Robot tail end quick-changing device

Abstract

The invention provides a robot tail end quick-change device, which relates to the technical field of industrial robots, and specifically comprises a female disc, a quick-change mechanism, a limiting mechanism and a male disc, the mother disc is used for connecting an end effector; the quick-change mechanism is arranged on the mother disc and comprises a positioning assembly; the limiting mechanism is arranged on the mother disc and comprises a telescopic assembly, a rotating assembly and a limiting piece. The telescopic assembly and the rotating assembly are both in transmission connection with the limiting piece. The male disc is used for being connected with the mechanical arm, a connecting part and a limiting part are arranged on the male disc, the position of the connecting part is opposite to the position of the positioning assembly, and the position of the limiting part is opposite to the position of the rotating piece. During butt joint, the quick-change mechanism can achieve quick insertion and separation of the female disc and the male disc, so that efficiency is improved, in the using process, the limiting piece is continuously connected with the limiting part, the phenomenon that the connecting end is separated from the connecting part due to misoperation, and the end effector falls can be avoided, the function of preventing accidental falling of the quick-change device is achieved, and the service life of the quick-change device is prolonged. And damage to personnel, equipment and products is avoided.

Description

Technical Field

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

[0002] Compared with traditional manual manufacturing, the use of industrial robots for manufacturing can improve production efficiency, reduce labor costs, reduce workers' labor intensity and operational risks, and ensure product quality. Therefore, it has received high attention in the processing and manufacturing field. Standard assembly line production, assembly and other scenarios have been widely used in the manufacturing industry.

[0003] Industrial robots require different end effectors for different scenarios. The quick-change device, as a key mechanism for replacing the end effector of the robot, can not only improve the work efficiency of the robot, but also reduce the space waste caused by placing a large number of end effectors on the ground or on the table.

[0004] In industrial robot systems, a quick changer is an intermediate component added between the robot arm and the end effector. The quick changer is divided into two parts: one end is connected to the robot arm, called the quick changer male head; the other end is connected to the end effector, called the quick changer female head. The female head of the quick changer is connected to different end effectors, allowing the robot to quickly replace the corresponding end effector according to different task.

[0005] However, in the prior art, the end effector is mostly replaced manually, which is inefficient. During the replacement process, the end effector may fall due to worker misoperation, which may cause harm and damage to personnel, equipment, and products. Summary of the invention

[0006] The purpose of the present invention is to provide a robot end quick-change device to alleviate the technical problems in the prior art of low replacement efficiency and the end effector falling due to worker misoperation during the replacement process, which can easily cause harm and damage to personnel, equipment and products.

[0007] An embodiment of the present invention provides a robot end quick-change device, comprising a mother disk, a quick-change mechanism, a limiting mechanism and a male disk; the mother disk is used for an end effector; the quick-change mechanism is arranged on the mother disk, the quick-change mechanism comprises a positioning assembly, the positioning assembly is perpendicular to the mother disk and extends outward from the mother disk, and the end of the positioning assembly away from the mother disk is a connecting end; the limiting mechanism is arranged on a side of the mother disk where the quick-change mechanism is provided, the limiting mechanism comprises a telescopic assembly, a rotating assembly and a limiting member, the telescopic assembly and the rotating assembly are both transmission-connected with the limiting member, and the limiting member can approach or move away from the mother disk and rotate; the male disk is used to connect a robotic arm, and a connecting part and a limiting part are provided on the male disk, the position of the connecting part is opposite to the position of the positioning assembly, and the connecting part can be detachably connected to the positioning assembly, the position of the limiting part is opposite to the position of the rotating member, and the limiting part is adapted to the rotating member.

[0008] Furthermore, the rotating assembly is arranged on the mother disk; the telescopic assembly is transmission-connected to the driving end of the rotating assembly; and the limiting member is connected to the driving end of the telescopic assembly.

[0009] Furthermore, the telescopic assembly includes a telescopic driving member and an elastic member; the telescopic driving member has a telescopic rod; one end of the elastic member is connected to an end of the telescopic rod away from the mother disk; the other end of the elastic member is connected to the limit member.

[0010] Further, the limiting member is a clamping block; the limiting portion is a clamping slot; the clamping block extends into the clamping slot and rotates to be clamped with the clamping slot.

