Quick-change collaborative robot tail end clamp used in spacecraft cabin

Abstract

The invention relates to a quick-change collaborative robot tail end clamp used in a spacecraft cabin. The tail end of a mechanical arm of a collaborative robot is sequentially connected with an auxiliary handle and an electric quick-change device through a flange connecting disc; one side of a main disc of the electric quick changer is fixedly connected to a flange connecting disc, the other side of the main disc is detachably connected with one side of an auxiliary disc in a matched mode, and the other side of the auxiliary disc is sequentially installed on integrated control equipment with the shape matched with a spacecraft cabin through an extending piece and a base assembly. The manual control button enables the main disc and the auxiliary disc to be coupled and locked, the electric quick changer, the extension piece and the base assembly are connected with the integrated control equipment into a whole, the collaborative robot mechanical arm drives the integrated control equipment to be assembled into a spacecraft cabin, and assembling of the integrated control equipment in a limited space is achieved. The tail end clamp is compact in overall structure and reasonable in design, the flange connecting disc makes use of space as much as possible, it is guaranteed that the electric quick changer is installed reliably, and the actual requirement for in-cabin assembly of aerospace products is met.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and particularly to a fixture for use inside a spacecraft cabin. Background Art

[0002] With the rapid development of space technology, the design and manufacture of spacecraft have become increasingly complex. The assembly work of components inside the spacecraft cabin not only requires high precision but also needs to maintain reliability and stability in extreme environments. Traditional assembly methods often rely on manual operations, which are not only inefficient but also difficult to ensure consistency and repeatability, especially when dealing with precision and complex space products.

[0003] In the field of modern space manufacturing, the application of robot technology has become an important means to improve production efficiency and quality. Collaborative robots are favored because they can work safely in cooperation with human workers. These robots usually have high flexibility and adaptability and can perform precise operations in a changing working environment. However, the application of existing collaborative robots in the assembly of components inside the spacecraft cabin still faces some challenges.

[0004] In terms of the versatility of the end effector, there is a wide variety of components inside the spacecraft cabin, with different shapes and sizes. Traditional robot end effectors can often only operate on specific types of components, lacking sufficient versatility and flexibility. Additionally, during the assembly process, it may be necessary to frequently replace or adjust the end effector to meet different task requirements. Existing quick-change systems often have complex operations and long replacement times, which affect production efficiency.

[0005] Moreover, it is not suitable for scenarios where the diameter of the aircraft cabin is small, the assembly position is deep, and precise control of the assembly accuracy is required. There is an urgent need for special assembly equipment for the aircraft cabin. Summary of the Invention

[0006] The purpose of the present invention is to avoid the deficiencies of the prior art and provide a quick-change collaborative robot end fixture for use inside a spacecraft cabin that is suitable for the characteristics of a small diameter and a deep assembly position of the aircraft cabin and can assemble an integrated control device into the spacecraft cabin with strong stability and high installation accuracy.

[0007] To achieve the above purpose, the technical solution adopted by the present invention is: a quick-change collaborative robot end fixture for use inside a spacecraft cabin, including a flange connection disk. The end of the collaborative robot manipulator is sequentially connected with an auxiliary handle and an electric quick-changer through the flange connection disk; The electric quick-changer is composed of a main disk and a sub-disk. One side of the main disk is fixedly connected to the flange connection disk, and the other side of the main disk is detachably connected in an adapted manner to one side of the sub-disk. The other side of the sub-disk is sequentially installed on an integrated control device with an outer shape adapted to the spacecraft cabin through an extension member and a base assembly; The extension piece is used to increase the depth of the integrated control device when assembled into the spacecraft cabin; the base assembly is installed on the axial connection end face of the integrated control device and is used to support the entire axial integrated control device on the base assembly during assembly; The auxiliary handle is used to manually tow the main disk at the end of the collaborative robot manipulator to the secondary disk and couple it with the secondary disk in the force control mode of the collaborative robot manipulator; A button for controlling the coupling connection between the main disk and the secondary disk is provided on the auxiliary handle. Manually press the button to lock the coupling between the main disk and the secondary disk. At this time, the electric quick changer, the extension piece, and the base assembly are connected to the integrated control device as a whole. Thus, the integrated control device is assembled into the spacecraft cabin by the collaborative robot manipulator, and the assembly of the integrated control device with an assembly accuracy of ≤1mm in a limited space is realized.

