A flexible mechanical arm end quick change device and use method thereof

Abstract

The present invention relates to a quick-change device at the end of a robotic arm and a method for using the same. The main components of the device include a docking device and an actuator. The actuator includes a locking rod, a fixing cover, a bearing, a spring, a motor, and a motor frame. The docking device and the actuator are fixed to a target object and the end of the robotic arm, respectively. When performing a task, the robotic arm moves to keep the docking device and the actuator in a coaxial position; then the robotic arm moves forward to insert the locking rod into the docking device; finally, the motor works to rotate the locking rod to complete the locking. After completing the task, the motor drives the locking rod to rotate in the opposite direction to unlock it; then the robotic arm moves backward to complete the separation.

Description

Technical Field

[0001] The present invention relates to the field of mechanical engineering, and in particular to a flexible mechanical arm end quick-change device and a use method thereof. Background Art

[0002] In recent years, with the popularization of industrial automation, robotic arms have been widely used in industrial production. Flexible robotic arms have gradually gained popularity due to their small size, light weight, and low energy consumption. Flexible robotic arms have good flexibility, can flexibly bypass various obstacles, and show strong adaptability in unstructured scenarios. In actual work, various tools are attached to the end of the flexible robotic arm to meet task requirements. In order to meet the requirements of different tasks, it is often necessary to replace the end-of-arm tools. Therefore, it is crucial to quickly and conveniently replace the end-of-arm operating tools to improve work efficiency. However, the current quick-change devices at the end of the robotic arm are generally powered by air pumps, which will result in some other additional devices being attached to the robotic arm, increasing the size and reducing the flexibility of the flexible robotic arm. Summary of the invention

[0003] The purpose of the present invention is to provide a flexible robotic arm end quick-change device and its use method in order to overcome the defects of the above-mentioned prior art, which controls the locking of the end effector through a motor and has the characteristics of good real-time performance and convenient operation. In addition, as a flexible robotic arm end quick-change device, different robotic arms and operating tools can be selected according to actual needs to make it more functional.

[0004] The purpose of the present invention can be achieved by the following technical solutions:

[0005] A flexible mechanical arm end quick-change device comprises a docking device and an actuator. The docking device is installed on an object to be docked when in use, and the actuator is installed on the end of the mechanical arm when in use.

[0006] The docking device is provided with a first center hole and a locking groove, wherein the first center hole is provided at the center of the docking device, the outer end of the locking groove is located on the side surface of the docking device, and the inner end of the locking groove is connected to the first center hole.

[0007] The actuator comprises a locking rod,

[0008] When the docking device and the actuator are in a coaxial position, the robot arm moves forward, inserts the locking rod into the first center hole, and then the locking rod is snapped into the locking groove, thereby driving the actuator to complete the docking and locking work with the docking device.

[0009] Furthermore, the docking device is also provided with a first fixed threaded hole, a sliding groove, an inner wall of the sliding groove and a lower bottom surface of the docking device.

[0010] The first fixing threaded hole is provided on the upper surface of the docking device;

[0011] The outer end of the sliding groove is located on the side surface of the docking device, the inner end of the sliding groove is connected to the first center hole, and the locking groove is located at one end of the sliding groove;

[0012] The inner wall of the sliding groove is located inside the docking device and is parallel to the axial direction of the docking device;

[0013] The lower bottom surface of the docking device is arranged below the docking device, the lower bottom surface of the docking device is a conical surface, and the top end of the lower bottom surface of the docking device is connected to the first center hole;

[0014] The docking device is fixed on the object to be docked through the first fixing threaded hole.

[0015] Furthermore, in the above, there are six first fixing threaded holes evenly distributed on the upper surface of the docking device, there are two sliding grooves symmetrically distributed on both sides of the docking device, and the locking groove is semicircular.

[0016] Furthermore, the actuator includes a locking rod, a fixing cover, a bearing, a spring and a motor. The locking rod is located at the front end of the actuator. When in use, the locking rod is connected to the first center hole. The locking rod passes through the fixing cover and contacts the bearing surface. The bearing and the motor are supported by a spring. A motor frame is provided on the outside of the motor, and all parts are coaxially arranged.

[0017] Furthermore, the locking rod is provided with a bolt, a horizontal bar, a motor alignment hole and a motor alignment surface.

