Quick change device and robot operation system

Abstract

The invention provides a quick change device and a robot operation system, and relates to the technical field of quick change. A main end connector comprises a locking seat, a driving mechanism and a locking block; the locking seat is provided with a first inserting structure, the locking block is provided with a first locking part, a first connecting part and a second connecting part, the locking block is at least rotatably connected to the locking seat through the first connecting part, and the first locking part and the second connecting part are located on the two sides of the first connecting part respectively; the distance from the second connecting part to the first connecting part is greater than the distance from the first locking part to the first connecting part; the driving mechanism is connected with the second connecting part; the slave end connector comprises a base, and the base is provided with a second inserting structure and a first limiting part; when the first inserting structure and the second inserting structure are connected in an inserting mode, the first limiting part is located on the side of the first locking part, and the position, in the vertical direction, of the first limiting part is higher than the position, in the vertical direction, of the first locking part. When the driving mechanism drives the locking block to move, the first limiting part is located on the moving path of the first locking part.

Description

Technical Field

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

[0002] In the connection scenario between a robot and a working tool, a quick change device is a key component for realizing the quick replacement of the working tool, and its core structure includes two parts: a master end and a slave end. In the current common quick change device, during the connection process between the master end and the slave end, positioning and locking are mainly completed by balls. However, this design has significant limitations: the contact area between the balls and the limiting components is extremely limited. Even if a large number of balls are arranged in the structure, the locking force between the master end and the slave end still cannot be effectively improved, thereby making the connection stability of the entire quick change device poor, and its actual use performance is difficult to meet the requirements of high reliability. Summary of the Invention

[0003] The present invention aims to solve to a certain extent the problem in related technologies of how to improve the use performance of a quick change device.

[0004] To solve at least one aspect of the above problems to at least a certain extent, in a first aspect, the present invention provides a quick change device, which includes a master end connector and a slave end connector. The master end connector includes a locking seat, a driving mechanism, and a locking block. The locking seat is provided with a first plugging structure. The locking block is provided with a first locking portion, a first connecting portion, and a second connecting portion. The locking block is at least rotatably connected to the locking seat through the first connecting portion. The first locking portion and the second connecting portion are respectively located on both sides of the first connecting portion. The distance from the second connecting portion to the first connecting portion is greater than the distance from the first locking portion to the first connecting portion. The driving mechanism is connected to the second connecting portion. The slave end connector includes a base, and the base is provided with a second plugging structure and a first limiting portion. When the first plugging structure is plugged and connected to the second plugging structure, the first limiting portion is located on the side of the first locking portion, and the position of the first limiting portion in the up and down direction is higher than the position of the first locking portion in the up and down direction. When the driving mechanism drives the locking block to move, the first limiting portion is located on the moving path of the first locking portion.

[0005] Optionally, the locking seat is provided with a first installation cavity, a first opening is provided on the side of the first installation cavity, the locking block is movably installed in the first installation cavity through the first connecting portion, and the first locking portion is arranged close to the first opening. When the first plugging structure is plugged and connected to the second plugging structure, the position of the first limiting portion corresponds to the position of the first opening.

[0006] Optionally, the locking seat is provided with a first sliding groove which is distributed on the side walls of the first installation cavity on both sides of the first opening, and the first connecting portion is slidably connected with the first sliding groove.

[0007] Optionally, when the first locking portion and the first limiting portion are in contact with each other in the up-down direction, the locking block is inclined with respect to the up-down direction, and the position of the end of the locking block away from the first locking portion in the up-down direction is lower than the position of the first locking portion in the up-down direction.

[0008] Optionally, the locking block is provided with a second locking portion, the second locking portion and the first locking portion are respectively located on both sides of the first connecting portion, and the locking seat is provided with a second limiting portion; when the first locking portion moves to be in contact with the first limiting portion, the second limiting portion is in contact with the second locking portion;

[0009] And / or, the outer contour of the cross-section of the first locking portion includes at least part of a circle, and the position of the first connecting portion corresponds to the center position of the circle corresponding to the outer contour of the cross-section of the first locking portion.

[0010] Optionally, when the locking block is provided with the second locking portion, the outer contour of the cross-section of the second locking portion includes at least part of a circle;

[0011] Wherein, the second limiting portion is formed on the side wall of the first installation cavity opposite to the first opening, and / or, the second limiting portion is a limiting groove formed on the side walls of the first installation cavity on both sides of the first opening, and / or, the position of the second connecting portion corresponds to the center position of the circle corresponding to the outer contour of the cross-section of the second locking portion.

[0012] Optionally, the driving mechanism includes a rod-shaped structure which is rotatably connected with the second connecting portion;

[0013] The driving mechanism further includes a piston, the locking seat is provided with a piston cavity, the piston is installed in the piston cavity, one end of the rod-shaped structure is inserted into the piston cavity and connected with the piston, and the other end of the rod-shaped structure is connected with the second connecting portion.

[0014] Optionally, the locking seat includes a first seat and a second seat, the first seat and the second seat are detachably connected and enclose to form the piston cavity, and the first plugging structure is formed on the second seat;

[0015] And / or, at least the locking seat among the locking seat and the base is provided with a central hole. Wherein, when the number of the piston chambers is one, the piston chamber is arranged around the central hole; when the number of the piston chambers is multiple, the multiple piston chambers are evenly distributed on a circumference coaxially arranged with the central hole.

[0016] Optionally, the first plug-in structure is provided with the first installation cavity, and the first limiting portion is located at the side wall of the second plug-in structure;

[0017] And / or, the first plug-in structure is a plug post structure, and the second plug-in structure is a jack structure; the cross-sectional shape of the plug post structure is polygonal.

[0018] In a second aspect, the present invention provides a robot operation system, which includes the quick-change device according to any one of the above first aspects.

