Quick-change disc with action feedback

Abstract

The application relates to the technical field of quick-change plates, in particular to a quick-change plate with action feedback, which comprises a quick-change plate female plate and a quick-change plate male plate, one end face of the quick-change plate male plate close to the quick-change plate female plate is fixedly connected with a cylindrical cover, the cylindrical cover is inserted into the quick-change plate female plate, and the two end faces close to each other of the quick-change plate female plate and the quick-change plate male plate are both set as wave-shaped curved surfaces which are matched with each other; compared with a traditional plane quick-change plate, the scheme does not need to set an insertion column and an insertion slot to prevent the male plate and the female plate from rotating in dislocation, and therefore a visual sensor is not needed to identify the positions of a transmission hole, the insertion column and the insertion slot before the male plate and the female plate are connected, so that the connection efficiency of the male plate and the female plate is further improved, and the quick-change plate is changed more quickly.

Description

Technical Field

[0001] This invention relates to the field of quick-change tray technology, and more particularly to a quick-change tray with motion feedback. Background Technology

[0002] A quick-change disc, also known as a robot quick-change device, is a connecting component that connects the end effector of a robot to its actuator. The robot can change the end effector through the quick-change disc, thus facilitating the robot to handle different tasks.

[0003] The quick-change disc for the robotic arm consists of a male disc and a female disc. The male disc is connected to the end of the robotic arm, and the female disc is connected to the actuator. Replacement and fixation are achieved by inserting and locking the male disc onto the female disc. Both the male and female discs are equipped with corresponding transmission holes. After the transmission holes are aligned, it is easy for gas or liquid to flow from the robotic arm into the actuator, thus facilitating the connection between the robotic arm and the actuator to complete the spraying or adsorption work.

[0004] The existing quick-change tray requires a visual sensor to lock the position of the output hole when connecting the male and female trays, then the male and female trays are rotated to align the output hole, and finally the position is locked by inserting the male and female trays. This quick-change tray has low efficiency in aligning the output hole position when connecting. In order to facilitate the quick connection of the male and female trays of the quick-change tray, a quick-change tray with motion feedback is proposed. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies by proposing a quick-change disc with motion feedback.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a quick-change disc with motion feedback, comprising a quick-change disc mother disc and a quick-change disc male disc, wherein a cylindrical cover is fixedly connected to one end face of the quick-change disc male disc near the quick-change disc mother disc, the cylindrical cover being inserted into the quick-change disc mother disc, and both end faces of the quick-change disc mother disc and the quick-change disc male disc being configured as matching wavy curved surfaces, wherein a plurality of mother disc output holes are drilled on one end face of the quick-change disc mother disc near the quick-change disc male disc, and a plurality of male disc output holes matching the plurality of mother disc output holes are drilled on one end face of the quick-change disc male disc near the quick-change disc mother disc;

[0007] A limiting mechanism is provided between the cylindrical cover and the quick-change disc mother plate, and the limiting mechanism is used to fix the position of the quick-change disc male plate and the quick-change disc mother plate after they are connected;

[0008] A rolling mechanism is disposed between the quick-change disc mother plate and the quick-change disc male plate, and the rolling mechanism is used to reduce the friction force of the quick-change disc mother plate sliding on the surface of the quick-change disc male plate;

[0009] A rotating mechanism is provided on the side of the quick-change disc male plate away from the quick-change disc female plate. The rotating mechanism is used to connect the quick-change disc male plate and the end effector of the robot arm to realize the free rotation and stopping of the quick-change disc male plate.

[0010] Preferably, the limiting mechanism includes a first annular limiting plate, which is fixedly connected to the inner wall of the quick-change disc mother plate. The circumferential surface of the cylindrical cover is chiseled with eight sliding grooves, and each of the eight sliding grooves is slidably connected with a second steel ball. Each of the eight second steel balls is slidably engaged with the lower side of the first annular limiting plate. An annular push plate is rotatably connected inside the cylindrical cover. The circumferential surface of the annular push plate is chiseled with eight arc-shaped grooves that match the eight second steel balls. A driving assembly is provided inside the cylindrical cover, which is used to drive the annular push plate to rotate.

[0011] Preferably, the drive assembly includes an internal gear plate, which is fixedly connected to the inner wall of the annular push plate. A drive gear and three driven gears are rotatably connected between the inner wall of the cylindrical cover and the quick-change disc. All three driven gears are meshed with the internal gear plate. The drive gear is meshed with the three driven gears. A servo motor is fixedly connected inside the quick-change disc. The output end of the servo motor passes through the quick-change disc and is fixedly connected to the end face of the drive gear near the quick-change disc.

