Electric quick-changing device and mounting method thereof

Abstract

The invention discloses an electric quick-changing device and an installation method thereof. The electric quick-changing device comprises a male disc, a female disc and an electric locking device. The electric locking device is arranged in the male disc, and the electric locking device is matched with the female disc through rotation; the male disc is fixedly connected with at least one positioning pile, positioning grooves corresponding to the positioning piles in number are formed in the female disc, and the positioning grooves are matched with the positioning piles; wherein the depth of the section of the positioning pile is arranged in the circumferential direction of the electric locking device, and the width of the section of the positioning pile is arranged in the radial direction of the electric locking device; the depth size of the section of the gauge pile is h, the width size of the section of the gauge pile is b, and h / bgt; 1. According to the technical scheme, the radial load of the electric quick change and the reliability of the electric quick change are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robot arms, and in particular to an electric quick changer for a robot arm and a mounting method thereof. Background Art

[0002] Quick change refers to a quick changer, and the present invention mainly relates to an electrically driven quick change device. Usually, the end effector and the robot arm are rigidly connected by bolts. As a result, a robot arm cannot automatically complete the replacement of the end effector without human intervention, and can only use one end effector to achieve limited work, which to some extent limits the use scenarios and convenience of the robot arm.

[0003] In recent years, technicians in this field have proposed the concept of quick-change, which is to enable the robot arm to quickly replace the end effector without human intervention to achieve more complex and sophisticated production operations. In the prior art, there is a quick-change structure that uses an air pump to achieve automatic unlocking and locking, but the air pump-driven quick-change often requires an air pump to be connected to provide high-pressure gas in real time. However, this is inconsistent with the current demand for lightweight design, flexible production, and fast switching of collaborative robot arms. In addition, the existing quick-change has a large mass, a small radial load, and low reliability, which is not conducive to the flexible operation of the robot arm in multiple scenarios. Summary of the invention

[0004] The object of the present invention is to provide an electric quick change and an installation method thereof, aiming to improve the radial load of the electric quick change and the reliability of the electric quick change.

[0005] To achieve this object, the present invention adopts the following technical solutions: An electric quick change, comprising a male disc, a female disc and an electric locking device; The electric locking device is built into the male disk, and the electric locking device cooperates with the female disk by rotating; The male disc is fixedly connected with at least one positioning pile, and the female disc is formed with positioning grooves corresponding to the number of the positioning piles, and the positioning grooves cooperate with the positioning piles; Among them, the cross-sectional depth of the positioning pile is set along the circumferential direction of the electric locking device, and the cross-sectional width of the positioning pile is set along the radial direction of the electric locking device; the cross-sectional depth dimension of the positioning pile is h, and the cross-sectional width dimension of the positioning pile is b, wherein h / b>1.

[0006] In one embodiment, there are multiple positioning piles, and the multiple positioning piles are arranged at intervals around the electric locking device.

[0007] In one embodiment, at least two of the positioning piles are asymmetrical or non-centrosymmetrical in shape.

[0008] In one embodiment, the cross-sectional area of ​​the positioning piles gradually decreases toward the master disc.

[0009] In one embodiment, the electric locking device includes a rotor, a motor, and a plurality of spherical locking members; The male disk is fixedly provided with a cylindrical protrusion, and the cylindrical protrusion is formed with through holes corresponding to the number of the spherical locking members; The rotor is formed with spherical grooves corresponding to the number of the spherical locking members, and the spherical grooves are used to accommodate the spherical locking members; The motor is fixed to the public plate and is used to drive the rotor to rotate; In the locked state, the spherical locking member abuts against the outer surface of the rotor, so that the spherical locking member protrudes out of the through hole and cooperates with the inner wall of the master disc; In the unlocked state, the spherical groove is located in the moving direction of the spherical locking member. When the spherical locking member is subjected to a force moving away from the master disk, the spherical locking member can enter the spherical groove again to detach from the master disk.

[0010] In one embodiment, the rotor is further formed with an annular groove, a plurality of the spherical grooves are arranged in the annular groove, and a depth of the annular groove is smaller than a depth of the spherical groove.

[0011] In one embodiment, the rotor includes a first rotating member, a second rotating member and a locking screw which are formed separately and can rotate synchronously. The locking screw passes through the first rotating member and the second rotating member in sequence, and is thread-locked with the motor output shaft; the motor output shaft is meshed with the second rotating member; The first rotating member and the second rotating member respectively have a part of a spherical groove structure and a part of an annular groove structure, and the spherical groove and the annular groove can be formed at the connection between the first rotating member and the second rotating member.

[0012] In one embodiment, the second rotating member is provided with a first limiting member, the first rotating member is formed with a first limiting groove, and the first limiting member cooperates with the first limiting groove.

