Welding tool mounting mechanism for modular smart robot

Abstract

The utility model relates to the technical field of robot components, in particular to a welding tool mounting mechanism for a modular dexterous robot, which comprises a mechanical arm, a connecting flange mounted at the free end of the mechanical arm, a mounting frame fixed at the lower end of the connecting flange and a welding tool arranged below the mounting frame. The lower end of the mounting frame is fixedly connected with a mounting base, and the upper end of the welding tool is fixedly connected with a connecting base attached to the lower end face of the mounting base. According to the welding tool mounting mechanism, an original welding tool mounting mechanism is scientifically and reasonably improved, and the transverse inserting buckle, the limiting buckle block, the limiting transverse plate, the outer stud and the inner screw hole are arranged between the mounting seat and the connecting seat, so that tool-free quick mounting and dismounting operation between the welding tool and the mounting frame can be realized; and the workload and difficulty of daily mounting and dismounting operation of the welding tool are effectively reduced, so that the convenience and efficiency of mounting and dismounting operation of the welding tool are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robot components, in particular to a welding tool installation mechanism for a modular dexterous robot. Background Technique

[0002] A welding robot is an industrial robot engaged in welding. According to the definition of an industrial robot belonging to a standard welding robot by the International Organization for Standardization, an industrial robot is a multi-purpose, reprogrammable automatic control manipulator with three or more programmable axes and is used in the field of industrial automation. In order to adapt to different uses, the mechanical interface of the last axis of the robot is usually a connecting flange, which can be connected with different tools or end effectors. A welding robot is one that installs a welding torch or a welding (cutting) torch on the flange of the last axis of the industrial robot so that it can perform welding, cutting or thermal spraying.

[0003] As Figure 3 shown, it is a welding tool installation mechanism for the previous generation of dexterous robots. The welding tool is installed and fixed below the mounting frame through mounting ribs, a mounting seat and fasteners. When installing or disassembling the welding tool, operators need to participate with tools, resulting in a large workload and difficulty in the entire installation and disassembly process of the welding tool, reducing the convenience and efficiency of the installation and disassembly operations of the welding tool.

[0004] In view of this, it is particularly important to design and manufacture a welding tool installation mechanism that can achieve quick tool-free installation and disassembly of the welding tool, improve the convenience and efficiency of installation and disassembly, and apply it in the design, manufacture and actual use process of dexterous welding robots. Content of the Utility Model

[0005] The purpose of the utility model is to provide a welding tool installation mechanism for a modular dexterous robot to solve the problem that when installing or disassembling a welding tool with the welding tool installation mechanism for the previous generation of dexterous robots, operators need to participate with tools, and the convenience and efficiency of installation and disassembly are poor.

[0006] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0007] A welding tool installation mechanism for a modular dexterous robot includes a robotic arm, a connecting flange installed at the free end of the robotic arm, a mounting frame fixed to the lower end of the connecting flange, and a welding tool disposed below the mounting frame. A mounting seat is fixedly connected to the lower end of the mounting frame, a connecting seat is fixedly connected to the upper end of the welding tool and fits against the lower end surface of the mounting seat, and a locking mechanism is provided between the mounting seat and the connecting seat for tool-free combined fixation after the docking of the mounting seat and the connecting seat.

[0008] As a further description of the above technical solution:

[0009] The buckle mechanism includes a horizontal insertion buckle that is movably buckled at the left ends of the mounting base and the connecting base and has an open right end, two limiting buckle blocks that are symmetrically fixed on both sides of the right end of the horizontal insertion buckle and are in an L-shaped structure, a limiting horizontal plate that is movably installed between the two limiting buckle blocks from top to bottom, and a fastening part arranged between the mounting base, the connecting base and the limiting horizontal plate.

[0010] As a further description of the above technical solution:

[0011] The fastening part includes an internal thread seat fixed in the middle of the right end of the limiting horizontal plate, an external thread stud that is installed on the internal thread seat by screw thread and penetrates through the mounting base and the connecting base to the left, a knob installed on the right end of the external thread stud, and an internal thread hole opened in the middle of the right ends of the mounting base and the connecting base and matching with the external thread stud.

[0012] As a further description of the above technical solution:

[0013] An internal buckle groove for accommodating the lower end of the mounting bracket and the upper end of the welding tool is opened in the middle of the right end of the horizontal insertion buckle.

[0014] As a further description of the above technical solution:

[0015] Side stop blocks that protrude outwards and abut against the limiting buckle blocks are fixedly connected to the front end and the rear end of the limiting horizontal plate.

[0016] As a further description of the above technical solution:

[0017] Positioning blocks that penetrate upwards through the mounting base are fixedly connected to the four corners at the upper end of the connecting base, and positioning holes that are in transitional fit with the positioning blocks are opened at the four corners of the mounting base.

