Floating joint and robot

Abstract

The floating connector comprises a base, a floating part, a first adjusting assembly and a second adjusting assembly, a mounting groove is formed in the floating part, the floating part is movably mounted in the mounting groove, and the floating part and the bottom of the mounting groove are arranged in a spaced mode in the Z direction; the floating part is provided with two first sides oppositely arranged in the X direction and two second sides oppositely arranged in the Y direction, the first adjusting assembly is installed on the side wall of the installation groove and comprises a first elastic part and a second elastic part, the first elastic part is elastically connected with the first sides, the first elastic part is elastically connected with the second sides, and the second elastic part is elastically connected with the second sides. The second adjusting assembly comprises a third elastic part and a ball body, the ball body is rotationally connected with the floating part, and the third elastic part is arranged between the ball body and the bottom of the mounting groove, so that the floating part is suitable for translating in the X direction, the Y direction and the Z direction and is suitable for rotating around the X-direction axis, the Y-direction axis and the Z-direction axis, the structure is simple and compact, the mass is small, and parts are convenient to mount and replace.

Description

Technical Field

[0001] The present application relates to the field of robot technology, and in particular to a floating joint and a robot. Background Art

[0002] With the rapid development of industrial automation, industrial robots are widely used in manufacturing. In related technologies, the end of the robot is usually connected to the end effector through a floating joint. The current floating joint allows the end effector to have two or three degrees of freedom, which limits the floating direction of the end effector and the structure of the floating joint is relatively complex. Summary of the invention

[0003] The embodiments of the present application provide a floating joint and a robot. The floating joint has six degrees of freedom and a simple structure.

[0004] In order to achieve the above object, according to a first aspect of the present application, a floating joint is provided, comprising:

[0005] A base formed with a mounting groove;

[0006] A floating portion, movably mounted in the mounting groove and spaced apart from the bottom of the mounting groove along the Z direction, wherein the floating portion has two first sides oppositely disposed along the X direction and two second sides oppositely disposed along the Y direction;

[0007] A first adjustment component is installed on the side wall of the installation groove, the first adjustment component includes a first elastic part and a second elastic part, the first elastic part is elastically connected to the first side, the first elastic part is elastically connected to the second side, and the X direction, the Y direction and the Z direction are vertically arranged in pairs;

[0008] The second adjustment component includes a third elastic part and a sphere, wherein the sphere is rotatably connected to the floating part, and the third elastic part is arranged between the sphere and the bottom of the mounting groove, so that the floating part is suitable for translation along the X direction, the Y direction and the Z direction and for rotation around the X-axis, the Y-axis and the Z-axis.

[0009] Optionally, a first hole is provided on one side of the floating portion facing the bottom of the mounting groove;

[0010] The ball is installed in the first hole and is in line contact with the first hole.

[0011] Optionally, the first hole comprises a first conical hole, and the ball is rotatably mounted in the first conical hole.

[0012] Optionally, a guide hole is provided at the bottom of the mounting groove, and the guide hole is extended along the Z direction;

[0013] The third elastic part is installed in the guide hole, and the ball is sandwiched between the third elastic part and the floating part. When the third elastic part is in a compressed state, the ball at least partially protrudes from the guide hole and abuts against the floating part.

[0014] Optionally, a first mounting hole is further provided on the side wall of the mounting groove, the first mounting hole is extended along the X direction, and the first mounting hole is communicated with the mounting groove;

[0015] The first elastic portion is installed in the first installation hole, and the first elastic portion is suitable for partially extending into the installation slot to elastically abut against the first side.

[0016] Optionally, the first side is provided with a second hole;

[0017] The first elastic portion has a first end portion facing the first side. The first end portion is inserted into the second hole, and the first end portion is used for linear contact with an inner wall of the second hole.

[0018] Optionally, the second hole is a second conical hole;

[0019] The first end portion is provided with an arc surface, and the arc surface is in line contact with the inner wall of the second conical hole.

[0020] Optionally, the first elastic portion includes:

[0021] A first spring extending along the X direction, the first spring being installed in the first mounting hole, and one end of the first spring abutting against a bottom wall of the first mounting hole;

[0022] A first push rod, one end of which is inserted into the first mounting hole and elastically connected to the first spring, and the other end of which extends into the mounting groove and abuts against the first side.

[0023] Optionally, the side wall of the mounting groove is further provided with a second mounting hole, the second mounting hole is extended along the Y direction, and the second mounting hole is communicated with the mounting groove;

[0024] The second elastic portion is installed in the second installation hole, and the second elastic portion is suitable for partially extending into the installation slot to elastically abut against the second side.

[0025] Optionally, the second side is provided with a third hole;

[0026] The second elastic portion has a second end portion facing the second side. The second end portion is inserted into the third hole, and the second end portion is used for linear contact with an inner wall of the third hole.

[0027] Optionally, the third hole is a third conical hole;

[0028] The second end portion is provided with an arc surface, and the arc surface is in line contact with the inner wall of the third conical hole.

[0029] Optionally, the second elastic portion includes:

[0030] A second spring extending along the Y direction, the second spring being installed in the second mounting hole, and one end of the second spring being in contact with the bottom wall of the second mounting hole;

[0031] A second push rod, one end of which is inserted into the second mounting hole and elastically connected to the second spring, and the other end of which extends into the mounting groove and abuts against the second side.

[0032] Optionally, a side wall of the mounting groove close to the groove opening is provided with an annular boss, and the annular boss has a limiting surface arranged toward the bottom of the mounting groove;

[0033] The floating portion is arranged in a stepped manner and is installed in the installation groove. The floating portion has a first stepped surface arranged opposite to the limiting surface, and the first stepped surface is used to abut against the limiting surface.

[0034] Optionally, it also includes a locking portion, which is movably installed at the bottom of the mounting groove along the Z direction, and the locking portion can move between a locking position and an unlocking position. In the locking position, the first step surface abuts against the limiting surface, and the locking portion and the floating portion abut against one side of the bottom of the mounting groove. In the unlocking position, the locking portion and the floating portion are separated from one side of the bottom of the mounting groove.

[0035] Optionally, the base comprises:

[0036] seat body;

[0037] The enclosure part includes a cover plate and an enclosure frame, wherein the cover plate is opposite to the base and spaced apart, the cover plate is provided with a through hole, the enclosure frame is convexly arranged on a side of the cover plate facing the base and surrounding the through hole, and one end of the enclosure frame facing away from the cover plate is detachably connected to the base, so that the base and the enclosure frame are suitable for surrounding to form the installation groove;

[0038] Wherein, the locking portion movably mounts the seat body.

