Quick exchange device for a robot hand

Abstract

The utility model relates to a kind of quick exchange device for manipulator, including first body, locking mechanism, second body, sliding support;The first body, the locking mechanism, the second body are sequentially connected;The locking mechanism includes insertion body, fixed body, unlocking button;The insertion body is installed in the first body bottom, the fixed body is installed in the second body upper portion, the unlocking button is installed on the second body side wall, after the insertion body inserts the fixed body, pass through the unlocking button along the sliding support to and fro sliding to realize the interlock of the first body with the second body, unlocking.Beneficial effect is: through the to and fro sliding of second body on sliding support, the interlock of first body with second body, unlocking action can be realized, it is convenient, fast, stability is high, while reducing labor intensity.

Description

Technical Field

[0001] This utility model relates to the field of robot quick-change technology, specifically a quick-change device for robotic arms. Background Technology

[0002] Currently, in the field of automation for molded plastic products, the method of using multi-joint robots to grip the molded products from the mold to the product placement area is widely used. Especially in the welding fields of parts and automobiles, due to the harsh environment, there is an increasing preference for using power-free quick-change devices. However, how to achieve rapid changeover, improve stability, and reduce labor intensity are urgent problems to be solved. Utility Model Content

[0003] This invention addresses the technical problems existing in the prior art by providing a rapid exchange device for robotic arms.

[0004] The technical solution of this utility model to solve the above-mentioned technical problems is as follows: a quick exchange device for a robotic arm, comprising a first body, a locking mechanism, a second body, and a sliding bracket; The first body, the locking mechanism, and the second body are connected in sequence; The locking mechanism includes an insertion body, a fixing body, and an unlocking button; The insertion body is installed at the bottom of the first body, the fixing body is installed at the top of the second body, and the unlocking button is installed on the side wall of the second body. After the insertion body is inserted into the fixing body, it slides back and forth along the sliding bracket by the unlocking button to realize the interlocking and unlocking of the first body and the second body.

[0005] As a further technical solution, the fixing body includes a support frame, a locking component, a ball bearing, and an elastic support component; The support frame is constructed with its bottom protruding downwards to extend into the inner cavity of the second body, and the center of the support frame has a central hole for insertion of the lower part of the insertion body. The lower part of the support frame has a first ball bearing hole along the circumferential direction for installing the ball bearing; The locking member is installed in the inner cavity of the second body and is sleeved on the outside of the support frame. The inner wall of the locking member squeezes the ball into the support frame to lock the insertion body. One end of the elastic support abuts against the bottom surface of the support frame, and the other end of the elastic support abuts against the upper surface of the locking member.

[0006] As a further technical solution, the locking component includes an upper chassis, a connecting disc, and a lower chassis connected in sequence; The interior angle formed by the upper chassis and the connecting plate is greater than 90 degrees; The connecting plate is vertically connected to the lower base plate, and the lower base plate abuts against the inner cavity of the second body. The lower end of the elastic support abuts against the upper surface of the lower chassis, and the first body and the second body are unlocked by the elastic support restoring its elastic deformation.

[0007] As a further technical solution, the second body is provided with a mounting hole, and the mounting hole is opposite to the lower chassis. The unlocking button is installed in the mounting hole. The unlocking button is inserted into the second body to lift the locking member and unlock the first body and the second body.

[0008] As a further technical solution, the unlock button includes a first elastic element and a button body; The first elastic element is sleeved on the button body; The end of the button body that is inserted into the second body is an inclined surface, and the angle between the inclined surface and the horizontal plane is an acute angle.

[0009] As a further technical solution, a retaining ring is provided along the circumference of the button body, and the first elastic element is disposed between the retaining ring and the inclined surface.

[0010] As a further technical solution, the second body is provided with a slider, and the end of the unlock button facing away from the second body passes through the through hole of the slider.

[0011] As a further technical solution, the longitudinal section of the slider is shaped like a 7, and the transverse edge of the 7 shape slides along the upper sliding groove on the sliding bracket.

