Mechanical arm end tool quick change mechanism

Abstract

This invention discloses a quick-change mechanism for end-effector tools of a robotic arm, comprising: a robotic arm connector, mounted on the end of the robotic arm for assembling tools; a tool magazine, containing a collection of various tools; and a tool end connector, disposed on the tool magazine for connecting to the robotic arm connector. The tool end connector engages with the robotic arm connector via rotation of the robotic arm end, and an anti-torsion connection structure is provided between the tool end connector and the robotic arm connector. By screwing the tool end connector into the robotic arm connector and utilizing the anti-torsion connection structure to prevent excessive torque from causing tool detachment, installation is precise and secure, and disassembly is convenient and quick, thereby effectively increasing the working stability of the end-effector tools.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial robots, in particular to a mechanical arm end tool quick change mechanism. BACKGROUND

[0002] In order to improve the efficiency of logistics transportation, mobile robots already have the form of multi-layer temporary storage of goods, but the form of taking and placing goods is still mainly one taking and one placing. In order to improve the efficiency of transporting larger goods, the cooperation of mobile robots and goods transfer devices can achieve the purpose of taking and placing goods on multiple temporary storage layers of mobile robots at the same time. However, some existing goods transfer devices (multi-comb tooth differential lifting transfer device, hook pulling transfer device, side equidistant lifting transfer device) can only be docked with mobile robots on one side, and have a series of reasons such as complex structure, low goods handling efficiency, low space utilization rate, and high cost.

[0003] For example, application No. CN202211158529.7 discloses a mechanical arm end effector quick change device, which is arranged between a mechanical arm and an end effector. The device includes a first connecting component connected with a mechanical arm flange plate, and a plurality of second connecting components connected with different end effectors. The first connecting component and the second connecting component are locked or unlocked to separate, so that the end effector on the mechanical arm can be replaced. The first connecting component includes a mechanical arm end shell, and the top surface of the mechanical arm end shell is provided with an assembly surface assembled with the mechanical arm flange plate. The outer side of the mechanical arm end shell is provided with a mechanical arm end electrical interface. The second connecting component includes a tool end shell, and the bottom surface of the tool end shell is provided with a mounting surface connected with the end effector. The outer side of the tool end shell is provided with a tool arm end electrical interface.

[0004] The above-mentioned scheme solves the problem that the existing quick change device using high-pressure gas as a power source is not convenient to use in the scene of AGV combined with a mechanical arm. However, in the scheme, the first connecting component and the second connecting component are connected by a locking mechanism. During the operation of the mechanical arm, the tool may be separated from the mechanical arm due to excessive torque, which is a common problem in the existing quick change mechanism. SUMMARY

[0005] In view of the problem that the mechanical arm tool quick change mechanism in the background art may be separated due to excessive torque, the present application provides a mechanical arm end tool quick change mechanism. The tool end connector is screwed with the mechanical arm connector, and the anti-torsion connection structure is used to prevent the tool from being separated due to excessive torque. The installation is accurate and firm, and the disassembly is convenient and fast, thereby effectively increasing the working stability of the mechanical arm end tool.

[0006] In order to achieve the above-mentioned purpose, the present application adopts the following technical scheme:

[0007] A quick-change mechanism of a mechanical arm end tool, comprising: a mechanical arm docking head, installed at the end of a mechanical arm for assembling a tool; a tool library, provided with a collection of several tools; a tool end docking head, provided on the tool library for connecting the mechanical arm docking head; wherein the tool end docking head is engaged with the mechanical arm docking head through rotation of the end of the mechanical arm, and an anti-torque connection structure is provided between the tool end docking head and the mechanical arm docking head. The mechanical arm is connected with the tool in the tool library through the mechanical arm docking head, and the tool end docking head matching the mechanical arm docking head is provided on the tool library, and the engagement can be completed through rotation, and the anti-torque connection structure can maintain the anti-torque capacity between the two components to prevent disengagement during operation of the mechanical arm, and the installation is quick.

[0008] Further, the anti-torque connection structure comprises a plurality of positioning pins provided at the bottom end of the mechanical arm docking head, and further comprises a stepped assembly hole provided on the tool end docking head corresponding to the positioning pins, the stepped assembly hole comprises a positioning deep hole and a guide shallow hole, and the positioning pins can be connected by inserting the positioning deep hole or the guide shallow hole. The stepped assembly hole initially positions the positioning pins through the guide shallow hole, and after the mechanical arm docking head is rotated to a preset position, the positioning pins slide into the positioning deep hole to complete the connection, and after the positioning pins enter the positioning deep hole, the mechanical arm docking head and the tool end docking head can be prevented from being disengaged when a large torque is applied.

