A quick-change device for the end effector of a robotic arm

Abstract

A quick-change device for an end effector of a robotic arm is provided between the robotic arm and the end effector. The device comprises a first connecting component connected to the robotic arm flange and a plurality of second connecting components connected to different end effectors. The first connecting component and the second connecting component are engaged and locked or unlocked and separated, so that the end effector on the robotic arm can be replaced. The first connecting component comprises a robotic arm end housing, the top surface of the robotic arm end housing is provided with an assembly surface for assembly with the robotic arm flange, and the outer side of the robotic arm end housing is provided with a robotic arm end electrical interface. The second connecting component comprises a tool end housing, the bottom surface of the tool end housing is provided with a mounting surface connected to the end effector, and the outer side of the tool end housing is provided with a tool arm end electrical interface. The present invention has a simple structure, high reliability, and easy operation. It solves the problem that existing quick-change devices using high-pressure gas as a power source are inconvenient to use in scenarios where AGV vehicles are combined with robotic arms.

Description

Technical Field

[0001] The present invention relates to the field of electromechanical technology, and in particular to a quick-changing device for an end effector of a robotic arm. Background Art

[0002] With the development of science and technology, robotic arms are widely used in production, scientific research and rescue missions. In order to adapt to different working conditions, the end effector of the robotic arm needs to be replaced frequently. Most of the existing quick-change devices for the end effector of the robotic arm use high-pressure gas to achieve the locking and loosening between the male and female discs, which has the characteristics of simple control and compact structure. However, with the increase in the application of AGV carts combined with robotic arms, the robotic arm can be installed on the AGV cart and move with the cart, but the space and load capacity of the AGV cart are limited, and it is inconvenient to carry a high-pressure gas source. Therefore, it is of great significance to invent an electric quick-change device for the end effector of the robotic arm. Summary of the Invention

[0003] In order to solve the problem that the existing quick-change device using high-pressure gas as a power source is inconvenient to use in the scenario where an AGV vehicle is combined with a robotic arm, the present invention provides a quick-change device for an end effector of a robotic arm.

[0004] The technical solution adopted by the present invention is: a quick-change device for an end effector of a robotic arm, which is arranged between the robotic arm and the end effector, and includes a first connecting component connected to a flange of the robotic arm, and multiple second connecting components connected to different end effectors. The first connecting component and the second connecting component are engaged and locked or unlocked and separated, so that the end effector on the robotic arm can be replaced;

[0005] The first connecting component includes a robot arm end housing, which is cylindrical, has a cavity inside the robot arm end housing and an opening at the lower end; the top surface of the robot arm end housing is provided with an assembly surface for assembly with the robot arm flange, and the assembly surface is also provided with a driver wiring groove; the outer side of the robot arm end housing is provided with a first section, and the first section is provided with a robot arm end electrical interface; the top of the robot arm end housing cavity is provided with a driver mounting seat, and the driver mounting seat is evenly distributed with pits around it; the driver mounting seat is provided with a driver, and a guide block is provided in the pit;

[0006] The output shaft of the driver is arranged downwardly and coaxially connected to a driver adapter, which is in the shape of a small circular plate, and the bottom surface of the driver adapter is coaxially connected to a driver plate; the driver plate is in the shape of a large circular plate, and four eccentric arc grooves are provided on the driver plate and located on the outer periphery of the driver adapter, which are offset from the center of the driver plate; one end of the eccentric arc groove is farther from the center of the driver plate, and the other end is closer to the center of the driver plate; a locking screw is slidingly provided in each eccentric arc groove, and the locking screw is connected to the latch; the driver can drive the driver plate to rotate, so that the locking screw can move between the two ends of the eccentric arc groove;

[0007] The latch is generally in the shape of a horizontal cylinder, with one end of the latch near the center of the drive plate being slotted, and the other end of the latch away from the center of the drive plate being rounded; the slot of the latch is engaged with the drive plate, and the two inner groove surfaces of the latch are in contact with the surface of the drive plate; a first through hole is formed at the slot of the latch and at positions corresponding to the upper and lower ends of the locking screw, and the two ends of the locking screw are connected to the first through hole;

[0008] The guide block is vertically arranged, the upper end of the guide block is inserted into the pit, and a guide hole is opened at a position corresponding to the latch on the lower side of the guide block, and the round end of the latch is movably inserted into the guide hole;

[0009] The second connecting component includes a tool end housing, which is cylindrical and has a cavity therein and an opening at the upper end. The bottom surface of the tool end housing is provided with a mounting surface connected to the end effector, and the outer side of the tool end housing is provided with a second section, and the second section is provided with a tool arm end electrical interface. A groove is provided in the cavity of the tool end housing at a position corresponding to the guide block. When the first connecting component and the second connecting component are correspondingly engaged, the lower end of the guide block is inserted into the groove, and a second through hole is provided on the outer side of the groove at a position corresponding to the pin.

