A quick change system at the end of a robotic arm

Abstract

This invention discloses a quick-change system for the end effector of a robotic arm, relating to the field of automation technology. It includes a main disk, disposed at the end effector of the robotic arm, for gripping tool disks; and a tool magazine for storing multiple tool disks for selection and gripping by the main disk. The main disk comprises a disk body and gripping components for clamping and releasing the tool disks. The disk body has a conical hole and a circular hole communicating with the conical hole, and a side gap is formed at a radial position of the disk body. An electrical connection assembly is disposed within the circular hole, comprising a fixing block fixed inside the circular hole, and a first spring and a mounting base are sequentially disposed on one side of the fixing block. This invention enables fully automatic tool disk replacement for a drug-grabbing robotic arm, adapting to different operational needs and increasing its applicability.

Description

Technical Field

[0001] The present invention relates to the field of automation technology, and in particular to a quick-change system at the end of a robot arm. Background Art

[0002] The medicine grabbing robot arm for Chinese medicine improves the efficiency and accuracy of Chinese medicine preparation through automation technology. The medicine grabbing robot arm is used to transport Chinese medicine pieces through the AGV handling robot (automatic guided vehicle). The medicine grabbing robot arm is controlled by an intelligent system, can automatically avoid obstacles, and transport Chinese medicine pieces to the batching station. By scanning the barcode bound to the information of the Chinese medicine pieces, the information of the corresponding Chinese medicine pieces can be obtained, so that the workshop can complete the fully automatic compounding and automatic feeding system, which significantly reduces the labor intensity of workers.

[0003] However, the tool tray of the existing medicine picking robot arm needs to be manually disassembled and assembled. This method results in the medicine picking robot arm being unable to automatically change different tool trays during the medicine picking process, thus resulting in limitations in the medicine picked, and the scope of use and function of the medicine picking robot arm are restricted. Summary of the invention

[0004] The purpose of the present invention is to provide a quick-change system at the end of a robotic arm, which solves the problem that the tool tray of the existing medicine grabbing robotic arm needs to be manually disassembled and assembled.

[0005] The present invention solves the above technical problems through the following technical solutions, which include:

[0006] A main plate, which is disposed at the execution end of the robot arm and is used to clamp the tool plate; and

[0007] Tool magazine, which is used to store multiple tool trays required for the main tray to select and clamp;

[0008] The main disk includes a disk body and a clamping member for clamping and releasing the tool disk, a conical hole and a circular hole connected to the conical hole are provided inside the disk body, and a side gap is provided at a radial position of the disk body;

[0009] An electrical connection assembly is arranged in the circular hole, and the electrical connection assembly comprises a fixing block fixed inside the circular hole, a first spring and a mounting base block are arranged in sequence on one side of the fixing block, and a coupling joint is arranged on the mounting base block;

[0010] When the tool tray is inserted into the tapered hole, the tool tray is connected to the coupling connector of the electrical connection assembly, and the clamping member clamps the tool tray;

[0011] The clamping member comprises a first telescopic rod fixed to the end of the disc body, a movable plate is installed at the telescopic end of the first telescopic rod, push rods are fixed on both sides of the movable plate, a convex block is fixed at the middle position of the two push rods, and rollers are installed at the ends of the two push rods away from the movable plate;

[0012] A bending block is rotatably installed in the side gap via a first rotating shaft, and a first torsion spring is sleeved on the first rotating shaft to drive the bending block to flip outward;

[0013] A groove corresponding to the bending block is formed on the outer side of the tool tray, and the inner end of the bending block is turned over and enters into the groove to fix the tool tray.

[0014] Preferably, the tool plate comprises a lower plate adapted to the tapered hole, a butt joint for butting with a coupling joint is arranged at a small-diameter end of the lower plate, the groove is arranged on the lower plate, an actuator is arranged at a large-diameter end of the lower plate, a trapezoidal block is fixed on the outer surface of the lower plate, and a trapezoidal groove is arranged on the inner wall of the tapered hole;

[0015] The coupling joint includes an air pipe joint and a power data joint.

