Operating mechanism and robot

Abstract

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

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field especially, relate to an operating mechanism and robot. BACKGROUND

[0002] In high pressure environment, toxic gas diffuses or other extremely bad conditions, the execution rotation and screwing operation is difficult, especially when involving the assembly, maintenance or detection task of precision mechanical parts. In the traditional technology, the robot is relied on to carry out such operation. However, when the robot executes the rotation and screwing task to the workpiece, since the operating mechanism of the robot is different from the workpiece, the robot exits the operating mechanism, which is easy to cause excessive friction between mechanical parts, causes the operating mechanism to be stuck, the robot cannot smoothly complete the exit step after operation, and the mechanical parts will be damaged. SUMMARY

[0003] The utility model discloses an operating mechanism and robot, to solve the technical problem that the robot is in the rotation and screwing task to the workpiece, since the operating mechanism of the robot is different from the workpiece, the robot exits the operating mechanism, which is easy to cause excessive friction between mechanical parts, causes the operating mechanism to be stuck, the robot cannot smoothly complete the exit step after operation, and the mechanical parts will be damaged.

[0004] In order to realize the above-mentioned purpose, the utility model provides an operating mechanism, it includes:

[0005] The guide sleeve and the support sleeve connected with the guide sleeve;

[0006] The guide sleeve is equipped with the elastic component and the accommodating groove extending along the first direction, the elastic component is slidably arranged in the accommodating groove;

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

[0008] The second mounting hole is equipped with the operating rod, the first end of the operating rod extends into the accommodating groove, the first end of the operating rod is equipped with the spherical part, the spherical part abuts against the elastic component, and the diameter of the spherical part is greater than the inner diameter of the second mounting hole; the second end of the operating rod extends to the outside of the second mounting hole, and the second end of the operating rod is equipped with the adapter part;

[0009] An outer circumferential surface of the second end of the guide sleeve is provided with a sliding groove extending in the first direction, the sliding groove being in communication with the accommodating groove; the sliding groove comprises a first groove and a second groove in communication with each other; in the first direction, the second groove is located on a side of the first groove away from the elastic assembly; in the second direction, the width of the first groove is smaller than the width of the second groove;

[0010] The spherical part is provided with a first plug, and the first plug is provided in the first groove; two ends of the first plug in the second direction abut against the inner wall surface of the first groove; the first plug can slide to the second groove under the drive of the spherical part.

[0011] In the operating mechanism of the present application, the accommodating groove comprises a guide groove and a movable groove; the guide groove is arranged at the first end of the guide sleeve; the movable groove is arranged at the second end of the guide sleeve; the movable groove is in communication with the guide groove; the sliding groove is in communication with the movable groove.

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

[0013] In the operating mechanism of the present application, the movable groove comprises a third groove and a fourth groove in communication with each other; the third groove is in communication with the guide groove and the first groove; the fourth groove is in communication with the second groove and the first mounting hole; the inner diameter of the fourth groove is greater than the inner diameter of the third groove; the inner diameter of the third groove is greater than or equal to the inner diameter of the guide groove.

[0014] The spherical part abuts against the inner wall surface of the third groove; the spherical part can slide to the fourth groove under the drive of the operating rod, so that the spherical part drives the first plug to slide from the first groove to the second groove.

[0015] In the operating mechanism of the present application, the fourth groove gradually decreases from the direction close to the first mounting hole to the direction away from the first mounting hole.

[0016] In the operating mechanism of the present application, the elastic assembly comprises a spring member and a guide column; the spring member is arranged in the guide groove; the guide column is arranged in the movable groove and abuts against the spring member; the spherical part abuts against the guide column.

[0017] In the operating mechanism of the present application, the spherical part is provided with a first through hole extending in the axial direction of the spherical part; the first plug is provided in the first through hole and fixedly connected with the spherical part.

[0018] In the operating mechanism, the spherical part is provided with a second through hole extending along an axial line direction of the spherical part, and the second through hole is perpendicular to the first through hole;

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

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

[0021] The second end of the support sleeve is provided with a plurality of pre-tightening holes, the pre-tightening holes are communicated with the second mounting hole, the plurality of pre-tightening holes are arranged on the outer circumferential surface of the support sleeve along the axial line direction of the support sleeve, and each pre-tightening hole is provided with a pre-tightening assembly arranged therein, and the pre-tightening assembly is used for abutting against the operating rod, so that the operating rod is arranged along the axial line direction of the support sleeve.

