Quick release device, mechanical arm assembly and robot

Abstract

This application provides a quick-release device, a robotic arm assembly, and a robot. The quick-release device includes: a first quick-release member having a first limiting portion; a second quick-release member configured to be at least partially disposed within the space enclosed by the first quick-release member; the second quick-release member having a second limiting portion; a movable member movably disposed at the first limiting portion; and a locking member movable relative to the first quick-release member, configured such that: in a first position, the movable member engages with the second limiting portion, and the second and first quick-release members are locked in a first direction; in a second position, the movable member disengages from the second limiting portion, and the second and first quick-release members are unlocked and can move relatively along the first direction. This application achieves quick release and quick assembly between the first and second quick-release members, with a simple structure and easy operation. It allows for quick and convenient assembly and disassembly without the need for additional auxiliary tools, improving work efficiency and saving costs.

Description

Technical Field

[0001] This application relates to the field of mechanical manufacturing technology, and more specifically, to a quick-release device, a robotic arm assembly, and a robot. Background Technology

[0002] Connection structures are an indispensable part of mechanical systems. Taking the connection between a robotic arm and an end effector as an example, the commonly used connection method is bolt connection. This connection method usually requires the use of special tools for installation and disassembly, which is cumbersome, time-consuming, and labor-intensive, making it difficult to achieve quick and convenient assembly and disassembly, resulting in low work efficiency. Furthermore, existing quick-release devices on the market cannot be effectively reduced in size due to various factors (such as relatively complex structures), especially the thickness of the quick-release device. Because robots have a very high degree of integration and are very sensitive to the size of components, quick disassembly and compact size have always been pain points in the industry. Summary of the Invention

[0003] This application addresses the shortcomings of existing methods by proposing a quick-release device, a robotic arm assembly, and a robot to solve the technical problem of difficulty in quickly and conveniently assembling and disassembling the connecting structure in mechanical systems in related technologies. At the same time, the locking fastener and the moving parts share the thickness (i.e., the dimension along the rotation axis) space of the quick-release device. Compared with the quick-release devices in related technologies, this application can effectively reduce the size of the quick-release device and adapt to the high integration of the robot.

[0004] In a first aspect, embodiments of this application provide a quick-release device, comprising: The first quick-release component has a first limiting part; The second quick-release component is configured to be at least partially disposed within the space enclosed by the first quick-release component; the second quick-release component has a second limiting portion. The movable part is set in the first limiting part in a movable manner; The locking element, which is movable relative to the first quick-release member, is configured such that: when in the first position, the movable member engages with the second limiting part, and the second quick-release member and the first quick-release member are in a locked state locked along the first direction; when in the second position, the movable member disengages from the second limiting part, and the second quick-release member and the first quick-release member are in an unlocked state that allows relative movement along the first direction.

[0005] Optionally, in a plane perpendicular to the first direction, the locking fastener is rotatably disposed around the periphery of the first quick-release member; When the locking fastener is in the first position abutting against the movable part, the movable part abuts against the second limiting part, limiting the movement of the second quick-release part and the first quick-release part along the first direction; When the locking fastener is rotated to the second position where it is no longer in contact with the movable part, the movable part is no longer in contact with the second limiting part, and the second quick-release part and the first quick-release part can move relative to each other in the first direction.

[0006] Optionally, the first quick-release component also has a third limiting part; The second quick-release component also has a fourth limiting part corresponding to the third limiting part; The fourth limiting part is configured to cooperate with the third limiting part to limit the rotation of the second quick-release piece and the first quick-release piece in a circumferential direction perpendicular to the first direction.

[0007] Optionally, the first quick-release component includes a first ring body portion, and the first limiting portion includes a first groove disposed in the first ring body portion; The second quick-release component includes a second ring body portion disposed inside the first ring body portion, and the second limiting portion includes a second groove disposed at the second ring body portion. The first groove is connected to the second groove; Some of the moving parts are located within the first groove.

[0008] Optionally, the locking device includes: A locking ring is rotatably disposed around the outer periphery of the first ring body, and the rotation axis of the locking ring is parallel to the first direction; The switching block is fixed inside the locking ring; The inner surface of the switching block includes: The inner surface of the locking section is configured to abut against the moving part. The inner surface of the transition section is configured such that the inner surface of the self-locking ring transitions to the inner surface of the locking section.

[0009] Optionally, the quick-release device includes at least one of the following: The moving part includes a ball, and the first groove includes a spherical through groove; The movable component and the first groove are each provided with at least two. The at least two first grooves are arranged sequentially at intervals along the circumference of the first ring body and correspond one-to-one with the at least two movable components.

[0010] Optionally, the quick-release device includes one of the following: The second groove includes an annular groove that extends circumferentially along the second annular portion and corresponds to at least one first groove. At least two of each of the first and second grooves are provided, and at least two of the first grooves and at least two of the second grooves correspond one-to-one.

[0011] Optionally, the fourth limiting part and the third limiting part are distributed along the first direction and are engaged.

[0012] Optionally, the first quick-release component includes a first ring body portion, and the third limiting portion includes a locking block connected to the first ring body portion; The second quick-release component includes a second ring body portion, and the fourth limiting portion includes a slot provided at the second ring body portion; The slot is designed to engage with the card block.

[0013] Optionally, the quick-release device further includes: a reset member connected to the first quick-release member and the locking member respectively; The reset element is configured to restore the locking element to the first position.

[0014] Optionally, the quick-release device further includes: a first limiting component connected to the first quick-release member and the locking member respectively; The first limiting component is configured to limit the first and second positions of the locking device.

[0015] Optionally, the first limiting component includes at least one of the following: The first limiting member fixed to the first quick-release member and the second limiting member fixed to the locking member are located on the side of the first limiting member away from the reset member along a circumferential direction perpendicular to the first direction; the second limiting member is configured to abut against the first limiting member and limit the second position. A third limiting member fixed to the first quick-release member and a fifth limiting part provided on the locking member; the fifth limiting part is located between the third limiting member and the reset member in a circumferential direction perpendicular to the first direction; the fifth limiting part is configured to abut against the third limiting member and limit the first position.

[0016] Optionally, the quick-release device further includes: a second limiting component connected to the first quick-release member and the locking member respectively; The second limiting component is configured to limit the movement of the locking fastener and the first quick-release component along a first direction.

[0017] Optionally, the quick-release device also includes: The first circuit board is fixedly mounted on the first quick-release component; The second circuit board is fixedly mounted on the second quick-release component; The second circuit board is configured to be electrically connected to the first circuit board.

[0018] Secondly, embodiments of this application provide a robotic arm assembly, including: As described above, a quick-release device; The robotic arm is fixedly connected to the first quick-release component of the quick-release device; The end effector is fixedly connected to the second quick-release component of the quick-release device.

[0019] Thirdly, embodiments of this application provide a robot, including: the quick-release device as described above.

[0020] The beneficial technical effects of the technical solutions provided in this application include: In this embodiment, a first quick-release member is configured to be fixedly connected to a first connecting member (e.g., a robotic arm). A second quick-release member is configured to be fixedly connected to a second connecting member (e.g., an end effector). A locking fastener is relatively movably disposed around the periphery of the first quick-release member, such that the locking fastener has a first position relative to the first quick-release member and a second position relative to the first quick-release member.

[0021] When the locking fastener is in the first position relative to the first quick-release member, the locking fastener enables the movable member to cooperate with the second limiting part to limit the relative movement of the second quick-release member and the first quick-release member along the first direction, thereby locking the second quick-release member and the first quick-release member along the first direction, so that the second quick-release member and the first quick-release member are in a locked state.

[0022] When the control fastener moves to the second position relative to the first quick-release member, the movable member is released, allowing it to disengage from the second limiting part. This releases the limiting effect on the relative movement of the second and first quick-release members along the first direction, allowing the second quick-release member to move relative to the first quick-release member along the first direction, thus placing both members in an unlocked state. Controlling the second quick-release member to move away from the first quick-release member along the first direction enables rapid disassembly of the second and first quick-release members, thereby achieving quick release between the first and second connecting components.

