An end effector quick change device, robot and method of quick change of an effector

Abstract

Embodiments of the present application provide an end effector quick change device, a robot and a quick change method of an effector, and relate to the field of robots. The end effector quick change device is arranged on a mobile base of a robot, and the robot comprises a control center, a quick change cabin, an adapter, a driving structure and a plurality of mechanical arms. The end effector quick change device of the present embodiment can quickly disassemble the effector on the mechanical arm in cooperation with the robot, and can also quickly install and connect the effector on the quick change cabin with the mechanical arm, and the replacement speed is fast. The quick change method is realized based on the robot.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to an end effector quick-change device, a robot, and a quick-change method for the actuator. Background Technology

[0002] The biggest difference between operational robots, humanoid robots, and embodied intelligent robots and collaborative robots is that operational robots, humanoid robots, and embodied intelligent robots can autonomously change their working positions according to the needs of the task.

[0003] When operating robots, humanoid robots, and embodied intelligent robots encounter different working conditions, they need to change their end effectors, requiring the robot's robotic arm to dock with different actuators. Current operating robots, humanoid robots, and embodied intelligent robots place quick-change devices on the wrist of the robotic arm. This arrangement increases the weight of the robotic arm, resulting in slow speed and low efficiency when changing different actuators. Summary of the Invention

[0004] This invention provides a quick-change device for an end effector, a robot, and a quick-change method for the actuator, which can solve the above-mentioned problems.

[0005] The embodiments of the present invention can be implemented as follows: An embodiment of the present invention provides an end effector quick-change device for adapting to at least one robotic arm. The quick-change device includes: Mobile base; Quick-change compartment, which is set on the mobile base, is used to accommodate the actuator; The drive structure is located on a mobile base or in a quick-change compartment. The drive structure cooperates with the quick-change compartment to connect the actuator on the quick-change compartment to the robotic arm or to disassemble and store the actuator on the robotic arm.

[0006] Optionally, the quick-change compartment includes a compartment body and a cover. The compartment body is mounted on a movable base and has an internal accommodating cavity for accommodating the actuator. The cover is movably connected to the compartment body.

[0007] Optionally, the drive structure includes a drive component, a slide rail, and a slider. The output end of the drive component is connected to the hatch cover or the slider. The slider is slidably mounted on the slide rail, and the hatch cover is connected to the slider.

[0008] Optionally, the hatch includes a front cover and a rear cover, which can move toward or away from each other; wherein, when the front cover and the rear cover are in the state of moving toward each other, they are used to drive the actuator to move or clamp the actuator, and when the front cover and the rear cover are in the state of moving away from each other, they are used to open the receiving cavity.

[0009] Optionally, notches are provided on the sides of the front cover and the rear cover that are close to each other. The notches on the front cover and the rear cover form a locking hole, and the hole wall of the locking hole can be used to clamp the actuator.

[0010] Optionally, guide surfaces are provided on the notch edges of both the front and rear cover plates, which are used to guide the actuator to a predetermined position in the quick-change compartment.

[0011] Optionally, the drive structure also includes a detection component for detecting the positions of the front and rear covers of the hatch, which can move toward or away from each other.

[0012] Optionally, the detection assembly includes a first detection block, a second detection block, a first sensor, a second sensor, and a third sensor. The first detection block is disposed on the rear cover plate, the second detection block is disposed on the front cover plate, and the first detection block and the second detection block are respectively disposed on opposite sides of the cabin. The first and second sensors are located on the same side of the cabin and at both ends of the slide rail, respectively. The third sensor is located on the opposite side of the cabin, opposite to the first sensor, and is located in the middle area of ​​the slide rail.

[0013] Embodiments of the present invention also provide a robot, including: a body, a control center, and the aforementioned end effector quick-change device, wherein the body is connected to a mobile base, and a robotic arm is movably connected to the body.

[0014] Optionally, the movable base is provided with a movable door, and the quick-change compartment is located inside the movable door and inside the movable base. The movable door can move relative to the movable base to close the quick-change compartment inside the movable base or expose it from inside the movable base.

[0015] Optionally, the movable door is connected to the second drive element, the second drive element is communicatively connected to the control center, and the drive component of the drive structure is communicatively connected to the control center. The control center can control the operation of the second drive element and drive components to simultaneously open the movable door and the hatch of the quick-change compartment.

[0016] Optionally, there may be multiple quick-change compartments, which are respectively located in different areas of the mobile base.

[0017] Optionally, the quick-change compartment is located inside the mobile base; Alternatively, the quick-change compartment can be located on the outer wall of the mobile base; Alternatively, the quick-change compartment may be located inside the mobile base, or on the outside of the mobile base.

