Wrist structure capable of achieving quick change, mechanical arm and robot

Abstract

The utility model provides a wrist structure, mechanical arm and robot for realizing quick change, the wrist structure comprises a mechanical arm tail end assembly, a hand connecting assembly and a wrist locking piece, the mechanical arm tail end assembly comprises a tail end clamping seat and a tail end control plate, and the tail end control plate is arranged in a port of the tail end clamping seat; the hand connecting assembly comprises a connecting clamping seat and a connecting control plate, the connecting clamping seat is used for being connected with a mechanical arm structure of the mechanical arm, the connecting control plate is arranged in a port of the connecting clamping seat, the port of the connecting clamping seat is connected with a port of the tail end clamping seat in a clamped mode, and the connecting control plate is in electric signal connection with the tail end control plate. The tail end clamping base and the connecting clamping base are sleeved with the wrist locking pieces respectively, the wrist locking pieces are connected with the tail end clamping base in a clamped mode, the wrist locking pieces are connected with the connecting clamping base in a threaded mode, the structure is simple, locking is reliable, and the replacement efficiency is effectively improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a wrist structure, a mechanical arm and a robot capable of realizing quick change. Background Art

[0002] In order to perform different tasks, robots need to install different end effectors at the end of the robot arm, such as grippers, hands and other structures. As a device that can realize the rapid switching of various end tools of the robot arm, the quick-change device is indispensable in improving the utilization efficiency of the robot arm. For example, the gripper quick-change device disclosed in the publication number CN107443410A, in which the positions of the quick-change machine end and the quick-change fixture end in the radial direction are consistent through the action of the guide hole and the guide shaft, limiting their relative displacement in the radial direction, and the positioning bar is inserted into the positioning groove to limit their relative movement in the circumferential direction. At the same time, the magnet attracts the iron sheet to limit the axial movement of the quick-change machine end and the quick-change fixture end.

[0003] Although the magnet can attract and fix the hand structure to the end of the robot arm, residual magnetism may remain on the adsorbed end of the robot arm, which may cause the workpieces to attract each other and affect the accuracy of subsequent assembly. The residual magnetism may also attract a large number of metal objects, resulting in poor contact between the workpieces or jamming of the main parts, affecting the normal operation of the equipment, that is, there are problems such as insufficient locking reliability and low replacement efficiency. Utility Model Content

[0004] The purpose of the utility model is to provide a wrist structure, a mechanical arm and a robot with a simple structure, reliable locking and effectively improve the replacement efficiency in view of the deficiencies in the prior art.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] A wrist structure for realizing quick change, comprising:

[0007] A robot arm end assembly, the robot arm end assembly comprising an end clamp seat and an end control board, the end clamp seat is used to connect the lower arm structure of the robot arm, and the end control board is arranged inside the port of the end clamp seat;

[0008] A hand connection assembly, the hand connection assembly comprising a connection clamp seat and a connection control board, the connection clamp seat is used to connect the manipulator structure of the manipulator arm, the connection control board is arranged inside the port of the connection clamp seat, the port of the connection clamp seat is clamped with the port of the end clamp seat, and the connection control board is connected with the end control board by electrical signals;

[0009] A wrist locking piece is respectively sleeved on the outside of the end clamp seat and the connecting clamp seat, and the wrist locking piece is clamped with the end clamp seat, and the wrist locking piece is threadedly connected with the connecting clamp seat.

[0010] As a preferred embodiment, an end limit block is provided on the outer wall of the port of the end clamp seat, a connection limit groove is opened on the port of the connection clamp seat, and the end limit block is inserted into the connection limit groove.

[0011] As a preferred embodiment, a plurality of end abutment blocks are provided on the inner wall of the end clamp seat, and the end control plate abuts and is fixed on the end abutment blocks;

[0012] A plurality of connection abutment blocks are arranged on the inner wall of the connection clamp seat, and the connection control board abuts and is fixed on the connection abutment blocks.

[0013] As a preferred embodiment, a plurality of spring pins are arranged on the terminal control board, a plurality of spring pin jacks are opened on the connection control board, and the spring pins are plugged into the spring pin jacks.

