A power machine arm overall quick replacement device and method supporting remote operation

Abstract

The application discloses a kind of support remote operation's power mechanical arm whole quick replacement device and replacement method, including mutually vertical alignment matching male end docking body, female end docking body and electromechanical synchronous docking assembly;Public end docking body is cylindrical structure, one end is fixedly connected with the bottom of bearing platform, and the other end is open downward;Female end docking body is cylindrical structure, one end is fixedly connected with the top of power mechanical arm's shoulder joint, and the other end can be coaxially inserted into the cylinder inside of public end docking body upward;Electromechanical synchronous docking assembly includes electrical connector male head and electrical connector female head;Electrical connector male head and female head are oppositely arranged, and respectively with public end docking body and female end docking body coaxial connection;When female end docking body is inserted into position, electrical connector male head and female head axially abut and conduct;Ball sliding sleeve locking mechanism is arranged between public end docking body and female end docking body.The application has the advantages of full-range remote unmanned replacement, high safety, high efficiency and the like.

Description

Technical Field

[0001] This invention relates to the field of special robot equipment technology for high-risk operations in the nuclear industry, specifically a device and method for the rapid replacement of a powered robotic arm that supports remote operation. Background Technology

[0002] In nuclear reactor operation and maintenance, spent fuel pool operation, radioactive hot cell repair, and nuclear waste disposal scenarios, strong nuclear radiation can cause irreversible and severe damage to the human body. Workers are completely prohibited from entering high-risk radiation areas to perform close-range operations, repairs, and equipment replacements. Powered robotic arms, as core execution equipment that replaces manual labor in radioactive environments for grasping, handling, equipment repair, and handling of operational situations, operate under harsh conditions of radiation, dust, slight corrosion, and continuous vibration for extended periods. This makes them highly susceptible to component aging, functional failures, and performance degradation, necessitating regular complete disassembly, replacement, and maintenance.

[0003] The existing docking and assembly structure between the powered robotic arm and the support platform has the following substantial defects: 1. Reliance on close-range manual operation: Traditional structures often employ manual assembly methods such as bolt fastening and flange connection. Disassembly and assembly operations heavily rely on close-range manual operation, which is completely impossible in a radiation environment. Equipment failures can only result in long-term downtime, leading to extremely poor timeliness of maintenance.

[0004] 2. Remote communication lacks a clear direction: A few remotely operable quick-change devices lack dedicated centering and guiding structures, making them prone to eccentricity, offset, and jamming during remote docking, resulting in low docking success rates and poor fault tolerance. Some devices use pneumatic or electromagnetic unlocking, which are structurally complex and dependent on external power sources, making them unreliable in nuclear radiation environments.

[0005] 3. Mechanical and electrical work is carried out in separate steps: The mechanical locking structure and electrical connection structure of existing equipment are mostly operated in separate steps. The mechanical fixing needs to be completed first, and then the electrical circuit needs to be connected. When disassembling, the electrical circuit needs to be disconnected first, and then the mechanical structure needs to be disassembled. The process is cumbersome, and each overall replacement usually takes several hours, resulting in extremely low overall replacement efficiency.

[0006] 4. The locking mechanism is prone to loosening: Conventional locking structures lack self-locking and anti-loosening capabilities, and are prone to loosening and increased gaps under continuous vibration operation conditions of robotic arms, resulting in electrical loose connections, equipment vibration, and reliability that cannot meet the high safety and high stability requirements of the nuclear industry.

[0007] 5. Radiation protection: The outer surface of the existing equipment is not treated with a radiation-resistant coating for strong radiation environments. After long-term service, the material ages faster, further reducing the reliability of the equipment.

[0008] In summary, the industry currently lacks a fully remote, unmanned, and integrated rapid replacement device for powered robotic arms that features high-precision coaxial centering, ball-type self-locking anti-loosening, electromechanical synchronization, and radiation protection. This makes it difficult to meet the maintenance needs for rapid, safe, and stable replacement of powered robotic arms in high-risk radioactive environments. Therefore, there is an urgent need to develop this device to address the aforementioned technical challenges. Summary of the Invention

[0009] The purpose of this invention is to address the shortcomings of existing technologies by providing a device and method for the rapid replacement of a powered robotic arm that supports remote operation, enabling fully remote, unmanned, high-precision docking, electromechanical synchronous linkage, and ball self-locking to prevent loosening. This significantly improves the safety, stability, and operational efficiency of the overall replacement of the robotic arm in high-risk environments.

[0010] The technical objective of this invention is achieved through the following technical solution: A remotely operated, power-driven robotic arm quick-change device includes a male connector, a female connector, and an electromechanical synchronous docking assembly that are vertically aligned and matched. The male connector is a cylindrical structure, with one end fixedly connected to the bottom of a support platform and the other end open downwards. The female connector is also a cylindrical structure, with one end fixedly connected to the top of the shoulder joint of the power-driven robotic arm and the other end coaxially inserted upwards into the cylinder of the male connector. The electromechanical synchronous docking assembly includes a male electrical connector and a female electrical connector. The male and female electrical connectors are positioned opposite each other and coaxially connected to the male and female connectors, respectively. When the female connector is inserted into place, the male and female electrical connectors axially abut and conduct. A ball-sleeve locking mechanism is provided between the male and female connectors to achieve mechanical docking locking and unlocking separation.

[0011] Furthermore, the ball bearing sleeve locking mechanism includes a ring of radially arranged waist-shaped rotating holes evenly distributed on the wall of the male end docking body, balls embedded in each waist-shaped rotating hole, locking holes disposed on the outer wall of the female end docking body and corresponding to each ball, and a sliding sleeve axially slidably fitted onto the outer side of the central axis of the female end docking body; a spring return assembly and a limiting pin are assembled between the sliding sleeve and the female end docking body; the limiting pin restricts the axial travel of the sliding sleeve; the sliding sleeve is normally maintained in the locking position covering the locking hole under the drive of the spring return assembly.

[0012] Furthermore, the male end docking body includes a first section of male end cylinder and a second section of male end cylinder with a diameter smaller than that of the first section. The second section of male end cylinder is provided with the waist-shaped rotary hole. The inner diameter of the inner end of the waist-shaped rotary hole is smaller than the outer diameter of the ball, the inner diameter of the middle section of the rotary hole is larger than the outer diameter of the ball, and the outer end is provided with a locking ring mounting hole with a diameter larger than the outer diameter of the ball. A locking ring is installed in the locking ring mounting hole. The inner diameter of the inner end of the locking ring is larger than the outer diameter of the ball, and the inner diameter of the outer end of the locking ring is smaller than the outer diameter of the ball. The inner diameter of the inner end of the locking ring and the middle section of the rotary hole form a cavity for accommodating the ball. When the ball is squeezed by external force, it can move radially and one side is exposed in the waist-shaped rotary hole.