[0018] Embodiments of the present invention also provide a quick-change method for actuators, based on the aforementioned robot. The quick-change method includes: The robot's control center issues actuator replacement commands based on the operating conditions; In response to the actuator replacement command, the control drive structure works with the robotic arm to detach the actuator connected to the robotic arm into the corresponding quick-change compartment; In response to the actuator replacement command, the robot arm is controlled to move to the corresponding replacement position, and the drive structure is controlled to cooperate with the robot arm to connect the corresponding actuator to the robot arm.

[0019] Optionally, the quick-change compartment includes a compartment body and a cover. The compartment body is mounted on a movable base, and the interior of the compartment body is provided with a receiving cavity. The actuator is housed in the receiving cavity, and the cover is movably connected to the compartment body. In the process of controlling the drive structure in conjunction with the robotic arm to detach the actuator connected to the robotic arm into the corresponding quick-change compartment, the control center controls the drive structure to work, causing the cover to clamp the actuator, and the robotic arm to separate from the actuator.

[0020] Optionally, after the actuator separates from the robotic arm, the actuator falls into the receiving cavity, the control drive structure continues to work, and the hatch closes the receiving cavity.

[0021] Optionally, during the step of the control center controlling the drive structure to work, causing the hatch to clamp the actuator and the robotic arm to separate from the actuator, the drive structure can push the hatch to move, and the hatch can drive the actuator, which is placed in the receiving cavity and has not been separated from the robotic arm, to move together.

[0022] Optionally, in the step where the control center controls the drive structure to operate, causing the hatch to clamp the actuator and the robotic arm to separate from the actuator: The hatch includes a front cover and a rear cover, and the front cover and / or the rear cover are provided with a guide structure for guiding the actuator to a predetermined position in the hatch during the movement of the front cover and the rear cover.

[0023] Optionally, the quick-change compartment includes a compartment body and a cover. The compartment body is mounted on a movable base, and the interior of the compartment body is provided with a receiving cavity. The actuator is housed in the receiving cavity, and the cover is movably connected to the compartment body. In the process of controlling the robotic arm to move to the corresponding replacement position and controlling the drive structure to cooperate with the robotic arm to connect the corresponding actuator to the robotic arm, the drive structure drives the hatch to move and open the closed accommodating cavity.

[0024] Optionally, the steps of controlling the robotic arm to move to the corresponding replacement position in response to the actuator replacement command and the steps of driving the hatch to open the closed accommodating cavity can be performed synchronously.

[0025] Optionally, in response to an actuator replacement command, the robotic arm is controlled to move to the corresponding replacement position, and the drive structure is controlled to cooperate with the robotic arm to connect the corresponding actuator to the robotic arm. The robotic arm is provided with a docking part, the actuator is provided with a transfer part, and the docking part and the transfer part are magnetically connected.

[0026] Beneficial effects of the embodiments of the present invention: This end effector quick-change device includes a mobile base, a quick-change compartment, and a drive structure. The quick-change compartment is located on the mobile base and houses the actuator. The drive structure is located on the mobile base or in the quick-change compartment. The drive structure cooperates with the quick-change compartment to connect the actuator on the quick-change compartment to the robotic arm or to detach and store the actuator on the robotic arm. In this embodiment, both the drive structure and the quick-change compartment are located on the mobile base, so that both the actuator and the drive structure are on the mobile base. When the robot changes different actuators, the drive structure can drive the quick-change compartment to cooperate with the robotic arm to realize the installation and removal of the actuator, improving the change speed and thus improving work efficiency. In addition, integrating the drive structure from the robot's wrist to the mobile base can lower the robot's center of gravity, making the robot more stable when working on inclined or uneven ground, with more reliable movement and more stable and less prone to shaking.

[0027] The robot includes the aforementioned end effector quick-change device, which possesses all the functions of an end effector quick-change device.

[0028] This quick-change method is based on the robot described above and can enable the robot to quickly and accurately change different actuators in a short period of time. Attached Figure Description

[0029] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of the robot provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the quick-change compartment and drive structure provided in an embodiment of the present invention, disposed within the robot's mobile base. Figure 3 This is a schematic diagram showing the quick-change compartments dispersed within the robot's mobile base, as provided in an embodiment of the present invention. Figure 4 This is a first-view schematic diagram of the drive structure and quick-change compartment provided in the embodiment of the present invention with the hatch fully open and the accommodating cavity in the state of the cavity. Figure 5 This is a second-view schematic diagram of the drive structure and quick-change compartment provided in the embodiment of the present invention with the hatch fully open and the accommodating cavity in the state of the cavity. Figure 6 This is a schematic diagram of the quick-change compartment provided in an embodiment of the present invention with the compartment cover completely closed to accommodate the cavity; Figure 7 This is a first-view schematic diagram of the connection between the adapter and the intermediate connector provided in an embodiment of the present invention; Figure 8 This is a second-view schematic diagram showing the connection between the adapter and the intermediate connector provided in an embodiment of the present invention; Figure 9 This is a first-view schematic diagram of the docking component provided in an embodiment of the present invention; Figure 10 This is a second-view schematic diagram of the docking component provided in an embodiment of the present invention; Figure 11 This is a schematic diagram illustrating the connection and mating of the docking component and the adapter component provided in an embodiment of the present invention.