[0014] As a preferred embodiment, an end clamping strip is provided on the outer wall of the end clamping seat, and the port of the connection clamping seat is sleeved on the outside of the end clamping seat and abuts against the right side of the end clamping strip;

[0015] The wrist locking member comprises a wrist abutment ring and a wrist threaded ring connected to each other, the wrist abutment ring abuts against the left side of the end clamping strip, and the wrist threaded ring is threadedly connected to the outer wall of the port of the connecting clamp seat.

[0016] The utility model also provides a robotic arm, comprising the wrist structure for realizing quick change of the above-mentioned embodiment, the robotic arm also comprising a shoulder joint structure, an upper arm structure, an elbow joint structure, a lower arm structure and a manipulator structure, the shoulder joint structure, the upper arm structure, the elbow joint structure, the lower arm structure, the wrist structure and the manipulator structure are connected in sequence, the manipulator arm end component of the wrist structure is connected to the lower arm structure, and the hand connection component of the wrist structure is connected to the manipulator structure.

[0017] As a preferred embodiment, the shoulder joint structure includes a shoulder joint drive, a trunk connecting plate and an upper arm connecting plate, the shoulder joint drive is connected between the trunk connecting plate and the upper arm connecting plate, the trunk connecting plate is used to connect the robot trunk, the upper arm connecting plate is connected to the upper arm structure, and the shoulder joint drive drives the upper arm structure to rotate;

[0018] The upper arm structure includes an upper arm drive, the upper arm drive is connected between the upper arm connecting plate and the elbow joint structure, the upper arm drive drives the elbow joint structure to rotate, and the axis of the upper arm drive is perpendicular to the axis of the shoulder joint drive;

[0019] The elbow joint structure comprises an elbow joint upper drive, an elbow joint lower drive, an inter-drive connecting plate and a lower arm connecting plate, the upper arm drive, the elbow joint upper drive, the inter-drive connecting plate, the elbow joint lower drive and the lower arm connecting plate are connected in sequence, the elbow joint upper drive and the elbow joint lower drive respectively drive the lower arm structure to rotate, the axis of the elbow joint lower drive is parallel to the axis of the shoulder joint drive, and the axis of the elbow joint upper drive is perpendicular to the axis of the upper arm drive and the axis of the elbow joint lower drive respectively;

[0020] The lower arm structure includes a lower arm drive, which is connected between the lower arm connecting plate and the manipulator end assembly of the wrist structure. The lower arm drive drives the wrist structure to rotate, and the axis of the lower arm drive is parallel to the axis of the upper arm drive.

[0021] As a preferred embodiment, the lower arm structure further comprises a lower arm housing, wherein the lower arm housing is arranged outside the lower arm drive, and an operating port opposite to the wrist locking member is opened on the lower arm housing.

[0022] As a preferred embodiment, the manipulator structure includes a gripper or a hand.

[0023] The utility model also provides a robot, comprising the mechanical arm of the above embodiment, the robot further comprising a robot trunk, and the shoulder joint structure of the mechanical arm is connected to the robot trunk.

[0024] Compared with the prior art, this technical solution has the following advantages:

[0025] The port of the connecting clamp seat is clamped on the port of the terminal clamp seat, and the terminal limit block and the connection limit groove are limited. At this time, the hand connection component can be limited in the circumferential direction, and the connection control board and the terminal control board are aligned to connect the electrical signals of the two. Finally, the wrist locking piece sleeved outside the terminal clamp seat is rotated to make the wrist locking piece threadedly connected to the connecting clamp seat until the wrist locking piece is clamped on the terminal clamp seat. The assembly of the manipulator structure and the lower arm structure in different forms can be completed. Compared with the prior art through magnetic connection, the assembly is convenient and fast, the structure is simple, the locking is reliable, and the manipulator structure can be quickly replaced.

[0026] The present invention is further described below with reference to the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a cross-sectional view of the wrist structure for realizing quick change according to the utility model;

[0028] Figure 2 This is an exploded view of the wrist structure for realizing quick change according to the utility model;

[0029] Figure 3 This is a schematic structural diagram of the first embodiment of the mechanical arm of the utility model;

[0030] Figure 4 This is a schematic structural diagram of the second embodiment of the mechanical arm of the utility model;

[0031] Figure 5 It is a structural schematic diagram of the robot described in the utility model.

