CN220297151U - Terminal quick change device of robot - Google Patents
Terminal quick change device of robot Download PDFInfo
- Publication number
- CN220297151U CN220297151U CN202321435132.8U CN202321435132U CN220297151U CN 220297151 U CN220297151 U CN 220297151U CN 202321435132 U CN202321435132 U CN 202321435132U CN 220297151 U CN220297151 U CN 220297151U
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- motor
- support
- dust
- robot
- change device
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- 230000008859 change Effects 0.000 title claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 72
- 238000005498 polishing Methods 0.000 claims abstract description 56
- 238000005553 drilling Methods 0.000 claims abstract description 47
- 238000013016 damping Methods 0.000 claims abstract description 16
- 239000000428 dust Substances 0.000 claims description 63
- 230000002265 prevention Effects 0.000 claims description 10
- 229910000831 Steel Inorganic materials 0.000 claims description 8
- 239000010959 steel Substances 0.000 claims description 8
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 238000007517 polishing process Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 241001227561 Valgus Species 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
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- Grinding-Machine Dressing And Accessory Apparatuses (AREA)
Abstract
The utility model relates to a terminal quick change device of robot, including fixed establishment, grinding machanism and drilling mechanism, fixed establishment includes motor, motor support, rear bracket and damping spring, the motor support is the N type structure of opening downward, the top and the side of motor support all pass through the bolt with the outside connection of motor; the damping spring is sleeved on the connecting rod; the polishing mechanism is connected with an output shaft of the motor through a bolt; drilling mechanism pass through the drill bit support with motor support connects, the drill bit support runs through drilling mechanism with motor support connects, has made things convenient for the operator to change grinding machanism and drilling mechanism, has realized grinding machanism and drilling mechanism's quick replacement.
Description
Technical Field
The application relates to the technical field of building robots, in particular to a robot tail end quick-change device.
Background
At present, the commercial house is generally built in an assembled mode, and the polishing and drilling operations of a general concrete wall surface are often performed by a constructor holding a wall surface polishing machine and a drilling machine, so that the labor intensity is high, the working efficiency is low, the quality consistency is poor, a large amount of dust is generated in the operation process, and the physical health of workers is seriously influenced; the wall body needs to be erected with a ladder or a hand and foot rest for construction operation, potential safety hazards exist, and more young people are reluctant to engage in high-risk work.
Most building robots on the market are single in function, temporarily have not collect integrative multi-functional intelligent robot of polishing, drilling, and enterprise's promotion intelligent mechanical operation replaces manual work, and is with high costs, and the product utilization is low. Therefore, the development of the polishing and drilling quick-change device can realize 'one machine with multiple purposes'.
Disclosure of Invention
Based on the above, it is necessary to provide a robot terminal quick-change device, which is convenient for operators to change the polishing mechanism and the drilling mechanism, and realizes the quick-change of the polishing mechanism and the drilling mechanism.
To achieve the purpose, the utility model adopts the following technical scheme: a robot tip quick change device comprising:
the fixing mechanism comprises a motor, a motor support, a rear support and a damping spring, wherein the motor support is of an N-type structure with a downward opening, the top and the side face of the motor support are connected with the outside of the motor through bolts, rectangular steel and at least four connecting rods are arranged on the rear side of the motor support, and pass through the rear support and are fixedly connected with the rear support, and the four connecting rods are respectively distributed at four right-angle ends of the rectangular steel;
the damping spring is sleeved on the connecting rod, the head end of the damping spring is abutted with the motor bracket, and the tail end of the damping spring is abutted with the rear bracket;
the rear support is provided with a mechanical arm interface which is connected with an external robot;
the polishing mechanism is connected with an output shaft of the motor through a bolt;
the drilling mechanism is connected with the motor bracket through a drill bit bracket, and the drill bit bracket penetrates through the drilling mechanism and is connected with the motor bracket;
the motor support is characterized by further comprising a pressure sensor, wherein the pressure sensor is positioned between the rear support and the motor support.
Preferably, the drilling structure comprises an electric drill bit, an electric drill power conversion hammer joint, a drill chuck and a drill bit special joint;
the output shaft of the motor is connected with the rear end of the special drill bit connector, the front end of the special drill bit connector is fixedly connected with the rear end of the drill chuck, the front end of the drill chuck is connected with the rear end of the electric drill power conversion hammer connector, and the front end of the electric drill power conversion hammer connector is connected with the drill bit;
the drill bit support comprises a front connecting portion, a connecting portion and a rear connecting portion, wherein the front connecting portion is connected with the front end of the connecting portion, the rear connecting portion is connected with the rear end of the connecting portion, the front connecting portion is fixedly connected with an electric drill rotary hammer joint, the connecting portion is in a hollow design, and the rear connecting portion is connected with the motor support.
