CN216966592U - End effector of label welding robot - Google Patents

Abstract

The utility model discloses an end effector of a label welding robot, which comprises an effector main body, a welding gun mechanism and a sucker mechanism, wherein the welding gun mechanism and the sucker mechanism are arranged on a mounting frame; according to the welding robot, the actuator main body is arranged on the welding robot, the mounting frame is arranged on the actuator main body, the welding gun mechanisms comprising the two welding gun main bodies are arranged on the mounting frame, the two welding gun main bodies are fixedly arranged on two sides of the mounting frame, the welding nail chucks for clamping welding nails are arranged on the welding gun main bodies, the two sucker mechanisms are also arranged on the mounting frame and respectively correspond to the two welding guns, when in welding, the welding nails are clamped through the welding nail chucks, the labels are sucked through the sucker mechanisms, and the positions of the welding nails correspond to the positions of welding nail holes in the labels, namely the welding nails can pass through the welding nail holes, and the two sides are simultaneously welded through the welding gun main bodies, so that the welding efficiency is improved.

Description

End effector of label welding robot

Technical Field

The application relates to the technical field of stud welding, in particular to an end effector of a label welding robot.

Background

In a metering and weighing area of a high-speed wire production line in the metallurgical industry, two outgoing labels need to be welded on each binding wire manually, and the traditional manual label welding mode has high labor intensity, high rhythm and easy occurrence of safety accidents. At present, the robot welding label equipment which appears in intelligent upgrading has low working efficiency of an end effector and high failure rate, and is difficult to meet high-speed production rhythm and good welding quality.

SUMMERY OF THE UTILITY MODEL

To the defect that exists among the prior art, this application provides a weld end effector of sign robot to solve the problem that the welding efficiency among the prior art is low.

The above purpose of the utility model is mainly realized by the following technical scheme:

an end effector of a label welding robot, comprising:

the actuator main body is used for being arranged on the robot and provided with an installation frame.

The welding gun mechanism is arranged on the mounting frame and comprises two welding gun main bodies, wherein the welding gun main bodies are fixedly arranged on two sides of the mounting frame to be used for welding operation on two sides of the mounting frame simultaneously, and a welding nail chuck used for clamping a welding nail is arranged on the welding gun main body.

Sucking disc mechanism is equipped with two to and establish on the mounting bracket, and respectively with two welder is corresponding, in order to be used for absorbing the sign, and work as sucking disc mechanism absorb the sign the welding nail holder is gone up to press from both sides and is got after the welding nail, the position of welding nail with the position in welding nail hole is corresponding on the sign, so that the welding nail passes the welding nail hole.

Furthermore, a first movable cavity is formed in the mounting frame, the welding gun main body is arranged in the first movable cavity and can extend out or retract into the first movable cavity along the axial direction of the welding gun main body.

Further, a first spring is arranged between the end face of the welding gun body and the inner end face of the first movable cavity, so that when the welding gun body retracts into the first movable cavity, the welding gun body is ejected out by the first spring.

Furthermore, a side groove is formed in the mounting frame, a limiting strip is arranged between the welding gun main body and the first spring, extends into the side groove, and moves along the axial direction of the welding gun main body to limit the moving amplitude of the welding gun main body.

Furthermore, a first guide cylinder is further arranged in the first movable cavity, a plurality of groups of guide balls axially arranged along the welding gun main body are arranged in the first guide cylinder, and the welding gun main body is sleeved in the first guide cylinder.

Furthermore, a second movable cavity is formed in the mounting frame, the sucker mechanism comprises a sucker rod and a vacuum sucker, a vacuum channel is formed in the sucker rod, one end of the sucker rod is communicated with the vacuum sucker, the other end of the sucker rod is used for being connected with vacuum suction equipment, the sucker rod is arranged in the second movable cavity and can axially extend out of or retract into the second movable cavity along the sucker rod.

Furthermore, a circular truncated cone is arranged on the side wall of the sucker rod, and a second spring is arranged between the circular truncated cone and the inner end face of the second movable cavity, so that when the sucker rod retracts into the second movable cavity, the sucker rod is ejected out by the second spring.

