CN110340920A - Actuating unit and robot end's executive device - Google Patents
Actuating unit and robot end's executive device Download PDFInfo
- Publication number
- CN110340920A CN110340920A CN201910732749.8A CN201910732749A CN110340920A CN 110340920 A CN110340920 A CN 110340920A CN 201910732749 A CN201910732749 A CN 201910732749A CN 110340920 A CN110340920 A CN 110340920A
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- CN
- China
- Prior art keywords
- power
- transmission device
- carriage
- actuating unit
- transmission
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of actuating unit, including pedestal, provides power device, transmission device and the stroke apparatus of power, and power device is installed on pedestal and connects transmission device, and transmission device connects stroke apparatus and executes power output.Further, actuating unit of the invention is applied to robot becomes robot end's executive device, convenient for executing operation by the output of the signal of robot to control the movement of robot end's executive device.The circular motion that power source exports is converted to the movement of straight line by transmission device, stroke apparatus by the present invention, and the structure of transmission device of the invention and formation device is simple, uses convenient for manufacture, reduces cost, greatly facilitates popularization and applies.
Description
Technical field
The present invention relates to actuating unit more particularly to a kind of transmitting power and realize that end power output executes dynamic
Force actuators and robot end's executive device.
Background technique
Robot end's executive device acts for robot execution and concerns the flexible of robot output action and behaviour
Make convenience.Robot end's executive device of the prior art using spiral wheel construction may be implemented robot output action can
It is handling.However, causing at high cost since the labyrinth of helical wheel is under conditions of meeting accurate control.
It therefore, will be more sharp if providing the actuating unit that a kind of Simple low-cost is used for robot end's executive device
In manufacture and realize being widely applied for robot.
Summary of the invention
The purpose of the present invention is to provide a kind of actuating unit, simple structure reduces cost.
In order to solve the above technical problems, the present invention provides a kind of actuating unit, including pedestal, provides the dynamic of power
Power device, transmission device and stroke apparatus, power device are installed on pedestal and connect transmission device, and transmission device connects stroke dress
Set execution power output.
Actuating unit as described above, the transmission device include the first transmission device and the second transmission device, institute
State the first transmission device connecting power device, the second transmission device connects the first transmission device, described in the connection of the second transmission device
Stroke apparatus executes power output.
Actuating unit as described above, first transmission device include first connecting rod and second connecting rod, and described
Two transmission devices include the first carriage and the second carriage, the first end connecting power device of the first connecting rod, and the
The second end of one connecting rod connects the first carriage, the first end connecting power device of the second connecting rod, and the of second connecting rod
Two ends connect the second carriage, and first carriage and the second carriage are separately connected stroke apparatus.
Actuating unit as described above, the power device include power transmission axle sleeve and power source, described
First connecting rod and second connecting rod are separately connected power transmission axle sleeve.
Actuating unit as described above, the power transmission axle sleeve include the first axle sleeve hole and the second axle sleeve hole, institute
It states first connecting rod and the power transmission axle sleeve is connected by first axle sleeve hole, the second connecting rod passes through second axle sleeve
Hole connects the power transmission axle sleeve.
Actuating unit as described above, first carriage include the first sliding block, second carriage
Including the second sliding block, first sliding block, the second sliding block are respectively arranged in the stroke apparatus and relative to the stroke apparatus
Sliding.
Actuating unit as described above, the stroke apparatus be sliding rail, first sliding block, the second sliding block relative to
The sliding rail sliding.
Actuating unit as described above further includes the limit dress for limiting the movement position of the transmission device
It sets.
Actuating unit as described above, the limiting device include the first limiting device and the second limiting device, institute
Stating the second limiting device is limited post, and first limiting device is limit sensors, the sensor sensing transmission device
Movement position and feedback signal, and then realize transmission device limit.
The present invention furthermore provides a kind of robot end's executive device, including actuating unit and end execute
Device, the transmission device include pedestal, provide power device, transmission device and the stroke apparatus of power, and power device is installed on
Pedestal simultaneously connects transmission device, and the end effector is installed on the transmission device, and the transmission device connects stroke apparatus
It executes power output to the end effector and executes movement.
Robot end's executive device as described above, the transmission device include the first transmission device and the second transmission dress
It sets, the end effector includes first end actuator and second end actuator, and first transmission device is separately connected
Power device and first end actuator, second transmission device are separately connected power device and second end actuator, institute
It states the power of the first, second transmission device reception power device and conducts to the first, second end effector and execute operation.
Robot end's executive device as described above, the stroke apparatus are sliding rail, first transmission device, second
Transmission device slides relative to the sliding rail and first, second end effector is driven to slide.
