A quick-change device driven and controlled by a robot end, a control method thereof, and an application robot

Abstract

The present invention is applicable to the field of robots, and provides a quick-change device driven and controlled by a robot end, a control method thereof, and an application robot. The quick-change device includes a first joint and a second joint assembled with a rotary locking mechanism; when the first joint and the second joint need to be locked or disengaged with each other, the second joint is fixed, and the robot end is controlled to drive the first joint to rotate clockwise or counterclockwise around the central axis of the robot end to a set angle. The present invention is the first to propose to directly utilize the various characteristics of the robot end to drive and control the quick-change device, and realize quick change without changing the mechanical structure of the robot and without the need for additional configuration of pneumatic, hydraulic or electric drive components, which greatly simplifies the structure and saves costs.

Description

Technical Field

[0001] The present invention belongs to the field of robots, and in particular relates to a quick-change device driven and controlled by a robot end, a control method thereof, and an application robot. Background Art

[0002] In the field of robotics, welding equipment / robots are widely used, saving a lot of manpower. When welding weldments of different shapes and specifications, it is often necessary to replace welding equipment and welding actuators of different types or specifications. The replacement of welding equipment and welding actuators not only needs to consider the connection between the welding actuator and the end of the robot arm, but also the transmission of working media such as power current, fluid, and control signals. Therefore, it is necessary to use a quick-change device to quickly connect or separate the robot end and the tool equipment, but the current quick-change device has a complex structure and high cost.

[0003] For example, a gun change plate is disclosed in the Chinese invention patent with application publication number CN 107097257 A, a quick-change device for a mechanical arm is disclosed in the Chinese invention patent with application publication number CN 109015760 A, and a quick-change device and quick-change method for the end of an industrial robot are disclosed in the Chinese invention patent with application publication number CN111113468 A, and a quick-change device for a tool at the end of a robot is disclosed in the Chinese invention patent with application publication number CN110253628A. The above patents all use pneumatic drive components in conjunction with a steel ball clamping mechanism to achieve docking and separation between conversion interfaces. For example, a robot quick-change device and end mechanism disclosed in the Chinese invention patent with application publication number CN 107351113 A use hydraulic drive components in conjunction with a steel ball clamping mechanism to achieve docking and separation between conversion interfaces. For example, an electric robot end quick-change device disclosed in the Chinese invention patent with application publication number CN109483599A uses electric drive components in conjunction with a steel ball clamping mechanism to achieve docking and separation between conversion interfaces.

[0004] It can be seen that whether it is pneumatic, hydraulic or electric drive components, they are all additional power components with complex structures and high costs. In addition, the steel ball clamping mechanism used in the above patents has poor stability and is prone to accidental falling off of tools and equipment. The transfer of fluid media (especially cooling water) can only be achieved through external fluid connectors, which is also costly.

[0005] In summary, the existing quick-change devices have a complex structure, high cost and unstable performance; therefore, there is an urgent need to provide a quick-change device with a simple structure, low cost and stable performance. Summary of the invention

[0006] The purpose of the embodiments of the present invention is to provide a quick-change device driven and controlled by a robot end, a control method thereof, and an application robot, aiming to solve the problems of complex structure, high cost, and unstable performance of existing quick-change devices.

[0007] The present invention provides a quick-change device driven and controlled by a robot end, the quick-change device comprising a first joint and a second joint assembled by a rotary locking mechanism; when the first joint and the second joint need to be locked or disengaged with each other, the second joint is fixed, and the robot end is controlled to drive the first joint to rotate clockwise or counterclockwise around the central axis of the robot end to achieve a set angle.

[0008] The present invention proposes for the first time to directly utilize the high control accuracy of the robot end to control the rotation angle of the first joint, and utilize the large output torque of the robot end to provide sufficient power for the rotational locking mechanism to lock or disengage with each other; and utilize the flexibly configurable execution program of the robot end. By changing the execution program of the robot end, quick replacement of tool equipment is achieved without changing the mechanical structure of the robot and without the need for additional configuration of pneumatic, hydraulic or electric drive components, thereby greatly simplifying the structure and saving costs.