[0013] In one embodiment, the electric locking structure further includes a bearing; a bearing seat is formed at the opening of the cylindrical protrusion, and the bearing is installed on the bearing seat; the first rotating member cooperates with the cylindrical protrusion through the bearing.

[0014] In one embodiment, the electric locking structure further includes a mounting bracket; The mounting frame is fixedly connected to the motor, and a plurality of second limiting members are formed on the mounting frame. Second limiting grooves corresponding to the number of the second limiting members are formed on the inner side of the cylindrical protrusion, and the second limiting members can be inserted into the second limiting grooves in the axial direction of the motor to fix the motor in the rotation direction of the motor.

[0015] In one embodiment, the mother disk is provided with a probe, and the male disk is provided with a probe base, and the probe cooperates with the probe base to perform signal transmission.

[0016] In one embodiment, the electric locking device further includes a circuit board with an active computing control unit, the motor is a bus servo, and the circuit board is signal-connected to the bus servo.

[0017] In one embodiment, the electric locking device further comprises a button, which is connected to the circuit board signal and is used to control the motion state of the bus servo.

[0018] In one embodiment, a large model algorithm is also connected in series in the circuit board, and an operator can control the electric quick change or the end effector connected to the public disk by inputting natural language on the host computer.

[0019] In one embodiment, the public disk is also provided with an aviation plug, and the aviation plug is used to connect to a host computer.

[0020] The present invention further provides an installation method of an electric quick changer, which is applied to the electric quick changer as described above. The installation method of the electric quick changer comprises the following steps: S1, installing the first rotating member inside the cylindrical protrusion so that a portion of the spherical groove structure on the first rotating member is close to the via hole; S2, placing the plurality of spherical locking members respectively in the through hole and a portion of the spherical groove structure on the first rotating member; S3, setting the first limiting member in the first limiting groove, forming the spherical groove and the annular groove at the connection between the first rotating member and the second rotating member, and the spherical locking member can be accommodated in the spherical groove; S4, fixing the mounting bracket to the motor, inserting the second limiting member into the second limiting groove, and allowing the motor output shaft to pass through the mounting bracket and engage with the second rotating member; S5. Pass the locking screw through the first rotating member and the second rotating member in sequence to be threadedly connected to the motor output shaft.

[0021] Further, the electric locking device comprises a bearing, and a bearing seat is formed at the opening of the cylindrical protrusion; Before the step of installing the first rotating member inside the cylindrical protrusion, the step further includes: The bearing is mounted on the bearing seat so that the first rotating member cooperates with the cylindrical protrusion through the bearing.

[0022] Compared with the prior art, the present invention has the following beneficial effects: The electric quick change in the technical solution of the present invention enhances the shear resistance of the electric locking device by setting positioning grooves and positioning piles. Specifically, the positioning piles fixedly connected on the male disk cooperate with the positioning grooves on the female disk to form a stable mechanical connection; and this cooperation method ensures that the male disk and the female disk can be accurately aligned after connection, reducing the looseness and misalignment of the connection. More specifically, the cross-sectional depth of the positioning pile is set along the circumferential direction of the electric locking device, and the cross-sectional width is set along the radial direction of the electric locking device. The cross-sectional depth h is greater than the cross-sectional width b, that is, h / b>1. This design makes the positioning pile thicker when bearing the material size of the electric locking device along the cross-sectional depth direction, and the corresponding shear force that can be borne is greater, thereby effectively increasing the radial load borne by the positioning pile and improving reliability.

[0023] It can also be understood that the above-mentioned positioning pile structure is arranged to reduce the cross-sectional size under the premise of increasing its radial load, so as to avoid adding extra weight to the male disc and improve the working flexibility of the end effector.

[0024] It can also be understood that when the electric locking device is working, the radial shear force mainly borne by the positioning pile is formed by the electric locking device itself, and the direction of the shear force surrounds the circumference of the rotating shaft of the electric locking device. Therefore, the cross-sectional depth of the positioning pile is set along the circumference of the electric locking device, and the cross-sectional depth h is greater than the cross-sectional width b, which can significantly improve the shear resistance of the electric quick change. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0026] The structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with this technology. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantive technical significance. Any structural modification, change in proportion or adjustment of size, without affecting the effects and purposes that can be achieved by the present invention, should still fall within the scope of the technical contents disclosed by the present invention.

