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.