Floating joint and robot

Abstract

The application relates to a floating joint and a robot, the floating joint comprising a base, a floating part, a first adjusting assembly and a second adjusting assembly, the floating part being formed with a mounting groove, the floating part being movably mounted in the mounting groove and being spaced apart from the bottom of the mounting groove along the Z direction, the floating part having two first sides oppositely arranged along the X direction and two second sides oppositely arranged along the Y direction, the first adjusting assembly being mounted on the side wall of the mounting groove, the first adjusting assembly comprising a first elastic part and a second elastic part, the first elastic part being elastically connected with the first side, the first elastic part being elastically connected with the second side, the second adjusting assembly comprising a third elastic part and a ball, the ball being rotatably connected with the floating part, the third elastic part being arranged between the ball and the bottom of the mounting groove, so that the floating part is adapted to translate along the X direction, the Y direction and the Z direction and is adapted to rotate 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 the installation and replacement of parts are facilitated.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, and in particular to a floating joint and a robot. BACKGROUND

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

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

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

[0005] a base formed with a mounting slot;

[0006] a floating part movably mounted in the mounting slot and spaced apart from the bottom of the mounting slot along a Z direction, the floating part having two first sides oppositely arranged along an X direction and two second sides oppositely arranged along a Y direction;

[0007] a first adjusting assembly mounted on the side wall of the mounting slot, the first adjusting assembly comprising a first elastic part and a second elastic part, the first elastic part being elastically connected to the first side, the first elastic part being elastically connected to the second side, the X direction, the Y direction and the Z direction being perpendicular to each other;

[0008] a second adjusting assembly comprising a third elastic part and a ball, the ball being rotatably connected to the floating part, the third elastic part being arranged between the ball and the bottom of the mounting slot, so that the floating part is adapted to translate along the X direction, the Y direction and the Z direction and is adapted to rotate around the X direction axis, the Y direction axis and the Z direction axis.

[0009] Optionally, one side of the floating part towards the bottom of the mounting slot is provided with a first hole;

[0010] the ball is mounted 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, the bottom of the mounting slot is provided with a guide hole, and the guide hole extends along the Z direction.

[0013] The third elastic part is mounted to the guide hole, and the ball is clamped between the third elastic part and the floating part, wherein 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, the side wall of the mounting groove is further provided with a first mounting hole, the first mounting hole is provided along the X direction, and the first mounting hole is in communication with the mounting groove.

[0015] The first elastic part is mounted to the first mounting hole, and the first elastic part is adapted to partially extend into the mounting groove to abut against the first side.

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

[0017] The first elastic part 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 to be in line contact with the inner wall of the second hole.

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

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

[0020] Optionally, the first elastic part comprises:

[0021] A first spring is provided along the X direction, the first spring is mounted in the first mounting hole, and one end of the first spring abuts against the bottom wall of the first mounting hole.

[0022] A first top rod, one end of the first top rod is inserted into the first mounting hole and elastically connected with the first spring, and the other end of the first top rod 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 provided along the Y direction, and the second mounting hole is in communication with the mounting groove.

[0024] The second elastic part is mounted to the second mounting hole, and the second elastic part is adapted to partially extend into the mounting groove to abut against the second side.

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

[0026] The second elastic part 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 to be in line contact with the inner wall of the third hole.

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

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

[0029] Optionally, the second elastic portion comprises:

[0030] A second spring is arranged along the Y direction and mounted in the second mounting hole, with one end of the second spring in abutting contact with the bottom wall of the second mounting hole.

[0031] A second top rod is inserted into the second mounting hole and elastically connected with the second spring, with the other end of the second top rod extending into the mounting groove and in abutting contact with the second side.

[0032] Optionally, an annular boss is protruded from the side wall of the mounting groove near the slot, with the annular boss having a limiting surface arranged towards the bottom of the mounting groove.

[0033] The floating portion is arranged in steps and mounted in the mounting groove, with the floating portion having a first stepped surface arranged opposite to the limiting surface, and the first stepped surface being in abutting contact with the limiting surface.

[0034] Optionally, a locking portion is movably mounted on the bottom of the mounting groove along the Z direction, and the locking portion is movable between a locked position and an unlocked position, in the locked position, the first stepped surface is in abutting contact with the limiting surface, and the locking portion is in abutting contact with the side of the floating portion towards the bottom of the mounting groove, in the unlocked position, the locking portion is separated from the side of the floating portion towards the bottom of the mounting groove.

[0035] Optionally, the base comprises:

[0036] A seat body;

[0037] A surrounding portion comprising a cover plate and a surrounding frame, the cover plate is arranged opposite to and spaced apart from the seat body, the cover plate is provided with a through hole, the surrounding frame is protruded from the side of the cover plate towards the seat body and surrounds the periphery of the through hole, and one end of the surrounding frame away from the cover plate is detachably connected with the seat body, so that the seat body and the surrounding frame are adapted to surround the mounting groove;

[0038] The locking portion is movably mounted on the seat body.

[0039] Optionally, the seat body is formed with a containing cavity, and the side of the seat body opposite to the cover plate is provided with a through hole arranged along the Z direction, and the through hole is in communication with the containing cavity.