Preferably, the polishing mechanism comprises a polishing disc, a dust collection dustproof structure and a supporting structure, the polishing disc is rotationally connected with an output shaft of the motor, the polishing disc is circular, the dust collection dustproof structure is arranged on the back of the polishing disc, the supporting structure is arranged on the back of the dust collection dustproof structure, and the supporting structure is far away from one end of the output shaft of the motor.
Preferably, the dust collection and prevention structure comprises a dust cover and a dust collection opening, wherein the dust collection opening is positioned at the back of the dust cover and is used for absorbing dust generated in the polishing operation process, and the dust cover is rotationally connected with an output shaft of the motor.
Preferably, the support structure further comprises a support rod and a stop block, the support rod is close to the outer edge of the dust cover, one end of the support rod is fixedly connected with the stop block, the support rod is provided with at least two support frames, each support frame comprises a first support frame and a second support frame, the first support frame is close to the head end of the support rod, the second support frame is close to the tail end of the support rod, and the first support frame and the second support frame are fixedly connected with the back of the dust cover.
Preferably, the polishing mechanism further comprises a first spring and a cover plate, the first spring is sleeved on the supporting rod, the head end of the first spring is abutted against the first supporting frame, the tail end of the first spring is abutted against the second supporting frame, the cover plate penetrates through the supporting frame, and the cover plate is located between the second supporting frame and the tail end of the first spring.
Preferably, the stop block is connected with the second supporting frame, and the lower part of the stop block is not in contact with the back of the dust cover.
Preferably, the radian of the lower part of the cover plate is matched with the radian of the back of the dust cover.
Preferably, the device further comprises an electric cylinder connecting pin shaft, and the electric cylinder connecting pin shaft is connected with the deflection electric cylinder.
When the output shaft of the motor is connected with the polishing mechanism, the motor is electrified, and the polishing mechanism starts to work to polish the wall surface; when the output shaft of the motor is connected with the drilling mechanism, the motor is electrified, and the drilling mechanism starts drilling operation. According to the requirements of the operation tasks, an operator realizes the surface polishing operation and the drilling operation by replacing the polishing mechanism and the drilling mechanism; the utilization rate of the product is improved, and the cost of the enterprise for pushing intelligent mechanical operation to replace manual operation is indirectly reduced; the robot tail end quick-change device facilitates an operator to change the polishing mechanism and the drilling mechanism, and realizes quick replacement of the polishing mechanism and the drilling mechanism.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a block diagram of a grinding mechanism according to an embodiment of the present application assembled to a robot tip.
Fig. 2 is a block diagram of a grinding mechanism according to an embodiment of the present application assembled to a robot tip.
Fig. 3 is a block diagram of the grinding mechanism of the embodiment of the present application assembled to the end of a robot.
Fig. 4 is a structural view of a drilling mechanism of an embodiment of the present application assembled to a robot tip.
Fig. 5 is a structural view of a drilling mechanism of an embodiment of the present application assembled to a robot tip.
Fig. 6 is a partial block diagram of a drilling mechanism according to an embodiment of the present application assembled to a robot tip.
Reference numerals illustrate: 1. a fixing mechanism; 11. a motor; 12. a motor bracket; 121. a connecting rod; 122. rectangular steel; 13. a rear bracket; 131. a robotic arm interface; 14. a bolt; 15. a damping spring; 2. a polishing mechanism; 21. polishing the grinding disc; 22. dust collection and prevention structure; 221. a dust cover; 222. a dust collection port; 23. a support structure; 231. a support rod; A. a support frame; a1, a first supporting frame; a2, a second supporting frame; 232. a stop block; 24. a first spring; 25. a cover plate; 3. a drilling mechanism; 31. a drill bit holder; 311. a front connection part; 312. a joint portion; 313. a rear connection portion; 32. an electric drill bit; 33. an electric drill turning hammer joint; 34. a drill chuck; 35. a bit special joint; 4. a pressure sensor; 5. the electric cylinder is connected with the pin shaft.
Detailed Description
In order to make the above objects, features and advantages of the present application more comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is, however, susceptible of embodiment in many other forms than those described herein and similar modifications can be made by those skilled in the art without departing from the spirit of the application, and therefore the application is not to be limited to the specific embodiments disclosed below.
Referring to fig. 1 to 6, specifically, the utility model provides a robot tail end quick-change device, which comprises a fixing mechanism 1, a polishing mechanism 2, a drilling mechanism 3, a pressure sensor 4 and an electric cylinder connecting pin 5.
