Replaceable tail end device of manipulator

Abstract

The utility model belongs to the technical field of mechanical arm accessories, and discloses a replaceable tail end device of a mechanical arm, which comprises a mechanical arm connecting block and a tail end device connecting block, the mechanical arm connecting block is detachably connected with the tail end device connecting block through a locking piece, and a plurality of groups of first gas circuit components are arranged on the mechanical arm connecting block. The manipulator connecting block is provided with first gas circuit assemblies, the tail end device connecting block is provided with second gas circuit assemblies corresponding to the first gas circuit assemblies in a one-to-one mode, and after the manipulator connecting block is fixedly connected with the tail end device connecting block, the first gas circuit assemblies are communicated with the second gas circuit assemblies. The tail end device is convenient and fast to replace, the universality and adaptability of the manipulator are improved, the first gas path assembly and the second gas path assembly are communicated after being connected, a gas path channel is provided for the tail end device, it is ensured that the tail end device can work normally, the structural design is reasonable, and connection and disconnection of gas paths in the mounting and dismounting process are facilitated.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm accessories technology, and in particular to a replaceable end effector for a robotic arm. Background Technology

[0002] In the field of industrial automation, robotic arms, as core equipment in flexible production lines, are widely used in industries such as automotive manufacturing, 3C electronics, and aerospace. The end effector (end unit) is a key component that directly performs tasks on the robotic arm, and its functional design directly affects production efficiency, accuracy, and safety. For example, in automotive welding lines, frequent switching between welding torches, fixtures, cameras, and other tools is required; in electronic assembly, vacuum nozzles and precision grippers are used to mount minute components.

[0003] To enable rapid assembly and disassembly between different end devices and robotic arms, Chinese utility model patent CN220699670U discloses a safe quick-change device for a robotic arm. The device includes a quick-connect robotic arm end cover, a quick-connect robotic arm end main seat, and a quick-connect operating head end main seat. The robotic arm end cover is located on the top area of ​​the quick-connect robotic arm end main seat. Locking mechanisms are provided at both the left and right ends of the quick-connect robotic arm end cover and the quick-connect operating head end main seat. Limiting mechanisms are provided at the front and rear ends of the middle area of ​​the quick-connect robotic arm end cover and the quick-connect operating head end main seat. A shock-absorbing mechanism is provided at the connection point between the quick-connect robotic arm end cover and the quick-connect operating head end main seat. A stable power transmission mechanism is also provided at the connection point between the quick-connect robotic arm end cover and the quick-connect operating head end main seat. The locking mechanism also includes a button, three sets of springs, and multiple sets of fixing blocks.

[0004] The above-mentioned quick-change device solves some of the defects of the existing technology, but there are still some shortcomings in actual use. For example, the above-mentioned quick-change device does not integrate the air circuit. When the robot needs to connect to the pneumatic end effector, it is necessary to manually connect the air circuit on the robot to the air circuit of the end effector. When disassembling, the air circuit must be removed first before the end effector can be separated from the robot, which is complicated.

[0005] The aforementioned quick-change device uses a button in conjunction with a spring to assemble and disassemble the main seat at the end of the quick-connect operating head and the main seat at the end of the quick-connect robotic arm. When pressing the button, it is necessary to press the button forcefully into the protective shell. Due to the weight of the end device, when the button is removed from the protective shell, the finger is still inside the protective shell, which can easily cause finger injury.

[0006] To this end, we propose a replaceable end effector for a robotic arm. Utility Model Content

[0007] The purpose of this invention is to provide a replaceable end effector for a robotic arm, thereby solving or at least alleviating one or more of the aforementioned problems and other issues present in the prior art.

[0008] To achieve the above objectives, the main technical solutions adopted by this utility model include:

[0009] A replaceable end effector for a robotic arm includes a robotic arm connecting block and an end effector connecting block. The robotic arm connecting block and the end effector connecting block are detachably connected by a locking member. The robotic arm connecting block is provided with multiple sets of first air passage components, and the end effector connecting block is provided with second air passage components that correspond one-to-one with the first air passage components. After the robotic arm connecting block and the end effector connecting block are fixedly connected, the first air passage components and the second air passage components are connected in communication.

