Quick-release type multifunctional end tool switching frame for industrial robot

Abstract

The invention discloses an industrial robot quick disassembly type multifunctional end tool switching frame which comprises an industrial robot body arranged on a machine table and a disassembly and assembly switching frame fixedly connected to the other end of the industrial robot body, and a clamp is movably installed on the right side of the disassembly and assembly switching frame. The device is simple in structure, the clamp at the tail end of the industrial robot can be quickly disassembled, assembled and switched conveniently, positioning of the first positioning groove by the first positioning block and positioning of the second positioning groove by the second positioning block can be achieved only through work of one driving motor, it can be ensured that the clamp is more stable after being switched and installed, and the working efficiency is improved. The industrial robot has the advantages that follow-up stable operation of the robot is guaranteed, switching efficiency is high, and the problem that tools such as a wrench and a screwdriver are needed when a tail end clamp of an existing industrial robot is switched, so that a large amount of time and labor are consumed when the clamp is dismounted and switched is solved; and the existing use requirements of efficiently, flexibly and quickly switching different clamps are met.

Description

Technical Field

[0001] The invention relates to the technical field of industrial robots, and in particular to a quick-detachable multifunctional end tool switching rack for industrial robots. Background Art

[0002] In the field of modern industrial manufacturing, industrial robots play an extremely important role. The diversity of their end tools, such as fixtures, enables them to cope with various complex production tasks.

[0003] However, when existing industrial robots switch end fixtures with different functions, the replacement method mainly relies on manual disassembly and assembly. Since various tools, such as wrenches and screwdrivers, are needed to gradually remove the currently installed fixtures, this disassembly and assembly switching of fixtures not only consumes a lot of time and manpower, but also involves the disassembly and installation of multiple bolts, nuts and other connectors, and the operation is extremely cumbersome.

[0004] During the disassembly process, many small parts need to be carefully kept. A little carelessness may cause parts to be lost or damaged, which undoubtedly increases maintenance costs and the difficulty of replacement. When installing a new fixture, a lot of effort is required for precise positioning and calibration to ensure that the fixture is installed accurately, otherwise it will directly affect the subsequent operation accuracy and stability of the robot. At the same time, it affects the efficiency of disassembly and assembly switching, and cannot meet the urgent needs of modern industrial production for efficient, flexible and fast switching of different operation functions.

[0005] Therefore, it is of great practical significance to develop a device that can realize the quick-detachable multifunctional end tool switching of an industrial robot, so as to solve the problems of cumbersome and inconvenient fixture replacement and low disassembly and replacement efficiency in existing robots. Summary of the invention

[0006] Based on the technical problems existing in the background technology, the present invention proposes an industrial robot quick-detachable multifunctional end tool switching rack.

[0007] The invention provides an industrial robot quick-detachable multifunctional end tool switching frame, comprising an industrial robot body arranged on a machine platform, and a disassembly and assembly switching frame fixedly connected to the other end of the industrial robot body, wherein a clamp is movably installed on the right side of the disassembly and assembly switching frame; two disassembly and assembly slots are symmetrically arranged on the right side of the disassembly and assembly switching frame, a connector is fixedly connected to the left side of the fixture, two disassembly and assembly plugs are fixedly connected to the left end of the connector, and the disassembly and assembly plugs are inserted into the disassembly and assembly slots;

[0008] A first transmission cavity is provided on the disassembly and assembly switching frame between the two disassembly and assembly slots, and a first positioning mechanism for positioning the disassembly and assembly plug is provided in the first transmission cavity; a second transmission cavity is provided on the disassembly and assembly switching frame at a side away from the two disassembly and assembly slots, and a second positioning mechanism for positioning the disassembly and assembly plug is provided in the second transmission cavity; a driving cavity is also provided inside the left end of the disassembly and assembly switching frame;

[0009] The first positioning mechanism includes two first positioning blocks symmetrically arranged in the first transmission cavity, a mounting groove is provided on the left inner wall of the driving cavity, a driving motor is fixedly installed in the mounting groove, the output shaft of the driving motor is fixedly connected with a worm, the right end of the worm rotates through the first transmission cavity and is fixedly connected with a turntable, and two symmetrically arranged rotating connecting rods are rotatably connected on the right side of the turntable, and the ends of the two rotating connecting rods away from each other are respectively rotatably connected to the first positioning blocks, and the first positioning grooves are provided on the sides of the two disassembly and assembly plugs that are close to each other, and one end of the first positioning block movably penetrates into the disassembly and assembly slot and extends into the first positioning groove.

