Reconfigurable robot flexible feeding and unloading system

Abstract

The present application relates to a kind of reconfigurable robot flexible feeding and discharging system.The present application includes positioning platform;Tool positioning module, the tool positioning module includes slidingly connected to the extraction box of positioning platform and is arrayed in the quick-change positioning support of extraction box, the quick-change positioning support is equipped with photoelectric sensor for detecting whether there is zero quick-change;Six-axis robot, the six-axis robot is installed to positioning platform, the end of the six-axis robot is connected with end gripper, and the end gripper is used for the clamping of part quick-change;Numerical control machine tool, the numerical control machine tool is arranged on the side of positioning platform, and the numerical control machine tool includes numerical control machine tool spindle, and the numerical control machine tool spindle is connected with the zero quick-change tool base matched with zero quick-change.The present application can realize the flexibility, automation of feeding and discharging, facilitate flexible deployment, not only can improve the efficiency of part processing, but also reduce security risk.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of numerical control machine tool processing technology, in particular to a reconfigurable robot flexible feeding and discharging system. BACKGROUND

[0002] In recent years, the demand for various parts in the aerospace field is increasing, and with the production of model products and the trial production of research and development products, the characteristics of "multi-variety and small batch" of numerical control machining in this field are more prominent. However, the existing machine tools have high numerical control level but low processing efficiency, the main reason is the frequent replacement, clamping and adjustment of workpieces, which not only increases the labor intensity of operators, but also seriously shortens the effective processing time of machine tools, and is more likely to cause safety accidents and increase the operating cost of machine tools.

[0003] With the development of industrial automation technology, it is an inevitable trend for robots to replace operators to carry out machine tool feeding and discharging operations in the future. In recent years, some machine tool automation feeding and discharging devices have been proposed:

[0004] For example, a Chinese invention patent with application number 202110648677.6 discloses a feeding and discharging industrial robot and system combined with a numerical control machine tool. The robot is fixedly installed in front of the machine tool, and the feeding position and the discharging position are behind the robot. The disadvantage of this scheme is that the position of the robot cannot be flexibly reconfigured, and the occupied area is large, and there is an overlapping work area with the operator, which has safety hazards.

[0005] For example, a Chinese invention patent with application number 201810434283.9 discloses a gantry type manipulator for automatic feeding and discharging of a lathe based on a robot for rotary digging tooth machining automation production line. This scheme can improve production efficiency, but the gantry structure is not flexible, the occupied area is large, and there are safety hazards.

[0006] For example, a Chinese invention patent with application number 201610503375.9 discloses a robot intelligent machining line. This scheme adopts a six-axis industrial robot walking along a linear guide rail to provide feeding and discharging for multiple machine tools, and is suitable for mass production of parts, but the equipment layout is limited, cannot adapt to the rapid switching of humans and robots, and has a large occupied area and high investment cost.

[0007] A mobile mechanical arm platform installs a robot on an automatic guided vehicle (AGV), and cooperates with visual servoing to achieve a hand positioning accuracy of ±0.5mm, which is suitable for flexible feeding and discharging of multiple machine tools, but has high investment cost, and it is difficult for manufacturing enterprises with limited cost to promote.

[0008] Therefore, it is an urgent problem to be solved in the field of numerical control machining to develop a reconfigurable robot flexible feeding and discharging system which can realize automatic and flexible feeding and discharging, rapid man-machine switching, simple and flexible deployment and cost control. SUMMARY

[0009] In view of the above defects and improvement needs of the prior art, the present application provides a reconfigurable robot flexible feeding and discharging system to realize flexible and automatic feeding and discharging, convenient and flexible deployment, which can not only improve the part processing efficiency, but also reduce the safety hidden danger.

