Heavy workpiece rapid classification carrying device and rapid switching method thereof

Abstract

The invention provides a heavy workpiece rapid classification carrying device and a rapid switching method thereof, and belongs to the field of heavy workpiece carrying. The problems that when heavy workpieces are sorted and carried, the grabbing weight of an air pressure driving mechanical arm is relatively low, the ladder-shaped special-shaped workpieces are difficult to grab with a ladder face as a grabbing face, the switching efficiency is low, and repeated and accurate positioning is difficult to achieve during grabbing tool switching are solved. The device comprises a control cabinet assembly, a gripping apparatus placement table assembly, a large-size workpiece quick-change gripping apparatus assembly, a mechanical arm assembly, a special-shaped workpiece quick-change gripping apparatus assembly and a workpiece type judgment assembly. The requirements for reasonably dividing the working area of the mechanical arm and rapidly and accurately sorting and carrying mixed heavy special-shaped workpieces and large-size workpieces by the gripper at the tail end of the mechanical arm can be met, rapid and high-precision repeated switching of the gripper at the tail end of the mechanical arm can be achieved, the working efficiency can be improved, and the production cost can be reduced. And the requirements of industrial carrying work on high-efficiency and high-precision operation are met.

Description

Technical Field

[0001] The present invention relates to the technical field of heavy workpiece handling, and more specifically, to a rapid classification handling device for heavy workpieces and a rapid switching method thereof. Background Art

[0002] With the rapid development of industrial automation and intelligent manufacturing, robotic arms are increasingly widely used in the field of cargo handling. Traditional manual handling is inefficient, costly, and poses safety hazards, while robotic arms can significantly improve work efficiency and reduce labor costs through high-precision and highly repetitive operations. Especially in the fields of logistics, manufacturing, and warehousing, according to the actual situation of the goods to be handled, robotic arms can achieve rapid sorting and handling of goods by selecting replaceable end grippers or end-adaptive bionic structures, meeting the requirements of modern production for efficient and precise operations. However, during the handling of heavy equipment or their components such as spindle boxes, hydraulic stations, counterweights, and lifting platforms, in order to ensure the safety and reliability of the handling process, it is necessary to firmly fix them and pack them into large-sized cuboid workpieces or special-shaped workpieces with stepped surfaces before completing the corresponding transportation process.

[0003] During the process of using existing robotic arms to handle heavy special-shaped and large-sized workpieces, the robotic arm faces problems such as the design of specific grippers, the reasonable layout of the working space, and the rapid switching of different grippers:

[0004] First, during the conventional handling of heavy workpieces, the top plane is usually selected as the clamping surface, but during the transportation of special-shaped workpieces, the stepped surface must be the clamping surface; the end gripper requires pneumatic drive during operation, but the maximum handling weight of commonly used pneumatic drive grippers does not exceed 300 kg, which cannot meet the requirements of heavy workpieces with a maximum weight of up to 500 kg and the stability during handling. Therefore, it is necessary to design an end gripper for a robotic arm for handling heavy special-shaped workpieces to enable the robotic arm to select the stepped surface as the clamping surface and use pneumatic drive to handle special-shaped workpieces.

[0005] Second, during the handling process, considering avoiding cable entanglement or structural limitations, the working space of industrial robotic arms is usually a fan-shaped area of 300° to 340°. However, it is necessary to judge the type of heavy workpiece to be handled in the workpiece transfer area and then select the appropriate end gripper to transport two types of heavy workpieces to different areas to complete the classification and handling of heavy workpieces. Therefore, it is necessary to reasonably arrange the working space of the robotic arm to ensure that the working space of the robotic arm can cover the workpiece transfer area, the gripper placement and switching area, the workpiece placement area, and the control area to complete the entire sorting and handling process.

[0006] Thirdly, two types of heavy workpieces will enter the workpiece transfer area simultaneously. Since different end-effectors are required for the two types of heavy workpieces, the robotic arm needs to frequently change the end-effectors during the handling process. To ensure the working efficiency of the robotic arm, a specific end-effector placement device needs to be designed to facilitate the rapid switching method of the end-effector of the robotic arm. This ensures that after the type of heavy workpiece changes, the robotic arm can quickly and accurately replace the end-effector and continue with the handling process of the heavy workpiece.

[0007] Regarding the design of the end-effector, spatial layout, and rapid switching problem of the end-effector, the present invention designs a rapid classification handling device for heavy workpieces and its rapid switching method, which is used to meet the requirements of the robotic arm's end-effector for quickly and accurately sorting and handling mixed heavy-shaped and large-sized workpieces, and can achieve rapid and high-precision repeated switching of the robotic arm's end-effector. Summary of the Invention

[0008] The technical problems to be solved by the present invention are:

[0009] When sorting and handling heavy workpieces, the commonly used pneumatically driven robotic arm has a relatively low grasping weight, making it difficult to grasp stepped-shaped special-shaped workpieces with a stepped surface as the clamping surface, and the switching efficiency is low, and it is difficult to accurately position during the conversion of the end-effector.

