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

Abstract

The present invention discloses a quick-change device at the end of a robotic arm to solve the problems of existing quick-change devices being complicated and redundant in structure, insufficient in strength for heavy-loaded robotic arms, and having low safety. Specifically, it includes a robotic arm push rod, a robotic arm disc, a tool disc, and a gripper push rod; the upper end of the robotic arm push rod is connected to an external drive mechanism, and the lower end extends into the robotic arm disc and is slidably connected to the robotic arm disc; the tool disc is arranged below the robotic arm disc and is detachably connected to the robotic arm disc; the upper end of the gripper push rod passes through the tool disc and is detachably connected to the robotic arm push rod; the lower end of the gripper push rod is used to connect to an external gripper; the central axes of the robotic arm push rod, the robotic arm disc, the tool disc, and the gripper push rod are all located on the same straight line. The quick-change device has a simple structure and is easy to install and disassemble. At the same time, all of it is mechanically connected. Its strength is suitable for heavy-loaded robotic arms, which improves the safety of the robotic arm and gripper.

Description

Technical Field

[0001] The present invention relates to a hydraulic mechanical arm, in particular to a quick-changing device at the end of the mechanical arm. Background Art

[0002] The development of modern industrial automation technology has led to a growing demand for quick-change devices for robot end-of-line tools, resulting in a booming development of these devices. The robot and tool sides of a quick-change device are typically mounted on the robot and end-of-line tool, respectively. For fully hydraulic robotic arms, existing quick-change devices for the front-end grippers of robots present the following three major issues.

[0003] First, most current quick-change devices generally use a cylinder structure to achieve tool switching and locking, but this requires additional air circuit design for a fully hydraulic robotic arm, which is structurally redundant.

[0004] Second, current quick-change devices can also connect different media, such as gas, electrical signals, optical signals, and liquids, from the robot arm to the gripper. This method can also be used to transfer oil to the gripper cylinder. However, this requires the quick-change device to be placed behind the cylinder. For heavy-duty robot arms, this requires an extremely high strength, which is difficult to achieve with existing quick-change devices.

[0005] Third, there is a possibility of accidental gas interruption during the operation of the quick-change device with a cylinder, and a more reliable and simple anti-fall-off structure is needed to ensure the safety of automatic operation. Summary of the Invention

[0006] The purpose of the present invention is to provide a quick-change device at the end of a robotic arm to solve the technical problems of the existing quick-change device having a complicated and redundant structure, insufficient strength for heavy-loaded robotic arms, and low safety.

[0007] In order to achieve the above-mentioned object, the present invention provides a quick-change device at the end of a robotic arm, which is special in that it includes a robotic arm push rod, a robotic arm disk, a tool disk and a gripper push rod;

[0008] The upper end of the robot arm push rod is connected to the external driving mechanism, and the lower end extends into the robot arm disk and is slidably connected to the robot arm disk;

[0009] The tool tray is arranged below the robot arm tray and is detachably connected to the robot arm tray;

[0010] The upper end of the gripper push rod passes through the tool tray and is detachably connected to the robot arm push rod; the lower end of the gripper push rod is used to connect to an external gripper;

[0011] The central axes of the robotic arm push rod, the robotic arm disc, the tool disc and the gripper push rod are all located on the same straight line.

[0012] Furthermore, the robotic arm disk includes a cylindrical shell, an end cover, a locking push rod, an operating ring, and a spring;

[0013] The lower end of the robotic arm push rod is provided with a cylindrical groove along its axial direction, and a plurality of first tapered holes are uniformly provided on the groove wall along the circumference; the large openings of the first tapered holes face outward, and small steel balls are provided in the holes; the small openings of the first tapered holes have a diameter smaller than that of the small steel balls, and the large openings have a diameter larger than that of the small steel balls;

[0014] The locking push rod is coaxially sleeved outside the robot arm push rod and has a clearance fit with the robot arm push rod; a first limiting convex ring is provided at the middle of the outer wall of the locking push rod; the outer diameter of the lower end of the locking push rod gradually decreases to its lower end surface, and the inner diameter gradually increases to its lower end surface, and the enlarged inner diameter portion contacts the small steel ball;

