Tool switching device and tool switching method

Abstract

The invention discloses a tool switching device and a tool switching method, and belongs to the technical field of robots. The tool switching device comprises a mechanical arm, a tool mechanism, a base and an electric control assembly. A first magnetic joint is arranged at the tail end of the mechanical arm; the tool mechanism comprises a tool body, a second magnetic connector and a third magnetic connector, wherein the second magnetic connector and the third magnetic connector are arranged on the two sides of the tool body respectively and electrically connected with the tool body. A fourth magnetic connector is arranged at the top end of the base; the electric control assembly is electrically connected with the first magnetic suction connector and the fourth magnetic suction connector. Wherein the first magnetic suction joint can be in magnetic suction butt joint with the second magnetic suction joint to realize electric connection, and the third magnetic suction joint can be in magnetic suction butt joint with the fourth magnetic suction joint to realize electric connection. By means of the design of magnetic attraction butt joint and connectors on the two sides of the tool mechanism, uninterruptible power switching of the tool between the mechanical arm and the base can be achieved, the connecting speed, precision and reliability during switching can be improved, and online maintenance, state keeping and plug and play of the tool mechanism can be achieved.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a tooling switching device and a tooling switching method. Background Technology

[0002] With the continuous improvement of industrial automation, robotic arms are widely used in logistics handling, palletizing and assembly. Thanks to their high degree of freedom in mechanical structure and diverse control methods, robotic arms can flexibly adapt to complex task requirements.

[0003] Robotic arms typically require end effectors to perform different tasks and switch between them during task intervals. Common tooling switching methods include bolt tightening, pneumatic latches, or plug-in electrical interfaces. These methods suffer from cumbersome switching processes, reliance on manual adjustment for docking accuracy, and the need for power outages. Consequently, the overall efficiency of robotic arms switching between tasks is low, and the inability to maintain tooling status online limits the applicability of the robotic arms. Summary of the Invention

[0004] This application provides a tooling switching device and a tooling switching method. The technical solution is as follows: According to one aspect of this application, a tooling switching device is provided, the tooling switching device comprising: A robotic arm, the end of which has a first magnetic connector; The tooling mechanism includes a tooling body and a second magnetic connector and a third magnetic connector installed on both sides of the tooling body, wherein the second magnetic connector and the third magnetic connector are electrically connected to the tooling body. The base has a fourth magnetic connector at its top. An electronic control component, which is electrically connected to the first magnetic connector and the fourth magnetic connector; The first magnetic connector is configured to magnetically engage and electrically connect with the second magnetic connector, and the third magnetic connector is configured to magnetically engage and electrically connect with the fourth magnetic connector.

[0005] Optionally, the tooling switching device further includes a first switch and a second switch; The first switch is electrically connected to the electrical control component and the first magnetic connector, respectively, and the second switch is electrically connected to the tooling body and the third magnetic connector, respectively.

[0006] Optionally, the tooling switching device further includes a first tooling position sensor and a second tooling position sensor; The first tooling position sensor is located at the end of the robotic arm and is used to detect whether the tooling mechanism is connected to the robotic arm; the first switch has a first control terminal, a first input terminal and a first output terminal, the first control terminal is electrically connected to the first tooling position sensor, the first input terminal is electrically connected to the electronic control component, and the first output terminal is electrically connected to the first magnetic connector; The second tooling position sensor is located at the bottom of the tooling mechanism and is used to detect whether the tooling mechanism is connected to the base; the second switch has a second control terminal, a second input terminal and a second output terminal. The control terminal of the second switch is electrically connected to the second tooling position sensor, the second input terminal is electrically connected to the tooling body, and the second output terminal is electrically connected to the third magnetic connector.

[0007] Optionally, the robotic arm further includes a first locking member, and the tooling mechanism further includes a first mating member, which is fixedly connected to the tooling body; the first locking member and the first mating member are detachably connected. The base also has a second locking member, and the tooling mechanism further includes a second mating member, which is fixedly connected to the tooling body; the second locking member and the second mating member are detachably connected.

[0008] Optionally, the first magnetic connector, the second magnetic connector, the third magnetic connector, and the fourth magnetic connector all include permanent magnets or electromagnets.

[0009] According to another aspect of this application, a tooling switching method is provided. The method is used in an electrical control component of a work switching device. The tooling switching device includes a robotic arm, a tooling mechanism, a base, and an electrical control component. The end of the robotic arm has a first magnetic connector. The tooling mechanism includes a tooling body and second and third magnetic connectors mounted on both sides of the tooling body. Both the second and third magnetic connectors are electrically connected to the tooling body. The top of the base has a fourth magnetic connector. The electrical control component is electrically connected to the first and fourth magnetic connectors. The method includes: Send a first movement command to the robotic arm so that the robotic arm carries the current tooling mechanism to move above the target base; A second movement command is sent to the robotic arm to control the end of the robotic arm to move toward the target base, so that the third magnetic connector of the tooling mechanism magnetically engages with the fourth magnetic connector on the base to establish a first electrical connection between the tooling mechanism and the target base. A third movement command is sent to the robotic arm to control the first magnetic connector at the end of the robotic arm to separate from the second magnetic connector of the tooling mechanism, and to move the robotic arm away.

[0010] Optionally, the method further includes: Send a fourth movement command to the robotic arm to control the robotic arm to move to the docking start position above the target tooling mechanism; A fifth movement command is sent to the robotic arm to control the end of the robotic arm to move toward the target tooling mechanism, so that the first magnetic connector magnetically engages with the second magnetic connector above the target tooling mechanism to establish a second electrical connection between the robotic arm and the target tooling mechanism; Read the identity information of the target tooling mechanism and load the control parameters corresponding to the identity information.

[0011] Optionally, the robotic arm is equipped with a 3D camera at its end; controlling the robotic arm to move the current tooling mechanism to above the target base includes: Obtain a first mark associated with the current tooling mechanism, and determine a second mark set on the target base based on the first mark; The 3D camera is controlled to acquire images of the region containing the second marker; The three-dimensional pose of the target base relative to the end effector of the robotic arm is identified based on the region image; The movement path of the robotic arm is generated based on the three-dimensional pose; Send a path movement command to the robotic arm so that the robotic arm moves to the starting position for docking with the target base according to the movement path.

[0012] Optionally, the tooling switching device further includes a first switch and a second switch, wherein the first switch is electrically connected to the electrical control component and the first magnetic connector respectively, and the second switch is electrically connected to the tooling body and the third magnetic connector respectively; The method further includes: During the process of controlling the robotic arm to move without carrying the tooling mechanism, the first switch is turned off to de-energize the first magnetic connector at the end of the robotic arm. During the process of controlling the robotic arm to move the tooling mechanism, the second switch is turned off to de-energize the third magnetic connector of the tooling mechanism.

