CN110587364A - Fixture device matched with intelligent robot capable of automatically replacing fixtures and application method - Google Patents

Abstract

The clamp device matched with the intelligent robot for automatically replacing the clamp comprises a clamp body, an electromagnet and a code scanner; the bar code scanner is arranged at the upper part of the front end of the robot arm, and bar codes are arranged on the clamp bodies with different shapes; the upper end of each clamp body is provided with a connecting disc, the side end of the upper part of the connecting disc is provided with a plurality of lower holes, the middle part of the outer side end of the connecting disc is provided with a plurality of holes, and the outer end of each outer side end hole is provided with an air pipe; the middle part of the connecting disc is provided with an opening, and the side end of the upper part of the connecting disc is provided with a groove; the clamping mechanism comprises a fixed disc, a connecting cylinder and an upper flange plate, and the electromagnet is arranged in the middle of the fixed disc; the upper side end of the fixed disk is provided with a plurality of upper through holes, the lower part of the fixed disk is provided with a limiting rod, and the lower end of the middle part of the fixed disk is provided with a positioning ring; the lower part of the connecting cylinder is arranged on the fixed disc, the upper flange is arranged on the connecting cylinder, and the upper flange is connected with the flange of the robot arm. The application method of the clamp device matched with the automatic clamp replacing intelligent robot comprises six steps. The clamp body replacing speed is high, and the effect is good.

Description

Fixture device matched with intelligent robot capable of automatically replacing fixtures and application method

Technical Field

The invention relates to the field of intelligent robots, in particular to a clamping device matched with an intelligent robot capable of automatically replacing a clamp and an application method.

Background

With the development of science and technology, intelligent robots are increasingly applied in the field of industrial processing. The device of intelligent robot intelligent machine tool processing work piece in coordination generally includes intelligent robot, intelligent work piece machine tool, is applicable to a plurality of anchor clamps, the work piece transfer chain of different appearance work pieces (the general intelligent robot of locating position is located the middle part, and intelligent robot, anchor clamps work or material rest, work piece transfer chain, the finished product work piece of processing are put the district and are located around the intelligent robot side). Before and during work, the intelligent robot can automatically replace and use clamps with different shapes under the action of a self circuit and a control system in the intelligent robot or a control command input by an operator according to workpieces to be processed with different shapes on a conveying line. During operation, the clamp manipulators located at the front end of the intelligent robot arm and in different shapes carry workpieces to be machined on the conveying line and in different shapes to the position between the two clamps or the two chucks of the intelligent machine tool, after the workpieces are clamped by the clamps or the chucks of the intelligent machine tool, the clamp manipulators at the front end of the intelligent robot arm are loosened, and the intelligent machine tool automatically begins to machine the workpieces. After the workpiece is machined, the clamp manipulator clamps and places the machined workpiece in a finished product area (after the clamp of the intelligent robot clamps and stabilizes the machined workpiece, two clamps or two chucks of the intelligent machine tool are separated, so that the intelligent robot can place the machined workpiece in the finished product area), then the upper workpiece and the lower workpiece on the conveying line are conveyed between the two clamps or the two chucks of the machine tool, after the clamp or the chuck of the intelligent machine tool clamps and clamps the next workpiece, the clamp manipulator at the front end of the intelligent robot arm is released, the intelligent machine tool automatically starts to machine another workpiece, the process is continuously and circularly reciprocated, the purpose of intelligently machining the workpiece in the assembly line can be achieved (if the workpiece conveyed to the tail end by the conveying line is not clamped by the manipulator of the clamp of the intelligent robot, the conveying line stops conveying under the function of the conveying line, and after the tail end workpiece is clamped by the manipulator of the clamp, the conveyor line will continue to work to transport the next workpiece to the end ready for the next gripper robot gripping operation). The device for processing the workpiece by the intelligent robot in cooperation can reduce the labor intensity of workers, reduce the labor expenditure of production departments, reduce the safety risk caused by manual operation, and improve the processing speed, so that the device is more and more applied to processing the workpiece by a machine tool.