[0031] Icons: 1-Quick change chamber; 10-Accommodation cavity; 11-Bug body; 12-Bug cover; 121-Front cover plate; 122-Rear cover plate; 123-Hook hole; 2-Adapter; 20-Intermediate connector; 201-Limiting groove; 3-Drive structure; 30-Drive component; 31-Slide rail; 32-Slider; 33-First detection block; 34-Second detection block; 35-First sensor; 36-Second sensor; 37-Third sensor; 4-Robot; 40-Mechanical arm; 401-Dating part; 41-Body; 42-Mobile base; 421-Moving door. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0033] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0034] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0035] In the description of this invention, it should be noted that if terms such as "upper," "lower," "inner," or "outer" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed, they are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0036] Furthermore, the terms "first" and "second" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0037] The terms “comprising,” “including,” or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase “comprising one…” does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0038] Unless otherwise explicitly specified and limited, terms such as "setup" and "connection" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0039] It should be noted that, for the sake of simplicity, the aforementioned method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, because according to this application, some steps can be performed in other orders or simultaneously. The steps in the methods of this application embodiments can be adjusted, combined, or deleted according to actual needs.

[0040] It should be noted that, where there is no conflict, the features in the embodiments of the present invention can be combined with each other.

[0041] The embodiments of the present invention provide an end effector quick-change device, a robot, and a quick-change method for the actuator, which can solve the problems described in the background art, and will be described in detail below.

[0042] refer to Figures 1 to 3 The robot 4 includes a robotic arm 40, a body 41, a mobile base 42, and an end effector quick-change device. The end effector quick-change device is located on the mobile base 42, and the robotic arm 40 is movably connected to the body 41.

[0043] refer to Figures 4 to 6 The end effector quick-change device includes a movable base 42, a quick-change compartment 1, and a drive structure 3. The quick-change compartment 1 is disposed on the movable base 42 and has an actuator. The drive structure 3 is disposed on the movable base 42 or on the quick-change compartment 1 and is connected and cooperated with the quick-change compartment 1 to connect the actuator on the quick-change compartment 1 to the robotic arm 40 or to disassemble and store the actuator on the robotic arm 40.

[0044] The quick-change compartment 1 in this embodiment includes a compartment body 11 and a cover 12. The cover 12 is movably connected to the compartment body 11, and the cover 12 and the compartment body 11 can move relative to each other. The movement of the cover 12 opens or closes the receiving cavity 10. The relative movement between the cover 12 and the compartment body 11 can be a flipping movement or a translational movement. For example, when the cover 12 and the compartment body 11 are in a flipping movement mode, the cover 12 can be connected to the compartment body 11 via a hinge. When the cover 12 and the compartment body 11 are in a translational movement mode, the cover 12 and the compartment body 11 can be connected and engaged in a relative sliding manner.

[0045] The following example illustrates the connection and fit between the hatch cover 12 and the cabin body 11 in a relatively sliding manner.

[0046] refer to Figure 4 The top opening of the cabin 11 is provided with a cover 12 located at the top opening of the cabin 11. The drive structure 3 is located on the periphery of the cabin 11 and is connected to the cover 12. The drive structure 3 is used to drive the cover 12 to move relative to the cabin 11 so as to open or close the accommodating cavity 10.

[0047] The drive structure 3 includes a drive component 30, a slide rail 31, and a slider 32. The output end of the drive component 30 is connected to the cover 12 or the slider 32. The slider 32 is slidably mounted on the slide rail 31. The cover 12 is connected to the slider 32. The slide rail 31 is located at the edge of the top opening of the cabin 11. The drive component 30 is communicatively connected to the control center of the robot 4. When the drive component 30 is working, it can push the cover 12 or the slider 32 to slide along the slide rail 31, thereby opening and closing the accommodating cavity 10. The drive component 30 can be a pneumatic cylinder, a hydraulic cylinder, a push rod motor, or other forms; the type of drive component 30 is not limited.

