Intelligent robot changer table with automatic changing function

Abstract

The utility model discloses a kind of intelligent robot replacement platform with automatic replacement function, comprising: machine table, robot is equipped on machine table, the final shaft of robot is equipped with gripper tooling;Clamping mechanism, clamping mechanism can be fixed by gripper tooling, the surface of machine table is provided with multiple groups of placement cavity for placing gripper tooling. According to the embodiment of the utility model, the intelligent robot replacement platform with automatic replacement function is stored by setting multiple placement cavities on the surface of machine table Gripper tooling and clamping mechanism combination adapted to different processing scenes, realize that robot automatically replaces clamp according to processing demand, accurately detects clamp installation condition, and control electric clamp executes corresponding action, effectively improves replacement efficiency and assembly accuracy.

Description

Technical Field

[0001] This utility model relates to the technical field of robot manufacturing, and in particular to an intelligent robot replacement station with automatic replacement function. Background Technology

[0002] In the field of industrial automation, robots are widely used due to their advantages such as high efficiency and precision. However, traditional robot grippers are mostly designed for single functions. When faced with diverse processing scenarios such as gripping precision parts and handling heavy objects, manual disassembly and replacement of grippers are required. This is not only inefficient and labor-intensive, but also prone to problems such as inaccurate assembly and equipment failure due to human error. Summary of the Invention

[0003] This utility model aims to at least partially solve one of the technical problems in the related art.

[0004] Therefore, the purpose of this utility model is to provide an intelligent robot changing table with automatic changing function. By setting multiple placement cavities on the surface of the table to store gripper tooling and clamping mechanism combinations suitable for different processing scenarios, the robot can automatically change the gripper according to processing requirements, accurately detect the installation status of the gripper, and control the electric gripper to perform corresponding actions, effectively improving the changing efficiency and assembly accuracy.

[0005] To achieve the above objectives, this utility model proposes an intelligent robot replacement platform with automatic replacement function, comprising: a machine platform, on which a robot is mounted, and a clamping fixture is provided on the final axis of the robot; a clamping mechanism, which can be fixed by the clamping fixture, and the surface of the machine platform is provided with multiple sets of placement cavities for placing the clamping mechanism.

[0006] According to the present invention, an intelligent robot changing platform with automatic changing function is provided on the machine surface. By setting multiple placement cavities to store clamping fixtures and clamping mechanism combinations suitable for different processing scenarios, the robot can automatically change clamps according to processing requirements, accurately detect the installation status of clamps, and control the electric clamps to perform corresponding actions, effectively improving changing efficiency and assembly accuracy.

[0007] In addition, the intelligent robot changing station with automatic changing function proposed above according to this utility model may also have the following additional technical features:

[0008] Furthermore, the clamping fixture has a clamping cavity at its front end, a hydraulic pump is provided on the outside of the clamping fixture, and the output end of the hydraulic pump is located inside the clamping cavity;

[0009] The clamping mechanism includes a tray, an electric clamp, and a clamping shaft. The clamping shaft is adapted to the clamping cavity. The clamping shaft is disposed on one side of the tray, and the electric clamp is disposed on the other side of the tray.

[0010] The clamping shaft is provided with a clamping slot that is adapted to the output end of the hydraulic pump.

[0011] Furthermore, the clamping slot is provided with a support platform.

[0012] Furthermore, an alignment block is provided on the outer side of the tray, and an alignment groove is provided in the clamping slot.

[0013] Furthermore, the inner wall of the clamping slot is provided with at least two sets of optical sensors, and the detection ends of the optical sensors are at the same horizontal plane.

[0014] Furthermore, a connecting end is provided inside the clamping shaft, and a guide head communicating with the connecting end is provided on the outer wall of the clamping shaft. The input electrode and control interface of the electric clamp are connected to the guide head. An input interface is provided inside the clamping cavity, and the input interface is connected to the industrial control console of the robot.

[0015] Furthermore, the clamping end of the clamping mechanism is provided with an alignment notch, and the shape of the placement cavity is adapted to the shape of the clamping end of the clamping mechanism.

[0016] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0017] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, in which:

[0018] Figure 1 This is a structural schematic diagram of an intelligent robot changing station with automatic changing function according to the present invention;

[0019] Figure 2 A schematic diagram of the structure of the intelligent robot with automatic replacement function according to this utility model for replacing the Taichung robot;

[0020] Figure 3 This is a schematic diagram of the structure of the clamping mechanism in the changing table of the intelligent robot with automatic changing function according to the present invention;

[0021] Figure 4 This is a structural diagram of the intelligent robot with automatic replacement function according to the present invention, including the replacement platform and the mechanism on the platform.