In actual production, because the shape of the workpiece is not limited to one, after the workpiece with one shape is machined, the fixture with the matched shape needs to be replaced according to the next workpiece with the different shape, so that the next workpiece in the next batch can be effectively transported to the fixture or the chuck of the machine tool by the intelligent robot, and particularly, in a production area with multiple types of machined workpieces, the fixtures with the matched shapes are more. The clamps of multiple different appearances are put on the anchor clamps work or material rest, and intelligent robot changes the unloading of the back anchor clamps and puts to the anchor clamps locating place department that corresponds and use according to internal control system to and change anchor clamps again. When the clamps with different shapes are replaced, a clamping mechanism at the lower end of the robot arm is drawn in to clamp the connecting plate (connecting disc) tightly so as to clamp the clamps, the six lower openings and the six upper openings are aligned respectively, a control system in the intelligent robot controls the working modes of the plurality of electromagnetic valves respectively, and compressed air output and input by the plurality of electromagnetic valves passes through the six upper openings, the six lower openings and the six upper openings respectively, Six lower open holes are opened and closed, so that the control purpose of furling, clamping or unfolding and loosening the mechanical arm is achieved, and the machined workpiece is clamped or put down correspondingly. In the prior art, when clamps with different shapes are replaced, the clamping mechanism at the lower end of the robot arm is used for clamping the connecting plate by folding the two ends of the clamping mechanism, so that the clamp is clamped, the clamping mechanisms at the left end and the right end comprise components such as an electromagnetic valve, a cylinder, a connecting rod and the like, a plurality of moving components are provided, and the problems of complex structure and high cost are solved; and because clamping mechanism draws in the side direction through both ends and presss from both sides the connecting plate tightly, consequently can not guarantee six effective sealings of going up between trompil and the under shed, consequently in-service use, when the under shed is sealed not well, can bring the influence to the manipulator normal work of anchor clamps. More importantly, when current intelligent robot carries out the change of anchor clamps, because under inside self circuit and control system effect, perhaps under the control command effect of operating personnel input, the automatic certain angle of rotation reaches the different appearance anchor clamps upper end that correspond needs, that is to say, the robot pivoted angle is fixed, like this in actual production, when the staff is because of various reasons carelessness, when putting different appearance anchor clamps on the position on the anchor clamps work or material rest is inaccurate, then will lead to the anchor clamps mistake that the robot changed, and then cause the influence and cause production unable to go on to subsequent production.

Disclosure of Invention

In order to overcome the defects existing in the prior art that an intelligent robot cooperates with an intelligent machine tool to process workpieces, and clamps with different shapes are replaced due to the limited structure, the invention provides a device which is simple in structure and reliable in work based on the existing mature code scanning technology, the intelligent robot control positioning technology, the intelligent machine tool processing technology and the like, before the clamps with different shapes are replaced, a code scanner at the front end of an intelligent robot arm is used for scanning a bar code on the clamp body to be replaced, and a real-time output signal enters a control system in the intelligent robot body, when the information of the code-scanned clamp body is consistent with that of the clamp body to be replaced, the robot body enters a program for replacing the clamp body, so that the problem of wrong installation of the clamp body is prevented, the clamp bodies with different shapes are attracted through an electromagnet, the combining and separating speeds are improved, and the clamp bodies are attracted from top to bottom, the clamp device and the application method can effectively seal the upper through hole and the lower through hole, and further can effectively ensure that the clamp manipulators with different shapes can normally work.

The technical scheme adopted by the invention for solving the technical problems is as follows:

the clamping device matched with the automatic clamp-changing intelligent robot comprises a plurality of clamping bodies with different shapes, electromagnets and industrial bar code scanners, and is characterized in that the industrial bar code scanners are arranged at the upper parts of the front ends of robot arms of the robot bodies, and different types of bar codes are arranged on the clamping bodies with different shapes; the middle part of the supporting plate at the upper end of each clamp body with different appearances is provided with a connecting disc, a plurality of lower openings are distributed at intervals from top to bottom at the upper side end of the connecting disc, a plurality of openings are arranged at intervals at the middle part of the outer side end of the connecting disc, the plurality of openings at the middle part of the outer side end are respectively communicated with the plurality of lower openings at the upper side end, the outer end of each opening at the outer side end is fixedly provided with an air pipe, and a plurality of air pipes are respectively connected with a plurality of air inlet and exhaust pipes of the; the middle part of the connecting disc is provided with an opening, and a groove is formed between two lower openings at the side end of the upper part; the clamping mechanism at the lower end of the robot arm comprises a lower fixing disc, a connecting cylinder and an upper flange disc, and the electromagnet is fixedly arranged in a middle opening of the fixing disc; a plurality of upper through holes are distributed at intervals from top to bottom at the upper side end of the ring fixing disc, a limiting rod is arranged at the lower part of the fixing disc between the two upper through holes, and a positioning ring is fixedly arranged at the lower end of the middle part of the fixing disc; connecting cylinder lower part fixed mounting is located the connecting cylinder lower extreme at fixed disk upper portion, a plurality of through-holes of going up, and the upper end of a plurality of through-holes of going up is fixed mounting respectively has the intake pipe, and the lower extreme fixed mounting of going up the ring flange is on connecting cylinder upper portion, and a plurality of intake pipes are connected with a gas hose respectively, and a plurality of gas hoses are connected with a plurality of solenoid valves of the supporting of robot body, go up the ring flange and the robot arm ring flange fixed connection of intelligent robot body.

