Robot tail end passive quick-change device

Abstract

The invention discloses a robot tail end passive quick-change device, which comprises a quick-change robot end, a quick-change tool end, a quick-change tool end and a locking conical surface, a plurality of steel balls matched with the locking conical surface are arranged at the top of the quick-change tool end, a movable space allowing the piston to move up and down is formed in the quick-change tool end, a spring is arranged in the movable space, the piston is sleeved with the spring, and when the piston controls the steel balls to move outwards and abut against the locking conical surface, the locking conical surface abuts against the locking conical surface. The spring applies longitudinal locking force to the piston so that the quick-change robot end and the quick-change tool end can be locked. And the push rod components are located on the two sides of the quick-change tool end correspondingly, the ends of the push rod components can stretch into the moving space, and the push rod components are used for pushing the piston to move upwards so that the quick-change robot end and the quick-change tool end can be unlocked.

Description

Technical Field

[0001] The present invention relates to the technical field of robot quick change, and in particular to a passive quick change device at the end of a robot. Background Art

[0002] A robot end-of-line quick-change plate is a device for rapidly changing tools or fixtures. 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. Active quick-change requires an air or power source at the worksite to automatically change the end effector. Passive quick-change utilizes the quick-change device's inherent structural features to automatically change the end effector manually or with the aid of a bracket.

[0003] The existing robot end-tool quick-changing devices are as follows: active automatic quick-changing devices rely on power or air sources at the work site to achieve quick tool changes. When the air or power is cut off, the quick-changing device will fail; and the existing passive automatic quick-changing devices, such as Zimmer, use a wedge-shaped locking method. Although the structure is simple, the wedge surface is difficult to process and does not provide locking force in the longitudinal direction.

[0004] Patent No. "202410877583.X" discloses a robot end tool quick-changing device, which is a passive quick-changing device and specifically includes: a quick-changing robot end, which has an insertion space for the quick-changing tool end to be inserted, and the interior of the insertion space is evenly provided with a number of locking cones arranged at an angle downward; a quick-changing tool end, a top of which is provided with a number of steel balls that cooperate with the locking cones, and the quick-changing tool end is provided with a movable space for the piston to move up and down, and a number of springs are also provided in the movable space. When the piston controls the steel ball to abut the locking cone, the spring provides a longitudinal force to the piston to lock the quick-changing robot end and the quick-changing tool end; a parking bracket, which is used to control the locking and loosening of the quick-changing robot end and the quick-changing tool end.

[0005] The quick-change robot end and the quick-change tool end of the above-mentioned patent document provide locking force through several springs in the locked state to lock the quick-change robot end and the quick-change tool end. When the two need to be separated, the robot drives them to move into the parking bracket, and relies on the parking bracket to separate the two; however, the above-mentioned scheme has the following defects: 1. The internal structure is relatively complex, the assembly is difficult, and the assembly cycle is relatively long; 2. When the quick-change robot end and the quick-change tool end are separated, they can only rely on the parking bracket to achieve separation. Under certain special working conditions, manual quick unlocking is not supported. Summary of the Invention

[0006] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a passive quick-change device for a robot end.

[0007] The present invention is achieved through the following technical solutions:

[0008] A passive quick-change device at the end of a robot, comprising:

[0009] The quick-change robot end has an insertion space inside which the quick-change tool end is inserted, and a locking cone surface is provided inside the insertion space;

[0010] The quick-change tool end has a plurality of steel balls on its top that match the locking cone surface. The interior of the quick-change tool end is provided with an activity space for the piston to move up and down. The interior of the activity space is provided with a spring and the spring is sleeved on the outside of the piston. When the piston controls the steel balls to move outward and abuts against the locking cone surface, the spring applies a longitudinal locking force to the piston to lock the quick-change robot end and the quick-change tool end;

[0011] The push rod components are a pair and are located on both sides of the quick-change tool end. The ends of the push rod components can extend into the active space. The push rod components are used to push the piston upward to unlock the quick-change robot end and the quick-change tool end.

[0012] The present invention is further configured such that the piston comprises a piston body and a pushing body arranged at the upper end thereof, the outer wall of the piston body has a pushing cone surface; and a buffer groove is provided on the upper ring of the pushing body.

[0013] The present invention is further configured such that the quick-change tool end includes a tool end body, the movable space is arranged inside the tool end body, and a locking piece with a ring-shaped structure protrudes from the top of the tool end body; a plurality of locking holes are evenly opened on the outer wall of the locking piece, and steel balls are arranged in the locking holes; a tool end cover is fixed to the bottom of the tool end body, and the tool end cover is used to close the bottom of the movable space.

