Pressure feedback type composite actuator

Abstract

The utility model discloses a pressure feedback type composite actuator, and belongs to the technical field of linear rotating motors. The composite actuator comprises a composite actuator body and a compensation feedback module installed at the main output end of the composite actuator, the compensation feedback module comprises a compensation part and a pressure sensor, and the compensation part is installed at the output end of the composite actuator body and used for compensating non-axial pressure borne by an output shaft in the composite actuator body. And the pressure sensor is arranged on the compensation piece. According to the pressure feedback type composite actuator provided by the utility model, the working stability and precision of the composite actuator are improved, the risk of misjudgment of the pressure sensor caused by unsatisfactory material postures is reduced, and meanwhile, the pressure sensor can be protected from being damaged.

Description

Technical Field

[0001] The utility model belongs to the technical field of linear rotary motors, and particularly relates to a pressure feedback type composite actuator. Background Art

[0002] The linear output of the existing composite actuator is determined by the linear drive part. In order to improve the accuracy of the linear output, a pressure feedback type composite actuator has emerged. At present, a pressure sensor is installed inside or outside the pressure feedback type composite actuator to measure the pressure change at the output end.

[0003] At present, due to the accuracy limitation of the feeding device, the placement posture of the material in the tray is not an ideal horizontal state. When the output end of the actuator grabs the inclined material, the following problems will occur: First, the uneven distribution of the contact area will cause the pressure feedback signal to become non-linear, resulting in misjudgment of the pressure. In addition, if the contact area is small or the friction coefficient is not large enough, the workpiece may slide or become unstable under the action of pressure. Moreover, the frequent use of the pressure sensor on the inclined plane will cause some contact points to bear too much pressure, resulting in increased wear of these parts, and even damage to the pressure sensor or other components.

[0004] In summary, when the existing pressure feedback type composite actuator with an external pressure sensor is in use, due to the problem of the material placement posture, problems such as pressure misjudgment and damage to the pressure sensor are likely to occur. Therefore, a new type of pressure feedback type composite actuator is urgently needed to solve the above problems. Summary of the Utility Model

[0005] Purpose of the utility model: To provide a pressure feedback type composite actuator to solve the above problems existing in the prior art.

[0006] Technical solution: A pressure feedback type composite actuator includes a composite actuator main body and a compensation feedback module installed at the main output end of the composite actuator. The compensation feedback module includes a compensation part and a pressure sensor. The compensation part is installed at the output end of the composite actuator main body and is used to compensate the non-axial pressure received by the output shaft in the composite actuator main body. The pressure sensor is installed on the compensation part.

[0007] Further, the compensation part includes a compensation portion. The compensation portion has a cylindrical structure. A through compensation groove is provided on the side wall of the compensation portion. The number of the compensation grooves is multiple, and adjacent compensation grooves are staggered.

[0008] Further, the compensation part further includes a connection portion. The connection portion is provided on the compensation portion. The pressure sensor is installed on the connection portion. A working hole is provided on the connection portion. An actuator nozzle is provided in the working hole, and the actuator nozzle is communicated with the output shaft.

[0009] Further, a positioning pin hole is formed in the compensating member, and the positioning pin hole is formed in the compensating portion and / or the connecting portion.

[0010] Further, the composite actuator body includes a frame, an output module, and two power sources. The output module and the two power sources are both installed on the frame, and the two power sources are drivingly connected to the output module through a synchronous belt.

[0011] Further, two collinear transmission stations and two collinear power stations are provided on the frame, and the transmission stations are matched with the power stations.

[0012] Further, the output module includes an output shaft, a lead screw nut, and a spline nut. The lead screw nut and the spline nut are respectively arranged at the two transmission stations of the frame and are connected to the power source through a synchronous belt. A spiral groove and a key groove are provided on the outer wall of the output shaft, and the output shaft is matched with the lead screw nut and the spline nut.