[0027] Figure 1 It is a structural schematic diagram of an embodiment of an electric quick-change according to the present invention; Figure 2 A three-dimensional diagram of an embodiment of a male plate and an electric locking device in the present invention; Figure 3 for Figure 2 A top view of Figure 4 It is a cross-sectional view of the locked state of the electric locking device in the present invention; Figure 5 It is a cross-sectional view of the unlocked state of the electric locking device of the present invention; Figure 6 for Figure 5 A magnified view of part A in FIG. Figure 7 is an exploded view of the electric locking device of the present invention; Figure 8 A three-dimensional diagram of an embodiment of a public plate in the present invention; Fig. 9 A three-dimensional diagram of an embodiment of a master disc in the present invention; Fig.10 is a cross-sectional view of an embodiment of a master disc in the present invention; Illustration: 100, electric quick change; 110, male plate; 112, positioning pile; 113, cylindrical protrusion; 113a, through hole; 113b, bearing seat; 113c, second limiting groove; 113e, second matching groove; 114. Probe base; 120, mother disc; 120a, positioning groove; 121, probe; 122, first matching groove; 130, electric locking device; 131, rotor; 1311, first rotating member; 1311a, first limiting groove; 1312, second rotating member; 1312a, first limiting member; 1313, locking screw; 131a, spherical groove; 131b, annular groove; 132, motor; 133, spherical locking member; 1331, positioning member; 134, bearing; 135, mounting frame; 1351, second stopper; 1352, solenoid coil; 136, circuit board; 137, button; ω1, circumferential direction of the electric locking device; r, radial direction of the electric locking device. DETAILED DESCRIPTION

[0028] In order to make the technical purpose, features and advantages of the present invention more obvious and easy to understand, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] In the description of the present invention, it should be understood that the terms "upper", "lower", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and 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 orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. It should be noted that when a component is considered to be "connected" to another component, it may be directly connected to the other component or there may be a centrally arranged component at the same time.

[0030] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0031] An embodiment of the present invention provides an electric quick change 100 .

[0032] See also Figures 1 to 10 , in one embodiment of the present invention, the electric quick change 100 comprises a male disk 110, a female disk 120 and an electric locking device 130; The electric locking device 130 is built into the male disk 110, and the electric locking device 130 cooperates with the female disk 120 by rotating; The male plate 110 is fixedly connected with at least one positioning pile 112, and the female plate 120 is formed with positioning grooves 120a corresponding to the number of the positioning piles 112, and the positioning grooves 120a cooperate with the positioning piles 112; Among them, the cross-sectional depth of the positioning pile 112 is set along the circumferential direction ω1 of the electric locking device, and the cross-sectional width of the positioning pile 112 is set along the radial direction r of the electric locking device; the cross-sectional depth dimension of the positioning pile 112 is h, and the cross-sectional width dimension of the positioning pile 112 is b, wherein h / b>1.

[0033] Specifically, the electric quick change 100 is used to connect a robot arm and an end effector. The robot arm can be a six-axis robot arm or a four-axis robot arm, or can be the arm of a humanoid robot. The end effector can be a mechanical dexterous hand, a vacuum suction cup, a mechanical clamp, a drilling tool, etc. Usually, the robot arm, the male disk 110 is fixedly connected to the robot arm, and the female disk 120 is fixedly connected to the end effector. When performing a quick change of the end effector, a plurality of the end effectors are connected to the female disk 120. The male disk 110 can cooperate with the female disk 120 under the drive of the robot arm.

[0034] It can be understood that the electric quick change 100 in the technical solution of the present invention enhances the shear resistance of the electric locking device 130 by setting the positioning groove 120a and the positioning pile 112. Specifically, the positioning pile 112 fixedly connected on the male disk 110 cooperates with the positioning groove 120a on the female disk 120 to form a stable mechanical connection; and this matching method ensures that the male disk 110 and the female disk 120 can be accurately aligned after connection, reducing the looseness and misalignment of the connection. More specifically, the cross-sectional depth of the positioning pile 112 is set along the circumferential direction ω1 of the electric locking device, and the cross-sectional width is set along the radial direction r of the electric locking device. Its cross-sectional depth h is greater than the cross-sectional width b, that is, h / b>1. This design makes the positioning pile 112 thicker in the material size of the electric locking device 130 along the cross-sectional depth direction, and the corresponding shear force that can be borne is greater, thereby effectively increasing the radial load borne by the positioning pile 112 and improving reliability.

[0035] It can also be understood that the structural arrangement of the positioning pile 112 reduces the cross-sectional size while increasing its radial load, so as to avoid adding extra weight to the male disc 110 and improve the working flexibility of the end effector.

[0036] It can also be understood that when the electric locking device 130 is working, the radial shear force mainly borne by the positioning pile 112 is formed by the electric locking device 130 itself, and the direction of the shear force surrounds the circumference of the rotating shaft of the electric locking device 130. Therefore, the cross-sectional depth of the positioning pile 112 is set along the circumferential direction ω1 of the electric locking device, and the cross-sectional depth h is greater than the cross-sectional width b, which can significantly improve the shear resistance of the electric quick change 100.

[0037] Furthermore, when the male plate 110 is connected to an end effector capable of providing steering force, the rotating part of the end effector is usually coaxially arranged with the electric locking device 130 to improve the stability of the system and maximize the advantages of the structural arrangement of the positioning pile 112.

