Edge rolling machining mechanical arm with roller head quick-changing mechanism

Abstract

The invention discloses an edge rolling machining mechanical arm with a roller head quick-changing mechanism, and relates to the technical field of robot engineering.The edge rolling machining mechanical arm comprises a base, a mechanical arm body, a tail end executing mechanism and a changing frame, the mechanical arm body is arranged on the base, and the tail end executing mechanism is arranged at the working end of the mechanical arm body; compared with an existing edge rolling machining mechanical arm, the purpose of rapidly replacing the rolling head is achieved through the inserting part and the second electromagnet, the positioning pin and the transmission block are further arranged, the second electromagnet directly attracts the inserting part of the rolling head in a magnetic mode on one hand, and on the other hand, movement of the positioning pin and the transmission block can be controlled; compared with an existing method for fixing the cutter through multiple sets of electromagnets and bolts, the purpose of double fixing is achieved through a single set of electromagnets, on one hand, the probability that a circuit breaks down is reduced, on the other hand, use of electrical equipment is reduced, and the production cost is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of robot engineering, in particular to a hemming processing robot with a roller head quick-change mechanism. Background Art

[0002] Rolling processing is a common process in mechanical processing. Robots are widely used in the rolling process because of their advantages such as continuous work, strong adaptability and high safety.

[0003] At present, in order to improve work efficiency, multiple sets of electromagnets and latches are usually used in mechanical processing to quickly replace the working parts of the robot's execution end. For example, the patent "CN208276929U A device for quickly replacing tools" discloses a technical solution for quickly replacing tools. However, in the actual working process, with the increase in the number of electrical components such as electromagnets, the probability of failure of the robot circuit and the production cost will also increase accordingly; at the same time, when the existing robot quick tool replacement device encounters a failure, it is difficult for the staff to disassemble the working parts, thereby increasing the difficulty of maintenance; finally, during the rolling hemming process, sometimes the robot will stop working due to various faults. When the robot returns to normal later, there may be unexpected movement. At this time, if the workpiece to be processed is too close to the execution end of the robot, the workpiece is easily damaged. Summary of the invention

[0004] The object of the present invention is to provide a hemming processing robot with a roller head quick-change mechanism to solve the problems raised in the prior art.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a rolling processing robot with a roller head quick-change mechanism, the rolling processing robot comprising a base, a robot body, an end actuator and a replacement frame, the robot body is arranged on the base, the end actuator is arranged at the working end of the robot body, the replacement frame is arranged at the lower end of the robot body, the end actuator comprises a mounting seat and a mounting shaft, the mounting shaft is arranged at the end of the mounting seat away from the robot body, the end of the mounting shaft away from the mounting seat is provided with a slot and a second electromagnet, a plurality of rolling heads are arranged on the replacement frame, each rolling head is provided with a plug-in portion, each plug-in portion is adapted to the slot, compared with the current rolling processing robot, the present invention is provided with a plug-in portion on each rolling head A connecting part, a slot and a second electromagnet are provided in the installation shaft, and the plug-in part is ferromagnetic metal. During the hemming process of the present invention, the plug-in part of one of the roller heads is located in the slot, and the roller head is fixed on the installation shaft by the suction force generated by the second electromagnet. When the roller head needs to be replaced quickly, the program set by the robot can be used to first insert the roller head on the installation shaft into the empty slot of the replacement rack, and then the second electromagnet is turned off, and then the installation shaft is raised and separated from the roller head by the force of the robot itself. Finally, the installation shaft is moved to the top of the new roller head through the running program set by the robot. When the installation shaft moves down, the plug-in part of the new roller head will enter the slot. At this time, the second electromagnet is turned on, and the new roller head is fixed on the installation shaft through the second electromagnet, thereby completing the quick change action.

