An adaptive manipulator gripper structure

Abstract

The invention discloses an adaptive manipulator gripper structure, which relates to the field of robot engineering and solves the problems that the radius range of the target object that can be stably grasped by the common existing manipulator grippers is small, and there is a small force-bearing area of ​​the target object during clamping and unstable clamping. The key points of the technical solution are as follows: it comprises: a base body; a first main gripper assembly, which is rotatably arranged on the base body; a second main gripper assembly, which is rotatably arranged on the base body, and is opposite to the first main gripper assembly and arranged in a staggered manner; a first auxiliary gripper assembly, which is rotatably arranged on the side of the first main gripper assembly and can be driven to rotate by the second main gripper assembly; the first main gripper assembly, the second main gripper assembly, the first auxiliary gripper assembly and the second auxiliary gripper assembly of the invention form a quadrilateral stable force-bearing structure for the target object, thereby achieving clamping of the target object with a smaller radius.

Description

Technical Field

[0001] The invention relates to the field of robot engineering, and in particular to an adaptive manipulator gripper structure. Background Art

[0002] The pure mechanical linkage clamp is one of the clamps used with excavators. It uses the excavator bucket cylinder as the power source to push the clamp to perform mechanical linkage and perform clamping operations. The pure hydraulic control clamp requires the excavator to provide a separate oil circuit connection for the movement of each hydraulic component to complete the movement of the specified hydraulic component and perform construction operations. The electro-hydraulic composite control clamp uses an electrically controlled solenoid valve group to distribute hydraulic oil to each actuator to perform construction operations.

[0003] In the process of robot target grasping, it is often required that the gripper of the same robot can stably grasp the target with a large radius span.

[0004] The existing robot grippers can only clamp target objects that are close to the shape and radius of their own grippers. Therefore, the robot grippers are prone to slipping and difficulty in alignment when grasping target objects with a smaller radius. It can be seen that the radius range of target objects that the existing robot grippers can stably grasp is small, and there are problems such as small force area of ​​the target object during clamping and unstable clamping, which in turn fails to meet the use requirements. Summary of the invention

[0005] The purpose of the present invention is to provide an adaptive manipulator gripper structure. The second main gripper assembly of the present invention can drive one end of the first auxiliary gripper assembly to swing while rotating, until the other end of the first auxiliary gripper assembly swings to abut against the target object. At this time, the first main gripper assembly, the second main gripper assembly and the first auxiliary gripper assembly form a triangular stable force-bearing structure for the target object, thereby achieving clamping of a target object with a smaller radius.

[0006] The above technical objectives of the present invention are achieved through the following technical solutions: an adaptive manipulator gripper structure, comprising:

[0007] seat body;

[0008] A first main clamping jaw assembly is rotatably disposed on the base body;

[0009] A second main clamping jaw assembly is rotatably disposed on the base body and is opposite to the first main clamping jaw assembly and arranged in a staggered manner;

[0010] A first auxiliary jaw assembly is rotatably disposed beside the first main jaw assembly and can be driven to rotate by the second main jaw assembly;

[0011] The first main clamping jaw assembly and the second main clamping jaw assembly are close to each other to preliminarily clamp the target object; the first auxiliary clamping jaw assembly is abutted against one side of the target object under the drive of the second main clamping jaw assembly.

[0012] Therefore, when the first main jaw assembly and the second main jaw assembly need to grasp a target object with a smaller radius, as the first main jaw assembly and the second main jaw assembly approach each other, the second main jaw assembly is driven to rotate, and the second main jaw assembly in the present scheme can also drive one end of the first auxiliary jaw assembly to swing while rotating, until the other end of the first auxiliary jaw assembly swings to abut against the target object. At this time, the first main jaw assembly, the second main jaw assembly, and the first auxiliary jaw assembly form a triangular stable force-bearing structure for the target object, thereby achieving clamping of the target object with a smaller radius, so as to solve the problems of small force-bearing area and unstable clamping of the existing robot grippers for clamping the target object.

[0013] Moreover, when grasping a target object with a smaller radius, due to the action of the first auxiliary jaw assembly, the target object can be further away from the base body, reducing the possibility of interference between the ends of the second main jaw assembly and the first auxiliary jaw assembly and the environment where the target object is located, thereby facilitating the grasping and placement of targets with a smaller radius.

