CN116000918A - Multifunctional composite robot based on omni-directional mobile AGV chassis - Google Patents

Abstract

The invention relates to the technical field of automatic machining intelligent manufacturing, and particularly discloses a multifunctional composite robot based on an omni-directional mobile AGV chassis, which comprises an omni-directional mobile AGV chassis, an electric control system, a cooperative robot system, a visual detection system, a rotary quick disc changing system and a cutter library; the omni-directional moving AGV chassis can realize movement in all directions and zero turning radius rotation; the electric control system is arranged above the omnidirectional mobile AGV chassis; the cooperative robot system is arranged above the electric control system; the visual detection system is arranged at the tail end of the cooperative robot system; the rotary quick-change disc system is arranged at the left upper part of the electric control system; the tool library is arranged at the right upper part of the electric control system, and the code reader in the tool library is used for reading the tool information stored in the data screw. The invention can realize automatic detection and replacement of the abrasion of the knife handle and the like knife tool of the machining center, the transfer motion among the machine tool, the knife magazine and the knife adjuster, and the feeding and discharging of the cylindrical workpiece, and has no manual intervention.

Description

Multifunctional composite robot based on omni-directional mobile AGV chassis

Technical Field

The invention relates to the technical field of automatic machining intelligent manufacturing, in particular to a multifunctional composite robot based on an omni-directional mobile AGV chassis.

Background

The tool magazine stores tools required by machining, and the automatic tool changing device realizes automatic clamping and unloading of the tools. The existing numerical control machining center is provided with a tool magazine and a tool changing device, but the overall performance of the machining center is greatly affected by the performance indexes such as the positioning accuracy, the running stability and the movement accuracy of the tool changing device, and the internal tool magazine and the tool changing device occupy a large space of the machining center, so that the space utilization rate of the machining center is reduced, the overall size is increased, the occupied area of equipment used in the mode is large, the use cost is high, and the automatic production and machining process in a factory building is not facilitated.

In a flexible production line, numerical control machining centers are often used as main materials, and a tool magazine of each machining center device can be provided with dozens of machining tools. However, when a new cutter is preassembled or the cutter is required to be replaced when the service life of the cutter reaches the limit, the cutter is still replaced manually, and the traditional cutter replacing mode is difficult to adapt to the state of modern continuous processing production, so that the labor cost is increased, and the operation efficiency is low.

At present, the existing common numerical control machine tool is not provided with a tool magazine and an automatic tool changing device; although the existing robot has good feeding and discharging flexibility, the arm extension is limited, so that the actual production needs are difficult to meet, and a large-space-range flexible processing technology is required.

Disclosure of Invention

In order to solve the defects in the prior art, the invention provides a multifunctional composite robot based on an omni-directional mobile AGV chassis, which solves the problems that the existing common numerical control machine tool in the prior art does not have a tool magazine and an automatic tool changing device; although the existing robot has good feeding and discharging flexibility, the problem that the flexible processing technology with a large space range is required because of limited arm extension is difficult to meet the actual production requirement.

As a first aspect of the present invention, there is provided a multifunctional composite robot based on an omnidirectionally moving AGV chassis, comprising an omnidirectionally moving AGV chassis, an electronic control system, a collaborative robot system, a visual inspection system, a rotating quick-change disc system and a tool magazine;

the omnidirectional moving AGV chassis can realize front-back direction movement, transverse movement, oblique movement, arc movement and zero turning radius rotation;

the electric control system is arranged above the omnidirectional mobile AGV chassis and is a control center of the multifunctional composite robot;

the collaborative robot system is arranged above the electric control system and is used for collecting the load change of the end effector of the collaborative robot system in real time and feeding back the load change to the electric control system so as to carry out real-time dynamic flexible control on the mechanical arm of the collaborative robot system;

the visual detection system is arranged at the tail end of the cooperative robot system and is used for accurately positioning a mechanical arm of the cooperative robot system and carrying out preliminary wear detection on a tool in use on a machine tool;

the rotary quick-change disc system is arranged at the left upper part of the electric control system, is used for rapidly positioning clamps of different load tools and accurately detecting abrasion of a tool in use on a machine tool;

the tool library is arranged at the right upper part of the electric control system, the tool library comprises tools, data screws and a code reader, and the code reader is used for reading tool information stored in the data screws so as to realize the management and maintenance of the multifunctional compound robot on the tools.

