Connecting device, end effector automatic changing device and method

Abstract

The present application provides a connection device, an end effector automatic changing device and a method. The connection device includes: a first connection device component and a second connection device component; the first connection device component includes a rotary locking ring; the second connection device component includes a locking piece; a first protruding portion is provided on the rotary locking ring; a second protruding portion is provided on the locking piece; the first connection device component and the second connection device component can be rotationally locked through the first protruding portion and the second protruding portion to achieve detachable connection. The connection device provided by the embodiment of the present application can achieve that after connecting the end effector, no extra power is required to maintain the connection state, effectively ensuring the stability of the connection of the end effector. In addition, when using the end effector automatic changing device with this connection device to change the end effector, it is simple and convenient, and no extra controller is required, realizing efficient replacement.

Description

Technical Field

[0001] The present application relates to the technical field of robots, and particularly to a connecting device, an end-effector automatic changing device and a method thereof. Background Art

[0002] Existing pneumatic end-effector quick-change device products of companies such as ATI in the United States, DESTACo in the United States, AGI in the United States, Schunk in Germany, GIMATIC in Italy, Bi-Lu Automation in Japan, and Pilot Robotics in China need to be equipped with special air pumps, which generate a lot of noise during use, and the quick-change device is relatively large in size, making it inconvenient to rotate and move with air pipes, and it is not suitable for use in families and some public open scenarios.

[0003] Existing methods such as those used by Massage Robotics of CapSix Robotics in France to replace end-effectors using electromagnets require the installation of an electromagnet module at the end of the robotic arm, which is costly and has a relatively complex control logic. Moreover, there is a risk of the end-effector falling and injuring people in the event of a sudden power failure of the robot. Its end-effector is hung on the massage bed. Although it can automatically switch between end-effectors, due to the relatively large size of the end-effector support structure and its immobility, it is inconvenient to use. Summary of the Invention

[0004] In view of this, the purpose of the present application is to propose a connecting device, an end-effector automatic changing device and a method thereof.

[0005] Based on the above purpose, the present application provides a connecting device, including:

[0006] A first connecting device component and a second connecting device component;

[0007] The first connecting device component includes a rotary locking ring;

[0008] The second connecting device component includes a locking piece;

[0009] The rotary locking ring is provided with a first protrusion;

[0010] The locking piece is provided with a second protrusion;

[0011] The first connecting device component and the second connecting device component can be rotationally locked through the first protrusion and the second protrusion to achieve detachable connection.

[0012] Based on the same inventive concept, an embodiment of the present application further provides an end-effector automatic changing device, including: a robotic arm, an end-effector, an end-effector support and the connecting device according to any one of the above claims;

[0013] The first connection device assembly is configured to be connected to the robotic arm;

[0014] The second connection device assembly is configured to be connected to the end effector;

[0015] The end effector bracket includes a tool slot and a switch baffle; the tool slot is configured to place the end effector; the switch baffle is configured to cooperate with the first connection device assembly to achieve the disassembly of the end effector.

[0016] Based on the same inventive concept, an embodiment of the present application further provides an end effector automatic replacement method using the end effector automatic replacement device as described in the above claims, characterized by including:

[0017] In response to an installation event, the robotic arm drives the first connection device assembly to cooperate with the second connection device assembly, and rotates and locks the first connection device assembly and the second connection device assembly to achieve the automatic replacement of the end effector;

[0018] In response to a disassembly event, the robotic arm drives the first connection device assembly to cooperate with the switch baffle, and rotates and disassembles the first connection device assembly and the second connection device assembly to achieve the automatic replacement of the end effector.

[0019] As can be seen from the above, for the connection device, end effector automatic replacement device and method provided by the present application, the connection device includes: a first connection device assembly and a second connection device assembly; the first connection device assembly includes a rotary locking ring; the second connection device assembly includes a locking piece; a first protrusion is provided on the rotary locking ring; a second protrusion is provided on the locking piece; the first connection device assembly and the second connection device assembly can be rotationally locked through the first protrusion and the second protrusion to achieve a detachable connection. The end effector automatic replacement device drives the first connection device assembly to cooperate with the second connection device assembly to lock the robotic arm and the end effector, and drives the first connection device assembly to cooperate with the switch baffle provided on the end effector bracket to rotate and disassemble the first connection device assembly and the second connection device assembly, and finally realizes the automatic replacement of the end effector. Description of the Drawings