[0010] The technical solutions adopted by the present invention to solve the above technical problems are:

[0011] The present invention provides 1. A rapid classification handling device for heavy workpieces, including a workpiece transfer area, a heavy workpiece component placement area, a control area, and an end-effector placement and switching area. The heavy workpiece component area includes a special-shaped workpiece placement area and a large-sized workpiece placement area. Among them, the workpiece transfer area, the heavy workpiece component placement area, and the end-effector placement and switching area are all within the working space of the robotic arm, and the control area is outside the working space of the robotic arm;

[0012] The classification handling device includes a control cabinet component, an end-effector placement table component, a large-sized workpiece quick-change end-effector component, a robotic arm component, a special-shaped workpiece quick-change end-effector component, and a workpiece type judgment component. The robotic arm component is arranged at the center of the foundation, the control cabinet component is arranged in the control area, the end-effector placement table component is arranged in the end-effector placement and switching area, the workpiece type judgment component and the heavy workpiece component are both arranged in the workpiece transfer area, and the large-sized workpiece quick-change end-effector component and the special-shaped workpiece quick-change end-effector component are both arranged on the end-effector placement table component;

[0013] The gripper placement table assembly includes shock-absorbing pad irons, a gripper placement table frame, positioning blocks, trigger blocks, and photoelectric sensors; the gripper placement table frame is a long table structure and at least four shock-absorbing pad irons are provided at the bottom; the large-size workpiece quick-change gripper assembly and the special-shaped workpiece quick-change gripper assembly are limited by a plurality of positioning blocks on the gripper placement table frame; the positioning blocks include a cylindrical section and a rounded corner with a tapered transition above; the trigger blocks are arranged at the outer edge of the gripper placement table frame and are used to be triggered by the limit switches on the robotic arm assembly to realize the replacement of the quick-change gripper; the number of photoelectric sensors is two groups, two in each group, and the two groups of photoelectric sensors are respectively arranged on the gripper placement table frame below the large-size workpiece quick-change gripper assembly and the special-shaped workpiece quick-change gripper assembly;

[0014] The robotic arm assembly includes a robotic arm and the robotic arm end of the quick-change assembly connected by a six-axis force sensor at the end of the robotic arm. The robotic arm end of the quick-change assembly is connected and disconnected from the large-size workpiece quick-change gripper assembly and the special-shaped workpiece quick-change gripper assembly respectively through the positioning pins and air pressure at the robotic arm end of the quick-change assembly;

[0015] The large-size workpiece quick-change gripper assembly includes a large-size workpiece quick-change gripper flexible moving platform arranged on a truss structure, which is used to compensate for the absolute error of the robotic arm at each clamping point. The truss structure is a cuboid structure, and a plurality of symmetrically and evenly distributed large-size workpiece quick-change gripper flexible moving platforms are provided below the truss structure. The robotic arm end of the quick-change assembly is connected to the truss structure through a large-size limit switch; the special-shaped workpiece quick-change gripper assembly includes the workpiece end of the quick-change assembly, a special-shaped quick-change gripper assembly truss structure, a limit switch, and a special-shaped workpiece quick-change gripper flexible moving platform. The robotic arm end of the quick-change assembly is connected to the workpiece end of the quick-change assembly through a limit switch. The workpiece end of the quick-change assembly is connected to the special-shaped quick-change gripper assembly truss structure through bolts. The special-shaped quick-change gripper assembly truss structure is an L-shaped truss structure matching the stepped surface of the special-shaped workpiece. At least two special-shaped workpiece quick-change gripper flexible moving platforms are provided on each stepped surface of the special-shaped quick-change gripper assembly truss structure;

[0016] The workpiece type judgment assembly is arranged on one side of the workpiece transfer area and is used to judge the type of the heavy workpiece assembly placed in the workpiece transfer area; it includes a plurality of evenly distributed infrared sensors arranged on the placement block, and the height of the infrared sensors is set between the two top planes of the special-shaped workpiece;

[0017] The control cabinet assembly includes a controller inside. The input end of the controller is wirelessly connected to the infrared sensors, limit switches, and photoelectric sensors respectively, and the output end of the controller is wirelessly connected to the robotic arm and the limit switches.

[0018] Furthermore, the large-sized workpiece quick-change gripper assembly is limited by three positioning blocks on the outside, and the special-shaped workpiece quick-change gripper assembly is limited by two positioning blocks on the inside.

[0019] Furthermore, the size of the cylindrical section of the positioning block is 50 mm in height and 40 mm in diameter, the size of the tapered transition is 40 mm in height, the size of the top is 25 mm in diameter, and the radius of the transition fillet is 8 mm.

[0020] Furthermore, when the large-sized workpiece blocks all the infrared light emitted by the infrared sensors, the analog signals output by all the infrared sensors are 1; when the special-shaped workpiece blocks part of the infrared light emitted by the infrared sensors, the analog signal output by the blocked infrared sensor is 1, and the analog signal output by the unblocked infrared sensor is 0; when the analog signals output by all the infrared sensors are 0, it indicates that workpiece transfer is not required.

[0021] Furthermore, each time the heavy workpiece assembly in the workpiece transfer area is transferred, the quantity is one and the position is fixed.

[0022] A quick-switching method for a heavy workpiece rapid classification and handling device includes the following steps:

[0023] S100. Initialize the device to ensure normal operation of each component;

[0024] S200. Initially select a suitable quick-change gripper assembly and complete the handling of the corresponding heavy workpiece assembly;

[0025] S300. When the control cabinet assembly determines that the type of the heavy workpiece assembly has changed, control the robotic arm to move to the gripper placement rack through the control cabinet assembly and replace the quick-change gripper assembly;

[0026] S400. When the analog signals output by the infrared sensors are all 0, under the guidance of the positioning block, the robotic arm places the last used quick-change gripper assembly at the designated position on the gripper placement rack. When the limit switch and the photoelectric sensor send trigger signals simultaneously, control the robotic arm to return to the initial position through the control cabinet assembly.