[0014] Furthermore, when clamping a target object with a larger radius, the first auxiliary jaw assembly is not driven by the second main jaw assembly, so the first auxiliary jaw assembly can increase the contact area of ​​the first main jaw assembly to facilitate clamping of the target object.

[0015] In some specific embodiments, it also includes:

[0016] A second auxiliary jaw assembly is rotatably arranged beside the second main jaw assembly, and is arranged opposite to the first auxiliary jaw assembly, and can be driven to rotate by the first main jaw assembly;

[0017] The second auxiliary clamping jaw assembly is driven by the first main clamping jaw assembly to abut against the other side of the target body.

[0018] Since the second auxiliary clamping jaw assembly is located on the side of the target object away from the first auxiliary clamping jaw assembly, the second auxiliary clamping jaw assembly can supplement the clamping force of the first auxiliary clamping jaw assembly, so that both sides of the target object can be effectively clamped.

[0019] In some specific embodiments, the first auxiliary jaw assembly rotation path is located on the rotation path of the second main jaw assembly, and the second auxiliary jaw assembly rotation path is located on the rotation path of the first main jaw assembly.

[0020] In some specific embodiments, the first main jaw assembly, the second main jaw assembly, the first auxiliary jaw assembly, and the second auxiliary jaw assembly are arc-shaped.

[0021] In some specific embodiments, the first auxiliary jaw assembly rotates eccentrically on the first main jaw assembly, and the second auxiliary jaw assembly rotates eccentrically on the first main jaw assembly.

[0022] Therefore, this solution can achieve adaptive grasping, that is, due to the eccentric rotation setting, this solution can grasp targets with a larger radius span, and secondly, the maximum graspable radius of the target object is 16 times the minimum graspable radius.

[0023] In some specific embodiments, comprising:

[0024] A first auxiliary rotating shaft, which is disposed on the first main clamping jaw assembly, and the first auxiliary clamping jaw assembly is detachably rotatably connected to the first auxiliary rotating shaft;

[0025] The second auxiliary rotating shaft is arranged on the second main clamping jaw assembly. The second auxiliary clamping jaw assembly is detachably rotatably connected to the second auxiliary rotating shaft.

[0026] Therefore, with the center point of the first auxiliary clamping jaw assembly as a reference, the first auxiliary rotating shaft is located at one end of the first auxiliary clamping jaw assembly close to the seat body, that is, according to the lever theorem, the first auxiliary rotating shaft is located at the end with a shorter force arm. At this time, when the second main clamping jaw assembly applies a driving force to one end of the first auxiliary clamping jaw assembly, the other end of the first auxiliary clamping jaw assembly can abut against the target object more forcefully.

[0027] Similarly, with the center point of the second auxiliary clamping jaw assembly as a reference, the second auxiliary rotating shaft is located at one end of the second auxiliary clamping jaw assembly close to the seat body, that is, according to the lever theorem, the second auxiliary rotating shaft is located at the end with a shorter force arm. At this time, when the first main clamping jaw assembly applies a driving force to one end of the second auxiliary clamping jaw assembly, the other end of the second auxiliary clamping jaw assembly can abut against the target object more forcefully.

[0028] In some specific embodiments, the first main jaw assembly includes:

[0029] A first main clamping portion, which is rotatably disposed on the seat body;

[0030] A second main clamping portion is rotatably disposed on the base body and is integrally connected with the first main clamping portion;

[0031] A driving force receiving connecting rod, which can be connected to the linear driving mechanism and obtain driving force;

[0032] A connecting short rod has one end rotatably connected to the driving force receiving connecting rod and the other end rotatably connected to the second main clamping portion.

[0033] Therefore, this scheme provides a specific structural structure of a first main clamping jaw assembly, in which the first main clamping part and the second main clamping part are integrally formed; when the driving force receiving connecting rod is driven by the linear driving mechanism, the driving force receiving connecting rod drives the connecting short rod to swing upward, thereby driving the first main clamping part and the second main clamping part to swing, so as to realize the swinging action of the first main clamping jaw assembly.

