CN216187926U - Quick change device, universal fixture and robot - Google Patents

Abstract

The application relates to the technical field of safe loading and unloading of containers, in particular to a quick-change device, a universal fixture and a robot. The quick change device includes: a fixed seat; the clamping component is movably connected to the fixed seat; and the driving mechanism is arranged on the fixed seat and connected with the clamping component to drive the clamping component to extend or retract. When the unlocking fixture is fixed, the clamping assembly can fix the unlocking fixture only by utilizing the driving mechanism to drive the clamping assembly to extend out, and when the unlocking fixture needs to be replaced, the clamping assembly can retract by utilizing the driving mechanism to drive the clamping assembly, so that the fixation of the unlocking fixture is released. Therefore, the disassembly and the assembly of the unlocking clamp are automatically completed through the matching of the driving mechanism and the clamping assembly, and the automation degree of the unlocking clamp in the replacement process is improved. Meanwhile, the participation of personnel is reduced, the working efficiency is effectively improved, and the safety of operators can be ensured.

Description

Quick change device, universal fixture and robot

Technical Field

The application relates to the technical field of safe loading and unloading of containers, in particular to a quick-change device, a universal fixture and a robot.

Background

The container is a container which is widely used in the transportation industry, and in places such as ports or docks, the loading and unloading of the container is a very important operation flow, and the container needs to be fixed by a special lock in the loading and unloading process.

In prior art, after utilizing the tool to lock to fix the container, when needs are dismantled, all dismantle the tool to lock through the operation personnel is manual, thereby remove the fixed to the container, and the size of container is general bigger, for better fixed container, the size of tool to lock is also bigger, dismantle the tool to lock through the artifical anchor clamps of taking out the lock, and the required anchor clamps of taking out the lock of difference are different, consequently, it needs to change according to the difference of tool to lock to take out the lock anchor clamps, and the change of taking out the lock anchor clamps is mainly artifical the completion, lead to the holistic loading and unloading process automation degree of container to reduce, be unfavorable for improving the efficiency of container loading and unloading.

SUMMERY OF THE UTILITY MODEL

In view of this, the embodiment of the application provides a quick change device, a universal fixture and a robot, which solves or improves the problem that the manual work is needed to complete the replacement of the unlocking fixture, which results in lower automation degree of the whole loading and unloading process.

In a first aspect, the present application provides a quick-change device, including: a fixed seat; the clamping component is movably connected to the fixed seat; and the driving mechanism is arranged on the fixed seat and connected with the clamping component to drive the clamping component to extend or retract.

When the quick change device provided by the first aspect of the application is used for fixing the unlocking clamp, the clamping component can be fixed well by the clamping component only by utilizing the driving mechanism to drive the clamping component to stretch out. When the unlocking clamp needs to be replaced, the clamping component is driven to retract by the driving mechanism, and the unlocking solution is released. With this cooperation through actuating mechanism and joint subassembly, accomplish the dismantlement and the installation of tearing the lock anchor clamps open automatically, improve the degree of automation of tearing the lock anchor clamps open in the change process, reduce personnel's participation, not only effectively improved work efficiency, also can ensure operation personnel's security.

With reference to the first aspect, in one possible implementation manner, the driving mechanism has a hollow cavity therein.

With reference to the first aspect, in a possible implementation manner, the fixing base has a quick-change cavity enclosed by a side wall, the clamping component is disposed in the quick-change cavity, and the driving mechanism partially extends into the quick-change cavity to drive the clamping component to extend out or retract into the quick-change cavity.

With reference to the first aspect, in a possible implementation manner, a fastening hole is formed in the fixing base, the fastening hole is communicated with the quick-change cavity, and the fastening assembly includes: the pin rod is connected with the clamping hole in a sliding manner; and the pin head is fixed at one end of the quick-change cavity, the cross section area of the pin head is larger than that of the clamping hole, and one side, far away from the pin rod, of the pin head is connected with the driving mechanism.

With reference to the first aspect, in a possible implementation manner, the clamping assembly further includes: elasticity resets, elasticity resets and contradicts with the round pin head, elasticity resets one side of keeping away from the round pin head with the chamber wall conflict of quick change cavity.

