Mechanical arm tail end quick change device and method

Abstract

The invention provides a mechanical arm tail end quick change device and method.The device comprises a tool disc, a main disc and a manual unlocking piece, the tool disc is used for being connected with a tail end actuator, and an outer lock cylinder is arranged in the tool disc; the main disc is used for being connected with a mechanical arm and comprises a driving part, an inner lock cylinder and a locking piece, and the driving part is used for driving the inner lock cylinder to move in the axial direction of the inner lock cylinder. The locking piece is arranged between the inner lock cylinder and the outer lock cylinder; the manual unlocking piece is used for driving the inner lock cylinder to move in the direction away from the tool disc. When the inner lock cylinder moves towards the tool disc, the inner lock cylinder pushes the locking piece to extrude the inner wall of the outer lock cylinder to form pressing force, and locking of the main disc and the tool disc is achieved. When the inner lock cylinder moves away from the tool disc, the inner lock cylinder drives the locking piece to be separated from the inner wall of the outer lock cylinder so as to eliminate pressing force, and unlocking of the main disc and the tool disc is achieved. According to the application, automatic operation of locking and unlocking can be realized, the manual operation cost is reduced, and meanwhile, a manual unlocking mode is matched to adapt to various use scenes.

Description

Technical Field

[0001] This application relates to the field of humanoid robots and automation technology, specifically to a quick-change device and method for the end effector of a robotic arm. Background Technology

[0002] With the development of robotics and artificial intelligence, more and more robotic arms are being used in flexible manufacturing systems, automated production lines, and intelligent warehousing and logistics. A single robotic arm often needs to switch between different end effectors depending on the task. Traditional replacement methods mostly rely on manual replacement, which is inefficient, difficult to guarantee accuracy, and cannot achieve full automation of the production process.

[0003] Currently, some quick-change devices exist on the market, typically consisting of two parts: a robot side (main plate) and a tool side (tool plate), which are driven by pneumatic devices to achieve locking and unlocking. However, existing technologies still have the following common drawbacks: During operation, the frequent opening and closing of the air valve and the flow of gas in the pneumatic device will generate a lot of noise; the pneumatic device usually needs to be connected to an air source tank through an air pipe, and the length of the air pipe will limit the robot's range of movement; the pneumatic device may suddenly run out of air, and there is a safety risk if there is no reliable anti-drop structure; the pneumatic device usually only has two effective position ends, and cannot stop precisely within a certain distance range, and has precise matching requirements for the model of the workpiece, otherwise it cannot be adapted.

[0004] Therefore, there is an urgent need for a quick-change end effector for robotic arms that can handle different application processes and solve the problem of limited range of motion. Summary of the Invention

[0005] In view of the deficiencies in the prior art, the purpose of this application is to provide a quick-change device and method for the end effector of a robotic arm.

[0006] According to one aspect of this application, a quick-change device for the end effector of a robotic arm is provided, comprising: The tool tray, used to connect the end effector, has an internal external lock cylinder; The main plate, used to connect the robotic arm, includes a drive component, an inner lock core, and a locking element. The drive component converts its own rotational motion into linear motion of the inner lock core, driving the inner lock core to move along its axial direction. The locking element is located between the inner lock core and the outer lock core. The manual unlocking component is used to convert its own rotational motion into linear motion of the inner lock cylinder, driving the inner lock cylinder to move away from the tool disk; When the inner lock cylinder moves along its own axis toward the tool disc, it pushes the locking member to press against the inner wall of the outer lock cylinder to form a clamping force, thereby locking the main disc and the tool disc; when the inner lock cylinder moves along its own axis away from the tool disc under the drive of the drive component or the manual unlocking component, it causes the locking member to disengage from the inner wall of the outer lock cylinder to eliminate the clamping force, thereby unlocking the main disc and the tool disc.

[0007] Optionally, the main disk further includes a housing, and the driving component includes a first gear, a second gear, a motor module, and a threaded shaft. The motor module is mounted on the inner wall of the housing, and the output shaft of the motor module is connected to the first gear. The second gear and the first gear are both rotatably connected to the inner wall of the housing around their own central axis and are meshed with each other. The threaded shaft is threadedly connected to the middle of the second gear, and an inner lock core is fixedly connected to one end of the threaded shaft near the tool disk.

[0008] Optionally, the motor module is used to drive the first gear to rotate, thereby driving the second gear to rotate, so that the threaded shaft moves axially along its own central axis, thereby driving the inner lock core to move toward or away from the tool disk, so as to realize the automatic locking or unlocking of the main disk and the tool disk.

