CN221583597U - Quick type mechanism and manipulator change - Google Patents

Abstract

The application relates to the technical field of mechanical equipment, in particular to a quick-change mechanism and a manipulator. The quick-change mechanism comprises a first connecting seat provided with a clamping lock and a second connecting seat provided with a locking piece, one of the first connecting seat and the second connecting seat is used for being fixedly connected to a tool main body of the mechanical tool, the other one of the first connecting seat and the second connecting seat is used for being fixedly connected to an end effector of the mechanical tool, the clamping lock and the locking piece are clamped together in an unlocking mode, and therefore the end effector is detachably connected to the tool main body through the quick-change mechanism, so that the end effector can be replaced conveniently, and the change of the mechanical tool is realized.

Description

Quick type mechanism and manipulator change

Technical Field

The application relates to the technical field of mechanical equipment, in particular to a quick-change mechanism and a manipulator.

Background

Along with the faster and faster updating and iteration of industrial products, the production process of industrial products also requires that compatibility designs be left in the development and use of automatic production lines so as to realize compatibility under the condition of product updating. However, in some industries at present, mechanical tools (such as a mechanical arm) in a manufacturing production line do not have enough redundancy for updating products, and the tools are required to be replaced when the tools are replaced for the fixed single products, so that resources are consumed too much, debugging difficulty is high after the tools are replaced, and production capacity cannot be recovered rapidly.

Disclosure of utility model

The utility model aims to provide a quick mold changing mechanism and a manipulator, so that the mold changing of a mechanical tool can be conveniently and quickly realized.

The utility model provides a quick-change mechanism, which comprises a first connecting seat and a second connecting seat;

One of the first connecting seat and the second connecting seat is used for being fixedly connected to a tool main body of a mechanical tool, and the other is used for being fixedly connected to an end effector of the mechanical tool;

The first connecting seat is provided with a clamping lock, the second connecting seat is provided with a clamping piece, and the clamping lock and the clamping piece can be clamped together in an unlocking mode.

Further, the lock is movably arranged on the first connecting seat along a first direction, and the lock has a first position and a second position along the first direction;

The first connecting seat is provided with a locking piece, and the locking piece can lock the lock at the first position so as to clamp the lock and the clamping piece together; and/or the locking piece can release the locking piece, so that the locking piece can return to the second position and release the locking piece.

Further, the lock comprises a first lock part and a second lock part which are oppositely arranged at intervals along a second direction, wherein the first lock part and the second lock part are respectively provided with a protruding part, and the second direction is intersected with the first direction;

The clamping piece can be inserted between the first clamping and locking part and the second clamping and locking part, clamping grooves are formed in two sides of the clamping piece in the second direction respectively, when the clamping is located at the second position, the protruding parts of the first clamping and locking part and the second clamping and locking part are inserted into the clamping grooves on the same side respectively, and when the clamping moves to the first position, the protruding parts of the first clamping and locking part and the second clamping and locking part withdraw from the clamping grooves on the same side respectively.

Further, the second connecting seat is provided with a plurality of clamping pieces, and the clamping pieces are arranged side by side at intervals along the first direction;

The first locking part and the second locking part are respectively provided with a plurality of protruding parts, and the protruding parts are in one-to-one correspondence with the clamping pieces.

Further, the locking piece is rotatably arranged on the first connecting seat, one end of the locking piece is provided with a clamping hook, and the clamping hook is elastically abutted with the clamping lock;

The lock is provided with a locking block, the locking block and the clamping hook are both provided with inclined planes, and when the lock moves from the second position to the first position, the inclined planes of the locking block can be abutted against the inclined planes of the clamping hooks so as to push the clamping hooks to be far away from the lock until the locking block is clamped into the clamping hooks;

The locking piece is far away from one end of the clamping hook is an unlocking end, and pressing the unlocking end can enable the clamping hook to tilt, so that the locking block is separated from the clamping hook.

Further, a reset spring is arranged on the first connecting seat, one end of the reset spring is propped against the first connecting seat, the other end of the reset spring is propped against the lock, and the lock can return to the second position from the first position under the action of the reset spring.