[0048] The drive structure 3 can also be a combination of a motor, a lead screw, a slide rail 31, and a slider 32. For example, the motor is installed on the outer wall of the cabin 11, and the output end of the motor is fixedly connected to one end of the lead screw. The cabin cover 12 is provided with a threaded through hole along the length of the lead screw. The other end of the lead screw passes through the threaded through hole and is threadedly connected to the cabin cover 12. The cabin cover 12 is fixedly connected to the slider 32, and the slider 32 is slidably mounted on the slide rail 31. The slide rail 31 is located at the top opening edge of the cabin 11. When the motor rotates in the forward direction, it can drive the lead screw to rotate clockwise. Since the lead screw is threadedly engaged with the cabin cover 12, it can push the cabin cover 12 to move. When the motor rotates in the reverse direction, it can drive the lead screw to rotate counterclockwise, which can pull back the pushed-out cabin cover 12.

[0049] In this embodiment, the hatch 12 includes a front cover plate 121 and a rear cover plate 122. The front cover plate 121 and the rear cover plate 122 are parallel to each other and spaced apart. The top opening of the hatch 11 is provided with slide rails 31 on both sides. Slider 32 is slidably arranged on each slide rail 31. The lower parts of the two sides of the front cover plate 121 are respectively connected to two sliders 32, and the lower parts of the two sides of the rear cover plate 122 are also respectively connected to two other sliders 32. Thus, the front cover plate 121 and the rear cover plate 122 can move towards each other or away from each other. When the front cover plate 121 and the rear cover plate 122 move towards each other, the hatch 12 closes the accommodating cavity 10, which can drive the actuator to move to pre-clamp the actuator placed in the accommodating cavity 10. When the front cover plate 121 and the rear cover plate 122 move away from each other, the accommodating cavity 10 is opened to facilitate the connection between the robotic arm 40 and the actuator. It is understood that in this embodiment, the front cover plate 121 and the rear cover plate 122 are used together to have the function of a clamp. In other embodiments, the clamping actuator can also be set separately.

[0050] A notch is provided in the middle of the side of the front cover plate 121 near the rear cover plate 122, and a notch is also provided in the middle of the side of the rear cover plate 122 near the front cover plate 121. The two notches are arranged opposite each other. When the front cover plate 121 and the rear cover plate 122 approach each other and abut, the two notches can be joined to form a locking hole 123. The hole wall of the locking hole 123 can be used to clamp the actuator, which facilitates the disassembly and separation of the robotic arm 40 from the actuator.

[0051] Both the front cover plate 121 and the rear cover plate 122 have guide surfaces along their notch edges. These guide surfaces guide the actuator to a predetermined position in the quick-change compartment 1. The guide surfaces can be arc-shaped or wedge-shaped. By using the guide surfaces, the actuator can be guided to the center of the notch in the front cover plate 121 or the rear cover plate 122, thereby correcting the actuator's deviation as the front cover plate 121 and the rear cover plate 122 move towards each other.

[0052] In order to detect the moving positions of the front cover 121 and the rear cover 122, the drive structure 3 is also provided with a detection component, which is used to detect the real-time positions of the front cover 121 and the rear cover 122. The detection assembly includes a first detection block 33, a second detection block 34, a first sensor 35, a second sensor 36, and a third sensor 37. The first sensor 35 and the second sensor 36 are respectively disposed at both ends of the slide rail 31 on the same side of the cabin 11. The second detection block 34 is disposed on the front cover plate 121 and is fixedly connected to the front cover plate 121. The second detection block 34 extends along the direction of the slide rail 31. When the front cover plate 121 and the rear cover plate 122 are close together and pressed together, the second detection block 34 is within the detection range of the first sensor 35. When the front cover plate 121 and the rear cover plate 122 are farthest away from each other, the second detection block 34 is within the detection range of the second sensor 36. That is, the second detection block 34 and the first sensor 35 are used to detect whether the hatch 12 is completely closed, and the second detection block 34 and the second sensor 36 are used to detect whether the hatch 12 is completely open.

[0053] The third sensor 37 is located on the opposite side of the first sensor 35 on the cabin 11. The third sensor 37 is located in the middle area of ​​the slide rail 31. The first detection block 33 is located on the rear cover plate 122. The first detection block 33 and the second detection block 34 are respectively located on opposite sides of the cabin 11. When the third sensor 37 detects that the first detection block 33 is within its detection range, the opposing movement of the front cover plate 121 and the rear cover plate 122 can be paused. At this time, the actuator can be temporarily locked in the locking hole 123 to clamp the actuator, so that the actuator is locked in the locking hole 123, which facilitates the disconnection of the robotic arm 40 of the robot 4 from the actuator. Moreover, since the size of the actuator is much smaller than the size of the receiving cavity 10 of the quick-change cabin 1, the robotic arm 40 does not need to be aligned with a specific position when putting the actuator connected to it back into the receiving cavity 10. The actuator can be directly put into the receiving cavity 10 first, and then the actuator can be moved to a specific position by pushing the cover 12. This can shorten the time required for the actuator to separate from the robotic arm 40, thereby improving the replacement speed and improving the work efficiency. Among them, the first sensor 35, the second sensor 36 and the third sensor 37 mentioned above can all be distance sensors or proximity switches. The sensors or proximity switches are connected to the control center of the robot 4. The control center controls the start, stop and operation of the drive unit 30 according to the position signal measured by the sensors in real time.

