An electro-hydraulic integrated quick-change locking mechanism for the end effector of an industrial robot and the robot itself.

Abstract

This invention discloses an electro-hydraulic integrated quick-change locking mechanism for the end effector of an industrial robot and the robot itself. The mechanism includes a ring body, with its first end connected to the industrial robot. An inner hole in the ring body is used to install an end effector. The ring body has electrical contacts and hydraulic connection holes, with their axial directions aligned with the ring body's axis. A ring-shaped cover is connected to the second end of the ring body and is fixedly connected to it. A radial groove is formed in the inner ring of the cover, and a locking slider is disposed within the groove. A cavity is located near the inner ring at the connecting end of the cover, and a state transition ring is installed within the cavity. The state transition ring includes a rotating ring, which is rotatably connected to the locking slider. This invention uses the ring body as a basic support component connected to the industrial robot and integrates axially aligned electrical contacts and hydraulic connection holes on the ring body, enabling the transmission of electrical signals and hydraulic power along the same axial dimension, thus laying the hardware foundation for hydro-pneumatic integration.

Description

Technical Field

[0001] This invention belongs to the field of industrial robot end effector connection technology, and particularly relates to an electro-hydraulic integrated industrial robot end effector quick-change locking mechanism and robot. Background Technology

[0002] In recent years, industrial robot machining systems have been widely used in the manufacturing and assembly of large and complex products. Compared with traditional machining centers, this technology demonstrates superior spatial accessibility in the assembly and machining of large and complex components, with lower requirements for installation space and flexible deployment on the assembly site. With its significant advantages such as strong versatility, high efficiency, and high level of automation, industrial robot systems are gradually becoming an important technology for the assembly and machining of large components in high-end manufacturing sectors such as aerospace.

[0003] As manufacturing companies delve deeper into the functions of industrial robots, various new end effectors are emerging, many of which integrate hydraulic drive modules and electrical control modules. Traditional connection methods typically employ a separate architecture, meaning that after installing the mechanical module of the end effector, power and signal transmission must be provided separately through external hydraulic lines and electrical interfaces located at the end. This installation and debugging process is cumbersome and complex, making it difficult to meet the operational needs of rapid end-effector replacement in industrial robots. Summary of the Invention

[0004] The purpose of this invention is to provide an electro-hydraulic integrated quick-change locking mechanism and robot for the end effector of an industrial robot, which integrates hydraulic lines and electrical interfaces into the end effector, reducing the complexity of changing the end effector and realizing the operational requirement of quick end effector change.

[0005] The present invention adopts the following technical solution: an electro-hydraulic integrated quick-change locking mechanism for the end effector of an industrial robot, comprising a ring body, the first end of which is connected to the industrial robot, and the inner hole of the ring body for installing an end effector; The ring body is provided with electrical contacts and liquid connection holes, and the axial direction of the electrical contacts and liquid connection holes is the same as the axial direction of the ring body. The second end of the ring is connected to a cover, which is ring-shaped and fixedly connected to the second end of the ring. The inner ring of the cover is provided with a radial groove, and a locking slider is provided in the radial groove; The connecting end of the cover has a cavity near the inner ring, and a state transition ring is installed in the cavity; the state transition ring includes a rotating ring, which is rotatably connected to the locking slider. When the rotating ring rotates, it drives the locking slider to move radially along the cover body within the radial groove, thereby locking / unlocking the end effector that enters the inner hole of the cover body.

[0006] Another technical solution of the present invention: a robot, including an electro-hydraulic integrated industrial robot end-effector quick-change locking mechanism as described above.

[0007] The beneficial effects of this invention are as follows: By connecting the ring body as a basic support component to an industrial robot and integrating axially aligned electrical contacts and hydraulic connection holes on the ring body, the invention enables the transmission of electrical signals and hydraulic power in the same axial dimension, laying the hardware foundation for hydraulic-pneumatic integration. On this basis, by fixing a cover body at the second end of the ring body and constructing a linkage mechanism consisting of a radial inclined groove, a locking slider, and a state transition ring inside the cover body, the rotational motion of the rotating ring is converted into the linear displacement of the locking slider along the radial inclined groove by utilizing the sliding cooperation between the rotating ring and the locking slider inside the state transition ring, thereby automating the locking or unlocking operation of the end effector inserted into the inner hole of the cover body. Attached Figure Description

[0008] Figure 1 This is a schematic diagram of the structure of an electro-hydraulic integrated quick-change locking mechanism at the end of an industrial robot according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the ring structure in an embodiment of the present invention; Figure 3 This is a schematic diagram of the bottom structure of the ring in an embodiment of the present invention; Figure 4 This is a schematic diagram of the assembly state of the ring body and the state transition ring in an embodiment of the present invention; Figure 5 This is a schematic diagram of the state transition loop in an embodiment of the present invention; Figure 6 This is a schematic diagram of the assembly state of the state transition ring, cover, and locking slider in an embodiment of the present invention; Figure 7 This is a schematic diagram of the cover structure in an embodiment of the present invention; Figure 8 This is a schematic diagram of the cross-sectional structure of the cover in an embodiment of the present invention; Figure 9 This is a schematic diagram of the unlocking state of the quick-change locking mechanism in an embodiment of the present invention; Figure 10 This is a reference diagram showing the usage state of an electro-hydraulic integrated quick-change locking mechanism at the end of an industrial robot according to an embodiment of the present invention.

[0009] Of which: 10. Motor; 20. Gearbox; 30. Ring body; 31. Bracket; 32. Electrical contact; 33. Hydraulic connection hole; 34. Arc-shaped groove; 35. Hydraulic switch valve; 36. Connecting flange; 40. Connecting rod; 41. Column; 50. State transition ring; 51. Shift fork structure; 52. Rotating ring; 53. Arc-shaped convex strip; 54. Arc-shaped rack; 60. Cover; 61. Radial inclined groove; 62. Arc-shaped opening; 63. Cavity; 70. Lock the slider; 80. End effector. Detailed Implementation

[0010] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0011] In recent years, industrial robot processing systems have been widely used in the manufacturing and assembly of large and complex products. Compared with traditional machining centers, this technology demonstrates superior spatial accessibility in the assembly and processing of large and complex components, with lower requirements for installation space and flexible deployment on the assembly site. As manufacturing enterprises delve deeper into the functions of industrial robots, various new end effectors are constantly emerging, many of which integrate hydraulic drive modules and electrical control modules. Traditional connection methods typically employ a separate architecture, meaning that after the mechanical module of the end effector is installed, power and signal transmission must be provided to it separately through external hydraulic lines and electrical interfaces located at the end. This installation method involves a cumbersome and complex debugging process, making it difficult to meet the operational needs of rapid end-effector replacement in industrial robots. Furthermore, the exposed hydraulic lines and electrical wiring not only increase the complexity of the system but may also pose potential hazards to the safe operation of the robot.

