CN211137183U

CN211137183U - Multi-degree-of-freedom end effector for tool changing robot

Info

Publication number: CN211137183U
Application number: CN201921859239.9U
Authority: CN
Inventors: 姜礼杰; 杨航; 文勇亮; 钱豪; 张树祺
Original assignee: China Railway Engineering Equipment Group Co Ltd CREG
Current assignee: China Railway Engineering Equipment Group Co Ltd CREG
Priority date: 2019-10-31
Filing date: 2019-10-31
Publication date: 2020-07-31
Anticipated expiration: 2029-10-31

Abstract

The utility model discloses a multi freedom end effector for tool changing robot has solved among the prior art problem that end effector tool changing function singleness, tool changing are inefficient for the tool changing robot. The utility model discloses a multi freedom adjusts platform, connects box and fixture, connects the box and is connected with multi freedom adjusts platform, and fixture installs on connecting the box, still is equipped with high-pressure cleaning mechanism, bolt straining device and image acquisition mechanism on connecting the box. The utility model relates to an ingenious, the structure integrated level is high, and the motion is nimble, can press from both sides the utensil and get hoist and mount, bolt elasticity, high pressure cleaning, can also image acquisition simultaneously, and real-time supervision improves tool changing efficiency and operating safety factor, has higher spreading value.

Description

Multi-degree-of-freedom end effector for tool changing robot

Technical Field

The utility model relates to a shield constructs tool changing technical field, especially indicates a multi freedom end effector for tool changing robot.

Background

The cutter consumption is big, the change is frequent in full-face entry driving machine work progress, often is the manual tool changing among the prior art, and the manual tool changing operation degree of difficulty is big, and is efficient, easily takes place the incident moreover. For guaranteeing the personal safety of constructors, complicated manual tool changing is avoided, tool changing efficiency is improved, material resources and financial resources are saved, and a tool changing robot is used for replacing manpower to change the tool of the shield machine, so that the current research topic is formed.

However, in the current stage, the research on the tool changing robot is less, and particularly, the tool changing robot is provided with the tail end executing mechanism, the function of the existing tail end executing mechanism is single, when the tail end executing mechanism executes actions, the tail end executing mechanism only needs to take and hang the tool far, and the bolt or the nut on the tool is still manually assembled and disassembled. And when terminal actuating mechanism was in the implementation action, its position of clamping jaw subassembly was not adjustable, and the direction of motion is fixed, and it is inconvenient to press from both sides the hobbing cutter clamp of different positions, and in addition, the collection scope of image is limited, can not accurately hold the change operating mode, and tool changing flexibility and tool changing efficiency are not high, and can not wash the cutter in good time, influence change efficiency. In summary, the end effector for the tool changing robot needs to be further improved and reasonably designed to improve the tool changing efficiency.

SUMMERY OF THE UTILITY MODEL

Not enough to among the above-mentioned background art, the utility model provides a tool changing robot is with multi freedom end effector has solved among the prior art problem that end effector tool changing function singleness, tool changing are inefficient for the tool changing robot.

The technical scheme of the utility model is realized like this: the multi-degree-of-freedom end effector for the tool changing robot comprises a multi-degree-of-freedom adjusting platform, a connecting box body and a clamping mechanism, wherein the connecting box body is connected with the multi-degree-of-freedom adjusting platform, the clamping mechanism is installed on the connecting box body, and a high-pressure cleaning mechanism, a bolt tightening and loosening mechanism and an image acquisition mechanism are further arranged on the connecting box body.

The multi-degree-of-freedom adjusting platform comprises a fixed platform and a movable platform, the movable platform is connected with the fixed platform through a parallel oil cylinder group, and the movable platform is fixedly connected with the box body.

The parallel oil cylinder group comprises at least two oil cylinders, the oil cylinders are obliquely arranged, and two ends of each oil cylinder are respectively connected with the fixed platform and the movable platform through ball hinges.

