Variable stiffness passive compliant handoff device for robotic end

Abstract

The application discloses a variable stiffness passive compliant adapter for a robot end, and relates to the technical field of automatic adapter of a robot end, and solves the problem that the prior art lacks an integrated adapter which can provide adaptive compliant compensation during docking and high rigidity during operation, and comprises a male assembly installed on the robot end and a female assembly installed on an end manipulator; during docking, the compliant adapter male conical surface guides the access, and the first and second floating platforms of the compliant adapter male passively compensate the translation and deflection deviation generated during docking, when the male conical surface and the female inner conical surface are completed, the locking wedge of the male conical head slides into the female locking slot to complete the locking. After the docking is completed, the male electromagnetic chuck is powered on to adsorb and fix the second floating platform, and the operation rigidity is improved.

Description

Technical Field

[0001] This invention relates to the technical field of automatic end-effector switching for robots, and more particularly to a variable stiffness passive compliant switching device for robot end-effectors. Background Technology

[0002] In robotic applications such as automated production, medical surgery, and precision testing, robots need to automatically switch between different end effectors (such as grippers, welding torches, surgical instruments, and testing probes) to complete diverse operations based on different tasks. This requires a robot to be able to automatically dock and switch with multiple end tools and to connect or disconnect the power and communication signals required by the end effector. Currently, traditional robot end effector switching devices on the market require manual disassembly, assembly, and locking, making it impossible to achieve online switching of end effectors. The switching device proposed in publication number CN207844284U requires manual switching and locking, which restricts the continuity and intelligence level of automated operations. Although domestic and foreign manufacturers have developed quick-change devices with automatic locking and disengagement functions, publication number CN207044198U proposes an automatic switching device with pneumatic locking, publication numbers CN110919681A and CN110978060A propose a switching device with high-load hydraulic locking, and publication number CN217861290U proposes a switching device with automatic locking of threaded sliders, these devices have high requirements for the positioning accuracy of the robot end effector. They lack adaptive compliance compensation capabilities during docking and are prone to docking failure due to position errors or posture deviations, or even collision damage between the robotic arm and the end effector, reducing the reliability and safety of the automatic switching system. Existing technologies lack an integrated switching device that can provide adaptive compliance compensation during the docking phase and high rigidity during the operation phase. Summary of the Invention

[0003] In view of the problem that the existing technology lacks an integrated switching device that can provide adaptive compliance compensation during the docking stage and high stiffness during the operation stage, the purpose of this invention is to provide a variable stiffness passive compliance switching device for robot end effectors.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0005] A variable stiffness passive compliant switching device for a robot end effector, comprising: a male end assembly mounted on the robot end effector and a female end assembly mounted on the end effector manipulator.

[0006] The male end assembly includes a male end locking structure and a male end floating structure arranged sequentially from front to back. The male end floating structure is installed at the front end of the robot-side mechanical interface 5, and the male end locking structure is installed at the front end of the male end floating structure through a flange adapter plate 12.

[0007] The female end assembly includes: a female end upper seat 20, a female end middle seat 16, and a female end lower seat 17 arranged sequentially from top to bottom. Both the female end upper seat 20 and the female end lower seat 17 are connected to the tool-side mechanical interface 18. The female end middle seat 16 is mounted on the female end lower seat 17 through two spring return structures. The two spring return structures are used to push the upper end surface of the female end middle seat 16 against the lower end surface of the female end upper seat 20.

[0008] The male end locking structure includes: a male end conical head 3 and a locking wedge 10. The male end conical head 3 has locking wedge limiting through holes on both the upper and lower sides. The two locking wedges 10 are installed in the male end conical head 3 through a spring reset structure II. The spring reset structure II is used to push the two locking wedges 10 out from the locking wedge limiting through holes on the upper and lower sides respectively.

[0009] The upper female seat 20 and the middle female seat 16 together form a locking groove that matches the male conical head 3. The inner wall of the upper female seat 20 is provided with a wedge limiting groove that matches the upper locking wedge 10. The inner wall of the middle female seat 16 is provided with a wedge limiting through hole that matches the lower locking wedge 10. The inner wall of the lower female seat 17 is provided with an unlocking protrusion. The unlocking protrusion is located below the wedge limiting through hole. When the male conical head 3 pushes the middle female seat 16 down to the unlocking position, the unlocking protrusion pushes the lower locking wedge 10 back into the male conical head 3.

[0010] The aforementioned variable stiffness passive compliant switching device for robot end effector, wherein the male end floating structure includes: a primary floating support 2, a secondary floating support 14, a floating component and a ball spring plunger 29, wherein the secondary floating support 14, the primary floating support 2 and the robot side mechanical interface 5 are all annular structures and are arranged sequentially from front to back;

[0011] The upper and lower ends of the first-level floating bracket 2 are floatingly connected to the robot-side mechanical interface 5 through two floating components. A ball-head spring plunger 29 is installed at the left and right ends of the rear end face of the first-level floating bracket 2, and the two ball-head spring plungers 29 on the first-level floating bracket 2 abut against the front end face of the robot-side mechanical interface 5.

[0012] The left and right ends of the secondary floating support 14 are floatingly connected to the primary floating support 2 through two floating components. A ball spring plunger 29 is installed at the upper and lower ends of the rear end face of the secondary floating support 14, and the two ball spring plungers 29 on the secondary floating support 14 abut against the front end face of the primary floating support 2.

[0013] The flange adapter plate 12 is connected to the front end of the secondary floating support 14.

[0014] The aforementioned variable stiffness passive compliant switching device for robot end effector includes, wherein the male end floating structure further includes: an electromagnet fixing bracket 8 and an electromagnet 27. The electromagnet fixing bracket 8 is installed on the rear end face of the robot side mechanical interface 5, and the electromagnet 27 is installed on the front end of the electromagnet fixing bracket 8 and is located in the middle of the primary floating bracket 2 and the secondary floating bracket 14.