[0009] As a preferred, one side of the positioning pin is provided with a longitudinal limiting plane, the positioning pin comprises a short diameter passing through the center line of the longitudinal limiting plane and a long diameter parallel to the limiting plane, the short diameter is consistent with the width of the guide shallow hole, and the long diameter is consistent with the width of the positioning deep hole. During rotation of the mechanical arm docking head, the positioning pin is inserted into the guide shallow hole when the positioning pin is rotated to an angle at which the short diameter is engaged with the guide shallow hole; the mechanical arm continues to rotate until the positioning pin is aligned with the positioning deep hole, at which time the long diameter is matched with the positioning deep hole, the positioning pin enters the positioning deep hole, and the rotation connection is completed; the position of the positioning pin is determined by "finding" the short diameter through the guide shallow hole, and the assembly connection is completed through the positioning deep hole, and the anti-torque function is realized by the insertion connection of the positioning pin and the positioning deep hole in the subsequent operation of the mechanical arm.

[0010] Further, at least three stepped assembly holes are provided on the end face of the tool end docking head, and the stepped assembly holes are uniformly distributed in the circumferential direction. The multiple stepped assembly holes can ensure that the tool end docking head is more stable when installed with the mechanical arm docking head, and the anti-torque capacity is improved.

[0011] As preferred, a self-locking mechanism is further arranged on the tool end adapter, and the mechanical arm adapter is correspondingly provided with a locking groove. The self-locking mechanism comprises an angular code type double-block insert buckle, and an elastic member is arranged on the inner side of the angular code type double-block insert buckle. The angular code type double-block insert buckle comprises a lock segment and a trigger segment. When the lock segment is in an open block position, the trigger segment is higher than the upper end surface of the tool end adapter. The self-locking mechanism is used to ensure that the tool end adapter and the mechanical arm adapter remain in a locked state during the working process. The angular code type double-block insert buckle has an open block and a locking block. When the lock segment is pulled away from the tool end adapter, the elastic member is in a stretched state. However, due to the structure of the trigger segment, the bending point of the angular code type double-block insert buckle is above the straight line where the elastic member is located, so that the angular code type double-block insert buckle can stably be in the open block. When the mechanical arm adapter is assembled with the tool end adapter, the trigger segment is pressed downward, so that the angular code type double-block insert buckle tilts inward. When the bending point of the angular code type double-block insert buckle is below the elastic force of the elastic member, the elastic member contracts and makes the lock segment press and lock the groove, so that the angular code type double-block insert buckle is in the locking block. Through the structure of the angular code type double-block insert buckle, the mechanical arm adapter and the tool end adapter can be stably kept in the Z direction after being connected.

[0012] As preferred, an electrical contact is arranged in the middle of the tool end adapter, and a spring needle contact is arranged in the mechanical arm adapter corresponding to the electrical contact. The spring needle contact is connected with the electrical contact in a plug-in manner. The electrical contact and the spring needle contact are connected to realize the electrical connection between the mechanical arm and the tools in the tool library. The communication function of the electrical contact can be realized by adding electronic elements and communication interfaces on the contact. Such design can enable the electrical contact to have the ability of data exchange, such as sending information such as contact state, temperature, current, etc. to the controller, or receiving instructions from the controller. Common communication interfaces include CAN, Profibus, Modbus, etc. The selection of communication protocol depends on the use scenario and application requirements.

[0013] As preferred, a screwing mechanism electrically connected to the end of the mechanical arm is arranged on the mechanical arm adapter, and the screwing mechanism drives the mechanical arm adapter to rotate. The screwing mechanism is used to drive the mechanical arm adapter to rotate, so as to realize the pre-positioning and connection of the positioning pin and the stepped assembly hole.

[0014] The tool library comprises a multi-station operation platform, and the multi-station operation platform comprises at least two station points for arranging different tools, and each station point is provided with a tool end adapter. The station points for different tools are used to arrange different types of tools, so as to avoid the need for manual replacement of tools on the station point when multiple tools need to be used alternately, thereby improving the work efficiency.

