A rehabilitation robot end module quick change device

Abstract

The present application relates to the technical field of rehabilitation robots, and particularly discloses a quick-change device for an end module of a rehabilitation robot, which comprises a male head assembly, a female head assembly and a module slot fixed to the end of a mechanical arm. The female head assembly is in plug-in cooperation with the male head assembly, and two groups of locking units are symmetrically arranged in the female head seat body. The inner wall of the module slot is provided with first meshing teeth, and the two locking units are provided with second meshing teeth in engagement with the first meshing teeth. The linear plugging and unplugging movement of the female head assembly relative to the module slot is converted into the rotary movement of the locking units through engagement transmission, so as to drive the two groups of locking units to synchronously lock or unlock the male head assembly in two directions. The device realizes automatic indexing of plugging and unplugging linkage, ensures bilateral synchronous locking, and improves the connection stiffness and operation convenience.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation robot technology, and in particular to a quick-change device for the end-effector module of a rehabilitation robot. Background Technology

[0002] When performing different physical therapy tasks such as massage, traction, and heat therapy, rehabilitation robots need to frequently change their end-effector modules. The ease of disassembly and assembly, connection rigidity, and long-term reliability of the end-effector quick-change device directly determine the overall operating efficiency and service life of the machine.

[0003] Traditional eccentric locking quick-change mechanisms rely on manual operation or additional drive components to rotate the eccentric wheel, making module replacement cumbersome. The extra drive components increase the overall weight and control costs, making them unsuitable for lightweight rehabilitation equipment design requirements. Conventional pressure block reset mechanisms are equipped with independent reset springs, which are prone to fatigue and corrosion after repeated insertion and removal, leading to pressure block failure, male connector jamming, and a high failure rate. Uneven clamping force in single-sided eccentric locking structures can cause joint misalignment and loosening under load. Double-sided eccentric wheels share the same set of positioning balls, resulting in asynchronous locking states and insufficient connection rigidity.

[0004] To address the aforementioned issues, relevant patents have proposed improvement solutions. For example, patent CN112959348B discloses an electrically driven steel ball locking robot end effector quick-change device, which relies on a motor to drive the steel ball to complete the locking. This requires a matching drive circuit and control system, resulting in a complex structure and high cost. Another mechanical quick-change connector relies solely on manually rotating the locking ring to achieve locking, and cannot automatically switch work positions with the insertion and removal actions, resulting in insufficient operational convenience. There are also solutions using a slider clamping structure, which lack a gear and rack linkage eccentric wheel rotation design, and the slider reset still relies on a spring, leading to poor reliability in long-term use.

[0005] In summary, the existing technology has not disclosed a quick-change structure that can simultaneously achieve automatic rotation during insertion and removal, independent synchronous positioning with locking on both sides, and self-resetting of the pressure block without springs. It is difficult to meet the comprehensive usage requirements of rehabilitation robots, such as high-frequency disassembly and assembly, lightweight, high rigidity, and maintenance-free operation. Summary of the Invention

[0006] The purpose of this invention is to provide a quick-change device for the end-effector module of a rehabilitation robot, so as to solve the technical problems of cumbersome operation, easy failure of the reset spring, asynchronous locking on both sides and insufficient connection rigidity in the prior art.

[0007] To achieve the above objectives, the present invention provides the following solution: a quick-change device for an end-effector module of a rehabilitation robot, comprising: a male head assembly; a female head assembly, which is inserted into and cooperates with the male head assembly, the female head assembly including a female head base and two sets of locking units disposed within the female head base, the two sets of locking units being respectively disposed on the left and right sides of the female head base and arranged in a mirror-symmetrical manner; a module slot, fixedly assembled to the end of the rehabilitation robot arm for accommodating the female head assembly; the inner wall of the module slot is provided with a first meshing tooth, and the two locking units are respectively provided with a second meshing tooth that meshes and drives with the first meshing tooth, the module slot and the two locking units converting the linear insertion and removal motion of the female head assembly relative to the module slot into the rotational motion of each locking unit through meshing transmission, so that the two sets of locking units synchronously lock or synchronously unlock the male head assembly in both directions.

