CN110525478A - One kind reorganizing and outfit robot and its end-of-arm tooling - Google Patents
One kind reorganizing and outfit robot and its end-of-arm tooling Download PDFInfo
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- CN110525478A CN110525478A CN201910938575.0A CN201910938575A CN110525478A CN 110525478 A CN110525478 A CN 110525478A CN 201910938575 A CN201910938575 A CN 201910938575A CN 110525478 A CN110525478 A CN 110525478A
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- support arm
- outfit
- arm
- robot
- switching part
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- 238000004140 cleaning Methods 0.000 claims abstract description 85
- 238000001514 detection method Methods 0.000 claims description 44
- 238000009434 installation Methods 0.000 claims description 18
- 230000035945 sensitivity Effects 0.000 claims description 10
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 9
- 229910052799 carbon Inorganic materials 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 5
- 239000007788 liquid Substances 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 4
- 238000003860 storage Methods 0.000 claims description 4
- 239000012212 insulator Substances 0.000 abstract description 18
- 210000003128 head Anatomy 0.000 description 34
- 230000000694 effects Effects 0.000 description 12
- 238000010586 diagram Methods 0.000 description 4
- 230000003044 adaptive effect Effects 0.000 description 3
- 230000003137 locomotive effect Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 210000003027 ear inner Anatomy 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000013517 stratification Methods 0.000 description 2
- 241000233855 Orchidaceae Species 0.000 description 1
- 208000037656 Respiratory Sounds Diseases 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 239000008399 tap water Substances 0.000 description 1
- 235000020679 tap water Nutrition 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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- B08B1/12—
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- B08B1/32—
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K11/00—Serving peculiar to locomotives, e.g. filling with, or emptying of, water, sand, or the like at the depots
Abstract
One kind reorganizing and outfit robot and its end-of-arm tooling, wherein, the end-of-arm tooling includes switching part and cleaning device, the switching part with the robot body for reorganizing and outfit robot for being connected, the cleaning device is installed on the switching part, the cleaning device includes support arm, and the one end of the support arm is hingedly arranged, and the other end is equipped with cleaning member；It further include dynamic clamping head and quiet clamping head, the dynamic clamping head and quiet clamping head acts on the support arm, for resetting to the support arm.Using the above structure, the cleaning member of support arm can carry out cleaning treatment to insulator, and support arm is hinged setting, can adaptively be rotated according to the shape of insulator, it is convenient to carry out cleaning treatment to insulator；Meanwhile dynamic clamping head and quiet clamping head can generate restoring force after the cleaning is completed, to support arm, support arm can return back to home position, can facilitate the manipulation for end-of-arm tooling；In compared with the prior art, the structure of end-of-arm tooling can be significantly simplified.
Description
Technical field
The present invention relates to Industrial Robot Technology fields, and in particular to one kind reorganizes and outfit robot and its end-of-arm tooling.
Background technique
In locomotive servicing job shop, for the degree of automation, operating efficiency, safety coefficient and the drop for improving servicing work
Low artificial labor intensity etc., current development trend is had become using robot manipulating task.
The robot of reorganizing and outfit of locomotive roof includes robot body, controller and the end work for being installed on robot body
Tool, wherein robot body reorganizes and outfit the pose adjustment that robot carries out displacement and end-of-arm tooling, end by controller driving
Tool can then detect the pantograph of locomotive roof, insulator cleans etc., still, current robot of reorganizing and outfit
The structure of end-of-arm tooling is complex.
Therefore, how a kind of scheme is provided, is still those skilled in the art's technology urgently to be resolved to overcome drawbacks described above
Problem.
Summary of the invention
The object of the present invention is to provide one kind to reorganize and outfit robot and its end-of-arm tooling, wherein the structure phase of the end-of-arm tooling
To simple.
