Arm type execution device

Abstract

The utility model discloses an arm type execution device, which relates to the technical field of multifunctional processing mechanisms and comprises an arm mechanism and an execution mechanism, the arm mechanism comprises a connecting arm and a driving assembly. The driving assembly comprises a driving piece and a transmission piece. The driving piece is arranged on the connecting arm and is in transmission connection with the transmission piece; the executing mechanism is used for being detachably connected with the arm mechanism, the executing mechanism comprises a supporting frame, an executing part and a clamping assembly, the executing part and the clamping assembly are both arranged on the supporting frame, the clamping assembly comprises a first clamping part, a second clamping part and a driven part, the first clamping part and the second clamping part are movably arranged on the supporting frame, and the driven part is arranged on the first clamping part. The driven part is in transmission fit with the first clamping part and the second clamping part, the driven part is movably arranged on the supporting frame, and the driven part is in transmission connection with the transmission part so that the driven part can drive the first clamping part and the second clamping part to clamp the connecting arm under driving of the driving part. According to the arm type executing device, the convenience of working in a high-temperature working condition and a narrow space environment is improved.

Description

Technical Field

[0001] The present application relates to the technical field of multifunctional processing mechanisms, and in particular to an arm-type execution device. Background Art

[0002] Complex application scenarios, including those involving high-temperature working conditions and confined spaces, often require multiple actuators for operation. Currently, the common practice is to install the corresponding actuator on the robot arm when in use and remove it when not in use. However, existing actuators are complex to install and disassemble, and their large size and numerous cables make them inconvenient to operate in high-temperature working conditions and confined spaces. Utility Model Content

[0003] In view of the above, it is necessary to propose an arm-type actuator to at least improve the convenience of working in high temperature conditions and confined space environments.

[0004] 14. The repairing kit for automotive dents, according to claim 13, wherein a bottom of the foot stand comprises a through-hole, and the two foot pieces comprise two bosses, wherein the bosses comprise a through-hole, a screw bolt, and a nut. The through-hole comprises a first boss, a second boss, and a second nut. The bosses comprise a through-hole, a screw bolt, and a nut. The through-hole comprises a first boss, a second boss, and a second nut. The bosses comprise a first boss, a second boss, and a second nut.

[0005] The arm-type actuator of the embodiment of the present application is characterized by arranging a driving member on the connecting arm, the driving member being in transmission connection with the transmission member, and the driven member being movably arranged on the support frame, so that under the drive of the driving member, the driven member drives the first clamping member and the second clamping member to clamp the connecting arm. This can reduce the size of the actuator. If the driving member is installed on the actuator, the actuator is large in size and most of the time, a cable is required to be connected from the connecting arm to the driving member of the actuator. During this process, the cable is easily swung with the movement of the actuator or hinders the operation of the actuator. Therefore, installing the driving member on the connecting arm can reduce the number of cables and the number of connections, reduce or avoid the problem of cable swinging, and facilitate replacement and maintenance, making it easier for the actuator to operate in high temperature working conditions and confined space environments. Furthermore, since the transmission parts from the driven member to the first clamping member and the second clamping member all belong to the actuator, rather than the arm mechanism, the load (weight) is small when the arm mechanism takes and puts materials, thus saving energy.

[0006] In some embodiments, the driven member is slidably connected to the support frame, the connecting arm has an extension direction, and the driving direction of the driving member is consistent with the extension direction, so that when the driving member is transmission-connected to the driven member, the driving member drives the driven member to slide along the extension direction.

[0007] In some embodiments, the driven part is provided with a first guide portion and a second guide portion, the distance between the first guide portion and the second guide portion changes along the movement direction of the driven part, the first clamping member is slidably provided on the first guide portion, and the second clamping member is slidably provided on the second guide portion, and the first clamping member and the second clamping member can move away from or approach each other under the drive of the driven part.

[0008] In some embodiments, the support frame includes a first side and a second side facing away from each other, the working side of the actuator is located on the first side, the transmission member is provided with a plug-in portion, the driven member is provided with a mating portion for plugging with the plug-in portion, and the arm mechanism has the freedom to move from the second side toward the first side so that the plug-in portion and the mating portion are plugged and mated.

[0009] In some embodiments, the arm mechanism includes a clamping claw, which is provided on the connecting arm and arranged toward the second side. The support frame is provided with a through hole corresponding to the clamping claw. When the plug-in portion and the mating portion are plugged into and mated with each other, the clamping claw is passed through the through hole and extends out of the first side.

[0010] In some embodiments, the clamping jaw has a clamping direction, which is different from the movement direction of the driven part, so that the clamping jaw avoids the driven part.

[0011] In some embodiments, the driving assembly further includes a mounting member, which is connected to the driving member, and the mounting member is provided with a first limiting portion. The transmission member is rotatably connected to the mounting member, and the transmission member is further provided with a second limiting portion. The second limiting portion and the first limiting portion are limitedly matched so that the position of the plug-in portion corresponds to the position of the matching portion.

[0012] In some embodiments, the driven part is provided with a stop portion, and the actuator further includes an elastic abutment, which is connected to the support frame and located on the movable path of the driven part, and the elastic abutment is used to extend into the stop portion to limit the movement of the driven part.