Furthermore, the connecting disc, the fixed disc, the connecting cylinder and the upper flange are made of steel.

Furthermore, the inner diameter of the middle opening of the connecting disc is larger than the outer diameter of the positioning ring at the lower end of the middle part of the fixed disc, and the height of the middle opening is higher than that of the limiting ring.

Furthermore, the inner diameter of a groove between two lower openings of the connecting disc is larger than the outer diameter of a limiting rod at the lower part of the fixed disc between the two upper through holes, and the height of the groove is higher than that of the limiting rod.

Furthermore, a plurality of upper through holes distributed on the upper side end of the fixed disc from top to bottom and a plurality of lower through holes distributed on the upper side end of the connecting disc from top to bottom are consistent in number, equal in distance and consistent in circumferential direction.

Furthermore, the spacing between the groove between two lower holes of the connecting disc and the spacing rod at the lower part of the fixed disc between the two upper through holes are equal, and the circumferential directions are consistent.

Furthermore, sealing gaskets are fixedly mounted at the lower end of the fixed disk and the upper end of the connecting disk respectively, a plurality of openings around the two sealing gaskets are aligned with the positions of a plurality of upper through holes on the lower portion of the fixed disk and a plurality of lower openings on the upper portion of the connecting disk respectively, and the inner diameters of the openings in the middle of the two sealing gaskets are larger than the outer diameter of the positioning ring at the lower end of the middle of the fixed disk and the inner diameter of the opening in the middle of.

The clamp device matched with the intelligent robot for automatically replacing the clamp is characterized in that the application method comprises six steps, namely step 1: before the intelligent robot carries the clamp bodies with different shapes, the intelligent robot automatically rotates a certain angle to the upper end of the placing positions of the clamp bodies with different shapes corresponding to the clamp material rack under the action of an internal circuit and a control system and a control command input by an operator, and unloads the clamp bodies which need to be replaced; step 2: the intelligent robot automatically rotates a certain angle to the upper end of the clamp body with different shapes, which corresponds to the position of the clamp rack and needs to be replaced, under the action of an internal circuit and a control system and under the action of a control command input by an operator; and step 3: the industrial bar code scanner scans the bar codes on the clamp body at the corresponding position, and outputs signals in real time to enter the control system in the intelligent robot body; and 4, step 4: the control system compares the input bar code signals, and if the bar code information is correct, the control system directly enters a program for replacing the next clamp body; and 5: in sweeping the sign indicating number, if bar code information and the corresponding anchor clamps body bar code information that needs to be changed are inconsistent, intelligent robot passes through under the effect of internal control system, again automatic rotation certain angle to all the other different appearance anchor clamps body upper ends department of anchor clamps work or material rest department, and industry bar code scanner scans all the other anchor clamps bodies once more, and after bar code information is correct, automatic entering is changed anchor clamps body procedure.

