CN212445275U - Multifunctional robot tail end execution device - Google Patents
Multifunctional robot tail end execution device Download PDFInfo
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- CN212445275U CN212445275U CN202021144872.2U CN202021144872U CN212445275U CN 212445275 U CN212445275 U CN 212445275U CN 202021144872 U CN202021144872 U CN 202021144872U CN 212445275 U CN212445275 U CN 212445275U
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- robot
- gripper
- welding gun
- mounting plate
- coupling assembling
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Abstract
The utility model belongs to the technical field of industrial automation intelligence equipment, concretely relates to terminal final actuating device of multi-functional robot, including the robot end, the robot end is connected with coupling assembling, and coupling assembling's both sides all are connected with the tongs subassembly, and one side that coupling assembling kept away from the robot end is connected with the welder device. The robot tail end executing device integrates grabbing, vision and welding into a whole, and high automation of bar welding is realized; the whole production process realizes material taking and welding integration, and the work of manual material feeding is omitted, so that the labor cost is saved, the necessary safe operation space for manual operation is reduced, and the whole occupied space of the equipment is reduced.
Description
Technical Field
The utility model belongs to the technical field of industrial automation intelligence equipment, concretely relates to terminal final actuating device of multi-functional robot.
Background
The application of the bar stock in the structural member in the industrial production is very wide, and the bar stock is commonly used for the connection of the structural member, the motion guide, the manufacture of a hinge hole and the like; however, most of bar welding still stays in the stages of manual grabbing, manual observation and manual welding, and has negative effects on the assembly efficiency, the size deviation and the welding quality of structural members; the automatic grabbing and welding of the bar stock is realized, and the method has important significance for improving the productivity, precision improvement and quality control of products.
Disclosure of Invention
In order to overcome the weak point of above-mentioned prior art, the utility model provides a terminal final actuating device of multi-functional robot, the device is integrated snatchs, the vision, welds in an organic whole, has realized bar welded high automation.
The utility model discloses a realize through following technical scheme: the utility model provides an end effector of multi-functional robot which characterized in that: including the robot end, the robot end is connected with coupling assembling, and coupling assembling's both sides all are connected with the tongs subassembly, and one side that coupling assembling kept away from the robot end is connected with the welder device.
Further, the bottom of coupling assembling still installs visual equipment.
Further, coupling assembling includes terminal mounting panel of robot and welder device mounting panel, and terminal mounting panel of robot and welder device mounting panel parallel placement are through two connecting plate fixed connection, two be equipped with vision equipment fixing support between the connecting plate, every the connecting plate all is equipped with tongs installation cushion block in the outside of keeping away from vision equipment fixing support.
Further, the tongs installation buffering platform is equipped with two stands including installing stand on the connecting plate on every connecting plate, all is equipped with the spring on every stand, and the axial activity cover is equipped with the tongs mounting panel on two stands, and the tongs mounting panel is located the outside of spring, is equipped with the mounting hole on the tongs mounting panel, and the stand stretches into in the mounting hole on the tongs mounting panel and carries on spacingly through the bolt to the tongs mounting panel.
Further, the tongs subassembly includes tongs, support frame and drives actuating cylinder, and the tongs articulates on the support frame, and the telescopic link that drives actuating cylinder is articulated mutually with the tongs, and the base that drives actuating cylinder is connected with the tongs mounting panel.
Further, the welder device is including anticollision, a holder and welder, and the holder is Z style of calligraphy structure, and the one end of holder is connected with anticollision, and the other end of holder is connected with welder, and anticollision is connected with the welder device mounting panel.
The utility model has the advantages that: 1. the robot tail end executing device integrates grabbing, vision and welding into a whole, and high automation of bar welding is realized;
2. the gripper assembly adopts the cylinder to drive the connecting rod mechanism, so that the gripper assembly has more applicability to the diameter range of the bar;
3. the visual sensor is integrated, so that the grabbing and discharging accuracy is improved, the size deviation is reduced, and the higher size requirement is met;
4. in the whole production process, material taking and welding are integrated, and the work of manual material discharging is omitted, so that the labor cost is saved, the safety operation space required by manual operation is reduced, and the whole occupied space of equipment is reduced;
5. the high automation of bar welding is realized, the production efficiency is improved, the productivity is enlarged, and the instability of manual operation is reduced.
Drawings
FIG. 1 is a front view of the structure of the present invention;
FIG. 2 is a top view of FIG. 1;
fig. 3 is a perspective view of the present invention;
fig. 4 is a schematic structural view of the connection assembly of the present invention;
fig. 5 is a schematic structural view of the gripper assembly of the present invention;
fig. 6 is a perspective view of the gripper assembly of the present invention;
FIG. 7 is a schematic structural view of a welding gun device according to the present invention;
in the figure, 1, a robot tail end, 2, a connecting assembly, 2-1, a robot tail end mounting plate, 2-2, a welding gun device mounting plate, 2-3, a connecting plate, 2-4, a visual equipment mounting support, 2-5, a gripper mounting buffer table, 2-6, a stand column, 2-7, a spring, 2-8, a gripper mounting plate, 3, a gripper assembly, 3-1, a gripper, 3-2, a supporting frame, 3-3, a driving cylinder, 4, visual equipment, 5, a welding gun device, 5-1, anti-collision, 5-2, a holder, 5-3, a welding gun, 6 and a bar material.
