CN100542755C - A kind of quick translation interface of instrument that is used for the remote control welding robot - Google Patents
A kind of quick translation interface of instrument that is used for the remote control welding robot Download PDFInfo
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- CN100542755C CN100542755C CNB2008100641575A CN200810064157A CN100542755C CN 100542755 C CN100542755 C CN 100542755C CN B2008100641575 A CNB2008100641575 A CN B2008100641575A CN 200810064157 A CN200810064157 A CN 200810064157A CN 100542755 C CN100542755 C CN 100542755C
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Abstract
A kind of quick translation interface of instrument that is used for the remote control welding robot, it relates to a kind of translation interface.The objective of the invention is to be not suitable for the problem that the remote control welding robot is used for solving the existing conventional environment quick translation interface of robot of work down.The inwall that the present invention locks between chuck and the tool port body is provided with circular groove, have hole on the locking chuck, described hole matches with described alignment pin, carriage is arranged in the tool port body of described circular groove downside, ball is arranged on the edge of carriage, and the tool port body is provided with passage.The present invention can finish the quick replacing of the robot tool under the remote control welding surroundings, also can satisfy the requirement of weld task to electric current, be convenient to the automated exchanged cutter and the dismounting of remote control welding robot, realized that the presto tool of remote control welding robot is changed and welding requirements.The present invention has certain intelligence, is applicable to the quick conversion of the robot tool of remote control welding.
Description
Technical field
The present invention relates to a kind of translation interface.
Background technology
During the operation of remote control welding robot, need utilize the quick translation interface of power tool to finish replacing apace to power tool.The quick translation interface of conventional robot is made up of the tool port of master port that is installed in the robot side and tool side, after butt joint is finished, signals such as electricity, gas is passed to the end-of-arm tooling of robot.But because the remote control welding robot is operated in the extreme environment, target is determined, working space is limited, weld needed operating current and also will exceed conventional current, terminal prudent the exceeding standard of welding robot, like this according to the characteristics of weld task, conventional environment is the quick translation interface of robot of work down, be not suitable for the application of remote control welding robot, so Application and Development is necessary for finishing robot task in the quick translation interface of remote control welding robot.
Summary of the invention
The objective of the invention is to be not suitable for the problem that the remote control welding robot is used, a kind of quick translation interface of instrument that is used for the remote control welding robot is provided for solving the existing conventional environment quick translation interface of robot of work down.The present invention is made up of robotic end interface module 21 and tool ends end interface module 22, described robotic end interface module 21 is by the first appliance plug 1-1, the second appliance plug 2-1, master port body 4, cylinder bottom end cover 5, carriage 39, piston rod 7, cylinder revesal cushion rubber bumper 8, cam 9, piston 10, alignment pin 16, cylinder upper cover 23 and terminal pad 24 are formed, one end of master port body 4 is provided with the first ear eaves 31, the other end of master port body 4 is provided with the second ear eaves 34, the first appliance plug 1-1 is connected with the described second ear eaves 34, the second appliance plug 2-1 is connected with the described first ear eaves 31, the inner chamber of master port body 4 is a cylinder 36, carriage 39 is arranged on the downside of cylinder bottom end cover 5, carriage 39 is connected as a single entity with cylinder bottom end cover 5, piston 10 is arranged in the described cylinder 36, piston rod 7 is arranged on the downside of piston 10, piston rod 7 is connected as a single entity with piston 10, the lower end of piston rod 7 is connected with cam 9, piston rod 7 is provided with down positioning spigot 14-2 with the junction of cam 9, cylinder revesal cushion rubber bumper 8 is arranged on the piston rod 7, horizontal direction in the master port body 4 is provided with passage 3, supply interface 12-1 with the perpendicular gas circuit that has pneumatic pinch mechanism cylinder of the horizontal direction of passage 3 in the master port body 4, gas shield function pipe interface 12-2 during welding, itself pneuma-lock air-path interface 12-3 and gas circuit open interface 12-4, fixedly connected with the upper end of master port body 4 in the lower end of cylinder upper cover 23, fixedly connected with the lower end of terminal pad 24 in the upper end of cylinder upper cover 23, the upper end of cylinder upper cover 23 is last positioning spigot 14-1, the top of terminal pad 24 is robot interface's adaptation dish 13, and alignment pin 16 is fixed on the downside of cylinder bottom end cover 5; Described tool ends end interface module 22 is by the 3rd appliance plug 1-2; the 4th appliance plug 2-2; ball 6; seal washer 38; tool port body 15 and locking chuck 17 are formed; one end of tool port body 15 is provided with third ear eaves 32; the other end of tool port body 15 is provided with the 4th ear eaves 35; the 3rd appliance plug 1-2 is connected with described the 4th ear eaves 35; the 4th appliance plug 2-2 is connected with described third ear eaves 32; locking chuck 17 is arranged in the tool port body 15; inwall between locking chuck 17 and the tool port body 15 is provided with groove 37; have hole 25 on the locking chuck 17; described hole 25 matches with described alignment pin 16; tool port body 15 is provided with the gas circuit supply interface 12-1 with described pneumatic pinch mechanism cylinder; gas shield function pipe interface 12-2 during welding; the corresponding a plurality of pores 11 that connect of pneuma-lock air-path interface 12-3 and gas circuit open interface 12-4; each connects and is equipped with a seal washer 38 on the pore 11; ball 6 is arranged on the edge of carriage 39, and tool port body 15 is provided with passage 33.