[0020] In order to more clearly illustrate the technical solutions in the present application or related technologies, the following will briefly introduce the drawings required for use in the embodiments or related technology descriptions. Obviously, the drawings in the following description are only embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0021] Figure 1 Schematic diagram of the connection device according to an embodiment of the present application;

[0022] Figure 2 Schematic diagram of the first connection device assembly according to an embodiment of the present application;

[0023] Figure 3 Schematic diagram of the guide ring according to an embodiment of the present application;

[0024] Figure 4 Schematic diagram of the first end face of the rotary locking ring according to an embodiment of the present application;

[0025] Figure 5 Schematic diagram of the second end face of the rotary locking ring according to an embodiment of the present application;

[0026] Figure 6 Schematic diagram of the trigger switch according to an embodiment of the present application;

[0027] Figure 7 Schematic diagram of the fixed base according to an embodiment of the present application;

[0028] Figure 8 Schematic diagram of the second connection device assembly according to an embodiment of the present application;

[0029] Figure 9 Schematic diagram of the locking of the first connection device assembly and the second connection device assembly according to an embodiment of the present application;

[0030] Figure 10 Schematic cross-sectional view of the locking of the first connection device assembly and the second connection device assembly according to an embodiment of the present application;

[0031] Figure 11 Schematic diagram of the trigger switch disengaging from the second groove according to an embodiment of the present application;

[0032] Figure 12 Schematic diagram of the end effector automatic changing device according to an embodiment of the present application;

[0033] Figure 13 Schematic diagram of the end effector bracket according to an embodiment of the present application;

[0034] Figure 14 Schematic diagram of the end effector being taken out by the robotic arm according to an embodiment of the present application;

[0035] Figure 15 Schematic diagram of the end effector in the disassembly preparation position according to an embodiment of the present application;

[0036] Figure 16 Schematic diagram of the completion of the automatic disassembly of the end effector according to an embodiment of the present application;

[0037] Figure 17 Flowchart of the end effector automatic changing method according to an embodiment of the present application. Detailed implementation manners

[0038] To make the objectives, technical solutions and advantages of the present application clearer and more understandable, the present application will be further described in detail below with reference to specific embodiments and the accompanying drawings.

[0039] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should have the ordinary meanings understood by those with ordinary skills in the field to which the present application belongs. The "first", "second" and similar terms used in the embodiments of the present application do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "including" or "comprising" mean that the elements or objects appearing before this word cover the elements or objects listed after this word and their equivalents, without excluding other elements or objects. Words such as "connected" or "coupled" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Upper", "lower", "left", "right", etc. are only used to represent relative positional relationships, and when the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0040] As described in the background art section, in the prior art, the end effector automatic changing device needs to be equipped with a dedicated air pump, which generates a lot of noise during use, and the device is relatively large in size and inconvenient to move. In addition, the existing end effector automatic changing device needs to install an electromagnet module at the end of the robotic arm to maintain the connection state with the end effector. The cost of using the above end effector automatic changing device is relatively high and the control logic is relatively complex. Moreover, in the event of a sudden power failure of the robot, there is also a risk that the end effector may fall and injure people.

[0041] In view of the above considerations, the embodiments of the present application provide a connecting device, an end-effector automatic changing device and a method. The first connecting device assembly and the second connecting device assembly are rotationally locked through the first convex portion of the first connecting device assembly and the second convex portion of the second connecting device assembly to achieve a mechanically detachable connection between the first connecting device assembly and the second connecting device assembly. The end-effector automatic changing device is connected to the first connecting device assembly through a robotic arm and is connected to the second connecting device assembly through an end effector. Furthermore, the end-effector automatic changing device drives the cooperation between the first connecting device assembly and the second connecting device assembly to lock the robotic arm and the end effector. Further, by driving the cooperation between the first connecting device assembly and a switch baffle provided on the end-effector bracket, the rotational disassembly of the first connecting device assembly and the second connecting device assembly is achieved, thereby establishing a mechanically detachable connection relationship between the robotic arm and the end effector, realizing the detachable connection between the robotic arm and the end effector, and finally realizing the automatic replacement of the end effector. Moreover, the end-effector automatic changing device established a mechanically detachable connection relationship. Therefore, no external force is required to maintain the connection state after connection, and no redundant controller is needed, effectively reducing the occupied volume of the device and lowering the cost. In addition, the above-mentioned end-effector bracket can be installed on the robot body at any angle or at any position in the environment, achieving the portable effect of the end effector.

