CN218289486U - Actuating device and material taking equipment - Google Patents

Abstract

The utility model belongs to the technical field of material taking robots, and discloses an actuating device and material taking equipment, wherein the actuating device comprises a bracket, a distance sensor and an actuating mechanism, the distance sensor is arranged on the bracket, the optical axis of the distance sensor is parallel to the axis of a reference coordinate system, and the actuating mechanism is arranged on the bracket; the material taking equipment comprises a movable chassis, a mechanical arm and the executing device, wherein the mechanical arm is arranged on the movable chassis, and the support is connected to the executing end of the mechanical arm. The distance sensor can accurately measure the distance between the actuating mechanism and the workpiece or the working table surface along the axis, thereby can adjust actuating mechanism relative work piece or table surface's position degree, make extracting equipment can carry out predetermined action to the work piece accurately.

Description

Actuating device and material taking equipment

Technical Field

The utility model relates to a get material robot technical field, especially relate to an actuating device and material taking equipment.

Background

At present, robots generally perform different actions on workpieces through an execution device at the tail end of a mechanical arm, and because requirements on the action precision of the robots are continuously improved and the precision of the workpieces acted by the robots are continuously improved, the position degree of the execution device relative to the workpieces needs to be ensured before the execution device performs corresponding actions on the workpieces.

However, in the prior art, the position of the actuator is often roughly adjusted only by using the vision camera, and the position degree of the actuator relative to the workpiece cannot be accurately ensured, so that the actuator cannot realize accurate movement.

Based on the above situation, it is urgent to design an actuating device and a material fetching apparatus to solve the above problems.

SUMMERY OF THE UTILITY MODEL

The utility model discloses an aim at: an actuator is provided, a distance sensor can accurately measure the distance between the actuator and a workpiece or a working table along an axis, so that the position degree of the actuator can be accurately adjusted.

The utility model discloses another aim at: the utility model provides a material taking equipment, can accurate carry out predetermined action to the work piece.

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

in one aspect, an execution apparatus is disclosed, comprising:

a support;

the distance sensor is arranged on the bracket, and the optical axis of the distance sensor is parallel to the axis of a reference coordinate system;

the distance sensor can measure the distance between the execution mechanism and the workpiece or the working table surface along the axis, and the execution mechanism can execute preset actions on the workpiece.

Preferably, the actuator further comprises a camera mounted to the frame, the camera being capable of recognizing the coordinates of the workpiece in the reference coordinate system.

Preferably, the camera mechanism comprises a camera and a light source, the camera and/or the light source is/are connected to the bracket in a position-adjustable manner, and the light source can illuminate the camera.

As a preferable scheme, a strip-shaped hole is formed in one of the mounting frame of the light source and the support, a fastening piece is arranged on the other of the mounting frame of the light source and the support, and the fastening piece penetrates through the strip-shaped hole to connect the mounting frame to the support.

Preferably, the distance sensor is a laser distance measuring sensor or an infrared distance measuring sensor.

Preferably, the actuator is detachably connected to the bracket.

Preferably, the actuator is electromagnetically coupled to the frame.

Preferably, one of the actuator and the support is provided with a main plate, and the other is provided with a tool plate, and the main plate is positioned to be inserted into the tool plate and is electromagnetically connected with the tool plate.

As a preferable scheme, the actuator comprises:

a driving member mounted to the bracket;

the first clamping jaw and the second clamping jaw are connected to the output end of the driving piece, and the driving piece can drive the first clamping jaw and the second clamping jaw to be close to or far away from each other so as to clamp or loosen the workpiece.

On the other hand, the material taking equipment comprises a movable chassis, a mechanical arm and the executing device, wherein the mechanical arm is installed on the movable chassis, and the support is connected to the executing end of the mechanical arm.

The utility model has the advantages that: the optical axis of a distance sensor of the executing device is arranged parallel to the axis of a reference coordinate system, so that the distance sensor can measure the distance between the executing mechanism and a workpiece or a working table along the axis, the position degree of the executing mechanism relative to the workpiece or the working table is accurately adjusted, and furthermore, a mechanical arm of the material taking equipment can drive the executing device to accurately execute preset actions on the workpiece.

Drawings

The present invention will be described in further detail with reference to the accompanying drawings and examples.

FIG. 1 is a schematic diagram of an embodiment of an actuator;

FIG. 2 is a front view of an embodiment of an actuator;

FIG. 3 is a schematic view of a reclaimer apparatus;

fig. 4 is a front view of the reclaimer apparatus.

