Automatic quick-change device for end tool of passive robot

Abstract

The invention provides an automatic quick-change device for a passive robot end tool in the technical field of robots, which comprises a robot side assembly provided with a V-shaped flanging table and a locking hole; the tool side assembly is provided with a V-shaped sliding groove matched with the V-shaped flanging table, a sliding block locking pin, a tool side spring and a sliding groove button. The quick-change support assembly is provided with a support arm and a boss. When the mechanical arm needs a certain tool, the mechanical arm moves to be in butt joint with the tool side assembly, at the moment, the V-shaped flanging table slides into and is wedged in the V-shaped sliding groove, a boss of the quick-change support assembly is far away from the tool side assembly, and a tool side spring gradually releases elastic potential energy to push a sliding groove button to move towards the outside of the tool side assembly; and the inclined surface of the cavity of the sliding groove button pushes the stop pin to move upwards to be locked into the locking hole, so that the robot side assembly and the tool side assembly are locked to realize connection, and otherwise, unlocking is realized. The device is simple in structure, lower in cost and capable of effectively reducing the failure rate of equipment.

Description

Technical Field

[0001] The present invention relates to the field of robot technology and automation equipment, and in particular to an automatic quick-changing device for a passive robot end tool. Background Art

[0002] With the rapid development of science and technology, robotics has been widely used in various fields such as industry, commerce, and home. Therefore, in order to adapt to the practical application of robots in various occasions, the automatic replacement technology of robot end tools is an extremely important research direction. This technology enables the robot to quickly replace different end tools without interrupting work to adapt to different work requirements, thereby improving work efficiency and work quality. At the same time, in order to improve production efficiency and reduce production costs, there is also a great demand for this technology in the fields of automation equipment and mechanical engineering.

[0003] At present, some robot end tool automatic quick changers already on the market usually require pneumatic, electric or other power sources to drive the quick changer to unlock and lock in order to change tools. For example, a common robot automatic quick changer drives a cone through a cylinder, and uses the cone to control the movement of a steel ball to achieve the unlocking and locking operation of the tool end, thereby achieving the replacement of different end tools.

[0004] However, there are some problems with existing robot end-use automatic quick-change devices. First, these devices require the use of pneumatic, electric and other power sources, which not only increases the complexity and cost of the equipment, but also increases the failure rate of the equipment. Secondly, these devices are large in size and weight, which not only increases the load of the robot, but also limits the robot's range of motion and speed. In addition, the locking and unlocking actions of these devices require precise control, which increases the complexity of the control system. Summary of the invention

[0005] The present invention provides a low-cost and simpler-to-operate automatic quick-change device at the end of a common robot. It adopts a passive design and does not require a pneumatic or electric power source to drive the quick-change device to unlock and lock the tool to replace the tool. Instead, the kinetic energy of the robot arm movement is used to unlock the quick-change device from the tool, and the potential energy stored in the spring is released to lock the quick-change device after assembling a new tool. The passive design and lightweight and compact device structure adopted by the present invention make it cost-effective in both robot manufacturing and daily maintenance.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] A passive robot end tool automatic quick-change device comprises: a robot side component, a tool side component and a quick-change bracket component.

[0008] The robot side component includes: a robotic arm connector, one side of which is provided with a flange, which is fixedly connected to the robotic arm of the robot by screws, and the other side is provided with a V-shaped flanging table, and the wider end of the V-shaped flanging table is provided with a locking hole for locking and unlocking the quick-change device.

[0009] The tool side component is connected to the robot end tool, including: a tool connecting part, whose platform surface is provided with a V-shaped groove adapted to the V-shaped flanging table of the robot side component, and the platform surface of the tool connecting part is provided with a pin hole corresponding to the position of the locking hole of the robot side component. When the robot side component and the tool side component are fully wedged and connected, the position of the pin hole coincides with the locking hole; a slider locking pin can move up and down along the axial direction of the tool side component and pass through the pin hole and locking hole adapted thereto.

