Self-locking type adhesion gripper

Abstract

The invention discloses a self-locking type adhesion gripper which comprises a frame body, a pressing piece, an elastic supporting assembly, an adhesion assembly and a locking mechanism. The adhesion assembly comprises an adhesion pad and a connecting piece, and the pressing piece enables the adhesion pad to be in a pulling state or a loosening state through the connecting piece; the locking mechanism comprises a first locking piece and a second locking piece, and the first locking piece is provided with a first matching position and a second matching position; when the second locking piece is located at the first matching position, the adhesion pad is in a loosening state, and when the second locking piece is located at the second matching position, the adhesion pad is in a pulling state; the pressing piece is pressed to enable the second locking piece to be separated from the first matching position or the second matching position, pressing on the pressing piece is removed, and the pressing piece moves under the restoring force of the elastic supporting assembly so that the second locking piece can be matched with the second matching position or the first matching position and can be relatively fixed. According to the self-locking type adhesion gripper provided by the invention, the adhesion clamping state and the release state can be conveniently switched, the stability is improved, and miniaturization setting is facilitated.

Description

Technical Field

[0001] The present invention relates to the technical field of adhesive clamping devices, and particularly to a self-locking adhesive gripper. Background Art

[0002] In modern industrial processing, the demand for automated manufacturing has increased sharply. Due to their unique advantages in industrial manufacturing, robots have been widely used in the production and manufacturing of factory workshops. Simple, cumbersome, and dangerous tasks can already be handed over to robots or assisted by robots for workers to complete. In order for robots to move and assemble objects in the working scenario, the robot must be equipped with a gripper that has the ability to grasp and release, so as to achieve the control of the object. Currently, the grippers of robots have been very maturely applied in the production lines of automated industrial production. However, the grasping and releasing are easily affected by the nature of the grasped object itself, resulting in grasping failures or damages to flexible or hard and thin objects. Therefore, in order to solve the clamping problem of thin, flexible, or hard objects, the gripper needs to have the ability of relatively small acting force, stable and non-destructive clamping and releasing. Therefore, the adhesive gripper, as a new type of clamping method, has gradually attracted attention.

[0003] The function of the adhesive gripper is to complete clamping and releasing without damaging the surface of the object by using the van der Waals force through the micron-scale microstructures on the surface of the adhesive pad, and it is particularly suitable for non-destructive clamping of thin objects. However, when the existing adhesive grippers perform adhesive clamping on objects, the stability is poor, and it is difficult to achieve miniaturization. Summary of the Invention

[0004] The purpose of the present invention is to provide a self-locking adhesive gripper to solve the problems existing in the above-mentioned prior art, facilitate the conversion between adhesive clamping and release states, improve the stability, and facilitate miniaturization.

[0005] To achieve the above purpose, the present invention provides the following solution:

[0006] The present invention provides a self-locking adhesive gripper, comprising a frame, a pressing piece, an elastic supporting assembly, an adhesive assembly and a locking mechanism; the pressing piece is movably connected to the frame; the elastic supporting assembly is supported between the pressing piece and the frame, and the pressing piece can move relative to the frame so that the elastic supporting assembly can undergo elastic deformation; the adhesive assembly comprises an adhesive pad and a connecting piece, the adhesive pad is arranged on one side of the frame, the connecting piece is connected to the pressing piece and the adhesive pad, the pressing piece and the frame are relatively movable so that the adhesive pad can be in a pulling state or a loose state through the connecting piece; the locking mechanism comprises a first locking piece and a second locking piece, the first locking piece is fixedly arranged on the pressing piece and The second locking piece is capable of moving synchronously with the pressing piece, and the second locking piece is arranged on the frame; the first locking piece has a first matching position and a second matching position which can be relatively fixed with the second locking piece; when the second locking piece is in the first matching position, the adhesive pad is in a loose state, and when the second locking piece is in the second matching position, the adhesive pad is in a pulling state; by pressing the pressing piece, the second locking piece is disengaged from the first matching position or the second matching position, and after the pressure on the pressing piece is removed, the pressing piece can move under the restoring force of the elastic support component, so that the second locking piece can match and be relatively fixed with the second matching position or the first matching position.