[0008] Further, on the surface of the flange connection disk connected to the end of the collaborative robot manipulator, there is a central hole and a first boss arranged around the central hole. There are connection holes on the first boss. The central hole and the first boss are used to match the six-axis force sensor arranged at the end of the collaborative robot manipulator and are fixedly connected by bolts; On the connection surface of the flange connection disk and the electric quick changer, there is a groove for the main disk to be embedded and connected; there are a pair of connecting plates for connecting the auxiliary handle on both sides of the flange connection disk.

[0009] Further, there is a coupling groove for coupling with the secondary disk on the main disk. There is a positioning pin on the bottom end surface of the docking groove of the coupling groove. The circumferential groove wall of the coupling groove is an annular cavity. Holes for ejecting the balls are evenly distributed on the inner coupling surface of the annular cavity. The balls are also positioned in the annular cavity through the holes; There is also a closed cavity connected to the annular cavity on the main disk. A DC motor and a gear reducer are arranged inside the closed cavity. The gear reducer meshes with the drive ring, and the DC motor drives the drive ring to control the ejection and rebound of the balls through the gear reducer; On the end surface of the secondary disk, there is an annular protrusion for coupling connection with the main disk. The protrusion connection surface of the annular protrusion is correspondingly arranged with the bottom end surface of the docking groove of the coupling groove, and there is a pin hole for cooperating with the positioning pin on the protrusion connection surface; at the same time, a fitting hole matching the balls is circumferentially opened on the outer contour of the annular protrusion; During suction, the positioning pin is inserted into the pin hole, and the DC motor is controlled to rotate through the button. The drive ring is driven to rotate by the gear reducer. The drive ring drives the balls to eject to the fitting hole, so that the main disk and the secondary disk are sucked together; During separation, the button controls the DC motor to rotate the drive ring, and the balls rebound into the card slots on the drive ring, then the main disk and the secondary disk are separated.

[0010] Furthermore, the auxiliary handles include a pair of buttons disposed on the auxiliary handles, the buttons are connected to the control signal lines of the main disk, and the buttons are installed in a mounting shell disposed on at least one of the auxiliary handles.

[0011] Furthermore, threaded holes for threaded connection with the extension piece are respectively provided at the four corners of the sub-disk.

[0012] Furthermore, the extension piece is a hollow hexahedron consisting of a base plate and multiple side plates, a column is provided at the connection between the two side plates for enhancing the strength of the threaded connection, a threaded hole is provided on the column for connecting the sub-disk, a through hole is opened in the center of the base plate, and light holes are evenly distributed around the through hole for bolt connection with the base assembly.

[0013] Furthermore, the side panels are provided with weight-reducing holes, and the connection between adjacent side panels is a chamfered transition to reduce stress concentration. Furthermore, the base assembly includes a support plate and a support arm, the support plate is provided with a central through hole, a second boss is provided around the central through hole, and holes for bolting the extension piece are evenly distributed on the second boss; The support arms are evenly arranged around the support plate, one end of the support arm is integrally arranged with the support plate, and the other end of the support arm is provided with a barrel-shaped fastener, which is used to connect the connecting end surface of the integrated control device, and the barrel-shaped fastener is provided with a connecting hole for connecting the workpiece.

[0014] Furthermore, the barrel-shaped fastener is fixed to the support plate via an ear-shaped connector, and the length of the barrel-shaped fastener can be adjusted by adjusting the clamping position of the ear-shaped connector on the barrel-shaped fastener.

[0015] Furthermore, four support arms are evenly arranged on the circumference of the support plate, so that the support plate presents a cross shape on the plane, and the support arms are provided with weight-reducing holes and light holes for connecting with ear-shaped connectors.

[0016] The beneficial effects of the present invention are as follows: the electric quick changer is divided into a robot side and a workpiece side. The robot side can be connected to the end of the collaborative robot through a six-dimensional force sensor, and the workpiece side can be connected to the workpiece through a base assembly. The quick change part is easy to install, the electric quick changer is simple to control, and its stability and efficiency are much higher than pneumatic quick changers.

[0017] The overall structure of the end fixture is compact and the design is reasonable. The flange connection plate makes full use of the space. In order to ensure the reliable installation of the electric quick changer, the extension part adopts a hollow design while ensuring the connection strength, which reduces the overall weight of the end fixture. At the same time, the extension part ensures the assembly distance of the workpiece that can be extended into the cabin, which meets the actual needs of in-cabin assembly of aerospace products.

