CN211806230U - Executor, terminal and arm of arm - Google Patents

Abstract

The utility model discloses an executor, arm are terminal and arm. The actuator comprises a connecting end and an actuating end connected with the connecting end; the connecting end is provided with a first clip and an elastic piece. In this way, the utility model provides an executor is simple with arm end-to-end connection structure, and the steadiness is good, realizes easily, and requires low, low in production cost to the intensity of structural material.

Description

Actuators, end-of-arms and arms

technical field

The utility model relates to the field of mechanical equipment, in particular to an actuator, a mechanical arm end and a mechanical arm.

Background technique

A desktop-level robotic arm can achieve a variety of different functions through the end-effector. However, it is difficult for a single actuator to meet a variety of functional requirements, so the actuator needs to be designed to be detachably connected to the end of the robotic arm, and Design a variety of different actuators, by choosing to install the actuator with the required function at the end of the robot arm to meet the needs.

However, the current detachable design scheme of the actuator and the end of the manipulator has a complicated connection method, high requirements on the strength of structural materials, and high production costs.

SUMMARY OF THE INVENTION

The utility model mainly provides an actuator, a mechanical arm end and a mechanical arm to solve the above problems.

In order to solve the above technical problems, a technical solution adopted by the present invention is: to provide an actuator, comprising: a connection end, an execution end connected with the connection end; the connection end is provided with a first clip and an elastic member .

In order to solve the above-mentioned technical problems, a technical solution adopted by the present invention is to provide a robotic arm end, which is characterized in that it includes: an end body, the end body is configured with a cavity, and the cavity is used for plug-in execution connector of the device.

In order to solve the above technical problems, a technical solution adopted by the present invention is to provide a mechanical arm, comprising: the above-mentioned actuator and the above-mentioned end of the mechanical arm, and the actuator and the end of the mechanical arm are detachably connected.

The beneficial effect of the present utility model is: different from the situation in the prior art, the present utility model actually provides a connection scheme with the end of the manipulator under a variety of different actuators. On the one hand, the implementation of the scheme The connection structure between the device and the end of the mechanical arm is simple, the stability is good, and it is easy to realize, and the strength of the structural material is low, and the production cost is low; on the other hand, the mechanical The end of the arm is electrically connected to the actuator, and there is no leakage interface and cable after the connection, which solves the problems of poor aesthetics and reliability during the electrical connection between the end of the traditional mechanical arm and the actuator.

Description of drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.

1 is a schematic structural diagram of a mechanical arm in an embodiment of the present invention;

FIG. 2 is a schematic side view of the structure of the actuator in the embodiment of FIG. 1;

3 is a schematic diagram of an exploded structure of the actuator in the embodiment of FIG. 1;

FIG. 4 is a schematic top-view structural diagram of the actuator in the embodiment of FIG. 1;

FIG. 5 is a schematic side view of the structure of the actuator in another embodiment;

FIG. 6 is a schematic side view of the structure of the actuator in the embodiment of FIG. 5;

7 is a schematic structural diagram of an actuator in yet another embodiment;

8 is a schematic view of the bottom view of the end of the robotic arm in one embodiment;

FIG. 9 is a schematic three-dimensional structure diagram of the end of the robotic arm in the embodiment of FIG. 8;

FIG. 10 is a schematic diagram of an exploded structure of the end of the manipulator in the embodiment of FIG. 8 .

【Detailed ways】

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

The terms "first", "second" and "third" in the embodiments of the present application are only used for description purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, a feature defined as "first", "second", "third" may expressly or implicitly include at least one of that feature. In the description of the present application, "a plurality of" means at least two, such as two, three, etc., unless otherwise expressly and specifically defined. Furthermore, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes unlisted steps or units, or optionally also includes For other steps or units inherent to these processes, methods, products or devices.

Reference herein to an "embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor a separate or alternative embodiment that is mutually exclusive of other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

In this application, the robotic arm may be a desktop-level robotic arm, which is described below by taking a desktop-level robotic arm as an example.

Please refer to FIG. 1. FIG. 1 is a schematic structural diagram of a robotic arm according to an embodiment of the present invention. The desktop-level robotic arm 10 includes a robotic arm end 11 and an actuator 12. In this embodiment, the actuator 12 is a pen holder for holding a writing device.

The end 11 of the robotic arm and the actuator 12 are detachably connected together.

In some embodiments, the actuator 12 may be the actuator 13 with a suction cup as shown in FIG. 5 , or the actuator 14 with a pneumatic gripper as shown in FIG. 7 . In the present invention, the actuators are not limited to the actuators in the above three embodiments, the actuators given in the above three embodiments are for illustration, and the common point is the connection of the actuators end, and the execution end of the actuator can be variable according to actual needs.