In fig. 1 to 4:

100. an execution device;

1. a support; 11. a flange; 12. a master disk; 13. a terminal connector; 131. inserting holes;

2. a laser ranging sensor;

3. an actuator; 31. a drive member; 32. a first jaw; 33. a second jaw; 34. a tool tray;

4. a camera mechanism; 41. a camera; 42. a light source; 43. a mounting frame; 431. a strip-shaped hole; 44. a fixed mount;

200. moving the chassis;

300. a mechanical arm;

400. and (5) a workpiece.

Detailed Description

In order to make the technical problems, the adopted technical solutions and the achieved technical effects of the present invention clearer, the embodiments of the present invention will be described in further detail with reference to the accompanying drawings. Based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the protection scope of the present invention.

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 application, unless expressly stated or limited otherwise, the recitation of a first feature "on" or "under" a second feature may include the recitation of the first and second features being in direct contact, and may also include the recitation of the first and second features not being in direct contact, but being in contact with another feature between them. 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. "beneath," "under" and "beneath" a first feature includes the first feature being directly beneath and obliquely beneath the second feature, or simply indicating that the first feature is at a lesser elevation than the second feature.

The technical solution of the present invention is further explained by the following embodiments with reference to the drawings.

At present, when a robot moves on an uneven ground, a tail end executing device shakes to cause the relative position of the executing device and a working table or a workpiece to be continuously changed. Based on the above current situation, the present application installs the distance sensor with the optical axis parallel to the axis of the reference coordinate system on the actuator 100, and can accurately measure the distance between the actuator 3 and the workpiece 400 or the table top along the axis, so that the position of the actuator 3 relative to the workpiece 400 or the table top is continuously calibrated during the working process, and the actuator 3 can accurately execute the preset action on the workpiece 400.

As shown in fig. 1 and fig. 2, specifically, the embodiment provides an actuator 100, which includes a bracket 1, a distance sensor and an actuator 3, wherein the distance sensor is mounted on the bracket 1, and an optical axis of the distance sensor is parallel to an axis of a reference coordinate system, wherein the reference coordinate system is a coordinate system when the actuator 100 or a robot body is mounted, the optical axis of the distance sensor can be parallel to an X-axis, a Y-axis or a Z-axis of the reference coordinate system, and the optical axis of the distance sensor of the embodiment is parallel to the Z-axis of the reference coordinate system; the actuator 3 is also mounted to the support 1 and a distance sensor is able to measure the distance of the actuator 3 from the workpiece 400 or the work surface along the Z-axis. Specifically, before the actuator 3 performs a preset action on the workpiece 400, if it is necessary to ensure the positional accuracy of the actuator 3 and the workpiece 400, the distance sensor measures the distance between the actuator 3 and the workpiece 400, and after taking points on the workpiece 400 a plurality of times, the controller controls the actuator 3 to self-adjust or controls the external robot arm 300 to adjust the actuator 3 so that the actuator 3 coincides with the distances of the points along the Z-axis, thereby adjusting to make the actuator 3 parallel to the workpiece 400, and then the actuator 3 can precisely perform the preset action on the workpiece 400; likewise, the distance sensor can measure the distance of the actuator 3 from the work surface if necessary to ensure the positional relationship of the actuator 3 to the work surface.

Specifically, distance sensor can set up to laser rangefinder sensor 2 or infrared ranging sensor, and the distance sensor of this embodiment sets up to laser rangefinder sensor 2, and laser rangefinder sensor 2 is installed in connecting the angle seat, and connecting the angle seat and passing through mount 44 and connecting in support 1.

As a preferred embodiment, the actuator 100 further includes a camera 4, the camera 4 is mounted on the stand 1 and located at one side of the distance sensor, the camera 4 can acquire coordinates of the workpiece 400 in the same reference coordinate system through a vision technique, and the controller controls the actuator 3 to the acquired coordinate points to perform a preset action on the workpiece 400. Of course, in other embodiments, the Z-axis coordinate of the workpiece 400 relative to the actuator 3 may be measured by a distance sensor.

In this embodiment, the camera mechanism 4 includes a camera 41 and a light source 42, the camera 41 and the light source 42 are connected to the bracket 1 in a position-adjustable manner, and the light source 42 is located below the lens of the camera 41 to illuminate the camera 41. It can be understood that the positions of the camera 41 and the light source 42 in the bracket 1 can be adjusted to meet the use requirements under different working conditions. Accordingly, the optical axis of the camera 41 is also parallel to the Z-axis of the reference coordinate system, i.e., the laser range sensor 2, the camera 41 and the Z-axis of the reference coordinate system are all arranged in parallel, such that the distance from the center of the camera 41 to the origin of the reference coordinate system is the same as the distance from the projection of the center of the camera 41 to the origin of the table top coordinate system, and the distance from the center of the laser sensor 2 to the origin of the reference coordinate system is the same as the distance from the projection of the center of the laser sensor 2 to the origin of the table top coordinate system, thereby improving the accuracy of the acquired coordinates of the workpiece 400. In other embodiments of the present invention, the camera 41 or the light source 42 may be connected to the stand 1 separately and adjustably.

