CN217751472U - Actuating mechanism and robot - Google Patents

Abstract

An embodiment of the utility model provides an actuating mechanism and robot relates to the robot field. This actuating mechanism includes the circuit board, the rotary driving spare, the connecting plate, the sliding ring, carry out wire and line, rotary driving spare and circuit board electricity are connected, the connecting plate has drive end and execution end of mutual spaced, drive end and rotary driving spare are connected, the execution end is used for installing the electric element that receives, the sliding ring is installed in the drive end, the sliding ring is connected with the electric element that receives, the one end and the sliding ring electricity of carrying out the wire are connected, the other end of carrying out the wire is used for the electricity to connect the electric element that receives, the one end and the circuit board electricity of line are connected, the other end and the sliding ring electricity of line are connected, this actuating mechanism can enlarge the working range of robot, and the work efficiency is improved.

Description

Actuating mechanism and robot

Technical Field

The utility model relates to a robot field particularly, relates to an actuating mechanism and robot.

Background

In recent years, in the fields of agriculture, surveying, animal husbandry and the like, as robots have the advantages of autonomous unmanned driving, multi-scene use, high working efficiency and the like, unmanned operation of the robots is rapidly developed, and attention is paid to multiple aspects, such as multi-joint industrial robots.

In the prior art, the operation range of the mechanical arm of the robot is easily limited in the operation process, and the operation efficiency is reduced.

SUMMERY OF THE UTILITY MODEL

The utility model provides an actuating mechanism and robot, its operating efficiency that can improve the robot.

The embodiment of the utility model discloses a can realize like this:

an embodiment of the utility model provides an actuating mechanism, it includes:

a circuit board;

the rotary driving piece is electrically connected with the circuit board;

the connecting plate is provided with a driving end and an execution end which are mutually spaced, the driving end is connected with the rotary driving piece, and the execution end is used for installing a power receiving element;

a slip ring mounted at the drive end, the slip ring being electrically connected to the powered element;

an actuating wire, one end of which is electrically connected with the slip ring, and the other end of which is used for electrically connecting the power receiving element; and

and one end of the conducting wire is electrically connected with the circuit board, and the other end of the conducting wire is electrically connected with the slip ring.

Optionally, the actuator further includes a power receiving element, and the power receiving element is mounted at the actuating end and electrically connected to the actuating wire.

Optionally, the actuating mechanism further includes an actuating member, the power receiving element is a driving motor, the actuating member is connected with the power receiving element, and the power receiving element is used for driving the actuating member to rotate.

Optionally, the rotary driving part is a hollow shaft motor, the hollow shaft of the rotary driving part is fixedly connected with the driving end, a conducting wire channel is defined in the hollow shaft of the rotary driving part, and the conducting wire penetrates through the conducting wire channel.

Optionally, a centerline of the conductive wire channel is perpendicular to the connection plate.

Optionally, the actuator further includes a fixed housing, the fixed housing is connected to a side of the rotary driving member away from the driving end, and the circuit board is mounted on a side of the fixed housing away from the rotary driving member;

the fixed shell is provided with a through hole, and the conducting wire sequentially penetrates through the through hole and the conducting wire channel.

Optionally, a centerline of the through-hole and a centerline of the conductive line channel are coaxial.

Optionally, the actuator further comprises a connecting member fixedly connected to a periphery of the fixed housing.

Optionally, the number of the connecting pieces is multiple, and the connecting pieces are arranged at intervals.

Optionally, the connecting piece is a sleeve, and a plane where a center line of the connecting piece is located is parallel to the connecting plate.

Optionally, the stationary housing is a metal housing.

Optionally, the actuating mechanism further includes a fixed cover, the fixed cover covers the fixed housing, the fixed cover and the fixed housing define an accommodating chamber together, and the circuit board is located in the accommodating chamber.

Optionally, an external wire hole is formed in the fixed cover body, the external wire hole is communicated with the accommodating chamber, and the external wire hole is used for being matched with an external connecting wire to plug the external wire hole.

Optionally, the actuator further comprises an external connection wire, the external connection wire is fitted to the external wire guide hole, and the external connection wire is electrically connected with the circuit board.

Optionally, the actuating wire is fixedly connected to a side of the connecting plate away from the rotary driving member.

