CN220331292U - Industrial robot tool end - Google Patents
Industrial robot tool end Download PDFInfo
- Publication number
- CN220331292U CN220331292U CN202320631178.0U CN202320631178U CN220331292U CN 220331292 U CN220331292 U CN 220331292U CN 202320631178 U CN202320631178 U CN 202320631178U CN 220331292 U CN220331292 U CN 220331292U
- Authority
- CN
- China
- Prior art keywords
- plate
- mounting
- tool
- industrial robot
- dovetail groove
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000003466 welding Methods 0.000 claims abstract description 55
- 238000005498 polishing Methods 0.000 claims abstract description 15
- 238000007789 sealing Methods 0.000 claims description 21
- 239000011521 glass Substances 0.000 claims description 16
- 239000005304 optical glass Substances 0.000 claims description 9
- 238000001816 cooling Methods 0.000 claims description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses an industrial robot tool end, which comprises an adapter flange plate and a mounting plate connected with the adapter flange plate; the device also comprises a first executing tool, a second executing tool and a third executing tool; the mounting plate is provided with a driving mechanism, the driving end of the driving mechanism is connected with a bearing plate, the bearing plate is fixedly connected with the mounting frame, and the first executing tool is mounted on the mounting frame; the adapter flange plate is fixedly connected with the Z-shaped mounting plate through the adapter plate, and the second execution tool is fixed on a mounting block at one end of the Z-shaped mounting plate; the other end of the Z-shaped mounting plate is fixedly connected with a mounting component of the third execution tool through a dovetail groove sliding mechanism. The industrial robot tool end performs welding operation through the welding gun, the camera performs three-dimensional scanning on the welding seam, the position needing repair welding or polishing is detected, and the welding gun is operated again for welding at the repair welding position; and (5) polishing the place to be polished by a polishing tool.
Description
Technical Field
The utility model relates to an industrial robot tool end.
Background
The industrial robot can replace manpower to complete long-time and high-intensity repeated labor under various complex working conditions and high-risk harmful environments, and can realize intelligent, multifunctional and flexible automatic production. Industrial robots are widely used in welding in a variety of fields including petroleum, chemical, gas, electric power, industrial products, and ships.
In the prior art, a welding gun is arranged at the tool end of an industrial robot to realize automatic welding, for example, the Chinese patent application with the name of '2018215232912' is entitled 'five-axis all-position welding industrial robot', and discloses a tool end capable of being used for automatic welding of the industrial robot, and the industrial robot drives the tool end to finish welding work. However, the inspection of welding results, repair welding at the welding missing position and polishing of the welded joint after welding still need manual operation, and the full automation of the industrial robot welding work cannot be thoroughly realized.
Disclosure of Invention
The utility model aims to: the object of the present utility model is to provide an industrial robot tool tip that integrates an industrial camera, a grinding tool and a welding gun at the same time.
The technical scheme is as follows: the industrial robot tool end comprises an adapter flange plate and a mounting plate connected with the adapter flange plate; the device also comprises a first executing tool, a second executing tool and a third executing tool; the mounting plate is provided with a driving mechanism, the driving end of the driving mechanism is connected with a bearing plate, the bearing plate is fixedly connected with the mounting frame, and the first executing tool is mounted on the mounting frame; the adapter flange plate is fixedly connected with the Z-shaped mounting plate through an adapter plate, and the second execution tool is fixed on a mounting block at one end of the Z-shaped mounting plate; the other end of the Z-shaped mounting plate is fixedly connected with a mounting component of the third execution tool through a dovetail groove sliding mechanism.
Wherein the first executing tool is a polishing tool; the second executing tool is a welding gun; the third implementation tool is an industrial camera.
The device further comprises a fourth executing tool, wherein the fourth executing tool is a temperature sensor, and the temperature sensor is fixed on the dovetail groove sliding mechanism through a mounting connecting plate.
