Quick-change device suitable for automatic mold cleaning robot

Abstract

A quick-change device suitable for an automatic mold cleaning robot, comprising a robot-side quick-change device (4) and a tool-side quick-change device (5). The robot-side quick-change device (4) is equipped with a 3D camera (102) for identifying the model of a mold and scanning the distribution of concrete blocks on the inner surface of the mold. The tool-side quick-change device (5) is mounted with an electric rotary brush (208) for cleaning operations. When the rotary brush (208) is worn, the robot can quickly replace the tool-side quick-change device (5) with a new tool-side quick-change device (5), thereby reducing downtime and improving the overall operational efficiency of the production line.

Description

A quick-change device for automatic mold cleaning robots Technical Field

[0001] This utility model belongs to the field of industrial robot technology, specifically relating to an automatic mold cleaning robot quick-change device for cleaning segment molds, which is particularly suitable for the automated cleaning of surface clumps and quick tool replacement after demolding of concrete segment molds. Background Technology

[0002] Currently, during the production process of tunnel segment production lines, after the segment molds are dismantled, manual cleaning of the solidified concrete blocks on the inner surface of the molds using brushes and shovels presents the following problems: low efficiency, with manual cleaning taking approximately 5 minutes per instance, affecting the production line's cycle time; high cost, requiring at least four people to operate together, resulting in significant labor costs; high labor intensity, as concrete blocks in the corners of the segment molds are difficult to clean, leading to worker fatigue; and poor cleaning results, with manual operation prone to omissions, making it impossible to guarantee consistent quality. Summary of the Invention

[0003] The purpose of this invention is to provide an automatic mold cleaning robot system that integrates a quick-change device, visual recognition, and real-time communication, so as to solve the problems of low efficiency, cumbersome tool replacement, and unstable cleaning quality of manual cleaning.

[0004] To achieve the above objectives, this utility model provides the following technical solution: a quick-change device suitable for automatic mold cleaning robots, comprising...

[0005] Robot-side quick-change device 4 and fixture-side quick-change device 5;

[0006] The robot-side quick-change device 4 includes a robot-side quick-change plate 105, a 3D camera 102, and a power supply signal module 104;

[0007] The clamp-side quick-change device 5 includes a clamp-side quick-change disc 202, a motor 206, a hollow reducer 207, and a roller brush 208;

[0008] The robot-side quick-change plate 105 and the fixture-side quick-change plate 202 are connected by a combination of magnetic attraction and mechanical locking to achieve rapid positioning and fixation. Both are integrated with a power supply signal module 104 and a signal transmission interface. Power and signal transmission are achieved through electrical plugs and quick-connect connectors, supporting the start, stop and speed adjustment of the motor 206.

[0009] Preferably, the 3D camera 102 is installed inside the adjustable bracket 101, and a clearance space is provided between the bracket 101 and the robot-side quick-change plate 105 for identifying the mold model and the distribution of concrete blocks.

[0010] Preferably, the roller brush 208 of the clamp-side quick-change device 5 is coaxially connected to the motor 206 via a hollow reducer 207. The end of the motor 206 cable is provided with a quick-connect connector, which is plugged into the power supply signal module 104 of the clamp-side quick-change device 5 to realize one-click replacement.

[0011] Preferably, the docking accuracy between the robot-side quick-change plate 105 and the fixture-side quick-change plate 202 is ≤ ±0.2mm, and it is equipped with a real-time communication feedback module.

[0012] Preferably, in the device according to claim 1, the roller brush 208 is connected to the hollow reducer 207 via a roller brush fixing bracket 205.

[0013] The technical effects and advantages of this utility model are as follows:

[0014] 1. Improved efficiency: Significantly improved cleaning efficiency, reducing cleaning time from 5 minutes to 1.5 minutes, and tool change time by 90%;

[0015] 2. Cost reduction: Reduced labor costs and labor intensity, with the manpower requirement reduced from 4 people to unmanned operation, and equipment maintenance costs reduced by 25%;

[0016] 3. Quality Assurance: Through visual recognition and programmed cleaning, the cleanliness compliance rate is ≥98%;

[0017] 4. High expandability: The quick-change device is compatible with a variety of tools (such as grinding heads and vacuum cleaners) and is suitable for different mold types.