Specifically, the light source 42 is fixed to the mounting frame 43, a strip-shaped hole 431 extending in the vertical direction is formed in the mounting frame 43, the fastener can be set to be a screw or a pin, the fastener penetrates through the strip-shaped hole 431 and fixes the mounting frame 43 to the support 1, and the position of the fastener in the strip-shaped hole 431 is adjustable, so that the position of the light source 42 in the vertical direction is adjustable. In other embodiments of the present invention, a bar-shaped hole 431 extending in the vertical direction may be formed in the bracket 1; or a plurality of groups of mounting holes arranged along the vertical direction are arranged on the bracket 1 or the mounting frame 43, and the bracket 1 and the mounting frame 43 can be connected to the bracket 1 in a position-adjustable manner through alternative mounting holes.

Specifically, the camera 41 is connected to the end connecting piece 13 of the bracket 1 through the first support, the second support and the fixing frame 44, the end connecting piece 13 is provided with an inserting hole 131, and the fixing frame 44 is inserted into the inserting hole 131 and fixed with the end connecting piece 13 through a screw; the first support and the second support are respectively provided with a strip-shaped hole 431 extending along the vertical direction and the horizontal direction, the camera 41 is installed on the first support, the first support is adjustably connected to the second support through the strip-shaped hole 431 extending along the vertical direction, the second support is adjustably connected to the fixed frame 44 through the strip-shaped hole 431 extending along the horizontal direction, and the camera 41 is adjustably connected to the support 1 along two directions.

As a preferred embodiment, the actuating mechanism 3 is detachably connected to the bracket 1, and it can be understood that the actuating mechanism 3 of this embodiment is provided with multiple models to perform preset actions on multiple models of workpieces 400, and when the models of the workpieces 400 are changed or actions to be performed are changed, the original actuating mechanism 3 on the bracket 1 can be detached, and then another actuating mechanism 3 is installed, so as to meet the requirements of diversified processes.

Specifically, actuating mechanism 3 electromagnetic coupling is in support 1, and connection structure drives for the electricity, and dismouting actuating mechanism 3's process does not produce impurity, also can not pollute the user environment to can effectively practice thrift shared space. In other embodiments of the present invention, the actuating mechanism 3 can be detachably connected to the end connector 13 of the bracket 1 by screws.

In this embodiment, a main board 12 is fixed at the bottom of the end connector 13, a tool board 34 is fixed at the top of the actuator 3, a groove is formed in the middle of the tool board 34, a boss corresponding to the groove is arranged on the main board 12, the boss is inserted into the groove to position the main board 12 and the tool board 34, specifically, a lower end face of a side ear of the main board 12 and an upper end face of a side ear of the tool board 34 are respectively provided with a male electrical connector and a female electrical connector, which correspond to each other one by one, cores of the electrical connectors are set according to actual requirements, welding wires are respectively led out from the electrical connectors on the main board 12 and the tool board 34, and finally, the wires are respectively converged into a multi-core wire, which is external, and lengths of the wires of the main board 12 and the tool board 34 are set according to actual requirements. When the main plate 12 and the tool plate 34 are mutually attracted, the electric appliance connecting tool heads of the main plate 12 and the tool plate 34 are inserted into the electric appliance connecting female head, and two leads externally connected with the main plate 12 and the tool plate 34 are mutually conducted; when the main plate 12 and the tool plate 34 are separated from each other, the electrical connection male of the main plate 12 and the tool plate 34 is separated from the electrical connection female. As a preferred embodiment, the main disc 12 and the tool disc 34 are respectively provided with an external interface for communication, the external interface of the main disc 12 is in communication connection with the controller, the external interface of the tool disc 34 is in communication connection with the actuator 3, when the main disc 12 is connected with the tool disc 34, the external interface of the main disc 12 is connected with the external interface of the tool disc 34, and the controller can control the actuator 3 to execute a preset action; when the main disc 12 is separated from the tool disc 34, the external interface of the main disc 12 is separated from the external interface of the tool disc 34, and the controller is disconnected from the actuator 3. In other embodiments of the present invention, the main plate 12 may be mounted on the actuator 3, and the tool plate 34 is fixed at the bottom of the end connector 13, as long as it is compatible with the actuator; similarly, the main plate 12 and the tool plate 34 may be provided with one-to-one corresponding positioning holes and pins, and the pins are inserted into the positioning holes to position the main plate 12 and the tool plate 34.