[0010] According to this utility model, a replaceable end effector for a robotic arm includes a locking member comprising a rotating plate. A connecting shaft is fixedly connected to the bottom of a robotic arm connecting block. An annular mounting hole is provided at the center of the rotating plate. The rotating plate is rotatably mounted on the connecting shaft through the annular mounting hole. A limiting plate for preventing the rotating plate from detaching from the connecting shaft is fixedly installed at the bottom of the connecting shaft. An insertion hole and a locking hole are provided on the rotating plate. The insertion hole and the locking hole are connected. The inner diameter of the insertion hole is larger than the inner diameter of the locking hole. A limiting groove is provided at the bottom of the robotic arm connecting block. A plug is fixedly connected to the top of the end effector connecting block. A limiting protrusion is fixedly connected to the top of the plug. The bottom diameter of the limiting protrusion is larger than the inner diameter of the locking hole. The upper end of the plug penetrates the insertion hole and is inserted into the limiting groove. Rotating the rotating plate rotates the plug into the locking hole, thereby pressing the bottom of the limiting protrusion against the top of the rotating plate.

[0011] In a replaceable end effector for a robotic arm according to the present invention, the rotating plate is arranged in the shape of a racket, and a handle is fixedly connected to the end of the rotating plate away from the robotic arm connecting block.

[0012] According to this utility model, a replaceable end effector for a robotic arm includes a limiting component on the robotic arm connecting block. The limiting component comprises a sleeve, a spring, a bolt, and a limiting rod. The bolt is threadedly fixed to the side of the robotic arm connecting block. The sleeve is slidably fitted onto the bolt. The spring is fitted onto the bolt, with one end of the spring pressing against the nut side of the bolt and the other end pressing against the inner wall of one end of the sleeve. The limiting rod is fixedly connected to the end of the sleeve near the robotic arm connecting block. A limiting groove is formed at the edge of the rotating plate. When the robotic arm connecting block and the end effector connecting block are in a locked state, the limiting rod is inserted into the limiting groove.

[0013] In a replaceable end effector for a robotic arm according to the present invention, a guide groove is provided on the robotic arm connecting block, and a guide rod is fixedly connected to one end of the sleeve near the robotic arm connecting block, the guide rod being slidably inserted into the guide groove.

[0014] In a replaceable end effector for a robotic arm according to the present invention, a position indicator is provided on the rotating plate near the handle, and a loosening indicator and a locking indicator are provided on the outer wall of the robotic arm connecting block.

[0015] According to the present invention, a replaceable end effector for a robotic arm is provided, wherein a limiting shaft is fixedly connected to the bottom of the robotic arm connecting block, an arc-shaped limiting hole is provided on the rotating plate, and the lower end of the limiting shaft extends into the arc-shaped limiting hole and slides in contact with it.

[0016] According to the present invention, a replaceable end effector for a robotic arm includes a first air path assembly comprising an air inlet and a connecting nozzle. The air inlet is fixedly installed on the side of the robotic arm connecting block, and the connecting nozzle is fixedly installed on the bottom of the limiting plate. A first channel is provided inside the robotic arm connecting block, one end of which is connected to the air inlet, and the other end of which is connected to the connecting nozzle.

[0017] The second air path assembly includes an air outlet and a connection port. The air outlet is fixedly installed on the side of the end device connecting block, and the connection port is opened on the top of the end device connecting block. A second channel is opened inside the end device connecting block. One end of the second channel is connected to the air outlet, and the other end of the second channel is connected to the connection port. After the robotic arm connecting block and the end device connecting block are connected, the lower end of the connection nozzle is inserted into the connection port, thereby connecting the air inlet nozzle and the air outlet nozzle.

[0018] In a replaceable end effector for a robotic arm according to the present invention, a sealing ring is fixedly fitted at the lower end of the connecting nozzle.

[0019] According to the present invention, a replaceable end effector for a robotic arm is provided, wherein the top of the robotic arm connecting block is provided with a robotic arm mounting hole for connecting to the robotic arm, and the bottom of the end effector connecting block is provided with an end effector mounting hole for connecting to the end effector.

[0020] This utility model has at least the following beneficial effects:

[0021] This utility model achieves a detachable connection between the robot arm connecting block and the end effector connecting block through a locking component, which facilitates quick replacement of the end effector, improves the versatility and adaptability of the robot arm, and allows for the replacement of different end effectors according to different work requirements;

[0022] The first and second air passage components are connected to provide an air passage for the terminal device, ensuring that the terminal device can work normally. The structure is reasonably designed to facilitate the connection and disconnection of the air passage during installation and disassembly.