[0013] Optionally, the tooling switching device further includes a first tooling position sensor and a second tooling position sensor; The control of disconnecting the first switch includes: The connection status between the tooling mechanism and the robotic arm is detected by the first tooling position sensor; When the first tooling position sensor detects a disconnection, it controls the first switch to turn off; The control of the second switch being turned off includes: The connection status between the tooling mechanism and the base is detected by the second tooling position sensor; When the second tooling position sensor detects a disconnection, it controls the second switch to turn off.

[0014] According to another aspect of this application, an electronic device is provided, the electronic device comprising: Memory, used to store computer programs; The processor, when executing a program stored in memory, implements the aforementioned tooling switching method.

[0015] According to another aspect of this application, a computer-readable storage medium is provided, wherein a computer program is stored therein, and the computer program, when executed by a processor, implements the above-described tooling switching method.

[0016] The beneficial effects of the technical solutions provided in this application include at least the following: A tooling switching device is provided, including a robotic arm, a tooling mechanism, a base, and an electrical control assembly. The robotic arm has a first magnetic connector at its end; the tooling mechanism includes a tooling body and a second and a third magnetic connector located on either side of it, both electrically connected to the tooling body; the base has a fourth magnetic connector at its top; the electrical control assembly is electrically connected to the first and fourth magnetic connectors respectively. Specifically, the first magnetic connector can magnetically engage with the second magnetic connector for electrical connection, and the third magnetic connector can magnetically engage with the fourth magnetic connector for electrical connection. Through the design of magnetic engagement and dual connectors on both sides of the tooling mechanism, continuous power switching of the tooling between the robotic arm and the base can be achieved, improving the connection speed, accuracy, and reliability during switching. Furthermore, by continuously supplying power to the tooling mechanism, online maintenance, status retention, and plug-and-play functionality of the tooling mechanism can be achieved, thereby improving the applicability of the tooling switching device. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1This is a schematic diagram of a tooling switching device provided in an embodiment of this application; Figure 2 This is a schematic diagram of the circuit structure of a tooling switching device provided in an embodiment of this application; Figure 3 This is a schematic diagram of the structure of a magnetic connector provided in an embodiment of this application; Figure 4 This is a flowchart of a tooling switching method provided in an embodiment of this application; Figure 5 This is a flowchart of another tooling switching method provided in the embodiments of this application; Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0019] Explanation of reference numerals in the attached figures: Robotic arm 11, first magnetic connector 21, tooling mechanism 12, second magnetic connector 22, third magnetic connector 23, base 13, fourth magnetic connector 24, electrical control assembly 14, contact c1, magnetic component c2. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0021] Although this application can readily be embodied in various forms, only some specific embodiments are shown in the accompanying drawings and will be described in detail in this specification. It is understood that this specification should be regarded as an exemplary illustration of the principles of this application and is not intended to limit the application to what is described herein.

[0022] Therefore, a feature pointed out in this specification is used to describe one feature of one embodiment of this application, and does not imply that every embodiment of this application must have the described feature. Furthermore, it should be noted that this specification describes many features. While certain features may be combined to illustrate possible system designs, these features may also be used in other combinations not explicitly stated. Therefore, unless otherwise stated, the described combinations are not intended to be limiting.

[0023] In the embodiments shown in the accompanying drawings, the directional indications (such as up, down, left, right, front, and back) used to explain the structure and movement of the various elements of this application are relative rather than absolute. These descriptions are appropriate when these elements are in the positions shown in the drawings. If the descriptions of the positions of these elements change, these directional indications also change accordingly.

[0024] Please refer to Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of a tooling switching device provided in an embodiment of this application. Figure 2 This is a circuit diagram of a tooling switching device provided in an embodiment of this application. Figure 3 This is a schematic diagram of a magnetic connector provided in an embodiment of this application. The tooling switching device may include: a robotic arm 11, a tooling mechanism 12, a base 13, and an electrical control component 14. The electrical control component 14 may include a power module and a control module. The robotic arm 11 and the base 13 may be electrically connected to the same electrical control component 14. The electrical control component 14 may be installed in the control cabinet of the robotic arm 11. The power module may include a main power supply and a tool station maintenance power supply. The robotic arm 11 may be connected to the main power supply, and the base 13 may be connected to the tool station maintenance power supply. In application scenarios, the tooling switching device may include multiple tooling mechanisms 12 and multiple bases 13. The multiple tooling mechanisms 12 and multiple bases 13 may correspond one-to-one, and the base 13 is used to place the corresponding tooling mechanism 12.

[0025] The end of the robotic arm 11 has a first magnetic connector 21, which can be electrically connected to the electronic control component 14 through the internal wiring of the robotic arm 11.

[0026] The tooling mechanism 12 may include a tooling body and a second magnetic connector 22 and a third magnetic connector 23 installed on both sides of the tooling body. Both the second magnetic connector 22 and the third magnetic connector 23 are electrically connected to the tooling body. The tooling mechanism 12 may have a storage module or a control module and an internal circuit structure. Both the second magnetic connector 22 and the third magnetic connector 23 can be electrically connected to the storage module or the control module through the internal circuit structure. Furthermore, the second magnetic connector 22 and the third magnetic connector 23 can be connected in parallel.

[0027] The top of the base 13 has a fourth magnetic connector 24, which can be electrically connected to the electronic control component 14 through the internal wiring of the robotic arm 11, so that the electronic control component 14 can be electrically connected to the first magnetic connector 21 and the fourth magnetic connector 24.

[0028] The first magnetic connector 21 is configured to magnetically engage and electrically connect with the second magnetic connector 22, and the third magnetic connector 23 is configured to magnetically engage and electrically connect with the fourth magnetic connector 24.

[0029] In this embodiment of the application, the operation of the tooling switching device may include the following two stages: unloading the current tooling and installing the new tooling.

[0030] In the first stage, unloading the current tooling refers to transferring the tooling mechanism 12 from the robotic arm 11 to the base 13. First, the robotic arm 11 carries the current tooling mechanism 12 to the target base 13 above where the tooling mechanism 12 needs to be stored. Then, the robotic arm 11 moves downward, so that the third magnetic connector 23 at the bottom of the tooling mechanism 12 magnetically connects with the fourth magnetic connector 24 on the base 13. At this time, the tooling mechanism 12 is magnetically attracted by the base 13, and the power supply and signal path of the tooling mechanism 12 are connected to the electrical control component 14 through the third magnetic connector 23 and the fourth magnetic connector 24, simultaneously realizing the mechanical and electrical connection of the tooling mechanism 12. This allows the power supply of the tooling mechanism 12 to seamlessly switch from the main power supply of the robotic arm 11 to the tool station maintenance power supply of the base 13, ensuring that the tooling mechanism 12 is not powered off. Afterwards, the first magnetic connector 21 at the end of the robotic arm 11 separates from the second magnetic connector 22 at the top of the tooling mechanism 12, and the robotic arm 11 can be moved away to perform other tasks; at this time, the tooling mechanism 12 is powered by the base 13 and remains in standby mode.

