Mechanical arm quick-change tail end storage bin, case and health care robot

Abstract

The utility model provides a mechanical arm quick-change tail end storage bin, a case and a health care robot, and belongs to the technical field of medical equipment. The mechanical arm quick-change tail end storage bin comprises a plurality of bin chambers distributed independently, fixing holes suitable for fixing the mechanical arm quick-change tail ends are formed in the bottom walls of the bin chambers, and sensor assemblies suitable for detecting the continuous states of the mechanical arm quick-change tail ends are arranged at the tops of the bin chambers. According to the storage bin for the quick-change tail end of the mechanical arm, regular placement of the quick-change tail end of the mechanical arm can be achieved, the quick-change tail end of the mechanical arm is protected, and an operator can quickly and accurately complete replacement work of the quick-change tail end of the mechanical arm.

Description

Technical Field

[0001] The present application belongs to the technical field of medical equipment, and specifically relates to a quick-change terminal storage bin, a chassis and a health care robot for a robotic arm. Background Art

[0002] Health care robots can provide a variety of health management services such as nursing services, rehabilitation assistance, and health testing. With the development of technology, the functions and application scenarios of health care robots have become richer and more popular, expanding from professional fields to the general public, providing more comprehensive and meticulous services for people of all ages.

[0003] The same robotic arm needs to meet the needs of performing multiple treatment tasks, which requires placing multiple quick-change terminals on the chassis of the health care robot at the same time. In the existing health care robots, there is no special storage bin on the chassis to place these quick-change terminals. The quick-change terminals are easy to fall or be damaged during the process of taking, replacing, and transporting, and errors are easy to occur during the replacement process of the quick-change terminals, which affects the operating efficiency of the health care robot. Utility Model Content

[0004] In order to solve at least one technical problem existing in the background technology, the present application provides a storage bin for a robot arm quick-change end, which can realize the regular placement of the robot arm quick-change end, protect the robot arm quick-change end, and enable the operator to quickly and accurately complete the replacement of the robot arm quick-change end.

[0005] A second aspect of the present application provides a chassis.

[0006] The third aspect of the present application provides a health care robot.

[0007] The technical solution adopted in this application is:

[0008] The first aspect of the present application provides a robotic arm quick-change terminal storage bin, comprising:

[0009] A plurality of independently distributed chambers are provided, wherein a fixing hole suitable for fixing the quick-change end of the robot arm is formed on the bottom wall of the chamber, and a sensor component suitable for detecting the existence status of the quick-change end of the robot arm is arranged on the top of the chamber.

[0010] According to the robotic arm quick-change terminal storage bin provided by the embodiment of the first aspect of the present application, a number of independently distributed bins therein can ensure that each robotic arm quick-change terminal is stored separately to avoid collision or damage between them. The fixing holes on the bottom wall of the bin are suitable for fixing the robotic arm quick-change terminal to ensure the placement stability of the robotic arm quick-change terminal in the bin, and the sensor assembly on the top of the bin is used to detect the existence status of the robotic arm quick-change terminal, so as to ensure that all robotic arm quick-change terminals can be correctly identified and used. In summary, the use of the robotic arm quick-change terminal storage bin provided by the present application can realize the regular placement of the robotic arm quick-change terminal, protect the robotic arm quick-change terminal, and enable the operator to quickly and accurately complete the replacement of the robotic arm quick-change terminal.

[0011] The robotic arm quick-change terminal storage bin provided in this application also includes the following additional technical features:

[0012] According to one embodiment of the present application, it further includes a wire harness cover, wherein the top of the wire harness cover abuts against the bottom wall of the chamber;

[0013] The top of the wiring harness cover is provided with the fixing hole, and the side wall of the wiring harness cover is provided with a wiring harness hole.

[0014] According to one embodiment of the present application, the sensor assembly includes a laser sensor and a signal light.

[0015] According to one embodiment of the present application, the robotic arm quick-change end storage bin further includes a cover plate;

[0016] The opening ends of the chamber and the harness cover are in contact with the cover plate.