In order to solve the above technical problems, the present invention provides a kind of end-of-arm tooling for reorganizing and outfit robot, including switching part and clear
Clean device, for being connected with the robot body for reorganizing and outfit robot, the cleaning device is installed on described the switching part
Switching part, the cleaning device include support arm, and the one end of the support arm is hingedly arranged, and the other end is equipped with cleaning section
Part；It further include dynamic clamping head and quiet clamping head, the dynamic clamping head and quiet clamping head acts on the support arm, for resetting to the support arm.
Using the above structure, the cleaning member of support arm can carry out cleaning treatment to insulator, to eliminate on insulator
Dust stratification, spot etc., moreover, support arm is hinged setting, when in use, support arm can be adaptive according to the shape of insulator
Ground is rotated, and can carry out cleaning treatment to insulator more conveniently；Meanwhile dynamic clamping head and quiet clamping head can generate support arm again
Effect, after the cleaning is completed, generate restoring force to the support arm that adaptively rotates, support arm to be allowed to return back to raw bits
It sets, in this way, support arm can be constant with respect to the position of switching part under no external force, can facilitate for end-of-arm tooling
Manipulation.
The side that support arm is acted is manipulated by labyrinths such as folding motor, screw rods in compared with the prior art
Case, the embodiment of the present invention are not necessarily to open and close the power part of the forms such as motor, only can by the scheme of hinged+dynamic clamping head and quiet clamping head
The adaptive rotation and reset for realizing support arm, significantly simplify the structure of end-of-arm tooling.
Optionally, the cleaning device further includes fixed part, and the fixed part is connected with the switching part, and the elasticity is multiple
The both ends of position part are connected with the support arm, the fixed part respectively；The quantity of the support arm is two, two support arms
It is oppositely arranged, and two support arms are hinged with the fixed part.
It optionally, further include limiting component, the limiting component two wall surfaces adjacent with two support arms offset, and are used for
Limit the inside rotation of the support arm.
It optionally, further include current divider, the input port of the current divider is connected with cleaning solution storage tank, and output port is logical
It crosses delivery pipe and cleaning solution is led into the cleaning member.
Optionally, the two sides up and down of the support arm are equipped with the cleaning member and the delivery pipe, and the conveying
The liquid outlet of pipe is equipped with nozzle, and the nozzle is fixedly installed in the support arm.
Optionally, the current divider is installed on the fixed part, and the both ends of the current divider respectively with two supports
Two adjacent wall surfaces of arm offset, for limiting the inside rotation of the support arm.
It optionally, further include detection device, on the extending direction of the support arm, the detection device, the cleaning
Device is located at the two sides of the switching part；The detection device includes setting loss module, and the setting loss module includes camera shooting group
Part, for carrying out Image Acquisition to pantograph carbon draw runner；And/or the detection device further includes Thickness sensitivity module, for examining
Survey the thickness of the pantograph carbon draw runner.
Optionally, the detection device further includes mounting box, the setting loss module and/or Thickness sensitivity module installation
In the mounting box；The switching part is in the form of a column, and the mounting box is fixed on the switching part, and the detection of the detection device
The axial direction of direction and the switching part is in the angle less than 90 degree, the axial direction of the extending direction of the support arm and the switching part
It is perpendicular.
Optionally, the switching part includes the square tube section and U-tube section being connected, and the square tube section is far from the U-tube
One end of section is equipped with adapter flange, and for the adapter flange for being connected with the robot body, the mounting box is installed on institute
State the tube wall of square tube section；The installation direction phase of the opening direction of the U-tube section switching part opposite with the detection device
Together, and on the extending direction of the support arm, the size of the U-tube section is less than the square tube section, the cleaning device packet
Fixed part is included, the support arm and the fixed part are hinged, and the fixed part is installed on two side pipe walls of the U-tube section.
Optionally, between the setting loss module, the Thickness sensitivity module and the mounting box and the mounting box with
Positioning pin is equipped between the switching part；The cleaning device further includes driving motor, and the cleaning member is hairbrush, described
Hairbrush is installed on the support arm by shaft, and the driving motor is connect with the rotating shaft transmission.