[0054] refer to Figures 7 to 11The actuator has an adapter 2 at its top, which connects to the docking part 401 on the robotic arm 40. The adapter 2 and the docking part 401 can be connected by magnetic attraction or by snap-fit. The lower part of the adapter 2 has an intermediate connector 20, which connects to the actuator at its lower part and to the adapter 2 at its upper part. The intermediate connector 20 has a limiting groove 201. When the robotic arm 40 of the robot 4 puts the actuator and the intermediate connector 20 into the receiving cavity 10 of the housing 11, the groove wall of the limiting groove 201 of the intermediate connector 20 can be locked in the locking hole 123, thereby facilitating the disconnection and separation of the robotic arm 40 from the adapter 2.

[0055] Different types of actuators are connected to adapter 2 via intermediate connector 20; that is, the adapter 2 has the same structure for different types of actuators. In this embodiment, the actuator can be a tool, a signal connection terminal, or a specific component. The form of the actuator needs to be determined according to the actual operation, and there are various types of actuators.

[0056] The end effector quick-change device of this embodiment is set on the mobile base 42 of the robot 4 and can move with the robot 4. The robot 4 can quickly change the required actuator under different working conditions, avoiding multiple back-and-forth movements, which can shorten the operation time, improve the efficiency of operation, and increase the battery life of the robot 4.

[0057] Refer again Figures 1 to 3 An embodiment of the present invention also provides a robot 4, including a control center, a body 41, a mobile base 42, an adapter 2, a plurality of robotic arms 40, and an end effector quick-change device, the end effector quick-change device being disposed on the mobile base 42. The body 41 is connected to the mobile base 42, and the robotic arms 40 are movably connected to the body 41.

[0058] The quick-change compartment 1 includes a compartment body 11 and a cover 12. The compartment body 11 is mounted on a movable base 42. The compartment body 11 has an internal accommodating cavity 10, which accommodates different actuators (not shown in the figure). The cover 12 is movably connected to the compartment body 11. A connector 2 is connected to the actuator and to several robotic arms 40. A drive structure 3 is connected to the cover 12 and is communicatively connected to the control center. Under the control of the control center, the drive structure 3 drives the cover 12 to move, thereby opening or closing the accommodating cavity 10.

[0059] In this embodiment, the robot 4 has a quick-change compartment 1 for housing different actuators mounted on a mobile base 42, and the drive structure 3 is also mounted on the quick-change compartment 1. Both the actuators and the drive structure 3 are located on the mobile base 42. When the robot 4 changes different actuators, the drive structure 3 can open the compartment cover 12, allowing the robot 4's robotic arm 40 to quickly align with the actuator in the receiving cavity 10, thereby increasing the change speed. Furthermore, the robotic arm 40 can directly place the actuator to be replaced into the receiving cavity 10 without precise alignment, which helps shorten the time required for the robotic arm 40 to separate from the actuator, thus improving work efficiency. In addition, integrating the drive structure 3 from the robot 4's wrist into the quick-change compartment 1 lowers the robot 4's center of gravity, making the robot 4 more stable and reliable when operating on slopes or uneven terrain, resulting in more stable and wobbly operation.

[0060] There are multiple quick-change compartments 1, which are respectively arranged in different areas of the mobile base 42. For example, a robot 4 may have multiple quick-change compartments 1, each of which is used to accommodate only one actuator. The advantage of having multiple quick-change compartments 1 is that it can reduce the size of the quick-change compartments 1, and utilize the space formed by the robot 4's own structure to arrange the quick-change compartments 1 and actuators inside the robot 4, resulting in higher integration. Moreover, the multiple quick-change compartments 1 can be distributed to balance the center of gravity of the robot 4 and improve the speed of changing actuators between the robotic arms 40 and the actuators. Of course, the type of actuator placed in each quick-change compartment 1 is different. For example, multiple quick-change compartments 1 are symmetrically distributed on the mobile base 42, and the robot 4 has at least two robotic arms 40. Two or more robotic arms 40 can be arranged symmetrically or asymmetrically on both sides of the body 41. The robotic arms 40 on both sides of the body 41 can change actuators simultaneously from both sides of the mobile base 42, and the change of each robotic arm 40 does not affect the others.