[0027] Furthermore, in step S200, it specifically includes,

[0028] S210. Judge the type of the heavy workpiece assembly to be handled through the control cabinet assembly. The judgment basis is that if the analog signals output by the infrared sensors are 1 and 0 respectively, the heavy workpiece assembly to be handled is a special-shaped workpiece; if the analog signals output by the infrared sensors are all 1, the heavy workpiece assembly to be handled is a large-sized workpiece;

[0029] S220. When the control cabinet assembly determines that the heavy workpiece assembly is a special-shaped workpiece based on the infrared sensor, the control cabinet assembly controls the robotic arm to move to the gripper placement bench, and controls the robotic arm end of the quick-change assembly of the robotic arm to be quickly connected to the workpiece end of the quick-change assembly through the positioning pin on the limit switch, and locks it with a pressure of more than 0.5 Mpa;

[0030] S230. After completing the connection of the special-shaped workpiece quick-change gripper assembly in step S22, the control cabinet assembly controls the special-shaped workpiece quick-change gripper assembly of the robotic arm to move to the grasping position, connects the special-shaped workpiece quick-change gripper assembly to the special-shaped workpiece, and determines whether the flexible moving platform of the special-shaped workpiece quick-change gripper and the traction bolt are locked. If so, the robotic arm moves the special-shaped workpiece to the special-shaped workpiece placement area and then releases it, completing the handling of the special-shaped workpiece;

[0031] S240. If the type of the heavy workpiece judged by the control cabinet assembly does not change, repeat steps S220 and S230; if it changes, proceed to the next step.

[0032] Further, in step S300, it specifically includes,

[0033] S310. The control cabinet assembly controls the robotic arm to move to the gripper placement bench. Under the guidance of the positioning block, the quick-change gripper assembly selected in step S200 is moved to the area defined by the positioning block, and it is judged whether the quick-change gripper assembly is placed in the specified position. The judgment basis is that if the limit switch and the photoelectric sensor both send trigger signals, the robotic arm releases the quick-change gripper assembly connected to its end; otherwise, the robotic arm continues to adjust the position and posture of the connected quick-change gripper assembly until the limit switch and the photoelectric sensor both send trigger signals, and then releases the quick-change gripper assembly;

[0034] S320. The control cabinet assembly controls the robotic arm to move to another quick-change gripper assembly and quickly connects the robotic arm end of the quick-change assembly of the robotic arm to the workpiece end through the positioning pin on the limit switch, and locks it with a pressure of more than 0.5 Mpa;

[0035] S330. After completing the connection of the quick-change gripper assembly in step S320, the control cabinet assembly controls the quick-change gripper assembly of the robotic arm to move to the workpiece transfer area, connects the quick-change gripper assembly to the corresponding heavy workpiece assembly, and also judges whether the flexible moving platform of the quick-change gripper and the traction bolt are locked. If so, the robotic arm moves the heavy workpiece assembly to the specified position and then releases it, completing the handling of the heavy workpiece;

[0036] S340. Repeat steps S320 and S330 until the handling of the remaining heavy workpieces of the same type is completed.

[0037] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0038] (1) A rapid classification and handling device for heavy workpieces and its rapid switching method according to the present invention can meet the requirements of quickly and accurately sorting and handling mixed heavy-shaped and large-sized heavy workpieces at the end of the robotic arm, and can achieve rapid and high-precision repeated switching of the gripper at the end of the robotic arm, effectively improving work efficiency.

[0039] (2) The present invention selects the stepped surface as the clamping surface and adopts a four-point clamping and releasing device with stepped surfaces on different planes, which can ensure the stability of heavy-shaped workpieces during the handling process by the robotic arm.

[0040] (3) The present invention adopts a 3-hole flange at the bottom, a cylindrical section with a height of 50 mm and a diameter of 40 mm, and a conical positioning block with a smooth transition above, with a height of 40 mm, a top size of 25 mm, and a transition fillet radius of 8 mm, which can guide the quick-change gripper assembly to be quickly placed in the specified position.

[0041] (4) The large-sized workpiece quick-change gripper assembly of the present invention adopts three-point positioning on the outside, and the special-shaped workpiece quick-change gripper assembly adopts two-point positioning on the inside, and limit switches and photoelectric sensors are used to monitor the placement process of the gripper, which can effectively ensure the repeated positioning accuracy within 1 mm of the gripper at the end of the robotic arm.

[0042] (5) The truss structure of the special-shaped quick-change gripper assembly of the present invention is welded by Q235 steel plates, with light weight and a safety factor of 2. During the handling process of special-shaped workpieces with a maximum weight of 500 kg, the maximum equivalent stress of the truss structure is 74.1 MPa, and the maximum deformation is 168 μm, meeting the requirement of the allowable stress of 117.5 MPa for Q235 steel. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 is a schematic structural diagram of a rapid classification and handling device for heavy workpieces in an embodiment of the present invention;

[0044] Figure 2 is a schematic diagram of the working area division of a rapid classification and handling device for heavy workpieces in an embodiment of the present invention;

[0045] Figure 3 is a schematic structural diagram of the gripper placement table assembly and the large-sized workpiece quick-change gripper assembly in an embodiment of the present invention;

[0046] Figure 4 is a top view of the large-sized workpiece quick-change gripper assembly in an embodiment of the present invention;

[0047] Figure 5 is a schematic structural diagram of a special-shaped workpiece in an embodiment of the present invention;

[0048] Figure 6 This is a flowchart of the rapid switching method for a rapid classification and handling device for heavy workpieces in an embodiment of the present invention;

[0049] Figure 7 This is an equivalent stress nephogram of the truss structure of the special-shaped quick-change gripper assembly in an embodiment of the present invention;

[0050] Figure 8 This is the total deformation nephogram of the truss structure of the special-shaped quick-change gripper assembly in an embodiment of the present invention.

