CN219255631U - Automatic cleaning system for gun changing disc of robot - Google Patents

Abstract

The utility model relates to the technical field of gun changing disc cleaning, in particular to a robot gun changing disc automatic cleaning system which comprises a plurality of air blowing mechanisms, an air inlet pipe group, a regulating valve group and a control system, wherein the air inlet pipe group is respectively communicated with the air blowing mechanisms, the regulating valve group is arranged on the air inlet pipe group, the control system is connected with the regulating valve group, and the air inlet pipe group is communicated with an external air source. The utility model aims to overcome the defect that the cleaning force and frequency of the gun changing disc of the existing robot cannot be reasonably adjusted, and can automatically adjust the cleaning triggering condition, the cleaning frequency and the cleaning time length of each time according to the actual working condition of the site, so that maintenance work of the existing gun changing disc is replaced by arranging special persons for carrying out, labor cost waste is reduced, and meanwhile, cleaning effect and efficiency are improved.

Description

Automatic cleaning system for gun changing disc of robot

Technical Field

The utility model relates to the technical field of gun changing disc cleaning, in particular to an automatic cleaning system for a robot gun changing disc.

Background

Along with the improvement of the capacity of the automobiles, the requirements of the modern automobile production industry on the equipment start rate management are gradually improved. The robot gun changing disc (ATC) is used as a transition connection module for quickly switching a robot tool, the matching mode is that one robot gun changing disc is matched with a plurality of tool gun changing discs, when the robot gun changing disc is used in a coupling mode with one tool gun changing disc, the other tool gun changing discs are exposed to the external environment independently, a welding workshop uses welding as a main production process, pollution factors in the environment are mainly welding slag, dust and the like, and the gun changing disc (ATC) storage environment is in dust and more welding slag. The old production and maintenance modes are as follows: the on-site security operation personnel, according to fixed maintenance cycle, utilize production line stop time, enter into the transfer machine body, open the dust cover with the valve of poking, carry out dust removal operation, clean about eight minutes at every turn, operating personnel utilize line stop time regularly to clean tool side gun changing dish, there is very big personnel's operation extravagant, lead to equipment to shut down maintenance latency and productivity loss because of the entering of dust welding slag, equipment maintenance plan is formulated according to the production plan, and production plan is often influenced by the market and takes place corresponding adjustment, lead to maintenance plan and actual production difference easily.

For dust protection of a robot gun changing tray (ATC), a dust cover or a dust-proof device is often used for protection: the dust cover comprises a robot gun changing disc placing bracket, a robot gun changing disc, a dust cover and a cylinder, wherein an air pipe joint is connected to the top of the dust cover, and an air blowing device is added on the dust cover, so that slag blowing is performed on a pinhole inside the gun changing disc while gun changing, and no residue is left in the pinhole of the gun changing disc. However, because the tool side gun exchange disc is integrated with the communication interface, the electricity and the water-gas module interface, the blowing air pressure and the frequency of each interface module of the gun exchange disc need to be regulated and controlled reasonably, and the cleaning force and the frequency can not be regulated and controlled reasonably only by blowing air, the more excellent cleaning effect can not be realized, and therefore, how to regulate and control the cleaning effect and the frequency of the gun exchange disc of the robot becomes an important research subject.

Disclosure of Invention

The utility model aims to overcome the defect that the cleaning force and frequency of a gun changing disc of the existing robot cannot be reasonably adjusted, and provides an automatic cleaning system for the gun changing disc of the robot. According to the utility model, cleaning trigger conditions, cleaning frequency and cleaning time length of each time can be automatically adjusted according to the actual working condition of the site, so that the maintenance work of the current gun changing disc is replaced by arranging special persons, the labor cost waste is reduced, and the cleaning effect and efficiency are improved.

In order to solve the technical problems, the utility model adopts the following technical scheme:

the automatic cleaning system for the gun changing disc of the robot comprises a plurality of blowing mechanisms, an air inlet pipe group, a regulating valve group and a control system, wherein the air inlet pipe group is respectively communicated with the plurality of blowing mechanisms, the regulating valve group is arranged on the air inlet pipe group, the control system is connected with the regulating valve group, and the air inlet pipe group is communicated with an external air source.

