CN111761604B - Manipulator, optical fiber core butt joint element and optical fiber core moving device - Google Patents
Manipulator, optical fiber core butt joint element and optical fiber core moving device Download PDFInfo
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- CN111761604B CN111761604B CN202010653206.XA CN202010653206A CN111761604B CN 111761604 B CN111761604 B CN 111761604B CN 202010653206 A CN202010653206 A CN 202010653206A CN 111761604 B CN111761604 B CN 111761604B
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- clamping
- optical fiber
- fiber core
- clamped
- motor
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- 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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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B6/00—Light guides; Structural details of arrangements comprising light guides and other optical elements, e.g. couplings
- G02B6/24—Coupling light guides
- G02B6/36—Mechanical coupling means
- G02B6/38—Mechanical coupling means having fibre to fibre mating means
- G02B6/3807—Dismountable connectors, i.e. comprising plugs
- G02B6/3898—Tools, e.g. handheld; Tuning wrenches; Jigs used with connectors, e.g. for extracting, removing or inserting in a panel, for engaging or coupling connectors, for assembling or disassembling components within the connector, for applying clips to hold two connectors together or for crimping
Abstract
The embodiment of the application provides a manipulator, optic fibre core butt joint component and optic fibre core mobile device, and this manipulator includes: the clamping component, first power component and second power component, wherein, first power component is articulated with the clamping component, so that the clamping component's clamping end automatic centre gripping optic fibre core butt joint component by the clamping end, first power component is used for driving the clamping component along the motion of second direction, second power component is used for when the clamping end of clamping component is located the clamping position of optic fibre core butt joint component, fix the second state of clamping end, so that when making first power component drive the clamping component along the motion of second direction, the clamping component can be centre gripping optic fibre core butt joint component and is moving along the second direction together, and the phenomenon that optic fibre core butt joint component drops from the clamping component can not exist.
Description
Technical Field
The application relates to the technical field of optical fiber core butt joint, in particular to a manipulator, an optical fiber core butt joint element and an optical fiber core moving device.
Background
With the rapid development of power grid construction and the continuous improvement of the automation degree of power system equipment, the optical fiber power communication network is also developed unprecedentedly.
At present, as a basic carrier network for optical fiber communication transmission, an optical fiber network still has an original manual mode of operation and maintenance, that is, a manual operation is usually required to perform a fiber jumping operation on site to realize a docking exchange between different optical fibers. However, due to the influence of many factors such as geographical location dispersion and the complexity of manual switching operation, such manual operation in daily life is heavy and time-consuming, and therefore, how to implement automatic butt-joint switching of optical fiber cores becomes a very important concern.
For the problem, the prior art shows that the multiple optical fibers can be integrated in the same butt-joint switching device, and the butt joint of the multiple optical fibers in the optical fiber network is realized through automatic control, so that the data information exchange and transmission in the multiple optical fibers are realized. Therefore, a mechanical arm capable of driving the optical fiber core butt joint element for fixing the external optical fiber to realize automatic butt joint and separation of the optical fiber core is urgently needed.
Disclosure of Invention
In view of this, an embodiment of the present invention provides a manipulator, which is used to drive an optical fiber core docking element for fixing an external optical fiber to move, so as to implement automatic docking and separation of an optical fiber core.
In order to achieve the above purpose, the present application provides the following technical solutions:
a manipulator, comprising: the clamping element, a first power assembly and a second power assembly, wherein the first power assembly is hinged with the clamping element, so that the clamping end of the clamping element is in a first state when the clamped end of the optical fiber core butting element is clamped and is subjected to acting force in a first direction provided by the clamped end, and is in a second state when the acting force in the first direction is removed;
wherein the clamping element comprises a first clamping element and a second clamping element, the first clamping element has a first clamping end, the second clamping element has a second clamping end, the first clamping end and the second clamping end constitute a clamping end of the clamping element, in the first state, the distance between the first clamping end and the second clamping end is greater than the maximum dimension of the clamped end in the clamping direction, in the second state, the distance between the first clamping end and the second clamping end is less than the maximum dimension of the clamping end in the clamping direction; the first direction is perpendicular to the contact surface of the clamping end and the clamped end;
the first power assembly is used for driving the clamping element to move along a second direction, wherein the second direction is parallel to the direction from the mechanical arm to the optical fiber core butt joint element;
the second power assembly is used for fixing the second state of the clamping end when the clamping end of the clamping element is located at the clamping position of the optical fiber core butting element, so that the first power assembly drives the optical fiber core butting element to move along the second direction through the clamping element.
Optionally, the clamping element has a first accommodating space, and when the clamping end of the clamping element clamps the clamped end, the first accommodating space is used for accommodating the clamped end;
the size of the first accommodating space in a third direction is increased and then decreased along the second direction, wherein the third direction is perpendicular to the second direction and the extending direction of the first accommodating space.
Optionally, the surface of the clamping element forming the first accommodating space is an arc-shaped surface.
Optionally, the first power assembly includes a first motor and a first pull rod in threaded connection with the first motor, a first region of the first pull rod is hinged to the clamping element, and the first motor drives the clamping element to move along the second direction through the first pull rod.
Optionally, a first area of the first pull rod has a first groove on a side facing the first clamping element, a first protrusion on a side facing the first pull rod of the first clamping element, and the first pull rod is hinged with the first clamping element through the first groove and the first protrusion;
the first area of the first pull rod is provided with a second groove on one side facing the second clamping element, the second clamping element is provided with a second bulge on one side facing the first pull rod, and the first pull rod and the second clamping element are hinged through the second groove and the second bulge.
Optionally, the method further includes:
and the first encoder is fixedly connected with the first motor and is used for acquiring the moving distance of the first pull rod in the second direction in the working process of the first motor.
Optionally, the second power assembly comprises:
the second motor and a second pull rod are in threaded connection with the second motor;
the gear is in meshed connection with the second pull rod;
the lifting element is in threaded connection with the gear;
the first fixing piece is fixedly connected with the lifting element;
the first fixing shell is sleeved on the outer surface of the first fixing piece and used for preventing the first fixing piece from rotating;
the second motor drives the gear to rotate through the second pull rod, the gear drives the first fixing piece to move in the second direction, and when the clamping end of the clamping element clamps the clamped end, the clamping state of the clamping element is fixed in the third direction by the aid of the first fixing piece.
