End effector quick-change structure with emergency release function

Abstract

An end effector quick-change structure with an emergency release function is mounted at an execution end of a mechanical arm and comprises a mounting plate fixedly connected with the execution end, side plates are detachably assembled on the two sides of the mounting plate respectively, a limiting groove is further formed in the inner side of each side plate, a physiotherapy head is mounted between the two side plates, and the physiotherapy head is fixedly connected with the execution end of the mechanical arm. And the physiotherapy head comprises a connecting assembly and a physiotherapy body, a penetrating cavity is formed in the middle of each side plate, an executing mechanism is movably assembled in each penetrating cavity, and each executing mechanism comprises an operation assembly and a pre-tightening monitoring assembly. In the exception handling process, through the pre-tightening monitoring assembly, when the contact pressure is increased abnormally, the contact pressure is sensed by the monitoring sensor, and a signal is fed back in time when the contact pressure exceeds the preset safety threshold value, so that soft tissue contusion or more serious damage caused by the fact that the pressure cannot be released is fundamentally avoided, the safety performance is greatly improved, and after equipment stops, the safety performance is improved. And the physiotherapy head can be taken out or replaced by using the operation button.

Description

Technical Field

[0001] This invention relates to the field of physical therapy technology, and in particular to a quick-change structure for an end effector with an emergency release function. Background Technology

[0002] As robotics and automation technologies are increasingly applied in fields such as medical rehabilitation and healthcare, the demand for robotic arm systems that can replace or assist manual physiotherapy is growing. These systems require the rapid replacement of different physiotherapy actuators based on the treatment area, technique, and intensity requirements.

[0003] Existing quick-change end-effectors for robotic arms are mostly used in industrial fields (such as welding torches and clamps). They are bulky and complex to operate, making replacement troublesome and affecting work progress. In the field of physiotherapy, there are also structures that use robotic arms to carry physiotherapy heads. The physiotherapy heads can provide all-round physiotherapy according to a preset path via the robotic arm. However, in this physiotherapy process, due to the fixed connection of the physiotherapy head, during the operation of the robotic arm, sudden changes in joints or physiotherapy areas, such as encountering the spine, cannot be buffered and released at the contact point, causing the physiotherapy head to maintain the original pressure for physiotherapy, which can easily cause contusions. In severe cases, it can cause paralysis. Secondly, in abnormal situations (such as control system failure, failure to respond to emergency stop, etc.), it is not possible to quickly release the lock, causing the massage head to continuously compress the human body, which poses a safety hazard. Summary of the Invention

[0004] To address the issues of pressure not being released or buffered during physiotherapy, and the inability to quickly release the lock under abnormal conditions, this invention employs the following technical solution: An end effector quick-change structure with emergency release function is installed on the execution end of a robotic arm. It includes a mounting plate fixedly connected to the execution end, with detachable side plates on both sides of the mounting plate. Each side plate has a limiting groove on its inner side. A treatment head is installed between the two side plates, and the sides of the treatment head also cooperate with the limiting groove. The treatment head includes a connecting component and a treatment body. A through cavity is formed in the middle of each side plate, and an execution mechanism is movably mounted within each through cavity. The execution mechanism includes an operating component and a pre-tension monitoring component. The pre-tension monitoring component is fixed below the operating component, and its bottom contacts the top of the treatment head. The operating component is movably mounted within the through cavity. A baffle is fixed in the middle of the through cavity, with a guide hole in the middle of the baffle. A guide rod is installed within the guide hole, and one end of the guide rod is fixed to the operating component. A return spring is fixedly mounted on the outer side of the baffle, and the return spring is also fitted onto the guide rod.

[0005] Preferably, the operating component includes an operating block, which is L-shaped. A groove is formed on the side of the operating block opposite to the baffle, dividing the operating block into left and right parts. A spring cover plate is also fitted on the horizontal end of the operating block. A horizontal plate is also fixedly installed between the left and right parts of the operating block, and the horizontal plate is located inside the side plate. A pre-tightening monitoring component is also fixedly installed at the bottom of the horizontal plate.

