CN114378757A

CN114378757A - Dismantle frock and robot

Info

Publication number: CN114378757A
Application number: CN202111368328.5A
Authority: CN
Inventors: 缪刘凯; 方掩; 邱善来; 张月养; 陈烔; 张琴; 王新; 洪志勇; 施春意
Original assignee: Gree Electric Appliance Ganzhou Co ltd
Current assignee: Gree Electric Appliance Ganzhou Co ltd
Priority date: 2021-11-18
Filing date: 2021-11-18
Publication date: 2022-04-22

Abstract

The invention provides a disassembling tool and a robot, relates to the technical field of processing equipment, and solves the technical problems of time and labor waste and low working efficiency in disassembling a straight valve on an air conditioner. The disassembly tool comprises a tool body and a limiting portion located on the tool body, wherein the limiting portion is arranged in a rotatable mode, at least part of a workpiece to be disassembled is allowed to extend into a limiting cavity in the limiting portion, the tool body moves to the position where the workpiece to be disassembled is matched with the limiting cavity in place, and the limiting portion can drive the workpiece to be disassembled to rotate so as to unscrew the workpiece to be disassembled from equipment. According to the invention, the tool body is driven to move by the manipulator assembly, at least part of the piece to be disassembled is inserted into the limiting cavity of the limiting part, and after the piece to be disassembled is matched with the limiting cavity in place, the limiting part drives the piece to be disassembled to synchronously rotate, so that the piece to be disassembled can be unscrewed from the equipment. The disassembly tool does not need to manually disassemble the to-be-disassembled piece on the equipment, and improves the work efficiency of disassembling the to-be-disassembled piece from the equipment.

Description

Dismantle frock and robot

Technical Field

The invention relates to the technical field of processing equipment, in particular to a disassembling tool and a robot.

Background

The refrigerant tank is provided with a straight valve for closing and opening the refrigerant pipe tank. The straight valve is provided with one or more polygonal nuts.

The applicant has found that the prior art has at least the following technical problems: the mode that the straight valve was dismantled to current air conditioner trade is artifical the dismantlement, and the operator uses box spanner, needs the hand straight valve of operator with one hand during the dismantlement, uses box spanner on the other hand to dismantle, and degree of automation is low, and operating efficiency is low. And the operation error possibly existing due to the mistake of the staff can cause the thread slipping or the damage to the straight valve, thereby causing quality problems.

Disclosure of Invention

The invention aims to provide a disassembling tool and a robot, and aims to solve the technical problems that the disassembling of a straight valve on an air conditioner in the prior art is time-consuming and labor-consuming, and the working efficiency is low; the technical effects that can be produced by the preferred technical scheme in the technical schemes provided by the invention are described in detail in the following.

In order to achieve the purpose, the invention provides the following technical scheme:

the invention provides a disassembling tool, which comprises a tool body and a limiting part positioned on the tool body, wherein:

the rotatable setting of spacing portion, there is the spacing cavity that allows to treat that at least part of piece stretches into wherein in the spacing portion, the frock body removes to treat the piece with behind the position that spacing cavity cooperation targets in place, spacing portion can drive treat that the piece rotates with will treat that the piece is from equipment is run off.

Preferably, the limiting part comprises a sleeve, the limiting cavity is located in the sleeve, and at least part of the outer contour of the limiting cavity is matched with at least part of the outer contour of the member to be disassembled, so that the limiting cavity and the member to be disassembled can rotate synchronously.

Preferably, the disassembling tool further comprises a first driving device, and the first driving device is fixed on the tool body and is in transmission connection with the limiting part to drive the limiting part to rotate.

Preferably, the disassembling tool further comprises a clamping assembly, wherein the clamping assembly is fixed on the tool body and used for clamping and fixing the to-be-disassembled piece when the to-be-disassembled piece is separated from the equipment.

Preferably, the clamping assembly comprises a second drive means and one or more pairs of jaws, wherein:

in two relative clamping jaws that set up, at least one of them with second drive arrangement's flexible end is connected, second drive arrangement can drive rather than being connected the clamping jaw removes to make two relative settings the clamping jaw moves in opposite directions and dorsad, two can form the centre gripping when the clamping jaw moves in opposite directions the centre gripping space of waiting to dismantle the piece.

