robot components

Abstract

This invention discloses a robot assembly comprising a robot and a quick-change tooling. The robot includes a robotic arm and a robotic hand, with the robotic hand detachably mounted at the end of the robotic arm. The robotic hand includes a robotic hand body and a locking mechanism, which is located on the robotic hand body and is switchable between a locked state and an unlocked state. In the locked state, the robotic hand and robotic arm are locked and fixed; in the unlocked state, the robotic hand and robotic arm are detachable. The quick-change tooling includes an unlocking mechanism configured to switch the locking mechanism from the locked state to the unlocked state when the locking mechanism and unlocking mechanism are engaged. According to the robot assembly of this invention, the difficulty of disassembling the robotic hand can be reduced, thus shortening the disassembly time and improving the efficiency of robotic hand replacement or maintenance.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a robot component. Background Technology

[0002] With the widespread application of robotics in industry and service sectors, the performance of the dexterous hand, as the end effector of a robot, is crucial for the robot to complete complex tasks. In practical applications, factors such as the shape of the object necessitate the use of different robotic hands for corresponding tasks. However, the robotic hand replacement process in related technologies is complex, directly impacting the efficiency of robotic hand replacement. Summary of the Invention

[0003] This invention proposes a robot assembly that has the advantage of improving the efficiency of manipulator replacement.

[0004] A robot assembly according to an embodiment of the present invention includes: a robot including a robotic arm and a robotic hand, the robotic hand being detachably mounted at the end of the robotic arm, the robotic hand including a robotic hand body and a locking mechanism, the locking mechanism being disposed on the robotic hand body and switchable between a locked state and an unlocked state; in the locked state, the robotic hand and the robotic arm are locked and fixed; in the unlocked state, the robotic hand and the robotic arm are detachable; a quick-change fixture including an unlocking mechanism, the quick-change fixture being configured to, when the locking mechanism and the unlocking mechanism cooperate, switch the locking mechanism from the locked state to the unlocked state.

[0005] According to the robot component of the present invention, after the locking mechanism and the unlocking mechanism cooperate through the unlocking mechanism of the quick-change tooling, the locking mechanism can automatically switch from the locked state to the unlocked state under the drive of the unlocking mechanism, so that the robot hand and the robot arm are in a separable state, which can reduce the difficulty of disassembling the robot hand and shorten the disassembly time of the robot hand, thereby improving the efficiency of robot hand replacement or maintenance.

[0006] According to some embodiments of the present invention, the locking mechanism includes a locking rod and a first return spring. The locking rod is movably disposed on the robot body along a first direction. The first return spring is disposed between the locking rod and the robot body. The robot arm is provided with a locking groove. In the locked state, the locking rod passes through the locking groove. In the unlocked state, the locking rod is separated from the locking groove. When the locking mechanism and the unlocking mechanism are disengaged, the first return spring drives the locking rod to move to the locked state.

[0007] According to some embodiments of the present invention, when the locking mechanism cooperates with the unlocking mechanism, the unlocking mechanism is connected to the locking rod, the locking rod pushes the unlocking mechanism to move in a second direction toward a direction away from the robot arm, and causes one end of the unlocking mechanism near the locking rod to move in a first direction toward a direction away from the robot arm, the second direction being perpendicular to the first direction.

[0008] According to some embodiments of the present invention, the quick-change tooling includes a mounting bracket, the first direction being the vertical direction, the locking rod including a first connecting rod and a second connecting rod, the end of the first connecting rod away from the robot being slidably disposed on the mounting bracket along the second direction and rotatable relative to the mounting bracket, the upper end of the second connecting rod being rotatably connected to the mounting bracket, and the lower end of the second connecting rod being rotatably connected to the first connecting rod; when the locking mechanism and the unlocking mechanism are engaged, the end of the first connecting rod near the robot is connected to the locking rod; and / or, the locking mechanism includes a lever, one end of the lever being connected to the locking rod, the other end of the lever forming a rotating connecting block, the unlocking mechanism having a bayonet, and when the locking mechanism and the unlocking mechanism are engaged, the rotating connecting block being rotatably engaged in the bayonet.

[0009] According to some embodiments of the present invention, a protrusion is formed on the robotic arm, and a groove is provided on the robotic hand body. In the unlocked state, the protrusion is slidable relative to the groove along a second direction, the second direction being perpendicular to the first direction.

[0010] According to some embodiments of the present invention, the robotic arm body has a first side surface, the groove and the locking rod are disposed on the first side surface, the robotic arm has a second side surface opposite to the first side surface along the first direction, the protrusion and the locking groove are disposed on the second side surface, in the direction from the first side surface toward the second side surface, the groove extends obliquely along the inner wall surfaces of opposite sides in the third direction and the protrusion extends obliquely along the sides of opposite sides in the third direction toward each other, the third direction is perpendicular to the first direction and the second direction, the two ends of the groove along the second direction are a first end and a second end, the second end is located on the side of the first end near the unlocking mechanism and extends to the outer surface of the robotic arm body, in the direction from the first end toward the second end, the cross-sectional area of ​​the groove and the protrusion gradually increases; and / or, the robotic arm body is provided with a first signal connector and the robotic arm is provided with a second signal connector, when the locking mechanism and the unlocking mechanism cooperate, the first signal connector and the second signal connector can be plugged in or separated along the second direction.