[0009] Preferably, the quick-change device also includes: a multifunctional connecting part and a fluid control part assembled on the first connector; when the first connector and the second connector are in a locked state, the multifunctional connecting part and the second connector are connected to form a fluid medium circuit, and the fluid control part located between the multifunctional connecting part and the second connector controls the on-off of the fluid medium circuit by rotation.

[0010] The present invention can control the on-off of the fluid medium circuit through a fluid control part with a simple structure, eliminating the traditional fluid joint, and also greatly simplifies the structure and saves costs.

[0011] More preferably, the rotation of the fluid control part is driven and controlled by the first joint. As a simple implementation method, the fluid control part and the first joint can be fixed as a whole.

[0012] The present invention utilizes the first joint to transmit the driving control of the robot end to the fluid control part, thereby cleverly solving the problem of the power source and the control of the rotation angle of the flow control plate.

[0013] Preferably, the rotary locking mechanism adopts a rotary buckle structure. The rotary buckle structure comprises: a convex portion fixedly connected to the first joint, and a bayonet provided on the second joint; a buckle portion is provided on the convex portion, and a clamping portion is provided on the bayonet; the convex portion extends into the bayonet, and the buckle portion and the clamping portion are locked or disengaged by the rotation of the first joint.

[0014] The present invention provides a rotating buckle structure with a simple structure to realize rotational locking or disengagement. The rotating buckle structure is completely controlled by the robot end, has more stable performance, and effectively solves the problem of accidental falling off of tools and equipment.

[0015] Preferably, the fluid medium circuit includes: a first fluid medium passage arranged on the multifunctional connecting part, and a first fluid medium interface connected to the first fluid medium passage; a second fluid medium passage arranged on the second joint, and a second fluid medium interface connected to the second fluid medium passage; when the first joint and the second joint are locked or disengaged with each other, the first fluid medium interface and the second fluid medium interface are connected through the fluid channel on the fluid control part.

[0016] The present invention controls the on-off of the fluid medium circuit by controlling whether the two interfaces of the fluid channel are aligned with the first fluid medium interface and the second fluid medium interface respectively, and has a simple structure and convenient control.

[0017] Preferably, the multifunctional connecting part is positioned with the first joint by a first locking device, and is positioned with the second joint by a second locking device; when the first joint and the second joint are mutually locked, when the first joint rotates, the first locking device is in an unlocked state, the second locking device is in a locked state, the first joint and the multifunctional connecting part rotate relative to each other, and the multifunctional connecting part and the second joint are relatively fixed; when the first joint does not rotate, the first locking device is in a locked state, the second locking device is in a locked state, and the first joint, the multifunctional connecting part and the second joint are relatively fixed.

[0018] The present invention solves the positioning problem of the first joint, the multifunctional connecting part and the second joint through two locking devices, effectively preventing the first joint from rotating when the first joint and the second joint are docked, causing the multifunctional connecting part to rotate with the first joint due to friction; and the problem of relative rotation of the three when the robot controls the tool equipment in working state, further preventing the tool equipment from accidentally falling off.

[0019] Preferably, the first positioning device includes pin holes respectively arranged on the multifunctional connecting part and the first joint, and a telescopic pin cooperating with the pin holes; the second positioning device includes pin holes respectively arranged on the multifunctional connecting part and the second joint, and a limit pin cooperating with the pin holes.

[0020] The present invention can realize rapid switching between mutual fixation and mutual rotation between the first joint and the multifunctional connecting part by cooperating with the pin hole through the telescopic pin controlled by the solenoid valve; since the multifunctional connecting part and the second joint cannot rotate with each other, a limit pin can be inserted into the pin hole for direct positioning, which saves costs.