Furthermore, a second guide cylinder is further arranged in the second movable cavity, a plurality of groups of guide balls axially arranged along the sucker rod are arranged in the second guide cylinder, and the sucker rod is sleeved in the second guide cylinder.

Further, the vacuum chuck has a dimensional specification that is consistent with a dimensional specification of the sign.

Furthermore, a purging device is further arranged on one side of the welding gun mechanism and used for ejecting air to purge welding slag.

Compared with the prior art, the utility model has the advantages that:

according to the welding robot, the actuator main body is arranged on the welding robot, the mounting frame is arranged on the actuator main body, the welding gun mechanisms comprising the two welding gun main bodies are arranged on the mounting frame, the two welding gun main bodies are fixedly arranged on two sides of the mounting frame, the welding nail chucks for clamping welding nails are arranged on the welding gun main bodies, the two sucker mechanisms are also arranged on the mounting frame and respectively correspond to the two welding guns, when in welding, the welding nails are clamped through the welding nail chucks, the labels are sucked through the sucker mechanisms, and the positions of the welding nails correspond to the positions of welding nail holes in the labels, namely the welding nails can pass through the welding nail holes, and the two sides are simultaneously welded through the welding gun main bodies, so that the welding efficiency is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic structural diagram provided in an embodiment of the present application;

FIG. 2 is a schematic structural diagram of a portion of a component provided in an embodiment of the present application;

FIG. 3 is a schematic structural diagram of a welding gun mechanism and a chuck mechanism according to an embodiment of the present disclosure;

FIG. 4 is a cross-sectional view of a portion of a component of a suction cup mechanism provided in an embodiment of the present application;

FIG. 5 is a cross-sectional view of a portion of the components of a torch mechanism according to an embodiment of the present application.

In the figure: 1. an actuator body; 11. a mounting frame; 2. a welding gun mechanism; 21. a welding gun main body; 22. a welding nail chuck; 3. a suction cup mechanism; 31. a sucker rod; 331. a circular truncated cone; 32. a vacuum chuck; 41. a first movable chamber; 42. a first spring; 43. a side groove; 44. a restriction strip; 45. A first guide cylinder; 51. a second movable cavity; 52. a second spring; 53. a second guide cylinder; 6. a purging device; 7. a 2D camera; 8. line laser stereo camera.

Detailed Description

The utility model is further described with reference to the following figures and specific embodiments. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. Specific structural and functional details disclosed herein are merely illustrative of example embodiments of the utility model. This invention may, however, be embodied in many alternate forms and should not be construed as limited to the embodiments set forth herein.

As shown in fig. 1 to 5, an end effector of a label welding robot includes an effector body 1, a welding gun mechanism 2, and a suction cup mechanism 3, wherein:

the actuator body 1 is used for being arranged on a robot, and an installation frame 11 is arranged on the actuator body 1.

The mounting frame 11 and the robot flange are connected in a bolt connection mode, and assembly and disassembly are facilitated.

Welder mechanism 2 is installed on mounting bracket 11, just welder mechanism 2 includes two welder main parts 21, two welder main part 21 is fixed to be installed the both sides of mounting bracket 11 are used for the both sides of mounting bracket 11 carry out welding operation simultaneously, be equipped with the welding nail chuck 22 that is used for the centre gripping welding nail on welder main part 21.

When the welding nail chuck 22 clamps the welding nail, the welding nail chuck 22 extrudes the welding nail through the axial movement of the welding gun main body 21 until the welding nail is pressed into the welding nail chuck 22, and the clamping process does not need manual operation, so that the overall processing efficiency is improved.

Sucking disc mechanism 3 is installed on mounting bracket 11, two sucking disc mechanisms 3 respectively with two welder is corresponding for absorb the sign, and work as sucking disc mechanism 3 absorb the sign the last clamp of welding nail chuck 22 is got after the welding nail, the position of welding nail with the position in welding nail hole on the sign is corresponding, so that the welding nail passes the welding nail hole.

