CN116198983A - Actuating mechanism - Google Patents

Abstract

The embodiment of the invention discloses an actuating mechanism, wherein a plurality of second movable slide rails can slide relative to a rack through a first static slide rail, and a plurality of first movable slide rails can also slide relative to the rack through a second static slide rail. Thus, the first movable slide rail and the second movable slide rail can be independently and movably arranged on the frame. Therefore, all the first moving units positioned at the staggered positions of the first moving slide rail and the second moving slide rail can synchronously move in the moving plane. The plurality of execution units can be correspondingly adjusted according to the relative positions among the workpieces, and the flexibility of the execution mechanism is improved. On the other hand, when the first moving unit moves along the first static slide rail, the second moving slide rail can drive all the first moving units on the second moving slide rail to synchronously move. In particular, when the weight of the execution unit, the first movement unit and the transported workpiece is large, the first movable slide rail and the second movable slide rail can better transmit the moment.

Description

Actuating mechanism

Technical Field

The invention relates to the field of automatic processing, in particular to an actuating mechanism.

Background

In the production and manufacturing process of the product, in order to improve the efficiency, the same batch of products can be synchronously processed. Taking the mobile phone screen as an example, in order to facilitate mass-moving of mobile phone screens, the mobile phone screens are generally arranged in a rectangular array. On the contrary, the actuating mechanism is provided with the suction heads with the same corresponding number and arrangement positions, so that the aim of rapidly and batched moving the mobile phone screens is fulfilled. However, there are differences in the form and number of product placement on different batches of products, or different types of production lines. How to improve the adaptability of the executing mechanism to different processes becomes a problem to be solved.

Disclosure of Invention

In view of this, the embodiment of the invention provides an actuating mechanism, and the sliding component is used for setting the moving component to be capable of moving relative to the frame, so that the adaptability of the actuating mechanism to different types of workpieces is improved.

The executing mechanism of the embodiment of the invention comprises:

a frame;

a driving assembly including a first driving part driven in a first direction and a second driving part driven in a second direction;

a movement assembly including a plurality of first movement units;

the execution unit comprises a plurality of first parts, and the first parts are respectively and correspondingly arranged on the first movement units; and

the sliding assembly comprises a first static sliding rail, a plurality of first movable sliding rails, a plurality of second static sliding rails and a plurality of second movable sliding rails, wherein the first movable sliding rails and the first static sliding rails are arranged at intervals along the first direction, and the second movable sliding rails and the second static sliding rails are arranged at intervals along the second direction;

the first static slide rail and the second static slide rail are fixedly connected with the rack, meanwhile, the second movable slide rail is connected to the first static slide rail, the first driving part drives the first static slide rail and the second movable slide rail to slide along the first direction, the first movable slide rail is connected to the second static slide rail, and the second driving part drives the second static slide rail and the first movable slide rail to slide along the second direction;

at least one part of the first moving unit is connected to the first moving slide rail, the other part of the first moving unit is connected to the second moving slide rail, the first moving slide rail and the second moving slide rail are arranged at intervals in a staggered mode, and the first moving unit synchronously moves along the first direction and/or the second direction.

Further, the number of the first static slide rails is two, and two ends of the second movable slide rail are respectively arranged on the two first static slide rails; and/or

The number of the second static slide rails is two, and two ends of the first movable slide rail are respectively arranged on the two first static slide rails.

Further, the frame is provided with a first installation surface, and the second static slide rail and the plurality of second movable slide rails are far away from the first installation surface relative to the first static slide rail and the plurality of first movable slide rails.

Further, the distances from the second static slide rail to the first mounting surface are the same as those from the plurality of second movable slide rails;

the first movable slide rails and the first mounting surface are provided with a preset distance.

Further, the motion assembly further comprises a plurality of second motion units arranged on the first static slide rail, the second driving part is connected to the second motion units to drive the second motion units to slide on the first static slide rail, and the second motion slide rail is arranged at the bottom of the second motion units.

Further, the drive assembly further comprises:

the first fixed block is arranged on the rack;

the first scissors linkage assembly, one end of the first scissors linkage assembly is connected to the output end of the first driving part, and the other end of the first scissors linkage assembly is connected to the first fixed block, a plurality of first driving positions are arranged on the first scissors linkage assembly, and the first driving positions are connected with the second movement units in a one-to-one correspondence.

Further, the motion assembly further comprises a plurality of third motion units arranged on the second static slide rail, the third motion units are connected to the first driving part to drive the third motion units to slide on the second static slide rail, and the first motion slide rail is arranged on the top of the third motion units;

the execution unit further comprises a plurality of second parts, and each second part is respectively and correspondingly arranged on each third movement unit.

Further, the drive assembly further comprises:

the second fixing block is arranged on the frame at the middle position corresponding to the second static slide rail;

the middle part of the second scissors linkage assembly is pivoted with the second fixed block, a plurality of second driving positions are arranged on the second scissors linkage assembly, and the second driving positions are connected with the third movement units in one-to-one correspondence.