[0021] Preferably, the multifunctional connecting portion is provided with a first electrical connecting terminal, and the second connector is provided with a second electrical connecting terminal matching with the first electrical connecting terminal.

[0022] The present invention realizes the connection and transmission of electrical signals through the cooperation of the first electrical connection terminal and the second electrical connection terminal. Since the multifunctional connection part and the second connection are relatively fixed when the first connector and the second connector need to be locked or disengaged, there is no need to consider the problem of damage to the electrical connection terminal caused by the rotation of the robot end.

[0023] The present invention also provides a control method for the quick-change device driven and controlled by the robot end, and the steps of the method are as follows: when the first joint and the second joint need to be locked or disengaged with each other, first fix the second joint, and then control the robot end to drive the first joint to rotate clockwise or counterclockwise around the central axis of the robot end to a set angle.

[0024] The present invention also provides a robot using the quick-change device driven and controlled by the robot end, comprising a robot body and a tool device, wherein the robot end of the robot body is connected to a first joint, and the tool equipment is connected to a second joint; when the robot body needs to replace the tool equipment, the second joint is fixed, and the robot end is controlled to drive the first joint to rotate clockwise or counterclockwise around the central axis of the robot end to a set angle.

[0025] The present invention proposes for the first time to directly use the high control accuracy of the robot end to control the rotation angle of the first joint, and to use the large output torque of the robot end to provide sufficient power for the rotation locking mechanism to lock or disengage with each other; and to use the flexible configuration of the execution program of the robot end to change the execution program of the robot end, so as to achieve the quick change of tool equipment without changing the mechanical structure of the robot and without the need for additional configuration of pneumatic, hydraulic or electric drive components, thereby greatly simplifying the structure and saving costs. In addition, the present invention also effectively solves the problem of accidental detachment of tool equipment and the transmission of fluid medium. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is an exploded view of the quick-change device controlled by the robot end drive;

[0027] Figure 2 is a perspective view of the second joint of the quick-change device driven by the robot end;

[0028] Figure 3 It is a schematic diagram of the structure of a robot using a quick-change device controlled by a robot end drive.

[0029] In the figure: 10-first joint, 20-second joint, 11-protrusion, 12-buckle, 21-bayonet, 22-clamping part, 13-assembly part, 14-first mounting part, 24-second mounting part, 30-multi-function connecting part, 43-fluid control part, 431-fluid channel, 41-first fluid medium passage, 411-first fluid medium interface, 42-second fluid medium passage, 421-second fluid medium interface, 51-first electrical connection terminal, 52-second electrical connection terminal, 61-solenoid valve, 62-first pin hole, 63-second pin hole, 64-third pin hole, 66-robot end, 60-robot body, 70-tool equipment. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0031] The specific implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0032] like Figure 1 As shown in Figure 3, the quick-change device driven and controlled by the robot end provided in this embodiment includes a first joint 10 and a second joint 20 assembled with a rotating locking mechanism; when the first joint 10 and the second joint 20 need to be locked or disengaged with each other, the second joint 20 is fixed, and the robot end 66 is controlled to drive the first joint 10 to rotate clockwise or counterclockwise around the central axis of the robot end 66 to a set angle. As an example, for example, the "set angle" can be set to 30-120°, preferably 90°. Of course, the rotation angle is determined according to the actual design and requirements, and is not particularly limited.

[0033] The present invention proposes for the first time to directly utilize the high control accuracy of the robot end to control the rotation angle of the first joint, and utilize the large output torque of the robot end to provide sufficient power for the rotational locking mechanism to lock or disengage with each other; and utilize the flexibly configurable execution program of the robot end. By changing the execution program of the robot end, quick replacement of tool equipment is achieved without changing the mechanical structure of the robot and without the need for additional configuration of pneumatic, hydraulic or electric drive components, thereby greatly simplifying the structure and saving costs.