[0012] To address the aforementioned issues, this invention proposes an electro-hydraulic integrated quick-change locking mechanism for the end effector of an industrial robot. This mechanism integrates hydraulic lines and electrical interfaces into the connection structure of the end effector, achieving automatic locking and media switching through mechanical linkage, thereby reducing the complexity of the end effector changeover and enabling rapid end effector changeover.

[0013] This invention discloses an electro-hydraulic integrated quick-change locking mechanism for the end effector of an industrial robot, such as... Figure 1As shown, the device includes a ring body 30, the first end of which is connected to an industrial robot. The inner hole of the ring body 30 is used to install an end effector 80. The ring body 30 has an electrical contact 32 and a hydraulic connection hole 33, the axial direction of which is the same as the axial direction of the ring body 30. The second end of the ring body 30 is connected to a cover body 60, which is annular and fixedly connected to the second end of the ring body 30. The inner ring of the cover body 60 has a radial groove 61, and a locking slider 70 is provided in the radial groove 61. The connecting end of the cover body 60 near the inner ring has a cavity 63, and a state transition ring 50 is installed in the cavity 63. The state transition ring 50 includes a rotating ring 52, which is rotatably connected to the locking slider 70. When the rotating ring 52 rotates, it drives the locking slider 70 to move radially along the cover body 60 in the radial groove 61, so as to lock / unlock the end effector 80 that has entered the inner hole of the cover body 60.

[0014] This invention connects the ring body 30 to an industrial robot as a basic support component, and integrates axially aligned electrical contacts 32 and hydraulic connection holes 33 on the ring body 30, enabling the transmission of electrical signals and hydraulic power in the same axial dimension, thus laying the hardware foundation for hydraulic-pneumatic integration. On this basis, by fixing the cover body 60 to the second end of the ring body, and constructing a linkage mechanism consisting of a radial inclined groove 61, a locking slider 70, and a state transition ring 50 within the cover body 60, the rotational motion of the rotating ring 52 within the state transition ring 50 is converted into the linear displacement of the locking slider 70 along the radial inclined groove 61, thereby automating the locking or unlocking operation of the end effector 80 inserted into the inner hole of the cover body 60.

[0015] like Figure 2 and Figure 3 As shown, the ring body 30 is the main load-bearing component of the quick-change locking mechanism. Its first end is usually provided with a connecting flange 36 or a threaded interface for fixed connection with the end flange of the industrial robot. As a basic skeleton, the ring body 30 undertakes the connection function with the robot body on the one hand, and provides an installation reference for the electrical contacts 32, the hydraulic connection holes 33 and the cover 60 on the other hand, ensuring the coaxiality of each functional module.

[0016] Electrical contacts 32 and hydraulic connection holes 33 are key functional interfaces integrated on the ring body 30. Electrical contacts 32 are conductive contacts used to transmit electrical signals or energy; their number, arrangement, and current capacity can be set according to actual load requirements, for example, they can be single-point contacts or multi-point arrays. Hydraulic connection holes 33 can refer to channels for connecting hydraulic fluids or gases; their aperture size and internal flow channel structure can be designed according to flow and pressure requirements. The axial direction of electrical contacts 32 and hydraulic connection holes 33 is the same as the axial direction of the ring body 30, meaning these interfaces extend along the ring body's axis, facilitating axial docking with corresponding interfaces on the end effector 80. This coaxial arrangement simplifies the alignment operation during docking, allowing the end effector 80 to naturally complete the pre-positioning of the electrical and hydraulic interfaces during insertion.

[0017] The cover 60 is a ring-shaped structure, fixedly installed at the second end of the ring 30. The two can be connected by screws, welding, or interference fit. The main function of the cover 60 is to accommodate the closed or semi-closed space of the end effector 80, and to provide a mounting carrier for the locking mechanism. Figure 8 As shown, the inner ring of the cover 60 is provided with a radial inclined groove 61. This radial inclined groove 61 can be a blind groove with a certain depth, and its extension direction is along the thickness direction and radial direction of the cover 60, thereby constituting the inclined movement of the locking slider 70. The locking slider 70 is provided in the radial inclined groove 61, and the locking slider 70 is restricted to move within the inclined groove. Its movement trajectory is determined by the geometry of the inclined groove.

[0018] A cavity 63 is formed at the connecting end of the cover 60 near the inner ring to accommodate the state transition ring 50. The state transition ring 50 is the core motion conversion component, which includes a rotating ring 52. The rotating ring 52 is slidably connected to the locking slider 70. This connection can be surface contact sliding, line contact sliding, or indirect action through an intermediate transmission component. When the rotating ring 52 rotates about its axis, its specific contour surface or inclined surface structure interacts with the locking slider 70, converting the rotational motion of the rotating ring 52 into the linear movement of the locking slider 70 along the radial inclined groove 61.

[0019] Specifically, when the end effector 80 needs to be installed, the operator or automated equipment inserts the end effector 80 axially into the central area of ​​the cover 60. At this time, the electrical contact 32 is initially aligned with the electrical interface on the end effector, and the hydraulic connection hole 33 is initially aligned with the hydraulic interface. Subsequently, an external drive source (such as a motor with a reducer) drives the rotating ring 52 in the state transition ring 50 to rotate. As the rotating ring 52 rotates, its sliding contact surface with the locking slider 70 is relatively displaced, pushing the locking slider 70 to move along the radial groove 61 towards the central axis (i.e., radially inward) or away from the central axis (i.e., radially outward). In the locked state, the locking slider 70 moves to a specific position, and its locking surface tightly abuts against the outer surface of the end effector 80 or the special slot, thereby achieving mechanical locking; at the same time, this action may be accompanied by the final tight fit of the electrical contact 32 and the hydraulic connection hole 33, completing the conduction of the electrical and hydraulic passages. Conversely, if Figure 10 As shown, when the rotating ring 52 rotates in the opposite direction, the locking slider 70 retracts, releasing the constraint on the end effector 80 and unlocking it for removal.

