A processing robot with replaceable gripper

Abstract

The application discloses a processing robot with replaceable mechanical claws, which comprises a mechanical arm mechanism, a mechanical claw placing mechanism and an assembling mechanism, wherein the mechanical arm mechanism is used for driving the assembling mechanism to move and controlling the assembling mechanism to process. The hexagonal limiting block and the hexagonal clamping groove are arranged, the polygonal plug-in is adopted for limiting, the assembling mechanism can rotate together with the assembling end plate, the plug-in mode is convenient and fast, the connection is simple, after being plugged in, the inner expansion groove can be driven to rotate by the driving motor, the gear assembling seat is driven to move, the threaded hole is screwed with the threaded rod, the assembling block and the assembling end plate can be fixed, the installation is fast, the connection can be self-reinforced when being loose during use, the use is convenient and fast, the stability is high, the connection between the electric plug and the electric socket is used for supplying power to the assembling mechanism, so that the work of the internal elements is facilitated.

Description

Technical Field

[0001] This invention relates to the field of industrial processing technology, specifically to a processing robot with replaceable mechanical grippers. Background Technology

[0002] Industrial robots are multi-jointed manipulators or multi-degree-of-freedom machines widely used in industrial fields. They possess a certain degree of automation and can perform various industrial processing and manufacturing functions using their own power and control capabilities. Robots used in industrial processing are mostly robotic arms, working in conjunction with components such as vision recognition to perform processing.

[0003] For example, Chinese patent CN118514056A discloses a robotic arm for an intelligent industrial robot, including a bottom support, a mechanical frame, a material handling component, a mechanical extension arm, a lifting gripper mechanism, and a camera end. The bottom support is provided in two sets, and the mechanical frame is fixed to the top with screws. The material handling component is installed on the top of the mechanical frame, and the mechanical extension arm is installed on the side of the material handling component with screws.

[0004] In existing technologies, the connection between the robotic arm and the robotic gripper is mostly fixed by a flange. The drive depends on the application scenario, including motor drive and telescopic rod drive. The telescopic rod is mostly electric. After the robotic gripper is connected to the robotic arm, the power supply of the motor or electric telescopic rod is then connected. Because the connection is relatively complicated, disassembly and assembly are all done manually. It often takes more than ten minutes to replace a robotic gripper. The disassembly and assembly efficiency is low, and it is also cumbersome and inconvenient to use. Summary of the Invention

[0005] The purpose of this invention is to provide a processing robot with replaceable mechanical grippers, in order to solve the problems mentioned in the background art, where the connection between the robotic arm and the mechanical gripper is mostly fixed by a flange. The drive depends on the application scenario, including motor drive and telescopic rod drive. The telescopic rod is mostly electric telescopic rod. After the mechanical gripper is connected to the robotic arm, the power supply of the motor or electric telescopic rod is then connected. Because the connection is relatively cumbersome, disassembly and assembly are all done manually. Replacing a mechanical gripper often takes more than ten minutes, resulting in low disassembly and assembly efficiency, cumbersome operation, and inconvenience.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a processing robot with replaceable mechanical claws, comprising a robotic arm mechanism, a mechanical claw placement mechanism, and an assembly mechanism, wherein the robotic arm mechanism is used to drive the assembly mechanism to move and control the assembly mechanism to perform processing operations, and the mechanical claw placement mechanism is used to place the assembly mechanism.

[0007] The robotic arm mechanism includes a base, a drive arm mounted on the upper end of the base, an end connecting arm mounted on the end of the drive arm, a rotating shaft rotatably connected inside the end connecting arm, an assembly end plate fixedly connected to one end of the rotating shaft, a first power connector fixedly connected to the upper end of the assembly end plate, a power connector fixedly connected inside the first power connector, a hexagonal limiting block fixedly connected to the middle of one side of the assembly end plate, and a threaded rod fixedly connected to one end of the hexagonal limiting block.

[0008] The assembly mechanism includes a clamping mechanical claw, an assembly block fixedly connected to one side of the clamping mechanical claw, a power distribution compartment fixedly connected to the upper end of the clamping mechanical claw, a second power receiving board fixedly connected to one side of the upper end of the assembly block, a power socket fixedly connected inside the second power receiving board, the power socket being plugged into a power plug, a hexagonal slot fixedly connected to one side of the assembly block, a hexagonal slot being formed in the middle of one side of the assembly block, the hexagonal slot being plugged into a hexagonal limiting block, an assembly inner chamber being formed inside the assembly block, a drive motor and a gear assembly seat being arranged inside the assembly inner chamber, a threaded hole being formed through the middle of the gear assembly seat, the threaded hole being threadedly connected to a threaded rod, and an inner expansion groove fixedly connected to the output end of the drive motor, the inner expansion groove engaging with the gear assembly seat.

[0009] Preferably, an inner groove is provided on both sides of the middle part of one side of the assembly block, a pressure sensor is fixedly connected inside the inner groove, a wire groove is provided through the lower end of the inner groove, and a control box is fixedly connected to the outer surface of the base.

