Integrated welding robot tail end tool quick-changing device and method

Abstract

The invention relates to the technical field of tool quick-changing devices, and provides an integrated welding robot tail end tool quick-changing device which comprises a robot body, a clamping assembly and a positioning assembly are arranged at the tail end of the robot body, a tool containing frame is arranged on one side of the robot body, and a plurality of containing areas are arranged on the tool containing frame. Different machining tools are placed in the containing areas, the clamping assembly can clamp the different machining tools, tool identification codes are arranged on the tool containing frame on one side of each containing area and used for being matched with the positioning assembly to identify tool types, and the robot body is connected with the equipment support. A welding system, a spraying system, a flaw detection system and a grinding system are arranged on the equipment bracket. According to the automatic tool replacement device, the welding robot can automatically complete tool replacement among the multiple working procedures of grinding, welding, flaw detection and spraying, the replacement precision is improved through auxiliary positioning, and therefore the operation efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of tool quick-change devices, and particularly relates to an integrated tool quick-change device and method for the end of a welding robot. Background Art

[0002] With the advancement of industrial automation, welding robots are increasingly widely used in fields such as steel structure welding. Welding robots not only need to perform welding work, but also often need to grind workpieces before welding, perform flaw detection after welding, and finally perform spraying operations. Different tools or devices are required for each operation link, such as grinders, welding guns, ultrasonic flaw detection devices, spraying guns, etc. Traditional robots rely on manual or semi-automatic methods to replace tools. Manual or semi-automatic replacement requires manual intervention and cannot fully achieve automated operation, resulting in low production efficiency; in complex welding tasks, frequent tool replacement increases the labor intensity of operators and is prone to introducing human errors, leading to poor accuracy, affecting welding quality, and prone to problems such as misoperation and unsmooth process connection during work.

[0003] Therefore, in view of the above problems, an integrated tool quick-change device and method for the end of a welding robot are proposed to solve the above problems. Summary of the Invention

[0004] In view of the deficiencies of the prior art, the present invention develops an integrated tool quick-change device and method for the end of a welding robot. The invention enables the welding robot to automatically complete tool replacement among multiple processes of grinding, welding, flaw detection, and spraying, and improves the replacement accuracy through auxiliary positioning, thereby improving the operation efficiency, reducing manual intervention, and enhancing the flexibility and stability of the robot operation.

[0005] To achieve the above object, the present invention is realized through the following technical solutions: An integrated tool quick-change device for the end of a welding robot includes a robot body. A clamping component and a positioning component are provided at the end of the robot body. A tool placement rack is provided on one side of the robot body. Multiple placement areas are provided on the tool placement rack. Different processing tools are respectively placed in each placement area. The clamping component can clamp different processing tools. Tool identification codes are provided on the tool placement rack on one side of each placement area for cooperating with the positioning component to identify the tool type. The robot body is connected to an equipment support. A welding system, a spraying system, a flaw detection system, and a grinding system are provided on the equipment support.

[0006] Preferably, the robot body includes a base, a rotating table is rotatably provided on the base, a main robotic arm is rotatably provided on the rotating table, the axis of rotation of the main robotic arm is perpendicular to the axis of the rotating table, a main rotating seat is rotatably provided at one end of the main robotic arm away from the rotating table, the axis of rotation of the main rotating seat is parallel to the axis of rotation of the main robotic arm, a main rotating arm is rotatably provided on the main rotating seat, the axis of rotation of the main rotating arm is perpendicular to the axis of rotation of the main rotating seat, a wrist is rotatably connected to one end of the main rotating arm away from the main rotating seat, the axis of rotation of the wrist is perpendicular to the axis of rotation of the main rotating arm, a clamping flange is rotatably connected to the wrist, and the axis of rotation of the clamping flange is perpendicular to the axis of rotation of the wrist.

[0007] Preferably, the positioning assembly includes a positioning seat, the positioning seat is provided on the lower side of the wrist of the robot body, a three-dimensional vision camera is provided on the positioning seat, which can identify the tool identification code, and the identification code is set as a two-dimensional code.

[0008] Preferably, the clamping assembly includes a clamping flange, which is rotatably provided on the front side of the wrist of the robot body. A plurality of clamping mechanisms are circumferentially and uniformly arranged on the clamping flange. The clamping mechanism includes a clamping arm, the middle of the clamping arm is rotatably provided on a support rod, one end of the clamping arm is slidably connected to a sliding seat, the sliding seat is rotatably provided at one end of a piston rod, the other end of the piston rod is connected to the output end of a clamping power member, and a pressure sensor is provided between the piston rod and the output end of the clamping power member. The clamping power member is provided on the clamping flange, and the support rod is provided on the clamping flange or the clamping power member.

