Quick change device and robotic work system

Abstract

This invention provides a quick-change device and a robot operating system, relating to the field of quick-change technology. The quick-change device includes a master connector and a slave connector. The master connector includes a locking seat, a drive mechanism, and a columnar locking member. The columnar locking member is movably mounted on the locking seat in a set direction. The drive mechanism is mounted on the locking seat and drivenly connected to the columnar locking member. The locking seat has a first insertion structure. The slave connector includes a base, which has a second insertion structure and a limiting structure. The set direction, the axial direction of the columnar locking member, and the insertion direction of the first insertion structure are arranged in pairs, intersecting each other. When the first insertion structure and the second insertion structure are inserted and connected, the drive mechanism drives the columnar locking member to move, so that the columnar locking member is limited to connection or separation from the limiting structure.

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 some scenarios, such as the connection between robots and tools, quick-change devices are widely used. Quick-change devices typically include a master end part and a slave end part. When the master end part and the slave end part are connected, their relative positions are locked by ball bearings.

[0003] However, in this case, when locking the two parts by ball bearings, the contact area between the ball bearings and the limiting structure is limited. Even with a large number of ball bearings, the locking force of the main end and the slave end is still difficult to guarantee, resulting in low connection reliability and insufficient performance of the quick-change device. Summary of the Invention

[0004] 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.

[0005] 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 end connector and a slave end connector. The main end connector includes a locking seat, a driving mechanism, and a columnar locking member. The columnar locking member is movably mounted on the locking seat in a predetermined direction. The driving mechanism is mounted on the locking seat and drivenly connected to the columnar locking member. The locking seat is provided with a first insertion structure. The slave end connector includes a base, which is provided with a second insertion structure and a limiting structure. The predetermined direction, the axial direction of the columnar locking member, and the insertion direction of the first insertion structure are arranged in pairs, intersecting each other. When the first insertion structure is inserted into the second insertion structure, the driving mechanism drives the columnar locking member to move, thereby limiting the connection or separation of the columnar locking member from the limiting structure.

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

[0007] Optionally, the driving surface includes a first guide segment and a first recessed segment, which are located along the sliding direction of the reversing block and gradually away from the columnar locking member. The first guide segment and the first recessed segment are distributed sequentially, and the first distance corresponding to a point on the first guide segment gradually decreases. The first distance is the distance between a point on the first guide segment and the limiting structure in a direction perpendicular to the sliding direction of the reversing block.

[0008] Optionally, the limiting structure is located on the side wall of the second plug-in structure; the first plug-in structure is provided with a first mounting cavity, and the columnar locking member and the reversing block are slidably installed in the first mounting cavity; a first opening is provided on the side of the first mounting cavity near the limiting structure, and the first opening is configured to allow at least a portion of the columnar locking member to pass through.

[0009] Optionally, the first insertion structure is provided with a first sliding groove and a second sliding groove. The first sliding groove is distributed on the sidewalls of the first mounting cavity located on both sides of the first opening, and the second sliding groove is distributed on the sidewalls of the first mounting cavity located on both sides of the first opening and / or on the sidewalls of the first mounting cavity opposite to the first opening.

[0010] Optionally, the drive mechanism further includes a first connecting shaft, and the drive structure includes a rod-shaped structure, which is connected to the commutator block via the first connecting shaft;

[0011] The drive structure also 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 inserted into the first mounting cavity and connected to the reversing 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 surround to form the piston cavity, and the first insertion structure is formed in the second seat.

[0013] Optionally, at least the locking seat and the base have a central hole;

[0014] The piston chambers are evenly distributed around the circumference of the central hole, or there is one piston chamber that surrounds the central hole.

[0015] Optionally, 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.

[0016] 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.

