Robot massage head automatic replacement device

The present invention discloses a robotic apparatus automatically changing massage head, the robot end effector relates to the field of automatic replacement device. Comprising a holder assembly, the coupling means and the connector strut massaging, the massage head massage strut is coupled to the robot; holder assembly comprises a guide assembly (2), U frame (11), the floating frame compression spring (12), the guide post (16), a floating frame (18); joint coupling means comprises an aluminum alloy joint (27), guide sleeve (20), the latch (22), compression spring (23), the skid pipe (24), transfer gear rod (25 ), sliding gear rod (26), the button (28); massage strut comprises a slide positioning hole (152), a fixing plate (153), fixing lugs (154). The invention has simple structure, compact, high precision, good overall operability, and high efficiency to meet the automation needs. The present invention may also be applied to other parts of the system need to be replaced.