Quick change device suitable for automatic mold cleaning robot

Abstract

The utility model relates to a quick-change device suitable for an automatic mold cleaning robot, which mainly comprises a robot side quick-change device and a clamp side quick-change device, the robot side quick-change device and the clamp side quick-change device are connected and fixed through a quick-change disc, the accuracy and the stability of butt joint are ensured through an electric signal feedback mechanism, and the robot side quick-change device is equipped with a 3D camera. The robot is used for recognizing the model of the mold and scanning the distribution condition of concrete blocks on the inner surface of the mold so as to guide the robot to conduct accurate cleaning, the clamp side quick-change device is provided with an electric rolling brush and used for actual cleaning work, after the rolling brush is abraded, the robot can quickly replace a new clamp side quick-change device part, the downtime is shortened, and the working efficiency is improved. The overall operation efficiency of the production line is improved. The cleaning efficiency and the cleaning quality are remarkably improved, the labor cost and the labor intensity are reduced, and wide market application prospects are achieved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to industrial robot technical field, concretely relates to a quick change device of automatic mold cleaning robot for segment mould cleaning, and especially suitable for the automatic cleaning and tool quick replacement of the surface coagulation block of concrete segment mould after formwork dismantling. BACKGROUND

[0002] At present, in the production process of the segment production line, after the segment mould is dismantled, the concrete block coagulated on the inner surface of the mould needs to be cleaned by manual use of a brush and a shovel, and the following problems exist: low efficiency, manual cleaning taking about 5 minutes per time, affecting the production line rhythm; high cost, at least four people are required to operate cooperatively, and the labor cost is significant; high labor intensity, the concrete block in the reentrant corner of the segment mould is difficult to clean, and the workers are prone to fatigue; poor cleaning effect, manual operation is prone to omission, and the quality consistency cannot be guaranteed. SUMMARY

[0003] The utility model aims at providing an automatic mold cleaning robot system integrated with a quick change device, visual identification and real-time communication, to solve the problems of low manual cleaning efficiency, complicated tool replacement and unstable cleaning quality.

[0004] To achieve the above-mentioned purpose, the utility model provides the following technical scheme: a quick change device suitable for an automatic mold cleaning robot, comprising a robot-side quick change device 4 and a clamp-side quick change device 5.

[0005] The robot-side quick change device 4 comprises a robot-side quick change disc 105, a 3D camera 102 and a power supply signal module 104.

[0006] The clamp-side quick change device 5 comprises a clamp-side quick change disc 202, a motor 206, a hollow speed reducer 207 and a rolling brush 208.

[0007] The robot-side quick change disc 105 and the clamp-side quick change disc 202 are connected through magnetic attraction and mechanical locking, realize quick positioning and fixing, and are both integrated with the power supply signal module 104 and a signal transmission interface, realize power supply and signal transmission through an electric plug and a quick plug, and support the start-stop and speed regulation of the motor 206.

[0008] Preferably, the 3D camera 102 is installed on the inner side of an adjustable support 101, and a clearance is provided between the support 101 and the robot-side quick change disc 105, for identifying the mould type and the distribution of the concrete block.

[0009] Preferably, the rolling brush 208 of the clamp-side quick change device 5 is coaxially connected with the motor 206 through the hollow speed reducer 207, the cable end of the motor 206 is provided with a quick plug, and the quick plug is connected to the power supply signal module 104 of the clamp-side quick change device 5, to realize one-key replacement.

[0010] Preferably, the robot side quick change disc 105 is connected to the clamp side quick change disc 202 with an accuracy of ≤±0.2mm, and is equipped with a real-time communication feedback module.

[0011] Preferably, the rolling brush 208 is connected to the hollow speed reducer 207 through the rolling brush fixing support 205.

[0012] The technical effects and advantages of the present application are as follows:

[0013] 1. Efficiency improvement: significantly improves the cleaning efficiency, the cleaning time is shortened from 5 minutes to 1.5 minutes, and the tool replacement time is reduced by 90%;

[0014] 2. Cost reduction: reduces labor cost and labor intensity, labor demand is reduced from 4 people to no operation, and equipment maintenance cost is reduced by 25%;

[0015] 3. Quality assurance: through visual identification and programmed cleaning, the cleanliness compliance rate is ≥98%;

[0016] 4. Strong expansibility: the quick change device is compatible with multiple tools (such as polishing heads and dust collectors), and is suitable for different mold types.

