An all-electric robotic quick change device

Abstract

The application discloses a kind of pure electric robot quick-change device, including: quick-change male disc end and quick-change female disc end;When the device runs, the signal of starting magnetic inductor and stopping magnetic inductor is received by communication control module, the starting and stopping of control drive motor are controlled, so as to drive screw rod rotation, drive locking block is made up and down linear motion in ball retaining cylinder by the rotation of screw rod, and extrude ball, push ball in ball track hole along radial motion, so as to cooperate with the arc-shaped groove of quick-change female disc end, realize locking and unlocking.The application adopts pure electric wedge drive mode, not only can meet the load requirement of traditional quick-change device, completely get rid of the dependence on gas source, use scene is more flexible and rich, not limited by wiring of pneumatic quick-change, also no manual intervention of pure mechanical quick-change, can independently complete the quick replacement of end tool, greatly improve the replacement efficiency of robot end tool and use scene.

Description

Technical Field

[0001] This invention relates to the field of robot end effector technology, specifically, a quick-change device for a pure electric robot. Background Technology

[0002] With the deepening of intelligent manufacturing, the robotics industry is experiencing rapid development, with various robots gradually penetrating various industries, replacing repetitive, low-value-added jobs and assisting human labor. As humanoid robots, industrial robots, and collaborative robots continue to be updated and iterated, their application demands are gradually evolving towards multi-scenario and multi-modal applications. A key issue has become how to quickly replace the end effector according to different application scenarios and task requirements, while keeping the robot itself unchanged.

[0003] Traditional pneumatic quick-change devices are widely used in industrial applications, but their use cases are significantly limited: they are typically only suitable for situations where the industrial robotic arm is in a fixed position and requires an air hose for air supply—both conditions are indispensable. As robot applications become increasingly diverse and working positions change frequently, traditional pneumatic quick-change devices are gradually failing to meet development needs in terms of flexibility and adaptability. The overlapping requirements of multiple scenarios and modalities further highlight the inadequacies of existing technological solutions.

[0004] Therefore, there is an urgent need to develop a quick-change device that does not rely on an air source and has high integration and intelligence to adapt to the trend of the robotics industry towards flexible deployment and rapid switching. Summary of the Invention

[0005] To address the limitations of existing pneumatic quick-change devices in terms of application scenarios and flexibility, this invention provides a pure electric robot quick-change device that can significantly improve the robot's end effector's ability to quickly switch between multiple scenarios and modes. It is also compact, lightweight, and plug-and-play, making it convenient and fast.

[0006] The present invention solves the above problems through the following technical solution:

[0007] A quick-change device for a pure electric robot includes: a quick-change male plate end and a quick-change female plate end; the quick-change female plate end includes: a female plate cavity, a female plate power module, a female plate signal module, and a positioning pin sleeve; the female plate cavity has several arc-shaped grooves that mate with the balls; the upper end face of the female plate cavity is provided with an embedded female plate power module and a female plate signal module; the quick-change male plate end includes: a male plate cavity, a drive motor installed in the male plate cavity, a communication control module and a positioning sensor, a quick-connect connector for the male plate power module and a quick-connect connector for the male plate signal module provided through the side of the male plate cavity, and a ball retaining cylinder, a male plate signal module, a male plate power module, a start magnetic sensor, a stop magnetic sensor, and a self-locking spring installed on the lower end face of the male plate cavity; the drive motor and the lead screw... One end is connected, and the other end of the lead screw passes through the lower end face of the male disc cavity and is threadedly connected to the drive locking block located in the ball retaining cylinder. Balls are installed between the ball track hole of the ball retaining cylinder and the side of the drive locking block. A manual button is provided on the side of the male disc cavity for locking and unlocking during installation and testing, as well as manual unlocking in case of emergencies. When the device is running, the communication control module receives signals to start and stop the magnetic sensor, controls the start and stop of the drive motor, thereby driving the lead screw to rotate. The rotation of the lead screw drives the drive locking block to move up and down linearly in the ball retaining cylinder, and squeezes the balls, pushing the balls to move radially in the ball track hole, thereby cooperating with the arc groove at the end of the quick-change female disc to achieve locking and unlocking.