[0032] In the figure: 200 robot arm, 210 wrist structure, 211 robot arm end assembly, 211a end clamp seat, 211a1 end limit block, 211a2 end abutment block, 211a3 end clamping strip, 211b end control board, 211b1 spring pin, 212 hand connection assembly, 212a connection clamp seat, 212a1 connection limit groove, 212a2 connection abutment block, 212b connection control board, 212b1 spring pin jack, 213 wrist locking member, 213a wrist abutment ring, 213b wrist threaded ring, 220 shoulder joint structure, 221 shoulder joint drive, 222 trunk connecting plate, 223 upper arm connecting plate, 230 upper arm structure, 231 upper arm drive, 240 elbow joint structure, 241 upper joint drive, 242 lower elbow joint drive, 243 drive connecting plate, 244 lower arm connecting plate, 250 lower arm structure, 251 lower arm drive, 252 lower arm housing, 252a operating port, 260 manipulator structure. DETAILED DESCRIPTION

[0033] The following description is used to disclose the utility model so that those skilled in the art can implement the utility model. The preferred embodiments described below are only examples, and those skilled in the art can think of other obvious variations. The basic principles of the utility model defined in the following description can be applied to other embodiments, variations, improvements, equivalents, and other technical solutions that do not deviate from the spirit and scope of the utility model.

[0034] First embodiment

[0035] like Figures 1 to 3 As shown, the wrist structure 210 for realizing quick change includes:

[0036] A robot end assembly 211, the robot end assembly 211 comprises an end clamp seat 211a and an end control board 211b, the end clamp seat 211a is used to connect the lower arm structure 250 of the robot 200, and the end control board 211b is arranged inside the port of the end clamp seat 211a;

[0037] A hand connection component 212, the hand connection component 212 includes a connection clamp seat 212a and a connection control board 212b, the connection clamp seat 212a is used to connect the manipulator structure 260 of the manipulator 200, the connection control board 212b is arranged inside the port of the connection clamp seat 212a, the port of the connection clamp seat 212a is clamped with the port of the end clamp seat 211a, and the connection control board 212b is connected with the end control board 211b by electrical signals;

[0038] The wrist locking piece 213 is respectively sleeved on the outside of the terminal clamp seat 211a and the connecting clamp seat 212a, and the wrist locking piece 213 is clamped with the terminal clamp seat 211a, and the wrist locking piece 213 is threadedly connected with the connecting clamp seat 212a.

[0039] The robot arm end assembly 211 is used to connect the lower arm structure 250 of the robot arm 200, and the hand connection assembly 212 is used to connect the manipulator structure 260 of the robot arm 200. During assembly, the port of the connecting clamp seat 212a is clamped on the port of the end clamp seat 211a, and the electrical signal connection between the connection control board 212b and the end control board 211b is performed. Finally, the wrist locking piece 213 sleeved on the outside of the end clamp seat 211a is rotated to make the wrist locking piece 213 threadedly connected to the connecting clamp seat 212a until the wrist locking piece 213 is clamped on the end clamp seat 211a to complete the assembly of different forms of the manipulator structure 260 and the lower arm structure 250. Compared with the prior art through magnetic connection, the assembly is convenient and quick, the structure is simple, the locking is reliable, and the manipulator structure 260 can be quickly replaced.

[0040] like Figure 1 and Figure 2As shown, the outer wall of the port of the terminal clamp seat 211a is provided with a terminal stopper 211a1, and the port of the connection clamp seat 212a is provided with a connection stopper groove 212a1, and the terminal stopper 211a1 is inserted into the connection stopper groove 212a1. The shapes of the terminal stopper 211a1 and the connection stopper groove 212a1 are adapted to each other, and the hand connection component 212 is limited in the circumferential direction by inserting the two, that is, the hand connection component 212 is prevented from rotating relative to the robot arm terminal component 211, thereby reducing the stability of the structure, and at the same time, it is convenient for the connection control board 212b to be aligned with the terminal control board 211b for electrical signal connection.