[0011] According to some embodiments of the present invention, the quick-change tooling includes a mounting bracket and a clamping bracket. The mounting bracket extends in a vertical direction, and the clamping bracket is disposed at the upper end of the mounting bracket and includes two clamping arms spaced apart in a horizontal direction. A clamping space and an inlet / outlet are defined between the two clamping arms. The clamping space is used to clamp the robot body. The inlet / outlet is located on the side of the clamping space opposite to the mounting bracket and communicates with the clamping space. The unlocking mechanism is disposed on the mounting bracket and located between the two clamping arms.

[0012] According to some embodiments of the present invention, the robotic arm body includes: a mounting base, wherein the locking mechanism is disposed on the mounting base; a plurality of fingers, wherein the plurality of fingers are disposed on one side of the mounting base, each finger including a plurality of finger segments connected in sequence, adjacent two finger segments being rotatably connected, and the robotic arm being connected to the other side of the mounting base; and a drive assembly, wherein the drive assembly includes a plurality of drive motors, at least a portion of the plurality of drive motors being disposed on the mounting base, each drive motor corresponding to one finger segment, the drive motor being pulsatorically connected to the corresponding finger segment and used to drive the corresponding finger segment to move.

[0013] According to some embodiments of the present invention, the finger is provided with a tactile sensor, the tactile sensor being electrically connected to at least a portion of the drive motor; and / or, the drive motor is a coreless motor.

[0014] According to some embodiments of the present invention, the drive assembly further includes multiple sets of transmission mechanisms, the number of multiple drive motors being the same and corresponding one-to-one with the multiple sets of transmission mechanisms, at least some of the transmission mechanisms being self-locking mechanisms; and / or, at least some of the fingers are rotatably connected to the mounting base, the fingers extending in the vertical direction relative to the rotation axis of the mounting base.

[0015] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of a robot component according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the specific structure of a robot component according to an embodiment of the present invention; Figure 3 This is a cross-sectional view of the robot components, including the robotic arm, robotic hand, and quick-change tooling, at their mating positions according to an embodiment of the present invention. Figure 4 This is an exploded view of the first and second connecting seats of the robot assembly according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the first connector of a robot assembly according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the second connector of a robot assembly according to an embodiment of the present invention; Figure 7 This is a partial schematic diagram of a quick-change tooling for a robot component according to an embodiment of the present invention; Figure 8 This is a partial schematic diagram of a robotic arm of a robot assembly according to an embodiment of the present invention; Figure 9 This is a partial internal structure diagram of the manipulator of a robot assembly according to an embodiment of the present invention.

[0017] Figure label: 100. Robot components; 1. Robotic arm; 11. Protrusion; 12. Second side; 13. Locking groove; 14. Second signal connector; 15. Second connecting seat; 16. Fourth side; 2. Robotic arm; 21. Robotic arm body; 21a. First side; 21b. Third side; 211. Mounting base; 212. Finger; 212a. First finger; 212b. Second finger; 2121. Fingertip segment; 2121a. Fingertip segment; 2121b. Middle segment; 2121c. Root segment; 213. Groove; 2131. First end; 2132. Second end; 214. Drive motor; 215. Tactile sensor; 216. Transmission mechanism; 217. First connecting base; 2171. Base; 2172. Limiting block; 22. Locking mechanism; 221. Locking rod; 222. First return spring; 223. Lever; 2231. Rotating connecting block; 23. First signal connector; 3. Quick-change tooling; 31. Unlocking mechanism; 311. First link; 3111. Bayonet; 312. Second link; 32. Mounting bracket; 33. Clamping bracket; 331. Clamping arm; 332. Clamping space; 333. Inlet and outlet. Detailed Implementation

[0018] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0019] The following disclosure provides numerous different embodiments or examples for implementing various structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the invention. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. Additionally, examples of various specific processes and materials are provided in this invention; however, those skilled in the art will recognize the applicability of other processes and / or the use of other materials.

[0020] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used 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. Therefore, they should not be construed as limitations on this invention.

[0021] In the description of this invention, "first feature" and "second feature" may include one or more of the features.

[0022] In the description of this invention, "a plurality of" means two or more.

[0023] In the description of this invention, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or it may include the first and second features not being in direct contact but being in contact through another feature between them.

[0024] In the description of this invention, the terms "above," "over," and "on top" for the first feature and the second feature include the first feature being directly above or diagonally above the second feature, or simply indicating that the first feature is at a higher horizontal level than the second feature.

[0025] The robot assembly 100 according to an embodiment of the present invention is described below with reference to the accompanying drawings.