[0009] Preferably, a number of guiding and positioning pins are circumferentially and uniformly arranged in the middle of the end face of the clamping flange away from the robot body, and a number of clamping interface holes are circumferentially and uniformly arranged on the outer part of the end face of the clamping flange away from the robot body.

[0010] Preferably, the processing tools include a grinding head, a welding gun head, a flaw detection head and a painting head. Tool flanges are provided on the grinding head, the welding gun head, the flaw detection head and the painting head for connecting the clamping flange. A number of guiding and positioning holes and tool interface holes are circumferentially and uniformly opened on the tool flange. The positions of the guiding and positioning holes correspond to the guiding and positioning pins, and the positions of the tool interface holes correspond to the clamping interface holes. When clamping, the axes of the tool flange and the clamping flange are collinear.

[0011] Preferably, the clamping arm is J-shaped, and the bent end of the clamping arm is used to contact the side of the tool flange away from the clamping flange and press the tool flange against the clamping flange.

[0012] Preferably, the tool rack is provided with four placement areas for placing the grinding head, the welding gun head, the flaw detection head and the painting head respectively. Tool brackets are provided in each placement area, and circular placement holes are opened in the middle of the tool brackets. The outer wall of the tool flange contacts the circular placement holes.

[0013] Preferably, the clamping interface hole is used to connect the main interface module, and the tool interface hole is used to connect the secondary interface module. The main interface module includes a power interface, a control interface, a wire feeding interface, a shielding gas interface, a pneumatic interface, and a liquid supply interface. The secondary interface modules on the tool flange plates for connecting different processing tools are different. The secondary interface module on the tool flange plate for connecting a grinding head includes a power interface and a control interface. The secondary interface module on the tool flange plate for connecting a welding torch head includes a power interface, a control interface, a wire feeding interface, and a shielding gas interface. The secondary interface module on the tool flange plate for connecting a flaw detector head includes a power interface and a control interface. The secondary interface module on the tool flange plate for connecting a paint spraying head includes a power interface, a control interface, a pneumatic interface, and a liquid supply interface.

[0014] The present invention also provides a method for quickly replacing the end tooling of a welding robot, which includes the above-mentioned integrated end tooling quick replacement device for a welding robot, and further includes the following steps: Step 1: Calibrate the three-dimensional vision camera to obtain the transformation matrix between the camera coordinate system and the coordinate system of the clamping flange at the end of the robot. Then, move the end of the robot body to the shooting position directly above the tool placement rack, and align the three-dimensional vision camera with the tool placement rack to shoot and identify the tool identification code. Step 2: Select the type of processing tool to be used according to the processing requirements, identify the tool identification code of the tool, and determine the initial position coordinates of the corresponding processing tool on the tool placement rack based on the position of the tool identification code. Move the end of the robot body and make the axis of the clamping flange coincide with the axis of the tool flange. Step 3: Retract the output end of the clamping power component, so that the bent end of the clamping arm moves away from the clamping flange, the clamping arm opens, the robot body drives the clamping flange to move downward and makes the clamping flange contact the tool flange, and makes the guiding positioning pin insert into the guiding positioning hole. The main interface module of the clamping interface hole is correspondingly connected to the secondary interface module of the tool interface hole. Step 4: Start the clamping power component, extend the output end of the clamping power component, push the bent end of the clamping arm to move towards the clamping flange and contact and press against the surface of the tool flange. When the pressure sensor detects that the pressure exceeds the preset threshold, the output end of the clamping power component stops moving, and the end of the robot body moves vertically upward to take out the processing tool from the tool placement rack. Step 5: When replacing the tool, first move the end of the robot body to the shooting position directly above the tool placement rack, identify the tool identification code through the three-dimensional vision camera to determine the position where the tool is placed, and then make the axis of the clamping flange coincide with the axis of the circular placement hole on its corresponding tool support. Move the clamping flange vertically downward until the outer end face of the tool flange is tightly attached to the upper end face of the circular placement hole. Step 6: Start the clamping power component, retract the output end of the clamping power component, so that the clamping arm is disengaged from the tool flange. Wait until the piston rod moves to the lowest position, and the clamping flange moves vertically upward to the shooting position directly above the tool placement rack. Once again, identify the tool identification code through the 3D vision camera, identify the type of the next processing tool to be used, and determine its location. Repeat the above steps to complete multiple quick changes of the tool. Step 7: After changing the tool multiple times, to avoid the slight displacement of the tool placement rack affecting the accuracy and efficiency of the replacement, after the 3D vision camera shoots and identifies the tool identification code, shoot the circular placement hole again, and obtain the point cloud information of the circular placement hole. Calculate the actual position coordinates of the circular placement hole at this time through the plane segmentation and boundary extraction algorithm. Through the previously calibrated transformation matrix, convert this coordinate system to the coordinate system of the clamping flange, and then move the clamping flange above the circular placement hole position of the corresponding tool support, and complete the unloading and loading of the processing tool according to the foregoing steps. Step 8: Vertically lift the clamping flange to the shooting position directly above the tool placement rack, so that the 3D vision camera shoots the position of the tool flange of the processing tool to be installed again after identifying the tool identification code, obtain the point cloud information of the tool flange, and also calculate the actual position coordinates of the tool flange through the plane segmentation and boundary extraction algorithm. Convert this coordinate to the coordinate system of the clamping flange, move the clamping flange to the position above the tool flange, and complete the installation of the processing tool according to the foregoing steps.