[0038] It can also be understood that in order to ensure the strength of the positioning groove 120a on the mother disk 120 and make the male disk 110 have better shear resistance, the cross-sectional depth h of the positioning pile 112 / the cross-sectional width b of the positioning pile 112>k, where 2≤k≤5.

[0039] Specifically, Figure 2 and Figure 3 As shown, there are multiple positioning piles 112 , and the multiple positioning piles 112 are arranged at intervals around the electric locking device 130 .

[0040] It can be understood that the surrounding and spaced-apart arrangement of multiple positioning piles 112 can disperse the circumferential stress borne by the electric quick change 100, reduce the radial stress borne by each positioning pile 112, reduce the risk of deformation, and enhance the overall shear resistance and deformation resistance of the electric quick change 100 structure.

[0041] Furthermore, the cross-sectional area of ​​the positioning pile 112 gradually decreases toward the direction of the master plate 120. It is understandable that when the cross-sectional area of ​​the positioning pile 112 is gradually reduced toward the direction of the master plate 120, the positioning pile 112 can avoid damage from the root on the one hand, and on the other hand, the anti-deformation ability of the positioning pile 112 is improved while reducing its own weight. It is also understandable that the structural setting of the positioning pile 112 can also reduce the friction with the positioning groove 120a, and improve the reliability of the unlocking process.

[0042] Optionally, in the technology of the above embodiment, the internal space of the positioning groove 120 a is similar to the appearance of the positioning pile 112 , thereby further improving the shear resistance of the electric quick change 100 .

[0043] Furthermore, in order to ensure mechanical foolproofing, the shapes of at least two of the positioning piles 112 are asymmetrical or non-centrosymmetrical.

[0044] Specifically, Figure 3 As shown, the cross-sectional areas of at least two of the plurality of positioning piles are significantly different, so that the plurality of positioning piles are arranged asymmetrically or non-centrosymmetrically. It is understandable that the arrangement of the positioning piles can avoid wrong or reverse insertion into the positioning slot, thereby causing the signal to fail to connect or the robot arm to control incorrectly.

[0045] It should also be noted that the electric locking device 130 can be any embodiment of the prior art, and its purpose is to achieve axial limitation of the male disk 110 and the female disk 120 by rotation.

[0046] It is also necessary to state that Figure 2 and Figure 3As shown, the circumferential direction ω1 of the electric locking device mainly refers to the direction that is the same as or opposite to the rotation direction of the rotating shaft of the electric locking device 130. The radial direction r of the electric locking device specifically refers to the radial direction of the plane where the rotation direction of the electric locking device 130 is located. It can be understood that the radial direction of the plane where the rotation direction of the electric locking device 130 is located has multiple radial directions that are scattered 360° around the axial direction of the electric locking device 130. Figure 2 and Figure 3 Only the radial r direction of one electric locking device is shown.

[0047] See also Figures 1 to 10 , in a specific embodiment of the present invention, the electric locking device 130 includes a rotor 131, a motor 132 and a plurality of spherical locking members 133; The male plate 110 is fixedly provided with a cylindrical protrusion 113, and the cylindrical protrusion 113 is formed with through holes 113a corresponding to the number of the spherical locking members 133; The rotor 131 is formed with spherical grooves 131 a corresponding to the number of the spherical locking members 133 , and the spherical grooves 131 a are used to accommodate the spherical locking members 133 ; The motor 132 is fixed to the public disk 110 and is used to drive the rotor 131 to rotate; In the locked state, the spherical locking member 133 is in abutment with the outer surface of the rotor 131 , so that the spherical locking member 133 protrudes out of the through hole 113 a and is in engagement with the inner wall of the master disc 120 ; In the unlocked state, the spherical groove 131 a is located in the moving direction of the spherical locking member 133 . When the spherical locking member 133 is subjected to a force moving away from the mother disk 120 , the spherical locking member 133 can re-enter the spherical groove 131 a to disengage from the mother disk 120 .

[0048] It is understandable that the force acting on the spherical locking member 133 away from the female disk 120 is usually a force without human intervention. Specifically, the force comes from the gravity of the spherical locking member 133 or the male disk 110 itself, or when the spherical locking member 133 is made of magnetic material, the force comes from the magnetic attraction generated by the rotor 131.

[0049] Optionally, the acting force may also come from the acting force on the spherical locking member 133 when the robot arm drives the master disc 120 to move.

[0050] Optionally, the type of the motor 132 may be a stepper motor 132 with a driver, a servo motor 132 with an encoder, a bus servo, or a single bus servo.