The dovetail groove sliding mechanism comprises a dovetail groove sliding concave plate and a dovetail groove sliding convex plate which are mutually in fit connection, the dovetail groove sliding convex plate is fixed on the mounting assembly, the mounting connecting plate and the Z-shaped mounting plate are fixedly connected with the dovetail groove sliding concave plate, and the dovetail groove sliding convex plate transversely moves relative to the dovetail groove sliding concave plate.
The anti-collision device further comprises an anti-collision device, the anti-collision device is arranged on one side, far away from the adapter flange plate, of the adapter plate, one side of the anti-collision device is connected with the adapter plate, and the other side of the anti-collision device is connected with one end, provided with the mounting block, of the Z-shaped mounting plate.
The driving mechanism is a driving cylinder, the fixed end of the driving cylinder is fixed on the mounting plate, the mounting plate is further provided with guide rails on two sides of the stretching direction of the driving cylinder, the guide rails are provided with sliding blocks which are mutually matched and connected with the guide rails, and the sliding blocks are connected with the bearing plate through sliding plates.
The installation assembly comprises a rectangular box body with an opening at one side, wherein the rectangular box body is formed by surrounding an upper sealing plate, a lower sealing plate, a left sealing plate, a right sealing plate and a rear sealing plate, an industrial camera is arranged in the rectangular box body, and a camera lens is arranged at one side of the opening; the left sealing plate and the right sealing plate are provided with water cooling plates at one side close to the camera; the rectangular box body is provided with a camera lens protection component at the opening.
The camera lens protection assembly sequentially comprises a glass mounting plate, a glass backing plate, optical glass and a locking plate, wherein the glass backing plate is positioned between the optical glass and the glass mounting plate, and the optical glass and the glass mounting plate are fixed on the rectangular box body through the locking plate.
The mounting assembly further comprises a camera lens protection assembly, wherein the camera lens protection assembly comprises an air cylinder, a mounting seat, a movable assembly and a protection plate; the movable assembly comprises a first assembly and a second assembly which are mutually hinged; the cylinder passes through mount pad and rectangle box fixed connection, and the cylinder output is articulated with movable assembly's first subassembly, first subassembly and guard plate fixed connection, second subassembly one end and first subassembly, the second subassembly other end is articulated with the mount pad.
The beneficial effects are that: compared with the prior art, the utility model has the following advantages: according to the welding gun, the camera component is arranged on the welding gun, so that the industrial robot can three-dimensionally scan the welding seam when performing welding operation, the welding condition is known at the first time, and repair welding is performed on the welding missing position; the welding seam to be polished is polished by a polishing tool, so that the whole process of welding, checking, repair welding and polishing is realized; meanwhile, in order to improve the safety of the welding process, a temperature sensor for detecting the welding temperature is also arranged, and when the temperature exceeds the normal welding temperature, the welding operation can be delayed or suspended, so that the safety of the welding process is improved.
Drawings
FIG. 1 is a schematic diagram I of an industrial robot tool end according to the present utility model;
FIG. 2 is a diagram showing the connection relationship between a mounting plate and a carrier plate;
FIG. 3 is a schematic diagram II of an industrial robot tool end according to the present utility model;
FIG. 4 is a diagram of the connection relationship between the Z-shaped mounting plate and the adapter plate and dovetail sliding mechanism;
FIG. 5 is an exploded view of the camera mounting assembly;
FIG. 6 is a schematic diagram of a camera lens protection assembly;
fig. 7 is a schematic structural diagram of a camera lens protection assembly.
