Quick-change safety unlocking system based on parking station supply unlocking kinetic energy and method thereof

Abstract

This invention relates to a quick-change safety unlocking system and method based on parking station-supplied unlocking kinetic energy, comprising a robot-side quick-change disc module, a tool-side quick-change disc module, and a parking station docking module. The parking station docking module includes a parking station-side air supply assembly for providing compressed air for unlocking. The tool-side quick-change disc module includes a T-side air valve module and a T-side quick-change disc body connected thereto. The robot-side quick-change disc module includes an R-side quick-change disc body, a locking mechanism, and an integrated R-side air valve module. The R-side air valve module includes at least one unlocking actuator driven by the air source. This quick-change safety unlocking system and method, employing the parking station-supplied unlocking kinetic energy of this invention, transfers the final decision-making power for safe unlocking from a susceptible electronic logic board to a reliable physical connection, completely eliminating the risk of "disconnection."

Description

Technical Field

[0001] This invention relates to the field of industrial robot automation equipment technology, specifically to a quick-change safety unlocking system and method based on the supply of unlocking kinetic energy from the parking station. Background Technology

[0002] With the increasing prevalence of intelligent industrial systems, industrial robots are being used more and more widely in smart manufacturing workshops for welding, assembly, and material handling. Quick-change discs, as the most flexible "fingers" of industrial robots, undertake the crucial task of enabling robots to quickly switch between different tools and perform different production tasks, making them a core component for achieving flexible automated production. Their safety unlocking system must ensure that the tool is absolutely locked during robot movement and can only be unlocked at a preset safe position (such as a parking station) to prevent the extremely dangerous "dropped tool in mid-air" accident.

[0003] Currently, mainstream security unlocking solutions in the industry rely on a complex security signal chain and logic judgment system, the core of which lies in the comprehensive processing of two types of security signals:

[0004] 1. Auxiliary monitoring signals: These include the AUX signal of the safety switch, the lock / unlock confirmation signal, and the system pressure signal. These signals are mainly used to provide status monitoring for the robot controller. They are necessary conditions for the controller to decide whether to issue an unlock command, but not sufficient conditions for ultimately executing the unlock.

[0005] 2. Direct control signals for the safety circuit: These mainly consist of the OSSD signals of the safety switch and the surface detection signals. These signals form the final barrier for the safety control board to execute the unlock command. Their operating logic is typically as follows:

[0006] When the quick-change discs on the R side and T side are not in contact (no surface detection signal), the safety control board will directly output the command to the solenoid valve after receiving the robot unlock command.

[0007] When the R-side and T-side quick-change discs are in contact (with a surface detection signal), the system determines that the tool may be in use or in an unsafe state. At this time, the safety control board will recheck the OSSD signal of the safety switch. Only when the OSSD signal is high (indicating that the trigger block confirms that the T-side is reliably located in the safe parking position) will the control board allow the robot's unlock command to be transmitted to the solenoid valve.

[0008] Analysis of existing technological defects:

[0009] Although the above signal layering design aims to improve security, its inherent complexity leads to the following insurmountable drawbacks:

[0010] 1. The system is highly complex with numerous potential failure points: The entire safety circuit relies on a stable electrical connection between the R and T sides (to power the safety switch), precise sensing between the safety switch body and the trigger block, complex logic processing circuits on the safety control board, and numerous cable connections. Failure in any of these components (such as electrical pin contamination / wear, safety switch malfunction, or control board component failure) can lead to the failure of the entire safety function.

[0011] 2. The risk of "dropping the gun" remains: The safety boundary of this solution is defined by electronic signals and program logic, rather than physical barriers. Under conditions such as debugging, electromagnetic interference, program errors, or circuit abnormalities, there is a risk that the safety control board may misinterpret the signal and output an unlock command, leading to accidental unlocking at non-parking station locations, i.e., "dropping the gun in mid-air".

[0012] 3. Excessive dependence on electrical connections: The power supply and signal transmission of the safety switch rely entirely on the electrical connector between the R and T sides. This connector is prone to increased contact resistance and signal interruption after prolonged insertion and removal, directly affecting the reliability of the OSSD signal and making it a vulnerable link in the system.

