Operating mechanisms and robots

Abstract

This invention solves the problem that when a robot rotates and twists a workpiece, excessive frictional force tends to occur between mechanical parts when the robot exits the machine due to the non-concentricity between the operating mechanism and the workpiece. [Solution] The present invention relates to the field of robotics and discloses an operating mechanism and robot, which includes a support sleeve having a housing groove and an elastic component, a guide sleeve that is inserted into a mounting hole 1 and fastened to a support sleeve, and an end 1 having a mounting hole 1 and a spherical part that extends to the housing groove, an intermediate part at the end 2 that is connected to the housing groove on its outer surface and has a sliding groove that includes groove 1 and groove 2, and a mounting hole 2 having an operating rod that has a plug 1 that penetrates groove 1 into the spherical part, abuts against the inner wall surface of groove 1, and can be driven by the spherical part to slide to groove 2.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly relates to an operating mechanism and a robot.

Background Art

[0002] In a high-pressure environment, an environment filled with toxic gases, or other extremely harsh conditions, especially when it comes to the assembly, repair, or detection of precision mechanical parts, rotational and torsional operations are very difficult. Conventionally, such operations are performed by robots. However, when a robot rotates and twists a workpiece, due to the non-concentricity between the operating mechanism of the robot and the workpiece, it is easy to cause an overly large frictional force between the mechanical parts when the robot exits the operating mechanism, which can cause the operating mechanism to freeze, prevent the robot from successfully completing the exit after normal operation, and may also damage the mechanical parts.

Summary of the Invention

[0003] An object of the present invention is to provide an operating mechanism and a robot for solving the problems that when a robot rotates and twists a workpiece, due to the non-concentricity between the operating mechanism of the robot and the workpiece, it is easy to cause an overly large frictional force between the mechanical parts when the robot exits the operating mechanism, resulting in the freezing of the operating mechanism, the inability of the robot to successfully complete the exit after normal operation, and the risk of damaging the mechanical parts.

[0004] Therefore, the present invention provides an operating mechanism including the following.

[0005] A guide sleeve and a support sleeve connecting the guide sleeve.

[0006] There is a receiving groove extending along direction 1 in the guide sleeve and an elastic component sliding in the receiving groove.

[0007] The support sleeve has mounting holes 1 and 2 extending along the direction 1, with mounting hole 1 at end 1 of the support sleeve and mounting hole 2 at end 2 of the support sleeve, with mounting hole 2 passing through mounting hole 1, the inner diameter of mounting hole 1 being greater than or equal to the inner diameter of mounting hole 2, the end 1 of the guide sleeve being separated from mounting hole 1, the end 2 of the guide sleeve being inserted into mounting hole 1 and tightened with end 1 of the support sleeve, and the receiving groove passing through mounting hole 1.

[0008] An operating rod is located in the mounting hole 2, the end 1 of the operating rod extends to the housing groove, the end 1 of the operating rod has a spherical portion, the spherical portion is attached to the elastic component, the diameter of the spherical portion is greater than or equal to the inner diameter of the mounting hole 2, the end 2 of the operating rod extends outside the mounting hole 2, and the end 2 of the operating rod has a relay portion.

[0009] The outer circumferential surface of the end portion 2 of the guide sleeve has a slide groove extending along the direction 1, the slide groove is connected to the housing groove, and includes groove 1 and groove 2 through which the slide groove is connected, wherein in direction 1, groove 2 is on the side away from groove 1 from the elastic component, and in direction 2, the width of groove 1 is less than or equal to the width of groove 2.

[0010] The spherical part has a plug 1, the plug 1 is in the groove 1, both ends of the plug 1 in the direction 2 are in contact with the inner wall surface of the groove 1, and the plug 1 is driven by the spherical part and can slide up to the groove 2.

[0011] In the operating mechanism of the present invention, the housing groove includes a guide groove and an operating groove, the guide groove is located at the end 1 of the guide sleeve, the operating groove is located at the end 2 of the guide sleeve, the operating groove is connected to the guide groove, the slide groove is connected to the operating groove, the end 2 of the guide sleeve is inserted into the mounting hole 1 and fastened to the end 1 of the support sleeve, and the operating groove is connected to the mounting hole 1.

[0012] In the operating mechanism of the present invention, the operating grooves include grooves 3 and 4 that are interconnected, wherein groove 3 is interconnected with the guide groove and groove 1, groove 4 is interconnected with groove 2 and mounting hole 1, the inner diameter of groove 4 is greater than or equal to that of groove 3, and the inner diameter of groove 3 is at least in contact with the guide groove.

[0013] Within this configuration, the spherical portion makes contact with the inner wall surface of the groove 3, and the spherical portion is driven by the operating rod to slide to the groove 4, thereby driving the plug 1 which slides from groove 1 to groove 2.

[0014] In the operating mechanism of the present invention, the groove 4 gradually narrows from a direction approaching the mounting hole 1 to a direction moving away from the mounting hole 1.

[0015] In the operating mechanism of the present invention, the elastic component includes a spring component and a guide column, wherein the spring component is located in the guide groove, the guide column is located in the operating groove, and the spring component is attached to the guide column, and the spherical portion is attached to the guide column.