[0015] The male-end floating structure further includes: a silicon steel block suction cup guide shaft 15, a silicon steel block 24, and a silicon steel block suction cup guide shaft spring 28. At least two silicon steel block suction cup guide shafts 15 are provided between the flange adapter plate 12 and the secondary floating support 14. The multiple silicon steel block suction cup guide shafts 15 are circumferentially spaced and parallel to each other. The front end limit of each silicon steel block suction cup guide shaft 15 is installed on the flange adapter plate 12, and the rear end limit of each silicon steel block suction cup guide shaft 15 is installed on the secondary floating support 14. The silicon steel block suction cup 11 is slidably mounted on multiple silicon steel block suction cup guide shafts 15. Each silicon steel block suction cup guide shaft 15 is fitted with a silicon steel block suction cup guide shaft spring 28. One end of each silicon steel block suction cup guide shaft spring 28 abuts against the silicon steel block suction cup 11, and the other end of each silicon steel block suction cup guide shaft spring 28 abuts against the secondary floating bracket 14. A silicon steel block 24 is installed in the middle of the silicon steel block suction cup 11. The silicon steel block 24 is located in front of the electromagnet 27 and is coaxially arranged with the electromagnet 27.

[0016] When the electromagnet 27 is de-energized, there is a gap between the silicon steel block 24 and the electromagnet 27. When the electromagnet 27 is energized, the multiple silicon steel block suction cup guide shaft springs 28 are all in a compressed state, and the silicon steel block 24 is attached to the front end face of the electromagnet 27.

[0017] The aforementioned variable stiffness passive compliant switching device for robot end effector includes a male end locking structure further comprising a wedge shaft support frame 6, and a spring reset structure comprising a locking wedge guide shaft 9, a spring 38, and a graphite brass sleeve 45. The middle part of the locking wedge guide shaft 9 is installed at the front end of the wedge shaft support frame 6. Graphite brass sleeves 45 are installed in both locking wedges 10. The two graphite brass sleeves 45 are respectively sleeved on the upper and lower ends of the locking wedge guide shaft 9. A spring 38 is sleeved on the upper and lower ends of the locking wedge guide shaft 9. One end of each spring 38 abuts against the wedge shaft support frame 6, and the other end of each spring 38 abuts against a graphite brass sleeve 45.

[0018] The aforementioned variable stiffness passive compliant switching device for robot end effector further includes: spring three 42 and spring four 52; each floating component includes: a floating bracket guide shaft 1 and a graphite brass sleeve 37; a floating bracket guide shaft 1 is installed at the upper and lower ends of the rear end face of the first-stage floating bracket 2, and the two floating bracket guide shafts 1 on the first-stage floating bracket 2 are coaxially arranged; a first-stage floating bracket guide shaft limiting hole is provided at the upper and lower ends of the front end face of the robot side mechanical interface 5, and a graphite brass sleeve 37 is installed in each first-stage floating bracket guide shaft limiting hole; each floating bracket guide shaft 1 on the first-stage floating bracket 2 passes through a graphite brass sleeve 37; a spring four 52 is sleeved on each floating bracket guide shaft 1 on the first-stage floating bracket 2, one end of each spring four 52 abuts against the inner wall of the robot side mechanical interface 5, and the other end of each spring four 52 abuts against the outer wall of the first-stage floating bracket 2;

[0019] A floating support guide shaft 1 is installed at each of the left and right ends of the rear end face of the secondary floating support 14, and the two floating support guide shafts 1 on the secondary floating support 14 are coaxially arranged; a secondary floating support guide shaft limiting hole is provided at each of the left and right ends of the front end face of the primary floating support 2, and a graphite brass sleeve 37 is installed in each secondary floating support guide shaft limiting hole, and each floating support guide shaft 1 on the secondary floating support 14 passes through a graphite brass sleeve 37; a spring 42 is sleeved on each floating support guide shaft 1 on the secondary floating support 14, one end of each spring 42 abuts against the inner wall of the primary floating support 2, and the other end of each spring 42 abuts against the outer wall of the secondary floating support 14.

[0020] In the aforementioned variable stiffness passive compliant switching device for robot end effector, the axes of the two floating bracket guide shafts 1 on the primary floating bracket 2 are perpendicular to the axes of the two floating bracket guide shafts 1 on the secondary floating bracket 14.

[0021] The aforementioned variable stiffness passive compliant switching device for robot end effector includes ball-end spring plunger mounting slots at both ends of the rear end face of the primary floating bracket 2 and at both ends of the rear end face of the secondary floating bracket 14. Each ball-end spring plunger 29 includes a compression spring and a ball. Each ball-end spring plunger mounting slot contains a compression spring and a ball. One end of the compression spring abuts against the bottom of the ball-end spring plunger mounting slot, and the other end abuts against the ball. The two balls on the primary floating bracket 2 abut against the front end face of the robot-side mechanical interface 5. The two balls on the secondary floating bracket 14 abut against the front end face of the primary floating bracket 2.

[0022] The aforementioned variable stiffness passive compliant switching device for robot end effector includes, in which each spring reset structure comprises: a female end seat guide shaft 22 and a female end seat guide shaft spring 47. Limiting shaft holes are provided at both ends of the bottom side of the female end seat 16. The lower end of each female end seat guide shaft 22 is limited and mounted on the lower female end seat 17. The upper part of each female end seat guide shaft 22 is slidably mounted within a limiting shaft hole. A female end seat guide shaft spring 47 is sleeved on each female end seat guide shaft 22. The lower end of each female end seat guide shaft spring 47 abuts against the top side of the lower female end seat 17, and the upper end of each female end seat guide shaft spring 47 abuts against the bottom side of the female end seat 16.

[0023] The aforementioned variable stiffness passive compliant switching device for robot end effector further includes: positioning posts 4, with two symmetrical positioning posts 4 mounted on the male conical head 3.

[0024] The female end seat 16 is provided with two left and right symmetrical limiting channels. Each limiting channel is equipped with a positioning pin hole 19, a positioning pin hole support block 21 and a spring 39. The rear end of each limiting channel is provided with an annular limiter with a reduced inner diameter. The front end of the positioning pin hole support block 21 abuts against the rear end face of the tool side mechanical interface 18, the front end of the spring 39 abuts against the rear end of the positioning pin hole support block 21, and the rear end of the spring 39 abuts against the positioning pin hole 19. The annular limiter is used to limit the positioning pin hole 19.

[0025] When the male end assembly and the female end assembly are in the locked state, each positioning pin 4 abuts against a positioning pin hole 19.

[0026] The aforementioned variable stiffness passive compliant switching device for robot end effector further includes: a limit switch 40, a limit switch adjusting block 41, and a set screw 53. A limit switch adjusting block 41 is installed on the upper part of the male conical head 3 and the lower part of the wedge shaft support frame 6 and is locked by multiple set screws 53. A limit switch 40 is installed at the front end of each limit switch adjusting block 41.