The embodiment of the utility model also provides a robot, including arm main part and foretell actuating mechanism, rotary driving spare with the arm main part is connected.

The utility model discloses actuating mechanism and robot's beneficial effect includes, for example:

the embodiment of the utility model provides an actuating mechanism, can be applied to the robot, it includes the circuit board, rotary driving spare, the connecting plate, the sliding ring, execution wire and conducting wire, rotary driving spare and circuit board electricity are connected, the connecting plate has spaced drive end and execution end each other, drive end and rotary driving spare are connected, the execution end is used for installing the powered element, the sliding ring is installed in the drive end, the sliding ring is connected with the powered element electricity, the one end of carrying out the wire is connected with the sliding ring electricity, the other end of carrying out the wire is used for the electricity to connect the powered element, the one end and the circuit board electricity of conducting wire are connected, the other end and the sliding ring electricity of conducting wire are connected. Wherein, the rotary driving piece can be installed on the arm main part of robot, simultaneously, the rotary driving piece is used for driving the drive end and rotates, and then drive the execution end and carry out circumferential motion, the received electric element can be the operation end of arm, for example pick the tongs, owing to set up the sliding ring, be used for carrying out wire and conducting wire electricity and connecting, therefore, the connecting plate is at the pivoted in-process, the conducting wire can not take place distortion or winding, so that the received electric element who installs at the execution end can follow a direction and exceed 360 degrees and rotate, the working range of robot has been enlarged, and the operating efficiency is improved.

The embodiment of the utility model provides a robot is still provided, including arm main part and foretell actuating mechanism, rotary driving spare and arm main part are connected, and this robot has enlarged the operation scope, has improved the operating efficiency.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic view of an actuator provided in an embodiment of the present invention;

fig. 2 is a partial cross-sectional view of an actuator provided in an embodiment of the present invention;

fig. 3 is a schematic diagram of an actuator trajectory provided in an embodiment of the present invention.

Icon: 1000-an actuator; 100-a circuit board; 200-a rotary drive; 210-a hollow shaft; 201-conductive wire channel; 300-a connecting plate; 310-a drive end; 320-an execution end; 400-a power receiving element; 500-a slip ring; 600-conductive wires; 700-a stationary housing; 701-penetrating through holes; 800-a connector; 900-fixing the cover body; 901-an accommodating chamber; 902-external wire guide; 10-external connection lines; 20-an execution lead; 30-an actuator; a-the actuator trajectory.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by a person skilled in the art without making creative efforts belong to the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that, if the directions or positional relationships indicated by the terms "up", "down", "inside", "outside", etc. appear based on the directions or positional relationships shown in the drawings, or the directions or positional relationships that the products of the present invention are usually placed when used, it is only for convenience of describing the present invention and simplifying the description, but not for indicating or implying that the indicated device or element must have a specific direction, be constructed and operated in a specific direction, and therefore, should not be construed as limiting the present invention.

Furthermore, the appearances of the terms "first," "second," and the like, if any, are only used to distinguish one description from another and are not to be construed as indicating or implying relative importance.

It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.

In recent years, in the fields of agriculture, surveying, animal husbandry and the like, as robots have the advantages of autonomous unmanned driving, multi-scene use, high working efficiency and the like, unmanned operation of the robots is rapidly developed, and attention is paid to multiple aspects, such as multi-joint industrial robots. In the prior art, the operation range of the mechanical arm of the robot is easily limited in the operation process, and the operation efficiency is reduced.

For example, in the process of driving the robot arm at the working end to rotate by the motor, the execution unit, such as a manipulator, may be mounted on the working end, and the wire connected to the execution unit may easily be twisted or twisted during the rotation of the robot arm at the working end.

Therefore, the operation range of the execution unit at the operation end needs to be limited, for example, a fixture block or a limiting mechanism is adopted, and the rotation angle of the motor can also be controlled by a controller, so that the operation range of the execution unit at the end of the mechanical arm is smaller, and the operation efficiency is reduced, and the operation range can not exceed 360 degrees, meanwhile, if the execution unit rotates clockwise to the position with the rotation angle of 350 degrees for operation, the next operation position is the position with the rotation angle of 10 degrees, and the execution unit can only rotate counterclockwise to the position with the rotation angle of 10 degrees, and the path is longer, and the operation efficiency is reduced.