[0012] Preferably, a rotating rod is fixedly connected to the end face of the drive gear away from the servo motor, and a worm gear plate is fixedly connected to the end face of the rotating rod away from the drive gear through the cylindrical cover. A pressing mechanism is provided on the side of the worm gear plate away from the rotating rod. The pressing mechanism is used to press the second steel ball tightly against the side close to the first annular limiting plate.

[0013] Preferably, the pressing mechanism includes two wedge-shaped push rods, both of which are slidably connected to the end face of the cylindrical cover away from the rotating rod. Worms are fixedly connected to the end faces of the two wedge-shaped push rods that are close to each other. Both worms are threadedly connected to a worm gear plate. A second annular limiting plate is fixedly connected to the inner wall of the quick-change disc mother plate, and the second annular limiting plate is located below the first annular limiting plate. Both wedge-shaped push rods are slidably engaged with the second annular limiting plate. Connecting components are provided between the two wedge-shaped push rods and the cylindrical cover, and the two connecting components are respectively used for limiting the connection between the cylindrical cover and the two wedge-shaped push rods.

[0014] Preferably, the connecting assembly includes two T-shaped plates, both of which are fixedly connected to the lower end face of the cylindrical cover. The two wedge-shaped push rods have T-shaped grooves cut into the end faces of the cylindrical cover, and the two T-shaped plates are slidably connected in the two T-shaped grooves respectively.

[0015] Preferably, the rolling mechanism includes two first steel balls, and two circular grooves are chiseled on the end face of the quick-change disc male plate near the quick-change disc female plate. The two first steel balls are rotatably connected in the two circular grooves respectively. Two locking holes are chiseled on the end face of the quick-change disc female plate near the quick-change disc male plate, and the two first steel balls are respectively locked in the two locking holes.

[0016] Preferably, the rotating mechanism includes a rotating plate, which is fixedly connected to the end face of the quick-change disc male plate away from the quick-change disc female plate. A connecting plate is provided on the side of the quick-change disc male plate away from the quick-change disc female plate. A rotating groove is chiseled on the end face of the connecting plate near the quick-change disc male plate. The rotating plate is rotatably connected in the rotating groove. A friction component is provided between the rotating groove and the connecting plate. The friction component is used to increase the friction between the rotating groove and the connecting plate to achieve the stop of the rotating groove.

[0017] Preferably, the friction assembly includes an electric telescopic rod, the inner wall of the rotating groove is chiseled with a receiving groove, the electric telescopic rod is fixedly connected in the receiving groove, and a rubber pressing plate is fixedly connected to the output end of the electric telescopic rod. The rubber pressing plate is located on the side of the rotating plate away from the quick-change disc.

[0018] Preferably, an annular groove is chiseled on one end face of the quick-change disc female plate near the quick-change disc male plate, and an annular plate is fixedly connected to one end face of the quick-change disc male plate near the quick-change disc female plate, the annular plate being slidably inserted into the annular groove.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] (1) In this solution, the first steel ball slides on the wavy curved surface of the quick-change disc to avoid friction damage between the male and female quick-change discs. At the same time, the fit between the wavy curved surfaces of the male and female quick-change discs helps to prevent misalignment and rotation. The first steel ball is stuck in the card hole to further prevent misalignment and rotation. Traditional planar quick-change discs require pins and slots on the male and female discs. The pins are inserted into the slots to prevent misalignment and rotation after the male and female discs are connected. Compared with traditional planar quick-change discs, this solution does not require pins and slots to prevent misalignment and rotation. Before the male and female discs are connected, there is no need to use a visual sensor to identify the position of the transmission hole, pins and slots. Therefore, the connection efficiency of the male and female discs is further improved, and the quick-change disc is replaced more quickly.