[0051] It can be understood that when the motor 132 is a bus servo or a single bus servo, the net weight of the electric quick change 100 is only 600 grams, and the total length of the public plate 110 can be within 45mm, thereby avoiding the length redundancy of the robot arm and improving the dexterity of the robot arm operation.

[0052] When the motor 132 is a single-bus servo, the host computer can control the motor 132 independently, thereby improving the flexibility of the locking control of the electric quick change 100.

[0053] Specifically, Fig. 9 and Fig.10 As shown, when the spherical locking piece 133 protrudes out of the through hole 113a and cooperates with the inner wall of the mother disk 120, the mother disk is formed with a groove that cooperates with the cylindrical protrusion, and a first matching groove 122 is formed in the groove, and the first matching groove 122 cooperates with the spherical locking piece 133.

[0054] Furthermore, in order to improve the reliability of the electric quick change 100 and reduce the friction between the spherical locking member 133, the through hole 113a and the rotor 131, the spherical locking member 133 is a steel ball. Preferably, in order to avoid the steel ball from being lost, the diameter of the steel ball is smaller than the aperture of the through hole 113a.

[0055] Optionally, a magnetic member is disposed in the spherical groove 131 a of the rotor 131 , and when the rotor 131 rotates to drive the spherical groove 131 a to approach the steel ball, the steel ball can be adsorbed, thereby achieving all-round unlocking of the electric quick change.

[0056] For further information, see Figure 4 and Figure 6 The rotor 131 is further formed with an annular groove 131b, and a plurality of spherical grooves 131a are arranged in the annular groove 131b, and the depth of the annular groove 131b is smaller than the depth of the spherical groove 131a.

[0057] It can be understood that the provision of the annular groove 131 b provides a stable moving direction for the spherical locking member 133 , so that the spherical locking member 133 can operate stably in any locking or unlocking cycle.

[0058] Furthermore, in order to improve the reliability of the rotor 131, the annular groove 131b and the spherical groove 131a are connected by a transition curved surface.

[0059] Furthermore, in a specific embodiment, in order to simplify the assembly of the locking device, the rotor 131 includes a first rotating member 1311, a second rotating member 1312 and a locking screw 1313 which are formed separately and can rotate synchronously. The locking screw 1313 passes through the first rotating member 1311 and the second rotating member 1312 in sequence, and is thread-locked with the output shaft of the motor 132; the output shaft of the motor 132 is meshed with the second rotating member 1312; The first rotating member 1311 and the second rotating member 1312 respectively have a part of a spherical groove 131a structure and a part of an annular groove 131b structure. The spherical groove 131a and the annular groove 131b can be formed at the connection between the first rotating member 1311 and the second rotating member 1312.

[0060] Further, the second rotating member 1312 is provided with a first limiting member 1312a, the first rotating member 1311 is formed with a first limiting groove 1311a, and the first limiting member 1312a cooperates with the first limiting groove 1311a.

[0061] Optionally, there are multiple first limiting members 1312 a, and the multiple limiting members can further improve the stability of the connection between the second rotating member 1312 and the first rotating member 1311 .

[0062] See also Figure 2 , Figure 5 and Figure 6 In one embodiment, in order to further improve the reliability of the electric quick change 100, the electric locking structure further includes a bearing 134; a bearing 134 seat 113b is formed at the opening of the cylindrical protrusion 113, and the bearing 134 is installed on the bearing 134 seat 113b; the first rotating member 1311 cooperates with the cylindrical protrusion 113 through the bearing 134. It can be understood that the provision of the bearing 134 reduces the friction between the first rotating member 1311 and the cylindrical protrusion 113, and ensures the reliability of the rotation of the first rotating member 1311.

[0063] See also Figure 5 , Figure 6 , Figure 7 and Figure 8 , in a specific embodiment, the electric locking structure further includes a mounting frame; The mounting bracket 135 is fixedly connected to the motor 132, and a plurality of second limiting members 1351 are formed on the mounting bracket 135. The inner side of the cylindrical protrusion 113 is formed with second limiting grooves 113c corresponding to the number of the second limiting members 1351. The second limiting members 1351 can be inserted into the second limiting grooves 113c in the axial direction of the motor 132 to fix the motor 132 in the rotation direction of the motor 132.

[0064] It can be understood that the provision of the second limiting member 1351 enables the motor 132 to be axially limited relative to the cylindrical protrusion 113, thereby improving the reliability of system connection and assembly.

[0065] See also Figure 6 , Figure 7 and Figure 8 In a preferred embodiment, the through hole 113a and the second limiting groove 113c are arranged correspondingly. Figure 5 As shown, in the locked state, the spherical locking member 133 is located directly above the second limiting member 1351; Figure 6 and Figure 7 As shown, in the unlocked state, the spherical locking member 133 is located above the second limiting member 1351 and is offset toward the rotor 131. The second limiting member 1351 can play a role in supporting the spherical locking member 133.