[0010] The latch has a first state position and a second state position. In the first state position, the round head end of the latch is retracted in the guide hole, so that the first connecting member and the second connecting member can be correspondingly engaged or separated; in the second state position, the latch extends out of the guide hole and is inserted into the second through hole of the tool end housing, so that the first connecting member and the second connecting member are locked together;

[0011] The electrical interface at the robotic arm end is connected to the power supply, and the electrical interface at the tool arm end is connected to the power supply end of the end actuator. When the first connecting component and the second connecting component are correspondingly buckled, the electrical interface at the robotic arm end is fitted with the electrical interface at the tool arm end, and the contacts on the electrical interface at the robotic arm end are in contact and connected with the contacts on the electrical interface at the tool arm end.

[0012] Furthermore, an external gear is installed on the output shaft of the driver, and a hole is opened at the center of the driver adapter and an internal gear is installed thereon, and the external gear meshes with the internal gear.

[0013] Furthermore, the longitudinal section of the guide block is a semicircular surface at the top and a rectangular surface at the bottom.

[0014] The beneficial effects of the present invention are:

[0015] 1. Solve the problem that the existing quick-change device using high-pressure gas as a power source is inconvenient to use in scenarios where AGV vehicles are combined with robotic arms.

[0016] 2. Simple structure, strong reliability and easy operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the quick-changing device of the end effector of the robot arm in the present invention.

[0018] Figure 2 It is a structural schematic diagram of the tool end of the quick-changing device of the end effector of the robot arm in the present invention.

[0019] Figure 3 It is an exploded view of the robotic arm end of the quick-change device of the robotic arm end effector in the present invention.

[0020] Figure 4 This is a schematic diagram of the structure of the quick-change device at the end of the robotic arm in the present invention. (When the latch is retracted)

[0021] Figure 5 This is a schematic diagram of the structure of the quick-change device at the end of the robotic arm. (When the latch is extended)

[0022] Figure 6 It is a structural schematic diagram of the robot arm end shell in the present invention.

[0023] Figure 7 It is a structural diagram of the driver in the present invention.

[0024] Figure 8 It is a structural schematic diagram of the driver adapter in the present invention.

[0025] Figure 9 It is a structural schematic diagram of the guide block in the present invention.

[0026] Figure 10 It is a structural schematic diagram of the driving plate in the present invention.

[0027] Figure 11 It is a structural schematic diagram of the latch in the present invention.

[0028] Figure 12 It is a structural diagram of the electrical interface in the present invention.

[0029] Figure 13 It is a structural schematic diagram of the tool end housing in the present invention. DETAILED DESCRIPTION

[0030] The following will clearly and completely describe the technical solution of the present invention in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0031] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and are therefore not to be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

[0032] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific contexts.

[0033] Referring to the accompanying drawings, a quick-change device for an end effector of a robotic arm is provided between the robotic arm and the end effector. The device includes a first connecting component 100 connected to a flange of the robotic arm, and a plurality of second connecting components 200 connected to different end effectors. The first connecting component 100 and the second connecting component 200 are engaged and locked or unlocked and separated to allow the end effector on the robotic arm to be replaced.

[0034] The first connecting component 100 includes a robot arm end shell 11, which is cylindrical, has a cavity inside the robot arm end shell 11 and an opening at the lower end; the top surface of the robot arm end shell 11 is provided with an assembly surface for assembly with the robot arm flange, and the assembly surface is also provided with a wiring groove for the driver; the outer side of the robot arm end shell 11 is provided with a first section, and the first section is provided with a robot arm end electrical interface 12; the top of the cavity of the robot arm end shell 11 is provided with a driver mounting seat 112, and pits 111 are distributed all around the driver mounting seat 112; a driver 13 is provided on the driver mounting seat 112, and a guide block 14 is provided in the pit 111; the longitudinal section of the guide block 14 is a semicircular surface at the upper part and a rectangular surface at the lower part.

[0035] The output shaft of the driver 13 is arranged downward and coaxially connected to the driver adapter 15. The driver adapter 15 is in the shape of a small circular plate, and the bottom surface 172 of the driver adapter 15 is coaxially connected to the drive plate 17; an external gear is installed on the output shaft of the driver 13, and a hole is opened at the center of the driver adapter 15 and an internal gear is installed, and the external gear is meshed with the internal gear.