[0014] The present invention is further configured such that the interior of the tool end body includes a first cavity and a second cavity from top to bottom, the first cavity is inside the locking member, the inner diameter of the first cavity is smaller than the inner diameter of the second cavity, and the first cavity and the second cavity constitute a movable space for the piston to move up and down; the piston body can move up and down in the second cavity, and the pushing body can move up and down in the first cavity and the second cavity.

[0015] The present invention is further configured such that a first annular limit groove is recessed on the top surface of the piston body, and the first annular limit groove is located on the outside of the pushing body; a second annular limit groove is recessed on the inner top surface of the second cavity; a spring is sleeved on the outside of the pushing body, and both ends of the spring are in contact with the first annular limit groove and the second annular limit groove respectively.

[0016] The present invention is further configured such that guide grooves are recessed on the lower portions of both sides of the tool end body, assembly grooves are recessed on the inner sides of the guide grooves, the assembly grooves are connected to the movable space, and the push rod member is disposed in the assembly grooves.

[0017] The present invention is further configured such that the push rod component includes a push rod body and a push rod component arranged at one end thereof, the end of the push rod component extends into the active space, and the other end of the push rod body extends to the outside of the quick-change tool end; the push rod body is an L-shaped structure, and a guide hole passes through the middle of the push rod body; the bottom of the tool end body is located below the assembly groove and is also penetrated by a locking hole, and a limit screw passes through the locking hole and the guide hole to fix the push rod component.

[0018] The present invention is further configured such that an anti-slip groove is recessed on the inner side of the guide groove, the anti-slip groove is located below the assembly groove, and a partition is provided between the anti-slip groove and the assembly groove, an anti-slip lock is provided in the anti-slip groove, and the anti-slip lock is used to limit the push rod component.

[0019] The present invention is further configured such that the quick-change robot end includes a robot end main body, an insertion space is arranged inside the robot end main body, and a robot end cover is fixed on the top of the robot end main body; the insertion space includes a buffer cavity and an active cavity that are interconnected, the buffer cavity is located above the active cavity, and the inner diameter of the buffer cavity is larger than the inner diameter of the active cavity; the locking cone surface is located at the top of the inner wall of the active cavity.

[0020] The present invention is further configured to further include a parking bracket, wherein the parking bracket includes:

[0021] The bracket body has a U-shaped structure;

[0022] Loosening and locking surfaces, wherein the inner sides of both ends of the bracket body are provided with loosening and locking surfaces for controlling the end of the push rod member to move into the activity space;

[0023] Support components are provided at the bottoms of both ends of the bracket body, and the support components are located at the lower end of the loosening and locking surface.

[0024] The present invention discloses a passive quick-change device for a robot end. Compared with the prior art:

[0025] 1. The present invention provides a push rod member that cooperates with the conical surface of the piston, so that the push rod member pushes the piston up and down to achieve unlocking, which is very convenient and can cope with the unlocking of the quick-change robot end and the quick-change tool end under certain special working conditions;

[0026] 2. Compared with the existing technology, the present invention optimizes the internal structure design to facilitate assembly and replacement;

[0027] 3. When the quick-change robot end and the quick-change tool end of the present invention are locked, a spring applies a longitudinal locking force to prevent the two from loosening.

[0028] 4. The present invention uses the design of the push rod component and the anti-disengagement lock to prevent the quick-change robot end and the quick-change tool end from separating when the push rod component collides. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0030] Figure 2 It is a cross-sectional view of the piston of the present invention.

[0031] Figure 3 Schematic diagram of the quick-change tool end of the present invention in a locked state.

[0032] Figure 4 Schematic diagram of the quick-change robot end and the quick-change tool end of the present invention in a locked state.

[0033] Figure 5 It is an exploded view of the present invention.

[0034] Figure 6 It is a cross-sectional view of the quick-change robot end of the present invention.

[0035] Figure 7 The structure of the push rod component of the present invention is shown in FIG. Figure 1 .

[0036] Figure 8 The structure of the push rod component of the present invention is shown in FIG. Figure 2 .

[0037] Figure 9 It is a structural schematic diagram of the parking bracket of the present invention.

[0038] Figure 10 This is a structural schematic diagram of the quick-change robot end and the quick-change tool end of the present invention being located on a parking bracket.

[0039] Figure 11 This is a schematic diagram of unlocking the quick-change robot end and the quick-change tool end of the present invention through the parking bracket.