Further, the omnidirectional mobile AGV chassis comprises an outer shell, an upper expanding plate and a bottom plate are respectively arranged at the upper end and the lower end of the outer shell, four groups of independent driving suspension assemblies are arranged at the periphery of the bottom of the outer shell, a manual charging port, a voice loudspeaker, a strip-shaped lamp belt, an emergency stop button, a safe touch edge, a touch screen, a button assembly and an automatic charging brush plate are respectively arranged on the side face of the outer shell, a laser navigation radar is respectively arranged on the front portion and the rear portion of the upper portion of the outer shell, an access board, a control interface and a power interface are respectively arranged on the upper expanding plate, and a servo jacking mechanism, a two-dimensional code sensor and an inclination sensor are respectively arranged at the bottom of the bottom plate.

Further, each group of independent driving suspension components comprises a Mecanum wheel, a hydro-pneumatic spring, a damping support, a servo motor, a swing arm, a rotating shaft and a hinged support, wherein the servo motor is fixed at the center of the swing arm through the Mecanum wheel; one end of the swing arm is hinged to the rotating shaft, the rotating shaft is fixed to the support, the other end of the swing arm is hinged to the lower portion of the hydro-pneumatic spring, the upper portion of the hydro-pneumatic spring is hinged to the damping support, the damping support and the hinged support are installed inside the outer shell, and the swing arm can swing in a certain amplitude around the axis of the rotating shaft.

Further, the servo jacking mechanisms are arranged at the bottom of the bottom plate in a triangular shape, and three groups of servo jacking mechanisms are used for jacking the multifunctional composite robot integrally after the outer shell body is precisely positioned, so that the Mecanum wheels are separated from the ground.

Further, servo climbing mechanism includes servo motor, screw lift, jacking mounting panel, vertical mounting panel and bulb connecting plate, the screw lift is installed on the jacking mounting panel to fix inside the shell body through the vertical mounting panel in both sides, servo motor connects the one end of screw lift, the other end of screw lift be the ball-type with the built-in ball-type recess of bulb connecting plate articulates.

Further, the cooperation robot system comprises a cooperation robot, a six-dimensional force sensor, a quick-change connecting plate, an electric quick-change component, an electric gripper mounting plate, clamping jaws and an electric gripper, one end of the six-dimensional force sensor is connected to a tail end flange of the cooperation robot, the other end of the six-dimensional force sensor is connected to the quick-change connecting plate, the six-dimensional force sensor collects changes of the electric quick-change component, the electric gripper mounting plate, the clamping jaws and the electric gripper in real time and feeds back to the electric control system so as to carry out real-time dynamic flexible control on a mechanical arm of the cooperation robot, the quick-change connecting plate, the electric quick-change component, the electric gripper mounting plate and the electric gripper are sequentially connected, and the two clamping jaws are respectively mounted at parallel guide rails on the electric quick-change component and are used for clamping a cutter.

Further, the visual detection system comprises a visual mounting flange, an annular light source, a lens, a 2D intelligent camera, a camera support and a protective upright post; the annular light source is arranged on the visual mounting flange through four protection upright posts; the lens, the 2D intelligent camera and the camera support are sequentially connected and fixed on the visual mounting flange and are arranged in the four protection upright posts.

Further, the rotary quick-change disc system comprises a servo motor, a cylinder support, a speed reducer, a crossed roller bearing, a first proximity switch, a positioning pin, a quick-change disc, a connecting shaft, a first quick-change part, a second quick-change part and a third quick-change part;

the servo motor is connected with the speed reducer and integrally arranged in the cylinder support; one end of the connecting shaft is connected with the output end of the speed reducer, the other end of the connecting shaft is connected with the quick-change disc and is arranged in the crossed roller bearing, and the outer ring of the crossed roller bearing is arranged on the upper part of the cylindrical support; the first proximity switch is arranged on the quick change disc and used for detecting whether the quick change component exists or not; the first quick-change component, the second quick-change component and the third quick-change component are respectively placed on the quick-change disc through the positioning pins;

the first quick-change component is provided with a 2D linear laser scanner, and the 2D linear laser scanner is used for further accurately detecting the abrasion degree of a cutter used on a machine tool before cutter taking;

the second quick-change component is provided with an electric gripper, and the electric gripper is used for picking and placing cutters with different specifications;

and the third quick-change component is provided with parallel clamping jaws, and the parallel clamping jaws can grasp a cylindrical workpiece and are used for automatic feeding and discharging of a machine tool.