Preferably, the disassembly tool further comprises a buffer component and a fixing component for supporting the limiting part, wherein:

the fixed component is connected with the limiting part in a rotating mode, an installation part used for being connected with the manipulator component is arranged on the tool body, and two ends of the buffering component are respectively abutted against the fixed component and the installation part and used for buffering impact force generated when the part to be disassembled is inserted into the limiting cavity.

Preferably, the buffering assembly includes a first elastic member and a guide portion, the guide portion is located between the fixing assembly and the mounting member, and the first elastic member is sleeved on the guide portion and can be compressed when the fixing assembly and the mounting member approach each other.

Preferably, the disassembling tool further comprises a clamping mechanism, the clamping mechanism is connected with the output end of the first driving device, a locking state of mutual connection exists between the clamping mechanism and the limiting portion, and the clamping mechanism can be separated from the limiting portion.

Preferably, the tip of spacing portion is provided with the draw-in groove, clamping machine constructs including the inner casing body, moving part and shell subassembly, wherein:

the shell assembly is sleeved on the inner sleeve body, the inner sleeve body is fixedly connected with the output end of the first driving device, a through hole is formed in the inner sleeve body, and the moving component is located in the through hole;

when the locking device is in the locking state, the end part of the limiting part is positioned in the inner sleeve body, the shell component abuts against the moving component, and the moving component is pressed into the clamping groove; when the shell component is separated from the moving component under the pushing of external force, the moving component can move towards the periphery of the limiting part and is separated from the clamping groove.

Preferably, the housing assembly comprises an outer casing and a second resilient member, wherein:

the second elastic component is sleeved on the inner sleeve body, the outer sleeve body is sleeved outside the second elastic component and is connected with the second elastic component, a protruding structure is arranged on the inner wall of the outer sleeve body, and when the outer sleeve body is in the locking state, the protruding structure abuts against the moving component;

the outer sleeve body can compress the second elastic part when moving under the action of external force, the protruding structure is separated from the moving part, and the second elastic part is used for pushing the outer sleeve body to restore to the original position.

Preferably, more than two through holes are arranged at intervals in the circumferential direction of the inner sleeve body, and the moving part is arranged in each through hole.

Preferably, the moving part is a sphere, and the sphere can roll in the through hole under the action of external force.

The invention also provides a robot which comprises a manipulator assembly and the disassembling tool, wherein the manipulator assembly is connected with the disassembling tool and is used for driving the tool body to move.

Preferably, the robot further comprises:

the image acquisition unit is used for acquiring the image information of the area where the piece to be disassembled is located;

and the control unit is electrically connected with the image acquisition unit and the manipulator assembly and is used for receiving the image information transmitted by the image acquisition unit, converting the image information into coordinate data of the piece to be disassembled and controlling the manipulator assembly to move according to the coordinate data.

Compared with the prior art, the disassembly tool and the robot provided by the invention have the following beneficial effects: the tool body can be connected with the mechanical arm assembly, the tool body is driven to move through the mechanical arm assembly, the tool body can move to the position limiting cavity of the position limiting part, at least part of the part to be disassembled is inserted into the position limiting cavity, after the part to be disassembled is matched with the position limiting cavity in place, the position limiting part drives the part to be disassembled to rotate synchronously, and the part to be disassembled can be screwed down from the equipment. The disassembly tool does not need to manually disassemble the to-be-disassembled piece on the equipment, and improves the work efficiency of disassembling the to-be-disassembled piece from the equipment.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic view of the overall structure of a disassembly tool;

FIG. 2 is a schematic structural view of a straight valve matched with a disassembling tool;

FIG. 3 is a side view of the disassembly tool;

FIG. 4 is a schematic cross-sectional view A-A of FIG. 3;

FIG. 5 is a schematic structural view of the outer sleeve body of the clamping mechanism of the disassembling tool after the outer sleeve body is removed;

FIG. 6 is an enlarged view of a portion of FIG. 5 at A;

FIG. 7 is a schematic structural view of a slot on the end of the limiting portion;

FIG. 8 is a schematic cross-sectional view of the disassembled tooling with the limiting portion removed;

fig. 9 is a partial enlarged view at B in fig. 8.