[0022] As shown in the figure: 1. Robot; 2. Gripper fixture; 3. Hydraulic pump; 4. Gripping mechanism; 5. Placement cavity; 6. Platform; 7. Optical sensor; 8. Gripping shaft; 9. Gripping cavity; 10. Gripping slot; 11. Alignment slot; 12. Tray; 13. Alignment block; 14. Electric clamp; 15. Machine base. Detailed Implementation

[0023] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0024] The following description, in conjunction with the accompanying drawings, describes an intelligent robot replacement station with automatic replacement function according to an embodiment of the present invention.

[0025] like Figures 1-4 As shown, the intelligent robot replacement station with automatic replacement function according to an embodiment of this utility model includes:

[0026] Machine base 15, robot 1 is mounted on machine base 15, and clamping fixture 2 is mounted on the final axis of robot 1.

[0027] The clamping mechanism 4 can be fixed by the clamping fixture 2. The surface of the machine base 15 is provided with multiple sets of placement cavities 5 for placing the clamping mechanism 4.

[0028] Specifically, the final axis of robot 1, i.e. the axis through which the robot performs end effector actions, is equipped with a gripper fixture 2. The gripper fixture 2 is a component used to connect to and operate the gripping mechanism 4, and can be understood as a key component carrier for robot 1 to perform operations such as grasping.

[0029] Clamping mechanism 4 and placement cavity 5: The clamping mechanism 4 is the part actually used for grasping, handling and other operations. It can be fixed to the robot 1 by the gripper fixture 2. The multiple placement cavities 5 set on the machine surface are specially designed for placing the gripper fixture 2. When certain gripper fixtures 2 are not needed or need to be replaced with gripper fixtures 2 with different functions, they can be placed in the placement cavity 5 for easy storage and replacement.

[0030] In one embodiment of this utility model, the clamping fixture 2 has a clamping cavity 9 at its front end, and a hydraulic pump 3 is provided on the outside of the clamping fixture 2. The output end of the hydraulic pump 3 is located inside the clamping cavity 9.

[0031] The clamping mechanism 4 includes a tray 12, an electric clamp 14, and a clamping shaft 8. The clamping shaft 8 is adapted to the clamping cavity 9. The clamping shaft 8 is located on one side of the tray 12, and the electric clamp 14 is located on the other side of the tray 12.

[0032] The clamping shaft 8 is provided with a clamping slot 10 that is adapted to the output end of the hydraulic pump 3.

[0033] Specifically, each placement cavity 5 stores a combination of gripper fixture 2 and clamping mechanism 4 adapted to different processing scenarios. For example, placement cavity 5A stores gripper fixture 2A and clamping mechanism 4A for gripping precision parts. The electric clamp 14A on clamping mechanism 4A uses high-precision grippers, suitable for gripping small precision parts. Placement cavity 5B stores gripper fixture 2B and clamping mechanism 4B for handling heavy objects. The electric clamp 14B is a large-size hydraulic clamp that can withstand greater weight.

[0034] When robot 1 needs to change the fixture to adapt to the new processing scenario, firstly, robot 1 moves to the placement cavity 5 corresponding to the currently used gripper fixture 2, controls the hydraulic pump 3 to release the fixation of the clamping mechanism 4, so that the clamping mechanism 4 is separated from the gripper fixture 2 and placed in the corresponding placement cavity 5.

[0035] Next, robot 1 moves above the placement cavity 5 where the fixture required for the target processing scene is located, and accurately identifies the positions of the gripper fixture 2 and the clamping mechanism 4 through a vision recognition system or other positioning device. Then, robot 1 descends, aligning the clamping cavity 9 on the gripper fixture 2 with the clamping shaft 8 of the clamping mechanism 4. The hydraulic pump 3 is activated, and its output end extends into the clamping slot 10 on the clamping shaft 8, completing the fixed connection between the clamping mechanism 4 and the gripper fixture 2.

[0036] Furthermore, the electric gripper 14 within the clamping mechanism 4 is electrically connected to the robot 1 via the electrical connection terminal within the clamping shaft 8, the guide head, and the input interface within the clamping cavity 9. When the gripper is changed, the robot 1 can control the electric gripper 14 through this electrical connection to perform corresponding actions according to the needs of different processing scenarios, thereby realizing the function of adapting different grippers to different processing scenarios.

