CN110733049A - processing system capable of realizing automatic replacement of end effector in mechanical arm - Google Patents

processing system capable of realizing automatic replacement of end effector in mechanical arm Download PDF

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Publication number
CN110733049A
CN110733049A CN201910963224.5A CN201910963224A CN110733049A CN 110733049 A CN110733049 A CN 110733049A CN 201910963224 A CN201910963224 A CN 201910963224A CN 110733049 A CN110733049 A CN 110733049A
Authority
CN
China
Prior art keywords
effector
mechanical arm
threaded
tool box
actuator
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201910963224.5A
Other languages
Chinese (zh)
Inventor
赵永军
于翰文
王文学
付肖宇
张来刚
吴安琪
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
MH ROBOT & AUTOMATION Co Ltd
Original Assignee
MH ROBOT & AUTOMATION Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by MH ROBOT & AUTOMATION Co Ltd filed Critical MH ROBOT & AUTOMATION Co Ltd
Priority to CN201910963224.5A priority Critical patent/CN110733049A/en
Publication of CN110733049A publication Critical patent/CN110733049A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0052Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B25J15/0066Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/0075Manipulators for painting or coating
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/04Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0408Connections means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/04Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0483Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof with head identification means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/04Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0491Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof comprising end-effector racks
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/06Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0608Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means

Abstract

The invention relates to machining systems capable of realizing automatic replacement of end effectors in a mechanical arm, which comprise a mechanical arm main body control system, wherein a connecting mechanism is mounted at the tail end of the mechanical arm main body and used for connecting the end effectors, a tool box is arranged on side of the mechanical arm main body and is filled with a plurality of end effectors with different specifications, the control system can control the motion of the mechanical arm main body, the mechanical arm main body can drive the connecting mechanism to move between an operation position and a set position above the tool box, and the control system can control the motion of the connecting mechanism so that the connecting mechanism is connected with or detached from the end effectors with different specifications in the tool box.

Description

processing system capable of realizing automatic replacement of end effector in mechanical arm
Technical Field
The invention belongs to the technical field of industrial robots, and particularly relates to machining systems capable of achieving automatic replacement of an end effector in a mechanical arm.
Background
Most of the modern manufacturing industry realizes mechanical automation production, and in the mechanical automation production, an industrial robot (mechanical arm) is common processing equipment. Because the robot has the advantages of multi-joint and multi-degree-of-freedom motion, various operations such as carrying, welding, paint spraying and the like can be completed by just changing the end effector of the mechanical arm.
However, the inventor has realized that most mechanical arms can only realize functions at present, multiple machines are needed to cooperate to work in multiple processes, multiple industrial robots are needed to be equipped by manufacturers, purchasing cost is increased, enough space needs to be reserved on a production line to install different industrial robots, and the occupied space is large.
In other production methods, when the manipulator uses the manipulator to complete different tasks, the manipulator manually installs different end effectors at the end of the manipulator, but the end effectors need to be disassembled and assembled, which consumes a lot of working time, and the equipment is down-time and reduces working efficiency.
Disclosure of Invention
The invention aims to provide processing systems capable of realizing automatic replacement of an end effector in a mechanical arm, which can automatically replace the end effector of the mechanical arm according to requirements, realize the function that mechanical arms adapt to various operating conditions, and simultaneously avoid time consumption caused by manual replacement of the end effector by workers.
In order to solve the above problems, the present invention provides processing systems for automatic replacement of an end effector in a robot arm, comprising a robot arm body and a control system.
The end of the mechanical arm main body is provided with a connecting mechanism, the connecting mechanism is used for connecting an end effector, a tool box is arranged on the side of the mechanical arm main body, and a plurality of end effectors with different specifications are contained in the tool box.
The control system can control the motion of the mechanical arm main body, and the mechanical arm main body can drive the connecting mechanism to move between an operation position and a set position above the tool box.
The control system can control the movement of the linkage mechanism to connect or disconnect the linkage mechanism to or from end effectors of different specifications in the toolbox.