[0040] The locking part comprises 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 which are spaced along the Z direction, the second cavity is arranged in communication with the through hole, the side wall of the first cavity is provided with a first air passage, the side wall of the second cavity is provided with a second air passage, one end of the connecting rod is arranged to abut against one side of the floating part towards the bottom of the mounting groove, the other end of the connecting rod passes through the through hole and is connected with the piston;

[0041] Wherein, the first cavity is injected with gas through the first air passage, which is suitable for driving the floating part to move towards the unlocking position, the second cavity is injected with gas through the second air passage, which is suitable for driving the floating part to move towards the locking position.

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

[0043] Optionally, the piston comprises:

[0044] A plug body connected with the other end of the connecting rod;

[0045] An annular sealing part sleeved on the circumferential side of the plug body and sealingly connected between the plug body and the inner side wall of the cavity.

[0046] Optionally, one side of the floating part towards the bottom of the mounting groove is provided with a fourth hole, and the side wall of the fourth hole is provided with a guide slope;

[0047] The locking part has a third end portion arranged towards the floating part, 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 is matched with the guide slope.

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

[0049] A base formed with a mounting groove;

[0050] A floating part movably installed in the mounting groove and spaced from the bottom of the mounting groove along the Z direction, the floating part has two first sides oppositely arranged along the X direction and two second sides oppositely arranged along the Y direction;

[0051] A first adjusting assembly is mounted on the side wall of the mounting slot, and the first adjusting assembly comprises a first elastic part and a second elastic part, the first elastic part is elastically connected with the first side, and the first elastic part is elastically connected with the second side, and the X direction, the Y direction and the Z direction are perpendicular to each other;

[0052] A second adjusting assembly comprises a third elastic part and a ball, the ball is rotationally connected with the floating part, and the third elastic part is arranged between the ball and the bottom of the mounting slot, so that the floating part is adapted to translate along the X direction, the Y direction and the Z direction and is adapted to rotate around the X axis, the Y axis and the Z axis.

[0053] In the floating joint of the embodiment of the application, the ball is rotationally connected with the floating part, and the first elastic part, the second elastic part and the third elastic part are matched, so that the floating part can translate along the X direction, the Y direction and the Z direction and is adapted to rotate around the X axis, the Y axis and the Z axis, thereby realizing omnidirectional floating of the floating part in six degrees of freedom directions, so that the floating joint can be flexibly adapted when facing external forces or displacements in different directions, and the stability and reliability of the connection are ensured. In addition, this design also makes the floating joint simple and compact in structure and small in mass, and facilitates installation and replacement of parts. The first elastic part, the second elastic part and the third elastic part can all provide good damping and buffering effects, and 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, reduce the influence on the floating part, and thereby improve the overall stability of the floating joint. 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 the pre-tightening force thereof, and realize more accurate alignment and positioning. The elastic connection can also compensate for the size changes of the floating part or the mounting slot caused by thermal expansion and cold contraction and other physical phenomena to some extent, and ensure the stability and reliability of the installation of the floating part.

[0054] Other features and advantages of the application will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0055] In order to more clearly illustrate the technical solutions in the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can also be obtained by those skilled in the art without creating laborious work.

[0056] In order to more completely understand the application and its beneficial effects, the following will be described in conjunction with the drawings, and the same reference numerals in the following description represent the same parts.

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

[0058] Figure 2 is an exploded schematic view of a floating joint shown in Figure 1

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

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

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

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

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

[0064] Figure 8 is a structural schematic view of a floating joint part structure shown in Figure 1

[0065] Figure 9 is a structural schematic view of a housing provided in an exemplary embodiment of the present disclosure;

[0066] Figure 10 is an exploded schematic view of a locking part provided in an exemplary embodiment of the present disclosure.

[0067] BRIEF DESCRIPTION OF DRAWINGS:

[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, accommodating cavity, 1211, first cavity, 1212, second cavity, 1213, first air passage, 1214, second air passage, 122, through hole, 123, housing, 1231, third mounting hole, 124, bottom plate, 13, enclosure part, 131, cover plate, 1311, via hole, 132, enclosure frame, 14, baffle;

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

[0071] ​​​31, first elastic part, 311, first end part, 312, first spring, 313, first jack, 32, second elastic part, 321, second end part, 322, second spring, 323, second jack;

[0072] 41, third elastic part, 42, ball;

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

[0074] 6, first sealing ring, 7, buffer ring, 8, third sealing ring. DETAILED DESCRIPTION

[0075] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to 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 the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application.

[0076] The present application provides a floating joint 10, please refer to Figures 1 to 3 , Figure 1 is a structural schematic diagram of the floating joint provided in the exemplary embodiments of the present application, Figure 2 is Figure 1 the exploded schematic diagram of the floating joint shown in FIG. 1, Figure 3 is Figure 1 the cross-sectional schematic diagram of the floating joint shown in FIG. 2. The floating joint 10 comprises a base 1, a floating part 2, a first adjusting assembly and a second adjusting assembly.

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

[0078] It should be noted that the shape of the base 1 can be various, for example, the base 1 can be cylindrical, cubic, cuboid or other shapes, specifically, the shape of the base 1 is not limited in the present application. In addition, the shape of the mounting groove 11 is various, for example, in an embodiment, the cross section of the mounting groove 11 can be circular, square or rectangular, specifically, the shape of the mounting groove 11 is not limited in the present application.