Optionally, the first fixing member and the lifting element form a second accommodating space, and the second power assembly further includes:
at least one first guide pin located in the second accommodating space, wherein the extending direction of the first guide pin is parallel to the second direction, and a first end of the first guide pin is fixedly connected with the lifting element;
the first elastic piece is sleeved on the side surface of the first guide pin;
the second fixing piece is positioned on one side of the second end of the first elastic piece, which is far away from the first end of the first elastic piece, a first through hole is formed in the second fixing piece, the second end of the first guide pin penetrates through the first through hole and is fixedly connected with the first fixing piece, and the orthographic projection area of the first through hole along the second direction is smaller than that of the first elastic piece along the second direction;
the second fixing piece is used for fixing the relative positions of the clamping end and the clamped end in the second direction when the clamping end of the clamping element clamps the clamped end.
Optionally, the second power assembly further comprises:
the sliding element is sleeved outside the first pull rod and comprises a sliding shell and a sliding sealing cover fixedly connected with the sliding shell, and the sliding shell and the sliding sealing cover form a third accommodating space;
a first bearing located in the third accommodating space;
the gear comprises a first horizontal part and a first vertical part, the first vertical part extends into the third accommodating space, the first bearing is sleeved on the surface of one side, facing the first bearing, of the first vertical part, and the first vertical part and the gear are kept relatively fixed in the second direction.
Optionally, the manipulator further includes:
and the second encoder is fixedly connected with the second motor and is used for acquiring the rotating distance of the second pull rod in the working process of the second motor.
Optionally, the method further includes: a positioning assembly, the positioning assembly comprising:
the calibration piece is fixedly connected with one side, away from the first bearing, of the sliding shell of the sliding element;
the photoelectric switch is positioned on one side of the calibration piece, which is far away from the sliding element;
a photoelectric switch fixing member for fixing the photoelectric switch;
the photoelectric switch is used for sending an optical signal to the calibration piece and positioning the initial position of the sliding element moving in the second direction by receiving the optical signal reflected by the calibration piece.
Optionally, the method further includes:
the motor mounting structure comprises a first motor mounting block and a second motor mounting block which are stacked, wherein the first motor mounting block is used for mounting a first motor, and the second motor mounting block is used for mounting a second motor;
a resistance detection element located between the first motor mounting block and the second motor mounting block;
the resistance detection element comprises a first circuit board fixedly connected with the first motor mounting block and a second circuit board fixedly connected with the second motor mounting block, the first circuit board and the second circuit board are electrically connected when acting force between the clamping end and the clamped end in the second direction is smaller than a preset value, and the first circuit board and the second circuit board are electrically disconnected when acting force between the clamping end and the clamped end in the second direction is larger than a preset value so as to control the second motor to stop working.
An optical fiber core butt joint element comprising: the connection body is located the stiff end of connection body one end and being located the connection body other end by the exposed core, wherein, the stiff end is used for fixing the fibre core of outside optic fibre, be used for with the fixed connection of manipulator by the exposed core.
Optionally, the dimension of the clamped end in the third direction increases and then decreases along the second direction;
when the manipulator and the optical fiber core butting element are in a clamping state, the second direction is parallel to the direction from the manipulator to the optical fiber core butting element, and the third direction is perpendicular to the second direction and the extending direction of the clamped end.
Optionally, the surface of the clamped end is an arc-shaped surface.
An optical fiber core moving device comprising the robot of any one of the above and the optical fiber core butting member of any one of the above.
The manipulator that this application embodiment provided includes: the clamping device comprises a clamping element, a first power assembly and a second power assembly, wherein the first power assembly is hinged to the clamping element, so that a clamped end of the optical fiber core butting element is clamped by a clamping end of the clamping element, the first power assembly is used for driving the clamping element to move along a second direction, the second power assembly is used for fixing a second state of the clamping end when the clamping end of the clamping element is located at a clamping position of the optical fiber core butting element, so that when the first power assembly drives the clamping element to move along the second direction, the clamping element can clamp the optical fiber core butting element to move along the second direction, and the phenomenon that the optical fiber core butting element falls off from the clamping element cannot occur.
In the manipulator that this application embodiment provided, clamping element includes first clamping element and second clamping element, first clamping element has first exposed core, second clamping element has the second exposed core, first exposed core with the second exposed core constitutes clamping element's exposed core, wherein, under the first state, first exposed core with the distance between the second exposed core is greater than the maximum dimension of the terminal along the centre gripping direction by fiber core interfacing element, so that clamping element's exposed core can follow fiber core interfacing element's the top of the terminal by the exposed core, through fiber core interfacing element's the terminal by the centre gripping, reach fiber core interfacing element's by the centre gripping position. In the second state, the distance between the first clamping end and the second clamping end is smaller than the maximum dimension of the clamping end along the clamping direction, so that the clamping end of the clamping element reaches the clamping position of the clamped end of the optical fiber core butting element, and after the second state of the clamping element is fixed by the second power assembly, the clamped end of the optical fiber core butting element can be clamped by the clamping end of the clamping element.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a robot provided in an embodiment of the present application;
FIG. 2 is a schematic structural diagram of a clamping element according to an embodiment of the present disclosure;
FIG. 3 is a schematic structural diagram of a first power assembly provided in an embodiment of the present application;
FIG. 4 is a schematic structural view of a clamping element and a first power assembly provided by an embodiment of the present application;
FIG. 5 is a schematic structural diagram of a second power assembly provided in an embodiment of the present application;
6-8 are schematic structural views of a second power assembly portion component provided by an embodiment of the present application;
fig. 9 and fig. 10 are schematic structural diagrams of a first package provided in an embodiment of the present application;
FIG. 11 is a schematic structural diagram of a second power assembly portion component provided in accordance with an embodiment of the present application;
FIG. 12 is a schematic structural diagram of a positioning assembly according to an embodiment of the present disclosure;
fig. 13 is a schematic structural diagram of a first motor mounting block according to an embodiment of the present application;
fig. 14 is a schematic structural diagram of a second motor mounting block provided in an embodiment of the present application;
FIG. 15 is a schematic structural diagram of an optical fiber core butt joint element according to an embodiment of the present disclosure;
fig. 16 is a schematic structural diagram of an optical fiber core moving device according to an embodiment of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, but the present application may be practiced in other ways than those described herein, and it will be apparent to those of ordinary skill in the art that the present application is not limited to the specific embodiments disclosed below.
Next, the present application will be described in detail with reference to the drawings, and in the detailed description of the embodiments of the present application, the cross-sectional views illustrating the structure of the device are not enlarged partially according to the general scale for convenience of illustration, and the drawings are only examples, which should not limit the scope of the protection of the present application. In addition, the three-dimensional dimensions of length, width and depth should be included in the actual fabrication.
As described in the background section, there is a need for a manipulator that can drive an optical fiber core docking element for fixing an external optical fiber to move, so as to achieve automatic docking and separation of the optical fiber core.
