CN113858228B

CN113858228B - Lock disassembling clamp, robot and lock disassembling system

Info

Publication number: CN113858228B
Application number: CN202111160949.4A
Authority: CN
Inventors: 李威; 刘木南; 秦维高
Original assignee: Sany Marine Heavy Industry Co Ltd
Current assignee: Sany Marine Heavy Industry Co Ltd
Priority date: 2021-09-30
Filing date: 2021-09-30
Publication date: 2023-04-18
Anticipated expiration: 2041-09-30
Also published as: CN113858228A

Abstract

The application relates to the technical field of container tool to lock dismouting, concretely relates to tear lock anchor clamps, robot and tear lock system open. The unlocking jig includes: the clamp comprises a clamp body, a clamping head and a clamping head, wherein a locking cavity is formed in the clamp body, and an opening communicated with the locking cavity is formed in the top of the clamp body; the locking piece is movably connected in the locking cavity; the transmission assembly is arranged in the locking cavity and is connected with the locking piece; and the driving mechanism is connected with the transmission assembly. When the lockset is fixed, the driving mechanism is utilized to drive the transmission component to act, the transmission component drives the locking piece to press downwards, and the lockset can be fixed in the locking cavity after the locking piece is pressed downwards. When the lockset and the fixture body need to be separated, the transmission assembly is driven to move only by the driving mechanism, and the transmission assembly drives the locking piece to be lifted upwards, so that the lockset can be released from being fixed. Therefore, the degree of participation of workers in the unlocking process is reduced, the automation degree of the container in the disassembling process is improved, and unmanned management construction of ports or docks is promoted.

Description

Lock disassembling clamp, robot and lock disassembling system

Technical Field

The application relates to the technical field of container tool to lock dismouting, concretely relates to tear lock anchor clamps, robot and tear lock system open.

Background

The transfer work of the container is an important process in places such as ports and docks, and before the transfer of the container, no matter the container is transferred by ships or heavy trucks, the container needs to be fixed, the container is fixed by locks, and when the container needs to be unloaded or unloaded, the locks need to be unlocked.

In prior art, the dismantlement of tool to lock mainly relies on the operation personnel manual to accomplish, and the size of container is great, and in order to ensure that the container can be stably fixed, the tool to lock size on general container is also great, consequently accomplishes through the manual work and tears the lock open, too much manual work participates in, can lead to the dismantlement process automation degree of whole container, is unfavorable for the construction of the unmanned management of harbour or pier.

Content of application

In view of this, the embodiment of the application provides an unlocking fixture, a robot and an unlocking system, which solve or improve the problem that the unlocking process of a container is mainly completed manually, resulting in low overall automation degree.

In a first aspect, the present application provides an unlocking jig, comprising: the clamp comprises a clamp body, a clamping head and a clamping head, wherein a locking cavity is formed in the clamp body, and an opening communicated with the locking cavity is formed in the top of the clamp body; the locking piece is movably connected in the locking cavity; the transmission assembly is arranged in the locking cavity and is connected with the locking piece; and the driving mechanism is connected with the transmission assembly, so that the transmission assembly drives the locking piece to be selectively pressed downwards or lifted upwards.

The clamp of taking out lock that this application first aspect provided, when fixed to the locking utensil, with the tool to lock through the opening insert the locking cavity in, utilize actuating mechanism to drive the action of drive assembly, thereby drive assembly drive locking piece pushes down, can fix the tool to lock in the locking cavity after the locking piece pushes down. When the lockset and the fixture body need to be separated, the transmission assembly is driven to move only by the driving mechanism, and the transmission assembly drives the locking piece to be lifted upwards, so that the lockset can be released from being fixed. Therefore, the degree of participation of workers in the unlocking process is reduced, the automation degree of the container in the disassembling process is improved, and unmanned management construction of ports or docks is promoted.

With reference to the first aspect, in one possible implementation manner, the locking member includes: the driving part is connected with the driving assembly, the locking part can be selectively pressed downwards or lifted upwards, and the locking part is opposite to the opening when pressed downwards.

With reference to the first aspect, in one possible implementation manner, the unlocking jig includes: the connecting rod is fixed in the locking cavity, the transmission part is sleeved on the connecting rod, and the transmission part is rotatably connected with the connecting rod.