[0015] The end cap is coaxially and slidably mounted on the outside of the locking push rod, and a first mounting protrusion is provided on the outer wall of the upper end thereof, and an annular notch is provided on the upper end surface thereof near the locking push rod; the first limiting protrusion is disposed in the annular notch; a plurality of second tapered holes are uniformly provided on the side wall of the lower end of the end cap around its circumference; the small openings of the second tapered holes are outward, and a large steel ball is disposed in the hole, the small opening diameter of the second tapered hole being smaller than the diameter of the large steel ball, and the large opening diameter of the second tapered hole being larger than the diameter of the large steel ball; the large steel ball contacts the gradually decreasing outer diameter portion of the lower end of the locking push rod;

[0016] The operating ring is coaxially sleeved on the locking push rod and is located at the upper end of the first limiting convex ring and is fixedly connected to the first limiting convex ring; at least one shifting rod is provided on the outer ring wall;

[0017] The housing is coaxially mounted outside the locking push rod and the robot arm push rod, and is located at the upper end of the first mounting protrusion and is fixedly connected to the first mounting protrusion; a second limiting protrusion is provided on the inner wall of the housing; the inner wall of the second limiting protrusion contacts the outer wall of the upper end of the locking push rod, and a mounting cavity is formed between the lower end surface of the second limiting protrusion, the inner wall of the housing, the upper end surface of the end cover, and the outer wall of the locking push rod;

[0018] The spring is coaxially sleeved on the outside of the locking push rod and is located in the installation cavity, the lower end of the spring abuts against the upper end surface of the operating ring, and the upper end of the spring abuts against the lower end surface of the second limiting convex ring;

[0019] The housing is further provided with operating holes, the number of which is equal to and corresponding to the number of the shifting rods; the shifting rods extend out of the corresponding operating holes for operation; the axial length of the operating holes in the housing is less than the distance between the first limiting protrusion on the locking push rod and the uppermost end of the reduced outer diameter portion of the locking push rod;

[0020] The tool tray is detachably connected to the end cover.

[0021] Further, the tool disc includes an inner ring and an outer ring;

[0022] The inner ring is coaxially sleeved on the outside of the end cover and is located at the lower end of the first mounting protrusion ring, and a plurality of limiting pins are provided between the inner ring and the first mounting protrusion ring; a third limiting protrusion ring is provided on the inner wall of the inner ring near its upper end; the lower end surface of the third limiting protrusion ring is a conical surface with the large end facing downward, and the conical surface corresponds to the large steel ball;

[0023] The outer ring is coaxially sleeved on the outside of the inner ring and is located at the lower end of the first mounting protrusion ring, with its upper end surface in contact with the lower end surface of the first mounting protrusion ring, and a second mounting protrusion ring is provided on its inner wall; the inner ring and the end cover are both located above the second mounting protrusion ring; the inner ring is fixedly connected to the second mounting protrusion ring;

[0024] The upper end of the gripper push rod extends into the groove of the lower end of the mechanical arm push rod, and an arc-shaped groove corresponding to the small steel ball is provided on the outer wall of the gripper push rod around its circumference.

[0025] Furthermore, two steps are provided on the outer wall of the lower end of the locking push rod, so that the outer diameter of the lower end of the locking push rod gradually decreases; each step surface of the two steps is a conical surface with the larger end facing upward;

[0026] A step is provided on the inner wall of the lower end of the locking push rod, so that the inner diameter of the lower end of the locking push rod gradually expands; the step surface in the middle of the first step is a conical surface with the large end facing downward.

[0027] Furthermore, two shifting rods are provided on the outer wall of the operating ring, and the two shifting rods are provided along the diameter of the operating ring; two operating holes are also provided on the shell; and the two shifting rods extend out of the two operating holes respectively.

[0028] Furthermore, the outer diameter of the first mounting protruding ring, the outer diameter of the housing and the outer diameter of the outer ring are all equal.

[0029] Furthermore, two limiting pins are provided between the inner ring and the first mounting protruding ring along the diameter thereof;

[0030] One of the limiting pins includes a first cylindrical section and a second cylindrical section coaxially connected;

[0031] At least one cutting surface is provided on the side wall of the second cylindrical segment.

[0032] Furthermore, a flange is provided at the upper end of the second mounting protruding ring, and the flange and the second mounting protruding ring are integrated;

[0033] The inner ring is flange-connected to the second mounting convex ring.

[0034] Furthermore, a plurality of bolts are evenly arranged around the circumference of the second limiting protrusion ring for connection with an external robotic arm.

