Mechanical arm quick-change connector and control method

Abstract

The invention provides a mechanical arm quick-change connector and a control method.The mechanical arm quick-change connector comprises a fixed base body, a female head assembly, a male head assembly and a guide table, the fixed base body is provided with an open groove, the open groove is provided with a limiting rail and a guide rail, and the male head assembly comprises a male head base body, a clamping device, a movable plate, an elastic adjusting piece and the like; the female head assembly and the male head base body move into or out of the open groove along the limiting track and the guiding track respectively, the elastic adjusting piece comprises an elastic positioning pin and an adjusting protruding block, and the adjusting protruding block is exposed out of the side wall of the male head base body and suitable for moving on the guiding table. And the elastic positioning pin is adjusted to be inserted into or separated from the first fixing hole or the second fixing hole in the movable plate. Locking and separation of the male head assembly and the female head assembly can be adjusted by utilizing the step that the male head assembly enters and exits from the open slot and moves along the guide rail, and the stability of the state of the male head assembly after adjustment in place can be improved.

Description

Technical Field

[0001] This invention belongs to the field of power technology, specifically relating to a quick-connect coupling for a robotic arm and a control method thereon. Background Technology

[0002] The rapid development of the national economy has placed higher demands on the reliability of power supply. However, power capacity expansion, equipment maintenance, and fault repair often necessitate power outages, severely impacting residents' lives and industrial and agricultural production. Therefore, power grid companies have an increasingly urgent need for live-line work (non-stop work). However, manual live-line work requires multiple people working together, is labor-intensive, physically demanding, and involves direct or indirect contact between the human body and live conductors, easily leading to safety accidents. Furthermore, the quality of manual connections is inconsistent, potentially causing line faults during subsequent operation. Therefore, developing fully automated robots capable of performing live-line work in place of manual labor is an excellent solution.

[0003] Fully automated robots use a robotic arm end effector to carry tools and perform tasks. Live-line work involves multiple steps, requiring the changing of different tools. The robotic arm is manipulated to pick up and place these tools. Quick-connect couplings for the robotic arm end effector support tool changing. These couplings typically consist of a male and a female connector; the male connector is fixed to the robotic arm end effector, while the female connector is fixed to the tool. When the robotic arm picks up a tool from the support platform, the male connector is adjusted to the locked position to securely engage with the female connector. When the robotic arm returns the tool to the support platform, the male connector is adjusted to the disengaged position to separate from the female connector, thus enabling the robotic arm to pick up and place tools.

[0004] During the operation of a robotic arm carrying a tool, the male end must remain stably locked to prevent the tool from falling. When the robotic arm returns the original tool to retrieve a new one, the male end must remain stably disengaged to ensure smooth docking with the female end of the new tool. Ensuring the male end remains stable and reliable is a challenge the industry is addressing. Summary of the Invention

[0005] The purpose of this invention is to provide a quick-change connector for a robotic arm and a control method. By utilizing the step of the male connector moving along the guide track in and out of the opening slot, the movable and fixed states of the moving plate are simultaneously adjusted, thereby adjusting the locking and separation of the male and female connectors and improving the stability of the male connector state after adjustment.

[0006] To achieve the above objectives, the present invention employs the following technical solution: According to one aspect of the present invention, a quick-change connector for a robotic arm is provided, comprising: The fixed base has an opening groove facing a first direction. The inner sidewalls on both sides of the opening groove include an upper guide rail and a lower limiting rail. The extension directions of the limiting rails on both sides are parallel to the first direction. The guide rail includes a locking section close to the opening and a release section away from the opening. The extension directions of the locking sections on both sides are parallel to the first direction, and the extension directions of the release sections on both sides are inclined to the same side.

[0007] The female head assembly includes a female head base, which is inserted into a limiting track and is adapted to move into or out of the opening slot along the limiting track.

[0008] The male connector assembly includes a male connector base that engages with a guide rail and is adapted to move into or out of an opening slot along the guide rail. The male connector base has a receiving cavity. The male connector assembly also includes: a clamp located within the receiving cavity, the clamp having a locking position and a disengaging position, the clamp extending from the bottom of the male connector base and adapted to lock or disengage with a female connector assembly; a movable cavity penetrating the male connector base along a second direction, the movable cavity being connected to the receiving cavity, the second direction, the first direction, and the height direction being perpendicular to each other; a movable plate located within the movable cavity, the length of the movable plate along the second direction being greater than the length of the movable cavity along the second direction, the movable plate being adapted to be pushed by release sections on different sides during entry and exit from the opening slot, moving along the second direction between a first end position and a second end position to correspondingly adjust the clamp to the disengaging position and the locking position; the movable plate has a first fixing hole and a second fixing hole penetrating the movable plate along the height direction, the first fixing hole and the second fixing hole being arranged along the second direction.

[0009] The guide platform is located on one side of the guide rail. The guide platform includes a platform section above the release section and a ramp section above the locking section. The thickness of the platform section is greater than that of the ramp section.

[0010] The male connector assembly also includes: an elastic adjustment member located within the receiving cavity and above the movable plate; the elastic adjustment member includes an elastic positioning pin and an adjustment protrusion fixedly connected to the elastic positioning pin; the movable plate moves to a first end position, with the elastic positioning pin facing the first fixing hole; the movable plate moves to a second end position, with the elastic positioning pin facing the second fixing hole; the adjustment protrusion protrudes from the side wall of the male connector base and is adapted to move on the guide platform to adjust the insertion and disengagement of the elastic positioning pin into or out of the first fixing hole or the second fixing hole.

[0011] According to one embodiment of the present invention, the elastic adjusting member includes an elastic column, an elastic positioning pin, and an adjusting protrusion fixedly disposed on the elastic column; the top of the elastic column has a groove, and a spring is installed in the groove, with the top end of the spring fixedly abutting against the inner wall of the receiving cavity and the bottom end of the spring abutting against the bottom surface of the groove; when the adjusting protrusion is raised, the elastic positioning pin is raised accordingly, and the spring is in a compressed state; when the adjusting protrusion is released, under the action of the elastic force of the spring, the elastic positioning pin descends and inserts into the first fixing hole or the second fixing hole.

[0012] According to one embodiment of the present invention, the platform segments have the same thickness, the ramp segments are smoothly connected to the platform segments, and the ramp segments have a ramp surface that gradually descends in a first direction toward the opening of the opening slot.

[0013] According to one embodiment of the present invention, the release sections on both sides include a first sidewall and a second sidewall, and the two opposite ends of the movable plate along the second direction include a first end and a second end. The first sidewall is adapted to push the first end toward the second end, and the second sidewall is adapted to push the second end toward the first end.

