Fixture switching tooling and robots

Abstract

The present invention provides a jig switching tool and a robot, which relate to the field of mechanical processing technology, and the main purpose is to solve the technical problem of slow jig switching speed existing in the prior art. The jig switching tool includes a dynamic module, a static module, an axial locking mechanism and a radial locking mechanism, wherein the dynamic module is arranged on one side of the static module, the axial locking mechanism is used to connect the dynamic module and the static module so that the two can rotate relative to each other on a coaxial line, and when the dynamic module is rotated into place, the radial locking mechanism can be activated to limit the rotation of the two. The present invention is used on a robot jig, and can conveniently realize the rapid switching of the jig, thereby greatly improving the efficiency of automated work and improving the stability of jig operation.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical processing, and in particular to a fixture switching tool and a robot. Background Art

[0002] In the prior art, when the injection molding machine switches the mold, the robot's fixture needs to be switched synchronously. The traditional robot fixture installation method is direct installation, which is fastened to the robot's six axes by 4 to 10 screws. Therefore, when switching the fixture, it is necessary to remove and reinstall the screws 8 to 20 times. It takes about 20 minutes for one person to switch a set of fixtures, which is time-consuming and laborious.

[0003] In view of the above-mentioned defects, it is urgent to develop a fixture switching tool that is easy to disassemble and install to increase the switching rate of robot fixtures. Summary of the invention

[0004] The purpose of the present invention is to provide a fixture switching tool and a robot to solve the technical problem of slow fixture switching speed in the prior art. The preferred technical solution among the many technical solutions provided by the present invention can produce many technical effects as described below.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] The present invention provides a fixture switching tool, including a dynamic module, a static module, an axial locking mechanism and a radial locking mechanism, wherein the dynamic module is arranged on one side of the static module, the axial locking mechanism is used to connect the dynamic module and the static module so that the two can rotate relative to each other on a coaxial line, and when the dynamic module is rotated into place, the radial locking mechanism can be activated to limit the rotation of the two.

[0007] When in use, the dynamic module and the static module can be locked in the axial direction through the axial locking mechanism. At this time, the two can rotate relative to each other along the axis, and then the radial locking mechanism can radially lock the dynamic module and the static module; the above-mentioned components can realize the rapid locking and disassembly of the dynamic module and the static module, and the disassembly and installation of the fixture can be conveniently realized through the interaction between the dynamic module and the static module.

[0008] In the above technical solution, preferably, the axial locking mechanism includes a buckle and a guide assembly, one of the buckle and the guide assembly is arranged on the dynamic module, and the other is arranged on the static module, and the guide assembly can guide the buckle to rotate along the guide assembly and realize the axial connection between the dynamic module and the static module.

[0009] The buckle can slide along the length direction of the guide assembly to drive the moving module to rotate relative to the static module. During this process, the buckle and the guide assembly are engaged with each other.

[0010] In the above technical solution, preferably, the guide assembly is a hollow cylindrical structure protruding outward relative to the surface of the dynamic module or the static module and its free end is bent to form an annular guide plane, and the buckle is a protruding block relative to the static module or the dynamic module, and the side of the protrusion is provided with a groove matching the guide plane.

[0011] The buckle is engaged with the guide assembly through the groove, and then the buckle slides and rotates along the guide plane through the slot.

[0012] In the above technical solution, preferably, there are multiple axial locking mechanisms and the multiple axial locking mechanisms are evenly distributed.

[0013] In the above technical solution, preferably, the buckle and the guide assembly are arranged at intervals on the dynamic module and the static module.

[0014] In the above technical solution, preferably, the radial locking mechanism includes a fixing hole and a telescopic assembly, one of the fixing hole and the telescopic assembly is arranged on the dynamic module, and the other is arranged on the static module, when the static module and the dynamic module are rotationally connected through the axial locking mechanism, the telescopic assembly is in a compressed state; when the dynamic module is rotated into place, the telescopic assembly is at least partially inserted into the fixing hole and radial locking is achieved.