[0023] When installing the second quick-release component and the first quick-release component, the second quick-release component is controlled to move closer to the first quick-release component in the first direction, so that the second limiting part corresponds to the first limiting part; the locking fastener is controlled to move to the first position relative to the first quick-release component, and the moving part cooperates with the second limiting part through the locking fastener, so that the second quick-release component and the first quick-release component can be locked in the first direction, thereby realizing the quick installation of the second quick-release component and the first quick-release component, and thus realizing the quick connection between the first connecting component and the second connecting component.

[0024] The quick-release device provided in this application embodiment can realize quick release and quick installation between the first quick-release component and the second quick-release component. It has a simple structure and is easy to operate. It can achieve quick and convenient installation and disassembly without the use of additional auxiliary tools, which can improve work efficiency and save costs.

[0025] Additional aspects and advantages of this application will be set forth in part in the description which follows, and will become apparent from the description or may be learned by practice of this application. Attached Figure Description

[0026] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein: Figure 1 and Figure 2 Schematic diagrams of a quick-release device from different perspectives provided in the embodiments of this application (where the locking element is in a first position relative to the first quick-release component). Figure 3 for Figure 1 Cross-sectional view of the quick-release device perpendicular to the first direction (the first direction is perpendicular to) Figure 3 (on paper) Figure 4 A schematic diagram of a quick-release device provided in an embodiment of this application (where the locking element is in a second position relative to the first quick-release component); Figure 5 for Figure 4 A cross-sectional view of the quick-release device perpendicular to the first direction; Figure 6 A structural schematic diagram from one perspective of the exploded structure of a quick-release device provided in an embodiment of this application; Figure 7 This is a structural schematic diagram from another perspective of the exploded structure of a quick-release device provided in an embodiment of this application (where the reset component and circuit board assembly are not shown). Figure 8 and Figure 9 Schematic diagrams of the structure of the first quick-release component of a quick-release device provided in an embodiment of this application from different perspectives; Figure 10 A schematic diagram of the structure of a quick-release device provided in this application, showing the switching block and clearance hole corresponding to the installation or removal of the locking fastener; Figure 11 and Figure 12 Schematic diagrams of the structure of the second quick-release component of a quick-release device provided in the embodiments of this application from different perspectives; Figures 13 to 15 Schematic diagrams of the locking fastener of a quick-release device provided in the embodiments of this application from different perspectives; Figure 16 and Figure 17 Schematic diagrams of the structure of the first limiting component of a quick-release device provided in the embodiments of this application from different perspectives; Figure 18 and Figure 19 These are schematic diagrams of the second limiting component of a quick-release device provided in this application, taken from different perspectives.

[0027] Figure label: 100 - Quick-release device; 10 - First quick-release component; 11-Third limiting part; 12-First limiting part; 13-First annular part; 14-First mounting base; 15-First flange part; 16-Second flange part; 17-Notch; 18-Second connecting hole; 19-Channel; 20 - Second quick-release component; 21-Fourth limiting part; 22-Second limiting part; 23-Second ring body part; 24-Second mounting base; 25-Second mounting hole; 26-Third connecting hole; 30-Active Items; 40-Lock fastener; 41-Locking ring; 411-Recess; 412-Stepped surface; 42-Switching block; 421-Inner surface of locking section; 422-Inner surface of transition section; 423-First connecting hole; 424-Limiting surface; 425-Allowing groove; 43-Operating Section; 50 - Reset component; 61-Second limiting member; 62-Third limiting member; 63-Fifth limiting part; 70-Allowance hole; 80 - Circuit board assembly; 81 - First circuit board; 82 - Second circuit board; 91 - First mounting component; 92 - Second mounting component; 200-Fasteners. Detailed Implementation

[0028] The embodiments of this application are described below with reference to the accompanying drawings. It should be understood that the embodiments described below with reference to the accompanying drawings are exemplary descriptions for explaining the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions of the embodiments of this application.

[0029] Those skilled in the art will understand that, unless specifically stated otherwise, the terms "described" and "the" as used herein may also include plural forms. It should be further understood that the term "comprising" as used in the specification of this application means the presence of the stated features, integers, and / or components, but does not exclude other features, information, data, steps, operations, elements, components, and / or combinations thereof supported by this art. The term "and / or" as used herein refers to at least one of the items defined by the term; for example, "A and / or B" can be implemented as "A," or as "B," or as "A and B."

[0030] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0031] The quick-release device, robotic arm assembly, and robot provided in this application aim to solve the technical problem that the connecting structures in mechanical systems (such as bolts between the robotic arm and the end effector) usually require the use of special tools for installation and disassembly, which is cumbersome, time-consuming, labor-intensive, and difficult to achieve quick and convenient assembly and disassembly, resulting in low work efficiency.

[0032] The technical solution of this application and how it solves the above-mentioned technical problems are described in detail below with specific embodiments. It should be noted that the following embodiments can be referenced, borrowed, or combined with each other, and the same terms, similar features, and similar implementation steps in different embodiments will not be described again.

[0033] This application provides a quick-release device 100, the structural schematic diagram of which is shown below. Figures 1 to 7 As shown, it includes: The first quick-release component 10 has a first limiting part 12; The second quick-release member 20 is configured to be at least partially disposed within the space enclosed by the first quick-release member 10; the second quick-release member 20 has a second limiting portion 22. The movable part 30 is movably disposed at the first limiting part 12; The locking member 40, which is movable relative to the first quick-release member 10, is configured such that: when in the first position, the movable member 30 engages with the second limiting part 22 (e.g., abuts), and the second quick-release member 20 and the first quick-release member 10 are in a locked state locked along the first direction; when in the second position, the movable member 30 disengages from the second limiting part 22 (e.g., no longer abuts), and the second quick-release member 20 and the first quick-release member 10 are in an unlocked state that can move relative to each other along the first direction.

[0034] In this embodiment, the first quick-release member 10 is configured to be fixedly connected to a first connecting member (e.g., a robotic arm). The second quick-release member 20 is configured to be fixedly connected to a second connecting member (e.g., an end effector).

[0035] At least a portion of the second quick-release member 20 is disposed within the space enclosed by the first quick-release member 10, the first connecting member (e.g., a robotic arm) is located on the side of the first quick-release member 10 away from the second quick-release member 20, and the second connecting member (e.g., an end effector) is located on the side of the second quick-release member 20 away from the first quick-release member 10.

[0036] The movable member 30 is movably disposed at the first limiting portion 12 of the first quick-release member 10, and the second quick-release member 20 has a second limiting portion 22 corresponding to the first limiting portion 12. The locking member 40 is movably disposed relative to the periphery of the first quick-release member 10, such that the locking member 40 has a first position (e.g., a first circumferential position) relative to the first quick-release member 10 and a second position (e.g., a second circumferential position) relative to the first quick-release member 10.

[0037] When the locking fastener 40 is in the first position relative to the first quick-release member 10, the locking fastener 40 enables the movable member 30 to cooperate with the second limiting part 22 to limit the relative movement of the second quick-release member 20 and the first quick-release member 10 along the first direction, thereby locking the second quick-release member 20 and the first quick-release member 10 along the first direction, so that the second quick-release member 20 and the first quick-release member 10 are in a locked state.

[0038] When the control locking fastener 40 moves to the second position relative to the first quick-release member 10, the movable member 30 is released, allowing it to disengage from the second limiting part 22. This releases the limiting effect on the relative movement of the second quick-release member 20 and the first quick-release member 10 along the first direction, allowing the second quick-release member 20 to move relative to the first quick-release member 10 along the first direction, and both members are in an unlocked state. Controlling the second quick-release member 20 to move away from the first quick-release member 10 along the first direction enables rapid disassembly (hereinafter referred to as quick release) between the second quick-release member 20 and the first quick-release member 10, thereby enabling quick release between the first connecting component (e.g., a robotic arm) and the second connecting component (e.g., an end effector).