[0016] In the operating mechanism of the present invention, the spherical portion has a through hole 1 extending along the axial direction of the spherical portion, and the plug 1 is located in the through hole 1 and is fastened to the spherical portion.

[0017] In the operating mechanism of the present invention, the spherical portion has a through hole 2 extending along the axial direction of the spherical portion, the through hole 2 is perpendicular to the through hole 1, and the plug 1 has a through hole 3 extending along the radial direction of the plug 1, the operating mechanism also includes the plug 3, the plug 3 is located in the through hole 2 and the through hole 3, and the plug 1 is tightened to the spherical portion.

[0018] In the operating mechanism of the present invention, there is a preset gap on the inner wall surface between the operating rod and the mounting hole 2, there are a plurality of preload holes at the end 2 of the support sleeve, the preload holes are connected to the mounting hole 2, the plurality of preload holes are spaced apart along the axial direction of the support sleeve on the outer surface of the support sleeve, there is a preload assembly in each of the preload holes, the preload assembly is attached to the operating rod so that the operating rod is in the axial direction of the support sleeve.

[0019] In the operating mechanism of the present invention, the preload assembly includes a support rod and a preload screw, wherein the support rod is attached to the operating rod and the preload screw is attached to the support rod.

[0020] In the operating mechanism of the present invention, the preload assembly also includes a preload spring, wherein the preload spring is located between the support rod and the preload screw, and both ends of the preload spring connect the support rod and the preload screw, respectively.

[0021] The operating mechanism of the present invention also includes the aforementioned operating mechanism fastener, The support sleeve has a screw hole 1 at its end 1, and the guide sleeve has a screw hole 2 at its end 2. The fastener is positioned in the screw hole 1 and the screw hole 2, and the end 2 of the guide sleeve is fastened to the mounting hole 1.

[0022] Secondly, the present invention also provides a robot arm connected to an operating mechanism and a robot including the aforementioned operating mechanism. The operating mechanism according to the present invention is an operating mechanism that includes a guide sleeve and a support sleeve connecting the guide sleeve, Within the guide sleeve, an elastic component and a housing groove extending along direction 1 are provided, and the elastic component is slidably provided within the housing groove. Within the support sleeve, there are mounting holes 1 and 2 extending along the direction 1, with mounting hole 1 located at end 1 of the support sleeve, mounting hole 2 located at end 2 of the support sleeve, and mounting hole 2 communicating with mounting hole 1, the inner diameter of mounting hole 1 being larger than the inner diameter of mounting hole 2, the end 1 of the guide sleeve being separated from mounting hole 1, the end 2 of the guide sleeve being inserted into mounting hole 1 and fixedly connected to end 1 of the support sleeve, and the receiving groove communicating with mounting hole 1. An operating rod is provided within the mounting hole 2, the end 1 of the operating rod extends to the housing groove, a spherical portion is provided at the end 1 of the operating rod, the spherical portion abuts against the elastic component, the diameter of the spherical portion is larger than the inner diameter of the mounting hole 2, the end 2 of the operating rod extends outside the mounting hole 2, and a relay portion is provided at the end 2 of the operating rod. A slide groove extending along the direction 1 is provided on the outer circumferential surface of the end portion 2 of the guide sleeve, the slide groove is in communication with the housing groove, and the slide groove includes mutually communicating grooves 1 and 2, wherein in direction 1, groove 2 is on the side of groove 1 away from the elastic component, and in direction 2, the width of groove 1 is smaller than the width of groove 2. A plug 1 is drilled in the spherical portion, and the plug 1 is drilled in the groove 1, both ends of the plug 1 in the direction 2 abut against the inner wall surface of the groove 1, and the plug 1 is driven by the spherical portion to slide up to the groove 2. It is characterized by the following: Furthermore, the aforementioned housing groove includes a guide groove and an operating groove, the guide groove is provided at end 1 of the guide sleeve, the operating groove is provided at end 2 of the guide sleeve, the operating groove communicates with the guide groove, and the slide groove communicates with the operating groove. The end portion 2 of the guide sleeve is inserted into the mounting hole 1 and is fixedly connected to the end portion 1 of the support sleeve, and the operating groove is in communication with the mounting hole 1. It is characterized by the following: Furthermore, the aforementioned operating groove includes grooves 3 and 4 that communicate with each other, wherein groove 3 communicates with the guide groove and groove 1, groove 4 communicates with groove 2 and mounting hole 1, the inner diameter of groove 4 is larger than the inner diameter of groove 3, and the inner diameter of groove 3 is greater than or equal to the inner diameter of the guide groove. The spherical portion abuts against the inner wall surface of the groove 3, and the spherical portion is driven by the operating rod to slide up to the groove 4, and the spherical portion causes the plug 1 to slide from the groove 1 to the groove 2. It is characterized by the following: Furthermore, the groove 4 is characterized by gradually narrowing from the direction approaching the mounting hole 1 to the direction moving away from the mounting hole 1. Furthermore, the elastic component includes a spring component and a guide column, the spring component is provided in the guide groove, the guide column is provided in the operating groove and abuts against the spring component, and the spherical portion abuts against the guide column. Furthermore, the spherical portion is provided with a through hole 1 extending along the axial direction of the spherical portion, and the plug 1 is drilled into the through hole 1 and fixedly connected to the spherical portion. Further, a through hole 2 extending along the axial direction of the spherical portion is provided in the spherical portion, the direction of the through hole 2 is perpendicular to the direction of the through hole 1, a through hole 3 extending along the radial direction of the plug 1 is provided in the plug 1, the operating mechanism further includes a plug 2, the plug 2 is formed in the through hole 2 and the through hole 3, and the plug 1 is fixedly connected to the spherical portion. Also, there is a preset gap between the operating rod and the inner wall surface of the mounting hole 2, there are a plurality of preload holes at the end 2 of the support sleeve, the preload holes communicate with the mounting hole 2, and the plurality of preload holes are provided on the outer peripheral surface of the support sleeve at intervals along the axial direction of the support sleeve. The preload assembly abuts against the operating rod, and the operating rod is in the axial direction of the support sleeve. Also, the preload assembly includes a support rod and a preload screw, the support rod abuts against the operating rod, and the preload screw abuts against the support rod. Also, the preload assembly further includes a preload spring, the preload spring is provided between the support rod and the preload screw, and both ends of the preload spring are connected to the support rod and the preload screw respectively. Also, the operating mechanism further includes a fastener, a screw hole 1 is provided at the end 1 of the support sleeve, a screw hole 2 is provided at the end 2 of the guide sleeve, the fastener is formed in the screw hole 1 and the screw hole 2, and the end 2 of the guide sleeve is fixedly connected to the mounting hole 1.