[0017] A second aspect of the present application provides a chassis, comprising a chassis body and a robotic arm quick-change end storage bin in any embodiment of the first aspect described above;

[0018] The robotic arm quick-change terminal storage bin is arranged on the side wall of the box body.

[0019] According to an embodiment of the present application, an embedded inverted groove is formed on the box body, and the chamber is embedded in the embedded inverted groove.

[0020] According to one embodiment of the present application, an interactive display screen is further included, and the interactive display screen is arranged on the top plate of the box body.

[0021] The third aspect of the present application provides a health care robot, including:

[0022] A robotic arm, a robotic arm quick-change end disposed on the robotic arm, and a chassis in any embodiment of the second aspect as described above;

[0023] The mechanical arm is arranged on the chassis.

[0024] According to one embodiment of the present application, the robotic arm quick-change end comprises a handle adapter flange, a quick-change base, and a quick-change end clamp;

[0025] The handle adapter flange is connected to the end of the robotic arm, the quick-change base is connected to the handle adapter flange, the quick-change end clamp is detachably connected to the quick-change base, and the quick-change end clamp is suitable for clamping a functional end.

[0026] According to one embodiment of the present application, the handle adapter flange includes a flange body, a first handle and a second handle, the ends of the flange body are respectively connected to the end of the robot arm and the quick-change base, and the first handle and the second handle are respectively arranged on opposite sides of the flange body;

[0027] The quick-change base includes a base body and a locking button arranged on the base body, a first arc-shaped groove is formed on the locking button, and the quick-change end clamp includes a clamping body, a first locking pin and a second locking pin, the first locking pin and the second locking pin are detachably connected to the clamping body, a second arc-shaped groove is formed on the first locking pin and the second locking pin, and a pin hole suitable for the locking pin to pass through is opened on the base body, wherein, in a locked state, the end of the locking button abuts between the two second arc-shaped grooves, and in an unlocked state, the first arc-shaped groove on the locking button is located between the two second arc-shaped grooves. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0029] Figure 1 Schematic diagram of the structure of the robotic arm quick-change terminal storage bin provided in the embodiment of the present application Figure 1 ;

[0030] Figure 2 Schematic diagram of the structure of the robotic arm quick-change terminal storage bin provided in the embodiment of the present application Figure 2 ;

[0031] Figure 3 Schematic diagram of the structure of the robotic arm quick-change terminal storage bin provided in the embodiment of the present application Figure 3 ;

[0032] Figure 4 A schematic diagram of the structure of a chassis provided in an embodiment of the present application;

[0033] Figure 5A schematic diagram of the structure of the health care robot provided in an embodiment of the present application;

[0034] Figure 6 A schematic diagram of the structure of a quick-change end of a robotic arm provided in an embodiment of the present application;

[0035] Figure 7 A schematic diagram of the structure of the handle adapter flange provided in an embodiment of the present application;

[0036] Figure 8 A schematic diagram of the combined structure of the quick-change base and the quick-change end clamp provided in an embodiment of the present application;

[0037] Fig. 9 Schematic diagram of the exploded structure of the quick-change base and the quick-change end clamp provided in the embodiment of the present application Figure 1 ;

[0038] Fig.10 A schematic diagram of the matching structure of the first locking pin, the second locking pin and the locking button in the locked state provided in an embodiment of the present application;

[0039] Fig.11 A schematic diagram of the coordination structure of the first locking pin, the second locking pin, and the locking button in the unlocked state provided in an embodiment of the present application.

[0040] in,

[0041] 1. Storage bin at the end of the quick-change robot arm; 11. Bin; 111. Fixing hole; 1121. Laser sensor; 1122. Signal light; 12. Wire harness cover; 121. Wire harness hole;

[0042] 2. Chassis; 21. Box body; 22. Interactive display screen;

[0043] 3. Healthcare robot; 31. Robotic arm; 32. Robotic arm quick-change end; 321. Handle adapter flange; 3211. Flange body; 3212. First handle; 3213. Second handle; 322. Quick-change base; 3221. Base body; 3222. Locking button; 32221. First arc-shaped groove; 323. Quick-change end clamp; 3231. Clamping body; 3232. First locking pin; 3233. Second locking pin; 3234. Second arc-shaped groove. DETAILED DESCRIPTION

[0044] In order to more clearly illustrate the overall concept of the present application, a detailed description is given below in an illustrative manner in conjunction with the accompanying drawings.