[0035] Beneficial effects of the present invention:

[0036] 1. The present invention is provided with a robot arm disk that can be connected to the robot arm and a tool disk that can be connected to the gripper; the robot arm disk and the tool disk are detachably connected; the structure is simple and easy to install and disassemble, and all of them are mechanical connections, and their strength is suitable for heavy-loaded robot arms, thereby improving the safety of the robot arm and the gripper.

[0037] 2. The quick-change device provided by the present invention does not utilize other energy supply methods such as pneumatic or electric power, but relies on spring force and mechanical self-locking to achieve the locking of the tool tray. Furthermore, the device does not require hydraulic power to open and close the gripper, and only utilizes mechanical structure to achieve force transmission.

[0038] 3. The robotic arm disk of the present invention is provided with a cylindrical shell, an end cover, a locking push rod, a spring and an operating ring. The operating ring and the locking push rod can be lifted up together by the lever on the operating ring, and the spring is compressed, so that the large steel ball and the small steel ball slide toward the direction close to the locking push rod respectively, thereby realizing the disassembly between the robotic arm disk and the tool disk and the disassembly between the robotic arm push rod and the hand gripper push rod; when the lever is released, the spring pushes the operating ring and the locking push rod downward together, and the large steel ball and the small steel ball slide toward the direction away from the locking push rod respectively, and the large steel ball is engaged with the third limiting convex ring on the inner ring, and the small steel ball is engaged with the arc groove on the hand gripper push rod, thereby realizing the installation between the robotic arm disk and the tool disk and the installation between the robotic arm push rod and the hand gripper push rod, and effectively preventing the tool disk from falling off; the structure is simple, reasonable and ingenious, and the mechanical connection increases the safety, reliability and mechanical strength of the entire device.

[0039] 4. The present invention sets two steps and one step at the lower end of the locking push rod; the step surfaces of the two steps and the one step are set to be conical surfaces, so that the sliding of the large steel ball and the small steel ball is smoother, and the steps also give the large steel ball and the small steel ball a staggered feeling.

[0040] 5. The present invention provides two levers on the operating ring along its diameter, which improves the convenience of installation and operation.

[0041] 6. In the present invention, the outer diameter of the first mounting protrusion ring, the outer diameter of the housing, and the outer diameter of the outer ring are all equal, making the appearance of the entire robot arm end quick change device more neat and beautiful.

[0042] 7. The present invention sets two pins between the end cover and the inner ring, and a cutting surface is set on one of the pins to prevent the two limit pins from being over-positioned, resulting in jamming between the end cover and the inner ring. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 1 is a cross-sectional view of an embodiment of a quick-change device at the end of a robotic arm according to the present invention;

[0044] Figure 2 It is a partial cross-sectional view of an embodiment of a quick-change device at the end of a robotic arm according to the present invention;

[0045] Figure 3 This is a bottom view of a quick-change device at the end of a robotic arm according to the present invention;

[0046] Figure 4 This is a disassembled diagram of a quick-change device at the end of a robotic arm according to the present invention;

[0047] Figure 5 Schematic diagram of the structure of the robot arm disc and part of the robot arm push rod in an embodiment of the present invention;

[0048] Figure 6 Schematic diagram of the structure of the tool tray and the gripper push rod in an embodiment of the present invention;

[0049] Figure 7 is a schematic structural diagram of the outer ring in an embodiment of the present invention;

[0050] Figure 8 2 is a schematic structural diagram of a limit pin in an embodiment of the present invention.

[0051] Figure Number:

[0052] 1-robot arm push rod, 11-cylindrical groove, 12-first tapered hole, 13-small steel ball;

[0053] 2-hand claw push rod, 21-arc groove;

[0054] 3-housing, 31-second limiting protruding ring, 311-bolt, 32-operating hole;

[0055] 4-end cover, 41-first mounting protruding ring, 42-annular notch, 43-second tapered hole, 44-large steel ball, 45-limiting pin, 451-first cylindrical segment, 452-second cylindrical segment, 453-cutting surface;

[0056] 5-locking push rod, 51-first limiting convex ring, 52-two steps, 53-one step;

[0057] 6-spring, 61-mounting cavity;

[0058] 7-operating ring, 71-lever;

[0059] 8-inner ring, 81-third limiting convex ring;

[0060] 9-outer ring, 91-second mounting protruding ring. DETAILED DESCRIPTION

[0061] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0062] The embodiment of the present invention provides a quick change device at the end of a robotic arm, Figure 1 and Figure 2 As shown, the quick-change device includes a robot arm push rod 1, a robot arm disk, a tool disk and a gripper push rod 2; the central axes of the robot arm push rod 1, the robot arm disk, the tool disk and the gripper push rod 2 are all located on the same straight line.