[0017] 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 columnar locking member is movably mounted on the locking seat in a set direction, and the set direction, the axial direction of the columnar locking member, and the insertion direction of the first insertion structure are arranged in pairs, the columnar locking member can be driven to move in the set direction by operating the drive mechanism. Specifically, the columnar locking member is driven to move to a position where it can be limited to or separated from the limiting structure. When the columnar locking member moves to a position where it is limited to the limiting structure, it can restrict the main connector and the slave connector in the first insertion structure. The insertion direction is separated, thereby ensuring the connection and locking of the main end connector and the slave end connector. When the columnar locking member moves to separate from the limiting structure, the main end connector and the slave end connector can be unlocked. Furthermore, when the columnar locking member moves to the limiting structure for limiting connection, the columnar shape of the columnar locking member allows the contact surface between the columnar locking member and the limiting structure to extend axially in the columnar locking member, thereby obtaining a larger contact surface and ensuring the connection reliability of the main end connector and the slave end connector. On this basis, the number of columnar locking members required can also be reduced. For example, two columnar locking members can well meet the usage requirements of the main end connector and the slave end connector. The quick-change device of the present invention has high connection reliability, simple structure, and high performance. Attached Figure Description

[0018] Figure 1 This is a schematic diagram illustrating the connection process between the master end connector and the slave end connector of the quick-change device in an embodiment of the present invention;

[0019] Figure 2 This is a three-dimensional structural diagram of the quick-change device in an embodiment of the present invention;

[0020] Figure 3 This is an exploded view of the main end connector in an embodiment of the present invention;

[0021] Figure 4 for Figure 3 A magnified view of a portion of point A in the middle;

[0022] Figure 5 This is a schematic diagram of the drive mechanism in an embodiment of the present invention;

[0023] Figure 6 This is a three-dimensional structural diagram of the quick-change device in another embodiment of the present disclosure;

[0024] Figure 7 for Figure 6 An exploded structural diagram of the main end connector of the quick-change device shown.

[0025] Figure 8 for Figure 6 The diagram shows the structure of the quick-change device in which the first and second seats clamp the first electrical connection seat.

[0026] Explanation of reference numerals in the attached figures:

[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 passage; 114-First screw; 115-First sealing structure; 1151-First through hole; 116-Piston chamber; 1161-Second opening; 117-First insertion structure; 1172-First mounting cavity; 1173-First opening; 1174-Protective cover; 118-First slide groove; 119-Second slide groove; 12-Drive mechanism; 121-Drive structure; 1211-Piston; 1212-Rod-shaped structure; 12121-Third through hole; 122-First connection Shaft; 123-Reversing block; 1231-Drive surface; 1231a-First guide section; 1231b-First recessed section; 1232-Second mounting cavity; 1233-Fourth through hole; 1234-Second guide slide; 13-Columnar locking member; 131-Columnar locking section; 1311-Circumferential side surface; 1312-Axial end face; 132-First sliding part; 2-From-end connector; 21-Base; 211-Second plug-in structure; 213-Second connection interface; 214-Inner wall surface; 22-Limiting structure; 221-Limiting hook; 3-Center 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

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] In the attached figures, the Z-axis represents the vertical direction, i.e., the up-down position, and the positive direction of the Z-axis (i.e., the direction the arrow points) indicates up, and the negative direction of the Z-axis indicates down; in the attached figures, the X-axis represents the horizontal direction and is specified as the left-right position, and the positive direction of the X-axis (i.e., the direction the arrow points) indicates right, and the negative direction of the X-axis indicates left. It should be noted that the aforementioned representations of the Z-axis and X-axis are only for the convenience of describing the present invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

[0033] In a first aspect, the present invention provides a quick-change device, which 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 mounted on the locking seat 11 in a set direction. The driving mechanism 12 is mounted on the locking seat 11 and drivenly connected to the columnar locking member 13. The locking seat 11 is provided with a first insertion structure 117. The slave end connector 2 includes a base 21, which is provided with a second insertion structure 211 and a limiting structure 22. The set direction, the axial direction of the columnar locking member 13, and the insertion direction of the first insertion structure 117 are arranged intersectingly. When the first insertion structure 117 is inserted into the second insertion structure 211, the driving mechanism 12 drives the columnar locking member 13 to move, so that the columnar locking member 13 is limited to be connected or separated from the limiting structure 22.

[0034] like Figure 1 and Figure 2 As shown, please refer to the following for details. Figure 1 , Figure 1 The diagram illustrates the connection process between the master connector 1 and the slave connector 2 of the quick-change device in the embodiment, and shows the state when the master connector 1 and the slave connector 2 are separated (see reference). Figure 1The portion above the dashed line (where the arrow indicates the insertion of the first plug-in structure 117 into the second plug-in structure 211) also shows the connection state of the main connector 1 and the slave connector 2 (specifically, the columnar locking member 13 is connected to the limiting structure 22, and the columnar locking member 13 is housed within the cavity of the first recessed segment 1231b of the reversing block 123, as described later; see reference for details). Figure 1 (The part below the middle dashed line).

