Self-adaptive positioning device and mechanical arm

Abstract

The utility model relates to the technical field of positioning, and provides a self-adaptive positioning device and a mechanical arm comprising the self-adaptive positioning device, and the self-adaptive positioning device comprises a first shell, a first connecting plate, a first direction adjusting assembly, a second shell, a second connecting plate, a second direction adjusting assembly and a rotating assembly. The first direction adjusting assembly comprises a first reset piece, the first reset piece is in sliding connection with the first connecting plate, and the first reset piece is configured to drive the first connecting plate to move in the first direction. The second direction adjusting assembly comprises a second reset piece, the second reset piece is in sliding connection with the second connecting plate, and the second reset piece is configured to drive the second connecting plate to move in the second direction. The rotating assembly comprises a first connecting part and a second connecting part. The first connecting part is connected with the end, away from the first containing cavity, of the first shell, the second connecting part is connected with the end, away from the second containing cavity, of the second shell, and the rotating assembly is configured to drive the first shell and the second shell to rotate relatively.

Description

TECHNICAL FIELD

[0001] The present application relates to the positioning technical field, and in particular to an adaptive positioning device and a mechanical arm. BACKGROUND

[0002] With the continuous development of the automation industry, a variety of traditional manual operations and some more complex tasks can be replaced by a mechanical arm. In particular, in the field of mechanical processing, a mechanical arm is usually connected with an external device to process a product. For example, the mechanical arm can be connected with a gripper to pick and place the product.

[0003] However, since the mechanical arm is connected with the external device by a rigid connection, the adaptive positioning of the external device or the mechanical arm cannot be achieved during the product picking process. CONTENT OF THE UTILITY MODEL

[0004] Therefore, the present application provides an adaptive positioning device and a mechanical arm capable of achieving adaptive positioning.

[0005] A first aspect of an embodiment of the present application provides an adaptive positioning device. The adaptive positioning device comprises a first housing, a first connecting plate, a first direction adjusting assembly, a second housing, a second connecting plate, a second direction adjusting assembly, and a rotating assembly. The first housing has a first accommodating cavity. The first connecting plate is configured to close the first accommodating cavity. The first direction adjusting assembly is accommodated in the first accommodating cavity. The first direction adjusting assembly comprises a first reset member, which is in sliding connection with the first connecting plate and is configured to drive the first connecting plate to move in a first direction. The second housing is arranged on an end face of the first housing away from the first accommodating cavity, and the second housing has a second accommodating cavity at an end thereof away from the first housing. The second connecting plate is configured to close the second accommodating cavity. The second direction adjusting assembly is accommodated in the second accommodating cavity. The second direction adjusting assembly comprises a second reset member, which is in sliding connection with the second connecting plate and is configured to drive the second connecting plate to move in a second direction. The rotating assembly comprises a first connecting portion and a second connecting portion. The first connecting portion is connected with an end of the first housing away from the first accommodating cavity, the second connecting portion is connected with an end of the second housing away from the second accommodating cavity, and the rotating assembly is configured to drive the first housing to rotate relative to the second housing, and drive the first housing to drive the first connecting plate to rotate relative to the second connecting plate, and / or the rotating assembly is configured to drive the second housing to rotate relative to the first housing, and drive the second housing to drive the second connecting plate to rotate relative to the first connecting plate.

[0006] The first connecting plate is adjusted along the first direction by the first direction adjusting assembly, the second connecting plate is adjusted along the second direction by the second direction adjusting assembly, and the rotating assembly is configured to drive the first shell to rotate relative to the second shell and drive the first shell to drive the first connecting plate to rotate relative to the second connecting plate, and / or the rotating assembly drives the second shell to rotate relative to the first shell and drives the second shell to drive the second connecting plate to rotate relative to the first connecting plate, so that the positions of the first connecting plate and the second connecting plate can be adaptively positioned, and the adaptive positioning of the external device in the product processing process is realized.

[0007] In some embodiments of the present application, the first reset member includes a first fixed seat, a first elastic assembly and a second elastic assembly, the first elastic assembly and the second elastic assembly are arranged on both sides of the first fixed seat along the first direction; the first fixed seat is arranged in the first accommodating cavity and is fixedly connected with the first shell, the first accommodating cavity includes a first side wall and a second side wall arranged opposite to the first side wall, the first fixed seat is provided with a first boss and a second boss, and a first gap exists between the first boss and the second boss; one end of the first elastic assembly abuts against the first side wall, and at least a part of the other end of the first elastic assembly penetrates through the first boss and extends to the first gap; one end of the second elastic assembly abuts against the second side wall, and at least a part of the other end of the second elastic assembly penetrates through the second boss and extends to the first gap; a second gap exists between the part of the first elastic assembly extending and the part of the second elastic assembly extending, the first connecting plate is provided with a first positioning block matched with the second gap, the first positioning block is configured to push the first elastic assembly to move along the first direction towards the first side wall, and drive the first connecting plate to move along the first direction, or the first positioning block is configured to push the second elastic assembly to move along the first direction towards the second side wall, and drive the first connecting plate to move along the first direction, wherein the first gap is larger than the second gap.

[0008] In some embodiments of the present application, the first elastic assembly comprises a first guide rod and a first elastic member, a middle portion of the first guide rod is provided with a first blocking portion, the first blocking portion comprises a first contact surface and a second contact surface, a first end of the first guide rod extends out of the first boss and extends along the first direction until the first contact surface abuts against a surface of the first boss away from the second boss, the first elastic member is sleeved on a second end of the first guide rod, and the first elastic member abuts between the first side wall and the second contact surface; the second elastic assembly comprises a second guide rod and a second elastic member, a middle portion of the second guide rod is provided with a second blocking portion, the second blocking portion comprises a third contact surface and a fourth contact surface, a first end of the second guide rod extends out of the second boss and extends along the second direction until the third contact surface abuts against a surface of the second boss away from the first boss, the second elastic member is sleeved on a second end of the second guide rod, and the second elastic member abuts between the second side wall and the fourth contact surface.

