Control device and equipment

Abstract

The invention provides a control device and equipment. Comprising a shell, a cavity surrounded by the shell, a movable body and an adjusting mechanism, at least part of the movable body is located in the cavity and is in sliding connection with the shell, and the side, away from the shell, of the movable body is used for being connected with a to-be-inserted part; the adjusting mechanism is installed on the shell, part of the adjusting mechanism is located in the cavity and makes contact with the movable body, and the adjusting mechanism can drive the movable body to move in the radial direction of the control device relative to the shell. According to the technical scheme, on the basis that the connection requirement of the two to-be-assembled insertion parts is met, the insertion parts have the inclination correction capacity.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automation equipment, in particular to a control device and equipment. BACKGROUND

[0002] In the manufacturing field, the assembly of parts in a product is an important link before the product is shipped. In the assembly process of insertion type parts, due to errors such as assembly size deviation of the product, running cumulative error of the part, and machining size deviation of the part, if the assembly alignment requirement of the two parts to be assembled is high, the insertion part is easy to tilt relative to the inserted part, which leads to the difficulty of assembly of the two parts, and makes it difficult for the two parts to complete the alignment assembly. How to solve the assembly problem is a topic that the industry continues to explore. SUMMARY

[0003] The present application provides a control device and equipment, which can have tilt correction capability of the insertion part on the basis of meeting the connection requirement of the two insertion type parts to be assembled.

[0004] In a first aspect, the present application provides a control device, comprising:

[0005] a housing and a cavity surrounded by the housing;

[0006] a movable body, at least part of the movable body is located in the cavity and is in sliding connection with the housing, and the side of the movable body away from the housing is used for connecting with a to-be-inserted part; and

[0007] an adjusting mechanism, the adjusting mechanism is installed on the housing, part of the adjusting mechanism is located in the cavity and is in contact with the movable body, and the adjusting mechanism can drive the movable body to move relative to the housing along the radial direction of the control device.

[0008] It can be understood that in the related art, the assembly process of the two insertion type parts is usually that the insertion part is pressed downward relative to the inserted part, and gradually inserted into the inserted part to complete the alignment assembly of the two parts. However, the alignment assembly of the two insertion type parts has the following two problems:

[0009] I. The insertion part has unlimited tilt freedom in the pressing process, which easily causes the insertion part to tilt relative to the inserted part, thereby causing the assembly of the two parts to be blocked and the assembly to fail.

[0010] When the initial state of the insertion part and the inserted part is assembled and aligned, the insertion part is inclined relative to the inserted part. At this time, even if the inclination freedom of the insertion part is limited, the insertion part and the inserted part will interfere with each other and be damaged due to the inclination deviation between the insertion part and the inserted part, and the assembly will fail.

[0011] Therefore, in the embodiment of the application, the adjusting mechanism is arranged on the shell and in contact with the movable body, and the movable body is connected with the to-be-inserted part. When the to-be-inserted part is inclined relative to the inserted part, that is, the to-be-inserted part is radially offset (that is, offset in a direction perpendicular to the pressing direction of the to-be-inserted part), the adjusting mechanism can drive the movable body to move in the radial direction of the control device and offset in the opposite direction of the radial offset direction, and the to-be-inserted part is also driven by the movable body to offset in the opposite direction of the radial offset direction, so as to correct the inclination deviation of the to-be-inserted part relative to the inserted part and eliminate the misalignment between the to-be-inserted part and the inserted part, thereby ensuring that the to-be-inserted part can be connected with the inserted part and assembled with the inserted part.

[0012] In other words, during the alignment and assembly of the to-be-inserted part and the inserted part, even if the to-be-inserted part is initially inclined and / or misaligned relative to the inserted part, the adjusting mechanism can drive the movable body and make the movable body drive the to-be-inserted part to move to correct the inclination misalignment of the to-be-inserted part relative to the inserted part, so that the to-be-inserted part is adjusted to the appropriate position and successfully assembled with the inserted part. This is beneficial to the to-be-inserted part having good deviation correction ability and high reliability.

[0013] In a possible implementation, the adjusting mechanism includes a mounting seat, a pushing body and a first elastic member. The mounting seat is threadedly connected with the shell. The mounting seat has a guide groove, and an opening of the guide groove is located at an end face of the mounting seat facing the movable body and communicates with the cavity. At least part of the pushing body is located in the guide groove, and the pushing body is in contact with the movable body. The first elastic member is elastically connected between a bottom wall of the guide groove and the pushing body.

[0014] It can be understood that, by screwing the mounting seat with the shell, not only the connection between the mounting seat and the shell can be achieved, but also the installation position of the adjusting mechanism on the shell can be adjusted through the screwing of the mounting seat with the shell. Specifically, the mounting seat can be rotated and moved towards the cavity along the radial direction of the shell. Alternatively, the mounting seat can also be rotated and moved away from the cavity along the radial direction of the shell. By controlling the depth of the mounting seat screwed into or out of the shell, the installation position of the adjusting mechanism on the shell, the flexible damping force acting on the movable body, the flexible displacement stroke of the movable body, and the switching of the radial direction freedom of the control device can be changed.

[0015] By arranging the first elastic member between the pushing body and the bottom wall of the guide groove, the pushing body and the bottom wall of the guide groove are elastically connected due to the elastic deformation characteristics of the first elastic member, so that the pushing body can produce a certain displacement stroke along the radial direction of the control device under the action of the first elastic member, and the movable body also produces a certain displacement stroke along the radial direction of the control device, so that the to-be-plugged component is driven by the movable body to achieve self-adaptive alignment with the plugged component. For example, when the first elastic member is compressed, the distance between the pushing body and the bottom wall of the guide groove is small. When the first elastic member returns to the original position, the distance between the pushing body and the bottom wall of the guide groove is large.

[0016] In a possible implementation, the adjusting mechanism includes a first state and a second state.

[0017] When the adjusting mechanism is in the first state, the first pushing part of the pushing body is located in the guide groove, the second pushing part of the pushing body extends out of the guide groove, and the end of the pushing body away from the first elastic member is in contact with the movable body.

[0018] When the adjusting mechanism is in the second state, the pushing body is located in the guide groove, and the end of the pushing body away from the first elastic member and the end face of the mounting seat towards the movable body are in contact with the movable body.

[0019] It can be understood that the first state of the adjusting mechanism is a flexible unlocking state of the adjusting mechanism. When the adjusting mechanism is in this state, the adjusting mechanism can push the movable body to move along the radial direction of the control device, so that the freedom of the movable body along the radial direction of the control device is unlocked, and thus the to-be-plugged component connected with the movable body can be radially offset to correct the inclination relative to the plugged component, and has good self-adaptive return. The second state of the adjusting mechanism is a rigid locking state of the adjusting mechanism. When the adjusting mechanism is in this state, the adjusting mechanism cannot push the movable body to move along the radial direction of the control device, and the freedom of the movable body along the radial direction of the control device is locked, so that the to-be-plugged component connected with the movable body is also difficult to be radially offset.

[0020] In one possible implementation, the adjustment mechanism includes a first adjustment mechanism and a second adjustment mechanism, and the radial direction of the control device includes a first radial direction and a second radial direction, wherein the first radial direction is perpendicular to the second radial direction.

[0021] The first adjustment mechanism is mounted on the housing, and a portion of the first adjustment mechanism is located within the cavity and in contact with the movable body. The first adjustment mechanism is capable of driving the movable body to move relative to the housing along a first radial direction of the control device.

[0022] The second adjustment mechanism is installed on the housing and is spaced apart from the first adjustment mechanism in both the axial and circumferential directions of the control device. A portion of the second adjustment mechanism is located within the cavity and in contact with the movable body. The second adjustment mechanism is capable of driving the movable body to move relative to the housing along the second radial direction of the control device, wherein the second radial direction is perpendicular to the first radial direction.

[0023] It is understandable that by setting the first adjustment mechanism and the second adjustment mechanism, the moving body can generate radial offset in two different radial directions of the control device. Thus, during the eccentric assembly process or blind insertion process of the insert and the component to be inserted, the offset generated by the moving body in the first radial direction and / or the second radial direction will also cause the component to generate radial offset in the first radial direction and / or the second radial direction, so as to compensate for the tilt deviation of the component to be inserted relative to the insert, so that the component to be inserted can achieve adaptive alignment with the insert, and ensure the success rate and reliability of the assembly between the component to be inserted and the component to be inserted.

[0024] In one possible implementation, the control device further includes a sliding mechanism located within the cavity, through which the movable body slides relative to the outer shell, the sliding mechanism extending in a direction parallel to the radial direction of the control device.

[0025] It is understandable that by setting a sliding mechanism and making the extension direction of the sliding mechanism parallel to the radial direction of the control device, the moving body can slide relative to the outer shell through the sliding mechanism, thereby enabling the moving body to drive the plug-in to move along the radial direction of the control device, so that the plug-in has good correction performance.

[0026] In one possible implementation, the movable body includes a top seat and a base, the top seat is in contact with the first adjustment mechanism, the base and the top seat are sequentially arranged in the axial direction of the control device and are in contact with the second adjustment mechanism, and the sliding mechanism includes a first sliding mechanism and a second sliding mechanism;

[0027] The first sliding mechanism is located in the gap area between the inner wall of the cavity and the top seat. The first sliding mechanism includes a first slider and a first slide rail. The first slider is fixedly connected to the outer shell, and the first slide rail is fixedly connected to the top seat. The first slider and the first slide rail are slidably connected. The extension direction of the first slide rail is parallel to the first radial direction.

[0028] The second sliding mechanism is located in the gap area between the top seat and the base. The second sliding mechanism includes a second slider and a second slide rail. The second slider is fixedly connected to the side of the top seat away from the first slide rail. The second slide rail is fixedly connected to the base. The second slider is slidably connected to the second slide rail. The extension direction of the second slide rail is parallel to the second radial direction.

[0029] It is understandable that by arranging the second sliding mechanism and the first sliding mechanism at intervals in the axial direction of the control device, the second sliding mechanism and the first sliding mechanism can be arranged in different layers of the moving body. This allows the first sliding mechanism, which controls the movement of the moving body along the first radial direction, and the second sliding mechanism, which controls the movement of the moving body along the second radial direction, to be staggered, ensuring that the first sliding mechanism and the second sliding mechanism are independent of each other and do not affect each other. Furthermore, through this layered sliding connection, the moving body can move relative to the outer shell along the first radial direction and / or the second radial direction, thereby enabling adaptive alignment between the insert and the inserted component.

[0030] In one possible implementation, the control device further includes a first connector and a second connector. The first connector passes through the housing and the first slider, and fixes the housing and the first slider together. The extending direction of the first connector is parallel to the axial direction of the control device. The second connector passes through the top seat and the second slider, and fixes the top seat and the second slider together. The extending direction of the second connector is parallel to the axial direction of the control device.

[0031] Understandably, using the first connector to connect the housing and the first slider facilitates the assembly and disassembly of the first slider and the housing, thus improving the overall maintainability of the control device. Furthermore, using the second connector to connect the top seat and the second slider also facilitates the assembly and disassembly of the top seat and the second slider, further improving the overall maintainability of the control device.

[0032] In one possible implementation, the control device further includes an airway, an air pipe connector, and a piston. The airway is surrounded by the housing, the air pipe connector is mounted on the housing and communicates with the cavity through the airway, and the piston is located inside the cavity.

[0033] The piston is capable of moving axially along the control device to approach the movable body and lock with it when gas is introduced into the cavity through the endotracheal connector; or...

[0034] When the gas in the cavity is released by the endotracheal connector, the piston can move away from the movable body along the axial direction of the control device to unlock it.

[0035] Understandably, when external gas enters the cavity through the air connector and air passage of the control device, it compresses the piston and causes it to move axially along the control device, locking it with the moving body. Conversely, when the internal gas of the control device is released, it is discharged to the outside of the control device through the air passage and air connector, removing the force acting on the piston and causing it to move axially along the control device, separating it from the moving body. By inputting and releasing gas into the cavity, the locking and unlocking of the piston and the moving body can be achieved, allowing for the switching between the overall flexibility and rigidity of the control device, thus achieving the goal of high-speed, low-cost functional switching.

[0036] In one possible implementation, the movable body further includes a connector, the piston includes a slot with an opening located on the end face of the piston facing the connector, and the control device includes a first connection state and a second connection state.

[0037] When the control device is in the first connection state, the connector is engaged with the slot, so that the adjustment mechanism and the movable body are relatively fixed.

[0038] When the control device is in the second connection state, the connector is separated from the slot, so that the adjustment mechanism can drive the movable body to move in the radial direction of the control device.

