Modularized welding robot end effector

Abstract

The utility model discloses a modularized welding robot end executor which comprises an executor body, a robot end butt joint seat is fixedly installed at the end of the executor body, a welding cylinder is fixedly installed at the bottom of the executor body, a welding gun nozzle is arranged at the bottom of the welding cylinder, and meanwhile a residue-preventing protective cover is installed on the outer side of the welding gun nozzle. The residue-preventing protective cover comprises an installation sleeve fixedly arranged on the circumferential outer wall of the welding gun nozzle, a storage sleeve is fixedly installed at the bottom of the installation sleeve, meanwhile, a nozzle cover is movably installed on the inner wall of the storage sleeve, and a stress base is fixedly arranged at the bottom of the nozzle cover. According to the end effector of the modular welding robot, the nozzle cover covers the outer side of the welding gun nozzle, the outer side of the welding gun nozzle can be protected, splash generated when the welding gun nozzle is used for welding cannot be bonded to the outer side of the welding gun nozzle, the gas protection effect and the electric arc stability can be improved, and the welding quality of equipment is guaranteed.

Description

Technical Field

[0001] The utility model relates to the field of welding robots, in particular to a modular welding robot end effector. Background Art

[0002] The working principle of a modular welding robot mainly includes the following core components: the robot body, control cabinet, welding power system, sensors, and end effector (welding gun). When working, the welding robot first needs to plan its task, including how to decompose the welding task into a series of subtasks and plan the execution path for the robot to ensure efficient automated welding. This includes understanding the requirements of the welding task, such as welding position, welding method, and welding speed. The welding robot is equipped with many sensors, such as thermal imagers, laser rangefinders, pressure sensors, and photoelectric sensors. These sensors are used to monitor various parameters in the welding process in real time to ensure the accuracy and stability of the welding process.

[0003] When the end effector at the end of the modular welding robot is installed, the welding gun nozzle is easily adhered by welding spatter. When cleaning, when using tools to clean the residue attached to the welding gun nozzle, the welding gun nozzle is easily damaged. At the same time, if the cleaning is not timely, it will affect the arc stability and reduce the welding quality of the equipment. Utility Model Content

[0004] The purpose of the present utility model is to provide a modular welding robot end effector to solve the defects mentioned in the above background technology.

[0005] To achieve the above-mentioned purpose, a modular welding robot end effector is provided, including an actuator, a robot end docking seat is fixedly installed on the end of the actuator, and a welding cylinder is fixedly installed on the bottom of the actuator, a welding gun nozzle is provided at the bottom of the welding cylinder, and an anti-residue shield is installed on the outside of the welding gun nozzle. The anti-residue shield includes a mounting sleeve fixedly arranged on the circumferential outer wall of the welding gun nozzle, and a storage sleeve is fixedly installed on the bottom of the mounting sleeve, and a nozzle cover is movably installed on the inner wall of the storage sleeve, and a force seat is fixedly provided at the bottom of the nozzle cover, and the nozzle cover is wrapped around the outside of the welding gun nozzle.

[0006] Preferably, the mounting sleeve is an annular structure made of metal material, and three groups of mounting holes are evenly opened on the outer side of the circumference of the mounting sleeve. At the same time, the fixing bolts pass through the mounting holes opened on the mounting sleeve and are screwed and fixed to the inside of the screw holes opened on the outer side of the circumference of the welding gun nozzle.

[0007] Preferably, the storage sleeve is a cylindrical structure made of metal material, and the axial cross-section of the storage sleeve and the welding gun nozzle is a concentric circle structure, and a storage groove is formed between the welding gun nozzle and the storage sleeve.

[0008] Preferably, a nozzle cover is provided at the bottom of the storage sleeve, the nozzle cover is adapted to the size of the storage slot, and the nozzle cover moves upward and is inserted into the interior of the storage slot.

[0009] Preferably, a guide seat is fixedly mounted on the circumferential outer wall of the upper portion of the nozzle cover, and a guide opening is provided on the outer side wall of the storage sleeve. The guide opening and the guide seat are adapted in size, and the guide seat is slidably arranged inside the guide opening.

[0010] Preferably, a fixing stud is fixedly installed on the surface of the guide seat, and the outer side of the bottom of the guide opening is covered with a limiting plate. At the same time, the limiting plate is arranged in an arc shape, and a positioning seat is fixedly installed on the surface of the limiting plate. The fixing stud passes through the limiting plate and the positioning seat and is screwed and fixed with the fixing nut.

