Quick-change device for end-effectors of wheeled robot arms

Abstract

This utility model discloses a quick-change device for the end-effector tool of a wheeled robot arm, including a robot body, a robot arm at the upper end of the robot body, a tool assembly at the end of the robot arm, and a fixing mechanism between the tool assembly and the robot arm. The fixing mechanism includes a connecting ring, a connecting head, a sliding groove, a locking block, a spring, and a locking slot. The connecting ring is fixedly mounted on one side of the tool assembly, and the connecting head is fixedly mounted on the end of the robot arm. Sliding grooves are formed around the inside of the connecting ring, and a locking block is movably engaged within the sliding groove, allowing the locking block to slide left and right within the sliding groove. A spring is installed inside the sliding groove. This utility model provides a quick-change fixing mechanism for the end-effector of traditional wheeled robots, utilizing magnetic repulsion to quickly disengage the locking block from the locking slot, thus enabling rapid disassembly and repair of the tool.

Description

Technical Field

[0001] This utility model relates to the field of wheeled robot technology, specifically a quick tool changing device for the end effector of a wheeled robot arm. Background Technology

[0002] Wheel-legged robots are intelligent devices that integrate wheeled and legged locomotion. They achieve subway maintenance work through the collaborative design of mechanical structure and control algorithms. In wheeled mode, they can move quickly on structured surfaces such as flat tracks, platforms, and tunnels, with an efficiency that is more than 30% higher than that of traditional legged robots.

[0003] Legged mode: Through biomimetic joint design, it can climb stairs, cross track gaps (maximum obstacle crossing height of 200mm), and traverse unstructured terrain such as gravel tracks, solving the problem of traditional wheeled robots getting stuck.

[0004] In existing subway maintenance wheeled robots, the end effector of the robotic arm not only needs to be attached to maintenance cameras, but some robots also need to be attached to engineering equipment such as robotic arms. In the existing technology, when installing these tools at the end effector of the robotic arm of the subway maintenance wheeled robot, screws of the same specification are often used for fixing, which results in low replacement efficiency. Therefore, a quick tool replacement device for the end effector of the wheeled robot is needed to solve this problem. Utility Model Content

[0005] The purpose of this invention is to provide a quick tool changing device for the end effector of a wheeled robot arm, in order to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a quick-change device for the end-effector tool of a wheel-legged robot arm, comprising a robot body, a robot arm mounted on the upper end of the robot body, a tool assembly mounted on the end of the robot arm, and a fixing mechanism between the tool assembly and the robot arm. The fixing mechanism includes a connecting ring, a connecting head, a sliding groove, a locking block, a spring, and a locking groove. A connecting ring is fixedly mounted on one side of the surface of the tool assembly, and a connecting head is fixedly mounted on the end of the robot arm. Sliding grooves are formed around the inside of the connecting ring, and locking blocks are movably engaged inside the sliding grooves so that the locking blocks can slide left and right inside the sliding grooves. A spring is provided inside the sliding grooves, and several locking grooves are evenly formed on the surface of the connecting head.

[0007] Preferably, an electromagnet is fixedly installed in the middle of the inner side of the connector, and a permanent magnet is fixedly installed on the surface of the locking block. When the electromagnet is energized, the magnetic repulsion force can be used to push the locking block to be stored in the groove, thus causing the locking block and the groove to be misaligned, so that the tool assembly can be quickly disassembled and replaced.

[0008] Preferably, when the electromagnet is energized, the surface magnetic poles that are close to the permanent magnet are the same. When the electromagnet is energized, the permanent magnet and the locking block can be pushed into the groove by the principle of like poles repelling each other.

[0009] Preferably, the end of the robotic arm is provided with a connector plug. After the tool assembly is fixed by the fixing mechanism, the connecting cable can be connected to the connector plug, thereby completing the electrical connection between the tool assembly and the robot body.

[0010] Preferably, the outer surface of the locking block is provided with an angle. When the connector is inserted into the connecting ring, the locking block will be squeezed. Due to the existence of this angle, the locking block can be subjected to vertical squeezing force to produce a horizontal separation, thereby squeezing the spring to contract and allowing the locking block to be stored in the groove. After the connector is fully inserted into the connecting ring, the locking block is just aligned with the groove. Under the action of the spring, the locking block can be inserted into the groove, thereby completing the fixation of the tool assembly to the end of the robotic arm.

