CN210551292U - Combined type execution mechanism, mechanical arm and robot - Google Patents

Abstract

The utility model belongs to the robot field discloses a modular actuating mechanism, arm and robot, modular actuating mechanism include the body, all set up in vision device, clamping device and screwing up the device on the body, clamping device is used for right product after the vision device location carries out the centre gripping and fixes, it is right to screw up the device be used for the product of clamping device centre gripping carries out screwing up or the operation of unscrewing of screw. The utility model discloses an install the vision device on the body, can look for hourglass, mistake proofing, discernment, accurate positioning to the product, through installation clamping device, can carry out screwing up or unscrewing of screw to the product of being held through screwing up the device with the product centre gripping after the location, and its integrated level is high and the function is various.

Description

Combined type execution mechanism, mechanical arm and robot

Technical Field

The utility model relates to a robot field especially relates to a modular actuating mechanism, arm and robot.

Background

With the development of industrial automation, robots have become important tools in industrial production, and have been widely used because they can replace people to complete dangerous, heavy and monotonous work, improve production efficiency, reduce production cost, and the like.

With the continuous development and progress of science and technology, the requirements for production and assembly are more and more pursuing high quality and high flexibility, the existing simple and single tool clamp can not meet the production requirements, and the research and development of some high-integration, high-flexibility and multifunctional actuating mechanisms are urgently needed.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a modular actuating mechanism, arm and robot can realize the hourglass of looking for, mistake proofing, discernment, accurate positioning to the product, to the product snatch and to the elasticity operation of screw on the product, the integrated level is high and the function is various.

To achieve the purpose, the utility model adopts the following technical proposal:

the utility model provides a combined type actuating mechanism, includes the body, all set up in vision device, clamping device and the device of screwing up on the body, clamping device is used for right product after the vision device location carries out the centre gripping fixed, the device of screwing up is used for right the product of clamping device centre gripping carries out the operation of screwing up or unscrewing of screw.

Preferably, the tightening device comprises a lifting assembly mounted on the body, a tightening gun driven by the lifting assembly to lift, and a screw taking assembly mounted on the body, wherein the screw taking assembly can adsorb the screw, and the tightening gun can extend into the screw taking assembly and perform tightening or loosening operation on the screw adsorbed by the screw taking assembly.

Preferably, the screw taking assembly comprises a supporting plate fixedly mounted on the body and an outer sleeve arranged on the supporting plate, a channel for adsorbing the screw is formed inside the outer sleeve, the outer sleeve is provided with an adsorption hole communicated with the channel, the top of the outer sleeve is provided with a through hole, and the tightening gun penetrates through the through hole and extends into the channel.

Preferably, a pressure sensor is arranged in the channel and used for detecting the pressure in the channel.

Preferably, an alarm device is connected to the pressure sensor, and the alarm device is configured to alarm when the pressure sensor detects that the pressure in the channel is abnormal.

Preferably, the lifting assembly comprises a slide rail fixedly arranged on the body, a slide block sliding on the slide rail, and a driving piece with an output end connected to the slide block in a driving manner, and the tightening gun is fixedly connected to the slide block and can slide along with the slide block.

Preferably, the supporting plate is in threaded connection with a limiting block, and the limiting block can abut against the end face of the sliding block to limit the tightening gun.

Preferably, the clamping device comprises a mounting substrate capable of being mounted on the body, and a first gripper arranged on the mounting substrate, and the first gripper is used for clamping the product.

Preferably, the first gripper comprises two gripper cylinders which are symmetrically arranged on the mounting substrate, and a first clamping piece which is arranged at the output end of the gripper cylinder.

Preferably, the clamping device further comprises a three-jaw gripper installed on the mounting substrate, and the three-jaw gripper can individually grip a product or can grip the product together with the first gripper.

Preferably, the clamping device further comprises parallel grippers mounted on the mounting substrate, the parallel grippers being capable of individually gripping a product or the parallel grippers being capable of gripping the product together with one or both of the first gripper assembly and the three-jaw gripper.

Preferably, the clamping device further comprises a positioning component mounted on the mounting substrate, and the positioning component is used for positioning the product.

