CN212553881U - Multifunctional end effector of welding robot - Google Patents
Multifunctional end effector of welding robot Download PDFInfo
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- CN212553881U CN212553881U CN202020807597.1U CN202020807597U CN212553881U CN 212553881 U CN212553881 U CN 212553881U CN 202020807597 U CN202020807597 U CN 202020807597U CN 212553881 U CN212553881 U CN 212553881U
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Abstract
The utility model discloses a multifunctional end effector of a welding robot, which comprises a mounting rack, a floating support, a buffer mechanism, a welding nail clamping mechanism, a label sucking mechanism and a monitoring mechanism; the floating support is movably arranged on the mounting rack, and the buffer mechanism is arranged between the floating support and the mounting rack; the welding nail clamping mechanism is arranged on the floating support; the label suction mechanism is arranged on the mounting frame, and the material taking end of the label suction mechanism is positioned on the side edge of the clamping end of the welding nail clamping mechanism; the receiving end of the monitoring mechanism faces one side of the material taking end of the label suction mechanism; this application aims at providing a multi-functional end effector of tablet welding robot, has the integrated level height, and the function advantage such as various can accomplish the welding nail clamp and get, and the sign absorbs and moves such as visual monitoring, reduces robot arm exhibition lectotype, reduces the robot action.
Description
Technical Field
The utility model relates to a welding equipment technical field especially relates to a multi-functional end effector of tablet welding robot.
Background
In the production of bundled steel, parameter labels of bars need to be welded and hung at two ends of the bars. Traditional welding tablet work is through workman manual welding, and is inefficient, and simultaneously, because the restriction of steel storage position, the steel welding tablet degree of difficulty that is in higher position is higher, has certain inconvenience. Therefore, the trend is that the welding plate is accomplished to the replacement manual work of using the robot, and current robot is at the welding plate in-process, and there is certain defect in the removal and the centre gripping of welding nail and welding plate, and the removal process drops easily, and simultaneously, welding nail and rod are hard contact, and the welding nail drops easily, influences the welding effect.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a weld multi-functional end effector of tablet robot has the integrated level height, and the function advantage such as various can be accomplished the welding nail clamp and get, and the sign absorbs actions such as with visual monitoring, reduces robot arm exhibition lectotype, reduces the robot action.
To achieve the purpose, the utility model adopts the following technical proposal: a multifunctional end effector of a welding robot comprises an installation frame, a floating support, a buffer mechanism, a welding nail clamping mechanism, a label sucking mechanism and a monitoring mechanism;
the floating support is movably arranged on the mounting rack, and the buffer mechanism is arranged between the floating support and the mounting rack;
the welding nail clamping mechanism is arranged on the floating support;
the label suction mechanism is arranged on the mounting frame, and the material taking end of the label suction mechanism is positioned on the side edge of the clamping end of the welding nail clamping mechanism;
the receiving end of the monitoring mechanism is far away from one side of the clamping end of the welding nail clamping mechanism.
Preferably, buffer gear includes guide bar, compression spring and mount pad, the mount pad sets up the mounting bracket, the one end of guide bar with the support that floats is connected the other end of guide bar with the mount pad is connected, the compression spring cover is established the mount pad with float between the support the periphery of guide bar.
Preferably, the mounting rack further comprises a guide mechanism, the guide mechanism comprises a guide rail, a sliding block and a sliding groove, the guide rail is arranged on the mounting rack, the sliding groove is arranged on the sliding block, and the sliding block is connected to the guide rail in a sliding manner through the sliding groove; the floating support is arranged on the sliding block; the guide rail is parallel to the guide rod.
Preferably, it includes three-jaw cylinder, nylon switching piece, electrode installation piece and electrode chuck to weld the nail clamp and get the mechanism, the three-jaw cylinder sets up the support floats, the nylon switching piece is provided with threely, and is three the nylon switching piece respectively with the three output of three-jaw cylinder is connected, the electrode installation piece is provided with threely, and is three the electrode installation piece is respectively with threely the nylon switching piece is connected, the electrode chuck is provided with threely, and is three the electrode chuck respectively with threely the electrode installation piece is connected, and is three the terminal surface cooperation centre gripping of electrode chuck welds the nail.