[0040] The numbers and letters in the figure represent the corresponding component names:

[0041] Among them: 10, quick-change robot end; 20, quick-change tool end; 30, push rod component; 40, parking bracket; 101, insertion space; 101a, buffer cavity; 102b, active cavity; 102, locking cone; 103, robot end body; 104, robot end cover; 201, steel ball; 202, piston; 202a, piston body; 202b, push body; 202c buffer groove; 203, active space; 203a, first cavity; 203b, second cavity; 204, spring; 205, tool end body; 206, locking 1. Part; 207. Locking hole; 208. Tool end cover; 209. First annular limiting groove; 210. Second annular limiting groove; 211. Guide groove; 212. Assembly groove; 213. Locking hole; 214. Limit screw; 215. Anti-slip groove; 216. Anti-slip lock buckle; 217. Torsion spring; 301. Push rod body; 302. Push member; 303. Guide hole; 401. Bracket body; 402. Loosening locking surface; 402a. Positioning surface; 402b. Pushing inclined surface; 402c. Limiting surface; 403. Support member; 404. Zero point limiting buckle. DETAILED DESCRIPTION

[0042] The technical solution of the present invention will be further described below with reference to the accompanying drawings and through specific implementation methods.

[0043] Among them, the accompanying drawings are only for illustrative purposes and represent only schematic diagrams rather than actual pictures, and should not be understood as limiting the present invention. In order to better illustrate the embodiments of the present invention, some parts of the accompanying drawings may be omitted, enlarged or reduced, and do not represent the dimensions of actual products. For those skilled in the art, it is understandable that some well-known structures and their descriptions may be omitted in the accompanying drawings.

[0044] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "inside", "outside" and the like indicate directions or positional relationships, they are based on the directions or positional relationships shown in the drawings, which are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0045] See Figures 1 to 11As shown, a passive quick-change device at the end of a robot comprises: a quick-change robot end 10, which is configured to be connected to the end of the robot, and has an insertion space 101 inside for inserting a quick-change tool end 20, and a locking cone 102 inside the insertion space 101; a quick-change tool end 20, which is configured to be connected to an actuator, and has a plurality of steel balls 201 on its top that match the locking cone 102, and an activity space 203 inside the quick-change tool end 20 for the piston 202 to move up and down, and a spring 204 is provided inside the activity space 203 and the spring 204 is sleeved on the outside of the piston 202, and the piston When the steel ball 201 is controlled by 202 to move outward and abut against the locking cone 102, the spring applies a longitudinal locking force to the piston 202 so that the quick-change robot end 10 and the quick-change tool end 20 are locked; the push rod component 30 is a pair and is respectively located on both sides of the quick-change tool end 20. The end of the push rod component 30 can extend into the active space 203. The push rod component 30 is used to push the piston 202 to move upward so that the quick-change robot end and the quick-change tool end 20 are unlocked; in the above technical solution, the robot end passive quick-change device includes a quick-change robot end 10 and a quick-change tool end 20 that can be connected to each other. When the two are in the locked state, the piston 202 is in In the initial position, the spring 204 is in a compressed state, the piston 202 pushes the steel ball 201 outward and contacts the locking cone 102. Due to the action of the spring 204, the spring 204 always provides a longitudinal locking force on the piston 202, so that the piston 202 can continuously apply a locking force to the steel ball 201 so that the two will not loosen; when the two need to be separated, the two push rod members 30 are manually pushed inward, and the end of the push rod member 30 gradually moves into the active space 203. The pushing member 30 pushes the piston 202 upward. At this time, as the piston 202 continues to move upward, the top of the piston 202 applies a pushing force to the steel ball 201 As the force decreases, the steel ball 201 gradually moves away from the locking cone 102 due to the gravity of the locking cone 102 and the steel ball 201 itself. When the steel ball 201 starts to move away, the gap between the two begins to loosen until the steel ball 201 completely breaks away from the locking cone 102 and returns to the top of the quick-change tool end 20. At this time, the unlocking process of the two can be completed. It is worth noting that when the two are unlocked, the spring 204 is in a further compressed state. When the two are separated, if the pushing force on the push rod member 30 is removed, the presence of the spring 204 will cause the piston 202 to move downward, so that the top of the piston 202 will push the steel ball 201 outward.In this technical solution, the quick-change robot end 10 and the quick-change tool end 20 are locked in the locked state mainly by relying on the piston 202, the steel ball 201 and the locking cone 102. In this locked state, since the spring 204 is in a compressed state, it has been providing a longitudinal locking force so that the steel ball 201 abuts against the locking cone 102, so that the quick-change robot end 10 and the quick-change tool end 20 are locked and not easy to loosen. The structural design is novel and ingenious. It does not use power and air sources, so there will be no situation where the power supply and air source fail and the quick-change device cannot be used; at the same time, when the two need to be unlocked, only the push rod component 30 needs to be manually pushed to easily complete the unlocking process. Without relying on the parking bracket, the separation of the two is more convenient and easy to use for special working conditions, thereby facilitating maintenance and replacement, and greatly improving production rhythm and efficiency. Compared with the prior art, if manual unlocking is required in the prior art, for example, the entire quick-change device is still connected to the end of the robot, the prior art requires applying an upward force to the piston rod to move the piston rod upward, and then moving the steel ball away from the locking surface and back. In addition, during this process, it is necessary to ensure that the end of the robot continuously applies a downward pressure on the quick-change device to allow the piston to move and unlock. This operation cannot be completed by a single person, and the user must overcome the spring unlocking force and move in the opposite direction, which is extremely inconvenient to implement. In contrast, in the present technical solution, if the quick-change device is small and can be held by one hand, the present technical solution can be achieved by pressing the piston upward with two fingers, and the quick-change tool end automatically falls off downward to achieve unlocking. If the quick-change device is slightly larger, it only requires pressing with both hands at the same time, which is very convenient.