[0045] In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present application is not limited by the specific embodiments disclosed below. It should be noted that the embodiments of the present application and the features in each embodiment may be combined with each other without conflict.

[0046] In addition, in the description of the present application, it should be understood that the orientations or positional relationships indicated by the terms "top", "bottom", "inside", "outside", "axial", "radial", "circumferential", etc. are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0047] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0048] In the present application, unless otherwise clearly specified and limited, a first feature "above" or "below" a second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in an appropriate manner in any one or more embodiments or examples.

[0049] like Figures 1 to 3 As shown, the first embodiment of the present application provides a robotic arm quick-change end storage bin 1, comprising a plurality of independently distributed chambers 11, a fixing hole 111 suitable for fixing the robotic arm quick-change end 32 is formed on the bottom wall of the chamber 11, and a sensor component suitable for detecting the existence status of the robotic arm quick-change end 32 is provided on the top of the chamber 11.

[0050] According to the robotic arm quick-change terminal storage bin 1 provided in the embodiment of the first aspect of the present application, the several independently distributed chambers 11 therein can ensure that each robotic arm quick-change terminal 32 is stored separately to avoid collision or damage between them. The fixing hole 111 on the bottom wall of the chamber 11 is suitable for fixing the robotic arm quick-change terminal 32 to ensure the placement stability of the robotic arm quick-change terminal 32 in the chamber 11. The sensor assembly on the top of the chamber 11 is used to detect the existence status of the robotic arm quick-change terminal 32, so as to ensure that all robotic arm quick-change terminals 32 can be correctly identified and used. In summary, the use of the robotic arm quick-change terminal storage bin 1 provided by the present application can realize the regular placement of the robotic arm quick-change terminal 32, protect the robotic arm quick-change terminal 32, and enable the operator to quickly and accurately complete the replacement of the robotic arm quick-change terminal 32.

[0051] like Figure 3 As shown, in some embodiments of the present application, a harness cover 12 is further included, and the top of the harness cover 12 is abutted against the bottom wall of the chamber 11; a fixing hole 111 is provided on the top of the harness cover 12, and a harness hole 121 is provided on the side wall of the harness cover 12. The connecting wires on the robot arm quick-change terminal 32 are stored independently to avoid entanglement or interference with each other, ensuring smooth connection during use. When the robot arm quick-change terminal 32 is not in use, the connecting wires are neatly stored in the harness cover 12, keeping the appearance of the entire storage bin and the chassis 2 neat, and the end of the robot arm quick-change terminal 32 can be fixed through the fixing hole 111 on the top of the harness cover 12, and the harness hole 121 on the side wall is used to lead out the wire bundle, keeping the wires neat and orderly.

[0052] Furthermore, when designing the harness cover 12, it is necessary to consider the direction of the harness, the fixing method and the protective measures to ensure the stability and safety of the harness during assembly and use. For example, when the harness passes through a sharp corner or sharp surface, a protective pad or rubber sleeve can be added to the harness hole 121 to protect the harness from damage. In addition, when the harness is near a moving part, sufficient slack length should be reserved to avoid pulling the harness when the part moves.

[0053] like Figure 2 As shown, in some embodiments of the present application, the sensor assembly includes a laser sensor 1121 and a signal light 1122. The laser sensor 1121 is used to detect the presence status of the robot arm quick change end 32, and transmit the detected status information to the host computer, forming an effective communication feedback closed loop, thereby ensuring the accuracy of the robot arm quick change end 32 picking operation and improving work efficiency. The signal light 1122 can provide visual prompts to guide the operator to select and install the correct robot arm quick change end 32.