[0012] As a further technical solution, the cross-sectional structure of the sliding bracket is U-shaped, and the upper sliding groove is opened on the upper part of the inner side of the long side of the U-shape; The lower inner part of the long side of the U-shape is provided with a sliding groove, and the sliding groove is provided along the length direction of the long side of the U-shape, and the width of the sliding groove gradually decreases along the transverse side of the U-shape. The unlock button slides along the downward groove.

[0013] As a further technical solution, it also includes a second elastic element, a valve core, a valve seat, and a pin. The second elastic element, the valve core, and the valve seat are all mounted on the side of the first body facing the second body, and the lower part of the second elastic element is mounted inside the valve core, and the lower part of the valve core is adapted to be mounted inside the valve seat. The pin is mounted on the side of the second body facing the first body, and when the first body and the second body are locked together, the pin is adapted to connect with the valve seat.

[0014] The beneficial effects of this utility model are: 1. By sliding the second body back and forth on the sliding bracket, the interlocking and unlocking actions of the first body and the second body can be realized, so as to quickly exchange the first body. It is convenient, fast, and highly stable, while reducing labor intensity. 2. The specific structural design of the unlocking mechanism, in conjunction with the sliding bracket, achieves the requirement of automation. Attached Figure Description

[0015] Figure 1 This is an exploded view of a rapid exchange device for a robotic arm according to the present invention. Figure 2 This is a top view of a quick-exchange device for a robotic arm in the unlocked state, according to the present invention. Figure 3 for Figure 2 Schematic diagram of the structure from the perspective of AA; Figure 4 This is a top-down or front view of a quick-exchange device for a robotic arm according to the present invention, in the unlocked state. Figure 5 for Figure 4 A partial cross-sectional view of the structure after removing the sliding support; Figure 6 for Figure 3 A partial structural diagram after removing the first body; Figure 7 for Figure 3 A partial cross-sectional structural diagram of the first body in the middle; Figure 8 A top view of a rapid exchange device for a robotic arm in the interlocked state; Figure 9 for Figure 8 The front view after partial sectioning with the sliding support removed; Figure 10 for Figure 8 The sectional view along the AA direction of the sliding bracket is removed.

[0016] The attached diagram lists the components represented by each number as follows: First ontology 1; Locking mechanism 2; Insert body 21, upper connecting plate 211, lower insertion section 212, connecting section 2121, middle section 2122, abutting section 2123; Fixed body 22, support frame 221, center hole 2211, first ball hole 2212, locking member 222, upper base plate 2221, middle plate 2222, lower base plate 2223, second ball hole 2224, ball 223, elastic support member 224; Unlock button 23, first elastic element 231, button body 232, inclined surface 233, retaining ring 234; Second body 3, mounting hole 31, slider 32, through hole 321; 4. Sliding bracket; 41. Limiting block; 42. Upper sliding groove; 43. Lower sliding groove; Second elastic element 5, valve core 6, valve seat 7, pin 8, sealing ring 9. Detailed Implementation

[0017] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0018] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0019] In the description of this application, the term "for example" is used to mean "used as an example, illustration, or description." Any embodiment described as "for example" in this application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is provided to enable any person skilled in the art to implement and use the present invention. Details are set forth in the following description for purposes of explanation. It should be understood that those skilled in the art will recognize that the present invention can be implemented without using these specific details. In other instances, well-known structures and processes will not be described in detail to avoid obscuring the description of the present invention with unnecessary detail. Therefore, the present invention is not intended to be limited to the embodiments shown, but is consistent with the broadest scope of the principles and features disclosed in this application.

[0020] Example 1 See Figures 1-10This embodiment provides a rapid exchange device for a robotic arm, including a first body 1, a locking mechanism 2, a second body 3, and a sliding bracket 4; the first body 1, the locking mechanism 2, and the second body 3 are connected sequentially. See Figure 3 , Figure 9 , Figure 10 The locking mechanism 2 includes an insertion body 21, a fixing body 22, and an unlocking button 23. The insertion body 21 is installed at the bottom of the first body 1, the fixing body 22 is installed at the upper part of the second body 3, and the unlocking button 23 is installed on the side wall of the second body 3. After the insertion body 21 is inserted into the fixing body 22, it slides back and forth along the sliding bracket 4 through the unlocking button 23 to realize the interlocking and unlocking of the first body 1 and the second body 3.

