CN212676524U

CN212676524U - Power module assembly for quickly switching connecting discs of industrial robot actuator

Info

Publication number: CN212676524U
Application number: CN202022002038.6U
Authority: CN
Inventors: 陈浩杰; 李怀彬
Original assignee: Zhengzhou Linghang Robot Co ltd
Current assignee: Zhengzhou Linghang Robot Co ltd
Priority date: 2020-09-14
Filing date: 2020-09-14
Publication date: 2021-03-09
Anticipated expiration: 2030-09-14

Abstract

The utility model relates to an industrial robot executor fast switch over power module subassembly for connection pad, industrial robot executor fast switch over power module subassembly for connection pad includes robot side electricity module and executor side electricity module, and robot side electricity module includes robot side electricity module shell and robot side electricity and connects, and executor side electricity module includes executor side electricity module shell and executor side electricity and connects; the one side relative with executor side electric module shell is equipped with ring channel or annular arch on the robot side electric module shell, is equipped with annular arch or ring channel on the executor side electricity joint shell, and each pair of robot side electricity joint and executor side electricity joint can be sealed to the sealing washer in the ring channel, the utility model discloses a sealing washer can be sealed simultaneously to a plurality of electricity joints, has reduced the quantity of sealing washer, has improved the installation effectiveness, and the power module who has solved present quick change device adopts the sealing washer to seal the lower technical problem of sealing washer installation effectiveness that causes respectively to single electricity joint.

Description

Power module assembly for quickly switching connecting discs of industrial robot actuator

Technical Field

The utility model relates to a power module subassembly for industrial robot executor fast switch-over connection pad.

Background

The tail end of an industrial robot arm is generally required to be provided with a plurality of actuators, different actuators are required to have different working conditions, such as air source supply, electric energy supply and the like, and in order to facilitate the replacement of the actuators, the robot arm is generally provided with a quick-change device so as to improve the replacement efficiency of the robot actuators. The Chinese patent with the grant bulletin number CN203726502U and the grant bulletin date 2014.07.23 discloses an automatic quick change device for the tail end of a robot, which comprises a male end and a female end, wherein a piston is arranged in a housing of the male end, the piston divides a cavity in the housing of the male end into a first driving air cavity and a second driving air cavity, the piston drives a sliding block to move by inflating the two driving cavities to drive the piston to move, so that the sliding block pushes a ball on the housing of the male end, and the male end is locked with the current end by matching the ball with a ring groove of a bus. The male end is equivalent to a robot side connecting disc, the female end is equivalent to an actuator side connecting disc, a male end electrical connector and a female end electrical connector are further arranged on the male end shell and the female end shell, and signals are transmitted to the actuator through the male end electrical connector and the female end electrical connector. The male end shell and the female end shell are generally provided with a male end power module and a female end power module for transmitting power, and the actuator is supplied with power through the male end power module and the female end power module.

Existing power modules typically require three electrical connectors to provide ac power to the actuator. In order to prolong the service life of the connector, a sealing ring is usually arranged on the power supply module to respectively seal the electric connector, so that the dustproof and waterproof capacity of the power supply module is improved. However, when the sealing structure is assembled, the sealing rings corresponding to the electric connectors need to be respectively installed in place, and the problem of low assembly efficiency exists.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an industrial robot executor fast switch over connection pad is with power module subassembly for solve present quick change device's power module and adopt the sealing washer to connect the lower technical problem of the sealing washer installation effectiveness that the difference sealed lead to the fact single electricity.