Further, an in-place sensor is arranged on the first connecting seat, a detection piece is arranged on the lock, and when the lock moves to the first position, the detection piece moves to a detection area of the in-place sensor.

Further, the lock is slidably connected with the first connecting seat through a guide rail.

Further, the first connecting seat is a box body with an inner cavity, and the lock and the locking piece are both arranged in the box body;

The box body is provided with a jack for inserting the clamping piece;

A first side plate is arranged on one side, close to the second position, of the box body in the first direction, and one end of the lock extends out of the first side plate, so that the lock can be pushed to move from the second position to the first position;

An abutting part is formed in the box body of the lock, and when the lock moves to the second position, the abutting part abuts against the first side plate;

And a through hole is formed in the position, opposite to the unlocking end of the locking piece, of the box body.

The utility model also provides a manipulator which comprises a tool main body, an end effector and the quick-change mechanism;

One of the first connecting seat and the second connecting seat of the quick-change mechanism is fixedly connected to the tool main body, and the other is fixedly connected to the end effector;

The first connecting seat is detachably connected with the second connecting seat, so that the end effector is detachably connected with the tool main body.

Further, the tool main body is a transfer module, and the end effector is a clamping module;

The manipulator further comprises a rotating module, and the clamping module is connected with the quick-change mechanism through the rotating module.

Compared with the prior art, the utility model has the beneficial effects that:

The quick-change mechanism provided by the utility model comprises a first connecting seat and a second connecting seat, wherein one of the first connecting seat and the second connecting seat is used for being fixedly connected to a tool main body of a mechanical tool, the other one of the first connecting seat and the second connecting seat is used for being fixedly connected to an end effector of the mechanical tool, for example, the first connecting seat is fixedly connected to the tool main body, and the second connecting seat is fixedly connected to the end effector. Be equipped with the kayser on the first connecting seat, be equipped with the card on the second connecting seat and hold the piece together with the mode card that can unblock between kayser and the card hold to make the end effector connect in the frock main part through quick change type mechanism, and the connection between end effector and the frock main part is detachable, therefore when need change the end effector, can pull down the end effector of former installation in the frock main part, and will be equipped with another end effector assembly of second connecting seat to the frock main part on, and then conveniently, swiftly accomplish the retooling of mechanical frock.

The utility model also provides a manipulator which comprises the quick-change mechanism, so that the manipulator also has the beneficial effect of the quick-change mechanism.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present utility model, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of a quick-change mechanism according to an embodiment of the present utility model;

Fig. 2 is a schematic diagram of an internal structure of a first connection seat (a part of the structure of the first connection seat is omitted) of a quick-change mechanism according to an embodiment of the present utility model;

fig. 3 is a schematic structural diagram of a second connection seat and a clamping member of the quick-change mechanism according to an embodiment of the present utility model;

FIG. 4 is a schematic diagram of a structure of a latch and a locking member of a quick-change mechanism according to an embodiment of the present utility model in a first view angle;

FIG. 5 is a schematic view of a latch and lock member of a quick-change mechanism according to an embodiment of the present utility model in a second view;

Fig. 6 is a schematic structural diagram of a manipulator according to an embodiment of the present utility model.

Reference numerals:

1-first connecting seat, 11-jack, 12-first side plate, 13-second side plate, 14-guide rail, 15-in-place sensor, 2-second connecting seat, 21-clamping piece, 22-clamping groove, 3-clamping lock, 31-first clamping lock part, 32-second clamping lock part, 33-locking block, 34-return spring, 35-guide rod, 36-protruding part, 4-locking piece, 41-torsion spring, 42-clamping hook, 43-unlocking end, 5-transferring module, 6-clamping module and 7-rotating module;

a-first direction, b-second direction.

Detailed Description

The following description of the embodiments of the present utility model will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the utility model are shown.

The components of the embodiments of the present utility model generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the utility model, as presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model.

All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In the description of the present utility model, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

The following describes a quick change mechanism and a manipulator according to some embodiments of the present application with reference to fig. 1 to 6.