[0006] Preferably, the top of the portion of the operating block extending into the inner side of the side plate is symmetrically provided with two first ball-head locating pins, which also contact the bottom of the mounting plate.

[0007] Preferably, the pre-tightening monitoring component includes a lifting plate, the bottom of which contacts the top of the therapy head. A lifting sleeve is also fixedly installed in the middle of the lifting plate. The lifting sleeve extends into the cover and is movably fitted together with the cover. The top of the cover is also fixedly connected to the bottom of the horizontal plate through multiple connecting posts. A monitoring sensor is also installed on the horizontal plate. The monitoring sensor is also fixedly connected to a linkage component, which is installed inside the lifting sleeve and the cover.

[0008] Preferably, the linkage component includes a first spring, the bottom of which is fixed to the inner bottom of the lifting sleeve, the top of which is fixedly connected to a telescopic rod, the telescopic rod being fitted inside a fixed sleeve, the other end of which is fixedly connected to the bottom of a second spring, the top of which is also fixedly connected to a monitoring sensor, the sleeve also having a sliding hole extending laterally, a drive plate being fitted inside the sliding hole, the telescopic rod also having an inclined hole extending through it, and the middle connecting part of the drive plate passing through the inclined hole.

[0009] Preferably, right-angle guide plates are fixed on both sides of the inner side of the lifting sleeve. The two right-angle guide plates are on the same plane and are arranged in a centrally symmetrical manner. Both ends of the driving plate have inclined surfaces, and each inclined surface slides in contact with the inclined side of the corresponding right-angle guide plate.

[0010] Preferably, two second ball-head locating pins are symmetrically arranged at the bottom of each lifting plate, and each second ball-head locating pin is in contact with the top of the connecting component.

[0011] Preferably, the connecting component includes a connecting block, with limiting portions on both sides of the connecting block, the limiting portions cooperating with limiting grooves, and vertical grooves symmetrically formed on the upper part of the connecting block, with one end of each vertical groove penetrating the entire connecting block. A connecting cover is also fixed at the bottom of the connecting block, and the connecting cover is detachably assembled with the physiotherapy body.

[0012] Preferably, a limiting plate is fixedly installed on the top of the physiotherapy body. The upper part of the limiting plate has a protrusion, and the interior of the connecting cover has a recess. The protrusion is fitted into the recess. A button is slidably provided on the protrusion. Limiting baffles are provided on both sides of the button. Two limiting protrusions are fixedly provided inside the connecting cover. Each limiting protrusion cooperates with a corresponding limiting baffle.

[0013] Preferably, the connecting cover also has a groove, which is located between two limiting protrusions and cooperates with the button, and the physiotherapy body is also fitted with a human silicone sleeve.

[0014] The beneficial effects of this invention are as follows: First, radial positioning is achieved through the limiting grooves on both side plates and the limiting part of the therapy head, followed by axial clamping by the actuator to achieve locking. During replacement, simply press the operating component inward to align the bottom of the pre-tightening monitoring component with the vertical groove to easily remove the therapy head. The operation is intuitive and tool-free, greatly improving maintenance and switching efficiency. The modular connecting components are connected to the therapy body via button clips, further facilitating the individual replacement and cleaning of the therapy body.

[0015] Secondly, this invention integrates a pre-tension monitoring component. During physiotherapy, when the contact pressure abnormally increases (such as when encountering bony prominences), the lifting plate is lifted. Through a precision linkage mechanism consisting of a right-angle guide plate, a drive plate, and an inclined hole, the vertical displacement is converted into tension on the second spring, which is then detected by the monitoring sensor. This system can monitor the pressure status in real time and promptly feed back a signal to the control system when the pressure exceeds a preset safety threshold, causing the equipment to stop or adjust. This fundamentally avoids soft tissue contusions or more serious injuries caused by the inability to release pressure, significantly improving safety performance.

