A quick-change tool for tooling at the end of a robotic arm

Abstract

The present invention relates to the technical field of power systems, and more specifically to a quick-change tool for an end tool of a robotic arm, comprising an end tool connection device, an unlocking tool, and two sets of rod connection devices, one end of each of which is used to mount an end tool, and the other end of each of which is configured with two male connectors and two locking slots. One set of rod connection devices is mounted on an insulating rod of the robotic arm that is permanently connected to the robotic arm, and the other set of rod connection devices is mounted on a replacement insulating rod used independently when replacing an end tool. The unlocking tool is independently configured and inserted into the locking slot corresponding to the replacement insulating rod on the end tool connection device after leaving the robotic arm to remove the end tool connection device to be replaced from the replacement insulating rod for replacement. The quick-change tool solves the technical problem in the prior art that a robotic arm equipped with a three-axis operating rod assembly cannot replace the end tool in mid-air, resulting in low operating efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of power systems, and in particular to a quick-changing tool for a tool at the end of a robotic arm. Background Art

[0002] During live operations on power systems, the efficiency of replacing the end-of-arm tooling with a boom truck directly affects operational safety and efficiency. To increase the range of motion of the end-of-arm tooling, a three-axis operating lever assembly was installed between the boom truck and the robotic arm. When the three-axis operating lever assembly was retracted, the robotic arm could not be attached to the boom truck. Furthermore, the end of the robotic arm was higher than the body of the operator inside the boom truck. In other words, when the boom truck was in the air, the operator inside the boom truck was unable to replace the end-of-arm tooling at all (extending the human body from the boom truck to operate would pose a serious safety hazard). When the robotic arm completed an operation and needed to replace the end-of-arm tooling, the boom truck had to be lowered in the air to replace the end-of-arm tooling, which was very inefficient. Summary of the Invention

[0003] In order to solve the technical problem in the prior art that a robotic arm equipped with a three-axis operating lever assembly cannot replace the end tool in the air, resulting in low operating efficiency, the present application proposes a robotic arm end tool quick-change tooling to solve the above technical problem.

[0004] The technical solution adopted by the present invention to solve its technical problem is:

[0005] The present invention provides a quick-changing tool for an end tool of a robot arm, comprising: an end tool connecting device, one end of the end tool connecting device is used to install the end tool, and the other end is provided with two male connectors and two locking grooves; two groups of rod connecting devices, one group of the rod connecting devices is assembled on the robot arm insulating rod that is always connected to the robot arm, and the other group of the rod connecting devices is assembled on a replacement insulating rod used independently when replacing the end tool, the rod connecting device includes a base column that is separately connected to the robot arm insulating rod or the replacement insulating rod, and the base column is equipped with an unlocking pin. When the robot arm is operating, the base column on the robot arm insulating rod is connected and locked with the male connector corresponding to itself. When replacing the end tool, the base column on the replacement insulating rod is held and inserted into the male connector corresponding to itself to connect and lock the end tool connecting device with the replacement insulating rod. At the same time, the unlocking pin on the replacement insulating rod The pin is inserted into the locking groove corresponding to the insulating rod of the robot arm to enable the insulating rod of the robot arm to disengage from the end tool connecting device. After disengagement, the replacement insulating rod and the end tool connecting device are held by the hand to leave the robot arm; an unlocking tool is configured independently, and the unlocking tool is inserted into the locking groove corresponding to the replacement insulating rod on the end tool connecting device after leaving the robot arm to remove the end tool connecting device to be replaced from the replacement insulating rod for replacement. After the replacement is completed, the replacement insulating rod connected and locked to the end tool connecting device is held again, and the base column on the insulating rod of the robot arm is connected to the male connector corresponding to itself to connect and lock the end tool connecting device to the insulating rod of the robot arm. At the same time, the unlocking pin on the insulating rod of the robot arm is inserted into the locking groove corresponding to the replacement insulating rod to enable the replacement insulating rod to disengage from the end tool connecting device, and the robot arm enters the working state again.