The application provides a quick-change mechanism which is used for connecting a tool main body and an end effector of a mechanical tool; as shown in fig. 1 and in combination with fig. 6, the quick-change mechanism includes a first connecting seat 1 and a second connecting seat 2, one of the first connecting seat 1 and the second connecting seat 2 is used for being fixedly connected to a tool body of the mechanical tool, the other is used for being fixedly connected to an end effector of the mechanical tool, for example, the first connecting seat 1 is fixedly connected to the tool body, and the second connecting seat 2 is fixedly connected to the end effector. As shown in fig. 2 and 3, the first connecting seat 1 is provided with the locking device 3, the second connecting seat 2 is provided with the locking device 21, and the locking device 3 and the locking device 21 are locked together in an unlocking manner, so that the end effector is detachably connected to the tool main body through the quick-change mechanism, when the end effector needs to be replaced, only the second connecting seat 2 on the original end effector is separated from the first connecting seat 1 on the tool main body, so that the original end effector is detached from the tool main body, and then the other second connecting seat 2 assembled on the new end effector is mounted on the first connecting seat 1 of the tool main body, thereby conveniently and quickly completing the change of the mechanical tool.

In one embodiment of the application, as shown in fig. 2 and 3, preferably, the latch 3 is movably arranged on the first connection seat 1 along a first direction a, and the latch 3 has a first position and a second position along the first direction a, so that the latch 3 can be moved to the first position or the second position along the first direction a. Wherein the first position is a locking position, and when the lock 3 moves to the first position, the lock 3 can be matched with the clamping piece 21 to clamp the clamping piece 21, so that the end effector is mounted to the tool main body; the second position is an unlocking position, and when the lock 3 moves to the second position, the lock 3 can release the clamping of the clamping piece 21, so that the clamping piece 21 can be separated from the lock 3, and the end effector can be separated from the tool main body.

In this embodiment, preferably, as shown in fig. 5 and 2, the latch 3 includes a first latch portion 31 and a second latch portion 32, the first latch portion 31 and the second latch portion 32 are disposed at opposite intervals along a second direction b intersecting the first direction a such that a predetermined gap is provided between the first latch portion 31 and the second latch portion 32 for insertion of the latch 21, and a convex portion 36 protruding toward the gap is formed on each of the first latch portion 31 and the second latch portion 32, for example, the convex portion 36 on the first latch portion 31 is a first convex portion and the convex portion 36 on the second latch portion 32 is a second convex portion; the clamping member 21 is formed with clamping grooves 22 on both sides along the second direction b, for example, the clamping groove 22 on the side of the clamping member 21 facing the first locking portion 31 is a first clamping groove 22, and the clamping groove 22 on the side of the clamping member 21 facing the second locking portion 32 is a second clamping groove 22; when the latch 3 moves to the first position, the first protruding part is inserted into the first clamping groove 22, and the second protruding part is inserted into the second clamping groove 22, so that the clamping piece 21 is clamped between the first latching part 31 and the second latching part 32, that is, the latch 3 and the clamping piece 21 are clamped together; when the latch 3 moves to the second position, the first protruding portion withdraws from the first clamping groove 22, and the second protruding portion withdraws from the second clamping groove 22, so that the latch 3 is released from clamping the clamping piece 21, and the clamping piece 21 can withdraw from between the first latching portion 31 and the second latching portion 32 of the latch 3.

In this embodiment, the first direction a and the second direction b preferably intersect perpendicularly.

In this embodiment, as shown in fig. 1 and 2, preferably, the first connecting seat 1 is a box body with an inner cavity, the latch 3 is disposed in the box body, the box body is provided with an insertion hole 11, and the insertion hole 11 faces the gap between the first latch portion 31 and the second latch portion 32, so that the latch member 21 can be inserted into the box body from the insertion hole 11 and extend between the first latch portion 31 and the second latch portion 32.

Specifically, when the end effector is removed from the tool body, the latch 3 is first moved to the second position to release the catch between the latch 3 and the catch member 21, and then the catch member 21 is pulled out of the housing to complete the removal of the end effector.

