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, the quick change device comprises a master end connector and a slave end connector, and the master end connector comprises a locking seat, a driving mechanism and a columnar locking piece; the columnar locking piece is movably mounted on the locking seat in a set direction, and the driving mechanism is mounted on the locking seat and is in driving connection with the columnar locking piece; the locking seat is provided with a first inserting structure; the slave end connector comprises a base, and the base is provided with a second inserting structure and a limiting structure; the set direction, the axial direction of the columnar locking piece and the inserting direction of the first inserting structure are arranged in a pairwise crossed mode. When the first inserting structure and the second inserting structure are connected in an inserting mode, the driving mechanism drives the columnar locking piece to move so that the columnar locking piece can be connected with or separated from the limiting structure in a limiting mode.

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 some scenarios, such as the connection between a robot and a tool, quick change devices are widely used. A quick change device usually includes a master end part and a slave end part. When the master end part and the slave end part are connected, the relative positions of the two are locked by balls.

[0003] However, in this case, when locking the two by balls, the contact surface between the balls and their limiting structures is limited. Even if a large number of balls are arranged, it is still difficult to ensure the locking force between the master end part and the slave end part, the connection reliability is relatively low, and the performance of the quick change device has deficiencies. Summary of the Invention

[0004] The present invention aims to solve to a certain extent the problem of how to improve the performance of quick change devices in related technologies.

[0005] 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 columnar locking member. The columnar locking member is movably installed on the locking seat in a set direction. The driving mechanism is installed on the locking seat and is drivingly connected to the columnar locking member. The locking seat is provided with a first plugging structure. The slave end connector includes a base, and the base is provided with a second plugging structure and a limiting structure. Among them, the set direction, the axial direction of the columnar locking member, and the plugging direction of the first plugging structure are arranged crosswise with each other. When the first plugging structure is plugged and connected to the second plugging structure, the driving mechanism drives the columnar locking member to move, so that the columnar locking member is in limiting connection with or separated from the limiting structure.

[0006] Optionally, the driving mechanism includes a driving structure and a commutation block. The commutation block is slidably connected to the locking seat. The driving structure is drivingly connected to the commutation block. The sliding direction of the commutation block is arranged at an angle with the set direction. The commutation block is provided with a driving surface and contacts the columnar locking member through the driving surface. At least part of the driving surface is inclined with respect to the sliding direction of the commutation block and the set direction respectively.

[0007] Optionally, the driving surface includes a first guiding section and a first recessed section. Along the sliding direction of the commutation block and in the direction gradually away from the columnar locking member, the first guiding section and the first recessed section are arranged in sequence, and the first distance corresponding to the points on the first guiding section gradually decreases. The first distance is the distance between the points on the first guiding section and the limiting structure in the direction perpendicular to the sliding direction of the commutation block.

[0008] Optionally, the limiting structure is located at the side wall of the second plugging structure; the first plugging structure is provided with a first installation cavity, and the columnar locking member and the commutation block are respectively slidably installed in the first installation cavity; a first opening is provided on one side of the first installation cavity close to the limiting structure, and the first opening is configured to allow at least part of the columnar locking member to pass through.

[0009] Optionally, the first plugging structure is provided with a first sliding groove and a second sliding groove. The first sliding groove is distributed on the side walls of the first installation cavity on both sides of the first opening, and the second sliding groove is distributed on the side walls of the first installation cavity on both sides of the first opening and / or the side wall of the first installation cavity opposite to the first opening.

[0010] Optionally, the driving mechanism further includes a first connecting shaft, the driving structure includes a rod-shaped structure, and the rod-shaped structure is connected to the commutation block through the first connecting shaft;

[0011] The driving structure 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 to the piston, and the other end of the rod-shaped structure is inserted into the first installation cavity and connected to the commutation block.

[0012] 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.

[0013] Optionally, at least the locking seat among the locking seat and the base is provided with a central hole;

[0014] Wherein, a plurality of the piston cavities are evenly distributed on a circumference coaxially arranged with the central hole, or the number of the piston cavities is one, and the piston cavity surrounds the central hole.

[0015] Optionally, the first plugging structure is a plug post structure, and the second plugging structure is a jack structure; the cross-sectional shape of the plug post structure is polygonal.

[0016] In a second aspect, the present invention provides a robot operation system, which includes the quick-change device according to any one of the first aspects above.