[0039] Understandably, when the control device is in the first connection state, the piston engages with the moving body, restricting the moving body's degree of freedom along the radial direction of the control device. At this time, the control device can be rigid, suitable for high-speed movement and handling. For example, it can move the component to be inserted from station A to station B, ensuring smooth movement without wobbling. When the control device is in the second connection state, the component to be inserted moves above the position of the component being inserted. At this time, the piston separates from the moving body, releasing the moving body's degree of freedom along the radial direction of the control device. This allows the component to correct its tilt relative to the component during the downward pressing process relative to the component, by creating a certain offset in the radial direction of the control device. This corrects the tilting relative to the component during the alignment process, thus completing the alignment and assembly between the component and the component.

[0040] In one possible implementation, the card slot includes a first slot and a second slot;

[0041] The cross-sectional width of the first groove along the axial direction of the control device gradually decreases from the end of the piston toward the movable body towards the direction away from the movable body;

[0042] The second groove is connected to the first groove, and the cross-sectional width of the second groove along the axial direction of the control device is less than or equal to the minimum cross-sectional width of the first groove along the axial direction of the control device.

[0043] When the control device is in the first connection state, part of the connector is located in the first slot and the second slot, and the surface of the connector located in the first slot is in contact with the slot wall of the first slot.

[0044] Understandably, by setting the slot as a groove structure with a gradually changing cross-sectional width along the axial direction of the control device, the slot can be adapted to form a full-circle clamping with the connector, which facilitates the surface fitting of the slot and the connector, thereby achieving better connection performance between the piston and the moving body and having better stability.

[0045] In one possible implementation, the surface of the connector facing the piston is spherical.

[0046] This configuration allows for a spherical contact between the connector and the slot. Spherical contact ensures a more stable and reliable fit between the piston and the moving part, resulting in better connection strength. It also prevents jamming between the piston and the moving part, allowing for smooth engagement with minimal resistance.

[0047] In one possible implementation, the outer casing includes a first housing and a second housing, the second housing and the first housing being disposed opposite to each other in the axial direction of the control device, and the cavity includes a first cavity and a second cavity;

[0048] The tracheal connector is installed in the first housing. The airway and the first cavity are both surrounded by the first housing. One end of the airway is connected to the tracheal connector, and the other end of the airway is connected to the first cavity. At least part of the piston is located in the first cavity.

[0049] The second cavity is surrounded by the second housing and communicates with the first cavity, with at least a portion of the movable body located within the second cavity.

[0050] It is understandable that by splitting the outer casing into a combination of multiple housings, the piston can be installed in the upper first housing and the moving body in the lower second housing, so that the movement of the piston in the axial direction of the control device and the movement of the moving body in the radial direction of the control device do not interfere with each other.

[0051] In one possible implementation, the piston includes a body and a connector connected to one end of the body, wherein the cross-sectional width of the connector along the axial direction of the control device is smaller than the cross-sectional width of the body along the axial direction of the control device, and the slot is located in the connector.

[0052] The outer casing further includes an intermediate casing located between the first casing and the second casing. The cavity further includes a through hole surrounded by the intermediate casing and communicating with the first cavity and the second cavity. A portion of the plug and a portion of the connector are located in the through hole and the second cavity.

[0053] Understandably, by making the piston comprise a connected body and a connector, and by making the cross-sectional width of the connector along the axial direction of the control device smaller than the cross-sectional width of the body along the axial direction of the control device, the piston can be rationally arranged into two functional areas. The body, as the larger volume part of the piston, contacts the gas, thus forming a larger contact area to push the piston to move along the axial direction of the control device towards the moving body. Conversely, the connector, as the smaller volume part of the piston, contacts the moving body, allowing for precise locking and unlocking with the moving body, thereby unlocking and locking the movement of the moving body along the radial direction of the control device, resulting in high reliability.

[0054] In one possible implementation, the control device further includes a second elastic element located within the first cavity and elastically connected between the body and the intermediate housing.

[0055] Understandably, after the gas supply to the endotracheal tube stops, the gas will be released, and the piston will be difficult to return to its original position due to resistance. Therefore, by setting a second elastic element, the second elastic element can provide a certain degree of return performance for the piston, making it easier to push the piston back to its original position after the gas in the cavity is released.

[0056] In one possible implementation, the control device further includes a seal located within the cavity and surrounding the outer periphery of the piston, sealingly connecting the piston and the cavity wall.

[0057] Understandably, by setting a seal on the outer periphery of the piston, the seal can seal the connection between the piston and the inner wall of the cavity, achieving a good sealing effect, giving the cavity good airtightness, and ensuring that gas will not leak.

[0058] In one possible implementation, the piston is provided with a groove, the opening of which is located on the end face of the piston away from the movable body, and the opening of the groove is used to communicate with the air passage.

[0059] Understandably, by setting a groove on the top surface of the piston, external gas from the control device entering the air passage can enter the groove, thereby pushing the piston so that it can move along the axial direction of the control device and approach the moving body. This avoids the problem of the gas being unable to push the piston due to the piston blocking the opening of the air passage, resulting in better reliability.

[0060] In one possible implementation, the control device further includes a mounting bracket, an extension housing, and a third sliding mechanism;

[0061] The extended housing is connected to the outer shell. The third sliding mechanism includes a third slider and a third slide rail. The third slide rail is fixedly connected to the fixed frame. The extension direction of the third slide rail is parallel to the axial direction of the control device. The third slider is fixed to the extended housing and slidably connected to the third slide rail.

[0062] It is understandable that by setting a third sliding mechanism, the outer casing and the moving body inside the outer casing can be driven to reciprocate along the axial direction of the control device, thereby enabling the control device to have an upward movement relative to the plug and a downward movement relative to the plug.

[0063] In one possible implementation, the control device further includes a carrier, a third elastic element, and a pressure sensor. The carrier is connected to the fixed frame, the third elastic element is elastically connected between the carrier and the extended housing, and the pressure sensor is mounted to the carrier and used to detect the pressure value of the third elastic element.

[0064] Understandably, by incorporating a third elastic element and elastically connecting it between the carrier and the extended housing, the pressure changes at the control device's end (i.e., the end connected to the insert) can be characterized by the force changes during the elongation and bending of the third elastic element. Furthermore, by using a pressure sensor to detect the pressure changes of the third elastic element in real time, pressure monitoring along the axial direction of the control device can be achieved. This allows for stopping the insertion process when the pressure exceeds the limit, providing buffer protection for fragile materials.

[0065] Secondly, this application also provides a control device, comprising:

[0066] The outer casing and the cavity and air passages surrounded by the outer casing;

[0067] An airway connector, which is installed on the outer shell and communicates with the cavity through the airway;

[0068] The movable body, at least a portion of which is located within the cavity and slidably connected to the outer shell, has its side facing away from the outer shell for connection to the plug-in component;

[0069] A piston located within the cavity is capable of moving along the axial direction of the control device to approach the movable body and lock it in place when gas is introduced into the cavity through the endotracheal connector; alternatively, the piston is capable of moving along the axial direction of the control device to move away from the movable body and unlock it when gas is released from the cavity through the endotracheal connector.

[0070] Understandably, when external gas enters the cavity through the air connector and air passage of the control device, it compresses the piston and causes it to move axially along the control device, locking it with the moving body. Conversely, when the internal gas of the control device is released, it is discharged to the outside of the control device through the air passage and air connector, removing the force acting on the piston and causing it to move axially along the control device, separating it from the moving body. By inputting and releasing gas into the cavity, the locking and unlocking of the piston and the moving body can be achieved, allowing for the switching between the overall flexibility and rigidity of the control device, thus achieving the goal of high-speed, low-cost functional switching.

[0071] In one possible implementation, the control device further includes an adjustment mechanism mounted on the housing, a portion of which is located within the cavity and in contact with the movable body. The adjustment mechanism is capable of driving the movable body to move relative to the housing in the radial direction of the control device.

[0072] Understandably, in related technologies, the assembly process of two insert-type parts typically involves pressing the inserting part down relative to the inserted part and gradually inserting it into the inserted part to complete the alignment and assembly of the two parts. However, the inserting part has an unrestricted degree of freedom of tilting during the pressing process. This assembly bottleneck can easily cause the inserting part to tilt relative to the inserted part, resulting in the assembly of the two parts becoming stuck and failing.

[0073] Therefore, in the embodiments of this application, by providing an adjustment mechanism on the outer shell and making the adjustment mechanism contact the movable body, and the movable body being connected to the plug-in, the adjustment mechanism has a driving force to push the movable body to move in the radial direction of the control device. When the plug-in is tilted relative to the plug-in, that is, when the plug-in is radially offset relative to the plug-in (i.e., offset in a direction perpendicular to the downward pressing direction of the plug-in), the adjustment mechanism's adjustment capability pushes the movable body to produce a radial offset in the radial direction of the control device opposite to the aforementioned radial offset direction. The plug-in is also driven by the movable body to produce a radial offset in the radial direction of the control device opposite to the aforementioned radial offset direction. This corrects the tilt deviation of the plug-in relative to the plug-in, eliminates the misalignment between the plug-in and the plug-in, ensures that the plug-in can be smoothly connected to the plug-in, and completes the alignment and assembly of the plug-in and the plug-in.

[0074] In other words, during the alignment and assembly process of the component to be installed and the component to be installed, even if the component to be installed is initially tilted or misaligned relative to the component to be installed, the adjusting mechanism can push the movable body, causing the movable body to drive the component to be installed to wobble and correct its tilting or misalignment relative to the component to be installed. This allows the component to be installed back to its proper position and successfully complete the alignment and assembly with the component to be installed. This helps to give the component to be installed good deviation correction capability and high reliability.

[0075] In one possible implementation, the movable body further includes a connector, the piston includes a slot with an opening located on the end face of the piston facing the connector, and the control device includes a first connection state and a second connection state.

[0076] When the control device is in the first connection state, the connector is engaged with the slot, so that the adjustment mechanism and the movable body are relatively fixed.

[0077] When the control device is in the second connection state, the connector is separated from the slot, so that the adjustment mechanism can drive the movable body to move in the radial direction of the control device.

[0078] Understandably, when the control device is in the first connection state, the piston engages with the moving body, restricting the moving body's degree of freedom along the radial direction of the control device. At this time, the control device can be rigid, suitable for high-speed movement and handling. For example, it can move the component to be inserted from station A to station B, ensuring smooth movement without wobbling. When the control device is in the second connection state, the component to be inserted moves above the position of the component being inserted. At this time, the piston separates from the moving body, releasing the moving body's degree of freedom along the radial direction of the control device. This allows the component to correct its tilt relative to the component during the downward pressing process relative to the component, by creating a certain offset in the radial direction of the control device. This corrects the tilting relative to the component during the alignment process, thus completing the alignment and assembly between the component and the component.

[0079] In one possible implementation, the card slot includes a first slot and a second slot;

[0080] The cross-sectional width of the first groove along the axial direction of the control device gradually decreases from the end of the piston toward the movable body towards the direction away from the movable body;

[0081] The second groove is connected to the first groove, and the cross-sectional width of the second groove along the axial direction of the control device is less than or equal to the minimum cross-sectional width of the first groove along the axial direction of the control device.

[0082] When the control device is in the first connection state, part of the connector is located in the first slot and the second slot, and the surface of the connector located in the first slot is in contact with the slot wall of the first slot.

[0083] Understandably, by setting the slot as a groove structure with a gradually changing cross-sectional width along the axial direction of the control device, the slot can be adapted to form a full-circle clamping with the connector, which facilitates the surface fitting of the slot and the connector, thereby achieving better connection performance between the piston and the moving body and having better stability.

[0084] In one possible implementation, the surface of the connector facing the piston is spherical.

[0085] This configuration allows for a spherical contact between the connector and the slot. Spherical contact ensures a more stable and reliable fit between the piston and the moving part, resulting in better connection strength. It also prevents jamming between the piston and the moving part, allowing for smooth engagement with minimal resistance.

[0086] In one possible implementation, the outer casing includes a first housing and a second housing, the second housing and the first housing being disposed opposite to each other in the axial direction of the control device, and the cavity includes a first cavity and a second cavity;

[0087] The tracheal connector is installed in the first housing. The airway and the first cavity are both surrounded by the first housing. One end of the airway is connected to the tracheal connector, and the other end of the airway is connected to the first cavity. At least part of the piston is located in the first cavity.

[0088] The second cavity is surrounded by the second housing and communicates with the first cavity, with at least a portion of the movable body located within the second cavity.

[0089] It is understandable that by splitting the outer casing into a combination of multiple housings, the piston can be installed in the upper first housing and the moving body in the lower second housing, so that the movement of the piston in the axial direction of the control device and the movement of the moving body in the radial direction of the control device do not interfere with each other.