[0042] Hereinafter, the technical solutions of the embodiments of the present application will be described in detail through specific embodiments.

[0043] Refer to Figure 1 , which is a schematic diagram of the connecting device of the embodiment of the present application.

[0044] The connecting device of the embodiment of the present application is composed of a first connecting device assembly and a second connecting device assembly. Among them, the first connecting device assembly includes a rotary locking ring 1, and the second connecting device assembly includes a locking piece 2. The rotary locking ring 1 is provided with a first groove 101, a first convex portion 102 and a first pit 103, and the locking piece 2 is provided with a first cylindrical protrusion 201, a guiding hole 202, a second convex portion 203 and a second cylindrical protrusion 204.

[0045] The first connecting device assembly and the second connecting device assembly can be rotationally locked through the first convex portion 102 and the second convex portion 203 to achieve a detachable connection. Specifically, in this embodiment, the first convex portion 102 includes three bosses, and the three bosses are evenly distributed on the side wall of the first pit 103. Refer to Figure 1 , and two symmetric inclined surfaces are provided on the boss.

[0046] The second convex portion 203 includes three trapezoidal bosses, and the three trapezoidal bosses are equidistantly distributed on the outer end of the first cylindrical protrusion 201, and an inclined surface is provided on the trapezoidal boss.

[0047] When the end effector 15 is on the tool support, its angles along the axis of the robotic arm 14 and in the direction perpendicular to the axis of the robotic arm 14 are determined. However, when the robotic arm 14 automatically picks up the tool, due to the cumulative error of the internal motor of the robotic arm 14 and the possible error in the algorithm during actual operation, there may be two aspects of deviation when the robotic arm 14 moves to the pick-up ready position: First, the axis of the robotic arm 14 is not coaxial with the axis of the end effector 15, that is, there is a deviation in the direction perpendicular to the axis of the robotic arm 14. Second, the robotic arm 14 may be coaxial with the end effector 15 in terms of the axis, but there is a small rotation angle between the end effector 15 and the robotic arm 14 around the axis of the robotic arm 14, resulting in the misalignment of the second convex part 203 and the gap corresponding to the second convex part, making the robotic arm 14 unable to successfully pick up the end effector 15.

[0048] To solve the problem in the first aspect, the embodiment of the present application provides the inclined surface of the above-mentioned trapezoidal boss. When the axis of the robotic arm 14 is not coaxial with the axis of the end effector 15 and there is a deviation in the direction perpendicular to the axis of the robotic arm, the inclined surface can assist the end effector 15 to perform a certain degree of offset in the above direction following the robotic arm 14, so that the robotic arm 14 can successfully dock with the end effector 15.

[0049] To solve the problem in the second aspect, the embodiment of the present application provides two symmetric inclined surfaces of the above-mentioned boss. When the robotic arm 14 is coaxial with the end effector 15 but there is a certain rotation angle around the axis of the robotic arm, the above two symmetric inclined surfaces can assist the end effector 15 to perform a certain degree of rotation around the axis of the robotic arm, so that the robotic arm 14 can successfully dock with the end effector 15.

[0050] After solving the problems in the above two aspects, it can effectively reduce the requirements for positioning accuracy and sensor accuracy when the robotic arm 14 automatically replaces the end effector 15, and can reduce the control difficulty and overall cost.

[0051] It should be noted that although the number of the above-mentioned bosses and trapezoidal bosses in the embodiment is limited to three, the actual application scope of the present application is not limited to three, and it can be one or multiple. Their positions are not limited to equidistant distribution either. The number and positions of the bosses and trapezoidal bosses can be set according to actual needs and actual dimensions, as long as the bosses and trapezoidal bosses can be locked with each other one by one. In addition, the number of the bosses and trapezoidal bosses can correspond, because the rotation locking between the first convex part 102 and the second convex part 203 is mainly achieved through the one-to-one correspondence and cooperation between the bosses and trapezoidal bosses. Therefore, the number of the bosses and trapezoidal bosses is generally set to be the same. Of course, the number of the bosses and trapezoidal bosses can be set to be different.