[0013] 4. High cost and maintenance pressure: The complex control system and numerous sensors bring high hardware costs and subsequent maintenance costs.

[0014] Therefore, there is an urgent need in the field for a new technology solution that can fundamentally simplify the architecture, eliminate any possibility of unlocking from insecure locations, and significantly improve inherent security. Summary of the Invention

[0015] The purpose of this invention is to overcome the shortcomings of the prior art and provide a quick-change security unlocking system and method based on the unlocking kinetic energy supplied by the parking station, aiming to:

[0016] 1. Completely eliminate the possibility of robots unlocking at non-parking locations through physical means, thus eradicating the risk of "losing the gun".

[0017] 2. Significantly simplifies the security system architecture, reduces reliance on complex signal chains and electrical connections, and improves system robustness.

[0018] 3. Reduce system manufacturing costs and maintenance difficulty.

[0019] To achieve the above objectives, the present invention provides a quick-change security unlocking system and method based on parking station-supplied unlocking kinetic energy as follows:

[0020] The quick-change safety unlocking system based on the unlocking kinetic energy supplied by the parking station is characterized by the following features: the system includes a robot-side quick-change disc module, a tool-side quick-change disc module, and a parking station docking module.

[0021] The parking station docking module includes a parking station-side air supply assembly for providing the compressed air source required for unlocking;

[0022] The tool-side quick-change disc module includes a T-side air valve module and a T-side quick-change disc body connected thereto;

[0023] The robot-side quick-change disc module includes an R-side quick-change disc body, a locking mechanism, and an integrated R-side air valve module;

[0024] The R-side air valve module includes at least one unlocking actuator driven by an air source;

[0025] When the R-side quick-change disc body, carrying the T-side quick-change disc body, docks at the parking station, the parking station-side air supply assembly physically connects with the tool-side quick-change disc module, forming an independent kinetic energy transmission channel that starts from the parking station air source, passes through the T-side air valve module, and reaches the unlocking actuator in the R-side air valve module; when the R-side quick-change disc body leaves the parking station, the kinetic energy transmission channel is physically cut off.

[0026] Preferably, the R-side air valve module is provided with isolated tool air passage and release air passage respectively;

[0027] The aforementioned tool gas channel is used to transmit the working gas that drives the end-effector.

[0028] The release air channel is used to transmit unlocking kinetic energy gas from the kinetic energy transmission channel.

[0029] Preferably, the R-side air valve module further includes a robot-side air source input interface;

[0030] The robot-side air source input interface is connected to the inlet end of the tool air channel. The robot-side air source input interface is used to receive working gas from the locking chamber of the locking mechanism and supply the working gas to the end tool through the tool air channel and the tool-side quick-change plate module.

[0031] Preferably, the inlet end of the release air passage is used to connect to the unlocking kinetic energy gas from the T-side air valve module, and the outlet end of the release air passage is connected to the unlocking actuator.

[0032] The tool air passage and the release air passage are isolated from each other inside the R-side air valve module and have no fluid communication.

[0033] Preferably, the R-side air valve module also integrates an air circuit control valve group and a pressure detection unit;

[0034] The pneumatic control valve assembly includes at least a first control valve and a second control valve as the unlocking actuator;

[0035] The first control valve is a solenoid valve, whose inlet is connected to the outlet of the release air passage, and whose outlet is used to supply air to the unlocking chamber of the locking mechanism.

[0036] The second control valve is a pneumatic control valve, and its pilot control port is controlled by the output of the first control valve.

[0037] The main air path of the second control valve is used to switch the air supply to the locking chamber of the locking mechanism.

[0038] Preferably, the pressure detection unit includes a locking pressure switch for real-time detection of the air pressure in the locking chamber of the locking mechanism and triggering an alarm when the air pressure is abnormal.

[0039] Preferably, the tool-side quick-change disc module further includes a tool-side air supply assembly, which is connected to the T-side air valve module via a pipeline; and the parking station-side air supply assembly and the tool-side air supply assembly form a detachable kinetic energy transmission interface.