[0027] When the male end assembly and the female end assembly change from the unlocked state to the locked state, the rear end of the female end upper seat 20 triggers the limit switch 40 located on the upper part of the male end conical head 3; when the male end assembly and the female end assembly change from the locked state to the unlocked state, the locking wedge 10 retracted into the male end conical head 3 triggers the limit switch 40 located on the lower part of the wedge shaft support frame 6.

[0028] It also includes: a laser sensor identification post 23 and a laser sensor 51. The laser sensor identification post 23 is installed on the female end assembly, and the laser sensor 51 is installed on the male end assembly. The laser sensor identification post 23 and the laser sensor 51 are used to realize the positioning between the male end assembly and the female end assembly.

[0029] It also includes: electrical connector 1 31 and electrical connector 2 33. Electrical connector 1 31 is installed on the female end assembly and electrical connector 2 33 is installed on the male end assembly. When the male end assembly and the female end assembly are in the locked state, electrical connector 1 31 and electrical connector 2 33 are connected.

[0030] The present invention, by employing the above-mentioned technology, has the following positive effects compared with the prior art:

[0031] (1) The present invention uses a two-level cross-arranged floating support to provide multi-degree-of-freedom passive compliance compensation, which reduces the dependence on the absolute positioning accuracy of the robot and improves the success rate of the automatic switching process between the robot end and the end manipulator. Compared with the prior art, it has a high success rate and high reliability.

[0032] (2) The present invention adopts an electromagnet-silicon steel block suction cup conical surface locking mechanism to achieve the switching between two states: compliant during docking and rigid during operation. It simultaneously meets the contradictory requirements of docking fault tolerance and operation stability, and has the characteristic of variable stiffness.

[0033] (3) The present invention adopts compliant docking to avoid damage to the end effector or robot end due to rigid collision; the high operating rigidity after docking ensures the operational stability of the robot end after docking, meets the working requirements of the robot, and plays a role in protecting the equipment and patients. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the assembly process of the male end assembly and the female end assembly of a variable stiffness passive compliant switching device for robot end effector according to the present invention. Figure 2 yes Figure 3 AA section view of the Zhonggong end assembly. Figure 3 yes Figure 2 BB cross-sectional view of the Zhonggong end assembly. Figure 4 yes Figure 2 Left view of the Zhonggong end assembly. Figure 5 yes Figure 3 EE cross-sectional view of the Zhonggong end assembly. Figure 6 This is a structural schematic diagram of the female end assembly. Figure 7 yes Figure 6 MM cross-sectional view of the middle female end assembly. Figure 8 yes Figure 6 Left view of the middle female end assembly. Figure 9 yes Figure 6 FF cross-sectional view of the mother-end assembly. Figure 10 This is a schematic diagram of the present invention installed on the mechanical interface of the robotic arm and the mechanical interface of the end effector. Figure 11 This is the front view of the male conical head. Figure 12 yes Figure 11 A sectional view. Figure 13 yes Figure 12 A sectional view. Figure 14 yes Figure 12 A bottom view. Figure 15 This is the front view of the wedge block shaft support frame. Figure 16 yes Figure 15 The top sectional view. Figure 17 yes Figure 15 Left-side sectional view. Figure 18 yes Figure 16 A bottom view. Figure 19 This is an assembly diagram of an embodiment of the male-end assembly. Figure 20 This is an assembly diagram of an embodiment of the female end assembly. Figure 21 This is a schematic diagram of an embodiment where the male end assembly and the female end assembly are in a locked state.

[0035] In the attached diagram: 1. Floating support guide shaft; 2. Primary floating support; 3. Male conical head; 4. Positioning post; 5. Robot-side mechanical interface; 6. Wedge shaft support frame; 7. Locking mechanism assembly; 8. Electromagnet fixing bracket; 9. Locking wedge guide shaft; 10. Locking wedge; 11. Silicon steel block suction cup; 12. Flange adapter plate; 14. Secondary floating support; 15. Silicon steel block suction cup guide shaft; 16. Female end middle seat; 17. Female end lower seat; 18. Tool-side mechanical interface; 19. Positioning post hole; 20. Female end upper seat; 21. Positioning post hole support block. ; 22. Female end center seat guide shaft; 23. Laser sensor identification post; 24. Silicon steel block; 27. Electromagnet; 28. Silicon steel block suction cup guide shaft spring; 29. ​​Ball head spring plunger; 31. Electrical connector one; 33. Electrical connector two; 37. Graphite brass sleeve one; 38. Spring one; 39. Spring two; 40. Limit switch; 41. Limit switch adjusting block; 42. Spring three; 45. Graphite brass sleeve two; 47. Female end center seat guide shaft spring; 50. Cylindrical locating pin; 51. Laser sensor; 52. Spring four; 53. Set screw. Detailed Implementation

[0036] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the scope of the invention.

[0037] Please refer to Figures 1 to 21As shown, a variable stiffness passive compliant docking device for a robot end effector is illustrated, comprising: a male end assembly and a female end assembly. The male end assembly is provided with a primary floating support 2 and a secondary floating support 14. The two supports are respectively connected to adjacent rigid components through mutually perpendicular floating support guide shafts 1 and elastic elements, enabling the male end assembly to passively compensate for translation and deflection errors during docking. The male end conical head 3 is provided with a locking wedge 10, and the female end assembly is provided with a corresponding locking groove. When the male end conical surface and the female end inner conical surface are guided to fit together, the locking wedge 10 slides into the locking groove to complete the locking. The male end assembly is also provided with an electromagnet 27 and a silicon steel block suction cup 11 that can be attracted by it. The silicon steel block suction cup 11 is connected to the secondary floating support 14. After the electromagnet 27 is energized, it restricts the movement of the secondary floating support 14 to improve the operational stiffness after docking.

[0038] Furthermore, in a preferred embodiment, the guide shafts 1 of the primary floating support 2 and the secondary floating support 14 are arranged to intersect at 90°, and springs 52 are provided on each guide shaft 1 to keep the support aligned.

[0039] Furthermore, in a preferred embodiment, the bottom of the primary floating support 2 is provided with two symmetrical ball-head spring plungers 29, which abut against the robot-side mechanical interface 5 to provide deflection compliance.

[0040] Furthermore, in a preferred embodiment, the bottom of the secondary floating support 14 is provided with two symmetrical ball-head spring plungers 29, which abut against the robot-side mechanical interface 5 to provide deflection compliance.