[0009] Optionally, the driving component further includes a first bearing, a second bearing, and a third bearing; the outer rings of the first bearing, the second bearing, and the third bearing are all connected to the inner wall of the housing, the inner ring of the first bearing is connected to the first gear to support the rotational movement of the first gear, and the inner rings of the second bearing and the third bearing are respectively connected to the two ends of the second gear to support the rotational movement of the second gear.

[0010] Optionally, the outer casing has a ring of ball bearing holes on the side near the tool disc, and the locking component uses a ring of balls, with each ball bearing disposed in its respective ball bearing hole; the outer peripheral wall of the inner lock cylinder has a ball bearing groove, which is tapered in shape, narrower at the top and wider at the bottom, and the tapered surface of the ball bearing groove can abut against the ball bearing; the outer lock cylinder is coaxially arranged with the inner lock cylinder, and the inner sidewall of the outer lock cylinder facing the ball bearing is the abutting surface; When the inner lock core moves axially toward the tool disc, the conical surface of the ball groove drives the ball to move radially outward along the inner lock core and abuts against the contact surface to form a clamping force, thereby achieving automatic locking of the main disc and the tool disc; when the inner lock core moves axially away from the tool disc, the radial force of the conical surface of the ball groove on the ball disappears, causing the ball to reset radially inward along the inner lock core and disengage from the contact surface to eliminate the clamping force, thereby achieving automatic or manual unlocking of the main disc and the tool disc.

[0011] Optionally, the contact surface of the outer lock core is arc-shaped, and the radius of the arc-shaped contact surface is adapted to the ball diameter, so that the ball can form a surface contact contact with the arc-shaped contact surface.

[0012] Optionally, the manual unlocking component is fixedly connected to the first gear. When the motor module stops working, the manual unlocking component is manually rotated to drive the first gear to rotate, thereby driving the inner lock cylinder to move away from the tool disk, thus realizing the manual unlocking of the main disk and the tool disk.

[0013] Optionally, a positioning pin is connected to the side of the housing near the tool disk, and a positioning hole matching the positioning pin is opened in the tool disk. When the tool disk moves towards the main disk, the positioning pin and the corresponding positioning hole are gradually inserted and engaged to realize the positioning guidance during the assembly process of the tool disk and the main disk.

[0014] Optionally, the first gear has a magnetic slot, and a magnet is provided in the magnetic slot. The hollow cavity of the housing is also provided with a first proximity sensor and a second proximity sensor. The first proximity sensor is used to detect the position of the magnet, and then obtain the angular position information of the first gear. The second proximity sensor is used to detect the distance between the housing and the tool disk, and determine whether the tool disk has moved to the predetermined assembly position.

[0015] According to another aspect of this application, a method of using a quick-change device for the end effector of a robotic arm is provided, comprising: When the device automatically locks: the tool disc moves toward the main disc. When the tool disc moves to the preset position, the driving component drives the inner lock core to move along its own axis toward the tool disc. The inner lock core pushes the locking member to squeeze the inner wall of the outer lock core to form a clamping force, thereby realizing the automatic locking of the main disc and the tool disc. When the device automatically unlocks: the driving component drives the inner lock core to move away from the tool disc along its own axis, and the inner lock core drives the locking member to disengage from the inner wall of the outer lock core to eliminate the clamping force, thereby realizing the automatic unlocking of the main disc and the tool disc; When the device is manually unlocked: the manual unlocking component drives the inner lock cylinder to move away from the tool disc along its own axis, and the inner lock cylinder drives the locking component to disengage from the inner wall of the outer lock cylinder to eliminate the clamping force, thereby realizing the manual unlocking of the main disc and the tool disc.

[0016] This application provides a quick-change device for the end effector of a robotic arm. A drive component moves the inner lock cylinder, and an additional manual unlocking component moves the inner lock cylinder away from the tool disk. The drive component automates locking and unlocking, significantly reducing manual operation costs. The manual unlocking component provides a convenient unlocking method, meeting the needs of daily operation and combining automation with simple manual operation, adapting to various usage scenarios. In the locked state, the clamping force ensures that even if the drive component experiences a sudden power failure, it remains locked and does not automatically unlock, guaranteeing the stability of the locking effect. After automatic locking, the drive component operates in a low-energy state, making it green, energy-saving, and reducing operating costs.