[0008] As a further improvement of the present invention, the lower end face of the male disc cavity is provided with a guide positioning pin having a stepped end and a long tapered end; the upper end face of the female disc cavity is formed with a positioning pin sleeve that cooperates with the guide positioning pin; when the robot body inserts the quick-change male disc end downward into the quick-change female disc end, the long tapered end of the guide positioning pin enters the positioning pin sleeve first to achieve guidance and then positioning; after the lower end face of the quick-change male disc end is in contact with the upper end face of the quick-change female disc end, the positioning sensor feeds back a signal to the communication control module, and at the same time the communication control module receives the signal of the start magnetic sensor, controls the drive motor to rotate forward, drives the lead screw to rotate forward, so that the drive locking block moves downward, pushes the ball to extend outward, and realizes the locking function.

[0009] As a further improvement of the present invention, the stepped end of the guide positioning pin is press-fitted into the guide step positioning hole of the ball retaining cylinder, and the long tapered end is set downward; a magnet is installed in the magnet mounting hole provided on the drive locking block, and the magnet cooperates with the start magnetic sensor and stop magnetic sensor installed on the public disk cavity to monitor the position of the drive locking block, thereby controlling the start and stop of the drive motor.

[0010] As a further improvement of the present invention, the upper mounting end face of the ball retaining cylinder is formed with a threaded mounting through hole, a guide step positioning hole, and a positioning sensor mounting hole; the threaded mounting through hole is used for mounting and fixing the ball retaining cylinder to the male disc cavity; the guide step positioning hole is used for mounting the guide positioning pin; the positioning sensor mounting hole is used for mounting the positioning sensor, and a threaded sensor fixing hole is machined on one side of the positioning sensor mounting hole for fixing the positioning sensor; and / or a positioning pin hole is also formed on the upper mounting end face of the ball retaining cylinder for positioning between the ball retaining cylinder and the male disc cavity; and / or a plurality of evenly distributed ball trajectory holes are formed on the cylindrical surface of the cavity end of the ball retaining cylinder to allow the balls to move and be limited within them.

[0011] As a further improvement of the present invention, the central hole of the drive locking block is machined with a lead screw hole that matches the lead screw, the lower end face of the drive locking block is machined with a clearance and weight reduction hole, and the upper end face is machined with a plurality of magnet mounting holes. A plurality of limiting grooves and a tapered self-adaptive platform are evenly distributed on the circumference of the drive locking block. The limiting grooves on the circumference cooperate with the drive limiting boss on the inner wall of the ball retaining cylinder to limit the circumferential rotation of the drive locking block. The drive motor drives the lead screw to rotate, thereby providing power to the drive locking block, causing the drive locking block to move up and down along the limiting grooves, pushing the ball to make axial extension or retraction movements. The self-adaptive platform plays a role in smoothing the transition and adaptive adjustment during the movement of the ball.

[0012] As a further improvement of the present invention, a plurality of drive limiting bosses are machined on the inner wall of the ball retaining cylinder to limit the rotation and guide the drive locking block; at the same time, a ring of staggered weight-reducing bosses is provided on the inner wall to avoid the drive locking block and reduce weight; a cylinder end cover stepped hole is machined in the inner cavity of the ball retaining cylinder near the bottom surface for installation and limiting of the end cover of the bearing cylinder; a plurality of threaded locking holes are evenly distributed on the cylindrical surface of the ball retaining cylinder near the bottom surface for fixing the end cover of the bearing cylinder with set screws.