[0041] like Figure 1 As shown, a plurality of end abutment blocks 211a2 are provided on the inner wall of the end clamp seat 211a, and the end control plate 211b abuts and is fixed on the end abutment blocks 211a2;

[0042] A plurality of connection abutment blocks 212a2 are disposed on the inner wall of the connection clamp seat 212a, and the connection control board 212b abuts against and is fixed on the connection abutment blocks 212a2.

[0043] The terminal control board 211b can be fixed to the terminal abutment block 211a2 by screws, etc. Similarly, the connection control board 212b can also be fixed to the connection abutment block 212a2 by screws. The terminal control board 211b is located inside the port of the terminal clamp seat 211a, and the connection control board 212b is located inside the port of the connection clamp seat 212a. In this way, when the port of the terminal clamp seat 211a and the port of the connection clamp seat 212a are connected, the terminal control board 211b and the connection control board 212b are adjacent to each other, which is convenient for electrical signal connection between the two. After the terminal control board 211b and the connection control board 212b are connected by electrical signals, the various fingers of the manipulator structure 260 can be connected to the connection control board 212b through lines, that is, the signal is transmitted to the connection control board 212b through the terminal control board 211b, so as to realize the control of the various fingers of the manipulator structure 260.

[0044] It should be noted that the side of the end clamp seat 211 a away from the connecting clamp seat 212 a is connected to the lower arm structure 250 , and the side of the connecting clamp seat 212 a away from the end clamp seat 211 a is connected to the manipulator structure 260 .

[0045] Furthermore, a plurality of spring pins 211b1 are provided on the terminal control board 211b, and a plurality of spring pin sockets 212b1 are opened on the connection control board 212b. The spring pins 211b1 and the spring pin sockets 212b1 are plugged in, and the spring pins 211b1 and the spring pin sockets 212b1 are plugged in one-to-one to realize the electrical signal connection between the terminal control board 211b and the connection control board 212b.

[0046] The clamping jaw quick-change device disclosed in the publication number CN107443410A does not disclose the connection between the control boards. It can be seen that there are difficulties in the connection between the control boards. How to ensure that the quick-change device is conveniently and stably connected while stably controlling the movement of the manipulator structure. This application makes the end control board 211b abut and fix it on the end abutment block 211a2, and abuts and fixes the connection control board 212b on the connection abutment block 212a2, and then inserts the end limit block 211a1 and the connection limit groove 212a1 to facilitate the alignment of the connection control board 212b and the end control board 211b. The two are connected by electrical signals through the spring pin 211b1, which not only improves the assembly efficiency, but also ensures the stable output movement of the manipulator structure.

[0047] refer to Figure 1 and Figure 2 The outer wall of the terminal clamp seat 211a is provided with a terminal clamping strip 211a3, and the port of the connecting clamp seat 212a is sleeved on the outside of the terminal clamp seat 211a and abuts against the right side of the terminal clamping strip 211a3 for axial and radial positioning;

[0048] The wrist locking member 213 includes a wrist abutment ring 213a and a wrist threaded ring 213b connected to each other. The wrist abutment ring 213a abuts against the left side of the end clamping strip 211a3, and the wrist threaded ring 213b is threadedly connected to the outer wall of the port of the connecting clamp seat 212a.

[0049] The end clamping strip 211a3 can be annular, and the wrist locking piece 213 can be pre-mounted on the outer wall of the end clamp seat 211a. When the port of the connecting clamp seat 212a is mounted on the outside of the end clamp seat 211a and abuts against the right side of the end clamping strip 211a3, the wrist locking piece 213 is slid toward the connecting clamp seat 212a, and at the same time, the wrist threaded ring 213b is threaded with the outer wall of the port of the connecting clamp seat 212a until the wrist abutting ring 213a abuts against the left side of the end clamping strip 211a3 to complete the connection between the connecting clamp seat 212a and the end clamp seat 211a.

[0050] The manipulator structure 260 includes a gripper or a hand, etc., which can be adjusted according to on-site usage requirements.