[0009] In some embodiments of the present application, the first direction adjusting assembly further comprises a first moving member, the first moving member comprises a first sliding rail and a first sliding block, the first sliding rail is arranged in the first accommodating cavity and is fixedly connected with the first shell, wherein the track direction of the first sliding rail is parallel to the first direction, the first sliding block comprises a first mounting portion and a second mounting portion, the first mounting portion is slidingly connected with the first sliding rail, and the second mounting portion is fixedly connected with the first connecting plate, the first sliding block is configured to drive the first connecting plate to move along the first direction.

[0010] In some embodiments of the present application, the second reset member comprises a second fixed seat, a third elastic assembly and a fourth elastic assembly, the third elastic assembly and the fourth elastic assembly are arranged on both sides of the second fixed seat along a second direction; the second fixed seat is arranged in the second accommodating cavity and is fixedly connected with the second shell, the second accommodating cavity comprises a third side wall and a fourth side wall arranged opposite to the third side wall, the second fixed seat is provided with a third boss and a fourth boss, and a third gap exists between the third boss and the fourth boss; one end of the third elastic assembly abuts against the third side wall, and at least a part of the other end of the third elastic assembly penetrates through the third boss and extends to the third gap; one end of the fourth elastic assembly abuts against the fourth side wall, and at least a part of the other end of the fourth elastic assembly penetrates through the fourth boss and extends to the third gap; a fourth gap exists between the part of the third elastic assembly extending and the part of the fourth elastic assembly extending, the second connecting plate is provided with a second positioning block matched with the fourth gap, the second positioning block is configured to push the third elastic assembly to move along the second direction towards the third side wall, and the second positioning block drives the second connecting plate to move along the second direction, or the second positioning block is configured to push the fourth elastic assembly to move along the second direction towards the fourth side wall, and the second positioning block drives the second connecting plate to move along the second direction, wherein the third gap is greater than the fourth gap.

[0011] In some embodiments of the present application, the third elastic assembly comprises a third guide rod and a third elastic piece, a third blocking portion is arranged in the middle of the third guide rod, the third blocking portion comprises a fifth contact surface and a sixth contact surface, a first end of the third guide rod penetrates through the third boss and extends along the second direction until the fifth contact surface abuts against one side of the third boss away from the fourth boss, the third elastic piece is sleeved on a second end of the third guide rod, and the third elastic piece abuts between the third side wall and the sixth contact surface; the fourth elastic assembly comprises a fourth guide rod and a fourth elastic piece, a fourth blocking portion is arranged in the middle of the fourth guide rod, the fourth blocking portion comprises a seventh contact surface and an eighth contact surface, a first end of the fourth guide rod penetrates through the fourth boss and extends along the second direction until the seventh contact surface abuts against one side of the fourth boss away from the third boss, the fourth elastic piece is sleeved on a second end of the fourth guide rod, and the fourth elastic piece abuts between the fourth side wall and the eighth contact surface.

[0012] In some embodiments of the present application, the second direction adjusting assembly further comprises a second moving piece, the second moving piece comprises a second sliding rail and a second sliding block, the second sliding rail is arranged in the second accommodating cavity and is fixedly connected with the second shell, wherein the rail direction of the second sliding rail is parallel to the second direction, the second sliding block comprises a third mounting portion and a fourth mounting portion, the third mounting portion is in sliding connection with the second sliding rail, and the fourth mounting portion is fixedly connected with the second connecting plate, and the second sliding block is configured to drive the second connecting plate to move along the second direction.

[0013] In some embodiments of the present application, the rotating assembly further comprises a rotating piece, one end of the first shell away from the first accommodating cavity is provided with a mounting groove, the bottom of the mounting groove is provided with a through hole, one end of the second shell away from the second accommodating cavity is provided with a passage, the passage is provided with a stop portion, the rotating piece comprises a third connecting portion and a fourth connecting portion, the third connecting portion penetrates out of the mounting groove and extends into the through hole to be connected with the first shell, and the fourth connecting portion penetrates through the stop portion to be connected with the second shell, and the rotating piece is configured to drive the first shell to rotate relative to the second shell.

[0014] In some embodiments of the present application, the rotating assembly further comprises a third reset piece and a limiting piece, the third reset piece is arranged in the mounting groove and is arranged on both sides of the rotating piece along the first direction, the third reset piece is fixedly connected with the first shell, the third reset piece has a fifth gap, one end of the limiting piece is fixedly connected with the second shell, the other end of the limiting piece extends into the fifth gap, and the limiting piece is configured to cooperate with the third reset piece to limit the rotation angle of the rotating piece.

[0015] The second aspect of the embodiments of the present application provides a mechanical arm, which comprises the adaptive positioning device.

[0016] In some embodiments of the present application, the adaptive positioning device is applied to the mechanical arm, so that the adaptive positioning of the mechanical arm is realized. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 FIG. 1 is a perspective view of an adaptive positioning device according to an embodiment of the present application.

[0018] Figure 2 FIG. 1 is a perspective view of an adaptive positioning device according to an embodiment of the present application.

[0019] Figure 3 FIG. 1 is a perspective view of an adaptive positioning device according to an embodiment of the present application. Figure 2 FIG. 1 is a perspective view of an adaptive positioning device according to an embodiment of the present application.

[0020] Figure 4Figure 1 is a partial view of an adaptive positioning device according to an embodiment of the present application.

[0021] Figure 5 Figure 2 is an exploded view of another position of the adaptive positioning device according to an embodiment of the present application.

[0022] Figure 6 Figure 3 is a schematic view of a first reset member of the adaptive positioning device according to an embodiment of the present application.