, the method further comprises a three-dimensional scanner, wherein the three-dimensional scanner is used for scanning the shape of the workpiece to be processed, and the three-dimensional scanner can transmit the information of the workpiece to be processed to the control system, so that the control system can judge the end effector required by the mechanical arm main body at the moment.
And , the connection mechanism includes a threaded connection rod mounted at the end of the mechanical arm main body, and the threaded connection rod can rotate along the axis of the threaded connection rod.
The end effector stored in the tool box cannot rotate relative to the tool box, a threaded hole is formed in the end, facing upwards, of the end effector in the tool box, and the threaded connecting rod can be connected with the threaded hole through threads.
, arranging a plurality of infrared transmitters on the upper surface of the tool box, wherein each infrared transmitter corresponds to end effectors in the tool box, arranging an infrared receiver on the surface of the connecting mechanism, wherein the infrared transmitters and the infrared receivers are respectively in signal connection with the control system, and the infrared receivers can search infrared signals of the infrared transmitters so that the control system can judge the position of the required end effector in the horizontal plane.
, the end effector includes a fastening actuator for effecting fastening of a threaded part on the workpiece, the fastening actuator including a housing having an interior cavity with a plurality of threaded fastening tools of different gauges disposed therein.
The fastening actuator can extend a thread fastening tool with a corresponding specification out of the shell according to the type of the part to be screwed; and a driving device is arranged in the inner cavity of the shell and can drive the threaded fastening workpiece extending out of the shell to rotate.
The invention has the beneficial effects that:
1) the tool box is matched with the connecting mechanism, the end effectors with different types are preset in the tool box, the connecting mechanism can be switched between the tool box and an operation position through the movement of the mechanical arm main body, the end effectors are automatically connected or detached through the connecting mechanism, mechanical arms can be installed with different end effectors to adapt to the conditions of different working conditions, and time loss caused by manual operation and replacement of the end effectors by workers can be reduced.
2) The three-dimensional scanner is adopted, the shape of a workpiece to be clamped can be judged through scanning, so that the judgment of clamping equipment required in the clamping operation is realized, and the mechanical arm main body can automatically drive the connecting mechanism to reach the end effector required by the tool box; and errors and time consumption caused by manual judgment and operation are avoided.
3) The adoption can be along the screw thread connecting rod of self axis pivoted and the screw hole cooperation in the end effector, controlling means can control the rotation between screw thread connecting rod and the screw hole and realize end effector's connection and dismantlement, provides the basis for end effector's automatic change.
4) Adopt infrared emitter and infrared receiver, can utilize infrared receiver to search for the infrared receiver who sends the signal, and then when realizing that the arm main part drives coupling mechanism motion, coupling mechanism is in the location of horizontal plane, and the coupling mechanism of being convenient for reachs required position.
5) By adopting the fastening actuator, a plurality of threaded fastening tools in the fastening actuator can correspond to different types of threaded fastening parts, so that the application range of the fastening actuator is expanded.
Drawings
The accompanying drawings, which form a part hereof , are included to provide a further understanding of the present application, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the application and together with the description serve to explain the application and not limit the application.
