A docking base for a robotic end effector

Abstract

The application discloses a docking base for a robot end effector and belongs to the technical field of docking devices of robot end effectors. When the robot needs to dismount the end effector, the end effector is docked and mounted on a docking guide, and a floating part in the docking guide can float in multiple degrees of freedom in a closed hollow cavity of a docking seat body. A first elastic reset member is horizontally mounted on a circumferential side surface of the floating part, when an external force acts on a docking part in the docking guide, the first elastic reset member is compressed and shrunk, and the floating part is offset to adapt to the position of the end effector; after the external force is removed, the first elastic reset member is reset, and the floating part is automatically returned to the center. In order to further improve the stability after docking, the floating part and the docking seat body are provided with a second elastic reset member in the vertical direction, which is used for eliminating the gap between the floating part and the hollow cavity of the docking seat body in the vertical direction.

Description

Technical Field

[0001] This application relates to the field of docking devices for robot end effectors, and in particular to a docking base for robot end effectors. Background Technology

[0002] Robots (especially multi-axis robots) have been widely used in various industries due to their flexibility, reliability, and efficiency, and are gradually replacing manual operations. However, in practical applications, a single robot often needs to handle several different products or processes, which requires matching the robot with several different end effectors.

[0003] For scenarios where industrial robots need to frequently change different end effectors, tool changers are used as an aid. However, these tool changers have poor adaptability to various working conditions. Utility Model Content

[0004] This application provides a docking base for a robot end effector. It solves the problem of poor multi-condition adaptability of existing tool change devices. The technical solution is as follows: On the one hand, a docking base for a robot end effector is provided, the docking base for the robot end effector comprising: a docking body, a docking guide, and a plurality of first elastic reset members and second elastic reset members; The docking seat has a hollow cavity and an opening located at the top of the docking seat and communicating with the hollow cavity; the docking guide has a floating part and a docking part extending along its axial direction, wherein the floating part is located in the target area inside the hollow cavity and the docking part is located outside the hollow cavity for docking the end effector. The plurality of first elastic reset members are arrayed along the circumferential direction of the floating part on the circumferential side surface of the floating part, and the two ends of the first elastic reset members are in contact with the circumferential side surface of the floating part and the inner wall of the hollow cavity, respectively, so as to be able to deform along the radial direction of the floating part under the action of external force. At least one of the following locations is provided: between the top of the floating part and the top wall of the hollow cavity, and between the bottom of the floating part and the bottom wall of the hollow cavity. The multiple second elastic reset members are distributed around the circumference of the floating part and their two ends are in contact with the floating part and the docking seat respectively, so that they can deform in the axial direction parallel to the docking guide under the action of external force.

[0005] Optionally, the floating part has a guide groove on its circumferential side, a portion of the first elastic reset member is located in the guide groove, and another portion of the first elastic reset member extends out of the guide groove and contacts the inner wall of the hollow cavity.

[0006] Optionally, the first elastic reset element is a spring plunger.

[0007] Optionally, when multiple second elastic reset members are distributed between the bottom of the floating part and the bottom wall of the hollow cavity, the bottom wall of the hollow cavity has an annular alignment groove; wherein, when the floating part is located in the target area, one end of the multiple second elastic reset members is placed in the annular alignment groove.

[0008] Optionally, the second elastic reset element is a spring ball.

[0009] Optionally, the bottom of the floating part has a plurality of omnidirectional balls arranged in a ring array that roll in contact with the bottom wall of the hollow cavity.

[0010] Optionally, the docking seat includes a docking base and a cover plate, wherein the cover plate covers the cavity opening of the docking base and forms a hollow cavity with the docking base, and the cover plate is provided with the opening.

[0011] Optionally, the docking guide includes: a docking guide sleeve and a floating shaft distributed along the first direction, wherein the docking guide sleeve is used to install a guide pin, and the floating shaft is located inside the hollow cavity; wherein one end of the docking guide sleeve extends into the hollow cavity and is fastened to the floating shaft.

[0012] Optionally, one of the floating shaft and the docking guide sleeve has a positioning mounting groove, and the other of the floating shaft and the docking guide sleeve has a positioning mounting protrusion that mates with the positioning mounting groove.

[0013] Optionally, the plurality of first elastic reset members have the same structure and are distributed at equal intervals.