[0017] Other technical effects resulting from the additional features will be further illustrated in the corresponding embodiments. Attached Figure Description

[0018] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a schematic front view of the quick-change device at the end of a robotic arm in one embodiment of this application; Figure 2 for Figure 1 AA section view; Figure 3 This is a side view of the quick-change device at the end of a robotic arm in one embodiment of this application. Figure 4 for Figure 3 BB cross-sectional view; Figure 5 This is a schematic diagram of the sensor positions in the quick-change device at the end effector of a robotic arm in one embodiment of this application; In the diagram: 1. Flange end cap; 2. Unlock button; 3. Main plate; 4. Manual unlocking component; 5. Tool plate; 6. Housing; 7. Second gear; 8. Motor module; 9. First gear; 10. Magnet; 11. First bearing; 12. Ball bearing; 13. Threaded shaft; 14. Drive plate; 15. Second bearing; 16. Third bearing; 17. First connector; 18. Second connector; 19. Guide flange; 20. Inner lock cylinder; 21. Outer lock cylinder; 22. Positioning pin; 23. First proximity sensor; 24. Second proximity sensor. Detailed Implementation

[0019] The present application will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any way. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application, and these all fall within the protection scope of the present application. Parts not described in detail in the following embodiments can be implemented using existing technology.

[0020] It should be noted that all information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of related data must comply with relevant regulations.

[0021] In the description of the embodiments of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0022] Furthermore, the terms "first" and "second" 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 with "first" or "second" may explicitly or implicitly include one or more of that feature.

[0023] In the description of the embodiments in this application, "multiple" means two or more, unless otherwise explicitly specified. In this application, unless otherwise explicitly specified and limited, the terms "installed," "connected," "linked," "fixed," etc., 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 mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0024] The terms "comprising" and "having," and any variations thereof, in the embodiments of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such processes, methods, products, or devices.

[0025] With the development of robotics and artificial intelligence, more and more robotic arms are being used in flexible manufacturing systems, automated production lines, and intelligent warehousing and logistics. A single robotic arm often needs to switch between different end effectors depending on the task. Traditional replacement methods mostly rely on manual changes, which are inefficient and lack precision. Currently, some pneumatic quick-change devices exist on the market, but they tend to generate significant noise during operation, and the robot's movement range is limited. Based on these problems, this application provides a quick-change device for the end effector of a robotic arm to solve these issues.

[0026] Reference Figure 1 and Figure 2 As shown, this application embodiment provides a quick-change device for the end effector of a robotic arm, including a tool disk 5, a main disk 3, and a manual unlocking component 4, wherein: Tool disk 5 is used to connect the end effector and has an outer locking core 21 inside; main disk 3 is used to connect the robotic arm and includes a drive component, an inner locking core 20 and a locking member. The drive component is used to convert its own rotational motion into linear motion of the inner locking core 20, driving it to move along its axial direction; the locking member is located between the inner locking core 20 and the outer locking core 21; manual unlocking member 4 is used to convert its own rotational motion into linear motion of the inner locking core 20, driving the inner locking core 20 to move away from the tool disk; When the inner lock cylinder 20 moves along its own axis toward the tool disk 5, it pushes the locking member to press against the inner wall of the outer lock cylinder 21 to form a clamping force, thereby locking the main disk 3 and the tool disk 5. When the inner lock cylinder 20 moves away from the tool disk along its own axis under the drive of the drive component or the manual unlocking component 4, it causes the locking member to disengage from the inner wall of the outer lock cylinder 21 to eliminate the clamping force, thereby unlocking the main disk 3 and the tool disk 5.

[0027] For example, when the inner lock cylinder moves towards the tool disc, the main disc and tool disc can be automatically locked by the locking mechanism; when the inner lock cylinder moves away from the tool disc, the clamping force between the inner and outer lock cylinders is eliminated, thereby unlocking the main disc and tool disc. Both the manual unlocking mechanism and the automatic unlocking mechanism are achieved by converting rotational motion into linear motion. The methods used to move the inner lock cylinder are essentially the same, and the two unlocking methods are set independently.

[0028] In the embodiments described above, a drive component is used to move the inner lock cylinder. An additional manual unlocking component can move the inner lock cylinder away from the tool disk. The drive component is used to automate the locking and unlocking process, significantly reducing manual operation costs. At the same time, the manual unlocking method, combined with the manual unlocking component, meets the needs of convenient daily operation, achieving a combination of automation and simple manual operation, and is suitable for various usage scenarios. In the locked state, due to the pressure formed, even if the drive component suddenly loses power, it can maintain the locked state and prevent automatic unlocking, ensuring the stability of the locking effect. After automatic locking, the drive component can be in a low-energy consumption state, which is green, energy-saving, and reduces operating costs.