[0019] In the quick-change device and the robot operation system of the present invention, the locking seat provides a stable installation foundation for other components of the main end connector. When the first plug-in structure of the main end connector and the second plug-in structure of the slave end connector are in mating plug-in, since the first limiting portion is located on the side of the first locking portion, and the position of the first limiting portion in the up-down direction is higher than the position of the first locking portion in the up-down direction, the locking block is at least rotatably connected to the locking seat through the first connecting portion, and the locking block can be driven to move by a driving mechanism. Specifically, the locking block can at least rotate relative to the locking seat, so that the first locking portion of the locking block moves to abut against the downward-facing surface of the first limiting portion, thereby being able to limit the separation of the main end connector and the slave end connector in the plug-in direction of the first plug-in structure, ensuring the connection and locking of the main end connector and the slave end connector. Among them, when the main end connector and the slave end connector are in a connection-locked state, the locking block can be approximately understood as a lever structure. Among them, the first connecting portion is the fulcrum of the lever, and the first locking portion and the second connecting portion are the force-receiving points at both ends of the lever. Since the distance from the second connecting portion to the first connecting portion is greater than the distance from the first locking portion to the first connecting portion, for the driving mechanism, the locking block has a function similar to a labor-saving lever. After the acting force of the first limiting portion on the first locking portion is transmitted through the locking block, the acting force at the second connecting portion is relatively small, so the force required for the locking block to maintain its locking position is small. In the case where the driving force of the driving mechanism is limited, for example, the strong locking effect between the main end connector and the slave end connector can be maintained, and the quick-change device can obtain strong connection reliability and high service performance. Description of the Drawings

[0020] Figure 1 It is a top view schematic diagram of the quick-change device when the main end connector and the slave end connector are in a separated state in the embodiment of the present invention;

[0021] Figure 2 is Figure 1 a schematic cross-sectional view at the A-A section in

[0022] Figure 3 is Figure 2 a partially enlarged view at A in

[0023] Figure 4 is Figure 2 a schematic cross-sectional view at the B-B section in

[0024] Figure 5 is a three-dimensional structural schematic diagram of a quick-change device corresponding to Figure 1

[0025] Figure 6 is a schematic cross-sectional view of the quick-change device when the first plugging structure and the second plugging structure are in the plugged state in the embodiment of the present invention;

[0026] Figure 7 is another schematic cross-sectional view of the quick-change device when the first plugging structure and the second plugging structure are in the plugged state in the embodiment of the present invention;

[0027] Figure 8 is Figure 7 a partially enlarged view at B in

[0028] Figure 9 is a schematic cross-sectional view of the quick-change device when the first plugging structure and the second plugging structure are in the plugged state and the first locking portion abuts against the first limiting portion in the embodiment of the present invention;

[0029] Figure 10 is another schematic cross-sectional view of the quick-change device when the first plugging structure and the second plugging structure are in the plugged state and the first locking portion abuts against the first limiting portion in the embodiment of the present invention;

[0030] Figure 11 is Figure 10 a partially enlarged view at C in

[0031] Explanation of reference numerals:

[0032] ​1 - Main end connector; 11 - Locking seat; 111 - First seat; 1111 - First positioning groove; 112 - Second seat; 1121 - Second through hole; 113 - Third seat; 1131 - First connection interface; 1132 - Wire passing channel; 114 - First screw; 115 - First sealing structure; 1151 - First through hole; 116 - Piston cavity; 1161 - Second opening; 117 - First plugging structure; 1171 - First installation cavity; 1172 - First opening; 1173 - Second limiting part; 118 - First sliding groove; 12 - Driving mechanism; 121 - Piston; 122 - Rod - shaped structure; 123 - First connecting shaft; 13 - Locking block; 131 - First locking part; 132 - First connecting part; 133 - Second connecting part; 134 - Second locking part; 135 - Set screw; 136 - Second installation cavity; 2 - Slave end connector; 21 - Base; 211 - Second plugging structure; 212 - Limiting structure; 2121 - First limiting part; 3 - Central hole; 4 - Electrical connection male head. Detailed implementation manners

[0033] To make the above - mentioned objects, features and advantages of the present invention more obvious and understandable, the following detailed description of specific embodiments of the present invention is provided in conjunction with the accompanying drawings.

[0034] In the description of the present invention, it should be noted that, unless otherwise clearly defined and limited, the terms "installation", "connection" and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above - mentioned terms in the present invention can be understood according to specific situations.

[0035] In the description of this specification, the descriptions referring to terms such as "embodiment", "one embodiment", "some implementation manners", "exemplarily" and "one implementation manner" etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or implementation manner are included in at least one embodiment or implementation manner of the present invention. In this specification, the schematic representations of the above - mentioned terms do not necessarily refer to the same embodiment or implementation manner. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or implementation manners in a suitable way.

[0036] The terms "first", "second" etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second" can explicitly or implicitly include at least one of such features.

[0037] In the attached drawings, the Z-axis represents the vertical direction, that is, the up and down position, and the positive direction of the Z-axis (that is, the direction of the arrow of the Z-axis) represents up, and the negative direction of the Z-axis represents down; in the attached drawings, the X-axis represents the horizontal direction and is specified as the left and right position, and the positive direction of the X-axis (that is, the direction of the arrow of the X-axis) represents the right side, and the negative direction of the X-axis represents the left side; in the attached drawings, the Y-axis represents the horizontal direction and is specified as the left and right position, and the positive direction of the Y-axis (that is, the direction of the arrow of the Y-axis) represents the front side, and the negative direction of the Y-axis represents the rear side; at the same time, it should be noted that the above-mentioned meanings represented by the Z-axis, Y-axis and X-axis 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 to the present invention.