As described above, actuating unit simple structure of the invention reduces manufacturing cost, provides convenient for manufacture processing
The flexibly convenient and fast power transmission way of output meets the needs of power transmission output.The present invention is based on the machines of actuating unit
Device people end executive device realizes the flexible control of the end execution movement output of robot, reduces robot end and hold
The cost that luggage is set is also convenient for being widely applied and promote convenient for the operation control of the power output of robot end's executive device.
Detailed description of the invention
Fig. 1 is the 1st status architecture schematic diagram of actuating unit of the invention.
Fig. 2 is the 2nd status architecture schematic diagram of actuating unit of the invention.
Fig. 3 is the top view of the 2nd state of actuating unit of the invention.
Fig. 4 is the 3rd status architecture schematic diagram of actuating unit of the invention.
Fig. 5 is the top view of the 1st state of actuating unit of the invention.
Fig. 6 is the cross-sectional view along line A-A of Fig. 5.
Fig. 7 is the 1st status architecture schematic diagram of end effector of robot of the invention.
Fig. 8 is the 2nd status architecture schematic diagram of end effector of robot of the invention.
Specific embodiment
Reach the technical means and efficacy that predetermined purpose is taken for the present invention is further explained, below in conjunction with attached drawing and reality
Example is applied, to specific embodiment, structure feature and its effect of actuating unit and end effector of robot of the invention,
Detailed description are as follows.
Power transmission is given the equipment for needing dynamic Control by actuating unit of the invention, realizes the movement road to equipment
The control of diameter and motion mode.Actuating unit of the invention realizes the transmission and control of power using the simple structure of structure
Need to realize the end-equipment of action control, it is at low cost convenient for manufacture.Actuating unit of the invention can according to need by
Power according to different power control mode and realize the transmitting of power.
Such as Fig. 1, actuating unit of the invention includes for installing fixed pedestal 1, installing fixed move with pedestal
Power device, transmission device and the stroke apparatus for realizing powerdriven output trajectory.Pedestal 1 is a rectangular pedestal, in base
Power device is installed in the middle position of seat 1, and power device includes providing the power source 9 of power output and being used to provide power
The power source axle sleeve 2 of source output connection, power source 9 are mounted to and in below pedestal 1, can be used stepper motor, be watched
Take the modes such as motor, direct current generator or cylinder.
Power source axle sleeve 2 is installed on the output shaft of the output end of power source 9, including opposite the to extend out in two sides
One axle sleeve and the second axle sleeve, the transmission shaft 8 of power source 9 pass through pedestal 1 and install with power source axle sleeve 2 with output power.
Transmission device includes the first transmission device and the second transmission device, and the first transmission device connection power source axle sleeve is used for
Transfer motion power is to the second transmission device, and the second transmission device is connect with the first transmission device and stroke apparatus respectively, to realize
The power of first transmission device is exported according to the transmission that the track of stroke apparatus executes power.
First transmission device includes first connecting rod 3 and second connecting rod 4, and the second transmission device includes 5 He of the first carriage
Second carriage 6.The first end 32 of first connecting rod 3 connects the first axle sleeve of power source axle sleeve 2, second end by axial aperture structure
31 connect the first carriage 5 by axial aperture structure.The first end 41 of second connecting rod 4 connects power source axle sleeve by axial aperture structure
2 the second axle sleeve, second end 42 connect the second carriage 6 by axis hole.
First carriage 5 includes the first sliding part 51 and first connecting portion 52, and the first sliding part 51 is matched with stroke apparatus 7
Close the motion profile for realizing the transmission output of power, the first sliding part 51 can be on two independent first sliding shoe 51 and the
Sliding shoe 12 once are also possible to the sliding shoe of integral structure.In this embodiment, the first sliding part 51 uses first
Upper and lower sliding shoe 51,12 is fixedly connected to form a sliding part by the structure of screw hole, and the first downslide motion block 12 can be using row
The sliding block structure of industry standard, so that manufacturing cost and use cost is reduced, the lower end surface of the first downslide motion block 12 and stroke apparatus 7
Cooperation.
Stroke apparatus 7 of the invention using rectilinear path track linear guide, the lower end surface of the first sliding block 12 in order to
Cooperate the structure of stroke apparatus 7 and the straight-line groove of spill is set, the first sliding block 12 is forming device by the straight-line groove of spill
Upper sliding.