In a possible implementation form, in combination with the first aspect, a side of the pin shank remote from the pin head has a spherical surface.

With reference to the first aspect, in a possible implementation manner, the quick-change device further includes: the clamp flange is sleeved on the fixed seat and is detachably connected with the fixed seat through the clamping assembly.

With reference to the first aspect, in a possible implementation manner, the quick-change device further includes: the floating device is arranged on the fixed seat and is connected with the clamp flange.

With reference to the first aspect, in one possible implementation manner, the floating device includes: the guide piece is fixed on the fixed seat; and the elastic piece is arranged on the guide piece, and one end of the elastic piece is abutted to the fixed seat.

With reference to the first aspect, in one possible implementation manner, the driving mechanism includes: the driving piece is arranged on the fixed seat; the transmission assembly is arranged on the fixed seat and is connected with the driving piece; the screw rod is rotationally connected to the fixed seat, is partially positioned in the quick-change cavity and is connected with the transmission assembly; and the extruded part, with the lead screw is located one end threaded connection in the quick change cavity, just the extruded part with the joint subassembly butt makes the extruded part follow lead screw axial displacement and promotion the joint subassembly stretches out or retracts.

With the first aspect, in a possible implementation manner, a first extrusion inclined plane is arranged on the outer side face of the extrusion piece, and a second extrusion inclined plane which is inconsistent with the first extrusion inclined plane is arranged on the outer side face of the clamping assembly.

With reference to the first aspect, in one possible implementation manner, the driving mechanism further includes: one end of the limiting rod is connected with the fixed seat; wherein, have spacing hole on the extruded part, the gag lever post is kept away from the one end of fixing base with spacing hole sliding fit.

With reference to the first aspect, in one possible implementation manner, the transmission assembly includes: the first gear is connected with the driving piece; the transmission shaft is rotatably connected to the fixed seat; the second gear is fixed on the transmission shaft and is meshed with the first gear; the third gear is fixed on the transmission shaft; and the fourth gear is fixed on the screw rod and is meshed with the third gear.

With reference to the first aspect, in a possible implementation manner, the quick-change device further includes: the fixed shaft is arranged on the fixed seat; and the supporting plate is fixed at one end, far away from the fixed seat, of the fixed shaft, and the transmission shaft is rotatably connected with the supporting plate.

In a second aspect, the present application provides a universal fixture, the fixture comprising: a clamp body; the quick-change device according to the first aspect of the present application is provided on the clamp body.

The utility model provides a universal fixturing that this application second aspect provided lies in the installation of the clamp of taking out the lock, can realize taking out the fixed of clamp of lock and dismantle fast to effectively improve holistic work efficiency.

In a third aspect, the present application further provides a robot comprising: the universal fixture of the second aspect of the present application; and an identification system connected with the fixture body.

The robot that this application third aspect provided can obtain the position of universal fixturing through identification system in real time when universal fixturing moves to remote control universal fixturing and the assembly of taking out the lock anchor clamps, thereby can effectively improve degree of automation.

Drawings

The above and other objects, features and advantages of the present application will become more apparent by describing in more detail embodiments of the present application with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings, like reference numbers generally represent like parts or steps.

Fig. 1 is a schematic cross-sectional view of a quick-change device according to some embodiments of the present disclosure.

Fig. 2 is a schematic side sectional view of a quick-change device according to some embodiments of the present application.

Fig. 3 shows an enlarged view of a portion a in the implementation shown in fig. 2.

FIG. 4 is a schematic view of a release clip according to some embodiments of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Summary of the application

During the transportation of containers, the containers are usually loaded on ships or heavy trucks at ports or docks, and the containers are fixed by locks before loading or unloading, and the two containers are usually fixed together by the locks to prevent the containers from toppling over. When the lock needs to be unlocked, the unlocking operation needs to be completed manually, but the size of the container is large, so that the size of the lock is large, the unlocking operation is completed manually, time and labor are wasted, and the safety of operators also has problems. In the prior art, in order to unlock the lock more quickly, a special unlocking clamp is arranged to complete the unlocking, but one lock generally only corresponds to one unlocking clamp. In order to unlock different types of locks, the corresponding unlocking clamps need to be replaced, and the installation of the unlocking clamps is completed manually, so that the assembly and disassembly processes of the unlocking clamps are complicated, and the automation degree of the assembly and disassembly processes of the container is low.