The invention has the beneficial effects that: based on the existing mature code scanning technology and the intelligent robot control positioning, intelligent machine tool machining and other technologies, the intelligent robot control system is simple in structure and reliable in work, before clamps with different shapes are replaced, bar codes on a clamp body to be replaced are scanned through a code scanner at the front end of an intelligent robot arm, signals are output in real time to enter a control system in the intelligent robot body, when the information of the code-scanned clamp body is consistent with that of the clamp body to be replaced, the robot body enters a program for replacing the clamp body, and the problem of wrong installation of the clamp body is solved. When changing different appearance anchor clamps bodies, carry out the actuation to different appearance anchor clamps bodies through the electro-magnet, both combine and the separating rate improves, and owing to be from top to bottom actuation, under two rubber packing pad combined action, can effectively realize a plurality of last through-holes and a plurality of down respectively sealed between the trompil, guaranteed that the inside control system of intelligent robot controls the working method back of a plurality of solenoid valves respectively, through the compressed air of a plurality of solenoid valve output inputs can be respectively through six last through-holes, six down the trompil get into a plurality of admission and exhaust pipes of anchor clamps body manipulator, and then reach and draw in the control purpose of pressing from both sides tightly or expand the relaxation in the manipulator, correspondingly reach and press from both sides the tight purpose or relax to the processing work piece. The cylindrical limiting rod and the like can play a limiting role to prevent the clamp from turning when in work, and the annular positioning ring and the like can play a positioning role to facilitate the suction work of the electromagnet, so that the work is more reliable. Based on the above, the invention has good application prospect.

Drawings

The invention is further illustrated below with reference to the figures and examples.

Fig. 1 is a schematic structural diagram of the invention and an intelligent robot, an intelligent machine tool, a clamp rack and a machining workpiece conveying line.

Fig. 2 is a schematic structural view between the intelligent robot arm and one of the jig bodies according to the present invention.

Fig. 3 is a schematic view of the structure between the gripping mechanism at the lower end of the robot arm and one of the gripper bodies according to the present invention.

Detailed Description

As shown in fig. 1, 2 and 3, a clamping device matched with an intelligent robot capable of automatically changing a clamp comprises a clamp body 1 with various shapes and an annular electromagnet 2, the intelligent robot comprises an industrial bar code scanner 14, a power supply input end of an annular electromagnet 2 and a control circuit board power supply output end of an intelligent robot body 3 are connected through a lead, a signal output end of the industrial bar code scanner 14 and a signal input end of the control circuit board are connected through a lead, the industrial bar code scanner 14 is installed on the upper portion of the front end of a robot body robot arm 31 through a screw and a nut, different types of bar codes 15 are adhered to various different shapes of fixture bodies 1, the intelligent robot 3 is located in the ground middle of a processing area, an intelligent machine tool 4, a fixture rack 5, a processed workpiece conveying line 6 (a processed workpiece 12 is located at the front end of the conveying line 6), and a processed finished workpiece 13 placing area (a processed finished workpiece 13 is located at the rear end of the conveying line 6; an annular connecting disc 101 is arranged in the middle of an upper end supporting plate of each clamp body 1 with different shapes, six lower openings 102 are distributed at the upper side end of the annular connecting disc 101 from top to bottom at intervals, six openings 103 are formed in the middle of the outer side end of the connecting disc 101 at intervals, the six openings 103 in the middle of the outer side end are communicated with the six lower openings 102 in the upper side end respectively, an air pipe 104 is welded at the outer end of each opening in the outer side end, and the six air pipes 104 are connected with six air inlet and exhaust pipes of a clamp body manipulator 106 through metal air hoses respectively; the middle part of the connecting disc 101 is provided with an opening 101-1, and a cylindrical groove 101-2 is arranged between two lower openings at the upper side end; the clamping mechanism at the lower end of the robot arm comprises a lower annular fixed disc 7, a connecting cylinder 8 and an upper flange plate 9, wherein external threads are arranged on the periphery of a shell of the annular electromagnet 2 from top to bottom, internal threads are arranged on a middle opening 101-1 of the fixed disc from top to bottom, the external threads on the periphery of the shell of the electromagnet 2 are screwed into the internal threads of the middle opening 101-1 of the fixed disc, and the annular electromagnet 2 is arranged in the middle opening 101-1 of the fixed disc; six upper through holes 71 are distributed at the upper side end of the ring fixing disc 7 from top to bottom at certain intervals, a cylindrical limiting rod 72 is arranged at the lower part of the fixing disc between the two upper through holes, and an annular positioning ring 73 is welded at the lower end of the middle part of the fixing disc 7; the lower portion of the connecting cylinder 8 is welded to the upper portion of the fixed disc 7, six upper through holes 71 are located in the lower end of the connecting cylinder 8, an air inlet pipe 10 is welded to the upper ends of the six upper through holes 71 respectively, the lower end of the upper flange 9 is welded to the upper portion of the connecting cylinder 8, the six air inlet pipes 10 are connected with metal air hoses respectively, the six metal air hoses are led out upwards through a hole in the middle of the upper flange 9, led out of the robot body 3 and connected with six matched electromagnetic valves of the robot body 3, and the upper flange 9 is connected with a robot arm 31 flange of the intelligent robot body through screw nuts. In this example, the shape structure of the clamp body 1 is completely the same as the use process and the function except that the structure of the upper end connecting disc 101 and the clamping mechanism at the lower end of the robot arm is different from the structure of the upper end connecting disc and the clamping mechanism at the lower end of the robot arm in the prior art.

