Execution end quick-change device and robot

Abstract

The utility model provides an execution end quick change device and a robot, and relates to the technical field of industrial equipment. A chuck in the executing end quick-changing device is hollow to form a cavity, and a fixing rod is arranged at the top of an executing end and used for being inserted into the cavity. A fixing groove is formed in the end of the fixing rod, a first fixing hole is formed in the side face of the chuck and communicates with the cavity, and the first fixing piece is located in the first fixing hole and used for being partially embedded into the fixing groove when the execution end is fixed; the unlocking unit is fixed to the outer side of the chuck in a sliding mode, is opposite to the first fixing hole and is used for abutting against the first fixing piece entering the fixing groove when not sliding and loosening the first fixing piece after sliding so that the first fixing piece can be disengaged from the fixing groove. According to the embodiment of the invention, the replacement difficulty of the execution end can be effectively reduced without the assistance of a dismounting tool, the replacement cost is reduced, and the replacement time is shortened, so that the rapid replacement of the execution end can be realized, and the production efficiency of products is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial equipment, in particular, the present application relates to an execution end quick change device and a robot. BACKGROUND

[0002] Industrial automation is a trend in which automatic control and automatic adjustment devices are widely used in industrial production to replace manual operation of machines and machine systems for processing and production.

[0003] For the processing of intensive products, a large amount of manpower is required, and the labor intensity of workers is relatively large, so industrial automation is an inevitable trend of future development. After realizing industrial automation, all processes in the production process, including feeding, discharging, loading and unloading, do not need to be directly operated by people for production, but machines continuously and repeatedly produce one or a batch of products automatically. And in order to use machines to quickly process products, the machine is often equipped with an appropriate execution end (such as a pneumatic claw) according to the characteristics of the product, which executes various operations in the production of the product.

[0004] In the production process of products, there are often scenes that require multiple execution ends to produce products. In the prior art, the execution end is replaced manually. However, the existing execution end is often fixed on the equipment using screws or other structures that need to be disassembled with tools, so that when replacing, the corresponding disassembly tool needs to be prepared first, and after disassembly, the tool needs to be installed to restore the structure for fixing the execution end. The whole replacement process is time-consuming and labor-intensive, which reduces the production efficiency of products. Practical new type content

[0005] The embodiment of the present application provides an execution end quick change device and a robot, which can solve the problems of time-consuming and labor-intensive replacement process of the existing execution end replacement, low product production efficiency, and the need to adjust the production line according to the actual scene, which increases the difficulty of production.

[0006] In order to achieve this purpose, the embodiment of the present application provides the following several schemes.

[0007] According to one aspect of the embodiment of the present application, an execution end quick change device is provided, which comprises a fixing module provided with an unlocking unit, a first fixing member and a chuck, and an execution end, the chuck is hollow to form a cavity, the top of the execution end is provided with a fixing rod, and the fixing rod is used for inserting into the cavity;

[0008] The end of the fixing rod is provided with a fixing groove, the side surface of the chuck is provided with a first fixing hole, the first fixing hole is communicated with the cavity, and the first fixing member is located in the first fixing hole and used for being partially embedded in the fixing groove when the execution end is fixed;

[0009] The unlocking unit is arranged outside the chuck and opposite to the first fixing hole, and is used for abutting against the first fixing member in the fixing groove when not sliding and releasing the first fixing member to make the first fixing member disengage from the fixing groove after sliding.

[0010] In a possible implementation, the execution end comprises a fixing table surrounding a bottom end of the fixing rod, and the fixing table is provided with a fixing groove, an opening of the fixing groove being opposite to the chuck;

[0011] The side of the chuck opposite to the fixing table is provided with an angle limiting pin, one end of the angle limiting pin being fixed to the chuck, the other end extending away from the chuck, and the shape of the angle limiting pin being matched with the shape of the fixing groove.