[0008] Optionally, each of the locking units includes an eccentric wheel and a pressure block. The eccentric wheel is rotatably disposed in the female head seat body, and the pressure block is attached to the outer edge of the eccentric wheel. The second meshing tooth is disposed on the outer edge of the eccentric wheel. When the eccentric wheel rotates, its protruding end presses against the pressure block, causing the pressure block to retract inward to clamp the male head assembly, or to retract outward to release the male head assembly.

[0009] Optionally, the male connector assembly includes a male connector base and male connector pins disposed on the left and right sides of the male connector base. The outer side of the male connector pin has a guide slope. During the unlocking and pulling out process, the guide slope pushes against the pressure block, causing the pressure block to retract to both sides.

[0010] Optionally, the guide bevel is integrally formed on the outside of the male pin, and the guide bevel is inclined outward to fit and press against the end face of the pressure block during the pull-out process.

[0011] Optionally, the two locking units further include independent first elastic positioning components and second elastic positioning components, the first elastic positioning component being used to position the eccentric wheel located on the left side, and the second elastic positioning component being used to position the eccentric wheel located on the right side, so that the locking position and unlocking position of each of the two eccentric wheels are independently positioned.

[0012] Optionally, both the first elastic positioning component and the second elastic positioning component include two spring beads. The end face of each eccentric wheel is provided with two positioning recesses corresponding to the locking position and the unlocking position, respectively. The two spring beads elastically press against the end face of the eccentric wheel, and the ends of the spring beads are engaged in the corresponding positioning recesses.

[0013] Optionally, the second meshing teeth are evenly distributed along the outer edge of the eccentric wheel, and a single complete insertion and extraction stroke drives each eccentric wheel to rotate 90°, so that each eccentric wheel switches between the locking position and the unlocking position.

[0014] Optionally, the male connector assembly further includes a spring-loaded male socket, and the female connector assembly further includes a spring-loaded female socket. The spring-loaded male socket and the spring-loaded female socket are in contact with each other in the locked state to achieve electrical connection.

[0015] Optionally, the spring ejector male seat is disposed in the middle of the male head assembly, and the spring ejector female seat is fixedly disposed in the middle of the cavity of the female head body; when the male head assembly and the female head assembly are fully locked, the spring ejector male seat and the spring ejector female seat are directly facing and fitted together along the insertion direction.

[0016] Optionally, the male connector assembly further includes a first positioning pin and a second positioning pin, which are symmetrically arranged on both sides of the male connector assembly; a limiting groove is correspondingly provided in the female connector body, and the first positioning pin and the second positioning pin are embedded in the corresponding limiting groove when inserted to restrict the circumferential rotation of the male connector assembly relative to the female connector assembly.

[0017] Optionally, the first positioning pin and the second positioning pin are respectively disposed on both sides of the spring ejector pin male seat of the male connector assembly, and the limiting groove is disposed on the inner wall of the cavity of the female connector body and corresponds one-to-one with the positions of the first positioning pin and the second positioning pin.

[0018] Optionally, the female head seat body includes a female head cover and a female head lower cover, the female head cover and the female head lower cover are sealed and fastened to form a fully enclosed cavity, and both locking units are encapsulated inside the fully enclosed cavity.

[0019] Optionally, each of the locking units further includes a pin, and the eccentric wheel is rotatably connected to the female head seat through the pin.

[0020] Optionally, the male head assembly is used for fixed installation on the functional end module, which is a massage module, a heat therapy module, or a traction module.

[0021] Compared with the prior art, the present invention discloses at least the following beneficial effects: The quick-change device for the end effector module of the rehabilitation robot provided by this invention directly converts the linear insertion and removal motion of the female head assembly relative to the module slot into the synchronous rotational motion of the two sets of locking units through the meshing transmission between the first meshing teeth on the inner wall of the module slot and the second meshing teeth of the two sets of locking units. This allows the operator to trigger locking or unlocking actions simultaneously with inserting or removing the end effector module, eliminating the need for manual operation with additional tools or motors, simplifying the replacement process, and reducing the overall weight and control costs. Simultaneously, the two sets of locking units, arranged symmetrically on the left and right sides, perform synchronous bidirectional locking or unlocking under the drive of meshing transmission, ensuring that both sides of the male head assembly are subjected to force simultaneously and that the clamping force is evenly distributed. This avoids misalignment and loosening caused by unilateral locking, significantly improving the connection rigidity and vibration and impact resistance in the locked state.

