Magnetic crown tooth quick change mechanism

Abstract

The application provides a magnetic crown tooth quick change mechanism, comprising an R end mechanism and a T end mechanism; the R end mechanism is used for being connected with a mechanical arm, and the T end mechanism is used for being connected with an end tool; the R end mechanism is provided with a magnetic conducting ring, and the T end mechanism is provided with a radial magnetic ring; the R end mechanism and the T end mechanism are combined through the magnetic conducting ring and the radial magnetic ring; the R end mechanism is provided with a cam, a tappet and a micro joint executor; the micro joint executor drives the cam to rotate; the cam is provided with a curved surface; when the cam rotates, the tappet is pressed through the curved surface to separate the R end mechanism and the T end mechanism; the connection parts of an R end shell of the R end mechanism and a T end shell of the T end mechanism are respectively provided with mutually meshed crown teeth, which are used for transmitting the torque of the mechanical arm. Through the magnetic attraction design of the radial magnetic ring and the magnetic conducting ring, the application guarantees the combination force; the separation adopts the mode of the driving cam+tappet, the structure is simple, the weight is light, the operation is convenient, the quick change mechanism is provided with the crown teeth, and the large torque of the mechanical arm can be transmitted.

Description

Technical Field

[0001] This application relates to the field of robotics, and more specifically, to a magnetic crown tooth quick-change mechanism. Background Technology

[0002] Most robotic arms with end effectors use a steel ball and limit ring structure (for tensioning), employing motors or pneumatics to drive the steel ball out. This method results in a complex and heavy structure. Some designs lack self-locking, requiring the motor or pneumatic supply to be constantly operational / pressurized. Sudden power or pneumatic outages pose a risk of the robotic arm tool end detaching. Summary of the Invention

[0003] In view of one of the defects in the prior art, the purpose of this application is to provide a magnetic crown quick-change mechanism.

[0004] In a first aspect, this application provides a magnetic crown quick-change mechanism, comprising: an R-end mechanism and a T-end mechanism;

[0005] The R-end mechanism is used to connect with the robotic arm, and the T-end mechanism is used to connect with the end tool.

[0006] The R-end mechanism is provided with a magnetic ring, and the T-end mechanism is provided with a radial magnetic ring. The R-end mechanism and the T-end mechanism are magnetically attracted to each other through the cooperation of the magnetic ring and the radial magnetic ring.

[0007] The R-end mechanism is provided with a cam, a tappet, and a micro-joint actuator. The micro-joint actuator drives the cam to rotate. The cam has a curved surface. When the cam rotates, the curved surface presses against the tappet to separate the R-end mechanism from the T-end mechanism.

[0008] The R-end housing of the R-end mechanism and the T-end housing of the T-end mechanism are respectively provided with interlocking crown teeth for transmitting the torque of the robotic arm.

[0009] Optionally, the magnetic ring at the R end is provided with an elastic buffer pad to buffer the impact when the magnetic ring is attracted to the radial magnetic ring.

[0010] Optionally, the push rod has a Y-shaped structure and has multiple push rods evenly distributed in the R-end housing in a circumferential direction;

[0011] The push rod has a roller bearing in the middle of the Y-shaped head at one end facing the cam, and the roller bearing rolls against the curved surface of the cam.

[0012] A return spring is fitted at the lower end of the push rod to reset the R-end mechanism and the T-end mechanism;

[0013] The lower end face of the push rod is also provided with a guide sleeve, the lower end face of the return spring abuts against the guide sleeve, and the push rod and the guide sleeve are in clearance fit.

[0014] Optionally, the curved surface is provided on the working surface of the cam, and the working surface of the cam is provided with the same multiple curved surfaces in the circumferential direction, and the number of tappets is the same as the number of curved surfaces;

[0015] The surface is a surface with a gradually increasing radius of curvature.

[0016] Optionally, the magnetic ring is provided with a plurality of guide holes, which are corresponding to the push rod, and the other end of the push rod can extend into the guide hole and abut against the end face of the radial magnetic ring;

[0017] The number of guide holes is the same as the number of push rods;

[0018] During separation, the micro-joint actuator drives the cam to rotate counterclockwise, the curved surface of the cam rolls relative to the roller bearing at the other end of the push rod, and pushes the push rod to move. The other end of the push rod passes through the guide hole and pushes the radial magnetic ring to separate from the magnetic guide ring, so that the R-end mechanism is separated from the T-end mechanism.