[0051] Explanation of reference numerals:

[0052] 1. Control cabinet assembly; 2. Gripper placement table assembly; 3. Large-size workpiece quick-change gripper assembly; 4. Robot arm assembly; 5. Special-shaped workpiece quick-change gripper assembly; 6. Workpiece type judgment assembly; 7. Heavy workpiece assembly; 21. Shock-absorbing pad iron; 22. Gripper placement table frame; 23. Positioning block; 24. Trigger block; 25. Photoelectric sensor; 31. Flexible moving platform of large-size workpiece quick-change gripper; 41. Robot arm; 42. Robot arm end of quick-change assembly; 51. Workpiece end of quick-change assembly; 52. Truss structure of special-shaped quick-change gripper assembly; 53. Limit switch; 54. Flexible moving platform of special-shaped workpiece quick-change gripper; 61. Infrared sensor; 71. Special-shaped workpiece; 72. Large-size workpiece; 73. Traction bolt. Detailed implementation manners

[0053] In the description of the present invention, it should be noted that the term nouns in each embodiment, such as "upper", "lower", "front", "rear", "left", "right", etc., which indicate directions, are only used to simplify the description of the positional relationship based on the drawings in the specification, and do not represent that the indicated elements and devices, etc. must be operated according to the specific directions and limited operations, methods, and structures in the specification. Such directional nouns do not constitute a limitation to the present invention.

[0054] To make the above objects, features, and advantages of the present invention more obvious and understandable, the following detailed description of the specific embodiments of the present invention is made in conjunction with the drawings.

[0055] Specific implementation method one: Combining Figures 1 to 5 As shown, the present invention provides a rapid classification and handling device for heavy workpieces. The classification and handling device is arranged on a foundation that can bear weight and overturning moment. Combining Figure 2As shown in the figure, it includes a workpiece transfer area, a heavy workpiece component placement area, a control area, and a gripper placement and switching area. The heavy workpiece component area includes a special-shaped workpiece placement area and a large-size workpiece placement area. Among them, the workpiece transfer area, the heavy workpiece component placement area, and the gripper placement and switching area are all located within the working space of the robotic arm, and the control area is located outside the working space of the robotic arm to avoid affecting the normal operation of the robotic arm component 4 and injuring the debugging personnel during the operation process;

[0056] The classification handling device includes a control cabinet component 1, a gripper placement table component 2, a large-size workpiece quick-change gripper component 3, a robotic arm component 4, a special-shaped workpiece quick-change gripper component 5, a workpiece type judgment component 6, and a heavy workpiece component 7. The robotic arm component 4 is arranged at the center of the foundation. The control cabinet component 1 is arranged in the control area. The gripper placement table component 2 is arranged in the gripper placement and switching area to meet the requirement of facilitating the quick change of the gripper at the end of the robotic arm 41. The workpiece type judgment component 6 and the heavy workpiece component 7 are both arranged in the workpiece transfer area. The large-size workpiece quick-change gripper component 3 and the special-shaped workpiece quick-change gripper component 5 are both arranged on the gripper placement table component 2;

[0057] Combined with Figure 3 and Figure 4As shown in the figure, the gripper placement table assembly 2 includes shock-absorbing pads 21, a gripper placement table frame 22, positioning blocks 23, a trigger block 24, and a photoelectric sensor 25. The gripper placement table frame 22 is a long table structure and at least four shock-absorbing pads 21 are provided at the bottom. The shock-absorbing pads 21 ensure that the plane error of the working surface of the gripper placement table frame 22 is within 2 mm through adjusting nuts. On the gripper placement table frame 22, the large-size workpiece quick-change gripper assembly 3 and the special-shaped workpiece quick-change gripper assembly 5 are limited by a plurality of positioning blocks 23. The large-size workpiece quick-change gripper assembly 3 is limited by three positioning blocks 23 on the outside, and the special-shaped workpiece quick-change gripper assembly 5 is limited by two positioning blocks 23 on the inside, which can guide the quick-change gripper assembly to be quickly placed at the designated position and ensure that the repeat positioning error of the large-size workpiece quick-change gripper assembly 3 and the special-shaped workpiece quick-change gripper assembly 5 is within 1 mm. The positioning block 23 is a 3-hole flange, including a cylindrical section and a conical-transition fillet at the upper part. The size of the cylindrical section is 50 mm in height and 40 mm in diameter. The size of the conical transition is 40 mm in height, the size of the top is 25 mm in diameter, and the radius of the transition fillet is 8 mm. The trigger block 24 is arranged at the outer edge of the gripper placement table frame 22 and is used to be triggered by the limit switch 53 on the robotic arm assembly 4 to realize the replacement of the quick-change gripper. The number of the photoelectric sensors 25 is two groups, two in each group. The two groups of photoelectric sensors 25 are respectively arranged on the gripper placement table frame 22 below the large-size workpiece quick-change gripper assembly 3 and the special-shaped workpiece quick-change gripper assembly 5. The positions of the two groups of photoelectric sensors 25 are asymmetric and the spacing is large enough to ensure that they will not affect each other and the comprehensiveness of the monitoring results, and thus ensure the repeat positioning accuracy.

