CN114211517B - Outdoor robot quick-change tool library - Google Patents

Abstract

The invention provides an outdoor robot quick-change tool library, which comprises a terminal fixed quick-change seat, a tool fixed quick-change seat, a movable base and a fixed base, wherein a guide cone and a magnetic element are arranged on the terminal fixed quick-change seat, and the guide cone and the magnetic element are used for being in butt joint when the terminal fixed quick-change seat is quickly changed with the tool fixed quick-change seat; the upper end of the tool fixing quick-change seat is provided with a ferrous metal element which can be attracted with the magnetic element, and the outer side of the tool fixing quick-change seat is provided with a fastening mechanism which can enable the tool fixing quick-change seat and the tail end fixing quick-change seat to be in butt joint and fixation; the tool fixing quick-change seat is arranged on the movable base, and the movable base is provided with a guide pin which can be in butt joint with the tool fixing quick-change seat during quick-change, and is in flexible connection with the fixed base through at least two space supporting parts or/and a flexible support. The invention has better flexibility, can bear larger external force impact, can provide multi-dimensional fault tolerance capacity in space, and effectively ensures the reliability and positioning precision of the robot during outdoor operation or fast replacement in good environment operation.

Description

Outdoor robot quick-change tool library

Technical Field

The invention relates to the technical field of robots, in particular to a robot quick-change automatic tool library for the outdoors.

Background

The automated tool library has been widely used in the traditional machining industry, however, for non-industrial scene robots, such as outdoor working robots, mobile robots, etc., due to the limitations of working scenes, available power sources, environmental conditions, and the requirements of the robots on factors such as weight, the system practicability derived based on the traditional scheme is not ideal, and the scheme of the tool library for the non-industrial scene robots such as the outdoor is also limited, mainly the following problems are existed: (1) The traditional tool library system in an electric, gas, liquid or hybrid power driving mode has high system complexity, increases the weight of the tool library, increases the cost, and reduces the practicability of the robot in outdoor operation or poor environment operation; (2) Unlike indoor industrial robots, outdoor robots are often repeatedly transported, disassembled or transported for long distances due to operation scenes, which inevitably affects the positioning accuracy of the tail end of the robot, however, most tool libraries are rigid structures, cannot provide self-adaptive redundancy, and cause problems such as docking failure; (3) In order to simplify a tool library system for an outdoor operation robot, part of products adopt an independent motor driving mode, namely, the tool library is designed to be a system with independent motor driving, such as a patent CN110640704B published by the national intellectual property agency, and the structure transmits motor power to different tool positions by utilizing a plurality of groups of transmission structures so as to quickly change tools; therefore, although the complexity of the electrical appliances of the system is simplified, the tool positions in a tool library cannot be flexibly assembled and disassembled according to the requirement due to the introduction of the independent driving and transmission mechanism, the size, the volume and the weight of the tool library cannot be further optimized, and once a motor is in a problem, the whole system can be caused to be out of order; (4) The existing robot has high stability requirement on a fixed base, and can not be used for an outdoor movable robot, and the movement of the movable robot can influence the repeated positioning of the robot; (5) The existing tool library is based on a structure for realizing quick tool replacement by electromagnetic force, and when external impact and large moment are received, the problem of disengagement is easy to occur, so that the reliability in use is affected.

Therefore, it is necessary to solve the above-described drawbacks of the prior art.

Disclosure of Invention

The invention aims to overcome the defects in the prior art, provides an outdoor robot quick-change tool library, can ensure the reliability and positioning accuracy of the robot during outdoor operation or operation in a poor environment, and has a simple structure.

The invention provides an outdoor robot quick-change tool library, which comprises a terminal fixed quick-change seat, a tool fixed quick-change seat, a movable base and a fixed base, wherein a guide cone and a magnetic element are arranged on the terminal fixed quick-change seat, and the guide cone and the magnetic element are used for being in butt joint when the guide cone and the magnetic element are quickly changed with the tool fixed quick-change seat; the upper end of the tool fixing quick-change seat is provided with an iron metal element which can be attracted with the magnetic element, and the outer side of the tool fixing quick-change seat is provided with a fastening mechanism which can enable the tool fixing quick-change seat to be in butt joint and fixation with the tail end fixing quick-change seat; the tool fixing quick-change seat is arranged on the movable base, and the movable base is provided with a guide pin which can be in butt joint with the tool fixing quick-change seat during quick-change, and is in flexible connection with the fixed base through at least two space supporting parts or/and a flexible support.

