Execution end mounting mechanism and robot

Abstract

The utility model provides an execution end mounting mechanism and a robot, and relates to the technical field of industrial equipment. The execution end mounting mechanism comprises at least two execution end driving modules and a connecting seat, the execution end driving modules are mounted on at least one side of the connecting seat, each execution end driving module comprises a driving unit and a mounting head, and the driving end of each driving unit is fixedly connected with the corresponding mounting head and used for driving the corresponding mounting head to ascend and descend; one end of the mounting head away from the driving unit is used for mounting an execution end. According to the embodiment of the invention, a plurality of execution ends are integrated in the same equipment, and each mounting head is independently lifted by utilizing the driving unit, so that the number of equipment required for production is effectively reduced, the occupied space is reduced, the problem that a production line needs to be adjusted due to the occupied space is avoided, and the production cost and the production difficulty of products are reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial equipment, in particular, the present application relates to an execution end mounting mechanism and a robot. BACKGROUND

[0002] Industrial automation is a trend in which automatic control and automatic adjustment devices are widely used in industrial production to replace manual operation of machines and machine systems for processing and production.

[0003] For the processing of intensive products, a large amount of manpower is required, and the labor intensity of workers is relatively large, so realizing industrial automation is an inevitable trend of future development. After realizing industrial automation, all processes in the production process, including feeding, discharging, loading and unloading, do not need to be directly operated by people for production, but machines continuously and repeatedly produce one or a batch of products automatically. And, in order to use machines to quickly process products, the corresponding execution end (such as a pneumatic claw) is installed on the machine according to the characteristics of the product, and the execution end is used to perform various operations in product production.

[0004] In the production process, a scene is often encountered in which multiple execution ends are required to work cooperatively or alternately in a production step. In this scene, the heights of different execution ends need to be different to avoid interference with each other. In the prior art, in order to meet the needs of this scene, multiple devices with execution ends are set up, and the height of the execution end of each device is set according to production requirements. However, the use of multiple devices is costly and occupies a large space, resulting in the need to adjust the position of the machine and the production line according to the actual scene, increasing the difficulty of production. Practical new type content

[0005] The embodiment of the present application provides an execution end mounting mechanism and a robot, which can solve the problems of high cost, large space occupation, the need to adjust the production line according to the actual scene, and increased production difficulty of the prior art.

[0006] In order to achieve this purpose, the embodiment of the present application provides the following several schemes.

[0007] According to one aspect of the embodiment of the present application, an execution end mounting mechanism is provided, comprising at least two execution end driving modules and a connecting seat, at least one side of the connecting seat is provided with the execution end driving module, the execution end driving module comprises a driving unit and a mounting head, the driving end of the driving unit is fixedly connected with the mounting head, and the driving unit is used to drive the mounting head to rise and fall;

[0008] The end of the mounting head away from the driving unit is used to mount an execution end.

[0009] In a possible implementation, the shell surrounds the connecting seat, and one end of the connecting seat extends from the bottom of the shell, and the driving unit comprises a telescopic cylinder arranged inside the shell, and the bottom end of the telescopic cylinder is connected with the mounting head.

[0010] In a possible implementation, the driving module of the execution end further comprises a buffer unit provided with an extension buffer and a retraction buffer, the extension buffer and the retraction buffer are fixed on the side of the connecting seat, and are used to absorb the impact force generated by the lifting of the telescopic cylinder.

[0011] In a possible implementation, the side of the shell is provided with a wire binding seat and a wire outlet, the wire outlet penetrates through the shell to form a pipeline outlet.

[0012] The two ends of the wire binding seat are fixed on the side of the shell, and the middle part of the wire binding seat is convex to form an arc-shaped wire hoop away from the shell.

[0013] In a possible implementation, the mounting head comprises a mounting seat and a connecting plate, the first end of the connecting plate is connected with the driving end of the driving unit, the second end extends away from the driving unit in the horizontal direction, and the second end is provided with a first mounting hole.

