Quick-change locking device and robot thereof

Abstract

The invention relates to the technical field of robots, in particular to a quick-change locking device and a robot thereof. The quick-change locking device is used for connecting a hand end and a tool end of a robot, the hand end of the robot is connected with an arm of the robot, the tool end is various end effectors of the robot, and the quick-change locking device is characterized by comprising a first connecting unit, a second connecting unit and a locking rod, the first connecting unit and the second connecting unit are connected with the hand end and the tool end correspondingly, a locking rod is arranged in the first connecting unit, and the device moves in the first connecting unit through the locking rod, so that locking and unlocking of the second connecting unit are achieved. According to the device, mechanical reloading is adopted, locking is firm, the cost of the device is reduced, reloading steps are reduced, the stability, durability and bearing capacity of the quick-change locking device are guaranteed, and meanwhile the reloading efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a quick-change locking device and a robot thereof. Background Art

[0002] The robot quick changer, also known as the tool changer, gun changer, etc., is a quick changer for the end effector and is an important device installed on the industrial robot arm. It is mainly composed of a robot side and a tool side. The robot side is installed on the robot arm, and the tool side is connected to the end effector. The quick changer is designed to achieve fast and accurate replacement of the robot end effector to adapt to different production tasks.

[0003] The quick-change locking device is an important part of the robot quick-change device, which is used to fix the tool side to the robot arm. However, the current robot quick-change device faces the problem of loose or unstable connection. Especially in high-frequency use or high-load situations, the interface may become loose, poor contact or signal loss; The quick-change devices in the prior art have achieved a certain degree of automation, but compared with pure manual replacement, it still takes a certain amount of time to complete the replacement of tools or hands. Especially in some cases that require precise docking / multiple sensors / power connections, the replacement process may still be cumbersome; on the other hand, some quick-change systems ignore factors such as the weight, inertia, and load of the robot arm or tool during design, which may lead to imbalance or reduced load-bearing capacity of the system after replacement; on the other hand, high-performance quick-change devices in the prior art usually adopt complex designs and precision manufacturing, which leads to high manufacturing costs. The use of customized quick-change devices in some high-end robot systems will greatly increase the overall cost. However, the quick-change devices require frequent plug-in and unplug operations, which will cause wear on the contact parts and affect their durability. Especially under high loads or harsh environments, the wear rate of the quick-change devices will accelerate, resulting in reduced performance of the quick-change devices. Summary of the invention

[0004] In view of this, an object of the present invention is to solve at least one aspect of the above-mentioned problems and defects in the prior art.

[0005] One of the purposes of the present invention is to provide a quick-change locking device, which adopts pure manual mechanical replacement, has reliable locking, and effectively reduces the cost of the quick-change locking device.

[0006] Another object of the present invention is to provide a robot with the quick-change locking device, reduce the installation steps of the quick-change locking device on the robot, ensure the stability and durability of the quick-change locking device and the load-bearing capacity while improving the replacement efficiency.

[0007] The present invention adopts the following technical scheme: a quick-change locking device, used for connecting a hand end and a tool end of a robot, wherein the hand end of the robot is connected to the arm of the robot, and the tool end is the end effector of the robot, and the quick-change locking device comprises: a first connecting unit, a second connecting unit and a locking rod, wherein the first connecting unit is connected to the hand end, the first connecting unit is provided with a first mounting cavity, one end of the second connecting unit is connected to the tool end, and the other end opposite to the second connecting unit is provided with a second mounting cavity, and the second mounting cavity is detachably sleeved in the first mounting cavity; the locking rod is provided in the first mounting cavity, and the locking rod can move between a locking position and an unlocking position; When the locking rod is in the locking position, it cooperates with the second installation cavity, and the second connection unit is fixed in the first installation cavity; when the locking rod is in the unlocking position, the locking rod is disengaged from the second installation cavity, and the second connection unit can be removed from the first installation cavity.

[0008] Compared with the prior art, the technical effects achieved by adopting this technical solution are as follows: the connection between the hand end and the tool end of the robot is realized through the cooperation of the first connecting unit and the second connecting unit; the second connecting unit is locked by placing the second connecting unit into the first installation cavity and then moving the locking rod to the locking position; the entire quick-change locking device utilizes mechanical replacement, which reduces the cost of the entire device, avoids the influence of the instability of the electrical device, and has good stability; the replacement process of the tool end is simple and fast, and does not require complicated disassembly and installation steps, which shortens the time required for replacing the tool end, thereby improving the work efficiency of the robot; at the same time, the locking brought by the locking rod is firm, and the force and torque transmitted by the tool end during actual use are mainly borne by the middle locking rod, which can achieve a larger end bearing capacity; furthermore, the cooperation of the locking rod with the first connecting unit and the second connecting unit can switch the device mode multiple times, and has better durability.