[0020] In a preferred embodiment, the cover 60 is bolted to the bottom of the ring 30. Multiple locking sliders 70 (e.g., 3 or 4) are evenly distributed around the circumference of the cover 60, each slider located within a radial groove 61. The inner wall of the rotating ring 52 has a helical helix surface. When the rotating ring 52 rotates, the helical surface pushes the locking sliders 70 along the radial groove 61 towards the center, clamping the annular groove on the end effector 80 to complete the locking. In the locked state, the end effector 80 is firmly fixed, and the internal electro-hydraulic interface is in a connected working state, allowing the robot to begin operation immediately.

[0021] The design of integrating the electrical contact 32 and hydraulic connection hole 33 into the ring 30 allows for automatic connection of electrical and hydraulic media during mechanical locking, thus avoiding the need for manual connection of pipelines in traditional methods and significantly shortening changeover time. By utilizing the rotational motion of the rotating ring 52 to drive the locking slider 70 to move within the radial groove 61 for locking and unlocking, fully automated mechanical clamping is achieved, improving connection reliability and repeatability. Integrating mechanical locking, electrical connection, and hydraulic connection into one unit reduces the overall system complexity, minimizes safety hazards from exposed pipelines and cables, and enhances the operational efficiency and safety of the industrial robot system in multi-task switching scenarios.

[0022] In one embodiment, such as Figure 4 , Figure 6 and Figure 7As shown, a radial shift fork structure 51 is provided on the outer periphery of the rotating ring 52; the connecting end of the cover 60 has an arc-shaped opening 62 for the shift fork structure 51 to pass through and rotate; the quick-change locking mechanism also includes a connecting rod 40, the first end of the connecting rod 40 is connected to the output shaft of the reducer 20, and the second end is provided with a column 41, which is located in the fork hole of the shift fork structure 51.

[0023] The shift fork structure 51 refers to the radial protrusion or extended arm disposed on the outer circumferential surface of the rotating ring 52. Its name derives from its resemblance to a fork in agricultural tools, and it is used to receive external driving force and convert it into rotational motion of the rotating ring 52. The shift fork structure 51 and the rotating ring 52 can be an integrally formed structure, such as being directly formed on the rotating ring 52 through casting or machining; or they can be a separate connection structure, such as being fixed to the rotating ring 52 through welding, threaded connection, or pin connection.

[0024] In the system linkage, the shift fork structure 51 serves as a key intermediary for power transmission. One end of it is fixedly connected to the rotating ring 52, while the fork hole at the other end extends into the external space of the cover 60, ready to cooperate with the drive component. When the column 41 is inserted into the fork hole and displacement occurs, the shift fork structure 51 is subjected to pushing or pulling forces, which in turn drive the entire rotating ring 52 to rotate around its axis, realizing the functional positioning of converting linear motion or oscillating motion into rotational motion.

[0025] The arc-shaped opening 62 is a through groove or notch formed on the connecting end wall of the cover 60. Its shape can be arc-shaped, fan-shaped, or partially annular. The specific shape can be set according to the movement trajectory and rotation angle requirements of the shift fork structure 51, such as an arc segment with a central angle of 30 to 90 degrees. The main function of the arc-shaped opening 62 is to provide a movement channel for the shift fork structure 51, allowing a part of the shift fork structure 51 to pass through the wall thickness of the cover 60 to reach the outside, while restricting the shift fork structure 51 to move only within a predetermined arc path, preventing radial disengagement or axial movement. In terms of the mating relationship, a small mating gap can be left between the inner wall surface of the arc-shaped opening 62 and the side surface of the shift fork structure 51 to ensure smooth rotation without jamming. The size of this gap can be set according to the actual machining accuracy and lubrication conditions. Through this setting, the arc-shaped opening 62 serves both as a guide and a limiter, ensuring that the rotating ring 52 stops accurately between the two extreme positions of locking and unlocking.

[0026] The connecting rod 40 is a rod-shaped transmission component, and its material can be selected according to requirements. The first end of the connecting rod 40 is connected to the output shaft of the reducer 20. The connection method can be a keyed connection, splined connection, interference fit, or fixation with fasteners, as long as effective torque transmission is ensured. The second end of the connecting rod 40 is provided with a column 41, which can be a cylindrical pin, square column, or other shaped protrusion. Its diameter or size is slightly smaller than the inner diameter of the fork hole of the shift fork structure 51, so that it can slide freely within the fork hole without significant play. In the linkage relationship, the connecting rod 40 receives the rotational power from the reducer 20 and converts it into its own oscillating motion around the output shaft axis of the reducer 20. The column 41, as the end point of the connecting rod 40, is directly inserted into the fork hole of the shift fork structure 51. When the connecting rod 40 oscillates, the column 41 pushes the shift fork structure 51 to move along the trajectory of the arc-shaped opening 62, thereby driving the rotating ring 52 to rotate. This connection method achieves reliable transmission from the power source to the actuator.

[0027] Specifically, when locking or unlocking is required, the control system sends a command to drive the motor 10. The power of the motor 10 is reduced and amplified by the reducer 20 before being output to the first end of the connecting rod 40. The connecting rod 40 then reciprocates around the output shaft of the reducer 20. The column 41 at the second end of the connecting rod 40 then traces an arc in the horizontal plane. Since the column 41 is embedded in the fork hole of the fork structure 51 of the rotating ring 52, the movement of the column 41 directly pushes the fork structure 51. Due to the guiding constraint of the arc-shaped opening 62 on the cover 60, the fork structure 51 can only move along the space defined by the arc-shaped opening 62, thereby driving the rotating ring 52 fixed thereto to rotate precisely around the central axis. The rotation of the rotating ring 52 further drives the other mating parts on it (such as the curved surface that mates with the locking slider 70 or the rack that meshes with the hydraulic switch valve 35), ultimately realizing the locking or unlocking of the end effector 80 and the on / off control of the hydraulic circuit.

[0028] As a preferred embodiment, such as Figure 3As shown, in the assembled state, the reducer 20 is mounted on the bracket 31 on the outer periphery of the ring 30, with its output shaft extending horizontally. One end of the connecting rod 40 is sleeved on the output shaft of the reducer 20 and locked with screws. The other end of the connecting rod 40 extends vertically upward from the column 41. After the cover 60 is fastened to the end of the ring 30, the rotating ring 52 is placed inside the cover 60, and its outer circumferential fork structure 51 is aligned with the arc-shaped opening 62 on the cover 60. During installation, the column 41 is inserted into the fork hole of the fork structure 51 to complete the closure of the transmission chain. When a replacement operation is required, the motor 10 starts, driving the output shaft of the reducer 20 to rotate approximately 45 degrees (the specific angle depends on the design). The connecting rod 40 drives the column 41 to push the fork structure 51 to slide along the arc-shaped opening 62, driving the rotating ring 52 to rotate. This, in turn, completes the radial displacement of the locking slider through the internal mechanical structure, realizing the rapid clamping or release of the end effector 80.

