Mechanical arm camera protection support and welding robot

Abstract

The utility model provides a mechanical arm camera protection support and a welding robot. The welding robot comprises a shell, a protection plate and a driving assembly, the protection plate is connected with a linkage block, and the shell is provided with a connecting block; the connecting block is connected with the linkage block through a first hinge, and the linkage block is connected with the output end of the driving assembly through a second hinge to form a lever structure with the first hinge as a fulcrum. The protective plate can rotate under the action of the driving assembly so as to block or open the opening of the shell, the shell for protecting the camera and the protective plate capable of being opened and closed are arranged for solving the problem that a mechanical arm camera is prone to being damaged by sparks generated when an existing welding robot works, and the protective plate is driven by the driving assembly to be opened and closed; therefore, the camera is opened when working and is closed when not working, the camera is protected, and the problem of external damage to the camera is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to welding robot field especially relates to a mechanical arm camera protection support and welding robot. BACKGROUND

[0002] With the development of science and technology, intelligent equipment also develops rapidly, and the mechanical arm is widely used as a kind of intelligent operation equipment. The mechanical arm is a complex system with high precision, multiple inputs and outputs, high nonlinearity and strong coupling. There are uncertainties such as parameter perturbation, external interference and unmodeled dynamics. Therefore, the modeling model of the mechanical arm also has uncertainties. For different tasks, the motion trajectory of the joint space of the mechanical arm needs to be planned respectively, thereby cascading the end pose. Due to its unique operation flexibility, it has been widely used in industrial assembly field.

[0003] Now the robot using the mechanical arm to realize intelligent welding has been widely used, but because of the arc during welding, sparks will fly everywhere, and the flying sparks have no trace, therefore, the camera lens of the camera installed on the mechanical arm for surveying is often damaged by sparks, causing damage and increasing the production cost of the product. UTILITY MODEL CONTENT

[0004] The utility model aims at the defects existing in the prior art, provides a kind of mechanical arm camera protection support and welding robot, the shell of protection camera and the protection board that can be opened and closed are set, protection board is opened and closed by driving assembly and is driven to realize, to open when camera works, close when camera non-working state, protect camera, reduce the damage problem of camera by outside.

[0005] The first purpose of the utility model is to provide a kind of mechanical arm camera protection support, using the following technical scheme:

[0006] Including shell, protection board and driving assembly, protection board is connected with linkage block, shell is installed with connecting block;Connecting block is connected with linkage block by first hinge, linkage block is connected with the output end of driving assembly by second hinge, forms the lever structure with first hinge as fulcrum;Protection board can be rotated under the action of driving assembly, to block or open the opening of shell.

[0007] Further, the protection board includes a door plate, an extension plate and a mounting plate, the door plate is arranged corresponding to the opening of the shell, the linkage plate and the extension plate are coplanar with the door plate, and respectively extend to the outside of the door plate, and the linkage block is connected to the linkage plate.

[0008] Further, the shell is provided with a mounting plate for bearing a sensor, the mounting plate is provided with a mounting portion, and the extension plate is arranged corresponding to the mounting portion to protect the sensor on the mounting portion.

[0009] Further, a dustproof ring is arranged between the open end of the shell and the protective plate, and the dustproof ring is distributed around the open edge and connected to the protective plate.

[0010] Further, one end of the linkage block is connected to the protective plate, and the other end is connected to the driving assembly, and the first hinge is connected between the two ends of the linkage block.

[0011] Further, the driving assembly comprises a telescopic mechanism, and the output end of the telescopic mechanism is connected to the linkage block through the second hinge to drive the linkage block to swing back and forth around the first hinge axis.

[0012] Further, a cavity communicating with the opening of the shell is arranged in the shell to accommodate the camera.

[0013] Further, the outer wall of the shell is provided with a docking assembly to connect the mechanical arm, and the driving assembly is mounted on the outer wall of the shell.

[0014] The second object of the utility model is to provide a welding robot comprising the mechanical arm camera protection support mentioned above.

[0015] Further, the welding robot comprises a mechanical arm and a camera, the mechanical arm is connected to the shell, and the camera is mounted in the shell.

[0016] Compared with the prior art, the utility model has the advantages and positive effects that:

[0017] (1) In view of the problem that sparks generated during the operation of the welding robot can damage the mechanical arm camera, the shell for protecting the camera and the openable protective plate are arranged, the protective plate is driven to open and close by the driving assembly, so that the camera is opened during operation and closed in the non-working state, the camera is protected, and the damage of the camera by the outside is reduced.