[0015] The effects provided in the invention content are only the effects of the embodiments, rather than all the effects of the invention. The above technical solutions have the following advantages: The present invention realizes continuous operation of multiple processes such as welding, grinding, flaw detection, and spraying through automatic quick change, reduces the downtime, and has high-precision docking during replacement. The positioning component and the clamping component ensure the positioning accuracy and stability during tool replacement, and avoid the errors of traditional manual replacement. The present invention can correct the deviation during the replacement process. During tool replacement, the 3D vision camera can assist in positioning, reducing the deviation problems that may be caused by manual intervention. The automatic identification and adjustment reduce the dependence on fixed tooling fixtures and are suitable for small-batch and multi-variety production scenarios. The tool placement rack of the present invention can expand and add new tool types, flexibly adapt to the processing requirements, can add or replace processing tools according to the changes in the production line, and improves the practicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] 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.

[0017] Figure 1Schematic diagram of the overall structure of the embodiment of the present invention; Figure 2 Partial side view structure diagram of the clamping assembly of the embodiment of the present invention; Figure 3 Schematic diagram of the tool support of the embodiment of the present invention; Figure 4 Schematic diagram of the position of the circular placement hole of the embodiment of the present invention; Figure 5 Schematic diagram of the tool placement rack of the embodiment of the present invention; Figure 6 Schematic diagram of the front side of the clamping position of the embodiment of the present invention; Figure 7 Schematic diagram of the rear side of the clamping position of the embodiment of the present invention; Figure 8 Schematic diagram of the interface fixer of the embodiment of the present invention.

[0018] In the figure, 1. Clamping arm; 2. Support rod; 3. Piston rod; 4. Clamping power component; 5. Guide positioning pin; 6. Tool flange; 7. Welding torch head; 8. Three-dimensional vision camera; 9. Tool placement rack; 10. Tool support; 11. Base; 12. Equipment support; 13. Tool interface hole; 14. Guide positioning hole; 15. Tool identification code; 16. Flaw detection head; 17. Grinding head; 18. Painting head; 19. Positioning seat; 20. Welding system; 21. Spraying system; 22. Flaw detection system; 23. Grinding system; 24. Clamping flange; 25. Wrist; 26. Rotary table; 27. Main robotic arm; 28. Main rotating seat; 29. Main rotating arm; 30. Slide seat; 31. Circular placement hole; 32. Interface fixer; 33. Through hole. Detailed implementation manners

[0019] 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.

[0020] Embodiment 1 As Figures 1-8As shown, the end tool quick-change device of the integrated welding robot includes a robot body. A clamping component and a positioning component are arranged at the moving end of the robot body. A tool rack 9 is arranged on one side of the robot body, and the tool rack 9 is within the range of movement of the moving end of the robot body. Multiple placement areas are provided on the tool rack 9, and different processing tools are placed in each placement area respectively. The clamping component can clamp different processing tools. A tool identification code 15 is arranged on the tool rack 9 on one side of each placement area, which is used to cooperate with the positioning component to identify the tool type. The robot body is connected to an equipment support 12, and a welding system 20, a spraying system 21, a flaw detection system 22, and a grinding system 23 are arranged on the equipment support 12.

[0021] In this embodiment, the welding system 20 includes a wire feeder and a welding power source. The spraying system 21 includes a gear pump and a paint storage tank. The flaw detection system 22 includes an ultrasonic detection and analysis host and a data recorder. A control cabinet is also included. The control cabinet contains a control system. The control system is connected to the welding system 20, the spraying system 21, the flaw detection system 22, and the grinding system 23, and is used to control the normal operation of each system. The above-mentioned systems can all use the commonly used equipment and control cabinets in current production and processing, without affecting the use effect of this device.

