CN209919906U - Mechanical arm end effector for grabbing welding hanging welding nails and labels - Google Patents
Mechanical arm end effector for grabbing welding hanging welding nails and labels Download PDFInfo
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- CN209919906U CN209919906U CN201822259916.5U CN201822259916U CN209919906U CN 209919906 U CN209919906 U CN 209919906U CN 201822259916 U CN201822259916 U CN 201822259916U CN 209919906 U CN209919906 U CN 209919906U
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Abstract
The utility model relates to a technical field of automatic welding and hanging of label, a mechanical arm end effector for grabbing and hanging a welding nail and a label is provided, which comprises a welding clamp assembly for grabbing the welding nail and welding, a label adsorption assembly for grabbing the label inserted with the welding nail, a 3D vision measurement assembly for measuring the end surface evenness of a bar bundle, a distance measurement assembly for measuring the distance of the bar bundle, and a floating base arranged on a sixth shaft flange of a robot; the welding clamp assembly, the label adsorption assembly, the 3D vision measurement assembly and the distance measurement assembly are all installed on the floating base, and the floating direction of the floating base is the same as the direction of the center line of the sixth axis of the robot. The utility model discloses a floating base, welding clamp subassembly, label adsorption component, 3D vision measuring subassembly and distance measuring subassembly's cooperation realize that the automation of welding nail and label snatchs and welds and hang, when having saved the cost of labor, has still improved work efficiency.
Description
Technical Field
The utility model relates to a label welds and hangs technical field, specifically is an arm end effector for snatching to weld and hang welding nail and label.
Background
Before bars produced by a steel plant leave a factory, a label recorded with bar production information needs to be welded and hung on the end face of a bundle of bars by using a welding nail to serve as a product quality certificate and an anti-counterfeiting mark. At present, manual operation is needed for label welding and hanging, time and labor are wasted, and automation of the process needs to be realized urgently.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an arm end effector for snatching to weld and hang welding nail and label, through the cooperation of base, welding clamp subassembly, label adsorption component, 3D vision measuring component and distance measuring subassembly that floats, realize that the automation of welding nail and label snatchs and welds and hang, when having saved the cost of labor, has still improved work efficiency.
In order to achieve the above object, the embodiment of the present invention provides the following technical solutions: an end effector of a robotic arm for grasping weld-hang pins and labels, comprising:
a welding clamp assembly for grabbing the welding nail and welding,
a label absorbing component for grabbing the label inserted with the welding nail,
a 3D vision measuring assembly for measuring the flatness of the end faces of the bundle of bars,
a distance measuring assembly for measuring the distance of the bundle of bars,
and a floating base arranged on a sixth shaft flange of the robot,
the welding clamp assembly, the label adsorption assembly, the 3D vision measurement assembly and the distance measurement assembly are all installed on the floating base, and the floating direction of the floating base is the same as the direction of the center line of the sixth axis of the robot.
Further, the floating base including can install at the sixth epaxial fixed plate of robot and receive external force after can to the fly leaf that fixed plate department removed, the welding clamp subassembly the label absorption subassembly 3D vision measurement subassembly and distance measurement subassembly is all installed on the fly leaf, the fly leaf pass through the guide post with the fixed plate links to each other, the cover is equipped with the spring on the guide post.
Furthermore, the number of the guide columns is four, and the four guide columns are symmetrically distributed along the center of the movable plate.
Further, the welding clamp assembly comprises a plurality of clamps uniformly distributed around the center of the movable plate and a driving part for driving the clamps to be folded towards the center of the movable plate so as to clamp the head of the welding nail, at least one clamp is connected with the welding cable, each clamp is made of a conductive material, and each clamp is fixed on the driving part through an insulating part.
Furthermore, the number of the clamps is three, and the three clamps are uniformly distributed around the center of the movable plate in a surrounding manner; the driving part comprises a three-jaw cylinder capable of driving the three clamps to move synchronously, the three clamps correspond to three jaw sheets of the three-jaw cylinder one by one, and each clamp is fixed on the jaw sheet corresponding to the clamp through an insulating part.
Furthermore, each clamp is L-shaped structure, each clamp of L-shaped structure all includes the centre gripping section that is used for the centre gripping welding nail and the power supply section that links to each other with welding cable, each the centre gripping section encloses the interval that forms the centre gripping welding nail.
Further, the label adsorption component comprises a support arranged on the movable plate and a vacuum chuck used for adsorbing labels, and the vacuum chuck is arranged on the surface of the movable plate away from the support.