[0066] Furthermore, the spherical locking member 133 is a magnetic bead, and a solenoid 1352 is provided in the second limiting member 1351. When the spherical locking member 133 is in an unlocked state, the solenoid 1352 is energized, and the second limiting member 1351 can attract the spherical locking member 133 to move, thereby improving the reliability of the electric quick change 100.

[0067] Optionally, the solenoid coil 1352 is energized throughout the entire locking state. When the spherical locking member 133 needs to be unlocked, on the one hand, the solenoid coil 1352 needs to be de-energized, and on the other hand, the rotation angle of the rotor needs to be adjusted, thereby providing double insurance for the unlocking process of the spherical locking member 133, thereby improving the safety of the electric quick change 100.

[0068] Specifically, when the solenoid 1352 can generate a large magnetism, the solenoid 1352 can also be set to unlock and lock the spherical locking member 133 separately; so that when the motor 132 has a delayed reaction or is out of control, the solenoid 1352 can be powered on to make the spherical locking member 133 disengage from the spherical groove 131a, and the solenoid 1352 can be powered off to make the spherical locking member 133 approach the spherical groove 131a under the action of other external forces. This reduces the complete dependence on the control of the motor 132 and improves the reliability and fault tolerance of the electric quick change 100.

[0069] In a specific embodiment, Figure 6As shown, the spherical locking member 133 is also provided with a positioning member 1331, and the cylindrical protrusion 113 is formed with a second matching groove 113e, and the positioning member 1331 can slide and rotate in the second matching groove 113e; specifically, the positioning member 1331 and the second matching groove 113e slide in a direction close to or away from the through hole 113a, and the positioning member 1331 can rotate relative to the second matching groove 113e when matching with the rotor 131, so as to reduce the surface wear of the spherical locking member 133.

[0070] Specifically, the setting of the positioning member 1331 can prevent the spherical locking member 133 from rotating relative to the magnetic field direction of the spiral coil 1352, thereby improving and ensuring the magnetic force and magnetic attraction effect between the spherical locking member 133 and the second limiting member 1351.

[0071] Furthermore, if Figure 2 and Fig. 9 As shown, the female disk 120 is provided with a probe 121, and the male disk 110 is provided with a probe 121 base 114. The probe 121 cooperates with the probe 121 base 114 to perform signal transmission or signal feedback.

[0072] It is understandable that the probe 121 and the probe 121 base 114 are usually provided to provide feedback signals to the motor 132. Specifically, when the probe 121 is connected to the probe 121 base 114, the motor 132 works to put the electric quick change 100 into a locked state.

[0073] Furthermore, the electric locking device 130 also includes a circuit board with an active computing control unit, the motor 132 is a bus servo, and the circuit board is connected to the bus servo signal.

[0074] It is understandable that the circuit board and the bus servo can be independently controlled by the host computer. The circuit board is provided with an active operation control unit, so that the electric quick change 100 can be autonomously controlled under certain conditions. This gets rid of the limitation of requiring the host computer to input command signals.

[0075] Specifically, a temperature sensor may be provided in the electric quick change 100 , and when the operating temperature is too high, a signal is transmitted through an active operation control unit to control the operating state of the electric quick change 100 .

[0076] For further information, see Figure 1 and Figure 2 The electric locking device 130 also includes a button, which is connected to the circuit board signal and is used to control the movement state of the bus servo.

[0077] Specifically, the button is externally disposed on the side of the male plate 110 . It can be understood that the provision of the button expands the unlocking method of the electric quick change 100 .

[0078] In a specific embodiment, in order to avoid accidental touches, the number of the buttons is two, and the electric quick changer 100 can be unlocked only when the two buttons are pressed simultaneously.

[0079] Furthermore, the male disk 110 is also provided with an aviation plug, which is used to connect to a host computer. The female disk 120 is also provided with an aviation plug, which is used to connect to an end effector.

[0080] Furthermore, a large model algorithm is connected in series in the circuit board. The operator inputs natural language on the host computer, and the end effector of the robotic arm performs real-time inference on the data collected by the sensor, and the large model algorithm on the host computer generates control instructions for the end effector.

[0081] For example, through visual recognition, the position and posture of the target object can be determined, so that the output structure of the large model algorithm is converted into the motion specifications of the robot arm (such as angle and speed, etc.), and the generated control instructions are sent to the control device of the end effector to perform the corresponding actions.

[0082] Specifically, when the end effector is a mechanical dexterous hand, after the natural language "Please take an apple" is input into the host computer, the natural language is processed by the large model algorithm to generate specific control instructions, such as: adjust joint 1 to 20 degrees, adjust joint 3 to 15 degrees, and the force does not exceed 20 Newtons.

[0083] Specifically, the specific way in which the large model algorithm processes the natural language also includes data collection by the end effector when performing different tasks, and model training on the collected execution data.

