A hemming processing manipulator with a roll head quick-change mechanism

Abstract

The present invention discloses a hemming processing manipulator with a quick-change mechanism for a rolling head, which relates to the technical field of robot engineering. The hemming processing manipulator includes a base, a manipulator body, an end effector, and a replacement rack. The manipulator body is arranged on the base, and the end effector is arranged at the working end of the manipulator body. Compared with the current hemming processing manipulator, the present invention realizes the purpose of quickly replacing the rolling head through the insertion part and the second electromagnet. The present invention is also provided with a positioning pin and a transmission block. On the one hand, the second electromagnet directly magnetizes the insertion part of the rolling head, and on the other hand, it can control the movement of the positioning pin and the transmission block. Compared with the current method of using multiple groups of electromagnets and pins to fix the tool, the present invention realizes the purpose of double fixation through a single group of electromagnets. On the one hand, the probability of circuit failure is reduced, and on the other hand, the use of electrical equipment is reduced, thereby reducing the production cost.

Description

Technical Field

[0001] The present invention relates to the technical field of robot engineering, and specifically to a hemming processing manipulator with a roll head quick-change mechanism. Background Art

[0002] Hemming processing is a common process in the mechanical processing process. Due to the advantages of continuous operation, strong adaptability, high safety, etc., manipulators are widely used in the hemming processing process.

[0003] Currently, in order to improve work efficiency, multiple groups of electromagnets and pins are usually used in mechanical processing to quickly replace the working parts at the execution end of the manipulator. For example, the patent "CN208276929U A device for quickly replacing a tool" discloses a technical solution for quickly replacing a tool. However, in the actual working process, as the number of electrical components such as electromagnets increases, the probability of circuit failure of the manipulator and the production cost will also increase accordingly; at the same time, when the existing manipulator quick tool change device fails, it is very difficult for the staff to disassemble the working parts, which further increases the maintenance difficulty; finally, during hemming processing, sometimes the manipulator stops working due to various faults. When the manipulator returns to normal later, there may be an accidental movement phenomenon. At this time, if the workpiece to be processed is too close to the execution end of the manipulator, the workpiece is easily damaged. Summary of the Invention

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

[0005] To achieve the above object, the present invention provides the following technical solution: A hemming processing manipulator with a quick-change mechanism for the rolling head. The hemming processing manipulator includes a base, a manipulator body, an end effector, and a replacement rack. The manipulator body is arranged on the base. The end effector is arranged at the working end of the manipulator body. The replacement rack is arranged at the lower end of the manipulator body. The end effector includes a mounting seat and a mounting shaft. The mounting shaft is arranged at one end of the mounting seat away from the manipulator body. A slot and a second electromagnet are arranged at one end of the mounting shaft away from the mounting seat. A plurality of rolling heads are arranged on the replacement rack. Each rolling head is provided with a plug-in portion, and each plug-in portion is adapted to the slot. Compared with the current hemming processing manipulator, the present invention is provided with a plug-in portion on each rolling head, and at the same time, a slot and a second electromagnet are arranged in the mounting shaft. The plug-in portion is made of ferromagnetic metal. When the present invention is performing hemming processing, the plug-in portion of one of the rolling heads is located in the slot, and the rolling head is fixed on the mounting shaft by the suction force generated by the second electromagnet. When it is necessary to quickly replace the rolling head, through the program set by the robot, first, the rolling head located on the mounting shaft is inserted into the empty slot of the replacement rack, then the second electromagnet is turned off, and then, by the force of the robot itself, the mounting shaft is lifted and separated from the rolling head. Finally, through the operation program set by the robot, the mounting shaft is moved above the new rolling head. When the mounting shaft moves down, the plug-in portion of the new rolling head will enter the slot. At this time, the second electromagnet is turned on, and the new rolling head is fixed on the mounting shaft by the second electromagnet, thereby completing the quick-change action.

