Industrial robot multi-condition flexible quick-change end gripping mechanism and method thereof

Abstract

The present application relates to the technical field of robot auxiliary equipment, in particular to an industrial robot multi-working-condition flexible quick-change end grabbing mechanism and method thereof, comprising a moving disc and a docking disc arranged above the moving disc, the moving disc comprises a moving disc body, and two clamping grooves are arranged on the top surface of the moving disc body. The industrial robot multi-working-condition flexible quick-change end grabbing mechanism and method thereof realize linkage of radial locking and axial fixation through a sliding rod. When the sliding rod is driven to move, the horizontal movement is converted into the combined movement of first insertion and then jacking up of the moving pin through the cooperation of the rotating shaft and the specific shape guide groove, so that the moving pin can not only be inserted into the clamping groove, but also be tightly upward, and the axial fixation is supplemented, so that the moving disc and the docking disc form a multi-dimensional rigid connection, which greatly enhances the ability to resist complex torque and improves the stability of the end effector in work.

Description

Technical Field

[0001] This invention relates to the field of robot auxiliary equipment technology, and more specifically, to a flexible, quick-change end effector for industrial robots operating under multiple conditions and its method. Background Technology

[0002] The flexible, quick-change end effector of industrial robots is a core component of modern intelligent production lines. Through standardized quick-change interfaces, it enables robots to quickly switch between end effectors with different functions, such as grippers and suction cups, to adapt to various operational needs such as handling, assembly, and inspection. This modular design greatly improves production flexibility and efficiency, shortens production line changeover time, and is a key technological support for realizing flexible manufacturing of small batches and multiple varieties.

[0003] Patent application CN202421816680.X discloses a quick-change device for a robot end effector, including an intermediate head and a pressing component. The intermediate head is provided with a pressing groove, and the pressing component is provided with a first limiting component. A blocking component is provided in the pressing groove, and the side of the blocking component near the bottom of the pressing groove forms a first blocking space with the intermediate head. The blocking component is provided with a through hole, which connects the first blocking space to the outside. Rotating the pressing component causes the pressing component and the first limiting component to pass through the through hole and enter the first blocking space. Rotating the pressing component again causes the overall cross-sectional shape of the pressing component and the first limiting component to be misaligned with the through hole.

[0004] However, traditional quick-change devices typically rely solely on radial locking of steel balls, resulting in a single locking dimension. This poses risks of insufficient rigidity and poor stability when facing lateral forces or torsional moments. Furthermore, feedback on the locking status generally depends on easily interfered electrical signal sensors, which may result in false alarms and fail to provide intuitive and reliable status indications. This poses a safety and reliability risk to the entire automated process.

[0005] In view of this, we propose a flexible, quick-change end effector for industrial robots under multiple working conditions and its method. Summary of the Invention

[0006] The purpose of this invention is to provide a flexible, quick-change end effector for industrial robots under multiple working conditions and a method thereof. By linking radial locking and axial fixing through a slide bar, and realizing direct visual feedback of the locking state, the invention solves the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] An industrial robot multi-condition flexible quick-change end-effector gripping mechanism includes a movable disk and a docking disk disposed above it. The movable disk includes a movable disk body, and two locking grooves are formed on the top surface of the movable disk body.

[0009] The docking plate includes a fixed plate body and an axial fixing mechanism disposed in the fixed plate body. The fixed plate body has a pair of inner slots inside, and several guide slots are provided on the inner walls on both sides of the inner slots. The outer wall of the fixed plate body has an outer through slot that communicates with the inner slots.

[0010] The axial fixing mechanism includes a slide bar, a movable pin driven by the slide bar, several rotating shafts disposed inside the movable pin, a bending plate disposed above the movable pin, and a fluorescent strip disposed at the end of the bending plate.

[0011] After the movable disk is inserted into the docking disk, the movable pin is inserted into the snap-fit ​​groove. When the slide rod drives the snap-fit ​​groove to extend outward, the rotating shaft moves along the guide groove, which in turn drives the movable pin and the bending plate to move upward, moving the fluorescent strip to the inside of the outer through groove.

[0012] In the technical solution of the present invention, the movable disk further includes a pneumatic piston disposed in the movable disk body, a fixed disk fixed to the center of the movable disk body by bolts, an insert tube integrally formed in the center of the top surface of the fixed disk, a number of locking steel balls regularly disposed inside the insert tube, and a pair of positioning pins threaded to the top surface of the fixed disk. The insert tube has a number of tube wall openings that are internally and externally connected for the sliding of the locking steel balls.