[0014] The mounting seat is located above the connecting plate, the bottom of the mounting seat is provided with a second mounting hole opposite to the first mounting hole, and one end of the execution end is inserted into the second mounting hole along the first mounting hole.

[0015] In a possible implementation, the mounting seat comprises a guide assembly provided with a guide rail and a cover plate, the guide rail is fixed on the side of the connecting seat, the cover plate is located on the side of the guide rail away from the connecting seat, and the cover plate is provided with a groove on the side facing the guide rail, the shape of the groove is matched with the shape of the guide rail to be buckled on the guide rail.

[0016] In a possible implementation, the mounting head and the driving unit are fixed on the same side of the connecting seat.

[0017] In a possible implementation, the mounting seat comprises a fixing block and a chuck, the fixing block is mounted on the side of the cover plate away from the guide rail, and is provided with an air hole penetrating through the fixing block, the chuck is arranged at the bottom of the fixing block, the second mounting hole penetrates through the chuck and communicates with the air hole in the fixing block.

[0018] According to an aspect of the embodiment of the present application, a robot is provided, which comprises the execution end mounting mechanism as described above.

[0019] The technical scheme provided by the embodiments of the present application has the beneficial effects that

[0020] The at least one side of the connecting seat in the execution end mounting mechanism is provided with an execution end driving module, the execution end driving module comprises a driving unit and a mounting head, the driving end of the driving unit is fixedly connected with the mounting head, and the driving unit is used for driving the mounting head to lift and lower; and the end of the mounting head away from the driving unit is used for mounting the execution end. The embodiments of the present application concentrate a plurality of execution ends in the same device, and realize the independent lifting of each mounting head by using the driving unit, thereby effectively reducing the number of devices required for production, reducing the occupied space, avoiding the problem of adjusting the production line due to the occupied space, and reducing the production cost and the production difficulty of products. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical scheme in the embodiments of the present application, the drawings needed to be used in the description of the embodiments of the present application will be briefly introduced.

[0022] Figure 1 The structural diagram of the execution end mounting mechanism provided by the embodiments of the present application is shown in the figure;

[0023] Figure 2 The top view of the execution end mounting mechanism provided by the embodiments of the present application is shown in the figure;

[0024] Figure 3 The structural diagram of part of the structure of the execution end mounting mechanism provided by the embodiments of the present application is shown in the figure;

[0025] Figure 4 The front view of the structure is shown in the figure; Figure 3 The front view of the structure is shown in the figure;

[0026] Figure 5 The structural diagram of the robot provided by the embodiments of the present application is shown in the figure.

[0027] Label explanation: 1, shell; 11, wire outlet; 12, wire binding seat;

[0028] 2, mounting head; 21, fixed block; 22, chuck; 23, guide rail; 24, cover plate;

[0029] 3, execution end; 4, driving unit; 41, telescopic cylinder; 42, extension buffer; 43, retraction buffer; 44, connecting plate; 5, connecting seat. DETAILED DESCRIPTION

[0030] The embodiments of the present application will be described below in combination with the drawings in the present application. It should be understood that the embodiments described below in combination with the drawings are exemplary descriptions for explaining the technical scheme of the embodiments of the present application, and do not constitute a limitation on the technical scheme of the embodiments of the present application.

[0031] Those skilled in the art will understand that, unless otherwise stated, the singular forms "a," "an," "said," and "the" used herein may also include plural forms. It should be further understood that the terms "including" and "comprising" used in the embodiments of the present application mean that the corresponding features can be implemented as the presented features, information, data, steps, operations, elements, and / or components, but do not exclude implementation as other features, information, data, steps, operations, elements, components, and / or combinations thereof supported by the present technical field. It should be understood that when we refer to an element as being "connected" or "coupled" to another element, the element can be directly connected or coupled to the other element, or it can refer to the element and the other element establishing a connection relationship through an intermediate element. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The term "and / or" used herein indicates at least one of the items defined by the term, for example, "A and / or B" indicates implementation as "A," or implementation as "A," or implementation as "A and B."