[0063] The upper end of the manipulator push rod 1 is connected to an external drive mechanism, namely the piston rod of the hydraulic manipulator gripper drive cylinder, while the lower end extends into the manipulator arm disc and is slidably connected to the manipulator arm disc. The manipulator push rod 1 is limited by the manipulator gripper opening and closing cylinder, that is, its sliding range is based on the stroke of the manipulator gripper opening and closing cylinder, and the lower limit of movement is not lower than the lower end face of the locking push rod 5. The lower end of the manipulator push rod 1 is provided with a cylindrical groove 11 along its axial direction, and a plurality of first tapered holes 12 are uniformly arranged along the circumference of the groove wall. The large opening of the first tapered hole 12 faces outward, and a small steel ball 13 is disposed within the hole. The small opening diameter of the first tapered hole 12 is smaller than the diameter of the small steel ball 13, while the large opening diameter is larger than the diameter of the small steel ball 13, thereby preventing the small steel ball 13 from falling out.

[0064] The robotic arm disk includes a cylindrical shell 3, an end cover 4, a locking push rod 5, an operating ring 7, and a spring 6; the locking push rod 5 is coaxially mounted on the outside of the robotic arm push rod 1 and is clearance-matched with the robotic arm push rod 1; a first limiting convex ring 51 is provided in the middle of the outer wall of the locking push rod 5; the outer diameter of the lower end of the locking push rod 5 gradually decreases to its lower end surface, and the inner diameter gradually expands until its lower end surface, and the reduced inner diameter part contacts the small steel ball 13; specifically, two steps 52 are provided on the outer wall of the lower end of the locking push rod 5, so that the outer diameter of the lower end of the locking push rod 5 gradually decreases; each step surface in the two steps 52 is a conical surface with the small end downward; a first step 53 is provided on the inner wall of the lower end of the locking push rod 5, so that the inner diameter of the lower end of the locking push rod 5 gradually expands; the step surface in the middle of the first step 53 is a conical surface with the large end downward. The end cover 4 is coaxially and slidably mounted on the outside of the locking push rod 5, and a first mounting convex ring 41 is provided on the outer wall of its upper end, and an annular notch 42 is provided on its upper end surface near the locking push rod 5; the first limiting convex ring 51 is arranged in the annular notch 42; a plurality of second tapered holes 43 are evenly arranged around its circumference on the side wall of the lower end of the end cover 4; the small mouth of the second tapered hole 43 faces outward, and a large steel ball 44 is arranged in the hole, and the small mouth diameter of the second tapered hole 43 is smaller than the diameter of the large steel ball 44, and the large mouth diameter is larger than the diameter of the large steel ball 44 to prevent the large steel ball 44 from falling out; the large steel ball 44 contacts the two steps at the lower end of the locking push rod 5; the operating ring 7 is coaxially mounted on the outside of the locking push rod 5, and is located at the upper end of the first limiting convex ring 51, and is fixedly connected to the first limiting convex ring 51; combined with Figure 3 、 Figure 4As shown, two shift rods 71 ​​are provided on the outer ring wall of the operating ring 7; and the two shift rods 71 ​​are provided along the diameter of the operating ring 7; of course, the number of the shift rods 71 ​​can be more or less, and this embodiment does not limit it; the shell 3 is coaxially sleeved on the outside of the locking push rod 5 and the mechanical arm push rod 1, and is located at the upper end of the first mounting protrusion and fixedly connected to the first mounting protrusion 41; a second limiting protrusion 31 is provided on the inner wall of the shell 3, and a plurality of bolts 311 are evenly arranged on the second limiting protrusion 31 around its circumference for connecting with the external mechanical arm; the inner wall of the second limiting protrusion 31 contacts the outer wall of the upper end of the locking push rod 5, and a mounting cavity 61 is formed between the lower end face of the second limiting protrusion 31, the inner wall of the shell 3, the upper end face of the end cover 4 and the outer wall of the locking push rod 5; the spring 6 is coaxially sleeved on the outside of the locking push rod 5, and is located in the mounting cavity 61, and the spring 6 The lower end abuts against the upper end surface of the operating ring 7, and the upper end of the spring 6 abuts against the lower end surface of the second limiting convex ring 31; two operating holes 32 are also provided on the shell 3, and the two operating holes 32 are the same in number and correspond one to one with the two driving rods 71; each driving rod 71 extends out of the corresponding operating hole 32 for operation; the axial length of the operating hole 32 along the shell is less than the distance between the first limiting convex ring 51 on the locking push rod 5 and the uppermost end of the outer diameter reduction part of the locking push rod 5; to prevent the locking push rod 5 from falling out from between the end cover 4 and the robotic arm push rod 1 when the driving rod is lifted upward; the first limiting convex ring 51 interacts with the annular notch 42 to limit the downward range of the locking push rod 5; the two steps and the first step can make the large steel ball 44 and the small steel ball 13 slide out smoothly from the second tapered hole 43 and the first tapered hole 12 respectively when the locking push rod 5 goes up.