[0006] Furthermore, a positioning sleeve is provided on the outside of one end of the installation shaft close to the slot, a positioning pin is provided in the positioning sleeve, the positioning pin and the positioning sleeve are connected by a positioning spring, a transmission slot is provided on the side of the second electromagnet away from the slot, a transmission block is provided inside the transmission slot, a second magnetic block is inlaid on one end of the transmission block close to the second electromagnet, hydraulic oil is provided on one end of the transmission slot away from the second electromagnet, and the end of the transmission slot away from the second electromagnet is connected to the positioning sleeve, and a positioning hole is provided on the plug-in portion of each of the roller heads, and each positioning hole is adapted to the positioning pin. In the process of replacing a new roller head, when the plug-in portion of the new roller head enters the plug-in portion, the positioning hole is connected to the positioning pin. After entering the groove, the second electromagnet will generate a group of magnetic fields that attract the plug-in part on the one hand, and generate a group of magnetic fields that repel the second magnetic block on the other hand. At this time, the transmission block will move away from the second electromagnet and squeeze the hydraulic oil in the transmission groove into the positioning sleeve. Under the action of the hydraulic pressure, the positioning pin will enter the positioning hole, and the second electromagnet and the positioning pin can achieve the purpose of doubly fixing the new roller head, avoiding the new roller head from shaking or detaching during work. Compared with the current method of fixing the tool using multiple groups of electromagnets and pins, the present invention achieves the purpose of double fixation through a single group of electromagnets, which on the one hand reduces the probability of circuit failure, and on the other hand reduces the use of electrical equipment and reduces production costs.

[0007] Furthermore, the cross-section of the transmission block is a "T"-shaped structure, and a movable groove is provided on the side of the transmission groove away from the second electromagnet, and a third magnetic block is provided in the movable groove. The end of the transmission block close to the third magnetic block is ferromagnetic metal. When the plug-in portion of the roller head is fixed in the slot of the present invention, the transmission block is close to the third magnetic block. At this time, the transmission block is not only subjected to the repulsive force of the second electromagnet, but also to the suction force of the third magnetic block. When the plug-in portion of the roller head needs to be detached from the slot of the present invention, the second electromagnet will first generate a set of magnetic fields that attract the second magnetic block. When the second electromagnet is on When the suction force of the second magnetic block is greater than the suction force of the third magnetic block on the transmission block, the second magnetic block will move away from the third magnetic block and approach the second electromagnet. At this time, the second electromagnet is turned off to facilitate the subsequent separation of the installation shaft and the roller head through the robot's own force. Through the above technical solution, during the rolling process of the present invention, if the circuit of the second electromagnet cannot work normally due to a fault, the transmission block will not be reset due to the lack of the repulsive force of the second electromagnet. At this time, the positioning pin will still be firmly located in the positioning hole, and the positioning pin is used to ensure that the roller head on the installation shaft can perform rolling processing normally.

[0008] Furthermore, a separation groove is provided at the side end of the movable groove, and a push rod is provided in the separation groove. The push rod is fixedly connected to the third magnetic block, and a first compression spring is wound on the push rod. Through the above technical scheme, when the second electromagnet of the present invention fails to work normally, the staff can directly press the push rod to make the third magnetic block and the transmission block staggered. At this time, under the action of the positioning spring and the hydraulic oil, the transmission block and the positioning pin will automatically reset, and then the staff can manually take out the roller head to facilitate the replacement of the second electromagnet.

[0009] Furthermore, a first slide groove is provided at one end of the mounting seat close to the mounting shaft, a second slide groove is provided at one end of the mounting seat away from the mounting shaft, a first electromagnet is provided between the first slide groove and the second slide groove, a first slider is provided in the first slide groove, the first slider is movably installed in the first slide groove by a second compression spring, a second slider is provided in the second slide groove, one end of the first slider is fixedly connected to the mounting shaft, the other end of the first slider is fixedly connected to the second slider by a connecting rod, a first magnetic block is provided at one end of the second slider close to the first electromagnet, and when the present invention is working normally, the first electromagnet When the first electromagnet contacts the second slider, the second compression spring is in a stretched state. The suction force of the first electromagnet on the second slider is used to fix the first slider and the mounting shaft. If the present invention suddenly encounters a power outage or a robot failure during the rolling process, the suction force of the first electromagnet on the second slider will disappear. At this time, under the action of the second compression spring, the first slider will move with the mounting shaft and the roller head toward the direction of the robot body. Through the above technical solution, on the one hand, the roller head is automatically separated from the workpiece, which is convenient for subsequent staff to take away the workpiece. On the other hand, it prevents the workpiece from being damaged due to accidental movement after the robot returns to normal.

