Tail end quick-change mechanism and collaborative robot
By using a snap-fit structure to lock the circuit connection of the end tool, the problem of wire harness tangling and scratching in collaborative robots is solved, achieving safe and reliable electrical connection and quick tool replacement.
Patent Information
- Application Number
- CN202422596228.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-24
- Publication Date
- 2025-10-31
- Estimated Expiration
- 2034-10-24
AI Technical Summary
The wiring harnesses of existing collaborative robot end effectors are prone to tangling or scraping against the external environment during movement, causing safety issues and requiring additional wiring connections.
The locking mechanism secures the end tool while simultaneously establishing a circuit connection. The interlocking of the locking post and the recessed structure prevents wire harness exposure, ensuring the stability and safety of the electrical connection.
It effectively prevents wire harness tangling and scratches, improves the safety and reliability of the robot during operation, and enables fast and stable tool replacement.
Smart Images
Figure CN223493266U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of robotics technology, and more specifically, to an end-effector quick-change mechanism and a collaborative robot. Background Technology
[0002] Collaborative robots require various functional modules to be installed at the end effector of their robotic arms to complete tasks. Industrial collaborative robots typically perform relatively simple tasks. However, as collaborative robots become more integrated into daily life, single functions no longer meet the needs of users in diverse scenarios. Therefore, the end effector of the robotic arm needs to connect to various end-effectors for different applications via quick-change mechanisms. Currently, quick-change mechanisms for locking these end-effectors are typically pneumatic, hydraulic, or electromagnetic. After locking the end-effector, these methods still require additional wiring connections to the end-effector's circuitry. The problem is that the various wiring harnesses connecting the robot and the end-effector are located outside the robotic arm. During the end-effector's operation, these harnesses are prone to tangling or scraping against the environment, leading to safety issues. Utility Model Content
[0003] The purpose of this application is to provide an end-effector quick-change mechanism and a collaborative robot, which locks the end tool through a snap-fit structure while simultaneously connecting the circuit, avoiding the external arrangement of the wiring harness and improving safety during operation.
[0004] The embodiments of this application are implemented as follows:
[0005] In a first aspect, embodiments of this application provide an end-effector quick-change mechanism, including a first connecting component connected to the end of a robotic arm and a second connecting component connected to an end-effector tool; the first connecting component has a recessed structure, and a first electrical connector is provided on the bottom surface of the recessed structure; the second connecting component has a locking post, and a second electrical connector is provided on the end face of the locking post; the locking post is inserted into the recessed structure, and the first electrical connector contacts the second electrical connector to electrically connect the robotic arm and the end-effector tool, and the side of the locking post is engaged and locked with the first connecting component.
[0006] As an optional implementation, the first connecting component includes a rotating ring and a fixed ring forming a recessed structure; the rotating ring is rotatably sleeved on the outer periphery of the fixed ring; a plurality of balls are arranged between the inner wall of the rotating ring and the outer wall of the fixed ring; the plurality of balls are spaced apart axially around the rotating ring; the inner wall of the rotating ring forms a plurality of guide structures that correspond one-to-one with the balls; the side wall of the fixed ring is provided with a through hole communicating with the cavity of the recessed structure; the rotating ring is driven to rotate and pushes the balls out of the through hole through the guide structure to form a protrusion that engages with the locking pin.
[0007] As an alternative implementation, an annular groove with an opening facing the ball is formed on the side of the locking post, and the protrusion abuts against the inner wall of the annular groove to generate a supporting force extending along the axis of the rotating ring.
[0008] As an optional implementation, the guide structure has a guide slope; the guide slope extends circumferentially along the inner wall of the rotating ring, and the distance from the guide slope to the axis of the rotating ring gradually increases from the first end to the second end; when the first end of the guide slope rotates to the through hole, the guide slope pushes the ball to protrude from the through hole; when the second end of the guide slope rotates to the through hole, the ball moves radially away from the axis of the rotating ring so that the protrusion is embedded in the through hole.
[0009] As an optional implementation, an arc-shaped channel is formed between the inner wall of the rotating ring and the outer wall of the fixed ring, and an elastic element is arranged in the arc-shaped channel; the compression of the elastic element generates a force that pushes the rotating ring to rotate, so that the first end of the guide slope is close to the through hole.