[0015] In the above technical solution, preferably, the telescopic assembly includes a positioning column and a telescopic part that controls the upward and downward movement of the positioning column, and the telescopic part can control the positioning column to be inserted or removed relative to the fixing hole to realize or release the radial locking between the dynamic module and the static module.

[0016] In the above technical solution, preferably, the fixing hole is located on an annular slideway, the slideway is concentrically arranged with the dynamic module or the static module, and the positioning column can slide along the slideway.

[0017] In the above technical solution, preferably, the telescopic part comprises an upper column and a lower column which are connected in a close connection, wherein the upper column and the lower column are connected via an inclined surface; a push rod and a first spring are respectively arranged at opposite sides of the circumference of the lower column, wherein the push rod is located on a side of the inclined surface which is inclined downward and the push rod is passed through a through hole located on a side wall of the static module or the dynamic module;

[0018] The upper column is fixedly connected to the positioning column and the upper column is closely connected to the inner wall of the dynamic module or the static module.

[0019] By pressing the push rod, the lower column can be moved toward the direction of the first spring and squeeze the first spring. At this time, the upper column loses the support function of the lower column and slides downward in the vertical direction, and the positioning column moves downward accordingly and disengages from the fixing hole; after the thrust on the push rod is removed, the lower column returns to its initial position under the action of the first spring, and at this time, the upper column moves upward to its initial position under the action of the lower column.

[0020] In the above technical solution, preferably, an annular limiting ring is provided on the moving module or the static module, and the upper column slides and moves under the limiting ring.

[0021] The upper column can be limited by the limit ring to prevent the upper column from falling from the driven module or the static module.

[0022] In the above technical solution, preferably, the upper and lower ends of the upper column are respectively protruded in the horizontal direction to form a partition and a support plate, a second spring is arranged between the partition and the support plate, and the second spring is sleeved on the outer peripheral side of the upper column; when the positioning column is squeezed, it drives the partition to squeeze the second spring and makes the second spring in a compressed state.

[0023] When the dynamic module and the static module are rotationally connected through the axis locking mechanism, the positioning column is squeezed and presses the support plate downward. When the dynamic module is rotated into place, the positioning column is inserted into the fixing hole to achieve radial locking of the dynamic module and the static module.

[0024] The present invention also provides a robot, comprising any one of the above-mentioned jig switching tooling, wherein one of the dynamic module and the static module is fixedly arranged on a manipulator, and the other is arranged on the jig.

[0025] Through the fixture switching tool, different fixtures installed on the robot manipulator can be easily disassembled and installed, greatly improving work efficiency.

[0026] Compared with the prior art, the present invention provides a jig switching tool and a robot, wherein the jig switching tool includes a dynamic module, a static module, an axial locking mechanism and a radial locking mechanism, wherein the dynamic module and the static module are coaxial and can rotate relative to each other under the action of the axial locking mechanism; when the dynamic module rotates to a certain position relative to the static module, the two can be radially locked at the left and right of the radial locking mechanism, thereby realizing rapid disassembly and installation of the manipulator and the jig.

[0027] The preferred technical solution of the present invention can also produce at least the following technical effects:

[0028] The fixture switching tool can achieve a stable connection between the fixture and the robot, which can greatly improve the stability of the fixture operation, while improving the efficiency of automated work and facilitating unified management of the fixture. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0030] Figure 1 It is a schematic diagram of the cross-sectional structure of the fixture switching tool of the present invention;

[0031] Figure 2 yes Figure 1 Schematic diagram of the dynamic module structure;

[0032] Figure 3 yes Figure 1 Schematic diagram of the static module structure;

[0033] Figure 4 yes Figure 3 The cross-sectional structure diagram of the static module in FIG.

[0034] Figure 5 It is a schematic diagram of the assembly of the moving module and the static module in the fixture switching tool of the present invention.