The clamping mechanism comprises a fixed claw and a movable claw, the movable claw is hinged with the fixed claw and is opened and closed through a clamping oil cylinder, and the top of the fixed claw is connected with the sliding driving mechanism.

The sliding driving mechanism comprises a guide rail, the guide rail is fixed in the connecting box body, a sliding block is arranged on the guide rail in a sliding mode, the sliding block is fixedly connected with the fixed claw, a moving oil cylinder is hinged to the sliding block, and the moving oil cylinder pushes the sliding block to move along the guide rail.

The fixed claw and the movable claw are both U-shaped clamping claws with radian, and the movable claw is connected with the fixed claw through a pin shaft; the clamping end of the fixed claw and the clamping end of the movable claw are in a wrapping state, and clamping grooves are formed in the inner wall of the clamping end of the fixed claw and the inner wall of the clamping end of the movable claw.

The high-pressure cleaning mechanism comprises a nozzle joint and an interface pipeline, the nozzle joint is sleeved in the interface pipeline and upwards penetrates through the connecting box body, a high-pressure nozzle is arranged at the upper part of the nozzle joint, and the interface pipeline is fixed in the connecting box body and is connected with an external water source.

The spray nozzle is characterized in that roller wheel supports are arranged on two sides of the spray nozzle connector and fixedly connected with the connecting box body, roller wheels are arranged on the roller wheel supports, wheel shafts of the roller wheels are connected with a spray nozzle motor fixed on the connecting box body, and the roller wheels are in friction contact with the spray nozzle connector and can drive the spray nozzle connector to move up and down through rotation of the roller wheels.

The bolt tightening and loosening mechanism comprises a torque driving part, a torque wrench and a flexible end mechanism, the torque driving part is connected with the torque wrench through a connecting rod mechanism, the torque driving part, the connecting rod mechanism and the torque wrench are located in a connecting box body, the flexible end mechanism stretches out of the connecting box body, one end of the torque wrench is connected with the flexible end mechanism, and the torque driving part drives the flexible end mechanism to rotate through the connecting rod mechanism and the torque wrench.

The flexible tail end mechanism comprises an outer sleeve, a middle sleeve and a central sleeve, the middle sleeve is sleeved inside the outer sleeve and connected with the outer sleeve through a first bolt, the central sleeve is sleeved inside the middle sleeve and connected with the middle sleeve through a second bolt, and a nut-shaped clamping groove is formed in the central sleeve.

The outer sleeve, the middle sleeve and the central sleeve are coaxially arranged, and the outer sleeve, the middle sleeve and the central sleeve are provided with radial springs; the top of outer sleeve is equipped with the speed reducer, and the output shaft and the outer sleeve fixed connection of speed reducer, the input shaft and the torque wrench fixed connection of speed reducer.

The connecting rod mechanism comprises a connecting plate and two connecting rods, the connecting plate is fixedly connected with the torque driving piece, one end of each connecting rod is hinged with the connecting plate, and the other end of each connecting rod is provided with a cross-shaped connecting seat; the connecting rod is fixedly connected with the torque wrench through the cross connecting seat, the outer end part of the cross connecting seat is provided with a pre-positioning push rod, and the pre-positioning push rod corresponds to a lug arranged in the connecting box body.

The image acquisition mechanism comprises a camera and an inclination angle adjusting platform, and the inclination angle adjusting platform is positioned in the connecting box body and extends upwards out of the connecting box body; the camera sets up the upper portion at the inclination and adjusts the platform, the inclination is adjusted the platform and is included deciding the platform and moving platform I, decides platform I and moves and is equipped with swing elevating system between the platform I, and swing elevating system drives and moves I swing of platform and lift.

The swing lifting mechanism comprises a telescopic piece and a central column, the central column is fixedly and vertically arranged at the lower part of the movable platform I and is positioned at the central position of the movable platform I, a shaft sleeve is fixedly arranged on the fixed platform I, and the lower part of the central column is positioned in the shaft sleeve; the both ends of extensible member are articulated with deciding platform I and moving platform I respectively, and the extensible member is located the center post all around.