[0038] A quick-change device according to an embodiment of the present invention includes a main-end connector 1 and a slave-end connector 2. The main-end connector 1 includes a locking seat 11, a driving mechanism 12 and a locking block 13; the locking seat 11 is provided with a first plugging structure 117, and the locking block 13 is provided with a first locking portion 131, a first connecting portion 132 and a second connecting portion 133. The locking block 13 is at least rotatably connected to the locking seat 11 through the first connecting portion 132. The first locking portion 131 and the second connecting portion 133 are respectively located on both sides of the first connecting portion 132, and the distance from the second connecting portion 133 to the first connecting portion 132 is greater than the distance from the first locking portion 131 to the first connecting portion 132; the driving mechanism 12 is connected to the second connecting portion 133 to drive the locking block 13 to move; the slave-end connector 2 includes a base 21, and the base 21 is provided with a second plugging structure 211 and a first limiting portion 2121; when the first plugging structure 117 is plugged and connected to the second plugging structure 211, the first limiting portion 2121 is located on the side of the first locking portion 131, and the position of the first limiting portion 2121 in the up and down direction is higher than the position of the first locking portion 131 in the up and down direction; when the driving mechanism 12 drives the locking block 13 to move, the first limiting portion 2121 is located on the moving path of the first locking portion 131.

[0039] As Figures 1-11 shown, Figure 1 is a top view schematic diagram of the quick-change device when the main-end connector 1 and the slave-end connector 2 are in a separated state in the embodiment of the present invention; Figure 2 is Figure 1 a cross-sectional view at the A-A section in Figure 3 is Figure 2 a partial enlarged view at A in Figure 4 is Figure 2 a cross-sectional view at the B-B section in Figure 6 is a cross-sectional view of the quick-change device when the first plugging structure 117 and the second plugging structure 211 are in a plugged state in the embodiment of the present invention ( Figure 6 the corresponding section position is the same as that in Figure 2The corresponding cross-sectional positions are consistent, that is, it is a cross-sectional schematic diagram of the quick-change device at the AA section when the first plug-in structure 117 and the second plug-in structure 211 are in the plug-in state); Figure 7 FIG. 2 is another cross-sectional schematic diagram of the quick-change device when the first plug-in structure 117 and the second plug-in structure 211 are in the plug-in state in the embodiment of the present invention ( Figure 7 The corresponding section position and Figure 4 The corresponding cross-sectional positions are consistent, that is, it is a cross-sectional schematic diagram of the quick-change device at the BB section when the first plug-in structure 117 and the second plug-in structure 211 are in the plug-in state); Figure 8 for Figure 7 A partial enlarged view of point B in the middle; Figure 9 2 is a cross-sectional schematic diagram of the quick-change device when the first plug-in structure 117 and the second plug-in structure 211 are in a plug-in state and the first locking portion 131 abuts against the first limiting portion 2121 in the embodiment of the present invention ( Figure 9 The corresponding section position and Figure 2 The corresponding cross-section positions are consistent); Figure 10 1 is another cross-sectional view of the quick-change device when the first plug-in structure 117 and the second plug-in structure 211 are in the plug-in state and the first locking portion 131 abuts against the first limiting portion 2121 in the embodiment of the present invention ( Figure 10 The corresponding section position and Figure 4 The corresponding cross-section positions are consistent); Figure 11 for Figure 10 A partial enlarged view of point C in the middle.

[0040] Specifically, Figures 1 to 5 Corresponding to the situation where the master-end connector 1 and the slave-end connector 2 are in a separated state, Figures 6-8 Corresponding to the situation where the first plug-in structure 117 and the second plug-in structure 211 are plug-connected and the projections of the first locking portion 131 and the first limiting portion 2121 in the vertical direction do not overlap each other, Figures 9-11 The first plug-in structure 117 and the second plug-in structure 211 are plug-connected, and the first locking portion 131 and the first limiting portion 2121 are in contact with each other in the vertical direction. It should be understood that: Figures 1 to 11 The above is only an example of the present invention, and it is not limited thereto without violating the design concept of the present invention.

[0041] It should be understood that this specification will take the first plug structure 117 as a plug-in column structure and the second plug structure 211 as a socket structure as an example to illustrate the content of the present invention, but it should be understood that without violating the technical concept of the present invention, the first plug structure 117 can also be a socket structure and the second plug structure 211 can also be a plug-in column structure. The cross-sectional shape of the plug-in column structure can be polygonal, circular, etc. Figure 5, the cross-sectional shapes of the plug post structure and the socket structure are rectangular (approximately rectangular). When the first plugging structure 117 and the second plugging structure 211 are plugged and connected, the plugging between the two can provide limiting forces in multiple directions, ensuring the reliability of the connection between the main end connector 1 and the slave end connector 2.

[0042] It should be understood that unless there are other clear indications or can be clearly obtained in combination with the context, when the first plugging structure 117 is plugged and connected to the second plugging structure 211, it means that the main end connector 1 and the slave end connector 2 move relative to each other in the up and down direction, so that the first plugging structure 117 and the second plugging structure 211 are plugged and cannot move further. In this case, the projections of the first locking portion 131 and the first limiting portion 2121 in the up and down direction do not overlap. That is to say, at this time, the positions of the first locking portion 131 and the first limiting portion 2121 do not interfere with each other and do not affect the mutual plugging movement of the first plugging structure 117 and the second plugging structure 211. The first plugging structure 117 and the second plugging structure 211 can perform plugging movement or separation movement as needed.