[0041] Furthermore, in a preferred embodiment, the male conical head 3 and the wedge shaft support frame 6 are provided with a limit switch placement groove, and the limit switch adjustment block 41 is fixed in the groove by a set screw 53 for detecting the docking and unlocking status of the switching device.

[0042] Furthermore, in a preferred embodiment, the female end assembly includes a female end upper seat 20, a female end middle seat 16, and a female end lower seat 17. A female end middle seat guide shaft spring 47 is sleeved on the female end middle seat guide shaft 22 to keep the female end middle seat 16 and the female end upper seat 20 in contact.

[0043] Furthermore, in a preferred embodiment, the locking mechanism includes a locking wedge 10, a locking wedge guide shaft 9, a wedge shaft support frame 6, and a female end assembly. The upper female end seat 20 and the middle female end seat 16 are provided with wedge locking slots, and the lower female end seat 17 is provided with trapezoidal protrusions. During the locking stage, the locking wedge 10 slides into the locking slots of the upper female end seat 20 and the middle female end seat 16. During the unlocking stage, the trapezoidal protrusions of the lower female end seat 17 force the lower locking wedge 10 to slide out of the locking slot of the middle female end seat 16.

[0044] Furthermore, in a preferred embodiment, a circumferentially distributed silicon steel block suction cup guide shaft 15 is provided between the secondary floating support 14 and the flange adapter plate 12. The silicon steel block suction cup 11 can move along the silicon steel block suction cup guide shaft 15, and a silicon steel block suction cup guide shaft spring 28 is sleeved on the silicon steel block suction cup guide shaft 15 for power-off reset.

[0045] Furthermore, in a preferred embodiment, the male end assembly is provided with a laser sensor 51, and the female end assembly is provided with a laser sensor identification post 23, for circumferential angle identification before docking.

[0046] Furthermore, in a preferred embodiment, the present invention includes a male end assembly mounted on the end effector of a robot and a female end assembly mounted on the end effector.

[0047] Furthermore, in a preferred embodiment, the male end assembly is a part with floating and locking functions. It includes a two-stage passive compliant floating mechanism, a locking mechanism, and a variable stiffness mechanism. The male end assembly, from the near end to the far end, includes: a robot-side mechanical interface 5, a primary floating support 2, a secondary floating support 14, an electromagnetic chuck, a flange adapter 12, and a male end conical head 3 integrating a locking wedge 10. The primary floating support 2 is connected to the robot-side mechanical interface 5 through a first set of guide shafts 1, and can translate and deflect along the guide shafts 1 to achieve translation and deflection in the Z direction. Two ball-head spring plungers 29 are symmetrically arranged at the bottom of the primary floating support 2, with their ball ends abutting against the plane of the robot-side mechanical interface 5. This structure allows the primary floating support 2 to deflect at a small angle when subjected to lateral force, while the ball-head spring plungers 29 provide restoring force. A spring is fitted on the guide shaft 1 to keep the primary floating support 2 in a centered position when there is no external force.

[0048] Furthermore, in a preferred embodiment, the secondary floating support 14 is connected to the primary floating support 2 via a second set of guide shafts 1, allowing it to translate and deflect along the second set of guide shafts 1, achieving translation and deflection in the Y direction. The bottom of the secondary floating support 14 also has two symmetrical ball-head spring plungers 29, abutting against the robot-side mechanical interface 5, allowing it to deflect. A centering spring is also provided on the second set of guide shafts 1. Crucially, the first and second sets of guide shafts 1 are arranged at a 90° angle in space, so that the two floating supports together constitute a passive compliant system capable of translation in two orthogonal directions and deflection around two directions. Together, they form a passive compliant mechanism for translation along the Y and Z directions and deflection around the Y and Z directions, achieving error compensation during docking.

[0049] Furthermore, in a preferred embodiment, the secondary floating support 14 is fixedly connected to the flange adapter plate 12. A circumferentially evenly distributed suction cup guide shaft 15 is arranged between the secondary floating support 14 and the flange adapter plate 12. A silicon steel block suction cup 11 is slidably sleeved on the guide shaft 15 and can move along its axial direction. Each guide shaft 15 is fitted with a silicon steel block suction cup guide shaft spring 28, which acts on the silicon steel block suction cup 11. An electromagnet 27 is connected to the robot-side mechanical interface 5 through an electromagnet fixing bracket 8 and is opposite to the silicon steel block suction cup 11. When the electromagnet 27 is de-energized, the silicon steel block suction cup 11 separates from the electromagnet 27 under the action of the silicon steel block suction cup guide shaft spring 28, at which point the secondary floating support 14 is in a free-floating state. When the electromagnet 27 is energized, it generates a strong magnetic force to attract the silicon steel block suction cup 11, causing it to adhere tightly to the electromagnet fixing bracket 8. The contact surface between the front end of the electromagnet fixing bracket 8 and the silicon steel block suction cup 11 is a conical surface. After adsorption, a conical surface fit is formed, thereby restricting the translation and deflection motion of the secondary floating bracket 14 relative to the robot side mechanical interface 5 and improving the operating rigidity.

[0050] Furthermore, in a preferred embodiment, the male tapered head 3 and the wedge shaft support frame 6 are fixed to the front end of the flange adapter plate 12. The locking wedge 10 is mounted on the wedge shaft support frame 6 via the locking wedge guide shaft 9 and is held in an outwardly popped-out state by a spring. A limit switch is also provided on the male tapered head 3 or the wedge shaft support frame 6, the position of which can be finely adjusted and fixed by the limit switch adjustment block 41, for detecting the docking locking and unlocking status.

[0051] Furthermore, in a preferred embodiment, the female end assembly is the part installed on the end treatment device. It mainly includes a tool-side mechanical interface 18, an upper female end seat 20, a middle female end seat 16, and a lower female end seat 17. The upper female end seat 20 and the lower female end seat 17 are connected to the tool-side mechanical interface 18 by screws. The upper female end seat 20 and the middle female end seat 16 have wedge locking slots that match the shape of the locking wedge 10. The middle female end seat 16 is connected to the lower female end seat 17 via a middle female end seat guide shaft 22, and a middle female end seat guide shaft spring 47 is fitted on the middle female end seat guide shaft 22, ensuring that the middle female end seat 16 is tightly fitted to the upper female end seat 20 under normal conditions. The lower female end seat 17 has trapezoidal protrusions for sliding the lower locking wedge 10 out of the locking slot of the middle female end seat 16 during docking and unlocking.