[0013] Further, the output module further includes connecting air nozzles and adapters installed at both ends of the output shaft. The connecting air nozzles are connected to an external air source, and the adapters are arranged inside the compensating member.

[0014] Further, an installation surface is formed at one end of the output shaft where the adapter is connected, and the compensating member is fixed on the installation surface.

[0015] Beneficial effects: The compensation feedback module is installed at the output end of the composite actuator body of the present utility model, which can implement the feedback of the pressure received at the output end, and the compensating member can compensate for the non-axial pressure received by the output shaft, which helps to ensure the stability of the actuator when grasping inclined materials and reduce the error caused by the non-axial force. The pressure feedback type composite actuator proposed by the present utility model improves the working stability and accuracy of the composite actuator, reduces the misjudgment risk of the pressure sensor caused by the unsatisfactory posture of the material, and also helps to protect the pressure sensor from damage. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic structural view of the present utility model;

[0017] Figure 2 is an exploded view of the present utility model;

[0018] Figure 3 is a schematic structural view of the frame in the present utility model;

[0019] Figure 4 is a schematic transmission view of the output module in the present utility model;

[0020] Figure 5 is a schematic structural view of the compensation feedback module in the present utility model;

[0021] Figure 6 It is a structural schematic diagram of the compensating member in the utility model.

[0022] The accompanying drawings are marked as follows: 1. frame; 11. transmission station one; 12. transmission station two; 13. power station one; 14. power station two; 2. output module; 21. connecting air nozzle; 22. output shaft; 23. screw nut; 24. spline nut; 25. adapter; 3. power source one; 4. power source two; 5. compensation feedback module; 50. positioning pin hole one; 51. compensation part; 52. actuator air nozzle; 53. pressure sensor; 54. compensation part; 55. connecting part; 56. mounting structure; 57. compensation groove; 58. station hole; 59. positioning pin hole two; 6. protective shell. DETAILED DESCRIPTION

[0023] In the following description, a large number of specific details are given to provide a more thorough understanding of the utility model. However, it is obvious to those skilled in the art that the utility model can be implemented without one or more of these details. In other examples, in order to avoid confusion with the utility model, some technical features known in the art are not described.

[0024] like Figures 1-6 As shown, a pressure feedback compound actuator includes a compound actuator body and a compensation feedback module 5 installed at the main output end of the compound actuator. The compensation feedback module 5 includes a compensation component 51 and a pressure sensor 53. The compensation component 51 is installed at the output end of the compound actuator body and is used to compensate for the non-axial pressure on the output shaft 22 in the compound actuator body. The pressure sensor 53 is installed on the compensation component 51.

[0025] The compensation feedback module 5 provided by the utility model can compensate for the non-axial pressure on the output end of the composite actuator body. This design helps to ensure the stability of the actuator when grabbing inclined materials and reduce the error caused by non-axial force. The compensation feedback module 5 significantly improves the working stability and accuracy of the pressure feedback composite actuator, reduces the risk of misjudgment of the pressure sensor due to unsatisfactory material posture, and also helps to protect the pressure sensor from damage.

[0026] like Figure 5 and Figure 6As shown, the compensating member 51 includes a compensating portion 54, which is a cylindrical structure. The side wall of the compensating portion 54 is provided with a penetrating compensation groove 57. There are multiple compensation grooves 57, and adjacent compensation grooves 57 are staggered. Specifically, the opening width of the compensation groove 57 is greater than the diameter of the compensation portion 54, and the multiple compensation grooves 57 are evenly distributed along the axial direction of the compensation portion 54, and the staggered angles of adjacent compensation grooves 57 are also equal. The structure of the compensating member 51 can help disperse the pressure on the contact surface, avoid excessive local pressure, and make the pressure distribution more uniform, thereby reducing the misjudgment of the pressure sensor 53. Even if the material is not placed in a completely horizontal posture in the tray, the actuator can better adapt to this posture difference and improve the reliability and accuracy of the grasping operation. The structural form of the compensation portion 54 is not limited, as long as it can achieve flat shaft compensation.