[0018] (2) The lens of the camera accommodated in the shell is directed towards the opening end of the shell, when the protective plate is opened, the lens of the camera can image through the opening of the shell, and the opened protective plate can still block the sparks in the direction thereof, when the protective plate is closed, the camera is entirely enclosed in the shell, the contact of the camera with the splashing sparks outside is avoided, and the camera is protected.

[0019] (3) The linkage relationship between the driving assembly and the protective plate is established by using a lever structure, the driving assembly drives the protective plate through telescopic action, the lever structure drives the protective plate to rotate around the fulcrum position, so that the protective plate is quickly and flexibly opened and closed, and the switching of the plugging and opening of the opening of the shell is achieved.

[0020] (4) The protection plate comprises a door plate and an extension plate, the door plate can correspondingly block the cavity opening, the extension plate is integrated with the door plate and is synchronously driven by the driving assembly, the extension plate can protect other elements installed on the shell, such as a sensor and the like, and can shield external splashing sparks, and the protection capability is improved. BRIEF DESCRIPTION OF DRAWINGS

[0021] The drawings constituting a part of the specification of the present application are used to provide further understanding of the present application, the illustrative embodiments of the present application and the description thereof are used to explain the present application, and do not constitute improper limitation on the present application.

[0022] Figure 1 is a structural schematic view of a mechanical arm camera protection support in embodiment 1 of the present application.

[0023] Figure 2 is a front view schematic view of a mechanical arm camera protection support in embodiment 1 of the present application.

[0024] Figure 3 is a top view schematic view of a mechanical arm camera protection support in embodiment 1 of the present application.

[0025] Figure 4 is Figure 1 a partial enlarged view at A in the figure.

[0026] Figure 5 is Figure 2 a partial enlarged view at B in the figure.

[0027] In the figure, 1 is a shell, 2 is a protection plate, 21 is an extension plate, 22 is a linkage plate, 23 is a door plate, 3 is a push-pull mechanism, 311 is a linkage block, 312 is a U-shaped connector, 32 is a gas cylinder, 4 is an infrared temperature measuring head, 5 is a butt joint assembly, 6 is a connecting block, and 7 is a mounting plate. DETAILED DESCRIPTION

[0028] Embodiment 1

[0029] In a typical embodiment of the present application, as shown in Figures 1-5 , a mechanical arm camera protection support is proposed.

[0030] As shown in Figure 1 , the mechanical arm camera protection support is used for protection of a visual camera and the like imaging assembly of a welding robot, and the camera is taken as an example, the camera is arranged in a protective shell 1 to avoid damage of the camera and the like imaging assembly caused by an external environment, and the protection work with an auxiliary sensor is especially used, and the camera and the sensor are simultaneously protected by the shell 1 in combination with the protection plate 2.

[0031] As shown in Figures 1-3The robotic arm camera protection bracket shown mainly includes a housing 1, a protective plate 2, a drive assembly, and a mounting plate 7. The protective plate 2 is connected to a linkage block 311, and the housing 1 is equipped with a connecting block 6. The connecting block 6 is connected to the linkage block 311 through a first hinge, and the linkage block 311 is connected to the output end of the drive assembly through a second hinge, forming a lever structure with the first hinge as the fulcrum. The drive assembly, the linkage block 311, and the hinge together serve as a push-pull mechanism 3 to drive the protective plate 2. The push-pull mechanism 3 drives the protective plate 2 to rotate relative to the housing 1. During this process, the protective plate 2 can be used to engage with or disengage from the opening of the housing 1.

[0032] The protective plate 2 can rotate under the action of the drive assembly to block or open the opening of the housing 1.

[0033] by Figure 3 Taking the orientation shown as an example, a connecting block 6 is installed on the left side of the bottom surface of the housing 1. The connecting block 6 is connected to the push-pull mechanism 3 of the protective plate 2 through the first hinge. The push-pull mechanism 3 is connected to the protective plate 2. The protective plate 2 is set at the opening end face of the housing 1 and can cooperate with the opening of the housing 1.

[0034] Specifically, in this embodiment, the push-pull mechanism 3 includes a linkage block 311 and a drive component. The drive component includes a telescopic mechanism. The output end of the telescopic mechanism is connected to the linkage block 311 through a second hinge to drive the linkage block 311 to swing back and forth around the axis of the first hinge.