[0032] In order to make the purpose, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0033] The following describes several exemplary embodiments to illustrate the technical solutions of the embodiments of the present invention and the technical effects produced by the technical solutions of the present invention. It should be noted that the following embodiments can refer to, draw on, or combine with each other, and the same terms, similar features, and similar implementation steps in different embodiments will not be repeated.

[0034] The execution end mounting mechanism and robot provided in this application are intended to solve at least one technical problem existing in the prior art.

[0035] In the embodiment of the present application, an execution end installation mechanism is provided, such as Figures 1-4 As shown, the actuator mounting mechanism includes at least two actuator drive modules and a connecting base 5. The actuator drive module is installed on at least one side of the connecting base 5. The actuator drive module includes a drive unit 4 and a mounting head 2. The drive end of the drive unit 4 is fixedly connected to the mounting head 2 for driving the mounting head 2 to rise and fall. The end of the mounting head 2 away from the drive unit 4 is used to mount the actuator 3. Figure 3 This is a structural diagram of the actuator mounting mechanism after part of the housing 1 is removed.

[0036] Optionally, the execution end 3 may be an air gripper, a suction cup, or other devices that can be used for product production. Each mounting head 2 may be equipped with one execution end 3 , or two or even more execution ends 3 .

[0037] Optionally, the driving unit 4 can drive the mounting head 2 to lift the execution end 3, and can also be used to drive the execution end 3 to rotate, swing and perform other operations.

[0038] In one embodiment, the number of execution end driving modules can be four, and one execution end driving module is arranged on each side of the connecting seat 5. The execution end mounting mechanism can be mounted on a planar four-joint robot arm or other industrial equipment, and the movement of the execution end mounting mechanism is driven by the movement of the robot or the industrial equipment.

[0039] Optionally, the execution end mounting mechanism further comprises a housing 1 surrounding the connecting seat 5, and one end of the connecting seat 5 extends from the bottom of the housing 1. The driving unit 4 comprises a telescopic cylinder 41 arranged inside the housing 1, and the bottom end of the telescopic cylinder 41 is connected with the mounting head 2.

[0040] Optionally, the housing 1 can be a prismatic structure, which is hollow and has an opening at the bottom for the execution end driving module to extend out. The top of the housing 1 also has a mounting port corresponding to the top of the connecting seat 5, and the shape and size of the mounting port match those of the top of the connecting seat 5, so as to facilitate the mounting of the connecting seat 5 to other devices.

[0041] Optionally, the driving unit 4 can also comprise a linear motor connected with the mounting head 2 to drive the movement of the mounting head 2.

[0042] Optionally, the telescopic cylinder 41 is vertically fixed on the side of the connecting seat 5, and the driving end of the telescopic cylinder 41 extends out of the housing 1 and is connected with the mounting head 2.

[0043] In one embodiment, the housing 1 can be a sheet metal cover, and screws or other fixing devices pass through the housing 1 and are fixedly connected with the connecting seat 5, so as to realize the relative fixation of the housing 1 and the connecting seat 5. The top of the housing 1 can also be provided with an annular plate, and the inner side of the annular plate forms a mounting port opposite to the connecting seat 5.

[0044] Optionally, the execution end driving module further comprises a buffer unit provided with an extension buffer 42 and a retraction buffer 43, which are fixed on the side of the connecting seat 5 and used to absorb the impact force generated by the lifting of the telescopic cylinder 41.

[0045] Optionally, the extension buffer 42 and the retraction buffer 43 are arranged on the same side of the telescopic cylinder 41, wherein the extension buffer 42 is arranged on the upper part of the connecting seat 5, and the retraction buffer 43 is arranged on the lower part of the connecting seat 5.