[0018] The design is ergonomic and is provided with an auxiliary handle for manually guiding the movement of the end workpiece. The handle is easier to control the movement trajectory of the end by grasping with both hands. And a mechanical button for controlling the suction of the electric quick changer is arranged on the auxiliary handle, which is convenient for the workpiece to withdraw from the robotic arm after reaching the position. When the operator's arm extends into the cabin as the assembly position deepens, by arranging a button on the auxiliary handle, the button is used to control the opening and closing state of the electric quick changer, protecting other precision equipment in the cabin from being damaged. At the same time, due to the narrow and complex structure of the spacecraft cabin, the traditional pneumatic quick change system is difficult to deploy because of its large volume and complex pipelines. The electric quick change disk adopts an integrated design. The main disk and the sub-disk of the electric quick change disk are blindly inserted and docked through a double-positioning pin and a ball engagement mechanism, without an external gas source, and can easily pass through the narrow area in the cabin to complete the blind area assembly task. And the suction state is accurately controlled by a servo motor and a gear reducer. In the force control mode of the collaborative robot, combined with the real-time feedback of the six-dimensional force sensor of the collaborative robot, small deviations are automatically compensated, thus ensuring the precise docking of precision components.

[0019] During the human-machine collaborative assembly process, the operation is simple and flexible, and it is flexible and fast when assembling workpieces in the spacecraft cabin body. The mechanical self-locking button is placed on one side of the auxiliary handle, and the opening and closing of the fixture can be controlled at any time with one key, which conforms to the working scenario of human-machine collaboration. Brief Description of the Drawings

[0020] Figure 1 Schematic diagram of the present invention; Figure 2 Schematic diagram of the flange connection disk structure of the present invention; Figure 3 Schematic diagram of the auxiliary handle assembly of the present invention; Figure 4 Schematic diagram of the main disk of the electric quick change component of the present invention; Figure 5 Structural diagram of the main disk of the electric quick change component of the present invention; Figure 6 Schematic diagram of the sub-disk of the electric quick change component of the present invention; Figure 7 Schematic diagram of the extension structure of the present invention; Figure 8 Schematic diagram of the base assembly of the present invention; Figure 9 Schematic diagram of the working state of the present invention.

[0021] In the figure, 1 is a flange connection plate, 11 is a first boss, 12 is a groove, 2 is an auxiliary handle, 21 is an installation shell, 22 is a button, 3 is an electric quick changer, 31 is a main disk, 32 is a sub-disk, 33 is a ball, 34 is a positioning pin, 35 is a DC motor, 36 is a gear reducer, 37 is a driving ring, 38 is a pin hole, 39 is a mating hole, 4 is an extension piece, 41 is a side plate, 42 is a bottom plate, 5 is a base assembly, 51 is a support plate, 52 is a through hole, 53 is a second boss, 54 is a barrel-shaped fastener, 55 is an ear-shaped connecting piece, 56 is a support arm, 6 is an integrated control device, 7 is a spacecraft cabin, and 8 is a collaborative robot manipulator. Detailed implementation mode

[0022] The principles and features of the present invention will be described below in conjunction with the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0023] Example 1: See Figures 1-9 , a quick-change end fixture for a collaborative robot inside a spacecraft cabin, including a flange connection plate 1. The end of the collaborative robot manipulator 8 is sequentially connected with an auxiliary handle 2 and an electric quick changer 3 through the flange connection plate 1; The electric quick changer 3 is composed of a main disk 31 and a sub-disk 32. One side of the main disk 31 is fixedly connected to the flange connection plate 1, and the other side of the main disk 31 is detachably connected in an adapted manner to one side of the sub-disk 32. The other side of the sub-disk 32 is sequentially installed on an integrated control device 6 whose shape is adapted to the spacecraft cabin 7 through an extension piece 4 and a base assembly 5; The extension piece 4 is used to increase the depth of the integrated control device 6 assembled into the spacecraft cabin 7; the base assembly 5 is installed on the axial connection end face of the integrated control device 6 and is used to enable the entire axial integrated control device 6 to be supported on the base assembly 5 during assembly; The auxiliary handle 2 is used to manually pull the main disk 31 at the end of the collaborative robot manipulator to the sub-disk 32 and couple it with the sub-disk 32 in the force control mode of the collaborative robot manipulator; A button 22 for controlling the coupling connection of the main disk 31 and the sub-disk 32 is provided on the auxiliary handle 2. Manually control the button 22 to lock the coupling of the main disk 31 and the sub-disk 32. At this time, the electric quick changer 3, the extension piece 4, and the base assembly 5 are connected to the integrated control device 6 as a whole. Thus, the integrated control device 6 is assembled into the spacecraft cabin 7 by the collaborative robot manipulator 8, and the assembly accuracy of the integrated control device 6 is ≤1 mm.