[0012] In a possible implementation, the unlocking unit comprises an unlocking push block provided with a push block base and an annular ring, the push block base and the annular ring surrounding the chuck, and the annular ring being connected to the side of the push block base away from the execution end;

[0013] The push block base is used for abutting against and releasing the first fixing member, the unlocking push block comprises a first push block and a second push block, the inner side of the first push block being arranged obliquely relative to the side surface of the chuck, a first end of the first push block being connected to the annular ring, a second end of the first push block being connected to the second push block, and the inner diameter of the first end being smaller than the inner diameter of the second end;

[0014] The inner diameter of the second push block is greater than the inner diameter of the second end of the first push block.

[0015] In a possible implementation, the unlocking unit further comprises a spring and a limiting sheet, the spring being arranged between the limiting sheet and the first push block and sleeved on the annular ring, and the diameter of the spring being smaller than the diameter of the first push block;

[0016] The limiting sheet surrounds the chuck and is fixed outside the chuck, and the side of the limiting sheet away from the chuck extends horizontally away from the chuck to form a limiting platform.

[0017] In a possible implementation, the unlocking unit further comprises a limiting member, one side of the annular ring being provided with a limiting opening, the limiting opening being directed to the side of the annular ring away from the unlocking push block;

[0018] The chuck is provided with a limiting hole corresponding to the limiting opening, the limiting member is inserted into the limiting hole, and a part of the limiting member is located in the limiting opening.

[0019] In a possible implementation, the cavity comprises a first air hole and a receiving cavity for receiving the fixing rod, the first fixing hole is in communication with the receiving cavity, the first air hole is in communication with the receiving cavity, and the first air hole penetrates the top end of the chuck.

[0020] In a possible implementation, the fixing module further comprises a first sealing ring, an end of the receiving cavity connected with the first air hole is provided with an annular groove, and the first sealing ring is embedded in the annular groove.

[0021] In a possible implementation, the fixing module further comprises a connecting seat provided with a second fixing member, the connecting seat is hollow to form a fixing cavity, and an end of the chuck away from the execution end is inserted into the fixing cavity;

[0022] A side surface of the connecting seat is provided with a second fixing hole penetrating the connecting seat and connected with the fixing cavity;

[0023] The part of the chuck inserted into the fixing cavity is provided with a groove corresponding to the fixing hole, and the second fixing member is inserted into the groove along the second fixing hole.

[0024] In a possible implementation, the connecting seat further comprises a second sealing ring, a diameter of the second sealing ring corresponds to an inner diameter of the fixing cavity, an inner side of the fixing cavity is provided with an annular boss, and a position of the annular boss corresponds to a depth of the chuck inserted into the fixing cavity;

[0025] The second sealing ring is arranged at least one side of the annular boss and abuts against the chuck.

[0026] According to an aspect of the embodiment of the present application, a robot is provided, and the robot comprises the execution end quick change device.

[0027] The technical scheme provided by the embodiment of the present application has the following beneficial effects:

[0028] The quick-change device for the actuator provided in this application includes a fixing module comprising an unlocking unit, a first fixing member, and a clamp. The clamp is hollow, forming a cavity. A fixing rod is provided at the top of the actuator, and the fixing rod is inserted into the cavity. A fixing groove is provided at the end of the fixing rod, and a first fixing hole is provided on the side of the clamp, communicating with the cavity. The first fixing member is located in the first fixing hole and is used to partially embed into the fixing groove when the actuator is fixed. The unlocking unit is slidably fixed on the outside of the clamp, opposite to the first fixing hole, and is used to abut against the first fixing member that is inserted into the fixing groove when not sliding, and to release the first fixing member after sliding so that the first fixing member disengages from the fixing groove. The embodiments of this application can achieve the fixing and unlocking of the actuator by sliding the unlocking unit, effectively reducing the difficulty of replacing the actuator, and eliminating the need for disassembly tools, thus reducing replacement costs and time, thereby enabling quick replacement of the actuator and improving product production efficiency. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below.

[0030] Figure 1 This is a structural diagram of the quick-change device for the execution end provided in the embodiments of this application;

[0031] Figure 2 A side view of the quick-change device for the execution end provided in an embodiment of this application;

[0032] Figure 3 A cross-sectional view of the quick-change device for the execution end is provided for the embodiments of this application;

[0033] Figure 4 This is a structural diagram of the robot provided in an embodiment of this application.