In view of this, the present application provides a robot arm, as shown in fig. 1, the robot arm includes: the clamping component is used for clamping the optical fiber core butting component so as to drive the optical fiber core butting component to move in a second direction under the action of the first power component, and the second power component is used for fixing the clamping state (namely a second state) of the clamping component when the clamping component is located at the clamping position of the optical fiber core butting component, so that when the first power component drives the clamping component to move, the clamping component can clamp the optical fiber core butting component to move together, and the phenomenon that the optical fiber core butting component falls off from the clamping component cannot occur.
Specifically, in the embodiment of the present application, as shown in fig. 2, the clamping element includes a first clamping element 101 and a second clamping element 102, the first clamping element 101 has a first clamping end 103, the second clamping element 102 has a second clamping end 104, and the first clamping end 103 and the second clamping end 104 constitute the clamping end of the clamping element 100, wherein in the first state, a distance between the first clamping end 103 and the second clamping end 104 is greater than a maximum dimension of the clamped end 703 of the fiber core abutting element 700 along the clamping direction, so that the clamping end of the clamping element can reach the clamped position of the fiber core abutting element 700 from a top end of the clamped end 703 of the fiber core abutting element 700 through the clamped end 703 of the fiber core abutting element 700. In the second state, the distance between the first clamping end 103 and the second clamping end 104 is smaller than the maximum dimension of the clamping ends along the clamping direction, so that the clamping ends of the clamping elements reach the clamping position of the clamped end 703 of the fiber core abutting element, and the clamping ends of the clamping elements can clamp the clamped end 703 of the fiber core abutting element 700 after the second state of the clamping elements is fixed by the second power assembly.
It should be noted that, in the embodiment of the present application, the first direction is perpendicular to the contact surface of the clamping end and the clamped end, and specifically, after the clamping end of the clamping element is contacted with the clamped end of the fiber core abutting element and continues to move towards the fiber core abutting element, the force provided by the clamped end to the clamping end is perpendicular to the contact surface of the clamping end and the clamped end, and is directed to the clamping end from the clamped end. The second direction is parallel to the direction from the manipulator to the optical fiber core butting element, and is vertical if the manipulator and the optical fiber core butting element are vertically placed.
It should be further noted that, in the embodiment of the present application, a dimension of the clamped end of the optical fiber core abutting element in the third direction increases and then decreases along the second direction, so that during the movement of the clamping end along the second direction, an included angle is formed between the acting force provided by the clamped end to the clamping end and the second direction, and further, the acting force provided by the clamped end to the clamping end can provide a component force along the third direction, so that the distance between the first clamping end and the second clamping end increases; and after the first clamping end and the second clamping end continuously pass through the maximum size of the clamped end along the clamping direction along the second direction, the acting force provided by the clamped end to the clamping end is gradually reduced, the distance between the first clamping end and the second clamping end is gradually reduced until the acting force provided by the clamped end to the clamping end disappears, and the clamping end is in a second state. Wherein the third direction is parallel to the clamping direction.
Taking the second direction as a vertical direction as an example, specifically, after the clamping element moves downward from above the optical fiber core butting element to contact the clamped end of the optical fiber core butting element, the clamping end continues to move downward, the clamped end provides a force to the clamping end, the force is perpendicular to a contact surface between the clamped end and the clamping end, due to the size of the clamped end gradually increasing along the third direction, the force provided by the clamped end to the clamping end is along an obliquely upward direction, the force can provide a horizontal outward component, under the action of the horizontal outward component, the distance between the first clamping end and the second clamping end increases until the clamping end passes through the maximum size of the clamped end along the clamping direction, the clamping end continues to move downward, and the size of the clamped end in the third direction gradually decreases, the acting force provided by the clamped end to the clamping end is along an oblique lower direction, the oblique lower direction can provide a horizontal outward component force, the horizontal component force is gradually reduced along with the downward movement of the clamping end, and the clamping end is in the second state until the horizontal component force disappears.
Similarly, when the clamping end is separated from the clamped end, the clamping end moves upwards from the clamping position of the clamped end, the clamped end provides an obliquely downward acting force to the clamping end, the obliquely downward acting force provides a horizontal outward component force, under the action of the horizontal component force, the distance between the first clamping end and the second clamping end gradually increases until the first clamping end and the second clamping end pass through the maximum size of the clamped end along the clamping direction and continue to move upwards, the clamped end provides an obliquely upward acting force to the clamping end, the obliquely upward acting force can provide a horizontal outward component force, and as the clamping end continues to move upwards, the horizontal component force gradually decreases, the distance between the first clamping end and the second clamping end gradually decreases, and when the clamping end is separated from the clamped end, the acting force provided by the clamped end to the clamping end disappears, and the clamping end is in a second state.
Optionally, on the basis of any one of the above embodiments, in an embodiment of the present application, when the clamping end assumes the second state, the first clamping end and the second clamping end are parallel, and the first clamping element and the second clamping element are parallel.
Therefore, the manipulator provided by the embodiment of the application can automatically realize the clamping and the separation of the optical fiber core butt joint element, and the manipulator and the optical fiber core butt joint element can automatically drive the optical fiber core butt joint element to move along the second direction when being in a clamping state, so that the automatic butt joint and the separation of the optical fiber core butt joint element are realized.
On the basis of any one of the above embodiments, in an embodiment of the present application, the clamping member has a first accommodating space for accommodating the clamped end when the clamping member clamps the clamped end. Optionally, the shape of the first accommodating space matches the shape of the clamped end. Specifically, in an embodiment of the present application, a dimension of the first accommodating space in a third direction increases and then decreases along the second direction, wherein the third direction is perpendicular to the second direction and perpendicular to an extending direction of the first accommodating space, and when the clamping end and the clamped end are in a clamping state, the third direction is parallel to the clamping direction.
Optionally, on the basis of the above embodiment, in an embodiment of the present application, the shape of the first receiving space is the same as that of the clamped end, so that when the clamped end is located in the first receiving space, the clamped end can fill the first receiving space, and the probability that the clamped end shakes during the movement process of clamping the clamped end by the clamping end is reduced.
On the basis of the above embodiments, in an embodiment of the present application, a surface of the clamping element forming the first receiving space is an arc-shaped surface, such as the first receiving space is a cylindrical space or an elliptic cylindrical space or a spherical space, and the like, which is not limited by the present application, particularly depending on the shape of the clamped end.
On the basis of any of the above embodiments, in an embodiment of the present application, as shown in fig. 3, the first power assembly includes a first motor 201 and a first pull rod 202 in threaded connection with the first motor 201, a first region 2021 of the first pull rod is hinged to the clamping element, when in specific operation, the first pull rod 202 is in threaded connection with a motor shaft of the first motor 201, the first motor 201 drives the first pull rod 202 to reciprocate along a second direction through the threaded connection between the motor shaft and the first pull rod 202, and then the first pull rod 202 drives the clamping element to reciprocate along the second direction.