With reference to the first aspect, in one possible implementation manner, the transmission assembly includes: a sliding groove provided on the transmission part; the rotating shaft is rotatably connected in the locking cavity, is in threaded connection with the sliding part and is connected with the driving mechanism; the sliding nut is in threaded connection with the rotating shaft; and one end of the sliding pin is connected with the sliding nut, and the other end of the sliding pin extends into the sliding groove.

With reference to the first aspect, in one possible implementation manner, the driving mechanism includes: the power piece is arranged on the clamp body; the transmission part is rotationally connected to the transmission shaft and is connected with the power part; the first gear is arranged on the transmission piece; and the second gear is fixed on the rotating shaft and is meshed with the first gear.

With reference to the first aspect, in one possible implementation manner, the transmission member includes: the transmission disc is rotatably connected in the locking cavity and is connected with the power piece; the transmission ring plate is fixed on the transmission disc; the first gear is an internal gear, and the internal gear is fixed on the transmission ring plate.

With reference to the first aspect, in one possible implementation manner, the transmission member further includes: the connecting column is arranged in the locking cavity, and the transmission disc is rotatably connected to the connecting column; and/or the connecting bearing is arranged on the connecting column, and the connecting bearing is connected with the transmission disc.

With reference to the first aspect, in one possible implementation manner, the unlocking jig further includes: the guide piece is arranged in the unlocking cavity, and a guide inclined plane is arranged on one side, close to the opening, of the guide piece.

In a second aspect, the present application also provides a robot comprising: the robot includes: a universal fixture; and a release clip as described in the first aspect of the present application; is connected with the universal fixture.

The robot that this application second aspect provided, when the clamp uses is being torn open to lock, utilize the robot to fix universal fixity with corresponding anchor clamps of tearing open to realize the automatic change of tearing open the lock anchor clamps, further tear the degree of automation of locking open, be favorable to promoting the construction of unmanned harbour or pier.

In a third aspect, the present application further provides a system for unlocking, the system comprising: a robot as described in the second aspect of the present application; and a conveying device arranged outside the robot.

The utility model provides a third aspect the system of tearing open lock, when tearing open the lock through the robot, can utilize conveyor to carry the corresponding anchor clamps of tearing open the lock to the robot annex, also can pass through conveyor with the tool to lock that accomplishes the lock of tearing open and carry to the assigned position to this improves the degree of automation of whole process of tearing open the lock.

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 cross-sectional view of a release clip according to some embodiments of the present application.

FIG. 2 is a cross-sectional view of a lock inserted into a locking cavity according to some embodiments of the present disclosure.

FIG. 3 is a schematic cross-sectional view of a drive assembly according to some embodiments of the present disclosure.

Fig. 4 shows an enlarged view of the portion a in the implementation shown in fig. 3.

FIG. 5 is a schematic top cross-sectional view of an unlocking jig 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

In ports or docks, the handling of containers involves the fixing and separation of the containers. The container is fixed and separated mainly by locking and unlocking the lock. When the lock is unlocked, the lock is unlocked mainly manually by workers, so that the separation of the containers is completed, the containers are large in size, the locks are usually arranged in a plurality of sizes, and when the locks are unlocked manually by the workers, the automation degree of the whole unlocking process is changed. In prior art, in order to improve the automation of removing the lock, the lock is removed through setting up special lock removal anchor clamps, but the kind of tool to lock is more, and each kind of tool to lock all can correspond a lock removal anchor clamps, consequently when removing the lock, still need rely on the manual work to come according to the kind of tool to lock, selects the corresponding lock removal anchor clamps, recycles the corresponding lock removal anchor clamps and removes the lock to the tool to lock, leads to whole lock removal process automation degree still lower. The utility model provides a tear open and lock anchor clamps, robot and tear open lock system, through setting up a swing joint at the moving part of cavity and the actuating mechanism who is used for driving the moving part and removes, the cooperation of reunion moving part and cavity inner wall, both can tear open the lock automatically and fix the locking utensil, recycle the automatic change and the installation that realize tearing open and lock anchor clamps of robot, utilize and tear open the lock system and carry the anchor clamps of tearing open, just can wholly improve the degree of automation of whole tear open and lock process, promote the unmanned construction of harbour and pier.