[0018] The bolt is connected to the first center hole when in use, and the bolt is located at the top of the locking rod and is used to fix the crossbar;

[0019] The horizontal bar is perpendicular to the overall direction of the locking rod, the horizontal bar passes through the locking rod, the horizontal bar is inserted into the locking groove when in use, and the horizontal bar is a cylinder;

[0020] The motor registration hole is located at the center of the bottom surface of the locking rod, the motor registration hole is connected to the motor, and the motor registration hole is a blind hole;

[0021] The motor registration surface is a plane, and the motor registration surface is a part of the inner wall of the motor registration hole.

[0022] Further, the fixing cover comprises a second center hole, an unlocking groove, a docking boss, an upper surface of the fixing cover and a threaded hole of the first motor frame,

[0023] The second center hole is located at the center of the fixed cover, and the locking rod passes through the second center hole and contacts the bearing surface when in use;

[0024] The docking boss is in contact with the inner wall of the sliding groove when in use;

[0025] The upper surface is a conical surface, and when in use, the upper surface is connected to the lower bottom surface of the docking device.

[0026] The unlocking groove and the docking boss are arranged on the upper surface;

[0027] There are 6 threaded holes in the first motor frame, and the threaded holes in the first motor frame are evenly distributed on the bottom surface of the fixing cover along the circumferential direction.

[0028] Furthermore, there are two unlocking grooves and two docking bosses, respectively, which are symmetrically distributed on both sides of the second center hole.

[0029] Further, the motor includes a boss column, a locking rod registration surface and a second motor frame threaded hole;

[0030] The boss column is a thin rod located at the top of the motor. When in use, the boss column passes through the spring and the bearing and is inserted into the motor registration hole;

[0031] The locking rod registration surface is a plane, which is a part of the surface of the boss column, and the locking rod registration surface coincides with the motor registration surface when in use;

[0032] The second motor frame has three threaded holes in total, which are evenly distributed on the upper surface of the motor along the circumferential direction.

[0033] Furthermore, the motor frame includes a support rod, a motor threaded hole, a fixing cover threaded hole and a second fixing threaded hole.

[0034] There are 6 support rods in total, which are evenly distributed on the motor frame along the circumferential direction. There are 6 motor threaded holes, 6 fixing cover threaded holes, and 6 second fixing threaded holes in total, which are evenly distributed on the motor frame along the circumferential direction.

[0035] The motor is fixed on the motor frame through the threaded hole of the second motor frame and the threaded hole of the motor;

[0036] The actuator is fixed to the end of the robot arm through a second fixing threaded hole;

[0037] The motor frame is connected to the fixing cover through the fixing cover threaded hole and the first motor frame threaded hole.

[0038] In addition, the present invention also provides a method for using a flexible robotic arm end quick change device, and the specific steps are as follows:

[0039] S1, fix the docking device and the actuator to the target object and the end of the robot arm respectively;

[0040] S2. When executing the task, the movement of the robot arm is controlled so that the docking device and the actuator are kept in the same axial position and the side of the docking boss is kept parallel to the inner wall of the sliding groove;

[0041] S3, then the robot arm moves forward and inserts the locking rod into the first center hole, at which time the side of the docking boss coincides with the inner wall of the sliding groove, the upper surface of the fixed cover coincides with the lower bottom surface of the docking device, and the docking is completed;

[0042] S4, finally the motor works to drive the locking rod to rotate, so that the horizontal bar is stuck into the locking groove along the sliding groove, and the locking is completed;

[0043] S5. After completing the task, the motor drives the locking rod to rotate in the opposite direction, and finally the horizontal bar is located in the unlocking slot, and the unlocking is completed; then the robotic arm drives the actuator to move backward, and the separation is completed.