[0051] In summary, the port of the connecting clamp seat 212a is clamped on the port of the terminal clamp seat 211a, and the terminal limit block 211a1 and the connecting limit groove 212a1 are limited and connected. At this time, the hand connection component 212 can be limited in the circumferential direction, and the connection control board 212b and the terminal control board 211b are aligned to connect the electrical signals of the two. Finally, the wrist locking member 213 sleeved outside the terminal clamp seat 211a is rotated to make the wrist locking member 213 and the connecting clamp seat 212a threadedly connected until the wrist locking member 213 is clamped on the terminal clamp seat 211a, and different forms of the manipulator structure 260 and the lower arm structure 250 can be assembled. Compared with the prior art through magnetic connection, the assembly is convenient and fast, the structure is simple, the locking is reliable, and the manipulator structure 260 can be quickly replaced.

[0052] Second embodiment

[0053] like Figure 3 As shown, the robotic arm 200 includes a wrist structure 210 for realizing quick change of a first embodiment, and the robotic arm 200 also includes a shoulder joint structure 220, an upper arm structure 230, an elbow joint structure 240, a lower arm structure 250 and a manipulator structure 260. The shoulder joint structure 220, the upper arm structure 230, the elbow joint structure 240, the lower arm structure 250, the wrist structure 210 and the manipulator structure 260 are connected in sequence, the manipulator end assembly 211 of the wrist structure 210 is connected to the lower arm structure 250, and the hand connection assembly 212 of the wrist structure 210 is connected to the manipulator structure 260.

[0054] Since the robot arm 200 includes the wrist structure 210 of the first embodiment, the beneficial effects of the robot arm 200 can refer to the wrist structure 210 .

[0055] like Figure 3 As shown, the shoulder joint structure 220 includes a shoulder joint drive 221, a trunk connecting plate 222 and an upper arm connecting plate 223, the shoulder joint drive 221 is connected between the trunk connecting plate 222 and the upper arm connecting plate 223, the trunk connecting plate 222 is used to connect the trunk 300 of the robot, the upper arm connecting plate 223 is connected to the upper arm structure 230, the shoulder joint drive 221 drives the upper arm structure 230 to rotate, and the upper arm structure 230 can be lifted or lowered.

[0056] The number of the upper arm connecting plates 223 can be two, one upper arm connecting plate 223 is connected to the output shaft on the front side of the shoulder joint drive 221, and the other upper arm connecting plate 223 is rotatably connected to the back side of the shoulder joint drive 221. At the same time, the two upper arm connecting plates 223 can be fixedly connected to the upper arm structure 230 by bolts, etc., that is, the shoulder joint drive 221 drives the upper arm structure 230, the lower arm structure 250, etc. to rotate around the axis of the shoulder joint drive 221. By setting two upper arm connecting plates 223, the stability of the rotation is improved.

[0057] like Figure 3 As shown, the upper arm structure 230 includes an upper arm drive 231, which is connected between the upper arm connecting plate 223 and the elbow joint structure 240. The upper arm drive 231 drives the elbow joint structure 240 to rotate, and the axis of the upper arm drive 231 is perpendicular to the axis of the shoulder joint drive 221. The upper arm drive 231 drives the elbow joint structure 240, the lower arm structure 250, etc. to rotate around the axis of the upper arm drive 231, so that the upper arm structure 230 can be rotated.

[0058] like Figure 3 As shown, the elbow joint structure 240 includes an elbow joint upper drive 241, an elbow joint lower drive 242, a drive connection plate 243 and a lower arm connection plate 244, the upper arm drive 231, the elbow joint upper drive 241, the drive connection plate 243, the elbow joint lower drive 242 and the lower arm connection plate 244 are connected in sequence, the elbow joint upper drive 241 and the elbow joint lower drive 242 respectively drive the lower arm structure 250 to rotate, the axis of the elbow joint lower drive 242 is parallel to the axis of the shoulder joint drive 221, the axis of the elbow joint upper drive 241 is respectively perpendicular to the axis of the upper arm drive 231 and the axis of the elbow joint lower drive 242, so that the lower arm structure 250 can be bent and rotated relative to the upper arm structure 230.

[0059] The elbow joint upper drive 241 drives the lower arm structure 250 and the like to rotate around the axis of the elbow joint upper drive 241 , and the elbow joint lower drive 242 drives the lower arm structure 250 and the like to rotate around the axis of the elbow joint lower drive 242 .