Preferably, sign suction means includes regulation hole, adjusting screw, sucking disc support, sucking disc pipe fitting and sucking disc, the regulation hole sets up the mounting bracket, the regulation hole is rectangular hole, the regulation hole with the mechanism parallel is got to the welding nail clamp, the sucking disc support pass through adjusting screw with the regulation jogged joint, the sucking disc pipe fitting sets up the sucking disc support, the one end of sucking disc pipe fitting with the sucking disc intercommunication, the other end and the outside vacuum generator intercommunication of sucking disc pipe fitting.
Preferably, the monitoring mechanism comprises a shell, a camera, a light source, a scanning unit and a control unit, wherein the camera, the light source and the scanning unit are all arranged in the shell, and the camera, the light source and the scanning unit are all arranged on one side far away from the welding nail clamping mechanism; the camera, the light source and the scanning unit are all electrically connected with the control unit.
Preferably, the mounting bracket includes flange mounting board, first mounting hole, alignment jig, first mounting groove, first installation screw, connecting seat and component mounting panel, first mounting groove is followed the length direction setting of alignment jig, the nut setting of first installation screw is in the first mounting groove, first mounting hole sets up the flange mounting board, first installation screw with first mounting hole threaded connection, the connecting seat with the alignment jig is connected, the alignment jig with the connecting seat is connected, the connecting seat with the component mounting panel is connected.
Preferably, still include second mounting groove, second installation screw and second mounting hole, the second mounting groove is followed the length direction setting of alignment jig, the nut setting of second installation screw is in the second mounting groove, the second mounting hole sets up the connecting seat, the second installation screw with second mounting hole threaded connection.
This application adopts above-mentioned structure, and sign suction means absorbs the sign, and the mechanism clamp is got to the welding nail clamp and is got the welding nail, discerns the monitoring through monitoring mechanism to the station of treating the welding board simultaneously, for external robot provides the removal reference data, accomplishes sign weldment work. The floating support is matched with the buffer mechanism, so that hard contact between the welding nails and the stations can be avoided when the label is welded.
This application has the integrated level height, and the function advantage such as various can be accomplished to weld the nail clamp and get, and the sign absorbs actions such as with visual monitoring, reduces robot arm exhibition lectotype, reduces the robot action, when accurate completion sign weldment work, can also protect the camera lens.
Drawings
The accompanying drawings are provided to further illustrate the present invention, but the content in the accompanying drawings does not constitute any limitation to the present invention.
Fig. 1 is a schematic structural diagram of the present invention;
fig. 2 is a schematic perspective view of the present invention;
FIG. 3 is a schematic structural view of the present invention with a portion of the mounting frame removed;
fig. 4 is a schematic perspective view of the buffering mechanism of the present invention.
Wherein: the device comprises a mounting rack 1, a flange mounting plate 1a, a first mounting hole 1b, an adjusting rack 1c, a first mounting groove 1d, a connecting seat 1e, an element mounting plate 1f, a floating support 2, a buffer mechanism 3, a guide rod 3a, a compression spring 3b, a mounting seat 3c, a guide mechanism 3d, a guide rail 3e, a sliding block 3f, a welding nail clamping mechanism 4, a three-jaw cylinder 4a, a nylon transfer block 4b, an electrode mounting block 4c, an electrode chuck 4d, a label sucking mechanism 5, an adjusting hole 5a, a sucking disc support 5b, a sucking disc pipe fitting 5c, a sucking disc 5d, a monitoring mechanism 6, a shell 6a, a camera 6b and a scanning unit 6 c.
Detailed Description
The technical solution of the present invention is further explained by the following embodiments with reference to the accompanying drawings.
Referring to fig. 1 to 4, the multifunctional end effector of the welding robot in the embodiment includes an installation frame 1, a floating support 2, a buffering mechanism 3, a welding nail clamping mechanism 4, a label sucking mechanism 5, and a monitoring mechanism 6.
The floating support 2 is movably arranged on the mounting rack 1, and the buffer mechanism 3 is arranged between the floating support 2 and the mounting rack 1.
The welding nail clamping mechanism 4 is arranged on the floating support 2.