[0007] Preferably, the pressing member is disposed on a side of the frame away from the adhesive pad, and the pressing member can slide relative to the frame in a direction approaching or away from the adhesive pad.

[0008] Preferably, the first locking piece is configured as a first locking plate, and the first locking plate has a limit block on the side facing the second locking piece, and the limit block has a plurality of locking grooves arranged in a stepped manner in the circumference, and the side of the limit block facing away from and close to the adhesion pad are respectively the first matching position and the second matching position; the second locking piece can be fixed in the first matching position under the support of the elastic support component; by pressing the pressing piece, the first locking piece can move in the direction approaching or away from the adhesion pad to make the second locking piece disengage from the first matching position or the second matching position, and after the pressure on the pressing piece is removed, the first locking piece can move in the direction away from the adhesion pad under the restoring force of the elastic support component, so that the second locking piece can be matched to the second matching position or the first matching position along the plurality of locking grooves arranged in the steps.

[0009] Preferably, the second locking member includes a second locking plate and an elastic member, the frame body is provided with a movable groove, the movable groove is penetrated by a pin shaft, one side of the second locking plate is placed in the movable groove and can be movably mounted outside the pin shaft; a limit pin is provided on the side of the second locking plate facing the first locking member; the limit pin can cooperate with the first locking member; the elastic member is arranged in the movable groove and is connected to the second locking plate and the frame body, and the elastic member can support the limit pin to be close to the first locking member.

[0010] Preferably, the elastic support assembly includes a guide rod and an elastic support member, the guide rod is fixedly arranged on the frame, the pressing member is movably arranged on the guide rod, and the elastic support member is arranged between the pressing member and the frame.

[0011] Preferably, the connecting member is configured as a connecting belt, and both ends of the pressing member are fixedly connected to the adhesive pad via the connecting member.

[0012] Preferably, the adhesive assembly further comprises an elastic pad disposed between the adhesive pad and the frame.

[0013] Preferably, the frame includes a base and two upright frames arranged side by side on both sides of the base, the pressing piece, the elastic support assembly and the locking mechanism are arranged between the upright frames; the adhesive pad is arranged on a side of the base away from the pressing piece.

[0014] Preferably, the pressing member is provided with sliding protrusions on both sides opposite to the two upright frames, and the two upright frames are provided with sliding grooves along a direction perpendicular to the adhesive pad, and the sliding protrusions are slidably connected in the sliding grooves.

[0015] Preferably, the base and the two stands are detachably connected.

[0016] Compared with the prior art, the present invention has achieved the following technical effects:

[0017] The self-locking adhesive gripper provided by the present invention has a pressing member movably connected to the frame body, facilitating the pressing action on the locking mechanism; an elastic support assembly is arranged between the pressing member and the frame body, saving the overall space and being able to drive the locking mechanism by its own elastic restoring force; the adhesive pad of the adhesion assembly is connected to the pressing member through a connecting member, and the connecting member can pull the adhesive pad to adhere to an object. After the connecting member withdraws the pulling on the adhesive pad, the adhesive pad deforms and returns to release the object; by pressing the pressing member, the second locking member is disengaged from the first mating position or the second mating position, and after the pressing on the pressing member is removed, the pressing member can move under the restoring force of the elastic support assembly, so that the second locking member can cooperate with the second mating position or the first mating position and be relatively fixed; thus, the gripper provided by the present invention does not need to be provided with an additional drive source, and only by pressing, it can achieve stable adhesion or release of an object, facilitating the conversion between adhesive clamping and release states, and being convenient for miniaturization. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0019] Figure 1 An isometric schematic diagram of the self-locking adhesive gripper provided in Embodiment 1;

[0020] Figure 2 A front view schematic diagram of the self-locking adhesive gripper provided in Embodiment 1;

[0021] Figure 3 An exploded schematic diagram of the self-locking adhesive gripper provided in Embodiment 1;

[0022] Figure 4 A state schematic diagram of the second locking member in the second mating position provided in Embodiment 1;

[0023] Figure 5 An isometric schematic diagram of the first locking member provided in Embodiment 1;

[0024] Figure 6 Another isometric schematic diagram of the first locking member provided in Embodiment 1.