[0039] Optionally, the seat body is formed with a cavity, a side of the seat body opposite to the cover plate is provided with a through hole, the through hole is extended along the Z direction, and the through hole is communicated with the cavity;

[0040] The locking portion includes a piston and a connecting rod, the piston is movably installed in the cavity along the Z direction, the piston can divide the cavity into a first cavity and a second cavity spaced apart along the Z direction, the second cavity is connected to the through hole, a first air channel is provided on the side wall of the first cavity, and a second air channel is provided on the side wall of the second cavity, one end of the connecting rod is used to abut against a side of the floating portion toward the bottom of the mounting groove, and the other end of the connecting rod passes through the through hole and is connected to the piston;

[0041] Injecting gas into the first cavity through the first gas passage is suitable for driving the floating part to move toward the unlocking position, and injecting gas into the second cavity through the second gas passage is suitable for driving the floating part to move toward the locking position.

[0042] Optionally, it further includes a first sealing ring, which is sleeved on the connecting rod and is used to seal the gap between the side wall of the connecting rod and the inner wall of the penetration hole.

[0043] Optionally, the piston comprises:

[0044] A plug body, the plug body being connected to the other end of the connecting rod;

[0045] The annular sealing portion is sleeved on the circumference of the plug body and is sealed between the plug body and the inner wall of the cavity.

[0046] Optionally, a fourth hole is provided on one side of the floating portion facing the bottom of the mounting groove, and a guide slope is provided on a side wall of the fourth hole;

[0047] The locking portion has a third end portion disposed toward the floating portion, the third end portion is provided with a matching slope, the third end portion is suitable for being inserted into the fourth hole, and the matching slope surface is matched with the guiding slope surface.

[0048] According to a second aspect of the present application, there is provided a robot, comprising the floating joint as described above, wherein the floating joint comprises:

[0049] A base formed with a mounting groove;

[0050] A floating portion, movably mounted in the mounting groove and spaced apart from the bottom of the mounting groove along the Z direction, wherein the floating portion has two first sides oppositely disposed along the X direction and two second sides oppositely disposed along the Y direction;

[0051] A first adjustment component is installed on the side wall of the installation groove, the first adjustment component includes a first elastic part and a second elastic part, the first elastic part is elastically connected to the first side, the first elastic part is elastically connected to the second side, and the X direction, the Y direction and the Z direction are vertically arranged in pairs;

[0052] The second adjustment component includes a third elastic part and a sphere, wherein the sphere is rotatably connected to the floating part, and the third elastic part is arranged between the sphere and the bottom of the mounting groove, so that the floating part is suitable for translation along the X direction, the Y direction and the Z direction and for rotation around the X-axis, the Y-axis and the Z-axis.

[0053] In the floating joint of the embodiment of the present application, since the sphere is rotatably connected with the floating part and cooperates with the first elastic part, the second elastic part and the third elastic part, the floating part can translate along the X direction, the Y direction and the Z direction and is suitable for rotating around the X axis, the Y axis and the Z axis, so that the floating part can achieve omnidirectional floating in the directions of 6 degrees of freedom, so that the floating joint can flexibly adapt to external forces or displacements in different directions, thereby ensuring the stability and reliability of the connection. In addition, this design also makes the floating joint structure simple and compact, and the mass is small, which is convenient for installation and replacement of parts. The first elastic part, the second elastic part and the third elastic part can all provide good shock absorption and buffering effects. When the floating part is impacted or vibrated, the first elastic part, the second elastic part and the third elastic part can absorb part of the energy and reduce the impact on the floating part, thereby improving the overall stability of the floating joint. The existence of the first elastic part, the second elastic part and the third elastic part can change the position and posture of the floating part by adjusting their preload, so as to achieve more precise alignment and positioning. The elastic connection can also compensate to a certain extent for the size changes of the floating part or the mounting groove caused by physical phenomena such as thermal expansion and contraction, thereby ensuring the stability and reliability of the installation of the floating part.

[0054] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative work.

[0056] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings, wherein the same figure numbers represent the same parts in the following description.

[0057] Figure 1 is a schematic structural diagram of a floating joint provided in an exemplary embodiment of the present disclosure;

[0058] Figure 2 yes Figure 1 An exploded schematic diagram of the floating joint is shown;

[0059] Figure 3 yes Figure 1 A schematic cross-sectional view of a floating joint is shown;

[0060] Figure 4 is a schematic cross-sectional view of a floating portion provided in an exemplary embodiment of the present disclosure;

[0061] Figure 5 is a bottom view schematic diagram of a floating portion provided in an exemplary embodiment of the present disclosure;

[0062] Figure 6 is a schematic structural diagram of a baffle and a first elastic portion or a second elastic portion provided in an exemplary embodiment of the present disclosure;

[0063] Figure 7 is a schematic structural diagram of an enclosure provided in an exemplary embodiment of the present disclosure;

[0064] Figure 8 yes Figure 1 A schematic diagram of the structure of the floating joint part shown;

[0065] Fig. 9 is a schematic structural diagram of a housing provided in an exemplary embodiment of the present disclosure;

[0066] Fig.10 Schematic diagram of an exploded view of a locking portion provided in an exemplary embodiment of the present disclosure.

[0067] Description of reference numerals:

[0068] 10. Floating joint;

[0069] 1. base, 11. mounting groove, 111. guide hole, 112. first mounting hole, 113. second mounting hole, 114. annular boss, 12. seat body, 121. cavity, 1211. first cavity, 1212. second cavity, 1213. first air duct, 1214. second air duct, 122. through hole, 123. shell, 1231. third mounting hole, 124. bottom plate, 13. enclosure, 131. cover plate, 1311. through hole, 132. enclosure frame, 14. baffle;

[0070] 2. floating portion, 21. first side, 22. second side, 23. first hole, 24. second hole, 25. third hole, 26. fourth hole;

[0071] 31. first elastic portion, 311. first end portion, 312. first spring, 313. first push rod, 32. second elastic portion, 321. second end portion, 322. second spring, 323. second push rod;

[0072] 41. a third elastic portion, 42. a sphere;

[0073] 5. locking portion, 51. piston, 511. plug body, 5111. annular groove, 5112. annular protrusion, 512. annular sealing portion, 5121. retaining ring, 5122. second sealing ring, 52. connecting rod, 53. third end portion;

[0074] 6. First sealing ring, 7. Buffer gasket, 8. Third sealing ring. DETAILED DESCRIPTION

[0075] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0076] The present application provides a floating joint 10, see Figures 1 to 3 , Figure 1 is a schematic structural diagram of a floating joint provided in an exemplary embodiment of the present disclosure, Figure 2 yes Figure 1 An exploded schematic diagram of a floating joint is shown. Figure 3 yes Figure 1 The floating joint 10 comprises a base 1, a floating portion 2, a first adjustment component and a second adjustment component.