Second carriage 6 includes the second sliding part and second connecting portion 62, due to second connecting rod 4 and the second carriage
6 stroke distances in range state are short, the length of second connecting portion 62, and the second connection also may be implemented and do not connect with second
The connection of bar 4 simultaneously conducts power required for stroke, and the second sliding part cooperates with stroke apparatus 7 to be realized power transmission and be converted to
According to the sliding output for the linear guide rail structure output straight line for forming device 7.Second sliding part can be the second upper and lower sliding shoe
Two independent sliding shoe compositions, are also possible to the slide construction of the integral structure of an entirety.In this embodiment,
Two sliding parts using the second upper and lower sliding shoe 61,13 structures and by axis hole by the way of be connected to one, second glide
Motion block 13, which uses the sliding block of existing standard to make, reduces cost, the lower end surface setting of the second sliding shoe 13 and stroke apparatus with this
The straight-line groove of 7 rail shapes cooperation is converted to the second downslide motion block 13 by the power output transmission of power device
The sliding force of straight line exports.
Actuating unit of the invention passes through first connecting rod 3, the second connecting rod 4 of connecting power device, and connection first connects
First carriage 5 of bar 3, the second carriage 6 for connecting second connecting rod 4, as the power source of power device passes through
The power output of transmission shaft 8 drives power source axle sleeve 2 to move, and then drives first connecting rod 3 and second connecting rod 4 with transmission shaft 8
Rotation and move, the movement of first connecting rod 3 and second connecting rod 4 drives the first carriage 5 and the second carriage 6 respectively
Movement, since the movement of the first carriage 5 and the second carriage is limited by the guide rail of stroke apparatus 7, so that the
One, the movement of the second carriage 5,6 can only be moved in a straight line according to 7 straight path for forming device.
Actuating unit of the invention further includes the limit for limiting the movement position of the first, second carriage 5,6
Position device.Limiting device includes the second limiting device 11 and the first limiting device 10, in a particular embodiment, the second limiting device
11 be installed on pedestal 1 positioned at power source axle sleeve 2 adjacent locations and limit power source axle sleeve 2 in the movement with transmission shaft 8
Position, using the limited post of mechanical structure.Second limiting device includes sensor and position-limited wheel 101, and position-limited wheel 101 is located at the
The close position and the transducing signal for the sensor that sets out when touching the second carriage 6 of two carriages 6 simultaneously pass through signal
The signal of call wire 102a, 102b, 102c transmission further controls the movement of power source 9, thus limitation the second sliding dress
Set the position of 6 further movement.In a particular embodiment, in order to protect and avoid the first carriage 5, the second carriage
6 collide when moving to minimum stroke and influence to use, the first carriage 5 side opposite with the second carriage 6
Provided with limited block 53 flexible.
For the structure of apparent description actuating unit of the invention and the principle of power train process, below
Carry out similar description.
It is the state diagram in the distance for moving to minimum stroke of actuating unit of the invention such as Fig. 2 and Fig. 3.?
Under the state, power source 9 drives first connecting rod 3, second connecting rod 4 to transport by the power that the rotary motion of transmission shaft 8 is driven
Dynamic, the first carriage 5, the second carriage 6 distinguish connected first connecting rod 3, second connecting rod 4 drives and fills along stroke
It sets 7 guide rail linear slide and moves, the first carriage 5, the second carriage 6 move opposite each other, both final movement
And cannot be close to minimum range, limited block 53 further avoids the first carriage 5,6 row of the second carriage to minimum shape
At due to too close to and collide.The pressure contact signal of the second carriage 6 is not sensed in the first limiting device 10
In the case where, the movement of the limit to the second carriage 6 is not triggered.
Such as Fig. 4, on the basis of the minimum stroke of the invention of Fig. 2, the power source of actuating unit of the invention is filled
9 are set by 8 output power of transmission shaft, the rotation of transmission shaft 8 drives first connecting rod 3, the movement of second connecting rod 4 and is driven respectively dynamic
Power is to the first carriage 5, the second carriage 6.First carriage 5, the second carriage 6 are by first connecting rod 3, second
The effect of the driving force of the opposite direction of connecting rod 4, and slide along the linear guide of stroke apparatus 7 and mutually deviate from and move, make
The first carriage 5, the second carriage 6 first connecting rod 3, second connecting rod 4 drive under along stroke apparatus 7 guide rail
Mutually deviate from and separates.
Referring again to Fig. 1 and Fig. 5, on the basis of fig. 4, the first carriage 5, the second carriage 6 continue on stroke
The guide rail of device 7 slide and continue mutually away from movement, until the first carriage 5, the second carriage 6 between the two by
First connecting rod 3, second connecting rod 4 brachium influence and reach maximum stroke distances on the guide rail of stroke apparatus 7.At this point,
Second carriage 6 contacts position-limited wheel 101, and position-limited wheel 101 senses signal and passed by signal transducting wire 102a, 102b, 102c
Power source 9 is controlled after the signal processing led again and applies static limit power so that second connecting rod 4 keep current pose and cannot
It is further moved away from first connecting rod 3, as a result, but also sliding row between the first carriage 5, the second carriage 6
The distance of journey is up to the maximum stroke movement position of actuating unit of the invention.