[0046] The piston 202 includes a piston body 202a and a pushing body 202b arranged at its upper end. The outer wall of the piston body 202a has a pushing cone surface; the upper ring of the pushing body 202b is provided with a buffer groove 202c; the piston 202 is an integrated structure, the piston body 202a is an inverted frustum-shaped structure, and its outer diameter gradually decreases from top to bottom, and the pushing body 202b is a cylindrical structure. Due to the presence of the pushing cone surface of the piston body 202a, the end of the push rod member 30 moves into the activity space 203. When the piston 202 is moved, the end of the push rod member 30 can easily push the piston 202 upward; the pushing body 202b mainly has two functions. The first function is that the top outer wall of the pushing body 202b can push the steel ball 201 outward and continuously apply thrust to the steel ball 201 so that the steel ball 201 abuts against the locking cone 102. The second function of the pushing body 202b is the buffer groove 202c. The connecting part of the buffer groove 202c and the pushing body 202b is an arc-shaped structure. When the quick-change robot end 10 and the quick-change tool end 20 are unlocked, the pushing body 202b of the piston 202 will move upward. As the top outer wall of the pushing body 202b gradually separates from the steel ball 201, the steel ball 201 begins to move away from the locking cone 102 due to its own gravity. At this time, the buffer groove 202c provided can provide a buffer space for the steel ball 201 to fall back. When the two are separated, part of the steel ball 201 can enter the buffer groove 202c to facilitate loosening. It is worth noting that Yes, the cross-section of the top of the pushing body 202b is an inverted trapezoidal structure, that is, the diameter of the top surface of the top of the pushing body 202b is larger than the diameter of the bottom surface of the top of the pushing body 202b. When the top annular surface of the pushing body 202b contacts the steel ball 201, at this time, the lateral displacement of the steel ball 201 is the largest, which also makes the top annular surface of the pushing body 202b in close contact with the steel ball 201, so that the steel ball 201 abuts against the locking cone surface 102 to achieve locking of the quick-change robot end 10 and the quick-change tool end 20.

[0047] The quick-change tool end 20 includes a tool end body 205, an activity space 203 is arranged inside the tool end body 205, and a locking member 206 with a ring-shaped structure protrudes from the top of the tool end body 205; a plurality of locking holes 207 are evenly opened on the outer wall of the locking member 206, and the steel ball 201 is arranged in the locking hole 207; a tool end cover 208 is fixed to the bottom of the tool end body 205, and the tool end cover 208 is used to close the bottom of the activity space 203; The locking hole 207 is used to install the steel ball 201. The inner diameter of the locking hole 207 is larger than the inner diameter of the steel ball 201. The wall thickness of the locking member 206 is smaller than the diameter of the steel ball 201. The outer diameter of the locking hole 207 is smaller than the diameter of the steel ball 201, and the inner diameter of the locking hole 207 is larger than the diameter of the steel ball 201. This structural design can prevent the steel ball 201 from escaping from the locking hole 207 and the locking member when it moves outward. 206. In addition, since the pushing body 202b of the piston 202 moves up and down inside the locking piece 206, the steel ball 201 will not fall off the locking piece 206. When the quick-change robot end 10 and the quick-change tool end 20 are loosened, the steel ball 201 will enter the buffer groove 202c due to the existence of the buffer groove 202c. When the steel ball 201 is installed, the steel ball 201 is first placed in the locking hole 207 from the inside, and then the piston 202 is installed into the active space 203. In addition, it is worth noting that the setting of the tool end cover 208 can limit the piston 202, that is, in the locked state, the piston 202 is in the initial state, the piston 202 will push the steel ball 201 outward, and the piston 202 is in contact with the tool end cover 208, which supports the piston 202. Moreover, the tool end cover 208 can also play a certain dust-proof role.