[0029] In some specific embodiments of this application, the main disk 3 also includes a housing 6, and the driving components include a first gear 9, a second gear 7, a motor module 8, and a threaded shaft 13. The motor module 8 is installed on the inner wall of the housing 6, and the output shaft of the motor module 8 is connected to the first gear 9. The second gear 7 and the first gear 9 are both rotatably connected to the inner wall of the housing 6 around their own central axis. The second gear 7 and the first gear 9 are meshed together. The threaded shaft 13 is threadedly connected to the middle of the second gear 7, and an inner lock core 20 is fixedly connected to one end of the threaded shaft 13 near the tool disk 5. In the above embodiment of this application, a hollow cavity is provided inside the outer shell 6, and the driving component, the inner lock core and the locking component are all located in the hollow cavity of the outer shell; an internal threaded hole is provided in the middle of the second gear, and the threaded shaft is threadedly connected to the internal threaded hole.

[0030] In some specific embodiments of this application, the motor module 8 is used to drive the first gear 9 to rotate, thereby driving the second gear 7 to rotate, so that the threaded shaft 13 moves axially along its own central axis, thereby driving the inner lock core 20 to move toward or away from the tool disk 5, so as to realize the automatic locking or unlocking of the main disk 3 and the tool disk 5.

[0031] For example, the outer shell 6 has a hollow cavity, the motor module 8 has a motor, a reducer and an output turntable, the motor output shaft and the reducer output shaft are coaxially fixedly connected, the reducer output shaft and the output turntable are coaxially connected, the reducer is fixed on the inner cavity of the outer shell 6, the output turntable has several threaded holes, the first gear 9 has a positioning round hole to facilitate centering connection with the output turntable, the first gear 9 has a screw countersunk hole, and the first gear 9 is fixedly connected to the output turntable by a screw passing through the screw countersunk hole; The second gear 7 has a central internal threaded hole, and the threaded shaft 13 has an external thread feature. The central internal threaded hole of the second gear 7 and the external thread feature of the threaded shaft 13 are matched. The inner lock core 20 has a positioning round hole, which facilitates the centering connection with the journal of the threaded shaft 13. The inner lock core 20 has a screw countersunk hole, and the inner lock core 20 is fixedly connected to the threaded shaft by a screw passing through the screw countersunk hole. The journal of the inner lock core 20 mates with the inner cavity hole of the outer shell 6. The journal of the inner lock core 20 has a flat part or a keyway, and the inner cavity hole of the outer shell 6 has a corresponding flat part or a keyway to prevent the inner lock core 20 and the inner cavity hole of the outer shell 6 from rotating about the axis.

[0032] In the above embodiments of this application, the second gear 7 converts its rotational motion into linear motion of the threaded shaft 13 and the inner lock core 20 through threaded transmission, driving the inner lock core 20 to move along its axial direction. This threaded transmission enables the device to have a self-locking function in the locked state. When the motor module 8 is not powered, the inner lock core 20 will not move arbitrarily along its axial direction, and there is still a clamping force between the locking member and the outer lock core. The main disc and the tool disc will not be accidentally unlocked. In the locked state, there is no gap, no looseness, and no micro-displacement. Because the self-locking function of this embodiment is achieved by the structural characteristics of the threaded transmission, there is no need to add additional braking mechanisms, electromagnetic locking, hydraulic pressure holding, or other auxiliary devices to maintain the locked state, greatly simplifying the overall structural design of the main disc and reducing the research, development, manufacturing, and assembly costs of components.

[0033] In some specific embodiments of this application, the driving component further includes a first bearing 11, a second bearing 15, and a third bearing 16; the outer rings of the first bearing 11, the second bearing 15, and the third bearing 16 are all connected to the inner sidewall of the housing 6, the inner ring of the first bearing 11 is connected to the first gear 9 to support the rotational movement of the first gear 9, and the inner rings of the second bearing 15 and the third bearing 16 are respectively connected to the two ends of the second gear 7 to support the rotational movement of the second gear 7.

[0034] In the embodiments described above, the output shaft of the motor module 8, the second gear 7, the first gear 9, the threaded shaft 13, and the inner lock core 20 are all axially parallel. The first bearing 11 is fixed to the inner cavity of the housing 6, and one end of the central shaft of the first gear 9 is fixed to the inner ring of the first bearing 11. The first bearing 11 and the bearings inside the motor module 8 form a fixed support at both ends, reducing excessive bending moment that could damage the bearings inside the motor module 8. The second bearing 15 and the third bearing 16 are both fixed to the inner cavity of the housing 6. The second gear 7 has journals at both ends, which are connected to the second bearing 15 and the third bearing 16, respectively.