[0026] like Figures 1 to 3As shown, the robot assembly 100 according to an embodiment of the present invention includes: a robot and a quick-change tooling 3. The robot includes a robotic arm 1 and a robotic hand 2. The robotic hand 2 is detachably mounted on the end of the robotic arm 1. The robotic hand 2 includes a robotic hand body 21 and a locking mechanism 22. The locking mechanism 22 is disposed on the robotic hand body 21 and can switch between a locked state and an unlocked state. In the locked state, the robotic hand 2 is locked and fixed to the robotic arm 1. In the unlocked state, the robotic hand 2 can be separated from the robotic arm 1. That is, when the locking mechanism 22 is in the locked state, the robotic hand 2 is fixed to the robotic arm 1, so that the robotic arm 1 can drive the robotic hand 2 to move and perform operations such as grasping. When the locking mechanism 22 is in the unlocked state, the robotic hand 2 can be separated from the robotic arm 1, that is, the robotic hand 2 can be removed from the robotic arm 1 for replacement or maintenance of the robotic hand 2. For example, when the robot needs to use different robotic arms 2 in different usage scenarios, when the robot switches between different usage scenarios, it can switch the locking mechanism 22 to the unlocked state, remove the existing robotic arm 2, and replace it with the required robotic arm 2 to meet the usage requirements of different robotic arms 2 in different usage scenarios.

[0027] The quick-change fixture 3 includes an unlocking mechanism 31, which is configured to switch the locking mechanism 22 from a locked state to an unlocked state when the locking mechanism 22 and the unlocking mechanism 31 are engaged. In other words, after the locking mechanism 22 and the unlocking mechanism 31 are engaged, the locking mechanism 22 can automatically switch from a locked state to an unlocked state under the drive of the unlocking mechanism 31, allowing the robotic arm 2 to separate from the robotic arm 1. Therefore, when it is necessary to disassemble the robotic arm 2, the robotic arm 1 moves the robotic arm 2 to the quick-change fixture 3, and after the locking mechanism 22 and the unlocking mechanism 31 are engaged, the robotic arm 2 and the robotic arm 1 can be switched to a separable state. This reduces the difficulty of disassembling the robotic arm 2 and shortens the disassembly time, thereby improving the efficiency of replacing or repairing the robotic arm 2.

[0028] According to the robot assembly 100 of the present invention, after the locking mechanism 22 cooperates with the unlocking mechanism 31 of the quick-change tooling 3, the locking mechanism 22 can automatically switch from the locked state to the unlocked state under the drive of the unlocking mechanism 31, so that the robot arm 2 and the robot arm 1 are in a separable state, which can reduce the difficulty of disassembling the robot arm 2 and shorten the disassembly time of the robot arm 2, thereby improving the efficiency of replacing or repairing the robot arm 2.

[0029] In a specific example, the robot is used at a welding station for small, thin parts. The robot arm includes multiple robotic arms 1, such as two robotic arms 1, to improve the robot's flexibility.

[0030] According to some embodiments of the present invention, such as Figures 3-6As shown, the locking mechanism 22 includes a locking rod 221 and a first return spring 222. The locking rod 221 is movably disposed on the robot body 21 along a first direction (e1 as shown in the figure). The first return spring 222 is disposed between the locking rod 221 and the robot body 21. When the locking mechanism 22 is disengaged from the unlocking mechanism 31, the first return spring 222 drives the locking rod 221 to move toward the locked state. The robot arm 1 is provided with a locking groove 13. In the locked state, the locking rod 221 passes through the locking groove 13. In the unlocked state, the locking rod 221 is separated from the locking groove 13. In other words, the first return spring 222 has the tendency to drive the locking rod 221 to switch to the locked state. That is, when the locking rod 221 is not subjected to other external forces, the locking rod 221 is usually in the locked state under the action of the first return spring 222. Through the insertion and cooperation of the locking rod 221 and the locking groove 13, the degree of freedom of movement of the robot hand 2 relative to the robot arm 1 can be restricted, so that the robot hand 2 and the robot arm 1 are in an inseparable state. When the unlocking mechanism 31 cooperates with the locking mechanism 22, the unlocking mechanism 31 drives the locking rod 221 to compress the first return spring 222 to switch to the unlocked state. After the locking rod 221 separates from the locking groove 13, the limiting effect of the locking rod 221 on the robot arm 1 disappears, so that the robot arm 1 and the robot hand 2 are in a separable state.

[0031] Therefore, through the cooperation of the locking lever 221, the first return spring 222, and the unlocking mechanism 31, the robotic arm 1 and the robotic hand 2 can be automatically locked or unlocked, thereby improving the efficiency of replacing the robotic hand 2 and thus improving the robot's working efficiency. Specifically, multiple unlocking mechanisms 31 are provided, and multiple unlocking mechanisms 31 can be connected to various different robotic hands 2. When it is necessary to replace the robotic hand 2, the robotic arm 1 moves to an empty unlocking mechanism 31. Through the cooperation of the unlocking mechanism 31 and the locking lever 221, the robotic arm 1 and the robotic hand 2 are in a separable state, making it easy to remove the robotic hand 2 from the robotic arm 1. Then, the robotic arm 1 can move to the robotic hand 2 that needs to be replaced and connect with the robotic hand 2, and drive the robotic hand 2 away from the unlocking mechanism 31. After the robotic hand 2 is disengaged from the unlocking mechanism 31, the locking lever 221 automatically switches to the locked state to ensure that the robotic hand 2 can be firmly fixed on the robotic arm 1, ensuring the reliability of the robot's operation. In other words, the disassembly or replacement of the robotic arm 2 can be achieved simply by moving the robotic arm 1, which is highly efficient.