[0035] In the figure: 1. dynamic module; 2. static module; 3. buckle; 31. groove; 4. guide assembly; 41. guide plane; 5. fixing hole; 6. telescopic assembly; 61. positioning column; 62. telescopic part; 621. upper column; 622. lower column; 623. push rod; 624. first spring; 625. partition; 626. support plate; 627. second spring; 7. slideway; 8. limit ring. DETAILED DESCRIPTION

[0036] To make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0037] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0038] Attached Figure 1 It is a schematic diagram of the cross-sectional structure of the fixture switching tool of the present invention; as can be seen from the figure, the fixture switching tool mainly includes a dynamic module and a static module, wherein the dynamic module and the static module can be locked and released under the action of the axial locking component and the radial locking component, thereby helping the fixture and the manipulator to achieve rapid disassembly and assembly.

[0039] Attached Figure 2 yes Figure 1 Schematic diagram of the dynamic module structure in the figure; at this time, the fixing holes in the radial locking mechanism are located on the dynamic module, and buckles and guide components are evenly spaced on the outer periphery of the side where the dynamic module is connected to the static module, and its inner circle is recessed downward to form an annular slide, and the slide is provided with fixing holes with the same number and corresponding positions as the positioning columns.

[0040] Attached Figure 3 yes Figure 1 Schematic diagram of the static module structure in the figure; at this time, the telescopic component in the radial locking mechanism is located on the static module, and buckles and guide components are evenly spaced on the outer periphery of the side where the static module is connected to the dynamic module, the inner circle of which is recessed downward and an annular limit ring is provided on the inner wall, the telescopic component is located below the limit ring and can only slide up and down below the limit ring.

[0041] Attached Figure 4 yes Figure 3 The cross-sectional structure diagram of the static module in the figure; it can be clearly seen from the cross-sectional structure diagram that the telescopic assembly consists of two parts: a positioning column and a telescopic part, wherein the telescopic part includes an upper column and a lower column connected by an inclined plane, wherein both ends of the lower column are respectively provided with a push rod and a first spring; the upper and lower ends of the upper column are respectively provided with a support plate and a partition plate, and a second spring mounted on the upper column is provided between the support plate and the partition plate.

[0042] Attached Figure 5 It is an assembly diagram of the moving module and the static module in the jig switching tool of the present invention. The two are coaxially arranged and then the buckles and guide components on the static module and the moving module are relatively arranged.

[0043] like Figure 1-5As shown, the present invention provides a fixture switching tool, which includes a dynamic module 1, a static module 2, an axial locking mechanism and a radial locking mechanism, such as Figure 5 As shown, both the dynamic module 1 and the static module 2 are columnar structures and are arranged and assembled relative to each other along the axial direction, wherein the axial locking mechanism enables the dynamic module 1 and the static module 2 to be coaxially connected, and at this time, the dynamic module 1 and the static module 2 are connected by the axial locking mechanism and can rotate relative to each other. When the dynamic module 1 rotates to a certain position, the radial locking mechanism can be activated and limit the rotation of the two in the radial direction, thereby locking the dynamic module 1 and the static module 2. In actual application, the dynamic module 1 and the static module 2 can be fixedly connected to the manipulator and the fixture respectively, so that the efficiency of disassembly and installation of the fixture can be greatly improved, and the fixture can be disassembled and installed conveniently.

[0044] It should be noted that the dynamic module 1 and the static module 2 are both cylindrical structures as a whole.

[0045] In order to achieve the locking of the dynamic module 1 and the static module 2 in the axial direction, as an optional implementation, the axial locking mechanism includes a buckle 3 and a guide assembly 4 that cooperate with each other, one of the buckle 3 and the guide assembly 4 is set on the dynamic module 1, and the other is set on the static module 2, and the guide assembly 4 can guide the buckle 3 to rotate along the guide assembly 4 and achieve the axial connection between the dynamic module 1 and the static module 2.

[0046] The buckle 3 can slide along the length direction of the guide assembly 4 to drive the moving module 1 to rotate relative to the static module 2. During this process, the buckle 3 and the guide assembly 4 are engaged with each other.