[0022] In an optional embodiment, the robot body includes a base 11. A rotating table 26 is rotatably arranged on the base 11. A main robotic arm 27 is rotatably arranged on the rotating table 26. The axis of rotation of the main robotic arm 27 is perpendicular to the axis of the rotating table 26. A main rotating seat 28 is rotatably arranged at the end of the main robotic arm 27 away from the rotating table 26. The axis of rotation of the main rotating seat 28 is parallel to the axis of rotation of the main robotic arm 27. A main rotating arm 29 is rotatably arranged on the main rotating seat 28. The axis of rotation of the main rotating arm 29 is collinear with its own axis and is perpendicular to the axis of rotation of the main rotating seat 28. The end of the main rotating arm 29 away from the main rotating seat 28 is rotatably connected to a wrist 25. The axis of rotation of the wrist 25 is perpendicular to the axis of rotation of the main rotating arm 29. A clamping flange 24 is rotatably connected to the wrist 25. The axis of rotation of the clamping flange 24 is perpendicular to the axis of rotation of the wrist 25. A power component is connected to each rotatable part above. All the power components are also connected to the control cabinet, and the initial position and the movement amount after rotation of each rotation position are recorded, which is used to accurately understand and control the real-time position of the robot end.

[0023] In an alternative embodiment, the positioning assembly includes a positioning base 19, which is arranged on the lower side of the wrist 25 of the robot body. A three-dimensional vision camera 8 is arranged on the positioning base 19. The three-dimensional vision camera 8 can capture and identify the tool identification code 15. Any commercially available binocular structured light three-dimensional vision camera 8 can be selected as the three-dimensional vision camera 8. The tool identification code 15 is set as a two-dimensional code to contain more information. The tool identification code 15 not only contains the X, Y, and Z coordinate information of the corresponding tool, but also includes the corresponding rotation angle information, which facilitates the accurate identification and replacement of the tool.

[0024] In an alternative embodiment, the clamping assembly includes a clamping flange 24, which is arranged in a disc shape. The clamping flange 24 is coaxially and rotatably arranged at the front end of the wrist 25 of the robot body. Four clamping mechanisms are evenly arranged circumferentially on the clamping flange 24. The clamping mechanism includes a clamping arm 1. The middle part of the clamping arm 1 is rotatably arranged on a support rod 2. One end of the clamping arm 1 close to the robot body is slidably connected to a sliding seat 30. The sliding direction of the sliding seat 30 is parallel to the length direction of the clamping arm 1. The sliding seat 30 is rotatably arranged at one end of a piston rod 3. The axis of rotation of the sliding seat 30 is parallel to the axis of rotation of the clamping arm 1. The other end of the piston rod 3 is connected to the output end of a clamping power member 4. The clamping power member 4 is a double-acting cylinder, and a pressure sensor is arranged between the piston rod 3 and the output end of the clamping power member 4. The pressure sensor is used to detect the pressure between the piston rod 3 and the output end of the clamping power member 4 when the clamping assembly clamps, to avoid excessive or too small clamping force, so that the safety is better. The pressure sensor and the clamping power member 4 are both connected to the control cabinet to facilitate the control of clamping. The clamping power member 4 is arranged on the side of the clamping flange 24 close to the wrist 25. The support rod 2 is arranged on the clamping flange 24 or the clamping power member 4 as the support rod for the rotation of the clamping arm 1.

[0025] In an alternative embodiment, five guiding and positioning pins 5 are evenly arranged circumferentially in the middle of the end face of the clamping flange 24 far from the robot body. Six clamping interface holes are evenly and penetratingly arranged circumferentially on the outer part of the end face of the clamping flange 24 far from the robot body. The number and positions of the guiding and positioning pins 5 and the clamping interface holes are preset in the control system of the control cabinet in advance, so as to facilitate understanding the initial positions and angles of each guiding and positioning pin 5 and the clamping interface holes and the positions and angles after movement, so as to achieve the accuracy of clamping different tools.

