Sleeve part dismounting device and assembling method of humanoid robot

Abstract

The invention provides a sleeve part dismounting device and an assembling method of a humanoid robot. The sleeve part dismounting device comprises a pull-out rod, a pull-out plate and an elastic piece, and the pull-out rod is used for being arranged on a sleeve part in a penetrating mode; a pull-out rod groove is formed in the first end of the pull-out rod; the pull-out plate is rotatably arranged in the pull-out rod groove, and the length of the pull-out plate is larger than the inner diameter of the outer ring; the two ends of the elastic piece abut against the pull-out plate and the pull-out rod groove respectively. The pull-out plate and the pull-out rod have a first state and a second state which are opposite to each other; in the first state, the pull-out plate rotates towards the pull-out rod groove so as to compress the elastic piece, and the pull-out rod can drive the pull-out plate to penetrate through the sleeve part. In the second state, the elastic restoring force of the elastic piece drives the pull-out plate to rotate away from the pull-out rod groove, and the pull-out rod can drive the pull-out plate to abut against the outer ring. By means of the device, the difficulty of dismounting the sleeve parts from the mounting holes can be reduced.

Description

Technical Field

[0001] The present application relates to mechanical parts disassembly technology, and in particular to a sleeve parts disassembly device and a humanoid robot assembly method. Background Art

[0002] Sleeve parts (such as bearings, bushings, sleeves, etc.) are common parts in mechanical structures and are often used to assist in the matching of shafts and holes. Specifically, due to the mismatch in the size of the shaft and the hole, or in order to reduce the friction between the shaft and the hole, sleeve parts are often placed in the hole, and then the shaft is inserted into the sleeve parts.

[0003] However, after the sleeve-like parts are placed in the hole, the outer ring of the sleeve-like parts will be stuck in the hole and difficult to remove. Especially in the blind hole, since only one side is formed with an opening, the sleeve-like parts are more difficult to remove from the hole. Summary of the invention

[0004] In order to overcome the above-mentioned defects in the related art, the purpose of the present application is to provide a sleeve-type parts disassembly device and an assembly method of a humanoid robot. The present application is conducive to reducing the difficulty of removing the sleeve-type parts from the hole.

[0005] The present application provides a sleeve-type parts disassembly device, which is used to disassemble a sleeve-type part arranged in a base, wherein a mounting hole is arranged in the base, the sleeve-type part is arranged in the mounting hole, and the sleeve-type part includes an outer ring; comprising:

[0006] A pull-out rod, the pull-out rod is used to be inserted into the sleeve-like part; a pull-out rod groove is provided at the first end of the pull-out rod;

[0007] A pull-out plate, the pull-out plate is rotatably disposed in the pull-out rod groove, and the length of the pull-out plate is greater than the inner diameter of the outer ring;

[0008] An elastic member, two ends of which are respectively in contact with the pull-out plate and the pull-out rod groove;

[0009] The pull-out plate and the pull-out rod have a relative first state and a second state; in the first state, the pull-out plate rotates toward the pull-out rod groove to compress the elastic member, and the pull-out rod can drive the pull-out plate to pass through the sleeve-like part; in the second state, the elastic restoring force of the elastic member drives the pull-out plate to rotate away from the pull-out rod groove, and the pull-out rod can drive the pull-out plate to abut against the outer ring.

[0010] In one possible implementation, the elastic member includes a spring, and the pull-out rod also includes a spring fixing hole connected to the pull-out rod groove, at least part of the spring is located in the spring fixing hole, the first end of the spring abuts against the bottom wall of the spring fixing hole, and the second end of the spring abuts against the pull-out plate.

[0011] In a possible implementation, the elastic member includes a torsion spring, which is sleeved on the rotation axis of the pull-out plate, with a first end of the torsion spring abutting against the pull-out rod groove, and a second end of the torsion spring abutting against the pull-out plate.

[0012] In a possible implementation, the pull-out plate is rotatably disposed in the pull-out rod groove via a pin shaft.