When the end effector is mounted on the tool main body, the latch 3 is first kept at the second position, then the clamping piece 21 on the second connecting seat 2 is inserted into the box body until the second connecting seat 2 abuts against the first connecting seat 1, the clamping piece 21 stretches into the space between the first latching part 31 and the second latching part 32 of the latch 3, then the latch 3 is moved to the first position and stays at the first position, so that the clamping piece 21 is clamped through the latch 3, and the end effector is clamped and fixed on the tool main body.

In this embodiment, preferably, as shown in fig. 3 and 5, the second connecting seat 2 is provided with a plurality of holding pieces 21, and the plurality of holding pieces 21 are arranged side by side at intervals along the first direction a; and a plurality of protruding parts 36 are respectively formed on the first locking part 31 and the second locking part 32 in one-to-one correspondence with the plurality of clamping pieces 21, so that the stability of the locking 3 between the first connecting seat 1 and the second connecting seat 2 is increased, and the stability of the connection between the tool main body and the end effector is further increased.

In one embodiment of the application, preferably, as shown in fig. 4 and 5, the first connecting seat 1 is provided with a locking member 4, by means of which locking member 4 the lock 3 can be locked in the first position, or the locking member 4 can unlock the lock 3, so that the lock 3 can be returned from the first position to the second position.

In this embodiment, preferably, the locking member 4 is rotatably disposed on the first connecting seat 1, one end of the locking member 4 is formed with a hook 42, and the hook 42 of the locking member 4 elastically abuts against the latch 3; for example, a torsion spring 41 is disposed on the rotating shaft of the locking member 4, and the elastic force of the torsion spring 41 acts on the locking member 4, so that the end of the locking member 4, on which the hook 42 is formed, has a movement tendency toward the rotation of the latch 3, and the hook 42 of the locking member 4 is elastically abutted against the latch 3.

The lock 3 is provided with the locking block 33, the locking block 33 can synchronously move along with the lock 3, the locking block 33 and the clamping hook 42 are both provided with inclined planes, when the lock 3 moves from the second position to the first position, the inclined planes of the locking block 33 can be abutted against the inclined planes of the clamping hook 42, the clamping hook 42 is pushed in the direction away from the lock 3 until the locking block 33 is clamped into the clamping hook 42, the lock 3 is locked through the locking piece 4, the lock 3 can be stably stopped at the first position to clamp the clamping piece 21, and the stability of connection between the end effector and the tool main body is further ensured.

The end that the locking piece 4 kept away from the pothook 42 is unblock end 43, presses unblock end 43 towards the direction of kayser 3, can make pothook 42 to keeping away from the direction perk of kayser 3 to make the locking piece 33 break away from pothook 42, thereby release the locking of locking piece 4 to kayser 3, make kayser 3 can get back to the second position from the first position, in order to release the card of kayser 3 to the card holder 21, and then can demolish the end effector from the frock main part.

In this embodiment, preferably, as described above, the first connecting seat 1 is a box body having an inner cavity, the locking member 4 is located in the box body, and a through hole is opened in a position of the box body opposite to the unlocking end 43 of the locking member 4, so that the unlocking end 43 of the locking member 4 can be pressed through the through hole; simultaneously, the locking piece 4 is placed in the box body, so that the locking of the lock 3 can be prevented from being released due to the fact that the locking piece 4 is touched by mistake.

In this embodiment, preferably, as shown in fig. 2 and 5, a return spring 34 is also provided between the first connecting seat 1 and the latch 3, so that when the locking member 4 releases the lock of the latch 3, the latch 3 can return from the first position to the second position under the action of the return spring 34.

Specifically, one end of the latch 3, which is close to the first position along the first direction a, is a tail end of the latch 3, the tail end of the latch 3 abuts against the first connecting seat 1 through the return spring 34, and when the latch 3 moves to the first position, the return spring 34 is compressed, so that when the locking piece 4 releases the lock of the latch 3, the latch 3 can return to the second position from the first position under the action of the return spring 34.