[0040] Preferably, the parking station-side air supply assembly is provided with a radial floating structure, which allows the docking components to have a radial floating amount in at least one direction and can adapt to a certain angular deviation.

[0041] Preferably, the radial floating structure is disposed between the air supply valve plate on the parking station side and the air connector. The air connector is composed of a guide sleeve and a seal. The radial floating structure allows the air connector to float radially in one direction by about 1.5 mm and can accommodate an angle deviation of up to 2°.

[0042] Preferably, the tool-side air supply assembly or parking station-side air supply assembly integrates a filter device for filtering the input air source.

[0043] Preferably, the system further includes a parking station air supply control valve, which is installed on the pipeline between the parking station main air source and the parking station side air supply assembly, and is used to open or close the air supply to the parking station docking module according to the instructions of the control system.

[0044] Preferably, the system further includes state detection sensors, including a locking sensor for detecting a locked state and an unlocking sensor for detecting an unlocked state, and the signals from each sensor are used to feed back to the robot controller or PLC.

[0045] This fast-change safety unlocking method based on the system described above, which utilizes unlocking kinetic energy supplied by the parking station, is characterized by the following steps:

[0046] Safety locking state maintenance steps: When the robot carrying the tool is in a non-parking position during work or movement, the kinetic energy transmission channel is physically disconnected, and the locking mechanism remains locked.

[0047] Safe position docking steps: The robot carries the T-side quick-change disc body and moves and precisely docks at the target parking station, so that the parking station side air supply assembly and the tool side air supply assembly can be reliably physically docked, forming a complete kinetic energy transmission channel from the parking station to the R-side air valve module.

[0048] Controlled unlocking procedure: After confirming that the system is in a safe position, the control system issues an unlocking command and turns on the parking station air source. Compressed air directly drives the unlocking actuator in the R-side air valve module through the kinetic energy transmission channel, thereby controlling the locking mechanism to complete the unlocking.

[0049] The quick-change security unlocking system and method based on parking station-supplied unlocking kinetic energy, as described in this invention, has the following beneficial effects:

[0050] Intrinsically safe: The decision-making power for secure unlocking is transferred from susceptible electronic logic to a reliable physical connection. As long as it is not in the parking station, the unlocking kinetic energy (gas source) cannot be physically obtained, thus completely eliminating the risk of accidental unlocking caused by signal errors, software failures, electromagnetic interference, etc.

[0051] The system is simplified and highly reliable: it eliminates or simplifies the complex safety control boards, surface detection circuits, and OSSD signals used for final safety judgment in traditional solutions. The reduced number of components, simplified system architecture, significantly reduced potential failure points, and significantly improved reliability.

[0052] Reduced reliance on electrical connections: Core safety functions (kinetic energy transfer) rely on physical pneumatic connections, reducing the stringent requirements for the reliability of precision electrical connectors between the R / T sides, resulting in a more robust system.

[0053] Good economic efficiency: Hardware costs are reduced due to system simplification, while maintenance difficulty and cost are also reduced accordingly.

[0054] Highly efficient and reliable docking: The dedicated docking module features floating compensation, filtering, and a long lifespan design, ensuring stable, reliable, and long-lasting kinetic energy transmission under high-frequency use. Attached Figure Description

[0055] Figure 1 This is a schematic diagram of the overall gas circuit structure of the quick-change disc for supplying gas to parking stations according to the present invention.

[0056] Figure 2 This is a schematic diagram of the tool-side air supply assembly of the present invention.

[0057] Figure 3 This is a schematic diagram of the parking station-side air supply assembly of the present invention.

[0058] Figure 4 This is a schematic diagram of the R-side air valve module of the present invention.

[0059] Figure 5 This is a schematic diagram of the pneumatic circuit logic of the quick-change safety unlocking system based on the parking station supplying unlocking kinetic energy according to the present invention.

[0060] Figure 6 The flowchart illustrates the process of performing a disk grabbing operation using the fast-change security unlocking method based on parking station-supplied unlocking kinetic energy according to the present invention.

[0061] Figure 7 The flowchart illustrates the process of performing a disk placement operation using the fast-change safety unlocking method based on parking station-supplied unlocking kinetic energy according to the present invention.