[0021] For example, the longitudinal cross-section of both the first body 1 and the second body 3 can be circular. The first body 1 is used to connect with the robot's arm, and the second body 3 is used to connect with tools. When it is necessary to change tools, the robot arm slides the second body 3 along one side of the sliding bracket 4 to unlock the first body 1 and the second body 3, so that another second body 3 can be replaced onto the sliding bracket 4. Then, the robot arm inserts the first body 1 into the new second body 3 and drives the second body 3 to slide along the other direction of the sliding bracket 4, so that the interlock between the first body 1 and the new second body 3 can be achieved.

[0022] It should be noted that, in order to avoid excessive movement distance between the second body 3 and the first body 1 during the unlocking process, which would affect the structural lifespan, the sliding bracket 4 is provided with a limiting block 41.

[0023] It should be noted that the insertion body 21 can be a locking pin, and the locking pin includes an upper connecting plate 211 and a lower insertion section 212. The upper connecting plate 211 is fixed in the groove (not labeled in the figure) at the lower part of the first body 1, and the lower insertion section 212 is integrally connected to the lower part of the upper connecting plate 211 for insertion into the second body 3 to achieve interlocking. See Figure 1 , Figure 3 , Figure 7 For example, the lower insertion segment 212 includes a connecting segment 2121, an intermediate segment 2122, and an abutting segment 2123 connected in sequence. The width of the intermediate segment 2122 is smaller than the width of the connecting segment 2121 and the abutting segment 2123, and the width of the connecting segment 2121 is greater than the width of the abutting segment 2123. It should be noted that the longitudinal section of the abutting segment 2123 is trapezoidal, and the length of the upper side of the trapezoid is smaller than the length of the lower side of the trapezoid.

[0024] See Figure 1 , Figure 3 , Figure 5 , Figure 6 , Figure 9 , Figure 10 In the specific implementation process, the fixed body 22 includes a support frame 221, a locking member 222, a ball bearing 223, and an elastic support member 224. The support frame 221 is constructed with its bottom protruding downwards to extend into the inner cavity of the second body 3, and a central hole 2211 for the insertion of the lower part of the insertion body 21 is opened in the center of the support frame 221. A first ball bearing hole 2212 is opened circumferentially at the lower part of the support frame 221 to install the ball bearing 223. The locking member 222 is installed in the inner cavity of the second body 3, and the locking member 222 is sleeved on the outside of the support frame 221. The ball bearing 223 is pressed into the support frame 221 by the inner wall of the locking member 222 to lock the insertion body 21. One end of the elastic support member 224 abuts against the bottom end face of the support frame 221, and the other end of the elastic support member 224 abuts against the upper end face of the locking member 222.

[0025] See Figure 1 , Figure 5 For example, the locking member 222 has a second ball bearing hole 2224.

[0026] It should be noted that the top cross-section of the support frame 221 is circular and is adapted to the first body 1 and the second body 3; the support frame 221 and the second body 3 can be connected by screws.

[0027] For example, the bottom protruding part of the support frame 221 is annular, allowing the lower insertion section 212 to be inserted into the middle of the annular shape. When the first body 1 and the second body 3 are interlocked (see...), Figure 10 The lower insertion section 212 is locked by the ball bearing 223; when the first body 1 and the second body 3 are unlocked, the ball bearing 223 moves from the first ball bearing hole 2212 toward the locking member 222 toward the second ball bearing hole 2224, so that the ball bearing 223 is located between the inner wall of the locking member 222 and the second ball bearing hole 2224.

[0028] For example, the locking element 222 is a locking ring, that is, the locking pin and the locking ring, the ball bearing 223, the unlocking button 23 and other structures cooperate to realize the interlocking or unlocking function of the first body 1 and the second body 3.

