Quick-change mechanism and assembly system for end effector

Abstract

The present disclosure relates to a quick-change mechanism and assembly system for an end effector, wherein the quick-change mechanism for the end effector comprises a fixing plate, a connecting assembly and a driving assembly; the fixing plate is connected to the end effector, the fixing plate has a receiving groove, and a support beam is arranged inside the receiving groove; the connecting assembly comprises a connecting plate and a fixing member, the connecting plate is arranged opposite to the fixing plate, the fixing member is rotatably connected to the connecting plate, and the fixing member has a slot structure at one end close to the fixing plate, and the slot structure is used to be connected with the support beam; the driving assembly is connected to the fixing member, and is used to drive the fixing member to rotate along a first circumferential direction or a second circumferential direction, and the second circumferential direction is the opposite direction of the first circumferential direction. By adopting the present disclosure, the replacement efficiency of the end effector can be improved, and thus the assembly efficiency of the product can be improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of automated equipment, and in particular to a quick-change mechanism and an assembly system for an end effector. Background Art

[0002] With the development of automation technology, assembly systems are widely used in the assembly of digital 3C products. The assembly system includes a variety of end effectors, for example, an end effector for assembling the motherboard to the middle frame, and an end effector for fastening the back panel and the middle frame, etc. Different types of end effectors complete different assembly steps respectively, thereby realizing the assembly of the entire product.

[0003] At present, the end effector is usually fixed in the assembly system with bolts. When the product model is changed or the end effector fails, it is necessary to manually remove the bolts and replace the end effector. The replacement steps of the end effector are relatively cumbersome, which seriously affects the assembly efficiency. Utility Model Content

[0004] The embodiments of the present disclosure provide a quick-change mechanism and assembly system for an end effector, which can solve the technical problems existing in the related art. The technical solutions are as follows:

[0005] In a first aspect, an embodiment of the present disclosure provides a quick-change mechanism of an end effector, wherein the quick-change mechanism of the end effector comprises a fixing plate, a connecting assembly and a driving assembly;

[0006] The fixing plate is connected to the end effector, and the fixing plate has a receiving groove, and a supporting beam is arranged inside the receiving groove;

[0007] The connecting assembly comprises a connecting plate and a fixing member, wherein the connecting plate is arranged opposite to the fixing plate, the fixing member is rotatably connected to the connecting plate, and one end of the fixing member close to the fixing plate has a slot structure, and the slot structure is used to be connected to the support beam;

[0008] The driving assembly is connected to the fixing member and is used to drive the fixing member to rotate along a first circumferential direction or a second circumferential direction, wherein the second circumferential direction is opposite to the first circumferential direction.

[0009] In a possible implementation, the driving assembly includes a cylinder connecting member, a driving cylinder and a transmission member;

[0010] The cylinder connecting piece is rotatably connected to the connecting plate, and the cylinder connecting piece has a receiving space;

[0011] The driving cylinder is located in the accommodating space and is connected to the cylinder connecting piece;

[0012] The transmission member is connected to the driving cylinder and the fixing member, and is used to drive the fixing member to rotate along a first circumferential direction when the telescopic rod of the driving cylinder is in an extended state, and to drive the fixing member to rotate along a second circumferential direction when the telescopic rod of the driving cylinder is in a retracted state.

[0013] In a possible implementation, the transmission member includes a transmission rod, a crank and a connecting rod;

[0014] One end of the transmission rod is connected to the telescopic rod of the driving cylinder;

[0015] One end of the crank is rotatably connected to the connecting plate;

[0016] One end of the connecting rod is connected to the fixing member;

[0017] The other end of the transmission rod, the other end of the crank and the other end of the connecting rod are rotatably connected through a pin.

[0018] In a possible implementation, the quick-change mechanism of the end effector further includes a proximity sensor, and the proximity sensor includes a receiving sub-component and a transmitting sub-component;

[0019] The receiving sub-component is connected to the connecting plate, and the receiving sub-component has a first air-avoiding area;

[0020] The launching sub-component is located in the first air-avoiding area and is connected to the transmission rod.

[0021] In a possible implementation, the slot structure includes a first slot portion and a second slot portion, and the first slot portion is located on a side of the second slot portion away from the connecting plate;

[0022] The groove width of the first groove portion is greater than the outer diameter of the support beam;

[0023] The groove width of the second groove portion is equal to the outer diameter of the support beam.

[0024] In a possible implementation, the bottom of the accommodating groove has a second air avoidance area, and the connecting plate has a support column on one side close to the fixing plate. When the support column is located inside the second air avoidance area, the support column abuts against the support beam.

[0025] In a possible implementation, the fixing plate has a positioning hole, and a side of the connecting plate close to the fixing plate has a positioning pin, and the positioning pin is used to be inserted into the positioning hole.