In view of the above, referring to fig. 1 to fig. 3, the actuator 1000 and the robot provided in the embodiment of the present invention can solve the problem, which will be described in detail below.

An embodiment of the utility model provides a robot, robot can be multi-joint industrial robot, and this robot includes arm main part (not shown) and actuating mechanism 1000, and the arm main part is multi-joint arm, and this actuating mechanism 1000 can install the terminal position in the arm main part to be used for field or orchard operation, for example pick fruit, prune branch and leaf etc. it can improve robot's operation scope and efficiency.

The relative positions in fig. 1 are used for illustration, and the directions of up, down, left, right, front and back in fig. 1 can be understood as the relative positions in fig. 1 or the relative positional relationship of the product when the product is normally placed.

The actuator 1000 comprises a circuit board 100, a rotary driving member 200, a connecting plate 300, a slip ring 500, an actuator wire 20, a power receiving element 400, an actuator 30 and a conducting wire 600, wherein the rotary driving member 200 is electrically connected with the circuit board 100, and the circuit board 100 is electrically connected with an electronic control unit on the mechanical arm body so as to control the actuator 1000.

For example, to activate the rotary driving member 200 or supply power to the power receiving element 400, the rotary driving member 200 may be fixedly connected to the robot arm body to mount the actuator 1000 to the end of the robot arm body, and the rotary driving member 200 is used to drive the connecting plate 300 to rotate.

Wherein, connecting plate 300 has drive end 310 and execution end 320 of mutual interval, and drive end 310 is at the right-hand member of connecting plate 300 promptly, and execution end 320 is at the left end of connecting plate 300, and connecting plate 300 can adopt the strip plate body that the metal was made to improve the structural strength of connecting plate 300, simultaneously, is equipped with a plurality of spaced through-holes on the connecting plate 300, in order to reduce the weight of connecting plate 300 self.

The driving end 310 is fixedly connected with the rotary driving member 200, the power receiving element 400 is installed at the actuating end 320, the slip ring 500 is installed at the driving end 310, the slip ring 500 is electrically connected with the power receiving element 400, the right end of the actuating wire 20 is electrically connected with the slip ring 500, the left end of the actuating wire 20 is electrically connected with the power receiving element 400, the upper end of the conducting wire 600 is electrically connected with the circuit board 100, and the lower end of the conducting wire 600 is electrically connected with the slip ring 500.

It should be noted that, the power receiving element 400 is a driving motor in this embodiment, the actuating element 30 is a fruit picker, and the driving motor is used for driving the fruit picker to rotate so as to achieve fruit picking, but in other embodiments, the power receiving element 400 may also be an electric cylinder, and the actuating element 30 is a pair of branch and leaf scissors so as to achieve branch and leaf trimming.

Because the slip ring 500 is provided to electrically connect the actuator wire 20 and the conductive wire 600, the conductive wire 600 does not twist or wind during the rotation of the connection plate 300 and the slip ring 500, so that the actuator 30 mounted on the actuator end 320 can rotate 360 degrees or in one direction over 360 degrees, such as the actuator track a shown in fig. 3.

Thus, if the actuator 30 rotates clockwise to the position of 350 degrees of rotation angle for performing the operation, the next operation position is the position of 10 degrees of rotation angle, the actuator 30 can continue to rotate clockwise to the position of 10 degrees of rotation angle, the path is shortest, the rotation direction of the actuator 30 is not limited, and the actuator can reach the corresponding position of rotation angle by the shortest path, thereby improving the operation efficiency of the robot.

In addition, because the size of the working range of the mechanical arm in the prior art is related to the length of the joint arm, the longer the arm length is, the larger the working range is, but it is difficult to increase the arm length, for example, a steering engine with larger output torque is needed to meet the requirement, therefore, the actuating mechanism 1000 in the application is equivalent to an offset rotating mechanism, and the working range can be greatly increased without increasing the arm length.