[0090] In one possible implementation, the piston includes a body and a connector connected to one end of the body, wherein the cross-sectional width of the connector along the axial direction of the control device is smaller than the cross-sectional width of the body along the axial direction of the control device, and the slot is located in the connector.

[0091] The outer casing further includes an intermediate casing located between the first casing and the second casing. The cavity further includes a through hole surrounded by the intermediate casing and communicating with the first cavity and the second cavity. A portion of the plug and a portion of the connector are located in the through hole and the second cavity.

[0092] Understandably, by making the piston comprise a connected body and a connector, and by making the cross-sectional width of the connector along the axial direction of the control device smaller than the cross-sectional width of the body along the axial direction of the control device, the piston can be rationally arranged into two functional areas. The body, as the larger volume part of the piston, contacts the gas, thus forming a larger contact area to push the piston to move along the axial direction of the control device towards the moving body. Conversely, the connector, as the smaller volume part of the piston, contacts the moving body, allowing for precise locking and unlocking with the moving body, thereby unlocking and locking the movement of the moving body along the radial direction of the control device, resulting in high reliability.

[0093] In one possible implementation, the control device further includes a second elastic element located within the first cavity and elastically connected between the body and the intermediate housing.

[0094] Understandably, after the gas supply to the endotracheal tube stops, the gas will be released, and the piston will be difficult to return to its original position due to resistance. Therefore, by setting a second elastic element, the second elastic element can provide a certain degree of return performance for the piston, making it easier to push the piston back to its original position after the gas in the cavity is released.

[0095] In one possible implementation, the control device further includes a seal located within the cavity and surrounding the outer periphery of the piston, sealingly connecting the piston and the cavity wall.

[0096] Understandably, by setting a seal on the outer periphery of the piston, the seal can seal the connection between the piston and the inner wall of the cavity, achieving a good sealing effect, giving the cavity good airtightness, and ensuring that gas will not leak.

[0097] In one possible implementation, the piston is provided with a groove, the opening of which is located on the end face of the piston away from the movable body, and the opening of the groove is used to communicate with the air passage.

[0098] Understandably, by setting a groove on the top surface of the piston, external gas from the control device entering the air passage can enter the groove, thereby pushing the piston so that it can move along the axial direction of the control device and approach the moving body. This avoids the problem of the gas being unable to push the piston due to the piston blocking the opening of the air passage, resulting in better reliability.

[0099] Thirdly, this application also provides a device comprising grippers and a control device as described above, wherein the grippers are connected to the control device and are used to grip the insert to be inserted. Attached Figure Description

[0100] Figure 1 This is a simplified structural diagram of the device provided in an embodiment of this application;

[0101] Figure 2 yes Figure 1 The diagram shows a state of the device during the alignment and assembly of the device to be plugged in and the device being plugged in.

[0102] Figure 3 yes Figure 1 The diagram shows another state of the device during the alignment and assembly of the device to be plugged in and the device being plugged in.

[0103] Figure 4 yes Figure 2 The diagram shows the structure of the component to be plugged in and the component being plugged in after assembly.

[0104] Figure 5 This is a schematic diagram of a control device provided in an embodiment of this application;

[0105] Figure 6 yes Figure 5 An exploded view of the control device shown;

[0106] Figure 7 yes Figure 5 The diagram shows the structural structure of the housing of the control device.

[0107] Figure 8 It is along Figure 7 A schematic diagram of the cross-section obtained by cutting along section line AA;

[0108] Figure 9a yes Figure 5 A schematic diagram of one state of the adjustment mechanism of the control device shown;

[0109] Figure 9b It is along Figure 9a A schematic diagram of a cross-section obtained by cutting along section line B1-B1;

[0110] Figure 10a It is along Figure 5 A schematic diagram of another state of the adjustment mechanism of the control device shown;

[0111] Figure 10b It is along Figure 10a A schematic diagram of a cross-section obtained by cutting along section line B2-B2;

[0112] Figure 11 It is along Figure 5 A cross-sectional schematic diagram of one state of the control device obtained by cutting along section line BB;

[0113] Figure 12 It is along Figure 5 A schematic cross-sectional view of the control device in one state obtained by cutting along the section line CC shown.

[0114] Figure 13 yes Figure 5 A partial structural schematic diagram of the control device shown.

[0115] Figure 14 It is along Figure 5 A cross-sectional view of the control device obtained by cutting along section line BB, showing another state of the device.

[0116] Figure 15 It is along Figure 5 A cross-sectional view of the control device obtained by cutting along section line CC, showing another state of the device.

[0117] Figure 16 This is another schematic diagram of the control device provided in the embodiments of this application. Detailed Implementation

[0118] For ease of understanding, the terminology used in the embodiments of this application will be explained first.

[0119] And / or: This is simply a way of describing the relationship between related objects. It indicates that there can be three kinds of relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.

[0120] Multiple: refers to two or more.

[0121] Connection: should be interpreted broadly. For example, the connection between A and B can be a direct connection between A and B, or an indirect connection between A and B through an intermediary.

[0122] The specific embodiments of this application will now be clearly described in conjunction with the accompanying drawings.

[0123] Embodiments of this application provide a control device and apparatus. The apparatus can be any device capable of gripping materials, transporting gripped materials, and assisting in the assembly and alignment of the gripped materials with another material. During the assembly and alignment process, the apparatus can cause the gripped material to move axially (along the direction of the apparatus's central axis) and radially (along a direction perpendicular to the apparatus's central axis) relative to the other material. This compensates for deviations that occur between the gripped material and the other material during assembly and alignment, ensuring better alignment accuracy and connection reliability between the two materials. Exemplarily, the apparatus can be an automated assembly device, a vehicle-mounted robot, a home service robot, or an industrial robot.

[0124] The following explanation will take the material picked up by the equipment as the component to be inserted, and another material that is aligned and assembled with the material picked up by the equipment as the component to be inserted, and the alignment and assembly between the component to be inserted and the component to be inserted as an example. However, it should be understood that this is not the only explanation.

[0125] Please see Figure 1 , Figure 1 This is a simplified structural diagram of the device 200 provided in an embodiment of this application. Figure 1 The accompanying drawings below only schematically illustrate some components included in the device 200; the actual shape, size, location, and construction of these components are not subject to change. Figure 1 And the limitations of the figures below.

[0126] The device 200 may include a control device 100 and a gripper 210. The gripper 210 is connected to and linked with the control device 100, and is used to install the component to be inserted. Thus, the component to be inserted can be linked with the control device 100, giving the device 200 better overall tensile and compressive strength. The control device 100 is a flexible end mechanism in the device 200, which allows the component to move relative to the component in the axial direction and / or radial direction of the control device 100, facilitating smooth insertion between the component and the component, improving alignment accuracy and insertion success rate, and is suitable for assembly scenarios such as flexible alignment and force-controlled pressing between the component and the component.

[0127] The axial direction of the control device 100 can be the direction of its central axis, equivalent to the extension direction of its housing. The radial direction of the control device 100 can be any direction perpendicular to its central axis. The radial direction of the control device 100 is perpendicular to its axial direction. It should be understood that in a plane perpendicular to the central axis of the control device 100, any one or more straight lines passing through the central axis can represent the radial direction of the control device 100.

[0128] For ease of description, the axial direction of the control device 100 is defined as the Z direction, the first radial direction perpendicular to the axial direction of the control device 100 (i.e., the first radial direction) is defined as the X direction, and the second radial direction perpendicular to the axial direction of the control device 100 (i.e., the second radial direction) is defined as the Y direction. The X, Y, and Z directions are all perpendicular to each other.

[0129] The device 200 can include a transport state and an alignment state. When the device 200 is in the transport state, it can move the component to be inserted from elsewhere to above the position of the component to be inserted. Specifically, when the control device 100 moves as a whole, the gripper 210 is moved synchronously by the control device 100. At this time, the component to be inserted, mounted on the gripper 210, is also moved synchronously by the gripper 210, forming a kinematic chain connection relationship of "control device 100-gripper 210-component to be inserted", thereby shortening the distance between the component to be inserted and the component to be inserted in the radial direction (such as the X direction and / or Y direction) of the control device 100. When the device 200 is in the alignment state, it can press the component to be inserted closer to the component to be inserted, thereby inserting the component to be inserted into the component to complete the alignment and assembly of the component to be inserted and the component to be inserted. Specifically, when the control device 100 presses down, the gripper 210 is pressed down synchronously by the control device 100. At this time, the plug-in to be installed on the gripper 210 will be driven by the gripper 210 and pressed down synchronously to approach the plug-in, so as to form a kinematic chain connection relationship of "control device 100-gripper 210-plug-in to be installed", which shortens the distance between the plug-in to be installed and the plug-in in the axial direction (i.e. Z direction) of the control device 100.

[0130] Among these, the assembly between the component to be inserted and the component being inserted can be a hole-shaft assembly. Hole-shaft assembly refers to installing a shaft (usually a solid or hollow cylindrical part) into a component with a corresponding hole. This assembly method is widely used in various mechanical equipment and electronic products in the manufacturing industry. A correct hole-shaft fit not only ensures the stability and functionality of the parts but also improves overall assembly efficiency and product quality. The fit types for hole-shaft assemblies include clearance fits, interference fits, and transition fits. The difference between clearance fits, interference fits, and transition fits lies in the relationship between the hole size and the shaft size. A clearance fit means the hole size is larger than the shaft size, an interference fit means the hole size is smaller than the shaft size, and a transition fit is somewhere in between.

[0131] For example, the component to be inserted can be a screw, and the component being inserted can be a threaded hole in the screen housing. The assembly between the component to be inserted and the component being inserted can be applied to micro-gap assembly scenarios where there is a very small gap between them. Alternatively, the assembly between the component to be inserted and the component being inserted can be applied to assembly scenarios where the component to be inserted has a small aspect ratio, where the aspect ratio refers to the ratio of the length of the component to its diameter. A small aspect ratio can refer to the component to be inserted being a relatively flat and wide structural component (e.g., the component to be inserted has a small length along the Z direction and a large length along the X and / or Y directions).

[0132] It should be noted that in other embodiments, the plug-in to be connected may be directly connected to the control device 100, or indirectly connected through other structural components, as long as the control device 100 and the plug-in to be connected are satisfied. The embodiments of this application do not impose strict limitations on this.

[0133] Please refer to the following: Figure 2 , Figure 3 and Figure 4 , Figure 2 yes Figure 1 The diagram shows a state of the device 200 during the alignment and assembly of the insert 300 and the insert 400. Figure 3 yes Figure 1 This diagram illustrates another state of the device 200 during the alignment and assembly of the insert 300 and the insert 400. Figure 4 yes Figure 2 The diagram shows the structure after the plug-in 300 and the plugged-in 400 are assembled.

[0134] The insert 400 includes a mounting hole 410. The alignment and assembly of the insert 300 and the insert 400 mentioned above refers to the insert 300 being installed in the mounting hole 410 of the insert 400. However, due to the cumulative operating error of the insert 300, the machining dimensional deviation of the insert 300, the installation position error of the insert 400, the position error of the mounting hole 410 of the insert 400, the machining dimensional deviation of the insert 400, and the assembly dimensional tolerance of the insert 300 and the insert 400, the tilting freedom of the insert 300 is easily unrestricted during the alignment and assembly process. This can cause the insert 300 to tilt relative to the insert 400, that is, the insert 300 to shift in position and / or in angle relative to the insert 400. This can lead to the insert 300 and the insert 400 becoming stuck during assembly, resulting in assembly failure and affecting the connection between the insert 300 and the insert 400. Alternatively, since there is a positional offset and / or angular offset between the plug-in 300 and the plug-in 400 in the initial state of assembly and alignment, even if the tilting degree of freedom of the plug-in 300 is limited, the positional offset and / or angular offset between the plug-in 300 and the plug-in 400 will cause the plug-in 300 and the plug-in 400 to interfere with each other during the assembly process, resulting in damage and failure, and thus causing assembly failure, affecting the connection result between the plug-in 300 and the plug-in 400.

[0135] Based on this, in the embodiments of this application, by installing the component to be inserted 300 at the end of the gripper 210 away from the control device 100, when the component to be inserted 300 tilts relative to the component to be inserted 400, the component to be inserted 300 can generate a yaw motion under the action of the control device 100 to compensate for the aforementioned tilt deviation, correct the relative positional error between the component to be inserted 300 and the component to be inserted 400, and allow the component to be inserted 300 to be smoothly installed in the mounting hole 410 of the component to be inserted 400, thus completing the alignment and assembly of the component to be inserted 300 and the component to be inserted 400. Wherein, the tilt of the component to be inserted 300 relative to the component to be inserted 400 refers to a positional deviation and / or angular tilt between the central axis C1 of the component to be inserted 300 and the central axis C2 of the component to be inserted 400. The yaw motion of the component to be inserted 300 refers to the lateral deviation or oscillation that occurs during the movement of the component to be inserted 300, which can be characterized as an offset of the component to be inserted 300 along the radial direction (such as the X direction and / or Y direction) of the control device 100.