The quick translation interface body of instrument of the present invention is made up of with tool port body 15 two parts that are connected with instrument the master port body 4 that is installed on the robot arm 19.Wherein reserved ten passages 3 on the master port body 4, reserved eight passages 33 on the tool port body 15, and reserved the first appliance plug 1-1, the second appliance plug 2-1 and the 3rd appliance plug 1-2, the 4th appliance plug 2-2 at two ports.This interface has overcome the shortcoming that the large-current electric coupling can not be installed in the past.Adopt cylinder to promote retaining mechanism, lock by the geometry of retaining mechanism, unique geometry has auto-lock function.And at piston rod 7 places cylinder revesal cushion rubber bumper 8 has been installed, has effectively been reduced impact cylinder 36.The integrated design of piston 10 and piston rod 7 has effectively reduced the length of cylinder 36, and piston rod 7 places are designed to unique following positioning spigot 14-2, have guaranteed the axiality of piston rod 7 with cam 9.Adopt robot interface's adaptation dish 13, can make quick changer interface adapt to different instrument or robot.And adopt and go up positioning spigot 14-1 location.The first unique appliance plug 1-1 can pass through bigger welding current, and volume is less.
The invention effect: the present invention can finish the quick replacing of the robot tool under the remote control welding surroundings, also can satisfy the requirement of weld task to electric current, be convenient to the automated exchanged cutter and the dismounting of remote control welding robot, realized that the presto tool of remote control welding robot is changed and welding requirements.The present invention has certain intelligence, is applicable to the quick conversion of the robot tool of remote control welding.
Description of drawings
Fig. 1 is an overall structure schematic diagram of the present invention, Fig. 2 is the structural representation of robotic end interface module 21, Fig. 3 is the structural representation of tool ends end interface module 22, Fig. 4 is the syndeton schematic diagram of master port body 4 and tool port body 15, Fig. 5 is the A-A profile of Fig. 4, and Fig. 6 is the schematic diagram that is linked and packed of quick translation interface module of the present invention and robot.Reference numeral 18 is power sense sensors among the figure, the 19th, and robot arm, the 20th, tool rack.