Optionally, on the basis of the above embodiments, in an embodiment of the present application, with continued reference to fig. 2 and 3, a side of the first region 2021 of the first pull rod facing the first clamping element 101 has a first groove, a side of the first clamping element 101 facing the first pull rod 202 has a first protrusion, and the first pull rod 202 is hinged to the first clamping element 101 through the first groove and the first protrusion; the first region 2021 of the first pull rod has a second groove on the side facing the second clamping element 102, the second clamping element 102 has a second projection on the side facing the first pull rod 202, and the first pull rod 202 and the second clamping element 102 are hinged by the second groove and the second projection.
On the basis of any one of the above embodiments, in an embodiment of the present application, as shown in fig. 4, the robot further includes: with first motor 201 fixed connection's first encoder 203, first encoder 203 is used for acquireing in the first motor 201 working process, first pull rod 202 is in the ascending movement distance of second side, so that the manipulator is right when optic fibre core butt joint component carries out the centre gripping, can control the exposed core of manipulator court the distance that optic fibre core butt joint component removed avoids the exposed core of clamping component edge the movement distance undersize of second side, unable centre gripping optic fibre core butt joint component, simultaneously, avoids the clamping component edge the distance of second side motion is too big, and is right optic fibre core butt joint component causes the damage.
On the basis of any one of the above embodiments, in an embodiment of the present application, as shown in fig. 5, the second power assembly includes: a second motor 301 and a second pull rod 302 in threaded connection with the second motor 301; a gear 303 engaged with the second pull rod 302; a lifting member 304 threadedly coupled to the gear 303; a first fixing member 305 fixedly connected to the lifting member 304; a first fixing shell 306 sleeved on the outer surface of the first fixing piece 305. The first fixing shell 306 is configured to prevent the first fixing member 305 from rotating, the second motor drives the gear to rotate through the second pull rod, the gear drives the first fixing member to move along the second direction, and when the clamping end of the clamping element clamps the clamped end, the clamping state of the clamping element is fixed by using the first fixing member.
Specifically, when the first power assembly drives the clamping end of the clamping element to reach the clamped position of the clamped end, the second power assembly drives the first fixing element to move towards the optical fiber core butting element until the first fixing element reaches the clamping end of the clamping element, and the relative positions of the first clamping element and the second clamping element are fixed in the clamping direction, that is, the second state of the clamping element is fixed, so that the clamping element can clamp the optical fiber core butting element to move upwards together in the upward movement process of the clamping element, and the clamping end is ensured not to be separated from the clamped end.
Specifically, as shown in fig. 6, the gear 303 includes a first horizontal portion 3031 and a first vertical portion 3032, the first vertical portion 3032 has a through hole, an inner side surface of the through hole of the first vertical portion 3032 has an internal thread, the lifting member 304 has a second horizontal portion 3041 and a second vertical portion 3042, the second vertical portion 3042 is located in the through hole of the first vertical portion 3032, an outer surface of the second vertical portion 3042 has an external thread, and the internal thread of the first vertical portion 3032 and the external thread of the second vertical portion 3042 are in threaded connection.
When the second motor drives the gear to rotate through the second pull rod, the gear is connected with the lifting element through the gear in a threaded manner and provides a rotating acting force for the lifting element, the lifting element is fixedly connected with the first fixing piece, the first fixing piece is fixed by the first fixing shell and cannot rotate, so that the gear provides the rotating acting force for the lifting element and converts the rotating acting force into acting force for moving the lifting element and the first fixing piece in the second direction, and the lifting element and the first fixing piece move in the second direction.
Optionally, on the basis of the above embodiment, in an embodiment of the present application, a shape of a space in the first fixing casing for accommodating the first fixing element is different from a shape of the first fixing element, for example, the shape of the space in the first fixing casing for accommodating the first fixing element is a rectangular parallelepiped, and the first fixing element is a cylinder, so that the position of the first fixing element is defined by the first fixing casing, and the first fixing element is prevented from rotating, but the first fixing element is not influenced to move along the second direction.
It should be noted that the smaller the air gap between the first fixing shell and the first fixing member is, the better the first fixing shell defines the first fixing member. The present application is not limited thereto, as the case may be.
On the basis of the above embodiment, in an embodiment of the present application, the first fixing shell has a first positioning element thereon, the first fixing element has a second positioning element thereon, and the first positioning element is matched with the second positioning element to define the position of the central axis of the first fixing element, so as to prevent the position of the central axis from being changed during the movement of the first fixing element.
On the basis of any one of the above embodiments, in an embodiment of the present application, as shown in fig. 7, the second power assembly further includes: a second bearing 315 connected to the second tie rod 302 and a bearing mounted adjustment post 316.
On the basis of any one of the above embodiments, in an embodiment of the present application, as shown in fig. 8, the second power assembly further includes: the sliding element is sleeved outside the first pull rod 202 and comprises a sliding shell 311 and a sliding cover 312 fixedly connected with the sliding shell 311, and a third accommodating space is formed by the sliding shell 311 and the sliding cover 312; a first bearing 313 located in the third receiving space. In the embodiment of the present application, the first upright portion 3032 of the gear 303 extends into the third accommodating space, and the first bearing 313 is sleeved on a surface of the first upright portion 3032 facing to the first bearing 313, and is fixed with the gear 303 in the second direction.
It should be noted that, in this embodiment of the application, the inside surface of the first bearing contacts with the outside surface of the first vertical portion, so that in the process of the rotation of the gear, the position of the rotation shaft of the gear is fixed, and the gear is prevented from shaking in the rotation process.
It should also be noted that in the embodiment of the present application, during the rotation of the gear, the outer side surface of the first bearing and the sliding element are kept stationary, and the inner side surface of the first bearing rotates together with the vertical portion of the gear. During the movement of the gear in the second direction, the sliding element, the first bearing, and the gear move together in the second direction.
Alternatively, on the basis of the above-described embodiment, in an embodiment of the present application, with continued reference to fig. 8, the sliding cover 312 is fixedly connected to the first pull rod 202 by a fixing nut 317. The outer side surface of the first upright portion 3032 includes a first side surface 30321 and a second side surface 30322 which are parallel, the distance between the first side surface 30321 and the central gear axis (i.e. the rotating axis) is greater than the distance between the second side surface 30322 and the central gear axis, so that a step surface 30323 is formed in the adjacent area of the first side surface 30321 and the second side surface 30322, and the step surface 30323 cooperates with a third positioning member 318 located at the end of the second side surface 30322, which is far away from the first side surface 30321, to position the first bearing 313 in the second direction, so that the first bearing 313 is prevented from moving in the second direction during the rotation of the gear 303.
