CN219075689U - Terminal alignment device and mobile robot - Google Patents

Abstract

The utility model relates to a terminal alignment device and a mobile robot, wherein the terminal alignment device comprises: the device comprises a sealing cover assembly, a guide moving frame, a base, a first elastic piece and a second elastic piece. The guide frame can be movably arranged along the first dimension under the limitation of the cover assembly. The base is connected to the guide frame in a sliding manner along the second dimension. The two first elastic pieces apply a first elastic acting force and a second elastic acting force with opposite directions to the guide frame respectively in a deformation state. The two second elastic pieces apply a third elastic acting force and a fourth elastic acting force with opposite directions to the base respectively in a deformation state. In the process of butting the end tool with the workpiece or the station, under the condition that deformation adjustment is carried out on the first elastic piece or the second elastic piece, the guide and movement frame can be separated from a balance point of a first dimension or a balance point of a second dimension, so that the end tool can adapt to position deviation between the end tool and the workpiece or the station, and the butting with the workpiece or the station is completed at a more proper position.

Description

Terminal alignment device and mobile robot

Technical Field

The utility model relates to the technical field of mobile robots, in particular to a terminal alignment device and a mobile robot.

Background

A mobile robot is a machine device that automatically performs work. It can accept human command, run pre-programmed program and act according to the principle set by artificial intelligence technology.

In order to meet the functional requirements of workpiece picking and placing operation or station butt joint operation, a mobile robot is generally provided with an end tool and an arm body mechanism, wherein the arm body mechanism can drive a main body of the end relative to the mobile robot to move, so that the end tool and a workpiece form nested fit or the end tool clamps the workpiece. The end tool can also move to a preset position relative to the station under the control of the arm body mechanism, so as to implement butt joint.

In the workpiece taking and placing operation or the station butting operation, the end tool cannot smoothly finish the workpiece taking and placing operation or the station butting operation due to the fact that the positioning control precision of the arm body mechanism on the end tool is insufficient or the actual position of the workpiece or the station is deviated from the standard.

Disclosure of Invention

Based on the above, it is necessary to provide a terminal alignment device and a mobile robot for solving the problem that the terminal tool cannot smoothly finish the work-piece picking and placing operation or the station docking operation due to the insufficient positioning control precision of the arm mechanism to the terminal tool or the deviation between the actual position of the work-piece or the station and the standard.

An end alignment device comprising:

a capping assembly;

the guide and movement frame can be movably arranged along a first dimension under the limit of the cover assembly;

the base is connected with the guide frame in a sliding manner along the second dimension;

the first elastic piece is connected between the sealing cover assembly and the guide moving frame; the first elastic piece applies a first elastic acting force and a second elastic acting force with opposite directions to the guide frame in a deformation state respectively so as to reset the guide frame to a balance point in the first dimension; a kind of electronic device with high-pressure air-conditioning system

The second elastic piece is connected between the guide frame and the base; and the second elastic piece respectively applies a third elastic acting force and a fourth elastic acting force with opposite directions to the base in a deformation state so as to reset the base to a balance point of a second dimension.

Above-mentioned terminal counterpoint device, closing cap subassembly is connected to arm body mechanism, and arm body mechanism passes through closing cap subassembly and drives terminal counterpoint device bulk movement. An end tool is connected to the base. The base is connected with the sealing cover assembly through the guiding and moving frame, the guiding and moving frame can move along the first dimension under the limit of the sealing cover assembly, the base is connected with the guiding and moving frame in a sliding manner along the second dimension, and the tail end tool has a moving space along the first dimension and the second dimension relative to the sealing cover assembly. Before the end tool is not butted with the workpiece or the station, the guide frame is at the balance point of the first dimension due to the action of the first elastic action force and the second elastic action force, and the base is at the balance point of the second dimension due to the action of the third elastic action force and the fourth elastic action force. The end tool is in a predetermined position relative to the closure assembly. In the process of butting the end tool with the workpiece or the station, under the condition that deformation adjustment is carried out on the first elastic piece or the second elastic piece, the guide and movement frame can be separated from a balance point of a first dimension or a balance point of a second dimension, so that the end tool can adapt to position deviation between the end tool and the workpiece or the station, and the butting with the workpiece or the station is completed at a more proper position.

In one embodiment, the guide frame comprises a side unit and a guide rod; the side units are arranged in pairs; at least two guide rods are connected between the two side units; any two guide rods are arranged in parallel; the base is sleeved on the guide rod in a sliding way.