[0018] To sum up, due to the adoption of the above technical solution, the beneficial effects of the present utility model are as follows:

[0019] In the present utility model, the original welding tool mounting mechanism is scientifically and reasonably improved. A horizontal insertion buckle, limiting buckle blocks, a limiting horizontal plate, an external thread stud and an internal thread hole are arranged between the mounting base and the connecting base. The connecting base above the welding tool can be fixedly inserted upwards at a fixed point below the mounting base through the positioning blocks. The horizontal insertion buckle can be slid and buckled between the mounting base and the connecting base from left to right. After the limiting horizontal plate is slid and buckled between the two limiting buckle blocks, the external thread stud is screwed inwards into the internal thread hole between the mounting base and the connecting base. At this time, the mounting base and the connecting base will be comprehensively locked and fixed together. This structure can realize the quick installation and disassembly operation of the welding tool and the mounting bracket without tools, effectively reducing the workload and difficulty of the daily installation and disassembly operations of the welding tool, thereby improving the convenience and efficiency of the installation and disassembly operations of the welding tool. Brief Description of the Drawings

[0020] Figure 1 The structural schematic diagram of a welding tool mounting mechanism for a modular dexterous robot proposed by the present utility model;

[0021] Figure 2 The three-dimensional disassembly schematic diagram of the mounting frame, welding tool, horizontal insertion buckle and limiting horizontal plate in the present utility model;

[0022] Figure 3 The structural schematic diagram of a welding tool mounting mechanism for the previous generation of dexterous robots in the prior art.

[0023] Legend description:

[0024] 1. Robot arm; 2. Mounting frame; 201. Connecting flange; 202. Mounting seat; 203. Positioning hole; 3. Welding tool; 301. Connecting seat; 302. Positioning block; 4. Horizontal insertion buckle; 401. Limiting buckle block; 402. Inner buckle groove; 5. Limiting horizontal plate; 501. Inner screw seat; 502. Side stop block; 6. Outer stud; 601. Knob; 7. Inner screw hole. Specific implementation mode

[0025] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the protection scope of the present utility model.

[0026] Please refer to Figures 1 - 3 , the present utility model provides a technical solution: a welding tool mounting mechanism for a modular dexterous robot, including a robot arm 1, a connecting flange 201 mounted on the free end of the robot arm 1, a mounting frame 2 fixed to the lower end of the connecting flange 201, and a welding tool 3 disposed below the mounting frame 2. The lower end of the mounting frame 2 is fixedly connected with a mounting seat 202, and the upper end of the welding tool 3 is fixedly connected with a connecting seat 301 that fits the lower end surface of the mounting seat 202. A buckle locking mechanism for tool-free combined fixation after the docking of the mounting seat 202 and the connecting seat 301 is provided between the mounting seat 202 and the connecting seat 301.

[0027] Specifically, as Figure 1 and Figure 2As shown in the figure, the buckle mechanism includes a horizontal insertion buckle 4 that is movably buckled to the left end of the mounting base 202 and the connecting base 301 and has an open right end, two limit buckle blocks 401 that are symmetrically fixed on both sides of the right end of the horizontal insertion buckle 4 and have an L-shaped structure, a limit horizontal plate 5 that is movably installed between the two limit buckle blocks 401 from top to bottom, and a fastening part arranged between the mounting base 202, the connecting base 301, and the limit horizontal plate 5. When the horizontal insertion buckle 4 slides and buckles between the mounting base 202 and the connecting base 301, the freedom degree in the Y-axis direction between the mounting base 202 and the connecting base 301 can be restricted. When the limit horizontal plate 5 is movably installed and fixed between the two limit buckle blocks 401, the freedom degrees in the X-axis and Y-axis directions of the horizontal insertion buckle 4, the mounting base 202, and the connecting base 301 can be restricted.

[0028] Among them, the fastening part includes an internal screw seat 501 fixed in the middle of the right end of the limit horizontal plate 5, an external screw post 6 that is screwed and installed on the internal screw seat 501 and penetrates the mounting base 202 and the connecting base 301 to the left, a knob 601 installed on the right end of the external screw post 6, and an internal screw hole 7 opened in the middle of the right ends of the mounting base 202 and the connecting base 301 and matching the external screw post 6. When holding and turning the knob 601, the external screw post 6 can be screwed into the internal screw hole 7 between the mounting base 202 and the connecting base 301, so as to prevent the limit horizontal plate 5 from sliding off the two limit buckle blocks 401.

[0029] An internal buckle groove 402 for accommodating the lower end of the mounting bracket 2 and the upper end of the welding tool 3 is opened in the middle of the right end of the horizontal insertion buckle 4, which can make the horizontal insertion buckle 4 stably slide into the space between the mounting bracket 2, the mounting base 202, the welding tool 3, and the connecting base 301, improving the contact area and fixing effect after the horizontal insertion buckle 4 is assembled.

[0030] Side stop blocks 502 that protrude outward and abut against the limit buckle blocks 401 are fixedly connected to the front end and the rear end of the limit horizontal plate 5, which can prevent the limit horizontal plate 5 from laterally shifting and shaking between the two limit buckle blocks 401, improving the stability of the limit horizontal plate 5 installed between the two limit buckle blocks 401, and at the same time facilitating the precise positioning operation between the external screw post 6 and the internal screw hole 7, preventing interference problems when the external screw post 6 is screwed into the internal screw hole 7.