[0043] Specifically, when the first plugging structure 117 and the second plugging structure 211 are in a plugged and connected state, the first limiting portion 2121 is located above the side of the first locking portion 131 (refer to Figures 6-8 ), the driving mechanism 12 can drive the locking block 13 to move. Under the drive of the driving mechanism 12, the first locking portion 131 gradually approaches the first limiting portion 2121 and abuts against the downward-facing surface of the first limiting portion 2121, thereby realizing the limiting connection between the first locking portion 131 and the first limiting portion 2121. Refer to Figures 9-11 As shown, in this case, the separation of the first plugging structure 117 and the second plugging structure 211 can be restricted, that is, the separation of the main end connector 1 and the slave end connector 2 can be restricted, realizing the locking connection between the main end connector 1 and the slave end connector 2.

[0044] Of course, conversely, in the case where the main end connector 1 and the slave end connector 2 are locked and connected, the driving mechanism 12 can drive the locking block 13 to move in the reverse direction, so that the first locking portion 131 is separated from the first limiting portion 2121, so that the two do not interfere with each other and do not affect the mutual separation of the first plugging structure 117 and the second plugging structure 211.

[0045] It should be understood that the quick-change device can be used in occasions that require quick change. For example, it can be used in a robot operation system. The robot operation system includes a robot and an operation tool. The main end connector 1 is connected to the end of the robot, and the slave end connector 2 is connected to the operation tool.

[0046] Exemplarily, the main end connector 1 is provided with a first connection interface 1131 (refer to Figure 1 and Figure 2), a second connection interface is provided from the end connector 2, the robot has a mechanical arm, the first connection interface 1131 is used to connect with the end structure of the mechanical arm, such as the end flange, and the second connection interface is used to connect with the working tool. The first connection interface 1131 can be set as a connection hole, etc. as needed, and the second connection interface can also be set as a connection hole, etc. as needed. The first connection interface 1131 and the second connection interface can also be set as a detachable arrangement scheme as needed, which is not a limitation. The locking seat 11 may include a third seat 113, and the third seat 113 is detachably connected to the first seat 111 described later, and the third seat 113 forms the first connection interface 1131. The third seat 113 can also form a wire-passing channel 1132, and the wire-passing channel 1132 is connected to the center hole 3 described later. The wire-passing channel 1132 is staggered with the first connection interface 1131, and the two do not affect each other. The first connection interface 1131 may include a receiving groove arranged in the third seat 113.

[0047] In this embodiment, exemplarily, through the movement of the robot, the first plug-in structure 117 and the second plug-in structure 211 are plug-connected, and then through the action of the driving mechanism 12, the first locking portion 131 is abutted against the first limiting portion 2121, thereby realizing the locking connection between the main-end connector 1 and the slave-end connector 2.

[0048] Thus, in the quick-change device of this embodiment, the locking seat 11 provides a stable installation foundation for other components of the main-end connector 1. When the first plugging structure 117 of the main-end connector 1 is in mating plugging with the second plugging structure 211 of the slave-end connector 2, since the first limiting portion 2121 is located on the side of the first locking portion 131 and the position of the first limiting portion 2121 in the up-and-down direction is higher than the position of the first locking portion 131 in the up-and-down direction, the locking block 13 is at least rotatably connected to the locking seat 11 through the first connecting portion 132, and the locking block 13 can be driven to move by the driving mechanism 12. Specifically, the locking block 13 can at least rotate relative to the locking seat 11, so that the first locking portion 131 of the locking block 13 moves to abut against the downward-facing surface of the first limiting portion 2121, thereby being able to restrict the separation of the main-end connector 1 and the slave-end connector 2 in the plugging direction of the first plugging structure 117, ensuring the connection and locking of the main-end connector 1 and the slave-end connector 2. Among them, when the main-end connector 1 and the slave-end connector 2 are in a connected and locked state, the locking block 13 can be approximately understood as a lever structure. Among them, the first connecting portion 132 is the fulcrum of the lever, and the first locking portion 131 and the second connecting portion 133 are the force-receiving points at both ends of the lever. Since the distance from the second connecting portion 133 to the first connecting portion 132 is greater than the distance from the first locking portion 131 to the first connecting portion 132, for the driving mechanism 12, the locking block 13 has a function similar to a labor-saving lever. After the acting force of the first limiting portion 2121 on the first locking portion 131 is transmitted through the locking block 13, the acting force at the second connecting portion 133 is relatively small, so that the locking block 13 requires less force to maintain its locking position. In the case where the driving force of the driving mechanism 12 is limited, for example, the strong locking effect between the main-end connector 1 and the slave-end connector 2 can be maintained, and the quick-change device can obtain strong connection reliability and high service performance. And in some scenarios, the driving force requirement of the driving mechanism 12 can be reduced to a certain extent, which is beneficial to the miniaturization and lightweight design of the driving mechanism 12.

[0049] In the above embodiment, it should be understood that the ratio of the distance from the second connecting portion 133 to the first connecting portion 132 and the distance from the first locking portion 131 to the first connecting portion 132 is determined in combination with the spatial layout and the specific locking force specification. For example, this ratio is greater than or equal to 1.5 and less than or equal to 10. For example, this ratio is greater than or equal to 2 and less than or equal to 6. For example, this ratio is 2.5, 3, 3.5, 4, etc.

[0050] Such as Figure 4 、 8As shown, optionally, the locking seat 11 is provided with a first installation cavity 1171. A first opening 1172 is provided on the side of the first installation cavity 1171. The locking block 13 is movably installed in the first installation cavity 1171 through a first connecting portion 132, and the first locking portion 131 is arranged close to the first opening 1172. When the first plugging structure 117 is plugged and connected to the second plugging structure 211, the position of the first limiting portion 2121 corresponds to the position of the first opening 1172.

[0051] It should be understood that the first opening 1172 can be used for the passage of the first connecting portion 132 and / or the first limiting portion 2121, so that it does not affect the switching between the abutting and separating states of the first connecting portion 132 and the first limiting portion 2121 through relative movement.

