Quick change device and robotic work system

Abstract

The application provides a quick-change device and a robot operation system, relates to the technical field of quick change, and the main end connector comprises a locking seat, a driving mechanism and a locking block; the locking seat is provided with a first plug-in structure, the locking block is provided with a first locking part, a first connecting part and a second connecting part, the locking block is rotatably connected to the locking seat through the first connecting part, 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 from-end connector comprises a base, and the base is provided with a second plug-in structure and a first limiting part; when the first plug-in structure and the second plug-in structure are in plug-in connection, the first limiting part is located on the side of the first locking part, and the position of the first limiting part in the up-down direction is higher than the position of the first locking part in the up-down direction; when the driving mechanism drives the locking block to move, the first limiting part is located on the path of the movement of the first locking part.

Description

Technical Field

[0001] This invention relates to the field of quick-change technology, and more specifically, to a quick-change device and a robotic operation system. Background Technology

[0002] In robot-tool connection scenarios, quick-change devices are key components for rapid tool switching, with their core structure consisting of a master end and a slave end. Currently, common quick-change devices primarily rely on ball bearings for positioning and locking during the connection process between the master and slave ends. However, this design has significant limitations: the contact area between the ball bearings and the limiting components is extremely limited. Even with a large number of ball bearings in the structure, the locking force between the master and slave ends cannot be effectively improved, resulting in poor connection stability and making it difficult to meet high reliability requirements in actual use. Summary of the Invention

[0003] The present invention aims to address, to a certain extent, the problem of how to improve the performance of quick-change devices in related technologies.

[0004] To at least partially address at least one aspect of the aforementioned problems, in a first aspect, the present invention provides a quick-change device, comprising a main connector and a slave connector. The main connector includes a locking seat, a driving mechanism, and a locking block. The locking seat has a first insertion structure, and the locking block has 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 via the first connecting portion. The first locking portion and the second connecting portion are respectively located on both sides of the first connecting portion, and 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 connector includes a base, and the base has a second insertion structure and a first limiting portion. When the first insertion structure is inserted into the second insertion structure, the first limiting portion is located to the side of the first locking portion, and the vertical position of the first limiting portion is higher than the vertical position of the first locking portion. When the driving mechanism drives the locking block to move, the first limiting portion is located on the path of movement of the first locking portion.

[0005] Optionally, the locking seat has a first mounting cavity, and a first opening is provided on the side of the first mounting cavity. The locking block is movably mounted in the first mounting cavity through the first connecting part, and the first locking part is located close to the first opening. When the first plug-in structure is plugged into the second plug-in structure, the position of the first limiting part 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 sidewalls of the first mounting cavity located on both sides of the first opening, and the first connecting part is slidably connected to the first sliding groove.

[0007] Optionally, when the first locking part and the first limiting part abut against each other in the vertical direction, the locking block is inclined relative to the vertical direction, and the position of the end of the locking block away from the first locking part in the vertical direction is lower than the position of the first locking part in the vertical direction.

[0008] Optionally, the locking block is provided with a second locking part, the second locking part and the first locking part are respectively located on both sides of the first connecting part, and the locking seat is provided with a second limiting part; when the first locking part moves to abut against the first limiting part, the second limiting part abuts against the second locking part;

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

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

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

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

[0013] The driving mechanism further includes a piston, the locking seat has 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 to the piston, and the other end of the rod-shaped structure is connected to the second connecting part.

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

[0015] And / or, at least the locking seat and the base have a central hole, wherein when there is one piston chamber, the piston chamber is arranged around the central hole, and when there are multiple piston chambers, the multiple piston chambers are evenly distributed on a circumference coaxial with the central hole.