[0023] Figure 7 Figure 4 is an exploded view of the adaptive positioning device according to an embodiment of the present application. Figure 6

[0024] Figure 8 Figure 5 is a partial view of another position of the adaptive positioning device according to an embodiment of the present application.

[0025] Figure 9 Figure 6 is an exploded view of a first moving member of the adaptive positioning device according to an embodiment of the present application.

[0026] Figure 10 Figure 7 is a sectional view of the adaptive positioning device according to an embodiment of the present application along section line X-X. Figure 1

[0027] Figure 11 Figure 8 is an exploded view of another position of the adaptive positioning device according to an embodiment of the present application.

[0028] Figure 12 Figure 9 is a sectional view of the adaptive positioning device according to an embodiment of the present application along section line XII-XII. Figure 1

[0029] Figure 13 Figure 10 is an exploded view of a second reset member of the adaptive positioning device according to an embodiment of the present application.

[0030] Figure 14 Figure 11 is an exploded view of a second moving member of the adaptive positioning device according to an embodiment of the present application.

[0031] Figure 15 Figure 12 is a schematic view of a rotating assembly of the adaptive positioning device according to an embodiment of the present application.

[0032] Figure 16 Figure 13 is an exploded view of another position of the adaptive positioning device according to an embodiment of the present application.

[0033] Figure 17 Figure 14 is a schematic view of another aspect of the adaptive positioning device according to an embodiment of the present application. Figure 16

[0034] Explanation of main element symbols

[0035] ​​​​100 - self-adaptive positioning device; 10 - first housing; 11 - first accommodating cavity; 110 - first side wall; 111 - second side wall; 12 - mounting groove; 120 - through hole; 20 - first connecting plate; 21 - first positioning block; 30 - first direction adjusting assembly; 31 - first reset member; 310 - first fixed seat; 3100 - first boss; 3101 - second boss; 311 - first elastic assembly; 3110 - first guide rod; 31100 - first blocking part; 31101 - first contact surface; 31102 - second contact surface; 3111 - first elastic member; 312 - second elastic assembly; 3120 - second guide rod; 31200 - second blocking part; 31201 - third contact surface; 31202 - fourth contact surface; 3121 - second elastic member; 32 - first moving member; 320 - first sliding rail; 321 - first sliding block; 3210 - first mounting part; 3211 - second mounting part; 40 - second housing; 41 - second accommodating cavity; 410 - third side wall; 411 - fourth side wall; 42 - channel; 420 - stop part; 50 - second connecting plate; 51 - second positioning block; 60 - second direction adjusting assembly; 61 - second reset member; 610 - second fixed seat; 6100 - third boss; 6101 - fourth boss; 611 - third elastic assembly; 6110 - third guide rod; 61100 - third blocking part; 61101 - fifth contact surface; 61102 - sixth contact surface; 6111 - third elastic member; 612 - fourth elastic assembly; 6120 - fourth guide rod; 61200 - fourth blocking part; 61201 - seventh contact surface; 61202 - eighth contact surface; 6121 - fourth elastic member; 62 - second moving member; 620 - second sliding rail; 621 - second sliding block; 6210 - third mounting part; 6211 - fourth mounting part; 70 - rotating assembly; 71 - first connecting part; 72 - second connecting part; 73 - rotating member; 730 - third connecting part; 731 - fourth connecting part; 74 - third reset member; 75 - limiting member.

[0036] The following detailed description will further describe the present application with reference to the above drawings. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present application will be described below with reference to the drawings of the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments of the present application.

[0038] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0039] With the continuous development of the automation industry, a variety of traditional manual operations and some more complex tasks can be replaced by a mechanical arm. In particular, in the field of mechanical processing, the mechanical arm is usually connected with an external device to process products. For example, the mechanical arm can be connected with a hand claw to take and place products.

[0040] However, since the mechanical arm is connected with the hand claw through a rigid connection, the hand claw can be in rigid contact with the product during the process of taking and placing the product by the mechanical arm, which can cause damage to the product. Therefore, manual pre-adjustment of the position of the hand claw is required to ensure that the hand claw can accurately grasp the product. However, the process of manually pre-adjusting the hand claw is complex. First, the position of the hand claw needs to be manually adjusted. Then, the position of the hand claw needs to be tested and corrected. After the position of the hand claw is corrected, the position of the hand claw needs to be tested and corrected again. The adjustment is repeated until the requirements are met. The adjustment efficiency and accuracy are low, and the positioning device cannot achieve adaptive positioning.

[0041] Therefore, in order to solve the above problems, the embodiments of the present application provide a self-adaptive positioning device. The self-adaptive positioning device comprises a first housing, a first connecting plate, a first direction adjusting assembly, a second housing, a second connecting plate, a second direction adjusting assembly, and a rotating assembly. The first housing has a first accommodating cavity. The first connecting plate is configured to close the first accommodating cavity. The first direction adjusting assembly is accommodated in the first accommodating cavity. The first direction adjusting assembly comprises a first reset member, which is in sliding connection with the first connecting plate. The first reset member is configured to drive the first connecting plate to move in a first direction. The second housing is arranged on the end face of the first housing away from the first accommodating cavity. The second housing has a second accommodating cavity at the end away from the first housing. The second connecting plate is configured to close the second accommodating cavity. The second direction adjusting assembly is accommodated in the second accommodating cavity. The second direction adjusting assembly comprises a second reset member, which is in sliding connection with the second connecting plate. The second reset member is configured to drive the second connecting plate to move in a second direction. The rotating assembly comprises a first connecting part and a second connecting part. The first connecting part is connected with the end of the first housing away from the first accommodating cavity. The second connecting part is connected with the end of the second housing away from the second accommodating cavity. The rotating assembly is configured to drive the first housing to rotate relative to the second housing, and drive the first housing to drive the first connecting plate to rotate relative to the second connecting plate, and / or the rotating assembly drives the second housing to rotate relative to the first housing, and drives the second housing to drive the second connecting plate to rotate relative to the first connecting plate.