[0084] In some embodiments, the male plate 110 is further provided with a light strip, which can emit light of different colors and frequencies to correspond to the working state of the robot arm or the end effector or the electric quick changer 100 .

[0085] The technical solution of the present invention further proposes an installation method of the electric quick change 100 , aiming to improve the reliability of the electric quick change 100 .

[0086] The electric quick changer 100 includes a male disk 110, a female disk 120 and an electric locking device 130; The male plate 110 is fixedly connected with at least one positioning pile 112 and is provided with a cylindrical protrusion 113, and the cylindrical protrusion 113 is formed with through holes 113a corresponding to the number of the spherical locking members 133; The master disc 120 is formed with positioning grooves 120a corresponding to the number of the positioning piles 112 and an inner wall that cooperates with the spherical locking member 133; The electric locking device 130 includes a first rotating member 1311, a second rotating member 1312, a locking screw 1313, a motor 132, a mounting frame and a plurality of spherical locking members 133; the first rotating member 1311 and the second rotating member 1312 respectively have a part of a spherical groove 131a structure and a part of an annular groove 131b structure, and the spherical groove 131a and the annular groove 131b can be formed at the connection between the first rotating member 1311 and the second rotating member 1312; the second rotating member 1312 is provided with a first limiting member 1312a, and the first rotating member 1311 is formed with a first limiting groove 1311a. The mounting frame is formed with a plurality of second limiting members, and the inner side of the cylindrical protrusion 113 is formed with second limiting grooves 113c corresponding to the number of the second limiting members; The installation method of the electric quick change device 100 includes the following steps: S1. Install the first rotating member 1311 inside the cylindrical protrusion 113 so that a portion of the spherical groove 131a structure on the first rotating member 1311 is close to the through hole 113a; S2, placing the plurality of spherical locking members 133 respectively in the structure of the through hole 113a and a portion of the spherical groove 131a on the first rotating member 1311; S3, setting the first limiting member 1312a in the first limiting groove 1311a, forming the spherical groove 131a and the annular groove 131b at the connection between the first rotating member 1311 and the second rotating member 1312, and the spherical locking member 133 can be received in the spherical groove 131a; S4, fixing the mounting bracket to the motor 132, inserting the second limiting member into the second limiting groove 113c, and allowing the output shaft of the motor 132 to pass through the mounting bracket and engage with the second rotating member 1312; S5. Pass the locking screw 1313 through the first rotating member 1311 and the second rotating member 1312 in sequence, and threadably connect the locking screw 1313 to the output shaft of the motor 132 .

[0087] Further, the electric locking device 130 includes a bearing 134, and a bearing 134 seat 113b is formed at the opening of the cylindrical protrusion 113; Before the step of installing the first rotating member 1311 inside the cylindrical protrusion 113, the step further includes: S0. Install the bearing 134 on the bearing 134 seat 113 b so that the first rotating member 1311 cooperates with the cylindrical protrusion 113 through the bearing 134.

[0088] It can be understood that the installation of the bearing 134 can further improve the reliability of the electric quick change 100 .

[0089] In summary, in order to further clearly illustrate the specific purpose of the electric quick changer 100 of the present invention, this embodiment further provides an operating method of the electric quick changer 100, and the operating method includes the following steps: D1, setting the male disk 110 connected to the first end effector at the preset position 1, and setting the male disk 110 connected to the second end effector at the preset position 2; D2, the host computer controls the robot arm to move the mother disk 120 to the preset position 1, and makes the positioning pile 112 match the positioning groove 120a; D3, the motor 132 controls the rotation angle of the rotor 131, so that the spherical locking member 133 cooperates with the outer surface of the rotor 131 to achieve locking of the first end effector and the robot arm; D4. When the first end effector of the robot arm is replaced with the second end effector, the robot arm drives the first end effector to move to the preset position 1 to unlock the male disk 110 connected with the first end effector; D5. The robot arm drives the mother disk 120 to move to the preset position 2, and makes the positioning pile 112 cooperate with the positioning groove 120a; the motor 132 controls the rotation angle of the rotor 131 so that the spherical locking piece 133 cooperates with the outer surface of the rotor 131, thereby realizing the locking of the second end effector and the robot arm.

[0090] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An electric quick change, characterized in that: It includes a male disc, a female disc and an electric locking device; The electric locking device is built into the male disk, and the electric locking device cooperates with the female disk by rotating; The male disc is fixedly connected with at least one positioning pile, and the female disc is formed with positioning grooves corresponding to the number of the positioning piles, and the positioning grooves cooperate with the positioning piles; Among them, the cross-sectional depth of the positioning pile is set along the circumferential direction of the electric locking device, and the cross-sectional width of the positioning pile is set along the radial direction of the electric locking device; the cross-sectional depth dimension of the positioning pile is h, and the cross-sectional width dimension of the positioning pile is b, wherein h / b>1.

