against the operating rod 50.

[0073] As an implementation method, Fig.10 As shown, the pre-tightening assembly 24 further includes a pre-tightening spring 243 , which is disposed between the support rod 241 and the pre-tightening screw 242 , and two ends of the pre-tightening spring 243 are respectively connected to the support rod 241 and the pre-tightening screw 242 .

[0074] Specifically, the support rod 241 is first inserted into the pre-tightening hole 23 of the support sleeve 20 until the abutting surface of the support rod 241 contacts the outer wall surface of the operating rod 50. Then, the lower end of the pre-tightening spring 243 is abutted against the upper end surface of the support rod 241, and the upper end of the pre-tightening spring 243 is connected to the lower end surface of the pre-tightening screw 242. Finally, the pre-tightening screw 242 is screwed into the pre-tightening hole 23 and gradually tightened until the required pre-tightening force is reached. At this time, the pre-tightening spring 243 is in a compressed state, and applies a pre-tightening force to the operating rod 50 through the support rod 241.

[0075] As an embodiment, the operating mechanism 100 also includes a fastener; a first threaded hole is provided at the first end of the support sleeve 20, and a second threaded hole is provided at the second end of the guide sleeve 10, and the fastener is passed through the first threaded hole and the second threaded hole (not shown in the drawings) to ensure that the second end of the guide sleeve 10 is fixedly connected to the first mounting hole 21.

[0076] Specifically, the left end of the support sleeve 20 is provided with a first threaded hole, and the right end of the guide sleeve 10 is provided with a second threaded hole. First, the right end of the guide sleeve 10 is inserted into the first mounting hole 21 at the left end of the support sleeve 20, and the first threaded hole is aligned with the second threaded hole, and then the fastener is inserted into the first threaded hole and the second threaded hole, and the fastener is rotated using an external tool until it is completely screwed into and fastened to the two threaded holes. At this time, the fastener firmly connects the right end of the guide sleeve 10 and the left end of the support sleeve 20, and the guide sleeve 10 and the support sleeve 20 form an integral structure.

[0077] In a second aspect, an embodiment of the present invention provides a robot, including a robotic arm and an operating mechanism 100 , wherein the robotic arm is connected to the operating mechanism 100 .

[0078] Specifically, in this embodiment, the operating mechanism 100 is connected to a mechanical arm of a robot, and the robot controls the operating mechanism 100 through the mechanical arm, so that the operating mechanism 100 can perform a rotating and twisting operation on the workpiece.

[0079] It should be understood that the term "and / or" used in the present specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, including these combinations. It should be noted that, in this article, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "including a..." does not exclude the presence of other identical elements in the process, method, article or system including the element.

[0080] The serial numbers of the embodiments of the present invention are only for description and do not represent the advantages and disadvantages of the embodiments. The above description is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. An operating mechanism, characterized in that: It comprises a guide sleeve and a support sleeve connected to the guide sleeve; An elastic component and a receiving groove extending along a first direction are arranged in the guide sleeve, and the elastic component is slidably arranged in the receiving groove; The support sleeve is provided with a first mounting hole and a second mounting hole extending along the first direction, the first mounting hole is provided at the first end of the support sleeve, the second mounting hole is provided at the second end of the support sleeve, and the second mounting hole is connected to the first mounting hole; the inner diameter of the first mounting hole is larger than the inner diameter of the second mounting hole, the first end of the guide sleeve is away from the first mounting hole, the second end of the guide sleeve is inserted into the first mounting hole and fixedly connected to the first end of the support sleeve, so that the accommodating groove is connected to the first mounting hole; An operating rod is provided in the second mounting hole, a first end of the operating rod extends into the receiving groove, a spherical portion is provided at the first end of the operating rod, the spherical portion abuts against the elastic component, and a diameter of the spherical portion is larger than an inner diameter of the second mounting hole; a second end of the operating rod extends out of the second mounting hole, and a transition portion is provided at the second end of the operating rod; The outer circumferential surface of the second end of the guide sleeve is provided with a sliding groove extending along the first direction, and the sliding groove is connected to the accommodating groove; the sliding groove includes a first groove and a second groove that are connected to each other; in the first direction, the second groove is located on a side of the first groove away from the elastic component; in the second direction, the width of the first groove is smaller than the width of the second groove; The spherical portion is provided with a first latch, and the first latch is provided in the first groove. Both ends of the first latch in the second direction abut against the inner wall surface of the first groove. The first latch can slide to the second groove under the driving of the spherical portion.