[0010] The quick-change bracket assembly includes: a bracket cover; a bracket arm, which is connected to the bracket cover through a bearing in the middle and can be opened and closed with a small rotation around the bearing within a limited range. The bracket arm is a symmetrical arc-shaped gripper that is compatible with the tool side assembly; and a bracket spring connected to the end of the bracket arm.

[0011] Furthermore, the tool side component also includes a slide groove button, which is horizontally arranged inside the tool side component, one end of which is flush with the outer cylindrical surface of the tool side component, and a sloped cavity connected to the pin hole is arranged inside the slide groove button, and the slider locking pin is located in the cavity.

[0012] Furthermore, the tool side component is also provided with a tool side spring horizontally connected to the slide slot button, and the slider locking pin realizes its up and down movement along the axial direction of the tool side component through the compression release of the tool side spring and the horizontal movement of the slide slot button. Specifically: when external force pushes the slide slot button to move toward the inside of the tool side component, the slider locking pin moves downward along the axial direction of the tool side component under the push of the cavity inclined surface of the slide slot button, and stops when the bottom surface of the slider locking pin contacts the slide slot button. At this time, the slider locking pin withdraws from the locking hole of the robot side component, the tool side spring is in a compressed state, storing elastic potential energy, and the quick change device is in an unlocked state; when the external force pushing the slide slot button is removed, the tool side spring releases the elastic potential energy, extends outward, and pushes the slide slot button to move toward the outside of the tool side component, so that the cavity inclined surface of the slide slot button pushes the slider locking pin to move upward along the axial direction of the tool side component until the slider locking pin is inserted into the locking hole of the robot side component. At this time, the quick change device is in a locked state, and the robot side component and the tool side component are locked together to achieve connection.

[0013] Furthermore, the quick-change bracket assembly also includes a boss, which is fixedly arranged on the bracket cover plate. When the tool side assembly moves to the quick-change bracket assembly, the boss plays a role in pressing the slide button toward the inside of the tool side assembly. Since the boss is a fixed feature, the external force for pressing the slide button comes from the bracket spring connected to the bracket arm. In order for the boss to smoothly push the slide button, the elastic coefficient of the bracket spring must be greater than the elastic coefficient of the tool side spring. Preferably, the elastic coefficient of the bracket spring is more than twice that of the tool side spring of the tool side assembly, so that the bracket arm can firmly grasp the tool side assembly and use the boss to push the slide button into the tool side assembly.

[0014] According to some embodiments of the present invention, the robot side component further comprises a micro switch, the button of which is located at the locking hole, for monitoring whether the quick change device is successfully docked. The feedback mechanism structure is very compact and can quickly and sensitively detect whether the quick change device is successfully docked and locked.

[0015] According to some embodiments of the present invention, the robot side component also includes a pogopin female electrical connector, and the tool side component is also provided with a pogopin male electrical connector compatible with the pogopin female electrical connector.

[0016] According to some embodiments of the present invention, the robot side component and the tool side component are provided with a hollow structure, and the connecting cables of the electrical connector pogopin male head and the electrical connector pogopin female head are arranged and connected internally.

[0017] According to some embodiments of the present invention, two gripping grooves are provided on opposite sides of the tool connecting member of the tool side assembly, which are adapted to the bracket arm of the quick-change bracket assembly.

[0018] According to some embodiments of the present invention, the quick-change bracket assembly may also be provided with a QR code corresponding to the robot's end tool that can be recognized by the robot itself. The robot's visual sensor detects the QR code to determine the relative position and relative posture of the robotic arm and the quick-change bracket assembly, so that the robotic arm can accurately find and assemble the new tool, thereby achieving accurate tool replacement.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] (1) The V-shaped chute and the V-shaped flanging table slide in and are connected by wedging, so as to preliminarily fix the position of the robot arm and the robot end tool. This process does not require a very precise control system. The V-shaped flanging table can be connected by sliding smoothly along the V-shaped chute track. In addition, the V-shaped chute structure can be directly processed by CNC T-shaped cutter milling, which has the advantage of lower cost.

[0021] (2) The internal configuration of the slide button, i.e., its length and position do not exceed the outer surface of the present invention, thereby preventing the slide button from colliding with the external environment during the operation of the robot, causing the quick-change device to be mislocked and causing the robot's end tool to fall off.