[0027] Among them, the compensation part 51 also includes a connecting part 55, which is arranged on the compensation part 54, and the pressure sensor 53 is installed on the connecting part 55. A work station hole 58 is opened on the connecting part 55, and an execution air nozzle 52 is arranged in the work station hole 58. The execution air nozzle 52 is connected to the output shaft 22. The execution air nozzle 52 is connected to the pneumatic execution end through a hose. When the pneumatic execution end is connected and contacts the material, the pressure sensor 53 can detect the pressure between the pneumatic execution end and the material. The design of the connecting part 55 not only supports the installation of the pressure sensor 53, but also realizes the reversal of the air path through the execution air nozzle 52, which is convenient for the installation of the external suction cup, thereby improving the flexibility and working efficiency of the actuator. This design effectively solves the problems caused by the unsatisfactory material posture, ensures the accuracy of the pressure feedback signal, and protects the pressure sensor from damage.

[0028] like Figure 6 As shown, the compensating member 51 is provided with a positioning pin hole, which is provided on the compensating portion 54 and / or the connecting portion 55. Specifically, the positioning pin hole includes a positioning pin hole 1 50 and a positioning pin hole 2 59. The use of the positioning pin hole 1 50 requires the opening of a matching matching pin hole 1 on the output shaft 22 of the compensating composite actuator body, and the two are connected by a pin to achieve the assembly positioning of the compensating member 51 and the output shaft 22; the use of the positioning pin hole 2 59 requires the opening of a matching matching pin hole 2 on the pressure sensor 53, and the two are connected by a pin to achieve the assembly positioning of the compensating member 51 and the pressure sensor 53. The pin in the positioning pin hole 2 59 can extend to the suction cup provided below the pressure sensor 53 to achieve the assembly positioning of the three. When replacing different models of pressure sensors 53 or suction cups, the positioning pin hole 2 59 plays a role in rapid positioning.

[0029] like Figures 1-3As shown in the figure, the composite actuator body includes a frame 1, an output module 2, and two power sources (power source one 3 and power source two 4, both of which are motors). The output module 2 and the two power sources are both installed on the frame 1, and the two power sources are drivingly connected to the output module 2 through a synchronous belt. A protective shell 6 is also installed on the periphery of the frame 1 to protect the transmission structure from isolation.

[0030] As Figure 3 shown in the figure, two collinear transmission stations (transmission station one 11 and transmission station two 12) and two collinear power stations (power station one 13 and power station two 14) are provided on the frame 1, and the transmission stations are matched with the power stations. Specifically, the power source one 3 is installed on the power station one 13, and the power source two 4 is installed on the power station two 14.

[0031] As Figure 3 and Figure 4 shown in the figure, the output module 2 includes an output shaft 22, a lead screw nut 23, and a spline nut 24. The lead screw nut 23 and the spline nut 24 are respectively arranged at the two transmission stations of the frame 1 and are drivingly connected to the power source through a synchronous belt. Specifically, the lead screw nut 23 is hinged inside the transmission station one 11, the spline nut 24 is hinged inside the transmission station two 12, the lead screw nut 23 is drivingly connected to the power source one 3 through a synchronous belt, and the spline nut 24 is drivingly connected to the power source two 4 through a synchronous belt.

[0032] Among them, a spiral groove and a key groove are provided on the outer wall of the output shaft 22, and the output shaft 22 cooperates with the lead screw nut 23 and the spline nut 24. During specific operation, the composite actuator body has multiple operating states:

[0033] When the power source two 4 drives the spline nut 24 to rotate and the power source one 3 does not output, the output shaft 22 rotates and performs a linear reciprocating motion at the same time;

[0034] When the power source two 4 drives the spline nut 24 to rotate and the power source one 3 drives the lead screw nut 23, the output shaft 22 performs a rotational motion;

[0035] When the power source two 4 does not output and the power source one 3 drives the lead screw nut 23, the output shaft 22 performs a linear reciprocating motion.