Sign suction means 5 sets up mounting bracket 1, just the end of getting of sign suction means 5 is located the side of the end is got to the clamp of mechanism 4 is got to the weld nail clamp.
And the receiving end of the monitoring mechanism 6 is far away from one side of the clamping end of the welding nail clamping mechanism 4.
Adopt this kind of structure, sign suction means 5 absorbs the sign, and the welding nail presss from both sides and gets 4 clamps of mechanism and get the welding nail, discerns the monitoring through monitoring mechanism 6 to the station of waiting to weld the sign simultaneously, for external robot provides the removal reference data, and the executor moves to the station of waiting to weld the sign under the drive of external robot, and sign suction means 5 and welding nail press from both sides the cooperation of getting 4 of mechanism and weld the sign at the station. The floating support 2 is matched with the buffer mechanism 3, so that hard contact between the welding nails and the stations can be avoided when the label is welded.
The welding nail clamping mechanism has the advantages of being high in integration level, various in functions and the like, actions such as welding nail clamping, label sucking, visual monitoring and the like can be completed, in the application, the end face where the clamping end of the welding nail clamping mechanism 4 is located is opposite to the end face where the receiving end of the detecting mechanism 6 is located, mutual conversion of a detecting face and a clamp face can be completed only through six-axis rotation of an external robot, action amplitude is small, and robot arm unfolding and selection are reduced, so that robot actions are reduced; the camera lens is damaged easily to the unanimous scheme of anchor clamps place terminal surface and camera place terminal surface of trade generally use at present, and the balance of the welding position of vision focus position and sign is fully considered in this application, when accurately accomplishing sign welding work, can also protect the camera lens.
Preferably, buffer gear 3 includes guide bar 3a, compression spring 3b and mount pad 3c, mount pad 3c sets up mounting bracket 1, the one end of guide bar 3a with floating support 2 is connected the other end of guide bar 3a with mount pad 3c is connected, compression spring 3b cover is established mount pad 3c with floating support 2 between the periphery of guide bar 3 a.
Adopt this kind of structure, when the welding pin with treat the station contact of welding tablet, floating support 2 drives guide bar 3a along axial displacement, and compression spring 3b is compressed and is played the cushioning effect to press from both sides mechanism 4 and provide the cushioning effect for welding pin and welding pin clamp, prevent the welding pin and treat producing hard contact between the welded rod, avoid damaging the rod.
Preferably, the mounting rack further comprises a guide mechanism 3d, wherein the guide mechanism 3d comprises a guide rail 3e, a slide block 3f and a slide groove, the guide rail 3e is arranged on the mounting rack 1, the slide groove is arranged on the slide block 3f, and the slide block 3f is slidably connected to the guide rail 3e through the slide groove; the floating support 2 is arranged on the sliding block 3 f; the guide rail 3e is parallel to the guide bar 3 a.
By adopting the structure, the guide rail 3e, the sliding block 3f and the sliding groove are matched to play a good guiding role, so that the floating support 2 can move along the length direction of the guide rail 3e, the stable movement of the floating support 2 and the welding nail clamping mechanism 4 can be ensured, and the welding nail is conveniently positioned and aligned.
Preferably, it includes three-jaw cylinder 4a, nylon switching piece 4b, electrode installation piece 4c and electrode chuck 4d to weld nail clamp to get mechanism 4, three-jaw cylinder 4a sets up floating support 2, nylon switching piece 4b is provided with threely, and is three nylon switching piece 4b respectively with three output of three-jaw cylinder 4a is connected, electrode installation piece 4c is provided with threely, and is three electrode installation piece 4c respectively with threely nylon switching piece 4b is connected, electrode chuck 4d is provided with threely, and is three electrode chuck 4d respectively with threely electrode installation piece 4c is connected, and is three electrode chuck 4 d's terminal surface cooperation centre gripping welds the nail.
By adopting the structure, the nylon transfer block 4b, the electrode mounting block 4c and the electrode chuck 4d are connected to form three clamping arms, and the three clamping arms are matched to clamp the welding nail and weld the welding nail on the end surface of the bar. Three-jaw cylinder 4a and three arm lock cooperation can stably press from both sides and get the welding nail, prevent with the rod contact collision back, the welding nail drops.