FIG. 1 is a front view of the overall structure in an embodiment of the present invention;
FIG. 2 is a schematic view of a robot arm body and attachment mechanism according to an embodiment of the present invention;
FIG. 3 is a schematic view of an embodiment of the present invention illustrating th gripper actuator mounted to the end of a robot arm body;
FIG. 4 is a schematic view of an th gripper actuator in combination with a linkage according to an embodiment of the present invention;
FIG. 5 is an isometric view of the overall construction of a th grasping actuator in accordance with an embodiment of the invention;
FIG. 6 is an isometric view of an embodiment of the present invention with a portion of the housing removed from of the grasping actuator;
FIG. 7 is a top view of the overall construction of a th gripper actuator in accordance with an embodiment of the present invention;
FIG. 8 is an isometric view of another view of an gripper actuator according to an embodiment of the present invention;
fig. 9 is an isometric view of the overall construction of a second grasping actuator in an embodiment of the invention;
FIG. 10 is an isometric view of the overall construction of a magnetic actuator according to an embodiment of the invention;
FIG. 11 is an isometric view of the overall construction of a fastening actuator in an embodiment of the invention;
FIG. 12 is an isometric view of the overall structure of an embodiment of the invention with a portion of the housing removed from the fastening actuator;
FIG. 13 is an isometric view of the overall construction of the end cap in the fastening actuator of an embodiment of the invention;
FIG. 14 is an isometric view of the overall construction of a paint actuator in an embodiment of the invention;
FIG. 15 is an isometric view of a paint spray actuator with portions of the housing removed in accordance with an embodiment of the present invention;
FIG. 16 is a schematic view of a laser scanner and a supporting frame according to an embodiment of the present invention;
FIG. 17 is an isometric view of the overall construction of a tool box in an embodiment of the invention;
FIG. 18 is a schematic diagram of an embodiment of the present invention after storing the end effector in the tool box.
The manipulator comprises a manipulator body 1, an end effector 2, a tool box 3, a three-dimensional scanner 4, a clamping effector 5 and an th clamping effector 6 and a second clamping effector 7, a magnetic type effector 8, a fastening effector 9, a paint spraying effector 10, a threaded connecting rod 11, a th motor 12 and a threaded hole 12;
201. the tool comprises an infrared receiver, a tool hole, a positioning key, a three-dimensional laser scanner, a;
601. an arc-shaped slot; 602. a clamp arm; 701. an electromagnetic chuck; 801. a screw tightening tool; 802. a second motor; 803. a telescopic arm; 804. a third motor; 805. sleeving a disc; 806. an end cap; 807. a through hole;
901. a spray gun; 902. an oil tank.
Detailed Description
It is noted that the following detailed description is exemplary and is intended to provide further explanation of the invention at unless otherwise indicated.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In exemplary embodiments of the present invention, as shown in fig. 1, processing systems capable of automatically replacing an end effector 2 in a robot arm include a robot arm body 1 and a control system, wherein a connecting mechanism is mounted at the end of the robot arm body 1, the connecting mechanism is used for connecting the end effector 2, a tool box 3 is arranged on the side of the robot arm body 1, and a plurality of end effectors 2 with different specifications are accommodated in the tool box 3.
The control system can control the motion of the mechanical arm main body 1, and the mechanical arm main body 1 can drive the connecting mechanism to move between an operation position and a set position above the tool box 3.
The control system is capable of controlling the movement of the linkage to connect or disconnect the linkage to different sized end effectors 2 in the tool box 3.
The specific structural components are described below in conjunction with the attached figures:
as shown in fig. 1 and 16, the present solution may further include a three-dimensional scanner 4, which is configured to scan the shape of the workpiece to be processed, and transmit information of the workpiece to be processed to the control system, so that the control system determines the end effector 2 required by the robot main body 1 at this time.
Specifically, the three-dimensional scanner may adopt a three-dimensional laser scanner 401, the three-dimensional laser scanner 401 is supported by a support frame 402 through a support frame 1, and in some other embodiments , a three-dimensional scanner with other structural forms may also be adopted, which is not described herein again.
The cooperation of the connection mechanism, the end effector 2 and the tool box 3: as shown in fig. 1, 2, 18: the connecting mechanism comprises a threaded connecting rod 10 installed at the tail end of the mechanical arm main body 1, and the threaded connecting rod 10 can rotate along the axis of the threaded connecting rod 10 through rotation.
Specifically, the end of the mechanical arm main body 1 is provided with a rotary driving device, the output end of the rotary driving device is fixedly connected with the threaded connecting rod 10, and the rotary driving device can drive the threaded connecting rod 10 to rotate along the axis of the rotary driving device.
In embodiments, a motor (i.e., the motor 11 in the figure) may be used as the rotation driving device, and in embodiments, a rotation cylinder or the like may be used as the rotation driving device, which may be selected by those skilled in the art.