The utility model discloses a power module subassembly for industrial robot executor fast switch-over connection pad adopts following technical scheme:

the power module assembly for the rapid switching connection disc of the industrial robot actuator comprises a pair of power modules, wherein the pair of power modules are a robot side electric module and an actuator side electric module respectively; the robot side electric module comprises a robot side electric module shell and a robot side electric connector, and the actuator side electric module comprises an actuator side electric module shell and an actuator side electric connector; the robot side electric joint and the actuator side electric joint are paired and correspondingly spliced for conducting electricity; the robot side electric joint and the actuator side electric joint are at least two pairs; the robot side electric module shell is provided with an annular groove at one side opposite to the actuator side electric module shell, the actuator side electric module shell is provided with an annular bulge at one side opposite to the robot side electric module shell, the annular groove is positioned at the periphery of each robot side electric connector, the annular bulge is positioned at the periphery of each actuator side electric connector, or the actuator side electric module shell is provided with an annular groove at one side opposite to the robot side electric module shell, the robot side electric module shell is provided with an annular bulge at one side opposite to the actuator side electric module shell, the annular groove is positioned at the periphery of each actuator side electric connector, the annular groove is in butt joint with the annular bulge, a sealing ring is arranged in the annular groove, and the sealing ring is used for being extruded and deformed by the annular bulge after the robot side electric module and the actuator side electric module are in butt joint to enable the robot side electric module shell and the actuator side, to seal each pair of robot side electrical joint and actuator side electrical joint.

Has the advantages that: the utility model discloses a power module assembly's each electricity connects ring channel and annular bulge of sharing, and each robot side electricity of sealing washer in the ring channel connects and executor side electricity connects, and the ring channel can make the sealing washer warp to the sealing washer effect with the protruding back of inserting of annular, seals between robot side electric module shell and executor side electric module shell. Compare with present to single electricity connect to seal up, the utility model discloses a sealing washer can connect simultaneously to a plurality of electricity to seal up, has reduced the quantity of sealing washer, has improved the installation effectiveness, and the power module who has solved present quick change device adopts the sealing washer to connect the lower technical problem of the sealing washer installation effectiveness that causes respectively to single electricity.

Further, the robot side electric module shell comprises a robot side electric module shell and a robot side mounting seat, the robot side electric connector is arranged on the robot side mounting seat, the robot side mounting seat is detachably fixed on the robot side electric module shell, and the annular groove or the annular protrusion is arranged on the robot side mounting seat. The detachable fixed robot side electricity of being convenient for of robot side mount pad connects the installation.

Furthermore, the robot side electric connector is provided with a fixing pin hole extending along the plugging direction of the robot side electric connector, the robot side mounting seat is provided with a robot side mounting seat pin hole opposite to the fixing pin hole, the robot side electric module comprises a fixing pin inserted into the fixing pin hole and the robot side mounting seat pin hole, and the robot side mounting seat is further provided with a jackscrew extending along the plugging direction of the robot side electric connector and used for being matched with the fixing pin stop to limit the fixing pin to be separated from the fixing pin hole. Through fixed pin and jackscrew fixed robot side electricity connect, simple structure, and occupation space is little.

Further, the robot side electric module shell comprises a robot side shell cap and a robot side shell bottom, the robot side shell cap and the robot side shell bottom are detachably fixed, and the robot side mounting seat is fixed on the robot side shell bottom. The robot side electric module shell is assembled, so that the robot side electric connector can be conveniently installed.

Further, the robot side shell bottom is made of a metal material, the robot side shell cap and the robot side mounting base are made of an insulating material, and a robot side insulating base plate covering the robot side shell bottom is arranged between the robot side shell bottom and the robot side shell cap. The insulating property of the robot side electric module is improved.

Furthermore, the actuator side electrical module shell comprises an actuator side electrical module shell and an actuator side mounting seat, the actuator side electrical connector is arranged on the actuator side mounting seat, the actuator side mounting seat is detachably fixed on the actuator side electrical module shell, and the annular groove or the annular protrusion is arranged on the actuator side mounting seat. The installation of the actuator side electric connector is convenient.

Furthermore, be equipped with the spout that extends along executor side electricity joint grafting direction on the executor side electricity joint, be equipped with the executor side mount pad pinhole just right with the spout on the executor side mount pad, executor side electric module is including installing the uide pin in executor side mount pad pinhole, and the uide pin stretches into in the spout to make executor side electricity joint can be in the direction of pegging graft and slide, be provided with the spring in the executor side joint module shell, the spring is used for applying orientation and robot side electricity joint to executor side electricity joint and to the elasticity of pegging graft direction. The pressing of the actuator side electric connector and the robot side electric connector is guaranteed, and good conductive contact is achieved.