[0034] Labeling explanations: 1. Actuating end; 11. Fixed platform; 12. Fixed rod;

[0035] 2. Chuck; 21. Angle limit pin; 22. Unlocking push block; 23. Spring; 24. Limiting plate; 25. First fixing component; 26. Limiting component;

[0036] 3. Connecting seat; 31. Second fastener; 32. Second fixing hole. Detailed Implementation

[0037] The embodiments of this application are described below with reference to the accompanying drawings. It should be understood that the embodiments described below with reference to the accompanying drawings are exemplary descriptions for explaining the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions of the embodiments of this application.

[0038] Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the terms “comprising” and “including” as used in embodiments of this application mean that the corresponding feature can be implemented as the presented feature, information, data, step, operation, element, and / or component, but do not exclude implementation as other features, information, data, step, operation, element, component, and / or combinations thereof supported by the art. It should be understood that when we say that an element is “connected” or “coupled” to another element, the one element can be directly connected or coupled to the other element, or it can mean that the one element and the other element establish a connection relationship through an intermediate element. Furthermore, “connected” or “coupled” as used herein can include wireless connection or wireless coupling. The term “and / or” as used herein indicates at least one of the items defined by the term; for example, “A and / or B” indicates implementation as “A,” or implementation as “A,” or implementation as “A and B.”

[0039] To make the objectives, technical solutions, and advantages of this utility model clearer, the embodiments of this utility model will be described in further detail below with reference to the accompanying drawings.

[0040] The technical solutions of this utility model and their effects are described below through several exemplary embodiments. It should be noted that the following embodiments can be referenced, borrowed from, or combined with each other. Identical terms, similar features, and similar implementation steps in different embodiments will not be repeated.

[0041] The quick-change device and robot provided in this application are intended to solve at least one technical problem existing in the prior art.

[0042] This application provides an execution end quick-switch device, such as... Figures 1-3 As shown, the quick-change device for the actuator includes a fixing module with an unlocking unit, a first fixing member 25, a clamp 2, and an actuator 1. The clamp 2 is hollow, forming a cavity. The top of the actuator 1 is provided with a fixing rod 12, which is used to insert into the cavity. The end of the fixing rod 12 is provided with a fixing groove. The side of the clamp 2 is provided with a first fixing hole, which communicates with the cavity. The first fixing member 25 is located in the first fixing hole and is used to partially embed into the fixing groove when the actuator 1 is fixed. The unlocking unit is slidably disposed on the outside of the clamp 2, opposite to the first fixing hole, and is used to abut against the first fixing member 25 that is inserted into the fixing groove when not sliding, and to release the first fixing member 25 after sliding so that the first fixing member 25 is disengaged from the fixing groove.

[0043] Optionally, the first fixing member 25 can be spherical or other shapes that facilitate the entering and leaving of the fixing slot, and in order to facilitate the movement of the first fixing member 25, the execution end 1 is vertically arranged, and the side with lower gravitational potential of the first fixing hole can be provided with a step or slope.

[0044] In one embodiment, the first fixing member 25 can be a steel ball, and in order to reduce the alignment time, the fixing slot can be an annular structure surrounding the fixing rod 12, so that when the execution end 1 is inserted, the insertion orientation of the execution end 1 does not need to be adjusted.

[0045] Optionally, the execution end 1 can be a pneumatic structure, and the fixing rod 12 is internally provided with an air path that communicates with the cavity when the execution end 1 is inserted into the cavity.

[0046] Optionally, in order to prevent the execution end 1 from rotating, the execution end 1 includes a fixing table 11 surrounding the bottom end of the fixing rod 12, and the fixing table 11 is provided with a fixing slot, and the opening of the fixing slot is opposite to the chuck 2; the side opposite to the fixing table 11 of the chuck 2 is provided with an angle limiting pin 21, one end of the angle limiting pin 21 is fixed to the chuck 2, and the other end extends away from the chuck 2, and the shape of the angle limiting pin 21 matches the shape of the fixing slot. Wherein, when the fixing rod 12 is inserted into the cavity of the chuck 2, the angle limiting pin 21 is correspondingly inserted into the fixing slot, thereby fixing the execution end 1.

