Integrated mechanical arm electric tool quick-change execution device

Abstract

This invention discloses a quick-change actuator for power tools with an integrated robotic arm in the field of automated equipment technology. It includes a robotic arm and a tool holder, as well as a base for magnetically engaging power tools. Multiple limiting strips are provided at the end of the base to restrict the radial movement of the power tools. A drive assembly is used to change the shortest distance from each limiting strip to the base axis and control them to remain equal. The device adapts to lightweight power tools with different outer diameters by moving the limiting strips, significantly improving versatility.

Description

Technical Field

[0001] This invention relates to the field of automated equipment technology, specifically to a power tool quick-change actuator with an integrated robotic arm. Background Technology

[0002] An integrated robotic arm is an automated device consisting of a robotic arm and a variety of replaceable power tools. It can change the power tools connected to the robotic arm through a quick-change device to meet the needs of using different power tools in the process of automated work. Among the common quick-change devices is the magnetic quick-change device, which is based on the magnetic coupling and contact docking between the main side and the tool side. The overall structure is lightweight (the weight of the main side is usually <0.5kg), and it is suitable for light power tools with a load of ≤10kg (such as mini grinders, electric detection probes, and small grippers).

[0003] Traditional magnetic quick-change devices suffer from poor versatility. Different brands of robotic arms and different types of tools have inconsistent interface specifications, meaning a single switching device can only accommodate tools of the same specification. Custom adapters are required, leading to high costs and low compatibility. Furthermore, due to the lightweight nature of magnetic quick-change devices, the corresponding robotic arm end-effectors generally cannot have additional power units added for automatic adapter replacement. Installing adapters directly on the power tools increases their weight and inertia during robotic arm movement. To prevent the power tools from detaching from the robotic arm due to inertia, the maximum speed at which the robotic arm moves the power tools needs to be reduced, limiting equipment efficiency. Additionally, each power tool requires a separate adapter, increasing the number of adapters used and resulting in resource waste. Summary of the Invention

[0004] The purpose of this invention is to provide a quick-change actuator for power tools with an integrated robotic arm, so as to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a power tool quick-change actuator with integrated robotic arm, comprising a robotic arm and a tool holder, and further comprising a base for magnetically engaging the power tool, wherein the end of the base is provided with a plurality of limiting strips, the limiting strips being used to restrict the radial movement of the power tool; The drive assembly is used to change the shortest distance from each limit bar to the base axis and control them to remain equal.

[0006] The robotic arm and tool rack are mounted on the same mounting platform. The tool rack is used to hold the power tools to be used, and the power tools are fixed in their mounting positions on the tool rack. The robotic arm is used to place the connected power tools on the tool rack in a predetermined position for positioning and docking for the next use. After detaching from the power tools, it can re-dock a new power tool from the tool rack. Preferably, the drive assembly includes a mounting plate fixedly connected to the side wall of the base, a sleeve elastically rotatably connected to the mounting plate, an annular plate disposed between the sleeve and the base, the annular plate being fixedly connected to the base, a limiting strip disposed on the annular plate, a trigger rod elastically slidingly connected to the outer wall of the sleeve along the circumference of the sleeve, and wedge-shaped blocks with their wedge surfaces facing upwards fixedly connected to each power tool position on the tool holder. When the base docks with the corresponding power tool, the wedge blocks can drive the sleeve to rotate by squeezing the trigger rod. The rotation of the sleeve can provide driving force for the movement of the limiting strip. The base is provided with a limiting unit, which is used to fix the limiting strip after the robotic arm docks with the power tool.

[0007] Preferably, the limiting strip is fixedly connected to a rotating shaft, the rotating shaft passes through the annular plate and is rotatably connected to the mounting plate, and the rotating shaft is drivenly connected to the sleeve.

[0008] Preferably, an internal gear ring is fixedly connected to the inner wall of the sleeve, and a gear is fixedly connected to the rotating shaft on the same axis, the gear meshing with the internal gear ring.

[0009] Preferably, the limiting unit includes a shaft fixedly connected to a mounting plate, a housing coaxially rotatably connected to the shaft, the outer wall of the housing having teeth that mesh with an internal toothed ring, a plate fixedly connected radially to the side wall of the shaft located inside the housing, the plate fitting against and sealing the inner wall of the housing; a plate fixedly connected radially to the inner wall of the housing, a cover rotatably connected to the end of the housing, the cover fixedly connected to the shaft, and a sealing plate vertically slidably connected to the cover; after the sealing plate is inserted into the housing, its side wall fitting against and sealing the end of the plate two, and its two ends fitting against and sealing the two side walls of the plate one; an installation groove is provided on the end face of the base, a spring is fixedly connected to the bottom of the installation groove, a trigger ring is fixedly connected to the spring, a connecting rod is fixedly connected to the trigger ring, and the connecting rod is fixedly connected to the sealing plate.