Optionally, the fixed base is provided with a limiting pin, the limiting pin is matched with a limiting hole correspondingly arranged on the movable base, and a tolerance gap is arranged between the limiting pin and the limiting hole.

Optionally, the flexible support is a flexible sleeve arranged between the movable base and the fixed base, and is fixed by a support fixing piece.

Optionally, the space supporting component comprises a universal shaft, a radial spherical plain bearing seat and an elastic supporting piece; the two radial joint bearings are sleeved at two ends of the universal shaft, the elastic supporting piece is clamped between the two radial joint bearings, and the outer ends of the two radial joint bearings are respectively supported and fixed by the radial joint bearing seat.

Optionally, be equipped with the embedding hole on the terminal fixed quick change seat, be equipped with the chute on the removal base, buckle mechanism includes the couple, fixes couple swivel pin on the fixed quick change seat of instrument, the couple articulate in couple swivel pin, the one end of couple is equipped with can insert the trip of embedding hole internal fixation, the other end have with chute complex slide wedge.

Further, the buckle mechanism further comprises an elastic piece, one end of the elastic piece is fixed on the tool fixing quick-change seat, and the other end of the elastic piece is connected with one end, provided with the inclined wedge, of the hook.

The self-locking mechanism comprises a main body self-locking seat, a self-locking spring tongue, a self-locking rotating pin, a self-locking limiting pin and a spring, wherein the main body self-locking seat is fixed on the movable base, the self-locking spring tongue is positioned in a long groove which is formed in the main body self-locking seat and can enable the self-locking spring tongue to swing in the long groove, one end of the self-locking spring tongue is hinged on the self-locking rotating pin which is arranged in the long groove, a through hole which can enable the self-locking limiting pin to pass through is further formed in the self-locking spring tongue, one end of the spring is fixed on the main body self-locking seat, and the other end of the spring abuts against the self-locking spring tongue.

The invention can also comprise a tool rod, wherein the tool rod and the tool fixing quick-change seat are fixedly connected through a tool rod fixing piece.

The invention has the following technical effects:

(1) According to the invention, the tool libraries with corresponding numbers can be flexibly installed according to the operation scene of the robot and the required number of quick-change tools, so that the structure is greatly simplified, the redundant weight and structure are removed, and the reliability is improved;

(2) The quick-change tool library structure does not need an additional power source or a driving system and a transmission system, greatly reduces the complexity of the system, realizes the butt joint between the terminal fixed quick-change seat and the tool fixed quick-change seat by matching with the quick-change interface based on electromagnetism, and is reliable, more convenient and efficient to use;

(3) The quick-change tool library structure adopts a modularized processing mode, and utilizes the characteristics of each module to be used or cooperatively matched, wherein flexible connection is formed between the fixed base and the movable base through the space supporting component or/and the flexible support, so that the quick-change tool library structure has good tolerance; the relative displacement between the movable base and the fixed base can be further rigidly controlled by using the limiting pin, so that a spatial multi-dimensional redundancy is provided for the tool library, the fault tolerance of the tool library is improved, the influence of the tool library on the tool library when the tool library is impacted by a large external force is avoided to the maximum extent, the positioning precision in quick change is reduced, and the success rate of accurate butt joint in quick change of the outdoor robot is effectively ensured;

(4) The invention uses electromagnetic force as driving force, which can improve the reliability of the system, simplify the mechanism greatly, realize light weight and reduce cost;

(5) The buckle mechanism designed by the invention is matched with electromagnetic force, so that the influence of external impact and large moment on the tool library can be better resisted, the accidental disengagement of the electromagnetic force in external impact can be prevented, the locking function of the tool library in the vertical direction is further enhanced through the self-locking structure, the influence of repeated carrying, dismounting or long-distance transportation on the positioning precision during quick change of the outdoor robot due to operation scene can be avoided, and the reliability of the tool library is effectively ensured.

