CN218342118U - Robot assembly - Google Patents

Abstract

The utility model relates to the technical field of robot, especially, relate to a robot tooling assembly. This robot frock assembly includes frame and a plurality of different kind's frock, has seted up a plurality of parking spaces on the frame, all corresponds in every parking space and has deposited a frock, be equipped with the detection device with the controller signal connection of robot in the parking space, detection device is used for detecting the existence of frock, be equipped with on the frock be used for with the frock connecting portion of robot can dismantle the quick change dish of being connected, every frock is used for transporting the transport piece of treating of a specification. The arrangement of various different tools greatly improves the universality of the method for assembling the end plates, the head plates and the tail plates into the cage ribs by adopting the robot and other auxiliary equipment, so that the robot and other auxiliary equipment can replace manpower to assemble the end plates, the head plates and the tail plates into the cage ribs.

Description

Robot assembly

Technical Field

The utility model relates to the technical field of robot, especially, relate to a robot tooling assembly.

Background

In the cage muscle manufacture process of concrete prefabricated product tubular pile, the assembly and the transportation of end plate, head board and tailboard adopt the manual work to carry the installation basically, and intensity of labour is big, and is inefficient, operates inconveniently, and the security is low. At present, methods for assembling and transferring the end plates, the head plates and the tail plates into the cage ribs by robots and other auxiliary equipment have appeared.

However, because the specifications of the end plate, the head plate and the tail plate are more, different processes for manufacturing the cage ribs have different requirements on the assembly positions and the states of the workpieces, and the robot can only carry the end plate, the head plate and the tail plate of a certain specification due to the limitation of the tools and can meet the requirements of the manufacturing process of a certain cage rib on the assembly positions and the states of the workpieces, so that the method for assembling the end plate, the head plate and the tail plate into the cage ribs by adopting the robot and other auxiliary equipment has poor universality, and the feasibility of replacing manpower to assemble the end plate, the head plate and the tail plate into the cage ribs is lower.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, the utility model provides a can improve the robot dress assembly that adopts robot and other auxiliary assembly to assemble the commonality of the method in the cage muscle with end plate, head plate and tailboard.

The utility model adopts the following technical scheme:

the utility model provides a robot tooling assembly, including frame and a plurality of heterogeneous frock, seted up a plurality of parking spaces on the frame, all correspond among every parking space and deposited a frock, be equipped with the detection device with the controller signal connection of robot in the parking space, detection device is used for detecting the existence of frock, is equipped with on the frock to be used for can dismantling the quick change dish of being connected with the frock connecting portion of robot, and every frock is used for transporting the transport piece of treating of a specification.

Preferably, a positioning device is further arranged in the storage space, a positioning structure matched with the positioning device is arranged on the tool, and the positioning device is matched with the positioning structure for positioning.

Preferably, a plurality of different kinds of frock includes the sucking disc frock, and the sucking disc frock includes frock main part and the sucking disc anchor clamps that are connected with the quick change dish, and quick change dish and sucking disc anchor clamps all set up in frock main part, and location structure sets up on sucking disc anchor clamps.

Preferably, the sucking disc anchor clamps are electromagnetic chuck anchor clamps, are equipped with the first position detection device who is connected with quick change dish signal on the electromagnetic chuck anchor clamps, and first position detection device is used for detecting the existence of waiting to transport the piece.

Preferably, the sucking disc tool further comprises an elastic buffer device, and the buffer device is arranged between the tool main body and the sucking disc clamp.

Preferably, the plurality of different types of tools comprise clamping tools, each clamping tool comprises a box body, a clamping device and a driving device connected with the quick-change disc, the clamping devices, the driving devices, the quick-change discs and the positioning structures are all arranged on the box bodies, and the driving devices are connected with the clamping devices and drive the clamping devices to clamp or open.

Preferably, the clamping device comprises a slide rail, a first clamping jaw and a second clamping jaw, the slide rail is arranged on the box body, and the first clamping jaw and the second clamping jaw are both arranged on the slide rail and can slide along the slide rail in a reciprocating manner under the driving of the driving device.