[0010] Preferably, there are at least three limiting bars.

[0011] Preferably, the limiting strip is arc-shaped.

[0012] Preferably, the base has a locking groove at the center of the shaft, and a socket is inserted into the locking groove. The socket is used to engage the electrical connector of the power tool.

[0013] Compared with the prior art, the beneficial effects of the present invention are: The limit strip allows for the movement and adaptation of light power tools with different outer diameter specifications, greatly improving versatility.

[0014] By eliminating the adapter at the end of the tool and reducing the tool's motion inertia, the robotic arm can operate stably at higher speeds, improving work efficiency.

[0015] The fluid locking structure requires no additional motor or cylinder drive; locking is triggered solely by end-face compression during tool docking, reducing energy consumption and structural complexity. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic half-sectional view of the base side sleeve of the present invention; Figure 3 for Figure 2 Enlarged schematic diagram of the structure at point A in the middle; Figure 4 This is a schematic half-sectional view of the base of the present invention; Figure 5 for Figure 4 Enlarged schematic diagram of the structure at point B; Figure 6 This is a schematic diagram of the structure of the present invention after removing the sleeve and annular plate from the base side; Figure 7 for Figure 5 Enlarged schematic diagram of the structure at point C; Figure 8 This is a schematic diagram of the structure of the housing and the sealing plate. Figure 9 for Figure 8 A schematic diagram of the structure after removing the cover; Figure 10 This is a top sectional view of the cover after the sealing plate has been inserted into it. Figure 11 This is a top sectional view of the cover when the sealing plate is not inserted into the cover. Figure 12 An exploded view of the base and socket; Figure 13 This is a schematic diagram of the tool rack structure; Figure 14 This is a schematic diagram of the structure of the trigger rod and the wedge block.

[0017] The attached diagram lists the components represented by each number as follows: 1. Robotic arm; 2. Tool rack; 3. Base; 4. Limiting strip; 5. Sleeve; 6. Internal gear ring; 7. Trigger rod; 8. Wedge block; 9. Rotating shaft; 10. Gear; 11. Shaft 1; 12. Housing; 13. Plate 1; 14. Plate 2; 15. Cover; 16. Sealing plate; 17. Mounting plate; 18. Ring plate; 19. Mounting groove; 20. Spring; 21. Trigger ring; 22. Connecting rod; 23. Engaging groove; 24. Socket. Detailed Implementation

[0018] Please see Figure 1-14 The present invention provides a technical solution: a quick-change actuator for power tools with an integrated robotic arm, comprising a robotic arm 1 and a tool holder 2, characterized in that: it further comprises a base 3 for magnetically engaging the power tool, and the end of the base 3 is provided with a plurality of limiting strips 4, the limiting strips 4 being used to restrict the radial movement of the power tool; A drive component is used to change the shortest distance from each limit bar 4 to the axis of the base 3 and to control them to remain equal.

[0019] Robotic arm 1 and tool rack 2 are mounted on the same mounting platform. Tool rack 2 is used to hold power tools to be used, and the mounting position of the power tools on tool rack 2 is fixed. Robotic arm 1 is used to place the connected power tools on tool rack 2 in a predetermined position for positioning and docking for the next use. At the same time, after detaching the power tools, it can re-dock new power tools from tool rack 2. According to the work instructions, the robotic arm 1 moves the base 3 to the target power tool on the tool rack 2; the drive assembly drives all the limit bars 4 to extend synchronously to the maximum stroke (the distance between the limit bar 4 and the axis of the base 3 is the maximum), avoiding interference with the magnetic attraction docking; The robotic arm 1 lowers the base 3, causing the base 3 to magnetically attach to the end face of the power tool. The permanent magnet chuck then magnetically attracts the tool. Simultaneously, the base 3 and the tool tail are automatically connected to power and control signals via conductive contacts (through the spring pin assembly). Subsequently, the drive assembly drives all the limit bars 4 to retract synchronously towards the axis of the base 3 until the limit bars 4 are tightly attached to the outer peripheral wall of the tool tail, thus completing the radial limiting and circumferential anti-rotation of the tool. The robotic arm 1 drives the connected power tool to move along a preset trajectory to perform tasks such as grinding, inspection, and clamping. During the operation, the limit bar 4 effectively restricts the radial movement of the tool; the spring pin group restricts circumferential rotation and ensures the stability of power supply and signal transmission. After the work is completed, the robotic arm 1 moves the power tool to the predetermined placement position on the tool rack 2. Then, the robotic arm 1 lifts the base 3, and the magnetic surface separates from the tool tail. The power tool is restricted from moving by the tool rack 2, thus completing the return. The robotic arm 1 repeats the above steps to connect to the next power tool from the tool rack 2, realizing rapid tool switching.