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

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

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

[0019] In the quick-change device and robot operation system of the present invention, the locking seat provides a stable mounting base for other components of the main connector. When the first insertion structure of the main connector and the second insertion structure of the slave connector are in mating insertion, since the first limiting part is located to the side of the first locking part, and the position of the first limiting part in the vertical direction is higher than that of the first locking part in the vertical direction, the locking block is at least rotatably connected to the locking seat through the first connecting part. The locking block can be driven to move by the driving mechanism. Specifically, the locking block can at least rotate relative to the locking seat, so that the first locking part of the locking block moves to abut against the downward-facing surface of the first limiting part, thereby restricting the separation of the main connector and the slave connector in the insertion direction of the first insertion structure, ensuring that the main connector and the slave connector are connected. The connector is locked in a manner where, when the main connector and the slave connector are locked, the locking block can be approximated as a lever structure. The first connecting part is the fulcrum of the lever, and the first locking part and the second connecting part are the force-bearing points at both ends of the lever. Since 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 locking block acts like a force-saving lever for the drive mechanism. After the force from the first limiting part on the first locking part is transmitted through the locking block, the force at the second connecting part is relatively small. Therefore, the force required for the locking block to maintain its locked position is small. In cases where the driving force of the drive mechanism is limited, a strong locking effect can be maintained between the main connector and the slave connector. The quick-change device can achieve strong connection reliability and high performance. Attached Figure Description

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

[0021] Figure 2 for Figure 1 Schematic sectional view at section AA;

[0022] Figure 3 for Figure 2 A magnified view of a section at point A in the middle;

[0023] Figure 4 for Figure 2 sectional view at section BB;

[0024] Figure 5 To and Figure 1 A three-dimensional structural diagram of the corresponding quick-change device;

[0025] Figure 6 This is a cross-sectional schematic diagram of the quick-change device when the first and second plug-in structures are in the plug-in state in an embodiment of the present invention;

[0026] Figure 7 This is another cross-sectional view of the quick-change device when the first and second plug-in structures are in the plug-in state, according to an embodiment of the present invention.

[0027] Figure 8 for Figure 7 A magnified view of a section at point B in the middle;

[0028] Figure 9 This is a cross-sectional schematic diagram of a quick-change device when the first plug-in structure and the second plug-in structure are in the plug-in state and the first locking part abuts against the first limiting part in an embodiment of the present invention.

[0029] Figure 10 This is another cross-sectional view of the quick-change device when the first plug-in structure and the second plug-in structure are in the plug-in state and the first locking part abuts against the first limiting part in an embodiment of the present invention.

[0030] Figure 11 for Figure 10 A magnified view of a section at point C.

[0031] Explanation of reference numerals in the attached figures:

[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 passage; 114-First screw; 115-First sealing structure; 1151-First through hole; 116-Piston chamber; 1161-Second opening; 117-First insertion structure; 1171-First mounting cavity; 1172-First opening; 1173-Second Limiting part; 118-First slide groove; 12-Drive 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 mounting cavity; 2-From-end connector; 21-Base; 211-Second insertion structure; 212-Limiting structure; 2121-First limiting part; 3-Center hole; 4-Electrical connection male connector. Detailed Implementation

[0033] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0034] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0035] In the description of this specification, the references to terms such as "embodiment," "one embodiment," "some implementations," "exemplary," and "one implementation," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or implementation is included in at least one embodiment or implementation of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or implementation. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or implementations.

[0036] The terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature.

[0037] In the attached figures, the Z-axis represents the vertical direction, i.e., the up-down position, with the positive direction of the Z-axis (i.e., the direction the arrow points) indicating up and the negative direction indicating down. The X-axis represents the horizontal direction and is designated as the left-right position, with the positive direction of the X-axis (i.e., the direction the arrow points) indicating the right side and the negative direction indicating the left side. The Y-axis represents the horizontal direction and is designated as the left-right position, with the positive direction of the Y-axis (i.e., the direction the arrow points) indicating the front and the negative direction indicating the rear. It should be noted that the aforementioned representations of the Z, Y, and X axes are merely for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation; therefore, they should not be construed as limitations on the invention.