[0048] The interior of the tool end body 205 includes a first cavity 203a and a second cavity 203b from top to bottom. The first cavity 203a is inside the locking piece 206. The inner diameter of the first cavity 203a is smaller than the inner diameter of the second cavity 203b. The first cavity 203a and the second cavity 203b constitute a movable space 203 for the piston 202 to move up and down; the piston body 202a can move up and down in the second cavity 203b, and the pushing body 202b can move up and down in the first cavity 203a and the second cavity 203b; in the above technical solution, the interior of the locking piece 206 is the first cavity 203a, and the tool end cover 208 closes the bottom of the second cavity 203b.

[0049] The top surface of the piston body 202a is also concavely provided with a first annular limit groove 209, which is located on the outside of the pushing body 202b; the inner top surface of the second cavity 203a is also concavely provided with a second annular limit groove 210; the spring 204 is sleeved on the outside of the pushing body 202b, and the two ends of the spring 204 are respectively in contact with the first annular limit groove 209 and the second annular limit groove 210; in the above technical scheme, the spring 204 is located in the second cavity 203a of the activity space 203, and the two ends of the spring 204 are respectively limited by the first annular limit groove 209 and the second annular limit groove 210, and the second annular limit groove 210 is located directly above the first annular limit groove 209. By limiting the two ends of the spring 204, the movement trajectory of the spring 204 can be made more accurate to realize the positioning and locking function; it is worth noting that compared with the prior art, this technical scheme only uses one spring 204, its structure is simple, easy to assemble, and easy to maintain in the later stage.

[0050] The lower part of both sides of the tool end body 205 is recessed with a guide groove 211, and the inner side of the guide groove 211 is also recessed with an assembly groove 212, the assembly groove 212 is connected with the activity space 203, and the push rod component 30 is arranged in the assembly groove 212; in the above technical solution, the guide groove 211 is a long strip groove, the guide groove 211 is used in conjunction with the parking bracket 40, the assembly groove 212 is used to install the push rod component 30, and a push rod channel is opened between the assembly groove 212 and the activity space 203, and the assembly groove 212 is connected with the second cavity 203b of the activity space 203.

[0051] The push rod component 30 includes a push rod body 301 and a push rod part 302 arranged at one end thereof, the end of the push rod part 302 extends into the active space 203, and the other end of the push rod body 301 extends to the outside of the quick-change tool end 20; the push rod body 301 is an L-shaped structure, and a guide hole 303 is passed through the middle of the push rod body 301; the bottom of the tool end body 205 is located below the assembly groove 212 and is also penetrated by a locking hole 213, and the limit screw 214 passes through the locking hole 213 and the guide hole 303 to fix the push rod component 30, and the top surface of the assembly groove 212 is concave with a threaded hole, the middle outer wall of the limit screw 214 is smooth, and the top of the limit screw 214 has a thread, and the top of the limit screw 214 is threaded and screwed with the threaded hole; in the above technical solution, the end of the push rod part 302 is triangular or hemispherical, preferably hemispherical, and the The push rod member 302 can move in the push rod channel, and the guide hole 303 is a rectangular through hole with an arc-shaped structure at both ends. Since the limit screw 214 passes through the guide hole 303, the push rod member 302 of the push rod component 30 can only move within a certain stroke, so that the push rod member 302 only contacts the outer wall surface of the piston body 202a during the pushing process; at the same time, as the push rod component 30 is used for a long time to unlock the quick-change robot end 10 and the quick-change tool end 20, it is inevitable that the push rod component 30 will be worn, and if wear occurs, it will cause deviation or failure in the later unlocking. Therefore, the push rod component 30 is fixed by the limit screw 214. When it is found that the push rod component 30 is worn, it is only necessary to remove the limit screw 214 to take out the push rod component 30 and then replace it with a new one, which is very convenient.