[0024] On the surface of the flange connecting plate 1 connected to the end of the collaborative robot arm 8, there is a central hole and a first boss 11 arranged around the central hole. The first boss 11 is provided with connecting holes. The central hole and the first boss 11 are used to match with the six-axis force sensor arranged at the end of the collaborative robot arm 8 and are fixedly connected by bolts; On the connecting surface of the flange connecting plate 1 and the electric quick changer 3, there is a groove 12 for embedding and connecting the main plate 31; On both sides of the flange connecting plate 1, there is a pair of connecting plates 13 for connecting the auxiliary handle 2.

[0025] On the main plate 31, there is a coupling groove for coupling with the sub-plate 32. On the bottom end surface of the docking groove of the coupling groove, there is a positioning pin 34. The circumferential groove wall of the coupling groove is an annular cavity. On the inner coupling surface of the annular cavity, there are holes evenly distributed for ejecting the ball 33. The ball 33 is also positioned in the annular cavity through the holes; On the main plate 31, there is also a closed cavity connected to the annular cavity. Inside the closed cavity, there is a DC motor 35 and a gear reducer 36. The gear reducer 36 meshes with the driving ring 37. The DC motor 35 drives the driving ring 37 through the gear reducer 36 to control the ejection and rebound of the ball 33; On the end surface of the sub-plate 32, there is an annular protrusion for coupling and connecting with the main plate 31. The protrusion connecting surface of the annular protrusion is arranged corresponding to the bottom end surface of the docking groove of the coupling groove, and there is a pin hole 38 on the protrusion connecting surface for cooperating with the positioning pin 34; At the same time, the outer contour circumference of the annular protrusion is provided with a mating hole 39 matching with the ball 33; When sucking, the positioning pin 34 is inserted into the pin hole 38, the DC motor 35 is controlled to rotate through the button 22, the driving ring 37 is driven to rotate by the gear reducer 36, and the driving ring 37 drives the ball 33 to eject to the mating hole 39, so that the main plate 31 and the sub-plate 32 are sucked together; When separating, the button 22 controls the DC motor 35 to rotate the driving ring 37, and the ball 33 rebounds into the card slot on the driving ring 37, then the main plate 31 and the sub-plate 32 are separated.

[0026] There are a pair of auxiliary handles 2. The button 22 is arranged on the auxiliary handle 2. The button 22 is connected to the control signal line of the main plate 31, and the button 22 is installed in the installation shell 21 arranged on at least one auxiliary handle.

[0027] At the four corners of the sub-plate 32, there are respectively threaded holes for threaded connection with the extension piece 4.

[0028] The extension piece 4 is a hollow hexahedron composed of a bottom plate 42 and multiple side plates 41. At the connection of the two side plates 41, there are columns for strengthening the strength of the threaded connection. The columns are provided with threaded holes for connecting the sub-plate 32. A through hole is opened at the center of the bottom plate 42, and light holes for bolt connection with the base assembly 5 are evenly distributed in the circumferential direction of the through hole.

[0029] The side plate 41 is provided with weight-reducing holes, and the connection between adjacent side plates 41 is in a fillet transition to reduce stress concentration. The base assembly 5 includes a support plate 51 and support arms 56. The support plate 51 is provided with a central through hole 52, and a second boss 53 is arranged around the central through hole 52. Holes for bolt-connecting the extension member 4 are uniformly arranged on the second boss 53; The support arms 56 are uniformly arranged in the circumferential direction of the support plate 51. One end of the support arm 56 is integrally provided with the support plate 51, and a barrel-shaped fastener 54 is arranged at the other end of the support arm 56. The barrel-shaped fastener 54 is used to connect the connection end face of the integrated control device 6, and connection holes for connecting workpieces are arranged on the barrel-shaped fastener 54.

[0030] The barrel-shaped fastener 54 is fixed to the support plate 51 through an ear-shaped connecting member 55, and by adjusting the clamping position of the ear-shaped connecting member 55 on the barrel-shaped fastener 54, the length adjustment of the barrel-shaped fastener 54 is realized.