[0044] Compared with the prior art, the present invention designs a quick-change device at the end of a flexible robotic arm, which has a simple structure and is easy to operate. It can use the mechanical structure to maintain a locked state after the motor is powered off, without the need for an additional power source, which is beneficial to the compliance and flexibility of the flexible robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a schematic diagram of the structure of the quick-change device in a separated state;

[0046] Figure 2 It is a schematic diagram of the docking device structure;

[0047] Figure 3 It is a schematic diagram of the overall structure and internal parts of the actuator;

[0048] Figure 4 is a schematic diagram of the locking rod structure;

[0049] Figure 5 It is a schematic diagram of the fixed cover structure;

[0050] Figure 6 It is a schematic diagram of the motor structure;

[0051] Figure 7 This is a schematic diagram of the motor frame structure;

[0052] Figure 8 It is a schematic diagram of the structure of the quick-change device in the locked state;

[0053] Fig. 9 It is a cross-sectional view of the quick-change device in a locked state;

[0054] Fig.10 It is a schematic diagram of the working process of the quick change device;

[0055] Fig.11 It is a schematic diagram of the overall structure of the quick-change device.

[0056] Explanation of the accompanying drawings: 100, docking device, 101, first center hole, 102, first fixed threaded hole, 103, sliding groove, 104, locking groove, 105, inner wall of the sliding groove, 106, lower bottom surface of the docking device, 200, actuator, 210, locking rod, 211, bolt, 212, cross bar, 213, motor alignment hole, 214, motor alignment surface, 220, fixing cover, 221, second center hole, 222, unlocking groove, 223, docking boss, 224, upper surface of the fixing cover, 225, first motor frame threaded hole, 230, bearing, 240, spring, 250, motor, 251, boss column, 252, locking rod alignment surface, 253, second motor frame threaded hole, 260, motor frame, 261, support rod, 262, motor threaded hole, 263, fixing cover threaded hole, 264, second fixed threaded hole. DETAILED DESCRIPTION

[0057] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0058] In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0059] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0060] A flexible mechanical arm end quick-change device comprises a docking device 100 and an actuator 200. The docking device 100 is installed on an object to be docked when in use, and the actuator 200 is installed at the end of the mechanical arm when in use.

[0061] The docking device 100 is provided with a first center hole 101 and a locking groove 104. The first center hole 101 is provided at the center of the docking device 100. The outer end of the locking groove 104 is located on the side surface of the docking device 100. The inner end of the locking groove 104 is connected to the first center hole 101.

[0062] The actuator 200 includes a locking rod 210,

[0063] When the docking device 100 and the actuator 200 are in a coaxial position, the robot arm moves forward, inserts the locking rod 210 into the first center hole 101, and then the locking rod 210 is snapped into the locking groove 104, thereby driving the actuator 200 to complete the docking and locking work with the docking device 100.

[0064] Furthermore, the docking device 100 is also provided with a first fixing threaded hole 102, a sliding groove 103, an inner wall of the sliding groove 105 and a bottom surface 106 of the docking device.

[0065] The first fixing threaded hole 102 is provided on the upper surface of the docking device 100;

[0066] The outer end of the sliding groove 103 is located on the side surface of the docking device 100, the inner end of the sliding groove 103 is connected to the first center hole 101, and the locking groove 104 is located at one end of the sliding groove 103;

[0067] The inner wall 105 of the sliding groove is located inside the docking device 100 and is parallel to the axial direction of the docking device 100;

[0068] The lower bottom surface 106 of the docking device is disposed below the docking device 100. The lower bottom surface 106 of the docking device is a conical surface, and the top of the lower bottom surface 106 of the docking device is connected to the first center hole 101.

[0069] The docking device 100 is fixed to the object to be docked via the first fixing threaded hole 102 .

[0070] Furthermore, the first fixing threaded holes 102 are six in total and are evenly distributed on the upper surface of the docking device 100 , the sliding grooves 103 are two in total and are symmetrically distributed on both sides of the docking device 100 , and the locking grooves 104 are semicircular.

[0071] Furthermore, the actuator 200 includes a locking rod 210, a fixing cover 220, a bearing 230, a spring 240 and a motor 250. The locking rod 210 is located at the front end of the actuator 200. When in use, the locking rod 210 is connected to the first center hole 101. The locking rod 210 passes through the fixing cover 220 and contacts the surface of the bearing 230. The bearing 230 and the motor 250 are supported by the spring 240. A motor frame 260 is provided on the outside of the motor 250, and all parts are coaxially arranged.

[0072] Furthermore, the locking rod 210 is provided with a bolt 211, a horizontal bar 212, a motor alignment hole 213 and a motor alignment surface 214.