Exemplary unlocking jig

FIG. 1 is a cross-sectional view of a release clip according to some embodiments of the present application. FIG. 2 is a cross-sectional view of a lock inserted into a locking cavity according to some embodiments of the present disclosure. Referring to fig. 1 and 2, the unlocking jig includes a jig body 100, a locking member 200, a transmission assembly 300, and a driving mechanism 400. The clamp body 100 has a locking cavity 110 therein, and the top of the clamp body 100 has an opening 120 communicating with the locking cavity 110; the locking element 200 is movably coupled within the locking cavity 110. The transmission assembly 300 is disposed in the locking cavity 110, and the transmission assembly 300 is coupled to the locking member 200. The driving mechanism 400 is coupled to the transmission assembly 300 such that the transmission assembly 300 drives the locking member 200 to selectively press down or lift up.

When the unlocking clamp is used for fixing the lock, when the lock is inserted into the clamp body 100 through the opening 120, the locking piece 200 is in an upward lifting state, so that the lock is prevented from interfering with the locking piece 200. When the lock is inserted into the locking cavity 110, the driving assembly drives the transmission assembly 300 to move, the transmission assembly 300 drives the locking member 200 to press down, and the lock can be fixed in the locking cavity 110 after the locking member 200 is pressed down. When the lock needs to be unlocked, the driving assembly is used for driving the locking piece 200 to lift up through the transmission assembly 300, and the lock can be released after the locking piece 200 is lifted up. The lock is automatically disassembled and fixed, the automation degree of the whole lock disassembling process is improved, the possibility of manual participation of workers is effectively reduced, the lock disassembling efficiency can be improved, and the safety of operators can be ensured.

In some embodiments of the present application, the locking element 200 comprises a toggle lever. The shift lever includes a transmission part 210 and a locking part 220, and the transmission part 210 and the locking part 220 may be integrally manufactured or may be fixed together by welding. The transmission part 210 is connected with the transmission assembly 300, the locking part 220 can be selectively pressed down or lifted up, and the locking part 220 is opposite to the opening 120 when pressed down.

Referring to fig. 2, the unlocking jig includes a connecting rod. The connecting rod is fixed in the locking cavity 110, the transmission part 210 is sleeved on the connecting rod, and the transmission part 210 is rotatably connected with the connecting rod. The transmission part 210 can be driven by the transmission assembly 300 to rotate, and the transmission part 210 drives the shift lever to press down or to put on the table when rotating.

When the lock is inserted into the locking cavity 110, the locking portion 220 is lifted up, at this time, the locking portion 220 is dislocated with the opening 120, the lock is smoothly inserted into the locking cavity 110, the transmission portion 210 is driven to be pressed downwards by the transmission assembly 300, the transmission portion 210 drives the locking portion 220 to be pressed downwards, the locking portion 220 is opposite to the opening 120, and the lock is smoothly fixed in the locking cavity 110.

FIG. 3 is a schematic cross-sectional view of a drive assembly according to some embodiments of the present disclosure. Referring to fig. 3, the unlocking jig may further include a fixing member 310. The fixing member 310 is fixed in the locking cavity 110, and the transmission part 210 is connected to the fixing member 310. The outer side surface of the fixing member 310 has a slope 311, and one end of the transmission member 210 away from the locking portion 220 is slidably connected to the slope 311.

When the driving part 210 is raised, the driving part 210 is gradually raised against the inclined surface 311, and the locking part 220 is thus misaligned with the opening 120, with the lever being located at the leftmost side. When the transmission part 210 is pressed down, the transmission part 210 is pressed down along the inclined surface 311, and the locking part 220 is thus opposite to the opening 120, with the lever positioned at the rightmost side.

Specifically, the fixing member 310 may be a fixing block, one side of which is welded to the wall of the locking cavity 110, and the inclined surface 311 is disposed at the other side of the fixing block. That is, the width of the fixing block is gradually increased vertically downward, so that the locking part 220 is smoothly driven to be pressed downward when the driving part 210 moves downward.

Referring to fig. 3, the fixing member 310 may be provided with a limiting groove 312, the limiting groove 312 extends along the inclined surface 311, and the transmission portion 210 has a limiting pin sliding in the limiting groove 312. Therefore, when the transmission part 210 slides, the limit pin is matched with the limit groove 312 to limit the moving range of the transmission part 210, so that the possibility that the transmission part 210 is separated from the inclined surface 311 can be reduced.