[0039] When installing the second quick-release piece 20 and the first quick-release piece 10, the second quick-release piece 20 is controlled to move closer to the first quick-release piece 10 in the first direction, so that the second limiting part 22 corresponds to the first limiting part 12; the locking fastener 40 is controlled to move relative to the first quick-release piece 10 to the first position, and the moving part 30 is made to cooperate with the second limiting part 22 through the locking fastener 40, so that the second quick-release piece 20 and the first quick-release piece 10 can be locked in the first direction (in a locked state), realizing the quick installation of the second quick-release piece 20 and the first quick-release piece 10 (hereinafter referred to as quick installation), thereby realizing the quick installation between the first connecting component (e.g., a robotic arm) and the second connecting component (e.g., an end effector).

[0040] The quick-release device 100 provided in this application embodiment can realize quick release and quick installation between the first quick-release component 10 and the second quick-release component 20. It has a simple structure and is easy to operate. It can achieve quick and convenient installation and disassembly without the need for additional auxiliary tools, which can improve work efficiency and save costs.

[0041] Optionally, such as Figures 1 to 5As shown in this embodiment, the locking fastener 40 is rotatably disposed around the first quick-release member 10 in a plane perpendicular to the first direction. The locking fastener 40 rotates relative to the first quick-release member 10, switching its position (including a first position and a second position), causing the movable member 30 at the first limiting part 12 to engage or disengage with the second limiting part 22, thereby adjusting the state (including a locked state and an unlocked state) of the first quick-release member 10 and the second quick-release member 20, achieving quick installation and quick removal of the first quick-release member 10 and the second quick-release member 20. The locking fastener 40 and the movable member 30 share the thickness space of the quick-release device 100 (i.e., the dimension along the rotation axis of the locking fastener 40). Compared to quick-release devices in related technologies, this embodiment effectively reduces the size of the quick-release device 100, adapting to the high integration of robots.

[0042] Optionally, in this embodiment of the application, the extension direction (hereinafter referred to as the axial direction) of the rotation axis of the locking fastener 40 is parallel to the first direction.

[0043] Optionally, such as Figures 1 to 3 , Figure 6 and Figure 7 As shown in the embodiment of this application, when the locking fastener 40 is in the first position abutting against the movable member 30, the movable member 30 abuts against the second limiting part 22, limiting the movement of the second quick-release member 20 and the first quick-release member 10 along the first direction.

[0044] That is, when the locking member 40 is in the first position, the locking member 40 abuts against the movable member 30 at the first limiting part 12, and the movable member 30 abuts against the second limiting part 22 corresponding to the first limiting part 12, so that the movement of the second quick release member 20 relative to the first quick release member 10 in the first direction is restricted, thereby locking the second quick release member 20 and the first quick release member 10 in the first direction, so that the second quick release member 20 and the first quick release member 10 are in a locked state.

[0045] Optionally, such as Figures 4 to 7 As shown in the embodiment of this application, when the locking fastener 40 rotates to the second position where it is no longer in contact with the movable member 30, the movable member 30 is no longer in contact with the second limiting part 22, and the second quick-release member 20 and the first quick-release member 10 can move relative to each other in the first direction.

[0046] That is, when the locking fastener 40 is rotated to switch the locking fastener 40 from the first position to the second position, the locking fastener 40 is released from contact with the movable member 30, the movable member 30 is released, and the movable member 30 is no longer in contact with the second limiting part 22 (i.e., the contact is released). The limiting effect of the movable member 30 and the second limiting part 22 on the movement of the second quick release member 20 relative to the first quick release member 10 in the first direction is released, so that the second quick release member 20 can move relative to the first quick release member 10 in the first direction, thereby enabling the second quick release member 20 and the first quick release member 10 to be unlocked in the first direction, so that the second quick release member 20 and the first quick release member 10 are in the unlocked state.

[0047] Optionally, such as Figures 1 to 7 As shown in the embodiment of this application, the first quick-release member 10 further has a third limiting portion 11. The second quick-release member 20 further has a fourth limiting portion 21 corresponding to the third limiting portion 11. The fourth limiting portion 21 is configured to cooperate with the third limiting portion 11 to limit the rotation of the second quick-release member 20 and the first quick-release member 10 in a circumferential direction perpendicular to the first direction.

[0048] The third limiting part 11 and the fourth limiting part 21 can cooperate to limit the rotation of the first quick release member 10 and the second quick release member 20 in the circumferential direction (perpendicular to the first direction), so that the first quick release member 10 and the second quick release member 20 cannot rotate in the circumferential direction.

[0049] By cooperating with the first limiting part 12 and the second limiting part 22, the relative movement of the first quick-release piece 10 and the second quick-release piece 20 along the first direction can be limited, thus achieving an axial limiting effect and preventing the first quick-release piece 10 and the second quick-release piece 20 from moving relative to each other along the first direction. By cooperating with the third limiting part 11 and the fourth limiting part 21, the relative rotation of the first quick-release piece 10 and the second quick-release piece 20 along a circumferential direction perpendicular to the first direction can be limited, thus achieving a circumferential limiting effect and preventing the first quick-release piece 10 and the second quick-release piece 20 from rotating relative to each other along this circumferential direction.

[0050] By cooperating with the first limiting part 12 and the second limiting part 22, and with cooperating with the third limiting part 11 and the fourth limiting part 21, the movement of the first quick-release piece 10 and the second quick-release piece 20 along the axial direction of the locking fastener 40 and the rotational limitation around the axial direction (i.e., along the circumferential direction) of the locking fastener 40 can be achieved, thereby stably locking the first quick-release piece 10 and the second quick-release piece 20.

[0051] Optionally, such as Figures 1 to 5 As shown in this embodiment, along the first direction, the position occupied by the second quick-release member 20 at least partially overlaps with the position occupied by the first quick-release member 10. At least a portion of the second quick-release member 20 is engaged within the space enclosed by the first quick-release member 10.

[0052] Optionally, such as Figures 1 to 9 As shown in the embodiment of this application, the first quick-release member 10 includes a first ring body portion 13, and the first limiting portion 12 includes a first groove disposed at the first ring body portion 13. The second quick-release member 20 includes a second ring body portion 23 disposed inside the first ring body portion 13, and the second limiting portion 22 includes a second groove disposed at the second ring body portion 23. The first groove and the second groove communicate with each other. A portion of the movable member 30 is located within the first groove.

[0053] In this embodiment, the second ring portion 23 is disposed inside the first ring portion 13, and the first ring portion 13 is sleeved around the second ring portion 23. The first groove at the first ring portion 13 and the second groove at the second ring portion 23 are correspondingly connected. The movable member 30 is movably disposed within the first groove at the first ring portion 13.

[0054] This design makes the quick-release device 100 easy to operate, with a simple and compact structure and smaller size. It occupies less space in actual use, which helps to improve the space utilization of the quick-release device 100 and its application scenarios (such as the robot body).

[0055] Optionally, such as Figure 1 , Figures 3 to 7 As shown in the embodiment of this application, the movable member 30 is at least able to move along a second direction relative to the first groove, and the second direction is parallel to the arrangement direction of the corresponding connected first and second grooves.

[0056] In this embodiment of the application, when the locking fastener 40 is in the first position, the locking fastener 40 abuts against the movable member 30 in the first groove, so that the movable member 30 abuts against the inner wall of the second groove, thereby limiting the movement of the second quick-release member 20 and the first quick-release member 10 in the first direction and locking the second quick-release member 20 and the first quick-release member 10.

[0057] As the rotating locking device 40 gradually switches from the first position to the second position, the locking device 40 gradually switches from contact with the moving part 30 to non-contact.

[0058] When the locking member 40 is in the second position, the locking member 40 no longer abuts against the movable member 30 (i.e., the abutment is released), the movable member 30 can move freely in the first groove, the movable member 30 no longer abuts against the inner wall of the second groove, the limiting effect on the movement of the second quick-release member 20 and the first quick-release member 10 in the first direction is released (i.e., it no longer plays a limiting role), the second quick-release member 20 and the first quick-release member 10 are unlocked, and can be quickly released.