The utility model discloses connect the box and drive the clamping jaw through multi freedom regulation platform and go up and down, rotate, adjust the position and the angle of clamping jaw to the dismouting that adapts to different position cutters is changed. The flexible end mechanism of the bolt tightening and loosening mechanism adopts three sleeve parts which are coaxially arranged, the springs are arranged between the two adjacent sleeves to be connected, the coaxiality of the two sleeves in a static state can be guaranteed, the quick positioning and the quick clamping and connecting cooperation of the bolt or the nut are realized, the safe and efficient operation is realized, and the working efficiency is improved. The image acquisition mechanism adopts a multi-degree-of-freedom adjusting platform and a rotating mechanism which are matched for use, and the multi-degree-of-freedom adjusting platform can drive the camera to swing and lift; the rotating mechanism drives the camera to rotate circumferentially; the camera can adjust the position and the angle of the camera, the camera is convenient to focus quickly, the movement of the tool changing robot tail end executing mechanism is overlapped, the requirement of adjusting the camera shooting position with multiple degrees of freedom is met, and the range of image acquisition is enlarged. A nozzle motor of the high-pressure cleaning mechanism drives the roller to rotate, and the roller and the nozzle joint generate friction to drive the nozzle joint to move up and down, so that the nozzle joint moves up and down in the interface pipeline, and the high-pressure cleaning mechanism is suitable for cleaning cutters at different positions. The utility model relates to an ingenious, the structure integrated level is high, and the motion is nimble, can press from both sides the utensil and get hoist and mount, bolt elasticity, high pressure cleaning, can also image acquisition simultaneously, and real-time supervision improves tool changing efficiency and operating safety factor, has higher spreading value.

Drawings

In order to illustrate the embodiments of the present invention more clearly, the drawings that are needed in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and that other drawings can be obtained by those skilled in the art without inventive work.

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic view of the structure of the multi-degree-of-freedom adjusting platform of the present invention.

Fig. 3 is the structure of the clamping mechanism of the present invention.

Fig. 4 is the structural schematic diagram of the high-pressure cleaning mechanism of the present invention.

Fig. 5 is a schematic sectional view of the high pressure cleaning mechanism of the present invention.

Fig. 6 is the structural schematic diagram of the image acquisition mechanism of the present invention.

Fig. 7 is a schematic view of the structure of the platform for adjusting the tilt angle of the present invention.

Fig. 8 is the structural schematic diagram of the bolt tightening mechanism of the present invention.

Fig. 9 is a schematic view of the internal structure of the flexible end mechanism of the present invention.

Fig. 10 is a schematic sectional view of the connection box of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without any creative effort belong to the protection scope of the present invention.

As shown in fig. 1, in embodiment 1, a multiple degree of freedom end effector for a tool changing robot includes a multiple degree of freedom adjusting platform 201, a connecting box 206, and a clamping mechanism 202, where the connecting box 206 is connected to the multiple degree of freedom adjusting platform 201, the multiple degree of freedom adjusting platform can swing and lift, and the connecting box 206 can perform corresponding synchronous actions under the action of the multiple degree of freedom adjusting platform. The clamping mechanism 202 is mounted on the connecting box 206, and the connecting box 206 is further provided with a high-pressure cleaning mechanism 203, a bolt tightening mechanism 204 and an image acquisition mechanism 205. The clamping mechanism is used for clamping and hoisting the cutter; the image acquisition mechanism is used for acquiring images when the tail end execution mechanism executes actions, and visual detection is facilitated. The bolt tightening and loosening mechanism is used for screwing a bolt for mounting a cutter; the high-pressure cleaning mechanism is used for cleaning the cutter to be replaced. The clamping mechanism, the image acquisition mechanism, the bolt tightening mechanism and the high-pressure cleaning mechanism are located on the same plate surface of the connecting box body, and the five parts are matched for use, so that efficient and safe replacement of the cutter is realized.