[0035] One end of the linkage block 311 is connected to the protective plate 2, and the other end is connected to the drive component. The first hinge is connected between the two ends of the linkage block 311. In this embodiment, the middle part of the linkage block 311 is hinged to the connecting block 6. The left end of the linkage block 311 is a U-shaped connector 312, which facilitates the connection of the drive component through the second hinge. The right side of the linkage block 311 is connected to the linkage plate 22 of the protective plate 2 through bolts, screws and other connectors.

[0036] It is understood that one end of the linkage block 311 is connected to the linkage plate 22 of the protective plate 2 by bolts and nuts. Mounting holes are made at corresponding positions on the linkage plate 22 and the linkage block 311, and then bolts and nuts are used to secure them together. Of course, other connection methods can also be used, but these will not be discussed in detail in this embodiment.

[0037] One end of the connecting block 6 protrudes from the bottom surface of the housing 1, and a first through hole is provided on it. A second through hole is provided in the middle of the linkage block 311 of the push-pull mechanism 3. A first hinge structure is formed by a pin engaging the first and second through holes. The pin can be a shaft with a disc head at the bottom. After passing through the first and second through holes, it is fixed with a C-shaped clamp, thereby hinged the linkage block 311 to the connecting block 6.

[0038] like Figure 1 andFigure 2 As shown, the protective plate 2 includes a door plate 23, an extension plate 21 and a mounting plate 7, the door plate 23 is arranged corresponding to the opening of the shell 1, the linkage plate 22 and the extension plate 21 are coplanar with the door plate 23 and respectively extend to the outside of the door plate 23, the linkage block 311 is connected to the linkage plate 22; wherein, the linkage plate 22 corresponds to the connection of the linkage block 311.

[0039] As shown Figure 4 , Figure 5 As shown, the telescopic mechanism adopted by the driving assembly can adopt a telescopic element such as a pneumatic cylinder 32 or an oil cylinder in this embodiment, and can also adopt an electric cylinder in other embodiments. Taking the pneumatic cylinder 32 as an example, the U-shaped connector 312 is hinged with the piston rod end of the pneumatic cylinder 32 through a pin shaft, and the pneumatic cylinder 32 is installed on the outer wall of the shell 1.

[0040] The shell 1 is provided with a mounting plate 7 for bearing the sensor, and the mounting plate 7 is provided with a mounting portion, and the extension plate 21 is arranged corresponding to the mounting portion, so that the extension plate 21 protects the sensor on the mounting portion.

[0041] In this embodiment, the mounting plate 7 is vertically arranged relative to the shell 1, and the installed sensor is an infrared temperature measuring head 4. In other embodiments, other required sensors can also be provided.

[0042] In this embodiment, taking the orientation in Figure 3 as an example, the extension plate 21 of the protective plate 2 is located on the right upper part of the door plate 23, and the linkage plate 22 of the protective plate 2 is located below the door plate 23, which is adapted to the position of the mounting plate 7 and the position of the connecting block 6. It can be understood that a dustproof ring is arranged between one end of the opening of the shell 1 and the protective plate 2, and the dustproof ring is distributed around the opening edge and connected to the protective plate 2.

[0043] The traditional surveying camera is exposed to the outside, and the sparks (because the trajectory of the flying sparks cannot be controlled) and dust generated during the welding operation of the mechanical arm can cause certain damage to the camera, thereby reducing the service life of the camera.

[0044] In this embodiment, the shell 1 and the matching structure are provided, and for the structure of the shell 1, a cavity communicating with the opening of the shell 1 is arranged in the shell 1 to accommodate the camera, which is convenient for installing the camera in the shell 1 and also convenient for the camera to work through the opening end face to realize surveying data; the outer wall of the shell 1 is provided with a docking assembly 5 to connect the mechanical arm; and the driving assembly is installed on the outer wall of the shell 1.

[0045] A protective plate 2 capable of automatic opening and closing is arranged on the opening end face of the shell 1, which serves as an opening and closing door of the shell 1, so as to realize the protection of the camera in the shell 1 and prevent it from being damaged by the flying sparks and powder dust generated during the welding of the mechanical arm.