[0016] Preferably, the actuator is an electric element, and the docking connector is an electric plug docked with a power data connector.

[0017] Preferably, the actuator is a pneumatic element, and the docking joint is an trachea plug docked with the trachea joint; a push plate is fixed to the outer tube push portion of the trachea joint, and the push plate is fixed to and slides through a guide rod that passes through a mounting base block, and a second spring is provided between the mounting base block and the push plate and is sleeved on the guide rod, and the elastic coefficient of the first spring is greater than the elastic coefficient of the second spring, and the push plate can be pushed by the clamping member to move along the axial direction of the guide rod.

[0018] Preferably, a triangular block is rotatably installed in the groove via a second rotating shaft, one of the right-angled sides of the triangular block is in contact with the inner wall corresponding to the groove, the second rotating shaft is located at the inner sharp corner, and a second torsion spring for driving the triangular block to flip outward is sleeved on the second rotating shaft;

[0019] When the inner end of the bending block flips into the groove, the triangular block flips inwardly with the second rotating axis; when the inner end of the bending block flips outwardly due to the first torsion spring, the inner end of the bending block abuts against the triangular block, pushing the tool disc outward to separate the tool disc from the coupling joint.

[0020] Preferably, the tool magazine comprises a bottom plate and a plurality of fixed components mounted on the bottom plate, semi-long shells are slidably arranged on both sides of the bottom plate, the two semi-long shells are driven to move in opposite directions by a driving component, and a protective cover is fixed on the lower side of the bottom plate;

[0021] The fixing assembly comprises two round rods respectively fixedly connected to the two semi-long shells, the two round rods are hingedly mounted with tilting rods, and the ends of the two tilting rods are hingedly connected with a supporting ring, and the bottom plate is provided with a through hole corresponding to the supporting ring;

[0022] The inner sides of the two semi-long shells are each provided with a plurality of rectangular grooves and are fixed with a plurality of sealing plates. When the two semi-long shells are moved and combined into a complete long shell body by the driving assembly, the corresponding sealing plates seal and block the rectangular grooves; when the two semi-long shells are moved by the driving assembly so that the corresponding two rectangular grooves correspond to each other, the fixing assembly rises and passes through the rectangular grooves.

[0023] Preferably, the driving assembly includes a second telescopic rod fixed to the protective cover and two racks fixed to two semi-long shells respectively, a gear is meshed between the two racks, and the gear is rotatably mounted on the base plate.

[0024] Preferably, the fixing assembly further comprises a pressing member, the pressing member comprises a mounting seat fixed on the bottom plate, a U-shaped pressing block is rotatably mounted on the mounting seat via a third rotating shaft, and a third torsion spring is sleeved on the third rotating shaft to drive the U-shaped pressing block to flip upward;

[0025] The U-shaped pressing block comprises a pressing portion rotatably connected to the third rotating shaft, a connecting portion is fixed to the upper end of the pressing portion, and a clamping portion is fixed to the end of the connecting portion.

[0026] Compared with the prior art, the beneficial effects of the present invention are:

[0027] 1. The present invention can automatically replace the tool tray of the medicine grabbing mechanical arm, which can adapt to different operation requirements and increase the scope of use;

[0028] 2. The tool magazine of the present invention can stably clamp and fix the tool tray, and can protect the tool tray to prevent the tool tray from being affected by the external environment;

[0029] 3. The main plate in the present invention can automatically clamp and release the tool plate to realize automatic replacement of the tool plate, and the cooperation between the bending block and the triangular block can not only smoothly fix the tool plate, but also push the tool plate out when disassembling it, so that it can be smoothly separated from the coupling joint;

[0030] 4. In the present invention, the outer tube push portion of the trachea connector can be pushed and moved by the cooperation of the push plate, the second spring and the protrusion, so as to realize the smooth separation of the trachea connector and the trachea plug. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0032] Figure 2 This is a schematic diagram of the explosion structure of the main disk in the present invention;