[0009] Furthermore, a through hole is provided on the side wall of the second installation cavity, and the locking rod is provided with a first abutment portion, the first abutment portion is provided at one end of the locking rod, and the first abutment portion cooperates with the through hole; When the locking rod reaches the locking position, the first abutting portion abuts against the through hole, and when the locking rod reaches the unlocking position, the first abutting portion can escape from the second mounting cavity.

[0010] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: the locking rod is arranged in the first installation cavity, and when the second connection unit is installed, the locking rod can pass through the second installation cavity through the hole, and when the locking rod moves to the locking position, the first abutting portion of the locking rod abuts against the through hole, so that the second connection unit is fixed in the first connection unit. The abutment between the first abutting portion and the through hole increases the stability of the connection. When the robot moves or bears a load, the position of the second installation cavity is limited by the first installation cavity, and the abutment between the first abutting portion and the through hole prevents the second connection unit from rotating or axially displacing in the first installation cavity, thereby ensuring the locking effect of the device. At the same time, the user only needs to install the second installation cavity into the first installation cavity, and then move the locking rod to abut against the through hole to complete the locking of the tool end of the robot. It is easy to operate and has high durability.

[0011] Furthermore, the first installation cavity is provided with an abutment groove, which is arranged closely to the outer side of the through hole, and when the locking rod reaches the locking position, the first abutment portion is locked in the abutment groove.

[0012] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: the setting of the abutment groove allows the locking rod to move accurately to the locking position, ensuring the overall locking accuracy of the device. At the same time, the abutment groove can provide limiting and fixing functions to prevent the second connecting unit and the first connecting unit from being displaced or loosened during operation, and improves the load-bearing capacity of the quick-change locking device when subjected to axial and radial loads.

[0013] Furthermore, the locking rod includes: a second abutting portion, the second abutting portion is arranged at the other end opposite to the locking rod, a second matching portion is arranged on the side wall of the first installation cavity, and the second abutting portion is installed on the second matching portion.

[0014] Compared with the prior art, the technical effect achieved by adopting this technical solution is that the second abutment portion on the locking rod cooperates with the second matching portion of the side wall of the first mounting cavity, which plays a role in balancing the force during the operation of the locking rod. When the quick-change locking device is locked, not only the first abutment portion and the through hole, the first abutment portion and the abutment groove are subjected to force, but also the second abutment portion and the second matching portion are subjected to force, and the second abutment portion and the through hole are subjected to force. This balanced force design can effectively reduce the fatigue wear of the locking rod during frequent operation and extend the service life of the quick-change locking device. At the same time, the cooperation between the second abutment portion and the second matching portion provides precise guidance for the movement of the locking rod in the first mounting cavity. When the locking rod moves between the locking position and the unlocking position, the second abutment portion moves along the second matching portion, ensuring the accuracy and linearity of the movement trajectory of the locking rod. This helps to achieve fast and accurate locking and unlocking operations and improves the efficiency of changing.

[0015] Furthermore, the locking rod is provided with a connecting rod, a disengagement notch is provided at the top of the through hole, and the first abutting portion abuts against the disengagement notch; wherein, when the locking rod is switched from the locking position to the unlocking position, the connecting rod passes through the disengagement notch.

[0016] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: when the locking rod is switched from the locking position to the unlocking position, the connecting rod can pass through the escape notch, thereby facilitating the unlocking of the second connecting unit from the first connecting unit.

[0017] Furthermore, the locking rod includes: a snap-fitting paddle, which is arranged on the outside of the first connecting unit, one end of which is connected to the locking rod, and the snap-fitting paddle can drive the locking rod to move; wherein, when the snap-fitting paddle is snapped on the first connecting unit, the locking rod reaches the locking position, and when the snap-fitting paddle is unfolded, the locking rod disengages from the locking position.