The end effector 2 stored in the tool box 3 cannot rotate relative to the tool box 3, the end effector 2 is provided with a threaded hole 12 at the end facing upwards in the tool box 3, the threaded connecting rod 10 can be connected with the threaded hole 12 through threads, the tool box 3 is provided with tool holes 202, the central axis of the tool holes 202 is vertically arranged, and end effectors 2 are stored in each tool hole 202.
Specifically, since relative rotation does not occur between the end effector 2 stored in the tool box 3 and the tool box 3, it is possible to screw-fix the end effector 2 with the set end effector 2 when the threaded connecting rod 10 is rotated downward.
To achieve the requirement that relative rotation between the end effector 2 and the tool box 3 does not occur, when the tool hole 202 in the tool box 3 and the end effector 2 are circular in cross section, a key groove 505 may be provided on the outer surface of the end effector 2, and a positioning key 302 may be provided at the tool hole 202 in the tool box 3, and the rotation may be limited by the cooperation of the positioning key 302 and the key groove 505. in other embodiments, the cross section of the tool hole 202 and the end effector 2 is polygonal, and the relative rotation may be limited accordingly.
In another arrangements, the connection mechanism can be a mechanical claw capable of automatically opening and closing, the mechanical claw can grab and release the end effector 2 in the tool box 3, and the opening and closing control of the mechanical claw belongs to the prior art and is not described herein again.
Infrared transmitter and infrared receiver 201: as shown in fig. 2, 17 and 18, in the present application, a positioning system is formed by an infrared emitter and an infrared receiver 201, and can guide the robot arm body 1 to drive the connecting mechanism to approach or depart from the desired end effector 2.
A plurality of infrared transmitters are arranged on the upper surface of the tool box 3, each infrared transmitter corresponds to end effectors 2 in the tool box 3. an infrared receiver 201 is arranged on the surface of the connecting mechanism, and the infrared transmitters and the infrared receiver 201 are respectively in signal connection with a control system.
The infrared receiver 201 is capable of searching for the infrared signal of the infrared transmitter so that the control system determines the desired position of the end effector 2 in the horizontal plane.
Different types of end effectors 2 are described below:
the end effector 2 comprises a clamping effector, the end of the clamping effector is fixed with the connecting structure, the end is provided with two clamping jaws which can be opened and closed, and the two clamping jaws can be opened and closed to change the distance between the two clamping jaws, so that the workpiece can be clamped and released.
In order to clamp workpieces with different specifications, the application provides two clamping actuators, namely an th clamping actuator 5 and a second clamping actuator 6.
th gripping actuator 5, as shown in fig. 3-8, each jaw of the th gripping actuator 5 is a two-segment structure, each jaw comprises a th gripper 501 and a second gripper 504 hinged to each other through a rotating shaft 508, the second gripper 504 is fixedly connected with racks 503, sides of the second grippers 504 are provided with sliding blocks 507, and the sliding blocks 507 are fixedly connected with the racks 503.
The gripping actuator 5 is characterized in that the main body is of a sleeve structure, gears 502 are rotatably mounted on end faces of the sleeve structure, the gears 502 are driven by a motor inside the sleeve structure to rotate, two racks 503 are respectively arranged on two sides of the gears 502 and meshed with the gears 502, the two racks 503 are arranged in parallel, guide rails 506 are further arranged on two sides of the gears 502, the sliders 507 extend into the guide rails 506, the two guide rails 506 are arranged in parallel, the guide rails 506 are parallel to the racks 503, and the guide rails 506 are matched with the sliders 507 to realize the guide lines for the movement of the racks 503 and the second gripper 504.
The two jaws can be moved toward or away from each other by the engagement of the gear 502 and the rack 503.
For larger-size articles, the articles can be tightly clamped by the engagement of the th gripper 501 and the second gripper 504, when the articles are clamped, the second gripper 504 contacts the articles first, the gear 502 in the center stops rotating after the articles are contacted, the th gripper 501 starts to operate to clamp the articles, and the th gripping actuator 5 can clamp workpieces in a shape of a common cuboid or a shape similar to a cuboid.
