A tool quick-change device at the end of a robotic arm

Abstract

The present application relates to the technical field of fully automatic tool replacement, and in particular to a tool quick-change device at the end of a robot arm, comprising a connecting rod, a tool interface is provided at one end of the connecting rod, a sliding buckle is provided on the outer sleeve of the tool interface, a locking member and a receiving groove are provided on the sliding buckle, a locking hole for receiving the locking member is provided on the tool interface, a hook ring and a slide cylinder are provided on the outer sleeve of the sliding buckle, a plug-in member is provided on the hook ring, the receiving groove cooperates with the plug-in member, the plug-in member can be inserted and / or pulled out in the receiving groove, the locking member is displaced relative to the locking hole due to the insertion and / or extraction of the plug-in member, the slide cylinder can move axially along the connecting rod, the hook ring and the slide cylinder move in coordination, the outer sleeve of the slide cylinder is provided with a fixed cover fixedly arranged on the connecting rod, and the outer sleeve of the fixed cover is provided with a sliding sleeve that can move axially along the connecting rod. The present application effectively solves the technical problems of the prior art such as large volume, complex structure, cumbersome installation, and the need for an additional power source.

Description

Technical Field

[0001] The present application relates to the technical field of fully automatic tool replacement, and in particular to a tool quick-changing device at the end of a robot arm. Background Art

[0002] At present, the application of operation robots is becoming more and more widespread, especially in the operation sites with certain operation risks. It has become a trend to use robots to replace manual operations. Due to the complexity of the scene, the diversity of operation actions, and the specificity of the tool interface, a device needs to carry multiple operation tools at the same time to meet most work requirements. Therefore, the ability to easily realize automatic tool replacement is crucial to the practicality, convenience, and scene adaptability of the operation robot. Summary of the invention

[0003] The embodiment of the present application provides a tool quick-changing device at the end of a robot arm, so as to at least solve the problems of large size and complex structure of the automatic tool changing device in the related art.

[0004] In order to achieve the above-mentioned objectives, an embodiment of the present application provides a tool quick-changing device at the end of a robotic arm, including a connecting rod, a tool interface is provided at one end of the connecting rod, a sliding buckle is provided on the outer sleeve of the tool interface, a locking piece and a receiving groove are provided on the sliding buckle, a locking hole for receiving the locking piece is provided on the tool interface, a hook ring and a sliding cylinder are provided on the outer sleeve of the sliding buckle, a plug-in piece is provided on the hook ring, the receiving groove cooperates with the plug-in piece, the plug-in piece can be inserted and / or pulled out of the receiving groove, the locking piece is displaced relative to the locking hole due to the insertion and / or removal of the plug-in piece, the sliding cylinder can move axially along the connecting rod, the hook ring moves in coordination with the sliding cylinder, the outer sleeve of the sliding cylinder is provided with a fixed cover fixedly arranged on the connecting rod, and the outer sleeve of the fixed cover is provided with a sliding sleeve that can move axially along the connecting rod.

[0005] In some embodiments, the sliding buckle is fixedly arranged on the periphery of the tool interface, and the accommodating groove and / or the plug-in piece are wedge-shaped structures that are thick at the top and thin at the bottom.

[0006] In some of the embodiments, the slider is a split structure fixed to the periphery of the tool interface.

[0007] In some embodiments, the hook ring is sleeved on the outside of the slide cylinder and is relatively fixed to the slide cylinder in the axial direction.

[0008] In some of the embodiments, an end effector is disposed in the tool interface.

[0009] In some embodiments, the end effector is provided with a positioning groove along the axial direction.

[0010] In some of the embodiments, an elastic mechanism is provided between the slide cylinder and the bottom of the fixed cover.

[0011] In some embodiments, the fixed cover is provided with a split-design fixed cover guide strip extending axially along the connecting rod, the sliding sleeve is provided with a guide channel matching the fixed cover guide strip, the fixed cover guide strip is sleeved inside the guide channel of the sliding sleeve, and the sliding sleeve can move along the guide strip.

[0012] In some embodiments, the slide cylinder, the fixed cover guide strip and the slide sleeve are socketed with each other, the slide sleeve is located at the outermost side, and the side wall of the slide sleeve is provided with a double-layer structure to form a guide channel for cooperating with the fixed cover guide strip, a first limiting guide groove is provided on the inner wall of the fixed cover guide strip, and a second limiting guide groove is extended downwardly from the inner side wall of the slide sleeve arranged on the inner side of the fixed cover guide strip, the slide cylinder is socketed at the innermost part, and a guide block protruding outward is provided on the outer wall of the slide cylinder, which can cooperate with the first limiting guide groove and / or the second limiting guide groove to make the slide cylinder perform axial and / or circumferential movement.

[0013] In some embodiments, the locking element is a spherical or hemispherical structure.

[0014] According to the above content, the beneficial effect of the technical solution of the present application compared with the prior art is: to provide a quick-changing device for tool at the end of a robot arm, to improve the existing structure, streamline the structure, and reduce the volume, mainly to achieve rapid connection and disconnection between the robot arm and the tool, without adding an additional power source, and to use a mechanical mechanism to complete the locking and separation between the tool and the robot arm body. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0016] Figure 1 It is a schematic diagram of the overall structure disassembly of the embodiment of the present application;

[0017] Figure 2 It is an overall top view of the embodiment of the present application;

[0018] Figure 3 It is a cross-sectional view of the overall structure of the embodiment of the present application;

[0019] Figure 4 is a cross-sectional view of a hook ring according to an embodiment of the present application;

[0020] Figure 5 This is a schematic diagram of the structure of the fixed cover in an embodiment of the present application;

[0021] Figure 6 is a schematic diagram of a sliding buckle-connecting rod combination according to an embodiment of the present application;

[0022] Figure 7 is a schematic diagram of a fixed cover-sliding sleeve assembly according to an embodiment of the present application;

[0023] Figure 8 It is a schematic diagram of the structure of the sliding sleeve in an embodiment of the present application;

[0024] Fig. 9 It is a schematic diagram of the structure of the sliding sleeve in an embodiment of the present application;

[0025] Fig.10 It is a schematic diagram of the connecting rod structure of an embodiment of the present application.

[0026] Explanation of the reference numerals: 1 connecting rod; 1.1 tool interface; 1.2 locking hole; 1.3 connecting rod adapter; 1.4 end actuator; 1.4.1 positioning groove; 2 slide buckle; 2.1 locking member; 2.2 accommodating groove; 3 hook ring; 3.1 plug-in member; 4 slide cylinder; 4.1 guide block; 5 fixed cover; 5.1 fixed cover guide strip; 5.2 first limit guide groove; 5.3 accommodating area; 6 sliding sleeve; 6.1 guide channel; 6.2 second limit guide groove; 7 elastic mechanism. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is described and illustrated 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 application and are not intended to limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application. In addition, it can also be understood that although the efforts made in this development process may be complex and lengthy, for ordinary technicians in the field related to the contents disclosed in the present application, some changes such as design, manufacturing or production based on the technical contents disclosed in the present application are only conventional technical means, and should not be understood as insufficient contents disclosed in the present application.

[0028] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those of ordinary skill in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0029] Unless otherwise defined, the technical terms or scientific terms involved in this application should be understood by people with ordinary skills in the technical field to which this application belongs. The words "one", "a", "a", "the" and the like involved in this application do not indicate a quantitative limitation, and may represent the singular or plural. The terms "include", "comprise", "have" and any of their variations involved in this application are intended to cover non-exclusive inclusions; for example, a process, method, system, product or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units that are not listed, or may also include other steps or units inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The "multiple" involved in this application refers to greater than or equal to two. "And / or" describes the association relationship of associated objects, indicating that there can be three relationships, for example, "A and / or B" can represent: A exists alone, A and B exist at the same time, and B exists alone. The terms "first", "second", "third" and the like involved in the present application are merely used to distinguish similar objects and do not represent a specific ordering of the objects.

[0030] The present application provides a tool quick-changing device at the end of a robot arm, including a connecting rod, a tool interface is provided at one end of the connecting rod, a sliding buckle is provided on the outer sleeve of the tool interface, a locking piece and a receiving groove are provided on the sliding buckle, a locking hole for receiving the locking piece is provided on the tool interface, a hook ring and a sliding cylinder are provided on the outer sleeve of the sliding buckle, a plug-in piece is provided on the hook ring, the receiving groove cooperates with the plug-in piece, the plug-in piece can be inserted and / or pulled out of the receiving groove, the locking piece is displaced relative to the locking hole due to the insertion and / or pulling out of the plug-in piece, the sliding cylinder can move axially along the connecting rod, the hook ring moves in coordination with the sliding cylinder, a fixed cover is provided on the outer sleeve of the sliding cylinder, and a sliding sleeve that can move axially along the connecting rod is provided on the outer sleeve of the fixed cover.