[0031] The second stage, installing the new tooling, involves picking up the tooling mechanism 12 from the base 13 and transferring it to the robotic arm 11. First, the robotic arm 11, without the tooling, moves above the base 13 where the target tooling mechanism 12 is stored. The robotic arm 11 moves downward, causing its first magnetic connector 21 at its end to magnetically engage with the second magnetic connector 22 at the top of the tooling mechanism 12. Then, the robotic arm 11 and the tooling mechanism 12 are mechanically connected. This mechanical connection can be achieved by magnetic attraction or by another locking mechanism. Simultaneously, the robotic arm 11 supplies power to the tooling body and establishes communication through the first magnetic connector 21 and the second magnetic connector 22. Subsequently, the robotic arm 11 moves the tooling mechanism 12, causing the third magnetic connector 23 at the bottom of the tooling mechanism 12 to separate from the fourth magnetic connector 24 at the base 13. The robotic arm 11 can then carry the target tooling mechanism 12 away for operation.

[0032] In this embodiment, magnetic docking improves the stability of the connection between the tooling mechanism 12 and the robotic arm 11 or the base 13. The self-aligning characteristic of magnetism automatically corrects positional deviations when the magnetic connectors approach each other, reducing reliance on the absolute positioning accuracy of the robotic arm 11 and thus increasing the docking success rate. Compared to traditional bolt connections, magnetic docking is faster, shortening tooling changeover time and improving production line efficiency. Furthermore, a reliable mechanical and electrical connection can be established simultaneously with a single magnetic action, simplifying the system structure and reducing integration complexity.

[0033] Furthermore, by setting double-sided mating joints on the tooling mechanism 12, hot-swapping and uninterrupted power maintenance functions can be achieved, ensuring a continuous and stable power and signal connection for the tooling mechanism 12 during switching between the robotic arm 11 and the base 13. For tooling mechanisms 12 that rely on continuous power supply (such as integrated sensor fixtures, vision cameras, heating units, data loggers, etc.), this design can effectively prevent state resets or data loss due to power outages. When the robotic arm 11 is connected to the tooling mechanism 12, the electrical control component 14 can automatically identify the tooling ID and call the corresponding program, achieving plug-and-play functionality. Technicians can also directly power on and debug, set parameters, or update programs for the tooling mechanism 12 on the base 13 without occupying the resources of the robotic arm 11, thereby improving equipment utilization and maintenance convenience.

[0034] Furthermore, by deploying multiple bases 13 equipped with different tooling, a highly efficient tool station system can be constructed, enabling a single robotic arm 11 to automatically change its end-effector according to production tasks (such as welding, handling, gluing, and inspection), thus handling diverse and complex operations. This enhances the adaptability of the production system, enabling mixed-line production modes with small batches and multiple product types. When product types change, only the corresponding tooling mechanism 12 and supporting programs need to be replaced, without requiring large-scale hardware modifications to the production line, thereby responding flexibly to changing production demands with faster response speed.

[0035] In summary, this application provides a tooling switching device, including a robotic arm 11, a tooling mechanism 12, a base 13, and an electrical control assembly 14. The robotic arm 11 has a first magnetic connector 21 at its end; the tooling mechanism 12 includes a tooling body and a second magnetic connector 22 and a third magnetic connector 23 respectively disposed on its two sides, both electrically connected to the tooling body; the base 13 has a fourth magnetic connector 24 at its top; the electrical control assembly 14 is electrically connected to the first magnetic connector 21 and the fourth magnetic connector 24 respectively. Specifically, the first magnetic connector 21 can magnetically engage with the second magnetic connector 22 and achieve electrical connection, and the third magnetic connector 23 can magnetically engage with the fourth magnetic connector 24 and achieve electrical connection. By using the magnetic docking and the double-sided connectors of the tooling mechanism 12, the tooling can be switched between the robotic arm 11 and the base 13 without power interruption. This improves the connection speed, accuracy and reliability during switching. Furthermore, by continuously supplying power to the tooling mechanism 12, online maintenance, status maintenance and plug-and-play functionality of the tooling mechanism 12 can be achieved, thereby improving the applicability of the tooling switching device.

[0036] In one alternative embodiment, the tooling switching device may further include a first switch and a second switch; the first switch is electrically connected to the electrical control component 14 and the first magnetic connector 21 respectively, and the second switch is electrically connected to the tooling body and the third magnetic connector 23 respectively.

[0037] By setting a first switch and a second switch in the path of the tooling switching device, the power supply to the tooling switching device can be managed based on its position. For example, when the robotic arm 11 is not moving with the tooling mechanism 12, the electrical control component 14 controls the first switch to open, de-energizing the first magnetic connector 21 at the end of the robotic arm 11. This prevents the first magnetic connector 21 from accidentally contacting a conductor in the environment during movement, thus avoiding short circuits or arcing caused by accidental discharge. When the robotic arm 11 is moving with the tooling mechanism 12, the second switch is opened, de-energizing the third magnetic connector 23 on the mating side of the tooling body and the base 13. Thus, electrical isolation eliminates the safety risks associated with exposed connectors being energized during movement, improving the safety of the tooling switching device. It also prevents damage to the delicate electrical control component 14 and the tooling mechanism 12 due to accidental short circuits, ensuring the reliability and stability of the entire switching process.

[0038] In one exemplary embodiment, the first switch is a controlled switch, and the control signal for the first switch comes from a position sensor located at the end of the robotic arm 11 for sensing whether the tooling mechanism 12 is connected. Similarly, the control signal for the second switch comes from a position sensor located below the tooling mechanism 12 for sensing whether the tooling mechanism 12 is connected to the base 13.

[0039] In one exemplary embodiment, the control terminals of the first switch and the second switch are both communicatively connected to the electronic control component 14, and the electronic control component 14 controls their on / off states according to the system state logic.

[0040] In an optional embodiment, the tooling switching device may further include a first tooling position sensor and a second tooling position sensor; the first tooling position sensor is located at the end of the robotic arm 11 and is used to detect whether the tooling mechanism 12 is connected to the robotic arm 11; the first switch has a first control terminal, a first input terminal, and a first output terminal, the first control terminal being electrically connected to the first tooling position sensor, the first input terminal being electrically connected to the electronic control component 14, and the first output terminal being electrically connected to the first magnetic connector 21. The second tooling position sensor is located at the bottom of the tooling mechanism 12 and is used to detect whether the tooling mechanism 12 is connected to the base 13; the second switch has a second control terminal, a second input terminal, and a second output terminal, the control terminal of the second switch being electrically connected to the second tooling position sensor, the second input terminal being electrically connected to the tooling body, and the second output terminal being electrically connected to the third magnetic connector 23.

