Direct plug-in quick-change mechanism between the robot hand and arm

Abstract

The present invention discloses a direct plug-in quick-change mechanism between a manipulator hand and an arm, wherein the hand comprises a gripper and a hand connector, and the arm comprises a driving member and an arm connector, wherein the gripper and the driving member are interconnected through a transmission device, and the hand connector and the arm connector are interconnected, and one end of the hand connector is provided with a hand cylinder, and one end of the arm connector is provided with an arm cylinder, and the direct plug-in quick-change mechanism further comprises a connecting cylinder, wherein the first end of the connecting cylinder is connected to the hand cylinder, and the second end of the connecting cylinder and one end of the arm cylinder are respectively provided with magnetic rings that correspond to each other and attract each other. The present invention connects the connecting cylinder to the hand cylinder, and connects the connecting cylinder to the arm cylinder through a magnetic ring, and utilizes the gravitational characteristics of the magnetic ring to realize a direct plug-in quick-change function between the hand and the arm, so that the manipulator can be quick and efficient when replacing the hand, and is convenient for realizing automated or remotely controlled replacement operations.

Description

Technical Field

[0001] The invention relates to a local structure of a manipulator, in particular to a direct plug-in type quick-change mechanism between a hand and an arm of the manipulator. Background Art

[0002] A manipulator is an automatic or manual operating device that can imitate certain movements and functions of human hands and arms to grasp, carry objects or operate tools. The actuators of a manipulator are divided into a hand, an arm, and a trunk. The hand is installed at the front end of the arm, and the trunk is a bracket for installing the arm, power source, and various actuators. The hand of the manipulator includes a gripper for gripping objects and a hand connector for connecting to the arm. The arm of the manipulator includes a drive for driving the gripper to move and an arm connector for connecting to the hand. The gripper and the drive are connected to each other through a transmission device, and the hand connector and the arm connector are connected to each other.

[0003] Industrial robots, especially robots used in special industries, cannot meet the requirements of various clamping objects due to the differences in the objects they operate.

[0004] The hand and arm of a traditional manipulator are generally connected in a relatively fixed manner, such as threaded connection, snap-on connection, etc. The former uses a threaded rotation and locking method to achieve connection and disassembly, while the latter uses an insertion and then rotation and locking method or a rotation and snap-in locking method to achieve connection. Regardless of the connection method, rotation and locking are required to achieve a stable connection, and rotation and loosening are required to achieve disassembly, which makes it time-consuming and labor-intensive to replace the hand of the manipulator. At the same time, the hand and arm need to be strictly aligned during connection to ensure that the holes or positioning mechanisms are strictly aligned to achieve a stable connection, which further increases the difficulty of connection and reduces replacement efficiency.

[0005] In addition, with the expansion of robot application scenarios, in order to complete more efficient and safer industrial tasks, robot hand replacement increasingly needs to have the function of automation or remote operation. If the traditional robot hand and arm connection structure is to be used to achieve automation or remote hand replacement, precise rotation control operation is required, which is difficult to achieve. Even if it can be achieved, the structure will be complex, the cost will be expensive, and the replacement efficiency will be difficult to improve. Therefore, modern industry has an increasingly strong demand for efficient replacement of robot hands that is easy to implement and promote. Summary of the invention

[0006] The purpose of the present invention is to solve the above-mentioned problem and provide a direct plug-in quick-change mechanism between a manipulator hand and an arm, which can quickly and efficiently complete the replacement of the manipulator hand.

[0007] The present invention achieves the above-mentioned purpose through the following technical solutions:

[0008] A direct plug-in quick-change mechanism between a hand and an arm of a robot, the hand comprising a gripper for gripping an object and a hand connector for connecting to the arm, the arm comprising a drive for driving the gripper to move and an arm connector for connecting to the hand, the gripper and the drive are interconnected via a transmission device, the hand connector and the arm connector are interconnected, a hand cylinder is provided at one end of the hand connector connected to the arm connector, an arm cylinder is provided at one end of the arm connector connected to the hand connector, the direct plug-in quick-change mechanism also comprises a connecting cylinder, a first end of the connecting cylinder being connected to the hand cylinder, a second end of the connecting cylinder being connected to the hand cylinder and one end of the arm cylinder are respectively provided with magnetic rings that correspond to and attract each other.

[0009] In the above structure, the connecting cylinder is used to connect the hand cylinder and the arm cylinder, and the connecting cylinder can be used as an intermediate piece to connect with other components, so as to facilitate automated or remote connection and disassembly; the magnetic ring is used to achieve a stable connection between the connecting cylinder and the arm cylinder, and at the same time can achieve separation between the two under the action of external force. The stability of the connection and the size of the external force for separation are both related to the size of the gravitational force between the two magnetic rings.

[0010] Preferably, in order to make the connection between the hand cylinder and the arm cylinder more stable and reliable, the connecting cylinder and the arm cylinder are both mounted outside the hand cylinder, the connecting cylinder can move a certain distance in the axial direction relative to the hand cylinder but cannot be separated from the hand cylinder, a connecting concave ring with an "L"-shaped cross-section is provided on the inner wall of the connecting cylinder near its second end, an arm convex ring protruding toward the connecting cylinder is provided on the arm cylinder near the connecting cylinder, the arm convex ring is placed in the connecting concave ring, a plurality of radial convex ring through holes are provided on the arm convex ring along the circumferential direction, a ball is installed in the convex ring through hole, the outer diameter of the ball is larger than the wall thickness of the arm convex ring, the ball can move radially in the arm convex ring but cannot be separated from the convex ring through hole, an annular groove with an arc-shaped cross-section is provided on the outer wall of the hand cylinder at a position corresponding to the ball, the ball is placed in the annular groove while being pressed by the ring wall of the connecting concave ring.

[0011] The above structure not only uses the ball to form a direct connection structure between the hand cylinder and the arm cylinder, but also realizes the locking and unlocking functions of the connected ball by pressing the ball through the connecting cylinder. In the locked state, the hand cylinder and the arm cylinder cannot move axially due to the ball connection, and even if a large force is applied axially between the hand cylinder and the arm cylinder, they cannot be separated. When unlocking, the arm cylinder and the connecting cylinder are relatively separated axially by overcoming the magnetic force of the magnetic ring through external force, first driving the relative movement between the hand cylinder and the connecting cylinder. When the ball gradually leaves the connecting concave ring, the ball is no longer subjected to the annular wall pressure of the connecting concave ring, and the ball will be separated from the annular groove, thereby releasing the connection between the hand cylinder and the arm cylinder, and achieving the purpose of unlocking. In this way, the connection between the hand cylinder and the arm cylinder is stable and reliable through the magnetic force of the magnetic ring, and can be unlocked by overcoming the magnetic force of the magnetic ring through external force, ensuring that the hand cylinder and the arm cylinder have the functions of reliable connection through insertion and rapid separation through removal.

[0012] Preferably, in order to make the ball enter and exit the connecting concave ring more smoothly and reduce the positioning accuracy to reduce the difficulty of operation, a conical surface or arc surface with a gradually increasing diameter is provided on the ring wall of the connecting concave ring near the arm cylinder.

[0013] Preferably, in order to allow the connecting cylinder and the hand cylinder to move only in the axial direction, a radial limit pin is installed on the hand cylinder, and a radial limit hole is provided on the connecting cylinder near the first end, the length of the limit hole in the axial direction of the connecting cylinder is greater than the width of the connecting cylinder in the circumferential direction, and the limit pin passes through the limit hole.

[0014] Preferably, in order to prevent relative rotation between the arm cylinder and the hand cylinder and improve the connection stability between the two, a radial anti-rotation pin is installed on the arm cylinder, and an axial anti-rotation groove with an open end is provided on one end of the hand cylinder close to the arm cylinder, and the anti-rotation pin passes through the anti-rotation groove.

[0015] Preferably, in order to facilitate the installation of the magnetic ring, the second end of the connecting cylinder and the end of the arm cylinder close to the connecting cylinder are respectively provided with magnetic ring grooves, and the magnetic ring is placed in the corresponding magnetic ring grooves. The magnetic ring is a permanent magnet magnetic ring, and an arm concave ring is provided on the end of the arm cylinder close to the connecting cylinder, and the second end of the connecting cylinder is placed in the arm concave ring.

[0016] Preferably, in order to facilitate the automation or remote replacement of the hand operation, a clamping groove or a clamping ring for being clamped by other components is provided on the outer wall of the connecting cylinder. If it is a clamping groove, there are two clamping grooves and they are symmetrically distributed. In this way, the hand can be hung on other components through the clamping groove or the clamping ring on the connecting cylinder, so that the arm cylinder can be pulled down or inserted upward, so that the arm cylinder and the connecting cylinder can move relative to each other in the axial direction, and the connection and separation between the hand cylinder and the arm cylinder can be realized. This plugging and unplugging action is easy to be automatically realized by using other mechanical equipment or fixing devices.

[0017] Preferably, in order to facilitate the rapid transmission connection and separation of the transmission device in the hand and the arm, the transmission device includes a hand shaft installed in the hand and an arm driving shaft installed in the arm, a hand connecting sleeve is installed at one end of the hand shaft, and the hand connecting sleeve is provided with protruding hand connecting teeth, and an arm connecting sleeve is installed at one end of the arm driving shaft, and the arm connecting sleeve is provided with protruding arm connecting teeth, and the hand connecting teeth and the arm connecting teeth are meshed with each other. Here, the hand connecting teeth and the arm connecting teeth are both 1-3. A small number of connecting teeth can achieve higher transmission strength and lower positioning accuracy requirements, so it can connect and separate more efficiently.

[0018] Preferably, in order to avoid damage to parts due to the relative rigidity of the annular step bosses at both ends due to inaccurate alignment when the hand connecting sleeve approaches the arm connecting sleeve, a section of the outer diameter of the hand shaft close to the arm driving shaft is reduced to form a small diameter section and a spiral compression spring is mounted on the small diameter section. The hand connecting sleeve is mounted on the small diameter section of the hand shaft through its own spline through hole and can move axially of the hand shaft and be pressed against by one end of the spiral compression spring. The other end of the spiral compression spring is pressed against an annular step formed at the junction of the hand shaft and its small diameter section. An end cover is installed at the end of the small diameter section of the hand shaft to block the hand connecting sleeve and prevent it from detaching from the hand shaft.

[0019] Preferably, in order to utilize the hand shaft to realize the opening and closing function of the hand claw, the hand shaft is installed in the hand through two bearings, and a spiral external tooth is provided on the hand shaft away from the arm driving shaft. A worm gear is provided at one end of each of the two hand claws, and worm gear teeth are provided on the worm gear along the arc direction. The two worm gears are respectively located on both sides of the spiral external teeth and can rotate to drive the hand claws to open and close, and the worm gear teeth of the two worm gears are respectively meshed with the spiral external teeth; in order to facilitate driving the arm driving shaft to rotate, the arm driving shaft is the shaft of the driving motor, and the driving motor is installed in the arm.

[0020] The beneficial effects of the present invention are:

[0021] The present invention connects the connecting cylinder with the hand cylinder, and connects the connecting cylinder with the arm cylinder through a magnetic ring, and utilizes the gravitational characteristics of the magnetic ring to realize a direct plug-in quick-change function between the hand and the arm, and can realize connection and disassembly without rotating and locking, so that the manipulator can replace the hand quickly and efficiently, and reduces the alignment accuracy and difficulty, improves the replacement efficiency, and facilitates the realization of automated or remotely controlled replacement operations; on this basis, through different specific connection structures between the hand cylinder and the arm cylinder, the corresponding connection functions between the hand cylinder and the arm cylinder, such as locking and unlocking functions, can be realized. The present invention utilizes the structure of the ball, the connecting concave ring, the arm convex ring and the annular groove that cooperate with each other, and the magnetic attraction of the magnetic ring to achieve high stability after the handle cylinder and the arm cylinder are connected, and the function of unlocking by simply pulling out, so that the connection between the hand and the arm is more stable and reliable, and the disassembly is faster and more efficient. It can also realize automatic or remote control replacement of the hand operation with the help of relatively simple other equipment, meeting the needs of modern industry for efficient replacement of the hands of robots. It is easy to realize and promote application, and is particularly suitable for special occasions such as the rapid replacement of the hands of robots in the nuclear industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a three-dimensional diagram of the direct plug-in quick-change mechanism between the hand and the arm of the manipulator of the present invention;

[0023] Figure 2 It is a half-section stereoscopic view of the direct plug-in quick-change mechanism between the hand and the arm of the manipulator of the present invention;

[0024] Figure 3 is a front sectional view of a direct plug-in quick-change mechanism between the hand and arm of the manipulator of the present invention;

[0025] Figure 4 is a front view of the hand of the direct plug-in quick-change mechanism between the hand and the arm of the manipulator of the present invention, with a ratio greater than Figure 3 ;

[0026] Figure 5 is a front cross-sectional view of the arm of the direct plug-in quick-change mechanism between the hand and arm of the manipulator of the present invention, with a ratio greater than Figure 3 ;

[0027] Figure 6 is a three-dimensional diagram of the connecting cylinder of the direct plug-in quick-change mechanism between the hand and the arm of the manipulator of the present invention, with a scale greater than Figure 1 and Figure 2 ;

[0028] Figure 7It is one of the three-dimensional diagrams of the direct plug-in quick-change mechanism between the hand and the arm of the manipulator of the present invention when it is applied, the hand and the arm are in a connected state, and the proportion is smaller than Figure 1 and Figure 2 ;

[0029] Figure 8 This is a second stereoscopic diagram of the direct plug-in quick-change mechanism between the hand and arm of the manipulator of the present invention when it is applied, the hand and arm are in a separated state, and the ratio is smaller than Figure 1 and Figure 2 . DETAILED DESCRIPTION

[0030] The present invention will be further described below in conjunction with the accompanying drawings:

[0031] like Figure 1-Figure 6 As shown, in the direct plug-in quick-change mechanism between the hand and arm of the manipulator of the present invention, the hand 2 includes a gripper 1 for gripping an object and a hand connector 3 for connecting to the arm (in actual applications, the arms of many manipulators also include other more components not shown in the figure, such as various joint components, etc.), the arm includes a driving component for driving the gripper 1 to move (such as the driving motor 21 and the driving shaft 26 in the figure, but in actual applications, other driving components such as hydraulic cylinders, etc.) and an arm connector 9 for connecting to the hand 2, the gripper 1 and the driving component are interconnected by a transmission device, and the hand connector 3 is connected to the arm connector The connecting parts 9 are connected to each other, and the end of the hand connecting part 3 connected to the arm connecting part 9 is provided with a hand cylinder (that is, a section of the cylinder on the hand connecting part 3 close to the arm connecting part 9, not separately marked in the figure), and the end of the arm connecting part 9 connected to the hand connecting part 3 is provided with an arm cylinder (that is, a section of the cylinder on the arm connecting part 9 close to the hand connecting part 3, not separately marked in the figure), and the direct plug-in quick-change mechanism also includes a connecting cylinder 6, a first end of the connecting cylinder 6 at two axial ends is connected to the hand cylinder, and a second end of the connecting cylinder 6 at two axial ends and one end of the arm cylinder are respectively provided with magnetic rings 15 that correspond to each other and attract each other.

[0032] like Figure 1-Figure 6 As shown, the present invention also discloses the following multiple more optimized specific structures. According to actual needs, the above structure can be superimposed and combined with one or more of the following structures to form a more optimized technical solution.

[0033] In order to make the connection between the hand cylinder and the arm cylinder more stable and reliable, the connecting cylinder 6 and the arm cylinder are both mounted outside the hand cylinder. The connecting cylinder 6 can move a certain distance in the axial direction relative to the hand cylinder but cannot be separated from the hand cylinder. A connecting concave ring 22 with an "L"-shaped cross-section is provided on the inner wall of the connecting cylinder 6 near its second end. An arm convex ring 24 is provided on the arm cylinder near the connecting cylinder 6, which protrudes toward the connecting cylinder 6. The arm convex ring 24 is placed on the connecting cylinder 6. Inside the connecting concave ring 22, a plurality of radial convex ring through holes (not marked in the figure) are provided on the arm convex ring 24 along the circumferential direction, and a ball 16 is installed in the convex ring through hole. The outer diameter of the ball 16 is greater than the wall thickness of the arm convex ring 24. The ball 16 can move radially in the arm convex ring 24 but cannot escape from the convex ring through hole. An annular groove 23 with an arc-shaped cross-section is provided on the outer wall of the hand cylinder at a position corresponding to the ball 16. The ball 16 is pressed by the annular wall of the connecting concave ring 22 and is placed in the annular groove 23.

[0034] In order to make the ball 16 enter and exit the connecting concave ring 22 more smoothly and reduce the alignment accuracy to reduce the difficulty of operation, a conical surface or arc surface (not marked in the figure) with a gradually increasing diameter is provided on the ring wall of the connecting concave ring 22 near the arm cylinder.

[0035] In order to ensure that the connecting cylinder 6 and the hand cylinder can only move in the axial direction, a radial limit pin 4 is installed on the hand cylinder, and a radial limit hole 5 is provided on the connecting cylinder 6 near the first end. The length of the limit hole 5 in the axial direction of the connecting cylinder 6 is greater than the width in the circumferential direction of the connecting cylinder 6, and the limit pin 4 passes through the limit hole 5.

[0036] In order to prevent relative rotation between the arm cylinder and the hand cylinder and improve the connection stability between the two, a radial anti-rotation pin 8 is installed on the arm cylinder, and an axial and open-ended anti-rotation groove 25 is provided on one end of the hand cylinder close to the arm cylinder, and the anti-rotation pin 8 passes through the anti-rotation groove 25.

[0037] In order to facilitate the installation of the magnetic ring 15, the second end of the connecting cylinder 6 and the end of the arm cylinder close to the connecting cylinder are respectively provided with magnetic ring grooves, and the magnetic ring 15 is placed in the corresponding magnetic ring grooves (not marked in the figure). The magnetic ring 15 is a permanent magnet magnetic ring, and an arm concave ring (not marked in the figure) is provided on the end of the arm cylinder close to the connecting cylinder 6, and the second end of the connecting cylinder 6 is placed in the arm concave ring.

[0038] In order to facilitate automation or remote hand replacement operations, a clamping groove 5 (which may also be a clamping ring) for being clamped by other components is provided on the outer wall of the connecting cylinder 6. There are two clamping grooves 5 that are symmetrically distributed.

[0039] In order to facilitate the rapid transmission connection and separation of the transmission device in the hand and arm, the transmission device includes a hand rotating shaft 13 installed in the hand 2 and an arm driving shaft 26 installed in the arm, and a hand connecting sleeve 18 is installed at one end of the hand rotating shaft 13, and the hand connecting sleeve 18 is provided with protruding hand connecting teeth (not marked in the figure), and an arm connecting sleeve 19 is installed at one end of the arm driving shaft 26, and the arm connecting sleeve 19 is provided with protruding arm connecting teeth (not marked in the figure), and the hand connecting teeth are meshed with the arm connecting teeth.

[0040] In order to avoid the relative rigidity of the annular step bosses at both ends from damaging parts due to inaccurate alignment when the hand connecting sleeve 18 approaches the arm connecting sleeve 19, a section of the outer diameter of the hand shaft 13 close to the arm driving shaft 26 is reduced to form a small diameter section and a spiral compression spring 17 is mounted on the small diameter section of the hand shaft 13. The hand connecting sleeve 18 is mounted on the small diameter section of the hand shaft 13 through its own spline through hole and can move axially of the hand shaft 13 and is tightened by one end of the spiral compression spring 17. The other end of the spiral compression spring 17 is tightened against an annular step formed at the junction of the hand shaft 13 and its small diameter section. The end of the small diameter section of the hand shaft 13 is equipped with an end cover 20 to block the hand connecting sleeve 18 and prevent it from detaching from the hand shaft 13.

[0041] In order to utilize the hand shaft 13 to realize the opening and closing function of the hand claw 1, the hand shaft 13 is installed in the hand 2 through two bearings 14, and a spiral external tooth 12 is provided on the hand shaft 13 at a position away from the arm driving shaft 26, and a limit bearing 10 is installed on the end of the hand shaft 13 away from the arm driving shaft 26. One end of the two hand claws 1 is respectively provided with a worm gear 11 and the worm gear teeth are provided on the worm gear 11 along the arc direction. The two worm gears 11 are respectively located on both sides of the spiral external teeth 12 and can rotate to drive the hand claw 1 to open and close, and the worm gear teeth of the two worm gears 11 are respectively meshed with the spiral external teeth 12; in order to facilitate driving the arm driving shaft 26 to rotate, the arm driving shaft 26 is the rotating shaft of the driving motor 21, and the driving motor 21 is installed in the arm connecting part 9 of the arm.

[0042] In order to more clearly illustrate the working principle of the direct plug-in quick-change mechanism of the present invention and the process of automated or remotely controlled hand replacement, a specific description is given below in conjunction with some replacement tooling.

[0043] Combination Figure 1-Figure 8 The replacement tooling includes a replacement frame, which includes a bottom plate 30, a column 29 and a top plate 28. The upper end and the lower end of the column are respectively connected to the top plate 28 and the bottom plate 30, and both ends of the top plate 28 are respectively provided with a card slot 27.

[0044] When disassembling the hand 2, first install the connecting cylinder 6 in a clamping groove 27 of the top plate 28 through the clamping groove 5. Figure 1As shown, the hand 2 (including the hand claw 1 and the hand connecting part 3), the connecting cylinder 6 and the arm connecting part 9 are connected together, and then the arm connecting part 9 is clamped by other clamping parts and pulled downward. At this time, the connecting cylinder 6 is fixed, and the arm connecting part 9 moves downward, overcoming the suction force of the magnetic ring 15, driving the ball 16 and the hand 2 to move downward together. When the ball 16 moves to the connecting concave ring 22 that is separated from the connecting cylinder 6, the ball 16 is separated from the annular groove 23, and the hand cylinder is separated from the arm cylinder to separate the hand 2 from the arm connecting part 9, completing the disassembly.

[0045] When installing the hand 2, first connect the new hand 2 to the connecting cylinder 6 and install the connecting cylinder 6 in a slot 27 of the top plate 28 through the clamping groove 5. Figure 2 As shown, the hand 2 (including the hand claw 1 and the hand connecting member 3) and the connecting cylinder 6 are connected together, and then the arm connecting member 9 is clamped by other clamping parts and placed directly below the connecting cylinder 6 (or it is located there by itself, then it does not need to be moved). At this time, under the deadweight of the hand 2, the annular groove 23 is flush with the lower part of the connecting concave ring 22, and then the arm connecting member 9 is pushed upward, and the anti-rotation pin 8 first enters the anti-rotation groove 25, so that the arm connecting member 9 and the hand connecting member 3 cannot rotate relative to each other, and the arm connecting member 9 continues to move upward, and the ball 16 is ready to start entering the connecting concave ring 22; continue to push the arm connecting member 9 upward, and the ball 16 pushes After the connecting cylinder 6 moves upward for a short distance, the ball 16 reaches the position of the annular groove 23. Under the guidance of the connecting concave ring 22, the ball 16 is placed in the annular groove 23 and is pressed by the ring wall of the connecting concave ring 22. At this time, the limit pin 4 contacts the lower end hole wall of the limit hole 5; at the same time, the arm connecting teeth of the arm connecting sleeve 19 and the hand connecting teeth of the hand connecting sleeve 18 correspond to each other (or are just in the meshing position), and the arm connecting member 9 continues to be pushed upward. The arm connecting member 9 drives the hand cylinder to move upward and the connecting cylinder 6 cannot move upward until the two magnetic rings 15 are close to each other and attracted, completing the connection between the hand 2 and the arm connecting member 9. At the same time, if the arm connecting teeth of the arm connecting sleeve 19 and the hand connecting teeth of the hand connecting sleeve 18 have not yet meshed, the spiral compression spring 17 is compressed. When the drive motor 21 drives the arm connecting sleeve 19 to rotate to the appropriate position, the spiral compression spring 17 pushes the hand connecting sleeve 18 down to mesh the two. During use, the connecting cylinder 6 always presses the ball 16 into the annular groove 23 under the suction force of the magnetic ring 15, thereby ensuring a reliable connection between the hand 2 and the arm connecting piece 9.

[0046] The above embodiments are only preferred embodiments of the present invention and are not limitations of the technical solutions of the present invention. Any technical solution that can be implemented on the basis of the above embodiments without creative work should be deemed to fall within the scope of protection of the patent of the present invention.