[0073] The bolt 211 is connected to the first center hole 101 when in use. The bolt 211 is located at the top of the locking rod 210 and is used to fix the horizontal bar 212;

[0074] The horizontal bar 212 is perpendicular to the overall direction of the locking rod 210, and the horizontal bar 212 passes through the locking rod 210. When in use, the horizontal bar 212 is inserted into the locking groove 104, and the horizontal bar 212 is a cylinder;

[0075] The motor registration hole 213 is located at the center of the bottom surface of the locking rod 210, the motor registration hole 213 is connected to the motor 250, and the motor registration hole 213 is a blind hole;

[0076] The motor alignment surface 214 is a plane, and the motor alignment surface 214 is a part of the inner wall of the motor alignment hole 213 .

[0077] Furthermore, the fixing cover 220 includes a second central hole 221, an unlocking groove 222, a docking boss 223, a fixing cover upper surface 224 and a first motor frame threaded hole 225.

[0078] The second center hole 221 is located at the center of the fixing cover 220, and the locking rod 210 passes through the second center hole 221 and contacts the surface of the bearing 230 when in use;

[0079] The docking boss 223 is in contact with the inner wall 105 of the sliding groove when in use;

[0080] The upper surface 224 is a conical surface, and when in use, the upper surface 224 is in contact with the lower bottom surface 106 of the docking device.

[0081] The unlocking groove 222 and the docking boss 223 are disposed on the upper surface 224;

[0082] There are six first motor frame threaded holes 225 in total, and the first motor frame threaded holes 225 are evenly distributed on the bottom surface of the fixing cover 220 along the circumferential direction.

[0083] Furthermore, there are two unlocking grooves 222 and two docking bosses 223 , respectively, which are symmetrically distributed on both sides of the second center hole 221 .

[0084] Further, the motor 250 includes a boss column 251, a locking rod registration surface 252 and a second motor frame threaded hole 253;

[0085] The boss column 251 is a thin rod, located at the top of the motor 250, and the boss column 251 is inserted into the motor registration hole 213 through the spring 240 and the bearing 230 when in use;

[0086] The locking rod registration surface 252 is a plane, which is a part of the surface of the boss column 251. The locking rod registration surface 252 coincides with the motor registration surface 214 when in use;

[0087] There are three second motor frame threaded holes 253 , which are evenly distributed on the upper surface of the motor 250 along the circumferential direction.

[0088] Furthermore, the motor frame 260 includes a support rod 261, a motor threaded hole 262, a fixing cover threaded hole 263 and a second fixing threaded hole 264.

[0089] There are 6 support rods 261, which are evenly distributed on the motor frame 260 along the circumferential direction. There are 6 motor threaded holes 262, 6 fixing cover threaded holes 263, and 6 second fixing threaded holes 264, which are evenly distributed on the motor frame 260 along the circumferential direction.

[0090] The motor 250 is fixed on the motor frame 260 through the second motor frame threaded hole 253 and the motor threaded hole 262;

[0091] The actuator 200 is fixed to the end of the robot arm through the second fixing threaded hole 264;

[0092] The motor frame 260 is connected to the fixing cover 220 through the fixing cover threaded hole 263 and the first motor frame threaded hole 225 .

[0093] In addition, the present invention also provides a method for using a flexible robotic arm end quick change device, and the specific steps are as follows:

[0094] S1, fixing the docking device 100 and the actuator 200 to the target object and the end of the robot arm respectively;

[0095] S2. When executing the task, the movement of the robot arm is controlled so that the docking device 100 and the actuator 200 are kept in the same axial position and the side surface of the docking boss 223 is kept parallel to the inner wall 105 of the sliding groove;

[0096] S3, then the robot arm moves forward to insert the locking rod 210 into the first center hole 101, at which time the side of the docking boss 223 overlaps with the inner wall 105 of the sliding groove, and the upper surface 224 of the fixed cover overlaps with the lower bottom surface 106 of the docking device, and the docking is completed;

[0097] S4, finally the motor 250 works to drive the locking rod 210 to rotate, so that the horizontal bar 212 is inserted into the locking groove 104 along the sliding groove 103, and the locking is completed;

[0098] S5. After completing the task, the motor 250 drives the locking rod 210 to rotate in the opposite direction, and finally the horizontal bar 212 is located in the unlocking groove 222, and the unlocking is completed; then the mechanical arm drives the actuator 200 to move backward, and the separation is completed.