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

[0039] like Figure 1-11 As shown, Figure 1 This is a top view of the quick-change device when the main connector 1 and the slave connector 2 are in a separated state in an embodiment of the present invention; Figure 2 for Figure 1 Schematic sectional view at section AA; Figure 3 for Figure 2 A magnified view of a section at point A in the middle; Figure 4 for Figure 2 sectional view at section BB; Figure 6 This 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 the plug-in state in an embodiment of the present invention. Figure 6 The corresponding cross-sectional position and Figure 2The corresponding cross-sectional positions are consistent, which is the cross-sectional view of the quick-change device at section AA when the first plug-in structure 117 and the second plug-in structure 211 are in the plug-in state. Figure 7 This 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 plugged-in state, according to an embodiment of the present invention. Figure 7 The corresponding cross-sectional position and Figure 4 The corresponding cross-sectional positions are consistent, which is the cross-sectional view of the quick-change device at section BB 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 magnified view of a section at point B in the middle; Figure 9 This is a cross-sectional schematic diagram of the quick-change device in an embodiment of the present invention, where the first insertion structure 117 and the second insertion structure 211 are in the insertion state and the first locking part 131 abuts against the first limiting part 2121. Figure 9 The corresponding cross-sectional position and Figure 2 (The corresponding cross-sectional positions are consistent); Figure 10 This is another cross-sectional view of the quick-change device in an embodiment of the present invention, where the first insertion structure 117 and the second insertion structure 211 are in the insertion state and the first locking part 131 abuts against the first limiting part 2121. Figure 10 The corresponding cross-sectional position and Figure 4 (The corresponding cross-sectional positions are consistent); Figure 11 for Figure 10 A magnified view of a section at point C.

[0040] Specifically, Figures 1 to 5 This corresponds to the case where the master connector 1 and the slave connector 2 are in a separated state. Figure 6-8 When the first insertion structure 117 and the second insertion structure 211 are inserted and connected, and the first locking part 131 and the first limiting part 2121 are not overlapped in the vertical direction, the following situation applies. Figure 9-11 The first insertion structure 117 and the second insertion structure 211 are inserted and connected, and the first locking part 131 and the first limiting part 2121 abut against each other in the vertical direction. It should be understood that... Figures 1 to 11 The invention has only been illustrated by way of example and is not limited thereto without departing from the design concept of the invention.

[0041] It should be understood that this specification will use the first plug-in structure 117 as a plug-in structure and the second plug-in structure 211 as a socket structure as an example to illustrate the content of the present invention. However, it should be understood that, without departing from the technical concept of the present invention, the first plug-in structure 117 can also be a socket structure, and the second plug-in structure 211 can also be a plug-in structure. The cross-sectional shape of the plug-in structure can be polygonal, circular, etc., see reference. Figure 5The cross-sectional shape of the plug structure and the socket structure is rectangular (or approximately rectangular). When the first plug structure 117 and the second plug structure 211 are plugged together, the plugging of the two can provide limiting force in multiple directions, which can ensure the reliability of the connection between the main end connector 1 and the slave end connector 2.

[0042] It should be understood that, unless otherwise explicitly indicated or clearly deduced from the context, when the first plug-in structure 117 and the second plug-in structure 211 are plugged in, it means that the main end connector 1 and the slave end connector 2 move relative to each other in the vertical direction, such that the first plug-in structure 117 and the second plug-in structure 211 cannot continue to move after plugging in. In this case, the projections of the first locking part 131 and the first limiting part 2121 in the vertical direction do not coincide. That is to say, at this time, the positions of the first locking part 131 and the first limiting part 2121 do not interfere with each other and do not affect the mutual plugging movement of the first plug-in structure 117 and the second plug-in structure 211. The first plug-in structure 117 and the second plug-in structure 211 can be plugged in or separated as needed.

[0043] Specifically, when the first insertion structure 117 and the second insertion structure 211 are in the insertion connection state, the first limiting part 2121 is located on the side above the first locking part 131 (see reference). Figure 6-8 The drive mechanism 12 can drive the locking block 13 to move. Under the drive of the drive mechanism 12, the first locking part 131 gradually approaches the first limiting part 2121 and abuts against the downward-facing surface of the first limiting part 2121, thereby realizing the limiting connection between the first locking part 131 and the first limiting part 2121. (Refer to...) Figure 9-11 As shown, in this case, the separation of the first plug-in structure 117 and the second plug-in structure 211 can be restricted, that is, the separation of the master connector 1 and the slave connector 2 can be restricted, thereby achieving a locked connection between the master connector 1 and the slave connector 2.

[0044] Of course, conversely, when the main connector 1 and the slave connector 2 are locked together, the drive mechanism 12 can drive the locking block 13 to move in the opposite direction, so that the first locking part 131 is separated from the first limiting part 2121, so that the two do not interfere with each other and do not affect the separation of the first plug-in structure 117 and the second plug-in structure 211.

[0045] It should be understood that the quick-change device can be used in situations where quick changes are required, for example, in a robot operating system, which includes a robot and a working tool, with the main connector 1 connected to the end of the robot and the slave connector 2 connected to the working tool.