[0017] In the quick-change device and the robot operating system of the present invention, the locking seat provides a stable installation foundation for other components of the main-end connector. When the first plugging structure of the main-end connector is in mating plugging with the second plugging structure of the slave-end connector, since the columnar locking member is movably installed in the locking seat in a set direction, and the set direction, the axial direction of the columnar locking member, and the plugging direction of the first plugging structure are cross-set pairwise, by operating the driving mechanism, the columnar locking member can be driven to move in the set direction. Specifically, the columnar locking member is driven to move to be able to be in limit connection with the limiting structure or to be separated from the limiting structure. When the columnar locking member moves to be in limit connection with the limiting structure, it can restrict the separation of the main-end connector and the slave-end connector in the plugging direction of the first plugging structure, thereby ensuring the connection and locking of the main-end connector and the slave-end connector. When the columnar locking member moves to be separated from the limiting structure, the main-end connector and the slave-end connector can be unlocked; and when the columnar locking member moves to be in limit connection with the limiting structure, the columnar form of the columnar locking member enables the contact surface between the columnar locking member and the limiting structure to extend in the axial direction of the columnar locking member, and a relatively large contact surface can be obtained, ensuring the connection reliability of the main-end connector and the slave-end connector. On this basis, the number requirement for the columnar locking member can also be reduced. For example, relying on two columnar locking members can better meet the usage requirements of the main-end connector and the slave-end connector. The quick-change device of the present invention has relatively high connection reliability, simple structure, and high usage performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Schematic diagram of the connection process of the main-end connector and the slave-end connector of the quick-change device in the embodiment of the present invention;

[0019] Figure 2 Schematic three-dimensional structure diagram of the quick-change device in the embodiment of the present invention;

[0020] Figure 3 Exploded structure diagram of the main-end connector in the embodiment of the present invention;

[0021] Figure 4 For Figure 3 Partial enlarged schematic diagram at A in

[0022] Figure 5 Schematic structure diagram of the driving mechanism in the embodiment of the present invention;

[0023] Figure 6 Schematic three-dimensional structure diagram of the quick-change device in another embodiment of the present disclosure;

[0024] Figure 7 For Figure 6 Exploded structure diagram of the main-end connector of the quick-change device shown;

[0025] Figure 8 For Figure 6 The structural schematic diagram of the first seat and the second seat clamping the first electrical connection seat in the quick-change device shown in the figure.

[0026] Explanation of reference numerals:

[0027] 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; 1172 - First installation cavity; 1173 - First opening; 1174 - Protective cover; 118 - First sliding groove; 119 - Second sliding groove; 12 - Driving mechanism; 121 - Driving structure; 1211 - Piston; 1212 - Rod-shaped structure; 12121 - Third through hole; 122 - First connecting shaft; 123 - Commutating block; 1231 - Driving surface; 1231a - First guiding section; 1231b - First recessed section; 1232 - Second installation cavity; 1233 - Fourth through hole; 1234 - Second sliding guide part; 13 - Columnar locking part; 131 - Columnar locking section; 1311 - Circumferential side surface; 1312 - Axial end face; 132 - First sliding part; 2 - Slave end connector; 21 - Base; 211 - Second plugging structure; 213 - Second connection interface; 214 - Inner wall surface; 22 - Limiting structure; 221 - Limiting hook; 3 - Central hole; 41 - First male electrical connector; 42 - Second male electrical connector; 43 - Third male electrical connector; 44 - Upper circuit board; 45 - Wire clamp; 46 - Third female electrical connector. Detailed implementation manners

[0028] To make the above objects, features and advantages of the present invention more obvious and understandable, the following detailed description of specific embodiments of the present invention will be given with reference to the accompanying drawings.

[0029] In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may 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 terms in the present invention can be understood according to specific situations.

[0030] In the description of this specification, the descriptions with reference to terms such as "embodiment", "one embodiment", "some embodiments", "exemplarily", and "one embodiment" mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or embodiment are included in at least one embodiment or embodiment of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or embodiment. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or embodiments.

[0031] 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" and "second" may explicitly or implicitly include at least one of such features.

[0032] In the 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 pointed by the arrow of the Z-axis) represents up, and the negative direction of the Z-axis represents down; the X-axis in the drawings 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 pointed by the arrow of the X-axis) represents the right side, and the negative direction of the X-axis represents the left side; at the same time, it should be noted that the above-mentioned representations of the Z-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 indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation to the present invention.

[0033] In a first aspect, the present invention provides a quick-change device. The quick-change device 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 columnar locking member 13; the columnar locking member 13 is movably installed in the locking seat 11 in a set direction, the driving mechanism 12 is installed in the locking seat 11 and is drivingly connected to the columnar locking member 13; the locking seat 11 is provided with a first plugging structure 117; the slave-end connector 2 includes a base 21, and the base 21 is provided with a second plugging structure 211 and a limiting structure 22; wherein, the set direction, the axial direction of the columnar locking member 13, and the plugging direction of the first plugging structure 117 are arranged to cross each other in pairs; when the first plugging structure 117 is plugged and connected to the second plugging structure 211, the driving mechanism 12 drives the columnar locking member 13 to move so that the columnar locking member 13 is in limiting connection or separation with the limiting structure 22.