[0010] To solve the above technical problems, the present application provides a reconfigurable robot flexible feeding and discharging system, comprising:

[0011] A positioning platform;

[0012] A tool positioning module, the tool positioning module comprises a drawing box slidingly connected to the positioning platform and a quick-change positioning support arrayed on the drawing box, the quick-change positioning support is provided with a photoelectric sensor for detecting whether the zero quick-change exists or not;

[0013] A six-axis robot, the six-axis robot is installed on the positioning platform, the six-axis robot is connected with an end gripping device at the end, and the end gripping device is used for clamping the parts for quick change;

[0014] A numerical control machine tool, the numerical control machine tool is arranged on one side of the positioning platform, the numerical control machine tool comprises a numerical control machine tool spindle, and the numerical control machine tool spindle is connected with a zero quick-change tool base matched with the zero quick-change.

[0015] In an embodiment of the present application, the positioning platform is connected with a positioning device at the bottom, the positioning device comprises: a first positioning assembly and a second positioning assembly; the first positioning assembly comprises a guide strip arranged on the horizontal ground and a guide roller bearing connected to the bottom of the positioning platform and matched with the guide strip, one end of the guide strip is provided with a bevel; the second positioning assembly comprises a pneumatic zero positioning seat arranged on the horizontal ground and a draw-nut quick-change connecting plate connected to the bottom of the positioning platform, the pneumatic zero positioning seat is provided with a first pin hole matched with the draw-nut on the draw-nut quick-change connecting plate.

[0016] In an embodiment of the present application, the positioning device further comprises an auxiliary positioning assembly, the auxiliary positioning assembly comprises a pin seat plate fixed on the horizontal ground and a telescopic pin connected to the bottom of the positioning platform, the pin seat plate is provided with a second pin hole matched with the telescopic pin.

[0017] In an embodiment of the present application, the bottom end of the positioning platform is in a rectangular structure, the first positioning assembly and the second positioning assembly are symmetrically arranged on one lateral side of the bottom end of the positioning platform along the central transverse section of the bottom end of the positioning platform, and the auxiliary positioning assembly is symmetrically arranged on two longitudinal sides of the bottom end of the positioning platform along the central transverse section of the bottom end of the positioning platform.

[0018] In an embodiment of the present application, the end gripping device comprises a first end gripping assembly, the first end gripping assembly comprises a first adapter flange, a first swing cylinder, a first jaw cylinder, a first jaw, and a profiling positioning block, the first adapter flange is used for connecting the end of the six-axis robot, the first swing cylinder is connected to the first adapter flange and used for realizing the spatial pose adjustment of the workpiece, the first jaw cylinder is connected to the first swing cylinder, the first jaw is connected to the driving end of the first jaw cylinder, and the profiling positioning block is connected to the first jaw.

[0019] In an embodiment of the present application, the end gripping device comprises a second end gripping assembly, the second end gripping assembly comprises a second adapter flange, a second swing cylinder, a right-angle adapter block, a second jaw cylinder, a third jaw cylinder, a second jaw, and a third jaw, the second adapter flange is used for connecting the end of the six-axis robot, the second swing cylinder is connected to the second adapter flange, the second swing cylinder is connected with the right-angle adapter block, the second jaw cylinder and the third jaw cylinder are connected to the right-angle adapter block, and the second jaw cylinder and the third jaw cylinder are respectively connected with the second jaw and the third jaw.

[0020] In an embodiment of the present application, the positioning platform is provided with a load-bearing guide rail, and the extraction box is slidingly connected to the load-bearing guide rail.

[0021] In an embodiment of the present application, the zero-point quick change comprises a quick change flange plate and a quick change positioning pin hole arranged on the quick change flange plate.

[0022] In an embodiment of the present application, the quick change positioning support comprises a support column and a clamping groove plate connected to the support column, the clamping groove plate comprises a clamp and a tightening spring pin arranged on the inner side of the clamp, and the clamping groove plate is further connected with a quick change positioning pin matched with the quick change positioning pin hole.