[0011] Compared with the prior art, the beneficial effects of the present invention are:

[0012] 1. The utility model allows the nozzle cover on the outside of the welding gun nozzle to be pulled out from the storage groove formed between the storage sleeve and the welding gun nozzle, so that the nozzle cover covers the outside of the welding gun nozzle, thereby protecting the outside of the welding gun nozzle. When the welding gun nozzle is welding, spatter generated will not adhere to the outside of the welding gun nozzle, thereby improving the gas protection effect and arc stability, and ensuring the welding quality of the equipment;

[0013] 2. The utility model can protect the welding gun nozzle from wind by covering the outside of the welding gun nozzle with the nozzle cover. The nozzle cover can reduce the impact of air flow on the welding area, so that the shielding gas can better surround the welding pool, improve the gas protection effect, and thus obtain higher quality welds; it helps to maintain the stability of the welding arc and reduce welding defects caused by external interference. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a front view schematic diagram of the structure of the utility model;

[0015] Figure 2 This is a schematic cross-sectional view of the debris protection shield;

[0016] Figure 3 for Figure 2 Bottom view of

[0017] Figure 4 This is a schematic diagram of the overall structure of the anti-residue shield;

[0018] Figure 5 for Figure 4 Front view of.

[0019] Numbers in the figure: 1. Robot end docking station; 2. Actuator; 3. Welding cylinder; 4. Welding gun nozzle; 5. Anti-residue shield; 51. Mounting sleeve; 52. Storage sleeve; 53. Nozzle cover; 54. Force seat; 55. Guide seat; 56. Limiting plate; 57. Positioning seat; 58. Fixing stud; 59. Guide port. DETAILED DESCRIPTION

[0020] See also Figure 1-5 The utility model provides a modular welding robot end effector, including an actuator 2, a robot end docking seat 1 is fixedly installed on the end of the actuator 2, and a welding cylinder 3 is fixedly installed on the bottom of the actuator 2, a welding gun nozzle 4 is provided at the bottom of the welding cylinder 3, and an anti-residue shield 5 is installed on the outside of the welding gun nozzle 4. The anti-residue shield 5 includes a mounting sleeve 51 fixedly arranged on the outer circumferential wall of the welding gun nozzle 4, and a storage sleeve 52 is fixedly installed on the bottom of the mounting sleeve 51, and a nozzle cover 53 is movably installed on the inner wall of the storage sleeve 52, and a force seat 54 is fixedly provided on the bottom of the nozzle cover 53, and the nozzle cover 53 is wrapped around the outside of the welding gun nozzle 4.

[0021] Working principle: During actual use, the end of the actuator 2 is fixedly installed on the welding robot through the robot end docking seat 1. At this time, the welding robot drives the welding gun nozzle 4 through the actuator 2 to perform welding work on the equipment. When the welding gun nozzle 4 is welding, the nozzle cover 53 on the outside of the welding gun nozzle 4 is pulled out from the storage groove formed between the storage sleeve 52 and the welding gun nozzle 4, so that the nozzle cover 53 covers the outside of the welding gun nozzle 4, which can protect the outside of the welding gun nozzle 4. When the welding gun nozzle 4 is welding, the spatter generated will not stick to the outside of the welding gun nozzle 4, which can improve the gas protection effect and arc stability, and ensure the welding quality of the equipment; the nozzle cover 53 covers the outside of the welding gun nozzle 4, which can protect the welding gun nozzle 4 from wind, and the nozzle cover 53 can reduce the impact of air flow on the welding area. The shielding gas can better surround the welding molten pool, improve the gas shielding effect, and thus obtain higher quality welds; it helps to maintain the stability of the welding arc and reduce welding defects caused by external interference; when the nozzle cover 53 is not in use, the force-bearing seat 54 is held by hand to store the nozzle cover 53 in the storage groove formed between the storage sleeve 52 and the welding gun nozzle 4. At this time, the two groups of guide seats 55 are respectively inserted into the two groups of guide openings 59 opened on the outside of the storage sleeve 52 to ensure the stability of the nozzle cover 53 when lifting; when the position of the nozzle cover 53 is adjusted, the fixing nut can be tightened and fixed to the outside of the fixing stud 58 to ensure the stability of the nozzle cover 53 when stored. When the nozzle cover 53 is detached from the outside of the welding gun nozzle 4, it is convenient to clean the inside of the mouth of the welding gun nozzle 4.

