Quick-change locking device and robot thereof

Abstract

The utility model relates to the technical field of robots, in particular to a quick-change locking device and a robot thereof. The quick-change locking device is used for connecting a hand end and a tool end of a robot, the hand end of the robot is connected with an arm of the robot, the tool end is various end effectors of the robot, and the quick-change locking device is characterized by comprising a first connecting unit, a second connecting unit and a locking rod, the first connecting unit and the second connecting unit are connected with the hand end and the tool end correspondingly, a locking rod is arranged in the first connecting unit, and the device moves in the first connecting unit through the locking rod, so that locking and unlocking of the second connecting unit are achieved. According to the device, mechanical reloading is adopted, locking is firm, the cost of the device is reduced, reloading steps are reduced, the stability, durability and bearing capacity of the quick-change locking device are guaranteed, and meanwhile the reloading efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, specifically, a quick change locking device and robot thereof are related. BACKGROUND

[0002] The robot quick change device, also known as tool quick change disc, gun change disc etc., is the quick replacement device of end effector, and it is an important equipment installed on the industrial robot arm. It is mainly composed of robot side and tool side, the robot side is installed on the robot arm, the tool side is connected with the end effector, and the quick change device aims at realizing the quick and accurate replacement of the end effector of robot to adapt to different production tasks.

[0003] And the quick change locking device as an important part of the robot quick change device is used to fix the tool side on the robot arm, but the current robot quick change device faces the problem of unstable connection. Especially in high-frequency use or high-load situation, the interface will be loose, contact poor or signal loss;

[0004] The quick change device in the prior art has realized a certain degree of automation, but compared with pure manual replacement, it still needs a certain time to complete the replacement of tool or hand end. Especially in some cases requiring precise docking / multiple sensors / power connection, the replacement process may still be cumbersome; on the other hand, some quick change systems ignore the weight, inertia, load and other factors of robot arm or tool in design, which may cause imbalance or load capacity of the system after replacement; on the other hand of the prior art, high-performance quick change device usually adopts complex design and precise manufacturing, which leads to high manufacturing cost. Using customized quick change device in some high-end robot systems will greatly increase the overall cost, however, the quick change device needs frequent plugging and unplugging operation, which will cause wear and tear to the contact part, and thus affect its durability, especially in high load or harsh environment, the wear rate of the quick change device will be accelerated, resulting in performance decline of the quick change device. SUMMARY

[0005] Therefore, the utility model aims at solving at least one aspect of the above problems and defects in the prior art.

[0006] One of the purposes of the utility model is to provide a quick change locking device, which adopts pure manual mechanical replacement, is locked firmly and effectively reduces the cost of quick change locking device.

[0007] Another purpose of the utility model is to provide a robot with the quick change locking device, which reduces the installation steps of quick change locking device on the robot, ensures the stability and durability of quick change locking device and load capacity, and improves the replacement efficiency.

[0008] The utility model discloses the following technical scheme: A quick-change locking device is used for connecting the hand end and the tool end of a robot, the hand end of the robot is connected with the arm of the robot, the tool end is the end effector of the robot, and the quick-change locking device comprises: a first connecting unit, a second connecting unit and a locking rod, the first connecting unit is connected with the hand end, the first connecting unit is provided with a first mounting cavity, one end of the second connecting unit is connected with the tool end, the opposite end of the second connecting unit is provided with a second mounting cavity, and the second mounting cavity is detachably arranged in the first mounting cavity; the locking rod is arranged in the first mounting cavity, and the locking rod can move between a locking position and an unlocking position.

[0009] When the locking rod is at the locking position, the locking rod is matched with the second mounting cavity, and the second connecting unit is fixed in the first mounting cavity; when the locking rod is at the unlocking position, the locking rod is separated from the second mounting cavity, and the second connecting unit can be separated from the first mounting cavity.

[0010] Compared with the prior art, the technical scheme has the following technical effects: through cooperation of the first connecting unit and the second connecting unit, the hand end and the tool end of the robot are connected, the second connecting unit is placed in the first mounting cavity, then the locking rod is moved to the locking position, the second connecting unit is locked, the whole quick-change locking device is mechanically replaced, the cost of the whole device is reduced, the influence of unstable electrical devices is avoided, and the stability is good; the tool end replacement process is simple and fast, complex disassembly and installation steps are not needed, the time required for replacing the tool end is shortened, and therefore the working efficiency of the robot is improved; meanwhile, the locking rod is locked firmly, force and torque transmitted by the tool end in the actual use process are mainly borne by the locking rod in the middle, large end carrying capacity can be realized, the locking rod is matched with the first connecting unit and the second connecting unit, device mode switching can be performed for many times, and the durability is better.