[0041] By cooperating with the first and second tooling position sensors and the first and second switches, power management based on the physical connection status can be achieved. For example, when the tooling mechanism 12 separates from the robotic arm 11, the first tooling position sensor detects the disconnection and sends a signal to the control terminal of the first switch, which then disconnects, cutting off the power supply from the electronic control component 14 to the first magnetic connector 21. Similarly, when the tooling mechanism 12 separates from the base 13, the second tooling position sensor detects the change in status and controls the second switch to disconnect, breaking the circuit between the tooling body and the third magnetic connector 23. In this way, the power supply control can be directly and automatically linked to the actual physical connection status, fundamentally eliminating the risk of short circuits, arcing, or electric shocks that may be caused by accidental energization of the moving magnetic connector. This improves the system's automation level and inherent safety, while also avoiding delays or errors caused by manual operation.

[0042] Compared to the centralized control scheme based on system logic by the electronic control component 14, controlling the first and second switches via position sensors enables localized, direct, and intrinsic safety control. The position sensors and switches, through direct hardware-level linkage, automatically and in real-time bind the power on / off signal to the most fundamental physical connection state. As soon as a physical connection break is detected, regardless of the state of the main electronic control program, communication delays, or software errors, the switch will immediately activate and cut off the dangerous power supply. This constitutes a hardware safety loop independent of the upper-level logic. In contrast, a pure electronic control scheme relies on software judgment of the system state and command issuance. If communication is interrupted, the program malfunctions, or a logic error occurs, it may fail to execute a power cut at critical moments, posing a potential safety hazard. Therefore, in this embodiment, by setting up position sensors, intrinsic safety assurance with higher reliability and faster response speed is provided, effectively avoiding safety risks caused by single-point failures in the control system.

[0043] Please refer to Figure 3 In one optional embodiment, the first magnetic connector 21 includes a first magnetic male connector, the second magnetic connector 22 includes a first magnetic female connector, the third magnetic connector 23 includes a second magnetic male connector, and the fourth magnetic connector 24 includes a second magnetic female connector.

[0044] Please refer to Figure 3In one optional embodiment, the first magnetic male connector, the first magnetic female connector, the second magnetic male connector, and the second magnetic female connector each have multiple contacts c1. These multiple contacts c1 are distributed along multiple concentric rings, and each contact c1 includes power contacts and signal contacts. The contacts located on the periphery are power contacts, and the contacts located in the central region are signal contacts. The concentric ring distribution of the contacts, with high-current power contacts on the periphery and precision signal contacts in the center, optimizes power transmission efficiency and reduces signal interference.

[0045] The first magnetic male connector, the first magnetic female connector, the second magnetic male connector, and the second magnetic female connector each have a magnetic element c2. For example, the first magnetic male connector, the first magnetic female connector, the second magnetic male connector, and the second magnetic female connector each have two magnetic elements c2, which are located on both sides of the plurality of contacts c1.

[0046] In one alternative embodiment, the contact arrangement and specifications in the first magnetic female connector are the same as those in the second magnetic female connector. By using male and female connectors for pairing and unifying the contact layout, and by ensuring that the two female connectors have identical contact arrangements and specifications, the same tooling mechanism 12 can be connected to the robotic arm 11 end and the base 13 end using a completely standardized interface, thereby improving the modularity, interchangeability, and ease of maintenance of the system.

[0047] In one alternative embodiment, the robotic arm 11 may further include a first locking member, and the tooling mechanism 12 may further include a first mating member, which is fixedly connected to the tooling body; the first locking member and the first mating member are detachably connected. The base 13 may further include a second locking member, and the tooling mechanism 12 may further include a second mating member, which is fixedly connected to the tooling body; the second locking member and the second mating member are detachably connected.

[0048] The operation of the first and second locking components is synchronized with or sequentially performed with the magnetic docking. For example, when the robotic arm 11 docks with the tooling mechanism 12, after the first magnetic connector 21 and the second magnetic connector 22 are in place, the first locking component will actuate (e.g., extend a pin, close a chuck, etc.) to engage with the first mating component (e.g., a pin hole, a slot, etc.) on the tooling mechanism 12, forming a robust mechanical connection. Similarly, when the tooling mechanism 12 docks with the base 13, the second locking component will also complete the same locking process with the second mating component at the bottom of the tooling mechanism 12. Unlocking follows the reverse procedure: before separating the magnetic connectors, the locking component retracts first, releasing the mechanical constraint.

[0049] This enhances the reliability of the connection between the tooling mechanism 12 and the robotic arm 11 or the base 13, providing overload protection for the tooling mechanism 12. When the robotic arm 11 carries the tooling for high-speed, high-load operations (such as handling and assembly), a simple magnetic connection may be susceptible to micro-motion due to impact or vibration, or even disengage due to excessive external force. Mechanical locking provides a rigid mechanical interlock that can withstand shear forces and torques greater than magnetic forces, ensuring absolute stability under dynamic working conditions and preventing accidental tooling detachment.

[0050] Furthermore, the first and second locking components ensure the controllability and smoothness of the separation process of the tooling mechanism 12, enabling the tooling switching device to execute the following separation sequence during the switching process: first, the locking components are unlocked to release the mechanical constraints; then, the robotic arm 11 applies a relatively small force to overcome the pure magnetic force, achieving a smooth and stable separation.

[0051] Thus, in the tooling switching device, the magnetic force is used for the initial alignment and adsorption between the tooling mechanism 12 and the robotic arm 11 or the base 13, and pulls the two parts into place, creating conditions for the precise engagement of the mechanical locking. After locking, the main working force (such as processing reaction force and load gravity) is borne by the mechanical locking parts, while the magnetic connector mainly maintains the electrical connection and provides auxiliary adhesion force, which can optimize the stress state of each component and improve the life and performance of the tooling switching device.

[0052] In an optional embodiment, the tooling switching device may further include a protective cover, which is movably mounted on the top of the base 13. Since the fourth magnetic connector 24 is located on the top of the base 13 and faces the same direction, it is more susceptible to external environmental influences, such as scratches from other structures. The movable protective cover protects the exposed fourth magnetic connector 24. This protective cover can be electrically connected to the electronic control component 14, which controls its opening and closing.

[0053] In one alternative embodiment, the first magnetic connector 21, the second magnetic connector 22, the third magnetic connector 23, and the fourth magnetic connector 24 all include permanent magnets or electromagnets.

