A quick-change device with isomorphic interfaces on active and passive ends

Abstract

A quick-change device with isomorphic active and passive end interfaces belongs to a quick-change device. In order to solve the problem of low locking strength of existing quick-change interfaces. The present invention includes an active docking locking module installed on a space manipulator and a passive docking locking module installed on a quick-change tool; the space manipulator and the quick-change tool are docked and locked or quickly unlocked through the primary locking mechanism and the secondary locking mechanism in the active docking locking module and the passive docking locking module, completing the rapid installation and replacement of the quick-change tool, and realizing fluid transmission and electrical transmission through the fluid transmission and electrical connector mechanism. The present invention is mainly used for the installation and disassembly of space manipulators and quick-change tools.

Description

Technical Field

[0001] The present invention relates to a quick-change device, and in particular to a quick-change device with isomorphic active and passive end interfaces. Background Art

[0002] The current major challenge in the aerospace industry is not simply how to launch complex and large spacecraft systems, but rather how to ensure the long-term and stable operation of spacecraft in orbit. This is why on-orbit maintenance technology has emerged. Space robotic on-orbit maintenance technology, with its low cost, safety, and reliability, has won the favor of many countries. The development of a standard interface for the rapid replacement of robotic end-of-line operations has become a key approach to improving the efficiency of on-orbit space servicing.

[0003] Traditional docking mechanisms are generally divided into active-passive connection modules. For example, the “Heavy-duty Robot Arm Quick-Change Joint for Tokamak Maintenance” disclosed in the Chinese patent “CN115366151A” uses a hollow large-diameter ball screw as a power source, which is more efficient, has a larger output axial force, and is more reliable in locking. The locking device not only ensures a tight locking effect, but also prevents the risk of the end effector falling off when the screw power is accidentally unloaded. The cooperation between the locking device and the end effector joint can achieve a large floating amount, thereby eliminating the large error between the two docking devices before docking. Through the cooperation of two sets of mechanisms - the locking device and the end effector joint - the function of guiding first and then locking is realized in the axial direction, and guiding is performed in the radial direction through the tapered hole, with large tolerances in both the axial and radial directions. However, the comparative document only has one locking mechanism, and the locking strength is low. Summary of the Invention

[0004] The technical problem solved by the present invention is that the existing quick-change interface has the problem of low locking strength; and thus provides a quick-change device with isomorphic active and passive end interfaces.

[0005] The technical solution adopted by the present invention to solve the above technical problems is:

[0006] A quick-change device with isomorphic active and passive end interfaces, comprising an active docking and locking module mounted on a space manipulator and a passive docking and locking module mounted on a quick-change tool;

[0007] The active docking locking module includes an assembly positioning shell, a first annular shell, an intermediate support plate, a robotic arm mounting interface, a power transmission mechanism, a primary active locking unit, and a secondary active locking unit; the passive docking locking module includes a docking shell, a secondary passive locking unit, and a quick-change tool mounting interface; the docking shell is provided with a primary passive locking port, the secondary passive locking unit is mounted in a recess at the top of the docking shell, and the quick-change tool mounting interface is mounted at the bottom of the docking shell and fixedly connected to the quick-change tool;

[0008] The primary active locking unit and the primary passive locking port constitute a primary locking mechanism, the secondary active locking unit and the secondary passive locking unit constitute a secondary locking mechanism, and the space manipulator and the quick-change tool are doubly locked by the primary locking mechanism and the secondary locking mechanism in the active docking locking module and the passive docking locking module;

[0009] The assembly positioning shell and the first annular outer shell are coaxially arranged on the upper surface of the intermediate support plate from the inside to the outside, and an annular insertion groove is formed between the two. A central mounting groove is provided at the center position of the top of the assembly positioning shell, and an annular mounting groove with an opening facing downward is provided at the bottom of the assembly positioning shell along the circumferential direction of the central mounting groove; a plurality of sliding through holes are respectively provided on the outer circumferential wall of the annular mounting groove and the outer circumferential wall of the central mounting groove along the circumferential direction, and the sliding through holes on the annular mounting groove are communicated with the annular insertion groove; the sliding through holes on the central mounting groove are communicated with the annular mounting groove; the robotic arm mounting interface is installed on the lower surface of the intermediate support plate and is connected to the space robotic arm; the power output end of the power transmission mechanism is rotatably sleeved outside the central mounting groove and is located in the annular mounting groove;

[0010] The primary active locking unit includes a power transmission assembly, a dividing ring assembly and a wedge ring assembly, which are arranged in sequence from the inside to the outside and transmit power in sequence. The power transmission assembly and the dividing ring assembly are installed in the annular mounting groove and are sequentially sleeved on the power output end of the power transmission mechanism; the power input end of the power transmission assembly is abutted against the power output end of the power transmission mechanism, and the power output end of the power transmission assembly is abutted against the power input end of the dividing ring assembly. The power transmission assembly transmits the axial driving force provided by the power transmission mechanism to the power output end of the dividing ring assembly; the wedge ring assembly is installed in the annular insertion groove, the power input end of the wedge ring assembly passes through the sliding through hole on the annular mounting groove in the assembly positioning shell and abuts on the dividing ring assembly, the dividing ring assembly has a locking effect on the power input end of the wedge ring assembly, and the power input end of the wedge ring assembly is unlocked or locked again by the axial movement of the power output end in the dividing ring assembly, and the primary locking of the active docking locking module and the passive docking locking module is realized by the axial movement of the wedge ring assembly;

[0011] The secondary active locking unit is installed in the central mounting groove and realizes axial movement under the drive of the power transmission mechanism to realize the docking and locking of the secondary active locking unit and the secondary passive locking unit, thereby realizing the secondary locking of the active docking locking module and the passive docking locking module.

[0012] Furthermore, the top of the assembly positioning shell and the top of the docking shell are both petal-shaped structures, and the two cooperate with each other to achieve rapid positioning.

[0013] Furthermore, the power transmission mechanism includes an annular cam as a power output end;

[0014] The annular cam includes an upper guide ring, an intermediate guide ring and a lower positioning ring which are arranged in sequence from top to bottom and connected as a whole; a plurality of triangular guide protrusions are evenly arranged on the upper guide ring along its circumferential direction, and the protruding direction of the guide protrusions extends toward the lower positioning ring, and the slope surfaces on both sides of the guide protrusions and the lower end surface of the upper guide ring form a horizontal guide section 1, a climbing section, a downhill section and a horizontal guide section 2 which are connected in sequence; a plurality of guide holes are evenly opened on the intermediate guide ring along the circumferential direction, and each guide hole includes a horizontal section and a slope drive section which are connected in sequence; the upper guide ring, guide protrusion and lower positioning ring on the annular cam serve as the drive of the first-level active locking unit; the guide hole on the intermediate guide ring serves as the drive of the second-level active locking unit.