[0011] Further, the side wall of the second mounting cavity is provided with a through hole, the locking rod is provided with a first abutting portion, the first abutting portion is arranged at one end of the locking rod, and the first abutting portion is matched with the through hole.

[0012] When the locking rod reaches the locking position, the first abutting portion abuts on the through hole, and when the locking rod reaches the unlocking position, the first abutting portion can be separated from the second mounting cavity.

[0013] Compared with the prior art, the technical effects achieved by the technical scheme are as follows: the locking rod is arranged in the first mounting cavity, when the second connecting unit is mounted, the locking rod can pass through the through hole in the second mounting cavity, and when the locking rod moves to the locking position, the first abutting portion of the locking rod abuts against the through hole, so that the second connecting unit is fixed in the first connecting unit. The abutment between the first abutting portion and the through hole increases the stability of the connection. When the robot moves or bears a load, the limitation of the position of the first mounting cavity to the second mounting cavity and the abutment between the first abutting portion and the through hole prevent the second connecting unit from rotating or axially moving in the first mounting cavity, and ensure the locking effect of the device. At the same time, the user only needs to mount the second mounting cavity into the first mounting cavity, and then move the locking rod to abut against the through hole, so as to complete the locking of the tool end of the robot. The operation is simple and the durability is high.

[0014] Further, the first mounting cavity is provided with an abutting groove, which is arranged close to the outside of the through hole, and when the locking rod reaches the locking position, the first abutting portion is locked in the abutting groove.

[0015] Compared with the prior art, the technical effects achieved by the technical scheme are as follows: the arrangement of the abutting groove allows the locking rod to accurately move to the locking position, ensures the locking precision of the whole device, and at the same time, the abutting groove can provide limiting and fixing effects, prevent the second connecting unit and the first connecting unit from moving or loosening during work, and improve the bearing capacity of the quick-change locking device when bearing axial and radial loads.

[0016] Further, the locking rod comprises a second abutting portion arranged at the other end opposite to the first abutting portion, and the side wall of the first mounting cavity is provided with a second matching portion, and the second abutting portion is arranged in the second matching portion.

[0017] Compared with the prior art, the technical effects achieved by the technical scheme are as follows: the second abutting portion on the locking rod cooperates with the second matching portion of the side wall of the first mounting cavity, and plays a role in balancing the stress during the working process of the locking rod. When the quick-change locking device is locked, not only the stress between the first abutting portion and the through hole, the stress between the first abutting portion and the abutting groove, but also the stress between the second abutting portion and the second matching portion, and the stress between the second abutting portion and the through hole. This balanced stress design can effectively reduce the fatigue and wear of the locking rod in the frequent working process, and prolong the service life of the quick-change locking device. At the same time, the cooperation between the second abutting portion and the second matching portion provides accurate guidance for the movement of the locking rod in the first mounting cavity. When the locking rod moves between the locking position and the unlocking position, the second abutting portion moves along the second matching portion, which ensures the accuracy and straightness of the movement track of the locking rod. This helps to realize quick and accurate locking and unlocking operation, and improves the efficiency of replacement.

[0018] Further, the locking rod is provided with a connecting rod, a disengagement gap is arranged at the top of the hole, and the first abutting portion abuts against the disengagement gap; wherein when the locking rod is switched from the locking position to the unlocking position, the connecting rod passes through the disengagement gap.

[0019] Compared with the prior art, the technical effects achieved by adopting the technical scheme are as follows: when the locking rod is switched from the locking position to the unlocking position, the connecting rod can pass through the disengagement gap, and the second connecting unit is conveniently unlocked from the first connecting unit.

[0020] Further, the locking rod comprises a buckling push piece, the buckling push piece is arranged outside the first connecting unit, one end of the buckling push piece is connected with the locking rod, and the buckling push piece can drive the locking rod to move; wherein when the buckling push piece is buckled on the first connecting unit, the locking rod reaches the locking position, and when the buckling push piece is unfolded, the locking rod is separated from the locking position.