[0065] Combine Figures 5 to 8As shown, the tool disk is arranged below the robot arm disk and is detachably connected to the robot arm disk and is positioned by a limit pin 45; the tool disk includes an inner ring 8 and an outer ring 9; the inner ring 8 is coaxially sleeved on the outside of the end cover 4 and is located at the lower end of the first mounting protrusion ring 41, and two limit pins 45 are arranged between the inner ring 8 and the first mounting protrusion ring 41, one of the limit pins 45 includes a first cylindrical section 451 and a second cylindrical section 452 coaxially connected; at least one cutting surface 453 is provided on the side wall of the second cylindrical section 452 to avoid excessive limitation; it can be understood that the limit pin 45 without the cutting surface 453 limits four degrees of freedom of the space, and the other limit pin 45 limits one degree of freedom of the space, so that the robot arm disk still has one axial degree of freedom after positioning, and this degree of freedom is locked by the subsequent large and small steel ball structures. A third retaining protrusion 81 is provided on the inner wall of the inner ring 8, near its upper end. The lower end surface of the third retaining protrusion 81 is a conical surface with the larger end facing upward, which corresponds to the large steel ball 44. That is, when the first retaining protrusion 51 contacts the annular notch 42 and the locking push rod 5 descends into position, the large steel ball 44 abuts the lower end surface of the third retaining protrusion 81, locking the inner ring 8 and securing the tool tray to the arm tray. The outer ring 9 is coaxially mounted on the outer ring 8 and located below the first mounting protrusion 41. Its upper end surface contacts the lower end surface of the first mounting protrusion 41. A second mounting protrusion 91 is provided on its inner wall. The lower end surface of the inner ring 8 and the lower end surface of the end cap 4 both contact the upper end surface of the second mounting protrusion 91. The inner ring 8 and the second mounting protrusion 91 are flange-connected, and the flange and the second mounting protrusion 91 are integrated, simplifying the structure and increasing its strength. The outer diameters of the first mounting protruding ring 41 , the housing 3 , and the outer ring 9 are all equal, making the appearance and structure of the entire device more beautiful and neat.

[0066] The upper end of the gripper push rod 2 passes through the tool tray and is detachably connected to the robot arm push rod 1; the lower end of the gripper push rod 2 is used to connect the external gripper opening and closing slider; specifically, the upper end of the gripper push rod 2 extends into the groove 11 at the lower end of the robot arm push rod 1, and the outer wall of the gripper push rod 2 is provided with an arc-shaped groove 21 corresponding to the small steel ball 13 around its circumference. That is to say, when the first limiting protrusion 51 contacts the annular notch 42, when the locking push rod 5 descends into place, the small steel ball 13 will enter the arc-shaped groove 21 under the squeezing of the locking push rod 5, thereby clamping the gripper push rod 2 to the lower end of the robot arm push rod 1, thereby realizing the connection between the gripper push rod 2 and the robot arm push rod 1.

[0067] When the hand claw tool needs to be replaced, first push the lever 71 from the bottom of the operating hole 32 to the top, and the push rod 71 is limited by the operating hole 32. At this time, the spring 6 is compressed by the operating ring 7, and the locking push rod 5 moves up with the operating ring 7. The large steel ball 44 sticks to the two steps on the outer wall of the lower end of the locking push rod 5 and comes out of the second tapered hole 43. The large steel ball 44 no longer sticks to the third limiting convex ring 81 on the inner ring 8 above the large steel ball 44, that is, the large steel ball 44 releases the inner ring 8; at the same time, the small steel ball 13 sticks to the first step on the inner wall of the lower end of the locking push rod 5 and comes out from the first tapered hole 12 and the arc-shaped groove 21 on the hand claw push rod 2, releasing the hand claw push rod 2; in this way, the robot arm disk and the tool disk are smoothly removed, and the connection between the robot arm push rod 1 and the hand claw push rod 2 is also smoothly removed.