[0019] During reset, the micro-joint actuator drives the cam to rotate clockwise, and the curved surface of the cam gradually disengages from the roller bearing. The push rod moves through the reset spring, and the distance between the radial magnetic ring and the magnetic guide ring decreases, so that the R-end mechanism and the T-end mechanism are magnetically re-activated.

[0020] Optionally, the R-end mechanism further includes: an R-end connecting flange and a main control PCB board.

[0021] The R-end connecting flange is connected to the micro-joint actuator and is used to determine the position of the micro-joint actuator;

[0022] The main control PCB board is connected to the R-end housing and is used to control the rotation and stopping of the micro joint actuator;

[0023] The main control PCB board is equipped with a Hall angle sensor, and the cam is equipped with an angle-sensitive magnet. The origin position of the cam is determined by the Hall angle sensor and the angle-sensitive magnet.

[0024] Optionally, the R-end housing has a hollow internal structure, and the tappet, the cam, and the micro-joint actuator are disposed inside the R-segment housing;

[0025] The R-end outer shell is provided with a main guide ring facing the T-end outer shell. The magnetic ring is sleeved on the main guide ring. The T-end mechanism includes a main guide sleeve. The main guide ring cooperates with the main guide sleeve to guide the R-end mechanism and the T-end mechanism to be aligned and inserted.

[0026] One end of the main guide ring extends toward the T-end mechanism and protrudes from the crown tooth on the R-end shell.

[0027] Optionally, the R-end mechanism further includes a ball bearing, the inner ring of which is fitted onto a protruding stop inside the R-end housing, and the inner ring of the ball bearing abuts against the outer ring of the cam, so that the cam can rotate within the R-end housing.

[0028] Optionally, the T-end mechanism further includes a magnetic ring conical clamping sleeve, the inner ring of the T-end housing is provided with a concentric groove, the radial magnetic ring is located in the groove, and the outer ring inclined surface of the magnetic ring conical clamping sleeve cooperates with the inner ring of the radial magnetic ring to prevent the radial magnetic ring from being pulled off.

[0029] Optionally, the main guide sleeve is disposed on the T-end housing and located on the inner ring of the magnetic ring conical clamping sleeve;

[0030] The T-end mechanism also includes a male connector, which is located inside the T-end housing, within the inner ring of the main guide sleeve, and is connected to the female connector of the R-end mechanism to transmit power current and signals.

[0031] This application provides a magnetic quick-change crown tooth mechanism, which employs a magnetic attraction technique where a magnetic guide ring is set at the R end and a radial magnetic ring is set at the T end. This magnetic attraction simplifies the structure and enables self-locking upon power failure, thus improving safety. The crown tooth meshing effectively transmits high torque, ensuring the stability and reliability of the robotic arm's end effector. By combining a cam, a pushrod separation mechanism, and a micro-joint actuator, the micro-joint actuator drives the cam to rotate, and the cam's curved surface presses against the pushrod to complete the separation action. This achieves controllable and smooth separation. The overall structure is compact and lightweight, facilitating integration into the robot's end effector and rapid tool replacement.

[0032] Other technical effects resulting from the additional features will be further illustrated in the corresponding embodiments. Attached Figure Description

[0033] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0034] Figure 1 This is an overall structural diagram of a magnetic crown tooth quick-change mechanism according to an embodiment of this application;

[0035] Figure 2 This is a cross-sectional view of a magnetic crown tooth quick-change mechanism according to an embodiment of this application;

[0036] Figure 3 This is an exploded view of the R-end mechanism in one embodiment of this application;

[0037] Figure 4 This is an exploded view of the T-end mechanism in one embodiment of this application;

[0038] Figure 5 This is a schematic diagram of the cam structure in one embodiment of this application;

[0039] Figure 6 This is a schematic diagram of the magnetic crown tooth quick-change mechanism in one embodiment of this application.

[0040] Figure 7 This is a schematic diagram of the separation operation of the magnetic crown tooth quick-change mechanism in one embodiment of this application.

[0041] In the diagram, 1. R-end mechanism; 11. R-end housing; 12. Magnetic guide ring; 121. Elastic buffer pad; 13. Cam; 131. Angle-sensitive magnet; 132. Bearing mounting hole; 133. Connecting stop; 134. Magnet fixing hole; 135. Curved surface; 14. Taper; 141. Roller bearing; 142. Return spring; 143. Guide sleeve; 144. Bearing spindle; 15. Miniature joint actuator; 16. R-end connecting flange; 17. Main control PCB board; 171. Hall angle sensor; 18. Main body guide ring; 19. Ball bearing; 100. Plug-in female connector; 2. T-end mechanism; 21. T-end housing; 22. Radial magnetic ring; 23. Main body guide sleeve; 24. Magnetic ring conical clamping sleeve; 25. Plug-in male connector; 26. T-end connecting flange; 3. Crown tooth. Detailed Implementation

[0042] The present application will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any way. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application, and these all fall within the protection scope of the present application. Parts not described in detail in the following embodiments can be implemented using existing technology.