[0018] Compared with the prior art, the technical effects achieved by adopting this technical solution are as follows: the setting of the snap-fitting paddle, firstly, the operator can directly drive the locking rod to move by operating the snap-fitting paddle outside the device to unlock or lock the quick-change locking device; secondly, when the snap-fitting paddle is snapped, the snap-fitting paddle presses the locking rod to prevent the locking rod from shaking, thereby ensuring the relative position stability of the locking rod and the first connecting unit and the second connecting unit, further ensuring the locking accuracy and the reliability of the fixation.

[0019] Furthermore, the buckling paddle is provided with a lifting rod, one end of which is connected to the locking rod, and the buckling paddle pushes the locking rod to move through the lifting rod.

[0020] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: when the snap-fitting paddle is snapped or unfolded, the snap-fitting movement is converted into the lifting rod pushing or pulling the locking rod, thereby controlling the displacement of the locking rod in the first mounting cavity and achieving reliable locking and unlocking.

[0021] Furthermore, the first connecting unit is provided with a locking handle, the buckling paddle is provided with a snap-in hole, and the locking handle cooperates with the snap-in hole to fix the buckling paddle on the first connecting unit.

[0022] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: the locking handle of the first connecting unit cooperates with the snap-fit ​​hole of the snap-fit ​​paddle to firmly fix the snap-fit ​​paddle on the first connecting unit, thereby preventing the snap-fit ​​paddle from accidentally loosening during the operation of the robot and reducing the overall structural shaking of the quick-change locking device.

[0023] The locking handle is provided with a pressing piece and a rotating handle. The pressing piece is arranged on the rotating handle. The rotating handle can pass through the snap-fit ​​hole. When the rotating handle abuts against the snap-fit ​​hole, the pressing piece is used to press and snap the paddle.

[0024] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: when the quick-change locking device is locked, the clamping part continuously and stably presses the snap-fitting paddle, preventing the entire device from shaking due to the shaking of the snap-fitting paddle, and ensuring that the locking rod is always in a reliable locking position.

[0025] The present invention also provides a robot, comprising the quick-change locking device in any of the above technical solutions, and its effects are no longer described in detail. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic diagram of a quick-change locking device according to an embodiment of the present invention; Figure 2 An exploded view of a quick-change locking device according to an embodiment of the present invention; Figure 3 It is a structural schematic diagram of a first connecting unit of a quick-change locking device according to an embodiment of the present invention; Figure 4 It is a structural schematic diagram of a first connecting unit of a quick-change locking device according to an embodiment of the present invention from another perspective; Figure 5 It is a structural schematic diagram of a second connecting unit of a quick-change locking device according to an embodiment of the present invention; Figure 6 A schematic structural diagram of a locking rod of a quick-change locking device according to an embodiment of the present invention; Figure 7 The present invention is a schematic structural diagram of a buckling paddle of a quick-change locking device according to an embodiment of the present invention.

[0027] Explanation of the reference numerals in the accompanying drawings: 100, quick-change locking device; 101, hand end; 111, tool end; 1, first connecting unit; 2, second connecting unit; 3, locking rod; 4, first mounting cavity; 5, second mounting cavity; 6, through hole; 7, first abutment portion; 8, abutment groove; 9, second abutment portion; 10, second matching portion; 11, connecting rod; 12, escape notch; 13, snap-fit ​​paddle; 14, lifting rod; 15, snap-fit ​​hole; 16, locking handle; 17, pressing member; 18, rotating handle; 19, positioning column; 20, positioning hole. DETAILED DESCRIPTION

[0028] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0029] See also Figure 1-Figure 7The present invention adopts the following technical scheme: a quick-change locking device 100, used for connecting a hand end 101 and a tool end 111 of a robot, the hand end 101 of the robot is connected to the arm of the robot, and the tool end 111 is the end effector of the robot, the quick-change locking device 100 comprises: a first connecting unit 1, a second connecting unit 2 and a locking rod 3, the first connecting unit 1 is connected to the hand end 101, the first connecting unit 1 is provided with a first mounting cavity 4, one end of the second connecting unit 2 is connected to the tool end 111, and the other end opposite to the second connecting unit 2 is provided with a second mounting cavity 5, the second mounting cavity 5 is detachably sleeved in the first mounting cavity 4; the locking rod 3 is provided in the first mounting cavity 4, and the locking rod 3 can move between a locking position and an unlocking position; Among them, when the locking rod 3 is in the locking position, it cooperates with the second installation cavity 5, and the second connecting unit 2 is fixed in the first installation cavity 4; when the locking rod 3 is in the unlocking position, the locking rod 3 is disengaged from the second installation cavity 5, and the second connecting unit 2 can be removed from the first installation cavity 4.