[0026] In an alternative embodiment, the processing tool includes a grinding head 17, a welding torch head 7, a flaw detection head 16, and a painting head 18. The grinding head 17, the welding torch head 7, the flaw detection head 16, and the painting head 18 are all common devices on the market or in existing production and processing. Tool flanges 6 are provided on the grinding head 17, the welding torch head 7, the flaw detection head 16, and the painting head 18. And the relative position information between the output ends of the grinding head 17, the welding torch head 7, the flaw detection head 16, and the painting head 18 and the center point of the tool flange 6 is pre-input into the control system of the control cabinet to facilitate the accuracy of different processing steps. The tool flange 6 is set in a disc shape and has the same diameter as the clamping flange 24 for connecting the clamping flange 24. Five guiding and positioning holes 14 and six tool interface holes 13 are evenly opened circumferentially on the tool flange 6. And the positions of the guiding and positioning holes 14 correspond to the positions of the guiding and positioning pins 5, so that the guiding and positioning pins 5 can be inserted into the guiding and positioning holes 14 during clamping. The positions of the tool interface holes 13 correspond to the positions of the clamping interface holes, so that the tool interface holes 13 and the clamping interface holes can be connected during clamping. And the axes of the tool flange 6 and the clamping flange 24 are collinear during clamping. And the relative positions between different tool interface holes 13 and different guiding and positioning holes 14 are pre-input into the control system of the control cabinet to facilitate the accuracy and efficiency of connection.

[0027] In an alternative embodiment, the clamping arm 1 is in a J shape. The bent end of the clamping arm 1 is used to contact the side of the tool flange 6 away from the clamping flange 24 and press the tool flange 6 against the clamping flange 24. Preferably, a flexible layer is provided at the end of the clamping arm 1 that contacts the surface of the tool flange 6. The flexible layer is made of rubber or silicone to prevent the clamping arm 1 from scratching the tool flange 6 and affecting the clamping stability. The other end of the clamping arm 1 is movably connected to the piston rod 3. The piston rod 3 and the support rod 2 cooperate through the lever principle to control the bent end of the clamping arm 1 to approach or move away from the clamping flange 24.

[0028] In an alternative embodiment, four placement areas are provided on the tool placement rack 9, which are respectively used to place the grinding head 17, the welding torch head 7, the flaw detection head 16, and the painting head 18. Tool brackets 10 are provided in each placement area. A circular placement hole 31 is opened in the middle of the tool bracket 10. The outer wall of the tool flange 6 contacts the outer wall of the circular placement hole 31 to support the tool flange 6 and accommodate each processing tool. Preferably, the number of placement areas on the tool placement rack 9 is set according to specific processing needs, and new tool types can be added and expanded to flexibly adapt to processing requirements and improve practicability.

[0029] In an alternative embodiment, the clamping interface hole is used to connect the main interface module, and the tool interface hole 13 is used to connect the secondary interface module. The main interface module includes a power interface, a control interface, a wire feeding interface, a shielding gas interface, a pneumatic interface, and a liquid supply interface. The secondary interface modules on the tool flange 6 for connecting different processing tools are different. The secondary interface module on the tool flange 6 for connecting the grinding head 17 includes a power interface and a control interface. The secondary interface module on the tool flange 6 for connecting the welding torch head 7 includes a power interface, a control interface, a wire feeding interface, and a shielding gas interface. The secondary interface module on the tool flange 6 for connecting the flaw detector head 16 includes a power interface and a control interface. The secondary interface module on the tool flange 6 for connecting the spray head 18 includes a power interface, a control interface, a pneumatic interface, and a liquid supply interface. Each interface of the above-mentioned main interface module and secondary interface module is different according to different interface types and functions, but they are all standard male and female interfaces. Among them, each male interface is arranged on the clamping flange 24, and each female interface is arranged on the tool flange 6. Preferably, the positions of the different interfaces on the clamping flange 24 and the tool flange 6 relative to the guiding positioning pin 5 and the guiding positioning hole 14 are consistent and are pre-input into the control system of the control cabinet, so that the corresponding main interface module and secondary interface module can be accurately docked when the tool is replaced.

[0030] In an alternative embodiment, an interface fixer 32 is further included. The interface fixer 32 is arranged in both the tool interface hole 13 and the clamping interface hole, and the models of the interface fixers 32 in the corresponding tool interface hole 13 and clamping interface hole are the same for easy connection. External threads are arranged on the outer side of the interface fixer 32, and internal threads are arranged in the tool interface hole 13 and the clamping interface hole. The interface fixer 32 is threadedly connected to the tool interface hole 13 and the clamping interface hole. The interface fixer 32 is used to fix different main interface modules and secondary interface modules. A through hole 33 is opened at the bottom of the interface fixer 32. The cables or conduits of the main interface module and the cables or conduits of the secondary interface module can both pass through the through hole 33 at the bottom of the interface fixer 32 to limit the positions of the interfaces. Further preferably, a space for accommodating the connection of each interface is reserved in the tool interface hole 13 and the clamping interface hole to prevent the connection of each interface from affecting the clamping stability.