Further, the first driving part and the second driving part include:

the rotating motor is arranged on the frame;

a transmission belt connected to an output shaft of the rotating electrical machine;

and at least one part of the driving arm is arranged on the driving belt, and the other part of the driving arm is connected to the first scissor link assembly and the second scissor link assembly.

Further, a connecting piece is further arranged on one side, far away from the execution unit, of the machine frame, the connecting piece is located in the center of the machine frame, and the connecting piece is configured to be connected to a mechanical arm to drive the execution mechanism to move.

According to the actuating mechanism provided by the embodiment of the invention, the plurality of second movable slide rails can slide relative to the rack through the first static slide rails, and the plurality of first movable slide rails can also slide relative to the rack through the second static slide rails. Thus, the first movable slide rail and the second movable slide rail can be independently and movably arranged on the frame. Therefore, on one hand, all the first moving units positioned at the staggered positions of the first moving slide rail and the second moving slide rail can synchronously move in a moving plane. The execution unit can be adjusted according to the relative position between the workpieces, and the flexibility of the execution mechanism is improved. In the second aspect, when the first moving unit moves along the first static slide rail, the second moving slide rail can drive all the first moving units thereon to synchronously move. In contrast, when the first moving units move along the second static slide rail, the first moving slide rail can also drive all the first moving units on the first moving slide rail to synchronously move. Further ensuring that the plurality of first motion units can synchronously move. In particular, when the weight of the execution unit, the first movement unit and the transported workpiece is large, the first movable slide rail and the second movable slide rail can better transmit the moment. In still another aspect, the sliding assemblies are arranged in a staggered manner to guide the movement of the first movement unit, so that the movement stroke of the first movement unit can be greatly improved, and the executing mechanism can process the workpiece in a larger area.

Drawings

The above and other objects, features and advantages of the present invention will become more apparent from the following description of embodiments of the present invention with reference to the accompanying drawings, in which:

FIG. 1 is a schematic diagram of an actuator side according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of another side of an actuator according to an embodiment of the present invention;

FIG. 3 is a schematic view of a sliding assembly according to an embodiment of the present invention;

FIG. 4 is a schematic view of another side of a slide assembly according to an embodiment of the present invention;

fig. 5 is an assembled schematic view of a first motion unit according to an embodiment of the present invention;

FIG. 6 is an exploded view of a first motion unit according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of the motion state of an actuator according to an embodiment of the present invention;

FIG. 8 is a schematic view of the movement of the scissor linkage assembly of an embodiment of the invention;

fig. 9 is a schematic diagram of an execution unit according to an embodiment of the present invention.

Reference numerals illustrate:

1-a sliding assembly;

11-a first stationary slide rail; 12-a first movable slide rail; 13-a second static slide rail; 14-a second movable slide rail; 15-a slider;

2-a drive assembly;

21-a driving part; 211-driving arms; 212-a rotating electric machine; 213-rollers; 214-a drive belt;

22-a transmission part; 221-cover; 222-a rotating shaft; 223-pole set; 224-hinge arms; 225-a first pivot point; 226-a second pivot point; 227-drive bits; 228-fixing the position;

3-a motion assembly;

31-a first motion unit;

32-a second motion unit;

33-a third motion unit;

34-a second body; 341-channel; 342-a second mounting surface;

35-connecting holes;

4-an execution unit;

5-a frame;

51-a first fixed block;

52-a first body; 521-a first mounting surface;

53-a second fixed block;

54-connectors;

a-workpiece.

Detailed Description

The present invention is described below based on examples, but the present invention is not limited to only these examples. In the following detailed description of the present invention, certain specific details are set forth in detail. The present invention will be fully understood by those skilled in the art without the details described herein. Well-known methods, procedures, flows, components and circuits have not been described in detail so as not to obscure the nature of the invention.

Moreover, those of ordinary skill in the art will appreciate that the drawings are provided herein for illustrative purposes and that the drawings are not necessarily drawn to scale.

Unless the context clearly requires otherwise, the words "comprise," "comprising," and the like throughout the application are to be construed as including but not being exclusive or exhaustive; that is, it is the meaning of "including but not limited to".

Unless specifically stated or limited otherwise, the terms "mounted," "connected," "secured" and the like should be construed broadly, as they may be fixed, removable, or integral, for example; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

Fig. 1 is a schematic structural view of an actuator side of the present embodiment. The actuator comprises a sliding component 1, a driving component 2, a moving component 3, an executing unit 4 and a frame 5. Wherein the frame 5 is located on top of the actuator. The outline of the workpiece a is also shown in dashed lines. The workpiece A is positioned at the bottom of the executing mechanism, and an executing unit 4 of the executing mechanism is used for operating the workpiece A. The execution unit 4 includes, but is not limited to, a suction head, a dispensing head, a welding head, a gripping head, or the like. A person skilled in the art can arrange different types of execution units 4 on the movement assembly 3 according to the actual process requirements, so as to improve the adaptability of the execution mechanism to different processes. Taking the workpiece a as a mobile phone screen as an example, the executing unit 4 can be correspondingly arranged as a suction head, and the executing mechanism moves the mobile phone screen through negative pressure generated by the suction head.