Referring to fig. 3, the driving assembly 300 includes a sliding groove 320, a rotating shaft 340, a sliding nut 331, and a sliding pin. The sliding groove 320 is provided on the transmission part 210; the rotating shaft 340 is rotatably connected in the locking cavity 110, the rotating shaft 340 is threadedly connected with the sliding member 330, and the rotating shaft 340 is connected with the driving mechanism 400. The slide nut 331 is screw-coupled with the rotation shaft 340. One end of the slide pin is connected to the slide nut 331, and the other end of the slide pin extends into the slide groove 320.

Specifically, the sliding groove 320 is disposed through the transmission part 210, and the sliding groove 320 extends in the axial direction of the transmission part 210. The slide pin is disposed through the slide groove 320.

When the driving transmission part 210 moves, the driving mechanism 400 drives the rotating shaft 340 to rotate, the rotating shaft 340 drives the sliding nut 331 to rotate, the sliding nut 331 cannot rotate because the sliding nut 331 is fixedly connected with the sliding pin, and the rotating shaft 340 is in threaded fit with the sliding nut 331, so that when the rotating shaft 340 rotates, the sliding nut 331 moves along the axial direction of the rotating shaft 340 and simultaneously drives the sliding pin to slide in the sliding groove 320, the sliding pin smoothly extrudes the sliding groove 320 to drive the transmission part 210 to move, and the transmission part 210 extrudes the fixing part 310 when moving, thereby realizing the pressing down or lifting up of the locking part 220.

In some embodiments of the present application, there are at least two sliding pins, and the sliding nut 331 is located between the two sliding pins, so that the rotation of the sliding nut 331 can be effectively limited by the two sliding pins. Similarly, the slide pin may be replaced with a square block, and the rotation of the slide nut 331 may be restricted by the contact between the side surface of the square block and the groove wall of the slide groove.

In some embodiments of the present application, in order to better limit the moving range of the shift lever and prevent the shift lever from rotating under the action of the inclined surface 311, an elastic member such as a spring may be added to the sliding nut 331, and the elastic member is connected to the shift lever, so as to connect the shift lever to the sliding nut 331, so as to limit the moving range of the shift lever and ensure that the transmission portion 210 is in contact with the inclined surface 311.

Referring to fig. 3, in some embodiments of the present application, a drive mechanism 400 includes a power member 410, a transmission member 420, a first gear 430, and a second gear 440. The power piece 410 is arranged on the clamp body 100; the transmission piece 420 is rotationally connected to the transmission shaft, and the transmission piece 420 is connected with the power piece 410; the first gear 430 is disposed on the transmission member 420. The second gear 440 is fixed on the rotating shaft 340, and the second gear 440 is engaged with the first gear 430.

When the rotating shaft 340 is driven to rotate, the power element 410 generates power to drive the transmission element 420 to rotate, the transmission element 420 drives the first gear 430 to rotate, the first gear 430 drives the second gear 440 to rotate, the second gear 440 is fixed on the rotating shaft 340, and the second gear 440 drives the rotating shaft 340 to rotate.

Fig. 4 shows an enlarged view of the portion a in the implementation shown in fig. 3. Referring to FIG. 4, in some embodiments of the present application, transmission member 420 includes a transmission disc 421 and a transmission ring plate 422. The driving plate 421 is rotatably coupled in the locking cavity 110, and the driving plate 421 is coupled with the power element 410. The drive ring plate 422 is fixed to the drive plate 421. The first gear 430 is an internal gear fixed to the ring gear plate 422.

Specifically, the driving plate 421 is circular, the driving ring plate 422 is disposed around the top wall of the driving plate 421, and the first gear 430 is disposed on the top wall of the driving ring plate 422. The driving plate 421, the driving ring plate 422 and the first gear 430 are fixed together by pins. The second gear 440 is located within the first gear 430.

When the power member 410 drives the transmission disc 421 to rotate, the transmission disc 421 will drive the transmission ring plate 422 and the first gear 430 to rotate at the same time, so as to drive the second gear 440 to rotate smoothly.