Preferably, the clamping device further comprises a swing rod, a first connecting rod and a second connecting rod, the swing rod is arranged on the box body in a swinging mode, one end of the swing rod is hinged to one end of the first connecting rod, the other end of the swing rod is hinged to one end of the second connecting rod, the other end of the first connecting rod is hinged to the first clamping jaw, and the other end of the second connecting rod is hinged to the second clamping jaw.

Preferably, the box body is of a cavity structure with an opening at one side, the driving device is arranged in the inner space of the box body, and the clamping device and the quick-change disc are arranged on the shell of the box body.

Preferably, the clamping tool further comprises a second position detection device in signal connection with the quick-change disc, and the second position detection device is used for detecting the existence of the to-be-transferred piece.

Compared with the prior art, the utility model discloses the progress that has showing:

the detection device can convey storage information of the tool on the frame to the controller of the robot, the robot can combine the storage information of the tool received by the controller, a proper tool is selected from the frame of the robot tool assembly according to actual working requirements, corresponding work can be carried out after the tool connecting portion of the robot is detachably connected with the connecting end of the tool in a signal mode, and the arrangement of various different tools greatly improves the universality of the method for assembling the end plate, the head plate and the tail plate into the cage rib by adopting the robot and other auxiliary equipment, so that the robot and other auxiliary equipment can replace manpower to assemble the end plate, the head plate and the tail plate into the cage rib.

Drawings

Fig. 1 is a schematic structural diagram of a robot tooling assembly in an embodiment of the present invention.

Fig. 2 is a schematic structural diagram of the suction cup fixture of the robot fixture assembly in the embodiment of the present invention.

Fig. 3 is a front view of the suction cup tool of the robot tool assembly in an embodiment of the present invention.

Fig. 4 is a bottom view of the suction cup fixture of the robot fixture assembly in an embodiment of the present invention.

Fig. 5 is a schematic structural diagram of a clamping tool of the robot tool assembly in an embodiment of the present invention.

Fig. 6 is a bottom view of the clamping tool of the robot tool assembly in an embodiment of the present invention.

Wherein the reference numerals are as follows:

1. frame 323, second jaw

11. Detection device 324 and swing rod

12. Positioning device 325 and first connecting rod

2. Sucker tool 326 and second connecting rod

21. Tool main body 33 and driving device

22. Suction cup holder 34, second position detecting device

221. First position detecting device 341, third positioning pin

2211. First positioning pin 342 and second sensor

2212. Second positioning pin a, storage space

2213. First sensor b, quick change dish

23. Buffer device c, positioning structure

3. Clamping tool d and through hole

31. Case e, first cylinder

32. Clamping device f, second cylinder

321. Slide rail g, third cylinder

322. First clamping jaw

Detailed Description

The following describes the present invention in further detail with reference to the accompanying drawings. These embodiments are provided only for illustrating the present invention and are not intended to limit the present invention.

In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.

As shown in fig. 1 to 6, it is an embodiment of the robot tooling assembly of the present invention.

Referring to fig. 1, the robot assembly of this embodiment includes frame 1 and a plurality of heterogeneous frock, a plurality of parking spaces a have been seted up on the frame 1, a frock has all been deposited to corresponding in every parking space a, be equipped with in the parking space a with the detection device 11 of the controller signal connection of robot, detection device 11 is used for detecting the existence of frock, be equipped with on the frock be used for with the frock connecting portion of robot can dismantle the quick change dish b of being connected, every frock is used for transporting the piece of waiting to transport of a specification. The robot tooling assembly of the embodiment is particularly suitable for assembling end plates, head plates and tail plates in the process of manufacturing cage ribs, and the parts to be transported can be the end plates or the head plates or the tail plates.

It should be noted that the detecting device 11 may be a sensor; the quick change disk b is a tool for realizing quick change of robot assembly in the technical field of robots, and can enable gas, electric signals, liquid, ultrasound and the like to be exchanged between the robots and the tools.