[0010] Preferably, a side insert block is fixedly connected to one side of the assembly end plate and both sides of the hexagonal limiting block, and a side limiting slot is opened on one side of the assembly block and both sides of the hexagonal slot, and the side limiting slot is inserted into the side insert block.

[0011] Preferably, the gear assembly seat has a drive gear on the side near the hexagonal slot, the assembly inner compartment has a mounting seat fixedly connected inside, the assembly inner compartment has a slot at the upper end of the slot, the drive motor is inserted into the slot, the drive motor is fixedly connected to the mounting seat, and a limiting rod is fixedly connected inside the assembly inner compartment, the limiting rod is inserted into the threaded hole.

[0012] Preferably, the mechanical claw placement mechanism is located on one side of the base. The mechanical claw placement mechanism includes a storage box, and the storage box is provided with a partition support plate inside. One side of the assembly end plate is fixedly connected to the outer surface diameter of the rotating shaft with a reinforcing rib.

[0013] Preferably, guide grooves are provided at the top and bottom of the middle of both sides of the storage box, guide blocks are fixedly connected to both sides of the partition support plate, the guide blocks are slidably connected to the guide grooves, a connecting plate is fixedly connected between the upper and lower guide blocks, side fixing plates are fixedly connected to both ends of both sides of the storage box, a spring is fixedly connected between the side fixing plates and the connecting plate, and the thickness of the guide blocks is greater than the thickness of the partition support plate.

[0014] Preferably, it also includes a robotic gripper replacement control system, which includes a perception layer, a control layer, an interaction layer, and an execution layer.

[0015] Preferably, the perception layer includes a continuous pressure detection module, an assembly pressure detection module, a feature point detection module, and a QR code recognition module; the control layer includes a robotic gripper parameter self-learning module, a sensor data fusion module, and a process scheduling module; the interaction layer includes a fault early warning module and a remote monitoring module; and the execution layer includes an end-effector positioning compensation module, a robotic gripper library scheduling module, and a joint drive module.

[0016] Preferably, the continuous pressure detection module is used for long-term pressure monitoring after the mechanical gripper has locked, records the pressure decay curve, and provides early warning of "loosening risk";

[0017] The assembly pressure detection module is responsible for monitoring the instantaneous pressure during the mechanical claw insertion process, setting a safety threshold, and preventing part deformation caused by hard collisions.

[0018] The feature point detection module focuses on extracting edge feature points of the hexagonal slot, pressure sensor, side insert block, and side limiting slot, and calculates alignment deviation through sub-pixel level edge detection.

[0019] The QR code recognition module is used to recognize the QR code on the surface of the mechanical gripper and quickly match the information in the parameter library;

[0020] The mechanical gripper parameter self-learning module is used to automatically record the data of three successful replacements for a new model of mechanical gripper, and generate a "personalized parameter template" to adapt to small batches of customized grippers;

[0021] The sensor data fusion module is used to fuse visual deviation, laser displacement, and pressure sensing data, and eliminates noise from individual sensors through a Kalman filter algorithm, outputting a fusion result with a confidence level of ≥99%.

[0022] The process scheduling module is used to formulate the standardized sequence of steps for changing the robotic gripper, and supports user-defined process scripts.

[0023] Preferably, the fault early warning module is used to provide early warning of potential faults based on historical fault data and through a machine learning model, and to push preprocessing suggestions.

[0024] The remote monitoring module is used to push real-time data to remote terminals via the WebSocket protocol and supports remote emergency stop operations.

[0025] The end-effector positioning compensation module is used to make fine adjustments to the end of the robotic arm based on the real-time deviation of visual recognition.

[0026] The mechanical gripper scheduling module is used to manage the storage box location information, record the usage frequency and maintenance cycle of each gripper, and push "gripper replacement suggestions" to the MES.

[0027] The joint drive module is used to individually control the movement of each joint of the robotic arm, and achieves closed-loop control of the joint angle through a PID algorithm.

[0028] Compared with the prior art, the beneficial effects of the present invention are:

[0029] 1. In this invention, the hexagonal limiting block and hexagonal slot are used for positioning via polygonal insertion, allowing the assembly mechanism to rotate together with the assembly end plate. This insertion method is convenient, quick, and simple. After insertion, the inner expansion slot can be rotated by a drive motor, thereby moving the gear assembly seat and connecting the threaded hole and the threaded rod. This fixes the assembly block and the assembly end plate, and the installation is relatively quick. Furthermore, it can automatically reinforce itself if the connection becomes loose during use, making it convenient, quick, and highly stable. Power is supplied to the assembly mechanism through the connection between the power socket and the power plug, facilitating the operation of its internal components. This structure is relatively simple, has low production costs, and requires less modification to existing flange-mounted robotic arms, resulting in lower modification costs and ease of use.