[0013] In the technical solution of the present invention, the movable disk further includes several air inlet pipes fixedly connected to the outer wall of the movable disk body by bolts, a sealing ring snapped onto the top surface of the movable disk body, and a power supply head fixedly connected to the outer wall of the movable disk body by screws. The movable disk body has an air hole connected to the air inlet pipes on the inner side of the sealing ring.

[0014] The above configuration constitutes the robot-side main body of the quick-change mechanism. The core radial locking is achieved by pneumatically driving the locking steel balls, and it integrates pneumatic, electrical and positioning functions, providing a foundation for fast and reliable docking.

[0015] In the technical solution of the present invention, the inner slot is in the shape of an inverted L, the bottom surface of the fixed plate is provided with a lower through slot that communicates with the inner slot, and the inner side of the guide slot is a straight line and the outer side is an oblique line.

[0016] In the technical solution of the present invention, the outer wall of the fixed disk is also provided with an external through hole that communicates with the inner slot, and the fixed disk body is integrally formed with two limiting strips inside the inner slot.

[0017] In the technical solution of the present invention, the docking plate further includes a collar fixedly connected to the inner side of the fixed plate body by bolts, a plurality of vent pipes fixedly connected to the outer wall of the fixed plate body by bolts, and an electrical connector fixedly connected to the outer wall of the collar body by screws.

[0018] The above configuration constitutes the tool-side base of the quick-change mechanism. The precision-machined grooves inside provide operating space and guidance for the axial locking mechanism, and integrate the tool connection and media transmission interface, which is the key carrier for realizing the function.

[0019] In the technical solution of the present invention, the slide rod is slidably connected to the inner wall of the fixed plate and its end extends through the collar to the outside of the insertion tube. The movable pin is slidably connected between the lower through groove and the two limiting strips. Slide grooves are provided on both sides of the outer wall of the movable pin. A limiting plate is integrally formed on the top surface of the movable pin.

[0020] In the technical solution of the present invention, the rotating shaft is rotatably connected to the inside of the movable pin, the two ends of the rotating shaft extend into the guide grooves on both sides, the bending plate is slidably connected to the inside of the inner slot, and the fluorescent strip is snapped and fixed to the end of the bending plate.

[0021] In the technical solution of the present invention, a plurality of first springs are welded on the top surface of the bending plate. The top end of the first spring is welded and fixed to the inner slot. A second spring is also provided on the outer wall of the outer end of the movable pin. A limiting rod that is slidably connected to the inner through hole is also sleeved inside the second spring. The elastic force of the second spring pushes the movable pin to move inward.

[0022] The above setup transforms the radial locking action into axial secondary locking and status indication through ingenious mechanical linkage, greatly enhancing connection rigidity and safety, and providing intuitive visual feedback.

[0023] On the other hand, the present invention also provides a method for a flexible, quick-change end effector gripping mechanism for industrial robots under multiple working conditions, comprising the following steps:

[0024] S1. After the robotic arm moves the movable disk with its fixed moving end to directly above the docking disk installed on the top of the gripping mechanism, it controls the entire movable disk to move down at a uniform speed and inserts the insertion tube into the inside of the collar in the docking disk, and ensures that the moving pin is inserted into the snap-fit ​​groove of the fixed disk body.

[0025] S2. The air pump drives the pneumatic piston in the moving plate to contract, which in turn drives the pneumatic piston to push the locking steel ball sliding in the opening in the tube wall to extend outward, so that the locking steel ball tightly abuts against the inner wall of the collar, thereby completing the radial fixation of the moving plate and the docking plate.

[0026] S3. During the process of locking the steel ball outward, the slide rod in the axial fixing mechanism moves synchronously, which drives the bottom end of the moving pin to insert into the inner side of the snap-fit ​​groove. At the same time, the rotating shaft moves along the guide groove, which drives the moving pin to move upward as a whole, so that its bottom end abuts against the top groove wall of the inner side of the snap-fit ​​groove, thus completing the axial fixing of the moving plate and the mating plate.

[0027] S4. After the moving pin moves upward, it presses against the bending plate and squeezes the first spring, causing it to contract and move the fluorescent strip to the inside of the outer channel. This reflects the light in the working area, allowing technicians to use this signal to ensure the moving plate is fixed to the docking plate.