[0052] The inner side of the guide groove 211 is further concavely provided with an anti-slip groove 215, which is located below the assembly groove 212, and a partition is provided between the anti-slip groove 215 and the assembly groove 212, and an anti-slip lock buckle 216 is provided in the anti-slip groove 215, which is used to limit the push rod member 30; a guide hole is passed through the partition, and the guide hole is located above the locking hole 213, and the anti-slip groove 215 is fixed with a torsion spring 217 and an anti-slip lock buckle 216 by a limiting screw 214, and the limiting screw 214 passes through the torsion spring, the anti-slip lock buckle 216, the guide hole, and the guide hole 30 in sequence from the locking hole 213. 3 and fixed, the anti-drop lock buckle 216 is a rectangular structure. In the initial state, the anti-drop lock buckle 216 extends to the outside of the anti-drop groove 215 and is located in the guide groove 211. It is worth noting that the height of the top surface of the anti-drop lock buckle 216 is higher than the height of the bottom surface of the vertical end of the push rod body 301, that is, when the quick-change robot end 10 and the quick-change tool end 20 are locked, the push rod member 30 cannot move due to the existence of the anti-drop lock buckle 216; when the quick-change robot end 10 and the quick-change tool end 20 need to be unlocked, it is only necessary to rotate the anti-drop lock buckle 216 so that When the anti-slip lock buckle 216 is rotated into the anti-slip groove 215, the anti-slip lock buckle 216 will not affect the movement of the push rod component 30, and the quick-change robot end 10 and the quick-change tool end 20 can be unlocked by manually moving the push rod component 30; compared with the prior art, the anti-slip lock buckle 216 is set in the anti-slip groove 215 in the guide groove 211. When the quick-change robot end 10 and the quick-change tool end 20 are locked and in use, it is hidden inside and jams the push rod component 30. When a foreign object collides with the push rod component 30, it will not cause the push rod component 30 to move, thereby avoiding This prevents the two from being unlocked and separated during operation; moreover, in the locked state, due to the presence of the torsion spring 217, the torsion spring 217 always keeps the anti-detachment lock buckle 216 in a state of limiting the push rod member 30, that is, the anti-detachment lock buckle 216 extends to the outside of the anti-detachment groove 215 and is located in the guide groove 211. The torsion spring 217 allows the anti-detachment lock buckle 216 to rotate due to its own elastic force, and when unlocking is required, the anti-detachment lock buckle 216 can be rotated into the anti-detachment groove 215; it is worth noting that the torsion spring is a prior art and those skilled in the art can choose it according to actual needs.

[0053] The quick-change robot end 10 includes a robot end body 103, an insertion space 101 is arranged inside the robot end body 103, and a robot end cover 104 is fixed on the top of the robot end body 103; the insertion space 101 includes a buffer cavity 101a and an active cavity 101b that are interconnected, the buffer cavity 101a is located above the active cavity 101b, and the inner diameter of the buffer cavity 101a is larger than the inner diameter of the active cavity 101b; the locking cone 102 is located at the top of the inner wall of the active cavity 101b; in the above technical solution, the insertion space 101 is used for the top of the quick-change tool end 20 to extend into, and is limited by the robot end cover 104. In addition, the robot end cover 10 4 can effectively prevent dust and other workshop impurities from entering the quick-change robot end 10, thereby extending the service life of the quick-change robot end 10 and improving the locking accuracy of the quick-change robot end 10 and the quick-change tool end 20; the inner diameter of the locking cone 102 gradually decreases from top to bottom, that is, the diameter of the top of the locking cone 102 is greater than the diameter of the bottom of the locking cone 102. Since the quick-change robot end 10 and the quick-change tool end 20 are in the locked state, the steel ball 201 is in contact with the locking cone 102. Therefore, the setting of the buffer cavity 101a provides a certain space for the steel ball 201, and the setting of the movable cavity 101b is used for the piston 202 to push the main body 202b to move up and down.