[0025] In the figure: 1 - frame; 11 - movable slot; 12 - pin shaft; 13 - base; 14 - vertical frame; 15 - sliding slot; 16 - bolt; 2 - pressing member; 21 - sliding protrusion; 3 - elastic support assembly; 31 - guide rod; 32 - elastic support member; 4 - adhesion assembly; 41 - adhesion pad; 42 - connecting member; 43 - elastic pad; 5 - locking mechanism; 51 - first locking member; 511 - first locking plate; 512 - limiting block; 513 - locking slot; 514 - stepped surface; 52 - second locking member; 521 - second locking plate; 522 - elastic member; 523 - limiting pin; 53 - first mating position; 54 - second mating position. Detailed implementation manners

[0026] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0027] The purpose of the present invention is to provide a self-locking adhesive gripper to solve the problems existing in the above-mentioned prior art, facilitate the conversion between the adhesion clamping and the release states, improve the stability, and facilitate the miniaturization setting.

[0028] To make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific implementation manners.

[0029] Embodiment 1

[0030] This embodiment provides a self-locking adhesive gripper. Please refer to Figures 1-6, including a frame 1, a pressing member 2, an elastic support component 3, an adhesive component 4 and a locking mechanism 5; the pressing member 2 is movably connected to the frame 1; the elastic support component 3 is supported between the pressing member 2 and the frame 1, and the pressing member 2 can move relative to the frame 1 so that the elastic support component 3 can be elastically deformed; the adhesive component 4 includes an adhesive pad 41 and a connecting member 42, the adhesive pad 41 is arranged on one side of the frame 1, the connecting member 42 is connected to the pressing member 2 and the adhesive pad 41, the pressing member 2 and the frame 1 are relatively movable, so that the adhesive pad 41 can be in a state of being locked through the connecting member 42 Pulling state or loose state; the locking mechanism 5 includes a first locking piece 51 and a second locking piece 52, the first locking piece 51 is fixedly arranged on the pressing piece 2 and can move synchronously with the pressing piece 2, and the second locking piece 52 is arranged on the frame 1; the first locking piece 51 has a first matching position 53 and a second matching position 54 that can be relatively fixed with the second locking piece 52; when the second locking piece 52 is in the first matching position 53, the adhesive pad 41 is in a loose state, and when the second locking piece 52 is in the second matching position 54, the adhesive pad 41 is in a pulling state.

[0031] The pressing member 2 is movably connected to the frame 1, which is convenient for pressing the locking mechanism 5; the elastic support component 3 is arranged between the pressing member 2 and the frame 1, saving the overall space, and can use its own elastic restoring force to drive the locking mechanism 5; the adhesive pad 41 of the adhesive component 4 is connected to the pressing member 2 through the connecting member 42, and the connecting member 42 can pull the adhesive pad 41 so that the object can be adhered. After the connecting member 42 removes the pulling of the adhesive pad 41, the adhesive pad 41 is deformed and restored to achieve the loosening of the object; The pressing member 2 is pressed to disengage the second locking member 52 from the first matching position 53 or the second matching position 54. Correspondingly, after the pressure on the pressing member 2 is removed, the pressing member 2 can move under the restoring force of the elastic support component 3, so that the second locking member 52 can be matched with the second matching position 54 or the first matching position 53 and relatively fixed; in this way, the gripper provided by the present invention does not need to be provided with an additional driving source, and only needs a pressing action to achieve stable adhesion or loosening of the object, which is convenient for the conversion of adhesion, clamping and release states, and is convenient for miniaturization.

[0032] In the optional scheme of this embodiment, it is more preferred that the pressing piece 2 is arranged on the side of the frame 1 away from the adhesive pad 41, and the pressing piece 2 can slide relative to the frame 1 in a direction close to or away from the adhesive pad 41, that is, the pressing piece 2 moves in a direction perpendicular to the adhesive pad 41, and cooperates with the elastic support component 3 to convert the normal movement of the pressing piece 2 itself into the drive of the adhesive pad 41 structure, thereby realizing the reciprocating clamping and releasing function of the adhesive gripper.