[0016] Third, the first and second springs inside the pre-tension monitoring component form a dual buffer system. When the pressure fluctuates but does not exceed the limit, the spring system can absorb and buffer the impact, giving the therapy head a certain degree of flexibility and improving the comfort of the therapy. This buffering mechanism makes the therapy process no longer a rigid contact, but closer to human hand therapy. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a three-dimensional partial schematic diagram from another perspective of the present invention; Figure 3 This is a schematic diagram of the mounting structure of the robotic arm's actuator. Figure 4 A schematic diagram of the three-dimensional assembly structure of the physiotherapy head; Figure 5 A three-dimensional structural diagram of the actuator; Figure 6 This is a three-dimensional structural diagram of the actuator from another angle; Figure 7 A cross-sectional structural diagram of the actuator; Figure 8 This is a schematic diagram of the exploded structure of a physiotherapy head; Figure 9 This is a schematic diagram of the internal structure of the connecting cover; In the diagram: 1. Robotic arm; 2. Mounting plate; 3. Side plate; 4. Limiting groove; 5. Therapy head; 50. Connecting assembly; 51. Therapy body; 6. Through cavity; 7. Actuator; 70. Operating assembly; 71. Pre-tension monitoring assembly; 8. Baffle; 9. Guide hole; 10. Guide rod; 11. Return spring; 701. Operating block; 702. Slide groove; 703. Spring cover plate; 704. Horizontal plate; 12. First ball head positioning pin; 711. Lifting plate; 712. Lifting sleeve; 713. Cover; 714. Connecting column; 715. Monitoring sensor; 716. Linkage. Component 716, first spring 7160, telescopic rod 7161, sleeve 7162, second spring 7163, sliding hole 7164, drive plate 7165, inclined hole 7166, right angle guide plate 13, second ball head positioning pin 14, connecting block 501, limiting part 502, vertical groove 503, connecting cover 504, limiting plate 505, protrusion 506, recess 507, button 508, limiting baffle 509, limiting protrusion 510, slot 15 and human silicone sleeve 16. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0019] In the description of this invention, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0020] Example 1: See appendix Figure 1-9An end effector quick-change structure with emergency release function is installed on the actuator end of a robotic arm 1. It includes a mounting plate 2 fixedly connected to the actuator end, which can be fixedly connected to the actuator end by screws or pins. Side plates 3 are detachably mounted on both sides of the mounting plate 2, forming a gate-shaped structure with the mounting plate 2. A treatment head 5 is mounted in the middle of the gate-shaped structure. Each side plate 3 has a limiting groove 4 on its inner side, which cooperates with a limiting part 502. Essentially, the treatment head 5 is mounted in the middle through the two limiting grooves 4. During normal treatment, the treatment head 5 is fixed in the limiting groove 4 by the actuators 7 on both sides. When it is necessary to replace the treatment head 5... To perform this, simply move the two actuators 7 on both sides towards the center. When the bottoms of the two actuators 7 align with the vertical groove 503, they are locked. This allows the treatment head 5 to be lifted upwards and then moved laterally in the direction of the opening of the vertical groove 503, thus removing the treatment head 5 as a whole. The two side plates 3 are used to install the treatment head 5, and the sides of the treatment head 5 also cooperate with the limiting grooves 4. The treatment head 5 includes a connecting component 50 and a treatment body 51. The connecting component 50 can be adapted to various models of treatment bodies 51 and can be quickly assembled. A through cavity 6 is opened in the middle of each side plate 3, and an actuator is movably mounted in each through cavity 6. The actuator 7 is laterally movable along the through cavity 6. The actuator 7 includes an operating component 70 and a pre-tension monitoring component 71. The pre-tension monitoring component 71 primarily monitors the contact pressure between the lifting plate 711 and the treatment head 5 during physiotherapy, releasing the contact pressure to prevent injuries and other safety hazards. The pre-tension monitoring component 71 is fixed below the operating component 70, with its bottom contacting the top of the treatment head 5. The operating component 70 is also movably installed within the through cavity 6. A baffle 8 is fixed in the middle of the through cavity 6, with a guide hole 9 in the middle. A guide rod 10 is fitted into the guide hole 9. One end of the guide rod 10... The end is also fixed to the operating component 70. A return spring 11 is also fixedly installed on the outer side of the baffle 8. The return spring 11 mainly allows the actuator 7 to return to its initial position when the pressure is released. That is, when the return spring 11 is in the compressed state, the two actuators 7 are close to each other. When the return spring 11 is in the extended state, the two actuators 7 are far apart from each other. During the process of moving away, the replacement physiotherapy head 5 can be locked gradually. At this time, the bottom of the limiting part 502 contacts the bottom surface of the limiting groove 4, locking the first ball head positioning pin 12 and the second ball head positioning pin 14 on the upper and lower surfaces in close contact with the corresponding contact surfaces. The return spring 11 is also fitted on the guide rod 10.