[0034] As Figure 1 and Figure 2 shown, specifically referring to Figure 1 , Figure 1 shows a schematic diagram of the connection process of the main-end connector 1 and the slave-end connector 2 of the quick-change device in the embodiment, which shows the state when the main-end connector 1 is separated from the slave-end connector 2 (refer to Figure 1The part above the middle dotted line, where the arrow indicates the way the first plugging structure 117 is inserted into the second plugging structure 211), also shows the state when the main end connector 1 and the slave end connector 2 are connected (specifically, the state where the columnar locking member 13 is in a limiting connection with the limiting structure 22 and the columnar locking member 13 is accommodated in the cavity of the first recessed section 1231b of the commutation block 123 described later. For specific reference, Figure 1 the part below the middle dotted line).

[0035] It should be understood that this specification will take the first plugging structure 117 as a plug post structure and the second plugging structure 211 as a jack structure as an example to illustrate the content of the present invention. However, it should be understood that without violating the technical concept of the present invention, the first plugging structure 117 can also be a jack structure, and the second plugging structure 211 can also be a plug post structure.

[0036] In the present invention, taking the set direction as the direction in the horizontal plane, the first plugging structure 117 and the second plugging structure 211 are plugged in the up and down direction, and the set direction, the axial direction of the columnar locking member 13, and the plugging direction of the first plugging structure 117 are perpendicular to each other in pairs as an example for illustration.

[0037] Figure 1 In this case, the number of columnar locking members 13 is two, and the two columnar locking members 13 are symmetrically distributed in the X-axis direction. The axial directions of the columnar locking members 13 are perpendicular to the up and down direction and the left and right direction respectively.

[0038] The structural form of the driving mechanism 12 is not limited as long as it can drive the columnar locking member 13 to move in the X-axis direction.

[0039] It should be understood that when the first plugging structure 117 and the second plugging structure 211 are in a plugged connection state, the position of the columnar locking member 13 in the up and down direction is lower than at least part of the position of the limiting structure 22. For example, the position of the columnar locking member 13 in the up and down direction is lower than the position of the limiting hook 221 of the limiting structure 22 in the up and down direction. At this time, by driving the columnar locking member 13 through the driving mechanism 12, the columnar locking member 13 can be moved to directly below at least part of the limiting structure 22, such as the limiting hook 221, and contact the downward-facing surface of the limiting hook 221, thereby realizing the limiting connection between the columnar locking member 13 and the limiting structure 22. Reference Figure 1As shown, when the columnar locking member 13 contacts the downward-facing surface of the limiting hook 221, 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. Conversely, when the driving mechanism 12 drives the columnar locking member 13 to move away from directly below at least a part of the limiting structure 22, such as the limiting hook 221, the columnar locking member 13 and the limiting structure 22 are in a separable state, and the first plugging structure 117 and the second plugging structure 211 can be separated from each other in the up-and-down direction.

[0040] It should be understood that the quick-change device can be used in occasions where quick change is required. For example, it can be used in a robot operation system. The robot operation system includes a robot and an operating tool. The active connector is connected to the end of the robot, and the slave end connector 2 is connected to the operating tool.

[0041] Exemplarily, the active connector is provided with a third seat 113, and the third seat 113 is formed with a first connection interface 1131. The slave end connector 2 is provided with a second connection interface 213. The robot is equipped with a robotic arm. The first connection interface 1131 is used to connect to the end structure of the robotic arm, such as the end flange. The second connection interface 213 is used to connect to the operating tool. The first connection interface 1131 can be set as a connection hole or the like according to needs. Similarly, the second connection interface 213 can also be set as a connection hole or the like according to needs. The first connection interface 1131 and the second connection interface 213 can also be set as a detachable layout scheme according to needs, which is not restrictive.

[0042] Thus, in the quick-change device of the present invention, 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 and the second plugging structure 211 of the slave end connector 2 are in mating plugging, since the columnar locking member 13 is movably installed in the locking seat 11 in a set direction, and the set direction, the axial direction of the columnar locking member 13, and the plugging direction of the first plugging structure 117 are arranged crosswise in pairs, the columnar locking member 13 can be driven to move in the set direction by operating the driving mechanism 12. Specifically, the columnar locking member 13 is driven to move to be limit-connected with the limiting structure 22 or separated from the limiting structure 22. When the columnar locking member 13 moves to be limit-connected with the limiting structure 22, it can limit the separation of the main end connector 1 and the slave end connector 2 in the plugging direction of the first plugging structure 117, thereby ensuring the connection and locking of the main end connector 1 and the slave end connector 2. When the columnar locking member 13 moves to be separated from the limiting structure 22, the main end connector 1 and the slave end connector 2 can be unlocked; moreover, when the columnar locking member 13 moves to be limit-connected with the limiting structure 22, the columnar form of the columnar locking member 13 enables the contact surface between the columnar locking member 13 and the limiting structure 22 to extend in the axial direction of the columnar locking member 13, and a relatively large contact surface can be obtained, ensuring the connection reliability of the main end connector 1 and the slave end connector 2. On this basis, the number requirement for the columnar locking member 13 can also be reduced. For example, relying on two columnar locking members 13 can better meet the use requirements of the main end connector 1 and the slave end connector 2. The quick-change device of the present invention has relatively high connection reliability, simple structure, and high service performance.