[0031] Embodiment 2 A method for quickly replacing the end tooling of a welding robot includes the above-mentioned integrated end tooling quick replacement device for a welding robot, and further includes the following steps: Step 1: Calibrate the 3D vision camera 8 to obtain the transformation matrix between the camera coordinate system and the coordinate system of the clamping flange 24 at the end of the robot. A conventional standard eye-in-hand calibration method can be used. Obtain the initial coordinates of the tool in advance through manual teaching, save the coordinate information in the control system, then move the end of the robot body to the shooting position directly above the tool rack 9, and align the 3D vision camera 8 with the tool rack 9 to shoot and identify the tool identification code 15; Step 2: Select the type of processing tool to be used according to the processing requirements, identify the tool identification code 15 of the tool, and determine the initial position coordinates of the corresponding processing tool on the tool rack 9 based on the position of the tool identification code 15. Move the end of the robot body and align the axis of the clamping flange 24 with the axis of the tool flange 6 of the tool. Align the interfaces of each main interface module with the interfaces of its corresponding sub-interface module up and down; Step 3: Retract the output end of the clamping power component 4 so that the bent end of the clamping arm 1 moves away from the clamping flange 24, opening the clamping arm 1. The robot body drives the clamping flange 24 to move downward so that the clamping flange 24 contacts the tool flange 6, and the guiding positioning pin 5 is inserted into the guiding positioning hole 14. The main interface module of the clamping interface hole is correspondingly connected to the sub-interface module of the tool interface hole 13; Step 4: Start the clamping power component 4, extend the output end of the clamping power component 4, push the bent end of the clamping arm 1 to move towards the clamping flange 24 and contact and press against the surface of the tool flange 6. When the pressure sensor detects that the pressure exceeds the preset threshold, the output end of the clamping power component 4 stops moving, and the end of the robot body moves vertically upward to take out the processing tool from the tool rack 9; Step 5: When changing tools, first move the end of the robot body to the shooting position directly above the tool rack 9, identify the tool identification code 15 through the 3D vision camera 8 to determine the position where the tool is placed, then align the axis of the clamping flange 24 with the axis of the circular placement hole 31 on its corresponding tool support 10, and move the clamping flange 24 vertically downward until the outer end face of the tool flange 6 is tightly attached to the upper end face of the circular placement hole 31; Step 6: Start the clamping power component 4, retract the output end of the clamping power component 4 so that the clamping arm 1 disconnects from the tool flange 6. Wait until the piston rod 3 moves to the lowest position, the clamping flange 24 moves vertically upward to the shooting position directly above the tool rack 9, identify the tool identification code 15 again through the 3D vision camera 8, identify the type of the next processing tool to be used, and determine its position. Repeat the above steps to complete multiple quick tool changes; Step 7: After replacing the tool multiple times, to avoid the slight displacement of the tool rack 9 from affecting the replacement accuracy and efficiency, after the 3D vision camera 8 captures and identifies the tool identification code 15, it captures the circular placement hole 31 again and obtains the 3D point cloud information of the circular placement hole 31. The actual position coordinates of the circular placement hole 31 at this time are calculated through a plane segmentation and boundary extraction algorithm. Specifically, the RANSAC plane segmentation fitting algorithm is used to fit the upper surface of the circular placement hole 31, and the Canny edge detection algorithm is used to extract the edge points of the upper surface of the circular placement hole 31. The inner edge points are fitted into a circle to obtain the circular centroid coordinates. Through the previously calibrated transformation matrix, this coordinate system is transformed into the coordinate system of the clamping flange 24. Then, the clamping flange 24 is moved above the position of the circular placement hole 31 of the corresponding tool support 10, and the unloading and loading of the processing tool are completed according to the foregoing steps. Step 8: Vertically lift the clamping flange 24 to the shooting position directly above the tool rack 9, so that the 3D vision camera 8 captures the position of the tool flange 6 of the processing tool to be installed again after identifying the tool identification code 15, and obtains the point cloud information of the tool flange 6. Similarly, the actual position coordinates of the tool flange 6 are calculated through a plane segmentation and boundary extraction algorithm. Specifically, the principle is the same as that in Step 7. The obtained actual position coordinates are transformed into the coordinate system of the clamping flange 24, and the clamping flange 24 is moved above the position of the tool flange 6, and the installation of the processing tool is completed according to the foregoing steps.

[0032] The details not elaborated in the present invention are all conventional technical means well known to those skilled in the art.

[0033] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0034] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality" means two or more unless otherwise specifically defined.