[0059] As the locking device 40 rotates and gradually switches from the second position back to the first position, it gradually switches from not contacting the moving part 30 to contacting it. This cycle repeats, allowing the locking device 40 to switch back and forth between the first and second positions. The second quick-release component 20 and the first quick-release component 10 can switch back and forth between the locked and unlocked states, achieving quick release and quick installation.

[0060] Optionally, in this embodiment, the second direction is perpendicular to the first direction. Optionally, the first direction is parallel to the axial direction of the quick-release device 100, and the second direction is parallel to the radial direction of the quick-release device 100.

[0061] Optionally, such as Figures 1 to 7 , Figures 13 to 15 As shown in the embodiment of this application, the locking device 40 includes a locking ring 41 and a switching block 42. The locking ring 41 is rotatably disposed around the outer periphery of the first ring body portion 13, and the rotation axis of the locking ring 41 is parallel to a first direction. The switching block 42 is fixed inside the locking ring 41. The switching block 42 is configured to abut against the movable member 30.

[0062] In this embodiment, the locking ring 41 is used to drive the switching block 42 to rotate, so that the switching block 42 abuts against the movable member 30, thereby switching the locking member 40 to the first position, so that the second quick-release member 20 and the first quick-release member 10 are in a locked state, and also to release the switching block 42 from abutting against the movable member 30, thereby switching the locking member 40 to the second position, so that the second quick-release member 20 and the first quick-release member 10 are in an unlocked state.

[0063] Optionally, such as Figures 1 to 7 As shown in the embodiment of this application, the locking ring 41, the first ring body 13, and the second ring body 23 are sequentially fitted from the outside to the inside.

[0064] Optionally, such as Figures 1 to 7 As shown in the embodiment of this application, the extension directions of the rotation axis of the locking ring 41, the center line of the first ring body 13, and the center line of the second ring body 23 are all parallel to the first direction.

[0065] Optionally, such as Figures 1 to 7 As shown in the embodiment of this application, the locking ring 41, the first ring body 13, and the second ring body 23 are arranged concentrically.

[0066] Optionally, such as Figure 3 , Figure 5 , Figure 7 , Figures 13 to 15As shown in this embodiment, the inner surface of the switching block 42 includes a locking section inner surface 421 and a transition section inner surface 422. The locking section inner surface 421 is configured to abut against the movable member 30. The transition section inner surface 422 is configured to transition from the inner surface of the locking ring 41 to the locking section inner surface 421.

[0067] In this embodiment, the rotation of the locking ring 41 drives the rotation of the switching block 42. The rotation of the switching block 42 enables the inner surface 421 of the locking section to abut against the movable member 30, so that the locking member 40 is in the first position and the second quick-release member 20 and the first quick-release member 10 are in the locked state. The rotation of the switching block 42 also enables the inner surface 422 of the transition section to align with the movable member 30. Since the switching block 42 is fixed inside the locking ring 41, the inner surface 422 of the transition section gradually transitions from the inner surface 421 of the locking section to the inner surface of the locking ring 41. Therefore, the radial dimension of the inner surface 422 of the transition section gradually increases from the inner surface 421 of the locking section to the inner surface of the locking ring 41. The inner surface 422 of the transition section does not abut against the movable member 30, the movable member 30 is released, and the movable member 30 is released from abutment against the inner wall of the second groove, so that the locking member 40 is in the second position and the second quick-release member 20 and the first quick-release member 10 are in the unlocked state.

[0068] Optionally, such as Figure 3 , Figure 5 , Figure 7 , Figures 13 to 15 As shown in the embodiment of this application, the switching block 42 can be a boss fixed inside the locking ring 41. The inner surface 421 of the locking section can be the arc surface of the boss, and the inner surface 422 of the transition section can be the inclined surface of the boss. The inclined surface can provide motion assistance for the movable member 30 (e.g., a ball), and the movable member 30 (e.g., a ball) can roll along the inclined surface onto the arc surface.

[0069] Optionally, such as Figures 1 to 7 , Figures 13 to 15 As shown in the embodiment of this application, the locking device 40 further includes an operating part 43 fixedly installed on the outside of the locking ring 41. The locking ring 41 can be easily rotated through the operating part 43.

[0070] Optionally, such as Figures 1 to 7 , Figures 13 to 15 As shown in the embodiment of this application, the operating part 43 is a protrusion formed on the outside of the locking ring 41.

[0071] Optionally, such as Figure 3 , Figures 5 to 9 As shown in the embodiment of this application, the movable component 30 includes a ball, and the first groove includes a spherical through groove.

[0072] Optionally, such as Figure 3 , Figures 5 to 9As shown in the embodiment of this application, each of the movable member 30 and the first groove is provided with at least two, and the at least two first grooves are arranged sequentially at intervals along the circumference of the first ring body portion 13 and correspond one-to-one with the at least two movable members 30.

[0073] Optionally, such as Figure 3 , Figures 5 to 7 , Figures 13 to 15 As shown in this embodiment, at least two switching blocks 42 are provided, and the at least two switching blocks 42 are arranged sequentially at intervals along the circumference of the locking ring 41 on the inner side of the locking ring 41. The at least two switching blocks 42 correspond one-to-one with at least two moving parts 30.

[0074] Optionally, such as Figure 3 , Figures 5 to 7 , Figure 11 and Figure 12 As shown in the embodiment of this application, the second groove includes an annular groove that extends circumferentially along the second ring portion 23 and corresponds to at least one first groove. The annular groove can serve as a locking raceway for a movable element 30 (e.g., a ball bearing).

[0075] Optionally, such as Figure 6 and Figure 7 As shown in the embodiment of this application, there are six of each of the first groove, the movable member 30 and the switching block 42, and the annular second groove corresponds to each of the six first grooves.

[0076] Of course, in other optional embodiments of this application, at least two second grooves may be provided, with at least two first grooves and at least two second grooves corresponding one-to-one, depending on actual needs.

[0077] In this embodiment of the application, by providing at least two movable parts 30 and corresponding second grooves, the contact effect between the movable parts 30 and the second grooves can be improved, the limiting effect on the movement of the second quick-release part 20 and the first quick-release part 10 along the first direction can be enhanced, and the locking stability can be improved.

[0078] Optionally, such as Figures 1 to 7 As shown in the embodiment of this application, the fourth limiting part 21 and the third limiting part 11 are distributed along the first direction and are engaged.

[0079] The fourth limiting part 21 and the third limiting part 11 are engaged in the first direction, which can limit the rotation of the second quick release part 20 and the first quick release part 10 in the circumferential direction perpendicular to the first direction, thereby achieving the circumferential limiting function.

[0080] Optionally, such as Figures 6 to 12As shown in the embodiment of this application, the third limiting part 11 includes a locking block connected to the first ring body part 13. The fourth limiting part 21 includes a locking groove disposed at the second ring body part 23. The locking groove is configured to engage with the locking block. The locking groove at the second ring body part 23 engages with the locking block at the first ring body part 13 to limit the rotation of the second quick-release member 20 and the first quick-release member 10 in the circumferential direction, thereby achieving a circumferential limiting function.

[0081] Optionally, such as Figure 8 and Figure 9 As shown in this embodiment, one end of the card block is connected to the first ring body portion 13, and the other end (connected to the first mounting base 14) extends into the interior of the first ring body portion 13. The card slot can be a notch formed on the second ring body portion 23.

[0082] Optionally, such as Figure 6 and Figure 7 As shown in the embodiment of this application, the locking block of the third limiting part 11 and the locking groove of the fourth limiting part 21 are engaged along a first direction (e.g., axial direction), and the first groove of the first limiting part 12 and the second groove of the second limiting part 22 correspond along a second direction perpendicular to the first direction (e.g., radial direction). The first quick-release member 10 and the second quick-release member 20 are fitted together along the first direction. The first quick-release member 10 is disposed around the second quick-release member 20. This design makes the quick-release device 100 easy to operate, simple and compact in structure, smaller in size, and occupies less space in actual use, which is beneficial to improving the space utilization rate of the quick-release device 100 and its application scenarios (e.g., robot body).