Fig. 2 is a schematic view of the actuator on the other side. Fig. 3 is a schematic view of the structure of the sliding assembly 1 on one side. The frame 5 is located at the bottom of the actuator in both figures. The outline of the first and second fixed blocks 51 and 53, respectively, is shown in fig. 2 by thick solid lines. And the positions of the rotation shaft 222, the driving position 227, the fixing position 228 and the connection hole 35. The drive assembly 2 in the figure comprises two drive parts 21, namely a first drive part and a second drive part.

Fig. 4 is a view shown in the direction a in fig. 3. The other side of the sliding assembly 1 is shown schematically. The second stationary rail 13 is located above the first movable rail 12 and the first movable rail 12. And the profile of the stationary slide is shown with a thick solid line.

Fig. 5 and 6 are an assembly schematic view and an explosion schematic view of the first moving unit 31.

Fig. 7 is a schematic diagram of the movement state of the actuator. The figure shows 5 working states of the actuator. Including state i, state ii, state iii, state iv, and state v (the unidirectional arrows for each state are the direction of motion of the motion assembly 3). The figure also shows the 4-way line shape. Wherein the dash-dot line is a schematic representation of the position of the frame 5 at the bottom. The thick solid line is a positional indication of the first fixed block 51, the second fixed block 53, the first stationary slide 11, and the second stationary slide 13. The thin solid line is a positional representation of the second movement unit 32 and the third movement unit 33. The dashed lines indicate the positions of the first moving unit 31, the first moving rail 12 and the second moving rail 14. In contrast, the first and second stationary rails 11 and 13 and the first and second movable rails 12 and 14 in fig. 3 are also shown using thick solid lines and thin solid lines, respectively.

It will be readily appreciated that the parts shown in bold solid lines in fig. 7 are in a relatively stationary state with respect to the frame 5 during operation of the actuator. The part shown in thin solid lines can only move in the direction X or the direction Y. The parts shown in dash-dot lines can be moved in both directions X and Y.

Fig. 8 is a schematic view showing a movement state of the scissor linkage assembly of the embodiment. The figures show the different states of the scissor linkage assembly in operation, with state via, state vib, state viia and state viib, respectively.

In some embodiments, as shown in fig. 1-7, the actuator in this embodiment includes a frame 5, a drive assembly 2, a motion assembly 3, an actuator unit 4, and a slide assembly 1. The drive assembly 2 includes a first drive section driven in a first direction (direction X) and a second drive section driven in a second direction (direction Y). The movement assembly 3 comprises a plurality of first movement units 31. The execution unit 4 includes a plurality of first portions, which are respectively mounted to the plurality of first movement units 31 in one-to-one correspondence. The sliding assembly 1 comprises a first static sliding rail 11, a plurality of first movable sliding rails 12, a second static sliding rail 13 and a plurality of second movable sliding rails 14, wherein the plurality of first movable sliding rails 12 and the first static sliding rail 11 are arranged at intervals along a first direction, and the plurality of second movable sliding rails 14 and the second static sliding rail 13 are arranged at intervals along a second direction. The first static slide rail 11 and the second static slide rail 13 are fixedly connected with the frame 5, meanwhile, the second movable slide rail 14 is connected to the first static slide rail 11, the first driving part drives the first static slide rail 11 and the second movable slide rail 14 to slide along a first direction, the first movable slide rail 12 is connected to the second static slide rail 13, and the second driving part drives the second static slide rail 13 and the first movable slide rail 12 to slide along a second direction. At least one part of the first moving unit 31 is connected to the first moving rail 12, and the other part is connected to the second moving rail 14, and the first moving rail 12 and the second moving rail 14 are arranged at intervals in a staggered manner, and the first moving unit 31 moves synchronously along the first direction and/or the second direction.

Specifically, the plurality of first moving units 31 are slidably disposed on the first moving rail 12 and the second moving rail 14 at the same time, and in the third direction, the first moving rail 12 and the second moving rail 14 are staggered by the first moving units 31. Meanwhile, the first direction (direction X), the second direction (direction Y), and the third direction (direction Z) are arranged to be perpendicular to each other two by two. The driving assembly 2 is configured to drive the sliding assembly 1 to move all the first moving units 31 in the first direction (state ii in fig. 7), the second direction (state iii in fig. 7) or both the first direction and the second direction (state iv in fig. 7) synchronously.

Alternatively, the driving assembly 2 may be directly connected to the end of the first movable rail 12 and the end of the second movable rail 14, thereby driving the first movable rail 12 and the second movable rail 14.