[0010] Furthermore, the side ends of the second slide groove are provided with two groups of telescopic grooves relatively arranged, and each group of the telescopic grooves is provided with a group of blocks, and each group of the blocks is movably installed in the telescopic groove by a third compression spring. When the present invention is working normally, the second slider is subjected to the suction force of the first electromagnet as well as the resistance of the two groups of blocks, thereby ensuring the stability of the first slider and the mounting shaft. Finally, the four ends of the second slider in the present invention are arc structures, and the end of each group of blocks close to the second slide groove is also an arc structure. Through the above technical scheme, the present invention ensures the stability of the first slider and the mounting shaft, while avoiding the situation that the first slider cannot drive the roller head away from the workpiece when the manipulator fails.

[0011] Furthermore, a plurality of placement slots are provided inside the replacement rack, a shunt pipe is provided outside the replacement rack, a suction cup is provided in each placement slot, and each suction cup is connected to an external air pump through a shunt pipe. When the staff places the roller head into the replacement rack, the suction cup contacts one end of the roller head, and a negative pressure state is created inside the suction cup through the external air pump and the shunt pipe, thereby ensuring that the roller head and the suction cup are fixed together. Through the above technical solution, the roller head position in the replacement rack can be prevented from being offset due to vibration and the like during the hemming process.

[0012] Furthermore, each of the suction cups is provided with a group of sensing grooves at one end away from the shunt pipe, and a group of sensing blocks are provided in each group of sensing grooves. The sensing blocks are connected to the sensing grooves by sensing springs, and a piezoelectric sheet is provided at one end of the sensing block close to the sensing spring. When the roller head and the suction cup are fixed together, the sensing spring in the sensing groove is in a compressed state. At this time, the piezoelectric sheet on the sensing block will generate a group of electrical signals. By monitoring the electrical signals generated by the piezoelectric sheet, the staff can determine in real time whether the positions of several roller heads in the replacement rack are offset, to prevent the slot on the mounting shaft from being unable to be aligned with the roller head to be used when the roller head is replaced later.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows: compared with the current hemming processing robot, the present invention is provided with a plug-in portion on each roller head, and a slot and a second electromagnet are provided in the installation shaft. The purpose of quickly replacing the roller head is achieved through the plug-in portion and the second electromagnet. The present invention is also provided with a positioning pin and a transmission block. The second electromagnet can directly magnetically attract the plug-in portion of the roller head on the one hand, and can control the movement of the positioning pin and the transmission block on the other hand. The second electromagnet and the positioning pin can achieve the purpose of doubly fixing the new roller head, avoiding shaking and detachment of the new roller head during operation. Compared with the current method of fixing the tool with multiple sets of electromagnets and pins, the present invention achieves the purpose of double fixing with a single set of electromagnets, which reduces the probability of circuit failure on the one hand, and reduces the use of electrical equipment and reduces production costs on the other hand. In addition, during the rolling process of the present invention, if the circuit of the second electromagnet cannot work normally due to a fault, the positioning pin will still be firmly located in the positioning hole, and the positioning pin will ensure that the roller head on the mounting shaft can perform rolling processing normally. When the rolling process is completed, the staff can directly press the top rod to stagger the third magnetic block and the transmission block. At this time, the transmission block and the positioning pin will automatically reset, and the staff can manually take out the roller head to facilitate the replacement or maintenance of the second electromagnet. Finally, the present invention is also provided with a first slider. If a power outage or a robot failure occurs suddenly during the rolling process, the first slider will move with the mounting shaft and the roller head in the direction of the robot body. On the one hand, the roller head is automatically separated from the workpiece, which is convenient for subsequent staff to take away the workpiece. On the other hand, it prevents the workpiece from being damaged due to accidental movement after the robot returns to normal. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the structure of the end actuator of the present invention; Figure 3 It is a schematic diagram of the roller head structure of the present invention; Figure 4 It is a schematic diagram of the internal structure of the installation shaft of the present invention; Figure 5 For the present invention Figure 4 Schematic diagram of the structure of the middle AA section; Figure 6 It is a schematic diagram of the mounting seat structure of the present invention; Figure 7 It is a schematic diagram of the structure of the replacement frame of the present invention; Figure 8 It is a schematic diagram of the internal structure of the suction cup of the present invention.