[0054] For example, the magnetic connector uses a permanent magnet. When two connectors come close to the magnetic field, the constant magnetic force generated by the permanent magnet will automatically attract and connect them, completing the connection. When separating, the robotic arm 11 or the locking device applies a mechanical pulling force sufficient to overcome the constant magnetic force to achieve forced separation.

[0055] For example, the magnetic connector uses an electromagnet. When connection is needed, the electronic control component 14 energizes the electromagnet, causing it to generate a magnetic force that attracts the connector. When separation is needed, the electronic control component 14 can reduce the current, weakening the magnetic force and allowing for easy separation. By controlling the strength of the current, the magnitude and timing of the magnetic attraction can be precisely controlled.

[0056] Please refer to Figures 1 to 4 , Figure 4 This is a flowchart of a tooling switching method provided in an embodiment of this application. This tooling switching method can be applied to the tooling switching device in any of the above embodiments. The method can be used in the electrical control component 14 of the tooling switching device. The tooling switching device includes a robotic arm 11, a tooling mechanism 12, a base 13, and an electrical control component 14. The end of the robotic arm 11 has a first magnetic connector 21. The tooling mechanism 12 includes a tooling body and a second magnetic connector 22 and a third magnetic connector 23 installed on both sides of the tooling body. The second magnetic connector 22 and the third magnetic connector 23 are both electrically connected to the tooling body. The top of the base 13 has a fourth magnetic connector 24. The electrical control component 14 is electrically connected to the first magnetic connector 21 and the fourth magnetic connector 24.

[0057] The tooling changeover method includes the following steps: Step 201: Send a first movement command to the robotic arm 11 so that the robotic arm 11 carries the current tooling mechanism 12 to move above the target base 13.

[0058] Step 202: Send a second movement command to the robotic arm 11 to control the end of the robotic arm 11 to move towards the target base 13, so that the third magnetic connector 23 of the tooling mechanism 12 magnetically engages with the fourth magnetic connector 24 on the base 13 to establish a first electrical connection between the tooling mechanism 12 and the target base 13.

[0059] Step 203: Send a third movement command to the robotic arm 11 to control the first magnetic connector 21 at the end of the robotic arm 11 to separate from the second magnetic connector 22 of the tooling mechanism 12, and move the robotic arm 11 away.

[0060] Please refer to Figure 1 , Figure 2 , Figure 3 and Figure 5 , Figure 5 This is a flowchart of another tooling switching method provided in an embodiment of this application. The tooling switching method includes the following steps: Step 301: The electronic control component 14 sends a first movement command to the robotic arm 11 so that the robotic arm 11 carries the current tooling mechanism 12 to move above the target base 13.

[0061] The electronic control unit can control the robotic arm 11 to move the tooling mechanism 12 to directly above the target base 13.

[0062] In one exemplary embodiment, a 3D camera may be provided at the end of the robotic arm 11; controlling the robotic arm 11 to move the current tooling mechanism 12 above the target base 13 may include the following sub-steps: Sub-step 3011: The electronic control component 14 acquires the first mark associated with the current tooling mechanism 12, and determines the second mark set on the target base 13 based on the first mark.

[0063] The electronic control component 14 stores a mapping database, which records the location marker (i.e., the second marker) of the specific base 13 that each tooling mechanism 12 (identified by its identification mark, i.e., the first marker, which can be a digital ID, QR code data, etc.) should store or retrieve. That is, based on the tooling mechanism 12 currently carried by the robotic arm 11, the electronic control component 14 obtains the specific visual target of this movement task—the second marker on the target base 13—by querying the database.

[0064] Sub-step 3012: The electronic control component 14 controls the 3D camera to acquire images of the region containing the second marker.

[0065] After obtaining the second marker to be found through step 2011, the electronic control component 14 controls the 3D camera installed at the end of the robotic arm 11 to capture images of the preset target area. Since the initial positioning of the robotic arm 11 may have errors, the camera needs to acquire an image of a sufficiently large area to ensure that the second marker (which may be a special pattern, QR code, or physical structure) is completely captured in the image.

[0066] In this way, a 3D camera can acquire 3D image data containing the target reference point and depth information, providing raw data input for subsequent accurate pose calculation.

[0067] In one exemplary embodiment, the electronic control component 14 can issue a movement command to the robotic arm 11, such as "store the current welding fixture to base 6 13". The electronic control component 14 queries a database to obtain the visual marker of "base 6 13", which is a numbered 6. The robotic arm 11 can move to a predefined observation position based on the approximate position of base 6 13 stored in the system (e.g., based on an approximate XYZ coordinate in the base coordinate system). This position ensures that the field of view of the 3D camera can cover the area where base 13 is located, but due to the robot's absolute positioning error and the installation error of base 13, the numbered marker (6) may not be in the exact center of the camera's field of view. Then, the electronic control component 14 sends a trigger signal to the 3D camera (e.g., a 3D camera based on structured light or binocular vision) at the end of the robotic arm 11. The camera then takes an image of the area covering the target base 13 and captures the complete numbered marker (6) in the area image. It can also simultaneously record its RGB color information and key depth data such as distance and position, forming a point cloud map containing accurate spatial information.

[0068] Sub-step 3013: The electronic control component 14 identifies the three-dimensional pose of the target base 13 relative to the end of the robotic arm 11 based on the regional image.

[0069] The electronic control component 14 can process the acquired area image. First, it identifies and extracts the pixel coordinates of the second marker in the image. Then, combining the inherent internal parameters of the 3D camera (such as focal length and distortion coefficient) and the known physical size of the second marker, it calculates the 3D position and orientation of the second marker (i.e., the target base 13) relative to the 3D camera coordinate system using a computer vision algorithm (such as the PnP algorithm). Since the camera is fixedly mounted at the end of the robotic arm 11, its coordinate system and the coordinate system at the end of the robotic arm 11 have a known transformation relationship. Therefore, the precise 3D pose of the target base 13 relative to the end of the robotic arm 11 (including the three translation coordinates X, Y, and Z and the rotation angles around the three axes) can be obtained. For example, the marker is located 1.253 meters in front of the end and 0.12 meters to the right. This converts the image information into pose commands that the robotic arm 11 can directly execute.

[0070] When determining the movement path based on the position of the base 13, reference can also be made to the prior art, and the determination can be made based on the robot control algorithm in the prior art.

[0071] Sub-step 3014: The electronic control component 14 generates the movement path of the robotic arm 11 based on the three-dimensional pose.

[0072] After obtaining the precise relative pose, a motion planning algorithm is used to search for a collision-free path in the configuration space of the robotic arm 11, and the joint angles are solved using inverse kinematics. Then, trajectory optimization is used to generate a smooth motion trajectory. When determining the grasping path based on the position of the goods, other existing technologies can also be consulted, and the determination can be made using existing robot control algorithms.

