Modular tool quick-change structure and robot

Abstract

The utility model discloses a modularization tool quick change structure and robot, include: fixed subassembly is connected with robot, with fixed subassembly is connected, has two symmetrical setting's clamping arm, clamping arm sets up limit component, quick change tool, both sides are provided with the limit slot of cooperation with limit component. The utility model has the advantages that realize the quick change of tool, need not help complex external drive arrangement, can complete the replacement operation of tool only through the cooperation of mechanical structure, greatly simplifies the quick change process, and improves the operation efficiency.

Description

Technical Field

[0001] This utility model relates to the field of robot quick-change technology, specifically to a modular tool quick-change structure and robot. Background Technology

[0002] With the widespread application of robotics technology, robots need to perform various tasks in different work scenarios, such as sanitation cleaning and kitchen operations. This requires robots to be able to quickly and easily change different tools. Existing tool changing methods usually suffer from problems such as complex structure, the need for special tools, cumbersome operation, and low positioning accuracy, which limit the robot's work efficiency and flexibility. Existing active automatic quick-change devices installed at the end of robots rely on the power or air supply at the work site to achieve quick tool changing. When the air or power is interrupted, the quick-change device will fail. There is an urgent need for a passive system with a simple structure and easy replacement. Utility Model Content

[0003] To solve the above-mentioned technical problems, this utility model provides a modular tool quick-change structure and robot, which has a simple structure, quick replacement, and allows for the rapid and reliable installation and replacement of various functional modules to meet different scenarios and accommodate different tool modules.

[0004] Specifically, this utility model discloses a modular tool quick-change structure, including:

[0005] Fixed components, connected to the robot;

[0006] A fixed bracket, connected to the fixed assembly, has two symmetrically arranged clamping arms, each clamping arm being provided with a limit component;

[0007] The quick-change tool has limiting grooves on both sides that cooperate with the limiting components.

[0008] The advantages of adopting the above technical solution are that it enables quick tool changes without the need for complex external drive devices. The tool change operation can be completed solely through the cooperation of the mechanical structure, which greatly simplifies the quick change process, improves work efficiency, and allows for rapid and reliable installation and replacement of various functional modules to meet different scenarios and accommodate different tool modules.

[0009] Furthermore, the limiting component includes a limiting strip disposed on the inner side of the clamping arm, the limiting strip is equipped with a limiting bead and a spring, and the limiting groove is provided with a limiting hole that cooperates with the limiting bead.

[0010] The advantage of adopting the above technical solution is that the setting of the limiting strip and the limiting groove play the role of limiting guidance and support, so that the quick change tool can be stably fixed after installation. The setting of the limiting bead plays the role of limiting. When the quick change tool is in place, the limiting bead enters the limiting hole one, and the quick change tool is fixed in the horizontal direction by the limiting bead.

[0011] Furthermore, a limiting pin is provided between the clamping arms for fixed installation, and a corresponding limiting hole is provided on the quick-change tool.

[0012] The advantage of adopting the above technical solution is that the setting of the limit pin also plays a limiting role. When the quick change tool is in place, the limit pin is inserted into the limit hole two to fix the position of the quick change tool.

[0013] Furthermore, the fixing bracket also includes a connecting plate and a sliding plate, the connecting plate connecting the sliding plate and the clamping arm, and the sliding plate being slidably connected to the fixing component.

[0014] The advantages of adopting the above technical solution are that the connecting plate plays a supporting and connecting role, the sliding plate can slide along the fixed component, the position of the quick-change tool can be changed, it is suitable for different usage scenarios, and enhances operational flexibility.

[0015] Furthermore, the fixing component includes: a fixing guide rail, which is mounted on the robot; a sliding groove is provided at the bottom of the sliding plate, which contacts the top of the fixing guide rail and slides along the fixing guide rail; the sliding groove is provided with a protrusion, which cooperates with the fixing guide rail for limiting.

[0016] The advantage of adopting the above technical solution is that the sliding groove allows the sliding plate to move along the fixed guide rail, and the protrusion is used to limit the sliding plate so that the sliding plate will not fall off the fixed guide rail during the sliding process, and the installation is stable.

[0017] Furthermore, the fixing assembly also includes: a slide rail fixing seat, a threaded pin, and a fixing nut. The sliding plate and the slide rail fixing seat are provided with through holes for the threaded pin to pass through. The slide rail fixing seat is located on the side of the sliding plate away from the protrusion. The fixing nut is connected to the tail of the threaded pin.

[0018] The advantage of adopting the above technical solution is that the slide rail fixing seat, together with the threaded pin and the fixing nut, plays a fixing role. Tightening the fixing nut can fix the sliding plate relative to the fixed guide rail, preventing the sliding plate from shifting due to vibration and other factors during operation, and ensuring that the working position of the quick change tool is stable and reliable.

[0019] Furthermore, a lifting ring is installed on the sliding plate.

[0020] The advantage of adopting the above technical solution is that the lifting ring is designed to facilitate the lifting operation of the robot during transportation and debugging.

[0021] Furthermore, a handle is installed on the sliding plate.

[0022] The advantage of adopting the above technical solution is that the entire machine can be moved by handles when it needs to be moved.

[0023] Furthermore, this utility model also discloses a robot, including a main body, a walking component, a robotic arm, and a modular tool quick-change structure as described in the above technical solution.

[0024] The advantage of adopting the above technical solution is that the robotic arm can directly grasp different quick-change tools to correspond to different usage scenarios. Without the need for complex modifications to the main structure of the robot, it can perform various tasks such as cleaning, handling, and assembly by changing quick-change tools with different functions, effectively reducing the robot's operating costs and maintenance difficulties. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this utility model, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0026] Figure 1 This is an exploded view of the modular tool quick-change structure of this utility model.

[0027] Figure 2 This is the main view of the overall structure of this utility model.

[0028] Figure 3 This is a cross-sectional view of the utility model.

[0029] Figure 4 This is a schematic diagram of the fixed bracket structure of this utility model.

[0030] Figure 5 This is a schematic diagram of the position of the limiting groove in the quick-change fixture of this utility model.

[0031] Figure 6 This is a structural diagram of the robot of this utility model.

[0032] The reference numerals used in the attached figures are as follows:

[0033] 1. Fixed bracket; 11. Connecting plate; 2. Clamping arm; 21. Limiting strip; 22. Limiting bead; 23. Limiting hole 1; 24. Limiting pin; 3. Quick change tool; 31. Limiting groove; 4. Fixed guide rail; 5. Sliding plate; 51. Sliding groove; 52. Protrusion; 53. Slide rail fixing seat; 54. Threaded pin; 55. Fixing nut; 56. Lifting ring; 57. Handle; 6. Walking assembly; 7. Mechanical arm. Detailed Implementation

[0034] The present invention will now be described in further detail with reference to the accompanying drawings.

[0035] like Figure 1-3 As shown, this utility model discloses a modular tool quick-change structure, comprising:

[0036] Fixed components, connected to the robot;

[0037] The fixed bracket 1 is connected to the fixed component and has two symmetrically arranged clamping arms 2, wherein the clamping arms 2 are provided with limit components;

[0038] The quick-change tool 3 has limiting grooves 31 on both sides that cooperate with the limiting components.

[0039] The advantage of adopting the above technical solution is that it enables quick tool changes without the need for complex external drive devices. The tool change operation can be completed solely through the cooperation of the mechanical structure, which greatly simplifies the quick change process and improves work efficiency.

[0040] In some implementation schemes, such as Figure 4-5 As shown, the limiting assembly includes limiting strips 21 symmetrically arranged inside the clamping arm 2. Limiting strips 21 are fitted with limiting beads 22 and springs. A limiting hole 23, which mates with the limiting beads 22, is provided in the limiting groove 31. The spring and limiting beads 22 are a ball spring structure. The spring is installed inside the clamping arm 2, and the ball can extend and retract under the action of the spring. When the quick-change tool 3 is inserted, it compresses the steel ball on the ball spring, causing the steel ball to retract inside the limiting strip 21. When the quick-change tool 3 is in position, the steel ball is aligned with the limiting hole 23 on the quick-change tool 3, and the steel ball pops out. The elasticity of the ball spring can prevent the quick-change tool 3 from disengaging under normal vibration or pushing force. However, the robotic arm 7 can overcome the elasticity of the ball spring and disengage the quick-change tool 3.

[0041] There are two clamping arms 2, arranged in parallel, with one end forming an opening and the other end connected by a connecting part. The overall shape is U-shaped. The quick-change tool 3 enters into the U-shape for fixation. A fixed limit pin 24 is also provided between the clamping arms 2. The quick-change tool 3 is provided with a corresponding limit hole 2. When the quick-change tool 3 slides into place along the limit strip 21, the limit pin 24 is inserted into the limit hole 2, abutting against the quick-change tool 3 and preventing the quick-change tool 3 from sliding, thus achieving the function of limiting.

[0042] In some implementations, the fixed bracket 1 also includes a connecting plate 11 and a sliding plate 5. The connecting plate 11 is fixedly connected to the sliding plate 5 and the clamping arm 2. The sliding plate 5 is slidably connected to the fixed component. The shape of the connecting plate 11 is set according to the usage requirements and extends outward from the robot body so that the quick-change tool 3 will not collide with the robot.

[0043] Furthermore, the fixing components include: a fixed guide rail 4, which is fixedly mounted on the robot and is a universal guide rail. When the placement position of the quick-change tool 3 needs to be changed, only the installation position of the fixed guide rail 4 needs to be changed. The bottom of the sliding plate 5 is provided with a sliding groove 51, the inside of which contacts the top of the fixed guide rail 4 and slides along the fixed guide rail 4. The sliding groove 51 is provided with a protrusion 52, which is set along the length direction of the sliding plate 5 and cooperates with the fixed guide rail 4 for limiting. A slide rail fixing seat 53 is also provided on the sliding plate 5. The slide rail fixing seat 53 is located on the other side of the sliding plate 5 away from the protrusion 52 and cooperates with the protrusion 52 to clamp the fixed guide rail 4, so that the sliding plate 5 slides on the fixed guide rail 4. At the same time, the slide rail fixing seat 53 is also provided with The device includes a threaded pin 54 and a fixing nut 55. The threaded pin 54 can be a square threaded pin, with a threaded rod at its tail that connects to the fixing nut 55. The sliding plate 5 and the slide rail fixing seat 53 are provided with through holes for the threaded pin 54 to pass through. The shape of the through hole can match the shape of the threaded pin 54. The tail of the threaded pin 54 passes through the slide rail fixing seat 53 and is fixed by the fixing nut 55. The fixing nut 55 is a hand-tightening nut that can be manually rotated. Tightening the fixing nut 55 clamps the fixing guide rail 4 in the slide rail fixing seat 53, fixing the position of the sliding plate 5 and preventing the fixing bracket 1 from moving. Loosening the nut allows the fixing bracket 1 to move along the fixing guide rail 4, enabling the fixing bracket 1 to change its position. This allows for manual and quick installation and docking without the need for tools.

[0044] In some implementations, a lifting ring 56 is mounted on the sliding plate 5. The lifting ring 56 is provided to facilitate lifting operations of the robot during transportation and commissioning.

[0045] In some implementations, a handle 57 is mounted on the sliding plate 5, and the handle is secured by screws.

[0046] This utility model also discloses a robot, such as Figure 6 As shown, it includes a main body, a walking component 6, and a robotic arm 7. It also includes the modular tool quick-change structure described in the above technical solution. The walking component 6 includes leg components or walking wheel sets, etc., to realize the walking function of the main body. The robotic arm 7 is equipped with a quick-change joint to realize quick-change tool 3 grasping. The tool can be different tools depending on the application scenario. For example, in the sanitation scenario, it can be a gripper tool, a blowing tool, a vacuuming tool, a wiping tool, etc., and in the kitchen scenario, it can be a shovel, a spoon, etc.

[0047] For those skilled in the art, various modifications and improvements can be made without departing from the inventive concept of this utility model, and these modifications and improvements all fall within the protection scope of this utility model.

Claims

1. A modular tool quick-change structure, characterized in that, include: Fixed components, connected to the robot; A fixed bracket (1) is connected to the fixed component and has two symmetrically arranged clamping arms (2), wherein the clamping arms (2) are provided with limit components; The quick-change tool (3) has limit grooves (31) on both sides that cooperate with the limit component.

2. The modular tool quick-change structure according to claim 1, characterized in that, The limiting component includes a limiting strip (21) disposed on the inner side of the clamping arm (2), the limiting strip (21) is equipped with a limiting bead (22) and a spring, and the limiting groove (31) is provided with a limiting hole (23) that cooperates with the limiting bead (22).

3. The modular tool quick-change structure according to claim 2, characterized in that, A fixed limiting pin (24) is also provided between the clamping arms (2), and a corresponding limiting hole is provided on the quick-change tool (3).

4. The modular tool quick-change structure according to claim 1, characterized in that, The fixed bracket (1) further includes a connecting plate (11) and a sliding plate (5). The connecting plate (11) connects the sliding plate (5) and the clamping arm (2). The sliding plate (5) is slidably connected to the fixed component.

5. The modular tool quick-change structure according to claim 4, characterized in that, The fixing component includes: a fixed guide rail (4), which is mounted on the robot; a sliding groove (51) is provided at the bottom of the sliding plate (5), which contacts the top of the fixed guide rail (4) and slides along the fixed guide rail (4); a protrusion (52) is provided in the sliding groove (51), which cooperates with the fixed guide rail (4) to limit movement.

6. The modular tool quick-change structure according to claim 5, characterized in that, The fixing assembly further includes: a slide rail fixing seat (53), a threaded pin (54) and a fixing nut (55). The sliding plate (5) and the slide rail fixing seat (53) are provided with through holes for the threaded pin (54). The slide rail fixing seat (53) is located on the side of the sliding plate (5) away from the protrusion (52). The fixing nut (55) is connected to the tail of the threaded pin (54).

7. The modular tool quick-change structure according to claim 4, characterized in that, A lifting ring (56) is installed on the sliding plate (5).

8. The modular tool quick-change structure according to claim 7, characterized in that, A handle (57) is installed on the sliding plate (5).

9. A robot, comprising a main body, a walking component (6), and a robotic arm (7), characterized in that, It also includes the modular tool quick-change structure as described in any one of claims 1-8.

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