[0032] According to some embodiments of the present invention, such as Figure 3As shown, when the locking mechanism 22 and the unlocking mechanism 31 are engaged, the unlocking mechanism 31 is connected to the locking rod 221. The locking rod 221 pushes the unlocking mechanism 31 to move away from the robot arm 2 along the second direction (e2 as shown in the figure), and causes the end of the unlocking mechanism 31 near the locking rod 221 to move away from the robot arm 1 along the first direction. The second direction is perpendicular to the first direction. In other words, the unlocking mechanism 31 can convert the thrust of the locking rod 221 acting on the unlocking mechanism 31 along the second direction into a thrust that moves the end of the unlocking mechanism 31 near the locking rod 221 away from the robot arm 1. Through the movement of the end of the unlocking mechanism 31 near the locking rod 221 away from the robot arm 1, the locking rod 221 can be driven to move along the first direction away from the robot arm 1, causing the locking rod 221 to be pulled out from the locking groove 13, thereby releasing the locking function of the locking rod 221 on the robot arm 1, and putting the robot arm 1 and the robot hand 2 in a separable state. Therefore, by using the thrust of the locking lever 221 on the unlocking mechanism 31, the unlocking mechanism 31 can reverse the locking lever 221 to switch to the unlocked state. That is, by cooperating with the locking lever 221 and the unlocking mechanism 31, the step of separately controlling the locking lever 221 to switch to the unlocked state is eliminated, thereby shortening the time for disassembling the robotic arm 2 and improving the efficiency of replacing or repairing the robotic arm 2.

[0033] According to some embodiments of the present invention, such as Figure 2 and Figure 3 As shown, the quick-change tooling 3 includes a mounting bracket 32, with the first direction being the up-down direction. The locking rod 221 includes a first connecting rod 311 and a second connecting rod 312. The end of the first connecting rod 311 away from the robot arm 2 is slidably disposed on the mounting bracket 32 ​​along the second direction and is rotatable relative to the mounting bracket 32. The upper end of the second connecting rod 312 is rotatably connected to the mounting bracket 32, and the lower end of the second connecting rod 312 is rotatably connected to the first connecting rod 311. When the locking mechanism 22 and the unlocking mechanism 31 are engaged, the end of the first connecting rod 311 near the robot arm 2 is connected to the locking rod 221.

[0034] In other words, when the locking lever 221 is connected to the first link 311, as the robot arm 2 continues to move in the second direction toward the mounting bracket, it will push the first link 311 to move in the second direction away from the robot arm 2. Since the two ends of the second link 312 are rotatably connected to the mounting bracket 32 ​​and the first link 311 respectively, the end of the second link 312 connected to the first link 311 can only perform circular motion relative to the mounting bracket 32. Therefore, when the end of the first link 311 away from the robot arm 2 slides in the direction away from the robot arm 2, the second link... Under the action of rod 312, the end of the first connecting rod 311 connected to the locking rod 221 moves downward while moving towards the mounting bracket 32. This converts the thrust of the robot arm 2 on the first connecting rod 311 in the second direction into a thrust that moves the end of the first connecting rod 311 connected to the locking rod 221 downward. Thus, the downward movement of the end of the first connecting rod 311 connected to the locking rod 221 causes the locking rod 221 to move downward relative to the locking groove 13 and disengage from the locking groove 13 to switch to the unlocked state, so that the robot arm 2 and the robot arm 1 are in a separable state.

[0035] In a specific example, the second link 312 extends downward in the direction toward the robot arm 2. The unlocking mechanism 31 also includes a second return spring, which is located between the first link 311 and the mounting bracket 32 ​​and is used to push the first link 311 to move toward the robot arm 2. This allows the first link 311 to remain in the position when it is disengaged from the locking mechanism 22, so as to ensure the stability of subsequent engagement with the locking mechanism 22.

[0036] According to some embodiments of the present invention, the locking mechanism 22 includes a lever 223, one end of which is connected to the locking lever 221, and the other end of which forms a rotating connecting block 2231. The unlocking mechanism 31 is provided with a latch 3111. When the locking mechanism 22 and the unlocking mechanism 31 are engaged, the rotating connecting block 2231 is rotatably engaged in the latch 3111. The rotation axis of the rotating connecting block 2231 relative to the latch 3111 extends along a third direction (e3 as shown in the figure), and the third direction is perpendicular to the second direction and the first direction.

[0037] In other words, by rotating the connecting block 2231 and engaging the bayonet 3111, the unlocking mechanism 31 and the locking mechanism 22 can be engaged, thus reducing the difficulty of engaging and disengaging the unlocking mechanism 31 and the locking mechanism 22. Furthermore, by rotating the connecting block 2231 relative to the bayonet 3111, the movement trajectory of the first link 311 near the end of the robotic arm 2 can be better matched, preventing the lever 223 from jamming with the first link 311, thereby improving the reliability of the engagement between the unlocking mechanism 31 and the locking structure. The lever 223 can be inserted into the locking rod 221 and connected via fasteners, reducing the installation difficulty of the locking mechanism 22.