The first movable rail 12 in this embodiment is independently movable in a movement plane relative to the second movable rail 14. The movement plane, i.e. the direction X and the direction Y in fig. 1 and 7, constitutes a plane.

A specific arrangement of a plurality of first movement units 31 (top without hatching) is shown in fig. 2 and 3. The plurality of first moving units 31 in the drawing are distributed in a rectangular array of 4×2. The plurality of second moving rails 14 can be simultaneously driven to move by the driving assembly 2 positioned at one side of the frame 5, so as to drive the plurality of first moving units 31 to move in the direction Y of the rectangular array. The movement of the plurality of first movement units 31 in the direction X of the rectangular array is similar to the direction Y, and will not be described again. When the first movement unit 31 needs to be moved in the direction X and the direction Y simultaneously, the first movement unit 31 needs to be driven by the 2 driving units 2 simultaneously. In this form, the first moving unit 31 slides on the first moving rail 12 and the second moving rail 14 at the same time, so as to realize the movement of the first moving unit 31 on the movement plane.

In summary, in the actuator according to the embodiment of the present invention, the plurality of second movable rails 14 may slide with respect to the frame 5 through the first stationary rail 11, and the plurality of first movable rails 12 may also slide with respect to the frame 5 through the second stationary rail 13. Thus, the first movable rail 12 and the second movable rail 14 are independently and movably mounted on the frame 5.

Thus, on the one hand, all the first moving units 31 located at the staggered positions of the first moving rail 12 and the second moving rail 14 can move synchronously in the movement plane. The plurality of execution units 4 can be adjusted according to the relative positions among the workpieces A, so that the flexibility of the execution mechanism is improved. In the second aspect, when the first moving unit 31 moves along the first stationary rail 11, the second moving rail 14 can drive all the first moving units 31 thereon to move synchronously. In contrast, when the first moving units 31 move along the second stationary rail 13, the first moving rail 12 may also drive all the first moving units 31 thereon to move synchronously. It is further ensured that the plurality of first movement units 31 can move synchronously. Particularly when the weight of the actuating unit 4, the first movement unit 31 and the transported workpiece a is large, the first and second movable rails 12, 14 can transmit torque better. On the other hand, by guiding the movement of the first movement unit 31 by the sliding assemblies 1 which are disposed to be staggered with each other, the movement stroke of the first movement unit 31 can be greatly improved, so that the actuator can perform the machining operation on the workpiece a in a larger area.

Further, the sliding assembly 1 is further provided with a sliding block 15 matched with the first static sliding rail 11, the first movable sliding rail 12, the sliding block 15 and the second static sliding rail 13 respectively. The present embodiment fixedly connects the first moving unit 31 with the slider 15. Thus, the movement of the first movement unit 31 relative to the slide rail is achieved by the slider 15.

In some embodiments, as shown in fig. 3, the outline of the frame 5 is shown in dotted lines. The number of the first static slide rails 11 is 2, and two ends of each second movable slide rail 14 are slidably disposed on the 2 first static slide rails 11. By means of 2 first stationary slide rails 11, it is ensured that a plurality of second movable slide rails 14 move parallel to the first mounting surface 521 of the frame 5.

In contrast, the number of the second stationary rails 13 is also 2 (only one second stationary rail 13 is shown in fig. 3), and both ends of each of the first movable rails 12 are slidably provided on 2 first stationary rails 11. By the above-described paired 2 second stationary slide rails 13 and 2 first stationary slide rails 11, it is ensured that the first movable slide rail 12 and the second movable slide rail 14 stably drive the first moving unit 31 to move in the movement plane.

The specific form of the cross section of the first stationary slide 11 and the first movable slide 12 is further shown in fig. 4. The cross section is generally rectangular in the figures. Meanwhile, two sides of the rectangle are also provided with two depressions. Taking the first movable rail 12 as an example, the connection position of the first moving unit 31 and the first stationary rail 11, or the connection position of the slider 15 and the first movable rail 12 may be set to be adapted to the rectangular cross section. Therefore, when the first moving unit 31 slides on the first static slide rail 11, the shaking of the first moving unit 31 in the circumferential direction of the first static slide rail 11 is reduced or even avoided. Further improving the stability of the movement of the first movement unit 31.

In some embodiments, as shown in fig. 2-3 and states i and iii in fig. 7, the moving assembly 3 further includes a plurality of second moving units 32, where the plurality of second moving units 32 are slidably disposed on the first stationary rail 11 and fixedly connected to the plurality of second moving rails 14 in a one-to-one correspondence manner.

Specifically, the second driving part is connected to the second moving unit 32 to drive the second moving unit 32 to slide on the first stationary slide 11, and the second moving slide 14 is disposed at the bottom of the second moving unit 32.

