A robot end tool quick change device

Abstract

The application discloses a quick-change robot end, which has an insertion space for inserting a quick-change tool end, and the insertion space is uniformly provided with a plurality of locking surfaces arranged in an inclined downward manner; the quick-change tool end is provided with a plurality of steel balls on the top and matched with the locking surfaces; the quick-change tool end is internally provided with a moving space for the up-and-down movement of a piston, and a plurality of springs are further arranged in the moving space; when the piston controls the steel ball to abut against the locking surface, the spring provides a longitudinal force to the piston so as to lock the quick-change robot end and the quick-change tool end; and a parking support is used for controlling the locking and loosening of the quick-change robot end and the quick-change tool end. The application has the advantages of low cost, simple structure, automatic quick-change function of the robot end effector, high reliability, provision of longitudinal locking force, high safety and reliability after locking, good universality, high safety, addition of anti-dropping, and effective solution to the problem of accidental tool side falling.

Description

Technical Field

[0001] This invention relates to the field of robot quick-change technology, and more particularly to a robot end-effector quick-change device. Background Technology

[0002] A robot end effector quick-change disc is a device for quickly changing tools or grippers. Through a unique locking and unlocking mechanism, it enables rapid replacement of the robot's end effector. Quick-change methods are divided into active and passive types. Active quick-change requires an on-site air or power source to automatically change the end effector, while passive quick-change utilizes the device's own structural features to achieve automatic replacement of the end effector manually or with the aid of a support frame.

[0003] Existing quick-change devices for robot end-effectors include: active automatic quick-change devices, which rely on the power or air supply at the work site to achieve tool changes; these devices fail when there is a power or air outage. Existing passive automatic quick-change devices, such as Zimmer, use a wedge-shaped locking method, which, while simple in structure, presents significant challenges in machining the wedge surface. Therefore, to address these shortcomings, we need to propose a new solution that operates passively, enabling automatic locking and unlocking between the robot end-effector and the tool end. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a quick-change device for robot end-effectors.

[0005] This invention is achieved through the following technical solution:

[0006] A quick-change device for robot end-effectors, comprising:

[0007] The quick-change robot end has an insertion space inside for inserting the quick-change tool end, and the insertion space is evenly provided with a number of locking surfaces that are inclined downwards.

[0008] The quick-change tool end has several steel balls at its top that mate with the locking surface. The quick-change tool end has an internal space for the piston to move up and down. Several springs are also provided in the internal space. When the piston controls the steel balls to abut against the locking surface, the springs provide a longitudinal force to the piston so that the quick-change robot end and the quick-change tool end are locked together.

[0009] The parking bracket is used to control the locking and unlocking of the quick-change robot end and the quick-change tool end.

[0010] A further configuration of the present invention is as follows: the quick-change robot end includes a robot end body, the insertion space is disposed inside the robot end body, and a robot end cap is fixed to the top of the robot end body.

[0011] A plurality of locking grooves are evenly recessed along the upper circumference of the insertion space, and the locking surface is located at the bottom of the locking grooves.

[0012] A further feature of the present invention is that the quick-change tool end includes a tool end body, the top of the tool end body has a locking member with an annular structure protruding from it, the side wall of the locking member is evenly provided with a plurality of locking holes, and the steel ball is disposed in the locking hole.

[0013] A further feature of the present invention is that the tool end body is provided with a first through hole, a second through hole and a third through hole from bottom to top. The diameter of the first through hole is larger than the diameter of the second through hole, and the diameter of the second through hole is larger than the diameter of the third through hole. The second through hole and the third through hole form an active space for the piston to move up and down. A tool end cap is fixed in the first through hole.

[0014] A further configuration of the present invention is as follows: the piston includes a piston body and a pusher disposed on the upper end of the piston body; two piston rods are symmetrically fixed at both ends of the outer wall of the piston body; a buffer groove is provided around the middle part of the pusher; one end of the spring contacts the upper surface of the piston body; the other end of the spring contacts the top surface of the second through hole; and several springs are evenly disposed on the outer side of the pusher.