[0043] As Figure 1 shown, optionally, the driving mechanism 12 includes a driving structure 121 and a commutation block 123. The commutation block 123 is slidably connected to the locking seat 11, and the driving structure 121 is drivingly connected to the commutation block 123; the sliding direction of the commutation block 123 is arranged at an angle to the set direction. The commutation block 123 is provided with a driving surface 1231 and contacts the columnar locking member 13 through the driving surface 1231. At least part of the driving surface 1231 is inclined with respect to the sliding direction of the commutation block 123 and the set direction respectively.

[0044] It should be understood that the driving connection manner between the driving structure 121 and the commutation block 123 is not limited to a specific connection manner or structural form, as long as the driving requirement can be met. Similarly, the sliding direction of the commutation block 123 is arranged at an angle to the set direction, and this angle can be flexibly adjusted according to actual design requirements and spatial layout, as long as it does not affect the effective transmission of force and direction conversion by the driving surface 1231. It will be described in combination with specific embodiments later.

[0045] Thus, the commutation block 123 is slidably connected to the locking seat 11 and can stably slide on the locking seat 11. The sliding direction of the commutation block 123 is set at an angle to the set direction. The commutation block 123 is provided with a driving surface 1231 and contacts the columnar locking member 13 through the driving surface 1231. At least part of the driving surface 1231 is inclined with respect to the sliding direction and the set direction of the commutation block 123 respectively. When the driving structure 121 drives the commutation block 123 to move, the columnar locking member 13 can be forced to move in the set direction through the contact between the driving surface 1231 and the columnar locking member 13, so as to realize the limiting connection between the columnar locking member 13 and the limiting structure 22. In this case, the driving structure 121 is not arranged in the set direction, and the arrangement of the driving structure 121 is more flexible, the structure is simple, and the practicability is strong.

[0046] As Figure 1 and Figure 5 shown, optionally, the driving surface 1231 includes a first guiding section 1231a and a first recessed section 1231b. Along the sliding direction of the commutation block 123 and in the direction gradually away from the columnar locking member 13, the first guiding section 1231a and the first recessed section 1231b are distributed in sequence, and the first distance corresponding to the points on the first guiding section 1231a gradually decreases. The first distance is the distance between the points on the first guiding section 1231a and the limiting structure 22 in the direction perpendicular to the sliding direction of the commutation block 123.

[0047] Specifically, taking the sliding direction of the commutation block 123 as the up-down direction as an example, under the drive of the driving structure 121, the commutation block 123 has two extreme positions. When the commutation block 123 is located at the upper extreme position, the driving surface 1231 of the commutation block 123 can be separated from the columnar locking member 13. When the commutation block 123 is located at the lower extreme position, the first recessed section 1231b of the driving surface 1231 of the commutation block 123 is engaged with the columnar locking member 13 to lock the position of the columnar locking member 13. At this time, the columnar locking member 13 is in limiting connection with the limiting structure 22, so as to ensure the reliable connection between the main end connector 1 and the slave end connector 2.

[0048] Among them, under the action of the driving structure 121, when the commutation block 123 moves from the upper extreme position to the lower extreme position, first, it contacts the columnar locking member 13 through the first guiding section 1231a (for example, contacts the columnar locking section 131 of the columnar locking member 13, and the columnar locking section 131 is in Figure 4(as shown in the figure), since from bottom to top, the first distance from the points on the first guiding section 1231a to the limiting structure 22 gradually decreases, when the driving structure 121 drives the reversing block 123 to move downward, the driving surface 1231 is in, for example, rolling contact with the columnar locking member 13 on the first guiding section 1231a, and forces the columnar locking member 13 to move in the set direction and gradually approach the limiting structure 22. When the reversing block 123 moves to contact the columnar locking member 13 through the first recessed section 1231b, the columnar locking member 13 is received in the cavity formed by the first recessed section 1231b, and the columnar locking member 13 is in limit connection with the limiting structure 22. The gravity of the end part is transmitted to the first recessed section 1231b of the reversing block 123 through the columnar locking member 13. At this time, the cavity of the first recessed section 1231b can form a self-locking for the columnar locking member 13 to a certain extent, preventing the working tool connected by the end connecting head 2 from falling off the end structure of the robot.

[0049] Exemplarily, the first recessed section 1231b includes two inclined surfaces arranged at an angle, and a cavity is formed between the two inclined surfaces. The two inclined surfaces can be symmetrically arranged with respect to the set surface, and the set surface is perpendicular to the sliding direction of the reversing block 123. The angle between the inclined surface and the set surface can be set according to specific needs. For example, in the present invention, the angle can be 65 - 75°, for example, 70°.