[0079] The floating part 2 is movably mounted in the mounting groove 11, and is spaced apart from the bottom of the mounting 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 shape of the floating part 2 is various, for example, the floating part 2 can be plate-shaped, block-shaped or other shapes, and the shape of the floating part 2 can be set as needed. Specifically, the present application is not limited.

[0081] The first adjusting assembly is mounted on the side wall of the mounting groove 11, and the first adjusting assembly includes a first elastic part 31 and a second elastic part 32. The first elastic part 31 is elastically connected with the first side 21, and the first elastic part 31 is elastically connected with the second side 22. The X direction, the Y direction and the Z direction are perpendicular to each other.

[0082] It should be noted that the types of the first elastic part 31 and the second elastic part 32 are various, for example, in an embodiment, the first elastic part 31 and the second elastic part 32 can include springs, memory cotton, rubber columns or silica gel columns, etc. Specifically, the types of the first elastic part 31 and the second elastic part 32 can be selected as needed, and the present application is not limited.

[0083] The second adjusting assembly includes a third elastic part 41 and a ball 42. The ball 42 is rotationally connected with the floating part 2, and the third elastic part 41 is arranged between the ball 42 and the bottom of the mounting groove 11, so that the floating part 2 is adapted to translate along the X direction, the Y direction and the Z direction, and is adapted to rotate around the X direction axis, the Y direction axis and the Z direction axis.

[0084] It should be noted that the types of the third elastic part 41 are various, for example, in an embodiment, the third elastic part 41 can include springs, memory cotton, rubber columns or silica gel columns, etc. Specifically, the types of the third elastic part 41 can be selected as needed, and the present application is not limited.

[0085] In addition, the material of the ball 42 is various, for example, the material of the ball 42 can include metal, ceramic or plastic, etc. Specifically, the material of the ball 42 can be selected as needed, and the present application is not limited.

[0086] The floating joint 10 of the embodiments of the present application is provided with the ball 42 in rotational connection with the floating part 2, and in cooperation with the first elastic part 31, the second elastic part 32 and the third elastic part 41, so that the floating part 2 can translate in the X direction, the Y direction and the Z direction and is adapted to rotate around the X-axis, the Y-axis and the Z-axis, thereby realizing the omnidirectional floating of the floating part 2 in six degrees of freedom, so that the floating joint 10 can be flexibly adapted to different directions of external force or displacement, thereby ensuring the stability and reliability of the connection. In addition, this design also makes the floating joint 10 simple and compact in structure, and small in mass, facilitating 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 effect, and 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, reducing the impact on the floating part 2, thereby improving the overall stability of the floating joint 10. The presence 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 the pre-tightening force, realizing 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 thermal expansion and cold shrinkage and other physical phenomena to some extent, ensuring the stability and reliability of the installation of the floating part 2.

[0087] With reference to Figure 3 In an 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 in line contact with the first hole 23. In this way, the line contact between the ball 42 and the first hole 23 means that only a small part of the ball 42 and the hole wall is actually in contact, which 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 part, 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, Y and Z axes), 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 failures caused by loose or offset connection. Compared with surface contact or point contact, line contact can more effectively disperse stress and reduce wear or damage caused by stress concentration. Through the cooperation of the ball 42 and the first hole 23, the floating part 2 is additionally supported and stabilized in the mounting groove 11, which helps to reduce the shaking or offset 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] In particular, with reference to Figure 1 ,Figure 4 and Figure 5 , Figure 4 is a cross-sectional view of the floating part provided in the exemplary embodiment of the present disclosure, Figure 5 is a bottom view of the floating part provided in the exemplary embodiment of the present disclosure, in an embodiment, the first hole 23 comprises 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 is such that the contact surface of the hole wall and the ball 42 is in linear contact. In addition, because the contact line of the first conical hole is longer, the side wall of the first conical hole also serves as a guide when the ball 42 is installed. In addition, the first conical hole has the self-centering property, that is, even if there is a slight deviation in the installation of the ball 42, the first conical hole can automatically adjust the position of the ball 42 to the center through its geometric shape, ensuring the stable position of the ball 42 in the first conical hole, thereby improving the accuracy of the floating part 2 in multi-directional movement. The cooperation of the first conical hole and the third elastic part 41 enables the floating part 2 to quickly respond and recover to the initial state when subjected to vibration or impact, thereby enhancing the anti-vibration performance of the floating joint 10. The ball 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, Z directions and the rotation around the X, Y, Z axes more flexible and accurate. The linear contact of the first conical hole and the ball 42 reduces the contact area, thereby reducing the friction, which helps to reduce the wear of the ball 42 and the floating part 2 and improve the smoothness of the movement of the ball 42 and the floating part 2.

[0089] In order to realize the rotational connection between the ball 42 and the floating part 2, in still another embodiment, the ball 42 and the floating part 2 can also be connected through point contact or spherical surface contact, etc. Among them, the point contact refers to the contact area between the ball 42 and the floating part 2 being a point. The point contact provides the maximum degree of freedom, and the floating part 2 can freely rotate and translate in multiple directions. The contact area of the point contact is the smallest, so the friction is extremely low, which helps to reduce wear and improve movement smoothness. The spherical surface contact refers to the contact area between the ball 42 and the floating part 2 being a complete or partial spherical surface, which means that the contact area between the ball 42 and the floating part 2 is larger, and the contact force is uniformly distributed on a larger area. The spherical surface contact allows the floating part 2 to freely rotate and translate in multiple directions relative to the ball 42, providing multiple degrees of freedom of movement. Specifically, the way to realize the rotational connection between the ball 42 and the floating part 2 can be selected as needed, which is not limited in the present application.