[0062] Figure Labels

[0063] 1R side quick change plate body

[0064] 2T side quick change plate body

[0065] 3 Locking Mechanism

[0066] 4R side air valve module

[0067] 5T side air valve module

[0068] 6. Tool-side air supply assembly

[0069] 6-1 Quick Connector

[0070] 6-2 Guide pin

[0071] Type A elastic retaining ring for shaft 6-3

[0072] 6-4 Tool-side air supply valve plate

[0073] 6-5 Lightweight straight groove elastic cylindrical pin

[0074] 6-6 Socket head cap screw

[0075] 7. Parking station side gas supply assembly

[0076] 7-1 Socket head cap screw

[0077] 7-2 Parking station side air supply valve panel

[0078] 7-3 Guide sleeve

[0079] 7-4 Seals

[0080] 8 First control valve

[0081] 9 Second control valve

[0082] 10 Robot-side air source input interface

[0083] 11. Tool air passage

[0084] 12. Release the air passage

[0085] 13 Locking pressure switch

[0086] 14 Locking Sensors

[0087] 15 Unlock Sensors

[0088] 16. Parking station air supply control valve. Detailed Implementation

[0089] To more clearly describe the technical content of the present invention, the following description is provided in conjunction with specific embodiments.

[0090] Before describing the embodiments of the present invention in detail, it should be noted that, in the following, the terms “comprising,” “including,” or any other variations are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0091] The core of this invention lies in fundamentally reconstructing the existing security logic, changing the final execution condition for unlocking from "the logical AND operation result of the security signal" to "the physical channel for unlocking the gas source." By limiting the gas source to the parking station and developing a dedicated gas source transmission module, an inherently safe design is achieved that "unlocking capability is only available when physically located in a safe position."

[0092] Please refer to Figures 1 to 4 As shown, this quick-change security unlocking system based on the unlocking kinetic energy supplied by the parking station includes the following components:

[0093] The entire system consists of a robot-side quick-change disc module (including R-side quick-change disc body 1, locking mechanism 3, and integrated R-side air valve module 4), a tool-side quick-change disc module (including T-side quick-change disc body 2, T-side air valve module 5, and tool-side air supply assembly 6), and a parking station docking module fixed on the parking station (including parking station-side air supply assembly 7 and parking station air source control valve 16).

[0094] The R-side air valve module 4 integrates a first control valve 8, a second control valve 9, a locking pressure switch 13, and a complex internal air circuit. The air inlet of the first control valve 8 is connected to the release air channel 12 from the tool-side quick-change plate module. The pilot port of the second control valve 9 is controlled by the output port of the first control valve 8. The working air source of the robot body is connected through the robot-side air source input interface 10, which is used to supply the locking air source to the internal locking chamber, and to drive the end tool through the tool air channel 11, thereby isolating it from the unlocking air circuit. Furthermore, the tool air channel 11 connects the robot-side air source through the air circuit docked to the quick-change plate, and finally supplies it to the tool on the tool-side quick-change plate to realize the action of the valve island or cylinder. This air circuit is completely independent of the unlocking air circuit. The locking pressure switch 13 is used to monitor the locking status in real time.

[0095] In a preferred embodiment of the present invention, the first control valve 8 may be a two-position five-way solenoid valve, and the second control valve 9 may be a two-position five-way pneumatic control valve. It is understood that the appropriate selection can be made according to the actual situation.

[0096] like Figure 2 and Figure 3 As shown, the tool-side air supply assembly 6 and the parking station-side air supply assembly 7 are key docking components.

[0097] The tool-side air supply assembly 6 includes a tool-side air supply valve plate 6-4, on which a guide pin 6-2 is mounted. The guide pin 6-2 is fixed to the tool-side air supply valve plate 6-4 by a shaft-mounted elastic retaining ring A-type 6-3. A quick-connect connector 6-1 is also provided on the upper part of the guide pin 6-2, which is used to connect the pipeline. The tool-side air supply valve plate 6-4 is also provided with several lightweight straight-groove elastic cylindrical pins 6-5 and hexagon socket head cap screws 6-6 for positioning and connection with the tool-side quick-change disc module.