In one embodiment, the base comprises a main base body and a linear guide connected to the main base body; the linear guide piece is sleeved on the guide rod and forms rolling contact with the guide rod.

In one embodiment, the side unit comprises a side slider connected to the guide rod and a rolling contact connected to the side slider; the rolling contact is used for abutting against the inner wall of the sealing cover assembly.

In one embodiment, the second elastic member is sleeved on the guide rod; the second elastic piece is propped against between the guide moving frame and the base.

In one embodiment, the terminal alignment device further comprises a magnetic force generating member, a permanent magnet and a pressing member; the magnetic force generating piece is connected to the sealing cover assembly; the permanent magnet is connected to the pressing piece; the pressing piece is arranged in a sliding manner along a third dimension relative to the sealing cover assembly, and is provided with a first guide surface in a shrinkage shape; the base is provided with a second guide surface which is contracted; the first guide surface at least partially intersects the second guide surface on a projection plane perpendicular to the third dimension.

In one embodiment, the terminal alignment device further includes a guide pillar member and a third elastic member; the guide post piece is connected to the cover assembly; the propping piece is sleeved on the guide post piece in a sliding way; the third elastic piece is connected to the pressing piece and generates a fifth elastic acting force on the pressing piece; the first guide surface is biased by the fifth spring force to have a tendency to move away from the narrow end of the second guide surface.

In one embodiment, the cover assembly comprises a first cover body and a cover plate detachably connected to the first cover body; the first cover body is provided with a chute for accommodating the guide and movement frame; the cover plate is arranged on the opening side of the chute.

In one embodiment, the first cover body is provided with a clamping groove communicated with the sliding groove, and one end, far away from the guide and movement frame, of the first elastic piece is accommodated in the clamping groove; and/or the guide frame is provided with a limiting part, and one end, which is relatively close to the guide frame, of the first elastic piece is in nested fit with the limiting part.

A mobile robot includes an end alignment device.

Drawings

Fig. 1 is a schematic perspective view of a mobile robot according to an embodiment of the present utility model;

FIG. 2 is a schematic perspective view of an end alignment device according to an embodiment of the utility model;

FIG. 3 is a perspective view of the end effector shown in FIG. 2 at another angle;

FIG. 4 is an exploded view of the end-to-end alignment device of FIG. 2;

FIG. 5 is an exploded view of the end-to-end alignment device of FIG. 4 with the second cover hidden;

FIG. 6 is an exploded view of the end effector shown in FIG. 4 at another angle, with the second cover hidden;

FIG. 7 is an exploded view of the end-to-end alignment device of FIG. 6 with the magnetic force generating member, cover plate and permanent magnets hidden;

fig. 8 is an exploded view of the end-to-end alignment device shown in fig. 7.

Reference numerals: 100. a mobile robot; 10. an arm mechanism; 20. an end tool; 30. a traveling device; 40. a terminal alignment device; 50. a capping assembly; 51. a first cover; 511. a chute; 512. a window; 513. a clamping groove; 52. a cover plate; 53. a second cover; 60. a guide and movement frame; 61. a side unit; 611. a side slider; 612. a rolling contact; 613. a limiting part; 62. a guide rod; 70. a base; 71. a main seat body; 711. a main board; 712. a middle block; 713. a second guide surface; 72. a linear guide; 81. a first elastic member; 82. a second elastic member; 91. a magnetic force generating member; 92. a permanent magnet; 93. a pressing piece; 931. a pallet part; 932. a cone pressing part; 933. a groove; 934. a first guide surface; 94. a guide post member; 95. and a third elastic member.

Detailed Description

In order that the above objects, features and advantages of the utility model will be readily understood, a more particular description of the utility model will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present utility model. The present utility model may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the utility model, whereby the utility model is not limited to the specific embodiments disclosed below.

In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present utility model.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present utility model, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present utility model, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be that the first and second features are in direct contact, or that the first and second features are in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely under the second feature, or simply indicating that the first feature is less level than the second feature.

It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.

The following describes the technical scheme provided by the embodiment of the utility model with reference to the accompanying drawings.

As shown in connection with fig. 1 to 8, the present utility model provides a mobile robot 100.