[0058] The robotic arm assembly 4 includes a robotic arm 41 and a robotic arm end 42 of the quick-change assembly connected to the end of the robotic arm 41 through a six-axis force sensor. The robotic arm end 42 of the quick-change assembly is respectively connected and disconnected from the large-size workpiece quick-change gripper assembly 3 and the special-shaped workpiece quick-change gripper assembly 5 through limit switches 53.

[0059] The large-size workpiece quick-change gripper assembly 3 includes a large-size workpiece quick-change gripper flexible moving platform 31 provided on a truss structure for compensating the absolute error of the robotic arm 41 at each clamping point. The truss structure is a cuboid structure, and a plurality of symmetrically and evenly distributed large-size workpiece quick-change gripper flexible moving platforms 31 are provided below the truss structure. The robotic arm end 42 of the quick-change assembly is connected to the truss structure through a large-size limit switch. The special-shaped workpiece quick-change gripper assembly 5 includes a workpiece end 51 of the quick-change assembly, a special-shaped quick-change gripper assembly truss structure 52, a limit switch 53, and a special-shaped workpiece quick-change gripper flexible moving platform 54. The robotic arm end 42 of the quick-change assembly is connected to the workpiece end 51 of the quick-change assembly through the limit switch 53. The workpiece end 51 of the quick-change assembly is connected to the special-shaped quick-change gripper assembly truss structure 52 by bolts. The special-shaped quick-change gripper assembly truss structure 52 is an L-shaped truss structure matching the stepped surface of the special-shaped workpiece 71. At least two special-shaped workpiece quick-change gripper flexible moving platforms 54 are provided on each stepped surface of the special-shaped quick-change gripper assembly truss structure 52;

[0060] Both the large-size workpiece quick-change gripper flexible moving platform 31 and the special-shaped workpiece quick-change gripper flexible moving platform 54 are existing connection platforms;

[0061] The workpiece type judgment component 6 is arranged on one side of the workpiece transfer area for judging the type of the heavy workpiece component 7 placed in the workpiece transfer area. It includes a plurality of evenly distributed infrared sensors 61 provided on a placement block. The height of the infrared sensors 61 is set between the two top planes of the special-shaped workpiece 71. When the large-size workpiece 72 blocks all the infrared light emitted by the infrared sensors 61, the analog signals output by all the infrared sensors 61 are 1. When the special-shaped workpiece 71 blocks part of the infrared light emitted by the infrared sensors 61, the analog signal output by the blocked infrared sensors 61 is 1, and the analog signal output by the unblocked infrared sensors 61 is 0. When the analog signals output by all the infrared sensors 61 are 0, it indicates that workpiece transfer is not required. In addition, the number of heavy workpiece components 7 transferred each time is one and the position is fixed;

[0062] The control cabinet assembly 1 includes a controller inside. The input ends of the controller are wirelessly connected to an infrared sensor 61, a limit switch 53, and a photoelectric sensor 25 respectively, and the output end of the controller is wirelessly connected to a robotic arm 41 and the limit switch 53. It is used to send the analog signal output by the infrared sensor 61 to the controller. After judging the type of the heavy workpiece assembly 7 through the internal algorithm of the controller, it controls the robotic arm 41 to move to the gripper placement stand 22 to select the corresponding type of quick-change gripper assembly, then clamp and transfer the heavy workpiece assembly 7 to the workpiece placement area. When replacing the quick-change gripper assembly, the limit switch 53 on the robotic arm 41 is triggered by a trigger block 24 to release the quick-change gripper assembly on the corresponding gripper placement stand 22. Before release, signals are sent from the photoelectric sensor 25 and the limit switch 53 to the controller to judge whether the release position is correct. If it is correct, the limit switch 53 is controlled to open to release the quick-change gripper assembly. If it is incorrect, the robotic arm 41 is controlled to move until the position is correct.

[0063] The heavy workpiece assembly 7 includes a special-shaped workpiece 71 and a large-sized workpiece 72. Traction bolts 73 are arranged at the clamping points of the large-sized workpiece quick-change gripper flexible moving platform 31 and the special-shaped workpiece quick-change gripper flexible moving platform 54 corresponding to the special-shaped workpiece 71 and the large-sized workpiece 72.

[0064] Preferably, on the robotic arm 41 connected to the quick-change gripper assembly, there are a robotic arm end 42 of the quick-change assembly and a workpiece end 51 of the quick-change assembly, and the selected model is ATI-QC1210; the robotic arm 41 is of the model KUKA KR 1000TITIAN; the limit switch 53 is of the model Omron - D4MC.

[0065] Specific implementation plan two: Combined with Figures 1 to 6 As shown, the present invention provides a quick switching method for a heavy workpiece rapid classification and handling device, including the following steps:

[0066] S100. Initialize the device to ensure the normal operation of each component;

[0067] S200. Initially select a suitable quick-change gripper assembly and complete the handling of the corresponding heavy workpiece. Specifically,

[0068] S210. Judge the type of the heavy workpiece to be handled through the control cabinet assembly 1. The judgment basis is that if the analog signals output by the infrared sensor 61 are 0 and 1 respectively, the heavy workpiece to be handled is a special-shaped workpiece 71; if the analog signals output by the infrared sensor 61 are both 1, the heavy workpiece to be handled is a large-sized workpiece 72; if the analog signals output by the infrared sensor 61 are both 0, there is no need to handle.