[0037] In one embodiment of this utility model, a support platform 6 is provided in the clamping slot 10.

[0038] Specifically, the support platform 6 provided in the clamping slot 10 can provide bottom support for the inserted clamping shaft 8, ensuring the installation stability of the clamping shaft 8.

[0039] In one embodiment of the present invention, an alignment block 13 is provided on the outer side of the tray 12, and an alignment groove 11 is provided on the clamping slot 10.

[0040] Specifically, the alignment block 13 on the outside of the tray 12 and the alignment groove 11 on the clamping slot 10 cooperate with each other. When changing the clamp, the two achieve quick and accurate positioning through shape matching, ensuring that the clamping shaft 8 can be accurately inserted into the clamping cavity 9, and allowing the output end of the hydraulic pump 3 to be smoothly inserted into the clamping slot 10, thereby improving the clamp replacement efficiency and installation accuracy.

[0041] In one embodiment of this utility model, the inner wall of the clamping slot 10 is provided with at least two sets of optical sensors 7, and the detection ends of the optical sensors 7 are at the same horizontal plane.

[0042] Specifically, the light sensor 7 inside the placement cavity 5 detects whether the clamping mechanism 4 is completely inside the placement cavity 5 and in a level position. If the occlusion signal detected by the light sensor 7 is uniform, it indicates that the clamping mechanism 4 is level and present, and this signal is fed back to the control system. If the detected occlusion signal is uneven, it is determined that the clamping mechanism 4 is not level, and the control system issues an alarm, prompting manual adjustment. This ensures that the clamping mechanism 4 is in a stable fixed position.

[0043] In one embodiment of this utility model, a connecting end is provided inside the clamping shaft 8, and a guide head communicating with the connecting end is provided on the outer wall of the clamping shaft 8. The input electrode and control interface of the electric clamp 14 are connected to the guide head, and an input interface is provided inside the clamping cavity 9. The input interface is connected to the industrial control console of the robot 1.

[0044] Specifically, the connecting end and the guide head on the outer wall of the clamping shaft 8 are connected to the input electrode and control interface of the electric gripper 14, forming an internal electrical path. At the same time, the input interface in the clamping cavity 9 is connected to the robot 1. When the clamping shaft 8 is inserted into the clamping cavity 9, the two interfaces are connected, enabling the robot 1 to control the electric gripper 14 through electrical connection, realizing gripper function drive and signal interaction.

[0045] In one embodiment of the present invention, the clamping end of the clamping mechanism 4 is provided with an alignment notch, and the shape of the placement cavity 5 is adapted to the shape of the clamping end of the clamping mechanism 4.

[0046] Specifically, the clamping end of the clamping mechanism 4 is provided with an alignment notch, which forms a "concave-convex fit" with the shape of the placement cavity 5. When changing the clamp, this design can help the robot 1 to quickly position itself, so that the clamping mechanism 4 can accurately fall into the placement cavity 5. At the same time, it ensures that the two fit tightly after placement.

[0047] In actual use,

[0048] The final axis of the robot 1 on the machine tool 15 is equipped with a gripper fixture 2, which is fixedly connected to the clamping mechanism 4 via a hydraulic pump 3.

[0049] The machine tool 15 has multiple placement cavities 5 on its surface, which respectively store the clamping fixtures 2 and clamping mechanisms 4 that are adapted to different processing scenarios, such as precision gripping and heavy handling.

[0050] Change the fixture to trigger.

[0051] When the control system determines that the fixture needs to be changed according to the processing task requirements, the robot 1 moves to the placement cavity 5 corresponding to the currently used gripper fixture 2.

[0052] Remove the current clamp.

[0053] Robot 1 aligns the current clamping mechanism 4 with the placement cavity 5, and the hydraulic pump 3 releases pressure to unlock the clamping shaft 8.

[0054] Robot 1 is lifted upwards, causing the clamping shaft 8 to disengage from the clamping cavity 9, and the clamping mechanism 4 is placed smoothly into the placement cavity 5.

[0055] Positioning guarantee: The shape of the placement cavity 5 is matched with the alignment notch of the clamping end of the clamping mechanism 4 to ensure that it falls in accurately and is placed stably.