[0035] Although embodiments of the present invention have been shown and described, those of ordinary skill in the art will appreciate that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

[0036] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements on some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An end tool quick-change device for an integrated welding robot, including a robot body, characterized in that, a clamping component and a positioning component are arranged at the end of the robot body, a tool placement rack (9) is arranged on one side of the robot body, a plurality of placement areas are arranged on the tool placement rack (9), different processing tools are respectively placed in each placement area, the clamping component can clamp different processing tools, a tool identification code (15) is arranged on the tool placement rack (9) on one side of each placement area, which is used to cooperate with the positioning component to identify the tool type, the robot body is connected to an equipment support (12), and a welding system (20), a spraying system (21), a flaw detection system (22) and a grinding system (23) are arranged on the equipment support (12).

2. The quick-change device for the end tooling of the integrated welding robot according to claim 1, characterized in that: The robot body includes a base (11), a rotating table (26) is rotatably arranged on the base (11), a main robotic arm (27) is rotatably arranged on the rotating table (26), the axis of rotation of the main robotic arm (27) is perpendicular to the axis of the rotating table (26), a main rotating seat (28) is rotatably arranged at one end of the main robotic arm (27) away from the rotating table (26), the axis of rotation of the main rotating seat (28) is parallel to the axis of rotation of the main robotic arm (27), a main rotating arm (29) is rotatably arranged on the main rotating seat (28), the axis of rotation of the main rotating arm (29) is perpendicular to the axis of rotation of the main rotating seat (28), a wrist (25) is rotatably connected to one end of the main rotating arm (29) away from the main rotating seat (28), the axis of rotation of the wrist (25) is perpendicular to the axis of rotation of the main rotating arm (29), and a clamping flange (24) is rotatably connected to the wrist (25), and the axis of rotation of the clamping flange (24) is perpendicular to the axis of rotation of the wrist (25).

3. The quick-change device for the end tooling of the integrated welding robot according to claim 2, wherein: The positioning component includes a positioning seat (19), the positioning seat (19) is arranged on the lower side of the wrist (25) of the robot body, and a three-dimensional vision camera (8) is arranged on the positioning seat (19), which can identify the tool identification code (15), and the identification code is set as a two-dimensional code.

4. The quick-change device for the end tooling of the integrated welding robot according to claim 3, wherein: The clamping component includes a clamping flange (24), which is rotatably arranged on the front side of the wrist (25) of the robot body. A plurality of clamping mechanisms are evenly arranged circumferentially on the clamping flange (24). The clamping mechanism includes a clamping arm (1), the middle of the clamping arm (1) is rotatably arranged on a support rod (2), one end of the clamping arm (1) is slidably connected to a sliding seat (30), the sliding seat (30) is rotatably arranged at one end of a piston rod (3), the other end of the piston rod (3) is connected to the output end of a clamping power component (4), and a pressure sensor is arranged between the piston rod (3) and the output end of the clamping power component (4). The clamping power component (4) is arranged on the clamping flange (24), and the support rod (2) is arranged on the clamping flange (24) or the clamping power component (4).

5. The integrated welding robot end tooling quick-change device according to claim 4, characterized in that: A plurality of guiding and positioning pins (5) are evenly arranged circumferentially in the middle of the end face of the clamping flange (24) away from the robot body, and a plurality of clamping interface holes are evenly arranged circumferentially on the outer part of the end face of the clamping flange (24) away from the robot body.

6. The quick-change device for the end tooling of the integrated welding robot according to claim 5, characterized in that: The processing tools include a grinding head (17), a welding torch head (7), a flaw detection head (16) and a painting head (18). Tool flanges (6) are provided on the grinding head (17), the welding torch head (7), the flaw detection head (16) and the painting head (18) for connecting to the clamping flange (24). A number of guiding and positioning holes (14) and tool interface holes (13) are evenly circumferentially provided on the tool flange (6). The positions of the guiding and positioning holes (14) correspond to the guiding and positioning pins (5), and the positions of the tool interface holes (13) correspond to the clamping interface holes. When clamping, the axes of the tool flange (6) and the clamping flange (24) are collinear.

7. The quick-change device for the end tooling of the integrated welding robot according to claim 6, characterized in that: The clamping arm (1) is J-shaped. The bent end of the clamping arm (1) is used to contact the side of the tool flange (6) away from the clamping flange (24) and press the tool flange (6) against the clamping flange (24).

8. The end tool quick-change device of the integrated welding robot according to claim 6, characterized in that: The tool placement rack (9) is provided with four placement areas for placing the grinding head (17), the welding torch head (7), the flaw detection head (16) and the painting head (18) respectively. Tool supports (10) are provided in each placement area. A circular placement hole (31) is provided in the middle of the tool support (10), and the outer wall of the tool flange (6) contacts the circular placement hole (31).