Advantages of the Invention

[0023] When the operating mechanism is in operation, the robot arm applies an external force to the workpiece via the mechanism, causing the spherical part to attach to the elastic component, which is compressed to the left of the housing groove and possesses elastic potential energy. In this case, plug 1 attaches to the inner wall surface of groove 1 in direction 2, and plug 1 is restricted to groove 1, performing reciprocating motion only in direction 1 and unable to swing in direction 2. In this case, the relay part to the right of the operating rod cooperates with the rotating workpiece, causing the operating mechanism to rotate, and the relay part to rotate and twist the workpiece. When the robot arm releases an external force to the workpiece via the operating mechanism, the elastic component releases elastic potential energy, pushing the spherical part which moves in the direction of the mounting hole 1, causing plug 1 in the spherical part to slide from groove 1 to groove 2. Since the width of groove 2 is greater than or equal to that of groove 1, when plug 1 is in groove 2, the operating rod can drive plug 1 to make fine adjustments within a preset angle range relative to the guide sleeve. In this case, when the robot exits the motion mechanism, the operating rod has a fixed degree of freedom along direction 1 and also a fixed degree of freedom or swing space along direction 2, allowing for fine adjustment to a position concentric with the center of the workpiece. This makes the robot less likely to freeze when exiting the motion mechanism, improving the success rate of the operation. The motion mechanism in this embodiment can be rotated and twisted stably and safely instead of by hand, and when the motion mechanism is in the exit position, the operating rod has degrees of freedom in directions 1 and 2, preventing motion mechanism freezing and damage to the motion mechanism or workpiece structure. [Brief explanation of the drawing]

[0024] [Figure 1] Structural diagram of the operating mechanism according to an embodiment of the present invention [Figure 2] Another structural diagram of the operating mechanism according to an embodiment of the present invention [Figure 3] Exploded view of the operating mechanism according to an embodiment of the present invention. [Figure 4] Another exploded view of the operating mechanism according to an embodiment of the present invention. [Figure 5] Cross-sectional view of the operating mechanism according to an embodiment of the present invention when it is in a compressed state. [Figure 6] Cross-sectional view of the operating mechanism according to an embodiment of the present invention in an uncompressed state. [Figure 7] Structural diagram of a guide sleeve according to an embodiment of the present invention [Figure 8] Cross-sectional view of a guide sleeve according to an embodiment of the present invention [Figure 9] Cross-sectional view of a support sleeve according to an embodiment of the present invention [Figure 10] A structural diagram of a preload assembly according to an embodiment of the present invention. [Modes for carrying out the invention]

[0025] Next, a detailed description of embodiments for carrying out the present invention will be given in conjunction with the figures and examples. The following examples are for illustrative purposes only and do not limit the scope of the present invention.

[0026] In the description of the present invention, directions or positional relationships indicated by terms such as "up," "down," "front," "back," "inside," and "outside" refer to the positional relationships shown in the figures and are solely for the convenience and simplification of the explanation of the present invention. They do not imply that the shown devices and parts have a fixed orientation, nor do they indicate or signify a specific structure or operation in a fixed orientation. Therefore, they should not be understood as limitations on the present invention.

[0027] In the description of this invention, terms such as "1" and "2" are used to describe various types of information, but the information related to them is not limited to those terms; these terms are merely used to distinguish information of the same kind. For example, information that does not deviate from the scope of this invention may be labeled as "1" or as "2".