[0060] like Figure 3 As shown, the lower arm structure 250 includes a lower arm drive 251, and the lower arm drive 251 is connected between the lower arm connecting plate 244 and the manipulator end assembly 211 of the wrist structure 210. The lower arm drive 251 drives the wrist structure 210 to rotate. The axis of the lower arm drive 251 is parallel to the axis of the upper arm drive 231, and the manipulator structure 260 can be rotated.

[0061] In summary, the shoulder joint structure 220, the upper arm structure 230, the elbow joint structure 240, the lower arm structure 250 and the manipulator structure 260 can all realize corresponding rotation and have six degrees of freedom. In addition, the shoulder joint drive 221, the upper arm drive 231, the elbow joint upper drive 241, the elbow joint lower drive 242, the lower arm drive 251, etc. are all motors.

[0062] refer to Figure 4 The lower arm structure 250 further includes a lower arm housing 252, which is disposed outside the lower arm drive 251 and has an operation port 252a opposite to the wrist locking member 213. That is, the wrist locking member 213 is rotated through the operation port 252a to complete the replacement of the manipulator structure 260.

[0063] A shell may also be provided on the outside of the upper arm drive 231. In addition, a limiting structure may be provided on the lower arm structure 250 and the upper arm structure 230 to control the rotation angle. Taking the lower arm structure 250 as an example, a limiting rod is provided on one side of the elbow joint lower drive 242 and the lower arm connecting plate 244. When the elbow joint lower drive 242 drives the lower arm connecting plate 244 to stop at the limiting rod, the lower arm connecting plate 244 is controlled to continue to rotate.

[0064] Third embodiment

[0065] like Figure 5 As shown, the robot includes the robot arm 200 of the second embodiment, and the robot also includes a robot trunk 300 , and the shoulder joint structure 220 of the robot arm 200 is connected to the robot trunk 300 .

[0066] There are two robot arms 200 , which are respectively arranged on both sides of the trunk 300 of the robot.

[0067] The embodiments described above are only used to illustrate the technical ideas and features of the utility model, and their purpose is to enable technicians in this field to understand the content of the utility model and implement it accordingly. The patent application scope of the utility model cannot be limited only by this embodiment, that is, any equivalent changes or modifications made according to the spirit disclosed by the utility model still fall within the patent scope of the utility model.

Claims

1. A wrist structure (210) for realizing quick change, characterized in that: include: A robot arm end assembly (211), the robot arm end assembly (211) comprising an end clamp seat (211a) and an end control board (211b), the end clamp seat (211a) being used to connect to a lower arm structure (250) of the robot arm (200), and the end control board (211b) being arranged inside a port of the end clamp seat (211a); A hand connection component (212), the hand connection component (212) comprising a connection clamp seat (212a) and a connection control board (212b), the connection clamp seat (212a) being used to connect a manipulator structure (260) of a manipulator arm (200), the connection control board (212b) being arranged inside a port of the connection clamp seat (212a), the port of the connection clamp seat (212a) being snap-connected with a port of the end clamp seat (211a), and the connection control board (212b) and the end control board (211b) being connected by electrical signals; A wrist locking piece (213), wherein the wrist locking piece (213) is respectively sleeved on the outside of the end clamp seat (211a) and the connecting clamp seat (212a), and the wrist locking piece (213) is clamped with the end clamp seat (211a), and the wrist locking piece (213) is threadedly connected with the connecting clamp seat (212a).

2. The wrist structure (210) for realizing quick change according to claim 1, characterized in that: An end limit block (211a1) is provided on the outer wall of the port of the end clamp seat (211a), a connection limit groove (212a1) is provided on the port of the connection clamp seat (212a), and the end limit block (211a1) is inserted into the connection limit groove (212a1).

3. The wrist structure (210) for realizing quick change according to claim 1, characterized in that: A plurality of end abutment blocks (211a2) are arranged on the inner wall of the end clamp seat (211a), and the end control plate (211b) abuts against and is fixed on the end abutment blocks (211a2); A plurality of connection abutment blocks (212a2) are arranged on the inner wall of the connection clamp seat (212a), and the connection control board (212b) abuts against and is fixed on the connection abutment blocks (212a2).