[0042] By adjusting the displacement of the first connecting plate along the first direction using the first direction adjustment component, and adjusting the displacement of the second connecting plate along the second direction using the second direction adjustment component, and by configuring the rotation component to drive the first housing to rotate relative to the second housing, and causing the first housing to drive the first connecting plate to rotate relative to the second connecting plate, and / or by the rotation component to drive the second housing to rotate relative to the first housing, and causing the second housing to drive the second connecting plate to rotate relative to the first connecting plate, the positions of the first connecting plate and the second connecting plate can be adaptively positioned, thereby achieving adaptive positioning of the external device during product processing.

[0043] This application also provides a robotic arm in which an adaptive positioning device is applied, which is beneficial for achieving adaptive positioning of the robotic arm.

[0044] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0045] Please see Figures 1 to 17 As shown, Figure 1 In this context, X represents the first direction and Y represents the second direction. One embodiment of this application proposes an adaptive positioning device 100. See also... Figures 1 to 3As shown, the adaptive positioning device 100 comprises a first housing 10, a first connecting plate 20, a first direction adjusting assembly 30, a second housing 40, a second connecting plate 50, a second direction adjusting assembly 60 and a rotating assembly 70. The first housing 10 has a first accommodating cavity 11. The first connecting plate 20 is configured to close the first accommodating cavity 11. The first direction adjusting assembly 30 is accommodated in the first accommodating cavity 11. The first direction adjusting assembly 30 comprises a first reset member 31, which is in sliding connection with the first connecting plate 20 and is configured to drive the first connecting plate 20 to move in a first direction. The second housing 40 is arranged on an end face of the first housing 10 away from the first accommodating cavity 11, and an end of the second housing 40 away from the first housing 10 has a second accommodating cavity 41. The second connecting plate 50 is configured to close the second accommodating cavity 41. The second direction adjusting assembly 60 is accommodated in the second accommodating cavity 41. The second direction adjusting assembly 60 comprises a second reset member 61, which is in sliding connection with the second connecting plate 50 and is configured to drive the second connecting plate 50 to move in a second direction. The rotating assembly 70 comprises a first connecting portion 71 and a second connecting portion 72. The first connecting portion 71 is connected to an end of the first housing 10 away from the first accommodating cavity 11, the second connecting portion 72 is connected to an end of the second housing 40 away from the second accommodating cavity 41, and the rotating assembly 70 is configured to drive the first housing 10 to rotate relative to the second housing 40, and drive the first housing 10 to drive the first connecting plate 20 to rotate relative to the second connecting plate 50, and / or the rotating assembly 70 drives the second housing 40 to rotate relative to the first housing 10, and drives the second housing 40 to drive the second connecting plate 50 to rotate relative to the first connecting plate 20.

[0046] By adjusting the displacement of the first connecting plate 20 in the first direction through the first direction adjusting assembly 30, adjusting the displacement of the second connecting plate 50 in the second direction through the second direction adjusting assembly 60, and by the rotating assembly 70 being configured to drive the first housing 10 to rotate relative to the second housing 40, and drive the first housing 10 to drive the first connecting plate 20 to rotate relative to the second connecting plate 50, and / or the rotating assembly 70 drives the second housing 40 to rotate relative to the first housing 10, and drives the second housing 40 to drive the second connecting plate 50 to rotate relative to the first connecting plate 20, the positions of the first connecting plate 20 and the second connecting plate 50 can be adaptively positioned, thereby achieving adaptive positioning of external devices during product processing.

[0047] It can be understood that the external device can be a gripper. If the first connecting plate 20 is connected with a gripper and the second connecting plate 50 is connected with a base, when the displacement of the first connecting plate 20 along the first direction is adjusted by the first direction adjusting assembly 30, the position of the gripper connected with the first connecting plate 20 along the first direction can be adaptively adjusted. Or when the displacement of the second connecting plate 50 along the second direction is adjusted by the second direction adjusting assembly 60, the first connecting plate 20 moves relative to the second connecting plate 50 along the second direction to adaptively adjust the position of the gripper connected with the first connecting plate 20 along the second direction. Further, the first direction adjusting assembly 30 and the second direction adjusting assembly 60 are rotated by the rotating assembly 70. The first housing 10 can be driven to rotate relative to the second housing 40 by the rotating assembly 70 to adaptively adjust the rotation angle of the first connecting plate 20, or the second housing 40 can be driven to rotate relative to the first housing 10 by the rotating assembly 70 to adaptively adjust the rotation angle of the first connecting plate 20, and further adjust the rotation angle of the gripper connected with the first connecting plate 20, so that the adaptive positioning of the gripper can be realized in the product grabbing process, the rigid contact between the gripper and the product is avoided, and the yield of the product grabbed by the gripper is improved.

[0048] It can be understood that the gripper can also be connected to the second connecting plate 50 and the base can be connected to the first connecting plate 20, and the adaptive positioning of the gripper can also be realized.

[0049] Further Figures 4 to 10 As shown in the first embodiment, the first reset member 31 includes a first fixed seat 310, a first elastic assembly 311 and a second elastic assembly 312. Referring to Figure 5 As shown in the first embodiment, the first elastic assembly 311 and the second elastic assembly 312 are arranged on both sides of the first fixed seat 310 along the first direction. The first fixed seat 310 is arranged in the first accommodating cavity 11 and fixedly connected with the first housing 10. The first accommodating cavity 11 includes a first side wall 110 and a second side wall 111 arranged opposite to the first side wall 110. The first fixed seat 310 is provided with a first boss 3100 and a second boss 3101. There is a first gap between the first boss 3100 and the second boss 3101. One end of the first elastic assembly 311 abuts against the first side wall 110, and at least a part of the other end of the first elastic assembly 311 penetrates through the first boss 3100 and extends to the first gap. One end of the second elastic assembly 312 abuts against the second side wall 111, and at least a part of the other end of the second elastic assembly 312 penetrates through the second boss 3101 and extends to the first gap. There is a second gap between the part of the first elastic assembly 311 extending and the part of the second elastic assembly 312 extending. Further referring to Figure 10As shown, the first connecting plate 20 is provided with a first positioning block 21 matched with the second gap. The first positioning block 21 is configured to push the first elastic component 311 to move along the first direction towards the first side wall 110, and drive the first connecting plate 20 to move along the first direction, or the first positioning block 21 is configured to push the second elastic component 312 to move along the first direction towards the second side wall 111, and drive the first connecting plate 20 to move along the first direction, wherein the first gap is greater than the second gap.