[0099] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments. Example

[0100] See also Figures 1 to 10 , this embodiment provides a flexible robotic arm end quick-change device.

[0101] like Figure 1 As shown, a flexible robotic arm end quick-change device includes a docking device 100 and an actuator 200. The docking device 100 is installed on the object to be docked, and the actuator 200 is installed at the end of the robotic arm. When the docking device 100 and the actuator 200 are in a coaxial position, the robotic arm moves forward and drives the actuator 200 to complete the docking and locking work with the docking device 100.

[0102] like Figure 2 As shown, the docking device 100 is provided with a first center hole 101, a first fixed threaded hole 102, a sliding groove 103, a locking groove 104, a sliding groove inner wall 105, and a docking device bottom surface 106. The first center hole 101 is located at the center of the docking device 100 and is coaxial with the docking device 100; there are 6 first fixed threaded holes 102, which are evenly distributed on the upper surface of the docking device 100; there are 2 sliding grooves 103, which are symmetrically distributed on both sides of the docking device 100; the locking groove 104 is semicircular and connected to the sliding groove 103; the sliding groove inner wall 105 is located on the inner side of the docking device 100 and is parallel to the axial direction of the docking device 100; the docking device bottom surface 106 is a conical surface, which is located below the docking device 100.

[0103] like Figure 3As shown, the actuator 200 includes a locking rod 210, a fixing cover 220, a bearing 230, a spring 240, a motor 250, and a motor frame 260; the locking rod 210 is inserted into the fixing cover 220 and is located at the front end of the actuator 200, followed by the bearing 230 and the spring 240, and then the motor 250. There is a motor frame 260 on the outside of the motor 250, and all parts are coaxially arranged.

[0104] like Figure 4 As shown, the locking rod 210 is attached with a bolt 211, a horizontal bar 212, a motor alignment hole 213, and a motor alignment surface 214; the bolt 211 is located at the top of the locking rod 210, and is used to fix the horizontal bar 212; the horizontal bar 212 is a cylinder, which is perpendicular to the overall direction of the locking rod 210; the motor alignment hole 213 is a blind hole, which is located at the center of the bottom surface of the locking rod 210, and the motor alignment surface 214 is a plane, which is a part of the inner wall of the motor alignment hole 213.

[0105] like Figure 5 As shown, the fixed cover 220 includes a second center hole 221, an unlocking groove 222, a docking boss 223, a fixed cover upper surface 224, and a first motor frame threaded hole 225; the second center hole 221 is located at the center of the fixed cover 220, for passing the locking rod 210; there are two unlocking grooves 222 and two docking bosses 223, respectively, which are symmetrically distributed on both sides of the second center hole 221; the upper surface 224 is a conical surface; there are a total of six first motor frame threaded holes 225, which are evenly distributed on the lower bottom surface of the fixed cover 220 along the circumferential direction.

[0106] like Figure 6 As shown, the motor 250 includes a boss column 251, a locking rod alignment surface 252, and a second motor frame threaded hole 253; the boss column 251 is a thin rod, located at the top of the motor 250; the locking rod alignment surface 252 is a plane, which is a part of the surface of the boss column 251; there are 3 second motor frame threaded holes 253, which are evenly distributed on the upper surface of the motor 250 along the circumferential direction.

[0107] like Figure 7 As shown, the motor frame 260 includes a support rod 261, a motor threaded hole 262, a fixing cover threaded hole 263, and a second fixing threaded hole 264; there are 6 support rods 261 in total, which are evenly distributed on the motor frame 260 along the circumferential direction; there are 6 motor threaded holes 262, fixing cover threaded holes 263, and second fixing threaded holes 264 in total, and they are evenly distributed on the motor frame 260 along the circumferential direction.

[0108] like Figure 8 and Fig. 9As shown, the docking device 100 is fixed on the target object through the first fixing threaded hole 102; the actuator 200 is fixed on the end of the robot arm through the second fixing threaded hole 264. In the actuator 200, the locking rod 210 passes through the second center hole 221 and contacts the surface of the bearing 230; the bearing 230 and the motor 250 are supported by the spring 240; the boss column 251 is inserted into the motor registration hole 213, and the locking rod registration surface 252 coincides with the motor registration surface 214; the motor 250 is fixed on the motor frame 260 through the second motor frame threaded hole 253 and the motor threaded hole 262; the motor frame 260 is connected to the fixing cover 220 through the fixing cover threaded hole 263 and the first motor frame threaded hole 225.

[0109] like Fig.10 As shown, the docking device 100 and the actuator 200 are fixed to the target object and the end of the robot arm respectively. When performing a task, the docking device 100 and the actuator 200 are kept in a coaxial position by controlling the movement of the robot arm, and the side of the docking boss 223 is kept parallel to the inner wall 105 of the sliding groove; then the robot arm moves forward and inserts the locking rod 210 into the first center hole 101. At this time, the side of the docking boss 223 coincides with the inner wall 105 of the sliding groove, and the upper surface 224 of the fixed cover coincides with the lower bottom surface 106 of the docking device, and the docking is completed; finally, the motor 250 drives the locking rod 210 to rotate, so that the horizontal bar 212 is stuck in the locking groove 104 along the sliding groove 103, and the locking is completed. After completing the task, the motor 250 drives the locking rod 210 to rotate in the opposite direction, and finally the horizontal bar 212 is located in the unlocking groove 222, and the unlocking is completed; then the robot arm drives the actuator 200 to move backward, and the separation is completed.

[0110] The above description of the embodiments is to facilitate the understanding and use of the invention by those skilled in the art. It is obvious that those skilled in the art can easily make various modifications to these embodiments and apply the general principles described herein to other embodiments without creative work. Therefore, the present invention is not limited to the above embodiments, and improvements and modifications made by those skilled in the art based on the disclosure of the present invention without departing from the scope of the present invention should be within the scope of protection of the present invention.

Claims

1. A flexible robotic arm end quick change device, characterized in that: The invention comprises a docking device (100) and an actuator (200), wherein the docking device (100) is installed on an object to be docked when in use, and the actuator (200) is installed at the end of a mechanical arm when in use. The docking device (100) is provided with a first center hole (101) and a locking groove (104), wherein the first center hole (101) is provided at the center of the docking device (100), an outer end of the locking groove (104) is located on a side surface of the docking device (100), and an inner end of the locking groove (104) is connected to the first center hole (101). The actuator (200) comprises a locking rod (210), When the docking device (100) and the actuator (200) are in a coaxial position, the mechanical arm moves forward to insert the locking rod (210) into the first center hole (101), and then the locking rod (210) is snapped into the locking groove (104), thereby driving the actuator (200) to complete docking and locking work with the docking device (100); The docking device (100) is further provided with a first fixing threaded hole (102), a sliding groove (103), an inner wall of the sliding groove (105) and a lower bottom surface (106) of the docking device. The first fixing threaded hole (102) is provided on the upper surface of the docking device (100); The outer end of the sliding groove (103) is located on the side surface of the docking device (100), the inner end of the sliding groove (103) is connected to the first center hole (101), and the locking groove (104) is located at one end of the sliding groove (103); The inner wall (105) of the sliding groove is located inside the docking device (100) and is parallel to the axial direction of the docking device (100); The lower bottom surface (106) of the docking device is arranged below the docking device (100); the lower bottom surface (106) of the docking device is a conical surface; and the top end of the lower bottom surface (106) of the docking device is connected to the first center hole (101); The docking device (100) is fixed on the object to be docked via a first fixing threaded hole (102); The actuator (200) comprises a locking rod (210), a fixing cover (220), a bearing (230), a spring (240) and a motor (250); the locking rod (210) is located at the front end of the actuator (200); the locking rod (210) is connected to the first center hole (101) when in use; the locking rod (210) passes through the fixing cover (220) and contacts the surface of the bearing (230); the bearing (230) and the motor (250) are supported by the spring (240); a motor frame (260) is provided on the outside of the motor (250); and all parts are coaxially arranged; The locking rod (210) is provided with a bolt (211), a horizontal bar (212), a motor alignment hole (213) and a motor alignment surface (214). The bolt (211) is connected to the first center hole (101) when in use, and the bolt (211) is located at the top of the locking rod (210) and is used to fix the crossbar (212); The horizontal bar (212) is perpendicular to the overall direction of the locking rod (210), the horizontal bar (212) passes through the locking rod (210), the horizontal bar (212) is inserted into the locking groove (104) when in use, and the horizontal bar (212) is a cylinder; The motor alignment hole (213) is located at the center of the bottom surface of the locking rod (210), the motor alignment hole (213) is connected to the motor (250), and the motor alignment hole (213) is a blind hole; The motor alignment surface (214) is a plane, and the motor alignment surface (214) is a part of the inner wall of the motor alignment hole (213).

2. A flexible robotic arm end quick change device according to claim 1, characterized in that: There are six first fixing threaded holes (102) uniformly distributed on the upper surface of the docking device (100), there are two sliding grooves (103) symmetrically distributed on both sides of the docking device (100), and the locking groove (104) is semicircular.

3. The flexible robotic arm end quick change device according to claim 1, characterized in that: The fixing cover (220) comprises a second central hole (221), an unlocking groove (222), a docking boss (223), a fixing cover upper surface (224) and a first motor frame threaded hole (225). The second center hole (221) is located at the center of the fixing cover (220); when in use, the locking rod (210) passes through the second center hole (221) and contacts the surface of the bearing (230); The docking boss (223) is connected to the inner wall (105) of the sliding groove when in use; The upper surface (224) is a conical surface, and when in use, the upper surface (224) is in contact with the lower bottom surface (106) of the docking device. The unlocking groove (222) and the docking boss (223) are arranged on the upper surface (224); There are a total of 6 first motor frame threaded holes (225), and the first motor frame threaded holes (225) are evenly distributed on the bottom surface of the fixing cover (220) along the circumferential direction.

4. A flexible robotic arm end quick change device according to claim 3, characterized in that: There are two unlocking grooves (222) and two docking bosses (223), respectively, which are symmetrically distributed on both sides of the second center hole (221).

5. The flexible robotic arm end quick change device according to claim 3, characterized in that: The motor (250) comprises a boss column (251), a locking rod alignment surface (252) and a second motor frame threaded hole (253); The boss column (251) is a thin rod located at the top of the motor (250); when in use, the boss column (251) passes through the spring (240) and the bearing (230) and is inserted into the motor registration hole (213); The locking rod alignment surface (252) is a plane and is a part of the surface of the boss column (251); the locking rod alignment surface (252) coincides with the motor alignment surface (214) when in use; The second motor frame threaded holes (253) are three in total and are evenly distributed along the circumferential direction on the upper surface of the motor (250).

6. A flexible robotic arm end quick change device according to claim 5, characterized in that: The motor frame (260) comprises a support rod (261), a motor threaded hole (262), a fixing cover threaded hole (263) and a second fixing threaded hole (264). There are a total of six support rods (261), which are evenly distributed on the motor frame (260) along the circumferential direction; there are six motor threaded holes (262), six fixing cover threaded holes (263), and six second fixing threaded holes (264), which are evenly distributed on the motor frame (260) along the circumferential direction; The motor (250) is fixed to the motor frame (260) via the second motor frame threaded hole (253) and the motor threaded hole (262); The actuator (200) is fixed to the end of the mechanical arm via a second fixing threaded hole (264); The motor frame (260) is connected to the fixing cover (220) via the fixing cover threaded hole (263) and the first motor frame threaded hole (225).

7. A method for using the flexible robotic arm end quick change device as claimed in any one of claims 1 to 6, characterized in that: The specific steps are as follows: S1, fixing the docking device (100) and the actuator (200) to the target object and the end of the robot arm respectively; S2, when executing a task, the movement of the robot arm is controlled so that the docking device (100) and the actuator (200) are kept in a coaxial position and the side surface of the docking boss (223) is kept parallel to the inner wall (105) of the sliding groove; S3, the robot arm then moves forward to insert the locking rod (210) into the first center hole (101), at which time the side of the docking boss (223) overlaps with the inner wall (105) of the sliding groove, and the upper surface (224) of the fixed cover overlaps with the lower bottom surface (106) of the docking device, and the docking is completed; S4, finally the motor (250) works to drive the locking rod (210) to rotate, so that the horizontal bar (212) is inserted into the locking groove (104) along the sliding groove (103), and the locking is completed; S5. After the task is completed, the motor (250) drives the locking rod (210) to rotate in the opposite direction, and finally the horizontal bar (212) is located in the unlocking groove (222), and the unlocking is completed; then the mechanical arm drives the actuator (200) to move backward, and the separation is completed.

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