[0077] The base 1 is formed with a mounting groove 11 .

[0078] It should be noted that the base 1 can have a variety of shapes, for example, the base 1 can be cylindrical, cube, cuboid or other shapes, and specifically, the present application does not limit the shape of the base 1. In addition, the mounting groove 11 has a variety of shapes, for example, in one embodiment, the cross section of the mounting groove 11 can be circular, square or rectangular, and specifically, the present application does not limit the shape of the mounting groove 11.

[0079] The floating part 2 is movably installed in the installation groove 11 and is spaced apart from the bottom of the installation groove 11 along the Z direction. The floating part 2 has two first sides 21 oppositely arranged along the X direction and two second sides 22 oppositely arranged along the Y direction.

[0080] It should be noted that the floating portion 2 has various shapes. For example, the floating portion 2 may be plate-shaped, block-shaped or in other shapes. The shape of the floating portion 2 may be set as required. Specifically, the present application does not limit this.

[0081] The first adjustment component is installed on the side wall of the installation groove 11, and the first adjustment component includes a first elastic part 31 and a second elastic part 32. The first elastic part 31 is elastically connected to the first side 21, and the first elastic part 31 is elastically connected to the second side 22, and is vertically arranged in pairs in the X direction, the Y direction and the Z direction.

[0082] It should be noted that there are many types of the first elastic part 31 and the second elastic part 32. For example, in one embodiment, the first elastic part 31 and the second elastic part 32 may include a spring, memory foam, a rubber column or a silicone column, etc. Specifically, the types of the first elastic part 31 and the second elastic part 32 can be selected as needed, and this application does not limit this.

[0083] The second adjustment component includes a third elastic portion 41 and a sphere 42. The sphere 42 is rotatably connected to the floating portion 2. The third elastic portion 41 is arranged between the sphere 42 and the bottom of the mounting groove 11, so that the floating portion 2 is suitable for translation along the X direction, the Y direction and the Z direction and for rotation around the X-axis, the Y-axis and the Z-axis.

[0084] It should be noted that there are many types of the third elastic part 41. For example, in one embodiment, the third elastic part 41 may include a spring, memory foam, a rubber column or a silicone column, etc. Specifically, the type of the third elastic part 41 can be selected as needed, and this application does not limit this.

[0085] In addition, the sphere 42 may be made of a variety of materials, for example, the sphere 42 may be made of metal, ceramic or plastic, etc. Specifically, the material of the sphere 42 may be selected as needed, and the present application does not limit this.

[0086] In the floating joint 10 of the embodiment of the present application, since the ball 42 is rotatably connected to the floating part 2, and cooperates with the first elastic part 31, the second elastic part 32 and the third elastic part 41, the floating part 2 can translate along the X direction, the Y direction and the Z direction and is suitable for rotating around the X axis, the Y axis and the Z axis, so that the floating part 2 can achieve omnidirectional floating in the six degrees of freedom directions, so that the floating joint 10 can flexibly adapt to external forces or displacements in different directions, ensuring the stability and reliability of the connection. In addition, this design also makes the floating joint 10 simple and compact in structure, and has a small mass, which is convenient for installation and replacement of parts. The first elastic part 31, the second elastic part 32 and the third elastic part 41 can all provide good shock absorption and buffering effects. When the floating part 2 is impacted or vibrated, the first elastic part 31, the second elastic part 32 and the third elastic part 41 can absorb part of the energy, reduce the impact on the floating part 2, and thus improve the overall stability of the floating joint 10. The existence of the first elastic part 31, the second elastic part 32 and the third elastic part 41 can change the position and posture of the floating part 2 by adjusting their preload force, thereby achieving more accurate alignment and positioning. The elastic connection can also compensate for the size change of the floating part 2 or the mounting groove 11 caused by physical phenomena such as thermal expansion and contraction to a certain extent, thereby ensuring the stability and reliability of the installation of the floating part 2.

[0087] Reference Figure 3 In one embodiment, the floating part 2 is provided with a first hole 23 on one side facing the bottom of the mounting groove 11, and the ball 42 is installed in the first hole 23 and is in line contact with the first hole 23. Thus, the line contact between the ball 42 and the first hole 23 means that only a small part of the ball 42 is actually in contact with the hole wall. This design reduces the friction between the two and allows the ball 42 to rotate and translate freely in the first hole 23. The ball 42, as an intermediate piece, connects the floating part 2 and the third elastic part 41 at the bottom of the mounting groove 11, so that the floating part 2 has multiple degrees of freedom of movement in three-dimensional space (i.e., translation in the X, Y, and Z directions and rotation around the X axis, Y axis, and Z axis), and due to the shape characteristics of the ball 42 itself, the smoothness and continuity of the movement of the floating part 2 in three-dimensional space can be ensured. The line contact between the ball 42 and the first hole 23 makes the cooperation between the ball 42 and the first hole 23 more stable, which helps to reduce the failure caused by loose connection or offset. Compared with surface contact or point contact, line contact can disperse stress more effectively and reduce wear or damage caused by stress concentration. Through the cooperation between the ball 42 and the first hole 23, the floating part 2 is provided with additional support and stability in the mounting groove 11. This design helps to reduce the shaking or displacement of the floating part 2 caused by external factors (such as vibration, impact, etc.), thereby improving the stability and reliability of the entire floating joint 10.