[0038] According to some embodiments of the present invention, a protrusion 11 is formed on the robotic arm 1, and a groove 213 is provided on the robotic hand body 21. In the unlocked state, the protrusion 11 is slidable relative to the groove 213 along a second direction, which is perpendicular to the first direction. That is, when the unlocking mechanism 31 is in the unlocked state, the robotic arm 1 can only move relative to the robotic hand 2 along the second direction. Thus, through the cooperation of the groove 213 and the protrusion 11, the degree of freedom of movement between the robotic arm 1 and the robotic hand body 21 in the first and third directions can be effectively restricted. In addition, since the locking rod 221 extends along the first direction, after the locking rod 221 is inserted into the locking groove 13, the degree of freedom of movement between the robotic arm 1 and the robotic hand body 21 in the second and third directions can be effectively restricted. Therefore, by the cooperation of the protrusion 11 and the groove 213 and the cooperation of the locking rod 221 and the locking groove 13, the degrees of freedom of movement between the robotic arm 1 and the robotic hand body 21 in the first direction, the second direction and the third direction can be effectively restricted. That is, the six-way limit between the robotic arm 1 and the robotic hand 2 is realized to ensure the reliability of the connection between the robotic hand 2 and the robotic arm 1.

[0039] According to some embodiments of the present invention, such as Figure 5 and Figure 6 As shown, the robotic arm body 21 has a first side surface 21a, a groove 213 and a locking rod 221 are provided on the first side surface 21a, and the robotic arm 1 has a second side surface 12 opposite to the first side surface 21a along a first direction, a protrusion 11 and a locking groove 13 are provided on the second side surface 12. In the direction from the first side surface 21a toward the second side surface 12, the groove 213 extends obliquely along the inner wall surfaces of the opposite sides in the third direction and the protrusion 11 extends obliquely along the sides of the opposite sides in the third direction toward each other. The third direction is perpendicular to the first direction and the second direction. The two ends of the groove 213 along the second direction are the first end 2131 and the second end 2132, respectively. The second end 2132 is located on the side of the first end 2131 near the unlocking mechanism 31 and extends to the outer surface of the robotic arm body 21. In the direction from the first end 2131 toward the second end 2132, the cross-sectional area of ​​the groove 213 and the protrusion 11 gradually increases.

[0040] In other words, the cross-sections of the groove 213 and the protrusion 11 in the first direction are mutually matching inverted trapezoids, i.e., the groove 213 is a dovetail groove. After the inverted trapezoidal protrusion 11 is inserted into the groove 213, the degree of freedom of movement between the groove 213 and the protrusion 11 in the first and third directions can be effectively restricted. In addition, the second end 2132 of the groove 213 has a larger cross-sectional area, which can reduce the difficulty of the protrusion 11 entering the groove 213 in the second direction. Thus, through the groove 213 and the protrusion 11 that gradually narrow from the second end 2132 to the first end 2131, a good guiding effect is formed, which can reduce the difficulty of the cooperation between the robotic arm 1 and the robotic hand body 21, thereby improving the efficiency of the robotic arm 1 in changing the robotic hand 2.

[0041] In a specific example, the robotic arm 2 includes a first connecting seat 217, a first side surface 21a and a groove 213 located on the first connecting seat 217, a locking mechanism 22 disposed on the first connecting seat 217, an assembly hole formed on the bottom wall of the groove 213, a locking rod 221 telescopically disposed in the assembly hole along a first direction, and a first return spring 222 disposed between the locking rod 221 and the bottom wall of the assembly hole. The first connecting seat 217 includes a base 2171 and a limiting block 2172, which are independently formed. The base 2171 and the limiting block 2172 together define the groove 213, which can reduce the manufacturing difficulty of the first connecting seat 217. The robotic arm 1 includes a second connecting seat 15, which is located at the end of the robotic arm 1 and is an integrally formed part. A protrusion 11 is disposed on the second connecting seat 15, and a second side surface 12 and a locking groove 13 are located on the second connecting seat 15. Specifically, the locking groove 13 is disposed on the side of the protrusion 11 facing the robotic arm 2.

[0042] According to some embodiments of the present invention, such as Figure 3 As shown, the robotic arm body 21 is provided with a first signal connector 23, and the robotic arm 1 is provided with a second signal connector 14. When the locking mechanism 22 and the unlocking mechanism 31 are engaged, the first signal connector 23 and the second signal connector 14 can be plugged in or separated along the second direction. That is, when the robotic arm 1 moves relative to the robotic arm 2 along the second direction and separates from the robotic arm 2, the connection between the first signal connector 23 and the second signal connector can be released simultaneously. Conversely, when the robotic arm 1 moves relative to the robotic arm 2 along the second direction and connects with the robotic arm 2, the connection between the first signal connector 23 and the second signal connector 14 can be completed simultaneously.

[0043] Therefore, the connection or disconnection between the first signal connector 23 and the second signal connector 14 can be performed synchronously with the connection or disconnection between the robotic arm 1 and the robotic hand 2, eliminating the need for separate connection or disconnection of the first signal connector 23 and the second signal connector 14, thereby improving the efficiency of changing the robotic hand 2 from the robotic arm 1. Specifically, the electrical connection between the first signal connector 23 and the second signal connector 14 establishes an electrical connection between the robotic arm 1 and the robotic hand 2, providing power to the robotic hand 2 and transmitting gripping commands to it.