[0011] Preferably, one end of the spring is fixedly connected to the inner sidewall of the slide groove, and the other end of the spring is fixedly connected to the locking block. The spring can automatically push the locking block to remove it from the slide groove, thereby allowing the locking block to automatically engage with the slot to fix the connector and the connecting ring.

[0012] Compared with the prior art, the beneficial effects of this utility model are:

[0013] 1. This utility model's quick-change device can significantly shorten tool change time, enabling robots to quickly adapt to different tasks and improving overall work efficiency. For example, on industrial production lines, when tools need to be changed, there is no need for lengthy downtime for complex disassembly and installation operations, greatly reducing production interruption time.

[0014] 2. The installation and disassembly process of this utility model tool is simple and can be completed without the need for professional technicians using complex tools. This reduces the difficulty of operation and labor costs, and improves the ease of use of the equipment. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of the quick-change device for the end-effector tool of the wheel-legged robot arm of this utility model;

[0016] Figure 2 This is an overall structural view of the robotic arm in the quick tool changing device for the end effector of the wheeled robot arm of this utility model.

[0017] Figure 3This is a disassembled view of the tool assembly in the quick-change device for the end-effector tool of the wheeled robot arm of this utility model;

[0018] Figure 4 This is an installation view of the locking block in the quick-change device for the end-effector tool of the wheel-legged robot arm of this utility model.

[0019] In the diagram: 1. Robot body; 2. Robotic arm; 3. Tool assembly; 4. Connecting ring; 5. Connector; 6. Slide; 7. Locking block; 8. Spring; 9. Slot; 10. Electromagnet; 11. Permanent magnet; 12. Inclined surface; 13. Connecting plug. Detailed Implementation

[0020] 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, and not all embodiments. 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.

[0021] Please see Figure 1-4 This utility model provides a technical solution: a quick-change device for the end effector tool of a wheeled robot arm, comprising a robot body 1, which serves as the foundation of the entire device, providing support and power for the robot arm 2 and other components. The robot arm 2 is mounted on the upper end of the robot body 1, possessing multiple degrees of freedom, and can flexibly adjust the position and posture of the end effector tool to achieve various operational tasks. The tool assembly 3 is located at the end of the robot arm 2 and is the component that directly performs the operational tasks. In the accompanying drawings provided in this application, the tool assembly 3 is exemplified as a gripper, but in actual applications, it can be replaced with other tools as needed, such as a camera, welding torch, etc.

[0022] Tool assembly 3 and robotic arm 2 are provided with a fixing mechanism at their ends. The fixing mechanism includes a connecting ring 4, a connecting head 5, a slide 6, a locking block 7, a spring 8, and a locking groove 9.

[0023] The connecting ring 4 is fixedly mounted on one side of the tool assembly 3 and is used to connect to the connector 5 at the end of the robotic arm 2.

[0024] The connector 5 is fixedly installed at the end of the robotic arm 2 and cooperates with the connecting ring 4 to realize the connection between the tool assembly 3 and the robotic arm 2.

[0025] The slide groove 6 is evenly opened around the inside of the connecting ring 4 to provide a track for the sliding of the card block 7.

[0026] The locking block 7 is movable and engaged inside the slide groove 6, and can slide left and right within the slide groove 6 to engage with the locking groove 9 on the surface of the connector 5 to fix the tool component 3.

[0027] Spring 8 is installed inside slide groove 6, with one end fixedly connected to the inner side wall of slide groove 6 and the other end fixedly connected to the locking block 7, providing elastic force to the locking block 7 so that it can automatically lock into the locking groove 9.

[0028] The slots 9 are evenly distributed on the surface of the connector 5, corresponding to the card blocks 7, and are used to cooperate with the card blocks 7 to achieve fixation.

[0029] In addition, an electromagnet 10 is fixedly installed in the middle of the inner side of the connector 5, and a permanent magnet 11 is fixedly installed on the surface of the locking block 7. A connection slot is provided at the end of the robotic arm 2, which is used to electrically connect the connecting cable to the robot body 1 after the tool assembly 3 is fixed by the fixing mechanism.