It is worth explaining that, because the sucker mechanism 3 and the welding gun mechanism 2 are both arranged on the mounting frame 11, when the sucker mechanism 3 and the welding gun mechanism 2 are fixed, the distance between the sucker mechanism 3 and the welding gun mechanism 2 can be adjusted according to the specification and the size of the label, so that the welding gun mechanism 2 clamps and clamps the welding nail, and after the sucker mechanism 3 sucks the label, the welding nail is just positioned above a welding nail hole on the label, so that the step of welding nail position calibration or label position calibration before welding is avoided, and the efficiency is improved.

The working principle of the embodiment is as follows: through installing executor main part 1 on welding robot, be equipped with mounting bracket 11 on executor main part 1, the welder mechanism 2 including two welder main part 21 is established to mounting bracket 11 facial make-up, two welder main part 21 are fixed to be installed in the both sides of mounting bracket 11, be equipped with the welding nail chuck 22 that is used for the centre gripping welding nail on welder main part 21, still install two sucking disc mechanisms 3 on the mounting bracket 11, and corresponding with two welder respectively, when welding, press from both sides through welding nail chuck 22 and get the welding nail, absorb the sign through sucking disc mechanism 3, and the position of welding nail hole on position and the sign of welding nail is corresponding, the welding nail can pass the welding nail hole promptly, and carry out both sides simultaneous welding through welder main part 21, and the welding efficiency is improved.

Further, on the basis of the above embodiment, the mounting frame 11 has the first movable cavity 41 therein, the welding gun body 21 is installed in the first movable cavity 41, and can extend out or retract into the first movable cavity 41 along the axial direction of the welding gun body 21, and the movable position of the welding gun body 21 is provided through the first movable cavity 41, so that the damage to the welding gun body 21 caused by the fact that the welding gun body 21 abuts against other parts in the moving process is avoided.

Further, on the basis of the above embodiment, a first spring 42 is disposed between the end surface of the welding gun body 21 and the inner end surface of the first movable cavity 41, so that when the welding gun body 21 retracts into the first movable cavity 41, the first spring 42 ejects the welding gun body 21.

Under the action of the spring, the welding gun main body 21 is always pushed outwards by the spring, so that a welding virtual position generated by the movement of the welding gun main body 21 in the first movable cavity 41 is avoided, and the welding stability is kept.

Further, in the above embodiment, a side groove 43 is provided on the mounting bracket 11, a limiting bar 44 is provided between the welding gun body 21 and the first spring 42, and the limiting bar 44 extends into the side groove 43 and moves along the welding gun body 21 in the axial direction to limit the movement range of the welding gun body 21.

Specifically, the gun body 21 moves in synchronization with the stopper 44, and the length of the side groove 43 in the axial direction of the gun body 21, i.e., the movement width of the gun body 21, facilitates control of the movement width of the gun body 21.

Further, on the basis of the above embodiment, a first guide cylinder 45 is further disposed in the first movable cavity 41, a plurality of groups of guide balls axially arranged along the welding gun main body 21 are disposed in the first guide cylinder 45, and the welding gun main body 21 is sleeved in the first guide cylinder 45.

The arrangement direction of the balls is parallel to the axial direction of the welding gun main body 21, the balls roll on the outer peripheral surface of the welding gun main body 21, the guiding is formed on the welding gun main body 21, the friction force between the first movable cavity 41 and the welding gun main body 21 is reduced, and the moving stability of the welding gun main body 21 is improved.

Further, on the basis of above-mentioned embodiment, second activity cavity 51 has in the mounting bracket 11, sucking disc mechanism 3 includes sucking disc pole 31 and vacuum chuck 32, the inside vacuum channel that has of sucking disc pole 31, sucking disc pole 31 one end with vacuum chuck 32 intercommunication, the other end are used for connecting vacuum suction apparatus, sucking disc pole 31 is installed the second activity intracavity, and can follow sucking disc pole 31 axial is stretched out or is retracted the second activity intracavity.

The second movable cavity provides a movable position of the sucker rod 31, so that the sucker rod 31 is prevented from being directly damaged when being abutted to other parts in the moving process.