[0047] In one embodiment, the fixing table 11 can be annular, and the diameter thereof matches the diameter of the bottom of the chuck 2.

[0048] Optionally, the unlocking unit includes an unlocking push block 22 provided with a push block base and an annular ring, the push block base and the annular ring surround the chuck 2, and the annular ring is connected to the side of the push block base away from the execution end 1; the push block base is used to abut and release the first fixing member 25, the unlocking push block 22 includes a first push block and a second push block, the inner side of the first push block is arranged to be inclined relative to the side surface of the chuck 2, the first end of the first push block is connected to the annular ring, the second end of the first push block is connected to the second push block, and the inner diameter of the first end is smaller than the inner diameter of the second end; the inner diameter of the second push block is larger than the inner diameter of the second end of the first push block.

[0049] Optionally, the inner side of the second push block abuts against the outer side of the chuck 2, and when the unlocking push block 22 slides and the fixing member 25 leaves the fixing slot on the fixing rod 12, the second push block and the first push block block the fixing hole to prevent the fixing member 25 from falling off.

[0050] In one embodiment, in order to facilitate the operator to push the unlocking push block 22 to slide along the chuck 2, the first push block and the second push block extend away from the chuck 2, and the first push block and the second push block are connected to the side away from the chuck 2 and form an inclined surface inclined relative to the chuck 2.

[0051] Optionally, to facilitate the quick reset of the unlocking unit, the unlocking unit further comprises a spring 23 and a limiting sheet 24, the spring 23 is arranged between the limiting sheet 24 and the first push block, and is sleeved on the annular ring, the diameter of the spring 23 is smaller than the diameter of the first push block; the limiting sheet 24 surrounds the chuck 2 and is fixed on the outer side of the chuck 2, and the side of the limiting sheet 24 away from the chuck 2 extends horizontally to form a limiting platform away from the chuck 2. The movement of the spring 23 and the unlocking push block 22 is limited by the limiting sheet 24. After the spring 23 pushes the unlocking push block 22 to reset, the unlocking push block 22 pushes the fixed part 25 to partially embed in the fixed groove, and abuts against the fixed part 25 to keep the execution end 1 fixed in the chuck 2.

[0052] Optionally, to limit the movement distance of the unlocking push block 22, the unlocking unit further comprises a limiting part 26, one side of the annular ring is provided with a limiting opening, the limiting opening is directed to the side of the annular ring away from the unlocking push block 22; the side surface of the chuck 2 is provided with a limiting hole corresponding to the limiting opening, the limiting part 26 is inserted into the limiting hole, and a part of the limiting part 26 is located in the limiting opening. The movement distance of the unlocking push block 22 is limited to a preset distance by the limiting opening and the limiting part 26, so that the unlocking push block 22 cannot close the fixed hole.

[0053] In one embodiment, the limiting part 26 can be a limiting screw, the limiting hole can be a screw hole corresponding to the limiting screw, and the limiting hole is located between the fixed hole and the limiting sheet 24.

[0054] Optionally, the cavity comprises a first air hole and a containing cavity, the containing cavity is used for containing the fixed rod 12, the first fixed hole is in communication with the containing cavity, the first air hole is in communication with the containing cavity, and the first air hole penetrates the top end of the chuck 2.

[0055] Optionally, to seal the air path, a first sealing ring is further arranged, and the containing cavity is provided with an annular groove at the end connected with the first air hole, and the first sealing ring is embedded in the annular groove.

[0056] In one embodiment, after being inserted into the containing cavity, the top of the fixed rod 12 contacts the first sealing ring, and to improve the adhesion of the fixed rod 12 and the first sealing ring, the top of the fixed rod 12 is further provided with an annular inclined surface corresponding to the first sealing ring, and the annular inclined surface contacts the first sealing ring.