[0034] In some specific embodiments, it also includes:

[0035] A first rotating shaft, which is disposed on the seat body;

[0036] A second rotating shaft is disposed on the seat body;

[0037] A retaining gasket is detachably disposed on the first rotating shaft and the second rotating shaft;

[0038] The first main clamping jaw assembly is rotatably connected to the first rotating shaft;

[0039] The second main clamping jaw assembly is rotatably connected to the second rotating shaft.

[0040] Therefore, this scheme provides a specific implementation method of the rotatable arrangement of the first main jaw assembly and the second main jaw assembly on the base body, and the retaining gasket can achieve the locking of the first rotating shaft and the second rotating shaft on the base body to prevent the first rotating shaft and the second rotating shaft from detaching from the base body, and facilitate the installation and disassembly of the first rotating shaft and the second rotating shaft on the base body.

[0041] In some specific embodiments, a first plugging slot is defined at the end of the first rotating shaft protruding from the seat body, and a second plugging slot is defined at the end of the second rotating shaft protruding from the seat body, and both ends of the retaining gasket are respectively plugged into the first plugging slot and the second plugging slot.

[0042] In some specific embodiments, it also includes:

[0043] A locking member, which passes through the retaining gasket and is threadedly connected to the seat body;

[0044] The sacrificial anode part is detachably arranged at the end of the locking member.

[0045] Thus, the locking member is a fastener, which can enable the retaining gasket to achieve a detachable connection on the seat body, and the sacrificial anode is made of active metal, which can be used to reduce water corrosion of the present solution in an underwater environment.

[0046] In summary, the second main jaw assembly of the present invention can drive one end of the first auxiliary jaw assembly to swing while rotating, until the other end of the first auxiliary jaw assembly swings to abut against the target object. At this time, the first main jaw assembly, the second main jaw assembly, the first auxiliary jaw assembly, and the second auxiliary jaw assembly form a quadrilateral stable force-bearing structure for the target object, thereby clamping the target object with a smaller radius, so as to solve the problems of small force area and unstable clamping of the existing robot gripper. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a structural schematic diagram of this embodiment;

[0048] Figure 2 yes Figure 1 The enlarged view of point A in the middle;

[0049] Figure 3 It is a right side view of the present embodiment;

[0050] Figure 4 is a schematic diagram of the working state of the present embodiment when grasping a target object with a small radius;

[0051] Figure 5 is a schematic diagram of the working state of this embodiment when grasping a target object with a larger radius;

[0052] Figure 6 It is a schematic diagram of the explosion structure of the protective gasket, the locking piece and the sacrificial anode;

[0053] Figure 7 yes Figure 6 Enlarged view of point B in the middle.

[0054] Figure markings: 1. first main clamping jaw assembly; 11. first main clamping part; 11a. first rotating shaft; 11a1. first plug-in slot; 12. second main clamping part; 13. driving force receiving connecting rod; 14. connecting short rod; 10. first auxiliary clamping jaw assembly; 10a. first auxiliary rotating shaft; 2. second main clamping jaw assembly; 20. second auxiliary clamping jaw assembly; 20a. second auxiliary rotating shaft; 21a. second rotating shaft; 21a1. second plug-in slot; 21b. retaining gasket; 3. seat body; 4. locking member; 5. sacrificial anode part; 6. target object. DETAILED DESCRIPTION

[0055] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0056] Example:

[0057] An adaptive manipulator gripper structure, such as Figures 1 to 6As shown, it includes: a seat body 3, a first main clamping jaw assembly 1, a second main clamping jaw assembly 2, a first auxiliary clamping jaw assembly 10, and a second auxiliary clamping jaw assembly 20, which are specifically as follows:

[0058] The seat body 3 can be connected to other external mechanical devices;

[0059] like Figure 3 As shown, the first main clamping jaw assembly 1 is rotatably arranged on the seat body 3; specifically, the first main clamping jaw assembly 1 includes: a first main clamping portion 11, a second main clamping portion 12, a driving force receiving connecting rod 13, and a connecting short rod 14;

[0060] The first main clamping portion 11 is rotatably disposed on the base body 3;

[0061] The second main clamping portion 12 is rotatably disposed on the seat body 3 and is connected to the first main clamping portion 11 as a whole; specifically, there are two first auxiliary clamping jaw assemblies 10 which are rotatably disposed on the first main clamping portion 11 and the second main clamping portion 12 respectively.