[0015] Therefore, the present invention has the following beneficial effects: (1) By screwing the tool end connector with the robotic arm connector, and using the anti-torsion connection structure to prevent excessive torque from causing the tool to detach, the installation is precise and firm, and the disassembly is convenient and quick, thereby effectively increasing the working stability of the robotic arm end tool; (2) By "finding" the short diameter through the guide shallow hole to determine the position of the positioning pin, and then by completing the assembly connection through the positioning deep hole, the anti-torsion function is achieved by using the insertion connection of the positioning pin and the positioning deep hole during the subsequent operation of the robotic arm; (3) The structure of the corner code double-stop buckle can ensure that the robotic arm connector and the tool end connector are connected in the Z direction after the locking position is stable. Attached Figure Description

[0016] Figure 1 This is a first isometric view of the present invention.

[0017] Figure 2 for Figure 1 A magnified view of a portion of point A in the middle.

[0018] Figure 3 This is a second isometric view of the present invention.

[0019] Figure 4 for Figure 3 A magnified view of a section at point B in the middle.

[0020] In the diagram: 100 Robotic arm, 1 Robotic arm connector, 11 Screwing mechanism, 2 Tool magazine, 21 Work position, 22 Partial discharge claw tool, 23 Tightening circuit breaker tool, 3 Tool end connector, 31 Electrical contact, 4 Positioning pin, 41 Longitudinal limiting plane, 5 Stepped assembly hole, 51 Positioning deep hole, 52 Guide shallow hole, 6 Self-locking mechanism, 61 Locking groove, 7 Corner code double-stop buckle, 71 Elastic element, 72 Locking section, 73 Trigger section. Detailed Implementation

[0021] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0022] Example 1

[0023] like Figure 1,2 shown in FIG. 1, a mechanical arm end tool quick-change mechanism, comprising: a mechanical arm docking head 1, installed on the end of the mechanical arm for assembling tools; a tool library 2, an assembly of several tools; a tool end docking head 3, provided on the tool library 2 for connecting the mechanical arm docking head 1; wherein the tool end docking head 3 is engaged with the mechanical arm docking head 1 through the rotation of the end of the mechanical arm, and an anti-torque connection structure is provided between the tool end docking head 3 and the mechanical arm docking head 1. As shown in Figure 3 ,4 shown in FIG. 4, the anti-torque connection structure comprises a plurality of positioning pins 4 provided at the bottom end of the mechanical arm docking head 1, and further comprises a stepped assembly hole 5 provided on the tool end docking head 3 corresponding to the positioning pin 4, the stepped assembly hole 5 comprises a positioning deep hole 51 and a guide shallow hole 52, and the positioning pin 4 can be connected by inserting the positioning deep hole 51 or the guide shallow hole 52. One side of the positioning pin 4 is provided with a longitudinal limiting plane 41, the positioning pin 4 comprises a short diameter passing through the center line of the longitudinal limiting plane 41 and a long diameter parallel to the limiting plane, the short diameter is consistent with the width of the guide shallow hole 52, and the long diameter is consistent with the width of the positioning deep hole 51. The upper end surface of the tool end docking head 3 is provided with at least three stepped assembly holes 5, which are uniformly distributed along the circumference.

[0024] The mechanical arm 100 is connected with the tools in the tool library 2 through the mechanical arm docking head 1, and the tool library 2 is provided with a tool end docking head 3 matched with the mechanical arm docking head 1, which can be engaged by rotating, and the anti-torque connection structure between the two components can maintain the anti-torque ability to prevent disengagement during the operation of the mechanical arm, and the installation is quick. The stepped assembly hole 5 initially positions the positioning pin 4 through the guide shallow hole 52, and after the mechanical arm docking head 1 is rotated to the preset position, the positioning pin 4 slides into the positioning deep hole 51 to complete the connection, and after the positioning pin 4 enters the positioning deep hole 51, it can ensure that the mechanical arm docking head 1 and the tool end docking head 3 will not be disengaged when bearing a large torque. During the rotation of the mechanical arm docking head 1, the positioning pin 4 is inserted into the guide shallow hole 52 when it is rotated to an angle at which the short diameter is matched with the guide shallow hole 52; the mechanical arm continues to rotate to the positioning pin 4, which is aligned with the positioning deep hole 51, at this time the long diameter is matched with the positioning deep hole 51, and the positioning pin 4 enters the positioning deep hole 51 to complete the rotation connection; the position of the positioning pin 4 is determined by "finding" the short diameter through the guide shallow hole 52, and then the assembly connection is completed through the positioning deep hole 51, and the anti-torque function is realized by the insertion connection of the positioning pin 4 and the positioning deep hole 51 in the subsequent operation of the mechanical arm. Multiple stepped assembly holes 5 can ensure that the tool end docking head 3 and the mechanical arm docking head 1 are more stable during installation, and the anti-torque ability is improved.