[0083] Optionally, such as Figures 6 to 12 As shown in the embodiments of this application, the first quick-release component 10 includes, but is not limited to, a flange. The second quick-release component 20 includes, but is not limited to, a flange. The first quick-release component 10 serves as a fixed flange, and the second quick-release component 20 serves as a movable flange.

[0084] In this embodiment, in the locked state, the movable part 30 (e.g., a ball bearing) is locked by the second quick-release part 20 (e.g., a movable flange) and the first quick-release part 10 (e.g., a fixed flange). The movable part 30 is located in the first limiting part 12 (specifically, the first groove) of the first quick-release part 10 and the second limiting part 22 (specifically, the second groove) of the second quick-release part 20, restricting the axial (i.e., the first direction) movement of the second quick-release part 20 and the first quick-release part 10. The first quick-release part 10 and the second quick-release part 20 are respectively provided with a third limiting part 11 (specifically, a locking block) and a fourth limiting part 21 (specifically, a locking groove), restricting the circumferential (i.e., the circumferential direction perpendicular to the first direction) movement between the first quick-release part 10 and the second quick-release part 20.

[0085] In the unlocked state, the movable part 30 (e.g., ball bearing) is in a free state, and the second quick-release part 20 (e.g., movable flange) can be removed from the first quick-release part 10 (e.g., fixed flange) to achieve quick release.

[0086] The quick-release device 100 provided in this application embodiment can significantly improve the installation, disassembly, and replacement speed of the first connecting component (e.g., a robotic arm) and the second connecting component (e.g., an end effector). According to actual calculations, without using the quick-release device 100 provided in this application embodiment, the replacement time of the second connecting component (e.g., the end effector) is expected to take several minutes. However, when using the quick-release device 100 provided in this application embodiment, the replacement time of the second connecting component (e.g., the end effector) can be shortened to less than 10 seconds.

[0087] Optionally, such as Figure 1 , Figure 6 , Figure 16 , Figure 17 and Figure 19 As shown in the embodiment of this application, the quick-release device 100 further includes a reset member 50 connected to both the first quick-release member 10 and the locking member 40. The reset member 50 is configured to return the locking member 40 to the first position.

[0088] In this embodiment, the reset member 50 is used to apply a force to the locking member 40 to restore it to the first position.

[0089] When the locking device 40 rotates to the second position relative to the first quick-release member 10 under the action of external force, the second quick-release member 20 and the first quick-release member 10 are unlocked. At this time, the user can remove the second quick-release member 20 from the first quick-release member 10 to achieve quick release.

[0090] When the external force is removed, under the force applied by the reset member 50, the locking member 40 rotates relative to the first quick-release member 10 and returns to the first position. At this time, when the second quick-release member 20 and the first quick-release member 10 are assembled together (i.e., the fourth limiting part 21 and the third limiting part 11 are engaged, and the second limiting part 22 corresponds to the first limiting part 12), the locking member 40 can abut the movable member 30 against the second limiting part 22, thereby locking the second quick-release member 20 to the first quick-release member 10 and achieving quick installation. When the second quick-release member 20 and the first quick-release member 10 are not assembled together (i.e., the second quick-release member 20 is removed from the first quick-release member 10), the locking member 40 can abut the movable member 30 against the first limiting part 12, so that the locking member 40, the movable member 30, and the first quick-release member 10 are relatively fixed and maintained in a whole state, preventing component movement, ensuring the stability and integrity of the overall structure of the quick-release device 100, and preventing component loss, etc.

[0091] Optionally, such as Figure 1 , Figure 6 , Figure 16 , Figure 17 and Figure 19 As shown in the embodiments of this application, the reset member 50 includes, but is not limited to, a spring, such as a tension spring.

[0092] Optionally, such as Figure 1 , Figure 6 , Figure 16 , Figure 17 and Figure 19 As shown in the embodiment of this application, the quick-release device 100 further includes a first mounting member 91 and a second mounting member 92. The first mounting member 91 is fixedly mounted on the first quick-release member 10, and one end of the reset member 50 (e.g., a tension spring) is connected to the first mounting member 91. The second mounting member 92 is fixedly mounted on the locking member 40, and the other end of the reset member 50 (e.g., a tension spring) is connected to the second mounting member 92.

[0093] Optionally, such as Figure 1 , Figures 3 to 7 , Figure 9 , Figure 10 , Figure 16 , Figure 17 and Figure 19 As shown in the embodiment of this application, the first mounting member 91 includes, but is not limited to, a pin. The second mounting member 92 includes, but is not limited to, a screw. The first quick-release member 10 is provided with a channel 19, and one end of the first mounting member 91 is fixedly installed in the channel 19.

[0094] Optionally, such as Figure 1 , Figures 3 to 8 , Figure 10 , Figures 13 to 17 As shown in the embodiment of this application, the quick-release device 100 further includes a first limiting component connected to the first quick-release member 10 and the locking member 40 respectively. The first limiting component is configured to limit the first position and the second position of the locking member 40.

[0095] By limiting the first limiting component, the limit position of the locking fastener 40 relative to the first quick-release piece 10 is limited between the first position and the second position.

[0096] If the locking element 40 rotates beyond one extreme position beyond the second position, the reset element 50 may fail, preventing it from automatically pulling the locking element 40 back to the first position. If the locking element 40 rotates beyond the first position, the locking element 40 may detach from the first quick-release piece 10, rendering locking and unlocking functions impossible.

[0097] In this embodiment, the locking device 40 is positioned between the first position and the second position, which not only ensures the stability and integrity of the overall structure of the quick-release device 100 and realizes the locking and unlocking functions, but also ensures the effectiveness of the reset member 50, so that the locking device 40 can automatically return to the first position under the action of the reset member 50.

[0098] Optionally, such as Figure 7 , Figures 14 to 16 As shown in the embodiment of this application, the first limiting component includes a first limiting member and a second limiting member 61. The first limiting member is fixedly connected to the first quick-release member 10, and the second limiting member 61 is fixedly connected to the locking member 40. Along the circumferential direction perpendicular to the first direction, the second limiting member 61 is located on the side of the first limiting member away from the reset member 50. The second limiting member 61 is configured to abut against the first limiting member to limit the second position.

[0099] Optionally, such as Figure 1 , Figures 3 to 6 , Figure 16 , Figure 17 and Figure 19 As shown in the embodiment of this application, the first mounting component 91 is used as the first limiting component.

[0100] Optionally, such as Figure 1 , Figures 3 to 7 , Figures 13 to 17 , Figure 19 As shown in the embodiment of this application, the second mounting member 92 is detachably connected to the first switching block 42. The first switching block 42 is provided with a first connecting hole 423 for detachably fixing to the second mounting member 92.

[0101] The second limiting member 61 includes a limiting groove disposed on the second switching block 42, which is located on the side of the reset member 50 away from the first switching block 42. The first limiting member (i.e., the first mounting member 91) is located between the limiting groove and the reset member 50. The limiting groove is located on the side of the second switching block 42 facing the first limiting member, so that the limiting groove abuts against the first limiting member to limit the second position of the locking fastener 40 relative to the first quick-release member 10.

[0102] Optionally, such as Figure 1 , Figures 3 to 8 , Figures 13 to 17 , Figure 19 As shown in the embodiment of this application, the first limiting component includes a third limiting member 62 and a fifth limiting portion 63. The third limiting member 62 is fixedly connected to the first quick-release member 10, and the fifth limiting portion 63 is disposed on the locking member 40. Along a circumferential direction perpendicular to the first direction, the fifth limiting portion 63 is located between the third limiting member 62 and the reset member 50. The fifth limiting portion 63 is configured to abut against the third limiting member 62 to limit the first position.

[0103] Optionally, such as Figure 1 , Figures 3 to 8 , Figures 13 to 17 , Figure 19 As shown in the embodiment of this application, the third limiting member 62 includes a limiting block fixedly connected to the first ring body portion 13. The limiting block extends from the first flange portion 15 toward the side where the second flange portion 16 is located, that is, the surface of the limiting block toward the second flange portion 16 protrudes relative to the surface of the first flange portion 15 toward the second flange portion 16.