[0056] Status detection: The light sensor 7 inside the placement cavity 5 detects whether the clamping mechanism 4 is level. If the signal is uniform, it confirms that the placement is in place; otherwise, it triggers an alarm to prompt manual adjustment.

[0057] Target positioning fixture.

[0058] Robot 1 moves to the placement cavity 5 corresponding to the target processing scene and identifies the position of gripper tooling 2 and clamping mechanism 4 through vision system or other positioning device.

[0059] Install the new clamp.

[0060] Robot 1 descends, aligning the clamping cavity 9 of the gripper fixture 2 with the clamping shaft 8.

[0061] Quick alignment: The alignment block 13 on the outside of the tray 12 cooperates with the alignment groove 11 of the clamping slot 10 to guide the clamping shaft 8 to be accurately inserted into the clamping cavity 9.

[0062] Hydraulic locking: The hydraulic pump 3 starts and its output end is engaged in the clamping slot 10 of the clamping shaft 8. At the same time, the support platform 6 provides bottom support to ensure a stable connection.

[0063] Electrical connection: The connecting end inside the clamping shaft 8 is connected to the electric clamp 14 through the guide head on the outer wall, and the input interface inside the clamping cavity 9 is connected to the robot 1 to complete the signal transmission path.

[0064] Status confirmed.

[0065] The optical sensor 7 on the inner wall of the clamping slot 10 detects whether the signal is uniformly blocked around the clamping shaft 8, confirming that the installation is flush.

[0066] The control system receives feedback from the optical sensor 7. If the status is normal, the fixture is deemed usable; otherwise, an alarm is triggered.

[0067] Perform processing tasks.

[0068] Robot 1 controls the electric gripper 14 to perform corresponding actions such as grasping, handling, and precision operation according to the needs of the processing scenario through electrical connection.

[0069] In summary, the intelligent robot changing table with automatic changing function of this utility model has multiple placement cavities on the machine surface to store clamping fixtures and clamping mechanism combinations suitable for different processing scenarios. This enables the robot to automatically change clamps according to processing requirements, accurately detect the installation status of clamps, and control the electric clamps to perform corresponding actions, effectively improving changing efficiency and assembly accuracy.

[0070] In the description of this specification, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0071] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0072] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. An intelligent robot changing station with automatic changing function, characterized in that, include: A machine base (15) is provided with a robot (1), and the final axis of the robot (1) is provided with a clamping fixture (2). The clamping mechanism (4) can be fixed by the clamping fixture (2), and the surface of the machine base (15) is provided with multiple sets of placement cavities (5) for placing the clamping mechanism (4).

2. The intelligent robot replacement station with automatic replacement function according to claim 1, characterized in that, The clamping fixture (2) has a clamping cavity (9) at its front end, and a hydraulic pump (3) is provided on the outside of the clamping fixture (2). The output end of the hydraulic pump (3) is located inside the clamping cavity (9). The clamping mechanism (4) includes a tray (12), an electric clamp (14), and a clamping shaft (8). The clamping shaft (8) is adapted to the clamping cavity (9). The clamping shaft (8) is located on one side of the tray (12), and the electric clamp (14) is located on the other side of the tray (12). The clamping shaft (8) is provided with a clamping slot (10) adapted to the output end of the hydraulic pump (3).

3. The intelligent robot replacement station with automatic replacement function according to claim 2, characterized in that, The clamping slot (10) is provided with a support platform (6).

4. The intelligent robot replacement station with automatic replacement function according to claim 2, characterized in that, The outer side of the tray (12) is provided with an alignment block (13), and the clamping slot (10) is provided with an alignment slot (11).

5. The intelligent robot replacement station with automatic replacement function according to claim 2, characterized in that, The inner wall of the clamping slot (10) is provided with at least two sets of optical sensors (7), and the detection ends of the optical sensors (7) are on the same horizontal plane.

6. The intelligent robot replacement station with automatic replacement function according to claim 2, characterized in that, The clamping shaft (8) is provided with a connecting end, and the outer wall of the clamping shaft (8) is provided with a guide head that communicates with the connecting end. The input electrode and control interface of the electric clamp (14) are connected to the guide head. The clamping cavity (9) is provided with an input interface, and the input interface is connected to the industrial control console of the robot (1).

7. The intelligent robot replacement station with automatic replacement function according to claim 1, characterized in that, The clamping end of the clamping mechanism (4) is provided with an alignment notch, and the shape of the placement cavity (5) is adapted to the shape of the clamping end of the clamping mechanism (4).

Images