[0052] The first pit 103 and the first cylindrical protrusion 201 match each other.

[0053] Reference Figure 2 , which is a schematic diagram of the first connecting device assembly according to an embodiment of the present application.

[0054] As Figure 2 shown, the first connecting device assembly includes: a rotary locking ring 1, a guide ring 3, a trigger switch 4, a second elastic member 5, a rotary limit screw 6, a first elastic member 7, a fixed base 8, a guide ring fixing screw 9, a robotic arm end fixing flange 10, and a connecting flange fixing screw 11.

[0055] The guide ring 3 passes through the rotary locking ring 1 and is connected to the fixed base 8.

[0056] Specifically, referring to Figure 3 , which is a schematic diagram of the guide ring according to an embodiment of the present application.

[0057] As Figure 3 shown, the guide ring 3 is provided with a guide post 301 and a guide point 302. The guide post 301 passes through the rotary locking ring 1 and is then connected to the fixed base 8. The guide post 301 and the fixed base 8 are connected by a guide ring fixing screw 9.

[0058] The guide point 302 provided on the guide ring 3 matches the guide hole 202 provided on the locking piece 2. The positions and numbers of both are in one-to-one correspondence. The purpose of setting the guide point and the guide hole is to perform guiding and positioning during the docking process of the first connecting device assembly and the second connecting device assembly, so that during the locking process after the first cylindrical protrusion 201 enters the first pit 103, the first connecting device assembly can drive the locking piece 2 to rotate, and further enable the first protrusion 102 and the second protrusion 203 to cooperate with each other to achieve the locking effect.

[0059] Reference Figure 4 , which is a schematic diagram of the first end face of the rotary locking ring according to an embodiment of the present application.

[0060] It can be seen from Figure 4 that the rotary locking ring 1 is provided with a first groove 101, a first protrusion 102, a first pit 103, a switch 104 of the rotary locking ring, and a rotary limit hole 105.

[0061] Furthermore, the guide post 301 passes through the first groove 101 of the rotary locking ring 1 and is connected to the fixed base 8 through a guide ring fixing screw 9.

[0062] Reference Figure 5 , which is a schematic diagram of the second end face of the rotary locking ring according to an embodiment of the present application.

[0063] It can be seen fromFigure 5 As can be seen, the rotation locking ring 1 is provided with a first groove 101, a switch 104 of the rotation locking ring, a second groove 106, a circular hole 107, a first end 1011 of the first groove, and a second end 1012 of the first groove.

[0064] Furthermore, the guide post 301 moves between the first end 1011 and the second end 1012 of the first groove in the first groove 101. In this embodiment, the number of the guide posts 301 is set to 3. It should be noted that the number of the above-mentioned guide posts 301 is not limited to 3, and can be 1 or multiple. The number of the guide posts 301 is the same as the number of the first grooves 101.

[0065] The first elastic member 7 is located in the rotation locking ring 1. Specifically, the first elastic member 7 is a spring. The rotation locking ring 1 is provided with a first groove 101, and the first elastic member 7 is located in the first groove 101 of the rotation locking ring 1. In this embodiment, the first elastic member 7 is a spring, and the number of the first grooves 101 is set to three, which is the same as the number of the guide posts 301. Correspondingly, the number of the first elastic members 7 is the same as the number of the first grooves 101.

[0066] The guide post 301 passes through the first groove 101 and contacts the first end 1011 of the first elastic member, and is configured to limit the position of the first end of the first elastic member 7. As described above, the first end of the first elastic member 7 moves between the first end 1011 and the second end 1012 of the first groove in the first groove 101.

[0067] The trigger switch 4 is located between the rotation locking ring 1 and the fixed base 8. Specifically, refer to Figure 6 , which is a schematic diagram of the trigger switch of the embodiment of the present application; refer to Figure 7 , which is a schematic diagram of the fixed base of the embodiment of the present application.

[0068] As Figure 6 shown, the trigger switch 4 is provided with a third protrusion 401. As Figure 7 shown, the fixed base 8 is provided with a third groove 801.