The second moving unit 32 of the present embodiment has a degree of freedom of movement in the direction Y. The second moving rail 14 can be mounted on the frame 5 by the second moving unit 32, so that a space is reserved between the second moving rail 14 and the first moving rail 12.

In some embodiments, as shown in fig. 1-7, the housing 5 includes a first fixed block 51 and a first body 52. The first body 52 includes a first mounting surface 521, and the second stationary rail 13 and the plurality of second movable rails 14 are remote from the first mounting surface 521 relative to the first stationary rail 11 and the plurality of first movable rails 12.

Specifically, the first fixed block 51 and the first stationary rail 11 are mounted to the edge of the first mounting surface 521, and the end of the second stationary rail 13 is mounted to the first fixed block 51. The first mounting surface 521 may be planar.

In this embodiment, the first fixing block 51 is used to fix the second static rail 13, and meanwhile, the first fixing block 51 can also serve to raise the second static rail 13, so that the second static rail 13 and the second movable rail 14 are located at the same height (as shown in fig. 4).

In some embodiments, as shown in fig. 1-7, the second stationary slide 13 and the plurality of second movable slides 14 are the same distance from the first mounting surface 521 in the third direction. To ensure consistency of the distance of the execution unit 4 from each work piece a. In contrast, the plurality of first movable rails 12 have a predetermined distance from the first mounting surface 521. As shown in fig. 4, the first movable rail 12 is slightly higher than the first stationary rail 11 in order to avoid interference between the first movable rail 12 and the frame 5 during movement.

In some embodiments, as shown in fig. 1-7, the drive assembly 2 includes two drive portions 21 and two transmission portions 22. The two transmission parts 22 are respectively connected with the two driving parts 21 in a one-to-one correspondence manner, the transmission parts 22 comprise a plurality of driving positions 227, and the two transmission parts 22 are respectively connected with the plurality of first movable slide rails 12 and the plurality of second movable slide rails 14 in a one-to-one correspondence manner through the plurality of driving positions 227. In this embodiment, the slide rails in the direction Y and the direction X are driven by two driving parts 21 that can be independently operated, respectively, to realize the movement of the execution unit 4 in the movement plane.

Alternatively, the transmission portion 22 may be a ball screw. The ball screw comprises a screw rod and a plurality of nuts arranged on the screw rod. The plurality of nuts may move synchronously as the screw rotates. The plurality of nuts are used to form the plurality of drive bits 227 of the present embodiment, respectively.

In some embodiments, as shown in fig. 1-8, the drive assembly 2 further includes a first fixed block 51 and a first scissor linkage assembly. The first fixing block 51 is provided on the frame 5. One end of the first scissor link assembly is connected to the output end of the first driving portion, the other end of the first scissor link assembly is connected to the first fixing block 51, a plurality of first driving positions are arranged on the first scissor link assembly, and the first driving positions are connected with the second moving units 32 in a one-to-one correspondence mode. The present embodiment drives the plurality of second moving units 32 to move synchronously through the plurality of first driving bits. The drive bit 227 in the above embodiment is used to form the first drive bit of this embodiment.

In some embodiments, as shown in fig. 2-4 and states i and ii in fig. 7, the movement assembly 3 further includes a plurality of third movement units 33 disposed on the second stationary slide 13, the third movement units 33 being connected to the first driving part to drive the third movement units 33 to slide on the second stationary slide 13, and the first movement slide 12 being mounted on top of the third movement units 33. The execution unit 4 further includes a plurality of second portions, each of which is mounted to a respective one of the third movement units 33.

The third moving units 33 of the present embodiment are slidably disposed on the second static sliding rail 13 and are fixedly connected to the first moving sliding rails 12 in a one-to-one correspondence manner. The third moving unit 33 can move along the direction X to drive the first moving units 31 thereon to move synchronously through the first moving rails 12.

In some embodiments, as shown in fig. 2-7, the second stationary slide 13 is located on the same side of the plurality of second movable slides 14. The execution unit 4 further comprises a plurality of second portions, which are mounted to the respective third movement units 33.

The present embodiment further provides a part of the execution unit 4 on the third movement unit 33, so that the third movement unit 33 can also play a role of driving the execution unit 4 to move. In this form, the first motion units 31 and the third motion units 33 are distributed in a 5×2 rectangular array (as shown in fig. 2). On the premise that the arrangement area of the machine frame 5 and the number of the second movable slide rails 14 are unchanged, more execution units 4 can be arranged on the execution mechanism. And the operation efficiency of the executing mechanism is improved. On the other hand, in the present embodiment, the second stationary rail 13 is disposed at an edge position of the frame 5 and is fixed to the frame 5. In the operation of the actuator, it is ensured that the relative distance of the drive assembly 2 to the third movement unit 33 in the direction Y can always be inconvenient. To achieve torque output of the drive assembly 2 to the slide assembly 1.