[0098] The parking station-side air supply assembly 7 includes a parking station-side air supply valve plate 7-2 with several hexagonal head screws 7-1 for docking with the tool-side air supply assembly 6, and an air connector for the parking station-side air supply assembly 7, consisting of a guide sleeve 7-3 and a seal 7-4. In practical applications, the seal 7-4 can be an O-ring. This air connector has radial floating and angular deflection capabilities, allowing for a floating amount of approximately 1.5 mm in one direction and accommodating an angular deviation of up to approximately 2°. This significantly improves the self-adaptability of the parking station-side air supply assembly 7 during docking, facilitating docking with the tool-side air supply assembly 6 with guide pins 6-2, ensuring airtightness, effectively compensating for assembly and positioning errors, and improving docking reliability.

[0099] In practical applications, the main body of the gas connector is made of high-hardness alloy steel, and a high-strength wear-resistant coating is applied to its surface. This material system significantly reduces wear during the docking process, enabling the component to maintain stable performance even under high-frequency cyclic use, with a docking life of up to millions of cycles, thus meeting the requirements of long-term, high-intensity working conditions.

[0100] As a preferred embodiment of the present invention, a filter screen can be integrated inside the tool-side air supply assembly 6 or the parking station-side air supply assembly 7, so that the air supply passage has front-end filtration capability, thereby effectively intercepting particulate impurities in the pressure source, preventing pollutants from entering the air supply system, and improving the stability of the air path and the safety of the whole machine operation.

[0101] Please refer to Figure 4 and Figure 5 As shown, the unlocking air transmission path of the quick-change safety unlocking system based on the unlocking kinetic energy supplied by the parking station is as follows: parking station air source control valve 16 → parking station side air supply assembly 7 → tool side air supply assembly 6 → T side air valve module 5 → release air channel 12 → first control valve 8, thus completing the unlocking action.

[0102] Based on the same inventive concept, the present invention also provides a quick-change safety unlocking method based on the unlocking kinetic energy supplied by the parking station, comprising: when not in the parking station position, the kinetic energy transmission channel is physically disconnected and cannot be unlocked; when in the parking station position, the kinetic energy transmission channel is physically connected; after safety confirmation, the parking station air source is turned on, and compressed air directly drives the unlocking actuator to complete the unlocking.

[0103] Based on the above system configuration, the quick-change safety unlocking system of the present invention, which is based on the unlocking kinetic energy supplied by the parking station, has the following working process and safety logic:

[0104] Safe state (robot in motion or working): The robot-side quick-change module (R-side module) has no physical connection to the parking station, and the kinetic energy transmission channel is disconnected. The solenoid valve of the tool-side quick-change module (T-side module) cannot operate because it cannot obtain any form of kinetic energy. At this time, regardless of what commands are issued by the robot controller or what signals are output by the safety switch, unlocking is physically impossible.

[0105] Unlocked state (when changing tools): The robot moves with the tool and precisely stops at the target parking station.

[0106] a. The kinetic energy transmission interfaces on the parking station side and the tool side are reliably connected, and the air circuit control valve group of the R-side quick-change disc body 1 and the T-side quick-change disc body 2 are physically connected to form an air circuit channel from the parking station side air source to the R-side quick-change disc body 1.

[0107] b. After the operator or the host system confirms safety, an unlock command is sent to the control system, and the air supply channel at the front end of the parking station is opened.

[0108] c. The kinetic energy / gas source passes through this dedicated transmission channel, bypassing all the complex control circuits and signal chains of the R-side and T-side modules, and directly drives the solenoid valve on the T-side to complete the unlocking.