As shown in fig. 1, 2 and 3, the annular connecting disc 101, the lower annular fixed disc 7, the connecting cylinder 8 and the upper flange 9 are made of steel. The inner diameter of the middle part opening hole 101-1 of the connecting disc is larger than the outer diameter of the annular positioning ring 73 at the lower end of the middle part of the fixed disc, and the height of the inner diameter is higher than that of the limiting ring 73. The inner diameter of a cylindrical groove 101-2 between two lower open holes of the connecting disc is larger than the outer diameter of a cylindrical limiting rod 72 at the lower part of the fixing disc between two upper through holes, and the height of the cylindrical limiting rod is higher than that of the limiting rod 72. Six upper through holes 71 distributed on the upper side end of the fixed disk 7 from top to bottom and six lower openings 102 distributed on the upper side end of the annular connecting disk from top to bottom are consistent in number, equal in spacing and consistent in circumferential direction. The distance between the cylindrical groove 101-2 between two lower openings of the connecting disc and the cylindrical limiting rod 72 at the lower part of the fixing disc between the two upper through holes is equal, and the circumferential directions are consistent. The lower end of the fixed disk 7 and the upper end of the connecting disk 101 are respectively glued with a rubber sealing gasket 11, six openings around the two rubber sealing gaskets 11 are respectively aligned with the lower parts of the six upper through holes 71 of the fixed disk and the six lower openings 102 on the upper part of the annular connecting disk, and the inner diameters of the openings in the middle of the two rubber sealing gaskets 11 are respectively larger than the outer diameter of the annular positioning ring 73 at the lower end in the middle of the fixed disk and the inner diameter of the opening 101-1 in the middle of the connecting disk.

As shown in fig. 1, 2 and 3, the application method of the clamping device used with the automatic clamp-changing intelligent robot is as follows: step 1: before the intelligent robot 3 carries the clamp bodies 1 with different shapes, the intelligent robot automatically rotates a certain angle to the upper end of the corresponding placing position of the clamp bodies 1 with different shapes at the clamp rack 5 under the action of an internal circuit and a control system or under the action of a control command input by an operator, and unloads the clamp bodies 1 which need to be replaced; step 2: the intelligent robot automatically rotates a certain angle to the upper end of the clamp body 1 with different shapes, which is correspondingly required to be replaced, at the position of the clamp rack 5 under the action of an internal circuit and a control system or under the action of a control instruction input by an operator; and step 3: the industrial bar code scanner 14 scans the bar code 15 on the clamp body at the corresponding position, and outputs a signal in real time to enter the control system in the intelligent robot body 3; and 4, step 4: the control system compares the input bar code signals, and if the bar code information is correct, the control system directly enters a program for replacing the next fixture body 1; and 5: in sweeping the sign indicating number, if bar code information and the bar code information that corresponds the anchor clamps body 1 that needs to be changed are inconsistent, intelligent robot passes through under the effect of internal control system, again automatic rotation certain angle to the anchor clamps work or material rest 5 all the other different appearance anchor clamps body 1 upper ends department, industrial bar code scanner 14 scans all the other anchor clamps body 1 again, after bar code information is correct, get into automatically and change anchor clamps body 1 procedure (the sign indicating number process is swept to the aforesaid, after bar code information is correct, intelligent robot stopped to sweep the sign indicating number flow, until sweeping the sign indicating number to correct bar code information).