The second gripper moves under the control of a circuit, in the clamping process, after the th gripper is clamped through gear and rack transmission, the circuit of the second gripper is controlled to start working, the second gripper is closed until a workpiece is clamped, the circuit can work continuously to prevent the gripper from loosening and enabling the workpiece to fall off, when the workpiece needs to be loosened, the circuit controls the second gripper to reset, the th gripper moves towards two ends, and the workpiece is loosened.
In , of the second grippers can be provided with electromagnets, and another of the second grippers are ferromagnetic structures, and the electromagnets are energized to reset the two second grippers, in another embodiments, a rotating shaft can be provided at the connection between the th gripper and the second gripper, and the rotating shaft is driven by a motor, and the rotation of the motor drives the th gripper to rotate relative to the second gripper.
Second gripper actuator 6 as shown in fig. 9, the second gripper actuator 6 has substantially the same structure as the th gripper actuator 5, and the difference is that the jaws of the second gripper actuator 6 are of an integral structure, each jaw is gripping arms 602 with the same width, the two opposite sides of the gripping arms 602 are respectively provided with arc-shaped grooves 601, and the two arc-shaped grooves 601 cooperate to grip the round bar workpiece.
Specifically, two arc-shaped grooves 601 which are perpendicular to each other are arranged in each clamping arm, wherein arc-shaped grooves are the same as the extension direction of the clamping arm 602, so that the second clamping actuator can clamp a round rod type workpiece which is vertically or horizontally placed.
Magnetic actuator 7: as shown in fig. 10, the end effector 2 includes a magnetic type actuator 7, an electromagnet is provided in the magnetic type actuator 7, and the electromagnet can be switched on and off by its own current to absorb and release the ferromagnetic workpiece by the magnetic type actuator 7.
Specifically, the magnetic actuator 7 includes an electromagnetic chuck 603, and the electromagnetic chuck 603 is provided with the electromagnet.
The fastening actuator 8: as shown in fig. 12 to 13, the end effector 2 includes a fastening actuator 8, the fastening actuator 8 is used for fastening a threaded part on a workpiece, and the fastening actuator 8 includes a housing, and a plurality of threaded fastening tools 801 with different specifications are arranged in an inner cavity of the housing.
The fastening actuator 8 can extend a thread fastening tool 801 with a corresponding specification out of the shell according to the type of the part to be thread fastened; and a driving device is arranged in the inner cavity of the shell and can drive the threaded fastening workpiece extending out of the shell to rotate.
Specifically, the interior of the casing is composed of two motors (a second computer and a third motor 804), telescopic arms 803, sleeve discs 805 and three screw fastening tools 801, the sleeve discs 805 and the end covers 806 can rotate relatively, through holes 807 are reserved in the end covers 806, the three screwdrivers are -shaped screwdrivers, cross screwdrivers and hexagonal socket wrenches which are fixed by the fixed sleeve discs 805, the telescopic arms 803 are fixedly connected with the casing of the third motor 804, and the end , far away from the third motor 804, of the telescopic arms 803 is fixedly connected with the inner wall of the casing.
In , the telescopic arm 803 can be an electric telescopic rod, and in , the telescopic arm can be other structures, and can be set by those skilled in the art.
When the screwdriver needs to be switched, the telescopic arm 803 is contracted according to a preset program, so that the third motor 804 drives the screwdriver to retract to a reset position, and the third motor 804 reversely drives the unloading screwdriver; the second motor 802 rotates 120 degrees, so that a new screwdriver rotates to a position above the through hole 807 at the end cover 806 to achieve accurate positioning, the telescopic arm 803 extends out to drive the third motor 804 to be in contact with the new screwdriver, the third motor 804 rotates to enable the output shaft of the third motor 804 to be loaded with the new screwdriver through threaded connection, the telescopic arm 803 extends, and the new screwdriver extends out of the end cover 806 to work.