[0033] Among the optional solutions of this embodiment, it is more preferred to refer to Figure 5 and Figure 6, the first locking member 51 is set as the first locking plate 511. The side of the first locking plate 511 facing the second locking member 52 has a limiting block 512. The circumferential direction of the limiting block 512 has a plurality of locking grooves 513 arranged in a stepped manner. The sides of the limiting block 512 facing away from and close to the adhesion pad 41 are the first fitting position 53 and the second fitting position 54 respectively.

[0034] Specifically, in Figure 5 and Figure 6 the shown orientation, the plurality of locking grooves 513 are arranged in a stepped manner on one side in the clockwise direction, and the edges of adjacent locking grooves 513 are provided with stepped surfaces 514. The setting of the stepped surfaces 514 plays a role of guiding and limiting, so that the second locking member 52 moves cyclically clockwise relative to the first locking member 51; the limiting block 512 is set in a heart shape, and a concave fixing groove is provided at the first fitting position 53 for fixing the second locking member 52, and the arc surface of the heart shape setting facilitates guiding the second locking member 52.

[0035] From the first fitting position 53 to the second fitting position 54, in the initial state, the supporting force of the elastic support assembly 3 is upward. The second locking member 52 can be pressed on the first fitting position 53 under the support of the elastic support assembly 3. At this time, the adhesion pad 41 is in a loose state. Press the pressing member 2, and the first locking member 51 can move in the direction close to the adhesion pad 41 to make the second locking member 52 disengage from the first fitting position 53. After the pressing member 2 reaches the limit position, under the guidance of the stepped surface 514, the second locking member 52 is connected to the groove on the upper right side of the limiting block 512. After removing the pressing on the pressing member 2, the first locking member 51 can move in the direction away from the adhesion pad 41 under the restoring force of the elastic support assembly 3, so that the second locking member 52 is fitted into the second fitting position 54 along the stepped locking grooves 513. At this time, the adhesion pad 14 is in an adhesion state. The pressing member 2 moves to the limit position. Under the restoring force of the elastic support assembly 3 and the limiting action of the connecting member 42, the second locking member 52 is stable at the second fitting position 54, thus realizing stable adhesion, as Figure 4 shown.

[0036] From the second fitting position 54 to the first fitting position 53, press the pressing member 2. The first locking member 51 can move in the direction close to the adhesion pad 41 to make the second locking member 52 disengage from the second fitting position 54. Under the guidance of the stepped surface 514, the pressing member 2 reaches the limit position, that is, the second locking member 52 is connected to the groove on the upper left side of the limiting block 512. After removing the pressing on the pressing member 2, the first locking member 51 can move in the direction away from the adhesion pad 41 under the restoring force of the elastic support assembly 3, so that the second locking member 52 is fitted into the first fitting position 53 along the stepped locking grooves 513, thereby realizing the cycle.

[0037] In an alternative solution of this embodiment, preferably, please refer toFigure 3 The second locking member 52 includes a second locking plate 521 and an elastic member 522. The frame 1 has a movable groove 11, and a pin shaft 12 is inserted into the movable groove 11. One side of the second locking plate 521 is placed in the movable groove 11 and can be movably sleeved outside the pin shaft 12; a limiting pin 523 is provided on the side of the second locking plate 521 facing the first locking member 51; the limiting pin 523 can cooperate with the first locking member 51; the elastic member 522 is arranged in the movable groove 11 and connected to the second locking plate 521 and the frame 1, and the elastic member 522 can support the limiting pin 523. The pin 523 is tightly attached to the first locking piece 51; specifically, the lower circumferential side of the second locking plate 521 is set as an arc surface so that it can rotate around the pin shaft 12 in the movable groove 11 to meet the circumferential rotation requirement of the limit pin 523 around the limit block 512; the elastic piece 522 is set as a spring, which is arranged on the side of the second locking plate 521 away from the first locking piece 51, and can continuously push the second locking plate 521 so that the limit pin 523 is always tightly attached to the first locking piece 51 in different locking grooves 513 to avoid being separated from the guide limit of the corresponding step surface 514.