It is easy to understand that the execution unit 4 provided on the third movement unit 33 in the present embodiment can move only in the direction X. However, the first portion opposite the second portion may still move in direction Y. Thus, the second part also effects movement of the first part in direction Y. That is, in this embodiment, all the execution units 4 on the execution mechanism may be far from each other or near to each other in the direction Y.

In other words, when the number of the second stationary rails 13 is 2, that is, when the third moving units 33 are respectively disposed on two sides of the plurality of second moving rails 14, the second portion can be disposed on only one second stationary rail 13. Avoiding that the partial execution unit 4 cannot move relatively in the direction Y, being arranged on the second stationary rail 13 at the same time.

In other embodiments, the second portions are disposed on a second motion unit 32 on the same side of the first motion rails 12. That is, in the present embodiment, a plurality of second portions are provided along one first stationary rail 11. This also enables the movement of the actuator 4.

In some embodiments, as shown in fig. 1-8, the drive assembly 2 further includes a second fixed block 53 and a second scissor linkage assembly. The second fixed block 53 is arranged on the frame 5 at the middle position corresponding to the second static slide rail 13. The middle part of the second scissors linkage assembly is pivoted with the second fixed block 53, and a plurality of second driving positions are arranged on the second scissors linkage assembly and are connected with the third movement units 33 in a one-to-one correspondence. In this embodiment, the plurality of second driving bits drive the plurality of third moving units to synchronously move. The drive bit 227 in the above embodiment is used to form the second drive bit of this embodiment.

Specifically, the first and second scissor link assemblies include a plurality of rotating shafts 222 and a plurality of pairs of rod groups 223 connected in sequence, each pair of rod groups 223 includes two pivot rods 224, the pivot rods 224 include a first pivot point 225 and a second pivot point 226, the two pivot rods 224 of each pair of rod groups 223 are pivoted through the first pivot point 225, and the two adjacent pairs of rod groups 223 are pivoted through the second pivot point 226. The plurality of pairs of pole sets 223 include a plurality of first pivot points 225, and a portion of the first pivot points 225 include a plurality of drive locations 227 through the shaft 222.

One particular form of a scissors linkage assembly is shown in figure 8. The hinge arm 224 in the middle position has two second pivot points 226 and one first pivot point 225. The hinge arms 224 at both ends have a second pivot point 226 and a first pivot point 225. The distance from the first pivot point 225 to the second pivot point 226 on each hinge arm 224 is the same.

It will be readily appreciated that in the figures, state VIa, state VIb, state VIIa and state VIIb have the same number of pole groups 223. Wherein, the state VIa and the state VIb are the extending state and the contracting state of the same scissor connecting rod assembly. In contrast, the state VIIa and VIIb are the extended and contracted states of the other scissor linkage assembly. The drive bits 227 of the two scissor linkage assemblies are identical in position and the fixed bits 228 are different in position.

The dashed line a2 in the figure indicates the direction in which the second pivot point 226 in the state via is arranged, and the dashed line a1 indicates the direction in which the first pivot point 225 in the state via is arranged. The first pivot point 225 may be always at the same height during switching of the scissors linkage assembly between the extended and retracted positions.

L1 and L2 are also shown. L1 is the separation distance between adjacent drive locations 227 in the extended state of the scissor linkage assembly. L2 is the separation distance between adjacent drive bits 227 in the contracted state of the scissors linkage assembly. A first pivot point 225 is spaced between two adjacent drive locations 227. Any two adjacent driving positions 227 may also be spaced apart by a plurality of first pivot points 225 to increase the distance between the corresponding first movable rails 12. As shown in state i in fig. 7, 2 first pivot points 225 are disposed between two first movable rails 12 adjacent to the first fixed block 51, so that in the corresponding state ii, the distance between the two first movable rails 12 in the contracted state is correspondingly larger. Thus, the actuator can be adapted to different workpiece a arrangements.

Thus, in one aspect, the present embodiment provides a plurality of drive locations 227 at the first pivot point 225 such that the scissor linkage assembly can provide a driving force for the slide assembly 1 in a plane of motion.

On the other hand, the pair of rod sets 223 may move synchronously during the switching of the extended state and the contracted state of the scissor linkage assembly. Thus, the execution units 4 can be synchronously close or synchronously far away under the drive of the driving assembly 2. I.e. the distance of the execution units 4 remains relatively uniform.

In some embodiments, as shown in fig. 1-8, the driving portion 21 includes a driving arm 211, a driving position 227 is connected to the driving arm 211 through a rotating shaft 222, and the second stationary sliding rail 13 is located on the same side of the plurality of second moving sliding rails 14. The frame 5 includes a first body 52 and a second fixed block 53. The first body 52 includes a first mounting surface 521. The second fixing block 53 is fixed to the first mounting surface 521 and is adjacent to the second stationary rail 13. The first pivot points 225 further include a fixing portion 228, and the fixing portion 228 is connected to the second fixing block 53 through the rotation shaft 222.