[0030] 2. In this invention, a pressure sensor is used to detect the gap between the assembly block and the assembly end plate. During actual use, when the gap between the assembly block and the assembly end plate increases, the pressure value detected by the pressure sensor will change, thereby controlling the start of the drive motor and reinforcing the connection between the gear assembly seat and the threaded rod. In this way, the detection between the assembly mechanism and the robotic arm mechanism can be continuous and the response speed is fast. The data transmission between the drive motor and the drive motor is relatively simple, which can reduce the demand for circuit boards, reduce the cost of use, and simplify maintenance. By setting the slot, one end of the drive motor is restricted, which can further ensure the stability of the drive motor during operation and prevent movement. By setting the side limiting slot, the limiting effect on the assembly mechanism is further increased, ensuring that the assembly block and the assembly end plate rotate synchronously and the connection stability is higher. By setting the limiting rod, the position of the threaded hole is restricted, which can ensure that the center line of the threaded hole and the hexagonal slot coincides, so that the threaded hole can be connected to the threaded rod.

[0031] 3. In this invention, the space inside the storage box is divided by the setting of the partition support plate. With the help of the spring, the partition support plate can be moved. In this way, when the assembly mechanism is installed into the storage box, the partition support plate can be moved by compression, and the partition support plate can be brought into contact with and supported by the spring. This can accommodate the installation and use of assembly mechanisms of different thicknesses and sizes. The setting of the guide block increases the connection area between the partition support plate and the guide groove, thereby ensuring that the partition support plate can move horizontally, avoiding tilting, and ensuring smooth movement, so as to facilitate the storage and use of the assembly mechanism. Attached Figure Description

[0032] Figure 1 This is a three-dimensional structural diagram of a machining robot with replaceable mechanical grippers according to the present invention. Figure 1 ;

[0033] Figure 2 This invention relates to a machining robot with interchangeable mechanical grippers. Figure 1 Enlarged structural diagram of region A in the middle;

[0034] Figure 3 This is a three-dimensional structural diagram of a machining robot with replaceable mechanical grippers according to the present invention. Figure 2 ;

[0035] Figure 4 This is a three-dimensional structural diagram of the assembly mechanism in a processing robot with replaceable mechanical grippers according to the present invention.

[0036] Figure 5 This is an exploded view of the assembly mechanism in a machining robot with replaceable mechanical grippers according to the present invention.

[0037] Figure 6 This is a three-dimensional structural diagram of an assembly block in a processing robot with replaceable mechanical claws according to the present invention.

[0038] Figure 7 This is a three-dimensional structural diagram of the assembly end plate in a processing robot with replaceable mechanical claws according to the present invention.

[0039] Figure 8 This is a system diagram of the mechanical gripper replacement control system in a processing robot with replaceable mechanical grippers according to the present invention;

[0040] Figure 9 This is a system diagram of the perception layer, control layer, interaction layer and execution layer in a machining robot with replaceable mechanical grippers according to the present invention.

[0041] In the picture:

[0042] 1. Robotic arm mechanism; 11. Base; 12. Drive arm; 13. End connecting arm; 14. Rotating shaft; 15. Assembly end plate; 16. Reinforcing rib; 17. No. 1 power connector; 18. Power connector; 19. Side plug; 110. Hexagonal limiting block; 111. Threaded rod; 112. Control box;

[0043] 2. Mechanical gripper placement mechanism; 21. Storage box; 22. Dividing support plate; 23. Guide groove; 24. Guide block; 25. Connecting plate; 26. Spring; 27. Side fixing plate;

[0044] 3. Assembly mechanism; 31. Clamping claw; 32. Power distribution compartment; 33. Assembly block; 34. No. 2 power supply board; 35. Power socket; 36. Hexagonal slot; 37. Side limiting slot; 38. Inner groove; 39. Wire groove; 310. Pressure sensor; 311. Assembly inner compartment; 312. Gear assembly seat; 313. Threaded hole; 314. Inner expansion groove; 315. Drive motor; 316. Mounting base; 317. Slot; 318. Limiting rod; 319. Drive gear;

[0045] 4. Perception layer; 41. Continuous pressure detection module; 42. Assembly pressure detection module; 43. Feature point detection module; 44. QR code recognition module;

[0046] 5. Control Layer; 51. Mechanical Gripper Parameter Self-Learning Module; 52. Sensor Data Fusion Module; 53. Process Scheduling Module;

[0047] 6. Interaction layer; 61. Fault early warning module; 62. Remote monitoring module;

[0048] 7. Execution layer; 71. End-effector positioning compensation module; 72. Mechanical gripper library scheduling module; 73. Joint drive module. Detailed Implementation