[0035] In some specific embodiments of this application, a ring of ball bearing holes is provided on the side of the outer casing 6 near the tool disk 5, and a ring of ball bearings 12 is used for the locking component, with each ball bearing 12 disposed in a ball bearing hole; a ball bearing groove is provided on the outer peripheral wall of the inner lock core 20, and the ball bearing groove is tapered in shape, narrow at the top and wide at the bottom, and the tapered surface of the ball bearing groove can abut against the ball bearing 12; the outer lock core 21 is coaxially arranged with the inner lock core 20, and the inner side wall of the outer lock core 21 facing the ball bearing 12 is the abutment surface; When the inner lock cylinder 20 moves along its own axis toward the tool disk 5, the conical surface of the ball groove drives the ball 12 to move radially outward along the inner lock cylinder 20 and abut against the contact surface to form a clamping force, thereby realizing the automatic locking of the main disk 3 and the tool disk 5; when the inner lock cylinder 20 moves away from the tool disk 5 along its own axis, the radial force of the conical surface of the ball groove on the ball 12 disappears, causing the ball 12 to reset radially inward along the inner lock cylinder 20 and disengage from the contact surface to eliminate the clamping force, thereby realizing the automatic or manual unlocking of the main disk 3 and the tool disk 5.

[0036] In the above embodiments of this application, the ball bearing 12 can be made of steel ball, and the central axis of the locking component as a whole coincides with the central axis of the inner lock core 20. The inner lock core 20 is provided with a ball bearing groove, which has a tapered feature that is narrower at the top and wider at the bottom. The inner cavity of the outer shell is provided with a ball bearing hole, in which the ball bearing 12 can move freely. The diameter of the ball bearing hole is slightly larger than the ball bearing by 0.01-0.02 mm. The inner cavity of the outer shell is provided with a limiting stop to prevent the ball bearing from rolling out of the outer shell. When the second gear 7 rotates clockwise, driving the threaded shaft 13 and the inner lock core 20 to move simultaneously along the Z-axis (i.e., the axial direction of the inner lock core 20), the ball bearing groove of the inner lock core 20 pushes the ball bearing 12 to move outward along the ball bearing hole.

[0037] Furthermore, the tool disk 5 has a positioning hole, which is centered and connected to the journal of the outer lock core 21. The outer lock core 21 has a screw countersunk hole, and the outer lock core 21 is fixedly connected to the threaded hole in the tool disk by a screw passing through the screw countersunk hole. In some specific embodiments of this application, the contact surface of the outer lock core 21 is arc-shaped, and the radius of the arc-shaped contact surface is adapted to the ball diameter of the ball 12, so that the ball 12 can form a surface contact contact with the arc-shaped contact surface.

[0038] For example, when the inner lock cylinder 20 drives the ball 12 to abut against the arc-shaped abutment surface, the ball 12 and the arc-shaped abutment surface form a surface contact abutment engagement.

[0039] In some specific embodiments of this application, the manual unlocking component 4 is fixedly connected to the first gear 9. When the motor module 8 stops working, the manual unlocking component 4 is manually rotated to drive the first gear 9 to rotate, thereby driving the inner lock cylinder 20 to move away from the tool disk 5, so as to realize the manual unlocking of the main disk 3 and the tool disk 5.

[0040] In the above embodiments of this application, the manual unlocking component 4 can be a knob. A through hole is provided in the middle of the knob, and the central shaft of the first gear 9 is connected to the through hole of the knob. A flat part or keyway is provided at the central shaft of the first gear 9 and the through hole of the knob. The through hole of the knob cooperates with the central shaft of the first gear 9. Because of the flat part or keyway, the first gear 9 can drive the knob to rotate when it rotates.

[0041] Reference Figure 3 and Figure 4 As shown in some specific embodiments of this application, a positioning pin 22 is connected to the side of the outer shell 6 near the tool disk 5. The tool disk 5 has a positioning hole that matches the positioning pin 22. When the tool disk 5 moves towards the main disk 3, the positioning pin 22 is gradually inserted and engaged with the corresponding positioning hole to achieve positioning guidance during the assembly process of the tool disk 5 and the main disk 3.

[0042] In the above embodiments of this application, the outer casing 6 is provided with two pin holes, and the positioning pin is fixed to the pin holes of the outer casing by screws.

[0043] Reference Figure 5 As shown, in some specific embodiments of this application, the first gear 9 has a magnetic slot, and a magnet 10 is provided in the magnetic slot. The hollow cavity of the outer shell 6 is also provided with a first proximity sensor 23 and a second proximity sensor 24. The first proximity sensor 23 is used to detect the position of the magnet 10, and then obtain the angular position information of the first gear 9. The second proximity sensor 24 is used to detect the distance between the outer shell 6 and the tool disk 5, and determine whether the tool disk 5 has moved to the predetermined assembly position.