[0054] The parking bracket 40 is also included, and the parking bracket 40 includes: a bracket body 401, which is a U-shaped structure; a loosening locking surface 402, and the inner sides of both ends of the bracket body 401 are provided with a loosening locking surface 402 for controlling the end of the push rod member 30 to move into the activity space 203; the loosening locking surface 402 includes a positioning surface 402a, a pushing inclined surface 402b and a limiting surface 402c arranged in sequence, the positioning surface 402a and the limiting surface 402c are arranged in parallel, the distance between the two positioning surfaces 402a is greater than the distance between the two limiting surfaces 402c, and the distance between the two pushing inclined surfaces 402b gradually decreases from left to right; the supporting member 403, the The bottom of both ends of the bracket body 401 are provided with a support member 403, and the support member 403 is located at the lower end of the loose locking surface 402; in the above technical solution, the parking bracket 40 is an integrated structure, and the support member 403 is a support plate, which mainly plays a supporting effect, and the support member 403 is used to cooperate with the guide groove 211. When it is necessary to rely on the parking bracket 40 to unlock the quick-change robot end 10 and the quick-change tool end 20, the guide groove 211 is docked with the support member 403, and due to the existence of the support member 403, the support member 403 can push the anti-disconnection lock buckle 216 protruding from the outside of the anti-disconnection groove 215 to rotate, so that the anti-disconnection lock buckle 216 rotates to the anti-disconnection groove 215. The release groove 215 eliminates the influence of the anti-disengagement lock buckle 216 on the push rod component 30. At the same time, the support component 403 can also support the quick-change tool end 20 to prevent the quick-change robot end 10 and the quick-change tool end 20 from falling; the setting of the loose locking surface 402 is mainly used for unlocking the quick-change robot end 10 and the quick-change tool end 20. In the locked state, the outermost distance of the two push rod components 30 is equal to the distance between the two positioning surfaces 402a. The setting of the positioning surface 402a is used to position the push rod component 30, and then the robot drives the quick-change robot end 10 and the quick-change tool end 20 to move toward the inside of the parking bracket 40. As it continues to move, it relies on pushing The setting of the inclined surface 402b applies an extrusion force to the push rod member 30, so that the end of the push rod member 30 moves toward the inside of the active space 203. The push rod member 30 applies an upward force to the piston 202, so that the piston 202 moves upward, thereby causing the steel ball 201 to separate from the locking cone 102 due to its own weight, until the steel ball 201 completely separates from the locking cone 102 to separate the quick-change robot end 10 and the quick-change tool end 20. At this time, the outermost side of the push rod member 30 contacts the limiting surface 402c. The setting of the limiting surface 402c can keep the two in an unlocked state at all times, and the robot can drive the quick-change robot end 10 to separate from the quick-change tool end 20;When the two need to be locked, the robot drives the quick-change robot end 10 to be placed on the upper end of the quick-change tool end 20 and applies downward pressure, and then the robot drives the two to move toward the outside of the parking bracket 40. Since the spring 204 is constantly applying a longitudinal force to the piston 202, as the two continue to move outward, the end of the push rod member 30 will slowly move outward (that is, the force applied by the push rod member 30 to the piston 202 is continuously reduced, so that the piston 202 applies pressure to the steel ball 201 so that the steel ball 201 gradually contacts the locking cone surface). When the push rod member 30 contacts the positioning surface 402a, the piston 202 controls the steel ball 201 to abut against the locking cone surface 102. At this time, the two are in a locked state. When the quick-change tool end 20 is away from the parking bracket 40, due to the presence of the torsion spring, the anti-disengagement lock buckle 21 will return to its initial position, rotate to the outside of the anti-disengagement groove 215 and locate in the guide groove 211, thereby limiting the push rod member 30.

[0055] The present invention can achieve unlocking through the parking bracket 40 or without relying on the parking bracket 40, which is more flexible than the existing technology.

[0056] See Figure 9 and Figure 10 As shown, a rotatable zero-point limit buckle 404 is also provided on the inner side of the bracket body 401. The zero-point limit buckle is used for the robot to determine the unlocking zero point position. When debugging the robot for the first time, open the limit buckle, determine the unlocking position of the quick-change device, that is, the grasping and releasing point of the robot, put the tool end in this position, and then fit the robot end and the tool end.

[0057] See Figure 5 and Figure 6 As shown, in order to facilitate more precise docking of the quick-change robot end 10 and the quick-change tool end 20, two positioning pins are provided at the lower end of the quick-change robot end 10, and positioning pin sleeves are provided at corresponding positions of the quick-change tool end 20.

[0058] The above are only preferred specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with this technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solutions and inventive concepts of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A passive quick-change device at the end of a robot, characterized in that: include: A quick-change robot end (10) is provided with an insertion space (101) for inserting a quick-change tool end (20), and a locking cone surface (102) is provided inside the insertion space (101); The quick-change tool end (20) has a plurality of steel balls (201) on the top thereof that match the locking cone surface (102). An activity space (203) is provided inside the quick-change tool end (20) for the piston (202) to move up and down. A spring (204) is provided inside the activity space (203) and the spring (204) is sleeved on the outside of the piston (202). When the piston (202) controls the steel balls (201) to move outward and abut against the locking cone surface (102), the spring applies a longitudinal locking force to the piston (202) so that the quick-change robot end (10) and the quick-change tool end (20) are locked. The push rod components (30) are a pair and are respectively located on both sides of the quick-change tool end (20). The ends of the push rod components (30) can extend into the activity space (203). The push rod components (30) are used to push the piston (202) to move upward so that the quick-change robot end and the quick-change tool end (20) are unlocked.