In some embodiments, as shown in connection with fig. 1, the mobile robot 100 includes an arm mechanism 10 and an end tool 20. The arm mechanism 10 is used for driving the end tool 20 to move. Specifically, the arm mechanism 10 has a fixed end and a butt end, and the butt end of the arm mechanism 10 is used for connecting with the end tool 20. The arm mechanism 10 is provided with a plurality of movable joints between the fixed end and the butt end, so that the end tool 20 can be flexibly driven to move. In one embodiment, the arm body mechanism 10 is a robotic arm.

In some embodiments, the end tool 20 is a clamp for temporarily securing or otherwise engaging a workpiece in a desired manner. In other embodiments, the end tool 20 is a structure for interfacing with a clamp. In still other embodiments, the end tool 20 is used to form a predetermined mating interface with a structure on a workstation. In one embodiment, the end tool 20 is rod-shaped and has a tapered major side guide surface at the end. The major side guide surfaces serve to guide the end of the end tool 20 into the docking aperture of the workpiece or station.

In some embodiments, as shown in connection with fig. 1, the mobile robot 100 further includes a traveling device 30, the traveling device 30 being movable. The fixed end of the arm mechanism 10 is connected to the running gear 30.

In some embodiments, as shown in connection with fig. 1, the mobile robot 100 further includes an end alignment device 40, where the end alignment device 40 is connected between the arm mechanism 10 and the end tool 20, so that a certain relative movement range exists between the end tool 20 and the butt end of the arm mechanism 10, so that the end tool 20 can adapt to the position of the workpiece or the station. In one embodiment, the end tool 20 is a fixture for holding a first workpiece, a second workpiece is placed at a workstation, and the mobile robot 100 inserts the first workpiece into a docking aperture in the second workpiece by moving the first workpiece. The end alignment device 40 may be used to accommodate deviations from the mating hole for the first workpiece.

In some embodiments, as shown in connection with fig. 2, 3 and 5, the end alignment device 40 includes: the device comprises a cover assembly 50, a guide frame 60, a base 70, a first elastic member 81 and a second elastic member 82. The guide 60 is movable along a first dimension under the constraints of the closure assembly 50. The base 70 is slidably coupled to the guide frame 60 along a second dimension. The first elastic members 81 are connected between the cover assembly 50 and the guide frame 60, and the two first elastic members 81 apply a first elastic force and a second elastic force opposite to each other to the guide frame 60 in a deformed state, so that the guide frame 60 is reset to a balance point in a first dimension. The second elastic members 82 are connected between the guide frame 60 and the base 70, and the two second elastic members 82 apply a third elastic force and a fourth elastic force with opposite directions to the base 70 in a deformed state, so that the base 70 is reset to a balance point of the second dimension.

Specifically, the cover assembly 50 is connected to the arm mechanism 10, and the arm mechanism 10 drives the end alignment device 40 to move integrally through the cover assembly 50. The end tool 20 is connected to the base 70. The base 70 is connected to the cover assembly 50 by a guide frame 60, and the guide frame 60 is movable along a first dimension under the limitation of the cover assembly 50, the base 70 is slidably connected to the guide frame 60 along a second dimension, and the end tool 20 has a movable space relative to the cover assembly 50 along the first dimension and the second dimension. Before the end tool 20 is docked with the workpiece or station, the guide frame 60 is at the balance point in the first dimension due to the first elastic force and the second elastic force, and the base 70 is at the balance point in the second dimension due to the third elastic force and the fourth elastic force. The end tool 20 is in a predetermined position relative to the closure assembly 50. In the process of docking the end tool 20 with the workpiece or the station, under the condition that the first elastic member 81 or the second elastic member 82 is deformed and adjusted, the guide frame 60 can be separated from the balance point of the first dimension or the balance point of the second dimension of the base 70, so that the end tool 20 can adapt to the position deviation between the end tool and the workpiece or the station, and the docking with the workpiece or the station is completed at a more proper position.

Specifically, as shown in fig. 5 and 7, the direction of the first elastic force is opposite to the direction of the second elastic force. The first elastic force and the second elastic force are provided by two different first elastic members 81. The magnitude of the deformation of the first elastic member 81 determines the magnitude of the first elastic force or the second elastic force. When the guide frame 60 is at the balance point of the first dimension, the magnitude of the first elastic acting force is consistent with the magnitude of the second elastic acting force, so that the first elastic acting force and the second elastic acting force cancel each other, and the guide frame 60 can be stabilized at the balance point of the first dimension. After the guide frame 60 leaves the balance point of the first dimension, the deformation amplitude of the first elastic members 81 at both sides of the guide frame 60 changes, the magnitudes of the first elastic acting force and the second elastic acting force are different, and after the first elastic acting force and the second elastic acting force are mutually counteracted, the rest combined force of the first elastic acting force and the second elastic acting force acts on the guide frame 60, so that the guide frame 60 has a tendency of resetting to the balance point of the first dimension.