[0013] As a further improvement of the present invention, the quick-change male disk end has two evenly distributed connector holes, which respectively embed a male disk signal module and a male disk power module. Similarly, the quick-change female disk end has two evenly distributed connector holes, which respectively embed a female disk signal module and a female disk power module. The male disk signal module and the female disk signal module can be replaced with module connectors with different numbers of cores according to actual application conditions to adapt to various application scenarios. The male disk signal module is connected to the male disk signal module quick-connect connector, and the male disk power module is connected to the male disk power module quick-connect connector, and both are led out of the male disk cavity for quick insertion and removal. When the quick-change male disk end and the quick-change female disk end are closed, the spring probes on the male disk signal module and the male disk power module make close contact with the probes of the female disk signal module and the female disk power module on the quick-change female disk end under pressure to achieve conduction and signal transmission.

[0014] As a further improvement of the present invention, a self-locking spring limiting groove is provided on the upper end face of the drive locking block, and a self-locking spring is installed in the self-locking spring limiting groove. When the power is suddenly cut off, the drive locking block will always remain in its locked and pushed-out position under the action of the self-locking spring, ensuring that the ball is in the extended state. The entire pure electric robot quick change device system is in a self-locking state to prevent the tool from falling off and causing an accident.

[0015] As a further improvement of the present invention, the communication control module integrates the controller and communication module of the drive motor into one unit, for realizing motion control of the motor; and / or the communication control module communicates with the position sensor, the start magnetic sensor and the stop magnetic sensor, for receiving PLC commands and signal transmissions from each sensor.

[0016] As a further improvement of the present invention, a cable hole is formed on the side of the female disk cavity to lead out the cables of the female disk power module and the female disk signal module; a female disk cable protective sleeve is installed on the cable hole to protect the cable when the cable is bent and rotated, and to prevent dust and water; and / or a male disk end cap is installed at the upper opening of the male disk cavity; and / or a female disk end cap is embedded in and fixed with bolts on the lower end face of the female disk cavity.

[0017] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0018] (1) The present invention adopts a pure electric wedge drive method, which can not only meet the load requirements of traditional quick-change devices, but also completely get rid of the dependence on air source. The application scenarios are more flexible and rich. It is not limited by the wiring of pneumatic quick-change, nor does it require manual intervention of pure mechanical quick-change. It can autonomously complete the rapid replacement of end tools, greatly improving the replacement efficiency of robot end tools.

[0019] (2) The present invention also has a special structure design for ball self-locking, which not only has strong load-bearing capacity, but also the ball has the advantages of high wear resistance, high precision, high consistency, easy processing and low cost.

[0020] (3) This invention also features an integrated design, resulting in a compact, lightweight, and easy-to-use design that greatly reduces installation costs and time. Furthermore, it can be widely applied to humanoid robots, collaborative robots, industrial robots, and other scenarios requiring rapid switching of end-effectors, significantly improving the energy efficiency and reliability of robot systems. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of a quick-change device for a pure electric robot according to the present invention;

[0022] Figure 2 This is a cross-sectional view of a quick-change device for a pure electric robot according to the present invention;

[0023] Figure 3 This is a diagram showing the separation and unlocking state of a quick-change device for a pure electric robot according to the present invention.

[0024] Figure 4 This is a diagram showing the closed locking state of a quick-change device for a pure electric robot according to the present invention;

[0025] Figure 5 This is a schematic diagram of the quick-change public disk end of the present invention;

[0026] Figure 6 This is a schematic diagram of the structure of the quick-change motherboard end of the present invention;

[0027] Figure 7 This is a schematic diagram of the structure of the ball bearing retainer cylinder of the present invention;

[0028] Figure 8 This is a schematic diagram of the structure of the driving locking block of the present invention.

