Quick change interface for joint of robotic arm and robotic arm

1 . A quick change interface for a joint of a robotic arm, comprising a body side connector, a replacement side connector, and a driving locking device, the driving locking device being movably arranged on the body side connector to drive the body side connector to lock or release from the replacement side connector; wherein

the driving locking device includes a driving assembly and a locking assembly;

the driving assembly includes a cam mechanism, the cam mechanism being rotationally connected to the body side connector, and the cam mechanism including a cam;

the locking assembly is movably connected to the body side connector, and has a locked state and a released state;

the cam mechanism abuts against the locking assembly, and a rotation of the cam mechanism drives the locking assembly to move, so that the locking assembly switches between the locked state and the released state; wherein the driving assembly further includes a link mechanism which is rotationally and eccentrically connected to the cam mechanism, and the locking assembly includes at least one taper pin moving assembly, the link mechanism including a handle and a connection rod;

when the locking assembly is in the locked state, an axis of the connection rod passes through a rotation axis of the handle; and

a normal line of a contact surface of the cam that abuts against the locking assembly passes through a rotation center of the cam;

wherein the at least one taper pin moving assembly is slidably connected to the body side connector, the cam mechanism abuts against the taper pin moving assembly, the replacement side connector has a first taper surface, and the taper pin moving assembly has a second taper surface, the cam of the cam mechanism has a highest point, when the highest point abuts against the at least one taper pin moving assembly the first taper surface is mated with the second taper surface;

a rotation movement of the cam mechanism is converted into a linear movement of the at least one taper pin moving assembly, so that the second taper surface is mated with or separated from the first taper surface; when the first taper surface mates the second taper surface, the locking assembly is in the locked state, and the body side connector is locked with the replacement side connector; when the second taper surface is separated from the first taper surface, the locking assembly is in the released state, and the body side connector is separated from the replacement side connector;

the link mechanism includes a mounting plate, the mounting plate being detachably connected to the body side connector, the handle being rotationally connected to the mounting plate, one end of the connection rod being rotationally connected to the handle, and another end of the connection rod being rotationally connected to the cam mechanism;

each of the at least one taper pin moving assembly includes a taper pin body and a rolling bearing, the rolling bearing being mounted on the taper pin body, the cam mechanism abuts against the taper pin body through the rolling bearing, the second taper surface is formed on the taper pin body;

wherein the each of the at least one taper pin moving assembly further includes a return spring, one end of the return spring being fixedly connected to the taper pin body, and another end of the return spring being fixedly connected to the body side connector;

when the taper pin body is separated from the replacement side connector, the cam mechanism rotates, and the return spring starts resetting; and

a restoring force of the return spring separates the taper pin body from the replacement side connector.

2 . The quick change interface for the joint of the robotic arm of claim 1 , wherein the cam of the cam mechanism has a plurality of surface protrusion structures evenly distributed along a circumferential direction of the cam, a number of the at least one taper pin moving assembly is the same as a number of the surface protrusion structures, and there are a plurality of the taper pin moving assemblies uniformly set around an axis of the body side connector on an end surface of the body side connector.

3 . The quick change interface for the joint of the robotic arm of claim 2 , wherein the cam of the cam mechanism has a highest point, when the highest point abuts against the at least one taper pin moving assembly, the first taper surface is mated with the second taper surface.

4 . The quick change interface for the joint of the robotic arm of claim 2 , wherein the body side connector includes a connector body and a positioning rod, the positioning rod is fixedly connected to the connector body, the cam mechanism is sleeved on the positioning rod and is able to rotate around the positioning rod, the connector body is provided with a link mechanism placement cavity, a spring placement chamber and a first bolt hole, the connector body also has a first positioning boss, the first positioning boss and the first bolt hole are both used to connect with a robotic arm body.

5 . The quick change interface for the joint of the robotic arm of claim 4 , wherein the body side connector further includes an assembly ring, the assembly ring being detachably connected to the connector body, and limiting the at least one taper pin moving assembly between the assembly ring and the connector body; a reserved cavity adapted to a shape of the at least one taper pin moving assembly is opened on the assembly ring, the reserved cavity being used to provide a moving space for the at least one taper pin moving assembly; a second positioning boss for mating with the replacement side connector is opened on the assembly ring.

6 . The quick change interface for the joint of the robotic arm of claim 5 , wherein a positioning hole and a second bolt hole are provided on the replacement side connector, and a third positioning boss is also formed on the replacement side connector, the third positioning boss and the second bolt hole are connected with a replacement end, the positioning hole corresponds to the second positioning boss, and the positioning hole is used to implement a positioning of the replacement side connector and the assembly ring.

7 . The quick change interface for the joint of the robotic arm of claim 5 , wherein a positioning hole and a second bolt hole are opened on the replacement side connector, and a third positioning boss is formed on the replacement side connector, the third positioning boss and the second bolt hole being both used to mate with a replacement end; the positioning hole corresponds to the second positioning boss, and is used to position the replacement side connector and the assembly ring.

8 . A robotic arm comprising a robotic arm body, a replacement end, and the quick change interface for the joint of the robotic arm of claim 1 , wherein the body side connector is detachably connected to the robotic arm body, and the replacement side connector is detachably connected to the replacement end.

9 . The quick change interface for the joint of the robotic arm of claim 1 , wherein the driving assembly includes a manual drive assembly, the manual drive assembly drives each of the at least one taper pin moving assembly to perform the linear motion.

10 . The quick change interface for the joint of the robotic arm of claim 1 , wherein the handle is an L-shaped handle with a handle part and a connection rod part, a rotation of the handle part drives the connection rod part to rotate, and the connection rod part is rotationally connected to the connection rod.

11 . The quick change interface for the joint of the robotic arm of claim 10 , wherein a length of the connection rod part is shorter than a length of the handle part.

12 . The quick change interface for the joint of the robotic arm of claim 1 , wherein the link mechanism further includes a first bearing assembly and a second bearing assembly, the first bearing assembly is used to realize the connection between the handle and the mounting plate, and the second bearing assembly is used to realize the connection between the connection rod and the cam mechanism.