Specifically, the direction of the third elastic force is opposite to the direction of the fourth elastic force. The third elastic force and the fourth elastic force are provided by two different second elastic members 82. The magnitude of the deformation of the second elastic member 82 determines the magnitude of the third elastic force or the fourth elastic force. When the base 70 is at the balance point of the second dimension, the magnitude of the third elastic force is consistent with the magnitude of the fourth elastic force, so that the third elastic force and the fourth elastic force cancel each other, and the base 70 can be stabilized at the balance point of the second dimension. After the base 70 leaves the balance point of the second dimension, the deformation amplitude of the second elastic member 82 at two sides of the base 70 changes, the third elastic force and the fourth elastic force are different in magnitude, and after the third elastic force and the fourth elastic force are mutually offset, the rest combined force of the third elastic force and the fourth elastic force acts on the base 70, so that the base 70 has a tendency to return to the balance point of the second dimension. After a single workpiece or station docking process is completed and the end tool 20 is moved away from the workpiece or station, the end alignment device 40 can be docked with another workpiece or station by resetting the guide frame 60 or base 70.

In some embodiments, the first dimension is perpendicular to the second dimension.

In some embodiments, as shown in connection with fig. 4 and 5, the capping assembly 50 includes a first cap 51 and a cap plate 52 detachably connected to the first cap 51. The first cover 51 is provided with a chute 511 for accommodating the guide frame 60. The cover plate 52 is provided on the opening side of the chute 511. As shown in fig. 7, specifically, the first cover 51 has a sliding slot 511 inside, and the sliding slot 511 is used for accommodating the guide frame 60. After the guide frame 60 is placed into the chute 511 from the opening side of the chute 511, the cover plate 52 is connected to the first cover 51, and the guide frame 60 is restrained within the chute 511, thereby forming a sliding space of the guide frame 60. The first cover 51 and the cover 52 define the guide frame 60 in a third dimension, which is perpendicular to the first dimension and the second dimension, respectively. Specifically, as shown in fig. 7, the first cover 51 is further provided with a window 512 so that one surface of the main board 711 is exposed outside the first cover 51 and can be abutted against the end tool 20. Specifically, the opening side of the chute 511 is provided toward the second cover 53. In one embodiment, as shown in connection with fig. 3 and 4, the closure assembly 50 further includes a second cap 53. The first cover 51 and the second cover 53 cooperate to form a space for accommodating the guide frame 60. The abutting end of the arm mechanism 10 is connected to the second cover 53.

In some embodiments, as shown in fig. 5 and 8, the first cover 51 is provided with a clamping groove 513 connected to the sliding groove 511, and an end of the first elastic member 81, which is relatively far from the guiding frame 60, is accommodated in the clamping groove 513. Specifically, the clamping groove 513 performs a limiting function on the first elastic member 81 in the second dimension, so that the position of the first elastic member 81 is kept stable, and only the length expansion and contraction occurs along the first dimension direction.

In some embodiments, as shown in fig. 7 and 8, the guiding frame 60 is provided with a limiting portion 613, and an end of the first elastic member 81, which is relatively close to the guiding frame 60, is in nested engagement with the limiting portion 613. Specifically, one end of the first elastic member 81 is in nesting engagement with the guide frame 60, so that the first elastic member 81 is held in stable abutment with the guide frame 60. In one embodiment, the limiting portion 613 is embedded in one end of the first elastic member 81. In one embodiment, the first elastic member 81 is a compression spring. The first elastic member 81 may be other devices that generate the first elastic force and the second elastic force on the guide frame 60 by deformation.