The detection device 11 detects the storage information of the tooling in the storage space a on the frame 1 and transmits the detected storage information of the tooling to the controller of the robot, the robot can combine the storage information of the tooling received by the controller, and selects a proper tooling from the frame 1 of the robot assembly of the embodiment according to the set program according to the actual working requirement for connection, and after the tooling connecting part of the robot is connected with the quick-change disc b of the tooling, the corresponding work can be carried out, and the arrangement of various different tooling greatly improves the universality of the method for assembling the end plate, the head plate and the tail plate into the cage bar by adopting the robot and other auxiliary equipment, so that the robot and other auxiliary equipment can replace the manual work to assemble the end plate, the head plate and the tail plate into the cage bar.

Preferably, referring to fig. 1, 2 and 5, a positioning device 12 is further disposed in the storage space a, a positioning structure c matched with the positioning device 12 is disposed on the tool, and the positioning device 12 and the positioning structure c are matched for positioning, so that after the tool moves relative to the frame 1, the robot is prevented from moving into a certain storage space a according to a set program and cannot be detachably connected with the tool in the storage space a through a tool connecting portion.

Preferably, in this embodiment, the positioning device 12 in the storage space a is a plurality of positioning pins arranged at intervals, the positioning structure c on the fixture is a plurality of pin holes arranged at intervals, and after the plurality of positioning pins and the plurality of pin holes are in one-to-one inserting fit, the fixture is positioned in the storage space a.

Preferably, the plurality of different types of tools include a suction cup tool 2, and referring to fig. 2, the suction cup tool 2 includes a tool main body 21 and a suction cup fixture 22 connected to a quick-change plate b, the quick-change plate b and the suction cup fixture 22 are both disposed on the tool main body 21, and the positioning structure c is disposed on the suction cup fixture 22. It should be noted that the connection of the suction cup holder 22 to the quick-change plate b includes a signal connection and an electrical connection. After the tool connecting portion of the robot is connected with the sucker tool 2, the sucker fixture 22 on the sucker tool 2 is controlled by the controller of the robot to be connected to a workpiece to be transported in an adsorbing mode, and the robot can transport the workpiece to be transported.

Preferably, the suction cup fixture 22 is an electromagnetic suction cup fixture, and referring to fig. 4, a first position detection device 221 in signal connection with the quick-change plate b is arranged on the electromagnetic suction cup fixture, and the first position detection device 221 is used for detecting the existence of the to-be-transported member. The electromagnetic chuck clamp is a common electromagnetic clamp in the field of machining, and can be used for realizing the adsorption connection or disconnection placement of workpieces containing metals such as iron, cobalt and nickel by magnetizing or demagnetizing. After the frock connecting portion of robot is connected with sucking disc frock 2, the robot moves to treating the transportation piece top and moves down to the existence that first position detection device 221 detected to treat the transportation piece under the control of controller, first position detection device 221 transmits position detection information signal for the controller of robot, the controller of robot is controlled the electromagnetic chuck anchor clamps on sucking disc frock 2 again and is magnetized and adsorb and connect on treating the transportation piece, the robot can treat the transportation piece and transport, after will treating the transportation piece and transport the assigned position, the controller of robot controls the electromagnetic chuck anchor clamps on the sucking disc frock 2 again and puts the assigned position with treating the transportation piece.

In this embodiment, the piece of waiting to transport that transports through sucking disc frock 2 is mainly end plate, head board and tailboard.

Specifically, referring to fig. 4, the first position detecting device 221 includes a first positioning pin 2211, a second positioning pin 2212, and a first sensor 2213, the first positioning pin 2211 and the second positioning pin 2212 are disposed on the electromagnetic chuck fixture at an interval, the first positioning pin 2211 is used for being in plug-in fit with a hole on the head plate, the second positioning pin 2212 is telescopic relative to the electromagnetic chuck fixture, the second positioning pin 2212 is used for being in plug-in fit with a hole on the tail plate, the first sensor 2213 is in signal connection with the quick-change plate b, and the first sensor 2213 is used for detecting existence of the head plate and the tail plate. When the robot carries the headboard through the sucker tool 2, the second positioning pin 2212 retracts to avoid interference with the headboard, the first positioning pin 2211 is in plug fit with a hole on the headboard, at the moment, the first sensor 2213 detects the headboard and sends a detection signal to a controller of the robot, and the controller of the robot controls the electromagnetic sucker fixture to magnetize and suck the headboard after receiving the detection signal; when the robot carries the tailboard through the sucking disc tool 2, because the cavity is arranged in the middle of the tailboard, the first positioning pin 2211 does not interfere with the tailboard, the second positioning pin 2212 extends out and is matched with a hole position on the tailboard in an inserting mode, at the moment, the first sensor 2213 detects the tailboard and sends a detection signal to a controller of the robot, and the controller of the robot controls the electromagnetic sucking disc clamp to magnetize and suck the tailboard after receiving the detection signal.