Please refer to FIGS. 2-4 , FIG. 2 is a schematic side view of the structure of the actuator in the embodiment of FIG. 1 , FIG. 3 is a schematic diagram of an exploded structure of the actuator in the embodiment of FIG. 1 , and FIG. 4 is the execution of the embodiment of FIG. 1 Schematic diagram of the top view of the device.

The actuator 12 includes a connection end 121 and an execution end 122. In this embodiment, the connection end 121 and the execution end 122 are constructed by the casing 1231 and the casing 1232. The connection end 121 and the execution end 122 are divided The division is made from the perspective of the functions realized by the integrated structure, as shown in FIG. 2 , but the division method in FIG. 2 is schematic, and the division or determination is not fixed in this way.

In some embodiments, the connection end 121 and the execution end 122 may be two components that are separate or constructed in other ways.

Wherein, in this embodiment, the connecting end 121 is configured with an elastic member cavity 1233 and a limiting cavity 1234, and a first clip 1211 and an elastic member 1212 are arranged in the connecting end 121. In this embodiment, the elastic member 1212 is a spring , in some embodiments, the elastic member 1212 may also be other structures capable of elastic deformation after being pressed.

Specifically, the elastic member 1212 is disposed in the elastic member cavity 1233 , and the first clip 1211 is disposed in the limiting cavity 1234 .

In this embodiment, the first clip 1211 is disposed at the bottom position of the connecting end 121 , and in some embodiments, the first clip 1211 may also be disposed at the upper, left or right position of the connecting end.

Further, one end of the first clip 1211 is configured with a cylindrical structure 12111 , the middle of the first clip 1211 is configured with a limiting structure 12112 , the other end of the first clip 1211 is configured with a slope 12113 , and the first clip 1211 passes through the cylindrical structure 12111 The elastic member 1212 is in contact with the elastic member 1212 , and is movably clamped in the elastic member cavity 1233 through the limiting structure 12112 .

In some embodiments, the ramp can also be configured as any one of a bevel, a curved surface, or an arc.

Wherein, the cylindrical structure 12111 is configured to be just enough to accommodate the elastic piece 1212 or just enough to be accommodated by the elastic piece 1212 , so as to prevent the elastic piece 1212 and the first clip 1211 from working together with other structures of the connecting end 121 . The role of relative limit.

In this embodiment, the cylindrical structure 12111 is an embodiment of the elastic member limiting structure. In some embodiments, the elastic element limiting structure can also be implemented in other conventional manners.

In this embodiment, one end of the first clip 1211 is configured with an inclined platform 12113, and the limiting structure 12112 is configured as an oval sheet-like structure. By disposing the limiting structure 12112 in the limiting cavity 1234, the The stroke of a clip 1211 is limited, so that when it is not under pressure, due to the supporting and pressing action of the elastic member 1212, the inclined platform 12113 can protrude out in the state shown in FIG. After being squeezed in the direction, the first clip 1211 will move along the limiting cavity 1234 to the b direction. After losing the squeeze from the a direction, the first clip 1211 will reset under the push of the elastic member 1212 .

In some embodiments, the second clip, the first clip and the second clip are symmetrically arranged on both sides of the connecting end, and the two ends of the elastic member are respectively connected with the first clip and the second clip. When in use, the connection can be directly connected The end is directly inserted into the end of the robot arm. When the actuator needs to be removed, press the first clip and the second clip at the same time to exit the actuator.

In some embodiments, the limiting structure 12112 may be a circular or other shaped sheet-like structure.

In some embodiments, the connection end is substantially rectangular, and the connection end is configured with a slope at least at a corner between two adjacent side surfaces, and the cavity structure of the corresponding end of the manipulator is adapted to the connection end. At this time, The position where the actuator is inserted into the end of the robot arm can be restricted by the slope, which can prevent the occurrence of reverse insertion or oblique insertion.

In the actuator 12 of this embodiment, the actuator end 122 is configured with a hollow cavity 124 that passes through both end surfaces of the actuator end as shown in FIG. 1221, by rotating the fixing bolt 1221, part of the fixing bolt 1221 can enter the hollow cavity 124 through the threaded hole.