[0021] Compared with the prior art, the technical effects achieved by adopting the technical scheme are as follows: the buckling push piece is arranged, first, the operator can directly operate the buckling push piece outside the device to drive the locking rod to move, so that the quick-change locking device is unlocked or locked, and second, when the buckling push piece is buckled, the buckling push piece presses the locking rod to prevent the locking rod from shaking, so that the relative position between the locking rod and the first connecting unit and the second connecting unit is stable, and the locking precision and the firmness of fixation are further ensured.

[0022] Further, the buckling push piece is provided with a lifting rod, one end of the lifting rod is connected with the locking rod, and the buckling push piece drives the locking rod to move through the lifting rod.

[0023] Compared with the prior art, the technical effects achieved by adopting the technical scheme are as follows: when the buckling push piece is buckled or unfolded, the buckling movement is converted into the pushing or pulling of the lifting rod on the locking rod, the displacement of the locking rod in the first mounting cavity is controlled, and reliable locking and unlocking are achieved.

[0024] Further, the first connecting unit is provided with a locking handle, the buckling push piece is provided with a clamping hole, the locking handle is matched with the clamping hole, and the locking handle is used for fixing the buckling push piece on the first connecting unit.

[0025] Compared with the prior art, the technical effects achieved by adopting the technical scheme are as follows: the locking handle of the first connecting unit is matched with the clamping hole of the buckling push piece, the buckling push piece is fixed on the first connecting unit, the buckling push piece is prevented from being accidentally loosened during the working process of the robot, and the structural shaking of the whole quick-change locking device is reduced.

[0026] The locking handle is provided with a pressing piece and a rotating handle, the pressing piece is arranged on the rotating handle, the rotating handle can pass through the clamping hole, and when the rotating handle abuts against the clamping hole, the pressing piece is used for pressing the buckling push piece.

[0027] Compared with the prior art, the technical effects reached by adopting the technical scheme are that when the quick-change locking device is locked, the pressing part continuously and stably presses the buckling push piece, prevents the shaking of the buckling push piece from causing the shaking of the whole device, and ensures that the locking rod is always in a reliable locking position.

[0028] The utility model also provides a robot, including quick-change locking device in any of the above technical schemes, its effect does not repeat. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 It is a schematic view of a quick-change locking device of the utility model embodiment;

[0030] Figure 2 It is an explosion view of a quick-change locking device of the utility model embodiment;

[0031] Figure 3 It is a structural schematic view of the first connecting unit of a quick-change locking device of the utility model embodiment;

[0032] Figure 4 It is a structural schematic view of the first connecting unit of a quick-change locking device of the utility model embodiment from another perspective;

[0033] Figure 5 It is a structural schematic view of the second connecting unit of a quick-change locking device of the utility model embodiment;

[0034] Figure 6 It is a structural schematic view of the locking rod of a quick-change locking device of the utility model embodiment;

[0035] Figure 7 It is a structural schematic view of the buckling push piece of a quick-change locking device of the utility model embodiment.

[0036] The reference signs are explained as follows: 100, quick-change locking device; 101, hand end; 111, tool end; 1, first connecting unit; 2, second connecting unit; 3, locking rod; 4, first mounting cavity; 5, second mounting cavity; 6, through hole; 7, first abutting portion; 8, abutting groove; 9, second abutting portion; 10, second matching portion; 11, connecting rod; 12, escape notch; 13, buckling push piece; 14, lifting rod; 15, clamping hole; 16, locking handle; 17, pressing part; 18, rotating handle; 19, positioning column; 20, positioning hole. DETAILED DESCRIPTION

[0037] In order to make the above purpose, features and advantages of the utility model more obvious and easy to understand, the specific embodiments of the utility model are explained in detail below with reference to the drawings.

[0038] Reference is made to Figures 1-7The utility model discloses the following technical scheme: A quick-change locking device 100 is used for connecting the hand end 101 of robot and tool end 111, the hand end 101 of robot connects the arm of robot, and the tool end 111 is the end effector of robot, and the quick-change locking device 100 includes: first connecting unit 1, second connecting unit 2 and locking rod 3, first connecting unit 1 is connected with hand end 101, and first connecting unit 1 is equipped with first installation cavity 4, one end of second connecting unit 2 is connected with tool end 111, and the opposite end of second connecting unit 2 is equipped with second installation cavity 5, and second installation cavity 5 is detachably sleeved in first installation cavity 4;Locking rod 3 is arranged in first installation cavity 4, and locking rod 3 can move between locking position and unlocking position;

[0039] Among them, locking rod 3 cooperates with second installation cavity 5 when being in locking position, and second connecting unit 2 is fixed in first installation cavity 4;When locking rod 3 is in unlocking position, locking rod 3 is separated from second installation cavity 5, and second connecting unit 2 can be separated from first installation cavity 4.