[0023] The rotating plate, limiting components, and limiting shaft work together to enhance the stability and reliability of locking, prevent the end device from loosening or falling off during operation, and improve work safety. Attached Figure Description

[0024] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0025] Figure 1 This is a schematic diagram of the structure of this utility model;

[0026] Figure 2 This is a schematic diagram of the structure of this utility model in the locked state;

[0027] Figure 3 This is a schematic diagram of the structure of the robotic arm connecting block of this utility model;

[0028] Figure 4 A schematic diagram of the structure of the robotic arm connecting block of this utility model with a locking component installed;

[0029] Figure 5 This is a cross-sectional structural diagram of the robotic arm connecting block of this utility model;

[0030] Figure 6 This is a structural schematic diagram of the robotic arm connecting block of this utility model from another perspective;

[0031] Figure 7 This is a schematic diagram of the structure of the end device connecting block of this utility model;

[0032] Figure 8 This is a schematic diagram of the end device connecting block and locking member of this utility model in a locked state.

[0033] Explanation of icon numbers:

[0034] 1. Robot arm connecting block; 101. Robot arm mounting hole; 102. Air inlet; 103. Connecting nozzle; 104. Limiting plate; 105. Connecting shaft; 106. Loosening mark; 107. Locking mark; 108. Limiting shaft; 109. Guide groove; 110. Limiting groove;

[0035] 2. Terminal device connecting block; 201. Terminal device mounting hole; 202. Air outlet; 203. Connection port; 204. Insert rod; 205. Limiting protrusion;

[0036] 3. Locking component; 301. Rotating plate; 3011. Handle; 3012. Annular assembly hole; 3013. Position indicator; 302. Insertion hole; 303. Locking hole; 304. Limiting slot; 305. Arc-shaped limiting hole;

[0037] 4. Limiting component; 401. Sleeve; 402. Spring; 403. Bolt; 404. Limiting rod; 405. Guide rod. Detailed Implementation

[0038] The following will describe in detail the implementation of this application with reference to the accompanying drawings and embodiments, so that the implementation process of how this application uses technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly.

[0039] Please refer to Figures 1 to 4 As shown in the embodiments of this utility model,

[0040] A replaceable end effector for a robotic arm includes a robotic arm connecting block 1 and an end effector connecting block 2. The robotic arm connecting block 1 and the end effector connecting block 2 are detachably connected by a locking member 3. The robotic arm connecting block 1 is provided with multiple sets of first air passage components, and the end effector connecting block 2 is provided with second air passage components that correspond one-to-one with the first air passage components. After the robotic arm connecting block 1 and the end effector connecting block 2 are fixedly connected, the first air passage components and the second air passage components are connected in communication.

[0041] When the end effector needs to be replaced, the manipulator connecting block 1 and the end effector connecting block 2 are separated by operating the locking element 3; during installation, the locking element 3 is operated again to fix the two together. At this time, the first air circuit assembly and the second air circuit assembly are connected to provide an air circuit channel for the end effector.

[0042] In this embodiment, the locking component 3 includes a rotating plate 301. A connecting shaft 105 is fixedly connected to the bottom of the robotic arm connecting block 1. An annular mounting hole 3012 is provided at the center of the rotating plate 301. The rotating plate 301 is rotatably sleeved on the connecting shaft 105 through the annular mounting hole 3012. A limiting plate 104 for preventing the rotating plate 301 from detaching from the connecting shaft 105 is fixedly installed at the bottom of the connecting shaft 105. An insertion hole 302 and a locking hole 303 are provided on the rotating plate 301. The insertion hole 302 and the locking hole 303 are connected. The inner diameter is larger than the inner diameter of the locking hole 303. A limiting groove 110 is opened at the bottom of the robotic arm connecting block 1. A plug rod 204 is fixedly connected to the top of the end device connecting block 2. A limiting protrusion 205 is fixedly connected to the top of the plug rod 204. The bottom diameter of the limiting protrusion 205 is larger than the inner diameter of the locking hole 303. The upper end of the plug rod 204 passes through the plug hole 302 and is inserted into the limiting groove 110. The rotating plate 301 is rotated, thereby rotating the plug rod 204 into the locking hole 303, so that the bottom of the limiting protrusion 205 presses against the top of the rotating plate 301.