[0013] In some embodiments, the arm mechanism includes a first electrical connection component, which is arranged on the connecting arm. The actuator also includes a second electrical connection component, which is arranged on the support frame and electrically connected to the actuator. The second electrical connection component is used to electrically contact the first electrical connection component when the actuator is connected to the arm mechanism.

[0014] In some embodiments, the actuator is a grinding assembly, a gripping assembly, a cleaning assembly, a drilling assembly or a cutting assembly; and / or, the arm-type actuator also includes a support platform, the support platform includes a platform body and a positioning member provided on the platform body, the support platform is used to carry the actuator, and the positioning member is used to position and cooperate with the support frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the three-dimensional structure of the arm-type execution device provided in an embodiment of the present application.

[0016] Figure 2 yes Figure 1 Schematic diagram of the exploded structure of the arm-type actuator shown.

[0017] Figure 3 yes Figure 2 The diagram shows a partial exploded structure of the arm mechanism in the arm-type actuator.

[0018] Figure 4 yes Figure 2 The diagram shows a partial exploded structure of the actuator in the arm-type actuator.

[0019] Main component symbols

[0020] Arm-type actuator 100

[0021] Arm mechanism 10

[0022] Connecting arm 11

[0023] Gripper 12

[0024] Finger 121

[0025] First pressing piece 122

[0026] Second pressing piece 123

[0027] Drive assembly 13

[0028] Driving member 131

[0029] Mounting 132

[0030] The first limiting portion 1321

[0031] Transmission parts 133

[0032] Connecting portion 1331

[0033] The second limiting portion 1332

[0034] Shaft 134

[0035] Connecting seat 14

[0036] Assembly 15

[0037] Clamping power piece 16

[0038] Assembly parts 17

[0039] Positioning slot 171

[0040] Mounting slot 172

[0041] First electrical connection assembly 18

[0042] First insulating member 181

[0043] Second insulating member 182

[0044] Electrode 183

[0045] Elastic member 184

[0046] Actuator 20

[0047] Support frame 21

[0048] First side 211

[0049] Second side 212

[0050] Linear Rail 213

[0051] Slide 214

[0052] Through hole 215

[0053] Wire Trough 216

[0054] Positioning hole 217

[0055] Insertion hole 218

[0056] Clamping assembly 22

[0057] First clamping member 221

[0058] Clamping piece 2211

[0059] Clamping groove 2211a

[0060] Extension 2212

[0061] Rolling parts 2213

[0062] Second clamping member 222

[0063] Driven parts 223

[0064] Matching part 2231

[0065] First guide portion 2232

[0066] Second guide portion 2233

[0067] Stop portion 2234

[0068] Execution 23

[0069] Cleaning power parts 231

[0070] Coupling 232

[0071] Cleaning brush 233

[0072] Elastic abutment 24

[0073] Second electrical connection component 25

[0074] Wire 26

[0075] Carrying platform 30

[0076] Platform 31

[0077] Positioning piece 32

[0078] Material 400 DETAILED DESCRIPTION

[0079] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar components or components having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and should not be understood as limiting the present application.

[0080] In the description of the present application, it should be understood that the terms indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present application, it should be noted that the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0081] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or mutual communication; it can be directly connected or indirectly connected through an intermediate medium; it can be the internal connection of two components or the interaction relationship between two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances. Some embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0082] See also Figure 1 and Figure 2 , an embodiment of the present application provides an arm-type actuator 100 , including an arm mechanism 10 and an actuator 20 .

[0083] The arm mechanism 10 includes a connecting arm 11 and a driving assembly 13 . The driving assembly 13 includes a driving member 131 and a transmission member 133 . The driving member 131 is disposed on the connecting arm 11 , and the driving member 131 is in transmission connection with the transmission member 133 .

[0084] The actuator 20 is detachably connected to the arm mechanism 10. The actuator 20 includes a support frame 21, a clamping assembly 22, and an actuator 23. The actuator 23 and the clamping assembly 22 are both arranged on the support frame 21. The clamping assembly 22 includes a first clamping member 221, a second clamping member 222, and a driven member 223. The first clamping member 221 and the second clamping member 222 are movably arranged on the support frame 21. The driven member 223 is in transmission cooperation with the first clamping member 221 and the second clamping member 222. The driven member 223 is movably arranged on the support frame 21. The driven member 223 is used for transmission connection with the transmission member 133. Driven by the driving member 131, the driven member 223 drives the first clamping member 221 and the second clamping member 222 to clamp the connecting arm 11.

[0085] Specifically, the connecting arm 11 can be directly or indirectly connected to an external motion mechanism (not shown), such as a robotic arm, a mobile platform (which can have three degrees of freedom in the X-axis, Y-axis, and Z-axis directions), etc. The first clamping member 221 and the second clamping member 222 can be slidably disposed on the support frame 21.

[0086] In some embodiments, the driven member 223 drives the first clamping member 221 and the second clamping member 222 to move closer to or farther from each other through the provided guide portion. The actuators 20 may be in multiple groups, and the actuators 23 of each group of actuators 20 may have different functions.