[0022] The mounting sleeve 51 is an annular structure made of metal material, and three groups of mounting holes are evenly opened on the outer side of the circumference of the mounting sleeve 51. At the same time, the fixing bolts pass through the mounting holes opened on the mounting sleeve 51 and are screwed to the inside of the screw holes opened on the outer side of the circumference of the welding gun nozzle 4.

[0023] As a preferred embodiment, the storage sleeve 52 is a cylindrical structure made of metal material, and the axial cross-section of the storage sleeve 52 and the welding gun nozzle 4 is a concentric circle structure, and a storage groove is formed between the welding gun nozzle 4 and the storage sleeve 52.

[0024] A nozzle cover 53 is provided at the bottom of the storage sleeve 52. The nozzle cover 53 is adapted to the size of the storage slot, and the nozzle cover 53 moves upward and is inserted into the interior of the storage slot.

[0025] As a preferred embodiment, a guide seat 55 is fixedly installed on the upper circumferential outer wall of the nozzle cover 53, and a guide opening 59 is opened on the outer wall of the storage sleeve 52. At the same time, the guide opening 59 is adapted to the size of the guide seat 55, and the guide seat 55 is slidably set inside the guide opening 59.

[0026] A fixing stud 58 is fixedly installed on the surface of the guide seat 55, and the bottom outer side of the guide opening 59 is covered with a limiting plate 56. At the same time, the limiting plate 56 is arranged in an arc shape, and a positioning seat 57 is fixedly installed on the surface of the limiting plate 56. The fixing stud 58 passes through the limiting plate 56 and the positioning seat 57 and is screwed and fixed with the fixing nut.

Claims

1. A modular welding robot end effector, comprising an actuator (2), characterized in that: The end of the actuator (2) is fixedly mounted with a robot end docking seat (1), and the bottom of the actuator (2) is fixedly mounted with a welding cylinder (3), the bottom of the welding cylinder (3) is provided with a welding gun nozzle (4), and the outer side of the welding gun nozzle (4) is provided with an anti-residue shield (5), the anti-residue shield (5) includes a mounting sleeve (51) fixedly mounted on the outer circumferential wall of the welding gun nozzle (4), and a storage sleeve (52) is fixedly mounted on the bottom of the mounting sleeve (51), and a nozzle cover (53) is movably mounted on the inner wall of the storage sleeve (52), and a force bearing seat (54) is fixedly mounted on the bottom of the nozzle cover (53), and the nozzle cover (53) is wrapped around the outer side of the welding gun nozzle (4).

2. The modular welding robot end effector according to claim 1, characterized in that: The mounting sleeve (51) is an annular structure made of metal material, and three groups of mounting holes are evenly opened on the outer circumference of the mounting sleeve (51). At the same time, the fixing bolts pass through the mounting holes opened on the mounting sleeve (51) and are screwed and fixed to the inside of the screw holes opened on the outer circumference of the welding gun nozzle (4).

3. The modular welding robot end effector according to claim 1, characterized in that: The storage sleeve (52) is a cylindrical structure made of metal material, and the axial cross-sections of the storage sleeve (52) and the welding gun nozzle (4) are concentric circle structures, and a storage groove is formed between the welding gun nozzle (4) and the storage sleeve (52).

4. The modular welding robot end effector according to claim 3, characterized in that: A nozzle cover (53) is provided at the bottom of the storage sleeve (52); the nozzle cover (53) is adapted to the size of the storage slot, and the nozzle cover (53) moves upward and is inserted into the interior of the storage slot.

5. The modular welding robot end effector according to claim 1, characterized in that: A guide seat (55) is fixedly mounted on the outer circumferential wall of the upper portion of the nozzle cover (53), and a guide opening (59) is provided on the outer side wall of the receiving sleeve (52). The guide opening (59) is adapted to the size of the guide seat (55), and the guide seat (55) is slidably arranged inside the guide opening (59).

6. The modular welding robot end effector according to claim 5, characterized in that: A fixing stud (58) is fixedly mounted on the surface of the guide seat (55), and the outer side of the bottom of the guide opening (59) is covered with a limiting piece (56), and the limiting piece (56) is arranged in an arc shape, and a positioning seat (57) is fixedly mounted on the surface of the limiting piece (56), and the fixing stud (58) passes through the limiting piece (56) and the positioning seat (57) and is screwed and fixed with the fixing nut.

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