Further, the tool library comprises a tool, a data screw, a tool mounting plate, a sensor mounting corner fitting, a section bar support, a tool shank seat, a second proximity switch and a code reader; the sensor mounting corner fitting is mounted on the section bar support, and the second proximity switch is vertically upwards mounted on the sensor mounting corner fitting and used for detecting whether a cutter exists in the cutter handle seat; the upper end of the section bar support is provided with the cutter mounting plate, the cutter mounting plate is provided with the cutter handle seat and the code reader respectively, the cutter is arranged in the cutter handle seat, and each cutter is provided with the data screw.

Compared with the prior art, the multifunctional composite robot based on the omni-directional mobile AGV chassis has the following advantages:

(1) By adopting an omni-directional mobile design, the coupled motion of translation, autorotation and translational autorotation of the composite robot in any direction in a plane can be realized, and an automatic jacking leveling system is carried, so that the pose of equipment between different stations can be adjusted conveniently;

(2) The coordinated robot tail end vision system and the 2D linear laser scanner cutter abrasion detection system are configured to realize automatic cutter abrasion detection, so that the intelligent production requirement is met;

(3) The six-dimensional force sensor is arranged at the tail end of the mechanical arm, the load change of the tail end actuator is collected in real time and fed back to the force control system, and the real-time dynamic flexible control is carried out on the mechanical arm, so that the influence on the stability and service life of the main shaft and the cutter caused by positioning errors when the main shaft of the machining center is directly changed is solved;

(4) The tool magazine and the tool changing device of the machining center are replaced, the tool magazine and the tool changing device can be used for automatic tool changing of a common numerical control machine tool, automatic loading and unloading of the machine tool, the working range is large, the flexibility degree is high, the flexibility of automatic machining is greatly improved, the functions of the set of compound robot are rich, and the production cost is greatly reduced.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate the invention and together with the description serve to explain, without limitation, the invention.

Fig. 1 is a schematic structural diagram of a multifunctional composite robot based on an omni-directional mobile AGV chassis.

Fig. 2-3 are schematic structural views of an omni-directional mobile AGV chassis provided by the present invention.

Fig. 4 is a schematic structural diagram of a base plate according to the present invention.

Fig. 5 is a schematic structural view of a driving suspension assembly according to the present invention.

Fig. 6 is a schematic structural diagram of a three-point servo jacking mechanism provided by the invention.

Fig. 7 isbase:Sub>A sectional view in the directionbase:Sub>A-base:Sub>A of fig. 6.

Fig. 8 is a schematic structural diagram of a cooperative robot system and a visual inspection system provided by the present invention.

Fig. 9 is a schematic structural diagram of a rotary disc changer system according to the present invention.

Fig. 10 is a sectional view taken along the direction B-B in fig. 9.

Fig. 11 is a schematic structural diagram of a tool magazine according to the present invention.

Fig. 12 is a control schematic block diagram of the multifunctional composite robot based on the omni-directional mobile AGV chassis.

Reference numerals illustrate: AGV chassis 100, independent drive suspension 101, mecanum wheel 1011, hydro-pneumatic spring 1012, shock mount 1013, servo motor 1014, swing arm 1015, rotation shaft 1016, articulation mount 1017, outer housing 102, manual charge port 103, voice horn 104, bar light band 105, scram button 106, safety touch edge 107, laser navigation radar 108, upper expansion plate 109, access plate 110, control interface 111, power interface 112, touch screen 113, button assembly 114, automatic charge brush plate 115, servo jacking mechanism 116, servo motor 1161, lead screw elevator 1162, jacking mounting plate 1163, vertical mounting plate 1164, ball head connecting plate 1165, two-dimensional code sensor 117, tilt sensor 118, base plate 119, electronic control system 200, collaborative robotic system 300, robotic machine 301 six-dimensional force sensor 302, quick-change coupling plate 303, electric quick-change component 304, electric grip mounting plate 305, gripping jaw 306, electric grip 307, visual inspection system 400, visual mounting flange 401, annular light source 402, lens 403, 2D smart camera 404, camera mount 405, guard post 406, rotating quick-change disc system 500, servo motor 501, cylinder mount 502, decelerator 503, cross roller bearing 504, first proximity switch 505, dowel 506, quick-change disc 507, coupling shaft 508, first quick-change component 509, second quick-change component 510, third quick-change component 511, tool magazine 600, tool 601, data screw 602, tool mounting plate 603, sensor mounting angle 604, profile mount 605, tool holder 606, second proximity switch 607, code reader 608.