[0029] Reference numerals: 01. Quick-change male disc end; 02. Quick-change female disc end; 101. Male disc end cap; 102. Male disc cavity; 103. Position sensor; 104. Drive motor; 105. Start magnetic sensor; 106. Guide positioning pin; 107. Ball bearing; 108. Ball bearing retaining cylinder; 109. Positioning pin sleeve; 110. Female disc power module cable; 111. Female disc cable protective sleeve; 112. Female disc end cap; 113. Female disc signal module cable; 114. Female disc cavity; 115. Male disc cylinder end cap; 116. Drive locking block; 117. Self-locking spring; 118. Stop magnetic sensor; 119. Lead screw; 120. Manual button; 121. Lead screw retaining ring; 122. Communication control module; 123. 124. Quick-connect connector for public disk signal module; 125. Quick-connect connector for public disk power module; 126. Public disk power module; 127. Female disk power module; 128. Female disk signal module; 200. Ball track hole; 201. Alignment and weight reduction position; 202. Threaded mounting through hole; 203. Guide step positioning hole; 204. Position sensor mounting hole; 205. Sensor fixing hole; 206. Drive limit boss; 207. Offset weight reduction boss; 208. Positioning pin hole; 209. Threaded locking hole; 210. Cylinder end cover step hole; 300. Self-locking spring limit groove; 301. Limit groove; 302. Magnet mounting hole; 303. Adaptive platform; 304. Lead screw hole; 305. Alignment and weight reduction hole. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] Example:

[0032] Combined with appendix Figure 1-8 As shown, a pure electric robot quick-change device mainly includes two parts: quick-change male plate end 01 and quick-change female plate end 02.

[0033] The quick-change public disc end 01 includes: public disc cavity 102, public disc power module 126, public disc signal module 124, guide positioning pin 106, public disc end cover 101, drive motor 104, start magnetic sensor 105, ball bearing 107, stop magnetic sensor 118, drive locking block 116, self-locking spring 117, lead screw 119, position sensor 103, manual button 120, communication control module 122, public disc power module quick-connect connector 125, and public disc signal module quick-connect connector 123;

[0034] A drive motor 104 and a communication control module 122 are installed at the center of the male disc cavity 102. The drive motor 104 is connected to one end of a lead screw 119, and the other end of the lead screw 119 passes through the lower end face of the male disc cavity 102 and is threadedly connected to a drive locking block 116 located in the ball retaining cylinder 108. The rotation of the lead screw 119 drives the drive locking block 116 to make up-and-down linear motion within the ball retaining cylinder 108. A ball 107 is installed between the ball track hole 200 of the ball retaining cylinder 108 and the side of the drive locking block 116. The up-and-down movement of the drive locking block 116 within the ball retaining cylinder 108 allows for the movement of the ball 107. The ball bearings are compressed, causing them to move radially within the ball bearing track hole 200, thereby engaging with the arc-shaped groove of the quick-change female disc end 02 to achieve locking and unlocking. A positioning sensor 103 is also provided inside the male disc cavity 102. A manual button 120, a quick-connect connector 125 for the male disc power module, and a quick-connect connector 123 for the male disc signal module are provided through the side of the male disc cavity 102. A male disc end cap 101 is installed at the upper port of the male disc cavity 102. A male disc signal module 124, a male disc power module 126, a guide positioning pin 106, a start magnetic sensor 105, a stop magnetic sensor 118, and a self-locking spring 117 are provided on the lower end face of the male disc cavity 102.

[0035] The quick-change female disk end 02 includes: a female disk cavity 114, a female disk power module 127, a female disk signal module 128, a female disk end cover 112, and a positioning pin sleeve 109; the female disk cavity 114 is hollow and has several arc-shaped grooves that cooperate with the ball bearings 107; the female disk end cover 112 is embedded in and fixed to the lower end face of the female disk cavity 114 with bolts; the positioning pin sleeve 109 is formed on the upper end face of the female disk cavity 114, and the embedded female disk power module 127 and female disk signal module 128 are provided.

[0036] When the device is running, the communication control module 122 receives the signals to start the magnetic sensor 105 and stop the magnetic sensor 118, controls the start and stop of the drive motor 104 to drive the lead screw 119 to rotate, and transmits the power to the drive locking block 116 so that it can move up and down in a specific scenario, thereby pushing the ball 107 to move and realize the locking and unlocking functions.