[0046] For example, the main connector 1 is provided with a first connection interface 1131 (reference). Figure 1 and Figure 2The robot has a robotic arm. The first connection interface 1131 is used to connect to the end structure of the robotic arm, such as an end flange. The second connection interface is used to connect to a working tool. The first connection interface 1131 can be configured as a connection hole, etc., as needed. The second connection interface can also be configured as a connection hole, etc., as needed. The first and second connection interfaces can also be configured as detachable arrangements, which are not considered limitations. The locking seat 11 may include a third seat 113, which is detachably connected to the first seat 111 described later. The third seat 113 forms the first connection interface 1131. The third seat 113 may also form a wire passage 1132, which communicates with the center hole 3 described later. The wire passage 1132 is offset from the first connection interface 1131, and the two do not affect each other. The first connection interface 1131 may include a receiving groove disposed in the third seat 113.

[0047] In this embodiment, by way of example, the first plug-in structure 117 and the second plug-in structure 211 are plugged into each other by the movement of the robot, and then the first locking part 131 abuts against the first limiting part 2121 by the action of the driving mechanism 12, 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 mounting base for other components of the main connector 1. When the first insertion structure 117 of the main connector 1 and the second insertion structure 211 of the slave connector 2 are in mating insertion, since the first limiting part 2121 is located to the side of the first locking part 131, and the position of the first limiting part 2121 in the vertical direction is higher than that of the first locking part 131 in the vertical direction, the locking block 13 is at least rotatably connected to the locking seat 11 through the first connecting part 132. 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 part 131 of the locking block 13 moves to abut against the downward-facing surface of the first limiting part 2121, thereby restricting the separation of the main connector 1 and the slave connector 2 in the insertion direction of the first insertion structure 117, ensuring that the main connector 1 and the slave connector 2 are connected. The connection locking of connector 2, wherein when the main end connector 1 and the slave end connector 2 are in the connected locked state, the locking block 13 can be approximately understood as a lever structure, wherein the first connecting part 132 is the fulcrum of the lever, the first locking part 131 and the second connecting part 133 are the force points at both ends of the lever. Since the distance from the second connecting part 133 to the first connecting part 132 is greater than the distance from the first locking part 131 to the first connecting part 132, for the drive mechanism 12, the locking block 13 achieves a similar effect to a force-saving lever. After the force of the first limiting part 2121 on the first locking part 131 is transmitted through the locking block 13, the force at the second connecting part 133 is relatively small. Thus, the force required for the locking block 13 to maintain its locked position is small. For example, when the driving force of the drive mechanism 12 is limited, it can maintain a strong locking effect between the main end connector 1 and the slave end connector 2. The quick-change device can obtain strong connection reliability and high performance. Furthermore, in some scenarios, it can reduce the driving force requirement of the drive mechanism 12 to a certain extent, which is conducive to the miniaturization and lightweight design of the drive mechanism 12.

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

[0050] like Figure 4 , 8As shown, optionally, the locking seat 11 is provided with a first mounting cavity 1171, and a first opening 1172 is provided on the side of the first mounting cavity 1171. The locking block 13 is movably installed in the first mounting cavity 1171 through the first connecting part 132, and the first locking part 131 is located close to the first opening 1172. When the first plug-in structure 117 is plugged into the second plug-in structure 211, the position of the first limiting part 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 part 132 and / or the first limiting part 2121, so that it does not affect the switching between the two states of contact and separation of the first connecting part 132 and the first limiting part 2121 through relative movement.

[0052] In some scenarios, the first limiting part 2121 is integrally disposed on the base 21, such as... Figure 4 As shown, in other scenarios, the base 21 is detachably connected to the limiting structure 212, and the first limiting part 2121 is formed in the limiting structure 212, which no longer serves as a limit.

[0053] Thus, by using the first mounting cavity 1171 to install the locking block 13, the locking block 13 and other structures can be protected. The structure is simple and highly practical.

[0054] like Figure 4 , 8 As shown in the above embodiment, optionally, the first plug-in structure 117 is provided with a first mounting cavity 1171, and the first limiting part 2121 is located at the side wall of the second plug-in structure 211.