The application provides a pair of quick change device, universal fixturing and robot, through the cooperation of motor, drive assembly and round pin axle, utilize round pin axle and the butt of tearing the lock anchor clamps to realize tearing the automatic fixation and the dismantlement of lock anchor clamps. Therefore, when the unlocking clamp is replaced, the pin shaft can be driven to move only by starting the motor, so that the unlocking clamp can be automatically replaced. Therefore, the overall automation degree is improved, and the unmanned construction of ports or docks is positively promoted.

Exemplary quick-change device

Fig. 1 is a schematic cross-sectional view of a quick-change device according to some embodiments of the present disclosure. Referring to fig. 1, the quick-change device includes a holder 100, a latch assembly 200, and a driving mechanism 300. The latch assembly 200 is movably connected to the fixing base 100. The driving mechanism 300 is disposed on the fixing base 100, and the driving mechanism 300 is connected to the clip assembly 200 to drive the clip assembly 200 to extend or retract.

When the unlocking fixture is fixed, the driving mechanism 300 is only needed to drive the clamping assembly 200 to extend out, and the clamping assembly 200 can fix the unlocking fixture on the fixing base 100, so that the unlocking fixture is installed. When the unlocking fixture needs to be disassembled, the clamping assembly 200 is driven to retract only by the driving mechanism 300, the clamping assembly 200 is released from fixing the unlocking fixture, and the unlocking fixture can be separated from the fixing seat 100, so that the unlocking fixture is automatically replaced, and the automation degree of the whole operation is improved.

Referring to FIG. 2, in some embodiments of the present application, a hollow cavity 331 is provided within the drive mechanism 300. The hollow cavity 331 can effectively reduce the overall weight, facilitating the corresponding action. Meanwhile, space can be provided for the installation of other transmission shafts, so that the space utilization rate is improved.

Referring to FIG. 2, in some embodiments of the present application, the latch assembly 200 may be provided in multiple sets, such as six sets. Six sets of clamping assemblies 200 are evenly distributed along the circumference of the screw 330. Therefore, when the clamping assembly 200 extends out, the unlocking clamp can be clamped in multiple directions, and the fixing effect of the unlocking clamp is improved. The number of sets of clip assemblies 200 can be selected according to the size of the overall device, and the number of clip assemblies 200 is not limited in this application.

Referring to fig. 1, the holder 100 has a quick-change cavity 110 enclosed by side walls, the card assembly 200 is disposed in the quick-change cavity 110, and the driving mechanism 300 is partially extended into the quick-change cavity 110 to drive the card assembly 200 to extend out of or retract into the quick-change cavity 110.

By providing the quick-change cavity 110 and disposing the portions of the clamping assembly 200 and the driving mechanism 300 in the quick-change cavity 110, the space on the fixing base 100 can be effectively utilized, thereby improving the utilization rate of the space on the fixing base 100.

Fig. 2 is a schematic side sectional view of a quick-change device according to some embodiments of the present application. Fig. 3 shows an enlarged view of a portion a in the implementation shown in fig. 2. Referring to fig. 2 and 3, in some embodiments of the present application, the side wall of the fixing base 100 has a snap hole 140, and the snap hole 140 is in communication with the quick-change cavity 110. Latch assembly 200 includes pin shaft 210 and pin head 220. The pin 210 is slidably coupled to the snap hole 140. The pin head 220 is disposed at one end of the pin rod 210 near the quick-change cavity 110, and the cross-sectional area of the pin head 220 is larger than that of the snap-in hole 140. The pin rod 210 and the pin head 220 may be integrally formed or may be welded and fixed. Wherein the drive mechanism 300 is connected to the pin head 220.

When fixing the clamp of taking out the lock, utilize actuating mechanism 300 to promote round pin head 220 to remove, round pin head 220 promotes round pin pole 210 again and removes, thereby round pin pole 210 stretches out joint hole 140, and will with the clamp butt of taking out the lock when round pin pole 210 stretches out joint hole 140, thereby it is fixed to taking out the lock anchor clamps smoothly.