[0044] In the above embodiments of this application, both the first proximity sensor 23 and the second proximity sensor 24 are fixed to the inner cavity of the housing 6. The first gear 9 is provided with a magnetic slot, and the magnet 10 is fixed in the magnetic slot. When the first proximity sensor 23 detects the magnet 10, this position is the initial angle position of the first gear 9. The second proximity sensor 24 detects whether the distance between the tool disk 5 and the housing 6 has reached a predetermined position. In the above embodiments of this application, when the second proximity sensor 24 detects that the surface of the tool disk 5 has reached the predetermined position, the motor of the motor module 8 drives the first gear 9 to rotate, the ball bearing 12 presses against the outer lock core 21, and the tool disk 5 is fully pressed into contact with the housing 6.

[0045] Furthermore, the device is also equipped with an unlocking button 2, which is fixed to the inner cavity of the outer casing 6. When the unlocking button 2 is pressed, the motor will automatically unlock, that is, the inner lock core 20 will automatically move in the negative direction of the Z axis. The contact pressure applied by the inner lock core 20 to the surface of the ball 12 will gradually disappear as the inner lock core 20 moves. At the same time, it moves towards the inner lock core 20 under the contact pressure of the outer lock core 21 until the outer lock core 21 is completely disengaged.

[0046] In some specific embodiments of this application, a first connector 17 is connected to the side of the outer casing 6 near the tool tray 5, and a second connector 18 matching the first connector 17 is provided in the tool tray 5; the first connector 17 can be connected to the corresponding second connector 18, and the first connector 17 and the second connector 18 are used to realize the conduction and stable transmission of electrical signals between the main tray 3 and the tool tray 5.

[0047] In the above embodiments of this application, the outer casing 6 has a slot for fixing the first connector. The tool tray 5 has a slot for fixing the second connector. The tool tray has two pin holes. When the tool tray 5 moves toward the outer casing 6, it is guided by the positioning pin 22 fixed on the outer casing 6, allowing the outer casing 6 and the tool tray 5 to be precisely positioned and engaged, so that the male pin on the first connector 17 and the female pin on the second connector 18 can be precisely inserted. When the tool tray 5 moves axially toward the outer casing 6 to its limit position, the ball bearing 12 moves outward and contacts the inner wall of the outer lock cylinder 21. When a certain contact pressure is applied, the ball bearing 12 stops moving. The second connector 18 can provide a power supply and communication interface for the mechanism connected to the tool tray 5.

[0048] Based on the same inventive concept, another embodiment of this application provides a method of using the quick-change device at the end effector of a robotic arm in any of the above embodiments, including: When the device automatically locks: the tool disk 5 moves toward the main disk 3. When the tool disk 5 moves to the preset position, the drive component drives the inner lock core 20 to move toward the tool disk 5 along its own axis. The inner lock core 20 pushes the locking member to squeeze the inner wall of the outer lock core 21 to form a clamping force, thereby realizing the automatic locking of the main disk 3 and the tool disk 5. When the device automatically unlocks: the drive component drives the inner lock cylinder 20 to move away from the tool disk 5 along its own axis. The inner lock cylinder 20 drives the locking element to disengage from the inner wall of the outer lock cylinder 21 to eliminate the clamping force, thereby realizing the automatic unlocking of the main disk 3 and the tool disk 5. When the device is manually unlocked: the manual unlocking component 4 drives the inner lock cylinder 20 to move away from the tool disk 5 along its own axis. The inner lock cylinder 20 drives the locking component to disengage from the inner wall of the outer lock cylinder 21 to eliminate the clamping force, thereby realizing the manual unlocking of the main disk 3 and the tool disk 5.

[0049] For example, the main disk 3 can be connected to the robotic arm via the flange end cap 1. The housing 6 also includes a drive plate 14 and a guide flange 19. The drive plate 14 receives external control signals and transmits them to the motor module 8, causing the motor module 8 to rotate according to a preset speed and direction. A guide flange 19 is located on the side of the housing 6 near the tool disk 5. The guide flange 19 has a ring of ball bearing holes, which precisely guide the radial movement of the ball bearings 12, limiting the swaying of the ball bearings 12 during movement. The guide flange 19 also has a guide hole, and the outer lock core 21 has an outer circle with the same diameter as the guide hole. The guide hole and the outer circle of the outer lock core 21 precisely fit together, allowing the outer lock core 21 to move precisely axially within the guide hole of the guide flange 19 during the assembly of the tool disk, without radial wobble.

[0050] It should be noted that during the automatic locking process of the device, when the tool disk 5 moves to the preset position, the drive component is activated. The preset position is specifically: the distance between the tool disk flange surface and the second proximity sensor is 2-3mm.