[0029] For example, the elastic support 224 is a spring, which is used when the first body 1 and the second body 3 need to be interlocked (see...). Figures 8-10After the insertion body 21 is inserted into the second body 3, the unlocking button 23 slides outward on the sliding bracket 4 (during this process, the sliding bracket 4 gradually reduces the lateral pressure on the unlocking button 23), causing the locking member 222 to lose the upward force given by the unlocking button 23 and move downward to the initial position (i.e., on the bottom wall of the inner cavity of the second body 3) under the action of the elastic support member 224. During this process, the ball bearing 223 can be pushed from the second ball bearing hole 2224 towards the outer wall of the lower insertion section 212, so that the... The ball bearing 223 enters the first ball bearing hole 2212 (at this time, to improve stability, there are at least two balls bearing 223, symmetrically distributed outside the middle section 2122); at this time, the unlocking button 23 avoids lateral displacement under the action of the elastic support member 224, thereby improving the stability of the interlocking of the first body 1 and the second body 3, and there is a gap between the bottom end face of the part of the support frame 221 that extends into the inner cavity of the second body 3 and the bottom wall of the inner cavity of the second body 3, and the bottom end face of the lower insertion section 212 abuts against the bottom wall of the inner cavity of the second body 3.

[0030] When the first entity 1 and the second entity 3 need to be unlocked (see...) Figures 2-7 The second body 3 is slid inward along the sliding bracket 4 (i.e., in the opposite direction to the interlocking sliding direction). During this process, the unlocking button 23 moves inward into the second body 3 under the action of the sliding bracket 4, thereby gradually lifting the locking member 222 (during this process, the elastic support member 224 is gradually compressed). At this time, the ball 223 loses the thrust of the locking member 222 and moves from the first ball hole 2212 to the second ball hole 2224 under the action of the insertion body 21, so that the lower insertion section 212 can be removed from the support frame 221, thereby finally unlocking the first body 1 and the second body 3.

[0031] See Figure 1 , Figure 5 , Figure 10In its specific implementation, the locking component 222 includes an upper base plate 2221, a middle plate 2222, and a lower base plate 2223 connected in sequence. The interior angle formed by the upper base plate 2221 and the middle plate 2222 is greater than 90 degrees, such that when the first body 1 and the second body 3 are interlocked, the inner wall of the upper base plate 2221 abuts against the ball bearing 223; when the first body 1 and the second body 3 are unlocked, the space formed by the inner wall of the upper base plate 2221 and the inner wall of the middle plate 2222 can accommodate the ball bearing 223. The middle plate 2222 is vertically connected to the lower base plate 2223, and the lower base plate 2223 abuts against the inner cavity of the second body 3. The lower end of the elastic support 224 abuts against the upper surface of the lower base plate 2223, and the first body 1 and the second body 3 are unlocked by the elastic support 224 restoring its elastic deformation.

[0032] It should be noted that the upper chassis 2221, the middle chassis 2222, and the lower chassis 2223 are integrally formed and share a common central axis.

[0033] See Figure 1 In the specific implementation process, the second body 3 is provided with a mounting hole 31, and the mounting hole 31 is opposite to the lower chassis 2223. The unlocking button 23 is installed in the mounting hole 31. The first body 1 and the second body 3 are unlocked by the unlocking button 23 extending into the second body 3 to lift the locking member 222.

[0034] See Figure 3 , Figure 10 It should be noted that the mounting hole 31 communicates with the inner cavity of the second body 3, allowing the unlocking button 23 to enter the inner cavity of the second body 3 and push up the locking member 222. Furthermore, the top of the mounting hole 31 is opposite to the intermediate plate 2222.

[0035] See Figure 1 , Figure 3 , Figure 5 , Figure 10 In the specific implementation process, the unlock button 23 includes a first elastic element 231 and a button body 232; the first elastic element 231 is sleeved on the button body 232; the end of the button body 232 inserted into the second body 3 is an inclined surface 233, and the angle between the inclined surface 233 and the horizontal plane is an acute angle (i.e., the inclined surface 233 is upward).