[0015] A further feature of the present invention is that two piston rod holes are symmetrically formed on the outer wall of the tool end body, the piston rod passes through the piston rod holes and extends to the outside of the tool end body, and the piston rod can move up and down within the piston rod holes.

[0016] A further feature of the present invention is that the outer wall of the tool end body is provided with two anti-disengagement grooves, the anti-disengagement grooves are located beside the piston rod hole, and a torsion spring and an anti-disengagement buckle are fixed in the anti-disengagement grooves by a pin. The anti-disengagement buckle has an L-shaped structure and is used to limit the piston rod.

[0017] A further feature of the present invention is that two locking and releasing grooves are symmetrically provided on the outer wall of the tool end body, and the locking and releasing grooves are located below the piston rod hole;

[0018] The parking bracket includes a U-shaped bracket body. Both ends of the bracket body are provided with locking and releasing inclined surfaces for the piston rod to move up and down. The lower inner part of the locking and releasing inclined surface is also provided with a limiting guide strip that cooperates with the locking and releasing groove.

[0019] A further feature of the present invention is that a limiting groove is provided on the top rear side of the locking and releasing inclined surface.

[0020] A further feature of the present invention is that: unlocking components are provided on the front sides of both ends of the bracket body, the unlocking components are L-shaped structures, and the unlocking components extend rearward to the outer side of the locking and releasing inclined surface.

[0021] This invention discloses a quick-change device for robot end-effectors, which, compared with the prior art:

[0022] This invention is low in cost and its simple structure enables automatic quick-change of robot end effectors; it has high reliability, providing longitudinal locking force for enhanced safety and reliability after locking; it has good versatility, adapting to existing external modules; and it offers high safety by adding anti-detachment features, effectively solving the problem of tool side detachment caused by accidents. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0024] Figure 2 This is an exploded view of the quick-change robot end of the present invention.

[0025] Figure 3 This is an exploded view of the quick-change tool end of the present invention.

[0026] Figure 4 This is a schematic diagram showing the locking state of the quick-change robot end and quick-change tool end of the present invention.

[0027] Figure 5 This is a cross-sectional view of the locked state of the quick-change robot end and quick-change tool end of the present invention.

[0028] Figure 6 This is a cross-sectional view of the quick-change robot end and quick-change tool end of the present invention in a detached state.

[0029] Figure 7 This is a schematic diagram of the parking bracket of the present invention.

[0030] Figure 8 This is a top view of the quick-change robot end and quick-change tool end of the present invention in their released state on the parking bracket.

[0031] Figure 9 This diagram illustrates the movement of the quick-change robot end and quick-change tool end toward the parking bracket, serving to explain the working process of the anti-detachment lock.

[0032] The numbers and letters in the diagram represent the names of the corresponding components:

[0033] Wherein: 100, quick-change robot end; 101, robot end body; 102, insertion space; 103, locking surface; 104, stepped hole; 105, robot end cap; 106, locking groove; 200, quick-change tool end; 201, tool end body; 201a, first through hole; 201b, second through hole; 201c, third through hole; 202, locking steel ball; 203, movable space; 204, piston; 204a, piston rod; 204b 204c, Piston body; 204d, Pushing component; 205, Buffer groove; 206, Spring; 207, Locking / Loosening groove; 208, Locking component; 209, Tool end cap; 210, Piston rod hole; 211, Anti-loosening groove; 212, Torsion spring; 213, Anti-loosening latch; 300, Parking bracket; 301, Bracket body; 302, Locking / Loosening inclined surface; 303, Limiting strip; 304, Limiting groove; 305, Unlocking component. Detailed Implementation

