Self-locking type positioning mechanism capable of being used for automatic plugging and unplugging of robot

Abstract

The utility model provides an automatic plugging self-locking type positioning mechanism for a robot, which is characterized in that a pin head is inserted and fixed at the top end of a pin body, a pin tail is inserted and fixed at the bottom end of the pin body, a self-locking hook pin groove is arranged on the outer surface of the pin tail, a self-locking hook pin is connected in the self-locking hook pin groove through two self-locking hook pin grooves, and the self-locking hook pin is inserted and fixed at the bottom end of the pin body. The two telescopic springs are arranged between the self-locking hook pin and the self-locking hook pin groove and are arranged on the two spring fastening screws in a sleeving mode respectively, a clamping structure is arranged at the bottom of the self-locking hook pin, and the self-locking hook pin shrinks inwards into the self-locking hook pin groove and then is inserted into a tray positioning hole in the clamp body when being extruded by external force; the self-locking hook pin extends outwards to be separated from the self-locking hook pin groove when being not extruded by external force, so that the clamping structure at the bottom of the self-locking hook pin is clamped with the tray positioning hole of the clamp body; according to the mechanism, the positioning mechanism can be installed on the clamp body when used and automatically locked, the mechanism can be integrated with a robot automation system, and automatic unmanned replacement of the positioning mechanism is achieved.

Description

Technical Field

[0001] The utility model belongs to the technical field of fixture positioning, and relates to a self-locking positioning mechanism that can be used for automatic plugging and unplugging of robots. Background Art

[0002] With the continuous upgrading of automobile products, the production flexibility requirements for automobile production plants are getting higher and higher. Often, an automobile production plant needs to produce many types of models at the same time. The positioning mechanism of traditional fixtures is fixed on the fixture body with fasteners, which is not only impossible to disassemble and plug in, but also when facing new models, the entire fixture may be scrapped due to compatibility issues. Summary of the invention

[0003] In order to overcome the problems existing in the prior art, the utility model provides a self-locking positioning mechanism that can be used for automatic plugging and unplugging of a robot.

[0004] The utility model is realized by adopting the following technical solutions:

[0005] A self-locking positioning mechanism that can be used for automatic plugging and unplugging of robots, which can be clamped by an external robot clamp and inserted into a pallet positioning hole on a clamp body and pulled out from the pallet positioning hole, comprising a pin body, a detachable pin head is plugged and fixed to the top end of the pin body, a detachable pin tail is plugged and fixed to the bottom end of the pin body, a self-locking hook pin groove with a rectangular groove structure is opened on the outer surface of the pin tail in the vertical direction, a rectangular strip-shaped self-locking hook pin has two self-locking hook pin connecting holes that are spaced and symmetrically arranged, two spring fastening screws respectively pass through the two self-locking hook pin connecting holes and engage with two corresponding self-locking hooks with internal threads in the self-locking hook pin grooves The threaded hole in the pin groove is threadedly connected, and two telescopic springs are arranged between the self-locking hook pin and the self-locking hook pin groove and are respectively mounted on the two spring fastening screws, and one end of the two telescopic springs presses the self-locking hook pin, and the other end presses the inner wall of the self-locking hook pin groove. A clamping structure is provided at the bottom of the self-locking hook pin. When the self-locking hook pin is squeezed by the external force provided by the external robot clamp, it shrinks inward into the self-locking hook pin groove and then inserts into the pallet positioning hole on the clamp body. Subsequently, the self-locking hook pin extends outward to disengage from the self-locking hook pin groove when it is not squeezed by the external force provided by the external robot clamp, thereby making the clamping structure at the bottom of the self-locking hook pin clamped with the pallet positioning hole of the clamp body.