[0087] In some other embodiments, the driven member 223 may also be a screw rod, and the first clamping member 221 and the second clamping member 222 may be slidably provided on the support frame 21, and the first clamping member 221 and the second clamping member 222 are both threadedly connected to the driven member 223. The driven member 223 rotates under the drive of the driving member 131 and drives the first clamping member 221 and the second clamping member 222 to move closer to or away from each other; or the first clamping member 221 and the second clamping member 222 are cross-arranged, and the first clamping member 221 and the second clamping member 222 are both rotatably connected to the support frame 21, and the driven member 223 drives the first clamping member 221 and the second clamping member 222 to move, so that one end of the first clamping member 221 and the second clamping member 222 opens and closes to clamp or release the connecting arm 11. Obviously, this is not a limitation of the embodiments of the present application.

[0088] When the actuator 20 needs to be installed on the arm mechanism 10, the motion mechanism drives the connecting arm 11 to move toward the actuator 20 and positions the connecting arm 11 between the first clamping member 221 and the second clamping member 222. At this time, the driving member 131 drives the driven member 223 to move through the transmission member 133, and the driven member 223 drives the first clamping member 221 and the second clamping member 222 to approach each other, so that the first clamping member 221 and the second clamping member 222 clamp the connecting arm 11, thereby completing the automatic installation of the arm mechanism 10 and the actuator 20. When the actuator 20 needs to be disassembled from the arm mechanism 10, the driving member 131 drives the driven member 223 to move again through the transmission member 133, and the driven member 223 drives the first clamping member 221 and the second clamping member 222 to move away from each other, so that the first clamping member 221 and the second clamping member 222 release the connecting arm 11, thereby completing the automatic disassembly of the arm mechanism 10 and the actuator 20.

[0089] In this embodiment, the arm mechanism 10 also includes a connecting seat 14 and an assembly 15. The connecting seat 14 is connected to one end of the connecting arm 11, and one end of the assembly 15 is connected to the connecting seat 14. The other end of the assembly 15 can be a flange structure, which can be used to connect to the motion mechanism, thereby helping to improve the convenience and stability of the arm mechanism 10 connecting to the motion mechanism.

[0090] In this embodiment, the arm mechanism 10 further includes a clamping claw 12, which is provided at one end of the connecting arm 11 away from the connecting seat 14. The provision of the clamping claw 12 facilitates clamping and moving the material 400.

[0091] See also Figure 3 In this embodiment, the clamping jaw 12 includes two oppositely disposed clamping fingers 121. Both clamping fingers 121 are slidably disposed at the end of the connecting arm 11 away from the connecting seat 14. The arm mechanism 10 also includes a clamping power member 16. The clamping power member 16 is disposed at the end of the connecting arm 11 close to the connecting seat 14. The clamping power member 16 can be a telescopic cylinder. The clamping power member 16 is connected to the two clamping fingers 121 through a transmission structure (not shown), thereby driving the two clamping fingers 121 to clamp or release the material 400. In this way, when the two clamping fingers 121 are operating in a high-temperature environment such as a forging machine, since the clamping power member 16 is far away from the two clamping fingers 121, it can effectively reduce the damage caused by the high temperature environment to the wiring and air pipe of the clamping power member 16.

[0092] In this embodiment, the arm-type actuator 100 can clamp the product (not shown) during processing. The product can be formed by forging using a 930-degree high-temperature titanium alloy or a 480-degree titanium-aluminum alloy, and the surface temperature of the forging die is 200 degrees. After the forging die is opened, the space is small, and the available space is only 120 mm wide, which is not convenient for taking and placing products. By setting the clamping power part 16 away from the clamping jaws 12, the clamping jaws 12 can operate in a high-temperature environment, thereby facilitating the clamping jaws 12 to take and place products in the high-temperature forging die. In addition, the actuator 20 can be quickly disassembled and assembled with the arm mechanism 10. When the actuator 20 is removed from the arm mechanism 10, the arm mechanism 10 is smaller in size, which makes it easier to take and place products in a forging die with a small space.

[0093] In this embodiment, the clamping jaw 12 further includes a first pressing piece 122 and a second pressing piece 123. The first pressing piece 122 and the second pressing piece 123 are both connected to the connecting arm 11, and both are located on one side of the connecting arm 11 where the two clamping fingers 121 are provided. The first pressing piece 122 and the second pressing piece 123 are arranged opposite to each other. The arrangement direction of the first pressing piece 122 and the second pressing piece 123 can be roughly perpendicular to the arrangement direction of the two clamping fingers 121 of the clamping jaw 12. When the two clamping fingers 121 are to clamp the material 400, the first pressing piece 122 and the second pressing piece 123 can press the ends of the corresponding material 400, so that the material 400 is not easily displaced, which is conducive to improving the accuracy of the clamping jaw 12 in clamping the material 400.