[0036] For example, the button body 232 is cylindrical, and one end of the cylinder is a bevel 233. The first elastic element 231 is provided so that after the button body 232 loses the force of the sliding bracket 4, it returns to its initial position under the elastic deformation of the first elastic element 231 (i.e., it no longer pushes up the locking element 222, and the bevel 233 portion of the button body 232 is accommodated within the mounting hole 31). Furthermore, a retaining ring 234 is provided along the circumference of the button body 232, and the first elastic member 231 is disposed between the retaining ring 234 and the inclined surface 233 to control the position of the first elastic member 231 on the button body 232; for example, the first elastic member 231 is a spring.

[0037] For example, the outer diameter of the retaining ring 234 is less than or equal to the diameter of the mounting hole 31.

[0038] See Figure 1 , Figure 3 , Figure 4 , Figure 9 , Figure 10 In the specific implementation process, the second body 3 is provided with a slider 32. The end of the unlock button 23 facing away from the second body 3 passes through the through hole 321 of the slider 32, which can have a certain guiding effect on the unlock button 23, that is, make the unlock button 23 only move laterally, so as to improve stability.

[0039] Furthermore, the longitudinal section of the slider 32 is shaped like a 7, and the transverse edge of the 7 shape slides along the upper sliding groove 42 on the sliding bracket 4 to improve the stability of the second body 3 sliding on the sliding bracket 4.

[0040] See Figure 1 , Figure 2 , Figure 8 In the specific implementation process, the cross-sectional structure of the sliding bracket 4 is U-shaped, and the upper sliding groove 42 is opened on the upper part of the inner side of the long side of the U-shape; the lower part of the inner side of the long side of the U-shape is provided with a lower sliding groove 43, and the lower sliding groove 43 is arranged along the length direction of the long side of the U-shape, and the width of the lower sliding groove 43 gradually decreases along the transverse side direction of the U-shape; the unlocking button 23 slides along the lower sliding groove 43, so that during the process of the second body 3 sliding towards the inner side of the U-shape, the unlocking button 23 is subjected to a transverse thrust and moves into the inner cavity of the second body 3 to push up the locking member 222.

[0041] It should be noted that the slider 32 slides along the upper sliding groove 42, and the unlocking button 23 slides along the lower sliding groove 43, and the slider 32 and the unlocking button 23 slide synchronously on the sliding bracket 4. The outer diameter of the retaining ring 234 is larger than the diameter of the through hole 321 on the slider 32, thus limiting the displacement of the slider 32.

[0042] It should be noted that there are two sliders 32 and two unlock buttons 23, and the two sliders 32 are symmetrically arranged on the second body 3 so as to slide on the U-shaped sliding bracket 4. Similarly, there are two unlock buttons 23, which are also symmetrically arranged on the second body 3 so as to slide on the U-shaped sliding bracket 4.

[0043] See Figure 1 , Figure 5 , Figure 7 , Figure 9 In its specific implementation, this embodiment further includes a second elastic element 5, a valve core 6, a valve seat 7, and a pin 8. The second elastic element 5, the valve core 6, and the valve seat 7 are all mounted on the side of the first body 1 facing the second body 3, with the lower part of the second elastic element 5 installed inside the valve core 6, and the lower part of the valve core 6 adapted to be installed inside the valve seat 7. The pin 8 is mounted on the side of the second body 3 facing the first body 1, and when the first body 1 and the second body 3 are locked together, the pin 8 is adapted to be connected to the valve seat 7. That is, both the first body 1 and the second body 3 are provided with air passages (not labeled in the figure), and whether the air passages in the first body 1 (i.e., the positions where the valve core 6, the second elastic element 5, and the valve seat 7 are installed) and the air passages in the second body 3 (i.e., the positions where the pin 8 is installed) are connected depends on whether the first body 1 and the second body 3 are interlocked.