[0049] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0050] Example 1: Refer to Figure 1 - Figure 7As shown: A processing robot with replaceable mechanical grippers includes a robotic arm mechanism 1, a mechanical gripper placement mechanism 2, and an assembly mechanism 3. The robotic arm mechanism 1 drives the assembly mechanism 3 to move and controls the assembly mechanism 3 to perform processing operations. The mechanical gripper placement mechanism 2 is used to place the assembly mechanism 3. The robotic arm mechanism 1 includes a base 11, a drive arm 12 is mounted on the upper end of the base 11, an end connecting arm 13 is mounted on the end of the drive arm 12, a rotating shaft 14 is rotatably connected inside the end connecting arm 13, an assembly end plate 15 is fixedly connected to one end of the rotating shaft 14, a first power connector 17 is fixedly connected to the upper end of the assembly end plate 15, a power connector 18 is fixedly connected inside the first power connector 17, a hexagonal limiting block 110 is fixedly connected to the middle of one side of the assembly end plate 15, and a threaded rod 111 is fixedly connected to one end of the hexagonal limiting block 110. The assembly mechanism 3 includes a gripping mechanical gripper 31. An assembly block 33 is fixedly connected to one side of the gripping mechanical claw 31. A power distribution compartment 32 is fixedly connected to the upper end of the gripping mechanical claw 31. A second power receiving plate 34 is fixedly connected to one side of the upper end of the assembly block 33. A power socket 35 is fixedly connected inside the second power receiving plate 34. The power socket 35 is plugged into the power plug 18. A hexagonal slot 36 is fixedly connected to one side of the assembly block 33. A hexagonal slot 36 is opened in the middle of one side of the assembly block 33. The hexagonal slot 36 is plugged into the hexagonal limiting block 110. An assembly inner compartment 311 is opened inside the assembly block 33. A drive motor 315 and a gear assembly seat 312 are arranged inside the assembly inner compartment 311. A threaded hole 313 is opened through the middle of the gear assembly seat 312. The threaded hole 313 is threadedly connected to the threaded rod 111. An inner expansion groove 314 is fixedly connected to the output end of the drive motor 315. The inner expansion groove 314 meshes with the gear assembly seat 312.

[0051] In this invention, the hexagonal limiting block 110 and the hexagonal slot 36 are used to limit the movement of the assembly mechanism 3 by using a polygonal plug-in connection. This allows the assembly mechanism 3 to rotate together with the assembly end plate 15. This plug-in connection method is convenient, quick, and simple. After insertion, the inner expansion slot 314 can be rotated by the drive motor 315, thereby moving the gear assembly seat 312 and connecting the threaded hole 313 with the threaded rod 111. This fixes the assembly block 33 and the assembly end plate 15, and the installation is relatively quick. Furthermore, the connection can be automatically reinforced if it becomes loose during use. It is convenient, quick, and highly stable. The assembly mechanism 3 is powered by the connection between the power socket 35 and the power plug 18, which enables the operation of its internal components. This structure is relatively simple, has a low production cost, and requires less improvement over existing flange-mounted robotic arms, resulting in lower modification costs and ease of use.

[0052] Example 2: Figure 1 - Figure 7As shown, an inner groove 38 is provided on both sides of the middle part of one side of the assembly block 33. A pressure sensor 310 is fixedly connected inside the inner groove 38. A wire groove 39 is provided through the lower end of the inner groove 38. A control box 112 is fixedly connected to the outer surface of the base 11. Side insert blocks 19 are fixedly connected to one side of the assembly end plate 15 and on both sides of the hexagonal limiting block 110. Side limiting slots 37 are provided on one side of the assembly block 33 and on both sides of the hexagonal slot 36. The side limiting slots 37 are inserted into the side insert blocks 19. A drive mechanism is provided on the side of the gear assembly base 312 near the hexagonal slot 36. The drive gear 319 is fixedly connected to the mounting base 316 inside the assembly inner compartment 311. The slot 317 is opened inside the assembly inner compartment 311 and located at the upper end of the slot 317. The drive motor 315 is inserted into the slot 317 and fixedly connected to the mounting base 316. The limiting rod 318 is fixedly connected inside the assembly inner compartment 311 and is inserted into the threaded hole 313. The drive motor 315 should be selected with a self-locking function to prevent the inner expansion groove 314 from rotating when the drive motor 315 stops rotating, so as to ensure the stability of use.

[0053] In this invention, a pressure sensor 310 is used to detect the gap between the assembly block 33 and the assembly end plate 15. During actual use, when the gap between the assembly block 33 and the assembly end plate 15 increases, the pressure value detected by the pressure sensor 310 changes, thereby controlling the drive motor 315 to start and reinforcing the connection between the gear assembly seat 312 and the threaded rod 111. In this way, the detection between the assembly mechanism 3 and the robotic arm mechanism 1 can be continuous with a fast response speed. Data transmission with the drive motor 315 is also relatively simple, reducing the need for circuit boards. It can reduce the cost of use and make maintenance simpler. By setting the slot 317, one end of the drive motor 315 is restricted, which can further ensure the stability of the drive motor 315 during operation and prevent movement. By setting the side limiting slot 37, the limiting effect on the assembly mechanism 3 is further increased, ensuring that the assembly block 33 and the assembly end plate 15 rotate synchronously, and the connection stability is higher. By setting the limiting rod 318, the position of the threaded hole 313 is restricted, which can ensure that the center line of the threaded hole 313 coincides with the center line of the hexagonal slot 36, so that the threaded hole 313 can be connected to the threaded rod 111.