Furthermore, the actuator side electric module shell comprises an actuator side shell cap and an actuator side shell bottom, the actuator side shell cap and the actuator side shell bottom are detachably fixed, and the actuator side mounting seat is fixed on the actuator side shell bottom. The electric module shell on the side of the actuator is assembled, so that the electric connector on the side of the actuator can be conveniently installed.

Furthermore, the actuator side shell bottom is made of a metal material, the actuator side shell cap and the actuator side mounting base are both made of an insulating material, and an actuator side insulating base plate covering the actuator side shell bottom is arranged between the actuator side shell bottom and the actuator side shell cap. The insulating property of the electric module at the side of the actuator is improved.

Furthermore, the sealing ring is arranged at the bottom of the annular groove, and after the robot side electric module and the actuator side electric module are oppositely inserted, the sealing ring deforms under the extrusion acting force of the annular protrusion in the inserting direction of the robot side electric connector. The sealing ring is extruded in the inserting square, so that the deformation is larger, and the sealing effect is better.

Drawings

Fig. 1 is a partial cross-sectional view of a power module and a connection pad of embodiment 1 of the present invention before being inserted into each other;

fig. 2 is a schematic structural view of a robot-side connection pad according to embodiment 1 of the present invention;

fig. 3 is a schematic structural diagram of a robot side electric module according to embodiment 1 of the present invention;

fig. 4 is a cross-sectional view of a robot side module according to embodiment 1 of the present invention;

fig. 5 is a schematic structural diagram of an actuator-side electrical module according to embodiment 1 of the present invention;

fig. 6 is a cross-sectional view of the actuator side module according to embodiment 1 of the present invention;

in the figure: 1-robot side connection pad; 11-a first step face; 12-a second step face; 121-first section; 122-a second segment; 123-an intermediate section; 13-robot side connection disc threaded holes; 14-robot side connection disc pin holes; 2-actuator side connection disc; 3-actuator side electric module; 31-actuator side electric module connection lug; 32-actuator side electrical module housing; 321-actuator side electrical module housing; 3211-actuator side shell cap; 3212-actuator side shell bottom; 322-actuator side mount; 3221-actuator side mount pin hole; 3222-silk hole; 3223-an annular projection; 323-actuator side insulating backing plate; 324-actuator side wire through hole; 33-actuator side electrical contact; 331-a chute; 332-actuator side conductive post; 333-socket; 4-a robot-side electrical module; 41-robot side electric module connection lug; 42-counter sink; 43-robot side electric module connection lug pin hole; 44-a robot side electrical module housing; 441-a robot side electrical module housing; 4411-robot side shell cap; 4412-robot side case bottom; 442-robot side mount; 4421-robot side mount pin holes; 4422-silk perforation; 4423-an annular groove; 443-robot-side insulating pad; 444-robot side wire through hole; 45-robot side electrical joints; 451-robot side conductive post; 452-a plug; 453-pressing hole; 454-a crimping nut; 455-line pressing block; 46-fixed pins.

Detailed Description

The features and properties of the present invention are described in further detail below with reference to examples.

The utility model discloses industrial robot executor fast switch over connection pad power module subassembly's embodiment 1:

as shown in fig. 1 and fig. 2, the rapidly switched connecting discs of the industrial robot actuator are arranged in pairs and comprise a robot side connecting disc 1 and an actuator side connecting disc 2, the robot side connecting disc 1 is detachably fixed at the tail end of a robot arm, and the actuator side connecting disc 2 is detachably fixed on the actuator. The two connecting discs are further connected with a fluid module, a power supply module, a signal module and the like. The power module assembly comprises paired power modules, the paired power modules are a robot-side electric module 4 and an actuator-side electric module 3 respectively, the robot-side electric module 4 is used for being plugged into the actuator-side electric module 3, the electric module 4 is detachably fixed on the robot-side connecting disc 1, and the actuator-side electric module 3 is detachably fixed on the actuator-side connecting disc 2.