[0021] See appendix Figures 5-6The operating component 70 includes an operating block 701, which acts as a switch. The operating block 701 can move laterally under external force. The operating block 701 is L-shaped, and a groove 702 is formed on the side of the operating block 701 opposite to the baffle 8. The baffle 8 is located on the lower surface of the operating block 701. The groove 702 divides the operating block 701 into left and right parts. A spring cover plate 703 is also fitted to the horizontal end of the operating block 701. The spring cover plate 703 is a pressing end and can also be pushed electrically or pneumatically. A horizontal plate 704 is fixedly installed between the left and right parts of the operating block 701, and the horizontal plate 704 is located inside the side plate 3. During the movement of the operating block 701, the pre-tension monitoring component 71 moves accordingly. The pre-tension monitoring component 71 is also fixedly fitted to the bottom of the horizontal plate 704. During normal physiotherapy, i.e., when the pressure is stable within a certain range, such as... Figure 2 As shown, the physiotherapy head 5 is locked in the limiting groove 4, and the physiotherapy head 5 as a whole will not move up or down or left or right.

[0022] See Figure 5 The top of the part of the operating block 701 that extends into the inner side of the side plate 3 is also symmetrically provided with two first ball head positioning pins 12. The first ball head positioning pins 12 are also in contact with the bottom of the mounting plate 2. The two first ball head positioning pins 12 can reduce friction during the movement of the operating block 701, making it easier to move and preventing it from getting stuck and causing difficulty in pressing.

[0023] See Figure 5-7 The pre-tightening monitoring component 71 includes a lifting plate 711. When the pressure reaches a certain value, the lifting plate 711 moves upwards to provide timely buffering. During this process, the bottom of the lifting plate 711 also contacts the top of the treatment head 5. Because the limiting groove 4 has a certain height, the treatment head 5 is essentially locked during this process. The bottom of the lifting plate 711 contacts the top of the connecting component 50. A lifting sleeve 712 is also fixedly installed in the middle of the lifting plate 711. The lifting sleeve 712 moves with the lifting plate 711. Part of the lifting sleeve 712 extends into the cover 713 and is movably fitted together with the cover 713. The lifting sleeve 712 will not detach from the cover 713. Generally, its edges have a limiting... The positioning plate prevents the lifting sleeve 712 from detaching from the cover 713. The top of the cover 713 is also fixedly connected to the bottom of the horizontal plate 704 via multiple connecting posts 714. The horizontal plate 704 is also equipped with a monitoring sensor 715, which is also fixedly connected to the linkage component 716. The linkage component 716 is installed inside the lifting sleeve 712 and the cover 713. The linkage component 716 can convert the displacement caused by pressure into a tensile signal, which is the signal monitored by the monitoring sensor 715. For each different position in the physiotherapy, a safety threshold is generally set. After the safety threshold is exceeded, the system will automatically stop the physiotherapy or remove the robotic arm in time to reduce the risk of contusion.