Further, in this embodiment, referring to fig. 3, a through hole d is formed in the electromagnetic chuck fixture, the second positioning pin 2212 is disposed in the through hole d, the tool main body 21 is a cavity structure with an opening at one side, a first cylinder e connected to the quick-change disk b is disposed in the tool main body 21, and an output end of the first cylinder e is connected to one end of the second positioning pin 2212 and drives the second positioning pin 2212 to axially move in the through hole d. It should be noted that the connection of the first cylinder e to the quick-change disk b includes a signal connection and an electrical connection. The controller of robot can carry out flexible control to first cylinder e according to the kind of waiting to transport the work piece to correspond the flexible state of adjustment second locating pin 2212.

It should be noted that the first cylinder e in this embodiment may be replaced by a spring in a compressed state, one end of the spring is connected to the tool main body 21, the other end of the spring is connected to one end of the second positioning pin 2212, and the second positioning pin 2212 extends out of the through hole d under the elastic force of the spring. When the robot carries the head plate or the tail plate through the sucker tool 2, the second positioning pin 2212 can correspondingly stretch out or retract according to the condition, so that interference on the carrying is avoided.

Preferably, referring to fig. 2 and 3, the suction cup tool 2 further includes a buffer device 23 having elasticity, and the buffer device 23 is disposed between the tool main body 21 and the suction cup holder 22. The arrangement of the buffer device 23 can play a role in buffering when the sucking disc tool 2 is connected with a workpiece to be transported in an adsorption mode, and the sucking disc clamp 22 is prevented from colliding with the tool main body 21 and being damaged by the sucking disc clamp 22.

Preferably, in the present embodiment, referring to fig. 3, the buffer device 23 is a spring, one end of the spring abuts against the tool main body 21, and the other end of the spring abuts against the suction cup clamp 22.

Specifically, in this embodiment, the spring is equipped with four, and four spring intervals enclose and establish into the rectangle to improve buffering effect, when preventing that one side of sucking disc anchor clamps 22 from colliding, because of buffering effect is not good, lead to sucking disc anchor clamps 22 and frock body 21 to collide, make sucking disc anchor clamps 22 damage.

Preferably, the plurality of different types of tools include a clamping tool 3, and referring to fig. 5 and 6, the clamping tool 3 includes a box 31, a clamping device 32, and a driving device 33 connected with a quick-change disc b, the clamping device 32, the driving device 33, the quick-change disc b, and the positioning structure c are all disposed on the box 31, and the driving device 33 is connected with the clamping device 32 and drives the clamping device 32 to clamp or expand. It should be noted that the connection of the driving device 33 to the fast disc b includes signal connection and electrical connection. After the tool connecting part of the robot is connected with the clamping tool 3, the driving device 33 on the clamping tool 3 is controlled by the controller of the robot to drive the clamping device 32, the clamping device 32 is clamped on the part to be transported, and the robot can transport the part to be transported.

Preferably, referring to fig. 5, the clamping device 32 includes a slide rail 321, a first claw 322 and a second claw 323, the slide rail 321 is disposed on the box 31, and the first claw 322 and the second claw 323 are both disposed on the slide rail 321 and can slide back and forth along the slide rail 321 under the driving of the driving device 33. The driving device 33 drives the first claw 322 and the second claw 323 to approach each other along the slide rail 321, so as to complete the clamping action of the clamping device 32 and clamp the to-be-transported piece; the driving device 33 completes the opening action of the clamping device 32 by driving the first jaw 322 and the second jaw 323 away from each other along the slide rail 321, and can release the member to be transferred.