Referring to fig. 3, in some embodiments of the present invention, the wall width of the clamping hole 140 may be greater than half of the length of the pin 210, but less than the length of the pin 210, so as to increase the contact area between the pin 210 and the clamping hole 140 to provide sufficient overturning moment, and reduce the possibility of a gap between the pin 210 and the clamping hole 140.

Referring to FIG. 3, in some embodiments of the present invention, the latch assembly 200 further includes a resilient return member 230. The elastic resetting piece 230 is abutted against the pin head 220, and one side of the elastic resetting piece 230 away from the pin head 220 is abutted against the cavity wall of the quick-change cavity 110.

Due to the movement of the pin head 220, the elastic reset piece 230 is squeezed to generate compression deformation, after the driving mechanism 300 is separated from the pin head 220, the elastic reset piece 230 automatically restores to deform to drive the pin head 220 to reset, and the pin head 220 drives the pin rod 210 to reset, so that the automatic reset of the clamping assembly 200 is realized.

In some embodiments of the present application, the elastic reset element 230 may be a reset spring, the reset spring may be sleeved on the pin rod 210, one end of the reset spring is fixedly connected to the pin head 220, and the other end of the reset spring is fixedly connected to the cavity wall of the quick-change cavity 110. Therefore, when the pin rod 210 is reset, the reset spring is limited by the cavity wall and the pin head 220, and the possibility that the pin rod 210 is separated from the clamping hole 140 is reduced.

Referring to fig. 3, in some embodiments of the present application, the side of pin shaft 210 distal from pin head 220 has a spherical surface 211. The spherical surface 211 can increase the area of the pin rod 210 and the unlocking jig, thereby improving the fixing effect of the unlocking jig.

Fig. 4 is a schematic structural view of a coupling flange and a quick-change device according to some embodiments of the present application. Referring to fig. 3 and 4, the quick-change device further includes a clamp flange 700. The clamp flange 700 is detachably connected to the fixing base 100, and the clamp flange 700 is connected to the unlocking clamp through bolts. Specifically, the clamp flange 700 has a connection cavity 710, a wall of the connection cavity 710 has an abutting inclined surface 711, a clamping surface 712 and a positioning inclined surface 713, the abutting inclined surface 711 abuts against the clamping assembly 200, the clamping surface 712 abuts against an outer side wall of the base 100, and the clamping surface 712 is located between the abutting inclined surface 711 and the positioning inclined surface 713.

Referring to fig. 4, the connection cavity 710 has a cylindrical shape, and the connection cavity 710 has a shape with two open ends and a small middle opening as a whole. That is, the diameter of the connecting cavity 710 of the portion of the positioning slope 713 decreases from the side away from the catching surface 712 to the side near the catching surface 712; and the diameter of the coupling cavity 710, which abuts against the portion of the inclined surface 711, increases from a side near the catching surface 712 to a side far from the catching surface 712.

The larger opening of the connecting cavity 710 facilitates insertion of the base 100 into the connecting cavity 710 when replacing the locking clip. The clamping surface 712 is attached to the outer sidewall of the base 100, which can effectively limit the moving range of the clamp flange 700. And then, the assembling and disassembling clamp can be smoothly installed by matching with the extrusion of the abutting inclined plane 711 and the clamping assembly 200.

Referring to fig. 1, in some embodiments of the present application, the quick-change device further comprises a float device 400. The floating device 400 is disposed on the fixing base 100, and the floating device 400 is flanged with the jig 700. When the unlocking clamp is fixed, the position of the clamp flange relative to the fixed seat 100 is adjusted by the floating device 400, so that the possibility of dislocation of the clamp flange and the fixed seat 100 is relieved.

In some embodiments of the present application, the floating device 400 includes a guide 410 and an elastic member 420. The guide 410 is provided on the holder 100. The elastic member 420 is disposed on the guide member 410, and one end of the elastic member 420 abuts against the fixing base 100.

Specifically, the guide 410 may be a guide post, and is fixed on the outer sidewall of the fixing base 100 along the vertical direction, the clamp flange 700 is provided with a guide hole for the guide post to pass through, the elastic member 420 may be a floating spring, and is sleeved on the guide post, one end of the floating spring is fixedly connected with the outer sidewall of the fixing base 100, and the other end of the floating spring is abutted to the clamp flange 700.