In this embodiment, the actuator 3 includes a driving member 31, a first clamping jaw 32 and a second clamping jaw 33, the driving member 31 may be configured as an electric cylinder, an air cylinder or an electric claw, the driving member 31 of this embodiment is configured as an electric claw, the electric claw is connected to the bottom of the tool tray 34 through a connecting block, two ends of the electric claw are respectively connected to the first clamping jaw 32 and the second clamping jaw 33, and the electric claw can drive the first clamping jaw 32 and the second clamping jaw 33 to move closer to or away from each other to clamp or release the workpiece 400. In other embodiments of the present invention, the actuator 3 may be set as a suction cup mechanism or a labeling mechanism to implement other processes.

As shown in fig. 3 and 4, the present embodiment further provides a material taking apparatus, which includes a moving chassis 200, a robot 300 and the above-mentioned actuating device 100, wherein the moving chassis 200 may be configured as an AGV cart, the robot 300 is configured as a multi-axis robot 300, specific degrees of freedom may be set according to actual requirements, the robot 300 is mounted on the moving chassis 200, a flange 11 is fixed on the top of the end connector 13, and screws connect the flange 11 of the support 1 to a flange at an actuating end of the robot 300, so as to connect the actuating device 100 to the robot 300. The distance sensor of the actuator 100 can accurately measure the distance between the actuator 3 and the workpiece 400 or the table surface along the axis, so that the controller can control the robot arm 300 to adjust the position degree between the actuator 3 and the workpiece 400 or the table surface according to the measured distance, and further, the actuator 3 can accurately perform a gripping action or the like on the workpiece 400.

In the description herein, it is to be understood that the terms "upper," "lower," "left," "right," and the like are used in an orientation or positional relationship based on what is shown in the drawings for convenience of description and simplicity of operation, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be considered limiting. Furthermore, the terms "first" and "second" are used merely for descriptive purposes and are not intended to have any special meaning.

In the description herein, references to the description of "an embodiment," "an example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.

In addition, the foregoing is only the preferred embodiment of the present invention and the technical principles applied thereto. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the scope of the present invention.

Claims (10)

1. An execution apparatus, comprising:

a support (1);

a distance sensor mounted to the support (1) and having its optical axis parallel to the axis of a reference coordinate system;

the distance sensor can measure the distance between the execution mechanism (3) and a workpiece (400) or a working table surface along the axis, and the execution mechanism (3) can execute preset actions on the workpiece (400).

2. Actuator according to claim 1, further comprising a camera mechanism (4), wherein the camera mechanism (4) is mounted to the frame (1), wherein the camera mechanism (4) is capable of recognizing the coordinates of the workpiece (400) in the reference coordinate system.

3. Actuator according to claim 2, wherein the camera mechanism (4) comprises a camera (41) and a light source (42), the camera (41) and/or the light source (42) being connected to the holder (1) in a position-adjustable manner, the light source (42) being capable of illuminating the camera (41).

4. Actuator device according to claim 3, wherein one of the mounting bracket (43) of the light source (42) and the support (1) is provided with a strip-shaped hole (431) and the other is provided with a fastener which passes through the strip-shaped hole (431) to connect the mounting bracket (43) to the support (1).

5. Actuator device according to claim 1, wherein the distance sensor is provided as a laser ranging sensor (2) or an infrared ranging sensor.

6. Actuator device according to claim 1, wherein the actuator (3) is detachably connected to the holder (1).

7. Actuator device according to claim 6, wherein the actuator (3) is electromagnetically connected to the holder (1).

8. Actuator device according to claim 7, wherein one of the actuator (3) and the support (1) is fitted with a main plate (12) and the other with a tool plate (34), the main plate (12) being positioned for insertion in the tool plate (34) and being electromagnetically connected thereto.

9. Actuator device according to claim 1, wherein the actuator (3) comprises:

a drive member (31) attached to the bracket (1);

the first clamping jaw (32) and the second clamping jaw (33) are connected to the output end of the driving piece (31), and the driving piece (31) can drive the first clamping jaw (32) and the second clamping jaw (33) to get close to or get away from each other so as to clamp or loosen the workpiece (400).

10. A reclaiming apparatus comprising a mobile chassis (200), a robot arm (300) and the implement (100) of any of claims 1-9, the robot arm (300) being mounted on the mobile chassis (200), the support (1) being attached to an implement end of the robot arm (300).

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