[0136] In other words, during the alignment and assembly process of the component to be inserted 300 and the component to be inserted 400, even if the component to be inserted 300 initially and / or during assembly develops a tilt or misalignment relative to the component to be inserted 400, under the adjustment of the control device 100, the component to be inserted 300 can perform a yaw motion to correct its tilt or misalignment relative to the component to be inserted 400 (hereinafter referred to as the correction motion), thereby adjusting the component to be inserted 300 back to a suitable position and successfully completing the alignment and assembly with the component to be inserted 400. This helps the component to be inserted 300 to have good deviation correction capability (also known as eccentricity correction capability) and high reliability.

[0137] For example, during the alignment and assembly process of the plug-in 300 and the plugged-in 400, such as Figure 2 As shown, initially, the center axis C1 of the plug-in 300 is offset relative to the center axis C2 of the plug-in 400, resulting in a misalignment between the center axis C1 of the plug-in 300 and the center axis C2 of the plug-in 400. However, under the adjustment of the control device 100, such as... Figure 3 As shown, the component to be inserted 300 can generate radial displacement relative to the component to be inserted 400 in the X and / or Y directions to compensate for tilt deviation, so that the central axis C1 of the component to be inserted 300 coincides with the central axis C2 of the component to be inserted 400, thereby enabling the component to be inserted 300 and the component to be inserted 400 to be aligned and assembled. Figure 4 As shown, after the central axis C1 of the plug-in 300 is aligned with the central axis C2 of the plug-in 400, the plug-in 300 can be smoothly installed in the mounting hole 410 of the plug-in 400.

[0138] Please refer to the following: Figure 5 and Figure 6 , Figure 5This is a schematic diagram of a control device 100 provided in an embodiment of this application. Figure 6 yes Figure 5 An exploded view of the control device 100 shown.

[0139] The control device 100 may include a housing 10, a movable body 20, an adjustment mechanism 30, and a cavity W. The cavity W is surrounded by the housing 10. At least a portion of the movable body 20 is located within the cavity W. The movable body 20 is slidably connected to the housing 10 and is capable of moving relative to the housing 10 in a radial direction (e.g., the X and / or Y directions) of the control device 100. The side of the movable body 20 facing away from the housing 10 is used to connect with and be linked to the plug-in 300. When the movable body 20 moves relative to the housing 10 in a radial direction of the control device 100, it can also cause the plug-in 300 to move relative to the housing 10 in a radial direction of the control device 100. The adjustment mechanism 30 is mounted on the housing 10. A portion of the adjustment mechanism 30 is located within the cavity W and contacts the movable body 20. The adjustment mechanism 30 can drive the movable body 20 to move relative to the housing 10 in a radial direction (e.g., the X and / or Y directions) of the control device 100, thereby causing the plug-in 300 to move relative to the housing 10 in a radial direction.

[0140] Understandably, in related technologies, the assembly process of two insert-type parts typically involves pressing the inserting part down relative to the inserted part and gradually inserting it into the inserted part to complete the alignment and assembly of the two parts. However, the alignment and assembly of two insert-type parts presents the following two problems:

[0141] 1. The insertion part has no limit on its degree of freedom of tilting during the pressing process. This assembly problem can easily cause the insertion part to tilt relative to the inserted part, resulting in the two parts getting stuck and the assembly failing.

[0142] Second, in the initial state of assembly alignment, the inserting part is tilted relative to the inserting part. Even if the tilting degree of the inserting part is limited, the tilting deviation between the inserting part and the inserting part will cause the inserting part and the inserting part to interfere with each other during the assembly process, resulting in damage and failure.

[0143] Therefore, in the embodiments of this application, by providing an adjustment mechanism 30 on the outer casing 10 and making the adjustment mechanism 30 contact the movable body 20, and the movable body 20 connected to the insert 300, the adjustment mechanism 30 has a driving force to push the movable body 20 to move in the radial direction of the control device 100. When the insert 300 tilts relative to the inserted 400, that is, when the insert 300 is radially offset relative to the inserted 400 (i.e., offset in a direction perpendicular to the downward pressing direction of the insert 300), the adjustment mechanism 30 can adjust the position of the insert 300. The force pushes the movable body 20 to produce a radial offset opposite to the radial offset direction along the radial direction of the control device 100, and causes the insert 300 to be driven by the movable body 20 to also produce a radial offset opposite to the radial offset direction along the radial direction of the control device 100, so as to correct the tilt deviation of the insert 300 relative to the insert 400, eliminate the misalignment between the insert 300 and the insert 400, ensure that the insert 300 can be smoothly connected to the insert 400, and complete the alignment and assembly of the insert 300 and the insert 400.

[0144] In other words, during the alignment and assembly process of the component to be installed 300 and the component to be installed 400, even if the component to be installed 300 initially and / or during assembly develops a tilt or misalignment relative to the component to be installed 400, the adjusting mechanism 30 can push the movable body 20, causing the movable body 20 to drive the component to be installed 300 to wobble and correct its tilt or misalignment relative to the component to be installed 400. This allows the component to be installed 300 to be adjusted back to a suitable position and successfully complete the alignment and assembly with the component to be installed 400. This helps the component to be installed 300 to have good deviation correction capability and high reliability.

[0145] In the embodiments of this application, the outer shell 10 may be a one-piece structure. Alternatively, the outer shell 10 may be a separate structure.

[0146] When the housing 10 is a one-piece structure, it can be a single structural component, and the cavity W is an independent cavity. In this configuration, the housing 10 has fewer parts, which simplifies the manufacturing process and improves the production and assembly efficiency of the control device 100. For example, the housing 10 can be formed into a one-piece structure through integral molding.

[0147] When the outer shell 10 has a modular structure, it can be formed by splicing multiple shells, and the cavity W is also formed by splicing various sub-cavities. In this configuration, the outer shell 10 can be disassembled into multiple shells, which can then be assembled layer by layer. This avoids the problems of excessive length, reduced strength, and reduced ease of maintenance that can occur when the outer shell 10 is made from a single structural component, and facilitates positioning and assembly. For example, the outer shell 10 can be disassembled into multiple shells in the Z direction.

[0148] The following explanation will take the shell 10 as a split structure and the cavity W as an example formed by splicing together various sub-cavities, but it should be understood that this is not the only example.

[0149] Please see Figure 7 , Figure 7 yes Figure 5 A schematic diagram of the structure of the housing 10 of the control device 100 shown.

[0150] The outer casing 10 may include a first casing 11, a second casing 12, and an intermediate casing 13. The second casing 12, the intermediate casing 13, and the first casing 11 may be stacked sequentially and arranged along the Z direction. In other words, in the control device 100, the first casing 11 is a shell structure located at the upper part of the control device 100, the second casing 12 is a shell structure located at the lower part of the control device 100, and the intermediate casing 13 is a shell structure located in the middle of the control device 100.

[0151] The cavity W may include a first cavity W1 and a second cavity W2. The first cavity W1 and the second cavity W2 may be arranged sequentially in the axial direction (i.e., the Z direction) of the control device 100. The first cavity W1 may be surrounded by a first housing 11. The opening of the first cavity W1 is located at the end of the first housing 11 facing the second housing 12. The first cavity W1 may communicate with the second cavity W2 and be used to accommodate the movable body 20 and / or other structural components in the control device 100.

[0152] The second cavity W2 can be surrounded by the second housing 12. The second cavity W2 may have two openings, which can be arranged opposite to each other along the Z direction. One opening of the second cavity W2 is located at the end of the second housing 12 facing the first housing 11. The other opening of the second cavity W2 is located at the end of the second housing 12 away from the first housing 11 and communicates with the external environment of the control device 100. The second cavity W2 can be used to accommodate the movable body 20 and other structures of the control device 100.

[0153] The control device 100 may further include a connection hole 121. The connection hole 121 may be surrounded by the second housing 12. The connection hole 121 may be along the thickness direction of the second housing 12 (i.e., Figure 8 The connecting hole 121 (in the X direction shown) penetrates through the second housing 12 and communicates with the second cavity W2, and is used to install the adjustment mechanism 30. Exemplarily, the connecting hole 121 can be a threaded hole. The number of connecting holes 121 can be one or more. When there are multiple connecting holes 121, they can be spaced apart on the first housing 11. Each connecting hole 121 can be used to install one adjustment mechanism 30.

[0154] For one possible implementation, please refer to Figure 8 , Figure 8It is along Figure 7 The cross-sectional view obtained by cutting along section line AA is shown. The second cavity W2 may include a first sub-cavity W3 and a second sub-cavity W4. The first sub-cavity W3 communicates with the connecting hole 121 and includes one opening of the second cavity W2 described above. The second sub-cavity W4 communicates with the first sub-cavity W3 and is arranged sequentially along the Z direction. The second sub-cavity W4 includes the other opening of the second cavity W2 described above. The cross-sectional width of the first sub-cavity W3 along the axial direction perpendicular to the first housing 11 (i.e., the direction perpendicular to the Z direction) may be greater than the cross-sectional width of the second sub-cavity W4 along the axial direction perpendicular to the first housing 11.

[0155] Of course, in other embodiments, the cross-sectional width of the first cavity W1 along the axial direction perpendicular to the first housing 11 can also be of equal width, or have a gradient change, or first become larger and then smaller, or first become smaller and then larger, or have an irregular change, etc., as long as it meets the application requirements of the control device 100, there are no strict restrictions on this.

[0156] In the embodiments of this application, the intermediate housing 13 is located between the first housing 11 and the second housing 12. The cavity W may also include a through hole 131. The through hole 131 is surrounded by the intermediate housing 13, extends through the intermediate housing 13 along its thickness direction (i.e., the Z direction), and connects the first cavity W1 and the second cavity W2. The through hole 131 can be used to accommodate the movable body 20 and / or other structural components in the control device 100, and connects with the first cavity W1 and the second cavity W2 to form the cavity W.

[0157] It should be noted that the outer casing 10 is not limited to including the first casing 11, the second casing 12, and the intermediate casing 13. In other embodiments, the outer casing 10 may not include the intermediate casing 13, the first casing 11 and the second casing 12 may be directly connected, and the first cavity W1 and the second cavity W2 may be connected to form the cavity W. Alternatively, the outer casing 10 may include more casings than the three casings of the first casing 11, the second casing 12, and the intermediate casing 13, and there is no strict limitation on this.

[0158] In the embodiments of this application, the number of adjustment mechanisms 30 can be one or more. When there are multiple adjustment mechanisms 30, all of them are mounted on the housing 10 and arranged at intervals on the housing 10. The following will describe the structure of the adjustment mechanism 30 in detail using only one adjustment mechanism 30 as an example. Unless otherwise specified, the description of one adjustment mechanism 30 can be applied to other adjustment mechanisms 30. In addition, the following description will use the first housing 11 of the housing 10 as an example of the adjustment mechanism 30 being mounted on it. However, it should be understood that the adjustment mechanism 30 is not limited to being mounted on the first housing 11. It can also be mounted on other housings of the housing 10, as long as it is mounted on the housing 10 and partially located in the cavity W in contact with the moving body 20. There is no strict limitation on this.

[0159] Please refer to the following: Figure 9a , Figure 9b , Figure 10a and Figure 10b , Figure 9a yes Figure 5 A schematic diagram of one state of the adjustment mechanism 30 of the control device 100 shown. Figure 9b It is along Figure 9a The diagram shows a cross-sectional view obtained by cutting along section line B1-B1. Figure 10a It is along Figure 5 Another schematic diagram of the adjustment mechanism 30 of the control device 100 shown. Figure 10b It is along Figure 10a The diagram shows a cross-sectional view obtained by cutting along section line B2-B2. The adjustment mechanism 30 may include a mounting base 31, a pusher 32, and a first elastic element 33.

[0160] Mounting base 31 can be threadedly connected to housing 10, and a portion of mounting base 31 can be located within cavity W. Specifically, mounting base 31 can be installed in and threadedly connected to the connection hole 121 of the first housing 11, so that the adjusting mechanism 30 and the first housing 11 have a good connection. Exemplarily, the outer surface of mounting base 31 can be provided with external threads, and the inner wall of the connection hole 121 of the first housing 11 can be provided with internal threads. The external thread of mounting base 31 and the internal thread of the connection hole 121 of the first housing 11 are threadedly connected to realize the connection relationship between mounting base 31 and the first housing 11.