[0006] Further technical solutions include:

[0007] A pin hole at the top of the pin body with a cylindrical hole-like structure is opened at the center of the top of the pin body. The lower part of the pin head is a pin lower pin column of a cylindrical structure that matches the pin hole at the top of the pin body. The middle part of the pin head has a cylindrical pin middle flange with a diameter larger than the pin lower pin column and coaxially arranged with the pin lower pin column. The pin lower pin column is inserted into the pin hole at the top of the pin body. The lower annular surface of the pin middle flange fits with the upper end surface of the pin body. A pin lower pin column expansion pin hole with a through hole structure is opened on the outer cylindrical surface of the pin lower pin column along the radial direction of the pin head. Two symmetrically arranged upper pin holes are opened on the upper part of the outer cylindrical surface of the pin body along the radial direction of the pin body, which are connected with the expansion pin hole of the lower pin column of the pin head when the lower pin column of the pin head is inserted into the pin hole at the top of the pin body. The pin head and the pin body are fixed by an expansion pin that passes through the upper expansion pin hole of the pin body and the expansion pin hole of the lower pin column of the pin head.

[0008] The upper part of the pin head is a cylindrical pin head positioning pin which is coaxially arranged with the flange in the middle part of the pin head.

[0009] The top end of the pin head positioning pin is in a frustum shape.

[0010] The bottom end of the pin body is provided with a disc-shaped pin body bottom flange with a diameter larger than the upper diameter of the pin body and coaxially arranged with the upper part of the pin body, and the top of the pin tail is provided with a pin tail top flange that fits with the bottom flange of the pin body, and a pin tail top pin hole with a cylindrical hole structure is opened at the center of the upper surface of the top flange of the pin tail, and a pin body bottom pin column with a cylindrical structure that is coaxially arranged with the bottom flange of the pin body and matches with the top pin hole of the pin tail is provided below the bottom flange of the pin body, and the bottom pin column of the pin body is inserted into the top pin hole of the pin tail, and the lower annular surface of the bottom flange of the pin body fits with the upper annular surface of the top flange of the pin tail, and two pin body bottom flange pin holes with through-hole structures are symmetrically arranged in the vertical direction on the bottom flange of the pin body, and two pin tail top flange internal threaded holes with internal threads are opened in the vertical direction on the top flange of the pin tail, which correspond to the two pin holes of the bottom flange of the pin body one by one when the bottom pin column of the pin body is inserted into the top pin hole of the pin tail, and the pin body and the pin tail are fixedly connected by a connecting bolt passing through the pin hole of the bottom flange of the pin body and threadedly connected with the internal threaded hole of the top flange of the pin tail.

[0011] Below the pin tail top flange, there is a disc-shaped pin tail middle flange which is coaxially arranged with the pin tail top flange and has a diameter larger than the pin tail top flange; below the pin tail middle flange, there is a frustum which is coaxially arranged with the pin tail middle flange; below the frustum, there is a pin tail bottom plug which is coaxially arranged with the frustum; and the bottom end of the pin tail bottom plug is frustum-shaped.

[0012] The opening position of the self-locking hook pin groove passes through the lower part of the outer surface of the top flange of the pin tail, penetrates the outer surface of the middle flange of the pin tail and ends at the middle part of the outer surface of the cone below the middle flange of the pin tail.

[0013] An inwardly recessed groove is provided at the lower part of the outer surface of the self-locking hook pin, so that a claw is formed at the bottom end of the self-locking hook pin below the groove, and the outer surface of the claw is a conical surface. When the self-locking hook pin shrinks inward into the self-locking hook pin groove, the conical surface of the outer surface of the claw and the conical surface of the outer surface of the cone below the middle flange of the pin tail are on the same conical surface, and the groove and the claw form a clamping structure that is clamped with the pallet positioning hole of the clamping body.