Detailed Description

In order to further describe the technical means and effects adopted by the invention to achieve the preset aim, the following detailed description is given below of the specific implementation, structure, characteristics and effects of the multifunctional composite robot based on the omni-directional mobile AGV chassis according to the invention, with reference to the accompanying drawings and the preferred embodiment. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the invention herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

In the explanation of the present invention, it should be noted that the terms "mounted," "connected," and "connected" are to be construed broadly, unless otherwise indicated. For example, the connection may be a fixed connection, or may be a connection through a special interface, or may be an indirect connection via an intermediary. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

In this embodiment, a multifunctional composite robot based on an omni-directional mobile AGV chassis is provided, as shown in fig. 1 and 12, which includes an omni-directional mobile AGV chassis 100, an electronic control system 200, a collaborative robot system 300, a visual inspection system 400, a rotary quick-change disc system 500, and a tool magazine 600; the omnidirectional mobile AGV chassis 100, the cooperative robot system 300, the visual detection system 400, the rotary quick-change disc system 500 and the cutter library 600 are all connected with the electric control system 200;

the omni-directional moving AGV chassis 100 can realize forward and backward movement, transverse movement, oblique movement, arc movement and zero turning radius rotation;

specifically, the omni-directional mobile AGV chassis 100 employs the independently driven suspension assemblies 101 with the mecanum wheels 1011 as the driving wheels, and the independently driven suspension assemblies 101 are arranged in a rectangular shape, so that the forward and backward directions, the lateral directions, the diagonal directions, the arc movement and the zero turning radius rotation can be realized.

The electric control system 200 is installed above the omnidirectional mobile AGV chassis 100 and is a control center of the multifunctional composite robot;

the collaborative robot system 300 is installed above the electronic control system 200, and is used for collecting the load change of the end effector thereof in real time and feeding back to the electronic control system 200 so as to perform real-time dynamic flexible control on the mechanical arm thereof;

it should be noted that, the end effector of the collaborative robot system 300 is equipped with a six-dimensional force sensor 302, an electric quick-change component 304, an electric gripper 307, etc., which solves the problem of difficult air supply of the mobile device, and the flexible electronic control system 200 is adopted, so that the influence on the service life of the spindle and the tool caused by positioning errors is avoided when the spindle of the machining center is directly changed.

The visual detection system 400 is installed at the tail end of the cooperative robot system 300, and is used for accurately positioning a mechanical arm of the cooperative robot system 300 and performing preliminary wear detection on a tool in use on a machine tool;

it should be noted that, the visual detection system 400 recalibrates the coordinates of the mechanical arm by shooting two-dimensional codes arranged at the periphery of the machining center and using a visual deviation correction software algorithm; and the camera is used for photographing the cutter, and preliminary visual detection and judgment are carried out on the abrasion condition of the cutter according to cutter abrasion software.

The rotary quick-change disc system 500 is installed at the upper left part of the electric control system 200 and is used for rapidly positioning clamps of different load tools; and a pair of 2D linear laser scanners are carried, so that accurate abrasion detection is carried out on a cutter used on a machine tool;

the tool library 600 is installed at the upper right part of the electronic control system 200, the tool library 600 comprises tools, data screws and a code reader, and the code reader is used for reading tool information stored in the data screws so as to realize the management and maintenance of the tools by the multifunctional compound robot.