[0043] In the description of the embodiments of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0044] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature.

[0045] In the description of the embodiments in this application, "multiple" means two or more, unless otherwise explicitly specified. In this application, unless otherwise explicitly specified and limited, the terms "installed," "connected," "linked," "fixed," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0046] The terms "comprising" and "having," and any variations thereof, in the embodiments of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such processes, methods, products, or devices.

[0047] In existing technologies, most quick-change mechanisms for robotic arm end effectors employ a steel ball + limiting ring structure (tensioning), using motors or pneumatics to drive the steel ball out. This method is structurally complex and heavy. Some designs lack self-locking, requiring the motor or air source to be constantly operational / pressurized. Sudden power / air outages pose a risk of the robotic arm tool end detaching. To address these issues, this application provides a magnetic crown tooth quick-change mechanism to solve these problems.

[0048] Reference Figure 1 As shown in one embodiment of this application, a magnetic crown tooth quick-change mechanism includes: an R-end mechanism 1 and a T-end mechanism 2.

[0049] R-end mechanism 1 is used to connect with the robotic arm, and T-end mechanism 2 is used to connect with the end effector. R-end mechanism 1 is provided with a magnetic ring 12, and T-end mechanism 2 is provided with a radial magnetic ring 22. R-end mechanism 1 and T-end mechanism 2 are magnetically attracted together by the magnetic ring 12 and the radial magnetic ring 22. R-end mechanism 1 is provided with a cam 13, a push rod 14 and a micro joint actuator 15. The micro joint actuator 15 drives the cam 13 to rotate. The cam 13 is provided with a curved surface 135. When the cam 13 rotates, the curved surface 135 presses the push rod 14 to separate R-end mechanism 1 and T-end mechanism 2. The connection between the R-end housing 11 of R-end mechanism 1 and the T-end housing 21 of T-end mechanism 2 is provided with mutually meshing crown teeth 3 for transmitting the torque of the robotic arm.

[0050] Among them, R-end mechanism 1 and T-end mechanism 2 are connected to the robot side and the tool side, respectively.

[0051] Specifically, refer to Figure 2 As shown, the quick-change mechanism is divided into an R-end mechanism 1 (connected to the robotic arm) and a T-end mechanism 2 (connected to the tool end, such as a dexterous hand, gripper, or other end-effector). The R-end mechanism 1 is equipped with a magnetic ring 12 that engages with a radial magnetic ring 22 in the T-end mechanism 2. The radial magnetic ring 22 provides a set adsorption force, which, combined with the magnetic ring 12, stabilizes the adsorption force. The R-end mechanism 1 also includes a cam 13 and a push rod 14 mechanism. Driven by the reverse rotation of the micro-joint actuator 15, the inclined surface of the cam 13 presses against the push rod 14, separating the magnetic ring 12 from the radial magnetic ring 22. After this, the micro-joint actuator 15 rotates clockwise, and the push rod 14 returns to its original position. Both the R-end mechanism 1 and the T-end mechanism 2 have crown teeth 3 on their outer shells, which mesh with each other to transmit the torque of the robotic arm.

[0052] In the above embodiments of this application, the precise magnetic attraction between the R-end magnetic ring 12 and the T-end radial magnetic ring 22 enables a rapid and stable connection between the robotic arm and the end tool. This eliminates the need for a motor or air source to maintain a working / pressurized state for extended periods, completely resolving the safety hazard of tool end detachment after a break in the air supply of traditional quick-change mechanisms. Furthermore, the structure is simpler and more compact. The micro-joint actuator 15 drives the cam 13 to rotate, and the curved surface 135 of the cam 13 presses against the push rod 14 to complete the separation action. This makes operation convenient and effectively reduces the overall weight, achieving the goal of lightweight design. At the same time, the crown teeth 3 of the R-end housing 11 and the T-end housing 21 mesh with each other, reliably transmitting the large torque of the robotic arm. The overall solution balances quick-change efficiency, connection safety, torque transmission stability, and ease of operation. It can be flexibly adapted to various end tools such as dexterous hands and grippers, exhibiting strong practicality and adaptability.