In this embodiment, in order to avoid the excessive length of the conductive wire 600 and prevent the conductive wire 600 from being wound on the connection plate 300 or the rotary driving member 200, the rotary driving member 200 is a hollow shaft 210 motor, the hollow shaft 210 of the hollow shaft 210 motor is fixedly connected with the driving end 310, the hollow shaft 210 drives the driving end 310 to rotate, a conductive wire channel 201 is defined in the hollow shaft 210, and the conductive wire 600 is inserted into the conductive wire channel 201.

Specifically, the conducting wire channel 201 is a cylindrical channel, the center line of the conducting wire channel 201 is perpendicular to the connecting plate 300, and the actuating wire 20 is fixedly connected to the side of the connecting plate 300 away from the rotary driving member 200, that is, the actuating wire 20 can be fixedly connected to the lower side of the connecting plate 300 through a plurality of limiting snap rings, and the extending direction of the actuating wire 20 is perpendicular to the extending direction of the conducting wire 600.

In order to protect the circuit board 100, the actuator 1000 further includes a fixed housing 700 and a fixed cover 900, the fixed cover 900 covers the fixed housing 700, the fixed cover 900 and the fixed housing 700 together define an accommodating chamber 901, the circuit board 100 is located in the accommodating chamber 901, the fixed housing 700 is fixedly connected to a side of the rotary driving element 200 away from the driving end 310, wherein the circuit board 100 is mounted on a side of the fixed housing 700 away from the rotary driving element 200.

In order to facilitate the electrical connection between the circuit board 100 and the electrical control unit on the mechanical arm main body, the actuator 1000 further includes an external connection wire 10, an external wire hole 902 is disposed on the fixed cover 900, the external wire hole 902 is communicated with the accommodating chamber 901, a lower end of the external connection wire 10 is electrically connected to the circuit board 100 and is fitted in the external wire hole 902 to seal the external wire hole 902, and in this embodiment, the external connection wire 10 is a wire having both electrical conduction and data transmission.

In addition, the fixing housing 700 is a metal housing to facilitate heat dissipation of the circuit board 100, a through hole 701 is formed in the fixing housing 700, a center line of the through hole 701 is coaxial with a center line of the conductive wire channel 201, and the conductive wire 600 sequentially penetrates through the through hole 701 and the conductive wire channel 201.

In order to facilitate the installation of the actuator 1000 on the robot arm main body, the actuator 1000 further includes a connecting member 800, the connecting member 800 is fixedly connected to the periphery of the fixing housing 700, and the connecting member 800 may be a snap and is connected to the robot arm main body in a snap-fit connection manner.

In this embodiment, the connection member 800 is a sleeve, the plane where the center line of the sleeve is located is parallel to the connection plate 300, and the number of the sleeves is plural, and the sleeves are arranged at intervals, specifically, the number of the sleeves is three, and the sleeves are uniformly distributed on the periphery of the fixed housing 700, and the sleeves and the shaft of the robot main body are matched to realize the connection between the actuator 1000 and the robot main body, and by arranging the three sleeves, the actuator 1000 can be conveniently matched at different positions on the robot main body or more quickly installed.

In summary, the actuator 1000 may be applied to a robot, the actuator 1000 includes a circuit board 100, a rotary driving element 200, a connecting plate 300, a slip ring 500, an actuator wire 20, and a conductive wire 600, the rotary driving element 200 is electrically connected to the circuit board 100, the connecting plate 300 has a driving end 310 and an actuating end 320 spaced apart from each other, the driving end 310 is connected to the rotary driving element 200, the actuating end 320 is used for mounting a power receiving element 400, the slip ring 500 is mounted to the driving end 310, the slip ring 500 is electrically connected to the power receiving element 400, one end of the actuator wire 20 is electrically connected to the slip ring 500, the other end of the actuator wire 20 is used for electrically connecting the power receiving element 400, one end of the conductive wire 600 is electrically connected to the circuit board 100, and the other end of the conductive wire 600 is electrically connected to the slip ring 500.

The rotary driving element 200 may be mounted on a main body of a robot arm of the robot, and meanwhile, the rotary driving element 200 is configured to drive the driving end 310 to rotate, and further drive the actuating end 320 to perform circumferential motion, and the power receiving element 400 may be an operation end of the robot arm, such as a picking gripper, and the slip ring 500 is provided for electrically connecting the actuating wire 20 and the conducting wire 600, so that the conducting wire 600 is not twisted or wound during rotation of the connecting plate 300, so that the power receiving element 400 mounted at the actuating end 320 may rotate in one direction by more than 360 degrees, thereby expanding an operation range of the robot and improving operation efficiency.