[0109] In practical applications, the quick-change safety unlocking system of this invention, based on the unlocking kinetic energy supplied by the parking station, is applied to the quick-change device of a robot's end effector. It mainly controls three actual working conditions: mis-locking at unsafe positions, unlocking by grabbing the tray, and unlocking by placing the tray. The key components involved are the actuator output section and the status detection section. The following will combine... Figure 6 and 7 The content shown details the safety logic for gas supply to parking stations as described in this invention:

[0110] 1. Insecure location (to prevent accidental unlocking):

[0111] When the system is in an unsafe position, it should be in a locked state by default. The second control valve 9, which uses a two-position five-way pneumatic control valve, is in its initial state. At this time, the normally closed channel of the pneumatic valve is open, and the locking air source is directly supplied to the locking chamber of the locking mechanism 3, keeping the quick-change device locked. At this time, the first control valve 8, which uses a two-position five-way solenoid valve, is in its initial state, and the unlocking air path is not open. If the system experiences a power failure, loss of control, or accidental triggering, as long as it is not in a safe parking position, the quick-change disc will not receive the release air source, and the locking mechanism 3 will remain in the locked safe state. When the robot is carrying a tool in a working or moving state, the parking side air supply assembly 7 is disconnected from the tool side air supply assembly 6, and the kinetic energy transmission channel is completely disconnected. At this time, regardless of the command issued by the robot controller, there is no air source at the air inlet of the first control valve 8, the second control valve 9 is in its initial position, the locking air source is supplied to the locking chamber of the locking mechanism 3, and the tool is reliably locked. The locking pressure switch 13 monitors the locking pressure in real time and alarms if abnormal. This state cannot be physically unlocked.

[0112] 2. Secure position disk unlocking:

[0113] As the robot carrying the R-side quick-change tray body 1 gradually approaches the T-side quick-change tray body 2, which is located in a safe position on the parking station:

[0114] a) Before the R-side quick-change disc body 1 and the T-side quick-change disc body 2 are fully attached, the R-side air valve module 4 and the T-side air valve module 5 make contact in advance.

[0115] b) The robot or PLC controls the opening of the parking station air supply control valve 16, and the air supply enters the parking station side air supply assembly 7.

[0116] c) The air source flows sequentially through the docked parking station-side air supply assembly 7, tool-side air supply assembly 6, and T-side air valve module 5, then enters the release air channel 12 of the R-side air valve module 4, reaching the air inlet of the first control valve 8. At this point, the kinetic energy transmission channel is established.

[0117] d) After receiving a safety signal confirming the position, the robot controller issues an unlocking command, and the energized coil of the first control valve 8 is activated.

[0118] e) The pilot air output from the first control valve 8 drives the second control valve 9 to switch, cutting off the air supply to the locking chamber of the locking mechanism 3 and introducing the air source from the releasing air channel 12 into the unlocking chamber of the locking mechanism 3. At the same time, the locking chamber is vented, and the mechanism is unlocked. The signal from the locking sensor 14 disappears, and the unlocking sensor 15 sends a signal to the robot.

[0119] f) After receiving the unlock signal, the robot continues to descend so that the R-side quick-change disc body 1 and the T-side quick-change disc body 2 are in contact. Then, it controls the first control valve 8 to de-energize and the second control valve 9 to reset, and supplies air to the locking chamber again to complete the gripping disc locking.

[0120] 3. Place the disc in a safe position to unlock:

[0121] When the robot needs to return the tool to the parking station:

[0122] a) The robot carrying tools precisely docks at the parking station to ensure successful gas line connection.

[0123] b) The robot or PLC opens the parking station air supply control valve 16, supplying air to the parking station side air supply assembly 7, then sequentially flowing through the tool side air supply assembly 6, the T side air valve module 5, and entering the release air channel 12 of the R side air valve module 4, reaching the air inlet of the first control valve 8. Thus, the kinetic energy transmission channel is established.

[0124] c) When the robot issues an unlocking command, the energized coil of the first control valve 8 is activated. The pilot air output by the first control valve 8 drives the second control valve 9 to switch, cutting off the air supply to the locking chamber of the locking mechanism 3, and introducing the air source from the release air channel 12 into the unlocking chamber of the locking mechanism 3. Through the entry of unlocking air and the discharge of locking air, the locking mechanism 3 is driven to unlock.

[0125] d) After receiving the unlock signal, the robot leaves with its robot-side quick-change module, leaving the tool-side quick-change module at the parking station. During departure, the air path connection is disconnected, and the kinetic energy transmission channel is broken.