[0024] See Figure 6-7 The linkage component 716 includes a first spring 7160, the bottom of which is fixed to the bottom of the lifting sleeve 712. The top of the first spring 7160 is fixedly connected to a telescopic rod 7161, which is fitted inside a fixed sleeve 7162. The other end of the telescopic rod 7161 is fixedly connected to the bottom of a second spring 7163, and the top of the second spring 7163 is also fixedly connected to a monitoring sensor 715. The sleeve 7162 also has a sliding hole 7164 extending laterally through it. A drive plate 7165 is fitted inside the sliding hole 7164. The telescopic rod 7161 also has an inclined hole 7166 extending through it, and the middle connecting part of the drive plate 7165 passes through the inclined hole 7166.

[0025] Buffering and monitoring principles: During normal physical therapy, such as Figure 7 As shown, assuming the physiotherapy area is the cervical spine and the safety threshold is 20-30N, during normal physiotherapy, the limiting part 502 at the top of the physiotherapy head 5 is located in the limiting groove 4. The physiotherapy head 5 performs physiotherapy according to the normal path under the action of the robotic arm 1. At this time, due to user reasons or other external reasons, the contact pressure of the physiotherapy head 5 suddenly becomes 50N. During this process, the lifting plate 711 will move upward. At this time, the lifting sleeve 712 rises as a whole inside the sleeve cover 713. The right-angle guide plates 13 on both sides inside the lifting sleeve 712 will cause the drive plate 7165 to move upward. Moving to the right along the sliding hole 7164, the drive plate 7165 causes the telescopic rod 7161 to move vertically downwards. The telescopic rod 7161 stretches the second spring 7163. Since the second spring 7163 is fixedly connected to the monitoring sensor 715, the stretching pressure will continuously increase. When it exceeds the maximum value of the safety threshold of 30N, the system will automatically terminate the operation. During this process, the physiotherapy head 5 will not be fixed in place as in the traditional method. The monitoring sensor 715 in the pre-tension monitoring component 71 can be a pressure sensor or a micro switch. When the pressure of the lifting plate 711 is too high and rises to the preset limit safety position, the linkage component 716 will trigger the pressure sensor or micro switch to generate an electrical signal. After receiving this over-limit signal, the control system can immediately command the robotic arm 1 to perform an emergency retraction action or stop applying pressure and issue an audible and visual alarm. In addition, the stiffness coefficients of the first spring 7160 and the second spring 7163 can be replaced or pre-adjusted according to the pressure safety threshold of different groups (such as adults, the elderly, and patients in the recovery period). For example, softer spring combinations can be used for children or sensitive areas, allowing the monitoring and buffering mechanisms to be triggered with less contact pressure, thus achieving personalized safety protection.

[0026] See Figure 7The lifting sleeve 712 has two fixed right-angle guide plates 13 on its inner sides. The two right-angle guide plates 13 are on the same plane and are centrally symmetrically arranged. Both ends of the drive plate 7165 have inclined surfaces. During the upward movement of the lifting sleeve 712, the inclined side of one of the right-angle guide plates 13 pushes the inclined surface of the drive plate 7165 it contacts, causing the drive plate 7165 to move laterally. Figure 7 As shown, the drive plate 7165 moves to the right, causing the telescopic rod 7161 to move downwards. This converts the vertical displacement into a stretch on the second spring 7163, which is then detected by the monitoring sensor 715. Each inclined surface slides into contact with the inclined edge of the corresponding right-angle guide plate 13. The first spring 7160 and the second spring 7163 inside the pretension monitoring assembly 71 form a dual buffer system. When the pressure fluctuates but does not exceed the limit, the spring system can absorb and buffer the impact, giving the therapy head a certain degree of flexibility.

[0027] See Figure 5 Two second ball-head locating pins 14 are symmetrically arranged at the bottom of each lifting plate 711, and each second ball-head locating pin 14 contacts the top of the connecting component 50. The first ball-head locating pin 12 at the top of the operating block 701 and the second ball-head locating pin 14 at the bottom of the lifting plate 711 effectively reduce the sliding friction of the relevant contact surfaces. This not only makes the movement of the actuator 7 smoother and less strenuous, but more importantly, it ensures that the physiotherapy head 5 can be stably and centrally pressed into the limiting groove 4 during locking and operation, avoiding jamming or deflection caused by friction, thereby ensuring the accuracy of the motion trajectory of the robotic arm end effector.