[0161] It is understandable that by threading the mounting base 31 to the housing 10, not only can the connection between the mounting base 31 and the housing 10 be established, but the installation position of the adjustment mechanism 30 on the housing 10 can also be adjusted through the threaded connection between the mounting base 31 and the housing 10. Specifically, the mounting base 31 can rotate and move towards the cavity W in the radial direction of the housing 10. Alternatively, the mounting base 31 can also rotate and move away from the cavity W in the radial direction of the housing 10, away from the movable body 20. By controlling the depth to which the mounting base 31 is screwed into and out of the housing 10, the installation position of the adjustment mechanism 30 on the housing 10, the magnitude of the flexible damping force on the movable body 20, the flexible displacement stroke of the movable body 20, and the switching of the radial degree of freedom of the control device 100 can be changed.

[0162] For example, the mounting base 31 can be loosened outwards from the housing 10 to increase the distance between the mounting base 31 and the movable body 20, thereby providing a larger flexible displacement stroke for the movable body 20 in the radial direction of the control device 100. Alternatively, the mounting base 31 can be loosened inwards from the housing 10 to decrease the distance between the mounting base 31 and the movable body 20, thereby providing a smaller flexible displacement stroke for the movable body 20 in the radial direction of the control device 100.

[0163] Mounting base 31 may have a guide groove 311. The opening of the guide groove 311 is located on the end face of one end of mounting base 31. When the adjusting mechanism 30 is mounted on housing 10, the opening of guide groove 311 faces the movable body 20 and communicates with cavity W. Guide groove 311 can provide a certain space to accommodate push body 32 and first elastic member 33.

[0164] At least a portion of the pushing body 32 can be located within the guide groove 311 of the mounting base 31 and can move relative to the mounting base 31 along the axial direction of the mounting base 31 (i.e., the control device 100). The axial direction of the mounting base 31 is the direction of its central axis, i.e., the direction of its extension. The pushing body 32 also contacts the movable body 20 and can move relative to the outer casing 10 along the radial direction of the control device 100. The surface of the pushing body 32 that contacts the movable body 20 can be a plane, or it can be a curved surface. When the pushing body 32 moves relative to the outer casing 10 along the radial direction of the control device 100, it can push the movable body 20 to also move relative to the outer casing 10 along the radial direction of the control device 100, thereby causing the movable body 20 to drive the insert 300 to also move relative to the outer casing 10 along the radial direction of the control device 100, thus realizing the adjustment function of the adjustment mechanism 30.

[0165] The first elastic element 33 can be any structural component with good elastic deformation properties. It can have a certain compression and elongation stroke to compress and generate elastic deformation after being compressed, and rebound and return to its original position after the pressure is removed. One end of the first elastic element 33 is connected to the bottom wall of the guide groove 311, and the other end of the first elastic element 33 is connected to the pusher 32, so that the first elastic element 33 is elastically connected between the bottom wall of the guide groove 311 and the pusher 32. The bottom wall of the guide groove 311 is the inner wall of the guide groove 311 that is opposite to the opening of the guide groove 311. For example, the first elastic element 33 can be a spring. By replacing the spring with a spring of different elastic coefficients, the pusher 32 can generate different displacement strokes in the radial direction of the control device 100, thereby pushing the movable body 20 to generate different magnitudes of radial offset in the radial direction of the control device 100.

[0166] It is understandable that by providing a first elastic element 33 between the pushing body 32 and the bottom wall of the guide groove 311, the elastic deformation characteristics of the first elastic element 33 allow the pushing body 32 to be elastically connected to the bottom wall of the guide groove 311. This allows the pushing body 32 to generate a certain displacement stroke in the radial direction of the control device 100 under the action of the first elastic element 33, and also pushes the movable body 20 to generate a certain displacement stroke in the radial direction of the control device 100. This allows the insert 300 to be driven by the movable body 20 to achieve adaptive alignment with the inserted 400. For example, when the first elastic element 33 is compressed, the distance between the pushing body 32 and the bottom wall of the guide groove 311 is small. When the first elastic element 33 rebounds and resets, the distance between the pushing body 32 and the bottom wall of the guide groove 311 is large.

[0167] One possible implementation, such as Figure 9b and Figure 10b As shown, the pushing body 32 may include a first pushing part 321 and a second pushing part 322. The first pushing part 321 is the portion of the pushing body 32 that is connected to the first elastic member 33, and the second pushing part 322 is the portion of the pushing body 32 that is in contact with the movable body 20.

[0168] The outer diameter of the first pushing part 321 can be adapted to the inner diameter of the guide groove 311 and is larger than the inner diameter of the opening of the guide groove 311. The first pushing part 321 can also be connected to the first elastic member 33 so that it can move within the guide groove 311 under the drive of the first elastic member 33. The second pushing part 322 can be connected to the end of the first pushing part 321 away from the first elastic member 33. The central axis of the second pushing part 322 can coincide with the central axis of the first pushing part 321 (i.e., the second pushing part 322 and the first pushing part 321 are coaxially arranged). The outer diameter of the second pushing part 322 can be smaller than the outer diameter of the first pushing part 321 and adapted to the inner diameter of the opening of the guide groove 311 so that the second pushing part 322 can extend out of the guide groove 311 through the opening of the guide groove 311 and contact the moving body 20.

[0169] It is understandable that by making the outer diameter of the second pushing part 322 smaller than that of the first pushing part 321, and by matching the outer diameter of the second pushing part 322 with the inner diameter of the opening of the guide groove 311, it is possible to facilitate the second pushing part 322 extending out of the guide groove 311 and contacting the movable body 20, while the stopping effect of the first pushing part 321 restricts the movement distance of the pushing body 32, preventing the pushing body 32 from coming out of the guide groove 311 opening, thus ensuring better connection performance between the pushing body 32 and the mounting base 31.

[0170] In embodiments of this application, the adjustment mechanism 30 may include a first state and a second state.

[0171] like Figure 9b As shown, when the adjusting mechanism 30 is in the first state, the first pushing part 321 of the pushing body 32 is located in the guide groove 311, the second pushing part 322 of the pushing body 32 extends out of the guide groove 311, and the end of the pushing body 32 away from the first elastic member 33 contacts the movable body 20. In this state, the pushing body 32 can push the movable body 20 to move in the radial direction of the control device 100, so that the movable body 20 can unlock the automaticity of the radial direction of the control device 100 and have a certain radial displacement stroke, so that the plug-in 300 connected to the movable body 20 can also have a certain radial displacement stroke, thereby improving the center return accuracy of the movable body 20 and the plug-in 300 and giving the plug-in 300 a better correction capability.

[0172] like Figure 10bAs shown, when the adjusting mechanism 30 is in the second state, the pushing body 32 is located in the guide groove 311, and both the end of the pushing body 32 away from the first elastic member 33 and the end face of the mounting base 31 facing the movable body 20 are in contact with the movable body 20. In this state, a hard contact can be formed between the adjusting mechanism 30 and the movable body 20, making the pushing body 32 and the movable body 20 relatively fixed. The pushing body 32 cannot push the movable body 20 to move in the radial direction of the control device 100, locking the degree of freedom of the movable body 20 in the radial direction of the control device 100, thereby restricting the degree of freedom of the insert 300 in the radial direction of the control device 100. Here, a hard contact between the adjusting mechanism 30 and the movable body 20 means that the adjusting mechanism 30 and the movable body 20 are in complete contact without elastic deformation. In this case, the adjusting mechanism 30 and the movable body 20 will be pressed together, forming a contact point without gaps.

[0173] Based on the above description, it should be understood that the first state of the adjusting mechanism 30 is the flexible unlocked state of the adjusting mechanism 30. When the adjusting mechanism 30 is in this state, it can push the movable body 20 to move along the radial direction of the control device 100, thereby unlocking the degree of freedom of the movable body 20 along the radial direction of the control device 100. This allows the insert 300 connected to the movable body 20 to make radial offset to correct its tilt relative to the inserted 400, exhibiting good self-adaptive return. The second state of the adjusting mechanism 30 is the rigid locked state of the adjusting mechanism 30. When the adjusting mechanism 30 is in this state, it cannot push the movable body 20 to move along the radial direction of the control device 100. The degree of freedom of the movable body 20 along the radial direction of the control device 100 is locked, making it difficult for the insert 300 connected to the movable body 20 to make radial offset.

[0174] Furthermore, tightening the mounting base 31 of the adjustment mechanism 30 into the cavity W switches the adjustment mechanism 30 from the first state to the second state, locking the degree of freedom of the movable body 20 in the radial direction of the control device 100, i.e., locking the degree of freedom of the insert 300 in the radial direction of the control device 100. Loosening the mounting base 31 of the adjustment mechanism 30 outward from the cavity W switches the adjustment mechanism 30 from the second state to the first state, unlocking the degree of freedom of the movable body 20 in the radial direction of the control device 100, and controlling the offset stroke and offset force of the movable body 20 in the radial direction of the control device 100, i.e., unlocking the degree of freedom of the insert 300 in the radial direction of the control device 100, and controlling the offset stroke and offset force of the insert 300 in the radial direction of the control device 100.

[0175] The following description will take the example of the radial direction of the control device 100 including a first radial direction (hereinafter referred to as the X direction) and a second radial direction (hereinafter referred to as the Y direction), and the first radial direction and the second radial direction being perpendicular to each other. However, it should be understood that the following improvements to the structure of the control device 100 can be applied to other directions in the radial direction of the control device 100.

[0176] Please refer to the following: Figure 11 and Figure 12 , Figure 11 It is along Figure 5 The diagram shows a cross-sectional view of the control device 100 in one state, obtained by cutting along section line BB. Figure 12 It is along Figure 5 The diagram shows a cross-sectional view of the control device 100 in one state obtained by cutting along the section line CC.

[0177] The adjustment mechanism 30 may include a first adjustment mechanism 34 and a second adjustment mechanism 35. The first adjustment mechanism 34 may be mounted on the housing 10, with a portion of the first adjustment mechanism 34 located within the cavity W and in contact with the movable body 20. The first adjustment mechanism 34 can drive the movable body 20 to move relative to the housing 10 in the X direction and the opposite direction of the X direction, thereby causing the insert 300 to also move relative to the housing 10 in the X direction and the opposite direction of the X direction. The second adjustment mechanism 35 may be mounted on the housing 10 and spaced apart from the first adjustment mechanism 34 in both the Z direction and the circumferential direction of the control device 100, wherein the circumferential direction of the control device 100 is the direction surrounding the central axis of the control device 100. A portion of the second adjustment mechanism 35 is located within the cavity W and in contact with the movable body 20. The second adjustment mechanism 35 can drive the movable body 20 to move relative to the housing 10 in the Y direction and the opposite direction of the Y direction, thereby causing the insert 300 to also move relative to the housing 10 in the Y direction and the opposite direction of the Y direction.

[0178] The following description will only take the first adjustment mechanism 34 driving the movable body 20 to move in the X direction and the second adjustment mechanism 35 driving the movable body 20 to move in the Y direction as examples, but it should be understood that it is not limited to this.

[0179] It is understandable that by setting the first adjustment mechanism 34 and the second adjustment mechanism 35, the movable body 20 can generate radial offset in two different radial directions of the control device 100. Thus, during the eccentric assembly process or blind insertion process of the insert 300 and the component 400, the offset generated by the movable body 20 in the X and / or Y directions will cause the insert 300 to also generate radial offset in the X and / or Y directions, thereby compensating for the tilt deviation of the insert 300 relative to the insert, enabling the insert 300 to achieve adaptive alignment with the insert, and ensuring the assembly success rate and reliability between the insert 300 and the component 400.

[0180] It should be noted that both the first adjustment mechanism 34 and the second adjustment mechanism 35 may include the mounting base 31, the pushing body 32, and the first elastic element 33 described above. The structures of the mounting base 31, the pushing body 32, and the first elastic element 33 of the first adjustment mechanism 34, as well as the mounting base 31, the pushing body 32, and the pushing body 32 of the second adjustment mechanism 35, can be referred to the description of the adjustment mechanism 30 above, and will not be repeated here.

[0181] In one possible application scenario, such as Figure 11 and Figure 12 As shown, the mounting base 31 of the first adjustment mechanism 34 is threadedly connected to the second housing 12.

[0182] The opening of the guide groove 311 of the first adjustment mechanism 34 is located on the end face of the mounting base 31 of the first adjustment mechanism 34 facing the movable body 20, and communicates with the first cavity W1. At least a portion of the pusher 32 of the first adjustment mechanism 34 is located within the guide groove 311 of the first adjustment mechanism 34, and the pusher 32 of the first adjustment mechanism 34 is also in contact with the movable body 20. The first elastic member 33 of the first adjustment mechanism 34 is elastically connected between the bottom wall of the guide groove 311 of the first adjustment mechanism 34 and the pusher 32 of the first adjustment mechanism 34.