[0029] The transmission combination of connecting rod 40 and shift fork structure 51 efficiently and smoothly converts the rotary motion output by reducer 20 into the rotary motion of rotating ring 52. The arc-shaped opening 62 guides and limits the shift fork structure 51, avoiding skewing and jamming during transmission and improving operational reliability. Simultaneously, the simple fit between column 41 and fork hole facilitates disassembly and maintenance, and exhibits minimal wear during long-term operation, ensuring the durability of transmission accuracy. This, in turn, ensures the accurate execution of locking and unlocking actions by end effector 80.

[0030] In one embodiment, the second end of the ring 30 is recessed downwards with an arc-shaped groove 34, and a liquid circuit switch valve 35 is disposed within the arc-shaped groove 34. The liquid circuit switch valve 35 is gear-shaped, and its axis is arranged radially along the ring 30. Figure 5 As shown, the first end of the rotating ring 52 has an arc-shaped rack 54 at the position corresponding to the arc-shaped groove 34, and the arc-shaped rack 54 meshes with the liquid circuit switch valve 35.

[0031] The arc-shaped groove 34 refers to a partially recessed structure formed on the second end face of the ring body 30. Its shape can be an arc segment or other geometric shapes capable of accommodating and limiting the movement of the hydraulic circuit switching valve 35. The main function of the arc-shaped groove 34 is to provide installation space for the hydraulic circuit switching valve 35 and the arc-shaped rack 54, and to limit the rotation trajectory of the hydraulic circuit switching valve 35. The depth, width, and radius of curvature of the arc-shaped groove 34 can be set according to the actual required hydraulic circuit diameter and valve size. In the system linkage, the arc-shaped groove 34 serves as the carrier of the hydraulic circuit control module, forming an integrated or separate connection structure with the ring body 30, ensuring that the hydraulic circuit switching valve 35 maintains a stable position during high-speed switching and preventing malfunctions caused by vibration.

[0032] The hydraulic circuit switching valve 35 refers to a mechanical valve assembly used to control the on / off state of hydraulic media, and its overall shape is gear-shaped. The axial direction of the hydraulic circuit switching valve 35 is defined as radially arranged along the ring body 30, that is, perpendicular to the central axis of the ring body 30. This radial arrangement allows the hydraulic circuit switching valve 35 to directly span the hydraulic passage inside the ring body 30, opening or closing the fluid passage through its own rotation. The internal flow channel structure of the hydraulic circuit switching valve 35 can be designed according to actual needs, and can be a ball valve structure, plug valve structure, or slide valve structure, as long as it can switch between on and off states through rotation.

[0033] The hydraulic circuit switch valve 35 is embedded in the arc-shaped groove 34, with its gear part exposed to receive drive. When the rotating ring 52 drives it to rotate, the hydraulic circuit switch valve 35 synchronously changes its opening degree, thereby achieving timing coordination with the locking action of the end actuator 80. That is, the hydraulic circuit is opened before or at the same time as the locking slider 70 completes locking, and the hydraulic circuit is cut off after unlocking.

[0034] The arc-shaped rack 54 refers to a toothed arc-shaped protrusion on the first end face of the rotating ring 52, whose tooth parameters (such as module, pressure angle, etc.) match the gear parameters of the hydraulic circuit switch valve 35. The arc-shaped rack 54 extends circumferentially along the rotating ring 52, and its extension length corresponds to the angle range required for the hydraulic circuit switch valve 35 to rotate from the fully closed state to the fully open state. The arc-shaped rack 54 and the hydraulic circuit switch valve 35 form a gear-rack meshing. When the rotating ring 52 is driven to rotate, the arc-shaped rack 54 moves tangentially, pushing the hydraulic circuit switch valve 35 to rotate around its radial axis. This engagement converts the rotational motion of the rotating ring 52 into the opening and closing action of the hydraulic circuit switch valve 35, realizing synchronous control of mechanical locking and hydraulic circuit opening and closing from a single power source, without the need for additional solenoid valves or independent drive motors.

[0035] Specifically, when the industrial robot needs to replace the end effector 80 and establish a hydraulic connection, the drive unit (such as the motor 10 and the reducer 20) drives the connecting rod 40 and the rotating ring 52 to rotate. During the rotation of the rotating ring 52, the arc-shaped rack 54 located at its first end moves accordingly. Since the arc-shaped rack 54 meshes with the hydraulic switch valve 35, the displacement of the arc-shaped rack 54 forces the hydraulic switch valve 35 to rotate around its radial axis. As the hydraulic switch valve 35 rotates, its internal flow channel gradually aligns with the hydraulic interface on the ring body 30, thereby opening the hydraulic passage. At the same time, other structural parts of the rotating ring 52 (such as the arc-shaped protrusion 53) drive the locking slider 70 to move along the radial inclined groove 61, locking the end effector 80 inserted into the cover body 60. The entire process is completed through the same rotational motion, ensuring that the fluid circuit is only opened when the locking mechanism tends to be locked; conversely, when the unlocking action is performed, the rotating ring 52 rotates in the opposite direction, and the arc-shaped rack 54 drives the fluid circuit switch valve 35 to close the fluid circuit, and then or simultaneously releases the locking slider 70, thereby avoiding the risk of liquid splashing caused by pressurized disassembly.

[0036] Because a gear-shaped hydraulic circuit switching valve 35, directly driven by an arc-shaped rack 54, is installed on the ring body 30, the on / off control of the hydraulic circuit and the mechanical locking action share the same drive source and kinematic chain. Therefore, while achieving quick replacement of the end effector 80, no additional electrically controlled valves or complex pipeline switching logic are required, effectively reducing the complexity and failure rate of the system. Since the action of the hydraulic circuit switching valve 35 and the action of the locking slider 70 have a strict mechanical linkage relationship, the safe sequence of first cutting off the hydraulic fluid and then unlocking or first locking and then allowing the hydraulic fluid to flow can be naturally guaranteed, preventing hydraulic oil leakage or high-pressure injury accidents caused by misoperation, and improving the safety of industrial robot end operation.