[0021] (2) In this solution, the servo motor is used as the power source to drive the ring push plate to rotate and push the second steel ball to be stuck on the lower side of the first ring limit plate. At the same time, the rotating rod is driven to rotate and drive the wedge push rod to press the second ring limit plate, so that the second steel ball is more stably attached to the lower side of the first ring limit plate. This helps to avoid the shaking of the quick change plate mother plate and quick change plate male plate caused by the gap between the second steel ball and the first ring limit plate. Attached Figure Description

[0022] Figure 1 This is a perspective view of the present invention;

[0023] Figure 2 This is a perspective view of the quick-change disc / public disc area of ​​the present invention;

[0024] Figure 3 This is a perspective view of the quick-change disc mother plate of the present invention;

[0025] Figure 4 This is a first perspective sectional view of the present invention;

[0026] Figure 5 for Figure 4 Enlarged view of point A;

[0027] Figure 6 for Figure 5 Enlarged view of point B;

[0028] Figure 7 This is a second perspective sectional view of the present invention;

[0029] Figure 8 for Figure 7 Enlarged view of point C.

[0030] In the diagram: 1. Quick-change disc mother disc; 101. Annular groove; 102. Locking hole; 103. Mother disc output hole; 2. Quick-change disc male disc; 201. Annular plate; 202. First steel ball; 203. Male disc output hole; 204. Circular groove; 3. Connecting disc; 301. Rotary groove; 302. Rotating plate; 303. Receiving groove; 304. Rubber pressing plate; 305. Electric telescopic rod; 4. Columnar cover; 401. First annular limiting plate; 402, slide groove; 403, second steel ball; 404, annular push plate; 405, arc groove; 406, internal gear plate; 407, driven gear; 408, driving gear; 409, servo motor; 5, rotating rod; 501, worm gear plate; 502, worm; 503, second annular limiting plate; 504, wedge-shaped push rod; 505, T-shaped groove; 506, T-shaped plate. Detailed Implementation

[0031] The following description is intended to disclose the invention and enable those skilled in the art to implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art.

[0032] Please refer to the following: Figures 1 to 8 The quick-change disc with motion feedback shown includes a quick-change disc mother disc 1 and a quick-change disc male disc 2. A cylindrical cover 4 is fixedly connected to one end face of the quick-change disc male disc 2 near the quick-change disc mother disc 1. The cylindrical cover 4 is inserted into the quick-change disc mother disc 1. The two end faces of the quick-change disc mother disc 1 and the quick-change disc male disc 2 that are close to each other are set as matching wavy curved surfaces. Multiple mother disc output holes 103 are drilled on one end face of the quick-change disc mother disc 1 near the quick-change disc male disc 2. Multiple male disc output holes 203 that match the multiple mother disc output holes 103 are drilled on one end face of the quick-change disc male disc 2 near the quick-change disc mother disc 1.

[0033] A limiting mechanism is provided between the cylindrical cover 4 and the quick-change plate mother plate 1. The limiting mechanism is used to fix the position of the quick-change plate male plate 2 and the quick-change plate mother plate 1 after they are connected.

[0034] A rolling mechanism is provided between the quick-change disc mother disc 1 and the quick-change disc male disc 2. The rolling mechanism is used to reduce the friction force of the quick-change disc mother disc 1 sliding on the surface of the quick-change disc male disc 2.

[0035] A rotating mechanism is located on the side of the quick-change plate male plate 2 away from the quick-change plate female plate 1. The rotating mechanism is used to connect the quick-change plate male plate 2 and the end effector of the robot arm to enable the quick-change plate male plate 2 to rotate freely and stop.

[0036] The specific implementation method is as follows: When the end effector of the robotic arm needs to be connected to the actuator, the robotic arm is controlled to move the quick-change plate male disk 2 directly above the quick-change plate female disk 1. The end effector of the robotic arm moves downward, causing the quick-change plate male disk 2 to move towards the side closer to the quick-change plate female disk 1 until the quick-change plate male disk 2 and the quick-change plate female disk 1 come into contact. The end effector of the robotic arm continues to move towards the side closer to the quick-change plate female disk 1, and the quick-change plate male disk 2 continues to move towards and fit against the quick-change plate female disk 1. Since the surface where the quick-change plate male disk 2 and the quick-change plate female disk 1 fit together is... The wavy curved surface causes the quick-change disc male plate 2 to rotate and rub against the surface of the quick-change disc female plate 1 as it moves closer to the quick-change disc female plate 1. The rotating mechanism is located between the end of the robotic arm and the quick-change disc male plate 2. The quick-change disc male plate 2 rotates relative to the connecting plate 3 until it can no longer move downwards and presses against the quick-change disc female plate 1. At this point, the two adjacent surfaces of the quick-change disc male plate 2 and the quick-change disc female plate 1 are completely in contact. At this time, the male plate output hole 203 and the female plate output hole 103 are connected and aligned, and the cylindrical cover 4 is inserted. Within the quick-change female plate 1, automatic alignment of the female plate output hole 103 and the male plate output hole 203 is achieved during the connection process between the quick-change female plate 1 and the quick-change male plate 2. This allows for direct alignment of the female plate output hole 103 and the male plate output hole 203 through pressing contact, without using visual sensors to analyze their positions. This reduces production costs while improving the efficiency of the quick-change female plate 1 and the quick-change male plate 2. The connection and assembly efficiency of the quick-change disc 2 is improved by setting a rolling mechanism during the rotation of the quick-change disc male disc 2 on the surface of the quick-change disc female disc 1. This helps to reduce the friction when the quick-change disc female disc 1 and the quick-change disc male disc 2 slide, thereby reducing the wear of the quick-change disc female disc 1 and the quick-change disc male disc 2. After the quick-change disc female disc 1 and the quick-change disc male disc 2 are fully engaged, the limiting mechanism is adjusted to lock the positions of the quick-change disc female disc 1 and the quick-change disc male disc 2, thus completing the fast and efficient connection of the quick-change disc female disc 1 and the quick-change disc male disc 2.