Preferably, referring to fig. 6, in this embodiment, the driving device 33 includes a second cylinder f and a third cylinder g, both of which are connected to the quick-change disk b, a driving end of the second cylinder f is connected to the first jaw 322 and drives the first jaw 322 to slide along the slide rail 321 in a reciprocating manner, and a driving end of the third cylinder g is connected to the second jaw 323 and drives the second jaw 323 to slide along the slide rail 321 in a reciprocating manner.

The connection between the second cylinder f and the third cylinder g and the fast switching disk b includes signal connection and electrical connection; the driving device 33 may also be a servo motor connected to the quick-change disk b, a gear is disposed at an output end of the servo motor, a rack engaged with the gear at the output end of the servo motor is connected to the first claw 322 or the second claw 323, and the connection between the servo motor and the quick-change disk b includes signal connection and electrical connection. The first jaw 322 and the second jaw 323 can be controlled to approach or separate from each other by driving the output end of the servo motor to rotate forward or backward, so as to realize clamping or opening action.

Preferably, referring to fig. 5, the clamping device 32 further includes a swing link 324, a first link 325 and a second link 326, the swing link 324 is swingably disposed on the box 31, one end of the swing link 324 is hinged to one end of the first link 325, the other end of the swing link 324 is hinged to one end of the second link 326, the other end of the first link 325 is hinged to the first jaw 322, and the other end of the second link 326 is hinged to the second jaw 323. When the driving force for driving the first jaw 322 by the driving device 33 is greater than the driving force for driving the second jaw 323, the driving force for driving the first jaw 322 may be transmitted to the swing rod 324 through the first connecting rod 325, and then transmitted to the second connecting rod 326 through the swing rod 324, and the second jaw 323 is driven by the second connecting rod 326 to move in a direction opposite to the moving direction of the first jaw 322, which is beneficial to ensuring the synchronism of the movement of the first jaw 322 and the second jaw 323 when the clamping device 32 of the clamping tool 3 performs clamping or opening actions, and improving the working efficiency of the clamping device 3.

Preferably, referring to fig. 5 and 6, the box 31 is a cavity structure with one side open, the driving device 33 is disposed in the inner space of the box 31, and the clamping device 32 and the quick-change disk b are disposed on the outer shell of the box 31, so as to protect the driving device 33 and prevent the driving device 33 from being damaged due to collision when the robot uses the clamping tool 3 for work.

Preferably, in the present embodiment, referring to fig. 5, the sliding rail 321 and the swing link 324 are both disposed on the housing of the box 31.

Preferably, referring to fig. 5, the clamping tool 3 further comprises a second position detection device 34 in signal connection with the fast switching disk b, and the second position detection device 34 is used for detecting the existence of the to-be-transferred member. After the frock connecting portion of robot is connected with clamping tool 3, the robot moves to treating the transport piece top and moves down to the existence of waiting to transport the piece to second position detection device 34 under the control of controller, second position detection device 34 transmits position detection information signal for the controller of robot, the controller of robot receives position detection information after, drive arrangement 33 drive clamping device 32 on the tight frock 3 of re-control clamp carries out the clamping action, thereby treat the transport piece and carry out the centre gripping, the robot can treat the transport piece and transport, after will treating the transport piece and transport the assigned position, the drive arrangement 33 drive clamping device 32 on the tight frock 3 of robot re-control clamp drives the action, thereby will treat the transport piece and place the assigned position.

In this embodiment, the to-be-transported member transported by the clamping tool 3 is mainly an end plate head plate assembly or an end plate tail plate assembly.

Specifically, in the present embodiment, referring to fig. 5, the second position detecting device 34 includes a third positioning pin 341 and a second sensor 342, the third positioning pin 341 is disposed on the housing of the box 31 on the side where the slide rail is disposed, the third positioning pin 341 is configured to be inserted into and matched with a corresponding hole on the end plate, the second sensor 342 is in signal connection with the quick-change disk b, and the second sensor 342 is configured to detect the existence of the end plate. When the robot carries the end plate through the clamping tool 3, the third positioning pin 341 is in insertion fit with the corresponding hole on the end plate, at this time, the second sensor 342 detects the end plate and transmits detection signal information to the controller of the robot, and the controller of the robot controls the driving device 33 to drive the first clamping jaw 322 and the second clamping jaw 323 of the clamping device 32 to be close to each other after receiving the detection signal, so that the end plate is clamped.