In some embodiments, as shown in connection with fig. 7 and 8, the guide frame 60 includes a side unit 61 and a guide rod 62. The side units 61 are provided in pairs. At least two guide rods 62 are connected between the two side units 61. Any two guide rods 62 are arranged in parallel. The base 70 is slidably sleeved on the guide rod 62. Specifically, a space in which the side unit 61 moves in the first dimension is formed in the cap assembly 50. Further, the space can also limit the maximum range of motion of the side unit 61 relative to the cover assembly 50 in the first dimension. Since both ends of the guide bar 62 are fixedly connected with the side unit 61, when more than two guide bars 62 pass through the base 70, the angle of the base 70 with respect to the side unit 61 can be limited. More specifically, when the number of guide rods 62 is two, the structure of the end alignment device 40 can be simplified while satisfying the condition that the rotation of the base 70 relative to the guide frame 60 is restricted. In one embodiment, the guide bar 62 is circular in cross section and has a smooth surface to reduce friction. Specifically, the two first elastic members 81 apply a first elastic force and a second elastic force to both sides of the lateral unit 61, respectively.

In some embodiments, as shown in connection with fig. 5 and 8, the side unit 61 includes a side slider 611 connected to the guide bar 62 and a rolling contact 612 connected to the side slider 611. The rolling contact 612 is configured to abut an inner wall of the cap assembly 50. Specifically, the side slide 611 provides support for the guide bar 62 such that a stable relative position is maintained between the guide bar 62 and the different guide bar 62. More specifically, two side sliders 611 are disposed opposite to each other, and one end of the guide bar 62 is connected to one side slider 611 and the other end is connected to the other side slider 611. The outer diameter of the rolling contact 612 is greater than the thickness of the side slider 611, and the location of the connection of the rolling contact 612 to the side slider 611 enables a gap to be formed between the side slider 611 and the inner wall of the closure assembly 50. Therefore, the side slider 611 does not contact the inner wall of the cap assembly 50, and the rolling contact member 612 reduces the friction force when the side unit 61 moves along the first dimension relative to the cap assembly 50 by making rolling contact with the inner wall of the cap assembly 50. Further, the same side unit 61 includes at least two rolling contacts 612 to better prevent the side slider 611 from contacting the cap assembly 50. The rolling contact 612 is disposed on a side of the side slider 611 facing away from the guide bar 62. In one embodiment, one first elastic member 81 is abutted between one side of the side sliding block 611 and the cover assembly 50, and the other first elastic member 81 is abutted between the other side of the side sliding block 611 and the cover assembly 50. More specifically, the rolling contact 612 is a ball bearing.

More specifically, the limiting portion 613 is provided on the side slider 611 and integrally connected to the main body of the side slider 611. Further, the defining portions 613 are provided at both ends of the side slider 611 in the first dimension.

In some embodiments, as shown in connection with fig. 7 and 8, the base 70 includes a main housing 71 and a linear guide 72 connected to the main housing 71. The linear guide 72 is sleeved on the guide rod 62 and forms rolling contact with the guide rod 62. Specifically, the main housing 71 is used to interface with the end tool 20. The linear guide 72 forms a nested fit with the guide 62 from the circumference of the guide 62. It will be appreciated that the inner diameter of the linear guide 72 corresponds to the outer diameter of the guide bar 62, or that the inner diameter of the linear guide 72 is slightly larger than the outer diameter of the guide bar 62. Since the linear guide 72 and the guide rod 62 form rolling contact, wear of the base 70 or the guide rod 62 can be reduced, which is advantageous for improving the service life of the end alignment device 40. In one embodiment, the linear guide 72 comprises a linear bearing. In another embodiment, the linear guide 72 includes other means of contact with the guide bar 62 using balls or rollers. In some embodiments, the main housing 71 includes a main board 711 and a center block 712 connected to the main board 711. In one embodiment, the main plate 711 has a flat plate shape, and the middle block 712 is disposed to protrude toward the inner space of the cap assembly 50 with respect to the main plate 711. The linear guide 72 is received in the center block 712, thereby improving the connection stability between the linear guide 72 and the main housing 71. More specifically, the middle block 712 is provided with an inner cavity, the main plate 711 covers the opening of the inner cavity of the middle block 712 after the linear guide 72 is accommodated in the inner cavity of the middle block 712, and the main plate 711 and the middle block 712 are fixed by a fastener. More specifically, the fastener is a screw. The center block 712 passes through the window 512, and the main board 711 is outside the window 512.

Specifically, as shown in fig. 5 and 7, the first cover 51 forms sliding grooves 511 on both sides of the center block 712. Further, the chute 511 is used for accommodating the side unit 61. In one embodiment, for the space of the first cover 51 for accommodating the center block 712, the space communicates with the chute 511.