Preferably, sign suction means 5 includes regulation hole 5a, adjusting screw, sucking disc support 5b, sucking disc pipe fitting 5c and sucking disc 5d, regulation hole 5a sets up mounting bracket 1, regulation hole 5a is the rectangular hole, regulation hole 5a with the mechanism 4 is parallel is got to the welding nail clamp, sucking disc support 5b pass through adjusting screw with regulation hole 5a is connected, sucking disc pipe fitting 5c sets up sucking disc support 5b, sucking disc pipe fitting 5 c's one end with sucking disc 5d intercommunication, sucking disc pipe fitting 5 c's the other end and outside vacuum generator intercommunication.
Adopt this kind of structure, the position that sucking disc support 5b can be adjusted in regulation hole 5a and adjusting screw cooperation to adjust the position of sucking disc 5d, make the position of sucking disc 5d keep with the welding nail press from both sides the clamp of getting mechanism 4 and press from both sides the end at the coplanar, make things convenient for the welding of sign and welding nail. Connect sucking disc 5d with vacuum generator through sucking disc pipe fitting 5c, thereby absorb the sign for sucking disc 5d provides stable negative pressure.
Preferably, the monitoring mechanism 6 includes a housing 6a, a camera 6b, a light source, a scanning unit 6c and a control unit, the camera 6b, the light source and the scanning unit 6c are all disposed in the housing 6a, and the camera 6b, the light source and the scanning unit 6c are all disposed at a side away from the welding nail clamping mechanism 4; the camera 6b, the light source and the scanning unit 6c are all electrically connected to the control unit.
By adopting the structure, the camera 6b, the light source, the scanning unit 6c and the control unit are matched to detect the distance between the actuator and the bar material to be welded, and the actuator is conveyed to the bar material to be welded by combining with an external conveying robot, so that welding of welding nails and labels is facilitated, and the optimal welding range of the labels is provided for a label system. In this embodiment, the camera 6b, the light source and the scanning unit 6c are disposed on the side away from the nail clamping mechanism 4, so that the camera 6b, the light source and the scanning unit 6c can be effectively protected, and the camera 6b, the light source or the scanning unit 6c can be prevented from being damaged by spark sputtering during welding.
Preferably, the mounting bracket 1 includes flange mounting panel 1a, first mounting hole 1b, alignment jig 1c, first mounting groove 1d, first installation screw, connecting seat 1e and component mounting panel 1f, first mounting groove 1d is followed the length direction of alignment jig 1c sets up, the nut setting of first installation screw is in the first mounting groove 1d, first mounting hole 1b sets up flange mounting panel 1a, first installation screw with first mounting hole 1b threaded connection, connecting seat 1e with alignment jig 1c is connected, alignment jig 1c with connecting seat 1e is connected, connecting seat 1e with component mounting panel 1f is connected.
By adopting the structure, the mounting position between the flange mounting plate 1a and the adjusting frame 1c can be adjusted by matching the first mounting groove 1d, the first mounting screw and the first mounting hole 1b, and the position of the actuator can be finely adjusted conveniently.
Preferably, still include second mounting groove, second installation screw and second mounting hole, the second mounting groove is followed the length direction setting of alignment jig 1c, the nut setting of second installation screw is in the second mounting groove, the second mounting hole sets up connecting seat 1e, the second installation screw with second mounting hole threaded connection.
Adopt this kind of structure, through second mounting groove, second installation screw and the cooperation of second mounting hole, can adjust the mounted position between connecting seat 1e and the alignment jig 1c, conveniently carry out slight regulation to the position of executor.
The technical principle of the present invention is described above with reference to specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without any inventive effort, which would fall within the scope of the present invention.
Claims (8)
1. The multifunctional end effector of the welding robot comprises an installation frame, and is characterized by further comprising a floating support, a buffer mechanism, a welding nail clamping mechanism, a label sucking mechanism and a monitoring mechanism;
the floating support is movably arranged on the mounting rack, and the buffer mechanism is arranged between the floating support and the mounting rack;
the welding nail clamping mechanism is arranged on the floating support;
the label suction mechanism is arranged on the mounting frame, and the material taking end of the label suction mechanism is positioned on the side edge of the clamping end of the welding nail clamping mechanism;
the receiving end of the monitoring mechanism is far away from one side of the clamping end of the welding nail clamping mechanism.
