Robot multi-end-effector quick-changing and floating structure

Abstract

The invention belongs to the technical field of intelligent welding robots, and particularly relates to a multi-end-effector quick-changing and floating structure of a robot. Comprising a robot side end effector, a quick-change support, a feeding table and various tool side end effectors, the robot side end effector is arranged at the execution tail end of a robot, and the robot side end effector can achieve switching between a rigid connection mode and a floating connection mode; the multiple tool side end executors are arranged on the quick-change support, the feeding table is arranged on one side of the quick-change support, and the robot is connected with any tool side end executor through the robot side end executor, so that multiple process operations on the feeding table are achieved. The robot is high in adaptive capacity, high in carrying speed, good in rigidity and high in welding track precision, assembly has flexibility of six degrees of freedom in space, and operation requirements of different working conditions can be met.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent welding robots, and particularly relates to a quick-change and floating structure for multiple end effectors of a robot. Background Art

[0002] The end effectors of industrial robots are widely used in the field of automation. In an automated machining workshop, they are mainly used for picking and placing workpieces. Driven by the industrial robot, the end effector uses an electromagnetic chuck, a suction cup or a clamp, etc. to replace manual labor to complete the picking and placing of workpieces (which can also be used for group welding, palletizing, transfer, etc.). The end effectors of intelligent robots have various types, including clamp type, electromagnet type, and suction cup type. The electromagnet type attracts the workpiece by the magnetic force generated by energization, and the clamp type drives the gripper to complete the clamping of the workpiece through the movement of the cylinder.

[0003] For the conditions of workpiece group welding, restricted by position and space, the conventional combined end effector has the following disadvantages in this operation scenario: 1. The combined end effector cannot complete normal operations due to the influence of the operation space; 2. The manipulator has high working accuracy, but due to the deviation of the position and size of the workpiece, jamming is likely to occur; 3. The types of workpieces to be clamped are diverse, such as flat plates, cylinders, steel bars, etc. Due to the small installation space of the robot, multiple robots cannot be placed. Therefore, there is an urgent need for a quick-change and floating structure for multiple end effectors of a robot. Summary of the Invention

[0004] Aiming at the above problems, the purpose of the present invention is to provide a quick-change and floating structure for multiple end effectors of a robot to solve the problem that the conventional combined end effector is restricted by position and space and cannot meet the requirements of various operation scenarios.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions: The present invention provides a quick-change and floating structure for multiple end effectors of a robot, including a robot-side end effector, a quick-change bracket, a loading table, and multiple tool-side end effectors. The robot-side end effector is arranged at the execution end of the robot, and the robot-side end effector can realize the conversion between a rigid connection mode and a floating connection mode; multiple tool-side end effectors are arranged on the quick-change bracket, the loading table is arranged on one side of the quick-change bracket, and the robot is connected to any one of the tool-side end effectors through the robot-side end effector to realize various process operations on the loading table.

[0006] In a possible implementation manner, the robot-side end effector includes a flange plate, a vertical plate, a fixed plate, a floating plate, a robot-side quick-change disk, a spring, and a positioning and telescoping mechanism. The flange plate is fixedly connected to the execution end of the robot. The upper end of the vertical plate is connected to the flange plate, and the lower end of the vertical plate is fixedly connected to the fixed plate. The floating plate is arranged below the fixed plate, and the floating plate and the fixed plate are floatingly connected by a spring. The robot-side quick-change disk is arranged at the bottom of the floating plate. A positioning and telescoping mechanism capable of telescoping is arranged on the fixed plate. When the positioning and telescoping mechanism extends out and is in positioning connection with the floating plate, a rigid connection between the floating plate and the fixed plate is achieved.

[0007] In a possible implementation manner, a hole disk corresponding to the positioning and telescoping mechanism is arranged on the floating plate, and a conical positioning groove for positioning connection with the positioning and telescoping mechanism is arranged on the hole disk.

[0008] In a possible implementation manner, the positioning and telescoping mechanism is a cylinder, and the end of the cylinder head of the cylinder is a guiding cone.

[0009] In a possible implementation manner, there are two groups of the positioning and telescoping mechanisms, which are respectively arranged on both sides of the robot-side quick-change disk.

[0010] In a possible implementation manner, the tool-side end effector includes a flat plate and a tool-side quick-change assembly and a working tool arranged on the flat plate. The tool-side quick-change assembly includes a tool-side quick-change disk, an electro-permanent magnet, and a guiding shaft. The tool-side quick-change disk and the electro-permanent magnet are respectively arranged above and below the flat plate and are both fixedly connected to the flat plate. The tool-side quick-change disk is used to connect with the robot-side quick-change disk. A guiding shaft is arranged at the bottom of the electro-permanent magnet, and the guiding shaft is used for positioning with the guiding hole on the loading table. The electro-permanent magnet is used for adsorbing and fixing the workpiece.