[0023] In an embodiment of the present application, a human-machine interface is arranged on the upper part of the positioning platform, and a control cabinet is arranged on the lower part of the positioning platform.

[0024] The above technical scheme of the present application has the following advantages compared with the prior art:

[0025] 1. The reconfigurable robot flexible feeding and discharging system provided by the application can realize convenient manual-automatic exchange, can be flexibly reconfigured to any machine tool of the same type, only needs to select the zero point quick change and the type of the machine tool, and the control system can call the robot program taught, so that the plug and play in the application process is realized. While considering flexibility, the processing efficiency of "small batch and multi-variety" parts is improved, and the automation and flexibility level of numerical control processing is improved.

[0026] 2. The draw-out ladder type tool positioning module and the arrayed quick change positioning support of the application can realize quick change feeding and discharging of parts of different specifications, are convenient to install, and improve the flexibility level of the device.

[0027] 3. The application has low cost. Compared with the huge truss track of the truss type robot, the complex ground walking shaft and drive of the ground guide rail type robot, and the expensive AGV mobile platform, the application only needs to move the quick connection type high precision positioning platform, realizes quick and high precision positioning of the device and the numerical control machine tool, and the application of the device can save the automation transformation cost of enterprises.

[0028] 4. The robot end positioning precision of the application can reach within ±0.5mm, and the flexible design of the robot end grabbing device can quickly and accurately install the HSK A63 zero point quick change taper handle to the zero point quick change tool base of the machine tool spindle of the numerical control machine tool spindle. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to make the content of the application more easily and clearly understood, the application will be further described in detail below according to specific embodiments of the application and in combination with the drawings, in which

[0030] Figure 1 is the overall structure schematic diagram of the reconfigurable robot flexible feeding and discharging system of the application.

[0031] Figure 2 is the overall structure top view of the reconfigurable robot flexible feeding and discharging system of the application.

[0032] Figure 3 is the overall structure right view of the reconfigurable robot flexible feeding and discharging system of the application.

[0033] Figure 4 is the partial structure bottom view of the reconfigurable robot flexible feeding and discharging system of the application.

[0034] Figure 5 is the positioning device structure schematic diagram of the reconfigurable robot flexible feeding and discharging system of the application.

[0035] Figure 6 is the first end grabbing assembly structure schematic diagram of the reconfigurable robot flexible feeding and discharging system of the application.

[0036] Figure 7 is the second end grab component structure schematic diagram of the reconfigurable robot flexible feeding and discharging system of the application.

[0037] Figure 8 is the first end grab component view of the reconfigurable robot flexible feeding and discharging system of the application.

[0038] Figure 9 is the drawer type tool positioning module view of the reconfigurable robot flexible feeding and discharging system of the application.

[0039] Figure 10 is Figure 9 the partial enlarged schematic view.

[0040] Figure 11 is the structure schematic diagram of the clamping groove plate of the application.

[0041] Figure 12 is the structure schematic diagram of the zero point quick change.

[0042] Description of the drawing reference signs: 1, positioning platform; 11, load bearing guide rail; 12, human-machine interface; 13, control cabinet; 2, tool positioning module; 21, drawer box; 22, quick change positioning support; 221, support column; 222, clamp; 223, tightening spring pin; 224, quick change positioning pin; 23, photoelectric sensor; 3, zero point quick change; 31, quick change flange; 32, quick change positioning pin hole; 4, six-axis robot; 40, end grab device; 41, first end grab component; 411, first adapter flange; 412, first swing cylinder; 413, first clamping jaw cylinder; 414, first clamping finger; 415, profiling positioning block; 42, second end grab component; 421, second adapter flange; 422, second swing cylinder; 423, right-angle adapter block; 424, second clamping jaw cylinder; 425, third clamping jaw cylinder; 426, second clamping finger; 427, third clamping finger; 5, CNC machine tool; 51, CNC machine tool spindle; 52, zero point quick change tool base; 6, positioning device; 61, first positioning component; 611, guide strip; 612, guide roller bearing; 62, second positioning component; 621, pneumatic zero point positioning seat; 622, pull pin quick change adapter plate; 63, auxiliary positioning component; 631, pin seat plate; 632, retractable pin. DETAILED DESCRIPTION

[0043] The application will be further described below in conjunction with the drawings and specific embodiments, so that those skilled in the art can better understand the application and implement it, but the embodiments are not limiting to the application.