2. The operating mechanism according to claim 1, characterized in that: The receiving groove comprises a guide groove and a movable groove, the guide groove is arranged at the first end of the guide sleeve, the movable groove is arranged at the second end of the guide sleeve, the movable groove is connected to the guide groove, and the sliding groove is connected to the movable groove; The second end of the guide sleeve is inserted into the first mounting hole and fixedly connected to the first end of the support sleeve, so that the movable groove is connected to the first mounting hole.

3. The operating mechanism according to claim 2, characterized in that: The movable groove comprises a third groove and a fourth groove which are connected to each other, the third groove is connected to the guide groove and the first groove, and the fourth groove is connected to the second groove and the first mounting hole; the inner diameter of the fourth groove is greater than the inner diameter of the third groove, and the inner diameter of the third groove is greater than or equal to the inner diameter of the guide groove; The spherical portion abuts against the inner wall surface of the third slot, and the spherical portion can slide to the fourth slot under the drive of the operating rod, so that the spherical portion drives the first latch to slide from the first slot to the second slot.

4. The operating mechanism according to claim 3, characterized in that: The fourth groove gradually becomes smaller from a direction close to the first mounting hole to a direction away from the first mounting hole.

5. The operating mechanism according to claim 2, characterized in that: The elastic component comprises a spring component and a guide column, the spring component is arranged in the guide groove, the guide column is arranged in the movable groove and abuts against the spring component, and the spherical part abuts against the guide column.

6. The operating mechanism according to claim 1, characterized in that: The spherical portion is provided with a first through hole extending along the axis direction of the spherical portion, and the first latch is passed through the first through hole and fixedly connected to the spherical portion.

7. The operating mechanism according to claim 6, characterized in that: The spherical portion is provided with a second through hole extending along the axis direction of the spherical portion, and the direction of the second through hole is perpendicular to the direction of the first through hole; The first latch is provided with a third through hole extending in a radial direction of the first latch, and the operating mechanism further comprises a second latch, which is passed through the second through hole and the third through hole so that the first latch is fixedly connected to the spherical portion.

8. The operating mechanism according to claim 1, characterized in that: There is a preset gap between the operating rod and the inner wall surface of the second mounting hole; A plurality of pre-tightening holes are provided at the second end of the support sleeve, and the pre-tightening holes are connected to the second mounting hole. The plurality of pre-tightening holes are arranged at intervals on the outer peripheral surface of the support sleeve along the axial direction of the support sleeve, and a pre-tightening assembly is provided in each of the pre-tightening holes. The pre-tightening assembly is used to abut against the operating rod so that the operating rod is in the axial direction of the support sleeve.

9. The operating mechanism according to claim 8, characterized in that: The pre-tightening assembly comprises a support rod and a pre-tightening screw, wherein the support rod is abutted against the operating rod, and the pre-tightening screw is abutted against the support rod.

10. The operating mechanism according to claim 9, characterized in that: The pre-tightening assembly further includes a pre-tightening spring, which is arranged between the support rod and the pre-tightening screw, and two ends of the pre-tightening spring are respectively connected to the support rod and the pre-tightening screw.

11. The operating mechanism according to claim 1, characterized in that: The operating mechanism also includes a fastener; The first end of the support sleeve is provided with a first threaded hole, the second end of the guide sleeve is provided with a second threaded hole, and the fastener is passed through the first threaded hole and the second threaded hole to ensure that the second end of the guide sleeve is fixedly connected to the first mounting hole.

12. A robot, characterized in that: The robot comprises a mechanical arm and an operating mechanism according to any one of claims 1 to 11, wherein the mechanical arm is connected to the operating mechanism.

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