[0069] A second groove 106 is provided on the second end face of the rotary locking ring 1. The second groove 106 matches the third convex part 401, and the depth of the second groove 106 is less than the thickness of the third convex part 401. A third groove 801 is provided on the fixed base 8. The third groove 801 matches the trigger switch 4, and the depth of the third groove 801 is not less than the thickness of the third convex part 401. In addition, a round hole 107 is provided on the rotary locking ring 1. The trigger switch 4 passes through the round hole 107 from the second end face of the rotary locking ring 1, and the round hole 107 matches the trigger switch 4. In this embodiment, the number of the third convex parts 401 is set to two. It should be noted that the number of the third convex parts 401 is not limited to two. The purpose of setting the third convex part 401 is to be able to use it to limit the position of the rotary locking ring 1. Therefore, the number can be one or more, as long as it can play a role in limiting the rotary locking ring 1. The number of the third convex parts 401 can be set according to the actual situation. In addition, the shape of the third convex part 401 can also be set arbitrarily, as long as the shapes of the second groove 106 and the third groove 801 match it.

[0070] The second elastic member 5 is located between the trigger switch 4 and the fixed base 8. In this embodiment, the second elastic member 5 is a spring.

[0071] The rotary limit screw 6 passes through the rotary limit hole 105 provided on the rotary locking ring 1 and is connected to the fixed base 8. The rotary limit screw 6 is used to limit the position of the rotary locking ring 1 after the first elastic member 7 rebounds.

[0072] The first connection device assembly is connected to the robotic arm 14 through the robotic arm end fixing flange 10 and fixed by the connection flange fixing screw 11.

[0073] Reference Figure 8 , is a schematic diagram of the second connection device assembly of the embodiment of the present application.

[0074] As Figure 8 shown, the second connection device assembly includes: a locking piece 2, a fixing screw 12, and a connection flange 13.

[0075] A second cylindrical protrusion 204 is provided on the locking piece 2 and is connected to the fixing screw 12. The position and size of the second cylindrical protrusion 204 match the trigger switch 4. The locking piece 2 is connected to the end effector 15 through the connection flange 13.

[0076] In this embodiment, when the first cylindrical protrusion 201 does not enter the first pit 103, the first connection device assembly is in the first state at this time. Specifically, the guide post 301 is in the first position so that the first elastic member 7 is in a compressed state. The guide post 301 being in the first position means that the guide post 301 is at the second end 1012 of the first groove. At this time, the first elastic member 7 is restricted in position by the guide post 301 and is in a compressed state. At this time, the second elastic member 5 is in a relaxed state. Correspondingly, the third protrusion 401 of the trigger switch 4 is located between the second groove 106 and the third groove 801 at the same time. The trigger switch 4 restricts the rotation of the rotary locking ring 1 through the fixed base 8. Further, the trigger switch 4 restricts the rotation of the rotary locking ring 1 through the second groove 106 and the third groove 801. In this state, the rotary locking ring 1 is locked.

[0077] Reference Figure 9 , is a schematic diagram of the locking of the first connection device assembly and the second connection device assembly according to the embodiment of the present application. Reference Figure 10 , is a schematic cross-sectional view of the locking of the first connection device assembly and the second connection device assembly according to the embodiment of the present application. Reference Figure 11 , is a schematic diagram of the trigger switch disengaging from the second groove according to the embodiment of the present application.

[0078] As Figures 9 to 11 shown, when the first cylindrical protrusion 201 enters the first pit 103, at this time, the guide point 302 and the guide hole 202 are matched. The second cylindrical protrusion 204 provided on the locking piece 2 presses the trigger switch 4 into the third groove 801. The second elastic member 5 is compressed and in a compressed state. At this time, the third protrusion 401 provided on the trigger switch 4 disengages from the second groove 106 and all enters the third groove 801. Correspondingly, the rotary locking ring 1 is unlocked. The first elastic member 7 releases elastic force from the compressed state and drives the rotary locking ring 1 to rotate so that the first protrusion 102 and the second protrusion 203 are matched and locked.

[0079] It can be seen from the above embodiments that the connection device described in the embodiments of the present application includes: a first connection device assembly and a second connection device assembly; the first connection device assembly includes a rotary locking ring; the second connection device assembly includes a locking piece; a first protrusion is provided on the rotary locking ring; a second protrusion is provided on the locking piece; the first connection device assembly and the second connection device assembly can be rotationally locked through the first protrusion and the second protrusion to achieve mechanical detachable connection. After the connection is established, no external force is required to assist in maintaining the connection, and no additional module is required to supply external force, effectively reducing the cost of the device.