[0015] In the figure: 1, base; 2, manipulator body; 3, end actuator; 31, mounting seat; 311, first slider; 312, telescopic slot; 313, stopper; 314, first slide slot; 315, first electromagnet; 316, second slider; 3161, first magnetic block; 317, second slide slot; 32, mounting shaft; 321, positioning sleeve; 3211, positioning pin; 322, transmission slot; 323, transmission block; 3231, second magnetic block; 324, third magnetic block; 3241, push rod; 325, second electromagnet; 326, movable slot; 33, roller head; 331, plug-in part; 3311, positioning hole; 4, replacement rack; 41, shunt pipe; 42, suction cup; 421, induction block; 422, induction slot. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0017] Example: Figure 1-Figure 5As shown, the present invention provides a technical solution, a hemming processing robot with a roller head quick-change mechanism, the hemming processing robot comprises a base 1, a robot body 2, an end actuator 3 and a replacement frame 4, the robot body 2 is arranged on the base 1, the end actuator 3 is arranged at the working end of the robot body 2, the replacement frame 4 is arranged at the lower end of the robot body 2, the end actuator 3 comprises a mounting seat 31 and a mounting shaft 32, the mounting shaft 32 is arranged at the end of the mounting seat 31 away from the robot body 2, the end of the mounting shaft 32 away from the mounting seat 31 is provided with a slot and a second electromagnet 325, a plurality of roller heads 33 are arranged on the replacement frame 4, each roller head 33 is provided with a plug-in portion 331, each plug-in portion 331 is adapted to the slot, compared with the current hemming processing robot, the present invention is provided with a plug-in portion 331 on each roller head 33, and a plug-in portion 331 is provided in the mounting shaft 32 The slot and the second electromagnet 325, the plug-in part 331 are ferromagnetic metal. During the hemming process of the present invention, the plug-in part 331 of one of the roller heads 33 is located in the slot, and the roller head 33 is fixed on the mounting shaft 32 by the suction force generated by the second electromagnet 325. When the roller head 33 needs to be quickly replaced, the program set by the robot can be used to first insert the roller head 33 on the mounting shaft 32 into the empty slot of the replacement rack 4, and then the second electromagnet 325 is turned off, and then the mounting shaft 32 is raised and separated from the roller head 33 by the force of the robot itself. Finally, the running program set by the robot is used to move the mounting shaft 32 to the top of the new roller head 33. When the mounting shaft 32 moves down, the plug-in part 331 of the new roller head 33 will enter the slot, and then the second electromagnet 325 is turned on to fix the new roller head 33 on the mounting shaft 32 by the second electromagnet 325, thereby completing the quick change action.

[0018] like Figure 2-Figure 4As shown, a positioning sleeve 321 is provided on the outside of the end of the installation shaft 32 close to the slot, and a positioning pin 3211 is provided in the positioning sleeve 321, and the positioning pin 3211 is connected to the positioning sleeve 321 through a positioning spring, and a transmission slot 322 is provided on the side of the second electromagnet 325 away from the slot, and a transmission block 323 is provided inside the transmission slot 322, and a second magnetic block 3231 is embedded in the end of the transmission block 323 close to the second electromagnet 325, and hydraulic oil is provided at the end of the transmission slot 322 away from the second electromagnet 325, and the end of the transmission slot 322 away from the second electromagnet 325 is connected to the positioning sleeve 321, and a positioning hole 3311 is provided on the plug-in portion 331 of each roller head 33, and each positioning hole 3311 is adapted to the positioning pin 3211. In the process of replacing a new roller head 33 of the present invention, when the new roller head 33 After the plug-in portion 331 enters the slot, the second electromagnet 325 will generate a set of magnetic fields that attract the plug-in portion 331 on the one hand, and will generate a set of magnetic fields that repel the second magnetic block 3231 on the other hand. At this time, the transmission block 323 will move away from the second electromagnet 325 and squeeze the hydraulic oil in the transmission groove 322 into the positioning sleeve 321. Under the action of the hydraulic pressure, the positioning pin 3211 will enter the positioning hole 3311. The second electromagnet 325 and the positioning pin 3211 are used to double fix the new roller head 33 to prevent the new roller head 33 from shaking or detaching during operation. Compared with the current method of fixing the tool using multiple sets of electromagnets and pins, the present invention achieves the purpose of double fixation through a single set of electromagnets, which reduces the probability of circuit failure on the one hand, and reduces the use of electrical equipment and reduces production costs on the other hand.