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

[0023] In the operating mechanism, the pre-tightening assembly further comprises a pre-tightening spring, the pre-tightening spring is arranged between the support rod and the pre-tightening screw, and the two ends of the pre-tightening spring are connected with the support rod and the pre-tightening screw respectively.

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

[0025] The first end of the support sleeve is provided with a first threaded hole, the second end of the guide sleeve is provided with a second threaded hole, and the fastener is arranged in the first threaded hole and the second threaded hole, so that the second end of the guide sleeve is fixedly connected with the first mounting hole.

[0026] In a second aspect, the utility model further provides a robot, which comprises a mechanical arm and the operating mechanism, and the mechanical arm is connected with the operating mechanism.

[0027] The operating mechanism has the advantages that:

[0028] When the operating mechanism is in the operating state, the mechanical arm applies an external force to the workpiece through the operating mechanism, the spherical part abuts against the elastic assembly, the elastic assembly is compressed at the left end of the accommodating groove and has elastic potential energy, at this time, the first pin abuts against the inner wall surface of the first groove in the second direction, the first pin is limited in the first groove and can only reciprocate in the first direction, and cannot swing in the second direction, at this time, the adapter at the right end of the operating rod is matched with the workpiece to be rotated, the operating mechanism is rotated, so that the adapter performs a rotating and screwing operation on the workpiece. When the mechanical arm releases the external force to the workpiece through the operating mechanism, the elastic assembly releases the elastic potential energy and pushes the spherical part to move in the direction of the first mounting hole, so that the first pin on the spherical part slides from the first groove to the second groove. Since the width of the second groove is greater than that of the first groove, when the first pin is located in the second groove, the operating rod can drive the first pin to fine adjust within a preset angle range relative to the guide sleeve, at this time, if the robot exits the whole operating mechanism, the operating rod has a certain degree of freedom in the first direction and a certain degree of freedom or swing space in the second direction, and the operating rod can be fine adjusted to be in the concentric position with the center of the workpiece, so that the robot is not easy to be stuck when the operating mechanism is exited, and the operation success rate of the robot is improved. The operating mechanism of the embodiment can replace the manual rotating and screwing operation, and the operating mechanism has the degrees of freedom in the first direction and the second direction when the operating mechanism is in the exit state, so that the operating mechanism can be prevented from being stuck and damaged or the workpiece structure can be prevented from being damaged. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 A structure schematic view of the operating mechanism is provided for the embodiment of the utility model;

[0030] Figure 2 Another structure schematic view of the operating mechanism is provided for the embodiment of the utility model;

[0031] Figure 3 An explosion schematic view of the operating mechanism is provided for the embodiment of the utility model;

[0032] Figure 4 Another explosion schematic view of the operating mechanism is provided for the embodiment of the utility model;

[0033] Figure 5 A cross section schematic view of the operating mechanism in the compressed state is provided for the embodiment of the utility model;

[0034] Figure 6 A cross section schematic view of the operating mechanism in the non-compressed state is provided for the embodiment of the utility model;

[0035] Figure 7 A structure schematic view of the guide sleeve is provided for the embodiment of the utility model;

[0036] Figure 8A cross section schematic view of the guide sleeve is provided for the embodiment of the utility model.

[0037] Figure 9 A cross section schematic view of the support sleeve is provided for the embodiment of the utility model.

[0038] Figure 10 A structure schematic view of the pre-tightening assembly is provided for the embodiment of the utility model.

[0039] The marks in the figure are as follows:

[0040] 10, guide sleeve; 20, support sleeve; 21, first mounting hole; 22, second mounting hole; 23, pre-tightening hole; 24, pre-tightening assembly; 241, support rod; 242, pre-tightening screw; 243, pre-tightening spring; 30, elastic assembly; 31, spring piece; 32, guide column; 40, accommodating groove; 41, guide groove; 42, movable groove; 421, third groove; 422, fourth groove; 50, operating rod; 51, spherical part; 52, adapter part; 53, first bolt; 54, first through hole; 55, second through hole; 56, third through hole; 57, second bolt; 60, sliding groove; 61, first groove; 62, second groove; X, first direction; Y, second direction; 100, operating mechanism. DETAILED DESCRIPTION

[0041] The specific embodiments of the utility model will be further described in detail below in combination with the drawings and embodiments. The following embodiments are used to illustrate the utility model, but not to limit the scope of the utility model.