[0069] S220. When the control cabinet assembly 1 determines that the heavy workpiece is a special-shaped workpiece 71 based on the infrared sensor 61, the control cabinet assembly 1 controls the robotic arm 41 to move to the gripper placement bench 22, and controls the robotic arm end 42 of the quick-change assembly of the robotic arm 41 to be quickly connected to the workpiece end 51 of the quick-change assembly through the positioning pin on the robotic arm end 42 of the quick-change assembly, and locks it with a pressure of more than 0.5 Mpa. Due to the setting of the positioning block 23, the position of the special-shaped workpiece quick-change gripper assembly 5 is fixed, reducing the error brought by the algorithm itself and the algorithm setting inside the controller in the control cabinet assembly 1, and ensuring the effective connection between the robotic arm 41 and the special-shaped workpiece quick-change gripper assembly 5;

[0070] S230. After the connection of the special-shaped workpiece quick-change gripper assembly 5 in step S220 is completed, the control cabinet assembly 1 controls the special-shaped workpiece quick-change gripper assembly 5 of the robotic arm 41 to move to the grasping position, connects the special-shaped workpiece quick-change gripper assembly 5 to the special-shaped workpiece 71, and determines whether the special-shaped workpiece quick-change gripper flexible moving platform 54 and the traction bolt 73 are locked at this time. If so, the robotic arm 41 moves the special-shaped workpiece 71 to the special-shaped workpiece placement area and then releases it, completing the handling of the special-shaped workpiece 71;

[0071] S240. If the type of the heavy workpiece judged by the control cabinet assembly 1 does not change, steps S220 and S230 are repeated; if it changes, the next step is carried out;

[0072] S300. When the control cabinet assembly 1 determines that the type of the heavy workpiece has changed, the control cabinet assembly 1 controls the robotic arm 41 to move to the gripper placement bench 22 and replaces the quick-change gripper assembly. Specifically,

[0073] S310. The control cabinet assembly 1 controls the robotic arm 41 to move to the gripper placement bench 22. Under the guidance of the positioning block 23, the quick-change gripper assembly selected in step S200 is moved to the area defined by the positioning block 23, and it is judged whether the quick-change gripper assembly is placed in the specified position. The judgment basis is that if the limit switch 53 and the photoelectric sensor 25 both send trigger signals at the same time, the robotic arm 41 releases the quick-change gripper assembly connected to its end; otherwise, the robotic arm 41 continues to adjust the position and posture of the connected quick-change gripper assembly until the limit switch 53 and the photoelectric sensor 25 both send trigger signals at the same time, and then releases the quick-change gripper assembly;

[0074] S320. The control cabinet assembly 1 controls the robotic arm 41 to move to another quick-change gripper assembly and is quickly connected to the robotic arm end 42 of the quick-change assembly that controls the robotic arm 41 through the positioning pin on the robotic arm end 42 of the quick-change assembly, and locks it with a pressure of more than 0.5 Mpa;

[0075] S330. After the connection of the quick-change gripper assembly in step S320 is completed, the control cabinet assembly 1 controls the quick-change gripper assembly of the robotic arm 41 to move to the workpiece transfer area, and connects the quick-change gripper assembly with the corresponding heavy workpiece assembly 7. Similarly, it is judged whether the quick-change gripper flexible moving platform and the traction bolt 73 are locked. If so, the robotic arm 41 moves the heavy workpiece assembly 7 to the designated position and then releases it, completing the handling of the heavy workpiece.

[0076] S340. Repeat step S320 and step S330 until the handling of the remaining heavy workpieces of the same type is completed.

[0077] S400. When all the analog signals output by the infrared sensor 61 are 0, under the guidance of the positioning block 23, the robotic arm 41 places the last used quick-change gripper assembly at the designated position on the gripper placement bench 22. When the limit switch 53 and the photoelectric sensor 25 send trigger signals simultaneously, the control cabinet assembly 1 controls the robotic arm 41 to return to the initial position.

[0078] Other combinations and connection relationships of this implementation scheme are the same as those of the specific implementation scheme one.

[0079] Simulation experiment

[0080] Truss structure check of the quick-change gripper assembly

[0081] During the transportation of the special-shaped workpiece 71, the stepped surface must be the clamping surface, so the stepped surface is selected as the clamping surface. As shown in Figure 4 , since the main body of the special-shaped workpiece 71 is square, in order to ensure the stability during handling, four corners of the special-shaped workpiece 71 are selected as the four clamping points. Since the clamping surface of the special-shaped workpiece 71 is a stepped surface, the truss structure 52 of the special-shaped quick-change gripper assembly is selected as an L-shaped structure. The clamping surface of the large-size workpiece 72 is a plane, and multiple clamping points are selected within the plane.

[0082] Through preliminary estimation, the deformation of the truss structure 52 of the special-shaped quick-change gripper assembly is relatively large, especially the L-shaped structure. In order to ensure that the strength of the quick-change gripper assembly meets the requirements during operation, the maximum weight of 500 kg is selected to check the truss structure of the special-shaped quick-change gripper assembly.

[0083] In order to meet the requirements of the maximum weight of 500 kg for the special-shaped workpiece 71 and a safety factor of 1.5 or above, the main body of the truss structure 52 of the special-shaped quick-change gripper assembly is made of Q235 steel plate with a thickness of 6 mm, the clamping point fixing area is made of Q235 steel plate with a thickness of 8 mm, and the structure for fixing the quick-change assembly is made of Q235 steel plate with a thickness of 18 mm. The finite element analysis software ANSYS Workbench is used to analyze its deformation. A displacement constraint is applied to the contact surface of the quick-change assembly, a gravity condition is applied to the overall truss structure, and the safety factor is 2. An external force condition of 2500 N vertically downward is applied to each of the 4 clamping point fixing areas. The simulation results of the finite element analysis software are as Figure 7 and Figure 8 shown. The maximum equivalent stress of the truss structure is 74.1 MPa, and the maximum deformation is 168 μm, meeting the requirement of the allowable stress of 117.5 MPa for Q235 steel and meeting the strength requirement.