[0054] Example 3: According to Figure 1 - Figure 3As shown, the mechanical claw placement mechanism 2 is located on one side of the base 11. The mechanical claw placement mechanism 2 includes a storage box 21. The storage box 21 is provided with a partition support plate 22. One side of the mounting end plate 15 is fixedly connected to the outer surface diameter of the rotating shaft 14 with a reinforcing rib 16. Guide grooves 23 are provided at the top and bottom of the middle of both sides of the storage box 21. Guide blocks 24 are fixedly connected to both sides of the partition support plate 22. The guide blocks 24 are slidably connected to the guide grooves 23. A connecting plate 25 is fixedly connected between the upper and lower guide blocks 24. Side fixing plates 27 are fixedly connected to both ends of both sides of the storage box 21. A spring 26 is fixedly connected between the side fixing plates 27 and the connecting plate 25. The thickness of the guide block 24 is greater than the thickness of the partition support plate 22.

[0055] In this invention, the space inside the storage box 21 is divided by the partition support plate 22. With the help of the spring 26, the partition support plate 22 can be moved. In this way, when the assembly mechanism 3 is installed into the storage box 21, the partition support plate 22 can be moved by compression, and the partition support plate 22 can be brought into contact with and supported by the spring 26, so as to accommodate the installation and use of assembly mechanisms 3 of different thicknesses and sizes. The guide block 24 increases the connection area between the guide block 24 and the guide groove 23, thereby ensuring that the partition support plate 22 can move horizontally, avoiding tilting, and ensuring smooth movement, so as to facilitate the storage and use of the assembly mechanism 3.

[0056] Example 4: According to Figure 8 and Figure 9 As shown, it also includes a robotic gripper replacement control system, which includes a perception layer 4, a control layer 5, an interaction layer 6, and an execution layer 7. The perception layer 4 includes a continuous pressure detection module 41, an assembly pressure detection module 42, a feature point detection module 43, and a QR code recognition module 44. The control layer 5 includes a robotic gripper parameter self-learning module 51, a sensor data fusion module 52, and a process scheduling module 53. The interaction layer 6 includes a fault early warning module 61 and a remote monitoring module 62. The execution layer 7 includes an end-effector positioning compensation module 71, a robotic gripper library scheduling module 72, and a joint drive module 73.

[0057] The continuous pressure detection module 41 is used for long-term pressure monitoring after the mechanical gripper is locked (e.g., sampling once per hour), recording the pressure decay curve (e.g., normal decay ≤2% / hour), and providing early warning of "loosening risk" (triggering reinforcement when decay >5%).

[0058] A high-precision strain gauge pressure sensor is used and installed in mounting base 316;

[0059] Software workflow: Periodic sampling: Pressure values ​​are sampled every 30 minutes, and the pressure curve is recorded. ;

[0060] Attenuation calculation: The pressure attenuation rate is calculated through linear fitting. The formula for calculating the pressure decay rate is: ,in Initial locking pressure, for The pressure value at any moment, and For monitoring time and initial time;

[0061] Early warning judgment: If This triggers an automatic hardening command.

[0062] The assembly pressure detection module 42 is responsible for monitoring the instantaneous pressure during the mechanical claw insertion process (such as the squeezing pressure when the hexagonal block is inserted into the slot), setting a safety threshold (such as ≤10N) to prevent part deformation caused by hard collision.

[0063] A miniature piezoresistive pressure sensor is used and installed inside the hexagonal slot 36;

[0064] The sensor output voltage is converted into a pressure value via a 16-bit AD converter.

[0065] If the instantaneous pressure P > P 安全阈值 This immediately triggers the robotic arm deceleration command;

[0066] During deceleration, the pressure drops to P 安全阈值 At the following time, resume normal plugging speed.

[0067] The feature point detection module 43 focuses on the extraction of edge feature points of the hexagonal slot 36, the pressure sensor 310, the side insert block 19, and the side limiting slot 37. The alignment deviation is calculated by sub-pixel level edge detection (accuracy 0.001mm), avoiding redundant calculations in overall image recognition.

[0068] Edges of the hexagonal slot 36, pressure sensor 310, side insert block 19, and side limiting slot 37 are extracted using the Canny algorithm (gradient threshold T1=50, T2=150).

[0069] The subpixel coordinates are calculated by fitting a quadratic curve to the edge points. The formula for subpixel edge fitting is as follows: ,in The curve is fitted to the gray values ​​of the edge points, where a, b, and c are the fitting coefficients (calculated using the least squares method), and the sub-pixel coordinates of the edges are the extreme points of the curve. ;

[0070] The actual coordinates of the feature points are compared with their theoretical coordinates, and the X / Y direction deviation is output. The alignment deviation formula is as follows: , , among which, Direction misalignment, , , where is the actual coordinate of the feature point. , These are the theoretical coordinates of the feature points.

[0071] The QR code recognition module 44 is used to recognize the QR code on the surface of the mechanical claw and quickly match the model, load, and matching process information in the parameter library, solving the problem that "visual recognition only locates and model matching depends on manual labor".