[0022] (3) The horizontal arrangement of the tool side spring and the slide slot button shortens the axial length of the quick-change device, greatly improving the motion performance and load capacity of the robot arm.

[0023] (4) The hollow structure of the robot-side component and the tool-side component greatly improves the life of the motion cable, avoids interference between the cable and the external environment and affects the robot's execution of operations, and improves the robot's aesthetics.

[0024] In summary, the passive robot end tool automatic quick-changing device of the present invention does not require pneumatic, electric or other power sources to drive it, which greatly simplifies the device structure, reduces the complexity and cost of the device, and also reduces the failure rate of the equipment and improves the reliability of the equipment. Secondly, the automatic quick-changing device of the present invention is lighter in weight and smaller in size, which can greatly reduce the load of the robot, increase the range of motion and speed of the robot, and thus improve the work efficiency of the robot. In addition, the locking and unlocking actions of the automatic quick-changing device of the present invention are simple, which reduces the complexity of the control system and makes the equipment easier to operate and maintain. Therefore, the present invention has a broad market demand, especially in scenarios where end tools need to be replaced frequently, such as electronic assembly, mechanical processing, household applications and other industries, and has huge application potential.

[0025] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0026] Figure 1 This is a structural diagram of a passive robot end tool of the present invention;

[0027] Figure 2 It is a structural diagram of the robot side components of the present invention;

[0028] Figure 3 is a cross-sectional view of a robot side component of the present invention;

[0029] Figure 4 It is a structural diagram of the tool side assembly of the present invention;

[0030] Figure 5 is a cross-sectional view of a tool side component of the present invention;

[0031] Figure 6 is a cross-sectional view of a quick-change bracket assembly of the present invention;

[0032] Figure 7 It is a structural diagram of the automatic quick-change device of the present invention;

[0033] Figure 8 It is a cross-sectional view of the automatic quick-change device of the present invention.

[0034] The above drawings include the following reference numerals:

[0035] 1. Robot side assembly; 1-1. Robot arm connector; 1-2. Micro switch; 1-3. Electrical connector pogopin female socket; 1-4. V-shaped flanging table; 1-5. Locking hole; 2. Tool side assembly; 2-1. Tool connector; 2-2. Slide button; 2-3. Slider locking pin; 2-4. Tool side spring; 2-5. Electrical connector pogopin male head; 2-6. V-shaped slide; 2-7. Pin hole; 3. Quick-change bracket assembly; 3-1. Bracket cover; 3-2. Bracket arm; 3-3. Bracket spring; 3-4 Boss.

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments, and the embodiments in this application and the features in the embodiments can be combined with each other without conflict. 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.

[0037] It should be noted that, unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by a person of ordinary skill in the art to which this application belongs. The terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the exemplary embodiments according to this application. The terms "disposed", "connected" and "connected" used in this specification and claims should be understood in a broad sense, for example, they can be fixedly connected, detachably connected, or integrally connected; they can be directly connected, or indirectly connected through an intermediate medium, or they can be internally connected between two elements. When the terms "comprising" and / or "including" are used in this specification and claims, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof. The present invention relates to orientation descriptions, such as the orientation or positional relationship indicated by up, down, front, back, left, right, horizontal, vertical, etc., which is based on the orientation or positional relationship shown in the drawings, is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or described herein.

[0038] As attached Figure 1 To Attachment Figure 8 As shown, a passive robot end tool automatic quick-changing device includes: a robot side component, a tool side component and a quick-changing bracket component.

[0039] like Figure 2 , Figure 3 As shown, the robot side component 1 includes: a robot arm connector 1-1, one side of which is provided with a flange, which is fixedly connected to the robot's robot arm by screws, and the other side is provided with a V-shaped flanging table 1-4, and the wider end of the V-shaped flanging table is provided with a locking hole 1-5 for locking and unlocking the quick-change device.