[0030] Through the cooperation of the first connecting unit 1 and the second connecting unit 2, the connection between the robot hand end 101 and the tool end 111 is realized. By placing the second connecting unit 2 into the first installation cavity 4 and then moving the locking rod 3 to the locking position, the second connecting unit 2 is locked. The entire quick-change locking device 100 utilizes mechanical replacement, which reduces the cost of the entire device, avoids the influence of the instability of the use of electrical devices, and has good stability; the replacement process of the tool end 111 is simple and fast, and does not require complicated disassembly and installation steps, which shortens the time required for replacing the tool end 111, thereby improving the work efficiency of the robot; at the same time, the locking brought by the locking rod 3 is firm. During actual use, the force and torque transmitted by the tool end 111 are mainly borne by the middle locking rod 3, which can achieve a larger end bearing capacity. Moreover, the cooperation of the locking rod 3 with the first connecting unit 1 and the second connecting unit 2 can switch the device mode multiple times, and the durability is better.

[0031] Specifically, a through hole 6 is provided on the side wall of the second installation cavity 5, and the locking rod 3 is provided with a first abutment portion 7, which is provided at one end of the locking rod 3, and the first abutment portion 7 cooperates with the through hole 6; When the locking rod 3 reaches the locking position, the first abutting portion 7 abuts against the through hole 6 , and when the locking rod 3 reaches the unlocking position, the first abutting portion 7 can escape from the second mounting cavity 5 .

[0032] For example, the first abutment portion 7 is a cylindrical cone, and the through hole 6 is a corresponding circular hole in the form of a matching first abutment portion 7. The diameter of the cylindrical cone of the first abutment portion 7 is the same as the diameter of the through hole 6, thereby ensuring the stable abutment between the first abutment portion 7 and the through hole 6 and preventing the second connection unit 2 from shaking inside the first connection unit 1.

[0033] In summary, the locking rod 3 is arranged in the first installation cavity 4. When the second connection unit 2 is installed, the locking rod 3 can pass through the second installation cavity 5 through the hole 6, and when the locking rod 3 moves to the locking position, the first abutting portion 7 of the locking rod 3 abuts against the through hole 6, so that the second connection unit 2 is fixed in the first connection unit 1. The abutment between the first abutting portion 7 and the through hole 6 increases the stability of the connection. When the robot moves or bears a load, the first installation cavity 4 limits the position of the second installation cavity 5 and the abutment between the first abutting portion 7 and the through hole 6 prevents the second connection unit 2 from rotating or axially displacing in the first installation cavity 4, thereby ensuring the locking effect of the device. At the same time, the user only needs to install the second installation cavity 5 into the first installation cavity 4, and then move the locking rod 3 to abut against the through hole 6 to complete the locking of the tool end 111 of the robot. It is easy to operate and has high durability.

[0034] Specifically, the first installation cavity 4 is provided with an abutment groove 8 , which is arranged closely to the outer side of the through hole 6 . When the locking rod 3 reaches the locking position, the first abutment portion 7 is locked in the abutment groove 8 .

[0035] The abutting groove 8 cooperates with the first abutting portion 7 in structure or position.

[0036] For example, Figure 3 and Figure 5 As shown, a positioning hole 20 is further provided on the first connecting unit 1, and a positioning column 19 is provided on the second connecting unit 2. The positioning hole 20 and the positioning column 19 cooperate with each other in structure or in position to ensure that the second connecting unit 2 is accurately positioned relative to the first connecting unit 1 when installed, and to ensure that the locking rod 3 accurately enters the through hole 6 and the abutment groove 8 and correctly abuts against the through hole 6 and the abutment groove 8 when locking.

[0037] In summary, the setting of the abutment groove 8 allows the locking rod 3 to move accurately to the locking position, ensuring the overall locking accuracy of the device. At the same time, the abutment groove 8 can provide limiting and fixing functions to prevent the second connecting unit 2 and the first connecting unit 1 from being displaced or loosened during operation, and improve the load-bearing capacity of the quick-change locking device 100 when subjected to axial and radial loads.

[0038] Specifically, the locking rod 3 includes: a second abutting portion 9 , which is arranged at the other end opposite to the locking rod 3 , and a second matching portion 10 is arranged on the side wall of the first installation cavity 4 , and the second abutting portion 9 is installed on the second matching portion 10 .