[0044] Reference Figures 1-3As shown, the reconfigurable robot flexible feeding and unloading system of the present application comprises:

[0045] A positioning platform 1;

[0046] A tool positioning module 2, which comprises a drawout box 21 slidingly connected to the positioning platform 1 and a quick-change positioning support 22 arrayed on the drawout box 21, the quick-change positioning support 22 being provided with a photoelectric sensor 23 for detecting whether the zero-point quick-change 3 is present or not;

[0047] A six-axis robot 4, which is installed on the positioning platform 1, and the six-axis robot 4 is connected at the end with an end gripping device 40 for clamping the parts for quick change;

[0048] A numerical control machine tool 5, which is arranged on one side of the positioning platform 1, and the numerical control machine tool 5 comprises a numerical control machine tool spindle 51 connected with a zero-point quick-change tool base 52 cooperating with the zero-point quick-change 3.

[0049] In this embodiment, the array of quick-change positioning supports 22 can be replaced according to different specifications of the zero-point quick-change 3, and can be quickly replaced to adapt to different models of the zero-point quick-change 3, and the positioning precision of the zero-point quick-change tool base 52 cooperating with the zero-point quick-change 3 is within 3um.

[0050] Specifically, as Figure 5 shown, the positioning platform 1 is connected at the bottom end with a positioning device 6, which comprises a first positioning assembly 61 and a second positioning assembly 62; the first positioning assembly 61 comprises a guide strip 611 arranged on the horizontal ground and a guide roller bearing 612 connected to the bottom end of the positioning platform 1 and cooperating with the guide strip 611, and the guide strip 611 is provided at one end with a bevel to facilitate the butt joint of the guide roller bearing 612; through the cooperation of the guide roller bearing 612 and the guide strip 611, the preliminary positioning of the positioning platform 1 is realized.

[0051] As Figure 5 shown, the second positioning assembly 62 comprises a pneumatic zero-point positioning seat 621 arranged on the horizontal ground and a pull pin quick-change connecting plate 622 connected to the bottom end of the positioning platform 1, and the pneumatic zero-point positioning seat 621 is provided with a first pin hole cooperating with the pull pin on the pull pin quick-change connecting plate 622, the pull pin on the pull pin quick-change connecting plate 622 is pushed into the first pin hole of the pneumatic zero-point positioning seat 621, and the control valve is controlled to complete the locking. The second positioning assembly 62 is used for fine positioning after the preliminary positioning of the first positioning device 6.

[0052] In addition, as Figure 5As shown, the positioning device 6 further comprises an auxiliary positioning assembly 63, which comprises a pin seat plate 631 fixed to the horizontal ground and a telescopic pin 632 connected to the bottom end of the positioning platform 1, the pin seat plate 631 is provided with a second pin hole matched with the telescopic pin 632, and the second pin hole is provided with two.

[0053] More specifically, the bottom end of the positioning platform 1 is in a rectangular structure, the first positioning assembly 61 and the second positioning assembly 62 are symmetrically arranged on one side of the bottom end of the positioning platform 1 along the central transverse section of the bottom end of the positioning platform 1, and the auxiliary positioning assembly 63 is symmetrically arranged on the two longitudinal edges of the bottom end of the positioning platform 1 along the central transverse section of the bottom end of the positioning platform 1.