Detailed Description
As shown in fig. 1 to 7, the industrial robot tool end of the present utility model comprises an adapter flange plate 1 and a mounting plate 2 connected with the adapter flange plate 1; the polishing tool further comprises a first executing tool 212, a second executing tool 221 and a third executing tool 223, wherein the first executing tool 212 is a polishing tool; the second executing tool 221 is a welding gun; the third implementation 223 is an industrial camera; the mounting plate 2 is provided with a driving mechanism, the driving end 14 of the driving mechanism is connected with the L-shaped bearing plate 15, the L-shaped bearing plate 15 is fixedly connected with a connecting plate 40, the connecting plate 40 is fixedly connected with the mounting frame 19, and the first executing tool 212 is mounted on the mounting frame 19; the adapter flange plate 1 is fixedly connected with the Z-shaped mounting plate 5 through the adapter plate 3, and further comprises a bumper 4 arranged between the adapter plate 3 and the Z-shaped mounting plate 5, wherein the bumper 4 is arranged on one side, far away from the adapter flange plate 1, of the adapter plate 3, one side of the bumper 4 is connected with the adapter plate 3, and the other side of the bumper 4 is connected with one end, provided with a mounting block 51, of the Z-shaped mounting plate 5; the second executing tool 221 is fixed on the mounting block 51 at one end of the Z-shaped mounting plate 5; the other end of the Z-shaped mounting plate 5 is fixedly connected with a mounting component of the third execution tool 223 through a dovetail groove sliding mechanism 6; the dovetail groove sliding mechanism 6 comprises a dovetail groove sliding concave plate 61 and a dovetail groove sliding convex plate 62 which are mutually in fit connection, the dovetail groove sliding convex plate 62 is fixed on the mounting assembly, the mounting connecting plate 7 and the Z-shaped mounting plate 5 are fixedly connected with the dovetail groove sliding concave plate 61, and the dovetail groove sliding convex plate 62 transversely moves relative to the dovetail groove sliding concave plate 61; the driving mechanism is a driving air cylinder 13, the fixed end of the driving air cylinder 13 is fixed on the mounting plate 2, guide rails 16 are further arranged on two sides of the mounting plate 2 in the extending direction of the driving air cylinder, sliding blocks 17 which are mutually matched and connected with the guide rails 16 are arranged on the guide rails 16, the sliding blocks 17 are connected with the L-shaped bearing plate 15 through sliding plates 18, the driving end of the driving air cylinder 13 extends back and forth to drive the polishing tool to move back and forth, and the polishing tool polishes welding seams. The shooting direction of the industrial camera lens is consistent with the welding direction of the welding gun.
The industrial robot tool end further comprises a fourth executing tool 224, wherein the fourth executing tool 224 is a temperature sensor, and the temperature sensor is fixed on the dovetail groove sliding mechanism 6 through the mounting connecting plate 7. The temperature sensor is used for detecting the welding temperature, the temperature of the welding position is detected through the temperature sensor, and when the welding temperature exceeds a normal value, the operation is paused to ensure the safety of the welding process.
The installation assembly comprises a rectangular box body 30 with one side opening, which is formed by enclosing an upper sealing plate 92, a lower sealing plate 95, a left sealing plate 94, a right sealing plate 91 and a rear sealing plate 93, wherein an industrial camera is arranged in the rectangular box body 30, and the camera lens is arranged at one side of the opening; the left sealing plate 94 and the right sealing plate 91 are provided with a water cooling plate 10 at one side close to the camera, and the water cooling plate 10 is arranged in the rectangular box body 30 and used for cooling the camera; the rectangular case 30 is provided with a camera lens protection assembly 961 at the opening. The camera lens protection assembly 961 sequentially includes a glass mounting plate 23, a glass backing plate 24, an optical glass 25, and a locking plate 26, wherein the glass backing plate 24 is made of rubber, the glass backing plate 24 is disposed between the optical glass 25 and the glass mounting plate 23, and the optical glass 25 and the glass mounting plate 23 are fixed on the rectangular box 30 through the locking plate 26. The mounting assembly further includes a camera lens protection assembly 962, the camera lens protection assembly 962 including a cylinder 29, a mount 20, a movable assembly 27, and a protection plate 22; the movable assembly 27 comprises a first assembly 271 and a second assembly 272 hinged to each other; the cylinder 29 is fixedly connected with the rectangular box body 30 through the mounting seat 20, the output end of the cylinder 29 is hinged with a first component 271 of the movable component 27, the first component 271 is fixedly connected with the protection plate 22, one end of a second component 272 is hinged with the first component 271, and the other end of the second component 272 is hinged with the mounting seat 20. The camera lens protection assembly 962 serves to protect the camera lens when the camera is not in operation, the cylinder 29 is pushed out, and the protection plate 22 is moved forward, and when moved to the corresponding position, rotates it to the front of the camera lens.