[0094] See also Figure 1 、 Figure 2 and Figure 3 In some embodiments, the support frame 21 includes a first side 211 and a second side 212 that are opposite to each other. The clamping jaw 12 is provided on the connecting arm 11 and is disposed toward the second side 212. The support frame 21 is provided with a through hole 215 corresponding to the clamping jaw 12. When the plug-in portion 1331 is plugged into and mated with the mating portion 2231, the clamping jaw 12 is inserted into the through hole 215 and extends out of the first side 211. In this way, when the arm mechanism 10 is assembled with the actuator 20, the space occupied by the clamping jaw 12 between the actuator 20 and the arm mechanism 10 can be reduced or avoided, so that the actuator 20 and the arm mechanism 10 are as close as possible, thereby facilitating the reduction of the size of the actuator 20 and the arm mechanism 10 after assembly (the size in the arrangement direction of the actuator 20 and the arm mechanism 10), thereby facilitating the arm-type actuator 100 to operate in a narrow space.

[0095] In this embodiment, the clamping jaw 12 has a clamping direction, which is different from the movement direction of the driven part 223. For example, the clamping direction is substantially perpendicular to the movement direction of the driven part 223. Specifically, the two clamping fingers 121 of the clamping jaw 12 are substantially along Figure 2The material 400 is clamped in the X-axis direction as shown, and the driven member 223 is driven by the driving member 131 to move approximately along the Figure 2 The movement is shown along the Y-axis direction. When the actuator 20 is assembled with the arm mechanism 10, the gripping of the clamping jaws 12 can avoid the movement of the driven part 223, thereby preventing the clamping jaws 12 and the driven part 223 from interfering with each other.

[0096] See also Figure 1 、 Figure 2 and Figure 3 In this embodiment, the driven member 223 is slidably connected to the support frame 21, and the connecting arm 11 has an extension direction, which can be Figure 2 The Y-axis direction shown. The driving direction of the driving member 131 is basically consistent with the extension direction of the connecting arm 11. When the driving member 131 is connected to the driven member 223 through the transmission member 133, the driving member 131 drives the driven member 223 to slide along the extension direction of the connecting arm 11. The movement direction of the driving member 131 and the driven member 223 can utilize the space of the connecting arm 11 in its extension direction, avoiding the driving member 131 and the driven member 223 occupying other directions of the connecting arm 11 (for example, the direction perpendicular to the extension direction of the connecting arm 11), which is beneficial to reducing the lateral dimensions (dimensions along the X-axis direction) of the actuator 20 and the arm mechanism 10, so that the outer shapes of the actuator 20 and the arm mechanism 10 can be designed to be narrower, which is beneficial for the actuator 20 to operate in a space with a narrow width. In addition, by setting the driving direction of the driving member 131 to be the same as the moving direction of the driven member 223, there is basically no need for a power transmission conversion mechanism (such as power direction conversion). The driving member 131 can directly drive the driven member 223 to move along the driving direction through the transmission member 133 with a simple structure.

[0097] See also Figure 4 In this embodiment, the driven member 223 is provided with a first guide portion 2232 and a second guide portion 2233. The distance between the first guide portion 2232 and the second guide portion 2233 changes along the movement direction of the driven member 223. The first clamping member 221 is slidably disposed on the first guide portion 2232, and the second clamping member 222 is slidably disposed on the second guide portion 2233. The first clamping member 221 and the second clamping member 222 can move away from or toward each other under the drive of the driven member 223.

[0098] As an example, the first guide portion 2232 and the second guide portion 2233 can both be guide grooves, and a first angle is formed between the extension direction of the first guide portion 2232 and the movement direction of the driven member 223, and a second angle is formed between the second guide portion 2233 and the movement direction of the driven member 223. The first angle and the second angle can be substantially the same, and both are acute angles. When the driven member 223 drives the first clamping member 221 and the second clamping member 222 to move, the first clamping member 221 moves under the guidance of the first guide portion 2232, and the second clamping member 222 moves under the guidance of the second guide portion 2233, so that the first clamping member 221 and the second clamping member 222 can move smoothly closer to or farther away from each other, thereby facilitating the stability of the assembly between the arm mechanism 10 and the actuator 20.

[0099] In some embodiments, the shapes of the first guide portion 2232 and the second guide portion 2233 are roughly arranged in an "V" shape, and the first guide portion 2232 and the second guide portion 2233 can be relatively close to each other, so that the first guide portion 2232 and the second guide portion 2233 occupy a smaller size in the width direction of the driven part 223, which is beneficial to reducing the width of the driven part 223 and facilitating the miniaturization of the actuator 20.

[0100] In some other embodiments, the first guide portion 2232 and the second guide portion 2233 may also be arranged in an "eight" shape, which is not specifically limited in the embodiment of the present application.

[0101] Please refer again Figure 4 In this embodiment, the working side of the actuator 23 is located on the first side 211, the transmission member 133 is provided with a plug-in portion 1331, and the driven member 223 is provided with a matching portion 2231 for plugging with the plug-in portion 1331. The arm mechanism 10 has the freedom to move from the second side 212 toward the first side 211 so that the plug-in portion 1331 and the matching portion 2231 are plugged and matched. Among them, one of the plug-in portion 1331 and the matching portion 2231 can be a plug-in protrusion, and the other can be a plug-in hole. In this way, the arm mechanism 10 can be connected to the actuator 20 from the side away from the working side of the actuator 23, and interference occurs between the movement of the arm mechanism 10 and the working side of the actuator 23. In addition, by providing the plug-in portion 1331 to be plugged into the matching portion 2231, the transmission member 133 and the driven member 223 are facilitated to connect and separate.