[0018] 5. Facilitates regular maintenance of the quick-change device on the clamp side of the quick-change fixture rack, extending its service life; integrates a visual recognition system, which can scan and confirm the cleaning effect in real time, improving the accuracy and consistency of cleaning. Attached Figure Description

[0019] Figure 1 is a schematic diagram of the automatic mold cleaning robot unit system in an embodiment of the present invention;

[0020] Figure 2 is a structural schematic diagram of the robot-side quick-change device;

[0021] Figure 3 is a structural schematic diagram of the quick-change device on the clamp side.

[0022] In the diagram: Robot-1, Robot Power Cabinet-2, Robot Base-3, Robot Side Quick-Change Device-4, Fixture Side Quick-Change Device Part-5, Quick-Change Fixture Placement Rack-6, Placement Platform-7, Demolded Mold-8, Ground Conveyor 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 Plate-105, Fixture Side Quick-Change Plate-202, Flange-203, Motor Mounting Frame-204, Roller Brush Fixing Bracket-205, Motor-206, Hollow Gear Reducer-207, Roller Brush-208. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0024] Detailed implementation method:

[0025] The automatic mold cleaning robot unit system consists of robot 1, robot power cabinet 2, robot base 3, robot side quick-change device 4 (3D camera mounting bracket 101, 3D camera 102, mounting flange 103, robot side quick-change plate power supply signal module 104, robot side quick-change plate 105), fixture side quick-change device 5 (fixture side quick-change plate power supply signal module 201, fixture side quick-change plate 202, mounting flange 203, motor mounting frame 204, roller brush fixing bracket 205, motor 206, hollow reducer 207, roller brush 208), quick-change fixture placement rack 6, placement table 7, disassembled mold 8, ground conveyor line 9, and factory floor 10.

[0026] 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 plate 202 and the robot-side quick-change plate 105 on the clamp side and robot side respectively. The power supply signal module 201 of the two quick-change devices ensures the accuracy and stability of the quick-change plate docking through the electrical signal feedback mechanism, realizing real-time communication between the robot control system and the tool. The power interface on the module provides a stable power supply to the motor 206, and realizes the functions of starting, stopping, and speed adjustment of the roller brush through automatic control.

[0027] The robot base 3 is bolted to one side of the ground conveyor line 9. The robot 1 is screwed onto the robot base. The robot power cabinet 2 and the placement platform 7 are placed in a suitable location nearby and fixed to the ground with bolts. Two quick-change fixture placement racks 6 are screwed onto the placement platform 7. One of the fixture placement racks 6 holds a set of quick-change device 5 for the fixture side to be returned.

[0028] As shown in Figure 2, the robot-side quick-change device 4 consists of a 3D camera mounting bracket 101, a 3D camera 102, a mounting flange 103, a robot-side quick-change plate power supply and signal module 104, and a robot-side quick-change plate 105. The 3D camera 102 is fixed inside the 3D camera mounting bracket 101. This design aims to avoid collisions between the camera and the mold. Through reasonable layout, the risk of wear and damage to the camera in complex working environments is reduced, while ensuring that the camera can accurately capture information about the concrete clumps on the inner surface of the mold. The robot-side quick-change plate power supply and signal module 104 is installed on the robot-side quick-change plate 105, which 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 together on the robot 1.