2. A robot end passive quick change device according to claim 1, characterized in that: The piston (202) comprises a piston body (202a) and a pushing body (202b) arranged at the upper end thereof. The outer wall of the piston body (202a) has a pushing cone surface; the upper ring of the pushing body (202b) is provided with a buffer groove (202c).

3. A robot end passive quick change device according to claim 2, characterized in that: The quick-change tool end (20) comprises a tool end body (205), an activity space (203) is arranged inside the tool end body (205), and a locking member (206) with an annular structure protrudes from the top of the tool end body (205); a plurality of locking holes (207) are evenly arranged on the outer wall of the locking member (206), and a steel ball (201) is arranged in the locking hole (207); a tool end cover (208) is fixed to the bottom of the tool end body (205), and the tool end cover (208) is used to close the bottom of the activity space (203).

4. A robot end passive quick change device according to claim 3, characterized in that: The interior of the tool end body (205) includes a first cavity (203a) and a second cavity (203b) from top to bottom. The first cavity (203a) is inside the locking member (206). The inner diameter of the first cavity (203a) is smaller than the inner diameter of the second cavity (203b). The first cavity (203a) and the second cavity (203b) constitute a movable space (203) for the piston (202) to move up and down; the piston body (202a) can move up and down in the second cavity (203b), and the pushing body (202b) can move up and down in the first cavity (203a) and the second cavity (203b).

5. A robot end passive quick change device according to claim 4, characterized in that: The top surface of the piston body (202a) is also concavely provided with a first annular limiting groove (209), and the first annular limiting groove (209) is located on the outside of the pushing body (202b); the inner top surface of the second cavity (203a) is also concavely provided with a second annular limiting groove (210); the spring (204) is sleeved on the outside of the pushing body (202b), and the two ends of the spring (204) are respectively in contact with the first annular limiting groove (209) and the second annular limiting groove (210).

6. A robot end passive quick change device according to any one of claims 3 to 5, characterized in that: The lower parts of both sides of the tool end body (205) are recessed with guide grooves (211), and the inner sides of the guide grooves (211) are also recessed with assembly grooves (212). The assembly grooves (212) are connected to the activity space (203), and the push rod member (30) is arranged in the assembly grooves (212).

7. A robot end passive quick change device according to claim 6, characterized in that: The push rod component (30) comprises a push rod body (301) and a push rod component (302) arranged at one end thereof, the end of the push rod component (302) extends into the activity space (203), and the other end of the push rod body (301) extends to the outside of the quick-change tool end (20); the push rod body (301) is an L-shaped structure, and a guide hole (303) passes through the middle of the push rod body (301); the bottom of the tool end body (205) is located below the assembly groove (212) and is also penetrated by a locking hole (213), and a limit screw (214) passes through the locking hole (213) and the guide hole (303) to fix the push rod component (30).

8. The passive quick-change device at the end of a robot according to claim 7, characterized in that: An anti-slip groove (215) is also concavely provided on the inner side of the guide groove (211), the anti-slip groove (215) is located below the assembly groove (212), a partition is provided between the anti-slip groove (215) and the assembly groove (212), an anti-slip lock buckle (216) is provided in the anti-slip groove (215), and the anti-slip lock buckle (216) is used to limit the push rod component (30).

9. The passive quick-change device at the end of a robot according to claim 1, characterized in that: The quick-change robot end (10) comprises a robot end body (103), an insertion space (101) is arranged inside the robot end body (103), and a robot end cover (104) is fixed on the top of the robot end body (103); the insertion space (101) comprises a buffer cavity (101a) and an active cavity (101b) which are interconnected, the buffer cavity (101a) is located above the active cavity (101b), and the inner diameter of the buffer cavity (101a) is larger than the inner diameter of the active cavity (101b); and the locking cone surface (102) is located at the top of the inner wall of the active cavity (101b).

10. The passive quick-change device at the end of a robot according to claim 1, characterized in that: It also includes a parking bracket (40), wherein the parking bracket (40) includes: The support body (401) is in a U-shaped structure; A loosening locking surface (402), wherein the inner sides of both ends of the bracket body (401) are provided with a loosening locking surface (402) for controlling the end of the push rod member (30) to move into the activity space (203); Support components (403), the bottoms of both ends of the bracket body (401) are provided with support components (403), and the support components (403) are located at the lower end of the loosening locking surface (402).

Images