[0090] Referring to Figures 1 to 3In an embodiment, the bottom of the mounting groove 11 is provided with a guide hole 111 extending along the Z direction, the third elastic part 41 is mounted in the guide hole 111, the ball is clamped between the third elastic part 41 and the floating part 2, thus the guide hole 111 provides a clear movement path for the third elastic part 41, ensuring that it does not deviate from the predetermined track during compression and stretching. 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 out of the guide hole 111 and abuts against the floating part 2, thus 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 and push 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, improving the dynamic balance and response speed of the floating joint 10. The ball 42 partially protrudes out of the guide hole 111 and abuts against the floating part 2, forming a stable contact point that allows the floating part 2 to freely rotate and translate in the X, Y, and Z directions.

[0091] Referring to Figures 1 to 3 In an embodiment, the sidewall of the mounting groove 11 is also provided with a first mounting hole 112 extending along the X direction, the first mounting hole 112 is in communication with the mounting groove 11, and the first elastic part 31 is mounted in the first mounting hole 112, thus the first mounting hole 112 provides a clear installation and movement path for the first elastic part 31, ensuring that it does not deviate from the predetermined track during compression and stretching. The first elastic part 31 is adapted to partially extend into the mounting groove 11 to elastically abut against the first side 21, and 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, and when the external force disappears, the elastic part will release the energy and push the floating part 2 back to the initial position, 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 the 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 abuts against the first side 21 of the floating part 2, forming a stable contact point that allows the floating part 2 to freely move in the X direction, improving the flexibility and adaptability of the floating part 2. The first elastic part 31 can absorb and release energy during compression and stretching, acting as a buffer. The combination of the first mounting hole 112 and the first elastic part 31 enables the floating part 2 to quickly respond and recover to the initial state when the floating joint 10 is subjected to vibration or impact, maintaining dynamic balance.

[0092] It should be noted that the mounting hole and the first elastic part 31 together constitute a first adjusting unit, and one, two or more first adjusting units can be provided. Specifically, when multiple first adjusting units are provided, the multiple first adjusting units are respectively arranged corresponding to the two first sides 21, so that the two first sides 21 of the floating part 2 are subjected to the elastic force of the first elastic part 31. On the one hand, it ensures that the floating part 2 can obtain balanced elastic support on the two first sides 21, thereby improving the stability and reliability of the floating part 2. On the other hand, when the floating part 2 is subjected to external force, the impact force can be absorbed and buffered through 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 make the floating part 2 maintain the central position, and when subjected to force, the floating part 2 can be adjusted in translation within the plane range, and the structure is simple, has certain self-adaptability, and the parts are convenient to replace and operate.

[0093] With reference to Figures 1 to 3 In an embodiment, the first side 21 is provided with a second hole 24, and the first elastic part 31 has a first end portion 311 facing the first side 21, the first end portion 311 is inserted into the second hole 24, and the first end portion 311 is in line contact with the inner wall of the second hole 24. The line contact reduces the contact area between the first end portion 311 and the inner wall of the second hole 24, thereby reducing the friction therebetween. The design of the line contact also helps the first end portion 311 to automatically adjust the position in the second hole 24, ensure its centering, reduce the deviation, and improve the movement accuracy of the floating part 2. In addition, the line contact makes the translation of the floating part 2 in the X, Y and Z directions and the rotation of the floating part 2 around the X, Y and Z axes more flexible and accurate.

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

[0095] With reference to Figure 3 and Figure 6 , Figure 6is a structural schematic view of the baffle and the first or second elastic part provided in the exemplary embodiments of the present disclosure. In an embodiment, the first elastic part 31 includes a first spring 312 and a first top rod 313. The first spring 312 extends along the X direction and is installed in the first mounting hole 112. One end of the first spring 312 abuts against the bottom wall of the first mounting hole 112. One end of the first top rod 313 is inserted into the first mounting hole 112 and elastically connected with the first spring 312. The other end of the first top 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 top rod 313 ensures stable support of the floating part 2 in the X direction. When the floating part 2 is subjected to external force in the X direction, the first spring 312 is compressed to store energy. When the external force disappears, the first spring 312 releases the energy to push the floating part 2 back to the initial position, thereby improving the dynamic balance and response speed of the floating joint 10. The first top rod 313 is elastically connected with the first spring 312, allowing the first top rod 313 to move freely within a certain range. The floating part 2 has a certain degree of freedom in the X direction, which can adapt to displacement and movement in the X direction, thereby improving the flexibility and adaptability of the floating part 2.