[0006] Further, a positioning sleeve is arranged outside one end of the mounting shaft close to the slot. A positioning pin is arranged in the positioning sleeve. The positioning pin is connected to the positioning sleeve through a positioning spring. A transmission groove is arranged on one side of the second electromagnet away from the slot. A transmission block is arranged inside the transmission groove. A second magnetic block is embedded at one end of the transmission block close to the second electromagnet. Hydraulic oil is arranged at one end of the transmission groove inside away from the second electromagnet. One end of the transmission groove inside away from the second electromagnet is communicated with the positioning sleeve. A positioning hole is arranged on each plug-in portion of each rolling head, and each positioning hole is adapted to the positioning pin. In the process of replacing the new rolling head in the present invention, when the plug-in portion of the new rolling head enters the slot, on the one hand, the second electromagnet will generate a magnetic field that attracts the plug-in portion, and on the other hand, it will generate a magnetic field that repels the second magnetic block. 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 new rolling head is fixed doubly by the second electromagnet and the positioning pin, avoiding situations such as shaking and detachment of the new rolling head during the working process. Compared with the current method of using multiple groups of electromagnets and pins to fix the tool, the present invention achieves the purpose of double fixation through a single group of electromagnets. On the one hand, the probability of circuit failure is reduced, and on the other hand, the use of electrical equipment is reduced, thereby reducing the production cost.

[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 sliding groove is provided at one end of the mounting base close to the mounting shaft, and a second sliding groove is provided at the other end of the mounting base far from the mounting shaft. A first electromagnet is arranged between the first sliding groove and the second sliding groove. A first slider is arranged in the first sliding groove, and the first slider is movably mounted in the first sliding groove through a second compression spring. A second slider is arranged in the second sliding groove. One end of the first slider is fixedly connected to the mounting shaft, and the other end of the first slider is fixedly connected to the second slider through a connecting rod. A first magnetic block is arranged at one end of the second slider close to the first electromagnet. When the present invention is working normally, the first electromagnet is in contact with the second slider, and at this time, 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. When the present invention encounters sudden power failure or manipulator failure during hemming processing, 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 drive the mounting shaft and the rolling head to move towards the manipulator body. Through the above technical solution, on the one hand, it makes the rolling head automatically separate from the workpiece, facilitating subsequent workers to take away the workpiece. On the other hand, it prevents the workpiece from being damaged due to accidental movement after the manipulator returns to normal.

[0010] Furthermore, two sets of telescopic grooves are oppositely arranged at the side end of the second sliding groove. Each set of telescopic grooves is provided with a set of stoppers, and each stopper is movably mounted in the telescopic groove through a third compression spring. When the present invention is working normally, in addition to the suction force of the first electromagnet, the second slider is also subject to the resistance of the two sets of stoppers, thereby ensuring the stability of the first slider and the mounting shaft. Finally, in the present invention, the four ends of the second slider are arc-shaped structures, and one end of each stopper close to the second sliding groove is also an arc-shaped structure. Through the above technical solution, while ensuring the stability of the first slider and the mounting shaft, the present invention avoids the situation where the first slider cannot drive the rolling head away from the workpiece when the manipulator fails.

[0011] Furthermore, a plurality of placement grooves are arranged inside the replacement rack, and a shunt pipe is arranged outside the replacement rack. Each placement groove is provided with a suction cup, and each suction cup is connected to an external air pump through the shunt pipe. When the worker places the rolling head into the replacement rack, the suction cup is in contact with one end of the rolling head. The external air pump and the shunt pipe make the inside of the suction cup in a negative pressure state, thereby ensuring that the rolling head is fixed to the suction cup. Through the above technical solution, it is avoided that the position of the rolling head in the replacement rack is offset due to vibration or other reasons during hemming processing.

[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;

[0015] Figure 2 It is a schematic diagram of the structure of the end actuator of the present invention;

[0016] Figure 3 It is a schematic diagram of the roller head structure of the present invention;

[0017] Figure 4Schematic diagram of the internal structure of the mounting shaft of the present invention;

[0018] Figure 5 of the present invention Figure 4 Schematic diagram of the structure of part A-A in

[0019] Figure 6 Schematic diagram of the structure of the mounting base of the present invention;

[0020] Figure 7 Schematic diagram of the structure of the replacement rack of the present invention;

[0021] Figure 8 Schematic diagram of the internal structure of the suction cup of the present invention.