2-4, the omnidirectional mobile AGV chassis 100 includes an outer housing 102, an upper expansion board 109 and a bottom board 119 are respectively installed at the upper and lower ends of the outer housing 102, four groups of independent driving suspension assemblies 101 are installed around the bottom of the outer housing 102, and a manual charging port 103, a voice loudspeaker 104, a strip-shaped light belt 105, an emergency stop button 106, a safety touch edge 107, a touch screen 113, a button assembly 114 and an automatic charging brush board 115 are respectively installed at the side surface of the outer housing 102 for monitoring the operation state of the outer housing 102, lighting, voice warning and safety protection; the manual charging port 103 and the automatic charging brush plate 115 are used for manually and automatically charging the system; laser navigation radars 108 are respectively arranged at the front and back of the upper part of the outer shell 102, and the carried 2 groups of laser navigation radars 108 are diagonally arranged at the outer groove of the outer shell 102 to perform 360-degree map construction, laser Slam navigation and laser safety obstacle avoidance; the upper expansion board 109 is respectively provided with an access board 110, a control interface 111 and a power interface 112, and the control interface 111 and the power interface 112 are used for reserving a communication control interface and a power supply interface for the electric control system 200; the bottom of the bottom plate 119 is provided with a servo jacking mechanism 116, a two-dimensional code sensor 117 and an inclination sensor 118 respectively, the two-dimensional code sensor 117 is arranged at the center of the bottom plate 119 and is used for accurately adjusting the posture and the position of the vehicle body again after the vehicle body reaches a station by laser Slam navigation; the 3 groups of independent servo jacking mechanisms 116 are installed and fixed inside the outer shell 102 and are arranged in a triangle shape, and are combined with an inclination angle measuring instrument 118 installed on the outer shell 102, after the outer shell 102 is precisely positioned through a software leveling algorithm, the multifunctional composite robot is integrally jacked up, so that wheels are separated from the ground, accumulated errors caused by elastic deformation and abrasion of polyurethane wheels are avoided, and the rigidity and stability of the system are improved. As shown in fig. 12, the laser navigation radar 108, the two-dimensional code sensor 117, and the servo lift mechanism 116 are all connected to the electronic control system 200, and controlled by the electronic control system 200.

According to the multifunctional composite robot based on the omni-directional mobile AGV chassis, provided by the invention, the omni-directional mobile robot taking the Mecanum wheel as the driving wheel is used for moving the chassis, the industrial robot arm is carried, and the mode of combining a vision system is combined, so that the overall size of the system is reduced, the work is flexible, and the flexibility is higher. The automatic detection and replacement of the abrasion of the knife handle type knife tool in the machining center can be realized, the transferring actions among the machine tool, the knife magazine and the knife adjuster and the feeding and discharging of the cylindrical workpiece can be realized, and no manual intervention is caused.

Preferably, as shown in fig. 5, each group of the independent driving suspension assemblies 101 includes a mecanum wheel 1011, a hydro-pneumatic spring 1012, a shock mount 1013, a servo motor 1014, a swing arm 1015, a rotation shaft 1016 and a hinge mount 1017, wherein the servo motor 1014 is fixed at the center of the swing arm 1015 through the mecanum wheel 1011 with an RV reducer; one end of the swing arm 1015 is hinged to the rotating shaft 1016, the rotating shaft 1016 is fixed on the support 1017, the other end of the swing arm 1015 is hinged to the lower portion of the hydro-pneumatic spring 1012, the upper portion of the hydro-pneumatic spring 1012 is hinged to the shock absorbing support 1013, the shock absorbing support 1013 and the hinge support 1017 are installed inside the outer shell 102, and the swing arm 1015 can enable the Mecanum wheel 1011 to swing in a certain amplitude around the axis of the rotating shaft 1016 when encountering a ground surface unevenness, so as to achieve an obstacle crossing effect; the hydro-pneumatic spring 1012 provides positive pressure for the wheels to drive the vehicle body to run and plays a role in damping and shock absorption; independent drive suspension assembly 101 guarantees that the Mecanum wheel 1011 can be simultaneously grounded when the automobile body meets ground unevenness, provides stable ground grabbing force, and plays buffering cushioning effect simultaneously.

Preferably, as shown in fig. 6, the servo jacking mechanisms 116 are arranged at the bottom of the bottom plate 119 in a triangle shape, and three groups of servo jacking mechanisms 116 are used for jacking the multifunctional composite robot integrally after the outer housing 102 is precisely positioned, so that the mecanum wheel 1011 is separated from the ground.

It should be noted that, according to the three-point balancing principle, after the vehicle body is precisely positioned by the software leveling algorithm, the three groups of independent servo jacking mechanisms 116 jack up the multifunctional composite robot integrally, so that the Mecanum wheel 1011 is separated from the ground, and the rigidity and stability of the system are improved.