Further, the actuator 12 of this embodiment further includes a fixing member 1222, the fixing member 1222 is clamped in the fixing member groove 1235, and the fixing member 1222 is used to provide a threaded hole for the fixing bolt 1221. This design is relatively The advantage of providing threaded holes on the actuator 12 is that the fixing bolt 1221 needs to be adjusted frequently, and in this embodiment, the main material of the actuator 12 needs to be a non-metallic material, such as plastic, compared to metal The material has low hardness and is easy to wear. After the threaded hole is worn, the fixing bolt 1221 cannot be tightened and fixed, and thus the writing device cannot be clamped. The fixing member 1222 is used to provide a threaded hole for the fixing bolt 1221, which can be replaced when the fixing member 1222 is worn. On the other hand, the fixing member 1222 can be made of a material with higher hardness alone, thereby improving the service life of the threaded hole. , reduce the wear rate.

Wherein, the writing device 125 is placed in the hollow cavity 124, and by rotating the fixing bolt 1221, at least one end face or a point of the writing device 125 abuts against the inner wall of one execution end 122 of the hollow cavity 124, so that the writing device 125 is opposite to each other. The other point of the position of 1 abuts on the body of the fixing bolt 1221. After the fixing bolt 1221 is tightened, the writing device 125 is fixed in the hollow cavity 124, thereby completing the function of the actuator 12 as a pen holder.

Further, in this embodiment, the hollow cavity 124 is substantially square, and a threaded hole may be constructed or provided at a position perpendicular to the corner between two adjacent sides of the hollow cavity 125 as shown in FIG. 4 . Usually, the writing device 125 desired to be clamped by the execution end 12 of the pen holder is a rod-shaped pen, so that the writing device 125 can abut against the cavity inner wall 1251 and the cavity inner wall 1252 of the execution end 122 respectively after being fixed. Therefore, the writing device 125 is limited and fixed in three aspects, the stability of the structure is improved, and the writing device 125 is prevented from shaking due to the influence of force when writing by the writing device 125 .

Further, in this embodiment, the inner wall 1241 of the hollow cavity 124 is constructed with multiple layers spaced apart by a preset distance as shown in FIG. 3 , which can effectively increase the total area of the writing device 125 in contact with the inner wall 1241 and increase the writing device. The frictional force of the 125 improves the stability of the structure. On the other hand, on the other hand, generally, the writing device 125 desired to be held by the execution end 12 of the pen holder is a rod-shaped pen, and the upper and lower thicknesses and shapes of the pen are often different. If the inner wall of the hollow cavity 124 is smooth When the plane is set, sometimes only one plane can be in contact with the writing device 125. This problem can be effectively solved by using multiple layers spaced at a preset distance as shown in FIG. 3 .

In some embodiments, the inner wall of the hollow cavity may be configured as a plane or other shape.

Please refer to FIGS. 5 and 6 , FIG. 5 is a schematic side view of the structure of the actuator in another embodiment, and FIG. 6 is a side view of the structure of the actuator in the embodiment of FIG. 5 , wherein the actuator 13 includes The connection end 131 , the execution end 132 , and the suction cup assembly 133 .

Among them, the actuator 13 in this embodiment is an actuator that provides a suction cup function. After the suction cup assembly 133 is connected to the trachea, it can provide pressure changes generated by air suction or blowing through the trachea, and can adsorb or release objects. The structure of the connection end of the actuator 13 in this embodiment is the same or substantially the same as that of the connection end in the previous embodiment, so it will not be repeated. The difference is that the execution end 132 is different from the execution end in the previous embodiment.

As shown in FIG. 5 , the connecting end 131 and the executing end 132 of the actuator 13 in this embodiment are formed by the shell 1331 and the shell 1332 being snapped together. In some embodiments, the connecting end 121 and the executing end 122 may be It consists of two components that are split or otherwise constructed.

The actuator 13 further includes a port 134, a steering gear 135, and a steering gear shaft 1351 as an output shaft. The steering gear shaft 1351 may also include a bearing 1352. The steering gear 135 is electrically connected to the port 134, and the steering gear 135 is connected to the steering gear shaft. 1351 is connected, and the steering gear shaft 1351 can be connected with the inner ring of the bearing 1352. The suction cup assembly 133 further includes: a suction cup base 136 , a suction cup 1362 and a tracheal interface 1361 . In this embodiment, the suction cup base 136 is constructed with an air path, the air pipe interface 1361 is connected to one end of the air path of the suction cup base 136, the suction cup 1362 is connected to the other end of the air path of the suction cup base 136, and the air pipe The interface 1361 is connected with the suction cup 1362 by the air circuit, and the bearing 1352 is connected with the suction cup base 136, so that the steering gear 135 can drive the suction cup base 136 through the steering gear shaft 1351 and the bearing 1352, so that the suction cup base 136 can be on a plane The rotating motion drives the object adsorbed by the suction cup 1362 to rotate, thereby adjusting its angle or orientation.