Further, on the basis of the above embodiment, a circular truncated cone 331 is disposed on the side wall of the suction cup rod 31, and a second spring 52 is disposed between the circular truncated cone 331 and the inner end surface of the second movable cavity 51, so that when the suction cup rod 31 retracts into the second movable cavity 51, the suction cup rod 31 is ejected by the second spring 52.

Under the acting force of the spring, the sucker rod 31 is always kept to be pushed out by the spring, the problem that the vacuum sucker 32 cannot adsorb the label due to the fact that the sucker rod 31 moves in the first movable cavity 41 to generate a moving virtual position is avoided, and the adsorption stability is kept.

Further, on the basis of the above embodiment, a second guide cylinder 53 is further disposed in the second movable cavity, a plurality of groups of guide balls axially arranged along the suction cup rod 31 are disposed in the second guide cylinder 53, and the suction cup rod 31 is sleeved in the second guide cylinder 53.

The arrangement direction of the balls is parallel to the axial direction of the sucker rod 31, the balls roll on the outer peripheral surface of the sucker rod 31, the sucker rod 31 is guided, the friction force between the second movable cavity and the sucker rod 31 is reduced, and the moving stability of the sucker rod 31 is improved.

Further, on the basis of the above embodiment, the size specification of the vacuum cup 32 is in accordance with the size specification of the label.

Compared with the traditional circular sucker, the bent degree of the sucking label can be reduced, the label is more stable in the movement process of the robot, and the welding success rate is improved.

Further, on the basis of the above embodiment, a purging device 6 is further arranged on one side of the welding gun mechanism 2, and the purging device 6 is used for ejecting air to purge welding slag, so that welding effectiveness caused by accumulation of welding slag is avoided.

In the actual operation process, furtherly, welder main part 21 one side is equipped with welder proximity sensor, welder proximity sensor is used for detecting welder main part 21's position to send signal drive welder main part 21 begins the welding, 3 one sides of sucking disc mechanism are equipped with the sign and detect photoelectric sensor, the sign detects photoelectric sensor and is used for detecting whether detect the sign on the sucking disc mechanism 3, and send signal indication to be used for reminding the sign to adsorb the phenomenon of inefficacy, avoid the invalid welding that the maloperation leads to.

Still can set up vision sensor in executor main part 1, its vision sensor includes 2D camera 7 and line laser stereo camera 8, and wherein 2D camera 7 possesses two functions, and first the roughly position of silk is tied up in preliminary discernment, makes the robot be close to fast and ties up the silk, and second whether the welding of discernment sign is successful after the welding is accomplished, improves welding efficiency.

The line laser stereo camera 8 drives the scanning through the robot to bind the wire, and the accurate discernment positioning spot coordinate owing to having discerned the position of binding the wire through 2D camera 7 at first step to the scanning time of line laser stereo camera 8 has been shortened, and this mode can further shorten whole work flow's time.

The 2D camera 7 and the line laser stereo camera 8 are explained in the prior art in terms of their structure, installation method, and operation method, and are not further developed here.

It should be understood that the terms first, second, etc. are used merely for distinguishing between descriptions and are not intended to indicate or imply relative importance. Although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of example embodiments of the present invention.

It should be understood that the term "and/or" herein is only one kind of association relationship describing the association object, and means that there may be three kinds of relationships, for example, a and/or B, and may mean: a exists alone, B exists alone, and A and B exist at the same time, and the term "/and" is used herein to describe another association object relationship, which means that two relationships may exist, for example, A/and B, may mean: a alone, and both a and B alone, and further, the character "/" in this document generally means that the former and latter associated objects are in an "or" relationship.

It is to be understood that the terms "upper," "vertical," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship that is conventionally used for placing the disclosed articles of manufacture or that is conventionally understood by those skilled in the art, which is intended merely to facilitate the description of the utility model and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the present invention.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," and "connected" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments of the utility model. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises," "comprising," "includes," and/or "including," when used herein, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, numbers, steps, operations, elements, components, and/or groups thereof.