As shown in fig. 1, 2 and 3, the intelligent robot code scanning device is based on the existing mature code scanning technology and the technologies of intelligent robot control positioning, intelligent machine tool machining and the like, and is simple in structure and reliable in work. The invention has the advantages that the rest working processes are completely consistent with the prior art except that the structure of the clamp body 1, the structure of the clamping mechanism at the lower end of the intelligent robot arm 31 and the mode of replacing the clamp body 1 are different. When the intelligent robot arm is in work, the mechanical hand 106 of the clamp body 1 with different shapes at the front end of the intelligent robot arm respectively clamps and conveys the workpieces 12 to be machined on the conveying line 6 and with different shapes between two clamps or two chucks of the intelligent machine tool 4, after the clamps or the chucks of the intelligent machine tool 4 clamp the workpieces 12, the mechanical hand 106 of the clamp body at the front end of the intelligent robot arm is loosened, and the intelligent machine tool 4 automatically begins to machine the workpieces; after the workpieces are machined, the mechanical arm 106 of the clamp body 1 clamps the machined workpieces 13 and places the machined workpieces in a finished product area (after the clamp body mechanical arm of the intelligent robot clamps the machined workpieces 13 stably, two clamps or two chucks of the intelligent machine tool 4 are separated, so that the intelligent robot 1 can place the machined workpieces in the finished product area), then clamps and conveys the next workpiece 12 on the conveying line 6 to a position between the two clamps or two chucks of the intelligent machine tool, after the clamp or the chuck of the intelligent machine tool clamps the next workpiece, the clamp body mechanical arm 106 at the front end of the intelligent robot arm is released, the intelligent machine tool 4 automatically starts to machine another workpiece, the process is continuously and circularly reciprocated, and the purpose of intelligently machining the workpieces 12 on the assembly line can be achieved (if the workpieces 12 at the tail end are not clamped by the clamp body 1 of the intelligent robot 3, the conveying line 6 is under the function of the intelligent machine tool, the conveyance is stopped, and after the end workpiece 12 is gripped by the jig body 1, the conveyor line 6 continues to operate to convey the next workpiece to the end in preparation for the next gripping operation of the jig body 1). Before and during the work of the invention, according to the workpieces 12 to be processed with different shapes on the conveying line 6, the intelligent robot can automatically replace and use the clamp bodies 1 with different shapes to process the workpieces under the action of the internal circuit and control system thereof or the control instruction input by an operator. Before the clamp body 1 is replaced, the intelligent robot body 1 automatically rotates a certain angle to the upper end of the placing position of the clamp body 1 with different shapes corresponding to the clamp rack 5 through the action of an internal circuit and a control system or under the action of a control command input by an operator, and the original clamp body 1 to be replaced is dismounted to the corresponding position on the rack 5; then, the intelligent robot 1 automatically rotates a certain angle to the upper end of the clamp body 1 with different shapes corresponding to the position of the clamp rack 5 under the action of an internal circuit and a control system or under the action of a control instruction input by an operator, the industrial bar code scanner 14 scans the bar code 15 on the clamp body at the corresponding position and outputs a signal in real time to enter the control system in the intelligent robot body 3, the control system compares the input bar code signals, and if the bar code information is correct, the intelligent robot directly enters a program for replacing the next clamp body 1; in actual conditions, in code scanning, if the bar code information is inconsistent with the bar code information corresponding to the fixture body 1 to be replaced, the intelligent robot automatically rotates a certain angle to the upper end of the fixture body 1 with other different shapes at the fixture rack 5 again under the action of the control system, the industrial bar code scanner 14 scans the other fixture bodies 1 again, and the intelligent robot automatically enters a program for replacing the fixture body 1 until the bar code information is correct (in the code scanning process, after the bar code information is correct, the