[0038] In the optional scheme of this embodiment, it is more preferred that the elastic support assembly 3 includes a guide rod 31 and an elastic support member 32, the guide rod 31 is fixedly arranged on the frame 1, the pressing member 2 is movably inserted through the guide rod 31, and the elastic support member 32 is arranged between the pressing member 2 and the frame 1; specifically, the guide rod 31 and the elastic support member 32 are arranged as two groups to improve stability, and the elastic support member 32 is arranged as a spring.

[0039] In the optional scheme of this embodiment, it is more preferred that the connecting member 42 is configured as a connecting belt, and both ends of the pressing member 2 are fixedly connected to the adhesive pad 41 through the connecting member 42; specifically, the connecting belt can be configured as a polyimide tape, and a buckle can be provided at the end of the connecting belt, and a pressing groove cooperating with the buckle is provided on the pressing member 2 to achieve detachable fixation, or other methods such as direct fixation with screws are adopted; the adhesive pad 41 adopts a conventional structure, and has a micron-level wedge-shaped microstructure on its lower side. When the connecting belt stretches the adhesive pad 41, the microstructure on the adhesive pad 41 is deformed, and the contact area with the surface of the object is increased, generating a significant van der Waals force, and being in an adhesive state to the object. When the stretching of the adhesive pad 41 is removed, the deformation of the adhesive pad 41 is restored under the action, and no significant van der Waals force is generated with the surface of the object, and it becomes loose again.

[0040] Among the optional solutions of this embodiment, it is more preferred to refer to Figure 2 The adhesive component 4 also includes an elastic pad 43 arranged between the adhesive pad 41 and the frame 1; the elastic pad 43 is connected to the adhesive pad 41. When the stretching of the adhesive pad 41 is removed, the adhesive pad 41 can be deformed and restored under the action of the elastic pad 43, and the microstructure on the lower side of the adhesive pad 41 does not generate significant van der Waals force with the surface of the object, and becomes a loose state.

[0041] In an alternative embodiment of the present embodiment, preferably, the frame 1 includes a base 13 and two vertical frames 14 arranged side by side on both sides of the base 13. The pressing member 2, the elastic support assembly 3, and the locking mechanism 5 are arranged between the vertical frames 14, saving space and facilitating miniaturization. The adhesion pad 41 is arranged on the side of the base 13 facing away from the pressing member 2, facilitating the adhesion of an object.

[0042] In an alternative embodiment of the present embodiment, preferably, sliding protrusions 21 are provided on both sides of the pressing member 2 opposite to the two vertical frames 14, and sliding grooves 15 are provided on the two vertical frames 14 along the direction perpendicular to the adhesion pad 41. The sliding protrusions 21 are slidably connected in the sliding grooves 15. Through the cooperation of the sliding protrusions 21 and the sliding grooves 15, sliding and limiting can be achieved.

[0043] In an alternative embodiment of the present embodiment, preferably, the base 13 and the two vertical frames 14 can be detachably connected. Specifically, the detachable connection can be achieved through bolts 16.

[0044] In the present invention, specific examples are used to illustrate the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention. At the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A self-locking adhesive gripper, characterized in that: include: Frame (1); A pressing member (2) movably connected to the frame (1); An elastic support component (3) is supported between the pressing member (2) and the frame (1), and the pressing member (2) is movable relative to the frame (1) so that the elastic support component (3) can be elastically deformed; An adhesive component (4), comprising an adhesive pad (41) and a connecting piece (42), wherein the adhesive pad (41) is arranged on one side of the frame (1), and the connecting piece (42) is connected to the pressing piece (2) and the adhesive pad (41), and the pressing piece (2) and the frame (1) are relatively movable so that the adhesive pad (41) can be placed in a pulled state or a loosened state through the connecting piece (42); and The locking mechanism (5) comprises a first locking member (51) and a second locking member (52); the first locking member (51) is fixedly arranged on the pressing member (2) and can move synchronously with the pressing member (2); the second locking member (52) is arranged on the frame (1); the first locking member (51) has a first matching position (53) and a second matching position (54) which can be relatively fixed with the second locking member (52); when the second locking member (52) is in the first matching position (53), the adhesive pad (41) is in a loose state; when the second locking member (52) is in the second matching position (54), the adhesive pad (41) is in a pulled state; By pressing the pressing member (2), the second locking member (52) is disengaged from the first mating position (53) or the second mating position (54), and after the pressing on the pressing member (2) is removed, the pressing member (2) can move under the restoring force of the elastic support component (3), so that the second locking member (52) can be mated with and relatively fixed to the second mating position (54) or the first mating position (53).