The specific embodiment
The specific embodiment one: (referring to Fig. 1～Fig. 5) present embodiment is made up of robotic end interface module 21 and tool ends end interface module 22, described robotic end interface module 21 is by the first appliance plug 1-1, the second appliance plug 2-1, master port body 4, cylinder bottom end cover 5, carriage 39, piston rod 7, cylinder revesal cushion rubber bumper 8, cam 9, piston 10, alignment pin 16, cylinder upper cover 23 and terminal pad 24 are formed, one end of master port body 4 is provided with the first ear eaves 31, the other end of master port body 4 is provided with the second ear eaves 34, the first appliance plug 1-1 is connected with the described second ear eaves 34, the second appliance plug 2-1 is connected with the described first ear eaves 31, the inner chamber of master port body 4 is a cylinder 36, carriage 39 is arranged on the downside of cylinder bottom end cover 5, carriage 39 is connected as a single entity with cylinder bottom end cover 5, piston 10 is arranged in the described cylinder 36, piston rod 7 is arranged on the downside of piston 10, piston rod 7 is connected as a single entity with piston 10, the lower end of piston rod 7 is connected with cam 9, piston rod 7 is provided with down positioning spigot 14-2 with the junction of cam 9, cylinder revesal cushion rubber bumper 8 is arranged on the piston rod 7, horizontal direction in the master port body 4 is provided with passage 3, supply interface 12-1 with the perpendicular gas circuit that has pneumatic pinch mechanism cylinder of the horizontal direction of passage 3 in the master port body 4, gas shield function pipe interface 12-2 during welding, itself pneuma-lock air-path interface 12-3 and gas circuit open interface 12-4, fixedly connected with the upper end of master port body 4 in the lower end of cylinder upper cover 23, fixedly connected with the lower end of terminal pad 24 in the upper end of cylinder upper cover 23, the upper end of cylinder upper cover 23 is last positioning spigot 14-1, the top of terminal pad 24 is robot interface's adaptation dish 13, and alignment pin 16 is fixed on the downside of cylinder bottom end cover 5; Described tool ends end interface module 22 is by the 3rd appliance plug 1-2; the 4th appliance plug 2-2; ball 6; seal washer 38; tool port body 15 and locking chuck 17 are formed; one end of tool port body 15 is provided with third ear eaves 32; the other end of tool port body 15 is provided with the 4th ear eaves 35; the 3rd appliance plug 1-2 is connected with described the 4th ear eaves 35; the 4th appliance plug 2-2 is connected with described third ear eaves 32; locking chuck 17 is arranged in the tool port body 15; inwall between locking chuck 17 and the tool port body 15 is provided with groove 37; have hole 25 on the locking chuck 17; described hole 25 matches with described alignment pin 16; tool port body 15 is provided with the gas circuit supply interface 12-1 with described pneumatic pinch mechanism cylinder; gas shield function pipe interface 12-2 during welding; the corresponding a plurality of pores 11 that connect of pneuma-lock air-path interface 12-3 and gas circuit open interface 12-4; each connects and is equipped with a seal washer 38 on the pore 11; ball 6 is arranged on the edge of carriage 39, and tool port body 15 is provided with passage 33.
The specific embodiment two: the material of present embodiment seal washer 38 is a polytetrafluoroethylene (PTFE).Other is identical with the specific embodiment one.
The specific embodiment three: the material of present embodiment master port body 4, tool port body 15 and piston 10 is a hard aluminium alloy.Other is identical with the specific embodiment one.
The specific embodiment four: the material of present embodiment cam 9, locking chuck 17, alignment pin 16 is the 45# steel.Other is identical with the specific embodiment one.
On the control system platform, robotic vision system carries out the vision guide coarse positioning, robotic end interface module 21 is moved to the instrument top that needs to change carry out coarse localization, under the guiding of power sense sensor 18, position then with tool ends end interface module 22, after arriving certain position, start pneumatic means, the piston 10 (air valve) in the cylinder 36 drives cam 9 and advances locking chuck 17 to lock on ball 6.At this moment, welding current and Electric Machine Control electric current and cylinder control gas circuit is all connected.When needs were changed another instrument, by the motion of reversal valve cylinder revesal, the ball 6 of locking effect was got back to original position under the promotion of power tool deadweight, and instrument unloads, and promptly finished a butt joint circulation.If needing other instrument, robot to move to the continuation butt joint of tool rack 20 tops gets final product.The processing of slotting on master port body 4 and tool port body 15 of robotic end interface module 21 and tool ends end interface module 22 electric interfaces support sections has guaranteed structural compactedness.Electric interfaces comprises three parts; designed the current interface 2-1 and the 2-2 of three stepper motors of automatic soldering appliance according to the requirement of automatic soldering appliance, gas shield function pipe interface 12-2, pneuma-lock air-path interface 12-3 and the gas circuit open interface 12-4 the when gas circuit of the pneumatic pinch mechanism cylinder of soldering appliance supply interface 12-1, welding can change according to the conversion of task automatically.
When welding in extreme environment, robot will at first finish the replacing to soldering appliance, utilizes 18 guiding of power sense sensor to have the robotic end interface module 21 of connectivity port near tool ends end interface module 22.Power sense sensor 18 carries out location matches accurately by alignment pin 16 and locating hole 25, and makes two assemblies closely link together.Pneumatic means starts, and the cam mechanism 9 of promotion sampler is locked and finished electrical connection.