The utility model cleans the tool side gun exchange disc by using a gas cleaning mode, and adjusts the air inlet frequency and the output pressure by the adjusting valve group, so that the gas cleaning can be carried out on a plurality of module interfaces of the tool side gun exchange disc, dust and welding slag attached to each interface module of the tool side gun exchange disc are removed, equipment faults such as water leakage, air leakage, communication abnormality, welding abnormality and the like of the gun exchange disc are eliminated, special personnel are required to be arranged for replacing the maintenance work of the current gun exchange disc, the labor cost waste is reduced, and the cleaning effect and efficiency are improved.

Further, the air inlet pipe group comprises an air inlet main pipe and a plurality of air dividing branch pipes which are respectively communicated with a plurality of air blowing mechanisms, and the air inlet main pipe is communicated with the plurality of air dividing branch pipes through air dividing blocks. Through dividing the gas in the air inlet manifold and shunting to a plurality of branch gas pipes through the air distribution block, can regulate and control the air current in every branch gas pipe through the regulating valve group like this, can carry out the pursh work of pertinence.

Further, each gas distribution branch pipe is connected with a section of spring telescopic gas pipe. The flexible trachea of spring has flexible ability of retrieving, all is connected with the flexible trachea of one section spring on every branch gas pipe and can makes this branch gas pipe automatically regulated retrieve, can be more convenient for adapt to different installation environment and use scene, adjusts the length of branch gas pipe.

Further, the regulating valve group comprises a switch valve group and a first-stage speed regulating valve which are sequentially arranged on the air inlet main pipe along the air inlet direction, and a second-stage speed regulating valve which is respectively arranged on each air distribution branch pipe, wherein the switch valve group, the first-stage speed regulating valve and the second-stage speed regulating valve are respectively connected with the control system. Therefore, the utility model can adjust the opening and closing of the whole cleaning system according to the actual production requirement by controlling the switch valve group through the control system, controls the air inlet flow rate and air pressure on the air inlet main pipe through controlling the primary speed regulating valve, realizes the adjustment of the air inlet flow rate and air pressure on the air distribution branch pipe through the secondary speed regulating valve, realizes the synchronous adjustment of the air inlet main pipe and the independent adjustment function of the air distribution branch pipe, can independently design the cleaning flow rate according to different cleaning requirements of different modules such as the water-gas module, the electrifying module, the communication module and the like of the gun exchange disc, and can also synchronously and jointly adjust the cleaning flow rate and respectively meet different cleaning forces.

Further, the device also comprises an air pressure detection device arranged on each air distribution branch pipe, and the air pressure detection device is connected with the control system. Therefore, the air pressure detection device is designed to monitor and feed back air pressure so as to judge the blowing state of the cleaning system, so that the cleaning system can have fault diagnosis and alarm prompt functions, ensure the smooth and real-time cleaning operation and reduce equipment faults.

Further, the air pressure detecting device is a digital air pressure sensor.

Further, the switch valve group comprises a switch valve, a manual pressure regulating valve and an electromagnetic valve which are sequentially arranged on the air inlet main pipe along the air inlet direction, and the electromagnetic valve is connected with the control system. Therefore, the switch valve group comprises a manual switch valve and an electric electromagnetic valve, when the electromagnetic valve is wrong, the manual pressure regulating valve and the switch valve are adopted to conduct opening and closing and size adjustment of an air source, and the manual pressure regulating valve is used for regulating the pressure of air compressed air entering the main air channel, so that the overall safety performance is improved.

Further, the plurality of blowing mechanisms comprise a plurality of air nozzles for blowing towards the tool side gun exchange disc communication interface or the energy module interface. It should be noted that, when the robot tool is a gripper, the communication module and the air module are needed, and when the robot tool is welded, the water module, the electric module and the communication module are needed, no matter what tool, the number of the air blowing ports is at least one, that is, the communication module is a necessary interface, and meanwhile, the robot tool can be matched with other energy supply module interfaces, for example, the water module interface, the air module interface or the electric module interface is at least one.

Further, the plurality of air nozzles comprise a first air nozzle, a second air nozzle and a third air nozzle which correspond to the positions of the communication interface, the electric module interface and the water-air module interface of the tool side gun exchange disc respectively, and the first air nozzle, the second air nozzle and the third air nozzle are correspondingly connected with each air distribution branch pipe respectively. The communication interface, the electric module interface and the water-gas module interface of the gun changing disc corresponding to the tool side with the three air nozzles are arranged, the purging force of different modules of the gun changing disc is respectively met through the regulating valve group, the cleaning flow rate is independently designed, and the cleaning flow rate can be synchronously regulated.