[0052] In some scenarios, the first limiting portion 2121 is integrally provided on the base 21, as Figure 4 shown. In other scenarios, the base 21 is detachably connected with a limiting structure 212, and the first limiting portion 2121 is formed on the limiting structure 212, which is no longer a limitation.

[0053] In this way, by using the first installation cavity 1171 to install the locking block 13, the structures such as the locking block 13 can be protected, with a simple structure and strong practicability.

[0054] As Figure 4 、 8 shown, in the above embodiment, optionally, the first plugging structure 117 is provided with a first installation cavity 1171, and the first limiting portion 2121 is located at the side wall of the second plugging structure 211.

[0055] For example, the first plugging structure 117 is a plug post structure, the first installation cavity 1171 is formed in the plug post structure, the second plugging structure 211 is a jack structure, and the first limiting portion 2121 protrudes from the hole wall of the jack structure.

[0056] In this way, by using part of the space of the first plugging structure 117 to form the first installation cavity 1171, it has a compact space, reasonable layout, and strong practicability.

[0057] As Figure 3 shown, in the above embodiment, optionally, the outer contour of the cross-section of the first locking portion 131 includes at least part of a circle. In this way, when the locking block 13 rotates, the first locking portion 131 can obtain relatively good contact with external components

[0058] Exemplarily, at least a part of the outer contour of the cross-section of the first locking portion 131 is located on the cylindrical surface. In this case, the first locking portion 131 and the first limiting portion 2121 can obtain a relatively large contact range. For example, they can obtain line contact. In this case, even if a small number of locking blocks 13 are used, the main end connector 1 and the slave end connector 2 can still obtain relatively high connection reliability.

[0059] Furthermore, the position of the first connecting portion 132 corresponds to the position of the center of the circle corresponding to the outer contour of the cross-section of the first locking portion 131.

[0060] At this time, the position setting of the first connecting portion 132 not only does not affect the connection between the first locking portion 131 and the first limiting portion 2121, but also can obtain a relatively small distance between the contact position of the first locking portion 131 and the first limiting portion 2121 and the first connecting portion 132. Thus, when the driving mechanism 12 drives the locking block 13, the locking block 13 acts as a labor-saving lever, and when the slave end connector 2 transmits a force to the locking block 13, the locking block 13 acts as a force-consuming lever. Thereby, the driving force requirement of the driving mechanism 12 can be reduced. When the main end connector 1 and the slave end connector 2 are connected and locked, the locking block 13 can provide a greater locking force to the slave end connector 2.

[0061] As Figure 3 shown, in the above embodiment, optionally, the locking seat 11 is provided with a first sliding groove 118, and the first sliding groove 118 is distributed on the side walls of the first installation cavity 1171 on both sides of the first opening 1172. The first connecting portion 132 is slidably connected to the first sliding groove 118.

[0062] Specifically, the first connecting portion 132 is slidably connected to the first sliding groove 118 and can rotate relative to the first sliding groove 118. Thus, when the driving mechanism 12 operates, the locking block 13 can slide along the first sliding groove 118 relative to the locking seat 11 and rotate relative to the first sliding groove 118, so as to quickly adjust its position.

[0063] Specifically, the locking block 13 includes a block body and a second connecting shaft. The second connecting shaft passes through the block body and both ends of the second connecting shaft are respectively inserted into the first sliding groove 118. The first locking portion 131 and the second connecting portion 133 are both formed on the block body. At least the block body among the block body and the second connecting shaft can slide and rotate relative to the first sliding groove 118.

[0064] As Figure 3As shown, in some scenarios, the locking block 13 further includes a set screw 135. The second connecting shaft and the block body are fixed in relative position by the set screw 135. For example, the set screw 135 is connected to the connection interface between the second connecting shaft and the block body. The cross-sectional shape of the second connecting shaft is circular, and the first connecting portion 132 can be understood as the second connecting shaft. When the driving mechanism 12 drives the locking block 13, the second connecting shaft can slide in the first chute 118 and can rotate relative to the first chute 118, so as to meet the position adjustment requirements of the locking block 13. In other scenarios, the first connecting portion 132 can be understood as a through hole on the block body connected to the second connecting shaft. The block body and the second connecting shaft are rotationally connected. The cross-sectional shape of the second connecting shaft can be oblong or the like, and the second connecting shaft can only be slidably connected to the first chute 118.

[0065] In this way, at least the position change requirements of the first limiting portion 2121 in the horizontal direction can be met by the sliding movement of the first connecting portion 132 relative to the first chute 118, and the position change requirements of the first limiting portion 2121 in the horizontal direction and the up-and-down direction can be met by the rotation of the first connecting portion 132 relative to the first chute 118. Its structure is simple and the practicability is strong.

[0066] Furthermore, referring to Figure 3 As shown, the extending direction of the first chute 118 is perpendicular to the inserting direction of the first inserting structure 117. In this way, the structure of the first chute 118 is simple, which is convenient for its processing and manufacturing, and the practicability is strong. Of course, it should be understood that the first chute 118 can be set as a curved groove section, and there is no limitation.

[0067] Optionally, when the first locking portion 131 and the first limiting portion 2121 are in contact with each other in the up-and-down direction, the locking block 13 is inclined relative to the up-and-down direction. The position of the end of the locking block 13 away from the first locking portion 131 in the up-and-down direction is lower than the position of the first locking portion 131 in the up-and-down direction.

[0068] That is to say, when the main end connector 1 and the slave end connector 2 are in the connection and locking state, referring to Figures 9-11 As shown, the locking block 13 is inclined. In this case, the gravity of the slave end connector 2 and the working tool connected thereto is transmitted to the first locking portion 131 through the first limiting portion 2121. The locking block 13 has a tendency to move downward as a whole within a small range, that is, the second connecting portion 133 has a tendency to move downward within a small range until the position of the locking block 13 is restricted, so as to lock the position of the locking portion.

