Special-shaped composite actuator

Abstract

The utility model discloses a special-shaped composite actuator, and belongs to the technical field of linear rotating motors. The special-shaped composite actuator comprises a machine shell, a linear rotating unit arranged in the machine shell, a gas circuit penetrating through the linear rotating unit and a circuit electrically connected with the linear rotating unit, a notch structure is arranged on the machine shell, and when the actuator moves along with the external movement module, the notch structure is used for giving way for an external collection device. The linear rotating unit comprises a linear output part and a rotating output part, the rotating output part is installed at the output end of the linear output part and extends out of the machine shell, and the output end of the rotating output part is located below the notch structure. According to the composite actuator structure, the working efficiency of the composite actuator is improved, and the high precision of execution is guaranteed. This is a high value improvement for automated production lines that require high precision and efficient execution.

Description

Technical Field

[0001] The utility model belongs to the technical field of linear rotary motors, in particular to a special-shaped composite actuator. Background Art

[0002] Compound actuators are actuators with multiple degrees of freedom. By adding an air circuit to a linear-rotary motor, the output end, which already has linear rotation capabilities, also has a negative pressure gripping function, enabling the upgrade of a linear-rotary motor into a compound actuator.

[0003] Currently, compound actuators, which evolved from linear-rotary motors, typically rely on a motion module for spatial movement. The gripping point is determined by a collection device, such as a visual camera. The collection device and compound actuator are mounted on the same motion module. A gripping cycle consists of the collection device moving over the material area to collect data, leaving the area, and the compound actuator moving over the material area to grasp the material.

[0004] With existing technologies, designs that require the acquisition device and the composite actuator to alternately move back and forth above the material area require numerous movements, and there is a waiting period between each movement, reflecting the low efficiency of the existing composite actuator. Furthermore, the positioning accuracy of the acquisition device and the composite actuator on the motion module affects the composite actuator's execution accuracy. In summary, the composite actuator and the acquisition device cannot be simultaneously positioned above the material area, resulting in poor performance when used together. Utility Model Content

[0005] The purpose of the utility model is to provide a special-shaped composite actuator to solve the above-mentioned problems existing in the prior art.

[0006] Technical solution: A special-shaped composite actuator includes a casing, a linear rotary unit arranged in the casing, an air path passing through the linear rotary unit, and a circuit electrically connected to the linear rotary unit. The casing is provided with a notch structure. When the actuator moves with the external motion module, the notch structure is used to make way for the external collection device.

[0007] Furthermore, the linear rotation unit includes a linear output part and a rotation output part. The rotation output part is installed at the output end of the linear output part and extends to the outside of the casing. The output end of the rotation output part is located below the notch structure.

[0008] Furthermore, the linear output portion includes a linear motor and a carrying assembly, the carrying assembly includes a slide rail and a moving carrier slidably mounted on the slide rail, and the moving carrier is connected to the output end of the linear motor through a connecting piece.

[0009] Furthermore, the rotary output portion includes a cyclone assembly and a rotary motor, the cyclone assembly is mounted on the moving carrier, and the rotary motor is mounted on the cyclone assembly.

[0010] Furthermore, the casing includes a shell and a cover plate installed on the shell, the shell is provided with a grating groove, a reader of a grating assembly is installed in the grating groove, and a magnetic strip cooperating with the reader is installed on a moving carrier.

[0011] Furthermore, the air circuit includes an air inlet nozzle, an adapter, a bent air pipe, a moving carrier, an intermediate air pipe and a cyclone assembly that are connected in sequence. The air inlet nozzle is installed in the air inlet hole of the shell, and a moving air hole is opened on the moving carrier.

[0012] Furthermore, the cyclone assembly includes a cyclone carrier and an output shaft, the rotating motor is installed on the cyclone carrier, one end of the output shaft is connected to the rotating motor through a coupling, and the other end extends to the outside of the cyclone carrier, and a sealed cavity is formed between the output shaft and the cyclone carrier through a sealed bearing, and an air hole is provided on the output shaft located in the sealed cavity, and a carrier air hole is provided on the cyclone carrier, and the carrier air hole is communicated with the sealed cavity.