[0014] Compared with the prior art, the beneficial effects of the utility model are:

[0015] The utility model provides a self-locking positioning mechanism that can be used for automatic plugging and unplugging of robots. It can not only realize the ready-to-use installation and automatic locking of the positioning mechanism on the clamp body, but also can be integrated with the robot automation system to realize the automatic unmanned replacement of the positioning mechanism. It includes an independent pin head, pin body, pin tail and self-locking hook pin. The lower part of the pin head is provided with a pin head lower pin column with a cylindrical structure, and a pin head lower pin column expansion pin hole with a radial through-hole structure is opened on the pin head lower pin column, and a pin body top pin hole with a cylindrical hole structure is provided at the top of the pin body, and a pin body upper expansion pin hole with a radial through-hole structure is provided on the outer wall of the pin body top pin hole; the pin head lower pin column at the lower part of the pin head and the pin body top pin hole at the top of the pin body form a pin hole match, and the pin body and the pin head are fastened by passing the expansion pin through the pin head lower pin column expansion pin hole of the pin head and the pin body upper expansion pin hole of the pin body. A pin body bottom flange is provided at the lower part of the pin body, two pin body bottom flange pin holes are provided on the pin body bottom flange, a pin tail top flange is provided at the top of the pin tail, a pin tail top pin hole is provided on the pin tail top flange, and a pin tail top flange internal threaded hole with internal thread corresponding to the two pin body bottom flange pin holes is provided on the pin tail top flange, the pin column at the bottom of the pin body is inserted into the pin tail top pin hole, and the pin body and the pin tail are fixedly connected by means of a connecting bolt passing through the pin hole of the pin body bottom flange and threadedly connected to the internal threaded hole of the pin tail top flange.

[0016] The utility model can realize the disassembly and plugging of the positioning mechanism by designing independent pin heads, pin bodies, pin tails and self-locking hook pins, thereby improving the use scope of the positioning mechanism for the introduction of new models, improving the transformability of the positioning mechanism, saving costs, and improving the flexibility of the line body. The utility model can better insert the positioning mechanism into the positioning tray or positioning structure by designing the pin tail bottom plug and the cone with a cone platform at the bottom of the pin tail. The utility model can realize the interchangeable adjustment of various support structures by cooperating with the independent pin head and pin body, saving the installation and storage space of the support legs and saving investment costs. The utility model designs a self-locking hook pin, and the self-locking hook pin can be retracted by clamping the self-locking hook pin by an external robot fixture. When the pin tail bottom plug and the cone platform at the bottom of the pin tail are inserted into the positioning hole of the tray, the robot fixture is opened, and the self-locking hook pin will automatically pop out and fit closely with the positioning hole of the tray, increasing stability and preventing the positioning pin from shaking during loading. This structure can realize the automatic plugging and unplugging of the robot fixture, and the installation of the support legs is stable and reliable, reducing manual intervention and improving the automation rate of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The utility model is further described below in conjunction with the accompanying drawings:

[0018] Figure 1 This is one of the structural schematic diagrams of a self-locking positioning mechanism that can be used for automatic plugging and unplugging of a robot provided by the utility model.

[0019] Figure 2 The second structural schematic diagram of a self-locking positioning mechanism that can be used for automatic plugging and unplugging of a robot provided by the utility model.

[0020] In the figure: 1. Pin head, 2. Pin body, 3. Pin tail, 4. Self-locking hook pin, 5. Telescopic spring, 6. Spring fastening screw, 7. Self-locking hook pin slot;

[0021] 11. Pin column at the lower part of the pin head, 12. Flange in the middle part of the pin head, 13. Expansion pin hole at the pin column at the lower part of the pin head, 14. Positioning pin of the pin head;

[0022] 21. Pin hole at the top of the pin body, 22. Expansion pin hole at the upper part of the pin body, 23. Flange at the bottom of the pin body, 24. Pin column at the bottom of the pin body, 25. Pin hole at the flange at the bottom of the pin body;

[0023] 31. Pin tail top flange, 32. Pin tail top pin hole, 33. Pin tail top flange internal thread hole, 34. Pin tail middle flange, 35. Cone, 36. Pin tail bottom plug;

[0024] 41. Groove, 42. Claw. DETAILED DESCRIPTION

[0025] The utility model is described in detail below in conjunction with the accompanying drawings:

