A portable adjustable robotic tool changer
By designing a portable, adjustable robotic tool quick-change device, a mechanical locking structure is used to achieve plug-and-lock functionality between the upper and lower connecting plates, solving the problem of cumbersome tool replacement processes in traditional methods and improving replacement efficiency.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- KUNSHAN GREAT ROBOT SYST CO LTD
- Filing Date
- 2025-09-16
- Publication Date
- 2026-06-16
AI Technical Summary
The tool changing process for traditional industrial robots is cumbersome and time-consuming, which affects production efficiency.
A portable, adjustable robotic tool quick-change device is adopted, which uses the first and second locking components to achieve plug-and-lock connection between the upper and lower connecting plates. The mechanical locking of the connecting protrusion and the locking block avoids the use of bolts or tools.
It enables quick and convenient tool changes, improves production efficiency, and reduces manual operation time.
Smart Images
Figure CN224360195U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the technical field of quick-change devices for robot tools, and specifically relates to a portable adjustable quick-change device for robot tools. Background Technology
[0002] Portable adjustable robots are robot systems that combine portability, flexibility, and adjustability. The quick-change device of the robot, also known as a tool changer or tool changer, is a flexible connection tool used in the industrial robot industry between the end effector and the robotic arm.
[0003] A tool changer typically includes an upper connecting plate that connects to the robotic arm and a lower connecting plate that connects to the end effector. The upper connecting plate is mounted at the end of the robotic arm and moves with it; while the lower connecting plate is connected to various end effectors such as grippers, suction cups, and welding torches, representing different functional tool modules. Through the rapid docking and disengagement of these two connecting plates, the robot can change to tools with different functions.
[0004] Traditional industrial robot end-effector connection methods mostly use bolt fastening, which involves using multiple high-strength screws or bolts to rigidly connect the tool base to the robot connection plate. This means that every time a tool is changed, multiple bolts need to be manually removed and tightened one by one using tools such as wrenches and electric screwdrivers. The process is cumbersome and time-consuming, thus affecting production efficiency. Utility Model Content
[0005] The technical problem this invention aims to solve is that fixing the tool base to the robot connection plate with high-strength screws or bolts results in a cumbersome and time-consuming replacement process, which in turn affects production efficiency. To address this, we propose a portable, adjustable robot tool quick-change device.
[0006] To achieve the above objectives, this application adopts the following technical solution:
[0007] A portable adjustable robot tool quick-change device includes an adjustable robot body, an upper connecting plate installed at the end of the adjustable robot body, an installation groove on one side of the upper connecting plate, a connecting protrusion installed inside the installation groove, a lower connecting plate movably embedded inside the installation groove, a connecting groove on one side of the lower connecting plate, a first movable groove inside the lower connecting plate, and a first locking component for fixing the upper connecting plate and the lower connecting plate inside the first movable groove.
[0008] The first locking assembly includes: a lever abutting against the outer surface of the lower connecting plate; a connecting rod fixedly connected to one end of the lever; a locking block fixedly connected to one end of the connecting rod; and a first spring fixedly connected between the locking block and the inner wall of the first movable groove; the connecting rod passes through the first movable groove, a locking groove is provided on the outer surface of the connecting protrusion, and the locking block passes through the connecting groove.
[0009] Preferably, the connecting protrusions and connecting grooves are correspondingly arranged, and the locking blocks and locking slots are correspondingly arranged.
[0010] Preferably, the locking block is wedge-shaped, and the outer surface of the locking block is coated with an anti-wear layer.
[0011] Preferably, an arc-shaped baffle is installed at one end of the upper connecting plate, and a second movable groove is opened inside the arc-shaped baffle. A fixing rod is inserted between the arc-shaped baffle and the lower connecting plate. A pull plate is fixedly connected to one end of the fixing rod, and the pull plate abuts against the outer surface of the arc-shaped baffle. A second locking component is provided inside the second movable groove, and the fixing rod passes through the second movable groove.