[0096] With reference to Figures 1 to 3 In an embodiment, the side wall of the mounting groove 11 is further provided with a second mounting hole 113 extending along the Y direction. The second mounting hole 113 is in communication with the mounting groove 11. 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 does not deviate from the predetermined track during compression and stretching. The second elastic part 32 is adapted to partially extend into the mounting groove 11 to elastically abut against the second side 22. When the floating part 2 is subjected to external force in the Y direction, the second elastic part 32 is compressed to store energy. When the external force disappears, the elastic part releases the energy to 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 part 32 partially extends into the mounting groove 11 and elastically abuts against the second side 22 of the floating part 2, forming a stable contact point that allows the floating part 2 to move freely in the Y direction, thereby improving the flexibility and adaptability of the floating part 2. The second elastic part 32 can absorb and release energy during compression and stretching, thereby acting as a buffer. The combination of the second mounting hole 113 and the second elastic part 32 enables the floating joint 10 to quickly respond and recover to the 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 jointly constitute a second adjusting unit, and the second adjusting unit can be provided with one, two or more. Specifically, when the second adjusting unit is provided with multiple, the multiple second adjusting units are respectively arranged corresponding to the two second sides 22, so that the two second sides 22 of the floating part 2 are elastically supported by the second elastic part 32, on the one hand, it ensures that the floating part 2 can obtain balanced elastic support on the two second sides 22, and improves the stability and reliability of the floating part 2. On the other hand, when the floating part 2 is subjected to external force, the elastic deformation can be used to absorb and buffer the impact force. When the floating part 2 is not subjected to external force, the second elastic part 32 arranged on the two second sides can make the floating part 2 keep the central position, and when subjected to force, the floating part 2 can be adjusted in translation in the plane range, and the structure is simple, has certain self-adaptability, and the parts replacement and operation are convenient.

[0098] With reference to Figures 1 to 3 In an embodiment, the second side 22 is provided with a third hole 25, and the second elastic part 32 has a second end portion 321 facing the second side 22, the second end portion 321 is inserted into the third hole 25, and the second end portion 321 is in line contact with the inner wall of the third hole 25. The contact mode of line contact reduces the contact area between the second end portion 321 and the inner wall of the third hole 25, thereby reducing the friction therebetween. The design of line contact also helps the second end portion 321 to automatically adjust the position in the third hole 25, ensure its centering, reduce the deviation, and improve the movement accuracy of the floating part 2. In addition, the contact mode of line contact makes the translation of the floating part 2 in X, Y and Z directions and the rotation of the floating part 2 around X, Y and Z axes more flexible and accurate.

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

[0100] With reference to Figure 3 and Figure 6In an embodiment, the second elastic part 32 comprises a second spring 322 and a second top rod 323, the second spring 322 extends 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 top rod 323 is inserted into the second mounting hole 113 and elastically connected with the second spring 322, and the other end of the second top rod 323 extends into the mounting groove 11 and abuts against the second side 22, so that the combination of the second spring 322 and the second top rod 323 ensures the stable support of the floating part 2 in the Y direction. When the floating part 2 is subjected to external force in the Y direction, the second spring 322 will be compressed to store energy, and when the external force disappears, the second spring 322 will release the energy to push the floating part 2 back to the initial position through the second top rod 323, thereby improving the dynamic balance and response speed of the floating joint 10. The elastic connection between the second top rod 323 and the second spring 322 allows the second top 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, can adapt to the displacement and movement in the X direction, and improves the flexibility and adaptability of the floating part 2.

[0101] With reference to Figure 1 , Figure 2 and Figure 7 , Figure 7 is a structural schematic view of the enclosing part provided in the exemplary embodiments of the present disclosure. In an embodiment, the side wall of the mounting groove 11 near the slot is provided with an annular boss 114, the annular boss 114 has a limiting surface facing the bottom of the mounting groove 11, the floating part 2 is arranged in steps and installed in the mounting groove 11, and the floating part 2 has a first stepped surface arranged opposite to the limiting surface, the first stepped surface is used to abut against the limiting surface, so that when the floating part 2 is subjected to 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 falling out of the mounting groove 11. The annular boss 114 can also play a role in protecting the floating part 2, and when the floating part 2 is subjected to external force impact, the annular boss 114 can absorb part of the impact force to reduce the damage of the floating part 2.

[0102] With reference to Figure 2 and Figure 8 , Figure 8 is Figure 1The structure diagram of the floating joint part structure is shown. In an embodiment, the floating joint 10 further comprises a locking part 5 movably mounted on the bottom of the mounting groove 11 along the Z direction, and the locking part 5 is movable between a locking position and an unlocking position. In the locking position, the first step surface abuts against the limiting surface, and the locking part 5 abuts against the side of the floating part 2 facing the bottom of the mounting groove 11, thereby achieving double locking of the floating part 2. This design can ensure that the floating part 2 will not be displaced due to external force in the case of needing to maintain a fixed position. In the unlocking position, the locking part 5 is separated from the side of the floating part 2 facing the bottom of the mounting groove 11, so that the floating part 2 can float as needed, and the floating joint 10 can adapt to different working environments and requirements.

[0103] It should be noted that the locking part 5 can be provided with one, two or multiple locking parts. When multiple locking parts 5 are provided, the multiple locking parts 5 are arranged along the circumference of the bottom of the mounting groove 11, and the multiple locking parts 5 jointly act to provide multiple locking guarantees for the floating part 2. Even if one or several locking parts 5 fail or fail, the other locking parts 5 can still function to ensure that the floating part 2 is locked. The joint action of the multiple locking parts 5 can disperse the pressure when the floating part 2 is locked, thereby reducing the pressure load borne by a single locking part 5, and improving the service life and reliability of the locking part 5.