The fixing mechanism 1 comprises a motor 11, a motor bracket 12, a rear bracket 13 and a damping spring 15, wherein the motor bracket 12 is of an N-type structure with a downward opening, the top and the side surface of the motor bracket 12 are both connected with the outside of the motor 11 through bolts 14, rectangular steel 122 and at least four connecting rods 121 are arranged on the rear side of the motor bracket 12, the connecting rods 121 penetrate through the rear bracket 13 and are fixedly connected with the rear bracket 13, and the four connecting rods 121 are respectively distributed at four right-angle ends of the rectangular steel 122; rectangular steel 122 and connecting rod 121 facilitate a reinforced connection between rear bracket 13 and motor bracket 12.
The damping spring 15 is sleeved on the connecting rod 121, the head end of the damping spring 15 is abutted against the motor bracket 12, and the tail end of the damping spring 15 is abutted against the rear bracket 13; the motor bracket 12 and the rear bracket 13 are supported by the damping spring 15, so that the wall surface can be polished in a self-adaptive manner in the front-back and left-right directions.
The rear bracket 13 is provided with a mechanical arm interface 131, and the mechanical arm interface 131 is connected with an external robot.
As shown in fig. 1-3, in particular, the grinding mechanism 2 is connected to the output shaft of the motor 11 by means of bolts 14; the polishing mechanism 2 comprises a polishing disc 21, a dust collection and prevention structure 22, a supporting structure 23, a first spring 24 and a cover plate 25, wherein the polishing disc 21 is rotationally connected with an output shaft of the motor 11, the polishing disc 21 is circular, the dust collection and prevention structure 22 is arranged on the back of the polishing disc 21, the supporting structure 23 is arranged on the back of the dust collection and prevention structure 22, and the supporting structure 23 is far away from one end of the output shaft of the motor 11. The polishing disc 21 is rotated to perform polishing in a front-back and left-right self-adaptation manner under the drive of the motor 11. The dust collection and prevention structure 22 is used for cleaning dust in the polishing process, ensuring the cleanliness of the fixing mechanism 1 and reducing the pollution of air.
As shown in fig. 1-3, it should be further explained that the dust-absorbing and dust-preventing structure 22 includes a dust-absorbing cover 221 and a dust-absorbing opening 222, the dust-absorbing opening 222 is located at the back of the dust-absorbing cover 221, and is used for absorbing dust generated during the polishing operation, and the dust-absorbing cover 221 is rotatably connected with the output shaft of the motor 11. Dust cover 221 can prevent dust generated in the polishing process from entering motor 11, so that normal operation of motor 11 is prevented from being affected. The dust suction opening 222 can suck away generated dust during the operation of the polishing mechanism 2, so that the dust sucked by operators is reduced, and the harm of the dust to the operators is reduced.
As shown in fig. 1-3, specifically, the supporting structure 23 further includes a supporting rod 231 and a stop block 232, the supporting rod 231 is near to an outer edge of the dust cover 221, the supporting rod 231 is provided with at least two supporting frames a, the supporting frames a include a first supporting frame A1 and a second supporting frame A2, the first supporting frame A1 is near to a head end of the supporting rod 231, the second supporting frame A2 is near to a tail end of the supporting rod 231, and the first supporting frame A1 and the second supporting frame A2 are fixedly connected with a back of the dust cover 221.
One end of the supporting rod 231 is fixedly connected with the stop block 232, the stop block 232 is connected with the second supporting frame A2, and the lower part of the stop block 232 is not in contact with the back of the dust cover 221; if the lower portion of the stopper 232 abuts against the back of the dust cover 221, the cover plate 25 cannot slide on the dust cover 221 along the support bar 231.
The back of dust cover 221 can be consolidated to bracing piece 231 and dog 232, alleviates dust cover 221 and receives the destruction of wall at the in-process of polishing the wall, and first support frame A1 and second support frame A2 are fixed bracing piece 231 at the back of dust cover 221, and dog 232 prevents the valgus of polishing dish 21 to a certain extent when polishing dish 21 valgus.
As shown in fig. 1-3, specifically, the first spring 24 is sleeved on the supporting rod 231, the head end of the first spring 24 is abutted against the first supporting frame A1, the tail end of the first spring 24 is abutted against the second supporting frame A2, the cover plate 25 passes through the supporting frame a, and the cover plate 25 is located between the second supporting frame A2 and the tail end of the first spring 24; the curvature of the underside of the cover plate 25 matches the curvature of the back of the dust cap 221. In the polishing process, the dust cover 221 receives the reaction force of the wall surface, the outer edge of the dust cover 221 is possibly damaged, so that dust flows out from the outer edge of the dust cover 221 and enters into the output shaft of the motor 11, the normal operation of the motor 11 is further influenced, the radian of the lower part of the cover plate 25 ensures that the cover plate 25 can slide on the outer edge of the dust cover 221, and the condition that the dust cover 221 is damaged due to the uneven wall surface is reduced.