Further, as shown in fig. 2, the multiple degree of freedom adjustment platform 201 includes a fixed platform 2011 and a movable platform 2012, the movable platform 2012 is connected with the fixed platform 2011 by a parallel oil cylinder group 2013, and the movable platform 2012 is fixedly connected with the connection box 206. The cylinders of the parallel oil cylinder group are matched and telescopic to adjust the height and the angle of the connecting box body, so that the clamping mechanism 202, the high-pressure cleaning mechanism 203, the bolt tightening mechanism 204 and the image acquisition mechanism 205 are positioned at proper positions, and the cutter is quickly and safely replaced. Parallelly connected hydro-cylinder group 2013 includes two at least hydro-cylinders, sets up 6 hydro-cylinders preferentially, and 6 hydro-cylinders slope sets up, and 6 hydro-cylinders are from weighing the class toper promptly, and the both ends of hydro-cylinder are connected with fixed platform 2011 and movable platform 2012 respectively through ball hinge 2014, and through the flexible cooperation of 6 hydro-cylinders, drive and move the platform and go up and down or rotate or inclination is adjusted to the hobbing cutter of adaptation different positions.

Embodiment 2, as shown in fig. 3, a multiple degree of freedom end effector for a tool changing robot, where the clamping mechanism 202 includes a fixed jaw 101 and a movable jaw 102, and the movable jaw 102 is hinged to the fixed jaw 101 and is opened and closed by a clamping cylinder 108, that is, under the telescopic action of the clamping cylinder, the movable jaw moves relative to the fixed jaw to grasp a tool. The top of the fixed jaw 101 is connected to a slide driving mechanism. The fixed claw and the movable claw can perform sliding translation under the action of the sliding driving mechanism, so that the position of the fixed claw and the movable claw can be changed, and the tool can be suitable for dismounting and replacing tools at different positions.

Preferably, the sliding driving mechanism comprises a guide rail 105, the guide rail 105 is fixed in the connecting box 206, a sliding block 103 is arranged on the guide rail 105 in a sliding manner, the sliding block 103 is fixedly connected with the fixed claw 101, a moving oil cylinder 106 is hinged on the sliding block 103, and the moving oil cylinder 106 pushes the sliding block 103 to move along the guide rail 105. When the position of the clamping jaw assembly is adjusted, the movable oil cylinder is controlled to stretch, the sliding block is pushed to drive the fixed clamping jaw to move along the guide rail, and the horizontal axial position of the fixed clamping jaw is adjusted. The slider 103 is the concave type seat, and the concave type seat lock is on the dovetail groove of guide rail, keeps the stability of concave type seat, realizes simultaneously that the removal hydro-cylinder does not interfere the connection and steadily stretches out and draws back. The fixed jaw 101 and the movable jaw 102 are both U-shaped clamping jaws with radian, so that the clamping jaws have two clamping fingers which move synchronously and are respectively clamped at two sides of the cutter, and stable and firm clamping is realized. The movable claw 102 is connected with the fixed claw 101 through a pin 104; the movable claw moves around the pin shaft relative to the fixed claw under the action of the clamping oil cylinder, so that the clamping claw is opened and closed. The clamping end of the fixed claw 101 and the clamping end of the movable claw 102 are in a wrapping state, and the inner walls of the clamping end of the fixed claw 101 and the clamping end of the movable claw 102 are provided with clamping grooves 109. The clamping groove is matched with the cutter shaft of the cutter, so that the cutter shaft can be firmly clamped by the clamping jaw, and the sliding in the clamping process is prevented. One end of the clamping oil cylinder is hinged in the groove on the fixed claw 101, and the other end of the clamping oil cylinder is hinged in the groove on the movable claw 102, so that the surface of the clamping oil cylinder is not beyond the outer surfaces of the fixed claw and the movable claw, the clamping oil cylinder is prevented from interfering with other fixed parts in the clamping process, and the flexibility of the clamping jaw is improved.