[0010] As a further feature, a rotating pin is fixedly connected to the right side of the turntable, and one end of the rotating connecting rod is rotatably connected to the rotating pin; a transfer groove is provided on the first positioning block, and the other end of the rotating connecting rod is rotatably connected to the transfer groove.

[0011] As a further feature, a guide slider is disposed on the right side of the first positioning block, a guide rail is disposed on the right side of the first transmission cavity, and the guide slider is slidably installed on the guide rail along a vertical direction.

[0012] As a further feature, the second positioning mechanism comprises a second positioning block arranged in the second transmission cavity, a second positioning groove is arranged on the side of the two disassembly and assembly plugs away from each other, and one end of the second positioning block is movably positioned in the second positioning groove; linkage frames are slidably installed on the left inner wall of the driving cavity above and below the driving motor, the right end of the linkage frame movably penetrates into the second transmission cavity, and the second positioning block is also fixedly installed on the linkage frame; a vertically arranged screw is rotatably installed in the driving cavity, and the screw is respectively threadedly connected to the two linkage frames, a worm gear is fixedly sleeved on the middle part of the screw, and the worm gear is meshed with the worm gear.

[0013] As a further feature, the screw rod is symmetrically provided with external threads, and the thread directions of the two external threads on the screw rod are arranged in opposite directions; nuts are respectively fixedly sleeved on the two linkage frames, and the screw rod is threadedly connected with the nuts.

[0014] As a further feature, the two linkage frames are fixedly connected to one side away from each other with an elastic spring, and the other end of the elastic spring is fixedly connected to the inner wall of the second transmission cavity.

[0015] As a further feature, a slide rail is symmetrically arranged on the left inner wall of the driving cavity, a slide seat is arranged on the left end of the linkage frame, and the slide seat is slidably installed on the slide rail along the vertical direction.

[0016] As a further feature, a through hole is provided on the left inner wall of the second transmission chamber, and the linkage frame movably passes through the through hole; a guide rod is fixedly arranged in the through hole, a guide hole is provided on the linkage frame, and the linkage frame is slidably sleeved on the guide rod along the vertical direction through the guide hole.

[0017] As a further feature, a controller is provided on the machine, and the controller is electrically controlled and connected to the driving motor.

[0018] The beneficial effects of the present invention are:

[0019] When the two first positioning blocks are close to each other, the first positioning block can be disengaged from the first positioning groove, thereby releasing the positioning of the first positioning block on the first positioning groove; at the same time, when the two first positioning blocks are close to each other, the worm gear is meshed with the worm gear and drives the screw to rotate. Since the thread directions of the two external threads on the screw are arranged in opposite directions, the two linkage frames can each perform thread transmission away from each other on the two external threads of the screw through the nut. When the two linkage frames move away from each other, the two second positioning blocks are also driven away from each other, thereby releasing the positioning of the second positioning block on the second positioning groove, and then the clamp, the connector and the disassembly plug are moved to the right as a whole, so that the disassembly plug can be disengaged from the disassembly slot and the clamp can be disassembled and removed, thereby improving the disassembly efficiency;

[0020] 2. In the present invention, the clamp to be switched and replaced is taken over, and the disassembly and assembly plugs on the clamp and the connector are inserted into the disassembly and assembly slots, and then the driving motor works in the reverse direction to drive the worm to rotate in the reverse direction. When the worm rotates in the reverse direction, the turntable is driven to rotate in the reverse direction and the two first positioning blocks are driven to move away from each other through the cooperation of the rotating pin and the rotating connecting rod, and the first positioning block can be moved into the first positioning slot for positioning; at the same time, when the worm rotates in the reverse direction, it also meshes with the worm wheel and drives the screw to rotate in the reverse direction, and the two linkage frames can be threadedly driven by the nut on the two external threads of the screw to approach each other, and then the two second positioning blocks are driven to approach each other, so that the second positioning block is moved into the second positioning slot for positioning. In this way, the positioning of the first positioning slot by the first positioning block and the positioning cooperation of the second positioning slot by the second positioning block can greatly ensure the stability of the installation after switching, which not only has a fast installation speed, but also ensures the stability after disassembly, replacement and installation;