Optionally, the switching part is equipped with the adapter flange for being connected with the robot body, the switching method
Orchid is equipped with to positive mark, for determining the setting angle of the relatively described robot body of the switching part.
Optionally, the cleaning device, the detection device are adjustable in the installation site of the switching part.
The present invention also provides one kind to reorganize and outfit robot, including robot body and end-of-arm tooling, the end-of-arm tooling installation
In the robot body, the end-of-arm tooling is the above-mentioned end-of-arm tooling for reorganizing and outfit robot.
Since the above-mentioned end-of-arm tooling for reorganizing and outfit robot has been provided with technical effect as above, then, there is the end
Tool reorganizes and outfit robot also when having similar technical effect, and and therefore not to repeat here.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of specific embodiment of the end-of-arm tooling provided by the present invention for reorganizing and outfit robot；
Fig. 2 is the side view of Fig. 1；
Fig. 3 is the top view of Fig. 1；
Fig. 4 is the bottom view of Fig. 1；
Fig. 5 is the connection structure diagram of switching part and detection device in Fig. 1.
The reference numerals are as follows in Fig. 1-5:
1 switching part, 11 square tube sections, 111 first mounting plates, the first mounting hole of 111a, 12U shape pipeline section, 13 adapter flanges,
131 flange holes, 132 pairs of positive marks, 14 gussets；
2 cleaning devices, 21 support arms, 211 cleaning members, 22 dynamic clamping head and quiet clamping heads, 23 fixed parts, 24 current dividers, 241 conveyings
Pipe, 242 nozzles, 25 driving motors；
3 detection devices, 31 setting loss modules, 311 industrial cameras, 312 lasers, 32 Thickness sensitivity modules, 33 mounting boxs,
331 second mounting plates, the second mounting hole of 331a, 34 positioning pins.
Specific embodiment
It is with reference to the accompanying drawing and specific real in order to make those skilled in the art more fully understand technical solution of the present invention
Applying example, the present invention is described in further detail.
Fig. 1-5 is please referred to, Fig. 1 is a kind of specific embodiment of the end-of-arm tooling provided by the present invention for reorganizing and outfit robot
Structural schematic diagram, Fig. 2 are the side view of Fig. 1, and Fig. 3 is the top view of Fig. 1, and Fig. 4 is the bottom view of Fig. 1, and Fig. 5 is to transfer in Fig. 1
The connection structure diagram in portion and detection device.
As shown in Figs 1-4, the present invention provides a kind of end-of-arm tooling for reorganizing and outfit robot, including switching part 1 and cleaning device
2, wherein switching part 1 is used to be connected with the robot body (not shown) for reorganizing and outfit robot, the structure of robot body,
Function etc. does not limit in embodiments of the present invention, is specifically referred to the prior art, and cleaning device 2 is installed on switching part 1, clearly
Clean device 2 includes support arm 21, and the one end of support arm 21 is hingedly arranged, and the other end is equipped with cleaning member 211；It further include bullet
Property return unit 22, dynamic clamping head and quiet clamping head 22 acts on support arm 21, for resetting to support arm 21.
Using the above structure, the cleaning member 211 of support arm 21 can carry out cleaning treatment to insulator, to eliminate insulation
Dust stratification, spot on son etc., moreover, support arm 21 is hinged setting, when in use, support arm 21 can be according to the outer of insulator
Shape is adaptively rotated, and can carry out cleaning treatment to insulator more conveniently；Meanwhile dynamic clamping head and quiet clamping head 22 again can be right
21 generation of support arm effect, with after the cleaning is completed, generate restoring force to the support arm 21 that adaptively rotates, so that support arm 21
Home position can be returned back to, in this way, support arm 21 can be constant with respect to the position of switching part 1 under no external force, it can
The convenient manipulation for end-of-arm tooling.