Further, the control system comprises a man-machine interaction panel and a controller connected with the man-machine interaction panel, and the controller is connected with and controls the regulating valve group.

It should be noted that the controller may be a PLC programmable logic controller and include an input/output IO module. According to actual needs, the cleaning frequency and the cleaning scheme of the human-computer interaction panel can be set, signals are output to the regulating valve group through the controller, the air channel is opened after the regulating valve group acts, air blowing is started, different air pressures and flow rates are regulated to different air distribution branch pipes according to the setting, and finally after the air blowing is finished, the controller controls the regulating valve group to act again, the air channel is closed, and cleaning is completed.

Compared with the prior art, the utility model has the beneficial effects that:

according to the utility model, the gun exchange disk at the tool side is cleaned in a gas cleaning mode, the air inlet frequency and the output pressure are regulated through the regulating valve group, the targeted gas cleaning can be carried out on a plurality of module interfaces of the gun exchange disk at the tool side, dust and welding slag attached to each interface module of the gun exchange disk at the tool side are removed, equipment faults such as water leakage, air leakage, communication abnormality and welding abnormality of the gun exchange disk are eliminated, special personnel are required to be arranged for maintenance work of the gun exchange disk at present, labor cost waste is reduced, and cleaning effect and efficiency are improved.

Drawings

FIG. 1 is a schematic diagram of a connection structure according to the present utility model;

FIG. 2 is a control flow diagram of the present utility model;

FIG. 3 is a control logic diagram of the controller according to the present utility model.

The graphic indicia are illustrated as follows:

the device comprises a 1-blowing mechanism, a 11-first air nozzle, a 12-second air nozzle, a 13-third air nozzle, a 21-air inlet main pipe, a 22-air distribution branch pipe, a 23-air distribution block, a 24-spring telescopic air pipe, a 3-regulating valve group, a 311-switching valve, a 312-manual pressure regulating valve, a 313-electromagnetic valve, a 32-primary speed regulating valve, a 33-secondary speed regulating valve, a 34-air pressure detecting device, a 4-control system, a 41-man-machine interaction panel and a 42-controller.

Detailed Description

It should be noted that, in the case of no conflict, the embodiments and technical features in the embodiments may be combined with each other, and the detailed description in the specific embodiments should be interpreted as an explanation of the gist of the present application and should not be construed as undue limitation to the present application.

For the purposes, technical solutions and advantages of the embodiments of the present application to be more apparent, the specific technical solutions of the present application will be described in further detail below with reference to the accompanying drawings in the embodiments of the present application. The following examples are illustrative of the present application, but are not intended to limit the scope of the present application.

In the present embodiments, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the embodiments of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more.

Furthermore, in the embodiments of the present application, the terms "upper," "lower," "left," and "right," etc., are defined with respect to the orientation in which the components in the drawings are schematically disposed, and it should be understood that these directional terms are relative terms, which are used for descriptive and clarity with respect to each other, and which may vary accordingly with respect to the orientation in which the components in the drawings are disposed.

In the embodiments herein, unless explicitly specified and limited otherwise, the term "connected" is to be construed broadly, and for example, "connected" may be either a fixed connection, a removable connection, or an integral body; can be directly connected or indirectly connected through an intermediate medium.

In the present embodiments, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

In the embodiments of the present application, words such as "exemplary" or "such as" are used to mean serving as examples, illustrations, or descriptions. Any embodiment or design described herein as "exemplary" or "for example" should not be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "such as" is intended to present related concepts in a concrete fashion.

Example 1

As shown in fig. 1, the automatic cleaning system for the gun changing disc of the robot comprises a plurality of air blowing mechanisms 1, an air inlet pipe group which is respectively communicated with the plurality of air blowing mechanisms 1, a regulating valve group 3 which is arranged on the air inlet pipe group, and a control system 4 which is connected with the regulating valve group 3, wherein the air inlet pipe group is communicated with an external air source.