Preferably, the clamping device further comprises a quick-change device arranged on the body, and the clamping device is detachably mounted on the quick-change device.

Preferably, the quick-change device comprises a male disc mounted on the body and a master disc mounted on the clamping device, and the master disc is detachably connected with the male disc.

Preferably, the vision device includes a camera holder and a light source holder mounted on the body, a camera mounted on the camera holder, and a light source mounted on the light source holder.

The utility model also provides a robotic arm, it includes foretell combination formula actuating mechanism.

The utility model also provides a robot, it includes foretell arm.

The utility model also provides a robot, it includes foretell combination formula actuating mechanism.

The utility model has the advantages that: through installing the vision device on the body, can look for hourglass, mistake proofing, discernment, accurate positioning to the product, through installation clamping device, can carry out screwing up or unscrewing of screw to the product of being held by the clamping through screwing up the device with the product centre gripping after the location, its integrated level is high and the function is various.

Through clamping device including first tongs, three-jaw tongs and parallel tongs, its gripping that can adapt to multiple product is held, but also can snatch a plurality of products of centre gripping simultaneously.

Through setting up quick change device, can be faster higher tongs to better adaptation different products improve clamping device's compatibility.

Drawings

Fig. 1 is a schematic structural diagram of a combined actuator according to the present invention;

fig. 2 is a schematic structural view of the combined actuator of the present invention without showing the clamping device;

fig. 3 is a schematic structural view of the tightening device according to the present invention;

FIG. 4 is a cross-sectional view of the staple removing assembly of the present invention;

fig. 5 is a schematic structural view of the clamping device according to the present invention;

fig. 6 is a schematic structural view of the quick-change device according to the present invention.

In the figure:

1. a body; 2. a vision device; 21. a camera support; 22. a light source holder; 23. a camera; 24. a light source; 3. a clamping device; 31. a mounting substrate; 32. a first gripper; 321. a gripper cylinder; 322. a first clamping member; 33. a three-jaw gripper; 331. a three-jaw cylinder; 332. a second clamping member; 34. parallel grippers; 341. A two-jaw cylinder; 342. a third clamping member; 35. a positioning assembly; 4. tightening the device; 41. a lifting assembly; 411. a slide rail; 412. a slider; 413. a drive member; 42. screwing down the gun; 43. a nail taking assembly; 431. a support plate; 432. an outer sleeve; 4321. an adsorption hole; 4322. a channel; 4323. a seal ring; 44. a limiting member; 5. a quick-change device; 51. a male plate; 52. and (5) mastering the disc.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, detachably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

The utility model provides a modular actuating mechanism, it can be applied to the workshop that has arm or robot, specifically can be detect workshop, assembly shop or maintenance workshop etc. through this modular actuating mechanism, it can realize looking for hourglass, mistake proofing, discernment, accurate positioning to the product, to the centre gripping of product and to carrying out screw installation or screw dismantlement to the product.

Illustratively, as shown in fig. 1, the combined actuator comprises a body 1, a vision device 2, a holding device 3, a tightening device 4 and a quick-change device 5, wherein the body 1 is connectable to a robot end or a robot arm, the vision device 2 and the tightening device 4 are directly mounted on the body 1, and the holding device 3 is mounted on the body 1 through the quick-change device 5.

In this embodiment, as shown in fig. 2, the vision device 2 is mounted on one side (left side shown in fig. 2) of the main body 1, and includes a camera support 21, a light source support 22, a camera 23 and a light source 24, wherein the camera 23 may be a CCD camera, and is mounted on the camera support 21, and the camera support 21 is mounted on the main body 1. The camera 23 can shoot and image the product to check the product for leaks, prevent errors, identify the product and accurately position the product. The light source 24 is mounted on the light source holder 22 and is used for providing light support when the camera 23 is used for shooting. In this embodiment, the light source 24 may be a ring-shaped structure, which is disposed around the camera 23.