[0057] Optionally, the fixed module further comprises a connecting seat 3 provided with a second fixed part 31, the connecting seat 3 is hollow to form a fixed cavity, and the end of the chuck 2 away from the execution end 1 is inserted into the fixed cavity; the side surface of the connecting seat 3 is provided with a second fixed hole 32, the second fixed hole 32 penetrates the connecting seat 3 and is connected with the fixed cavity; the part of the chuck 2 inserted into the fixed cavity is provided with a groove corresponding to the fixed hole, and the second fixed part 31 is inserted into the groove along the second fixed hole 32.

[0058] In one embodiment, the second fastener 31 can be a grommet screw, which is installed on the side of the connector 3 and fixes the clamp 2 to the connector 3.

[0059] Optionally, the connecting seat 3 also includes a second sealing ring, the diameter of which corresponds to the inner diameter of the fixing cavity. The inner side of the fixing cavity is provided with an annular boss, the position of which corresponds to the depth of the chuck 2 inserted into the fixing cavity. The second sealing ring is disposed on at least one side of the annular boss and abuts against the chuck 2.

[0060] In one embodiment, a second sealing ring is provided on both sides of the annular boss, and the second sealing ring is located on the side of the second fixing hole 32 away from the execution end 1.

[0061] In this embodiment of the quick-change device for the actuator end, the fixing module includes an unlocking unit, a first fixing member 25, and a clamp 2. The clamp 2 is hollow, forming a cavity. A fixing rod 12 is provided at the top of the actuator end 1, and the fixing rod 12 is used to insert into the cavity. The end of the fixing rod 12 is provided with a fixing groove, and the side of the clamp 2 is provided with a first fixing hole, which communicates with the cavity. The first fixing member 25 is located in the first fixing hole and is used to partially embed into the fixing groove when fixing the actuator end 1. The unlocking unit is slidably fixed on the outside of the clamp 2, opposite to the first fixing hole, and is used to abut against the first fixing member 25 that has entered the fixing groove when not sliding and to release the first fixing member 25 after sliding. This embodiment of the application can achieve the fixing and unlocking of the actuator end 1 by sliding the unlocking unit, effectively reducing the difficulty of replacing the actuator end 1, and eliminating the need for disassembly tools, thus reducing replacement costs and time, thereby enabling quick replacement of the actuator end 1 and improving product production efficiency.

[0062] Based on the same inventive concept, this application also provides a robot, such as Figures 1-4 As shown, the robot includes an actuator quick-change device and at least one robotic arm. The actuator quick-change device can be fixed to the robotic arm of the robot. The actuator quick-change device includes a fixing module with an unlocking unit, a first fixing member 25, a gripper 2, and an actuator 1. The gripper 2 is hollow to form a cavity. The top of the actuator 1 is provided with a fixing rod 12, which is used to insert into the cavity. The end of the fixing rod 12 is provided with a fixing groove. The side of the gripper 2 is provided with a first fixing hole, which communicates with the cavity. The first fixing member 25 is located in the first fixing hole and is used to partially embed into the fixing groove when the actuator 1 is fixed. The unlocking unit is slidably disposed on the outside of the gripper 2, opposite to the first fixing hole, and is used to abut against the first fixing member 25 when it is not sliding and to release the first fixing member 25 after sliding so that the first fixing member 25 is disengaged from the fixing groove.

[0063] Optionally, the execution end 1 comprises a fixed table 11, which surrounds the bottom end of the fixed rod 12, and the fixed table 11 is provided with a fixed groove, the opening of the fixed groove is opposite to the chuck 2; the side of the chuck 2 opposite to the fixed table 11 is provided with an angle limiting pin 21, one end of the angle limiting pin 21 is fixed to the chuck 2, the other end extends away from the chuck 2, and the shape of the angle limiting pin 21 matches the shape of the fixed groove.