[0028] As shown in Figures 1 to 9, the embodiment of the present invention provides an operating mechanism 100 including an elastic component 30, a guide sleeve 10 having a housing groove 40 extending along direction 1 X, and a support sleeve 20 connecting the guide sleeve 10. The elastic component 30 slides into the housing groove 40, the support sleeve 20 has mounting holes 1 21 and 2 22 extending along the X direction 1, with mounting hole 1 21 at end 1 of the support sleeve 20 and mounting hole 2 22 at end 2 of the support sleeve 20, with mounting hole 2 22 communicating with mounting hole 1 21, the inner diameter of mounting hole 1 21 being greater than or equal to mounting hole 2 22, the end 1 of the guide sleeve 10 being separated from mounting hole 1 21, the end 2 of the guide sleeve 10 being inserted into mounting hole 1 21 and tightened against end 1 of the support sleeve 20 so that the housing groove 40 communicates with mounting hole 1 21, the operating rod 50 is in mounting hole 2 22, the end 1 of the operating rod 50 extends to the housing groove 40 and the end 1 of the operating rod 50 has a spherical portion 51 The spherical portion 51 is attached to the elastic component 30, the diameter of the spherical portion 51 is greater than or equal to the diameter of the mounting hole 22, the end 2 of the operating rod 50 extends outside the diameter of the mounting hole 22, there is a relay portion 52 at the end 2 of the operating rod 50, there is a slide groove 60 extending along the X direction of direction 1 on the outer circumferential surface of the end 2 of the guide sleeve 10, the slide groove 60 is connected to the through-storage groove 40, and the slide grooves 60 are connected to each other in groove 1 61 The groove 62 is located in the spherical portion 51, and in direction 1 X, the groove 62 is on the side of the groove 61 away from the elastic component 30. In direction 2 Y, the width of the groove 61 is less than or equal to the width of the groove 62. The spherical portion 51 has a plug 53, the plug 53 is in the groove 61, the plug 53 is in contact with the inner wall surface of the groove 61 at both ends in direction 2 Y, and the plug 53 is driven by the spherical portion 51 to slide up to the groove 62.

[0029] In this embodiment, the operating mechanism 100 is connected to the robot arm of the robot, and the robot controls the operating mechanism 100 with the robot arm so that the operating mechanism 100 can rotate or twist the workpiece. The operating mechanism 100 includes a guide sleeve 10 and a support sleeve 20, and the guide sleeve 10 and support sleeve 20 are metal products with sufficient structural strength to withstand tightening by the robot arm.

[0030] The operating mechanism 100 has an X direction 1 and a Y direction 2, where the X direction 1 is the axial direction of the guide sleeve 10 and the support sleeve 20, and the Y direction 2 is the radial direction of the guide sleeve 10 and the support sleeve 20.

[0031] In direction 1 (X), the guide sleeve 10 has a housing groove 40, and an elastic component 30 is located in the housing groove 40. The elastic component 30 has a fixed elasticity and can be deformed by compression due to external force. Inside the support sleeve 20, there is a mounting hole 1 21 on the left and a mounting hole 2 22 which connects to the mounting hole 1 21 on the right. The cross-sections of the mounting hole 1 21, the mounting hole 2 22, and the housing groove 40 are all circular. The right side of the guide sleeve 10 is inserted into the mounting hole 1 21 and tightened with the left side of the support sleeve 20 to form an integrated connection structure of the guide sleeve 10 and the support sleeve 20. The left side of the operating rod 50 is inserted into the housing groove 40, and the spherical part 51 on the left side of the operating rod 50 attaches to the elastic component 30 in the housing groove 40. The right side of the operating rod 50 extends from the mounting hole 2 22, and the intermediate part 52 on the right side of the operating rod 50 is used to rotate or twist the rotating workpiece. In this regard, the structural form of the intermediate section 52 is not restricted. As shown in Figure 1, the intermediate section 52 may be a square sleeve structure fitted onto a screw for convenient twisting, or as shown in Figure 2, it may be an external hexagonal structure connected to a nut for convenient twisting.

[0032] There is a slide groove 60 that connects to an outer peripheral surface housing groove 40 located to the right of the guide sleeve 10, and a plug 53 on the spherical part 51 is inserted into the slide groove 60, so that the slide groove 60 includes groove 1 61 and groove 2 62. The plug 53 is driven by the spherical part 51 to reciprocate between groove 1 61 and groove 2 62.

[0033] When installing, the elastic component 30 is attached to the housing groove 40 of the guide sleeve 10, then the left end of the operating rod 50 is inserted into the housing groove 40 so that the spherical part 51 touches the elastic component 30, then the left end of the support sleeve 20 and the right end of the guide sleeve 10 are connected, and the right end of the operating rod 50 is inserted from the 21 of the mounting hole 1 to the 22 of the mounting hole 2 so that it extends outward by a fixed length. Since the diameter of the spherical part 51 is greater than or equal to the 22 of the mounting hole 2, the spherical part 51 reciprocates along the X direction of direction 1 in the housing groove 40, driving the elastic component 30 to undergo compression deformation, and the spherical part 51 cannot pass through the 22 of the mounting hole 2 so that the operating rod 50 does not escape out of the support sleeve 20.