[0055] For example, the first insertion structure 117 is a plug structure, the first mounting cavity 1171 is formed in the plug structure, the second insertion structure 211 is a socket structure, and the first limiting part 2121 protrudes from the hole wall of the socket structure.

[0056] In this way, the first mounting cavity 1171 is formed by utilizing part of the space of the first plug-in structure 117, which is compact, rationally laid out, and highly practical.

[0057] like Figure 3 As shown in the above embodiment, optionally, the outer contour of the cross-section of the first locking part 131 includes at least a circular portion. This allows the first locking part 131 to achieve relatively good contact with the external component when the locking block 13 rotates.

[0058] For example, at least a portion of the outer contour of the first locking part 131 is located on a cylindrical surface. In this case, the first locking part 131 and the first limiting part 2121 can obtain a large contact range, for example, they can obtain line contact. In this case, even if fewer locking blocks 13 are used, the master end connector 1 and the slave end connector 2 can obtain greater connection reliability.

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

[0060] At this time, the position setting of the first connecting part 132 does not affect the connection between the first locking part 131 and the first limiting part 2121, and can also achieve a small distance between the contact position of the first locking part 131 and the first limiting part 2121 and the first connecting part 132. Thus, when the driving mechanism 12 drives the locking block 13, the locking block 13 acts as a force-saving lever. When the force is transmitted from the end connector 2 to the locking block 13, the locking block 13 acts as a force-consuming lever, thereby reducing the driving force requirement of the driving mechanism 12. When the main end connector 1 and the end connector 2 are connected and locked, the locking block 13 can provide a greater locking force to the end connector 2.

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

[0062] Specifically, the first connecting part 132 is slidably connected to the first slide groove 118 and is rotatable relative to the first slide groove 118. Thus, when the drive mechanism 12 is activated, the locking block 13 can slide relative to the locking seat 11 along the first slide groove 118 and rotate relative to the first slide groove 118, thereby quickly adjusting 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 its two ends are respectively inserted into the first sliding groove 118. The first locking part 131 and the second connecting part 133 are both formed in the block body. At least the block body can slide and rotate relative to the first sliding groove 118.

[0064] like Figure 3As shown, in some scenarios, the locking block 13 also includes a set screw 135. The second connecting shaft and the block body are kept in a fixed 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. The first connecting part 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 within the first slide groove 118 and can rotate relative to the first slide groove 118, thereby satisfying the position adjustment requirements of the locking block 13. In other scenarios, the first connecting part 132 can be understood as a through hole on the block body to which the second connecting shaft is connected. The block body and the second connecting shaft are rotatably connected. The cross-sectional shape of the second connecting shaft can be oblong, etc. The second connecting shaft can be slidably connected only to the first slide groove 118.

[0065] Thus, the sliding movement of the first connecting part 132 relative to the first slide groove 118 can at least satisfy the position change requirement of the first limiting part 2121 in the horizontal direction, and the rotation of the first connecting part 132 relative to the first slide groove 118 can satisfy the position change requirement of the first limiting part 2121 in the horizontal and vertical directions. Its structure is simple and highly practical.

[0066] Further, refer to Figure 3 As shown, the extending direction of the first groove 118 is perpendicular to the insertion direction of the first insertion structure 117. This results in a simple structure for the first groove 118, facilitating its manufacturing and making it highly practical. Of course, it should be understood that the first groove 118 can be configured as a curved section, and there are no limitations on its design.

[0067] Optionally, when the first locking part 131 and the first limiting part 2121 abut in the vertical direction, the locking block 13 is inclined relative to the vertical direction, and the end of the locking block 13 away from the first locking part 131 is lower in the vertical direction than the position of the first locking part 131 in the vertical direction.

[0068] In other words, when the master connector 1 and the slave connector 2 are in a locked connection state, the reference... Figure 9-11 As shown, the locking block 13 is inclined. In this case, the gravity of the end connector 2 and the working tool connected to it is transmitted to the first locking part 131 through the first limiting part 2121. The locking block 13 has a tendency to move downward as a whole within a small range, that is, the second connecting part 133 has a tendency to move downward within a small range until the position of the locking block 13 is restricted, thereby locking the position of the locking part.

[0069] For example, the angle between the locking block 13 and the setting plane is greater than or equal to 5° and less than or equal to 15°, and the setting plane is a plane perpendicular to the insertion direction of the first insertion structure 117.