[0025] In addition, the tool end adapter 3 is further provided with a self-locking mechanism 6, and the mechanical arm adapter 1 is provided with a locking groove 61 corresponding to the self-locking mechanism 6; the self-locking mechanism 6 comprises an angular code type double-block plug 7, the inner side of the angular code type double-block plug 7 is provided with an elastic element 71, the angular code type double-block plug 7 comprises a lock block segment 72 and a trigger segment 73, when the lock block segment 72 is in an open block position, the trigger segment 73 is higher than the upper end surface of the tool end adapter 3. The self-locking mechanism 6 is used to ensure that the tool end adapter 3 and the mechanical arm adapter 1 remain in a locked state during work after being connected, and the angular code type double-block plug 7 has an open block and a locking block. When the lock block segment 72 is pulled away from the tool end adapter 3, the elastic element 71 is in a stretched state, but due to the structure of the trigger segment 73, the bending point of the angular code type double-block plug 7 is above the straight line where the elastic element 71 is located, so that the angular code type double-block plug 7 can stably be in an open block, and when the mechanical arm adapter 1 and the tool end adapter 3 are assembled, the angular code type double-block plug 7 is tilted inward due to the depression of the trigger segment 73, and when the bending point of the angular code type double-block plug 7 is below the elastic force of the elastic element 71, the elastic element 71 contracts and makes the lock block segment 72 press and lock the locking groove 61, so that the angular code type double-block plug 7 is in a locking block. Through the structure of the angular code type double-block plug, the mechanical arm adapter 1 and the tool end adapter 3 can be kept stable in the Z direction after being connected.

[0026] The tool end adapter 3 is provided with an electrical contact 31 in the middle, the mechanical arm adapter 1 is provided with a spring needle contact corresponding to the electrical contact 31, and the spring needle contact is connected with the electrical contact 31 in a plug-in manner. The mechanical arm adapter 1 is provided with a screwing mechanism 11 electrically connected to the end of the mechanical arm, and the screwing mechanism 11 drives the mechanical arm adapter 1 to rotate. The electrical contact 31 is connected with the spring needle contact to realize the electrical connection between the mechanical arm and the tools in the tool library 2. The communication function of the electrical contact 31 can be realized by adding electronic elements and communication interfaces on the contact. Such design can make the electrical contact 31 have the ability of data exchange, such as sending touch point state, temperature, current and other information to the controller, or receiving instructions from the controller. Common communication interfaces include CAN, Profibus, Modbus, etc. The selection of communication protocol depends on the use scene and application requirements.

[0027] The screwing mechanism 11 is used to drive the mechanical arm adapter 1 to rotate, so as to realize the pre-positioning and connection of the positioning pin 4 and the stepped assembly hole 5. The tool library 2 comprises a multi-station operation platform, the multi-station operation platform comprises at least two station points 21 for arranging different tools, and each station point 21 is provided with a tool end adapter 3. Different tool station points 21 are used to arrange different types of tools, so as to avoid the need for manual replacement of tools on the station point 21 when multiple tools need to be used alternately, thereby improving work efficiency.

[0028] In this embodiment, the multi-station operating platform includes two workstations 21, each equipped with a partial discharge claw tool 22 and a circuit breaker tool 23. The partial discharge claw tool 22 is used to detect the insulation status of high-voltage switchgear; its main function is to capture and measure partial discharge signals within the equipment. When the insulation system of high-voltage equipment is damaged, partial discharge occurs inside the equipment. These partial discharge signals can be detected and located using the partial discharge claw. The circuit breaker tool 23 is typically used to disconnect power from the power system in emergencies to protect personnel and equipment. A circuit breaker is a mechanical device that isolates power lines during power outages or maintenance. This tool includes a handle, an operating lever, and a blade; the movement of the lever and blade can be controlled by rotating the handle, and the power line can be disconnected or isolated. The tool library 2 includes, but is not limited to, the tools mentioned above, ensuring that the required tools can be readily replaced during robotic arm operation, resulting in ideal practical effects.