[0034] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0035] The accompanying drawings are for illustrative purposes only and are schematic diagrams, not actual images. They should not be construed as limiting the scope of this patent. To better illustrate the embodiments of the present invention, some parts in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0036] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components. In the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," "right," "inner," and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting the present patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0037] See Figures 1 to 9As shown, a quick-change device for a robot end-effector includes: a quick-change robot end 100, which has an insertion space 102 for inserting a quick-change tool end 200, wherein a plurality of locking surfaces 103 are uniformly arranged inside the insertion space 102 and inclined downward; the quick-change tool end 200, which has a plurality of steel balls 202 on its top that cooperate with the locking surfaces 103; the quick-change tool end 200 has a movable space 203 inside for a piston 204 to move up and down; the movable space 203 also has a plurality of springs 205, which, when the piston 204 controls the steel balls 202 to abut against the locking surfaces 103, activate the springs 205. 05. A longitudinal force is provided to piston 203 to lock the quick-change robot end 100 and quick-change tool end 200 together; a parking bracket 300 is used to control the locking and unlocking of the quick-change robot end 100 and quick-change tool end 200; in the above technical solution, the end-tool quick-change device includes a quick-change robot end 100 and a quick-change tool end 200 that mates with the quick-change robot end 100. The quick-change robot end 100 is configured to connect to the end of the robot, and the quick-change tool end 200 is configured to connect to the actuating structure. A diagram showing the locking state of the quick-change robot end 100 and quick-change tool end 200 can be found [reference needed]. Figure 4 and Figure 5As shown, at this time, the upper part of the quick-change tool end 200 is inserted into the insertion space 102 of the quick-change robot end 200. Due to the longitudinal locking force provided by the spring 205, the upper part of the piston 204 pushes out the locking steel ball 202, causing the locking steel ball 202 to abut against the locking surface 103 of the quick-change robot end 100, thereby making the quick-change robot end 100 and the quick-change tool end 200 tightly connected. When it is necessary to replace the quick-change tool end 200, the robot can move the locked quick-change tool end 200 to the parking bracket 300. Due to the presence of the locking release groove 206 of the quick-change tool end 200 and the limiting guide strip 303 of the parking bracket 300, the robot moves the quick-change tool end 200 to the parking bracket 300. The quick-change tool end 200 continuously moves into the parking bracket 300. Due to the presence of the locking release ramp 302, the piston rod 204a continuously moves upward, causing the piston 204 to continuously move downward. At this time, the spring 205 is in a compressed state. As the piston 204 moves upward, the thrust exerted by the upper part of the piston 204 on the locking steel ball 202 continuously decreases, causing the locking steel ball 202 to begin to move away from the locking surface 103. When the locking steel ball 202 completely leaves the locking surface 103, the quick-change robot end 100 is released from the quick-change tool end 200. Then, the robot can control the quick-change robot end 100 to connect with the next quick-change tool end 200 that needs to be used. The quick-change robot end 100 is connected to the quick-change tool end 200 parked on the parking bracket 300. The robot moves the quick-change robot end 100 above the quick-change tool end 200 and into contact with it. Then, the robot moves the whole thing outward. At this time, the piston rod 204a of the quick-change tool end 200 moves on the locking and releasing inclined surface 302. Due to the presence of the spring 205, the spring 205 applies a longitudinal force, causing the piston rod 204a to move downward continuously. The piston 204 also moves downward, causing the piston 204 to push the locking steel ball 202 outward until the locking steel ball 202 is in close contact with the locking surface 103. The presence of spring 205 prevents the locking steel ball 202 from disengaging from the locking surface 103, thus ensuring a tight connection between the quick-change robot end 100 and the quick-change tool end 200. The spring 205 applies a longitudinal force to the piston 204, causing the locking steel ball 202 to contact the locking surface 103 tightly, thereby achieving a secure connection between the quick-change robot end 100 and the quick-change tool end 200, preventing easy disengagement. This novel and ingenious design eliminates the need for power and air supply, preventing the quick-change device from becoming unusable in case of power or air supply failure. When replacement is needed, the robot simply moves the entire quick-change device towards the parking bracket 300 to disengage it, thus enabling replacement and significantly improving efficiency.