[0035] 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 plug-in hole 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 plug-in structure 117 may also be a plug-in hole structure and the second plug-in structure 211 may also be a plug-in structure.

[0036] In this invention, the first insertion structure 117 and the second insertion structure 211 are inserted in the vertical direction with the set direction being the direction in the horizontal plane, and the set direction, the axial direction of the columnar locking member 13 and the insertion direction of the first insertion structure 117 are set to be perpendicular to each other.

[0037] Figure 1 In the middle, there are two columnar locking elements 13, which are symmetrically distributed in the X-axis direction. The axial directions of the columnar locking elements 13 are perpendicular to the up-down direction and the left-right direction, respectively.

[0038] The structure of the drive mechanism 12 is not a limitation, 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 insertion structure 117 and the second insertion structure 211 are in the insertion connection state, the columnar locking member 13 is positioned lower in the vertical direction than at least a portion of the limiting structure 22. For example, the columnar locking member 13 is positioned lower in the vertical direction than the limiting hook 221 of the limiting structure 22. In this case, by driving the columnar locking member 13 through the driving mechanism 12, the columnar locking member 13 can move to a position directly below the at least a portion of the limiting structure 22, such as the limiting hook 221, and contact the downward-facing surface of the limiting hook 221, thereby achieving a 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, it can prevent the separation of the first insertion structure 117 and the second insertion structure 211, that is, it can prevent the separation of the main end connector 1 and the slave end connector 2. Conversely, when the drive mechanism 12 drives the columnar locking member 13 to move away from at least a portion of the limiting structure 22, such as directly below the limiting hook 221, the columnar locking member 13 is in a separable state from the limiting structure 22, and the first insertion structure 117 and the second insertion structure 211 can separate from each other in the vertical direction.

[0040] 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 active connector connected to the robot's end and the slave connector 2 connected to the working tool.

[0041] For example, the active connector is provided with a third seat 113, and the third seat 113 forms a first connection interface 1131. The slave connector 2 is provided with a second connection interface 213. The robot has a robotic arm. The first connection interface 1131 is used to connect with the end structure of the robotic arm, such as an end flange. The second connection interface 213 is used to connect with a working tool. The first connection interface 1131 can be configured as a connection hole or the like as needed. The second connection interface 213 can also be configured as a connection hole or the like as needed. The first connection interface 1131 and the second connection interface 213 can also be configured as a detachable arrangement as needed, which is not a limitation.

[0042] Thus, in the quick-change device of the present invention, the locking seat 11 provides a stable mounting base for other components of the main end connector 1. When the first insertion structure 117 of the main end connector 1 and the second insertion structure 211 of the slave end connector 2 are in a mating insertion state, since the columnar locking member 13 is movably mounted on the locking seat 11 in a set direction, and the set direction, the axial direction of the columnar locking member 13, and the insertion direction of the first insertion structure 117 are arranged in pairs, the columnar locking member 13 can be driven to move in the set direction by operating the drive mechanism 12. Specifically, the columnar locking member 13 is driven to move to a position where it can be limited to or separated from the limiting structure 22. When the columnar locking member 13 moves to a position where it is limited to or separated from the limiting structure 22, it can restrict the main end connector 1 and the slave end connector 2. The slave connector 2 separates from the first insertion structure 117 in the insertion direction, thereby ensuring the connection and locking of the master connector 1 and the slave connector 2. When the columnar locking member 13 moves to separate from the limiting structure 22, the master connector 1 and the slave connector 2 can be unlocked. Furthermore, when the columnar locking member 13 moves to the limiting structure 22 for a limiting connection, the columnar shape of the columnar locking member 13 allows the contact surface between the columnar locking member 13 and the limiting structure 22 to extend axially, resulting in a larger contact surface and ensuring the connection reliability of the master connector 1 and the slave connector 2. In addition, the number of columnar locking members 13 required can be reduced; for example, two columnar locking members 13 can adequately meet the usage requirements of the master connector 1 and the slave connector 2. The quick-change device of the present invention has high connection reliability, simple structure, and high performance.