[0013] Furthermore, the circuit includes a wiring terminal and a cable. A power connection opening is opened on the shell, and the wiring terminal is installed on the power connection opening. One end of the cable is connected to the wiring terminal, and the other end is electrically connected to the mover of the linear motor, the rotary motor and the reader respectively.

[0014] Furthermore, a combing block and a wire rack are installed in the shell for combing the wires and bending the air pipes.

[0015] Beneficial effects: The composite actuator structure proposed in this utility model can effectively solve the problems existing in the prior art, not only improving the working efficiency of the composite actuator, but also ensuring high precision of execution. Specific effects include the following aspects:

[0016] In terms of efficiency, the collection device is fixedly mounted above the material area. During the material grabbing process, the gap structure allows the collection device and the composite actuator to be simultaneously above the material area. As a result, the collection device and the composite actuator no longer interfere with each other above the material area, simplifying the entire grabbing process and improving the overall efficiency of the production line.

[0017] In terms of high-precision operation, the acquisition device is fixed outside, and the acquisition accuracy is no longer affected by the operation accuracy of the motion module, reducing the execution accuracy problem caused by positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the internal structure of the utility model;

[0019] Figure 2 It is the main view of the utility model;

[0020] Figure 3 It is a structural diagram of the housing in the utility model;

[0021] Figure 4 This is a schematic structural diagram of the linear rotation unit in the utility model;

[0022] Figure 5 It is a structural diagram of the circuit in the utility model;

[0023] Figure 6 It is a structural diagram of the gas circuit in the utility model;

[0024] Figure 7 It is a schematic diagram of the internal structure of the cyclone component in the utility model.

[0025] The accompanying drawings are marked as follows: 1. casing; 11. shell; 111. air inlet; 112. power connection opening; 113. grating groove; 114. output port; 12. combing block; 13. wire rack; 14. cover plate; 2. linear motor; 21. stator; 22. mover; 23. connector; 3. carrier assembly; 31. slide rail; 32. moving carrier; 4. cyclone assembly; 41. cyclone carrier; 42. sealed bearing; 43. output shaft; 44. end piece; 45. carrier air hole; 5. rotating motor; 51. coupling; 6. grating assembly; 61. reader; 62. magnetic strip; 7. circuit; 71. terminal; 72. wiring; 8. air path; 81. air inlet nozzle; 82. adapter; 83. bent air pipe; 84. intermediate air pipe; 9. notch structure. DETAILED DESCRIPTION

[0026] In the following description, numerous specific details are provided to provide a more thorough understanding of the present invention. However, it will be apparent to those skilled in the art that the present invention can be practiced without one or more of these details. In other instances, certain technical features known in the art are not described to avoid confusion with the present invention.

[0027] like Figure 1 and Figure 2 As shown, a special-shaped composite actuator includes a housing 1, a linear rotary unit arranged in the housing 1, an air path 8 passing through the linear rotary unit, and a circuit 7 electrically connected to the linear rotary unit. A notch structure 9 is provided on the housing 1. When the actuator moves with the external motion module, the notch structure 9 is used to make way for the external acquisition device.

[0028] The composite actuator structure proposed in this utility model effectively solves the problems existing in the prior art, not only improving the efficiency of the composite actuator but also ensuring high precision in execution. This is a valuable improvement for automated production lines that require high precision and high efficiency.

[0029] Specifically, to enhance efficiency, the acquisition device is fixedly mounted on an external fixed end surface above the material area. During material grabbing, the notch structure 9 allows the acquisition device and the composite actuator to be simultaneously present above the material area. This eliminates interference between the acquisition device and the composite actuator above the material area, streamlining the entire grabbing process and improving overall production line efficiency. Furthermore, by securing the acquisition device externally, acquisition accuracy is no longer affected by the operating accuracy of the motion module, reducing execution errors caused by positioning accuracy.

[0030] like Figure 1 and Figure 3 As shown, the linear rotation unit includes a linear output part and a rotation output part. The rotation output part is installed at the output end of the linear output part and extends to the outside of the housing 1. The output end of the rotation output part is located below the notch structure 9.

[0031] The output end of the rotating output part serves as the output end of the composite actuator. Setting the notch structure 9 above the output end of the rotating output part can make the collection range of the collection device coincide with the execution range of the composite actuator in the vertical direction, that is, the execution end of the composite actuator and the viewing angle of the collection device are both facing the material. Such a setting can reduce the difficulty of the collection device in processing visual information.