[0028] See Figure 4 The connecting component 50 includes a connecting block 501, with limiting portions 502 on both sides of the connecting block 501. The limiting portions 501 cooperate with the limiting grooves 4. The upper part of the connecting block 501 is also symmetrically provided with vertical grooves 503, and one end of each vertical groove 503 passes through the entire connecting block 501. The bottom of the connecting block 501 is also fixed with a connecting cover 504. The connecting cover 504 is also detachably assembled with the physiotherapy body 51. The physiotherapy head can be easily removed by aligning the bottom of the pre-tightening monitoring component 71 with the vertical grooves 503. The operation is intuitive and requires no tools, which greatly improves the efficiency of maintenance and switching.

[0029] See Figure 8-9The top of the physiotherapy body 51 is also fixedly installed with a limiting plate 505. The upper part of the limiting plate 505 has a protrusion 506. The interior of the connecting cover 504 has a recess 507. The protrusion 506 is fitted into the recess 507. A button 508 is also slidably provided on one side of the protrusion 506. Limiting baffles 509 are also provided on both sides of the button 508. Two limiting protrusions 510 are also fixedly provided inside the connecting cover 504. Each limiting protrusion 510 cooperates with the corresponding limiting baffle 509. By pressing the button 508, the limiting plate 505 and the connecting cover 504 can be separated and assembled. The modular connecting component 50 is connected to the physiotherapy body 51 by the button 508, which further facilitates the individual replacement and cleaning of the physiotherapy body.

[0030] The connecting cover 504 also has a slot 15, which is located between two limiting protrusions 510 and cooperates with the button 508. The physiotherapy body 51 is also fitted with a human silicone sleeve 16, which can be replaced at any time, providing a more comfortable contact sensation while protecting the physiotherapy body 51.

[0031] This invention presents a high-performance end effector connection solution that integrates efficient and quick replacement, intelligent safety monitoring, and flexible buffering. It effectively solves the core pain points of inconvenient tool replacement and insufficient operational safety in the field of automated physiotherapy. It is of great value in promoting the practical and safe development of rehabilitation robots and intelligent nursing equipment.

[0032] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments that can be applied to other fields. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A quick-change structure for an end effector with an emergency release function, installed at the execution end of a robotic arm (1), comprising a mounting plate (2) fixedly connected to the execution end, characterized in that, The mounting plate (2) has detachable side plates (3) on both sides. Each side plate (3) has a limiting groove (4) on its inner side. The two side plates (3) are used to install a physiotherapy head (5), and the two sides of the physiotherapy head (5) are used in conjunction with the limiting groove (4). The physiotherapy head (5) includes a connecting component (50) and a physiotherapy body (51). Each side plate (3) has a through cavity (6) in the middle. Each through cavity (6) is also movably fitted with an actuator (7). The actuator (7) includes an operating component (70) and a pre-tightening monitoring component (71). 1) Fixed below the operating component (70), and the bottom of the pre-tightening monitoring component (71) is in contact with the top of the physiotherapy head (5). The operating component (70) is also movably installed in the through cavity (6). A baffle (8) is fixed in the middle of the through cavity (6). A guide hole (9) is opened in the middle of the baffle (8). A guide rod (10) is installed in the guide hole (9). One end of the guide rod (10) is fixed on the operating component (70). A return spring (11) is fixed on the outside of the baffle (8). The return spring (11) is also fitted on the guide rod (10).

2. The end effector quick-change structure with emergency release function according to claim 1, characterized in that, The operating component (70) includes an operating block (701), which is L-shaped. A groove (702) is opened on the side of the operating block (701) opposite to the baffle (8). The groove (702) divides the operating block (701) into left and right parts. A spring cover plate (703) is also fitted on the horizontal end of the operating block (701). A horizontal plate (704) is fixedly installed between the left and right parts of the operating block (701). The horizontal plate (704) is located inside the side plate (3). A pre-tightening monitoring component (71) is also fixedly installed at the bottom of the horizontal plate (704).