[0031] Four support arms 56 are uniformly arranged in the circumferential direction of the support plate 51, so that the support plate 51 presents a cross shape on the plane. Weight-reducing holes and light holes for connecting with the ear-shaped connecting member 55 are arranged on the support arm 56.

[0032] During the auxiliary assembly process, the flange connection disc 1 and the main disc 31 of the electric quick changer 3 are sequentially installed at the end of the collaborative robot manipulator 8, and the auxiliary disc 32, the extension member 4, and the base assembly 5 are sequentially installed above the integrated control device 6; at the beginning, the worker holds the auxiliary handle 2 with both hands. In the force control mode of the collaborative robot, the main disc 31 is guided to move above the integrated control device 6 to be assembled and coupled with the auxiliary disc 32. When the distance and angle are in place, the worker presses the button 22. After the main disc 31 receives the signal, the main disc 31 and the auxiliary disc 32 are attracted and locked under the action of the balls 33 and the positioning pins 34. At this time, the end effector and the integrated control device 6 become an integral body. Under the adjustment of the end posture by the worker and the guidance, the collaborative robot manipulator 8 drives the integrated control device 6 into the spacecraft cabin 7. The worker can continuously adjust the angle of the integrated control device 6 by pulling and twisting through the auxiliary handle 2 and guide the integrated control device 6 to the assembly position. Press the button 22 again. At this time, the main disc 31 and the auxiliary disc 32 are separated. Under the manual guidance, the collaborative robot manipulator 8 exits the spacecraft cabin 7. After separating the base assembly 5 from the integrated control device 6 and taking it out, the integrated control device 6 in the spacecraft cabin 7 is fixed subsequently to complete a single auxiliary assembly.

[0033] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A quick-change collaborative robot end effector for use inside a spacecraft cabin, characterized in that, It includes a flange connecting disc (1). At the end of the collaborative robot arm (8), an auxiliary handle (2) and an electric quick changer (3) are sequentially connected through the flange connecting disc (1). The electric quick changer (3) consists of a main disc (31) and a sub-disc (32). One side of the main disc (31) is fixedly connected to the flange connecting disc (1). The other side of the main disc (31) is detachably connected in an adapted manner to one side of the sub-disc (32). The other side of the sub-disc (32) is installed on an integrated control device (6) whose shape is adapted to the spacecraft cabin (7) through an extension piece (4) and a base assembly (5) in sequence. The extension piece (4) is used to increase the depth of the integrated control device (6) assembled into the spacecraft cabin (7). The base assembly (5) is installed on the axial connection end face of the integrated control device (6) and is used to enable the entire axial integrated control device (6) to be supported on the base assembly (5) during assembly. The auxiliary handle (2) is used to manually tow the main disc (31) at the end of the collaborative robot arm to the sub-disc (32) and couple it with the sub-disc (32) in the force control mode of the collaborative robot arm. A button (22) for controlling the coupling connection between the main disc (31) and the sub-disc (32) is provided on the auxiliary handle (2). Manually press the button (22) to lock the coupling between the main disc (31) and the sub-disc (32). At this time, the electric quick changer (3), the extension piece (4) and the base assembly (5) are connected to the integrated control device (6) as a whole. Thus, the integrated control device (6) is assembled into the spacecraft cabin (7) by the collaborative robot arm (8), and the assembly of the integrated control device (6) with an assembly accuracy ≤ 1 mm in a limited space is realized.

2. The end effector of the quick-change collaborative robot for use inside a spacecraft cabin according to claim 1, characterized in that, On the surface of the flange connecting disc (1) connected to the end of the collaborative robot arm (8), a central hole and a first boss (11) arranged around the central hole are provided. Connecting holes are provided on the first boss (11). The central hole and the first boss (11) are used to match the six-axis force sensor provided at the end of the collaborative robot arm (8) and are fixedly connected by bolts. On the connection surface of the flange connecting disc (1) and the electric quick changer (3), a groove (12) for embedding and connecting the main disc (31) is provided. A pair of connecting plates (13) for connecting the auxiliary handle (2) are provided on both sides of the flange connecting disc (1).