2. The multifunctional end effector of the welding robot as claimed in claim 1, wherein the buffer mechanism comprises a guide rod, a compression spring and a mounting seat, the mounting seat is disposed on the mounting frame, one end of the guide rod is connected with the floating support, the other end of the guide rod is connected with the mounting seat, and the compression spring is sleeved on the periphery of the guide rod between the mounting seat and the floating support.
3. The multifunctional end effector of a welding robot as set forth in claim 2, further comprising a guiding mechanism, wherein the guiding mechanism comprises a guide rail, a slider and a sliding groove, the guide rail is disposed on the mounting bracket, the sliding groove is disposed on the slider, and the slider is slidably connected to the guide rail through the sliding groove; the floating support is arranged on the sliding block; the guide rail is parallel to the guide rod.
4. The multifunctional end effector of the welding robot as claimed in claim 1, wherein the welding nail clamping mechanism comprises three-jaw air cylinders, three nylon switching blocks, three electrode mounting blocks and three electrode chucks, the three-jaw air cylinders are arranged on the floating support, the three nylon switching blocks are respectively connected with three output ends of the three-jaw air cylinders, the three electrode mounting blocks are respectively connected with the three nylon switching blocks, the three electrode chucks are respectively connected with the three electrode mounting blocks, and end faces of the three electrode chucks are matched with the three electrode mounting blocks to clamp the welding nails.
5. The multifunctional end effector of the welding robot as claimed in claim 1, wherein the label sucking mechanism comprises an adjusting hole, an adjusting screw, a sucking disc support, a sucking disc pipe and a sucking disc, the adjusting hole is formed in the mounting frame, the adjusting hole is a strip hole, the adjusting hole is parallel to the welding nail clamping mechanism, the sucking disc support is connected with the adjusting hole through the adjusting screw, the sucking disc pipe is arranged on the sucking disc support, one end of the sucking disc pipe is communicated with the sucking disc, and the other end of the sucking disc pipe is communicated with an external vacuum generator.
6. The multifunctional end effector of a welding tag robot as claimed in claim 1, wherein the monitoring mechanism comprises a housing, a camera, a light source, a scanning unit and a control unit, the camera, the light source and the scanning unit are all disposed within the housing, and the camera, the light source and the scanning unit are all disposed on a side away from the welding pin clamping mechanism; the camera, the light source and the scanning unit are all electrically connected with the control unit.
7. The multifunctional end effector of the welding robot as claimed in claim 1, wherein the mounting bracket comprises a flange mounting plate, a first mounting hole, an adjusting bracket, a first mounting groove, a first mounting screw, a connecting seat and an element mounting plate, the first mounting groove is arranged along the length direction of the adjusting bracket, a nut of the first mounting screw is arranged in the first mounting groove, the first mounting hole is arranged on the flange mounting plate, the first mounting screw is in threaded connection with the first mounting hole, the connecting seat is connected with the adjusting bracket, the adjusting bracket is connected with the connecting seat, and the connecting seat is connected with the element mounting plate.
8. The multifunctional end effector of the welding robot as claimed in claim 7, further comprising a second mounting groove, a second mounting screw and a second mounting hole, wherein the second mounting groove is disposed along a length direction of the adjusting bracket, a nut of the second mounting screw is disposed in the second mounting groove, the second mounting hole is disposed in the connecting seat, and the second mounting screw is threadedly coupled with the second mounting hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020807597.1U CN212553881U (en) | 2020-05-14 | 2020-05-14 | Multifunctional end effector of welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020807597.1U CN212553881U (en) | 2020-05-14 | 2020-05-14 | Multifunctional end effector of welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212553881U true CN212553881U (en) | 2021-02-19 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020807597.1U Active CN212553881U (en) | 2020-05-14 | 2020-05-14 | Multifunctional end effector of welding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212553881U (en) |
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2020
- 2020-05-14 CN CN202020807597.1U patent/CN212553881U/en active Active
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