[0084] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art of the present invention can make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will all fall within the protection scope of the present invention.

Claims

1. A device for rapid classification and handling of heavy workpieces, characterized in that: It includes a workpiece transfer area, a heavy workpiece assembly placement area, a control area, and a gripper placement and switching area, wherein the heavy workpiece assembly area includes a special-shaped workpiece placement area and a large-size workpiece placement area, wherein the workpiece transfer area, the heavy workpiece assembly placement area, and the gripper placement and switching area are all located in the robot arm workspace, and the control area is located outside the robot arm workspace; The classification and handling device comprises a control cabinet assembly (1), a gripper placement table assembly (2), a large-size workpiece quick-change gripper assembly (3), a mechanical arm assembly (4), a special-shaped workpiece quick-change gripper assembly (5) and a workpiece type judgment assembly (6), wherein the mechanical arm assembly (4) is arranged at the center of the foundation, the control cabinet assembly (1) is arranged in the control area, the gripper placement table assembly (2) is arranged in the gripper placement and switching area, the workpiece type judgment assembly (6) and the heavy workpiece assembly (7) are both arranged in the workpiece conveying area, and the large-size workpiece quick-change gripper assembly (3) and the special-shaped workpiece quick-change gripper assembly (5) are both arranged on the gripper placement table assembly (2); The gripper placement table assembly (2) comprises a shock-absorbing pad (21), a gripper placement stand (22), a positioning block (23), a trigger block (24) and a photoelectric sensor (25); the gripper placement stand (22) is a long table structure and has at least four shock-absorbing pads (21) at the bottom; the gripper placement stand (22) is used to limit the large-size workpiece quick-change gripper assembly (3) and the special-shaped workpiece quick-change gripper assembly (5) through a plurality of positioning blocks (23); the positioning block (2 3) including a cylindrical section and a rounded corner with a conical transition on top; the trigger block (24) is arranged at the outer edge of the gripper placement stand (22) and is used to be triggered by the limit switch (53) on the robot arm assembly (4) to realize the replacement of the quick-change gripper; the number of the photoelectric sensors (25) is two groups, each group has two, and the two groups of photoelectric sensors (25) are respectively arranged on the gripper placement stand (22) below the large-size workpiece quick-change gripper assembly (3) and the special-shaped workpiece quick-change gripper assembly (5); The mechanical arm assembly (4) comprises a mechanical arm (41) and a mechanical arm end (42) of a quick-change assembly connected to the end of the mechanical arm (41) via a six-dimensional force sensor, and the mechanical arm end (42) of the quick-change assembly is connected to and disconnected from the large-size workpiece quick-change gripper assembly (3) and the special-shaped workpiece quick-change gripper assembly (5) via a limit switch (53). The large-size workpiece quick-change gripper assembly (3) comprises a large-size workpiece quick-change gripper flexible mobile platform (31) arranged on a truss structure, which is used to compensate for the absolute error of the mechanical arm at each clamping point. The truss structure is a rectangular parallelepiped structure, and a plurality of symmetrical and evenly distributed large-size workpiece quick-change gripper flexible mobile platforms (31) are arranged below the truss structure. The mechanical arm end (42) of the quick-change assembly is connected to the truss structure via a large-size limit switch (53). The special-shaped workpiece quick-change gripper assembly (5) comprises a workpiece end (51) of the quick-change assembly, a special-shaped quick-change gripper assembly truss structure (5 2), a limit switch (53) and a flexible mobile platform (54) for a quick-change gripper for a special-shaped workpiece, wherein the mechanical arm end (42) of the quick-change assembly can be connected to and released from the workpiece end (51) of the quick-change assembly, and the workpiece end (51) of the quick-change assembly is connected to a truss structure (52) of a special-shaped quick-change gripper assembly by bolts, and the truss structure (52) of the special-shaped quick-change gripper assembly is an L-shaped truss structure matching the stepped surface of the special-shaped workpiece (71), and at least two flexible mobile platforms (54) for quick-change grippers for a special-shaped workpiece are provided on each stepped surface of the truss structure (52) of the special-shaped quick-change gripper assembly; The workpiece type judgment component (6) is arranged on one side of the workpiece conveying area, and is used to judge the type of the heavy workpiece component (7) placed in the workpiece conveying area; it includes a plurality of evenly distributed infrared sensors (61) arranged on the placement block, and the height of the infrared sensors (61) is arranged between two top planes of the special-shaped workpiece (71); The control cabinet assembly (1) includes an internal controller, wherein the input end of the controller is wirelessly connected to the infrared sensor (61), the limit switch (53) and the photoelectric sensor (25), respectively, and the output end of the controller is wirelessly connected to the mechanical arm (41) and the limit switch (53).

2. The device for rapid classification and handling of heavy workpieces according to claim 1, characterized in that: The large-size workpiece quick-change gripper assembly (3) is limited by three positioning blocks (23) on the outside, and the special-shaped workpiece quick-change gripper assembly (5) is limited by two positioning blocks (23) on the inside.