[0019] like Figure 2-Figure 5As shown, the cross section of the transmission block 323 is a "T"-shaped structure, and a movable groove 326 is provided on the side of the transmission groove 322 away from the second electromagnet 325, and a third magnetic block 324 is provided in the movable groove 326. The end of the transmission block 323 close to the third magnetic block 324 is a ferromagnetic metal. When the plug-in portion 331 of the rolling head 33 is fixed in the slot of the present invention, the transmission block 323 is close to the third magnetic block 324. At this time, in addition to the repulsive force of the second electromagnet 325, the transmission block 323 is also subjected to the suction force of the third magnetic block 324. When the present invention needs to detach the plug-in portion 331 of the rolling head 33 from the slot, the second electromagnet 325 will first generate a set of magnetic fields that attract the second magnetic block 3231. When the second electromagnet 325 is on the third magnetic block 324, the second electromagnet 325 will first generate a set of magnetic fields that attract the second magnetic block 3231. When the suction force of the second magnetic block 3231 is greater than the suction force of the third magnetic block 324 on the transmission block 323, the transmission block 323 will move away from the third magnetic block 324 and approach the second electromagnet 325. At this time, the second electromagnet 325 is turned off to facilitate the subsequent separation of the mounting shaft 32 and the roller head 33 through the robot's own force. Through the above technical solution, during the rolling process of the present invention, if the circuit of the second electromagnet 325 cannot work normally due to a fault, the transmission block 323 will not be reset due to the lack of the repulsive force of the second electromagnet 325. At this time, the positioning pin 3211 will still be firmly located in the positioning hole 3311, and the positioning pin 3211 is used to ensure that the roller head 33 on the mounting shaft 32 can perform the rolling process normally.

[0020] like Figure 4-Figure 5 As shown, a separation groove is provided at the side end of the movable groove 326, and a push rod 3241 is provided in the separation groove. The push rod 3241 is fixedly connected to the third magnetic block 324, and a first compression spring is wound around the push rod 3241. Through the above technical scheme, when the second electromagnet 325 of the present invention fails to work normally, the staff can directly press the push rod 3241 to make the third magnetic block 324 staggered with the transmission block 323. At this time, under the action of the positioning spring and the hydraulic oil, the transmission block 323 and the positioning pin 3211 will automatically reset, and then the staff can manually take out the roller head 33 to facilitate the replacement of the second electromagnet 325.

[0021] like Figure 6As shown, a first slide groove 314 is provided at one end of the mounting seat 31 close to the mounting shaft 32, a second slide groove 317 is provided at one end of the mounting seat 31 away from the mounting shaft 32, a first electromagnet 315 is provided between the first slide groove 314 and the second slide groove 317, a first slider 311 is provided in the first slide groove 314, the first slider 311 is movably installed in the first slide groove 314 through a second compression spring, a second slider 316 is provided in the second slide groove 317, one end of the first slider 311 is fixedly connected to the mounting shaft 32, the other end of the first slider 311 is fixedly connected to the second slider 316 through a connecting rod, and a first magnetic block 3161 is provided at one end of the second slider 316 close to the first electromagnet 315. , the first electromagnet 315 contacts the second slider 316, and the second compression spring is in a stretched state. The suction force of the first electromagnet 315 on the second slider 316 is used to fix the first slider 311 and the mounting shaft 32. If the present invention suddenly encounters a power outage or a robot failure during the hemming process, the suction force of the first electromagnet 315 on the second slider 316 will disappear. At this time, under the action of the second compression spring, the first slider 311 will move with the mounting shaft 32 and the roller head 33 toward the direction of the robot body 2. Through the above technical solution, on the one hand, the roller head 33 is automatically separated from the workpiece, which is convenient for subsequent staff to take away the workpiece. On the other hand, it prevents the workpiece from being damaged due to accidental movement after the robot returns to normal.