[0037] During docking, the robot body inserts the quick-change male disc end 01 downwards into the quick-change female disc end 02. The long tapered end of the guide positioning pin 106 first enters the positioning pin sleeve 109 for guidance, followed by precise positioning. When the lower end face of the quick-change male disc end 01 is in contact with the upper end face of the quick-change female disc end 02, the positioning sensor 103 detects the contact and sends a signal to the communication control module 122. Simultaneously, the communication control module 122 receives the signal to activate the magnetic sensor 105, controlling the drive motor 104 to rotate forward, causing the lead screw 119 to rotate forward. This causes the lead screw 119 to move the drive locking block 116 downwards, pushing the ball bearing 107 outwards to achieve the locking function, ensuring a secure connection between the quick-change male and female disc ends. When unlocking is required, the communication control module 122 controls the drive motor 104 to rotate in reverse, causing the drive locking block 116 to move upwards, retracting the ball bearing 107, thus unlocking the device.

[0038] The two guide positioning pins 106 have stepped ends and long tapered ends. The stepped ends are respectively press-fitted into the two guide stepped positioning holes 203 of the ball retaining cylinder 108, with the long tapered ends facing downwards to ensure smooth guidance. When the quick-change male disc end 01 is inserted downwards into the quick-change female disc end 02, the long tapered ends of the guide positioning pins 106 enter first to achieve guidance, and then achieve the positioning function.

[0039] A magnet is inserted into the magnet mounting hole 302 on the upper end face of the drive locking block 116. In conjunction with the start magnetic sensor 105 and stop magnetic sensor 118 on the public disk cavity 102, the position of the drive locking block 116 is monitored in real time, thereby accurately controlling the start and stop of the drive motor 104.

[0040] The drive locking block 116 has a central hole with a lead screw hole 304 that matches the lead screw 119. The lower end face of the drive locking block 116 has a clearance and weight reduction hole 305, and the upper end face has a self-locking spring limiting groove 300, as well as n magnet mounting holes 302, where 1 ≤ n ≤ 2. The drive locking block 116 has j limiting grooves 301 on its circumference, where 2 ≤ j ≤ 6. The drive locking block 116 engages with the drive limiting boss 206 on the inner wall of the ball retaining cylinder 108 via the limiting grooves 301 on its circumference to restrict the circumferential rotation of the drive locking block. The drive motor 104 has a lead screw retainer 121 at its center to fix one end of the lead screw 119. When the drive motor 104 drives the lead screw 119 to rotate, the drive locking block 116 can move stably up and down axially under the guidance of the limiting grooves 301. The drive locking block 116 is machined into a tapered adaptive platform 303 at the center of its circumference, which can play a role in smooth transition and adaptive adjustment during the movement of the ball 107.

[0041] The ball retaining cylinder 108 is made of high-strength alloy steel. Its mounting end face has α threaded mounting holes 202, where 2 ≤ α ≤ 4, which are used to fix it to the male disc cavity 102. Two guide step positioning holes 203 are evenly distributed for mounting with guide positioning pins 106. A position sensor mounting hole 204 is also machined for mounting the position sensor 103; a threaded sensor fixing hole 205 is machined on one side of the position sensor mounting hole 204 for fixing the position sensor 103. Two positioning pin holes 208 are machined for positioning between the ball retaining cylinder 108 and the male disc cavity 102. K drive limiting bosses 206, where 2 ≤ k ≤ 6, are machined on the inner wall of the ball retaining cylinder 108 to limit the rotation and guide the drive locking block 116. A ring of staggered weight-reducing bosses 207 is also provided on the inner wall to avoid the drive locking block 116 and reduce weight. β ball trajectory holes 200, optimized through contouring and motion simulation, are evenly distributed on the cylindrical surface of the ball retaining cylinder 108, allowing the balls 107 to move and be limited within them, thus achieving locking and unlocking functions. A cylinder end cap stepped hole 210 is machined in the inner cavity near the bottom surface of the ball retaining cylinder 108 for mounting and limiting the end cap 115. Simultaneously, g threaded locking holes 209, 3≤g≤6, are evenly distributed on the cylindrical surface near the bottom surface of the ball retaining cylinder 108 for fixing the end cap 115 with set screws. Several clearance and weight-reducing positions 201 are formed on the side of the mounting end face.