2. The electric quick change according to claim 1, characterized in that: There are multiple positioning piles, and the multiple positioning piles are arranged at intervals around the electric locking device.

3. The electric quick change according to claim 2, characterized in that: At least two of the positioning piles are arranged asymmetrically or non-centrosymmetrically.

4. The electric quick change according to claim 3, characterized in that: The electric locking device comprises a rotor, a motor and a plurality of spherical locking members; The male disk is fixedly provided with a cylindrical protrusion, and the cylindrical protrusion is formed with through holes corresponding to the number of the spherical locking members; The rotor is formed with spherical grooves corresponding to the number of the spherical locking members, and the spherical grooves are used to accommodate the spherical locking members; The motor is fixed to the public plate and is used to drive the rotor to rotate; In the locked state, the spherical locking member abuts against the outer surface of the rotor, so that the spherical locking member protrudes out of the through hole and cooperates with the inner wall of the master disc; In the unlocked state, the spherical groove is located in the moving direction of the spherical locking member. When the spherical locking member is subjected to a force moving away from the master disk, the spherical locking member can enter the spherical groove again to detach from the master disk.

5. The electric quick change according to claim 4, characterized in that: The rotor is further formed with an annular groove, a plurality of the spherical grooves are arranged in the annular groove, and the depth of the annular groove is smaller than the depth of the spherical groove.

6. The electric quick change according to claim 5, characterized in that: The rotor includes a first rotating member, a second rotating member and a locking screw which are formed separately and can rotate synchronously. The locking screw passes through the first rotating member and the second rotating member in sequence, and is thread-locked with the motor output shaft; the motor output shaft is meshed with the second rotating member; The first rotating member and the second rotating member respectively have a part of a spherical groove structure and a part of an annular groove structure, and the spherical groove and the annular groove can be formed at the connection between the first rotating member and the second rotating member.

7. The electric quick change according to claim 6, characterized in that: The second rotating member is provided with a first limiting member, the first rotating member is formed with a first limiting groove, and the first limiting member cooperates with the first limiting groove.

8. The electric quick change according to claim 6, characterized in that: The electric locking structure also includes a bearing; a bearing seat is formed at the opening of the cylindrical protrusion, and the bearing is installed on the bearing seat; the first rotating member cooperates with the cylindrical protrusion through the bearing.

9. The electric quick change according to claim 7, characterized in that: The electric locking structure also includes a mounting frame; The mounting frame is fixedly connected to the motor, and a plurality of second limiting members are formed on the mounting frame. Second limiting grooves corresponding to the number of the second limiting members are formed on the inner side of the cylindrical protrusion, and the second limiting members can be inserted into the second limiting grooves in the axial direction of the motor to fix the motor in the rotation direction of the motor.

10. The electric quick change according to claim 8, characterized in that: The female disk is provided with a probe, the male disk is provided with a probe base, and the probe cooperates with the probe base to perform signal transmission; and / or, The electric locking device further comprises a circuit board with an active computing control unit, the motor is a bus servo, and the circuit board is connected to the bus servo signal; and / or, The electric locking device further comprises a button, which is connected to the circuit board signal and is used to control the motion state of the bus servo; and / or, The circuit board is also connected in series with a large model algorithm, and the operator can control the electric quick change or the end effector connected to the public plate by inputting natural language on the host computer; and / or, The public disk is also provided with an aviation plug, and the aviation plug is used to connect with a host computer.

11. A method for installing an electric quick change, characterized in that: Applied to the electric quick changer as claimed in claim 9, the installation method of the electric quick changer comprises the following steps; S1, installing the first rotating member inside the cylindrical protrusion so that a portion of the spherical groove structure on the first rotating member is close to the via hole; S2, placing the plurality of spherical locking members respectively in the through hole and a portion of the spherical groove structure on the first rotating member; S3, setting the first limiting member in the first limiting groove, forming the spherical groove and the annular groove at the connection between the first rotating member and the second rotating member, and the spherical locking member can be accommodated in the spherical groove; S4, fixing the mounting bracket to the motor, inserting the second limiting member into the second limiting groove, and allowing the motor output shaft to pass through the mounting bracket and engage with the second rotating member; S5. Pass the locking screw through the first rotating member and the second rotating member in sequence to be threadedly connected to the motor output shaft.

12. The installation method according to claim 11, characterized in that: The electric locking device comprises a bearing, and a bearing seat is formed at the opening of the cylindrical protrusion; Before the step of installing the first rotating member inside the cylindrical protrusion, the step further includes: The bearing is mounted on the bearing seat so that the first rotating member cooperates with the cylindrical protrusion through the bearing.

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