[0183] When the first adjustment mechanism 34 is in the first state, the pusher 32 of the first adjustment mechanism 34 can push the movable body 20 to move along the X direction, so that the movable body 20 has a certain radial displacement stroke in the X direction. When the first adjustment mechanism 34 is in the second state, the pusher 32 of the first adjustment mechanism 34 and the movable body 20 are relatively fixed, locking the movement of the movable body 20 along the X direction, so that the pusher 32 of the first adjustment mechanism 34 and the movable body 20 can be regarded as hard contact. By switching the first adjustment mechanism 34 between the first state and the second state, the degree of freedom of the single X direction can be controlled.

[0184] For example, there can be two first adjustment mechanisms 34. The two first adjustment mechanisms 34 can be arranged opposite each other in the X direction and respectively contact the two sides of the movable body 20 in the X direction to further ensure the smoothness of the movement of the movable body 20 in the X direction.

[0185] The mounting base 31 of the second adjustment mechanism 35 is threadedly connected to the second housing 12 and is spaced apart from the mounting base 31 of the first adjustment mechanism 34 in both the Z direction and the circumferential direction of the control device 100. The opening of the guide groove 311 of the second adjustment mechanism 35 is located on the end face of the mounting base 31 of the second adjustment mechanism 35 facing the movable body 20 and communicates with the first cavity W1. At least a portion of the pusher 32 of the second adjustment mechanism 35 is located within the guide groove 311 of the second adjustment mechanism 35, and the pusher 32 of the second adjustment mechanism 35 is also in contact with the movable body 20. The first elastic member 33 of the second adjustment mechanism 35 is elastically connected between the bottom wall of the guide groove 311 of the second adjustment mechanism 35 and the pusher 32 of the second adjustment mechanism 35.

[0186] When the second adjustment mechanism 35 is in the first state, the pusher 32 of the second adjustment mechanism 35 can push the movable body 20 to move along the Y direction, so that the movable body 20 has a certain radial displacement stroke in the Y direction. When the second adjustment mechanism 35 is in the second state, the pusher 32 of the second adjustment mechanism 35 and the movable body 20 are relatively fixed, locking the movement of the movable body 20 along the Y direction, so that the pusher 32 of the second adjustment mechanism 35 and the movable body 20 can be regarded as hard contact. By switching the second adjustment mechanism 35 between the first state and the second state, the degree of freedom in the single Y direction can be controlled.

[0187] For example, there can be two second adjustment mechanisms 35. The two second adjustment mechanisms 35 can be arranged opposite each other in the Y direction and respectively contact the two sides of the movable body 20 in the Y direction to further ensure the smoothness of the movement of the movable body 20 in the Y direction.

[0188] Based on the above description, it should be understood that in this embodiment, the first adjustment mechanism 34 controlling the X-direction degree of freedom can be locked alone, restricting the flexible displacement of the movable body 20 along the X-direction to zero, thereby forming an adjustment mechanism 30 that can only realize the movement of the movable body 20 along the Y-direction with a single flexible degree of freedom. Alternatively, the second adjustment mechanism 35 controlling the Y-direction degree of freedom can be locked alone, restricting the flexible displacement of the movable body 20 along the Y-direction to zero, thereby forming an adjustment mechanism 30 that can only realize the movement of the movable body 20 along the X-direction with a single flexible degree of freedom. Alternatively, both the first adjustment mechanism 34 controlling the X-direction degree of freedom and the second adjustment mechanism 35 controlling the Y-direction degree of freedom can be locked simultaneously, restricting the flexible displacement of the movable body 20 along both the X and Y directions to zero, with the adjustment mechanism 30 relatively fixed to the movable body 20 and in a rigidly locked state. Alternatively, both the first adjustment mechanism 34, which controls the degree of freedom in the X direction, and the second adjustment mechanism 35, which controls the degree of freedom in the Y direction, can be unlocked simultaneously, so that the adjustment mechanism 30 can drive the moving body 20 to produce flexible displacement in both the X and Y directions, thus making the adjustment mechanism 30 in a flexible unlocked state.

[0189] In the embodiments of this application, at least a portion of the movable body 20 is located within the cavity W and is slidably connected to the outer shell 10. The movable body 20 and the outer shell 10 can be directly slidably connected. Alternatively, the movable body 20 and the outer shell 10 can be indirectly slidably connected via a sliding mechanism 40. The movable body 20 can be a one-piece structure. Alternatively, the movable body 20 can be a split structure.

[0190] When the movable body 20 is a one-piece structure, it can be a single structural component. In this configuration, the movable body 20 has fewer parts, which simplifies the manufacturing process and improves the production and assembly efficiency of the control device 100. For example, the movable body 20 can be formed into a one-piece structure through integral molding.

[0191] When the movable body 20 has a modular structure, it can be formed by connecting multiple parts. In this configuration, the movable body 20 can be disassembled into multiple structures and assembled together layer by layer. This avoids the problems of excessive extension length, reduced strength, and reduced maintenance convenience that would result from using the same structural component, and is beneficial for positioning and assembly.

[0192] The following explanation will take the modular structure of the movable body 20 as an example, but it should be understood that it is not limited to this.

[0193] Please refer to the following: Figure 11 , Figure 12 and Figure 13 , Figure 13 yes Figure 5The diagram shows a partial structural schematic of the control device 100. At least a portion of the movable body 20 may be located within the cavity W. The movable body 20 may include a top seat 21, a base 22, a support column 23, and a connector 24. In some embodiments, the movable body 20 may only include the top seat 21 and the base 22. Alternatively, it may only include the top seat 21, the base 22, and the connector 24; there is no strict limitation on this.

[0194] The base 22 may be frustum-shaped. Part of the base 22 may be located inside the cavity W, and part of the base 22 may be located outside the control device 100. For example, the base 22 may be located inside the second cavity W2. Specifically, the base 22 may include a main body 221 and an extension 222. The outer diameter of the main body 221 may be smaller than the inner diameter of the cavity W (e.g., smaller than the inner diameter of the second cavity W2 of the cavity W) so that the main body 221 can be accommodated inside the cavity W. The extension 222 is connected to the outer edge of the main body 221 and is arranged around the outer edge of the main body 221. The outer diameter of the extension 222 may be larger than the inner diameter of the cavity W (e.g., larger than the inner diameter of the second cavity W2 of the cavity W) so that the extension 222 can be stopped outside the outer casing 10, limiting the distance the movable body 20 can move in the Z direction, thus providing a good limiting function.

[0195] The top seat 21 can be located within the cavity W and spaced apart from the base 22 in the opposite direction of the Z direction. The top seat 21 may include a through hole 211, which can penetrate the top seat 21 along its thickness direction. The through hole 211 of the top seat 21 can be used for the support column 23 to pass through. Exemplarily, the top seat 21 can be located within the second cavity W2.

[0196] The support post 23 can be located within the cavity W and extend along the Z direction. One end of the support post 23 is connected to the base 22, the support post 23 passes through the through hole 211 of the top seat 21, and the other end of the support post 23 extends out of the top seat 21. Exemplarily, the support post 23 can be located within the second cavity W2.

[0197] The connector 24 can be located within the cavity W and also on the side of the top seat 21 opposite to the base 22. The connector 24 is connected to the end of the support post 23 away from the base 22. Exemplarily, the connector 24 can be located within the second cavity W2, or within the through hole 131 and the second cavity W2.

[0198] It is understandable that by setting up a base 22 and a top seat 21, and arranging them sequentially in the Z direction, the layered structure of the base 22 and top seat 21 allows for a reasonable arrangement of the positions of the various adjustment mechanisms 30. This ensures that the different adjustment mechanisms 30 controlling different radial directions can be staggered in both the Z direction and the circumferential direction of the control device 100, preventing them from interfering with each other. Specifically, the first adjustment mechanism 34 can contact the top seat 21 located on the upper layer and control the movement of the movable body 20 along the X direction and the opposite direction of the X direction. The second adjustment mechanism 35 can contact the base 22 located on the lower layer and control the movement of the movable body 20 along the Y direction and the opposite direction of the Y direction. Thus, the first adjustment mechanism 34 and the second adjustment mechanism 35 can be staggered in both the Z direction and the circumferential direction of the control device 100, allowing them to operate independently without interfering with each other. This enables the movable body 20 to move in the X direction, in the Y direction, or simultaneously in both the X and Y directions. Of course, in other embodiments, the top seat 21 may contact the second adjustment mechanism 35, and the base 22 may contact the first adjustment mechanism 34; there is no strict limitation on this.

[0199] In embodiments of this application, the control device 100 may further include a sliding mechanism 40. The sliding mechanism 40 may be located within the cavity W, and the extending direction of the sliding mechanism 40 is parallel to the radial direction of the control device 100. The movable body 20 can slide relative to the outer casing 10 via the sliding mechanism 40. That is, the sliding mechanism 40 can be used to realize a sliding connection between the movable body 20 and the outer casing 10, enabling the movable body 20 to slide relative to the outer casing 10 along the radial direction of the control device 100.

[0200] It is understandable that by setting the sliding mechanism 40 and making the extension direction of the sliding mechanism 40 parallel to the radial direction of the control device 100, the movable body 20 can slide relative to the outer shell 10 through the sliding mechanism 40, thereby enabling the movable body 20 to drive the plug-in 300 to move along the radial direction of the control device 100, so that the plug-in 300 has good correction performance.

[0201] Of course, in other embodiments, the control device 100 may not be provided with the sliding mechanism 40, but may be provided with other structural components that enable the movable body 20 to move relative to the outer shell 10 in the radial direction of the control device 100, and there is no strict limitation on this.

[0202] Please refer to the following: Figure 11 , Figure 12 and Figure 13The sliding mechanism 40 may include a first sliding mechanism 41 and a second sliding mechanism 42. The first sliding mechanism 41 may be located in the gap region between the inner wall of the cavity W and the top seat 21, and is connected between the inner wall of the cavity W and the top seat 21. The extension direction of the first sliding mechanism 41 may be parallel to the X-direction, and it enables the movable body 20 to move relative to the outer shell 10 in the X-direction and the opposite direction of the X-direction. The second sliding mechanism 42 may be located in the gap region between the top seat 21 and the base 22, and is connected between the top seat 21 and the base 22. The extension direction of the second sliding mechanism 42 may be parallel to the Y-direction, and it enables the movable body 20 to move relative to the outer shell 10 in the Y-direction and the opposite direction of the Y-direction.

[0203] The number of first sliding mechanisms 41 can be one or more. When there are multiple first sliding mechanisms 41, they can be located on both sides of the movable body 20 along the Y direction and spaced apart in the Y direction. The number of second sliding mechanisms 42 can also be one or more. When there are multiple second sliding mechanisms 42, they can be located on both sides of the movable body 20 along the Y direction and spaced apart in the Y direction.

[0204] For example, there may be two first sliding mechanisms 41, which are located on both sides of the movable body 20 and spaced apart in the Y direction. There may also be two second sliding mechanisms 42, which are located on both sides of the movable body 20 and spaced apart in the X direction.

[0205] The following description will focus on a first sliding mechanism 41 and a second sliding mechanism 42, with the first sliding mechanism 41 enabling the movable body 20 to move relative to the outer shell 10 in the X direction, and the second sliding mechanism 42 enabling the movable body 20 to move relative to the outer shell 10 in the Y direction.

[0206] The first sliding mechanism 41 may include a first slider 411 and a first slide rail 412. The extension direction of the first slider 411 may be parallel to the X-direction and it is fixedly connected to the second housing 12. The extension direction of the first slide rail 412 may be parallel to the X-direction and it is fixedly connected to the top seat 21. The first slider 411 and the first slide rail 412 are slidably connected so that the movable body 20 can move relative to the housing 10 in the X-direction. Of course, in other embodiments, the first slider 411 may also be fixed to the second housing 12 and the first slide rail 412 may be fixed to the top seat 21; there is no strict limitation on this.

[0207] For one possible implementation, please refer to Figure 12 The control device 100 may also include a first connector 51.

[0208] The first connector 51 extends parallel to the Z-direction and passes through the housing 10 and the first slider 411 to fix the housing 10 and the first slider 411 together. There can be one or more first connectors 51. When there are multiple first connectors 51, they are spaced apart, and each first connector 51 passes through the housing 10 and the first slider 411.

[0209] It is understandable that using the first connector 51 to connect the housing 10 and the first slider 411 makes the assembly and disassembly of the first slider 411 and the housing 10 more convenient, which is beneficial to improving the overall maintainability of the control device 100.

[0210] For example, the first connector 51 may be inserted through the second housing 12 and the first slider 411 to fix the second housing 12 and the first slider 411 together.

[0211] Of course, in other embodiments, the outer shell 10 and the first slider 411 can also be fixed by means such as welding or bonding, as long as the outer shell 10 and the first slider 411 are fixedly connected, and there is no strict limitation on this.