[0028] Compared with the prior art, the beneficial effects of the present invention are:

[0029] 1. The multi-condition flexible quick-change end effector gripping mechanism and method of this industrial robot achieves linkage between radial locking and axial fixing through a sliding rod. When the sliding rod is driven to move, the horizontal movement is converted into a compound motion of insertion followed by upward pushing of the moving pin through the cooperation of the rotating shaft and the guide groove of a specific shape. This allows the moving pin to not only insert into the locking groove, but also to press upward. The axial fixing is supplemented to form a multi-dimensional rigid connection between the moving plate and the docking plate, which greatly enhances the ability to resist complex torques and improves the stability of the end effector during operation.

[0030] 2. The multi-condition flexible quick-change end-effector gripping mechanism and method of this industrial robot, through the moving pin driving the bending plate to move upward, accurately pushes the fluorescent strip to the inner side of the outer channel, realizing the visual direct feedback of the locking status, ensuring the synchronization of the status indication with the actual locking status, eliminating the risk of false alarm of electrical signals, fundamentally enhancing the safety and reliability of the entire connection process. At the same time, technicians can intuitively judge the connection status from a distance, which is convenient for rapid inspection and troubleshooting. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0032] Figure 2 This is a cross-sectional schematic diagram of the movable disk in this invention;

[0033] Figure 3 This is one of the structural schematic diagrams of the docking plate in this invention;

[0034] Figure 4 This is the second schematic diagram of the structure of the docking plate in this invention;

[0035] Figure 5 This is a cross-sectional schematic diagram of a portion of the structure of the docking plate in this invention;

[0036] Figure 6 This is a cross-sectional schematic diagram of the docking plate in this invention;

[0037] Figure 7 This is a sectional side view of the docking plate structure in this invention;

[0038] Figure 8 This is a schematic diagram of the axial fixing mechanism in this invention;

[0039] Figure 9 This is a schematic diagram of the movable pin structure in this invention;

[0040] Explanation of reference numerals in the attached figures:

[0041] 100. Moving disc; 110. Moving disc body; 111. Snap-fit ​​groove; 120. Pneumatic piston; 130. Fixed disc; 140. Insert tube; 141. Tube wall opening; 150. Locking ball; 160. Positioning pin; 170. Air inlet tube; 180. Sealing ring; 190. Power connector;

[0042] 200. Connecting plate; 210. Fixed plate body; 211. Inner slot; 212. Lower through slot; 213. Guide slot; 214. Outer through slot; 215. Outer through hole; 216. Limiting strip; 220. Collar; 230. Vent pipe; 240. Electrical connector; 250. Axial fixing mechanism; 251. Sliding rod; 252. Moving pin; 2520. Sliding groove; 2521. Limiting plate; 253. Rotating shaft; 254. Bending plate; 255. Fluorescent strip; 256. First spring; 257. Second spring; 258. Limiting rod. Detailed Implementation

[0043] The technical solutions of this invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0044] Please see Figures 1-2 As shown, this embodiment provides the following technical solution:

[0045] The industrial robot has a flexible and quick-change end-effector gripping mechanism for multiple working conditions, including a moving disk 100 and a docking disk 200 disposed above it. The moving disk 100 includes a moving disk body 110, and two locking grooves 111 are provided on the top surface of the moving disk body 110.

[0046] Specifically, the movable disk 100 also includes a pneumatic piston 120 disposed in the movable disk body 110, a fixed disk 130 fixed to the center of the movable disk body 110 by bolts, an insertion tube 140 integrally formed in the center of the top surface of the fixed disk 130, a number of locking steel balls 150 regularly disposed inside the insertion tube 140, and a pair of positioning pins 160 threaded to the top surface of the fixed disk 130. The insertion tube 140 has a number of tube wall openings 141 that are open inside and out for the locking steel balls 150 to slide.

[0047] Furthermore, the movable disk 100 also includes several air inlet pipes 170 that are fixedly connected to the outer wall of the movable disk body 110 by bolts, a sealing ring 180 that is snapped onto the top surface of the movable disk body 110, and a power supply head 190 that is fixedly connected to the outer wall of the movable disk body 110 by screws. The movable disk body 110 has an air hole inside the sealing ring 180 that communicates with the air inlet pipes 170.