[0034] Based on the above solution, as shown in Figure 5, the operating mechanism 100 is in a compressed or operating state, and the robot arm applies an external force to the workpiece via the operating mechanism 100, causing the spherical part 51 to contact the elastic part 30, which is compressed to the left of the housing groove 40 and possesses elastic potential energy. In this case, the 53 of the plug 1 contacts the inner wall surface of the 61 of the groove 1 in direction 2 Y, and the 53 of the plug 1 is restricted to the 61 of the groove 1, so it can reciprocate only along direction 1 X and cannot swing along direction 2 Y. In this case, the relay part 52 to the right of the operating rod 50 cooperates with the rotating workpiece, causing the operating mechanism 100 to rotate, and the relay part 52 to rotate or twist the workpiece.

[0035] As shown in Figure 6, when the robot arm releases an external force to the workpiece via the motion mechanism 100, the elastic component 30 releases elastic potential energy, pushing the spherical part 51 which moves in the direction of the mounting hole 1 21, causing the plug 1 53 on the spherical part 51 to slide from groove 1 61 to groove 2 62. Since the width of groove 2 62 is greater than or equal to the width of groove 1 61, when the plug 1 53 is in groove 2 62, the operating rod 50 can drive the plug 1 53 to make fine adjustments to the guide sleeve 10 within a preset angle range. In this case, when the robot exits the motion mechanism 100, the operating rod 50 has a fixed degree of freedom along the X direction of direction 1 and a fixed degree of freedom or swing space along the Y direction of direction 2, allowing the operating rod 50 to be finely adjusted to a position concentric with the center of the workpiece. This makes it less likely for the robot to freeze when exiting the motion mechanism 100, improving the success rate of the operation.

[0036] In this embodiment, the operating mechanism 100 can rotate and twist stably and safely as an alternative to manual operation. When the operating mechanism 100 retracts, the operating rod 50 has degrees of freedom in the X direction of direction 1 and the Y direction of direction 2, preventing the operating mechanism 100 from freezing and ensuring that the structure of the operating mechanism 100 or the workpiece is not damaged.

[0037] As shown in Figures 5, 6, and 8, the housing groove 40 includes a guide groove 41 and an operating groove 42, the guide groove 41 is located at end 1 of the guide sleeve 10 and the operating groove 42 is located at end 2 of the guide sleeve 10, the operating groove 42 is connected to the guide groove 41 and the slide groove 60 is connected to the operating groove 42, and the end 2 of the guide sleeve 10 is inserted into the mounting hole 1 21 and tightened to the end 1 of the support sleeve 20 so that the operating groove 42 is connected to the mounting hole 1 21.

[0038] Specifically, the guide groove 41 is located on the left inside the guide sleeve 10, the operating groove 42 is on the right inside the guide sleeve 10, and the slide groove 60 is on the right side of the guide sleeve 10, communicating with the operating groove 42. The right side of the guide sleeve 10 is inserted into the mounting hole 21 and tightened to the left side of the support sleeve 20, so that the mounting hole 21 communicates with the operating groove 42 and the guide groove 41.

[0039] As an implementation method, as shown in Figure 5, the diameter of the spherical part 51 is greater than or equal to that of the guide groove 41, so that when the spherical part 51 reciprocates in the operating groove 42 it does not enter the guide groove 41, and the spherical part 51 drives the plug 1 53 which reciprocates between groove 1 61 and groove 2 62, so that the operating mechanism 100 can switch between the operating state and the retracted state.

[0040] As shown in Figure 8, the operating groove 42 includes grooves 3 421 and 422 of groove 4, which are connected to each other. Groove 3 421 connects guide groove 41 and groove 1 61, and groove 422 connects groove 2 62 and mounting hole 1 21. The inner diameter of groove 422 is greater than or equal to that of groove 3 421, and the inner diameter of groove 3 421 contacts at least guide groove 41. The spherical part 51 is attached to the inner wall surface of groove 3 421, and the spherical part 51 is driven by the operating rod 50 to slide to groove 422, and the spherical part 51 drives plug 1 53 which slides from groove 1 61 to groove 2 62.

[0041] Specifically, the diameter of the spherical portion 51 can be greater than or equal to that of the guide groove 41, the diameter of the spherical portion 51 can be such that it is within the inner diameter of groove 3 421 and less than or equal to the inner diameter of groove 422, so that the spherical portion 51 can operate only between groove 3 421 and groove 4 422, and the plug 1 53 can operate between groove 1 61 and groove 2 62. When the operating mechanism 100 is in operation, the spherical portion 51 touches the inner wall surface of groove 3 421, the plug 1 53 touches the inner wall surface of groove 1 61 in direction 2 Y, and the spherical portion 51 and the plug 1 53 can operate only along direction 1 X. When the operating mechanism 100 releases an external force to the workpiece, the elastic component 30 releases elastic potential energy, pushing the spherical portion 51 as it moves from groove 3 421 to groove 422. When the spherical part 51 moves to groove 422, plug 1 53 is in groove 2 62, allowing the operating rod 50 to swing around the center point of the spherical part 51 within a fixed range. The operating rod 50 has a fixed degree of freedom along direction 1 (X) and also a fixed degree of freedom or swing space along direction 2 (Y), in which case the robot is less likely to exit the operating mechanism 100 and freeze.

[0042] As shown in Figure 8, the groove 422 is brought closer to the mounting hole 121 and gradually narrows away from the mounting hole 121.

