Robot tail end passive quick-change device

Abstract

The utility model discloses a robot tail end passive quick-change device, which comprises a quick-change robot end, a quick-change tool end, a quick-change tool end and a locking conical surface, a plurality of steel balls matched with the locking conical surface are arranged at the top of the quick-change tool end, a movable space allowing the piston to move up and down is formed in the quick-change tool end, a spring is arranged in the movable space, the piston is sleeved with the spring, and when the piston controls the steel balls to move outwards and abut against the locking conical surface, the locking conical surface abuts against the locking conical surface. The spring applies longitudinal locking force to the piston so that the quick-change robot end and the quick-change tool end can be locked. And the push rod components are located on the two sides of the quick-change tool end correspondingly, the ends of the push rod components can stretch into the moving space, and the push rod components are used for pushing the piston to move upwards so that the quick-change robot end and the quick-change tool end can be unlocked.

Description

Technical Field

[0001] This utility model relates to the field of robot quick-change technology, and in particular to a passive quick-change device for robot end effector. Background Technology

[0002] A robot end effector quick-change disc is a device for quickly changing tools or grippers. Through a unique locking and unlocking mechanism, it enables rapid replacement of the robot's end effector. Quick-change methods are divided into active and passive types. Active quick-change requires an on-site air or power source to automatically change the end effector, while passive quick-change utilizes the device's own structural features to achieve automatic replacement of the end effector manually or with the aid of a support frame.

[0003] Existing quick-change devices for robot end-effectors are as follows: active automatic quick-change devices rely on the power or air supply at the work site to achieve quick tool changes. When there is a power or air supply failure, the quick-change device will fail. Existing passive automatic quick-change devices, such as Zimmer, use a wedge locking method. Although the structure is simple, the wedge surface is difficult to process and does not provide locking force in the longitudinal direction.

[0004] Patent No. "202410877583.X" discloses a quick-change device for a robot end-effector, belonging to the category of passive quick-change devices, and specifically includes: a quick-change robot end, which has an insertion space for inserting a quick-change tool end, and the insertion space is uniformly arranged with a plurality of locking conical surfaces arranged at an inclined downward; a quick-change tool end, the top of which is provided with a plurality of steel balls that cooperate with the locking conical surfaces, the quick-change tool end has an active space for piston to move up and down, and the active space is also provided with a plurality of springs, when the piston controls the steel balls to abut against the locking conical surfaces, the springs provide a longitudinal force to the piston to lock the quick-change robot end and the quick-change tool end; and a parking bracket, which is used to control the locking and unlocking of the quick-change robot end and the quick-change tool end.

[0005] The aforementioned patent document describes a quick-change robot end and a quick-change tool end that, in the locked state, are secured by several springs. When separation is required, the robot moves both ends into a parking bracket, which then separates them. However, this solution has the following drawbacks: 1. The internal structure is relatively complex, making assembly difficult and time-consuming; 2. Separation of the quick-change robot end and the quick-change tool end relies solely on the parking bracket, and manual quick unlocking is not supported under certain special working conditions. Utility Model Content

[0006] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a passive quick-change device for robot end effector.

[0007] This utility model is achieved through the following technical solution:

[0008] A passive quick-change device for robot end effector includes:

[0009] The quick-change robot end has an insertion space inside for inserting the quick-change tool end, and the insertion space has a locking cone surface inside;

[0010] The quick-change tool end has multiple steel balls at its top that mate with the locking cone surface. The quick-change tool end has an internal space for the piston to move up and down. The internal space has a spring that is sleeved on the outside of the piston. When the piston controls the steel balls to move outward and abut against the locking cone surface, the spring applies a longitudinal locking force to the piston so that the quick-change robot end and the quick-change tool end are locked together.

[0011] The push rod components are a pair located on both sides of the quick-change tool end. The ends of the push rod components can extend into the active space. The push rod components are used to push the piston upward to unlock the quick-change robot end from the quick-change tool end.

[0012] A further feature of this invention is that the piston includes a piston body and a pushing body disposed at its upper end, the outer wall of the piston body having a pushing cone surface; and the upper part of the pushing body is provided with a buffer groove.

[0013] A further feature of this invention is that the quick-change tool end includes a tool end body, an active space is disposed inside the tool end body, and a locking member with a ring-shaped structure protrudes from the top of the tool end body; a plurality of locking holes are evenly provided on the outer wall of the locking member, and a steel ball is disposed in the locking hole; a tool end cap is fixed to the bottom of the tool end body, and the tool end cap is used to close the bottom of the active space.

[0014] A further feature of this invention is that the interior of the tool end body includes a first cavity and a second cavity from top to bottom. The first cavity is inside the locking member, and the inner diameter of the first cavity is smaller than the inner diameter of the second cavity. The first cavity and the second cavity constitute an active space for the piston to move up and down. The piston body can move up and down in the second cavity, and the pushing body can move up and down in the first cavity and the second cavity.

[0015] A further feature of this invention is that the top surface of the piston body is recessed with a first annular limiting groove, which is located on the outside of the pushing body; the top surface of the inner cavity of the second cavity is recessed with a second annular limiting groove; and the spring is sleeved on the outside of the pushing body, with both ends of the spring contacting the first annular limiting groove and the second annular limiting groove respectively.

[0016] A further feature of this invention is that the lower parts of both sides of the tool end body are recessed with guide grooves, and the inner side of the guide grooves is also recessed with assembly grooves. The assembly grooves are connected to the movable space, and the push rod component is disposed in the assembly grooves.

[0017] A further feature of this invention is that the push rod component includes a push rod body and a push rod member disposed at one end of the push rod body. The end of the push rod member extends into the movable space, and the other end of the push rod body extends to the outside of the quick-change tool end. The push rod body has an L-shaped structure, and a guide hole is passed through the middle of the push rod body. The bottom of the tool end body is located below the assembly groove and a locking hole is also passed through it. A limiting screw passes through the locking hole and the guide hole to fix the push rod component.

[0018] A further feature of this invention is that an anti-detachment groove is recessed on the inner side of the guide groove, the anti-detachment groove is located below the assembly groove, and a partition is provided between the anti-detachment groove and the assembly groove. An anti-detachment lock is provided in the anti-detachment groove, and the anti-detachment lock is used to limit the position of the push rod component.

[0019] A further feature of this invention is that the quick-change robot end includes a robot end body, an insertion space is disposed inside the robot end body, and a robot end cap is fixed to the top of the robot end body; the insertion space includes a buffer cavity and a movable cavity that are interconnected, the buffer cavity is located above the movable cavity, and the inner diameter of the buffer cavity is larger than the inner diameter of the movable cavity; the locking cone surface is located at the top of the inner wall of the movable cavity.

[0020] A further feature of this invention is that it also includes a parking bracket, the parking bracket comprising:

[0021] The main support structure is U-shaped.

[0022] The bracket body has a release locking surface on both inner sides for controlling the end of the push rod component to move into the movable space.

[0023] Supporting components are provided at both ends of the bracket body, and the supporting components are located at the lower end of the loosening locking surface.

[0024] This utility model discloses a passive quick-change device for robot end effectors, which, compared with the prior art:

[0025] This invention achieves unlocking by setting a push rod component that works in conjunction with the conical surface of the piston, thereby enabling the push rod component to push the piston up and down. This is very convenient and can handle the unlocking of the quick-change robot end and quick-change tool end under certain special working conditions.

[0026] Compared with the prior art, this utility model has optimized the internal structure design, making it easier to assemble and replace;

[0027] In the locked state, the quick-change robot end and quick-change tool end of this utility model are not easily separated by the longitudinal locking force applied by the spring.

[0028] This invention, through the design of the push rod component and the anti-detachment lock, ensures that the quick-change robot end and the quick-change tool end will not separate when the push rod component collides. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0030] Figure 2 This is a cross-sectional view of the piston of this utility model.

[0031] Figure 3 This is a schematic diagram of the quick-change tool end of this utility model in the locked state.

[0032] Figure 4 This is a schematic diagram of the quick-change robot end and quick-change tool end of this utility model in the locked state.

[0033] Figure 5 This is an exploded view of the present invention.

[0034] Figure 6 This is a cross-sectional view of the quick-change robot end of this utility model.

[0035] Figure 7 This is a schematic diagram of the push rod component of this utility model. Figure 1 .

[0036] Figure 8 This is a schematic diagram of the push rod component of this utility model. Figure 2 .

[0037] Figure 9 This is a schematic diagram of the structure of the parking bracket of this utility model.

[0038] Figure 10 This is a schematic diagram of the structure of the quick-change robot end and quick-change tool end of this utility model located on the parking bracket.

[0039] Figure 11 This is a schematic diagram showing the unlocking of the quick-change robot end and quick-change tool end of this utility model via the parking bracket.

[0040] The numbers and letters in the diagram represent the names of the corresponding components:

[0041] Among them: 10, quick-change robot end; 20, quick-change tool end; 30, push rod component; 40, parking bracket; 101, insertion space; 101a, buffer cavity; 102b, movable cavity; 102, locking cone surface; 103, robot end body; 104, robot end top cover; 201, steel ball; 202, piston; 202a, piston body; 202b, pushing body; 202c, buffer groove; 203, movable space; 203a, first cavity; 203b, second cavity; 204, spring; 205, tool end body; 206, locking Components; 207, Locking hole; 208, Tool end cap; 209, First annular limiting groove; 210, Second annular limiting groove; 211, Guide groove; 212, Assembly groove; 213, Locking hole; 214, Limiting screw; 215, Anti-disengagement groove; 216, Anti-disengagement buckle; 217, Torsion spring; 301, Push rod body; 302, Pushing component; 303, Guide hole; 401, Bracket body; 402, Loosening locking surface; 402a, Positioning surface; 402b, Pushing inclined surface; 402c, Limiting surface; 403, Supporting component; 404, Zero point limiting buckle. Detailed Implementation

[0042] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0043] The accompanying drawings are for illustrative purposes only and are schematic diagrams, not actual pictures. They should not be construed as limiting the present invention. To better illustrate the embodiments of the present invention, some parts in the drawings may be omitted, enlarged, or reduced, and do not represent the actual product dimensions. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0044] In the accompanying drawings of this utility model, the same or similar reference numerals correspond to the same or similar components. In the description of this utility model, it should be understood that if terms such as "upper," "lower," "left," "right," "inner," and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing this utility model 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, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting this utility model. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0045] See Figures 1 to 11As shown, a passive quick-change device for a robot end effector includes: a quick-change robot end 10, configured to connect to the end effector of a robot, having an insertion space 101 for inserting a quick-change tool end 20, the insertion space 101 having a locking cone surface 102 inside; and a quick-change tool end 20, configured to connect to an actuator, having multiple steel balls 201 at its top that mate with the locking cone surface 102, and having a movable space 203 inside the quick-change tool end 20 for moving a piston 202 up and down, the movable space 203 having a spring 204 inside and the spring 204 sleeved on the outside of the piston 202. When the control steel ball 201 moves outward and abuts against the locking cone surface 102, the spring applies a longitudinal locking force to the piston 202 to lock the quick-change robot end 10 and the quick-change tool end 20; the push rod members 30, which are a pair and located on both sides of the quick-change tool end 20, have ends that can extend into the movable space 203, and are used to push the piston 202 upward to unlock the quick-change robot end and the quick-change tool end 20; in the above technical solution, the passive quick-change device at the robot end includes a quick-change robot end 10 and a quick-change tool end 20 that can be connected to each other, and when both are in the locked state, the piston 202 is in Initially, spring 204 is compressed, and piston 202 pushes steel ball 201 outward and abuts against locking cone surface 102. Due to the action of spring 204, spring 204 continuously provides a longitudinal locking force to piston 202, allowing piston 202 to continuously apply a locking force to steel ball 201 so that the two will not separate. When it is necessary to separate the two, by manually pushing the two push rod components 30 inward, the ends of push rod components 30 gradually move into the movable space 203, pushing component 30 pushes piston 202 upward. At this time, as piston 202 continuously moves upward, the top of piston 202 applies a pushing force to steel ball 201. As the force decreases, due to the weight of the locking cone 102 and the steel ball 201 itself, the steel ball 201 will gradually move away from the locking cone 102. When the steel ball 201 begins to move away, the two will begin to loosen until the steel ball 201 completely separates from the locking cone 102 and returns to the top of the quick-change tool end 20, thus completing the unlocking process. It is worth noting that when the unlocking is completed, the spring 204 is in a further compressed state. When the two separate, if the pushing force on the push rod component 30 is removed, the presence of the spring 204 will cause the piston 202 to move downward, and the top of the piston 202 will push the steel ball 201 outward.In this technical solution, the quick-change robot end 10 and quick-change tool end 20 are locked in the locked state mainly by the piston 202, steel ball 201, and locking cone surface 102. In this locked state, because the spring 204 is compressed, it continuously provides longitudinal locking force, causing the steel ball 201 to abut against the locking cone surface 102, thus locking the quick-change robot end 10 and quick-change tool end 20 tightly and preventing loosening. The structural design is novel and ingenious, requiring no power or air supply, thus eliminating the possibility of the quick-change device becoming unusable due to power or air supply failure. Furthermore, when unlocking is required, the unlocking process can be easily completed by manually pushing the push rod component 30. Separation is more convenient without relying on a parking bracket, making it easier to use in special working conditions, facilitating maintenance and replacement, and significantly improving production cycle time and efficiency. Compared to existing technologies, this technical solution addresses the significant drawbacks of manual unlocking. Existing technologies, when the quick-change device is still connected to the robot's end effector, require applying an upward force to the piston rod to move it upwards, causing the steel ball to move away from the locking surface and retract. Furthermore, the robot's end effector must continuously apply downward pressure to the quick-change device to move the piston and unlock it. This is impossible for a single person to operate, and it also requires overcoming the spring unlocking force and performing the opposite movement, making it extremely inconvenient. In contrast, this technical solution allows for unlocking if the quick-change device is small enough to be held with one hand. Pressing with two fingers moves the piston upwards, causing the quick-change tool end to automatically detach downwards. Even if the quick-change device is slightly larger, pressing with both hands simultaneously is sufficient, making it highly convenient.

[0046] The piston 202 includes a piston body 202a and a pushing body 202b disposed at its upper end. The outer wall of the piston body 202a has a pushing cone surface; the upper part of the pushing body 202b is provided with a buffer groove 202c. The piston 202 is an integral structure. The piston body 202a has an inverted frustum-shaped structure with its outer diameter gradually decreasing from top to bottom. The pushing body 202b has a cylindrical structure. Due to the presence of the pushing cone surface of the piston body 202a, the end of the push rod component 30 moves inward into the movable space 203. When activated, the end of the push rod component 30 can easily push the piston 202 upward. The pushing body 202b mainly has two functions. The first function is that the top outer wall of the pushing body 202b can push the steel ball 201 outward and continuously apply a pushing force to the steel ball 201 so that the steel ball 201 abuts against the locking cone surface 102. The second function of the pushing body 202b is the buffer groove 202c. The connection between the buffer groove 202c and the pushing body 202b is an arc-shaped structure. When the quick-change robot end 10 and the quick-change tool end 20 are unlocked, the pushing body 202b of the piston 202 moves upward. As the top outer wall of the pushing body 202b gradually separates from the steel ball 201, the steel ball 201, due to its own weight, begins to move away from the locking cone surface 102. At this time, the buffer groove 202c provides a buffer space for the steel ball 201 to fall back. When the two separate, part of the steel ball 201 can enter the buffer groove 202c, thus facilitating release. It is worth noting... Yes, the cross-section of the top of the pushing body 202b is an inverted trapezoidal structure, that is, the diameter of the top surface of the pushing body 202b is larger than the diameter of the bottom surface of the top of the pushing body 202b. When the top annular surface of the pushing body 202b contacts the steel ball 201, the lateral displacement of the steel ball 201 is the largest, which also makes the top annular surface of the pushing body 202b in close contact with the steel ball 201, thereby making the steel ball 201 abut against the locking cone surface 102 to achieve locking between the quick-change robot end 10 and the quick-change tool end 20.

[0047] The quick-change tool end 20 includes a tool end body 205, an active space 203 disposed inside the tool end body 205, and a ring-shaped locking member 206 protruding from the top of the tool end body 205; multiple locking holes 207 are evenly distributed on the outer side wall of the locking member 206, and steel balls 201 are disposed in the locking holes 207; a tool end cap 208 is fixed to the bottom of the tool end body 205, and the tool end cap 208 is used to close the bottom of the active space 203; The locking hole 207 is used to install the steel ball 201. The inner diameter of the locking hole 207 is larger than the inner diameter of the steel ball 201. The wall thickness of the locking member 206 is smaller than the diameter of the steel ball 201. The outer diameter of the locking hole 207 is smaller than the diameter of the steel ball 201, and the inner diameter of the locking hole 207 is larger than the diameter of the steel ball 201. This structural design ensures that the steel ball 201 will not detach from the locking hole 207 and the locking member when it moves outward. 206. Furthermore, since the pushing body 202b of the piston 202 moves up and down inside the locking member 206, the steel ball 201 will not detach from the locking member 206. When the quick-change robot end 10 and the quick-change tool end 20 are disengaged, part of the steel ball 201 will enter the buffer groove 202c due to the presence of the buffer groove 202c. When installing the steel ball 201, first place the steel ball 201 in the locking hole 207 from the inside, and then install the piston 202 into the movable space 203. In addition, it is worth noting that the tool end cap 208 can limit the piston 202. That is, in the locked state, the piston 202 is in the initial state, and the piston 202 will push the steel ball 201 outward. The piston 202 is in contact with the tool end cap 208, which supports the piston 202. Moreover, the tool end cap 208 can also play a certain role in dust prevention.

[0048] The tool end body 205 includes, from top to bottom, a first cavity 203a and a second cavity 203b. The first cavity 203a is inside the locking member 206. The inner diameter of the first cavity 203a is smaller than the inner diameter of the second cavity 203b. The first cavity 203a and the second cavity 203b constitute an active space 203 for the piston 202 to move up and down. The piston body 202a can move up and down in the second cavity 203b, and the pushing body 202b can move up and down in the first cavity 203a and the second cavity 203b. In the above technical solution, the interior of the locking member 206 is the first cavity 203a, and the tool end cap 208 seals the bottom of the second cavity 203b.

[0049] The piston body 202a has a first annular limiting groove 209 recessed on its top surface, which is located on the outside of the pushing body 202b. The second cavity 203b has a second annular limiting groove 210 recessed on its inner top surface. The spring 204 is sleeved on the outside of the pushing body 202b, and its two ends are in contact with the first annular limiting groove 209 and the second annular limiting groove 210, respectively. In the above technical solution, the spring 204 is located in the second cavity 203b of the movable space 203, and its two ends are limited by the first annular limiting groove 209 and the second annular limiting groove 210, respectively. The second annular limiting groove 210 is located directly above the first annular limiting groove 209. By limiting the two ends of the spring 204, the movement trajectory of the spring 204 can be made more accurate, so as to achieve the positioning and locking function. It is worth noting that compared with the prior art, this technical solution only uses one spring 204, which has a simple structure, is easy to assemble, and is also easy to maintain later.

[0050] The tool end body 205 has guide grooves 211 recessed on both lower sides, and an assembly groove 212 recessed on the inner side of the guide groove 211. The assembly groove 212 is connected to the movable space 203, and the push rod component 30 is disposed in the assembly groove 212. In the above technical solution, the guide groove 211 is an elongated groove. The guide groove 211 is used to cooperate with the parking bracket 40. The assembly groove 212 is used to install the push rod component 30. A push rod channel is opened between the assembly groove 212 and the movable space 203. The assembly groove 212 is connected to the second cavity 203b of the movable space 203.

[0051] The push rod component 30 includes a push rod body 301 and a push rod member 302 disposed at one end of the push rod body 301. The end of the push rod member 302 extends into the movable space 203, and the other end of the push rod body 301 extends to the outside of the quick-change tool end 20. The push rod body 301 has an L-shaped structure, and a guide hole 303 passes through the middle of the push rod body 301. The bottom of the tool end body 205, located below the assembly groove 212, also has a locking hole 213. A limiting screw 214 passes through the locking hole 213 and the guide hole 303 to fix the push rod component 30. The top surface of the assembly groove 212 is recessed with a threaded hole. The outer wall of the middle part of the limiting screw 214 is smooth, and the top of the limiting screw 214 has threads. The top of the limiting screw 214 is threadedly screwed into the threaded hole. In the above technical solution, the end of the push rod member 302 is triangular or hemispherical, preferably hemispherical. The push rod 302 can move within the push rod channel. The guide hole 303 is a rectangular through hole with arc-shaped ends. Since the limiting screw 214 passes through the guide hole 303, the push rod 302 of the push rod component 30 can only move within a certain stroke, so that the push rod 302 only contacts the outer wall surface of the piston body 202a during the pushing process. At the same time, with the long-term use of the push rod component 30 to unlock the quick-change robot end 10 and quick-change tool end 20, wear of the push rod component 30 is inevitable. If wear occurs, it will cause deviation or failure in the later unlocking. Therefore, the push rod component 30 is fixed by the limiting screw 214. When wear of the push rod component 30 is found, it is only necessary to remove the limiting screw 214, take out the push rod component 30, and replace it with a new one, which is very convenient.

[0052] The inner side of the guide groove 211 is also recessed with an anti-detachment groove 215, which is located below the assembly groove 212. A partition is provided between the anti-detachment groove 215 and the assembly groove 212. An anti-detachment latch 216 is provided in the anti-detachment groove 215, which is used to limit the push rod component 30. A guide hole is passed through the partition, which is located above the locking hole 213. The anti-detachment groove 215 is fixed with a torsion spring 217 and an anti-detachment latch 216 by a limiting screw 214. The limiting screw 214 passes through the torsion spring, the anti-detachment latch 216, the guide hole, and the guide hole 30 in sequence from the locking hole 213. 3. The anti-detachment latch 216 is a rectangular structure. In the initial state, the anti-detachment latch 216 extends to the outside of the anti-detachment groove 215 and is located within the guide groove 211. It is worth noting that the top surface of the anti-detachment latch 216 is higher than the bottom surface of the vertical end of the push rod body 301. That is, in the locked state of the quick-change robot end 10 and the quick-change tool end 20, the presence of the anti-detachment latch 216 prevents the push rod component 30 from moving. When it is necessary to unlock the quick-change robot end 10 and the quick-change tool end 20, simply rotate the anti-detachment latch 216 to allow it to unlock. When the anti-detachment latch 216 rotates into the anti-detachment groove 215, it will no longer affect the movement of the push rod component 30. Then, by manually moving the push rod component 30, the quick-change robot end 10 and quick-change tool end 20 can be unlocked. Compared to existing technologies, the anti-detachment latch 216, located in the anti-detachment groove 215 within the guide groove 211, prevents the push rod component 30 from moving even when it is locked and in use, as it is hidden inside and holds the push rod component 30 in place. This also prevents movement of the push rod component 30 even when an external object collides with it. This prevents the two from separating during operation. Moreover, in the locked state, due to the presence of the torsion spring 217, the torsion spring 217 always keeps the anti-detachment latch 216 in a state that limits the push rod component 30. That is, the anti-detachment latch 216 extends to the outside of the anti-detachment groove 215 and is located in the guide groove 211. The torsion spring 217 uses its own elastic force to make the anti-detachment latch 216 rotate. When unlocking is required, the anti-detachment latch 216 can be rotated into the anti-detachment groove 215. It is worth noting that the torsion spring is prior art, and those skilled in the art can select it according to actual needs.

[0053] The quick-change robot end 10 includes a robot end body 103, an insertion space 101 disposed inside the robot end body 103, and a robot end cap 104 fixed to the top of the robot end body 103. The insertion space 101 includes a buffer cavity 101a and a movable cavity 101b that are interconnected. The buffer cavity 101a is located above the movable cavity 101b, and the inner diameter of the buffer cavity 101a is larger than the inner diameter of the movable cavity 101b. A locking cone surface 102 is located at the top of the inner wall of the movable cavity 101b. In the above technical solution, the insertion space 101 is used for the top of the quick-change tool end 20 to extend into, and is limited by the robot end cap 104. In addition, the robot end cap 104... The setting of 4 can effectively prevent dust and other workshop impurities from entering the quick-change robot end 10, thereby extending the service life of the quick-change robot end 10 and improving the locking accuracy of the quick-change robot end 10 and quick-change tool end 20; the inner diameter of the locking cone surface 102 gradually decreases from top to bottom, that is, the diameter of the top of the locking cone surface 102 is greater than the diameter of the bottom of the locking cone surface 102. Since the steel ball 201 is in contact with the locking cone surface 102 when the quick-change robot end 10 and quick-change tool end 20 are locked, the setting of the buffer cavity 101a provides a certain space for the steel ball 201, and the setting of the movable cavity 101b is used to allow the piston 202 to push the main body 202b up and down.

[0054] It also includes a parking bracket 40, which comprises: a bracket body 401, which has a U-shaped structure; a release locking surface 402, wherein both ends of the bracket body 401 are provided with release locking surfaces 402 for controlling the end of the push rod component 30 to move into the movable space 203; the release locking surface 402 includes a positioning surface 402a, a pushing inclined surface 402b and a limiting surface 402c arranged sequentially, the positioning surface 402a and the limiting surface 402c are arranged parallel to each other, the distance between the two positioning surfaces 402a is greater than the distance between the two limiting surfaces 402c, and the distance between the two pushing inclined surfaces 402b gradually decreases from left to right; and a support component 403. Both ends of the bracket body 401 are provided with support members 403, which are located at the lower end of the loosening locking surface 402. In the above technical solution, the parking bracket 40 is an integral structure, and the support member 403 is a support plate, which mainly plays a supporting role. The support member 403 is used to cooperate with the guide groove 211. When it is necessary to rely on the parking bracket 40 to unlock the quick-change robot end 10 and the quick-change tool end 20, the guide groove 211 connects with the support member 403. Due to the presence of the support member 403, the support member 403 can push the anti-loosening buckle 216 protruding from the outside of the anti-loosening groove 215 to rotate, so that the anti-loosening buckle 216 rotates to the anti-loosening position. The release groove 215 eliminates the influence of the anti-detachment latch 216 on the push rod component 30. Simultaneously, the support component 403 also provides support for the quick-change tool end 20 to prevent the quick-change robot end 10 and quick-change tool end 20 from falling. The loosening locking surface 402 is mainly used for unlocking the quick-change robot end 10 and quick-change tool end 20. In the locked state, the distance between the outermost edges of the two push rod components 30 is equal to the distance between the two positioning surfaces 402a. The positioning surfaces 402a are used to position the push rod components 30. Then, the robot drives the quick-change robot end 10 and quick-change tool end 20 to move into the parking bracket 40. As they move, they are pushed... The inclined surface 402b applies a compressive force to the push rod component 30, causing the end of the push rod component 30 to move into the interior of the movable space 203. The push rod component 30 applies an upward force to the piston 202, causing the piston 202 to move upward, thereby causing the steel ball 201 to disengage from the locking cone surface 102 due to its own weight. This continues until the steel ball 201 completely disengages from the locking cone surface 102, separating the quick-change robot end 10 and the quick-change tool end 20. At this time, the outermost part of the push rod component 30 contacts the limiting surface 402c. The limiting surface 402c ensures that both are always in an unlocked state, allowing the robot to drive the quick-change robot end 10 and the quick-change tool end 20 to separate.When locking is required, the robot moves the quick-change robot end 10 to the upper end of the quick-change tool end 20 and applies downward pressure. Then, the robot moves both to the outside of the parking bracket 40. Since the spring 204 continuously applies a longitudinal force to the piston 202, as both move outward, the end of the push rod component 30 slowly moves outward (i.e., the force applied by the push rod component 30 to the piston 202 continuously decreases, causing the piston 202 to apply pressure to the steel ball 201, causing the steel ball 201 to gradually contact the locking cone surface). When the push rod component 30 contacts the positioning surface 402a, the piston 202 controls the steel ball 201 to abut against the locking cone surface 102. At this point, both are locked. When the quick-change tool end 20 moves away from the parking bracket 40, due to the presence of the torsion spring, the anti-disengagement latch 21 returns to its initial position, rotating to the outside of the anti-disengagement groove 215 and located within the guide groove 211, thereby limiting the push rod component 30.

[0055] This invention can be unlocked either by using the parking bracket 40 or without relying on the parking bracket 40, making it more flexible than existing technologies.

[0056] See Figure 9 and Figure 10 As shown, the inner side of the support body 401 is also provided with a rotatable zero-point limit buckle 404. The zero-point limit buckle is used for the robot to determine the unlocking zero-point position. When debugging the robot for the first time, open the limit buckle to determine the unlocking position of the quick-change device, that is, the robot's gripping and releasing point. Place the tool end in this position, and then fit the robot end and the tool end together.

[0057] See Figure 5 and Figure 6 As shown, in order to facilitate more precise docking between the quick-change robot end 10 and the quick-change tool end 20, the lower end of the quick-change robot end 10 is provided with two positioning pins, and the quick-change tool end 20 is provided with positioning pin sleeves at the corresponding positions.

[0058] The above are merely preferred embodiments of this utility model, but the scope of protection of this utility model is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in this utility model, based on the technical solution and inventive concept of this utility model, should be included within the scope of protection of this utility model.

Claims

1. A robot end passive quick change device, characterized in that, The utility model relates to a quick-change robot end (10) and a quick-change tool end (20) which are locked together by a piston (202) and a spring (204). The quick-change robot end (10) comprises an insertion space (101) in which the quick-change tool end (20) is inserted, and a locking taper (102) is arranged in the insertion space (101). The quick-change tool end (20) comprises a tool end body (205), and the activity space (203) is arranged in the tool end body (205). The tool end body (205) comprises a first cavity (203a) and a second cavity (203b) arranged in sequence from top to bottom in the tool end body (205).

2. The passive quick change device for a robot end-of-arm according to claim 1, wherein: The piston (202) comprises a piston body (202a) and a pushing body (202b) arranged on the upper end of the piston body (202a).

3. The passive quick change device of claim 2, wherein: The piston body (202a) comprises a pushing taper on the outer wall thereof.

4. The passive quick change device of claim 3, wherein: The pushing body (202b) comprises a buffer groove (202c) arranged on the upper portion thereof.

5. The passive quick change device of claim 4, wherein, The spring (204) is arranged on the outer wall of the pushing body (202b). The spring (204) is arranged on the outer wall of the pushing body (202b).

6. The passive quick change device of any one of claims 3-5, wherein: Two sides of the tool end body (205) are concavely provided with guide grooves (211), and the inner side of the guide groove (211) is further concavely provided with an assembly groove (212) in communication with the activity space (203), and the push rod component (30) is arranged in the assembly groove (212).

7. The robot end passive quick change device of claim 6, wherein: The push rod component (30) comprises a push rod body (301) and a push rod piece (302) arranged at one side end of the push rod body (301), the end of the push rod piece (302) extends into the activity space (203), and the other side end of the push rod body (301) extends to the outside of the quick-change tool end (20); the push rod body (301) is in an L-shaped structure, and a guide hole (303) penetrates the middle part of the push rod body (301); the bottom of the tool end body (205) is further provided with a locking hole (213) below the assembly groove (212), and a limiting screw (214) passes through the locking hole (213) and the guide hole (303) to fix the push rod component (30).

8. The passive quick change device of claim 7, wherein: The inner side of the guide groove (211) is further concavely provided with an anti-falling groove (215) below the assembly groove (212), and a partition plate is arranged between the anti-falling groove (215) and the assembly groove (212), the anti-falling groove (215) is provided with an anti-falling lock (216) therein, and the anti-falling lock (216) is used for limiting the push rod component (30).

9. The passive quick change device of claim 1, wherein: The quick-change robot end (10) comprises a robot end body (103), the insertion space (101) is arranged in the interior of the robot end body (103), and the top of the robot end body (103) is fixedly provided with a robot end cover (104); the insertion space (101) comprises a buffer cavity (101a) and an activity cavity (101b) in communication with each other, the buffer cavity (101a) is located above the activity cavity (101b), and the inner diameter of the buffer cavity (101a) is greater than that of the activity cavity (101b); the locking conical surface (102) is located at the top end of the inner wall of the activity cavity (101b).

10. The passive quick change device of claim 1, wherein, Further comprising a parking support (40), the parking support (40) comprises: A support body (401) in a U-shaped structure; A loosening locking surface (402) arranged at the inner side of both ends of the support body (401) and used for controlling the end of the push rod component (30) to move into the activity space (203); A supporting component (403) arranged at the bottom of both ends of the support body (401), and the supporting component (403) is located at the lower end of the loosening locking surface (402).

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