It should be noted that, this embodiment utilizes the clear mode of blowing of gas to clean the tool side to trade the rifle dish, through adjusting valve group 3 regulation frequency of admitting air and output pressure, can blow the gas to a plurality of module interfaces of tool side to trade the rifle dish, clear away dust and welding slag that will adhere to on each interface module of tool side to trade the rifle dish, eliminate trade the equipment trouble such as rifle dish leak, gas leakage, communication abnormality, welding abnormality, replace the maintenance work of present trade the rifle dish to need arrange the special man and go on, reduce the cost of labor extravagant, improve clean effect and efficiency simultaneously.

As shown in fig. 1, the air intake pipe group includes an air intake main pipe 21, a plurality of air dividing branch pipes 22 respectively communicating with a plurality of air blowing mechanisms 1, and the air intake main pipe 21 and the plurality of air dividing branch pipes 22 are communicated by air dividing blocks 23. The air in the air inlet manifold is split into a plurality of air distribution branch pipes 22 through the air distribution block 23, so that the air flow in each air distribution branch pipe 22 can be regulated and controlled through the regulating valve group 3, and the targeted blowing work can be performed.

As shown in fig. 1, a spring extension air pipe 24 is connected to each of the air distribution branch pipes 22. The spring telescopic air pipes 24 have telescopic recovery capacity, and a section of spring telescopic air pipe 24 is connected to each air distribution branch pipe 22, so that the air distribution branch pipes 22 can be automatically adjusted and recovered, different installation environments and use scenes can be more conveniently adapted, and the length of the air distribution branch pipes 22 can be adjusted.

As shown in fig. 1, the regulating valve group 3 includes a switching valve group and a primary speed regulating valve 32 which are sequentially provided on the intake main pipe 21 along the intake direction, and a secondary speed regulating valve 33 which is respectively provided on each of the branch pipes 22, and the switching valve group, the primary speed regulating valve 32 and the secondary speed regulating valve 33 are respectively connected to the control system 4.

As shown in fig. 2, in this embodiment, the control system 4 controls the switch valve group to adjust the on/off of the overall cleaning system according to the actual production requirement, the primary speed regulating valve 32 is controlled to control the air inlet flow rate and air pressure on the air inlet main pipe 21, the secondary speed regulating valve 33 is used to realize the adjustment of the air inlet flow rate and air pressure on the air distribution branch pipe 22, the secondary speed regulating is used to realize the synchronous adjustment of the air inlet main pipe 21 and the independent adjustment of the air distribution branch pipe 22, so that the cleaning flow rate can be independently designed according to different cleaning requirements of different modules such as the water-air module, the power-on module and the communication module of the gun exchange disc, and the cleaning flow rate can also be synchronously adjusted together, so as to respectively meet different blowing forces.

As shown in fig. 1, the air pressure detecting device 34 is further arranged on each air distribution branch pipe 22, and the air pressure detecting device 34 is connected with the control system. As shown in fig. 2, the air pressure detection device 34 is designed to monitor and feed back air pressure to determine the blowing state of the cleaning system, so that the cleaning system can have fault diagnosis and alarm prompt functions, ensure smooth and real-time cleaning operation, and reduce equipment faults.

As shown in fig. 1, the switch valve group includes a switch valve 311, a manual pressure regulating valve 312, and a solenoid valve 313, which are sequentially provided on the intake main pipe 21 along the intake direction, the solenoid valve 313 being connected to the control system 4. In this way, the switch valve group comprises the manual switch valve 311 and the electric solenoid valve 313, and when the solenoid valve 313 is wrong, the manual switch valve 312 and the switch valve are adopted to perform opening and closing of the air source and size adjustment, and the manual switch valve 312 adjusts the pressure of the main air channel inlet compressed air, so that the overall safety performance is improved.

As shown in fig. 1, the several blowing mechanisms 1 include several air nozzles for blowing toward the tool side gun exchange disk communication interface or the energy module interface.

As shown in fig. 1, the air nozzles in the present embodiment specifically include a first air nozzle 11, a second air nozzle 12, and a third air nozzle 13 corresponding to the positions of the communication interface, the electric module interface, and the water-air module interface of the tool side gun exchange disk, where the first air nozzle 11, the second air nozzle 12, and the third air nozzle 13 are respectively connected to each air distribution branch pipe 22. The communication interface, the electric module interface and the water-gas module interface of the gun changing disc corresponding to the tool side with the three air nozzles are arranged, the purging force of different modules of the gun changing disc is respectively met through the regulating valve group 3, the cleaning flow rate is independently designed, and the cleaning flow rate can be synchronously regulated.