The robot-side electric module 4 and the actuator-side electric module 3 are fixed to the corresponding lands in the same manner, and the form of connection to the lands will be described below by taking the robot-side electric module 4 as an example. As shown in fig. 2 to 5, the robot-side electric module 4 is provided with a robot-side electric module engaging lug 41 for fixing to the corresponding robot-side land 1, and the robot-side electric module engaging lug 41 is fixed to the side of the robot-side land 1 facing the actuator-side land 2, that is, to the side opposite to the pair of lands. The robot side connecting disc 1 is provided with a fixed step matched with the robot side electric module connecting lug 41, the fixed step comprises a first step surface 11 and a second step surface 12, the normal direction of the first step surface 11 is the inserting direction of the robot side electric module 4, the second step surface 12 is perpendicular to the first step surface 11, the second step surface 12 is a curved surface with the middle portion concave towards the center of the robot side connecting disc 1, the notch of the second step surface 12 faces away from the center of the robot side connecting disc 1, and the notch of the second step surface 12 is a flaring. This allows the first step surface 11 to have a sufficiently large area to be fixed to the robot-side electric module attaching lug 41. The first step surface 11 and the second step surface 12 are both of a symmetrical structure, a symmetrical plane of the first step surface 11 is overlapped with a symmetrical plane of the second step surface 12, and a symmetrical plane of the robot side electric module 4 is overlapped with the symmetrical plane of the first step surface.

As shown in fig. 3 and 4, the robot-side electric module connecting lug 41 is provided with a countersunk hole 42 through which a fixing bolt passes and a robot-side electric module connecting lug pin hole 43 into which a positioning pin is inserted, and two countersunk holes 42 and two robot-side electric module connecting lug pin holes 43 are provided. The robot-side connecting disc 1 corresponding to the robot-side electric module connecting lug 41 is provided with a robot-side connecting disc threaded hole 13 in threaded fit with a fixing bolt and a robot-side connecting disc pin hole 14 into which a positioning pin is inserted, the robot-side connecting disc threaded hole 13 corresponds to the countersunk hole 42 one by one, and the robot-side connecting disc pin hole 14 corresponds to the robot-side electric module connecting lug pin hole 43 one by one. The second step surface 12 includes a first section 121, a second section 122, and an intermediate section 123 connecting the first section 121 and the second section 122, and the arrangement direction of the first section 121, the second section 122, and the intermediate section 123 is perpendicular to the plugging direction of the robot-side electrical module 4. Due to the requirement of installation space on the robot side connecting disc 1, the middle part of the middle section 123 protrudes outwards far away from the center of the robot side connecting disc 1, the middle section 123 is a long arc-shaped surface, and the projection in the normal direction of the first step surface 11 is an arc line segment. Robot side connection pad screw hole 13 and robot side connection pad pinhole 14 all are close to the both ends setting of interlude 123, set up respectively in the junction of interlude 123 and first section 121, second section 122 promptly. The first segment 121 and the second segment 122 are both planar, and the pitch of the first segment 121 and the second segment 122 in the normal direction of the symmetry plane thereof gradually increases in a direction away from the robot-side connection pad 1 to form a flare. The utility model discloses well normal direction indicates the extending direction of the straight line of perpendicular to plane promptly.