[0061] Multiple actuators of different types are disposed in quick-change compartment 1. Quick-change compartment 1 can be disposed inside the movable base 42, on the outer wall of the movable base 42, or partially disposed inside and partially disposed outside the movable base 42. When quick-change compartment 1 is disposed inside the movable base 42, a movable door 421 needs to be provided at the location where quick-change compartment 1 is placed on the movable base 42. Quick-change compartment 1 is disposed inside the movable door 421 and located inside the movable base 42. The movable door 421 can move relative to the movable base 42 to close quick-change compartment 1 inside the movable base 42 or expose it from inside the movable base 42. The movable door 421 is connected to a second drive element, which is communicatively connected to a control center. The control center can control the operation of the second drive element to open or close the movable door 421.

[0062] To further improve the efficiency of the robotic arm 40 in changing actuators, the control center can programmatically control the second drive element and the drive component 30 to start working simultaneously or sequentially within a short period of time. This allows the hatch 12 to open completely at the same time as the movable door 421 is fully opened. At this time, the docking part 401 of the robotic arm 40 also smoothly reaches the predetermined position, and the robotic arm 40 can quickly dock with the actuator in the quick-change compartment 1.

[0063] The types of robot 4 in this embodiment of the invention include, but are not limited to, operational robots, humanoid robots, and embodied intelligent robots. Robot 4 may or may not have a body 41. When robot 4 does not have a body 41, several robotic arms 40 are movably connected to a movable base 42. When robot 4 has a body 41, several robotic arms 40 are movably connected to the body 41, and the body 41 is connected to the movable base 42.

[0064] Understandably, when robot 4 is working, it can be a single robotic arm 40 performing the task, or multiple robotic arms 40 can be performing the task simultaneously. These multiple robotic arms 40 can cooperate with each other or work independently. Without interfering with each other, multiple robotic arms 40 can simultaneously change different actuators, or only some robotic arms 40 can change actuators.

[0065] Embodiments of the present invention also provide a quick-change method for actuators, which is implemented based on the robot described above, and includes: S1: The control center of robot 4 issues a command to change the actuator based on the working conditions; S2: In response to the actuator replacement command, the control drive structure 3 cooperates with the robotic arm 40 to disengage the actuator connected to the robotic arm 40 into the corresponding quick-change compartment 1. S3: In response to the actuator replacement command, control the robotic arm 40 to move to the corresponding replacement position, and control the drive structure 3 to cooperate with the robotic arm 40 to connect the corresponding actuator to the robotic arm 40.

[0066] In step S1, the control center of robot 4 obtains work status information through a sensing system or recognition system. The sensing system or recognition system may include image recognition system, infrared recognition, etc. The control center is located inside robot 4 and is programmed with a chip, which has the functions of receiving signals, image processing, data analysis and signal transmission.

[0067] When different types of actuators need to be changed multiple times during the operation, the control center can control the robotic arm 40 to connect to different actuators multiple times. That is, after the robotic arm 40 finishes using one type of actuator, it puts the actuator back to its original installation position and then continues to connect to another type of actuator until all the work tasks are completed.

[0068] In step S2, the control center needs to control the robotic arm 40 to move the actuator to the corresponding quick-change compartment 1. The control center, combined with the detection signals of the first sensor 35 and the second sensor 36, controls the drive unit 30 to drive the front cover plate 121 and the rear cover plate 122 to move in opposite directions. When the front cover plate 121 and the rear cover plate 122 move to the farthest position, the accommodating cavity 10 is fully opened, and the robotic arm 40 with the actuator is placed into the compartment 11. At the same time, the control center controls the drive unit 30 to work in the opposite direction, and the front cover plate 121 and the rear cover plate 122 move towards each other, driving the actuator to move together to the predetermined position. Combined with the third sensor 37, when the locking hole 123 formed by the front cover plate 121 and the rear cover plate 122 just locks the intermediate connecting piece 20 at the lower part of the adapter 2, the front cover plate 121 and the rear cover plate 122 clamp the intermediate adapter 2, the drive unit 30 stops working, and the docking piece 401 on the robotic arm 40 is disconnected from the adapter 2.

[0069] After the drive unit 30 needs to work in reverse for a short period of time, the front cover plate 121 and the rear cover plate 122 will slightly release the clamped intermediate adapter 2. The actuator will then slide down into the receiving cavity 10 under its own weight. After that, the drive unit 30 will continue to work in the forward direction until the hatch 12 is completely closed and then stop working.

[0070] In step S2, the front cover plate 121 and / or the rear cover plate 122 are provided with guide structures. During the movement of the front cover plate 121 and the rear cover plate 122, the guide structures guide the actuator to a predetermined position on the housing 11, achieving actuator correction and precise positioning. The guide structures can be notches on the front cover plate 121 and the rear cover plate 122, forming a locking hole 123. The edges of the notches on both the front cover plate 121 and the rear cover plate 122 are provided with guide surfaces, which guide the actuator to the locking hole 123. The wall of the locking hole 123 can clamp the actuator. Of course, the guide structure can also take other forms, and this is not limited.

[0071] In step S3, the control center controls the robotic arm 40 to move to the vicinity of the actuator to be connected. Simultaneously, the control center controls the drive structure 3 on the corresponding quick-change compartment 1 to open the cover 12, so that when the cover 12 is fully open, the robotic arm 40 just reaches the predetermined docking position, thereby quickly connecting with the actuator and improving the replacement efficiency.

[0072] In step S3, the robotic arm 40 is provided with a docking part 401, and the actuator is provided with a converter 2. The docking part 401 provided on the robotic arm 40 can be an electromagnet, and the docking part 401 and the converter 2 are magnetically connected.

[0073] Using the above method, Robot 4 can automatically and quickly change different actuators, saving operation time and improving operation efficiency.

[0074] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A quick-change device for an end effector, characterized in that, The quick-change device is used to adapt to at least one robotic arm (40), and the quick-change device includes: Mobile base (42); Quick-change compartment (1), the quick-change compartment (1) is disposed on the movable base (42), the quick-change compartment (1) is used to accommodate the actuator; A drive structure (3) is disposed on the mobile base (42) or on the quick-change compartment (1). The drive structure (3) cooperates with the quick-change compartment (1) to connect the actuator on the quick-change compartment (1) to the robotic arm (40) or to disassemble and store the actuator on the robotic arm (40).

2. The end effector quick-change device according to claim 1, characterized in that, The quick-change compartment (1) includes a compartment body (11) and a cover (12). The compartment body (11) is disposed on the movable base (42). The compartment body (11) has a receiving cavity (10) inside, which is used to accommodate the actuator. The cover (12) is movably connected to the compartment body (11).

3. The end effector quick-change device according to claim 2, characterized in that, The drive structure (3) includes a drive component (30), a slide rail (31) and a slider (32). The output end of the drive component (30) is connected to the hatch cover (12) or the slider (32). The slider (32) is slidably disposed on the slide rail (31). The hatch cover (12) is connected to the slider (32).

4. The end effector quick-change device according to claim 2, characterized in that, The hatch (12) includes a front cover plate (121) and a rear cover plate (122), which can move towards or away from each other; wherein, when the front cover plate (121) and the rear cover plate (122) are in a state of moving towards each other, they are used to drive the actuator to move or clamp the actuator, and when the front cover plate (121) and the rear cover plate (122) are in a state of moving away from each other, they are used to open the accommodating cavity (10).

5. The end effector quick-change device according to claim 4, characterized in that, Both the front cover plate (121) and the rear cover plate (122) have notches on their adjacent sides. The notches on the front cover plate (121) and the rear cover plate (122) form a locking hole (123). The hole wall of the locking hole (123) can be used to clamp the actuator.

6. The end effector quick-change device according to claim 5, characterized in that, The notch edges on the front cover plate (121) and the rear cover plate (122) are provided with guide surfaces, which are used to guide the actuator to a predetermined position in the quick-change compartment (1).

7. The end effector quick-change device according to claim 3, characterized in that, The drive structure (3) also includes a detection component for detecting the position of the front cover plate (121) and the rear cover plate (122) of the hatch (12), which can move towards or away from each other.

8. The end effector quick-change device according to claim 7, characterized in that, The detection assembly includes a first detection block (33), a second detection block (34), a first sensor (35), a second sensor (36), and a third sensor (37). The first detection block (33) is disposed on the rear cover plate (122), and the second detection block (34) is disposed on the front cover plate (121). The first detection block (33) and the second detection block (34) are respectively disposed on opposite sides of the cabin (11). The first sensor (35) and the second sensor (36) are disposed on the same side of the cabin (11) and located at both ends of the slide rail (31), respectively. The third sensor (37) is disposed on the other side of the cabin (11) opposite to the first sensor (35), and the third sensor (37) is located in the middle region of the slide rail (31).

9. A robot (4), characterized in that, The device includes a body (41), a control center, and a quick-change end effector as described in any one of claims 1-8, wherein the body (41) is connected to the movable base (42), and the robotic arm (40) is movably connected to the body (41).

10. The robot (4) according to claim 9, characterized in that, The movable base (42) is provided with a movable door (421), and the quick-change compartment (1) is located inside the movable door (421) and inside the movable base (42). The movable door (421) can move relative to the movable base (42) to close the quick-change compartment (1) inside the movable base (42) or expose it from the inside of the movable base (42).