[0047] As an optional embodiment, the guide assembly 4 is a hollow columnar structure protruding outward relative to the surface of the dynamic module 1 or the static module 2, and its free end is bent to form an annular guide plane 41, and the buckle 3 is a convex block protruding relative to the static module 2 or the dynamic module 1, and a groove 31 matching the guide plane 41 is provided on the side of the convex block. The buckle 3 is mutually engaged with the guide assembly 4 through the groove 31, and then the buckle 3 slides and rotates along the guide plane 41 through the clamping groove.

[0048] Alternatively, the guide component 4 is defined to be located on the dynamic module 1. At this time, the surface of the side of the dynamic module 1 connected to the static module 2 is recessed downward so that a "convex" shaped recessed area is formed on the surface of the dynamic module 1 facing the static module 2. At this time, the surface of the dynamic module 1 located outside the recessed area forms a guide surface, and the groove 31 of the buckle 3 cooperates with the guide surface to realize the rotational cooperation between the dynamic module 1 and the static module 2.

[0049] As an optional embodiment, the number of axial locking mechanisms is multiple and the multiple axial locking mechanisms are evenly distributed, and the buckle 3 and the guide assembly 4 are arranged on the dynamic module 1 and the static module 2 at intervals. Figure 2-3As shown in the figure, the dynamic module 1 and the static module 2 are both provided with two buckles 3 and two guide components 4, and a gap is left between the buckle 3 on the dynamic module 1 and one end of the guide component 4 for the buckle 3 of the static module 2 to be inserted; and vice versa. At this time, when the dynamic module 1 and the static module 2 are assembled, the buckle 3 on the dynamic module 1 is arranged to be opposite to the gap on the static module 2, as shown in FIG. Figure 5 As shown, the dynamic module 1 or the static module 2 is then rotated to make the buckle 3 slide and rotate along the length direction of the guide assembly 4. At this time, the buckle 3 engages with the guide plane 41 on the guide assembly 4 through the groove 31 to achieve the axial rotation connection between the dynamic module 1 and the static module 2.

[0050] After the dynamic module 1 and the static module 2 are connected in rotation in the axial direction, radial locking between the two can be achieved through a radial locking mechanism. As an optional implementation, the radial locking mechanism includes a fixing hole 5 and a telescopic assembly 6, one of which is arranged on the dynamic module 1 and the other is arranged on the static module 2. When the static module 2 and the dynamic module 1 are connected in rotation through the axial locking mechanism, the telescopic assembly 6 is in a compressed state; when the dynamic module 1 is rotated into place, the telescopic assembly 6 is at least partially inserted into the fixing hole 5 and radial locking is achieved.

[0051] The fixing hole 5 is defined to be located on the moving module 1. At this time, an annular slideway 7 is provided in the middle of the moving module 1. The center of the slideway 7 is located on the axis of the moving module 1. When the static module 2 rotates relative to the moving module 1, the telescopic assembly 6 can slide and rotate along the slideway 7.

[0052] As an optional embodiment, the telescopic assembly 6 includes a positioning column 61 and a telescopic portion 62 for controlling the upward and downward movement of the positioning column 61. The telescopic portion 62 can control the positioning column 61 to be inserted or removed relative to the fixing hole 5 to achieve or release the radial locking between the dynamic module 1 and the static module 2. That is, the positioning column 61 is in a compressed state when sliding along the slideway 7. When the positioning column 61 slides to the fixing hole 5, the positioning column 61 extends into the fixing hole 5 and achieves radial locking of the dynamic module 1 and the static module 2.

[0053] It should be noted that, in addition to achieving radial fixation of the moving module 1 and the static module 2, the positioning column 61 can also ensure that there is no misalignment when the moving module 1 and the static module 2 are matched.

[0054] As an optional implementation, the telescopic portion 62 includes an upper column 621 and a lower column 622 that are closely connected, wherein the upper column 621 and the lower column 622 are connected via an inclined surface; a push rod 623 and a first spring 624 are respectively provided at opposite sides of the lower column 622, wherein the push rod 623 is located on the side of the inclined surface inclined downward and the push rod 623 is passed through a through hole located on the side wall of the static module 2 or the dynamic module 1; the upper column 621 is fixedly connected to the positioning column 61 and the upper column 621 is closely connected to the inner wall of the dynamic module 1 or the static module 2.