[0006] Furthermore, the end tool connection device includes a base, one end of the base is detachably connected to a cover connected to the end tool, two assembly channels arranged side by side are formed on the base, one end of the assembly channel in the axial direction is sealed by the cover, the assembly channel includes a connecting groove and the locking groove that are interconnected in the radial direction, the connecting groove and the locking groove are open at one end away from the cover, a male connecting body is assembled in the connecting groove, a section of the male connecting body protruding from the connecting groove forms the male joint, a circumferentially recessed locking ring is formed on the outer circumferential surface of the male joint, a hammer column is slidably sleeved on a section of the male connecting body retained in the connecting groove, A limiting ring is formed on the outer circumferential surface of the hammer column, which can be blocked by the tightening part of the connecting groove, so that the hammer column can only partially extend out of the connecting groove when sliding. A first elastic member is arranged at the end of the hammer column close to the cover, and a top bead with restricted movement is arranged at the connection point between the connecting groove and the locking groove. A wedge pin with restricted movement is arranged in the locking groove, and a second elastic member is arranged at the end of the wedge pin close to the cover. The end face of the other end of the wedge pin is a wedge-shaped surface. Under the action of the second elastic member, the wedge surface is pressed onto the top bead, so that the top bead produces radial displacement and presses against the outer wall of the hammer column to lock the hammer column.

[0007] The cam is provided with a third elastic member, and one end of the third elastic member is pressed against the tightening position of the mounting channel, and the other end of the third elastic member is pressed against the mounting sleeve to push the mounting end of the mounting sleeve out of the mounting channel in a natural state. The end of the third elastic member is passed through a limiting round pin at one end of the thin section away from the mounting sleeve, and the limiting round pin is simultaneously limited by a waist-shaped hole axially opened on the side wall of the base column to limit the sliding range of the mounting column in the mounting channel. The base column includes a narrow section and a wide section, the narrow section is formed at one end of the base column facing the base, and a fourth elastic member is sleeved on the narrow section, and the fourth elastic member is slidably fitted on the impact column on the outer wall of the base column. The locking pin is provided on the locking sprocket of the first embodiment and the locking sprocket is provided on the locking sprocket body. The locking pin is provided on the locking sprocket body and the locking sprocket is provided on the locking sprocket body. The locking pin is provided on the locking sprocket body and the locking sprocket is provided on the locking sprocket body. The locking pin is provided on the locking sprocket body and the locking sprocket is provided on the locking sprocket body. The locking pin is provided on the locking sprocket body and the locking sprocket is provided on the locking sprocket body. The locking pin is provided on the locking sprocket body and the locking sprocket is provided on the locking sprocket body.

[0008] Furthermore, a small hole communicating with the assembly channel is formed on the cover, and a bolt is disposed at the small hole. The bolt is sequentially inserted into the end tool, the cover and the male connector to connect the end tool to the base.

[0009] Furthermore, a baffle is formed on the end of the base away from the cover at the connection point between the connecting groove and the lock groove, and a partial shape of the top bead is adapted to the shape of the connection point between the connecting groove and the lock groove. At the same time, the radial area of ​​the wedge pin is larger than the notch area of ​​the lock groove, and a contact portion is formed on the wedge surface of the wedge pin to facilitate the unlocking pin to support it.

[0010] Furthermore, a recess for the top ball to enter is formed on the outer wall of the hammer column.

[0011] Furthermore, a convex ridge is formed on the outer wall of the hammering column, and the concave pit is formed on the convex ridge.

[0012] Furthermore, the male connector includes a hexagonal inserting portion at the end, and correspondingly, a plum blossom-shaped hole that cooperates with the hexagonal inserting portion is formed on the receiving sleeve.

[0013] Furthermore, the limiting ring is formed in the middle section of the hammering column, the tightening part of the connecting groove is formed at the end of the base away from the covering cover, one end of the first elastic member rests on the covering cover, and the other end of the first elastic member rests on the end face of the hammering column away from the base column. After the hammering column is unlocked, it slides rapidly under the action of the first elastic member and hammers onto the impact column. After being hammered, the impact column slides toward the wide section of the base column, so that the inner wall surface of the tightening ring leaves the locking bead, releasing the locking state of the locking bead on the male connector. During docking, the impact column moves toward the base and hits the end of the hammering column away from the covering cover. The hammered hammering column slides toward the covering cover until it is re-locked by the top bead.

[0014] Furthermore, one end of the second elastic member abuts against the cover, and the other end of the second elastic member abuts against an end surface of the wedge pin close to the cover.

[0015] Furthermore, the tightening portion of the installation channel is formed on the wide section of the base column close to the narrow section and is staggered with the waist-shaped hole.