The tightening device 4 is used for screwing or unscrewing the screw on the product clamped by the clamping device 3, and referring to fig. 3, the tightening device 4 comprises a lifting assembly 41, a tightening gun 42 and a nail removing assembly 43, wherein:

the lifting assembly 41 is used for driving the tightening gun 42 to lift so as to adapt to screws with the same specification and different lengths and tightening strokes of the screws. Specifically, the lifting direction of the lifting unit 41 is the vertical direction shown in fig. 3, and the lifting unit 41 may include a slide rail 411, a slider 412 and a driving member 413, wherein the slide rail 411 is fixedly mounted on the body 1, and the installation direction of the slide rail 411 is the same as the lifting direction of the tightening gun 42. The slide block 412 is slidably provided on the slide rail 411, and the tightening gun 42 is fixedly connected to the slide block 412 and slidably moves with the slide block 412. The output end of the driving member 413 is fixedly connected to the sliding block 412, and can drive the sliding block 412 to move along the sliding rail 411, so that the sliding block 412 can drive the tightening gun 42 to move up and down. In this embodiment, the tightening gun 42 is a device for automatically screwing screws, which is common in the prior art, and the structure thereof is not described again. The driving member 413 may be an air cylinder or other members capable of driving the slider 412 to move linearly, such as a linear motor.

As shown in fig. 4, the nail removing assembly 43 includes a supporting plate 431 and an outer sleeve 432, wherein the supporting plate 431 is fixed on the body 1, the supporting plate 431 is optionally located at the lower end of the slide rail 411, the outer sleeve 432 is fixed on the supporting plate 431, the outer sleeve 432 can be a cylindrical structure with the upper end closed and the lower end opened, and a through hole is opened at the upper end of the outer sleeve 432, and the through hole is used for the screw gun 42 to pass through. An adsorption hole 4321 is formed in the side wall of the outer sleeve 432, and the adsorption hole 4321 can be connected to a negative pressure adsorption device (such as a vacuum pump).

The inner part of the outer sleeve 432 is provided with a channel 4322, the channel 4322 is communicated with the adsorption hole 4321, and the channel 4322 has a negative pressure adsorption function through a negative pressure adsorption device, so that the adsorption of the screw can be realized. In this embodiment, the lower end of the channel 4322 is in a stepped structure, the large diameter end is located at the end of the channel 4322, and the small diameter end is smaller than the nut of the screw, so that when the channel 4322 generates negative pressure, the nut of the screw is adsorbed to the step at the lower end of the channel 4322. In this embodiment, the screw can be automatically fed to the outer sleeve 432 by an automatic screw feeding mechanism, and then sucked by the negative pressure generated by the channel 4322. Or the whole combined actuating mechanism is moved to the automatic nail feeding mechanism, and the nail taking assembly 43 automatically adsorbs the screw to finish the nail taking operation.

Further, in this embodiment, a pressure sensor (not shown) is disposed in the channel 4322, and the pressure sensor can detect the pressure inside the channel 4322, so as to adjust the negative pressure inside the channel 4322 through the negative pressure adsorption device, so as to ensure that the channel 4322 has sufficient negative pressure strength. Optionally, the present embodiment further provides an alarm device (not shown in the drawings) connected to the pressure sensor, the alarm device being capable of receiving and processing the pressure signal detected by the pressure sensor, and when the received pressure signal is abnormal, the alarm device being capable of giving an alarm.

When the screw is sucked to the step at the lower end of the passage 4322, the tightening gun 42 can pass through the through hole of the outer sleeve 432 and contact the screw, and then the screw can be tightened or loosened. Preferably, in order not to affect the negative pressure environment in the passage 4322, the sealing ring 4323 is provided at the through hole of the outer sleeve 432, the through hole can be sealed by the sealing ring 4323, and the sealing ring does not affect the lifting movement of the tightening gun 42.

In this embodiment, it is preferable that a stopper 44 is further disposed on the supporting plate 431, the stopper 44 is disposed opposite to the sliding block 412, and when the driving member 413 drives the sliding block 412 to move until the sliding block 412 contacts the stopper 44, which indicates that the tightening gun 42 is in the preset position (i.e. the position capable of being tightened or loosened), the driving member 413 is not actuated. Further, a screw is provided at a lower end of the stopper 44, and the screw is threadedly coupled to the support plate 431. For screws with different lengths, the preset positions corresponding to the tightening guns 42 are different, and the height of the limiting blocks 44 can be adjusted by screwing the screw rods, so that the screws are suitable for the different preset positions of the tightening guns 42.