[0055] By pressing the push rod 623, the lower column 622 can be moved toward the direction of the first spring 624 and squeeze the first spring 624. At this time, the upper column 621 loses the support of the lower column 622 and slides downward in the vertical direction, and the positioning column 61 moves downward and disengages from the fixing hole 5. After the thrust on the push rod 623 is removed, the lower column 622 returns to its initial position under the action of the first spring 624, and at this time, the upper column 621 moves upward to its initial position under the action of the lower column 622.

[0056] It should be noted that the push rod 623 and the first spring 624 are located on a horizontal straight line passing through the axis of the lower column 622 .

[0057] The telescopic portion 62 is defined to be located on the static module 2 , and the upper column 621 is in close contact with the inner wall of the static module 2 , so the upper column 621 can only slide up and down relative to the static module 2 , and will not swing or deviate left and right relative to the axis of the static module 2 .

[0058] As an optional implementation, an annular limiting ring 8 is provided on the inner wall of the static module 2 , and the upper column 621 slides and moves below the limiting ring 8 under the limiting action of the limiting ring 8 .

[0059] The upper column 621 can be limited by the limiting ring 8 to prevent the upper column 621 from falling off the static module 2. When the telescopic portion 62 is located on the dynamic module 1, the limiting ring 8 is located on the dynamic module 1.

[0060] The radial locking of the static module 2 and the dynamic module 1 can be achieved by means of the above device.

[0061] In order to prevent the radial locking mechanism from getting stuck due to shear force during operation, as an optional implementation, a second spring 627 is sleeved on the outer peripheral side of the upper column 621, and a partition 625 fixedly connected to the positioning column 61 is provided at the upper end of the upper column 621, and a support plate 626 is provided below the partition 625. The second spring 627 is located between the partition 625 and the support plate 626, and the second spring 627 is connected to the partition 625 and the support plate 626. It should be noted that the support plate 626 is fixedly provided on the upper column 621, and the partition 625 can slide up and down relative to the upper column 621. Therefore, when the positioning column 61 is subjected to downward pressure, the partition 625 squeezes the second spring 627 to put it in a compressed state, thereby preventing the positioning column 61 from getting stuck in the device.

[0062] When the dynamic module 1 and the static module 2 are rotationally connected through the axis locking mechanism, the positioning column 61 is squeezed and presses the support plate 626 downward. When the dynamic module 1 is rotated into place, the positioning column 61 is inserted into the fixing hole 5 to achieve radial locking of the dynamic module 1 and the static module 2.

[0063] When the dynamic module 1 and the static module 2 need to be assembled, the buckle 3 on the dynamic module 1 needs to be aligned and buckled with the guide assembly 4 on the static module 2, and then the dynamic module 1 or the static module 2 is rotated so that the buckle 3 and the guide assembly 4 cooperate with each other. At this time, the positioning column 61 is squeezed and compresses the second spring 627 and / or the first spring 624 downward. When the dynamic module 1 and the static module 2 are rotated until the positioning column 61 cooperates with the fixing hole 5 and the positioning column 61 extends into the fixing hole 5, the dynamic module 1 and the static module 2 are locked and assembled together.

[0064] When it is necessary to disassemble the assembly formed by the dynamic module 1 and the static module 2, it is necessary to press the push rod 623. At this time, the lower column 622 squeezes the first spring 624 under the thrust of the push rod 623 and moves toward the first spring 624. At this time, the upper column 621 loses the supporting force of the lower column 622 and moves vertically downward to drive the positioning column 61 out of the fixing hole 5. Then, the dynamic module 1 or the static module 2 is rotated to make the buckle 3 and the guide assembly 4 disengage from each other, so that the dynamic module 1 and the static module 2 can be disassembled.

[0065] In the actual processing process, the dynamic module 1 and the static module 2 can be connected to the manipulator and the fixture respectively by bolt connection.

[0066] In order to save materials and reduce the weight of the tooling, a weight-reducing hole is designed at one end of the static module 2 away from the dynamic module 1 .

[0067] The present invention also provides a robot, comprising any one of the above-mentioned jig switching tooling, wherein one of the moving module 1 and the static module 2 is fixedly arranged on a robot arm, and the other is arranged on the jig.

[0068] Through the fixture switching tool, different fixtures installed on the robot manipulator can be easily disassembled and installed, greatly improving work efficiency.

[0069] Define the static module 2 to be installed on the robot's manipulator, then all the fixtures can be installed on the standard dynamic module 1 through the above structure. When the fixture needs to be switched, just disassemble the corresponding fixture in the above way and replace it with a new one. Compared with the traditional screw connection, this connection method is simple and fast, which can greatly improve the efficiency of fixture switching and installation. It is also convenient for unified management of fixtures.

[0070] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A fixture switching tool, characterized in that: It includes a dynamic module, a static module, an axial locking mechanism and a radial locking mechanism, wherein: The moving module is arranged on one side of the static module, the axial locking mechanism is used to connect the moving module and the static module so that the two can rotate relative to each other on a coaxial line, and when the moving module is rotated into place, the radial locking mechanism can be activated to limit the rotation of the two; The radial locking mechanism comprises a fixing hole and a telescopic assembly, one of which is arranged on the moving module and the other is arranged on the static module, when the static module and the moving module are rotationally connected through the axial locking mechanism, the telescopic assembly is in a compressed state; when the moving module is rotated into place, the telescopic assembly is at least partially inserted into the fixing hole and radial locking is achieved; The telescopic assembly includes a positioning column and a telescopic part that controls the upward and downward movement of the positioning column, and the telescopic part can control the positioning column to be inserted into or removed from the fixing hole to realize or release the radial locking between the moving module and the static module; The fixing hole is located on the annular slideway, the slideway is arranged concentrically with the moving module or the static module, and the positioning column can slide along the slideway; The telescopic part comprises an upper column and a lower column which are closely connected, wherein the upper column and the lower column are connected via an inclined surface; a push rod and a first spring are respectively arranged at opposite sides of the lower column, wherein the push rod is located on a side of the inclined surface which is inclined downward and the push rod is passed through a through hole located on a side wall of the static module or the dynamic module; The upper column is fixedly connected to the positioning column and the upper column is closely connected to the inner wall of the dynamic module or the static module.

2. The fixture switching tool according to claim 1, characterized in that: The axial locking mechanism includes a buckle and a guide assembly, one of the buckle and the guide assembly is arranged on the dynamic module, and the other is arranged on the static module. The guide assembly can guide the buckle to rotate along the guide assembly and realize the axial connection between the dynamic module and the static module.

3. The fixture switching tool according to claim 2, characterized in that: The guide component is a hollow cylindrical structure protruding outward from the surface of the dynamic module or the static module, and its free end is bent to form an annular guide plane. The buckle is a protruding block relative to the static module or the dynamic module, and a groove matching the guide plane is provided on the side of the protrusion.

4. The fixture switching tool according to claim 2, characterized in that: The number of the axial locking mechanisms is multiple and the multiple axial locking mechanisms are evenly distributed.

5. The fixture switching tool according to claim 4, characterized in that: The buckle and the guide assembly are arranged on the moving module and the static module at intervals.

6. The fixture switching tool according to claim 1, characterized in that: An annular limiting ring is arranged on the inner side wall of the dynamic module or the static module, and the upper column slides up and down under the limiting ring.

7. The fixture switching tool according to claim 1 or 6, characterized in that: The upper and lower ends of the upper column are respectively raised in the horizontal direction to form a partition and a support plate, a second spring is arranged between the partition and the support plate, and the second spring is sleeved on the outer peripheral side of the upper column; when the positioning column is squeezed, it drives the partition to squeeze the second spring and puts the second spring in a compressed state.

8. A robot, characterized in that: A fixture switching tool comprising any one of claims 1 to 7, wherein one of the moving module and the static module is fixedly arranged on a manipulator, and the other is arranged on the fixture.

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