The Robotic Tool Changer makes the robot's application more flexible by allowing the robot to automatically change different end effectors or peripherals. These end effectors and peripherals include, for example, spot welding torches, grippers, vacuum tools, pneumatic and electric motors, and the like. The tool changer includes a robot side for mounting on the robot arm and a tool side for mounting on the end effector. The tool changer allows different media such as gases, electrical signals, liquids, video, ultrasound, etc. to be connected from the robotic arm to the end effector. The advantages of the robot tool quick change device are:
1. Production line replacement can be completed in a few seconds;
2. Maintenance and repair tools can be quickly replaced, greatly reducing downtime;
3. Increase flexibility by using more than one end effector in the application;
4. Use the automatic exchange of single-function end effectors instead of the original cumbersome multi-function tooling actuators.
Robotic tool changer allows individual robots to be exchanged during manufacturing and equipment using different end effectors to increase flexibility and is widely used in automatic spot welding, arc welding, material snatching, stamping, inspection, crimping, assembly, materials Removal, burr cleaning, packaging, etc. In addition, the tool changer provides backup tools for tools in some important applications, effectively avoiding unexpected events. It takes several hours to change the tool, and the tool changer automatically replaces the spare tool in a matter of seconds. At the same time, the device is also widely used in some non-robot fields, including pallet systems, flexible fixtures , manual spot welding and artificial material snatch.
Industrial robot vision guidance and positioning
For industrial robots working on automated production lines, the most complete type of operation is the “grab-and-place†action. In order to complete such operations, it is necessary to acquire the positioning information of the operated object. First, the robot must know the pose before the object is operated to ensure that the robot accurately grasps; secondly, it must know the target pose after the object is operated. To ensure that the robot accurately completes the task.
In most industrial robot applications, the robot only operates according to a fixed procedure. The initial pose and the final pose of the object are pre-specified, and the quality of the work task is guaranteed by the positioning accuracy of the production line. For high-quality operations, the production line is required to be relatively fixed, and the positioning accuracy is high. The result is that the production flexibility is reduced, and the cost is greatly increased. At this time, the flexibility of the production line and the product quality are contradictory.
Visual guidance and positioning are ideal tools to resolve these contradictions.
Industrial robots can understand the changes in the working environment in real time through the vision system, and adjust the actions accordingly to ensure the correct completion of the task. In this case, even if there is a large error in the adjustment or positioning of the production line, it will not affect the accurate operation of the robot. The visual system actually provides an external closed-loop control mechanism to ensure that the robot automatically compensates for errors caused by environmental changes.
The ideal visual guidance and positioning should be based on visual servoing. First, observe the general orientation of the object, and then observe the deviation between the robot and the object while moving, and adjust the direction of movement of the robot according to this deviation until the robot and the object are in accurate contact. However, there are many difficulties in achieving this positioning method.
Direct vision guidance and positioning is a one-time detailed description of the spatial pose of objects in the robot environment, guiding the robot to complete the action directly. Compared with the visual servo-based method, the amount of direct vision guidance is greatly reduced, which creates conditions for practical applications, but it must be based on a premise that the vision system can accurately measure the three-dimensional shape of the object in the robot space (in the base coordinate system). Pose information.
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