[0126] Throughout the process, the unlocking action depends entirely on the fundamental condition of "whether a physical pneumatic connection has been established at the parking station." Control system (robot or PLC) commands only take effect after the kinetic energy transmission channel is established, thus achieving inherent safety.

[0127] As a preferred embodiment of the present invention, the pneumatic and electrical control logic of the present invention can reduce the failure risk of the quick-change disc to an extremely low level. With the core idea of ​​supplying kinetic energy in a safe position, and with the independent control circuits of the unlocking valve and the locking valve, the built-in pilot function of the module and the detection hardware such as proximity sensors and pressure sensors to realize the reliable operation of the entire safety system, ensuring that the risk of gun drop is minimized under various complex on-site conditions such as abnormal detection equipment, human error, and abnormal air source pressure.

[0128] In practical applications, the control system and fault feedback of this invention can interact with the robot or PLC through IO communication or bus communication. In different working modes, the status of the quick-change disc is monitored in real time by detecting pressure switches, locking and unlocking sensors, and surface detection sensors. This enables the output of the current dangerous unlocking command to be stopped immediately in abnormal conditions. At the same time, in conjunction with the parking station air supply system, it achieves interlocking protection of intrinsic safety and functional safety.

[0129] Meanwhile, the control system of this invention adopts a modular pneumatic quick-change interface design, integrating high-density electrical connections and pneumatic circuits. Through a mechanical guiding structure, it significantly improves the integration, reliability, and changeover efficiency of the end effector module. This design supports the robot system to achieve second-level rapid switching and plug-and-play functionality among various end tools, greatly reducing downtime in production cycles and enhancing the task flexibility and overall operational efficiency of automated production lines.

[0130] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as will be understood by those skilled in the art to which embodiments of the invention pertain.

[0131] It should be understood that various parts of the present invention can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution device.

[0132] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0133] The storage media mentioned above can be read-only memory, disk, or optical disk, etc.

[0134] In the description of this specification, references to terms such as "an embodiment," "some embodiments," "example," "specific example," or "embodiment," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0135] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

[0136] In this specification, the invention has been described with reference to specific embodiments thereof. However, it will be apparent that various modifications and variations can be made without departing from the spirit and scope of the invention. Therefore, the specification and drawings should be considered illustrative rather than restrictive.

Claims

1. A quick-change security unlocking system based on the unlocking kinetic energy supplied by the parking station, characterized in that, The system includes: a robot-side quick-change tray module, a tool-side quick-change tray module, and a parking station docking module; The parking station docking module includes a parking station side air supply assembly (7) for providing the compressed air source required for unlocking. The parking station side air supply assembly (7) is provided with a radial floating structure. The radial floating structure allows the docking component to have a radial floating amount in at least one direction and can adapt to a preset angle deviation. The tool-side quick-change disc module includes a T-side air valve module (5) and a T-side quick-change disc body (2) connected thereto. The robot-side quick-change disc module includes an R-side quick-change disc body (1), a locking mechanism (3), and an integrated R-side air valve module (4). The R-side air valve module (4) includes at least one unlocking actuator driven by an air source; When the R-side quick-change disc body (1) carrying the T-side quick-change disc body (2) stops at the parking station, the parking station-side air supply assembly (7) physically connects with the tool-side quick-change disc module to form an independent kinetic energy transmission channel that starts from the parking station air source, passes through the T-side air valve module (5), and goes directly to the unlocking actuator in the R-side air valve module (4); when the R-side quick-change disc body (1) leaves the parking station, the kinetic energy transmission channel is physically cut off. The R-side air valve module (4) is provided with an isolated tool air channel (11) and a release air channel (12). The tool gas channel (11) is used to transmit the working gas that drives the end tool; The release gas channel (12) is used to transmit unlocking kinetic energy gas from the kinetic energy transmission channel.

2. The quick-change security unlocking system based on parking station-supplied unlocking kinetic energy as described in claim 1, characterized in that, The R-side air valve module (4) also includes a robot-side air source input interface (10). The robot-side air source input interface (10) is connected to the inlet end of the tool air channel (11). The robot-side air source input interface (10) is used to receive the working gas from the locking cavity of the locking mechanism (3) and supply the working gas to the end tool through the tool air channel (11) and the tool-side quick-change plate module.