[0029] In this embodiment, the operator installs the required tools at work point 21 on the multi-station operating platform according to the work plan, and installs tool end connectors 3 on each tool. Then, the robotic arm starts working, identifies the type of tool through a vision sensor, and approaches the required tool through the robotic arm connector 1 installed at the end of the robotic arm, so that the electrical contact 31 and the elastic contact are aligned. At this time, the robotic arm presses down, and the positioning pin 4 rotates with the screw assembly and reaches the guide shallow hole 52 of the stepped assembly hole 5. After the short diameter of the positioning pin 4 enters the guide shallow hole 52, it continues to rotate and finally makes the positioning pin 4 fully inserted into the positioning deep hole 51. At this time, the self-locking mechanism 6 is engaged by the tool end connector 3 and the robotic arm connector 1 to make the corner code double-stop buckle internally lock the locking groove 61. The positioning pin 4 and the corner code double-stop buckle cooperate to complete the assembly of the two pairs of connectors. The electrical contact 31 and the elastic contact are connected, completing the communication connection between the robotic arm and the tool. The positioning pin 4 can resist the large torque generated during the operation of the robotic arm, ensuring a stable connection between the robotic arm and the tool after quick assembly.

[0030] In addition to the above embodiments, within the scope disclosed in the claims and specification of this invention, the technical features of this invention can be reselected and combined to form new embodiments. These can be achieved by those skilled in the art without creative effort. Therefore, these embodiments not described in detail in this invention should also be regarded as specific embodiments of this invention and within the protection scope of this invention.

Claims

1. A mechanical arm end tool quick change mechanism, characterized by, include: Robotic arm docking point; The tool library contains several types of tools; Tool end connector, located on the tool library; The tool end connector engages with the robotic arm connector via the rotation of the robotic arm. An anti-torsion connection structure is provided between the two. The anti-torsion connection structure includes a positioning pin at the bottom of the robotic arm connector and a stepped assembly hole on the tool end connector. The positioning pin has a longitudinal limiting plane forming a short diameter and a long diameter. The stepped assembly hole includes a guide shallow hole and a positioning deep hole. The short diameter is the same width as the guide shallow hole, and the long diameter is the same width as the positioning deep hole. The tool end connector is also provided with a self-locking mechanism, and the robotic arm connector is provided with a locking groove corresponding to the self-locking mechanism; the self-locking mechanism includes a corner code type double-stop buckle.

2. The quick-change mechanism for the end tool of a robot arm according to claim 1, characterized in that, The anti-torsion connection structure includes several positioning pins disposed at the bottom end of the robotic arm connector, the positioning pins being able to engage with positioning deep holes or guiding shallow holes.

3. The quick-change mechanism of the end tool of a robot arm according to claim 2, characterized in that, The positioning pin has a longitudinal limiting plane on one side. The positioning pin includes a minor diameter passing through the center line of the longitudinal limiting plane and a major diameter parallel to the limiting plane. The minor diameter is consistent with the width of the guide shallow hole, and the major diameter is consistent with the width of the positioning deep hole.

4. The quick-change mechanism for the end tool of a robot arm according to claim 2, characterized in that, The tool end has at least three stepped assembly holes on its upper surface, which are evenly distributed circumferentially.

5. The quick-change mechanism of the end tool of a robot arm according to any one of claims 1-4, characterized in that, The corner code double-stop buckle is provided with an elastic element on the inner side. The corner code double-stop buckle includes a locking section and a triggering section. When the locking section is in the open position, the triggering section is higher than the upper end face of the tool end connector.

6. The quick-change mechanism of the end tool of a robot arm according to any one of claims 1-4, characterized in that, An electrical contact is provided in the middle of the tool end connector, and a spring-loaded contact is provided in the corresponding electrical contact of the robotic arm connector. The spring-loaded contact is plugged into and connected to the electrical contact.

7. The quick-change mechanism for the end tool of a robot arm according to claim 1, characterized in that, The robotic arm docking head is equipped with a screw-on mechanism electrically connected to the end of the robotic arm, and the screw-on mechanism drives the robotic arm docking head to rotate.

8. The mechanism according to claim 1, wherein The tool library includes a multi-station operating platform, which includes at least two work points for placing different tools, and each work point is equipped with a tool end connector.

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