[0050] It should be understood that when the reversing block 123 is at the lower limit position, the inclined surface above the set surface contacts the columnar locking member 13, which can provide a relatively large locking force, so that the columnar locking member 13 is connected to the limiting structure 22.

[0051] In this way, the columnar locking member 13 can be driven to move in the set direction by the contact between the first guiding section 1231a of the driving surface 1231 and the columnar locking member 13, and the locking of the columnar locking member 13 can be formed to a certain extent by the cavity of the first recessed section 1231b, avoiding the columnar locking member 13 easily disengaging from the cavity.

[0052] As Figure 1 、 Figure 3 and Figure 4 shown, optionally, the limiting structure 22 is located at the side wall of the second plugging structure 211; the first plugging structure 117 is provided with a first installation cavity 1172, and the columnar locking member 13 and the reversing block 123 are respectively slidably installed in the first installation cavity 1172; a first opening 1173 is provided on one side of the first installation cavity 1172 close to the limiting structure 22, and the first opening 1173 is configured to allow at least part of the columnar locking member 13 to pass through.

[0053] It should be understood that the limiting structure 22 is located at the side wall of the second plugging structure 211. For example, the base 21 of the main end connector 1 forms the second plugging structure 211, and the limiting structure 22 is located at the side wall of the second plugging structure 211. In the following, the present invention will take the detachable connection between the limiting structure 22 and the base 21 as an example for illustration. However, it should be understood that without violating the design concept of the present invention, the two can also be integrally connected.

[0054] Thus, the first plugging structure 117 is provided with a first installation cavity 1172. The columnar locking member 13 and the commutation block 123 are respectively slidably installed in the first installation cavity 1172. Integrating the two in the first plugging structure 117, that is, using the first plugging structure 117 as the installation basis for the columnar locking member 13 and the commutation block 123 makes the structure of the main end connector 1 more compact and saves installation space. A first opening 1173 is provided on one side of the first installation cavity 1172 close to the limiting structure 22. The first opening 1173 is configured to allow at least part of the columnar locking member 13 to pass through. The limiting structure 22 is located at the side wall of the second plugging structure 211, so that when the first plugging structure 117 is connected to the second plugging structure 211, the limiting structure 22 is close to the first plugging structure 117. Specifically, it is close to the first opening 1173. At this time, under the drive of the drive mechanism 12, the columnar locking member 13 can move in a set direction, and at least part of the columnar locking member 13 can be exposed through the first opening 1173, so that the columnar locking member 13 can contact the limiting structure 22 to realize the limiting connection function. The columnar locking member 13 can also move in the set direction and retract into the interior of the first installation cavity 1172, so that the columnar locking member 13 is separated from the limiting structure 22, and the first plugging structure 117 and the second plugging structure 211 can be separated by relative movement.

[0055] As Figure 1 and Figure 4 shown, the first plugging structure 117 is provided with a first sliding groove 118 and a second sliding groove 119. The first sliding groove 118 is distributed on the side walls of the first installation cavity 1172 on both sides of the first opening 1173, and the second sliding groove 119 is distributed on the side walls of the first installation cavity 1172 on both sides of the first opening 1173 and / or the side wall of the first installation cavity 1172 opposite to the first opening 1173.

[0056] Specifically, the first sliding groove 118 extends along a set direction. The set direction, the plugging direction of the first plugging structure 117, and the axial direction of the columnar locking member 13 can be perpendicular to each other in pairs. The side walls of the first installation cavity 1172 on both sides of the first opening 1173 are both provided with the first sliding groove 118, and the first sliding groove 118 is used for guiding the movement of the columnar locking member 13.

[0057] In the present invention, when the columnar locking member 13 is connected to the first sliding groove 118, at least a portion of the columnar locking member 13 that is used to contact the limiting structure 22 and the driving surface 1231 can be set to be rotatable relative to the first sliding groove 118, so that when the columnar locking member 13 is driven by the driving surface 1231, the sliding contact is converted into rolling contact.

[0058] As Figure 4 shown, exemplarily, the columnar locking member 13 includes a columnar locking section 131 and a first sliding portion 132. At least a portion of the first sliding portion 132 is located at the axial end face 1312 of the columnar locking section 131. The cross-sectional shape of the columnar locking section 131 is circular, and its circumferential side surface 1311 is used to contact the driving surface 1231 of the commutation block 123 and the limiting structure 22. The first sliding portion 132 is received in the first sliding groove 118. The cross-sectional shape of the first sliding portion 132 is circular. When the first sliding portion 132 slides in the first sliding groove 118, the columnar locking member 13 can rotate relative to the first sliding groove 118. The yaw movement of the columnar locking member 13 is restricted by the axial end face 1312 of the columnar locking section 131. Along the axis of the columnar locking member 13, the first sliding groove 118 can penetrate through the side wall of the first installation cavity 1172. The protective cover 1174 covers the inner cavity of the first sliding groove 118 at the outer end of the first sliding groove 118. In some scenarios, the columnar locking section 131 can be set as a hollow structure, and the first sliding portion 132 passes through the columnar locking section 131 and is connected to the first sliding groove 118.

