CN113400483A - Electric pick device and robot with same - Google Patents
Electric pick device and robot with same Download PDFInfo
- Publication number
- CN113400483A CN113400483A CN202010188180.6A CN202010188180A CN113400483A CN 113400483 A CN113400483 A CN 113400483A CN 202010188180 A CN202010188180 A CN 202010188180A CN 113400483 A CN113400483 A CN 113400483A
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- Prior art keywords
- pick
- electromagnet
- assembly
- block
- electric pick
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D1/00—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D7/00—Accessories specially adapted for use with machines or devices of the preceding groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D7/00—Accessories specially adapted for use with machines or devices of the preceding groups
- B28D7/005—Devices for the automatic drive or the program control of the machines
Abstract
The invention provides an electric pick device and a robot with the same, wherein the electric pick device comprises: the device comprises a machine body, wherein an installation space is arranged in the machine body; the pick assembly is arranged on the machine body and can be movably arranged relative to the machine body so as to apply impact force to the part to be processed; the pick assembly is provided with a first positioning part and a second positioning part which is mutually clamped with the first positioning part, so that the pick assembly is connected with the fixing assembly, and the problem of unstable head mounting of the electric pick device in the prior art is solved.
Description
Technical Field
The invention relates to the field of mechanical design, in particular to an electric pick device.
Background
Electric pick is through motor drive, accomplishes the circulation operation under the effect of cylinder, can accomplish and beat operations such as chisel, shovel and fluting, and present electric pick is mostly through handheld operation, beats the chisel to areas such as wall, when digging a chisel to higher area, needs to build scaffold frame etc..
In addition, when the sealing ring is abraded and the grease of the air cylinder is reduced, the existing electric pick driven by the motor can cause no impact or weak impact.
At present, an electric pick device which utilizes an electromagnet to replace a motor to rotate appears in the market, but a pick head which is mechanically assembled is easy to fall off, so that the pick head output of the electric pick is unstable, and potential safety hazards are easily caused.
Disclosure of Invention
The invention mainly aims to provide an electric pick device and a robot with the same, and aims to solve the problem that the electric pick device in the prior art is unstable in head picking installation.
In order to achieve the above object, the present invention provides an electric pick device, including: the device comprises a machine body, wherein an installation space is arranged in the machine body; the pick assembly is arranged on the machine body and can be movably arranged relative to the machine body so as to apply impact force to the part to be processed; the pick assembly is provided with a first positioning part and a second positioning part which is mutually clamped with the first positioning part, so that the pick assembly is connected with the fixing assembly.
Furthermore, the first positioning part is an electromagnetic block, the second positioning part is a clamping groove which is clamped with at least part of the electromagnetic block, and an electromagnet which is arranged opposite to the electromagnetic block is arranged in the clamping groove so that the electromagnet and the electromagnetic block repel each other after the electromagnet is electrified, and the pickaxe head assembly is separated from the fixing assembly.
Further, the first positioning component is provided with a guide end face, and the fixing assembly further comprises: the mounting block is provided with an accommodating groove for accommodating the pick head assembly, and at least part of the pick head assembly is inserted into the accommodating groove along the extension direction of the guide end surface; the mounting block is movably arranged along the extending direction of the mounting space so as to drive the pick head assembly to move through the mounting block; the first elastic piece is arranged on the side wall of the accommodating groove, and the first positioning part is connected with the first elastic piece so as to drive the first positioning part to move through the elastic force of the first elastic piece.
Further, be provided with the mounting groove that is used for installing first elastic component on the lateral wall of holding tank, second location portion has the draw-in groove that sets up with the mounting groove is relative, and at least partial joint of first locating part is in the draw-in groove.
Furthermore, an electromagnet is arranged in the clamping groove, the first positioning component is an electromagnetic block matched with the electromagnet, and the electromagnet and the electromagnetic block are arranged oppositely.
Further, the fixing assembly further comprises: and a first end of the second elastic member is connected with the top wall of the mounting space, and a second end of the second elastic member is connected with the mounting block so as to push the mounting block to move through the elastic force of the second elastic member.
Further, the electric pick device still includes: the power assembly is arranged in the mounting space and is opposite to the pick head assembly; the power assembly is provided with an impact block, and the impact block is movably arranged along the extending direction of the mounting space so as to push the pick head assembly to move through the impact block.