[0022] In the figure: 1, base; 2, manipulator body; 3, end effector; 31, mounting base; 311, first slider; 312, telescopic groove; 313, stop block; 314, first chute; 315, first electromagnet; 316, second slider; 3161, first magnetic block; 317, second chute; 32, mounting shaft; 321, positioning sleeve; 3211, positioning pin; 322, transmission groove; 323, transmission block; 3231, second magnetic block; 324, third magnetic block; 3241, ejector rod; 325, second electromagnet; 326, movable groove; 33, roller head; 331, insertion part; 3311, positioning hole; 4, replacement rack; 41, shunt pipe; 42, suction cup; 421, induction block; 422, induction groove. Detailed implementation manners

[0023] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0024] Embodiment: As Figures 1 - 5As shown in the figure, the present invention provides a technical solution, a hemming processing manipulator with a quick-change mechanism for the roller head. The hemming processing manipulator includes a base 1, a manipulator body 2, an end effector 3, and a replacement rack 4. The manipulator body 2 is arranged on the base 1, the end effector 3 is arranged at the working end of the manipulator body 2, the replacement rack 4 is arranged at the lower end of the manipulator body 2. The end effector 3 includes 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 manipulator body 2. A slot and a second electromagnet 325 are arranged at one end of the mounting shaft 32 away from the mounting seat 31. 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. Each plug-in portion 331 is adapted to the slot. Compared with the current hemming processing manipulator, in the present invention, each roller head 33 is provided with a plug-in portion 331, and at the same time, a slot and a second electromagnet 325 are arranged in the mounting shaft 32. The plug-in portion 331 is made of ferromagnetic metal. During the hemming process of the present invention, the plug-in portion 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 it is necessary to quickly replace the roller head 33, through the program set by the robot, first, the roller head 33 located on the mounting shaft 32 is inserted into the empty slot of the replacement rack 4, then the second electromagnet 325 is turned off, and then, by the force of the robot itself, the mounting shaft 32 is lifted and separated from the roller head 33. Finally, through the operation program set by the robot, the mounting shaft 32 is moved above the new roller head 33. When the mounting shaft 32 moves down, 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, and the new roller head 33 is fixed on the mounting shaft 32 by the second electromagnet 325, thus completing the quick-change action.

[0025] As Figures 2 - 4As shown in the figure, a positioning sleeve 321 is provided outside one end of the installation shaft 32 close to the slot. A positioning pin 3211 is arranged inside the positioning sleeve 321. The positioning pin 3211 is connected to the positioning sleeve 321 through a positioning spring. A transmission groove 322 is arranged on the side of the second electromagnet 325 away from the slot. A transmission block 323 is arranged inside the transmission groove 322. A second magnetic block 3231 is inlaid at one end of the transmission block 323 close to the second electromagnet 325. Hydraulic oil is arranged at one end of the transmission groove 322 away from the second electromagnet 325. One end of the transmission groove 322 away from the second electromagnet 325 is communicated with the positioning sleeve 321. A positioning hole 3311 is arranged on the insertion part 331 of each roller head 33. Each positioning hole 3311 is adapted to the positioning pin 3211. In the process of replacing the new roller head 33 in the present invention, when the insertion part 331 of the new roller head 33 enters the slot, on the one hand, the second electromagnet 325 will generate a magnetic field that attracts the insertion part 331, and on the other hand, it will generate a magnetic field that repels the second magnetic block 3231. 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, avoiding situations such as shaking and detachment of the new roller head 33 during operation. Compared with the current method of using multiple groups of electromagnets and pins to fix the tool, the present invention realizes the purpose of double fixation through a single group of electromagnets. On the one hand, it reduces the probability of circuit failures, and on the other hand, it reduces the use of electrical equipment and lowers the production cost.

[0026] As Figures 2 - 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.

[0027] like Figures 4 - 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.