[0046] Optionally, the side of the shell 1 is provided with a wire binding seat 12 and a wire outlet 11, the wire outlet 11 penetrates the shell 1 to form a pipeline outlet, and the wire binding seat 12 is fixed at both ends of the side of the shell 1 and the middle part of the wire binding seat 12 is protruded to form an arc-shaped wire hoop away from the shell 1.

[0047] In an embodiment, the two ends of the wire binding seat 12 can be fixed on the side of the shell 1 by screws, and the pipeline connected with the driving module of the execution end and the mounting head 2 is bundled together by the arc-shaped wire hoop of the wire binding seat 12. In order to protect the pipeline, a sleeve is further arranged at the wire outlet 11, the sleeve is embedded in the wire outlet 11, and the pipeline enters the inside of the shell 1 along the sleeve.

[0048] Optionally, the mounting head 2 comprises a mounting seat and a connecting plate 44, the first end of the connecting plate 44 is connected with the driving end of the driving unit 4, the second end extends away from the driving unit 4 in the horizontal direction and is provided with a first mounting hole, and the mounting seat is located above the connecting plate 44, the bottom of the mounting seat is provided with a second mounting hole opposite to the first mounting hole, and one end of the execution end 3 is inserted into the second mounting hole along the first mounting hole.

[0049] In an embodiment, the connecting plate 44 can be bolted with the telescopic air cylinder 41 of the driving unit 4. The connecting plate 44 is arranged on the side of the connecting seat 5, the second end of the connecting plate 44 extends to an extension area away from the connecting seat 5, and the side of the extension area away from the connecting seat 5 is arc-shaped.

[0050] Optionally, in order to enable the mounting seat to move in a fixed direction, the mounting seat comprises a guide assembly provided with a guide rail 23 and a cover plate 24, the guide rail 23 is fixed on the side of the connecting seat 5, the cover plate 24 is located on the side of the guide rail 23 away from the connecting seat 5, and the side of the cover plate 24 facing the guide rail 23 is provided with a groove matched with the outer shape of the guide rail 23 to be buckled on the guide rail 23.

[0051] Optionally, the two sides of the guide rail 23 are provided with guide grooves, and the side wall of the groove of the cover plate 24 is provided with a protrusion corresponding to the guide grooves, the protrusion and the guide grooves are embedded to avoid the cover plate 24 from being separated from the guide grooves.

[0052] Optionally, the inside of the cover plate 24 can be further provided with an air hole, compressed air is transmitted through the air hole, and the compressed air is used to provide power for the telescopic air cylinder 41 or the execution end 3.

[0053] Optionally, the mounting head 2 and the driving unit 4 are fixed on the same side of the connecting seat 5.

[0054] In an embodiment, the connecting seat 5 is rectangular, and the mounting head 2 and the driving unit 4 are arranged on each side of the connecting seat 5.

[0055] Optionally, the lighting module 5 may include a light-transmitting plate, the shape of which may correspond to the shape of the tray 211 , and the light-transmitting plate may be arranged directly above the tray 211 . The light source is arranged on a side of the light-transmitting plate away from the tray 211 .

[0056] Optionally, the mounting base further includes a fixing block 21 and a chuck 22. The fixing block 21 is mounted on the side of the cover plate 24 away from the guide rail 23 and has an air hole extending through the fixing block 21. The chuck 22 is disposed at the bottom of the fixing block 21. A second mounting hole extends through the chuck 22 and communicates with the air hole in the fixing block 21. Compressed gas is transmitted to the actuator 3 through the second mounting hole and the air hole in the fixing block 21.