[0104] The second switching block 42 faces the limiting surface 424 of the first flange portion 15, and a portion of the surface near the third limiting member 62 sinks down, forming a side surface as the fifth limiting portion 63.

[0105] The second switching block 42 rotates with the locking ring 41, which enables the fifth limiting part 63 to abut against the limiting block, thereby limiting the first position of the locking fastener 40 relative to the first quick-release part 10.

[0106] Optionally, such as Figure 16 and Figure 17 As shown in the embodiment of this application, the third limiting member 62, the fifth limiting part 63, the second limiting member 61 and the first limiting member (i.e. the first mounting member 91) are distributed sequentially at intervals along the circumferential direction.

[0107] Optionally, such as Figure 16 and Figure 17 As shown in this embodiment, in the unlocked state, after the second quick-release piece 20 is removed from the first quick-release piece 10, the locking fastener 40 can be reset by the reset piece 50. The first quick-release piece 10 is provided with a third limiting piece 62, and the locking fastener 40 is provided with a fifth limiting part 63. The fifth limiting part 63 and the third limiting piece 62 abut against each other to limit the locking fastener 40 to a determined first position.

[0108] Optionally, such as Figures 1 to 7 , Figure 18 and Figure 19 As shown in the embodiment of this application, the quick-release device 100 further includes a second limiting component connected to the first quick-release member 10 and the locking member 40 respectively. The second limiting component is configured to limit the movement of the locking member 40 and the first quick-release member 10 along a first direction.

[0109] The second limiting component can restrict the movement of the locking fastener 40 and the first quick-release member 10 along the first direction, so that the locking fastener 40 and the first quick-release member 10 cannot move relative to each other along the first direction, preventing the locking fastener 40 from coming off the first quick-release member 10, and ensuring that the locking fastener 40 can stably switch between the first position and the second position.

[0110] Optionally, such as Figures 1 to 10As shown in the embodiment of this application, the first quick-release component 10 includes a first flange portion 15 and a second flange portion 16. The first flange portion 15 and the second flange portion 16 are each fixedly connected to the first annular body portion 13 and are spaced apart along a first direction. The first flange portion 15 and the second flange portion 16 are each arranged around the periphery of the first annular body portion 13.

[0111] Optionally, such as Figure 7 , Figure 13 and Figure 16 As shown in this embodiment, one end of the inner wall of the locking ring 41 is recessed to form a recess 411, and the recess 411 has a stepped surface 412. The second flange portion 16 is located in the recess 411, and the inner surface of the second flange portion 16 contacts or abuts against the stepped surface 412.

[0112] Optionally, such as Figures 1 to 7 , Figure 18 and Figure 19 As shown in the embodiment of this application, the second flange portion 16 and the recess 411 serve as the sixth and seventh limiting portions of the second limiting component, respectively. The second flange portion 16 and the recess 411 cooperate to limit the movement of the locking fastener 40 relative to the first quick release member 10 in the first direction toward the first side (i.e., away from the second quick release member 20).

[0113] Optionally, such as Figure 1 , Figure 6 , Figures 13 to 19 As shown in the embodiment of this application, the switching block 42 has a limiting surface 424, which is located on the side of the switching block 42 away from the recess 411 and faces the first flange portion 15. The limiting surface 424 is used to contact or abut against the inner surface of the first flange portion 15 near the second flange portion 16.

[0114] Optionally, such as Figure 1 , Figure 6 , Figures 13 to 19 As shown in the embodiment of this application, the limiting surface 424 and the first flange portion 15 serve as the eighth limiting portion and the ninth limiting portion of the second limiting component, respectively. By cooperating with the limiting surface 424 and the first flange portion 15, the movement of the locking fastener 40 relative to the first quick release member 10 in the first direction toward the second side (i.e., the side closer to the second quick release member 20) is limited.

[0115] In this embodiment, the movement of the locking fastener 40 relative to the first quick-release member 10 in a first direction is restricted by the second flange portion 16 and the first flange portion 15.

[0116] Optionally, such as Figure 1 , Figures 6 to 9 , Figure 16 , Figure 17 and Figure 19As shown in this embodiment, a notch 17 is provided on the first flange portion 15 corresponding to the reset member 50. The notch 17 exposes the first mounting member 91 to facilitate installation, removal, and replacement of the first mounting member 91. The first flange portion 15 on the side of the notch 17 away from the first mounting member 91 covers the second mounting member 92. The second mounting member 92 cooperates with the first flange portion 15 (e.g., contacts or abuts) to limit the movement of the locking fastener 40 relative to the first quick-release member 10 in the first direction toward the second side (i.e., the side closer to the second quick-release member 20). The second mounting member 92 can serve as the tenth limiting portion of the second limiting component that cooperates with the ninth limiting portion.

[0117] Optionally, such as Figure 4 , Figure 10 , Figure 14 and Figure 15 As shown in this embodiment, the limiting surface 424 of the second switching block 42 is recessed near a portion of the surface of the second limiting member 61 to form a clearance groove 425. When one end of the reset member 50 (e.g., a tension spring) is installed to or removed from the first mounting member 91, the clearance groove 425 can facilitate the installation and removal between the reset member 50 and the first mounting member 91, thereby facilitating operation.

[0118] Optionally, such as Figures 8 to 10 As shown in the embodiment of this application, the first quick-release component 10 has a clearance hole 70. The clearance hole 70 is provided at the first flange portion 15 and the first annular portion 13. The outline area of ​​the clearance hole 70 is larger than the outline area of ​​the switching block 42. The clearance hole 70 is used to avoid the switching block 42.

[0119] Optionally, such as Figures 8 to 10 As shown in the embodiments of this application, the number of clearance holes 70 is the same as the number of switching blocks 42, or the number of clearance holes 70 is greater than the number of switching blocks 42. This ensures that each switching block 42 corresponds to at least one clearance hole 70 and can pass through the corresponding clearance hole 70.

[0120] When the locking fastener 40 is installed onto the first quick-release member 10, the multiple switching blocks 42 are aligned and pass through the clearance holes 70. Then, the locking fastener 40 is rotated to displace the switching blocks 42 from the clearance holes 70. Through the reset member 50, the first limiting component, and the second limiting component, a stable connection is achieved between the locking fastener 40 and the first quick-release member 10. When the locking fastener 40 is removed from the first quick-release member 10, the reset member 50 is first released (for example, the first mounting member 91 is removed), the locking fastener 40 is rotated to align the switching blocks 42 with the clearance holes 70, and the locking fastener 40 is moved along the first direction to remove it from the first quick-release member 10.

[0121] Optionally, such as Figures 8 to 10As shown in the embodiment of this application, the clearance hole 70 corresponding to the reset member 50 at least partially overlaps with the notch 17. The clearance hole 70 can also provide clearance for the fastener 200.

[0122] Optionally, such as Figure 1 and Figure 19 As shown in the embodiment of this application, the reset member 50 is installed on the inner side of the first flange portion 15 near the second flange portion 16.

[0123] Optionally, such as Figures 1 to 6 As shown in the embodiment of this application, the quick-release device 100 further includes a circuit board assembly 80, which is used to electrically connect the first connecting component (e.g., a robotic arm) and the second connecting component (e.g., an end effector), or to electrically connect the power supply at the first connecting component and the second connecting component, so as to realize power supply and communication between the first connecting component and the second connecting component, or between the power supply at the first connecting component and the second connecting component.

[0124] Optionally, such as Figures 1 to 6 As shown in the embodiment of this application, the quick-release device 100 further includes: a first circuit board 81 and a second circuit board 82. The first circuit board 81 is fixedly mounted on the first quick-release member 10. The second circuit board 82 is fixedly mounted on the second quick-release member 20. The second circuit board 82 is configured to be electrically connected to the first circuit board 81.

[0125] In this embodiment, the first circuit board 81 is configured to be electrically connected to a first connecting component (e.g., a robotic arm) or to a power source at the first connecting component. The second circuit board 82 is configured to be electrically connected to a second connecting component (e.g., an end effector).