[0043] like Figure 1 As shown, optionally, the drive mechanism 12 includes a drive structure 121 and a reversing block 123. The reversing block 123 is slidably connected to the locking seat 11, and the drive structure 121 is drivenly connected to the reversing block 123. The sliding direction of the reversing block 123 is set at an angle to the set direction. The reversing block 123 is provided with a drive surface 1231 and contacts the columnar locking member 13 through the drive surface 1231. At least a portion of the drive surface 1231 is inclined relative to the sliding direction and the set direction of the reversing block 123, respectively.

[0044] It should be understood that the driving connection between the drive structure 121 and the commutator block 123 is not limited to a specific connection method or structural form, as long as it meets the driving requirements. Similarly, the sliding direction of the commutator block 123 is set at an angle to the set direction. 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 of the drive surface 1231. Further explanation will follow with specific embodiments.

[0045] Thus, the reversing block 123 is slidably connected to the locking seat 11 and can slide stably on the locking seat 11. The sliding direction of the reversing block 123 is set at an angle to the set direction. The reversing block 123 is provided with a driving surface 1231 and contacts the columnar locking member 13 through the driving surface 1231. At least a portion of the driving surface 1231 is inclined relative to the sliding direction and the set direction of the reversing block 123, respectively. When the driving structure 121 drives the reversing block 123 to move, the contact between the driving surface 1231 and the columnar locking member 13 can force the columnar locking member 13 to move in the set direction, thereby realizing the limiting connection between the columnar locking member 13 and the limiting structure 22. In this case, the driving structure 121 is avoided from being arranged in the set direction. The arrangement of the driving structure 121 is more flexible, the structure is simple, and the practicality is strong.

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

[0047] Specifically, taking the sliding direction of the commutator 123 as the up and down direction as an example, under the drive of the drive structure 121, the commutator 123 has two extreme positions. When the commutator 123 is in the upper extreme position, the drive surface 1231 of the commutator 123 can be separated from the columnar locking member 13. When the commutator 123 is in the lower extreme position, the first recessed section 1231b of the drive surface 1231 of the commutator 123 engages 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 limited and connected to the limiting structure 22, thereby ensuring a reliable connection between the main end connector 1 and the slave end connector 2.

[0048] During the movement of the commutator block 123 from its upper limit position to its lower limit position under the action of the drive structure 121, it first contacts the columnar locking member 13 via the first guide section 1231a (for example, it contacts the columnar locking section 131 of the columnar locking member 13, where the columnar locking section 131 is located in...). Figure 4As indicated by the symbol, the distance from the point on the first guide section 1231a to the first limiting structure 22 gradually decreases from bottom to top. When the drive structure 121 drives the reversing block 123 to move downward, the drive surface 1231 makes rolling contact with the columnar locking member 13 in the first guide section 1231a, and forces the columnar locking member 13 to move in a 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 housed in the cavity formed by the first recessed section 1231b, and the columnar locking member 13 is limitedly connected to the limiting structure 22. The gravity of the end portion 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 mechanism for the columnar locking member 13 to a certain extent, preventing the working tool connected to the end connector 2 from falling off the end structure of the robot.

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

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

[0051] Thus, the columnar locking member 13 can be driven to move in a set direction through the contact between the first guide section 1231a of the driving surface 1231 and the columnar locking member 13, and the columnar locking member 13 can be locked to a certain extent through the cavity of the first recessed section 1231b, preventing the columnar locking member 13 from easily disengaging from the cavity.

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

[0053] It should be understood that the limiting structure 22 is located on the side wall of the second plug-in structure 211. For example, the base 21 of the main end connector 1 is formed with the second plug-in structure 211, and the limiting structure 22 is located on the side wall of the second plug-in structure 211. The present invention will be described in the following example with the limiting structure 22 and the base 21 being detachably connected. However, it should be understood that the two can also be connected as a whole without violating the design concept of the present invention.