[0080] Based on the same inventive concept, an embodiment of the present application further provides an end effector automatic changing device.

[0081] Hereinafter, the technical solutions of the embodiments of the present application will be described in detail through specific embodiments.

[0082] Refer to Figure 12 , which is a schematic diagram of the end effector automatic changing device according to an embodiment of the present application. Refer to Figure 13 , which is a schematic diagram of the end effector bracket according to an embodiment of the present application.

[0083] As Figure 12 and Figure 13 shown, the end effector automatic changing device includes: a robotic arm 14, an end effector 15, an end effector bracket 16, and the connecting device as described above. A tool slot 1601 and a switch baffle 1602 are provided on the end effector bracket 16.

[0084] Specifically, the first connecting device assembly is configured to be connected to the robotic arm 14. Further, the first connecting device assembly is connected to the robotic arm 14 through a robotic arm end fixing flange 10. The second connecting device assembly is configured to be connected to the end effector 15. Further, the second connecting device assembly is connected to the end effector 15 through a connecting flange 13. The end effector 15 is placed on the end effector bracket 16. Specifically, the end effector 15 is placed above the tool slot 1601 provided on the end effector bracket 16.

[0085] It should be noted that the number of tool slots 1601 provided on the end effector bracket 16 is not limited to Figure 13 the four shown, and the corresponding number can be set according to actual needs. The switch baffle 1602 may not be provided on the end effector bracket 16, and the switch 104 of the rotary locking ring can be manually rotated to realize the replacement of the end effector 15. In addition, the end effector bracket 16 can be provided on the robot corresponding to the robotic arm 14, or can be provided in the working environment of the robotic arm 14. The end effector bracket 16 shown in the embodiment of the present application is light and flexible, can be provided at any position, and a variety of end effectors 15 can be provided thereon to achieve the technical effects of the portability of the end effector 15 and the flexible switching of the end effector 15.

[0086] Refer to Figure 14 , which is a schematic diagram of the end effector being taken out by the robotic arm according to an embodiment of the present application.

[0087] As Figure 14 shown, in this embodiment, the robotic arm 14 drives the first connecting device assembly to be connected to the second connecting device assembly, so that the robotic arm 14 and the end effector 15 are mechanically connected through the aforementioned connecting device.

[0088] Refer toFigure 15 , which is a schematic diagram of the preparation position for the disassembly of the end effector in the embodiment of the present application. Refer to Figure 16 , which is a schematic diagram of the completion of the automatic disassembly of the end effector in the embodiment of the present application.

[0089] Figure 15 The schematic diagrams of the preparation positions for the disassembly of the end effector in two directions are shown. Specifically, when it is necessary to disassemble the end effector 15, the robotic arm 14 drives the first connection device assembly to cooperate with the switch baffle 1602, and rotates and disassembles through the first connection device assembly and the second connection device assembly to realize the automatic replacement of the end effector 15.

[0090] Specifically, the switch 104 of the rotary locking ring is driven by the robotic arm 14 to cooperate with the switch baffle 1602. Further, the robotic arm 14 is driven to rotate counterclockwise axially by 45 degrees. Since there is a switch baffle 1602 blocking in front of the switch 104 of the rotary locking ring, the rotation of the rotary locking ring 1 will be blocked, so that the rotary locking ring 1 rotates 45 degrees in the opposite direction relative to the first connection device assembly. The relative position between the trigger switch 4 inside the first connection device assembly and the rotary locking ring 1 also rotates 45 degrees. Further, the third protrusion 401 of the trigger switch 4 enters the second groove 106 and is simultaneously located in the third groove 801. At this time, the three inclined bosses of the rotary locking ring 1 and the three inclined locking bosses are in a disengaged state due to the reverse rotation of 45 degrees. Also, due to the dual effects of the gravity of the end effector 15 and the thrust generated after the second elastic member 5 is released from the compressed state, the rotary locking ring 1 is separated from the locking piece 2. As Figure 16 shown, the end effector 15 falls into the tool slot 1601, and then the robotic arm 14 leaves the range of the end effector bracket 16.