[0028] like Figure 6As shown in the figure, a first sliding groove 314 is provided at one end of the mounting base 31 close to the mounting shaft 32, and a second sliding groove 317 is provided at the end of the mounting base 31 far from the mounting shaft 32. A first electromagnet 315 is provided between the first sliding groove 314 and the second sliding groove 317. A first slider 311 is provided in the first sliding groove 314. The first slider 311 is movably mounted in the first sliding groove 314 through a second compression spring. A second slider 316 is provided in the second sliding groove 317. One end of the first slider 311 is fixedly connected to the mounting shaft 32, and the other end of the first slider 311 is fixedly connected to the second slider 316 through a connecting rod. A first magnetic block 3161 is provided at one end of the second slider 316 close to the first electromagnet 315. When the present invention is working normally, the first electromagnet 315 is in contact with the second slider 316. At this time, 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. When the present invention encounters sudden power failure or manipulator failure during hemming processing, 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 drive the mounting shaft 32 and the rolling head 33 to move towards the manipulator body 2. Through the above technical solution, on the one hand, the rolling head 33 is automatically separated from the workpiece, which is convenient for the subsequent staff to take away the workpiece. On the other hand, it prevents the workpiece from being damaged due to accidental movement after the manipulator returns to normal.

[0029] As Figure 6 shown, two sets of telescopic grooves 312 are provided oppositely at the side end of the second sliding groove 317. A set of stoppers 313 are provided in each set of telescopic grooves 312. Each set of stoppers 313 is movably mounted in the telescopic groove 312 through a third compression spring. When the present invention is working normally, the second slider 316 is subjected to the resistance of the two sets of stoppers 313 in addition to the suction force of the first electromagnet 315, thereby ensuring the stability of the first slider 311 and the mounting shaft 32. Finally, the four ends of the second slider 316 in the present invention are arc-shaped structures, and one end of each set of stoppers 313 close to the second sliding groove 317 is also an arc-shaped structure. Through the above technical solution, on the basis of ensuring the stability of the first slider 311 and the mounting shaft 32, the present invention avoids the situation where the first slider 311 cannot drive the rolling head 33 away from the workpiece when the manipulator fails.

[0030] As Figures 7 - 8As shown in the figure, several placement slots are provided inside the replacement rack 4, and a shunt pipe 41 is provided on the outside of the replacement rack 4. A suction cup 42 is provided in each placement slot. Each suction cup 42 is connected to an external air pump through the shunt pipe 41. When the worker places the roller head 33 into the replacement rack 4, the suction cup 42 contacts one end of the roller head 33. The external air pump and the shunt pipe 41 are used to make the inside of the suction cup 42 in a negative pressure state, so as to ensure that the roller head 33 is fixed to the suction cup 42. Through the above technical solution, it is avoided that the position of the roller head 33 in the replacement rack 4 is offset due to vibration or other reasons during hemming processing.

[0031] As Figures 7 - 8 shown, a set of induction grooves 422 are provided at one end of each suction cup 42 away from the shunt pipe 41. A set of induction blocks 421 are provided in each set of induction grooves 422. The induction block 421 and the induction groove 422 are connected by an induction spring. A piezoelectric sheet is provided at one end of the induction block 421 close to the induction spring. When the roller head 33 is fixed to the suction cup 42, the induction spring in the induction groove 422 is in a compressed state. At this time, the piezoelectric sheet on the induction block 421 will generate a set of electrical signals. The worker can judge in real time whether the positions of several roller heads 33 in the replacement rack 4 are offset by monitoring the electrical signals generated by the piezoelectric sheet, so as to prevent the slot on the mounting shaft 32 from not being aligned with the roller head 33 to be used when replacing the roller head 33 subsequently.

[0032] The working principle of the present invention: When it is necessary to quickly replace the roller head 33, through the program set by the robot, first make the roller head 33 located on the mounting shaft 32 insert into the empty slot of the replacement rack 4, and then the second electromagnet 325 generates a magnetic field that attracts 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 through the force of the robot itself, the mounting shaft 32 is lifted and separated from the roller head 33. Finally, through the operation program set by the robot, the mounting shaft 32 is moved above the new roller head 33. When the mounting shaft 32 moves down, the insertion 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 generates a magnetic field that attracts the insertion portion 331, and on the other hand, it generates a magnetic field that repels 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 new roller head 33 is fixed doubly by the second electromagnet 325 and the positioning pin 3211.