Detailed Description
The invention will be further explained below with reference to the drawings and examples.
As shown in fig. 1 to 7, the multifunctional robot end executing device comprises a robot end 1, the robot end 1 is connected with a connecting assembly 2, both sides of the connecting assembly 2 are connected with gripper assemblies 3, the gripper assemblies 3 drive a link mechanism by using cylinders, and the multifunctional robot end executing device has more applicability to the diameter range of a bar stock 6. The side of the connecting component 2 away from the robot end 1 is connected with a welding gun device 5. As the improvement of this embodiment, visual equipment 4 is still installed to coupling assembling 2's bottom, and visual equipment 4 has integrateed visual sensor, has improved the accuracy of snatching and the blowing, has reduced the size deviation, satisfies higher dimensional requirement. The robot tail end execution device integrates grabbing, vision and welding, and high automation of bar welding is achieved.
As shown in fig. 4, the connection assembly 2 comprises a robot end mounting plate 2-1 and a welding gun device mounting plate 2-2, the robot end mounting plate 2-1 and the welding gun device mounting plate 2-2 are arranged in parallel and fixedly connected through two connecting plates 2-3, a visual equipment mounting bracket 2-4 is arranged between the two connecting plates 2-3, the visual equipment mounting bracket 2-4 is fixedly mounted on the robot end mounting plate 2-1 and the welding gun device mounting plate 2-2, and a gripper mounting buffer table 2-5 is arranged on the outer side of each connecting plate 2-3 far away from the visual equipment mounting bracket 2-4. Specifically, the gripper installation buffer table 2-5 comprises upright posts 2-6 installed on the connecting plate 2-3, two upright posts 2-6 are arranged on each connecting plate 2-3, a spring 2-7 is sleeved on each upright post 2-6, gripper installation plates 2-8 are axially movably sleeved on the two upright posts 2-6, the gripper installation plates 2-8 are located on the outer sides of the springs 2-7, installation holes are formed in the gripper installation plates 2-8, the upright posts 2-6 extend into the installation holes in the gripper installation plates 2-8, and the gripper installation plates 2-8 are limited through bolts to avoid axial sliding of the gripper installation plates 2-8 from the upright posts 2-6. The gripper mounting plates 2-8 can axially move on the upright posts 2-6 within a certain range by overcoming the elasticity of the springs 2-7, and can play a role in buffering when the gripper assembly 3 performs gripping action, so that the rigid contact is avoided from damaging the components
As shown in fig. 5 and 6, the gripper assembly 3 comprises a gripper 3-1, a support frame 3-2 and a driving cylinder 3-3, the gripper 3-1 is of a mutually crossed scissor structure, the gripper 3-1 is hinged to the support frame 3-2, an expansion rod of the driving cylinder 3-3 is hinged to the gripper 3-1, a base of the driving cylinder 3-3 is connected with a gripper mounting plate 2-8, a threaded hole is reserved in the gripper mounting plate 2-8, and a base of the driving cylinder 3-3 is connected with the gripper mounting plate 2-8 through a bolt.
As shown in FIG. 7, the welding gun device 5 comprises an anti-collision device 5-1, a holder 5-2 and a welding gun 5-3, wherein the holder 5-2 is in a Z-shaped structure, one end of the holder 5-2 is connected with the anti-collision device 5-1, the other end of the holder 5-2 is connected with the welding gun 5-3, and the anti-collision device 5-1 is connected with a welding gun device mounting plate 2-2.