[0104] Referring to Figure 1 and Figure 7 In an embodiment, the base 1 comprises a seat body 12 and an enclosing part 13. The enclosing part 13 comprises a cover plate 131 and an enclosing frame 132. The cover plate 131 is arranged opposite and spaced apart from the seat body 12. The cover plate 131 is provided with a through hole 1311. The enclosing frame 132 is protruded from the side of the cover plate 131 facing the seat body 12 and surrounds the periphery of the through hole 1311. The end of the enclosing frame 132 away from the cover plate 131 is detachably connected with the seat body 12, so that the seat body 12 and the enclosing frame 132 are adapted to surround and form the mounting groove 11. The locking part 5 is movably mounted on the seat body 12. In this way, the base 1 is designed as two main parts, i.e. the seat body 12 and the enclosing part 13, so that the seat body 12 and the enclosing part 13 can be manufactured separately and then assembled when needed, thereby improving the production efficiency and maintenance convenience. The mounting groove 11 formed by the seat body 12 and the enclosing part 13 provides convenience for the installation and maintenance of the floating part 2. The locking part 5 movably mounted on the seat body 12 is simple in structure and easy to operate.

[0105] Referring to Figure 1 , Figure 2 and Figure 7The first mounting hole 112 and the second mounting hole 113 are both arranged through the enclosing frame 132, the base 1 further comprises a plurality of baffle plates 14, the plurality of baffle plates 14 are arranged outside the enclosing frame 132, and the plurality of baffle plates 14 are respectively arranged to cover the first mounting hole 112 and the second mounting hole 113, one end of the first elastic part 31 away from the first side 21 and one end of the second elastic part 32 away from the second side 22 are both in abutment with the corresponding baffle plate 14, in this way, by arranging the baffle plates 14 to cover the first mounting hole 112 and the second mounting hole 113, the external sundries can be effectively prevented from entering the inside of the enclosing frame 132, so as to protect the enclosing frame 132 and the floating part 2 from being damaged. The first elastic part 31 and the second elastic part 32 are in abutment with the baffle plate 14, which provides additional support for the baffle plate 14 as an elastic part, so that the first elastic part 31 and the second elastic part 32 always provide elastic force for the first side 21 and the second side 22 of the floating part 2.

[0106] With reference to Figure 8 In an embodiment, the seat body 12 is formed with a containing cavity 121, the seat body 12 is provided with a through hole 122 on the side opposite to the cover plate 131, the through hole 122 is arranged to extend along the Z direction, the through hole 122 is in communication with the containing cavity 121, the locking part 5 comprises a piston 51 and a connecting rod 52, the piston 51 is movably installed in the containing cavity 121 along the Z direction, the piston 51 can divide the containing cavity 121 into a first cavity 1211 and a second cavity 1212 which are arranged to be spaced apart along the Z direction, the second cavity 1212 is arranged to be in communication with the through hole 122, the side wall of the first cavity 1211 is provided with a first air channel 1213, the side wall of the second cavity 1212 is provided with a second air channel 1214, one end of the connecting rod 52 is arranged to be in abutment with the side of the floating part 2 which faces the bottom of the mounting groove 11, the other end of the connecting rod 52 passes through the through hole 122 and is connected with the piston 51, the first cavity 1211 is injected with gas through the first air channel 1213, which is suitable for driving the floating part 2 to move to the unlocking position, the second cavity 1212 is injected with gas through the second air channel 1214, which is suitable for driving the floating part 2 to move to the locking position, in this way, by injecting gas into the first cavity 1211 and the second cavity 1212 through the first air channel 1213 and the second air channel 1214, the accurate control of the movement of the locking part 5 can be realized, and the locking and unlocking of the floating part 2 can be quickly and accurately realized. The design of the containing cavity 121, the through hole 122, the piston 51 and the connecting rod 52 and other components makes the structure of the whole locking part 5 compact, so that the floating joint 10 occupies less 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. The pneumatic driving mode has the characteristics of stability and reliability, and can maintain good performance in harsh working environments. Compared with electric driving, pneumatic driving does not require power supply, so it avoids electrical interference and potential safety risks. The maintenance of pneumatic driving is relatively simple and does not require complex electrical connections and debugging. At the same time, the service life of pneumatic components is generally longer, which reduces the maintenance cost.

[0107] Referring to Figures 1 to 3 and Figure 9 , Figure 9 is a structural schematic diagram of the housing provided in the exemplary embodiment of the present disclosure. The seat body 12 comprises a housing 123 provided with a third mounting hole 1231 and a bottom plate 124 provided with the third mounting hole 1231 and detachably connected with the housing 123, so that a cavity is formed between the housing 123 and the bottom plate 124, thereby making the locking part installation operation simple. In addition, a third sealing ring 8 is further provided between the housing 123 and the bottom plate 124, which is used to seal the gap between the housing 123 and the bottom plate 124.

[0108] Referring to Figure 8 and Figure 10 , Figure 10 is an exploded schematic diagram of the locking part provided in the exemplary embodiment of the present disclosure. In an embodiment, the floating joint 10 further comprises a first sealing ring 6, and the connecting rod 52 is sleeved with the first sealing ring 6, which is used to seal the gap between the side wall of the connecting rod 52 and the inner wall of the through hole 122. In this way, 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 cavity 1212 through the second gas channel 1214 to drive the piston 51 to move, the gas can be kept in the second cavity 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, the characteristics of easy disassembly and reinstallation make the maintenance work more convenient.