[0016] Furthermore, a tightening ring of the impact column is formed at a position of the impact column close to the base, and a retreat space is reserved at the end position of the impact column close to the base for the lock ball to exit the lock ring. The lock ball retained in the retreat space is limited in the retreat space by the second axial end face of the tightening ring facing the base, the inner wall of the impact column, the retaining ring and the outer wall of the receiving sleeve.

[0017] Furthermore, a chamfer is formed on the second axial end surface of the tightening ring facing the base.

[0018] Furthermore, the unlocking pin is formed at one end of the impact column facing the base, and is connected to the impact column through a cross bar extending outside the outer wall of the impact column.

[0019] Based on the above technical solution, the technical effects that can be achieved by the present invention are:

[0020] The tool holder can then remove the tool from the arm by simply holding the tool holder and releasing it from the arm, and then remove the tool from the arm by unlocking the tool holder. The end tool connection device is connected to the locked replacement insulating rod, so that the robot arm insulating rod is connected and locked to the end tool connection device. At the same time, the replacement insulating rod is disengaged from the end tool connection device through the unlocking pin on the robot arm insulating rod. After completing the replacement of the end tool, the replacement insulating rod is put into the bucket arm car again, and the robot arm can be controlled to enter the working state again through the remote control. The entire replacement action only requires the operator to extend a small section of the arm out of the bucket arm car, which meets the requirements of safety regulations. In addition, compared to the method of fixing the insulating rod and the end tool, the operator needs to carry the same number of insulating rods as the number of end tools he carries, in this application, the operator only needs to carry an extra replacement insulating rod to pair multiple end tools without taking up too much space in the bucket arm car, thereby solving the technical problem in the prior art that the robot arm equipped with a three-axis operating rod assembly cannot replace the end tool in the air, resulting in low working efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a front view of the robot arm end tool quick changer of the present invention;

[0022] Figure 2 This is a schematic diagram of the end tool connection device and the rod connection device of the present invention before they are connected;

[0023] Figure 3 A cross-sectional view of the end-of-arm tool quick-change fixture of the present invention;

[0024] Figure 4 This is an exploded view of the end-of-arm tool quick-change fixture of the present invention;

[0025] Figure 5 This is a schematic diagram of one end of the base close to the cover of the present invention;

[0026] Figure 6This is a schematic diagram of one end of the base away from the cover of the present invention;

[0027] Figure 7 is a schematic diagram of a hammer column of the present invention;

[0028] Figure 8 Schematic diagram of the wedge pin of the present invention.

[0029] Wherein: 1-end tool connection device, 11-base, 111-assembly channel, 1111-connection groove, 1112-locking groove, 1113-blocking piece, 12-cover, 121-small hole, 13-male connection body, 131-locking ring, 132-hexagonal insert, 14-hammering column, 141-limiting ring, 142-pit, 143-convex ridge, 15-first elastic member, 16-top bead, 17-wedge pin, 171-wedge surface, 172-contact Part, 18-second elastic member; 2-rod connecting device, 21-base column, 211-installation channel, 212-waist-shaped hole, 213-unlocking pin, 214-receiving hole, 215-circlip, 216-cross bar, 22-supporting mother body, 221-supporting sleeve, 222-limiting round pin, 223-plum blossom hole, 23-third elastic member, 24-fourth elastic member, 25-impact column, 251-tightening ring, 26-lock bead, 27-retreat space. DETAILED DESCRIPTION