The second fixing block 53 is shown in fig. 7-8 as being arranged in a different position of the frame 5. It can be seen that the scissor linkage assembly will retract towards the location of the second fixed block 53. Therefore, the person skilled in the art can adjust the position of the second fixing block 53 on the frame 5 according to the requirement, so as to meet the adjustment requirement of the actuator in the direction X or the direction Y.

In some embodiments, as shown in state v in fig. 7, a first fixing block 51 and a second fixing block 53 are both disposed in the extending direction of the first stationary slide 11, that is, in the position shown in state v in fig. 7. In this form, the plurality of first portions are still disposed on the first moving unit 31. In contrast, a plurality of second portions are simultaneously provided on the third moving unit 33 and the second moving unit 32 corresponding to the second fixed block 53. Meanwhile, an execution unit 4 is further disposed on the first fixed block 51 corresponding to the first stationary rail 11. At this time, the two transmission portions 22 are provided on the same side of the frame 5 as the first fixing block 51 and the one second fixing block 53.

Thereby, the execution unit 4 can move synchronously with the second fixed block 53 as the origin. The present embodiment can greatly increase the number of the execution units 4 arranged on the premise that the area of the frame 5 is unchanged. At the same time, a synchronous distance change of a plurality of execution units 4 is ensured.

Further, the distance between the driving bit 227 and the fixed bit 228 is a first distance. The movement stroke of the driving arm 211 is inversely related to the first distance. L3 and L4 in fig. 8 are the movement strokes of the driving arm 211. It can be seen that as the distance between the drive location 227 and the fixed location 228 is closer, the travel of the drive arm 211 is also relatively smaller.

Thus, on the one hand, the person skilled in the art can reduce the distance between the driving position 227 and the fixed position 228 when the movement stroke of the movement assembly 3 is large, and at the same time the driving stroke of the driving arm 211 is small (for example, a linear motor). Meanwhile, the output torque of the driver can be correspondingly improved.

On the other hand, when the movement stroke at the movement unit 3 is smaller and the movement accuracy requirement of the execution unit 4 is higher (for example, in the field of chip manufacturing), the distance between the driving position 227 and the fixed position 228 can be increased.

In some embodiments, as shown in fig. 1-8, the first and second drive portions include a rotary motor 212, a belt 214, and a drive arm 211. The rotary motor 212 is provided on the frame 5. The transmission belt 214 is connected to an output shaft of the rotating electrical machine. At least a portion of the drive arm is disposed on the drive belt 214 and another portion is connected to the first and second scissor linkage assemblies.

Specifically, the rotary electric machine 212 is mounted to the first body 52. The roller 213 is rotatably disposed on the first body 52, and the scissor linkage assembly is disposed between the rotary motor 212 and the roller 213. The driving belt 214 is wound around the roller 213 and the output shaft of the rotating motor 212, and the driving arm 211 is fixedly connected with the driving belt 214. The present embodiment utilizes the drive belt 214 to convert the rotational torque of the rotary motor 212 into a linear torque that drives the scissor linkage assembly. The whole structure of the actuating mechanism is simplified, and the movement mode of the movement assembly 3 is changed conveniently by changing the connection positions of the actuating arm 211 and the second fixed block 53 on the scissor linkage assembly.

In some embodiments, as shown in fig. 1-8, the first moving unit 31 includes a second body 34, where a channel 341 and a second mounting surface 342 are disposed on the second body 34, the channel 341 penetrates the second body 34, the second body 34 is slidably disposed on the second moving rail 14 through the channel 341, and the second body 34 is slidably disposed on the first moving rail 12 through the second mounting surface 342.

Optionally, the first movement unit 31 is further provided with a cover 221, by means of which cover 221 the connection of the execution unit 4 to the second body 34 is achieved.

Preferably, as shown in fig. 2 and 5, connection holes 35 toward the driving assembly 2 are provided on the second body 34, the second moving unit 32, the first fixed block 51 and the second fixed block 53 so as to facilitate connection of the scissor linkage assembly through the rotation shaft 222.

Further, the sliding blocks 15 in the above embodiments may be fixedly connected to the bottom of the second body 34 and the channels 341, respectively, so as to enable the moving assembly 3 to slide relatively.

In some embodiments, as shown in fig. 1-8, the first body 52 is a plate-like member with the first mounting surface 521 on one side of the plate-like member. The frame 5 further comprises a connecting member 54, which connecting member 54 is arranged at a side of the plate-shaped member facing away from the first mounting surface 521, and the connecting member 54 is positioned at the center of the plate-shaped member. The link 54 is configured to be coupled to a robotic arm to drive movement of an actuator. The actuator can be driven to move in directions X, Y and Z by the connector 54 in this embodiment.

Optionally, as shown in fig. 1, a hollowed-out area is provided on the plate-shaped member to reduce the overall weight of the actuator.