[0054] Thus, the first plug-in structure 117 is provided with a first mounting cavity 1172, and the columnar locking member 13 and the reversing block 123 are slidably installed in the first mounting cavity 1172, integrating the two into the first plug-in structure 117. That is, the first plug-in structure 117 is used as the mounting base for the columnar locking member 13 and the reversing block 123, making the structure of the main end connector 1 more compact and saving installation space. The first mounting cavity 1172 has a first opening 1173 on the side near the limiting structure 22. The first opening 1173 is configured to allow at least a portion of the columnar locking member 13 to pass through. The limiting structure 22 is located on the side wall of the second insertion structure 211, such that when the first insertion structure 117 is connected to the second insertion structure 211, the limiting structure 22 is close to the first insertion structure 117, specifically close to the first opening 1173. At this time, under the drive of the driving mechanism 12, the columnar locking member 13 can move in a set direction, and at least a portion 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 a set direction and retract into the interior of the first mounting cavity 1172, thereby separating the columnar locking member 13 from the limiting structure 22. The first insertion structure 117 and the second insertion structure 211 can be separated by relative movement.

[0055] like Figure 1 and Figure 4 As shown, the first insertion 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 mounting cavity 1172 located on both sides of the first opening 1173. The second sliding groove 119 is distributed on the side walls of the first mounting cavity 1172 located on both sides of the first opening 1173 and / or the side wall of the first mounting cavity 1172 opposite to the first opening 1173.

[0056] Specifically, the first slide groove 118 extends along a set direction. The set direction, the insertion direction of the first insertion structure 117, and the axial direction of the columnar locking member 13 can be arranged perpendicularly to each other. The side walls of the first mounting cavity 1172 located on both sides of the first opening 1173 are provided with the first slide groove 118. The first slide groove 118 is used to guide the movement of the columnar locking member 13.

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

[0058] like Figure 4 As 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 reversing block 123 and the limiting structure 22. The first sliding portion 132 is accommodated 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 axial end face 1312 of the columnar locking section 131 restricts the yaw motion of the columnar locking member 13. Along the axial direction of the columnar locking member 13, the first sliding groove 118 can penetrate the side wall of the first mounting cavity 1172. The protective cover 1174 seals 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 configured as a hollow structure, with the first sliding part 132 passing through the columnar locking section 131 and connected to the first sliding groove 118.

[0059] For example, the second groove 119 is formed on the sidewalls of the first mounting cavity 1172 located on both sides of the first opening 1173 and the sidewall of the first mounting cavity 1172 opposite to the first opening 1173. The second groove 119 is used to guide the movement of the reversing block 123. The extension direction of the second groove 119 may be consistent with the insertion direction of the first insertion structure 117.

[0060] In this way, the space of the first mounting cavity 1172 is fully utilized to arrange the first slide groove 118 and the second slide groove 119, which can effectively guide the movement of the columnar locking member 13 and the reversing block 123 in their respective directions. This can increase the stability of the columnar locking member 13 and the reversing block 123 during movement, reduce shaking and vibration, improve the reliability and service life of the connection, prevent them from deviating or getting stuck during sliding, ensure the smoothness and accuracy of movement, avoid mutual interference between components, and improve space utilization.

[0061] like Figure 1 , Figure 3 and Figure 5 As shown, the drive mechanism 12 also includes a first connecting shaft 122, and the drive structure 121 includes a rod-shaped structure 1212, which is connected to the commutator block 123 via the first connecting shaft 122.

[0062] Specifically, the drive structure 121 is connected to the commutator block 123 via a rod-shaped structure 1212. The main body of the commutator block 123 is provided with a second guide slide 1234, which is slidably connected to the second slide groove 119 provided in the first mounting cavity 1172 via the second guide slide 1234.

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

[0064] Furthermore, the axial direction of the first connecting shaft 122 is aligned 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 groove 118. During the movement of the drive structure 121 driving the reversing block 123, the first connecting shaft 122 may move to a set position. When the first connecting shaft 122 is in the set position, the position of the first connecting shaft 122 corresponds to the position of the first slide groove 118. The first connecting shaft 122 can enter or leave the first mounting cavity 1172 through the first slide groove 118. That is to say, the first slide groove 118 can be used for the rod-shaped structure 1212 and... The process of connecting or disconnecting the commutator 123 via the first connecting shaft 122 can be illustrated by taking the disconnection of the rod-shaped structure 1212, the commutator 123, and the first connecting shaft 122 as an example. The position of the connection between the drive structure 121 and the commutator 123 can be adjusted so that the first connecting shaft 122 moves to a set position, that is, the first connecting shaft 122 is aligned with the first slide groove 118. Applying force to one end of the first connecting shaft 122 can cause the first connecting shaft 122 to pass through the first slide groove 118, thereby disconnecting the rod-shaped structure 1212 and the commutator 123.