[0042] In the description of the utility model, it should be explained that the positions or location relationships indicated by the terms "upper", "lower", "front", "rear", "inner", "outer" and the like in the utility model are based on the position relationships shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the devices and elements indicated must have a specific orientation, be constructed and operated in a specific orientation, therefore, it cannot be understood as a limitation on the utility model.

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

[0044] As Figures 1 to 9As shown, the utility model embodiment provides a kind of operating mechanism 100, it includes guide sleeve 10 and the support sleeve 20 of connection guide sleeve 10;Elastic component 30 and the accommodating groove 40 extending along the first direction X are equipped in guide sleeve 10, and elastic component 30 is slidably arranged in accommodating groove 40;First mounting hole 21 and second mounting hole 22 extending along the first direction X are equipped in support sleeve 20, first mounting hole 21 is equipped at the first end of support sleeve 20, second mounting hole 22 is equipped at the second end of support sleeve 20, and second mounting hole 22 is communicated with first mounting hole 21;The inner diameter of first mounting hole 21 is greater than the inner diameter of second mounting hole 22, the first end of guide sleeve 10 is away from first mounting hole 21, the second end of guide sleeve 10 is inserted in first mounting hole 21 and is fixedly connected with the first end of support sleeve 20, to make accommodating groove 40 with first mounting hole 21 communicate;Operating lever 50 is equipped in second mounting hole 22, the first end of operating lever 50 extends to accommodating groove 40, the first end of operating lever 50 is equipped with spherical portion 51, spherical portion 51 abuts elastic component 30, and the diameter of spherical portion 51 is greater than the inner diameter of second mounting hole 22;The second end of operating lever 50 extends to second mounting hole 22, and the second end of operating lever 50 is equipped with adapter 52;The outer circumferential surface of the second end of guide sleeve 10 is equipped with sliding groove 60 extending along the first direction X, and sliding groove 60 is communicated with accommodating groove 40;Sliding groove 60 includes first slot 61 and second slot 62 communicated with each other;In the first direction X, second slot 62 is located at the side of first slot 61 away from elastic component 30;In the second direction Y, the width of first slot 61 is less than the width of second slot 62;First pin 53 is threaded in spherical portion 51, and first pin 53 is threaded in first slot 61, and the two ends of first pin 53 in the second direction Y abut the inner wall surface of first slot 61, and first pin 53 can be slid to second slot 62 under the drive of spherical portion 51.

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

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

[0047] In the first direction X, the guide sleeve 10 is provided with a containing groove 40, and the containing groove 40 is provided with an elastic assembly 30. The elastic assembly 30 has a certain elasticity and can be compressed and deformed under the action of an external force. The left end position of the support sleeve 20 is provided with a first mounting hole 21, and the right end position of the support sleeve 20 is provided with a second mounting hole 22 which is in communication with the first mounting hole 21. The cross sections of the first mounting hole 21, the second mounting hole 22 and the containing groove 40 are all circular. The right end of the guide sleeve 10 is inserted into the first mounting hole 21 and fixedly connected with the left end of the support sleeve 20, so that the guide sleeve 10 and the support sleeve 20 form an integrated connection structure. The left end of the operating rod 50 is inserted into the containing groove 40, and the spherical part 51 at the left end of the operating rod 50 abuts against the elastic assembly 30 in the containing groove 40. The right end of the operating rod 50 extends out of the second mounting hole 22, and the adapter part 52 at the right end of the operating rod 50 is used for rotating and screwing operation with a workpiece to be rotated. The structure of the adapter part 52 is not limited, such as Figure 1 As shown, the adapter part 52 can be a quadrilateral sleeve structure for sleeving on a screw to facilitate screwing, or as Figure 2 As shown, the adapter part 52 can also be an outer hexagonal structure for docking on a nut to facilitate screwing.

[0048] The outer circumferential surface of the right end of the guide sleeve 10 is provided with a sliding groove 60 which is in communication with the containing groove 40. The first latch 53 on the spherical part 51 is inserted into the sliding groove 60, and the sliding groove 60 includes a first groove 61 and a second groove 62. Under the drive of the spherical part 51, the first latch 53 reciprocates between the first groove 61 and the second groove 62.