[0044] In a specific example, the robot body 21 has a third side 21b located on one side of the second end 2132 of the groove 213 of the robot arm 1. The robot arm 1 has a fourth side 16. The third side 21b and the fourth side 16 are arranged opposite each other in a second direction. The third side 21b has a first mounting hole and a second mounting hole. The first signal connector 23 is installed in the first mounting hole and the second signal connector 14 is installed in the second mounting hole, so that the first signal connector 23 and the second signal connector 14 can be inserted or separated in the second direction.

[0045] According to some embodiments of the present invention, such as Figure 2 and Figure 7 As shown, the quick-change tooling 3 includes a mounting bracket 32 ​​and a clamping bracket 33. The mounting bracket 32 ​​extends vertically, and the clamping bracket 33 is located at the upper end of the mounting bracket 32 ​​and includes two clamping arms 331 arranged horizontally at intervals. The clamping arms 331 define a clamping space 332 and an inlet / outlet 333. The clamping space 332 is used to clamp the robot body 21. The inlet / outlet 333 is located on the side of the clamping space 332 away from the mounting bracket 32 ​​and communicates with the clamping space 332. The unlocking mechanism 31 is located on the mounting bracket 32 ​​and between the two clamping arms 331.

[0046] The robotic arm 21 can enter or exit the clamping space 332 through the inlet / outlet 333. When the robotic arm 21 is clamped in the clamping space 332, the unlocking mechanism 31 and the locking mechanism 22 cooperate. Therefore, after the locking mechanism 22 switches to the unlocked state, allowing the robotic arm 2 to separate from the robotic arm 1, the robotic arm 2 can be stably clamped by the clamping bracket 33, eliminating the need for separate placement of the robotic arm 2. Furthermore, when replacing the robotic arm 2, the robotic arm 1 can simply move to the quick-change fixture 3 to connect with the robotic arm 2 and remove the robotic arm 2 from the clamping space 332, significantly improving the efficiency of replacing the robotic arm 2. Specifically, the clamping space 332 is used to clamp the first connecting seat 217.

[0047] In a specific example, the first direction is the up-down direction, the second direction is the left-right direction, and the third direction is the front-back direction. The clamping bracket 33 is installed on the upper end of the mounting bracket 32 ​​and is located on the left side of the mounting bracket 32. The two clamping arms 331 are arranged at intervals along the front-back direction. The unlocking mechanism 31 is located on the upper end of the mounting bracket 32 ​​and is arranged opposite to the inlet and outlet 333 along the left-right direction. Specifically, the robotic arm 1 can carry the robotic hand 2 from left to right through the inlet and outlet 333 into the clamping space 332, so that the lever 223 engages with the first connecting rod 311. The robotic arm 1 drives the robotic hand 2 to continue moving to the right, and the right end of the first connecting rod 311 slides to the right. Under the action of the second connecting rod 312, the left end of the first connecting rod 311 moves to the lower right, and then the lever 223 drives the locking rod 221 to move down to the unlocked state. After that, the robotic arm 1 continues to move to the right relative to the robotic hand 2, so that the protrusion 11 can separate from the groove 213, thereby disassembling the robotic hand 2. The disassembled robotic hand 2 is fixed on the quick-change fixture 3 by the clamping bracket 33.

[0048] When it is necessary to connect the robotic arm 2, the robotic arm 1 moves from the right side of the robotic arm 2 to the left. After the protrusion 11 is aligned with the groove 213 and inserted, the robotic arm 1 drives the robotic arm 2 to move to the left in sync until the lever 223 separates from the first connecting rod 311. Under the push of the first return spring 222, the locking lever 221 moves upward and inserts into the locking groove 13, thereby forming a locking and fixing between the robotic arm 2 and the robotic arm 1.

[0049] According to some embodiments of the present invention, such as Figure 1 , Figure 7 and Figure 8 As shown, the robotic arm body 21 includes: a mounting base 211, multiple fingers 212, and a drive assembly. A locking mechanism 22 is disposed on the mounting base 211. The multiple fingers 212 are disposed on one side of the mounting base 211. Each finger 212 includes multiple finger segments 2121 connected in sequence. Adjacent finger segments 2121 are rotatably connected. The robotic arm 1 is connected to the other side of the mounting base 211. The drive assembly includes multiple drive motors 214. At least some of the multiple drive motors 214 are disposed on the mounting base 211. Each drive motor 214 corresponds to one finger segment 2121. The drive motor 214 is connected to the corresponding finger segment 2121 for transmission and is used to drive the corresponding finger segment 2121 to move.

[0050] In other words, the finger 212 and the robotic arm 1 are located on opposite sides of the mounting base 211, which avoids mutual interference between the finger 212 and the robotic arm 1, thus allowing both the finger 212 and the robotic arm 1 to have greater room for movement and improving the flexibility of their movements. Furthermore, at least some finger segments 2121 can move under the drive of corresponding drive motors 214, thereby flexibly adjusting the posture of the finger 212 to meet different grasping needs.

[0051] Specifically, the first connector 217 is connected to the side of the mounting base 211 opposite to the multiple fingers 212, so as to facilitate connection with the robotic arm 1.