[0053] It should be noted that the magnetic ring 12 is nickel-plated and then precision-ground to ensure a zero-gap connection between the magnetic ring 12 and the radial magnetic ring 22, so that the adsorption force stably reaches the designed theoretical value. One embodiment of achieving the designed theoretical value is as follows: First, the magnetic ring 12 is nickel-plated and then precision-ground to ensure absolute flatness. Furthermore, the magnetic conductor uses a soft magnetic material with high permeability and low coercivity (such as pure iron, silicon steel sheets, or permalloy), ensuring rapid magnetization by natural magnets and easy reversal of magnetic poles by a magnetic field, avoiding residual magnetism that could cause repulsion. Second, the design ensures the parallelism of the T-end mechanism 2 and the R-end mechanism 1, and the design ensures contact between the magnetic ring 12 and the radial magnetic ring 22. All planes within the structure are lower than this contact surface to ensure sufficient clearance during contact. Third, the thickness of the magnetic conductor is sufficient, and its cross-sectional area is larger than that of the radial magnetic ring 22, ensuring that the magnetic force of the radial magnetic ring 22 reaches the theoretical design value.

[0054] Reference Figure 3 As shown, in some specific embodiments of this application, the magnetic ring 12 of the R-end mechanism 1 is provided with an elastic buffer pad 121 to buffer the impact when the magnetic ring 12 and the radial magnetic ring 22 are attracted.

[0055] In the above embodiments of this application, by providing an elastic buffer pad 121 on the end face of the magnetic ring 12, the instantaneous impact energy generated when the R-end mechanism 1 and the T-end mechanism 2 are fast-fitted under magnetic force is absorbed and attenuated, thereby reducing noise and vibration during the joining process, avoiding structural damage or cumulative wear to precision components (such as the meshing surface of the crown tooth 3 and the radial magnetic ring 22) caused by rigid collisions, and improving the service life and reliability of the overall mechanism after docking.

[0056] In some specific embodiments of this application, the push rod 14 has a Y-shaped structure with multiple push rods evenly distributed around the circumference inside the R-end housing 11; a roller bearing 141 is provided in the middle of the Y-shaped head of the push rod 14 facing the cam 13, and the roller bearing 141 rolls against the curved surface 135 of the cam 13; a return spring 142 is sleeved on the lower end of the push rod 14 for resetting the R-end mechanism 1 and the T-end mechanism 2; a guide sleeve 143 is also provided on the lower end face of the push rod 14, and the lower end face of the return spring 142 abuts against the guide sleeve 143, and the push rod 14 and the guide sleeve 143 are in clearance fit.

[0057] In the above embodiments of this application, the push rod 14 adopts a Y-shaped structure and is evenly distributed in the R-end housing 11 along the circumferential direction. When the cam 13 rotates, its curved surface 135 presses the roller bearing 141 in the middle of the Y-shaped head of the push rod 14, and smoothly converts the rotational motion of the cam 13 into the axial linear motion of the push rod 14 through rolling contact. The return spring 142 sleeved at the lower end of the push rod 14 is compressed and stored. When the cam 13 rotates and releases the pressure, the spring quickly releases energy to push the push rod 14 to return to its original position. At the same time, the clearance fit between the lower end guide sleeve 143 and the push rod 14 ensures the perpendicularity and guiding accuracy of the movement process. The rolling contact of the roller bearing 141 reduces the frictional resistance and wear between the cam 13 and the push rod 14, improving transmission efficiency and mechanism life. The synchronous application of force at three points evenly distributed around the circumference ensures that the T-end mechanism 2 is pushed out in parallel, avoiding jamming or uneven loading. The cooperation between the return spring 142 and the guide sleeve 143 enables the push rod 14 to be quickly and smoothly reset. The overall structure is compact and the action response is sensitive, improving the separation reliability and operational stability of the quick-change mechanism.

[0058] In some specific embodiments of this application, the curved surface 135 is provided on the working surface of the cam 13, and the working surface of the cam 13 is provided with the same multiple curved surfaces 135 in the circumferential direction. The number of push rods 14 is the same as the number of curved surfaces 135.

[0059] Surface 135 is a surface with a gradually increasing radius of curvature.