[0026] In a possible implementation, a quick-connect wire male connector is disposed on the fixing plate, and a quick-connect wire female connector is disposed on a side of the connecting plate close to the fixing plate, and the quick-connect wire female connector is detachably connected to the quick-connect wire male connector.

[0027] In a possible implementation, a quick-connect air pipe male head is provided on the fixing plate, and a quick-connect air pipe female seat is provided on a side of the connecting plate close to the fixing plate, and the quick-connect air pipe female seat is detachably connected to the quick-connect air pipe male head.

[0028] In a second aspect, an embodiment of the present disclosure provides an assembly system, which includes a quick-change mechanism of an end effector as in the first aspect and possible implementations thereof.

[0029] The technical solution provided by the embodiments of the present disclosure includes at least the following beneficial effects:

[0030] The disclosed embodiment provides a quick-change mechanism for an end effector, in which a fixed plate is connected to the end effector, the fixed plate has a receiving groove, and a support beam is arranged inside the receiving groove. The connecting assembly includes a connecting plate and a fixing member, the connecting plate and the fixed plate are arranged opposite to each other, the fixing member is rotatably connected to the connecting plate, and the fixing member has a slot structure at one end close to the fixed plate, and the slot structure is used to be connected with the support beam. The driving assembly is connected to the fixing member, and is used to drive the fixing member to rotate along a first circumferential direction or a second circumferential direction, and the second circumferential direction is opposite to the first circumferential direction. In this way, the end effector is connected to the assembly system through the fixed plate, and at this time, there is an angle between the direction of the slot structure and the direction in which the connecting plate points to the fixed plate (hereinafter referred to as the first direction), and the slot eaves of the slot structure can limit the support beam in the first direction. In the case where the end effector needs to be replaced, the drive assembly can drive the fixing part to rotate along the first circumferential direction. During the rotation, the direction of the slot structure changes. When the direction of the slot structure is the same as the first direction, the robot arm grabs the end effector and can easily separate the end effector from the assembly system along the first direction. At the same time, the robot arm grabs the new end effector connected to the fixing plate and moves it toward the connecting plate. After the support beam is inserted into the slot structure, the drive assembly drives the fixing part to rotate along the second circumferential direction, so that the direction of the slot structure returns to the initial state, and the new end effector is fastened to the assembly system. During the replacement of the end effector, it is no longer necessary to manually remove the bolts, which greatly improves the replacement efficiency of the end effector, thereby improving the assembly efficiency of the product.

[0031] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0033] Figure 1 is a structural schematic diagram of a fixing plate shown in an embodiment of the present disclosure;

[0034] Figure 2 is a structural schematic diagram of a connection component and a drive component shown in an embodiment of the present disclosure;

[0035] Figure 3 is a structural schematic diagram of a connection component and a drive component shown in an embodiment of the present disclosure;

[0036] Figure 4 is a structural schematic diagram of a connection component and a drive component shown in an embodiment of the present disclosure;

[0037] Figure 5 is a structural schematic diagram of a connection component and a drive component shown in an embodiment of the present disclosure;

[0038] Figure 6 is a structural schematic diagram of a fixing member shown in an embodiment of the present disclosure;

[0039] Figure 7 is a structural schematic diagram of a quick-change mechanism of an end effector shown in an embodiment of the present disclosure;

[0040] Figure 8 is a structural schematic diagram of a fixing plate shown in an embodiment of the present disclosure;

[0041] Fig. 9 It is a structural schematic diagram of a connecting plate shown in an embodiment of the present disclosure.

[0042] Legend

[0043] 1. Fixed plate; 100. End effector;

[0044] 11. Accommodation groove; 12. Positioning hole; 13. Quick-connect male connector for electric wires; 14. Quick-connect male connector for air pipes;

[0045] 110. second air-avoiding area; 111. supporting beam; 112. first side wall; 113. second side wall;

[0046] 2. Connecting components; 200. Step-shaped air avoidance area;

[0047] 21. Connecting plate; 22. Fixing piece; 23. Quick-connect wire socket; 24. Quick-connect air pipe socket; 25. Connecting socket;

[0048] 211, support column; 212, positioning pin; 221, slot structure; 222, rotating part; 223, extension part; 21a, first plate body; 21b, second plate body;

[0049] 2211, first groove portion; 2212, second groove portion;

[0050] 3. driving assembly; 300. accommodation space;

[0051] 31. Cylinder connecting parts; 32. Driving cylinder; 33. Transmission parts;

[0052] 331, transmission rod; 332, crank; 333, connecting rod;

[0053] 3331, first connecting rod; 3332, second connecting rod;

[0054] 4. Proximity sensor;

[0055] 41. Receiving sub-component; 42. Transmitting sub-component; 410. First air-avoiding area. DETAILED DESCRIPTION

[0056] In order to make the objectives, technical solutions and advantages of the present disclosure more clear, the embodiments of the present disclosure will be further described in detail below with reference to the accompanying drawings.