[0062] A driving force receiving connecting rod 13, which can be connected to the linear driving mechanism and obtain driving force;

[0063] The connecting short rod 14 has one end rotatably connected to the driving force receiving connecting rod 13 and the other end rotatably connected to the second main clamping portion 12 .

[0064] Therefore, the present solution provides a specific structural structure of the first main clamping jaw assembly 1, wherein the first main clamping portion 11 and the second main clamping portion 12 are integrally formed; when the driving force receiving connecting rod 13 is driven by the linear driving mechanism, the driving force receiving connecting rod 13 drives the connecting short rod 14 to swing upward, thereby driving the first main clamping portion 11 and the second main clamping portion 12 to swing, thereby realizing the swinging action of the first main clamping jaw assembly 1. The present invention is easy to maintain, that is, the installation and disassembly of each part are relatively convenient.

[0065] The second main jaw assembly 2 is rotatably arranged on the base body 3, and is opposite to the first main jaw assembly 1 and arranged in an alternating manner; the second main jaw assembly 2 is similar in shape and structure to the first main jaw assembly 1. In the present embodiment, the first main jaw assembly 1 is located in the middle of the second main jaw assembly 2, but it is not limited to this. The second main jaw assembly 2 can also be arranged in the middle of the first main jaw assembly 1.

[0066] The first auxiliary clamping jaw assembly 10 is rotatably arranged beside the first main clamping jaw assembly 1 and can be driven to rotate by the second main clamping jaw assembly 2;

[0067] The first main clamping jaw assembly 1 and the second main clamping jaw assembly 2 are brought close to each other to preliminarily clamp the target object; the first auxiliary clamping jaw assembly 10 is driven by the second main clamping jaw assembly 2 to abut against one side of the target object.

[0068] The second auxiliary clamping jaw assembly 20 is rotatably arranged beside the second main clamping jaw assembly 2, and is arranged opposite to the first auxiliary clamping jaw assembly 10, and can be driven to rotate by the first main clamping jaw assembly 1;

[0069] The second auxiliary clamping jaw assembly 20 is driven by the first main clamping jaw assembly 1 to abut against the other side of the target object.

[0070] Since the second auxiliary jaw assembly 20 is located on the side of the target object 6 away from the first auxiliary jaw assembly 10, the second auxiliary jaw assembly 20 can supplement the clamping force of the first auxiliary jaw assembly 10, so that both sides of the target object 6 can be effectively clamped, so that the first main jaw assembly 1, the second main jaw assembly 2, the first auxiliary jaw assembly 10, and the second auxiliary jaw assembly 20 form a quadrilateral stable force-bearing structure for the target object.

[0071] The rotation path of the first auxiliary jaw assembly 10 is located on the rotation path of the second main jaw assembly 2 , and the rotation path of the second auxiliary jaw assembly 20 is located on the rotation path of the first main jaw assembly 1 .

[0072] The first main clamping jaw assembly 1 , the second main clamping jaw assembly 2 , the first auxiliary clamping jaw assembly 10 , and the second auxiliary clamping jaw assembly 20 are arc-shaped.

[0073] The first auxiliary jaw assembly 10 rotates eccentrically on the first main jaw assembly 1 , and the second auxiliary jaw assembly 20 rotates eccentrically on the first main jaw assembly 1 .

[0074] Therefore, this solution can achieve adaptive grasping, that is, due to the eccentric rotation setting, this solution can grasp targets with a larger radius span, and secondly, the maximum graspable radius of the target object 6 is 16 times the minimum graspable radius.

[0075] This embodiment further includes: a first auxiliary rotating shaft 10a and a second auxiliary rotating shaft 20a, which are specifically as follows:

[0076] A first auxiliary rotating shaft 10a is disposed on the first main clamping jaw assembly 1, and the first auxiliary clamping jaw assembly 10 is detachably rotatably connected to the first auxiliary rotating shaft 10a;

[0077] The second auxiliary rotating shaft 20a is disposed on the second main clamping jaw assembly 2, and the second auxiliary clamping jaw assembly 20 is detachably rotatably connected to the second auxiliary rotating shaft 20a.