Further, the impact piece has the electromagnetism nature, and power component still includes: the first electromagnet is arranged on the inner wall of the installation space; the second electromagnet is arranged on the inner wall of the installation space and positioned below the first electromagnet so as to drive the impact block to reciprocate through the magnetic force of the first electromagnet and the second electromagnet; the electromagnet box is arranged at the bottom of the installation space and is positioned below the second electromagnet; the first pressure sensor is arranged on a contact surface of the electromagnet box, which is in contact with the impact block, and is used for sensing the pressure of the impact block.
Further, the pick assembly includes: the pick is used for contacting with a component to be processed; the connecting piece is provided with a threaded hole, and the pickaxe is provided with an external thread so that the pickaxe is in threaded connection with the connecting piece; wherein, the second location portion sets up on the connecting piece.
The invention also provides a robot, which comprises the electric pick device, wherein the electric pick device is the electric pick device.
Further, the robot includes: the electric pick device comprises a first torsion mechanism, a second torsion mechanism and a control device, wherein at least part of the first torsion mechanism is rotatably arranged around a first preset axis, and the electric pick device is connected with the first torsion mechanism so that the first torsion mechanism drives the electric pick device to rotate around the first preset axis; the first torsion mechanism is connected with the second torsion mechanism, and the second torsion mechanism is rotatably arranged around a second preset axis so as to drive the first torsion mechanism to rotate; wherein the first predetermined axis and the second predetermined axis are perpendicular to each other.
Further, the robot further includes: the support frame is rotatably arranged around a third preset axis, and the electric pick device is connected with the support frame so that the support frame drives the electric pick device to move; the electric pick device is connected with the driving lead screw so as to enable the electric pick device to move relative to the supporting frame; the pushing mechanism is provided with a telescopic rod which can be arranged in a telescopic mode, and the telescopic rod is hinged with the supporting frame so as to drive the supporting frame to rotate through the telescopic rod.
By applying the technical scheme, the electric pick device provided by the invention comprises a machine body, a pick head assembly and a fixing assembly, wherein an installation space is arranged in the machine body, the pick head assembly is installed on the machine body, and the pick head assembly is movably arranged relative to the machine body so as to apply impact force to a part to be processed; the pick assembly is provided with a first positioning part and a second positioning part which is mutually clamped with the first positioning part, so that the pick assembly is connected with the fixing assembly. The first positioning part is clamped with the second positioning part, so that the first positioning part is embedded into the pick assembly, the pick assembly is stably connected with the fixed assembly, the pick assembly is prevented from being separated from the machine body in the operation process, and the operation stability of the pick assembly is realized.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 shows a schematic structural view of an embodiment of an electric pick apparatus according to the present invention;
fig. 2 shows a cross-sectional view of the electric pick apparatus according to the present invention;
fig. 3 shows an enlarged view of part a of the electric pick device according to fig. 2;
fig. 4 shows a first state diagram of the electric pick apparatus according to the present invention;
fig. 5 shows a second state diagram of the electric pick apparatus according to the present invention; and
fig. 6 shows a third state diagram of the electric pick apparatus according to the present invention;
figure 7 shows a schematic structural view of an embodiment of the robot according to the invention;
fig. 8 shows a side view of the robot according to fig. 7;
fig. 9 shows a schematic structural view of an embodiment of the fixing mechanism of the robot according to the present invention;
fig. 10 shows a side view of the fixing mechanism according to fig. 9.