In this embodiment, the clamping device 3 is used for clamping and fixing the product positioned by the vision device 2. Specifically, as shown in fig. 5, the clamping device 3 includes a mounting substrate 31, a first gripper 32, a three-jaw gripper 33, a parallel gripper 34, and a positioning assembly 35, wherein:

the first gripper 32 comprises two gripper cylinders 321 which are symmetrically arranged on the mounting substrate 31, the output end of each gripper cylinder 321 is fixed with a first clamping piece 322, and the two gripper cylinders 321 synchronously operate to enable the two first clamping pieces 322 to clamp the product. In this embodiment, the first gripper 32 can grip a large-sized product. In addition, in order to better clamp a large-size product, in this embodiment, two positioning assemblies 35 are further symmetrically arranged on the mounting substrate 31, and the two positioning assemblies 35 may be positioning pins or may be in a shape like a Chinese character 'tu', and can penetrate through positioning holes of the large-size product, so as to realize primary positioning of the product; optionally, the positioning assembly 35 may further include a threaded hole formed at an end thereof, and then a bolt is passed through a positioning hole formed in the product and is threaded into the threaded hole to achieve primary positioning of the product, and then the first gripper 32 is engaged with the product to stably clamp and fix the large-sized product.

The three-jaw gripper 33 is mounted on the mounting substrate 31, and may include a three-jaw cylinder 331 and three second clamping members 332 disposed on the three-jaw cylinder 331, and the three-jaw gripper 33 can individually clamp a product (generally, a product having a circular shape and a smaller size), and can also cooperate with the first gripper 32 to clamp a product having a larger size.

The parallel gripper 34 is mounted on the mounting substrate 31, and may include a two-jaw cylinder 341 and two oppositely disposed third clamping members 342 connected to the two-jaw cylinder 341, so that the parallel gripper 34 can individually clamp a product with a moderate size, and can also cooperate with the first gripper 32 and the three-jaw gripper 33 to clamp a product with a larger size.

It should be noted that the first gripper 32, the three-jaw gripper 33, and the parallel gripper 34 of the present embodiment may also be used simultaneously to grip a plurality of products, and the sizes of the products should be ensured not to interfere with each other.

In this embodiment, the combined actuator is further provided with a quick-change device 5, as shown in fig. 6, the quick-change device 5 being used for changing the holding device 3. Illustratively, the quick-change device 5 includes a male disc 51 and a female disc 52, which are detachably connected, wherein the male disc 51 is mounted on the body 1, and the female disc 52 is mounted on the holding device 3. The quick-change device 5 can be quickly separated or connected, and the automatic separation or butt joint of cables, air pipes, signal wires and the like can be realized in the separation or connection process. Moreover, when the clamping device 3 is not compatible with a certain product, another set of clamping device 3 can be designed for compatibility, and at the moment, the clamping device 3 can be quickly replaced through the male disc 51 and the female disc 52 of the quick-replacing device 5, so that the compatibility of the clamping device 3 is expanded.

In this embodiment, through above-mentioned combination formula actuating mechanism, can realize looking for hourglass, mistake proofing, discernment, accurate positioning to the product, to the snatching of product and to the elasticity operation of screw on the product, it has integrated level height, high flexibility and the manifold characteristics of function.

The embodiment also provides a mechanical arm, which comprises the combined type actuating mechanism, and can realize the detection positioning, the clamping and the grabbing of the product and the screwing or unscrewing operation of the screw on the product.

The embodiment also provides a robot, which comprises the mechanical arm.

In another embodiment, a robot is also provided, and the combined actuating mechanism is directly installed on the robot.

It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Numerous obvious variations, rearrangements and substitutions will now occur to those skilled in the art without departing from the scope of the invention. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims (18)

1. The combined type execution mechanism is characterized by comprising a body (1), and a vision device (2), a clamping device (3) and a screwing device (4) which are arranged on the body (1), wherein the clamping device (3) is used for clamping and fixing a product positioned by the vision device (2), and the screwing device (4) is used for screwing or unscrewing a screw on the product clamped by the clamping device (3).