[0039] The second abutment portion 9 on the locking rod 3 cooperates with the second matching portion 10 on the side wall of the first installation cavity 4, and plays a role in balancing the force during the operation of the locking rod 3. When the quick-change locking device 100 is locked, not only the first abutment portion 7 and the through hole 6, the first abutment portion 7 and the abutment groove 8 are subjected to force, but also the second abutment portion 9 and the second matching portion 10 are subjected to force, and the second abutment portion 9 and the through hole 6 are subjected to force. This balanced force design can effectively reduce the fatigue wear of the locking rod 3 during frequent operation and extend the service life of the quick-change locking device 100. At the same time, the cooperation between the second abutment portion 9 and the second matching portion 10 provides precise guidance for the movement of the locking rod 3 in the first installation cavity 4. When the locking rod 3 moves between the locking position and the unlocking position, the second abutment portion 9 moves along the second matching portion 10, ensuring the accuracy and linearity of the movement trajectory of the locking rod 3. This helps to achieve fast and accurate locking and unlocking operations and improves the efficiency of changing.

[0040] Specifically, the locking rod 3 is provided with a connecting rod 11, and a disengagement notch 12 is provided at the top of the through hole 6, and the first abutment portion 7 abuts against the disengagement notch 12; wherein, when the locking rod 3 switches from the locking position to the unlocking position, the connecting rod 11 passes through the disengagement notch 12.

[0041] When the locking rod 3 switches from the locking position to the unlocking position, the connecting rod 11 can pass through the escape notch 12 , which facilitates the unlocking of the second connecting unit 2 from the first connecting unit 1 .

[0042] Specifically, the locking rod 3 includes: a snap-fitting paddle 13, which is arranged on the outside of the first connecting unit 1, one end of the snap-fitting paddle 13 is connected to the locking rod 3, and the snap-fitting paddle 13 can drive the locking rod 3 to move; wherein, when the snap-fitting paddle 13 is snapped on the first connecting unit 1, the locking rod 3 reaches the locking position, and when the snap-fitting paddle 13 is unfolded, the locking rod 3 disengages from the locking position.

[0043] The arrangement of the snap-fitting paddle 13 allows, firstly, an operator to directly operate the snap-fitting paddle 13 outside the device to drive the locking rod 3 to move, thereby unlocking or locking the quick-change locking device 100; secondly, when the snap-fitting paddle 13 is snapped, the snap-fitting paddle 13 presses the locking rod 3 to prevent the locking rod 3 from shaking, thereby ensuring the relative position stability of the locking rod 3 and the first connecting unit 1 and the second connecting unit 2, thereby further ensuring the locking accuracy and the reliability of the fixation.

[0044] Specifically, the buckling paddle 13 is provided with a lifting rod 14 , one end of the lifting rod 14 is connected to the locking rod 3 , and the buckling paddle 13 pushes the locking rod 3 to move through the lifting rod 14 .

[0045] When the snap-fitting paddle 13 is snapped or unfolded, the snap-fitting movement is converted into the lifting rod 14 pushing or pulling the locking rod 3, controlling the displacement of the locking rod 3 in the first mounting cavity 4, and realizing reliable locking and unlocking.

[0046] Specifically, the first connecting unit 1 is provided with a locking handle 16 , and the buckling paddle 13 is provided with a snap-fit ​​hole 15 . The locking handle 16 cooperates with the snap-fit ​​hole 15 to fix the buckling paddle 13 on the first connecting unit 1 .

[0047] The locking handle 16 of the first connecting unit 1 cooperates with the snap-fitting hole 15 of the snap-fitting paddle 13 to firmly fix the snap-fitting paddle 13 on the first connecting unit 1, thereby preventing the snap-fitting paddle 13 from being accidentally loosened during the operation of the robot and reducing the overall structural shaking of the quick-change locking device 100.

[0048] The locking handle 16 is provided with a pressing member 17 and a rotating handle 18 . The pressing member 17 is provided on the rotating handle 18 . The rotating handle 18 can pass through the engaging hole 15 . When the rotating handle 18 abuts against the engaging hole 15 , the pressing member 17 is used to press and snap the paddle 13 .

[0049] When the quick-change locking device 100 is locked, the pressing member 17 continuously and stably presses the buckling paddle 13 to prevent the entire device from shaking due to the shaking of the buckling paddle 13, and ensures that the locking rod 3 is always in a reliable locking position.

[0050] The present invention further provides a robot, comprising the quick-change locking device 100 in any of the above technical solutions, and its effects are not described in detail.

[0051] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the scope defined by the claims.

Claims

1. A quick-change locking device (100) for connecting a hand end (101) and a tool end (111) of a robot, wherein the hand end (101) of the robot is connected to an arm of the robot, and the tool end (111) is various end effectors of the robot, characterized in that: The quick-change locking device (100) comprises: a first connection unit (1) and a second connection unit (2), the first connection unit (1) being connected to the hand end (101), the first connection unit (1) being provided with a first mounting cavity (4), one end of the second connection unit (2) being connected to the tool end (111), the other end of the second connection unit (2) being provided with a second mounting cavity (5), the second mounting cavity (5) being detachably sleeved in the first mounting cavity (4); A locking rod (3), the locking rod (3) being arranged in the first mounting cavity (4), the locking rod (3) being movable between a locking position and an unlocking position; Wherein, the locking rod (3) cooperates with the second mounting cavity (5) when in the locking position, and the second connecting unit (2) is fixed in the first mounting cavity (4); When the locking rod (3) is in the unlocking position, the locking rod (3) is disengaged from the second installation cavity (5), and the second connecting unit (2) can be disengaged from the first installation cavity (4).

2. The quick-change locking device (100) according to claim 1, characterized in that: A through hole (6) is provided on the side wall of the second mounting cavity (5), and the locking rod (3) is provided with a first abutment portion (7), the first abutment portion (7) is provided at one end of the locking rod (3), and the first abutment portion (7) cooperates with the through hole (6); When the locking rod (3) reaches the locking position, the first abutting portion (7) abuts against the through hole (6); when the locking rod (3) reaches the unlocking position, the first abutting portion (7) can be released from the second mounting cavity (5).

3. The quick-change locking device (100) according to claim 2, characterized in that: The first mounting cavity (4) is provided with an abutment groove (8), the abutment groove (8) being arranged in close contact with the outer side of the through hole (6), and when the locking rod (3) reaches the locking position, the first abutment portion (7) is locked in the abutment groove (8).

4. The quick-change locking device (100) according to claim 2, characterized in that: The locking rod (3) comprises: A second abutting portion (9), the second abutting portion (9) being arranged at the other end opposite to the locking rod (3), a second matching portion (10) being arranged on the side wall of the first mounting cavity (4), and the second abutting portion (9) being mounted on the second matching portion (10).

5. The quick-change locking device (100) according to claim 4, characterized in that: The locking rod (3) is provided with a connecting rod (11), the top of the through hole (6) is provided with a disengagement notch (12), and the first abutment portion (7) abuts against the disengagement notch (12); Wherein, when the locking rod (3) switches from the locking position to the unlocking position, the connecting rod (11) passes through the escape notch (12).

6. The quick-change locking device (100) according to claim 1, characterized in that: The locking rod (3) comprises: a buckling paddle (13), the buckling paddle (13) being arranged outside the first connecting unit (1), one end of the buckling paddle (13) being connected to the locking rod (3), and the buckling paddle (13) being capable of driving the locking rod (3) to move; Wherein, when the buckling paddle (13) is buckled onto the first connection unit (1), the locking rod (3) reaches the locking position, and when the buckling paddle (13) is unfolded, the locking rod (3) is disengaged from the locking position.

7. The quick-change locking device (100) according to claim 6, characterized in that: The buckling paddle (13) is provided with a lifting rod (14), one end of the lifting rod (14) is connected to the locking rod (3), and the buckling paddle (13) pushes the locking rod (3) to move via the lifting rod (14).

8. The quick-change locking device (100) according to claim 7, characterized in that: The first connection unit (1) is provided with a locking handle (16), the buckling paddle (13) is provided with a snap-fit ​​hole (15), and the locking handle (16) cooperates with the snap-fit ​​hole (15) to fix the buckling paddle (13) to the first connection unit (1).

9. The quick-change locking device (100) according to claim 8, characterized in that: The locking handle (16) is provided with a pressing piece (17) and a rotating handle (18). The pressing piece (17) is provided on the rotating handle (18). The rotating handle (18) can pass through the clamping hole (15). When the rotating handle (18) abuts against the clamping hole (15), the pressing piece (17) is used to press the buckling paddle (13).

10. A robot, characterized in that: Comprising the quick-change locking device (100) according to any one of claims 1 to 9.

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