[0073] In sub-step 3015, the electronic control component 14 sends a path movement command to the robotic arm 11 so that the robotic arm 11 moves to the starting position for docking with the target base 13 according to the movement path.

[0074] After generating the motion trajectory, the control system converts it into path movement commands (usually joint angle sequences or end-effector pose sequences) that can be executed by the controller in the robotic arm 11. The controller in the robotic arm 11 receives these commands and drives the joint motors to make the robotic arm 11 move precisely along the planned path, and finally stop accurately at the ready position for the next vertical docking with the target base 13, i.e., the docking start pose.

[0075] In one exemplary embodiment, the tooling switching device may further include a first switch and a second switch. The first switch is electrically connected to the electrical control component 14 and the first magnetic connector 21, respectively, and the second switch is electrically connected to the tooling body and the third magnetic connector 23, respectively. During the process of controlling the robotic arm 11 to move the tooling mechanism 12, the second switch is controlled to open, thereby de-energizing the third magnetic connector 23 of the tooling mechanism 12. In this way, electrical isolation can eliminate the safety risks caused by exposed connectors being energized during movement, thus improving the safety of the tooling switching device.

[0076] Step 302: The electrical control component 14 sends a second movement command to the robotic arm 11, controlling the end of the robotic arm 11 to move towards the target base 13, so that the third magnetic connector 23 of the tooling mechanism 12 magnetically engages with the fourth magnetic connector 24 on the base 13, thereby establishing a first electrical connection between the tooling mechanism 12 and the target base 13.

[0077] The first movement command moves the robotic arm 11 in macroscopic space, precisely guiding the tooling mechanism 12 carried at its end effector to a docking starting position directly above the target base 13. This position is the preparatory position for subsequent vertical docking operations. The second movement command, after reaching the preparatory position, controls the end effector of the robotic arm 11 to move downwards along a single vertical direction. This causes the third magnetic connector 23 at the bottom of the tooling mechanism 12 to contact the fourth magnetic connector 24 on the base 13, achieving magnetic attraction and electrical connection, thereby establishing the first electrical connection between the tooling mechanism 12 and the target base 13.

[0078] The second movement command, by strictly constraining the docking movement in the vertical direction, avoids the risk of lateral scratching. Since there is no lateral relative movement between the tooling mechanism 12 and the base 13 during the approach process, even if there is a slight positioning deviation, it will not be corrected by hard scratching, thereby avoiding damage to the surface of the precision magnetic connector and electrical contacts.

[0079] Furthermore, the vertical descent path is perfectly aligned with the magnetic attraction direction of the connector, maximizing the guiding efficiency of the magnetic force. Once the connectors enter each other's magnetic fields, the powerful vertical magnetic attraction actively guides them to achieve precise alignment. In addition, this movement path simplifies complex spatial docking into linear motion along a single axis, reducing the complexity of motion control. The electronic control component 14 does not need to direct the robotic arm 11 to perform precise multi-axis linkages to correct deviations; residual errors on the horizontal plane can be passively and flexibly absorbed by the self-aligning characteristics of the magnetic force, improving the alignment success rate and enhancing the predictability and system reliability of the entire switching process.

[0080] In one exemplary embodiment, during the execution of the second movement command, the electronic control component 14 can employ a segmented speed control method to further enhance the safety and accuracy of the docking. Specifically, when the end effector of the robotic arm 11 carrying the tooling mechanism 12 begins to descend from its initial position, it operates at a higher first speed during the phase away from the base 13 to improve overall efficiency. When feedback from the position sensor or encoder indicates that it is about to enter the effective magnetic field range (e.g., 20 mm to 30 mm from the docking surface), it immediately switches to a lower second speed to slowly approach. This "fast first, slow later" speed planning not only ensures operational efficiency but also avoids problems such as joint collision damage, magnetic surface bouncing, or instantaneous overload of electrical contacts that may be caused by rapid impact. This ensures the smoothness, controllability, and high reliability of the magnetic docking process. Furthermore, it can prevent injury to the operator during the docking process, allowing the operator to react in time, thereby ensuring personnel safety and achieving human-machine collaboration.

[0081] In one exemplary embodiment, the electronic control component 14 may employ a segmented speed control method when executing the second movement command to improve the safety and accuracy of the docking process. Specifically, when the end effector of the robotic arm 11 carrying the tooling mechanism 12 begins to descend from the initial position, it operates at a higher first speed during the phase away from the base 13 to improve overall efficiency; when feedback from the position sensor or encoder indicates that it is about to enter the effective magnetic field range (e.g., 20 mm to 30 mm from the docking surface), it immediately switches to a lower second speed to slowly approach.

[0082] In this embodiment, by using a fast-then-slow docking speed, operational efficiency is maintained while avoiding potential joint collision damage, magnetic facet bounce, or instantaneous overload of electrical contacts caused by rapid impacts. This ensures a smooth, controllable, and highly reliable magnetic docking process. Furthermore, this docking method reduces the risk of operator injury during the docking process: the lower approach speed provides ample reaction time for personnel to avoid danger zones, ensuring personnel safety and laying the foundation for safer and more flexible human-machine collaboration.

[0083] Step 303: The electronic control component 14 sends a third movement command to the robotic arm 11, controlling the first magnetic connector 21 at the end of the robotic arm 11 to separate from the second magnetic connector 22 of the tooling mechanism 12, and causing the robotic arm 11 to move away.

[0084] In one exemplary embodiment, the tooling switching device may further include a first tooling position sensor and a second tooling position sensor; the connection status between the tooling mechanism 12 and the robotic arm 11 can be detected by the first tooling position sensor; when the first tooling position sensor detects a disconnection, it controls the first switch to disconnect so that the first magnetic connector 21 at the end of the robotic arm 11 is de-energized.

[0085] In this embodiment, the separation of the first magnetic connector 21 at the end of the control robotic arm 11 from the second magnetic connector 22 of the tooling mechanism 12 can include the following two implementation methods: In the first embodiment: the robotic arm 11 further has a first locking member, and the base 13 further has a second locking member; the electronic control assembly 14 controls the separation of the first magnetic connector 21 at the end of the robotic arm 11 from the second magnetic connector 22 of the tooling mechanism 12, which may include the following two sub-steps: Sub-step 3031: After the first electrical connection is established, the electrical control component 14 sends a first opening command to the first locking member and a first locking command to the second locking member to lock the tooling mechanism 12 to the base 13.

[0086] In sub-step 3032, the electronic control component 14 sends a movement command to the robotic arm 11, causing the first magnetic connector 21 and the second magnetic connector 22 to separate against magnetic force.

[0087] Thus, the separation process of the tooling mechanism 12 can be controlled and smooth by the first and second locking components.