[0022] In addition, the synchronous bidirectional unlocking mechanism, combined with the guide slope of the male pin, pushes the pressure block to the sides, making the pull-out process smooth and without jamming. It also eliminates the need for an independent return spring for the pressure block, fundamentally eliminating the risk of spring fatigue failure, extending the service life of the device under frequent disassembly and replacement conditions, reducing the maintenance frequency, and taking into account the comprehensive requirements of rehabilitation robots for lightweight, high reliability, and heavy load clamping. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the overall assembly of the quick-change device for the end module of the rehabilitation robot according to an embodiment of the present invention. Figure 2 This is a schematic diagram of the male connector assembly in an embodiment of the present invention; Figure 3 This is a front view of the female head assembly in an embodiment of the present invention; Figure 4 This is a side view of the female head assembly in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of the lower cover of the female head in an embodiment of the present invention; Figure 6 This is a schematic diagram of the female connector assembly in the locked state according to an embodiment of the present invention; Figure 7 for Figure 6 Sectional view at point AA; Figure 8 This is a schematic diagram of the female connector assembly in the unlocked state according to an embodiment of the present invention; Figure 9 for Figure 8 Sectional view at point BB.

[0025] Figure label: 100. Male connector assembly; 101. Male connector base; 102. Male connector pin; 103. Spring ejector pin male connector; 104. First locating pin; 105. Second locating pin; 200. Female head assembly; 201. Female head cover; 202. Female head lower cover; 203. Left toothed eccentric wheel; 204. Left pressure block; 205. Left cylindrical pin; 206. First spring ball; 207. Second spring ball; 208. Right toothed eccentric wheel; 209. Right pressure block; 210. Right cylindrical pin; 211. Third spring ball; 212. Fourth spring ball; 213. Spring ejector pin seat; 300. Module slot. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0028] Reference Figure 1 As shown, this embodiment provides a quick-change device for end-effector modules of a rehabilitation robot, including a male connector assembly 100, a female connector assembly 200, and a module slot 300. The male connector assembly 100 is used for fixed installation on different functional end-effector modules such as massage, heat therapy, and traction. The female connector assembly 200 is pre-installed in the module slot 300, which is fixedly assembled to the end of the main unit of the rehabilitation robot's robotic arm. Through the insertion and removal of the male connector assembly 100 and the female connector assembly 200, the quick replacement and reliable locking of different functional end-effector modules can be achieved.

[0029] like Figure 2 As shown, the male connector assembly 100 uses the male connector base 101 as the integral support body, and all male end parts are integrated on the male connector base 101. Male connector pins 102 are symmetrically fixed on the left and right sides of the male connector base 101. An inclined guide slope is integrally formed on the outer side of the male connector pin 102. The inclined slope faces outward and is used to fit and squeeze against the end face of the pressure block during the pull-out process.

[0030] The male base 101 integrates a spring-loaded pin male seat 103 in its center, which serves as the conductive medium for the male end. The male base 101 is also symmetrically arranged with a first positioning pin 104 and a second positioning pin 105. The two positioning pins are located on both sides of the spring-loaded pin male seat 103 and are used to embed into the corresponding limiting groove of the female head cavity during insertion to limit the radial torsion of the male head and ensure precise alignment of the conductive pins.

[0031] like Figure 3 and Figure 4 As shown, the female connector assembly 200 consists of a female upper cover 201 and a female lower cover 202, which are sealed and fastened together with bolts to form a fully enclosed dustproof cavity. This enclosed cavity completely encapsulates the left locking unit, the right locking unit, and the conductive docking components, isolating them from external dust and debris. The female connector assembly 200 contains a total of 13 independent components, including the left locking unit, the right locking unit, and the conductive docking components.

[0032] Specifically, the left locking unit includes a left toothed eccentric wheel 203, a left pressure block 204, a left cylindrical pin 205, a first spring bead 206, and a second spring bead 207.

[0033] The right-side locking unit includes a right-side toothed eccentric wheel 208, a right-side pressure block 209, a right-side cylindrical pin 210, a third spring ball 211, and a fourth spring ball 212.

