A manual quick change device for a robot base end tool
Patent Information
- Application Number
- CN202522505030.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-26
- Publication Date
- 2026-10-27
- Estimated Expiration
- 2035-11-26
AI Technical Summary
[0004]基于此，有必要针对现有机器人底座固定和末端工具更换存在效率低、依赖外部动力源及精度不足等问题，提供一种无需外部动力源、手动操作简便且能保持高重复定位精度的机器人底座末端工具的手动快换装置
1、作为机器人末端手动快换装置，解决了传统机器人末端快换装置必须使用压缩空气来使得公头母头的锁紧与脱离的场景；
Smart Images
Figure CN224897310U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robot equipment technology, and in particular to a manual quick-change device for the end tool of a robot base. Background Technology
[0002] In the field of robotics, the fixed installation of robots and the replacement of end effectors are common requirements. Currently, the market mainly suffers from shortcomings in the following two application scenarios: Application Scenario 1: Difficulties in changing production due to fixed installation of robot base Currently, most robots are fixedly mounted at a single workstation, secured to a base with screws to perform specific tasks. When a changeover (i.e., a change of workstation) is required, all base screws must be loosened, the robot moved to the new workstation, and then the screws retightened. This process is acceptable for heavy-duty robots, but for collaborative robots, which are lighter and smaller, frequent changeovers lead to inefficiency, increased labor costs, and the tightening of screws may introduce installation errors, affecting the robot's positioning accuracy.
[0003] Application Scenario 2: Limitations of Robot End-Tool Replacement Quick-change devices for robot end-effectors are typically driven by compressed air, with automatic locking and disengagement controlled by solenoid valves. However, in many practical applications, the environment may not provide compressed air (e.g., in workshops without an air source or in field operations), or manual tool changing may be necessary. Existing pneumatic quick-change devices cannot function properly when compressed air is unavailable, while manual tool changing often lacks a reliable positioning mechanism, resulting in low repeatability and affecting the stability and accuracy of robot operations. Utility Model Content
[0004] Therefore, it is necessary to provide a manual quick-change device for robot base end-effectors that does not require an external power source, is easy to operate manually, and can maintain high repeatability and positioning accuracy, in order to address the problems of low efficiency, reliance on external power sources, and insufficient accuracy in existing robot base fixing and end-effector replacement.
[0005] To achieve the above objectives, the present invention adopts the following technical solution: a manual quick-change device for the end tool of a robot base, characterized in that it includes: a female head, a male head, a fixing ring, a positioning component, multiple supporting components, and knurled screws; The female head has a large-diameter section and a small-diameter section. The large-diameter section has multiple first mounting positions along the circumference of the small-diameter section for connecting to the robot end flange or robot base. The upper end face of the small-diameter section has a wedge-shaped groove with a width that gradually decreases from large to small. The positioning and support components are circumferentially located on the side of the small-diameter section. The male end has a mounting end with a diameter equal to that of the large diameter section. A second mounting position is provided on the circumference of the mounting end edge. A wedge-shaped platform that matches the wedge groove is formed on the back of the mounting end. A clamping position for tightening with the knurled screw is provided on one side of the wedge-shaped platform. The fixed ring has a sliding groove, and one end of the support is inserted into the sliding groove to achieve 360-degree rotation of the fixed ring. The fixed ring has symmetrically arranged pin positioning holes that cooperate with the positioning parts. One end face of the fixed ring has an insertion port, and the side of the fixed ring opposite to the insertion port has a threaded hole for connecting with the knurled screw. The retaining ring is inserted into the small diameter section, allowing one end of the support to be inserted into the sliding groove. The retaining ring is rotated to align the insertion port with the large end of the wedge groove. The male wedge platform is inserted into the wedge groove through the insertion port, causing the wedge groove and the wedge platform to engage. The retaining ring is rotated to insert the positioning member into the positioning pin hole, thus fixing the retaining ring. The knurled screw is then tightened, with the end of the knurled screw pressing against the tightening position, causing the knurled screw to push the wedge platform and the wedge groove to engage.