[0059] Exemplarily, the second sliding groove 119 is formed in the side walls of the first installation cavity 1172 on both sides of the first opening 1173 and the side wall of the first installation cavity 1172 opposite to the first opening 1173. The second sliding groove 119 is used for guiding the movement of the commutation block 123, and the extending direction of the second sliding groove 119 can be consistent with the insertion direction of the first insertion structure 117.

[0060] In this way, the space of the first installation cavity 1172 is fully utilized to arrange the first sliding groove 118 and the second sliding groove 119. It can effectively guide the movement of the columnar locking member 13 and the commutation block 123 in their respective corresponding directions, increase the stability of the columnar locking member 13 and the commutation block 123 during the movement process, reduce shaking and vibration, improve the reliability and service life of the connection, prevent them from shifting or jamming during the sliding process, ensure the smoothness and accuracy of the movement, avoid mutual interference between components, and improve the space utilization rate.

[0061] As Figure 1 、 Figure 3 and Figure 5 shown, the driving mechanism 12 further includes a first connecting shaft 122. The driving structure 121 includes a rod-shaped structure 1212. The rod-shaped structure 1212 is connected to the commutation block 123 through the first connecting shaft 122.

[0062] Specifically, the driving structure 121 is connected to the reversing block 123 through the rod-shaped structure 1212 , wherein a second guide slide 1234 is provided on the main part of the reversing block 123 , and is slidably connected to the second slide groove 119 provided in the first installation cavity 1172 through the second guide slide 1234 .

[0063] The main body is provided with a second installation cavity 1232, and the opposite side wall of the second installation cavity 1232 is provided with a fourth through hole 1233. The end of the rod-like structure 1212 extends into the second installation cavity 1232, and the first connecting shaft 122 is passed through the third through hole 12121 and the fourth through hole 1233 to realize the connection between the rod-like structure 1212 and the commutation block 123.

[0064] Furthermore, the axial direction of the first connecting shaft 122 is consistent with the axial direction of the columnar locking member 13. In some scenarios, the diameter of the first connecting shaft 122 may be smaller than the width of the first slide slot 118. When the driving structure 121 drives the reversing block 123 to move, the first connecting shaft 122 has a situation of moving to a set position. When the first connecting shaft 122 is at the set position, the position of the first connecting shaft 122 corresponds to the position of the first slide slot 118. The first connecting shaft 122 can enter the first installation cavity 1172 or leave the first installation cavity 1172 through the first slide slot 118. That is, the first slide slot 118 can be used for the rod-shaped structure 1212 and The process of connecting or disassembling the reversing block 123 through the first connecting shaft 122, taking the disassembly of the rod-shaped structure 1212, the reversing block 123 and the first connecting shaft 122 as an example, the position of the connection between the driving structure 121 and the reversing block 123 can be adjusted so that the first connecting shaft 122 moves to the set position, that is, the first connecting shaft 122 is aligned with the first slide groove 118, and force is applied to one end of the first connecting shaft 122, so that the first connecting shaft 122 can pass through the first slide groove 118, thereby releasing the connection between the rod-shaped structure 1212 and the reversing block 123.

[0065] In this way, the driving structure 121 includes a rod-shaped structure 1212, and is connected to the reversing block 123 through the rod-shaped structure 1212, wherein the rod-shaped structure 1212 and the reversing block 123 are connected through the first connecting shaft 122. This connection method allows the rod-shaped structure 1212 and the reversing block 123 to move relative to each other within a smaller range, thereby adapting to the installation errors of the driving structure 121 and the reversing block 123, ensuring the smoothness of force transmission between the internal components of the driving mechanism 12 during the operation of the driving mechanism 12, and making the movement of the reversing block 123 smoother, thereby improving the movement accuracy of the columnar locking member 13 in the set direction.

[0066] like Figure 1As shown, the driving structure 121 further includes a piston 1211. The locking seat 11 is provided with a piston chamber 116. The piston 1211 is installed in the piston chamber 116. One end of the rod-shaped structure 1212 is inserted into the piston chamber 116 and connected to the piston 1211, and the other end of the rod-shaped structure 1212 is inserted into the first installation chamber 1172 and connected to the commutation block 123.

[0067] Specifically, the piston 1211 is installed in the piston chamber 116 of the locking seat 11. When the piston 1211 moves in the piston chamber 116, the rod-shaped structure 1212 converts the linear motion of the piston 1211 into the sliding motion of the commutation block 123, and then drives the columnar locking member 13 to move in a set direction through the driving surface 1231 of the commutation block 123, so as to lock or unlock the main end connector 1 and the slave end connector 2. In this setting method, the movement of the piston 1211 can be driven by a pneumatic or hydraulic control system, which ensures the convenience and intelligence level of the quick-change device and is also convenient for integration with an external control system.