2. The self-locking adhesive gripper according to claim 1, characterized in that: The pressing member (2) is arranged on a side of the frame (1) away from the adhesive pad (41), and the pressing member (2) is capable of sliding relative to the frame (1) in a direction approaching or moving away from the adhesive pad (41).

3. The self-locking adhesive gripper according to claim 2, characterized in that: The first locking member (51) is configured as a first locking plate (511), and the first locking plate (511) has a limit block (512) on the side facing the second locking member (52), and the limit block (512) has a plurality of locking grooves (513) arranged in a stepped manner in the circumference, and the side of the limit block (512) away from and close to the adhesive pad (41) are the first matching position (53) and the second matching position (54), respectively; the second locking member (52) can be fixed at the first matching position (53) under the support of the elastic support assembly (3); By pressing the pressing member (2), the first locking member (51) can move in a direction approaching or away from the adhesive pad (41) so that the second locking member (52) is disengaged from the first matching position (53) or the second matching position (54); after the pressing of the pressing member (2) is removed, the first locking member (51) can move in a direction away from the adhesive pad (41) under the restoring force of the elastic support component (3) so that the second locking member (52) is matched to the second matching position (54) or the first matching position (53) along the multiple locking grooves (513) arranged in steps.

4. The self-locking adhesive gripper according to claim 3, characterized in that: The second locking member (52) comprises a second locking plate (521) and an elastic member (522); the frame body (1) is provided with a movable groove (11), a pin shaft (12) is inserted into the movable groove (11), one side of the second locking plate (521) is placed in the movable groove (11), and can be movably sleeved outside the pin shaft (12); a limiting pin (523) is provided on the side of the second locking plate (521) facing the first locking member (51); the limiting pin (523) can cooperate with the first locking member (51); the elastic member (522) is arranged in the movable groove (11), and is connected to the second locking plate (521) and the frame body (1); the elastic member (522) can support the limiting pin (523) to be close to the first locking member (51).

5. The self-locking adhesive gripper according to claim 2, characterized in that: The elastic support assembly (3) comprises a guide rod (31) and an elastic support member (32); the guide rod (31) is fixedly arranged on the frame (1); the pressing member (2) is movably arranged on the guide rod (31); and the elastic support member (32) is arranged between the pressing member (2) and the frame (1).

6. The self-locking adhesive gripper according to claim 1, characterized in that: The connecting member (42) is configured as a connecting belt, and both ends of the pressing member (2) are fixedly connected to the adhesive pad (41) via the connecting member (42).

7. The self-locking adhesive gripper according to claim 1, characterized in that: The adhesive component (4) further comprises an elastic pad (43) arranged between the adhesive pad (41) and the frame (1).

8. The self-locking adhesive gripper according to claim 2, characterized in that: The frame (1) comprises a base (13) and two upright frames (14) arranged side by side on both sides of the base (13); the pressing piece (2), the elastic support assembly (3) and the locking mechanism (5) are arranged between the upright frames (14); and the adhesive pad (41) is arranged on a side of the base (13) away from the pressing piece (2).

9. The self-locking adhesive gripper according to claim 8, characterized in that: The pressing member (2) is provided with sliding protrusions (21) on both sides opposite to the two upright frames (14), and the two upright frames (14) are provided with sliding grooves (15) along a direction perpendicular to the adhesive pad (41), and the sliding protrusions (21) are slidably connected in the sliding grooves (15).

10. The self-locking adhesive gripper according to claim 8, characterized in that: The base (13) and the two stands (14) are detachably connected.

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