When the clamp flange 700 and the fixing seat 100 are connected, the guide posts penetrate into the guide holes, and the floating spring is used for limiting the relative position of the clamp flange 700 and the fixing seat 100, so that the possibility of dislocation of the clamp flange 700 and the fixing seat 100 is effectively reduced.

Referring to fig. 2 and 3, the driving mechanism 300 includes a driving member 310, a transmission assembly 320, a lead screw 330, and an extruding member 340. The driving member 310 is disposed on the fixing base 100. The transmission assembly 320 is disposed on the fixing base 100, and the transmission assembly 320 is connected to the driving member 310. The screw 330 is rotatably connected to the fixing base 100, the screw 330 is partially located in the quick-change cavity 110, and the screw 330 is connected to the transmission assembly 320. For example, two bearings are installed in the quick-change cavity 110, and two ends of the screw rod 330 are respectively connected with the two bearings to realize the rotary connection of the screw rod 330. The pressing member 340 is screwed to the end of the screw 330 located in the quick-change cavity 110, and the pressing member 340 abuts against the latch assembly 200, so that the pressing member 340 moves axially along the screw 330 to push the latch assembly 200 to extend or retract.

When it is required to drive the clamping assembly 200 to extend out of the quick-change cavity 110, the driving member 310 is used to drive the screw 330 to rotate, and the screw 330 is used to drive the pressing member 340 to move upwards along the axial direction of the screw 330 through the threaded fit. As the pressing member 340 moves upward, the latch assembly 200 abuts the pressing member 340, and the latch assembly 200 gradually extends out of the quick-change cavity 110. When the clamping assembly 200 needs to retract, the driving member 310 is only needed to drive the screw 330 to rotate reversely, the screw 330 drives the extrusion member 340 to move downwards along the axial direction of the screw 330, the extrusion member 340 is separated from the clamping assembly 200 and is not abutted any more, and the clamping assembly 200 can retract.

Referring to fig. 3, in some embodiments of the present invention, the pressing member 340 has a first pressing slope 341 on an outer side surface thereof, and the latch assembly 200 has a second pressing slope 201 on an outer side surface thereof, which is in contact with the first pressing slope 341, specifically, the second pressing slope 201 is disposed on a side of the pin head 220 away from the pin rod 210. By the abutment of the first pressing slope 341 and the second pressing slope 201, the extension or retraction of the chucking assembly 200 can be smoothly driven when the pressing member 340 moves up or down.

Referring to FIG. 3, in some embodiments of the present application, the drive mechanism 300 further includes a spacing rod 350. One end of the limiting rod 350 is connected with the fixing seat 100; wherein, the extrusion piece 340 has a limiting hole 342, and one end of the limiting rod 350 far away from the fixing base 100 is in sliding fit with the limiting hole 342. Specifically, the axis of the limiting rod 350 is parallel to the axis of the screw 330, two limiting rods 350 may be provided, and the screw 330 is located between the two limiting rods 350.

When the screw 330 rotates, the screw 330 is in threaded fit with the extrusion part 340, when the screw 330 rotates, the extrusion part 340 can be driven to rotate by the friction force of the threads, but the extrusion of the limiting rod 350 and the limiting hole 342 limits the rotation of the extrusion part 340, so that the extrusion part 340 cannot rotate, and when the screw 330 rotates, the extrusion part 340 can be driven to move upwards or descend smoothly through threaded fit.

A certain gap can be reserved between the limiting rod 350 and the limiting hole 342, so that the contact area between the limiting rod 350 and the limiting hole 342 can be reduced, and the friction force between the limiting hole 342 and the limiting rod 350 when the extrusion part 340 moves is effectively reduced.

Referring to fig. 3, a boss 351 may be disposed on the limiting rod 350, the boss 351 is located below the extrusion piece 340, the cross-sectional area of the boss 351 is larger than that of the limiting hole 342, the moving range of the extrusion piece 340 may be limited by the boss 351, and the extrusion piece 340 is prevented from being separated from the clamping assembly 200 in the moving process.