[0212] In the embodiments of this application, the second sliding mechanism 42 may include a second slider 421 and a second slide rail 422. The extension direction of the second slider 421 may be parallel to the Y direction and fixedly connected to the top seat 21. The extension direction of the second slide rail 422 may be parallel to the Y direction and fixedly connected to the base 22. The second slider 421 and the second slide rail 422 are slidably connected so that the movable body 20 can move relative to the outer shell 10 in the Y direction. Of course, in other embodiments, the second slider 421 may also be fixed to the base 22, and the second slide rail 422 may be fixed to the top seat 21; there is no strict limitation on this.

[0213] It is understandable that by arranging the second sliding mechanism 42 and the first sliding mechanism 41 at intervals in the Z direction, the second sliding mechanism 42 and the first sliding mechanism 41 can be arranged in different layers of the movable body 20. This allows the first sliding mechanism 41, which controls the movement of the movable body 20 in the X direction, and the second sliding mechanism 42, which controls the movement of the movable body 20 in the Y direction, to be staggered, ensuring that the first sliding mechanism 41 and the second sliding mechanism 42 are independent of each other and do not affect each other. Furthermore, through this layered sliding connection, the movable body 20 can move relative to the outer shell 10 in the X and / or Y directions, thereby enabling adaptive alignment between the insert 300 and the inserted 400.

[0214] For one possible implementation, please refer to Figure 11 The control device 100 may also include a second connector 52.

[0215] The second connector 52 extends parallel to the Z-direction and passes through the top seat 21 and the second slider 421 to fix the top seat 21 and the second slider 421 together. There can be one or more second connectors 52. When there are multiple second connectors 52, they are spaced apart, and each second connector 52 passes through the top seat 21 and the second slider 421.

[0216] It is understandable that using the second connector 52 to connect the top seat 21 and the second slider 421 makes the assembly and disassembly of the top seat 21 and the second slider 421 more convenient, which is beneficial to improving the overall maintainability of the control device 100.

[0217] For example, the second connector 52 may be inserted through the top seat 21 and the second slider 421 to fix the top seat 21 and the second slider 421 together.

[0218] Of course, in other embodiments, the top seat 21 and the second slider 421 can also be fixed by means such as welding or bonding, as long as the top seat 21 and the second slider 421 are fixedly connected, there is no strict limitation.

[0219] In the embodiments of this application, the control device 100 may further include a first connection state and a second connection state. The first connection state of the control device 100 is a rigid state. When the control device 100 is in this state, the movement of the movable body 20 relative to the outer shell 10 along the radial direction of the control device 100 can be locked, making the control device 100 suitable for high-speed movement, transportation, and other scenarios. The second connection state of the control device 100 is a flexible state. When the control device 100 is in this state, the movement of the movable body 20 relative to the outer shell 10 along the radial direction of the control device 100 can be unlocked, allowing the insertion device 300 connected to the movable body 20 to achieve alignment and assembly with the insertion device 400.

[0220] The following description will use a pneumatic control device as an example, whereby the control device 100 can switch between a first connection state and a second connection state via pneumatic control, and maintain both states. However, it should be understood that any implementation capable of achieving rigid / flexible switching of the control device 100 in the radial direction is within the scope of protection claimed in the embodiments of this application, and is not strictly limited thereto.

[0221] Please refer to the following: Figure 11 , Figure 12 , Figure 14 and Figure 15 , Figure 14 It is alongFigure 5 The diagram shows a cross-sectional view of the control device 100 obtained by cutting along section line BB, representing another state. Figure 15 It is along Figure 5 A cross-sectional schematic diagram of another state of the control device 100 obtained by cutting along the cutting line CC shown.

[0222] The control device 100 may further include an airway 101. The airway 101 may be surrounded by the housing 10 and located at the top of the housing 10, the top of which is the end of the housing 10 furthest from the movable body 20. One end of the airway 101 may communicate with the cavity W, and the other end of the airway 101 may communicate with the external environment of the housing 10. The airway 101 can serve as a guide channel to guide external gas from the control device 100 into the cavity W. Exemplarily, the airway 101 may be located at the end of the first housing 11 furthest from the second housing 12 and communicate with the first cavity W1 of the cavity W.

[0223] The shape of the airway 101, the location of the airway 101, the extension length of the airway 101, and other parameters of the airway 101 can be selected according to the actual application scenario of the control device 100, and there are no strict restrictions on them.

[0224] The control device 100 may further include an air connector 60 and a piston 70. The air connector 60 may be installed in the housing 10 and communicate with the cavity W through an air passage 101. The air connector 60 allows external gas to enter the cavity W of the control device 100. The air connector 60 may also release internal gas from the control device 100, allowing the internal gas to flow out of the control device 100. Exemplarily, the air connector 60 may be installed in the first housing 11 and communicate with the first cavity W1.

[0225] Piston 70 is located within cavity W. Exemplarily, piston 70 may be located in first cavity W1, through hole 131, and second cavity W2. It is understood that by disassembling housing 10 into a combination of multiple housings, piston 70 can be mounted to the upper first housing 11, and movable body 20 can be mounted to the lower second housing 12, such that the movement of piston 70 in the Z direction and the movement of movable body 20 in the radial direction of control device 100 do not interfere with each other.

[0226] When gas is introduced into the cavity W through the endotracheal connector 60, the piston 70 can move in the opposite direction of the Z-direction to approach the movable body 20, thereby locking with the movable body 20 and switching the control device 100 to the first connection state, achieving overall rigidity of the control device 100. Alternatively, when the endotracheal connector 60 releases gas from the cavity W, the piston 70 can also move in the Z-direction away from the movable body 20, thereby unlocking with the movable body 20 and switching the control device 100 to the second connection state, achieving flexibility of the control device 100. The gas can be any industrial compressed gas, such as air, nitrogen, carbon dioxide, inert gas, etc.

[0227] Understandably, when external gas enters the cavity W through the duct connector 60 and the air passage 101, it compresses the piston 70 and causes it to move in the opposite direction of the Z-axis, locking it with the movable body 20. When the internal gas of the control device 100 is released, it is discharged to the outside of the control device 100 through the air passage 101 and the duct connector 60, removing the force acting on the piston 70 and causing it to move in the Z-axis and separate from the movable body 20. By inputting and releasing gas into and from the cavity W, the locking and unlocking of the piston 70 and the movable body 20 can be achieved, allowing for the switching between the overall flexibility and rigidity of the control device, thus achieving the goal of high-speed, low-cost function switching.

[0228] Please refer to the following: Figure 14 and Figure 15 The piston 70 may include a body 71 and a connector 72. The body 71 is the part of the piston 70 that comes into contact with the gas, and the connector 72 is the part of the piston 70 that locks and unlocks with the movable body 20. The connector 72 is connected to one end of the body 71. The cross-sectional width of the connector 72 along the Z direction may be smaller than the cross-sectional width of the body 71 along the Z direction.

[0229] It is understandable that by making the piston 70 include a connected body 71 and a connector 72, and making the cross-sectional width of the connector 72 along the Z direction smaller than the cross-sectional width of the body 71 along the Z direction, the piston 70 can be rationally arranged into two functional areas. The body 71, as the larger part of the piston 70, contacts the gas, thus forming a larger contact area to push the piston 70 to move along the Z direction and in the opposite direction. The connector 72, as the smaller part of the piston 70, contacts the moving body 20, allowing for precise locking and unlocking with the moving body 20, thereby unlocking and locking the movement of the moving body 20 along the radial direction of the control device 100, resulting in high reliability.

[0230] For example, when the control device 100 is in the first connection state, the body 71 can be located in the first cavity W1. The plug-in portion 72 can be located in the through hole 131 and the second cavity W2. The connector 24 can be located in the through hole 131 and the second cavity W2. When the control device 100 is in the second connection state, the body 71 can be located in the first cavity W1. The plug-in portion 72 can be located in the first cavity W1, the through hole 131, and the second cavity W2. The connector 24 can be located in the through hole 131 and the second cavity W2.

[0231] It is understandable that by having the intermediate housing 13 surround the through hole 131 and connecting the through hole 131 to the first cavity W1 and the second cavity W2, the piston 70 and the connector 24 can be engaged and disengaged in the through hole 131 and the second cavity W2, thereby allowing the through hole 131 and the second cavity W2 to play a certain limiting role and ensuring that the engagement process of the piston 70 and the moving body 20 will not have a large displacement.

[0232] In one possible implementation, the piston 70 may be provided with a groove 73. The opening of the groove 73 may be located on the end face of the piston 70 away from the movable body 20, and the opening of the groove 73 is used to communicate with the air passage 101. Exemplarily, the groove 73 may be located at the end of the body 71 away from the insertion portion 72.

[0233] It is understandable that by providing a groove 73 on the top surface of the piston 70, the external gas of the control device 100 entering the air passage 101 can enter the groove 73, thereby pushing the piston 70 so that the piston 70 can move in the opposite direction of the Z direction, avoiding the problem that the gas is difficult to push the piston 70 due to the piston 70 blocking the opening of the air passage 101, thus improving reliability.

[0234] In this embodiment, the control device 100 may further include a second elastic element 81. The second elastic element 81 may be located within the first cavity W1 and elastically connected between the body 71 of the piston 70 and the intermediate housing 13. The second elastic element 81 may be any structural component with good elastic deformation properties, having a certain compression and elongation stroke to compress and elastically deform under pressure, and to spring back to its original position after the pressure is removed. For example, the second elastic element 81 may be a spring.

[0235] Understandably, after the gas supply to the gas inlet 60 stops, the gas will be released, and the piston 70 will be difficult to return to its original position due to resistance. Therefore, by providing the second elastic element 81, the second elastic element 81 can provide a certain degree of return performance for the piston 70, making it easier to push the piston 70 back to its original position after the gas in the cavity W is released.

[0236] In embodiments of this application, the piston 70 may include a slot 74. The opening of the slot 74 may be located on the end face of the piston 70 facing the movable body 20. The slot 74 may be used to engage with the connector 24 of the movable body 20. Exemplarily, the slot 74 may be located at the end of the insertion portion 72 away from the body 71.

[0237] like Figure 14 and Figure 15 As shown, when the control device 100 is in the first connection state, the slot 74 engages with the connector 24 of the movable body 20, so that the adjusting mechanism 30 and the movable body 20 are relatively fixed. Figure 11 and Figure 12 As shown, when the control device 100 is in the second connection state, the slot 74 is separated from the connector 24 of the movable body 20 so that the adjustment mechanism 30 can drive the movable body 20 to move in the radial direction of the control device 100.

[0238] Understandably, when the control device 100 is in the first connection state, the piston 70 engages with the movable body 20, restricting the degree of freedom of the movable body 20 in the radial direction of the control device 100. At this time, the control device 100 can be rigid, suitable for high-speed movement and handling. For example, it can move the component to be inserted 300 connected to the control device 100 from station A to station B, ensuring smooth movement without wobbling. When the control device 100 is in the second connection state, the component to be inserted 300 moves above the position of the component to be inserted 400. At this time, the piston 70 separates from the movable body 20, releasing the degree of freedom of the movable body 20 in the radial direction of the control device 100. This allows the component to be inserted 300 to achieve a correction action relative to the component to be inserted 400 by generating a certain offset in the radial direction of the control device 100 during the downward pressing process relative to the component to be inserted 400. This corrects the tilt relative to the component to be inserted 400 during the alignment process, thereby completing the alignment and assembly between the component and the component to be inserted 400.

[0239] In one possible implementation, the slot 74 may include a first slot 741 and a second slot 742. The cross-sectional width of the first slot 741 along the Z-direction gradually decreases from the end of the piston 70 toward the movable body 20 towards the direction away from the movable body 20. The second slot 742 may communicate with the first slot 741, and the cross-sectional width of the second slot 742 along the Z-direction may be less than or equal to the minimum cross-sectional width of the first slot 741 along the Z-direction. For example, the cross-sectional shape of the first slot 741 may be conical, and the cross-sectional shape of the second slot 742 may be rectangular.

[0240] When the control device 100 is in the first connection state, part of the connector 24 is located in the first groove 741 and the second groove 742, and the surface of the connector 24 located in the first groove 741 is in contact with the groove wall of the first groove 741.

[0241] It is understandable that by setting the slot 74 as a groove structure with a gradually changing cross-sectional width along the Z direction, the slot 74 can be adapted to form a full-circle clamping with the connector 24, which facilitates the surface fitting of the slot 74 and the connector 24, thereby achieving better connection performance between the piston 70 and the moving body 20 and having better stability.