[0042] In terms of electrical connections, the quick-change male disk end 01 has two evenly distributed connector holes, which respectively house the male disk signal module 124 and the male disk power module 126. Similarly, the quick-change female disk end has two evenly distributed connector holes, which respectively house the female disk signal module and the female disk power module. The male and female disk signal modules can be replaced with different pin count module connectors to adapt to various application scenarios. The male disk signal module 124 is connected to the male disk signal module quick-connect connector 123 and extends out of the male disk cavity 102. That is, the male disk signal module 124 and the male disk power module 126 embedded in the quick-change male disk end 01 are respectively led to the outside of the male disk cavity 102 through their respective quick-connect connectors, facilitating quick insertion, removal, and maintenance. Simultaneously, the male disk power module 126 is connected to the male disk power module quick-connect connector 125 and extends out of the male disk cavity 102, facilitating quick insertion, removal, and disassembly during application. Additionally, the female switch end 02 has a female switch signal module 128 and a female switch power module 127 embedded in corresponding positions, which can be adapted to the corresponding modules on the male switch end. Depending on the changing requirements of the application scenario, the female switch signal module 128 can also be replaced with a connector that matches the male switch signal module 124. When the male switch end 01 and the female switch end 02 are closed, the spring probes on the male switch signal module 124 and the male switch power module 126 on the male switch end 01, under pressure, make close contact with the probes of the female switch signal module 128 and the female switch power module 127 on the female switch end 02, respectively, to achieve signal transmission, facilitating signal transmission and power conduction between the male switch end 01 and the female switch end 02.

[0043] In terms of self-locking safety design, a self-locking spring 117 is installed in the self-locking spring limiting groove 300 machined on the drive locking block 116. Even if the robot encounters a power outage emergency during operation, the drive locking block 116 will always remain in its locked and pushed-out position under the action of the self-locking spring 117, ensuring that the ball 107 is in the extended state. The entire pure electric robot quick-change device system is in a self-locking state to prevent the tool from falling off and causing an accident.

[0044] The communication control module 122 integrates the controller of the drive motor 104 (i.e., the motor controller) and the communication module. It can not only directly control the drive motor 104, but also receive and process feedback signals from the position sensor 103, the start magnetic sensor 105, and the stop magnetic sensor 118. It can also interact with the upper PLC system through the standard communication protocol, realizing a compact and integrated drive control and communication architecture. It achieves true integration of drive control and communication, and is small, lightweight, and easy to install, thereby greatly reducing the overall space size of the device.

[0045] The quick-change female plate end 02 has two cable holes on its side of the female plate cavity 114, for the female plate power module cable 110 and the female plate signal module cable 113 to be led out respectively. A female plate cable protective sleeve 111 is also installed on the cable hole, effectively protecting the cable from damage during repeated bending or device rotation, and providing dust and water resistance. The quick-change male plate end 01 has a manual button 120 on its side for locking and unlocking during installation and testing, as well as manually unlocking the entire quick-change device in case of emergencies; it also facilitates manual closing and unlocking of the device during experimental testing, making it easy to operate.

[0046] Although the present invention has been described herein with reference to illustrative embodiments, the above embodiments are merely preferred embodiments of the present invention, and the implementation of the present invention is not limited to the above embodiments. It should be understood that those skilled in the art can devise many other modifications and implementations, which will fall within the scope and spirit of the principles disclosed in this application.