In some embodiments of the present application, the extrusion component 340 may be a circular truncated cone nut, and a threaded hole is formed in the middle of the circular truncated cone nut for the lead screw 330 to pass through and be in threaded connection with the lead screw 330. The limiting hole 342 is formed in two sides of the circular truncated cone nut in a penetrating mode, and the first extrusion inclined plane 341 is arranged on the top wall of the circular truncated cone nut in the circumferential direction of the circular truncated cone nut.

In some embodiments of the present application, the driving member 310 has a power output end, for example, the driving member 310 may be a self-locking motor, and a motor shaft of the self-locking motor may be used as the power output end.

Referring to fig. 2, the driving assembly 320 includes a first gear 321, a driving shaft 322, a second gear 323, a third gear 324, and a fourth gear 325. The first gear 321 is connected to the power take-off. The transmission shaft 322 is rotatably connected to the fixing base 100. The second gear 323 is fixed on the transmission shaft 322, and the second gear 323 meshes with the first gear 321. A third gear 324 is coaxially fixed to the drive shaft 322. The fourth gear 325 is engaged with the third gear 324, and the fourth gear 325 is fixedly connected with the screw rod 330.

When the screw rod 330 is driven to rotate, the power output end of the driving member 310 outputs power to drive the first gear 321 to rotate, and the first gear 321 drives the second gear 323 to rotate, so as to drive the transmission shaft 322 to rotate, and further drive the third gear 324 to rotate. With the rotation of the third gear 324, the fourth gear 325 rotates synchronously. The fourth gear 325 is fixedly connected with the screw rod 330, and the screw rod 330 is rotatably installed, so that the screw rod 330 rotates along with the rotation of the fourth gear 325, thereby smoothly driving the screw rod 330 to rotate.

Referring to fig. 2, in some embodiments of the present application, the first gear 321 and the second gear 323 employ bevel gears, and the third gear 324 and the fourth gear 325 employ spur gears. Meanwhile, in order to adjust the rotation speed, the diameter of the first gear 321 is smaller than that of the second gear 323, and the diameter of the third gear 324 is smaller than that of the fourth gear 325, so that the speed reduction transmission is realized, so as to control the rotation of the screw rod 330.

Referring to fig. 2, in some embodiments of the present application, the quick-change device further includes a fixed shaft 120 and a support plate 130. The fixing shaft 120 is fixed to the fixing base 100. The supporting plate 130 is fixed on one end of the fixing shaft 120 far away from the fixing base 100, and the transmission shaft 322 is rotatably connected with the supporting plate 130. Specifically, the axis of the transmission shaft 322 is parallel to the fixed shaft 120. Through setting up the backup pad 130, can effectively improve the stability of transmission shaft 322 when rotating.

Exemplary Universal Clamp

The universal fixture comprises a fixture body and a quick-change device as described in any one of the above embodiments. The quick-change device is arranged on the clamp body.

When the universal clamp is used, the unlocking clamp and the clamp body can be quickly fixed together, so that quick automatic replacement of the unlocking clamp is realized, and the integral operation automation degree is improved.

Since the universal fixture is provided with the quick-change device, the universal fixture has all the technical effects of the quick-change device, and is not described herein again.

Exemplary robot

The robot includes a universal fixture and an identification system as described in any of the embodiments above. The recognition system is connected with the clamp body.

The position of the universal fixture can be acquired in real time through the recognition system when the universal fixture runs, so that the universal fixture can be remotely controlled to be assembled with the unlocking fixture, and the automation degree can be effectively improved.

Due to the aboveRobotProvided with the universal fixture described above, and thus the aboveRobotThe technical effects of the universal fixture are all achieved, and are not described in detail herein.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modifications, equivalents and the like that are within the spirit and principle of the present application should be included in the scope of the present application.

Claims (16)

1. A quick-change device, characterized in that it comprises:

a fixed seat (100);

the clamping assembly (200) is movably connected to the fixed seat (100); and

the driving mechanism (300) is arranged on the fixed seat (100), and the driving mechanism (300) is connected with the clamping assembly (200) to drive the clamping assembly (200) to extend or retract.

2. The quick-change device according to claim 1, characterized in that the drive mechanism (300) has a hollow cavity (331) therein.