[0013] Furthermore, the female end docking body includes a first section with a locking hole, a second section with a diameter greater than that of the first section, and a third section with a diameter greater than that of the second section; a guide section is provided at the end of the first section away from the second section, and the guide section is provided with a guide slope; a cross-shaped female end connecting part is provided inside the end of the guide section away from the first section, and the electrical connector female head is fixed at the center of the female end connecting part, and the electrical connector female head is exposed on the end face of the guide section.

[0014] Furthermore, the sliding sleeve is an annular sleeve with an annular boss on its inner wall. The inner diameter of the annular boss is equal to the outer diameter of the second section. The annular boss divides the inner wall of the sleeve into an upper section, an annular boss section, and a lower section. The outer wall of the second section has a connecting hole. The side wall of the annular boss section has an axially extending and radially penetrating waist-shaped hole. A limiting pin passes through the waist-shaped hole and connects to the connecting hole. The axial length of the second section is greater than the axial length of the annular boss. The axial length of the upper section of the sleeve is greater than the length from the second section to the locking hole. The annular boss has multiple circular blind holes spaced circumferentially on the side facing the third section. The spring reset assembly includes a spring cylinder inserted into the circular blind holes and a spring installed in the spring cylinder.

[0015] Furthermore, the upper section of the sliding sleeve includes an arc-shaped guide section away from the annular boss and a ball-fitting section close to the annular boss; the axial length of the second section of the male end cylinder is greater than the axial length of the upper section of the sliding sleeve; the radial distance from the inner center of the ball in the waist-shaped rotary hole to the inner circular surface of the male end mating body is less than the ball radius, so that the inner side of the ball can protrude to be embedded in the locking hole; in the locked state, the ball-fitting section forms radial compression on the outer side of the ball.

[0016] Furthermore, the male connector also includes a male connector mounting flange coaxially disposed at the end away from the female connector; the female connector also includes a female connector mounting flange coaxially disposed at the end away from the male connector; a cross-shaped male connection portion is coaxially disposed in the central circular hole of the male connector mounting flange, and the male end of the electrical connector protrudes from the center of the end face of the male connection portion facing the female connector.

[0017] Furthermore, the outer surface of the sliding sleeve of the male end docking body, the female end docking body, and the ball bearing sleeve locking mechanism is coated with a radiation-resistant protective coating.

[0018] A method for replacing a remotely operated power robotic arm's overall quick-change device, based on the aforementioned remotely operated power robotic arm's overall quick-change device, includes: S1. Docking and locking steps: The sliding sleeve is moved to the unlocked position by the auxiliary device; the carrying platform is lowered and / or the robotic arm is raised, so that the front part of the female docking body is automatically centered and inserted into the male docking body through the guide slope; when the ball is inserted and the locking hole is aligned, the sliding sleeve is released and reset to the locking position under the drive of the spring reset component, squeezing the ball radially inward into the locking hole to complete the mechanical locking; at the same time, the male and female electrical connectors are aligned during the insertion process and are fully connected synchronously when the mechanical locking is in place; S2. Unlocking and Separation Steps: Drive the sliding sleeve to the unlocking position using the auxiliary device, then control the lifting platform to rise, causing the male and female electrical connectors to disconnect first; the female end continues to retract, and the balls are squeezed radially outward by the inclined surface of the locking hole; after the male and female ends are completely separated, release the sliding sleeve to reset it, preparing for the next docking.

[0019] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention enables rapid, remote, unmanned replacement of robotic arms, offering high safety, efficiency, and reliability. It can meet the requirements for rapid replacement of powered robotic arms in high-risk scenarios such as nuclear reactors, spent fuel processing, and radioactive hot chambers.

[0020] 2. The ball bearings of this invention are reliably confined within the cavity, ensuring normal radial movement to engage or disengage into the locking hole at the female end, while completely eliminating the risk of the ball bearings falling out during repeated docking and disengagement. Compared to conventional radial through-hole riveting or flanged limiting structures, this invention offers advantages such as simplicity and more reliable limiting, significantly improving the durability and stability of the device under long-term high-frequency use.

[0021] 3. This invention ensures the coaxiality of the mating bodies with the external mounting reference by coaxially setting mounting flanges at the ends of the male and female mating bodies furthest from each other, avoiding radial misalignment that could affect the smoothness of the mating process. A cross-shaped male connector is coaxially set within the central hole of the male mating body's mounting flange, reducing structural weight and forming anti-torsional positioning with the female connector's cross-shaped connector, preventing relative rotation after mating. The male connector protrudes from the center of the male connector's end face facing the female mating body, allowing it to make initial contact and generate elastic compression during mating, ensuring reliable electrical conduction. This protruding structure also compensates for machining and assembly errors. The overall structure achieves high-precision mechanical positioning and a stable electrical connection while also being lightweight and easy to assemble.

[0022] 4. The female end of this invention adopts a three-section stepped cylindrical coaxial structure. The first section's small outer diameter and locking hole achieve precise positioning and locking of the ball bearings. The second section provides a full-range sliding mating surface for the annular boss on the inner wall of the sliding sleeve, effectively preventing jamming and misalignment during the movement of the sliding sleeve. The outer diameter of the third section is clearance-fitted with the lower section of the sliding sleeve, facilitating assembly and axially limiting the sliding sleeve's stroke. At the same time, the guide section achieves rapid centering and insertion of the male end through the guide slope. The cross-shaped female end connection part is fixed to the center of the electrical connector's female head, ensuring a stable and torsion-resistant electrical connection. The female head protruding from the end face of the guide section ensures reliable contact during docking. The overall structure combines the comprehensive effects of high rigidity locking, smooth sliding, anti-jamming, and precise electrical blind mating.