Referring to fig. 4, in some embodiments of the present application, the transmission member 420 further includes a connecting post 423. The connecting post 423 is disposed in the locking cavity 110, and the driving plate 421 is rotatably coupled to the connecting post 423.

Specifically, a connecting plate 140 is fixed in the locking cavity 110, a connecting column 423 is arranged on the connecting plate 140 in a penetrating way, the upper end of the connecting column 423 penetrates through the connecting plate 140 and is welded with a clamping plate 424, and the cross-sectional area of the clamping plate 424 is larger than that of the connecting column 423. The lower end of the connecting column 423 can penetrate through the transmission disc 421, and one end of the connecting column 423 penetrating through the transmission disc 421 is fixed on the cavity wall of the locking cavity 110. The connecting column 423 is rotatably connected with the transmission disc 421 through a bearing.

When the driving disc 421 needs to be driven to rotate, the driving disc 421 rotates around the connecting column 423 under the action of the bearing, and the clamping plate 424 limits the moving direction of the connecting column 423, so that the connecting column 423 is not driven to move by the rotation of the driving disc 421.

In order to further limit the position of the transmission disc 421, a limiting sleeve 425 can be sleeved on the connecting column 423, the top wall of the limiting sleeve 425 is attached to the bottom wall of the connecting plate 140, and the bottom wall of the limiting sleeve 425 is attached to the top wall of the transmission disc 421, so that the axial movement of the bearing along the connecting column 423 is limited. To reduce friction, the stop collar 425 may be made of copper. Also, the stop sleeve 425 may be replaced with a bearing, such as an angular contact ball bearing or a tapered roller bearing.

In some embodiments of the present application, the transmission member 420 may further include a connection bearing. The connecting bearing is disposed on the connecting post 423 and is connected to the driving plate 421.

Specifically, the transmission disc 421 is rotatably connected in the locking cavity 110 by the connecting bearing, so that the requirement of rotation of the transmission disc 421 can be met, and the vertical movement of the transmission disc 421 can be limited by the two bearings.

Referring to fig. 3 and 4, in some embodiments of the present application, power element 410 includes a drive disk 411 and a drive post 412. The driving disc 411 is rotationally connected to the clamp body 100; the driving column 412 is fixed on the driving disc 411, the clamp body 100 is provided with a connecting hole 150 for inserting the driving column 412, the connecting hole 150 is communicated with the unlocking cavity, and the transmission disc 421 is provided with a driving hole 4210 for inserting the driving column 412.

Specifically, drive column 412 is disposed along the thickness direction of drive disc 411, and may be welded directly to drive disc 411. Two driving columns 412 may be provided, and the two driving columns 412 are uniformly distributed along the circumferential direction of the driving disc 411. On the top wall of the transmission disc 421, a yielding gap is enclosed by the transmission ring plate 422, and when the driving column 412 passes through the driving hole 4210, the driving column 412 extends into the yielding gap to avoid the interference between the driving column 412 and the first gear 430 or the second gear 440.

When the driving disc 421 rotates, the driving column 412 is inserted into the unlocking cavity through the connecting hole 150 and then inserted into the driving hole 4210, the driving column 412 is driven to rotate by rotating the driving disc 411, the driving column 412 is thereby abutted against the hole wall of the driving hole 4210, and the driving disc 421 smoothly rotates along with the rotation of the driving column 412.

Referring to fig. 3, in some embodiments of the present application, the unlocking jig further comprises a guide 500. The guide 500 is disposed in the unlocking cavity, and the guide 500 has a guide slope 510 on a side thereof adjacent to the opening 120.

Referring to fig. 4, in particular, the guide 500 may include two parts, a guide rod 520 and a stopper rod 530. The stopper 530 is fixed in the locking cavity 110 in a vertical direction, one side of the stopper 530 is misaligned with the opening 120, and the other side of the stopper 530 is opposite to the opening 120. The guiding rod 520 is fixed at one end of the limiting rod 530 close to the opening 120, an included angle between an axis of the guiding rod 520 and an axis of the limiting rod 530 is an acute angle, the guiding rod 520 extends along one side far away from the opening 120, and a guiding inclined plane 510 is formed at one side of the guiding rod 520 close to the opening 120.

When the lock is inserted into the locking cavity 110 through the opening 120, the guide slope 510 guides the lock into the locking cavity 110, and the lock abuts against the side surface of the limiting rod 530, so as to limit the moving range of the lock in the locking cavity 110.