[0010] As an optional implementation, the first connecting assembly further includes a base connected to the end of the robotic arm, and a fixing ring connected to the base; the base is provided with a first pressing part extending radially, and the rotating ring is provided with a second pressing part extending radially; when the second pressing part is driven by the pressing force to rotate the rotating ring and moves toward a position close to the first pressing part, the protrusion is embedded in the through hole.
[0011] As an optional implementation, the first electrical connector is a female contact socket and the second electrical connector is a male contact socket. The male contact socket is provided with a plurality of pins arranged in an array, and the female contact socket is provided with a plurality of holes arranged in an array. The pins and holes are connected in a one-to-one correspondence.
[0012] As an optional implementation, the first connecting component is provided with a plurality of spaced positioning guide posts, and the second connecting component is provided with a plurality of positioning holes, with the positioning guide posts and positioning holes being inserted into each other in a one-to-one correspondence.
[0013] As an optional implementation, both the first connecting component and the second connecting component are provided with an identification structure.
[0014] Secondly, embodiments of this application provide a collaborative robot, including a robotic arm and the aforementioned end-effector quick-change mechanism, wherein the robotic arm is connected to an end-effector tool via the end-effector quick-change mechanism.
[0015] The beneficial effects of the embodiments of this application include:
[0016] This application provides an end-effector quick-change mechanism, including a first connecting component connected to the end of a robotic arm and a second connecting component connected to an end-effector tool. The first connecting component has a recessed structure, and a first electrical connector is disposed on the bottom surface of the recessed structure. The second connecting component has a locking post, and a second electrical connector is disposed on the end face of the locking post. The locking post is inserted into the recessed structure, enabling a mating connection between the locking post and the recessed structure. At this time, the end face of the locking post is close to the bottom surface of the recessed structure, causing the first electrical connector and the second electrical connector to contact, thus electrically connecting the robotic arm and the end-effector tool. Simultaneously, the side of the locking post is locked to the first connecting component. Compared to the prior art, this application, through the locking post and the recessed structure, simultaneously achieves electrical connection between the robotic arm and the end-effector tool, thereby preventing the end-effector tool's wiring harness from being exposed and preventing tangling during rotation and other actions. It also prevents the wiring harness from being scratched or bumped by the external environment, improving the overall safety and reliability of the equipment.
[0017] The collaborative robot of this application embodiment is equipped with the aforementioned end-effector quick-change mechanism at the end of its robotic arm. This mechanism allows the robot to quickly change between various end-effectors suitable for different application scenarios. Compared to existing technologies, the end-effector quick-change mechanism of this application embodiment directly achieves a fast and stable connection between the robotic arm and the end-effector by snapping the first connecting component onto the side of the locking post. Simultaneously, by bringing the end face of the locking post close to the bottom surface of the recessed structure, this application embodiment allows the first electrical connector and the second electrical connector to contact each other, ensuring electrical connection between the robotic arm and the end-effector. This effectively prevents the wiring harness from tangling during end-effector operation, thereby improving the safety and reliability of the robotic arm during application. Attached Figure Description
[0018] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.
[0019] Figure 1 This is a schematic diagram of the structure of the collaborative robot according to an embodiment of this application;
[0020] Figure 2 This is one of the structural schematic diagrams of the end-effector quick-change mechanism in the embodiments of this application;
[0021] Figure 3 This is a second structural schematic diagram of the end-effector quick-change mechanism in an embodiment of this application;
[0022] Figure 4 This is the third structural schematic diagram of the end-effector quick-change mechanism in the embodiments of this application;
[0023] Figure 5 This is the fourth structural schematic diagram of the end-effector quick-change mechanism in the embodiments of this application;
[0024] Figure 6 This is the fifth structural schematic diagram of the end-effector quick-change mechanism in the embodiments of this application;
[0025] Figure 7 This is the sixth structural schematic diagram of the end-effector quick-change mechanism in the embodiments of this application;
[0026] Figure 8 This is the seventh structural schematic diagram of the end-effector quick-change mechanism in the embodiments of this application;
[0027] Figure 9 This is the eighth structural schematic diagram of the end-effector quick-change mechanism in the embodiments of this application.