[0023] 5. The upper section of the sliding sleeve of this invention is divided into an arc-shaped guide section and a ball-fitting section. This ensures that when the ball retracts outward from the locking hole during the unlocking process, it first contacts the arc-shaped guide section. The smooth transition of the arc surface guides the ball to move smoothly outward, avoiding rigid scraping or jamming between the ball and the right-angled edges. After the ball enters the inner wall area of ​​the upper section of the sliding sleeve, the inner cylindrical surface of the ball-fitting section and the outer wall of the second section of the male end docking body together maintain the ball in a radially outward release position, preventing accidental rebound of the ball from interfering with the insertion and removal action when the sliding sleeve continues to slide. The axial length of the second cylindrical section of the male end is greater than the axial length of the upper section of the sliding sleeve, ensuring that the upper section of the sliding sleeve never detaches from the constraint of the outer wall of the second section during the entire sliding stroke, resulting in smooth and non-biased movement of the sliding sleeve. The radial distance from the inner center of the ball within the waist-shaped rotary hole to the inner circular surface of the male end is less than the ball radius, ensuring that a portion of the ball's inner surface always protrudes from the inner wall of the male end. This allows for reliable axial locking within the female end's locking hole in the locked state. Simultaneously, the ball mating section applies radial pressure to the outer side of the ball, pressing it firmly into the locking hole, eliminating clearances, and preventing loosening and vibration. The overall structure achieves a comprehensive effect of smooth unlocking, reliable locking, anti-jamming, and wear resistance. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 yes Figure 1 A sectional view; Figure 3 yes Figure 1 Schematic diagram of the structure of the Zhonggong end connector; Figure 4 yes Figure 3 A sectional view; Figure 5 yes Figure 4 Enlarged view of part A in the image; Figure 6 yes Figure 1 Schematic diagram of the structure of the mother-side docking body; Figure 7 yes Figure 6 Top view; Figure 8 yes Figure 1 Schematic diagram of the structure of the sliding sleeve; Reference numerals: 1—male end mating body; 11—first section of male end cylinder; 12—second section of male end cylinder; 121—waist-shaped rotary hole; 13—ball bearing; 14—locking ring; 15—first annular protrusion; 101—Male end mounting flange; 102—Male end connection part; 2—Female end mating body; 21—First section; 211—Locking hole; 22—Second section; 221—Connecting hole; 23—Third section; 24—Guide section; 241—Guide slope; 242—Female end connecting part; 201—Female end mating flange; 3—Sliding sleeve; 31—Upper section of the sliding sleeve; 311—Arc-shaped guide section; 32—Annular boss section; 321—Annular boss; 322—Circular blind hole; 323—Oval hole; 33—Lower section of sliding sleeve; 41—Male electrical connector; 42—Female electrical connector; 51—Spring cylinder; 52—Spring; 6—Limit pin. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and configured in various different ways.

[0026] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0027] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0028] Example 1 like Figure 1 — Figure 8 As shown, a quick-change device for a remotely operated powered robotic arm includes a male connector, a female connector, and an electromechanical synchronous docking assembly that are vertically aligned and matched. The male connector 1 is a cylindrical structure, with one end fixedly connected to the bottom of the support platform and the other end open downwards. The female connector 2 is a cylindrical structure, with one end fixedly connected to the top of the shoulder joint of the powered robotic arm and the other end coaxially inserted upwards into the cylinder of the male connector 1. The electromechanical synchronous docking assembly includes a male electrical connector 41 and a female electrical connector 42. The male and female electrical connectors 41 and 42 are arranged opposite each other and coaxially connected to the male connector 1 and the female connector 2, respectively. When the female connector 2 is inserted into place, the male and female electrical connectors 41 and 42 axially abut and conduct. A ball bearing sleeve locking mechanism is provided between the male connector 1 and the female connector 2 to achieve mechanical docking locking and unlocking separation. In practical use, during the mechanical locking process, when the mechanical lock is in place, the male connector 41 and the female connector 42 of the electrical connector abut against each other, forming synchronous conductivity. During the unlocking and disengagement process, the male connector 41 and the female connector 42 of the electrical connector disconnect first, and then the mechanical lock is released, achieving synchronous connection and disengagement of the mechanical structure and electrical circuit. This technology enables fully remote, unmanned, and rapid replacement, offering high safety, high efficiency, and strong reliability. It can meet the requirements for rapid replacement of the entire powered robotic arm in high-risk scenarios such as nuclear reactors, spent fuel processing, and radioactive hot chambers.

[0029] like Figure 1 — Figure 5As shown, the male end docking body 1 includes a first section 11 of male end cylinder and a second section 12 of male end cylinder with a diameter smaller than that of the first section 11. The second section 12 of male end cylinder is provided with a waist-shaped rotating hole 121. The inner diameter of the inner end of the waist-shaped rotating hole 121 is smaller than the outer diameter of the ball 13, the inner diameter of the middle section of the rotating hole is larger than the outer diameter of the ball 13, and the outer end is provided with a locking ring mounting hole with a diameter larger than the outer diameter of the ball 13. A locking ring 14 is installed in the locking ring mounting hole. The inner diameter of the inner end of the locking ring 14 is larger than the outer diameter of the ball 13, and the inner diameter of the outer end of the locking ring 14 is smaller than the outer diameter of the ball 13. The inner diameter of the inner end of the locking ring 14 and the middle section of the rotating hole form a cavity for accommodating the ball 13. When the ball 13 is squeezed by external force, it can move radially and one side is exposed in the waist-shaped rotating hole 121.

[0030] like Figure 2 — Figure 5 As shown, multiple radially penetrating waist-shaped rotary holes 121 are evenly and circumferentially formed on the wall of the second section 12 of the male end cylinder. The radial length of the waist-shaped rotary hole 121 is greater than the outer diameter of the ball 13 to ensure that the ball 13 can move freely radially within the hole. The waist-shaped rotary hole 121 has a stepped countersunk hole structure, which includes an outer hole end, a middle section of the rotary hole, and an inner hole end in sequence from the outside to the inside along the radial direction.

[0031] Specifically, the diameter of the inner end of the waist-shaped rotary hole 121 (near the inner wall of the male end cylinder) is smaller than the outer diameter of the ball 13 to prevent the ball 13 from falling out of the inner end and entering the interior of the male end cylinder; the diameter of the middle section of the rotary hole 121 is larger than the outer diameter of the ball 13, providing space for the ball 13 to move radially; the diameter of the outer end of the waist-shaped rotary hole 121 is larger than the outer diameter of the ball 13 to facilitate the assembly of the ball 13. A locking ring mounting hole is formed on the wall of the outer end, and a locking ring 14 is installed in the locking ring mounting hole. The inner diameter of the locking ring 14 (the end closer to the center of the male end cylinder) is larger than the outer diameter of the ball 13, and the inner diameter of the locking ring 14 (the end farther from the center of the male end cylinder) is smaller than the outer diameter of the ball 13. The inner end hole of the locking ring 14 and the middle section of the rotary hole together form a cavity for accommodating the ball 13. The ball bearing 13 is confined within the cavity, allowing it to roll freely. When subjected to radial pressure, a portion of it can protrude laterally from the inner end of the waist-shaped rotary hole 121, but it cannot completely detach from the hole. This technique reliably confines the ball bearing 13 within the cavity, ensuring its normal radial movement to engage or disengage from the female locking hole 211, while completely eliminating the risk of the ball bearing 13 falling out during repeated docking and disengagement. Compared to conventional radial through-hole riveting or flanged limiting structures, this method is simpler and more reliable, significantly improving the durability and stability of the device under long-term high-frequency use.