4. The wrist structure (210) for realizing quick change according to claim 1, characterized in that: The terminal control board (211b) is provided with a plurality of spring pins (211b1), the connection control board (212b) is provided with a plurality of spring pin insertion holes (212b1), and the spring pins (211b1) are plugged into the spring pin insertion holes (212b1).

5. The wrist structure (210) for realizing quick change according to claim 1, characterized in that: An end clamping strip (211a3) is provided on the outer wall of the end clamping seat (211a), and a port of the connecting clamping seat (212a) is sleeved on the outside of the end clamping seat (211a) and abuts against the right side of the end clamping strip (211a3); The wrist locking member (213) comprises a wrist abutment ring (213a) and a wrist threaded ring (213b) connected to each other, wherein the wrist abutment ring (213a) abuts against the left side of the end clamping strip (211a3), and the wrist threaded ring (213b) is threadedly connected to the outer wall of the port of the connecting clamp seat (212a).

6. A robotic arm (200), characterized in that: The robot arm (200) comprises a wrist structure (210) for realizing quick change as claimed in any one of claims 1 to 5, and further comprises a shoulder joint structure (220), an upper arm structure (230), an elbow joint structure (240), a lower arm structure (250) and a manipulator structure (260), wherein the shoulder joint structure (220), the upper arm structure (230), the elbow joint structure (240), the lower arm structure (250), the wrist structure (210) and the manipulator structure (260) are connected in sequence, the manipulator end assembly (211) of the wrist structure (210) is connected to the lower arm structure (250), and the hand connection assembly (212) of the wrist structure (210) is connected to the manipulator structure (260).

7. The robot arm (200) according to claim 6, characterized in that: The shoulder joint structure (220) comprises a shoulder joint drive (221), a trunk connecting plate (222) and an upper arm connecting plate (223); the shoulder joint drive (221) is connected between the trunk connecting plate (222) and the upper arm connecting plate (223); the trunk connecting plate (222) is used to connect the trunk (300) of the robot; the upper arm connecting plate (223) is connected to the upper arm structure (230); the shoulder joint drive (221) drives the upper arm structure (230) to rotate; The upper arm structure (230) includes an upper arm drive (231), wherein the upper arm drive (231) is connected between the upper arm connecting plate (223) and the elbow joint structure (240), and the upper arm drive (231) drives the elbow joint structure (240) to rotate, and the axis of the upper arm drive (231) is perpendicular to the axis of the shoulder joint drive (221); The elbow joint structure (240) comprises an upper drive (241) of the elbow joint, a lower drive (242) of the elbow joint, a connecting plate (243) between the drives and a lower arm connecting plate (244); the upper arm drive (231), the upper drive (241) of the elbow joint, the connecting plate (243) between the drives, the lower drive (242) of the elbow joint and the lower arm connecting plate (244) are connected in sequence; the upper drive (241) of the elbow joint and the lower drive (242) of the elbow joint respectively drive the lower arm structure (250) to rotate; the axis of the lower drive (242) of the elbow joint is parallel to the axis of the shoulder joint drive (221); the axis of the upper drive (241) of the elbow joint is respectively perpendicular to the axis of the upper arm drive (231) and the axis of the lower drive (242) of the elbow joint; The lower arm structure (250) includes a lower arm drive (251), and the lower arm drive (251) is connected between the lower arm connecting plate (244) and the mechanical arm end assembly (211) of the wrist structure (210). The lower arm drive (251) drives the wrist structure (210) to rotate, and the axis of the lower arm drive (251) is parallel to the axis of the upper arm drive (231).

8. The robot arm (200) according to claim 7, characterized in that: The lower arm structure (250) further comprises a lower arm housing (252), wherein the lower arm housing (252) is arranged outside the lower arm drive (251), and an operating port (252a) opposite to the wrist locking member (213) is provided on the lower arm housing (252).

9. The robot arm (200) according to claim 6, characterized in that: The manipulator structure (260) includes a gripper or a hand.

10. A robot, characterized in that: The robot comprises a robot arm (200) as claimed in any one of claims 6 to 8, wherein the robot further comprises a torso (300) of the robot, and the shoulder joint structure (220) of the robot arm (200) is connected to the torso (300) of the robot.

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