The side that support arm 21 is acted is manipulated by labyrinths such as folding motor, screw rods in compared with the prior art
Case, the embodiment of the present invention are not necessarily to open and close the power part of the forms such as motor, only pass through the scheme of hinged+dynamic clamping head and quiet clamping head 22
To realize the adaptive rotation and reset of support arm 21, the structure of end-of-arm tooling is significantly simplified.
In specific scheme, above-mentioned cleaning device 2 can also include fixed part 23, and fixed part 23 is specifically as follows plate
Shape, for being connected with switching part 1, the both ends of aforementioned flexible return unit 22 can respectively with support arm 21, fixed part 23 (or turn
Socket part 1) it is connected, dynamic clamping head and quiet clamping head 22 is specifically as follows spring, such as tension spring, pressure spring, torsional spring, alternatively, elastic force can also be used
The elastic element of the other forms such as rope, this actually with the installation site of dynamic clamping head and quiet clamping head 22 and using when stress etc. have
It closes.
By taking the scheme in attached drawing as an example, the quantity of support arm 21 can be set to two, and two support arms 21 opposite can be set
It sets, and two support arms 21 can be hinged with fixed part 23, at this point, insulator can carry out at cleaning between two support arms 21
Reason, by insulator outer wall thrust to be administered, two support arms 21 have the trend being turned out, in view of the situation,
Above-mentioned dynamic clamping head and quiet clamping head 22 can be set to the elastic element to raw damping of changing the line of production outside support arm 21.
Here, the definition in relation to "inner", "outside" is referred to Fig. 3, and in Fig. 3, the space between two support arms 21 is opposite
In being for two support arms 21, in this way, outer turn of two support arms 21 refer to the rotating clockwise of upper side support arm 21 in Fig. 3, under
Side support arm 21 rotates counterclockwise, and two dynamic clamping head and quiet clamping heads 22 can be set in the outside of respective support arm 21, at this point, two
Dynamic clamping head and quiet clamping head 22 can be pressure spring, be specifically as follows gas spring.
It is appreciated that dynamic clamping head and quiet clamping head 22 also can be set in the inside of respective support arm 21 in Fig. 3 embodiment, this
When, dynamic clamping head and quiet clamping head 22 will be capable of providing pulling force, and dynamic clamping head and quiet clamping head 22 can be tension spring.Certainly, no matter dynamic clamping head and quiet clamping head 22 is set
It sets in the inside or outside of support arm 21, can use the scheme of torsional spring.
It further, can also include limiting component, which is specifically as follows postive stop baffle, limited block etc.,
Two wall surfaces (namely inner wall of support arm 21) that can be adjacent with two support arms 21 offset, for limit support arm 21 to
Interior rotation, the limiting component cooperate aforementioned flexible return unit 22, can the position preferably to support arm 21 be determined.
Here, the embodiment of the present invention does not limit the quantity of limiting component, can be one, or and two, when
When being one, this limiting component is wanted simultaneously to be defined the position of two support arms 21, and when for two, this two
A limiting component will be matched with two support arms 21 respectively, to limit respectively to two support arms 21.
Above-mentioned cleaning member 211 can also cooperate certain cleaning solution when the outer wall to insulator carries out cleaning treatment,
At this time, it is also necessary to which the conveying device of cleaning solution is set.In embodiments of the present invention, it is specifically as follows current divider 24, current divider 24
Input port can be connected with cleaning solution storage tank (not shown), cleaning solution storage tank, which may be mounted at, reorganizes and outfit robot
On, it can also be placed on the ground, this can specifically be determined according to the actual situation, and the output port of current divider 24 then can be with
Cleaning solution is led into cleaning member 211 by delivery pipe 241, under the action of cleaning solution, cleaning member 211 is for insulator
Cleaning effect is more preferably.