[0054] Through the above arrangement, when in use, the positioning platform 1 can be moved in front of the numerical control machine tool 5, and the roller bearing can be clamped into the guide strip 611 fixed to the ground with the assistance of the first positioning device 6, and the mobile quick-connection high-precision positioning platform 1 is pushed to the bottom side of the numerical control machine tool 5, at this time, the pull pin quick-change connecting plate 622 installed on the positioning platform 1 is pushed into the pneumatic zero-point positioning seat 621 with the assistance of the first positioning device 6, the electromagnetic valve is controlled to act, the wedge-shaped block in the dynamic zero-point positioning seat is tightly matched with the pull pin, the precision positioning of the device is completed, and the matching state of the pneumatic zero-point positioning seat 621 and the pull pin quick-change connecting plate 622 is checked. If adjustment is needed, the auxiliary positioning device 6 can be used for fine adjustment.

[0055] Specifically, as shown in the figure, Figure 6 The end gripping device 40 comprises a first end gripping assembly 41, the first end gripping assembly 41 comprises a first adapter flange 411, a first swing cylinder 412, a first clamping jaw cylinder 413, a first clamping finger 414 and a profiling positioning block 415, the first adapter flange 411 is used to connect the end of the six-axis robot 4, the first swing cylinder 412 is connected to the first adapter flange 411 and is used to realize the spatial pose adjustment of the workpiece, the first clamping jaw cylinder 413 is connected to the first swing cylinder 412, the first clamping finger 414 is connected to the driving end of the first clamping jaw cylinder 413, and the profiling positioning block 415 is connected to the first clamping finger 414. Through the above arrangement, the positioning and clamping of the zero-point quick-change 3 can be realized, and the flexible clamping of the parts quick-change on the quick-change positioning support 22 of the multi-layer array structure is facilitated.

[0056] Specifically, as shown in the figure, Figure 7As shown, the end gripping device 40 comprises a second end gripping assembly 42, which comprises a second adapter flange 421 for connecting the six-axis robot 4 end, a second swing cylinder 422 connected to the second adapter flange 421, a right-angle adapter block 423 connected to the second swing cylinder 422, a second jaw cylinder 424 and a third jaw cylinder 425 connected to the right-angle adapter block 423, and a second jaw 426 and a third jaw 427 respectively connected to the second jaw cylinder 424 and the third jaw cylinder 425. The second end gripping assembly 42 can be used for clamping and taking parts on the quick-change positioning support 22 of the single-layer array structure, and can complete finished product unloading and blank loading in one robot action cycle to improve efficiency.

[0057] By setting two structures of end gripping assemblies, different quick-change positioning supports 22 arrays can be applied respectively.

[0058] Specifically, as shown in Figure 9 The positioning platform 1 is provided with a load-bearing guide rail 11, which is symmetrically arranged at the bottom end of the extraction box 21, and the extraction box 21 is slidingly connected to the load-bearing guide rail 11. Through the above arrangement, the opening and closing of the extraction box 21 can be realized to facilitate the operator to replace the zero quick change 3.

[0059] Specifically, as shown in Figure 9 and Figure 10 The zero quick change 3 comprises a quick-change flange plate 31 and a quick-change positioning pin hole 32 arranged on the quick-change flange plate 31. In this embodiment, the numerical control machine tool spindle 51 is provided with a zero quick change tool holder base 52 adapted to a standard A63 tool shank, and a special HSK A63 type zero quick change 3 and a series of hydraulic tool shank variable diameter sleeves are designed. The zero quick change 3 flange has two specifications of 110mm and 32mm, and the variable diameter sleeve has four specifications of 32-20, 32-15, 32-10 and 52-5, which are suitable for rotary type parts machining with an outer diameter of 110mm and a length of 120mm or less. The positioning accuracy of the robot end can be within ±0.5mm, and the flexible design of the robot end gripping device 40 can quickly and accurately install the taper shank of the HSK A63 zero quick change 3 to the zero quick change tool holder base 52 of the machine tool spindle of the numerical control machine tool spindle 51.

