Abstract: This solution is based on the production concept of convenience, safety, reliability and high efficiency. Through the gripper storage cart positioning device, the gripper storage cart is accurately positioned, and the gripper storage cart accurately locates the gripper, thus ensuring the position accuracy of the gripper. Ensure that the robot can pick up the gripper or place the gripper through a fixed running track every time. Through the air source connection device, instead of manual air connection, the pneumatic circuit of the gripper storage cart can be ventilated automatically, safely and quickly, so as to realize the opening and closing of the pneumatic mechanism of the gripper storage cart. Through the wireless coupler, the problem of signal connection and transmission between the gripper storage cart and the welding line is solved, and programmable logic controller electrification control is realized. Through program closed-loop control, the next step is strictly acted in accordance with the steps and signal feedback to ensure safe and efficient switching. Ultimately achieve the goal of improving production efficiency, reducing worker intensity, and improving equipment operating rate.

Key words: Robot gripper; Replacement of gripper; Automatic; Programmable logic controller; Welding

摘要： 文章基于便捷性、安全性、可靠性与高效性的生产理念，通过定位装置精确定位抓手 存放车，并进一步精确定位抓手，确保抓手的位置精度，保证机器人每次能够通过固定的运 行轨迹来拾取或放置抓手。通过气路接通装置，代替人工接气，实现抓手存放车气路能够自 动安全快速地通气，从而实现抓手存放车气动机构打开与闭合；通过无线耦合器，解决抓手 存放车与线体的信号连接与传输的问题，实现可编程逻辑控制器电气控制；通过程序闭环控 制，实现严格按照步骤及信号反馈进行下一步动作，确保安全高效切换，最终达到提升生产 效率，降低工人作业强度，提高设备开动率的目的。

关键词: 机器人抓手；抓手切换；自动化；可编程逻辑控制器；焊装