[0037] As an embodiment of the present invention, the limiting mechanism includes a first annular limiting plate 401, which is fixedly connected to the inner wall of the quick-change disc mother plate 1. The circumferential surface of the cylindrical cover 4 is chiseled with eight sliding grooves 402, and each of the eight sliding grooves 402 is slidably connected with a second steel ball 403. The eight second steel balls 403 are slidably engaged with the lower side of the first annular limiting plate 401. An annular push plate 404 is rotatably connected inside the cylindrical cover 4. The circumferential surface of the annular push plate 404 is chiseled with eight arc-shaped grooves 405 that match the eight second steel balls 403. A driving assembly is provided inside the cylindrical cover 4, which is used to drive the annular push plate 404 to rotate.

[0038] The drive assembly includes an internal gear plate 406, which is fixedly connected to the inner wall of the annular push plate 404. A drive gear 408 and three driven gears 407 are rotatably connected between the inner wall of the cylindrical cover 4 and the quick-change disc 2. All three driven gears 407 are meshed with the internal gear plate 406. The drive gear 408 is meshed with the three driven gears 407. A servo motor 409 is fixedly connected inside the quick-change disc 2. The output end of the servo motor 409 passes through the quick-change disc 2 and is fixedly connected to the end face of the drive gear 408 near the quick-change disc 2.

[0039] The specific implementation method is as follows: When the quick-change disc mother plate 1 and quick-change disc male plate 2 are fully engaged and their positions need to be locked, the servo motor 409 is activated. The output end of the servo motor 409 rotates, driving the drive gear 408 to rotate. The rotation of the drive gear 408 drives the three driven gears 407 to rotate synchronously. The rotation of the driven gears 407 drives the internal gear plate 406 to rotate. The rotation of the internal gear plate 406 drives the annular push plate 404 to rotate. The annular push plate 404 pushes the second steel balls 403 to move within the slide groove 402, thereby causing the eight second steel balls 403 to move to the opposite side until the eight second steel balls 403 are located below the first annular limiting plate 401, thus locking the second steel balls 403 in the first annular limiting plate 401. The lower side of the shaped limiting plate 401 locks the quick-change disc mother plate 1 and quick-change disc male plate 2 so that they cannot be separated. When the quick-change disc mother plate 1 and quick-change disc male plate 2 need to be separated to replace the mother plate, the servo motor 409 is turned on. The output end of the servo motor 409 rotates in the opposite direction, driving the annular push plate 404 to rotate in the opposite direction until the arc groove 405 and the slide groove 402 are aligned. Then, the robot moves upward to drive the quick-change disc male plate 2 to move away from the quick-change disc mother plate 1. Since the lower end surface of the first annular limiting plate 401 is set as an inclined surface, the inclined surface of the first annular limiting plate 401 pushes the second steel ball 403 to reset into the slide groove 402 and the arc groove 405 during the upward movement of the quick-change disc male plate 2, thereby facilitating the connection of the quick-change disc male plate 2 with the new quick-change disc mother plate 1.

[0040] It is worth mentioning that the side of the slide groove 402 away from the drive gear 408 is set to be arc-shaped, so the second steel ball 403 cannot be disengaged from the slide groove 402.