Claims

1. A direct plug-in quick-change mechanism between a hand and an arm of a manipulator, wherein the hand comprises a gripper for gripping an object and a hand connector for connecting to the arm, the arm comprises a drive member for driving the gripper to move and an arm connector for connecting to the hand, the gripper and the drive member are connected to each other via a transmission device, and the hand connector and the arm connector are connected to each other, characterized in that: The hand connecting piece is provided with a hand cylinder at one end connected to the arm connecting piece, and the arm connecting piece is provided with an arm cylinder at one end connected to the hand connecting piece. The direct plug-in quick-change mechanism also includes a connecting cylinder, the first end of the connecting cylinder at two axial ends is connected to the hand cylinder, the second end of the connecting cylinder at two axial ends and one end of the arm cylinder are respectively provided with magnetic rings corresponding to each other and attracting each other; the connecting cylinder and the arm cylinder are both sleeved outside the hand cylinder, and the connecting cylinder can move axially relative to the hand cylinder. The arm convex ring is placed in the connecting concave ring, and a plurality of radial convex ring through holes are arranged on the arm convex ring along the circumferential direction. A ball is installed in the convex ring through hole, and the outer diameter of the ball is greater than the wall thickness of the arm convex ring. The ball can move radially in the arm convex ring but cannot be separated from the convex ring through hole. An annular groove with an arc-shaped cross-section is provided on the outer wall of the hand cylinder at a position corresponding to the ball, and the ball is placed in the annular groove while being pressed by the annular wall of the connecting concave ring; a radial limit pin is installed on the hand cylinder, and a radial limit hole is provided on the connecting cylinder at a position close to the first end, the length of the limit hole in the axial direction of the connecting cylinder is greater than the width of the connecting cylinder in the circumferential direction, and the limit pin passes through the limit hole; the transmission device includes a hand rotating shaft installed in the hand and an arm driving shaft installed in the arm, and the hand A hand connecting sleeve is installed at one end of the hand shaft, and a section of the hand shaft close to the arm driving shaft has an outer diameter reduced to form a small diameter section and a spiral compression spring is installed on the small diameter section. The hand connecting sleeve is installed on the small diameter section of the hand shaft through its own spline through hole and can move axially of the hand shaft and be pressed by one end of the spiral compression spring, and the other end of the spiral compression spring is pressed against an annular step formed at the junction of the hand shaft and its small diameter section. An end cover is installed at the end of the small diameter section of the hand shaft to block the hand connecting sleeve and prevent it from detaching from the hand shaft.

2. The direct plug-in quick-change mechanism between the hand and the arm of the manipulator according to claim 1, characterized in that: A conical surface or an arc surface with a gradually increasing diameter is provided on the ring wall of the connecting concave ring near the arm cylinder.

3. The direct plug-in quick-change mechanism between the hand and the arm of the manipulator according to claim 1, characterized in that: A radial anti-rotation pin is installed on the arm cylinder, and an axial anti-rotation groove with an open end is provided on one end of the hand cylinder close to the arm cylinder, and the anti-rotation pin passes through the anti-rotation groove.

4. The direct plug-in quick-change mechanism between the hand and the arm of the manipulator according to claim 1, characterized in that: The second end of the connecting cylinder and one end of the arm cylinder close to the connecting cylinder are respectively provided with magnetic ring grooves, and the magnetic ring is placed in the corresponding magnetic ring grooves. The magnetic ring is a permanent magnet magnetic ring, and one end of the arm cylinder close to the connecting cylinder is provided with an arm concave ring, and the second end of the connecting cylinder is placed in the arm concave ring.

5. The direct plug-in quick-change mechanism between the hand and the arm of the manipulator according to claim 1, characterized in that: The outer wall of the connecting cylinder is provided with a clamping groove or a clamping ring for being clamped by other components. If it is a clamping groove, there are two clamping grooves and they are symmetrically distributed.

6. The direct plug-in quick-change mechanism between the hand and the arm of the manipulator according to any one of claims 1 to 5, characterized in that: The hand connecting sleeve is provided with protruding hand connecting teeth, one end of the arm driving shaft is installed with an arm connecting sleeve, the arm connecting sleeve is provided with protruding arm connecting teeth, and the hand connecting teeth are meshed with the arm connecting teeth.

7. The direct plug-in quick-change mechanism between the hand and the arm of the manipulator according to claim 1, characterized in that: The hand shaft is installed in the hand through two bearings, and a spiral external tooth is provided on the hand shaft at a position away from the arm driving shaft. A worm gear is provided at one end of each of the two hand claws, and worm gear teeth are provided on the worm gear along an arc direction. The two worm gears are respectively located on both sides of the spiral external teeth and can rotate to drive the hand claws to open and close, and the worm gear teeth of the two worm gears are respectively meshed with the spiral external teeth; the arm driving shaft is the shaft of the driving motor, and the driving motor is installed in the arm.

Images