3. The end effector of the quick-change collaborative robot for use inside a spacecraft cabin according to claim 1, wherein, On the main disc (31), a coupling groove for coupling with the sub-disc (32) is provided. A positioning pin (34) is provided on the bottom end surface of the docking groove of the coupling groove. The circumferential groove wall of the coupling groove is an annular cavity. Holes for ejecting the balls (33) are evenly distributed on the inner coupling surface of the annular cavity. The balls (33) are also positioned in the annular cavity through the holes. A closed cavity communicating with the annular cavity is further provided on the main disc (31). A DC motor (35) and a gear reducer (36) are provided inside the closed cavity. The gear reducer (36) meshes with the driving ring (37). The DC motor (35) drives the driving ring (37) through the gear reducer (36) to control the ejection and rebound of the balls (33). On the end face of the auxiliary disk (32), there is an annular protrusion for coupling connection with the main disk (31). The protruding connection surface of the annular protrusion corresponds to the butt joint bottom end surface of the coupling groove, and a pin hole (38) for cooperating with the positioning pin (34) is provided on the protruding connection surface. At the same time, a mating hole (39) matching the ball (33) is circumferentially formed on the outer contour of the annular protrusion. When attracting, the positioning pin (34) is inserted into the pin hole (38). The DC motor (35) is controlled by the button (22) to rotate, and drives the driving ring (37) to rotate through the gear reducer (36). The driving ring (37) drives the ball (33) to eject into the mating hole (39), so that the main disk (31) and the auxiliary disk (32) are attracted. When separating, the button (22) controls the DC motor (35) to rotate the driving ring (37), and the ball (33) rebounds into the card slot on the driving ring (37), then the main disk (31) and the auxiliary disk (32) are separated.

4. The end effector of the quick-change collaborative robot for use inside a spacecraft cabin according to claim 1, characterized in that, The auxiliary handle (2) includes a pair. The button (22) is arranged on the auxiliary handle (2). The button (22) is connected to the control signal line of the main disk (31), and the button (22) is installed in the mounting shell (21) arranged on at least one auxiliary handle.

5. The end effector of the quick-change collaborative robot for use inside a spacecraft cabin according to claim 1, wherein Threaded holes for threaded connection with the extension piece (4) are respectively arranged at the four corners of the auxiliary disk (32).

6. The end effector of the quick-change collaborative robot for use inside a spacecraft cabin according to claim 1, characterized in that, The extension piece (4) is a hollow hexahedron composed of a bottom plate (42) and a plurality of side plates (41). Columns for strengthening the threaded connection strength are arranged at the joints of the two side plates (41). Threaded holes for connecting the auxiliary disk (32) are arranged on the columns. A through hole is opened at the center of the bottom plate (42), and light holes for bolt connection with the base assembly (5) are circumferentially and uniformly arranged around the through hole.

7. The end effector of the quick-change collaborative robot for use inside a spacecraft cabin according to claim 6, characterized in that Lightening holes are opened on the side plates (41), and the joints of adjacent side plates (41) are in a fillet transition to reduce stress concentration.

8. The end effector of the quick-change collaborative robot for use inside a spacecraft cabin according to any one of claims 1-7, characterized in that, The base assembly (5) includes a support plate (51) and a support arm (56). A central through hole (52) is provided on the support plate (51). A second boss (53) is arranged around the central through hole (52), and holes for bolt connection with the extension piece (4) are uniformly arranged on the second boss (53). The support arms (56) are uniformly arranged on the circumference of the support plate (51). One end of the support arm (56) is integrally arranged with the support plate (51). A barrel-shaped fastener (54) is arranged at the other end of the support arm (56). The barrel-shaped fastener (54) is used to connect the connection end face of the integrated control device (6), and a connection hole for connecting the workpiece is arranged on the barrel-shaped fastener (54).

9. The end effector of the quick-change collaborative robot for use inside a spacecraft cabin according to claim 8, wherein, The barrel-shaped fastener (54) is fixed to the support plate (51) through an ear-shaped connecting piece (55), and the length adjustment of the barrel-shaped fastener (54) is realized by adjusting the clamping position of the ear-shaped connecting piece (55) on the barrel-shaped fastener (54).

10. The end effector of the quick-change collaborative robot for use inside a spacecraft cabin as claimed in claim 8, characterized in that, Four support arms (56) are uniformly arranged on the circumference of the support plate (51), so that the support plate (51) presents a cross shape on the plane. Lightening holes and light holes for connecting with the ear-shaped connecting piece (55) are arranged on the support arm (56).

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