The figure 100, a tool body; 200. a straight valve; 201. a nut portion; 1. a limiting part; 101. a limiting cavity; 102. a card slot; 2. a first driving device; 3. a clamping assembly; 31. a second driving device; 32. a clamping jaw; 300. a clamping space; 4. a fixing assembly; 41. a first fixing plate; 42. a second fixing plate; 5. a buffer assembly; 51. a first elastic member; 52. a guide rail; 6. a mounting member; 7. a clamping mechanism; 71. an outer casing; 711. a raised structure; 72. a second elastic member; 73. an inner sleeve body; 731. a through hole; 74. a moving member.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "length", "width", "height", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "side", and the like, indicate orientations and positional relationships based on the orientations and positional relationships shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the equipment or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

The embodiment of the invention provides a disassembling tool and a robot, which can be used for conveniently screwing a to-be-disassembled part off equipment and improving the working efficiency of disassembly and assembly.

The technical solution provided by the present invention is explained in more detail below with reference to fig. 1 to 9.

Example one

As shown in fig. 1 to 4, the present embodiment provides a disassembly tool, which includes a tool body 100 and a limiting portion 1 located thereon, wherein: the rotatable setting of spacing portion 1, there is the spacing cavity 101 that allows the part at least of waiting to dismantle to stretch into wherein in the spacing portion 1, and after frock body 100 removed the position that waits to dismantle and spacing cavity 101 cooperation target in place, spacing portion 1 can drive and wait to dismantle the piece and rotate in order will wait to dismantle from the equipment and unscrew.

And, spacing portion 1 can drive and wait to dismantle the piece and rotate in order to wait to dismantle the piece and connect to equipment soon.

The tool body 100 can be connected with the mechanical arm assembly, the tool body 100 is driven to move through the mechanical arm assembly, the tool body 100 can move towards the position of the part to be disassembled until at least part of the part to be disassembled is inserted into the limiting cavity 101 of the limiting part 1, after the part to be disassembled is matched with the limiting cavity 101 in place, the limiting part 1 drives the part to be disassembled to rotate synchronously, and the part to be disassembled can be screwed down from the equipment. The disassembly tool does not need to manually disassemble the to-be-disassembled piece on the equipment, and improves the work efficiency of disassembling the to-be-disassembled piece from the equipment.

The member to be disassembled may be a workpiece screwed to the equipment, such as the straight valve 200 on the refrigerant tank. In the conventional straight valve 200, two nut portions 201, such as hexagonal nuts, are provided on the outer periphery thereof. When the straight valve 200 is disassembled in the prior art, a wrench is needed to fix the position of the nut part 201 on the straight valve 200, and the wrench is rotated to disassemble the straight valve 200.

The straight valve 200 will be described in detail below as an example of a member to be detached.

In order to smoothly unscrew a to-be-dismounted member such as the straight valve 200, referring to fig. 2 and 4, the limiting portion 1 of the present embodiment includes a sleeve, the limiting cavity 101 is located in the sleeve, and at least a part of the outer contour of the limiting cavity 101 matches with at least a part of the outer contour of the to-be-dismounted member, so that the two can rotate synchronously.

Preferably, the radial section of the part of the limiting cavity 101 for limiting the rotation of the part to be disassembled is polygonal. For example, when the nut portion 201 of the to-be-removed member such as the straight valve 200 is a hexagonal nut, the radial cross section of the limiting cavity 101 may be a regular hexagon, so that when the straight valve 200 as the to-be-removed member is inserted into the limiting cavity 101, the sidewall of the limiting cavity 101 can limit the to-be-removed member from rotating in the circumferential direction with respect to the limiting portion 1. Along with the rotation of the limiting part 1, the straight valve 200 can be driven to screw down.

The diameter of the limiting cavity 101 is larger than the outer diameter of the nut part 201 on the part to be disassembled, so that the part to be disassembled can smoothly extend into the limiting cavity 101.

In order to enable the limiting part 1 to rotate, as an optional embodiment, referring to fig. 1 and fig. 2, the disassembling tool further includes a first driving device 2, and the first driving device 2 is fixed on the tool body 100 and is in transmission connection with the limiting part 1 to drive the limiting part 1 to rotate.

Above-mentioned first drive arrangement 2 can be the motor, and the output shaft of motor passes through the shaft coupling to be connected with the one end that deviates from spacing cavity 101 of spacing portion 1, can drive spacing portion 1 when the motor rotates and rotate, and then is convenient for spin down straight valve 200 from equipment or install straight valve 200 to equipment on.

Example two

The embodiment is an improvement on the above embodiment, and when the straight valve 200 is detached from the device, the straight valve 200 easily drops from the limiting cavity 101, and directly drops to the ground, thereby causing potential safety hazards in the field.