[0034] In one case of this embodiment, the rotary locking mechanism adopts a rotary snap-fit ​​structure, and the rotary snap-fit ​​structure includes: two parts respectively arranged on the first joint 10 and the second joint 20, and the two parts respectively adopt an integrally formed structure and / or a fixed connection structure with the first joint 10 and the second joint 20, and the structure and shape of the two parts are not limited, as long as they can be locked or disengaged with each other through rotation.

[0035] As a preferred structure, the rotating snap-fit ​​structure includes: a protrusion 11 fixedly connected to the first joint 10, and a snap-fit ​​21 arranged on the second joint 20; a buckle 12 is provided on the protrusion 11, and a snap-fitting portion 22 is provided on the snap-fitting portion 21; the protrusion 11 extends into the snap-fitting portion 21, and the buckle 12 and the snap-fitting portion 22 are snap-fitted or disengaged by rotating the first joint 10.

[0036] Specifically, the convex portion 11 is designed as a columnar structure, one end of which is directly fixed on the assembly portion 13 of the first joint 10, or the end is fixed on the fluid control portion 43, and the fluid control portion 43 is fixedly assembled on the first joint 10; the other end of the convex portion 11 is provided with a buckle portion 12 fixedly connected thereto; the bayonet 21 is designed as a through-hole structure, and the clamping portion 22 is a physical part in the bayonet 21; it can be understood that the specific shapes and structures of the convex portion 11, the buckle portion 12 and the bayonet 21 can be set according to actual needs; for example: the buckle portion 12 can be designed as follows Figure 1 The cross-shaped structure shown can also be set to a straight shape, a plum blossom shape, or even a hexagonal nut. The protrusion 11 and the buckle 12 are an integrally formed structure or an assembled structure. If it is an assembled structure, one or more bolts can be used for fixing and assembling.

[0037] More specifically, the bayonet 21 provided on the second joint 20 for plugging with the protrusion 11 is a through hole, and the top of the protrusion 11 is provided with a buckle 12 perpendicular to the length direction of the protrusion 11, and the inner wall of the bayonet 21 is provided with a space (i.e., an avoidance groove) for avoiding the buckle 12 to pass through, and the side of the bayonet 21 away from the first joint 10 is provided with a rotation space for the buckle 12 to move circumferentially. When the buckle 12 passes through the avoidance groove with the protrusion 11, the first joint 10 rotates a certain angle relative to the second joint 20 so that the buckle 12 can be pressed against the end face of the side of the bayonet 21 away from the joint 10, thereby forming a snap-fit ​​lock.

[0038] Preferably, a spiral bevel is provided on the end face of the bayonet 21 away from the first joint 10, and when the buckle 12 rotates, the second joint 20 is gradually clamped based on the cooperation with the spiral bevel; specifically, after the first joint 10 and the second joint 20 are docked, the opposite end faces thereof are in contact with each other, and the spiral bevel can gradually increase the clamping force between the buckle 12 and the end face of the bayonet 21 during the rotation process, and the rotational resistance of the first joint 10 will also gradually increase; it is well known in the art that gradual tightening by means of a spiral bevel is a conventional setting, and other structures (such as spring clips) may also replace the spiral bevel.

[0039] This embodiment utilizes the constant torque drive mode of the robot end 66, and drives the protrusion 11 to rotate synchronously through the first joint 10, so that the torque on the protrusion 11 can be accurately controlled within the design range. This process is also achieved by utilizing the function of the robot end 66 itself, without the need for additional stress sensors and power drive components, further reducing equipment costs, simplifying the control process, and reducing equipment failure rates.

[0040] In this embodiment, the quick-change device further includes: a multifunctional connection part 30 and a fluid control part 43 assembled on the first joint 10; when the first joint 10 and the second joint 20 are in a locked state, the multifunctional connection part 30 and the second joint 20 are docked to form a fluid medium circuit, and the fluid control part 43 located between the multifunctional connection part 30 and the second joint 20 controls the on and off of the fluid medium circuit by rotation. The rotation of the fluid control part 43 is driven and controlled by the first joint 10; as a priority, the fluid control part 43 and the first joint 10 are fixed as a whole, and can be assembled as a whole, and can adopt an integrated molding structure and / or a fixed connection structure.