Further, the 3D vision measuring assembly includes a 3D vision sensor for acquiring three-dimensional data, the 3D vision sensor being mounted on the movable plate.
Further, the distance measuring assembly comprises a distance meter, and the distance meter is installed on the movable plate.
Compared with the prior art, the beneficial effects of the utility model are that: through the cooperation of floating base, welding clamp subassembly, label adsorption component, 3D vision measuring component and distance measuring subassembly, realize that the automation of welding nail and label snatchs and welds and hang, when having saved the cost of labor, still improved work efficiency.
Drawings
Fig. 1 is a perspective view of an end effector of a robot arm for grasping a welding pin and a tag according to an embodiment of the present invention;
fig. 2 is a side view of an end effector of a robot arm for grasping a welding pin and a tag according to an embodiment of the present invention;
fig. 3 is an installation schematic view of a mechanical arm end effector fixing plate, a movable plate, a guide post, a spring and a linear bearing for grabbing a welding hanging stud and a label provided by the embodiment of the utility model;
FIG. 4 is a schematic structural view of a weld nail;
FIG. 5 is a schematic view of a tag structure;
in the reference symbols: 1-a floating base; 10-fixing the plate; 11-a guide post; 12-a spring; 13-linear bearings; 14-a baffle; 15-a movable plate; 2-welding the clamp assembly; 20-clamping; 21-a three-jaw cylinder; 3-a label adsorbing assembly; 30-a scaffold; 31-vacuum chuck; a 4-3D vision measurement assembly; a 40-3D vision sensor; 5-a distance measuring assembly; 50-a range finder; 60-insulating bolts; 61-an insulating pad; 70-a disc; 71-cylindrical tip; 80-circular hole.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
Referring to fig. 1-5, an embodiment of the present invention provides an end effector of a robot arm for grabbing a welding stud and a tag, including a floating base 1, a welding clamp assembly 2, a tag adsorption assembly 3, a 3D vision measurement assembly 4, and a distance measurement assembly 5. Wherein, welding clamp subassembly 2 is used for snatching the welding nail and welds, and label adsorption component 3 is used for snatching the label that has inserted the welding nail, and 3D vision measuring component 4 is used for measuring the terminal surface roughness that the rod was tied, and distance measuring component 5 is used for measuring the distance that the rod was tied, and floating base 1 installs on the flange of arm sixth axis. The welding clamp assembly 2, the label adsorption assembly 3, the 3D vision measurement assembly 4 and the distance measurement assembly 5 are all installed on the movable plate 15 of the floating base 1, and the directions of the sixth axial center lines of the floating direction mechanical arms of the floating base 1 are consistent. In the present embodiment, the function of the robot arm is to drive the end effector to move to the position for grabbing the welding nail, the position for grabbing the label and the position for welding the label, which are well-known in the art and will not be described in detail here. Through the cooperation between each above-mentioned subassembly, realize automatic work, when having saved the cost of labor, improved work efficiency. The welding nail mentioned in the embodiment is a special welding nail which is composed of two parts, wherein one part is a main body of the welding nail and is a cylinder in general, the other part is a disc 70 arranged on the circumferential surface of the cylinder, the disc 70 visually divides the cylinder into two sections, one section is longer, the other section is shorter, a cylindrical tip 71 concentric with the end surface is arranged at the center of the end surface of the shorter section, and the diameter of the cylindrical tip 71 is small and is used for arc striking during welding. In addition, the tag mentioned in this embodiment is a generally rectangular tag having a circular hole 80 at the top for a section of the stud having a cylindrical tip 71 to pass through, the diameter of the circular hole 80 being smaller than the diameter of the disc 70, so that only a short section of the stud can pass through the circular hole 80. The floating base 1 has a certain floating amount, after the welding nail contacts the end face of the bar, the end effector continues to move forwards for a certain distance, due to the effect of the spring pressing force, the welding nail can be ensured to be attached to the end face of the bar in the welding process, and the head of the welding nail is connected with the end face of the bar into a whole after the welding is finished.