As shown in fig. 3, specifically, the first spring 24 allows the cover plate 25 to change its position during sliding, the wall surface to be polished is generally uneven, and if the cover plate 25 is fixed to the support bar 231, the cover plate 25 is damaged when sliding to the protruding portion of the wall surface.
As shown in fig. 4 to 6, in particular, the drilling mechanism 3 is connected to the motor bracket 12 through a drill bracket 31, and the drill bracket 31 is connected to the motor bracket 12 through the drilling mechanism 3; the drilling structure comprises an electric drill bit 32, an electric drill rotary hammer joint 33, a drill chuck 34 and a drill bit special joint 35.
The output shaft of the motor 11 is connected with the rear end of the drill bit special connector 35, the front end of the drill bit special connector 35 is fixedly connected with the rear end of the drill chuck 34, the front end of the drill chuck 34 is connected with the rear end of the electric drill rotary hammer connector 33, and the front end of the electric drill rotary hammer connector 33 is connected with the drill bit.
As shown in fig. 5-6, specifically, the drill holder 31 includes a front connection portion 311, a connection portion 312, and a rear connection portion 313, the front connection portion 311 is connected to the front end of the connection portion 312, the rear connection portion 313 is connected to the rear end of the connection portion 312, the front connection portion 311 is fixedly connected to the electric drill hammer joint 33, the connection portion 312 is in a hollow design, and the rear connection portion 313 is connected to the motor holder 12.
After the motor 11 is electrified, the drill chuck 34 is connected with the output shaft of the motor 11 through the drill bit special connector 35, the drill chuck 34 rotates, the electric drill bit 32 is connected with the drill chuck 34 through the electric drill rotary hammer connector 33, the electric drill bit 32 rotates along with the rotation of the drill chuck 34, and the electric drill bit 32 rotates to drill into a wall, so that the perforation of the wall surface is realized. The front connecting part 311 fixes the electric drill rotary hammer joint 33, the connecting part 312 connects the front connecting part 311 and the rear connecting part 313, the rear connecting part 313 is fixed with the motor bracket 12, and the drill bracket 31 connects the drilling mechanism 3 and the fixing mechanism 1 together.
As shown in fig. 1-2, in particular, the pressure sensor 4 is located between the rear bracket 13 and the motor bracket 12. The rear bracket 13 is provided with a pressure sensor 4 for detecting acting forces among the polishing mechanism 2, the drilling mechanism 3 and the wall surface in the polishing and drilling process.
When the output shaft of the motor 11 is connected with the polishing mechanism 2, the motor 11 is electrified, the polishing mechanism 2 starts to work, and the wall surface is polished; when the output shaft of the motor 11 is connected with the drilling mechanism 3, the motor 11 is energized, and the drilling mechanism 3 starts the drilling operation. According to the requirements of the operation tasks, an operator realizes the surface polishing operation and the drilling operation by replacing the polishing mechanism 2 and the drilling mechanism 3; the utilization rate of the product is improved, and the cost of the enterprise for pushing intelligent mechanical operation to replace manual operation is indirectly reduced; the robot tail end quick-change device facilitates an operator to replace the polishing mechanism 2 and the drilling mechanism 3, and realizes quick replacement of the polishing mechanism 2 and the drilling mechanism 3.
As shown in fig. 2, the electric cylinder connecting pin 5 is connected with the deflection electric cylinder. The deflection electric cylinder is used for swinging the tail end of the robot and controlling the tail end of the robot to swing left and right.
The device has two operation modes of a drilling function and a polishing function, when the polishing mechanism 2 is replaced by the drilling mechanism 3, the polishing disc 21, the dust cover 221 and the bolts 14 connected with the motor 11 and the motor bracket 12 are removed, the special bit joint 35, the drill chuck 34, the electric drill rotary hammer joint 33, the electric drill 32 and the drill bracket 31 are assembled in sequence, and the top and the side of the drill bracket 31 are connected with the drill bracket 31, the motor 11 and the electric drill rotary hammer joint 33 by the bolts 14, so that the replacement of the drilling mechanism 3 is realized.