[0020] Significantly improved versatility: No need to customize adapters for each tool; the limit strip allows for movement and adaptation to light power tools with different outer diameter specifications, making it compatible with multiple brands of tools and reducing equipment modification costs. Improved motion efficiency: By eliminating the adapter at the end of the tool, the tool's motion inertia is reduced, allowing the robotic arm to operate stably at higher speeds and improving work efficiency; Reduced resource waste: One set of equipment can be used with multiple tools, eliminating the need for a large number of adapters and saving material costs; High degree of automation: No human intervention is required throughout the process. The drive components are built into the base, which does not increase the load on the end effector of the robotic arm and meets the unmanned operation requirements of automated production lines.

[0021] Preferably, the drive assembly includes a mounting plate 17 fixedly connected to the side wall of the base 3. The mounting plate 17 is elastically rotatably connected to a sleeve 5. An annular plate 18 is provided between the sleeve 5 and the base 3. The annular plate 18 is fixedly connected to the base 3. The limiting strip 4 is provided on the annular plate 18. A trigger rod 7 is elastically slidably connected to the outer wall of the sleeve 5 along the circumference of the sleeve 5. The tool holder 2 is fixedly connected to each power tool position with a wedge-shaped block 8 with its wedge surface facing upward. When the base 3 docks with the corresponding power tool, the wedge block 8 can drive the sleeve 5 to rotate by squeezing the trigger rod 7. The rotation of the sleeve 5 can provide driving force for the movement of the limiting strip 4. The base 3 is provided with a limiting unit, which is used to fix the limiting strip 4 after the robotic arm 1 docks with the power tool.

[0022] When the robotic arm 1 moves the base 3 to above the target power tool on the tool holder 2 and begins to descend, the trigger rod 7 connected to the sleeve 5 on the mounting plate 17 on the side wall of the base 3 will first contact the wedge block 8 (wedge surface facing upward) on the tool holder 2 corresponding to the position of the power tool. As the base 3 continues to descend, the wedge surface of the wedge block 8 will exert a squeezing force on the trigger rod 7, forcing the trigger rod 7 to drive the sleeve 5 to rotate elastically around the axis of the base 3 (the sleeve 5 and the mounting plate 17 are elastically rotatably connected).

[0023] During the rotation of the sleeve 5, the driving force is transmitted to the limiting strips 4 on the annular plate 18, causing all the limiting strips 4 to retract synchronously towards the axis of the base 3. Before the base 3 is fully attached to the end face of the power tool through magnetic docking (the permanent magnet chuck adsorbs the tool, and the spring needle group is connected to the power supply and control signal), the limiting strips 4 are already tightly attached to the outer peripheral wall of the power tool's tail, completing the radial limiting and circumferential anti-rotation initial positioning. At this time, the limiting unit on the base 3 is activated to fix the position of the limiting strip 4, preventing the limiting strip 4 from being displaced due to vibration or external force during operation; when the power tool needs to be returned, the robotic arm 1 drives the base 3 to rise, the magnetic surface separates from the tool tail, the limiting unit releases the fixing of the limiting strip 4, and the above steps can be repeated to dock the new tool.

[0024] Preferably, the limiting strip 4 is fixedly connected to a rotating shaft 9, the rotating shaft 9 passes through the annular plate 18 and is rotatably connected to the mounting plate 17, and the rotating shaft 9 is drively connected to the sleeve 5.