[0088] Specifically, refer to Figure 1 , Figure 4 and Figure 5 , Figure 4 is a schematic cross-sectional view of a floating portion provided in an exemplary embodiment of the present disclosure, Figure 5 2 is a bottom view schematic diagram of the floating part provided in the exemplary embodiment of the present disclosure. In one embodiment, the first hole 23 includes a first conical hole, and the ball 42 is rotatably installed in the first conical hole. In this way, the shape of the first conical hole makes the hole wall and the contact surface of the ball 42 in line contact. In addition, since the contact line of the first conical hole is longer, the side wall of the first conical hole also plays a guiding role when the ball 42 is installed. In addition, the first conical hole has a self-centering characteristic. Even if the ball 42 is slightly offset during installation, the first conical hole can automatically adjust the position of the ball 42 through its geometric shape to make it centered, ensuring the stable position of the ball 42 in the first conical hole, thereby improving the accuracy of the floating part 2 when moving in multiple directions. The cooperation between the first conical hole and the third elastic part 41 enables the floating part 2 to respond quickly and return to the initial state when subjected to vibration or impact, thereby enhancing the anti-vibration performance of the floating joint 10. The sphere 42 can realize multi-directional free rotation and translation in the first conical hole, which makes the translation of the floating part 2 in the X, Y, and Z directions and the rotation around the X, Y, and Z axes more flexible and accurate. The line contact between the first conical hole and the sphere 42 reduces the contact area, thereby reducing the friction, which helps to reduce the wear of the sphere 42 and the floating part 2 and improve the smoothness of the movement of the sphere 42 and the floating part 2.

[0089] In order to realize the rotational connection between the ball 42 and the floating part 2, in another embodiment, the ball 42 and the floating part 2 can also be realized by point contact or spherical contact. Among them, point contact means that the contact area between the ball 42 and the floating part 2 is a point. Point contact provides the greatest degree of freedom. The floating part 2 can rotate and translate freely in multiple directions. The contact area of ​​point contact is the smallest, so the friction is extremely low, which helps to reduce wear and improve the smoothness of movement. Spherical contact means that the contact area between the ball 42 and the floating part 2 is a complete or partial sphere, which means that the contact area between the ball 42 and the floating part 2 is large, and the contact force is evenly distributed over a large area. Spherical contact allows the floating part 2 to rotate and translate freely in multiple directions relative to the ball 42, providing multi-directional freedom of movement. Specifically, the method of realizing the rotational connection between the ball 42 and the floating part 2 can be selected according to needs, and this application does not limit this.

[0090] Reference Figures 1 to 3In one embodiment, a guide hole 111 is provided at the bottom of the mounting groove 11, and the guide hole 111 is extended along the Z direction. The third elastic portion 41 is installed in the guide hole 111, and the ball is clamped between the third elastic portion 41 and the floating portion 2. In this way, the setting of the guide hole 111 provides a clear movement path for the third elastic portion 41, ensuring that it will not deviate from the predetermined track during compression and extension. The other end of the third elastic part 41 is connected to the ball 42, wherein when the third elastic part 41 is in a compressed state, the ball 42 at least partially protrudes from the guide hole 111 and abuts against the floating part 2, so that when the floating part 2 is subjected to an external force, the third elastic part 41 will compress and store energy, and when the external force disappears, the third elastic part 41 will release the energy, pushing the ball 42 and the floating part 2 back to the initial position, the combination of the guide hole 111 and the third elastic part 41 ensures the stable support of the ball 42 in the Z direction, and the restoring force provided by the third elastic part 41 enables the floating part 2 to quickly return to the initial position after the external force disappears, thereby improving the dynamic balance and response speed of the floating joint 10. The ball 42 partially protrudes from the guide hole 111 and abuts against the floating part 2, forming a stable contact point, which allows the floating part 2 to rotate and translate freely in the X, Y, and Z directions.

[0091] Reference Figures 1 to 3 In one embodiment, the side wall of the mounting groove 11 is further provided with a first mounting hole 112, which is extended along the X direction. The first mounting hole 112 is connected to the mounting groove 11, and the first elastic part 31 is installed in the first mounting hole 112. In this way, the first mounting hole 112 provides a clear installation and movement path for the first elastic part 31, ensuring that it will not deviate from the predetermined track during compression and extension. The first elastic part 31 is suitable for partially extending into the mounting groove 11 to elastically abut against the first side 21. When the floating part 2 is subjected to an external force in the X direction, the first elastic part 31 will compress and store energy. When the external force disappears, the elastic part will release energy and push the floating part 2 back to the initial position, thereby improving the dynamic balance and response speed of the floating joint 10. The combination of the first mounting hole 112 and the first elastic part 31 ensures stable support of the floating part 2 in the X direction. The first elastic part 31 partially extends into the mounting groove 11 and elastically contacts the first side 21 of the floating part 2, forming a stable contact point. This contact point allows the floating part 2 to move freely in the X direction, thereby improving the flexibility and adaptability of the floating part 2. The first elastic part 31 can absorb and release energy during compression and extension, thus playing a buffering role. The combination of the first mounting hole 112 and the first elastic part 31 enables the floating part 2 of the floating joint 10 to respond quickly and return to the initial state when subjected to vibration or impact, thereby maintaining dynamic balance.

[0092] It should be noted that the mounting hole and the first elastic part 31 together constitute the first adjustment unit, and the first adjustment unit can be set as one, or two or more. Specifically, when multiple first adjustment units are set, the multiple first adjustment units are respectively set corresponding to the two first sides 21, so that the two first sides 21 of the floating part 2 are both subjected to the elastic force of the first elastic part 31, on the one hand, it is ensured that the floating part 2 can obtain balanced elastic support on the two first sides 21, and the stability and reliability of the floating part 2 are improved. On the other hand, when the floating part 2 is subjected to external force, the impact force can be absorbed and buffered by elastic deformation. When the floating part 2 is not subjected to external force, the first elastic parts 31 arranged on the two first sides can keep the floating part 2 in the middle position, and when subjected to force, the floating part 2 can be adjusted in translation within the plane range, the structure is simple, has a certain degree of adaptability, and parts replacement and operation are convenient.

[0093] Reference Figures 1 to 3 In one embodiment, the first side 21 is provided with a second hole 24, and the first elastic part 31 has a first end 311 facing the first side 21, the first end 311 is inserted into the second hole 24, and the first end 311 is used to make line contact with the inner wall of the second hole 24, and the line contact method reduces the contact area between the first end 311 and the inner wall of the second hole 24, thereby reducing the friction between the two. The line contact design also helps the first end 311 to automatically adjust its position in the second hole 24, ensuring that it is centered, reducing deviation, and improving the movement accuracy of the floating part 2. In addition, the line contact method makes the floating part 2 more flexible and accurate in translation in the X, Y, and Z directions and rotation around the X axis, Y axis, and Z axis.

[0094] Continue to refer to Figures 1 to 3 In one embodiment, the second hole 24 is a second conical hole, and the first end 311 is provided with an arc surface, which is in line contact with the inner wall of the second conical hole. In this way, the second hole 24 is a conical hole with a self-centering property. When the first end 311 is inserted into the conical hole, the shape of the conical hole can automatically adjust the position of the first end 311 to ensure that it is centered, thereby improving the movement accuracy of the floating part 2. The first end 311 is provided with an arc surface, which forms a line contact with the inner wall of the conical hole. This contact mode reduces the contact area, thereby reducing the friction.