[0014] The guide platform is located on the guide rail on one side of the first sidewall or on the guide rail on one side of the second sidewall. When the guide platform is located on the guide rail on one side of the first sidewall, the first fixing hole and the second fixing hole are located on the first end, and the first fixing hole is located inside the second fixing hole. When the guide platform is located on the guide rail on one side of the second sidewall, the first fixing hole and the second fixing hole are located on the second end, and the first fixing hole is located outside the second fixing hole.

[0015] According to one embodiment of the present invention, the two ends of the release section include an outer end position close to the opening of the opening groove and an inner end position far from the opening of the opening groove; when projected onto a projection plane perpendicular to the second direction, the outer end position of the first sidewall is closer to the opening of the opening groove than the outer end position of the second sidewall, and the inner end position of the second sidewall is farther from the opening of the opening groove than the inner end position of the first sidewall.

[0016] According to one embodiment of the present invention, the male connector assembly further includes: an optical coupler group, fixed in the receiving cavity and located below the second end, the optical coupler group including a first optical coupler and a second optical coupler arranged along a first direction.

[0017] A trigger plate group is fixed at the bottom of the second end. The moving plate moves along the second direction, causing the trigger plate group to trigger or move away from the optocoupler group. The trigger plate group includes a first trigger plate and a second trigger plate, and the length of the second trigger plate is greater than the length of the first trigger plate.

[0018] The movable board has a first trigger bit, a second trigger bit, and a non-trigger bit; the first trigger bit corresponds to the first trigger piece triggering the first optocoupler and the second trigger piece triggering the second optocoupler; the second trigger bit corresponds to the first trigger piece retracting from the first optocoupler and the second trigger piece triggering the second optocoupler; the non-trigger bit corresponds to the first trigger piece retracting from the first optocoupler and the second trigger piece retracting from the second optocoupler.

[0019] According to one embodiment of the present invention, the sidewall of the movable plate perpendicular to the first direction has a strip-shaped through hole; the height of the strip-shaped through hole gradually decreases along the direction from the first end to the second end.

[0020] The clamp has a liftable protrusion on its side wall. The descent and ascent of the protrusion adjust the clamp to the disengaged and locked positions, respectively. The protrusion engages in the slotted through hole, and the moving plate moves, causing the protrusion to rise and fall, thus adjusting the clamp's locking and releasing female head assembly.

[0021] According to one embodiment of the present invention, the bottom surface of the fixed base has an insertion hole, the side wall of the female head base is provided with an upward-facing elastic insertion post, and the top of the female head base is provided with an elastic protrusion. The elastic protrusion is fixedly connected to the elastic insertion post and is suitable for adjusting the insertion or disengagement of the elastic insertion post from the insertion hole. When the male head assembly is supported above the female head assembly, the male head assembly squeezes the elastic protrusion, causing the elastic insertion post to disengage from the insertion hole.

[0022] According to one embodiment of the present invention, the bottom of the male head base is provided with at least two auxiliary positioning pins, and the top of the female head base is provided with a corresponding number of auxiliary positioning holes.

[0023] According to another aspect of the present invention, a control method for a quick-change joint for a robotic arm is provided, the method being based on any of the aforementioned quick-change joints for robotic arms, wherein, The steps for docking the male and female connectors include: the male connector carrying the female connector moves out of the opening slot along the guide rail; the adjusting protrusion moves along the platform section; the release section on one side pushes the moving plate along the third direction until the moving plate moves to the second end position; during this process, the clamp is adjusted to the locking position; the third direction is parallel to the second direction and points from the second fixing hole to the first fixing hole; after the clamp is adjusted to the locking position, the adjusting protrusion moves along the ramp section; and the elastic positioning pin is inserted into the second fixing hole.

[0024] The process of separating the male and female connectors includes: the male connector entering the opening groove along the guide rail, the adjusting protrusion moving along the ramp section, and the elastic positioning pin gradually disengaging from the second fixing hole; after the elastic positioning pin disengages from the second fixing hole, the adjusting protrusion moves along the platform section, and the release section on the other side pushes the moving plate in the opposite direction of the third direction until the moving plate moves to the first end position, during which the clamping device is pushed to the separation position, and the male and female connectors separate; after the male and female connectors separate, the male connector is lifted, the adjusting protrusion disengages from the guide table, and the elastic positioning pin is inserted into the first fixing hole.

[0025] Compared with the prior art, the present invention has at least the following beneficial effects: During the docking and movement of the male and female connectors from the opening slot, the male connector, carrying the female connector, first passes through the release section away from the opening via the guide rail. The adjusting protrusion of the male connector then moves along the platform section of the guide platform above the release section. Because the platform section is thicker than the ramp section, the adjusting protrusion is raised by the platform section, and the elastic positioning pin, overcoming the elastic force, is also raised, disengaging from the first fixing hole of the moving plate, thus placing the moving plate in a movable state. Since the extension directions of the release sections on both sides are inclined to the same side, and because the length of the moving plate along the second direction is greater than the length of the moving cavity along the second direction, during this stage, one of the release sections will push the moving plate, causing it to move from the first end position to the second end position in the second direction. Simultaneously, the clamp is adjusted from the separated position to the locked position, achieving locking of the male and female connectors. Afterwards, the male connector, carrying the female connector, passes through the locking section near the opening via the guide rail, and the adjusting protrusion of the male connector moves along the ramp section of the guide platform above the locking section. Since the locking sections on both sides extend parallel to the first direction, the position of the moving plate in the second direction remains unchanged during the movement of the male connector assembly along the locking section, i.e., it remains at the second end position. Because the thickness of the ramp section is lower than that of the platform section, the height of the adjusting protrusion decreases, and the elastic positioning pin moves downwards towards the moving plate under the action of elastic force, thus inserting into the second fixing hole directly below, thereby completely fixing the position of the moving plate within the moving cavity. Next, the male connector assembly carries the female connector assembly away from the fixing base. Because the moving plate is fixed by the elastic positioning pin, the clamp remains stable in the locked state, ensuring a tight connection between the male and female connector assemblies.

[0026] During the separation process of the male and female connectors moving into the opening slot, the male connector drives the female connector through the locking section of the guide rail. The adjusting protrusion of the male connector moves along the ramp section of the guide platform above the locking section. As the ramp section increases in height, the adjusting protrusion is gradually raised, and the elastic positioning pin, overcoming the elastic force, is also raised, thus completely disengaging from the second fixing hole of the moving plate, making the moving plate movable. Next, as the male connector drives the female connector through the release section of the guide rail, in the opposite direction to the aforementioned outward movement out of the opening slot docking process, the release section on the other side pushes the moving plate, causing it to move from the second end position to the first end position in the second direction, simultaneously adjusting the clamp from the locked position to the separated position. After the male connector drives the female connector through the release section of the guide rail, the male connector is lifted to completely separate from the female connector. The adjusting protrusion disengages from the guide platform, and under the action of elastic force, the moving plate moves towards the elastic positioning pin, causing the elastic positioning pin to insert into the first fixing hole directly below, thus completely fixing the position of the moving plate within the moving cavity. Because the movable plate is fixed by the elastic positioning pin, the clamp remains stable in the disengaged state.