[0011] In a possible implementation manner, an assembly hole and a clearance hole are arranged on the loading table. The clearance hole is used for storing a ring part, and the assembly hole is located at the top of the guiding hole and is coaxial with the guiding hole. The assembly hole is used for press-fitting and installing the ring part.

[0012] In a possible implementation manner, the working tool includes an electromagnet, a pneumatic gripper, and a welding torch.

[0013] In a possible implementation manner, the pneumatic gripper includes a gripper cylinder and two gripper planes connected to the output end of the gripper cylinder. Gripper V surfaces are arranged on each gripper plane. The gripper cylinder drives the two gripper planes to approach or separate from each other.

[0014] The advantages and positive effects of the present invention are as follows: A quick-change and floating structure for a multi-end effector of a robot provided by the present invention has strong adaptability, can adapt to flat plates, handles, cylinders, and can adapt to assembly with a tolerance of T7 level. It has a fast handling trajectory speed, good rigidity, high welding trajectory accuracy, and the assembly has six degrees of freedom in space flexibility, and can meet the operation requirements of different working conditions.

[0015] Other features and advantages of the present invention will be described in the following specification, and, in part, will become apparent from the specification or will be understood by implementing the present invention. The objectives and other advantages of the present invention can be achieved and obtained by the structures specifically pointed out in the written specification and the accompanying drawings.

[0016] The technical solution of the present invention will be further described in detail below through the accompanying drawings and embodiments. Description of the Drawings

[0017] The drawings are used to provide a further understanding of the present invention and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation to the present invention. In the drawings: Figure 1 is a working schematic diagram of a quick-change and floating structure for a multi-end effector of a robot according to the present invention; Figure 2 is Figure 1 a partial enlarged view at A in Figure 3 is a side sectional view of the side end effector of the robot in the present invention; Figure 4 is Figure 1 a partial enlarged view at B in Figure 5 is Figure 1 a partial enlarged view at C in Figure 6 is a schematic diagram of the interference fit of the ring part in the embodiment of the present invention.

[0018] In the figure: 1 - robot, 2 - robot-side end effector, 201 - flange plate, 202 - vertical plate, 203 - fixing plate, 204 - floating plate, 205 - robot-side quick-change disk, 206 - cylinder, 207 - spring, 208 - hole disk, 209 - cylinder head, 3 - base, 4 - quick-change bracket, 401 - positioning pin, 5 - loading table, 501 - guiding hole, 502 - assembly hole, 503 - electromagnetic heating coil, 504 - clearance hole, 6 - electromagnet-side end effector, 601 - tool-side quick-change disk, 602 - flat plate, 603 - electro-permanent magnet, 604 - positioning hole, 605 - electromagnet, 606 - guiding shaft, 7 - gripper-side end effector, 701 - gripper cylinder, 702 - gripper plane, 703 - gripper V-surface, 8 - welding torch-side end effector, 801 - welding torch, 9 - manual workpiece, 10 - ring part. Detailed implementation manners

[0019] In the present invention, unless otherwise clearly defined and limited, the terms "installation", "connection", "connection", "fixation" and other terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0020] The following describes the preferred embodiments of the present invention with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0021] See Figures 1 to 6 As shown, the present invention provides a robot multi-end effector quick-change and floating structure, including a robot-side end effector 2, a quick-change bracket 4, a loading table 5 and a variety of tool-side end effectors. The fixed end of the robot 1 is connected to the ground through the base 3, and the base 3 and the quick-change bracket 4 are relatively fixed. The robot-side end effector 2 is arranged at the execution end of the robot 1, and the robot-side end effector 2 can realize the conversion between the rigid connection and the floating connection modes; a variety of tool-side end effectors are arranged on the quick-change bracket 4, the loading table 5 is arranged on one side of the quick-change bracket 4, and the robot 1 is connected to any one of the tool-side end effectors through the robot-side end effector 2 to realize a variety of process operations on the loading table 5.

[0022] See Figure 2 and Figure 3As shown in the figure, in the embodiment of the present invention, the robot-side end effector 2 includes a flange plate 201, a vertical plate 202, a fixed plate 203, a floating plate 204, a robot-side quick-change disk 205, a spring 207 and a positioning and telescoping mechanism. The flange plate 201 is fixedly connected to the execution end of the robot 1 by screws. The upper end of the vertical plate 202 is connected to the flange plate 201, and the lower end of the vertical plate 202 is fixedly connected to the fixed plate 203. The floating plate 204 is arranged below the fixed plate 203, and the floating plate 204 and the fixed plate 203 are floatingly connected by two groups of springs 207. The robot-side quick-change disk 205 is arranged at the bottom of the floating plate 204. A positioning and telescoping mechanism capable of telescoping is arranged on the fixed plate 203. When the positioning and telescoping mechanism extends and is in positioning connection with the floating plate 204, a rigid connection between the floating plate 204 and the fixed plate 203 is achieved.

