Robot end effector quick change locking device

Abstract

The utility model discloses a quick change locking device of robot end, including robot side dish and tool side dish. Robot side dish includes shell, motor, hollow rotating shaft, fixed ring and locking ball. Hollow rotating shaft is connected with motor output shaft, and its inner wall is equipped with the recess for avoiding, and one end of fixed ring is fixed in the shell, and the other end is inserted into hollow rotating shaft, and its lateral wall is equipped with radial mounting hole, and the hole is provided with locking ball. Tool side dish includes locking axle, and locking axle can be inserted into fixed ring, and its outer wall is equipped with locking recess. When working, motor drives hollow rotating shaft to rotate to the working position, and the inner wall extrudes ball and clamps into recess, realizes the locking, and when reverses to the recess for avoiding, the recess for avoiding is aligned with ball, and ball retreats back, realizes the separation. The utility model discloses through the angle switching of control hollow rotating shaft, controls the radial motion of ball, realizes quick, reliable locking and separation. Compact overall structure, locking is stable, and the connection precision is high, and effectively promotes the robot tool efficiency and automation level of change.

Description

Technical Field

[0001] This utility model relates to the technical field of quick-change devices for robot end effectors, and in particular to a quick-change locking device for robot end effectors. Background Technology

[0002] In the field of industrial robot automated production, the rapid changeover of end effectors is a core requirement for adapting to multi-process and multi-variety operations. As a key component connecting the robot and end effectors (such as grippers, welding torches, and inspection probes), the performance of the robot end effector directly affects production efficiency, operational accuracy, and operational safety. These devices need to achieve rapid locking, stable connection, and convenient separation between the robot and the tool side, and are widely used in automotive manufacturing, electronic assembly, and precision machining. With the increasing demands for flexibility and efficiency in industrial production, the market is placing higher requirements on the compactness, response speed, and long-term reliability of these quick-change devices.

[0003] In existing technologies, the structural design of some electric robot end-effector quick-change devices has significant shortcomings. Patent application number 201811483982.9 discloses an electric robot end-effector quick-change device that uses a motor to drive a worm gear mechanism, which then converts the rotational motion into the axial movement of a pusher block via a lead screw transmission. Finally, the inclined surface of the pusher block presses against the ball bearings to achieve locking. This multi-stage transmission method requires multiple rotations of the threaded transmission between the lead screw and the pusher block to generate the required axial displacement, resulting in a lengthy locking / unlocking process that fails to meet the requirements of modern industrial robots for rapid end-effector changes.

[0004] Therefore, existing technologies need to be improved and developed. Utility Model Content

[0005] In view of the above-mentioned defects in the prior art, the purpose of this utility model is to provide a robot end effector quick-change locking device to solve the technical problems of low transmission efficiency and slow response speed of the existing robot end effector quick-change locking device.

[0006] To achieve the above objectives, this utility model proposes a quick-change locking device for a robot end effector, comprising a robot side plate and a tool side plate; the robot side plate includes: a housing; a motor assembly fixedly installed within the housing; a hollow rotating shaft connected to the output shaft of the motor assembly, the inner wall of the hollow rotating shaft having a clearance groove; a retaining ring, one end fixedly connected to the housing, the other end extending into the hollow rotating shaft; a radial mounting hole is formed on the side wall of the retaining ring; a locking ball is disposed within the mounting hole; the tool side plate includes: The disc includes a mounting end for mounting an end effector and a locking shaft for locking with the robot side disc; the locking shaft can be inserted into the fixing ring, and its outer wall is provided with a locking groove; when the hollow rotating shaft rotates to the working position, its inner wall squeezes the locking ball, causing the locking ball to bulge radially and engage with the locking groove, thereby locking the two discs; when the hollow rotating shaft rotates to the clearance position, the clearance groove on its inner wall corresponds to the locking ball, and the locking ball retracts radially into the space formed by the clearance groove and the mounting hole, releasing the engagement and achieving separation.

[0007] In one optional embodiment of this application, the length of the mounting hole is less than the diameter of the locking ball and greater than the radius of the locking ball, the diameter of the end of the mounting hole facing the locking groove is less than the diameter of the locking ball, and the diameter of the end of the mounting hole facing the hollow rotating shaft is greater than the diameter of the other end away from the hollow rotating shaft.