[0036] The drive plate 17 is in the shape of a large circular plate. Four eccentric arc grooves 171 are provided on the drive plate 17 and located on the outer periphery of the driver adapter 15, offset from the center of the drive plate 17. One end of the eccentric arc groove 171 is farther from the center of the drive plate 17, while the other end is closer to the center of the drive plate 17. A locking screw is slidably disposed within each eccentric arc groove 171, and the locking screw is connected to the latch 16. The driver 13 can drive the drive plate 17 to rotate, so that the locking screw can move between the two ends of the eccentric arc groove 171.

[0037] The latch 16 is generally in the shape of a horizontal cylinder, with one end of the latch 16 close to the center of the driving plate 17 being slotted, and the end of the latch 16 away from the center of the driving plate 17 being rounded. The slot of the latch 16 is engaged with the driving plate 17, and the two inner groove surfaces of the latch 16 are in contact with the surface of the driving plate 17. A first through hole 162 is formed in the slot of the latch 16 at positions corresponding to the upper and lower ends of the locking screw, and the two ends of the locking screw are connected to the first through hole 162.

[0038] The guide block 14 is vertically arranged, and the upper end of the guide block 14 is inserted into the pit 111. A guide hole 141 is opened on the lower side surface of the guide block 14 at a position corresponding to the latch 16. The round end of the latch 16 is movably inserted into the guide hole 141.

[0039] The second connecting component 200 includes a tool end housing 21. The tool end housing 21 is cylindrical, has a cavity therein, and is provided with an opening at the upper end. The bottom surface of the tool end housing 21 is provided with a mounting surface connected to the end effector. The outer side of the tool end housing 21 is provided with a second section, and the second section is provided with a tool arm end electrical interface 22. A groove 211 is provided in the cavity of the tool end housing 21 at a position corresponding to the guide block 14. When the first connecting component 100 and the second connecting component 200 are correspondingly engaged, the lower end of the guide block 14 is inserted into the groove 211. A second through hole 212 is provided on the outer side of the groove 211 at a position corresponding to the latch 16.

[0040] The latch 16 has a first state position and a second state position. In the first state position, the round end of the latch 16 is retracted in the guide hole 141, so that the first connecting member 100 and the second connecting member 200 can be correspondingly engaged or separated. In the second state position, the latch 16 extends out of the guide hole 141 and is inserted into the second through hole 212 of the tool end housing 21, so that the first connecting member 100 and the second connecting member 200 are locked together.

[0041] The electrical interface 12 at the robot arm end is connected to the power supply, and the electrical interface 22 at the tool arm end is connected to the power supply end of the end actuator. When the first connecting component 100 and the second connecting component 200 are correspondingly snapped together, the electrical interface 12 at the robot arm end is fitted with the electrical interface 22 at the tool arm end, and the contacts on the electrical interface 12 at the robot arm end are in contact and connected with the contacts on the electrical interface 22 at the tool arm end.

[0042] Docking steps: The robotic arm drives the first connecting component 100 to move to the top of the second connecting component. The axes of the first connecting component 100 and the second connecting component 200 coincide with each other. The angle of the first connecting component 100 is adjusted around the axis so that the guide block 14 and the groove 211 on the tool end shell coincide with each other. Then the first connecting component 100 moves downward, and the guide block 14 slides along the groove 211 on the tool end shell to play a positioning role until the first connecting component 100 and the second connecting component 200 are in direct contact. The contacts on the electrical interface 12 on the first connecting component and the contacts on the electrical interface 22 on the second connecting component are in contact, and the circuits of the first connecting component 100 and the second connecting component 200 are connected. The driver 13 drives the drive plate 17 to rotate Figure 5 At an angle, the eccentric arc groove 171 on the driving plate pushes the latch 16 to extend along the guide hole 161 on the guide block and insert into the through hole 212 on the tool end housing, and the first connecting component 100 is locked with the second connecting component 200.

[0043] Undocking steps: The driver 13 drives the driver plate 17 to turn Figure 4 At an angle of , the eccentric arc groove 171 on the driving plate pulls the latch 16 back, the first connecting component 100 and the second connecting component 200 are unlocked, the first connecting component 100 moves upward along the axis, and the first connecting component 100 and the second connecting component 200 are disengaged. At the same time, the contacts on the electrical interface 12 on the first connecting component and the contacts on the electrical interface 22 on the second connecting component are disconnected, and the circuit is disconnected.

[0044] Switching the end effector: the first connecting component 100 is moved to directly above the second connecting component 200 directly connected to the corresponding end effector, and the above docking steps are repeated.

[0045] The contents described in the embodiments of this specification are merely an enumeration of the implementation forms of the inventive concept. The scope of protection of the present invention should not be regarded as limited to the specific forms described in the embodiments. The scope of protection of the present invention also extends to equivalent technical means that can be conceived by those skilled in the art based on the inventive concept.