[0026] The utility model provides a self-locking positioning mechanism that can be used for automatic insertion and removal of robots, which can be clamped by an external robot fixture and inserted into a pallet positioning hole on a fixture body and pulled out from the pallet positioning hole. Figure 1 As shown, it includes a pin body 2, a detachable pin head 1 is inserted and fixed at the top of the pin body 2, a detachable pin tail 3 is inserted and fixed at the bottom of the pin body 2, and a self-locking hook pin groove 7 with a rectangular groove structure is opened on the outer surface of the pin tail 3 in the vertical direction, a rectangular strip-shaped self-locking hook pin 4 has two self-locking hook pin connecting holes that are spaced and symmetrically arranged, two spring fastening screws 6 are respectively passed through the two self-locking hook pin connecting holes and are threadedly connected with two corresponding self-locking hook pin grooves 7 with internal threads in the self-locking hook pin groove 7, and two telescopic springs 5 ​​are arranged between the self-locking hook pin 4 and the self-locking hook pin 4. The hook pin grooves 7 are respectively mounted on two spring fastening screws 6, and one end of the two telescopic springs 5 ​​presses against the self-locking hook pin 4, and the other end presses against the inner wall of the self-locking hook pin groove 7. A clamping structure is provided at the bottom of the self-locking hook pin 4. When the self-locking hook pin 4 is squeezed by the external force provided by the external robot clamp, it shrinks inward into the self-locking hook pin groove 7 and then inserts into the pallet positioning hole on the clamp body. Subsequently, the self-locking hook pin 4 extends outward to disengage from the self-locking hook pin groove 7 when it is not squeezed by the external force provided by the external robot clamp, thereby making the clamping structure at the bottom of the self-locking hook pin 4 clamped with the pallet positioning hole of the clamp body.

[0027] In this embodiment, Figure 2 As shown, a pin hole 21 of a cylindrical hole-like structure is opened at the center of the top of the pin body 2, the lower part of the pin head 1 is a pin head lower pin column 11 of a cylindrical structure that matches the pin hole 21 of the pin body, and the middle part of the pin head 1 has a cylindrical pin head middle flange 12 with a diameter larger than the pin head lower pin column 11 and coaxially arranged with the pin head lower pin column 11. The pin head lower pin column 11 is inserted into the pin hole 21 of the pin body and assembled through the h7 / H7 matching tolerance. The lower annular surface of the pin head middle flange 12 is aligned with the upper end surface of the pin body 2 The pin head 1 and the pin body 2 are fixed together by an expansion pin which passes through the upper expansion pin hole 22 and the lower expansion pin hole 13 of the pin head.

[0028] In this embodiment, Figure 2 As shown, the upper part of the pin head 1 is a cylindrical pin head positioning pin 14 coaxially arranged with the pin head middle flange. The top end of the pin head positioning pin 14 is a frustum shape.

[0029] In this embodiment, Figure 2As shown, the bottom end of the pin body 2 has a disc-shaped pin body bottom flange 23 with a diameter larger than the diameter of the upper part of the pin body 2 and coaxially arranged with the upper part of the pin body 2. The top of the pin tail 3 has a pin tail top flange 31 that fits with the pin body bottom flange. A pin tail top pin hole 32 with a cylindrical hole-like structure is opened at the center of the upper surface of the pin tail top flange 31. Below the pin body bottom flange 23, there is a pin body bottom pin column 24 with a cylindrical structure that is coaxially arranged with the pin body bottom flange 23 and matches with the pin tail top pin hole 32. The pin body bottom pin column 24 is inserted into the pin tail top pin hole 32. The lower annular surface of the bottom flange 23 fits with the upper annular surface of the top flange 31 of the pin tail. Two symmetrically arranged pin body bottom flange pin holes 25 with through-hole structures are opened in the vertical direction on the bottom flange 23 of the pin body. Two pin tail top flange internal threaded holes 33 with internal threads are opened in the vertical direction on the top flange 31 of the pin tail, which correspond to the two pin body bottom flange pin holes 25 one by one when the pin column 24 at the bottom of the pin body is inserted into the pin tail top pin hole 32. The pin body 2 and the pin tail 3 are fixedly connected by the connecting bolts passing through the pin body bottom flange pin holes 25 and threadedly connected with the pin tail top flange internal threaded holes 33.