In order to prevent the straight valve 200 from directly falling, as an alternative embodiment, referring to fig. 1 and 2, the disassembling tool of the present embodiment further includes a clamping assembly 3, and the clamping assembly 3 is fixed on the tool body 100 and used for clamping and fixing the member to be disassembled when the member to be disassembled is separated from the equipment.

When the limiting part 1 drives the straight valve 200 to rotate, and the straight valve 200 is screwed down from the equipment, the clamping assembly 3 clamps and fixes the to-be-disassembled parts of the straight valve 200 and the like on the tool body 100, so that an operator or a manipulator can wait for taking down the straight valve, the to-be-disassembled parts of the straight valve 200 and the like can be prevented from directly falling to the ground from the equipment, and the field safety is protected.

In the present embodiment, a specific implementation of the clamping assembly 3 is provided, and referring to fig. 2, the clamping assembly 3 includes a second driving device 31 and one or more pairs of clamping jaws 32, wherein: at least one of the two oppositely arranged clamping jaws 32 is connected with the telescopic end of the second driving device 31, the second driving device 31 can drive the clamping jaw 32 connected with the second driving device to move, so that the two oppositely arranged clamping jaws 32 move towards and away from each other, and a clamping space 300 for clamping a member to be disassembled can be formed when the two clamping jaws 32 move towards each other.

The second driving device 31 may be a telescopic cylinder, and the two opposite clamping jaws 32 are distributed on two sides of the axis of the limiting portion 1.

In the above-mentioned two clamping jaws 32 that set up relatively, every clamping jaw 32 all is connected with a second drive arrangement 31 (telescopic cylinder), and two second drive arrangement 31 are synchronous flexible, make two clamping jaws 32 synchronous in opposite directions or motion dorsad to guarantee that two clamping jaws 32 that set up relatively are synchronous with the fixed or release straight valve 200 of straight valve 200 centre gripping, guarantee to dismantle the stability of frock.

EXAMPLE III

When the tool body 100 is driven by the robot assembly to move until the straight valve 200 extends into the limiting cavity 101, a certain collision is generated between the straight valve 200 and the limiting part 1, and the robot assembly and the tool body 100 may be damaged by an impact force generated when the collision occurs.

In view of the above problems, the present embodiment is improved on the basis of the above embodiments, and as shown in fig. 1 and fig. 2, the disassembling tool further includes a buffer component 5 and a fixing component 4 supporting the limiting portion 1, wherein: fixed subassembly 4 rotates with spacing portion 1 to be connected, is provided with the installed part 6 that is used for being connected with the manipulator subassembly on the frock body 100, and the both ends of buffering subassembly 5 respectively with fixed subassembly 4 and installed part 6 support lean on for the impact force when the buffering is waited to dismantle the piece and is inserted in spacing cavity 101.

Referring to fig. 1 and 2, the fixing assembly 4 includes a first fixing plate 41 for supporting the limiting portion 1, and a second fixing plate 42 for supporting the first driving device 2, wherein the first fixing plate 41 is connected to the second fixing plate 42, and the second fixing plate 42 is connected to the base plate. When the straight valve 200 extends into the limiting cavity 101 to generate a certain impact force on the limiting portion 1, the impact force is transmitted to the buffering assembly 5 through the first fixing plate 41 and the second fixing plate 42, and the buffering assembly 5 can buffer at least part of the impact force to prevent the impact force from being directly transmitted to the mounting member 6 and the manipulator assembly.

Referring to fig. 1 and 2, the cushion assembly 5 of the present embodiment includes a first elastic member 51 and a guide rail 52, the guide rail 52 is located between the fixing assembly 4 and the mounting member 6, and the first elastic member 51 is sleeved on the guide rail 52 and can be compressed when the fixing assembly 4 and the mounting member 6 approach each other.

The first elastic member 51 may be a compression spring, and the guide rail 52 is located in the first elastic member 51 to limit a moving track of the first elastic member 51. When the first elastic component 51 is compressed by the fixing component 4, a part of impact force formed by collision between the straight valve 200 and the limiting part 1 can be buffered, the impact force is prevented from being directly transmitted to the manipulator component to cause damage to the manipulator component, and a part of the impact force can be blocked from being continuously transmitted on the tool body 100, so that the tool body 100 is damaged.

Example four

An output shaft of the motor as the first driving device 2 is connected to an end of the stopper portion 1 through a coupling. In order to facilitate the assembly and disassembly of the two components, the present embodiment is modified from the above embodiments.