[0109] Referring to Figure 8 and Figure 10 In an embodiment, the piston 51 comprises a plug body 511 connected with the other end of the connecting rod 52 and an annular sealing part 512 sleeved on the circumferential side of the plug body 511 and sealingly connected between the plug body 511 and the inner side wall of the cavity 121. In this way, the design of the annular sealing part 512 can effectively prevent gas from leaking from the gap between the plug body 511 and the inner side wall of the cavity 121, which 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 part 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, which helps to prolong the service life of the piston 51 and the cavity 121 and reduce the maintenance cost.

[0110] It should be noted that the above description continues to refer to Figure 8 and Figure 10The side of the plug body 511 is provided with an annular clamping groove 5111, and the annular sealing part 512 is installed in the annular clamping groove 5111. The annular sealing part 512 comprises a check ring 5121 and a second sealing ring 5122 which are arranged in the first cavity 1211 to the second cavity 1212 in sequence. The check ring 5121 abuts against the second sealing ring 5122. The second sealing ring 5122 is sealingly connected between the plug body 511 and the inner side wall of the cavity 121. The check ring 5121 abuts against the second sealing ring 5122, which further enhances the sealing effect and ensures the reliability and durability of the sealing. The annular clamping 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. Through the abutment of the check ring 5121 and the second sealing ring 5122, the loosening and falling off of the sealing part during use can be further prevented, improving the reliability and safety of the sealing.

[0111] Referring again to Figure 8 and Figure 10 In an embodiment, the side of the plug body 511 is also provided with an annular protrusion 5112. A buffer washer 7 is also sleeved on the plug body 511. The buffer washer 7 abuts against the side of the annular protrusion facing the penetrating hole 122. The buffer washer 7 is used to abut against the periphery of the penetrating hole 122. The buffer washer 7 plays a buffering role, avoiding direct collision between the plug body 511 and the periphery of the penetrating hole 122 when the plug body 511 moves towards the penetrating hole 122, improving the service life of the plug body 511 and reducing noise. In an embodiment, the floating part 2 is provided with a fourth hole 26 on the side facing the bottom of the mounting groove 11. The side wall of the fourth hole 26 is provided with a guide slope. The locking part 5 has a third end 53 arranged towards the floating part 2. The third end 53 is provided with a matching slope. The third end 53 is adapted to be inserted into the fourth hole 26, and the matching slope is adapted to the guide slope. In this way, the design of the guide 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 friction and resistance during installation, making the installation process smoother and more efficient. At the same time, the design of the guide slope and the matching slope also provides a self-guiding function, so that even if there is a certain deviation during installation, it can be automatically adjusted in place through the guidance of the guide slope and the matching slope, thereby improving the accuracy and success rate of installation. The close fit of the guide slope and the matching slope can effectively prevent relative movement or loosening between the locking part 5 and the floating part 2, so that the position of the floating plate does not change when the floating part 2 is in the locked position. The design of the guide 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 also gradually increases, playing a certain buffering role;

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

[0113] According to a second aspect of the present disclosure, a robot is provided, which includes the floating joint 10 described above. The robot has all the beneficial effects of the floating joint 10 described above, and the present disclosure will not be repeated here.

[0114] In the description of the present application, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise explicitly and specifically limited.

[0115] In the above embodiments, the description of each embodiment is focused on, and the parts not described in detail in a certain embodiment can refer to the related description of other embodiments.

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

[0117] The above is only the preferred embodiment of the present application, and does not limit the present application in any form. Any simple modification, equivalent change and modification made to the above embodiment according to the technical essence of the present application without departing from the technical solution of the present application still falls within the scope of the technical solution of the present application.

Claims

1. A floating joint, characterized by The base is formed with a mounting groove; The floating part is movably mounted in the mounting groove and is spaced from the bottom of the mounting groove along the Z direction, the floating part has two first sides oppositely arranged along the X direction and two second sides oppositely arranged along the Y direction; The first adjusting assembly is mounted on the side wall of the mounting groove, the first adjusting assembly comprises a first elastic part and a second elastic part, the first elastic part is elastically connected with the first side, the second elastic part is elastically connected with the second side, the X direction, the Y direction and the Z direction are perpendicular to each other; The second adjusting assembly comprises a third elastic part and a ball, the ball is rotatably connected with the middle position of the side of the floating part facing the bottom of the mounting groove, the third elastic part is arranged between the ball and the bottom of the mounting groove, so that the floating part is adapted to translate along the X direction, the Y direction and the Z direction and is adapted to rotate around the X direction axis, the Y direction axis and the Z direction axis; The side wall of the mounting groove near the slot is provided with an annular boss, the annular boss has a limiting surface arranged towards the bottom of the mounting groove; The floating part is arranged in steps and is mounted in the mounting groove, the floating part has a first step surface oppositely arranged with the limiting surface, the first step surface is used to abut against the limiting surface; The base comprises: The base body; The enclosing part comprises a cover plate and an enclosing frame, the cover plate is oppositely and spacedly arranged with the base body, the cover plate is provided with a through hole, the enclosing frame is protrudingly arranged on the side of the cover plate facing the base body and is enclosed around the circumferential side of the through hole, one end of the enclosing frame away from the cover plate is detachably connected with the base body, so that the base body and the enclosing frame are adapted to be enclosed to form the mounting groove. The side of the floating part facing the bottom of the mounting groove is provided with a first hole; 2. The floating joint of claim 1, wherein, The ball is mounted in the first hole and is in linear contact with the first hole. The first hole comprises a first conical hole, and the ball is rotatably mounted in the first conical hole.