[0012] Preferably, the second locking assembly includes: a slide rod fixedly connected to the inner wall of the second movable groove; a slider slidably connected to the outer surface of the slide rod; and a second spring fixedly connected to the slider and the inner wall of the second movable groove; a push block is fixedly connected to the outer surface of the fixed rod, a circular plate is installed on the outer surface of the upper connecting plate, an electric push rod is installed at the bottom end of the circular plate, the telescopic end of the electric push rod is movably disposed above the pull plate, the push block passes through the arc-shaped baffle, and the fixed rod passes through the slider.
[0013] Preferably, a limit groove is provided at the top of the pull plate, and a limit block is installed at the telescopic end of the electric push rod, with the limit block and the limit groove being set accordingly.
[0014] Preferably, a fixing plate is installed at the bottom of the circular plate, and a third spring and a telescopic connecting rod are fixedly connected between the fixing plate and the pull plate. The third spring is located on the outside of the telescopic connecting rod.
[0015] Compared with the prior art, the beneficial effects of this utility model are as follows: During connection, the connecting protrusion of the upper connecting plate is inserted into the connecting groove of the lower connecting plate. During the insertion process, the connecting protrusion pushes the locking block to retract inward and compress the first spring. When the connecting protrusion is fully inserted into the connecting groove, the locking groove on the outer surface of the connecting protrusion is aligned with the position of the locking block. At this time, the compressed first spring releases its elastic force, pushing the locking block to pop out and embed into the locking groove, thus achieving mechanical locking. When unlocking is required, the lever is pulled by external force, which drives the connecting rod and the locking block to retract, causing the locking block to disengage from the locking groove. At this time, it is easy to separate the upper and lower connecting plates and complete the tool replacement. The entire connection and locking process does not require bolts or tools, achieving plug-and-lock and improving replacement efficiency. Attached Figure Description
[0016] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Among them:
[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model;
[0018] Figure 2 This is a schematic diagram of the upper connecting plate and the lower connecting plate of this utility model;
[0019] Figure 3 This is a schematic diagram of the mounting groove structure of this utility model;
[0020] Figure 4 This is a schematic diagram of the first movable groove and the first locking assembly of this utility model;
[0021] Figure 5 This is a schematic diagram of the arc-shaped baffle, circular plate, and fixing plate structure of this utility model;
[0022] Figure 6 This is a schematic diagram of the fixed rod, the second locking assembly, and the electric push rod of this utility model.
[0023] In the diagram: 1. Adjustable robot body; 2. Upper connecting plate; 21. Mounting slot; 211. Connecting protrusion; 2111. Locking slot; 3. Lower connecting plate; 31. Connecting groove; 32. First movable slot; 4. First locking assembly; 41. Pulley; 42. Connecting rod; 43. Locking block; 44. First spring; 5. Arc-shaped baffle; 51. Second movable slot; 6. Fixed rod; 61. Pull plate; 611. Limiting slot; 62. Push block; 7. Second locking assembly; 71. Slide rod; 72. Slider; 73. Second spring; 8. Electric push rod; 81. Limiting block; 9. Fixed plate; 91. Third spring; 92. Telescopic connecting rod; 10. Circular plate. Detailed Implementation
[0024] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.
[0025] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below. Example
[0026] Reference Figure 1 - Figure 6This is an embodiment of the present utility model, which provides a portable adjustable robot tool quick-change device, including an adjustable robot body 1. An upper connecting plate 2 is installed at the end of the adjustable robot body 1. An installation groove 21 is opened on one side of the upper connecting plate 2. A connecting protrusion 211 is installed inside the installation groove 21. A lower connecting plate 3 is movably embedded inside the installation groove 21. The lower connecting plate 3 is used to connect external tools. A connecting groove 31 is opened on one side of the lower connecting plate 3. A first movable groove 32 is opened inside the lower connecting plate 3. A first locking component 4 for fixing the upper connecting plate 2 and the lower connecting plate 3 is provided inside the first movable groove 32.
[0027] The first locking assembly 4 includes: a lever 41 abutting against the outer surface of the lower connecting plate 3; a connecting rod 42 fixedly connected to one end of the lever 41; a locking block 43 fixedly connected to one end of the connecting rod 42; and a first spring 44 fixedly connected between the locking block 43 and the inner wall of the first movable groove 32. The connecting rod 42 passes through the first movable groove 32, and a locking groove 2111 is provided on the outer surface of the connecting protrusion 211. The locking block 43 passes through the connecting groove 31. During connection, the connecting protrusion 211 of the upper connecting plate 2 is inserted into the connecting groove 31 of the lower connecting plate 3. During the insertion process, the connecting protrusion 211 pushes the locking block 43 to retract inward and compress the first spring 44. When the protrusion 211 is fully inserted into the connecting groove 31, the locking groove 2111 on the outer surface of the connecting protrusion 211 is aligned with the locking block 43. At this time, the compressed first spring 44 releases its elastic force, pushing the locking block 43 out and embedding it into the locking groove 2111 to achieve mechanical locking, which facilitates the fixation of the upper connecting plate 2 and the lower connecting plate 3. When unlocking is required, the lever 41 is pulled by external force, which drives the connecting rod 42 and the locking block 43 to move backward, so that the locking block 43 is disengaged from the locking groove 2111. At this time, it is easy to separate the upper connecting plate 2 and the lower connecting plate 3 to complete the tool replacement. The entire connection and locking process does not require bolts or tools, realizing plug-and-lock and improving replacement efficiency.
[0028] The connecting protrusion 211 is correspondingly set with the connecting groove 31. The connecting groove 31 provides a clear insertion path for the connecting protrusion 211, which plays a guiding role and makes it easy to quickly find the correct position during docking. The locking block 43 is correspondingly set with the locking groove 2111. When the locking block 43 is embedded in the locking groove 2111, it forms a mechanical limiting structure, which can effectively resist axial tension, vibration and impact, and prevent the upper connecting plate 2 and the lower connecting plate 3 from accidentally separating during operation.
[0029] The locking block 43 is wedge-shaped, and the outer surface of the locking block 43 is coated with an anti-wear layer. When the connecting protrusion 211 is inserted into the connecting groove 31, it will first contact the inclined surface of the wedge-shaped locking block 43. The inclined surface facilitates the conversion of axial pressure into lateral component force, automatically pushing the locking block 43 to retract inward, realizing self-guided pressing. The anti-wear layer is preferably a polytetrafluoroethylene coating, which is good at resisting wear caused by long-term repeated sliding.
[0030] An arc-shaped baffle 5 is installed at one end of the upper connecting plate 2. A second movable groove 51 is opened inside the arc-shaped baffle 5. A fixing rod 6 is inserted between the arc-shaped baffle 5 and the lower connecting plate 3. A pull plate 61 is fixedly connected to one end of the fixing rod 6. The pull plate 61 abuts against the outer surface of the arc-shaped baffle 5. A second locking component 7 is provided inside the second movable groove 51. The fixing rod 6 passes through the second movable groove 51 and passes through the arc-shaped baffle 5 to connect to the lower connecting plate 3, which facilitates the improvement of the fixing effect of the upper connecting plate 2 and the lower connecting plate 3.
[0031] The second locking assembly 7 includes: a slide rod 71 fixedly connected to the inner wall of the second movable groove 51; a slider 72 slidably connected to the outer surface of the slide rod 71; and a second spring 73 fixedly connected to the slider 72 and the inner wall of the second movable groove 51; a push block 62 is fixedly connected to the outer surface of the fixing rod 6; a circular plate 10 is installed on the outer surface of the upper connecting plate 2; an electric push rod 8 is installed at the bottom end of the circular plate 10; the telescopic end of the electric push rod 8 is movably positioned above the pull plate 61; the push block 62 passes through the arc-shaped baffle 5; the fixing rod 6 passes through the slider 72; and the fixing rod 6 passes through the second movable groove 51 and inserts into the lower connecting plate 3. During the process, the push block 62 moves with the fixed rod 6. The push block 62 contacts and pushes the slider 72 to slide along the slide rod 71. The slider 72 moves and stretches the second spring 73, storing elastic potential energy. After the fixed rod 6 is in place, the electric push rod 8 starts to lock the position of the push block 62. At this time, the second spring 73 is still in a stretched state, but it is locked by the electric push rod 8 and cannot be released. When disassembly is required, the electric push rod 8 releases the fixation of the pull plate 61. The second spring 73 retracts due to the loss of constraint, driving the slider 72 to reset, so that the fixed rod 6 exits the lower connecting plate 3 under the action of the spring force, completing the unlocking.
[0032] A limiting groove 611 is provided at the top of the pull plate 61, and a limiting block 81 is installed at the telescopic end of the electric push rod 8. The limiting block 81 is set in correspondence with the limiting groove 611. The electric push rod 8 is driven by the control module of the adjustable robot body 1, which is the prior art. When the fixing rod 6 is inserted into the lower connecting plate 3, the electric push rod 8 extends and drives the limiting block 81 to embed into the limiting groove 611, forming a mechanical engagement. At this time, the pull plate 61 is fixed, thereby fixing the entire locking structure and ensuring a stable connection between the lower connecting plate 3 and the upper connecting plate 2.
[0033] A fixed plate 9 is installed at the bottom of the circular plate 10. A third spring 91 and a telescopic connecting rod 92 are fixedly connected between the fixed plate 9 and the pull plate 61. The third spring 91 is located on the outside of the telescopic connecting rod 92. The telescopic connecting rod 92 connects the fixed plate 9 and the pull plate 61, and plays a guiding and limiting role to ensure that the pull plate 61 moves smoothly along the axial direction. The third spring 91 is sleeved on the outside of the telescopic connecting rod 92 to provide elastic force. In its natural state, the third spring 91 maintains the initial distance between the pull plate 61 and the fixed plate 9, ensuring that the pull plate 61 is in the unlocked position when the electric push rod 8 is not activated. When the fixed rod 6 is inserted into the lower connecting plate 3, the electric push rod 8 pushes the limiting block 81 into the limiting groove 611. When disassembling, the electric push rod 8 retracts, the third spring 91 drives the pull plate 61 to reset, and the fixed rod 6 is assisted to exit.
[0034] Workflow: During connection, the operator brings the tool end with the lower connecting plate 3 close to the adjustable robot body 1 with the upper connecting plate 2. The connecting protrusion 211 on the upper connecting plate 2 aligns with the connecting groove 31 on the lower connecting plate 3. When the connecting protrusion 211 is inserted into the connecting groove 31, it contacts the inclined surface of the wedge-shaped locking block 43, pushing the locking block 43 to retract inward against the elastic force of the first spring 44. At this time, the first spring 44 is compressed and stores energy. When the connecting protrusion 211 is fully inserted, the locking groove 2111 on its outer surface aligns with the position of the locking block 43. At this time, the compressed first spring 44 releases energy, pushing the locking block 43 out and embedding it into the locking groove 2111, forming a reliable mechanical engagement and completing the main connection locking. Simultaneously, the operator pushes the fixing rod 6 through the second movable groove 51 and inserts it into the lower connecting plate 3. At this time, the fixing rod 6... The push block 62 pushes the slider 72 to slide along the slide rod 71, stretching the second spring 73 to store energy, activating the electric push rod 8. The telescopic end of the electric push rod 8 drives the limit block 81 to insert into the limit groove 611, locking the pull plate 61, thereby fixing the entire fixed rod 6 and completing the auxiliary locking. When it is necessary to change the tool, the telescopic end of the electric push rod 8 retracts, causing the limit block 81 to disengage from the limit groove 611, releasing the lock on the pull plate 61. After the pull plate 61 is released, the second spring 73, which is in a stretched state, immediately rebounds and pushes the slider 72 to reset, thereby causing the fixed rod 6 to pop outward as a whole, disengaging from the lower connecting plate 3, realizing the automatic disengagement of the auxiliary locking structure. Then, manually pull the lever 41, which drives the locking block 43 to exit from the locking groove 2111 through the connecting rod 42, releasing the main mechanical lock. After both the main and auxiliary locks are released, gently pull out the upper connecting plate 2 to complete the tool replacement.
[0035] It should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of the technical solution of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.
Claims
1. A portable adjustable robot tool quick-change device, characterized in that: The system includes an adjustable robot body (1), an upper connecting plate (2) is installed at the end of the adjustable robot body (1), an installation groove (21) is provided on one side of the upper connecting plate (2), a connecting protrusion (211) is installed inside the installation groove (21), a lower connecting plate (3) is movably embedded inside the installation groove (21), a connecting groove (31) is provided on one side of the lower connecting plate (3), a first movable groove (32) is provided inside the lower connecting plate (3), and a first locking component (4) for fixing the upper connecting plate (2) and the lower connecting plate (3) is provided inside the first movable groove (32). The first locking assembly (4) includes: a lever (41) abutting against the outer surface of the lower connecting plate (3); a connecting rod (42) fixedly connected to one end of the lever (41); a locking block (43) fixedly connected to one end of the connecting rod (42); and a first spring (44) fixedly connected between the locking block (43) and the inner wall of the first movable groove (32); the connecting rod (42) passes through the first movable groove (32), the outer surface of the connecting protrusion (211) is provided with a locking groove (2111), and the locking block (43) passes through the connecting groove (31).
2. The portable adjustable robot tool quick-change device according to claim 1, characterized in that: The connecting protrusion (211) is set to correspond with the connecting groove (31), and the locking block (43) is set to correspond with the locking groove (2111).
3. The portable adjustable robot tool quick-change device according to claim 1, characterized in that: The locking block (43) is wedge-shaped, and the outer surface of the locking block (43) is coated with an anti-wear layer.
4. The portable adjustable robot tool quick-change device according to claim 1, characterized in that: An arc-shaped baffle (5) is installed at one end of the upper connecting plate (2). A second movable groove (51) is provided inside the arc-shaped baffle (5). A fixing rod (6) is inserted between the arc-shaped baffle (5) and the lower connecting plate (3). A pull plate (61) is fixedly connected to one end of the fixing rod (6). The pull plate (61) abuts against the outer surface of the arc-shaped baffle (5). A second locking component (7) is provided inside the second movable groove (51). The fixing rod (6) passes through the second movable groove (51).
5. A portable adjustable robot tool quick-change device according to claim 4, characterized in that: The second locking assembly (7) includes: a slide rod (71) fixedly connected to the inner wall of the second movable groove (51); a slider (72) slidably connected to the outer surface of the slide rod (71); and a second spring (73) fixedly connected to the slider (72) and the inner wall of the second movable groove (51); a push block (62) is fixedly connected to the outer surface of the fixing rod (6), a circular plate (10) is installed on the outer surface of the upper connecting plate (2), an electric push rod (8) is installed at the bottom of the circular plate (10), the telescopic end of the electric push rod (8) is movably set above the pull plate (61), the push block (62) passes through the arc-shaped baffle (5), and the fixing rod (6) passes through the slider (72).
6. A portable adjustable robot tool quick-change device according to claim 5, characterized in that: A limiting groove (611) is provided at the top of the pull plate (61), and a limiting block (81) is installed at the telescopic end of the electric push rod (8). The limiting block (81) and the limiting groove (611) are set accordingly.
7. A portable adjustable robot tool quick-change device according to claim 6, characterized in that: A fixing plate (9) is installed at the bottom of the circular plate (10). A third spring (91) and a telescopic link (92) are fixedly connected between the fixing plate (9) and the pull plate (61). The third spring (91) is located on the outside of the telescopic link (92).