[0043] Specifically, groove 3, section 421 is a cylindrical tank with a rectangular cross-section, while groove 4, section 422 has an inverted trapezoidal or V-shaped cross-section, with the tank opening gradually narrowing. This restricts the spherical section 51 from moving to groove 3, section 421, by making contact with the inner wall surface of groove 3, section 421, and driving the swinging operating rod 50. When the spherical section 51 moves to groove 4, section 422, there is a gap between it and the inner wall surface of groove 4, section 422, allowing the operating rod 50 to swing around the center point of the spherical section 51 within a fixed angular range. When the spherical section 51 moves from groove 4, section 422 to groove 3, section 51 is gradually restricted and can only move along direction X of direction 1.

[0044] As shown in Figures 3 to 6, the elastic component 30 includes a spring component 31 and a guide column 32, with the spring component 31 in the guide groove 41 and the guide column 32 in the operating groove 42, and the spring component 31 and the spherical portion 51 attached to the guide column 32.

[0045] Specifically, the spring component 31 may be a compression spring. When installing, the spring component 31 is placed in the guide groove 41, then the guide column 32 is placed in the operating groove 42 so that it touches the spring component 31, and then the left end of the operating rod 50 is inserted into the operating groove 42 so that it touches the guide column 32. Because the contact area between the spherical part 51 and the guide column 32 is large, an even greater thrust can be generated in the elastic component 30. If only the spring component 31 is used without the guide column 32, when the spherical part 51 touches the spring component 31, the contact area between the spherical part 51 and the spring component 31 is small, so it is difficult for the spring component 31 to undergo significant deformation. For this reason, by positioning both ends of the guide column 32 to touch the spring component 31 and the spherical part 51 respectively, it is possible to generate a large compressive deformation in the spring component 31, and the spherical part 51 can generate an even greater thrust against the elastic component 30.

[0046] As an implementation method, the spring component 31 and the guide column 32 may be an integrated structure, that is, the right side of the spring component 31 is fastened to the left side of the guide column 32.

[0047] As shown in Figure 3, the spherical portion 51 has a through hole 1 54 extending in the axial direction along the spherical portion 51, and the plug 1 53 is located in the through hole 1 54 and is fastened to the spherical portion 51.

[0048] Specifically, the connection between plug 1 53 and the spherical part 51 is removable, and the through hole 1 54 penetrates the spherical part 51 axially. To prevent plug 1 53 from loosening in the through hole 1 54, plug 1 53 and the through hole 1 54 may be fitted together in an interference fit, that is, the diameter of plug 1 53 is slightly greater than the inner diameter of the through hole 1 54, so that plug 1 53 is firmly fitted into the through hole 1 54 and the plug 1 53 and the spherical part 51 are tightened together.

[0049] As shown in Figures 3 and 4, the spherical portion 51 has a through hole 2 55 extending axially along the spherical portion 51, the direction of which the through hole 2 55 is perpendicular to the through hole 1 54, the plug 1 53 has a through hole 3 56 extending radially along the plug 1 53, the operating mechanism 100 also includes the plug 3 57, the plug 3 57 is located in the through hole 2 55 and the through hole 3 56, and the plug 1 53 and the spherical portion 51 are tightened together.

[0050] Specifically, in order to tighten plug 1 53 into through hole 1 54 in one step, in this embodiment, through hole 2 55 is installed in the spherical part 51 and through hole 3 56 is installed in plug 1 53. When installing, plug 1 53 is inserted into through hole 1 54 of spherical part 51, then through hole 3 56 of plug 1 53 is aligned with through hole 2 55 of spherical part 51, and then plug 3 57 is made to pass through through hole 2 55 and through hole 3 56 to restrict the position of plug 1 53, and then it is tightened into spherical part 51.

[0051] As an implementation method, as shown in Figures 3 to 6 and 9, there is a preset gap on the inner wall surface of the operating rod 50 and the mounting hole 22, and there are multiple preload holes at the end 23 of the support sleeve 20, the preload holes 23 and the mounting hole 22 are connected, and the multiple preload holes 23 are spaced apart along the axial direction of the support sleeve 20 on the outer surface of the support sleeve 20, and there is a preload assembly 24 attached to each preload hole 23 so that the operating rod 50 is in the axial direction of the support sleeve 20.

[0052] Specifically, the operating rod 50 is rod-shaped, with a diameter less than or equal to the inner diameter of the mounting hole 22 in the support sleeve 20, and can move along the X direction of direction 1 within the mounting hole 22. Because there is a preset gap between the operating rod 50 and the inner wall surface of the mounting hole 22, and the operating rod 50 has a fixed degree of freedom, there is no risk of excessive friction occurring between it and the inner wall surface of the support sleeve 20. When the spherical portion 51 moves up to groove 422, the operating rod 50 can swing around the center point of the spherical portion 51 within a fixed angular range.

[0053] As shown in Figure 9, there are multiple preload holes 23 and multiple preload assemblies 24 on the right side of the support sleeve 20 (i.e., in the position corresponding to mounting hole 22). Preload is applied to the operating rod 50 by the preload holes 23 at different positions on the outer surface of the support sleeve 20, and the preload of the preload assembly 24 is adjusted to fine-tune the position of the operating rod 50 in the axial direction of the support sleeve 20. The preload assemblies 24 are installed to improve the cooperation accuracy between the operating rod 50 and the workpiece by ensuring that the operating rod 50 is in the axial direction of the support sleeve 20.