2. The combined actuator according to claim 1, wherein the tightening device (4) comprises a lifting assembly (41) mounted on the body (1), a tightening gun (42) driven by the lifting assembly (41) to lift, and a screw taking assembly (43) mounted on the body (1), wherein the screw taking assembly (43) can absorb the screw, and the tightening gun (42) can extend into the screw taking assembly (43) and perform tightening or loosening operation on the screw absorbed by the screw taking assembly (43).

3. The combined actuator according to claim 2, wherein the screw-removing assembly (43) comprises a supporting plate (431) fixedly mounted on the body (1) and an outer sleeve (432) arranged on the supporting plate (431), a channel (4322) for adsorbing the screw is formed inside the outer sleeve (432), the outer sleeve (432) is provided with an adsorbing hole (4321) communicated with the channel (4322), the top of the outer sleeve (432) is provided with a through hole, and the tightening gun (42) passes through the through hole and extends into the channel (4322).

4. The combined actuator of claim 3, wherein a pressure sensor is provided in the channel (4322) for detecting a pressure in the channel (4322).

5. The combined actuator of claim 4, wherein an alarm device is connected to the pressure sensor, the alarm device being configured to alarm when the pressure sensor detects an abnormality in pressure within the channel (4322).

6. The combined actuator according to any one of claims 3 to 5, wherein the lifting assembly (41) comprises a slide rail (411) fixed to the body (1), a slide block (412) sliding on the slide rail (411), and a driving member (413) having an output end connected to the slide block (412) in a driving manner, and the tightening gun (42) is fixed to the slide block (412) and can slide along with the slide block (412).

7. The combined actuator according to claim 6, characterized in that a stop block (44) is screwed to the support plate (431), the stop block (44) being capable of abutting against an end face of the slide (412) for stopping the tightening gun (42).

8. Combined actuator according to any of claims 1-5, wherein the clamping device (3) comprises a mounting base plate (31) mountable on the body (1), and a first gripper (32) arranged on the mounting base plate (31), the first gripper (32) being adapted to grip the product.

9. The modular actuator of claim 8 wherein the first gripper (32) comprises two gripper cylinders (321) mounted on the mounting substrate (31) and symmetrically disposed, and a first clamping member (322) disposed at an output end of the gripper cylinders (321).

10. A combined actuator according to claim 8, c h a r a c t e r i z e d in that the clamping device (3) further comprises a three-jaw gripper (33) mounted on the mounting base plate (31), which three-jaw gripper (33) is capable of clamping a product alone or which three-jaw gripper (33) is capable of clamping the product together with the first gripper (32).

11. A combined actuator according to claim 10, c h a r a c t e r i z e d in that the gripping means (3) further comprises parallel grippers (34) mounted on the mounting substrate (31), which parallel grippers (34) are capable of gripping a product individually or which parallel grippers (34) are capable of gripping the product together with one or both of the first gripper (32) and the three-jaw gripper (33).

12. A combined actuator according to claim 8, wherein the clamping device (3) further comprises a positioning assembly (35) mounted on the mounting substrate (31), the positioning assembly (35) being for positioning the product.

13. A combined actuator according to any of claims 1-5, further comprising quick-change means (5) arranged on the body (1), the holding means (3) being detachably mounted on the quick-change means (5).

14. Combined actuator according to claim 13, wherein the quick-change device (5) comprises a male disc (51) mounted on the body (1), and a master disc (52) mounted on the holding device (3), the master disc (52) being detachably connected to the male disc (51).

15. Combined actuator according to any of claims 1-5, wherein the vision device (2) comprises a camera holder (21) and a light source holder (22) mounted on the body (1), a camera (23) mounted on the camera holder (21), and a light source (24) mounted on the light source holder (22).

16. A robotic arm comprising a combined actuator according to any of claims 1 to 15.

17. A robot comprising the mechanical arm of claim 16.

18. A robot comprising a modular actuator as claimed in any of claims 1 to 15.

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