[0036] As Figure 4 shown in the figure, the output module 2 further includes connection nozzles 21 and adapters 25 installed at both ends of the output shaft 22. The connection nozzles 21 are connected to an external air source, and the adapters 25 are arranged inside a compensator 51. The output shaft 22 is a hollow shaft, and multiple output holes are provided on the adapter 25, and the output holes are matched with the actuator nozzles 52.

[0037] Among them, an installation surface is provided at one end of the output shaft 22 where the connection adapter 25 is connected, and the compensating member 51 is fixed on the installation surface. The compensating member 51 is fixed on the installation surface of the output shaft 22 through the installation structure 56 provided on the compensating portion 54, and the installation surface has a guiding effect on the installation position of the compensating member 51.

[0038] The preferred embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the specific details in the above embodiments. Within the scope of the technical concept of the present invention, various equivalent transformations can be made to the technical solutions of the present invention, and these equivalent transformations all belong to the protection scope of the present invention.

Claims

1. A pressure feedback composite actuator, characterized in that: The invention comprises a composite actuator body and a compensation feedback module (5) installed at the main output end of the composite actuator, wherein the compensation feedback module (5) comprises a compensation component (51) and a pressure sensor (53), wherein one end of the compensation component (51) is installed at the output end for compensating for the non-axial pressure exerted on the output shaft (22) in the composite actuator body, and the other end is installed with the pressure sensor (53).

2. A pressure feedback compound actuator according to claim 1, characterized in that: The compensating member (51) comprises a compensating portion (54), the compensating portion (54) is in a cylindrical structure, a side wall of the compensating portion (54) is provided with a penetrating compensating groove (57), there are a plurality of the compensating grooves (57), and adjacent compensating grooves (57) are staggeredly distributed.

3. A pressure feedback compound actuator according to claim 2, characterized in that: The compensating member (51) further comprises a connecting portion (55), wherein the connecting portion (55) is arranged on the compensating portion (54), the pressure sensor (53) is mounted on the connecting portion (55), a work station hole (58) is provided on the connecting portion (55), an actuating air nozzle (52) is arranged in the work station hole (58), and the actuating air nozzle (52) is connected to the output shaft (22).

4. A pressure feedback compound actuator according to claim 3, characterized in that: The compensating member (51) is provided with a positioning pin hole, and the positioning pin hole is provided on the compensating portion (54) and / or the connecting portion (55).

5. The pressure feedback compound actuator according to claim 1, characterized in that: The composite actuator body comprises a frame (1), an output module (2) and two power sources; the output module (2) and the two power sources are both mounted on the frame (1); the two power sources are connected to the output module (2) via a synchronous belt.

6. A pressure feedback compound actuator according to claim 5, characterized in that: The frame (1) is provided with two co-linearly arranged transmission stations and two co-linearly arranged power stations, and the transmission stations match the power stations.

7. The pressure feedback compound actuator according to claim 6, characterized in that: The output module (2) comprises an output shaft (22), a lead screw nut (23) and a spline nut (24); the lead screw nut (23) and the spline nut (24) are respectively arranged on two transmission stations of the frame (1) and connected to a power source via a synchronous belt; a spiral groove and a key groove are arranged on the outer wall of the output shaft (22); the output shaft (22) cooperates with the lead screw nut (23) and the spline nut (24).

8. The pressure feedback compound actuator according to claim 7, characterized in that: The output module (2) further comprises a connecting air nozzle (21) and an adapter (25) mounted at both ends of the output shaft (22); the connecting air nozzle (21) is connected to an external air source, and the adapter (25) is arranged in the compensation component (51).

9. The pressure feedback compound actuator according to claim 8, characterized in that: The output shaft (22) is provided with a mounting surface at one end connected to the adapter (25), and the compensating member (51) is fixed on the mounting surface.

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