[0102] Furthermore, when the clamping jaw 12 is disposed on the connecting arm 11 and disposed toward the second side 212, and the support frame 21 is provided with a through hole 215 corresponding to the clamping jaw 12, when the plug-in portion 1331 and the mating portion 2231 are plugged and mated from the second side 212 toward the first side 211, the clamping jaw 12 passes through the through hole 215 and extends out of the first side 211. In this way, while the arm mechanism 10 is connected to the actuator 20, the clamping jaw 12 can also be extended out of the first side 211 to achieve mating between the clamping jaw 12 and the actuator 23. That is, the working sides of the clamping jaw 12 and the actuator 23 can work in coordination, eliminating the need for a separate drive mechanism to drive the clamping jaw 12 to extend out of the first side 211, thereby achieving rapid assembly.

[0103] See also Figure 3 and Figure 4 In this embodiment, the drive assembly 13 further includes a mounting member 132, which is connected to the drive member 131. The mounting member 132 is provided with a first limiting portion 1321. The transmission member 133 is rotatably connected to the mounting member 132. The transmission member 133 is further provided with a second limiting portion 1332. The second limiting portion 1332 and the first limiting portion 1321 are mutually limited and cooperate with each other so that the position of the plug-in portion 1331 corresponds to the position of the mating portion 2231. One of the first limiting portion 1321 and the second limiting portion 1332 can be a limiting groove, and the other can be a limiting block. The limiting block and the limiting groove are mutually limited and cooperate with each other so that the position of the plug-in portion 1331 corresponds to the position of the mating portion 2231.

[0104] As an example, the drive assembly 13 further includes a rotating shaft 134, which is disposed through the limit block and extends through two opposing walls of the limit slot, thereby enabling the limit block to rotate within the limit slot. When the transmission member 133 rotates within the limit slot, the limit block abuts against the walls of the limit slot to limit the rotation angle of the transmission member 133. This automatically adjusts the position difference between the plug-in portion 1331 and the mating portion 2231 when there is a slight misalignment between the plug-in portion 1331 and the mating portion 2231, thereby facilitating improved accuracy in inserting the plug-in portion 1331 into the mating portion 2231.

[0105] In some other embodiments, the rotating shaft 134 may also be protruded from the limiting block and be a part of the transmission member 133 , which is not specifically limited in the embodiment of the present application.

[0106] See also Figure 4 In this embodiment, the first clamping member 221 and the second clamping member 222 both include a clamping member 2211. The clamping member 2211 can be arranged along Figure 2The X-axis is shown as being slidably mounted on the support frame 21. A clamping groove 2211a is defined on the side of the first clamping member 221 and the second clamping member 222 where the clamping members 2211 and 2211 of the first clamping member 221 and the second clamping member 222 are located adjacent to each other. The provision of the clamping groove 2211a on the side of the first clamping member 221 and the second clamping member 222 where the clamping members 2211 and 2211 of the first clamping member 221 and the second clamping member 222 are located adjacent to each other facilitates the first clamping member 221 and the second clamping member 222 from clamping the connecting arm 11.

[0107] In some embodiments, the first clamping member 221 and the second clamping member 222 further include an extension member 2212 and a rolling member 2213. One end of the extension member 2212 is connected to the clamping member 2211, and the other end of the extension member 2212 extends into the corresponding first guide portion 2232 or second guide portion 2233. The rolling member 2213 is sleeved on the other end of the extension member 2212 and abuts against the corresponding first guide portion 2232 or second guide portion 2233. The rolling member 2213 may be a follower roller. Since the friction between the rolling member 2213 and the first guide portion 2232 or second guide portion 2233 is relatively low, the driven member 223 facilitates smoother movement of the first clamping member 221 and the second clamping member 222.

[0108] See also Figure 4 In this embodiment, the support frame 21 has a linear track 213, and the extension direction of the linear track 213 can be Figure 2 In the X direction shown, the clamping member 2211 of the first clamping member 221 and the clamping member 2211 of the second clamping member 222 are both slidably arranged on the linear rail 213, which is beneficial to improving the stability of the first clamping member 221 and the second clamping member 222 during the sliding process.

[0109] See also Figure 4 In this embodiment, the driven part 223 is provided with a stop portion 2234, and the actuator 20 also includes an elastic abutment 24, which is connected to the support frame 21. The elastic abutment 24 is located on the movable path of the driven part 223. The elastic abutment 24 is used to extend into the stop portion 2234 when the driven part 223 drives the first clamping part 221 and the second clamping part 222 to release the connecting arm 11, so as to limit the movement of the driven part 223.