[0048] Furthermore, the movable disk 110 is fixed to the moving end of the robot arm. An external air pump fills the pneumatic piston 120 with gas through the air inlet pipe 170, which drives the pneumatic piston 120 to extend and retract. This, in turn, causes several locking steel balls 150 in the insertion tube 140 to move within the opening 141 in the tube wall, thereby fixing the movable disk 100 and the docking disk 200. The positioning pin 160 is used to assist in positioning the movable disk 100 and the docking disk 200. The sealing ring 180 is used to ensure the airtightness at the air hole. The power head 190 is used to connect an external power source to supply power to the docking disk 200. This configuration constitutes the robot-side main body of the quick-change mechanism. The core radial locking is achieved by pneumatically driving the locking steel balls, and the air circuit, circuit and positioning functions are integrated, providing a foundation for fast and reliable docking.

[0049] Please see Figures 3-7 As shown, in this embodiment, the docking plate 200 includes a fixed plate body 210 and an axial fixing mechanism 250 disposed in the fixed plate body 210. The fixed plate body 210 has a pair of inner slots 211 inside, and a plurality of guide slots 213 are provided on the inner walls on both sides of the inner slots 211. The outer wall of the fixed plate body 210 has an outer through slot 214 that communicates with the inner slots 211.

[0050] Specifically, the inner slot 211 is inverted L-shaped, and the bottom surface of the fixed plate 210 is provided with a lower through slot 212 that communicates with the inner slot 211. The inner side of the guide slot 213 is straight and the outer side is oblique.

[0051] Furthermore, the outer wall of the fixed plate 210 is provided with an external through hole 215 that communicates with the inner slot 211, and the fixed plate 210 is integrally formed with two limiting strips 216 inside the inner slot 211.

[0052] Furthermore, the docking plate 200 also includes a collar 220 that is bolted to the inner side of the fixed plate body 210, a plurality of vent pipes 230 that are bolted to the outer wall of the fixed plate body 210, and an electrical connector 240 that is screwed to the outer wall of the collar 220.

[0053] Furthermore, the inner slot 211, lower through slot 212, guide slot 213, and outer through hole 215 on the fixed plate 210 are all used to provide a movement range for the internal mechanism of the axial fixing mechanism 250. The limiting strip 216 is used to limit the movement range of the internal mechanism of the axial fixing mechanism 250. The outer through slot 214 is used to connect the inner slot 211 to the outside. The collar 220 is used to fix the gripping mechanism. The air pipe 230 is used to introduce the air source of the air pipe 170 into the gripping mechanism. The power connector 240 is used to cooperate with the power connector 190 to supply power to the gripping mechanism. This setting constitutes the tool side base of the quick change mechanism. The precision-machined groove inside provides the operating space and guidance for the axial locking mechanism and integrates the tool connection and media transmission interface, which is the key carrier for realizing the function.

[0054] Please see Figures 7-9 As shown, in this embodiment, the axial fixing mechanism 250 includes a slide rod 251, a movable pin 252 driven by the slide rod 251, a plurality of rotating shafts 253 disposed inside the movable pin 252, a bending plate 254 disposed above the movable pin 252, and a fluorescent strip 255 disposed at the end of the bending plate 254. After the movable disk 100 is inserted into the docking disk 200, the movable pin 252 is inserted into the snap-fit ​​groove 111. When the slide rod 251 drives the snap-fit ​​groove 111 to extend outward, the rotating shaft 253 moves along the guide groove 213, thereby driving the movable pin 252 and the bending plate 254 to move upward, and moving the fluorescent strip 255 to the inner side of the outer through groove 214.

[0055] Specifically, the slide rod 251 is slidably connected to the inner wall of the fixed plate 210 and its end extends through the collar 220 to the outside of the insertion tube 140. The movable pin 252 is slidably connected between the lower through groove 212 and the two limiting strips 216. Slide grooves 2520 are provided on both outer walls of the movable pin 252. A limiting plate 2521 is integrally formed on the top surface of the movable pin 252.

[0056] Furthermore, the rotating shaft 253 is rotatably connected to the inside of the movable pin 252, and both ends of the rotating shaft 253 extend into the inside of the guide grooves 213 on both sides. The bent plate 254 is slidably connected to the inside of the inner slot 211, and the fluorescent strip 255 is snapped and fixed to the end of the bent plate 254.