[0072] A 2-megapixel global shutter camera with an 8mm fixed-focus lens was selected, and the fill light used 450nm blue light to reduce interference from reflections on the metal surface.

[0073] The camera captures a QR code on the surface of the robotic gripper and transmits it to the controller via gigabit Ethernet (latency ≤10ms).

[0074] Adaptive thresholding is used to separate the QR code from the metallic background and remove noise points. The adaptive thresholding formula is as follows: ,in For pixels The threshold, For The average value of the 3×3 neighborhood pixels centered at the center, where k is a coefficient ranging from 0.5 to 1.0, dynamically adjusted according to the reflectivity. The standard deviation of the neighboring pixels;

[0075] The Zbar library is called to parse the QR code information (including the mechanical gripper ID, model, load, etc.) and match it with the parameter library.

[0076] The mechanical gripper parameter self-learning module 51 is used to automatically record data such as pressure, alignment deviation, and locking angle of three successful replacements for new mechanical grippers, and generate a "personalized parameter template" (no manual preset is required) to adapt to small batch customized grippers.

[0077] The learning process is as follows:

[0078] Initial labeling: The user places the new robotic gripper into the storage box and labels it "to be learned";

[0079] Trial replacement: The system automatically executes the replacement process three times, recording the successful parameters and alignment deviations for each attempt;

[0080] Template generation: Calculate the optimal values ​​of parameters through statistical analysis and store them in the parameter library.

[0081] The sensor data fusion module 52 is used to fuse visual deviation, laser displacement and pressure sensing data, and eliminate the noise of a single sensor (such as the jump error caused by visual reflection) through the Kalman filter algorithm, and output a fusion result with "confidence ≥ 99%";

[0082] Extended Kalman filter (EDF) is used to handle nonlinear systems.

[0083] Visual bias Laser displacement ,pressure Filtering process:

[0084] Predicting the state at the next moment based on the robotic arm's motion model;

[0085] The predicted values ​​are corrected using sensor data, and the fused state is output.

[0086] The process scheduling module 53 is used to define the standardized sequence of steps for changing the robotic gripper (such as the order of "visual positioning → movement → alignment → insertion → locking", waiting time, and retry logic), and supports user-defined process scripts (visual drag-and-drop editing).

[0087] An embedded controller is used.

[0088] Define 12 states (such as "awaiting instructions", "locating", "alignment failed"), and state transition conditions;

[0089] The sequence of steps (e.g., "move to the top of the storage box → wait 200ms → visual positioning") is stored in JSON format and supports visual editing.

[0090] Automatically retry if alignment fails (up to 3 times), adjusting the light source brightness before each retry.

[0091] The fault warning module 61 is used to provide early warnings of potential faults based on historical fault data (such as "a certain type of claw failed to align 3 times due to insufficient light source brightness"), and to push preprocessing suggestions through machine learning models (such as decision trees). The warning accuracy rate is ≥80%.

[0092] The algorithm uses C4.5 decision trees (for classifying fault types) and sliding window statistics (for trend prediction).

[0093] Feature selection: Five key features were selected (visual deviation standard deviation, pressure decay rate, motor current fluctuation, replacement time, and temperature).

[0094] Early warning process: Train a decision tree model using data from the previous 7 days every morning at midnight; calculate feature values ​​in real time and input them into the model to predict the probability of failure. ;

[0095] like It pushes early warning information (including fault type and handling suggestions).

[0096] The remote monitoring module 62 is used to push real-time data (replacement progress, pressure curve, fault information) to remote terminals (such as mobile phones / computers) via the WebSocket protocol, and supports remote emergency stop operations (hierarchical access control).

[0097] The communication protocol uses the WebSocket protocol (based on TCP / IP), and the data frame format is JSON;

[0098] Terminal interface: The web page displays real-time curves (pressure-time curve, deviation-time curve) and supports an emergency stop button (which takes effect after authorization verification).

[0099] Data compression: Piecewise linear fitting compression (error ≤ 2%) is used for historical curve data to reduce transmission bandwidth.

[0100] The end-positioning compensation module 71 is used to make fine adjustments to the end of the robotic arm (assembly end plate) based on the real-time deviation of visual recognition (within ±0.5mm in the X / Y / Z directions) to compensate for the cumulative error of the robotic arm body.

[0101] Compensation range: ±0.5mm in X / Y / Z directions, ±0.5° in rotation.

[0102] Control process:

[0103] Real-time deviation of the receiving vision module ;

[0104] The angles that need to be compensated for at each joint are calculated based on robot inverse kinematics.

[0105] Send compensation commands to the joint driver submodule to perform fine-tuning.

[0106] The mechanical gripper scheduling module 72 is used to manage the storage box 21's location information (such as "slot 2 - grinding gripper, slot 5 - clamping gripper"), record the usage count and maintenance cycle of each gripper, and push "grip replacement suggestions" to MES (such as a gripper that has been used more than 500 times and needs maintenance).

[0107] The hardware consists of RFID tags (frequency 13.56MHz) installed in each compartment of the storage box, and an RFID reader installed at the end of the robotic arm.