[0088] The second implementation: The first magnetic connector 21, the second magnetic connector 22, the third magnetic connector 23, and the fourth magnetic connector 24 are all electromagnetic chucks; controlling the separation of the first magnetic connector 21 at the end of the robotic arm 11 from the second magnetic connector 22 of the tooling mechanism 12 may include the following sub-steps: In sub-step 3033, the electronic control component 14 applies a first excitation current to the fourth magnetic connector 24 of the base 13, causing the fourth magnetic connector 24 to generate a first magnetic attraction force.

[0089] Sub-step 3034: The electronic control component 14 applies a second excitation current to the first magnetic connector 21 at the end of the robotic arm 11. The second excitation current is less than the first excitation current, so that the second magnetic attraction force generated by the first magnetic connector 21 is less than the first magnetic attraction force.

[0090] In sub-step 3035, the electronic control component 14 sends a movement command to the robotic arm 11, causing the first magnetic connector 21 to separate from the second magnetic connector 22.

[0091] Thus, by adjusting the strength of the current connected to the electromagnet, the magnitude and timing of the magnetic attraction force can be precisely controlled.

[0092] Step 304: The electronic control component 14 sends a fourth movement command to the robotic arm 11, controlling the robotic arm 11 to move to the docking starting position above the target tooling mechanism 12.

[0093] During the process of controlling the movement of the robotic arm 11 without the tooling mechanism 12, the electrical control component 14 can control the first switch to be turned off so that the first magnetic connector 21 at the end of the robotic arm 11 is de-energized.

[0094] Step 304 may include the following sub-steps: Sub-step 3041: The electronic control component 14 acquires a third mark associated with the target tooling mechanism 12, and determines a fourth mark set on the target tooling mechanism 12 based on the third mark.

[0095] The electronic control component 14 can retrieve the specific mark used for visual recognition on the target tooling mechanism 12 from a pre-stored database based on the ID of the target tooling mechanism 12.

[0096] Sub-step 3042: The electronic control component 14 controls the 3D camera to acquire images of the region containing the fourth marker.

[0097] A camera can be used to acquire image information of the target marker.

[0098] Sub-step 3043: The electronic control component 14 identifies the three-dimensional pose of the target tooling mechanism 12 relative to the end of the robotic arm 11 based on the regional image.

[0099] The precise position and orientation of the target object relative to the end of the camera / robotic arm 11 are calculated from the image.

[0100] Sub-step 3044: The electronic control component 14 generates the movement path of the robotic arm 11 based on the three-dimensional pose. That is, based on the calculated pose, a collision-free and reachable movement trajectory is planned for the robotic arm 11.

[0101] Sub-step 3045: The electronic control component 14 sends a path movement command to the robotic arm 11, so that the robotic arm 11 moves to the starting position for docking with the target tooling mechanism 12 according to the movement path.

[0102] The movement command is executed, causing the robotic arm 11 to finally reach the ready position where the docking operation can begin.

[0103] Step 305: The electronic control component 14 sends a fifth movement command to the robotic arm 11, controlling the end of the robotic arm 11 to move towards the target tooling mechanism 12, so that the first magnetic connector 21 and the second magnetic connector 22 above the target tooling mechanism 12 are magnetically connected to establish a second electrical connection between the robotic arm 11 and the target tooling mechanism 12.

[0104] Step 306: The electronic control component 14 reads the identity information of the target tooling mechanism 12 and loads the control parameters corresponding to the identity information.

[0105] When the robotic arm 11 is connected to the tooling mechanism 12, the electronic control component 14 can automatically identify the tooling ID and call the corresponding program to achieve plug-and-play functionality.

[0106] Step 307: The electronic control component 14 sends a sixth movement command to the robotic arm 11, controlling the robotic arm 11 to separate the tooling mechanism 12 from the base 13, and causing the robotic arm 11 to move the tooling mechanism 12 away.

[0107] In one optional embodiment, the tooling switching device further includes a second tooling position sensor; the second tooling position sensor detects the connection status between the tooling mechanism 12 and the base 13; when the second tooling position sensor detects a disconnection, it controls the second switch to disconnect, so that the third magnetic connector 23 on the tooling mechanism 12 is de-energized.

[0108] In this embodiment, controlling the robotic arm 11 to separate the tooling mechanism 12 from the base 13 can include the following two implementation methods: The first implementation method is to achieve separation by unlocking the base 13 and locking the robotic arm 11.

[0109] Sub-step 3071: The electronic control component 14 sends a second opening command to the second locking member to release the base 13 from locking the tooling mechanism 12.

[0110] Release the fixation on side 13 of the base to prepare for separation.

[0111] Sub-step 3072: The electronic control component 14 sends a second locking command to the first locking member, or confirms that the first locking member is in a locked state, so as to reliably fix the tooling mechanism 12 to the end of the robotic arm 11.

[0112] Ensure that the robotic arm grips firmly on side 11 to prevent it from falling.

[0113] In sub-step 3073, the electronic control component 14 sends a movement command to the robotic arm 11, causing the third magnetic connector 23 of the tooling mechanism 12 and the fourth magnetic connector 24 of the base 13 to separate against magnetic force.

[0114] The second implementation method is to achieve separation by strengthening the magnetic force of the robotic arm 11 and weakening the magnetic force of the base 13.

[0115] Sub-step 3074: The electronic control component 14 applies a third excitation current to the first magnetic connector 21 at the end of the robotic arm 11, so that the first magnetic connector 21 generates a third magnetic attraction force.

[0116] Enhance the suction force on the 11th side of the robotic arm to ensure a firm grip.

[0117] Sub-step 3075: The electronic control component 14 applies a fourth excitation current to the fourth magnetic connector 24 of the base 13. The fourth excitation current is less than the third excitation current, so that the fourth magnetic attraction force generated by the fourth magnetic connector 24 is less than the third magnetic attraction force.

[0118] The adhesion force on the side of base 13 is weakened, making separation easier.

[0119] Sub-step 3076: The electronic control component 14 sends a movement command to the robotic arm 11, causing the third magnetic connector 23 of the tooling mechanism 12 to separate from the fourth magnetic connector 24 of the base 13.

[0120] Please refer to Figure 6 , Figure 6 This application provides a schematic diagram of the structure of an electronic device according to an embodiment of the present application. The present application also provides an electronic device that may include: Memory 401 is used to store computer programs.

[0121] The processor 402 is used to implement the tooling switching method in any of the above embodiments when executing the program stored in the memory.

[0122] According to another aspect of this application, a computer-readable storage medium is provided, which stores a computer program that, when executed by a processor, implements the above-described tooling switching method.