[0037] In one embodiment, the inner ring portion of the first end of the rotating ring 52 has a cavity where it fits against the second end of the ring body 30, and the cavity is connected to an air passage; the air passage is used to blow air onto the electrical contact 32 to keep it dry.

[0038] The cavity can refer to a hollow structure located at the interface between the inner ring portion of the first end of the rotating ring 52 and the second end of the ring body 30, or it can refer to a recessed area formed on the surface of the rotating ring 52 or the ring body 30 through machining. Its specific shape, size, and depth can be set according to actual conditions; for example, it can be an annular groove, a dotted distribution, or an irregularly connected cavity. The cavity functions as a buffer and guide channel for airflow, connecting to an external air source to allow compressed air to enter. There is an airflow path coordination between the cavity and the electrical contact 32. When the airflow path is activated, gas flows out of the cavity and points towards the area where the electrical contact 32 is located. The gas flow carries away any residual liquid or moisture on the surface of the electrical contact 32, thus maintaining the dryness of the electrical contact 32.

[0039] The air circuit refers to the gas delivery channel connected to the aforementioned cavity, or it can refer to an air supply system including air pipes, solenoid valves, and control units. Its specific configuration can be configured according to the needs of the actual application scenario. For example, it can be directly connected to the factory's central compressed air network, or it can be an independent micro air pump system integrated into the robot body. The function of this air circuit is to provide a power source for the purging action, and it forms a complete airflow loop with the cavity. The start and stop of this air circuit can be synchronized with the unlocking action of the quick-change locking mechanism or the hydraulic circuit closing action. That is, when the mechanism performs the unlocking operation or the hydraulic circuit switch valve 35 cuts off the hydraulic medium, the air circuit automatically opens, using airflow to prevent short circuits or poor contact of the electrical contacts 32 caused by hydraulic medium leakage or splashing, ensuring the reliability of electrical signal transmission.

[0040] When the quick-change locking mechanism receives an unlocking command or is in a non-working standby state, the control system triggers the air circuit valve to open, and compressed gas is delivered through the air circuit to the cavity where the rotating ring 52 and the ring body 30 meet. After the gas accumulates in the cavity and forms a certain pressure, it is ejected along a preset flow direction, covering the electrical contact 32 and its surrounding area. During this process, the high-speed flowing gas blows away trace amounts of hydraulic oil, coolant, or ambient moisture adhering to the surface of the electrical contact 32, preventing the formation of a conductive liquid film on the contact surface. With the continuous purging of gas, the electrical contact 32 remains clean and dry, avoiding electrical faults caused by liquid residue. Once the locking action is completed and there is no risk of liquid leakage, the air circuit can be closed or maintained in a low-flow purging state to adapt to different working environment requirements.

[0041] Because a cavity connected to the air passage is provided at the contact point between the rotating ring 52 and the ring body 30, dry gas can be actively delivered to the area of ​​the electrical contact 32 at critical moments such as unlocking the quick-change mechanism or switching the liquid passage. This effectively blows away any liquid or moisture that may remain on the surface of the electrical contact 32, thereby achieving the technical effect of preventing electrical short circuits and ensuring the stability of signal transmission. At the same time, by utilizing the integrated air blowing channel in the structure of the rotating ring 52 itself, there is no need to add a complicated external purging device, making the overall structure more compact, reducing the maintenance cost of the system, and improving the adaptability and safety in humid or leak-prone conditions.

[0042] As a specific form, such as Figure 5 As shown, the second end of the rotating ring 52 has an arc-shaped protrusion 53, which extends in the circumferential direction, and the top surface of the arc-shaped protrusion 53 is a smooth surface that gradually decreases from one end to the other; the smooth surface is slidably connected to the bottom of the locking slider 70.

[0043] The arc-shaped protrusion 53 refers to a ring-shaped or arc-shaped protrusion structure located at the second end of the rotating ring 52 (i.e., the side closest to the inner cavity of the cover 60). This arc-shaped protrusion 53 extends circumferentially along the rotating ring 52, and its extension length can be set according to the actual required locking stroke. For example, it can be a continuous protrusion surrounding the entire circumference of the rotating ring 52, or it can be one or more discontinuous protrusions distributed along the circumferential direction. The core feature of the arc-shaped protrusion 53 lies in the geometry of its top surface, which is a smooth surface that gradually decreases in height from one end to the other. This means that along the extension direction of the arc-shaped protrusion 53, its height exhibits a continuous changing trend, without steps, breaks, or abrupt sharp angles. This smooth, gradual design allows the arc-shaped protrusion 53 to provide a continuously varying normal force component when it engages with the locking slider 70. In the overall technical solution, the arc-shaped protrusion 53, as part of the drive source, is functionally positioned to convert the rotational motion of the rotating ring 52 into a radial pushing or releasing action on the locking slider 70. When the rotating ring 52 rotates, the arc-shaped protrusion 53 rotates accordingly, and its gradually changing smooth surface slides relative to the bottom of the locking slider 70, thereby pushing the locking slider 70 to move within the radial groove 61 of the cover 60.

[0044] The bottom of the locking slider 70 refers to the surface of the locking slider 70 facing the rotating ring 52, which is adapted to the smooth surface of the arcuate ridge 53. To achieve a smooth sliding fit, the bottom of the locking slider 70 is typically designed as a flat surface or a curved surface matching the curvature of the smooth surface. The locking slider 70 receives the driving force from the rotating ring 52 through its contact with the arcuate ridge 53 at its bottom. The locking slider 70 is confined within the radial groove 61 of the cover 60 and can only move along a specific radial path. When the higher portion of the arcuate ridge 53 rotates below the locking slider 70, the locking slider 70 is lifted and moves inward along the radial groove 61, performing a locking action; conversely, when the lower portion of the arcuate ridge 53 rotates below the locking slider 70, the locking slider 70 falls back under the action of a reset element (such as a spring), performing an unlocking action. The sliding connection between the arc-shaped protrusion 53 and the bottom of the locking slider 70 ensures the continuity of force transmission and avoids impact or jamming caused by abrupt changes in the contact surface.