[0041] As an embodiment of the present invention, a rotating rod 5 is fixedly connected to one end face of the active gear 408 away from the servo motor 409. The rotating rod 5 passes through the cylindrical cover 4 and is fixedly connected to a worm gear plate 501. A pressing mechanism is provided on the side of the worm gear plate 501 away from the rotating rod 5. The pressing mechanism is used to press the second steel ball 403 close to the side of the first annular limiting plate 401.

[0042] The pressing mechanism includes two wedge-shaped push rods 504, both of which are slidably connected to the end face of the cylindrical cover 4 away from the rotating rod 5. The end faces of the two wedge-shaped push rods 504 that are close to each other are fixedly connected to worm gears 502. Both worm gears 502 are threadedly connected to the worm gear plate 501. The inner wall of the quick-change disc mother plate 1 is fixedly connected to a second annular limiting plate 503, and the second annular limiting plate 503 is located below the first annular limiting plate 401. Both wedge-shaped push rods 504 are slidably engaged with the second annular limiting plate 503. A connecting component is provided between the two wedge-shaped push rods 504 and the cylindrical cover 4. The two connecting components are respectively used for limiting the connection between the cylindrical cover 4 and the two wedge-shaped push rods 504.

[0043] The connecting assembly includes two T-shaped plates 506, both of which are fixedly connected to the lower end face of the cylindrical cover 4. Two wedge-shaped push rods 504 have T-shaped grooves 505 cut into one end face near the cylindrical cover 4. The two T-shaped plates 506 are slidably connected in the two T-shaped grooves 505 respectively.

[0044] The specific implementation method is as follows: When the drive gear 408 rotates and drives the annular push plate 404 to push the second steel ball 403 below the first annular limiting plate 401, the drive gear 408 rotates synchronously and drives the rotating rod 5 to rotate. The rotating rod 5 rotates and drives the worm gear plate 501 to rotate. The rotation of the worm gear plate 501 drives the two worms 502 to move to opposite sides. The movement of the worms 502 drives the wedge-shaped push rod 504 to move. The T-shaped plate 506 slides in the T-shaped groove 505, thereby realizing the movement of the wedge-shaped push rod 504. 4. The lower inclined surface slides on the upper inclined surface of the second annular limiting plate 503, thereby achieving tight pressing and bonding of the stuck second steel ball 403 and the first annular limiting plate 401. This helps to prevent the second steel ball 403 from being worn for a long time and causing gaps between the second steel ball 403 and the first annular limiting plate 401, thus preventing them from being tightly bonded. This also helps to prevent the quick-change disc mother disc 1 and quick-change disc male disc 2 from shaking after being connected and fixed, making the connection between the quick-change disc mother disc 1 and quick-change disc male disc 2 more stable.

[0045] In this solution, the servo motor 409 is used as a power source to drive the annular push plate 404 to rotate and push the second steel ball 403 to be stuck on the lower side of the first annular limiting plate 401. At the same time, the rotating rod 5 is driven to rotate and drive the wedge push rod 504 to press the second annular limiting plate 503, thereby achieving a more stable fit of the second steel ball 403 on the lower side of the first annular limiting plate 401. This helps to avoid the shaking of the quick-change plate mother plate 1 and quick-change plate male plate 2 caused by the gap between the second steel ball 403 and the first annular limiting plate 401.

[0046] It is worth mentioning that by changing the ratio of the number of teeth in the planetary gear structure between the servo motor 409 and the annular push plate 404, the transmission ratio between the drive gear 408 and the annular push plate 404 can be changed. At the same time, since the arc groove 405 is located between two adjacent slide grooves 402, the second steel ball 403 cannot detach from the lower side of the first annular limiting plate 401 and be retracted into the arc groove 405. Therefore, the distance between the two adjacent slide grooves 402 gives the annular push plate 404 a rotational tolerance angle. Thus, it is possible to first get the second steel ball 403 stuck on the lower side of the first annular limiting plate 401, and then have the wedge-shaped push rod 504 squeeze the second annular limiting plate 503 to push the second steel ball 403 and the first annular limiting plate 401 to fit tightly together.

[0047] In one embodiment of the present invention, the rolling mechanism includes two first steel balls 202. Two circular grooves 204 are chiseled on one end face of the quick-change disc male disc 2 near the quick-change disc female disc 1. The two first steel balls 202 are rotatably connected in the two circular grooves 204 respectively. Two locking holes 102 are chiseled on one end face of the quick-change disc female disc 1 near the quick-change disc male disc 2. The two first steel balls 202 are respectively locked in the two locking holes 102.