[0060] Reference Figure 5 As shown, specifically, the front end of the micro-joint actuator 15 is the output end of the reducer, which mates with the connecting stop 133 inside the drive cam 13. Inside the bearing mounting hole 132 on the reverse side of the drive cam 13, there are four fixing holes for the micro-joint actuator 15, connecting the drive cam 13 and the micro-joint actuator 15 together. The upper end face of the drive cam 13 has a magnet fixing hole 134 for the angle sensor magnet 131. The angle sensor magnet 131 and the magnet fixing hole 134 can be fixed by adhesive bonding, heat sealing, or other methods. The working surface of the cam 13 has three identical curved surfaces 135, which mate with the roller bearing 141. The rotation of the drive cam 13 compresses the push rod 14, causing it to slide downwards. A bearing 19 is provided on the lower end face of the drive cam 13 to ensure the concentricity of the cam 13's movement. The tappet 14 is located directly below the working surface of the drive cam 13. Three tappets are evenly distributed around the circumference. The tappet 14 has a Y-shaped structure. A roller bearing 141 is located in the middle of the Y-shaped head. The bearing spindle 144 passes through the holes at both ends of the Y-shape, fixing the roller bearing 141 in a fixed position. A tappet return spring 142 is located at the lower end of the tappet 14. Its lower end face contacts the tappet guide sleeve 143. The tappet 14 and the tappet guide sleeve 143 are in clearance fit to ensure the verticality of the tappet 14's vertical movement.

[0061] In the above embodiments of this application, by providing multiple identical curved surfaces 135 on the circumferential direction of the working surface of the cam 13, the same number as the number of push rods 14, and by adopting a design with gradually increasing curvature radius of the curved surfaces 135, synchronous and uniform force is applied to multiple push rods 14. The continuous curved surface structure with gradually increasing curvature radius transforms the rotational motion of the cam 13 into a smooth and linear axial motion of the push rods 14. By precisely designing the curvature change law, the ejection stroke and speed of the push rods 14 are controlled, and the separation action is controllable.

[0062] It should be noted that when the cam 13 rotates counterclockwise, the position of the three identical curved surfaces 135 will continuously decrease, causing the push rod 14 to descend.

[0063] In some specific embodiments of this application, the magnetic ring 12 is provided with a plurality of guide holes, which are correspondingly arranged with the push rod 14. The other end of the push rod 14 can extend into the guide hole and abut against the end face of the radial magnetic ring 22; the number of guide holes is the same as the number of push rods 14.

[0064] During separation, the micro joint actuator 15 drives the cam 13 to rotate counterclockwise. The curved surface 135 of the cam 13 rolls relative to the roller bearing 141 at the other end of the push rod 14, and pushes the push rod 14 to move. The other end of the push rod 14 passes through the guide hole and pushes the radial magnetic ring 22 to separate from the magnetic ring 12, so that the R-end mechanism 1 and the T-end mechanism 2 are separated.

[0065] During reset, the micro joint actuator 15 drives the cam 13 to rotate clockwise. The curved surface 135 of the cam 13 gradually disengages from the roller bearing 141. The push rod 14 moves through the reset spring 142, and the distance between the radial magnetic ring 22 and the magnetic guide ring 12 decreases, so that the R-end mechanism 1 and the T-end mechanism 2 are magnetically reset.

[0066] In the above embodiments of this application, the cooperation between the guide hole and the push rod 14 ensures the perpendicularity and centering of the movement trajectory of the push rod 14 during the separation process, avoiding jamming or damage to the magnetic ring due to misalignment; the forward and reverse driven separation and reset actions of the cam 13 form a complete reciprocating motion cycle, realizing precise control of separation and engagement; throughout the process, the separation force acts directly on the magnetic attraction engagement surface, achieving rapid and stable separation, while the energy storage and release mechanism of the reset spring 142 ensures a rapid response of the reset action, improving the dynamic response performance and repeatability of the quick-change mechanism, and enhancing the safe reset capability of the mechanism under abnormal conditions such as power failure.

[0067] In some specific embodiments of this application, the R-end mechanism 1 further includes: an R-end connecting flange 16 and a main control PCB board 17.

[0068] The R-end connecting flange 16 is connected to the micro-joint actuator 15 to determine the position of the micro-joint actuator 15; the main control PCB board 17 is connected to the R-end housing 11 to control the rotation and stopping of the micro-joint actuator 15.

[0069] The main control PCB board 17 is equipped with a Hall angle sensor 171, and the cam 13 is equipped with an angle-sensitive magnet 131. The origin position of the cam 13 is determined by the Hall angle sensor 171 and the angle-sensitive magnet 131.