[0108] Warehouse location mapping: Establish a mapping table for "RFID ID → mechanical gripper model → location coordinates";

[0109] Lifecycle management: Record the number of times each gripper is used, N. A maintenance reminder will be pushed out when the number of maintenance attempts reaches 500 (e.g., 500).

[0110] Path optimization: Based on the current position of the robotic arm and the target bin, the shortest claw-grabbing path is planned using the A* algorithm.

[0111] The joint drive module 73 is used to individually control the movement of each joint of the robotic arm (base rotation, drive arm extension and retraction, end-connecting arm swing, etc.), and realizes closed-loop control of joint angles (angle accuracy ±0.01°) through PID algorithm.

[0112] The hardware uses a 6-axis servo motor (model Panasonic MHMJ042G1U, rated torque 0.4 N·m, 17-bit encoder) + harmonic reducer (reduction ratio 100:1).

[0113] Control algorithm: A three-loop PID control system consisting of position, velocity, and current loops is adopted.

[0114] Flexible control: Reduce position loop gain during docking to minimize impact.

[0115] The usage and working principle of this device are as follows: When the robotic arm mechanism 1 needs to install a robotic gripper, the control end connecting arm 13 is moved above the robotic gripper placement mechanism 2 and to the assembly block 33, aligning the hexagonal slot 36 with the hexagonal limiting block 110. The control end connecting arm 13 is then moved downwards until the hexagonal slot 36 is inserted into the hexagonal limiting block 110. At this time, the power plug 18 is connected to the power socket 35. By energizing the power plug 18, the components inside the assembly mechanism 3 are energized, controlling the drive motor 315 to rotate, which in turn rotates the gear assembly seat 312, thus opening the threaded hole. 313 is threadedly connected to the threaded rod 111. When one end of the gear assembly seat 312 contacts and presses against the assembly block 33, the pressure sensor 310 detects the pressure. As the drive motor 315 continues to rotate, when the pressure sensor 310 detects that the pressure has reached a predetermined value, the drive motor 315 stops rotating. In this way, the assembly mechanism 3 and the assembly end plate 15 are installed. During use, when the pressure sensor 310 detects a change in pressure, the drive motor 315 continues to start, pressing the gear assembly seat 312 against the assembly block 33 to reinforce the connection.

[0116] When it is necessary to replace the assembly mechanism 3, move the assembly mechanism 3 and insert it into the mechanical claw placement mechanism 2. At this time, the clamping mechanical claw 31 will push the assembly block 33 so that its internal space can clamp and fit the assembly mechanism 3. After insertion, the drive motor 315 reverses, so that the threaded hole 313 gradually disengages from the threaded rod 111. After complete disengagement, disconnect the power plug 18 and move the end connecting arm 13 upward to complete the disassembly of the assembly mechanism 3. Then move it to the required assembly mechanism 3 and repeat the above steps to install it.

[0117] 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 make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A processing robot with replaceable gripper, comprising a robot arm mechanism (1), a gripper placement mechanism (2) and an assembly mechanism (3), characterized in that: The mechanical arm mechanism (1) is used for driving the assembly mechanism (3) to move and controlling the assembly mechanism (3) to process, and the mechanical claw placing mechanism (2) is used for placing the assembly mechanism (3); The mechanical arm mechanism (1) comprises a base (11), a driving arm (12) is installed at the upper end of the base (11), an end connecting arm (13) is installed at the end of the driving arm (12), a rotating shaft (14) is rotatably connected in the end connecting arm (13), an assembly end plate (15) is fixedly connected to one end of the rotating shaft (14), a first power connection plate (17) is fixedly connected to the upper end of the assembly end plate (15), a power connection plug (18) is fixedly connected in the first power connection plate (17), a hexagonal limiting block (110) is fixedly connected to the middle of one side of the assembly end plate (15), and a threaded rod (111) is fixedly connected to one end of the hexagonal limiting block (110); The assembly mechanism (3) comprises a clamping mechanical claw (31), an assembly block (33) is fixedly connected to one side of the clamping mechanical claw (31), a power distribution bin (32) is fixedly connected to the upper end of the clamping mechanical claw (31), a second power connection plate (34) is fixedly connected to one side of the upper end of the assembly block (33), a power connection socket (35) is fixedly connected in the second power connection plate (34), the power connection socket (35) is plugged with the power connection plug (18), a hexagonal clamping groove (36) is fixedly connected to one side of the assembly block (33), the hexagonal clamping groove (36) is provided in the middle of one side of the assembly block (33), the hexagonal clamping groove (36) is plugged with the hexagonal limiting block (110), an assembly inner bin (311) is provided in the assembly block (33), a driving motor (315) and a gear assembly seat (312) are arranged in the assembly inner bin (311), a threaded hole (313) is provided in the middle of the gear assembly seat (312), the threaded hole (313) is screwed with the threaded rod (111), an inner expansion groove (314) is fixedly connected to the output end of the driving motor (315), and the inner expansion groove (314) is engaged with the gear assembly seat (312); The middle of one side of the assembly block (33) is provided with an inner notch (38) on both sides, a pressure sensor (310) is fixedly connected in the inner notch (38), a wire groove (39) is provided through the lower end of the inner notch (38), and a control box (112) is fixedly connected to the outer surface of the base (11); The side of the assembly end plate (15) and located on both sides of the hexagonal limiting block (110) is fixedly connected with a side plug (19), and the side of the assembly block (33) and located on both sides of the hexagonal clamping groove (36) is provided with a side limiting clamping groove (37), and the side limiting clamping groove (37) is plugged with the side plug (19). The gear assembly seat (312) is provided with a driving gear (319) near one side of the hexagonal clamping groove (36), the inside of the assembly inner bin (311) is fixedly connected with a mounting seat (316), the inside of the assembly inner bin (311) and the upper end of the insertion groove (317) are provided with an insertion groove (317), the driving motor (315) is inserted with the insertion groove (317), the driving motor (315) is fixedly connected with the mounting seat (316), the inside of the assembly inner bin (311) is fixedly connected with a limiting insertion rod (318), and the limiting insertion rod (318) is inserted with the threaded hole (313).