Further, referring to fig. 1, in this embodiment, a plurality of different specifications of suction cup tools 2 and a plurality of different specifications of clamping tools 3 are stored in a plurality of storage spaces a on the frame 1, the first positioning pin 2211 on the first position detecting device 221 of each specification of suction cup tool 2 and the second positioning pin 2212 are arranged at different positions and correspond to holes on a head plate and a tail plate of one specification, and the third positioning pin 341 on the second position detecting device 34 of each specification of clamping tool 3 is arranged at different positions and correspond to holes on an end plate of one specification, so that the robot can carry end plates, head plates and tail plates of different specifications.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and replacements can be made without departing from the technical principle of the present invention, and these modifications and replacements should also be regarded as the protection scope of the present invention.

Claims (10)

1. The utility model provides a robot tool assembly, its characterized in that, includes frame (1) and a plurality of heterogeneous frock, a plurality of parking spaces (a), every have all been deposited one to correspondence in parking space (a) the frock, be equipped with in parking space (a) detection device (11) with the controller signal connection of robot, detection device (11) are used for detecting the existence of frock, be equipped with on the frock be used for with the quick change dish (b) of connection can be dismantled to the frock connecting portion of robot, every the frock is used for transporting the transport piece of treating of a specification.

2. The robot assembly according to claim 1, wherein a positioning device (12) is further disposed in the storage space (a), a positioning structure (c) matched with the positioning device (12) is disposed on the tool, and the positioning device (12) and the positioning structure (c) are matched for positioning.

3. The robotic assembly of claim 2, wherein the plurality of different types of tooling includes a suction cup tooling (2), the suction cup tooling (2) includes a tooling body (21) and a suction cup fixture (22) connected to the quick-change plate (b), the quick-change plate (b) and the suction cup fixture (22) are both disposed on the tooling body (21), and the positioning structure (c) is disposed on the suction cup fixture (22).

4. The robotic assembly according to claim 3, wherein said chuck holder (22) is an electromagnetic chuck holder, said electromagnetic chuck holder being provided with a first position detection device (221) in signal connection with said fast-change disk (b), said first position detection device (221) being adapted to detect the presence of said member to be transferred.

5. The robotic assembly of claim 3, wherein the suction cup tooling (2) further comprises a resilient buffer device (23), the buffer device (23) being disposed between the tooling body (21) and the suction cup fixture (22).

6. The robot assembly according to claim 2, wherein the plurality of different types of tools comprise a clamping tool (3), the clamping tool (3) comprises a box body (31), a clamping device (32) and a driving device (33) connected with the quick-change disc (b), the clamping device (32), the driving device (33), the quick-change disc (b) and the positioning structure (c) are all arranged on the box body (31), and the driving device (33) is connected with the clamping device (32) and drives the clamping device (32) to clamp or open.

7. The robot tooling assembly of claim 6, wherein the clamping device (32) comprises a slide rail (321), a first jaw (322) and a second jaw (323), the slide rail (321) is disposed on the box body (31), and the first jaw (322) and the second jaw (323) are both disposed on the slide rail (321) and can slide along the slide rail (321) in a reciprocating manner under the driving of the driving device (33).

8. The robotic assembly according to claim 7, wherein said clamping device (32) further comprises a swing link (324), a first link (325) and a second link (326), said swing link (324) being swingably disposed on said housing (31), one end of said swing link (324) being hinged to one end of said first link (325), the other end of said swing link (324) being hinged to one end of said second link (326), the other end of said first link (325) being hinged to said first jaw (322), the other end of said second link (326) being hinged to said second jaw (323).

9. The robot tooling assembly of claim 6, wherein the box (31) is a cavity structure with one side open, the driving device (33) is arranged in the inner space of the box (31), and the clamping device (32) and the quick-change disc (b) are arranged on the shell of the box (31).

10. The robot tooling assembly according to claim 6, further comprising a second position detecting device (34) in signal connection with the fast switching disc (b) on the clamping tooling (3), wherein the second position detecting device (34) is used for detecting the existence of the to-be-transferred member.

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