[0011] Furthermore, the positioning assembly includes a jaw driving member and a zero point locator jaw; the jaw driving member is arranged on the mother disc; the connecting part is a receiving sleeve, and the receiving sleeve is adapted to the zero point locator jaw.

[0012] Furthermore, the robot end quick-change device also includes a guide member; the guide member is arranged on the female disk; the surface of the male disk is provided with a guide hole, and the position of the guide hole is opposite to the position of the guide member.

[0013] Furthermore, there are a plurality of guide members and a plurality of guide holes; the plurality of guide members are arranged at intervals on the female disk; and the plurality of guide holes and the plurality of guide members are arranged on the male disk in a one-to-one correspondence.

[0014] Furthermore, the robot end quick-change device also includes an in-place detection component; the in-place detection component is arranged on the female disk and / or the male disk; the in-place detection component is used to detect the docking state between the female disk and the male disk.

[0015] Furthermore, the robot end quick-change device also includes a module switching mechanism; the module switching mechanism includes a mother disk module arranged on the mother disk and a male disk module arranged on the male disk; the mother disk module and the male disk module are arranged relatively to each other and can be plugged in.

[0016] Furthermore, there are multiple quick-change mechanisms, connecting parts, limiting mechanisms and limiting parts; multiple quick-change mechanisms are evenly and spaced apart on the mother disk, multiple limiting parts are all provided on the male disk and correspond one-to-one to the multiple quick-change mechanisms; multiple limiting mechanisms are spaced apart on the mother disk, multiple limiting parts are all provided on the male disk and correspond one-to-one to the multiple limiting mechanisms.

[0017] Beneficial effects: A robot end quick-change device provided by the present invention comprises a mother disk, a quick-change mechanism, a limiting mechanism and a male disk; the mother disk is used to connect the end effector; the quick-change mechanism is arranged on the mother disk, the quick-change mechanism comprises a positioning assembly, the positioning assembly is perpendicular to the mother disk and extends outward from the mother disk, and the end of the positioning assembly away from the mother disk is a connecting end; the limiting mechanism is arranged on a side of the mother disk where the quick-change mechanism is arranged, the limiting mechanism comprises a telescopic assembly, a rotating assembly and a limiting member, the telescopic assembly and the rotating assembly are both transmission-connected with the limiting member, and the limiting member can approach or move away from the mother disk and rotate; the male disk is used to connect the robot arm, and a connecting part and a limiting part are provided on the male disk, the position of the connecting part is opposite to the position of the positioning assembly, and the connecting part can be detachably connected to the positioning assembly, the position of the limiting part is opposite to the position of the rotating member, and the limiting part is adapted to the rotating member.

[0018] Specifically, during docking, the mother disk is first installed on the connecting end of the robot arm, and the male disk is installed on the end effector. The posture of the robot arm is adjusted so that the position of the connecting end on the mother disk is relative to the position of the connecting part, and the position of the limiting member is relative to the position of the limiting part. Then, the mother disk and the male disk are docked, the connecting end is inserted into the connecting part and connected with the connecting part, the limiting member is driven to extend into the limiting part and rotate to connect with the limiting part, thereby realizing rapid docking of the mother disk and the male disk. When the end effector is replaced, the connecting member is driven to disengage the connecting member. The connecting part, at this time, the limit member remains connected to the limit member, driving the limit member to reset and rotate, so that the limit member is separated from the limit member, thereby realizing the separation of the female disk and the male disk. The quick-change mechanism can realize the rapid connection and separation of the female disk and the male disk, thereby improving efficiency. Moreover, during use, the limit member is continuously connected to the limit member, which can avoid the phenomenon that the connection end is separated from the connection part due to misoperation and the end effector falls, thereby realizing the function of preventing accidental falling of the quick-change device and avoiding harm and damage to personnel, equipment and products. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 A schematic diagram of the axial structure of the robot end quick change device provided in this embodiment from an upper perspective; Figure 2 A schematic diagram of the axial structure of the robot end quick change device provided in this embodiment from a bottom perspective; Figure 3 This is a schematic cross-sectional structure diagram of the limiting mechanism in the robot end quick change device provided in this embodiment.