Preferably, as shown in fig. 7, the servo jacking mechanism 116 includes a servo motor 1161, a screw lifter 1162, a jacking mounting plate 1163, a vertical mounting plate 1164 and a ball head connecting plate 1165, the screw lifter 1162 is mounted on the jacking mounting plate 1163 and is fixed inside the outer shell 102 through the vertical mounting plates 1164 on two sides, the servo motor 1161 is connected with one end of the screw lifter 1162, and the other end of the screw lifter 1162 is hinged with a built-in ball groove of the ball head connecting plate 1165, so that the problem of eccentric stress of the head of the screw due to uneven ground or mounting errors is solved.

Preferably, as shown in fig. 8, the collaborative robot system 300 includes a collaborative robot 301, a six-dimensional force sensor 302, a quick-change connection plate 303, an electric quick-change component 304, an electric gripper mounting plate 305, a gripper 306 and an electric gripper 307, one end of the six-dimensional force sensor 302 is connected to an end flange of the collaborative robot 301, the other end is connected to the quick-change connection plate 303, the six-dimensional force sensor 302 collects the changes of the electric quick-change component 304, the electric gripper mounting plate 305, the gripper 306 and the electric gripper 307 in real time and feeds back the changes to the electronic control system 200 to perform real-time dynamic flexible control on a mechanical arm of the collaborative robot 301, so that the influence on the service life of a spindle and a cutter caused by positioning errors when the spindle of a machining center is directly changed; the quick-change connecting plate 303, the electric quick-change component 304, the electric gripper mounting plate 305 and the electric gripper 307 are sequentially connected, and the problem of difficult air supply of the mobile equipment is solved by adopting electric servo control; two clamping jaws 306 are respectively arranged at parallel guide rails on the electric quick-change component 304 and are used for clamping a cutter. The visual inspection system 400 includes a visual mounting flange 401, an annular light source 402, a lens 403, a 2D smart camera 404, a camera mount 405, and a guard post 406; the annular light source 402 is mounted on the visual mounting flange 401 by four of the guard posts 406; the lens 403, the 2D intelligent camera 404 and the camera support 405 are sequentially connected and fixed on the visual mounting flange 401 and are arranged inside four protection upright posts 406, so that foreign objects are prevented from colliding with the camera and the lens.

9-10, the rotary quick-change disc system 500 includes a servo motor 501, a cylinder mount 502, a speed reducer 503, a cross roller bearing 504, a first proximity switch 505, a locating pin 506, a quick-change disc 507, a connecting shaft 508, a first quick-change member 509, a second quick-change member 510, and a third quick-change member 511;

the servo motor 501 is integrally arranged inside the cylinder support 502 in connection with the speed reducer 503; one end of the connecting shaft 508 is connected with the output end of the speed reducer 503, the other end of the connecting shaft 508 is connected with the quick-change disc 507 and is arranged in the crossed roller bearing 504, the outer ring of the crossed roller bearing 504 is arranged on the upper part of the cylindrical support 502, and a servo control is adopted to rapidly position clamps of different load tools, so that the quick-change installation space of different loads is reduced; the first proximity switch 505 is installed on the quick change disc 507 and is used for detecting whether the quick change component exists or not; the first, second and third quick- change members 509, 510 and 511 are placed on the quick-change tray 507 by means of the positioning pins 506, respectively;

the first quick-change component 509 is provided with a 2D linear laser scanner, and the 2D linear laser scanner is used for further accurately detecting the wear degree of a used cutter on a machine tool before the cutter is taken;

an electric gripper is carried on the second quick-change component 510, and the electric gripper is used for picking and placing cutters with different specifications;

the third quick-change component 511 is provided with a parallel clamping jaw, and the parallel clamping jaw can grasp a cylindrical workpiece and is used for automatic feeding and discharging of a machine tool.

Preferably, as shown in fig. 11, the tool magazine 600 includes a tool 601, a data screw 602, a tool mounting plate 603, a sensor mounting corner piece 604, a profile support 605, a tool shank 606, a second proximity switch 607, and a code reader 608; the sensor mounting corner piece 604 is mounted on the profile support 605, and the second proximity switch 607 is vertically upwards mounted on the sensor mounting corner piece 604 and is used for detecting whether a cutter 601 exists in the cutter holder 606; the upper end of the profile support 605 is provided with a cutter mounting plate 603, the cutter mounting plate 603 is provided with a cutter holder 606 and a code reader 608 respectively, the cutter holder 606 is internally provided with a cutter 601, and each cutter 601 is provided with a data screw 602.