[0043] During installation, the insertion rod 204 of the end device connecting block 2 is passed through the insertion hole 302 of the rotating plate 301 and inserted into the limiting groove 110 of the robot connecting block 1. Then, the rotating plate 301 is rotated so that the insertion rod 204 enters the locking hole 303. Since the bottom diameter of the limiting protrusion 205 is larger than the inner diameter of the locking hole 303, the limiting protrusion 205 presses against the top of the rotating plate 301, thereby locking the robot connecting block 1 and the end device connecting block 2. During disassembly, the rotating plate 301 is rotated in the opposite direction so that the insertion rod 204 returns to the position of the insertion hole 302, thus separating the two connecting blocks.

[0044] In this embodiment, the rotating plate 301 is arranged in the shape of a racket, and a handle 3011 is fixedly connected to the end of the rotating plate 301 away from the robot arm connecting block 1.

[0045] By holding the handle 3011, the operator can easily rotate the rotating plate 301 to achieve the locking and unlocking functions.

[0046] In this embodiment, a limiting component 4 is provided on the robot arm connecting block 1. The limiting component 4 includes a sleeve 401, a spring 402, a bolt 403, and a limiting rod 404. The bolt 403 is threadedly fixed to the side of the robot arm connecting block 1. The sleeve 401 is slidably sleeved on the bolt 403. The spring 402 is sleeved on the bolt 403. One end of the spring 402 presses against the nut side of the bolt 403, and the other end of the spring 402 presses against the inner wall of one end of the sleeve 401. The limiting rod 404 is fixedly connected to one end of the sleeve 401 near the robot arm connecting block 1. A limiting groove 304 is opened at the edge of the rotating plate 301. When the robot arm connecting block 1 and the end device connecting block 2 are in the locked state, the limiting rod 404 is inserted into the limiting groove 304.

[0047] When the rotating plate 301 rotates to the locking position, the elastic force of the spring 402 pushes the sleeve 401, causing the limit rod 404 to be inserted into the limit slot 304 of the rotating plate 301, preventing the rotating plate 301 from rotating accidentally and enhancing the stability of the locking.

[0048] In this embodiment, a guide groove 109 is provided on the robot arm connecting block 1, and a guide rod 405 is fixedly connected to one end of the sleeve 401 near the robot arm connecting block 1. The guide rod 405 is slidably inserted into the guide groove 109.

[0049] The guide rod 405 slides within the guide groove 109, providing guidance for the movement of the sleeve 401 and ensuring that the limit rod 404 can be accurately inserted into the limit slot 304.

[0050] A position indicator 3013 is provided on the rotating plate 301 near the handle 3011, and a release indicator 106 and a lock indicator 107 are provided on the outer wall of the robotic arm connecting block 1. By observing the relative position of the position indicator 3013 with the release indicator 106 and the lock indicator 107, the operator can accurately determine the state of the rotating plate 301, i.e., whether it is in the release or lock state, which facilitates operation. When the position indicator 3013 points to the release indicator 106, the rotating plate 301 is in the unlocked state; when the release indicator 106 points to the lock indicator 107, the rotating plate 301 is in the lock state.

[0051] In this embodiment, the bottom of the robotic arm connecting block 1 is fixedly connected to a limiting shaft 108, and an arc-shaped limiting hole 305 is provided on the rotating plate 301. The lower end of the limiting shaft 108 extends into the arc-shaped limiting hole 305 and slides in contact with it.

[0052] The limiting shaft 108 slides within the arc-shaped limiting hole 305, limiting the rotation angle range of the rotating plate 301, ensuring that the rotating plate 301 rotates within a reasonable angle, and avoiding excessive rotation that could cause structural damage or prevent proper locking.

[0053] In this embodiment, the first air path assembly includes an air inlet 102 and a connecting nozzle 103. The air inlet 102 is fixedly installed on the side of the robotic arm connecting block 1, and the connecting nozzle 103 is fixedly installed on the bottom of the limiting plate 104. A first channel is opened inside the robotic arm connecting block 1, one end of which is connected to the air inlet 102, and the other end of which is connected to the connecting nozzle 103. The second air path assembly includes an air outlet 202 and a connecting port 203. The air outlet 202 is fixedly installed on the side of the end device connecting block 2, and the connecting port 203 is opened on the top of the end device connecting block 2. A second channel is opened inside the end device connecting block 2, one end of which is connected to the air outlet 202, and the other end of which is connected to the connecting port 203. After the robotic arm connecting block 1 and the end device connecting block 2 are connected, the lower end of the connecting nozzle 103 is inserted into the connecting port 203, thereby connecting the air inlet 102 and the air outlet 202.