[0033] Figure 3 for Figure 2 A schematic diagram of the three-dimensional structure of the electrical connection assembly;

[0034] Figure 4 for Figure 2 Schematic diagram of the three-dimensional structure of the middle plate;

[0035] Figure 5 It is a schematic cross-sectional structural diagram of the main disk in the present invention;

[0036] Figure 6 It is a schematic diagram of the three-dimensional structure of the tool magazine in the present invention;

[0037] Figure 7 Schematic diagram of the internal structure of the tool magazine in the present invention;

[0038] Figure 8 for Figure 7 The enlarged structural diagram at A in the middle;

[0039] Fig. 9 This is a schematic diagram of the structure when the tool magazine is open.

[0040] The numbers in the figure represent:

[0041] 1-Robotic arm;

[0042] 2-main disk; 211-disk body; 212-round hole; 213-conical hole; 214-trapezoidal groove; 215-first position sensor; 22-electrical connection assembly; 221-mounting base block; 222-first spring; 223-fixed block; 224-trachea connector; 225-power data connector; 226-push plate; 227-second spring; 228-guide rod; 231-first telescopic rod; 232-moving plate; 233-push rod; 234-bump; 235-bending block; 236-first torsion spring; 237-roller;

[0043] 31-bottom plate; 321-semi-long shell; 322-slider; 323-rectangular groove; 324-sealing plate; 331-second telescopic rod; 332-gear; 333-rack; 341-round rod; 342-tilt rod; 343-support ring; 344-second position sensor; 35-pressing member; 351-mounting seat; 352-U-shaped pressing block; 353-third torsion spring; 36-protective cover;

[0044] 41-lower plate; 42-actuator; 43-trapezoidal block; 44-triangular block; 45-groove; 46-butt joint. DETAILED DESCRIPTION

[0045] The above and other technical features and advantages of the present invention are described in more detail below in conjunction with the accompanying drawings.

[0046] This embodiment provides a technical solution: a quick change system at the end of a robot arm, such as Figure 1-9 As shown, the whole includes a main tray 2, a tool tray and a tool magazine. The main tray 2 is arranged at the execution end of the robot arm 1 and is used to clamp the tool tray; the tool magazine is used to store multiple required tool trays for the main tray 2 to select and clamp for use. The tool tray is set according to the needs of the operation.

[0047] The main disk 2 includes a disk body 211 and a clamping member for clamping and releasing the tool disk. A conical hole 213 and a round hole 212 connected to the conical hole 213 are provided inside the disk body 211. The round hole 212 is connected to the small-diameter end of the conical hole 213, and the inner diameter is adapted to the small-diameter end of the conical hole 213. A side gap is provided in the radial position of the disk body 211, and the gap can be a full section through the disk body 211, that is, the two semi-circular blocks are fixedly connected by a connecting rod; a first mounting inner hole is provided on the inner wall of the conical hole 213, and a first position sensor 215 is installed in the first mounting inner hole for detecting whether the tool disk has entered the conical hole 213.

[0048] An electrical connection component 22 is arranged in the circular hole 212, and the electrical connection component 22 includes a fixed block 223 fixed inside the circular hole 212, and a first spring 222 and a mounting base block 221 are arranged in sequence on one side of the fixed block 223, and a coupling joint is arranged on the mounting base block 221, and the coupling joint includes an air pipe joint 224 and a power data joint 225, the air pipe joint 224 is connected to an external air compressor, and the power data joint 225 is connected to the control system of the robot arm 1. The setting of the first spring 222 can make the mounting base block 221 have a certain size of axial movement along the circular hole 212, thereby playing a certain buffering role to avoid damage to the coupling joint.