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

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

[0051] As shown in Figure 6 , when the mechanical arm releases the external force to the workpiece through the operating mechanism 100, the elastic assembly 30 releases the elastic potential energy and pushes the spherical part 51 to move in the direction of the first mounting hole 21, so that the first pin 53 on the spherical part 51 slides from the first slot 61 to the second slot 62. Since the width of the second slot 62 is greater than that of the first slot 61, when the first pin 53 is located in the second slot 62, the operating rod 50 can drive the first pin 53 to fine-tune within a preset angle range relative to the guide sleeve 10, at this time, if the robot exits the whole operating mechanism 100, the operating rod 50 has a certain degree of freedom along the first direction X and a certain degree of freedom or swing space along the second direction Y, the operating rod 50 can be fine-tuned to be in the concentric position with the center of the workpiece, so that the robot does not easily get stuck when it exits the operating mechanism 100, and the operation success rate of the robot is improved.

[0052] The operating mechanism 100 of the embodiment can replace the manual way to perform stable and safe rotating and screwing operation, the operating rod 50 has freedom in the first direction X and the second direction Y when the operating mechanism 100 exits, avoiding the operating mechanism 100 from being stuck, so as to prevent damage to the operating mechanism 100 or the workpiece structure.

[0053] As an embodiment, as shown in Figure 5 , Figure 6 and Figure 8 , the accommodating groove 40 includes a guide groove 41 and a movable groove 42, the guide groove 41 is arranged at the first end of the guide sleeve 10, the movable groove 42 is arranged at the second end of the guide sleeve 10, the movable groove 42 is communicated with the guide groove 41, and the sliding groove 60 is communicated with the movable groove 42; the second end of the guide sleeve 10 is inserted into the first mounting hole 21 and fixedly connected with the first end of the supporting sleeve 20, so that the movable groove 42 is communicated with the first mounting hole 21.

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

[0055] As an embodiment, as shown in the figure, the diameter of the spherical part 51 is greater than the inner diameter of the guide groove 41, and the spherical part 51 does not enter the guide groove 41 when reciprocating in the movable groove 42, and the spherical part 51 drives the first plug 53 to reciprocate between the first groove 61 and the second groove 62, so that the operating mechanism 100 can be switched between the operating state and the exiting state. Figure 5 As an embodiment, as shown in the figure, the movable groove 42 includes a third groove 421 and a fourth groove 422 which communicate with each other, the third groove 421 communicates with the guide groove 41 and the first groove 61, and the fourth groove 422 communicates with the second groove 62 and the first mounting hole 21; the inner diameter of the fourth groove 422 is greater than that of the third groove 421, and the inner diameter of the third groove 421 is greater than or equal to that of the guide groove 41; wherein the spherical part 51 abuts against the inner wall surface of the third groove 421, and the spherical part 51 can slide to the fourth groove 422 under the drive of the operating rod 50, so that the spherical part 51 drives the first plug 53 to slide from the first groove 61 to the second groove 62.

[0056] Figure 8 Specifically, the diameter of the spherical part 51 is greater than the inner diameter of the guide groove 41, and the diameter of the spherical part 51 can be equal to the inner diameter of the third groove 421 and less than the inner diameter of the fourth groove 422, so that the spherical part 51 can only move between the third groove 421 and the fourth groove 422, so that the first plug 53 moves between the first groove 61 and the second groove 62. When the operating mechanism 100 is in the operating state, the spherical part 51 abuts against the inner wall surface of the third groove 421, and the first plug 53 abuts against the inner wall surface of the first groove 61 in the second direction Y, and the spherical part 51 and the first plug 53 can only move in the first direction X. When the operating mechanism 100 releases the external force to the workpiece, the elastic component 30 releases the elastic potential energy and pushes the spherical part 51 to move from the third groove 421 to the fourth groove 422. When the spherical part 51 moves into the fourth groove 422, the first plug 53 is inserted into the second groove 62, so that the operating rod 50 can swing within a certain range around the center point of the spherical part 51, and the operating rod 50 has a certain degree of freedom in the first direction X and also has a certain degree of freedom or swing space in the second direction Y, at this time the robot is not easy to be stuck in the operating mechanism 100.