Wherein the figures include the following reference numerals:
1. a body; 10. an installation space; 2. a pick head assembly; 20. a second positioning portion; 21. a card slot; 23. a pickaxe; 24. a connecting member;
3. a fixing assembly; 30. a first positioning member; 31. mounting blocks; 310. accommodating grooves; 32. a first elastic member; 311. mounting grooves; 33. a second elastic member; 34. a second pressure sensor; 35. a gasket; 4. a power assembly; 40. an impact block; 41. a first electromagnet; 42. a second electromagnet; 43. an electromagnet case; 44. a first pressure sensor; 5. a lower cover; 6. an upper cover;
100. an electric pick device; 200. a fixing mechanism; 300. a first torsion mechanism; 301. a first drive motor; 302. a support plate; 303. a base plate; 304. a first angle sensor; 400. a second torsion mechanism; 401. a second drive motor; 402. a connecting plate; 201. a fixed block; 202. a fastening section; 203. a clasping piece; 204. rotating the hole; 500. a support frame; 501. driving a lead screw; 502. a third drive motor; 503. a second angle sensor; 504. a hinge plate; 600. a pushing mechanism; 601. a telescopic rod; 602. a hinged block; 700. a laser range finder; 800. a walking chassis; 900. and a visual photographing mechanism.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
The present invention provides an electric pick device, please refer to fig. 1 to 6, including: the device comprises a machine body 1, wherein an installation space 10 is arranged in the machine body 1; the pick assembly 2 is mounted on the machine body 1, and the pick assembly 2 is movably arranged relative to the machine body 1 so as to apply impact force to a component to be processed; the fixing assembly 3 is installed in the installation space 10, the fixing assembly 3 is provided with a first positioning part 30, and the pick assembly 2 is provided with a second positioning part 20 mutually clamped with the first positioning part 30, so that the pick assembly 2 is connected with the fixing assembly 3.
The electric pick device comprises a machine body 1, a pick assembly 2 and a fixing assembly 3, wherein an installation space 10 is arranged in the machine body 1, the pick assembly 2 is installed on the machine body 1, and the pick assembly 2 is movably arranged relative to the machine body 1 so as to apply impact force to a part to be processed; the fixing assembly 3 is installed in the installation space 10, the fixing assembly 3 is provided with a first positioning part 30, and the pick assembly 2 is provided with a second positioning part 20 mutually clamped with the first positioning part 30, so that the pick assembly 2 is connected with the fixing assembly 3. The first positioning part 30 is clamped with the second positioning part 20, so that the first positioning part 30 is embedded into the pick assembly 2, the pick assembly 2 is stably connected with the fixed assembly 3, the pick assembly 2 is prevented from being separated from the machine body 1 in the operation process, and the operation stability of the pick assembly 2 is realized.
In the embodiment provided by the invention, the first positioning part 30 is an electromagnetic block, the second positioning part 20 is a slot 21 that is in mutual engagement with at least a part of the electromagnetic block, and the slot 21 is internally provided with an electromagnet that is arranged opposite to the electromagnetic block, so that after the electromagnet is powered on, the electromagnet and the electromagnetic block repel each other, so as to separate the pick head assembly 2 from the fixing assembly 3. The arrangement can facilitate the replacement of the pick assembly 2 and the maintenance of the pick assembly 2.
In the implementation process, the first positioning component 30 has a guiding end surface, and the fixing component 3 further includes: the mounting block 31 is provided with a receiving groove 310 for receiving the pick assembly 2, and at least part of the pick assembly 2 is inserted into the receiving groove 310 along the extending direction of the guide end surface; the mounting block 31 is movably arranged along the extending direction of the mounting space 10, so that the pick head assembly 2 is driven to move by the mounting block 31; the first elastic element 32, the first elastic element 32 is installed on the sidewall of the receiving groove 310, and the first positioning element 30 is connected to the first elastic element 32, so that the elastic force of the first elastic element 32 drives the first positioning element 30 to move. Set up like this and exert pressure through the elastic force of first elastic component 32 to first positioning component 30, compress tightly first positioning component 30 in second location portion 20, simultaneously, at the in-process of installation pick subassembly 2, extrude first elastic component 32 through pick subassembly 2, utilize the terminal surface of leading to lead pick subassembly 2i to in installation pick subassembly 2, labour saving and time saving just can make pick subassembly 2 firmly with fixed subassembly 3 is connected.
Specifically, the side wall of the receiving groove 310 is provided with a mounting groove 311 for mounting the first elastic member 32, the second positioning portion 20 has a slot 21 disposed opposite to the mounting groove 311, and at least a portion of the first positioning portion 30 is clamped in the slot 21. Simple structure and easy implementation.
In order to facilitate the replacement of the pick head assembly 2, an electromagnet is arranged in the slot 21, the first positioning part 30 is an electromagnetic block matched with the electromagnet, and the electromagnet and the electromagnetic block are arranged oppositely. When the pick head assembly 2 needs to be replaced, the electromagnet is electrified, so that the electromagnet and the electromagnetic block are mutually repelled, and the pick head assembly 2 is drawn out from the fixing assembly 3.