Claims

1. A quick-change device for an end effector of a robotic arm, the device being arranged between the robotic arm and the end effector, characterized in that: The device comprises a first connecting component (100) connected to a flange of a robotic arm, and a plurality of second connecting components (200) connected to different end effectors; the first connecting component (100) and the second connecting component (200) are engaged and locked or unlocked and separated, so that the end effectors on the robotic arm can be replaced; The first connecting component (100) includes a robot arm end shell (11), the robot arm end shell (11) is cylindrical, has a cavity inside the robot arm end shell (11) and an opening at the lower end; the top surface of the robot arm end shell (11) is provided with an assembly surface for assembly with the robot arm flange, and the assembly surface is also provided with a driver wiring groove; the outer side of the robot arm end shell (11) is provided with a first section, and the first section is provided with a robot arm end electrical interface (12); the top of the cavity of the robot arm end shell (11) is provided with a driver mounting seat (112), and pits (111) are evenly distributed around the driver mounting seat (112); a driver (13) is provided on the driver mounting seat (112), and a guide block (14) is provided in the pit (111); The output shaft of the driver (13) is arranged downward and coaxially connected to a driver adapter (15), the driver adapter (15) is in the shape of a small circular plate, and the bottom surface (172) of the driver adapter (15) is coaxially connected to a driving plate (17); the driving plate (17) is in the shape of a large circular plate, and four eccentric arc grooves (171) are provided on the driving plate (17) and located at the outer periphery of the driver adapter (15), which are deviated from the center of the driving plate (17); one end of the eccentric arc groove (171) is farther from the center of the driving plate (17), and the other end is closer to the center of the driving plate (17); a locking screw is slidingly provided in each eccentric arc groove (171), and the locking screw is connected to the latch (16); the driver (13) can drive the driving plate (17) to rotate, so that the locking screw can move between the two ends of the eccentric arc groove (171); The latch (16) is in the shape of a horizontal cylinder as a whole, with one end of the latch (16) close to the center of the driving plate (17) being slotted, and the end of the latch (16) away from the center of the driving plate (17) being rounded; the slotted portion of the latch (16) is engaged with the driving plate (17), and the two inner groove surfaces of the latch (16) are in contact with the surface of the driving plate (17); a first through hole (162) is provided at the slotted portion of the latch (16) and at positions corresponding to the upper and lower ends of the locking screw, and the two ends of the locking screw are connected to the first through hole (162); The guide block (14) is vertically arranged, the upper end of the guide block (14) is inserted into the pit (111), a guide hole (141) is opened on the lower side surface of the guide block (14) at a position corresponding to the latch (16), and the round end of the latch (16) is movably inserted into the guide hole (141); The second connecting component (200) includes a tool end housing (21), which is cylindrical, has a cavity inside the tool end housing (21) and an opening at the upper end; a mounting surface connected to the end effector is provided on the bottom surface of the tool end housing (21), and a second section is provided on the outer side of the tool end housing (21), and a tool arm end electrical interface (22) is provided on the second section; a groove (211) is provided in the cavity of the tool end housing (21) at a position corresponding to the guide block (14); when the first connecting component (100) and the second connecting component (200) are correspondingly engaged, the lower end of the guide block (14) is inserted into the groove (211), and a second through hole (212) is provided on the outer side of the groove (211) at a position corresponding to the latch (16); The latch (16) has a first state position and a second state position. In the first state position, the round head end of the latch (16) is retracted in the guide hole (141), so that the first connecting component (100) and the second connecting component (200) can be correspondingly engaged or separated; in the second state position, the latch (16) extends out of the guide hole (141) and is inserted into the second through hole (212) of the tool end housing (21), so that the first connecting component (100) and the second connecting component (200) are locked together; The mechanical arm end electrical interface (12) is connected to a power source, and the tool arm end electrical interface (22) is connected to a power supply end of the end effector. When the first connecting component (100) and the second connecting component (200) are correspondingly engaged, the mechanical arm end electrical interface (12) and the tool arm end electrical interface (22) are fitted together, and the contacts on the mechanical arm end electrical interface (12) and the contacts on the tool arm end electrical interface (22) are in contact and connected.

2. The quick-change device for an end effector of a robotic arm according to claim 1, characterized in that: An external gear is installed on the output shaft of the driver (13), and an internal gear is installed on a hole at the center of the driver adapter (15), and the external gear is meshed with the internal gear.

3. The quick-change device for an end effector of a robotic arm according to claim 1, wherein: The longitudinal section of the guide block (14) is a semicircular surface at the upper portion and a rectangular surface at the lower portion.

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