3. The floating joint of claim 2, wherein, The bottom of the mounting groove is provided with a guide hole, the guide hole is arranged extending along the Z direction; 4. The floating joint of claim 1, wherein, The third elastic part is mounted in the guide hole, and the ball is clamped between the third elastic part and the floating part, wherein when the third elastic part is in a compressed state, the ball at least partially protrudes out of the guide hole and abuts against the floating part. The side wall of the mounting groove is further provided with a first mounting hole, the first mounting hole is arranged extending along the X direction, and the first mounting hole is in communication with the mounting groove; 5. A floating joint according to any one of claims 1 to 4, characterised in that The first elastic part is mounted in the first mounting hole, and the first elastic part is adapted to partially extend into the mounting groove to elastically abut against the first side. The first side is provided with a second hole; 6. The floating joint of claim 5, wherein, The first elastic part 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 in linear contact with the inner wall of the second hole. The second hole is a second conical hole; 7. The floating joint of claim 6, wherein, The first end portion is provided with a circular arc surface, and the circular arc surface is in linear contact with the inner wall of the second conical hole. The first elastic part comprises:

8. The floating joint of claim 5, wherein, ​ A first spring is arranged along the X direction, mounted in the first mounting hole, and one end of the first spring is in abutment with the bottom wall of the first mounting hole; A first top rod is inserted into the first mounting hole and elastically connected with the first spring, and the other end of the first top rod extends into the mounting slot and is in abutment with the first side.

9. A floating joint according to any one of claims 1 to 4, characterised in that, The side wall of the mounting slot is further provided with a second mounting hole arranged along the Y direction, and the second mounting hole is in communication with the mounting slot; The second elastic part is mounted in the second mounting hole, and the second elastic part is adapted to partially extend into the mounting slot to elastically abut against the second side.

10. The floating joint of claim 9, wherein, The second side is provided with a third hole; The second elastic part has a second end portion facing the second side, which is inserted into the third hole, and the second end portion is in line contact with the inner wall of the third hole.

11. The floating joint of claim 10, wherein, The third hole is a third conical hole; The second end portion is provided with a circular arc surface in line contact with the inner wall of the third conical hole.

12. The floating joint of claim 9, wherein, The second elastic part includes: A second spring is arranged along the Y direction, mounted in the second mounting hole, and one end of the second spring is in abutment with the bottom wall of the second mounting hole; A second top rod is inserted into the second mounting hole and elastically connected with the second spring, and the other end of the second top rod extends into the mounting slot and is in abutment with the second side.

13. The floating joint of claim 1, wherein, Further comprising a locking part movably mounted on the bottom of the mounting slot along the Z direction, the locking part can move between a locked position and an unlocked position, in the locked position, the first step surface is in abutment with the limiting surface, and the locking part is in abutment with the side of the floating part facing the bottom of the mounting slot, in the unlocked position, the locking part is separated from the side of the floating part facing the bottom of the mounting slot.

14. The floating joint of claim 13, wherein, The locking part is movably mounted on the seat body.

15. The floating joint of claim 14, wherein, The seat body is formed with a cavity, and the side of the seat body opposite to the cover plate is provided with a through hole arranged along the Z direction, and the through hole is in communication with the cavity; The locking part includes a piston and a connecting rod, the piston is movably mounted in the cavity along the Z direction, the piston can divide the cavity into a first cavity and a second cavity arranged along the Z direction, the second cavity is in communication with the through hole, the side wall of the first cavity is provided with a first air passage, the side wall of the second cavity is provided with a second air passage, one end of the connecting rod is in abutment with the side of the floating part facing the bottom of the mounting slot, and the other end of the connecting rod passes through the through hole and is connected with the piston; Wherein, the first cavity is injected with gas through the first air passage, which is adapted to drive the floating part to move to the unlocked position, and the second cavity is injected with gas through the second air passage, which is adapted to drive the floating part to move to the locked position.

16. The floating joint of claim 15, wherein, Further comprising a first sealing ring, the first sealing ring is sleeved on the connecting rod, and the first sealing ring is used to seal the gap between the side wall of the connecting rod and the inner wall of the through hole.

17. The floating joint of claim 15, wherein, The piston comprises: a plug body connected to the other end of the connecting rod; a ring-shaped sealing part sleeved on the circumferential side of the plug body and sealingly connected between the plug body and the inner side wall of the cavity.

18. The floating joint of claim 15, wherein, The floating part is provided with a fourth hole on the side facing the bottom of the mounting groove, and the side wall of the fourth hole is provided with a guide slope; The locking part has a third end part provided towards the floating part, the third end part is provided with a matching slope, the third end part is adapted to be inserted into the fourth hole, and the matching slope is adapted to the guide slope.

19. A robot, characterized in that A floating joint comprising any one of claims 1 to 18.

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