[0014] The beneficial effects of the technical solutions provided in this application include at least the following: When the robot needs to disassemble its end effector, after the end effector is docked with the docking guide, the floating portion of the docking guide can float with multiple degrees of freedom within the sealed hollow cavity of the docking seat. A first elastic reset component is horizontally mounted on the circumferential side of the floating portion. When the docking portion in the docking guide is subjected to external force, the first elastic reset component contracts under pressure, causing the floating portion to shift and adapt to the position of the end effector. After the external force is released, the first elastic reset component resets, driving the floating portion to automatically return to center. To further improve stability after docking, a second elastic reset component is installed vertically between the floating portion and the docking seat to eliminate the gap between the floating portion and the hollow cavity of the docking seat in the vertical direction. Furthermore, this design encapsulates all floating and centering components within a modular unit, avoiding external contamination, simplifying the assembly process, improving the overall rigidity and stability of the mechanism, and facilitating its production, installation, and maintenance as an independent functional module. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of a docking base for a robot end effector provided in an embodiment of this application; Figure 2 This is an exploded view of a docking base for a robot end effector provided in an embodiment of this application; Figure 3 This is an exploded view of another docking base for a robot end effector provided in an embodiment of this application; Figure 4 This is an exploded view of another docking base for a robot end effector provided in the embodiments of this application; Figure 5 This is an exploded view of another docking base for a robot end effector provided in an embodiment of this application; Figure 6 This is an exploded view of a docking base for a robot end effector provided in another embodiment of this application.

[0017] The components include a docking seat 100, a docking guide 200, multiple first elastic reset components 300, second elastic reset components 400, a hollow cavity 101, an opening k, a floating part 201, a docking part 202, an end effector A, a guide groove C, an annular alignment groove C1, a universal ball 500, a docking base B1, a cover plate B2, a docking guide sleeve 203, a floating shaft 204, a guide pin A1, a positioning mounting groove C2, and a positioning mounting protrusion T.

[0018] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0019] 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. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0020] It should be understood that the phrase "one embodiment" or "an embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of the present invention. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification do not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0021] In related technologies, tool quick-change devices fall into two categories: rigid quick-change devices and simple floating quick-change devices. Rigid quick-change devices employ high-precision jaws, ball bearing sleeves, or conical mating structures, relying on the robot's high repeatability to achieve docking. They offer high rigidity and good positioning accuracy after locking. However, this device has poor tolerance: it places stringent requirements on the robot's repeatability. Over extended periods, factors such as robot joint wear, load deformation, and temperature drift can accumulate errors, easily leading to collisions or jamming during docking, damaging expensive robots or tools. Furthermore, this solution lacks error compensation, cannot absorb any lateral or angular deviations during docking, and lacks compliance.

[0022] For simple floating quick-change devices, elastic elements (such as polyurethane rods or rubber pads) or short-stroke slide rails are introduced on the basis of rigid quick-change to allow the tool-side module to float within a certain range to compensate for minor deviations. However, this solution cannot automatically return to center. After separation, the tool-side module will randomly stay at the offset position after the last use and cannot return to the mechanical origin. At the same time, this solution has poor reset accuracy: creep, fatigue, and permanent deformation of the elastic element will cause the reset point to drift, which cannot guarantee long-term consistency. Furthermore, it is prone to reference loss. Because it cannot return to center, the robot cannot predict the actual position of the tool-side module when grasping for the next time, and must rely on vision systems or precision mechanical tooling for secondary positioning, which significantly increases the system cost, complexity, and cycle time.

[0023] Please refer to Figure 1 , Figure 2 and Figure 3 , Figure 1 This is a schematic diagram of a docking base for a robot end effector provided in an embodiment of this application. Figure 2 This is an exploded view of a docking base for a robot end effector provided in an embodiment of this application. Figure 3 This is an exploded view of another docking base for a robot end effector provided in an embodiment of this application. The docking base for the robot end effector may include: a docking seat 100, a docking guide 200, a plurality of first elastic reset members 300 and second elastic reset members 400.

[0024] The docking base 100 may have a hollow cavity 101 and an opening k disposed on the top of the docking base 100 and communicating with the hollow cavity 101. The docking guide 200 may have a floating portion 201 and a docking portion 202 extending along its axial direction. The floating portion 201 may be located in a target area within the hollow cavity 101, and the docking portion 202 may be located outside the hollow cavity 101 for docking with the end effector A. Here, the target area is also the initial origin position of the floating portion within the hollow cavity. When the docking portion 202 docks with the end effector, the floating portion 201 may deviate from its initial origin position under the action of external force.

[0025] Multiple first elastic reset members 300 are distributed along the circumferential direction of the floating portion 201 on its circumferential side surface. The two ends of each first elastic reset member 300 contact the circumferential side surface of the floating portion 201 and the inner wall of the hollow cavity 101, respectively, so that they can deform radially along the floating portion under external force. Here, the multiple first elastic reset members 300 may have identical structures and be evenly spaced.

[0026] At least one of the following locations is provided: between the top of the floating portion 201 and the top wall of the hollow cavity 101, and between the bottom of the floating portion 201 and the bottom wall of the hollow cavity 101. The multiple second elastic reset members 400 are distributed around the circumference of the floating portion 201, with their two ends contacting the floating portion 201 and the docking seat 100 respectively, so as to deform in an axial direction parallel to the docking guide under external force. Here, the multiple second elastic reset members 400 may have identical structures, and they are evenly spaced along the circumference of the floating portion 201.

[0027] Here, the distribution of multiple second elastic reset members 400 at at least one location between the top of the floating portion 201 and the top wall of the hollow cavity 101, and between the bottom of the floating portion 201 and the bottom wall of the hollow cavity 101, includes the following three cases: In the first case, multiple second elastic reset members 400 are arranged in an array between the top of the floating portion 201 and the top wall of the hollow cavity 101, with the multiple second elastic reset members 400 arranged around the circumference of the floating portion and their ends contacting the top of the floating portion 201 and the top wall of the hollow cavity 101, respectively. For example, the number of second elastic reset members 400 can be three. In the second case, multiple second elastic reset members 400 are arranged in an array between the bottom of the floating portion 201 and the bottom wall of the hollow cavity 101, with the multiple second elastic reset members 400 arranged around the circumference of the floating portion 201 and their ends contacting the bottom of the floating portion 201 and the bottom wall of the hollow cavity 101, respectively. For example, the number of second elastic reset members 400 can be three. In the third case, multiple second elastic reset members 400 are arrayed between the top of the floating part 201 and the top wall of the hollow cavity 101, and multiple second elastic reset members 400 are arrayed between the bottom of the floating part 201 and the bottom wall of the hollow cavity 101. For example, there are three second elastic reset members 400 distributed between the top of the floating part 201 and the top wall of the hollow cavity 101, and three second elastic reset members 400 distributed between the bottom of the floating part 201 and the bottom wall of the hollow cavity 101.

[0028] In this embodiment, when the robot needs to disassemble the end effector, after the end effector is docked with the docking guide 200, the floating portion 201 in the docking guide 200 can float with multiple degrees of freedom within the sealed hollow cavity 101 of the docking seat 100. A first elastic reset member 300 is horizontally mounted on the circumferential side of the floating portion 201. When the docking portion 202 in the docking guide 200 is subjected to external force, the first elastic reset member 300 is compressed and contracts, causing the floating portion 201 to shift and adapt to the position of the end effector. After the external force is released, the first elastic reset member 300 resets, driving the floating portion 201 to automatically return to the center, i.e., move to the target area. To further improve stability after docking, a second elastic reset member 400 is installed vertically between the floating portion 201 and the docking seat 100 to eliminate the gap between the floating portion 201 and the wall of the hollow cavity 100 of the docking seat 100 in the vertical direction. In addition, this design encapsulates all floating and centering components within a modular unit, avoiding external contamination, simplifying the assembly process, improving the overall rigidity and stability of the mechanism, and facilitating its production, installation, and maintenance as an independent functional module.

[0029] In summary, this application provides a docking base for a robot end effector, which may include: a docking body, a docking guide, and multiple first elastic reset components and second elastic reset components. When the robot needs to disassemble the end effector, after the end effector is docked and installed with the docking guide, the floating portion in the docking guide can float with multiple degrees of freedom within the sealed hollow cavity of the docking body. The first elastic reset component is horizontally mounted on the circumferential side of the floating portion. When the docking portion in the docking guide is subjected to external force, the first elastic reset component is compressed and contracts, causing the floating portion to shift and adapt to the position of the end effector. After the external force is released, the first elastic reset component resets, driving the floating portion to automatically return to center. To further improve stability after docking, a second elastic reset component is installed vertically between the floating portion and the docking body to eliminate the gap between the floating portion and the hollow cavity of the docking body in the vertical direction. In addition, this design encapsulates all floating and centering components within a modular unit, avoiding external contamination, simplifying the assembly process, improving the overall rigidity and stability of the mechanism, and facilitating its production, installation, and maintenance as an independent functional module.

[0030] Optional, such as Figure 3 As shown, the floating portion 201 in the docking guide 200 has a guide groove C on its circumferential side. A portion of the first elastic reset member 300 is located within the guide groove C, and another portion of the first elastic reset member 300 extends out of the guide groove C and contacts the inner wall of the hollow cavity 101. Here, the number of guide grooves C corresponds one-to-one with the number of first elastic reset members 300. For example, the first elastic reset member 300 can be a spring plunger. In this way, the spring plunger is installed on the side of the floating portion 201. When the docking portion 202 of the docking guide 200 is subjected to an external force, the spring plunger is compressed and can slide within the guide groove C, causing the floating portion 201 to shift. After the external force is released, the spring plunger resets, driving the floating portion 201 to automatically return to the center.

[0031] Optional, please refer to Figure 4 and Figure 5 , Figure 4 This is an exploded view of another docking base for a robot end effector provided in the embodiments of this application. Figure 5This is an exploded view of another docking base for a robot end effector provided in this application embodiment. With multiple second elastic reset members 400 distributed between the bottom of the floating part 201 and the bottom wall of the hollow cavity 101, the bottom of the hollow cavity 101 has an annular alignment groove C1. When the floating part 201 is located in the target area, one end of each of the second elastic reset members 400 is placed within the annular alignment groove C1. Thus, when the floating part 201 returns to center, one end of each second elastic reset member 400 is engaged in the annular alignment groove C1 under pressure. This design not only achieves precise mechanical hard positioning and effectively eliminates gaps in all directions, but also provides zero-position self-locking, enhancing the anti-interference capability and rigidity of the docking guide 200 after it returns to center, ensuring absolute accuracy and stability in positioning. For example, the second elastic reset member 400 can be a spring-loaded ball.

[0032] In the embodiments of this application, such as Figure 5 As shown, the bottom of the floating part 201 may have multiple annular arrays of omnidirectional balls 500 that roll in contact with the bottom wall of the hollow cavity 101. In this way, using the omnidirectional balls 500 as the core load-bearing and motion conversion element transforms the sliding friction during the floating process into rolling friction, greatly reducing motion resistance. Simultaneously, radially arranged spring plungers serve as the drive source, providing a balanced centering and resetting force. This composite mechanism of "rolling friction floating + spring-driven centering" ensures smooth floating and precise and reliable centering of the docking guide 200.

[0033] Optional, such as Figure 4 As shown, the docking seat 100 may include a docking base B1 and a cover plate B2. The cover plate B2 can cover the cavity opening of the docking base B1, forming a hollow cavity 101 with the docking base B1. The cover plate B2 is provided with an opening k. In this way, a sealed movable cavity is formed by locking the cover plate B2 with the docking base B1. This design encapsulates all floating and centering components in a modular unit, avoiding external contamination, simplifying the assembly process, improving the overall rigidity and stability of the mechanism, and facilitating its production, installation, and maintenance as an independent functional module.

[0034] In the embodiments of this application, such as Figure 4 and Figure 5 As shown, the docking guide 200 may include a docking guide sleeve 203 and a floating shaft 204 distributed along the axial direction of the docking guide 200. The docking guide sleeve 203 is used to install the guide pin A1 in the end effector A, and the floating shaft 204 can be located within the hollow cavity 101. One end of the docking guide sleeve 203 can extend into the hollow cavity 101 and be securely connected to the floating shaft 204. Thus, when the robot needs to disassemble the end effector, the guide pin A1 is inserted into the docking guide sleeve 203, and the floating shaft 204 can float with multiple degrees of freedom within the hollow cavity 101.

[0035] Optional, please refer to Figure 6 , Figure 6 This is an exploded view of a docking base for a robot end effector according to another embodiment of this application. One of the floating shaft 204 and the docking guide sleeve 203 may have a positioning mounting groove C2, and the other of the floating shaft 204 and the docking guide sleeve 203 may have a positioning mounting protrusion T that mates with the positioning mounting groove C2. In this way, the floating shaft 204 and the docking guide sleeve 203 are assembled through the engagement of the positioning mounting groove C2 and the positioning mounting protrusion T, effectively improving their installation accuracy and further ensuring the docking accuracy of the docking guide sleeve 203 with the guide pin A1.

[0036] In summary, this application provides a docking base for a robot end effector, which may include: a docking body, a docking guide, and multiple first elastic reset components and second elastic reset components. When the robot needs to disassemble the end effector, after the end effector is docked and installed with the docking guide, the floating portion in the docking guide can float with multiple degrees of freedom within the sealed hollow cavity of the docking body. The first elastic reset component is horizontally mounted on the circumferential side of the floating portion. When the docking portion in the docking guide is subjected to external force, the first elastic reset component is compressed and contracts, causing the floating portion to shift and adapt to the position of the end effector. After the external force is released, the first elastic reset component resets, driving the floating portion to automatically return to center. To further improve stability after docking, a second elastic reset component is installed vertically between the floating portion and the docking body to eliminate the gap between the floating portion and the hollow cavity of the docking body in the vertical direction. In addition, this design encapsulates all floating and centering components within a modular unit, avoiding external contamination, simplifying the assembly process, improving the overall rigidity and stability of the mechanism, and facilitating its production, installation, and maintenance as an independent functional module.

[0037] In this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The term "multiple" refers to two or more unless otherwise expressly defined.

[0038] The above description is merely an optional embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A docking base for a robot end effector, characterized in that, include: The docking base, the docking guide, and multiple first elastic reset components and second elastic reset components; The docking seat has a hollow cavity and an opening located at the top of the docking seat and communicating with the hollow cavity; the docking guide has a floating part and a docking part extending along its axial direction, wherein the floating part is located in the target area inside the hollow cavity and the docking part is located outside the hollow cavity for docking the end effector. The plurality of first elastic reset members are arrayed along the circumferential direction of the floating part on the circumferential side surface of the floating part, and the two ends of the first elastic reset members are in contact with the circumferential side surface of the floating part and the inner wall of the hollow cavity, respectively, so as to be able to deform along the radial direction of the floating part under the action of external force. At least one of the following locations is provided: between the top of the floating part and the top wall of the hollow cavity, and between the bottom of the floating part and the bottom wall of the hollow cavity. The multiple second elastic reset members are distributed around the circumference of the floating part and their two ends are in contact with the floating part and the docking seat respectively, so that they can deform in the axial direction parallel to the docking guide under the action of external force.

2. The docking base for a robot end effector according to claim 1, characterized in that, The floating part has a guide groove on its circumferential side surface. A part of the first elastic reset member is located in the guide groove, and another part of the first elastic reset member extends out of the guide groove and contacts the inner wall of the hollow cavity.

3. The docking base for a robot end effector according to claim 2, characterized in that, The first elastic reset element is a spring plunger.

4. The docking base for a robot end effector according to claim 1, characterized in that, When multiple second elastic reset members are distributed between the bottom of the floating part and the bottom wall of the hollow cavity, the bottom wall of the hollow cavity has an annular alignment groove; wherein, when the floating part is located in the target area, one end of the multiple second elastic reset members is placed in the annular alignment groove.

5. The docking base for a robot end effector according to claim 4, characterized in that, The second elastic reset component is a spring-loaded ball.

6. The docking base for a robot end effector according to any one of claims 1-5, characterized in that, The bottom of the floating part has multiple annular arrays of omnidirectional balls that roll in contact with the bottom wall of the hollow cavity.

7. The docking base for a robot end effector according to claim 6, characterized in that, The docking seat includes a docking base and a cover plate. The cover plate covers the cavity opening of the docking base and forms a hollow cavity with the docking base. The cover plate is provided with the opening.

8. The docking base for a robot end effector according to claim 7, characterized in that, The docking guide includes a docking guide sleeve and a floating shaft distributed along the axial direction of the docking guide. The docking guide sleeve is used to install a guide pin, and the floating shaft is located inside the hollow cavity. One end of the docking guide sleeve extends into the hollow cavity and is fastened to the floating shaft.

9. The docking base for a robot end effector according to claim 8, characterized in that, One of the floating shaft and the docking guide sleeve has a positioning mounting groove, and the other of the floating shaft and the docking guide sleeve has a positioning mounting protrusion that mates with the positioning mounting groove.

10. The docking base for a robot end effector according to claim 6, characterized in that, The plurality of first elastic reset members have the same structure and are distributed at equal intervals.

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