3. The quick-change security unlocking system based on parking station-supplied unlocking kinetic energy as described in claim 2, characterized in that, The inlet end of the release air passage (12) is used to connect the unlocking kinetic energy gas from the T-side air valve module (5), and the outlet end of the release air passage (12) is connected to the unlocking actuator. The tool air passage (11) and the release air passage (12) are isolated from each other inside the R-side air valve module (4) and have no fluid communication.

4. The quick-change security unlocking system based on parking station-supplied unlocking kinetic energy as described in claim 3, characterized in that, The R-side air valve module (4) also integrates an air circuit control valve group and a pressure detection unit; The pneumatic control valve group includes at least a first control valve (8) and a second control valve (9) as the unlocking actuator. The first control valve (8) is a solenoid valve, whose inlet is connected to the outlet of the release air passage (12), and whose outlet is used to supply air to the unlocking chamber of the locking mechanism (3). The second control valve (9) is a pneumatic control valve, and its pilot control port is controlled by the output of the first control valve (8). The main air path of the second control valve (9) is used to switch the air supply to the locking chamber of the locking mechanism (3).

5. The quick-change security unlocking system based on parking station-supplied unlocking kinetic energy as described in claim 4, characterized in that, The pressure detection unit includes a locking pressure switch (13) for real-time detection of the air pressure in the locking chamber of the locking mechanism (3) and triggering an alarm when the air pressure is abnormal.

6. The quick-change security unlocking system based on parking station-supplied unlocking kinetic energy as described in claim 1, characterized in that, The tool-side quick-change disc module also includes a tool-side air supply assembly (6), which is connected to the T-side air valve module (5) via a pipeline; and the parking station-side air supply assembly (7) and the tool-side air supply assembly (6) form a detachable kinetic energy transmission interface.

7. The quick-change security unlocking system based on parking station-supplied unlocking kinetic energy as described in claim 1, characterized in that, The radial floating structure is set between the air supply valve plate (7-2) on the parking station side and the air connector. The air connector is composed of a guide sleeve (7-3) and a seal (7-4). The radial floating structure allows the air connector to have a radial floating amount of a preset distance in one direction and can adapt to a preset angle deviation.

8. The quick-change security unlocking system based on parking station-supplied unlocking kinetic energy as described in claim 6, characterized in that, The tool-side air supply assembly (6) or parking station-side air supply assembly (7) is equipped with a filter device for filtering the input air source.

9. The quick-change security unlocking system based on parking station-supplied unlocking kinetic energy as described in claim 1, characterized in that, The system also includes a parking station gas source control valve (16), which is installed on the pipeline between the parking station main gas source and the parking station side gas supply assembly (7) and is used to open or close the gas supply to the parking station docking module according to the instructions of the control system.

10. The quick-change security unlocking system based on parking station-supplied unlocking kinetic energy as described in claim 1, characterized in that, The system also includes state detection sensors, including a locking sensor (14) for detecting the locking state and an unlocking sensor (15) for detecting the unlocking state. The signals from each sensor are used to feed back to the robot controller or PLC.

11. A fast-change security unlocking method based on the system of any one of claims 6 to 8, wherein the system provides unlocking kinetic energy supplied by the parking station, characterized in that... The method includes the following steps: Safety locking state maintenance steps: When the robot carrying the tool is in a non-parking position during work or movement, the kinetic energy transmission channel is physically disconnected, and the locking mechanism (3) remains locked; Safe position docking steps: The robot carries the T-side quick-change disc body (2) and moves and precisely docks at the target parking station, so that the parking station side air supply assembly (7) and the tool side air supply assembly (6) can be reliably physically docked, forming a complete kinetic energy transmission channel from the parking station to the R-side air valve module (4). Controlled unlocking steps: After confirming that the system is in a safe position, the control system issues an unlocking command and turns on the parking station air source. Compressed air directly drives the unlocking actuator in the R-side air valve module (4) through the kinetic energy transmission channel, thereby controlling the locking mechanism (3) to complete the unlocking.

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