[0052] In addition, to achieve circumferential positioning before docking, the male end assembly is equipped with a laser sensor 51, and the female end assembly is equipped with a corresponding laser sensor identification post 23. The male end conical head 3 is equipped with a positioning post 4, which is used to achieve final accurate positioning with the female end positioning post hole 19. The positioning post hole 19 is located in the female end middle seat 16, and a spring 39 is behind it acting on the positioning post hole support block 21 to compensate for wear between the positioning post 4 and the positioning post hole 19.

[0053] Working principle and process:

[0054] 1. Docking Preparation: The robot, carrying the male assembly, moves to the approximate location of the female assembly. Laser sensor 51 identifies laser sensor identification post 23, guiding the robot to adjust its end effector angle and complete circumferential positioning.

[0055] 2. Smooth Docking and Locking: The robot approaches along the axis. The male conical head 3 begins to enter the inner conical surface of the female end, using the conical surface for axial and radial guidance. At this time, the electromagnet 27 is de-energized, and the two-stage floating supports are in a compliant state. If there is a robot positioning error, the two-stage floating supports compensate for all position and angle deviations through translation and deflection to ensure the smooth insertion of the male conical head 3. When the male conical surface is fully engaged with the female end, the locking wedge 10 pops out under the action of spring force and engages with the wedge locking slots of the upper seat 20 and the middle seat 16 of the female end, completing the mechanical locking.

[0056] 3. Stiffness Conversion: After locking, electromagnet 27 is energized. Electromagnet 27 generates magnetic force, strongly attracting the silicon steel block suction cup 11. The silicon steel block suction cup 11 overcomes the force of the silicon steel block suction cup guide shaft spring 28 and moves along the silicon steel block suction cup guide shaft 15. The conical surface of the silicon steel block suction cup 11 is tightly attached and pressed against the conical surface of the electromagnet fixing bracket 8. This restricts the degree of freedom of movement of the two-stage floating bracket, and the device changes from a passive and compliant mode during docking to a high-stiffness mode during treatment.

[0057] 4. Unlocking and Separation: When the treatment is completed and the tool needs to be changed, the robot's end effector performs a downward and backward movement. This downward movement causes the female end seat 16 to move relative to the female end lower seat 17. The trapezoidal protrusion of the female end lower seat 17 restricts the downward movement of the lower locking wedge 10, pushing the locking wedge 10 out of the locking groove, thus achieving mechanical unlocking. The robot can then smoothly pull the male end out of the female end, completing the separation.

[0058] The above are merely preferred embodiments of the present invention and are not intended to limit the implementation methods and protection scope of the present invention.

[0059] In addition to the above, the present invention also has the following embodiments:

[0060] In further embodiments of the present invention, such as Figures 1 to 21 As shown in this embodiment, a variable stiffness passive compliant switching device for a robot end effector includes a male end assembly and a female end assembly. The male end assembly mainly consists of a robot-side mechanical interface 5, a primary floating support 2, a secondary floating support 14, a stiffness compensation mechanism assembly, and a locking mechanism assembly.

[0061] The lower end face of the robot-side mechanical interface 5 is provided with multiple threaded holes and countersunk holes, which are positioned and rigidly connected to the robot end flange by cylindrical locating pins 50 and screws. The primary floating support 2 is connected to the robot-side mechanical interface 5 through two coaxial primary floating support guide shafts 1. Specifically, two coaxial graphite brass sleeves 37 are fixed on the robot-side mechanical interface 5, and the primary floating support guide shafts 1 are connected to the sleeves, so that the primary floating support 2 can translate and deflect along the axial direction (defined as the Z direction) of the guide shaft 1. A centering spring 52 is sleeved on the primary floating support guide shaft 1, one end of which acts on the robot-side mechanical interface 5, and the other end acts on the primary floating support 2, which is used to keep the primary floating support 2 in the center position when there is no external force. Two ball-head spring plungers 29 are symmetrically installed at the bottom of the primary floating support 2, and their ball ends abut against the upper end face of the robot-side mechanical interface 5. When the primary floating support 2 is subjected to a torque about the Z axis, the deflection direction can be passively compliant through the compression of the ball-head spring plungers 29 at the bottom.

[0062] The secondary floating support 14 is connected to the primary floating support 2 via two coaxial secondary floating support guide shafts 1. The axial direction (defined as the Y direction) of the secondary floating support guide shaft 1 and the axial direction (Z direction) of the primary floating support guide shaft 1 are spatially perpendicular. Vertical intersection. Similarly, a spring 42 is fitted on the guide shaft 1 of the secondary floating support to keep the secondary floating support 14 aligned. Two ball-head spring plungers 29 are also symmetrically mounted on the bottom of the secondary floating support 14, abutting against the upper end face of the robot-side mechanical interface 5 to provide smooth deflection in the Y direction.

[0063] The translational degrees of freedom in the Y and Z directions, and the deflection degrees of freedom around the Y and Z directions, provided by the primary and secondary floating supports, together constitute a compliant mechanism capable of passively compensating for position and attitude errors in multiple directions. In this embodiment, the allowable linear offset in both the Y and Z directions is set to ±4 mm, and the allowable deflection range around the Y and Z axes is set to ±4°.

[0064] The above allowable range is determined based on the following: For linear offset, its maximum value is limited by the effective guide length of guide shaft 1 and the mechanical limiting structure of the floating support, satisfying the following relationship:

[0065] (1)

[0066] In the formula, —Effective guide length of the guide shaft, mm;

[0067] —Axial length of the floating support, mm;

[0068] —Spring compression length, mm.

[0069] The maximum value of the deflection angle is determined by the ball joint stroke and the installation radius of the ball joint spring plunger 29, satisfying the following relationship:

[0070] (2)

[0071] In the formula, —This represents the maximum permissible compression of the ball-end spring plunger, in mm;

[0072] — The pitch circle radius between symmetrically arranged ball-end spring plungers, in mm.