[0054] When the robotic arm connecting block 1 and the end effector connecting block 2 are connected, the connecting nozzle 103 is inserted into the connecting port 203. Gas enters the first channel from the air inlet nozzle 102, then enters the second channel through the connecting nozzle 103 and the connecting port 203, and finally exits from the air outlet nozzle 202 to provide gas power for the end effector.

[0055] In this embodiment, a sealing ring is fixedly fitted at the lower end of the connector 103.

[0056] The sealing ring acts as a seal when the connector 103 is inserted into the connector 203, preventing gas leakage and ensuring the sealing and stability of the gas path.

[0057] In this embodiment, the top of the robotic arm connecting block 1 is provided with a robotic arm mounting hole 101 for connecting with the robotic arm, and the bottom of the end device connecting block 2 is provided with an end device mounting hole 201 for connecting with the end device.

[0058] The robot arm connecting block 1 can be fixed to the robot arm through the robot arm mounting hole 101; the end device connecting block 2 can be fixedly connected to the end device through the end device mounting hole 201, so as to realize the installation of the entire device with the robot arm and the end device.

[0059] Working principle:

[0060] When installing the end effector, first install the robot arm connecting block 1 onto the robot arm through the robot arm mounting hole 101, and then install the end effector onto the end effector connecting block 2 through the end effector mounting hole 201. Next, insert the insertion rod 204 of the end effector connecting block 2 through the insertion hole 302 of the rotating plate 301 and into the limiting groove 110 of the robot arm connecting block 1. The operator holds the handle 3011 and rotates the rotating plate 301, causing the insertion rod 204 to enter the locking hole 303, and the limiting protrusion 205 presses against the top of the rotating plate 301 to achieve locking. During rotation, the limiting shaft 108 slides within the arc-shaped limiting hole 305 to limit the rotation angle. When rotated to the locked position, the limiting rod 404 of the limiting member 4 is inserted into the limiting slot 304 of the rotating plate 301 under the action of the spring 402, enhancing locking stability. Simultaneously, the operator can determine the status by the relative position of the position indicator 3013 with the loosening indicator 106 and the locking indicator 107. At this point, the connector 103 is inserted into the connector 203, the air passage is connected, and gas flows from the inlet nozzle 102 through the first channel, the connector 103, the connector 203, and the second channel, exiting from the outlet nozzle 202 to supply air to the terminal device. For disassembly, simply reverse the above steps.

[0061] The foregoing description illustrates and describes several preferred embodiments of the present invention. However, as previously stated, it should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the present invention's conception through the foregoing teachings or related technical or knowledge. Any modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.

Claims

1. A replaceable end device of a robot, characterized in that, The robot hand connecting block (1) and the terminal device connecting block (2) are detachably connected through a locking piece (3), a plurality of first air path assemblies are arranged on the robot hand connecting block (1), a second air path assembly corresponding to the first air path assembly is arranged on the terminal device connecting block (2), and the first air path assembly and the second air path assembly are in communication after the robot hand connecting block (1) and the terminal device connecting block (2) are fixedly connected.

2. A replaceable end effector device for a robot according to claim 1, characterized in that: The locking piece (3) comprises a rotating plate (301), the bottom of the robot hand connecting block (1) is fixedly connected with a connecting shaft (105), the center of the rotating plate (301) is provided with an annular assembly hole (3012), the rotating plate (301) is rotatably sleeved on the connecting shaft (105) through the annular assembly hole (3012), the bottom of the connecting shaft (105) is fixedly installed with a limiting plate (104) for preventing the rotating plate (301) from being separated from the connecting shaft (105), the rotating plate (301) is provided with an insertion hole (302) and a locking hole (303), the insertion hole (302) and the locking hole (303) are in communication, the inner diameter of the insertion hole (302) is greater than that of the locking hole (303), the bottom of the robot hand connecting block (1) is provided with a limiting groove (110), the top of the terminal device connecting block (2) is fixedly connected with an insertion rod (204), the top of the insertion rod (204) is fixedly connected with a limiting protrusion (205), the bottom diameter of the limiting protrusion (205) is greater than the inner diameter of the locking hole (303), the upper end of the insertion rod (204) penetrates through the insertion hole (302) and is inserted into the limiting groove (110), the rotating plate (301) is rotated, and then the insertion rod (204) is rotated into the locking hole (303), so that the bottom of the limiting protrusion (205) is pressed on the top of the rotating plate (301).