Here, the embodiment of the present invention does not limit the type of cleaning solution, can be common tap water, or needle
The cleaning liquid for cleaning and selecting to insulator, can specifically be determined according to actual needs.In addition, in the conveying of cleaning solution
In pipeline, delivery pump can also be set, provide power with the conveying for cleaning solution, the type and installation site of delivery pump are equivalent
Sample without limitation, as long as can be realized cleaning solution conveying effect.
When it is implemented, a delivery pipe 241 can be matched with a cleaning component 211, in this way, each cleaning component 211
Insulator can be cleaned under the action of cleaning solution, cleaning effect can be more preferable.It is integrated in Fig. 2, in support arm 21
Two sides up and down can be equipped with cleaning member 211, in this way, can more comprehensively be cleaned to insulator, correspondingly, prop up
The two sides up and down of brace 21 can be equipped with delivery pipe 241, provide cleaning solution with the cleaning member 211 for being respectively upper and lower sides；It is defeated
The liquid outlet of pipe 241 is sent to be also provided with nozzle 242, by the effect of nozzle 242, spouting velocity, the spraying range of cleaning solution
Deng available raising, and nozzle 242 can be to be fixedly connected with support arm 21, be sprayed with the cleaning solution of fixed nozzle 242
Direction.The structure of nozzle 242 it is not limited here, can specifically refer to the prior art.
Above-mentioned current divider 24 can be installed on fixed part 23, and the both ends of current divider 24 can respectively with two support arms, 21 phase
Two adjacent wall surfaces offset, for limiting the inside rotation of support arm 21, that is to say, that the current divider 24 can also play aforementioned
The effect of limiting component, in this way, just no setting is required special limiting component, moreover, above-mentioned current divider 24 be a component simultaneously
Two support arms 21 are limited, it is possible to reduce the quantity of components, the structure letter of the end-of-arm tooling for reorganizing and outfit robot
Changing has good effect.
Still as shown in Figure 1 and Figure 2, cleaning device 2 can also include driving motor 25, may be mounted on support arm 21,
Cleaning member 211 is specifically as follows hairbrush etc., and hairbrush can be installed on support arm 21, driving electricity by shaft (not shown)
Machine 25 can be sequentially connected with shaft, specifically can be by the transmission parts of the forms such as conveyer belt or transmission chain (in figure not
Show) it is driven, transmission parts can be hidden in support arm 21；It can be to be detachably connected between hairbrush and shaft, such as
Circlip, retainer ring fixation etc., dismount hairbrush in this way, can be convenient, to carry out in time more when hairbrush damages
It changes.
It further, can also include detection device 3, another functional component of detection device 3 as end-of-arm tooling can
To be used to detect pantograph, and on the extending direction of support arm 21, detection device 3, cleaning device 2 can distinguish position
In the two sides of switching part 1, this way it is possible to avoid the two interfering with each other in use.
Specifically, detection device 3 may include setting loss module 31, and setting loss module 31 may include camera assembly, in conjunction with
Fig. 4, the camera assembly can specifically include industrial camera 311, laser 312 and camera light source etc., for sliding to pantograph carbon
Item carries out Image Acquisition, and to analyze and determine the crackle and defect situation of carbon draw runner, the process of above-mentioned analytical judgment is by controlling
Device executes, which can be set in detection device 3, also can be set on robot body；In Fig. 4 embodiment
In, industrial camera 311 is mounted on the lower section of laser 312, in fact, during installation, the also peace of adjustable setting loss module 31
Direction is filled, at this point, industrial camera 311 can be located at the top of laser 312, to meet detection device 3 in different situations again
Under detection demand.And/or detection device 3 can also include Thickness sensitivity module 32, which specifically can be with
Camera equal thickness detection part is swept including line, is detected for the thickness to pantograph carbon draw runner.
Above-mentioned detection device 3 can also be achieved pantograph and be located at roof location and relatively other than for setting loss and thickness measuring
In the accurate positionin of robot base target X, Y, Z coordinate, in order to accurately realize the planning of robot cleaning with detection path.