[0034] The left toothed eccentric wheel 203 and the right toothed eccentric wheel 208 are arranged in a mirror-symmetrical manner within the cavity of the female head assembly 200. The left toothed eccentric wheel 203 passes through the left cylindrical pin 205 and is rotatably connected to the lower cover 202 of the female head, and can rotate freely around the left cylindrical pin 205; the right toothed eccentric wheel 208 passes through the right cylindrical pin 210 and is rotatably connected to the lower cover 202 of the female head, and can rotate freely around the right cylindrical pin 210.

[0035] The left pressure block 204 is arranged in a one-to-one correspondence with the left toothed eccentric wheel 203, and fits against the outer edge of the left toothed eccentric wheel 203; the right pressure block 209 is arranged in a one-to-one correspondence with the right toothed eccentric wheel 208, and fits against the outer edge of the right toothed eccentric wheel 208. When each toothed eccentric wheel rotates, its protruding end can unidirectionally press against the corresponding pressure block, causing the pressure block to retract inward to clamp the male pin 102.

[0036] like Figure 5 and Figure 6As shown, the outer edges of the left toothed eccentric wheel 203 and the right toothed eccentric wheel 208 are uniformly machined with second meshing teeth. The female head assembly 200 is integrally installed in the module slot 300, which is a single integrally formed part with first meshing teeth integrally formed on its inner wall. The first meshing teeth on the inner wall of the slot match the module of the second meshing teeth on the outer edges of the left and right toothed eccentric wheels, forming a gear and rack meshing pair. A single complete insertion and removal stroke can drive each toothed eccentric wheel to rotate 90°, thereby realizing the switching between the locking and unlocking positions.

[0037] Based on the above embodiment, the left toothed eccentric wheel 203 is further provided with two symmetrical positioning recesses on its end face, which correspond to the locking and unlocking positions of the left toothed eccentric wheel 203, respectively. The first spring ball 206 and the second spring ball 207 are two independent elastic components that work together with the left toothed eccentric wheel 203. They elastically press against the end face of the left toothed eccentric wheel 203, and their ends can elastically engage in the corresponding positioning recesses, thereby achieving elastic limiting and anti-loosening of the left toothed eccentric wheel 203 in the locking or unlocking positions.

[0038] Similarly, two symmetrical positioning recesses are also provided on the end face of the right toothed eccentric wheel 208. The two positioning recesses correspond to the locking position and unlocking position of the right toothed eccentric wheel 208, respectively. The third spring ball 211 and the fourth spring ball 212 are two independent elastic components that work together with the right toothed eccentric wheel 208. They elastically press against the end face of the right toothed eccentric wheel 208, and their ends can elastically engage in the corresponding positioning recesses to achieve elastic limiting and anti-loosening of the right toothed eccentric wheel 208 in the locking or unlocking position.

[0039] In one specific embodiment, a spring ejector pin seat 213 is fixed at the center of the cavity of the female connector assembly 200, arranged in the middle of the female connector cavity. When the male connector assembly 100 and the female connector assembly 200 are fully locked, the spring ejector pin seat 103 and the spring ejector pin seat 213 are in close contact with each other, achieving electrical connection. At the same time, the first positioning pin 104 and the second positioning pin 105 are embedded in the corresponding limiting grooves of the female connector cavity, cooperating with the female connector cavity to limit and complete circumferential anti-rotation positioning, preventing the male connector from twisting and misaligning, ensuring that the spring ejector pin seat 103 and the spring ejector pin seat 213 are accurately aligned, and avoiding poor contact.

[0040] The following is combined Figures 6 to 9 The locking and unlocking process of the quick-change device in this embodiment is described in detail.

[0041] like Figure 6 and Figure 7 As shown, Figure 6 This is a schematic diagram of the female connector assembly in the locked state. Figure 7 for Figure 6Sectional view at point AA.