[0040] Through the cooperation of first connecting unit 1 and second connecting unit 2, the connection of the hand end 101 of robot and tool end 111 is realized, by putting second connecting unit 2 into first installation cavity 4, then moving locking rod 3 to locking position, second connecting unit 2 is locked, the whole quick-change locking device 100 uses mechanical replacement, reduces the cost of the whole device, avoids the influence of unstable electrical device, and has good stability;The replacement process of tool end 111 is simple and fast, and does not need complex disassembly and installation steps, so that the time required for replacing tool end 111 is shortened, and the working efficiency of robot is improved;Meanwhile, the locking of locking rod 3 is firm, and in actual use, the force and torque transmitted by tool end 111 mainly rely on the intermediate locking rod 3, so that larger end carrying capacity can be realized, and in addition, the cooperation of locking rod 3 and first connecting unit 1 and second connecting unit 2 can switch the device mode for many times, and has better durability.

[0041] Specifically, the side wall of second installation cavity 5 is provided with a through hole 6, the locking rod 3 is provided with a first abutting portion 7, the first abutting portion 7 is arranged at one end of the locking rod 3, and the first abutting portion 7 cooperates with the through hole 6;

[0042] Among them, when locking rod 3 reaches locking position, first abutting portion 7 abuts on through hole 6, and when locking rod 3 reaches unlocking position, first abutting portion 7 can be separated from second installation cavity 5.

[0043] For example, the first abutting part 7 is a cylindrical platform, and the through hole 6 is a corresponding circular hole that fits with the first abutting part 7. The diameter of the cylindrical platform of the first abutting part 7 is the same as the diameter of the through hole 6, which ensures stable contact between the first abutting part 7 and the through hole 6 and prevents the second connecting unit 2 from shaking in the first connecting unit 1.

[0044] In summary, the locking rod 3 is located within the first mounting cavity 4. When the second connecting unit 2 is installed, the locking rod 3 can pass through the second mounting cavity 5 via the hole 6. When the locking rod 3 moves to the locked position, the first abutting part 7 of the locking rod 3 abuts against the through hole 6, fixing the second connecting unit 2 within the first connecting unit 1. The abutting of the first abutting part 7 against the through hole 6 increases the stability of the connection. When the robot moves or bears a load, the limitation of the position of the second mounting cavity 5 by the first mounting cavity 4 and the abutting of the first abutting part 7 against the through hole 6 prevent the second connecting unit 2 from rotating or axially displacing within the first mounting cavity 4, ensuring the locking effect of the device. Simultaneously, the user only needs to insert the second mounting cavity 5 into the first mounting cavity 4 and then move the locking rod 3 to abut against the through hole 6 to lock the robot's tool end 111. It is easy to operate and highly durable.

[0045] Specifically, the first mounting cavity 4 is provided with an abutment groove 8, which is set close to the outside of the through hole 6. When the locking rod 3 reaches the locking position, the first abutment part 7 is locked in the abutment groove 8.

[0046] The abutting groove 8 and the first abutting part 7 are matched, either structurally or positionally.

[0047] For example, such as Figure 3 and Figure 5 As shown, the first connecting unit 1 is also provided with a positioning hole 20, and the second connecting unit 2 is provided with a positioning post 19. The positioning hole 20 and the positioning post 19 are structurally matched or positionally matched to ensure that the relative position of the second connecting unit 2 and the first connecting unit 1 is accurate when they are installed, and to ensure that the locking rod 3 accurately enters the through hole 6 and the abutment groove 8 and correctly abuts against the through hole 6 and the abutment groove 8 when locked.

[0048] In summary, the abutment groove 8 allows the locking rod 3 to move accurately to the locking position, ensuring the overall locking accuracy of the device. At the same time, the abutment groove 8 provides a limiting and fixing function, preventing the second connecting unit 2 and the first connecting unit 1 from shifting or loosening during operation, and improving the load-bearing capacity of the quick-change locking device 100 when subjected to axial and radial loads.

[0049] Specifically, the locking rod 3 comprises a second abutting portion 9 arranged at the other end of the locking rod 3 opposite to the first abutting portion 7, and a second matching portion 10 arranged on the side wall of the first mounting cavity 4, and the second abutting portion 9 is arranged in the second matching portion 10.