[0015] Furthermore, the power transmission assembly includes an adapter ring and a forced ring arranged in sequence from top to bottom, and the adapter ring and the forced ring are connected by a plurality of guide pins evenly arranged along the circumferential direction, and the adapter ring moves up and down along the axial direction of the guide pin, and each guide pin is sleeved with a small spring for returning the adapter ring; a plurality of first cam rollers are evenly arranged on the inner ring wall of the adapter ring and the inner ring wall of the forced ring along the circumferential direction, and the first cam roller on the forced ring abuts against the upper surface of the lower positioning ring in the annular cam, and the first cam roller on the adapter ring abuts against the lower surface of the horizontal guide section 1 in the annular cam, and is arranged close to the guide protrusion; a plurality of second cam rollers are evenly arranged on the outer ring wall of the adapter ring along the circumferential direction, and the second cam roller abuts against the power input end of the dividing ring assembly.

[0016] Furthermore, the indexing ring assembly includes a indexing ring, a large spring, a guide drive ring and an upper annular cover; the large spring and the guide drive ring are axially installed in sequence in the indexing ring, the bottom end of the large spring abuts against the bottom of the indexing ring, the top end of the large spring abuts against the guide drive ring, and the guide drive ring is axially slidably connected to the indexing ring; the upper annular cover is installed on the top of the indexing ring and fixes the guide drive ring in the indexing ring;

[0017] The indexing ring is provided with a plurality of first chute grooves uniformly formed along the circumferential direction and penetrating the inner and outer surfaces, and each first chute groove is arranged along the axial direction of the indexing ring; a plurality of baffles are uniformly provided on the outer circumferential wall of the indexing ring, and the baffles block the upper half of a portion of the first chute grooves to form a short chute; a gap is formed between two adjacent baffles, and the baffles communicate with the first chute of the other portion to serve as a long chute; the short chute grooves and the long chute grooves are arranged alternately; the bottom end of the baffle is provided as a guide slope with a notch;

[0018] A plurality of guide rods are vertically arranged along the circumferential direction on the outer circumferential wall of the guide drive ring. The number of the guide rods is the same as the number of the first slide grooves, and the guide rods are slidably arranged in the first slide grooves; the second cam roller in the power transmission assembly abuts against the upper surface of the guide drive ring.

[0019] Furthermore, the wedge ring assembly includes a second annular shell, a plurality of locking pins, a locking pin wedge ring, a plurality of third cam rollers, a plurality of upper support springs and a plurality of lower support springs; the locking pin wedge ring is coaxially installed on the inner wall of the second annular shell and is axially slidably connected to the second annular shell, the top of the second annular shell, the upper surface of the locking pin wedge ring and the outer wall of the assembly positioning shell form an annular cavity, and the locking pin is evenly arranged in the annular cavity along the circumferential direction; the plurality of third cam rollers are evenly arranged along the circumferential direction of the locking pin wedge ring On the inner ring wall of the locking pin wedge ring, the third cam roller passes through the first sliding through hole on the assembly positioning shell and abuts against the recess of the baffle; several of the upper support springs are evenly arranged in the second annular shell along the circumferential direction of the second annular shell, and are located between the bottom end of the locking pin wedge ring and the bottom of the second annular shell; several of the lower support springs are evenly arranged in the annular insertion groove along the circumferential direction of the annular insertion groove, and are located between the bottom end of the second annular shell and the bottom end of the assembly positioning shell; the upper support spring and the lower support spring are in a compressed state.

[0020] Furthermore, the top end of the locking pin wedge ring is provided with an upslope surface and a downslope surface in sequence from top to bottom, and both the upslope surface and the downslope surface are inclined downward.

[0021] Furthermore, the active docking locking module also includes an active end fluid transmission and electrical connector unit installed in the central mounting groove, and a plurality of fourth cam rollers are installed on the active end fluid transmission and electrical connector unit along its circumferential direction, and the fourth cam rollers pass through the second sliding through hole on the assembly positioning shell and are inserted into the guide hole in the annular cam; the passive docking locking module also includes a passive end fluid transmission and electrical connector unit installed in the recess of the docking shell, and the active end fluid transmission and electrical connector unit is driven to move toward the passive end fluid transmission and electrical connector unit through the rotation of the annular cam, thereby realizing the docking of the active end fluid transmission and electrical connector unit with the passive end fluid transmission and electrical connector unit.

[0022] Furthermore, the secondary active locking unit is a permanent magnet power-off brake, and the secondary passive locking unit is a ring-shaped armature.

[0023] Furthermore, the permanent magnet power-off brake is arranged at the center of the active end fluid transmission and electrical connector unit; the annular armature is sleeved at the center of the passive end fluid transmission and electrical connector unit.

[0024] The beneficial effects of the present invention compared with the prior art are:

[0025] 1. The present invention ensures the firmness and stability of the locking of the active docking locking module and the passive docking locking module through the dual locking of the primary locking mechanism and the secondary locking mechanism.

[0026] 2. The present invention realizes fluid transmission and electrical transmission between the active docking locking module and the passive docking locking module through fluid transmission and electrical connector mechanisms, which can realize the transmission of electrical and fluid media on the basis of mechanical docking, improves the versatility of the docking device, and can simultaneously realize mechanical connection, electrical connection and fluid transmission between aerospace equipment.

[0027] 3. The present invention provides power to the first-level active locking unit, the second-level active locking unit and the active-end fluid transmission and electrical connector unit respectively through the annular cam in the power transmission mechanism, wherein the power transmission mechanism provides axial power to the first-level active locking unit, and uses the power transmission assembly to transmit axial power to the dividing ring assembly, the dividing ring assembly is used to lock or unlock the third cam roller in the wedge ring assembly, and the axial movement of the guide drive ring in the dividing ring assembly realizes the up and down movement of the locking pin wedge ring, thereby realizing the extension or retraction of the locking pin. The power transmission mechanism provides axial power to the permanent magnet power-off brake, and is close to the annular armature, and realizes locking through the suction force. The power transmission mechanism provides axial power to the active-end fluid transmission and electrical connector unit, and the active-end fluid transmission and electrical connector unit overcomes the docking force brought by the fluid plug and the socket, and then overcomes the docking force brought by the spring contact pin, and docks with the passive-end fluid transmission and electrical connector unit.

[0028] 4. The docking interface of this invention utilizes a petal-shaped mechanical interface. Approach is first achieved through position control by external space equipment, and then the space equipment switches to impedance control to achieve tight mating of the docking surfaces. Impedance control utilizes the petal-shaped mechanical interface to achieve near-zero docking force between the active and passive ends. Unlike traditional shaft-hole mating, the protrusions and depressions of the petals on the active and passive ends constrain each other, ensuring that even significant position adjustments only produce adjustable docking force without completely separating the active and passive ends.