intelligent robot stops the code scanning process until the code is scanned to the correct bar code information). When the clamp bodies 1 with different shapes are replaced, the intelligent robot rotates a certain angle under the action of a self circuit and a control system in the intelligent robot or a control command input by an operator to enable the original clamp body 1 to be replaced to be positioned on a corresponding station of the clamp rack 5, then a control circuit board in the intelligent robot body 3 disconnects a power supply of the electromagnet 2, the electromagnet 2 has no magnetic acting force, and therefore under the action of gravity, as the robot arm 31 of the robot body 3 moves upwards, the original clamp body 1 positioned on the corresponding station of the clamp rack 5 can be separated from a clamping mechanism at the lower end of the robot arm; then, under the action of a self circuit and a control system in the intelligent robot or under the action of a control instruction input by an operator, the intelligent robot rotates by a certain angle, the robot arm 31 is sleeved in the middle opening 101-1 of the connecting disc of the next fixture body 1 from top to bottom, the positioning ring 73 of the clamping mechanism is accurately positioned in the middle opening 101-1 of the connecting disc of the fixture body 1 from top to bottom, the limiting rod 72 of the clamping mechanism is accurately positioned in the groove 101-2 of the connecting disc from top to bottom, then, a control circuit board in the intelligent robot body 3 outputs power to enter two power input ends of the electromagnet 2, the electromagnet 2 generates strong magnetic attraction force to tightly attract the connecting disc 101 through the fixed disc 7, and therefore the purpose of connecting the fixture body 1 and the robot arm 31 of the intelligent robot body 1 is achieved. Then, the intelligent robot rotates a certain angle under the action of its internal circuit and control system or the control instruction input by an operator, the operation flow is completely consistent with the operation flow, the intelligent robot clamps and carries another workpiece 12 on the conveying line 6 to … … intelligent machine tool 4 between two clamps or two chucks of the intelligent machine tool through the clamp body, and the purpose of intelligently processing the workpiece 12 in the assembly line can be achieved by continuous circulation and reciprocation. In the invention, when the clamp bodies 1 with different shapes are replaced, the clamp bodies 1 with different shapes are attracted by the electromagnet 2, the combination and separation speed of the two is improved, and the attraction is from top to bottom, under the combined action of the two rubber sealing gaskets 11, the respective sealing between the six upper through holes 71 and the six lower open holes 102 can be effectively realized, the six open holes around the two rubber sealing gaskets 11 are respectively aligned with the six upper through holes 71 of the fixed disc and the six lower open holes 102 on the upper part of the annular connecting disc, so that after a control system in the intelligent robot respectively controls the working modes of the six electromagnetic valves, compressed air output and input by the six electromagnetic valves can respectively and effectively enter the six air inlet and exhaust pipes of the clamp body manipulator 106 through the six upper through holes 71 and the six lower open holes 102, and further the control purpose of furling, clamping or unfolding and loosening of the manipulator 106 is realized, accordingly, the purpose of clamping or loosening the processing workpiece 12 is achieved. The cylindrical limiting rod 72 can play a limiting role to prevent the clamp body 1 from turning when in work, the annular positioning ring 73 and the like can play a positioning role to facilitate the suction work of the electromagnet 2, and the work is more reliable. The invention overcomes the defects of the prior art that the intelligent robot cooperates with the intelligent machine tool to process the workpiece and the clamps with different shapes are replaced due to the structural limit. The 3 brands of the electromagnet are fast electromagnetic, the model is LX-10060F, the suction force is 300KG, the voltage direct current is 48V, the processing of workpieces below 300KG can be effectively met, the load bearing of the robot body and the device and the processing part of the existing intelligent robot cooperating with the intelligent machine tool to process the workpieces are generally below 200KG, and the suction force of the electromagnet can completely meet the requirement. The code scanner brand is civil and the model is CS 4290.