In order to optimize the above scheme, please refer to fig. 1, fig. 2, and fig. 3, the floating base includes a fixed plate that can be installed on a sixth axis of the robot and a movable plate 15 that can move to the fixed plate after receiving an external force, the welding clamp assembly, the label adsorption assembly, the 3D vision measurement assembly, and the distance measurement assembly are all installed on the movable plate 15, the movable plate 15 is connected to the fixed plate through a guide post, and a spring 12 is sleeved on the guide post. In this embodiment, this part is used to press a short section of the welding nail against the welding surface, and specifically, after the welding nail contacts the bar, the welding nail can still move 3-5mm in the direction close to the bar, so as to ensure that the tail of the welding nail can still be pressed against the welding surface after melting during the welding process. Preferably, the number of the guide posts 11 is four, and four of the guide posts 11 are symmetrically distributed along the center of the movable plate, so as to support the movable plate 15 more stably, the four guide posts 11 are parallel to the center line of the sixth axis of the robot arm, and specifically can be distributed around the center of the movable plate in a rectangular shape, the tail portions of the guide posts 11 are inserted into corresponding counter bores of the fixed plate 10 and connected with the fixed plate 10 through bolts, the fixed plate 10 is mounted on a flange of the sixth axis of the robot through bolts, the head portions of the guide posts 11 are inserted into linear bearings 13 mounted on the movable plate 15, the movable plate 15 can move back and forth along the axis of the guide posts 11, and the head portions of the guide posts 11 are provided with baffles 14 to prevent the movable plate 15 from falling out.
As an optimized solution of the embodiment of the present invention, please refer to fig. 1, fig. 2, fig. 3 and fig. 4, the welding clamp assembly 2 includes a plurality of clamps 20 uniformly distributed around a center line perpendicular to the movable plate 15 and a driving member for driving each clamp 20 to be drawn in toward the center line to clamp a head of a welding nail, at least one clamp 20 is connected to a welding cable, and each clamp 20 is made of a conductive material. When the head of the welding nail needs to be clamped (the longer section of the welding nail is the head), only the clamps 20 need to be closed by the driving part, otherwise, the welding nail is released.
Further optimizing the above solution, please refer to fig. 1 and fig. 2, the number of the clamps 20 is three, and the three clamps 20 are uniformly arranged around the center of the movable plate; the driving part comprises a three-jaw cylinder 21 which can drive the three clamps 20 to move synchronously, the three clamps 20 are respectively arranged on three jaw sheets of the three-jaw cylinder 21, and each clamp 20 is fixed on the jaw sheet corresponding to the clamp 20 through an insulating part. The welding current needs to be isolated from the three-jaw cylinder, so the clamp 20 is mounted with an insulator, preferably an insulating washer 61 and an insulating bolt 60.
As an optimization scheme of the embodiment of the present invention, please refer to fig. 1 and fig. 2, each of the clamps 20 is an L-shaped structure, each of the clamps 20 of the L-shaped structure includes a clamping section for clamping the welding nail and a power supply section connected to the welding cable, and each of the clamping sections encloses an area for forming the clamping welding nail. In the present embodiment, the clamp 20 is formed in an L-shaped structure, so that the clamping portion and the power supply portion can be separated, and the clamping sections are mutually folded to complete the clamping operation.
Further optimizing the scheme, each power supply section is provided with an inner cavity, and the end face of each power supply section is provided with an opening for inserting the welding cable into the inner cavity; and each power supply section is also provided with a screw for pressing the welding cable. In this embodiment, the welding cable can be hidden in the inner cavity, which can eliminate the potential safety hazard because the welding cable needs to be stripped and then inserted into the inner cavity and then compressed by the screw.
As an optimization scheme of the embodiment of the present invention, please refer to fig. 1 and fig. 2, the label adsorption assembly 3 includes a support 30 installed on the movable plate 15 and a vacuum chuck 31 for adsorbing a label, and the vacuum chuck 31 is installed on a surface of the support 30 away from the movable plate 15. In the present embodiment, the vacuum suction cups 31 are used for gripping the label, and preferably, the number of the vacuum suction cups 31 is multiple, specifically three, so that the label can be stably sucked.
As an optimization scheme of the embodiment of the present invention, please refer to fig. 1, fig. 2 and fig. 3, the 3D vision measuring assembly 4 includes a 3D vision sensor 40 for acquiring three-dimensional data, and the 3D vision sensor 40 is installed on the movable plate 15. In this embodiment, the flatness measurement is performed using a 3D vision sensor 40 that can acquire three dimensional data and transmit it to an industrial computer for processing to select the more prominent bar end face for welding. The technology adopts line laser to scan a measured object to obtain three-dimensional data of the surface of the measured object, and the working process and the principle of the technology are not detailed here as the existing mature technology. Of course, stereoscopic techniques such as structured light and time of flight may be used in addition to the 3D vision sensor 40.