[0042] During the locking operation, the assembled male connector assembly 100, together with the female connector assembly 200, is pushed into the module slot 300. During this insertion, the first meshing teeth on the inner wall of the module slot 300 engage with the second meshing teeth on the outer edges of the left toothed eccentric wheel 203 and the right toothed eccentric wheel 208, synchronously driving them to rotate 90°. At this time, the protruding ends of the left and right toothed eccentric wheels 203 and 208 respectively face and press against the left and right pressure blocks 204 and 209, causing them to converge inwards synchronously. This bidirectionally clamps the two male pins 102 on the male connector assembly 100, achieving symmetrical and uniform clamping on both sides. Simultaneously, the first spring ball 206 and the second spring ball 207 engage with the locking and positioning recess of the left toothed eccentric wheel 203, while the third spring ball 211 and the fourth spring ball 212 engage with the locking and positioning recess of the right toothed eccentric wheel 208, respectively locking the rotation angles of the left and right eccentric wheels to resist vibration and load impact and prevent loosening. At this time, the male spring ejector pin 103 and the female spring ejector pin 213 are fully engaged and connected, and the first positioning pin 104 and the second positioning pin 105 complete circumferential limiting, allowing the robot to drive the end effector module to operate normally.

[0043] like Figure 8 and Figure 9 As shown, Figure 8 This is a schematic diagram of the female connector assembly in the unlocked state. Figure 9 for Figure 8 Sectional view at point BB.

[0044] When the end module needs to be replaced, pull out the male connector assembly 100 and the female connector assembly 200. During the pulling process, the first meshing tooth of the module slot 300 drives the left toothed eccentric wheel 203 and the right toothed eccentric wheel 208 to rotate synchronously by 90°. The protruding ends of the two eccentric wheels disengage from the corresponding pressure blocks, and the pressure blocks lose their lateral pressing force. As the male connector assembly 100 is pulled outward, the guide slope on the outside of the male connector pin 102 continuously pushes against the left pressure block 204 and the right pressure block 209. The slope force causes the two pressure blocks to automatically retract to both sides, without the need for any return spring assistance. After the male connector assembly 100 is completely pulled out, the four spring beads respectively engage in the unlocking positioning recesses of their corresponding eccentric wheels, keeping the entire mechanism in the normally open state. At this point, other functional male connector modules can be directly replaced.

[0045] The quick-change device provided in this embodiment of the invention operates on the following principle: The first meshing tooth on the inner wall of the module slot 300 and the outer edge teeth of the rotatable toothed eccentric wheel inside the female head assembly 200 form a gear and rack meshing pair, converting the linear motion of the robotic arm inserting and removing the module into the rotational motion of the eccentric wheel, thereby realizing the automatic switching between locking and unlocking positions. In the locked state, the protruding end of the eccentric wheel presses against the pressure block, and the locking units arranged symmetrically on both sides form a bidirectional clamping on the male head pin 102. Two sets of independent spring beads respectively perform dual-position positioning of the left and right eccentric wheels, ensuring synchronous, stable, and anti-loosening locking. When unlocking and pulling out, the guide slope on the pin directly drives the pressure block to move laterally, abandoning the traditional return spring structure and fundamentally solving the problem of spring fatigue failure.

[0046] Compared with the prior art, the present invention has at least the following beneficial effects: This invention employs a gear and rack linkage structure consisting of the first meshing tooth of the module slot and a toothed eccentric wheel. The insertion and removal of the module directly drives the eccentric wheel to rotate and lock or unlock, eliminating the need for manual operation and additional motor drive, thus simplifying operation and reducing the overall weight and control costs. Each eccentric wheel on both sides is equipped with an independent spring bead assembly, ensuring that the left and right workstations do not interfere with each other, guaranteeing synchronous locking of both eccentric wheels, uniform clamping force, and improved connection rigidity and load capacity. The return spring for the pressure block is eliminated; the pressure block automatically retracts due to the inclined reaction force when the male pin is pulled out, avoiding spring fatigue, corrosion, and jamming failures, extending the service life of the mechanism, and reducing maintenance frequency. The overall design features a symmetrical double-locking layout, a built-in enclosed cavity for protection, and an integrated conductive pin connection structure, perfectly adapting to the frequent disassembly and assembly of end modules in rehabilitation robots, balancing the comprehensive requirements of lightweight design, high reliability, and high-load clamping.