In the implementation process, the fixing assembly 3 further includes: and a second elastic member 33, a first end of the second elastic member 33 being connected to the top wall of the installation space 10, and a second end of the second elastic member 33 being connected to the installation block 31 to push the installation block 31 to move by an elastic force of the second elastic member 33. After the mounting block 31 is moved upward, the mounting block 31 is pushed downward by the elastic force of the second elastic member 33 to realize the reciprocating motion of the mounting block 31.
Specifically, the electric pick device still includes: the power assembly 4 is installed in the installation space 10, and the power assembly 4 is arranged opposite to the pick head assembly 2; the power assembly 4 is provided with an impact block 40, and the impact block 40 is movably arranged along the extending direction of the installation space 10 so as to push the pick head assembly 2 to move through the impact block 40. Specifically, the impact block 40 contacts the mounting block 31 to apply an acting force to the mounting block 31, wherein a gasket 35 is disposed on a contact surface of the mounting block 31 contacting the impact block 40, the gasket 35 provides a damping effect to prevent the impact block 40 from being damaged due to a reciprocating collision, and a second pressure sensor 34 is further disposed on the contact surface of the mounting block 31 to detect an impact force applied to the mounting block 31 by the impact block 40.
In the embodiment provided by the present invention, the impact block 40 has electromagnetic properties, and the power assembly 4 further includes: a first electromagnet 41, the first electromagnet 41 being disposed on an inner wall of the installation space 10; and a second electromagnet 42, wherein the second electromagnet 42 is arranged on the inner wall of the installation space 10, and the second electromagnet 42 is positioned below the first electromagnet 41 so as to drive the impact block 40 to reciprocate through the magnetic force of the first electromagnet 41 and the second electromagnet 42.
The power assembly 4 further comprises: an electromagnet case 43, the electromagnet case 43 being installed at the bottom of the installation space 10 and located below the second electromagnet 42; and a first pressure sensor 44, wherein the first pressure sensor 44 is arranged on the contact surface of the electromagnet box 43 and the impact block 40 for sensing the pressure of the impact block 40. Wherein, a lower cover 5 is arranged below the machine body 1, and an upper cover 6 is arranged above the machine body 1, so that an installation space 10 is enclosed among the upper cover 6, the lower cover 5 and the machine body 1.
Specifically, as shown in fig. 4 to 6, when the impact block 40 presses the first pressure sensor 44, the electromagnet case 43 provides a repulsive force, the first electromagnet 41 provides an attraction force, the second electromagnet 42 is turned off, and when the impact block 40 is lifted to the top and pressure is applied to the second pressure sensor 34, the electromagnet case 43 provides an attraction force, the first electromagnet 41 is turned off, and the second electromagnet 42 provides an attraction force, so that the impact block 40 moves downward, and the piston movement of the impact block 40 is realized.
Further, the pick head assembly 2 comprises: a pick head 23 for contacting with a component to be processed; the connecting piece 24 is provided with a threaded hole, and the pickaxe 23 is provided with an external thread so that the pickaxe 23 is in threaded connection with the connecting piece 24; wherein the second positioning portion 20 is provided on the connecting member 24.
The invention also provides a robot, as shown in fig. 7 to 10, the robot includes an electric pick device, and the electric pick device is the electric pick device of the above embodiment.
The robot includes: and a first torsion mechanism 300, at least a portion of the first torsion mechanism 300 being rotatably disposed about a first predetermined axis, the pick device 100 being connected to the first torsion mechanism 300 such that the first torsion mechanism 300 rotates the pick device 100 about the first predetermined axis. Specifically, the first torsion mechanism 300 includes a first driving motor 301, a support plate 302, a bottom plate 303 and a first angle sensor 304, wherein a driving shaft of the first driving motor 301 is connected with the electric pick device 100 to drive the electric pick device 100 to rotate, the support plate 302 is disposed at a side of the electric pick device 100, a through hole for the driving shaft to pass through is provided on the support plate 302, at least a portion of the driving shaft passes through the through hole to be connected with the electric pick device 100, specifically, the first angle sensor 304 is installed on the electric pick device 100, and a rotation angle of the electric pick device 100 is sensed by the first angle sensor 304.