The disassembly tool of the embodiment further comprises a clamping mechanism 7, the clamping mechanism 7 is connected with the output end of the first driving device 2, a locking state of mutual connection exists between the clamping mechanism 7 and the limiting portion 1, and the clamping mechanism 7 can be separated from the limiting portion 1.

The output end of the first driving device 2 can be conveniently locked and separated from the limiting part 1 by arranging the clamping mechanism 7, and when the output end of the first driving device 2 is locked with the limiting part 1, the first driving device 2 can transmit torque to the limiting part 1 to drive the limiting part 1 to rotate; when the two parts are separated, the limiting part 1 can be conveniently replaced.

As an optional implementation manner, referring to fig. 7, a clamping groove 102 is disposed at an end portion of the limiting portion 1, specifically, the limiting portion 1 of the present embodiment further includes a shaft body connected with the sleeve, and the clamping groove 102 is disposed at an end portion of the shaft body.

Referring to fig. 6, 8 and 9, the clamping mechanism 7 includes an inner housing 73, a moving member 74 and a housing assembly, wherein: the outer casing assembly is sleeved on the inner casing body 73, the inner casing body 73 is fixedly connected with the output end of the first driving device 2, and specifically, the inner casing body 73 is fixedly connected with the coupler; the inner sleeve 73 is provided with a through hole 731, and the moving part 74 is positioned in the through hole 731; when the locking state is achieved, the end part of the limiting part 1 is located in the inner sleeve body 73, the shell assembly abuts against the moving component 74, and the moving component 74 is pressed into the clamping groove 102; when the housing assembly is separated from the moving member 74 by being pushed by an external force, the moving member 74 can move toward the outer circumference of the stopper 1 and be separated from the card slot 102.

When the housing assembly abuts against the moving member 74, the moving member 74 can be pressed into the slot 102, so as to lock the limiting part 1 and the first driving device 2, as shown in fig. 6, 7 and 9. When the shell assembly is pushed to move, when the shell assembly moves to a position where the moving part cannot be pressed, the moving part 74 is separated from the clamping groove 102 because the moving part 74 is not stressed any more, and at the moment, the limiting part 1 can be detached from the first driving device 2 by separating the limiting part 1 from the first driving device 2.

Specifically, referring to fig. 8 and 9, the housing assembly includes an outer casing 71 and a second elastic member 72, wherein: the second elastic member 72 is sleeved on the inner sleeve 73, the second elastic member 72 may be a compression spring, the outer sleeve 71 is sleeved outside the second elastic member 72 and connected with the second elastic member 72, a protrusion structure 711 is disposed on an inner wall of the outer sleeve 71, and as shown in fig. 9, the protrusion structure 711 protrudes out of other positions of the inner wall of the outer sleeve 71.

When in the locked state, the protruding structure 711 abuts against the moving member 74; the outer casing 71 is capable of compressing the second elastic member 72 when moved by an external force, and disengaging the protruding structure from the moving member 74, and the second elastic member 72 is used to push the outer casing 71 to return to its original position.

The housing assembly utilizes the protrusion structure 711 in the outer casing 71 to press the moving member 74, when the user pushes the outer casing 71, the outer casing 71 moves on the inner casing 73 and compresses the second elastic member 72, when the protrusion structure 711 is separated from the moving member 74, the protrusion structure 711 no longer presses the moving member 74, the moving member 74 loses the pressing external force and moves in the direction away from the slot 102, the clamping mechanism 7 is separated from the slot 102 on the position limiting portion 1, and at this time, the position limiting portion 1 can be detached. When the position-limiting portion 1 is replaced with a new one, the second elastic member 72 pushes the outer casing 71 to return to its original position, and the protrusion 711 presses the moving member 74 into the slot 102 again. In the above process, the moving member 74 is always located in the jacket and does not fall off.

As an alternative embodiment, referring to fig. 6 and 9, two or more through holes 731 are arranged at intervals in the circumferential direction of the inner sleeve 73, and a moving member 74 is disposed in each through hole 731.

The plurality of moving components 74 are in contact with and locked with the limiting part 1, and all the moving components 74 clamp and fix the end part of the limiting part 1 together, so that the stability of the connecting structure between the clamping mechanism 7 and the limiting part 1 can be ensured.

As an alternative embodiment, referring to fig. 6 and 9, the moving member 74 is a ball, and the ball can roll in the through hole 731 under the action of an external force. The moving member 74 has a ball structure, which facilitates smooth movement thereof in the through hole 731.