Preferably, as shown in fig. 2 and 5, a second side plate 13 is formed on one side of the first connecting seat 1 opposite to the tail end of the latch 3, a guide rod 35 is arranged on the second side plate 13, the guide rod 35 is arranged along a first direction a, a guide hole is arranged at the tail end of the latch 3, the guide rod 35 is inserted in the guide hole, and the latch 3 is slidable along the first direction a relative to the guide rod 35; the return spring 34 is sleeved on the guide rod 35, so that the return spring 34 can stably provide the pushing force along the first direction a for the lock 3.

Preferably, the tail end of the first connecting seat 1 is also the tail ends of the first locking part 31 and the second locking part 32, and a guide rod 35 and a return spring 34 are arranged at positions where the tail ends of the first locking part 31 and the second locking part 32 are opposite.

In one embodiment of the present application, preferably, as shown in fig. 2, one end of the latch 3 near the second position along the first direction a is a head end of the latch 3, one side of the first direction a of the box body is provided with a first side plate 12, the first side plate 12 is opposite to the head end of the latch 3, and the head end of the latch 3 extends out of the box body from the first side plate 12, so that when the latch 3 needs to be moved from the second position to the first position, only the head end of the latch 3 needs to be pushed until the latch 3 is locked by the locking member 4.

In this embodiment, preferably, the portion of the latch 3 located in the case is further provided with an abutment portion, and when the latch 3 returns to the second position from the first position under the action of the return spring 34, the abutment portion of the latch 3 can abut against the first side plate 12, thereby realizing the limitation of the latch 3, so that the catch 21 can be smoothly separated from the latch 3.

In this embodiment, preferably, as shown in fig. 2, the in-place sensor 15 is disposed on the first connecting seat 1, and the detecting member is disposed on the latch 3, when the latch 3 moves to the first position, the detecting member can move to the detecting area of the in-place sensor 15 along with the latch 3, so that the position of the latch 3 can be determined according to the detection result of the in-place sensor 15, when the in-place sensor 15 detects the detecting member, the latch 3 is located in the first position, and when the in-place sensor 15 does not detect the detecting member, the latch 3 is located in the second position.

In this embodiment, preferably, as shown in fig. 2, the latch 3 is slidingly connected to the first connection socket 1 by means of a guide rail 14; specifically, the guide rail 14 is disposed on the first connecting seat 1 along the first direction a, and the latch 3 is connected with a slider slidably disposed on the guide rail 14, so that the movement of the latch 3 is guided by the guide rail 14. It is further preferred that both sides of the second direction b of the latch 3 are provided with guide rails 14, respectively, to further provide guiding stability.

It should be noted that the mechanical tools include, but are not limited to, the manipulator mentioned below, and the quick-change mechanism of the present application is applicable to any mechanical tool with a need for change. The tool body of the manipulator can be any power output end, such as a transfer module 5, and the end effector can be a clamping module 6, an adsorption module or the like according to the requirements of different working conditions.

The application also provides a manipulator, as shown in fig. 6, comprising a tool main body, an end effector and the quick-change mechanism of any embodiment, wherein the end effector is detachably connected to the tool main body through the quick-change mechanism.

In this embodiment, the manipulator includes the quick-change mechanism, so the manipulator has all the beneficial effects of the quick-change mechanism, which are not described in detail herein.

In this embodiment, preferably, the tool body is a transfer module 5, the end effector is a clamping module 6, and the clamping module 6 is connected to the transfer module 5 through a quick-change mechanism, so that different clamping modules 6 can be replaced according to the product to be clamped.

Preferably, the manipulator further comprises a rotating module 7, and the clamping module 6 is connected with the quick-change mechanism through the rotating module 7, so that the clamping module 6 can be driven by the transferring module 5 to move and simultaneously rotate under the driving of the rotating module 7, and the rotating module 7 and the clamping module 6 are taken as a whole to be detachable from the transferring module 5, and the stability of the three is better in a connection state.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present utility model, and not for limiting the same; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the utility model.