9. The quick-change device for the end tooling of the integrated welding robot according to claim 6, wherein: The clamping interface holes are used to connect to the main interface module, and the tool interface holes (13) are used to connect to the sub-interface module. The main interface module includes a power interface, a control interface, a wire feeding interface, a shielding gas interface, a pneumatic interface and a liquid supply interface. The sub-interface modules on the tool flanges (6) connecting different processing tools are different. The sub-interface module on the tool flange (6) connecting the grinding head (17) includes a power interface and a control interface. The sub-interface module on the tool flange (6) connecting the welding torch head (7) includes a power interface, a control interface, a wire feeding interface and a shielding gas interface. The sub-interface module on the tool flange (6) connecting the flaw detection head (16) includes a power interface and a control interface. The sub-interface module on the tool flange (6) connecting the painting head (18) includes a power interface, a control interface, a pneumatic interface and a liquid supply interface.

10. A method for quickly replacing the end tooling of a welding robot, including the integrated end tooling quick replacement device of the welding robot described in claim 9, characterized in that, It also includes the following steps: Step 1: Calibrate the 3D vision camera (8) to obtain the transformation matrix between the camera coordinate system and the coordinate system of the clamping flange (24) at the end of the robot. Then move the end of the robot body to the shooting position directly above the tool placement rack (9), and align the 3D vision camera (8) with the tool placement rack (9) to shoot and identify the tool identification code (15). Step 2: Select the type of processing tool required according to the processing needs, identify the tool identification code (15) of the tool, and determine the initial position coordinates of the corresponding processing tool on the tool placement rack (9) according to the position of the tool identification code (15). Move the end of the robot body and make the axis of the clamping flange (24) coincide with the axis of the tool flange (6). Step 3: retract the output end of the clamping power member (4) so that the bent end of the clamping arm (1) moves away from the clamping flange (24), the clamping arm (1) opens, the robot body drives the clamping flange (24) to move downward and makes the clamping flange (24) contact with the tool flange (6), and the guide positioning pin (5) is inserted into the guide positioning hole (14), and the main interface module of the clamping interface hole is connected to the auxiliary interface module of the tool interface hole (13) accordingly; Step 4: Start the clamping power member (4), extend the output end of the clamping power member (4), push the bent end of the clamping arm (1) to move in the direction close to the clamping flange (24) and contact and press on the surface of the tool flange (6), when the pressure sensor detects that the pressure exceeds a preset threshold, the output end of the clamping power member (4) stops moving, and the end of the robot body moves vertically upward to take the processing tool out of the tool placement rack (9); Step 5: When replacing the tool, first move the end of the robot body to the shooting position directly above the tool placement rack (9), identify the tool identification code (15) through the three-dimensional visual camera (8), determine the position where the tool is placed, then make the axis of the clamping flange (24) coincide with the axis of the circular placement hole (31) on its corresponding tool bracket (10), and move the clamping flange (24) vertically downward until the outer end surface of the tool flange (6) is in close contact with the upper end surface of the circular placement hole (31); Step 6: Start the clamping power member (4), retract the output end of the clamping power member (4), so that the clamping arm (1) is disconnected from the tool flange (6), wait for the piston rod (3) to move to the lowest position, and move the clamping flange (24) vertically upward to the shooting position directly above the tool placement rack (9), and use the three-dimensional visual camera (8) to identify the tool identification code (15) again, identify the type of the next processing tool to be used, and determine the location, repeat the above steps, and complete multiple quick changes of tools; Step 7: After multiple tool changes, in order to prevent the slight displacement of the tool placement rack (9) from affecting the accuracy and efficiency of the replacement, the circular placement hole (31) is photographed again after the three-dimensional visual camera (8) photographs and identifies the tool identification code (15), and the point cloud information of the circular placement hole (31) is obtained. The actual position coordinates of the circular placement hole (31) at this time are calculated by plane segmentation and boundary extraction algorithms. This coordinate system is converted into the clamping flange (24) coordinate system through the previously calibrated conversion matrix, and then the clamping flange (24) is moved to the position above the circular placement hole (31) of the corresponding tool holder (10), and the unloading and installation of the processing tool is completed according to the above steps; Step 8: Vertically lift the clamping flange (24) to the shooting position directly above the tool rack (9), so that after the 3D vision camera (8) recognizes the tool identification code (15), it takes another picture of the position of the tool flange (6) of the processing tool to be installed, obtains the point cloud information of the tool flange (6), and also calculates the actual position coordinates of the tool flange (6) through the plane segmentation and boundary extraction algorithms. Convert this coordinate to the coordinate system of the clamping flange (24), move the clamping flange (24) to the position above the tool flange (6), and complete the installation of the processing tool according to the foregoing steps.

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