[0006] Preferably, the side of the small diameter segment is provided with a first mounting hole and a second mounting hole to accommodate the support and the positioning member, respectively, and the position of the second mounting hole is higher than that of the first mounting hole.
[0007] Preferably, at least four support members are provided, each including a compression spring and a plug-in guide post; the plug-in guide post includes a sliding part, a hemispherical part, and a plug-in part, the hemispherical part and the plug-in part are respectively located at both ends of the sliding part, the plug-in part is plugged into the compression spring, the hemispherical part slides with the sliding groove, and the sliding part slides with the mounting hole; the end face of the sliding part at the connection with the hemispherical part is set as an inclined surface that gradually slopes towards the hemispherical part.
[0008] Preferably, the positioning element includes a compression spring and a positioning post that is inserted into the compression spring, and the positioning post at the end away from the compression spring is provided with a circular positioning part that can be inserted into a positioning hole of a pin.
[0009] Preferably, both the first mounting position and the second mounting position are provided with screw mounting holes.
[0010] Preferably, there are two pin positioning holes, which are positioned opposite each other.
[0011] The beneficial effects of this utility model are: 1. As a manual quick-change device for robot end effector, it solves the problem that traditional robot end effector quick-change devices must use compressed air to lock and unlock the male and female heads. 2. As a manual quick-change device for the end effector of a robot, this solution does not require an air source. The purely mechanical structure realizes the locking and unlocking between the male and female heads, and there is no risk of abnormal drop of the male and female heads in traditional robot end effector quick-change devices. 3. As a manual quick-change device for the end effector of a robot, this solution achieves higher efficiency. The connection between the male and female heads is automatically guided by the dovetail wedge structure. Traditional quick-change devices for the end effector of robots require accurate teaching and positioning of the robot side (male head) and the tool side (female head). After the male and female heads are connected, compressed air is used to push the ball to lock the two together. The robot will only proceed to the next step after the solenoid valve gives the locking signal. 4. As a manual quick-change device for robot end effector, this solution is more compatible with 0-150kg loads compared to traditional robot end effector quick-change devices, and has stronger versatility; it changes the traditional robot end effector quick-change device, which is designed according to the actual load (3kg, 5kg, 10kg, 20kg, 50kg, etc.) to correspond to the robot end effector quick-change device. 5. As a manual quick-change device for robot base, this solution improves the efficiency of changing production for a single robot. It can quickly complete the changeover of a single robot to a different workstation without removing or tightening the fixing screws of the robot base, and can ensure repeatability and positioning accuracy. 6. As a manual quick-change device for the robot base, the positioning pin design in this solution is convenient for personnel to operate and is human-machine friendly; 7. This solution features a purely mechanical structure, resulting in low maintenance costs and high safety. Attached Figure Description
[0012] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is an exploded view of the present invention; Figure 3 This is a schematic diagram of the structure of the female head in this utility model; Figure 4 This is a schematic diagram of the male connector in this utility model; Figure 5 This is a schematic diagram of the structure of the fixing ring in this utility model; Figure 6 This is a schematic diagram of the support component in this utility model; Figure 7 This is a schematic diagram of the positioning component in this utility model. Detailed Implementation
[0013] To make the above-mentioned objects, 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. Many specific details are set forth in the following description to provide a full understanding of this utility model. However, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.
[0014] like Figures 1 to 7 As shown, this embodiment provides a manual quick-change device for the end tool of a robot base, which includes a female head 1, a male head 2, a retaining ring 3, a positioning component 4, a support component 5, and a knurled screw 6.
[0015] The female connector 1 is used to connect to the robot end flange or robot base. The large-diameter section 101 of the female connector 1 connects to the robot end flange or robot base through a first mounting position (such as a screw mounting hole). A wedge-shaped groove 103 is formed on the upper end face of the small-diameter section 102. The width of the wedge-shaped groove 103 gradually decreases to guide the insertion of the wedge-shaped platform 201 of the male connector 2. A first mounting hole and a second mounting hole are formed on the side of the small-diameter section 102 to install the support member 5 and the positioning member 4, respectively.
[0016] In addition, to avoid interference between the support member 5 and the positioning member 4, the position of the second mounting hole is set higher than that of the first mounting hole.
[0017] The male connector 2 is used to connect to the mounting surface or end tool. The mounting end 202 of the male connector 2 is connected to the mounting surface or end tool through a second mounting position (such as a screw mounting hole). The back of the mounting end 202 is formed with a wedge-shaped platform 201, which matches the wedge groove 103. A tightening position 203 is provided on one side of the wedge-shaped platform 201 for contacting the knurled screw 6.
[0018] The inner wall of the retaining ring 3 is provided with a sliding groove 301, and the hemispherical part 5022 of the support member 5 is inserted into the sliding groove 301, allowing the retaining ring 3 to rotate 360 degrees. The retaining ring 3 has symmetrically provided pin positioning holes 302, which cooperate with the circular positioning part 403 of the positioning member 4. One end of the retaining ring 3 has an insertion port 303 for inserting the male head 2; the opposite end has a threaded hole 304 for installing the knurled screw 6.
[0019] In one optional embodiment, at least four support members 5 are provided. Each support member 5 includes a compression spring 502 and an insertion guide post 502. The insertion guide post 502 includes a sliding part 5021, a hemispherical part 5022, and an insertion part 5023. The hemispherical part 5022 and the insertion part 5023 are respectively located at both ends of the sliding part 5021. The insertion part 5023 is inserted into the compression spring 501. The hemispherical part 5022 slides in cooperation with the slide groove 301. The sliding part 5021 slides in cooperation with the first mounting hole. The end face of the sliding part 5021 at the connection with the hemispherical part 5022 is set as an inclined surface that gradually slopes towards the hemispherical part 5022, so that the insertion guide post 502 slides more smoothly in the slide groove 301 and reduces jamming.
[0020] In an optional embodiment, the positioning member 4 includes a compression spring 401 and a positioning post 402 that is inserted into the compression spring 401. The positioning post 402, at the end away from the compression spring 401, is provided with a circular positioning part 403 that can be inserted into the positioning hole 302 of the pin. The compression spring 401 provides elastic force, allowing the positioning post 402 to have a certain amount of expansion and contraction space when subjected to external force. When the circular positioning part 403 is inserted into the positioning hole 302 of the pin, stable positioning can be achieved under the action of the compression spring 401, ensuring that the connection between the fixing ring 3 and the positioning member 4 is firm and reliable, and effectively preventing loosening or displacement during use. With the above configuration, the compression spring 501 of the support member 5 and the insertion guide post 502 provide elastic support, ensuring smooth rotation of the fixing ring 3. The compression spring 401 of the positioning member 4 makes the positioning post 402 elastic, facilitating insertion and removal of the pin positioning hole 302.
[0021] During assembly, first insert the retaining ring 3 into the small-diameter section 102 of the female head 1, and slide the hemispherical part 5022 of the support member 5 into the groove 301. Rotate the retaining ring 3 so that the insertion port 303 aligns with the large port of the wedge groove 103, and at the same time, insert the circular positioning part 403 of the positioning member 4 into one of the pin positioning holes 302 to position the positioning member 4 so that the male head 2 can be inserted. Insert the wedge platform 201 of the male head 2 into the wedge groove 103 from the insertion port 303, and guide and engage it through the wedge surface. Continue to rotate the retaining ring 3 so that the circular positioning part 403 of the positioning member 4 is inserted into the other pin positioning hole 302 to fix the position of the retaining ring 3, and at the same time, make the positioning member 4 block the large port of the wedge groove 103. Finally, tighten the knurled screw 6 so that its end presses against the tightening position 203, pushing the wedge platform 201 and the wedge groove 103 to lock tightly, completing the locking. Similarly, when disassembly is required, loosen the knurled screw 6 to disengage the end of the knurled screw 6 from the tightening position 203; rotate the retaining ring 3 to align the insertion port 303 with the large port of the wedge groove 103, push the wedge platform 201 of the male head 2 toward the large port of the wedge groove 103, and then separate the male head 2 and the female head 1 to achieve disassembly.
[0022] In summary, this utility model achieves manual quick change through a purely mechanical structure, which is suitable for changing the base of collaborative robots and replacing end tools. It has high repeatability and is safe and reliable to operate.
[0023] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
Claims
1. A manual quick-change device for an end-effector tool on a robot base, characterized in that, include: Female connector, male connector, retaining ring, positioning component, multiple support components, and knurled screws; The female head has a large-diameter section and a small-diameter section. The large-diameter section has multiple first mounting positions along the circumference of the small-diameter section for connecting to the robot end flange or robot base. The upper end face of the small-diameter section has a wedge-shaped groove with a width that gradually decreases from large to small. The positioning and support components are circumferentially located on the side of the small-diameter section. The male end has a mounting end with a diameter equal to that of the large diameter section. A second mounting position is provided on the circumference of the mounting end edge. A wedge-shaped platform that matches the wedge groove is formed on the back of the mounting end. A clamping position for tightening with the knurled screw is provided on one side of the wedge-shaped platform. The fixed ring has a sliding groove, and one end of the support is inserted into the sliding groove to achieve 360-degree rotation of the fixed ring. The fixed ring has symmetrically arranged pin positioning holes that cooperate with the positioning parts. One end face of the fixed ring has an insertion port, and the side of the fixed ring opposite to the insertion port has a threaded hole for connecting with the knurled screw. The retaining ring is inserted into the small diameter section, allowing one end of the support to be inserted into the sliding groove. The retaining ring is rotated to align the insertion port with the large end of the wedge groove. The male wedge platform is inserted into the wedge groove through the insertion port, causing the wedge groove and the wedge platform to engage. The retaining ring is rotated to insert the positioning member into the positioning pin hole, thus fixing the retaining ring. The knurled screw is then tightened, with the end of the knurled screw pressing against the tightening position, causing the knurled screw to push the wedge platform and the wedge groove to engage.
2. The manual quick-change device for the end-effector tool of the robot base according to claim 1, characterized in that, The side of the small-diameter section is provided with a first mounting hole and a second mounting hole to accommodate the support and positioning components, respectively, with the second mounting hole positioned higher than the first mounting hole.
3. The manual quick-change device for the end-effector tool of the robot base according to claim 2, characterized in that, At least four support members are provided. Each support member includes a compression spring and a plug-in guide post. The plug-in guide post includes a sliding part, a hemispherical part, and a plug-in part. The hemispherical part and the plug-in part are respectively located at both ends of the sliding part. The plug-in part is plugged into the compression spring. The hemispherical part slides in cooperation with the sliding groove. The sliding part slides in cooperation with the first mounting hole. The end face of the sliding part at the connection with the hemispherical part is set as an inclined surface that gradually slopes towards the hemispherical part.
4. The manual quick-change device for the end-effector tool of the robot base according to claim 2, characterized in that, The positioning element includes a compression spring and a positioning post that is inserted into the compression spring. The positioning post at the end away from the compression spring has a circular positioning part that can be inserted into a positioning hole of a pin.
5. The manual quick-change device for the end-effector tool of the robot base according to claim 1, characterized in that, Both the first and second mounting positions are equipped with screw mounting holes.
6. The manual quick-change device for the end-effector tool of the robot base according to claim 2, characterized in that, There are two positioning holes for the pin, and they are positioned opposite each other.