While there have been shown and described what are at present considered the fundamental principles and essential features of the invention and its advantages, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims (8)

1. The clamping device matched with the automatic clamp-changing intelligent robot comprises a plurality of clamping bodies with different shapes, electromagnets and industrial bar code scanners, and is characterized in that the industrial bar code scanners are arranged at the upper parts of the front ends of robot arms of the robot bodies, and different types of bar codes are arranged on the clamping bodies with different shapes; the middle part of the supporting plate at the upper end of each clamp body with different appearances is provided with a connecting disc, a plurality of lower openings are distributed at intervals from top to bottom at the upper side end of the connecting disc, a plurality of openings are arranged at intervals at the middle part of the outer side end of the connecting disc, the plurality of openings at the middle part of the outer side end are respectively communicated with the plurality of lower openings at the upper side end, the outer end of each opening at the outer side end is fixedly provided with an air pipe, and a plurality of air pipes are respectively connected with a plurality of air inlet and exhaust pipes of the; the middle part of the connecting disc is provided with an opening, and a groove is formed between two lower openings at the side end of the upper part; the clamping mechanism at the lower end of the robot arm comprises a lower fixing disc, a connecting cylinder and an upper flange disc, and the electromagnet is fixedly arranged in a middle opening of the fixing disc; a plurality of upper through holes are distributed at intervals from top to bottom at the upper side end of the ring fixing disc, a limiting rod is arranged at the lower part of the fixing disc between the two upper through holes, and a positioning ring is fixedly arranged at the lower end of the middle part of the fixing disc; connecting cylinder lower part fixed mounting is located the connecting cylinder lower extreme at fixed disk upper portion, a plurality of through-holes of going up, and the upper end of a plurality of through-holes of going up is fixed mounting respectively has the intake pipe, and the lower extreme fixed mounting of going up the ring flange is on connecting cylinder upper portion, and a plurality of intake pipes are connected with a gas hose respectively, and a plurality of gas hoses are connected with a plurality of solenoid valves of the supporting of robot body, go up the ring flange and the robot arm ring flange fixed connection of intelligent robot body.

2. The automatic change anchor clamps intelligent robot supporting fixture device that uses of claim 1, characterized in that connection pad, fixed disk, connecting cylinder and last ring flange are steel material.

3. The automatic trade anchor clamps intelligent robot supporting fixture device that uses of claim 1, characterized in that, the middle part trompil internal diameter of connection pad is greater than the external diameter of fixed disk middle part lower extreme position circle, and the height is higher than the height of spacing collar.

4. The automatic trade anchor clamps intelligent robot supporting fixture device that uses of claim 1, characterized in that, the connection pad wherein the recess internal diameter between two lower trompils is greater than the gag lever post external diameter of fixed disk lower part between two upper through-holes, and the height is higher than the height of gag lever post.

5. The automatic change anchor clamps intelligent robot supporting fixture device that uses of claim 1, characterized by, the upper through-hole that the upper portion side end of fixed disk distributes from top to bottom and the lower open-hole that the upper portion side end of connection pad distributes from top to bottom quantity unanimously, the interval is equal, and the circumferencial direction is unanimous.

6. The automatic trade anchor clamps intelligent robot supporting fixture device that uses of claim 1, characterized in that, the spacing of the gag lever post of fixed disk lower part between two lower trompils and two upper through-holes among the connection pad is equal, and the circumferencial direction is unanimous.

7. The automatic clamp changing intelligent robot clamp device as claimed in claim 1, wherein sealing pads are fixedly mounted at the lower end of the fixed disk and the upper end of the connecting disk respectively, a plurality of openings around the two sealing pads are aligned with a plurality of lower openings at the lower part of the upper through holes of the fixed disk and the upper part of the connecting disk respectively, and the inner diameter of the opening at the middle part of the two sealing pads is larger than the outer diameter of the positioning ring at the lower end of the middle part of the fixed disk and the inner diameter of the opening at the middle part of the connecting disk respectively.

8. The automatic clamp changing intelligent robot matched clamp device as claimed in claim 1, wherein the application method comprises six steps, step 1: before the intelligent robot carries the clamp bodies with different shapes, the intelligent robot automatically rotates a certain angle to the upper end of the placing positions of the clamp bodies with different shapes corresponding to the clamp material rack under the action of an internal circuit and a control system and a control command input by an operator, and unloads the clamp bodies which need to be replaced; step 2: the intelligent robot automatically rotates a certain angle to the upper end of the clamp body with different shapes, which corresponds to the position of the clamp rack and needs to be replaced, under the action of an internal circuit and a control system and under the action of a control command input by an operator; and step 3: the industrial bar code scanner scans the bar codes on the clamp body at the corresponding position, and outputs signals in real time to enter the control system in the intelligent robot body; and 4, step 4: the control system compares the input bar code signals, and if the bar code information is correct, the control system directly enters a program for replacing the next clamp body; and 5: in sweeping the sign indicating number, if bar code information and the corresponding anchor clamps body bar code information that needs to be changed are inconsistent, intelligent robot passes through under the effect of internal control system, again automatic rotation certain angle to all the other different appearance anchor clamps body upper ends department of anchor clamps work or material rest department, and industry bar code scanner scans all the other anchor clamps bodies once more, and after bar code information is correct, automatic entering is changed anchor clamps body procedure.