[0013] In a possible implementation, it also includes an auxiliary disassembly part, the first end of which is used to abut against the base; the auxiliary disassembly part is provided with an auxiliary disassembly hole and a connecting hole, the auxiliary disassembly hole is connected with the first end of the auxiliary disassembly part, and the inner diameter of the auxiliary disassembly hole is larger than the outer diameter of the outer ring, the connecting hole is connected with the second end of the auxiliary disassembly part, and the pull-out rod is movably inserted into the connecting hole.

[0014] In a possible implementation, the pull-out rod further includes an external thread section, the connecting hole is provided with an internal thread section, and the pull-out rod is threadedly connected to the internal thread section in the connecting hole via the external thread section.

[0015] In a possible implementation, the second end of the pull-out rod is further provided with at least one first clamping surface, and the outer surface of the auxiliary disassembly component is provided with at least one second clamping surface.

[0016] In a possible implementation, the mounting hole is a blind hole, the mounting hole includes a first hole segment and a second hole segment, the inner diameter of the first hole segment is larger than the inner diameter of the second hole segment, and the sleeve-like part is arranged in the first hole segment;

[0017] The length of the pull-out plate is greater than the outer diameter of the outer ring. Two avoidance grooves arranged opposite to each other are further provided in the second hole segment. The avoidance grooves are used to accommodate the pull-out plate.

[0018] In a possible implementation, a marking line is further provided on the pull-out rod, and when the marking line is flush with the upper end surface of the base, the pull-out rod drives the pull-out plate to pass through the sleeve-like part.

[0019] The present application also provides an assembly method of a humanoid robot, wherein the humanoid robot comprises the base, and the method comprises the steps of:

[0020] The assembly is performed by using any of the above-mentioned sleeve-type parts disassembly devices.

[0021] The present application provides a sleeve-type parts disassembly device and an assembly method of a humanoid robot, which are used to disassemble the sleeve-type parts arranged in a base, wherein a mounting hole is arranged in the base, the sleeve-type parts are arranged in the mounting hole, and the sleeve-type parts include an outer ring. The sleeve-type parts disassembly device includes a pull-out rod, a pull-out plate and an elastic member, the pull-out rod is used to be inserted into the sleeve-type parts; a pull-out rod groove is arranged at the first end of the pull-out rod; the pull-out plate is rotatably arranged in the pull-out rod groove, and the length of the pull-out plate is greater than the inner diameter of the outer ring; the two ends of the elastic member are respectively abutted on the pull-out plate and the pull-out rod groove; the pull-out plate and the pull-out rod have a relative first state and a second state; in the first state, the pull-out plate rotates toward the pull-out rod groove to compress the elastic member, and the pull-out rod can drive the pull-out plate to pass through the sleeve-type parts; in the second state, the elastic restoring force of the elastic member drives the pull-out plate to rotate away from the pull-out rod groove, and the pull-out rod can drive the pull-out plate to abut on the outer ring. When using the present application to disassemble sleeve-like parts, the pull-out plate can be first rotated toward the pull-out rod slot, so that the pull-out rod can drive the pull-out plate to pass through the sleeve-like parts and enter the mounting hole. In this process, the pull-out plate can compress the elastic member; when the pull-out plate completely passes through the sleeve-like parts, the elastic restoring force of the elastic member can drive the pull-out plate to rotate away from the pull-out rod slot. At this time, pulling the pull-out rod can drive the pull-out plate to abut against the outer ring, and then the sleeve-like parts can be taken out of the mounting hole. The present application is conducive to reducing the difficulty of disassembling sleeve-like parts from the mounting hole. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 A simplified structural diagram of a sleeve-type parts disassembly device provided in one embodiment of the present application;

[0024] Figure 2 for Figure 1 A cross-sectional view at one viewing angle;

[0025] Figure 3 A simplified structural diagram of a sleeve-type parts disassembly device provided in another embodiment of the present application;

[0026] Figure 4 A simplified diagram of the connection structure of the base and sleeve parts provided in one embodiment of the present application;