[0070] Specifically, the R-end connecting flange 16 is located at the top. Its upper surface has a positioning stop for connecting with the robotic arm and a threaded hole (the shape depends on the structural design of the connection part). It has a hollow through-hole for easy cable entry and exit, and a U-shaped groove. A threaded hole for connecting the micro-joint actuator 15 is located in the middle of the R-end connecting flange 16, fixing the micro-joint actuator 15 in a specific position. The lower surface of the R-end connecting flange 16 has a stop to ensure its fixed position is determined, and bolt holes are provided on its outer ring. The main control PCB board 17 is located at a certain distance below the R-end connecting flange 16. Three raised fixing surfaces are provided on the outer ring of the main control PCB board 17, connecting to fixing holes on the outer shell. This maintains a certain distance between the main control PCB board 17 and the drive cam 13. A Hall angle sensor 171 is installed on the main control PCB board 17, which cooperates with the angle sensing magnet 131 on the drive cam 13 to determine the origin of the cam 13. Meanwhile, the main control PCB board 17 has various connection points, which output signals to the micro joint actuator 15 to control its rotation and stop.

[0071] It should be noted that the PCB board is fixedly installed using an L-shaped accessory on the R-end casing.

[0072] In some specific embodiments of this application, the R-end housing 11 has a hollow internal structure, and the push rod 14, cam 13 and micro joint actuator 15 are disposed inside the R-end housing 11.

[0073] The R-end housing 11 is provided with a main guide ring 18 facing the T-end housing 21. The magnetic ring 12 is sleeved on the main guide ring 18. The T-end mechanism 2 includes a main guide sleeve 23. The main guide ring 18 cooperates with the main guide sleeve 23 to guide the R-end mechanism 1 and the T-end mechanism 2 to be aligned and inserted.

[0074] One end of the main guide ring 18 extends toward the T-end mechanism 2 and protrudes from the crown tooth 3 on the R-end outer shell 11.

[0075] Specifically, the R-end housing 11 adopts a hollow structure to integrate the push rod 14, cam 13 and micro joint actuator 15 inside, achieving a compact layout; the R-end housing 11 has a main guide ring 18 facing the T-end, and the magnetic ring 12 is sleeved on the guide ring 18. The T-end mechanism 2 is correspondingly provided with a main guide sleeve 23, and the two cooperate with each other to form a guide structure; wherein, the main guide ring 18 extends in the direction of the T-end, and its end face protrudes from the crown tooth 3 on the R-end housing 11. The working process and beneficial effects of this structure are as follows: When the R-end mechanism 1 and the T-end mechanism 2 are connected, the protruding main guide ring 18 first enters the main guide sleeve 23 of the T-end mechanism 2. By cooperating and guiding the two to be radially aligned, the alignment accuracy of the subsequent engagement of the crown tooth 3 and the electrical connector is ensured. After the guidance is in place, the R-end crown tooth 3 and the T-end crown tooth 3 gradually approach and engage. The magnetic ring 12 and the radial magnetic ring 22 are also aligned and attracted under the guidance of the guide ring 18, realizing the timing control of "guiding first and then transmitting torque", which effectively avoids the impact damage of the crown tooth 3 caused by eccentricity or misalignment.

[0076] In some specific embodiments of this application, the R-end mechanism 1 further includes a ball bearing 19, the inner ring of which is sleeved on a protruding stop inside the R-end housing 11, and the inner ring of the ball bearing 19 abuts against the outer ring of the cam 13 to allow the cam 13 to rotate within the R-end housing 11.

[0077] Specifically, the bearing 19 is located on the inner ring of the tappet 14. Its outer ring mates with the cam 13, and its inner ring mates with the raised stop of the housing body. The housing body is cylindrical, and its upper end face mates with the stop of the R-end flange 16. Its interior is a hollow structure to accommodate various components. The center is where the connecting plug 100 is fixed. A magnetic ring 12 is provided at the lower end of the housing. The magnetic ring 12 is fixed to the housing body through a threaded hole. The outer ring of the lower end face of the housing body is provided with crown teeth 3, and the inner ring is provided with a main body guide ring 18. The height of the main body guide ring 18 is higher than that of the crown teeth 3 to facilitate guidance.

[0078] Reference Figure 3 As shown, in some specific embodiments of this application, the T-end mechanism 2 further includes a magnetic ring conical clamping sleeve 24. The inner ring of the T-end housing 21 is provided with a concentric groove, and the radial magnetic ring 22 is located in the groove. The outer ring inclined surface of the magnetic ring conical clamping sleeve 24 cooperates with the inner ring of the radial magnetic ring 22 to prevent the radial magnetic ring 22 from being pulled off.