[0028] Icons: 100 - End tool; 101 - First connecting component; 102 - Second connecting component; 103 - Recessed structure; 104 - First electrical connector; 105 - Locking post; 106 - Second electrical connector; 107 - Rotating ring; 108 - Fixing ring; 109 - Ball bearing; 110 - Guide structure; 111 - Through hole; 112 - Protrusion; 113 - Annular groove; 114 - Guide slope; 115 - First end; 116 - Second end; 117 - Arc-shaped channel; 118 - Elastic element; 119 - Base; 120 - First pressing part; 121 - Second pressing part; 122 - Contact female; 123 - Contact male; 124 - Insertion pin; 125 - Insertion hole; 126 - Positioning guide post; 127 - Positioning hole; 128 - Identification structure. Detailed Implementation
[0029] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.
[0030] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.
[0031] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.
[0032] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.
[0033] The robotic arm's end effector needs to connect to various end-effectors 100 for different scenarios via quick-change mechanisms. Currently, quick-change mechanisms for locking the end-effectors are typically pneumatic, hydraulic, or electromagnetic. After locking the end-effector 100, these methods require additional wiring connections to its circuitry. The problem is that the various wiring harnesses connecting the robot and the end-effector 100 are located outside the robotic arm. During the end-effector 100's operation, these harnesses are prone to tangling or scraping against the environment, leading to safety issues.
[0034] To address the aforementioned technical problems, embodiments of this application provide an end-effector quick-change mechanism and a collaborative robot.
[0035] Reference Figure 1 , Figure 2 As shown, this application embodiment provides an end-effector quick-change mechanism, including a first connecting component 101 connected to the end of a robotic arm and a second connecting component 102 connected to an end tool 100; the first connecting component 101 is provided with a recessed structure 103, and a first electrical connector 104 is provided on the bottom surface of the recessed structure 103; the second connecting component 102 is provided with a locking post 105, and a second electrical connector 106 is provided on the end face of the locking post 105; the locking post 105 is inserted into the recessed structure 103, and the first electrical connector 104 contacts the second electrical connector 106 to make the robotic arm electrically connected to the end tool 100, and the side of the locking post 105 is locked in place with the first connecting component 101.
[0036] The end-effector quick-change mechanism provided in this application includes a first connection component 101 connected to the end of a robotic arm and a second connection component 102 connected to an end tool 100.
[0037] Among them, reference Figure 2 , Figure 3 as well as Figure 6 As shown, the first connecting component 101 of this application embodiment includes a rotating ring 107 and a fixed ring 108 forming a recessed structure 103; the rotating ring 107 is rotatably sleeved on the outer periphery of the fixed ring 108; a plurality of balls 109 are arranged between the inner wall of the rotating ring 107 and the outer wall of the fixed ring 108; the plurality of balls 109 are arranged axially spaced around the rotating ring 107; a plurality of guide structures 110 are formed on the inner wall of the rotating ring 107 and are connected to the balls 109 one by one; a through hole 111 is provided on the side wall of the fixed ring 108 and communicates with the cavity of the recessed structure 103; the rotating ring 107 is driven to rotate and pushes the balls 109 out of the through hole 111 through the guide structure 110 to form a protrusion 112 that engages with the locking post 105.
[0038] Reference Figure 2 , Figure 5 As shown, in this embodiment of the application, an annular groove 113 with an opening facing the ball bearing 109 is formed on the side of the locking post 105 of the second connecting assembly 102. The protrusion 112 abuts against the inner wall of the annular groove 113, generating a supporting force extending axially along the rotating ring 107. The cross-section of the annular groove 113 can be U-shaped.
[0039] Preferably, in this embodiment, the protrusion 112 is embedded in the annular groove 113, and the protrusion 112 abuts against the bottom surface of the annular groove 113, thereby clamping the annular groove 113 with the protrusion 112. Since there are multiple balls 109 arranged circumferentially around the insertion post, when the protrusion 112 contacts the bottom surface of the annular groove 113, a radially extending clamping force is generated, improving the locking stability of the insertion post.
[0040] It should be noted that the number of balls 109 can be set as needed by those skilled in the art. For example, six balls 109 are evenly spaced around the circumference of the rotating ring 107. The balls 109 can be made of metal.
[0041] It should be noted that, as needed, those skilled in the art may also use other structures to achieve the snap-fit locking of the first connecting component 101 and the second connecting component 102.
[0042] Furthermore, refer to Figure 3 , Figure 4 as well as Figure 5As shown, the first connecting component 101 of this application embodiment is provided with a recessed structure 103, and a first electrical connector 104 is provided on the bottom surface of the recessed structure 103. The second connecting component 102 of this application embodiment is provided with a locking post 105, and a second electrical connector 106 is provided on the end face of the locking post 105; the locking post 105 of this application embodiment is inserted into the recessed structure 103, which can realize the mating connection between the locking post 105 and the recessed structure 103.
[0043] At this time, the end face of the locking post 105 is close to the bottom surface of the recessed structure 103, causing the first electrical connector 104 to contact the second electrical connector 106, thereby electrically connecting the robotic arm to the end tool 100. Simultaneously, the side of the locking post 105 in this embodiment is locked in place with the first connecting assembly 101.
[0044] Furthermore, refer to Figure 4 as well as Figure 5 As shown, in this embodiment of the application, the first electrical connector 104 is a contact female 122, and the second electrical connector 106 is a contact male 123. The contact male 123 is provided with a plurality of arrayed pins 124, and the contact female 122 is provided with a plurality of arrayed sockets 125. The pins 124 and the sockets 125 are connected in a one-to-one correspondence.
[0045] It should be noted that the first electrical connector 104 can also be configured as a male contact 123, and the second electrical connector 106 can be configured as a female contact 122. The male contact 123 is provided with a plurality of arrayed pins 124, and the female contact 122 is provided with a plurality of arrayed sockets 125; the pins 124 and the sockets 125 are connected in a one-to-one correspondence.
[0046] Alternatively, the first electrical connector 104 and the second electrical connector 106 can be configured with other structures as needed. For example, the first electrical connector 104 is a metal insert, such as a copper plate. The second electrical connector 106 is a metal socket, and electrical connection is achieved through the insertion of the metal insert into the metal socket.
[0047] It should be noted that the first electrical connector 104 is connected to the wiring harness on the robotic arm, and the second electrical connector 106 is electrically connected to the wiring harness inside the end effector 100. Through the contact between the first electrical connector 104 and the second electrical connector 106, power and signals can be transmitted from inside the end effector quick-change mechanism. By simultaneously achieving the snap-fit locking, the internal electrical connection between the first electrical connector 104 and the second electrical connector 106 is completed, preventing the wiring harness from being exposed and improving the safety and reliability of this part of the wiring harness.
[0048] As an optional implementation method, refer to Figure 4 as well as Figure 5As shown, the first connecting component 101 is provided with a plurality of spaced positioning guide posts 126, and the second connecting component 102 is provided with a plurality of positioning holes 127, with the positioning guide posts 126 and the positioning holes 127 being inserted into each other in a one-to-one correspondence.
[0049] It should be noted that, in this embodiment of the application, a plurality of circumferentially spaced positioning guide posts 126 may be provided on the fixing ring 108 forming the recessed structure 103. Positioning holes 127 are formed on the flange connector included in the second connecting assembly 102. Locking posts 105 are provided on the flange connector.
[0050] In this embodiment, the corresponding insertion of the positioning guide post 126 and the positioning hole 127 can prevent the relative rotation of the locking post 105 and the recessed structure 103, thereby further improving the stability after locking.
[0051] In addition, a guide slope 114 can be provided at the end of the positioning guide post 126, or a larger opening can be formed at the opening of the positioning hole 127 to facilitate insertion guidance.
[0052] It should be noted that after the positioning guide post 126 and the positioning hole 127 are inserted, the locking post 105 and the recessed structure 103 are simultaneously inserted and locked, and at the same time the first electrical connector 104 and the second electrical connector 106 make contact.
[0053] Compared to existing technologies, this embodiment of the application, through the locking post 105 and the recessed structure 103, not only achieves a snap-locking connection but also enables electrical connection between the robotic arm and the end effector 100. This avoids the exposure of the wiring harness of the end effector 100, preventing the harness from becoming tangled during various movements such as rotation of the end effector 100. Furthermore, it prevents the wiring harness from being scratched or bumped by the external environment, thus improving the overall safety and reliability of the equipment.
[0054] Reference Figure 7 as well as Figure 8 As shown, in an optional embodiment, the guide structure 110 has a guide slope 114; the guide slope 114 extends circumferentially along the inner wall of the rotating ring 107, and the distance between the guide slope 114 and the axis of the rotating ring 107 gradually increases from the first end 115 to the second end 116; when the first end 115 of the guide slope 114 rotates to the through hole 111, the guide slope 114 pushes the ball 109 to protrude from the through hole 111; when the second end 116 of the guide slope 114 rotates to the through hole 111, the ball 109 moves radially away from the axis of the rotating ring 107 so that the protrusion 112 is embedded in the through hole 111.
[0055] Furthermore, this application embodiment discloses that the guide structure 110 has a guide slope 114, which can control the position of the ball 109, thereby realizing the relative position adjustment between the ball 109 and the through hole 111, and realizing the movement of the protrusion 112 within the through hole 111.
[0056] It should be noted that the embodiments of this application have a simple structure, low implementation cost, and are stable and reliable. Compared with the prior art, the snap-fit locking provided by this application will not generate much noise, and the overall size of the end quick-change mechanism is small, and it will not cause the end tool 100 to fall off due to locking failure after power failure.
[0057] Reference Figure 9 As shown, in this embodiment of the application, an arc-shaped channel 117 arranged around the axial direction is formed between the inner sidewall of the rotating ring 107 and the outer sidewall of the fixed ring 108. An elastic element 118 is arranged in the arc-shaped channel 117. The compression of the elastic element 118 generates a force that pushes the rotating ring 107 to rotate, so that the first end 115 of the guide slope 114 approaches the through hole 111.
[0058] Reference Figure 7 as well as Figure 8 As shown, in an optional embodiment, the first connecting assembly 101 further includes a base 119 connected to the end of the robotic arm, and a fixing ring 108 connected to the base 119; a first pressing part 120 extending radially is provided on the base 119, and a second pressing part 121 extending radially is provided on the rotating ring 107; when the second pressing part 121 is driven by the pressing force to rotate the rotating ring 107 and moves toward a position close to the first pressing part 120, the protrusion 112 is embedded in the through hole 111.
[0059] Furthermore, refer to Figure 7 as well as Figure 8 As shown, the connection between the first pressing part 120 and the second pressing part 121 in this embodiment facilitates operation by the worker. By pressing the first pressing part 120 and the second pressing part 121, the rotating ring 107 rotates, which drives the internal guide slope 114 to rotate, allowing the protrusion 112 to be inserted into the through hole 111, thereby allowing the locking pin 105 to disengage from the recessed structure 103 for quick replacement of the end tool 100. At this time, the elastic element 118 is compressed to generate elastic potential energy. When the worker releases the first pressing part 120 and the second pressing part 121, the elastic element 118 releases the elastic potential energy, pushing the rotating ring 107 to rotate in the opposite direction, causing the protrusion 112 to extend out of the through hole 111.
[0060] Reference Figure 4 as well as Figure 5 As shown, as an optional implementation, both the first connecting component 101 and the second connecting component 102 are provided with an identification structure 128.
[0061] Furthermore, in this embodiment of the application, corresponding marking structures 128 are provided on the first connecting component 101 and the second connecting component 102 to prevent incorrect insertion angles and facilitate accurate insertion by the staff.
[0062] It should be noted that the marking structure 128 can be a groove marking provided on the first connecting component 101 and the second connecting component 102. Other methods can also be used to form the marking as needed; for example, alignment markings can be formed by adhesive bonding or laser printing.
[0063] Reference Figure 1 As shown in the figure, this application provides a collaborative robot, including a robotic arm and the aforementioned end-effector quick-change mechanism, wherein the robotic arm is connected to the end tool 100 through the end-effector quick-change mechanism.
[0064] The collaborative robot of this embodiment has the aforementioned end-effector quick-change mechanism installed at the end of its robotic arm. This mechanism allows the robot to quickly change between various end-effector tools 100 suitable for different application scenarios. Compared to existing technologies, the end-effector quick-change mechanism of this embodiment directly achieves a fast and stable connection between the robotic arm and the end-effector tool 100 by snapping the first connecting component 101 onto the side of the locking post 105. Simultaneously, by having the end face of the locking post 105 close to the bottom surface of the recessed structure 103, this embodiment allows the first electrical connector 104 to contact the second electrical connector 106, thus electrically connecting the robotic arm and the end-effector tool 100. This effectively prevents the wiring harness from tangling during the operation of the end-effector tool 100, thereby improving the safety and reliability of the robotic arm during application.
[0065] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.
Claims
1. A quick-change end-of-line mechanism, characterized in that, The system includes a first connecting component (101) connected to the end of a robotic arm and a second connecting component (102) connected to an end tool (100). The first connecting component (101) has a recessed structure (103), and a first electrical connector (104) is provided on the bottom surface of the recessed structure (103). The second connecting component (102) has a locking post (105), and a second electrical connector (106) is provided on the end face of the locking post (105). The locking post (105) is inserted into the recessed structure (103), and the first electrical connector (104) contacts the second electrical connector (106) to make the robotic arm electrically connected to the end tool (100). The side of the locking post (105) is locked to the first connecting component (101).
2. The end-effector quick-change mechanism according to claim 1, characterized in that, The first connecting assembly (101) includes a rotating ring (107) and a fixed ring (108) forming the recessed structure (103); the rotating ring (107) is rotatably sleeved on the outer periphery of the fixed ring (108); a plurality of balls (109) are arranged between the inner wall of the rotating ring (107) and the outer wall of the fixed ring (108); the plurality of balls (109) are arranged axially spaced around the rotating ring (107); a plurality of guide structures (110) are formed on the inner wall of the rotating ring (107) and are connected to the balls (109) one by one; a through hole (111) communicating with the cavity of the recessed structure (103) is provided on the side wall of the fixed ring (108); the rotating ring (107) is driven to rotate and pushes the balls (109) to protrude out of the through hole (111) through the guide structure (110) to form a protrusion (112) that engages with the locking post (105).
3. The end-effector quick-change mechanism according to claim 2, characterized in that, The locking post (105) has an annular groove (113) with an opening facing the ball (109) on its side. The protrusion (112) abuts against the inner wall of the annular groove (113) to generate a supporting force that extends axially along the rotating ring (107).
4. The end-effector quick-change mechanism according to claim 2, characterized in that, The guide structure (110) has a guide slope (114); the guide slope (114) extends circumferentially along the inner wall of the rotating ring (107), from the first end (115) to the second end (116) of the guide slope (114), the distance from the guide slope (114) to the axis of the rotating ring (107) gradually increases; when the first end (115) of the guide slope (114) rotates to the through hole (111), the guide slope (114) pushes the ball (109) to protrude from the through hole (111); when the second end (116) of the guide slope (114) rotates to the through hole (111), the ball (109) moves radially away from the axis of the rotating ring (107) so that the protrusion (112) is embedded in the through hole (111).
5. The end-effector quick-change mechanism according to claim 4, characterized in that, An arc-shaped channel (117) is formed between the inner wall of the rotating ring (107) and the outer wall of the fixed ring (108) around the axis. An elastic element (118) is arranged in the arc-shaped channel (117). The compression of the elastic element (118) generates a force that pushes the rotating ring (107) to rotate, so that the first end (115) of the guide slope (114) is close to the through hole (111).
6. The end-effector quick-change mechanism according to claim 4, characterized in that, The first connecting assembly (101) further includes a base (119) connected to the end of the robotic arm, and the fixing ring (108) is connected to the base (119); the base (119) is provided with a first pressing part (120) extending radially, and the rotating ring (107) is provided with a second pressing part (121) extending radially; when the second pressing part (121) is driven by the pressing force to rotate the rotating ring (107) and moves to a position closer to the first pressing part (120), the protrusion (112) is embedded in the through hole (111).
7. The end-effector quick-change mechanism according to any one of claims 1-6, characterized in that, The first electrical connector (104) is a female contact socket (122), and the second electrical connector (106) is a male contact socket (123). The male contact socket (123) is provided with a plurality of pins (124) arranged in an array, and the female contact socket (122) is provided with a plurality of holes (125) arranged in an array. The pins (124) and the holes (125) are connected in a one-to-one correspondence.
8. The end-effector quick-change mechanism according to any one of claims 1-6, characterized in that, The first connecting component (101) is provided with a plurality of spaced positioning guide posts (126), and the second connecting component (102) is provided with a plurality of positioning holes (127). The positioning guide posts (126) and the positioning holes (127) are inserted into each other in a one-to-one correspondence.
9. The end-effector quick-change mechanism according to any one of claims 1-6, characterized in that, Both the first connecting component (101) and the second connecting component (102) are provided with an identification structure (128).
10. A collaborative robot, characterized in that, Includes a robotic arm and an end-effector quick-change mechanism as described in any one of claims 1-9, wherein the robotic arm is connected to an end-effector tool (100) via the end-effector quick-change mechanism.