[0032] like Figure 1 and Figure 4 As shown, the linear output part includes a linear motor 2 and a carrying assembly 3. The carrying assembly 3 includes a slide rail 31 and a moving carrier 32 slidably mounted on the slide rail 31. The moving carrier 32 is connected to the output end of the linear motor 2 through a connecting member 23.

[0033] In particular, the moving carrier 32 and the connecting member 23 can be integrally manufactured, which facilitates the transmission connection with the linear motor 2 .

[0034] Among them, the linear motor 2 of the linear output part adopts a U-shaped linear motor. The opening direction of the U-shaped linear motor installed in the housing 1 can be set according to the thickness requirement of the actuator. Specifically, if the operating conditions of the actuator do not require high thickness, the opening direction of the U-shaped linear motor can be consistent with the thickness direction, that is, Figure 1 The installation method shown in the figure; if the operating conditions of the actuator have higher requirements on thickness, the opening direction of the U-shaped linear motor can be perpendicular to the thickness direction, which is not shown here.

[0035] like Figure 4As shown, the rotary output unit includes a cyclone assembly 4 and a rotary motor 5. The cyclone assembly 4 is mounted on the motion carrier 32, and the rotary motor 5 is mounted on the cyclone assembly 4. Taking the case where the rotary output unit is arranged below the notch structure 9 as an example, the space inside the housing 1 for accommodating the rotary output unit is reduced due to the provision of the notch structure 9, so a thin rotary motor needs to be selected.

[0036] like Figure 1-Figure 5 As shown, the housing 1 includes a housing 11 and a cover plate 14 mounted on the housing 11. A grating groove 113 is provided on the housing 11. A reader 61 of the grating assembly 6 is installed in the grating groove 113. A magnetic strip 62 cooperating with the reader 61 is installed on the moving carrier 32. The grating assembly 6 is used to provide feedback on the output of the linear motor 2. The magnetic strip 62 of the grating assembly 6 is fixed on the moving carrier 32. The reader is installed on the bottom surface or side wall of the housing 1 according to requirements, that is, the grating groove 113 can be provided on the bottom surface or side wall of the housing 1. Specifically, it is preferred as Figure 3 As shown, the grating groove 113 is opened on the side wall of the housing 1. Such an arrangement allows the grating assembly 6 to be calibrated after the cover 14 is opened, and also has the advantage of convenient installation and circuit routing.

[0037] like Figure 6 As shown, air circuit 8 includes an air inlet nozzle 81, an adapter 82, a bent air pipe 83, a moving carrier 32, an intermediate air pipe 84, and the cyclone assembly 4, which are sequentially connected. The air inlet nozzle 81 is mounted within the air inlet hole 111 of the housing 11, and the moving carrier 32 is provided with a moving air hole. Air circuit 8 is connected to an external air source via the air inlet nozzle 81, providing stable air pressure to the cyclone assembly 4, thereby integrating the air pressure capacity of the cyclone assembly 4.

[0038] Among them, such as Figure 7 As shown, the cyclone assembly 4 includes a cyclone carrier 41 and an output shaft 43. A rotary motor 5 is mounted on the cyclone carrier 41. One end of the output shaft 43 is connected to the rotary motor 5 via a coupling 51, and the other end extends outside the cyclone carrier 41. A sealed bearing 42 forms a sealed chamber between the output shaft 43 and the cyclone carrier 41. An air hole is defined on the output shaft 43 within the sealed chamber, and a carrier air hole 45 is defined on the cyclone carrier 41. The carrier air hole 45 is connected to the sealed chamber. The intermediate air pipe 84 communicates with the cyclone assembly 4 through the carrier air hole 45. The air source actuator terminal is mounted on the output shaft 43 to ensure smooth operation of the air path function.

[0039] like Figure 5 As shown, the circuit 7 includes a terminal block 71 and a cable 72. A power connection opening 112 is provided on the housing 11. The terminal block 71 is mounted on the power connection opening 112. One end of the cable 72 is connected to the terminal block 71, and the other end is electrically connected to the mover 22 of the linear motor 2, the rotary motor 5 and the reader 61 respectively.