Claims

1. A quick-change device for a pure electric robot, characterized in that, include: Quick-change male disk end (01) and quick-change female disk end (02); The quick-change motherboard end (02) includes: a motherboard cavity (114), a motherboard power module (127), a motherboard signal module (128), and a positioning pin sleeve (109); the motherboard cavity (114) has several arc-shaped grooves that cooperate with the balls (107); the upper end face of the motherboard cavity (114) is provided with an embedded motherboard power module (127) and motherboard signal module (128). The quick-change public disk end (01) includes: a public disk cavity (102), a drive motor (104) installed in the public disk cavity (102), a communication control module (122) and a position sensor (103), a public disk power module quick-connect connector (125) and a public disk signal module quick-connect connector (123) arranged through the side of the public disk cavity (102), and a ball retaining cylinder (108) installed on the lower end face of the public disk cavity (102), a public disk signal module (124), a public disk power module (126), a start magnetic sensor (105), and a stop magnetic sensor (106). 118) and self-locking spring (117); the drive motor (104) is connected to one end of the lead screw (119), and the other end of the lead screw (119) passes through the lower end face of the male disc cavity (102) and is threadedly connected to the drive locking block (116) located in the ball retaining cylinder (108). A ball (107) is installed between the ball track hole (200) of the ball retaining cylinder (108) and the side of the drive locking block (116); a manual button (120) is provided on the side of the male disc cavity (102) for locking and unlocking during installation and testing, as well as manual unlocking in case of emergencies; When the device is running, the communication control module (122) receives the signals of starting the magnetic sensor (105) and stopping the magnetic sensor (118), controls the start and stop of the drive motor (104), thereby driving the lead screw (119) to rotate. The rotation of the lead screw (119) drives the drive locking block (116) to move up and down linearly in the ball holding cylinder (108), and squeezes the ball (107), pushing the ball (107) to move radially in the ball track hole (200), thereby cooperating with the arc groove of the quick change female plate end (02) to achieve locking and unlocking.

2. The quick-change device for a pure electric robot according to claim 1, characterized in that, The lower end face of the male disk cavity (102) is provided with a guide positioning pin (106) having a stepped end and a long tapered end; the upper end face of the female disk cavity (114) is formed with a positioning pin sleeve (109) that cooperates with the guide positioning pin (106). When the robot body inserts the quick-change male disc end (01) downward into the quick-change female disc end (02), the long tapered end of the guide positioning pin (106) first enters the positioning pin sleeve (109) to achieve guidance and then positioning; after the lower end face of the quick-change male disc end (01) is in contact with the upper end face of the quick-change female disc end (02), the positioning sensor (103) feeds back the signal to the communication control module (122), and at the same time the communication control module (122) receives the signal from the start magnetic sensor (105), controls the drive motor (104) to rotate forward, drives the lead screw (119) to rotate forward, so that the drive locking block (116) moves downward, pushes the ball (107) to extend outward, and realizes the locking function.

3. The quick-change device for a pure electric robot according to claim 2, characterized in that, The stepped end of the guide positioning pin (106) is press-fitted into the guide step positioning hole (203) of the ball retaining cylinder (108), and the long tapered end is set downward. A magnet is inserted into the magnet mounting hole (302) on the drive locking block (116), and in conjunction with the start magnetic sensor (105) and stop magnetic sensor (118) installed on the public disk cavity (102), the position of the drive locking block (116) is monitored, thereby controlling the start and stop of the drive motor (104).

4. The quick-change device for a pure electric robot according to claim 2, characterized in that, The upper mounting end face of the ball retaining cylinder (108) is formed with a threaded mounting through hole (202), a guide step positioning hole (203), and a position sensor mounting hole (204); the threaded mounting through hole (202) is used for mounting and fixing the ball retaining cylinder (108) to the male disk cavity (102); the guide step positioning hole (203) is used for mounting the guide positioning pin (106); the position sensor mounting hole (204) is used for mounting the position sensor (103), and a threaded sensor fixing hole (205) is machined on one side of the position sensor mounting hole (204) for fixing the position sensor (103). And / or a positioning pin hole (208) is also formed on the upper mounting end face of the ball retaining cylinder (108) for positioning between the ball retaining cylinder (108) and the public disc cavity (102); And / or a plurality of evenly distributed ball track holes (200) are formed on the cylindrical surface of the cavity end of the ball retaining cylinder (108) to allow the ball (107) to move and be limited within it.