Preferably, the electronic control system 200 includes a PLC controller.

The present invention is not limited to the above-mentioned embodiments, but is intended to be limited to the following embodiments, and any modifications, equivalents and modifications can be made to the above-mentioned embodiments without departing from the scope of the invention.

Claims (9)

1. The multifunctional composite robot based on the omni-directional mobile AGV chassis is characterized by comprising the omni-directional mobile AGV chassis (100), an electric control system (200), a cooperative robot system (300), a visual detection system (400), a rotary quick-change disc system (500) and a cutter library (600);

the omnidirectional mobile AGV chassis (100) can realize forward and backward movement, transverse movement, oblique movement, arc movement and zero turning radius rotation;

the electric control system (200) is arranged above the omnidirectional mobile AGV chassis (100) and is a control center of the multifunctional composite robot;

the cooperative robot system (300) is arranged above the electric control system (200) and is used for collecting the load change of the end effector of the cooperative robot system in real time and feeding back the load change to the electric control system (200) so as to perform real-time dynamic flexible control on the mechanical arm of the cooperative robot system;

the visual detection system (400) is arranged at the tail end of the cooperative robot system (300) and is used for accurately positioning a mechanical arm of the cooperative robot system (300) and performing preliminary wear detection on a tool in use on a machine tool;

the rotary quick-change disc system (500) is arranged at the left upper part of the electric control system (200) and is used for rapidly positioning clamps of different load tools and accurately detecting abrasion of a tool in use on a machine tool;

the tool library (600) is arranged at the right upper part of the electric control system (200), the tool library (600) comprises tools, data screws and a code reader, and the code reader is used for reading tool information stored in the data screws so as to realize the management and maintenance of the multifunctional compound robot on the tools.

2. The multifunctional composite robot based on the omnidirectional mobile AGV chassis according to claim 1, wherein the omnidirectional mobile AGV chassis (100) comprises an outer shell (102), an upper expanding plate (109) and a bottom plate (119) are respectively installed at the upper end and the lower end of the outer shell (102), four groups of independent driving suspension assemblies (101) are installed around the bottom of the outer shell (102), a manual charging port (103), a voice loudspeaker (104), a strip-shaped light belt (105), a scram button (106), a safety touch edge (107), a touch screen (113), a button assembly (114) and an automatic charging brush plate (115) are respectively installed on the side face of the outer shell (102), a laser navigation radar (108) is respectively installed on the upper expanding plate (109), a service panel (110), a control interface (111) and a power interface (112) are respectively installed on the bottom of the bottom plate (119), and a servo jacking mechanism (116), a two-dimensional code sensor (117) and a tilt sensor (118) are respectively installed on the bottom of the outer shell (102).

3. The multi-functional composite robot based on an omnidirectionally moving AGV chassis of claim 2, wherein each set of the independently driven suspension assemblies (101) comprises a mecanum wheel (1011), a hydro-pneumatic spring (1012), a shock mount (1013), a servo motor (1014), a swing arm (1015), a rotation shaft (1016) and a hinge mount (1017), the servo motor (1014) being fixed at the center of the swing arm (1015) by the mecanum wheel (1011); one end of the swing arm (1015) is hinged to the rotating shaft (1016), the rotating shaft (1016) is fixed to the support (1017), the other end of the swing arm (1015) is hinged to the lower portion of the hydro-pneumatic spring (1012), the upper portion of the hydro-pneumatic spring (1012) is hinged to the shock absorption support (1013), the shock absorption support (1013) and the hinge support (1017) are installed inside the outer shell (102), and the swing arm (1015) can swing around the axis of the rotating shaft (1016) in a certain amplitude.

4. A multifunctional composite robot based on an omnidirectionally moving AGV chassis according to claim 3, characterized in that the servo jacking mechanism (116) is arranged at the bottom of the bottom plate (119) in a triangle shape, and three groups of servo jacking mechanisms (116) are used for jacking the multifunctional composite robot integrally after the outer shell (102) is precisely positioned, so that the mecanum wheel (1011) is separated from the ground.