[0027] Figure 5A simplified structural diagram of a pull-out rod provided in one embodiment of the present application;

[0028] Figure 6 A simplified structural diagram of a pull-out plate provided in one embodiment of the present application;

[0029] Figure 7 A simplified structural diagram of a sleeve-type parts disassembly device provided in yet another embodiment of the present application;

[0030] Figure 8 A simplified structural diagram of a sleeve-type parts disassembly device provided in yet another embodiment of the present application;

[0031] Fig. 9 A cross-sectional view of an auxiliary disassembly member provided in one embodiment of the present application;

[0032] Figure 10(a)-Figure 10(d) for Figure 7 The schematic diagram of the sleeve-type parts disassembly device shown is in different states when in use.

[0033] Reference numerals:

[0034] 10-base; 11-mounting hole; 111-first hole section; 112-second hole section; 113-avoidance groove;

[0035] 20-sleeve parts; 21-outer ring; 22-inner ring;

[0036] 100-pull-out rod; 110-pull-out rod groove; 120-spring fixing hole; 130-external thread section; 140-first clamping surface; 150-marking line; 160-pin shaft hole;

[0037] 200-pull-out plate; 210-pull-out plate side wall; 220-pull-out plate through hole;

[0038] 300-elastic parts;

[0039] 400-pin;

[0040] 500 - auxiliary disassembly part; 501 - first end of the auxiliary disassembly part; 510 - auxiliary disassembly hole; 520 - connection hole; 530 - second clamping surface. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments.

[0042] Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0043] As described in the background art, in the related art, after the sleeve-like parts are placed in the hole, the outer ring of the sleeve-like parts will be stuck in the hole and difficult to remove. In particular, in a blind hole, since only one side is formed with an opening, it is more difficult to remove the sleeve-like parts from the hole.

[0044] In view of this, an embodiment of the present application aims to provide a sleeve-type parts disassembly device, including a pull-out rod, a pull-out plate and an elastic member, a pull-out rod groove is provided at the first end of the pull-out rod, the pull-out plate is rotatably arranged in the pull-out rod groove, and the length of the pull-out plate is greater than the inner diameter of the outer ring; the two ends of the elastic member are respectively abutted on the pull-out plate and the pull-out rod groove; the pull-out plate and the pull-out rod have a relative first state and a second state; in the first state, the pull-out plate rotates toward the pull-out rod groove to compress the elastic member, and the pull-out rod can drive the pull-out plate to pass through the sleeve-type parts; in the second state, the elastic restoring force of the elastic member drives the pull-out plate to rotate away from the pull-out rod groove, and the pull-out rod can drive the pull-out plate to abut against the outer ring. When removing sleeve parts, the pull-out plate can be rotated toward the pull-out rod slot first, so that the pull-out rod can drive the pull-out plate to pass through the sleeve parts and enter the installation hole. In this process, the pull-out plate can compress the elastic part; when the pull-out plate completely passes through the sleeve parts, the elastic recovery force of the elastic part can drive the pull-out plate to rotate away from the pull-out rod slot. At this time, pulling the pull-out rod can drive the pull-out plate to abut against the outer ring, and then the sleeve parts can be taken out from the installation hole. This application is conducive to reducing the difficulty of removing sleeve parts from the installation hole.

[0045] The contents of the embodiments of the present application will be described in detail below in conjunction with the accompanying drawings so that those skilled in the art can understand the contents of the present application in more detail.

[0046] Please refer to Figure 1-Figure 6 The present embodiment provides a sleeve-type parts disassembly device, which is used to disassemble a sleeve-type part 20 disposed in a base 10. The base 10 is provided with a mounting hole 11, and the sleeve-type part 20 is disposed in the mounting hole 11. The sleeve-type part 20 includes a bearing, a bushing, a sleeve, etc. The present embodiment takes a bearing as an example for description, and the bearing includes an outer ring 21 and an inner ring 22.

[0047] The sleeve-type parts disassembly device comprises: a pull-out rod 100 , a pull-out plate 200 and an elastic member 300 .