[0057] Unless otherwise defined, the technical terms or scientific terms used herein shall have the usual meanings understood by persons with ordinary skills in the field to which the present disclosure belongs. The words "first", "second", "third" and similar words used in the patent disclosure specification and claims of the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one" or "one" do not indicate a quantity limitation, but indicate the existence of at least one. Words such as "include" or "comprise" and similar words mean that the elements or objects appearing before "include" or "comprise" include the elements or objects listed after "include" or "comprise" and their equivalents, and do not exclude other elements or objects. Words such as "connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0058] Nowadays, with the development of automation technology, the assembly of digital 3C products such as computers, communications and electronic consumer products has gradually shifted from manual to automated, that is, the assembly of products is automatically completed using an assembly system, which greatly improves assembly efficiency. In the assembly system, a variety of end effectors are usually provided, such as an end effector for assembling the motherboard to the middle frame, and an end effector for fastening the back panel and the middle frame, etc. Different end effectors are provided with corresponding assembly tools. In implementation, after any end effector completes the corresponding assembly step, it is necessary to replace the end effector corresponding to the next assembly step to complete the assembly of the entire product, or, in the event of a failure of any end effector, it is necessary to replace the end effector of the same model to continue the assembly work. At present, the end effector is usually fixed to the assembly system with bolts, which requires manual removal of the bolts during the process of replacing the end effector, that is, the steps of replacing the end effector are too cumbersome, which seriously affects the assembly efficiency.

[0059] An embodiment of the present disclosure provides a quick-change mechanism of an end effector, which includes a fixing plate 1 , a connecting assembly 2 and a driving assembly 3 .

[0060] The fixing plate 1 is connected to the end effector 100, and the fixing plate 1 has a receiving groove 11, and a support beam 111 is arranged inside the receiving groove 11. The connecting assembly 2 includes a connecting plate 21 and a fixing member 22, the connecting plate 21 is arranged opposite to the fixing plate 1, the fixing member 22 is rotatably connected to the connecting plate 21, and the fixing member 22 has a slot structure 221 at one end close to the fixing plate 1, and the slot structure 221 is used to be connected with the support beam 111. The driving assembly 3 is connected to the fixing member 22, and is used to drive the fixing member 22 to rotate along the first circumferential direction or the second circumferential direction, and the second circumferential direction is the opposite of the first circumferential direction.

[0061] In this way, the end effector 100 is connected to the assembly system through the fixing plate 1. At this time, there is an angle between the direction of the slot structure 221 and the direction in which the connecting plate 21 points to the fixing plate 1 (hereinafter referred to as the first direction). The slot eaves of the slot structure 221 can limit the support beam 111 in the first direction. In the case where the end effector needs to be replaced, the driving component 3 can drive the fixing member 22 to rotate along the first circumferential direction. During the rotation, the direction of the slot structure 221 changes. When the direction of the slot structure 221 is the same as the first direction, the robot arm can easily separate the end effector 100 from the assembly system along the first direction by grabbing the end effector 100. At the same time, the robot arm grabs the new end effector 100 connected with the fixing plate 1 and moves it toward the connecting plate 21. After the support beam 111 is inserted into the slot structure 221, the driving component 3 drives the fixing member 22 to rotate along the second circumferential direction, so that the direction of the slot structure 221 is restored to the initial state, and the new end effector 100 is fastened to the assembly system. During the replacement process of the end effector 100 , it is no longer necessary to manually remove the bolts, which greatly improves the replacement efficiency of the end effector 100 and further improves the assembly efficiency of the product.

[0062] Below, each part of the quick change mechanism of the end effector is introduced separately:

[0063] 1. Fixed plate 1

[0064] The fixing plate 1 is a component used for connecting the end effector in the quick-change mechanism of the end effector.

[0065] like Figure 7 As shown, the end effector 100 has a shell with a hollow cubic structure, a receiving space is provided inside the shell, an execution component of the end effector 100 is provided inside the shell and connected to the shell, and a fixing plate 1 is connected to the shell.

[0066] like Figure 1 As shown, the fixing plate 1 has a rectangular plate structure, a receiving groove 11 is arranged on the wall surface of the fixing plate 1 , and a supporting beam 111 is arranged inside the receiving groove 11 .

[0067] In some possible embodiments, the fixing plate 1 is integrated into a housing of the end effector 100 .

[0068] like Figure 7 As shown, the housing of the end effector 100 includes a plurality of plates and a fixing plate 1 , and the plurality of plates and the fixing plate 1 are arranged to form a receiving space, and the receiving space is used to receive the above-mentioned actuator.

[0069] In this way, the size of the execution terminal in the first direction can be reduced, thereby improving the convenience of assembly.