[0057] As an embodiment, as shown in the figure, the movable groove 42 includes a third groove 421 and a fourth groove 422 which communicate with each other, the third groove 421 communicates with the guide groove 41 and the first groove 61, and the fourth groove 422 communicates with the second groove 62 and the first mounting hole 21; the inner diameter of the fourth groove 422 is greater than that of the third groove 421, and the inner diameter of the third groove 421 is greater than or equal to that of the guide groove 41; wherein the spherical part 51 abuts against the inner wall surface of the third groove 421, and the spherical part 51 can slide to the fourth groove 422 under the drive of the operating rod 50, so that the spherical part 51 drives the first plug 53 to slide from the first groove 61 to the second groove 62.

[0058] As an embodiment, as shown in the figure, the movable groove 42 includes a third groove 421 and a fourth groove 422 which communicate with each other, the third groove 421 communicates with the guide groove 41 and the first groove 61, and the fourth groove 422 communicates with the second groove 62 and the first mounting hole 21; the inner diameter of the fourth groove 422 is greater than that of the third groove 421, and the inner diameter of the third groove 421 is greater than or equal to that of the guide groove 41; wherein the spherical part 51 abuts against the inner wall surface of the third groove 421, and the spherical part 51 can slide to the fourth groove 422 under the drive of the operating rod 50, so that the spherical part 51 drives the first plug 53 to slide from the first groove 61 to the second groove 62. Figure 8 ​As shown, the fourth groove 422 gradually decreases from the direction close to the first mounting hole 21 to the direction away from the first mounting hole 21.

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

[0060] As an embodiment, as shown in Figures 3 to 6 As shown, the elastic assembly 30 includes a spring member 31 and a guide column 32, the spring member 31 is arranged in the guide groove 41, the guide column 32 is arranged in the movable groove 42 and abuts against the spring member 31, and the spherical part 51 abuts against the guide column 32.

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

[0062] As an embodiment, the spring member 31 and the guide column 32 can be in an integrated structure, i.e., the right end of the spring member 31 is fixedly connected with the left end of the guide column 32.

[0063] As an embodiment, as shown in Figure 3 As shown, the spherical part 51 is provided with a first through hole 54 extending along the axial line direction of the spherical part 51, and the first plug 53 is arranged in the first through hole 54 and fixedly connected with the spherical part 51.

[0064] Specifically, the first pin 53 is detachably connected with the spherical part 51, the first through hole 54 penetrates the axial direction of the spherical part 51, in order to prevent the first pin 53 from being loosened from the first through hole 54, the first pin 53 and the first through hole 54 can adopt interference fit, that is, the diameter of the first pin 53 is slightly larger than the inner diameter of the first through hole 54, the first pin 53 is tightly embedded in the first through hole 54, so as to realize the fixed connection of the first pin 53 and the spherical part 51.

[0065] As an embodiment, as shown in Figure 3 and Figure 4 The spherical part 51 is provided with a second through hole 55 extending along the axial direction of the spherical part 51, the direction of the second through hole 55 is perpendicular to the direction of the first through hole 54; the first pin 53 is provided with a third through hole 56 extending along the radial direction of the first pin 53, the operating mechanism 100 further comprises a second pin 57, the second pin 57 penetrates the second through hole 55 and the third through hole 56, so as to fix the first pin 53 and the spherical part 51.

[0066] Specifically, in order to further fix the first pin 53 in the first through hole 54, the second through hole 55 is arranged on the spherical part 51, and the third through hole 56 is arranged on the first pin 53. During installation, first, the first pin 53 is inserted into the first through hole 54 of the spherical part 51, then the third through hole 56 of the first pin 53 is aligned with the second through hole 55 of the spherical part 51, and then the second pin 57 is penetrated through the second through hole 55 and the third through hole 56, so as to limit and fix the first pin 53 on the spherical part 51.

[0067] As an embodiment, as shown in Figures 3 to 6 and Figure 9 The operating rod 50 has a preset gap with the inner wall surface of the second mounting hole 22; the second end of the support sleeve 20 is provided with a plurality of pre-tightening holes 23, the pre-tightening holes 23 are communicated with the second mounting hole 22, the plurality of pre-tightening holes 23 are arranged on the outer peripheral surface of the support sleeve 20 along the axial direction of the support sleeve 20, and each pre-tightening hole 23 is provided with a pre-tightening assembly 24, the pre-tightening assembly 24 is used for abutting against the operating rod 50, so that the operating rod 50 is in the axial direction of the support sleeve 20.