5. The multifunctional composite robot based on the omnidirectional mobile AGV chassis according to claim 2, wherein the servo jacking mechanism (116) comprises a servo motor (1161), a screw lifter (1162), a jacking mounting plate (1163), a vertical mounting plate (1164) and a ball head connecting plate (1165), the screw lifter (1162) is mounted on the jacking mounting plate (1163) and is fixed inside the outer shell (102) through the vertical mounting plates (1164) on two sides, the servo motor (1161) is connected to one end of the screw lifter (1162), and the other end of the screw lifter (1162) is hinged with an embedded ball groove of the ball head connecting plate (1165) in a ball shape.

6. The multifunctional composite robot based on the omnidirectional mobile AGV chassis according to claim 1, wherein the collaborative robot system (300) comprises a collaborative robot (301), a six-dimensional force sensor (302), a quick-change connecting plate (303), an electric quick-change component (304), an electric gripper mounting plate (305), clamping jaws (306) and an electric gripper (307), one end of the six-dimensional force sensor (302) is connected to an end flange of the collaborative robot (301), the other end of the six-dimensional force sensor is connected to the quick-change connecting plate (303), the six-dimensional force sensor (302) collects changes of the electric quick-change component (304), the electric gripper mounting plate (305), the clamping jaws (306) and the electric gripper (307) in real time and feeds back the changes to the electric control system (200) so as to perform real-time dynamic flexible control on a mechanical arm of the collaborative robot (301), and the quick-change connecting plate (303), the electric quick-change component (304), the electric gripper mounting plate (305) and the electric gripper (307) are sequentially connected, and the two clamping jaws (306) are respectively mounted on a guide rail of the electric quick-change component (304) for parallel cutting tools.

7. The multi-functional composite robot based on the omnidirectionally moving AGV chassis of claim 1, wherein the vision detection system (400) comprises a vision mounting flange (401), an annular light source (402), a lens (403), a 2D smart camera (404), a camera mount (405), and a guard post (406); the annular light source (402) is mounted on the visual mounting flange (401) through four protection columns (406); the lens (403), the 2D intelligent camera (404) and the camera support (405) are sequentially connected and fixed on the visual mounting flange (401) and are arranged in the four protection upright posts (406).

8. The multi-functional composite robot based on the omnidirectionally moving AGV chassis of claim 1, wherein the rotary quick-change disc system (500) comprises a servo motor (501), a cylinder support (502), a speed reducer (503), a cross roller bearing (504), a first proximity switch (505), a locating pin (506), a quick-change disc (507), a connecting shaft (508), a first quick-change component (509), a second quick-change component (510) and a third quick-change component (511);

the servo motor (501) is connected with the speed reducer (503) and integrally arranged in the cylinder support (502); one end of the connecting shaft (508) is connected with the output end of the speed reducer (503), the other end of the connecting shaft (508) is connected with the quick-change disc (507) and is arranged in the crossed roller bearing (504), and the outer ring of the crossed roller bearing (504) is arranged on the upper part of the cylinder support (502); the first proximity switch (505) is arranged on the quick change disc (507) and is used for detecting whether the quick change component exists or not; the first quick-change component (509), the second quick-change component (510) and the third quick-change component (511) are placed on the quick-change disc (507) through the positioning pins (506) respectively;

a 2D linear laser scanner is mounted on the first quick-change component (509), and the 2D linear laser scanner is used for further accurately detecting the abrasion degree of a used cutter on a machine tool before cutter taking;

an electric gripper is carried on the second quick-change component (510), and the electric gripper is used for picking and placing cutters with different specifications;

the third quick-change component (511) is provided with parallel clamping jaws, and the parallel clamping jaws can grasp cylindrical workpieces and are used for automatic feeding and discharging of a machine tool.

9. The multi-functional composite robot based on the omnidirectionally moving AGV chassis of claim 1, wherein the tool magazine (600) comprises a tool (601), a data screw (602), a tool mounting plate (603), a sensor mounting corner piece (604), a profile support (605), a tool holder (606), a second proximity switch (607), and a code reader (608); the sensor mounting corner fitting (604) is mounted on the profile support (605), and the second proximity switch (607) is vertically and upwardly mounted on the sensor mounting corner fitting (604) and is used for detecting whether a cutter (601) exists in the cutter holder (606); the upper end of the section bar support (605) is provided with a cutter mounting plate (603), the cutter mounting plate (603) is provided with a cutter handle seat (606) and a code reader (608) respectively, the cutter (601) is arranged in the cutter handle seat (606), and each cutter (601) is provided with a data screw (602).

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