The working principle of the utility model is as follows:
firstly, through robot program programming, the tail end 1 of a mobile robot moves to be close to a work material table for placing a bar 6;
secondly, after the tail end 1 of the robot moves to a position near a target bar, the visual device 4 arranged on the connecting component 2 collects position information of the bar 6 and feeds the collected bar information back to the control center;
thirdly, the control center receives signals transmitted by the vision equipment 4, sends an instruction to the robot tail end 1 after signal processing, and the robot tail end 1 moves to the position of the target bar stock 6 according to the instruction; the tail end 1 of the robot is rotatably arranged on a gripper assembly 3 on the connecting assembly 2 to an accurate gripping position, and a driving cylinder 3-3 of the gripper assembly 3 acts to enable the gripper 3-1 to clamp a bar 6 to finish one-time material taking;
fourthly, the tail end 1 of the robot moves to the position of the next target bar 6 again, the gripper assembly 3 on the other side is rotated to an accurate gripping position, and the driving cylinder 3-3 of the gripper assembly 3 moves to enable the gripper 3-1 to grip another bar 6; twice material taking is completed;
fifthly, after receiving the instruction after the material taking is finished, the robot tail end 1 starts to act and drives the robot tail end 1 to be close to the bar placing position, and the vision equipment 4 collects the position information of the placed bar 6 and feeds the collected position information back to the control center; after signal processing, the control center issues instructions to drive the tail end 1 of the robot to move and rotate the gripper assembly 3 to an accurate discharging position, the bar 6 is placed in place, the gripper assembly 3 acts, the gripper 3-1 loosens the bar 6, the control center gives instructions to drive the tail end 1 of the robot to act, the welding gun device 5 performs spot welding work, and the bar 6 is firmly fixed; the tail end 1 of the robot moves again, the gripper assembly 3 is rotated to another material placing position, the gripper assembly 3 moves to loosen the bar 6, the control center gives an instruction to drive the tail end 1 of the robot to move, the welding gun device 5 performs spot welding work, and the bar 6 is firmly fixed; after discharging is completed, the welding gun device 5 performs full welding operation;
sixthly, repeating the operation.
Claims (6)
1. The utility model provides an end effector of multi-functional robot which characterized in that: including terminal (1) of robot, terminal (1) of robot is connected with coupling assembling (2), and the both sides of coupling assembling (2) all are connected with tongs subassembly (3), and one side that terminal (1) of robot was kept away from in coupling assembling (2) is connected with welder device (5).
2. The multi-function robot end effector of claim 1, wherein: the bottom of the connecting component (2) is also provided with a vision device (4).
3. The multi-function robot end effector of claim 2, wherein: the connecting assembly (2) comprises a robot tail end mounting plate (2-1) and a welding gun device mounting plate (2-2), the robot tail end mounting plate (2-1) and the welding gun device mounting plate (2-2) are placed in parallel and fixedly connected through two connecting plates (2-3), a vision equipment mounting support (2-4) is arranged between the two connecting plates (2-3), and a hand grip mounting buffer table (2-5) is arranged on the outer side, far away from the vision equipment mounting support (2-4), of each connecting plate (2-3).
4. The multi-function robot end effector of claim 3, wherein: the gripper installation buffer table (2-5) comprises stand columns (2-6) installed on the connecting plates (2-3), two stand columns (2-6) are arranged on each connecting plate (2-3), springs (2-7) are sleeved on each stand column (2-6), gripper installation plates (2-8) are axially movably sleeved on the two stand columns (2-6), the gripper installation plates (2-8) are located on the outer sides of the springs (2-7), installation holes are formed in the gripper installation plates (2-8), and the stand columns (2-6) extend into the installation holes in the gripper installation plates (2-8) and limit the gripper installation plates (2-8) through bolts.
5. The multi-function robot end effector of claim 4, wherein: the gripper assembly (3) comprises a gripper (3-1), a support frame (3-2) and a driving cylinder (3-3), the gripper (3-1) is hinged to the support frame (3-2), a telescopic rod of the driving cylinder (3-3) is hinged to the gripper (3-1), and a base of the driving cylinder (3-3) is connected with a gripper mounting plate (2-8).
6. The multi-function robot end effector of claim 3, wherein: the welding gun device (5) comprises an anti-collision device (5-1), a holder (5-2) and a welding gun (5-3), the holder (5-2) is of a Z-shaped structure, one end of the holder (5-2) is connected with the anti-collision device (5-1), the other end of the holder (5-2) is connected with the welding gun (5-3), and the anti-collision device (5-1) is connected with a welding gun device mounting plate (2-2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021144872.2U CN212445275U (en) | 2020-06-19 | 2020-06-19 | Multifunctional robot tail end execution device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021144872.2U CN212445275U (en) | 2020-06-19 | 2020-06-19 | Multifunctional robot tail end execution device |
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| Publication Number | Publication Date |
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| CN212445275U true CN212445275U (en) | 2021-02-02 |
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| CN202021144872.2U Active CN212445275U (en) | 2020-06-19 | 2020-06-19 | Multifunctional robot tail end execution device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111590619A (en) * | 2020-06-19 | 2020-08-28 | 昆山华恒机器人有限公司 | Multifunctional robot tail end execution device |
| CN114055032A (en) * | 2021-12-27 | 2022-02-18 | 中国核工业二四建设有限公司 | Welding device and method for welding embedded part in plug welding of through hole |
-
2020
- 2020-06-19 CN CN202021144872.2U patent/CN212445275U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111590619A (en) * | 2020-06-19 | 2020-08-28 | 昆山华恒机器人有限公司 | Multifunctional robot tail end execution device |
| CN114055032A (en) * | 2021-12-27 | 2022-02-18 | 中国核工业二四建设有限公司 | Welding device and method for welding embedded part in plug welding of through hole |
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