[0126] When the second quick-release piece 20 and the first quick-release piece 10 are in the locked state, the second circuit board 82 and the first circuit board 81 are electrically connected. The power supply of the first connecting component (e.g., a robotic arm) or the power supply at the first connecting component is electrically connected to the second connecting component (e.g., an end effector) through the first circuit board 81 and the second circuit board 82, thereby realizing power supply and communication between the first connecting component or the power supply at the first connecting component and the second connecting component.

[0127] When the second quick-release member 20 and the first quick-release member 10 are in the unlocked state, the second quick-release member 20 is moved along the first direction to separate the second quick-release member 20 and the first quick-release member 10 along the first direction. The second circuit board 82 and the first circuit board 81 are disconnected, so that the power supply at the first connecting component (e.g., a robotic arm) or the power supply at the first connecting component is disconnected from the power supply at the second connecting component (e.g., an end effector), and the power supply and communication are interrupted.

[0128] Optionally, such as Figures 1 to 9As shown in the embodiment of this application, the first quick-release component 10 includes a first mounting base 14 connected to the first ring body portion 13, and the first circuit board 81 is fixedly mounted on the first mounting base 14.

[0129] Optionally, such as Figures 2 to 9 As shown in the embodiment of this application, the first mounting base 14 is connected to the first ring body portion 13 via the third limiting portion 11. Optionally, the first mounting base 14 is located at the center of the first ring body portion 13, and the first circuit board 81 is arranged at the center of the first ring body portion 13.

[0130] Optionally, such as Figures 1 to 6 As shown in the embodiment of this application, the first circuit board 81 is detachably mounted on the first mounting base 14. Optionally, the first circuit board 81 and the first mounting base 14 are detachably connected by fasteners such as screws or pins, and the first mounting base 14 is provided with first mounting holes corresponding to the screws or pins.

[0131] Optionally, such as Figures 1 to 6 As shown in the embodiment of this application, the second quick-release component 20 includes a second mounting base 24 connected to the second ring body portion 23, and the second circuit board 82 is fixedly mounted on the second mounting base 24.

[0132] Optionally, such as Figures 1 to 6 As shown in the embodiment of this application, the second mounting base 24 is located at the center of the second ring body portion 23, and the second circuit board 82 is arranged at the center of the second ring body portion 23.

[0133] Optionally, such as Figures 1 to 6 As shown in this embodiment, the second circuit board 82 is detachably mounted on the second mounting base 24. Optionally, the second circuit board 82 and the second mounting base 24 are detachably connected by fasteners such as screws or pins, and the second mounting base 24 is provided with second mounting holes 25 corresponding to the screws or pins.

[0134] Optionally, such as Figures 1 to 7 As shown in this embodiment, the first mounting base 14 is located on the first side of the first annular portion 13 along the first direction, and the second annular portion 23 is assembled into the first annular portion 13 from the second side along the first direction. The second mounting base 24 is located on the side of the second annular portion 23 away from the first mounting base 14 along the first direction. The first mounting base 14, the first circuit board 81, the second circuit board 82, and the second mounting base 24 are distributed sequentially along the first direction. This design facilitates the arrangement and installation of the first circuit board 81 and the second circuit board 82, enabling convenient electrical connection between the first circuit board 81 and the second circuit board 82.

[0135] Optionally, such as Figures 1 to 6As shown in the embodiments of this application, the first circuit board 81 includes, but is not limited to, a pin circuit board. The second circuit board 82 includes, but is not limited to, a contact circuit board. The circuit board assembly 80 includes a pin circuit board and a contact circuit board. The pin circuit board has a spring pin, and the contact circuit board has metal contacts. When the second quick-release member 20 and the first quick-release member 10 are in the locked state, the spring pin contacts the metal contacts, realizing power supply and communication between the first connecting component (e.g., a robotic arm) and the second connecting component (e.g., an end effector), or between the power supply at the first connecting component and the second connecting component.

[0136] Optionally, in this embodiment of the application, the first quick-release component 10, the second quick-release component 20, and the locking component 40 are each integrally formed structures.

[0137] Optionally, the quick-release device 100 provided in this application embodiment can be applied to a robot, and further can be applied to the robot wrist to connect the robot's robotic arm and end effector, so as to realize quick release and quick installation of the robotic arm and end effector.

[0138] Of course, in other optional embodiments of this application, the quick-release device 100 provided in this application can also be applied to any application scenario other than robots that requires quick release and quick installation, without limitation.

[0139] Based on the same inventive concept, embodiments of this application provide a robotic arm assembly, which includes: As described above, quick-release device 100; The robotic arm is fixedly connected to the first quick-release component 10 of the quick-release device; The end effector is fixedly connected to the second quick-release component 20 of the quick-release device.

[0140] In this embodiment, the quick-release device 100 is used to connect the robotic arm and the end effector, enabling rapid disassembly and installation of the robotic arm and the end effector. The first quick-release member 10 of the quick-release device 100 is connected to the robotic arm and fixed to the robotic arm end of the robotic arm assembly. The second quick-release member 20 of the quick-release device 100 is connected to the end effector and fixed to the end effector end of the robotic arm assembly. The first and second positions of the locking fastener 40 are switched by rotating the locking fastener 40 of the quick-release device 100.

[0141] When the locking fastener 40 is in the first position, the second quick-release piece 20 and the first quick-release piece 10 are locked, fixing the end effector and the robotic arm together.

[0142] When the locking fastener 40 is rotated to the second position, the second quick-release member 20 and the first quick-release member 10 are in the unlocked state. The second quick-release member 20 and the first quick-release member 10 can move relative to each other in the first direction. The second quick-release member 20 can be freely removed from the first quick-release member 10, thereby quickly removing the end effector from the robotic arm.

[0143] It should be noted that since the robotic arm assembly provided in this application embodiment includes the quick-release device provided in this application embodiment, the robotic arm assembly provided in this application embodiment also has the above-mentioned beneficial effects of the quick-release device provided in this application embodiment, which will not be repeated here.

[0144] Optionally, such as Figures 1 to 9 As shown in the embodiment of this application, the first quick-release member 10 and the robotic arm are detachably fixedly connected by a fastener 200. The first quick-release member 10 is provided with a second connecting hole 18 for detachable connection with the fastener 200 or for the fastener 200 to pass through. The fastener 200 includes, but is not limited to, screws or pins.

[0145] The second quick-release component 20 is provided with a third connection hole 26 for detachable connection with the end effector.

[0146] Optionally, in embodiments of this application, the end effector includes, but is not limited to, a robotic arm. The robotic arm may include one or more joints for moving the robotic arm along one or more degrees of freedom. For example, a robotic arm can grip goods, and the gripped goods can be moved from one location to another. As another example, a robotic arm can be used to grip tools such as pliers, and the movement of the robotic arm can be used to modify the physical world using the gripped tools.

[0147] Based on the same inventive concept, this application provides a robot, which includes: the quick-release device 100 as described above.

[0148] It should be noted that since the robot provided in this application embodiment includes the quick-release device provided in this application embodiment, the robot provided in this application embodiment also has the above-mentioned beneficial effects of the quick-release device provided in this application embodiment, which will not be repeated here.

[0149] Optionally, in the embodiments of this application, the robot includes, but is not limited to, a body-bound robot, such as a humanoid robot.

[0150] Optionally, in this embodiment, the robot includes a robotic arm assembly, which comprises a robotic arm, a quick-release device 100, and an end effector connected in sequence. The robot can use the robotic arm assembly to perform tasks such as grasping or moving objects, or operating tools.

[0151] Of course, in other optional embodiments of this application, the robot may include one or more of the following components, such as body, head, legs and feet, as needed. Quick-release devices 100 may be installed between the body and head, between the body and legs, and between the legs and feet, as needed. Quick-release devices 100 may also be installed between the body and the robotic arm assembly, between adjacent segments of the robotic arm, and between adjacent segments of the legs, to achieve quick disassembly and quick installation.

[0152] By applying the embodiments of this application, at least the following beneficial effects can be achieved: In this embodiment, the first quick-release member is configured to be fixedly connected to a first connecting member (e.g., a robotic arm). The second quick-release member is configured to be fixedly connected to a second connecting member (e.g., an end effector).