[0073] The flange adapter plate 12 is fixedly connected to the secondary floating support 14 by screws. The stiffness compensation mechanism assembly includes an electromagnet fixing bracket 8, an electromagnet 27, a silicon steel block 24, and a silicon steel block suction cup 11. The electromagnet fixing bracket 8 and the robot-side mechanical interface 5 are connected to the robot end flange. Circumferentially evenly distributed suction cup guide shafts 15 are arranged between the secondary floating support 14 and the flange adapter plate 12. The silicon steel block suction cup 11 is slidably sleeved on the silicon steel block suction cup guide shaft 15 and can move along its axial direction. Each silicon steel block suction cup guide shaft 15 is fitted with a silicon steel block suction cup guide shaft spring 28, one end of which acts on the secondary floating support 14, and the other end acts on the silicon steel block suction cup 11, so that the silicon steel block suction cup 11 is separated from the electromagnet fixing bracket 8 under normal conditions. The electromagnet 27 is installed in the electromagnet fixing bracket 8. The front end of the electromagnet fixing bracket 8 is designed with an outer conical surface, and the corresponding surface of the silicon steel block suction cup 11 is an inner conical surface. When the electromagnet 27 is de-energized, the silicon steel block suction cup 11 separates from the electromagnet fixing bracket 8 under the action of the silicon steel block suction cup guide shaft spring 28, forming an air gap of about 1.9mm (preferably the separation air gap is 1.9mm). At this time, the secondary floating bracket 14 and all front-end components connected to it are in a floating state. When the electromagnet 27 is energized, it generates a strong magnetic force, which attracts the silicon steel block suction cup 11 to the electromagnet fixing bracket 8.

[0074] The attraction of an electromagnet originates from the magnetic field in the air gap, and the magnetic flux density of the air gap... With magnetomotive force The relationship is:

[0075] (3)

[0076] In the formula: —Air gap magnetic flux density, T;

[0077] — Magnetic permeability, H / m;

[0078] —Number of coil turns;

[0079] —Operating current, A;

[0080] —Air gap length, m;

[0081] According to Maxwell's stress formula, the suction force acting on the silicon steel block is:

[0082] (4)

[0083] Will Substituting, we get:

[0084] (5)

[0085] The 1.9 mm air gap can generate an adsorption force of ≥40 N under 24 V and 1.2 A coil parameters, which meets the stiffness switching requirements, thereby converting the secondary floating support 14 from a floating state to a rigid fixed state and improving the operating stiffness of the switching device.

[0086] The male conical head 3 and the locking wedge shaft support frame 6 are fixedly connected to the other end of the flange adapter plate 12 by screws. The locking mechanism assembly 7 includes the locking wedge shaft support frame 6, the locking wedge guide shaft 9, the locking wedge 10, and the spring 74. The locking wedge 10 is sleeved on the locking wedge guide shaft 9 through a graphite brass sleeve 45 and can slide along it. A spring 38 is sleeved on the bottom of the locking wedge 10 to keep it in an outward (i.e., away from the male end axis) ejected state. The male conical head 3 and the locking wedge shaft support frame 6 also have a limit switch placement groove, in which a limit switch adjusting block 41 is installed and fixed by a set screw 53 on the side. The limit switch 40 is installed on the limit switch adjusting block 41 and is used to detect the contact between the male and female ends of the switching device and the position of the locking wedge 10, thereby determining the locking and unlocking status of the device. A laser sensor 51 is also fixed on the flange adapter plate 12 to identify the laser sensor identification post 23 on the female end assembly, so as to realize the circumferential angle positioning identification before docking. The male end tapered head 3 is provided with a positioning post 4, which is used to achieve the final accurate positioning with the female end positioning post hole 19. A spring 39 is located behind the positioning post hole 19 and acts on the positioning post hole support block 21 to compensate for the wear of the positioning post 4 and the positioning post hole 19.

[0087] The female end assembly mainly consists of a tool-side mechanical interface 18, an upper female end seat 20, a middle female end seat 16, and a lower female end seat 17. The tool-side mechanical interface 18 is fixedly connected to the end effector by screws. The upper female end seat 20 and the lower female end seat 17 are connected to the tool-side mechanical interface 18 by screws, fixing the entire female end assembly to the treatment device. The upper female end seat 20, the middle female end seat 16, and the lower female end seat 17 together form an inner conical surface that mates with the male end conical head 3. On the opposite surfaces of the upper female end seat 20 and the middle female end seat 16, wedge locking slots matching the locking wedges 10 are provided. The middle female end seat 16 is connected to the lower female end seat 17 through two middle female end seat guide shafts 22 and can slide up and down along the middle female end seat guide shafts 22. A middle female end seat guide shaft spring 47 is sleeved on the middle female end seat guide shaft 22, and its elasticity keeps the middle female end seat 16 tightly against the upper female end seat 20 in the normal state. The female end lower seat 17 is designed with a trapezoidal protrusion post, which is used to push down the locking wedge block 10 and slide it out of the locking groove during the unlocking process. A laser sensor identification post 23 is also fixed on the female end assembly, which is used to cooperate with the laser sensor 51 on the male end to realize circumferential angle positioning before docking.

[0088] Docking and locking process: The robot carries the male end assembly to the front of the female end assembly. The robot's end joint rotates, and the laser sensor 51 scans the laser sensor identification post 23 to complete circumferential alignment. The robot advances along the X-axis, and the male end conical head 3 enters the inner conical surface of the female end. At this time, the electromagnet 27 is de-energized, and the male end is in a compliant state, which can passively compensate for the position and angle errors between the male end assembly and the female end assembly. When the male end conical head 3 is in contact with the inner conical surface of the female end assembly, the limit switch between the contact plane of the male end conical head 3 and the female end assembly is triggered, the robot stops moving, and at the same time, the locking wedge 10 pops out under the action of the spring and locks into the wedge locking slot of the upper seat 20 and the middle seat 16 of the female end, realizing mechanical locking. At the same time, the electrical connectors 31 and 33 of the male and female ends are also connected. After locking, the electromagnet 27 is energized, the silicon steel block suction cup 11 is attracted, the floating support changes from a floating state to a fixed state, the device switches to a high-rigidity mode, and precise treatment operations can be performed.

[0089] Unlocking and Separation Process: When tool replacement is required after treatment, the robot's end effector performs a downward and backward movement. This downward movement causes the female end seat 16 to move relative to the female end lower seat 17 along the female end seat guide shaft 22. The upper locking wedge 10 slides down and out of the locking slot of the female end upper seat 20. Simultaneously, the trapezoidal protrusion of the female end lower seat 17 restricts the downward movement of the lower locking wedge 10, pushing it out of the locking slot and achieving mechanical unlocking. The robot can then smoothly pull the male end assembly from the female end assembly, completing the tool replacement. Subsequently, the electromagnet 27 is de-energized, and the device returns to a compliant state.

[0090] This invention achieves passive and compliant docking of the end effector of a dermatology treatment robot during the docking process, as well as high rigidity and stable operation during treatment, effectively improving the success rate of changing the end effector of the dermatology medical robot.

[0091] This invention comprises a male end assembly and a female end assembly. During docking, the male end conical surface of the compliant switching device guides the connection, and during the docking process, the primary and secondary floating platforms of the male end passively compensate for translational and deflection deviations generated during docking. When the male end conical surface and the inner conical surface of the female end are fully engaged, the locking wedge of the male end conical head slides into the locking groove of the female end to complete the locking. After docking, the electromagnetic chuck of the male end is energized to attract and fix the secondary floating platform, improving operational rigidity. During unlocking, the robot end cap presses down and moves backward, the upper locking wedge of the male end slides out of the upper locking groove of the female end, and the lower locking wedge, constrained by the trapezoidal protrusion of the lower fixing seat of the female end, slides out of the lower locking groove of the female end. The robot end cap moves backward to complete the separation of the male and female ends. This invention enables pose compensation and rigidity compensation capabilities when the robot is online switching with different end effectors, meeting the task requirements of robot operation.

[0092] The above are merely preferred embodiments of the present invention and are not intended to limit the implementation methods and protection scope of the present invention. Those skilled in the art should recognize that any equivalent substitutions and obvious changes made based on the description and illustrations of the present invention should be included within the protection scope of the present invention.

Claims

1. A variable stiffness passive compliant switching device for a robot end effector, characterized in that, include: The male end assembly installed at the end of the robot and the female end assembly installed on the end effector; The male end assembly includes a male end locking structure and a male end floating structure arranged sequentially from front to back. The male end floating structure is installed at the front end of the robot-side mechanical interface (5), and the male end locking structure is installed at the front end of the male end floating structure through a flange adapter plate (12). The female end assembly includes: a female end upper seat (20), a female end middle seat (16), and a female end lower seat (17) arranged sequentially from top to bottom. Both the female end upper seat (20) and the female end lower seat (17) are connected to the tool-side mechanical interface (18). The female end middle seat (16) is mounted on the female end lower seat (17) through two spring return structures. The two spring return structures are used to push the upper end surface of the female end middle seat (16) against the lower end surface of the female end upper seat (20). The male end locking structure includes: a male end conical head (3) and a locking wedge (10). The upper and lower sides of the male end conical head (3) are provided with locking wedge limiting through holes. The two locking wedges (10) are installed in the male end conical head (3) through a spring reset structure II. The spring reset structure II is used to push the two locking wedges (10) out from the locking wedge limiting through holes on the upper and lower sides respectively. The female upper seat (20) and the female middle seat (16) together form a locking groove that matches the male conical head (3). The inner wall of the female upper seat (20) is provided with a wedge limiting groove that matches the upper locking wedge (10). The inner wall of the female middle seat (16) is provided with a wedge limiting through hole that matches the lower locking wedge (10). The inner wall of the female lower seat (17) is provided with an unlocking protrusion. The unlocking protrusion is located below the wedge limiting through hole. When the male conical head (3) pushes the female middle seat (16) down to the unlocking position, the unlocking protrusion pushes the lower locking wedge (10) back into the male conical head (3).

2. The variable stiffness passive compliant switching device for a robot end effector according to claim 1, characterized in that, The floating structure of the male end includes: a primary floating support (2), a secondary floating support (14), a floating component and a ball-head spring plunger (29). The secondary floating support (14), the primary floating support (2) and the robot-side mechanical interface (5) are all ring structures and are arranged sequentially from front to back. The upper and lower ends of the first-level floating bracket (2) are connected to the robot-side mechanical interface (5) by two floating components. A ball-head spring plunger (29) is installed on the left and right ends of the rear end face of the first-level floating bracket (2). The two ball-head spring plungers (29) on the first-level floating bracket (2) abut against the front end face of the robot-side mechanical interface (5). The left and right ends of the secondary floating bracket (14) are floatingly connected to the primary floating bracket (2) through two floating components. A ball spring plunger (29) is installed at the upper and lower ends of the rear end face of the secondary floating bracket (14). The two ball spring plungers (29) on the secondary floating bracket (14) abut against the front end face of the primary floating bracket (2). The flange adapter (12) is connected to the front end of the secondary floating support (14).

3. The variable stiffness passive compliant switching device for a robot end effector according to claim 2, characterized in that, The floating structure of the male end also includes: an electromagnet fixing bracket (8) and an electromagnet (27). The electromagnet fixing bracket (8) is installed on the rear end face of the robot side mechanical interface (5), and the electromagnet (27) is installed on the front end of the electromagnet fixing bracket (8) and located in the middle of the first-level floating bracket (2) and the second-level floating bracket (14). The floating structure further includes: a silicon steel block suction cup guide shaft (15), a silicon steel block (24), and a silicon steel block suction cup guide shaft spring (28). At least two silicon steel block suction cup guide shafts (15) are provided between the flange adapter plate (12) and the secondary floating support (14). Multiple silicon steel block suction cup guide shafts (15) are circumferentially spaced and parallel to each other. The front end of each silicon steel block suction cup guide shaft (15) is limited and installed on the flange adapter plate (12), and the rear end of each silicon steel block suction cup guide shaft (15) is limited and installed on the secondary floating support (14). The steel block suction cup (11) is slidably mounted on multiple silicon steel block suction cup guide shafts (15). Each silicon steel block suction cup guide shaft (15) is fitted with a silicon steel block suction cup guide shaft spring (28). One end of each silicon steel block suction cup guide shaft spring (28) abuts against the silicon steel block suction cup (11), and the other end of each silicon steel block suction cup guide shaft spring (28) abuts against the secondary floating bracket (14). A silicon steel block (24) is installed in the middle of the silicon steel block suction cup (11). The silicon steel block (24) is located in front of the electromagnet (27) and is coaxially arranged with the electromagnet (27). When the electromagnet (27) is de-energized, there is a gap between the silicon steel block (24) and the electromagnet (27). When the electromagnet (27) is energized, multiple silicon steel block suction cup guide shaft springs (28) are in a compressed state, and the silicon steel block (24) is attached to the front end face of the electromagnet (27).

4. The variable stiffness passive compliant switching device for a robot end effector according to claim 1, characterized in that, The male end locking structure further includes: a wedge shaft support frame (6), and the second spring reset structure includes: a locking wedge guide shaft (9), a spring (38), and a graphite brass sleeve (45). The middle part of the locking wedge guide shaft (9) is installed at the front end of the wedge shaft support frame (6). Graphite brass sleeves (45) are installed in both locking wedges (10). The two graphite brass sleeves (45) are respectively sleeved on the upper and lower ends of the locking wedge guide shaft (9). A spring (38) is respectively sleeved on the upper and lower ends of the locking wedge guide shaft (9). One end of each spring (38) abuts against the wedge shaft support frame (6), and the other end of each spring (38) abuts against a graphite brass sleeve (45).

5. The variable stiffness passive compliant switching device for a robot end effector according to claim 2, characterized in that, Also includes: Spring 3 (42) and Spring 4 (52); Each floating component includes: a floating bracket guide shaft (1) and a graphite brass sleeve 1 (37), a floating bracket guide shaft (1) is installed at the upper and lower ends of the rear end face of the first-level floating bracket (2), and the two floating bracket guide shafts (1) on the first-level floating bracket (2) are coaxially arranged; a first-level floating bracket guide shaft limiting hole is provided at the upper and lower ends of the front end face of the robot side mechanical interface (5), a graphite brass sleeve 1 (37) is installed in each first-level floating bracket guide shaft limiting hole, and each floating bracket guide shaft (1) on the first-level floating bracket (2) passes through a graphite brass sleeve 1 (37); a spring 4 (52) is sleeved on each floating bracket guide shaft (1) on the first-level floating bracket (2), one end of each spring 4 (52) abuts against the inner wall of the robot side mechanical interface (5), and the other end of each spring 4 (52) abuts against the outer wall of the first-level floating bracket (2); A floating support guide shaft (1) is installed on the left and right ends of the rear end face of the secondary floating support (14), and the two floating support guide shafts (1) on the secondary floating support (14) are coaxially arranged; a secondary floating support guide shaft limiting hole is provided on the left and right ends of the front end face of the primary floating support (2), and a graphite brass sleeve (37) is installed in each secondary floating support guide shaft limiting hole. Each floating support guide shaft (1) on the secondary floating support (14) is inserted into a graphite brass sleeve (37); a spring (42) is sleeved on each floating support guide shaft (1) on the secondary floating support (14), one end of each spring (42) abuts against the inner wall of the primary floating support (2), and the other end of each spring (42) abuts against the outer wall of the secondary floating support (14).

6. The variable stiffness passive compliant switching device for a robot end effector according to claim 5, characterized in that, The axes of the two floating support guide shafts (1) on the first-level floating support (2) are perpendicular to the axes of the two floating support guide shafts (1) on the second-level floating support (14).

7. The variable stiffness passive compliant switching device for a robot end effector according to claim 2, characterized in that, Ball head spring plunger mounting slots are provided at both ends of the rear end face of the first-level floating bracket (2) and at both ends of the rear end face of the second-level floating bracket (14). Each ball head spring plunger (29) includes a compression spring and a ball. Each ball head spring plunger mounting slot contains a compression spring and a ball. One end of the compression spring abuts against the bottom of the ball head spring plunger mounting slot, and the other end of the compression spring abuts against the ball. The two balls on the first-level floating bracket (2) abut against the front end face of the robot-side mechanical interface (5). The two balls on the second-level floating bracket (14) abut against the front end face of the first-level floating bracket (2).

8. The variable stiffness passive compliant switching device for a robot end effector according to claim 1, characterized in that, Each spring reset structure includes: a female end middle seat guide shaft (22) and a female end middle seat guide shaft spring (47). The left and right ends of the bottom side of the female end middle seat (16) are provided with limiting shaft holes. The lower end of each female end middle seat guide shaft (22) is limited and installed on the female end lower seat (17). The upper part of each female end middle seat guide shaft (22) is slidably installed in a limiting shaft hole. A female end middle seat guide shaft spring (47) is sleeved on each female end middle seat guide shaft (22). The lower end of each female end middle seat guide shaft spring (47) abuts against the top side of the female end lower seat (17), and the upper end of each female end middle seat guide shaft spring (47) abuts against the bottom side of the female end middle seat (16).

9. The variable stiffness passive compliant switching device for a robot end effector according to claim 1, characterized in that, Also includes: Positioning pin (4), two left-right symmetrical positioning pins (4) are installed on the male end conical head (3); The female end seat (16) is provided with two left and right symmetrical limiting channels. Each limiting channel is equipped with a positioning pin hole (19), a positioning pin hole support block (21), and a spring two (39). The rear end of each limiting channel is provided with an annular limiter with a reduced inner diameter. The front end of the positioning pin hole support block (21) abuts against the rear end face of the tool side mechanical interface (18), the front end of the spring two (39) abuts against the rear end of the positioning pin hole support block (21), and the rear end of the spring two (39) abuts against the positioning pin hole (19). The annular limiter is used to limit the positioning pin hole (19). When the male end assembly and the female end assembly are in the locked state, each positioning pin (4) abuts against a positioning pin hole (19).

10. The variable stiffness passive compliant switching device for a robot end effector according to claim 4, characterized in that, Also includes: Limit switch (40), limit switch adjusting block (41) and set screw (53), a limit switch adjusting block (41) is installed on the upper part of the male end conical head (3) and the lower part of the wedge shaft support frame (6) and locked by multiple set screws (53). A limit switch (40) is installed at the front end of each limit switch adjusting block (41). When the male end assembly and the female end assembly change from the unlocked state to the locked state, the rear end of the female end upper seat (20) triggers the limit switch (40) located on the upper part of the male end conical head (3); when the male end assembly and the female end assembly change from the locked state to the unlocked state, the locking wedge (10) retracted into the male end conical head (3) triggers the limit switch (40) located on the lower part of the wedge shaft support frame (6). It also includes: a laser sensor identification column (23) and a laser sensor (51). The laser sensor identification column (23) is installed on the female end assembly, and the laser sensor (51) is installed on the male end assembly. The laser sensor identification column (23) and the laser sensor (51) are used to realize the positioning between the male end assembly and the female end assembly. It also includes: electrical connector one (31) and electrical connector two (33), with electrical connector one (31) installed on the female end assembly and electrical connector two (33) installed on the male end assembly. When the male end assembly and the female end assembly are in the locked state, electrical connector one (31) and electrical connector two (33) are connected.

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