In some embodiments, as shown in fig. 7 and 8, the second elastic member 82 is sleeved on the guide rod 62. The second elastic member 82 abuts between the guiding frame 60 and the base 70. Specifically, since the second elastic member 82 is sleeved on the guide rod 62, the guide rod 62 can limit the second elastic member 82, and the space occupied by the guide rod 62 and the second elastic member 82 can be reduced, thereby improving compactness. More specifically, the second elastic member 82 is a compression spring, and two ends thereof are abutted between the side sliding block 611 and the middle block 712.

In some embodiments, as shown in connection with fig. 4-6, the end alignment device 40 further includes a magnetic force generating member 91, a permanent magnet 92, and a pressing member 93. The magnetic force generating member 91 is connected to the cap assembly 50. The permanent magnet 92 is connected to the presser 93. The pressing member 93 is slidably disposed relative to the cover assembly 50 along a third dimension, and the pressing member 93 has a first guiding surface 934 that is tapered. The base 70 has a second guide surface 713 that is tapered. On a projection plane perpendicular to the third dimension, the first guide surface 934 at least partially intersects the projection of the second guide surface 713. Specifically, the magnetic force generating member 91 is capable of generating a magnetic field in the triggered state. Further, the triggered state of the magnetic force generating member 91 is understood to be a state in which a current is supplied to the coil of the magnetic force generating member 91. It can also be understood that the current passing through the coil of the magnetic force generating member 91 is greater than a predetermined current value. In one embodiment, the magnetic force generating member 91 is an electromagnet.

Specifically, the first guide surface 934 and the second guide surface 713 retract in the same direction. In one embodiment, the first guide surface 934 and the second guide surface 713 converge in a direction from the first guide surface 934 toward the second guide surface 713. Since the first guide surface 934 at least partially intersects the projection of the second guide surface 713, the second guide surface 713 forms an encircling relationship with respect to the first guide surface 934. In one embodiment, the distance between the first guide surface 934 and the second guide surface 713 decreases or the first guide surface 934 moves toward the narrow end of the second guide surface 713 as the first guide surface 934 moves in the positive direction in the third dimension. When the first guide surface 934 and the second guide surface 713 are in abutting contact, the first guide surface 934 generates a positioning pressure on the second guide surface 713, and the direction of the positioning pressure is perpendicular to the third dimension, so that the base 70 moves along the first dimension or the second dimension relative to the cover assembly 50. When the narrow end of the first guide surface 934 contacts the narrow end of the second guide surface 713, then the first reference line of the base 70 coincides with the second reference line of the cap assembly 50, enabling positioning between the base 70 and the cap assembly 50. With the base 70 attached to the workpiece, the workpiece can be thereby brought into position. Referring to fig. 5, the first dimension is parallel to the direction of arrow F1, the second dimension is parallel to the direction of arrow F2, and the positive direction of the third dimension is the same direction as the direction of arrow F3.

Specifically, the first reference line is a straight line fixed relative to the base 70, and the second reference line is a straight line fixed relative to the cap assembly 50. In one embodiment, the first guide surface 934 is convex and the second guide surface 713 is concave. Specifically, the magnetic force generating member 91 generates a magnetic force action between the magnetic field and the permanent magnet 92 in the activated state. The permanent magnet 92 is magnetically driven to move the presser 93 closer to the base 70 in the positive direction of the third dimension. In one embodiment, the permanent magnet 92 is disposed between the first guide surface 934 and the magnetic force generating member 91, and the magnetic field of the magnetic force generating member 91 and the magnetic field of the permanent magnet 92 repel to move the first guide surface 934 along the narrow end adjacent the second guide surface 713. Further, when the guide frame 60 is at the balance point in the first dimension and the base 70 is at the balance point in the second dimension, the first reference line coincides with the second reference line.