[0048] The pull-out rod 100 is used to pass through the sleeve-like part 20; that is, the pull-out rod 100 can pass through the inner ring 22. A pull-out rod groove 110 is provided at the first end of the pull-out rod 100, and the pull-out rod groove 110 forms two corresponding openings on the pull-out rod 100 so that the pull-out plate 200 can pass through.

[0049] The pull-out plate 200 is rotatably arranged in the pull-out rod groove 110 , and the specific rotation mode of the pull-out plate 200 and the pull-out rod 100 can be set as required. The length of the pull-out plate 200 is greater than the inner diameter of the outer ring 21 so that the pull-out plate 200 can abut against the outer ring 21 .

[0050] Two ends of the elastic member 300 abut against the pull-out plate 200 and the pull-out rod groove 110 respectively.

[0051] In this embodiment, the pull-out plate 200 and the pull-out rod 100 have a relative first state and a second state. In the first state, the pull-out plate 200 rotates toward the pull-out rod groove 110 to compress the elastic member 300; at this time, the pull-out rod 100 can drive the pull-out plate 200 to pass through the sleeve-like part 20, thereby entering the interior of the mounting hole 11. In the second state, the elastic restoring force of the elastic member 300 drives the pull-out plate 200 to rotate away from the pull-out rod groove 110, and the pull-out rod 100 can drive the pull-out plate 200 to abut against the outer ring 21, so that the pull-out rod 100 can be pulled to remove the sleeve-like part 20 from the mounting hole 11. It can be understood that the above-mentioned first state and second state both represent states within a period of time, rather than instantaneous states at a certain moment.

[0052] When the sleeve-like part 20 is disassembled by using the present embodiment, the pull-out plate 200 can be rotated toward the pull-out rod groove 110 first, so that the pull-out rod 100 can drive the pull-out plate 200 to pass through the sleeve-like part 20 and enter the mounting hole 11. In this process, the pull-out plate 200 can compress the elastic member 300, so that the elastic member 300 has a certain elastic potential energy. When the pull-out plate 200 completely passes through the sleeve-like part 20, the elastic restoring force of the elastic member 300 can drive the pull-out plate 200 to rotate away from the pull-out rod groove 110. At this time, pulling the pull-out rod 100 can drive the pull-out plate 200 to abut against the outer ring 21. The pull-out rod 100 is continuously pulled, and the sleeve-like part 20 can be taken out of the mounting hole 11 through the pull-out plate 200.

[0053] It can be understood that this embodiment is conducive to removing the sleeve-like part 20 from the mounting hole 11, and when the mounting hole 11 is a blind hole, the sleeve-like part 20 in the blind hole can also be conveniently taken out.

[0054] Please continue to refer to Figure 1 and Figure 2In a possible implementation, the elastic member 300 of this embodiment includes a spring, and the pull-out rod 100 also includes a spring fixing hole 120 connected to the pull-out rod groove 110, at least part of the spring is located in the spring fixing hole 120, the first end of the spring abuts against the bottom wall of the spring fixing hole 120, and the second end of the spring abuts against the pull-out plate 200. In other words, when the elastic member 300 is a spring, the spring can be arranged in the pull-out rod groove 110, and the spring can be arranged along the pull-out rod groove 110. When in use, when the pull-out plate 200 rotates toward the pull-out rod groove 110, the spring can be compressed, so that the spring stores a certain amount of elastic potential energy; when the pull-out plate 200 is no longer subjected to force, the elastic restoring force of the spring can drive the pull-out plate 200 to rotate away from the pull-out rod groove 110.

[0055] Please continue to refer to Figure 5 Optionally, in order to prevent the spring from rotating in the pull-out rod groove 110, the spring fixing hole 120 can be extended to the end of the pull-out rod groove 110, that is, a spring fixing hole 120 is also provided on the side wall of the pull-out rod groove 110, and the spring is completely arranged in the spring fixing hole 120, thereby limiting the moving path of the spring.