[0041] In this embodiment, the multifunctional connection part 30 is clamped between the first joint 10 and the fluid control part 43. More specifically, the multifunctional connection part 30 is penetrated by the first joint 10. It can be understood that a through hole or opening can be set on the multifunctional connection part 30. The penetration here means that a part of the structure (convex part 11) of the first joint 10 penetrates the through hole or opening on the multifunctional connection part 30. In addition, as is well known in the art, the multifunctional connection part 30 can also be designed as an integral structure or a split structure, as long as it can be clamped between the first joint 10 and the fluid control part 43 to meet the sealing requirements.

[0042] This embodiment also utilizes the constant torque drive mode of the robot end 66, and drives the fluid control part 43 to rotate synchronously through the first joint 10, so that the torque of the fluid control part 43 can be accurately controlled within the design range. This process is also achieved by utilizing the function of the robot end itself, without the need for additional stress sensors, further reducing equipment costs, simplifying the control process, and reducing equipment failure rates.

[0043] In this embodiment, the fluid medium circuit includes: a first fluid medium passage 41 provided on the multifunctional connection part 30, and a first fluid medium interface 411 communicating with the first fluid medium passage 41; a second fluid medium passage 42 provided on the second joint 20, and a second fluid medium interface 421 communicating with the second fluid medium passage 42; when the first joint 10 and the second joint 20 are locked or disengaged with each other, the first fluid medium interface 411 and the second fluid medium interface 421 are communicated through the fluid channel 431 on the fluid control part 43. Preferably, the first fluid medium interface 411 and the second fluid medium interface 421 are waist-shaped holes, elliptical holes or circular holes, and the fluid channel 431 is a circular hole; further, the cross-sectional area of ​​the first fluid medium interface 411 and the second fluid medium interface 421 is larger than the cross-sectional area of ​​the fluid channel 431; further preventing the problem of fluid leakage at the moment of closing.

[0044] In one case of this embodiment, the first fluid medium passage 41 is also connected to the fluid source, and the second fluid medium passage 42 is also connected to the fluid medium component on one side of the second joint 20. The fluid medium circuit refers to a passage formed by fluids such as gas and liquid, and the equipment realizes the circulation of the fluid medium and normal operation through the fluid medium circuit.

[0045] Specifically, taking welding equipment as an example, one end of the first fluid medium passage 41 is connected to the fluid source through a pipeline, and the other end is connected to the first fluid medium interface 411; one end of the second fluid medium passage 42 is connected to the fluid working component in the welding actuator of the welding equipment through a pipeline, and the other end is provided with a second fluid medium interface 421; when the first joint 10 and the second joint 20 are locked with each other, the end face where the first fluid medium interface 411 is located is arranged opposite to the end face where the second fluid medium interface 421 is located, and the fluid control part 43 is located between the two end faces; the first fluid medium interface 411 and the second fluid medium interface 421 are connected through the fluid channel 431 on the fluid control part 43; when the first joint 10 and the multifunctional connecting part 30 rotate relative to each other, that is, the fluid control part 43 and the multifunctional connecting part 30 rotate relative to each other, the fluid channel 431 and the first fluid medium interface 411 can be switched between the disconnection and connection positions.

[0046] More specifically, during the mutual locking process between the first connector 10 and the second connector 20, when the buckle portion 12 and the end surface of the bayonet 21 are pressed against each other to complete the locking, the first fluid medium interface 411 and the second fluid medium interface 421 are connected through the fluid channel 431 on the fluid control portion 43. During the mutual disengagement process between the first connector 10 and the second connector 20, when the buckle portion 12 and the end surface of the bayonet 21 are gradually disengaged, the first fluid medium interface 411 and the second fluid medium interface 421 are disconnected through the physical structure of the non-fluid channel 431 part on the fluid control portion 43. Since the diameter of the fluid channel 431 is relatively small, generally about 8 mm, there will be no problem of fluid leakage during the disengagement process. It is well known in the art that, in order to better seal, a sealing ring or other sealing structure can be provided on the end surface of the first fluid medium interface 411 and the second fluid medium interface 421.