[0070] In one example, if Figure 1As shown, the accommodating groove 11 has a first side wall 112 and a second side wall 113 opposite to each other, and both ends of the support beam 111 are respectively connected to the first side wall 112 and the second side wall 113. The support beam 111 has a columnar structure, and the axis of the support beam 111 is parallel to the horizontal direction.

[0071] In this way, the difficulty of assembling the support beam 111 can be reduced and the cost can be reduced.

[0072] The connection method between the support beam 111 and the receiving groove 11 can be welding or threaded connection, that is, the two ends of the support beam 111 can be respectively connected to the above-mentioned first side wall 112 and the second side wall 113 through a welding process, or, the first side wall 112 and the second side wall 113 can be both provided with threaded holes, and the two ends of the support beam 111 can be respectively provided with external threads, and the support beam 111 is threadedly connected to the receiving groove 11, and the embodiments of the present disclosure do not limit this.

[0073] In some possible embodiments, the fixing plate 1 has a plurality of receiving grooves 11 , and the plurality of receiving grooves 11 are located on the same wall surface of the fixing plate 1 , and a supporting beam 111 is correspondingly disposed in each receiving groove 11 .

[0074] For example, Figure 1 As shown, the fixing plate 1 has a rectangular plate structure, and the fixing plate 1 has four receiving grooves 11, each receiving groove 11 corresponds to a vertex of the rectangular plate structure. A supporting beam 111 is correspondingly arranged in each receiving groove 11, and the multiple supporting beams 111 all have a columnar structure, and the axes of the multiple supporting beams 111 are parallel and parallel to the horizontal direction.

[0075] Alternatively, if Figure 8 As shown, the support beam 111 may have a cylindrical structure.

[0076] During implementation, the support beam 111 is engaged with the slot structure 221 on the fixing member 22. When the driving component 3 drives the fixing member 22 to rotate, there is relative rotation between the support beam 111 and the slot structure 221. This can reduce the friction between the support beam 111 and the slot structure 221, thereby improving the service life of the fixing member 22 and the support beam 111.

[0077] 2. Connect Components 2

[0078] The connecting assembly 2 is a component in the quick-change mechanism of the end effector that is used to connect with the fixing plate 1. Figure 2 As shown, the connection assembly 2 includes a connection plate 21 and a fixing member 22 .

[0079] Connecting plate 21

[0080] The connecting plate 21 is a component in the connecting assembly 2 for electrically connecting with the fixing plate 1 .

[0081] like Figure 2 As shown, the connecting plate 21 is arranged opposite to the fixing plate 1, and a quick-connect wire female socket 23 and a quick-connect air pipe female socket 24 are provided on one side of the connecting plate 21 close to the fixing plate 1. In implementation, a quick-connect wire male connector 13 and a quick-connect air pipe male connector 14 are provided on one side of the fixing plate 1 close to the connecting plate 21, wherein the positions and sizes of the quick-connect wire female socket 23 and the quick-connect wire male connector 13 match, and the quick-connect wire female socket 23 and the quick-connect wire male connector 13 are detachably connected, and the positions and sizes of the quick-connect air pipe female socket 24 and the quick-connect air pipe male connector 14 match, and the quick-connect air pipe female socket 24 and the quick-connect air pipe male connector 14 are detachably connected. In this way, after the end effector 100 is replaced, after the connecting plate 21 and the fixing plate 1 are attached, the air pipe in the assembly system can be connected to the air pipe inside the end effector 100, and the wires in the assembly system can be connected to the wires inside the end effector 100, and the technicians are no longer required to manually make electrical connections to the end effector 100, which can improve the assembly efficiency of the product.

[0082] In some possible embodiments, the connecting plate 21 has a stepped clearance area 200 on one side close to the fixing plate 1, and the stepped clearance area 200 is used to accommodate the driving assembly 3. The stepped clearance area 200 can be formed by cutting, which is not limited in the embodiments of the present disclosure.

[0083] In one example, if Fig. 9 As shown, the connecting plate 21 includes a first plate body 21a and a second plate body 21b, the first plate body 21a and the second plate body 21b are stacked, the first plate body 21a is located on the side of the second plate body 21b away from the fixed plate 1, and the first plate body 21a and the second plate body 21b partially overlap to form a stepped clearance area 200. In this way, the processing cost of the stepped clearance area 200 can be reduced.

[0084] In this example, a quick-connect wire female socket 23 and a quick-connect trachea female socket 24 are provided on one side of the second plate body 21b close to the fixed plate 1. The positions and sizes of the quick-connect wire female socket 23 and the quick-connect wire male connector 13 match, and the quick-connect wire female socket 23 and the quick-connect wire male connector 13 are detachably connected. The positions and sizes of the quick-connect trachea female socket 24 and the quick-connect trachea male connector 14 match, and the quick-connect trachea female socket 24 and the quick-connect trachea male connector 14 are detachably connected.