[0017] 5. Facilitates regular maintenance of the clamp side quick change device part on the quick change clamp placing rack, prolongs the service life, integrates a visual identification system, can scan and confirm the cleaning effect in real time, and improves the accuracy and consistency of cleaning. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is an automatic mold cleaning robot unit system schematic diagram in the embodiments of the present application;

[0019] Figure 2 It is a structure schematic diagram of the robot side quick change device part;

[0020] Figure 3 It is a structure schematic diagram of the clamp side quick change device part.

[0021] In the figure: robot-1, robot power cabinet-2, robot base-3, robot side quick change device-4, clamp side quick change device part-5, quick change clamp placing rack-6, placing table-7, disassembled mold-8, ground conveying line-9, factory floor-10, 3D camera mounting bracket-101, 3D camera-102, mounting flange-103, power supply signal module-104, robot side quick change disc-105, clamp side quick change disc-202, flange-203, motor mounting frame-204, rolling brush fixing support-205, motor-206, hollow speed reducer-207, rolling brush-208. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model. DETAILED DESCRIPTION

[0024] The automatic mold cleaning robot unit system comprises a robot 1, a robot power cabinet 2, a robot base 3, a robot side quick change device 4 (a 3D camera mounting bracket 101, a 3D camera 102, a mounting flange 103, a robot side quick change disc power supply signal module 104, a robot side quick change disc 105), a clamp side quick change device 5 (a clamp side quick change disc power supply signal module 201, a clamp side quick change disc 202, a mounting flange 203, a motor mounting frame 204, a rolling brush fixing bracket 205, a motor 206, a hollow speed reducer 207, a rolling brush 208), a quick change clamp placing rack 6, a placing table 7, a disassembled mold 8, a ground conveying line 9, and a factory ground 10.

[0025] As shown in Figure 1 The clamp side quick change device 5 and the robot side quick change device 4 are connected and fixed by the clamp side quick change disc 202 and the robot side quick change disc 105, the power supply signal modules 201 of the two quick change devices ensure the accuracy and stability of the quick change disc butt joint through the electric signal feedback mechanism, realize the real-time communication between the robot control system and the tool, the power supply interface on the module provides stable power supply for the motor 206, and the starting, stopping, speed adjustment and other functions of the rolling brush are realized through automatic control.

[0026] The robot base 3 is bolted on one side of the ground conveying line 9, the robot 1 is screwed on the robot base, the robot power cabinet 2 and the placing table 7 are placed at the nearest suitable position, and the placing table 7 is bolted on the ground, the quick change clamp placing rack 6 (two) is screwed on the placing table 7, and one set of clamp side quick change device 5 is placed on one of the two clamp placing racks 6.

[0027] As shown in Figure 2As shown, the robot side quick changer 4 is composed of a 3D camera mounting bracket 101, a 3D camera 102, a mounting flange 103, a robot side quick changer disc power supply signal module 104, and a robot side quick changer disc 105. The 3D camera 102 is fixed inside the 3D camera mounting bracket 101, which is designed to avoid collision between the camera and the mold. Through reasonable layout, the wear and damage risk of the camera in the complex working environment is reduced, while ensuring that the camera can accurately capture the concrete condensate block information of the inner surface of the mold. The robot side quick changer disc power supply signal module 104 is installed on the robot side quick changer disc 105, and the robot side quick changer disc 105 is installed below the mounting flange 103. The 3D camera mounting bracket 101 is placed on the upper side of the mounting flange 103 and then installed on the robot 1 together.