[0047] In this embodiment, the multifunctional connection part 30 is positioned with the first joint 10 by a first locking device, and is positioned with the second joint 20 by a second locking device; when the first joint 10 and the second joint 20 are mutually locked, when the first joint 10 rotates, the first locking device is in an unlocked state, the second locking device is in a locked state, the first joint 10 and the multifunctional connection part 30 rotate relative to each other, and the multifunctional connection part 30 and the second joint 20 are relatively fixed; when the first joint 10 does not rotate, the first locking device is in a locked state, the second locking device is in a locked state, and the first joint 10, the multifunctional connection part 30 and the second joint 20 are relatively fixed.

[0048] In one case of the present embodiment, the first positioning device includes pin holes respectively arranged on the multifunctional connection part 30 and the first joint 10, and a telescopic pin matched with the pin hole. More specifically, as a preference, the telescopic pin is controlled to be telescopic by the solenoid valve 61, and is arranged on the multifunctional connection part 30. A first pin hole 62 matched with the telescopic pin is arranged on the fluid control part 43, and a plurality of the first pin holes 62 are arranged, which are distributed along the circumference of the fluid control part 43, so as to realize the positioning of multiple positions; in addition, by adopting the transposition idea, it is easy to think that the first pin hole 62 can also be arranged on the first joint 10; or, the telescopic pin is installed on the first joint 10, and the first pin hole 62 is arranged on the multifunctional connection part 30, which can also realize the positioning between the multifunctional connection part 30 and the first joint 10; in addition, the first joint 10, the multifunctional connection part 30, and the fluid control part 43 can also be positioned by friction, which will not be elaborated in detail here.

[0049] In one case of the present embodiment, the second positioning device includes pin holes respectively arranged on the multifunctional connection part 30 and the second joint 20, and a limit pin cooperating with the pin hole; more specifically, as a preference, a second pin hole 63 is provided on the multifunctional connection part 30, and a third pin hole 64 corresponding to the second pin hole 63 is provided on the second joint 20, and the second pin hole 63 and the third pin hole 64 are connected by a limit pin, and the limit pin can be fixed on the second pin hole 63 or the third pin hole 64. As is well known in the art, a plurality of the second pin holes 63 and the third pin holes 64 should be provided, and the specific number and position can be determined as required, which will not be elaborated in detail here. As is well known in the art, the first locking device and the second locking device can also achieve the positioning by other positioning methods other than the pin structure, such as a shaft, a key, a buckle, etc., which will not be elaborated in detail here.

[0050] In this embodiment, for the set locking position and the set unlocking position, relevant limit mechanisms and / or sensors can be set to detect them, which are conventional technologies in the field and will not be elaborated in detail.

[0051] In this embodiment, a first electrical connection terminal 51 is provided on the multifunctional connection part 30, and the other end of the first electrical connection terminal 51 is used to connect the device on one side of the first connector 10; the second connector 20 is provided with a second electrical connection terminal 52 that can be docked with the first electrical connection terminal 51, and the second electrical connection terminal 52 is used to connect the device on one side of the second connector 20; the first electrical connection terminal 51 and / or the second electrical connection terminal 52 are arranged on the respective connected components with an elastic connection mechanism.

[0052] Specifically, in one case of this embodiment, the multifunctional connection part 30 is provided with a first electrical connection terminal 51, and the second connector 20 is provided with a second electrical connection terminal 52. When the first connector 10 and the second connector 20 are connected, the first electrical connection terminal 51 and the second electrical connection terminal 52 are plugged into each other. The first electrical connection terminal 51 is connected to the screw hole provided on the multifunctional connection part 30 by a screw, and an elastic rubber sleeve is provided between the inner wall of the screw hole and the screw. It is well known in the art that the electrical connection terminal can also be installed and fixed in other ways, which will not be elaborated in detail.