[0091] As can be seen from the above embodiments, the end-effector automatic replacement device described in the embodiments of the present application includes: a robotic arm, an end effector, an end effector bracket, and a connection device as described in any one of claims 1 to 12; the first connection device assembly is configured to be connected to the robotic arm; the second connection device assembly is configured to be connected to the end effector; the end effector bracket includes a tool slot and a switch baffle; the tool slot is configured to place the end effector; the switch baffle is configured to cooperate with the first connection device assembly to achieve the disassembly of the end effector. The above end-effector automatic replacement device is connected to the first connection device assembly through the robotic arm and connected to the second connection device assembly through the end effector. Furthermore, the end-effector automatic replacement device drives the first connection device assembly and the second connection device assembly to cooperate with each other to lock the robotic arm and the end effector. Further, by driving the first connection device assembly and the switch baffle provided on the end effector bracket to cooperate with each other, the rotational disassembly of the first connection device assembly and the second connection device assembly is achieved, thereby establishing a mechanical detachable connection relationship between the robotic arm and the end effector, realizing the detachable connection between the robotic arm and the end effector, and finally realizing the automatic replacement of the end effector. Moreover, the end-effector automatic replacement device established a mechanical detachable connection relationship, so there is no need for external force to maintain the connection state after connection, and there is no need to use redundant controllers, effectively reducing the occupied volume of the device and lowering the cost. In addition, the above end effector bracket can be installed on the robot body at any angle or at any position in the environment, achieving the portable effect of the end effector.

[0092] Based on the same inventive concept, the embodiments of the present application also provide an end-effector automatic replacement method.

[0093] Hereinafter, the technical solutions of the embodiments of the present application will be described in detail through specific embodiments.

[0094] Reference Figure 17 , the end-effector automatic replacement method of the embodiments of the present application includes the following steps:

[0095] Step S1701, in response to an installation event, the robotic arm drives the first connection device assembly to cooperate with the second connection device assembly, and rotates and locks the first connection device assembly and the second connection device assembly to achieve the automatic replacement of the end effector;

[0096] Step S1701, in response to a disassembly event, the robotic arm drives the first connection device assembly to cooperate with the switch baffle, and rotates and disassembles the first connection device assembly and the second connection device assembly to achieve the automatic replacement of the end effector.

[0097] The method of the above embodiments is used to implement the corresponding apparatus in the foregoing embodiments and has the beneficial effects of the corresponding apparatus embodiments, which will not be elaborated here.

[0098] It should be noted that the method of the embodiments of the present application can be executed by a single device, such as a computer or a server. The method of this embodiment can also be applied to a distributed scenario and completed by the cooperation of multiple devices. In this case of a distributed scenario, one of the multiple devices can only execute one or more steps of the method of the embodiments of the present application, and these multiple devices will interact with each other to complete the described method.

[0099] It should be noted that some embodiments of the present application have been described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be executed in a different order than in the above embodiments and still achieve the desired results. Additionally, the processes depicted in the figures do not necessarily require the particular order or sequential order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0100] Those of ordinary skill in the art should understand that: the discussion of any of the above embodiments is only exemplary and is not intended to imply that the scope of the present application (including the claims) is limited to these examples; under the concept of the present application, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations in different aspects of the embodiments of the present application as described above, which are not provided in detail for the sake of brevity.

[0101] In addition, for simplicity of explanation and discussion, and so as not to make the embodiments of the present application difficult to understand, the well-known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the provided drawings. Further, the apparatus may be shown in block diagram form so as not to make the embodiments of the present application difficult to understand, and this also takes into account the fact that the details of the implementation of these block diagram apparatuses are highly dependent on the platform on which the embodiments of the present application are to be implemented (i.e., these details should be fully within the understanding of those skilled in the art). In the case where specific details (such as circuits) are set forth to describe exemplary embodiments of the present application, it will be apparent to those skilled in the art that the present application embodiments can be implemented without these specific details or with variations of these specific details. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0102] Although the present application has been described in connection with specific embodiments thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those of ordinary skill in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may be used with the embodiments discussed.

[0103] Embodiments of the present application are intended to cover all such alternatives, modifications, and variations that fall within the broad scope of the appended claims. Accordingly, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application shall be included within the protection scope of the present application.