[0070] There are multiple possibilities for limiting the position of the locking block 13. For example, it can be limited by the force of the driving mechanism 12, or the second locking part 134 described later can be abutted by the second limiting part 1173.

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

[0072] It should be understood that the structure in which the second limiting part 1173 abuts against the second locking part 134 is not a limitation. However, when the drive mechanism 12 drives the locking block 13 to move in the opposite direction, the abutment between the second limiting part 1173 and the second locking part 134 is released, and the first limiting part 2121 and the first locking part 131 can be separated.

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

[0074] Furthermore, when the locking block 13 is provided with a second locking part 134, the outer contour of the cross section of the second locking part 134 includes at least a circular portion.

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

[0076] Thus, when the second locking part 134 and the first limiting part 2121 can make approximately rolling contact and when they are in line contact, the second limiting part 1173 can provide a relatively large contact force to the locking block 13, and the locking block 13 can obtain a relatively large position holding force, which can reduce the need for the driving mechanism 12 to provide the position holding force of the locking block 13.

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

[0078] refer to Figure 11 As shown, in an exemplary embodiment, the second limiting portion 1173 is formed on the side wall of the first mounting 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. In this case, the side wall of the first mounting cavity 1171 opposite to the first opening 1172 can be set as a smooth plane, through which the second limiting portion 1173 is formed. In another embodiment, the side wall of the first mounting cavity 1171 opposite to the first opening 1172 can be provided with a snap-fit ​​protrusion, through which the second limiting portion 1173 is formed (not shown in the figure of this embodiment).

[0079] Unlike the second limiting part 1173 which is formed on the side wall of the first mounting cavity 1171 opposite to the first opening 1172, in some scenarios, the second limiting part 1173 is a limiting groove formed on the side wall of the first mounting cavity 1171 located on both sides of the first opening 1172.

[0080] For example, the limiting groove can extend along the insertion direction of the first insertion structure 117, and it can have a limiting groove section and a clearance groove section. The second locking part 134 can be formed on the third connecting shaft, the third connecting shaft is inserted into the limiting groove, the second limiting part 1173 is disposed in the limiting groove section, the clearance groove section is used for the passage of the third connecting shaft, and the clearance groove section can communicate with the first sliding groove 118, for example, the two are arranged crosswise and communicated, which is not shown in the figure.

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

[0082] Specifically, the drive mechanism 12 also includes a first connecting shaft 123, which passes through the rod-shaped structure 122 and the second connecting portion 133. The axial direction of the first connecting shaft 123 is consistent with the axial direction of rotation of the locking block 13. Thus, when the rod-shaped structure 122 moves, it can drive the second connecting portion 133 to move, thereby causing the locking block 13 to move relative to the locking seat 11.

[0083] In some scenarios, the first connecting shaft 123 is clearance-fitted with the rod-shaped structure 122 or the second connecting part 133, so that there can be a small movement gap between the second connecting part 133 and the rod-shaped structure 122. Alternatively, an elastic structure, such as an elastic wear-resistant ring, can be provided between the first connecting shaft 123 and the rod-shaped structure 122 or the second connecting part 133, so that there can be a small movement gap between the second connecting part 133 and the rod-shaped structure 122, which can meet the requirement of the locking block 13 moving downward within a small range.

[0084] Furthermore, the drive mechanism 12 also 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 part 133.

[0085] For example, the locking block 13 is provided with a second mounting cavity 136 communicating with the first mounting cavity 1171, the second connecting part 133 is a through hole provided in the side wall of the second mounting cavity 136, the lower end of the rod-shaped structure 122 passes through the first mounting cavity 1171 and the second mounting cavity 136, and the first connecting shaft 123 passes through the rod-shaped structure 122 and the second connecting part 133.

[0086] This configuration allows the piston 121 to be driven by a pneumatic or hydraulic control system, ensuring the ease of use and intelligence of the quick-change device, and also facilitating integration with external control systems.

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

[0088] For example, the first connecting shaft 123 is also inserted into the limiting groove, forming a second limiting part 1173 through the limiting groove, and a second locking part 134 is formed through the portion of the first connecting shaft 123 inserted into the limiting groove. This is not shown in the figure. In other words, the first connecting shaft 123 also serves as the third connecting shaft mentioned above.