[0040] like Figure 3 , Figure 4 , Figure 5 As shown, the tool side component 2 is connected to the robot end tool, including: a tool connector 2-1, whose platform surface is provided with a V-shaped groove 2-6 adapted to the V-shaped flanging table 1-4 of the robot side component 1, the V-shaped flanging table 1-4 can be completely slid into and wedged in the V-shaped groove 2-6, thereby connecting the robot arm to the robot end tool, and the platform surface of the tool connector 2-1 is provided with a pin hole 2-7, which corresponds to the position of the locking hole 1-5 of the robot side component 1. When the robot When the robot side component 1 and the tool side component 2 are fully wedged and connected, the pin hole 2-7 coincides with the locking hole 1-5; the slider locking pin 2-3 can move up and down along the axial direction of the tool side component and pass through the pin hole 2-7 and locking hole 1-5 adapted thereto. When the slider locking pin 2-3 passes through the pin hole 2-7 and is inserted into the locking hole 1-5, the quick change device is in a locked state; when the slider locking pin 2-3 exits the locking hole 1-5, the quick change device is in an unlocked state.

[0041] like Figure 6 As shown, the quick-change bracket assembly 3 includes: a bracket cover 3-1; a bracket arm 3-2, which is connected to the bracket cover 3-1 through a bearing in the middle and can be opened and closed with a small rotation around the bearing within a limited range, and the bracket arm 3-2 is a symmetrical arc-shaped gripper adapted to the tool side assembly 2, for gripping and fixing the tool side assembly 2; a bracket spring 3-3, connected to the end of the bracket arm, and the bracket spring 3-3 allows the tool side assembly 2 to be clamped by the bracket arm 3-2 and maintained in a tightly gripped state.

[0042] In some embodiments of the present invention, the tool side component 2 also includes a slide groove button 2-2, which is horizontally arranged inside the tool side component 2, one end of which is flush with the outer cylindrical surface of the tool side component 2, and a sloped cavity connected to the pin hole 2-7 is arranged inside the slide groove button 2-2, and the slider locking pin 2-3 is located in the cavity of the slide groove button 2-2.

[0043] In some embodiments of the present invention, the tool side component 2 is also provided with a tool side spring 2-4 horizontally connected to the slide groove button 2-2. The slider locking pin 2-3 realizes its up and down movement along the axial direction of the tool side component 2 through the compression release of the tool side spring and the horizontal movement of the slide groove button. Specifically, when an external force pushes the slide groove button 2-2 to move inside the tool side component 2, the slider locking pin 2-3 moves downward along the axial direction of the tool side component 2 under the push of the cavity inclined surface of the slide groove button 2-2 until its bottom surface contacts the slide groove button 2-2 and stops. At this time, the slider locking pin 2-3 withdraws from the locking hole 1-5 of the robot side component 2, and the tool side spring 2 -4 is in a compressed state, storing elastic potential energy, and the quick-change device is in an unlocked state, so that the V-shaped flanging table 1-4 of the robot side component 1 can smoothly slide out of the V-shaped slide groove 2-6 of the tool side component 2; when the external force pushing the slide groove button 2-2 is removed, the tool side spring 2-4 releases the elastic potential energy, extends outward and pushes the slide groove button 2-2 to move outside the tool side component 2, so that the cavity slope of the slide groove button 2-2 pushes the slider locking pin 2-3 to move upward along the axial direction of the tool side component 2 until the slider locking pin is inserted into the locking hole 2-6 of the robot side component 2. At this time, the quick-change device is in a locked state, and the robot side component 1 and the tool side component 2 are locked together to achieve connection.

[0044] In some embodiments of the present invention, the quick-change bracket assembly 3 further includes a boss 3-4 and a bracket spring 3-3, wherein the boss is fixedly disposed on the bracket cover 3-1, and when the tool side assembly 2 moves to the quick-change bracket assembly 3, the boss 3-3 plays the role of pressing the slide button 2-2 toward the inside of the tool side assembly 2, so that the slider locking pin 2-3 moves downward along the axis direction of the tool side assembly 2, and further enables the V-shaped flanging table 1-4 of the robot side assembly 1 to slide into or out of the V-shaped slide 2-6 of the tool side assembly 2 normally. Since the boss 3-4 is a fixed feature, the external force for pressing the slide button 2-2 comes from the bracket spring 3-3 connected to the bracket arm 3-2, and in order for the boss to smoothly push the slide button, the elastic coefficient of the bracket spring 3-3 needs to be greater than the elastic coefficient of the tool side spring. Preferably, the elastic coefficient of the bracket spring 3-3 is more than twice that of the tool side spring of the tool side component 2, so that the bracket arm 3-2 can firmly clamp the tool side component 2 and use the boss to push the slide button into the tool side component 2.