[0050] In some embodiments of the present application, the first positioning block 21, the first elastic component 311 and the second elastic component 312 are used in cooperation to achieve adaptive positioning of the first connecting plate 20 along the first direction.

[0051] In some embodiments of the present application, the first fixed seat 310 is fixed at the bottom of the first accommodating cavity 11, and the first fixed seat 310 is fixedly connected with the first shell 10, so as to ensure the position accuracy of the first connecting plate 20 driven by the first positioning block 21 along the first direction when the first positioning block 21, the first elastic component 311 and the second elastic component 312 are used in cooperation to adjust the movement of the first connecting plate 20 along the first direction.

[0052] In some embodiments of the present application, the first elastic component 311 can be a first spring, and the second elastic component 312 can be a second spring. The first spring is abutted between the side of the first positioning block 21 close to the first side wall 110 and the first side wall 110, and the second spring is abutted between the side of the first positioning block 21 close to the second side wall 111 and the second side wall 111. When the gripper grabs a product, the first positioning block 21 compresses the first spring, and the first positioning block 21 drives the first connecting plate 20 to move towards the first side wall 110, or the first positioning block 21 compresses the second spring, and the first positioning block 21 drives the first connecting plate 20 to move towards the second side wall 111, to achieve adaptive positioning of the first connecting plate 20, and further achieve adaptive positioning of the external device connected with the first connecting plate 20 along the first direction.

[0053] It can be understood that the size of the second gap along the first direction can be consistent with the size of the first positioning block 21 along the first direction, which is beneficial to compression of the first elastic component 311 or the second elastic component 312 by the first positioning block 21.

[0054] Further combining Figure 6 and Figure 7As shown, the first elastic assembly 311 comprises a first guide rod 3110 and a first elastic member 3111. The middle part of the first guide rod 3110 is provided with a first blocking part 31100. The first blocking part 31100 comprises a first contact surface 31101 and a second contact surface 31102. The first end of the first guide rod 3110 extends out of the first boss 3100 and extends along the first direction until the first contact surface 31101 abuts against the side of the first boss 3100 away from the second boss 3101. The first elastic member 3111 is sleeved on the second end of the first guide rod 3110, and the first elastic member 3111 abuts between the first side wall 110 and the second contact surface 31102. The second elastic assembly 312 comprises a second guide rod 3120 and a second elastic member 3121. The middle part of the second guide rod 3120 is provided with a second blocking part 31200. The second blocking part 31200 comprises a third contact surface 31201 and a fourth contact surface 31202. The first end of the second guide rod 3120 extends out of the second boss 3101 and extends along the second direction until the third contact surface 31201 abuts against the side of the second boss 3101 away from the first boss 3100. The second elastic member 3121 is sleeved on the second end of the second guide rod 3120, and the second elastic member 3121 abuts between the second side wall 111 and the fourth contact surface 31202.

[0055] In some embodiments of the present application, the first guide rod 3110 is configured to guide the first elastic member 3111 to move along the first direction, and the second guide rod 3120 is configured to guide the second elastic member 3121 to move along the second direction. By arranging the first guide rod 3110 in the first elastic assembly 311 and the second guide rod 3120 in the second elastic assembly 312, the position deviation during the compression of the first elastic member 3111 by the first positioning block 21 and the compression of the second elastic member 3121 by the first positioning block 21 can be avoided, which is beneficial to ensuring the positioning precision of the adaptive positioning of the first connecting plate 20 and the positioning precision of the adaptive positioning of the external device connected with the first connecting plate 20 along the first direction.

[0056] Referring to Figures 8 to 10As shown, the first direction adjusting assembly 30 further comprises a first moving piece 32. The first moving piece 32 comprises a first sliding rail 320 and a first sliding block 321. The first sliding rail 320 is arranged in the first accommodating cavity 11 and fixedly connected with the first shell 10. The rail direction of the first sliding rail 320 is parallel to the first direction. The first sliding block 321 comprises a first mounting portion 3210 and a second mounting portion 3211. The first mounting portion 3210 is in sliding connection with the first sliding rail 320. The second mounting portion 3211 is fixedly connected with the first connecting plate 20. The first sliding block 321 is configured to drive the first connecting plate 20 to move along the first direction.

[0057] In some embodiments of the present application, the first moving piece 32 can drive the first connecting plate 20 to move along the first sliding rail 320. Since the rail direction of the first sliding rail 320 is parallel to the first direction, the cooperation of the first moving piece 32, the first elastic assembly 311, the second elastic assembly 312 and the first positioning block 21 can further ensure the positioning precision of the adaptive positioning of the first connecting plate 20 and the positioning precision of the adaptive positioning of the external device connected with the first connecting plate 20 along the first direction.