5. The quick-change device for a pure electric robot according to claim 1, characterized in that, The drive locking block (116) has a screw hole (304) in its center hole that matches the screw (119). The lower end face of the drive locking block (116) has a clearance and weight reduction hole (305), and the upper end face has several magnet mounting holes (302). Several limiting grooves (301) and a tapered adaptive platform (303) are evenly distributed on the circumference of the drive locking block (116). The limiting grooves (301) on the circumference connect with the ball retaining cylinder (108). The drive limiting boss (206) on the wall cooperates to restrict the circumferential rotation of the drive locking block (116); the drive motor (104) drives the lead screw (119) to rotate, thereby providing power to the drive locking block (116), so that the drive locking block (116) moves up and down along the limiting groove (301), pushing the ball (107) to make axial extension or retraction; the adaptive stage (303) plays a role in smooth transition and adaptive adjustment during the movement of the ball (107).

6. The quick-change device for a pure electric robot according to claim 1, characterized in that, The inner wall of the ball retaining cylinder (108) is machined with several drive limiting bosses (206) to limit the rotation and guide the drive locking block (116); at the same time, a ring of staggered weight-reducing bosses (207) is provided on the inner wall to avoid the drive locking block (116) and reduce weight; a cylinder end cover stepped hole (210) is machined in the inner cavity of the ball retaining cylinder (108) near the bottom surface for the installation and limiting of the end cover (115) of the bearing cylinder; several threaded locking holes (209) are evenly distributed on the cylindrical surface of the ball retaining cylinder (108) near the bottom surface for the fixing of the end cover (115) of the bearing cylinder.

7. The quick-change device for a pure electric robot according to claim 1, characterized in that, The quick-change male disk end (01) has two connector holes evenly distributed inside, which respectively embed the male disk signal module (124) and the male disk power module (126). Similarly, the quick-change female disk end (02) has two connector holes evenly distributed inside, which respectively embed the female disk signal module (128) and the female disk power module (127). The male disk signal module (124) and the female disk signal module (128) can be replaced with different number of cores module connectors according to the actual application situation to adapt to various application scenarios. The public disk signal module (124) is connected to the public disk signal module quick-connect connector (123), and the public disk power module (126) is connected to the public disk power module quick-connect connector (125), and the public disk cavity (102) is led out respectively for quick plugging and unplugging. When the quick-change male disk end (01) and the quick-change female disk end (02) are closed, the spring probes on the male disk signal module (124) and the male disk power module (126) make close contact with the probes of the female disk signal module (128) and the female disk power module (127) on the quick-change female disk end (02) respectively under pressure to achieve signal transmission.

8. The quick-change device for a pure electric robot according to claim 1, characterized in that, The upper end face of the drive locking block (116) is provided with a self-locking spring limiting groove (300), and a self-locking spring (117) is installed in the self-locking spring limiting groove (300). When the power is suddenly cut off, the drive locking block (116) will always remain in its locked and pushed-out position under the action of the self-locking spring (117), ensuring that the ball (107) is in the extended state. The entire pure electric robot quick change device system is in a self-locking state to prevent the tool from falling off and causing an accident.

9. The quick-change device for a pure electric robot according to claim 1, characterized in that, The communication control module (122) integrates the controller and communication module of the drive motor (104) into one unit, and is used to realize the motion control of the motor; And / or the communication control module (122) communicates with the processing position sensor (103), the start magnetic sensor (105), and the stop magnetic sensor (118) to receive PLC commands and signal transmissions from each sensor.

10. The pure electric robot quick-change device according to any one of claims 1-9, characterized in that, The side of the mother disk cavity (114) has a cable hole for leading out the cables of the mother disk power module (127) and the mother disk signal module (128); a mother disk cable protective sleeve (111) is installed on the cable hole to protect the cable when it is bent or rotated, and to prevent dust and water. And / or a male disk end cap (101) is installed at the upper opening of the male disk cavity (102). And / or the lower end face of the mother disk cavity (114) is fitted with a mother disk end cap (112) and fixed with bolts.

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