When the drilling mechanism 3 is replaced by the polishing mechanism 2, the drill bit support 31, the electric drill head 32, the electric drill rotary hammer joint 33, the drill chuck 34 and the drill bit special joint 35 are sequentially removed, and the polishing disc 21 and the motor support 12 are assembled, so that the drilling mechanism 3 is replaced.
The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the claims. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.
Claims (9)
1. A robot tip quick change device, comprising:
the fixing mechanism comprises a motor, a motor support, a rear support and a damping spring, wherein the motor support is of an N-type structure with a downward opening, the top and the side face of the motor support are connected with the outside of the motor through bolts, rectangular steel and at least four connecting rods are arranged on the rear side of the motor support, and pass through the rear support and are fixedly connected with the rear support, and the four connecting rods are respectively distributed at four right-angle ends of the rectangular steel;
the damping spring is sleeved on the connecting rod, the head end of the damping spring is abutted with the motor bracket, and the tail end of the damping spring is abutted with the rear bracket;
the rear support is provided with a mechanical arm interface which is connected with an external robot;
the polishing mechanism is connected with an output shaft of the motor through a bolt;
the drilling mechanism is connected with the motor bracket through a drill bit bracket, and the drill bit bracket penetrates through the drilling mechanism and is connected with the motor bracket;
and the pressure sensor is positioned between the rear bracket and the motor bracket.
2. The robot tip quick change device of claim 1, wherein the drilling mechanism comprises an electric drill, an electric drill-to-hammer joint, a drill chuck, and a drill bit-specific joint;
the output shaft of the motor is connected with the rear end of the special drill bit connector, the front end of the special drill bit connector is fixedly connected with the rear end of the drill chuck, the front end of the drill chuck is connected with the rear end of the electric drill power conversion hammer connector, and the front end of the electric drill power conversion hammer connector is connected with the drill bit;
the drill bit support comprises a front connecting portion, a connecting portion and a rear connecting portion, wherein the front connecting portion is connected with the front end of the connecting portion, the rear connecting portion is connected with the rear end of the connecting portion, the front connecting portion is fixedly connected with an electric drill rotary hammer joint, the connecting portion is in a hollow design, and the rear connecting portion is connected with the motor support.
3. The robot tail end quick-change device according to claim 1, wherein the polishing mechanism comprises a polishing disc, a dust collection and dust prevention structure and a supporting structure, the polishing disc is rotationally connected with an output shaft of the motor, the polishing disc is circular, the dust collection and dust prevention structure is mounted on the back of the polishing disc, the supporting structure is mounted on the back of the dust collection and dust prevention structure, and the supporting structure is far away from one end of the output shaft of the motor.
4. The robot end quick-change device according to claim 3, wherein the dust collection and prevention structure comprises a dust cover and a dust collection opening, the dust collection opening is positioned at the back of the dust cover and is used for absorbing dust generated in the polishing process, and the dust cover is rotationally connected with an output shaft of the motor.
5. The robot end quick change device according to claim 4, wherein the support structure further comprises a support rod and a stop block, the support rod is close to the outer edge of the dust cover, one end of the support rod is fixedly connected with the stop block, the support rod is provided with at least two support frames, the support frames comprise a first support frame and a second support frame, the first support frame is close to the head end of the support rod, the second support frame is close to the tail end of the support rod, and the first support frame and the second support frame are fixedly connected with the back of the dust cover.
6. The robot end quick change device of claim 5, wherein the polishing mechanism further comprises a first spring and a cover plate, the first spring is sleeved on the support rod, the head end of the first spring is abutted against the first support frame, the tail end of the first spring is abutted against the second support frame, the cover plate penetrates through the support frame, and the cover plate is located between the second support frame and the tail end of the first spring.
7. The robot end quick change device according to claim 5, wherein the stopper is connected to the second supporting frame, and the lower part of the stopper is not in contact with the back of the dust cover.
8. The robot end quick change device of claim 6, wherein the arc of the underside of the cover matches the arc of the back of the dust cap.
9. The robot end quick change device of claim 8, further comprising an electrical cylinder connection pin, the electrical cylinder connection pin being connected to the yaw electrical cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321435132.8U CN220297151U (en) | 2023-06-07 | 2023-06-07 | Terminal quick change device of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321435132.8U CN220297151U (en) | 2023-06-07 | 2023-06-07 | Terminal quick change device of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220297151U true CN220297151U (en) | 2024-01-05 |
Family
ID=89348627
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321435132.8U Active CN220297151U (en) | 2023-06-07 | 2023-06-07 | Terminal quick change device of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220297151U (en) |
-
2023
- 2023-06-07 CN CN202321435132.8U patent/CN220297151U/en active Active
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