[0057] Furthermore, several first springs 256 are welded to the top surface of the bending plate 254. The top of the first spring 256 is welded and fixed to the inner slot 211. A second spring 257 is also provided on the outer wall of the outer end of the moving pin 252. A limiting rod 258 that is slidably connected to the inner through hole 215 is also sleeved inside the second spring 257. The elastic force of the second spring 257 pushes the moving pin 252 to move inward.

[0058] Furthermore, during the extension of the locking steel ball 150, the sliding rod 251 in the axial fixing mechanism 250 moves synchronously, causing the bottom end of the moving pin 252 to insert into the inner side of the snap-fit ​​groove 111. At the same time, the rotating shaft 253 moves along the guide groove 213, causing the moving pin 252 to move upward as a whole, so that its bottom end abuts against the top groove wall of the inner side of the snap-fit ​​groove 111, thus completing the axial fixing of the moving plate 100 and the docking plate 200. After the moving pin 252 moves upward as a whole, it abuts against the bending plate 254 and squeezes the first spring 256, causing it to contract and move the fluorescent strip 255 to the inner side of the outer through groove 214, reflecting the light of the working area. This allows technicians to ensure the fixing of the moving plate 100 and the docking plate 200 through this signal. This setting converts the radial locking action into axial secondary locking and status indication through clever mechanical linkage, greatly enhancing the connection rigidity and safety, and providing intuitive visual feedback.

[0059] The method for a multi-condition flexible quick-change end effector gripping mechanism for an industrial robot of the present invention includes the following steps:

[0060] S1. After the robotic arm moves the movable disk 100, which has its moving end fixed, to directly above the docking disk 200 installed on the top of the gripping mechanism, it controls the movable disk 100 to move down at a uniform speed and inserts the insertion tube 140 into the inside of the collar 220 in the docking disk 200, and ensures that the moving pin 252 is inserted into the snap-fit ​​groove 111 of the fixed disk body 210.

[0061] S2. The pneumatic piston 120 inside the movable disk 100 is contracted by the air pump, which drives the pneumatic piston 120 to push the locking steel ball 150 sliding in the opening 141 of the pipe wall to extend outward, so that the locking steel ball 150 tightly abuts against the inner wall of the collar 220, thereby completing the radial fixation of the movable disk 100 and the docking disk 200.

[0062] S3. During the extension of the locking steel ball 150, the sliding rod 251 in the axial fixing mechanism 250 moves synchronously, causing the bottom end of the moving pin 252 to insert into the inner side of the snap-fit ​​groove 111. At the same time, the rotating shaft 253 moves along the guide groove 213, causing the moving pin 252 to move upward as a whole, so that its bottom end abuts against the top groove wall of the inner side of the snap-fit ​​groove 111, thus completing the axial fixing of the moving plate 100 and the mating plate 200.

[0063] S4. After the moving pin 252 moves upward as a whole, it presses against the bending plate 254 to compress the first spring 256, causing it to contract and move the fluorescent strip 255 to the inside of the outer channel 214, reflecting the light of the working area, so that technicians can use this signal to ensure that the moving plate 100 and the docking plate 200 are fixed.

[0064] The foregoing description of specific exemplary embodiments of the invention is for illustrative and explanatory purposes. These descriptions are not intended to limit the invention to the precise forms disclosed, and it will be apparent that many changes and variations can be made in accordance with the foregoing teachings. The exemplary embodiments were chosen and described in order to explain the specific principles of the invention and its practical application, thereby enabling those skilled in the art to implement and utilize various different exemplary embodiments of the invention, as well as various different choices and variations. The scope of the invention is intended to be defined by the specification and its equivalents.