3. A replaceable end effector device for a robot according to claim 2, characterized in that: The rotating plate (301) is provided in a racket shape, and the end of the rotating plate (301) away from the robot hand connecting block (1) is fixedly connected with a handle (3011).

4. A replaceable end effector device for a robot according to claim 3, characterized in that: The mechanical hand connecting block (1) is provided with a limiting piece (4), the limiting piece (4) comprises a sleeve (401), a spring (402), a bolt (403) and a limiting rod (404), the bolt (403) is fixedly installed on the side of the mechanical hand connecting block (1), the sleeve (401) is slidably sleeved on the bolt (403), the spring (402) is sleeved on the bolt (403), one end of the spring (402) is pressed on the one side of the nut of the bolt (403), the other end of the spring (402) is pressed on the inner wall of one end of the sleeve (401), the sleeve (401) is fixedly connected with the limiting rod (404) at one end close to the mechanical hand connecting block (1), a limiting clamping groove (304) is formed at the edge of the rotating plate (301), when the mechanical hand connecting block (1) and the end device connecting block (2) are in the locked state, the limiting rod (404) is inserted into the limiting clamping groove (304).

5. A replaceable end effector device for a robot according to claim 4, characterized in that: A guide groove (109) is formed on the mechanical hand connecting block (1), a guide rod (405) is fixedly connected to one end of the sleeve (401) close to the mechanical hand connecting block (1), and the guide rod (405) is slidably inserted into the guide groove (109).

6. A replaceable end effector device for a robot according to claim 5, characterized in that: A position indicating mark (3013) is formed on the rotating plate (301) close to the handle (3011), and a loosening mark (106) and a locking mark (107) are formed on the outer wall of the mechanical hand connecting block (1).

7. A replaceable end-effector device for a robot according to claim 6, characterized in that: A limiting shaft (108) is fixedly connected to the bottom of the mechanical hand connecting block (1), an arc-shaped limiting hole (305) is formed on the rotating plate (301), and the lower end of the limiting shaft (108) extends into the arc-shaped limiting hole (305) and is in sliding contact with the arc-shaped limiting hole (305).

8. A replaceable end-effector device for a robot according to claim 7, characterized in that: The first gas path assembly comprises an air inlet nozzle (102) and a connecting nozzle (103), the air inlet nozzle (102) is fixedly installed on the side of the mechanical hand connecting block (1), the connecting nozzle (103) is fixedly installed on the bottom of the limiting plate (104), a first channel is formed in the mechanical hand connecting block (1), one end of the first channel is in communication with the air inlet nozzle (102), and the other end of the first channel is in communication with the connecting nozzle (103); The second gas path assembly comprises an air outlet nozzle (202) and a connecting port (203), the air outlet nozzle (202) is fixedly installed on the side of the end device connecting block (2), the connecting port (203) is formed on the top of the end device connecting block (2), a second channel is formed in the end device connecting block (2), one end of the second channel is in communication with the air outlet nozzle (202), and the other end of the second channel is in communication with the connecting port (203), after the mechanical hand connecting block (1) and the end device connecting block (2) are connected, the lower end of the connecting nozzle (103) is inserted into the connecting port (203), so that the air inlet nozzle (102) is in communication with the air outlet nozzle (202).

9. A replaceable end-effector device for a robot according to claim 8, characterized in that: The lower end of the connecting nozzle (103) is fixedly sleeved with a sealing ring.

10. A replaceable end-effector device for a robot according to any one of claims 1-9, characterized in that: The top of the mechanical arm connecting block (1) is provided with a mechanical arm mounting hole (101) for connecting the mechanical arm, and the bottom of the terminal device connecting block (2) is provided with a terminal device mounting hole (201) for connecting the terminal device.

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