Example 2

This embodiment is similar to embodiment 1, except that in this embodiment:

as shown in fig. 1, the control system 4 includes a human-computer interaction panel 41, and a controller 42 connected to the human-computer interaction panel 41, and the controller 42 is connected to and controls the regulating valve group 3.

In this embodiment, the controller 42 may be a PLC programmable logic controller, and includes an input/output IO module.

As shown in fig. 2 and 3, according to actual needs, the cleaning frequency and the cleaning scheme can be set on the man-machine interaction panel 41, a signal is output to the adjusting valve group 3 through the controller 42 to act, the air passage is opened after the adjusting valve group 3 acts, air blowing starts, different air pressures and flow rates are regulated for different air distribution branch pipes 22 according to the setting, and finally after the air blowing is finished, the controller 42 controls the adjusting valve group 3 to act again, the air passage is closed, and cleaning is completed.

Other structures and principles of this embodiment are the same as those of embodiment 1.

Example 3

This embodiment is similar to embodiment 2 except that:

in this embodiment: the air pressure detecting device 34 is a digital air pressure sensor.

Other structures and principles of this embodiment are the same as those of embodiment 2.

It is to be understood that the above examples of the present utility model are provided by way of illustration only and not by way of limitation of the embodiments of the present utility model. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the utility model are desired to be protected by the following claims.

Claims (10)

1. The automatic cleaning system for the gun changing disc of the robot is characterized by comprising a plurality of air blowing mechanisms (1), an air inlet pipe group which is respectively communicated with the plurality of air blowing mechanisms (1), a regulating valve group (3) which is arranged on the air inlet pipe group, and a control system (4) which is connected with the regulating valve group (3), wherein the air inlet pipe group is communicated with an external air source.

2. The automatic cleaning system for the gun changing disc of the robot according to claim 1, wherein the air inlet pipe group comprises an air inlet main pipe (21) and a plurality of air dividing branch pipes (22) which are respectively communicated with a plurality of air blowing mechanisms (1), and the air inlet main pipe (21) and the plurality of air dividing branch pipes (22) are communicated through air dividing blocks (23).

3. A robotic gun changing tray automatic cleaning system according to claim 2, wherein a length of spring telescoping air tube (24) is connected to each air dividing manifold (22).

4. The automatic cleaning system for a gun changing disc of a robot according to claim 2, wherein the regulating valve group (3) comprises a switch valve group and a primary speed regulating valve (32) which are sequentially arranged on the main air inlet pipe (21) along the air inlet direction, and a secondary speed regulating valve (33) which is respectively arranged on each branch air pipe (22), and the switch valve group, the primary speed regulating valve (32) and the secondary speed regulating valve (33) are respectively connected with the control system (4).

5. The robotic gun changer automatic cleaning system according to claim 4, further comprising an air pressure detecting device (34) provided on each of the branch air pipes (22), the air pressure detecting device (34) being connected to the control system.

6. The robotic gun tray automatic cleaning system according to claim 5, wherein the air pressure detecting device (34) is a digital air pressure sensor.

7. The automatic cleaning system for a gun changing tray of a robot according to claim 4, wherein the switch valve group comprises a switch valve (311), a manual pressure regulating valve (312) and a solenoid valve (313) which are sequentially arranged on the air inlet main pipe (21) along the air inlet direction, and the solenoid valve (313) is connected with the control system (4).

8. A robotic gun changer automatic cleaning system according to claim 2, wherein the number of blowing mechanisms (1) comprises a number of air nozzles for blowing towards a tool side gun changer communication interface or an energy module interface.

9. The automatic cleaning system for a robotic gun changing tray according to claim 8, wherein the plurality of air nozzles comprises a first air nozzle (11), a second air nozzle (12) and a third air nozzle (13) corresponding to the positions of the communication interface, the electric module interface and the water-air module interface of the tool side gun changing tray respectively, and the first air nozzle (11), the second air nozzle (12) and the third air nozzle (13) are correspondingly connected with each air distribution branch pipe (22) respectively.

10. A robotic gun changing tray automatic cleaning system according to claim 1, characterized in that the control system (4) comprises a human-machine interaction panel (41) and a controller (42) connected to the human-machine interaction panel (41), the controller (42) being connected to and controlling the regulating valve group (3).

Images