[0021] 3. In the present invention, the elastic spring also has an elastic reverse thrust after the switching installation, which can not only ensure that the second positioning block is firmly positioned in the second positioning groove, but also make the threaded connection between the nut and the screw on the linkage frame tighter, and it is not easy for the thread to loosen, thereby further ensuring that the second positioning block on the linkage frame is firmly positioned on the second positioning groove, and only one driving motor is needed to realize the positioning of the first positioning block on the first positioning groove and the positioning of the second positioning block on the second positioning groove, thereby ensuring a better positioning effect.

[0022] To sum up, the industrial robot quick-detachable multifunctional end tool switching rack has a simple structure, which is not only convenient for quick disassembly, assembly and switching of the industrial robot end fixture, but also only requires the operation of one driving motor to realize the positioning of the first positioning block to the first positioning groove, and also realizes the positioning of the second positioning block to the second positioning groove. This can ensure that the fixture is more stable after switching and installation, and is not prone to loosening, which is conducive to ensuring the subsequent stable operation of the robot, and at the same time improves the efficiency of disassembly, assembly and switching, avoiding the need for existing industrial robots to use wrenches, screwdrivers and other tools when switching end fixtures, which in turn causes a lot of time and manpower to be consumed when disassembling and switching fixtures, and meets the existing needs for efficient, flexible and fast switching of different fixtures. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a structural schematic diagram of an industrial robot quick-detachable multifunctional end tool switching frame proposed by the present invention;

[0024] Figure 2 It is a schematic diagram of the local structure of the present invention;

[0025] Figure 3 For the present invention Figure 2 The enlarged structural diagram of part A in the middle;

[0026] Figure 4 For the present invention Figure 3 The enlarged structural diagram of part B in the middle;

[0027] Figure 5 It is a detailed structural diagram of the connection between the rotating disk, the rotating pin, the rotating connecting rod and the first positioning block in the present invention;

[0028] Figure 6 It is a schematic diagram of the structure among the worm, worm wheel and screw in the present invention.

[0029] In the figure: 1. machine; 2. industrial robot body; 3. disassembly and assembly switching frame; 301. disassembly and assembly slot; 302. first transmission cavity; 303. second transmission cavity; 304. drive cavity; 4. fixture; 401. connector; 402. disassembly and assembly plug; 403. second positioning slot; 404. first positioning slot; 5. drive motor; 6. worm; 7. turntable; 701. rotating pin; 8. rotating connecting rod; 9. first positioning block; 901. adapter slot; 10. guide slider; 11. guide rail; 12. worm gear; 13. screw; 131. external thread; 14. nut; 15. linkage frame; 16. second positioning block; 17. elastic spring; 18. slide seat; 19. slide rail; 20. controller; 21. through hole; 22. guide rod; 23. guide hole. DETAILED DESCRIPTION

[0030] The present invention will be further explained below in conjunction with specific embodiments.

[0031] Example

[0032] refer to Figure 1-6 In this embodiment, a quick-detachable multifunctional end tool switching rack for an industrial robot is proposed, comprising an industrial robot body 2 arranged on a machine platform 1, and a disassembly and assembly switching rack 3 fixedly connected to the other end of the industrial robot body 2, and a clamp 4 is movably installed on the right side of the disassembly and assembly switching rack 3; two disassembly and assembly slots 301 are symmetrically arranged on the right side of the disassembly and assembly switching rack 3, a connector 401 is fixedly connected to the left side of the clamp 4, and two disassembly and assembly plugs 402 are fixedly connected to the left end of the connector 401, and the disassembly and assembly plugs 402 are inserted into the disassembly and assembly slots 301; a first transmission cavity 302 is arranged on the disassembly and assembly switching rack 3 located between the two disassembly and assembly slots 301, and a first positioning mechanism for positioning the disassembly and assembly plug 402 is arranged in the first transmission cavity 302; a second transmission cavity 303 is also arranged on the disassembly and assembly switching rack 3 located on the side away from the two disassembly and assembly slots 301, and a second positioning mechanism for positioning the disassembly and assembly plug 402 is arranged in the second transmission cavity 303; a driving cavity 304 is also arranged inside the left end of the disassembly and assembly switching rack 3;