[0053] In the above-mentioned quick-change device provided in this embodiment, driving power and control are provided by the robot end, the locking or disengagement between the first joint and the second joint is achieved by rotating the buckle structure, the transmission and positioning of various signals are achieved by the multifunctional connection part, and the rapid conduction and cutting of the fluid medium are achieved by the fluid control part. The above-mentioned quick-change device provided in this embodiment can realize the rapid replacement of robot tool equipment, and the replacement operation is more convenient and more stable; it greatly reduces the manufacturing and maintenance costs.

[0054] In one embodiment, a control method for the quick-change device driven and controlled by the robot end is provided, and the steps of the method are as follows: when the first joint 10 and the second joint 20 need to be locked or disengaged with each other, first fix the second joint 20, and then control the robot end 66 to drive the first joint 10 to rotate clockwise or counterclockwise around the central axis of the robot end 66 to a set angle.

[0055] In one case of the present embodiment, the installation process of the tool equipment 70 is as follows: the tool equipment 70 is placed on a storage rack with a limiting function, the robot end 66 is controlled to align the protrusion 11 on the first joint 10 with the bayonet 21 on the second joint 20, the buckle 12 with the avoidance groove, and the second pin hole 63 with the third pin hole 64, and the limiting pin is used for limiting, the multifunctional connection part 30 and the first joint 10 are controlled to be in the locking position, and then the robot end 66 is controlled to insert the protrusion 11 on the first joint 10 into the bayonet 21, and then the multifunctional connection part 30 and the first joint 10 are controlled to switch to the unlocking position, and then the robot end 66 is controlled to rotate a certain angle so that the buckle 12 and the end face of the bayonet 21 are pressed tightly, and finally the multifunctional connection part 30 and the first joint 10 are controlled to switch to the locking position again, and the installation of the tool equipment 70 is completed.

[0056] In one case of the present embodiment, the unloading process of the tool equipment 70 is as follows: the robot end 66 is controlled to place the tool equipment 70 on a storage rack with a limiting function, and then the multifunctional connecting part 30 and the first joint 10 are controlled to be in an unlocking position, and then the robot end 66 is controlled to rotate a certain angle so that the buckle 12 is opposite to the avoidance groove, and then the multifunctional connecting part 30 and the first joint 10 are controlled to be in a locking position, and finally the robot end 66 is controlled to pull the protrusion 11 of the first joint 10 out of the bayonet 21, and at the same time, the second pin hole 63 and the third pin hole 64 are separated from the limit of the limit pin, and the unloading of the tool equipment 70 is completed.

[0057] In one embodiment, a robot using the above-mentioned quick-change device driven and controlled by the robot end includes a robot body 60 and a tool device 70, wherein the robot end 66 of the robot body 60 is connected to the first joint 10, and the tool device 70 is connected to the second joint 20; when the robot body 60 needs to replace the tool device 70, the second joint 20 is fixed, and the robot end 66 is controlled to drive the first joint 10 to rotate clockwise or counterclockwise around the central axis of the robot end 66 to a set angle.

[0058] Specifically, the first joint 10 is installed on the robot end 66 of the robot body 60 through the first mounting portion 14; the second joint 20 is installed on the tool equipment 70 (welding actuator welding clamp) through the second mounting portion 24. As a preference, the first mounting portion 14 can be set to a plurality of mounting holes, and a plurality of mounting shafts cooperating with the mounting holes are provided on the robot end 66, and then the robot end 66 and the first joint 10 are installed and fixed in cooperation with the fixing flange; the second mounting portion 24 is set to two parts, and the tool equipment is supported by the two parts, and further tightened by bolts to achieve installation and fixation with the second joint 20 and the tool equipment 70. It is well known in the art that the installation and fixation of the robot end 66 and the first joint 10, and the installation and fixation of the second joint 20 and the tool equipment 70 can also be achieved in other ways, which will not be elaborated in detail.