[0030] In this embodiment, Figure 2 As shown, below the pin tail top flange 31, there is a disc-shaped pin tail middle flange 34 which is coaxially arranged with the pin tail top flange 31 and has a diameter larger than the pin tail top flange 31; below the pin tail middle flange 34, there is a cone 35 which is coaxially arranged with the pin tail middle flange 34; below the cone 35, there is a pin tail bottom plug 36 which is a cylindrical structure which is coaxially arranged with the cone 35; the bottom end of the pin tail bottom plug 36 is cone-shaped, which is convenient for the positioning mechanism to be inserted into the tray positioning hole on the clamp body.

[0031] In this embodiment, Figure 2 As shown, the opening position of the self-locking hook pin groove 7 passes through the lower part of the outer surface of the pin tail top flange 31, penetrates the outer surface of the pin tail middle flange 34 and ends at the middle part of the outer surface of the cone 35 below the pin tail middle flange 34.

[0032] In this embodiment, Figure 2As shown, a groove 41 is provided at the lower part of the outer surface of the self-locking hook pin 4, so that a claw 42 is formed at the bottom end of the self-locking hook pin 4 below the groove 41. The outer surface of the claw 42 is a conical surface. When the self-locking hook pin 4 is retracted inwardly into the self-locking hook pin groove 7, the conical surface of the outer surface of the claw 42 and the conical surface of the outer surface of the cone 35 below the middle flange 34 of the pin tail are on the same conical surface. The groove 41 and the claw 42 form a clamping structure that is clamped with the pallet positioning hole of the clamping body. When the self-locking hook pin 4 is squeezed by the clamping force provided by the external robot clamp, it is retracted inwardly into the self-locking hook pin groove 7 and then inserted into the pallet positioning hole on the clamping body. Subsequently, when the self-locking hook pin 4 is not squeezed by the clamping force provided by the external robot clamp, it extends outward to disengage from the self-locking hook pin groove 7, so that the clamping structure at the bottom of the self-locking hook pin 4 is clamped with the pallet positioning hole of the clamping body.

[0033] The utility model provides a self-locking positioning mechanism that can be used for automatic plugging and unplugging of robots. It can not only realize the ready-to-use installation and automatic locking of the positioning mechanism on the clamp body, but also can be integrated with the robot automation system to realize the automatic unmanned replacement of the positioning mechanism. It includes an independent pin head 1, a pin body 2, a pin tail 3 and a self-locking hook pin 4. The lower part of the pin head is provided with a pin head lower pin column 11 with a cylindrical structure, and a pin head lower pin column expansion pin hole 13 with a radial through-hole structure is opened on the pin head lower pin column 11. The top of the pin body 2 has a pin body top pin hole 21 with a cylindrical hole structure, and the outer wall of the pin body top pin hole has a pin body upper expansion pin hole 22 with a radial through-hole structure; the pin head lower pin column 11 at the lower part of the pin head 1 forms a pin hole match with the pin body top pin hole 21 at the top of the pin body 2, and the pin body 2 is fastened to the pin head 1 by passing the expansion pin through the pin head lower pin column expansion pin hole 13 of the pin head 1 and the pin body upper expansion pin hole 22 of the pin body 2. A pin body bottom flange 23 is provided at the lower part of the pin body 2, two pin body bottom flange pin holes 25 are provided on the bottom flange of the pin body 2, a pin tail top flange 31 is provided at the top of the pin tail 3, a pin tail top pin hole 32 is provided on the pin tail top flange 31, and a pin tail top flange internal threaded hole 33 with internal threads corresponding to the two pin body bottom flange pin holes 25 is provided on the pin tail top flange 31, the pin body bottom pin column 24 is inserted into the pin tail top pin hole 32, and the pin body 2 and the pin tail 3 are fixedly connected by means of a connecting bolt passing through the pin body bottom flange pin hole 25 and threadedly connected to the pin tail top flange internal threaded hole 33.