[0044] It should be noted that a sealing ring 9 is provided at the connection between the valve core 6 and the valve seat 7, a sealing ring 9 is provided in the connection hole between the valve seat 7 and the first body 1, and a sealing ring 9 is also provided between the pin 8 and the support frame 221 to improve the sealing performance.

[0045] This structural design ensures that when the first body 1 and the second body 3 are separated, the valve core 6, under the force of the second elastic element 5, always keeps the sealing ring 9 tightly against the chamfer of the valve seat 7 to prevent air leakage. When the first body 1 and the second body 3 are interlocked, the pin 8 lifts the valve core 6, at which point the air passage is automatically connected. This is the automatic air passage connection action between the first body 1 and the second body 3 when they slide out of the sliding bracket 4, which facilitates subsequent operations.

[0046] It should be noted that when the first body 1 is placed on the second body 3, the pin 8 is inserted into the valve seat 7.

[0047] This utility model is implemented as follows: When it is necessary to implement interlocking between the first body 1 and the second body 3: First, insert the first body 1 into the second body 3. At this time, the insertion body 21 is inserted into the inner cavity of the second body 3. Since the unlocking button 23 has been inserted into the inner cavity of the second body 3 and lifts the unlocking member, the ball 223 is located in the space between the second ball hole 2224 and the inner wall of the locking member 222. At this time, the insertion body 21 is inserted into the center hole 2211 of the support frame 221, but it does not interlock with the locking member 222. The second body 3, which includes the first body 1, is slid along the outside of the sliding bracket 4 (i.e., slid in the direction of the U-shaped opening). At this time, the slider 32 is located in the upper sliding groove 42, and the unlocking button 23 is located in the lower sliding groove 43. During the sliding process of the slider 32, the unlocking button 23 gradually loses the lateral thrust provided by the sliding bracket 4, and then moves outward of the second body 3 under the combined action of the second elastic member 5 and the first elastic member 231. During this process, the locking member 222 loses the upward pushing force of the unlocking button 23 and moves downward under the action of the first elastic member 231 to reset to the bottom wall of the inner cavity of the second body 3. Under the action of the locking member 222, the ball 223 moves sequentially in the direction of the second ball hole 2224 and the first ball hole 2212, so that the ball 223 is simultaneously located in the second ball hole 2224 and the first ball hole 2212 to clamp the middle section 2122 on the insertion body 21, and finally realizes the interlocking of the first body 1 and the second body 3.

[0048] When it is necessary to unlock the first entity 1 and the second entity 3: The second body 3 is slid inward toward the sliding bracket 4 (i.e., in the opposite direction to the interlocking movement described above), so that the unlocking button 23 is pushed into the inner cavity of the second body 3 by the lateral force given by the sliding groove 43, thereby lifting the locking member 222. At the same time, the first body 1 is pulled upward, so that the ball 223 moves from the first ball hole 2212 to the inner wall between the second ball hole 2224 and the locking member 222 under the action of the first body 1. At this time, the insertion body 21 loses the clamping force of the ball 223 and the locking member 222, and can be pulled out from the center hole 2211 of the support frame 221, so as to finally unlock the first body 1 and the second body 3.

[0049] This embodiment has a simple structure and is easy to operate. It can unlock and interlock the first and second bodies without power, and replacement is quick.

[0050] It should be noted that the descriptions of each embodiment in the above embodiments have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0051] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the present invention.

[0052] Obviously, those skilled in the art can make various modifications and variations to this utility model without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this utility model and their equivalents, this utility model also intends to include these modifications and variations.

Claims

1. A rapid exchange device for a robotic arm, characterized in that, Includes a first body (1), a locking mechanism (2), a second body (3), and a sliding bracket (4); The first body (1), the locking mechanism (2), and the second body (3) are connected in sequence; The locking mechanism (2) includes an insertion body (21), a fixing body (22), and an unlocking button (23); The insertion body (21) is installed at the bottom of the first body (1), the fixing body (22) is installed on the upper part of the second body (3), and the unlocking button (23) is installed on the side wall of the second body (3). After the insertion body (21) is inserted into the fixing body (22), the first body (1) and the second body (3) are interlocked and unlocked by sliding back and forth along the sliding bracket (4) through the unlocking button (23).