3. The quick-change device according to claim 1, characterized in that it comprises: the fixing seat (100) is provided with a quick-change cavity (110) enclosed by side walls, the clamping assembly (200) is arranged in the quick-change cavity (110), and the driving mechanism (300) partially extends into the quick-change cavity (110) to drive the clamping assembly (200) to extend out or retract into the quick-change cavity (110).

4. The quick-change device according to claim 3, characterized in that the holder (100) has a snap hole (140), the snap hole (140) communicates with the quick-change cavity (110), and the snap assembly (200) comprises:

the pin rod (210) is connected with the clamping hole (140) in a sliding mode; and

the pin head (220) is fixed at one end, located in the quick-change cavity (110), of the pin rod (210), the cross-sectional area of the pin head (220) is larger than that of the clamping hole (140), and one side, far away from the pin rod (210), of the pin head (220) is connected with the driving mechanism (300).

5. The quick-change device according to claim 4, characterized in that said snap-in assembly (200) further comprises:

the elastic resetting piece (230) abuts against the pin head (220), and one side, away from the pin head (220), of the elastic resetting piece (230) abuts against the cavity wall of the quick-change cavity (110).

6. The quick-change device according to claim 4, characterized in that the side of the pin shank (210) remote from the pin head (220) has a spherical surface (211).

7. The quick-change device according to claim 1, further comprising:

the clamp flange (700) is sleeved on the fixed seat (100), and the clamp flange (700) is connected with the fixed seat (100) in a detachable mode through the clamping component (200).

8. The quick-change device according to claim 7, further comprising:

the floating device (400) is arranged on the fixed seat (100), and the floating device (400) is connected with the clamp flange (700).

9. The quick-change device according to claim 8, characterized in that said float device (400) comprises:

a guide (410) fixed to the holder (100); and

the elastic piece (420) is arranged on the guide piece (410), and one end of the elastic piece (420) is abutted against the fixed seat (100).

10. The quick-change device according to claim 1, characterized in that said drive mechanism (300) comprises:

the driving piece (310) is arranged on the fixed seat (100);

the transmission assembly (320) is arranged on the fixed seat (100), and the transmission assembly (320) is connected with the driving piece (310);

the screw rod (330) is rotationally connected to the fixed seat (100), the screw rod (330) is partially positioned in the quick-change cavity (110), and the screw rod (330) is connected with the transmission assembly (320); and

the extruding part (340) is in threaded connection with one end of the screw rod (330) in the quick-change cavity (110), the extruding part (340) is abutted to the clamping component (200), and the extruding part (340) moves axially along the screw rod (330) to push the clamping component (200) to extend or retract.

11. The quick-change device according to claim 10, characterized in that the pressing element (340) has a first pressing ramp (341) on its outer side and the snap-in component (200) has a second pressing ramp (201) on its outer side, which abuts against the first pressing ramp (341).

12. The quick-change device according to claim 10, characterized in that said drive mechanism (300) further comprises:

one end of the limiting rod (350) is connected with the fixed seat (100);

wherein, the extrusion part (340) is provided with a limiting hole (342), and one end of the limiting rod (350) far away from the fixed seat (100) is in sliding fit with the limiting hole (342).

13. The quick-change device according to claim 10, characterized in that said transmission assembly (320) comprises:

a first gear (321) connected with the driving member (310);

the transmission shaft (322) is rotatably connected to the fixed seat (100);

a second gear (323) fixed to the transmission shaft (322), the second gear (323) being engaged with the first gear (321);

a third gear (324) fixed to the transmission shaft (322); and

and a fourth gear (325) fixed to the screw (330), wherein the fourth gear (325) is engaged with the third gear (324).

14. The quick-change device according to claim 13, further comprising:

a fixed shaft (120) arranged on the fixed seat (100); and

the supporting plate (130) is fixed at one end, far away from the fixed seat (100), of the fixed shaft (120), and the transmission shaft (322) is rotatably connected with the supporting plate (130).

15. A clamp, characterized in that it comprises:

a clamp body;

the quick-change device according to any one of claims 1 to 14, arranged on the clamp body.

16. A robot, characterized in that the robot comprises:

the clamp of claim 15; and

and the identification system is connected with the clamp body.

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