[0068] As Figure 1 and Figure 3 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 the piston chamber 116. The first insertion structure 117 is formed on the second seat 112;

[0069] The way that the first seat 111 and the second seat 112 enclose to form the piston chamber 116 is not limited. Exemplarily, the first seat 111 forms the main part of the piston chamber 116, and a second opening 1161 (refer to Figure 3 ) is formed at one end of the main part close to the second seat 112. The second seat 112 is connected to the first seat 111. A first sealing structure 115 is arranged at the second opening 1161. The second seat 112 covers the second opening 1161 of the piston chamber 116, presses the first sealing structure 115 against the first seat 111, and 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.

[0070] A first through hole 1151 and a second through hole 1121 are respectively arranged on the first sealing structure 115 and the second seat 112 corresponding to the second opening 1161 of the piston chamber 116. The first through hole 1151 and the second through hole 1121 are used for the rod-shaped structure 1212 to pass through.

[0071] In some scenarios, a first positioning groove 1111 is provided at one end of the first seat 111 close to the second seat 112. The second opening 1161 of the piston chamber 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 that of the second opening 1161. The second seat 112 is inserted into the first positioning groove 1111, and the second seat 112 and the first seat 111 are connected by a first screw 114.

[0072] In this way, the detachable connection mode 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. At the same time, it is also convenient for cleaning and maintenance of the entire locking seat 11, and is also convenient for the processing and manufacturing of the product. In this case, the rod-shaped structure 1212 and the commutator block 123 are connected by a first connecting shaft 122, which can, to a certain extent, adapt to the machining errors of the sliding direction of the piston 1211 and the sliding direction of the commutator block 123. For example, the two sliding directions are designed to be the same, but due to machining errors, there may be a small included angle between the two sliding directions. The setting of the first connecting shaft 122 can, to a certain extent, adapt to this included angle error and ensure the driving requirement of the driving structure 121 for the commutator block 123.

[0073] As Figure 1 and Figure 3 shown, at least the locking seat 11 in the locking seat 11 and the base 21 is provided with a central hole 3;

[0074] Among them, a plurality of piston chambers 116 are evenly distributed on a circumference coaxially arranged with the central hole 3, or the number of piston chambers 116 is one, and the piston chamber 116 is arranged around the central hole 3.

[0075] 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 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 and the electrical connection female head are butt-connected in a plugging manner.

[0076] Refer to Figures 6 to 8As shown, the main end connector 1 is provided with a first male electrical connector 41, a second male electrical connector 42, a third male electrical connector 43, and an upper circuit board 44. The slave end connector 2 is provided with a first female electrical connector, a second female electrical connector, and a third female electrical connector 46. The first seat 111 and the second seat 112 are connected and press the first male electrical connector 41 at the position of the central hole 3. The first seat 111 is provided with an installation cavity, and the second male electrical connector 42 is arranged in the installation cavity. The third male electrical connector 43 is arranged on the outer side wall of the first seat 111. The third seat 113 covers the top end of the first seat 111. The locking seat 11 is provided with a wire passing channel 1132, and the wire passing channel 1132 is respectively communicated with the installation cavity and the central hole 3. For example, after the third seat 113 and the first seat 111 are connected, a missing part is provided at the contact surface between the two to form the wire passing channel 1132. In some scenarios, an upper circuit board 44 is also arranged in the main end connector 1. The upper circuit board 44 is arranged at the upper end of the central hole 3 on the first seat 111. The upper circuit board 44 is electrically connected to the first male electrical connector 41 and can also be electrically connected to the second male electrical connector 42. The first connection interface 1131 may include a receiving groove arranged on the third seat 113 for receiving the end flange of the robot. A wire clamp 45 can also be arranged on the outer side of the first seat 111.

[0077] It should be understood that when the number of piston chambers 116 is multiple, the multiple piston chambers 116 can be non - communicating with each other, or the multiple piston chambers 116 can be communicated to share the air supply channel and the exhaust channel, thereby reducing the number requirement of the external air connection interfaces.

[0078] It should be understood that the main end connector 1 and the slave end connector 2 can also be provided with communicating air guiding channels, and the air guiding channels are used to supply air to the structure connected to the slave end connector 2, such as a working tool.

[0079] In the above - mentioned embodiment, optionally, in the first plug - in structure 117, the number of the plug posts is multiple, and the multiple plug post structures are evenly distributed on the same circumference. For example, the circumference is coaxially arranged with the central hole 3. Refer to Figure 1 , the two plug post structures are symmetrically arranged in the X - axis direction.

[0080] In the above - mentioned embodiment, optionally, the cross - sectional shapes of the first plug - in structure 117 and the second plug - in structure 211 are polygonal.

[0081] Refer to Figure 4 , the cross - sectional shapes of the plug post structure and the jack structure are rectangular.