The industrial robot tool end performs welding operation through the welding gun, the camera performs three-dimensional scanning on the welding seam, the position needing repair welding or polishing is detected, and the welding gun is operated again for welding at the repair welding position; polishing the place to be polished by a polishing tool; in order to ensure the safety of the welding gun in the welding process, the temperature sensor is used for detecting the welding temperature, so that the safety during welding is improved.
Claims (9)
1. An industrial robot tool end, characterized in that: comprises an adapter flange plate (1) and a mounting plate (2) connected with the adapter flange plate (1); further comprising a first execution tool (212), a second execution tool (221) and a third execution tool (223); the mounting plate (2) is provided with a driving mechanism, the driving end of the driving mechanism is connected with the bearing plate (15), the bearing plate (15) is fixedly connected with the mounting frame (19), and the first executing tool (212) is mounted on the mounting frame (19); the adapter flange plate (1) is fixedly connected with the Z-shaped mounting plate (5) through the adapter plate (3), and the second execution tool (221) is fixed on a mounting block (51) at one end of the Z-shaped mounting plate (5); the other end of the Z-shaped mounting plate (5) is fixedly connected with a mounting component of the third execution tool (223) through a dovetail groove sliding mechanism (6).
2. The industrial robot tool tip of claim 1, wherein: the first execution tool (212) is a polishing tool; the second executing tool (221) is a welding gun; the third implementation means (223) is an industrial camera.
3. The industrial robot tool tip of claim 1, wherein: the device further comprises a fourth executing tool (224), wherein the fourth executing tool (224) is a temperature sensor, and the temperature sensor is fixed on the dovetail groove sliding mechanism (6) through a mounting connecting plate (7).
4. The industrial robot tool tip of claim 1, wherein: the dovetail groove sliding mechanism (6) comprises a dovetail groove sliding concave plate (61) and a dovetail groove sliding convex plate (62) which are mutually in fit connection, the dovetail groove sliding convex plate (62) is fixed on the mounting assembly, the mounting connecting plate (7) and the Z-shaped mounting plate (5) are fixedly connected with the dovetail groove sliding concave plate (61), and the dovetail groove sliding convex plate (62) transversely moves relative to the dovetail groove sliding concave plate (61).
5. The industrial robot tool tip of claim 1, wherein: still include bumper guard (4), bumper guard (4) are installed in the one side that adapter board (3) kept away from adapter flange board (1), and bumper guard (4) one side is connected with adapter board (3), and bumper guard (4) opposite side is connected with the one end that Z shape mounting panel (5) were equipped with installation piece (51).
6. The industrial robot tool tip of claim 1, wherein: the driving mechanism is a driving air cylinder (13), the fixed end of the driving air cylinder (13) is fixed on the mounting plate (2), the mounting plate (2) is further provided with guide rails (16) on two sides of the stretching direction of the driving air cylinder, the guide rails (16) are provided with sliding blocks (17) which are mutually matched and connected with the guide rails (16), and the sliding blocks (17) are connected with the bearing plate (15) through sliding plates (18).