Specifically, each through hole is provided with an electromagnet, when the screwdriver is not in a working state, the electromagnet is powered on to adsorb the screwdriver to fix the screwdriver, when the screwdriver is in the working state, the electromagnet is powered off, and the screwdriver works normally under the driving of the third motor.
A paint spraying actuator 9: as shown in fig. 14 and 15, the end effector 2 includes a paint spraying actuator 9, and the paint spraying actuator 9 includes a spray gun 901 and an oil tank 902.
The working principle is that each end effector 2 can only realize functions, and an infrared receiver is arranged at a connecting mechanism at the tail end of the mechanical arm.
When the mechanical arm clamps the workpiece, the three-dimensional scanner can obtain the current three-dimensional shape information of the workpiece, and the controller judges whether the th clamping actuator 5 or the second clamping actuator 6 is adopted according to the three-dimensional shape information of the workpiece, and selects a signal with a required size and specification.
When the robot arm carries a plate-like ferromagnetic workpiece, the connection mechanism at the end of the robot arm automatically unloads the magnetic actuator 7 by inputting information at the control end.
When the mechanical arm performs paint spraying operation, the connecting mechanism at the tail end of the mechanical arm automatically loads the paint spraying actuator 9 by inputting information at the control end.
When the mechanical arm carries out the fastening operation of the threaded fastener, the connecting mechanism at the end of the mechanical arm automatically loads the fastening actuator 8 by inputting information at the control end. And the screw tightening tool 801 set in the tightening actuator 8 is extended to tighten the screw fastener.
The unloading process of the end effector 2 is that the mechanical arm receives an unloading signal, the end effector 2 of the mechanical arm stops working at first, a reset motion track is generated according to a preset program, the end of the mechanical arm is taken as a coordinate point, the mechanical arm is lifted to a safe height at first, the central axis of a connecting mechanism in the mechanical arm is overlapped with the central axis of a corresponding tool hole 202 through positioning in the horizontal direction, the upper end face of a tool box 3 is taken as a horizontal reference plane, the height is slowly lowered to 50mm, the end effector is placed in the hole, the height at the moment can enable a key of the tool hole 202 to be matched with a key groove 505 of the end effector 2, an -th motor 11 in the mechanical arm connecting mechanism drives reversely to unload the threaded connecting rod 10 and the threaded hole 12 of the end effector 2, and the end effector is.
It should be noted that the position of the tool box is fixed, each tool hole has a corresponding fixed coordinate, the tool hole coordinate information is written into the program, when unloading is needed, according to the preset program, the system can automatically generate the reset track from the end effector to the corresponding tool hole position, and automatic positioning and unloading are realized according to the reset track. The unloading of the end effector 2 does not require the use of infrared emitters and infrared receivers.
The loading process of the end effector 2 is that after receiving a loading signal, the mechanical arm rises to a safe height first, an infrared transmitter starts to work, infrared rays are emitted from the position of a new end effector tool hole 202, according to program setting, an infrared receiver 201 at the position of the mechanical arm end connecting mechanism starts to search for a new infrared signal, the infrared receiver receives the signal and positions the signal above the new end effector to receive the infrared signal emitted from the position of the new end effector, the connecting mechanism and the central axis of the tool hole 202 are overlapped through horizontal positioning, the upper end face of a tool box 3 is used as a horizontal reference plane, the height is slowly reduced to 50mm, an -th motor 11 at the mechanical arm end connecting mechanism drives forward to match a threaded connecting rod 10 with a threaded hole 12, and the new end effector 2 is loaded on the mechanical arm.
With the unloads and loads completing switches of the end effector 2, the robot arm again performs new work content according to the new program.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.