[0065] Thus, the drive structure 121 includes a rod-shaped structure 1212, which is connected to the commutator block 123. The rod-shaped structure 1212 and the commutator block 123 are connected by a first connecting shaft 122. This connection method allows the rod-shaped structure 1212 and the commutator block 123 to move relative to each other within a small range, thereby adapting to the installation errors of the drive structure 121 and the commutator block 123. This ensures smooth force transmission between the internal components of the drive mechanism 12 during operation, and makes the movement of the commutator block 123 more stable, thereby improving the movement accuracy of the columnar locking member 13 in the set direction.

[0066] like Figure 1As shown, the drive structure 121 also 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. The other end of the rod-shaped structure 1212 is inserted into the first mounting cavity 1172 and connected to the reversing block 123.

[0067] Specifically, piston 1211 is installed in piston chamber 116 of locking seat 11. When piston 1211 moves in piston chamber 116, rod-shaped structure 1212 converts the linear motion of piston 1211 into sliding motion of reversing block 123. Then, the driving surface 1231 of reversing block 123 drives columnar locking member 13 to move in a set direction, thereby locking or unlocking the main end connector 1 and the slave end connector 2. This configuration allows the movement of piston 1211 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.

[0068] like Figure 1 and Figure 3 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.

[0069] The manner in which the first seat 111 and the second seat 112 together form the piston cavity 116 is not limited. Exemplarily, the first seat 111 forms the main body of the piston cavity 116, and this main body has a second opening 1161 formed at one end near the second seat 112 (see reference). Figure 3 The second seat 112 is connected to the first seat 111. A first sealing structure 115 is provided at the second opening 1161. The second seat 112 covers the second opening 1161 of the piston chamber 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.

[0070] 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 1212 to pass through.

[0071] In some scenarios, the first seat 111 is provided with a first positioning groove 1111 at one end near the second seat 112, and 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, and the second seat 112 and the first seat 111 are connected by a first screw 114.

[0072] Thus, the detachable connection of the first seat 111 and the second seat 112 facilitates the installation, adjustment, or replacement of components inside the piston chamber 116 when needed. It also facilitates the cleaning and maintenance of the entire locking seat 11 and the manufacturing of the product. In this case, the rod-shaped structure 1212 and the reversing block 123 are connected by the first connecting shaft 122, which can adapt to the machining errors of the sliding direction of the piston 1211 and the sliding direction of the reversing block 123 to a certain extent. For example, the two sliding directions are designed to be consistent, but due to the influence of machining errors, there may be a small angle between the two sliding directions. The setting of the first connecting shaft 122 can adapt to this angle error to a certain extent, ensuring the driving structure 121's driving requirements for the reversing block 123.

[0073] like Figure 1 and Figure 3 As shown, at least the locking seat 11 and the base 21 have a central hole 3;

[0074] The piston chambers 116 are evenly distributed around the circumference coaxial with the central hole 3, or there is only one piston chamber 116, and the piston chamber 116 is arranged around the central hole 3.

[0075] Here, the center hole 3 is used to arrange cables and electrical connectors, etc. In an exemplary scheme, the locking seat 11 and the base 21 are respectively arranged with an electrical male connector and an electrical female connector at the center hole 3. When the first plug-in structure 117 and the second plug-in structure 211 are plugged in, the electrical male connector and the electrical female connector are connected in a plugging manner.

[0076] refer to Figures 6 to 8As shown, the main connector 1 is provided with a first male connector 41, a second male connector 42, a third male connector 43 and an upper circuit board 44. The slave connector 2 is provided with a first female connector, a second female connector and a third female connector 46. The first seat 111 and the second seat 112 are connected and press the first male connector 41 into the center hole 3. The first seat 111 is provided with a mounting cavity, in which the second male connector 42 is arranged. The third male connector 43 is provided on the outer side wall of the first seat 111. The third seat 113 is covered on the top of the first seat 111. The locking seat 11 is provided with a wire passage 1132, which is connected to the mounting cavity and the center hole 3 respectively. 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 passage 1132. In some scenarios, an upper circuit board 44 is also provided inside the main connector 1. The upper circuit board 44 is located at the upper end of the center hole 3 on the first base 111. The upper circuit board 44 is electrically connected to the first male connector 41 and can also be electrically connected to the second male connector 42. The first connection interface 1131 may include a receiving groove provided on the third base 113 for receiving the end flange of the robot. A wire clamp 45 may also be provided on the outside of the first base 111.