Further, the suction cup base 136 is detachably connected to the steering gear shaft 1351 .

Please refer to FIG. 7 . FIG. 7 is a schematic structural diagram of an actuator in another embodiment, wherein the actuator 14 includes a connection end 141 , an actuator end 142 , and a pneumatic gripper assembly 143 .

Among them, the actuator 14 in this embodiment is an actuator that provides a pneumatic gripper function. After the pneumatic gripper assembly 143 is connected to the trachea, it can provide pressure changes generated by air extraction or air injection through the trachea, and can grasp or Release the object. The connection end of the actuator 14 in this embodiment has the same or approximately the same structure as the connection end in the embodiment of the actuator serving as a pen holder, and the actuator 14 in this embodiment provides a suction cup function The structures of the execution ends of the actuators in the embodiments are the same or substantially the same, and thus are not described in detail. The difference is that the component connected with the steering gear shaft 1351 as the output shaft is the pneumatic gripper component 143.

The actuator 14 further includes a pneumatic gripper assembly 143. The pneumatic gripper assembly 143 includes a plurality of grippers 1431, a gripper trachea interface 1432 and a pneumatic gripper connection end 1433. Each gripper 1431 and the gripper trachea interface 1432 The air path is connected between them, and the connecting end 1433 of the pneumatic gripper is detachably connected to the output shaft of the steering gear.

Please refer to FIG. 8 to FIG. 10 together. FIG. 8 is a schematic view of the bottom view of the end of the manipulator in one embodiment, FIG. 9 is a schematic diagram of the three-dimensional structure of the end of the manipulator in the embodiment of FIG. 8 , and FIG. 10 is the embodiment of FIG. 8 The schematic diagram of the exploded structure of the end of the manipulator in , wherein the end of the manipulator 15 is used as a connection end with the actuator to drive the actuator and provide electrical energy or control instructions for the actuator.

Among them, in this embodiment, the end body of the robot arm end 15 is composed of a casing 1541 and a casing 1542, and the end body of the robot arm end 15 is configured with a cavity 155 as shown in FIG. The end 15 of the robotic arm includes: a top part 151, a trachea adapter 152, a switch circuit board 1531, a push switch 1532, a port 1533 and a switch button 1534. The top part 151 is constructed with a first end 1511, a connecting rod 1512 and a second end 1513 , the first end 1511 is connected with one end of the connecting rod 1512, the other end of the connecting rod 1512 is connected with the second end 1513, the trachea adapter 152 is constructed with a trachea inlet 1521 and a trachea outlet 1522, a port 1533 and a push switch 1532 is electrically connected to the switch circuit board 1531, the switch button 1534 is connected to the push switch 1532, the port 1533 is arranged on the end body of the end 15 of the robot arm and faces the same side as the opening of the cavity 155, and the switch button 1534 is embedded On one side of the robotic arm end 15, pressing the pressing switch 1532 by pressing the switch button 1534 can be used to control, turn on or off the electrical transmission and/or signal transmission between the port 1533 and the terminal of the actuator.

Further, the top member 151 is embedded in the first slot 1551. Specifically, the first end 1511 is arranged on one side of the first slot 1551, the connecting rod 1512 passes through the first slot 1551, and the second end 1513 is set on the side outside the first slot 1551, when the first end 1511 reaches the maximum stroke to the inside of the first slot 1551, the first end 1511 and the side inside the first slot 1551 The bayonet is flush with or slightly higher than the bayonet on one side of the first bayonet slot, so that the first catch after the connecting end of the actuator in the above embodiment is fully inserted into the cavity 155 can be It is clipped into the first clip slot 1551 to form a clip fixing structure. When it needs to be removed, press the second end 1513 so that the first end 1511 is flush with the card opening on one side of the first card slot 1551 or slightly higher than the card on the side of the first card slot 1551 Then, the first clip is pushed out, thereby canceling the clip fixing mechanism, so that the actuator and the end 15 of the mechanical arm are detachably and fixedly connected. Further, the inclined surface of the first clip structure can facilitate the first clip to advance and retreat in the first clip slot 1551 .

Please refer to FIG. 1 again, the end of the robot arm 11 and the actuator 12 shown in FIG. 1 can be the end of the robot arm provided in the above-mentioned embodiment and any actuator provided in the above-mentioned embodiment, through the end of the robot arm 11 It is used to connect various actuators 12 , and provides electrical and/or control signals and pneumatic connections for the actuator end of the actuator through the electrical connection relationship provided by the port at the end of the robot arm after the actuator is connected when needed.