[0153] The movable part is movably disposed at the first limiting portion of the first quick-release member, and the second quick-release member has a second limiting portion corresponding to the first limiting portion. The locking member is movably disposed relative to the periphery of the first quick-release member, such that the locking member has a first position relative to the first quick-release member and a second position relative to the first quick-release member.

[0154] When the locking fastener is in the first position relative to the first quick-release member, the locking fastener enables the movable member to cooperate with the second limiting part to limit the relative movement of the second quick-release member and the first quick-release member along the first direction, thereby locking the second quick-release member and the first quick-release member along the first direction, so that the second quick-release member and the first quick-release member are in a locked state.

[0155] When the control fastener moves to the second position relative to the first quick-release member, the movable member is released, allowing it to disengage from the second limiting part. This releases the limiting effect on the relative movement of the second and first quick-release members along the first direction, allowing the second quick-release member to move relative to the first quick-release member along the first direction, thus placing both members in an unlocked state. Controlling the second quick-release member to move away from the first quick-release member along the first direction enables rapid disassembly of the second and first quick-release members, thereby achieving quick release between the first and second connecting components.

[0156] When installing the second quick-release component and the first quick-release component, the second quick-release component is controlled to move closer to the first quick-release component in the first direction, so that the second limiting part corresponds to the first limiting part; the locking fastener is controlled to move to the first position relative to the first quick-release component, and the moving part cooperates with the second limiting part through the locking fastener, so that the second quick-release component and the first quick-release component can be locked in the first direction, thereby realizing the quick installation of the second quick-release component and the first quick-release component, and thus realizing the quick connection between the first connecting component and the second connecting component.

[0157] The quick-release device provided in this application embodiment can realize quick release and quick installation between the first quick-release component and the second quick-release component. It has a simple structure and is easy to operate. It can achieve quick and convenient installation and disassembly without the use of additional auxiliary tools, which can improve work efficiency and save costs.

[0158] In this embodiment, the third and fourth limiting portions are engaged along a first direction (e.g., axial direction), and the first and second limiting portions correspond along a second direction perpendicular to the first direction (e.g., radial direction). The first and second quick-release components overlap along the first direction. The first quick-release component covers the periphery of the second quick-release component. This design simplifies the operation of the quick-release device, resulting in a concise, compact structure and smaller size. It occupies less space in practical use, which is beneficial for improving the space utilization of the quick-release device and its application scenarios (e.g., robot bodies).

[0159] In the description of this application, the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate directions or positional relationships based on the exemplary directions or positional relationships shown in the accompanying drawings. They are used to facilitate the description or simplification of the embodiments of this application and are not intended to indicate or imply that the device or component 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.

[0160] 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. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0161] In the description of this specification, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0162] The above description is only a partial implementation of this application. It should be noted that for those skilled in the art, other similar implementation methods based on the technical concept of this application, without departing from the technical concept of this application, also fall within the protection scope of the embodiments of this application.

Claims

1. A quick-release device, characterized in that, include: The first quick-release component has a first limiting part; The second quick-release component is configured to be at least partially disposed within the space enclosed by the first quick-release component; The second quick-release component has a second limiting part; The movable component is movably disposed at the first limiting portion; The locking fastener, rotatably disposed around the periphery of the first quick-release member, is configured such that: in the first position, the movable member engages with the second limiting portion, and the second quick-release member and the first quick-release member are in a locked state along the first direction; in the second position, the movable member disengages from the second limiting portion, and the second quick-release member and the first quick-release member are in an unlocked state where they can move relative to each other along the first direction; the rotation axis of the locking fastener is parallel to the first direction and perpendicular to the first limiting portion of the first quick-release member and the spatial distribution direction.

2. The quick-release device according to claim 1, characterized in that, When the locking fastener is in the first position abutting against the movable part, the movable part abuts against the second limiting part, thereby limiting the movement of the second quick-release part and the first quick-release part along the first direction; When the locking fastener is rotated to the second position where it is no longer in contact with the movable part, the movable part is no longer in contact with the second limiting part, and the second quick-release member and the first quick-release member can move relative to each other along the first direction.

3. The quick-release device according to claim 1, characterized in that, The first quick-release component also has a third limiting part; The second quick-release component also has a fourth limiting portion corresponding to the third limiting portion; The fourth limiting part is configured to cooperate with the third limiting part to limit the rotation of the second quick-release member and the first quick-release member in a circumferential direction perpendicular to the first direction.

4. The quick-release device according to any one of claims 1 to 3, characterized in that, The first quick-release component includes a first ring body portion, and the first limiting portion includes a first groove disposed at the first ring body portion; The second quick-release component includes a second ring portion disposed inside the first ring portion, and the second limiting portion includes a second groove disposed at the second ring portion; The first groove is connected to the second groove; Part of the movable component is located within the first groove.

5. The quick-release device according to claim 4, characterized in that, The locking mechanism includes: A locking ring is rotatably disposed around the outer periphery of the first ring body, and the rotation axis of the locking ring is parallel to the first direction; The switching block is fixed inside the locking ring; The inner surface of the switching block includes: The inner surface of the locking section is configured to abut against the moving part. The inner surface of the transition section is configured to transition from the inner surface of the locking ring to the inner surface of the locking section.

6. The quick-release device according to claim 4, characterized in that, Includes at least one of the following: The movable component includes a ball bearing, and the first groove includes a spherical through groove; The movable component and the first groove are each provided with at least two, and the at least two first grooves are arranged sequentially at intervals along the circumference of the first ring body portion, and correspond one-to-one with the at least two movable components.

7. The quick-release device according to claim 4, characterized in that, Includes one of the following: The second groove includes an annular groove that extends circumferentially along the second annular portion and corresponds to at least one of the first grooves; The first groove and the second groove are each provided with at least two, and the at least two first grooves and the at least two second grooves correspond one-to-one.

8. The quick-release device according to claim 3, characterized in that, The fourth limiting part and the third limiting part are distributed along the first direction and are engaged.

9. The quick-release device according to claim 8, characterized in that, The first quick-release component includes a first ring body portion, and the third limiting portion includes a locking block connected to the first ring body portion; The second quick-release component includes a second ring body portion, and the fourth limiting portion includes a slot disposed at the second ring body portion; The slot is configured to engage with the card block.

10. The quick-release device according to any one of claims 1 to 3, characterized in that, It also includes: a reset component connected to each of the first quick-release component and the locking fastener; The reset element is configured to restore the locking device to the first position.

11. The quick-release device according to claim 10, characterized in that, Also includes: A first limiting component connected to each of the first quick-release component and the locking fastener; The first limiting component is configured to limit the first position and the second position of the locking device.

12. The quick-release device according to claim 11, characterized in that, The first limiting component includes at least one of the following: The first limiting member fixed to the first quick-release member and the second limiting member fixed to the locking member are located on the side of the first limiting member away from the reset member along a circumferential direction perpendicular to the first direction; the second limiting member is configured to abut against the first limiting member to limit the second position. A third limiting member fixedly connected to the first quick-release member and a fifth limiting portion provided on the locking member; the fifth limiting portion is located between the third limiting member and the reset member along a circumferential direction perpendicular to the first direction; the fifth limiting portion is configured to abut against the third limiting member and limit the first position.

13. The quick-release device according to claim 10, characterized in that, Also includes: A second limiting component connected to each of the first quick-release component and the locking fastener; The second limiting component is configured to limit the movement of the locking fastener and the first quick-release component along the first direction.

14. The quick-release device according to any one of claims 1 to 3, characterized in that, Also includes: The first circuit board is fixedly mounted on the first quick-release component; The second circuit board is fixedly mounted on the second quick-release component; The second circuit board is configured to be electrically connected to the first circuit board.

15. A robotic arm assembly, characterized in that, include: The quick-release device as described in any one of claims 1 to 14; The robotic arm is fixedly connected to the first quick-release component of the quick-release device; The end effector is fixedly connected to the second quick-release component of the quick-release device.

16. A robot, characterized in that, include: The quick-release device as described in any one of claims 1 to 14.

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