[0056] Please continue to refer to Figure 3 In another possible implementation, the elastic member 300 of this embodiment includes a torsion spring, which is sleeved on the rotation axis of the pull-out plate 200, with the first end of the torsion spring abutting against the pull-out rod groove 110, and the second end of the torsion spring abutting against the pull-out plate 200. In other words, when the elastic member 300 is a torsion spring, the torsion spring can be arranged in the pull-out rod groove 110. When in use, when the pull-out plate 200 rotates toward the pull-out rod groove 110, the torsion spring can be compressed, so that the torsion spring stores a certain amount of elastic potential energy; when the pull-out plate 200 is no longer subjected to force, the elastic restoring force of the torsion spring can drive the pull-out plate 200 to rotate away from the pull-out rod groove 110.

[0057] Please continue to refer to Figure 1 , Figure 2 , Figure 3 , Figure 5 and Figure 6 , the pull-out rod 100 of this embodiment is also provided with a pin hole 160, and the pin hole 160 is set through the pull-out rod 100. Exemplarily, the axis of the pin hole 160 can be perpendicular to the axis of the pull-out rod groove 110. The pull-out plate 200 includes two pull-out plate side walls 210 arranged opposite to each other, and a pull-out plate through hole 220 is provided in the pull-out plate 200 and passes through the two pull-out plate side walls 210. After the pin 400 passes through the pin hole 160 and the pull-out plate through hole 220, the pull-out plate 200 is rotatably connected to the pull-out rod groove 110. In other words, the pull-out plate 200 can rotate around the pin 400. When the elastic member 300 is a torsion spring, the torsion spring can be sleeved on the pin 400.

[0058] Please continue to refer to Figure 7-Figure 9 In some possible implementations, the sleeve-type parts disassembly device of this embodiment further includes an auxiliary disassembly member 500, and the first end 501 of the auxiliary disassembly member is used to abut against the base 10. Exemplarily, the shape of the auxiliary disassembly member 500 can be adapted to the shape of the base 10, for example, the auxiliary disassembly member 500 and the base 10 are both substantially cylindrical or prismatic. The auxiliary disassembly member 500 is provided with an auxiliary disassembly hole 510 and a connecting hole 520 that are interconnected, and the inner diameter of the auxiliary disassembly hole 510 is larger than the inner diameter of the connecting hole 520. The auxiliary disassembly hole 510 is connected to the first end 501 of the auxiliary disassembly member, and the inner diameter of the auxiliary disassembly hole 510 is larger than the outer diameter of the outer ring 21, so as to accommodate the sleeve-type parts 20. The connecting hole 520 is connected to the second end of the auxiliary disassembly member 500, and the pull-out rod 100 is movably arranged in the connecting hole 520.

[0059] Please continue to refer to Figure 10(a)-Figure 10(d) As shown in FIG10(a), when using the sleeve-type parts disassembly device of this embodiment, the pull-out plate 200 can be first rotated toward the pull-out rod groove 110, so that part of the pull-out plate 200 is accommodated in the pull-out rod groove 110, reducing the maximum diameter of the pull-out rod 100 and the pull-out plate 200, and the pull-out rod 100 drives the pull-out plate 200 in the direction indicated by the arrow to pass through the inner ring 22 of the sleeve-type parts 20 and enter the mounting hole 11 of the base 10. In this process, the pull-out plate 200 can compress the elastic member 300, so that the elastic member 300 has a certain elastic potential energy. As shown in FIG10(b), after the pull-out plate 200 completely passes through the sleeve-type parts 20, the elastic restoring force of the elastic member 300 can drive the pull-out plate 200 to rotate away from the pull-out rod groove 110, so that the pull-out plate 200 returns to a horizontal state. As shown in FIG10(c), the pull-out rod 100 is continuously pulled, and the pull-out plate 200 can be driven to abut against the outer ring 21 of the sleeve-like part 20. As shown in FIG10(d), the pull-out rod 100 is continuously pulled, and the pull-out plate 200 can drive the outer ring 21 and the inner ring 22 of the sleeve-like part 20 to enter the auxiliary disassembly hole 510 of the auxiliary disassembly part 500, thereby completing the disassembly of the sleeve-like part 20.