[0030] The following will be combined with the accompanying 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 embodiments described are only part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0031] like Figure 1-8As shown, the present invention provides a quick-changing tool for an end tool of a robot arm, comprising an end tool connecting device 1, an unlocking tool (not shown in the drawings) and two sets of rod connecting devices 2, one end of the end tool connecting device 1 is used to install the end tool, and the other end is provided with two male connectors and two locking slots 1112, wherein one set of rod connecting devices 2 is assembled on the insulating rod of the robot arm that is always connected to the robot arm, and the other set of rod connecting devices 2 is assembled on the replacement insulating rod used for independent replacement of the end tool, the rod connecting device 2 comprises a base column 21 connected separately to the insulating rod of the robot arm or the replacement insulating rod, and an unlocking pin 213 is assembled on the base column 21. When the robot arm is operating, the base column 21 on the insulating rod of the robot arm is connected and locked with its corresponding male connector. When replacing the end tool, the base column 21 on the replacement insulating rod is held and inserted into the male connector corresponding to itself to connect and lock the end tool connecting device 1 with the replacement insulating rod. At the same time, The unlocking pin 213 on the replacement insulating rod is inserted into the locking slot 1112 corresponding to the insulating rod of the robot arm to disengage the insulating rod of the robot arm from the end tool connection device 1. After disengagement, the replacement insulating rod and the end tool connection device 1 are held by the hand to leave the robot arm. The unlocking tool is configured independently. The unlocking tool is inserted into the locking slot 1112 corresponding to the replacement insulating rod on the end tool connection device 1 after leaving the robot arm to remove the end tool connection device 1 to be replaced from the replacement insulating rod for replacement. After the replacement is completed, the replacement insulating rod connected and locked to the end tool connection device 1 is held again, and the base column 21 on the insulating rod of the robot arm is connected to the male connector corresponding to itself to connect the end tool connection device 1 to the insulating rod of the robot arm and lock it. At the same time, the unlocking pin 213 on the insulating rod of the robot arm is inserted into the locking slot 1112 corresponding to the replacement insulating rod to disengage the replacement insulating rod from the end tool connection device 1, and the robot arm enters the working state again.

[0032] Specifically, the unlocking tool only needs to have the same structure as the unlocking pin 213 and be able to be inserted into the lock slot 1112 to unlock.

[0033] In a specific embodiment of the present invention, the end tool connecting device 1 includes a base 11, one end of the base 11 is detachably connected to a cover 12 connected to the end tool, two assembly channels 111 arranged side by side are formed on the base 11, one end of the assembly channel 111 in the axial direction is sealed by the cover 12, the assembly channel 111 includes a connecting groove 1111 and a locking groove 1112 which are interconnected in the radial direction, the connecting groove 1111 and the locking groove 1112 are open at one end away from the cover 12, a male connecting body 13 is assembled in the connecting groove 1111, a section of the male connecting body 13 protruding from the connecting groove 1111 is formed as a male joint, a circumferentially recessed locking ring 131 is formed on the outer circumferential surface of the male joint, a hammer column 14 is slidably sleeved on a section of the male connecting body 13 retained in the connecting groove 1111, a groove is formed on the outer circumferential surface of the hammer column 14 which can be blocked by the tightening part of the connecting groove 1111 The limiting ring 141, such as a blocking ring is configured on the connecting groove 1111 to form a tightening point, so that the hammer column 14 can only partially extend out of the connecting groove 1111 when sliding, thereby preventing the hammer column 14 from falling out of the connecting groove 1111, the hammer column 14 is provided with a first elastic member 15 at one end close to the cover 12, and a top ball 16 is provided at the connection between the connecting groove 1111 and the locking groove 1112, which is restricted in the connection between the connecting groove 1111 and the locking groove 1112. A wedge pin 17 is provided in the lock groove 1112 and is restricted in the lock groove 1112. The wedge pin 17 is provided with a second elastic member 18 at one end close to the cover 12, and the end face of the other end of the wedge pin 17 is a wedge surface 171. Under the action of the second elastic member 18, the wedge surface 171 is pressed onto the top ball 16, so that the top ball 16 produces radial displacement and is pressed against the outer wall of the hammer column 14 to lock the hammer column 14.