[0085] The connection between the first plate body 21a and the second plate body 21b may be welding, bonding, or threaded connection, which is not limited in the embodiment of the present disclosure.

[0086] Fixing 22

[0087] The fixing member 22 is a component in the connecting assembly 2 used for fastening the connecting support beam 111 .

[0088] like Figure 2 As shown, the fixing member 22 is rotationally connected to the connecting plate 21 , and one end of the fixing member 22 close to the fixing plate 1 has a slot structure 221 , and the slot structure 221 is used to be snap-connected with the support beam 111 .

[0089] In one example, if Figure 6 As shown, the fixing member 22 includes a rotating portion 222 and an extending portion 223, the rotating portion 222 has a strip structure, the extending portion 223 has a J-shaped structure and is connected to the middle portion of the rotating portion 222, there is a gap between the rotating portion 222 and the extending portion 223, and the wall surface corresponding to the gap is surrounded to form a slot structure 221.

[0090] Optionally, the rotating portion 222 and the extending portion 223 may be integrally formed components, so that the overall strength of the fixing member 22 can be improved.

[0091] like Figure 2 and Figure 6 As shown, the fixing member 22 is located on the side wall of the connecting plate 21 and is rotatably connected to the connecting plate 21. Specifically, a circular through hole is provided in the middle of the rotating portion 222, and a threaded hole is provided on the side wall of the connecting plate 21. After the screw passes through the circular through hole, it is threadedly connected to the connecting plate 21. The screw head and the connecting plate 21 clamp the rotating portion 222 to realize the rotatable connection between the fixing member 22 and the connecting plate 21.

[0092] Optionally, the thickness of the extension portion 223 from the end away from the rotating portion 222 to the end close to the rotating portion 222 can gradually decrease. In this way, the extension portion 223 has a guiding effect on the support beam 111, which can improve the success rate of quick change of the end effector 100.

[0093] In some possible embodiments, Figure 5 and Figure 6 As shown, the slot structure 221 includes a first slot portion 2211 and a second slot portion 2212, wherein the first slot portion 2211 is located on a side of the second slot portion 2212 away from the connecting plate 21. The slot width of the first slot portion 2211 is greater than the outer diameter of the support beam 111, and the slot width of the second slot portion 2212 is equal to the outer diameter of the support beam 111. Thus, since the slot width of the first slot portion 2211 is greater than the outer diameter of the support beam 111, the first slot portion 2211 has a guiding effect on the support beam 111 entering the slot structure 221, which can improve the success rate of quick change of the end effector 100.

[0094] 3. Drive components 3

[0095] The driving assembly 3 is a component in the quick-change mechanism of the end effector that is used to drive the fixing member 22 to rotate.

[0096] like Figure 2 As shown, the driving assembly 3 is connected to the fixing member 22, and the driving assembly 3 is used to drive the fixing member 22 to rotate along the first circumferential direction or the second circumferential direction, wherein the second circumferential direction is the opposite direction of the first circumferential direction. That is, when the first circumferential direction is the clockwise direction, the second circumferential direction is the counterclockwise direction, and when the first axial direction is the counterclockwise direction, the second circumferential direction is the clockwise direction.

[0097] In some possible embodiments, the driving assembly 3 includes a cylinder connecting member 31 , a driving cylinder 32 and a transmission member 33 .

[0098] like Figure 3 As shown, the cylinder connector 31 is located in the stepped clearance area 200 and is rotatably connected to the connecting plate 21. The cylinder connector 31 has an accommodating space 300. The driving cylinder 32 is located in the accommodating space 300 and is connected to the cylinder connector 31. The transmission member 33 is connected to the driving cylinder 32 and the fixing member 22. In implementation, the transmission member 33 is used to: drive the fixing member 22 to rotate along a first circumferential direction when the telescopic rod of the driving cylinder 32 is in an extended state, and drive the fixing member 22 to rotate along a second circumferential direction when the telescopic rod of the driving cylinder 32 is in a retracted state.

[0099] In one example, a through hole is provided on the wall surface of the cylinder connecting member 31 close to the fixing member 22, and the through hole is used to accommodate the telescopic rod of the driving cylinder 32. Figure 3 As shown, the connection assembly 2 further includes a connection seat 25, which is located in the stepped clearance area 200 and connected to the connection plate 21, and the cylinder connector 31 is rotatably connected to the connection seat 25 via a rotating shaft. In this way, it can be ensured that the force exerted on the telescopic rod of the driving cylinder 32 during the telescopic process is always parallel to the axis of the piston cavity, thereby improving the service life of the driving piston.

[0100] In one example, if Figure 4 As shown, the transmission member 33 includes a transmission rod 331, a crank 332 and a connecting rod 333. Among them, one end of the transmission rod 331 is connected to the telescopic rod of the driving cylinder 32, one end of the crank 332 is rotatably connected to the connecting plate 21, and one end of the connecting rod 333 is connected to the fixing member 22.

[0101] Alternatively, if Figure 4As shown, the transmission rod 331 may have a first mounting groove on one side close to the fixing member 22, and the first mounting groove is used to accommodate the other end of the fixing member 22. The other end of the connecting rod 333 has a second mounting groove, and the second mounting groove is used to accommodate the other end of the crank 332. The other end of the transmission rod 331, the other end of the crank 332 and the other end of the connecting rod 333 are rotatably connected through a pin. In this way, the mobility of the transmission member 33 can be improved, and the rotation flexibility of the fixing member 22 relative to the connecting plate 21 can be improved.

[0102] Below, some optional structural features of the quick-change mechanism of the end effector are introduced:

[0103] Structural feature 1: The quick-change mechanism of the end effector may further include a proximity sensor 4 .

[0104] like Figure 4 As shown, the quick-change mechanism of the end effector further includes a proximity sensor 4 , and the proximity sensor 4 includes a receiving sub-component 41 and a transmitting sub-component 42 .

[0105] The receiving sub-component 41 is connected to the connecting plate 21 . The receiving sub-component 41 has a first air-avoiding area 410 . The transmitting sub-component 42 is located in the first air-avoiding area 410 and is connected to the transmission rod 331 .

[0106] In one example, the receiving subcomponent 41 is a photoelectric receiver, the transmitting subcomponent 42 is a photoelectric sheet, the receiving subcomponent 41 has a U-shaped structure, and the transmitting subcomponent 42 is located in the first air-avoiding area 410 and connected to the transmission rod 331 .

[0107] In implementation, the transmitting sub-component 42 transmits a photoelectric signal in a horizontal direction, and the receiving sub-component 41 is used to receive the photoelectric signal emitted by the transmitting sub-component 42. When the receiving sub-component 41 can receive the photoelectric signal emitted by the transmitting sub-component 42, it means that the transmitting sub-component 42 is at least partially located inside the first air avoidance area 410 at this time, and accordingly, the transmission rod 331 has not moved to the preset position. In this case, the telescopic rod of the driving cylinder 32 continues to move toward the direction close to the fixed component 22, and the driving transmission rod 331 continues to move toward the direction close to the fixed component 22. When the receiving sub-component 41 cannot receive the photoelectric signal emitted by the transmitting sub-component 42, it means that the transmitting sub-component 42 has been completely moved to the outside of the first air avoidance area 410 at this time, and accordingly, the transmission rod 331 has moved to the preset position. In this case, the telescopic rod of the driving cylinder 32 stops moving, and the slot structure 221 on the fixed component 22 limits the support beam 111.

[0108] Optionally, when the launching sub-component 42 just leaves the first air avoidance area 410, the angle between the transmission rod 331 and the connecting rod 333 can be within the first preset range, and the first preset range is [160°, 170°]. In this way, when the transmission rod 331 moves to the preset position, the transmission rod 331 and the connecting rod 333 are close to the dead point position, and the telescopic rod of the driving cylinder 32 only needs to provide a small inference to achieve the orientation of the fixing component 22, thereby reducing the air pressure value required for the operation of the driving cylinder 32.

[0109] Structural feature 2: the bottom of the receiving groove 11 may have a second air-avoiding area 110 , and the connecting plate 21 may have a supporting column 211 .

[0110] like Figure 1 and Figure 2 As shown, the bottom of the accommodating groove 11 has a second air avoidance area 110, and the side of the connecting plate 21 close to the fixing plate 1 has a support column 211. When the support column 211 is located inside the second air avoidance area 110, the support column 211 is against the support beam 111.

[0111] In this way, the cooperation between the support column 211 and the second air avoidance area 110 can improve the positioning accuracy between the connecting plate 21 and the fixed plate 1. At the same time, when the support column 211 is inserted into the second air avoidance area 110, the support column 211 and the support beam 111 are offset. The support column 211 can share the force exerted on the fixing member 22 in the vertical direction to limit the fixing plate 1, thereby improving the service life of the fixing member 22.

[0112] In one example, the support column 211 and the connecting plate 21 are integrally formed. In this way, the connection strength between the support column 211 and the connecting plate 21 can be improved.

[0113] For example, Figure 1 As shown, the fixing plate 1 has a rectangular plate-like structure, and the fixing plate 1 has four receiving grooves 11, each of which corresponds to a vertex of the rectangular plate-like structure. A supporting beam 111 is correspondingly arranged in each receiving groove 11, and the multiple supporting beams 111 all have a columnar structure, and the axes of the multiple supporting beams 111 are parallel and parallel to the horizontal direction. A second air avoidance area 110 is correspondingly arranged at the bottom of each receiving groove 11, and the projection of the supporting beam 111 on the bottom of the groove is located above the second air avoidance area 110.

[0114] Structural feature three: a positioning pin hole is provided between the fixing plate 1 and the connecting plate 21 for cooperation.

[0115] like Figure 1 and Figure 2As shown, a positioning hole 12 is provided on the wall surface of the fixing plate 1 close to the connecting plate 21 , and a positioning pin 212 is provided on one side of the connecting plate 21 close to the fixing plate 1 , and the positioning pin 212 is used to be inserted into the positioning hole 12 .

[0116] In this way, through the cooperation between the support column 211 and the second air avoidance area 110, rough positioning can be achieved between the connecting plate 21 and the fixed plate 1. By providing a positioning hole 12 on the wall surface of the fixed plate 1 close to the connecting plate 21, and providing a positioning pin 212 on the side of the connecting plate 21 close to the fixed plate 1, the connection accuracy between the connecting plate 21 and the fixed plate 1 can be further improved.

[0117] Structural feature 4: The quick-change mechanism of the end effector can be provided with a plurality of fixing members 22 .

[0118] In some possible embodiments, Figure 2 As shown, the connecting component 2 includes four fixing members 22. The four fixing members 22 are distributed in pairs on two opposite side walls of the connecting plate 21 and are all rotatably connected to the connecting plate 21. For the specific structure of the fixing members 22, please refer to the above introduction, which will not be repeated here.

[0119] In one example, the connecting rod 333 includes a first connecting rod 3331 and a second connecting rod 3332 , and the first connecting rod 3331 and the second connecting rod 3332 are located on the same side wall of the connecting plate 21 .

[0120] like Figure 4 and Figure 5 As shown, one end of the first connecting rod 3331 is rotatably connected to the other end of the upper fixing member 22, and the other end is rotatably connected to the other end of the crank 332 and the other end of the transmission rod 331 through a pin, and both ends of the second connecting rod 3332 are rotatably connected to the other ends of the two fixing members 22 respectively.

[0121] In this way, only one driving cylinder 32 is needed to drive the four fixing members 22 to rotate, thereby reducing the layout cost of the quick-change mechanism.

[0122] The technical solution provided by the embodiments of the present disclosure includes at least the following beneficial effects:

[0123] The embodiment of the present disclosure provides a quick-change mechanism for an end effector, in which a fixed plate 1 is connected to an end effector 100, and the fixed plate 1 has a receiving groove 11, and a support beam 111 is arranged inside the receiving groove 11. A connecting assembly 2 includes a connecting plate 21 and a fixing member 22, the connecting plate 21 is arranged opposite to the fixing plate 1, the fixing member 22 is rotatably connected to the connecting plate 21, and the fixing member 22 has a slot structure 221 at one end close to the fixing plate 1, and the slot structure 221 is used to be engaged with the support beam 111. A driving assembly 3 is connected to the fixing member 22, and is used to drive the fixing member 22 to rotate along a first circumferential direction or a second circumferential direction, and the second circumferential direction is the opposite direction of the first circumferential direction. In this way, the end effector 100 is connected to the assembly system through the fixing plate 1, and at this time, there is an angle between the direction of the slot structure 221 and the direction (hereinafter referred to as the first direction) of the connecting plate 21 pointing to the fixing plate 1, and the slot eaves of the slot structure 221 can limit the support beam 111 in the first direction. In the case where the end effector needs to be replaced, the driving assembly 3 can drive the fixing member 22 to rotate along the first circumferential direction. During the rotation, the direction of the slot structure 221 changes. When the direction of the slot structure 221 is the same as the first direction, the robot arm grabs the end effector 100 and can easily separate the end effector 100 from the assembly system along the first direction. At the same time, the robot arm grabs the new end effector 100 connected to the fixing plate 1 and moves it toward the connecting plate 21. After the support beam 111 is inserted into the slot structure 221, the driving assembly 3 drives the fixing member 22 to rotate along the second circumferential direction, so that the direction of the slot structure 221 is restored to the initial state, and the new end effector 100 is fastened to the assembly system. During the replacement of the end effector 100, it is no longer necessary to manually remove the bolts, which greatly improves the replacement efficiency of the end effector 100, thereby improving the assembly efficiency of the product.

[0124] The embodiment of the present disclosure provides an assembly system, which includes the quick-change mechanism of the end effector, a robot arm, a detection unit and a control unit. The control unit is electrically connected to the drive component 3 and the robot arm, and is used to receive a first in-position signal sent by the robot arm, control the drive component 3 to drive the fixing part 22 to rotate along the first circumferential direction, receive a second in-position signal sent by the position sensor, and drive the drive component 3 to drive the fixing part 22 to rotate along the second circumferential direction. The first in-position signal is sent by the robot arm at the corresponding moment of completing the code scanning and identification of the assembly system identification, and the second in-position signal is sent by the detection unit, which is used to detect the operating status of the execution component of the end effector 100.

[0125] The above description is only an optional embodiment of the present disclosure and is not intended to limit the present disclosure. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A quick-change mechanism for an end effector, characterized in that: The quick-change mechanism of the end effector comprises a fixing plate (1), a connecting component (2) and a driving component (3); The fixing plate (1) is connected to the end effector (100), the fixing plate (1) has a receiving groove (11), and a supporting beam (111) is arranged inside the receiving groove (11); The connection assembly (2) comprises a connection plate (21) and a fixing member (22), wherein the connection plate (21) is arranged opposite to the fixing plate (1), the fixing member (22) is rotatably connected to the connection plate (21), and an end of the fixing member (22) close to the fixing plate (1) has a slot structure (221), and the slot structure (221) is used for being connected to the support beam (111); The driving assembly (3) is connected to the fixing member (22) and is used to drive the fixing member (22) to rotate along a first circumferential direction or a second circumferential direction, wherein the second circumferential direction is opposite to the first circumferential direction.

2. The quick-change mechanism of the end effector according to claim 1, characterized in that: The driving assembly (3) comprises a cylinder connecting member (31), a driving cylinder (32) and a transmission member (33); The cylinder connecting member (31) is rotatably connected to the connecting plate (21), and the cylinder connecting member (31) has a receiving space (300); The driving cylinder (32) is located in the accommodating space (300) and is connected to the cylinder connecting member (31); The transmission member (33) is connected to the driving cylinder (32) and the fixing member (22), and the transmission member (33) is used to drive the fixing member (22) to rotate along a first circumferential direction when the telescopic rod of the driving cylinder (32) is in an extended state, and to drive the fixing member (22) to rotate along a second circumferential direction when the telescopic rod of the driving cylinder (32) is in a retracted state.

3. The quick-change mechanism of the end effector according to claim 2, characterized in that: The transmission member (33) comprises a transmission rod (331), a crank (332) and a connecting rod (333); One end of the transmission rod (331) is connected to the telescopic rod of the driving cylinder (32); One end of the crank (332) is rotatably connected to the connecting plate (21); One end of the connecting rod (333) is connected to the fixing member (22); The other end of the transmission rod (331), the other end of the crank (332) and the other end of the connecting rod (333) are rotatably connected via a pin.

4. The quick-change mechanism of the end effector according to claim 3, characterized in that: The quick-change mechanism of the end effector further comprises a proximity sensor (4), and the proximity sensor (4) comprises a receiving sub-component (41) and a transmitting sub-component (42); The receiving sub-component (41) is connected to the connecting plate (21), and the receiving sub-component (41) has a first air-avoiding area (410); The launching sub-component (42) is located in the first air-avoiding area (410) and is connected to the transmission rod (331).

5. The quick-change mechanism of the end effector according to claim 1, characterized in that: The slot structure (221) comprises a first slot portion (2211) and a second slot portion (2212), wherein the first slot portion (2211) is located on a side of the second slot portion (2212) away from the connecting plate (21); The groove width of the first groove portion (2211) is greater than the outer diameter of the support beam (111); The groove width of the second groove portion (2212) is equal to the outer diameter of the support beam (111).

6. The quick-change mechanism of the end effector according to claim 1, characterized in that: The bottom of the accommodating groove (11) has a second air avoidance area (110), and the side of the connecting plate (21) close to the fixing plate (1) has a support column (211), and when the support column (211) is located inside the second air avoidance area (110), the support column (211) abuts against the support beam (111).

7. The quick-change mechanism of the end effector according to claim 1, characterized in that: The fixing plate (1) has a positioning hole (12), and the connecting plate (21) has a positioning pin (212) on one side close to the fixing plate (1), and the positioning pin (212) is used to be inserted into the positioning hole (12).

8. The quick-change mechanism of the end effector according to any one of claims 1 to 7, characterized in that: The fixing plate (1) is provided with a quick-connect wire male connector (13), and the connection plate (21) is provided with a quick-connect wire female connector (23) on one side close to the fixing plate (1), and the quick-connect wire female connector (23) is detachably connected to the quick-connect wire male connector (13).

9. The quick-change mechanism of the end effector according to any one of claims 1 to 7, characterized in that: The fixing plate (1) is provided with a quick-connect air pipe male head (14), and the connecting plate (21) is provided with a quick-connect air pipe female seat (24) on a side close to the fixing plate (1), and the quick-connect air pipe female seat (24) is detachably connected to the quick-connect air pipe male head (14).

10. An assembly system, characterized in that: The assembly system comprises the quick-change mechanism of the end effector according to any one of claims 1 to 9.

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