[0049] The tool disk includes a lower disk 41 that is adapted to the tapered hole 213. The lower disk 41 is a truncated cone structure to ensure accurate axial positioning. A trapezoidal block 43 is fixed to the outer surface of the lower disk 41, and a trapezoidal groove 214 is provided on the inner wall of the tapered hole 213. The outer structures of the trapezoidal block 43 and the trapezoidal groove 214 are both isosceles trapezoids, and the inclined surfaces of the two are adapted to achieve precise matching and circumferential positioning.

[0050] The large-diameter end of the lower plate 41 is provided with an actuator 42, and the small-diameter end of the lower plate 41 is provided with a docking joint 46 docked with the coupling joint. When the actuator 42 is an electric finger, an electric clamp or other electric component that requires electric drive, the docking joint 46 is an electric plug docked with the power data connector 225; when the actuator 42 is a suction cup or other pneumatic component that requires air drive, the docking joint 46 is an air pipe plug docked with the air pipe connector 224.

[0051] The trachea connector 224 used in this embodiment is an existing one on the market. When installing or disassembling it, it is necessary to push the outer tube push portion on its outer side to the rear side by a certain dimension. Therefore, a push plate 226 fixed to the outer tube push portion of the trachea connector 224 is provided. The push plate 226 is fixed with a guide rod 228 that slides through the mounting base block 221 to play a guiding role. A second spring 227 sleeved on the guide rod 228 is provided between the mounting base block 221 and the push plate 226, and the elastic coefficient of the first spring 222 is greater than the elastic coefficient of the second spring 227. The push plate 226 can be pushed by the clamping member to move along the axial direction of the guide rod 228. When the push plate 226 is displaced, the outer tube push portion of the trachea connector 224 can be driven to move, thereby realizing the disassembly and assembly of the trachea plug and the trachea connector 224.

[0052] The clamping member includes a first telescopic rod 231 fixed to the end of the disk body 211, and a movable plate 232 is installed at the telescopic end of the first telescopic rod 231. The movable plate 232 is located in the circular hole 212 and the side gap. Push rods 233 are fixed on both sides of the movable plate 232, and a protrusion 234 is fixed at the middle position of the two push rods 233. Rollers 237 are installed at the ends of the two push rods 233 away from the movable plate 232; a bending block 235 is rotatably installed in the side gap through a first rotating shaft, and a first torsion spring 236 is sleeved on the first rotating shaft for driving the bending block 235 to flip outward. The setting of the roller 237 can reduce the friction between the push rod 233 and the bending block 235.

[0053] The outer side of the lower plate 41 is provided with a groove 45 corresponding to the bending block 235. When the inner end of the bending block 235 is turned over and enters the groove 45, the inner end of the groove 45 will push the lower plate 41 to one side of the circular hole 212 to fix the tool plate. At this time, the first spring 222 is also adaptively compressed to ensure the stability of the tool plate fixation and prevent the coupling joint from being squeezed and damaged. A triangular block 44 is rotatably installed in the groove 45 through the second rotating shaft. One of the right-angled sides of the triangular block 44 fits with the inner wall corresponding to the groove 45. The second rotating shaft is located at the inner sharp corner. The second rotating shaft is sleeved with a second torsion spring that drives the triangular block 44 to flip outward; that is, the maximum angle of the triangular block 44 to flip outward will be limited, and it can flip inward.

[0054] When the inner end of the bending block 235 flips into the groove 45, the triangular block 44 will be squeezed by the bending block 235 and flipped inwardly with the second rotating axis to ensure that the inner end of the bending block 235 can smoothly enter the groove 45; when the inner end of the bending block 235 flips outward due to the push of the first torsion spring 236, the inner end of the bending block 235 abuts against the triangular block 44. Since the triangular block 44 cannot flip outward, the bending block 235 can push the tool disk outward to achieve the separation of the tool disk and the coupling joint. It should be noted that: the inner end of the bending block 235 is an arc structure, which can ensure that the triangular block 44 can be continuously squeezed and pushed, and the first torsion spring 236 has a certain elastic coefficient, and the force generated by its deformation is sufficient to push the tool disk to move.