[0051] In the above embodiments of this application, a motor is used as the drive source. After locking the tool disk 5, the motor can maintain self-locking even if the power is cut off. After the power is cut off, the knob can be manually turned to release the locking of the tool disk 5. In this embodiment of the application, the ball bearing 12 is used to press the inner wall of the outer lock core 21. The tool disk is locked by the pressure applied by the ball bearing 12 to the inner wall of the outer lock core 21. The tool disk locking process is as follows: The tool disk 5 is guided to a suitable position by the positioning pin 22. The motor module 8 drives the first gear 9 to rotate. The rotation of the first gear 9 drives the second gear 7 to rotate. The center hole of the second gear 7 is threaded. The rotation of the second gear 7 drives the threaded shaft 13 and the inner lock core 20 to translate in the positive Z-axis direction. The ball bearing 12 moves in the positive X-axis direction (i.e., the radial direction of the inner lock core 20) under the push of the inner lock core 20. When the ball bearing 12 contacts the inner wall surface of the outer lock core 21 and generates a certain pre-pressure, the ball bearing 12 stops moving, and the tool disk 5 is locked at the same time.

[0052] The embodiments described above in this application have automatic locking, automatic unlocking, and manual unlocking functions: 1. Automatic locking: After the main disk 3 receives the external command to merge itself with the tool disk 5, the first gear 9 finds the origin through the first proximity sensor and rotates to the predetermined initial position, and the ball bearing 12 is in a free state; when the tool disk 5 moves to the predetermined position, for example, when the flange surface of the tool disk is 2mm away from the second proximity sensor, the second proximity sensor sends a signal, and the motor starts to drive the first gear to rotate, which drives the threaded shaft and the inner lock core to move axially through the second gear. The ball bearing moves outward and locks the outer lock core. When the load torque of the motor reaches a certain value, the motor stops rotating and the tool disk is locked.

[0053] 2. Automatic unlocking: Pressing unlock button 2 will reverse the motor to automatically unlock.

[0054] 3. Manual unlocking: When the main disk and tool disk are locked and the motor is powered off, the knob can be turned to drive the first gear to rotate, which in turn drives the threaded shaft and inner lock core to move axially to unlock the ball.

[0055] This application embodiment enables robotic arms to quickly change different end effectors, such as dexterous hands, grippers, and welding torches, to handle different application processes. This application embodiment solves the shortcomings of traditional pneumatic end effector quick-change devices, such as limited range of movement, high noise, and poor versatility. Simultaneously, it adopts an electric drive method, offering advantages such as low noise, high versatility, and no limitation on the range of movement. This application embodiment uses a motor-driven method, allowing for automatic locking and unlocking, as well as automatic unlocking via a manual button. This application embodiment has a self-locking function; even if the motor is powered off after locking, the main disk and tool disk will not unlock automatically, but can be unlocked manually by turning a knob. After locking, the motor can operate in a low-energy consumption state, saving energy.

[0056] The preferred features in the above embodiments can be used individually in any embodiment, or in any combination thereof, provided they do not conflict with each other. Furthermore, parts not described in detail in the embodiments can be implemented using existing technologies.

[0057] The foregoing has described some specific embodiments of this application. It should be understood that this application is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the substantive content of this application. The above-described preferred features can be used in any combination without conflict.

Claims

1. A quick-change device for the end effector of a robotic arm, characterized in that, include: The tool tray, used to connect the end effector, has an internal external lock cylinder; The main plate, used to connect the robotic arm, includes a drive component, an inner lock core, and a locking element. The drive component converts its own rotational motion into linear motion of the inner lock core, driving the inner lock core to move along its axial direction. The locking element is located between the inner lock core and the outer lock core. The manual unlocking component is used to convert its own rotational motion into linear motion of the inner lock cylinder, driving the inner lock cylinder to move away from the tool disk; When the inner lock cylinder moves along its own axis toward the tool disc, it pushes the locking member to press against the inner wall of the outer lock cylinder to form a clamping force, thereby locking the main disc and the tool disc; when the inner lock cylinder moves along its own axis away from the tool disc under the drive of the drive component or the manual unlocking component, it causes the locking member to disengage from the inner wall of the outer lock cylinder to eliminate the clamping force, thereby unlocking the main disc and the tool disc.

2. The quick-change device for the end effector of a robotic arm according to claim 1, characterized in that, The main disk also includes a housing. The drive component includes a first gear, a second gear, a motor module, and a threaded shaft. The motor module is mounted on the inner wall of the housing. The output shaft of the motor module is connected to the first gear. The second gear and the first gear are both rotatably connected to the inner wall of the housing around their own central axis. The second gear and the first gear are meshed together. The threaded shaft is threadedly connected to the middle of the second gear. An inner lock core is fixedly connected to one end of the threaded shaft near the tool disk.