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

[0069] As an embodiment, as shown in Figure 9As shown, the right end of the support sleeve 20 (i.e. the position corresponding to the second mounting hole 22) is provided with a plurality of pre-tightening holes 23 and a plurality of pre-tightening assemblies 24. The pre-tightening assemblies 24 are arranged at different positions of the outer circumferential surface of the support sleeve 20. The pre-tightening assemblies 24 are used to apply pre-tightening force to the operating rod 50. By adjusting the pre-tightening force of the pre-tightening assemblies 24, the position of the operating rod 50 in the axial direction of the support sleeve 20 can be finely adjusted, so that the operating rod 50 is in the axial direction of the support sleeve 20, and the cooperation precision of the operating rod 50 and the workpiece is improved.

[0070] As shown in the drawings, Figure 3 and Figure 4 in the first direction X, the outer circumferential surface of the support sleeve 20 is provided with two groups of pre-tightening assemblies 24. Each group of pre-tightening assemblies 24 includes four pre-tightening assemblies 24. Among the four pre-tightening assemblies 24, the included angle between adjacent two pre-tightening assemblies 24 is 90°. That is, the eight pre-tightening assemblies 24 are arranged in up, down, left and right directions on the radial direction of the support sleeve 20. The eight pre-tightening assemblies 24 apply pre-tightening force to the operating rod 50 from the upper, lower, left and right positions of the front and rear ends of the support sleeve 20, so that the operating rod 50 is in the axial direction of the support sleeve 20.

[0071] As an embodiment, as shown in the drawings, Figure 10 the pre-tightening assembly 24 includes a support rod 241 and a pre-tightening screw 242. The support rod 241 abuts against the operating rod 50, and the pre-tightening screw 242 abuts against the support rod 241.

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

[0073] As an embodiment, as shown in the drawings, Figure 10 the pre-tightening assembly 24 further includes a pre-tightening spring 243. The pre-tightening spring 243 is arranged between the support rod 241 and the pre-tightening screw 242, and the two ends of the pre-tightening spring 243 are connected to the support rod 241 and the pre-tightening screw 242 respectively.

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

[0075] In one embodiment, the operating mechanism 100 also includes a fastener; the first end of the support sleeve 20 is provided with a first threaded hole, the second end of the guide sleeve 10 is provided with a second threaded hole, and the fastener passes through the first threaded hole and the second threaded hole (not shown in the figure) so that the second end of the guide sleeve 10 is fixedly connected to the first mounting hole 21.

[0076] Specifically, the left end of the support sleeve 20 has a first threaded hole, and the right end of the guide sleeve 10 has a second threaded hole. First, insert the right end of the guide sleeve 10 into the first mounting hole 21 at the left end of the support sleeve 20, aligning the first threaded hole with the second threaded hole. Then, insert the fastener into the first and second threaded holes, and use an external tool to rotate the fastener until it is fully screwed in and tightens both threaded holes. At this point, the fastener firmly connects the right end of the guide sleeve 10 to the left end of the support sleeve 20, forming an integral structure with the guide sleeve 10.

[0077] Secondly, this utility model provides a robot, including a robotic arm and an operating mechanism 100, wherein the robotic arm is connected to the operating mechanism 100.

[0078] Specifically, in this embodiment, the operating mechanism 100 is connected to the robot's robotic arm. The robot controls the operating mechanism 100 through the robotic arm so that the operating mechanism 100 can perform rotation and twisting operations on the workpiece.

[0079] It should be understood that the term "and / or" as used in this specification and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes such combinations. It should be noted that, herein, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0080] The above-mentioned embodiment serial numbers of the utility model only for description, not represent the pros and cons of the embodiment. The above-mentioned, only for the specific embodiment of the utility model, but the protection scope of the utility model is not limited to this, any skilled in the art of the technology in the utility model disclosed in the technical range, can easily think of various equivalent modifications or replacement, these modifications or replacement all should be covered in the protection scope of the utility model. Therefore, the protection scope of the utility model should be subject to the protection scope of claims.