[0110] As an example, the support frame 21 is provided with a slideway 214, which can be roughly along Figure 2The X-axis direction shown is extended. The slideway 214 is located below the linear rail 213, and the driven member 223 is slidably arranged on the slideway 214. The support frame 21 is also provided with an insertion hole 218 connected to the slideway 214, and the elastic abutment member 24 is inserted into the insertion hole 218. The stop portion 2234 can be a slot, and the elastic abutment member 24 can be a ball plunger or a ball screw. When the driven member 223 drives the first clamping member 221 and the second clamping member 222 to loosen the connecting arm 11, the elastic abutment member 24 extends into the slot and limits the moving distance of the driven member 223, which not only keeps the first clamping member 221 and the second clamping member 222 in an open state, making it easier for the connecting arm 11 to re-enter the space between the first clamping member 221 and the second clamping member 222, but also makes it easier for the plug-in portion 1331 of the transmission member 133 to be accurately inserted into the matching portion 2231 of the driven member 223 again.

[0111] See also Figure 3 and Figure 4 In this embodiment, the arm mechanism 10 further includes a first electrical connection component 18, which is disposed on the connecting arm 11. The actuator 20 further includes a second electrical connection component 25, which is disposed on the support frame 21 and electrically connected to the actuator 23. The second electrical connection component 25 electrically contacts the first electrical connection component 18 when the actuator 20 is connected to the arm mechanism 10, thereby facilitating rapid power supply to the actuator 20 after the arm mechanism 10 and the actuator 20 are assembled.

[0112] See also Figure 3 and Figure 4 In this embodiment, the arm mechanism 10 further includes an assembly part 17, which is disposed on the connecting arm 11. The first electrical connection component 18 is disposed on the assembly part 17 and is also disposed on the connecting arm 11 through the assembly part 17. The assembly part 17 has a positioning groove 171 formed on the second side 212 of the support frame 21. When the first clamping member 221 and the second clamping member 222 clamp the connecting arm 11, the positioning groove 171 allows the first clamping member 221 and the second clamping member 222 to extend into the first clamping member 221 and the second clamping member 222 to position the relative positions of the first electrical connection component 18 and the second electrical connection component 25, thereby facilitating accurate abutment between the first electrical connection component 18 and the second electrical connection component 25. In addition, when the first clamping member 221 and the second clamping member 222 extend into the positioning groove 171, the positioning groove 171 cooperates with the first clamping member 221 and the second clamping member 222 to limit the movement of the actuator 20 along the Y-axis direction, thereby effectively avoiding misalignment between the first electrical connection component 18 and the second electrical connection component 25, and is conducive to improving the accuracy of the actuator 20 when performing corresponding operations.

[0113] In some embodiments, the positioning groove 171 is roughly "V"-shaped, and the opening of the roughly "V"-shaped positioning groove 171 is larger in size, which can provide a larger insertion space when the first clamping member 221 and the second clamping member 222 are inserted into the positioning groove 171, thereby facilitating the first clamping member 221 and the second clamping member 222 to quickly insert into the positioning groove 171.

[0114] See also Figure 3 and Figure 4 In this embodiment, the first electrical connection component 18 includes a first insulating member 181, a second insulating member 182, an electrode 183, and an elastic member 184. The assembly 17 defines a mounting slot 172. The first insulating member 181 is disposed in the mounting slot 172, and the second insulating member 182 is disposed in the assembly 17. The second insulating member 182 is located on the side of the first insulating member 181 facing the second side 212. The electrode 183 is slidably disposed in the second insulating member 182. The elastic member 184, which may be a spring, is disposed between the first insulating member 181 and the electrode 183, with both ends of the elastic member 184 connected to the first insulating member 181 and the electrode 183, respectively. When the first electrical connection component 18 abuts the second electrical connection component 25, the electrode 183 abuts the second electrical connection component 25 and compresses the elastic member 184. The elastic member 184 elastically supports the electrode 183, thereby improving the stability and reliability of the abutment between the first electrical connection component 18 and the second electrical connection component 25.

[0115] In this embodiment, the structures of the second electrical connection component 25 and the first electrical connection component 18 may be substantially the same, and will not be described in detail herein.

[0116] In this embodiment, electrical conduction is achieved by contact between electrodes 183 on the arm mechanism 10 and electrodes 183 on the actuator 20, facilitating connection during the automatic positioning and installation of the arm mechanism 10 and actuator 20. Therefore, after the actuator 20 is separated, the cables used for electrical connection to the arm mechanism 10 are no longer present, eliminating the problem of cables swinging around with the actuator 20.

[0117] See also Figure 4 In this embodiment, the second electrical connection assembly 25 is electrically connected to the actuator 23 via a wire 26. The support frame 21 defines a wire slot 216 that extends roughly from the second electrical connection assembly 25 to the actuator 23. The wire 26 is located within the wire slot 216, with both ends of the wire 26 electrically connected to the second electrical connection assembly 25 and the actuator 23, respectively. Because the wire 26 is embedded within the wire slot 216, the chance of the wire 26 swinging and becoming entangled is effectively reduced.

[0118] In this embodiment, the wire 26 is made of a high-temperature resistant material, such as high-temperature resistant polyurethane, polyester, polyvinylidene fluoride, etc. The wire 26 can be a 200-degree resistant wire. In some application scenarios, it can withstand temperatures above the mold (about 120 degrees). In this way, by setting the wire 26 to be made of a high-temperature resistant material, it is convenient for the actuator 20 to operate in a high-temperature environment, such as cleaning a forging mold. Since the temperature of the inner wall of the forging mold is relatively high, burying the wire 26 in the wire slot 216 can also prevent the wire 26 from contacting the inner wall of the forging mold and being damaged.