2. The changeable mechanical gripper processing robot according to claim 1, characterized in that: The mechanical claw placing mechanism (2) is located on one side of the base (11), the mechanical claw placing mechanism (2) comprises a storage box (21), the inside of the storage box (21) is provided with a partition support plate (22), and the one side of the assembly end plate (15) is fixedly connected with a reinforcing rib (16) on the outer surface diameter of the rotating shaft (14).

3. The machining robot with exchangeable gripper of claim 2, characterized in that: The middle part of the two sides of the storage box (21) is provided with a guide groove (23) upwards and downwards, the two sides of the partition support plate (22) are fixedly connected with guide blocks (24), the guide blocks (24) are slidably connected with the guide grooves (23), the connecting plates (25) are fixedly connected between the two guide blocks (24) upwards and downwards, the two ends of the two sides of the storage box (21) are fixedly connected with side fixing plates (27), the side fixing plates (27) and the connecting plates (25) are fixedly connected with springs (26), and the thickness of the guide blocks (24) is greater than the thickness of the partition support plate (22).

4. The changeable gripper machining robot according to claim 3, characterized in that: It also comprises a mechanical claw replacement control system, the mechanical claw replacement control system comprises a sensing layer (4), a control layer (5), an interaction layer (6) and an execution layer (7).

5. The changeable gripper machining robot according to claim 4, characterized in that: The sensing layer (4) comprises a continuous pressure detection module (41), an assembly pressure detection module (42), a feature point detection module (43) and a two-dimensional code recognition module (44), the control layer (5) comprises a mechanical claw parameter self-learning module (51), a sensor data fusion module (52) and a process scheduling module (53), the interaction layer (6) comprises a fault early warning module (61) and a remote monitoring module (62), and the execution layer (7) comprises a terminal positioning compensation module (71), a mechanical claw library scheduling module (72) and a joint driving module (73).

6. The tool changing robot with interchangeable grippers according to claim 5, characterized in that: The continuous pressure detection module (41) is used for long-term pressure monitoring of the mechanical claw after locking, records a pressure attenuation curve, and early warns of loosening risk; The assembly pressure detection module (42) is used for monitoring instantaneous pressure during the insertion process of the mechanical claw, setting a safety threshold, and preventing part deformation caused by hard collision; The feature point detection module (43) focuses on the edge feature point extraction of the hexagonal clamping groove (36), the pressure sensor (310), the side insertion block (19) and the side limiting clamping groove (37), and calculates alignment deviation through sub-pixel level edge detection; The two-dimensional code recognition module (44) is used for identifying the two-dimensional code on the surface of the mechanical claw and quickly matching information in the parameter library. The mechanical claw parameter self-learning module (51) is used for automatically recording the data of three successful replacements for a new type of mechanical claw, generating a personalized parameter template, and adapting to small-batch customized claw tools; The sensor data fusion module (52) is used for fusing visual deviation, laser displacement, and pressure sensor data, eliminating the noise of a single sensor through Kalman filtering algorithm, and outputting a fusion result with a confidence degree of ≥99%; The process scheduling module (53) is used for formulating a standardized step sequence of mechanical claw replacement, and supporting user-defined process scripts.

7. The changeable gripper machining robot according to claim 6, characterized in that: The fault early warning module (61) is used for early warning potential faults through a machine learning model based on historical fault data, and pushing pre-processing suggestions; The remote monitoring module (62) is used for pushing real-time data to a remote terminal through a WebSocket protocol, and supporting remote emergency stop operation; The end positioning compensation module (71) is used for micro-adjusting the end of the mechanical arm according to the real-time deviation recognized by vision; The mechanical claw library scheduling module (72) is used for managing the bin information of the storage box (21), recording the use frequency and maintenance cycle of each claw tool, and pushing claw tool replacement suggestions to the MES; The joint driving module (73) is used for separately controlling the movement of each joint of the mechanical arm, and realizing closed-loop control of the joint angle through a PID algorithm.

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