2. The rapid exchange device for a robotic arm according to claim 1, characterized in that, The fixed body (22) includes a support frame (221), a locking element (222), a ball bearing (223), and an elastic support element (224); The support frame (221) is constructed with its bottom protruding downward to extend into the inner cavity of the second body (3), and the support frame (221) has a central hole (2211) for inserting the lower part of the insertion body (21). The support frame (221) has a first ball hole (2212) circumferentially opened at the lower part to install the ball (223). The locking member (222) is installed in the inner cavity of the second body (3) and the locking member (222) is sleeved on the outside of the support frame (221). The inner wall of the locking member (222) presses the ball (223) into the support frame (221) to lock the insertion body (21). One end of the elastic support (224) abuts against the bottom surface of the support frame (221), and the other end of the elastic support (224) abuts against the upper surface of the locking member (222).

3. A rapid exchange device for a robotic arm according to claim 2, characterized in that, The locking component (222) includes an upper base plate (2221), a middle plate (2222), and a lower base plate (2223) connected in sequence. The interior angle formed by the upper chassis (2221) and the middle chassis (2222) is greater than 90 degrees; The intermediate plate (2222) is vertically connected to the lower plate (2223), and the lower plate (2223) abuts against the inner cavity of the second body (3); The lower end of the elastic support (224) abuts against the upper surface of the lower chassis (2223), and the elastic support (224) restores elastic deformation to unlock the first body (1) and the second body (3).

4. A rapid exchange device for a robotic arm according to claim 3, characterized in that, The second body (3) is provided with a mounting hole (31), and the mounting hole (31) is opposite to the lower chassis (2223). The unlocking button (23) is installed in the mounting hole (31). The first body (1) and the second body (3) are unlocked by the unlocking button (23) extending into the second body (3) to lift the locking member (222).

5. A rapid exchange device for a robotic arm according to claim 4, characterized in that, The unlock button (23) includes a first elastic element (231) and a button body (232); The first elastic element (231) is sleeved on the button body (232); The end of the button body (232) inserted into the second body (3) is an inclined surface (233), and the angle between the inclined surface (233) and the horizontal plane is an acute angle.

6. A rapid exchange device for a robotic arm according to claim 5, characterized in that, A retaining ring (234) is provided along the circumference of the button body (232), and the first elastic member (231) is provided between the retaining ring (234) and the inclined surface (233).

7. A rapid exchange device for a robotic arm according to claim 1, characterized in that, The second body (3) is provided with a slider (32), and the end of the unlock button (23) facing away from the second body (3) passes through the through hole (321) of the slider (32).

8. A rapid exchange device for a robotic arm according to claim 7, characterized in that, The longitudinal section of the slider (32) is of type 7, and the transverse edge of the type 7 slides along the upper sliding groove (42) on the sliding bracket (4).

9. A rapid exchange device for a robotic arm according to claim 8, characterized in that, The sliding bracket (4) has a U-shaped cross-section, and the upper sliding groove (42) is provided on the upper part of the inner side of the long side of the U-shape; the lower part of the inner side of the long side of the U-shape is provided with a lower sliding groove (43), and the lower sliding groove (43) is provided along the length direction of the long side of the U-shape, and the width of the lower sliding groove (43) gradually decreases along the transverse side direction of the U-shape. The unlock button (23) slides along the slide groove (43).

10. A rapid exchange device for a robotic arm according to any one of claims 1-9, characterized in that, It also includes a second elastic element (5), a valve core (6), a valve seat (7), and a pin (8); The second elastic element (5), the valve core (6), and the valve seat (7) are all installed on the side of the first body (1) facing the second body (3), and the lower part of the second elastic element (5) is installed in the valve core (6), and the lower part of the valve core (6) is adapted to be installed in the valve seat (7). The pin (8) is mounted on the side of the second body (3) facing the first body (1). When the first body (1) and the second body (3) are locked together, the pin (8) is adapted to connect with the valve seat (7).

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