[0057] Optionally, to facilitate rapid replacement of the actuating end 3, the chuck 22 may be a quick-change chuck 22, which may include a spring, an unlocking push block, and a push-pull rod. The spring and the unlocking push block are sleeved on the push-pull rod, one end of which is connected to the fixed block 21, and the unlocking push block is located on the side of the spring away from the fixed block 21. The push-pull rod is hollow, and the actuating end 3 is inserted into the push-pull rod. The connection between the chuck 22 and the actuating end 3 is released by lifting the unlocking push block. After the unlocking push block is released, the spring pushes the unlocking push block back to its original position, and the actuating end 3 is fixed in the chuck 22.

[0058] In the embodiment of the present application, the actuator mounting mechanism is provided with an actuator drive module mounted on at least one side of the connecting base 5. The actuator drive module comprises a drive unit 4 and a mounting head 2. The drive end of the drive unit 4 is fixedly connected to the mounting head 2 and is used to drive the mounting head 2 up and down. The end of the mounting head 2, remote from the drive unit 4, is used to mount the actuator 3. In the embodiment of the present application, multiple actuators 3 are integrated into the same device and the drive unit 4 is used to individually raise and lower each mounting head 2. This effectively reduces the number of devices required for production, reduces occupied space, avoids the need to adjust the production line due to occupied space, and reduces production costs and the difficulty of product production.

[0059] Based on the same inventive concept, the present application also provides a robot, such as Figures 1-5 As shown, the robot includes an execution end mounting mechanism and at least one robotic arm. The execution end mounting mechanism can be fixed on the robotic arm of the robot, and includes at least two execution end drive modules and a connecting seat 5. The execution end drive module is installed on at least one side of the connecting seat 5. The execution end drive module includes a drive unit 4 and a mounting head 2. The drive end of the drive unit 4 is fixedly connected to the mounting head 2 for driving the mounting head 2 to rise and fall; the end of the mounting head 2 away from the drive unit 4 is used to install the execution end 3.

[0060] Optionally, it also includes a shell 1, which surrounds the connecting seat 5, and one end of the connecting seat 5 extends from the bottom of the shell 1. The driving unit 4 includes a telescopic cylinder 41 arranged inside the shell 1, and the bottom end of the telescopic cylinder 41 is connected to the mounting head 2.

[0061] Optionally, the execution end driving module further comprises a buffering unit provided with an extension buffer 42 and a retraction buffer 43, which are fixed on the side of the connecting seat 5 and used to absorb the impact force generated by the lifting of the telescopic cylinder 41.

[0062] Optionally, the side of the shell 1 is provided with a wire tie seat 12 and a wire outlet 11, the wire outlet 11 penetrates through the shell 1 to form a pipeline outlet, and the wire tie seat 12 is fixed at both ends of the side of the shell 1 and protrudes in the direction away from the shell 1 to form an arc-shaped wire tie in the middle.

[0063] Optionally, the mounting head 2 comprises a mounting seat and a connecting plate 44, the first end of the connecting plate 44 is connected with the driving end of the driving unit 4, the second end extends in the horizontal direction away from the driving unit 4, and the second end is provided with a first mounting hole; the mounting seat is located above the connecting plate 44, the bottom of the mounting seat is provided with a second mounting hole opposite to the first mounting hole, and one end of the execution end 3 is inserted into the second mounting hole along the first mounting hole.

[0064] Optionally, the mounting seat comprises a guide assembly provided with a guide rail 23 and a cover plate 24, the guide rail 23 is fixed on the side of the connecting seat 5, the cover plate 24 is located on the side of the guide rail 23 away from the connecting seat 5, and the cover plate 24 is provided with a groove on the side facing the guide rail 23, the shape of the groove matches the outer shape of the guide rail 23 to be buckled on the guide rail 23.

[0065] Optionally, the mounting head 2 and the driving unit 4 are fixed on the same side of the connecting seat 5.

[0066] Optionally, the mounting seat comprises a fixing block 21 and a chuck 22, the fixing block 21 is installed on the side of the cover plate 24 away from the guide rail 23 and is provided with an air hole penetrating through the fixing block 21, and the chuck 22 is arranged at the bottom of the fixing block 21, the second mounting hole penetrates through the chuck 22 and communicates with the air hole in the fixing block 21.