[0038] See Figure 2As shown, the quick-change robot end 100 includes a robot end body 101, an insertion space 102 disposed inside the robot end body 101, a robot end cap 105 fixed to the top of the robot end body 101, and a plurality of locking grooves 106 evenly recessed along the upper circumference of the insertion space 102, with the locking surface 103 located at the bottom of the locking grooves 106; in the above technical solution, a through hole is formed through the middle part of the robot end body 101, the through hole is circular, and a step is provided at the top of the through hole. Hole 104, the stepped hole 104 is used to fix the robot end cap 105. The through hole and the robot end cap 105 form an insertion space 102. The locking groove 106 is a semi-cylindrical groove. The bottom of the locking groove 106 is a plane. The bottom of the locking groove 106 has a locking surface 103 that is inclined downward on the side near the insertion space 102. The locking surface 103 is mainly used to cooperate with the steel ball 202 of the quick-change tool end 200 so that the quick-change robot end 100 and the quick-change tool end 200 are locked or released.

[0039] See Figure 3 As shown, the quick-change tool end 200 includes a tool end body 201. A ring-shaped locking member 207 protrudes from the top of the tool end body 201. The sidewall of the locking member 207 is evenly provided with several locking holes 208. The steel ball 202 is disposed within the locking holes 208. In the above technical solution, the locking holes 208 correspond to the locking groove 106. When the piston 204 moves downwards, it pushes the steel ball 202 towards the locking surface 103, causing the steel ball 202 to abut against the locking surface 103, thereby locking the quick-change robot end 100 and the quick-change tool end 200. When the piston 204 moves upwards, the pressure on the steel ball 202 from the piston 204 decreases, causing the steel ball 202 to detach from the locking surface 103 and return to the interior of the locking hole 208. Furthermore, due to the obstruction of the piston 204, the steel ball 202... The steel ball 202 will not detach from the locking hole 208. It is worth noting that the inner diameter of the locking hole 208 is larger than the diameter of the steel ball 202, and the outer diameter of the locking hole 208 is smaller than the diameter of the steel ball 202. That is, a section of the outer edge of the locking hole 208 is smaller than the diameter of the steel ball 202. This structural design ensures that the steel ball 202 will not detach from the locking member 207 when it moves toward the locking surface 103. In addition, due to the setting of the piston 204, the steel ball 202 will not detach from the locking member 207. When the quick-change robot end 100 is disengaged from the quick-change tool end 200, the steel ball 202 will enter the buffer groove 204d due to the presence of the buffer groove 204d. During installation, the steel ball 202 is first placed in the locking hole 208, and then the piston 204 is installed into the movable space 203.

[0040] See Figure 5 As shown, the tool end body 201 has a first through hole 201a, a second through hole 201b, and a third through hole 201c arranged sequentially from bottom to top inside. The diameter of the first through hole 201a is larger than the diameter of the second through hole 201b, and the diameter of the second through hole 201b is larger than the diameter of the third through hole 201c. The second through hole 201b and the third through hole 201c form an active space 203 for the piston 204 to move up and down. A tool end cap 209 is fixed in the first through hole 201a. The first through hole 201a, the second through hole 201b, and the third through hole 201c are all circular through holes.