[0069] Exemplarily, the included angle between the locking block 13 and the set plane is greater than or equal to 5° and less than or equal to 15°, and the set plane is a plane perpendicular to the inserting direction of the first inserting structure 117.

[0070] There are various possibilities for the way the position of the locking block 13 is limited. For example, it can be limited by the acting force of the driving mechanism 12, or the second locking portion 134 described later can be abutted against the second limiting portion 1173, etc.

[0071] As Figure 11 shown, optionally, the locking block 13 is provided with a second locking portion 134. The second locking portion 134 and the first locking portion 131 are respectively located on both sides of the first connecting portion 132. The locking seat 11 is provided with a second limiting portion 1173. When the first locking portion 131 moves to abut against the first limiting portion 2121, the second limiting portion 1173 abuts against the second locking portion 134.

[0072] It should be understood that the structural form of the second limiting portion 1173 abutting against the second locking portion 134 is not limited. However, when the driving mechanism 12 drives the locking block 13 to move in the reverse direction, the abutment between the second limiting portion 1173 and the second locking portion 134 is released, and the first limiting portion 2121 and the first locking portion 131 can be separated.

[0073] In this way, when the main end connector 1 and the slave end connector 2 are in the connection locking state, the position holding force of the locking block 13 can be enhanced to a certain extent, thereby enhancing the connection reliability between the main end connector 1 and the slave end connector 2.

[0074] Further, when the locking block 13 is provided with the second locking portion 134, at least part of the cross-sectional outer contour of the second locking portion 134 includes a circle.

[0075] Exemplarily, at least part of the cross-sectional outer contour of the second locking portion 134 is located on a cylindrical surface. In this case, the second locking portion 134 and the second limiting portion 1173 can obtain a relatively large contact range. For example, they can obtain line contact.

[0076] In this way, the second locking portion 134 and the first limiting portion 2121 can be in approximate rolling contact. When they are in line contact, the second limiting portion 1173 can provide a relatively large contact force to the locking block 13. The locking block 13 can obtain a relatively large position holding force, and the requirement for providing the position holding force of the locking block 13 by the driving mechanism 12 can be reduced.

[0077] When the locking block 13 is provided with the second locking portion 134 and the first sliding groove 118, when the main end connector 1 and the slave end connector 2 are in the connection locking state, refer to Figures 9-11As shown, the locking block 13 is inclined. In this case, the gravity of the end connector 2 and the working tool connected thereto is transmitted to the first locking portion 131 through the first limiting portion 2121. The locking block 13 has a tendency to move downward as a whole within a small range, and it will slide within a small range along the extension direction of the first sliding groove 118 to the side away from the first opening 1172 until the second limiting portion 1173 abuts against the second locking portion 134. At this time, the position of the locking block 13 can be ensured to be locked by the position holding force of the driving mechanism 12 and the abutting force between the second locking portion 134 and the second limiting portion 1173, and the self-locking of the locking block 13 in this state can be maintained within a certain force range.

[0078] Reference Figure 11 As shown, in an exemplary solution, the second limiting portion 1173 is formed on the side wall of the first installation cavity 1171 opposite to the first opening 1172, and the second locking portion 134 is formed on the end face of the locking block 13 away from the first locking portion 131. At this time, the side wall of the first installation cavity 1171 opposite to the first opening 1172 can be set as a smooth plane, and the second limiting portion 1173 is formed through this plane. In another solution, the side wall of the first installation cavity 1171 opposite to the first opening 1172 can be provided with a clamping protrusion, and the second limiting portion 1173 is formed through this clamping protrusion (not shown in the figure of this solution).

[0079] Different from the solution where the second limiting portion 1173 is formed on the side wall of the first installation cavity 1171 opposite to the first opening 1172, in some scenarios, the second limiting portion 1173 is a limiting groove formed on the side walls of the first installation cavity 1171 on both sides of the first opening 1172.

[0080] Exemplarily, the limiting groove can be arranged to extend along the insertion direction of the first insertion structure 117. It can have a limiting groove section and an avoidance groove section. The second locking portion 134 can be formed on the third connecting shaft. The third connecting shaft is inserted into the limiting groove. The second limiting portion 1173 is arranged in the limiting groove section, and the avoidance groove section is used for the passage of the third connecting shaft. The avoidance groove section can be communicated with the first sliding groove 118, for example, they are arranged in a cross shape and communicated (not shown in the figure of this solution).

[0081] As Figure 3 As shown, optionally, the driving mechanism 12 includes a rod-shaped structure 122, and the rod-shaped structure 122 is rotatably connected to the second connecting portion 133.

[0082] Specifically, the driving mechanism 12 further includes a first connecting shaft 123. The first connecting shaft 123 passes through the rod-shaped structure 122 and the second connecting portion 133. The axial direction of the first connecting shaft 123 is the same as the axial direction of the rotation of the locking block 13. Thus, when the rod-shaped structure 122 moves, it can drive the second connecting portion 133 to move, so that the locking block 13 moves relative to the locking seat 11.

[0083] In some scenarios, the first connecting shaft 123 is in clearance fit with the rod-shaped structure 122 or the second connecting portion 133, so that there can be a small movement clearance between the second connecting portion 133 and the rod-shaped structure 122. Of course, an elastic structure such as an elastic wear-resistant ring can also be provided between the first connecting shaft 123 and the rod-shaped structure 122 or the second connecting portion 133, so that there can be a small movement clearance between the second connecting portion 133 and the rod-shaped structure 122, which can meet the requirement that the locking block 13 moves downward within a small range.