The actuator-side electric module 33 is provided with an actuator-side electric module connecting lug 31, the structure of the actuator-side electric module connecting lug is the same as that of the robot-side electric module connecting lug, the actuator-side connecting disc is provided with a fixing step, and the structure of the fixing step on the actuator-side connecting disc is the same as that of the fixing step on the robot-side connecting disc, and therefore, explanation is omitted. After the two connecting discs are connected, the symmetrical plane of the electric module 3 at the side of the actuator is superposed with the symmetrical plane of the electric module 4 at the side of the robot. The robot side electric module 4 comprises a robot side electric module shell 44 and a robot side electric connector 45, the robot side electric module shell 44 and the robot side electric module connector lug 41 are integrally arranged, the actuator side electric module 3 comprises an actuator side electric module shell 32 and an actuator side electric connector 33, the actuator side electric module shell 32 and the actuator side electric module connector lug 31 are integrally arranged, and the robot side electric connector 45 and the actuator side electric connector 33 are paired and correspondingly inserted and electrically conducted. In the present embodiment, three pairs of the robot-side electric joint 45 and the actuator-side electric joint 33 are provided.

The robot-side electrical module housing 44 is similar in structure to the actuator-side electrical module housing 32, and the robot-side electrical module housing 44 is expanded in detail as an example. The robot-side electrical module housing 44 includes a robot-side electrical module housing 441 and a robot-side mounting base 442, the robot-side electrical module housing 441 includes a robot-side cap 4411 and a robot-side base 4412, and the robot-side electrical connector 45 is fixed to the robot-side mounting base 442. The robot-side mounting base 442 is fixed to the robot-side housing bottom 4412 by a housing bottom bolt, and the robot-side mounting base 442 and the robot-side housing cap 4411 are made of an insulating material, and in this embodiment, are made of epoxy resin. The robot side engaging lug 41 and the robot side housing bottom 4412 are integrally formed and made of an aluminum alloy, and in order to prevent the robot side housing bottom 4412 from affecting the insulating performance of the robot side electrical connector 45, a robot side insulating pad 443 covering the robot side housing bottom 4412 is provided between the robot side housing bottom 4412 and the robot side housing cap 4411. The robot-side housing bottom 4412 and the robot-side housing cap 4411 are fixed by a housing cap bolt, which in this embodiment extends in the plugging direction of the robot-side electrical connector 45. The robot side electric module shell 44 adopts a split structure, so that the installation of the electric connector is facilitated, and the installation efficiency of the electric connector is improved. The robot side cap 4411 is provided with a robot side wire passing hole 444 through which a cable enters. Robot side electric connector 45 includes robot side electric pole 451 and fixes plug 452 on robot side electric pole 451, the one end of robot side electric pole 451 is the plug stiff end of fixing with plug 452, the other end of robot side electric pole 451 is for stretching into the terminal in robot side shell cap 4411, the terminal of robot side electric pole 451 is provided with wire pressing hole 453, the terminal still is equipped with wire pressing nut 454 and wire pressing block 455, wire pressing nut 454 screw assembly is on the terminal, wire pressing nut 454 exerts pressure to wire pressing block 455, compress tightly the cable in wire pressing hole 453 through wire pressing block 455. The robot-side electrical connector 45 is fixed to the robot-side mounting base 442 by a fixing pin 46, the robot-side conductive post 451 is provided with a fixing pin hole extending in a direction perpendicular to the insertion direction of the robot-side electrical connector 45, the robot-side mounting base 442 is provided with a robot-side mounting base pin hole 4421 facing the fixing pin hole, the robot-side electrical module 4 includes a fixing pin 46 inserted into the fixing pin hole and the robot-side mounting base pin hole, and the robot-side electrical connector 45 is fixed to the robot-side mounting base 442 by the fixing pin 46.

In order to prevent the fixing pin 46 from exiting from the fixing pin hole, the robot-side mounting seat 442 is further provided with a screw hole 4422 extending in the insertion direction of the robot-side electric connector 45, and a jack screw is provided in the screw hole and provided at an end of the fixing pin 46 away from the robot-side electric connector 45 for stop-fitting with the fixing pin 46 to restrict the fixing pin 46 from coming out of the fixing pin hole.