[0055] When the tool tray is installed on the main tray 2, the lower tray 41 will enter the tapered hole 213. The first position sensor 215 will detect the tapered hole 213 and send a signal to the control system. The control system will send a signal to control the extension of the first telescopic rod 231 to clamp the tool tray.

[0056] The tool magazine includes a base plate 31 and a plurality of fixed components installed on the base plate 31. Semi-long shells 321 are slidably arranged on both sides of the base plate 31. Specifically, the semi-long shells 321 are installed on the base plate 31 through sliders 322. The two semi-long shells 321 are driven to move in opposite directions through driving components. A protective cover 36 is fixed on the lower side of the base plate 31, and the protective cover 36 plays a protective role for the actuator 42.

[0057] The fixing assembly includes two round rods 341 which are respectively fixedly connected to the two semi-long shells 321. A transverse inner cavity is opened inside the base plate 31, and the round rods 341 are located in the transverse inner cavity. The two round rods 341 are both hingedly installed with tilting rods 342, and the ends of the two tilting rods 342 are hingedly connected with a support ring 343. The inner diameter of the support ring 343 is smaller than the large-diameter end of the lower plate 41, and the actuator 42 can pass through the inner diameter of the support ring 343. A through hole corresponding to the support ring 343 is opened on the base plate 31, so that the tool plate can be placed on the support ring 343, and the actuator 42 is located in the protective cover 36.

[0058] A second mounting inner hole is opened on the upper side of the support ring 343, and a second position sensor 344 is installed in the second mounting inner hole. When the second position sensor 344 senses that the tool tray is approaching, it will send a signal to the control system, and the control system will send a signal to control the first telescopic rod 231 to retract, thereby loosening the tool tray from the main tray 2.

[0059] The inner sides of the two semi-elongated shells 321 are each provided with a plurality of rectangular grooves 323 and a plurality of sealing plates 324 fixed thereto, the specific number of which is consistent with the number of the fixed components. When the two semi-elongated shells 321 are moved and combined into a complete elongated shell by the driving component, the corresponding sealing plates 324 seal and block the rectangular grooves 323, which is then in a storage state; when the two semi-elongated shells 321 are moved by the driving component so that the corresponding two rectangular grooves 323 correspond to each other, the support ring 343 will gradually rise and pass through the rectangular groove 323 due to the support of the two tilting rods 342, so that the lower plate 41 is located on the upper side of the semi-elongated shell 321, for the main plate 2 to clamp or the tool plate to be placed on the fixed component.

[0060] It should be noted that: when the two semi-long shells 321 move and make the corresponding two rectangular slots 323 overlap by a certain size, the upper end of the tool tray will pass through the rectangular slot 323, so as to avoid interference between the tool tray and the semi-long shells 321.

[0061] The driving assembly includes a second telescopic rod 331 fixed to the protective cover 36 and two racks 333 respectively fixed to the two semi-long shells 321, and a gear 332 is meshed between the two racks 333, and the gear 332 is rotatably mounted on the bottom plate 31. That is, when the second telescopic rod 331 is operated, the two semi-long shells 321 can be driven to operate in opposite directions through the cooperation of the two racks 333 and the gear 332.

[0062] In order to make the tool tray more firmly fixed, the fixing assembly also includes a clamping member 35, which includes a mounting seat 351 fixed on the base plate 31, and a U-shaped pressure block 352 is rotatably installed on the mounting seat 351 through a third rotating shaft, and a third torsion spring 353 is sleeved on the third rotating shaft to drive the U-shaped pressure block 352 to flip upward; the U-shaped pressure block 352 includes a pressing portion rotatably connected to the third rotating shaft, a connecting portion is fixed to the upper end of the pressing portion, a clamping portion is fixed to the end of the connecting portion, and the length of the pressing portion is greater than the clamping portion, and when not subject to other forces, the third torsion spring 353 will keep the U-shaped pressure block 352 at a certain angle.

[0063] When the tool tray is placed on the support ring 343, the bottom of the tool tray contacts the pressing part, and the U-shaped pressing block 352 is pressed and flipped inward as a whole, and the pressing part of the U-shaped pressing block 352 contacts the surface of the lower plate 41 to press and fix the tool tray. It should be noted that the pressing part has a certain elasticity, and when it is subjected to force, it has a certain deformation ability, which can avoid the situation where the support ring 343 and the U-shaped pressing block 352 are stuck; when the tool tray moves upward with the support ring 343, the U-shaped pressing block 352 will also flip to its original position.

[0064] The tool magazine can stably clamp and fix the tool tray, and can also protect the tool tray to prevent the tool tray from being affected by the external environment.

[0065] This embodiment also provides a method for using the above robot arm end quick change system, including the following steps:

[0066] Step 1: Contract the telescopic end of the first telescopic rod 231 so that the bending block 235 is turned outward under the force of the first torsion spring 236 to release the fixation of the tool tray. At the same time, the bending block 235 contacts the triangular block 44 to exert force to separate the tool tray from the tapered hole 213.

[0067] Step 2: Continue to retract the telescopic end of the first telescopic rod 231, and the protrusion 234 pushes the push plate 226 to move, so that the outer tube push portion of the trachea connector 224 moves, so that the docking connector 46 is separated from the trachea connector 224, and the tool tray is placed in the tool magazine;

[0068] Step 3: Contract the telescopic end of the first telescopic rod 231 to displace the outer tube push portion of the trachea connector 224, insert the corresponding tool plate into the tapered hole 213 through the robot arm 1, and connect the butt joint 46 to the trachea connector 224;

[0069] Step 4: Extend the telescopic end of the first telescopic rod 231, the roller 237 pushes the bending block 235, and rotates with the first shaft, the inner end of the bending block 235 enters the groove 45 to firmly fix the tool disk in the tapered hole 213, and the replacement is completed.

[0070] The above are only preferred embodiments of the present invention, which are only illustrative and not restrictive. Those skilled in the art understand that many changes, modifications, and even equivalences may be made to the present invention within the spirit and scope defined by the claims, but all of them will fall within the scope of protection of the present invention.

Claims

1. A quick change system at the end of a robotic arm, characterized in that: include: A main plate (2), which is arranged at the execution end of the mechanical arm (1) and is used to clamp the tool plate; as well as A tool magazine, which is used to store a plurality of tool trays required for selection and clamping by the main tray (2); The main disk (2) comprises a disk body (211) and a clamping member for clamping and loosening the tool disk, a conical hole (213) and a circular hole (212) communicating with the conical hole (213) are provided inside the disk body (211), and a side gap is provided at a radial position of the disk body (211); An electrical connection assembly (22) is arranged in the circular hole (212), the electrical connection assembly (22) comprising a fixing block (223) fixed inside the circular hole (212), a first spring (222) and a mounting base block (221) being arranged in sequence on one side of the fixing block (223), and a coupling joint being arranged on the mounting base block (221); When the tool disc is inserted into the tapered hole (213), the tool disc is connected to the coupling connector of the electrical connection assembly (22), and the clamping member clamps the tool disc; The clamping member comprises a first telescopic rod (231) fixed to the end of the disk body (211); a movable plate (232) is installed at the telescopic end of the first telescopic rod (231); push rods (233) are fixed on both sides of the movable plate (232); a protrusion (234) is fixed at the middle position of the two push rods (233); and rollers (237) are installed at the ends of the two push rods (233) away from the movable plate (232); A bending block (235) is rotatably mounted in the side gap via a first rotating shaft, and a first torsion spring (236) is sleeved on the first rotating shaft for driving the bending block (235) to flip outward. The outer side of the tool tray is provided with a groove (45) corresponding to the bending block (235), and the inner end of the bending block (235) is turned over and enters into the groove (45) to fix the tool tray; The tool plate comprises a lower plate (41) adapted to the tapered hole (213), the groove (45) being provided on the lower plate (41), a butt joint (46) butted with a coupling joint being provided at a small-diameter end of the lower plate (41), an actuator (42) being provided at a large-diameter end of the lower plate (41), a trapezoidal block (43) being fixed to an outer surface of the lower plate (41), and a trapezoidal groove (214) being provided on an inner wall of the tapered hole (213); The coupling joint comprises an air pipe joint (224) and a power data joint (225); The butt joint (46) is a trachea plug that is butt-jointed with the trachea joint (224); a push plate (226) is fixed to the outer tube push portion of the trachea joint (224); a guide rod (228) is fixed to the push plate (226) and slides through the mounting base block (221); a second spring (227) sleeved on the guide rod (228) is provided between the mounting base block (221) and the push plate (226); the elastic coefficient of the first spring (222) is greater than the elastic coefficient of the second spring (227); the push plate (226) can be pushed by the clamping member to move along the axial direction of the guide rod (228); A triangular block (44) is rotatably mounted in the groove (45) via a second rotating shaft, one of the right-angled sides of the triangular block (44) is in contact with the inner wall corresponding to the groove (45), the second rotating shaft is located at the inner sharp corner, and a second torsion spring is sleeved on the second rotating shaft for driving the triangular block (44) to flip outwards; When the inner end of the bent block (235) turns over and enters the groove (45), the triangular block (44) turns inwardly with the second rotation axis; when the inner end of the bent block (235) turns outwardly due to the first torsion spring (236), the inner end of the bent block (235) abuts against the triangular block (44), pushing the tool disk outward, thereby realizing the separation of the tool disk and the coupling joint.

2. A robot arm end quick change system as claimed in claim 1, characterized in that: The tool magazine comprises a base plate (31) and a plurality of fixed components mounted on the base plate (31); semi-long shells (321) are slidably arranged on both sides of the base plate (31); the two semi-long shells (321) are driven to move in opposite directions by a driving component; and a protective cover (36) is fixed on the lower side of the base plate (31); The fixing assembly comprises two round rods (341) respectively fixedly connected to the two semi-long shells (321), the two round rods (341) are both hingedly mounted with tilting rods (342), and the ends of the two tilting rods (342) are hingedly connected with a support ring (343), and the bottom plate (31) is provided with a through hole corresponding to the support ring (343); The inner sides of the two semi-long shells (321) are each provided with a plurality of rectangular grooves (323) and a plurality of sealing plates (324) are fixed thereto. When the two semi-long shells (321) are moved and combined into a complete long shell body by the driving assembly, the corresponding sealing plates (324) seal and block the rectangular grooves (323); when the two semi-long shells (321) are moved by the driving assembly so that the corresponding two rectangular grooves (323) correspond to each other, the fixing assembly rises and passes through the rectangular grooves (323).

3. A robot arm end quick change system as claimed in claim 2, characterized in that: The driving assembly comprises a second telescopic rod (331) fixed to the protective cover (36) and two racks (333) respectively fixed to two semi-long shells (321); a gear (332) is meshed between the two racks (333); and the gear (332) is rotatably mounted on the bottom plate (31).

4. A robot arm end quick change system as claimed in claim 2, characterized in that: The fixing assembly further comprises a pressing member (35), the pressing member (35) comprising a mounting seat (351) fixed on the bottom plate (31), a U-shaped pressing block (352) being rotatably mounted on the mounting seat (351) via a third rotating shaft, and a third torsion spring (353) is sleeved on the third rotating shaft for driving the U-shaped pressing block (352) to flip upward. The U-shaped pressing block (352) comprises a pressing portion rotatably connected to the third rotating shaft, a connecting portion is fixed to the upper end of the pressing portion, and a clamping portion is fixed to the end of the connecting portion.

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