[0027] In summary, the quick-change connector for robotic arms utilizes the steps of the male connector moving along a guide rail by entering and exiting the opening slot. By leveraging the height difference and elastic force between the release section and the ramp section of the guide platform, the adjusting protrusion moving along the guide platform is raised. This adjusts the elastic positioning pin to disengage from the first or second fixing hole on the moving plate, adjusting the moving plate from a fixed state to a movable state. In the movable state, the locking and disengagement of the male and female connectors are adjusted. After adjustment, the height difference and elastic force between the release section and the ramp section of the guide platform allow the elastic positioning pin to insert into the first or second fixing hole, ensuring the stability of the male connector's state after adjustment. The quick-change connector for robotic arms utilizes ingenious mechanical design to achieve state adjustment and ensure the stability of the male connector's state after adjustment, simplifying the structural composition to achieve the desired effect and contributing to the lightweighting and miniaturization of the quick-change connector for robotic arms. Attached Figure Description

[0028] The accompanying drawings, which form part of this specification, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Figure 1 This is a three-dimensional schematic diagram of the quick-change connector for the robotic arm of the present invention; Figure 2 This is a three-dimensional schematic diagram of the female connector assembly in the quick-change connector of the robotic arm of the present invention; Figure 3 This is a top view schematic diagram of the quick-change connector for the robotic arm of the present invention; Figure 4 This is a schematic diagram of the mating structure between the fixed base and the female head assembly in the quick-change connector of the robotic arm of the present invention. Figure 4 The guidance console is not displayed in the middle; Figure 5 This is a schematic diagram showing the disassembled components of the fixing base, female connector assembly, and male connector assembly of the quick-change connector for the robotic arm of the present invention. Figure 6 This is a schematic diagram of the movable plate in the first end position of the quick-change joint of the robotic arm of the present invention. Figure 7 This is a schematic diagram of the movable plate in the quick-change joint of the robotic arm of the present invention, in the state between the first end position and the second end position. Figure 8 This is a schematic diagram of the movable plate in the second end position of the quick-change joint of the robotic arm of the present invention. Figure 9 This is a three-dimensional schematic diagram of the male connector component in the quick-change connector for the robotic arm of the present invention; Figure 10 This is another perspective view of the male connector assembly in the quick-change connector for the robotic arm of the present invention; Figure 11This is a three-dimensional schematic diagram of the elastic adjustment element in the quick-change joint of the robotic arm of the present invention; Figure 12 This is a schematic diagram of the internal structure of the male connector assembly in the quick-change connector for the robotic arm of the present invention; Figure 13 This is a schematic diagram of the movable plate and optocoupler assembly in the quick-change connector of the robotic arm of the present invention, in the state of the first trigger position. Figure 14 This is a schematic diagram of the movable plate and optocoupler assembly in the second trigger position of the quick-change connector for the robotic arm of the present invention. Figure 15 This is a schematic diagram of the movable plate in the non-trigger position of the quick-change joint of the robotic arm of the present invention. Figure 16 This is a schematic diagram showing the mating of the female head assembly and the fixed base in the quick-change connector of the robotic arm of the present invention; Figure 17 This is a schematic diagram of the elastic plug in the quick-change connector of the robotic arm of the present invention.

[0029] Explanation of reference numerals in the attached figures: 1. Fixed base; 11. Opening slot; 12. Limiting rail; 13. Guide rail; 14. Separation section; 15. Release section; 151. Outer end; 152. Inner end; 153. First sidewall; 154. Second sidewall; 16. Locking section; 17. Insertion hole; 18. Micro switch; 2. Female connector assembly; 21. Female connector base; 22. Receiving through hole; 23. Elastic post; 231. Elastic protrusion; 24. Auxiliary positioning hole; 25. Mounting slot; 3. Male connector assembly; 31. Clamping device; 311. Protruding rod; 312. Adjustment hole; 313. Bead; 314. Adjustment component; 32. Moving plate; 321. Strip through hole; 322. High position; 323. Low position; 324. 325. Second end; 326. First trigger piece; 327. Second trigger piece; 33. Male base; 331. Auxiliary positioning pin; 333. Fixing plate; 334. Receiving cavity; 335. Moving cavity; 34. Elastic adjustment element; 341. Elastic positioning pin; 342. Adjusting protrusion; 343. Elastic column; 344. Groove; 36. First fixing hole; 37. Second fixing hole; 38. Optical coupler group; 381. First optical coupler; 382. Second optical coupler; 4. Guide platform; 41. Platform section; 42. Slope section; A-A', First direction; B-B', Second direction; C-C', Height direction; D-D', Third direction; S1. First end position; S2. Second end position. Detailed Implementation

[0030] The present invention will now be described in detail with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0031] The following detailed description is exemplary and intended to provide further detailed explanation of the invention. Unless otherwise specified, all technical terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this invention is for describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention.

[0032] Example 1 This embodiment provides a quick-change connector for a robotic arm, including a fixed base 1, a female connector assembly 2, and a male connector assembly 3.

[0033] See Figure 1 The fixing base 1 has an opening groove 11 that opens towards the first direction A-A'. The inner sidewalls on both sides of the opening groove 11 are provided with guide rails 13 and limiting rails 12, with the guide rails 13 located above the limiting rails 12. The limiting rails 12 on both sides of the opening groove 11 extend in a direction parallel to the first direction A-A'.

[0034] See Figure 2 The female head assembly 2 includes a female head base 21, which can be engaged with the limiting track 12 (see...). Figure 1 Within, it is suitable for moving into or out of the opening slot 11 along the limiting track 12 (see...). Figure 1 ).

[0035] See Figure 3 In this embodiment, the guide rail 13 includes a continuously arranged locking section 16 and a releasing section 15. The locking section 16 is positioned close to the opening of the slot 11, and the releasing section 15 is positioned away from the opening of the slot 11. The locking sections 16 on both sides of the slot 11 extend in a direction parallel to the first direction A-A'; (Reference) Figure 4 The release sections 15 located on both sides of the opening groove 11 are the first sidewall 153 and the second sidewall 154, respectively, and the extension directions of the first sidewall 153 and the second sidewall 154 are inclined to the same side.

[0036] See Figure 5 A guide platform 4 is also provided above the fixed base 1, located above the guide rail 13 on one side of the opening slot 11. The guide platform 4 is a long strip structure, including the section located at the release section 15 (see...). Figure 4 The platform segment 41 above and the locked segment 16 (see above) Figure 4 The ramp section 42 is located above the platform section 41. The platform section 41 is continuously arranged with the ramp section 42, and the thickness of the platform section 41 is greater than the thickness of the ramp section 42.

[0037] In this embodiment, the platform segment 41 has the same thickness, and the ramp segment 42 is smoothly connected to the platform segment 41. The ramp segment 42 has a ramp surface that gradually descends along the first direction A-A' towards the opening of the opening slot 11.

[0038] See Figure 5 The male connector assembly 3 includes a male connector base 33, a clamping device 31, a moving cavity 335, and a moving plate 32. The male connector base 33 engages with the guide rail 13 (see [reference]). Figure 1 The male connector 33 is adapted to move into or out of the opening slot 11 along the guide rail 13. The male connector base 33 has a receiving cavity 334. The clamp 31 is located in the receiving cavity 334 and has a locking position and a disengaging position. The clamp 31 extends out of the bottom of the male connector base 33. The female connector base 21 has a receiving through hole 22 for the clamp 31 of the male connector assembly 2 to be inserted and locked. The clamp 31 cooperates with the receiving through hole 22 to achieve locking or disengagement with the female connector assembly 2.

[0039] See Figure 5 The movable cavity 335 penetrates the male head base 33 along the second direction B-B' and is connected to the receiving cavity 334. The movable plate 32 is located inside the movable cavity 335.

[0040] See Figure 7 The movable plate 32 is a long, strip-shaped plate structure. Along the second direction B-B', the two opposite ends of the movable plate 32 are a first end 324 and a second end 325, respectively. The first end 324 is near the first sidewall 153, and the second end 325 is near the second sidewall 154. The length of the movable plate 32 along the second direction B-B' is... L1 The length of the moving cavity 335 along the second direction B-B' is greater than the length of the moving cavity. L2 .

[0041] See Figure 6 and Figure 8 The movable plate 32 is adapted to be released from different sides of the release section 15 during the process of entering and exiting the opening slot 11 (see...). Figure 3 The clamp 31 is adjusted to the separation position and the locking position respectively by pushing along the second direction B-B' between the first end position S1 and the second end position S2. During the process of the male end assembly 3 moving into the opening groove 11 along the guide rail 13, the second side wall 154 is adapted to push the second end 325 towards the first end position S1; during the process of the male end assembly 3 moving out of the opening groove 11 along the guide rail 13, the first side wall 153 is adapted to push the first end 324 towards the second end position S2.

[0042] See Figure 6 The two ends of the release section 15 are the outer end 151 near the opening of the opening groove 11 and the inner end 152 away from the opening of the opening groove 11, respectively. Projected onto a projection plane perpendicular to the second direction B-B', the outer end 151 of the first sidewall 153 is closer to the opening of the opening groove 11 than the outer end 151 of the second sidewall 154, and the inner end 152 of the second sidewall 154 is farther away from the opening of the opening groove 11 than the inner end 152 of the first sidewall 153.

[0043] During the process of removing the male connector assembly 3 from the opening slot 11, since the inner end 152 of the second sidewall 154 is farther away from the opening of the opening slot 11 than the inner end 152 of the first sidewall 153, the side of the male connector base 33 where the second end 325 is located enters the release section 15 earlier than the first end 324. This provides adjustment space for the second end 325 to contact the second sidewall 154 and change to the second end S2 state after the first end 324 enters the release section 15 and is pushed by the first sidewall 153, thus preventing it from getting stuck.

[0044] Similarly, during the process of the male connector assembly 3 moving into the opening slot 11, since the outer end 151 of the first sidewall 153 is closer to the opening of the opening slot 11 than the outer end 151 of the second sidewall 154, the side of the male connector base 33 where the first end 324 is located enters the release section 15 earlier than the second end 325. This provides adjustment space for the second end 325 to be pushed by the second sidewall 154 after entering the release section 15, and for the first end 324 to contact the first sidewall 153 and change to the first end S1 state, thus preventing jamming.

[0045] For the process of removing male connector 3 from slot 11, please refer to [link / reference]. Figure 6 The state in which the movable plate 32 is in the first end position S1 is the position where the first end 324 of the movable plate 32 abuts against the inner end 152 of the first sidewall 153; see also Figure 8 The state in which the movable plate 32 is in the second end position S2 is the position where the first end 324 of the movable plate 32 abuts against the outer end 151 of the first side wall 153; Figure 7 The movable plate 32 is in a state between the first end S1 and the second end S2. For better display, Figures 6-8 No guidance console was displayed in either of them.

[0046] During the process of moving the male connector 3 into the opening slot 11, the state of the moving plate 32 in the second end position S2 is the position where the second end 325 of the moving plate 32 abuts against the outer end 151 of the second side wall 154; the state of the moving plate 32 in the first end position S1 is the position where the second end 325 of the moving plate 32 abuts against the inner end 152 of the second side wall 154.

[0047] See Figure 6 A separation section 14 is provided at the end of the release section 15 of the first sidewall 153 away from the opening direction of the opening slot 11. The separation section 14 is arranged parallel to the first direction A-A'. Before the male head assembly 3 and the female head assembly 2 are connected, the male head assembly 3 falls from above the female head assembly 2 and directly enters the opening slot 11. The first end 324 of the moving plate 32 falls into the receiving space enclosed by the separation section 14. The separation section 14 extends along the length of the first direction A-A'. L3 Width greater than 32 of the moving plate W1This provides an adjustment margin for the first end 324 to fall into the containment space enclosed by the separation section 14, reducing the occurrence of collisions.

[0048] See Figure 9 The movable plate 32 has a first fixing hole 36 and a second fixing hole 37 that penetrate the movable plate 32 along the height direction C-C', and the first fixing hole 36 and the second fixing hole 37 are along the second direction B-B' (see Figure 3 Arranged in a 3x3 configuration. The first direction A-A', the second direction B-B', and the height direction C-C' are all perpendicular to each other.

[0049] See Figure 9 The male connector assembly 3 also includes a resilient adjustment member 34, which is located within the receiving cavity 334 and above the movable plate 32. See also Figure 11 The elastic adjustment member 34 includes an elastic positioning pin 341 and an adjustment protrusion 342 fixedly connected to the elastic positioning pin 341.

[0050] See Figure 1 and Figure 9 Adjusting the protrusion 342 exposes the side wall of the male head base 33, which is suitable for moving on the guide platform 4 to adjust the insertion and disengagement of the elastic positioning pin 341 into the first fixing hole 36 or the second fixing hole 37.

[0051] See Figure 5 In this embodiment, the elastic adjustment member 34 can only move relative to the male connector base 33 in the height direction, and its position relative to the male connector base 33 is fixed in the first direction A-A' and the second direction B-B'. See also Figure 6 and Figure 9 When the movable plate 32 moves along the second direction B-B' to the first end position S1, the elastic positioning pin 341 is aligned with the first fixing hole 36. (See also...) Figure 8 and Figure 9 When the movable plate 32 moves along the second direction B-B' to the second end position S2, the elastic positioning pin 341 is aligned with the second fixing hole 37.

[0052] See Figure 1 The difference in the position and thickness of the guide platform 4, and the cooperation between the adjusting protrusion 342 and the guide platform 4, enable the elastic adjusting member 34 to be adjusted during the process of the male connector assembly 3 moving into or out of the opening slot 11 (see...). Figure 9 Along the height direction C-C', the elastic adjusting member 34 is raised relative to the moving plate 32 against the elastic force of the elastic adjusting member 34, or the elastic adjusting member 34 is lowered relative to the moving plate 32 in accordance with the elastic force of the elastic adjusting member 34, so as to realize the insertion and disengagement of the elastic positioning pin 341 into the first fixing hole 36 (see Figure 9 ) or the second fixing hole 37 (see Figure 9 This allows for locking or releasing the movable plate 32.

[0053] See Figure 9 The function of the first fixing hole 36 is to lock the movable plate 32 in the first end position S1 state by cooperating with the elastic positioning pin 341. When the movable plate 32 moves to the first end position S1, the elastic positioning pin 341 inserts into the first fixing hole 36 to lock the movable plate 32. During the process of the male connector assembly 3 moving out of the opening slot 11, when the elastic positioning pin 341 disengages from the first fixing hole 36 in the first end position S1 state, the movable plate 32 is released and can move from the first end position S1 to the second end position S2.

[0054] The function of the second fixing hole 37 is to lock the movable plate 32 in the second end position S2 state by cooperating with the elastic positioning pin 341. When the movable plate 32 moves to the second end position S2, the elastic positioning pin 341 is inserted into the second fixing hole 37 to lock the movable plate 32. During the process of the male connector assembly 3 moving into the opening slot 11, the movable plate 32 is in the second end position S2 state. When the elastic positioning pin 341 disengages from the second fixing hole 37, the movable plate 32 is released and can move from the second end position S2 to the first end position S1.

[0055] Reference Figure 5 In this embodiment, the guide platform 4 is disposed on the first side wall 153 (refer to...). Figure 4 Above the corresponding guide rail 13. See also Figure 6 and Figure 9 The first fixing hole 36 and the second fixing hole 37 are provided on the first end 324 of the movable plate 32, and the first fixing hole 36 is located inside the second fixing hole 37, that is, the first fixing hole 36 is located away from the first side wall 153 relative to the second fixing hole 37.

[0056] In other embodiments, the guide platform may also be located above the guide rail corresponding to the second side wall. Accordingly, the first fixing hole and the second fixing hole are located on the second end of the movable plate, and the first fixing hole is located outside the second fixing hole, that is, the first fixing hole is closer to the second side wall than the second fixing hole.

[0057] See Figure 2 and Figure 10 At least two auxiliary positioning pins 331 are vertically mounted on the side of the male connector base 33 opposite to the female connector base 21. The female connector base 21 has auxiliary positioning holes 24, each corresponding to one of the auxiliary positioning pins 331. During the docking process between the male connector assembly 3 and the female connector assembly 2, the auxiliary positioning pins 331 are inserted into the corresponding auxiliary positioning holes 24 to ensure precise docking between the male connector assembly 3 and the female connector assembly 2, preventing misalignment in the circumferential direction.

[0058] Reference Figure 11In this embodiment, the elastic adjusting member 34 further includes an elastic post 343, an elastic positioning pin 341, and an adjusting protrusion 342 fixedly mounted on the elastic post 343; the top of the elastic post 343 has a groove 344, and a spring (not shown in the figure) is installed in the groove 344, with the top end of the spring fixedly abutting against the receiving cavity 334 (see Figure 5 On the inner wall, the bottom end of the spring rests against the bottom surface of the groove 344. Lifting the adjusting protrusion 342 causes the elastic positioning pin 341 and the bottom surface of the groove 344 to rise accordingly, so that the spring is in a compressed state; releasing the adjusting protrusion 342 causes the elastic positioning pin 341 to descend and insert into the first fixing hole 36 or the second fixing hole 37 under the action of the elastic force of the spring.

[0059] Furthermore, refer to Figure 12 , receiving cavity 334 (see Figure 5 A fixing plate 333 can be installed on the inner wall, and a spring is disposed between the fixing plate 333 and the groove 344 of the elastic column 343. In this embodiment, the fixing plate 333 is fixed on the male base 33, restricting the movement of the elastic adjustment member 34 in the first direction A-A' and the second direction B-B', so that the elastic adjustment member 34 can only move relative to the male base 33 in the height direction C-C'.

[0060] Reference Figure 12 The moving plate 32 has a strip-shaped through hole 321 on its side wall perpendicular to the first direction A-A'. Along the direction from the first end 324 to the second end 325, i.e., along the third direction D-D', the height of the strip-shaped through hole 321 gradually decreases, thus forming a high point 322 and a low point 323. The third direction D-D' is parallel to the second direction B-B' and points from the second fixing hole 37 to the first fixing hole 36. The clamp 31 has a liftable protrusion 311 on its side wall. The descent and ascent of the protrusion 311 adjusts the clamp 31 to the separated and locked positions, respectively. When the protrusion 311 engages with the strip-shaped through hole 321, the movement of the moving plate 32 causes the protrusion 311 to rise and fall between the high point 322 and the low point 323, thereby adjusting the clamp 31 to lock and release the female head assembly 2.

[0061] During the process of the male connector assembly 3 moving into or out of the opening slot 11 along the first direction A-A', the moving plate 32 is pushed by the release section 15 to move relative to the male connector base 33 along the second direction B-B'. The protruding rod 311 and the clamping device 31 are fixed in position relative to the male connector base 33 in the second direction B-B', thereby adjusting the relative position of the strip-shaped through hole 321 and the protruding rod 311 in the second direction B-B', realizing the adjustment of the height of the protruding rod 311, and thus adjusting the clamping device 31 to be in the separated position or the locked position.

[0062] like Figure 12 As shown, the clamping device 31 has at least three adjustment holes 312 on the side away from the moving plate 32. The adjustment holes 312 and the receiving through hole 22 (see...) Figure 2 Correspondingly, a bead 313 is installed in the adjusting hole 312. The protruding rod 311 switches between the high position 322 and the low position 323 to control the state of the bead 313 protruding from the adjusting hole 312. More specifically, when the moving plate 32 moves relative to the male head base 33 along the second direction B-B' and drives the protruding rod 311 from the low position 323 to the high position 322, it drives the bead 313 to protrude from the adjusting hole 312; when the moving plate 32 moves relative to the male head base 33 along the second direction B-B' and drives the protruding rod 311 from the high position 322 to the low position 323, it drives the bead 313 to retract into the adjusting hole 312.

[0063] See Figure 16 The bottom surface of the fixing base 1 has an insertion hole 17, see [reference]. Figure 2 The female head base 21 has a mounting groove 25 on its side wall, and an upward-facing elastic insertion post 23 is provided in the mounting groove 25. See Figure 4 The top of the female head base 21 is provided with an elastic protrusion 231, for reference. Figure 17 The elastic protrusion 231 is fixedly connected to the elastic insertion post 23, which is suitable for adjusting the insertion or disengagement of the elastic insertion post 23 into the insertion hole 17 (see...). Figure 16 ).

[0064] See Figure 4 The female connector 2 supports the male connector 3 (see above). Figure 1 When the male connector 3 presses against the elastic protrusion 231, the elastic insertion post 23 disengages from the insertion hole 17 (see...). Figure 16 ).

[0065] See Figure 16 A microswitch 18 is located on the bottom surface of the fixed base 1 to detect whether the female connector assembly 2 is fixed to the fixed base 1. During the process of the male connector assembly 3 carrying the female connector assembly 2 into the opening slot 11, the female connector assembly 2 moves along the limiting track 12 into the opening slot 11 until the microswitch 18 is triggered, thus indicating that the female connector assembly 2 has reached the expected position. Afterwards, the robotic arm moves the male connector assembly 3 upwards to detach from the female connector assembly 2, and the elastic insertion post 23 is inserted into the insertion hole 17, thus fixing the female connector assembly 2 to the fixed base 1.

[0066] See Figures 13-15 The male connector assembly 3 also includes an optocoupler group 38, which is fixed in the receiving cavity 334 (see...). Figure 5 Located within and below the second end 325, the optocoupler group 38 includes a first optocoupler 381 and a second optocoupler 382 arranged along the first direction A-A'.

[0067] A trigger plate assembly is fixedly provided at the bottom of the second end 325, and the moving plate 32 moves along the second direction B-B' (see...). Figure 3The movement causes the trigger sheet group to be triggered or moved away from the optocoupler group 38; the trigger sheet group includes a first trigger sheet 326 and a second trigger sheet 327, the length of the second trigger sheet 327 being greater than the length of the first trigger sheet 326.

[0068] In this embodiment, the movable board 32 has a first trigger bit, a second trigger bit, and a non-trigger bit.

[0069] See Figure 13 The first trigger position corresponds to the first trigger piece 326 triggering the first optocoupler 381 and the second trigger piece 327 triggering the second optocoupler 382, ​​corresponding to the protrusion 311 being located at the high position 322 (see...). Figure 12 That is, the moving plate 32 is in the second position S2 (see Figure 8 ) state.

[0070] See Figure 14 The second trigger bit corresponds to the first trigger chip 326 (see...). Figure 13 The first optocoupler 381 is deactivated and the second trigger piece 327 triggers the second optocoupler 382, ​​corresponding to the protrusion 311 being located at the high position 322 (see [link]). Figure 12 ) and low site 323 (see Figure 12 The state between the first end S1 and the second end S2, that is, the state in which the movable plate 32 is between the first end S1 and the second end S2 (see...). Figure 7 ).

[0071] See Figure 15 The non-trigger bit corresponds to the first trigger chip 326 (see Figure 13 ) Exit the first optocoupler 381 and the second trigger chip 327 (see Figure 13 When the second optocoupler 382 is deactivated, the protrusion 311 is located at the low position 323, which means that the moving plate 32 is in the first end position S1 state.

[0072] This disclosure also provides a control method based on the above-mentioned quick-change joint for robotic arms, which includes, but is not limited to, the following steps: See Figure 5 The docking step between male connector 3 and female connector 2 includes: male connector 3 carrying female connector 2 along guide rail 13 (see...). Figure 1 The adjusting protrusion 342 moves along the platform section 41 after being moved out of the opening slot 11, and the release section 15 on one side (see...) Figure 4 Push the movable plate 32 along the third direction D-D' until the movable plate 32 moves to the second end position S2 (see...) Figure 8 During the process, the clamp 31 is adjusted to the locking position, with the third direction D-D' parallel to the second direction B-B' and pointing from the second fixing hole 37 to the first fixing hole 36; after the clamp 31 is adjusted to the locking position, the adjusting protrusion 342 moves along the ramp section 42, and the elastic positioning pin 341 (see...) Figure 9 Insert into the second fixing hole 37 (see) Figure 9 ); The step of disengaging the male connector assembly 3 from the female connector assembly 2 includes: the male connector assembly 3 moving along the guide rail 13 (see...). Figure 1 The adjusting protrusion 342 moves along the ramp section 42 into the opening groove 11, and the elastic positioning pin 341 gradually moves from the second fixing hole 37 (see...). Figure 9 After the elastic positioning pin 341 disengages from the second fixing hole 37, the adjusting protrusion 342 moves along the platform section 41, and the release section 15 on the other side (see...) Figure 4 Push the moving plate 32 in the opposite direction to D-D' along the third direction until the moving plate 32 moves to the first end position S1 (see Figure 6 During the process, the clamping device 31 is pushed to the separation position, and the male head assembly 3 separates from the female head assembly 2; after the male head assembly 3 separates from the female head assembly 2, the male head assembly 3 is raised, the adjusting protrusion 342 disengages from the guide table 4, and the elastic positioning pin 341 (see...) Figure 9 Insert into the first fixing hole 36 (see Figure 9 ).

[0073] In this embodiment, during the process of the male connector assembly 3 and the female connector assembly 2 moving in and out of the opening slot 11, the male connector assembly 3 drives the female connector assembly 2 to first pass through the release section 15 away from the opening via the guide rail 13. The adjusting protrusion 342 of the male connector assembly 3 then moves along the platform section 41 of the guide platform 4 above the release section 15. Since the thickness of the platform section 41 is greater than that of the ramp section 42, the adjusting protrusion 342 is raised by the platform section 41, and the elastic positioning pin 341 is also raised against the elastic force, thereby disengaging from the first fixing hole 36 of the moving plate 32, so that the moving plate 32 is in a movable state. Since the extension directions of the release sections 15 on both sides are inclined to the same side, and since the length of the moving plate 32 along the second direction B-B' is greater than the length of the moving cavity 335 along the second direction B-B', in this stage, one of the release sections 15 (i.e., the first sidewall 153) will push the moving plate 32, causing the moving plate 32 to move from the first end position S1 to the second end position S2 in the second direction B-B', simultaneously adjusting the clamp 31 from the separated position to the locked position, thus locking the male head assembly 3 and the female head assembly 2. Afterwards, the male head assembly 3 carries the female head assembly 2 through the guide rail 13 and approaches the locking section 16 of the opening, while the adjusting protrusion 342 of the male head assembly 3 moves along the ramp section 42 of the guide platform 4 above the locking section 16. Since the extension directions of the locking sections 16 on both sides are parallel to the first direction A-A', the position of the moving plate 32 in the second direction B-B' does not change during the movement of the male head assembly 3 along the locking section 16, that is, it remains at the second end position S2. Because the thickness of the ramp section 42 is lower than that of the platform section 41, the height of the adjusting protrusion 342 decreases. Under the action of elastic force, the elastic positioning pin 341 moves towards the lower moving plate 32 and then inserts into the second fixing hole 37 directly below, thereby completely fixing the position of the moving plate 32 in the moving cavity 335. Next, the male head assembly 3 carries the female head assembly 2 away from the fixing base 1. Since the moving plate 32 is fixed by the elastic positioning pin 341, the clamp 31 is stable in the locked state, ensuring that the male head assembly 3 and the female head assembly 2 are securely connected.

[0074] In this embodiment, during the separation process of the male head assembly 3 and the female head assembly 2 moving into the opening slot 11, the male head assembly 3 drives the female head assembly 2 to first pass through the locking section 16 of the guide rail 13. The adjusting protrusion 342 of the male head assembly 3 then moves along the ramp section 42 of the guide platform 4 above the locking section 16. As the height of the ramp section 42 increases, the adjusting protrusion 342 is gradually raised, and the elastic positioning pin 341 is also raised against the elastic force, thus completely disengaging from the second fixing hole 37 of the moving plate 32, making the moving plate 32 movable. Next, as the male head assembly 3 drives the female head assembly 2 through the release section 15 of the guide rail 13, in the opposite direction to the above-mentioned process of moving out of the opening slot 11, the release section 15 on the other side (i.e., the second side wall 154) will push the moving plate 32, causing the moving plate 32 to move from the second end position S2 to the first end position S1 in the second direction B-B', and simultaneously adjusting the clamp 31 from the locked position to the separated position. After the male connector 3 drives the female connector 2 through the release section 15 of the guide rail 13, the male connector 3 is lifted to completely separate from the female connector 2. The adjusting protrusion 342 disengages from the guide table 4, and under the action of elastic force, the moving plate 32 moves towards the elastic positioning pin 341, causing the elastic positioning pin 341 to insert into the first fixing hole 36 directly below, thereby completely fixing the position of the moving plate 32 within the moving cavity 335. Since the moving plate 32 is fixed by the elastic positioning pin 341, the clamp 31 remains stable in the separated state.

[0075] The robotic arm quick-change connector utilizes the male connector assembly 3 moving along the guide rail 13 by entering and exiting the opening slot 11. Leveraging the height difference between the release section 15 and the ramp section 42 of the guide platform 4, and the elastic force of the elastic adjustment member 34, the adjusting protrusion 342 moving along the guide platform 4 is raised. This adjusts the elastic positioning pin 341 to disengage from the first fixing hole 36 or the second fixing hole 37 on the moving plate 32, adjusting the moving plate 32 from a fixed state to a movable state. In the movable state of the moving plate 32, the locking and disengagement of the male connector assembly 3 and the female connector assembly 2 are adjusted. After adjustment, the elastic positioning pin 341 is inserted into the first fixing hole 36 or the second fixing hole 37 by leveraging the height difference between the release section 15 and the ramp section 42 of the guide platform 4, and the elastic force of the elastic adjustment member 34, ensuring the stability of the male connector assembly 3 after adjustment. The quick-change connector for robotic arms utilizes ingenious mechanical design to achieve state adjustment and ensures the stability of the male connector component 3 after adjustment. It simplifies the structural composition to achieve the desired effect and contributes to the lightweighting and miniaturization of the quick-change connector for robotic arms.

[0076] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A quick-change connector for a robotic arm, characterized in that, include: The fixed base (1) has an opening groove (11) opening towards a first direction (A-A'). The inner walls on both sides of the opening groove (11) include an upper guide rail (13) and a lower limiting rail (12). The extension directions of the limiting rails (12) on both sides are parallel to the first direction (A-A'). The guide rail (13) includes a locking section (16) near the opening and a release section (15) away from the opening. The extension directions of the locking sections (16) on both sides are parallel to the first direction (A-A'). The extension directions of the release sections (15) on both sides are inclined to the same side. The female head assembly (2) includes a female head base (21), which is inserted into the limiting track (12) and is adapted to move into or out of the opening slot (11) along the limiting track (12); The male connector assembly (3) includes a male connector base (33), which is inserted into the guide rail (13) and adapted to move into or out of the opening slot (11) along the guide rail (13). The male connector base (33) has a receiving cavity (334). The male connector assembly (3) further includes: a clamping device (31) located in the receiving cavity (334), which has a locking position and a separating position. The clamping device (31) extends out of the bottom of the male connector base (33) and is adapted to lock or separate from the female connector assembly (2). A moving cavity (335) extends through the male connector base (33) along a second direction (B-B'), which is connected to the receiving cavity (334). The second direction (B-B'), the first direction (A-A'), and the height direction (B-B') are connected. C-C') are perpendicular to each other; a movable plate (32) is located in the movable cavity (335), the length of the movable plate (32) along the second direction (B-B') is greater than the length of the movable cavity (335) along the second direction (B-B'), the movable plate (32) is adapted to be pushed by the release section (15) on different sides during the process of entering and exiting the opening slot (11), and moves between the first end position (S1) and the second end position (S2) along the second direction (B-B') to adjust the clamp (31) to the separation position and the locking position respectively; the movable plate (32) has a first fixing hole (36) and a second fixing hole (37) that penetrate the movable plate (32) along the height direction (C-C'), the first fixing hole (36) and the second fixing hole (37) are arranged along the second direction (B-B'); A guide platform (4) is located on one side of the guide rail (13). The guide platform (4) includes a platform section (41) above the release section (15) and a ramp section (42) above the locking section (16). The thickness of the platform section (41) is greater than the thickness of the ramp section (42). The male connector assembly (3) further includes: an elastic adjustment member (34), located within the receiving cavity (334) and above the moving plate (32), the elastic adjustment member (34) including an elastic positioning pin (341) and an adjustment protrusion (342) fixedly connected to the elastic positioning pin (341); the moving plate (32) moves to the first end position (S1), the elastic positioning pin (341) is facing the first fixing hole (36); the moving plate (32) moves to the second end position (S2), the elastic positioning pin (341) is facing the second fixing hole (37); the adjustment protrusion (342) protrudes from the side wall of the male connector base (33) and is adapted to move on the guide platform (4) to adjust the insertion and disengagement of the elastic positioning pin (341) into the first fixing hole (36) or the second fixing hole (37).

2. The quick-change connector for robotic arms according to claim 1, characterized in that, The elastic adjusting member (34) includes an elastic column (343), the elastic positioning pin (341) and the adjusting protrusion (342) are fixed on the elastic column (343); the top of the elastic column (343) has a groove (344), a spring is installed in the groove (344), the top end of the spring is fixed against the inner wall of the receiving cavity (334), and the bottom end of the spring is against the bottom surface of the groove (344); when the adjusting protrusion (342) is raised, the elastic positioning pin (341) is raised accordingly, and the spring is in a compressed state; when the adjusting protrusion (342) is released, under the action of the elastic force of the spring, the elastic positioning pin (341) descends and inserts into the first fixing hole (36) or the second fixing hole (37).

3. The quick-change connector for robotic arms according to claim 1, characterized in that, The platform segment (41) has the same thickness, the ramp segment (42) is smoothly connected to the platform segment (41), and the ramp segment (42) has a ramp surface that gradually descends along a first direction (A-A') toward the opening of the opening slot (11).

4. The quick-change connector for robotic arms according to claim 1, characterized in that, The release sections (15) on both sides include a first sidewall (153) and a second sidewall (154). The moving plate (32) has a first end (324) and a second end (325) at opposite ends along the second direction (B-B'). The first sidewall (153) is adapted to push the first end (324) toward the second end (S2), and the second sidewall (154) is adapted to push the second end (325) toward the first end (S1). The guide platform (4) is located on the guide rail (13) on one side of the first sidewall (153) or on the guide rail (13) on one side of the second sidewall (154); when the guide platform (4) is located on the guide rail (13) on one side of the first sidewall (153), the first fixing hole (36) and the second fixing hole (37) are located on the first end (324), and the first fixing hole (36) is located inside the second fixing hole (37); when the guide platform (4) is located on the guide rail (13) on one side of the second sidewall (154), the first fixing hole (36) and the second fixing hole (37) are located on the second end (325), and the first fixing hole (36) is located outside the second fixing hole (37).

5. The quick-change connector for robotic arms according to claim 4, characterized in that, The two ends of the release section (15) include an outer end (151) close to the opening of the opening groove (11) and an inner end (152) away from the opening of the opening groove (11); projected onto a projection plane perpendicular to the second direction (B-B'), the outer end (151) of the first sidewall (153) is closer to the opening of the opening groove (11) than the outer end (151) of the second sidewall (154), and the inner end (152) of the second sidewall (154) is farther away from the opening of the opening groove (11) than the inner end (152) of the first sidewall (153).

6. The quick-change connector for robotic arms according to claim 4, characterized in that, The male connector assembly (3) further includes: an optical coupler group (38), which is fixed in the receiving cavity (334) and located below the second end (325). The optical coupler group (38) includes a first optical coupler (381) and a second optical coupler (382) arranged along the first direction (A-A'). A trigger plate group is fixedly provided at the bottom of the second end (325). The moving plate (32) moves along the second direction (B-B') to drive the trigger plate group to trigger or move away from the optocoupler group (38). The trigger plate group includes a first trigger plate (326) and a second trigger plate (327). The length of the second trigger plate (327) is greater than the length of the first trigger plate (326). The movable board (32) has a first trigger bit, a second trigger bit, and a non-trigger bit; the first trigger bit corresponds to the first trigger piece (326) triggering the first optocoupler (381) and the second trigger piece (327) triggering the second optocoupler (382); the second trigger bit corresponds to the first trigger piece (326) disengaging from the first optocoupler (381) and the second trigger piece (327) triggering the second optocoupler (382); the non-trigger bit corresponds to the first trigger piece (326) disengaging from the first optocoupler (381) and the second trigger piece (327) disengaging from the second optocoupler (382).

7. The quick-change connector for robotic arms according to claim 4, characterized in that, The movable plate (32) has a strip-shaped through hole (321) on its side wall perpendicular to the first direction (A-A'); the height of the strip-shaped through hole (321) gradually decreases along the direction from the first end (324) to the second end (325); The clamp (31) has a liftable protrusion (311) on its side wall. The descent and rise of the protrusion (311) respectively adjust the clamp (31) to be in the separated position and the locked position. The protrusion (311) is inserted into the strip-shaped through hole (321). The moving plate (32) moves, driving the protrusion (311) to rise and fall, adjusting the clamp (31) to lock and release the female head assembly (2).

8. The quick-change connector for robotic arms according to claim 1, characterized in that, The fixed base (1) has an insertion hole (17) on its bottom surface. The female base (21) has an upward-facing elastic insertion post (23) on its side wall. The female base (21) has an elastic protrusion (231) on its top. The elastic protrusion (231) is fixedly connected to the elastic insertion post (23) and is suitable for adjusting the insertion of the elastic insertion post (23) into or out of the insertion hole (17). When the female assembly (2) carries the male assembly (3) above it, the male assembly (3) squeezes the elastic protrusion (231) to disengage the elastic insertion post (23) from the insertion hole (17).

9. The quick-change connector for robotic arms according to claim 1, characterized in that, The male head base (33) has at least two auxiliary positioning pins (331) at its bottom, and the female head base (21) has a corresponding number of auxiliary positioning holes (24) on its top.

10. The control method for the quick-change joint of the robotic arm according to any one of claims 1 to 9, characterized in that, The docking step of the male connector assembly (3) and the female connector assembly (2) includes: the male connector assembly (3) carrying the female connector assembly (2) moves out of the opening slot (11) along the guide rail (13); the adjusting protrusion (342) moves along the platform section (41); the release section (15) on one side pushes the moving plate (32) along the third direction (D-D') until the moving plate (32) moves to the second end position (S2); during the process, the clamp (31) is adjusted to the locking position; the third direction (D-D') is parallel to the second direction (B-B') and points from the second fixing hole (37) to the first fixing hole (36); after the clamp (31) is adjusted to the locking position, the adjusting protrusion (342) moves along the ramp section (42); and the elastic positioning pin (341) is inserted into the second fixing hole (37). The step of separating the male connector assembly (3) from the female connector assembly (2) includes: the male connector assembly (3) entering the opening groove (11) along the guide rail (13); the adjusting protrusion (342) moving along the ramp section (42); and the elastic positioning pin (341) gradually disengaging from the second fixing hole (37); after the elastic positioning pin (341) disengages from the second fixing hole (37), the adjusting protrusion (342) then moves along the platform section (41), and the release section (1) on the other side... 5) Push the moving plate (32) in the opposite direction of the third direction (D-D') until the moving plate (32) moves to the first end position (S1). During this process, push the clamp (31) to the separation position, and the male head assembly (3) separates from the female head assembly (2). After the male head assembly (3) separates from the female head assembly (2), lift the male head assembly (3), the adjusting protrusion (342) disengages from the guide table (4), and the elastic positioning pin (341) is inserted into the first fixing hole (36).

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