[0008] In one optional embodiment of this application, the fixing ring includes a fixing part and a connecting cylinder coaxially connected. The fixing part extends radially from the end of the connecting cylinder away from the motor assembly in a direction away from the axis. The connecting cylinder extends into the hollow rotating shaft. The mounting hole is provided on the side wall of the connecting cylinder. The outer shell is provided with a receiving cavity. The motor assembly is disposed in the receiving cavity. The outer shell is provided with a connecting part at the end away from the motor assembly. The fixing part is fixedly connected to the connecting part by screws.

[0009] In one optional embodiment of this application, the fixing part is provided with a first air hole, and the mounting end of the tool side plate is provided with a second air hole. The first air hole and the second air hole form a gas channel when the robot side plate and the tool side plate are locked together.

[0010] In one optional embodiment of this application, both the first vent and the second vent are L-shaped vents.

[0011] In one optional embodiment of this application, a positioning post is provided at one end of the locking shaft of the tool side plate near the robot side plate, and a positioning groove is provided on the inner wall of the fixing ring of the robot side plate facing the tool side plate. The positioning post can cooperate with the positioning groove to ensure that the locking groove and the locking ball are aligned in the radial direction.

[0012] In one optional embodiment of this application, the locking shaft end of the tool side plate is provided with a conical surface, and the connecting cylinder of the robot side plate is provided with a guide cone surface adapted to the conical surface at one end facing the tool side plate; the conical surface can cooperate with the guide cone surface to guide the locking shaft to the center of the connecting cylinder to compensate for positional deviation.

[0013] In one optional embodiment of this application, the outer wall of the hollow rotating shaft is provided with a radially extending flange, the inner side of the connecting part of the outer shell is provided with a limiting block, and the flange is provided with a limiting groove adapted to the limiting block; when the hollow rotating shaft rotates, the limiting block can abut against the groove wall of the limiting groove to limit the rotation angle of the hollow rotating shaft.

[0014] In one optional embodiment of this application, the motor assembly includes a motor, a worm gear, a worm, and an output shaft. The output end of the motor is connected to the worm, the worm meshes with the worm gear, the worm gear is fixedly sleeved on the output shaft, and the output shaft is connected to the hollow rotating shaft. The motor drives the worm to rotate, thereby causing the worm gear and the output shaft to rotate synchronously, and in turn, driving the hollow rotating shaft to rotate.

[0015] In one optional embodiment of this application, a radially extending bearing positioning flange is provided on the outer wall of the hollow rotating shaft. The hollow rotating shaft is connected to the housing via a bearing. The inner ring of the bearing is interference-fitted with the outer wall of the hollow rotating shaft and its end face abuts against the bearing positioning flange. The outer ring of the bearing is fixedly connected to the inner wall of the housing. A stepped surface is provided at a corresponding position on the housing to abut against the end face of the outer ring of the bearing, so as to achieve axial positioning.

[0016] In summary, the beneficial effects of this utility model are:

[0017] This utility model discloses a quick-change locking device for a robot end effector, comprising a robot side plate and a tool side plate. The robot side plate includes a housing, a motor, a hollow rotating shaft, a retaining ring, and locking balls. The hollow rotating shaft is connected to the motor output shaft, and its inner wall has a clearance groove. One end of the retaining ring is fixed to the housing, and the other end extends into the hollow rotating shaft. Its side wall has a radial mounting hole, in which locking balls are installed. The tool side plate includes a locking shaft that can be inserted into the retaining ring, and its outer wall has a locking groove. During operation, the motor drives the hollow rotating shaft to the working position, and the inner wall compresses the balls, engaging them in the groove, thus achieving locking. When reversed to the clearance position, the clearance groove aligns with the balls, and the balls retract, achieving separation. This utility model controls the radial movement of the balls by controlling the angle switching of the hollow rotating shaft, achieving rapid and reliable locking and disengagement. The overall structure is compact, the locking is stable, and the connection accuracy is high, effectively improving the efficiency and automation level of robot tool changing. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is an exploded view of the robot end effector quick-change locking device of this utility model;

[0020] Figure 2 This is one of the cross-sectional views of the hollow rotating shaft in this utility model when it is rotated to the working position;

[0021] Figure 3 This is the second sectional view of the hollow rotating shaft of this utility model when it is rotated to the working position;

[0022] Figure 4 This is one of the cross-sectional views of the hollow rotating shaft in this utility model when it rotates to the clearance position;

[0023] Figure 5 This is the second cross-sectional view of the hollow rotating shaft of this utility model when it rotates to the clearance position;

[0024] Wherein: 100, robot side plate; 101, outer shell; 1011, limiting block; 102, motor assembly; 103, hollow rotating shaft; 1031, clearance groove; 1032, limiting groove; 104, fixing ring; 1041, mounting hole; 1042, first air hole; 1043, guide cone surface; 1044, fixing part; 105, locking ball; 106, bearing; 107, connecting part; 110, tool side plate; 111, locking shaft; 1111, locking groove; 1112, conical surface; 112, mounting end; 113, second air hole. Detailed Implementation

[0025] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention 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 invention, and not all embodiments. Other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are all within the scope of protection of the present invention.