Fig. 9 is a schematic diagram of the structure of the execution unit 4. The execution unit 4 includes a slide table cylinder and a plurality of suction heads connected with a driving rod of the slide table cylinder. In this embodiment, the connecting piece 54 is fixedly connected with the manipulator, so that the whole movement of the actuator can be realized. Thereby realizing the carrying operation of the executing mechanism on the mobile phone screen.

The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, and various modifications and variations may be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. An actuator, the actuator comprising:

a frame (5);

a drive assembly (2), the drive assembly (2) comprising a first drive section driven in a first direction and a second drive section driven in a second direction;

a movement assembly (3) comprising a plurality of first movement units (31);

the execution unit (4) comprises a plurality of first parts, and the first parts are respectively and correspondingly arranged on the first movement units (31); and

the sliding assembly (1) comprises a first static sliding rail (11), a plurality of first movable sliding rails (12), a plurality of second static sliding rails (13) and a plurality of second movable sliding rails (14), wherein the first movable sliding rails (12) and the first static sliding rails (11) are arranged at intervals along the first direction, and the second movable sliding rails (14) and the second static sliding rails (13) are arranged at intervals along the second direction;

the first static slide rail (11), the second static slide rail (13) and the rack (5) are fixedly connected, meanwhile, the second movable slide rail (14) is connected to the first static slide rail (11), the first driving part drives the first static slide rail (11) and the second movable slide rail (14) to slide along the first direction, the first movable slide rail (12) is connected to the second static slide rail (13), and the second driving part drives the second static slide rail (13) and the first movable slide rail (12) to slide along the second direction;

at least one part of the first moving unit (31) is connected to the first moving slide rail (12), and the other part is connected to the second moving slide rail (14), the first moving slide rail (12) and the second moving slide rail (14) are arranged at intervals in a staggered manner, and the first moving unit (31) moves synchronously along the first direction and/or the second direction.

2. The actuating mechanism according to claim 1, wherein the number of the first static slide rails (11) is two, and two ends of the second movable slide rail (14) are respectively arranged on the two first static slide rails (11); and/or

The number of the second static slide rails (13) is two, and two ends of the first movable slide rail (12) are respectively arranged on the two first static slide rails (11).

3. The actuator according to claim 1, wherein the frame (5) is formed with a first mounting surface (521), the second stationary slide (13) and the plurality of second movable slides (14) being remote from the first mounting surface (521) with respect to the first stationary slide (11) and the plurality of first movable slides (12).

4. An actuator according to claim 3, wherein the second stationary slide (13) and the plurality of second movable slides (14) are equidistant from the first mounting surface (521);

a plurality of first movable slide rails (12) are provided with a predetermined distance from the first mounting surface (521).

5. The actuator according to claim 1, wherein the movement assembly (3) further comprises a plurality of second movement units (32) arranged on the first stationary slide (11), the second driving part being connected to the second movement units (32) to drive the second movement units (32) to slide on the first stationary slide (11), the second movement slide (14) being arranged at the bottom of the second movement units (32).

6. The actuator according to claim 5, wherein the drive assembly (2) further comprises:

the first fixing block (51), the said first fixing block (51) locates on said stander (5);

the first scissors linkage assembly, one end of the first scissors linkage assembly is connected to the output end of the first driving part, and the other end of the first scissors linkage assembly is connected to the first fixed block (51), a plurality of first driving positions are arranged on the first scissors linkage assembly, and the first driving positions are connected with the second moving units (32) in a one-to-one correspondence.

7. The actuator according to claim 6, wherein the movement assembly (3) further comprises a plurality of third movement units (33) arranged on the second stationary slide (13), the third movement units (33) being connected to the first driving part to drive the third movement units (33) to slide on the second stationary slide (13), the first movement slide (12) being mounted on top of the third movement units (33);

the execution unit (4) further comprises a plurality of second parts, and each second part is respectively and correspondingly arranged on each third movement unit (33).

8. The actuator according to claim 7, wherein the drive assembly (2) further comprises:

the second fixed block (53) is arranged on the frame (5) at the middle position corresponding to the second static slide rail (13);

the middle part of the second scissors linkage assembly is pivoted with the second fixed block (53), a plurality of second driving positions are arranged on the second scissors linkage assembly, and the second driving positions are connected with the third movement units (33) in one-to-one correspondence.

9. The actuator of claim 8, wherein the first drive portion and the second drive portion comprise:

a rotating motor (212) provided on the frame (5);

a transmission belt (214) connected to an output shaft of the rotating electrical machine;

-a drive arm (211) at least a part of which is arranged on the drive belt (214) and another part of which is connected to the first and second scissor linkage assemblies.

10. Actuator according to claim 1, wherein the side of the frame (5) remote from the actuator unit (4) is further provided with a connection (54), the connection (54) being located in the centre of the frame, the connection (54) being configured to be connected to a mechanical arm for driving the actuator in motion.

Images