[0032] like Figure 1 , Figure 2 , Figure 6 , Figure 7 As shown, the female end docking body 2 includes a first section 21 with a locking hole 211, a second section 22 with a diameter greater than that of the first section 21, and a third section 23 with a diameter greater than that of the second section 22; a guide section 24 is provided at the end of the first section 21 away from the second section 22, and the guide section 24 is provided with a guide slope 241; a cross-shaped female end connecting part 242 is provided inside the end of the guide section 24 away from the first section 21, and an electrical connector female head 42 is fixed at the center of the female end connecting part 242, and the electrical connector female head 42 is exposed on the end face of the guide section 24.

[0033] In specific implementation, such as Figure 4 , Figure 5 As shown, the female end docking body is a coaxial three-section stepped cylindrical structure, starting from the insertion end (the end closest to the male end) and consisting of the first section 21, the second section 22, and the third section 23.

[0034] The first segment 21 has the smallest outer diameter, and a ring of locking holes 211 corresponding to the balls 13 are formed on the outer wall of the first segment 21. The locking holes 211 are incomplete spherical recesses with an opening diameter smaller than the diameter of the balls 13, ensuring that the balls 13 can be partially embedded.

[0035] The outer diameter of the second segment 22 is larger than that of the first segment 21. The outer wall of the second segment 22 serves as the sliding mating surface of the annular boss 321 on the inner wall of the sliding sleeve 3. The axial length of the second segment 22 is greater than the axial length of the annular boss 321 to ensure that the boss is always in contact with the second segment 22 during the sliding process of the sleeve, thus avoiding jamming.

[0036] The outer diameter of the third section 23 is larger than that of the second section 22, and the outer wall of the third section 23 is in clearance fit with the lower section 33 of the sliding sleeve 3.

[0037] The outer diameter of the first segment 21 of the female end docking body 2 is less than or equal to the inner diameter of the male end docking body 1, ensuring that the first segment 21 can be smoothly inserted into the male end cylinder.

[0038] The outer diameter of the second segment 22 of the female end docking body 2 is larger than the outer diameter of the male end docking body 1. When the male end is inserted into place, the end face of the open end of the male end abuts against the front face of the second segment 22 to form an axial limit and prevent over-insertion.

[0039] like Figure 2 , Figure 6 As shown, a guide section 24 extends coaxially from the end of the first section 21 of the female end docking body away from the second section 22 (i.e., the insertion end). The outer diameter of the guide section 24 is slightly smaller than the outer diameter of the first section 21, and its end face is machined with an inwardly narrowing guide slope 241. The guide slope 241 gradually narrows along the insertion direction (from the female end to the male end), forming a conical guide surface.

[0040] When the male end docking body 1 descends and the front part of the female end docking body 2 is inserted upwards, the edge of the open end of the male end docking body 1 first contacts the guide slope 241. Due to the centering effect of the guide slope 241, even if there is a certain radial deviation initially, it can be automatically corrected during the continued insertion process, guiding the female end to smoothly align and enter the interior of the male end cylinder.

[0041] The guide section 24 further includes a cross-shaped female connector 242. This connector consists of four cross-shaped spokes, the outer ends of which are integrally formed or fixedly connected to the inner wall of the guide section 24, with an axially protruding mounting seat at the center. The female electrical connector 42 is fixed to this mounting seat by threads or snaps and protrudes from the end face of the guide section 24 to reliably abut against the male electrical connector 41 when inserted. By providing a guide ramp 241 at the insertion end of the first section 21, high-precision automatic centering can be achieved during remote operation.

[0042] The female end docking body 2 adopts a three-section stepped cylindrical coaxial structure. The small outer diameter of the first section 21 and the locking hole 211 achieve precise positioning and locking of the ball 13. The second section 22 provides a full-range sliding mating surface for the annular boss 321 on the inner wall of the sliding sleeve, effectively preventing jamming and skewing during the movement of the sliding sleeve. The outer diameter of the third section 23 is clearance-fitted with the lower section 33 of the sliding sleeve, which facilitates assembly and provides axial positioning of the sliding sleeve stroke. At the same time, the guide section 24 achieves quick centering and insertion of the male end through the guide slope 241. The cross-shaped female end connection part 242 is fixed to the center of the electrical connector female head 42, ensuring a stable and torsion-resistant electrical connection. The female head protruding from the end face of the guide section 24 ensures reliable contact during docking. The overall structure has the comprehensive effects of high rigidity locking, smooth sliding, anti-jamming, and precise electrical blind mating.

[0043] like Figure 1 , Figure 2 , Figure 6 , Figure 7 As shown, the male connector 1 also includes a male connector mounting flange 101 coaxially disposed at the end away from the female connector 2; the female connector 2 also includes a female connector mounting flange 201 coaxially disposed at the end away from the male connector 1; a cross-shaped male connector connection part 102 is coaxially disposed in the central circular hole of the male connector mounting flange 101, and the male connector 41 of the electrical connector protrudes from the center of the end face of the male connector connection part 102 facing the female connector 2.

[0044] Specifically, the outer wall of the first section 11 of the male end cylinder, away from the second section 12, is provided with a first annular protrusion 15 for connecting the male end docking body mounting flange 101. The male end docking body mounting flange 101 and the first annular protrusion 15 are detachably and fixedly connected. The end of the male end docking body mounting flange 101 away from the male end docking body 1 is connected to the bottom of the support platform. The third section 23 of the female end docking body 2, away from the male end, is detachably and fixedly connected to the female end docking body mounting flange 201. The end of the female end docking body mounting flange 201 away from the female end docking body 2 is connected to the top of the shoulder joint of the power robotic arm.