[0059] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A quick-change device driven and controlled by a robot end, characterized in that: The quick-change device comprises a first joint (10) and a second joint (20) assembled by a rotational locking mechanism; when the first joint (10) and the second joint (20) need to be locked or disengaged with each other, the second joint (20) is fixed, and the robot end (66) is controlled to drive the first joint (10) to rotate clockwise or counterclockwise around the central axis of the robot end (66) to a set angle. The quick-change device further comprises: a multifunctional connecting portion (30) and a fluid control portion (43) mounted on the first joint (10); when the first joint (10) and the second joint (20) are in a locked state, the multifunctional connecting portion (30) and the second joint (20) are butted against each other to form a fluid medium circuit, and the fluid control portion (43) located between the multifunctional connecting portion (30) and the second joint (20) controls the on and off of the fluid medium circuit by rotating; The rotation of the fluid control part (43) is driven and controlled by the first joint (10); the fluid control part (43) and the first joint (10) are fixed as a whole; the rotation locking mechanism adopts a rotation buckle structure; The rotating buckle structure comprises: a convex portion (11) fixedly connected to the first joint (10), and a bayonet (21) provided on the second joint (20); a buckle portion (12) is provided on the convex portion (11), and a clamping portion (22) is provided on the bayonet (21); the convex portion (11) extends into the bayonet (21), and the buckle portion (12) and the clamping portion (22) are locked or disengaged by the rotation of the first joint (10); The fluid medium circuit comprises: a first fluid medium passage (41) provided on the multifunctional connecting portion (30), and a first fluid medium interface (411) communicating with the first fluid medium passage (41); a second fluid medium passage (42) provided on the second connector (20), and a second fluid medium interface (421) communicating with the second fluid medium passage (42); when the first connector (10) and the second connector (20) are locked or disengaged from each other, the first fluid medium interface (411) and the second fluid medium interface (421) are communicated with each other via a fluid channel (431) on the fluid control portion (43); The multifunctional connecting portion (30) is positioned with the first joint (10) by means of a first locking device, and is positioned with the second joint (20) by means of a second locking device; when the first joint (10) and the second joint (20) are in a mutually locked state, when the first joint (10) rotates, the first locking device is in an unlocked state, the second locking device is in a locked state, the first joint (10) and the multifunctional connecting portion (30) rotate relative to each other, and the multifunctional connecting portion (30) and the second joint (20) are relatively fixed; when the first joint (10) does not rotate, the first locking device is in a locked state, the second locking device is in a locked state, and the first joint (10), the multifunctional connecting portion (30) and the second joint (20) are relatively fixed; The first locking device comprises telescopic pins respectively arranged on the multifunctional connecting portion (30) and the first connector (10), and a pin hole cooperating with the telescopic pin; the second multifunctional connecting portion (30) is provided with a first electrical connecting terminal (51), and the second connector (20) is provided with a second electrical connecting terminal (52) capable of docking with the first electrical connecting terminal (51).

2. A control method for a quick-change device driven and controlled by a robot end as claimed in claim 1, characterized in that: The method comprises the following steps: when the first joint (10) and the second joint (20) need to be locked or disengaged with each other, the second joint (20) is first fixed, and then the robot end (66) is controlled to drive the first joint (10) to rotate clockwise or counterclockwise around the central axis of the robot end (66) to a set angle.

3. A robot using the quick-change device controlled by the robot end drive as claimed in claim 1, characterized in that: The robot body (60) comprises a robot end (66) of the robot body (60) being connected to a first joint (10), and the tool equipment (70) being connected to a second joint (20); when the robot body (60) needs to replace the tool equipment (70), the second joint (20) is fixed, and the robot end (66) is controlled to drive the first joint (10) to rotate clockwise or counterclockwise around the central axis of the robot end (66) to a set angle.

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