[0025] When the base 3 descends and the wedge block 8 presses the trigger rod 7 to drive the sleeve 5 to rotate, the sleeve 5 will drive the rotating shaft 9 fixedly connected to the limit bar 4 to rotate through the transmission structure (the rotating shaft 9 passes through the annular plate 18 and is rotatably connected to the mounting plate 17). Since the rotating shaft 9 is fixed to the limiting strip 4, the rotation of the rotating shaft 9 will directly drive the limiting strip 4 to swing around the axis of the rotating shaft: when the sleeve 5 rotates in the forward direction, the rotating shaft 9 drives the limiting strip 4 to swing (retract) towards the axis of the base 3 until it is in contact with the outer peripheral wall of the tail of the power tool; when the sleeve 5 rotates in the reverse direction (such as after returning the tool), the rotating shaft 9 drives the limiting strip 4 to swing away from the axis of the base 3 (extend to the maximum stroke) to avoid interference with the tool during the next docking; This structure converts the rotation of the sleeve 5 into the swing of the limit bar 4 through the rotating shaft 9, ensuring that the movement direction of the limit bar 4 is stable and highly synchronized, further improving the reliability of radial limiting of the power tool; at the same time, by rotating, the space required for the retraction and extension of the limit bar 4 is reduced, further meeting the lightweight requirements of the equipment.

[0026] 4. The power tool quick-change actuator with integrated robotic arm according to claim 3, characterized in that: an internal gear ring 6 is fixedly connected to the inner wall of the sleeve 5, and a gear 10 is fixedly connected to the rotating shaft 9 on the same axis, wherein the gear 10 meshes with the internal gear ring 6.

[0027] During operation, when the wedge block 8 presses the trigger rod 7 to rotate the sleeve 5, the internal gear ring 6 fixed on the inner wall of the sleeve 5 will rotate synchronously with the sleeve 5; since the gear 10 coaxially connected to the rotating shaft 9 meshes with the internal gear ring 6, the rotation of the internal gear ring 6 will drive the gear 10 to rotate around the axis of the rotating shaft 9, thereby causing the rotating shaft 9 to drive the limit bar 4 to swing. After the limiting strip 4 retracts towards the axis of the base 3 and fits against the outer peripheral wall of the power tool tail, if the internal gear ring 6 continues to rotate, the trigger rod 7 and the sleeve 5 will slide elastically to prevent the sleeve 5 from continuing to rotate and to prevent the limiting strip 4 from causing excessive pressure on the tool tail (protecting the tool housing). When the limit bar 4 needs to be reset (such as after returning the tool), the robotic arm 1 drives the base 3 to rise, the trigger rod 7 separates from the wedge block 8, the rotation constraint of the internal gear ring 6 is released, the elastic connector releases its elastic potential energy, the sleeve 5 resets and drives the gear 10 to rotate in the opposite direction to reset, and finally the limit bar 4 extends synchronously to its maximum stroke, preparing for the next docking.

[0028] Preferably, the limiting unit includes a shaft 11 fixedly connected to the mounting plate 17, a housing 12 rotatably connected to the shaft 11, teeth on the outer wall of the housing 12 engaging with an inner toothed ring 6, a plate 13 radially fixedly connected to the side wall of the shaft 11 located inside the housing 12, the plate 13 fitting against and sealing the inner wall of the housing 12; a plate 14 radially fixedly connected to the inner wall of the housing 12, and a cover 15 rotatably connected to the end of the housing 12, the cover 15 being connected to... Shaft 11 is fixedly connected, and the cover 15 is vertically slidably connected to a sealing plate 16; after the sealing plate 16 is inserted into the housing 12, its side wall is fitted and sealed with the end of plate 2 14, and its two ends are fitted and sealed with the two side walls of plate 1 13; the end face of the base 3 is provided with an installation groove 19, the bottom of the installation groove 19 is fixedly connected to a spring 20, the spring 20 is fixedly connected to a trigger ring 21, the trigger ring 21 is fixedly connected to a connecting rod 22, and the connecting rod 22 is fixedly connected to the sealing plate 16.

[0029] The limiting unit is the core structure that ensures the stability of the position of the limiting strip 4 during operation. It achieves automatic fixing and unlocking of the limiting strip 4 through mechanical triggering combined with fluid locking. The specific working process is as follows: Initial state (before docking tool): When the base 3 has not descended, the trigger ring 21 is in the extended state due to the elastic force of the spring 20 in the mounting groove 19; The trigger ring 21 drives the sealing plate 16 to rise synchronously through the connecting rod 22. The sealing plate 16 is not fully inserted into the housing 12, and the sealed chamber formed by the first plate 13 (radially fixed by the first shaft 11), the second plate 14 (radially fixed by the inner wall of the housing 12), and the sealing plate 16 is not formed inside the housing 12. At this time, the housing 12 can rotate freely around the shaft 11 (because there is no fluid locking constraint), and the teeth on the outer wall of the housing 12 mesh with the inner toothed ring 6, which does not affect the initial rotation of the inner toothed ring 6 driven by the sleeve 5.