[0064] Optionally, the unlocking unit comprises an unlocking push block 22 provided with a push block base and an annular ring, the push block base and the annular ring surround the chuck 2, and the annular ring is connected to the side of the push block base away from the execution end 1; the push block base is used for abutting and releasing the first fixing part 25; the unlocking push block 22 comprises a first push block and a second push block, the inner side of the first push block is arranged to be inclined relative to the side surface of the chuck 2, the first end of the first push block is connected to the annular ring, the second end of the first push block is connected to the second push block, and the inner diameter of the first end is smaller than the inner diameter of the second end; the inner diameter of the second push block is greater than the inner diameter of the second end of the first push block.

[0065] Optionally, the unlocking unit further comprises a spring 23 and a limiting sheet 24, the spring 23 is arranged between the limiting sheet 24 and the first push block, and is sleeved on the annular ring, and the diameter of the spring 23 is smaller than the diameter of the first push block; the limiting sheet 24 surrounds the chuck 2 and is fixed to the outer side of the chuck 2, and the side of the limiting sheet 24 away from the chuck 2 extends horizontally to form a limiting platform away from the chuck 2.

[0066] Optionally, the unlocking unit further comprises a limiting part 26, one side of the annular ring is provided with a limiting opening, the limiting opening faces the side of the annular ring away from the unlocking push block 22; the region of the side surface of the chuck 2 corresponding to the limiting opening is provided with a limiting hole, the limiting part 26 is inserted into the limiting hole, and a part of the limiting part 26 is located in the limiting opening.

[0067] Optionally, the cavity comprises a first air hole and a containing cavity, the containing cavity is used for containing the fixed rod 12, the first air hole and the containing cavity are in communication, and the first air hole penetrates the top end of the chuck 2.

[0068] Optionally, it further comprises a first sealing ring, one end of the containing cavity connected to the first air hole is provided with an annular groove, and the first sealing ring is embedded in the annular groove.

[0069] Optionally, the fixed module further comprises a connecting seat 3 provided with a second fixing member 31, the connecting seat 3 is hollow to form a fixing cavity, and the chuck 2 is inserted into the fixing cavity from one end away from the execution end 1; the side of the connecting seat 3 is provided with a second fixing hole 32, the second fixing hole 32 penetrates through the connecting seat 3 and is connected with the fixing cavity; the part of the chuck 2 inserted into the fixing cavity is provided with a groove corresponding to the fixing hole, and the second fixing member 31 is inserted into the groove along the second fixing hole 32.

[0070] Optionally, the connecting seat 3 further comprises a second sealing ring, the diameter of the second sealing ring corresponds to the inner diameter of the fixing cavity, the inner side of the fixing cavity is provided with an annular boss, the position of the annular boss corresponds to the depth of the chuck 2 inserted into the fixing cavity; the second sealing ring is arranged at least one side of the annular boss and abuts against the chuck 2.

[0071] The terms "first", "second", "third", "fourth", "1", "2", and the like (if any) in the description and claims of the present application and the above drawings are used to distinguish similar objects, and do not necessarily have to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described.

[0072] It should be understood that, although the flowcharts of the embodiments of the present application indicate various operation steps by arrows, the implementation order of these steps is not limited to the order indicated by the arrows. Unless otherwise specified herein, in some implementation scenarios of the embodiments of the present application, the implementation steps in each flowchart can be executed in other orders as required. In addition, part or all of the steps in each flowchart can include multiple sub-steps or multiple stages based on the actual implementation scenario. Part or all of these sub-steps or stages can be executed at the same time, and each of these sub-steps or stages can also be executed at different times. In the scenario where the execution times are different, the execution order of these sub-steps or stages can be flexibly configured as required, and the embodiments of the present application do not limit this.

[0073] The above is only an optional implementation of some implementation scenarios of the present application, and it should be pointed out that, for ordinary skilled persons in the technical field, other similar implementation means based on the technical idea of the present application without departing from the technical concept of the present application also belong to the protection scope of the embodiments of the present application.