To sum up, the present invention actually provides a connection scheme with a variety of different actuators and the end of the robot arm. On the one hand, the connection between the actuator and the end of the robot arm in this scheme is simple in structure and stable Good, easy to implement, and has low requirements for the strength of structural materials and low production costs; The external leakage interface and cable solve the problems of poor aesthetics and reliability when the traditional mechanical arm end and the actuator are electrically connected.

Claims (15)

1. An actuator, comprising: the connecting end is an execution end connected with the connecting end;

the connecting end is provided with a first clamp and an elastic piece, and one end of the first clamp is provided with an inclined plane or a curved surface or an arc surface.

2. The actuator of claim 1, wherein said connecting end is configured with a limiting cavity, and said first catch is configured with a limiting structure, said limiting structure being disposed within said limiting cavity.

3. An actuator according to claim 2, wherein the limiting formation is a circular or elliptical plate-like formation.

4. The actuator of claim 3, wherein the connecting end is configured with a spring cavity, one end of the first catch is configured with a spring retention structure, the spring is disposed within the spring cavity, and one end of the spring is coupled to the spring retention structure.

5. The actuator of claim 4, wherein the resilient member is a spring and the resilient member limiting structure is a tubular structure that snugly receives the spring or a tubular structure that snugly receives the spring.

6. The actuator according to claim 1, further comprising a second clip, wherein the first clip and the second clip are symmetrically arranged on two sides of the connecting end, and two ends of the elastic member are respectively connected with the first clip and the second clip.

7. The actuator according to claim 1, wherein the actuator end is configured with a hollow cavity that passes through two end faces of the actuator end, one side face of the actuator end is configured with a threaded hole, the actuator further comprises a fixing bolt, a part of the fixing bolt can enter the hollow cavity through the threaded hole, the hollow cavity is substantially square, the threaded hole is configured at a position perpendicular to a corner between two adjacent side faces of the hollow cavity, and an inner wall of the hollow cavity formed by the actuator end is configured as a plane or a multi-layer surface with a preset distance.

8. The actuator according to claim 1, wherein a terminal is arranged at one end of the actuating end, a steering engine is arranged in the actuating end, the terminal is electrically connected with the steering engine, the steering engine further comprises an output shaft, the actuator further comprises a sucker assembly, the sucker comprises a sucker base, an air pipe interface and a sucker, an air passage is communicated between the sucker and the air pipe interface, and the sucker base is detachably connected with the output shaft.

9. The actuator according to claim 1, wherein a terminal is arranged at one end of the actuating end, a steering engine is arranged in the actuating end, the steering engine further comprises an output shaft, the actuator further comprises a pneumatic gripper assembly, the pneumatic gripper assembly comprises a plurality of grippers, gripper air pipe interfaces and pneumatic gripper connecting ends, air passages are communicated between each gripper and the gripper air pipe interfaces, and the pneumatic gripper connecting ends are detachably connected with the output shaft.

10. The mechanical arm tail end is characterized by comprising a tail end body, wherein the tail end body is provided with a cavity, the cavity is used for being inserted into the connecting end of the actuator according to claims 1-9, a first clamping groove is formed in one end face of the cavity, and a top is embedded in the first clamping groove.

11. The end of a robot arm according to claim 10, wherein the top includes a first end, a second end and a connecting rod, the first end is connected to one end of the connecting rod, the second end is connected to the other end of the connecting rod, the first end is disposed at one side inside the first slot, the connecting rod passes through the first slot, the second end is disposed at one side outside the first slot, and when the first end reaches a maximum stroke to one side inside the first slot, a bayonet of one side inside the first slot is flush with or slightly higher than a bayonet of one side inside the first slot.

12. The end of a robot arm according to claim 10, wherein said end body is configured with a first and a second symmetrically arranged locking groove.

13. The end of a robot arm of claim 10, further comprising: the trachea connects export and trachea to connect the entry, the trachea connect in the mouth set up in within the terminal body, the trachea connect in the mouth set up in outside the terminal body, the trachea connect export with the trachea connects in the gas circuit intercommunication between the mouth.

14. The end of a robot arm of claim 10, further comprising: the port, the port set up in above the terminal body and with the position of the same side of cavity opening orientation, switch circuit board, push switch and shift knob, switch circuit board with the port electricity is connected, push switch with switch circuit board electricity is connected, push switch with shift knob is connected, shift knob inlays to be located terminal body one side.

15. A robot arm, characterized by comprising: an actuator according to any of claims 1 to 9 and a robot arm end according to any of claims 10 to 14, the actuator being releasably attachable to the robot arm end.

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