[0050] The second abutting portion 9 on the locking rod 3 matches the second matching portion 10 on the side wall of the first mounting cavity 4, and plays a role of balancing the force during the operation of the locking rod 3. When the quick-change locking device 100 is locked, not only the first abutting portion 7 and the through hole 6, the first abutting portion 7 and the abutting groove 8 are subjected to force, but also the second abutting portion 9 and the second matching portion 10 are subjected to force, and the second abutting portion 9 and the through hole 6 are subjected to force. The balanced force design can effectively reduce the fatigue and wear of the locking rod 3 during frequent operation, and prolong the service life of the quick-change locking device 100. At the same time, the matching of the second abutting portion 9 and the second matching portion 10 provides accurate guidance for the movement of the locking rod 3 in the first mounting cavity 4. When the locking rod 3 moves between the locking position and the unlocking position, the second abutting portion 9 moves along the second matching portion 10, which ensures the accuracy and linearity of the movement track of the locking rod 3. This helps to realize quick and accurate locking and unlocking operation, and improves the efficiency of the quick-change operation.

[0051] Specifically, the locking rod 3 is provided with a connecting rod 11, the top of the through hole 6 is provided with a disengagement gap 12, and the first abutting portion 7 abuts against the disengagement gap 12; wherein when the locking rod 3 is switched from the locking position to the unlocking position, the connecting rod 11 passes through the disengagement gap 12.

[0052] When the locking rod 3 is switched from the locking position to the unlocking position, the connecting rod 11 can pass through the disengagement gap 12, which facilitates the unlocking of the second connecting unit 2 from the first connecting unit 1.

[0053] Specifically, the locking rod 3 comprises a buckling push piece 13 arranged outside the first connecting unit 1, one end of the buckling push piece 13 is connected with the locking rod 3, and the buckling push piece 13 can drive the locking rod 3 to move; wherein when the buckling push piece 13 is buckled on the first connecting unit 1, the locking rod 3 reaches the locking position, and when the buckling push piece 13 is unfolded, the locking rod 3 is separated from the locking position.

[0054] The buckling push piece 13 is arranged, first, the operator can directly operate the buckling push piece 13 outside the device to drive the locking rod 3 to move, so as to unlock or lock the quick-change locking device 100, second, when the buckling push piece 13 is buckled, the buckling push piece 13 presses the locking rod 3 to prevent the locking rod 3 from shaking, which ensures the stability of the relative position of the locking rod 3, the first connecting unit 1 and the second connecting unit 2, and further ensures the locking accuracy and the firmness of the fixation.

[0055] Specifically, the buckle pusher 13 is provided with a lifting rod 14, one end of the lifting rod 14 is connected with the locking rod 3, and the buckle pusher 13 pushes the locking rod 3 to move through the lifting rod 14.

[0056] When the buckle pusher 13 is buckled or unfolded, the buckling movement is converted into pushing or pulling of the locking rod 3 by the lifting rod 14, the displacement of the locking rod 3 in the first mounting cavity 4 is controlled, reliable locking and unlocking are realized.

[0057] Specifically, the first connecting unit 1 is provided with a locking handle 16, the buckle pusher 13 is provided with a clamping hole 15, the locking handle 16 cooperates with the clamping hole 15, and the buckle pusher 13 is fixed on the first connecting unit 1.

[0058] The locking handle 16 of the first connecting unit 1 cooperates with the clamping hole 15 of the buckle pusher 13, the buckle pusher 13 is fixed on the first connecting unit 1, the buckle pusher 13 is prevented from being accidentally loosened during the working process of the robot, and the structural shaking of the quick-change locking device 100 as a whole is reduced.

[0059] The locking handle 16 is provided with a pressing piece 17 and a rotating handle 18, the pressing piece 17 is arranged on the rotating handle 18, the rotating handle 18 can pass through the clamping hole 15, when the rotating handle 18 abuts against the clamping hole 15, the pressing piece 17 is used for pressing the buckle pusher 13.

[0060] When the quick-change locking device 100 is locked, the pressing piece 17 continuously and stably presses the buckle pusher 13, the shaking of the buckle pusher 13 is prevented from causing the shaking of the whole device, and it is ensured that the locking rod 3 is always in a reliable locking position.

[0061] The utility model also provides a robot, including quick-change locking device 100 in any one of the above technical schemes, and its effect will not be repeated.