Claims

1. An execute end quick change device characterized by, The fixing module comprises an unlocking unit, a first fixing member, a chuck and an execution end, the chuck is hollow to form a cavity, the top of the execution end is provided with a fixing rod which is used to be inserted into the cavity; The end of the fixing rod is provided with a fixing groove, the side of the chuck is provided with a first fixing hole which is communicated with the cavity, the first fixing member is located in the first fixing hole and is used to be partially embedded into the fixing groove when the execution end is fixed; The unlocking unit is slidingly arranged outside the chuck and is opposite to the first fixing hole, and is used to abut against the first fixing member entering the fixing groove when not sliding and to loosen the first fixing member after sliding so that the first fixing member is separated from the fixing groove.

2. The performing end quick change device according to claim 1, characterized by, The execution end comprises a fixing table which surrounds the bottom end of the fixing rod, and the fixing table is provided with a fixing groove, the opening of the fixing groove is opposite to the chuck; The side of the chuck opposite to the fixing table is provided with an angle limiting pin, one end of the angle limiting pin is fixed to the chuck, the other end extends away from the chuck, and the shape of the angle limiting pin matches the shape of the fixing groove.

3. The performing end quick change device according to claim 1, characterized in that, The unlocking unit comprises an unlocking push block provided with a push block base and an annular ring, the push block base and the annular ring surround the chuck, and the annular ring is connected to the side of the push block base away from the execution end; The push block base is used to abut against and loosen the first fixing member, the unlocking push block comprises a first push block and a second push block, the inner side of the first push block is arranged to be inclined relative to the side of the chuck, the first end of the first push block is connected to the annular ring, the second end of the first push block is connected to the second push block, and the inner diameter of the first end is smaller than the inner diameter of the second end; The inner diameter of the second push block is greater than the inner diameter of the second end of the first push block.

4. The performing end quick change device according to claim 3, characterized in that, The unlocking unit further comprises a spring and a limiting sheet, the spring is arranged between the limiting sheet and the first push block, and is sleeved on the annular ring, and the diameter of the spring is smaller than the diameter of the first push block; The limiting sheet surrounds the chuck and is fixed outside the chuck, and the side of the limiting sheet away from the chuck extends horizontally to form a limiting platform away from the chuck.

5. The performing end quick change device according to claim 3, characterized in that, The unlocking unit further comprises a limiting member, one side of the annular ring is provided with a limiting opening which faces the side of the annular ring away from the unlocking push block; The area of the side of the chuck corresponding to the limiting opening is provided with a limiting hole, the limiting member is inserted into the limiting hole, and a part of the limiting member is located in the limiting opening.

6. The performing end quick change device according to claim 1, characterized in that, The cavity comprises a first air hole and a containing cavity, the containing cavity is used to contain the fixing rod, the first fixing hole is communicated with the containing cavity, the first air hole is communicated with the containing cavity, and the first air hole penetrates through the top end of the chuck.

7. The performing end quick change device according to claim 6, characterized in that, Further comprising a first sealing ring, one end of the containing cavity connected to the first air hole is provided with an annular groove, and the first sealing ring is embedded into the annular groove.

8. The performing end quick change device according to claim 1, characterized in that, The fixed module further comprises a connecting seat provided with a second fixing member, the connecting seat is hollow to form a fixing cavity, and one end of the chuck away from the execution end is inserted into the fixing cavity; A side surface of the connecting seat is provided with a second fixing hole, the second fixing hole penetrates through the connecting seat and is connected with the fixing cavity; The part of the chuck inserted into the fixing cavity is provided with a groove corresponding to the fixing hole, and the second fixing member is inserted into the groove along the second fixing hole.

9. The performing end quick change device according to claim 8, characterized in that, The connecting seat further comprises a second sealing ring, a diameter of the second sealing ring corresponds to an inner diameter of the fixing cavity, an inner side of the fixing cavity is provided with an annular boss, and a position of the annular boss corresponds to a depth of the chuck inserted into the fixing cavity; The second sealing ring is arranged at least one side of the annular boss and abuts against the chuck.

10. A robot, characterized in that The robot comprises the execution end quick change device as claimed in any one of claims 1-9.

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