Such as Fig. 6, first, second is driven to connect it can further be seen that the transmission shaft 8 of power source passes through power source axle sleeve 2
The movement of bar 3,4 drives movement so that the sliding shoe 51 of the first carriage, the sliding shoe 61 of the second carriage reach
To range and cannot again away from movement, first connecting rod 3 at this time, 4 the two of second connecting rod distance also reach maximum
Backwards to movement travel.So far, from the state of the minimum stroke of the first carriage 5 of Fig. 2, the second carriage 6 to Fig. 1, Fig. 5
Range, a complete stroke of actuating unit thereby completing the present invention, in Fig. 1, Fig. 5 of range
Under state, transmission shaft 8 is rotated backward, then first connecting rod, second connecting rod 3,4 is driven to move toward one another, to drive the first sliding dress
It sets, the second carriage 5,6 is moved toward one another also along the guide rail straight line of stroke apparatus 7, the minimum stroke until reaching Fig. 2
Position.
It can be seen from the above, the first, second connecting rod 3,4 of actuating unit of the invention by connection power source axle sleeve 2,
And first carriage 5, the second carriage 6 are respectively cooperating with the guide rail of stroke apparatus 7, realize the biography of power plant
The circular motion of moving axis 8 is converted to straight path movement by actuating unit of the invention, so as to realize that straight line is transported
Dynamic power executes output.
Such as Fig. 7, actuating unit of the invention is applied in the end executive device of robot, becomes of the invention
One specific embodiment of robot end's executive device.In this embodiment, in actuating unit of the invention
First carriage 5, the second carriage 6 install end effector, realize the first carriage 5, second carriage 6
Linear motion drives the motion profile of the straight s line of end effector.Specifically, in the present embodiment, in the first carriage
The first clamping jaw 15 is fixed in the installation of first top shoe 51, fixes the second clamping jaw in the second top shoe 61 installation of the second carriage
16。
Fig. 7 is the closed state of the minimum stroke of robot end's executive device of the invention, the first clamping jaw 15 and second
Clamping jaw 16 is in the state of closure.First pawl end 151 of the first clamping jaw 15 is connected and fixed on the first top shoe 51, the second clamping jaw
First pawl end 161 is connected and fixed on the second top shoe 61, the second pawl end 152 of the first clamping jaw 15 and the second pawl of the second clamping jaw 16
End 162 forms circular clamping jaw sky as the movement of the first carriage 5 and the second carriage 6 is closed to minimum stroke
Between, it can be used for clamping circular object.
Fig. 8 is the open configuration of the range of robot end's executive device of the invention, the first clamping jaw 15 and second
Clamping jaw 16 is flared to the state of maximum distance.If clamping circular object between the first clamping jaw 15, the second clamping jaw 16 in Fig. 7
Body, then the first clamping jaw 15 and the second clamping jaw 16 opening can be so that the circular object of clamping be released out in fig. 8.
The structure and principle of the actuating unit of the invention of foregoing description, those skilled in the art can accordingly and
Implementation is converted, for example, first connecting rod 3, second connecting rod 4 can be shaped to the shape of arc, while by stroke
Device 7 is transformed to the sliding rail of arc, then when actuating unit movement of the invention, first connecting rod, second connecting rod 3,4
The first carriage 5, the second carriage 6 is driven to do the curvilinear motion of arc along the arc track of stroke apparatus 7.Example again
Such as, actuating unit of the invention can also be applied to other fields by those skilled in the art, by the first clamping jaw 15,
Two clamping jaws 16 are transformed into the first clamping jaw of rectangular strip, the second clamping jaw, then can be in the first clamping jaw, the second jaw action, will
Movement pushes two different objects to gather and is pushed to middle position by the first clamping jaw, the second clamping jaw.Certainly, the skill of this field
Art personnel can also adapt to the needs of different occasions according to above-mentioned implementation or equivalents of the invention.
In conclusion the present invention has clearly described the principle and structure of actuating unit by above-mentioned embodiment,
Also the structure and principle that actuating unit of the invention is applied to robot end's executive device are further illustrated, is passed through
Transmission device, stroke apparatus and the circular motion that power source exports is converted into the movement of on-circular, and biography of the invention
The structure of dynamic device and stroke apparatus is simple, uses convenient for manufacture, reduces cost, greatly facilitates popularization and application.