[0084] Furthermore, the driving mechanism 12 further includes a piston 121. The locking seat 11 is provided with a piston chamber 116. The piston 121 is installed in the piston chamber 116. One end of the rod-shaped structure 122 is inserted into the piston chamber 116 and connected to the piston 121, and the other end of the rod-shaped structure 122 is connected to the second connecting portion 133.

[0085] Exemplarily, the locking block 13 is provided with a second installation cavity 136 communicating with the first installation cavity 1171. The second connecting portion 133 is a through hole provided on the side wall of the second installation cavity 136. The lower end of the rod-shaped structure 122 passes through the first installation cavity 1171 and the second installation cavity 136, and the first connecting shaft 123 passes through the rod-shaped structure 122 and the second connecting portion 133.

[0086] With this setting method, the movement of the piston 121 can be driven by a pneumatic or hydraulic control system to ensure the convenience and intelligence level of the use of the quick-change device, and it is also convenient for integration with an external control system.

[0087] In some scenarios, when at least part of the cross-sectional outer contour of the second locking portion 134 includes a circle, the position of the second connecting portion 133 corresponds to the center position of the circle corresponding to the cross-sectional outer contour of the second locking portion 134.

[0088] Exemplarily, the first connecting shaft 123 also passes through a limiting groove. A second limiting portion 1173 is formed by the limiting groove, and a second locking portion 134 is formed by the part of the first connecting shaft 123 inserted into the limiting groove. This solution is not shown in the figure, that is, the first connecting shaft 123 also functions as the above-mentioned third connecting shaft.

[0089] In this way, without affecting the rotation requirement of the locking block 13 relative to the locking block 13, a relatively large distance can be obtained between the second connecting portion 133 and the first connecting portion 132. When the driving mechanism 12 drives the locking block 13 to move, the locking block 13 forms a labor-saving lever, and the driving force requirement for the driving mechanism 12 is small, which can reduce the specification requirement for the driving mechanism 12. Therefore, a driving mechanism 12 with a smaller specification model can be adopted, and the occupied space of the driving mechanism 12 is small, which is beneficial to the miniaturized application of the quick-change device.

[0090] As shown Figure 2 in FIG. Figure 2 , the locking seat 11 includes a first seat 111 and a second seat 112. The first seat 111 and the second seat 112 are detachably connected and surrounded to form a piston cavity 116. A first plugging structure 117 is formed on the second seat 112;

[0091] The manner in which the first seat 111 and the second seat 112 surround to form the piston cavity 116 is not limited. Exemplarily, the first seat 111 forms a main body portion of the piston cavity 116. A second opening 1161 is formed at one end of the main body portion close to the second seat 112. The second seat 112 is connected to the first seat 111. A first sealing structure 115 is provided at the second opening 1161. The second seat 112 covers the second opening 1161 of the piston cavity 116, pressing the first sealing structure 115 against the first seat 111. The second seat 112 and the first seat 111 are detachably connected by a plurality of first screws 114. Among them, the first screws 114 pass through the second seat 112 from bottom to top and are threadedly connected to the first seat 111.

[0092] A first through hole 1151 and a second through hole 1121 are respectively provided on the first sealing structure 115 and the second seat 112 corresponding to the second opening 1161 of the piston cavity 116. The first through hole 1151 and the second through hole 1121 are used for the rod-shaped structure 122 to pass through.

[0093] In some scenarios, a first positioning groove 1111 ( Figure 5 marked in the figure) is provided at one end of the first seat 111 close to the second seat 112. The second opening 1161 of the piston cavity 116 is formed at the bottom of the first positioning groove 1111. The cross-sectional area of the first positioning groove 1111 is larger than the cross-sectional area of the second opening 1161. The second seat 112 is inserted into the first positioning groove 1111. The second seat 112 and the first seat 111 are connected by the first screws 114.

[0094] In this way, the detachable connection manner of the first seat 111 and the second seat 112 facilitates the installation, adjustment or replacement of the components inside the piston cavity 116 when needed. At the same time, it is also convenient for cleaning and maintenance of the entire locking seat 11, and is also convenient for product processing and manufacturing. In this case, the rod-shaped structure 122 and the locking block 13 are connected by a first connecting shaft 123, which can meet the connection requirements of the two.

[0095] As shown Figure 1 and Figure 3 in FIG. Figure 3 , at least the locking seat 11 among the locking seat 11 and the base 21 is provided with a central hole 3;

[0096] Wherein, when the number of piston chambers 116 is one, the piston chamber 116 surrounds the central hole 3. When the number of piston chambers 116 is multiple, the multiple piston chambers 116 are evenly distributed on a circumference coaxially arranged with the central hole 3.

[0097] Here, the central hole 3 is used to arrange cables, electrical connection joints, etc. In an exemplary solution, the locking seat 11 and the base 21 are respectively provided with an electrical connection male head 4 and an electrical connection female head at the central hole 3. When the first plugging structure 117 and the second plugging structure 211 are plugged and connected, the electrical connection male head 4 and the electrical connection female head are butt-connected in a plugging manner. Refer to Figure 4 As shown, the second seat 112 presses the electrical connection male head 4 onto the first seat 111.

[0098] It should be understood that when the number of piston chambers 116 is multiple, the multiple piston chambers 116 may not communicate with each other, or the multiple piston chambers 116 may communicate with each other to share the air supply channel and the exhaust channel, thereby reducing the number requirement of external air connection interfaces.

[0099] It should be understood that the main end connector 1 and the slave end connector 2 may also be provided with a communicating air guiding channel, and the air guiding channel is used to supply air to a structure connected to the slave end connector 2, such as a working tool.