On the basis of the above embodiments, in an embodiment of the present application, as shown in fig. 9 and 10, the robot further includes a first enclosure 319, and the first enclosure 319 is used for enclosing the whole of the gear 303, the sliding enclosure 311, the sliding cover 312, and the second pull rod portion region. Wherein the partial region of the second tie rod includes a region where the second tie rod meshes with the gear.
On the basis of any of the above embodiments, in an embodiment of the present application, as shown in fig. 11, the first fixing member 305 and the lifting element 304 form a second accommodating space, and the second power assembly further includes: at least one first guide pin 307 located in the second receiving space, wherein the extending direction of the first guide pin 307 is parallel to the second direction, and a first end of the first guide pin 307 is fixedly connected with the lifting element 304; a first elastic member 308 fitted around a side surface of the first guide pin 307; a second fixing member 309 located on a side of a second end of the first elastic member 308, which is away from the first end of the first elastic member 308, wherein the second fixing member 309 has a first through hole therein, a second end of the first guide pin 307 penetrates through the first through hole to be fixedly connected with the first fixing member 305, and an orthographic projection area of the first through hole along the second direction is smaller than an orthographic projection area of the first elastic member 308 along the second direction; the second fixing member 309 is configured to fix a relative position of the clamping end and the clamped end in the second direction when the clamping end of the clamping element clamps the clamped end.
Specifically, in this embodiment of the application, when the clamping end of the clamping element is located at the clamping position of the clamped end, the second motor drives the first fixing element to move along the second direction until the bottom end of the first fixing element is flush with the bottom end of the clamping element, so as to fix the second state of the clamping element, at this time, the second motor continues to drive the first fixing element to move downward for a preset distance, so that the first fixing element and the optical fiber core butting element are in interference, at this time, the optical fiber core butting element provides a certain reaction force, that is, a vertically upward acting force, to the first fixing element and the second fixing element, so that the first elastic element between the second fixing element and the lifting element is compressed, and the first elastic element provides a vertically downward acting force to the second fixing element in a compressed state, the second fixing piece is tightly propped against the optical fiber core butt joint piece, so that the relative positions of the clamping end and the clamped end are fixed in the second direction, and the optical fiber core butt joint element is prevented from shaking in the process that the first pull rod drives the first fixing piece to move up and down.
It should be noted that, this application embodiment with preset distance does not do the restriction, as long as guarantee first mounting with interference between the fiber core butt joint component guarantees the second mounting is in on the second direction to the exposed core with the fixed effect by the relative position of exposed core, and can not be right fiber core butt joint component causes the damage can.
On the basis of any of the above embodiments, in an embodiment of the present application, as shown in fig. 7, the robot further includes: with second motor 301 fixed connection's second encoder 314, second encoder 314 is used for acquireing in the second motor working process, the turning distance of second pull rod, so that acquire first mounting is in the ascending displacement distance of second direction avoids first mounting is in the displacement distance of second direction is less, influences first mounting with the fixed effect of clamping element second state, simultaneously, avoids first mounting is in the ascending displacement distance of second direction is too big, leads to first mounting is right optical fiber core butt joint component causes the damage.
On the basis of any of the above embodiments, in an embodiment of the present application, as shown in fig. 7, the robot further includes: and a connecting shaft 320 fixedly connected with the second encoder 314, wherein the connecting shaft 320 is used for fixedly connecting the second motor 301 and the second encoder 314.
It should be noted that, on the basis of any of the above embodiments, in an embodiment of the present application, the robot further includes: a positioning assembly to position an initial position of the clamping element in a second direction.
It should be further noted that, since the sliding shell of the sliding element and the clamping element move synchronously in the second direction, the positioning assembly provided in the embodiment of the present application may position the initial position of the clamping element in the second direction by positioning the initial position of the sliding shell of the sliding element.
Optionally, in an embodiment of the present application, as shown in fig. 12, the positioning assembly includes: a scale 401 fixedly connected with the side of the sliding shell 311 of the sliding element, which is far away from the first bearing 313; an optoelectronic switch 402 located on a side of the index piece 401 facing away from the sliding housing 311; an opto-switch holder 403 holding the opto-switch 402; the photoelectric switch 402 is used for positioning an initial position of the index 401 moving in the second direction.
When the photoelectric switch works, the photoelectric switch sends an optical signal to the direction of the calibration piece, when the first pull rod drives the sliding element to move downwards gradually, if the calibration piece is positioned above or below an optical signal path corresponding to the optical signal sent by the photoelectric switch, the photoelectric switch cannot receive the optical signal reflected by the calibration piece, and if the calibration piece is positioned on the optical signal path corresponding to the optical signal sent by the photoelectric switch, the photoelectric switch can receive the optical signal reflected by the calibration piece.
Therefore, in the embodiment of the present application, in the process that the first pull rod drives the sliding element to move downward, a critical point from when the optical signal reflected by the standard cannot be received to when the optical signal reflected by the standard can be received by the optoelectronic switch is the highest position of the clamping element in the second direction; the critical point of the photoelectric switch from the time when the optical signal reflected by the target can be received to the time when the optical signal reflected by the target cannot be received is the lowest position of the clamping element in the second direction, and at this time, the clamping end of the clamping element is located at the clamping position of the clamped end.
Similarly, in the process that the first pull rod drives the sliding element to move upwards, a critical point from the condition that the photoelectric switch cannot receive the optical signal reflected by the standard part to the condition that the photoelectric switch can receive the optical signal reflected by the standard part is the lowest position of the clamping element in the second direction; the critical point of the photoelectric switch from the time when the photoelectric switch can receive the optical signal reflected by the standard piece to the time when the photoelectric switch cannot receive the optical signal reflected by the standard piece is the highest position of the clamping element in the second direction, and at the moment, the clamping end of the clamping element is completely separated from the clamped end of the optical fiber core butting element.
Therefore, the positioning assembly provided by the embodiment of the application can determine the critical position of the index based on the reflected signal received by the photoelectric switch, and correct the recorded data of the encoder to position the initial position of the clamping element in the second direction.