Claims (4)
1, a kind of quick translation interface of instrument that is used for the remote control welding robot, it is made up of robotic end interface module (21) and tool ends end interface module (22), it is characterized in that: described robotic end interface module (21) is by first appliance plug (1-1), second appliance plug (2-1), master port body (4), cylinder bottom end cover (5), carriage (39), piston rod (7), cylinder revesal cushion rubber bumper (8), cam (9), piston (10), alignment pin (16), cylinder upper cover (23) and terminal pad (24) are formed, one end of master port body (4) is provided with the first ear eaves (31), the other end of master port body (4) is provided with the second ear eaves (34), first appliance plug (1-1) is connected with the described second ear eaves (34), second appliance plug (2-1) is connected with the described first ear eaves (31), the inner chamber of master port body (4) is cylinder (36), carriage (39) is arranged on the downside of cylinder bottom end cover (5), carriage (39) is connected as a single entity with cylinder bottom end cover (5), piston (10) is arranged in the described cylinder (36), piston rod (7) is arranged on the downside of piston (10), piston rod (7) is connected as a single entity with piston (10), the lower end of piston rod (7) is connected with cam (9), piston rod (7) is provided with down positioning spigot (14-2) with the junction of cam (9), cylinder revesal cushion rubber bumper (8) is arranged on the piston rod (7), horizontal direction in the master port body (4) is provided with passage (3), supply interface (12-1) with the perpendicular gas circuit that has pneumatic pinch mechanism cylinder of the horizontal direction of passage (3) in the master port body (4), gas shield function pipe interface (12-2) during welding, itself pneuma-lock air-path interface (12-3) and gas circuit open interface (12-4), fixedly connected with the upper end of master port body (4) in the lower end of cylinder upper cover (23), fixedly connected with the lower end of terminal pad (24) in the upper end of cylinder upper cover (23), the upper end of cylinder upper cover (23) is last positioning spigot (14-1), the top of terminal pad (24) is robot interface's adaptation dish (13), and alignment pin (16) is fixed on the downside of cylinder bottom end cover (5); Described tool ends end interface module (22) is by the 3rd appliance plug (1-2); the 4th appliance plug (2-2); ball (6); seal washer (38); tool port body (15) and locking chuck (17) are formed; one end of tool port body (15) is provided with third ear eaves (32); the other end of tool port body (15) is provided with the 4th ear eaves (35); the 3rd appliance plug (1-2) is connected with described the 4th ear eaves (35); the 4th appliance plug (2-2) is connected with described third ear eaves (32); locking chuck (17) is arranged in the tool port body (15); inwall between locking chuck (17) and the tool port body (15) is provided with groove (37); have hole (25) on the locking chuck (17); described hole (25) matches with described alignment pin (16); tool port body (15) is provided with the gas circuit supply interface (12-1) with described pneumatic pinch mechanism cylinder; gas shield function pipe interface (12-2) during welding; the corresponding a plurality of pores (11) that connect of pneuma-lock air-path interface (12-3) and gas circuit open interface (12-4); each connects and is equipped with a seal washer (38) on the pore (11); ball (6) is arranged on the edge of carriage (39), and tool port body (15) is provided with passage (33).
2, a kind of quick translation interface of instrument that is used for the remote control welding robot according to claim 1, it is characterized in that: the material of seal washer (38) is a polytetrafluoroethylene (PTFE).
3, a kind of quick translation interface of instrument that is used for the remote control welding robot according to claim 2, it is characterized in that: the material of master port body (4), tool port body (15) and piston (10) is a hard aluminium alloy.
4, a kind of quick translation interface of instrument that is used for the remote control welding robot according to claim 3 is characterized in that: the material of cam (9), locking chuck (17), alignment pin (16) is the 45# steel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2008100641575A CN100542755C (en) | 2008-03-21 | 2008-03-21 | A kind of quick translation interface of instrument that is used for the remote control welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2008100641575A CN100542755C (en) | 2008-03-21 | 2008-03-21 | A kind of quick translation interface of instrument that is used for the remote control welding robot |
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| Publication Number | Publication Date |
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| CN101244564A CN101244564A (en) | 2008-08-20 |
| CN100542755C true CN100542755C (en) | 2009-09-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2008100641575A Expired - Fee Related CN100542755C (en) | 2008-03-21 | 2008-03-21 | A kind of quick translation interface of instrument that is used for the remote control welding robot |
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| CN (1) | CN100542755C (en) |
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2008
- 2008-03-21 CN CNB2008100641575A patent/CN100542755C/en not_active Expired - Fee Related
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| CN101244564A (en) | 2008-08-20 |
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