[0030] Locked state (after docking the tool): When the robotic arm 1 drives the base 3 to descend until the base 3 is in contact with the tail end face of the power tool, the tail end face of the power tool will squeeze the trigger ring 21, forcing the trigger ring 21 to overcome the elastic force of the spring 20 and retract into the mounting groove 19. The trigger ring 21 drives the sealing plate 16 to descend synchronously via the connecting rod 22. The sealing plate 16 is fully inserted into the housing 12. At this time: The side wall of sealing plate 16 is tightly fitted to the end of plate 14 (sealing), and both ends are tightly fitted to the side walls of plate 13 (sealing). Plate 13, Plate 2, and Sealing Plate 16 together with the inner wall of the housing 12 form an incompressible sealed chamber (filled with hydraulic oil or compressed gas). Due to the immutable volume of the sealed chamber, plate 14 (fixed to the shell 12) cannot rotate relative to plate 13 (fixed to shaft 11), thus restricting the rotation of the shell 12 around shaft 11. The housing 12 engages with the inner gear ring 6 through the teeth on its outer wall, indirectly restricting the rotation of the inner gear ring 6. When the inner gear ring 6 is fixed, the gear 10 (engaging with the inner gear ring), the rotating shaft 9 (fixed with the gear), and the limiting strip 4 (fixed with the rotating shaft) cannot be displaced, thus achieving rigid locking of the limiting strip 4 and completely preventing the limiting strip from loosening due to vibration or external force during operation.

[0031] Unlocked state (when returning the tool): When the robotic arm 1 drives the base 3 to rise and the magnetic surface separates from the tail of the power tool, the squeezing force of the tail of the power tool on the trigger ring 21 disappears, and the trigger ring 21 extends out of the mounting groove 19 under the elastic force of the spring 20. The trigger ring 21 drives the sealing plate 16 to rise synchronously through the connecting rod 22, and the sealing plate 16 is pulled out from the housing 12, breaking the sealing state of the sealed chamber. The rotational constraint of the housing 12 around the shaft 11 is released, and the internal toothed ring 6 can rotate freely with the sleeve 5, preparing for the next extension and retraction cycle of the limit bar 4.

[0032] The present invention, through the above-described components, has the advantages of powerless locking, high reliability, and synchronous unlocking, wherein: Non-powered locking: No additional motor or cylinder drive is required. Locking is triggered only by the end face compression when the tool is docked, reducing energy consumption and structural complexity. High reliability: The fluid locking structure can adapt to harsh working environments such as vibration and impact, and the locking force is stable, avoiding the problems of easy wear and failure of mechanical buckles; Synchronous unlocking: Triggered simultaneously with the magnetic separation action, requiring no additional control steps and ensuring the continuity of the automated process.

[0033] Preferably, there are at least three limiting bars 4.

[0034] The requirement of having at least three limit bars is based on the core requirements of radial positioning stability and circumferential anti-rotation reliability. The specific working principle is as follows: Three-point circle positioning: When the number of limit strips 4 is ≥3, the inner surfaces of all limit strips can jointly form a virtual circular positioning surface, which precisely fits the cylindrical outer peripheral wall of the power tool tail; firmly fixing the tool tail on the axis of the base 3, completely eliminating radial movement.

[0035] Preferably, the limiting strip 4 is arc-shaped.

[0036] The limiting strip 4 is designed in an "arc shape" to increase the contact area and improve clamping stability; the "inner side" of the arc-shaped limiting strip can be glued with an "elastic wear-resistant rubber layer" (such as nitrile rubber) to further increase static friction and avoid scratches caused by direct contact between the metal limiting strip and the tool housing.

[0037] Preferably, the base 3 has a locking groove 23 at the center of the shaft, and a socket 24 is inserted into the locking groove 23. The socket 24 is used to engage the electrical connector of the power tool.

[0038] When the robotic arm lowers the base 3 to dock the tool, the electrical connector at the tail of the tool will be fully inserted into the socket 24 in the locking groove 23; The socket 24 integrates a "spring pin assembly" (including power supply spring pins and control signal spring pins). After the electrical connector is inserted, the spring pins will make close contact with the "conductive contacts" of the connector under the action of the spring, so as to realize power supply and signal transmission.