[0242] In this embodiment, the surface of the end of the connector 24 furthest from the support post 23 can be spherical. This configuration allows for spherical contact between the connector 24 and the slot 74. Spherical contact makes the engagement between the piston 70 and the moving body 20 more stable and reliable, resulting in better connection strength. It also prevents jamming between the piston 70 and the moving body 20, allowing for smooth engagement with minimal resistance.

[0243] Of course, in other embodiments, the contact form between the slot 74 and the connector 24 does not have to be a spherical contact, as long as it can achieve the locking of the slot 74 and the connector 24, there is no strict limitation on this.

[0244] In one possible implementation, the control device 100 may further include a seal 82. The seal 82 is located within the cavity W and surrounds the outer periphery of the piston 70, sealingly connecting the piston 70 and the cavity wall of the cavity W. Exemplarily, the outer peripheral surface of the piston 70 body 71 may be provided with a receiving groove. The receiving groove is recessed from the outer peripheral surface of the body 71 into the interior of the piston 70. The seal 82 may be located within the first cavity W1 of the cavity W and embedded in the receiving groove of the piston 70 body 71, surrounding the outer periphery of the piston 70 body 71, thus sealingly connecting the piston 70 body 71 and the cavity wall of the first cavity W1. Exemplarily, the seal 82 may be a sealing ring.

[0245] It is understandable that by setting a seal 82 on the outer periphery of the piston 70, the seal 82 can seal the connection between the piston 70 and the inner wall of the cavity W, thus achieving a good sealing effect and giving the cavity W good airtight performance, ensuring that the gas will not leak.

[0246] Please see Figure 16 , Figure 16 This is another structural schematic diagram of the control device 100 provided in the embodiments of this application.

[0247] In the embodiments of this application, the control device 100 may also have force-controlled pressing performance along the Z direction. Specifically, the control device 100 may further include a fixed frame 91, an extended housing 92, and a third sliding mechanism 93. The fixed frame 91 may be used to connect to an actuator capable of movement in the device 200, such as connecting to an actuator motion axis. The extended housing 92 may be connected to the outer shell 10 and may be linked with the outer shell 10. Exemplarily, the shape of the extended housing 92 may be L-shaped. The extension direction of the third sliding mechanism 93 may be parallel to the Z direction. The third sliding mechanism 93 may be connected between the fixed frame 91 and the extended housing 92, enabling the extended housing 92 to move relative to the fixed frame 91 along the Z direction and in the opposite direction of the Z direction. The third sliding mechanism 93 may include a third slider 931 and a third slide rail 932. The third slide rail 932 is fixedly connected to the fixed frame 91, and the extension direction of the third slide rail 932 is parallel to the axial direction of the control device 100. The third slider 931 is fixed to the extended housing 92 and slidably connected to the third slide rail 932. Of course, in other embodiments, the third slide rail 932 may also be fixedly connected to the extension housing 92, and the third slider 931 may also be fixed to the fixing frame 91, without strict limitation.

[0248] It is understandable that by setting the third sliding mechanism 93, the outer shell 10 and the movable body 20 located inside the outer shell 10 can be driven to move in the Z direction and in the opposite direction of the Z direction, thereby enabling the control device 100 to have an upward movement in the opposite direction of the Z direction and a downward movement in the Z direction.

[0249] Furthermore, the control device 100 may also include a carrier 94, a third elastic element 95, and a pressure sensor 96. The carrier 94 is connected to the mounting bracket 91 and provides an installation position for the third elastic element 95. The third elastic element 95 can be elastically connected between the carrier 94 and the extension housing 92. The third elastic element 95 can be any structural component with good elastic deformation properties, having a certain compression and elongation stroke to compress and elastically deform under pressure and rebound to its original position after the pressure is removed. For example, the third elastic element 95 can be a spring. The third elastic element 95 can be in a compressed state before the insert 300 and the inserted 400 are assembled to eliminate the influence of its own weight, facilitating real-time and accurate detection of the pressing force during the assembly process. The pressure sensor 96 can be installed on the carrier 94 and used to detect the pressure value of the third elastic element 95.

[0250] Understandably, by providing a third elastic element 95 and elastically connecting it between the carrier 94 and the extension housing 92, the pressure changes at the end of the control device 100 (i.e., the end connected to the insert 300) can be characterized by the force changes during the elongation and bending of the third elastic element 95. Furthermore, by real-time detection of the pressure changes in the third elastic element 95 by the pressure sensor 96, pressure monitoring along the Z-direction of the control device 100 can be achieved, allowing the downward pressing action of the insert 300 to be stopped if the pressure exceeds the limit, thus providing buffer protection for fragile material scenarios.

[0251] The above are merely some embodiments and implementation methods of this application. The scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control device characterized by comprising: The control device comprises: a housing and a cavity surrounded by the housing; a movable body, at least part of which is located in the cavity and is in sliding connection with the housing, one side of the movable body away from the housing being used for connecting with a plug to be inserted; a regulating mechanism, part of which is located in the cavity and is in contact with the movable body, the regulating mechanism being capable of driving the movable body to move relative to the housing in a radial direction of the control device. The regulating mechanism comprises a mounting seat, a pushing body and a first elastic member, the mounting seat being in threaded connection with the housing, the mounting seat having a guide groove, an opening of the guide groove being located at an end face of the mounting seat facing the movable body and being in communication with the cavity, at least part of the pushing body being located in the guide groove, the pushing body also being in contact with the movable body, and the first elastic member being in elastic connection between a bottom wall of the guide groove and the pushing body.

2. The control device of claim 1, wherein The regulating mechanism comprises a first state and a second state; 3. The control device of claim 2, wherein when the regulating mechanism is in the first state, a first pushing part of the pushing body is located in the guide groove, a second pushing part of the pushing body extends out of the guide groove, and an end of the pushing body away from the first elastic member is in contact with the movable body; when the regulating mechanism is in the second state, the pushing body is located in the guide groove, and an end of the pushing body away from the first elastic member and an end face of the mounting seat facing the movable body are in contact with the movable body. The regulating mechanism comprises a first regulating mechanism and a second regulating mechanism, the radial direction of the control device comprises a first radial direction and a second radial direction, and the first radial direction is arranged perpendicularly to the second radial direction; 4. Control device according to any one of claims 1-3, characterized in that the first regulating mechanism is mounted on the housing, part of the first regulating mechanism is located in the cavity and is in contact with the movable body, and the first regulating mechanism is capable of driving the movable body to move relative to the housing in the first radial direction of the control device; the second regulating mechanism is mounted on the housing and is arranged in the axial direction and the circumferential direction of the control device and is spaced apart from the first regulating mechanism, part of the second regulating mechanism is located in the cavity and is in contact with the movable body, and the second regulating mechanism is capable of driving the movable body to move relative to the housing in the second radial direction of the control device, wherein the second radial direction is arranged perpendicularly to the first radial direction. The control device further comprises a sliding mechanism, the sliding mechanism being located in the cavity, the movable body sliding relative to the housing through the sliding mechanism, and an extension direction of the sliding mechanism is parallel to the radial direction of the control device.

5. The control device of claim 4, wherein The movable body comprises a top seat and a bottom seat, the top seat being in contact with the first regulating mechanism, the bottom seat being arranged in sequence with the top seat in the axial direction of the control device and being in contact with the second regulating mechanism, and the sliding mechanism comprises a first sliding mechanism and a second sliding mechanism.

6. The control device of claim 5, wherein ​ The first sliding mechanism is located in a gap region between the inner wall of the cavity and the top base, and comprises a first sliding block and a first sliding rail, the first sliding block is fixedly connected to the shell, the first sliding rail is fixedly connected to the top base, the first sliding block is in sliding connection with the first sliding rail, and the extension direction of the first sliding rail is arranged in parallel with the first radial direction; The second sliding mechanism is located in a gap region between the top base and the bottom base, and comprises a second sliding block and a second sliding rail, the second sliding block is fixedly connected to the top base away from one side of the first sliding rail, the second sliding rail is fixedly connected to the bottom base, the second sliding block is in sliding connection with the second sliding rail, and the extension direction of the second sliding rail is arranged in parallel with the second radial direction.

7. The control device of claim 6, wherein The control device further comprises a first connecting member and a second connecting member, the first connecting member is arranged through the shell and the first sliding block, and the first connecting member is fixedly connected to the shell and the first sliding block, the extension direction of the first connecting member is arranged in parallel with the axial direction of the control device, the second connecting member is arranged through the top base and the second sliding block, and the second connecting member is fixedly connected to the top base and the second sliding block, and the extension direction of the second connecting member is arranged in parallel with the axial direction of the control device.

8. The control device according to any one of claims 1 to 3, 5 to 7, characterized by, The control device further comprises an air passage, an air tube joint and a piston, the air passage is surrounded by the shell, the air tube joint is mounted on the shell and communicates with the cavity through the air passage, and the piston is located in the cavity; The piston can move along the axial direction of the control device to approach the movable body to be locked with the movable body when the air tube joint inputs gas into the cavity; or The piston can move along the axial direction of the control device to move away from the movable body to be unlocked with the movable body when the air tube joint releases the gas in the cavity.

9. The control device of claim 8, wherein The movable body further comprises a connecting head, the piston comprises a clamping groove, the opening of the clamping groove is located on the end face of the piston facing the connecting head, and the control device comprises a first connection state and a second connection state; When the control device is in the first connection state, the connecting head is clamped with the clamping groove, so that the adjusting mechanism is relatively fixed with the movable body; When the control device is in the second connection state, the connecting head is separated from the clamping groove, so that the adjusting mechanism can drive the movable body to move along the radial direction of the control device.

10. The control device of claim 9, wherein The clamping groove comprises a first groove and a second groove; The cross-sectional width of the first groove along the axial direction of the control device gradually decreases from one end of the piston facing the movable body to the direction away from the movable body; The second groove is in communication with the first groove, and the cross-sectional width of the second groove along the axial direction of the control device is less than or equal to the minimum cross-sectional width of the first groove along the axial direction of the control device; When the control device is in the first connection state, part of the connecting head is located in the first groove and the second groove, and the surface of the connecting head located in the first groove is in contact with the groove wall of the first groove.

11. The control device of claim 9, wherein The surface of the end of the connecting head facing the piston is spherical.

12. Control device according to any of claims 9-11, characterized in that The housing comprises a first shell and a second shell, the second shell and the first shell are oppositely arranged in the axial direction of the control device, and the cavity comprises a first cavity and a second cavity; The tracheal connector is mounted on the first shell, the airway and the first cavity are surrounded by the first shell, one end of the airway communicates with the tracheal connector, the other end of the airway communicates with the first cavity, and at least part of the piston is located in the first cavity. The second cavity is surrounded by the second shell and communicates with the first cavity, and at least part of the movable body is located in the second cavity.

13. The control device of claim 12, wherein, The piston comprises a body and a plug-in part connected to one end of the body, the cross-sectional width of the plug-in part in the axial direction of the control device is smaller than the cross-sectional width of the body in the axial direction of the control device, and the clamping groove is located in the plug-in part. The housing further comprises an intermediate shell, the intermediate shell is located between the first shell and the second shell, and the cavity further comprises a through hole, the through hole is surrounded by the intermediate shell and communicates the first cavity and the second cavity, part of the plug-in part and part of the connecting head are located in the through hole and the second cavity.

14. The control device of claim 13, wherein The control device further comprises a second elastic member, the second elastic member is located in the first cavity and elastically connected between the body and the intermediate shell.

15. Control device according to any of claims 9-11, 13 or 14, characterized in that, The control device further comprises a sealing member, the sealing member is located in the cavity and arranged around the outer periphery of the piston, and the sealing member sealingly connects the piston and the cavity wall.

16. The control device of any one of claims 8-11, 13, or 14, wherein, The piston is provided with a groove, the opening of the groove is located on the end face of the end of the piston away from the movable body, and the opening of the groove is used to communicate with the airway.

17. The control device of any one of claims 1-3, 5-7, 9-11, 13, or 14, wherein, The control device further comprises a fixing frame, an extension shell and a third sliding mechanism; The extension shell is connected with the housing, the third sliding mechanism comprises a third sliding block and a third sliding rail, the third sliding rail is fixedly connected to the fixing frame, the extension direction of the third sliding rail is parallel to the axial direction of the control device, and the third sliding block is fixed to the extension shell and slidingly connected with the third sliding rail.

18. The control device of claim 17, wherein, The control device further comprises a carrier, a third elastic member and a pressure sensor, the carrier is connected to the fixing frame, the third elastic member is elastically connected between the carrier and the extension shell, and the pressure sensor is mounted to the carrier and used to detect the pressure value of the third elastic member.

19. An apparatus, comprising: The device comprises a clamping jaw and a control device according to any one of claims 1-18, the clamping jaw is connected with the control device and used to clamp the to-be-inserted part.

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