Claims (10)

  1. A machining system for automatically replacing an end effector in a robotic arm, comprising:
    the mechanical arm comprises a mechanical arm main body, wherein a connecting mechanism is mounted at the tail end of the mechanical arm main body and is used for connecting an end effector, a tool box is arranged on the side of the mechanical arm main body, and a plurality of end effectors with different specifications are contained in the tool box;
    the control system can control the motion of the mechanical arm main body, and the mechanical arm main body can drive the connecting mechanism to move between an operation position and a set position above the tool box;
    the control system can control the movement of the linkage mechanism to connect or disconnect the linkage mechanism to or from end effectors of different specifications in the toolbox.
  2. 2. The machining system capable of automatically replacing the end effector of the mechanical arm as claimed in claim 1, further comprising a three-dimensional scanner for scanning the shape of the workpiece to be machined, wherein the three-dimensional scanner can transmit the information of the workpiece to be machined to the control system, so that the control system can determine the end effector required by the mechanical arm body at the time.
  3. 3. The system for automatically replacing an end effector of a robotic arm as claimed in claim 1, wherein the connecting mechanism comprises a threaded connecting rod mounted at the end of the body of the robotic arm, the threaded connecting rod being capable of rotating along its axis;
    the end effector stored in the tool box cannot rotate relative to the tool box, a threaded hole is formed in the end, facing upwards, of the end effector in the tool box, and the threaded connecting rod can be connected with the threaded hole through threads.
  4. 4. The machining system capable of realizing automatic replacement of the end effector in the mechanical arm as claimed in claim 3, wherein a rotation driving device is mounted at the end of the mechanical arm main body, an output end of the rotation driving device is fixedly connected with the threaded connecting rod, and the rotation driving device can drive the threaded connecting rod to rotate along the axis of the rotation driving device.
  5. 5. The system of claim 1, wherein the upper surface of the tool box is provided with a plurality of infrared emitters, each infrared emitter corresponding to end effectors in the tool box;
    the surface of the connecting mechanism is provided with an infrared receiver, and the infrared transmitter and the infrared receiver are respectively in signal connection with a control system;
    the infrared receiver is capable of searching the infrared signal of the infrared transmitter to enable the control system to determine the desired position of the end effector within the horizontal plane.
  6. 6. The machining system capable of realizing automatic replacement of the end effector in the mechanical arm as claimed in claim 5, wherein tool holes are provided in the tool box, central axes of the tool holes are vertically arranged, end effectors are stored in each tool hole, and infrared emitters are provided on a side of each tool hole.
  7. 7. The machining system capable of realizing automatic replacement of the end effector in the mechanical arm as claimed in claim 1, wherein the end effector comprises a clamping effector, an end of the clamping effector is fixed with the connecting structure, and another end is provided with two clamping jaws capable of opening and closing, and the two clamping jaws can be opened and closed to change the distance between the two clamping jaws, so as to clamp and release the workpiece.
  8. 8. The machining system capable of achieving automatic replacement of the end effector in the mechanical arm according to claim 1, wherein the end effector comprises a magnetic type actuator, an electromagnet is arranged in the magnetic type actuator, and the electromagnet can clamp and release a ferromagnetic workpiece through the magnetic type actuator by switching on and off of current of the electromagnet.
  9. 9. The machining system capable of realizing automatic replacement of the end effector in the mechanical arm according to claim 1, wherein the end effector comprises a fastening actuator, the fastening actuator is used for realizing fastening of a threaded part on a workpiece, the fastening actuator comprises a shell, and a plurality of threaded fastening tools with different specifications are arranged in an inner cavity of the shell;
    the fastening actuator can extend a thread fastening tool with a corresponding specification out of the shell according to the type of the part to be screwed;
    and a driving device is arranged in the inner cavity of the shell and can drive the threaded fastening workpiece extending out of the shell to rotate along the axis of the threaded fastening workpiece.
  10. 10. The robotic arm end effector machining system of claim 1, wherein the end effector comprises a paint spray actuator comprising a spray gun and an oil tank.
CN201910963224.5A 2019-10-11 2019-10-11 processing system capable of realizing automatic replacement of end effector in mechanical arm Pending CN110733049A (en)

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