[0060] Specifically, as shown in Figure 11As shown, the quick-change positioning support 22 comprises a support column 221 and a clamping groove plate connected to the support column 221, the clamping groove plate comprises a clamping hoop 222 and a clamping spring pin 223 arranged on the inner side of the clamping hoop 222, and the clamping groove plate is further connected with a quick-change positioning pin 224 matched with the quick-change positioning pin hole 32. Figure 12 As shown, the quick-change positioning pin 224 can be matched with the HSK A63 chuck pin hole.

[0061] Specifically, as shown, Figures 1-3 As shown, the positioning platform 1 is provided with a human-machine interface 12 (HMI) on the upper part, and a control cabinet 13 is arranged on the lower part, and the control system thereof comprises a logic controller (PLC), an electromagnetic valve, a relay and the like, the pickup program of the zero-point quick change 3 on the quick-change positioning support 22 of different specifications is programmed by an engineer in advance for transmission and calling, the selection of the zero-point quick change 3 type and the start of the task can be performed on the HMI, the control system calls the program according to the parameter selection, controls the movement of the industrial robot, the action of the clamping jaw, the automatic door of the machine tool and the start and stop of the machine tool.

[0062] In use, the positioning platform 1 is moved to the front of the numerical control machine tool 5, the roller bearing is clamped into the guide strip 611 fixed to the ground under the assistance of the first positioning device 6, and the quick-change high-precision positioning platform 1 is pushed to the bottom to the side of the numerical control machine tool 5, at this time, the pull pin quick-change adapter plate 622 installed on the positioning platform 1 is pushed into the pneumatic zero-point positioning seat 621 under the assistance of the first positioning device 6, the electromagnetic valve is controlled to act, the wedge-shaped block in the zero-point positioning seat is tightly matched with the pull pin, the precision positioning of the device is completed, and the matching state of the pneumatic zero-point positioning seat 621 and the pull pin quick-change adapter plate 622 is checked, if adjustment is needed, the auxiliary positioning device 6 can be used for fine adjustment. The device can be provided with power supply and gas source through an aviation plug and a quick-connection gas pipe joint, the equipment is powered and reset, the operator draws out the drawer type tool positioning module 2, clamps the workpiece to the zero-point quick change 3 and clamps it to the quick-change positioning support 22, selects the type of the zero-point quick change 3 and the machine tool code on the human-machine interface 12, starts the device under the condition that each signal is normal, and the control system calls the debugged robot program to automatically feed and discharge the numerical control machine tool 5. If the numerical control machine tool 5 needs to switch to manual operation, the device can be reset, the power supply and the gas source are disconnected, the positioning device 6 is opened, and the positioning platform 1 is pushed to other positions in the workshop to provide space for the operator.

[0063] The device can realize convenient manual-automatic exchange, can be flexibly reconstructed to any machine tool of the same type, only needs to select the type of the zero-point quick change 3 and the machine tool, the control system can call the taught robot program, and the plug-and-play in the application process is realized. While the flexibility is considered, the machining efficiency of “small batch and multi-variety” parts is improved, and the automation and flexibility level of numerical control machining is improved.

[0064] Finally, it should be noted that the above detailed description is merely illustrative of the technical solutions of the present application and is not limiting, and although the present application has been described in detail with reference to the examples, it should be understood by those skilled in the art that the technical solutions of the present application can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present application, and all should be covered in the scope of the claims of the present application.