Those skilled in the art can obviously note, the example of above-mentioned verbal description and picture and text of the invention
Illustrate, the patent right protection scope being not intended to limit the invention, in above-mentioned technical solution and specific implementation of the invention
Under the description and schematic illustration of mode and its attached drawing, this can be realized by technological means known to transformation, equivalent, replacement etc.
The goal of the invention of invention and principle, within scope of patent protection of the invention.
Claims (12)
1. a kind of actuating unit, which is characterized in that including pedestal, provide power device, transmission device and the stroke of power
Device, power device are installed on pedestal and connect transmission device, and transmission device connects stroke apparatus and executes power output.
2. actuating unit according to claim 1, which is characterized in that the transmission device includes the first transmission device
With the second transmission device, the first transmission device connecting power device, the second transmission device connect the first transmission device, second
Transmission device connects the stroke apparatus and executes power output.
3. actuating unit according to claim 2, which is characterized in that first transmission device includes first connecting rod
And second connecting rod, second transmission device include the first carriage and the second carriage, the first of the first connecting rod
Connecting power device is held, the second end of first connecting rod connects the first carriage, and the first end of the second connecting rod connects power
The second end of device, second connecting rod connects the second carriage, and first carriage and the second carriage are separately connected
Stroke apparatus.
4. actuating unit according to claim 3, which is characterized in that the power device includes power transmission axle sleeve
And power source, the first connecting rod and second connecting rod are separately connected power transmission axle sleeve.
5. actuating unit according to claim 4, which is characterized in that the power transmission axle sleeve includes the first axle sleeve
Hole and the second axle sleeve hole, the first connecting rod connect the power transmission axle sleeve by first axle sleeve hole, and described second connects
Bar connects the power transmission axle sleeve by second axle sleeve hole.
6. actuating unit according to claim 5, which is characterized in that first carriage includes first sliding
Block, second carriage include the second sliding block, and first sliding block, the second sliding block are respectively arranged in the stroke apparatus simultaneously
It is slided relative to the stroke apparatus.
7. actuating unit according to claim 6, which is characterized in that the stroke apparatus be sliding rail, described first
Sliding block, the second sliding block are slided relative to the sliding rail.
8. actuating unit according to any claim from 1 to 6, which is characterized in that further include for limiting
The limiting device of the movement position of the transmission device.
9. actuating unit according to claim 8, which is characterized in that the limiting device includes the first limiting device
With the second limiting device, second limiting device is limited post, and first limiting device is limit sensors, the sensing
Device senses the movement position and feedback signal of transmission device, and then realizes transmission device limit.
10. a kind of robot end's executive device, which is characterized in that including actuating unit and end effector, the biography
Dynamic device includes pedestal, provides power device, transmission device and the stroke apparatus of power, and power device is installed on pedestal and connects
Transmission device, the end effector are installed on the transmission device, and it is defeated that the transmission device connection stroke apparatus executes power
Movement is executed to the end effector out.
11. robot end's executive device according to claim 10, which is characterized in that the transmission device includes first
Transmission device and the second transmission device, the end effector include first end actuator and second end actuator, described
First transmission device is separately connected power device and first end actuator, and second transmission device is separately connected power device
With second end actuator, first, second transmission device receives the power of power device and conducts to the first, second end
Actuator executes operation.
12. robot end's executive device according to claim 11, which is characterized in that the stroke apparatus is sliding rail,
First transmission device, the second transmission device slide relative to the sliding rail and drive first, second end effector
Sliding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910732749.8A CN110340920A (en) | 2019-08-09 | 2019-08-09 | Actuating unit and robot end's executive device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910732749.8A CN110340920A (en) | 2019-08-09 | 2019-08-09 | Actuating unit and robot end's executive device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110340920A true CN110340920A (en) | 2019-10-18 |
Family
ID=68184449
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910732749.8A Pending CN110340920A (en) | 2019-08-09 | 2019-08-09 | Actuating unit and robot end's executive device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110340920A (en) |
-
2019
- 2019-08-09 CN CN201910732749.8A patent/CN110340920A/en active Pending
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Effective date of registration: 20200728 Address after: 518000 Guangdong Shenzhen Baoan District Xin'an Street Hai Yu community Xin'an road six Yujing Bay Garden 1 301 Applicant after: Purple Hoon Intelligent Technology (Shenzhen) Co.,Ltd. Address before: 100085, Beijing, Haidian District information industry base on the third floor, No. 1, building four, paragraph 441, C Applicant before: ZIXUN INTELLIGENT TECHNOLOGY (BEIJING) Co.,Ltd. |
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