[0045] Specifically, when a locking operation is required, the drive device rotates the rotating ring 52, causing the arc-shaped protrusion 53 fixed to the second end of the rotating ring 52 to rotate accordingly. Since the top surface of the arc-shaped protrusion 53 smoothly and gradually decreases from one end to the other, the relative height between it and the bottom contact point of the locking slider 70 gradually increases with the increase of the rotation angle. This height change forces the locking slider 70 to overcome resistance (such as spring force or friction) and make linear displacement along the radial groove 61 on the cover 60. Because the contact surface is smoothly and gradually decreasing, the thrust experienced by the locking slider 70 during movement is continuously changing, rather than a step-like impact, thus achieving smooth lifting and lowering motion. When the rotating ring 52 rotates to the predetermined position, the highest point or specific height point of the arc-shaped protrusion 53 engages with the locking slider 70, causing the locking slider 70 to reach the locking position and tightly abut against the end actuator 80 inserted into the inner hole of the cover 60. Conversely, during the unlocking process, the rotating ring 52 rotates in the opposite direction, the height of the arc-shaped protrusion 53 gradually decreases, and the locking slider 70 retracts along the radial inclined groove 61 under the action of the reset force, thus escaping the constraint on the end effector 80.

[0046] Because the rotating ring 52 is provided with an arc-shaped protrusion 53 with a smooth gradient surface, the locking slider 70 is subjected to uniform and continuous force during the driving process. This solves the problems of large impact, easy jamming and severe wear of the slider movement caused by abrupt changes in the contact surface in the prior art. As a result, the locking process is smooth and gentle, the service life of the mechanism is extended and the repeatability of positioning accuracy is improved.

[0047] In one embodiment, the top of the radial groove 61 has a limiting member; the opening of the radial groove 61 faces the central axis of the cover 60; the surface of the radial groove 61 opposite to the opening is an inclined plane, and the distance between the inclined plane and the central axis decreases along a first direction, which points from the ring 30 to the cover 60.

[0048] The limiting component at the top of the radial inclined groove 61 is a structural part used to limit the maximum displacement of the locking slider 70 during radial movement. This limiting component can be a stop, flange, or pin structure located at the top of the radial inclined groove 61, or it can be a stop surface formed by changing the geometry of the groove end. This limiting component cooperates with the locking slider 70. When the locking slider 70 moves outward along the radial inclined groove 61 to its limit position, the limiting component prevents it from continuing to detach from the groove, thereby preventing the locking slider 70 from accidentally falling off in the unlocked state and ensuring the safety of the mechanism's operation. The specific shape, size, and material of this limiting component can be set according to actual conditions. For example, it can be a protruding structure integrally formed with the cover 60, or it can be a metal part that is separately machined and installed on the top of the groove by thread or interference fit.

[0049] The opening of the radial groove 61 faces the central axis of the cover 60, which may refer to the groove specifically facing the central axis so that a part of it protrudes from the opening to make contact with the end effector 80.

[0050] The surface opposite the opening in the radial groove 61 is an inclined plane. The distance between this inclined plane and the central axis decreases along a first direction, which points from the ring 30 to the cover 60. This means that along the direction extending from the ring 30 to the cover 60, the inclined plane gradually approaches the central axis, forming a wedge-shaped or conical guide surface. This inclined plane can slide with the outer side or bottom of the locking slider 70. When the rotating ring 52 drives the locking slider 70 to move along the inclined plane, the locking slider 70 is forced to produce a radially inward displacement due to the continuously decreasing distance from the central axis. This geometric design ensures that the locking slider 70 is subjected not only to axial driving force but also to normal constraint force from the inclined plane during movement, thereby achieving a self-centering effect and enhancing concentricity and stability during locking. The inclination angle, surface roughness, and length of this inclined plane can be adjusted according to actual locking force requirements and spatial layout. For example, the inclination angle can be 15 degrees, 30 degrees, or 45 degrees.

[0051] Specifically, when the quick-change locking mechanism is in operation, the rotation of the rotating ring 52 causes the locking slider 70 to slide within the radial inclined groove 61. Because the radial inclined groove 61 has the aforementioned inclined plane, the radial position of the locking slider 70 changes accordingly based on the geometric characteristics of the inclined plane as it moves along the first direction, thereby achieving the clamping or releasing of the end effector 80. Simultaneously, the limiting member located at the top of the radial inclined groove 61 provides a physical barrier when the locking slider 70 moves to its outermost end, preventing it from dislodging from the groove due to inertia or vibration, ensuring the reliability and repeatability of the entire locking process.

[0052] The presence of the limiting component effectively prevents the locking slider 70 from dislodging from the groove during high-speed movement or vibration, thus improving the safety of the mechanism. Due to the design that the distance between the inclined plane and the central axis decreases in a specific direction, the locking slider 70 can obtain a stable radial guiding force and self-centering effect during movement, thereby solving the problem of insufficient guiding accuracy of traditional inclined grooves and achieving the technical effect of improving locking stability and assembly accuracy.

[0053] In one embodiment, the locking slider 70 includes a limiting part and a locking part that are locked inside the radial groove 61; the locking part is located outside the radial groove 61 and has a locking arc surface; when the quick-change locking mechanism is in the locked state, the locking slider 70 is close to the free end of the cover 60, and the locking arc surface is in close contact with the outer ring surface of the end effector 80.

[0054] The limiting part refers to the structural portion of the locking slider 70 that extends into the radial inclined groove 61 and engages with the groove wall. The main function of this limiting part is to provide guiding support during the movement of the locking slider 70 and to limit its range of movement away from the radial inclined groove 61. The limiting part is slidably connected to the inner wall of the radial inclined groove 61, and its shape can be set according to actual conditions; for example, it can be a rectangular block, trapezoidal block, or cylindrical pin structure that matches the cross-section of the radial inclined groove 61. Through the engagement of the limiting part and the radial inclined groove 61, the stability of the locking slider 70 when moving radially along the cover 60 is ensured, preventing it from deflecting or jamming during force application.

[0055] The locking part refers to the structural portion of the locking slider 70 that protrudes outside the radial inclined groove 61 and directly acts on the end effector 80. This locking part is provided with a locking arc surface, the radius of curvature of which can be adapted to the radius of curvature of the outer annular surface of the end effector 80 to achieve a tight fit of surface or line contact. The specific shape of the locking arc surface can be adjusted according to the external characteristics of the end effector 80; for example, it can be a circular arc surface, an elliptical arc surface, or a multi-segment fitted surface. The locking part and the limiting part are integrally formed or connected by fasteners. When the limiting part slides within the radial inclined groove 61, it drives the locking part to synchronously perform radial extension and retraction, thereby clamping or releasing the end effector 80.

[0056] The locking arc surface refers to the surface provided on the locking part that contacts the outer ring surface of the end effector 80 and applies clamping force. In the locked state, this locking arc surface is tightly fitted to the outer ring surface of the end effector 80, achieving axial and radial positioning and locking through friction. The material of the locking arc surface can be selected as wear-resistant and having a high coefficient of friction.