[0030] Working principle: The connecting ring 4 of tool assembly 3 is brought close to the connector 5 at the end of robotic arm 2, so that connector 5 is inserted into the connecting ring 4. During the insertion process, due to the beveled shape on the outer surface of the locking block 7, connector 5 will squeeze the locking block 7. Affected by the bevel, the vertical squeezing force on the locking block 7 will generate a horizontal component force, thereby compressing the spring 8 and causing the locking block 7 to be housed inside the slide groove 6.

[0031] Continue pushing tool assembly 3 until connector 5 is fully inserted into connector ring 4. At this point, locking block 7 is aligned with slot 9 on the surface of connector 5. Under the action of spring 8, spring 8 automatically pushes locking block 7 out of slide groove 6 and protrudes, locking block 7 automatically snaps into slot 9, completing the fixation of connector 5 and connector ring 4, thereby fixing tool assembly 3 to the end of robotic arm 2.

[0032] Connect the connecting cable of tool assembly 3 to the connecting plug 13 at the end of robotic arm 2 to complete the electrical connection between tool assembly 3 and robot body 1, so that tool assembly 3 can work normally.

[0033] During disassembly, the electromagnet 10 located in the center of the inner side of connector 5 is energized, generating a magnetic field. Since the surface magnetic poles of the electromagnet 10 and the permanent magnet 11 on the surface of the locking block 7 are the same when the electromagnet 10 is energized, according to the principle of like poles repelling each other, the electromagnet 10 will generate a repulsive force on the permanent magnet 11, pushing the locking block 7 into the slide groove 6, causing the locking block 7 to be housed inside the slide groove 6, thus misaligning the locking block 7 with the slot 9. Once the locking block 7 is fully housed inside the slide groove 6, the tool assembly 3 can be easily detached from the end of the robotic arm 2. Finally, the power supply to the electromagnet 10 is disconnected, and the electromagnet 10 loses its magnetism, preparing it for the next tool installation.

[0034] It should be noted that in the accompanying drawings provided in this application, tool component 3 is a gripper, but the tools that this device can carry are not limited to grippers; it can also carry other tools such as cameras.

[0035] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0036] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A quick-change device for the end effector of a wheeled robot arm, comprising a robot body (1), characterized in that: The upper end of the robot body (1) is provided with a mechanical arm (2), and the end of the mechanical arm (2) is provided with a tool assembly (3). A fixing mechanism is provided between the tool assembly (3) and the mechanical arm (2). The fixing mechanism includes a connecting ring (4), a connector (5), a slide groove (6), a locking block (7), a spring (8), and a slot (9). A connecting ring (4) is fixedly provided on one side of the surface of the tool assembly (3). A connector (5) is fixedly provided at the end of the mechanical arm (2). Slide grooves (6) are provided around the inside of the connecting ring (4). A locking block (7) is movably engaged inside the slide groove (6) so that the locking block (7) can slide left and right inside the slide groove (6). A spring (8) is provided inside the slide groove (6). Several slots (9) are evenly provided on the surface of the connector (5).

2. The quick-change device for the end-effector tool of a wheeled robot arm according to claim 1, characterized in that: An electromagnet (10) is fixedly installed in the middle of the inner side of the connector (5), and a permanent magnet (11) is fixedly installed on the surface of the locking block (7).

3. The quick-change device for the end-effector tool of the wheel-legged robot arm according to claim 2, characterized in that: When the electromagnet (10) is energized, the surface magnetic poles that are close to each other with the permanent magnet (11) are the same.

4. The quick-change device for the end-effector tool of a wheel-legged robot arm according to claim 1, characterized in that: The end of the robotic arm (2) is provided with a connector (13).

5. The quick-change device for the end-effector tool of a wheeled robot arm according to claim 1, characterized in that: The outer surface of the card block (7) is provided with an angle.

6. The quick-change device for the end-effector tool of a wheeled robot arm according to claim 1, characterized in that: One end of the spring (8) is fixedly connected to the inner side wall of the slide groove (6), and the other end of the spring (8) is fixedly connected to the locking block (7).

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