Claims

1. A flexible, quick-change end effector for industrial robots operating in multiple conditions, comprising a moving disk and a docking disk disposed above it, characterized in that: The movable disk includes a movable disk body, and two snap-fit ​​grooves are provided on the top surface of the movable disk body; The docking plate includes a fixed plate body and an axial fixing mechanism disposed in the fixed plate body. The fixed plate body has a pair of inner slots inside, and several guide slots are provided on the inner walls on both sides of the inner slots. The outer wall of the fixed plate body has an outer through slot that communicates with the inner slots. The axial fixing mechanism includes a slide rod, a movable pin driven by the slide rod, several rotating shafts disposed inside the movable pins, a bent plate disposed above the movable pins, and a fluorescent strip disposed at the end of the bent plate. After the movable plate is inserted into the docking plate, the movable pin is inserted into the snap-fit ​​groove. When the slide rod drives the snap-fit ​​groove to extend outward, the rotating shaft moves along the guide groove, thereby driving the movable pin and the bent plate to move upward, moving the fluorescent strip to the inner side of the outer through groove. The movable disk also includes a pneumatic piston disposed in the movable disk body, a fixed disk fixed to the center of the movable disk body by bolts, an insert tube integrally formed in the center of the top surface of the fixed disk, a number of locking steel balls regularly arranged inside the insert tube, and a pair of positioning pins threaded to the top surface of the fixed disk. The insert tube has a number of through holes in the tube wall for the locking steel balls to slide. The inner slot is inverted L-shaped, and the bottom surface of the fixed plate is provided with a lower through slot that communicates with the inner slot. The inner side of the guide slot is straight and the outer side is oblique. The outer wall of the fixed disk is also provided with an external through hole that communicates with the inner slot. The fixed disk body is integrally formed with two limiting strips inside the inner slot. The docking plate also includes a collar fixedly connected to the inner side of the fixed plate body by bolts, several vent pipes fixedly connected to the outer wall of the fixed plate body by bolts, and an electrical connector fixedly connected to the outer wall of the collar body by screws. The slide rod is slidably connected to the inner wall of the fixed plate and its end extends through the collar to the outside of the insertion tube. The movable pin is slidably connected between the lower through groove and the two limiting strips. Slide grooves are provided on both sides of the outer wall of the movable pin. A limiting plate is integrally formed on the top surface of the movable pin.

2. The industrial robot multi-condition flexible quick-change end effector gripping mechanism according to claim 1, characterized in that: The mobile disk also includes several air inlet pipes fixed to the outer wall of the mobile disk body by bolts, a sealing ring snapped onto the top surface of the mobile disk body, and a power supply head fixed to the outer wall of the mobile disk body by screws. The mobile disk body has an air hole inside the sealing ring that communicates with the air inlet pipes.

3. The industrial robot multi-condition flexible quick-change end effector gripping mechanism according to claim 2, characterized in that: The rotating shaft is rotatably connected to the inside of the movable pin, and both ends of the rotating shaft extend into the guide grooves on both sides. The bending plate is slidably connected to the inside of the inner slot, and the fluorescent strip is snapped and fixed to the end of the bending plate.

4. The industrial robot multi-condition flexible quick-change end effector gripping mechanism according to claim 3, characterized in that: Several first springs are welded to the top surface of the bending plate. The top of the first spring is welded and fixed to the inner slot. A second spring is also provided on the outer wall of the outer end of the movable pin. A limiting rod that is slidably connected to the inner through hole is also sleeved inside the second spring. The elastic force of the second spring pushes the movable pin to move inward.

5. A method for a multi-condition flexible quick-change end-effector gripping mechanism for an industrial robot, using the multi-condition flexible quick-change end-effector gripping mechanism of claim 4, characterized in that: Includes the following steps: S1. After the robotic arm moves the movable disk with its fixed moving end to directly above the docking disk installed on the top of the gripping mechanism, it controls the entire movable disk to move down at a uniform speed and inserts the insertion tube into the inside of the collar in the docking disk, and ensures that the moving pin is inserted into the snap-fit ​​groove of the fixed disk body. S2. The air pump drives the pneumatic piston in the moving plate to contract, which in turn drives the pneumatic piston to push the locking steel ball sliding in the opening in the tube wall to extend outward, so that the locking steel ball tightly abuts against the inner wall of the collar, thereby completing the radial fixation of the moving plate and the docking plate. S3. During the process of locking the steel ball outward, the slide rod in the axial fixing mechanism moves synchronously, which drives the bottom end of the moving pin to insert into the inner side of the snap-fit ​​groove. At the same time, the rotating shaft moves along the guide groove, which drives the moving pin to move upward as a whole, so that its bottom end abuts against the top groove wall of the inner side of the snap-fit ​​groove, thus completing the axial fixing of the moving plate and the mating plate. S4. After the moving pin moves upward, it presses against the bending plate and squeezes the first spring, causing it to contract and move the fluorescent strip to the inside of the outer channel. This reflects the light in the working area, allowing technicians to use this signal to ensure the moving plate is fixed to the docking plate.

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