Claims

1. A connecting device, characterized in that, Comprising: A first connection device assembly and a second connection device assembly; The first connection device assembly includes a rotary locking ring; The rotary locking ring is provided with a first protruding portion; The first connection device assembly further includes: a fixed base, a first elastic member, a second elastic member, a trigger switch, and a guide ring; the guide ring passes through the rotary locking ring and is connected to the fixed base; the first elastic member is located within the rotary locking ring; the trigger switch is located between the rotary locking ring and the fixed base; the second elastic member is located between the trigger switch and the fixed base; The second connection device assembly includes a locking piece; the locking piece is provided with a second protruding portion; the locking piece is provided with a first cylindrical protrusion; the rotary locking ring is provided with a first pit; the first end face of the guide ring is provided with a guide post; the first cylindrical protrusion is matched with the first pit; in a state where the first cylindrical protrusion does not enter the first pit, the guide post is in a first position such that the first elastic member is in a compressed state; the second elastic member is in a relaxed state; the trigger switch restricts the rotation of the rotary locking ring through the fixed base; The first connection device assembly and the second connection device assembly can be rotationally locked through the first protruding portion and the second protruding portion to achieve detachable connection.

2. The device according to claim 1, characterized in that, The first protruding portion includes at least one convex platform; the second protruding portion includes at least one trapezoidal convex platform; Two symmetrical inclined surfaces are provided on the convex platform; An inclined surface is provided at the short end of the trapezoidal convex platform.

3. The device according to claim 1, characterized in that, The rotary locking ring is provided with a first groove; the first groove is matched with the first elastic member; Wherein, the first elastic member is located within the rotary locking ring, including: The first elastic member is located within the first groove of the rotary locking ring.

4. The device according to claim 3, characterized in that, The second end face of the guide ring is provided with a guide point; the locking piece is provided with a guide hole; The guide point is matched with the guide hole; The guide post passes through the first groove and contacts the first end of the first elastic member, and is configured to limit the position of the first end of the first elastic member.

5. The device according to claim 1, characterized in that, The second end face of the rotary locking ring is provided with a second groove matched with the trigger switch; The fixed base is provided with a third groove matched with the trigger switch; Wherein, the trigger switch restricts the rotation of the rotary locking ring through the fixed base, including: The trigger switch restricts the rotation of the rotary locking ring through the third groove and the second groove.

6. The device according to claim 5, characterized in that, The trigger switch includes a third protruding portion; The depth of the third groove is not less than the height of the third protruding portion; The depth of the second groove is less than the height of the third protruding portion.

7. The device according to claim 5, characterized in that, The locking piece is provided with a second cylindrical protrusion; The position of the second cylindrical protrusion is matched with the position of the trigger switch; In a state where the first cylindrical protrusion enters the first pit, the second cylindrical protrusion presses the trigger switch completely into the third groove, the second elastic member is in a compressed state, and the first elastic member is released from the compressed state, driving the rotary locking ring to rotate so that the first protrusion and the second protrusion are matched and locked.

8. The device according to any one of claims 5 to 7, characterized in that, The rotary locking ring is provided with a first protrusion, including: At least one boss is provided on the side wall of the first pit.

9. The device according to claim 8, characterized in that, The at least one boss is evenly distributed on the side wall of the first pit.

10. The device according to any one of claims 5 to 6, characterized in that, The locking piece is provided with a second protrusion, including: At least one trapezoidal boss is provided on the outer end of the first cylindrical protrusion.

11. The device according to claim 10, characterized in that, The at least one trapezoidal boss is evenly distributed on the outer end of the first cylindrical protrusion.

12. An end effector automatic changing device, characterized in that, Including: A robotic arm, an end effector, an end effector bracket, and a connecting device according to any one of claims 1 to 11; The first connecting device assembly is configured to be connected to the robotic arm; The second connecting device assembly is configured to be connected to the end effector; The end effector bracket includes a tool slot and a switch baffle; the tool slot is configured to place the end effector; the switch baffle is configured to cooperate with the first connecting device assembly to achieve disassembly of the end effector.

13. An end effector automatic changing method using the end effector automatic changing device according to claim 12, characterized in that, Including: In response to an installation event, the robotic arm drives the first connecting device assembly to cooperate with the second connecting device assembly, and rotates and locks the first connecting device assembly and the second connecting device assembly to achieve automatic replacement of the end effector; In response to a disassembly event, the robotic arm drives the first connecting device assembly to cooperate with the switch baffle, and rotates and disassembles the first connecting device assembly and the second connecting device assembly to achieve automatic replacement of the end effector.

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