[0060] Please continue to refer to Figure 5 , Figure 7 , Figure 8 and Fig. 9 In this embodiment, the pull-out rod 100 further includes an external thread section 130, and an internal thread section is provided in the connection hole 520. The pull-out rod 100 is threadedly connected with the internal thread section in the connection hole 520 through the external thread section 130. In other words, the pull-out rod 100 can be rotated to move relative to the auxiliary disassembly component 500, thereby driving the pull-out plate 200 to move, so as to complete the disassembly of the sleeve-like component 20.

[0061] Please continue to refer to Figure 7 , Figure 8 and Fig. 9 In this embodiment, the second end of the pull-out rod 100 is further provided with at least one first clamping surface 140, which is used to match with a wrench or other parts, so that the pull-out rod 100 can be screwed by a wrench or other parts to move the pull-out rod 100 relative to the auxiliary disassembly member 500. At least one second clamping surface 530 is provided on the outer surface of the auxiliary disassembly member 500, which is also used to match with a wrench or other parts, so that the auxiliary disassembly member 500 can be screwed by a wrench or other parts to stably abut the base 10 when the sleeve-like part 20 is taken out. That is to say, in the state shown in Figures 10(c) and 10(d), a wrench is clamped on the second clamping surface 530 to make the auxiliary disassembly part 500 stably abut against the base 10, and another wrench is clamped on the first clamping surface 140, and the pull-out rod 100 is twisted to make the pull-out rod 100 move relative to the auxiliary disassembly part 500, thereby gradually removing the sleeve-like part 20 from the mounting hole 11.

[0062] Please continue to refer to Figure 4 In this embodiment, the mounting hole 11 is a blind hole, and the mounting hole 11 includes a first hole segment 111 and a second hole segment 112. The inner diameter of the first hole segment 111 is greater than the inner diameter of the second hole segment 112. The first hole segment 111 and the second hole segment 112 together form a stepped hole. The sleeve-like part 20 is arranged in the first hole segment 111, and at least part of the outer ring 21 of the sleeve-like part 20 is located in the projection of the second hole segment 112, so that the pull-out plate 200 can abut against the outer ring 21.

[0063] Furthermore, the length of the pull-out plate 200 of this embodiment is greater than the outer diameter of the outer ring 21, and two avoidance grooves 113 arranged opposite to each other are further provided in the second hole section 112, and the avoidance grooves 113 are used to accommodate the pull-out plate 200. After the pull-out plate 200 enters the mounting hole 11, the pull-out plate 200 gradually becomes horizontal under the action of the elastic member 300, and the two ends of the pull-out plate 200 respectively enter the avoidance grooves 113 on both sides. Through the above arrangement, the contact area between the pull-out plate 200 and the outer ring 21 can be increased, thereby improving the stability of the pull-out plate 200 when taking out the sleeve-like parts 20.

[0064] Please continue to refer to Figure 5 In this embodiment, the pull-out rod 100 is also provided with a marking line 150, which can remind the user of the current position of the pull-out plate 200. As shown in FIG10(b), after the pull-out rod 100 drives the pull-out plate 200 to pass through the sleeve-like part 20, the marking line 150 is flush with the upper end surface of the base 10. At this time, the user can further abut the auxiliary disassembly member 500 against the base 10 to disassemble the sleeve-like part 20.

[0065] In another embodiment of the present application, a method for assembling a humanoid robot is also provided. The humanoid robot includes the above-mentioned base 10. The method includes the steps of:

[0066] A humanoid robot is assembled using the sleeve-type parts disassembly device disclosed in any of the above embodiments.

[0067] Optionally, the leg joints or arms of the humanoid robot can be assembled based on the sleeve-type parts disassembly device disclosed in any of the above embodiments. In this case, the leg joints or arms include the base 10 .

[0068] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0069] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0070] It should be noted that in the description of this application, the terms "first" and "second" are only used to facilitate the description of different components, and cannot be understood as indicating or implying a sequential relationship, relative importance, or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features.