[0082] In this way, when the first plug - in structure 117 and the second plug - in structure 211 are plugged and connected, the plug - in connection between the two can provide limiting forces in multiple directions, and can ensure the reliability of the connection between the main end connector 1 and the slave end connector 2.

[0083] In the above - mentioned embodiment, refer to Figure 1As shown, a cavity is formed below the limiting hook 221 at the side wall of the base 21 at the jack structure. When the columnar locking member 13 moves into the cavity, the upward movement of the columnar locking member 13 can be restricted by the limiting hook 221, and the downward movement of the columnar locking member 13 can be restricted by the inner wall surface 214 of the cavity opposite to the limiting hook 221. For example, when the reversing block 123 moves to the lower limit position, the columnar locking member 13 is located in the cavity and abuts against the inner wall surface 214 of the cavity opposite to the limiting hook 221.

[0084] In a second aspect, the present invention provides a robot operation system, which includes the quick-change device of the above embodiment. The content related to the robot operation system has been described above and will not be repeated here.

[0085] 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 column - shaped locking member (13). The column - shaped locking member (13) is movably installed in the locking seat (11) in a set direction. The driving mechanism (12) is installed in the locking seat (11) and is drivingly connected to the column - shaped locking member (13). The locking seat (11) is provided with a first plug - in structure (117). The slave - end connector (2) includes a base (21), and the base (21) is provided with a second plug - in structure (211) and a limiting structure (22). Among them, the set direction, the axial direction of the column - shaped locking member (13), and the plug - in direction of the first plug - in structure (117) are arranged to intersect pairwise. When the first plug - in structure (117) is plugged and connected to the second plug - in structure (211), the driving mechanism (12) drives the column - shaped locking member (13) to move, so that the column - shaped locking member (13) is in limiting connection with or separated from the limiting structure (22).

2. The quick-change device according to claim 1, characterized in that, The driving mechanism (12) includes a driving structure (121) and a commutation block (123). The commutation block (123) is slidably connected to the locking seat (11), and the driving structure (121) is drivingly connected to the commutation block (123). The sliding direction of the commutation block (123) is arranged at an angle with the set direction. The commutation block (123) is provided with a driving surface (1231) and contacts the column - shaped locking member (13) through the driving surface (1231). At least part of the driving surface (1231) is inclined with respect to the sliding direction of the commutation block (123) and the set direction respectively.

3. The quick-change device according to claim 2, characterized in that, The driving surface (1231) includes a first guiding section (1231a) and a first recessed section (1231b). Along the sliding direction of the commutation block (123) and in the direction gradually away from the column - shaped locking member (13), the first guiding section (1231a) and the first recessed section (1231b) are distributed in sequence, and the first distance corresponding to the points on the first guiding section (1231a) gradually decreases. The first distance is the distance between the points on the first guiding section (1231a) and the limiting structure (22) in the direction perpendicular to the sliding direction of the commutation block (123).

4. The quick-change device according to claim 2, wherein, The limiting structure (22) is located at the side wall of the second plug - in structure (211). The first plug - in structure (117) is provided with a first installation cavity (1172). The column - shaped locking member (13) and the commutation block (123) are respectively slidably installed in the first installation cavity (1172). A first opening (1173) is provided on one side of the first installation cavity (1172) close to the limiting structure (22), and the first opening (1173) is configured to allow at least part of the column - shaped locking member (13) to pass through.

5. The quick-change device according to claim 4, characterized in that, The first plugging structure (117) is provided with a first sliding groove (118) and a second sliding groove (119). The first sliding groove (118) is distributed on the side walls of the first installation cavity (1172) on both sides of the first opening (1173), and the second sliding groove (119) is distributed on the side walls of the first installation cavity (1172) on both sides of the first opening (1173) and / or the side wall of the first installation cavity (1172) opposite to the first opening (1173).

6. The quick-change device according to claim 4, characterized in that The driving mechanism (12) further includes a first connecting shaft (122). The driving structure (121) includes a rod-shaped structure (1212). The rod-shaped structure (1212) is connected to the commutation block (123) through the first connecting shaft (122). The driving structure (121) further includes a piston (1211). The locking seat (11) is provided with a piston cavity (116). The piston (1211) is installed in the piston cavity (116). One end of the rod-shaped structure (1212) is inserted into the piston cavity (116) and connected to the piston (1211), and the other end of the rod-shaped structure (1212) is inserted into the first installation cavity (1172) and connected to the commutation block (123).

7. The quick-change device according to claim 6, 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). The first plugging structure (117) is formed on the second seat (112).

8. The quick-change device according to claim 7, characterized in that, At least the locking seat (11) among the locking seat (11) and the base (21) is provided with a central hole (3). Wherein, a plurality of the piston cavities (116) are evenly distributed on a circumference coaxially arranged with the central hole (3), or the number of the piston cavities (116) is one, and the piston cavity (116) surrounds the central hole (3).

9. The quick-change device according to claim 3, characterized in that, 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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