[0034] When the external robot clamp grips the positioning mechanism, the robot's grip will apply axial force to the self-locking hook pin 4, causing the self-locking hook pin 4 to compress the telescopic spring 5, and at this time the self-locking hook pin 4 will enter the self-locking hook pin groove 7 of the pin tail 3. After the self-locking hook pin 4 enters the self-locking hook pin groove 7, the robot will insert the positioning mechanism into the clamp. After the insertion is completed, the robot releases the clamping force on the self-locking hook pin 4, and the compressed telescopic spring 5 will return to its original length and push the self-locking pin 4 out of the self-locking hook pin groove 7. The groove 41 and the claw 42 at the bottom of the self-locking hook pin 4 will cooperate to hook the base of the clamp, so that the entire positioning mechanism is tightly installed on the clamp, realizing the flexible pin replacement function of the clamp.

Claims

1. A self-locking positioning mechanism for automatic insertion and removal of a robot, which can be clamped by an external robot fixture and inserted into and removed from a pallet positioning hole on a fixture body, comprising a pin body (2), characterized in that: A detachable pin head (1) is inserted and fixed at the top end of the pin body (2), and a detachable pin tail (3) is inserted and fixed at the bottom end of the pin body (2). A self-locking hook pin groove (7) with a rectangular groove structure is opened on the outer surface of the pin tail (3) in the vertical direction. A rectangular strip-shaped self-locking hook pin (4) has two self-locking hook pin connection holes that are spaced and symmetrically arranged. Two spring fastening screws (6) pass through the two self-locking hook pin connection holes respectively and are threadedly connected with two corresponding internal threaded self-locking hook pin grooves (7) with internal threads. Two telescopic springs (5) are arranged between the self-locking hook pin (4) and the self-locking hook pin groove ( 7) and are respectively mounted on two spring fastening screws (6), and one end of the two telescopic springs (5) presses against the self-locking hook pin (4), and the other end presses against the inner wall of the self-locking hook pin groove (7). A clamping structure is provided at the bottom of the self-locking hook pin (4). When the self-locking hook pin (4) is squeezed by the external force provided by the external robot clamp, it shrinks inward into the self-locking hook pin groove (7) and then inserts into the pallet positioning hole on the clamp body. Subsequently, when the self-locking hook pin (4) is not squeezed by the external force provided by the external robot clamp, it extends outward to disengage from the self-locking hook pin groove (7), thereby making the clamping structure at the bottom of the self-locking hook pin (4) clamped with the pallet positioning hole on the clamp body.

2. A self-locking positioning mechanism for automatic plugging and unplugging of robots according to claim 1, characterized in that: A pin hole (21) with a cylindrical hole-like structure is opened at the center of the top of the pin body (2); the lower part of the pin head (1) is a pin head lower pin column (11) with a cylindrical structure that matches the pin hole (21) at the top of the pin body; the middle part of the pin head (1) is provided with a cylindrical pin head middle flange (12) with a diameter greater than that of the pin head lower pin column (11) and coaxially arranged with the pin head lower pin column (11); the pin head lower pin column (11) is inserted into the pin hole (21) at the top of the pin body; the lower annular surface of the pin head middle flange (12) is in contact with the upper end surface of the pin body (2); and the pin head lower pin column (11) is in contact with the pin body. A pin head lower pin column expansion pin hole (13) with a through hole structure is opened on the outer cylindrical surface of (11) along the radial direction of the pin head lower pin column (11), and two pin body upper expansion pin holes (22) are opened on the upper part of the outer cylindrical surface of the pin body (2) along the radial direction of the pin body (2) and are symmetrically arranged and connected with the pin head lower pin column expansion pin hole (13) when the pin head lower pin column (11) is inserted into the pin body top pin hole (21), and the pin head (1) and the pin body (2) are fixed by an expansion pin passing through the pin body upper expansion pin hole (22) and the pin head lower pin column expansion pin hole (13).