7. The industrial robot tool tip of claim 1, wherein: the mounting assembly comprises a rectangular box body (30) with one side opening, wherein the rectangular box body (30) is formed by enclosing an upper sealing plate (92), a lower sealing plate (95), a left sealing plate (94), a right sealing plate (91) and a rear sealing plate (93), an industrial camera is arranged in the rectangular box body (30), and a camera lens is arranged at one side of the opening; the left sealing plate (94) and the right sealing plate (91) are provided with a water cooling plate (10) at one side close to the camera; the rectangular box (30) is provided with a camera lens protection component (961) at the opening.
8. The industrial robot tool tip of claim 7, wherein: the camera lens protection assembly (961) sequentially comprises a glass mounting plate (23), a glass backing plate (24), optical glass (25) and a locking plate (26), wherein the glass backing plate (24) is positioned between the optical glass (25) and the glass mounting plate (23), and the optical glass (25) and the glass mounting plate (23) are fixed on the rectangular box body (30) through the locking plate (26).
9. The industrial robot tool tip of claim 7, wherein: the mounting assembly further comprises a camera lens protection assembly (962), wherein the camera lens protection assembly (962) comprises a cylinder (29), a mounting seat (20), a movable assembly (27) and a protection plate (22); the movable assembly (27) comprises a first assembly (271) and a second assembly (272) hinged to each other; the cylinder (29) is fixedly connected with the rectangular box body (30) through the mounting seat (20), the output end of the cylinder (29) is hinged with a first component (271) of the movable component (27), the first component (271) is fixedly connected with the protection plate (22), one end of a second component (272) is hinged with the first component (271), and the other end of the second component (272) is hinged with the mounting seat (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320631178.0U CN220331292U (en) | 2023-03-28 | 2023-03-28 | Industrial robot tool end |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320631178.0U CN220331292U (en) | 2023-03-28 | 2023-03-28 | Industrial robot tool end |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220331292U true CN220331292U (en) | 2024-01-12 |
Family
ID=89456359
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320631178.0U Active CN220331292U (en) | 2023-03-28 | 2023-03-28 | Industrial robot tool end |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220331292U (en) |
-
2023
- 2023-03-28 CN CN202320631178.0U patent/CN220331292U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109571102B (en) | Metal working machine tool capable of quickly changing tools | |
| CN216966634U (en) | Vacuum negative pressure device and laser welding equipment | |
| CN110856853A (en) | Laser cleaning workstation for overhaul vehicle | |
| CN220331292U (en) | Industrial robot tool end | |
| CN211305809U (en) | Automatic grinding device of roof welding seam | |
| CN114211166A (en) | Double-station four-gun guardrail welding robot | |
| CN214558312U (en) | Three-dimensional laser cutting workstation for curved surface machining | |
| CN211759169U (en) | Duplex position friction stir welding bench formula equipment | |
| CN109822197B (en) | Full-automatic fuel rod assembling and welding device and method | |
| US5520062A (en) | Window mechanism for sensor in industrial robot | |
| CN111397543A (en) | Full-automatic spot welding electrode centering detection device and detection method thereof | |
| CN215788830U (en) | A worker station of polishing for axle housing automation line | |
| CN115609134A (en) | Ultrasonic metal welding machine | |
| CN114082715A (en) | Gantry type laser cleaning equipment | |
| CN215468982U (en) | Welding end structure | |
| CN202963832U (en) | Clamp for front floor assembly | |
| KR20210114119A (en) | A Testing System Of Apparatus For Cooling Battery | |
| CN217344779U (en) | Cylinder body polishing equipment for hydraulic cylinder machining | |
| CN211362303U (en) | Centering assembly | |
| CN215148179U (en) | Large-scale component surface impact shot blasting system | |
| CN110227700A (en) | A kind of double-station laser cleaning sets spare moving protective cover | |
| CN217475090U (en) | Power battery module welding equipment | |
| CN220033278U (en) | Automatic feeding and discharging and automatic feeding device | |
| CN109738124B (en) | Furnace end gas tightness detects machine | |
| CN220427490U (en) | Riveting integrated tool end |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |