End effector and human-machine collaborative robot arm end system

Abstract

The present invention discloses an end effector and a human-machine collaborative robot arm end system, wherein the end effector comprises: a support frame, an operating assembly and a tool replacement assembly, wherein the operating assembly is arranged on the support frame, and the operating assembly has a handle for holding; the tool replacement assembly is arranged on the support frame, and the tool replacement assembly has a sleeve for clamping the tool, wherein the center axis of the handle is coaxial with the center axis of the sleeve. According to the end effector of an embodiment of the present invention, by providing a handle coaxial with the center axis of the sleeve, the operator's sense of presence in the process of controlling the robot arm can be enhanced, making the operation more intuitive and improving the operator's use experience.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arms, and in particular to an end-effector and a human-machine collaborative robotic arm end system. Background Art

[0002] In the related technologies, traditional robotic arms lack flexibility and judgment ability and are unable to actively respond to many emergencies. In the form of direct operator operation, the operator himself is limited by the structure of the human body, and has deficiencies such as low precision, weak rigidity, and hand shaking during the movement process, which limits manual performance in precision tasks. As a result, human-machine collaborative systems have emerged. Especially in highly unstructured applications that require human intervention, such as medical surgery, postoperative rehabilitation, grinding and polishing, human-machine collaborative robots have high research value. In the existing technology, the robotic arms of human-machine collaborative robots have single functions and the modules are fixed and cannot be removed, which limits the application of the robotic arms and leaves room for improvement. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide an end effector mechanism, which can improve the intuitiveness of the operator's operation and facilitate the operator's operation.

[0004] The present invention also provides a human-machine collaborative robot arm end system.

[0005] According to the first aspect of the present invention, the end actuator comprises: a support frame, an operating assembly and a tool replacement assembly, wherein the operating assembly is arranged on the support frame, and the operating assembly has a handle for holding; the tool replacement assembly is arranged on the support frame, and the tool replacement assembly has a sleeve for clamping the tool, wherein the central axis of the handle is collinear with the central axis of the sleeve.

[0006] The end effector according to the embodiment of the present invention, by installing the operating component and the tool replacement component on the same support frame, is conducive to improving the integration of the end effector, can realize the modular design of multi-task tools, and easily realize the rapid replacement and rapid positioning of various tools to adapt to various working conditions; by setting a handle coaxial with the central axis of the sleeve, the operator's sense of presence in the process of controlling the robotic arm can be enhanced, making the operation more intuitive and improving the operator's user experience.

[0007] According to some embodiments of the present invention, the operating component includes: a first mounting seat and a first detection device, the first mounting seat is arranged on the support frame and defines a first mounting cavity, and the handle is arranged on the first mounting seat; the first detection device is arranged in the first mounting cavity and cooperates with the handle, and the first detection device is used to detect the multi-dimensional operating force of the handle.

[0008] According to some embodiments of the present invention, the tool replacement assembly includes: a second mounting seat, a tool fixture and a locking member, the second mounting seat is arranged on the support frame; the tool fixture is detachably arranged on the second mounting seat and has the sleeve; the locking member is arranged on the second mounting seat, and the locking member is suitable for cooperating with the tool fixture to fix the tool fixture on the second mounting seat.

[0009] In some examples, the end actuator further includes: a second detection device, the second detection device cooperates with the sleeve, and the second detection device is suitable for detecting the multi-dimensional operating force of the tool.

[0010] In some examples, the second mounting base includes an adapter frame and a connecting frame, the adapter frame is connected to the support frame and defines a mounting cavity for mounting the second detection device, the connecting frame is arranged on one side of the adapter frame and defines a mounting hole between the connecting frame and the adapter frame, and the tool fixture is detachably disposed in the mounting hole.

[0011] In some examples, the tool clamp includes a tool clamp body and a locking sleeve, the shaft sleeve is disposed in the tool clamp body, and the locking sleeve is disposed in a mounting groove outside the tool clamp body, wherein the locking member includes a quick locking switch, and the quick locking switch cooperates with the locking sleeve to fix the tool clamp to the second mounting seat.

[0012] In some examples, the locking member includes an elastic self-locking member, and the elastic self-locking member and the quick locking switch are arranged at intervals in the circumferential direction of the sleeve.

[0013] In some examples, the first detection device and the second detection device are six-dimensional force sensors.

[0014] According to some embodiments of the present invention, the support frame includes a support plate and a connecting plate, the operating assembly and the tool replacement assembly are respectively arranged on both sides of the support plate, the connecting plate is arranged on the edge of the support plate, and the connecting plate is suitable for connecting to a robotic arm.

[0015] The human-machine collaborative robot arm terminal system according to the second aspect of the embodiment of the present invention includes the end actuator according to the first aspect of the embodiment of the present invention. The end actuator is highly integrated, so that the human-machine collaborative robot arm terminal system has higher rigidity. The handle in the end actuator is coaxial with the shaft sleeve, which improves the intuitiveness of the operator's operation and simplifies the operation method of the human-machine collaborative robot arm terminal system. The end actuator has a modular design of multi-task tools. By quickly replacing multiple tools, the scalability of the human-machine collaborative robot arm terminal system can be improved. By the operator operating the end actuator to perform tasks, the precise movement ability of the human-machine collaborative robot arm terminal system can be improved, and the human-machine collaborative robot arm terminal system has both the operator's rich experience and flexible decision-making ability.

[0016] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0018] Figure 1 is a schematic structural diagram of an end effector in an application state according to an embodiment of the present invention;

[0019] Figure 2 yes Figure 1 A schematic diagram of the structure shown in one viewing angle;

[0020] Figure 3 is along Figure 2 Cross-section along line AA;

[0021] Figure 4 yes Figure 3 A partial enlarged view of the structure B in the middle;

[0022] Figure 5 is a schematic structural diagram of an end effector according to an embodiment of the present invention;

[0023] Figure 6 Schematic diagram of an exploded view of an end effector according to an embodiment of the present invention.

[0024] Reference numerals:

[0025] End effector 100,

[0026] Support frame 10, support plate 11, connecting plate 12,

[0027] Operation assembly 20, first mounting seat 21, first mounting cavity 211, bottom plate 212, cover 213, first detection device 22, handle 23,

[0028] Tool replacement assembly 30, tool fixture 31, locking sleeve 311, tool fixture body 312, first part 312a, second part 312b, mounting groove 3121, shaft sleeve 313, second mounting seat 32, adapter frame 321, connecting frame 322, quick locking switch 33, elastic self-locking member 34, second detection device 35,

[0029] Tool 40. DETAILED DESCRIPTION

[0030] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0031] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0032] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0033] Reference below Figure 1-Figure 6 An end effector 100 according to an embodiment of the present invention is described.

[0034] like Figure 1-Figure 6As shown, the end actuator 100 according to one embodiment of the present invention includes: a support frame 10, an operating component 20 and a tool replacement component 30, the operating component 20 is arranged on the support frame 10, and the operating component 20 has a handle 23, the handle 23 is convenient for the operator to hold, and the operator controls the movement of the operating component 20 by holding the handle 23; the tool replacement component 30 is arranged on the support frame 10, and the tool replacement component 30 has a sleeve 313, the sleeve 313 can clamp the tool 40, so that the tool 40 can move together with the operating component 20, and different tools 40 can be replaced through the tool replacement component 30, wherein the central axis of the handle 23 is colinear with the central axis of the sleeve 313, so that the operator's indirect operation of the tool 40 through the handle 23 is closer to the operator's direct holding of the tool 40, the operation is more intuitive, and it is convenient for the operator to operate, thereby reducing the time for operator training or adaptation.

[0035] According to the end effector 100 of the embodiment of the present invention, by installing the operating component 20 and the tool replacement component 30 on the same support frame 10, the integration of the end effector 100 can be improved, which is conducive to the modular design of the multi-task tool 40, and it is easy to realize the rapid replacement and rapid positioning of various tools 40 to adapt to complex and various working conditions; by setting a handle 23 coaxial with the central axis of the sleeve 313, the operator's sense of presence in the process of controlling the robotic arm can be enhanced, making the operation more intuitive and improving the operator's user experience.

[0036] like Figure 1 , Figure 2 , Figure 4 and Figure 6 As shown, according to some embodiments of the present invention, the operating component 20 includes: a first mounting seat 21 and a first detection device 22, the first mounting seat 21 is arranged on the support frame 10, the first mounting seat 21 defines a first mounting cavity 211, the handle 23 is arranged on the first mounting seat 21, and the handle 23 is fixedly connected to the first mounting seat 21, so that when the operator operates the handle 23, the support frame 10 can be driven to move, and the support frame 10 can be connected to a robotic arm, thereby realizing the linkage between the handle 23 and the robotic arm.

[0037] The first detection device 22 is arranged in the first installation cavity 211, and the first detection device 22 is fixed in the first installation seat 21, so that the first detection device 22 can cooperate with the handle 23. The first detection device 22 is used to detect the operating force applied to the handle 23 by the operator, that is, the force applied by the operator to the handle 23 to drive the movement of the robotic arm. Specifically, the first detection device 22 can measure the operating force applied by the operator to the handle 23, send the operating force signal to the controller of the robotic arm, and convert the operating force signal into the movement of the robotic arm through control principles such as admittance control, so as to guide the robotic arm to move in accordance with the operator's movement intention, so that the operator's operation is more labor-saving and precise.

[0038] It is understandable that after the end effector 100 moves to the specified position, if the operator does not apply external force to the handle 23, the end effector 100 can carry the tool 40 and keep it fixed in one position, which is beneficial to saving the operator's physical strength and improving the operator's user experience.

[0039] In some examples, the first mounting seat 21 includes: a bottom plate 212 and a cover 213, the bottom plate 212 is connected to the support frame 10, the cover 213 is covered on the bottom plate 212, and a first mounting cavity 211 is defined between the cover 213 and the bottom, and the cover 213 can be fixedly connected to the bottom plate 212 by fasteners, and the fasteners can be screws, bolts, screws, etc. The cover 213 and the bottom plate 212 cooperate with each other, which is conducive to improving the fixing effect of the first detection device 22. The first detection device 22 can cooperate with the bottom plate 212 and the cover 213 respectively. For example, the first detection device 22 is positioned by a positioning pin and installed by a fastener to achieve the fixation of the first detection device 22.

[0040] When the first detection device 22 is installed in the first mounting seat 21, the first mounting seat 21 can wrap the first detection device 22 to prevent liquid and debris from splashing onto the first detection device 22 during the operator's task execution, thereby increasing the service life of the first detection device 22.

[0041] In some examples, the first detection device 22 can be a six-dimensional force sensor, which can detect the three-dimensional orthogonal force and three-dimensional orthogonal torque applied by the operator on the handle, and has rich force measurement information and high measurement accuracy, thereby improving the accuracy of the end effector 100 in operation, which is beneficial to reducing the operational risks during the control process of the end effector 100 and improving the operator's experience.

[0042] like Figure 1 , Figure 3 and Figure 5As shown, according to some embodiments of the present invention, the tool replacement assembly 30 includes: a second mounting seat 32, a tool fixture 31 and a locking piece. The second mounting seat 32 is arranged on the support frame 10, and the second mounting seat 32 can be fixedly connected to the support frame 10 by fasteners. The fixing piece can be a screw, a bolt, a screw, etc., so that the end actuator 100 forms a whole. The operator can control the end actuator 100 to move by holding the handle 23, which improves the accuracy of the operator's operation of the end actuator 100 to move; the tool fixture 31 is detachably arranged on the second mounting seat 32, and by disassembling the tool fixture 31, a variety of tools 40 can be used in combination, which improves the versatility of the structure; the tool fixture 31 has a shaft sleeve 313, and the tool 40 can be inserted and fixed in the shaft sleeve 313 so that the tool 40 is fixedly matched with the tool fixture 31; the locking piece is arranged on the second mounting seat 32, and the locking piece can cooperate with the tool fixture 31 so that the locking piece fixes the tool fixture 31 on the second mounting seat 32, which is convenient for the operator to replace the tool 40 and can improve the operating efficiency.

[0043] like Figure 5 and Figure 6 As shown, in some examples, the end actuator 100 also includes: a second detection device 35, the second detection device 35 cooperates with the sleeve 313, and can further cooperate with the tool 40. The cooperation here is that the second detection device 35 is indirectly connected to the sleeve 313. Specifically, the second detection device 35 is fixedly connected to the adapter frame 321 and the connecting frame 322, and the tool fixture 31 is installed in the mounting hole between the adapter frame 321 and the connecting frame 322 through a locking member, so that the tool fixture 31 is fixed on the second mounting seat 32, thereby the sleeve 313 and the tool 40 are clamped on the second mounting seat 32, thereby realizing the mutual cooperation between the second detection device 35 and the sleeve 313 and the tool 40.

[0044] The second detection device 35 can detect the multi-dimensional operating force of the tool 40. When the operator operates the tool 40 to touch the operating object, the second detection device 35 can measure and record the force of the tool 40, that is, the force applied by the tool 40 to the operating object. Then, the second detection device 35 inputs the recorded data into the motion control system. The motion control system monitors the movement of the end actuator 100 by analyzing the data, and then limits the process force applied by the end actuator 100 to the operating object. The robotic arm system limits the magnitude of the process force to a certain threshold through control principles such as impedance control to protect the operating object and prevent the end actuator 100 from excessive movement to damage the operating object, which is beneficial to improving the safety of task execution.

[0045] In some examples, the second mounting base 32 includes an adapter frame 321 and a connecting frame 322, the adapter frame 321 is connected to the support frame 10, the adapter frame 321 defines a mounting cavity for mounting the second detection device 35, and the connecting frame 322 is disposed on one side of the adapter frame 321 (such as Figure 1 A mounting hole is defined between the connecting frame 322 and the adapter frame 321, so that the tool fixture 31 can be detachably arranged in the mounting hole, which is convenient for the operator to replace the tool 40 and can improve the task switching efficiency of the human-machine collaboration system.

[0046] In some examples, the second detection device 35 can be positioned on the adapter frame 321 by a positioning pin and connected by fasteners to achieve fixation of the second detection device 35, so that the second detection device 35 can effectively detect the operating force of the tool 40 and the sleeve 313.

[0047] In some examples, the second detection device 35 can be a six-dimensional force sensor, which can detect the three-dimensional orthogonal force and three-dimensional orthogonal torque on the object acted by the tool 40, and has rich force measurement information and high measurement accuracy, thereby improving the accuracy of the end effector 100 in operation, which is beneficial to reducing the operational risks in the control process of the end effector 100 and improving the stability of the tool process force.

[0048] like Figure 3 and Figure 6 As shown, in some examples, the tool fixture 31 includes a tool fixture body 312 and a locking sleeve 311, the shaft sleeve 313 is arranged in the tool fixture body 312, the outer side of the tool fixture body 312 has a mounting groove 3121, the locking sleeve 311 is arranged in the mounting groove 3121, the locking sleeve 311 can be fixedly connected to the tool fixture body 312 by fasteners, the fasteners can be screws, bolts and screws, etc., wherein, by setting the locking sleeve 311 in the mounting groove 3121, the size of the overall structure of the tool fixture 31 can be reduced, which facilitates the installation of the tool fixture 31 in the second mounting seat 32.

[0049] In some examples, the tool fixture 31 includes a locking sleeve 311, a tool fixture body 312 and a sleeve 313, wherein the number of sleeves 313 is consistent with the number of tools 40 in the human-machine collaboration application, that is, each tool 40 has a matching sleeve 313.

[0050] In some specific examples, the tool replacement assembly 30 has five sets of tool fixtures 31, and the five sets of tool fixtures 31 all include a locking sleeve 311, a tool fixture body 312, and a sleeve 313. Among them, the locking sleeves 311 in the five sets of tool fixtures 31 are consistent, and the tool fixture body 312 is also consistent, which is convenient for batch manufacturing, and is easy to install in the second mounting seat 32, and is easy to cooperate with the locking member. The sleeve 313 is customized according to the appearance of the tool 40, and the five sets of sleeves 313 are different. The inner wall shape of the sleeve 313 is completely matched with the outer wall shape of the tool 40, and the outer wall shape of the sleeve 313 is always consistent with the inner wall shape of the tool fixture body 312, thereby increasing the function of the end actuator 100, so that the robot arm has multiple uses.

[0051] It can be understood that the five sets of tools 40 are always connected to their respective tool fixtures 31 during the movement. The operator only needs to unlock the locking piece to pull out the existing set of tool fixtures 31, and then lock the locking piece after inserting another set of tool fixtures 31 into the second mounting seat 32. This allows the operator to replace the tool 40 without disassembling the tool fixture 31, thereby improving the task switching efficiency of the human-machine collaboration system.

[0052] The locking member includes a quick locking switch 33, which cooperates with the locking sleeve 311 to fix the tool clamp 31 on the second mounting seat 32. The quick locking switch 33 has a pin extending toward the locking sleeve 311, the outer wall surface of the pin has a rotation groove, the locking sleeve 311 has a through hole in the center, and the inner wall surface of the through hole has a protrusion. The operator can rotate the quick locking switch 33 to make the rotation groove on the pin engage with the protrusion in the center of the locking sleeve 311, so that the quick locking switch 33 is in a locked state, and the locking sleeve 311 is locked and matched with the quick locking switch 33. At this time, the quick locking switch 33 will apply a tightening force to the locking sleeve 311, so that the tool clamp body 312 is tightened by the quick locking switch 33, so that the tool clamp 31 is fixed on the second mounting seat 32. In addition, the pin in the quick locking switch 33 can share the various outward forces on the tool 40, thereby improving the overall structural strength.