The robot further includes: the second torsion mechanism 400, the first torsion mechanism 300 is connected with the second torsion mechanism 400, and the second torsion mechanism 400 is rotatably arranged around a second predetermined axis to drive the first torsion mechanism 300 to rotate; wherein the first predetermined axis and the second predetermined axis are perpendicular to each other. Preferably, the first torsion mechanism 300 is connected with the second torsion mechanism 400 through the bottom plate 303, the second torsion mechanism 400 includes a second driving motor 401, and the second driving motor 401 is drivingly connected with the bottom plate 303 to drive the bottom plate 303 to rotate, and further drive the first torsion mechanism 300 to rotate, so as to rotate the electric pick apparatus 100.
In order to increase the connection stability of the electric pick device 100, the robot further includes a fixing mechanism 200, the fixing mechanism 200 is disposed at the bottom of the electric pick device 100, and the first torsion mechanism 300 is hinged with the fixing mechanism 200; the fixing mechanism 200 includes: the lower cover of the electric pick device 100 is fixedly connected with the fixed block 201, the fixed block 201 is also provided with a fastening part 202, and the fastening part 202 is arranged around the electric pick device 100; clasping piece 203, clasping piece 203 sets up in the outside of fastening portion 202, is provided with first connecting hole on the fastening portion 202, clasping piece 203 and last being provided with the second connecting hole to make at least part of retaining member pass second connecting hole and first connecting hole and electric pick device 100 butt in proper order. Wherein, the fixed block 201 is provided with a rotation hole 204, and the first driving motor 301 is connected with the fixed block 201 through the rotation hole 204.
In order to increase the working range of the electric pick device 100, the robot further includes: the support frame 500 is rotatably arranged around a third preset axis, and the electric pick device 100 is connected with the support frame 500, so that the support frame 500 drives the electric pick device 100 to move; the supporting frame 500 is provided with a driving screw 501, the extending direction of the driving screw 501 is consistent with the extending direction of the supporting frame 500, and the electric pick device 100 is connected with the driving screw 501 so that the electric pick device 100 moves relative to the supporting frame 500; the pushing mechanism 600, the pushing mechanism 600 has a telescopic rod 601 telescopically arranged, the telescopic rod 601 is hinged to the supporting frame 500, so as to drive the supporting frame 500 to rotate through the telescopic rod 601. The supporting frame 500 is mounted on the traveling chassis 800 through a hinge plate 504, when the telescopic rod 601 extends and retracts, the supporting frame 500 is driven to rotate relative to the traveling chassis 800, specifically, the pushing mechanism 600 is hinged to the supporting frame 500 through a hinge block 602, so that the pushing mechanism 600 drives the supporting frame 500 to rotate.
The first torsion mechanism 300 and the second torsion mechanism 400 are connected with the driving screw 501 through a connecting plate 402, specifically, the first torsion mechanism 300 is located above the second torsion mechanism 400, the connecting plate 402 is located between the first torsion mechanism 300 and the second torsion mechanism 400, a third driving motor 502 is arranged at the top of the support frame 500, and the third driving motor 502 is in driving connection with the driving screw 501 so as to drive the connecting plate to move through the driving screw 501; meanwhile, the supporting frame 500 may also drive the electric pick device 100 to rotate. The supporting frame 500 is provided with a second angle sensor 503 to detect the rotation angle of the supporting frame 500.
In order to increase the automation control of the robot, the robot provided by the invention further comprises: the laser range finder 700 is arranged at the bottom of the electric pick device 100, and the laser range finder 700 is opposite to the part to be processed; specifically, the laser rangefinder 700 may be mounted on a side surface of the fixed block 201; the walking chassis 800, the supporting frame 500 and the pushing mechanism 600 are all arranged on the walking chassis 800; the visual photographing mechanism 900, the visual photographing mechanism 900 is disposed on a side surface of the walking chassis 800 to determine a working position of the walking chassis 800 by transmitting information of a picture taken by the visual photographing mechanism 900 to the control system.
When the robot provided by the invention is used, when the electric pick device is used for performing drilling operation, manual holding is not needed, drilling at a higher position is avoided, the damage that sundries such as stones fall off and injure workers is avoided, the electric pick device 100 has multiple degrees of freedom, the moving range of the electric pick device is increased, the distance between the electric pick device 100 and a part to be processed can be fed back in real time by using a laser range finder, when the robot works specifically, the robot reaches a specified working area under the guidance of a BIM map, the robot body is positioned by using the visual shooting mechanism 900, and then the electric pick device is driven to move by the first torsion mechanism 300, the second torsion mechanism 400, the support frame 500 and the driving screw 501, so that the electric pick device can drill parts to be processed at different positions in the working area.