[0046] In the embodiment, when it is needed to realize real-time mapping photography by using the camera, the piston rod of the control cylinder 32 is controlled to retract, the U-shaped connector connected with the piston rod is retracted synchronously, the connecting block 311 rotates on the connecting block 6, one end of the protection plate 2 connected with the connecting block 311 rotates to the outward direction, the protection plate 2 connected with the one end rotates to the outward direction, thereby opening the opening end surface of the shell 1, and the camera in the shell 1 can realize the photographing mapping work.

[0047] When the mapping is completed, the above steps are reversed, that is, the piston rod of the control cylinder 32 is controlled to extend, the protection plate 2 rotates to the inward direction to the opening end surface of the shell 1, the opening of the shell 1 is closed, thereby the camera in the shell 1 can be protected, and the sparks and dust generated in the welding of the mechanical arm cannot splash on the camera to cause damage to the camera.

[0048] The protection plate 2 and the shell 1 are made of fireproof material.

[0049] The lever structure is adopted to establish the linkage relationship between the driving assembly and the protection plate 2, the driving assembly drives the protection plate 2 through the telescopic action, the lever structure drives the protection plate 2 to rotate around the fulcrum position, thereby realizing the quick and flexible opening and closing of the protection plate 2, and achieving the switching of the opening and closing of the shell 1.

[0050] Embodiment 2

[0051] In another typical embodiment of the utility model, as shown in Figures 1-5 a welding robot is provided.

[0052] As shown in Figures 1-5 the welding robot comprises the mechanical arm camera protection support in embodiment 1, and simultaneously, the welding robot further comprises a mechanical arm and a camera, the mechanical arm is connected with the shell 1, and the camera is installed in the shell 1.

[0053] The lens of the camera contained in the shell 1 faces the same direction as the opening end surface of the shell 1, when the protection plate 2 is opened, the lens of the camera can image through the opening of the shell 1, and meanwhile, the opened protection plate 2 can still block the sparks in the direction, when the protection plate 2 is closed, the camera is entirely closed in the shell 1, so that the sparks splashed from the outside can not contact the camera, and the camera is protected.

[0054] For the detailed structure of the mechanical arm camera protection support, refer to embodiment 1, since the welding robot adopts the mechanical arm camera protection support provided in the above embodiment 1, the beneficial effects of the welding robot brought by the mechanical arm camera protection support are referred to the corresponding parts in the above embodiment 1, and will not be repeated here.

[0055] For other structures of the welding robot not mentioned, existing structures can be adopted.

[0056] The above merely describes preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A robotic arm camera protection bracket, characterized by, The protective plate can rotate under the action of the driving assembly to block or open the opening of the shell.

2. The robotic arm camera protection bracket of claim 1, wherein, The protective plate comprises a door plate, an extension plate and a mounting plate, the door plate is arranged corresponding to the opening of the shell, the linkage plate and the extension plate are coplanar with the door plate and respectively extend to the outside of the door plate, and the linkage block is connected to the linkage plate.

3. The robotic arm camera protection bracket of claim 2, wherein, The shell is provided with a mounting plate for bearing a sensor, the mounting plate is provided with a mounting portion, the extension plate is arranged corresponding to the mounting portion to protect the sensor on the mounting portion.

4. The robotic arm camera protection bracket of claim 1, wherein, A dustproof ring is arranged between one end of the opening of the shell and the protective plate, the dustproof ring is distributed around the opening edge and connected to the protective plate.

5. The robotic arm camera protection bracket of claim 1, wherein, One end of the linkage block is connected to the protective plate, and the other end is connected to the driving assembly, and the first hinge is connected between the two ends of the linkage block.

6. The robotic arm camera protection bracket of claim 1, wherein, The driving assembly comprises a telescopic mechanism, and the output end of the telescopic mechanism is connected to the linkage block through the second hinge to drive the linkage block to reciprocate around the first hinge axis.

7. The robotic arm camera protection bracket of claim 1, wherein, The shell is provided with a cavity communicating with the opening of the shell to accommodate the camera.

8. The robotic arm camera protection bracket of claim 1, wherein, The outer wall of the shell is provided with a docking assembly to connect the mechanical arm, and the driving assembly is mounted on the outer wall of the shell.

9. A welding robot, characterized in that, The welding robot comprises a mechanical arm and a camera, the mechanical arm is connected to the shell, and the camera is mounted in the shell.

10. The welding robot of claim 9, wherein, The welding robot comprises a mechanical arm and a camera, the mechanical arm is connected to the shell, and the camera is mounted in the shell.

Images