[0048] The specific implementation method is as follows: When the quick-change disc male plate 2 slides on the quick-change disc female plate 1, the first steel ball 202 is located at the lowest point of the quick-change disc male plate 2. Therefore, before the quick-change disc male plate 2 and the quick-change disc female plate 1 come into contact, the first steel ball 202 will first come into contact with the quick-change disc female plate 1. Under the action of pressure, the first steel ball 202 rolls on the wavy curved surface of the quick-change disc female plate 1, which helps to avoid friction damage to the contact surface of the quick-change disc male plate 2 and the quick-change disc female plate 1. When the quick-change disc male plate 2 and the quick-change disc female plate 1 are attached, the first steel ball 202 is stuck in the locking hole 102. The connection between the quick-change disc female plate 1 and the quick-change disc male plate 2 is further realized by the first steel ball 202 being stuck in the locking hole 102. Then, the position of the quick-change disc female plate 1 and the quick-change disc male plate 2 is fixed by the limiting mechanism to prevent the first steel ball 202 from coming out of the locking hole 102.

[0049] In this design, the first steel ball 202 slides on the wavy surface of the quick-change disc mother plate 1 to prevent friction damage between the quick-change disc male plate 2 and the quick-change disc mother plate 1. Simultaneously, the contact between the wavy surfaces of the quick-change disc male plate 2 and the quick-change disc mother plate 1 helps prevent misalignment and rotation. The first steel ball 202 is further secured within the locking hole 102 to prevent misalignment and rotation. Traditional planar quick-change discs require pins and slots on the male and female plates. The pins are inserted into the slots to prevent misalignment and rotation after connection. Compared to traditional planar quick-change discs, this design eliminates the need for pins and slots to prevent misalignment and rotation. Furthermore, it eliminates the need for visual sensors to identify the positions of the pins and slots before connection, thus further improving the connection efficiency of the male and female plates and enabling faster quick-change disc replacement.

[0050] As an embodiment of the present invention, the rotating mechanism includes a rotating plate 302, which is fixedly connected to the end face of the quick-change disc male plate 2 away from the quick-change disc female plate 1. A connecting plate 3 is provided on the side of the quick-change disc male plate 2 away from the quick-change disc female plate 1. A rotating groove 301 is carved on the end face of the connecting plate 3 near the quick-change disc male plate 2. The rotating plate 302 is rotatably connected in the rotating groove 301. A friction component is provided between the rotating groove 301 and the connecting plate 3. The friction component is used to increase the friction between the rotating groove 301 and the connecting plate 3 to achieve the stop of the rotating groove 301.

[0051] The friction assembly includes an electric telescopic rod 305. The inner wall of the rotating groove 301 is carved with a receiving groove 303. The electric telescopic rod 305 is fixedly connected in the receiving groove 303. The output end of the electric telescopic rod 305 is fixedly connected with a rubber pressing plate 304. The rubber pressing plate 304 is located on the side of the rotating plate 302 away from the quick-change disc 2.

[0052] The specific implementation method is as follows: Before the quick-change disc male disc 2 and quick-change disc female disc 1 are attached, the electric telescopic rod 305 is opened. The output end of the electric telescopic rod 305 shortens, causing the rubber pressing plate 304 to move away from the rotating plate 302. At this time, the rotating plate 302 can rotate freely relative to the robot arm, so that the quick-change disc male disc 2 can rotate and attach to the quick-change disc female disc 1 when it is pressed on the quick-change disc female disc 1. After the quick-change disc female disc 1 and quick-change disc male disc 2 have finished rotating and attached and are locked by the limiting mechanism, the electric telescopic rod 305 is opened. The output end of the electric telescopic rod 305 extends, causing the rubber pressing plate 304 to press on the receiving groove 303. By increasing the pressure, the friction is increased, so that the connecting disc 3 and quick-change disc male disc 2 are connected into a whole and cannot rotate relative to each other, which helps to avoid the actuator from rotating unexpectedly when the robot arm is working.

[0053] As an embodiment of the present invention, an annular groove 101 is chiseled on one end face of the quick-change disc female disc 1 near the quick-change disc male disc 2, and an annular plate 201 is fixedly connected to one end face of the quick-change disc male disc 2 near the quick-change disc female disc 1, and the annular plate 201 is slidably inserted into the annular groove 101.

[0054] The specific implementation method is as follows: when the quick-change disc male plate 2 is attached to the quick-change disc female plate 1, the annular plate 201 is inserted into the annular groove 101, which helps to prevent the quick-change disc male plate 2 from sliding laterally on the quick-change disc female plate 1 under pressure. The rotation of the quick-change disc male plate 2 on the quick-change disc female plate 1 is limited laterally. It is worth mentioning that in this solution, it is only necessary to move the quick-change disc male plate 2 to directly above the quick-change disc female plate 1 by a robotic arm and then press it down. Compared with the planar male and female plate connection, it is not necessary to move it to directly above and then adjust the angle of the male and female plates before pressing. This optimizes the existing quick-change disc.

[0055] Working principle of this invention: When the robotic arm end effector needs to connect to the actuator, the robotic arm is controlled to move the quick-change plate male disk 2 directly above the quick-change plate female disk 1. The robotic arm end effector moves downward, causing the quick-change plate male disk 2 to move closer to the quick-change plate female disk 1 until the quick-change plate male disk 2 and quick-change plate female disk 1 come into contact. The robotic arm end effector continues to move closer to the quick-change plate female disk 1, and the quick-change plate male disk 2 continues to move closer to the quick-change plate female disk 1 to fit together. Since the surface where the quick-change plate male disk 2 and quick-change plate female disk 1 fit together is a wavy curved surface, the quick-change plate male disk 2 will rotate and rub against the surface of the quick-change plate female disk 1 during the process of moving closer to the quick-change plate female disk 1. The rotating mechanism is located between the robotic arm end effector and the quick-change plate male disk 2. The quick-change disc male disc 2 rotates relative to the connecting disc 3 until it can no longer move downwards to press the quick-change disc female disc 1. At this point, the two adjacent surfaces of the quick-change disc male disc 2 and quick-change disc female disc 1 are completely in contact. At this time, the male disc output hole 203 and the female disc output hole 103 are connected and aligned. The cylindrical cover 4 is inserted into the quick-change disc female disc 1, thereby realizing the automatic connection and alignment of the female disc output hole 103 and the male disc output hole 203 during the connection process of quick-change disc female disc 1 and quick-change disc male disc 2. When quick-change disc female disc 1 and quick-change disc male disc 2 are completely in contact, the limiting mechanism is adjusted to lock the position of quick-change disc female disc 1 and quick-change disc male disc 2, thus completing the fast and efficient connection of quick-change disc female disc 1 and quick-change disc male disc 2.

[0056] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection claimed by the appended claims and their equivalents is defined.

Claims

1. A quick-change plate with motion feedback, comprising a quick-change plate mother plate (1) and a quick-change plate male plate (2), characterized in that: The quick-change disc male disc (2) is fixedly connected to a cylindrical cover (4) on one end face near the quick-change disc female disc (1). The cylindrical cover (4) is inserted into the quick-change disc female disc (1). The two end faces of the quick-change disc female disc (1) and the quick-change disc male disc (2) that are close to each other are set as matching wavy curved surfaces. The quick-change disc female disc (1) has a plurality of female disc output holes (103) drilled on one end face near the quick-change disc male disc (2). The quick-change disc male disc (2) has a plurality of male disc output holes (203) drilled on one end face near the quick-change disc female disc (1) that match the plurality of female disc output holes (103). A limiting mechanism is provided between the cylindrical cover (4) and the quick-change plate mother plate (1). The limiting mechanism is used to fix the position of the quick-change plate male plate (2) and the quick-change plate mother plate (1) after they are connected. The limiting mechanism includes a first annular limiting plate (401), eight grooves (402) are carved on the circumferential surface of the cylindrical cover (4), and a second steel ball (403) is slidably connected in each of the eight grooves (402). An annular push plate (404) is rotatably connected inside the cylindrical cover (4), and eight arc-shaped grooves (405) matching the eight second steel balls (403) are carved on the circumferential surface of the annular push plate (404). A drive gear (408) and three driven gears (407) are rotatably connected between the inner wall of the cylindrical cover (4) and the quick-change disc (2). A servo motor (409) is fixedly connected inside the quick-change disc (2), and the output end of the servo motor (409) passes through the quick-change disc (2) and is fixedly connected to the end face of the drive gear (408) near the quick-change disc (2). A rotating rod (5) is fixedly connected to the end face of the drive gear (408) away from the servo motor (409). The end face of the rotating rod (5) away from the drive gear (408) passes through the cylindrical cover (4) and is fixedly connected to a worm gear plate (501). A pressing mechanism is provided on the side of the worm gear plate (501) away from the rotating rod (5). The pressing mechanism includes two wedge-shaped push rods (504). The pressing mechanism is used to press the second steel ball (403) tightly against the side close to the first annular limiting plate (401). Both wedge-shaped push rods (504) are slidably connected to the end face of the cylindrical cover (4) away from the rotating rod (5). The two wedge-shaped push rods (504) are fixedly connected to one end face of each other. The two worm gears (502) are threaded to the worm gear plate (501). The inner wall of the quick-change disc mother plate (1) is fixedly connected to the second annular limiting plate (503), and the second annular limiting plate (503) is located below the first annular limiting plate (401). The two wedge-shaped push rods (504) are slidably engaged with the second annular limiting plate (503). A connecting component is provided between the two wedge-shaped push rods (504) and the cylindrical cover (4). The two connecting components are respectively used for the limiting connection of the cylindrical cover (4) and the two wedge-shaped push rods (504). A rolling mechanism is provided between the quick-change disc mother disc (1) and the quick-change disc male disc (2). The rolling mechanism is used to reduce the friction force of the quick-change disc mother disc (1) sliding on the surface of the quick-change disc male disc (2). A rotating mechanism is provided on the side of the quick-change disc male disc (2) away from the quick-change disc female disc (1). The rotating mechanism is used to connect the quick-change disc male disc (2) and the end effector of the robot arm to realize the free rotation and stop of the quick-change disc male disc (2).