[0067] The terms "first", "second", "third", "fourth", "1", "2", etc. (if any) in the specification and claims of the present application and the above drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described.

[0068] It should be understood that although each operation step in the flowchart of the embodiments of the present application is indicated by an arrow, the implementation order of the steps is not limited to the order indicated by the arrow. Unless explicitly stated herein, in some implementation scenarios of the embodiments of the present application, the implementation steps in each flowchart can be executed in other orders as required. In addition, part or all of the steps in each flowchart can include multiple sub-steps or multiple stages based on the actual implementation scenario. Part or all of these sub-steps or stages can be executed at the same time, and each of these sub-steps or stages can also be executed at different times. In the scenario where the execution times are different, the execution order of these sub-steps or stages can be flexibly configured as required, and the embodiments of the present application do not limit this.

[0069] The above is only an optional implementation of some implementation scenarios of the present application. It should be pointed out that, for ordinary skilled persons in the technical field, other similar implementation means based on the technical idea of the present application without departing from the technical concept of the present application also belong to the protection scope of the embodiments of the present application.

Claims

1. An execution end mounting mechanism characterized by, The execution end driving module comprises a driving unit and a mounting head, the driving end of the driving unit is fixedly connected with the mounting head, and the mounting head is driven to lift and drop; The end of the mounting head away from the driving unit is used for mounting the execution end.

2. The execution end mounting mechanism according to claim 1, characterized by The shell surrounds the connecting seat, and one end of the connecting seat extends from the bottom of the shell, the driving unit comprises a telescopic cylinder arranged inside the shell, and the bottom end of the telescopic cylinder is connected with the mounting head.

3. The execution end mounting mechanism according to claim 2, characterized by The execution end driving module further comprises a buffer unit provided with an extension buffer and a retraction buffer, the extension buffer and the retraction buffer are fixed on the side of the connecting seat, and are used for absorbing the impact force generated by the lifting and dropping of the telescopic cylinder.

4. The execution end mounting mechanism according to claim 2, characterized by The side of the shell is provided with a wire binding seat and a wire outlet, the wire outlet penetrates through the shell to form a pipeline outlet; Both ends of the wire binding seat are fixed on the side of the shell, and the middle part of the wire binding seat is convex to form an arc-shaped wire hoop away from the shell.

5. The execution end mounting mechanism according to claim 1, characterized by The mounting head comprises a mounting seat and a connecting plate, the first end of the connecting plate is connected with the driving end of the driving unit, the second end extends away from the driving unit in the horizontal direction, and the second end is provided with a first mounting hole; The mounting seat is located above the connecting plate, the bottom of the mounting seat is provided with a second mounting hole opposite to the first mounting hole, and one end of the execution end is inserted into the second mounting hole along the first mounting hole.

6. The execution end mounting mechanism according to claim 5, characterized by The mounting seat comprises a guide assembly provided with a guide rail and a cover plate, the guide rail is fixed on the side of the connecting seat, the cover plate is located on the side of the guide rail away from the connecting seat, and the cover plate is provided with a groove on the side facing the guide rail, the shape of the groove is matched with the outer shape of the guide rail to be buckled on the guide rail.

7. The execution end mounting mechanism according to claim 1, characterized by The mounting head and the driving unit are fixed on the same side of the connecting seat.

8. The execution end mounting mechanism according to claim 6, characterized by The mounting seat comprises a fixed block and a chuck, the fixed block is installed on the side of the cover plate away from the guide rail, and is provided with an air hole penetrating through the fixed block, the chuck is arranged at the bottom of the fixed block, the second mounting hole penetrates through the chuck and communicates with the air hole in the fixed block.

9. A robot, characterized in that The robot comprises the execution end mounting mechanism according to any one of claims 1-8.

Images