Detection device 3 can also include mounting box 33, and above-mentioned setting loss module 31, Thickness sensitivity module 32 can be installed
In mounting box 33, and can be connected by mounting box 33 with switching part 1.In conjunction with Fig. 2, switching part 1 can be specifically in the form of a column, cleaning
Device 2 and the whole left and right sides that can be located at switching part 1 of detection device 3, wherein the detection direction of detection device 3 with
The axial direction of switching part 1 can be in the angle less than 90 degree, and the extending direction of support arm 21 then can be with the axial phase of switching part 1
Vertically.
So set, mounting box 33 can be fixed for inclination, pantograph carbon draw runner is being detected using detection part 3
When, i.e., adjustment detection direction be vertical direction with pantograph carbon draw runner face when, need in Fig. 2 end-of-arm tooling carry out it is suitable
Hour hands rotation, at this point, cleaning device 2 is whole can to remain tip-tilted posture, in this way, sanitizer cartridge can be prevented to a greater degree
Set the interference between 2 and pantograph.
One end of switching part 1 can be equipped with adapter flange 13, which can be equipped with several flange holes 131, use
It is connected in robot body.
Further, adapter flange 13 is also provided with to positive mark 132, this is specifically as follows color to positive mark 132
Mark, symbol logo or shape mark etc., wherein color identifier can be using the more eye-catching colors such as red, white, symbol
Number mark can be the symbols such as fork-shaped, pentalpha, and shape mark can be then the special shape designs such as scribing line, ream mouth, be somebody's turn to do
Positive mark 132 can be set in the upper surface of adapter flange 13, also can be set in the side of adapter flange 13.In attached drawing reality
It applies in example, this can be the ream mouth that 13 upper surface of adapter flange is arranged in, the connecting flange of robot body side to positive mark 132
On can also be equipped with mark, during installation, the ream mouth on adapter flange 13 can be aligned with the mark of connecting flange, in this way,
It can determine the setting angle of end-of-arm tooling opposed robots ontology provided by the present invention.
Switching part 1 may include the square tube section 11 and U-tube section 12 being connected, and above-mentioned adapter flange 13 is mounted on square tube
11 one end far from U-tube section 12 of section, mounting box 33 may be mounted at the tube wall of square tube section 11.Specifically, square tube section 11
Tube wall can be equipped with the first mounting plate 111 with inclination mounting plane, and mounting box 33 can be equipped with the second mounting plate 331, peace
Mounted box 33 can be fixed by the second mounting plate 331 and 111 phase of the first mounting plate.
The opening direction of U-tube section 12 can be identical with respect to the installation direction of switching part 1 with detection device 3, and U-tube section
12 size on 21 extending direction of support arm is less than square tube section 11, and the fixed part 23 of cleaning device 2 can be installed on U-tube section
12 two side pipe walls (i.e. at U-shaped opening), as shown in Fig. 2, fixed part 23 is practical upper with mounting box 33 using this set
In the same side of switching part 1, but the ladder due to U-tube section 12 with square tube section 11 in 21 extending direction of support arm is arranged, so that
Fixed part 23, mounting box 33 can not interfere with each other mutually during installation, meanwhile, and can be improved the compactedness of equipment, it can cut down whole
A end-of-arm tooling 21 extending direction of support arm size, in order to manipulate.
Above-mentioned U-tube section 12 can be an integral structure with square tube section 11, or split type structure, when being integrated
When formula structure, U-tube section 12 be effectively equivalent to be cut by square tube section 11, at this point, the incision of square tube section 11 is strong
Degree is weaker, and L-shaped gusset 14 can be set, to carry out reinforcement to its intensity.