[0078] Therefore, taking the center point of the first auxiliary jaw assembly 10 as a reference, the first auxiliary rotating shaft 10a is located on the end of the first auxiliary jaw assembly 10 close to the seat body 3, that is, according to the lever theorem, the first auxiliary rotating shaft 10a is located at the end with a shorter force arm. At this time, when the second main jaw assembly 2 applies a driving force to one end of the first auxiliary jaw assembly 10, the other end of the first auxiliary jaw assembly 10 can be more forcefully abutted against the target object 6.

[0079] Similarly, taking the center point of the second auxiliary jaw assembly 20 as a reference, the second auxiliary rotating shaft 20a is located on the end of the second auxiliary jaw assembly 20 close to the seat body 3, that is, according to the lever theorem, the second auxiliary rotating shaft 20a is located at the end with a shorter force arm. At this time, when the first main jaw assembly 1 applies a driving force to one end of the second auxiliary jaw assembly 20, the other end of the second auxiliary jaw assembly 20 can be more forcefully abutted against the target object 6.

[0080] Specifically, this embodiment further includes: a first rotating shaft 11a, a second rotating shaft 21a, and a retaining gasket 21b;

[0081] The first rotating shaft 11a is passed through the base body 3; the first main clamping jaw assembly 1 is rotatably connected to the first rotating shaft 11a;

[0082] The second rotating shaft 21 a passes through the base body 3 ; the second main clamping jaw assembly 2 is rotatably connected to the second rotating shaft 21 a .

[0083] Therefore, the present solution provides a specific implementation of the rotatable arrangement of the first main jaw assembly 1 and the second main jaw assembly 2 on the seat body 3 .

[0084] Preferably, the first auxiliary rotating shaft 10a, the second auxiliary rotating shaft 20a, the first rotating shaft 11a, and the second rotating shaft 21a are all connected in rotation by interference fit of the sleeves, thereby reducing friction during rotation.

[0085] The retaining gasket 21b is detachably arranged on the first rotating shaft 11a and the second rotating shaft 21a; the retaining gasket 21b can lock the first rotating shaft 11a and the second rotating shaft 21a on the seat body 3 to prevent the first rotating shaft 11a and the second rotating shaft 21a from detaching from the seat body 3, and facilitate the installation and disassembly of the first rotating shaft 11a and the second rotating shaft 21a on the seat body 3.

[0086] Specifically, a first plugging groove 11a1 is formed at the end of the first rotating shaft 11a protruding from the seat body 3, and a second plugging groove 21a1 is formed at the end of the second rotating shaft 21a protruding from the seat body 3. The two ends of the retaining gasket 21b are respectively inserted into the first plugging groove 11a1 and the second plugging groove 21a1 to limit the axial movement of the retaining gasket 21b.

[0087] Preferably, this embodiment further includes a locking member 4 and a sacrificial anode portion 5;

[0088] The locking member 4 passes through the retaining washer 21b and is threadedly connected to the seat body 3;

[0089] The sacrificial anode portion 5 is detachably disposed at the end of the locking member 4 .

[0090] Thus, the locking member 4 is a fastener, which can enable the retaining gasket 21b to be detachably connected to the seat body 3, and the sacrificial anode is made of active metal, which can be used to reduce the chemical corrosion of the present solution in the underwater environment.

[0091] About grabbing objects with a small radius 6

[0092] like Figure 4 As shown, when the first main jaw assembly 1 and the second main jaw assembly 2 need to grasp a target object 6 with a smaller radius, as the first main jaw assembly 1 and the second main jaw assembly 2 approach each other, the second main jaw assembly 2 is driven to rotate, and the second main jaw assembly 2 in the present scheme can also drive one end of the first auxiliary jaw assembly 10 to swing while rotating, until the other end of the first auxiliary jaw assembly 10 swings to abut against the target object; at this time, the first main jaw assembly 1, the second main jaw assembly 2, and the first auxiliary jaw assembly 10 form a triangular stable force-bearing structure for the target object 6, thereby achieving clamping of the target object 6 with a smaller radius, so as to solve the problems of small force-bearing area and unstable clamping of the existing manipulator jaws for clamping the target object 6.

[0093] Moreover, when grasping a target object 6 with a smaller radius, due to the action of the first auxiliary jaw assembly 10, the target object 6 can be further away from the base body 3, reducing the possibility of interference between the ends of the second main jaw assembly 2 and the first auxiliary jaw assembly 10 and the environment where the target object 6 is located, thereby facilitating the grasping and placement of the target object 6 with a smaller radius.