[0054] In some embodiments of the present application, the robotic arm quick-change terminal storage bin 1 further includes a cover plate; the opening ends of the chamber 11 and the harness cover 12 abut against the cover plate. The cover plate can protect the robotic arm quick-change terminal 32, and the presence of the cover plate can prevent dust and debris from entering the chamber 11, protecting the internal components from the external environment. At the same time, the cover plate can also provide a platform for installing additional equipment or tools, such as a control panel or an operation interface.

[0055] In addition, when designing the cover plate, the sealing performance between the cover plate, the chamber 11 and the harness cover 12 should be good.

[0056] like Figure 4 As shown, the second embodiment of the present application provides a chassis 2, including a box body 21 and the robot arm quick-change end storage bin 1 in any embodiment of the first aspect mentioned above; the robot arm quick-change end storage bin 1 is arranged on the side wall of the box body 21.

[0057] According to the chassis 2 provided in the embodiment of the second aspect of the present application, a robot arm quick-change terminal storage bin 1 is provided on its box body 21, wherein a plurality of independently distributed compartments 11 can ensure that each robot arm quick-change terminal 32 is stored separately to avoid collision or damage between them. The fixing hole 111 on the bottom wall of the compartment 11 is suitable for fixing the robot arm quick-change terminal 32 to ensure the placement stability of the robot arm quick-change terminal 32 in the compartment 11, and the sensor assembly on the top of the compartment 11 is used to detect the existence status of the robot arm quick-change terminal 32, so as to ensure that all robot arm quick-change terminals 32 can be correctly identified and used. In summary, the use of the chassis 2 provided by the present application can realize the regular placement of the robot arm quick-change terminal 32, protect the robot arm quick-change terminal 32, and enable the operator to quickly and accurately complete the replacement of the robot arm quick-change terminal 32.

[0058] like Figure 4 As shown, in some embodiments of the present application, an embedded inverted groove is formed on the box body 21, and the chamber 11 is embedded in the embedded inverted groove. This design on the box body 21 can provide better structural stability and overall aesthetics, avoid the chamber 11 protruding and occupying too much space, and is also convenient for assembly and maintenance. The embedded inverted groove is usually a groove pre-formed in the material of the box body 21, and its size and shape match the chamber 11 to be embedded. When the chamber 11 is installed, it can be directly embedded in these inverted grooves, so as to keep its position fixed and not easy to move or fall off.

[0059] like Figure 4As shown, in some embodiments of the present application, the interactive display screen 22 is disposed on the top plate of the box 21. The user can conveniently interact with the display screen. The interactive display screen 22 is generally used to provide information, receive user input, or serve as a control interface. Placing it on the top of the box 21 can make the operation more intuitive and convenient, especially in application scenarios that require frequent interaction.

[0060] like Figure 5 As shown, the third aspect of the present application provides a health care robot 3, including a robotic arm 31, a robotic arm quick-change end 32 arranged on the robotic arm 31, and a chassis 2 in any embodiment of the second aspect mentioned above; the robotic arm 31 is arranged on the chassis 2.

[0061] According to the health care robot 3 provided in the third aspect of the embodiment of the present application, a robot arm quick-change terminal storage bin 1 is provided on the box body 21 of the chassis 2, wherein a plurality of independently distributed compartments 11 can ensure that each robot arm quick-change terminal 32 is stored separately to avoid collision or damage between them. The fixing hole 111 on the bottom wall of the compartment 11 is suitable for fixing the robot arm quick-change terminal 32 to ensure the placement stability of the robot arm quick-change terminal 32 in the compartment 11, and the sensor assembly on the top of the compartment 11 is used to detect the existence status of the robot arm quick-change terminal 32, so as to ensure that all robot arm quick-change terminals 32 can be correctly identified and used. In summary, the health care robot 3 provided in the present application can realize the regular placement of the robot arm quick-change terminal 32, protect the robot arm quick-change terminal 32, and enable the operator to quickly and accurately complete the replacement of the robot arm quick-change terminal 32.