Claims

1. An operating mechanism characterized by comprising: The guide sleeve and the support sleeve connected with the guide sleeve are included; The guide sleeve is provided with an elastic component and a containing groove extending in a first direction, and the elastic component is slidingly arranged in the containing groove; The support sleeve is provided with a first mounting hole and a second mounting hole extending in the first direction, the first mounting hole is arranged at the first end of the support sleeve, the second mounting hole is arranged at the second end of the support sleeve, and the second mounting hole is communicated with the first mounting hole; the inner diameter of the first mounting hole is larger than that of the second mounting hole, the first end of the guide sleeve is away from the first mounting hole, the second end of the guide sleeve is inserted into the first mounting hole and fixedly connected with the first end of the support sleeve, so that the containing groove is communicated with the first mounting hole; The second mounting hole is provided with an operating rod, the first end of the operating rod extends into the containing groove, the first end of the operating rod is provided with a spherical part, the spherical part abuts against the elastic component, and the diameter of the spherical part is larger than the inner diameter of the second mounting hole; the second end of the operating rod extends out of the second mounting hole, and the second end of the operating rod is provided with an adapter part; The outer circumferential surface of the second end of the guide sleeve is provided with a sliding groove extending in the first direction, and the sliding groove is communicated with the containing groove; the sliding groove includes a first groove and a second groove communicated with each other; in the first direction, the second groove is located on the side of the first groove away from the elastic component; in the second direction, the width of the first groove is smaller than that of the second groove; The spherical part is provided with a first plug, and the first plug is arranged in the first groove; the two ends of the first plug in the second direction abut against the inner wall surface of the first groove, and the first plug can slide into the second groove under the drive of the spherical part.

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

3. The operating mechanism according to claim 2, characterized in that The movable groove includes a third groove and a fourth groove communicated with each other, the third groove is communicated with the guide groove and the first groove, and the fourth groove is communicated with the second groove and the first mounting hole; the inner diameter of the fourth groove is larger than that of the third groove, and the inner diameter of the third groove is larger than or equal to that of the guide groove; The spherical part abuts against the inner wall surface of the third groove, and the spherical part can slide into the fourth groove under the drive of the operating rod, so that the spherical part drives the first plug to slide from the first groove to the second groove.

4. The operating mechanism of claim 3, wherein The fourth groove gradually decreases from the direction close to the first mounting hole to the direction away from the first mounting hole.

5. The operating mechanism of claim 2, wherein The elastic component includes a spring member and a guide column, the spring member is arranged in the guide groove, the guide column is arranged in the movable groove and abuts against the spring member, and the spherical part abuts against the guide column.

6. The operating mechanism of claim 1, wherein The spherical part is provided with a first through hole extending along the axial direction of the spherical part, and the first pin is arranged in the first through hole and fixedly connected with the spherical part.

7. The operating mechanism of claim 6, wherein The spherical part is provided with a second through hole extending along the axial direction of the spherical part, and the direction of the second through hole is perpendicular to the direction of the first through hole. The first pin is provided with a third through hole extending along the radial direction of the first pin, and the operating mechanism further comprises a second pin arranged in the second through hole and the third through hole, so that the first pin is fixedly connected with the spherical part.

8. The operating mechanism of claim 1, wherein The operating rod and the inner wall surface of the second mounting hole have a preset gap. The second end of the support sleeve is provided with a plurality of pre-tightening holes, the pre-tightening holes are communicated with the second mounting hole, a plurality of the pre-tightening holes are arranged on the outer circumferential surface of the support sleeve along the axial direction of the support sleeve, each of the pre-tightening holes is provided with a pre-tightening assembly, and the pre-tightening assembly is used for abutting against the operating rod, so that the operating rod is in the axial direction of the support sleeve.

9. The operating mechanism of claim 8, wherein The pre-tightening assembly comprises a support rod and a pre-tightening screw, the support rod abuts against the operating rod, and the pre-tightening screw abuts against the support rod.

10. The operating mechanism of claim 9, wherein The pre-tightening assembly further comprises a pre-tightening spring, the pre-tightening spring is arranged between the support rod and the pre-tightening screw, and the two ends of the pre-tightening spring are connected with the support rod and the pre-tightening screw respectively.

11. The operating mechanism of claim 1, wherein The operating mechanism further comprises a fastener. The first end of the support sleeve is provided with a first threaded hole, the second end of the guide sleeve is provided with a second threaded hole, and the fastener is arranged in the first threaded hole and the second threaded hole, so that the second end of the guide sleeve is fixedly connected with the first mounting hole.

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

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