In conjunction with Fig. 5, in specific installation, between setting loss module 31, Thickness sensitivity module 32 and mounting box 33, and installation
It can be equipped with positioning pin 34 between box 33 and switching part 1, positioned with first passing through positioning pin 34, then pass through screw etc. again
The connector of form is attached.Be arranged such, on the one hand, can to avoid when being connected only with screw, due to thread pitch
Insecure problem is connected in the presence of caused by；On the other hand, it first passes through positioning pin 34 to be positioned, it is also possible that two peaces
Threaded hole in loading board can preferably carry out centering, in order to being connected and fixed for subsequent connector.
Moreover, cleaning device 2, detection device 3 are adjustable with respect to the installation site of switching part 1, in this way, can be in order to clear
Wash the planning with detection path.With continued reference to FIG. 5, by taking the installation of detection device 3 and switching part 1 as an example, the first mounting plate 111
Multiple first mounting hole 111a can be equipped with, by adjusting the second mounting hole 331a and different first of the second mounting plate 331
The corresponding installation of mounting hole 111a, it can change the installation site of detection device 3.
In addition, in embodiments of the present invention, cleaning device 2, detection device 3 and switching part 1 are as independent mould
Block exist, assembling when, group can be carried out to each components respectively and be filled with to form above-mentioned each module, then again to each module into
Row assembling, this modular design is so that the dismounting debugging of end-of-arm tooling can simplify.
The present invention also provides one kind to reorganize and outfit robot, including robot body (not shown) and end-of-arm tooling, wherein
The structure and function of robot body is referred to the prior art, and it is not described here in detail, and end-of-arm tooling is installed on robot body,
And the end-of-arm tooling is the end-of-arm tooling that robot is reorganized and outfit involved in the respective embodiments described above.
Since the above-mentioned end-of-arm tooling for reorganizing and outfit robot has been provided with technical effect as above, then, there is the end
Tool reorganizes and outfit robot also when having similar technical effect, therefore this will not be repeated here.
The above is only the preferred embodiment of the present invention, it is noted that those skilled in the art are come
It says, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications also should be regarded as
Protection scope of the present invention.
Claims (13)
1. a kind of end-of-arm tooling for reorganizing and outfit robot, which is characterized in that including switching part (1) and cleaning device (2), the switching
For being connected with the robot body for reorganizing and outfit robot, the cleaning device (2) is installed on the switching part (1) in portion (1),
The cleaning device (2) includes support arm (21), and the one end of the support arm (21) is hingedly arranged, and the other end is equipped with cleaning
Component (211)；
It further include dynamic clamping head and quiet clamping head (22), the dynamic clamping head and quiet clamping head (22) acts on the support arm (21), for the branch
Brace (21) is resetted.
2. reorganizing and outfit the end-of-arm tooling of robot according to claim 1, which is characterized in that the cleaning device (2) further includes
Fixed part (23), the fixed part (23) are connected with the switching part (1), the both ends of the dynamic clamping head and quiet clamping head (22) respectively with institute
State support arm (21), the fixed part (23) is connected；
The quantity of the support arm (21) is two, and two support arms (21) are oppositely arranged, and two support arms (21) are equal
It is hinged with the fixed part (23).
3. reorganizing and outfit the end-of-arm tooling of robot according to claim 2, which is characterized in that it further include limiting component, the limit
Component two wall surfaces adjacent with two support arms (21) in position offset, for limiting the inside rotation of the support arm (21).
4. reorganizing and outfit the end-of-arm tooling of robot according to claim 2, which is characterized in that it further include current divider (24), it is described
The input port of current divider (24) is connected with cleaning solution storage tank, and cleaning solution is led to institute by delivery pipe (241) by output port
State cleaning member (211).
5. reorganizing and outfit the end-of-arm tooling of robot according to claim 4, which is characterized in that up and down the two of the support arm (21)
Side is equipped with the cleaning member (211) and the delivery pipe (241), and the liquid outlet of the delivery pipe (241) is equipped with nozzle
(242), the nozzle (242) is fixedly installed in the support arm (21).