Claims (11)

1. The quick-change mechanism is characterized by comprising a first connecting seat and a second connecting seat;

One of the first connecting seat and the second connecting seat is used for being fixedly connected to a tool main body of a mechanical tool, and the other is used for being fixedly connected to an end effector of the mechanical tool;

The first connecting seat is provided with a clamping lock, the second connecting seat is provided with a clamping piece, and the clamping lock and the clamping piece can be clamped together in an unlocking mode.

2. The quick change mechanism of claim 1, wherein the latch is movably disposed on the first connection base in a first direction, the latch having a first position and a second position in the first direction;

The first connecting seat is provided with a locking piece, and the locking piece can lock the lock at the first position so as to clamp the lock and the clamping piece together; and/or the locking piece can release the locking piece, so that the locking piece can return to the second position and release the locking piece.

3. The quick change mechanism of claim 2, wherein the latch comprises a first latch portion and a second latch portion disposed in a second direction opposite to each other at intervals, the first latch portion and the second latch portion being formed with a boss, respectively, the second direction intersecting the first direction;

The clamping piece can be inserted between the first clamping and locking part and the second clamping and locking part, clamping grooves are formed in two sides of the clamping piece in the second direction respectively, when the clamping is located at the second position, the protruding parts of the first clamping and locking part and the second clamping and locking part are inserted into the clamping grooves on the same side respectively, and when the clamping moves to the first position, the protruding parts of the first clamping and locking part and the second clamping and locking part withdraw from the clamping grooves on the same side respectively.

4. The quick change mechanism of claim 3, wherein a plurality of said clamping members are provided on said second connecting base, said plurality of clamping members being spaced apart side by side along a first direction;

The first locking part and the second locking part are respectively provided with a plurality of protruding parts, and the protruding parts are in one-to-one correspondence with the clamping pieces.

5. The quick change mechanism of claim 2, wherein the locking member is rotatably disposed on the first connecting seat, and a hook is formed at one end of the locking member, and the hook elastically abuts against the latch;

The lock is provided with a locking block, the locking block and the clamping hook are both provided with inclined planes, and when the lock moves from the second position to the first position, the inclined planes of the locking block can be abutted against the inclined planes of the clamping hooks so as to push the clamping hooks to be far away from the lock until the locking block is clamped into the clamping hooks;

The locking piece is far away from one end of the clamping hook is an unlocking end, and pressing the unlocking end can enable the clamping hook to tilt, so that the locking block is separated from the clamping hook.

6. The quick change mechanism of claim 5, wherein a return spring is disposed on the first connecting seat, one end of the return spring abuts against the first connecting seat, the other end of the return spring abuts against the latch, and the latch is capable of returning from the first position to the second position under the action of the return spring.

7. The quick change mechanism of claim 2, wherein the first connector is provided with an in-place sensor, the latch is provided with a detection member, and the detection member moves to a detection area of the in-place sensor when the latch moves to the first position.

8. The quick change mechanism of claim 2, wherein the latch is slidably coupled to the first coupling seat via a guide rail.

9. The quick change mechanism of claim 5, wherein the first connection base is a box having an inner cavity, and the latch and the locking member are both disposed within the box;

The box body is provided with a jack for inserting the clamping piece;

A first side plate is arranged on one side, close to the second position, of the box body in the first direction, and one end of the lock extends out of the first side plate, so that the lock can be pushed to move from the second position to the first position;

An abutting part is formed in the box body of the lock, and when the lock moves to the second position, the abutting part abuts against the first side plate;

And a through hole is formed in the position, opposite to the unlocking end of the locking piece, of the box body.

10. A manipulator comprising a tooling body, an end effector and the quick change mechanism of any one of claims 1 to 9;

One of the first connecting seat and the second connecting seat of the quick-change mechanism is fixedly connected to the tool main body, and the other is fixedly connected to the end effector;

The first connecting seat is detachably connected with the second connecting seat, so that the end effector is detachably connected with the tool main body.

11. The manipulator of claim 10, wherein the tool body is a transfer module and the end effector is a clamping module;

The manipulator further comprises a rotating module, and the clamping module is connected with the quick-change mechanism through the rotating module.