[0058] Referring to Figure 11 and Figure 12As shown, the second reset member 61 includes a second fixed seat 610, a third elastic assembly 611, and a fourth elastic assembly 612. The third elastic assembly 611 and the fourth elastic assembly 612 are arranged on both sides of the second fixed seat 610 along a second direction. The second fixed seat 610 is arranged in the second accommodating cavity 41 and fixedly connected with the second shell 40. The second accommodating cavity 41 includes a third side wall 410 and a fourth side wall 411 arranged opposite to the third side wall 410. The second fixed seat 610 is provided with a third boss 6100 and a fourth boss 6101. A third gap exists between the third boss 6100 and the fourth boss 6101. One end of the third elastic assembly 611 abuts against the third side wall 410, and at least a part of the other end of the third elastic assembly 611 penetrates through the third boss 6100 and extends to the third gap. One end of the fourth elastic assembly 612 abuts against the fourth side wall 411, and at least a part of the other end of the fourth elastic assembly 612 penetrates through the fourth boss 6101 and extends to the third gap. A fourth gap exists between the part of the third elastic assembly 611 extending and the part of the fourth elastic assembly 612 extending. The second connecting plate 50 is provided with a second positioning block 51 matched with the fourth gap. The second positioning block 51 is configured to push the third elastic assembly 611 to move along the second direction towards the third side wall 410, and make the second positioning block 51 drive the second connecting plate 50 to move along the second direction, or the second positioning block 51 is configured to push the fourth elastic assembly 612 to move along the second direction towards the fourth side wall 411, and make the second positioning block 51 drive the second connecting plate 50 to move along the second direction, wherein the third gap is greater than the fourth gap.

[0059] In some embodiments of the present application, the second positioning block 51, the third elastic assembly 611, and the fourth elastic assembly 612 are used in cooperation to realize the adaptive positioning of the second connecting plate 50 along the second direction.

[0060] In some embodiments of the present application, the second fixed seat 610 is fixed at the bottom of the second accommodating cavity 41, realizing the fixed connection between the second fixed seat 610 and the second shell 40, so as to ensure the position accuracy of the second connecting plate 50 moving along the second direction driven by the second positioning block 51 when the second positioning block 51, the third elastic assembly 611, and the fourth elastic assembly 612 are used in cooperation to adjust the movement of the second connecting plate 50 along the second direction.

[0061] In some embodiments of the present application, the third elastic component 611 can be a third spring, and the fourth elastic component 612 can be a fourth spring. The fourth spring is in abutment between the side of the second positioning block 51 close to the third side wall 410 and the third side wall 410, and in abutment between the side of the second positioning block 51 close to the fourth side wall 411 and the fourth side wall 411. When the gripper is grabbing a product, the second positioning block 51 compresses the third spring, and the second positioning block 51 drives the second connecting plate 50 to move towards the third side wall 410, or the second positioning block 51 compresses the fourth spring, and the second positioning block 51 drives the second connecting plate 50 to move towards the fourth side wall 411, thereby achieving adaptive positioning of the second connecting plate 50, and further achieving adaptive positioning of the external device connected to the second connecting plate 50 in the second direction.

[0062] It can be understood that the size of the fourth gap in the second direction can be consistent with the size of the second positioning block 51 in the second direction, which is conducive to the compression of the third elastic component 611 or the fourth elastic component 612 by the second positioning block 51.

[0063] Referring to Figure 13 As shown, the third elastic component 611 includes a third guide rod 6110 and a third elastic piece 6111. The middle part of the third guide rod 6110 is provided with a third blocking part 61100. The third blocking part 61100 includes a fifth contact surface 61101 and a sixth contact surface 61102. The first end of the third guide rod 6110 extends out of the third boss 6100 and extends in the second direction until the fifth contact surface 61101 is in abutment with the side of the third boss 6100 away from the fourth boss 6101. The third elastic piece 6111 is sleeved on the second end of the third guide rod 6110, and the third elastic piece 6111 is in abutment between the third side wall 410 and the sixth contact surface 61102. The fourth elastic component 612 includes a fourth guide rod 6120 and a fourth elastic piece 6121. The middle part of the fourth guide rod 6120 is provided with a fourth blocking part 61200. The fourth blocking part 61200 includes a seventh contact surface 61201 and an eighth contact surface 61202. The first end of the fourth guide rod 6120 extends out of the fourth boss 6101 and extends in the second direction until the seventh contact surface 61201 is in abutment with the side of the fourth boss 6101 away from the third boss 6100. The fourth elastic piece 6121 is sleeved on the second end of the fourth guide rod 6120, and the fourth elastic piece 6121 is in abutment between the fourth side wall 411 and the eighth contact surface 61202.

[0064] In some embodiments of the present application, the third guide rod 6110 is configured to guide the third elastic member 6111 to move in the second direction, and the fourth guide rod 6120 is configured to guide the fourth elastic member 6121 to move in the second direction. By arranging the third guide rod 6110 on the third elastic assembly 611 and the fourth guide rod 6120 on the fourth elastic assembly 612, the positional deviation of the second positioning block 51 during compression of the third elastic member 6111 and the fourth elastic member 6121 can be avoided, and the positioning accuracy of the adaptive positioning of the second connecting plate 50 and the positioning accuracy of the adaptive positioning of the external device connected with the second connecting plate 50 in the second direction can be ensured.

[0065] Referring to Figure 14 As shown in the figure, the second direction adjusting assembly 60 further comprises a second moving member 62. The second moving member 62 comprises a second sliding rail 620 and a second sliding block 621. The second sliding rail 620 is arranged in the second accommodating cavity 41 and is fixedly connected with the second shell 40. The track direction of the second sliding rail 620 is parallel to the second direction. The second sliding block 621 comprises a third mounting portion 6210 and a fourth mounting portion 6211. The third mounting portion 6210 is in sliding connection with the second sliding rail 620. The fourth mounting portion 6211 is fixedly connected with the second connecting plate 50. The second sliding block 621 is configured to drive the second connecting plate 50 to move in the second direction.