And the cambered surface of the sphere is in contact with the inner wall of the clamping groove 102, the sphere can roll, and the limiting part 1 can be allowed to swing within a small range in the clamping mechanism 7, so that the straight valve 200 can be conveniently and smoothly sleeved in the limiting cavity 101, and the straight valve 200 is prevented from being damaged due to rigid collision between the straight valve 200 and the limiting part 1 when waiting for dismounting.

Referring to fig. 1 and 2, the fixture body 100 of the present embodiment includes a set of a clamping assembly, a limiting portion, a clamping mechanism, a first driving device, and a buffer assembly, and the fixture body is provided with one or more sets of the above structures.

EXAMPLE five

The embodiment provides a robot, including manipulator subassembly and the aforesaid dismantlement frock, the manipulator subassembly is connected with the dismantlement frock for drive frock body 100 removes.

Wherein, above-mentioned manipulator subassembly is the arm that includes a plurality of kinematic joints among the prior art. The structure of which is not described in detail herein.

As an optional implementation, the robot further comprises:

the image acquisition unit is used for acquiring image information of an area where the piece to be disassembled is located;

Wherein, the camera can be adopted to collect the image information of the area where the piece to be disassembled is located. And the air conditioner external unit reaches the position of the robot stopper through the roller line in a preset direction, and is clamped and fixed at the same time. After the camera shoots the position of the straight valve 200 to determine a specific position, image information is converted into a coordinate instruction of movement of the manipulator through a prestored program in the control unit, so that the manipulator moves to execute a related position instruction to reach the disassembling position of the straight valve 200. The control unit is also pre-stored with a reverse rotation program, when the nut part 201 on the straight valve 200 can not smoothly enter the limit cavity 101, the situation that the manipulator assembly can not recognize whether the nut part 201 of the straight valve 200 enters the corresponding position of the limit cavity 101 to idle and damage the straight valve 200 is avoided.

The particular features, structures, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims

1. The utility model provides a dismantle frock, its characterized in that includes the frock body and the spacing portion that is located it, wherein:

2. The disassembly tool of claim 1, wherein the limiting part comprises a sleeve, the limiting cavity is located in the sleeve, and at least part of the outer contour of the limiting cavity is matched with at least part of the outer contour of the member to be disassembled, so that the limiting cavity and the member to be disassembled can rotate synchronously.

3. The disassembly tool of claim 1, further comprising a first driving device, wherein the first driving device is fixed on the tool body and is in transmission connection with the limiting portion to drive the limiting portion to rotate.

4. The disassembly tool of claim 1, further comprising a clamping assembly, wherein the clamping assembly is fixed on the tool body and used for clamping and fixing the member to be disassembled when the member to be disassembled is separated from the equipment.

5. The disassembly tool of claim 4, wherein the clamping assembly comprises a second driving device and one or more than two pairs of clamping jaws, wherein:

6. The disassembly tool of claim 1, further comprising a buffer component and a fixing component supporting the limiting portion, wherein:

7. The disassembly tool of claim 6, wherein the buffer assembly comprises a first elastic component and a guide rail part, the guide rail part is located between the fixing assembly and the installation part, and the first elastic component is sleeved on the guide rail part and can be compressed when the fixing assembly and the installation part are close to each other.

8. The disassembly tool of claim 3, further comprising a clamping mechanism, wherein the clamping mechanism is connected with an output end of the first driving device, a locking state of mutual connection exists between the clamping mechanism and the limiting portion, and the clamping mechanism can be separated from the limiting portion.

9. The disassembly tool of claim 8, wherein a clamping groove is formed in an end portion of the limiting portion, the clamping mechanism comprises an inner sleeve body, a moving component and an outer shell component, and the disassembly tool comprises:

10. The disassembly tool of claim 9, wherein the housing assembly comprises an outer housing and a second resilient member, wherein:

11. The disassembly tool of claim 9, wherein the inner sleeve body is provided with two or more through holes at intervals in the circumferential direction, and each through hole is internally provided with the moving component.

12. The disassembly tool of claim 9, wherein the moving member is a sphere, and the sphere can roll in the through hole under the action of an external force.

13. A robot, comprising a manipulator assembly and the disassembling tool according to any one of claims 1 to 12, wherein the manipulator assembly is connected with the disassembling tool and is used for driving the tool body to move.

14. A robot as claimed in claim 13, further comprising: