Robot tail end electric quick-change disc comprising three guide grooves and screw rod motor driving steel ball locking piston structure

Abstract

The invention provides a robot tail end electric quick-change disc with three guide grooves and a lead screw motor driving steel ball locking piston structure. The robot tail end electric quick-change disc comprises a locking assembly, and the locking assembly comprises a main disc shell, an inner core mounting groove, a motor mounting hole, a motor body, a lead screw, an electric piston and a guide strip. The motor body is adopted to drive the lead screw to drive the electric piston to move, automatic operation of clamp switching is achieved, locking of the main disc and the auxiliary disc and connection of the electric module and the signal module are synchronously completed, additional steps are not needed, and the switching efficiency is greatly improved; a lead screw motor driving mode is adopted, an electric piston is accurately controlled to stretch out and draw back through thread rotation, it is guaranteed that locking force is stable and controllable and is not interfered by external air pressure and other environmental factors, and locking reliability is improved; through the structure that the three guide grooves are matched with the guide strips, radial deviation and rotation of the electric piston are effectively limited, the guide precision is remarkably improved, locking failure caused by deviation is avoided, and the locking reliability is enhanced.

Description

Technical Field

[0001] This invention relates to the field of robot end effector technology, and in particular to a robot end effector electric quick-change disc with a structure including a three-guide groove and a lead screw motor-driven ball locking piston. Background Technology

[0002] In fields such as composite robots, embodied intelligent robots, and humanoid robots, pneumatic quick-change devices cannot be used without an air source. Electric quick-change structures do not require air; they can complete fixture switching simply by applying electricity. In automated scenarios such as automobile manufacturing, 3C electronics assembly, and home appliance production lines, robots often need to continuously complete multiple differentiated flexible production tasks such as gripping, handling, welding, tightening, and inspection on a single production line. Due to the large number of work processes, a single fixture cannot be adapted, so robots must frequently switch between different fixtures to complete multiple work processes.

[0003] Traditional quick-change devices suffer from problems such as low switching efficiency, poor locking reliability, and insufficient guiding accuracy. For example, manual quick-change relies on manual operation, which is time-consuming and labor-intensive; pneumatic quick-change is affected by air source conditions, and cannot be used in fields such as composite robots, embodied intelligent robots, and humanoid robots where there is no air source. To address this, a robot end effector electric quick-change disc with a three-guide groove and a ball screw motor-driven steel ball locking piston structure is proposed. Summary of the Invention

[0004] In view of this, the present invention aims to provide a robot end effector electric quick-change disc with a three-guide groove and a ball screw motor driven steel ball locking piston structure, so as to solve or alleviate the technical problems existing in the prior art, and at least provide a beneficial alternative.

[0005] The technical solution of this invention is implemented as follows: a robot end-effector electric quick-change disc with a three-guide groove and a lead screw motor-driven steel ball locking piston structure, including a locking assembly, the locking assembly including a main disc shell, an inner core mounting groove, a motor mounting groove, a motor body, a lead screw, an electric piston, a first screw, an inner core seat, an inner core cylinder, a steel ball placement hole, a steel ball, a guide groove, and a guide strip; The upper surface of the main disk shell has an inner core mounting groove. A motor mounting slot is located at the center of the inner bottom wall of the inner core mounting groove. A motor body is mounted on the inner side wall of the motor mounting hole. A lead screw is fixedly connected to the output end of the motor body. An electric piston is threadedly connected to the outer side wall of the lead screw. An inner core seat is fixedly connected to the inner side wall of the inner core mounting groove by a first screw. The inner core seat has an inner core cylinder. Multiple steel ball placement holes are located in the middle of the inner side wall of the inner core cylinder. Steel balls are slidably connected to the inner side walls of the multiple steel ball placement holes. The outer side wall of the electric piston is fitted to the outer side wall of the steel balls. Multiple guide grooves are located at the lower part of the outer side wall of the electric piston. Multiple guide strips are fixedly connected to the lower part of the inner side wall of the inner core cylinder. The inner side wall of the guide groove is slidably connected to the outer side wall of the guide strip.

[0006] As a further preferred embodiment of this technical solution, a secondary disk shell is attached to the upper surface of the main disk shell. A secondary disk cover mounting groove is formed on the upper surface of the secondary disk shell. An inner core mounting hole is formed at the center of the inner bottom wall of the secondary disk cover mounting groove. The inner wall of the inner core mounting hole is fixedly connected to the inner core of the secondary disk by a plurality of second screws. The inner wall of the inner core of the secondary disk is slidably connected to the outer wall of the inner core cylinder. A plurality of arc-shaped locking grooves are formed on the inner wall of the inner core of the secondary disk. The outer wall of the steel ball is attached to the inner wall of the arc-shaped locking groove.

[0007] As a further preferred embodiment of this technical solution, the inner bottom wall of the inner core mounting groove is fixedly connected to the front and rear parts of the inner core mounting groove, and the lower surface of the inner core seat and the sub-disc housing is provided with positioning pin holes at the front and rear parts, and the outer side wall of the positioning pin is slidably connected to the inner side wall of the positioning pin hole.

[0008] As a further preferred embodiment of this technical solution, the top of the inner wall of the inner core cylinder is fixedly connected to a rigid limiting end cap by a plurality of limiting screws.

[0009] As a further preferred embodiment of this technical solution, a main disk robot end power module is installed on the top side of one side of the main disk housing, and a secondary disk fixture end power module is installed on the bottom side of one side of the secondary disk housing. The output terminal of the main disk robot end power module is electrically connected to the input terminal of the secondary disk fixture end power module.

[0010] As a further preferred embodiment of this technical solution, a main disk robot-end signal module is installed on the top of the other side of the main disk housing, and a secondary disk clamping end signal module is installed on the bottom of the other side of the secondary disk housing. The main disk robot-end signal module and the secondary disk clamping end signal module are communicatively connected.

[0011] As a further preferred embodiment of this technical solution, both sides of the bottom of the main disk casing are provided with aviation plug interfaces.

[0012] As a further preferred embodiment of this technical solution, the bottom of the main disk housing is provided with a main disk cover mounting groove, the inner wall of the main disk cover mounting groove is fixedly connected to the main disk robot side cover plate by a plurality of third screws, and the inner wall of the auxiliary disk cover mounting groove is fixedly connected to the auxiliary disk clamp side cover plate by a plurality of fourth screws.

[0013] As a further preferred embodiment of this technical solution, a power button is provided at the bottom of the front surface of the main disk casing.

[0014] As a further preferred embodiment of this technical solution, the steel ball placement hole is shaped with a larger inner diameter and a smaller outer diameter.

[0015] The embodiments of the present invention have the following advantages due to the adoption of the above technical solutions: 1. This invention automates the clamp switching operation by using a motor body to drive a lead screw to move an electric piston. The locking of the main and auxiliary plates and the connection of the electrical module and signal module are completed synchronously without additional steps, greatly improving the switching efficiency. 2. This invention uses a lead screw motor drive and precisely controls the extension and retraction of the electric piston through thread transmission to ensure stable and controllable locking force, unaffected by external air pressure or other environmental factors, thus improving locking reliability. 3. The present invention, through the structure of three guide grooves and guide bars, effectively restricts the radial offset and rotation of the electric piston, significantly improves the guiding accuracy, and avoids locking failure caused by offset; 4. The present invention, through the design of the steel ball placement hole being larger inside and smaller outside, combined with the arc locking groove of the inner core of the auxiliary disk, ensures stable constraint of the steel ball during locking and separation, further enhancing locking reliability and adapting to the needs of high-frequency operation.

[0016] The above overview is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the invention will become readily apparent from the accompanying drawings and the following detailed description. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of the present invention from one perspective; Figure 2 This is a schematic diagram of the structure from another perspective of the present invention; Figure 3 This is a schematic diagram of the main disk casing and the secondary disk casing structure of the present invention; Figure 4 For the present invention Figure 3 Another perspective structural diagram; Figure 5 This is a schematic diagram of the motor body and electric piston structure of the present invention; Figure 6 This is a schematic diagram of the inner core cylinder and hard-limiting end cap structure of the present invention; Figure 7 This is a schematic diagram of the sub-disk outer shell and sub-disk inner core structure of the present invention; Figure 8 For the present invention Figure 7 Another perspective structural diagram.

[0019] Reference numerals: 1. Locking assembly; 11. Main disc housing; 12. Inner core mounting groove; 13. Motor mounting groove; 14. Motor body; 15. Lead screw; 16. Electric piston; 17. First screw; 18. Inner core seat; 19. Inner core cylinder; 20. Steel ball placement hole; 21. Steel ball; 22. Guide groove; 23. Guide strip; 24. Sub-disc housing; 25. Sub-disc cover mounting groove; 26. Inner core mounting hole; 27. Second screw; 28. Sub-disc inner core; 2 9. Arc-shaped locking groove; 30. Positioning pin; 31. Positioning pin hole; 32. Limiting screw; 33. Hard limit end cap; 34. Main disk robot end power module; 35. Sub-disk fixture end power module; 36. Main disk robot end signal module; 37. Sub-disk fixture end signal module; 38. Aviation plug interface; 39. Main disk cover mounting groove; 40. Third screw; 41. Main disk robot side cover plate; 42. Fourth screw; 43. Sub-disk fixture side cover plate; 44. Power button. Detailed Implementation

[0020] The embodiments of this disclosure will now be described in detail with reference to the accompanying drawings.

[0021] It should be understood that the following specific examples illustrate the implementation of this disclosure, and those skilled in the art can easily understand other advantages and effects of this disclosure from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. This disclosure can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this disclosure. It should be noted that, in the absence of conflict, the following embodiments and features in the embodiments can be combined with each other. Based on the embodiments in this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0022] It should be noted that various aspects of embodiments within the scope of the appended claims are described below. It will be apparent that the aspects described herein can be embodied in a wide variety of forms, and any particular structure and / or function described herein is merely illustrative. Based on this disclosure, those skilled in the art will understand that one aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects set forth herein can be used to implement the device and / or practice the method. Additionally, this device and / or method can be implemented using structures and / or functionalities other than one or more of the aspects set forth herein.

[0023] It should also be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this disclosure. The drawings only show the components related to this disclosure and are not drawn according to the number, shape and size of the components in actual implementation. In actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0024] Furthermore, specific details are provided in the following description to facilitate a thorough understanding of the examples. However, those skilled in the art will understand that the described aspects can be practiced without these specific details. like Figures 1-8 As shown, this embodiment of the invention provides a robot end effector electric quick-change disc with a three-guide groove and a lead screw motor-driven steel ball locking piston structure, including a locking assembly 1. The locking assembly 1 includes a main disc shell 11, an inner core mounting groove 12, a motor mounting groove 13, a motor body 14, a lead screw 15, an electric piston 16, a first screw 17, an inner core seat 18, an inner core cylinder 19, a steel ball placement hole 20, a steel ball 21, a guide groove 22, and a guide strip 23. The upper surface of the main disk outer shell 11 has an inner core mounting groove 12. A motor mounting slot 13 is formed at the center of the inner bottom wall of the inner core mounting groove 12. A motor body 14 is mounted on the inner side wall of the motor mounting slot 13. A lead screw 15 is fixedly connected to the output end of the motor body 14. An electric piston 16 is threadedly connected to the outer side wall of the lead screw 15. An inner core seat 18 is fixedly connected to the inner side wall of the inner core mounting groove 12 by a first screw 17. An inner core cylinder 19 is welded to the inner side wall of the inner core seat 18. The core seat 18 and the inner core cylinder 19 are integrally formed. Multiple steel ball placement holes 20 are opened in the middle of the inner side wall of the inner core cylinder 19. Steel balls 21 are slidably connected to the inner side walls of the multiple steel ball placement holes 20. The outer side wall of the electric piston 16 is attached to the outer side wall of the steel ball 21. Multiple guide grooves 22 are opened in the lower part of the outer side wall of the electric piston 16. Multiple guide bars 23 are fixedly connected to the lower part of the inner side wall of the inner core cylinder 19. The inner side wall of the guide groove 22 is slidably connected to the outer side wall of the guide bar 23. Among them, the lead screw 15 fixed at the output end of the motor body 14 drives the electric piston 16 to move axially through the thread transmission, converting the rotational motion of the motor body 14 into the linear motion of the electric piston 16, thereby realizing the efficient transmission of power. Multiple steel ball placement holes 20 in the middle of the inner wall of the inner core cylinder 19 are used to accommodate steel balls 21. The design of the steel ball placement holes 20, which are "larger inside and smaller outside", provides radial movement space for the steel balls 21 and prevents them from falling out. When the electric piston 16 moves axially under the drive of the lead screw 15, its outer wall fits against the steel balls 21 and squeezes or releases the steel balls 21, causing the steel balls 21 to protrude or retract into the inner core cylinder 19. This lays the foundation for subsequent locking / separation by cooperating with the arc-shaped locking groove 29 of the inner core of the auxiliary disc 28. Multiple guide grooves 22 on the lower part of the outer side wall of the electric piston 16 slide in conjunction with multiple guide strips 23 on the lower part of the inner side wall of the inner core cylinder 19 to form a multi-directional guiding constraint. This structure (especially the "three guide grooves 22" design) can effectively limit the radial offset and rotation of the electric piston 16, ensure its smooth axial movement, and avoid uneven force on the steel ball 21 or locking failure due to the tilt of the electric piston 16, thus significantly improving the transmission accuracy and mechanism stability.

[0025] In one embodiment, specifically: the upper surface of the main disk housing 11 is fitted with a secondary disk housing 24, the upper surface of the secondary disk housing 24 is provided with a secondary disk cover mounting groove 25, the inner bottom wall of the secondary disk cover mounting groove 25 is provided with an inner core mounting hole 26, the inner side wall of the inner core mounting hole 26 is fixedly connected to the secondary disk inner core 28 by a plurality of second screws 27, the inner side wall of the secondary disk inner core 28 is slidably connected to the outer side wall of the inner core cylinder 19, the inner side wall of the secondary disk inner core 28 is provided with a plurality of arc locking grooves 29, and the outer side wall of the steel ball 21 is fitted with the inner side wall of the arc locking groove 29; Among them, the inner core mounting hole 26 on the inner bottom wall of the sub-disc cover mounting groove 25 is the precise mounting reference for the sub-disc inner core 28. By fixing with multiple second screws 27, the relative position of the sub-disc inner core 28 and the sub-disc outer shell 24 is ensured to be stable, avoiding the inner core from shifting due to vibration or force. The inner wall of the auxiliary disk core 28 is slidably connected to the outer wall of the main disk core cylinder 19. This connection is the core guiding structure when the main and auxiliary disks are docked, which can quickly calibrate the coaxiality of the two and ensure the alignment accuracy of the steel ball 21 and the arc locking groove 29. The multiple arc locking grooves 29 opened on the inner wall of the auxiliary disk core 28 form a matching locking pair with the steel ball 21 in the steel ball placement hole 20 of the core cylinder 19. When the steel ball 21 is pushed outward by the electric piston 16, it is precisely embedded in the arc locking groove 29. The mechanical locking of the main and auxiliary disks is achieved through the rigid contact between the steel ball 21 and the groove wall of the arc locking groove 29, providing a stable structural foundation for power, signal transmission and fixture operation.

[0026] In one embodiment, specifically: the inner bottom wall of the inner core mounting groove 12 is fixedly connected to the front and rear of the positioning pin 30, and the lower surface of the inner core seat 18 and the sub-disc housing 24 is provided with positioning pin holes 31 at the front and rear, and the outer side wall of the positioning pin 30 is slidably connected to the inner side wall of the positioning pin hole 31. The locating pins 30 at the front and rear of the inner bottom wall of the inner core mounting groove 12, and the locating holes 31 at corresponding positions on the lower surface of the inner core seat 18 and the secondary disk outer shell 24, form a sliding fit structure. This is a dual positioning design that takes into account both the internal assembly accuracy of the main disk outer shell 11 and the docking accuracy of the main disk outer shell 11 and the secondary disk outer shell 24. Its specific functions are as follows: From the perspective of the internal assembly of the main disk housing 11, the positioning pin 30 cooperates with the positioning pin hole 31 of the inner core seat 18, providing a rigid positioning reference for the installation of the inner core seat 18; when the inner core seat 18 is fixed to the inner core mounting groove 12 by the first screw 17, the positioning pin 30 is first inserted into the positioning hole 31 of the inner core seat 18, which can quickly calibrate the relative position of the inner core seat 18 and the main disk housing 11, avoid the inner core seat 18 from being misaligned during installation, and ensure that the inner core cylinder 19 welded to its inner side wall is in the preset coaxial position, laying a structural foundation for the guiding sliding of the electric piston 16 (the guide groove 22 cooperates with the guide bar 23) and the locking action of the steel ball 21, and reducing the cumulative assembly error; From the perspective of the docking of the main disk shell 11 and the auxiliary disk shell 24, the positioning pin 30 and the positioning pin hole 31 of the auxiliary disk shell 24 are engaged, which is a key auxiliary structure for the initial alignment of the main disk shell 11 and the auxiliary disk shell 24. When the robot moves the main disk shell 11 close to the auxiliary disk shell 24, the positioning pin 30 is inserted into the positioning pin hole 31 of the auxiliary disk shell 24. This can complete the rough positioning before the main disk shell 11 and the auxiliary disk shell 24 are attached. With the sliding engagement of the inner core cylinder 19 and the inner core 28 of the auxiliary disk, a secondary calibration is achieved, which greatly improves the coaxiality of the docking of the main and auxiliary disks. This ensures that the steel ball 21 can be accurately embedded in the arc locking groove 29 of the inner core 28 of the auxiliary disk, avoiding locking failure due to alignment deviation. In addition, the two-point positioning layout at the front and rear can constrain the installation posture of the inner core seat 18 and the docking posture of the auxiliary disk outer shell 24 from both axial ends, effectively resisting the vibration and impact during high-frequency switching operations and reducing the radial displacement of components. This is an important design to ensure the structural stability and operational reliability of the device during long-term high-frequency operation.

[0027] In one embodiment, specifically: a rigid limiting end cap 33 is fixedly connected to the top of the inner sidewall of the inner core cylinder 19 by a plurality of limiting screws 32; Among them, the rigid limiting end cap 33, which is fixed to the top of the inner wall of the inner core cylinder 19 by multiple limiting screws 32, is a key structure to ensure the safety of the electric piston 16 movement and the locking accuracy. Its design revolves around stroke limitation, structural protection and locking reliability, and its specific functions are as follows: Functionally, the core function of the hard limit end cap 33 is to limit the maximum upward stroke of the electric piston 16 and prevent the piston from slipping out. When the motor body 14 drives the electric piston 16 to move upward along the guide bar 23 to push the steel ball 21 to lock, if the electric piston 16 extends too far, it may cause the steel ball 21 to be deformed due to excessive force, damage to the inner core cylinder 19 or the inner core 28 of the sub-disc, or even cause jamming of the threaded transmission structure. The hard limit end cap 33 physically blocks the movement of the electric piston 16 when it moves upward to contact the end cap, ensuring that the stroke of the electric piston 16 is controlled within the design range, so that the steel ball 21 is just fully embedded in the arc locking groove 29 of the inner core 28 of the sub-disc, which not only ensures that the locking force meets the standard, but also avoids structural damage caused by excessive movement.

[0028] In terms of fixing method, using multiple limiting screws 32 to fix the hard limiting end cap 33 can ensure the rigidity and stability of the connection between the hard limiting end cap 33 and the inner core cylinder 19; under the condition that the electric piston 16 frequently impacts the hard limiting end cap 33 (especially in high-cycle switching scenarios), the fixing of multiple limiting screws 32 can disperse the impact force, prevent the hard limiting end cap 33 from loosening or displacement, and ensure the consistency of limiting accuracy; at the same time, the detachability of the connection of the limiting screws 32 facilitates the replacement of the hard limiting end cap 33 in the future, improving the maintenance flexibility of the device.

[0029] In one embodiment, specifically: a main disk robot end power module 34 is installed on the top side of one side of the main disk housing 11, and a secondary disk fixture end power module 35 is installed on the bottom side of one side of the secondary disk housing 24. The output terminal of the main disk robot end power module 34 is electrically connected to the input terminal of the secondary disk fixture end power module 35. The main robot-side power module 34 and the auxiliary gripper-side power module 35 are the core structures for achieving stable power transmission from the robot end to the gripper end, and their specific functions are as follows: Functionally, the two are connected by an electrical connection to transmit power: the main disk robot end power module 34 (installed on the top side of the main disk shell 11) serves as the power input terminal. After connecting to an external power source through the aviation plug interface 38, it transmits power to the auxiliary disk gripper end power module 35 (installed on the bottom side of the auxiliary disk shell 24); the auxiliary disk gripper end power module 35 serves as the power output terminal, providing working power to the end grippers (such as pneumatic grippers, electric screwdrivers, etc.) connected to the auxiliary disk, ensuring that the grippers can perform actions such as gripping and tightening. From the perspective of structural adaptability, the installation positions of the main disk robot end power module 34 and the auxiliary disk fixture end power module 35 are precisely corresponding. When the main disk and the auxiliary disk are locked together by steel balls 21 embedded in the arc locking groove 29, their conductive contacts (such as gold-plated conductive pillars) will be in close contact, forming a stable power transmission path. This synchronous design of "locking and then powering on" eliminates the need for additional power connection steps, greatly improving the efficiency of fixture switching.

[0030] Furthermore, by independently setting the main disk robot end power module 34 and the auxiliary disk fixture end power module 35 on "one side" of the main disk housing 11 and the auxiliary disk housing 24 (separated from the signal module), electromagnetic interference between power transmission and signal transmission can be reduced, ensuring the stability of power transmission (such as avoiding voltage fluctuations from affecting the accuracy of the fixture's movement). At the same time, the installation positions of the main disk robot end power module 34 and the auxiliary disk fixture end power module 35 avoid the core locking structures of the main and auxiliary disks (such as the inner core cylinder 19 and the auxiliary disk inner core 28), which does not affect the reliability of mechanical locking and facilitates the maintenance and replacement of the power module contacts in the later stage.

[0031] In one embodiment, specifically: a main disk robot end signal module 36 is installed on the top of the other side of the main disk housing 11, and a secondary disk fixture end signal module 37 is installed on the bottom of the other side of the secondary disk housing 24. The main disk robot end signal module 36 and the secondary disk fixture end signal module 37 are communicatively connected. The main robot-end signal module 36 and the auxiliary gripper-end signal module 37 are the core structures for realizing signal interaction between the robot and the end effector, and their specific functions are as follows: Functionally, the communication connection between the two devices carries out bidirectional signal transmission: on the one hand, the main disk robot end signal module 36 (installed on the top of the other side of the main disk shell 11) transmits the robot's control commands (such as the opening and closing angle of the gripper, the timing of the action, the force parameters, etc.) to the auxiliary disk gripper end signal module 37 (installed on the bottom of the other side of the auxiliary disk shell 24), realizing precise control of the gripper operation; on the other hand, the auxiliary disk gripper end signal module 37 feeds back the working status signals of the gripper (such as whether it has been gripped in place, sensor detection data, fault alarm information, etc.) to the main disk robot end signal module 36, forming a closed-loop control to ensure that the robot can monitor the dynamics of the gripper in real time. From a structural compatibility perspective, the installation positions of the main disk robot end signal module 36 and the auxiliary disk fixture end signal module 37 correspond to each other. When the main disk and the auxiliary disk are locked together by the steel ball 21, the two modules can accurately dock (e.g., through the built-in gold-plated probe and contact point), ensuring the stability of signal transmission. This position design is synchronized with the locking action of the main disk and the auxiliary disk, requiring no additional calibration. The signal connection can be established at the same time as the fixture switching is completed, reducing signal delay. In addition, by independently setting the main disk robot end signal module 36 and the auxiliary disk fixture end signal module 37 on the "other side" of the main disk housing 11 and the auxiliary disk housing 24 (separate from the power module), electromagnetic interference between power transmission and signal transmission can be avoided, ensuring the integrity of control signals and feedback signals. Especially in high-cycle production scenarios, this can ensure the response speed of the robot and fixture and improve the collaborative efficiency of the entire automated production line.

[0032] In one embodiment, specifically: both sides of the bottom of the main disk housing 11 are provided with aviation plug interfaces 38; Among them, the aviation plug interface 38 is the core interface for connecting the entire electric quick-change panel with external systems. Its function and structural design are adapted to the connection requirements of automated production scenarios, and its specific functions are as follows: Functionally, the aviation plug interface 38 mainly serves a dual connection purpose: firstly, it connects to an external power source to provide operating power to electrical components such as the motor body 14, the main disk robot end power module 34, and the main disk robot end signal module 36 within the device, ensuring the normal operation of functions such as motor body 14 drive, power transmission, and signal communication; secondly, it receives command signals from an external controller (such as forward / reverse rotation and start / stop control of the motor body 14), and simultaneously feeds back the device's operating status signals (such as locking / unlocking status and module connection status) to the external system, thereby achieving precise control of the quick-change process; From a structural perspective, placing the aviation connector 38 at the bottom of both sides of the main disk housing 11 avoids interference with the structure of the auxiliary disk housing 24 (such as the inner core cylinder 19 and positioning post 30) that connects to the top of the main disk housing 11. This also facilitates the wiring planning of the production line—separating the two sides allows for the differentiation of power lines and signal lines, reducing the risk of wire tangling. The bottom position is also suitable for the installation space of the robot end effector, reducing the probability of interface damage due to external collisions, while facilitating the inspection and maintenance of the wiring connections later.

[0033] In one embodiment, specifically: the bottom of the main disk housing 11 is provided with a main disk cover mounting groove 39, the inner side wall of the main disk cover mounting groove 39 is fixedly connected to the main disk robot side cover plate 41 by a plurality of third screws 40, and the inner side wall of the auxiliary disk cover mounting groove 25 is fixedly connected to the auxiliary disk clamp side cover plate 43 by a plurality of fourth screws 42. The main disk robot side cover plate 41 is fixed to the main disk cover mounting groove 39 by multiple third screws 40, which can prevent external dust, oil, debris and other contaminants from entering the main disk outer shell 11, and prevent precision components such as motor body 14 and lead screw 15 from malfunctioning due to contamination. The auxiliary disk clamp side cover plate 43 is fixed to the auxiliary disk cover mounting groove 25 by multiple fourth screws 42, which also serves to protect the auxiliary disk inner core 28 and the arc locking groove 29, especially in the complex working conditions of frequent clamp operation, reducing the erosion of the core structure by environmental factors. Furthermore, by using the third screw 40 and the fourth screw 42 to fix the main disk robot side cover plate 41 and the auxiliary disk fixture side cover plate 43, the connection strength is ensured (to prevent the cover plate from loosening due to operational vibration) and it also has convenient disassembly. When it is necessary to inspect and repair the motor body 14, lead screw 15, and arc locking groove 29 of the auxiliary disk inner core 28 inside the main disk housing 11 and the auxiliary disk housing 24, etc., they can be quickly disassembled without damaging the overall structure, which greatly reduces maintenance costs and downtime.

[0034] In one embodiment, specifically: a power button 44 is provided at the bottom of the front surface of the main disk casing 11; Among them, the core function of the power button 44 is to serve as the power control switch for the entire electric quick-change plate, which is used to switch the device between standby and working states. In the initial state, the power button 44 is not activated, the device is in a power-off standby state, and the core components such as the motor body 14, the main disk robot end power module 34, and the main disk robot end signal module 36 are not working. The electric piston 16 remains in the initial position, and the steel ball 21 is in the storage state. When a fixture switching operation is required, the operator triggers the power button 44, and the device connects to the external power supply through the aviation plug interface 38. At this time, the motor body 14 can receive control signals and start running. The main plate robot end power module 34, the auxiliary plate fixture end power module 35, the main plate robot end signal module 36, and the auxiliary plate fixture end signal module 37 also have the basic conditions for power and signal transmission, providing power support for the subsequent positioning, locking, operation and separation and other full-process actions.

[0035] In one embodiment, specifically: the steel ball placement hole 20 has a shape that is larger inside and smaller outside; The shape of the steel ball placement hole 20, which is larger inside and smaller outside, provides sufficient internal space for the steel ball 21 (the larger inner space is suitable for the radial movement requirements when the electric piston 16 pushes the steel ball 21), while the smaller outer opening size forms a physical limit to prevent the steel ball 21 from slipping out of the steel ball placement hole 20, ensuring that the steel ball 21 is always stably constrained in the steel ball placement hole 20 of the inner core cylinder 19. When the electric piston 16 moves upward to compress the steel ball 21, the structure with a larger inner diameter and a smaller outer diameter guides the steel ball 21 to move precisely outward (towards the inner core 28 of the sub-disc), so that it can smoothly embed into the arc-shaped locking groove 29 of the inner core 28 of the sub-disc to achieve locking. When the electric piston 16 moves downward to release the compressive force, the structure can also assist the steel ball 21 to stably return to the initial position, preparing for the next locking or disengaging action, thus improving the overall reliability and stability of the steel ball 21 locking mechanism.

[0036] In operation, the main disk (robot end) and the auxiliary disk (clamping end) are initially separated. The main disk robot side cover 41 is fixed to the main disk cover mounting groove 39 of the main disk shell 11 by the third screw 40, and the auxiliary disk clamping side cover 43 is fixed to the auxiliary disk cover mounting groove 25 of the auxiliary disk shell 24 by the fourth screw 42. All modules are in a power-off standby state. The power button 44 is not activated, the motor body 14 is not working, the electric piston 16 is in the initial position (lower part of the inner core cylinder 19), and the steel ball 21 is stored in the steel ball placement hole 20 of the inner core cylinder 19 (not protruding outward because it is not squeezed). When the robot needs to switch grippers, it moves the main plate above the secondary plate and adjusts its position using vision or a preset program to initially align the main and secondary plates. At this point: The positioning pin 30 on the main disk housing 11 is aligned with the positioning pin hole 31 on the lower surface of the auxiliary disk housing 24 and gradually inserted to achieve precise positioning; The inner core cylinder 19 inside the main disk housing 11 is aligned with the inner hole of the sub-disk inner core 28. As the main disk housing 11 moves upward, the outer wall of the inner core cylinder 19 slides along the inner wall of the sub-disk inner core 28 to further calibrate the coaxiality of the main disk housing 11 and the sub-disk housing 24, thus completing the initial bonding. When the power button 44 is turned on, the external control signal and power supply are connected to the connector 38. The motor body 14 (fixed by the motor mounting slot 13) starts and rotates forward, driving the lead screw 15 to rotate. Since the lead screw 15 is threadedly connected to the electric piston 16, and the electric piston 16 slides with the guide strip 23 on the inner side wall of the inner core cylinder 19 through the guide groove 22 on the outer side wall (limiting radial offset), the electric piston 16 moves smoothly upward along the guide strip 23. As the electric piston 16 moves upward, its outer wall gradually squeezes the steel ball 21 in the spherical hole 20 in the middle of the inner core cylinder 19. Because the steel ball placement hole 20 is "larger inside and smaller outside", the steel ball 21 is pushed outward, partially protruding from the outer wall of the inner core cylinder 19 and embedded in the arc locking groove 29 on the inner wall of the inner core of the auxiliary disk 28. When the electric piston 16 moves upward to contact the hard limit end cap 33 (fixed to the top of the inner core cylinder 19 by the limit screw 32), the motor body 14 stops rotating, the steel ball 21 is completely inserted into the arc locking groove 29, and the main disk outer shell 11 and the auxiliary disk outer shell 24 are rigidly locked. After locking, the conductive contacts of the main disk robot end power module 34 (installed on the top side of the main disk housing 11) and the auxiliary disk fixture end power module 35 (installed on the bottom side of the auxiliary disk housing 24) are in contact. The power supply connected through the aviation plug interface 38 is transmitted from the main disk robot end power module 34 to the auxiliary disk fixture end power module 35 to power the fixture. The probes of the main disk robot end signal module 36 (installed on the top of the other side of the main disk housing 11) and the auxiliary disk fixture end signal module 37 (installed on the bottom of the other side of the auxiliary disk housing 24) make contact to realize signal communication between the robot and the fixture (such as control commands, sensor feedback, etc.). At this time, the robot can control the gripper through the auxiliary disk to perform tasks such as grasping, handling, and welding; When the fixture needs to be changed, the robot sends a separation signal, the motor body 14 reverses, the drive screw 15 rotates in the opposite direction, and the electric piston 16 retracts downward along the guide bar 23 (disengaging from the hard limit end cover 33); as the electric piston 16 moves downward, its squeezing force on the steel ball 21 disappears, and the steel ball 21 is pushed back into the steel ball placement hole 20 under the slight reaction force of the inner core 28 of the auxiliary disk, disengaging from the arc locking groove 29; The motor body 14 continues to reverse until the electric piston 16 returns to the initial position and stops, and the main plate outer shell 11 and the auxiliary plate outer shell 24 are unlocked; the robot drives the main plate outer shell 11 to move upward, the inner core cylinder 19 is pulled out from the inner hole of the auxiliary plate inner core 28, the positioning pin 30 is disengaged from the positioning pin hole 31, the main plate and the auxiliary plate are completely separated, and it is ready to perform the next fixture switch. The entire process, through the collaboration of mechanical structure and electronic control module, enables rapid, precise, and stable switching of robot end effector, adapting to the high-frequency, multi-process requirements of automated production lines.

[0037] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope disclosed in the present invention, and these should all be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A robot end effector electric quick-change disc with a three-guide groove and a ball screw motor-driven ball locking piston structure, characterized in that: The locking assembly (1) includes a main disc housing (11), an inner core mounting groove (12), a motor mounting groove (13), a motor body (14), a lead screw (15), an electric piston (16), a first screw (17), an inner core seat (18), an inner core cylinder (19), a steel ball placement hole (20), a steel ball (21), a guide groove (22), and a guide strip (23). The upper surface of the main disk housing (11) is provided with an inner core mounting groove (12). A motor mounting groove (13) is provided at the center of the inner bottom wall of the inner core mounting groove (12). A motor body (14) is installed on the inner side wall of the motor mounting groove (13). A lead screw (15) is fixedly connected to the output end of the motor body (14). An electric piston (16) is threadedly connected to the outer side wall of the lead screw (15). An inner core seat (18) is fixedly connected to the inner side wall of the inner core mounting groove (12) by a first screw (17). The inner side of the inner core seat (18) is fixedly connected to the inner side wall of the inner core mounting groove (12). The inner core (19) is welded to the wall. Multiple steel ball placement holes (20) are opened in the middle of the inner wall of the inner core (19). Steel balls (21) are slidably connected to the inner walls of the multiple steel ball placement holes (20). The outer wall of the electric piston (16) is attached to the outer wall of the steel ball (21). Multiple guide grooves (22) are opened in the lower part of the outer wall of the electric piston (16). Multiple guide strips (23) are fixedly connected to the lower part of the inner wall of the inner core (19). The inner wall of the guide groove (22) is slidably connected to the outer wall of the guide strip (23).

2. The electric quick-change disc for robot end effector with a three-guide groove and a ball screw motor-driven ball locking piston structure according to claim 1, characterized in that: The upper surface of the main disk shell (11) is fitted with a secondary disk shell (24). The upper surface of the secondary disk shell (24) is provided with a secondary disk cover mounting groove (25). The inner bottom wall of the secondary disk cover mounting groove (25) is provided with an inner core mounting hole (26). The inner side wall of the inner core mounting hole (26) is fixedly connected to the secondary disk inner core (28) by a plurality of second screws (27). The inner side wall of the secondary disk inner core (28) is slidably connected to the outer side wall of the inner core cylinder (19). The inner side wall of the secondary disk inner core (28) is provided with a plurality of arc locking grooves (29). The outer side wall of the steel ball (21) is fitted with the inner side wall of the arc locking groove (29).

3. The electric quick-change disc for the end effector of a robot, comprising a three-guide groove and a ball screw motor-driven ball locking piston structure, as described in claim 2, is characterized in that: The inner bottom wall of the inner core mounting groove (12) is fixedly connected with a positioning pin (30) at both the front and rear. The lower surface of the inner core seat (18) and the sub-disc outer shell (24) is provided with a positioning pin hole (31) at both the front and rear. The outer side wall of the positioning pin (30) is slidably connected to the inner side wall of the positioning pin hole (31).

4. The electric quick-change disc for robot end effector with a three-guide groove and a ball screw motor-driven ball locking piston structure according to claim 1, characterized in that: The inner wall of the inner core (19) is fixedly connected to a hard limit end cap (33) by a plurality of limit screws (32).

5. The electric quick-change disc for the end effector of a robot with a three-guide groove and a ball screw motor-driven ball locking piston structure as described in claim 2, characterized in that: The main disk housing (11) is equipped with a main disk robot end power module (34) on one side top, and the auxiliary disk housing (24) is equipped with an auxiliary disk fixture end power module (35) on one side bottom. The output end of the main disk robot end power module (34) is electrically connected to the input end of the auxiliary disk fixture end power module (35).

6. The electric quick-change disc for the end effector of a robot, comprising a three-guide groove and a ball screw motor-driven ball locking piston structure, as described in claim 5, is characterized in that: The main disk housing (11) is equipped with a main disk robot end signal module (36) on the top of the other side, and the auxiliary disk housing (24) is equipped with an auxiliary disk clamp end signal module (37) on the bottom of the other side. The main disk robot end signal module (36) and the auxiliary disk clamp end signal module (37) are connected in communication.

7. A robot end effector electric quick-change disc with a three-guide groove and a ball screw motor-driven ball locking piston structure as described in claim 5, characterized in that: Both sides of the bottom of the main disk casing (11) are provided with aviation plug interfaces (38).

8. A robot end effector electric quick-change disc with a three-guide groove and a ball screw motor-driven ball locking piston structure according to claim 2, characterized in that: The bottom of the main disk housing (11) is provided with a main disk cover mounting groove (39). The inner wall of the main disk cover mounting groove (39) is fixedly connected to the main disk robot side cover plate (41) by a plurality of third screws (40). The inner wall of the auxiliary disk cover mounting groove (25) is fixedly connected to the auxiliary disk clamp side cover plate (43) by a plurality of fourth screws (42).

9. A robot end effector electric quick-change disc with a three-guide groove and a ball screw motor-driven ball locking piston structure as described in claim 5, characterized in that: A power button (44) is provided at the bottom of the front surface of the main disk housing (11).

10. The electric quick-change disc for robot end effector with a three-guide groove and a ball screw motor-driven ball locking piston structure according to claim 1, characterized in that: The ball placement hole (20) is shaped with a larger inner diameter and a smaller outer diameter.

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