[0066] In some embodiments of the present application, the second moving member 62 can drive the second connecting plate 50 to move along the second sliding rail 620. Since the track direction of the second sliding rail 620 is parallel to the second direction, the cooperation of the second moving member 62, the third elastic assembly 611, the fourth elastic assembly 612 and the second positioning block 51 can further ensure the positioning accuracy of the adaptive positioning of the second connecting plate 50 and the positioning accuracy of the adaptive positioning of the external device connected with the second connecting plate 50 in the second direction.

[0067] Referring to Figures 15 to 17 As shown in the figure, the rotating assembly 70 comprises a rotating member 73. The first shell 10 is provided with a mounting groove 12 at one end away from the first accommodating cavity 11. The bottom of the mounting groove 12 is provided with a through hole 120. The second shell 40 is provided with a passage 42 at one end away from the second accommodating cavity 41. The passage 42 is provided with a stop portion 420. The rotating member 73 comprises a third connecting portion 730 and a fourth connecting portion 731. The third connecting portion 730 penetrates out of the mounting groove 12 and extends into the through hole 120 to be connected with the first shell 10. The fourth connecting portion 731 penetrates through the stop portion 420 to be connected with the second shell 40. The rotating member 73 is configured to drive the first shell 10 and the second shell 40 to relatively rotate.

[0068] In some embodiments of the present application, the first direction adjusting assembly 30 and the second direction adjusting assembly 60 are connected by the rotating assembly 70, and the relative rotation between the first shell 10 and the second shell 40 is realized. If the first shell 10 rotates relative to the second shell 40, the first shell 10 can drive the first connecting plate 20 to rotate relative to the second connecting plate 50. If the second shell 40 rotates relative to the first shell 10, the second shell 40 can drive the second connecting plate 50 to rotate relative to the first connecting plate 20. Through the relative rotation between the first connecting plate 20 and the second connecting plate 50, the rotation angle of the external device connected to the first connecting plate 20 and / or the second connecting plate 50 can be adjusted, and thus the adaptive positioning of the external device is realized.

[0069] In some embodiments of the present application, the rotating assembly 70 further comprises a third reset member 74 and a limiting member 75. The third reset member 74 is arranged in the mounting groove 12 and disposed on both sides of the rotating member 73 along the first direction. The third reset member 74 is fixedly connected to the first shell 10. The third reset member 74 has a fifth gap. One end of the limiting member 75 is fixedly connected to the second shell 40. The other end of the limiting member 75 extends into the fifth gap. The limiting member 75 is configured to cooperate with the third reset member 74 to limit the rotation angle of the rotating member 73.

[0070] In embodiments of the present application, in order to further improve the adaptive positioning of the external device, the limiting member 75 is used to limit the adaptive adjustment angle of the external device.

[0071] Specifically, the third reset member 74 is arranged in the rotating assembly 70, and the structural features of the third reset member 74 are consistent with those of the first reset member 31 and the second reset member 61, and the third reset member 74 can be replaced by the first reset member 31 and the second reset member 61.

[0072] Another embodiment of the present application provides a mechanical arm. The adaptive positioning device 100 is applied to the mechanical arm.

[0073] In some embodiments of the present application, the adaptive positioning device 100 is applied to the mechanical arm, and the adaptive positioning of the mechanical arm is realized.

[0074] The above embodiments are only used to illustrate the technical solutions of the present application but not limit the present application. Although the technical solutions of the present application are described with reference to the embodiments, it should be understood by those skilled in the art that the technical solutions of the present application can be modified or replaced equivalently without departing from the spirit and essence of the technical solutions of the present application.

Claims

1. An adaptive positioning device, characterized by The adaptive positioning device comprises: a first shell having a first accommodating cavity; a first connecting plate configured to close the first accommodating cavity; a first direction adjusting assembly accommodated in the first accommodating cavity, the first direction adjusting assembly comprising a first reset member in sliding connection with the first connecting plate, the first reset member being configured to drive the first connecting plate to move in a first direction; a second shell provided on an end face of the first shell away from the first accommodating cavity, the second shell having a second accommodating cavity at an end thereof away from the first shell; a second connecting plate configured to close the second accommodating cavity; a second direction adjusting assembly accommodated in the second accommodating cavity, the second direction adjusting assembly comprising a second reset member in sliding connection with the second connecting plate, the second reset member being configured to drive the second connecting plate to move in a second direction; a rotating assembly comprising a first connecting portion and a second connecting portion, the first connecting portion being connected to an end of the first shell away from the first accommodating cavity, the second connecting portion being connected to an end of the second shell away from the second accommodating cavity, the rotating assembly being configured to drive the first shell to rotate relative to the second shell, and drive the first shell to drive the first connecting plate to rotate relative to the second connecting plate, and / or the rotating assembly being configured to drive the second shell to rotate relative to the first shell, and drive the second shell to drive the second connecting plate to rotate relative to the first connecting plate.

2. The self-adapting positioning device of claim 1, wherein, The first reset member comprises a first fixed seat, a first elastic assembly and a second elastic assembly, the first elastic assembly and the second elastic assembly being arranged on two sides of the first fixed seat in a first direction; The first fixed seat is arranged in the first accommodating cavity and fixedly connected to the first shell, the first accommodating cavity comprising a first side wall and a second side wall arranged opposite to the first side wall, the first fixed seat being provided with a first boss and a second boss, a first gap being present between the first boss and the second boss; One end of the first elastic assembly is in abutment with the first side wall, and at least a portion of the other end of the first elastic assembly penetrates through the first boss and extends into the first gap; One end of the second elastic assembly is in abutment with the second side wall, and at least a portion of the other end of the second elastic assembly penetrates through the second boss and extends into the first gap; The first elastic assembly extends to the second elastic assembly, and a second gap exists between the extended part of the first elastic assembly and the extended part of the second elastic assembly, the first connecting plate is provided with a first positioning block matched with the second gap, the first positioning block is configured to push the first elastic assembly to move along a first direction towards the first side wall, and the first positioning block drives the first connecting plate to move along the first direction, or the first positioning block is configured to push the second elastic assembly to move along a first direction towards the second side wall, and the first positioning block drives the first connecting plate to move along the first direction, wherein the first gap is larger than the second gap.

3. The self-adapting positioning device of claim 2, wherein, The first elastic assembly comprises a first guide rod and a first elastic piece, a first blocking part is arranged in the middle part of the first guide rod, the first blocking part comprises a first contact surface and a second contact surface, the first end of the first guide rod extends out of the first boss and extends along the first direction until the first contact surface abuts against one side of the first boss away from the second boss, the first elastic piece is sleeved on the second end of the first guide rod, and the first elastic piece abuts between the first side wall and the second contact surface; The second elastic assembly comprises a second guide rod and a second elastic piece, a second blocking part is arranged in the middle part of the second guide rod, the second blocking part comprises a third contact surface and a fourth contact surface, the first end of the second guide rod extends out of the second boss and extends along the second direction until the third contact surface abuts against one side of the second boss away from the first boss, the second elastic piece is sleeved on the second end of the second guide rod, and the second elastic piece abuts between the second side wall and the fourth contact surface.

4. The self-adapting positioning device according to any one of claims 1 to 3, characterized in that, The first direction adjusting assembly further comprises a first moving piece, the first moving piece comprises a first sliding rail and a first sliding block, the first sliding rail is arranged in the first accommodating cavity and is fixedly connected with the first shell, wherein the track direction of the first sliding rail is parallel to the first direction, the first sliding block comprises a first mounting part and a second mounting part, the first mounting part is slidingly connected with the first sliding rail, and the second mounting part is fixedly connected with the first connecting plate, and the first sliding block is configured to drive the first connecting plate to move along the first direction.

5. The self-adapting positioning device of claim 1, wherein, The second reset piece comprises a second fixed seat, a third elastic assembly and a fourth elastic assembly, the third elastic assembly and the fourth elastic assembly are arranged on both sides of the second fixed seat along a second direction; The second fixed seat is arranged in the second accommodating cavity and is fixedly connected with the second shell, the second accommodating cavity comprises a third side wall and a fourth side wall arranged opposite to the third side wall, the second fixed seat is provided with a third boss and a fourth boss, and a third gap exists between the third boss and the fourth boss; One end of the third elastic assembly abuts against the third side wall, and at least a part of the other end of the third elastic assembly extends out of the third boss and into the third gap; One end of the fourth elastic assembly is in abutment with the fourth side wall, and at least a portion of the other end of the fourth elastic assembly penetrates out of the fourth boss and extends to the third gap; The third elastic assembly extends to the fourth elastic assembly, and a fourth gap exists between the extended portions of the third elastic assembly and the fourth elastic assembly. The second connecting plate is provided with a second positioning block matched with the fourth gap. The second positioning block is configured to push the third elastic assembly to move along a second direction towards the third side wall, and to cause the second positioning block to drive the second connecting plate to move along the second direction, or the second positioning block is configured to push the fourth elastic assembly to move along a second direction towards the fourth side wall, and to cause the second positioning block to drive the second connecting plate to move along the second direction. The third gap is greater than the fourth gap.

6. The self-adapting positioning device of claim 5, wherein, The third elastic assembly includes a third guide rod and a third elastic piece. A middle portion of the third guide rod is provided with a third blocking portion including a fifth contact surface and a sixth contact surface. A first end of the third guide rod penetrates out of the third boss and extends along the second direction until the fifth contact surface is in abutment with a surface of the third boss away from the fourth boss. The third elastic piece is sleeved on a second end of the third guide rod and is in abutment between the third side wall and the sixth contact surface. The fourth elastic assembly includes a fourth guide rod and a fourth elastic piece. A middle portion of the fourth guide rod is provided with a fourth blocking portion including a seventh contact surface and an eighth contact surface. A first end of the fourth guide rod penetrates out of the fourth boss and extends along the second direction until the seventh contact surface is in abutment with a surface of the fourth boss away from the third boss. The fourth elastic piece is sleeved on a second end of the fourth guide rod and is in abutment between the fourth side wall and the eighth contact surface.

7. The self-adapting positioning device according to claim 5 or 6, characterized in that, The second direction adjusting assembly further includes a second moving piece. The second moving piece includes a second sliding rail and a second sliding block. The second sliding rail is arranged in the second accommodating cavity and is fixedly connected with the second shell. The track direction of the second sliding rail is parallel to the second direction. The second sliding block includes a third mounting portion and a fourth mounting portion. The third mounting portion is in sliding connection with the second sliding rail, and the fourth mounting portion is fixedly connected with the second connecting plate. The second sliding block is configured to drive the second connecting plate to move along the second direction.

8. The self-adapting positioning device of claim 1, wherein, The rotating assembly further includes a rotating piece. An end of the first shell away from the first accommodating cavity is provided with a mounting groove. A bottom of the mounting groove is provided with a through hole. An end of the second shell away from the second accommodating cavity is provided with a passage. The passage is provided with a stop portion. The rotating piece includes a third connecting portion and a fourth connecting portion. The third connecting portion penetrates out of the mounting groove and extends into the through hole to be connected with the first shell. The fourth connecting portion penetrates through the stop portion to be connected with the second shell. The rotating piece is configured to drive the first shell and the second shell to rotate relative to each other.

9. The self-adapting positioning device of claim 8, wherein, The rotating assembly further comprises a third reset member and a limiting member, the third reset member is arranged in the mounting slot and is arranged on both sides of the rotating member along the first direction, the third reset member is fixedly connected with the first shell, the third reset member has a fifth gap, one end of the limiting member is fixedly connected with the second shell, the other end of the limiting member extends into the fifth gap, and the limiting member is configured to cooperate with the third reset member to limit the rotating angle of the rotating member.

10. A robot arm, characterized in that, An adaptive positioning device as claimed in any one of claims 1 to 9.

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