FIG. 5 is a schematic top cross-sectional view of an unlocking jig according to some embodiments of the present application. Referring to fig. 5, two guide members 500 may be provided, and the driving assembly 300 is located between the two guide members 500.

Exemplary robot

The robot includes a universal fixture; and a release clip as described in any of the embodiments above. The unlocking clamp is connected with the universal clamp. Specifically, the unlocking jig is detachably connected to the universal jig.

When the unlocking fixture is used, the universal fixture and the corresponding unlocking fixture are well fixed by the robot, so that the automatic replacement of the unlocking fixture is realized, the automation degree of unlocking is further improved, and the unmanned port or wharf construction is facilitated.

Since the robot is provided with the unlocking fixture, the robot has all the technical effects of the unlocking fixture, and the details are not described herein.

Exemplary unlocking System

The unlocking system comprises: a robot and a conveyor as described in the above embodiments. The conveying device is arranged outside the robot.

When the lock is unlocked and the lock is unlocked through the robot, the corresponding unlocking clamp can be conveyed to the robot accessory by using the conveying device, and the lock which is unlocked can also be conveyed to a specified position through the conveying device, so that the automation degree of the whole unlocking process is improved.

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

1. An unlocking jig, characterized in that it comprises:

a clamp body (100), wherein the clamp body (100) is provided with a locking cavity (110), and the top of the clamp body (100) is provided with an opening (120) communicated with the locking cavity (110);

a locking member (200) movably connected within the locking cavity (110);

a transmission assembly (300) disposed within the locking cavity (110), the transmission assembly (300) being connected to the locking member (200); and

a driving mechanism (400) connected with the transmission assembly (300) so that the transmission assembly (300) drives the locking piece (200) to selectively press down or lift up;

the fixing block is fixed on the wall of the cavity in the locking cavity (110), the width of the fixing block is gradually increased along the vertical direction, the outer side surface of the other side of the fixing block in the width direction is provided with an inclined surface (311), and the fixing block is provided with a limiting groove (312) extending along the inclined surface (311);

the lock (200) comprises:

the shifter comprises a transmission part (210) and a locking part (220), a limiting pin sliding in the limiting groove (312) is arranged on the transmission part (210), the locking part (220) can be selectively pressed downwards or lifted upwards, and the locking part (220) is opposite to the opening (120) when pressed downwards;

the transmission assembly (300) comprises:

a sliding groove (320) provided on the transmission part (210);

the rotating shaft (340) is rotatably connected in the locking cavity (110), and the rotating shaft (340) is connected with the driving mechanism (400);

the sliding nut (331) is in threaded connection with the rotating shaft (340); and

one end of the sliding pin is connected with the sliding nut (331), and the other end of the sliding pin extends into the sliding groove (320).

2. The unlocking jig of claim 1, wherein the drive mechanism (400) comprises:

a power member (410) provided on the clamp body (100);

a transmission member (420), the transmission member (420) being connected to the power member (410);

a first gear (430) disposed on the transmission member (420); and

and the second gear (440) is fixed on the rotating shaft (340), and the second gear (440) is meshed with the first gear (430).

3. The unlocking jig of claim 2, wherein the transmission member (420) comprises:

the transmission disc (421) is rotatably connected in the locking cavity (110), and the transmission disc (421) is connected with the power piece (410);

a drive ring plate (422) fixed to the drive plate (421);

the first gear (430) is an internal gear, and the internal gear is fixed on the transmission ring plate (422).

4. The unlocking jig of claim 3, wherein the transmission member (420) further comprises:

the connecting column (423) is arranged in the locking cavity (110), and the transmission disc (421) is rotationally connected to the connecting column (423); and/or

The connecting bearing is arranged on the connecting column (423) and is connected with the transmission disc (421).

5. The unlocking jig of claim 1, further comprising:

a guide (500) disposed within the unlocking cavity, the guide (500) having a guide ramp (510) on a side thereof adjacent to the opening (120).

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

a universal fixture; and

the release clip of any one of claims 1 to 5, connected with the universal clip.

7. An unlocking system, characterized in that it comprises:

the robot of claim 6; and

and the conveying device is arranged outside the robot.