[0119] See also Figure 4 In this embodiment, the actuator 23 may be a cleaning assembly, comprising a cleaning power member 231, a coupling 232, and a cleaning brush 233. The cleaning power member 231 is mounted on the support frame 21. The cleaning power member 231 may be a motor, the coupling 232 is connected to the cleaning power member 231, and the cleaning brush 233 is connected to the coupling 232. This facilitates cleaning operations after the actuator 20 is assembled with the connecting arm 11 of the arm mechanism 10.

[0120] In some application scenarios, in order to facilitate the smooth demolding of the product after about 200 tons of forging, the forging bed sprays graphite into the mold. In order to save time, the graphite spraying component extends from the forging bed (behind the mold) and provides conventional high-pressure blowing and graphite spraying functions, but high-pressure blowing cannot remove graphite, and a brush is required for in-depth treatment. The mold is cleaned every 30 mold intervals, and the cleaning frequency is high. By setting the first electrical connection component 18 and the second electrical connection component 25 contact connection, the number of wires 26 is reduced, and the design of the wire groove 216 reduces the probability of the wire 26 swinging, thereby reducing the probability of the wire 26 contacting the inner wall of the forging die and being damaged, so that the actuator 20 can work in the high temperature environment of the forging die. By setting the actuator 23 as a cleaning component, it is convenient for the actuator 20 to remove the graphite in the forging die. In addition, due to the small size of the actuator 20, it is convenient for the actuator 20 to remove graphite in the narrow space of the forging die. Since the actuator 20 and the arm mechanism 10 can be quickly assembled and disassembled, they can meet the needs of high-frequency cleaning of forging dies.

[0121] In some other embodiments, the actuators 20 can be multiple groups, and the actuators 23 of each group of actuators 20 can also be grinding components, gripping components, drilling components or cutting components, so that the actuators 20 can perform grinding operations, pick-and-place operations, drilling operations or cutting operations. The embodiments of the present application do not specifically limit this. Since the actuators 20 are easy to replace and there are not many cables when the actuators 20 are connected to the arm mechanism 10, multiple sets of actuators 20 can be replaced in various implementation scenarios, and multiple sets of actuators 20 can be used to perform various operations on complex scenarios, such as complex scenarios including confined spaces, high temperature working conditions, various postures, and different tools.

[0122] Please refer again Figure 1 and Figure 2 , a positioning hole 217 is also provided on the support frame 21. The arm-type actuator 100 also includes a carrier 30. The carrier 30 includes a platform 31 and a positioning member 32 provided on the platform 31. When the actuator 20 is separated from the arm mechanism 10, the carrier 30 is used to carry the actuator 20, and the positioning member 32 is used to be inserted into the positioning hole 217 to cooperate with the support frame 21 for positioning, thereby facilitating the accuracy of the carrier 30 in carrying the actuator 20 and facilitating the arm mechanism 10 to accurately move toward the actuator 20 under the drive of the motion mechanism.

[0123] In the implementation of this application, the process of the arm-type actuator 100 cooperating with the forging machine to process the product is roughly as follows:

[0124] The actuator 20 is separated from the arm mechanism 10 , and the actuator 20 is placed on the carrying platform 30 .

[0125] The motion mechanism drives the connecting arm 11 to move, and the connecting arm 11 drives the clamping jaw 12 to take and place the workpiece into the forging bed. The forging bed performs high-temperature forging on the workpiece. Since the clamping power member 16 is away from the clamping jaw 12, the clamping jaw 12 can operate in a high-temperature environment.

[0126] The motion mechanism drives the connecting arm 11 to move toward the actuator 20, and makes the connecting arm 11 located between the first clamping member 221 and the second clamping member 222. The transmission member 133 is connected to the driven member 223. The driving member 131 drives the driven member 223 to move through the transmission member 133. The driven member 223 drives the first clamping member 221 and the second clamping member 222 to approach each other and clamp the connecting arm 11, thereby completing the assembly of the actuator 20 and the arm mechanism 10. Since the disassembly and assembly efficiency of the actuator 20 and the arm mechanism 10 is relatively high, it can be suitable for higher frequency disassembly and assembly needs.

[0127] Driven by the motion mechanism, the connecting arm 11 drives the actuator 20 to extend into the mold cavity to clean the graphite. Since the clamp 12 is inserted into the through hole 215 and extends out of the first side 211, the size of the actuator 20 and the arm mechanism 10 after assembly is reduced, thereby facilitating the arm-type actuator 100 to operate in the narrow space of the mold; in addition, the contact connection form of the first electrical connection component 18 and the second electrical connection component 25 reduces the number of wires 26, and the design of the wire groove 216 reduces the probability of the wire 26 swinging, thereby reducing the probability of the wire 26 being damaged by contact with the inner wall of the mold.