[0094] About grabbing objects with a large radius 6

[0095] like Figure 5 As shown, the first main jaw assembly 1 and the second main jaw assembly 2 are close to each other. Since the first auxiliary jaw assembly 10 is not subjected to the driving force of the second main jaw assembly 2, the first auxiliary jaw assembly 10 can increase the contact area of ​​the first main jaw assembly 1 to facilitate clamping of the target object 6.

[0096] This specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed. However, as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

Claims

1. An adaptive manipulator gripper structure, comprising: seat body; A first main clamping jaw assembly, which is rotatably disposed on the base body; A second main clamping jaw assembly is rotatably disposed on the base body and is opposite to and staggered with the first main clamping jaw assembly; It is characterized by further comprising: A first auxiliary jaw assembly, which is rotatably disposed beside the first main jaw assembly and can be driven to rotate by the second main jaw assembly; The first main clamping jaw assembly and the second main clamping jaw assembly are close to each other to preliminarily clamp the target object; the first auxiliary clamping jaw assembly is abutted against one side of the target object under the drive of the second main clamping jaw assembly; Also includes: A second auxiliary jaw assembly, which is rotatably disposed beside the second main jaw assembly, is arranged opposite to the first auxiliary jaw assembly, and can be driven to rotate by the first main jaw assembly; The second auxiliary clamping jaw assembly is driven by the first main clamping jaw assembly to abut against the other side of the target body.

2. The adaptive manipulator gripper structure according to claim 1, characterized in that: The first auxiliary jaw assembly rotation path is located on the rotation path of the second main jaw assembly, and the second auxiliary jaw assembly rotation path is located on the rotation path of the first main jaw assembly.

3. The adaptive manipulator gripper structure according to claim 1, characterized in that: The first main clamping jaw assembly, the second main clamping jaw assembly, the first auxiliary clamping jaw assembly, and the second auxiliary clamping jaw assembly are arc-shaped.

4. The adaptive manipulator gripper structure according to claim 1, characterized in that: The first auxiliary jaw assembly rotates eccentrically on the first main jaw assembly, and the second auxiliary jaw assembly rotates eccentrically on the second main jaw assembly.

5. The adaptive manipulator gripper structure according to claim 1, characterized in that: include: A first auxiliary rotating shaft, which is disposed on the first main clamping jaw assembly, and the first auxiliary clamping jaw assembly is detachably rotatably connected to the first auxiliary rotating shaft; The second auxiliary rotating shaft is arranged on the second main clamping jaw assembly. The second auxiliary clamping jaw assembly is detachably rotatably connected to the second auxiliary rotating shaft.

6. The adaptive manipulator gripper structure according to claim 1, characterized in that: The first main jaw assembly comprises: A first main clamping portion, which is rotatably disposed on the seat body; A second main clamping portion, which is rotatably disposed on the seat body and is connected to the first main clamping portion as a whole; A driving force receiving connecting rod, which can be connected to the linear driving mechanism and obtain driving force; A connecting short rod has one end rotatably connected to the driving force receiving connecting rod and the other end rotatably connected to the second main clamping portion.

7. The adaptive manipulator gripper structure according to claim 1, characterized in that: Also includes: A first rotating shaft, which is disposed on the seat body; A second rotating shaft, which is disposed on the seat body; A retaining gasket, which is detachably disposed on the first rotating shaft and the second rotating shaft; The first main clamping jaw assembly is rotatably connected to the first rotating shaft; The second main clamping jaw assembly is rotatably connected to the second rotating shaft.

8. The adaptive manipulator gripper structure according to claim 7, characterized in that: The end of the first rotating shaft protruding from the seat body is provided with a first plugging groove, the end of the second rotating shaft protruding from the seat body is provided with a second plugging groove, and the two ends of the retaining gasket are respectively plugged into the first plugging groove and the second plugging groove.

9. The adaptive manipulator gripper structure according to claim 8, characterized in that: Also includes: A locking member, which passes through the retaining gasket and is threadedly connected to the seat body; The sacrificial anode part is detachably arranged at the end of the locking member.

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