[0045] In some embodiments of the present invention, the robot side component 1 also includes a micro switch 1-2, whose button is located at the locking hole 1-5, for monitoring whether the quick-change device is successfully docked. The feedback mechanism structure is very compact and can quickly and sensitively detect whether the quick-change device is successfully docked and locked.

[0046] In some embodiments of the present invention, according to some embodiments of the present invention, the robot side component 1 also includes an electrical connector pogopin female socket 1-3, and the tool side component 2 is also provided with an electrical connector pogopin male socket 2-5 adapted to the electrical connector pogopin female socket 1-3, which is used to power and communicate with the robot end tool after the quick-change device is successfully docked and locked.

[0047] In some embodiments of the present invention, the robot side component and the tool side component are provided with a hollow structure, and the connecting cables of the electrical connector pogopin male 2-5 and the electrical connector pogopin female 1-3 can be internally arranged and connected.

[0048] In some embodiments of the present invention, two grasping grooves are provided on the sides of the tool connecting part 2-1 of the tool side assembly 2, which are matched with the support arm 3-2 of the quick-change support assembly 3, so that the support arm 3-2 can grasp the tool side assembly 2 more firmly to prevent it from falling off.

[0049] According to some embodiments of the present invention, the quick-change bracket assembly 3 may also be provided with a QR code corresponding to the robot's end tool that can be recognized by the robot itself. The robot's visual sensor detects the QR code to determine the relative position and relative posture of the robotic arm and the quick-change bracket assembly 3, so that the robotic arm can accurately find and assemble new tools, thereby achieving accurate tool replacement.

[0050] like Figure 7 , Figure 8 As shown, the passive robot end tool automatic quick change device according to the present invention comprises the following steps:

[0051] 1. The quick-change bracket assembly 3 is set at a predetermined position.

[0052] 2. When the robot end tool needs to be unlocked, the robotic arm connected to the robot side component 2 drives the tool side component 2 and the robot end tool back to the vicinity of the bracket arm 3-2 of the quick-change bracket component 3. As the tool side component 2 is gradually clamped by the bracket arm 3-2, the boss 3-4 of the quick-change bracket component 3 gradually pushes the slide button 2-2 of the tool side component 2 toward the inside of the tool side component 2. The cavity slope of the slide button 2-2 causes the slider locking pin 2-3 to move downward and exit the locking hole 1-5. At this time, the tool side spring 2-4 is compressed, storing elastic potential energy, and the quick-change device is in an unlocked state. Afterwards, driven by the robotic arm, the V-shaped flanging table 1-4 of the robot side component 2 gradually slides out of the V-shaped slide 2-6 of the tool side component 2, and the robotic arm is separated from the robot end tool. At this time, the robot side component 1 of the quick change device is fixed on the robotic arm, and moves with the robotic arm and replaces other types of end tools; the tool side component 2 is fixed to the robot end tool and is fixed by the bracket arm 3-2 of the quick change bracket assembly 3.