[0033] like Figure 2-4 In the figure, the first positioning mechanism includes two first positioning blocks 9 symmetrically arranged in the first transmission chamber 302, a mounting groove is provided on the left inner wall of the driving chamber 304, a driving motor 5 is fixedly installed in the mounting groove, the output shaft of the driving motor 5 is fixedly connected with a worm 6, the right end of the worm 6 rotates through the first transmission chamber 302 and is fixedly connected with a turntable 7, and two symmetrically arranged rotating connecting rods 8 are rotatably connected on the right side of the turntable 7, and the ends of the two rotating connecting rods 8 away from each other are respectively rotatably connected to the first positioning blocks 9, and the first positioning grooves 404 are provided on the sides of the two disassembly and assembly plugs 402 that are close to each other, and one end of the first positioning block 9 movably penetrates into the disassembly and assembly slot 301 and extends into the first positioning groove 404.

[0034] like Figure 3-4 In the figure, a rotating pin 701 is fixedly connected to the right side surface of the turntable 7, and one end of the rotating connecting rod 8 is rotatably connected to the rotating pin 701; a transfer groove 901 is provided on the first positioning block 9, and the other end of the rotating connecting rod 8 is rotatably connected in the transfer groove 901; a guide slider 10 is provided on the right side of the first positioning block 9, and a guide rail 11 is provided on the right side of the first transmission chamber 302, and the guide slider 10 is slidably installed on the guide rail 11 along the vertical direction.

[0035] like Figure 2-4 In the figure, the second positioning mechanism includes a second positioning block 16 arranged in the second transmission chamber 303, a second positioning groove 403 is provided on the side away from each other of the two disassembly and assembly plugs 402, and one end of the second positioning block 16 is movably positioned in the second positioning groove 403; a linkage frame 15 is slidably installed on the left inner wall of the driving chamber 304 located above and below the driving motor 5, the right end of the linkage frame 15 movably penetrates into the second transmission chamber 303, and the second positioning block 16 is also fixedly installed on the linkage frame 15; a vertically arranged screw rod 13 is rotatably installed in the driving chamber 304, and the screw rod 13 is threadedly connected to the two linkage frames 15 respectively, a worm gear 12 is fixedly sleeved in the middle part of the screw rod 13, and the worm 6 is meshed with the worm gear 12.

[0036] like Figure 3 In the embodiment, the screw rod 13 is symmetrically provided with external threads 131, and the thread directions of the two external threads 131 on the screw rod 13 are arranged in opposite directions; nuts 14 are respectively fixedly sleeved on the two linkage frames 15, and the screw rod 13 and the nuts 14 are threadedly connected.

[0037] like Figure 3-4 In the figure, the two linkage frames 15 are fixedly connected to the sides away from each other with elastic springs 17, and the other ends of the elastic springs 17 are fixedly connected to the inner wall of the second transmission chamber 303; slide rails 19 are symmetrically arranged on the left inner wall of the driving chamber 304, and a slide seat 18 is arranged on the left end of the linkage frame 15, and the slide seat 18 is slidably installed on the slide rail 19 along the vertical direction.

[0038] like Figure 3 A through hole 21 is provided on the left inner wall of the second transmission chamber 303, and the linkage frame 15 movably passes through the through hole 21; a guide rod 22 is fixedly provided in the through hole 21, and a guide hole 23 is provided on the linkage frame 15, and the linkage frame 15 is slidably sleeved on the guide rod 22 along the vertical direction through the guide hole 23.

[0039] The machine 1 is provided with a controller 20 , and the controller 20 is electrically connected to the driving motor 5 .