Other results were compared with example 1.

Embodiment 3, as shown in fig. 4, a multi-degree-of-freedom end effector for a tool changing robot, the high pressure cleaning mechanism 203 includes a nozzle joint 302 and an interface pipe 303, the nozzle joint 302 is sleeved in the interface pipe 303 and penetrates upward through the connection box 206, the nozzle joint 302 is hermetically connected with the interface pipe 303, and the nozzle joint 302 can move up and down with the interface pipe 303 to achieve extension and retraction of the nozzle joint 302. The upper part of the nozzle joint 302 is provided with a high-pressure nozzle 301, and an interface pipeline 303 is fixed inside the connecting box body 206 and is connected with an external water source. An external water source enters the nozzle joint through the interface pipeline and then is sprayed out through the high-pressure nozzle to clean the designated cutter, so that the cutter is convenient to disassemble.

Preferably, as shown in fig. 5, two sides of the nozzle joint 302 are provided with roller brackets 304, the roller brackets 304 are fixedly connected with the connecting box 206, the roller brackets 304 are provided with rollers 305, and the rollers 305 are rubber wheels or other rollers with certain friction. The axle of the roller 305 is connected with a nozzle motor 306 fixed on the connecting box 206, the roller 305 is in friction contact with the nozzle joint 302 and the rotation of the roller 305 can drive the nozzle joint 302 to move up and down. When the nozzle cleaning device is used, the nozzle motor drives the roller to rotate, and the roller and the nozzle joint generate friction to drive the nozzle joint to move up and down, so that the nozzle joint moves up and down in the interface pipeline, and the nozzle cleaning device is suitable for cleaning cutters at different positions.

Further, as shown in fig. 6 and 7, the image acquisition mechanism 205 comprises cameras 5 to 201 and tilt angle adjustment platforms 5 to 202, wherein the tilt angle adjustment platforms 5 to 202 are located in the connection box 206 and extend upwards from one surface of the connection box 206 corresponding to the clamping jaw assembly; the camera 5-201 is arranged on the upper part of the inclination angle adjusting platform 5-202, and the inclination angle adjusting platform can drive the camera to swing and lift so as to realize the adjustment of the position and the angle of the camera. The inclination angle adjusting platform 5-202 comprises a fixed platform I2-1 and a movable platform I2-2, a swinging lifting mechanism is arranged between the fixed platform I2-1 and the movable platform I2-2, and the swinging lifting mechanism drives the movable platform I2-2 to swing and lift. The swing lifting mechanism drives the movable platform I2-2 to swing and lift. Under the action of the swing lifting mechanism, the movable platform can swing and lift obliquely, so that the camera on the upper part rotates, the rapid focusing is facilitated, the moving of the tool changing robot tail end actuating mechanism is limited, and the image acquisition range is enlarged.

Preferably, the swing lifting mechanism comprises telescopic parts 2-3 and a central column 2-4, the central column 2-4 is fixedly and vertically arranged at the lower part of the movable platform I2-2 and is positioned at the central position of the movable platform I2-2, the plurality of telescopic parts 203 are arranged on the outer circumference of the movable platform, and the telescopic parts 203 adopt telescopic oil cylinders or telescopic air cylinders. A shaft sleeve 2-5 is fixedly arranged on the fixed platform I2-1, and the lower part of the central column 2-4 is positioned in the shaft sleeve 2-5; the lower part of the central column 204 can slide and rotate up and down in the shaft sleeve and is used for supporting the movable platform in a follow-up mode. Two ends of the telescopic piece 2-3 are hinged with the fixed platform I2-1 and the movable platform I2-2 respectively, and the telescopic piece 2-3 is located on the periphery of the central column 2-4. The telescopic parts can be four, and the adjustment of the gradient and the inclination direction of the movable platform and the adjustment of the height can be realized through the extension and retraction of the telescopic parts at different positions, so that the camera on the movable platform can move more flexibly, and the rapid focusing and the image acquisition are facilitated.