[0021] icon: 100-mother disk; 110-connecting part; 120-limiting part; 130-guide hole; 200-quick change mechanism; 300-limiting mechanism; 310-telescopic assembly; 311-telescopic rod; 312-elastic member; 320-rotating assembly; 330-limiting member; 400-male disk; 500-guide member; 600-in-place detection member. DETAILED DESCRIPTION

[0022] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] The present invention is further described in detail below through specific embodiments in conjunction with the accompanying drawings.

[0024] See also Figures 1 to 3 The robot end quick change device provided in this embodiment includes a mother plate 100, a quick change mechanism 200, a limit mechanism 300 and a male plate 400. The mother plate 100 is used to connect the end effector.

[0025] The quick-change mechanism 200 is arranged on the mother disk 100, and the quick-change mechanism 200 includes a positioning assembly, which is perpendicular to the mother disk 100 and extends outward from the mother disk 100, and the end of the positioning assembly away from the mother disk 100 is a connection end. The limiting mechanism 300 is arranged on the side of the mother disk 100 where the quick-change mechanism 200 is arranged, and the limiting mechanism 300 includes a telescopic assembly 310, a rotating assembly 320 and a limiting member 330, and the telescopic assembly 310 and the rotating assembly 320 are both connected to the limiting member 330 in a transmission manner, and the limiting member 330 can approach or move away from the mother disk 100 and rotate. The male disk 400 is used to connect the mechanical arm, and the male disk 400 is provided with a connecting portion 110 and a limiting portion 120, the position of the connecting portion 110 is opposite to the position of the positioning assembly, and the connecting portion 110 can be detachably connected to the positioning assembly, the position of the limiting portion 120 is opposite to the position of the rotating member, and the limiting portion 120 is adapted to the rotating member.

[0026] Specifically, when the robot end quick change device provided in this embodiment realizes the docking of the female disk 100 and the male disk 400, the female disk 100 is first installed on the connection end of the robot arm, the male disk 400 is installed on the end effector, and the posture of the robot arm is adjusted so that the position of the connection end on the female disk 100 is relative to the position of the connection part 110, and the position of the limiter 330 is relative to the position of the limiter 120. Then, the female disk 100 and the male disk 400 are docked, the connection end is inserted into the connection part 110 and connected with the connection part 110, and the limiter 330 is driven to extend into the limiter 120 and rotate to connect with the limiter 120, thereby realizing the rapid docking of the female disk 100 and the male disk 400.

[0027] When the end effector is replaced, the connecting member is driven to disengage the connecting member from the connecting portion 110. At this time, the limiting member 330 remains connected to the limiting portion 120, and the limiting member 330 is driven to reset and rotate, so that the limiting member 330 is disengaged from the limiting portion 120, thereby realizing the separation of the mother disk 100 and the male disk 400. The quick-change mechanism 200 can realize the rapid connection and separation of the mother disk 100 and the male disk 400, thereby improving efficiency.

[0028] Furthermore, during use of the robot end quick-connect device provided in this embodiment, the limit member 330 is continuously connected to the limit portion 120, which can prevent the connection end from being separated from the connection portion 110 due to misoperation, causing the end effector to fall, thereby realizing the quick-change device's function of preventing accidental falls and avoiding injuries and damage to personnel, equipment, and products.

[0029] In this embodiment, the rotating assembly 320 is disposed on the mother disk 100. The telescopic assembly 310 is in driving connection with the driving end of the rotating assembly 320. The stopper 330 is connected with the driving end of the telescopic assembly 310.

[0030] Specifically, the rotating assembly 320 in this embodiment includes a rotating cylinder, which is installed on the mother disk 100. The rotating part of the rotating cylinder is connected to the telescopic assembly 310, which can drive the telescopic assembly 310 to rotate together, so that the limit member 330 rotates together.

[0031] Furthermore, the position-limiting member 330 is connected to the telescopic end of the telescopic assembly 310 , thereby realizing the movement of the position-limiting member 330 . When the telescopic assembly 310 performs telescopic movement, it can drive the position-limiting member 330 to perform a linear movement toward or away from the mother disk 100 .