[0062] Although the utility model discloses as above, the utility model is not limited to this. Any person skilled in the art, without departing from the spirit and scope of the utility model, can make various changes and modifications, therefore the protection scope of the utility model should be limited by the range defined in the claims.

Claims

1. A quick change locking device (100) for connecting a hand end (101) of a robot and a tool end (111) of the robot, the hand end (101) of the robot being connected to an arm of the robot, the tool end (111) being a type of end effector of the robot, characterized in that, The quick-change locking device (100) comprises a first connecting unit (1) and a second connecting unit (2), the first connecting unit (1) is connected with the hand end (101), the first connecting unit (1) is provided with a first mounting cavity (4), one end of the second connecting unit (2) is connected with the tool end (111), and the other end of the second connecting unit (2) is provided with a second mounting cavity (5), and the second mounting cavity (5) is detachably sleeved in the first mounting cavity (4); A locking rod (3) is arranged in the first mounting cavity (4), and the locking rod (3) can move between a locking position and an unlocking position; Wherein, the locking rod (3) cooperates with the second mounting cavity (5) when it is in the locking position, and the second connecting unit (2) is fixed in the first mounting cavity (4); When the locking rod (3) is in the unlocking position, the locking rod (3) is separated from the second mounting cavity (5), and the second connecting unit (2) can be separated from the first mounting cavity (4).

2. Quick change locking device (100) according to claim 1, characterized in that A through hole (6) is arranged on the side wall of the second mounting cavity (5), the locking rod (3) is provided with a first abutting portion (7), the first abutting portion (7) is arranged at one end of the locking rod (3), and the first abutting portion (7) cooperates with the through hole (6); Wherein, when the locking rod (3) reaches the locking position, the first abutting portion (7) abuts on the through hole (6), and when the locking rod (3) reaches the unlocking position, the first abutting portion (7) can be separated from the second mounting cavity (5).

3. Quick change locking device (100) according to claim 2, characterized in that The first mounting cavity (4) is provided with an abutting groove (8), the abutting groove (8) is arranged close to the outside of the through hole (6), when the locking rod (3) reaches the locking position, the first abutting portion (7) is locked in the abutting groove (8).

4. Quick change locking device (100) according to claim 2, characterized in that The locking rod (3) comprises: A second abutting portion (9) is arranged at the other end of the locking rod (3), a second cooperating portion (10) is arranged on the side wall of the first mounting cavity (4), and the second abutting portion (9) is arranged in the second cooperating portion (10).

5. Quick change locking device (100) according to claim 4, characterized in that The locking rod (3) is provided with a connecting rod (11), the top of the through hole (6) is provided with a separation notch (12), the first abutting portion (7) abuts on the separation notch (12); Wherein, when the locking rod (3) is switched from the locking position to the unlocking position, the connecting rod (11) passes through the separation notch (12).

6. Quick change locking device (100) according to claim 1, characterized in that The locking rod (3) comprises a buckling knob (13), the buckling knob (13) is arranged outside the first connecting unit (1), one end of the buckling knob (13) is connected with the locking rod (3), and the buckling knob (13) can drive the locking rod (3) to move; Wherein, when the buckling knob (13) is buckled on the first connecting unit (1), the locking rod (3) reaches the locking position, and when the buckling knob (13) is unfolded, the locking rod (3) is separated from the locking position.

7. Quick change locking device (100) according to claim 6, characterized in that The buckle pressing piece (13) is provided with a lifting rod (14), one end of the lifting rod (14) is connected with the locking rod (3), and the buckle pressing piece (13) drives the locking rod (3) to move through the lifting rod (14).

8. Quick change locking device (100) according to claim 7, characterized in that The first connecting unit (1) is provided with a locking handle (16), the buckle pressing piece (13) is provided with a clamping hole (15), the locking handle (16) is matched with the clamping hole (15), and the locking handle (16) is used for fixing the buckle pressing piece (13) on the first connecting unit (1).

9. Quick change locking device (100) according to claim 8, characterized in that The locking handle (16) is provided with a pressing part (17) and a rotating handle (18), the pressing part (17) is arranged on the rotating handle (18), the rotating handle (18) can pass through the clamping hole (15), and when the rotating handle (18) abuts against the clamping hole (15), the pressing part (17) is used for pressing the buckle pressing piece (13).

10. A robot, characterized in that The quick-change locking device (100) comprises the quick-change locking device (100) according to any one of claims 1-9.

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