[0052] According to some embodiments of the present invention, a tactile sensor 215 is provided on the finger 212, and the tactile sensor 215 is electrically connected to at least part of the drive motor 214. The tactile sensor 215 can serve as a device for the robotic hand 2 to mimic tactile functions. The tactile sensor 215 uses piezoresistive, capacitive, or other principles to achieve tactile simulation, and identifies the contact state and physical characteristics of an object through technologies such as contact sensation, force-torque sensation, pressure sensation, and slip sensation detection. Therefore, by providing a tactile sensor 215 on the finger 212, it is possible to accurately determine whether the robotic hand 2 is grasping an object and obtain the force of grasping the object; that is, it can provide feedback on the grasping force of the robotic hand 2. Based on the feedback grasping force, the drive motor 214 can be controlled to increase or decrease its output torque to meet the grasping requirements of different objects with varying grasping force requirements.

[0053] In a specific example, the multi-segment finger segment 2121 includes a fingertip segment 2121a, on which a tactile sensor 215 is disposed.

[0054] According to some embodiments of the present invention, the drive motor 214 is a coreless motor. The coreless motor is lightweight, small in size, and has a fast response speed, thereby saving installation space occupied by the drive motor 214, reducing the weight of the robotic arm 2, and improving the working efficiency of the robotic arm 2.

[0055] According to some embodiments of the present invention, the drive assembly further includes multiple sets of transmission mechanisms 216. The number of multiple drive motors 214 and the number of transmission mechanisms 216 are the same and correspond one-to-one. At least some of the transmission mechanisms 216 are self-locking mechanisms. The self-locking mechanism enables unidirectional torque transmission; that is, the drive motor 214 can transmit driving force to the corresponding finger segment 2121 through the self-locking mechanism. When the drive motor 214 is de-energized, the force at the finger segment 2121 cannot be transmitted back to the drive motor 214 through the self-locking mechanism. Therefore, after the drive motor 214 drives the corresponding finger segment 2121 to its position, and the drive motor 214 is de-energized, the corresponding finger segment 2121 can still maintain its current posture, preventing the grasped object from falling and thus improving the reliability of object grasping by the robotic arm 2. For example, the self-locking mechanism can include a worm gear structure or a planetary gear set with a self-locking function, etc., as long as the self-locking mechanism can prevent reverse drive.

[0056] According to some embodiments of the present invention, at least a portion of the fingers 212 are rotatably connected to the mounting base 211, and the rotation axis of the fingers 212 relative to the mounting base 211 extends in the vertical direction. This further enhances the flexibility of the robot arm 2's posture adjustment, thereby better meeting the grasping requirements of different objects and improving the robot arm 2's adaptability to different scenarios. It should be noted that, in the description of this application, the rotational connection can be achieved by releasing rotational freedom by setting a bearing between the two connected components.

[0057] In a specific example, the multi-segment finger segment 2121 includes a fingertip segment 2121a, a middle segment 2121b, and a root segment 2121c connected in sequence, with the end of the root segment 2121c facing away from the middle segment 2121b connected to the mounting base 211. Multiple drive motors 214 include a first drive motor, a second drive motor, and a third drive motor. Each fingertip segment 2121a corresponds to a first drive motor. The first drive motor is installed in the middle segment 2121b of the same finger 212. The axial direction of the first drive motor is consistent with the extension direction of the middle segment 2121b. A reduction mechanism, a first bevel gear, and a second bevel gear are provided between the first drive motor and the fingertip segment 2121a. The reduction mechanism is installed in the middle segment 2121b of the same finger 212. The second bevel gear is located at the rotational connection between the fingertip segment 2121a and the middle segment 2121b and is fixedly connected to the fingertip segment 2121a. The second bevel gear meshes with the first bevel gear. The first drive motor is connected to the first bevel gear through the reduction mechanism to enhance the gripping force of the fingertip segment 2121a. The first drive motor drives the first bevel gear to rotate, and the second bevel gear drives the fingertip segment 2121a to rotate relative to the middle segment 2121b. Each finger segment 2121b corresponds to a second drive motor, which is installed in the mounting base 211. The axial direction of the second drive motor extends along the first direction. At least a third bevel gear and a fourth bevel gear are provided between the second drive motor and the finger segment 2121b. The fourth bevel gear is located at the rotational connection between the finger segment 2121b and the finger root segment 2121c and is fixedly connected to the finger segment 2121b. The fourth bevel gear meshes with the third bevel gear. The third bevel gear is connected to the output shaft of the second drive motor so that the third bevel gear can be driven to rotate by the second drive motor, and then the finger segment 2121b can be driven to rotate relative to the finger root segment 2121c by the fourth bevel gear.

[0058] Furthermore, the plurality of fingers 212 includes two first fingers 212a and one second finger 212b. The root segment 2121c of the first finger 212a is rotatably disposed on the mounting base 211, and the root segment 2121c of the second finger 212b is fixedly disposed on the mounting base 211. Each root segment 2121c of the first finger 212a corresponds to a third drive motor. The third drive motor is disposed inside the mounting base 211 and located on the outer periphery of the second drive motor. The axial direction of the third drive motor extends along the first direction. The third drive motor is connected to the root segment 2121c of the first finger 212a through the first gear and the second gear to drive the root segment 2121c of the first finger 212a to rotate relative to the mounting base 211.