[0045] By coaxially mounting flanges at the ends of the male and female connectors furthest from each other, the coaxiality of the connectors with the external mounting reference is ensured, preventing radial misalignment from affecting smooth docking. A cross-shaped male connector 102 is coaxially positioned within the central hole of the male connector mounting flange 101, reducing structural weight and providing anti-torsional positioning in conjunction with the female connector's cross-shaped connector, preventing relative rotation after docking. The male connector 41 protrudes from the center of the end face of the male connector 102 facing the female connector 2, allowing it to make initial contact and generate elastic compression during docking, ensuring reliable electrical conduction. This protrusion also compensates for machining and assembly errors. The overall structure achieves high-precision mechanical positioning and a stable electrical connection while also being lightweight and easy to assemble.

[0046] like Figure 1 , Figure 2 , Figure 3 , Figure 6 , Figure 8 As shown, the ball sleeve locking mechanism includes a ring of radially arranged waist-shaped rotating holes 121 evenly distributed on the wall of the male end docking body 1, balls 13 embedded in each waist-shaped rotating hole 121, locking holes 211 disposed on the outer wall of the female end docking body 2 and corresponding to each ball 13, and a sliding sleeve 3 axially slidably fitted on the outer side of the central axis of the female end docking body 2; a spring return assembly and a limiting pin 6 are assembled between the sliding sleeve 3 and the female end docking body 2, and the limiting pin 6 restricts the axial travel of the sliding sleeve 3; the sliding sleeve 3 is normally maintained in the locked position covering the locking hole 211 under the drive of the spring return assembly.

[0047] The ball bearing sleeve locking mechanism accommodates the ball bearing 13 through the waist-shaped rotary hole 121 on the wall of the male end docking body 1, which corresponds one-to-one with the locking hole 211 on the outer wall of the female end docking body 2. Under the covering and pressing of the sliding sleeve 3, the ball bearing 13 is radially pressed inward and embedded into the locking hole 211, forming multi-point synchronous locking, with uniform force and high tensile strength. The waist-shaped rotary hole 121 allows the ball bearing 13 to rotate slightly axially within the hole, avoiding stress concentration at point contact during the locking process and extending the service life of the ball bearing 13 and the hole wall. The sliding sleeve 3 is normally kept in the locked position covering the locking hole 211 under the drive of the spring reset assembly, realizing automatic reset and locking to prevent accidental loosening; the limit pin 6 precisely limits the axial travel of the sliding sleeve 3, ensuring that the sleeve just disengages from the locking hole 211 when unlocking and completely covers and presses the ball 13 when locking, avoiding overtravel damage to the spring or ball dislodging; when unlocking, only axial pushing of the sliding sleeve 3 to compress the spring is needed to release the ball 13, which is convenient to operate, compact in structure, and suitable for remote operation and quick disassembly in confined spaces.

[0048] like Figure 1 , Figure 2 , Figure 8 As shown, the sliding sleeve 3 is an annular sleeve with an annular boss 321 on its inner wall. The inner diameter of the annular boss 321 is equal to the outer diameter of the second segment 22. The annular boss 321 divides the inner wall of the sleeve into an upper segment 31, an annular boss segment 32, and a lower segment 33. The outer wall of the second segment 22 is provided with a connecting hole 221. An axially extending and radially penetrating waist-shaped hole 323 is opened on the side wall of the annular boss segment 32. The limiting pin 6 passes through the waist-shaped hole 323 and connects with the connecting hole 221. The axial length of the second segment 22 is greater than the axial length of the annular boss 321. The axial length of the upper segment 31 is greater than the length from the second segment 22 to the locking hole 211. The annular boss 321 has a plurality of circular blind holes 322 spaced circumferentially on the side facing the third segment 23. The spring reset assembly includes a spring cylinder 51 inserted into the circular blind hole 322 and a spring 52 installed in the spring cylinder 51.

[0049] In specific implementation, the axial length of the second segment 22 is less than the distance between the upper end face of the annular boss 321 (the side closest to the upper segment 31 of the sliding sleeve) and the lower end face of the lower segment 33 of the sliding sleeve, so as to ensure that the annular boss 321 can completely slide through the second segment 22 during the axial movement of the sliding sleeve 3, so that the locking hole 211 area can be completely exposed or covered, ensuring the reliability of unlocking and locking actions.

[0050] The limiting pin 6 and the oblong hole 323 can slide relative to each other axially. The axial length of the oblong hole 323 limits the axial sliding stroke of the sliding sleeve 3. After passing through the oblong hole 323, the limiting pin 6 is fixed in the connecting hole 221, thereby circumferentially limiting the sliding sleeve 3 to the female end docking body 2, and at the same time limiting the sliding stroke of the sliding sleeve 3 by the axial length of the oblong hole 323. The axial length of the second section 22 is greater than the axial length of the annular boss 321, ensuring that the inner wall of the annular boss 321 always maintains surface contact with the outer wall of the second section 22 during the entire stroke of the sliding sleeve 3 from the locked position to the unlocked position, avoiding the sleeve from deflecting or jamming due to partial disengagement during the sliding process. The axial length of the upper section 31 of the sliding sleeve is greater than the length from the upper end face of the second section 22 to the locking hole 211. This ensures that when the sliding sleeve 3 is in the locked position, the upper edge of the annular boss section 32 is higher than the upper edge of the locking hole 211 and the lower edge is lower than the lower edge of the locking hole 211. The annular boss section 32 completely covers the area of ​​the locking hole 211, applying a uniform radial clamping force to the ball 13 embedded in the locking hole 211 to ensure reliable locking.

[0051] On the side end face of the annular boss 321 facing the third segment 23, a plurality of circular blind holes 322 are evenly spaced circumferentially. The spring return assembly includes a spring cylinder 51 inserted into the circular blind holes 322 and a spring 52 installed in the spring cylinder 51. One end of the spring 52 abuts against the bottom of the spring cylinder 51, and the other end abuts against the end face of the third segment 23 facing the second segment 22. The plurality of spring return assemblies are symmetrically arranged circumferentially to provide a uniform axial return thrust, so that the sliding sleeve 3 is normally kept in the locked position covering the locking hole 211 when no external force is applied.

[0052] When unlocking is required, an external robotic arm or operating tool pushes the sliding sleeve 3 axially toward the third segment 23, causing the sleeve compression spring reset assembly to slide downwards. The annular boss segment 32 moves downwards synchronously with the sleeve, and the waist-shaped hole 323 slides downwards along the fixed limiting pin 6, gradually disengaging from the locking hole 211. When the limiting pin 6 abuts against the upper end of the waist-shaped hole 323, the sleeve reaches the end of the unlocking stroke, the annular boss segment 32 has completely left the locking hole 211 area, the ball 13 loses its radial constraint, and when the male end docking body 1 is pulled outwards, the ball 13 can retract radially outwards into the waist-shaped rotary hole 121, achieving separation of the male and female ends.