[0089] Thus, 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 part 133 and the first connecting part 132. When the driving mechanism 12 drives the locking block 13 to move, the locking block 13 forms a force-saving lever, which requires less driving force from the driving mechanism 12. This reduces the specification requirements of the driving mechanism 12, allowing the use of a smaller specification model of the driving mechanism 12. The driving mechanism 12 occupies less space, which is beneficial for the miniaturization of the quick-change device.

[0090] like Figure 2 As shown, 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 a piston cavity 116. A first insertion structure 117 is formed on the second seat 112.

[0091] The manner in which the first seat 111 and the second seat 112 enclose the piston cavity 116 is not limited. Exemplarily, the first seat 111 forms the main body of the piston cavity 116, and the main body has a second opening 1161 at one end near the second seat 112. The second seat 112 is connected to the first seat 111, and 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 onto the first seat 111. The second seat 112 and the first seat 111 are detachably connected by a plurality of first screws 114, wherein the first screws 114 pass through the second seat 112 from bottom to top and are threadedly connected to the first seat 111.

[0092] The first sealing structure 115 and the second seat 112 are respectively provided with a first through hole 1151 and a second through hole 1121 at the second opening 1161 corresponding to the piston chamber 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, the first positioning groove 1111 is provided at the end of the first seat 111 near the second seat 112. Figure 5 (As indicated by the label), 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 screw 114.

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

[0095] like Figure 1 and Figure 3 As shown, at least the locking seat 11 and the base 21 have a central hole 3;

[0096] When there is only one piston chamber 116, the piston chamber 116 is arranged around the central hole 3. When there are multiple piston chambers 116, the multiple piston chambers 116 are evenly distributed on the circumference coaxial with the central hole 3.

[0097] Here, the central hole 3 is used to arrange cables and electrical connectors, etc. In an exemplary embodiment, the locking seat 11 and the base 21 are respectively provided with an electrical male connector 4 and an electrical female connector at the central hole 3. When the first plug-in structure 117 and the second plug-in structure 211 are plugged in, the electrical male connector 4 and the electrical female connector are connected in a plugging manner. (Reference) Figure 4 As shown, the second seat 112 and the electrical connection male connector 4 are pressed against the first seat 111.

[0098] It should be understood that when there are multiple piston chambers 116, the multiple piston chambers 116 may be disconnected from each other, or the multiple piston chambers 116 may be connected to each other to share the air supply passage and the exhaust passage, thereby reducing the number of external air connection interfaces required.

[0099] It should be understood that the main connector 1 and the slave connector 2 can also be provided with interconnected air channels, which are used to supply air to the structure connected to the slave connector 2, such as a working tool.

[0100] In the above embodiments, optionally, the first insertion structure 117 has multiple insertion pin structures, which are evenly distributed on the same circumference, for example, the circumference is coaxial with the central hole 3. (See reference...) Figure 2 The two insert structures are symmetrically arranged in the X-axis direction.

[0101] In the above embodiments, optionally, the cross-sectional shape of the first plug-in structure 117 and the second plug-in structure 211 is polygonal.

[0102] Another embodiment of the robot operation system of the present invention includes the quick-change device of the above embodiment. The contents of the robot operation system have been described above and will not be repeated here.