[0040] like Figure 3 As shown, a combing block 12 and a wire rack 13 are mounted within the housing 11 to comb the cable 72 and bend the air tube 83. The linear motor 2 in the actuator operates at a high frequency. The addition of the combing block 12 and wire rack 13 within the housing 11 constrains the movement of the circuit 7 and air path 8, preventing the bent air tube 83 and cable 72 from contacting and rubbing with other fixed components. This plays a significant role in extending the service life of the circuit 7 and air path 8.

[0041] In particular, the housing 1 is preferably an L-shaped structure, and the notch structure 9 is a gap above the short end of the housing 1 . The housing 1 may also be a T-shaped structure or other special-shaped structures that can accommodate the notch structure 9 .

[0042] The preferred embodiments of the present invention are 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 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 fall within the scope of protection of the present invention.

Claims

1. A special-shaped composite actuator, comprising a housing (1), a linear rotary unit arranged in the housing (1), an air path (8) passing through the linear rotary unit, and a circuit (7) electrically connected to the linear rotary unit, characterized in that: The housing (1) is provided with a notch structure (9), and when the actuator moves with the external motion module, the notch structure (9) is used to make way for the external acquisition device.

2. The special-shaped composite actuator according to claim 1, characterized in that: The linear rotation unit comprises a linear output portion and a rotation output portion, wherein the rotation output portion is mounted at the output end of the linear output portion and extends to the outside of the housing (1), and the output end of the rotation output portion is located below the notch structure (9).

3. The special-shaped composite actuator according to claim 2, characterized in that: The linear output portion comprises a linear motor (2) and a carrier assembly (3), wherein the carrier assembly (3) comprises a slide rail (31) and a moving carrier block (32) slidably mounted on the slide rail (31), and the moving carrier block (32) is connected to the output end of the linear motor (2) via a connecting member (23).

4. The special-shaped composite actuator according to claim 3, characterized in that: The rotary output portion comprises a cyclone assembly (4) and a rotary motor (5), wherein the cyclone assembly (4) is mounted on a moving carrier (32), and the rotary motor (5) is mounted on the cyclone assembly (4).

5. The special-shaped composite actuator according to claim 4, characterized in that: The housing (1) comprises a shell (11) and a cover plate (14) mounted on the shell (11); a grating groove (113) is provided on the shell (11); a reader (61) of a grating assembly (6) is mounted in the grating groove (113); and a magnetic strip (62) matched with the reader (61) is mounted on a moving carrier (32).

6. The special-shaped composite actuator according to claim 5, characterized in that: The air circuit (8) includes an air inlet nozzle (81), an adapter (82), a bent air pipe (83), a moving carrier (32), an intermediate air pipe (84) and a cyclone assembly (4) which are connected in sequence. The air inlet nozzle (81) is installed in the air inlet hole (111) of the shell (11), and a moving air hole is provided on the moving carrier (32).

7. The special-shaped composite actuator according to claim 6, characterized in that: The cyclone assembly (4) includes a cyclone carrier (41) and an output shaft (43), the rotary motor (5) is mounted on the cyclone carrier (41), one end of the output shaft (43) is connected to the rotary motor (5) through a coupling (51), and the other end extends to the outside of the cyclone carrier (41), a sealed cavity is formed between the output shaft (43) and the cyclone carrier (41) through a sealed bearing (42), an air hole is provided on the output shaft (43) located in the sealed cavity, and a carrier air hole (45) is provided on the cyclone carrier (41), and the carrier air hole (45) is communicated with the sealed cavity.

8. The special-shaped composite actuator according to claim 5, characterized in that: The circuit (7) includes a wiring terminal (71) and a cable (72). The housing (11) is provided with an electrical connection opening (112). The wiring terminal (71) is mounted on the electrical connection opening (112). One end of the cable (72) is connected to the wiring terminal (71), and the other end is electrically connected to the mover (22) of the linear motor (2), the rotary motor (5), and the reader (61).

9. The special-shaped composite actuator according to claim 8, characterized in that: A combing block (12) and a wire rack (13) are installed in the housing (11) and are used for combing the wire (72) and bending the air pipe (83).

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