[0053] When the external thrust is removed, the accumulated elastic force of the spring return assembly drives the sliding sleeve 3 to return to its original position. The oblong hole 323 slides upward along the limiting pin 6, and the annular boss section 32 covers the locking hole 211 area again, pressing the ball 13 radially inward and embedding it into the locking hole 211. When the limiting pin 6 abuts against the lower end of the oblong hole 323, the sleeve returns to the locked position, completing the automatic reset locking. The cooperation between the oblong hole 323 and the limiting pin 6 precisely limits the axial travel of the sliding sleeve 3, ensuring that the sleeve can completely disengage from the locking hole 211 during unlocking without hindering the ball 13 from exiting, and ensuring that the pressing depth of the sleeve on the ball 13 is consistent and the locking force is uniform during locking, while preventing the sleeve from excessively compressing the spring or slipping out.

[0054] The smooth and seamless switching between the locked and unlocked states of the sliding sleeve 3 is ensured by the full-stroke surface contact between the annular boss 321 and the outer wall of the second section 22, the stroke limit of the waist-shaped hole 323 and the limit pin 6, and the uniform circumferential force applied by multiple spring reset components, thereby improving the working reliability and service life of the ball locking mechanism.

[0055] like Figure 2 , Figure 8 As shown, for ease of description, the cavity formed by the waist-shaped rotating hole 121 and the locking ring 14 is divided into an inner section, a middle section and an outer section in the radial direction; when the ball 13 is located in the cavity, the position of the center of the ball 13 changes with the radial movement of the ball 13 in the cavity.

[0056] In this embodiment, the position of the ball center 13 when it is located in the inner section of the cavity is defined as the "inner ball center". The radial distance from the inner ball center to the inner circular surface of the male end docking body 1 is less than the radius of the ball 13, so that the inner part of the ball 13 can protrude from the inner wall of the male end to be embedded in the locking hole 211.

[0057] Specifically, the upper section 31 of the sliding sleeve includes an arc-shaped guide section 311 away from the annular boss 321 and a ball-fitting section close to the annular boss 321; the axial length of the second section 12 of the male end cylinder is greater than the axial length of the upper section 31 of the sliding sleeve; the radial distance from the inner center of the ball in the waist-shaped rotary hole 121 to the inner circular surface of the male end mating body 1 is less than the radius of the ball 13, so that the inner side of the ball 13 can protrude to be embedded in the locking hole 211; in the locked state, the ball-fitting section forms radial compression on the outer side of the ball 13.

[0058] The upper section 31 of the sliding sleeve is divided into an arc-shaped guide section 311 and a ball-fitting section. This design ensures that when the ball 13 disengages from the locking hole 211 and retracts outward during the unlocking process, it first contacts the arc-shaped guide section 311. The smooth transition of the arc surface guides the ball 13 to move outward smoothly, preventing rigid scraping or jamming between the ball 13 and the right-angled edge. After the ball 13 enters the inner wall area of ​​the upper section 31, the inner cylindrical surface of the ball-fitting section and the outer wall of the second section 22 of the male end docking body together maintain the ball 13 in a radially outward release position, preventing accidental rebound of the ball 13 that could interfere with the insertion and removal action as the sliding sleeve continues to slide. The axial length of the second cylindrical section 12 of the male end is greater than the axial length of the upper section 31 of the sliding sleeve, ensuring that the upper section of the sliding sleeve never disengages from the constraint of the outer wall of the second section 22 during its full stroke, resulting in smooth and unbiased movement of the sliding sleeve. The radial distance from the inner center of the ball within the waist-shaped rotary hole 121 to the inner circular surface of the male end mating body 1 is less than the radius of the ball 13, ensuring that a portion of the spherical surface of the ball 13 always protrudes from the inner wall of the male end, allowing it to reliably engage with the female end locking hole 211 in the locked state to form axial locking. Simultaneously, the ball mating section applies radial compression to the outer side of the ball 13, pressing it firmly into the locking hole 211, eliminating mating clearances and preventing loosening and vibration. The overall structure achieves a comprehensive effect of smooth unlocking, reliable locking, anti-jamming, and wear resistance.

[0059] In actual use, the outer surfaces of the male end docking body 1, the female end docking body 2, and the sliding sleeve 3 of the ball bearing sleeve locking mechanism are coated with a radiation-resistant protective coating.

[0060] In practical applications, radiation-resistant protective coatings can be made of inorganic coating materials with good radiation resistance, such as alumina ceramic coatings, zirconia ceramic coatings, or boron-containing polymer composite coatings. The coating thickness is preferably controlled within the range of 20μm to 100μm, depending on the radiation dose and protection level requirements.

[0061] By spraying a radiation-resistant protective coating on the outer surfaces of the male end docking body 1, the female end docking body 2, and the sliding sleeve 3, the radiation in the external environment can effectively isolate the electrical connector and metal substrate inside the docking body from radiation damage, delay material aging, and ensure the structural stability and electrical reliability for long-term use in a nuclear radiation environment; at the same time, the coating covers the outer surface of the sliding sleeve 3 without affecting the axial sliding action of the sleeve, thus balancing the protective function with the flexibility of the mechanism.

[0062] Example 2 A method for replacing a remotely operated power robotic arm's overall quick-change device, based on Embodiment 1, includes: S1. Locking and docking steps: The sliding sleeve 3 is moved to the unlocked position by the auxiliary device; the carrying platform is lowered and / or the robotic arm is raised, so that the front part of the female docking body 2 is automatically centered and inserted into the male docking body 1 via the guide slope 241; when the ball 13 is inserted and aligned with the locking hole 211, the sliding sleeve 3 is released and reset to the locking position under the drive of the spring reset assembly, squeezing the ball 13 radially inward into the locking hole 211 to complete the mechanical locking; at the same time, the male connector 41 and the female connector 42 of the electrical connector are aligned during the insertion process and are fully connected synchronously when the mechanical locking is in place.

[0063] In this embodiment, the auxiliary device is a remotely controlled robotic arm that can be controlled by commands issued by a remote control system. In other embodiments, the auxiliary device may also be a remotely controllable actuator capable of providing axial thrust, such as an electromagnetic push rod or a cylinder, as long as it can achieve axial drive of the sliding sleeve.