On the basis of any of the above embodiments, in an embodiment of the present application, with continued reference to fig. 12, the positioning assembly further includes: a photoelectric switch mounting bracket 404, a second elastic member 405, and a first adjusting screw 406, wherein a fourth through hole is provided in the upper surface of the photoelectric switch mounting bracket 404, the first adjusting screw 406 penetrates from the fourth through hole on the upper surface of the photoelectric switch mounting bracket 404 to be fixedly connected with the photoelectric switch fixing member 403, a certain distance is provided between the photoelectric switch fixing member 403 and the upper surface of the photoelectric switch mounting bracket 404, the second elastic member 405 is sleeved on the outer surface of the first adjusting screw 406 and is located between the photoelectric switch fixing member 403 and the upper surface of the photoelectric switch mounting bracket 404, wherein the first adjusting screw 406 is in threaded connection with the fourth through hole of the photoelectric switch mounting bracket 404, and in particular, when the photoelectric switch mounting bracket 404 is operated, the distance between the photoelectric switch fixing member 403 and the upper surface of the photoelectric switch mounting bracket 404 is adjusted by rotating the first adjusting screw 406, the relative position between the photoelectric switch 402 and the calibration member 401, and the compression state of the second elastic member 405 are adjusted at the same time, so that the distance between the photoelectric switch fixing member 403 and the photoelectric switch mounting bracket 404 is fixed by the second elastic member 405.
On the basis of any one of the above embodiments, in an embodiment of the present application, as shown in fig. 1, 13, and 14, the robot further includes: a first motor mounting block 501 and a second motor mounting block 502 which are stacked, wherein the first motor mounting block 501 is used for mounting the first motor 201, and the second motor mounting block 502 is used for mounting the second motor 301; a resistance detecting element 600 located between the first motor mounting block 501 and the second motor mounting block 502; the resistance detection element 600 includes a first circuit board 601 fixedly connected to the first motor mounting block 501 and a second circuit board 602 fixedly connected to the second motor mounting block 502, and the first circuit board and the second circuit board are disconnected when an acting force in the second direction between the clamping end and the clamped end is greater than a preset value, so as to control the second motor 301 to stop working, and avoid the optical fiber core butting element from being damaged due to an excessively large interference degree between the first fixing member 305 and the optical fiber core butting element.
On the basis of any of the above embodiments, in an embodiment of the present application, with continued reference to fig. 13, the robot further includes: a third elastic member 603 and a second adjusting screw 604, wherein a fifth through hole is formed in the first motor mounting block 501, the fifth through hole penetrates through the first motor mounting block 501, and the fifth through hole comprises a first group of formed holes and a second group of formed holes, wherein the first group of formed holes is located at one side of the second group of formed holes deviating from the second motor mounting block 502, the size of the first group of formed holes is larger than that of the second group of formed holes, the second motor mounting block 502 has a sixth through hole, the second adjusting screw 604 penetrates through the first motor mounting block 501 through the fifth through hole, and sequentially penetrates through the first circuit board 601 and the second circuit board 602 until extending into the sixth through hole of the second motor mounting block 502, and is in threaded connection with the second motor mounting block 502 through a guide pin thread, the third elastic member 603 is sleeved on the outer surface of the second adjusting screw 604, and is located in the first component hole. During specific work, if the clamping end with by the effort in the second direction between the clamping end is greater than the default, the effort that is provided for the clamping end by the clamping end passes through component parts such as clamping end transmit to first motor installation piece, first motor installation piece is to keeping away from second motor installation piece direction motion, the compression of third elastic component, until first circuit board with the separation of second circuit board, the second motor stops working, in order to avoid first mounting 305 with the interference degree between the optical fiber core butt joint component is too big to lead to the optical fiber core butt joint component takes place to damage.
Optionally, on the basis of the above embodiment, in an embodiment of the present application, the first circuit board and the first motor mounting block are connected by a guide pin thread, so as to improve the positioning accuracy of the first circuit board and the first motor mounting block; similarly, the second circuit board and the second motor mounting block are connected through the guide pin threads to improve the positioning accuracy of the second circuit board and the second motor mounting block, but the application does not limit the positioning accuracy, and the positioning accuracy is determined according to the situation.
It should be noted that, in the embodiment of the present application, with continuing reference to fig. 1, 9 and 10, the first packaging shell 319 is located on a side of the second motor mounting block 502 away from the first motor mounting block 501, and is in threaded connection with the second motor mounting block 502 through a guide pin, so as to improve the positioning accuracy of the second motor mounting block 502 and the first packaging shell 319. However, the present application is not limited thereto, as the case may be.
Correspondingly, the embodiment of the application also provides an optical fiber core butting element matched with the mechanical arm provided by any one of the embodiments. Specifically, as shown in fig. 15, the optical fiber core abutting element 700 includes: the optical fiber connector comprises a connector body 701, a fixed end 702 positioned at one end of the connector body 701 and a clamped end 703 positioned at the other end of the connector body 701, wherein the fixed end 701 is used for fixing a fiber core of an external optical fiber, and the clamped end 703 is used for being clamped by the manipulator provided by any one of the embodiments, so that the fixed connection with the manipulator provided by any one of the embodiments is realized.
On the basis of any of the above embodiments, in an embodiment of the present application, with continued reference to fig. 15, the dimension of the clamped end in the third direction increases first and then decreases in the second direction; when the manipulator and the optical fiber core butting element are in a clamping state, the second direction is parallel to the direction from the manipulator to the optical fiber core butting element, and the third direction is perpendicular to the second direction and the extending direction of the clamped end.
In this embodiment, the dimension of the clamped end of the optical fiber core abutting element in the third direction is increased and then decreased along the second direction, so that the acting force provided by the clamped end to the clamping end forms an included angle with the second direction in the process that the clamping end moves along the second direction, and further the acting force provided by the clamped end to the clamping end can provide a component force along the third direction, so that the distance between the first clamping end and the second clamping end is increased; and after the first clamping end and the second clamping end continuously pass through the maximum size of the clamped end along the clamping direction along the second direction, the acting force provided by the clamped end to the clamping end is gradually reduced, the distance between the first clamping end and the second clamping end is gradually reduced until the acting force provided by the clamped end to the clamping end disappears, and the clamping end is in a second state. Wherein the third direction is parallel to the clamping direction.
Taking the second direction as a vertical direction as an example, specifically, after the clamping element moves downward from above the optical fiber core butting element to contact the clamped end of the optical fiber core butting element, the clamping end continues to move downward, the clamped end provides a force to the clamping end, the force is perpendicular to a contact surface between the clamped end and the clamping end, due to the size of the clamped end gradually increasing along the third direction, the force provided by the clamped end to the clamping end is along an obliquely upward direction, the force can provide a horizontal outward component, under the action of the horizontal outward component, the distance between the first clamping end and the second clamping end increases until the clamping end passes through the maximum size of the clamped end along the clamping direction, the clamping end continues to move downward, and the size of the clamped end in the third direction gradually decreases, the acting force provided by the clamped end to the clamping end is along an oblique lower direction, the oblique lower direction can provide a horizontal outward component force, the horizontal component force is gradually reduced along with the downward movement of the clamping end, and the clamping end is in the second state until the horizontal component force disappears.