[0026] Please see Figures 1 to 5In one embodiment of this utility model, a quick-change locking device for a robot end effector is disclosed, including a robot side plate 100 and a tool side plate 110. The robot side plate 100 includes: a housing 101; a motor assembly 102, fixedly installed inside the housing 101; a hollow rotating shaft 103 connected to the output shaft of the motor assembly 102, the inner wall of the hollow rotating shaft 103 having a clearance groove 1031; a fixing ring 104, one end fixedly connected to the housing 101, the other end extending into the hollow rotating shaft 103; a radial mounting hole 1041 is formed on the side wall of the fixing ring 104; a locking ball 105 is disposed in the mounting hole 1041; the tool side plate... 110 includes a mounting end 112 for mounting an end effector and a locking shaft 111 for locking with the robot side plate 100; the locking shaft 111 can be inserted into the fixing ring 104, and its outer wall is provided with a locking groove 1111; when the hollow rotating shaft 103 rotates to the working position, its inner wall squeezes the locking ball 105, causing part of the locking ball 105 to bulge radially and engage with the locking groove 1111, thereby locking the two side plates; when the hollow rotating shaft 103 rotates to the clearance position, the clearance groove 1031 on its inner wall corresponds to the locking ball 105, and the locking ball 105 radially retracts into the space formed by the clearance groove 1031 and the mounting hole 1041, thereby releasing the engagement and achieving separation.

[0027] In the specific implementation process, when the locking shaft 111 of the tool side plate 110 is inserted into the fixing ring 104 fixedly connected to the outer shell 101 of the robot side plate 100, the tool side plate 110 and the robot side plate 100 are completely fitted by the sensor detection or the mechanical switch set on the docking end face. At this time, the locking groove 1111 and the locking ball 105 are radially aligned, and the motor assembly 102 is immediately started, driving the hollow rotating shaft 103 to rotate. During the rotation, its inner wall continuously squeezes the locking ball 105, forcing the ball to move radially inward along the mounting hole 1041 of the fixing ring 104 until it is completely locked into the locking groove 1111 of the locking shaft 111, forming a rigid mechanical interlock, thereby realizing the rapid and precise locking of the robot side plate 100 and the tool side plate 110. Compared with multi-stage transmission structures such as lead screws and push blocks, the direct drive method adopted in this embodiment significantly improves the transmission efficiency and response speed. When unlocking, the control motor performs reverse rotation, so that the clearance groove 1031 on the inner wall of the hollow rotating shaft 103 corresponds to the locking ball 105. At this time, the inner wall is released from the pressure on the ball, and the locking shaft 111 separates from the locking groove 1111 of the fixing ring 104 under the external force, thus completing the unlocking.

[0028] For example, please refer to Figure 2 and Figure 3The length of the mounting hole 1041 is less than the diameter of the locking ball 105 and greater than the radius of the locking ball 105. The diameter of the end of the mounting hole 1041 facing the locking groove 1111 is less than the diameter of the locking ball 105, and the diameter of the end of the mounting hole 1041 facing the hollow rotating shaft 103 is greater than the diameter of the other end away from the hollow rotating shaft 103.

[0029] In this embodiment, the diameter of the end of the mounting hole 1041 facing the locking groove 1111 is smaller than the diameter of the locking ball 105, achieving reliable mechanical positioning of the ball and preventing it from falling out. Furthermore, an asymmetrical design with a larger diameter at the end facing the hollow rotating shaft 103 is adopted, creating an inclined surface within the mounting hole 1041 that slopes towards the hollow rotating shaft 103. This inclined surface provides clear guidance for the ball's movement towards the hollow rotating shaft 103 during reset, allowing it to smoothly retract following the changes in the inner wall contour of the hollow rotating shaft 103, avoiding the risk of jamming due to interference between the ball and the hole wall. In addition, the length of the mounting hole 1041 is precisely controlled within a range greater than the ball's radius but less than its diameter, ensuring sufficient radial travel for reliable locking while preventing mechanical wobbling due to excessive travel. Moreover, to prevent the locking ball 105 from completely rolling into the clearance groove, the depth of the clearance groove can be less than the diameter of the locking ball 105.

[0030] For example, the fixing ring 104 includes a fixing part 1044 and a connecting cylinder coaxially connected. The fixing part 1044 extends radially from the end of the connecting cylinder away from the motor assembly 102 in a direction away from the axis. The connecting cylinder extends into the hollow rotating shaft 103. The mounting hole 1041 is provided on the side wall of the connecting cylinder. The outer shell 101 is provided with a receiving cavity. The motor assembly 102 is disposed in the receiving cavity. The outer shell 101 is provided with a connecting part 107 at the end away from the motor assembly 102. The fixing part 1044 is fixedly connected to the connecting part 107 by screws.

[0031] In the specific implementation process, the connecting cylinder, as the working part, extends into the hollow rotating shaft 103, and its side wall has a mounting hole 1041 for accommodating the locking ball 105; the fixing part 1044, as the mounting part, extends radially outward from the end of the connecting cylinder away from the motor assembly 102 to form a mounting flange. The housing 101 has a mounting cavity inside to accommodate the motor assembly 102, and its end has a connecting part 107 that cooperates with the fixing part 1044. The fixing part 1044 is firmly fixed to the connecting part 107 at the end of the housing 101 by screws, thereby achieving reliable installation and positioning of the fixing ring 104 on the housing 101.

[0032] For example, please refer to Figure 2The fixing part 1044 is provided with a first air hole 1042, and the mounting end 112 of the tool side plate 110 is provided with a second air hole 113. The first air hole 1042 and the second air hole 113 form a gas channel when the robot side plate 100 and the tool side plate 110 are locked together.

[0033] For example, both the first vent 1042 and the second vent 113 are L-shaped vents.

[0034] In the specific implementation process, when the robot side plate 100 and the tool side plate 110 complete the mechanical locking, the first air hole 1042 provided on the fixing part 1044 and the second air hole 113 provided on the mounting end 112 of the tool side plate 110 are precisely aligned to form a continuous gas channel. For example, both the first air hole 1042 and the second air hole 113 adopt an L-shaped hole design. This structure makes full use of the radial and axial space of the device, allowing the air path to bypass the internal mechanical structure and achieve optimal arrangement.

[0035] When the motor drives the hollow rotating shaft 103 to rotate in the reverse direction, causing the locking ball 105 to disengage from the locking groove 1111, and as the tool side plate 110 is pulled out of the retaining ring 104, the mating interface between the first air hole 1042 and the second air hole 113 separates, and the gas passage is automatically disconnected, achieving rapid disconnection of the air path. By directly forming the air path interface on the mating end face, an additional quick-connect mechanism is eliminated, which not only simplifies the structure but also achieves synchronous connection and disconnection of the air path and mechanical locking, significantly improving the efficiency of changing equipment. The L-shaped hole design further optimizes the air path layout, making the overall structure more compact.

[0036] For example, the locking shaft 111 of the tool side plate 110 is provided with a positioning post at one end near the robot side plate 100, and the inner wall of the fixing ring 104 of the robot side plate 100 is provided with a positioning groove at one end facing the tool side plate 110. The positioning post can cooperate with the positioning groove to ensure that the locking groove 1111 and the locking ball 105 are aligned in the radial direction.

[0037] In the specific implementation process, when the tool side plate 110 approaches the robot side plate 100, the positioning pin at the end of the locking shaft 111 is first guided into the positioning groove on the inner wall of the fixing ring 104. Through the cooperation of the positioning structure, the tool side plate 110 and the robot side plate 100 are guided to reach a precise circumferential relative position, thereby ensuring that the locking groove 1111 on the outer wall of the locking shaft 111 and the locking ball 105 in the mounting hole 1041 on the side wall of the fixing ring 104 are aligned in the radial direction. This provides the necessary conditions for subsequent reliable locking, so that when the motor drives the hollow rotating shaft 103 to rotate, its inner wall can squeeze the ball, making it accurately engage in the locking groove 1111, achieving a rigid locking without deviation.

[0038] For example, the locking shaft 111 of the tool side plate 110 is provided with a conical surface 1112 at its end, and the connecting cylinder of the robot side plate 100 is provided with a guide cone surface 1043 adapted to the conical surface 1112 at one end facing the tool side plate 110; the conical surface 1112 can cooperate with the guide cone surface 1043 to guide the locking shaft 111 to the center of the connecting cylinder to compensate for positional deviation.

[0039] For example, please refer to Figure 3 The hollow rotating shaft 103 has a radially extending flange on its outer wall, and a limiting block 1011 is provided on the inner side of the connecting part 107 of the outer shell 101. The flange has a limiting groove 1032 that is adapted to the limiting block 1011. When the hollow rotating shaft 103 rotates, the limiting block 1011 can abut against the groove wall of the limiting groove 1032 to limit the rotation angle of the hollow rotating shaft 103.

[0040] In the specific implementation process, the limiting block 1011 is embedded in the limiting groove 1032. When there is a gap between it and the groove wall of the limiting groove 1032, the hollow rotating shaft 103 can rotate freely within a set angle. When the motor drives the hollow rotating shaft 103 to rotate to the set limit position, the limiting block 1011 abuts tightly against the end groove wall of the limiting groove 1032, and its rotation angle is precisely constrained by this mechanical hard limiting method.

[0041] For example, the motor assembly 102 includes a motor, a worm gear, a worm, and an output shaft. The output end of the motor is connected to the worm, the worm meshes with the worm gear, the worm gear is fixedly sleeved on the output shaft, and the output shaft is connected to the hollow rotating shaft 103. The motor drives the worm to rotate, which in turn drives the worm gear and the output shaft to rotate synchronously, thereby driving the hollow rotating shaft 103 to rotate.

[0042] For example, the hollow rotating shaft 103 has a radially extending bearing positioning flange on its outer wall. The hollow rotating shaft 103 is connected to the housing 101 via a bearing 106. The inner ring of the bearing 106 is interference-fitted with the outer wall of the hollow rotating shaft 103 and its end face abuts against the bearing positioning flange. The outer ring of the bearing 106 is fixedly connected to the inner wall of the housing 101. The housing 101 has a stepped surface at a corresponding position that abuts against the end face of the outer ring of the bearing 106 to achieve axial positioning.

[0043] In summary, the robot end effector quick-change locking device of this embodiment includes a robot side plate 100 and a tool side plate 110. The robot side plate 100 includes a housing 101, a motor, a hollow rotating shaft 103, a retaining ring 104, and locking balls 105. The hollow rotating shaft 103 is connected to the motor output shaft, and its inner wall has a clearance groove 1031. One end of the retaining ring 104 is fixed to the housing 101, and the other end extends into the hollow rotating shaft 103. Its side wall has a radial mounting hole 1041, and the locking balls 105 are disposed within the hole. The tool side plate 110 includes a locking shaft 111, which can be inserted into the retaining ring 104. Its outer wall has a locking groove 1111. During operation, the motor drives the hollow rotating shaft 103 to the working position, and the inner wall compresses the balls, causing them to engage in the groove, thus achieving locking. When reversed to the clearance position, the clearance groove 1031 aligns with the balls, causing the balls to retract, thus achieving separation. This invention controls the radial movement of the ball bearings by switching the angle of the hollow rotating shaft 103, achieving rapid and reliable locking and disengagement. The overall structure is compact, the locking is stable, and the connection accuracy is high, effectively improving the efficiency and automation level of robot tool changing.

[0044] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0045] It should be noted that this utility model uses a robot end-effector quick-change locking device as an example to introduce the specific structure and working principle of this utility model. However, the application of this embodiment is not limited to the robot end-effector quick-change locking device, and can also be applied to the production and use of other similar workpieces.

[0046] It should be understood that this invention is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this invention is limited only by the appended claims.

[0047] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A quick-change locking device for a robot end effector, characterized in that, Includes robot side plate (100) and tool side plate (110); The robot side disc (100) includes: Outer shell (101); The motor assembly (102) is fixedly installed inside the housing (101); A hollow rotating shaft (103) is connected to the output shaft of the motor assembly (102), and the inner wall of the hollow rotating shaft (103) is provided with a clearance groove (1031). A retaining ring (104) is fixedly connected at one end to the outer shell (101) and extends into the hollow rotating shaft (103) at the other end; a radial mounting hole (1041) is provided on the side wall of the retaining ring (104). A locking ball (105) is disposed in the mounting hole (1041); The tool side plate (110) includes a mounting end (112) for mounting an end effector and a locking shaft (111) for locking with the robot side plate (100); the locking shaft (111) can be inserted into the retaining ring (104) and has a locking groove (1111) on its outer wall. When the hollow rotating shaft (103) rotates to the working position, its inner wall squeezes the locking ball (105), causing part of the locking ball (105) to bulge radially and engage with the locking groove (1111), thus locking the two discs together. When the hollow rotating shaft (103) rotates to the clearance position, the clearance groove (1031) on its inner wall corresponds to the locking ball (105), and the locking ball (105) retracts radially into the space formed by the clearance groove (1031) and the mounting hole (1041), releasing the engagement and achieving separation.

2. The robot end effector quick-change locking device according to claim 1, characterized in that, The length of the mounting hole (1041) is less than the diameter of the locking ball (105) and greater than the radius of the locking ball (105). The diameter of the end of the mounting hole (1041) facing the locking groove (1111) is less than the diameter of the locking ball (105), and the diameter of the end of the mounting hole (1041) facing the hollow rotating shaft (103) is greater than the diameter of the other end away from the hollow rotating shaft (103).

3. The robot end effector quick-change locking device according to claim 1, characterized in that, The fixing ring (104) includes a fixing part (1044) and a connecting cylinder connected coaxially. The fixing part (1044) extends radially from the end of the connecting cylinder away from the motor assembly (102) in a direction away from the axis. The connecting cylinder extends into the hollow rotating shaft (103). The mounting hole (1041) is provided on the side wall of the connecting cylinder. The outer shell (101) is provided with a receiving cavity. The motor assembly (102) is located in the receiving cavity. The outer shell (101) is provided with a connecting part (107) at the end away from the motor assembly (102). The fixing part (1044) is fixedly connected to the connecting part (107) by screws.

4. The robot end effector quick-change locking device according to claim 3, characterized in that, The fixing part (1044) is provided with a first air hole (1042), and the mounting end (112) of the tool side plate (110) is provided with a second air hole (113). The first air hole (1042) and the second air hole (113) form a gas channel when the robot side plate (100) and the tool side plate (110) are locked together.

5. The robot end effector quick-change locking device according to claim 4, characterized in that, Both the first vent (1042) and the second vent (113) are L-shaped vents.

6. The robot end effector quick-change locking device according to claim 1, characterized in that, The locking shaft (111) of the tool side plate (110) is provided with a positioning post at one end near the robot side plate (100). The inner wall of the fixing ring (104) of the robot side plate (100) is provided with a positioning groove at one end facing the tool side plate (110). The positioning post can cooperate with the positioning groove to ensure that the locking groove (1111) and the locking ball (105) are aligned in the radial direction.

7. The robot end effector quick-change locking device according to claim 1, characterized in that, The locking shaft (111) of the tool side plate (110) has a conical surface (1112) at its end. The connecting cylinder of the robot side plate (100) has a guide cone surface (1043) that is adapted to the conical surface (1112) at one end facing the tool side plate (110). The conical surface (1112) can cooperate with the guide cone surface (1043) to guide the locking shaft (111) to the center of the connecting cylinder to compensate for positional deviation.

8. The robot end effector quick-change locking device according to claim 1, characterized in that, The hollow rotating shaft (103) has a radially extending flange on its outer wall, and a limiting block (1011) is provided on the inner side of the connecting part of the outer shell (101). The flange has a limiting groove (1032) that is adapted to the limiting block (1011). When the hollow rotating shaft (103) rotates, the limiting block (1011) can abut against the groove wall of the limiting groove (1032) to limit the rotation angle of the hollow rotating shaft (103).

9. The robot end effector quick-change locking device according to claim 1, characterized in that, The motor assembly (102) includes a motor, a worm gear, a worm, and an output shaft. The output end of the motor is connected to the worm, the worm meshes with the worm gear, the worm gear is fixedly sleeved on the output shaft, and the output shaft is connected to the hollow rotating shaft (103) so that the worm can be driven to rotate by the motor, thereby driving the worm gear and the output shaft to rotate synchronously, and in turn driving the hollow rotating shaft (103) to rotate.

10. The robot end effector quick-change locking device according to claim 9, characterized in that, The hollow rotating shaft (103) has a radially extending bearing positioning flange on its outer wall. The hollow rotating shaft (103) is connected to the outer shell (101) through a bearing (106). The inner ring of the bearing (106) is interference-fitted with the outer wall of the hollow rotating shaft (103) and its end face abuts against the bearing positioning flange. The outer ring of the bearing (106) is fixedly connected to the inner wall of the outer shell (101). The outer shell (101) has a stepped surface at a corresponding position that abuts against the end face of the outer ring of the bearing (106) to achieve axial positioning.

Images