Automatic quick-change device for end tool of passive robot

Abstract

The utility model provides an automatic quick-changing device for a passive robot end tool in the technical field of robots, which comprises a robot side component provided with a V-shaped flanging table and a locking hole; the tool side assembly is provided with a V-shaped sliding groove matched with the V-shaped flanging table, a sliding block locking pin, a tool side spring and a sliding groove button. The quick-change support assembly is provided with a support arm and a boss. When the mechanical arm needs a certain tool, the mechanical arm moves to be in butt joint with the tool side assembly, at the moment, the V-shaped flanging table slides into and is wedged in the V-shaped sliding groove, a boss of the quick-change support assembly is far away from the tool side assembly, and a tool side spring gradually releases elastic potential energy to push a sliding groove button to move towards the outside of the tool side assembly; and the inclined surface of the cavity of the sliding groove button pushes the stop pin to move upwards to be locked into the locking hole, so that the robot side assembly and the tool side assembly are locked to realize connection, and otherwise, unlocking is realized. The utility model has the advantages of simple structure and lower cost, and can effectively reduce the failure rate of equipment.

Description

Technical Field

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

[0002] With the rapid development of technology, robotics has been widely applied in various fields such as industry, commerce, and homes. Therefore, to adapt to the practical applications of robots in various situations, the automatic changing technology of robot end-effector tools is an extremely important research direction. This technology allows robots to quickly change different end-effector tools without interrupting their work, adapting to different work requirements and thus improving work efficiency and quality. At the same time, to improve production efficiency and reduce production costs, there is also a great demand for this technology in the fields of automation equipment and mechanical engineering.

[0003] Currently, some automated quick-change devices for robotic end-effectors on the market typically require pneumatic or electric power sources to drive the device for unlocking and locking to change tools. For example, a common automated quick-change device for robots uses a cylinder to drive a conical body, which controls the movement of steel balls to unlock and lock the tool end, thus enabling the replacement of different end-effectors.

[0004] However, existing automated quick-change devices for robot ends have several problems. First, these devices require pneumatic or electric power sources, which not only increases the complexity and cost of the equipment but also increases the failure rate. Second, these devices are large and heavy, increasing the robot's load and limiting its range of motion and speed. Furthermore, the locking and unlocking actions of these devices require precise control, thus increasing the complexity of the control system. Utility Model Content

[0005] This invention provides a lower-cost and simpler-to-operate automatic quick-change device for robot ends compared to ordinary ones. It employs a passive design, eliminating the need for pneumatic or electric power sources to drive the unlocking and locking actions for tool replacement. Instead, it uses the kinetic energy of the robotic arm's movement to unlock the device and detach it from the tool, then uses the potential energy stored in a spring to release the energy for fitting a new tool before locking it. The passive design and lightweight, compact structure of this invention offer cost advantages in both robot manufacturing and routine maintenance.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] An automatic quick-change device for a passive robot end-effector tool includes: a robot-side component, a tool-side component, and a quick-change bracket component.

[0008] The robot side assembly includes: a robotic arm connector, one side of which is provided with a flange and is fixedly connected to the robotic arm of the robot by screws, and the other side is provided with a V-shaped flange, the wider end of which is provided with a locking hole for locking and unlocking the quick-change device.

[0009] The tool-side assembly, connected to the robot end-effector, includes: a tool connector, the platform surface of which is provided with a V-shaped groove adapted to the V-shaped flange of the robot-side assembly; the platform surface of the tool connector is provided with a pin hole corresponding to the locking hole of the robot-side assembly; when the robot-side assembly and the tool-side assembly are fully wedge-fitted, the pin hole and the locking hole coincide; and a slider locking pin, which can move up and down along the axial direction of the tool-side assembly and pass through the matching pin hole and locking hole.

[0010] The quick-change bracket assembly includes: a bracket cover plate; a bracket arm, which is connected to the bracket cover plate via a bearing in the middle and can rotate slightly around the bearing within a limited range to open and close; the bracket arm is a symmetrical arc-shaped gripper adapted to the tool side assembly; and a bracket spring, which is connected to the end of the bracket arm.

[0011] Furthermore, the tool-side assembly also includes a sliding button, which is horizontally disposed inside the tool-side assembly, with one end flush with the outer cylindrical surface of the tool-side assembly. The sliding button has an inclined cavity that communicates with the pin hole, and the slider locking pin is located inside the cavity.

[0012] Furthermore, the tool-side assembly is also provided with a tool-side spring that is horizontally connected to the slide button. The slider locking pin moves up and down along the axis of the tool-side assembly through the compression and release of the tool-side spring and the horizontal movement of the slide button. Specifically: When an external force pushes the slide button into the tool-side assembly, the slider locking pin moves downward along the axis of the tool-side assembly under the push of the inclined surface of the slide button's cavity until the bottom surface of the slider locking pin contacts the slide button and stops. At this time, the slider locking pin exits the locking hole of the robot-side assembly, the tool-side spring is in a compressed state, storing elastic potential energy, and the quick-change device is in an unlocked state. When the external force pushing the slide button is removed, the tool-side spring releases its elastic potential energy, extends outward, and pushes the slide button to move outward from the tool-side assembly, causing the inclined surface of the slide button's cavity to push the slider locking pin upward along the axis of the tool-side assembly until the slider locking pin is inserted into the locking hole of the robot-side assembly. At this time, the quick-change device is in a locked state, and the robot-side assembly and the tool-side assembly are locked together to achieve connection.

[0013] Furthermore, the quick-change bracket assembly also includes a boss, which is fixedly mounted on the bracket cover plate. When the tool-side assembly moves to the quick-change bracket assembly, the boss serves to press the slide button into the tool-side assembly. Since the boss is a fixed feature, the external force for pressing the slide button comes from the bracket spring connected to the bracket arm. To ensure that the boss can smoothly push the slide button, the elastic coefficient of the bracket spring must be greater than that of the tool-side spring. Preferably, the elastic coefficient of the bracket spring is more than twice that of the tool-side spring of the tool-side assembly, so that the bracket arm can firmly grip the tool-side assembly and use the boss to push the slide button into the tool-side assembly.

[0014] According to some embodiments of this invention, the robot-side component also includes a microswitch with its button located at the locking hole, used to monitor whether the quick-change device has successfully docked. This feedback mechanism has a very compact structure and can quickly and sensitively detect whether the quick-change device has successfully docked and lock.

[0015] According to some embodiments of the present invention, the robot-side component further includes an electrical connector pogopin female, and the tool-side component is further provided with an electrical connector pogopin male that is adapted to the electrical connector pogopin female.

[0016] According to some embodiments of this utility model, the robot-side component and the tool-side component are provided with hollow structures, and the connecting cables of the electrical connector pogopin male and electrical connector pogopin female are internally arranged and connected.

[0017] According to some embodiments of the present invention, the tool connector of the tool side assembly has two gripping grooves on opposite sides, which are adapted to the support arm of the quick-change bracket assembly.

[0018] According to some embodiments of this utility model, the quick-change bracket assembly can also be equipped with a QR code that can be recognized by the robot itself and corresponds to the robot's end tool. The robot's vision sensor detects the QR code to determine the relative position and relative posture of the robotic arm and the quick-change bracket assembly, so that the robotic arm can accurately find and assemble the new tool, thereby achieving precise tool replacement.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] (1) The V-shaped groove and the V-shaped flange table slide into and wedge together to initially fix the position of the robotic arm and the robot end effector. This process does not require a very precise control system. The V-shaped flange table only needs to slide smoothly into the V-shaped groove track to achieve the connection. Moreover, the V-shaped groove structure can be directly machined using a CNC T-cut milling cutter, which has the advantage of lower cost.

[0021] (2) The internal setting of the slide button, that is, its length and position do not exceed the outer surface of the present invention, avoids the situation where the slide button collide with the external environment during the operation of the robot, causing the quick-change device to mis-lock and the robot end tool to fall off.

[0022] (3) The horizontal setting of the tool side spring and the slide button shortens the axial length of the quick-change device, greatly improving the motion performance and load capacity of the robotic arm.

[0023] (4) The hollow structure of the robot side component and the tool side component greatly improves the life of the motion cable, avoids interference between the cable and the external environment that would affect the robot's operation, and also improves the robot's aesthetics.

[0024] In summary, this invention's passive robot end-tool automatic quick-change device eliminates the need for pneumatic or electric power sources, significantly simplifying the device structure, reducing complexity and cost, and decreasing failure rates while improving reliability. Secondly, the device is lighter and smaller, greatly reducing the robot's load and increasing its range of motion and speed, thus improving work efficiency. Furthermore, the locking and unlocking actions are simple, reducing control system complexity and making the device easier to operate and maintain. Therefore, this invention has broad market demand, especially in scenarios requiring frequent end-tool changes, such as electronic assembly, machining, and home applications, demonstrating significant application potential. Attached Figure Description

[0025] The accompanying drawings, which form part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an undue limitation of the present invention. In the drawings:

[0026] Figure 1 This is a structural diagram of a passive robot end effector according to the present invention;

[0027] Figure 2 This is a structural diagram of the robot side component of this utility model;

[0028] Figure 3 This is a cross-sectional view of the robot side component of this utility model;

[0029] Figure 4 This is a structural diagram of the tool-side component of this utility model;

[0030] Figure 5 This is a cross-sectional view of the tool side component of this utility model;

[0031] Figure 6 This is a cross-sectional view of the quick-change bracket assembly of this utility model;

[0032] Figure 7 This is a structural diagram of the automatic quick-change device of this utility model;

[0033] Figure 8 This is a cross-sectional view of the automatic quick-change device of this utility model.

[0034] The above figures include the following reference numerals:

[0035] 1. Robot side assembly; 1-1. Robotic arm connector; 1-2. Micro switch; 1-3. Electrical connector pogopin female; 1-4. V-shaped flange; 1-5. Locking hole; 2. Tool side assembly; 2-1. Tool connector; 2-2. Slide button; 2-3. Slide lock pin; 2-4. Tool side spring; 2-5. Electrical connector pogopin male; 2-6. V-shaped slide; 2-7. Pin hole; 3. Quick-change bracket assembly; 3-1. Bracket cover plate; 3-2. Bracket arm; 3-3. Bracket spring; 3-4. Boss. Detailed Implementation

[0036] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, not all embodiments, and the embodiments and features in the embodiments of this application can be combined with each other without conflict. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0037] It should be noted that, unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. The terms “set,” “connected,” and “linked” as used in this specification and claims should be interpreted broadly, for example, as a fixed connection, a detachable connection, or an integral connection; as a direct connection or an indirect connection via an intermediate medium; or as a connection within two elements. When the terms “comprising” and / or “including” are used in this specification and claims, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof. This utility model relates to directional descriptions, such as up, down, front, back, left, right, horizontal, vertical, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. These are merely for the convenience of describing this application 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, and therefore should not be construed as a limitation of this application. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of this application described herein can be implemented, for example, in a sequence other than those illustrated or described herein.

[0038] As attached Figure 1 To be continued Figure 8 As shown, a passive robot end-effector tool automatic quick-change device includes: a robot-side component, a tool-side component, and a quick-change bracket component.

[0039] like Figure 2 , Figure 3 As shown, the robot side component 1 includes: a robotic arm connector 1-1, one side of which is provided with a flange and is fixedly connected to the robotic arm of the robot by screws, and the other side is provided with a V-shaped flange 1-4, the wider end of which is provided with a locking hole 1-5 for locking and unlocking the quick-change device.

[0040] like Figure 3 , Figure 4 , Figure 5As shown, the tool-side assembly 2, connected to the robot end-effector, includes: a tool connector 2-1, whose platform surface is provided with a V-shaped groove 2-6 adapted to the V-shaped flange 1-4 of the robot-side assembly 1. The V-shaped flange 1-4 can slide completely into and engage within the V-shaped groove 2-6, thereby connecting the robotic arm to the robot end-effector. The platform surface of the tool connector 2-1 is provided with pin holes 2-7, corresponding to the locking holes 1-5 of the robot-side assembly 1. When the robot... When the robot-side component 1 and the tool-side component 2 are fully wedge-fitted, the pin hole 2-7 and the locking hole 1-5 are aligned. The slider locking pin 2-3 can move up and down along the axis of the tool-side component and pass through the matching pin hole 2-7 and locking hole 1-5. When the slider locking pin 2-3 passes through the pin hole 2-7 and is inserted into the locking hole 1-5, the quick-change device is in a locked state. When the slider locking pin 2-3 exits the locking hole 1-5, the quick-change device is in an unlocked state.

[0041] like Figure 6 As shown, the quick-change bracket assembly 3 includes: a bracket cover plate 3-1; a bracket arm 3-2, which is connected to the bracket cover plate 3-1 via a bearing in the middle, and can rotate slightly around the bearing within a limited range to open and close; the bracket arm 3-2 is a symmetrical arc-shaped gripper adapted to the tool side assembly 2, used to grip and fix the tool side assembly 2; and a bracket spring 3-3, which is connected to the end of the bracket arm, and the bracket spring 3-3 allows the tool side assembly 2 to be clamped by the bracket arm 3-2 and kept in a tight gripping state.

[0042] In some embodiments of this utility model, the tool side component 2 further includes a sliding button 2-2, which is horizontally disposed inside the tool side component 2, with one end flush with the outer cylindrical surface of the tool side component 2, and the sliding button 2-2 has an inclined cavity communicating with the pin hole 2-7 inside, and the slider locking pin 2-3 is located in the cavity of the sliding button 2-2.

[0043] In some embodiments of this utility model, the tool-side assembly 2 is further provided with a tool-side spring 2-4 horizontally connected to the slide button 2-2. The slider locking pin 2-3 achieves its up-and-down movement along the axis of the tool-side assembly 2 through the compression and release of the tool-side spring and the horizontal movement of the slide button. Specifically, when an external force pushes the slide button 2-2 into the tool-side assembly 2, the slider locking pin 2-3 moves downward along the axis of the tool-side assembly 2 under the push of the inclined surface of the cavity of the slide button 2-2 until its bottom surface contacts the slide button 2-2 and stops. At this time, the slider locking pin 2-3 exits the locking hole 1-5 of the robot-side assembly 2, and the tool-side spring... When 2-4 is in a compressed state, storing elastic potential energy, the quick-change device is in an unlocked state, allowing the V-shaped flange 1-4 of the robot side assembly 1 to slide smoothly out of the V-shaped groove 2-6 of the tool side assembly 2. When the external force pushing the groove button 2-2 is removed, the tool side spring 2-4 releases its elastic potential energy, extends outward, and pushes the groove button 2-2 to move outward of the tool side assembly 2. This causes the inclined surface of the cavity of the groove button 2-2 to push the slider locking pin 2-3 to move upward along the axis of the tool side assembly 2 until the slider locking pin is inserted into the locking hole 2-6 of the robot side assembly 2. At this time, the quick-change device is in a locked state, and the robot side assembly 1 and the tool side assembly 2 are locked together to achieve connection.

[0044] In some embodiments of this utility model, the quick-change bracket assembly 3 further includes a boss 3-4 and a bracket spring 3-3. The boss is fixedly mounted on the bracket cover plate 3-1. When the tool-side assembly 2 moves to the quick-change bracket assembly 3, the boss 3-3 acts to press the slide button 2-2 towards the inside of the tool-side assembly 2, causing the slider locking pin 2-3 to move downward along the axis of the tool-side assembly 2. This further allows the V-shaped flange 1-4 of the robot-side assembly 1 to slide normally into or out of the V-shaped slide groove 2-6 of the tool-side assembly 2. Since the boss 3-4 is a fixed feature, the external force for pressing the slide button 2-2 comes from the bracket spring 3-3 connected to the bracket arm 3-2. To ensure that the boss can smoothly push the slide button, the elastic coefficient of the bracket spring 3-3 must be greater than that of the tool-side spring. Preferably, the elastic coefficient of the bracket spring 3-3 is more than twice that of the tool side spring of the tool side assembly 2, so that the bracket arm 3-2 can firmly clamp the tool side assembly 2 and use the boss to push the slide button into the tool side assembly 2.

[0045] In some embodiments of this utility model, the robot side component 1 also includes a micro switch 1-2, the button of which is located at the locking hole 1-5, for monitoring whether the quick-change device is successfully docked. This feedback mechanism has a very compact and small structure, and can quickly and sensitively detect whether the quick-change device is successfully docked and lock.

[0046] In some embodiments of the present invention, the robot-side component 1 further includes an electrical connector pogopin female 1-3, and the tool-side component 2 is further provided with an electrical connector pogopin male 2-5 adapted to the electrical connector pogopin female 1-3, for powering and communicating with the robot end tool after the quick-change device has been successfully docked and locked.

[0047] In some embodiments of this utility model, the robot-side component and the tool-side component are provided with a hollow structure, and the connecting cables of the electrical connector pogopin male 2-5 and the electrical connector pogopin female 1-3 can be internally arranged and connected.

[0048] In some embodiments of this utility model, the tool connector 2-1 of the tool side assembly 2 is provided with two gripping grooves on opposite sides, which are adapted to the support arm 3-2 of the quick-change bracket assembly 3, so that the support arm 3-2 can more firmly grip the tool side assembly 2 and prevent it from falling off.

[0049] According to some embodiments of the present invention, the quick-change bracket assembly 3 can also be equipped with a QR code that can be recognized by the robot itself and corresponds to the robot's end tool. The robot's vision sensor detects the QR code to determine the relative position and relative posture of the robotic arm and the quick-change bracket assembly 3, so that the robotic arm can accurately find and assemble the new tool, thereby achieving precise tool replacement.

[0050] like Figure 7 , Figure 8 As shown, the passive robot end-effector automatic quick-change device according to this utility model includes the following steps:

[0051] 1. The quick-change bracket assembly 3 is set in the predetermined position.

[0052] 2. When the robot end-effector needs to be unlocked, the robotic arm connected to the robot side component 2 drives the tool side component 2 and the robot end-effector back to the vicinity of the support arm 3-2 of the quick-change bracket assembly 3. As the tool side component 2 is gradually clamped by the support arm 3-2, the boss 3-4 of the quick-change bracket assembly 3 gradually pushes the slide button 2-2 of the tool side component 2 toward the inside of the tool side component 2. The inclined surface of the cavity of the slide button 2-2 causes the slider locking pin 2-3 to move downward and out of the locking hole 1-5. At this time, the tool side spring 2-4 is compressed, storing elastic potential energy, and the quick-change device is in the unlocked state. Then, driven by the robotic arm, the V-shaped flange 1-4 of the robot side component 2 gradually slides out of the V-shaped slide groove 2-6 of the tool side component 2, and the robotic arm separates from the robot end-effector. At this time, the robot side component 1 of the quick-change device is fixed on the robotic arm, and moves with the robotic arm to change other types of end tools; the tool side component 2 is fixed to the robot end tool and is fixed by the support arm 3-2 of the quick-change bracket component 3.

[0053] 3. When the robot end-effector needs to be locked, the tool-side component 2 and the robot end-effector are located at the support arm 3-2 of the quick-change bracket assembly. The robotic arm drives the robot-side component 2 to move to the upper surface of the support cover plate 3-1 of the quick-change bracket assembly 3, and continues to move towards the support arm 3-2. The narrower end of the V-shaped flange 1-4 of the robot-side component contacts and slides with the tool connector 2-1 platform surface of the tool-side component 2 until the V-shaped flange 1-4 is completely slid into and wedges into the V-shaped groove 2-6. The electrical connector pogopin female 1-3 and the electrical connector pogopin male 2-5 are electrically connected. The robotic arm then continues to move, gradually bringing the tool-side component 2 and the robot end-effector out of the clamping range of the support arm 3-2. At this point, to resist the force of the support spring 3-3 connected to the support arm 3-2, the robotic arm needs a large force to make the robot-side component 1 drive the tool-side component 2 outward. This step will further ensure a tight connection between the robot-side component 1 and the tool-side component 2, ensuring that the locking hole 1-5 of the robot-side component 2 coincides and connects with the pin hole 2-7 of the tool-side component 2. Subsequently, as the tool-side component 2 gradually moves away from the quick-change support assembly 3, the boss 3-4 of the quick-change support assembly 3 gradually moves away from the slide button 2-2 of the tool-side component 2. The tool-side spring 2-4 gradually releases its elastic potential energy, pushing the slide button 2-2 to move outward from the tool-side component 2. Furthermore, the slide button 2-2 pushes the slider locking pin 2-3 upward and inserts it into the locking hole 1-5 of the robot-side component 2. The quick-change device is in a locked state, and the robotic arm and the robot end-effector are locked together.

[0054] This document uses specific examples to illustrate the principles and implementation methods of this utility model. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this utility model. Furthermore, for those skilled in the art, based on the ideas of this utility model, there will be changes in the specific implementation methods and application scope. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model. Therefore, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. A passive robot end tool automatic quick change device, characterized in that, The utility model relates to a quick-change device for robot, which comprises a robot side assembly and a tool side assembly. The robot side assembly comprises a mechanical arm connecting piece, one side of which is provided with a flange and connected with the mechanical arm of the robot through screws, and the other side is provided with a V-shaped flange platform, the wide end of which is provided with a locking hole. The tool side assembly is connected with the end tool of the robot and comprises a tool connecting piece, the platform surface of which is provided with a V-shaped sliding groove matched with the V-shaped flange platform of the robot side assembly, and the platform surface of the tool connecting piece is provided with a pin hole corresponding to the position of the locking hole of the robot side assembly. The tool side assembly further comprises a sliding groove button, which is horizontally arranged inside the tool side assembly, one end of which is flush with the outer cylindrical surface of the tool side assembly, and the inside of the sliding groove button is provided with an inclined cavity communicated with the pin hole, and the sliding block locking pin is located in the cavity.

2. The passive robot end tool auto-change device of claim 1, wherein, The tool side assembly is further provided with a tool side spring horizontally connected with the sliding groove button.

3. The passive robotic end-of-arm tool auto-change device of claim 2, wherein, The quick-change support assembly further comprises a boss, which is fixedly arranged on the support cover plate.

4. The passive robotic end-of-arm tool auto-change device of claim 1, wherein, The elastic coefficient of the support spring is more than twice that of the tool side spring of the tool side assembly.

5. The passive robotic end-of-arm tool auto-change device of claim 1, wherein, The robot side assembly further comprises a micro switch for monitoring whether the quick-change device is successfully docked, and the button of the micro switch is located at the locking hole.

6. The passive robotic end-of-arm tool auto-change device of claim 1, wherein, The robot side assembly further comprises an electrical connector pogopin female seat, and the tool side assembly is further provided with an electrical connector pogopin male head matched with the electrical connector pogopin female seat.

7. The passive robotic end-of-arm tool auto-change device of claim 1, wherein, The robot side assembly and the tool side assembly are provided with a hollow structure, and the connecting cable inside the electrical connector pogopin male head and the electrical connector pogopin female seat is arranged and connected.

8. The passive robotic end-of-arm tool auto-change device of claim 7, wherein, The side edge of the tool connecting piece of the tool side assembly is oppositely provided with two clamping grooves matched with the support arm of the quick-change support assembly.

9. The passive robotic end-of-arm tool auto-change device of claim 1, wherein, ​

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