[0022] like Figure 6 As shown, the side end of the second slide groove 317 is provided with two groups of telescopic grooves 312 relatively arranged, and each group of telescopic grooves 312 is provided with a group of blocks 313, and each group of blocks 313 is movably installed in the telescopic groove 312 by a third compression spring. When the present invention is working normally, the second slider 316 is not only subjected to the suction force of the first electromagnet 315, but also subjected to the resistance of the two groups of blocks 313, thereby ensuring the stability of the first slider 311 and the installation shaft 32. Finally, the four ends of the second slider 316 in the present invention are arc structures, and the end of each group of blocks 313 close to the second slide groove 317 is also an arc structure. Through the above technical scheme, the present invention ensures the stability of the first slider 311 and the installation shaft 32, while avoiding the situation that the first slider 311 cannot drive the roller head 33 away from the workpiece when the manipulator fails.

[0023] like Figure 7-Figure 8As shown, the interior of the replacement rack 4 is provided with a plurality of placement slots, the outer side of the replacement rack 4 is provided with a shunt tube 41, each placement slot is provided with a suction cup 42, each suction cup 42 is connected with an external air pump through the shunt tube 41, when the staff places the roller head 33 into the replacement rack 4, the suction cup 42 contacts with one end of the roller head 33, and the suction cup 42 is in a negative pressure state through the external air pump and the shunt tube 41, so as to ensure that the roller head 33 and the suction cup 42 are fixed together, and through the above technical scheme, the position of the roller head 33 in the replacement rack 4 is prevented from being offset due to vibration and the like during the rolling process.

[0024] like Figure 7-Figure 8 As shown, each suction cup 42 is provided with a group of sensing grooves 422 at one end away from the shunt pipe 41, and a group of sensing blocks 421 are provided in each group of sensing grooves 422. The sensing blocks 421 are connected to the sensing grooves 422 by sensing springs, and a piezoelectric sheet is provided at one end of the sensing block 421 close to the sensing spring. When the roller head 33 and the suction cup 42 are fixed together, the sensing spring in the sensing groove 422 is in a compressed state. At this time, the piezoelectric sheet on the sensing block 421 will generate a group of electrical signals. By monitoring the electrical signals generated by the piezoelectric sheet, the staff can determine in real time whether the positions of several roller heads 33 in the replacement rack 4 are offset, so as to prevent the slot on the mounting shaft 32 from being unable to be aligned with the roller head 33 to be used when the roller head 33 is replaced later.

[0025] The working principle of the present invention is as follows: when the roller head 33 needs to be replaced quickly, the roller head 33 on the installation shaft 32 can be inserted into the empty slot of the replacement frame 4 through the program set by the robot, and then the second electromagnet 325 generates a set of magnetic fields that attract the second magnetic block 3231. When the suction force of the second electromagnet 325 on the second magnetic block 3231 is greater than the suction force of the third magnetic block 324 on the transmission block 323, the transmission block 323 will move away from the third magnetic block 324 and approach the second electromagnet 325. At this time, the second electromagnet 325 is turned off, and then the installation shaft 32 is raised and separated from the roller head 33 through the force of the robot itself. Finally, through the operation program set by the robot The sequence causes the installation shaft 32 to move to the top of the new roller head 33. When the installation shaft 32 moves downward, the plug-in portion 331 of the new roller head 33 will enter the slot. At this time, the second electromagnet 325 is turned on. On the one hand, the second electromagnet 325 will generate a set of magnetic fields that attract the plug-in portion 331, and on the other hand, it will generate a set of magnetic fields that repel the second magnetic block 3231. Finally, the transmission block 323 will move away from the second electromagnet 325 and squeeze the hydraulic oil in the transmission groove 322 into the positioning sleeve 321. Under the action of the hydraulic pressure, the positioning pin 3211 will enter the positioning hole 3311, and the second electromagnet 325 and the positioning pin 3211 will achieve the purpose of doubly fixing the new roller head 33.