[0040] like Figure 1-6The figure shows an industrial robot quick-detachable multifunctional end tool switching rack. When the end fixture of the industrial robot needs to be switched, disassembled, assembled or replaced, the controller 20 is used to control the drive motor 5 to work, driving the worm 6 to rotate. When the worm 6 rotates, it drives the turntable 7 to rotate and drives the first positioning block 9 to move upward or downward through the cooperation of the rotating pin 701 and the rotating connecting rod 8. At the same time, the guide slider 10 and the guide rail 11 play a vertical guiding role. When the two first positioning blocks 9 are brought close to each other, the first positioning block 9 can be disengaged from the first positioning groove 404, thereby releasing the first positioning block 9 from positioning the first positioning groove 404; at the same time, the worm 6 rotates, driving the turntable 7 to rotate, and driving the first positioning block 9 to move upward or downward through the cooperation of the rotating pin 701 and the rotating connecting rod 8. When the rod 6 rotates, it also meshes with the worm gear 12 and drives the screw 13 to rotate. Since the thread directions of the two external threads 131 on the screw 13 are set in opposite directions, the two linkage frames 15 can each perform thread transmission on the two external threads 131 of the screw 13 to move away from each other through the nut 14. When the two linkage frames 15 move away from each other, they also drive the two second positioning blocks 16 to move away from each other, thereby releasing the positioning of the second positioning block 16 on the second positioning groove 403, and then the clamp 4, the connector 401 and the disassembly plug 402 are moved to the right as a whole, so that the disassembly plug 402 is disengaged from the disassembly slot 301 and the clamp 4 can be disassembled and removed.Then, the clamp 4 that needs to be switched and replaced is taken over, and the disassembly plug 402 on the clamp 4 and the connector 401 is inserted into the disassembly slot 301, and then the driving motor 5 works in the reverse direction to drive the worm 6 to rotate in the reverse direction. When the worm 6 rotates in the reverse direction, it drives the turntable 7 to rotate in the reverse direction and drives the two first positioning blocks 9 to move away from each other through the rotating pin 701 and the rotating connecting rod 8, so that the first positioning block 9 can be moved to the first positioning groove 404 for positioning; at the same time, when the worm 6 rotates in the reverse direction, it also meshes with the worm wheel 12 and drives the screw 13 to rotate in the reverse direction, and the two linkage frames 15 can be threadedly driven to approach each other on the two external threads 131 of the screw 13 through the nut 14, and then drive the two second positioning blocks 16 to approach each other, so that the second positioning block 16 moves to the second positioning groove 403 for positioning. In this way, the positioning of the first positioning groove 404 by the first positioning block 9 and the positioning cooperation of the second positioning groove 403 by the second positioning block 16 can greatly ensure the stability of the installation after switching, and the elastic spring 17 also has The elastic reverse thrust can not only ensure that the second positioning block 16 is firmly positioned in the second positioning groove 403, but also make the threaded connection between the nut 14 and the screw rod 13 on the linkage frame 15 tighter, and it is not easy for the thread to loosen, thereby further ensuring that the second positioning block 16 on the linkage frame 15 is firmly positioned on the second positioning groove 403, and only one driving motor 5 is needed to realize the positioning of the first positioning block 9 on the first positioning groove 404, and the positioning of the second positioning block 16 on the second positioning groove 403; finally, it can ensure that the clamp 4 is more stable after switching installation, and it is not easy to loosen, and the operation is simple, which is convenient for switching the clamp 4, avoiding the need for the existing industrial robot to use tools such as wrenches and screwdrivers when switching the end clamps, thereby causing a lot of time and manpower to be consumed when disassembling and switching the clamps. At the same time, the reliable positioning after switching is conducive to ensuring the subsequent stable operation of the robot, and at the same time improves the efficiency of disassembly and switching, meeting the existing needs for efficient, flexible and fast switching of different clamps.

[0041] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An industrial robot quick-detachable multifunctional end tool switching frame, comprising an industrial robot body (2) arranged on a machine platform (1), and a disassembly switching frame (3) fixedly connected to the other end of the industrial robot body (2), wherein a clamp (4) is movably installed on the right side of the disassembly switching frame (3); characterized in that: The right side of the disassembly and assembly switching frame (3) is symmetrically provided with two disassembly and assembly slots (301); the left side of the clamp (4) is fixedly connected with a connector (401); the left end of the connector (401) is fixedly connected with two disassembly and assembly plugs (402), and the disassembly and assembly plugs (402) are inserted into the disassembly and assembly slots (301); A first transmission cavity (302) is provided on the disassembly and assembly switching frame (3) between the two disassembly and assembly slots (301), and a first positioning mechanism for positioning the disassembly and assembly plug (402) is provided in the first transmission cavity (302); a second transmission cavity (303) is provided on the disassembly and assembly switching frame (3) at a side away from the two disassembly and assembly slots (301), and a second positioning mechanism for positioning the disassembly and assembly plug (402) is provided in the second transmission cavity (303); a driving cavity (304) is also provided inside the left end of the disassembly and assembly switching frame (3); The first positioning mechanism comprises two first positioning blocks (9) symmetrically arranged in the first transmission cavity (302); a mounting groove is provided on the left inner wall of the driving cavity (304); a driving motor (5) is fixedly installed in the mounting groove; an output shaft of the driving motor (5) is fixedly connected to a worm (6); the right end of the worm (6) rotates through the first transmission cavity (302) and is fixedly connected to a turntable (7); two symmetrically arranged rotating connecting rods (8) are rotatably connected on the right disk surface of the turntable (7); the ends of the two rotating connecting rods (8) that are away from each other are respectively rotatably connected to the first positioning blocks (9); the first positioning grooves (404) are provided on the sides of the two disassembly and assembly plugs (402) that are close to each other, and one end of the first positioning block (9) movably passes through the disassembly and assembly slot (301) and extends into the first positioning groove (404).

2. The industrial robot quick-detachable multifunctional end tool switching rack according to claim 1, characterized in that: A rotating pin (701) is fixedly connected to the right side of the rotating disk (7), and one end of the rotating connecting rod (8) is rotatably connected to the rotating pin (701); a transfer groove (901) is provided on the first positioning block (9), and the other end of the rotating connecting rod (8) is rotatably connected to the transfer groove (901).

3. The industrial robot quick-detachable multifunctional end tool switching rack according to claim 1, characterized in that: A guide slider (10) is arranged on the right side of the first positioning block (9), a guide rail (11) is arranged on the right side of the first transmission cavity (302), and the guide slider (10) is slidably mounted on the guide rail (11) in a vertical direction.

4. The industrial robot quick-detachable multifunctional end tool switching rack according to claim 1, characterized in that: The second positioning mechanism comprises a second positioning block (16) arranged in the second transmission cavity (303), a second positioning groove (403) is arranged on the side of the two disassembly and assembly plugs (402) away from each other, and one end of the second positioning block (16) is movably positioned in the second positioning groove (403); a linkage frame (15) is slidably installed on the left inner wall of the driving cavity (304) located above and below the driving motor (5), the right end of the linkage frame (15) is movably penetrated into the second transmission cavity (303), and the second positioning block (16) is also fixedly installed on the linkage frame (15); a vertically arranged screw rod (13) is rotatably installed in the driving cavity (304), and the screw rod (13) is respectively threadedly connected to the two linkage frames (15), a worm wheel (12) is fixedly sleeved in the middle of the screw rod (13), and the worm rod (6) is meshed with the worm wheel (12).

5. The industrial robot quick-detachable multifunctional end tool switching rack according to claim 4, characterized in that: The screw rod (13) is symmetrically provided with external threads (131), and the thread directions of the two external threads (131) on the screw rod (13) are arranged in opposite directions; nuts (14) are respectively fixedly sleeved on the two linkage frames (15), and the screw rod (13) and the nuts (14) are threadedly connected.

6. The industrial robot quick-detachable multifunctional end tool switching rack according to claim 4, characterized in that: The two linkage frames (15) are both fixedly connected with elastic springs (17) on the sides away from each other, and the other ends of the elastic springs (17) are fixedly connected with the inner wall of the second transmission chamber (303).

7. The industrial robot quick-release multifunctional end tool switching rack according to claim 4, characterized in that: A slide rail (19) is symmetrically arranged on the left inner wall of the driving chamber (304), a slide seat (18) is arranged at the left end of the linkage frame (15), and the slide seat (18) is slidably installed on the slide rail (19) along the vertical direction.

8. The industrial robot quick-detachable multifunctional end tool switching rack according to claim 4, characterized in that: A through hole (21) is provided on the left inner wall of the second transmission chamber (303), and the linkage frame (15) movably passes through the through hole (21); a guide rod (22) is fixedly arranged in the through hole (21), and a guide hole (23) is provided on the linkage frame (15), and the linkage frame (15) is slidably sleeved on the guide rod (22) along the vertical direction through the guide hole (23).

9. The industrial robot quick-release multifunctional end tool switching rack according to claim 1, characterized in that: The machine platform (1) is provided with a controller (20), and the controller (20) is electrically controlled and connected to the driving motor (5).

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