[0034] In a specific embodiment of the present invention, a mounting channel 211 is formed on the base column 21 of the rod connecting device 2, which penetrates the body 21 along the axial direction. A receiving mother body 22 is configured in the mounting channel 211 and is restricted from sliding in the mounting channel 211. The receiving mother body 22 includes a thick section and a thin section. The thick section is formed at one end of the receiving mother body 22 facing the base 11 and is formed as a receiving sleeve 221. A third elastic member 23 is sleeved on the thin section. One end of the third elastic member 23 abuts against the tightening part of the mounting channel 211, such as a blocking ring is configured on the mounting channel 211 to form a tightening part. The other end of the third elastic member 23 rests on the receiving sleeve 221 to push the receiving end of the receiving sleeve 221 out of the installation channel 211 in a natural state. The end of the thin section away from the receiving sleeve 221 crosses the limiting round pin 222, and the limiting round pin 222 is simultaneously limited by the waist-shaped hole 212 opened on the side wall of the base column 21 along the axial direction to limit the sliding range of the receiving mother body 22 in the installation channel 21. The base column 21 includes a narrow section and a wide section. The narrow section is formed at one end of the base column 21 facing the base 11. A fourth elastic member 24 is sleeved on the narrow section, and the fourth elastic member 24 is slid The ground sleeve is fitted on the impact column 25 on the outer wall of the base column 21, one end of the fourth elastic member 24 rests on the step at the transition between the narrow section and the wide section of the base column 21, and the other end of the fourth elastic member 24 rests on the first axial end face of the tightening ring 251 on the inner wall of the impact column 25 away from the base 11. An unlocking pin 213 is formed on the end of the impact column 25 facing the base 11, which is biased outside the base 11 body and is used to insert into the lock groove 1112. The narrow section of the base column 21 is provided with a plurality of evenly distributed receiving holes 214 along a circumferential circle, and each receiving hole 214 is provided with a The locking ball 26 can only be displaced radially. After the male connector is inserted into the receiving sleeve 221 and the receiving mother body 22 is pushed toward the wide section of the base column 21, the locking ball 26 is pushed into the locking ring 131 of the male connector by the inner wall surface of the tightening ring 251 of the impact column 25. A retaining spring 215 is detachably assembled on one end of the narrow section of the base column 21 close to the male connector. When the locking ball 26 enters the locking ring 131, the retaining spring 215 is just pressed against the second axial end face of the base 11 by the tightening ring 251 of the impact column 25 to limit the impact column 25 to the limit position, thereby cooperating with the locking ball 26 to lock the male connector.

[0035] In a specific embodiment of the present invention, a small hole 121 is provided on the cover 12 and is connected to the assembly channel 111. The small hole 121 is preferably arranged at the axis of the connecting groove 1111. A bolt is configured at the small hole 121. The bolt is inserted into the end tool, the cover 12 and the male connector 13 in sequence to connect the end tool to the base 11.

[0036] In a specific embodiment of the present invention, a baffle 1113 is formed at the connection point between the connecting groove 1111 and the locking groove 1112 at one end of the base 11 away from the cover 12. The shape of the portion of the top bead 16 retained at the connection point between the connecting groove 1111 and the locking groove 1112 is adapted to the shape of the connection point between the connecting groove 1111 and the locking groove 1112. At the same time, the radial area of ​​the wedge pin 17 is larger than the notch area of ​​the locking groove 1112 to prevent the wedge pin 17 from falling out of the locking groove 1112. A contact portion 172 is also formed on the wedge surface 171 of the wedge pin 17 for facilitating the unlocking pin 213 to press against.

[0037] In a specific embodiment of the present invention, the two locking grooves 1112 are disposed between the two connecting grooves 1111 , and the two locking grooves 1112 are staggered, thereby making the volume of the base 11 smaller.

[0038] In a specific embodiment of the present invention, a recess 142 for the top ball 16 to enter is formed on the outer wall of the hammer post 14 .

[0039] Furthermore, an axially extending ridge 143 is formed on the outer wall of the hammer column 14, and the connecting groove 1111 is adapted to the position and shape of the ridge 143 and the shape of the ridge 143, and a recess 142 is formed on the ridge 143. The ridge 143 can prevent the hammer column 14 from rotating in the connecting groove 1111, thereby ensuring that the top ball 16 can accurately enter the recess 142 to lock the hammer column 14.

[0040] In a specific embodiment of the present invention, one of the hammer posts 14 has a ridge 143 , and the other hammer post 14 does not have a ridge 143 .

[0041] In a specific embodiment of the present invention, the male connector includes a hexagonal insertion portion 132 located at the end. Accordingly, a plum blossom-shaped hole 223 is formed on the receiving sleeve 221 to cooperate with the hexagonal insertion portion 132. The plum blossom-shaped hole 223 allows the hexagonal insertion portion 132 to enter at multiple angles rather than a single angle, which facilitates docking.