[0028] As shown in Figure 3 The clamp side quick changer 5 is composed of a clamp side quick changer disc power supply signal module 104, a clamp side quick changer disc 202, a flange 203, a motor mounting frame 204, a rolling brush fixing bracket 205, a motor 206, a hollow speed reducer 207, and a rolling brush 208. The clamp side quick changer disc power supply signal module 104 is installed on the clamp side quick changer disc 202. The upper part of the flange 203 is connected with the clamp side quick changer disc 202, and the lower part is connected with the motor mounting frame 204. The hollow speed reducer 207 is connected with the motor mounting frame 204 and installed on the lower side of the frame. The rolling brush 208 is connected with the hollow speed reducer 207 through the rolling brush fixing bracket 205. The motor 206 is connected and installed at the tail end of the hollow speed reducer 207. The cable end of the motor 206 is equipped with a quick connector, which is connected with the clamp side quick changer disc power supply signal module 201.

[0029] After the mold is removed, the A-type, B-type, and K-type segment molds enter the working area of the automatic mold cleaning robot unit system through the ground conveying line 9. The 3D camera 102 first takes a picture to identify the mold type and call the corresponding program of the robot. Then, the mold inner surface is scanned to identify the position information of the mold and capture the distribution of the concrete blocks on the inner surface. The robot drives the execution mechanism (robot side quick changer 4 and clamp side quick changer 5) to clean the concrete blocks on the surface of the mold according to the preset program corresponding to the mold type.

[0030] After cleaning, the 3D camera 102 scans again to confirm the cleaning effect. When the rolling brush 208 is worn out, the robot 1 drives the execution mechanism to move to the placement table 7. First, the clamp side quick changer 5 on the robot is placed on the empty quick changer clamp placement rack 6. Then, the second quick changer clamp placement rack 6 is grabbed to place the new clamp side quick changer 5, completing the quick replacement of the mechanism.

[0031] The utility model solves the problem of low efficiency, high cost, cleaning quality and effect of artificial cleaning, and guarantees the consistency of cleaning effect; the quick change device is adopted to realize quick replacement of the wearing part roll brush, to reduce downtime and improve the overall operation efficiency of the production line; the mechanism of the clamp side quick change device on the clamp placing frame is convenient for regular maintenance, prolonging the service life.

[0032] The applicant further declares that the utility model is described by the above-mentioned embodiments to illustrate the implementation method and device structure of the utility model, but the utility model is not limited to the above-mentioned embodiments, namely, it does not mean that the utility model must rely on the above-mentioned method and structure to be implemented. The skilled in the art should understand that any improvement of the utility model, equivalent replacement of the implementation method selected by the utility model, addition of steps, selection of specific modes and the like fall within the protection scope and the disclosed scope of the utility model.

[0033] The utility model is not limited to the above-mentioned embodiments, and all modes adopting similar structures and methods of the utility model to realize the purpose of the utility model fall within the protection scope of the utility model.

Claims

1. A quick change device for an automatic mold cleaning robot, characterized by: The utility model relates to a quick-change device for robot and fixture, which comprises a quick-change device (4) for robot and a quick-change device (5) for fixture. The quick-change device (4) for robot comprises a quick-change disc (105) for robot, a 3D camera (102) and a power supply signal module (104). The quick-change device (5) for fixture comprises a quick-change disc (202) for fixture, a motor (206), a hollow speed reducer (207) and a rolling brush (208). The quick-change disc (105) for robot and the quick-change disc (202) for fixture are connected by magnetic attraction and mechanical locking, and are integrated with the power supply signal module (104) and a signal transmission interface. The 3D camera (102) is installed inside an adjustable support (101), and the support (101) and the quick-change disc (105) for robot are provided with a clearance.

2. The apparatus of claim 1, wherein: The rolling brush (208) of the quick-change device (5) for fixture is coaxially connected with the motor (206) through the hollow speed reducer (207), and the cable end of the motor (206) is provided with a quick plug connector which is connected to the power supply signal module (104) of the quick-change device (5) for fixture.

3. The apparatus of claim 1, wherein: The docking precision of the quick-change disc (105) for robot and the quick-change disc (202) for fixture is less than or equal to ±0.2mm, and a real-time communication feedback module is provided.

4. The apparatus of claim 1, wherein: The rolling brush (208) is connected to the hollow speed reducer (207) through a rolling brush fixing support (205).

5. The apparatus of claim 1, wherein: ​

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