Claims

1. A reconfigurable robot flexible loading and unloading system, characterized in that, include: Positioning platform (1); Tooling positioning module (2), the tooling positioning module (2) includes a slidably connected extraction box (21) to the positioning platform (1) and a quick-change positioning bracket (22) arrayed in the extraction box (21), the quick-change positioning bracket (22) is provided with a photoelectric sensor (23) for detecting the presence or absence of zero-point quick change (3). A six-axis robot (4) is mounted on a positioning platform (1). The end of the six-axis robot (4) is connected to an end gripper (40), which is used for gripping parts for quick change. The CNC machine tool (5) is located on one side of the positioning platform (1). The CNC machine tool (5) includes a CNC machine tool spindle (51). The CNC machine tool spindle (51) is connected to a zero-point quick change tooling base (52) that cooperates with the zero-point quick change (3). The positioning platform (1) is connected to a positioning device (6) at its bottom end. The positioning device (6) includes a first positioning component (61) and a second positioning component (62). The first positioning component (61) includes a guide strip (611) disposed on a horizontal ground and a guide roller bearing (612) connected to the bottom end of the positioning platform (1) and cooperating with the guide strip (611). One end of the guide strip (611) is provided with a bevel. The second positioning component (62) includes a pneumatic zero-point positioning seat (621) disposed on a horizontal ground and a quick-change plate (622) for connecting rivets connected to the bottom end of the positioning platform (1). The pneumatic zero-point positioning seat (621) is provided with a first pin hole that cooperates with the rivets on the quick-change plate (622). The positioning device (6) further includes an auxiliary positioning component (63), which includes a pin seat plate (631) fixed to the horizontal ground and a retractable pin (632) connected to the bottom of the positioning platform (1). The pin seat plate (631) has a second pin hole that cooperates with the retractable pin (632). The bottom of the positioning platform (1) is rectangular. The first positioning component (61) and the second positioning component (62) are symmetrically arranged on one side of the bottom of the positioning platform (1) along the center cross section. The auxiliary positioning component (63) is symmetrically arranged on the two longitudinal sides of the bottom of the positioning platform (1) along the center cross section. The zero-point quick-change (3) includes a quick-change flange (31) and a quick-change positioning pin hole (32) provided on the quick-change flange (31). The quick-change positioning bracket (22) includes a bracket column (221) and a slot plate connected to the bracket column (221). The slot plate includes a clamp (222) and a tightening spring pin (223) located inside the clamp (222). The slot plate is also connected to a quick-change positioning pin (224) that mates with the quick-change positioning pin hole (32).

2. The reconfigurable robot flexible loading and unloading system according to claim 1, characterized in that, The end effector (40) includes a first end effector assembly (41), which includes a first adapter flange (411), a first swing cylinder (412), a first gripper cylinder (413), a first gripper finger (414), and a contour positioning block (415). The first adapter flange (411) is used to connect to the end of the six-axis robot (4). The first swing cylinder (412) is connected to the first adapter flange (411). The first gripper cylinder (413) is connected to the first swing cylinder (412). The first gripper finger (414) is connected to the drive end of the first gripper cylinder (413). The contour positioning block (415) is connected to the first gripper finger (414).

3. The reconfigurable robot flexible loading and unloading system according to claim 1, characterized in that, The end effector (40) includes a second end effector assembly (42), which includes a second adapter flange (421), a second swing cylinder (422), a right-angle adapter block (423), a second gripper cylinder (424), a third gripper cylinder (425), a second gripper finger (426), and a third gripper finger (427). The second adapter flange (421) is used to connect to the end effector of the six-axis robot (4). The second swing cylinder (422) is connected to the second adapter flange (421). The second swing cylinder (422) is connected to the right-angle adapter block (423). The second gripper cylinder (424) and the third gripper cylinder (425) are connected to the right-angle adapter block (423). The second gripper cylinder (424) and the third gripper cylinder (425) are respectively connected to the second gripper finger (426) and the third gripper finger (427).

4. The reconfigurable robot flexible loading and unloading system according to claim 1, characterized in that, The positioning platform (1) is provided with a load-bearing guide rail (11), and the extraction box (21) is slidably connected to the load-bearing guide rail (11).

5. A reconfigurable robot flexible loading and unloading system according to claim 1, characterized in that, The positioning platform (1) is equipped with a human-machine interface (12) on the upper part and a control cabinet (13) on the lower part.

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