[0042] In a specific embodiment of the present invention, the limiting ring 141 is formed in the middle section of the hammer column 14, the tightening part of the connecting groove 1111 is formed at the end of the base 11 away from the cover 12, one end of the first elastic member 15 is against the cover 12, and the other end of the first elastic member 15 is against the end surface of the hammer column 14 away from the base column 21. After the hammer column 14 is unlocked, it slides rapidly under the action of the first elastic member 15 and hammers onto the impact column 25. After being hammered, the impact column 25 slides toward the wide section of the base column 21, so that the inner wall surface of the tightening ring 251 leaves the locking bead 26, and the locking state of the locking bead 26 on the male connector is released. During docking, the impact column 25 moves toward the base 11 and hits the end of the unlocked hammer column 14 away from the cover 12. The impacted hammer column 14 slides toward the cover 12 until it is locked again by the top bead 16. It should be noted that the unlocked hammer column 14 protrudes from the base 11 under the action of the first elastic member 15.

[0043] In a specific embodiment of the present invention, one end of the second elastic member 18 abuts against the cover 12 , and the other end of the second elastic member 18 abuts against an end surface of the wedge pin 17 close to the cover 12 .

[0044] In a specific embodiment of the present invention, the tightening portion of the installation channel 211 is formed at a position on the wide section of the base column 21 close to the narrow section, and is staggered with the waist-shaped hole 212 .

[0045] In a specific embodiment of the present invention, a tightening ring 251 of the impact column 25 is formed at a position near the base 11 of the impact column 25, and a retraction space 27 is reserved at the end of the impact column 25 near the base 11 for the lock ball 26 to exit the lock ring 131. The lock ball 26 retained in the retraction space 27 is restrained in the retraction space 27 by the tightening ring 251 facing the second axial end surface of the base 11, the inner wall of the impact column 25, the retaining ring 215, and the outer wall of the receiving sleeve 221. Before the base column 21 is connected, under the action of the third elastic member 23, the outer wall of the receiving sleeve 221 of the receiving mother body 22 just covers the receiving hole 214, thereby ensuring that the lock ball 26 does not fall out of the retraction space 27.

[0046] In a specific embodiment of the present invention, a chamfer is formed on the second axial end surface of the tightening ring 251 facing the base 11 to prevent the locking ball 26 from getting stuck during movement.

[0047] In a specific embodiment of the present invention, the unlocking pin 213 is formed at one end of the impact column 25 facing the base 11 and is connected to the impact column 25 through a cross bar 216 extending outside the outer wall of the impact column 25.

[0048] In a specific embodiment of the present invention, the insulating rod of the robot arm or the replacement insulating rod is sleeved on the narrow section of the base column 21 and envelops the waist-shaped hole 212 on the narrow section to prevent the limiting round pin 222 from escaping in the radial direction.

[0049] In a specific embodiment of the present invention, the first elastic member 15 , the second elastic member 18 , the third elastic member 23 and the fourth elastic member 24 are all springs.

[0050] It should be understood that the specific embodiments described above are only used to explain the present invention and are not intended to limit the present invention. Obvious changes or modifications derived from the spirit of the present invention are still within the scope of protection of the present invention.