[0053] like Figure 6 As shown, in some examples, the tool fixture body 312 may include a first part 312a and a second part 312b, and the first part 312a and the second part 312b are fixedly connected by fasteners to form a whole to enclose a through hole, and the through hole can pass through the sleeve 313 and the tool 40, wherein the fasteners can be bolts, screws or screws, etc., and the operator adjusts the fasteners so that the first part 312a and the second part 312b can clamp the sleeves 313 and the tool 40 of different sizes, so that the tool 40 is fixed on the tool fixture 31. Of course, the tool fixture body 312 here can also include more parts.

[0054] like Figure 3 and Figure 5 As shown, in some examples, the inner wall surface of the second mounting seat 32 is abutted against the outer wall surface of the tool fixture 31, so that the tool fixture 31 can only be moved along the extension direction of the central axis of the mounting hole (such as Figure 1 The second mounting seat 32 moves in the up and down direction as shown, thereby constraining the installation direction of the tool 40.

[0055] like Figure 2 , Figure 5 and Figure 6 As shown, in some examples, the locking member also includes an elastic self-locking member 34, and the spring inside the elastic self-locking member 34 will penetrate the elastic pin into the pin hole on the tool clamp 31, thereby fixing the tool clamp 31 on the second mounting seat 32. When the operator pulls out the elastic self-locking member 34, the pin is also pulled out of the pin hole, so that the tool clamp 31 can be detached from the second mounting seat 32. When the quick locking switch 33 is in the on state and the elastic self-locking member 34 is in the pulled-out state, the operator can take out the tool clamp 31 and replace the tool 40.

[0056] It can be understood that by providing a quick locking switch 33 and an elastic self-locking member 34, the end actuator 100 can achieve a double locking effect on the tool fixture 31, wherein the quick locking switch 33 and the elastic self-locking member 34 cooperate with each other to improve the stability of the tool 40 fixed in the end actuator 100 and prevent the tool 40 from falling off the end actuator 100. At the same time, the use of the quick locking switch 33 and the elastic self-locking member 34 can realize the rapid loading and unloading function of the tool 40, improve the replacement speed of the tool 40, and improve the task switching efficiency of the human-machine collaboration system.

[0057] In addition, in the circumferential direction of the shaft sleeve 313, the elastic self-locking member 34 and the quick locking switch 33 are arranged at intervals, thereby further improving the locking effect of the two.

[0058] In some examples, the locking member may be a self-locking connecting rod system, an elastic pin, a manual screw, etc., which is conducive to the rapid disassembly of the tool fixture 31 and the convenient replacement of the tool 40. The locking member may also be other feasible embodiments.

[0059] In some examples, the operator can expand the functions of the end actuator 100 by replacing the tool 40 on the end actuator 100, such as external positioning navigation, cooling and spraying functions, which is helpful in meeting the operator's various needs and improving the operator's usage experience.

[0060] In some examples, the outer wall surface of the second mounting seat 32 may have an expandable joint, and the expandable joint is fixedly connected to the second mounting seat 32 by fasteners. The fasteners may be bolts, screws, and screws, etc., so as to install accessories on the end actuator 100. The accessories do not need to be replaced together with the tool 40. By installing various accessories on the expandable joint, for example, a spray structure, a blowing and suction structure, and a measuring structure, etc., the end actuator 100 has multiple functions, further enhancing the expandability of the end actuator 100.

[0061] In addition, the tool fixture body 312 can have an expandable space and a matching screw hole interface, that is, the tool fixture body 312 can be installed with accessories, such as a tool matching target system and a temperature sensor, etc., and the accessories can be replaced together with the tool 40. By installing a variety of accessories on the tool fixture body 312, the application range of the end actuator 100 is expanded.

[0062] like Figure 3 , Figure 5 and Figure 6 As shown, according to some embodiments of the present invention, the support frame 10 includes a support plate 11 and a connecting plate 12, the operating component 20 and the tool replacement component 30 are respectively arranged on both sides of the support plate 11, and the connecting plate 12 is arranged on the edge of the support plate 11. The connecting plate 12 can be connected to the robot arm so that the robot arm controls the end actuator 100 to move as a whole, which is beneficial for the end actuator 100 to execute the instructions of the robot arm system as a whole.

[0063] In some examples, the base plate 212 can be fixedly connected to the support plate 11 by fasteners, and the second mounting seat 32 is fixedly connected to the support plate 11 by fasteners. The fasteners can be screws, bolts, and screws, etc., so that the operating component 20 and the tool replacement component 30 are fixed together, thereby improving the overall structural strength of the end actuator 100 and improving the operator's experience.

[0064] According to an embodiment of the present invention, the human-machine collaborative robot arm terminal system includes an end effector 100. The end effector 100 is highly integrated, so that the human-machine collaborative robot arm terminal system has higher rigidity. The handle 23 in the end effector 100 is coaxial with the shaft sleeve 313, which improves the intuitiveness of the operator's operation and simplifies the operation method of the human-machine collaborative robot arm terminal system. The end effector 100 has a modular design of multi-task tools 40. By quickly replacing multiple tools 40, the scalability of the human-machine collaborative robot arm terminal system can be improved. By the operator operating the end effector 100 to perform tasks, the precise movement ability of the human-machine collaborative robot arm terminal system can be improved, and the human-machine collaborative robot arm terminal system has both the operator's rich experience and flexible decision-making ability.

[0065] The other components and operations of the human-machine collaborative robot arm terminal system according to the embodiment of the present invention are known to ordinary technicians in the field and will not be described in detail here. In the description of the present invention, "first feature" and "second feature" may include one or more of these features. Among them, the up-down direction, left-right direction and front-back direction are based on the up-down direction, left-right direction and front-back direction shown in the figure.

[0066] In the description of the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature.

[0067] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0068] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. An end effector, characterized in that: include: Support frame; An operating assembly, the operating assembly is arranged on the supporting frame, and the operating assembly has a handle for holding; A tool replacement assembly, the tool replacement assembly is arranged on the support frame, and the tool replacement assembly has a sleeve for clamping a tool, Wherein, the central axis of the handle is collinear with the central axis of the sleeve; A first mounting seat, the first mounting seat is arranged on the support frame and defines a first mounting cavity, and the handle is arranged on the first mounting seat; A first detection device, the first detection device is arranged in the first installation cavity and cooperates with the handle, the first detection device is used to detect the operating force applied by the operator to the handle; the first detection device is used to send the operating force signal to the controller of the robot arm by measuring the operating force applied by the operator on the handle, and convert the operating force signal into the movement of the robot arm to guide the robot arm to move in accordance with the operator's movement intention; the tool replacement assembly includes: A second mounting seat, the second mounting seat is arranged on the supporting frame; a tool fixture, the tool fixture being detachably mounted on the second mounting seat and having the shaft sleeve; A locking member, the locking member being disposed on the second mounting seat, the locking member being adapted to cooperate with the tool fixture to fix the tool fixture on the second mounting seat; The tool fixture comprises a tool fixture body and a locking sleeve, wherein the shaft sleeve is arranged in the tool fixture body, and the locking sleeve is arranged in a mounting groove outside the tool fixture body. Wherein, the locking member comprises a quick locking switch, and the quick locking switch cooperates with the locking sleeve to fix the tool fixture on the second mounting seat.

2. The end effector according to claim 1, characterized in that: Also includes: A second detection device, the second detection device cooperates with the sleeve, and the second detection device is suitable for detecting the operating force applied by the tool to the operating object.

3. The end effector according to claim 2, characterized in that: The second mounting base includes an adapter frame and a connecting frame. The adapter frame is connected to the supporting frame and defines an installation cavity for installing the second detection device. The connecting frame is arranged on one side of the adapter frame and defines an installation hole between the connecting frame and the adapter frame. The tool fixture is detachably arranged in the installation hole.

4. The end effector according to claim 1, characterized in that: The locking member comprises an elastic self-locking member, and the elastic self-locking member and the quick locking switch are arranged at intervals in the circumferential direction of the shaft sleeve.

5. The end effector according to claim 2, characterized in that: The first detection device and the second detection device are six-dimensional force sensors.

6. The end effector according to claim 1, characterized in that: The support frame includes a support plate and a connecting plate. The operating assembly and the tool replacement assembly are respectively arranged on both sides of the support plate. The connecting plate is arranged on the edge of the support plate. The connecting plate is suitable for connecting to a robot arm.

7. A human-machine collaborative robot arm end system, characterized in that: It comprises the end effector according to any one of claims 1-6.

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