[0064] Specifically, in the initial state, the male end docking body 1 is fixedly installed at the bottom of the support platform, and the female end docking body 2 is fixedly installed at the top of the shoulder joint of the power robotic arm. The support platform can drive the male end docking body 1 to move vertically up and down, and the male and female ends remain aligned axially but are in a separated state.

[0065] First, an external drive mechanism (such as a remote manipulator or electromagnetic pusher) pushes the sliding sleeve 3 axially, causing it to overcome the elastic force of the spring return assembly and slide towards the third section 23 of the female end docking body (unlocking direction). During the downward movement of the sliding sleeve 3, the annular boss section 32 disengages from covering the locking hole 211, and the arc-shaped guide section 311 and the ball mating section of the upper section 31 of the sleeve pass through the locking hole 211 area in sequence. When the limit pin 6 abuts against the upper end of the waist-shaped hole 323, the sliding sleeve 3 reaches the end of the unlocking stroke. At this time, the annular boss section 32 has completely left the locking hole 211, the locking hole 211 is in an open state, and the ball 13 can freely retract radially outward within the waist-shaped rotary hole 121.

[0066] Subsequently, the control platform descends and / or the robotic arm rises, bringing the guide section 24 at the front end of the female docking body 2 close to the insertion port of the male docking body 1. The guide slope 241 on the outer wall of the guide section 24 automatically corrects the alignment deviation using a taper, guiding the female end into the inner hole of the cylindrical body of the male end. As the female end continues to be inserted, the inner wall of the male docking body 1 pushes the ball bearing 13 radially outward into the waist-shaped rotary hole 121. The ball bearing 13 maintains rolling contact with the outer wall of the female end, reducing insertion resistance.

[0067] When the female end docking body 2 is inserted to the predetermined depth, the locking hole 211 on the outer wall of the female end and the waist-shaped rotary hole 121 on the male end wall are axially aligned. At this time, the external driving force is removed, and the sliding sleeve 3 is reset upward under the elastic force of the spring return assembly (locking direction). During the upward movement of the sleeve, the lower edge of the ball mating section smoothly pushes the ball 13 radially inward, so that the inner side of the ball 13 protrudes from the inner wall of the male end and is embedded in the locking hole 211 of the female end. When the limiting pin 6 abuts the lower end of the waist-shaped hole 323, the sleeve returns to the locked position, and the inner cylindrical surface of the ball mating section covers the area of ​​the locking hole 211, applying uniform radial compression to the outer side of the ball 13 to eliminate the mating gap. Multiple balls 13 are simultaneously inserted into the corresponding locking holes 211 to achieve multi-point evenly distributed locking and complete the mechanical locking.

[0068] During the insertion of the female connector, the electrical connection is established synchronously. The male connector head 41 at the center of the male connector 102 faces the female connector, while the female connector head 42 at the center of the female connector 242 protrudes from the end face of the guide section 24. When the mechanical locking is in place, the male connector head 41 abuts against the female connector head 42, achieving synchronous and complete conduction. The protruding male head design compensates for axial machining and assembly tolerances, ensuring a reliable electrical connection.

[0069] At this point, the docking and locking process is complete, and the male and female ends are mechanically locked axially and resisted torsion in the circumference, and electrically connected stably.

[0070] S2. Unlocking and Separation Steps: Drive the sliding sleeve 3 to the unlocking position through the auxiliary device, and then control the bearing platform to rise, so that the male head 41 of the electrical connector and the female head 42 of the electrical connector are disconnected first; the female end docking body 2 continues to exit, and the ball 13 is squeezed radially outward by the inclined surface of the locking hole 211; after the male and female ends are completely separated, release the sliding sleeve 3 to reset it, and prepare for the next docking.

[0071] Specifically, in the locked state, the male end connector 1 and the female end connector 2 are axially locked by the ball bearing 13 engaging the locking hole 211, the male connector 41 and the female connector 42 are fully connected, and the sliding sleeve 3 is held in the locked position covering the locking hole 211 under the drive of the spring reset assembly.

[0072] When separation is required, the external drive mechanism pushes the sliding sleeve 3 axially, causing it to overcome the elastic force of the spring return assembly and slide towards the third section 23 of the female end docking body (unlocking direction). During the downward movement of the sleeve, the annular boss section 32 gradually detaches from the coverage of the locking hole 211, and the arc-shaped guide section 311 first passes through the area of ​​the locking hole 211, reserving a smooth transition space for the ball 13 to retract outward. When the limit pin 6 abuts against the upper end of the waist-shaped hole 323, the sliding sleeve 3 reaches the end of the unlocking stroke. Both the annular boss section 32 and the ball mating section have detached from the radial constraint on the ball 13, the locking hole 211 is in an open state, and the ball 13 can freely retract outward within the waist-shaped rotary hole 121, no longer forming an axial lock on the female end.

[0073] Subsequently, the control platform rises and / or the robotic arm descends, causing the male connector 41 and female connector 42 to begin axial separation, achieving electrical disconnection first. The female connector continues to retract, and the spherical recess of the locking hole 211 acts on the inner side of the ball 13, generating a radially outward force that pushes the ball 13 radially back into the waist-shaped rotary hole 121. Because the locking hole 211 is an incomplete spherical recess, its inclined surface allows the ball 13 to smoothly roll out along the inclined surface, resulting in a smooth and impact-free movement.

[0074] As the female end docking body 2 continues to retract, its outer wall passes sequentially through the area of ​​the ball bearing 13. Supported by the outer wall of the female end, the ball bearing 13 remains in a radially recessed position within the waist-shaped rotary hole 121, maintaining rolling contact with the outer wall of the female end and reducing retraction resistance. Once the female end has completely retracted from the inner hole of the male end docking body 1, the ball bearing 13 loses its outer wall support and can move freely within the waist-shaped rotary hole 121 without falling off (because the opening diameter of the waist-shaped rotary hole 121 is smaller than the diameter of the ball bearing 13).

[0075] After the male and female ends are completely separated, the external driving force is removed, and the sliding sleeve 3 is reset upward under the elastic force of the spring reset assembly (locking direction). The waist-shaped hole 323 slides upward along the limiting pin 6 until the limiting pin 6 abuts the lower end of the waist-shaped hole 323, the sleeve returns to the locked position, and the annular boss section 32 covers the locking hole 211 area again, preparing for the next docking.

[0076] At this point, the unlocking and separation steps are complete. The male and female terminals are electrically disconnected and mechanically separated, and the system is in a standby state ready for the next docking.