Similarly, when the clamping end is separated from the clamped end, the clamping end moves upwards from the clamping position of the clamped end, the clamped end provides an obliquely downward acting force to the clamping end, the obliquely downward acting force provides a horizontal outward component force, under the action of the horizontal component force, the distance between the first clamping end and the second clamping end gradually increases until the first clamping end and the second clamping end pass through the maximum size of the clamped end along the clamping direction and continue to move upwards, the clamped end provides an obliquely upward acting force to the clamping end, the obliquely upward acting force can provide a horizontal outward component force, and as the clamping end continues to move upwards, the horizontal component force gradually decreases, the distance between the first clamping end and the second clamping end gradually decreases, and when the clamping end is separated from the clamped end, the acting force provided by the clamped end to the clamping end disappears, and the clamping end is in a second state.
On the basis of any one of the above embodiments, in an embodiment of the present application, the clamping member has a first accommodating space for accommodating the clamped end when the clamped end is clamped by the clamping member. Optionally, the shape of the first accommodating space matches the shape of the clamped end. Specifically, in an embodiment of the present application, a dimension of the first accommodating space in a third direction increases and then decreases along the second direction, wherein the third direction is perpendicular to the second direction and perpendicular to an extending direction of the first accommodating space, and when the clamping end and the clamped end are in a clamping state, the third direction is parallel to the clamping direction.
Optionally, in the clamping of the above embodiment, in an embodiment of the present application, the shape of the first receiving space is the same as that of the clamped end, so that when the clamped end is located in the first receiving space, the clamped end can fill the first receiving space, and the probability that the clamped end shakes during the movement process of clamping the clamped end by the clamping end is reduced.
Optionally, on the basis of the above example, in an embodiment of the present application, the surface of the clamped end is an arc-shaped surface, for example, the shape of the clamped end is a cylinder, an elliptic cylinder, a sphere, or the like, which is not limited in this application, depending on the shape of the clamped end.
In addition, an optical fiber core moving device is further provided in the embodiments of the present application, as shown in fig. 16, the optical fiber core moving device includes the robot 10 provided in any one of the embodiments and the optical fiber core docking element 700 provided in any one of the embodiments, so as to implement automatic docking and detaching of the optical fiber core docking element.
In summary, the manipulator provided by the embodiment of the present application includes: the clamping component is used for clamping the optical fiber core butting component so as to drive the optical fiber core butting component to move in a second direction under the action of the first power component, and the second power component is used for fixing the clamping state (namely a second state) of the clamping component when the clamping component is located at the clamping position of the optical fiber core butting component, so that when the first power component drives the clamping component to move, the clamping component can clamp the optical fiber core butting component to move together, and the phenomenon that the optical fiber core butting component falls off from the clamping component cannot occur.
In an embodiment of the present application, the clamping element includes a first clamping element and a second clamping element, the first clamping element has a first clamping end, the second clamping element has a second clamping end, and the first clamping end and the second clamping end constitute the clamping end of the clamping element, wherein, in the first state, a distance between the first clamping end and the second clamping end is greater than a maximum dimension of the clamped end of the optical fiber core abutting element along the clamping direction, so that the clamping end of the clamping element can reach the clamped position of the optical fiber core abutting element from a top end of the clamped end of the optical fiber core abutting element through the clamped end of the optical fiber core abutting element. In the second state, the distance between the first clamping end and the second clamping end is smaller than the maximum dimension of the clamping end along the clamping direction, so that the clamping end of the clamping element reaches the clamping position of the clamped end of the optical fiber core butting element, and after the second state of the clamping element is fixed by the second power assembly, the clamped end of the optical fiber core butting element can be clamped by the clamping end of the clamping element.
Therefore, the manipulator provided by the embodiment of the application can automatically realize the clamping and the separation of the optical fiber core butt joint element, and the manipulator and the optical fiber core butt joint element can automatically drive the optical fiber core butt joint element to move along the second direction when being in a clamping state, so that the automatic butt joint and the separation of the optical fiber core butt joint element are realized.
In the description, each part is described in a progressive manner, each part is emphasized to be different from other parts, and the same and similar parts among the parts are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (16)
1. A manipulator, characterized by comprising: the clamping element, a first power assembly and a second power assembly, wherein the first power assembly is hinged with the clamping element, so that the clamping end of the clamping element is in a first state when the clamped end of the optical fiber core butting element is clamped and is subjected to acting force in a first direction provided by the clamped end, and is in a second state when the acting force in the first direction is removed;
wherein the clamping element comprises a first clamping element and a second clamping element, the first clamping element has a first clamping end, the second clamping element has a second clamping end, the first clamping end and the second clamping end constitute a clamping end of the clamping element, in the first state, the distance between the first clamping end and the second clamping end is greater than the maximum dimension of the clamped end in the clamping direction, in the second state, the distance between the first clamping end and the second clamping end is less than the maximum dimension of the clamping end in the clamping direction; the first direction is perpendicular to the contact surface of the clamping end and the clamped end;
the first power assembly is used for driving the clamping element to move along a second direction, wherein the second direction is parallel to the direction from the mechanical arm to the optical fiber core butt joint element;
the second power assembly is used for fixing the second state of the clamping end when the clamping end of the clamping element is located at the clamping position of the optical fiber core butting element, so that the first power assembly drives the optical fiber core butting element to move along the second direction through the clamping element.
2. The manipulator according to claim 1, wherein the gripping member has a first accommodating space for accommodating the gripped end when the gripping end of the gripping member grips the gripped end;
the size of the first accommodating space in a third direction is increased and then decreased along the second direction, wherein the third direction is perpendicular to the second direction and the extending direction of the first accommodating space.
3. The robot hand according to claim 2, wherein a surface of the gripping member forming the first receiving space is an arc-shaped surface.
4. The manipulator according to any one of claims 1 to 3, wherein the first power assembly includes a first motor and a first pull rod in threaded connection with the first motor, a first region of the first pull rod is hinged to the clamping element, and the first motor drives the clamping element to move along the second direction through the first pull rod.
5. The manipulator according to claim 4, wherein a first area of the first pull rod has a first groove on a side facing the first clamping element, the first clamping element has a first protrusion on a side facing the first pull rod, and the first pull rod is hinged with the first clamping element through the first groove and the first protrusion;
the first area of the first pull rod is provided with a second groove on one side facing the second clamping element, the second clamping element is provided with a second bulge on one side facing the first pull rod, and the first pull rod and the second clamping element are hinged through the second groove and the second bulge.