3. A self-locking positioning mechanism for automatic plugging and unplugging of robots according to claim 2, characterized in that: The upper part of the pin head (1) is a cylindrical pin head positioning pin (14) which is coaxially arranged with the flange in the middle part of the pin head.

4. A self-locking positioning mechanism for automatic plugging and unplugging of a robot according to claim 3, characterized in that: The top end of the pin head positioning pin (14) is in a frustum shape.

5. The self-locking positioning mechanism for automatic plugging and unplugging of robots according to claim 1, characterized in that: The bottom end of the pin body (2) is provided with a disc-shaped pin body bottom flange (23) having a diameter greater than the diameter of the upper part of the pin body (2) and coaxially arranged with the upper part of the pin body (2); the top end of the pin tail (3) is provided with a pin tail top flange (31) which is fitted with the pin body bottom flange; a pin tail top pin hole (32) having a cylindrical hole-like structure is provided at the center of the upper surface of the pin tail top flange (31); a pin body bottom pin column (24) having a cylindrical structure which is coaxially arranged with the pin body bottom flange (23) and matches with the pin tail top pin hole (32) is provided below the pin body bottom flange (23); the pin body bottom pin column (24) is inserted into the pin tail top pin hole (32); the pin body bottom The lower annular surface of the flange (23) fits with the upper annular surface of the pin tail top flange (31), and two symmetrically arranged pin body bottom flange pin holes (25) with through-hole structures are formed on the pin body bottom flange (23) in the vertical direction. Two pin tail top flange internal thread holes (33) with internal threads are formed on the pin tail top flange (31) in the vertical direction. When the pin body bottom pin column (24) is inserted into the pin tail top pin hole (32), the two pin body bottom flange pin holes (25) are corresponding to each other in a one-to-one manner. The pin body (2) and the pin tail (3) are fixedly connected by connecting bolts passing through the pin body bottom flange pin holes (25) and the pin tail top flange internal thread holes (33).

6. A self-locking positioning mechanism for automatic plugging and unplugging of robots according to claim 5, characterized in that: A disc-shaped pin tail middle flange (34) is provided below the pin tail top flange (31) and is coaxially arranged with the pin tail top flange (31) and has a larger diameter than the pin tail top flange (31); a section of a frustum (35) is provided below the pin tail middle flange (34) and is coaxially arranged with the pin tail middle flange (34); a section of a pin tail bottom plug (36) of a cylindrical structure is provided below the frustum (35) and is coaxially arranged with the frustum (35); and the bottom end of the pin tail bottom plug (36) is in a frustum shape.

7. A self-locking positioning mechanism for automatic plugging and unplugging of robots according to claim 6, characterized in that: The opening position of the self-locking hook pin groove (7) passes through the lower part of the outer surface of the pin tail top flange (31), penetrates the outer surface of the pin tail middle flange (34) and ends at the middle part of the outer surface of the cone (35) below the pin tail middle flange (34).

8. The self-locking positioning mechanism for automatic plugging and unplugging of a robot according to claim 7, characterized in that: The lower part of the outer surface of the self-locking hook pin (4) is provided with an inwardly recessed groove (41), so that the bottom end of the self-locking hook pin (4) forms a claw (42) below the groove (41), and the outer surface of the claw (42) is a conical surface. When the self-locking hook pin (4) is retracted inwardly into the self-locking hook pin groove (7), the conical surface of the outer surface of the claw (42) and the conical surface of the outer surface of the cone (35) below the middle flange (34) of the pin tail are on the same conical surface, and the groove (41) and the claw (42) form a clamping structure that is clamped with the pallet positioning hole of the clamping body.

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