In the following description, specific details are provided to facilitate a thorough understanding of example embodiments. However, it will be understood by those of ordinary skill in the art that the example embodiments may be practiced without these specific details. In other instances, well-known processes, structures and techniques may be shown without unnecessary detail in order to avoid obscuring example embodiments.

The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. An end effector of a label welding robot, comprising:

the robot actuator comprises an actuator main body (1) and a control system, wherein the actuator main body (1) is arranged on a robot, and a mounting frame (11) is arranged on the actuator main body (1);

the welding gun mechanism (2) is arranged on the mounting frame (11), the welding gun mechanism (2) comprises two welding gun main bodies (21), the two welding gun main bodies (21) are fixedly arranged on two sides of the mounting frame (11) and used for simultaneously performing welding operation on two sides of the mounting frame (11), and a welding nail chuck (22) used for clamping a welding nail is arranged on each welding gun main body (21);

sucking disc mechanism (3) is equipped with two to and establish on mounting bracket (11), and respectively with two welder is corresponding, in order to be used for absorbing the sign, and works as sucking disc mechanism (3) absorb the sign weld the nail chuck (22) go up to press from both sides and get after welding the nail, weld the position of nail with the position in welding the nail hole on the sign is corresponding, so that it passes to weld the nail the welding nail hole.

2. The end effector of a label welding robot as claimed in claim 1, wherein: the welding gun is characterized in that a first movable cavity (41) is formed in the mounting frame (11), the welding gun main body (21) is arranged in the first movable cavity (41), and can extend out or retract into the first movable cavity (41) along the axial direction of the welding gun main body (21).

3. The end effector of a tag welding robot as recited in claim 2, wherein: a first spring (42) is arranged between the end face of the welding gun body (21) and the inner end face of the first movable cavity (41), so that when the welding gun body (21) retracts into the first movable cavity (41), the welding gun body (21) is ejected out by the first spring (42).

4. The end effector of a tag welding robot as recited in claim 3, wherein: the welding gun is characterized in that a side groove (43) is formed in the mounting frame (11), a limiting strip (44) is arranged between the welding gun main body (21) and the first spring (42), the limiting strip (44) extends into the side groove (43) and moves axially along the welding gun main body (21) to limit the moving amplitude of the welding gun main body (21).

5. The end effector of a label welding robot as claimed in claim 4, wherein: still be equipped with first guide cylinder (45) in first activity chamber (41), first guide cylinder (45) inside be equipped with the multiunit along the direction ball that welder main part (21) axial was arranged, welder main part (21) cover is established in first guide cylinder (45).

6. The end effector of a tag welding robot as recited in claim 2, wherein: have second activity cavity (51) in mounting bracket (11), sucking disc mechanism (3) are including sucking disc pole (31) and vacuum chuck (32), sucking disc pole (31) inside has the vacuum passage, the one end of sucking disc pole (31) with vacuum chuck (32) intercommunication, the other end are used for connecting vacuum suction apparatus, sucking disc pole (31) are installed the second activity intracavity, and can follow sucking disc pole (31) axial is stretched out or is retracted into the second activity intracavity.

7. The end effector of a label welding robot as recited in claim 6, wherein: the side wall of the sucker rod (31) is provided with a circular truncated cone (331), a second spring (52) is arranged between the circular truncated cone (331) and the inner end face of the second movable cavity (51), and when the sucker rod (31) retracts into the second movable cavity (51), the sucker rod (31) is ejected out by the second spring (52).

8. The end effector of a label welding robot as recited in claim 7, wherein: and a second guide cylinder (53) is further arranged in the second movable cavity, a plurality of groups of guide balls axially distributed along the sucker rod (31) are arranged in the second guide cylinder (53), and the sucker rod (31) is sleeved in the second guide cylinder (53).

9. The end effector of a label welding robot as recited in claim 6, wherein: the vacuum cup (32) has a dimensional specification that is consistent with a dimensional specification of the signage.

10. The end effector of a label welding robot as claimed in claim 1, wherein: and a purging device (6) is further arranged on one side of the welding gun mechanism (2), and the purging device (6) is used for ejecting air to purge welding slag.

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