[0054] As an example, as shown in Figures 3 and 4, in direction 1 X, there are two sets of preload assemblies 24 spaced apart on the outer circumferential surface of the support sleeve 20, and each set of preload assemblies 24 contains four preload assemblies 24. In the four preload assemblies 24, the interior angles between adjacent preload assemblies 24 are interior angles, that is, the four preload assemblies 24 are installed with spacing between them in the diametrical direction of the support sleeve 20, and the eight preload assemblies 24 apply preload to the operating rod 50 from the top, bottom, left, and right of both 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.

[0055] As shown in Figure 10, the preload assembly 24 includes a support rod 241 and a preload screw 242, with the support rod 241 attached to the operating rod 50 and the preload screw 242 attached to the support rod 241.

[0056] Specifically, the support rod 241 is rod-shaped, with its length and diameter conforming to the dimensions of the preload hole 23, and its lower surface is the contact surface, which contacts the outer wall surface of the operating rod 50. For good contact with the operating rod 50 and stable support, the contact surface is flat, curved, or other shape. The upper part of the support rod 241 has a screw hole or other connection structure for connection with the preload screw 242. When installed, the support rod 241 and the preload screw 242 pass through the preload hole 23, and the preload screw 242 applies preload to the support rod 241, causing the support rod 241 to attach to the operating rod 50.

[0057] As shown in Figure 10, the preload assembly 24 is located between the support rod 241 and the preload screw 242, and also includes a preload spring 243 whose ends connect the support rod 241 and the preload screw 242, respectively.

[0058] Specifically, the support rod 241 is made to penetrate the preload hole 23 of the support sleeve 20 until its contact surface contacts the outer wall surface of the operating rod 50, so that the lower part of the preload spring 243 touches the upper part of the support rod 241 and the upper part of the preload spring 243 touches the lower part of the preload screw 242. Finally, the preload screw 242 is inserted into the preload hole 23 and gradually tightened until the desired preload is achieved. In this case, the preload spring 243 is in a compressed state, and the support rod 241 provides preload to the operating rod 50.

[0059] As an implementation method, the operating mechanism 100 includes a fastener, and the end 1 of the support sleeve 20 has a screw hole 1, and the end 2 of the guide sleeve 10 has a screw hole 2, so that the fastener passes through screw hole 1 and screw hole 2 (not shown in the figure) and fastens the end 2 of the guide sleeve 10 and the mounting hole 1 21.

[0060] Specifically, there is screw hole 1 on the left side of the support sleeve 20 and screw hole 2 on the right side of the guide sleeve 10. Insert the right side of the guide sleeve 10 into mounting hole 21 on the left side of the support sleeve 20, align screw hole 1 with screw hole 2, and screw it in completely. Turn the fastener with an external tool until both screw holes are tightened, ensuring the fastener passes through screw holes 1 and 2. In this case, the fastener ensures a secure connection between the right side of the guide sleeve 10 and the left side of the support sleeve 20, creating an integrated structure between the guide sleeve 10 and the support sleeve 20.

[0061] Secondly, in embodiments of the present invention, a robot is provided that includes a robot arm and an operating mechanism 100, wherein the robot arm is connected to the operating mechanism 100.

[0062] Specifically, in this embodiment, the operating mechanism 100 is connected to the robot arm of a robot, and the robot controls the operating mechanism 100 with the robot arm so that the operating mechanism 100 can rotate or twist the workpiece.

[0063] In the specification and claims of this invention, the terms "and / or" mean one or more any combination of related matters and all possible combinations thereof, including those combinations. Here, the term "includes" or other variant meanings include non-exclusive inclusion, so that a process, method, product or system containing a set of elements includes those elements, as well as other elements not expressly listed, or inherent elements of such a process, method, product or system. Unless there are further limitations, an element limited by the phrase "includes one of..." does not preclude the presence of other identical elements in a process, method, product or system containing that element.

[0064] The above order of the embodiments of the present invention is for illustrative purposes only and does not indicate the advantages or disadvantages of the embodiments. The above are only specific embodiments of the present invention, and the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the scope of the technology disclosed herein, and such modifications or substitutions are within the scope of protection of the present invention. Therefore, the scope of protection of the present invention is subject to the scope of protection of the claims. [Explanation of symbols]

[0065] 10: Guide Sleeve 20: Support Sleeves 21: Mounting hole 1 22: Mounting hole 2 23: Preload hole 24: Preload Assembly 241: Support Rod 242: Preload screw 243: Preload spring 30: Elastic parts 31: Spring parts 32: Guide Column 40: Storage groove 41: Guide groove 42: Operating groove 421: Groove 3 422: Groove 4 50: Operating rod 51: Spherical part 52: Relay section 53: Plug 1 54: Through hole 1 55: Through hole 2 56: Through hole 3 57: Plug 2 60: Slide groove 61: Groove 1 62: Groove 2 X: Direction 1 Y: Direction 2 100: Operating mechanism