[0031] Implementation example Figure 1-10As shown, the tool quick-changing device at the end of the manipulator arm comprises a connecting rod 1, one end of the connecting rod 1 is provided with a tool interface 1.1, and the other end is connected to a connecting rod adapter 1.3, the outer fixed sleeve of the tool interface 1.1 is provided with a slide buckle 2, the slide buckle 2 is provided with a locking piece 2.1 and a wedge-shaped receiving groove 2.2 with a thick opening and a thin bottom, the tool interface 1.1 is provided with a locking hole 1.2 for accommodating the locking piece 2.1, the outer sleeve of the slide buckle 2 is provided with a hook ring 3 and a slide cylinder 4, the hook ring is provided with a wedge-shaped plug-in piece 3.1 with a thicker root and a thinner tip that cooperates with the wedge-shaped receiving groove, the plug-in piece can be inserted and / or pulled out in the receiving groove 2.2, the locking piece 2.1 is displaced relative to the locking hole 1.2 due to the insertion and / or extraction of the plug-in piece, The hook ring 3 is sleeved on the upper outer side of the slide tube 4 and is relatively fixed with the slide tube 4 in the axial direction. The slide tube 4 can move axially along the connecting rod 1. The hook ring 3 and the slide tube 4 move in coordination. The outer periphery of the slide tube 4 is sleeved with a fixed cover 5 fixedly arranged on one end direction of the adapter 1.3 on the connecting rod 1. An elastic mechanism 7 is arranged between the slide tube 4 and the bottom of the fixed cover 5. The fixed cover 5 is provided with an extended split fixed cover guide strip 5.1 axially along the connecting rod 1. The outer periphery of the fixed cover 5 is sleeved with a sliding sleeve 6 that can move axially along the connecting rod along the fixed cover guide strip 5.1. The sliding sleeve 6 is provided with a guide channel 6.1 matching the fixed cover guide strip. The fixed cover guide strip 5.1 is sleeved inside the guide channel 6.1 of the sliding sleeve 6, and the sliding sleeve 6 can move along the fixed cover guide strip 5.1.

[0032] Among them, the slide 4, the fixed cover guide strip 5.1 and the slide sleeve 6 are mutually sleeved, the slide sleeve 6 is located at the outermost side, and the side wall of the slide sleeve 6 is provided with a double-layer structure to form a guide channel 6.1 for cooperating with the fixed cover guide strip 5.1. A first limiting guide groove 5.2 is provided on the inner wall of the fixed cover guide strip 5.1, and a second limiting guide groove 6.2 is extended downwardly from the inner side wall of the slide sleeve 6 arranged on the inner side of the fixed cover guide strip 5.1. The slide 4 is sleeved at the innermost part, and the second limiting guide groove 6.2 and the first limiting guide groove 5.2 are arranged outwardly in sequence. The outer wall of the slide 4 is provided with a guide block 4.1 protruding outward, which can cooperate with the first limiting guide groove 5.2 and / or the second limiting guide groove 6.2 to make the slide 4 perform axial and / or circumferential movement.

[0033] Exemplarily, the slider 2 can be a split structure or an integrated structure made of elastic material. In short, when the plug-in member 3.1 is inserted and / or pulled out of the receiving groove, the locking member 2.1 on the slider 2 can be displaced in the locking hole 1.2 to lock or release the end tool.

[0034] Exemplarily, the cooperation between the receiving groove 2.2 and the plug-in piece 3.1 can be a cooperation between an overall thinner receiving groove and a wedge-shaped plug-in piece, or a cooperation between a wedge-shaped receiving groove and an overall thicker plug-in piece, or a cooperation between a wedge-shaped plug-in piece and a wedge-shaped receiving groove. In short, when the plug-in piece 3.1 is inserted into and / or pulled out of the receiving groove 2.2, the locking piece 2.1 on the slider 2 can be displaced in the locking hole 1.2, thereby locking or releasing the end tool.

[0035] Preferably, the wedge-shaped structure of the receiving groove 2.2 and the plug-in member 3.1 is a preferred structure and is not a limitation on the structure. It only requires that the locking member 2.1 on the slide buckle 2 is displaced in the locking hole 1.2 under the cooperation of the receiving groove 2.2 and the plug-in member 3.1 to lock or release the end tool.

[0036] Preferably, an end effector 1.4 is provided in the tool interface, and a positioning groove 1.4.1 is provided in the axial direction of the end effector.

[0037] Preferably, the locking member 2.1 is a spherical or hemispherical structure, and the elastic mechanism 7 can be a spring.

[0038] Working method and principle: When in use, the guide block 4.1 is located in the accommodation area 5.3 between the two fixed cover guide strips 5.1, the slide cylinder 4 is subjected to the elastic force of the spring, and the second limiting guide groove 6.2 on the inner wall of the slide sleeve 6 abuts against the guide block 4.1. When the slide sleeve 6 is subjected to a force in the opposite direction to the elastic force of the spring, the second limiting guide groove 6.2 pushes the guide block 4.1 to move axially along the accommodation area 5.3 to the first limiting guide groove 5.2. Since the slide cylinder 4 is subjected to the pressure of the slide sleeve 6 and the elastic force of the spring at the same time, the guide block 4. 1 rotates circumferentially along the guide inclined surface of the first limiting guide groove 5.2 and is stuck by the limiting surface of the first limiting guide groove. The hook ring 3, which is relatively fixed with the slide cylinder 4 in the axial direction, moves in coordination with the slide cylinder 4. Therefore, the plug-in member 3.1 on the hook ring 3 is inserted into the accommodating groove 2.2, so that the locking member 2.1 of the slide buckle 2 is withdrawn from the locking hole 1.2. At this time, the direction is determined by the positioning groove 1.4.1 on the end actuator 1.4, and the end tool is inserted into the tool interface; a downward force in the opposite direction to the elastic force of the spring is applied to the sleeve 6 again. The force applied to the sliding sleeve 6 is canceled, and the sliding cylinder 4 pushes the sliding sleeve 6 to move upwards due to the elastic force, until the guide block 4.1 is stuck in another first limiting guide groove on the same fixed cover guide strip 5.1. At this time, the guide block 4.1 is elastically supported by the spring. The force and the pressure of the guiding slope of the first limiting guiding groove 5.2 cause the guiding block 4.1 to rotate circumferentially along the guiding slope until it slides out of the fixing cover guiding strip 5.1 and enters the accommodating area 5.3 between the two fixing block guiding strips. The guiding block 4.1 returns to the initial position due to the elastic force of the spring and completes the reset. The hook ring 3, which is relatively fixed to the slide cylinder 4 in the axial direction, moves in coordination with the slide cylinder 4 to complete the reset. The plug-in piece 3.1 leaves the accommodating groove 2.2, and the locking piece 2.1 of the slide buckle 2 enters the locking hole 1.2 again to achieve the locking of the end tool.

[0039] Those skilled in the art should understand that the technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0040] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A tool changer at the end of a robot arm, characterized in that: The tool lock of the embodiment of the present invention is a kind of tool lock, and the tool lock of the embodiment of the present invention is a kind of tool lock, and the tool lock of the embodiment of the present invention is a tool lock, and the tool lock of the embodiment of the present invention is a tool lock. The slide cylinder, the fixed cover guide strip and the slide sleeve are sleeved with each other, the slide sleeve is located at the outermost side, the side wall of the slide sleeve is provided with a double-layer structure to form a guide channel for cooperating with the fixed cover guide strip, the fixed cover guide strip is sleeved inside the guide channel of the slide sleeve, and the slide sleeve can move along the fixed cover guide strip; A first limiting guide groove is arranged on the inner wall of the fixed cover guide strip, a second limiting guide groove is extended downwardly from the inner wall of the sliding sleeve arranged on the inner side of the fixed cover guide strip, the sliding cylinder is sleeved at the innermost part, and a guide block protruding outward is arranged on the outer wall of the sliding cylinder, the guide block is located between the two fixed cover guide strips and can cooperate with the first limiting guide groove and / or the second limiting guide groove to make the sliding cylinder perform axial and / or circumferential movement, the sliding cylinder drives the plug-in piece on the hook ring to move, so that the plug-in piece is inserted into or away from the accommodating groove, and then the locking piece is withdrawn from or enters the locking hole, so as to realize the installation or locking of the end tool.

2. The tool changer at the end of the robot arm according to claim 1, characterized in that: The slide buckle is fixedly arranged on the periphery of the tool interface, and the accommodating groove and / or the plug-in piece are wedge-shaped structures that are thick at the top and thin at the bottom.

3. The quick-change device for tool change at the end of a robot arm according to claim 1, characterized in that: The slide buckle is a split structure fixed on the periphery of the tool interface.

4. The tool changer at the end of a robot arm according to claim 1, characterized in that: The hook ring is sleeved on the outside of the slide cylinder and is relatively fixed to the slide cylinder in the axial direction.

5. The robot end tool quick change device according to claim 1, characterized in that: An end effector is arranged in the tool interface.

6. The robot end tool quick change device according to claim 5, characterized in that: The end effector is provided with a positioning groove along the axial direction.

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