[0123] It should be noted that the dimensions of the areas may have been exaggerated in the accompanying drawings for clarity. Furthermore, it is understood that when an element is referred to as "on top of" another element, it can be directly on the other element, or there may be intermediate elements. Additionally, it is understood that when an element is referred to as "below" another element, it can be directly below the other element, or there may be more than one intermediate element. Furthermore, it is also understood that when an element is referred to as "between" two elements, it can be the only layer between the two elements, or there may be more than one intermediate element. Similar reference numerals throughout indicate similar elements.

[0124] In this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The term "multiple" refers to two or more unless otherwise expressly defined.

[0125] The communication bus mentioned in the above electronic devices can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0126] The communication interface is used for communication between the aforementioned electronic devices and other devices.

[0127] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0128] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0129] In another embodiment provided in this application, a computer-readable storage medium is also provided, which stores a computer program that, when executed by a processor, implements the steps of any of the above-described palletizing methods for handling goods.

[0130] In another embodiment provided in this application, a computer program product containing instructions is also provided, which, when run on a computer, causes the computer to perform any of the palletizing methods for handling goods described in the above embodiments.

[0131] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a solid-state drive (SSD), etc.

[0132] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0133] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the embodiments of methods, electronic devices, storage media, and computer program products are basically similar to the system embodiments, so the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0134] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A tool change device, characterized in that, The device comprises: a mechanical arm, the end of which is provided with a first magnetic joint; a tool mechanism, which comprises a tool body and a second magnetic joint and a third magnetic joint installed on both sides of the tool body, and the second magnetic joint and the third magnetic joint are electrically connected with the tool body; a base, the top end of which is provided with a fourth magnetic joint; an electric control assembly, which is electrically connected with the first magnetic joint and the fourth magnetic joint; wherein the first magnetic joint is configured to be able to be magnetically connected and electrically connected with the second magnetic joint, and the third magnetic joint is configured to be able to be magnetically connected and electrically connected with the fourth magnetic joint.

2. The tool change device according to claim 1, characterized in that The tool switching device further comprises a first switch and a second switch; the first switch is electrically connected with the electric control assembly and the first magnetic joint respectively, and the second switch is electrically connected with the tool body and the third magnetic joint respectively.

3. The tool change device according to claim 2, characterized in that The tool switching device further comprises a first tool position sensor and a second tool position sensor; the first tool position sensor is arranged at the end of the mechanical arm, and is used for detecting whether the tool mechanism is connected with the mechanical arm; the first switch has a first control end, a first input end and a first output end, the first control end is electrically connected with the first tool position sensor, the first input end is electrically connected with the electric control assembly, and the first output end is electrically connected with the first magnetic joint; the second tool position sensor is arranged at the bottom of the tool mechanism, and is used for detecting whether the tool mechanism is connected with the base; the second switch has a second control end, a second input end and a second output end, the control end of the second switch is electrically connected with the second tool position sensor, the second input end is electrically connected with the tool body, and the second output end is electrically connected with the third magnetic joint.

4. The tool change device of claim 1, wherein The mechanical arm further has a first locking member, the tool mechanism further comprises a first matching member, and the first matching member is fixedly connected with the tool body; the first locking member is detachably connected with the first matching member. The base further has a second locking member, the tool mechanism further comprises a second matching member, and the second matching member is fixedly connected with the tool body; the second locking member is detachably connected with the second matching member.

5. The tool change device of claim 1, wherein The first magnetic joint, the second magnetic joint, the third magnetic joint and the fourth magnetic joint all comprise a permanent magnet or an electromagnet.

6. A tool change method characterized by, The method is used for an electric control assembly in a tool switching device, the tool switching device comprises a mechanical arm, a tool mechanism, a base and an electric control assembly, the end of the mechanical arm is provided with a first magnetic joint, the tool mechanism comprises a tool body and a second magnetic joint and a third magnetic joint installed on both sides of the tool body, the second magnetic joint and the third magnetic joint are electrically connected with the tool body, and the top end of the base is provided with a fourth magnetic joint; the electric control assembly is electrically connected with the first magnetic joint and the fourth magnetic joint; the method comprises: sending a first movement instruction to the mechanical arm, so that the mechanical arm carries the current tool mechanism to move above a target base; sending a second movement instruction to the mechanical arm to control the mechanical arm end to move towards the target base to make the third magnetic attraction joint of the tooling mechanism magnetically attract and dock with the fourth magnetic attraction joint on the base to establish a first electrical connection between the tooling mechanism and the target base; sending a third movement instruction to the mechanical arm to control the first magnetic attraction joint of the mechanical arm end to separate from the second magnetic attraction joint of the tooling mechanism and move the mechanical arm away.

7. The method of claim 6, wherein, The method further comprises: sending a fourth movement instruction to the mechanical arm to control the mechanical arm to move to a docking starting pose above the target tooling mechanism; sending a fifth movement instruction to the mechanical arm to control the mechanical arm end to move towards the target tooling mechanism to make the first magnetic attraction joint magnetically attract and dock with the second magnetic attraction joint above the target tooling mechanism to establish a second electrical connection between the mechanical arm and the target tooling mechanism; reading the identity information of the target tooling mechanism and loading the control parameters corresponding to the identity information.

8. The method of claim 6, wherein, The mechanical arm end is provided with a three-dimensional camera; the control mechanical arm carrying the current tooling mechanism to move above the target base comprises: acquiring a first marker associated with the current tooling mechanism and determining a second marker provided on the target base based on the first marker; controlling the three-dimensional camera to capture a region image containing the second marker; identifying a three-dimensional pose of the target base relative to the mechanical arm end according to the region image; generating a movement path of the mechanical arm based on the three-dimensional pose; sending a path movement instruction to the mechanical arm to make the mechanical arm move to a starting pose for docking with the target base according to the movement path.

9. The method of claim 7, wherein, The tooling switching device further comprises a first switch and a second switch, the first switch is electrically connected with the electric control assembly and the first magnetic attraction joint respectively, and the second switch is electrically connected with the tooling body and the third magnetic attraction joint respectively; The method further comprises: in the process of controlling the mechanical arm to move without carrying the tooling mechanism, controlling the first switch to be turned off to make the first magnetic attraction joint of the mechanical arm end be powered off; in the process of controlling the mechanical arm to move while carrying the tooling mechanism, controlling the second switch to be turned off to make the third magnetic attraction joint of the tooling mechanism be powered off.

10. The method of claim 9, wherein, The tooling switching device further comprises a first tooling position sensor and a second tooling position sensor; The control of the first switch to be turned off comprises: detecting the connection state of the tooling mechanism and the mechanical arm by the first tooling position sensor; when the first tooling position sensor detects that the connection is disconnected, controlling the first switch to be turned off; The control of the second switch to be turned off comprises: detecting the connection state of the tooling mechanism and the base by the second tooling position sensor; when the second tooling position sensor detects that the connection is disconnected, controlling the second switch to be turned off.

Images