3. A heavy workpiece rapid sorting and transporting device according to claim 2, characterized in that: The cylindrical section of the positioning block (23) has a size of 50 mm in height and a diameter of 40 mm, the conical transition has a size of 40 mm in height and a size of 25 mm in diameter at the top, and the radius of the transition fillet is 8 mm.

4. The device for rapid classification and handling of heavy workpieces according to claim 3 is characterized in that: When a large-sized workpiece (72) is blocked by the infrared light emitted by all the infrared sensors (61), the analog signals output by all the infrared sensors (61) are 1; when a special-shaped workpiece (71) is blocked by the infrared light emitted by some of the infrared sensors (61), the analog signals output by the blocked infrared sensors (61) are 1, and the analog signals output by the unblocked infrared sensors (61) are 0; when the analog signals output by all the infrared sensors (61) are 0, it indicates that the workpiece does not need to be transferred.

5. The device for rapid classification and handling of heavy workpieces according to claim 4, characterized in that: The number of heavy workpiece assemblies (7) conveyed each time in the workpiece conveying area is one and the position is fixed.

6. A fast switching method for a heavy workpiece fast sorting and handling device according to any one of claims 1 to 5, characterized in that: The following steps are involved: S100, initializing the device to ensure that all components operate normally; S200, initially selecting a suitable quick-change gripper assembly and completing the handling of the corresponding heavy workpiece assembly (7); S300, when the control cabinet component (1) determines that the type of the heavy workpiece component (7) has changed, the control cabinet component (1) controls the robot arm to move to the gripper placement stand (22) and replaces the quick-change gripper component; S400, when the analog signals output by the infrared sensor (61) are all 0, under the guidance of the positioning block (23), the robot arm (41) places the last used quick-change gripper assembly on the designated position of the gripper placement stand (22), and when the limit switch (53) and the photoelectric sensor (25) send out trigger signals at the same time, the control cabinet assembly (1) controls the robot arm (41) to return to the initial position.

7. A rapid switching method for a heavy workpiece rapid sorting and handling device according to claim 6, characterized in that: In step S200, specifically including: S210, determining the type of the heavy workpiece assembly (7) to be transported through the control cabinet assembly (1), the determination being based on the following: if the analog signals output by the infrared sensor (61) are 1 and 0 respectively, the heavy workpiece assembly (7) to be transported is a special-shaped workpiece (71); if the analog signals output by the infrared sensor (61) are all 1, the heavy workpiece assembly (7) to be transported is a large-sized workpiece (72); S220, when the control cabinet component (1) determines that the heavy workpiece component (7) is a special-shaped workpiece (71) according to the infrared sensor (61), the control cabinet component (1) controls the mechanical arm (41) to move to the gripper placement stand (22), controls the mechanical arm end (42) of the quick-change component of the mechanical arm (41) and the workpiece end (51) of the quick-change component to be quickly connected through the positioning pin on the mechanical arm end (42) of the quick-change component, and uses an air pressure of more than 0.5 MPa to complete locking; S230, after completing the connection of the special-shaped workpiece quick-change gripper assembly (5) in step S22, the special-shaped workpiece quick-change gripper assembly (5) of the mechanical arm (41) is controlled by the control cabinet assembly (1) to move to the gripping position, the special-shaped workpiece quick-change gripper assembly (5) is connected to the special-shaped workpiece (71), and it is determined whether the special-shaped workpiece quick-change gripper flexible moving platform (54) and the traction bolt (73) are locked at this time. If so, the special-shaped workpiece (71) is moved to the special-shaped workpiece placement area by the mechanical arm (41) and then released to complete the handling of the special-shaped workpiece (71); S240: If the type of heavy workpiece determined by the control cabinet assembly (1) has not changed, repeat steps S220 and S230; if it has changed, proceed to the next step.

8. The rapid switching method of a heavy workpiece rapid sorting and handling device according to claim 6, characterized in that: In step S300, specifically including: S310, controlling the robot arm (41) to move to the gripper placement stand (22) through the control cabinet assembly (1), and under the guidance of the positioning block (23), moving the quick-change gripper assembly selected in step S200 to the area defined by the positioning block (23), and judging whether the quick-change gripper assembly is placed at the specified position. The judging basis is that if the limit switch (53) and the photoelectric sensor (25) send out a trigger signal at the same time, the robot arm (41) releases the quick-change gripper assembly connected to the end; otherwise, the robot arm (41) continues to adjust the position and posture of the connected quick-change gripper assembly until the limit switch (53) and the photoelectric sensor (25) send out a trigger signal at the same time, and then releases the quick-change gripper assembly; S320, controlling the robot arm to move to another quick-change gripper assembly through the control cabinet assembly (1) and quickly connecting with the robot arm end (42) of the quick-change assembly of the control robot arm (41) through the positioning pin on the robot arm end (42) of the quick-change assembly, and locking with an air pressure of more than 0.5 MPa; S330, after completing the connection of the quick-change gripper assembly in step S320, the quick-change gripper assembly of the mechanical arm (41) is controlled by the control cabinet assembly (1) to move to the workpiece transfer area, and the quick-change gripper assembly is connected to the corresponding heavy workpiece assembly (7), and it is also determined whether the quick-change gripper flexible moving platform and the traction bolt (73) are locked. If so, the heavy workpiece assembly (7) is moved to a specified position by the mechanical arm (41) and then released to complete the handling of the heavy workpiece; S340, repeating step S320 and step S330 until the remaining heavy workpieces of the same type are transported.

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