As shown in fig. 1, 5 and 6, the actuator-side electrical module housing 32 includes an actuator-side electrical module housing 321 and an actuator-side mounting block 322, the actuator-side electrical module housing 321 includes an actuator-side housing cap 3211 and an actuator-side housing base 3212, and the actuator-side electrical connectors 33 are secured to the actuator-side mounting block 322. The actuator side mounting base 322 is fixed on the actuator side shell bottom 3212 through a shell bottom bolt, and the actuator side mounting base and the actuator side shell cap are made of insulating materials and made of epoxy resin. The actuator side engaging lug 31 and the actuator side housing bottom 3212 are integrally formed, and in order to avoid the actuator side housing bottom 3212 from affecting the insulating performance of the actuator side electrical connector 33, an actuator side insulating pad 323 covering the actuator side housing bottom 3212 is provided between the actuator side housing bottom 3212 and the actuator side cap 3211. The actuator-side housing bottom 3212 and the actuator-side housing cap 3211 are fixed by a housing cap bolt, which both extend in the plugging direction of the actuator-side electrical connector 33. The electric module shell 32 on the side of the actuator adopts a split structure, so that the electric connector can be conveniently installed, and the installation efficiency of the electric connector is improved. The actuator side shell cap 3211 is provided with an actuator side wire passage hole 324 into which a cable enters. The actuator side electric connector 33 is slidably assembled on the actuator side mounting seat 322 along the plugging direction in a guiding manner, the actuator side electric connector 33 is provided with a sliding slot 331 extending along the plugging direction of the actuator side electric connector 33, the actuator side mounting seat 322 is provided with an actuator side mounting seat pin hole 3221 opposite to the sliding slot 331, the actuator side electric module 3 comprises a guiding pin inserted in the actuator side mounting seat pin hole 3221, and the guiding pin extends into the sliding slot 331 so that the actuator side electric connector 33 can slidably guide in the plugging direction.

And a spring is arranged in the actuator side joint module shell and is used for applying elastic force towards the opposite insertion direction of the robot side electric joint 45 to the actuator side electric joint 33, so that the actuator side electric joint 33 is tightly propped against the robot side electric joint 45, and good electric contact is ensured. In order to prevent the guide pin from exiting the sliding slot 331, in the embodiment, the actuator-side mounting base 322 is further provided with a threaded hole 3222 extending along the insertion direction of the actuator-side electrical connector 33, a jackscrew is disposed in the threaded hole, and the jackscrew is disposed at an end of the guide pin away from the robot-side electrical connector 45 and is used for being in stop-and-stop cooperation with the guide pin to limit the guide pin from exiting from the sliding slot 331. The actuator-side electric connector 33 includes an actuator-side conductive post 332 and a socket 333 fixed to the actuator-side conductive post 332, the slide groove 331 is provided on the actuator-side conductive post 332, and the socket 333 is slidably fitted to the actuator-side mounting seat 322 in the plugging direction. One end of the actuator-side conductive post 332 is a socket fixed end fixed to the socket 333, the other end of the actuator-side conductive post 332 is a terminal extending into the actuator-side housing cap 3211, and the terminal structure of the actuator-side conductive post 332 is the same as that of the robot-side conductive post 451, and therefore description thereof is omitted.

In order to ensure the sealing of the two power modules, in this embodiment, the robot-side mounting seat 442 is provided with an annular groove 4423 on a side facing the actuator-side electrical module housing 32, a sealing ring (not shown) is provided at the bottom of the annular groove 4423, the annular groove 4423 is located at the periphery of each of the robot-side electrical connectors 45, the actuator-side mounting seat 322 is provided with an annular protrusion 3223 on a side facing the robot-side electrical module housing 44, the annular protrusion 3223 is located at the periphery of each of the actuator-side electrical connectors 33, the annular groove 4423 is inserted by the annular protrusion 3223, and after the robot-side electrical module 4 is inserted into the actuator-side electrical module housing 3, the sealing ring is deformed by a pressing force of the annular protrusion 3223 in the inserting direction of the robot-side electrical connector 45, so that the robot-side electrical module housing 44 is in sealing engagement with the actuator-side. Because the sealing ring can seal each pair of the robot side electric joint 45 and the actuator side electric joint 33, the mounting time of the sealing ring is greatly reduced during mounting, and meanwhile, the mounting structure of the sealing ring is simplified, and the processing is convenient. The annular protrusion 3223 and the annular groove 4423 extend the fit clearance between the two power modules, and the sealing performance is improved by the annular protrusion 3223 and the annular groove 4423.

The utility model discloses a during the equipment of robot side electricity module 4, fix robot side electricity joint 45 on robot side mount pad 442 earlier, pass the robot side with the cable and cross line hole 444, with robot side electricity joint 45 with the cable dress, dress robot side shell cap 4411 and robot side shell end 4412. The actuator-side electrical module 3 is assembled in a similar manner and will not be described in detail. When the robot side electric module 4 is plugged with the actuator side electric module 3, the robot side electric module 4 is driven by the robot side connecting disc to be plugged with the actuator side electric module 3, the plug 452 of the robot side electric connector 45 is plugged into the socket 333 of the actuator side electric connector 33, the socket 333 is provided with a blind hole for the plug 452 to be plugged into, after the plug 452 is plugged to the end, the actuator side electric connector 33 starts to extrude the spring until the annular protrusion 3223 of the actuator side electric connector 33 is plugged into the annular groove 4423 of the robot side electric connector 45, and after the actuator side electric module 3 is plugged into the robot side electric module 4, the sealing ring in the annular groove 4423 is extruded and deformed, so that the two power supply modules are sealed.

In other embodiments, an annular protrusion may be provided on the robot-side electrical module and an annular groove may be provided on the implement-side electrical module. In other embodiments, the sealing ring can be arranged on the side wall of the annular groove, or the sealing rings are arranged on the side wall of the annular groove and the bottom of the annular groove, so that the sealing effect is better. In other embodiments, the robot-side electrical module housing and the robot-side mounting base may be integrally formed and made of an insulating material. Similarly, the actuator side electrical module shell and the actuator side mounting seat can also be integrally arranged and made of insulating materials. In other embodiments, the robot-side electrical connector may be fixed to the robot-side mounting base by a screw. In other embodiments, the robot-side electrical connector may be slidably mounted on the robot-side mounting base along the insertion direction, and in this case, the actuator-side electrical connector may be fixed on the actuator-side mounting base. In other embodiments, for the guiding sliding form of the actuator-side electrical connector, a guide pin may be fixed to the actuator-side electrical connector, and a sliding groove that slides in a guiding manner with the guide pin may be provided in the actuator-side mounting base.

Claims

1. The power module component for the rapid switching of the connecting disc of the industrial robot actuator comprises a pair of power modules,

the robot side electric module is used for being oppositely inserted with the actuator side electric module, the robot side electric module is used for being detachably fixed on a robot side connecting disc, and the actuator side electric module is used for being detachably fixed on the actuator side connecting disc;

the robot side electric module comprises a robot side electric module shell and a robot side electric connector, and the actuator side electric module comprises an actuator side electric module shell and an actuator side electric connector; the robot side electric joint and the actuator side electric joint are paired and correspondingly spliced for conducting electricity; the robot side electric joint and the actuator side electric joint are at least two pairs;

it is characterized in that the preparation method is characterized in that,

the robot side electric module shell is provided with an actuator side electric module shell, the side of the actuator side electric module shell, which is opposite to the actuator side electric module shell, is provided with an annular groove, the annular groove is positioned at the periphery of each robot side electric connector, the annular protrusion is positioned at the periphery of each actuator side electric connector, or the side of the actuator side electric module shell, which is opposite to the robot side electric module shell, is provided with an annular groove, the side of the robot side electric module shell, which is opposite to the actuator side electric module shell, is provided with an annular protrusion, the annular groove is positioned at the periphery of each actuator side electric connector, and the annular protrusion is positioned at the periphery of each robot side electric connector;

the annular groove is inserted in the annular protrusion in a butt mode, a sealing ring is arranged in the annular groove, and the sealing ring is used for enabling the robot side electric module shell and the actuator side electric module shell to be in sealing fit after the robot side electric module and the actuator side electric module are inserted in the butt mode and extruded and deformed by the annular protrusion, so that each pair of the robot side electric connector and the actuator side electric connector can be sealed.

2. The power module assembly for an industrial robot actuator quick-change-over connection pad as claimed in claim 1, wherein the robot-side electrical module housing comprises a robot-side electrical module housing and a robot-side mounting base, wherein the robot-side electrical connector is disposed on the robot-side mounting base, the robot-side mounting base is detachably fixed on the robot-side electrical module housing, and the annular groove or the annular protrusion is disposed on the robot-side mounting base.

3. The power module assembly for an industrial robot actuator to rapidly switch a connecting pad according to claim 2, wherein the robot-side electrical connector is provided with a fixing pin hole extending in a direction perpendicular to the insertion direction of the robot-side electrical connector, the robot-side mounting socket is provided with a robot-side mounting socket pin hole facing the fixing pin hole, the robot-side electrical module includes a fixing pin inserted into the fixing pin hole and the robot-side mounting socket pin hole, and the robot-side mounting socket is further provided with a jack screw extending in the insertion direction of the robot-side electrical connector for cooperating with the fixing pin stopper to restrict the fixing pin from coming off the fixing pin hole.

4. The power module assembly for an industrial robot actuator quick-change-over connection pad as claimed in claim 2, wherein the robot side electric module housing comprises a robot side housing cap and a robot side housing bottom, the robot side housing cap and the robot side housing bottom being detachably fixed, and the robot side mounting base being fixed to the robot side housing bottom.

5. The power module assembly for an industrial robot actuator quick-change-over connection pad according to claim 4, wherein the robot-side case bottom is made of a metal material, the robot-side case cap and the robot-side mounting base are made of an insulating material, and a robot-side insulating pad plate covering the robot-side case bottom is provided between the robot-side case bottom and the robot-side case cap.

6. The industrial robot actuator quick-change-over land power module assembly according to any one of claims 1 to 5, wherein the actuator-side electrical module housing includes an actuator-side electrical module housing and an actuator-side mounting seat, wherein the actuator-side electrical connector is disposed on the actuator-side mounting seat, the actuator-side mounting seat is detachably fixed on the actuator-side electrical module housing, and the annular groove or the annular protrusion is disposed on the actuator-side mounting seat.

7. The power module assembly for an industrial robot actuator quick-change-over connection pad according to claim 6, wherein the actuator-side electric connector is provided with a slide groove extending in the insertion direction of the actuator-side electric connector, the actuator-side mounting seat is provided with an actuator-side mounting seat pin hole facing the slide groove, the actuator-side electric module includes a guide pin installed in the actuator-side mounting seat pin hole, the guide pin extends into the slide groove so that the actuator-side electric connector can slide in the insertion direction, and a spring is provided in the housing of the actuator-side electric connector for applying a spring force to the actuator-side electric connector in the insertion direction opposite to the insertion direction of the robot-side electric connector.

8. The industrial robot actuator quick-change-over land power module assembly according to claim 6, wherein the actuator-side electrical module housing includes an actuator-side housing cap and an actuator-side housing bottom, the actuator-side housing cap being detachably fixed to the actuator-side housing bottom, and the actuator-side mounting base being fixed to the actuator-side housing bottom.

9. The power module assembly for the industrial robot actuator quick-switching connection pad according to claim 8, wherein the actuator side case bottom is made of a metal material, the actuator side case cap and the actuator side mounting base are made of an insulating material, and an actuator side insulating base plate covering the actuator side case bottom is provided between the actuator side case bottom and the actuator side case cap.

10. The power module assembly for an industrial robot actuator quick-change-over connecting disc as claimed in any one of claims 1 to 5, wherein the sealing ring is disposed at the bottom of the annular groove, and after the robot-side electric module and the actuator-side electric module are inserted into each other, the sealing ring is deformed by the pressing force of the annular protrusion in the inserting direction of the robot-side electric connector.