2. A quick-change disc with motion feedback according to claim 1, characterized in that, The first annular limiting plate (401) is fixedly connected to the inner wall of the quick-change disc mother plate (1), and the eight second steel balls (403) are all slidably engaged with the lower side of the first annular limiting plate (401). A driving component is provided inside the cylindrical cover (4), and the driving component is used to drive the annular push plate (404) to rotate.

3. A quick-change disc with motion feedback according to claim 2, characterized in that, The drive assembly includes an internal gear plate (406), which is fixedly connected to the inner wall of the annular push plate (404). The three driven gears (407) are all meshed with the internal gear plate (406), and the driving gear (408) is meshed with the three driven gears (407).

4. A quick-change disc with motion feedback according to claim 1, characterized in that, The connecting assembly includes two T-shaped plates (506), both of which are fixedly connected to the lower end face of the cylindrical cover (4). The two wedge-shaped push rods (504) have T-shaped grooves (505) cut into one end face near the cylindrical cover (4). The two T-shaped plates (506) are slidably connected in the two T-shaped grooves (505).

5. A quick-change disc with motion feedback according to claim 1, characterized in that, The rolling mechanism includes two first steel balls (202). The quick-change disc male disc (2) has two circular grooves (204) on one end face near the quick-change disc female disc (1). The two first steel balls (202) are rotatably connected in the two circular grooves (204). The quick-change disc female disc (1) has two locking holes (102) on one end face near the quick-change disc male disc (2). The two first steel balls (202) are respectively locked in the two locking holes (102).

6. A quick-change disc with motion feedback according to claim 1, characterized in that, The rotating mechanism includes a rotating plate (302), which is fixedly connected to the end face of the quick-change disc male plate (2) away from the quick-change disc female plate (1). A connecting plate (3) is provided on the side of the quick-change disc male plate (2) away from the quick-change disc female plate (1). A rotating groove (301) is chiseled on the end face of the connecting plate (3) near the quick-change disc male plate (2). The rotating plate (302) is rotatably connected in the rotating groove (301). A friction component is provided between the rotating groove (301) and the connecting plate (3). The friction component is used to increase the friction between the rotating groove (301) and the connecting plate (3) to stop the rotating groove (301).

7. A quick-change disc with motion feedback according to claim 6, characterized in that, The friction assembly includes an electric telescopic rod (305), and the inner wall of the rotating groove (301) is chiseled with a receiving groove (303). The electric telescopic rod (305) is fixedly connected in the receiving groove (303), and the output end of the electric telescopic rod (305) is fixedly connected with a rubber pressing plate (304). The rubber pressing plate (304) is located on the side of the rotating plate (302) away from the quick-change disc (2).

8. A quick-change disc with motion feedback according to claim 1, characterized in that, The quick-change disc mother disc (1) has an annular groove (101) cut into one end face near the quick-change disc male disc (2), and an annular plate (201) is fixedly connected to one end face near the quick-change disc mother disc (1), and the annular plate (201) is slidably inserted into the annular groove (101).

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