[0047] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0048] The above embodiments are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A quick-change device for the end effector module of a rehabilitation robot, characterized in that, include: Male connector (100); The female connector assembly (200) is plugged into the male connector assembly (100). The female connector assembly (200) includes a female connector body and two sets of locking units disposed in the female connector body. The two sets of locking units are respectively disposed on the left and right sides of the female connector body and are arranged in a mirror symmetrical manner. The module slot (300) is fixedly mounted to the end of the rehabilitation robot arm to accommodate the head assembly (200). The inner wall of the module slot (300) is provided with a first meshing tooth, and the two locking units are respectively provided with a second meshing tooth that meshes and drives with the first meshing tooth. The module slot (300) and the two locking units are connected by meshing and driving to convert the linear insertion and removal motion of the female head assembly (200) relative to the module slot (300) into the rotational motion of each locking unit, so that the two sets of locking units can synchronously lock or synchronously unlock the male head assembly (100).

2. The quick-change device for the end-effector module of the rehabilitation robot according to claim 1, characterized in that, Each of the locking units includes an eccentric wheel and a pressure block. The eccentric wheel is rotatably disposed in the female head seat body, and the pressure block is attached to the outer edge of the eccentric wheel. The second meshing tooth is disposed on the outer edge of the eccentric wheel. When the eccentric wheel rotates, its protruding end presses against the pressure block, causing the pressure block to retract inward to clamp the male head assembly (100), or to retract outward to release the male head assembly (100).

3. The quick-change device for the end-effector module of the rehabilitation robot according to claim 2, characterized in that, The male connector assembly (100) includes a male connector base (101) and male connector pins (102) disposed on the left and right sides of the male connector base (101). The outer side of the male connector pin (102) has a guide slope. During the unlocking and pulling out process, the guide slope pushes against the pressure block, causing the pressure block to retract to both sides.

4. The quick-change device for the end-effector module of the rehabilitation robot according to claim 3, characterized in that, The guide bevel is integrally formed on the outside of the male pin (102), and the guide bevel is inclined outward to fit and press against the end face of the pressure block during the pull-out process.

5. The quick-change device for the end-effector module of the rehabilitation robot according to claim 2, characterized in that, The two locking units also include independent first elastic positioning components and second elastic positioning components. The first elastic positioning component is used to position the eccentric wheel located on the left side, and the second elastic positioning component is used to position the eccentric wheel located on the right side, so that the locking position and unlocking position of each of the two eccentric wheels are independently positioned.

6. The quick-change device for the end-effector module of the rehabilitation robot according to claim 5, characterized in that, The first elastic positioning component and the second elastic positioning component both include two spring beads. The end face of each eccentric wheel is provided with two positioning recesses corresponding to the locking position and the unlocking position, respectively. The two spring beads elastically press against the end face of the eccentric wheel, and the ends of the spring beads are engaged in the corresponding positioning recesses.

7. The quick-change device for the end-effector module of the rehabilitation robot according to claim 2, characterized in that, The second meshing teeth are evenly distributed along the outer edge of the eccentric wheel. A single complete insertion and extraction stroke drives each eccentric wheel to rotate 90°, so that each eccentric wheel switches between the locking position and the unlocking position.

8. The quick-change device for the end-effector module of the rehabilitation robot according to claim 1, characterized in that, The male connector assembly (100) further includes a spring-loaded male connector (103), and the female connector assembly (200) further includes a spring-loaded female connector (213). The spring-loaded male connector (103) and the spring-loaded female connector (213) are in contact with each other in the locked state to achieve conductive connection.

9. The quick-change device for the end-effector module of the rehabilitation robot according to claim 8, characterized in that, The spring ejector male seat (103) is disposed in the middle of the male head assembly (100), and the spring ejector female seat (213) is fixedly disposed in the middle of the cavity of the female head seat body; when the male head assembly (100) and the female head assembly (200) are fully locked, the spring ejector male seat (103) and the spring ejector female seat (213) are aligned and fitted together along the insertion direction.

10. The quick-change device for the end-effector module of the rehabilitation robot according to claim 1, characterized in that, The male connector assembly (100) further includes a first positioning pin (104) and a second positioning pin (105), which are symmetrically arranged on both sides of the male connector assembly (100). A limiting groove is correspondingly provided in the female connector body. When the first positioning pin (104) and the second positioning pin (105) are inserted, they are embedded in the corresponding limiting groove to restrict the circumferential rotation of the male connector assembly (100) relative to the female connector assembly (200).

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