[0033] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-described exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Accordingly, all changes that fall within the meaning and scope of the equivalent elements of the claims are intended to be embraced within the present invention. Any reference signs in the claims should not be construed as limiting the claims involved.

Claims

1. A hemming processing manipulator with a roll head quick-change mechanism, characterized in that: The hemming processing manipulator includes a base (1), a manipulator body (2), an end effector (3) and a replacement rack (4). The manipulator body (2) is arranged on the base (1). The end effector (3) is arranged at the working end of the manipulator body (2). The replacement rack (4) is arranged at the lower end of the manipulator body (2). The end effector (3) includes 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 manipulator body (2). A slot and a second electromagnet (325) are arranged at one end of the mounting shaft (32) away from the mounting seat (31). A plurality of rolling heads (33) are arranged on the replacement rack (4). A plug-in part (331) is arranged on each rolling head (33). Each plug-in part (331) is adapted to the slot. The plug-in part (331) is made of ferromagnetic metal; A positioning sleeve (321) is arranged outside one end of the mounting shaft (32) close to the slot. A positioning pin (3211) is arranged inside the positioning sleeve (321). The positioning pin (3211) is connected with the positioning sleeve (321) through a positioning spring. A transmission groove (322) is arranged on one side of the second electromagnet (325) away from the slot. A transmission block (323) is arranged inside the transmission groove (322). A second magnetic block (3231) is embedded at one end of the transmission block (323) close to the second electromagnet (325). Hydraulic oil is arranged at one end of the transmission groove (322) away from the second electromagnet (325). One end of the transmission groove (322) away from the second electromagnet (325) is communicated with the positioning sleeve (321). A positioning hole (3311) is arranged on the plug-in part (331) of each rolling head (33). Each positioning hole (3311) is adapted to the positioning pin (3211); The cross section of the transmission block (323) is a "T" shaped structure. An activity groove (326) is arranged on one side of the transmission groove (322) away from the second electromagnet (325). A third magnetic block (324) is arranged inside the activity groove (326). One end of the transmission block (323) close to the third magnetic block (324) is made of ferromagnetic metal; A separation groove is arranged at the side end of the activity groove (326). A ejector rod (3241) is arranged inside the separation groove. The ejector rod (3241) is fixedly connected with the third magnetic block (324). A first compression spring is wound on the ejector rod (3241).

2. The hemming processing manipulator with a roll head quick-change mechanism according to claim 1, characterized in that: A first chute (314) and a second chute (317) are provided inside the mounting base (31). A first electromagnet (315) is provided between the first chute (314) and the second chute (317). A first slider (311) is provided inside the first chute (314). The first slider (311) is movably mounted inside the first chute (314) by a second compression spring. A second slider (316) is provided inside the second chute (317). One end of the first slider (311) is fixedly connected to a mounting shaft (32), and the other end of the first slider (311) is fixedly connected to the second slider (316) through a connecting rod. A first magnetic block (3161) is provided at one end of the second slider (316) close to the first electromagnet (315).

3. The hemming processing manipulator with a roll head quick-change mechanism according to claim 2, characterized in that: Four ends of the second slider (316) are of an arc-shaped structure. Two sets of telescopic grooves (312) are oppositely provided at the side end of the second chute (317). A set of stoppers (313) is provided inside each set of telescopic grooves (312). Each set of stoppers (313) is movably mounted inside the telescopic groove (312) by a third compression spring. One end of each set of stoppers (313) close to the second chute (317) is of an arc-shaped structure.

4. A hemming processing manipulator with a roll head quick-change mechanism according to claim 1, characterized in that: A plurality of placement grooves are provided inside the replacement rack (4). A shunt pipe (41) is provided outside the replacement rack (4). A suction cup (42) is provided inside each placement groove. Each suction cup (42) is communicated with an external air pump through the shunt pipe (41).

5. The hemming processing manipulator with a roll head quick-change mechanism according to claim 4, characterized in that: A set of induction grooves (422) is provided at one end of each suction cup (42) far from the shunt pipe (41). A set of induction blocks (421) is provided inside each set of induction grooves (422). The induction block (421) is connected to the induction groove (422) through an induction spring. A piezoelectric sheet is provided at one end of the induction block (421) close to the induction spring.

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