[0023] Further, a hole disk 208 corresponding to the positioning and telescoping mechanism is provided on the floating plate 204, and a conical positioning groove for positioning connection with the positioning and telescoping mechanism is provided on the hole disk 208.

[0024] Preferably, the positioning and telescoping mechanism is a cylinder 206, and the end of the cylinder head 209 of the cylinder 206 is a guiding cone. In this embodiment, there are two groups of positioning and telescoping mechanisms, which are respectively arranged on both sides of the robot-side quick-change disk 205.

[0025] In the extended state of the cylinder 206, the cylinder head 209 is inserted into the conical positioning groove of the hole disk 208, the guiding cone of the cylinder head 209 is axially positioned with the bottom cone of the hole disk 208, the spring 207 is in a stretched state, and the robot-side end effector 2 is in a rigid state. In the contracted state of the cylinder 206, the cylinder head 209 is disengaged from the hole disk 208, the spring 207 is in a natural state, and by using the stiffness of the spring 207 in the natural state, the robot-side end effector 2 is in a floating state.

[0026] See Figure 5 and Figure 6 As shown in the figure, in the embodiment of the present invention, the tool-side end effector includes a flat plate 602 and a tool-side quick-change assembly and a working tool arranged on the flat plate 602. The tool-side quick-change assembly includes a tool-side quick-change disk 601, an electro-permanent magnet 603 and a guiding shaft 606. The tool-side quick-change disk 601 and the electro-permanent magnet 603 are respectively arranged above and below the flat plate 602 and are both fixedly connected to the flat plate 602. The tool-side quick-change disk 601 is used for quick connection with the robot-side quick-change disk 205. Quick change belongs to mature technologies and products in the industry and will not be described in detail here. A guiding shaft 606 is provided at the bottom of the electro-permanent magnet 603, and the guiding shaft 606 is used for positioning with the guiding hole 501 on the loading table 5. The lower surface of the flat plate 602 can be placed on the quick-change bracket 4, and a positioning hole 604 is provided on the flat plate 602, and the positioning hole 604 forms a positioning relationship with the positioning pin 401 on the quick-change bracket 4.

[0027] See Figure 6 As shown, in the embodiment of the present invention, the loading table 5 is provided with an assembly hole 502 and a clearance hole 504. The clearance hole 504 is used to store the ring part 10. The assembly hole 502 is located at the top of the guiding hole 501 and is coaxial with the guiding hole 501. The assembly hole 502 is used for press-fitting the ring part 10 with interference fit.

[0028] Specifically, the tool-side end effector includes an electromagnet-side end effector 6, a gripper-side end effector 7, and a welding torch-side end effector 8. The working tools on the electromagnet-side end effector 6, the gripper-side end effector 7, and the welding torch-side end effector 8 are an electromagnet 605, a pneumatic gripper, and a welding torch 801 respectively.

[0029] See Figure 4 As shown, the pneumatic gripper includes a gripper cylinder 701 and two gripper planes 702 connected to the output end of the gripper cylinder 701. Each gripper plane 702 is provided with a gripper V-surface 703. The gripper cylinder 701 drives the two gripper planes 702 to approach or move away from each other, that is, to realize the opening and closing of the pneumatic gripper. The two gripper planes 702 are used to grip the flat plate, and the gripper V-surfaces 703 on the two gripper planes 702 are used to grip the manual workpiece 9.

[0030] Specifically, when the robot 1 is moving at high speed and performing welding operations, the robot-side end effector 2 is in a rigid state. When the robot 1 is performing assembly operations, the robot-side end effector 2 is in a floating state.

[0031] See Figure 6 As shown, a ring part 10 is placed in the clearance hole 504. The outer diameter of the ring part 10 is Φ40mm, with a tolerance of h6 (0 / -0.016). The inner diameter of the assembly hole 502 is Φ40mm, with a tolerance of T7 (-0.039 / -0.064), and a maximum interference of 6.4 thou. Only cold fitting of the ring part 10, hot fitting of the assembly hole 502, and press-fitting with guidance can achieve interference fitting.