[0041] See Figure 5As shown, the piston 204 includes a piston body 204b and a pusher 204c disposed on the upper end of the piston body 204b. Two piston rods 204a are symmetrically fixed at both ends of the outer wall of the piston body 204b. A buffer groove 204d is provided around the middle part of the pusher 204c. One end of the spring 205 contacts the upper surface of the piston body 204b, and the other end of the spring 205 contacts the top surface of the second through hole 201b. A plurality of springs 205 are evenly disposed on the outer side of the pusher 204c. In this design, the piston body 204b is a cylindrical structure, and the pusher 204c is also a cylindrical structure with a diameter smaller than that of the piston body 204b. The piston body 204b moves up and down within the second through hole 201b, and the pusher 204c moves up and down within both the second and third through holes 201b and 201c. The surface of the piston body 204b is uniformly provided with several spring fixing grooves, and one end of the spring 205 is located within one of these grooves. A buffer groove 204d is provided at the pusher 204c, the main purpose of which is to... When the quick-change robot end 100 and quick-change tool end 200 are released, the steel ball 202 will return to the locking hole 208 due to the locking surface 103 and its own inertia. However, because the steel ball 202 has a certain weight, when it moves away from the locking surface 103, if a buffer groove 204d is not provided, the steel ball 202 will directly contact the side wall of the piston 204, causing the steel ball 202 to rebound. This affects the release of the quick-change robot end 100 and quick-change tool end 200, and also affects the service life of the steel ball 202. The upper cross section of the moving part 204c is an inverted trapezoidal structure, that is, the diameter of the top surface of the upper part of the pushing part 204c is larger than the diameter of the bottom surface of the upper part of the pushing part 204c. As the piston 204 moves downward, when the top annular surface of the upper part of the pushing part 204c contacts the steel ball 202, the lateral displacement of the steel ball 202 is the largest, which also makes the top annular surface of the upper part of the pushing part 204c in close contact with the steel ball 202, thereby making the steel ball 202 abut against the locking surface 103 to lock the quick-change robot end 100 and the quick-change tool end 200.

[0042] See Figure 5 As shown, two piston rod holes 210 are symmetrically formed on the outer wall of the tool end body 201. The piston rod holes 210 are connected to the second through hole 201b. The piston rod 204a passes through the piston rod holes 210 and extends to the outside of the tool end body 201. The piston rod 204a can move up and down within the piston rod holes 210. Since the piston rod 204a is fixed to the outer wall of the piston body 204b, and since the piston rod 204a can move up and down within the piston rod holes 210, the up and down movement of the piston rod 204a within the piston rod holes 210 can drive the pusher 204c to move up and down.

[0043] See Figure 3 As shown, the outer wall of the tool end body 201 also has two anti-disengagement grooves 211. The anti-disengagement grooves 211 are located beside the piston rod hole 210. A torsion spring 212 and an anti-disengagement buckle 213 are fixed in the anti-disengagement grooves 211 by a pin. The anti-disengagement buckle 213 has an L-shaped structure and is used to limit the piston rod 204a. A pin hole is provided in the anti-disengagement grooves 211. The torsion spring 212 and the anti-disengagement buckle 213 are fixed in the anti-disengagement grooves 211 by a pin. The torsion spring 212 and the anti-disengagement buckle 213 are first connected. The parts are combined and then fitted onto the pin and fixed inside the anti-detachment groove 211. When the quick-change robot end 100 and the quick-change tool end 200 are tightly locked, the piston rod 204a is located at the bottom of the piston rod hole 210. At this time, due to the presence of the torsion spring 212 and the anti-detachment buckle 213, the anti-detachment buckle 213 will rotate to the top of the piston rod 204a to limit the piston rod 204a and prevent the piston rod 204a from moving upward during later use, thus preventing the quick-change robot end 100 and the quick-change tool end 200 from becoming loose.