Claims

1. A quick-change tool for a tool at the end of a robotic arm, characterized in that: include: An end tool connection device (1), wherein one end of the end tool connection device (1) is used for mounting an end tool, and the other end is provided with two male connectors and two locking slots (1112); Two groups of rod connection devices (2), wherein one group of the rod connection devices (2) is assembled on the insulating rod of the robot arm that is always connected to the robot arm, and the other group of the rod connection devices (2) is assembled on the replacement insulating rod used when independently replacing the end tool, the rod connection device (2) includes a base column (21) that is separately connected to the insulating rod of the robot arm or the replacement insulating rod, and the base column (21) is equipped with an unlocking pin (213). When the robot arm is operating, the base column (21) on the insulating rod of the robot arm is connected and locked with the male connector corresponding to itself. When replacing the end tool, the base column (21) on the replacement insulating rod is held and inserted into the male connector corresponding to itself so that the end tool connection device (1) is connected and locked with the replacement insulating rod. At the same time, the unlocking pin (213) on the replacement insulating rod is inserted into the locking groove (1112) corresponding to the insulating rod of the robot arm so that the insulating rod of the robot arm is disengaged from the end tool connection device (1). After disengagement, the replacement insulating rod and the end tool connection device (1) are held and removed from the robot arm; An unlocking tool, wherein the unlocking tool is independently configured, and the unlocking tool is inserted into the locking groove (1112) corresponding to the replacement insulating rod on the end tool connection device (1) after leaving the robot arm to remove the end tool connection device (1) to be replaced from the replacement insulating rod for replacement. After the replacement is completed, the replacement insulating rod connected and locked with the end tool connection device (1) is held again, and the base column (21) on the robot arm insulating rod is connected to the male connector corresponding to itself so that the end tool connection device (1) is connected and locked with the robot arm insulating rod. At the same time, the unlocking pin (213) on the robot arm insulating rod is inserted into the locking groove (1112) corresponding to the replacement insulating rod so that the replacement insulating rod is removed from the end tool connection device (1), and the robot arm enters the working state again. The end tool connection device (1) comprises a base (11), one end of the base (11) is detachably connected to a cover (12) connected to the end tool, two assembly channels (111) arranged side by side are formed on the base (11), one end of the assembly channel (111) in the axial direction is sealed by the cover (12), and the assembly channel (111) comprises a connecting groove (1111) and the locking groove (1112) which are interconnected in the radial direction. The groove (1111) and the locking groove (1112) are open at one end away from the cover (12), and a male connecting body (13) is assembled in the connecting groove (1111). A section of the male connecting body (13) protruding from the connecting groove (1111) forms the male joint, and a circumferentially recessed locking ring (131) is formed on the outer peripheral surface of the male joint. A hammering column (14) is slidably sleeved on a section of the male connecting body (13) retained in the connecting groove (1111). The hammering column (14) is A limiting ring (141) is formed on the outer peripheral surface of the column (14) and can be blocked by the tightening part of the connecting groove (1111), so that the hammering column (14) can only partially extend out of the connecting groove (1111) when sliding. The hammering column (14) is provided with a first elastic member (15) at one end close to the cover (12). The connection between the connecting groove (1111) and the locking groove (1112) is provided with a top bead (16) whose movement is restricted. The locking groove (1112) is provided with a A wedge-shaped pin (17) whose movement is restricted is provided, and a second elastic member (18) is provided at one end of the wedge-shaped pin (17) close to the cover (12), and an end face of the other end of the wedge-shaped pin (17) is a wedge-shaped surface (171). Under the action of the second elastic member (18), the wedge-shaped surface (171) is pressed onto the top ball (16), so that the top ball (16) produces radial displacement and is pressed against the outer wall of the hammer column (14) to lock the hammer column (14); The base column (21) is provided with a mounting channel (211) extending axially through the body. A receiving mother body (22) is provided in the mounting channel (211) and is restricted from sliding in the mounting channel (211). The receiving mother body (22) comprises a thick section and a thin section. The thick section is formed at one end of the receiving mother body (22) facing the base (11) and is formed as a receiving sleeve (221). A third elastic member (23) is sleeved on the thin section. One end of the third elastic member (23) abuts against the tightening portion of the mounting channel (211), and the other end of the third elastic member (23) abuts against the receiving sleeve (221) to hold the receiving sleeve (221) in a natural state. The receiving end of the thin section is pushed out of the installation channel (211), and the limiting round pin (222) is passed through the end of the thin section away from the receiving sleeve (221). The limiting round pin (222) is simultaneously limited by the waist-shaped hole (212) opened on the side wall of the base column (21) along the axial direction to limit the sliding range of the receiving mother body (22) in the installation channel (211). The base column (21) includes a narrow section and a wide section. The narrow section is formed at one end of the base column (21) facing the base (11). A fourth elastic member (24) is sleeved on the narrow section. The fourth elastic member (24) is slidably sleeved on the impact column (25) on the outer wall of the base column (21). The fourth elastic member (24) is sleeved on the impact column (25) on the outer wall of the base column (21). One end of the member (24) abuts against a step at a transition point between the narrow section and the wide section of the base column (21), and the other end of the fourth elastic member (24) abuts against a first axial end face of a tightening ring (251) on the inner wall of the impact column (25) away from the base (11). An unlocking latch (213) is formed on one end of the impact column (25) facing the base (11) and is biased outside the base (11) body for inserting into the lock groove (1112). The narrow section of the base column (21) is provided with a plurality of evenly distributed receiving holes (214) along a circumferential circle, and each receiving hole (214) is provided with a locking ball (26) that can only be displaced in the radial direction, and the locking ball (26) is disposed in the After the male connector is inserted into the receiving sleeve (221) and the receiving mother body (22) is pushed toward the wide section of the base column (21), the locking ball (26) is pushed into the locking ring (131) of the male connector by the inner wall surface of the tightening ring (251) of the impact column (25), and a retaining spring (215) is detachably mounted on one end of the narrow section of the base column (21) close to the male connector. When the locking ball (26) enters the locking ring (131), the retaining spring (215) is pressed against the second axial end face of the tightening ring (251) of the impact column (25) toward the base (11) to limit the impact column (25) to the limit position, thereby cooperating with the locking ball (26) to lock the male connector.