[0053] 3. When the robot end tool needs to be locked, the tool side component 2 and the robot end tool are located at the bracket arm 3-2 of the quick-change bracket assembly. The robot arm drives the robot side component 2 to move to the upper surface of the bracket cover 3-1 of the quick-change bracket assembly 3, and continues to move toward the bracket arm 3-2. The narrower end of the V-shaped flanging table 1-4 of the robot side component contacts and slides with the platform surface of the tool connector 2-1 of the tool side component 2 until the V-shaped flanging table 1-4 completely slides in and is wedged in the V-shaped slide groove 2-6, and the electrical connector pogopin female socket 1-3 and the electrical connector pogopin male head 2-5 are electrically connected. After that, the robot arm continues to move to gradually bring the tool side component 2 and the robot end tool out of the clamping range of the bracket arm 3-2. At this time, in order to resist the force of the bracket spring 3-3 connected to the bracket arm 3-2, the robot arm needs a larger force to make the robot side component 1 drive the tool side component 2 to move outward. This step will further promote the close connection between the robot side component 1 and the tool side component 2, ensuring that the locking hole 1-5 of the robot side component 2 and the pin hole 2-7 of the tool side component 2 overlap and communicate. Then, in the process of the tool side component 2 gradually leaving the quick-change bracket assembly 3, the boss 3-4 of the quick-change bracket assembly 3 gradually moves away from the slide button 2-2 of the tool side component 2, and the tool side spring 2-4 gradually releases elastic potential energy, pushing the slide button 2-2 to move toward the outside of the tool side component 2. Further, the slide button 2-2 pushes the slider locking pin 2-3 to move upward and inserts into the locking hole 1-5 of the robot side component 2. The quick-change device is in a locked state, and the robot arm and the robot end tool are locked and connected.

[0054] This article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method and core ideas of the present invention. At the same time, for ordinary technicians in this field, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scopes. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A passive robot end tool automatic quick change device, characterized in that: include: The robot side component includes: a mechanical arm connector, one side of which is provided with a flange and fixedly connected to the mechanical arm of the robot by screws, and the other side is provided with a V-shaped flanging table, and the wider end of the V-shaped flanging table is provided with a locking hole; The tool side component is connected to the robot end tool, and includes: a tool connector, whose platform surface is provided with a V-shaped slide groove adapted to the V-shaped flanging table of the robot side component, and the platform surface of the tool connector is provided with a pin hole corresponding to the position of the locking hole of the robot side component; a slider locking pin, which can move up and down along the axis direction of the tool side component and pass through the pin hole and locking hole adapted thereto; The quick-change bracket assembly includes: a bracket cover; a bracket arm, wherein the middle of the bracket arm is connected to the bracket cover via a bearing, and the bracket arm is a symmetrical arc-shaped gripper adapted to the tool side assembly; and a bracket spring connected to the end of the bracket arm.

2. The automatic quick-change device for end tool of a passive robot according to claim 1, characterized in that: The tool side component also includes a slide groove button, which is horizontally arranged inside the tool side component, and one end is flush with the outer cylindrical surface of the tool side component. An inclined cavity connected to the pin hole is provided inside the slide groove button, and the slider locking pin is located in the cavity.

3. According to the passive robot end tool automatic quick change device according to claim 2, the tool side component is also provided with a tool side spring horizontally connected to the slide slot button.

4. The automatic quick-change device for end tool of a passive robot according to claim 1, characterized in that: The quick-change bracket assembly also includes a boss, which is fixedly arranged on the bracket cover.

5. The automatic quick-change device for end tool of a passive robot according to claim 1, characterized in that: The spring constant of the bracket spring is more than twice that of the tool side spring of the tool side assembly.

6. The automatic quick-change device for end tool of a passive robot according to claim 1, characterized in that: The robot-side component also includes a micro switch for monitoring whether the quick-change device is successfully docked, and the button of the micro switch is located at the locking hole.

7. The automatic quick-change device for end tool of a passive robot according to claim 1, characterized in that: The robot side component also includes a pogopin female electrical connector, and the tool side component is also provided with a pogopin male electrical connector that is compatible with the pogopin female electrical connector.

8. The automatic quick-change device for end tool of a passive robot according to claim 7, characterized in that: The robot side component and the tool side component are provided with a hollow structure, and the connecting cables of the electrical connector pogopin male head and the electrical connector pogopin female seat are arranged and connected internally.

9. The automatic quick-change device for end tool of a passive robot according to claim 1, characterized in that: The tool connecting piece of the tool side assembly is provided with two gripping grooves opposite to each other on the sides thereof, and is matched with the bracket arm of the quick-change bracket assembly.

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