[0044] See Figures 1 to 7As shown, the outer wall of the tool end body 201 is also symmetrically provided with two locking and releasing grooves 206, which are located below the piston rod hole 210; the parking bracket 300 includes a bracket body 301 with a U-shaped structure, and both ends of the bracket body 301 are provided with locking and releasing inclined surfaces 302 for the piston rod 204a to move up and down. The lower inner part of the locking and releasing inclined surface 302 is also provided with a limiting guide strip 303 that cooperates with the locking and releasing groove 206; in the above technical solution, when the quick-change robot end 100 and the quick-change tool end 200 need to be connected, the quick-change tool end 200 is located on the parking bracket 300. When the quick-change tool end 200 approaches the parking bracket 300, due to the presence of the locking / releasing groove 206 on the tool end body 201, and in conjunction with the limiting guide strip 303 on the bracket body 301, the tool end body 201 continuously moves towards the inside of the parking bracket 300 along the locking / releasing inclined surface 302. During this movement, the limiting guide strip 303 causes the piston rod 204a to continuously move upward. This upward movement of the piston rod 204a causes the piston 204's pushing member 204c to move upward. As the pushing member 204c continuously moves upward, the force exerted by the pushing member 204c on the steel ball 202... As the piston rod 204a moves to the top of the locking and releasing ramp 302, the piston 204a gradually decreases in size, causing the steel ball 202 to move towards the pusher 204c until it reaches the top of the locking and releasing ramp 302. At this point, the piston 204 of the quick-change tool end 200 does not apply force to the steel ball 202, and the steel ball 202 remains within the locking hole 208 and the buffer groove 204d. The spring 205 is in a compressed state at this time. When the quick-change robot end 100 contacts the quick-change tool end 200, and the quick-change robot end 100 drives the quick-change tool end 200 to move towards the outside of the parking bracket 300, the piston rod 204a moves downward on the locking and releasing ramp 302. At this time, due to the elastic force of the spring 205, it will... A downward force is applied to the piston 204. As the piston rod 204a moves downward, the pusher 204c also moves downward. Since the cross-section of the pusher 204c is an inverted trapezoidal structure, the pusher 204c continuously applies a pushing force to the steel ball 202. The pusher 204c then pushes the steel ball 202 towards the locking surface 103 until the piston rod 204a leaves the locking release slope 302. The pusher 204c causes the steel ball 202 to abut against the locking surface 103. Due to the presence of the spring 205, the longitudinal force exerted by the spring 205 on the piston 204 does not disappear, thus locking the quick-change robot end 100 and the quick-change tool end 200.

[0045] See Figure 7As shown, a limiting groove 304 is also provided on the top rear side of the locking and releasing inclined surface 302. The limiting groove 304 is mainly provided to facilitate the piston rod 204a to stay in the limiting groove 304, and to prevent the piston rod 204a and the quick-change tool end 200 from leaving the parking bracket 300 due to the presence of the locking and releasing inclined surface.

[0046] See Figure 7 As shown, the front sides of both ends of the bracket body 301 are also provided with unlocking components 305. The unlocking components 305 have an L-shaped structure and extend rearward to the outer side of the locking and releasing inclined surface 302. In this technical solution, when the quick-change robot end 100 and the quick-change tool end 200 are locked, the anti-disengagement latch 213 rotates to the upper end of the piston rod 204a. This is the initial state of the anti-disengagement latch 213, that is, when the quick-change robot end 100 and the quick-change tool end 200 are locked, see reference. Figure 9 As shown, when release is required, the piston rod 204a will not move upward due to the presence of the anti-detachment latch 213. Therefore, an unlocking element 305 is provided at the bracket body 301. When the quick-change tool end 200 moves towards the parking bracket 300, the unlocking element 305 contacts the anti-detachment latch 213, providing a blocking force and causing the anti-detachment latch 213 to rotate into the anti-detachment groove 211. This prevents the anti-detachment latch 213 from limiting the piston rod 204a. At this time, the quick-change tool end 200 is located on the parking bracket 300. (See reference...) Figure 8 As shown; when the quick-change tool end 200 is detached from the parking bracket 300, due to the presence of the torsion spring, the anti-detachment latch 213 will return to the initial position, thereby limiting the piston rod 204a.