[0029] 5. In the present invention, when the active docking locking module and the passive docking locking module are tightly fitted together, since the overall structure of the passive docking locking module is relatively simple and does not have driving capability, there is no need to consider the synchronization of the outputs of the active docking locking module and the passive docking locking module. Locking can be achieved by relying solely on the output of the active docking locking module. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings are incorporated in and constitute a part of this application and are used to provide a further understanding of the present invention.

[0031] Figure 1 This is a structural diagram of the active docking locking module and the passive docking locking module before docking.

[0032] Figure 2 This is a structural diagram of the active docking and locking module after docking with the passive docking and locking module.

[0033] Figure 3 This is an axonometric view of the active docking locking module and the passive docking locking module after docking.

[0034] Figure 4 This is a structural diagram of the active docking locking module before docking.

[0035] Figure 5 This is a schematic diagram of assembling the positioning housing and the power transmission mechanism.

[0036] Figure 6 Schematic diagram of the structure of the annular cam.

[0037] Figure 7 It is a structural diagram of the first-level active locking unit.

[0038] Figure 8 Schematic diagram of the structure of the power transmission component.

[0039] Figure 9 It is a structural diagram of the indexing ring assembly.

[0040] Figure 10 Schematic diagram of the structure of the wedge ring assembly.

[0041] Figure 11 For the assembly of wedge ring assembly and indexing ring assembly Figure 1 .

[0042] Figure 12 This is a structural diagram of the passive docking locking module.

[0043] Figure 13 This is a structural diagram of the active end fluid transmission and electrical connector unit.

[0044] Figure 14 This is a schematic diagram of the structure of the passive end fluid transmission and electrical connector unit.

[0045] Figure 15 It is a structural diagram of the active end fluid transmission and electrical connector unit cooperating with the annular cam.

[0046] Explanation of reference numerals: A-active docking locking module; B-passive docking locking module; C-primary locking mechanism; D-secondary locking mechanism; E-fluid transmission and electrical connector mechanism;

[0047] 1-Assembly positioning shell; 2-First annular shell; 3-Intermediate support plate; 4-Manipulator arm mounting interface; 5-Power transmission mechanism; 6-First level active locking unit; 7-First level passive locking port; 8-Second level active locking unit; 9-Second level passive locking unit; 10-Active end fluid transmission and electrical connector unit; 11-Passive end fluid transmission and electrical connector unit; 12-Docking shell; 13-Quick change tool mounting interface; 101-Fourth cam roller; 1201-Second protrusion 1202 - second recessed portion; 110 - inner housing; 111 - second sliding hole; 120 - outer ring; 121 - first sliding hole; 130 - top docking ring; 131 - first protrusion; 132 - first recessed portion; 140 - annular mounting groove; 150 - center mounting groove; 160 - annular insertion groove; 510 - power output unit; 520 - gear reduction unit; 521 - sun gear; 522 - planetary gear; 523 - inner ring gear; 530 - ring gear Cam; 531-upper guide ring; 532-middle guide ring; 533-lower positioning ring; 534-guide protrusion; 535-horizontal guide section 1; 536-climbing section; 537-downhill section; 538-horizontal guide section 2; 539-guide hole; 5391-horizontal section; 5392-slope drive section; 610-power transmission assembly; 611-adapter ring; 612-forcing ring; 613-guide pin; 614-small spring; 615-first cam roller ;616-second cam roller;620-dividing ring assembly;621-dividing ring;6211-first slide groove;6212-blocking piece;6213-notch;623-large spring;624-guide drive ring;6241-guide rod;625-upper annular cover;630-wedge ring assembly;631-second annular shell;632-locking pin;633-locking pin wedge ring;634-third cam roller;635-upper support spring;636-lower support spring. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention but are not used to limit the scope of the present invention.

[0049] See also Figures 1 to 3 The present invention provides a quick-change device with a homogeneous active and passive interface, comprising an active docking and locking module A mounted on a space manipulator and a passive docking and locking module B mounted on a quick-change tool. The space manipulator and the quick-change tool are docked and locked or quickly unlocked via a primary locking mechanism C and a secondary locking mechanism D in the active docking and locking module A and the passive docking and locking module B, thereby enabling rapid installation and replacement of the quick-change tool. Furthermore, fluid and electrical transmission are achieved via a fluid transmission and electrical connector mechanism E.

[0050] The first-level locking mechanism C is composed of a first-level active locking unit 6 and a first-level passive locking port 7 that cooperate with each other. The first-level active locking unit 6 is arranged in the active docking locking module A, and the first-level passive locking port 7 is arranged in the passive docking locking module B. The first-level locking is achieved by the cooperation of the first-level active locking unit 6 and the first-level passive locking port 7; the second-level locking mechanism D is composed of a second-level active locking unit 8 and a second-level passive locking unit 9 that cooperate with each other. The second-level active locking unit 8 is arranged in the active docking locking module A, and the second-level passive locking unit 9 is arranged in the passive docking locking module B. In the tightening module B, the secondary locking is achieved by the cooperation of the secondary active locking unit 8 and the secondary passive locking unit 9; the fluid transmission and electrical connector mechanism E includes an active end fluid transmission and electrical connector unit 10 and a passive end fluid transmission and electrical connector unit 11, the active end fluid transmission and electrical connector unit 10 is arranged in the active docking locking module A, and the passive end fluid transmission and electrical connector unit 11 is arranged in the passive docking locking module B, and fluid transmission and electrical transmission are achieved by docking the active end fluid transmission and electrical connector unit 10 with the passive end fluid transmission and electrical connector unit 11.

[0051] See also Figure 4 The active docking locking module A includes an assembly positioning shell 1, a first annular shell 2, an intermediate support plate 3, a robot arm mounting interface 4, a power transmission mechanism 5, a primary active locking unit 6, a secondary active locking unit 8 and an active end fluid transmission and electrical connector unit 10;

[0052] Among them, the assembly positioning shell 1 and the first annular shell 2 are coaxially arranged in sequence from the inside to the outside on the upper surface of the intermediate support plate 3, and an annular insertion groove 160 is formed between the two. The bottom of the first annular shell 2 is fixedly mounted on the upper surface of the intermediate support plate 3, and the bottom of the outer ring surface of the assembly positioning shell 1 is fixedly connected to the bottom of the first annular shell 2. A certain installation space is formed between the middle part of the assembly positioning shell 1 and the intermediate support plate 3; the robot arm mounting interface 4 is fixedly mounted on the lower surface of the intermediate support plate 3 and is fixedly connected to the space robot arm, and the active docking locking module A is fixedly connected to the end of the space robot arm through the robot arm mounting interface 4;

[0053] See also Figure 5The assembly positioning shell 1 includes an integral barrel-shaped inner shell 110, an outer ring 120 and a top docking ring 130. The outer ring 120 is coaxially sleeved on the outer shell 110, and the top docking ring 130 is arranged on the top of the inner shell 110 and the outer ring 120, and an annular mounting groove 140 with an opening facing downward is formed between the three. The central part of the top of the barrel-shaped inner shell 110 serves as the central mounting groove 150, and the annular mounting groove 140 is sleeved outside the central mounting groove 150; the outer ring 120 is uniformly spaced along its circumferential direction. There are several first sliding holes 121 evenly distributed, and the first sliding holes 121 are arranged along the axial direction of the outer ring 120, and the annular insertion groove 160 is communicated with the annular mounting groove 140 through the first sliding holes 121; the inner shell 110 is evenly distributed along its circumferential direction with three second sliding holes 111, and the second sliding holes 111 are arranged along the axial direction of the inner shell 110, and the annular mounting groove 140 is communicated with the central mounting groove 150 through the second sliding holes 111.

[0054] Furthermore, the upper end surface of the top docking ring 130 is a petal-shaped structure, which includes a plurality of first protrusions 131 evenly arranged along the circumferential direction, and a first recessed portion 132 is formed between two adjacent first protrusions 131; when the active docking locking module A and the passive docking locking module B move toward each other, rapid docking and tight fit are achieved under the guidance of the edge of the first protrusion 131.

[0055] See also Figure 5 , wherein the power transmission mechanism 5 includes a power output unit 510, a gear reduction unit 520 and an annular cam 530; the power output unit 510 is installed at a position between the intermediate support plate 3 and the robot arm mounting interface 4, the gear reduction unit 520 is located between the assembly positioning shell 1 and the intermediate support plate 3, and the annular cam 530 is mounted on the inner shell 110 in the assembly positioning shell 1 through two sets of upper and lower bearings, and is located in the annular mounting groove 140; the output end of the power output unit 510 passes through the intermediate support plate 3 and is connected to the power input end of the gear reduction unit 520, and the power output end of the gear reduction unit 520 is fixedly connected to the bottom of the annular cam 530, and the rotational torque output by the power output unit 510 is decelerated by the gear reduction unit 520, and the rotational torque is transmitted to the annular cam 530.

[0056] Furthermore, the power output unit 510 is a motor.

[0057] Furthermore, the gear reduction unit 520 is a planetary gear system, which includes a sun gear 521, several planetary gears 522 and an inner ring gear 523. The sun gear 521 is installed on the output end of the power output unit 510, and the inner ring gear 523 is fixedly connected to the bottom of the annular cam 530 and is coaxially arranged with the sun gear 521. Several planetary gears 522 are rotatably installed on the intermediate support plate 3 and the inner shell 110, and are located between the sun gear 521 and the inner ring gear 523. The sun gear 521 is meshed with the planetary gears 522, and the planetary gears 522 are meshed with the inner ring gear 523 to realize the transmission of rotational torque.

[0058] For further information, see Figure 6 The annular cam 530 includes an upper guide ring 531, an intermediate guide ring 532 and a lower positioning ring 533 which are sequentially arranged and connected as one piece from top to bottom; three triangular guide protrusions 534 are evenly arranged on the upper guide ring 531 along its circumferential direction, and the protruding direction of the guide protrusions 534 extends toward the lower positioning ring 533, and the slope surfaces on both sides of the guide protrusions 534 and the lower end surface of the upper guide ring 531 form a horizontal guide section 535, a climbing section 536, a downslope section 537 and a horizontal guide section 538 which are sequentially connected. Guide section two 538; three guide holes 539 are evenly opened on the intermediate guide ring 532 along the circumferential direction, and each guide hole 539 includes a horizontal section 5391 and a slope drive section 5392 connected in sequence; the upper guide ring 531, the intermediate guide ring 532 and the guide protrusion 534 serve as the power output end of the annular cam 530; the lower positioning ring 533 serves as the power input end of the annular cam 530, and the lower positioning ring 533 of the annular cam 530 is fixedly connected to the planetary gear 522.

[0059] In this embodiment, the upper guide ring 531, the three guide protrusions 534 and the lower positioning ring 533 on the annular cam 530 serve as the driving force of the first-level active locking unit 6, so that the first-level locking mechanism C locks or unlocks the active docking locking module A and the passive docking locking module B; the three guide holes 539 on the annular cam 530 serve as the driving force of the fluid transmission and electrical connector mechanism E and the secondary locking mechanism D, so that the fluid and electricity on the active docking locking module A and the passive docking locking module B are docked, and the active docking locking module A and the passive docking locking module B are further locked.

[0060] See also Figure 7, wherein the first-level active locking unit 6 includes a power transmission component 610, a dividing ring component 620 and a wedge ring component 630 which are arranged in sequence from the inside to the outside and transmit power in sequence, the power transmission component 610 and the dividing ring component 620 are installed in the annular mounting groove 140 and are sleeved on the outside of the annular cam 530; the power input end of the power transmission component 610 abuts against the power output end of the annular cam 530, and the power output end of the power transmission component 610 abuts against the power input end of the dividing ring component 620; the wedge ring component 630 is installed in the annular insertion groove 160, and the power input end of the wedge ring component 630 passes through the first sliding through hole 121 on the assembly positioning shell 1 and abuts on the dividing ring component 620.

[0061] For further information, see Figure 8 The power transmission assembly 610 includes an adapter ring 611 and a forced ring 612 arranged in sequence from top to bottom. The adapter ring 611 and the forced ring 612 are connected by four guide pins 613 evenly arranged along the circumferential direction. The adapter ring 611 can move up and down along the axial direction of the guide pin 613. Each guide pin 613 is covered with a small spring 614 for returning the adapter ring 611 to its original position. The inner ring wall of the adapter ring 611 and the inner ring wall of the forced ring 612 are evenly arranged along the circumferential direction. Three first cam rollers 615 are provided. The first cam roller 615 on the forcing ring 612 abuts against the upper surface of the lower positioning ring 533 in the annular cam 530. The first cam roller 615 on the adapting ring 611 abuts against the lower surface of the horizontal guide section 535 in the annular cam 530 and is arranged close to the guide protrusion 534. Four second cam rollers 616 are evenly arranged on the outer ring wall of the adapting ring 611 along the circumferential direction. The second cam rollers 616 abut against the dividing ring assembly 620.

[0062] For further information, see Figure 9 The indexing ring assembly 620 includes a indexing ring 621, a large spring 623, a guide drive ring 624 and an upper annular cover 625; the large spring 623 and the guide drive ring 624 are axially installed in sequence in the indexing ring 621, the bottom end of the large spring 623 abuts against the bottom of the indexing ring 621, and the top end of the large spring 623 abuts against the guide drive ring 624, and the guide drive ring 624 is slidably connected to the indexing ring 621; the upper annular cover 625 is installed on the top of the indexing ring 621 and fixes the guide drive ring 624 in the indexing ring 621;

[0063] The dividing ring 621 is provided with a plurality of first slide grooves 6211 extending through the inner and outer surfaces in a uniform manner along the circumferential direction, and each first slide groove 6211 is arranged along the axial direction of the dividing ring 621; a plurality of baffles 6212 are uniformly provided on the outer circumferential wall of the dividing ring 621, and the baffles 6212 block the upper portion of a portion of the first slide groove 6211 to form a short slide groove; a gap is formed between two adjacent baffles 6212, and communicate with the other portion of the first slide groove 6211 to serve as a long slide groove; the short slide grooves and the long slide grooves are arranged alternately; the bottom end of the baffle 6212 is provided with a guide slope with a notch 6213; a second slide groove extending through the top and bottom is provided on the inner wall of the baffle 6212, and the second slide groove communicates with the first slide groove 6211;

[0064] A plurality of guide rods 6241 are vertically arranged on the outer circumferential wall of the guide drive ring 624 along the circumferential direction. The number of the guide rods 6241 is the same as the number of the first slide grooves 6211, and the guide rods 6241 are slidably arranged in the first slide grooves 6211; the four second cam rollers 616 on the adapter ring 611 in the power transmission assembly 610 abut against the upper surface of the guide drive ring 624.

[0065] In this embodiment, when the guide drive ring 624 slides to a position close to the middle of the dividing ring 621, the guide rod 6241 is exactly located at the recess 6213 at the bottom end of the baffle 6212, and the outer wall of the guide rod 6241 forms a slope surface with the left side of the guide slope.

[0066] For further information, see Figure 11 and Figure 12The wedge ring assembly 630 includes a second annular shell 631, a plurality of locking pins 632, a locking pin wedge ring 633, a plurality of third cam rollers 634, a plurality of upper support springs 635 and a plurality of lower support springs 636; the locking pin wedge ring 633 is coaxially mounted on the inner wall of the second annular shell 631 and is axially slidably connected to the second annular shell 631, and the plurality of locking pins 632 are evenly arranged along the circumferential direction of the inner ring wall of the second annular shell 631 and are located at the top of the second annular shell 631, the upper surface of the locking pin wedge ring 633 and the outer wall of the outer ring 120 in the assembly positioning shell 1; the plurality of third cam rollers 634 are evenly arranged along the circumferential direction of the locking pin wedge ring 633 on the locking pin wedge ring 6 33; the third cam roller 634 passes through the first sliding through hole 121 on the outer ring 120 of the assembly positioning shell 1 and abuts against the recess 6213 of the baffle 6212 in the dividing ring 621; a plurality of the upper support springs 635 are evenly arranged in the second annular shell 631 along the circumferential direction of the second annular shell 631, and are located between the bottom end of the locking pin wedge ring 633 and the bottom of the second annular shell 631; a plurality of the lower support springs 636 are evenly arranged in the annular insertion groove 160 along the circumferential direction of the annular insertion groove 160, and are located between the bottom end of the second annular shell 631 and the bottom end of the outer ring 120 of the assembly positioning shell 1; the upper support spring 635 and the lower support spring 636 are in a compressed state.

[0067] For further information, see Figure 11 The top of the locking pin wedge ring 633 is provided with an upslope surface and a downslope surface in sequence from top to bottom, and both the upslope surface and the downslope surface are inclined downward.

[0068] See also Figure 14 The passive docking and locking module B includes a docking shell 12, a passive end fluid transmission and electrical connector unit 11, a secondary passive locking unit 9 and a quick-change tool mounting interface 13; the passive end fluid transmission and electrical connector unit 11 and the secondary passive locking unit 9 are coaxially installed in the recess at the top of the docking shell 12, and the secondary passive locking unit 9 is installed in the passive end fluid transmission and electrical connector unit 11, and the quick-change tool mounting interface 13 is installed at the bottom of the docking shell 12 and fixedly connected to the quick-change tool.

[0069] The docking shell 12 is a petal-shaped structure and matches the top docking ring 130 in the assembly and positioning shell 1; that is, the top of the docking shell 12 includes a plurality of second protrusions 1201 evenly arranged along the circumferential direction, and a second recessed portion 1202 is formed between two adjacent second protrusions 1201, and the second recessed portion 1202 matches the first protrusion 131 in the assembly and positioning shell 1; the second protrusion 1201 matches the first recessed portion 132 in the assembly and positioning shell 1; the first-level passive lock 7 is arranged on the outer wall of the second protrusion 1201 in the docking shell 12 and is arranged along the circumferential direction of the docking shell 12.

[0070] See also Figure 1 The secondary active locking unit 8 is a permanent magnet deenergized brake, and the secondary passive locking unit 9 is a ring-shaped armature. The engagement of the permanent magnet deenergized brake and the ring-shaped armature achieves secondary locking of the active docking locking module A and the passive docking locking module B. The permanent magnet deenergized brake and the ring-shaped armature achieve the entire locking process simply by deenergizing, making the locking process relatively simple and enabling rapid locking. The unlocking process can be achieved by simply powering on, also relatively simple and enabling rapid unlocking.

[0071] See also Figure 4 、 Figure 13 、 Figure 14 and Figure 15 The active end fluid transmission and electrical connector unit 10 and the secondary active locking unit 8 are installed in the central mounting groove 150; three fourth cam rollers 101 are installed on the active end fluid transmission and electrical connector unit 10 along its circumferential direction, and the fourth cam rollers 101 pass through the second sliding through hole 111 on the inner shell 110 in the assembly positioning shell 1 and are inserted into the guide hole 539 of the middle guide ring 532 in the annular cam 530; because the guide hole 539 includes a horizontal section 5391 and a slope drive Moving section 5392, when the fourth cam roller 101 is in the horizontal section 5391 of the guide hole 539, the clockwise rotation of the annular cam 530 has no thrust effect on the active end fluid transmission and electrical connector unit 10, and when the fourth cam roller 101 is in the slope driving section 5392 of the guide hole 539, the fourth cam roller 101 moves upward along the axial direction under the thrust of the annular cam 530 and the guidance of the second sliding through hole 111 on the inner shell 110 of the assembly positioning shell 1.

[0072] In this embodiment, the active-end fluid transmission and electrical connector unit 10 includes a fluid assembly and a connector, while the passive-end fluid transmission and electrical connector unit 11 also includes a fluid assembly and a connector. Because the robotic arm cannot overcome the docking force required by the fluid transmission and electrical connector module E, this embodiment designs the active-end fluid transmission and electrical connector unit 10 to be axially movable, while the passive-end fluid transmission and electrical connector unit 11 to be fixed, thereby mechanically overcoming the docking force of the fluid transmission and electrical connector module E. Four fluid plugs and sockets are evenly distributed on the docking surfaces of the internal connectors of the active and passive quick-change interfaces to achieve the fluid transmission function. Spring contact pins and fixed pin holders are spaced apart in the center of the connector docking surface to achieve the electrical transmission function.

[0073] The working process of the present invention is further described below to further demonstrate the working principle and advantages of the present invention:

[0074] 1. Docking and locking process:

[0075] Initial stage:

[0076] like Figure 1 The figure shows a schematic diagram of the state of the active docking locking module A and the passive docking locking module B before docking, at which time the active docking locking module A is in the initial state; wherein the locking pin 632 is located at the top of the second annular shell 631, between the upper surface of the locking pin wedge ring 633 and the outer wall of the outer ring 120 in the assembly positioning shell 1 and remains stationary; the three first cam rollers 615 on the adapter ring 611 in the power transmission component 610 are located in the horizontal guide section 1 535 on the annular cam 530; the third cam roller 634 in the wedge ring component 630 abuts against the recess 6213 of the baffle 6212 in the dividing ring component 620; the fourth cam roller 101 in the active end fluid transmission and electrical connector unit 10 is located in the horizontal section 5391 of the guide hole 539 of the intermediate guide ring 532 in the annular cam 530.

[0077] Docking and locking process of active docking and locking module A and passive docking and locking module B:

[0078] S1, when the active docking and locking module A and the passive docking and locking module B approach each other under the driving action of the external space equipment, the petal-shaped assembly positioning shell 1 in the active docking and locking module A cooperates with the petal-shaped docking shell 12 in the passive docking and locking module B to achieve rapid positioning;

[0079] S2, when the active docking locking module A and the passive docking locking module B are positioned, the motor is started, and the torque output by the motor is decelerated through the planetary gear system, and then the torque is transmitted to the annular cam 530 and the annular cam 530 rotates clockwise. The horizontal guide section 1 535 on the annular cam 530 does not generate a force on the three first cam rollers 615 on the adapter ring 611 in the power transmission component 610. When the annular cam 530 continues to rotate clockwise, the climbing section 536 generates an axial squeezing force on the three first cam rollers 615 on the adapter ring 611, and the first cam rollers 615 on the adapter ring 611 drive the adapter ring 611 to overcome the elastic force of the small spring. The four second cam rollers 616 on the adapter ring 611 generate an axial downward squeezing force on the guide drive ring 624 in the indexing ring assembly 620, so that the guide drive ring 624 in the indexing ring assembly 620 overcomes the elastic force of the large spring and moves downward. When the guide rod 6241 in the short slide groove of the guide drive ring 624 moves to the notch 6213 of the baffle 6212, the guide rod 6241 squeezes the third cam roller 634 in the wedge ring assembly 630 downward, and the outer wall of the guide rod 6241 and the left side of the guide slope in the baffle 6212 form a smooth slope surface, and the third cam roller 634 in the wedge ring assembly 630 abuts against the slope. The upper support spring 635 and the lower support spring 636 are in a compressed state, so the upper support spring 635 and the lower support spring 636 always give an upward force to the locking pin wedge ring 633, and the locking pin wedge ring 633 transmits the upward force to the third cam roller 634, and the third cam roller 634 generates a counterclockwise pushing force on the indexing ring 621 and the guide drive ring 624. The indexing ring assembly 620 rotates counterclockwise, and the third cam roller 634 moves upward under the thrust of the locking pin wedge ring 633, and gradually reaches the top of the slope surface; at this time, the three first cam rollers 615 on the adapter ring 611 in the power transmission assembly 610 are in the annular cam 530 At the bottom end of the guide protrusion 534, the annular cam 530 continues to rotate clockwise, and the three first cam rollers 615 on the adapter ring 611 are in the downslope section 537. The adapter ring 611 moves upward under the rebound force of the small spring 614. The second cam roller 616 on the adapter ring 611 does not exert a downward squeezing force on the guide drive ring 624 in the indexing ring assembly 620. The guide drive ring 624 moves upward under the rebound force of the large spring 623. The third cam roller 634 in the wedge ring assembly 630 enters the long slide groove under the upward thrust of the locking pin wedge ring 633. The locking pin wedge ring 633 is no longer restricted by the locking of the indexing ring assembly 620 and moves upward.At the same time, the lower support spring 636 exerts an upward thrust on the second annular housing 631, causing it to move upward. The locking pin wedge ring 633, under the rebound force of the upper support spring 635, exerts an upward thrust on the locking pin 632. The locking pin 632, guided by the guide ramp of the locking pin wedge ring 633, partially extends out of the wedge ring assembly 630 and inserts into the primary passive locking port 7 in the passive docking locking module B, thereby locking the active docking locking module A with the passive docking locking module B.

[0080] At the same time, the fourth cam roller 101 in the active-end fluid transmission and electrical connector unit 10 enters the sloped drive section 5392 from the horizontal section 5391 of the guide hole 539. Under the thrust of the annular cam 530 and the guidance of the second sliding through hole 111 on the inner shell 110 of the assembly positioning shell 1, the fourth cam roller 101 drives the active-end fluid transmission and electrical connector unit 10 and the permanent magnetic deenergizing brake to move upward along the axial direction. The active-end fluid transmission and electrical connector unit 10 overcomes the docking force caused by the fluid plug and the socket, and then overcomes the docking force caused by the spring contact pin, and docks with the passive-end fluid transmission and electrical connector unit 11. Under the action of the magnetic field, the permanent magnetic deenergizing brake overcomes the docking force caused by the fluid plug and the socket, and then overcomes the docking force caused by the spring contact pin, and is attracted together with the armature, so that the active docking locking module A and the passive docking locking module B are further locked, achieving a secondary locking fixation.

[0081] 2. Unlocking and returning process:

[0082] like Figure 2 and Figure 3 The figure shows the state of the active docking locking module A and the passive docking locking module B after docking; wherein, the locking pin 632 is located at the top of the second annular shell 631, between the upper surface of the locking pin wedge ring 633 and the first-level passive locking port 7 in the passive docking locking module B and remains stationary; the three first cam rollers 615 on the adapter ring 611 in the power transmission component 610 are located in the horizontal guide section 2 538 on the annular cam 530; the third cam roller 634 in the wedge ring assembly 630 abuts against the top of the long slide groove in the dividing ring assembly 620; the fourth cam roller 101 in the active end fluid transmission and electrical connector unit 10 is located at the top of the sloped drive section 5392 of the guide hole 539 of the intermediate guide ring 532 in the annular cam 530.

[0083] Unlocking process of active docking locking module A and passive docking locking module B:

[0084] S1, the permanent magnet de-energized brake is energized and the attraction force with the armature disappears;

[0085] S2, the motor starts, and the torque output by the motor is decelerated through the planetary gear system, and then the torque is transmitted to the annular cam 530, causing the annular cam 530 to rotate counterclockwise. The second horizontal guide section 538 on the annular cam 530 will not generate a force on the three first cam rollers 615 on the adapter ring 611 in the power transmission assembly 610. When the annular cam 530 continues to rotate counterclockwise, the downhill section 537 generates an axial squeezing force on the three first cam rollers 615 on the adapter ring 611. The first cam rollers 615 on the adapter ring 611 drive the adapter ring 611 to overcome the elastic force of the small spring and move axially downward. The four second cam rollers 616 on the adapter ring 611 drive the guide in the indexing ring assembly 620. The ring 624 generates an axial downward extrusion force, causing the guide drive ring 624 in the dividing ring assembly 620 to overcome the elastic force of the large spring and move downward. The guide rod 6241 in the long slide groove of the dividing ring squeezes the third cam roller 634 in the wedge ring assembly 630. The third cam roller 634 drives the locking pin wedge ring 633 to move downward. The downward slope surface on the locking pin wedge ring 633 no longer generates an extrusion force on the locking pin 632, and drives the second annular shell 631 to move downward. Driven by the second annular shell 631, the locking pin 632 returns to the position between the upward slope surface of the locking pin wedge ring 633 and the second annular shell 631, and disengages from the first-level passive lock port 7 in the passive docking locking module B, and the two are unlocked.

[0086] At the same time, the fourth cam roller 101 in the active end fluid transmission and electrical connector unit 10 enters the horizontal section 5391 from the slope drive section 5392 of the guide hole 539 under the counterclockwise rotation of the annular cam. Under the thrust of the annular cam 530 and the guidance of the second sliding through hole 111 on the inner shell 110 in the assembly positioning shell 1, the fourth cam roller 101 drives the active end fluid transmission and electrical connector unit 10 and the permanent magnet power-off brake to move downward along the axial direction, and the active end fluid transmission and electrical connector unit 10 is separated from the passive end fluid transmission and electrical connector unit 11.

[0087] S3, the active docking and locking module A and the passive docking and locking module B are driven away by the external space equipment.

[0088] The homing process of the active docking locking module:

[0089] The fourth cam roller 634 of the wedge ring assembly 630 is pressed against the guide slope in the left baffle 6212 after the guide rod 6241 in the long slide groove moves downward for a distance. The first cam rollers 615 on the adapter ring 611 in the power transmission assembly 610 are at the bottom of the guide protrusion 534 in the annular cam 530, and the annular cam 530 continues to rotate counterclockwise. The three first cam rollers 615 on the adapter ring 611 are in the climbing section 536, and the adapter ring 611 moves upward under the rebound force of the small spring 614. The second cam roller 616 on the adapter ring 611 will not produce a downward squeezing force on the guide drive ring 624 in the indexing ring assembly 620. The guide drive ring 624 moves upward under the rebound force of the large spring 623, and the third cam roller 634 is in the recess of the baffle under the thrust of the locking pin wedge ring 633. The third cam roller 634 in the wedge ring assembly 630 is locked by the indexing ring in the indexing ring assembly 620 and remains stationary, thereby realizing the return of the active docking locking module A.

[0090] Although the present invention is described herein with reference to specific embodiments, it should be understood that these embodiments are merely illustrative of the principles and applications of the invention. It should be understood that many modifications may be made to the illustrative embodiments, and that other arrangements may be devised, without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that the various dependent claims and features described herein may be combined in ways other than those described in the original claims. It should also be understood that features described in conjunction with individual embodiments may be employed in conjunction with other described embodiments.

Claims

1. A quick-change device with the same structure for both active and passive interfaces, characterized by: It includes an active docking and locking module (A) mounted on a space manipulator and a passive docking and locking module (B) mounted on a quick-change tool; The active docking locking module (A) includes an assembly positioning shell (1), a first annular shell (2), an intermediate support plate (3), a robot arm mounting interface (4), a power transmission mechanism (5), a first-level active locking unit (6) and a second-level active locking unit (8); the passive docking locking module (B) includes a docking shell (12), a second-level passive locking unit (9) and a quick-change tool mounting interface (13); the docking shell (12) is provided with a first-level passive locking port (7), the second-level passive locking unit (9) is mounted in a recess at the top of the docking shell (12), and the quick-change tool mounting interface (13) is mounted at the bottom of the docking shell (12) and is fixedly connected to the quick-change tool; The primary active locking unit (6) and the primary passive locking port (7) constitute a primary locking mechanism (C), the secondary active locking unit (8) and the secondary passive locking unit (9) constitute a secondary locking mechanism (D), and the space manipulator and the quick-change tool are double-locked by the primary locking mechanism (C) and the secondary locking mechanism (D) in the active docking locking module (A) and the passive docking locking module (B); The assembly positioning shell (1) and the first annular outer shell (2) are coaxially arranged on the upper surface of the middle support plate (3) from the inside to the outside, and an annular insertion groove (160) is formed between the two. A central installation groove (150) is provided at the center position of the top of the assembly positioning shell (1), and an annular installation groove (140) with an opening facing downward is opened at the bottom of the assembly positioning shell (1) along the circumferential direction of the central installation groove (150); the outer circumferential wall of the annular installation groove (140) and the outer circumferential wall of the central installation groove (150) are provided. A plurality of sliding through holes are respectively opened on the peripheral wall along the circumferential direction; the sliding through hole on the annular mounting groove (140) is communicated with the annular insertion groove (160); the sliding through hole on the central mounting groove (150) is communicated with the annular mounting groove (140); the manipulator mounting interface (4) is installed on the lower surface of the intermediate support plate (3) and is connected to the space manipulator; the power output end of the power transmission mechanism (5) is rotatably sleeved outside the central mounting groove (150) and is located in the annular mounting groove (140); The primary active locking unit (6) comprises a power transmission component (610), a dividing ring component (620) and a wedge ring component (630) which are sequentially arranged from the inside to the outside and transmit power in sequence. The power transmission component (610) and the dividing ring component (620) are installed in the annular installation groove (140) and are sequentially sleeved on the power output end of the power transmission mechanism (5); the power input end of the power transmission component (610) is arranged in contact with the power output end of the power transmission mechanism (5), and the power output end of the power transmission component (610) is arranged in contact with the power input end of the dividing ring component (620). The power transmission component (610) transmits the axial driving force provided by the power transmission mechanism (5) to the power transmission mechanism (5). The power output end of the dividing ring assembly (620) is provided; the wedge ring assembly (630) is installed in the annular insertion groove (160); the power input end of the wedge ring assembly (630) passes through the sliding through hole on the annular installation groove (140) in the assembly positioning shell (1) and abuts against the dividing ring assembly (620); the dividing ring assembly (620) has a locking effect on the power input end of the wedge ring assembly (630); the power input end of the wedge ring assembly (630) is unlocked or locked again by the axial movement of the power output end in the dividing ring assembly (620); and the primary locking of the active docking locking module (A) and the passive docking locking module (B) is achieved by the axial movement of the wedge ring assembly (630); The secondary active locking unit (8) is installed in the central installation groove (150) and realizes axial movement under the drive of the power transmission mechanism (5), thereby realizing docking and locking of the secondary active locking unit (8) and the secondary passive locking unit (9), and further realizing secondary locking of the active docking locking module (A) and the passive docking locking module (B); The power transmission mechanism (5) includes an annular cam (530) as a power output end; The annular cam (530) comprises an upper guide ring (531), an intermediate guide ring (532) and a lower positioning ring (533) which are sequentially arranged and integrally connected from top to bottom; a plurality of triangular guide protrusions (534) are evenly arranged on the upper guide ring (531) along its circumferential direction, and the protruding direction of the guide protrusions (534) extends toward the lower positioning ring (533), and the slope surfaces on both sides of the guide protrusions (534) and the lower end surface of the upper guide ring (531) form a horizontal guide section (535), a climbing section (536), a downhill section (537) which are sequentially connected. 537) and a second horizontal guide section (538); a plurality of guide holes (539) are uniformly opened on the intermediate guide ring (532) along the circumferential direction, and each guide hole (539) includes a horizontal section (5391) and a slope drive section (5392) that are connected in sequence; the upper guide ring (531), the guide protrusion (534) and the lower positioning ring (533) on the annular cam (530) serve as the drive of the primary active locking unit (6); the guide hole (539) on the intermediate guide ring (532) serves as the drive of the secondary active locking unit (8); The power transmission assembly (610) includes an adaptor ring (611) and a forced ring (612) arranged in sequence from top to bottom. The adaptor ring (611) and the forced ring (612) are connected by a plurality of guide pins (613) uniformly arranged along the circumferential direction. The adaptor ring (611) moves up and down along the axial direction of the guide pin (613). Each guide pin (613) is covered with a small spring (614) for returning the adaptor ring (611) to its original position. The inner ring wall of the adaptor ring (611) and the inner ring wall of the forced ring (612) are uniformly arranged along the circumferential direction. The first cam roller (615) is located on the forcing ring (612) and abuts against the upper surface of the lower positioning ring (533) in the annular cam (530). The first cam roller (615) is located on the adapting ring (611) and abuts against the lower surface of the horizontal guide section (535) in the annular cam (530) and is arranged close to the guide protrusion (534). A plurality of second cam rollers (616) are evenly arranged on the outer ring wall of the adapting ring (611) along the circumferential direction. The second cam rollers (616) abut against the power input end of the indexing ring assembly (620). The indexing ring assembly (620) comprises a indexing ring (621), a large spring (623), a guide drive ring (624) and an upper annular cover (625); the large spring (623) and the guide drive ring (624) are axially installed in sequence in the indexing ring (621), the bottom end of the large spring (623) abuts against the bottom of the indexing ring (621), and the top end of the large spring (623) abuts against the guide drive ring (624), and the guide drive ring (624) is axially slidably connected to the indexing ring (621); the upper annular cover (625) is installed on the top of the indexing ring (621) and fixes the guide drive ring (624) in the indexing ring (621); The dividing ring (621) is provided with a plurality of first slide grooves (6211) uniformly extending through the inner and outer surfaces along the circumferential direction, and each first slide groove (6211) is arranged along the axial direction of the dividing ring (621); a plurality of baffles (6212) are uniformly provided on the outer circumferential wall of the dividing ring (621), and the baffles (6212) block the upper half of a portion of the first slide grooves (6211) and form a short slide groove; a gap is formed between two adjacent baffles (6212), and the baffles (6212) are connected to the first slide groove (6211) of the other portion and used as a long slide groove; the short slide grooves and the long slide grooves are arranged alternately; the bottom end of the baffle (6212) is provided as a guide slope with a notch (6213); A plurality of guide rods (6241) are vertically arranged on the outer circumferential wall of the guide drive ring (624) along the circumferential direction. The number of the guide rods (6241) is the same as the number of the first slide grooves (6211). The guide rods (6241) are slidably arranged in the first slide grooves (6211). The second cam roller (616) in the power transmission assembly (610) abuts against the upper surface of the guide drive ring (624). The wedge ring assembly (630) includes a second annular shell (631), a plurality of locking pins (632), a locking pin wedge ring (633), a plurality of third cam rollers (634), a plurality of upper support springs (635) and a plurality of lower support springs (636); the locking pin wedge ring (633) is coaxially mounted on the inner wall of the second annular shell (631) and is axially slidably connected to the second annular shell (631); the top of the second annular shell (631), the upper surface of the locking pin wedge ring (633) and the outer wall of the assembly positioning shell (1) form an annular cavity, and the locking pin (632) is evenly arranged in the annular cavity along the circumferential direction; the plurality of third cam rollers (634) are evenly arranged on the locking pin wedge ring (633) along the circumferential direction. 33), the third cam roller (634) passes through the first sliding through hole (121) on the assembly positioning shell (1) and abuts against the notch (6213) of the blocking piece (6212); a plurality of the upper support springs (635) are evenly arranged in the second annular shell (631) along the circumferential direction of the second annular shell (631) and are located between the bottom end of the locking pin wedge ring (633) and the bottom of the second annular shell (631); a plurality of the lower support springs (636) are evenly arranged in the annular insertion groove (160) along the circumferential direction of the annular insertion groove (160) and are located between the bottom end of the second annular shell (631) and the bottom end of the assembly positioning shell (1); the upper support springs (635) and the lower support springs (636) are in a compressed state; The top of the locking pin wedge ring (633) is provided with an upslope surface and a downslope surface in sequence from top to bottom, and both the upslope surface and the downslope surface are inclined downward; The active docking locking module (A) further comprises an active end fluid transmission and electrical connector unit (10) mounted in the central mounting groove (150), a plurality of fourth cam rollers (101) being mounted on the active end fluid transmission and electrical connector unit (10) along its circumferential direction, the fourth cam rollers (101) passing through the second sliding through hole (111) on the assembly positioning shell (1) and being inserted into the guide hole (539) in the annular cam (530); the passive docking locking module (B) further comprises a passive end fluid transmission and electrical connector unit (11) mounted in the notch of the docking shell, the active end fluid transmission and electrical connector unit (10) is driven to move toward the passive end fluid transmission and electrical connector unit (11) by the rotation of the annular cam (530), thereby achieving docking of the active end fluid transmission and electrical connector unit (10) with the passive end fluid transmission and electrical connector unit (11); The secondary active locking unit (8) is a permanent magnet power-off brake, and the secondary passive locking unit (9) is an annular armature.

2. The quick-change device with the same structure for active and passive interfaces according to claim 1, characterized in that: The top of the assembly positioning shell (1) and the top of the docking shell (12) are both petal-shaped structures, and the two cooperate with each other to achieve rapid positioning.

3. The quick-change device with the same structure for active and passive interfaces according to claim 1, characterized in that: The permanent magnet power-off brake is arranged at the center of the active end fluid transmission and electrical connector unit (10); and the annular armature is sleeved at the center of the passive end fluid transmission and electrical connector unit (11).

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