11. The robot (4) according to claim 10, characterized in that, The movable door (421) is connected to the second drive element, the second drive element is communicatively connected to the control center, and the drive component (30) of the drive structure (3) is communicatively connected to the control center; The control center can control the second drive element and the drive component (30) to operate simultaneously to open the movable door (421) and the hatch cover (12) of the quick-change compartment (1).

12. The robot (4) according to claim 9, characterized in that, The number of quick-change compartments (1) is multiple, and the multiple quick-change compartments (1) are respectively arranged in different areas of the mobile base (42).

13. The robot (4) according to claim 9, characterized in that, The quick-change compartment (1) is located inside the mobile base (42); Alternatively, the quick-change compartment (1) may be disposed on the outer wall of the movable base (42); Alternatively, a portion of the quick-change compartment (1) may be located inside the mobile base (42), while a portion of the quick-change compartment (1) may be located outside the mobile base (42).

14. A quick-change method for actuators, implemented based on the robot (4) according to any one of claims 9-13, characterized in that, The quick-change method includes: The control center of the robot (4) issues an actuator replacement command based on the working conditions; In response to the actuator replacement command, the control drive structure (3) cooperates with the robotic arm (40) to disengage the actuator connected to the robotic arm (40) into the corresponding quick-change compartment (1); In response to the actuator replacement command, the robotic arm (40) is controlled to move to the corresponding replacement position, and the drive structure (3) is controlled to cooperate with the robotic arm (40) to connect the corresponding actuator to the robotic arm (40).

15. The quick-change method for the actuator according to claim 14, characterized in that, The quick-change compartment (1) includes a compartment body (11) and a cover (12). The compartment body (11) is disposed on the movable base (42). The compartment body (11) has an accommodating cavity (10) inside. The actuator is accommodated in the accommodating cavity (10). The cover (12) is movably connected to the compartment body (11). In the step of the control drive structure (3) cooperating with the robotic arm (40) to detach the actuator connected to the robotic arm (40) into the corresponding quick-change compartment (1), the control center controls the drive structure (3) to work so that the cover (12) clamps the actuator and the robotic arm (40) separates from the actuator.

16. The quick-change method for the actuator according to claim 15, characterized in that, After the actuator separates from the robotic arm (40), the actuator falls into the accommodating cavity (10), the control drive structure (3) continues to work, and the hatch (12) closes the accommodating cavity (10).

17. The quick-change method for the actuator according to claim 15, characterized in that, In the step where the control center controls the drive structure (3) to work, causing the hatch (12) to clamp the actuator and the robotic arm (40) to separate from the actuator, the drive structure (3) can push the hatch (12) to move, and the hatch (12) can drive the actuator, which is placed in the accommodating cavity (10) and has not been separated from the robotic arm (40), to move together.

18. The quick-change method for the actuator according to claim 17, characterized in that, In the step where the control center controls the drive structure (3) to work, causing the hatch (12) to clamp the actuator, and the robotic arm (40) to separate from the actuator: The hatch (12) includes a front cover plate (121) and a rear cover plate (122). The front cover plate (121) and / or the rear cover plate (122) are provided with a guide structure, which is used to guide the actuator to a predetermined position of the cabin (11) during the movement of the front cover plate (121) and the rear cover plate (122).

19. The quick-change method for the actuator according to claim 14, characterized in that, The quick-change compartment (1) includes a compartment body (11) and a cover (12). The compartment body (11) is disposed on the movable base (42). The compartment body (11) has an accommodating cavity (10) inside. The actuator is accommodated in the accommodating cavity (10). The cover (12) is movably connected to the compartment body (11). In the step of controlling the robotic arm (40) to move to the corresponding replacement position and controlling the drive structure (3) to cooperate with the robotic arm (40) to connect the corresponding actuator to the robotic arm (40), the drive structure (3) drives the hatch (12) to move and open the closed accommodating cavity (10).

20. The quick-change method for the actuator according to claim 19, characterized in that, The step of controlling the robotic arm (40) to move to the corresponding replacement position in response to the replacement actuator command and the step of driving the hatch (12) of the drive structure (3) to open the closed accommodating cavity (10) can be performed synchronously.

21. The quick-change method for the actuator according to claim 14, characterized in that, In the step of responding to the actuator replacement command, controlling the robotic arm (40) to move to the corresponding replacement position, and controlling the drive structure (3) to cooperate with the robotic arm (40) to connect the corresponding actuator to the robotic arm (40), the robotic arm (40) is provided with a docking part (401), the actuator is provided with a converter part (2), and the docking part (401) and the converter part (2) are magnetically connected.

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