[0077] This technology enables fully remote, unmanned operation with high safety, efficiency, and reliability, meeting the need for rapid replacement of powered robotic arms in high-risk scenarios such as nuclear reactors and spent fuel processing.

[0078] The technical solutions provided by the embodiments of the present invention have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of the embodiments of the present invention. The descriptions of the embodiments above are only for helping to understand the principles of the embodiments of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the embodiments of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A quick-change device for a powered robotic arm that supports remote operation, characterized in that, This includes male and female docking bodies that are vertically aligned and matched with each other, as well as electromechanical synchronous docking components; The male end connector is a cylindrical structure, with one end fixedly connected to the bottom of the support platform and the other end open downwards; The female end docking body is a cylindrical structure, with one end fixedly connected to the top of the shoulder joint of the power robotic arm, and the other end coaxially inserted upward into the cylindrical interior of the male end docking body. The electromechanical synchronization docking assembly includes a male electrical connector and a female electrical connector; The male and female connectors of the electrical connector are positioned opposite each other and are coaxially connected to the male and female connectors respectively; when the female connector is inserted into place, the male and female connectors of the electrical connector abut against each other axially and conduct electricity. A ball bearing sleeve locking mechanism is provided between the male end docking body and the female end docking body to realize mechanical docking locking and unlocking separation.

2. The apparatus according to claim 1, characterized in that, The ball bearing sleeve locking mechanism includes a ring of radially opened waist-shaped rotating holes evenly opened on the wall of the male end docking body, balls embedded in each waist-shaped rotating hole, locking holes set on the outer wall of the female end docking body and corresponding to each ball, and a sliding sleeve that can be axially slidably fitted on the outside of the central axis of the female end docking body. A spring return assembly and a limiting pin are assembled between the sliding sleeve and the female end docking body; the limiting pin restricts the axial travel of the sliding sleeve; the sliding sleeve is normally kept in the locking position covering the locking hole under the drive of the spring return assembly.

3. The apparatus according to claim 2, characterized in that, The male end coupling body includes a first male end cylindrical section and a second male end cylindrical section with a diameter smaller than that of the first male end cylindrical section. The second male end cylindrical section is provided with the waist-shaped rotary hole. The inner diameter of the inner end of the waist-shaped rotary hole is smaller than the outer diameter of the ball, the inner diameter of the middle section of the rotary hole is larger than the outer diameter of the ball, and the outer end is provided with a locking ring mounting hole with a diameter larger than the outer diameter of the ball. A locking ring is installed in the locking ring mounting hole. The inner diameter of the inner end of the locking ring is larger than the outer diameter of the ball, and the inner diameter of the outer end of the locking ring is smaller than the outer diameter of the ball. The inner diameter of the inner end of the locking ring and the middle section of the rotary hole form a cavity for accommodating the ball. When the ball is squeezed by external force, it can move radially and one side is exposed in the waist-shaped rotary hole.

4. The apparatus according to claim 2, characterized in that, The female end docking body includes a first section with a locking hole, a second section with a diameter greater than that of the first section, and a third section with a diameter greater than that of the second section; The first segment has a guide segment at the end furthest from the second segment, and the guide segment has a guide slope. The guide segment has a cross-shaped female end connection part inside at one end away from the first segment. The electrical connector female head is fixed at the center of the female end connection part, and the electrical connector female head is exposed on the end face of the guide segment.

5. The apparatus according to claim 4, characterized in that, The sliding sleeve is an annular sleeve with an annular protrusion on its inner wall. The inner diameter of the annular protrusion is equal to the outer diameter of the second segment. The annular boss divides the inner wall of the sliding sleeve into an upper section of the sliding sleeve, an annular boss section, and a lower section of the sliding sleeve. The outer wall of the second section is provided with a connecting hole, and the side wall of the annular boss section is provided with a waist-shaped hole that extends axially and penetrates radially. The limiting pin passes through the waist-shaped hole and connects with the connecting hole. The axial length of the second segment is greater than the axial length of the annular boss, and the axial length of the upper segment of the sliding sleeve is greater than the length of the second segment to the locking hole. The annular boss is provided with a plurality of circular blind holes spaced circumferentially on the side facing the third segment, and the spring reset assembly includes a spring cylinder inserted into the circular blind holes and a spring installed on the spring cylinder.

6. The apparatus according to claim 5, characterized in that, The upper section of the sliding sleeve includes an arc-shaped guide section away from the annular boss and a ball-fitting section close to the annular boss; the axial length of the second section of the male end cylinder is greater than the axial length of the upper section of the sliding sleeve; the radial distance from the inner center of the ball in the waist-shaped rotary hole to the inner circular surface of the male end mating body is less than the ball radius, so that the inner side of the ball can protrude to be embedded in the locking hole; in the locked state, the ball-fitting section forms radial compression on the outer side of the ball.

7. The apparatus according to claim 1, characterized in that, The male end connector also includes a male end connector mounting flange coaxially disposed at the end furthest from the female end connector; the female end connector also includes a female end connector mounting flange coaxially disposed at the end furthest from the male end connector. A cross-shaped male connector is coaxially arranged in the central circular hole of the male connector mounting flange, and the male end of the electrical connector protrudes from the center of the end face of the male connector facing the female connector.

8. The apparatus according to claim 2, characterized in that, The outer surfaces of the sliding sleeves of the male end connector, female end connector, and ball bearing sleeve locking mechanism are coated with a radiation-resistant protective coating.

9. A method for replacing a remotely operated power robotic arm's overall quick-change device, based on any one of claims 1-8, characterized in that... include: S1. Docking and locking steps; The sliding sleeve is moved to the unlocked position by an auxiliary device; The control platform descends and / or the robotic arm rises, causing the front of the female connector to automatically center and insert into the male connector via a guide ramp. When the ball bearing aligns with the locking hole, the sliding sleeve is released and reset to the locking position under the drive of the spring reset assembly. The ball bearing is then squeezed radially inward into the locking hole, completing the mechanical locking. Simultaneously, the male and female electrical connectors align during insertion and become fully conductive when the mechanical locking is complete. S2, Unlocking and Separation Steps: Drive the sliding sleeve to the unlocking position using the auxiliary device, then control the lifting platform to rise, causing the male and female electrical connectors to disconnect first; the female connector continues to retract, and the balls are pushed outward radially by the inclined surface of the locking hole; After the male and female ends are completely separated, release the sliding sleeve to reset it, ready for the next docking.

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