[0077] 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.

[0078] 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.

[0079] In the above embodiments, optionally, the first insertion structure 117 has multiple insertion pins, which are evenly distributed on the same circumference, for example, the circumference is coaxial with the central hole 3. (See reference) Figure 1 The two insert structures are symmetrically arranged in the X-axis direction.

[0080] 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.

[0081] refer to Figure 4 The cross-sectional shape of the insert structure and the socket structure is rectangular.

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

[0083] In the above embodiments, reference is made to Figure 1As shown, a cavity is formed below the limiting hook 221 on the side wall of the base 21 at the insertion structure. When the columnar locking member 13 moves into the cavity, the upward movement of the columnar locking member 13 can be limited by the limiting hook 221, and the downward movement of the columnar locking member 13 can be limited 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] Secondly, the present invention provides a robot operation system, which 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.

[0085] 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 drive mechanism (12), and a columnar locking member (13). The columnar locking member (13) is movably mounted on the locking seat (11) in a set direction. The drive mechanism (12) is mounted on the locking seat (11) and is drivenly connected to the columnar locking member (13). The locking seat (11) is provided with a first insertion structure (117). The slave connector (2) includes a base (21). The base (21) is provided with a second insertion structure (211) and a limiting structure (22); wherein the setting direction, the axial direction of the columnar locking member (13) and the insertion direction of the first insertion structure (117) are arranged to intersect each other; when the first insertion structure (117) is inserted into the second insertion structure (211), the driving mechanism (12) drives the columnar locking member (13) to move, so that the columnar locking member (13) is limited to be connected or separated from the limiting structure (22); The drive mechanism (12) includes a drive structure (121) and a reversing block (123). The reversing block (123) is slidably connected to the locking seat (11), and the drive structure (121) is drivenly connected to the reversing block (123). The sliding direction of the reversing block (123) is set at an angle to the set direction. The reversing block (123) is provided with a drive surface (1231) and contacts the columnar locking member (13) through the drive surface (1231). At least a portion of the drive surface (1231) is inclined relative to the sliding direction of the reversing block (123) and the set direction, respectively. The limiting structure (22) is located on the side wall of the second plug-in structure (211); the first plug-in structure (117) is provided with a first mounting cavity (1172), and the columnar locking member (13) and the reversing block (123) are respectively slidably installed in the first mounting cavity (1172); a first opening (1173) is provided on the side of the first mounting cavity (1172) near the limiting structure (22), and the first opening (1173) is configured to allow at least a portion of the columnar locking member (13) to pass through; The drive mechanism (12) further includes a first connecting shaft (122), and the drive structure (121) includes a rod-shaped structure (1212), which is connected to the commutator block (123) via the first connecting shaft (122). The drive 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 mounting cavity (1172) and connected to the reversing block (123).

2. The quick-change device as described in claim 1, characterized in that, The driving surface (1231) includes a first guide section (1231a) and a first recessed section (1231b), which are distributed sequentially along the sliding direction of the reversing block (123) and gradually away from the columnar locking member (13). The first guide section (1231a) and the first recessed section (1231b) are distributed sequentially, and the first distance corresponding to the point on the first guide section (1231a) gradually decreases. The first distance is the distance between the point on the first guide section (1231a) and the limiting structure (22) in a direction perpendicular to the sliding direction of the reversing block (123).

3. The quick-change device as described in claim 1, characterized in that, The first insertion 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 sidewalls of the first mounting cavity (1172) located on both sides of the first opening (1173). The second sliding groove (119) is distributed on the sidewalls of the first mounting cavity (1172) located on both sides of the first opening (1173) and / or on the sidewalls of the first mounting cavity (1172) opposite to the first opening (1173).

4. The quick-change device as described in claim 3, 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).

5. The quick-change device as described in claim 4, 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); The piston chambers (116) are evenly distributed on a circumference coaxial with the central hole (3), or the number of piston chambers (116) is one, and the piston chambers (116) are arranged around the central hole (3).

6. The quick-change device as described in claim 2, 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.

7. A robot operation system, characterized in that, Includes the quick-change device as described in any one of claims 1 to 6.

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