[0032] Before the guiding shaft 606 is inserted into the guiding hole 501, the ring part 10 can be cooled in liquid nitrogen, and the electromagnetic heating coil 503 has heated the assembly hole 502. The cooled ring part 10 is placed in the heated assembly hole 502. At this time, the assembly hole 502 and the ring part 10 are in clearance fit, and the robot-side end effector 2 is in a floating state. The guiding shaft 606 is inserted into the guiding hole 501 for spatial guiding and positioning. The electromagnetic heating coil 503 stops heating the assembly hole 502, and the assembly hole 502 and the ring part 10 change from clearance fit to interference fit. The electromagnetic adsorption of the electro-permanent magnet 603 to the guiding hole 501 is released. The robot-side end effector 2 disengages from the ring part 10, and the robot-side end effector 2 switches from the floating state to the rigid state, completing the assembly of the ring part 10.

[0033] A quick-change and floating structure for a multi-end effector of a robot provided by the present invention has strong adaptability, can adapt to flat plates, handles, cylinders, can adapt to assembly with a tolerance of T7 level, has a fast handling speed, good rigidity, high welding trajectory accuracy, and has six degrees of freedom of flexibility in space for assembly, and can meet the requirements of different working conditions. The present invention solves the problem that conventional combined end effectors are restricted by position and space and cannot meet the requirements of various working scenarios.

[0034] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these changes and modifications.

Claims

1. A quick-change and floating structure for a multi-end effector of a robot, characterized in that, It includes a robot-side end effector, a quick-change bracket, a loading table, and multiple tool-side end effectors. The robot-side end effector is arranged at the execution end of the robot and can realize the conversion between rigid connection and floating connection modes. Multiple tool-side end effectors are arranged on the quick-change bracket, and the loading table is arranged on one side of the quick-change bracket. The robot is connected to any one of the tool-side end effectors through the robot-side end effector to realize multiple process operations on the loading table.

2. The quick-change and floating structure of the multi-end effector of the robot according to claim 1, wherein, The robot-side end effector includes a flange plate, a vertical plate, a fixing plate, a floating plate, a robot-side quick-change disk, a spring, and a positioning and telescoping mechanism. The flange plate is fixedly connected to the execution end of the robot. The upper end of the vertical plate is connected to the flange plate, and the lower end of the vertical plate is fixedly connected to the fixing plate. The floating plate is arranged below the fixing plate, and the floating plate and the fixing plate are connected in a floating manner through a spring. The robot-side quick-change disk is arranged at the bottom of the floating plate. A positioning and telescoping mechanism capable of telescoping is arranged on the fixing plate. When the positioning and telescoping mechanism extends out and is positioned and connected to the floating plate, rigid connection between the floating plate and the fixing plate is realized.

3. The robot multi-end effector quick-change and floating structure according to claim 2, characterized in that, A hole disk corresponding to the positioning and telescoping mechanism is arranged on the floating plate, and a conical positioning groove for positioning and connecting with the positioning and telescoping mechanism is arranged on the hole disk.

4. The robot multi-end effector quick-change and floating structure according to claim 3, characterized in that The positioning and telescoping mechanism is a cylinder, and the end of the cylinder head of the cylinder is a guiding cone.

5. The robot multi-end effector quick-change and floating structure according to claim 2, characterized in that, There are two groups of the positioning and telescoping mechanisms, which are respectively arranged on both sides of the robot-side quick-change disk.

6. The robot multi-end effector quick-change and floating structure according to claim 2, characterized in that, The tool-side end effector includes a flat plate, a tool-side quick-change assembly, and a working tool arranged on the flat plate. The tool-side quick-change assembly includes a tool-side quick-change disk, an electro-permanent magnet, and a guiding shaft. The tool-side quick-change disk and the electro-permanent magnet are respectively arranged above and below the flat plate and are both fixedly connected to the flat plate. The tool-side quick-change disk is used to connect with the robot-side quick-change disk. A guiding shaft is arranged at the bottom of the electro-permanent magnet, and the guiding shaft is used to position with the guiding hole on the loading table. The electro-permanent magnet is used to adsorb and fix the workpiece.

7. The multi-end effector quick-change and floating structure of the robot according to claim 6, characterized in that, Assembly holes and clearance holes are arranged on the loading table. The clearance holes are used to store ring parts, and the assembly holes are located at the top of the guiding holes and are coaxial with the guiding holes. The assembly holes are used for interference installation of ring parts.

8. The robot multi-end effector quick-change and floating structure according to claim 6, characterized in that, The working tool includes an electromagnet, a pneumatic gripper, and a welding torch.

9. The robot multi-end effector quick-change and floating structure according to claim 8, characterized in that, The pneumatic gripper includes a gripper cylinder and two gripper planes connected to the output end of the gripper cylinder. Gripper V surfaces are arranged on each gripper plane. The gripper cylinder drives the two gripper planes to approach or separate from each other.

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