2. The quick-change tooling for the end tool of the manipulator arm according to claim 1, characterized in that: The cover (12) is provided with a small hole (121) in communication with the assembly channel (111), and a bolt is arranged at the small hole (121). The bolt is sequentially inserted into the end tool, the cover (12), and the male connector (13) to connect the end tool to the base (11).

3. The quick-change tooling for the end tool of the manipulator arm according to claim 1, characterized in that: A blocking piece (1113) is formed at the connection point between the connecting groove (1111) and the locking groove (1112) at one end of the base (11) away from the cover (12); a portion of the top bead (16) is adapted to the shape of the connection point between the connecting groove (1111) and the locking groove (1112); and a radial area of ​​the wedge pin (17) is larger than a notch area of ​​the locking groove (1112). A contact portion (172) for facilitating the locking of the unlocking latch (213) is formed on the wedge surface (171) of the wedge pin (17).

4. The quick-change tooling for the end tool of the manipulator arm according to claim 1, characterized in that: A recess (142) for the top ball (16) to enter is formed on the outer wall of the hammer column (14).

5. The quick-change tooling for the end tool of the robot arm according to claim 4, characterized in that: A convex ridge (143) is formed on the outer wall of the hammer column (14), and the concave pit (142) is formed on the convex ridge (143).

6. The quick-change tooling for the end tool of the manipulator arm according to claim 1, characterized in that: The male connector includes a hexagonal insert portion (132) located at an end portion, and correspondingly, a plum blossom-shaped hole (223) is formed on the receiving sleeve (221) to cooperate with the hexagonal insert portion (132).

7. The quick-change tooling for the end tool of the manipulator arm according to claim 1, characterized in that: The limiting ring (141) is formed in the middle section of the hammer column (14), the tightening part of the connecting groove (1111) is formed at the end of the base (11) away from the cover (12), one end of the first elastic member (15) abuts against the cover (12), and the other end of the first elastic member (15) abuts against the end surface of the hammer column (14) away from the base column (21). After the hammer column (14) is unlocked, it slides rapidly under the action of the first elastic member (15) and hammers the impact column. (25), the impact column (25) after being hammered slides toward the wide section of the base column (21), so that the inner wall surface of the tightening ring (251) leaves the locking bead (26), and the locking state of the locking bead (26) on the male connector is released. During docking, the impact column (25) moves toward the base (11) and hits the end of the hammer column (14) away from the cover (12). The hammer column (14) that is hit slides toward the cover (12) until it is locked again by the top bead (16).

8. The quick-change tooling for the end tool of the manipulator arm according to claim 1, characterized in that: One end of the second elastic member (18) abuts against the cover (12), and the other end of the second elastic member (18) abuts against an end surface of the wedge pin (17) close to the cover (12).

9. The quick-change tooling for the end tool of the manipulator arm according to claim 1, characterized in that: The tightening portion of the installation channel (211) is formed on the wide section of the base column (21) close to the narrow section, and is staggered with the waist-shaped hole (212).

10. The quick-change tooling for the end tool of the manipulator arm according to claim 1, characterized in that: The tightening ring (251) of the impact column (25) is formed at a position of the impact column (25) close to the base (11), and a retreat space (27) is reserved at the end position of the impact column (25) close to the base (11) for the lock ball (26) to exit the lock ring (131). The lock ball (26) retained in the retreat space (27) is limited in the retreat space (27) by the second axial end face of the tightening ring (251) facing the base (11), the inner wall of the impact column (25), the retaining ring (215) and the outer wall of the receiving sleeve (221).

11. The quick-change tooling for the end tool of the robot arm according to claim 1, characterized in that: A chamfer is formed on the second axial end surface of the tightening ring (251) facing the base (11).

12. The quick-change tooling for the end tool of the robot arm according to claim 1, characterized in that: The unlocking pin (213) is formed at one end of the impact column (25) facing the base (11), and is connected to the impact column (25) via a crossbar (216) extending outside the outer wall of the impact column (25).

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