6. The robot hand of claim 4, further comprising:
and the first encoder is fixedly connected with the first motor and is used for acquiring the moving distance of the first pull rod in the second direction in the working process of the first motor.
7. The robot of claim 4, wherein the second power assembly comprises:
the second motor and a second pull rod are in threaded connection with the second motor;
the gear is in meshed connection with the second pull rod;
the lifting element is in threaded connection with the gear;
the first fixing piece is fixedly connected with the lifting element;
the first fixing shell is sleeved on the outer surface of the first fixing piece and used for preventing the first fixing piece from rotating;
the second motor drives the gear to rotate through the second pull rod, the gear drives the first fixing piece to move in the second direction, and when the clamping end of the clamping element clamps the clamped end, the clamping state of the clamping element is fixed in the third direction by the aid of the first fixing piece.
8. The robot hand of claim 7, wherein the first fixing member and the elevating member form a second receiving space, and the second power assembly further comprises:
at least one first guide pin located in the second accommodating space, wherein the extending direction of the first guide pin is parallel to the second direction, and a first end of the first guide pin is fixedly connected with the lifting element;
the first elastic piece is sleeved on the side surface of the first guide pin;
the second fixing piece is positioned on one side of the second end of the first elastic piece, which is far away from the first end of the first elastic piece, a first through hole is formed in the second fixing piece, the second end of the first guide pin penetrates through the first through hole and is fixedly connected with the first fixing piece, and the orthographic projection area of the first through hole along the second direction is smaller than that of the first elastic piece along the second direction;
the second fixing piece is used for fixing the relative positions of the clamping end and the clamped end in the second direction when the clamping end of the clamping element clamps the clamped end.
9. The robot of claim 7, wherein the second power assembly further comprises:
the sliding element is sleeved outside the first pull rod and comprises a sliding shell and a sliding sealing cover fixedly connected with the sliding shell, and the sliding shell and the sliding sealing cover form a third accommodating space;
a first bearing located in the third accommodating space;
the gear comprises a first horizontal part and a first vertical part, the first vertical part extends into the third accommodating space, the first bearing is sleeved on the surface of one side, facing the first bearing, of the first vertical part, and the first vertical part and the gear are kept relatively fixed in the second direction.
10. The robot hand of claim 9, further comprising:
and the second encoder is fixedly connected with the second motor and is used for acquiring the rotating distance of the second pull rod in the working process of the second motor.
11. The robot hand of claim 10, further comprising: a positioning assembly, the positioning assembly comprising:
the calibration piece is fixedly connected with one side, away from the first bearing, of the sliding shell of the sliding element;
the photoelectric switch is positioned on one side of the calibration piece, which is far away from the sliding element;
a photoelectric switch fixing member for fixing the photoelectric switch;
the photoelectric switch is used for sending an optical signal to the calibration piece and positioning the initial position of the sliding element moving in the second direction by receiving the optical signal reflected by the calibration piece.
12. The robot hand of claim 7, further comprising:
the motor mounting structure comprises a first motor mounting block and a second motor mounting block which are stacked, wherein the first motor mounting block is used for mounting a first motor, and the second motor mounting block is used for mounting a second motor;
a resistance detection element located between the first motor mounting block and the second motor mounting block;
the resistance detection element comprises a first circuit board fixedly connected with the first motor mounting block and a second circuit board fixedly connected with the second motor mounting block, the first circuit board and the second circuit board are electrically connected when acting force between the clamping end and the clamped end in the second direction is smaller than a preset value, and the first circuit board and the second circuit board are electrically disconnected when acting force between the clamping end and the clamped end in the second direction is larger than a preset value so as to control the second motor to stop working.
13. An optical fiber core butt joint element, comprising: the optical fiber connector comprises a connecting body, a fixed end and a clamped end, wherein the fixed end is located at one end of the connecting body, the clamped end is located at the other end of the connecting body, the fixed end is used for fixing a fiber core of the optical fiber, and the clamped end is used for being fixedly connected with the mechanical arm of any one of claims 1 to 8.
14. The optical fiber core abutting element of claim 13, wherein a dimension of said clamped end in the third direction increases and then decreases in the second direction;
when the manipulator and the optical fiber core butting element are in a clamping state, the second direction is parallel to the direction from the manipulator to the optical fiber core butting element, and the third direction is perpendicular to the second direction and the extending direction of the clamped end.
15. The optical fiber core abutting element of claim 14, wherein a surface of said clamped end is an arcuate surface.
16. An optical fiber core moving apparatus comprising the robot of any one of claims 1 to 12 and the optical fiber core abutting unit of any one of claims 13 to 14.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010653206.XA CN111761604B (en) | 2020-07-08 | 2020-07-08 | Manipulator, optical fiber core butt joint element and optical fiber core moving device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010653206.XA CN111761604B (en) | 2020-07-08 | 2020-07-08 | Manipulator, optical fiber core butt joint element and optical fiber core moving device |
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| Publication Number | Publication Date |
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| CN111761604A CN111761604A (en) | 2020-10-13 |
| CN111761604B true CN111761604B (en) | 2021-06-22 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103439768A (en) * | 2013-08-02 | 2013-12-11 | 国家电网公司 | Optical fiber core butt joint device |
| CN103698857A (en) * | 2013-12-30 | 2014-04-02 | 宁波市樱铭电子科技有限公司 | Optical fiber core jointer |
| CN103698859A (en) * | 2013-12-30 | 2014-04-02 | 宁波市樱铭电子科技有限公司 | Manipulator |
| CN103698858A (en) * | 2013-12-30 | 2014-04-02 | 宁波市樱铭电子科技有限公司 | Optical fiber core jointing equipment |
| CN105171723A (en) * | 2015-08-31 | 2015-12-23 | 苏州大学 | Integrated two-degree-of-freedom manipulator and control system thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103439768A (en) * | 2013-08-02 | 2013-12-11 | 国家电网公司 | Optical fiber core butt joint device |
| CN103439768B (en) * | 2013-08-02 | 2016-01-20 | 国家电网公司 | A kind of optical fiber core butt joint device |
| CN103698857A (en) * | 2013-12-30 | 2014-04-02 | 宁波市樱铭电子科技有限公司 | Optical fiber core jointer |
| CN103698859A (en) * | 2013-12-30 | 2014-04-02 | 宁波市樱铭电子科技有限公司 | Manipulator |
| CN103698858A (en) * | 2013-12-30 | 2014-04-02 | 宁波市樱铭电子科技有限公司 | Optical fiber core jointing equipment |
| CN105171723A (en) * | 2015-08-31 | 2015-12-23 | 苏州大学 | Integrated two-degree-of-freedom manipulator and control system thereof |
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| CN111761604A (en) | 2020-10-13 |
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