[0095] Reference Figure 3 and Figure 6 , Figure 63 is a schematic structural diagram of a baffle and a first elastic portion or a second elastic portion provided in an exemplary embodiment of the present disclosure. In one embodiment, the first elastic portion 31 includes a first spring 312 and a first push rod 313. The first spring 312 is extended along the X direction. The first spring 312 is installed in the first mounting hole 112, and one end of the first spring 312 abuts against the bottom wall of the first mounting hole 112. One end of the first push rod 313 is inserted into the first mounting hole 112 and elastically connected to the first spring 312. The other end of the first push rod 313 extends into the mounting groove 11 and abuts against the first side 21. In this way, the combination of the first spring 312 and the first push rod 313 ensures stable support of the floating portion 2 in the X direction. When the floating portion 2 is subjected to an external force in the X direction, the first spring 312 will be compressed to store energy. When the external force disappears, the first spring 312 will release energy and push the floating portion 2 back to the initial position through the first push rod 313, thereby improving the dynamic balance and response speed of the floating joint 10. The first push rod 313 is elastically connected to the first spring 312, allowing the first push rod 313 to move freely within a certain range, so that the floating part 2 has a certain degree of freedom in the X direction, can adapt to the displacement and movement in the X direction, and improve the flexibility and adaptability of the floating part 2.

[0096] Reference Figures 1 to 3 In one embodiment, the side wall of the mounting groove 11 is further provided with a second mounting hole 113, which is extended along the Y direction. The second mounting hole 113 is connected to the mounting groove 11, and the second elastic part 32 is installed in the second mounting hole 113. In this way, the second mounting hole 113 provides a clear installation and movement path for the second elastic part 32, ensuring that it will not deviate from the predetermined track during compression and extension. The second elastic part 32 is suitable for partially extending into the mounting groove 11 to elastically abut against the second side 22. When the floating part 2 is subjected to an external force in the Y direction, the second elastic part 32 will compress and store energy. When the external force disappears, the elastic part will release energy and push the floating part 2 back to the initial position, thereby improving the dynamic balance and response speed of the floating joint 10. The combination of the second mounting hole 113 and the second elastic part 32 ensures stable support of the floating part 2 in the Y direction. The restoring force provided by the second elastic part 32 enables the floating part 2 to quickly return to the initial position after the external force disappears. The second elastic portion 32 partially extends into the mounting groove 11 and elastically abuts against the second side 22 of the floating portion 2, forming a stable contact point. This contact point allows the floating portion 2 to move freely in the Y direction, thereby improving the flexibility and adaptability of the floating portion 2. The second elastic portion 32 can absorb and release energy during compression and extension, thus playing a buffering role. The combination of the second mounting hole 113 and the second elastic portion 32 enables the floating portion 2 of the floating joint 10 to respond quickly and return to its initial state when subjected to vibration or impact, thereby maintaining dynamic balance.

[0097] It should be noted that the mounting hole and the second elastic part 32 together constitute the second adjustment unit, and the second adjustment unit can be set as one, or two or more. Specifically, when multiple second adjustment units are set, the multiple second adjustment units are respectively set corresponding to the two second sides 22, so that the two second sides 22 of the floating part 2 are both subjected to the elastic force of the second elastic part 32, on the one hand, it is ensured that the floating part 2 can obtain balanced elastic support on the two second sides 22, and the stability and reliability of the floating part 2 are improved. On the other hand, when the floating part 2 is subjected to external force, the impact force can be absorbed and buffered by elastic deformation. When the floating part 2 is not subjected to external force, the second elastic parts 32 arranged on the two second sides can keep the floating part 2 in the middle position, and when subjected to force, the floating part 2 can be adjusted in translation within the plane range, with a simple structure, certain adaptability, and convenient parts replacement and operation.

[0098] Reference Figures 1 to 3 In one embodiment, the second side 22 is provided with a third hole 25, and the second elastic part 32 has a second end 321 facing the second side 22, the second end 321 is inserted into the third hole 25, and the second end 321 is used to make line contact with the inner wall of the third hole 25, and the line contact method reduces the contact area between the second end 321 and the inner wall of the third hole 25, thereby reducing the friction between the two. The line contact design also helps the second end 321 to automatically adjust its position in the third hole 25, ensures that it is centered, reduces deviation, and improves the movement accuracy of the floating part 2. In addition, the line contact method makes the floating part 2 more flexible and accurate in translation in the X, Y, and Z directions and rotation around the X axis, Y axis, and Z axis.

[0099] In one embodiment, the third hole 25 is a third conical hole, and the second end 321 is provided with a circular arc surface, which is in line contact with the inner wall of the third conical hole. In this way, the third hole 25 is a conical hole with a self-centering property. When the second end 321 is inserted into the conical hole, the shape of the conical hole can automatically adjust the position of the second end 321 to ensure that it is centered, thereby improving the movement accuracy of the floating part 2. The second end 321 is provided with a circular arc surface, which forms a line contact with the inner wall of the conical hole. This contact mode reduces the contact area, thereby reducing the friction.

[0100] Reference Figure 3 and Figure 6In one embodiment, the second elastic part 32 includes a second spring 322 and a second push rod 323. The second spring 322 is extended along the Y direction. The second spring 322 is installed in the second mounting hole 113, and one end of the second spring 322 abuts against the bottom wall of the second mounting hole 113. One end of the second push rod 323 is inserted into the second mounting hole 113 and elastically connected with the second spring 322. The other end of the second push rod 323 extends into the mounting groove 11 and abuts against the second side 22. In this way, the combination of the second spring 322 and the second push rod 323 ensures stable support of the floating part 2 in the Y direction. When the floating part 2 is subjected to an external force in the Y direction, the second spring 322 will be compressed to store energy. When the external force disappears, the second spring 322 will release energy and push the floating part 2 back to the initial position through the second push rod 323, thereby improving the dynamic balance and response speed of the floating joint 10. The second push rod 323 is elastically connected to the second spring 322, allowing the second push rod 323 to move freely within a certain range, so that the floating part 2 has a certain degree of freedom in the Y direction and can adapt to the displacement and movement in the X direction, thereby improving the flexibility and adaptability of the floating part 2.

[0101] Reference Figure 1 , Figure 2 and Figure 7 , Figure 7 : is a schematic diagram of the structure of the enclosure provided in an exemplary embodiment of the present disclosure. In one embodiment, an annular boss 114 is convexly provided on the side wall of the mounting groove 11 near the groove, and the annular boss 114 has a limiting surface arranged toward the bottom of the mounting groove 11. The floating part 2 is arranged in a step and is installed in the mounting groove 11. The floating part 2 has a first step surface arranged opposite to the limiting surface, and the first step surface is used to abut against the limiting surface. In this way, when the floating part 2 is subjected to an external force, the annular boss 114 and the limiting surface can jointly resist such external force to prevent the floating part 2 from moving too much and causing the floating part 2 to fall off from the mounting groove 11. The annular boss 114 can also play a role in protecting the floating part 2. When the floating part 2 is impacted by an external force, the annular boss 114 can absorb part of the impact force and reduce the damage to the floating part 2.

[0102] Reference Figure 2 and Figure 8 , Figure 8 yes Figure 1The structural diagram of the floating joint part structure is shown. In one embodiment, the floating joint 10 also includes a locking portion 5, which is movably installed at the bottom of the mounting groove 11 along the Z direction. The locking portion 5 can move between a locking position and an unlocking position. In the locking position, the first step surface is in contact with the limiting surface, and the locking portion 5 is in contact with the side of the floating portion 2 facing the bottom of the mounting groove 11, thereby realizing double locking of the floating portion 2. This design can ensure that the floating portion 2 will not be displaced due to external forces when it is necessary to maintain a fixed position. In the unlocking position, the locking portion 5 is separated from the side of the floating portion 2 facing the bottom of the mounting groove 11, thereby realizing that the floating portion 2 can float as needed, so that the floating joint 10 can adapt to different working environments and needs.

[0103] It should be noted that the locking part 5 can be provided with one, two or more. When the locking part 5 is provided with more than one, the multiple locking parts 5 are arranged at intervals along the circumference of the bottom of the mounting groove 11. The multiple locking parts 5 work together to provide multiple locking guarantees for the floating part 2. Even if one or more of the locking parts 5 malfunction or fail, the other locking parts 5 can still play a role to ensure that the floating part 2 is locked. The multiple locking parts 5 work together to disperse the pressure when locking the floating part 2, reduce the pressure load borne by a single locking part 5, and thus improve the service life and reliability of the locking part 5.

[0104] Reference Figure 1 and Figure 7 In one embodiment, the base 1 includes a base 12 and a retaining portion 13, and the retaining portion 13 includes a cover plate 131 and a retaining frame 132. The cover plate 131 is opposite to the base 12 and is spaced apart. The cover plate 131 is provided with a through hole 1311. The retaining frame 132 is protruding from the side of the cover plate 131 facing the base 12 and is arranged around the through hole 1311. The end of the retaining frame 132 away from the cover plate 131 is detachably connected to the base 12, so that the base 12 and the retaining frame 132 are suitable for surrounding to form a mounting groove 11, wherein the locking portion 5 movably mounts the base 12. In this way, the base 1 is designed as two main parts, the base 12 and the retaining portion 13, so that the base 12 and the retaining portion 13 can be manufactured separately and then assembled when needed, thereby improving production efficiency and maintenance convenience. The mounting groove 11 formed by the base 12 and the retaining portion 13 provides convenience for the installation and maintenance of the floating portion 2. The locking portion 5 is movably mounted on the base body 12 and has a simple structure and is easy to operate.

[0105] Reference Figure 1 , Figure 2 and Figure 7The first mounting hole 112 and the second mounting hole 113 are both set through the enclosure frame 132. The base 1 also includes a plurality of baffles 14, which are arranged on the outside of the enclosure frame 132, and the plurality of baffles 14 are respectively set to cover the first mounting hole 112 and the second mounting hole 113. The end of the first elastic part 31 away from the first side 21 and the end of the second elastic part 32 away from the second side 22 are both abutted against the corresponding baffles 14. In this way, by setting the baffles 14 to cover the first mounting hole 112 and the second mounting hole 113, it is possible to effectively prevent external debris from entering the enclosure frame 132, thereby protecting the enclosure frame 132 and its floating part 2 from damage. The first elastic part 31 and the second elastic part 32 abut against the baffles 14, so that the baffles 14 provide additional support for the elastic component, so that the first elastic part 31 and the second elastic part 32 always increase the elastic force for the first side 21 and the second side 22 of the floating part 2.

[0106] Reference Figure 8 In one embodiment, the base body 12 is formed with a cavity 121, a side of the base body 12 opposite to the cover plate 131 is provided with a through hole 122, the through hole 122 is extended along the Z direction, the through hole 122 is communicated with the cavity 121, the locking portion 5 includes a piston 51 and a connecting rod 52, the piston 51 is movably installed in the cavity 121 along the Z direction, the piston 51 can divide the cavity 121 into a first cavity 1211 and a second cavity 1212 spaced apart along the Z direction, the second cavity 1212 is communicated with the through hole 122, a first air passage 1213 is provided on the side wall of the first cavity 1211, and a second air passage 1214 is provided on the side wall of the second cavity 1212 One end of the connecting rod 52 is used to abut against the side of the floating part 2 facing the bottom of the installation groove 11, and the other end of the connecting rod 52 is connected to the piston 51 through the through hole 122. The gas is injected into the first chamber 1211 through the first air channel 1213, which is suitable for driving the floating part 2 to move to the unlocking position. The gas is injected into the second chamber 1212 through the second air channel 1214, which is suitable for driving the floating part 2 to move to the locking position. In this way, the gas is injected into the first chamber 1211 and the second chamber 1212 through the first air channel 1213 and the second air channel 1214, which can realize the precise control of the movement of the locking part 5, and can quickly and accurately realize the locking and unlocking of the floating part 2. The design of the chamber 121, the through hole 122, the piston 51 and the connecting rod 52 makes the structure of the entire locking part 5 compact, so that the floating joint 10 occupies a small space. Integrating the locking part 5 in the seat body 12 not only simplifies the overall structure of the floating joint 10, but also improves the integration and reliability of the system. Pneumatic drive is stable and reliable, and can maintain good performance in harsh working environments. Compared with electric drive, pneumatic drive does not require power supply, thus avoiding electrical interference and potential safety risks. Pneumatic drive maintenance is relatively simple, and does not require complex electrical connections and debugging. At the same time, pneumatic components usually have a longer lifespan, reducing maintenance costs.

[0107] Reference Figures 1 to 3 and Fig. 9 , Fig. 9 1 is a schematic diagram of the structure of the housing provided in the exemplary embodiment of the present disclosure. The seat body 12 includes a housing 123 and a bottom plate 124. The housing 123 is provided with a third mounting hole 1231. The bottom plate 124 is provided to cover the third mounting hole 1231 and is detachably connected to the housing 123, so that the housing 123 and the bottom plate 124 form a cavity together. In this way, the locking part is easy to install. In addition, a third sealing ring 8 is also provided between the housing 123 and the bottom plate 124, and the third sealing ring 8 is used to seal the gap between the housing 123 and the bottom plate 124.

[0108] Reference Figure 8 and Fig.10 , Fig.10 : is an exploded schematic diagram of the locking portion provided in an exemplary embodiment of the present disclosure. In one embodiment, the floating joint 10 further includes a first sealing ring 6, and the connecting rod 52 is provided with the first sealing ring 6, and the first sealing ring 6 is used to seal the gap between the side wall of the connecting rod 52 and the inner wall of the through hole 122, so that the first sealing ring 6 can effectively prevent gas from leaking from the gap between the connecting rod 52 and the through hole 122, which ensures that when the gas is injected into the second chamber 1212 through the second gas channel 1214 to drive the piston 51 to move, the gas can be kept in the second chamber 1212, and will not lose pressure or affect the movement of the piston 51 due to leakage. When the first sealing ring 6 needs to be replaced due to wear or aging, its easy disassembly and reinstallation characteristics make maintenance work easier.

[0109] Reference Figure 8 and Fig.10 In one embodiment, the piston 51 includes a plug body 511 and an annular sealing portion 512. The plug body 511 is connected to the other end of the connecting rod 52. The annular sealing portion 512 is sleeved on the peripheral side of the plug body 511 and is sealed between the plug body 511 and the inner side wall of the cavity 121. In this way, the design of the annular sealing portion 512 can effectively prevent gas from leaking from the gap between the plug body 511 and the inner side wall of the cavity 121. This ensures that when the gas is injected into the first cavity 1211 or the second cavity 1212 through the first gas channel 1213 or the second gas channel 1214, the gas can be kept in the expected path, and will not lose pressure or affect the movement of the piston 51 due to leakage. The annular sealing portion 512 can reduce the direct contact between the plug body 511 and the inner side wall of the cavity 121, thereby reducing the risk of wear. This effect of reducing wear helps to extend the service life of the piston 51 and the cavity 121 and reduce maintenance costs.

[0110] It should be noted that, continue to refer to Figure 8 and Fig.10The side of the plug body 511 is provided with an annular groove 5111, and the annular sealing part 512 is installed in the annular groove 5111. The annular sealing part 512 includes a retaining ring 5121 and a second sealing ring 5122 which are sequentially arranged from the first cavity 1211 to the second cavity 1212. The retaining ring 5121 abuts against the second sealing ring 5122. The second sealing ring 5122 is sealed and connected between the plug body 511 and the inner side wall of the cavity 121. The retaining ring 5121 abuts against the second sealing ring 5122, which further enhances the sealing effect and ensures the reliability and durability of the seal. The annular groove 5111 provides a stable installation position for the annular sealing part 512, ensuring the firmness of the sealing part on the plug body 511. The abutment between the retaining ring 5121 and the second sealing ring 5122 can further prevent the sealing part from loosening and falling off during use, thereby improving the reliability and safety of the seal.

[0111] Refer again Figure 8 and Fig.10 In one embodiment, an annular protrusion 5112 is further provided on the side of the plug body 511, and a buffer gasket 7 is also mounted on the plug body 511. The buffer gasket 7 abuts against the side of the annular protrusion facing the penetration hole 122. The buffer gasket 7 is used to abut against the periphery of the penetration hole 122. The buffer gasket 7 plays a buffering role to prevent the plug body 511 from directly colliding with the periphery of the penetration hole 122 when moving toward the penetration hole 122, thereby increasing the service life of the plug body 511 and reducing noise. In one embodiment, the floating part 2 is provided with a fourth hole 26 on one side of the bottom of the installation groove 11, and the side wall of the fourth hole 26 is provided with a guiding slope. The locking part 5 has a third end 53 arranged toward the floating part 2, and the third end 53 is provided with a matching slope. The third end 53 is suitable for inserting into the fourth hole 26, and the matching slope is matched with the guiding slope. In this way, the design of the guiding slope and the matching slope makes it easier for the third end 53 of the locking part 5 to be inserted into the fourth hole 26. This design reduces the friction and resistance during the installation process, making the installation process smoother and more efficient. At the same time, the design of the guiding slope and the matching slope also provides a self-guiding function, so that even if there is a certain deviation during the installation process, it can be automatically adjusted to the right position through the guidance of the guiding slope and the matching slope, thereby improving the accuracy and success rate of the installation. The close fit between the guiding slope and the matching slope can effectively prevent the relative movement or loosening between the locking part 5 and the floating part 2, so that when the floating part 2 is in the locking position, the position of the floating plate remains unchanged. The design of the guiding slope and the matching slope makes the contact area between the floating part 2 and the locking part 5 gradually increase when they come into contact, and the friction force also gradually increases, thus playing a certain buffering role;

[0112] It should be noted that the shape of the fourth hole 26 may be a conical hole, and the corresponding third end 53 is set in a conical shape. Of course, in other embodiments, the shape of the fourth hole 26 may be a pyramidal hole, and the corresponding third end 53 is set in a pyramidal shape. Specifically, the shape of the fourth hole 26 and the shape of the third end 53 can be set as needed, and this application does not limit this.

[0113] According to a second aspect of the present disclosure, a robot is provided, the robot comprising the above-mentioned floating joint 10. The robot has all the beneficial effects of the above-mentioned floating joint 10, which will not be described in detail in the present disclosure.

[0114] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0115] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0116] The embodiments, implementation methods and related technical features of the present application can be combined and replaced with each other without conflict.

[0117] The above are only preferred embodiments of the present application and do not constitute any form of limitation to the present application. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A floating joint, characterized in that: include: A base formed with a mounting groove; A floating portion, movably mounted in the mounting groove and spaced apart from the bottom of the mounting groove along the Z direction, wherein the floating portion has two first sides oppositely disposed along the X direction and two second sides oppositely disposed along the Y direction; A first adjustment component is installed on the side wall of the installation groove, the first adjustment component includes a first elastic part and a second elastic part, the first elastic part is elastically connected to the first side, the first elastic part is elastically connected to the second side, and the X direction, the Y direction and the Z direction are vertically arranged in pairs; The second adjustment component includes a third elastic part and a sphere, wherein the sphere is rotatably connected to the floating part, and the third elastic part is arranged between the sphere and the bottom of the mounting groove, so that the floating part is suitable for translation along the X direction, the Y direction and the Z direction and for rotation around the X-axis, the Y-axis and the Z-axis.

2. The floating joint according to claim 1, characterized in that: A first hole is provided on one side of the floating portion facing the bottom of the mounting groove; The ball is installed in the first hole and is in line contact with the first hole.

3. The floating joint according to claim 2, characterized in that: The first hole comprises a first conical hole, and the ball is rotatably mounted in the first conical hole.

4. The floating joint according to claim 1, characterized in that: A guide hole is provided at the bottom of the mounting groove, and the guide hole is extended along the Z direction; The third elastic part is installed in the guide hole, and the ball is sandwiched between the third elastic part and the floating part. When the third elastic part is in a compressed state, the ball at least partially protrudes from the guide hole and abuts against the floating part.

5. The floating joint according to any one of claims 1 to 4, characterized in that: The side wall of the mounting groove is further provided with a first mounting hole, the first mounting hole is extended along the X direction, and the first mounting hole is connected to the mounting groove; The first elastic portion is installed in the first installation hole, and the first elastic portion is suitable for partially extending into the installation slot to elastically abut against the first side.

6. The floating joint according to claim 5, characterized in that: The first side is provided with a second hole; The first elastic portion has a first end portion facing the first side. The first end portion is inserted into the second hole, and the first end portion is used for linear contact with an inner wall of the second hole.

7. The floating joint according to claim 6, characterized in that: The second hole is a second tapered hole; The first end portion is provided with an arc surface, and the arc surface is in line contact with the inner wall of the second conical hole.

8. The floating joint according to claim 5, characterized in that: The first elastic portion comprises: A first spring extending along the X direction, the first spring being installed in the first mounting hole, and one end of the first spring abutting against a bottom wall of the first mounting hole; A first push rod, one end of which is inserted into the first mounting hole and elastically connected to the first spring, and the other end of which extends into the mounting groove and abuts against the first side.

9. The floating joint according to any one of claims 1 to 4, characterized in that: The side wall of the mounting groove is further provided with a second mounting hole, the second mounting hole is extended along the Y direction, and the second mounting hole is connected to the mounting groove; The second elastic portion is installed in the second installation hole, and the second elastic portion is suitable for partially extending into the installation slot to elastically abut against the second side.

10. The floating joint according to claim 9, characterized in that: The second side is provided with a third hole; The second elastic portion has a second end portion facing the second side. The second end portion is inserted into the third hole, and the second end portion is used for linear contact with an inner wall of the third hole.

11. The floating joint according to claim 10, characterized in that: The third hole is a third tapered hole; The second end portion is provided with an arc surface, and the arc surface is in line contact with the inner wall of the third conical hole.

12. The floating joint according to claim 9, characterized in that The second elastic portion comprises: A second spring extending along the Y direction, the second spring being installed in the second mounting hole, and one end of the second spring being in contact with the bottom wall of the second mounting hole; A second push rod, one end of which is inserted into the second mounting hole and elastically connected to the second spring, and the other end of which extends into the mounting groove and abuts against the second side.

13. The floating joint according to any one of claims 1 to 4, characterized in that: An annular boss is convexly provided on the side wall of the installation groove close to the notch, and the annular boss has a limiting surface arranged toward the bottom of the installation groove; The floating portion is arranged in a stepped manner and is installed in the installation groove. The floating portion has a first stepped surface arranged opposite to the limiting surface, and the first stepped surface is used to abut against the limiting surface.

14. The floating joint according to claim 13, characterized in that It also includes a locking portion, which is movably installed at the bottom of the mounting groove along the Z direction, and the locking portion can move between a locking position and an unlocking position. In the locking position, the first step surface abuts against the limiting surface, and the locking portion and the floating portion abut against one side of the bottom of the mounting groove. In the unlocking position, the locking portion and the floating portion are separated from one side of the bottom of the mounting groove.

15. The floating joint according to claim 14, characterized in that The base comprises: seat body; The enclosure part includes a cover plate and an enclosure frame, wherein the cover plate is opposite to the base and spaced apart, the cover plate is provided with a through hole, the enclosure frame is convexly arranged on a side of the cover plate facing the base and surrounding the through hole, and one end of the enclosure frame facing away from the cover plate is detachably connected to the base, so that the base and the enclosure frame are suitable for surrounding to form the installation groove; Wherein, the locking portion movably mounts the seat body.

16. The floating joint according to claim 15, characterized in that The base body is formed with a cavity, and a through hole is provided on one side of the base body opposite to the cover plate, the through hole extends along the Z direction, and the through hole is communicated with the cavity; The locking portion includes a piston and a connecting rod, the piston is movably installed in the cavity along the Z direction, the piston can divide the cavity into a first cavity and a second cavity spaced apart along the Z direction, the second cavity is connected to the through hole, a first air channel is provided on the side wall of the first cavity, and a second air channel is provided on the side wall of the second cavity, one end of the connecting rod is used to abut against a side of the floating portion toward the bottom of the mounting groove, and the other end of the connecting rod passes through the through hole and is connected to the piston; Injecting gas into the first cavity through the first gas passage is suitable for driving the floating part to move toward the unlocking position, and injecting gas into the second cavity through the second gas passage is suitable for driving the floating part to move toward the locking position.

17. The floating joint according to claim 16, characterized in that It also includes a first sealing ring, which is sleeved on the connecting rod and is used to seal the gap between the side wall of the connecting rod and the inner wall of the penetration hole.

18. The floating joint according to claim 16, characterized in that The piston comprises: A plug body, the plug body being connected to the other end of the connecting rod; The annular sealing portion is sleeved on the circumference of the plug body and is sealed between the plug body and the inner wall of the cavity.

19. The floating joint according to claim 16, characterized in that A fourth hole is provided on one side of the floating portion facing the bottom of the mounting groove, and a guide slope is provided on a side wall of the fourth hole; The locking portion has a third end portion disposed toward the floating portion, the third end portion is provided with a matching slope, the third end portion is suitable for being inserted into the fourth hole, and the matching slope surface is matched with the guiding slope surface.

20. A robot, characterized in that: Comprising a floating joint as claimed in any one of claims 1 to 19.

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