[0062] like Figure 6As shown, in some embodiments of the present application, the robot arm quick-change end 32 includes a handle adapter flange 321, a quick-change base 322 and a quick-change end clamp 323; the handle adapter flange 321 is connected to the end of the robot arm 31, the quick-change base 322 is connected to the handle adapter flange 321, the quick-change end clamp 323 is detachably connected to the quick-change base 322, and the quick-change end clamp 323 is suitable for clamping a functional end. The handle adapter flange 321 serves as a connector between the end of the robot arm 31 and the quick-change base 322, providing a stable manual operation platform for the robot arm 31, which is more ergonomically designed, allowing the operator to control the robot arm 31 more comfortably and accurately, reducing the difficulty and strength required for operation, and improving the intuitiveness and convenience of the operation of the robot arm 31. The design of the quick-change base 322 allows the robotic arm 31 to quickly replace the quick-change end clamp 323. The replaceability of the quick-change end clamp 323 enables a robotic arm 31 to adapt to a variety of different functional ends, realizing a variety of treatment methods in health care and physiotherapy, such as massage, physiotherapy, rehabilitation training, etc., thereby improving the versatility and cost-effectiveness of the robotic arm 31, improving treatment efficiency and flexibility, and greatly reducing treatment costs.

[0063] like Figure 6 and Figure 7 As shown, in some embodiments of the present application, an infrared camera is provided on the flange body 3211. The infrared camera can perform visual positioning guidance. In addition, the infrared camera can also provide high-precision, low-latency three-dimensional spatial position information, which is convenient for positioning of the robot arm 31 for posture adjustment.

[0064] In addition, with the help of infrared cameras, the health care robot 3 can realize thermal imaging analysis functions, shock wave functions, microwave therapy functions, ultrasonic therapy functions, and biological micro-electric therapy functions. Among them, the infrared camera is highly integrated on the side of the flange body 3211, which can realize the flexible photo-taking function at any time without affecting the working scene when the functional terminals are switched at any time.

[0065] like Figures 7 to 11As shown, in some embodiments of the present application, the handle adapter flange 321 includes a flange body 3211, a first handle 3212 and a second handle 3213, the ends of the flange body 3211 are respectively connected to the end of the robot arm 31 and the quick-change base 322, the first handle 3212 and the second handle 3213 are respectively arranged on the opposite sides of the flange body 3211; the quick-change base 322 includes a base body 3221 and a locking button 3222 arranged on the base body 3221, the locking button 3222 is formed with a first arc-shaped groove 32221, and the quick-change end clamp 323 includes a clamping body The first locking pin 3232 and the second locking pin 3233 are detachably connected to the clamping body 3231, and the first locking pin 3232 and the second locking pin 3233 are both formed with a second arc-shaped groove 3234. The base body 3221 is provided with a pin hole suitable for the locking pin to pass through, wherein, in the locked state, the end of the locking button 3222 abuts between the two second arc-shaped grooves 3234, and in the unlocked state, the first arc-shaped groove 32221 on the locking button 3222 is located between the two second arc-shaped grooves 3234.

[0066] The handle adapter flange 321 is used to manually adjust and position the robotic arm 31 so that the functional end on the robotic arm 31 is aligned with the corresponding treatment site. The structural design of the flange body 3211 allows it to be compatible with the end and force sensor of the robotic arm 31, including compatible with robotic arms 31 and force sensors of various brands, providing flexibility and adaptability. The first handle 3212 and the second handle 3213 on both sides of the flange body 3211 adopt a human bionic structure design, which is easier to grasp, and at the same time will not make the palm feel pain when grasping the handle, reduce the output of force, and make it easier to drag. When the operator manually pulls the robotic arm 31 through the first handle 3212 and the second handle 3213 on both sides, it is easier to operate the robotic arm 31, and the operator can accurately adjust the position and posture of the robotic arm 31 to adapt to different work tasks.