The robot comprises a mechanical arm main body and the executing mechanism 1000, wherein the rotary driving piece 200 is connected with the mechanical arm main body, so that the operation range of the robot is expanded, and the operation efficiency is improved.

The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (15)

1. An actuator, comprising:

a circuit board (100);

a rotary drive (200), the rotary drive (200) being electrically connected to the circuit board (100);

a connecting plate (300), wherein the connecting plate (300) is provided with a driving end (310) and an execution end (320) which are spaced from each other, the driving end (310) is connected with the rotary driving piece (200), and the execution end (320) is used for installing a power receiving element (400);

a slip ring (500), the slip ring (500) being mounted at the drive end (310), the slip ring (500) and the power receiving element (400) being electrically connected;

an actuating wire (20), one end of the actuating wire (20) being electrically connected to the slip ring (500), the other end of the actuating wire (20) being used for electrically connecting the power receiving element (400); and

a conductive wire (600), one end of the conductive wire (600) being electrically connected with the circuit board (100), the other end of the conductive wire (600) being electrically connected with the slip ring (500).

2. Actuator according to claim 1, further comprising a power receiving element (400), wherein the power receiving element (400) is mounted to the actuator end (320) and is electrically connected to the actuator lead (20).

3. The actuator according to claim 2, further comprising an actuator (30), wherein the power receiving element (400) is a driving motor, the actuator (30) is connected with the power receiving element (400), and the power receiving element (400) is used for driving the actuator (30) to rotate.

4. The actuator according to claim 2, wherein the rotary driving member (200) is a hollow shaft motor, the hollow shaft (210) of the rotary driving member (200) is fixedly connected with the driving end (310), a conductive wire channel (201) is defined in the hollow shaft (210) of the rotary driving member (200), and the conductive wire (600) is inserted into the conductive wire channel (201).

5. Actuator according to claim 4, wherein the centre line of the conductor channel (201) is perpendicular to the connection plate (300).

6. The actuator of claim 4, further comprising a stationary housing (700), the stationary housing (700) being connected to a side of the rotary drive (200) remote from the drive end (310), the circuit board (100) being mounted to the stationary housing (700) at the side remote from the rotary drive (200);

the fixed shell (700) is provided with a through hole (701), and the conducting wire (600) sequentially penetrates through the through hole (701) and the conducting wire channel (201).

7. Actuator according to claim 6, wherein the centre line of the through going hole (701) and the centre line of the conducting wire channel (201) are coaxial.

8. The actuator of claim 6, further comprising a connector (800), wherein the connector (800) is fixedly attached to a periphery of the stationary housing (700).

9. The actuator according to claim 8, wherein the number of the connecting members (800) is plural, and the plurality of the connecting members (800) are arranged at intervals.

10. Actuator according to claim 8, wherein the connection member (800) is a sleeve, and the plane of the centre line of the connection member (800) is parallel to the connection plate (300).

11. The actuator of claim 6, further comprising a fixed cover (900), wherein the fixed cover (900) covers the fixed housing (700), the fixed cover (900) and the fixed housing (700) together define a containing chamber (901), and the circuit board (100) is located in the containing chamber (901).

12. Actuator according to claim 11, wherein the fixed cover (900) is provided with an external wire guide hole (902), the external wire guide hole (902) is communicated with the accommodating chamber (901), and the external wire guide hole (902) is used for being matched with an external connecting wire (10) to seal the external wire guide hole (902).

13. Actuator according to claim 12, wherein the actuator further comprises external connection wires (10), wherein the external connection wires (10) are fitted to the external wire guides (902), and wherein the external connection wires (10) are electrically connected to the circuit board (100).

14. Actuator according to claim 1, wherein the actuator wire (20) is fixedly connected to the side of the connecting plate (300) remote from the rotary drive (200).

15. A robot, characterized by comprising a robot arm body and an actuator according to any of claims 1-14, said rotary drive (200) being connected to said robot arm body.

Images