[0031] Specifically, as Figure 1 and Figure 2As shown in the figure, positioning blocks 302 that penetrate upward through the mounting base 202 are fixedly connected to the four upper corners of the connecting base 301. Positioning holes 203 that are in transitional fit with the positioning blocks 302 are provided at the four corners of the mounting base 202. The setting of the positioning blocks 302 and the positioning holes 203, on the one hand, facilitates the positioning and installation operation between the mounting base 202 and the connecting base 301, ensuring the assembly accuracy of the mounting base 202 and the connecting base 301. On the other hand, it can prevent the connecting base 301 from sliding horizontally under the mounting base 202, and at the same time can provide a certain degree of longitudinal insertion locking force, thereby improving the structural stability of the assembly of the mounting base 202 and the connecting base 301.

[0032] Working principle: When the welding tool 3 needs to be installed on the mounting bracket 2 on the robotic arm 1, the first step is to position the positioning blocks 302 on the connecting base 301 upward and slide them into the positioning holes 203 of the mounting base 202. At this time, the degrees of freedom in the X-axis and Y-axis directions between the mounting base 202 and the connecting base 301 can be restricted. The second step is to movably snap the horizontal insertion buckle 4 from left to right onto the mounting base 202 and the connecting base 301. When the inner buckle grooves 402 on the horizontal insertion buckle 4 are respectively buckled with the lower end of the mounting bracket 2 and the upper end of the welding tool 3, at this time the horizontal insertion buckle 4 is stably buckled between the mounting base 202 and the connecting base 301, and the degree of freedom in the Z-axis direction between the mounting base 202 and the connecting base 301 can be restricted. The third step is to prevent the horizontal insertion buckle 4 from sliding off the mounting base 202 and the connecting base 301 under force and improve the stability of the module combination among the mounting base 202, the connecting base 301, and the horizontal insertion buckle 4. Then the limiting horizontal plate 5 can be movably installed from top to bottom between the two limiting buckle blocks 401, and then the knob 601 can be held and rotated to screw the external screw column 6 inward into the internal screw holes 7 between the mounting base 202 and the connecting base 301. At this time, the horizontal insertion buckle 4 will be fixed against deviation between the mounting base 202 and the connecting base 301.

[0033] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution of the present invention and its inventive concept, makes equivalent substitutions or changes, and all should be covered within the protection scope of the present invention.

Claims

1. A welding tool mounting mechanism for a modular dexterous robot, comprising a robotic arm (1), a connecting flange (201) mounted on the free end of the robotic arm (1), a mounting bracket (2) fixed to the lower end of the connecting flange (201), and a welding tool (3) disposed below the mounting bracket (2), characterized in that, The lower end of the mounting bracket (2) is fixedly connected with a mounting base (202), the upper end of the welding tool (3) is fixedly connected with a connecting base (301) which is in fit with the lower end face of the mounting base (202), and a buckle mechanism for tool-free combined fixation after the docking of the mounting base (202) and the connecting base (301) is arranged between the mounting base (202) and the connecting base (301).

2. The welding tool mounting mechanism for a modular dexterous robot according to claim 1, characterized in that, The buckle mechanism includes a horizontal insertion buckle (4) which is movably buckled at the left ends of the mounting base (202) and the connecting base (301) and has an open right end, two limiting buckle blocks (401) which are symmetrically fixed on both sides of the right end of the horizontal insertion buckle (4) and have an L-shaped structure, a limiting horizontal plate (5) which is movably installed between the two limiting buckle blocks (401) from top to bottom, and a fastening part arranged between the mounting base (202), the connecting base (301) and the limiting horizontal plate (5).

3. The installation mechanism for a welding tool of a modular dexterous robot according to claim 2, characterized in that, The fastening part includes an internal screw seat (501) fixed at the middle of the right end of the limiting horizontal plate (5), an external screw column (6) which is screwed onto the internal screw seat (501) through threads and penetrates through the mounting base (202) and the connecting base (301) to the left, a knob (601) installed on the right end of the external screw column (6), and internal screw holes (7) which are opened at the middle of the right ends of the mounting base (202) and the connecting base (301) and are matched with the external screw column (6).

4. The welding tool mounting mechanism for a modular dexterous robot according to claim 2, characterized in that, An internal buckling groove (402) for accommodating the lower end of the mounting bracket (2) and the upper end of the welding tool (3) is opened at the middle of the right end of the horizontal insertion buckle (4).

5. The welding tool mounting mechanism for a modular dexterous robot according to claim 2, characterized in that, Side stop blocks (502) which protrude outwards and are abutted against the limiting buckle blocks (401) are fixedly connected to the front end and the rear end of the limiting horizontal plate (5).

6. The welding tool mounting mechanism for a modular dexterous robot according to claim 2, characterized in that, Positioning blocks (302) which penetrate through the mounting base (202) upwards are fixedly connected to the four corners at the upper end of the connecting base (301), and positioning holes (203) which are in transitional fit with the positioning blocks (302) are opened at the four corners of the mounting base (202).

Images