[0067] The clamping body 3231 is connected to the base body 3221 through the first locking pin 3232 and the second locking pin 3233, and the locking button 3222 provides a mechanism for locking and unlocking the clamping body 3231. Pressing the locking button 3222 aligns the first arc groove 32221 with the second arc groove 3234, thereby allowing the first locking pin 3232 and the second locking pin 3233 to move and unlock. When the button is reset, the end of the locking button 3222 is engaged with the second arc groove 3234 on the first locking pin 3232 and the second locking pin 3233 to achieve locking and ensure that the clamping body 3231 is firmly connected to the base body 3221. The above structural design allows the mechanical arm 31 to quickly replace the functional end of the end, improves efficiency and flexibility, and realizes the rapid locking and unlocking of the clamping body 3231 through simple button operation, simplifying the replacement process.

[0068] like Fig.11 As shown, the ends of the first locking pin 3232 and the second locking pin 3233 are provided with bolt mounting seats, which are block-shaped structures, embedded in the end cover of the clamping body 3231, and then the bolts are driven into the bolt mounting holes of the end cover and the bolt mounting seats to achieve fixation. The bolt mounting seats of the block-shaped structure have four side walls, which can prevent the first locking pin 3232 and the second locking pin 3233 from rotating relative to the clamping body 3231 and becoming loose, and ensure that the first locking pin 3232 and the second locking pin 3233 are firmly fixed on the clamping body.

[0069] Anything not described in this application can be achieved by adopting or drawing on existing technologies.

[0070] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

[0071] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A quick-change terminal storage bin for a robotic arm, characterized in that: include: A plurality of independently distributed chambers are provided, wherein a fixing hole suitable for fixing the quick-change end of the robot arm is formed on the bottom wall of the chamber, and a sensor component suitable for detecting the existence status of the quick-change end of the robot arm is arranged on the top of the chamber.

2. The robotic arm quick-change end storage bin according to claim 1, characterized in that: Also included is a wire harness cover, the top of which abuts against the bottom wall of the chamber; The top of the wiring harness cover is provided with the fixing hole, and the side wall of the wiring harness cover is provided with a wiring harness hole.

3. The robotic arm quick-change terminal storage bin according to claim 1, characterized in that: The sensor assembly includes a laser sensor and a signal light.

4. The robotic arm quick-change end storage bin according to claim 2, characterized in that: The robotic arm quick-change terminal storage bin also includes a cover plate; The opening ends of the chamber and the harness cover are in contact with the cover plate.

5. A chassis, characterized in that: It comprises a box body and a robotic arm quick-change end storage bin as claimed in any one of claims 1 to 4; The robotic arm quick-change terminal storage bin is arranged on the side wall of the box body.

6. The chassis according to claim 5, characterized in that: An embedded inverted groove is formed on the box body, and the chamber is embedded in the embedded inverted groove.

7. The chassis according to claim 5, characterized in that: It also includes an interactive display screen, which is arranged on the top plate of the box.

8. A health care robot, characterized in that: include: A robotic arm, a robotic arm quick-change end disposed on the robotic arm, and a chassis as claimed in any one of claims 5 to 7; The mechanical arm is arranged on the chassis.

9. The health care robot according to claim 8, characterized in that: The mechanical arm quick-change end comprises a handle adapter flange, a quick-change base and a quick-change end clamp; The handle adapter flange is connected to the end of the robotic arm, the quick-change base is connected to the handle adapter flange, the quick-change end clamp is detachably connected to the quick-change base, and the quick-change end clamp is suitable for clamping a functional end.

10. The health care robot according to claim 9, characterized in that: The handle adapter flange comprises a flange body, a first handle and a second handle, the ends of the flange body are respectively connected to the end of the mechanical arm and the quick-change base, and the first handle and the second handle are respectively arranged on opposite sides of the flange body; The quick-change base includes a base body and a locking button arranged on the base body, a first arc-shaped groove is formed on the locking button, and the quick-change end clamp includes a clamping body, a first locking pin and a second locking pin, the first locking pin and the second locking pin are detachably connected to the clamping body, a second arc-shaped groove is formed on the first locking pin and the second locking pin, and a pin hole suitable for the locking pin to pass through is opened on the base body, wherein, in a locked state, the end of the locking button abuts between the two second arc-shaped grooves, and in an unlocked state, the first arc-shaped groove on the locking button is located between the two second arc-shaped grooves.

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