Drawings

FIG. 1 is a schematic diagram of the structural assembly of the present invention;

FIG. 2 is a schematic diagram of a second embodiment of the present invention;

FIG. 3 is a schematic diagram of a third embodiment of the present invention;

FIG. 4 is a schematic diagram showing the first mating relationship between the fixed quick-change holder at the end and the fixed quick-change holder and the movable base of the tool according to the present invention;

FIG. 5 is a second schematic diagram of the mating relationship between the fixed quick-change holder at the end and the movable base of the tool according to the present invention;

FIG. 6 is a schematic view of the structure of the moving base and the fixed base of the present invention;

FIG. 7 is a schematic diagram showing the cooperation structure of the movable base and the fixed base;

FIG. 8 is a schematic diagram of a second embodiment of the matching structure of the movable base and the fixed base of the present invention;

FIGS. 9A-9B are schematic views of the structure of portion A of FIG. 8;

FIG. 10 is a schematic view of the assembly of the tool holder, the mobile base and the fixed base of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the following examples in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.

It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present.

It should also be noted that the terms "upper," "lower," "outer," "top," "bottom," "inward," "outward," "one end," "the other end," and the like in the embodiments of the present invention are merely relative terms or references to the normal use state of the product or the positions shown in the drawings, merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or element to be referred to must have a specific orientation, be configured and operated in a specific orientation, and should not be considered as limiting.

Referring to fig. 1-3, the outdoor robot quick-change tool library provided by the invention is used for quick-changing of outdoor robot end tools, and comprises an end fixing quick-change seat 2, a tool fixing quick-change seat 1, a movable base 11 and a fixing base 9, wherein the end fixing quick-change seat 2 can be a cylindrical member shown in the drawing or a cuboid member, a magnetic element 5 is arranged at the center of the end fixing quick-change seat 2 and is fixed on the end fixing quick-change seat 2 through a fixing piece 51, the bottom plane of the magnetic element 5 can be flush with or slightly exceeds the bottom plane of the end fixing quick-change seat 2, and the rotation of the magnetic element 5 is limited by adopting a limit screw 52 when the magnetic element 5 is a cylindrical member; the appearance structure of the tool fixing quick-change seat 1 is the same as or similar to that of the tail end fixing quick-change seat 2, the tool fixing quick-change seat 1 can also be a cylindrical member or a cuboid member, the upper end of the tool fixing quick-change seat 1 is correspondingly provided with an iron metal element which can be attracted with the magnetic element 5, so that the tail end fixing quick-change seat 2 is connected with the tool fixing quick-change seat 1 in a butt joint manner in a magnetic attraction manner, the iron metal element is specifically selected from an iron block 7, the iron block 7 is positioned in a groove formed upwards in the tool fixing quick-change seat 1, and the iron block 7 is fixed by a fixing piece (not shown), and the top plane of the iron block 7 is flush with the top plane of the tool fixing quick-change seat 1 or slightly higher than the top plane of the tool fixing quick-change seat 1, so that the iron block is favorable for being closely attached to the magnetic separation element 5 on the tail end fixing quick-change seat 2 in attraction so as to ensure the attraction effect in quick-change; the tool fixing quick-change seat 1 is connected with an actuator required by the outdoor robot. In order to ensure that the terminal fixed quick-change seat 2 and the tool fixed quick-change seat 1 are aligned accurately, at least two guide cones 3 are further arranged on the terminal fixed quick-change seat 2, three guide cones 3 are arranged in the embodiment of the invention shown in fig. 2, the guide cones are fixed on the terminal fixed quick-change seat 2 through guide cone fixing pieces 31, and the lower ends of the guide cones 3 extend out of the plane of the bottom of the terminal fixed quick-change seat 2; at least two positioning holes 102 which can be correspondingly matched with the guide cone 3 are correspondingly arranged on the tool fixing quick-change seat 1, and the number of the positioning holes 102 is three. When the terminal fixed quick-change seat 2 and the tool fixed quick-change seat 1 are in butt joint, the guide cone 3 is correspondingly inserted into the positioning hole 102, so that the quick alignment of the terminal fixed quick-change seat 2 and the tool fixed quick-change seat 1 in combination can be ensured, and the fit clearance between the guide cone 3 and the positioning hole 102 is very small, so that the terminal fixed quick-change seat 2 and the tool fixed quick-change seat 1 bear larger torque, and the safety and reliability during quick-change are further improved. The outside at the fixed quick change seat of instrument 1 still is equipped with buckle mechanism 6, and buckle mechanism 6 can provide mechanical locking for the fixed quick change seat of instrument 1 and the fixed quick change seat of terminal 2 when inhaling, makes both firm in connection, avoids the electromagnetic binding force between the two to produce the problem that loosens under external impact.

Referring to fig. 1-5, the tool fixing quick-change seat 1 is disposed on a moving base 11, at least two guide pins 10 are disposed on the moving base 11, and are fixed on the moving base 11 by guide pin fixing members 1001, guide holes 101 are correspondingly formed in the tool fixing quick-change seat 1, the guide pins 10 are vertically disposed on the moving base 11, and the upper ends of the guide pins are cone-shaped, so that alignment insertion of the guide pins 10 and the guide holes 101 is facilitated, and the tool fixing quick-change seat 1 is fast aligned and matched with the moving base 11. Referring to fig. 6-8 and fig. 9A and 9B, the fixed base 9 is disposed at the bottom of the movable base 11, and forms flexible connection with the movable base 11 through at least two space supporting members 8 or flexible supports 12, or the movable base 11 forms flexible connection with the fixed base 9 through at least two space supporting members 8 and flexible supports 12, and the space supporting members 8 or/and the flexible supports 12 can provide a movement space in three XYZ directions between the fixed base 9 and the movable base 11, and when being impacted by external force, the two members cooperate with each other to compensate each other, so as to avoid the influence of the external force on the invention, and the movable base can be restored to an initial state after the external force is removed.

In the outdoor robot quick-change tool library, the magnetic element 5 can realize the butt joint between the tail end fixed quick-change seat 2 and the tool fixed quick-change seat 1 by controlling the electromagnetic attraction force generated between the magnetic element and the iron block 7 through the power-on and power-off control so as to control the quick change of the tail end tool of the outdoor robot. The electromagnetic attraction mode is rapid and stable, the control mode is simple, the reliability is high, the magnetic attraction device is not easily influenced by the outside, and the requirements on the manufacturing precision and the repeated positioning precision of the magnetic separation element 5 and the iron block 7 are low. Meanwhile, the snap-in mechanism 6 can enable the tail end fixed quick-change seat 2 and the tool fixed quick-change seat 1 after the suction to be fixed into a whole, so that the quick-change tool library can bear larger shearing force and impact force, and the reliability and safety of the quick-change tool library are improved. Therefore, the quick opening and closing of the tail end fixing quick-change seat 2 and the tool fixing quick-change seat 1 can be realized without the traditional motor, hydraulic pressure and air pressure, the whole structure is simple, the use is convenient, and the manufacturing and using costs are low. Further, the space supporting component 8 or/and the flexible support 12 are adopted to enable the movable base 11 to form flexible connection with the fixed base 9, so that multi-dimensional fault tolerance in space can be provided when the tool library is quickly replaced, the fault tolerance of the tool library is improved, the problems that the quick-change tool library is easy to disengage or malfunction when being subjected to external impact and the like are effectively solved, the influence of positioning accuracy on quick-change of an outdoor robot is reduced, and the success rate of butt joint of each component and the practicability and reliability of the robot in outdoor operation or poor environment operation are effectively guaranteed.

Referring to fig. 6 and 7, in a specific structural design of the present invention, the flexible support 12 may be a flexible sleeve disposed between the movable base 11 and the fixed base 9, a stepped hole is formed in the center of the flexible support 12, and the support fixing member 121 is inserted into the stepped hole, so that the movable base 11 and the fixed base 9 are connected and fixed. Specifically, the flexible support 12 is made of soft elastic material, and the whole material has isotropic characteristics, such as silica gel, rubber, etc., and is fixed on the fixed base 9 through the support fixing member 121, and is nested in the groove provided by the movable base 11. When the movable base 11 moves, the flexible support 12 is extruded and deformed, and when the external force is removed, the flexible support is automatically restored under the elastic action; when the movable base 11 is not or is very little subjected to external force, the flexible support 12 can keep an initial state at this moment, that is, the movable base 11 can keep the original initial position unchanged under the support of the flexible support 12, even if the movable base 11 is subjected to external force, the tolerance of the flexible support 12 can ensure that the position of the movable base 11 can not change greatly, and after the external force is removed, the movable base 11 can be quickly restored to the initial state, so that the positioning precision of the tail end of the robot is effectively ensured. Moreover, a flexible support 12 is arranged between the movable base 11 and the fixed base 9, and the elasticity of the flexible support 12 can also bear impact force during quick change, so that rigid impact of external force on the movable base 11 and the fixed base 9 is reduced. It will be appreciated that at least three of the flexible supports 12 may be provided.

Referring to fig. 6 and 7, in the specific structural design of the present invention, the space supporting component 8 is disposed between the moving base 11 and the fixed base 9, and includes a universal shaft 81, a radial spherical plain bearing 82, a radial spherical plain bearing seat 83 and an elastic supporting member 84; the two radial joint bearings 82 are sleeved on the universal shaft 81, an elastic supporting piece 84 is clamped between the two radial joint bearings 82, the outer ends of the two radial joint bearings 82 are respectively fixed by radial joint bearing seats 83, the two radial joint bearing seats 83 are respectively arranged in grooves correspondingly formed in the opposite directions of the movable base 11 and the fixed base 9, and the two radial joint bearing seats are respectively fixed on the movable base 11 and the fixed base 9 through fasteners. The space supporting component 8 of the invention adopts the combined design of the elastic supporting piece 84, the universal shaft 81 and the centripetal joint bearing 82, wherein the elastic supporting piece 84 can enable a vertical (Z direction) moving space to exist between the movable base 11 and the fixed base 9, and the centripetal joint bearing 82 can allow the movable base 11 and the fixed base 9 to have relative displacement in the horizontal direction (X, Y direction) by rotating around the universal shaft 81. In this way, the movable base 11 is allowed to move within a certain space range, so that the movable base 11 and the fixed base 9 form a flexible connection, and the elastic support 84 can also enable the movable base 11 to have an automatic resetting capability in the vertical direction.

As a further structural design of the outdoor robot quick-change tool library, referring to fig. 8, 9A and 9B, the invention is further provided with a limiting pin 91 on the fixed base 9, the limiting pin 91 is matched with a limiting hole 112 correspondingly arranged on the movable base 11, and a certain allowance gap is arranged between the limiting pin 91 and the limiting hole 112. Referring to fig. 9B, a gap is left in the radial direction of the limiting pin 91, so that the moving base 11 can have a moving space in the X direction and the Y direction of the limiting pin 91, and at the same time, a certain gap is left in the axial direction of the limiting pin 91 and the moving base 11, that is, as shown in fig. 9A, the moving base 11 can move in the Z axis direction of the limiting pin 91, and the maximum moving and rotating space of the moving base 11 can be controlled by controlling the gap X, Y, Z between the limiting pin 91 and the moving base 11, that is, controlling the numerical value of X, Y, Z. In this way, by arranging the limiting pin 91, the spatial position of the movable base 11 can be adjusted and limited, and an adaptive redundancy is provided between the movable base 11 and the fixed base 9, so that possible docking failure is further effectively avoided. Specifically, the amount of redundancy in the X, Y directions includes, but is not limited to, 0-4mm; the Z direction is 0-5mm. It should be understood that at least three limit pins 91 may be provided and uniformly distributed on the fixed base 9.

It can be appreciated that the space supporting component 8, the flexible support 12 and the limiting pin 91 are adopted in the invention, the three components can form modularization, the flexible support 12 and the space supporting component 8 can be used respectively or can cooperate, when the flexible support 12 and the space supporting component 8 are combined for use, the risk that the elastic support 84 is possibly invalid when the quick-change tool magazine is subjected to a large shearing force can be avoided, and the self-resetting capability of the movable base 11 is improved; the relative displacement of the movable base 11 can be further controlled rigidly by the stopper pin 91. Like this, through above three module, can restrict the removal base 11 in spatial position, can realize again under the effect of external force, the removal base 11 can be in limited flexible space's removal, can also realize withdrawing the external force and resume initial preset position by oneself after, effectively solved current tool storehouse and quick change system and can't provide redundancy in a plurality of directions, after outdoor long-time work, because of the defect that positioning accuracy causes the tool to change the failure, guaranteed outdoor robot tool storehouse reliability in use comprehensively.

Referring to fig. 4-5, in a specific embodiment of the present invention, the end fixing quick-change seat 2 is provided with an insertion hole 21, the insertion hole 21 is provided with an inner groove 211 inwards, the moving base 11 is provided with an open groove 111, the lower end of the end fixing quick-change seat 2 is placed in the open groove 111 (see fig. 5), and the periphery of the open groove 111 is an inclined surface 1101. The fastening mechanism 6 comprises a hook 61 and a hook rotating pin 62 fixed on the tool fixing quick-change seat 1, wherein the hook 61 is hinged on the hook rotating pin 62 and can rotate around the hook rotating pin 62. One end of the hook 61 is provided with a hook 611, the hook 611 can be correspondingly inserted into the inner groove 211 of the insertion hole 21 for fixing, the other end of the hook 611 is provided with a wedge 612, and the wedge 612 can be inserted into the opening groove 111 on the movable base 11 to be matched with the inclined surface 1101. It will be appreciated that at least two of the catch mechanisms 6 may be provided.

Referring further to fig. 1-5, the fastening mechanism 6 further includes an elastic member 63, where one end of the elastic member 63 is fixed on the tool fixing quick-change holder 1, and the other end is connected to one end of the hook 61 having the wedge 612. When the tool fixing quick-change seat 1 is placed on the moving base 11, the wedge 612 at the lower end of the hook 61 is in contact with the inclined plane 1101 arranged on the opening groove 111 of the moving base 11, and the hook 61 is driven to compress the elastic member 63 and rotate clockwise around the hook rotating pin 69 by utilizing the lateral force generated when the wedge 612 is matched with the inclined plane 1101 on the moving base 11, the clamping hook 611 is withdrawn from the inner grooves 211 of the insertion holes 21 at two sides of the end fixing quick-change seat 2, at the moment, the clamping buckle mechanism 6 is in a complete release state, and the end fixing quick-change seat 2 and the tool fixing quick-change seat 1 can be attracted or released by controlling electromagnetism; if the magnetic element 5 on the end fixing quick-change seat 2 is in a magnetic loss state by using the control system, no other acting force exists between the end fixing quick-change seats 2 and the tool fixing quick-change seat 1, and the tool fixing quick-change seat 1 can be separated from the end fixing quick-change seat 2 (see fig. 2 and 5). When the end fixing quick-change seat 2 and the tool fixing quick-change seat 1 are attracted together by electromagnetic force and integrally move out of the moving base 11, the hook 61 moves anticlockwise around the hook rotating pin 69 under the action of the elastic piece 63, the clamping hook 611 can be correspondingly inserted into the inner groove 211 of the embedded hole 21 to hook the inner grooves 211 on two sides of the end fixing quick-change seat 1, and the clamping mechanism 6 is in a locking state, namely, the end fixing quick-change seat 2 and the tool fixing quick-change seat 1 are firmly fixed into a whole through the clamping mechanism 6, so that mechanical protection is provided for electromagnetic force, and the end fixing quick-change seat 2 and the tool fixing quick-change seat 1 can bear larger shearing force and impact force after being connected. Thus, through the buckle mechanism 6, the traditional motor, hydraulic pressure and air pressure are not needed, and any other driving mechanism is not needed, so that the quick-change seat 1 for fixing the tool and the quick-change seat 2 for fixing the tail end are quickly connected, locked and separated, the quick-change seat is simple and convenient, the problem that electromagnetic force is easy to loosen under external impact is solved, mechanical protection is provided for the electromagnetic force, and the influence of external impact force and large moment on the quick-change seat 2 for fixing the tail end and the quick-change seat 1 for fixing the tool is effectively resisted.

Referring to fig. 6-8 and 10, the invention further includes a self-locking mechanism 4, where the self-locking mechanism 4 includes a main body self-locking seat 41, a self-locking latch 42, a self-locking rotating pin 45, a self-locking limiting pin 44 and a spring 43, where the main body self-locking seat 41 is located outside the end fixing quick-change seat 2 and the tool fixing quick-change seat 1 and fixed on the moving base 11, the side of the main body self-locking seat 41 facing the end fixing quick-change seat 2 and the tool fixing quick-change seat 1 is provided with a long groove 47, and the self-locking latch 42 is located in the long groove 47 of the main body self-locking seat 41 and can swing in the long groove 46. In the long groove 47, a self-locking rotation pin 45 is provided, and one end of the self-locking spring tongue 42 is hinged on the self-locking rotation pin 45, and the other end can swing freely. The self-locking latch 42 is further provided with a through hole 46, so that the self-locking limiting pin 45 can pass through, and the self-locking rotating pin 45 can limit the swinging angle and the swinging distance of the self-locking latch 42. The spring 43 is disposed in the elongated slot 46, and has one end fixed to the main body self-locking seat 41 and the other end abutting against the self-locking tongue 42 along the swinging direction of the self-locking tongue 42. When the tool fixing quick-change seat 1 is placed on the moving base 11, the tool fixing quick-change seat 1 pushes the self-locking spring tongue 42 to swing into the long groove 47 against the elastic force of the spring 43, and after the tool fixing quick-change seat 1 is completely fixed on the moving base 11, at this time, the top of the tool fixing quick-change seat 1 is lower than the bottom of the self-locking spring tongue 42, and the lower end of the self-locking spring tongue 42 swings around the self-locking rotating pin 45 towards the tool fixing quick-change seat 1 under the action of the spring 43, so that the bottom of the self-locking spring tongue 42 is clamped on the top plane of the tool fixing quick-change seat 1, the tool fixing quick-change seat 1 is clamped on the moving base 11, and the tool fixing quick-change seat 1, the moving base 11 and the fixed base 9 are locked into a whole (see fig. 10). Like this, through self-locking mechanical system 4, instrument fixed quick change seat 1 can firmly lock on moving base 11 and fixed base 9, has effectively avoided outdoor robot often because of the operation scene reason, carries repeatedly, dismouting or long-distance transportation, the influence that the positioning accuracy when to the terminal repeated location of robot produced, has further improved the accuracy and the reliability of butt joint when quick change.

In a specific embodiment of the present invention, the lower end of the tool fixing quick-change holder 1 is fixedly connected to the tool rod 13 through a plurality of tool rod fixing members 131, and the tool rod fixing members 131 may be provided with a plurality of offset connection points (see the fixing positions of the tool rod fixing members 131 shown in the drawings), so as to improve the stability of the connection between the tool rod 13 and the tool fixing quick-change holder 1. The tool fixing quick-change seat 1 can be connected with a required actuator through the tool rod 9, the tool fixing quick-change seat 1 is placed on the movable base 11, one or a plurality of movable bases 11 can be matched on an outdoor robot mechanical arm, and the tail end of the mechanical arm is provided with the tail end fixing quick-change seat. When the mechanical arm is matched with a plurality of moving bases 11, the end fixing quick-change seat 1 is placed on the moving bases 11, the end fixing quick-change seat 1 is matched with the tool fixing quick-change seat 2, and the mechanical arm can switch and use the actuator fixed on the end fixing quick-change seat 1.

The above-described embodiments of the present invention are only some of the preferred embodiments of the present invention and are not intended to limit the present invention, and any modifications, equivalent substitutions and improvements made by those skilled in the art without departing from the spirit of the present invention shall fall within the scope of the present invention.

Claims (6)

1. The outdoor robot quick-change tool library is characterized by comprising a tail end fixed quick-change seat, a tool fixed quick-change seat, a movable base and a fixed base, wherein a guide cone and a magnetic element are arranged on the tail end fixed quick-change seat, and the guide cone and the magnetic element are used for being in butt joint when the guide cone and the magnetic element are quickly changed with the tool fixed quick-change seat; the upper end of the tool fixing quick-change seat is provided with an iron metal element which can be attracted with the magnetic element, and the outer side of the tool fixing quick-change seat is provided with a fastening mechanism which can enable the tool fixing quick-change seat to be in butt joint and fixation with the tail end fixing quick-change seat; the tool fixing quick-change seat is arranged on the movable base, a guide pin which can be in butt joint with the tool fixing quick-change seat during quick-change is arranged on the movable base, and the guide pin and the fixed base are in flexible connection through at least two space supporting parts and a flexible support;

The magnetic element enables the tail end fixing quick-change seat to be in butt joint with the tool fixing quick-change seat through electromagnetic attraction force generated between the power-on control and the ferrous metal element so as to control the tail end tool of the outdoor robot to be quickly changed; when the tool fixing quick-change seat is placed on the moving base, the buckling mechanism is in a release state, and the tail end fixing quick-change seat and the tool fixing quick-change seat are attracted or released by controlling electromagnetism; when the tail end fixed quick-change seat and the tool fixed quick-change seat are attracted together through electromagnetic force and integrally move out of the movable base, the buckling mechanism is in a locking state, so that the tail end fixed quick-change seat and the tool fixed quick-change seat are fixed into a whole;

The space supporting component is arranged between the movable base and the fixed base and comprises a universal shaft, a centripetal joint bearing seat and an elastic supporting piece; the two radial joint bearings are sleeved at two ends of the universal shaft, the elastic supporting piece is clamped between the two radial joint bearings, the outer ends of the two radial joint bearings are respectively supported and fixed by the radial joint bearing seats, the two radial joint bearing seats are respectively fixed on the movable base and the fixed base, the elastic supporting piece enables a moving space to be formed between the movable base and the fixed base in the Z direction, the movable base is automatically reset in the Z direction, and the radial joint bearings rotate around the universal shaft to enable the movable base and the fixed base to have relative displacement in the horizontal X, Y direction;

The flexible support is fixed on the fixed base through a support fixing piece and is nested in a groove formed in the movable base, when the movable base moves, the flexible support is extruded and deformed, and when external force is removed, the flexible support is automatically restored under the elastic action;

The fixed base is provided with a limiting pin which is matched with a limiting hole correspondingly arranged on the movable base, and a clearance is reserved between the limiting pin and the limiting hole, so that the movable base has a movable space in the X direction and the Y direction; the limiting pin and the moving base are axially provided with a gap, so that the moving base moves in the Z direction of the limiting pin;

Through the cooperation of the space supporting part, the flexible support and the limiting pin, the movable base is limited in space position, and simultaneously the movable base moves in limited flexible space under the action of external force, and automatically returns to the initial preset position after the external force is removed.

2. The outdoor robot rapid-change tool magazine of claim 1, wherein the flexible support is a flexible sleeve disposed between the mobile base and the stationary base and secured by a support mount.

3. The outdoor robot rapid-change tool magazine according to claim 1 or 2, wherein the end fixing rapid-change seat is provided with an embedding hole, the moving base is provided with a chute, the fastening mechanism comprises a hook and a hook rotating pin fixed on the tool fixing rapid-change seat, the hook is hinged to the hook rotating pin, one end of the hook is provided with a clamping hook which can be inserted into the embedding hole to be fixed, and the other end of the hook is provided with a wedge matched with the chute.

4. The outdoor robot quick-change tool magazine of claim 3, wherein the snap mechanism further comprises an elastic member having one end fixed to the tool fixing quick-change seat and the other end connected to the end of the hook having the wedge.

5. The outdoor robot quick-change tool magazine according to claim 1 or 2, further comprising a self-locking mechanism, wherein the self-locking mechanism comprises a main body self-locking seat, a self-locking latch, a self-locking rotating pin, a self-locking limiting pin and a spring, the main body self-locking seat is fixed on the movable base, the self-locking latch is positioned in a long groove formed in the main body self-locking seat and capable of enabling the self-locking latch to swing in the long groove, one end of the self-locking latch is hinged on the self-locking rotating pin arranged in the long groove, a through hole capable of enabling the self-locking limiting pin to pass through is further formed in the self-locking latch, one end of the spring is fixed on the main body self-locking seat, and the other end of the spring abuts against the self-locking latch.

6. The outdoor robot quick change tool magazine of claim 1 or 2, further comprising a tool bar, the tool bar being secured to the tool holder by a tool bar fastener.