[0103] While the present invention has been disclosed above, its scope of protection 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 all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A quick-change device, characterized in that, The device includes a main connector (1) and a slave connector (2). The main connector (1) includes a locking seat (11), a driving mechanism (12), and a locking block (13). The locking seat (11) has a first insertion structure (117). The locking block (13) has a first locking part (131), a first connecting part (132), and a second connecting part (133). The locking block (13) is at least rotatably connected to the locking seat (11) through the first connecting part (132). The first locking part (131) and the second connecting part (133) are located on both sides of the first connecting part (132). The distance from the second connecting part (133) to the first connecting part (132) is greater than the distance from the first locking part (131) to the first connecting part (132). The locking seat (11) has a first mounting cavity (1171). The locking seat (11) also has a first mounting cavity (1171) and a locking mechanism (12). A first sliding groove (118) is connected to a mounting cavity (1171). The locking block (13) is slidably and rotatably mounted in the first mounting cavity (1171) relative to the first sliding groove (118) via the first connecting part (132). A first opening (1172) is provided on the side of the first mounting cavity (1171), and the first locking part (131) is located close to the first opening (1172). The driving mechanism (12) includes a rod-shaped structure (122), which is rotatably connected to the second connecting part (133). The rod-shaped structure (122) is used to move in the up and down direction and drive the second connecting part (133) to move, so as to realize the movement of the locking block (13). The locking block (13) adjusts the position of the first locking part (131) in the horizontal and up and down directions by sliding and rotating relative to the first sliding groove (118). The slave connector (2) includes a base (21), which is provided with a second insertion structure (211) and a first limiting part (2121). When the first insertion structure (117) is inserted into the second insertion structure (211), the position of the first limiting part (2121) corresponds to the position of the first open opening (1172). The first limiting part (2121) is located to the side of the first locking part (131), and the position of the first limiting part (2121) in the vertical direction is higher than the position of the first locking part (131) in the vertical direction. When the driving mechanism (12) drives the locking block (13) to move, the first limiting part (2121) is located on the path of the first locking part (131) to move, so that the first locking part (131) and the first limiting part (2121) abut against each other in the vertical direction. When the first locking part (131) and the first limiting part (2121) abut in the vertical direction, the locking block (13) is inclined relative to the vertical direction, and the position of the end of the locking block (13) away from the first locking part (131) in the vertical direction is lower than the position of the first locking part (131) in the vertical direction.

2. The quick-change device as described in claim 1, characterized in that, The first groove (118) is distributed on the sidewalls of the first mounting cavity (1171) located on both sides of the first opening (1172).

3. The quick-change device as described in claim 1, characterized in that, The locking block (13) is provided with a second locking part (134), the second locking part (134) and the first locking part (131) are respectively located on both sides of the first connecting part (132), and the locking seat (11) is provided with a second limiting part (1173); when the first locking part (131) moves to abut against the first limiting part (2121), the second limiting part (1173) abuts against the second locking part (134).

4. The quick-change device as described in claim 1, characterized in that, The outer contour of the first locking part (131) includes at least a circular portion, and the position of the first connecting part (132) corresponds to the center position of the circle corresponding to the outer contour of the first locking part (131).

5. The quick-change device as described in claim 3, characterized in that, The outer contour of the first locking part (131) includes at least a circular portion, and the position of the first connecting part (132) corresponds to the center position of the circle corresponding to the outer contour of the first locking part (131).

6. The quick-change device as described in claim 3, characterized in that, The outer profile of the second locking part (134) includes at least a circular portion.

7. The quick-change device as described in claim 6, characterized in that, The second limiting part (1173) is formed on the side wall of the first mounting cavity (1171) opposite to the first opening (1172).

8. The quick-change device as described in claim 6, characterized in that, The second limiting part (1173) is a limiting groove formed in the first mounting cavity (1171) on the side wall located on both sides of the first opening (1172).

9. The quick-change device as described in claim 7, characterized in that, The second limiting part (1173) also includes a limiting groove formed in the first mounting cavity (1171) on the side wall located on both sides of the first opening (1172).

10. The quick-change device according to any one of claims 6-9, characterized in that, The position of the second connecting part (133) corresponds to the center position of the circle corresponding to the outer contour of the cross section of the second locking part (134).

11. The quick-change device according to any one of claims 1 to 9, characterized in that, The drive 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 part (133).

12. The quick-change device as described in claim 11, 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 insertion structure (117) is formed on the second seat (112).

13. The quick-change device as described in claim 11, characterized in that, At least the locking seat (11) of the locking seat (11) and the base (21) is provided with a central hole (3). When there is only one piston cavity (116), the piston cavity (116) is arranged around the central hole (3). When there are multiple piston cavities (116), the multiple piston cavities (116) are evenly distributed on a circumference coaxial with the central hole (3).

14. The quick-change device as described in claim 1, characterized in that, The first plug-in structure (117) is provided with the first mounting cavity (1171), and the first limiting part (2121) is located at the side wall of the second plug-in structure (211).

15. The quick-change device as described in claim 1 or 14, characterized in that, The first plug-in structure (117) is a plug-in structure, and the second plug-in structure (211) is a plug-in hole structure; the cross-sectional shape of the plug-in structure is polygonal.

16. A robot operation system, characterized in that, Includes the quick-change device as described in any one of claims 1 to 15.

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