As an optimization scheme of the embodiment of the present invention, please refer to fig. 1, fig. 2 and fig. 3, the distance measuring assembly 5 includes a distance meter 50, and the distance meter 50 is installed on the movable plate 15. In the present embodiment, the distance measurement is performed by using a laser range finder.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. An end effector of a mechanical arm for grabbing weld hang weld nails and labels, comprising:
a welding clamp assembly for grabbing the welding nail and welding,
a label absorbing component for grabbing the label inserted with the welding nail,
a 3D vision measuring assembly for measuring the flatness of the end faces of the bundle of bars,
a distance measuring assembly for measuring the distance of the bundle of bars,
and a floating base arranged on a sixth shaft flange of the robot,
the welding clamp assembly, the label adsorption assembly, the 3D vision measurement assembly and the distance measurement assembly are all installed on the floating base, and the floating direction of the floating base is the same as the direction of the center line of the sixth axis of the robot.
2. The end effector of a robotic arm for grasping weld-hanging studs and labels of claim 1, wherein: the floating base comprises a fixed plate which can be installed on a sixth shaft of the robot and a movable plate which can move towards the fixed plate after being subjected to external force, the welding clamp assembly is provided with a label adsorption assembly, a 3D vision measurement assembly and a distance measurement assembly which are installed on the movable plate, the movable plate is connected with the fixed plate through a guide post, and a spring is sleeved on the guide post.
3. The end effector of a robotic arm for grasping weld-hanging studs and labels of claim 2, wherein: the number of the guide posts is four, and the four guide posts are symmetrically distributed along the center of the movable plate.
4. The end effector of a robotic arm for grasping weld-hanging studs and labels of claim 2, wherein: the welding clamp assembly comprises a plurality of clamps uniformly distributed around the center of the movable plate and a driving part for driving the clamps to be folded towards the center of the movable plate so as to clamp the head of the welding nail, at least one clamp is connected with a welding cable, each clamp is made of a conductive material, and each clamp is fixed on the driving part through an insulating part.
5. The end effector of a robotic arm for grasping weld-hanging studs and labels of claim 4, wherein: the number of the clamps is three, and the three clamps are uniformly distributed around the center of the movable plate in a surrounding manner; the driving part comprises a three-jaw cylinder capable of driving the three clamps to move synchronously, the three clamps correspond to three jaw sheets of the three-jaw cylinder one by one, and each clamp is fixed on the jaw sheet corresponding to the clamp through an insulating part.
6. The end effector of a robotic arm for grasping weld-hanging studs and labels of claim 4, wherein: each clamp is of an L-shaped structure, each clamp of the L-shaped structure comprises a clamping section and a power supply section, the clamping section is used for clamping a welding nail, the power supply section is connected with a welding cable, and the clamping sections enclose an area for clamping the welding nail.
7. The end effector of a robotic arm for grasping weld-hanging studs and labels of claim 2, wherein: the label adsorption component comprises a support arranged on the movable plate and a vacuum sucker used for adsorbing a label, wherein the vacuum sucker is arranged on the support and is far away from the surface of the movable plate.
8. The end effector of a robotic arm for grasping weld-hanging studs and labels of claim 2, wherein: the 3D vision measurement assembly includes a 3D vision sensor for acquiring three-dimensional data, the 3D vision sensor being mounted on the movable plate.
9. The end effector of a robotic arm for grasping weld-hanging studs and labels of claim 2, wherein: the distance measurement assembly comprises a distance meter, and the distance meter is installed on the movable plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822259916.5U CN209919906U (en) | 2018-12-30 | 2018-12-30 | Mechanical arm end effector for grabbing welding hanging welding nails and labels |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822259916.5U CN209919906U (en) | 2018-12-30 | 2018-12-30 | Mechanical arm end effector for grabbing welding hanging welding nails and labels |
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| CN209919906U true CN209919906U (en) | 2020-01-10 |
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| CN201822259916.5U Active CN209919906U (en) | 2018-12-30 | 2018-12-30 | Mechanical arm end effector for grabbing welding hanging welding nails and labels |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109648587A (en) * | 2018-12-30 | 2019-04-19 | 中冶南方工程技术有限公司 | A kind of robot arm end effector followed closely for grabbing welding hanging weldering with label |
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2018
- 2018-12-30 CN CN201822259916.5U patent/CN209919906U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109648587A (en) * | 2018-12-30 | 2019-04-19 | 中冶南方工程技术有限公司 | A kind of robot arm end effector followed closely for grabbing welding hanging weldering with label |
| CN109648587B (en) * | 2018-12-30 | 2023-12-29 | 中冶南方工程技术有限公司 | Mechanical arm end effector for grabbing and welding hanging welding nails and labels |
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