Claims

1. An operating mechanism including a guide sleeve and a support sleeve connecting the guide sleeve, Within the guide sleeve, an elastic component and a housing groove extending along direction 1 are provided, and the elastic component is slidably provided within the housing groove. Within the support sleeve, there are mounting holes 1 and 2 extending along the direction 1, with mounting hole 1 located at end 1 of the support sleeve, mounting hole 2 located at end 2 of the support sleeve, and mounting hole 2 communicating with mounting hole 1, the inner diameter of mounting hole 1 being larger than the inner diameter of mounting hole 2, the end 1 of the guide sleeve being separated from mounting hole 1, the end 2 of the guide sleeve being inserted into mounting hole 1 and fixedly connected to end 1 of the support sleeve, and the receiving groove communicating with mounting hole 1. An operating rod is provided within the mounting hole 2, the end 1 of the operating rod extends to the housing groove, a spherical portion is provided at the end 1 of the operating rod, the spherical portion abuts against the elastic component, the diameter of the spherical portion is larger than the inner diameter of the mounting hole 2, the end 2 of the operating rod extends outside the mounting hole 2, and a relay portion is provided at the end 2 of the operating rod. A slide groove extending along the direction 1 is provided on the outer circumferential surface of the end portion 2 of the guide sleeve, the slide groove is in communication with the housing groove, and the slide groove includes mutually communicating grooves 1 and 2, wherein in direction 1, groove 2 is on the side of groove 1 away from the elastic component, and in direction 2, the width of groove 1 is smaller than the width of groove 2. A plug 1 is drilled in the spherical portion, and the plug 1 is drilled in the groove 1, both ends of the plug 1 in the direction 2 abut against the inner wall surface of the groove 1, and the plug 1 is driven by the spherical portion to slide up to the groove 2. An operating mechanism characterized by the following:

2. The aforementioned housing groove includes a guide groove and an operating groove, the guide groove is provided at end 1 of the guide sleeve, the operating groove is provided at end 2 of the guide sleeve, the operating groove communicates with the guide groove, and the slide groove communicates with the operating groove. The end portion 2 of the guide sleeve is inserted into the mounting hole 1 and is fixedly connected to the end portion 1 of the support sleeve, and the operating groove is in communication with the mounting hole 1. The operating mechanism according to feature 1.

3. The aforementioned operating groove includes grooves 3 and 4 that are in communication with each other, wherein groove 3 is in communication with the guide groove and groove 1, groove 4 is in communication with groove 2 and mounting hole 1, the inner diameter of groove 4 is larger than the inner diameter of groove 3, and the inner diameter of groove 3 is greater than or equal to the inner diameter of the guide groove. The spherical portion abuts against the inner wall surface of the groove 3, and the spherical portion is driven by the operating rod to slide up to the groove 4, and the spherical portion causes the plug 1 to slide from the groove 1 to the groove 2. The operating mechanism according to feature 2.

4. The operating mechanism according to claim 3, characterized in that the groove 4 gradually narrows from a direction approaching the mounting hole 1 to a direction away from the mounting hole 1.

5. The operating mechanism according to claim 2, characterized in that the elastic component includes a spring component and a guide column, the spring component is provided in the guide groove, the guide column is provided in the operating groove and abuts against the spring component, and the spherical portion abuts against the guide column.

6. The operating mechanism according to claim 1, characterized in that the spherical portion is provided with a through hole 1 extending along the axial direction of the spherical portion, and the plug 1 is drilled into the through hole 1 and fixedly connected to the spherical portion.

7. The operating mechanism according to claim 6, wherein the spherical portion is provided with a through hole 2 extending along the axial direction of the spherical portion, the direction of the through hole 2 is perpendicular to the direction of the through hole 1, the plug 1 is provided with a through hole 3 extending along the radial direction of the plug 1, the operating mechanism further includes the plug 2, the plug 2 is drilled in the through hole 2 and the through hole 3, and the plug 1 is fixedly connected to the spherical portion.

8. The operating mechanism according to claim 1, characterized in that there is a preset gap between the operating rod and the inner wall surface of the mounting hole 2, there are a plurality of preload holes at the end 2 of the support sleeve, the preload holes communicate with the mounting hole 2, the plurality of preload holes are provided on the outer circumferential surface of the support sleeve at intervals along the axial direction of the support sleeve, the preload assembly abuts against the operating rod, and the operating rod is in the axial direction of the support sleeve.

9. The operating mechanism according to claim 8, wherein the preload assembly includes a support rod and a preload screw, the support rod abuts against the operating rod, and the preload screw abuts against the support rod.

10. The operating mechanism according to claim 9, wherein the preload assembly further includes a preload spring, the preload spring is provided between the support rod and the preload screw, and both ends of the preload spring are connected to the support rod and the preload screw, respectively.

11. The operating mechanism according to claim 1, wherein the operating mechanism further includes a fastener, a screw hole 1 is provided at the end 1 of the support sleeve, a screw hole 2 is provided at the end 2 of the guide sleeve, the fastener is drilled in the screw hole 1 and the screw hole 2, and the end 2 of the guide sleeve is fixedly connected to the mounting hole 1.

12. A robot comprising a robotic arm and the aforementioned operating mechanism according to any one of claims 1 to 11, wherein the robotic arm is connected to the operating mechanism.

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