6. reorganizing and outfit the end-of-arm tooling of robot according to claim 4, which is characterized in that the current divider (24) is installed on institute
It states fixed part (23), and two wall surfaces adjacent with two support arms (21) offset respectively at the both ends of the current divider (24), use
In the inside rotation for limiting the support arm (21).
7. the end-of-arm tooling of robot is reorganized and outfit described in any one of -6 according to claim 1, which is characterized in that further include detection dress
(3) are set, on the extending direction of the support arm (21), the detection device (3), the cleaning device (2) are located at institute
State the two sides of switching part (1)；
The detection device (3) includes setting loss module (31), and the setting loss module (31) includes camera assembly, for pantograph
Carbon draw runner carries out Image Acquisition；And/or the detection device (3) further includes Thickness sensitivity module (32), for detect it is described by
The thickness of pantograph carbon draw runner.
8. reorganizing and outfit the end-of-arm tooling of robot according to claim 7, which is characterized in that the detection device (3) further includes
Mounting box (33), the setting loss module (31) and/or the Thickness sensitivity module (32) are installed on the mounting box (33)；
The switching part (1) is in the form of a column, and the mounting box (33) is fixed on the switching part (1), and the detection device (3)
The axial direction of detection direction and the switching part (1) in the angle less than 90 degree, the extending direction of the support arm (21) with it is described
The axial direction of switching part (1) is perpendicular.
9. reorganizing and outfit the end-of-arm tooling of robot according to claim 8, which is characterized in that the switching part (1) includes being connected
The square tube section (11) and U-tube section (12) connect, the square tube section (11) are equipped with switching method far from one end of the U-tube section (12)
Blue (13), for the adapter flange (13) for being connected with the robot body, the mounting box (33) is installed on the square tube
The tube wall of section (11)；
The installation direction phase of the opening direction of the U-tube section (12) and the relatively described switching part (1) of the detection device (3)
Together, and on the extending direction of the support arm (21), the size of the U-tube section (12) is less than the square tube section (11), institute
Stating cleaning device (2) includes fixed part (23), the support arm (21) and the fixed part (23) hingedly, the fixed part (23)
It is installed on two side pipe walls of the U-tube section (12).
10. reorganizing and outfit the end-of-arm tooling of robot according to claim 8, which is characterized in that the setting loss module (31), described
Between Thickness sensitivity module (32) and the mounting box (33) and between the mounting box (33) and the switching part (1)
Equipped with positioning pin (34)；
The cleaning device (2) further includes driving motor (25), and the cleaning member (211) is hairbrush, and the hairbrush is by turning
Axis is installed on the support arm (21), and the driving motor (25) connect with the rotating shaft transmission.
11. reorganizing and outfit the end-of-arm tooling of robot according to claim 7, which is characterized in that the switching part (1) is equipped with and is used for
The adapter flange (13) being connected with the robot body, the adapter flange (13) are equipped with to positive mark (132), for true
The setting angle of the fixed relatively described robot body of switching part (13).
12. reorganizing and outfit the end-of-arm tooling of robot according to claim 7, which is characterized in that the cleaning device (2), described
Detection device (3) is adjustable in the installation site of the switching part (1).
13. one kind reorganizes and outfit robot, including robot body and end-of-arm tooling, the end-of-arm tooling is installed on the robot sheet
Body, which is characterized in that the end-of-arm tooling is the end-of-arm tooling that robot is reorganized and outfit described in any one of claim 1-12.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910938575.0A CN110525478A (en) | 2019-09-30 | 2019-09-30 | One kind reorganizing and outfit robot and its end-of-arm tooling |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910938575.0A CN110525478A (en) | 2019-09-30 | 2019-09-30 | One kind reorganizing and outfit robot and its end-of-arm tooling |
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| CN110525478A true CN110525478A (en) | 2019-12-03 |
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