[0079] In some specific embodiments of this application, the main guide sleeve 23 is disposed on the T-end outer shell 21 and located in the inner ring of the magnetic ring conical clamping sleeve 24.

[0080] The T-end mechanism 2 also includes a male connector 25, which is located inside the T-end housing 21, within the inner ring of the main guide sleeve 23, and is connected to the female connector 100 of the R-end mechanism 1 to transmit power current and signals.

[0081] The T-end connecting flange 26 connects to the end tool. Its lower end face has a stop for connecting to the tool and several fixing bolt holes (the shape depends on the structural design of the connection part). The T-end mechanism 2 has an overall frustum design. From top to bottom, the structure consists of a magnetic ring conical clamping sleeve 24, a radial magnetic ring 22, a T-end housing 21, and a male connector 25. The T-end housing 21 is frustum shaped. The outermost ring of the upper end face has several crown teeth 3, which mesh with the crown teeth 3 of the R-end mechanism 1 to transmit the torque of the robotic arm. The inner ring has concentric grooves. The radial magnetic ring 22 is located inside the grooves. The inner ring has a stop. The upper end face of the stop has several threaded holes, which correspond to the through holes of the magnetic ring conical clamping sleeve 24. When the bolts are tightened, the inclined surface of the outer ring of the magnetic ring conical clamping sleeve 24 presses against the inner ring of the radial magnetic ring 22 to prevent the radial magnetic ring 22 from being pulled out. A main guide sleeve 23 is provided in the inner ring of the magnetic ring conical clamping sleeve 24. It cooperates with the main guide ring 18 of the R-end mechanism 1. A male connector 25 is provided in the inner ring. After it is plugged into the female connector 100 of the R-end mechanism 1, it can transmit power current and signals.

[0082] This application refers to the appendix Figure 5 As shown, the working process is as follows: (Refer to...) Figure 7 As shown, during the engagement, the T-end mechanism 2 is inserted into the R-end mechanism 1 (with a foolproof design, it can only be inserted in one direction to prevent misalignment of the male and female connectors). First, the main guide ring 18 of the R-end mechanism 1 contacts the main guide sleeve 23 of the T-end mechanism 2. Under their guidance, the male connector 25 and the female connector 100 are in the correct mating position. As the R-end mechanism 1 continues to be inserted, when the distance between the magnetic ring 12 and the radial magnetic ring 22 is less than 10mm, the magnetic force of the radial magnetic ring 22 and the magnetic ring 12 attracts the R-end mechanism 1 and the T-end mechanism 2 together. The elastic buffer pad 121 on the magnetic ring 12 absorbs the impact between them. After the distance between the magnetic ring 12 and the radial magnetic ring 22 is 0, the theoretically designed bonding force is achieved, realizing the guiding positioning → magnetic attraction and bonding → engagement of the crown teeth 3. After engagement, there is a theoretical gap of 0.1mm between the crown teeth 3.

[0083] See attached document Figure 6 As shown, when separation is required, the main control PCB board 17 sends a counterclockwise rotation command to the micro-joint actuator 15. The micro-joint actuator 15 drives the cam 13 to rotate counterclockwise. The curved surface 135 of the cam 13 presses against the roller bearing 141 on the push rod 14, and all three push rods 14 descend simultaneously, opening the T-end mechanism 2. After a delay, the main control PCB board 17 sends a clockwise rotation command to the micro-joint actuator 15. The cam 13 rotates clockwise, and the push rods 14 return to their original positions.

[0084] The preferred features in the above embodiments can be used individually in any embodiment, or in any combination thereof, provided they do not conflict with each other. Furthermore, parts not described in detail in the embodiments can be implemented using existing technologies.

[0085] The foregoing has described some specific embodiments of this application. It should be understood that this application is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the substantive content of this application. The above-described preferred features can be used in any combination without conflict.