[0068] When installing a new hand claw tool, push the lever 71 from the bottom of the operating hole 32 to the top, and then push the tool disk and the hand claw push rod 2 from the bottom of the mechanical arm disk. When pushing in, align the two limit pins 45. The limit pin 45 is provided with a conical surface to play a guiding role. Then release the lever 71, and the operating ring 7 and the locking push rod 5 move downward under the action of the elastic force of the spring 6. The large steel ball 44 slides toward the small end of the second tapered hole 43, and the inner ring 8 is fixed by the large steel ball 44 and the third limit convex ring 81 on the inner ring 8; at the same time, the small steel ball 13 slides toward the small end of the first tapered hole 12, and enters the arc groove 21 on the hand claw push rod 2 to fix the hand claw push rod 2; thereby realizing the installation of the hand claw push rod 2 and the mechanical arm push rod 1, and then realizing the force transmission effect between the hand claw push rod 2 and the mechanical arm push rod 1.

[0069] The quick-change device at the end of the robotic arm is easy to operate, safe and reliable, and greatly improves the efficiency of disassembly and assembly.

[0070] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present invention shall be covered by the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A quick change device at the end of a robotic arm, characterized by: It includes a robot arm push rod (1), a robot arm disk, a tool disk and a gripper push rod (2); The upper end of the mechanical arm push rod (1) is connected to the external driving mechanism, and the lower end extends into the mechanical arm disk and is slidably connected to the mechanical arm disk; The tool tray is arranged below the robot arm tray and is detachably connected to the robot arm tray; The upper end of the gripper push rod (2) passes through the tool tray and is detachably connected to the mechanical arm push rod (1); the lower end of the gripper push rod (2) is used to connect to an external gripper; The central axes of the manipulator push rod (1), the manipulator disk, the tool disk and the gripper push rod (2) are all located on the same straight line; The mechanical arm disk comprises a cylindrical shell (3), an end cover (4), a locking push rod (5), an operating ring (7), and a spring (6); The lower end of the robotic arm push rod (1) is provided with a cylindrical groove (11) along its axial direction, and a plurality of first tapered holes (12) are evenly arranged on the groove wall along the circumference; the large opening of the first tapered hole (12) faces outward, and a small steel ball (13) is arranged in the hole; the small opening diameter of the first tapered hole (12) is smaller than the diameter of the small steel ball (13), and the large opening diameter is larger than the diameter of the small steel ball (13); The locking push rod (5) is coaxially sleeved outside the mechanical arm push rod (1) and is clearance-matched with the mechanical arm push rod (1); a first limiting convex ring (51) is provided in the middle of the outer wall of the locking push rod (5); the outer diameter of the lower end of the locking push rod (5) gradually decreases to its lower end surface, and the inner diameter gradually increases to its lower end surface, and the enlarged inner diameter portion contacts the small steel ball (13); The end cover (4) is coaxially and slidably mounted on the outside of the locking push rod (5), and a first mounting protrusion (41) is provided on the outer wall of the upper end thereof, and an annular notch (42) is provided on the upper end surface thereof near the locking push rod (5); the first limiting protrusion (51) is provided in the annular notch (42); a plurality of second tapered holes (43) are uniformly provided on the side wall of the lower end of the end cover (4) around the circumference thereof; the small opening of the second tapered hole (43) faces outward, and a large steel ball (44) is provided in the hole; the small opening diameter of the second tapered hole (43) is smaller than the diameter of the large steel ball (44), and the large opening diameter is larger than the diameter of the large steel ball (44); the large steel ball (44) contacts the gradually decreasing outer diameter portion of the lower end of the locking push rod (5); The operating ring (7) is coaxially sleeved on the outside of the locking push rod (5), and is located at the upper end of the first limiting convex ring (51), and is fixedly connected to the first limiting convex ring (51); At least one shifting rod (71) is provided on the outer ring wall; The housing (3) is coaxially mounted outside the locking push rod (5) and the mechanical arm push rod (1), and is located at the upper end of the first mounting protrusion ring and is fixedly connected to the first mounting protrusion ring (41); a second limiting protrusion ring (31) is provided on the inner wall of the housing (3); the inner wall of the second limiting protrusion ring (31) contacts the outer wall of the upper end of the locking push rod (5), and a mounting cavity (61) is formed between the lower end surface of the second limiting protrusion ring (31), the inner wall of the housing (3), the upper end surface of the end cover (4), and the outer wall of the locking push rod (5); The spring (6) is coaxially sleeved on the outside of the locking push rod (5) and is located in the installation cavity (61), the lower end of the spring (6) abuts against the upper end surface of the operating ring (7), and the upper end of the spring (6) abuts against the lower end surface of the second limiting convex ring (31); The housing (3) is further provided with operating holes (32), the number of the operating holes (32) being the same as the number of the shifting rods (71) and corresponding to each other; the shifting rods (71) extend out of the corresponding operating holes (32) for operation; the length of the operating holes (32) along the axial direction of the housing is less than the distance between the first limiting protruding ring (51) on the locking push rod (5) and the uppermost end of the outer diameter reduction portion of the locking push rod (5); The tool tray is detachably connected to the end cover (4).