3. The quick-change device for the end effector of a robotic arm according to claim 2, characterized in that, The motor module is used to drive the first gear to rotate, thereby driving the second gear to rotate, so that the threaded shaft moves axially along its own central axis, thereby driving the inner lock core to move toward or away from the tool disk, realizing automatic locking or unlocking of the main disk and the tool disk.

4. A quick-change device for the end effector of a robotic arm according to claim 2, characterized in that, The driving component further includes a first bearing, a second bearing, and a third bearing; the outer rings of the first bearing, the second bearing, and the third bearing are all connected to the inner wall of the housing, the inner ring of the first bearing is connected to the first gear to support the rotational movement of the first gear, and the inner rings of the second bearing and the third bearing are respectively connected to the two ends of the second gear to support the rotational movement of the second gear.

5. A quick-change device for the end effector of a robotic arm according to claim 2, characterized in that, The outer casing has a ring of ball bearing holes on the side near the tool disc. The locking component uses a ring of balls, with each ball bearing disposed within its respective ball bearing hole. The outer peripheral wall of the inner lock cylinder has a ball bearing groove, which is tapered in shape, narrower at the top and wider at the bottom. The tapered surface of the ball bearing groove can abut against the ball bearing. The outer lock cylinder is coaxially arranged with the inner lock cylinder, and the inner sidewall of the outer lock cylinder facing the ball bearing is the abutting surface. When the inner lock core moves axially toward the tool disc, the conical surface of the ball groove drives the ball to move radially outward along the inner lock core and abuts against the contact surface to form a clamping force, thereby achieving automatic locking of the main disc and the tool disc; when the inner lock core moves axially away from the tool disc, the radial force of the conical surface of the ball groove on the ball disappears, causing the ball to reset radially inward along the inner lock core and disengage from the contact surface to eliminate the clamping force, thereby achieving automatic or manual unlocking of the main disc and the tool disc.

6. A quick-change device for the end effector of a robotic arm according to claim 5, characterized in that, The contact surface of the outer lock cylinder is arc-shaped, and the radius of the arc-shaped contact surface is adapted to the ball diameter, so that the ball can form a surface contact contact with the arc-shaped contact surface.

7. A quick-change device for the end effector of a robotic arm according to claim 2, characterized in that, The manual unlocking component is fixedly connected to the first gear. When the motor module stops working, the manual unlocking component is manually rotated to drive the first gear to rotate, thereby driving the inner lock cylinder to move away from the tool disk, thus realizing the manual unlocking of the main disk and the tool disk.

8. A quick-change device for the end effector of a robotic arm according to claim 2, characterized in that, A positioning pin is connected to the side of the outer casing near the tool disk. The tool disk has a positioning hole that matches the positioning pin. When the tool disk moves towards the main disk, the positioning pin is gradually inserted and engaged with the corresponding positioning hole to achieve positioning guidance during the assembly process of the tool disk and the main disk.

9. A quick-change device for the end effector of a robotic arm according to claim 2, characterized in that, The first gear has a magnetic slot, and a magnet is provided in the magnetic slot. The hollow cavity of the outer shell is also provided with a first proximity sensor and a second proximity sensor. The first proximity sensor is used to detect the position of the magnet, and then obtain the angular position information of the first gear. The second proximity sensor is used to detect the distance between the housing and the tool disk, and to determine whether the tool disk has moved to the predetermined assembly position.

10. A method of using the quick-change device for the end effector of a robotic arm as described in any one of claims 1-9, characterized in that, include: When the device automatically locks: the tool disc moves toward the main disc. When the tool disc moves to the preset position, the driving component drives the inner lock core to move along its own axis toward the tool disc. The inner lock core pushes the locking member to squeeze the inner wall of the outer lock core to form a clamping force, thereby realizing the automatic locking of the main disc and the tool disc. When the device automatically unlocks: the driving component drives the inner lock core to move away from the tool disc along its own axis, and the inner lock core drives the locking member to disengage from the inner wall of the outer lock core to eliminate the clamping force, thereby realizing the automatic unlocking of the main disc and the tool disc; When the device is manually unlocked: the manual unlocking component drives the inner lock cylinder to move away from the tool disc along its own axis, and the inner lock cylinder drives the locking component to disengage from the inner wall of the outer lock cylinder to eliminate the clamping force, thereby realizing the manual unlocking of the main disc and the tool disc.

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