[0047] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

[0048] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A quick-change device for a robot end-effector tool, characterized in that, include: The quick-change robot end (100) has an insertion space (102) for the quick-change tool end (200) to be inserted. The insertion space (102) has a plurality of locking surfaces (103) that are inclined downwards evenly arranged inside. The quick-change tool end (200) has several steel balls (202) on its top that cooperate with the locking surface (103). The quick-change tool end (200) has an active space (203) inside for the piston (204) to move up and down. The active space (203) also has several springs (205). When the piston (204) controls the steel balls (202) to abut against the locking surface (103), the springs (205) provide longitudinal force to the piston (204) so ​​that the quick-change robot end (100) and the quick-change tool end (200) are locked together. A parking bracket (300) is used to control the locking and unlocking of the quick-change robot end (100) and the quick-change tool end (200); The quick-change robot end (100) includes a robot end body (101), the insertion space (102) is disposed inside the robot end body (101), and a robot end cap (105) is fixed on the top of the robot end body (101). A plurality of locking grooves (106) are evenly recessed along the upper circumference of the insertion space (102), and the locking surface (103) is located at the bottom of the locking grooves (106); The quick-change tool end (200) includes a tool end body (201), the top of the tool end body (201) has a locking member (207) with a ring structure protruding out, and the side wall of the locking member (207) is evenly provided with a plurality of locking holes (208), and the steel ball (202) is disposed in the locking hole (208); The tool end body (201) is provided with a first through hole (201a), a second through hole (201b) and a third through hole (201c) from bottom to top. The diameter of the first through hole (201a) is larger than the diameter of the second through hole (201b), and the diameter of the second through hole (201b) is larger than the diameter of the third through hole (201c). The second through hole (201b) and the third through hole (201c) form an active space (203) for the piston (204) to move up and down. The tool end cap (209) is fixed in the first through hole (201a). The piston (204) includes a piston body (204b) and a pusher (204c) disposed on the upper end of the piston body (204b). Two piston rods (204a) are symmetrically fixed at both ends of the outer wall of the piston body (204b). A buffer groove (204d) is provided around the middle part of the pusher (204c). One end of the spring (205) is in contact with the upper surface of the piston body (204b), and the other end of the spring (205) is in contact with the top surface of the second through hole (201b). Several springs (205) are evenly disposed on the outside of the pusher (204c).

2. The quick-change device for a robot end-effector according to claim 1, characterized in that: The outer wall of the tool end body (201) is also symmetrically provided with two piston rod holes (210). The piston rod (204a) passes through the piston rod hole (210) and extends to the outside of the tool end body (201). The piston rod (204a) can move up and down in the piston rod hole (210).

3. The quick-change device for a robot end-effector according to claim 2, characterized in that: The outer wall of the tool end body (201) is also provided with two anti-detachment grooves (211). The anti-detachment grooves (211) are located on the side of the piston rod hole (210). A torsion spring (212) and an anti-detachment buckle (213) are fixed in the anti-detachment grooves (211) by a pin. The anti-detachment buckle (213) has an L-shaped structure and is used to limit the piston rod (204a).

4. A quick-change device for a robot end-effector according to claim 3, characterized in that: The outer wall of the tool end body (201) is also symmetrically provided with two locking and releasing grooves (206), which are located below the piston rod hole (210); The parking bracket (300) includes a bracket body (301) with a U-shaped structure. Both ends of the bracket body (301) are provided with locking and releasing inclined surfaces (302) for the piston rod (204a) to move up and down. The lower inner part of the locking and releasing inclined surface (302) also has a limiting guide strip (303) that cooperates with the locking and releasing groove (206).

5. A quick-change device for a robot end-effector according to claim 4, characterized in that: The top rear side of the locking and releasing inclined surface (302) is also provided with a limiting groove (304).

6. A quick-change device for a robot end-effector according to claim 4, characterized in that: The front sides of both ends of the bracket body (301) are also provided with unlocking components (305). The unlocking components (305) are L-shaped structures and extend backward to the outside of the locking and releasing inclined surface (302).

Images