2. The quick-change device at the end of the robotic arm according to claim 1, characterized in that: The tool disc comprises an inner ring (8) and an outer ring (9); The inner ring (8) is coaxially sleeved on the outside of the end cover (4) and is located at the lower end of the first mounting convex ring (41), and a plurality of limiting pins (45) are provided between the inner ring (8) and the first mounting convex ring (41); a third limiting convex ring (81) is provided on the inner wall of the inner ring (8) near its upper end; the lower end surface of the third limiting convex ring (81) is a conical surface with the large end facing downward, and the conical surface corresponds to the large steel ball (44); The outer ring (9) is coaxially sleeved on the outside of the inner ring (8) and is located at the lower end of the first mounting convex ring (41), with its upper end surface in contact with the lower end surface of the first mounting convex ring (41), and a second mounting convex ring (91) is provided on its inner wall; the inner ring (8) and the end cover (4) are both located above the second mounting convex ring (91); the inner ring (8) and the second mounting convex ring (91) are fixedly connected; The upper end of the gripper push rod (2) extends into the cylindrical groove (11) at the lower end of the robotic arm push rod (1), and an arc-shaped groove (21) corresponding to the small steel ball (13) is provided on the outer wall of the gripper push rod (2) around its circumference.

3. The quick-change device at the end of the robotic arm according to claim 2, characterized in that: Two steps (52) are provided on the outer wall of the lower end of the locking push rod (5), so that the outer diameter of the lower end of the locking push rod (5) gradually decreases; each step surface of the two steps (52) is a conical surface with the larger end facing upward; A step (53) is provided on the inner wall of the lower end of the locking push rod (5), so that the inner diameter of the lower end of the locking push rod (5) gradually expands; the step surface in the middle of the step (53) is a conical surface with the large end facing downward.

4. The quick-change device at the end of the robotic arm according to claim 3, characterized in that: Two shifting rods (71) are provided on the outer wall of the operating ring (7), and the two shifting rods (71) are arranged along the diameter of the operating ring (7); two operating holes (32) are also provided on the housing (3); and the two shifting rods (71) extend out of the two operating holes (32) respectively.

5. The quick change device at the end of the robotic arm according to claim 2, characterized in that: The outer diameter of the first mounting protruding ring (41), the outer diameter of the housing (3), and the outer diameter of the outer ring (9) are all equal.

6. The quick change device at the end of the robot arm according to claim 5, characterized in that: Two limiting pins (45) are provided between the inner ring (8) and the first mounting protruding ring (41) along their diameters; One of the limiting pins (45) includes a first cylindrical section (451) and a second cylindrical section (452) that are coaxially connected; At least one cutting surface (453) is provided on the side wall of the second cylindrical section (452).

7. The quick change device at the end of the robot arm according to claim 6, characterized in that: A flange is provided at the upper end of the second mounting protruding ring (91), and the flange and the second mounting protruding ring (91) are integrally arranged; The inner ring (8) is flange-connected to the second mounting convex ring (91).

8. The quick-change device at the end of the robotic arm according to claim 7, characterized in that: The second limiting protruding ring (31) is evenly provided with a plurality of bolts (311) around its circumference for connection with an external robotic arm.

Images