From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects:
the electric pick device comprises a machine body 1, a pick assembly 2 and a fixing assembly 3, wherein an installation space 10 is arranged in the machine body 1, the pick assembly 2 is installed on the machine body 1, and the pick assembly 2 is movably arranged relative to the machine body 1 so as to apply impact force to a part to be processed; the fixing assembly 3 is installed in the installation space 10, the fixing assembly 3 is provided with a first positioning part 30, and the pick assembly 2 is provided with a second positioning part 20 mutually clamped with the first positioning part 30, so that the pick assembly 2 is connected with the fixing assembly 3. The first positioning part 30 is clamped with the second positioning part 20, so that the first positioning part 30 is embedded into the pick assembly 2, the pick assembly 2 is stably connected with the fixed assembly 3, the pick assembly 2 is prevented from being separated from the machine body 1 in the operation process, and the operation stability of the pick assembly 2 is realized.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (12)
1. An electric pick device, characterized by, includes:
the device comprises a machine body, a control device and a control device, wherein an installation space is arranged in the machine body;
the pick assembly is arranged on the machine body and is movably arranged relative to the machine body so as to apply impact force to a component to be machined;
the pick head assembly is provided with a first positioning part, and the pick head assembly is provided with a second positioning part which is mutually clamped with the first positioning part, so that the pick head assembly is connected with the fixed assembly.
2. An electric pick apparatus according to claim 1, wherein the first positioning member is an electromagnetic block, the second positioning portion is a slot engaged with at least a portion of the electromagnetic block, and the slot is provided therein with an electromagnet disposed opposite to the electromagnetic block, so that the electromagnet and the electromagnetic block repel each other after the electromagnet is energized, thereby separating the pick head assembly from the fixing assembly.
3. An electric pick apparatus as claimed in claim 1, wherein said first locating member has a leading end surface thereon, said securing assembly further comprising:
the mounting block is provided with a containing groove for containing the pick head assembly, and at least part of the pick head assembly is inserted into the containing groove along the extending direction of the guide end surface; the mounting block is movably arranged along the extending direction of the mounting space so as to drive the pick head assembly to move through the mounting block;
the first elastic piece is mounted on the side wall of the accommodating groove, and the first positioning part is connected with the first elastic piece so as to drive the first positioning part to move through the elastic force of the first elastic piece.
4. An electric pick apparatus as claimed in claim 3, wherein a mounting groove is provided on a side wall of the receiving groove for mounting the first resilient member, the second positioning portion has a slot disposed opposite to the mounting groove, and at least a part of the first positioning member is engaged with the slot.
5. An electric pick apparatus as claimed in claim 4, wherein an electromagnet is disposed in the slot, the first positioning member is an electromagnet block cooperating with the electromagnet, and the electromagnet is disposed opposite to the electromagnet block.
6. An electric pick apparatus as claimed in claim 3, wherein said securing assembly further comprises:
and a first end of the second elastic member is connected with the top wall of the mounting space, and a second end of the second elastic member is connected with the mounting block so as to push the mounting block to move by the elastic force of the second elastic member.
7. An electric pick apparatus as claimed in any one of claims 1 to 6, further comprising:
the power assembly is arranged in the mounting space and is opposite to the pick head assembly;
the power assembly is provided with an impact block, and the impact block is movably arranged along the extending direction of the installation space so as to push the pick head assembly to move through the impact block.
8. An electric pick apparatus as claimed in claim 7, wherein said impact block is electromagnetic, said power assembly further comprising:
the first electromagnet is arranged on the inner wall of the installation space;
the second electromagnet is arranged on the inner wall of the installation space and positioned below the first electromagnet so as to drive the impact block to reciprocate through the magnetic force of the first electromagnet and the second electromagnet;
the electromagnet box is arranged at the bottom of the installation space and is positioned below the second electromagnet;
the first pressure sensor is arranged on a contact surface of the electromagnet box and the impact block to sense the pressure of the impact block.