[0029] As shown in Figure 3, the clamp-side quick-change device 5 consists of a clamp-side quick-change disc power supply signal module 104, a clamp-side quick-change disc 202, a flange 203, a motor mounting frame 204, a roller brush fixing bracket 205, a motor 206, a hollow reducer 207, and a roller brush 208. The clamp-side quick-change disc power supply signal module 104 is installed on the clamp-side quick-change disc 202. The upper part of the flange 203 is connected to the clamp-side quick-change disc 202, and the lower part is connected to the motor mounting frame 204. The hollow reducer 207 is connected to the motor mounting frame 204 and installed on the lower side of the frame. The roller brush 208 is connected to the hollow reducer 207 through the roller brush fixing bracket 205. The motor 206 is connected and installed at the tail end of the hollow reducer 207. The cable end of the motor 206 is equipped with a quick-connect connector and plugged into the clamp-side quick-change disc power supply signal module 201.

[0030] After demolding, the A-type, B-type, and K-type segment molds are conveyed by ground conveyor line 9 into the working area of ​​this automatic mold cleaning robot unit system. The 3D camera 102 first takes a picture to identify the mold model and calls the corresponding robot program. Then, it scans the internal surface of the mold to identify the mold's position information and capture the distribution of concrete blocks on the internal surface. The robot drives the actuators (robot-side quick-change device 4 and fixture-side quick-change device 5) to clean the concrete blocks on the mold surface according to the preset program corresponding to the mold model.

[0031] After cleaning, the 3D camera 102 scans again to confirm the cleaning effect. After the roller brush 208 wears out, the robot 1 moves the actuator to the placement table 7. First, the quick-change device 5 on the gripper side of the robot is placed on the empty quick-change gripper placement rack 6. Then, the robot grabs the new quick-change device 5 on the second quick-change gripper placement rack 6 to complete the quick change of the mechanism.

[0032] This invention solves the problems of low efficiency, high cost, and poor cleaning quality and effect of manual cleaning, ensuring consistent cleaning results; it adopts a quick-change device to realize the rapid replacement of vulnerable parts such as roller brushes, reducing downtime and improving the overall operating efficiency of the production line; it also facilitates regular maintenance of the quick-change device mechanism on the fixture side of the quick-change fixture rack, extending its service life.

[0033] The applicant further declares that while the above embodiments illustrate the implementation method and apparatus structure of this utility model, this utility model is not limited to the above-described embodiments, meaning that this utility model must rely on the above methods and structures to be implemented. Those skilled in the art should understand that any improvements to this utility model, equivalent substitutions for the selected implementation methods, additions of steps, and selection of specific methods all fall within the protection and disclosure scope of this utility model.

[0034] This utility model is not limited to the above-described embodiments. All methods that use similar structures and methods to achieve the purpose of this utility model are within the protection scope of this utility model.

Claims

1. A quick-change device suitable for an automatic mold cleaning robot, characterized in that: include Robot-side quick-change device (4) and fixture-side quick-change device (5); The robot-side quick-change device (4) includes a robot-side quick-change disk (105), a 3D camera (102), and a power supply signal module (104). The clamp-side quick-change device (5) includes a clamp-side quick-change disc (202), a motor (206), a hollow reducer (207), and a roller brush (208). The robot-side quick-change plate (105) and the fixture-side quick-change plate (202) are connected by a combination of magnetic attraction and mechanical locking, and both are integrated with a power supply signal module (104) and a signal transmission interface.

2. A quick-change device suitable for an automatic mold-cleaning robot, characterized in that: The 3D camera (102) is installed inside the adjustable bracket (101), and there is a clearance space between the bracket (101) and the robot side quick-change plate (105).

3. The apparatus according to claim 1, characterized in that: The roller brush (208) of the quick-change device (5) on the clamp side is coaxially connected to the motor (206) through the hollow reducer (207). The end of the motor (206) cable is provided with a quick-connect connector, which is plugged into the power supply signal module (104) of the quick-change device (5) on the clamp side.

4. The apparatus according to claim 1, characterized in that: The docking accuracy between the robot-side quick-change plate (105) and the fixture-side quick-change plate (202) is ≤ ±0.2mm, and it is equipped with a real-time communication feedback module.

5. The apparatus according to claim 1, characterized in that: The roller brush (208) is connected to the hollow reducer (207) via a roller brush fixing bracket (205).

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