[0032] In this embodiment, the telescopic assembly 310 includes a telescopic driving member and an elastic member 312. The telescopic driving member has a telescopic rod 311. One end of the elastic member 312 is connected to an end of the telescopic rod 311 away from the mother disk 100. The other end of the elastic member 312 is connected to the stopper 330.

[0033] The telescopic rod 311 in this embodiment is a pneumatic connecting rod, and the telescopic driving member is a pneumatic driving member. When driving, the pneumatic driving member pressurizes the pneumatic connecting rod to extend the pneumatic connecting rod. Similarly, when retracting the pneumatic connecting rod, the pneumatic driving member can extract gas to reduce pressure to achieve retraction of the pneumatic connecting rod.

[0034] Furthermore, the elastic member 312 in this embodiment is disposed at the tail end of the pneumatic connecting rod, and the other end of the elastic member 312 is connected to the stopper 330. When the stopper 330 moves to contact the stopper 120 on the male disk 400 or the stopper 330 is reset to the initial position, the elastic member 312 can be deformed to reduce the instantaneous pressure impact on the stopper 330. Specifically, in this embodiment, the elastic member 312 is a compression spring.

[0035] In this embodiment, the limiting member 330 is a clamping block, and the limiting portion 120 is a clamping slot. The clamping block extends into the clamping slot and rotates to be clamped with the clamping slot.

[0036] Specifically, the clamping block in this embodiment is a flat key, and accordingly, the notch shape of the clamping slot is the same as the outline of the flat key, and the space in the clamping slot is sufficient to accommodate the flat key and allow the flat key to rotate in the slot.

[0037] After the position adjustment of the mother disk 100 and the male disk 400 is completed, the mother disk 100 and the male disk 400 are docked. After the mother disk 100 and the male disk 400 are docked and connected through the positioning assembly, the pneumatic drive member drives the pneumatic connecting rod to extend outward, so that the flat head key moves toward the slot and extends into the slot, and then the rotating cylinder drives the telescopic assembly 310 and the flat head key to rotate, so that the flat head key rotates in the slot, and the flat head key is connected with the slot.

[0038] After the flat-head key and the card slot are snap-connected, the connection stability between the mother disk 100 and the male disk 400 can be further improved. Even if a staff member makes an error in operation and causes the positioning assembly to open and lose connection with the male disk 400, the limit mechanism 300 can still ensure that the relative positions of the mother disk 100 and the male disk 400 remain unchanged, thereby preventing the male disk 400 and the end effector from falling.

[0039] When confirming the removal of the male disk 400 and the end effector, it is necessary to drive the positioning assembly to operate to loosen the connection between the mother disk 100 and the male disk 400, and then control the rotary cylinder to perform a reset rotation to rotate the flat head key and disengage from the card slot, thereby realizing the separation of the mother disk 100 and the male disk 400, so that the mother disk 100 can be connected to other male disks 400 according to different processing procedures.

[0040] In this embodiment, the positioning assembly includes a clamping jaw driving member and a zero point positioner clamping jaw. The clamping jaw driving member is arranged on the mother plate 100. The connecting portion 110 is a receiving sleeve, and the receiving sleeve is adapted to the zero point positioner clamping jaw.

[0041] Specifically, a steel ball receiving groove is provided in the receiving sleeve in the present embodiment, and the steel ball receiving groove can be engaged with the steel ball in the zero point locator jaw. The working principle of the zero point locator jaw is based on a normally locked mechanism. The zero point locator jaw in the present embodiment uses air pressure to compress the piston spring, and the steel balls spread to both sides and are embedded in the steel ball receiving groove, thereby achieving engagement with the steel ball receiving groove. Moreover, after the air is cut off and the pressure is released, the spring returns to its original state, and the steel balls retract and detach from the steel ball receiving groove, so that the mother disk 100 is separated from the male disk 400. Under this structure, the positioning between the mother disk 100 and the male disk 400 is accurate and easy to replace.

[0042] In this embodiment, the robot end quick change device further includes a guide member 500. The guide member 500 is disposed on the female disk 100. A guide hole 130 is disposed on the surface of the male disk 400, and the position of the guide hole 130 is opposite to the position of the guide member 500.

[0043] Among them, the guide member 500 in this embodiment is a guide pin, and a guide sleeve is provided in the guide hole 130. The guide pin is matched with the guide sleeve. Before the mother disk 100 and the male disk 400 are docked, the positions of the mother disk 100 and the male disk 400 are adjusted so that the positions of the mother disk 100 and the male disk 400 are opposite, and the positions of the guide member 500 and the guide pin are opposite, so as to realize the positioning of the mother disk 100 and the male disk 400.

[0044] When the female disk 100 and the male disk 400 are docked, the female disk 100 and the male disk 400 are close to each other, the guide pin and the guide sleeve are close to each other, and the guide pin is gradually inserted into the guide sleeve to ensure the accurate movement direction and avoid deviation during docking.

[0045] In this embodiment, there are multiple guide members 500 and multiple guide holes 130. The multiple guide members 500 are arranged at intervals on the mother disk 100. The multiple guide holes 130 and the multiple guide members 500 are arranged on the male disk 400 in a one-to-one correspondence.

[0046] Specifically, there are two guide members 500 and two guide holes 130 in this embodiment. After the two guide members 500 are arranged at an interval, two-point positioning can be achieved during positioning, thereby improving the accuracy of positioning and ensuring the positioning precision.

[0047] In this embodiment, the robot end quick change device further includes an in-place detection member 600. The in-place detection member 600 is disposed on the female disk 100. The in-place detection member 600 is used to detect the docking state between the female disk 100 and the male disk 400.

[0048] The in-place detection member 600 in this embodiment is specifically connected to an in-place signal switch, which can detect the docking state of the mother disk 100 and the male disk 400, thereby ensuring that the mother disk 100 and the male disk 400 can be docked accurately.

[0049] As an implementable method, the connection in place signal switch can also be set on the male disk 400, or multiple switches can be set and respectively set on the female disk 100 and the male disk 400, which can also realize the detection of the connection status of the female disk 100 and the male disk 400.

[0050] In this embodiment, the robot end quick change device further includes a module switching mechanism. The module switching mechanism includes a mother disk 100 module arranged on the mother disk 100 and a male disk 400 module arranged on the male disk 400. The mother disk 100 module and the male disk 400 module are arranged relative to each other and can be plugged in.

[0051] Specifically, the mother disk 100 module in this embodiment includes a power module male end, a network male end and a gas source module male end, and correspondingly, the male disk 400 module includes a power module female end, a network female end and a gas source module female end. When docking, the mother disk 100 module is plugged into the male disk 400 module to achieve the connection of the power module, the network module and the gas source module.

[0052] In addition, it should be noted that the connection-in-place signal switch in this embodiment is arranged on the mother disk 100 and is electrically connected to the mother disk 100 module. The connection-in-place signal switch detects the connection status between the mother disk 100 module and the male disk 400 module by detecting the connection status between the mother disk 100 module and the male disk 400 module.

[0053] In this embodiment, there are multiple quick-change mechanisms 200, connecting parts 110, limiting mechanisms 300 and limiting parts 120. Multiple quick-change mechanisms 200 are evenly and spaced apart on the mother disk 100, and multiple limiting parts 120 are all provided on the male disk 400 and correspond one-to-one with the multiple quick-change mechanisms 200. Multiple limiting mechanisms 300 are spaced apart on the mother disk 100, and multiple limiting parts 120 are all provided on the male disk 400 and correspond one-to-one with the multiple limiting mechanisms 300.

[0054] Specifically, the quick-change mechanisms 200 and the connecting parts 110 in this embodiment are five, and the five quick-connect mechanisms are evenly and spacedly arranged on the mother disk 100 along the circumference of the mother disk 100. Correspondingly, the five connecting parts 110 are arranged on the male disk 400 along the circumference of the male disk 400 corresponding to the quick-connect mechanisms, thereby realizing multi-point connection between the mother disk 100 and the male disk 400.

[0055] In addition, there are three limiting mechanisms 300 and three limiting parts 120 in this embodiment. The three limiting mechanisms 300 are arranged at intervals on the mother disk 100, and the three limiting mechanisms 300 form a triangle. The three limiting parts 120 and the three limiting mechanisms 300 are positioned opposite to each other and are arranged on the male disk 400. After the limiting parts 120 are connected to the limiting mechanisms 300, a triangular connection structure is formed, and the stability of the connection structure is relatively excellent.

[0056] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A robot end quick change device, characterized in that: It comprises a female disk (100), a quick-change mechanism (200), a limit mechanism (300) and a male disk (400); The master disc (100) is used to connect to the end effector; The quick-change mechanism (200) is arranged on the master disk (100), and the quick-change mechanism (200) comprises a positioning component, the positioning component is perpendicular to the master disk (100) and extends outward from the master disk (100), and an end of the positioning component away from the master disk (100) is a connection end; The limiting mechanism (300) is arranged on a side of the mother disk (100) where the quick-change mechanism (200) is arranged, and the limiting mechanism (300) comprises a telescopic assembly (310), a rotating assembly (320) and a limiting member (330), the telescopic assembly (310) and the rotating assembly (320) are both transmission-connected to the limiting member (330), and the limiting member (330) can approach or move away from the mother disk (100) and rotate; The male disk (400) is used to connect the robot arm. The male disk (400) is provided with a connecting portion (110) and a limiting portion (120). The position of the connecting portion (110) is opposite to the position of the positioning assembly, and the connecting portion (110) can be detachably connected to the positioning assembly. The position of the limiting portion (120) is opposite to the position of the rotating member, and the limiting portion (120) is adapted to the rotating member.

2. The robot end quick change device according to claim 1, characterized in that: The rotating assembly (320) is disposed on the master disc (100); The telescopic assembly (310) is in transmission connection with the driving end of the rotating assembly (320); The limiting member (330) is connected to the driving end of the telescopic assembly (310).

3. The robot end quick change device according to claim 2, characterized in that: The telescopic assembly (310) comprises a telescopic driving member and an elastic member (312); The telescopic driving member comprises a telescopic rod (311); One end of the elastic member (312) is connected to an end of the telescopic rod (311) away from the mother plate (100); The other end of the elastic member (312) is connected to the limiting member (330).

4. The robot end quick change device according to claim 3, characterized in that: The limiting member (330) is a clamping block; The limiting portion (120) is a card slot; The clamping block extends into the clamping slot and rotates to be clamped with the clamping slot.

5. The robot end quick change device according to claim 1, characterized in that: The positioning assembly includes a clamping jaw driving member and a zero point positioner clamping jaw; The clamping jaw driving member is arranged on the master disc (100); The connecting portion (110) is a receiving sleeve, and the receiving sleeve is matched with the zero point locator clamping jaw.

6. The robot end quick change device according to claim 1, characterized in that: The robot end quick-change device also includes a guide member (500); The guide member (500) is arranged on the master disc (100); A guide hole (130) is provided on the surface of the male disk (400), and the position of the guide hole (130) is opposite to the position of the guide member (500).

7. The robot end quick change device according to claim 6, characterized in that: There are a plurality of the guide members (500) and a plurality of the guide holes (130); A plurality of guide members (500) are arranged at intervals on the master disc (100); The plurality of guide holes (130) and the plurality of guide members (500) are arranged on the public disk (400) in a one-to-one correspondence.

8. The robot end quick change device according to claim 1, characterized in that: The robot end quick-change device also includes an in-place detection component (600); The in-place detection member (600) is arranged on the female disk (100) and / or the male disk (400); The in-place detection member (600) is used to detect the docking state between the female disk (100) and the male disk (400).

9. The robot end quick change device according to claim 1, characterized in that: The robot end quick change device also includes a module switching mechanism; The module switching mechanism comprises a mother disk (100) module arranged on the mother disk (100) and a male disk (400) module arranged on the male disk (400); The mother disk (100) module and the male disk (400) module are arranged relative to each other and can be plugged in.

10. The robot end quick change device according to any one of claims 1 to 9, characterized in that: There are a plurality of the quick-change mechanism (200), the connecting portion (110), the limiting mechanism (300) and the limiting portion (120); The plurality of quick-change mechanisms (200) are evenly and spaced apart on the female disk (100), and the plurality of limit portions (120) are all disposed on the male disk (400) and correspond one-to-one to the plurality of quick-change mechanisms (200); The plurality of limiting mechanisms (300) are arranged at intervals on the mother disk (100), and the plurality of limiting portions (120) are all arranged on the male disk (400) and correspond one-to-one to the plurality of limiting mechanisms (300).

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