Quick-change device for automatic formwork cleaning robots

Abstract

A quick-change device for automatic formwork cleaning robots, characterized in that the device comprises a robot-side quick-change device (4) and a gripper-side quick-change device (5); wherein the robot-side quick-change device (4) comprises a robot-side quick-change plate (105), a 3D camera (102) and a power supply and signal module (104); wherein the gripper-side quick-change device (5) comprises a gripper-side quick-change plate (202), an electric motor (206), a hollow shaft reduction gear (207), and a roller brush (208); and wherein the robot-side quick-change plate (105) and the gripper-side quick-change plate (202) are connected by a combination connection of magnetic attraction and mechanical locking and both are integrated with the power supply and signal module (104) and a signal transmission interface.

Description

Technical area

[0001] This utility model belongs to the field of industrial robotics and specifically relates to a quick-change device for automatic formwork cleaning robots for segmental formwork. The device is particularly suitable for the automated removal of concrete residue adhering to the surface after dismantling concrete segmental formwork, as well as for rapid tool changes. State of the art

[0002] The current problem in the segmental tubbing production line is that after dismantling the segmental formwork, workers must manually clean the hardened concrete lumps adhering to the inner surface of the formwork using brushes and shovels. This results in the following specific difficulties: low efficiency: the manual cleaning process takes approximately 5 minutes per cycle and impacts the production rate; high cost: at least four workers must be deployed simultaneously, which significantly increases personnel costs; high workload: concrete residues, particularly those adhering to the inner corners of the segmental formwork, are difficult to remove, leading to rapid worker fatigue; and inadequate cleaning quality: residues are often overlooked during manual cleaning, making consistent quality impossible to ensure. Content of the utility model

[0003] The purpose of the present utility model is to provide an automatic formwork cleaning robot system with integrated quick-change device, visual recognition and real-time communication, which solves the problems of inefficient manual cleaning, cumbersome tool changing and unstable cleaning quality.

[0004] To achieve this goal, the present utility model offers the following technical solution: a quick-change device for automatic formwork cleaning robots. The device comprises a robot-side quick-change device 4 and a gripper-side quick-change device 5.

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

[0006] The gripper-side quick-change device 5 comprises a gripper-side quick-change plate 202, an electric motor 206, a hollow shaft reduction gear 207, and a rolling brush 208.

[0007] The robot-side quick-change plate 105 and the gripper-side quick-change plate 202 are connected by a combination of magnetic attraction and mechanical locking, enabling rapid positioning and fixation. Both are integrated with the power supply and signal module 104 and a signal transmission interface. Power and signal transmission are realized via connectors and quick-connectors, supporting the starting / stopping and speed control of the electric motor 206.

[0008] Preferably, the 3D camera 102 is installed on the inside of an adjustable holder 101, and a free space is provided between the holder 101 and the robot-side quick-change plate 105. This serves to detect the formwork type and the distribution of concrete residues.

[0009] Preferably, the roller brush 208 of the gripper-side quick-change device 5 is coaxially connected to the electric motor 206 via the hollow shaft reduction gear 207, and the cable end of the electric motor 206 is equipped with a quick-connector that is integrated into the power supply and signal module 104 of the gripper-side quick-change device 5, thereby enabling tool-free change via a one-click command.

[0010] Preferably, the alignment accuracy between the robot-side quick-change plate 105 and the gripper-side quick-change plate 202 is ≤ ±0.2 mm, wherein a real-time feedback module is provided for communication.

[0011] Preferably, the roller brush 208 is connected to the hollow shaft reduction gear 207 via a roller brush mounting bracket 205.

[0012] Technical effects and advantages of the present utility model are as follows. 1. Efficiency improvement: cleaning efficiency is significantly increased, cleaning time is reduced from 5 minutes to 1.5 minutes, and tool change time is reduced by 90%. 2. Cost reduction: personnel costs and labor intensity are significantly reduced, manual operation is reduced from 4 people to fully automated operation, and plant maintenance costs are reduced by 25%. 3. Quality assurance: through visual detection and program-controlled cleaning, a cleaning quality rate of ≥ 98% is achieved. 4. High expandability: the quick-change device is compatible with various tools (e.g. grinding head, vacuum cleaner) and suitable for different formwork types. 5. Regular inspection of the gripper-side quick-change device on the quick-change gripper support stands is facilitated, extending service life. The integrated visual recognition system allows cleaning results to be recorded and verified in real time, improving cleaning accuracy and consistency. Description of the attached drawings Fig. 1 shows a schematic diagram of an automatic formwork cleaning robot system according to an embodiment of the present utility model; Fig. 2 shows a schematic diagram of the structure of a robot-side quick-change device part; and Fig. 3 shows a schematic diagram of the structure of a gripper-side quick-change device part.

[0013] The reference symbols indicate: 1-robot; 2-robot power supply cabinet; 3-robot base; 4-robot-side quick-change device; 5-gripper-side quick-change device; 6-quick-change gripper storage stand; 7-storage table; 8-disassembled formwork; 9-floor conveyor belt; 10-factory floor; 101-3D camera mounting bracket; 102-3D camera; 103-mounting flange; 104-power supply and signal module; 105-robot-side quick-change plate; 202-gripper-side quick-change plate; 203-flange; 204-motor mounting frame; 205-rolling brush fixing bracket; 206-electric motor; 207-hollow shaft reducer; 208 roller brush. Examples of implementation

[0014] In the following, the technical solutions in the embodiments of the present utility model are described clearly and completely with reference to the figures in the embodiments of the present utility model. Obviously, the described embodiments represent only a part of the embodiments of the present utility model and not all of them. Based on the embodiments of the present utility model, all other embodiments obtained by a person skilled in the art without creative effort fall within the scope of protection of the present utility model.

[0015] Examples of implementation are as follows.

[0016] An automatic formwork cleaning robot system includes a robot 1, a robot power supply cabinet 2, a robot base 3, a robot-side quick-change device 4 (3D camera mounting bracket 101, 3D camera 102, mounting flange 103, power supply and signal module of the robot-side quick-change plate 104, robot-side quick-change plate 105), a gripper-side quick-change device 5 (power supply and signal module of the gripper-side quick-change plate 201, gripper-side quick-change plate 202, mounting flange 203, motor mounting frame 204, rolling brush fixing bracket 205, electric motor 206, hollow shaft reducer 207, rolling brush 208), quick-change gripper storage stand 6, a storage table 7, a disassembled formwork 8, a floor conveyor 9, and a Factory floor 10.

[0017] As in Fig. As shown in Figure 1, the gripper-side quick-change device 5 is connected and secured to the robot-side quick-change device 4 by the gripper-side quick-change plate 202 and the robot-side quick-change plate 105. The power supply and signal modules 201 of both quick-change devices ensure the precision and stability of the quick-change plates' coupling through an electrical feedback system and enable real-time communication between the robot control system and the tools. The power connections of the modules supply the electric motor 206 with stable electrical power and realize the start, stop, and speed control functions of the roller brush through automatic control.

[0018] The robot base 3 is attached to one side of the floor conveyor belt 9 with screws. The robot 1 is bolted to the robot base. The robot power supply cabinet 2 and the support table 7 are positioned in suitable proximity and secured to the floor with screws. Two quick-change gripper support stands 6 are bolted to the support table 7, with one support stand 6 holding a set of the gripper-side quick-change device 5 to be replaced.

[0019] As in Fig. As shown in Figure 2, the robot-side quick-change device 4 includes the 3D camera mounting bracket 101, the 3D camera 102, the mounting flange 103, the power supply and signal module of the robot-side quick-change plate 104, and the robot-side quick-change plate 105. The 3D camera 102 is fixed to the inside of the 3D camera mounting bracket 101. This design is intended to prevent collisions between the camera and the formwork, reduce the risk of wear and damage to the camera in the complex working environment through rational arrangement, and at the same time ensure that the camera can accurately capture information about concrete residue on the inner surface of the formwork. The power supply and signal module of the robot-side quick-change plate 104 is mounted on the robot-side quick-change plate 105. The robot-side quick-change plate 105 is installed below the mounting flange 103.The 3D camera mounting bracket 101 is placed on top of the mounting flange 103 and then installed together with it on the robot 1.

[0020] As in Fig.3, the gripper-side quick-change device 5 includes the power supply and signal module of the gripper-side quick-change plate 104, the gripper-side quick-change plate 202, the flange 203, the motor mounting frame 204, the rolling brush mounting bracket 205, the electric motor 206, the hollow shaft reducer 207, and the rolling brush 208. The power supply and signal module of the gripper-side quick-change plate 104 is mounted on the gripper-side quick-change plate 202. The upper part of the flange 203 is connected to the gripper-side quick-change plate 202, and the lower part is connected to the motor mounting frame 204. The hollow shaft reducer 207 is connected to the motor mounting frame 204 and attached to the bottom of the frame. The roller brush 208 is connected to the hollow shaft reduction gear 207 via the roller brush mounting bracket 205. The electric motor 206 is mounted at the rear end of the hollow shaft reduction gear 207.The cable end of the electric motor 206 is equipped with a quick connector that is integrated into the power supply and signal module of the gripper-side quick-change plate 201.

[0021] The dismantled segmental formworks of types A, B, and K are transported via the floor conveyor belt 9 into the working area of this automatic formwork cleaning robot system. The 3D camera 102 first captures images, identifies the formwork type, and calls the corresponding robot program. It then scans the inner surface of the formwork, recording the formwork position information and the distribution of concrete residue on the inner surface. The robot cleans the concrete residue from the formwork surface according to the preset program corresponding to the formwork type using the execution mechanism (robot-side quick-change device 4 and gripper-side quick-change device 5).

[0022] After cleaning is complete, the 3D camera 102 scans again to check the cleaning result. When the roller brush 208 becomes worn, the robot 1 moves the execution mechanism to the work table 7, first places the gripper-side quick-change device 5 located on the robot on the empty quick-change gripper work stand 6, and then grabs the new gripper-side quick-change device 5 from the second quick-change gripper work stand 6 to perform a quick change of the mechanism.

[0023] The present utility model solves the problems of manual cleaning, such as low efficiency, high costs, inadequate cleaning quality, and inconsistent cleaning results. The use of the quick-change device enables rapid replacement of the roller brush wear part, reducing downtime and increasing overall production line efficiency. Furthermore, regular maintenance of the gripper-side quick-change device mechanism on the quick-change gripper support stand is facilitated, extending its service life.

[0024] The applicants further declare that the present utility model illustrates the implementation method and device structure of the present utility model through the above-described embodiments, but the present utility model is not limited to the above-described embodiments. That is, the present utility model does not require the above-described methods and structures to be implemented. Those skilled in the art should understand that all improvements to the present utility model, all equivalent replacement methods for the implementation methods of the present utility model, as well as all added steps and selected specific methods fall within the scope of protection and disclosure of the present utility model.

[0025] The present utility model is not limited to the embodiments described above. All methods and structures similar to the present utility model that achieve the purpose of the present utility model are within the scope of protection of the present utility model.

Claims

[1] A quick-change device for automatic formwork cleaning robots, characterized by that the device comprises a robot-side quick-change device (4) and a gripper-side quick-change device (5); wherein the robot-side quick-change device (4) comprises a robot-side quick-change plate (105), a 3D camera (102) and a power supply and signal module (104); wherein the gripper-side quick-change device (5) comprises a gripper-side quick-change plate (202), an electric motor (206), a hollow shaft reduction gear (207), and a roller brush (208); and wherein the robot-side quick-change plate (105) and the gripper-side quick-change plate (202) are connected by a combination connection of magnetic attraction and mechanical locking and both are integrated with the power supply and signal module (104) and a signal transmission interface. [2] The quick-change device for automatic formwork cleaning robots according to claim 1, characterized by that the 3D camera (102) is installed on the inside of an adjustable holder (101), and there is a free space between the holder (101) and the robot-side quick-change plate (105). [3] The device according to claim 1, characterized by that the roller brush (208) of the gripper-side quick-change device (5) is coaxially connected to the electric motor (206) via the hollow shaft reduction gear (207), and the cable end of the electric motor (206) is equipped with a quick-connector which is integrated into the power supply and signal module (104) of the gripper-side quick-change device (5). [4] The device according to claim 1, characterized bythat the alignment accuracy between the robot-side quick-change plate (105) and the gripper-side quick-change plate (202) is ≤ ±0.2 mm, wherein a real-time feedback module is provided for communication. [5] The device according to claim 1, characterized by that the roller brush (208) is connected to the hollow shaft reduction gear (207) via a roller brush mounting bracket (205).

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