[0071] The various embodiments or implementation methods in the present application are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0072] In the description of the present application, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In the present application, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0073] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A sleeve-type parts disassembly device, used for disassembling sleeve-type parts arranged in a base, wherein: The base is provided with a mounting hole, the sleeve-like parts are arranged in the mounting hole, and the sleeve-like parts include an outer ring; it is characterized in that it includes: A pull-out rod, the pull-out rod is used to be inserted into the sleeve-like part; a pull-out rod groove is provided at the first end of the pull-out rod; A pull-out plate, the pull-out plate is rotatably disposed in the pull-out rod groove, and the length of the pull-out plate is greater than the inner diameter of the outer ring; An elastic member, two ends of which are respectively in contact with the pull-out plate and the pull-out rod groove; The pull-out plate and the pull-out rod have a relative first state and a second state; in the first state, the pull-out plate rotates toward the pull-out rod groove to compress the elastic member, and the pull-out rod can drive the pull-out plate to pass through the sleeve-like part; in the second state, the elastic restoring force of the elastic member drives the pull-out plate to rotate away from the pull-out rod groove, and the pull-out rod can drive the pull-out plate to abut against the outer ring.

2. The sleeve-type parts disassembly device according to claim 1 is characterized in that: The elastic member includes a spring, and the pull-out rod also includes a spring fixing hole connected to the pull-out rod groove, at least part of the spring is located in the spring fixing hole, the first end of the spring abuts against the bottom wall of the spring fixing hole, and the second end of the spring abuts against the pull-out plate.

3. The sleeve-type parts disassembly device according to claim 1, characterized in that: The elastic member comprises a torsion spring, which is sleeved on the rotating shaft of the pull-out plate, wherein a first end of the torsion spring abuts against the pull-out rod groove, and a second end of the torsion spring abuts against the pull-out plate.

4. The sleeve-type parts disassembly device according to claim 1, characterized in that: The pull-out plate is rotatably arranged in the pull-out rod groove via a pin shaft.

5. The sleeve-type parts disassembly device according to any one of claims 1 to 4, characterized in that: It also includes an auxiliary disassembly part, the first end of which is used to abut against the base; an auxiliary disassembly hole and a connecting hole are provided in the auxiliary disassembly part, the auxiliary disassembly hole is connected with the first end of the auxiliary disassembly part, and the inner diameter of the auxiliary disassembly hole is larger than the outer diameter of the outer ring, the connecting hole is connected with the second end of the auxiliary disassembly part, and the pull-out rod is movably inserted into the connecting hole.

6. The sleeve-type parts disassembly device according to claim 5, characterized in that: The pull-out rod further comprises an external thread section, an internal thread section is arranged in the connecting hole, and the pull-out rod is threadedly connected with the internal thread section in the connecting hole via the external thread section.

7. The sleeve-type parts disassembly device according to claim 5, characterized in that: The second end of the pull-out rod is further provided with at least one first clamping surface, and the outer surface of the auxiliary disassembly member is provided with at least one second clamping surface.

8. The sleeve-type parts disassembly device according to claim 1, characterized in that: The mounting hole is a blind hole, and the mounting hole includes a first hole section and a second hole section, the inner diameter of the first hole section is larger than the inner diameter of the second hole section, and the sleeve-like part is arranged in the first hole section; The length of the pull-out plate is greater than the outer diameter of the outer ring. Two avoidance grooves arranged opposite to each other are further provided in the second hole segment. The avoidance grooves are used to accommodate the pull-out plate.

9. The sleeve-type parts disassembly device according to claim 1, characterized in that: The pull-out rod is also provided with a marking line. When the marking line is flush with the upper end surface of the base, the pull-out rod drives the pull-out plate to pass through the sleeve-like parts.

10. A method for assembling a humanoid robot, characterized in that: The humanoid robot comprises a base, and the method comprises the steps of: The assembly is performed using the sleeve-type parts disassembly device described in any one of claims 1 to 9.

Images