The other structure is the same as embodiment 2.

Embodiment 4, as shown in fig. 8, a multiple degree of freedom end effector for a tool changing robot, where the bolt tightening/loosening mechanism 204 includes a torque driving member 401, a torque wrench 404, and a flexible end mechanism 406, the torque driving member 401 is connected to the torque wrench 404 through a link mechanism 402, the torque driving member 401, the link mechanism 402, and the torque wrench 404 are located in a connection box 206, one end of the torque driving member 401 is fixed to the connection box, and the torque driving member may be a hydraulic cylinder. The flexible end mechanism 406 extends out of the connection box 206, one end of the torque wrench 404 is connected with the flexible end mechanism 406, and the torque driving member drives the torque wrench to rotate through the link mechanism. The torque driver 401 rotates the flexible end mechanism 406 through the linkage 402 and the torque wrench 404. When the tool is used, the flexible end mechanism clamps a bolt for installing a tool, then the torque driving part 401 drives the flexible end mechanism 406 to rotate through the connecting rod mechanism 402 and the torque wrench 404, corresponding bolts or nuts rotate, whether the bolts are screwed down or not is realized, and the tool is quickly replaced.

Preferably, as shown in fig. 9, the flexible tip mechanism 406 includes an outer sleeve 4061, a middle sleeve 4062 and a center sleeve 4063, the middle sleeve 4062 is sleeved inside the outer sleeve 4061 and connected with the outer sleeve 4061 by a first bolt 4066, and a slot is formed on the outer sleeve wall corresponding to the second bolt to facilitate the installation of the second bolt. The central sleeve 4063 is sleeved inside the middle sleeve 4062 and connected with the middle sleeve 4062 through a second bolt 4064, and a nut-shaped slot 4067 is arranged on the central sleeve 4063. Under the action of a torque wrench, the middle sleeve can slightly rotate around the first bolt shaft in the outer sleeve, and meanwhile, the two sleeves are connected through a spring, so that the coaxiality of the two sleeves in a static state can be guaranteed; likewise, the same is true of the connection between the intermediate sleeve and the central sleeve.

Preferably, as shown in figure 10, the outer, intermediate and

central sleeves

4061, 4062, 4063 are coaxially arranged, ensuring the coaxiality of the three sleeve installations. The outer and

intermediate sleeves

4061, 4062 and 4063 are provided with radial springs 4065; the radial spring is radially arranged between the two adjacent sleeves, the coaxiality of the two sleeves in a static state can be guaranteed, and quick positioning and quick clamping and matching of the bolt or the nut are realized. The top of the outer sleeve 4061 is provided with a speed reducer 405, an output shaft of the speed reducer 405 is fixedly connected with the outer sleeve 4061, and an input shaft of the speed reducer 405 is fixedly connected with the torque wrench 404. The torque wrench is fixedly connected with the outer sleeve of the flexible tail end mechanism through the speed reducer, so that the small extension of the torque driving piece can generate large torque of the flexible tail end mechanism, and the working efficiency of screwing (or unscrewing) the bolt is improved.

Preferably, the link mechanism 402 includes a connection plate 4021 and two connection rods 4022, the connection plate 4021 is fixedly connected to the torque driver 401, the two connection rods 4022 are symmetrically disposed on two sides of the connection plate 4021, and two flexible end mechanisms are correspondingly disposed, respectively corresponding to the bolts or nuts on two sides of the cutter. One end of the connecting rod 4022 is hinged to the connecting plate 4021, and the other end is provided with a cross connecting seat 4023; the connecting rod 4022 is fixedly connected with the torque wrench 404 through a cross connecting seat 4023, a pre-positioning push rod 4024 is arranged at the outer end of the cross connecting seat 4023, and the pre-positioning push rod 4024 corresponds to a bump 4025 arranged in the connecting box 502. Connecting rod 4022 sets up perpendicularly with torque wrench 404 promptly, fixes respectively in the both sides of cross connecting seat, and pre-positioning push rod cooperates with the lug of being connected in the box 502 for location torque wrench pivoted angle, when torque driving piece moved extreme position, pre-positioning push rod and lug contact, and lug extrusion pre-positioning push rod can make the inside ratchet mechanism of torque wrench commutate, and contact each time can all make ratchet mechanism commutate once, realizes screwing up and loosening of nut.

The other structure is the same as in example 3.

The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A multi-degree-of-freedom end effector for a tool changing robot is characterized in that: the device comprises a multi-degree-of-freedom adjusting platform (201), a connecting box body (206) and a clamping mechanism (202), wherein the connecting box body (206) is connected with the multi-degree-of-freedom adjusting platform (201), the clamping mechanism (202) is installed on the connecting box body (206), and a high-pressure cleaning mechanism (203), a bolt tightening mechanism (204) and an image acquisition mechanism (205) are further arranged on the connecting box body (206).

2. The multi-degree-of-freedom end effector for a tool changing robot according to claim 1, characterized in that: the multi-degree-of-freedom adjusting platform (201) comprises a fixed platform (2011) and a movable platform (2012), the movable platform (2012) is connected with the fixed platform (2011) through a parallel oil cylinder group (2013), and the movable platform (2012) is fixedly connected with a connecting box body (206).

3. The multiple degree of freedom end effector for a tool changing robot according to claim 2, characterized in that: the parallel oil cylinder group (2013) comprises at least two oil cylinders, the oil cylinders are obliquely arranged, and two ends of each oil cylinder are respectively connected with the fixed platform (2011) and the movable platform (2012) through ball hinges.

4. The multiple degree of freedom end effector for a tool changing robot according to claim 1, 2 or 3, wherein: the clamping mechanism (202) comprises a fixed claw (101) and a movable claw (102), the movable claw (102) is hinged to the fixed claw (101) and is opened and closed through a clamping oil cylinder (108), and the top of the fixed claw (101) is connected with a sliding driving mechanism.

5. The multi-degree-of-freedom end effector for a tool changing robot according to claim 4, characterized in that: the sliding driving mechanism comprises a guide rail (105), the guide rail (105) is fixed in a connecting box body (206), a sliding block (103) is arranged on the guide rail (105) in a sliding mode, the sliding block (103) is fixedly connected with a fixed claw (101), a moving oil cylinder (106) is hinged to the sliding block (103), and the moving oil cylinder (106) pushes the sliding block (103) to move along the guide rail (105).

6. The multiple degree of freedom end effector for a tool changing robot according to claim 5, characterized in that: the fixed claw (101) and the movable claw (102) are both U-shaped clamping claws with radian, and the movable claw (102) is connected with the fixed claw (101) through a pin shaft (104); the clamping end of the fixed claw (101) and the clamping end of the movable claw (102) are in a wrapping state, and clamping grooves (109) are formed in the inner wall of the clamping end of the fixed claw (101) and the inner wall of the clamping end of the movable claw (102).

7. The multiple degree of freedom end effector for a tool changing robot according to claim 1, 5 or 6, wherein: the high-pressure cleaning mechanism (203) comprises a nozzle joint (302) and an interface pipeline (303), the nozzle joint (302) is sleeved in the interface pipeline (303) and upwards penetrates through the connecting box body (206), a high-pressure nozzle (301) is arranged on the upper portion of the nozzle joint (302), and the interface pipeline (303) is fixed inside the connecting box body (206) and is connected with an external water source.

8. The multi-degree-of-freedom end effector for a tool changing robot according to claim 7, characterized in that: the nozzle joint is characterized in that roller supports (304) are arranged on two sides of the nozzle joint (302), the roller supports (304) are fixedly connected with the connecting box body (206), rollers (305) are arranged on the roller supports (304), a wheel shaft of each roller (305) is connected with a nozzle motor (306) fixed on the connecting box body (206), and the rollers (305) are in friction contact with the nozzle joint (302) and can drive the nozzle joint (302) to move up and down through rotation of the rollers (305).

9. The multiple degree of freedom end effector for a tool changing robot according to claim 1 or 8, characterized in that: the bolt tightening and loosening mechanism (204) comprises a torque driving part (401), a torque wrench (404) and a flexible end mechanism (406), the torque driving part (401) is connected with the torque wrench (404) through a connecting rod mechanism (402), the torque driving part (401), the connecting rod mechanism (402) and the torque wrench (404) are located in a connecting box body (206), the flexible end mechanism (406) stretches out the connecting box body (206), one end of the torque wrench (404) is connected with the flexible end mechanism (406), and the torque driving part (401) drives the flexible end mechanism (406) to rotate through the connecting rod mechanism (402) and the torque wrench (404).

10. The multiple degree of freedom end effector for a tool changing robot according to claim 9, characterized in that: flexible end mechanism (406) includes outer sleeve (4061), middle sleeve (4062) and center sleeve (4063), and middle sleeve (4062) cover is established and is connected with outer sleeve (4061) inside outer sleeve (4061) and through first bolt (4066), and center sleeve (4063) cover is established and be connected with middle sleeve (4062) inside middle sleeve (4062) and through second bolt (4064), is equipped with nut-shaped draw-in groove (4067) on center sleeve (4063).

11. The multi-degree-of-freedom end effector for a tool changing robot according to claim 10, characterized in that: the outer sleeve (4061), the middle sleeve (4062) and the central sleeve (4063) are coaxially arranged, and the outer sleeve (4061), the middle sleeve (4062) and the central sleeve (4063) are provided with radial springs (4065); the top of the outer sleeve (4061) is provided with a speed reducer (405), an output shaft of the speed reducer (405) is fixedly connected with the outer sleeve (4061), and an input shaft of the speed reducer (405) is fixedly connected with the torque wrench (404).

12. The multi-degree-of-freedom end effector for a tool changing robot according to claim 11, characterized in that: the connecting rod mechanism (402) comprises a connecting plate (4021) and two connecting rods (4022), the connecting plate (4021) is fixedly connected with the torque driving piece (401), one end of each connecting rod (4022) is hinged to the connecting plate (4021), and the other end of each connecting rod (4022) is provided with a cross connecting seat (4023); the connecting rod (4022) is fixedly connected with the torque wrench (404) through the cross connecting seat (4023), a pre-positioning push rod (4024) is arranged at the outer end of the cross connecting seat (4023), and the pre-positioning push rod (4024) corresponds to a convex block (4025) arranged in the connecting box body (206).

13. The multiple degree of freedom end effector for a tool changing robot according to claim 1, 11 or 12, wherein: the image acquisition mechanism (205) comprises a camera (5-201) and an inclination angle adjusting platform (5-202), and the inclination angle adjusting platform (5-202) is positioned in the connecting box body (206) and extends upwards out of the connecting box body (206); the camera (5-201) is arranged on the upper portion of the inclination angle adjusting platform (5-202), the inclination angle adjusting platform (5-202) comprises a fixed platform I (2-1) and a movable platform I (2-2), a swinging lifting mechanism is arranged between the fixed platform I (2-1) and the movable platform I (2-2), and the swinging lifting mechanism drives the movable platform I (2-2) to swing and lift.

14. The multiple degree of freedom end effector for a tool changing robot according to claim 13, wherein: the swing lifting mechanism comprises a telescopic piece (2-3) and a central column (2-4), the central column (2-4) is fixedly and vertically arranged at the lower part of the movable platform I (2-2) and is positioned at the central position of the movable platform I (2-2), a shaft sleeve (2-5) is fixedly arranged on the fixed platform I (2-1), and the lower part of the central column (2-4) is positioned in the shaft sleeve (2-5); two ends of the telescopic piece (2-3) are hinged with the fixed platform I (2-1) and the movable platform I (2-2) respectively, and the telescopic piece (2-3) is located on the periphery of the central column (2-4).