3. The end effector quick-change structure with emergency release function according to claim 2, characterized in that, The top of the part of the operating block (701) that extends into the inner side of the side plate (3) is also symmetrically provided with two first ball-head positioning pins (12), and the first ball-head positioning pins (12) are also in contact with the bottom of the mounting plate (2).

4. The end effector quick-change structure with emergency release function according to claim 2, characterized in that, The pre-tightening monitoring component (71) includes a lifting plate (711), the bottom of which contacts the top of the connecting component (50). A lifting sleeve (712) is also fixedly installed in the middle of the lifting plate (711). The lifting sleeve (712) extends into the cover (713) and is movably fitted together with the cover (713). The top of the cover (713) is also fixedly connected to the bottom of the horizontal plate (704) through multiple connecting posts (714). A monitoring sensor (715) is also installed on the horizontal plate (704). The monitoring sensor (715) is also fixedly connected to the linkage component (716). The linkage component (716) is fitted inside the lifting sleeve (712) and the cover (713).

5. The end effector quick-change structure with emergency release function according to claim 4, characterized in that, The linkage component (716) includes a first spring (7160), the bottom of which is fixed to the bottom of the lifting sleeve (712), the top of which is fixedly connected to a telescopic rod (7161), the telescopic rod (7161) being fitted inside a fixed sleeve (7162), the other end of which is fixedly connected to the bottom of a second spring (7163), the top of which is also fixedly connected to a monitoring sensor (715), the sleeve (7162) having a transverse sliding hole (7164), a drive plate (7165) being fitted inside the sliding hole (7164), the telescopic rod (7161) having a through inclined hole (7166), and the middle connecting part of the drive plate (7165) passing through the inclined hole (7166).

6. The end effector quick-change structure with emergency release function according to claim 5, characterized in that, Right-angle guide plates (13) are fixed on both sides of the inside of the lifting sleeve (712). The two right-angle guide plates (13) are on the same plane and are arranged in a centrally symmetrical manner. Both ends of the driving plate (7165) have inclined surfaces, and each inclined surface slides in contact with the inclined side of the corresponding right-angle guide plate (13).

7. The end effector quick-change structure with emergency release function according to claim 4, characterized in that, Two second ball-head locating pins (14) are symmetrically arranged at the bottom of each lifting plate (711), and each second ball-head locating pin (14) is in contact with the top of the connecting assembly (50).

8. The end effector quick-change structure with emergency release function according to claim 1, characterized in that, The connecting component (50) includes a connecting block (501), and the connecting block (501) has a limiting part (502) on both sides. The limiting part (501) cooperates with the limiting groove (4). The upper part of the connecting block (501) also has symmetrical vertical grooves (503), and one end of each vertical groove (503) passes through the entire connecting block (501). The bottom of the connecting block (501) is also fixed with a connecting cover (504), and the connecting cover (504) is also detachably assembled with the physiotherapy body (51).

9. The end effector quick-change structure with emergency release function according to claim 8, characterized in that, The top of the physiotherapy body (51) is also fixedly installed with a limiting plate (505). The upper part of the limiting plate (505) has a protrusion (506). The interior of the connecting cover (504) has a recess (507). The protrusion (506) is fitted into the recess (507). A button (508) is also slidably provided on one side of the protrusion (506). Limiting baffles (509) are also provided on both sides of the button (508). Two limiting protrusions (510) are also fixedly provided inside the connecting cover (504). Each limiting protrusion (510) cooperates with the corresponding limiting baffle (509).

10. The end effector quick-change structure with emergency release function according to claim 9, characterized in that, The connecting cover (504) also has a slot (15) located between two limiting protrusions (510) and cooperates with the button (508). The physiotherapy body (51) is also fitted with a human silicone sleeve (16).

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