In some embodiments, as shown in fig. 4 to 6, the end alignment device 40 further includes a guide post 94 and a third elastic member 95. Column member 94 is coupled to closure assembly 50. The pressing member 93 is slidably sleeved on the guide post member 94. The third elastic member 95 is connected to the pressing member 93 and generates a fifth elastic force to the pressing member 93. The first guide surface 934 is subject to a fifth elastic force with a tendency to move away from the narrow end of the second guide surface 713. Specifically, after the magnetic force generating member 91 stops generating the magnetic field, the fifth elastic force moves the first guide surface 934 away from the narrow end of the second guide surface 713, and the first guide surface 934 and the second guide surface 713 are no longer in contact, so that the base 70 has a space for movement with respect to the cover assembly 50 in the first dimension and the second dimension. In one embodiment, as shown in fig. 5 and 6, the pressing member 93 has a supporting plate portion 931 and a tapered portion 932, and the supporting plate portion 931 is slidably sleeved on the guide post 94. The third elastic member 95 is sleeved on the guide post 94 and abuts between the supporting plate 931 and the cover assembly 50. Further, a first guiding surface 934 is formed on the crush cone 932. The column member 94 is screwed to the first cover 51. One end of the guide post 94 far from the first cover 51 limits the supporting plate 931, so as to prevent the supporting plate 931 from separating from the guide post 94. More specifically, as shown in fig. 5, a recess 933 accommodating the permanent magnet 92 is formed in a side of the pallet portion 931 facing the magnetic force generation member 91, and a cone-pressing portion 932 is connected to the other side of the pallet portion 931. More specifically, the magnetic force generating member 91, the permanent magnet 92, and the pressing member 93 are disposed between the first cover 51 and the second cover 53. Further, the first cover 51 is detachably connected to the second cover 53.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples illustrate only a few embodiments of the utility model, which are described in detail and are not to be construed as limiting the scope of the utility model. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the utility model, which are all within the scope of the utility model. Accordingly, the scope of protection of the present utility model is to be determined by the appended claims.

Claims (10)

1. An end alignment device, comprising:

a capping assembly;

the guide and movement frame can be movably arranged along a first dimension under the limit of the cover assembly;

the base is connected with the guide frame in a sliding manner along the second dimension;

the first elastic piece is connected between the sealing cover assembly and the guide moving frame; the first elastic piece applies a first elastic acting force and a second elastic acting force with opposite directions to the guide frame in a deformation state respectively so as to reset the guide frame to a balance point in the first dimension; a kind of electronic device with high-pressure air-conditioning system

The second elastic piece is connected between the guide frame and the base; and the second elastic piece respectively applies a third elastic acting force and a fourth elastic acting force with opposite directions to the base in a deformation state so as to reset the base to a balance point of a second dimension.

2. The end alignment device of claim 1, wherein the guide comprises a side unit and a guide bar; the side units are arranged in pairs; at least two guide rods are connected between the two side units; any two guide rods are arranged in parallel; the base is sleeved on the guide rod in a sliding way.

3. The end alignment device of claim 2, wherein the base comprises a main housing and a linear guide coupled to the main housing; the linear guide piece is sleeved on the guide rod and forms rolling contact with the guide rod.

4. The end alignment device of claim 2, wherein the side unit comprises a side slider connected to the guide bar and a rolling contact connected to the side slider; the rolling contact is used for abutting against the inner wall of the sealing cover assembly.

5. The terminal alignment device according to claim 2, wherein the second elastic member is sleeved on the guide rod; the second elastic piece is propped against between the guide moving frame and the base.

6. The end alignment device of claim 1, further comprising a magnetic force generating member, a permanent magnet, and a bias member; the magnetic force generating piece is connected to the sealing cover assembly; the permanent magnet is connected to the pressing piece; the pressing piece is arranged in a sliding manner along a third dimension relative to the sealing cover assembly, and is provided with a first guide surface in a shrinkage shape; the base is provided with a second guide surface which is contracted; the first guide surface at least partially intersects the second guide surface on a projection plane perpendicular to the third dimension.

7. The end alignment device of claim 6, further comprising a post member and a third resilient member; the guide post piece is connected to the cover assembly; the propping piece is sleeved on the guide post piece in a sliding way; the third elastic piece is connected to the pressing piece and generates a fifth elastic acting force on the pressing piece; the first guide surface is biased by the fifth spring force to have a tendency to move away from the narrow end of the second guide surface.

8. The end-to-end alignment device of claim 1, wherein the cover assembly comprises a first cover and a cover removably coupled to the first cover; the first cover body is provided with a chute for accommodating the guide and movement frame; the cover plate is arranged on the opening side of the chute.

9. The terminal alignment device according to claim 8, wherein the first cover body is provided with a clamping groove communicated with the sliding groove, and one end of the first elastic piece, which is relatively far away from the guiding and moving frame, is accommodated in the clamping groove; and/or the guide frame is provided with a limiting part, and one end, which is relatively close to the guide frame, of the first elastic piece is in nested fit with the limiting part.

10. A mobile robot comprising an end alignment device according to any one of claims 1 to 9.

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