[0057] Specifically, when the quick-change locking mechanism is in the locked state, the drive assembly drives the state transition ring to rotate, thereby pushing the locking slider 70 to move along the radial inclined groove 61 towards the direction closer to the central axis (i.e., towards the free end of the cover 60). During this process, the limiting part slides along the inclined surface of the radial inclined groove 61 and is lifted, causing the locking part to extend to its limit position. At this time, the locking arc surface on the locking part is in close contact with the outer ring surface of the end effector 80 inserted into the inner hole of the cover 60. Due to the inclined surface of the radial inclined groove 61, the locking slider 70 generates radial clamping force while moving, causing the locking arc surface to tightly abut against the end effector 80, forming a reliable mechanical lock. The limiting part remains inside the radial inclined groove 61, bearing the reaction force from the groove wall, ensuring the effective transmission of the locking force.

[0058] In a preferred embodiment, when an end effector replacement is required, the end effector 80 is first inserted into the inner hole of the cover 60. Then, the control system issues a locking command, the motor drives the reducer to rotate, and the state transition ring rotates via a connecting rod. The driving surface on the state transition ring pushes the locking slider 70 to slide inward along the radial groove 61. As the locking slider 70 moves, its locking part gradually approaches the free end of the cover 60 until the locking arc surface is completely in contact with the outer circumferential surface of the end effector 80. At this point, the limiting part is locked deep in the radial groove 61 or at a specific limiting step, preventing the locking slider 70 from further disengaging, while maintaining the clamping state using the self-locking characteristic of the inclined surface. If unlocking is required, the state transition ring is driven in the reverse direction, and the locking slider 70 retracts outward along the radial groove 61 under the action of the return spring or gravity, separating the locking arc surface from the end effector 80, allowing the end effector to be removed.

[0059] Because the locking slider 70 is divided into a limiting part located inside the radial groove 61 and a locking part located outside, the limiting part can be dedicated to guiding and limiting functions to ensure the accuracy of the motion trajectory, while the locking part focuses on providing clamping force. Since the locking part has a locking arc surface that matches the shape of the end effector 80 and is close to the free end of the cover 60 in the locked state, it can apply a uniform radial clamping force at the maximum lever arm, effectively preventing the end effector from loosening or falling off during operation, thereby improving the reliability and safety of the quick-change connection.

[0060] In one embodiment, a spring is provided between the locking slider 70 and the cover 60. The spring refers to the elastic restoring element disposed between the locking slider 70 and the cover 60. Its material can be stainless steel spring steel, piano wire, or other metal materials with good fatigue strength and elastic modulus. Alternatively, non-metallic elastic materials can be selected according to actual working conditions. The specific shape of the spring can be set according to actual conditions; for example, it can be a helical compression spring, a disc spring, or a leaf spring. One end of the spring is connected to the back of the locking slider 70 or a non-working contact surface, and the other end abuts against or is fixed to the stepped surface, the bottom of the groove, or a specially provided limiting structure on the inner wall of the cover 60.

[0061] The spring's function in the overall technical solution is to provide active return force. When the rotating ring 52 drives the locking slider 70 to move inward along the radial groove 61 to perform the locking action, the locking slider 70 compresses the spring, allowing the spring to store elastic potential energy. When the rotating ring 52 rotates in the opposite direction to release the driving force on the locking slider 70, the spring releases the stored energy, pushing the locking slider 70 outward along the radial groove 61 back to its initial position, thereby unlocking the end effector 80. Through this coordination, the spring ensures that the locking slider 70 can automatically reset in the non-working state or in the power-off state, avoiding unlocking failure due to mechanical jamming or gravity, while also buffering the impact between the locking slider 70 and the cover 60 or other components during the locking process, reducing dynamic stress.

[0062] In this invention, a motor 10 is also included; a bracket 31 is provided on the outer periphery of the ring body 30, and the bracket 31 is used to install the reducer 20 and the motor 10.

[0063] Motor 10 refers to the power source that provides rotational driving force for the entire quick-change locking mechanism. It can be a servo motor, stepper motor, or other types of rotary drive devices. The functional role of motor 10 in the overall technical solution is to output initial torque. This torque, after conversion by subsequent transmission components, is ultimately transformed into the power to drive the state transition ring 50 to rotate, thereby triggering the radial displacement of the locking slider 70 to achieve locking or unlocking of the end effector 80. Motor 10 is connected in conjunction with reducer 20, with its output shaft directly connected to the input end of reducer 20. Through this connection, the high-speed, low-torque output of motor 10 is converted into a low-speed, high-torque output to meet the high clamping force requirements of the locking mechanism.

[0064] The bracket 31 refers to a support structure fixed to the outer circumferential surface of the ring 30. Its shape can be set according to actual conditions, such as an L-shaped plate structure, a U-shaped frame structure, or a ring clamp structure, as long as it can fulfill the function of supporting the motor 10 and the reducer 20. The bracket 31 and the ring 30 can be fixed by bolts, welding, or pins to ensure that the bracket 31 remains stable when the motor 10 vibrates during operation. The bracket 31 serves as a mounting base for the power module in the system. It integrates and fixes the motor 10 and the reducer 20 on the ring 30, making the power source and the execution body form an integrated structure, avoiding the space occupation and connection complexity problems caused by external power cables or independent power units. The bracket 31 ensures the positional accuracy of the motor 10 and the reducer 20 relative to the ring 30, thereby ensuring the transmission matching accuracy between the connecting rod 40 and the state transition ring 50.

[0065] When the end effector 80 needs to be locked or unlocked, the control system sends a command to the motor 10, which starts and outputs rotational motion. This rotational motion is transmitted to the reducer 20 connected to the motor 10. After being reduced in speed and increased in torque by the reducer 20, it drives the connecting rod 40 connected to its output shaft to rotate. The rotation of the connecting rod 40 further drives the state transition ring 50, which cooperates with it, to rotate around the axis of the ring body 30. The rotational motion of the state transition ring 50 is converted into a linear reciprocating motion of the locking slider 70 along the radial direction of the cover body 60 through its cam surface or inclined groove structure, thereby completing the locking or unlocking of the end effector 80. Figure 9 As shown, the locking slider 70 falls to its initial state and is unlocked from the end effector 80.

[0066] During this process, the bracket 31 always bears the gravity and working torque reaction force of the motor 10 and the reducer 20, and transmits these loads to the ring 30, ensuring the stability of the power transmission link.