[0100] In the above embodiment, optionally, in the first plugging structure 117, the number of plug post structures is multiple, and the multiple plug post structures are evenly distributed on the same circumference. For example, this circumference is coaxially arranged with the central hole 3. Refer to Figure 2 , two plug post structures are symmetrically arranged in the X-axis direction.

[0101] In the above embodiment, optionally, the cross-sectional shapes of the first plugging structure 117 and the second plugging structure 211 are polygonal.

[0102] The robot operation system according to another embodiment of the present invention includes the quick-change device according to the above embodiment. The content related to the robot operation system has been described above and will not be repeated here.

[0103] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will all fall within the protection scope of the present invention.

Claims

1. A quick-change device, characterized in that, It includes a main-end connector (1) and a slave-end connector (2). The main-end connector (1) includes a locking seat (11), a driving mechanism (12), and a locking block (13). The locking seat (11) is provided with a first plugging structure (117). The locking block (13) is provided with a first locking portion (131), a first connecting portion (132), and a second connecting portion (133). The locking block (13) is at least rotatably connected to the locking seat (11) through the first connecting portion (132). The first locking portion (131) and the second connecting portion (133) are respectively located on both sides of the first connecting portion (132). The distance from the second connecting portion (133) to the first connecting portion (132) is greater than the distance from the first locking portion (131) to the first connecting portion (132). The driving mechanism (12) is connected to the second connecting portion (133). The slave-end connector (2) includes a base (21). The base (21) is provided with a second plugging structure (211) and a first limiting portion (2121). When the first plugging structure (117) is plugged and connected to the second plugging structure (211), the first limiting portion (2121) is located on the side of the first locking portion (131), and the position of the first limiting portion (2121) in the up-and-down direction is higher than the position of the first locking portion (131) in the up-and-down direction. When the driving mechanism (12) drives the locking block (13) to move, the first limiting portion (2121) is located on the moving path of the first locking portion (131).

2. The quick-change device according to claim 1, characterized in that, The locking seat (11) is provided with a first installation cavity (1171). A first opening (1172) is provided on the side of the first installation cavity (1171). The locking block (13) is movably installed in the first installation cavity (1171) through the first connecting portion (132). The first locking portion (131) is arranged close to the first opening (1172). When the first plugging structure (117) is plugged and connected to the second plugging structure (211), the position of the first limiting portion (2121) corresponds to the position of the first opening (1172).

3. The quick-change device according to claim 2, characterized in that, The locking seat (11) is provided with a first sliding groove (118). The first sliding groove (118) is distributed on the side walls of the first installation cavity (1171) on both sides of the first opening (1172). The first connecting portion (132) is slidably connected to the first sliding groove (118).

4. The quick-change device according to claim 2, wherein In the case where the first locking portion (131) abuts against the first limiting portion (2121) in the up-and-down direction, the locking block (13) is inclined with respect to the up-and-down direction. The position of the end of the locking block (13) away from the first locking portion (131) in the up-and-down direction is lower than the position of the first locking portion (131) in the up-and-down direction.

5. The quick-change device according to claim 2, wherein The locking block (13) is provided with a second locking portion (134), the second locking portion (134) and the first locking portion (131) are respectively located on both sides of the first connecting portion (132), and the locking seat (11) is provided with a second limiting portion (1173); when the first locking portion (131) moves to abut against the first limiting portion (2121), the second limiting portion (1173) abuts against the second locking portion (134); And / or, the outer contour of the cross-section of the first locking portion (131) includes at least a part of a circle, and the position of the first connecting portion (132) corresponds to the center position of the circle corresponding to the outer contour of the cross-section of the first locking portion (131).

6. The quick-change device according to claim 5, characterized in that, When the locking block (13) is provided with the second locking portion (134), the outer contour of the cross-section of the second locking portion (134) includes at least a part of a circle; Wherein, the second limiting portion (1173) is formed on the side wall of the first installation cavity (1171) opposite to the first opening (1172), and / or, the second limiting portion (1173) is a limiting groove formed on the side walls of the first installation cavity (1171) located on both sides of the first opening (1172), and / or, the position of the second connecting portion (133) corresponds to the center position of the circle corresponding to the outer contour of the cross-section of the second locking portion (134).

7. The quick-change device according to any one of claims 1 to 6, characterized in that, The driving mechanism (12) includes a rod-shaped structure (122), and the rod-shaped structure (122) is rotatably connected to the second connecting portion (133); The driving mechanism (12) further includes a piston (121), the locking seat (11) is provided with a piston cavity (116), the piston (121) is installed in the piston cavity (116), one end of the rod-shaped structure (122) is inserted into the piston cavity (116) and connected to the piston (121), and the other end of the rod-shaped structure (122) is connected to the second connecting portion (133).

8. The quick-change device according to claim 7, characterized in that, The locking seat (11) includes a first seat (111) and a second seat (112), the first seat (111) and the second seat (112) are detachably connected and enclose to form the piston cavity (116), and the first plugging structure (117) is formed on the second seat (112); And / or, at least the locking seat (11) among the locking seat (11) and the base (21) is provided with a central hole (3). Wherein, when the number of the piston cavities (116) is one, the piston cavity (116) is arranged around the central hole (3), and when the number of the piston cavities (116) is multiple, the multiple piston cavities (116) are evenly distributed on a circumference coaxially arranged with the central hole (3).

9. The quick-change device according to claim 2, characterized in that, The first plugging structure (117) is provided with the first installation cavity (1171), and the first limiting portion (2121) is located at the side wall of the second plugging structure (211); And / or, the first plugging structure (117) is a plug post structure, and the second plugging structure (211) is a jack structure; the cross-sectional shape of the plug post structure is polygonal.

10. A robot operation system, characterized in that, Comprising the quick-change device according to any one of claims 1 to 9.

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