9. An electric pick apparatus as claimed in any one of claims 1 to 6, wherein said pick assembly includes:
the pick is used for contacting with the component to be processed;
the connecting piece is provided with a threaded hole, and the pickaxe is provided with an external thread so that the pickaxe is in threaded connection with the connecting piece;
wherein the second positioning portion is provided on the connecting member.
10. A robot comprising an electric pick apparatus, wherein the electric pick apparatus is as claimed in any one of claims 1 to 9.
11. A robot as claimed in claim 10, characterized in that the robot comprises:
a first torsion mechanism, at least a portion of which is rotatably disposed about a first predetermined axis, the pick apparatus being connected to the first torsion mechanism such that the first torsion mechanism causes the pick apparatus to rotate about the first predetermined axis;
the first torsion mechanism is connected with the second torsion mechanism, and the second torsion mechanism is rotatably arranged around a second preset axis so as to drive the first torsion mechanism to rotate; wherein the first predetermined axis and the second predetermined axis are perpendicular to each other.
12. The robot of claim 11, further comprising:
the support frame is rotatably arranged around a third preset axis, and the electric pick device is connected with the support frame so as to drive the support frame to move;
the electric pick device is connected with the driving lead screw so as to enable the electric pick device to move relative to the supporting frame;
the pushing mechanism is provided with a telescopic rod which can be arranged in a telescopic mode, and the telescopic rod is hinged to the support frame so as to drive the support frame to rotate through the telescopic rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010188180.6A CN113400483B (en) | 2020-03-17 | 2020-03-17 | Electric pick device and robot with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010188180.6A CN113400483B (en) | 2020-03-17 | 2020-03-17 | Electric pick device and robot with same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113400483A true CN113400483A (en) | 2021-09-17 |
| CN113400483B CN113400483B (en) | 2022-09-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010188180.6A Active CN113400483B (en) | 2020-03-17 | 2020-03-17 | Electric pick device and robot with same |
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| CN (1) | CN113400483B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116117619A (en) * | 2022-12-30 | 2023-05-16 | 江苏福旭科技有限公司 | Solar-grade monocrystalline silicon piece surface treatment equipment |
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| CN108005578A (en) * | 2017-12-23 | 2018-05-08 | 郑州国知网络技术有限公司 | A kind of gear regulating type various dimensions mining drilling equipment |
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| CN209579610U (en) * | 2018-12-14 | 2019-11-05 | 昆山市华霆精密机械有限公司 | A kind of robot turntable structure |
| CN209665916U (en) * | 2019-01-12 | 2019-11-22 | 张茜如 | It is a kind of suitable for automation metope puncher vertically and laterally |
| CN209831654U (en) * | 2019-03-22 | 2019-12-24 | 山西潞安集团司马煤业有限公司 | Mechanical arm for shearing and crushing stone of fully mechanized mining face small nest anchor cable |
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| CN102644929A (en) * | 2012-01-12 | 2012-08-22 | 江苏广通电力设备有限公司 | Decoking device for coal-fired boiler |
| CN108005578A (en) * | 2017-12-23 | 2018-05-08 | 郑州国知网络技术有限公司 | A kind of gear regulating type various dimensions mining drilling equipment |
| CN207709961U (en) * | 2018-01-04 | 2018-08-10 | 天津拓锐精密工具有限公司 | The boring drill bit of plank being conveniently replaceable |
| CN209579610U (en) * | 2018-12-14 | 2019-11-05 | 昆山市华霆精密机械有限公司 | A kind of robot turntable structure |
| CN209665916U (en) * | 2019-01-12 | 2019-11-22 | 张茜如 | It is a kind of suitable for automation metope puncher vertically and laterally |
| CN209831654U (en) * | 2019-03-22 | 2019-12-24 | 山西潞安集团司马煤业有限公司 | Mechanical arm for shearing and crushing stone of fully mechanized mining face small nest anchor cable |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116117619A (en) * | 2022-12-30 | 2023-05-16 | 江苏福旭科技有限公司 | Solar-grade monocrystalline silicon piece surface treatment equipment |
| CN116117619B (en) * | 2022-12-30 | 2023-10-13 | 江苏福旭科技有限公司 | Solar-grade monocrystalline silicon piece surface treatment equipment |
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| CN113400483B (en) | 2022-09-13 |
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