[0067] In a preferred embodiment, when an industrial robot is operating on an automated production line, if a different processing tool needs to be changed, the robot controller first controls the robot arm to move the current end effector 80 to the designated change point. Then, the controller sends a reverse signal to the motor 10 mounted on the bracket 31. The motor 10 drives the reducer 20 to rotate in the opposite direction, driving the state transition ring 50 to rotate, causing the locking slider 70 to retract to the unlocked position under the action of a spring, releasing the constraint on the end effector 80. After the robot arm removes the old tool and picks up the new tool to insert into the inner hole of the cover 60, the controller sends a forward rotation signal to the motor 10. The motor 10 rotates forward, driving the state transition ring 50 to rotate forward via the reducer 20 and connecting rod 40, pushing the locking slider 70 to extend inward along the radial groove 61, tightly abutting against the outer ring surface of the new end effector 80. Simultaneously, the hydraulic circuit switch valve 35 is activated to open the hydraulic passage, completing the automatic and rapid change and readiness of the new tool.

[0068] Because a bracket 31 is set on the outer periphery of the ring body 30 and integrates the motor 10 and the reducer 20, the power supply system and the locking actuator form a compact integrated module. Therefore, fully automated locking and unlocking operations can be achieved without external hand tools or independent power stations. This solves the technical problems of low replacement efficiency and cumbersome operation caused by the reliance on manual connection of the power source in the traditional method. As a result, it achieves the technical effects of improving the automation level of the end effector of industrial robots, enhancing the overall rigidity of the system, and facilitating the programming control of the switching process of different end effectors.

[0069] Therefore, this solution effectively solves the cumbersome replacement process caused by the separation of mechanical locking and hydraulic interface in traditional technologies, achieving integrated and simultaneous completion of mechanical connection, circuit conduction, and hydraulic connection. This design not only significantly shortens the replacement time of the end effector and improves operational efficiency, but also reduces safety risks by eliminating exposed pipelines, ensuring the operational stability and reliability of the industrial robot system in multi-task switching scenarios.

[0070] The present invention also includes a robot, comprising an electro-hydraulic integrated end-effector quick-change locking mechanism of any of the above-described embodiments.

Claims

1. An electro-hydraulic integrated quick-change locking mechanism for the end effector of an industrial robot, characterized in that, Includes a ring body (30), the first end of which is connected to an industrial robot, and the inner hole of the ring body (30) is used to install an end effector (80). The ring (30) is provided with an electrical contact (32) and a liquid connection hole (33), and the axial direction of the electrical contact (32) and the liquid connection hole (33) is the same as the axial direction of the ring (30). The second end of the ring (30) is connected to a cover (60), which is ring-shaped and fixedly connected to the second end of the ring (30); The inner ring of the cover (60) is provided with a radial groove (61), and a locking slider (70) is provided in the radial groove (61). The connecting end of the cover (60) near the inner ring has a cavity (63), and a state transition ring (50) is installed in the cavity (63); the state transition ring (50) includes a rotating ring (52), and the rotating ring (52) is rotatably connected to the locking slider (70); When the rotating ring (52) rotates, it drives the locking slider (70) to move radially along the cover (60) in the radial groove (61) to lock / unlock the end effector (80) that enters the inner hole of the cover (60).

2. The electro-hydraulic integrated quick-change locking mechanism for the end effector of an industrial robot as described in claim 1, characterized in that, The outer periphery of the rotating ring (52) is provided with a radial fork structure (51). The connecting end of the cover (60) has an arc-shaped opening (62) that allows the fork structure (51) to pass through and rotate. The quick-change locking mechanism also includes a connecting rod (40), the first end of which is connected to the output shaft of the reducer (20), and the second end is provided with a column (41), which is located in the fork hole of the shift fork structure (51).

3. The electro-hydraulic integrated quick-change locking mechanism for the end effector of an industrial robot as described in claim 2, characterized in that, The second end of the ring (30) is recessed downward and has an arc-shaped groove (34). A liquid circuit switch valve (35) is provided in the arc-shaped groove (34). The liquid circuit switch valve (35) is gear-shaped and its axis is arranged radially along the ring (30). The first end of the rotating ring (52) has an arc-shaped rack (54) at the position corresponding to the arc-shaped groove (34), and the arc-shaped rack (54) meshes with the liquid circuit switch valve (35).

4. The electro-hydraulic integrated quick-change locking mechanism for the end effector of an industrial robot as described in claim 3, characterized in that, The inner ring portion of the first end of the rotating ring (52) has a cavity where it fits against the second end of the ring body (30), and the cavity is connected to an air passage; the air passage is used to blow air onto the electrical contact (32) to keep it dry.

5. The electro-hydraulic integrated quick-change locking mechanism for the end effector of an industrial robot as described in any one of claims 2-4, characterized in that, The second end of the rotating ring (52) has an arc-shaped protrusion (53), which extends along the circumferential direction, and the top surface of the arc-shaped protrusion (53) is a smooth surface that gradually decreases from one end to the other. The smooth surface is slidably connected to the bottom of the locking slider (70).

6. The electro-hydraulic integrated quick-change locking mechanism for the end effector of an industrial robot as described in claim 5, characterized in that, The top of the radial inclined groove (61) has a limiting element; The opening of the radial groove (61) faces the central axis of the cover (60); The surface of the radial groove (61) opposite to the opening is an inclined plane, and the distance between the inclined plane and the central axis decreases along a first direction, which extends from the ring (30) to the cover (60).

7. The electro-hydraulic integrated quick-change locking mechanism for the end effector of an industrial robot as described in claim 5, characterized in that, The locking slider (70) includes a limiting part and a locking part that are engaged inside the radial groove (61); The locking part is located outside the radial groove (61) and has a locking arc surface; When the quick-change locking mechanism is in the locked state, the locking slider (70) is close to the free end of the cover (60), and the locking arc surface is in close contact with the outer ring surface of the end effector (80).

8. The electro-hydraulic integrated quick-change locking mechanism for the end effector of an industrial robot as described in claim 7, characterized in that, A spring is provided between the locking slider (70) and the cover (60).

9. The electro-hydraulic integrated quick-change locking mechanism for the end effector of an industrial robot as described in claim 8, characterized in that, It also includes the motor (10); The outer periphery of the ring (30) is provided with a bracket (31), which is used to install the reducer (20) and the motor (10).

10. A robot, characterized in that, Including the electro-hydraulic integrated quick-change locking mechanism for the end effector of an industrial robot as described in any one of claims 1-9.

Images