Claims

1. A magnetic crown tooth quick-change mechanism, characterized in that... This includes: the R-end mechanism and the T-end mechanism; The R-end mechanism is used to connect with the robotic arm, and the T-end mechanism is used to connect with the end tool. The R-end mechanism is provided with a magnetic ring, and the T-end mechanism is provided with a radial magnetic ring. The R-end mechanism and the T-end mechanism are magnetically attracted together through the cooperation of the magnetic ring and the radial magnetic ring. The R-end mechanism is provided with a cam, a tappet, and a micro-joint actuator. The micro-joint actuator drives the cam to rotate. The cam has a curved surface. When the cam rotates, the curved surface presses against the tappet to separate the R-end mechanism from the T-end mechanism. The R-end housing of the R-end mechanism and the T-end housing of the T-end mechanism are respectively provided with intermeshing crown teeth for transmitting the torque of the robotic arm. The push rod has a Y-shaped structure and has multiple circumferentially distributed inside the R-end housing; The push rod has a roller bearing in the middle of the Y-shaped head at one end facing the cam, and the roller bearing rolls against the curved surface of the cam. A return spring is fitted at the lower end of the push rod to reset the R-end mechanism and the T-end mechanism; The lower end face of the push rod is also provided with a guide sleeve, the lower end face of the return spring abuts against the guide sleeve, and the push rod and the guide sleeve are in clearance fit. The curved surface is provided on the working surface of the cam, and the working surface of the cam is provided with the same multiple curved surfaces in the circumferential direction. The number of tappets is the same as the number of curved surfaces. The surface is a surface with a gradually increasing radius of curvature; The magnetic ring is provided with multiple guide holes, which are corresponding to the push rod. The other end of the push rod can extend into the guide hole and abut against the end face of the radial magnetic ring. The number of guide holes is the same as the number of push rods; During separation, the micro-joint actuator drives the cam to rotate counterclockwise, the curved surface of the cam rolls relative to the roller bearing at the other end of the push rod, and pushes the push rod to move. The other end of the push rod passes through the guide hole and pushes the radial magnetic ring to separate from the magnetic guide ring, so that the R-end mechanism is separated from the T-end mechanism. During reset, the micro-joint actuator drives the cam to rotate clockwise, the curved surface of the cam gradually disengages from the roller bearing, the push rod moves through the reset spring, the distance between the radial magnetic ring and the magnetic guide ring decreases, and the R-end mechanism and the T-end mechanism magnetically re-reset; The tappet is positioned directly below the working surface of the cam.

2. The magnetic quick-change mechanism for crown teeth according to claim 1, characterized in that, The magnetic ring at the R end is provided with an elastic buffer pad to buffer the impact when the magnetic ring is attracted to the radial magnetic ring.

3. The magnetic quick-change mechanism for crown teeth according to claim 1, characterized in that, The R-end mechanism also includes: an R-end connecting flange and a main control PCB board. The R-end connecting flange is connected to the micro-joint actuator and is used to determine the position of the micro-joint actuator; The main control PCB board is connected to the R-end housing and is used to control the rotation and stopping of the micro joint actuator; The main control PCB board is equipped with a Hall angle sensor, and the cam is equipped with an angle-sensitive magnet. The origin position of the cam is determined by the Hall angle sensor and the angle-sensitive magnet.

4. The magnetic quick-change mechanism for crown teeth according to claim 1, characterized in that, The R-end housing has a hollow internal structure, and the tappet, the cam, and the micro-joint actuator are disposed inside the R-segment housing. The R-end outer shell is provided with a main guide ring facing the T-end outer shell. The magnetic ring is sleeved on the main guide ring. The T-end mechanism includes a main guide sleeve. The main guide ring cooperates with the main guide sleeve to guide the R-end mechanism and the T-end mechanism to be aligned and inserted. One end of the main guide ring extends toward the T-end mechanism and protrudes from the crown teeth on the R-end outer shell.

5. The magnetic quick-change mechanism for crown teeth according to claim 4, characterized in that, The R-end mechanism also includes a ball bearing, the inner ring of which is fitted onto a protruding stop inside the R-end housing, and the outer ring of which abuts against the inner ring of the cam, so that the cam can rotate within the R-end housing.

6. The magnetic quick-change mechanism for crown teeth according to claim 4, characterized in that, The T-end mechanism also includes a magnetic ring conical clamping sleeve. The inner ring of the T-end housing is provided with a concentric groove. The radial magnetic ring is located in the groove. The outer ring inclined surface of the magnetic ring conical clamping sleeve cooperates with the inner ring of the radial magnetic ring to prevent the radial magnetic ring from being pulled off.

7. The magnetic quick-change mechanism for crown teeth according to claim 6, characterized in that, The main guide sleeve is disposed on the T-end outer shell and is located in the inner ring of the magnetic ring conical clamping sleeve; The T-end mechanism also includes a male connector, which is disposed inside the T-end housing, located in the inner ring of the main guide sleeve, and connected to the female connector of the R-end mechanism to transmit power current and signals.

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