[0026] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. The embodiments should therefore be considered exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A hemming processing robot with a roller head quick change mechanism, characterized in that: The hemming processing robot comprises a base (1), a robot body (2), an end actuator (3) and a replacement rack (4); the robot body (2) is arranged on the base (1); the end actuator (3) is arranged at the working end of the robot body (2); the replacement rack (4) is arranged at the lower end of the robot body (2); the end actuator (3) comprises a mounting seat (31) and a mounting shaft (32); the mounting shaft (32) is arranged at one end of the mounting seat (31) away from the robot body (2); a slot and a second electromagnet (325) are arranged at one end of the mounting seat (31) away from the mounting seat (31); and a plurality of roller heads (33) are arranged on the replacement rack (4); each roller head (33) is provided with a plug-in portion (331); and each plug-in portion (331) is adapted to the slot.

2. A hemming processing robot with a roller head quick-change mechanism according to claim 1, characterized in that: A positioning sleeve (321) is provided on the outside of one end of the installation shaft (32) close to the slot, a positioning pin (3211) is provided inside the positioning sleeve (321), and the positioning pin (3211) and the positioning sleeve (321) are connected via a positioning spring; a transmission slot (322) is provided on the side of the second electromagnet (325) away from the slot, a transmission block (323) is provided inside the transmission slot (322), and a second magnetic block (3231) is embedded on one end of the transmission block (323) close to the second electromagnet (325); hydraulic oil is provided on one end of the transmission slot (322) away from the second electromagnet (325); one end of the transmission slot (322) away from the second electromagnet (325) is connected to the positioning sleeve (321), and a positioning hole (3311) is provided on the plug-in portion (331) of each roller head (33), and each positioning hole (3311) is matched with the positioning pin (3211).

3. The hemming processing robot with a roller head quick-change mechanism according to claim 2, characterized in that: The cross section of the transmission block (323) is a "T"-shaped structure, and a movable groove (326) is provided on a side of the transmission groove (322) away from the second electromagnet (325), and a third magnetic block (324) is provided in the movable groove (326).

4. The hemming processing robot with a roller head quick-change mechanism according to claim 5, characterized in that: A separation groove is provided at the side end of the movable groove (326), a push rod (3241) is provided in the separation groove, the push rod (3241) is fixedly connected to the third magnetic block (324), and a first compression spring is wound around the push rod (3241).

5. A hemming processing robot with a roller head quick-change mechanism according to any one of claims 1 to 4, characterized in that: A first slide groove (314) and a second slide groove (317) are provided in the mounting seat (31); a first electromagnet (315) is provided between the first slide groove (314) and the second slide groove (317); a first slider (311) is provided in the first slide groove (314); the first slider (311) is movably installed in the first slide groove (314) through a second compression spring; a second slider (316) is provided in the second slide groove (317); one end of the first slider (311) is fixedly connected to the mounting shaft (32); the other end of the first slider (311) is fixedly connected to the second slider (316) through a connecting rod; and a first magnetic block (3161) is provided at one end of the second slider (316) close to the first electromagnet (315).

6. The hemming processing robot with a roller head quick-change mechanism according to claim 5, characterized in that: The four ends of the second sliding block (316) are arc-shaped structures. The side ends of the second sliding groove (317) are provided with two groups of telescopic grooves (312) arranged opposite to each other. A group of stoppers (313) is provided in each group of telescopic grooves (312). Each group of stoppers (313) is movably installed in the telescopic groove (312) by means of a third compression spring. One end of each group of stoppers (313) close to the second sliding groove (317) is an arc-shaped structure.

7. The hemming processing robot with a roller head quick-change mechanism according to claim 1, characterized in that: A plurality of placement slots are arranged inside the replacement rack (4), a shunt pipe (41) is arranged outside the replacement rack (4), a suction cup (42) is arranged in each placement slot, and each suction cup (42) is connected to an external air pump via the shunt pipe (41).

8. The hemming processing robot with a roller head quick-change mechanism according to claim 7, characterized in that: A group of sensing grooves (422) is provided at one end of each suction cup (42) away from the shunt pipe (41), a group of sensing blocks (421) is provided in each group of sensing grooves (422), the sensing blocks (421) and the sensing grooves (422) are connected via sensing springs, and a piezoelectric sheet is provided at one end of the sensing blocks (421) close to the sensing springs.

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