[0039] The engaging structure between the socket 24 and the electrical connector (such as the protrusion of the plug and the slot of the socket) can further restrict the circumferential rotation of the tool, and together with the radial limit of the limit strip 4, limit the tool. When the robotic arm lifts the base 3 and the magnetic surface separates from the tool tail, the electrical connector at the tool tail will be pulled out of the socket 24, the spring pin will reset under the action of the spring, and the power supply and signal transmission will be disconnected simultaneously.

Claims

1. A power tool quick-change actuator with integrated robotic arm, comprising a robotic arm (1) and a tool holder (2), characterized in that: It also includes a base (3) for magnetically engaging the power tool, wherein the base (3) is provided with a plurality of limiting strips (4) at its end, the limiting strips (4) being used to restrict the radial movement of the power tool; A drive component is used to change the shortest distance from each limit bar (4) to the axis of the base (3) and control them to remain equal.

2. The power tool quick-change actuator with integrated robotic arm according to claim 1, characterized in that: The drive assembly includes a mounting plate (17) fixedly connected to the side wall of the base (3). The mounting plate (17) is elastically rotatably connected to a sleeve (5). An annular plate (18) is provided between the sleeve (5) and the base (3). The annular plate (18) is fixedly connected to the base (3). The limiting strip (4) is provided on the annular plate (18). The outer wall of the sleeve (5) is elastically slidably connected to a trigger rod (7) along the circumference of the sleeve (5). The tool holder (2) is fixedly connected to each power tool position with a wedge-shaped block (8) with the wedge surface facing upward. When the base (3) docks with the corresponding power tool, the wedge block (8) can drive the sleeve (5) to rotate by squeezing the trigger rod (7). The rotation of the sleeve (5) can provide driving force for the movement of the limiting strip (4). The base (3) is provided with a limiting unit. The limiting unit is used to fix the limiting strip (4) after the robotic arm (1) docks with the power tool.

3. The power tool quick-change actuator with integrated robotic arm according to claim 2, characterized in that: The limiting strip (4) is fixedly connected to a rotating shaft (9), which passes through the annular plate (18) and is rotatably connected to the mounting plate (17). The rotating shaft (9) is also connected to the sleeve (5) in a transmission manner.

4. The power tool quick-change actuator with integrated robotic arm according to claim 3, characterized in that: An internal gear ring (6) is fixedly connected to the inner wall of the sleeve (5), and a gear (10) is fixedly connected to the rotating shaft (9) on the same axis. The gear (10) meshes with the internal gear ring (6).

5. The power tool quick-change actuator with integrated robotic arm according to claim 4, characterized in that: The limiting unit includes a shaft (11) fixedly connected to a mounting plate (17), a housing (12) rotatably connected to the shaft (11) coaxially, the outer wall of the housing (12) being provided with teeth that mesh with an inner toothed ring (6), a plate (13) being radially fixedly connected to the side wall of the shaft (11) located inside the housing (12), the plate (13) fitting against and sealing the inner wall of the housing (12); a plate (14) being radially fixedly connected to the inner wall of the housing (12), a cover (15) being rotatably connected to the end of the housing (12), the cover (15) being connected to the shaft (11) 11) Fixed connection, the cover (15) is vertically slidably connected to a sealing plate (16); after the sealing plate (16) is inserted into the shell (12), its side wall is fitted and sealed with the end of the second plate (14), and its two ends are fitted and sealed with the two side walls of the first plate (13); the end face of the base (3) is provided with an installation groove (19), the bottom of the installation groove (19) is fixedly connected to a spring (20), the spring (20) is fixedly connected to a trigger ring (21), the trigger ring (21) is fixedly connected to a connecting rod (22), and the connecting rod (22) is fixedly connected to the sealing plate (16).

6. The power tool quick-change actuator with integrated robotic arm according to claim 1, characterized in that: The limiting strip (4) shall be at least three.

7. The power tool quick-change actuator with integrated robotic arm according to claim 1, characterized in that: The limiting strip (4) is arc-shaped.

8. The power tool quick-change actuator with integrated robotic arm according to claim 1, characterized in that: The base (3) has a locking groove (23) at the center of the shaft, and a socket (24) is inserted into the locking groove (23). The socket (24) is used to engage the electrical connector of the power tool.

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