[0128] In summary, the arm-type actuator 100 of the embodiment of the present application is configured such that the driving member 131 is arranged on the connecting arm 11, the driving member 131 is connected to the transmission member 133, and the driven member 223 is movably arranged on the support frame 21, so that under the drive of the driving member 131, the driven member 223 drives the first clamping member 221 and the second clamping member 222 to clamp the connecting arm 11. This can reduce the volume of the actuator 20. If the driving member 131 is installed on the actuator 20, the volume of the actuator 20 is large, and most of the time, a cable is required to be used to connect the cables from the connecting arm 11 to the driving member 131 of the actuator 20. In this process, the cables are easily swung or hindered by the movement of the actuator 20. Therefore, installing the driving member 131 on the connecting arm 11 can reduce the number of cables and the number of wirings, reduce or avoid the trouble of the cables swinging with them, and facilitate replacement and maintenance, so that the actuator 20 can work in high temperature conditions and narrow space environments. Furthermore, because the transmission components from the driven component 223 to the first clamping component 221 and the second clamping component 222 all belong to the actuator 20, rather than the arm mechanism 10, the load (weight) when the arm mechanism 10 picks and places materials is reduced, thus saving energy. Because the actuator 20 is cable-free, it is easy to replace the entire unit and perform off-line repairs and replacements.

[0129] It will be apparent to those skilled in the art that the present application is not limited to the details of the exemplary embodiments described above, and that the present application can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the present application is defined by the appended claims rather than the foregoing description, and all variations that come within the meaning and range of equivalents of the claims are intended to be embraced herein.

[0130] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not intended to limit the present application. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present application.

Claims

1. An arm-type actuator, characterized in that: include: An arm mechanism, comprising a connecting arm and a driving assembly, wherein the driving assembly comprises a driving member and a transmission member; The driving member is provided on the connecting arm, and the driving member is in transmission connection with the transmission member; An actuator, the actuator is used to be detachably connected to the arm mechanism, the actuator includes a support frame, an actuator and a clamping assembly, the actuator and the clamping assembly are both arranged on the support frame, wherein, The clamping assembly includes a first clamping member, a second clamping member and a driven member. The first clamping member and the second clamping member are movably arranged on the support frame. The driven member is transmission-coordinated with the first clamping member and the second clamping member. The driven member is movably arranged on the support frame. The driven member is used for transmission connection with the transmission member so that the driven member drives the first clamping member and the second clamping member to clamp the connecting arm under the drive of the driving member.

2. The arm-type actuator according to claim 1, wherein: The driven member is slidably connected to the support frame, the connecting arm has an extension direction, and the driving direction of the driving member is consistent with the extension direction, so that when the driving member is transmission-connected to the driven member, the driving member drives the driven member to slide along the extension direction.

3. The arm-type actuator according to claim 2, wherein: The driven part is provided with a first guide portion and a second guide portion, the distance between the first guide portion and the second guide portion changes along the movement direction of the driven part, the first clamping member is slidably provided on the first guide portion, and the second clamping member is slidably provided on the second guide portion, and the first clamping member and the second clamping member can move away from or approach each other under the drive of the driven part.

4. The arm-type actuator according to claim 1, wherein: The support frame includes a first side and a second side facing away from each other, the working side of the actuator is located on the first side, the transmission member is provided with a plug-in portion, and the driven member is provided with a matching portion for plugging with the plug-in portion. The arm mechanism has the freedom to move from the second side toward the first side so that the plug-in portion and the matching portion are plugged and matched.

5. The arm-type actuator according to claim 4, characterized in that: The arm mechanism includes a clamping claw, which is arranged on the connecting arm and toward the second side. The support frame is provided with a through hole corresponding to the clamping claw. When the plug-in portion and the matching portion are plugged in and matched, the clamping claw passes through the through hole and extends out of the first side.

6. The arm-type actuator according to claim 5, characterized in that: The clamping jaw has a clamping direction, which is different from the moving direction of the driven part, so that the clamping jaw avoids the driven part.

7. The arm-type actuator according to claim 4, wherein: The driving assembly also includes a mounting member, which is connected to the driving member. The mounting member is provided with a first limiting portion. The transmission member is rotatably connected to the mounting member. The transmission member is also provided with a second limiting portion. The second limiting portion and the first limiting portion are limited and matched so that the position of the plug-in portion corresponds to the position of the matching portion.

8. The arm-type actuator according to any one of claims 1 to 7, wherein: The driven part is provided with a stop portion, and the actuator further includes an elastic abutment, which is connected to the support frame and located on the movable path of the driven part. The elastic abutment is used to extend into the stop portion to limit the movement of the driven part.

9. The arm-type actuator according to any one of claims 1 to 7, wherein: The arm mechanism includes a first electrical connection component, which is arranged on the connecting arm. The actuator also includes a second electrical connection component, which is arranged on the support frame and electrically connected to the actuator. The second electrical connection component is used to electrically contact the first electrical connection component when the actuator is connected to the arm mechanism.

10. The arm-type actuator according to any one of claims 1 to 7, wherein: The actuator is a grinding component, a gripping component, a cleaning component, a drilling component or a cutting component; and / or, The arm-type actuator further includes a supporting platform, which includes a platform body and a positioning member provided on the platform body. The supporting platform is used to support the actuator, and the positioning member is used to position and cooperate with the support frame.

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