[0059] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0060] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0061] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A robot component, characterized in that, include: A robot includes a robotic arm and a robotic hand. The robotic hand is detachably mounted at the end of the robotic arm. The robotic hand includes a robotic hand body and a locking mechanism. The locking mechanism is located on the robotic hand body and can be switched between a locked state and an unlocked state. In the locked state, the robotic hand is locked and fixed to the robotic arm. In the unlocked state, the robotic hand is detachable from the robotic arm. A quick-change fixture, including an unlocking mechanism, is configured to switch the locking mechanism from a locked state to an unlocked state when the locking mechanism and the unlocking mechanism are engaged.

2. The robot component according to claim 1, characterized in that, The locking mechanism includes a locking rod and a first return spring. The locking rod is movably disposed on the robot body along a first direction. The first return spring is disposed between the locking rod and the robot body. The robot arm is provided with a locking groove. In the locked state, the locking rod passes through the locking groove. In the unlocked state, the locking rod is separated from the locking groove. When the locking mechanism and the unlocking mechanism are disengaged, the first return spring drives the locking rod to move to the locked state.

3. The robot component according to claim 2, characterized in that, When the locking mechanism and the unlocking mechanism cooperate, the unlocking mechanism is connected to the locking rod. The locking rod pushes the unlocking mechanism to move in a second direction away from the robotic arm, and causes the end of the unlocking mechanism near the locking rod to move in a first direction away from the robotic arm. The second direction is perpendicular to the first direction.

4. The robot component according to claim 3, characterized in that, The quick-change tooling includes a mounting bracket, the first direction being the up-down direction, and the locking rod includes a first connecting rod and a second connecting rod. The end of the first connecting rod away from the robot arm is slidably disposed on the mounting bracket along the second direction and is rotatable relative to the mounting bracket. The upper end of the second connecting rod is rotatably connected to the mounting bracket, and the lower end of the second connecting rod is rotatably connected to the first connecting rod. When the locking mechanism and the unlocking mechanism are engaged, the end of the first connecting rod closer to the robot arm is connected to the locking rod. And / or, the locking mechanism includes a lever, one end of which is connected to the locking rod, and the other end of which forms a rotating connecting block. The unlocking mechanism is provided with a latch, and when the locking mechanism and the unlocking mechanism cooperate, the rotating connecting block can be rotatably engaged in the latch.

5. The robot component according to claim 2, characterized in that, The robotic arm has a protrusion, and the robotic hand body has a groove. In the unlocked state, the protrusion can slide relative to the groove along a second direction, which is perpendicular to the first direction.

6. The robot component according to claim 5, characterized in that, The robotic arm body has a first side surface, the groove and the locking rod are disposed on the first side surface, the robotic arm has a second side surface opposite to the first side surface along the first direction, the protrusion and the locking groove are disposed on the second side surface, in the direction from the first side surface to the second side surface, the groove extends obliquely along the inner wall surfaces of the opposite sides of the third direction and the protrusion extends obliquely along the sides of the opposite sides of the third direction towards each other, the third direction is perpendicular to the first direction and the second direction, the two ends of the groove along the second direction are the first end and the second end, the second end is located on the side of the first end near the unlocking mechanism and extends to the outer surface of the robotic arm body, in the direction from the first end to the second end, the cross-sectional area of ​​the groove and the protrusion gradually increases; And / or, the robotic arm body is provided with a first signal connector, and the robotic arm is provided with a second signal connector. When the locking mechanism and the unlocking mechanism are engaged, the first signal connector and the second signal connector can be plugged in or separated along the second direction.

7. The robot component according to claim 1, characterized in that, The quick-change tooling includes a mounting bracket and a clamping bracket. The mounting bracket extends vertically, and the clamping bracket is located at the upper end of the mounting bracket and includes two clamping arms spaced horizontally. A clamping space and an inlet / outlet are defined between the two clamping arms. The clamping space is used to clamp the robot body. The inlet / outlet is located on the side of the clamping space away from the mounting bracket and communicates with the clamping space. The unlocking mechanism is located on the mounting bracket and between the two clamping arms.

8. The robot component according to claim 1, characterized in that, The robotic arm body includes: Mounting base, the locking mechanism is disposed on the mounting base; Multiple fingers are located on one side of the mounting base, each finger includes multiple finger segments connected in sequence, and two adjacent finger segments are rotatably connected. The robotic arm is connected to the other side of the mounting base. The drive assembly includes a plurality of drive motors, at least a portion of which are disposed on the mounting base. Each drive motor corresponds to one finger segment, and the drive motor is drively connected to the corresponding finger segment and is used to drive the movement of the corresponding finger segment.

9. The robot component according to claim 8, characterized in that, The finger is provided with a tactile sensor, which is electrically connected to at least a portion of the drive motor; and / or, the drive motor is a coreless motor.

10. The robot component according to claim 8, characterized in that, The drive assembly further includes multiple sets of transmission mechanisms, with the number of multiple drive motors being the same and corresponding one-to-one with the multiple sets of transmission mechanisms, and at least some of the transmission mechanisms being self-locking mechanisms; and / or, at least some of the fingers are rotatably connected to the mounting base, and the fingers extend in the vertical direction relative to the rotation axis of the mounting base.

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