CN117231037A - Mechanical connector and dismounting method thereof and breaking and dismounting robot - Google Patents

Abstract

The present invention discloses a mechanical connector disassembly method and a demolition robot. The connector includes a wedge block and an upper assembly and a lower assembly that are rotationally connected through a stepped shaft; the lower assembly includes a right The second connector on the side and the second connector on the left, the second connector on the right and the second connector on the left are provided with limited holes at one end close to the upper assembly; the upper assembly includes the first connector on the right and the first connector on the left, a closed space is formed between the end faces of the first connector on the right and the first connector on the left and the limiting hole; the wedge block is detachably connected in the closed space, and when the wedge block is connected in the closed space When it is in the middle, the rotation between the upper assembly and the lower assembly is restricted. The structure of this application is simple and light in weight; only one wedge-shaped block needs to be removed in the process of replacing the machine tool, which saves time and effort.

Description

A mechanical connector and its disassembly method and demolition robot

Technical field

The invention relates to the technical field of quick connectors, and in particular to a mechanical connector disassembly method and a disassembly robot.

Background technique

In recent years, demolition robots have been widely used in construction or rescue operations in small spaces. By optimizing the operating system, they can achieve 3 to 4 times the operating efficiency of excavators of the same tonnage. In order to adapt to more working scenarios, demolition robots usually need to replace the working attachments on the front end of the boom. Quick connectors are usually used to quickly switch between different attachments.

The quick connector is an intermediate connection device added between the forearm and connecting rod of the demolition robot and the work attachments. It is mainly used to achieve rapid switching of different work attachments. Traditional quick connectors have complex structures and heavy weights. Due to the limited load-carrying capacity of the demolition robot's working arm, it is difficult to install heavy quick connectors while ensuring normal use of the work attachments. In order to meet the requirements for the use of quick connectors by demolition robots, it is necessary to develop a quick connector with light weight and simple structure.

After searching, it was found that the current quick connector has a complex structure. The pins connecting the working equipment and the tool end of the quick connector are connected to the two main structures through bolts at both ends. There are four bolt connection points here. In order to limit the two The degree of freedom between the two main structures requires two bolts to fix the main structure, so this type of quick connector requires at least six bolts, so it takes a long time to replace the machine tool.

Contents of the invention

The object of the present invention is to provide a mechanical connector disassembly method and a dismantling robot to solve the problems in the prior art that the connector structure is complex and the replacement of the machine tool is time-consuming.

In order to achieve the above objects, the present invention is achieved by adopting the following technical solutions:

In a first aspect, this application discloses a mechanical connector, which includes a wedge block, an upper assembly and a lower assembly that are rotationally connected through a stepped shaft;

The lower assembly includes a right second connector and a left second connector, and one end of the right second connector and the left second connector close to the upper assembly is provided with a limiting hole; The above assembly includes a first connecting body on the right side and a first connecting body on the left side. A closed space is formed between the end surfaces of the first connecting body on the right side and the first connecting body on the left side and the limiting hole. ;

The wedge-shaped block is detachably connected in the closed space. When the wedge-shaped block is connected in the closed space, the wedge-shaped block is in contact with the end surfaces of the first connecting body on the right and/or the first connecting body on the left. The end surface of the first connecting body on the right side and/or the first connecting body on the left side is in contact with the first limiting block on the second connecting body on the right side and/or the second connecting body on the left side, so that the upper assembly Rotation between the assembly and the lower assembly is restricted.

Further, a first limiting block is provided on a side of the right second connecting body close to the left second connecting body;

When the wedge block is connected in a closed space, the end surface of the first limiting block and the right first connecting body contacts, and the contact point between the limiting block and the right first connecting body is with the wedge block and the end surface of the right first connecting body. The contact points of the first connecting body on the right side are respectively located on both sides of the stepped shaft.

Further, a second closed space is formed between the end surface of the first connector on the right side and the limiting hole of the second connector on the right side; the end surface of the first connector on the left side and the third connector on the left side are connected to each other. A first closed space is formed between the limiting holes of the two connectors, and the width of the first closed space is greater than the second closed space;

When the wedge block is connected in the first closed space and the closed space, the end surface of the wedge block contacts the first connecting body on the right side.

Further, one end of the wedge-shaped block is provided with a second limiting block, and the other end is provided with a through hole; the side surface of the left second connecting body away from the right second connecting body is provided with a waist hole;

The second limiting block of the wedge block is in contact with the side wall of the second connecting body on the right side, and the elastic pin penetrates the waist hole and the through hole to fix the wedge block in the first closed space and the closed space. middle.

Furthermore, the ends of the first right connecting body, the first connecting body on the left side, the second connecting body on the right side and the second left connecting body are all provided with stepped holes for connecting the stepped shafts.

Further, the upper assembly further includes a first pin, and the right first connecting body and the left first connecting body are connected at both ends of the first pin; the lower assembly also includes It includes a second pin, and the right second connecting body and the left second connecting body are connected at both ends of the second pin.

Further, both ends of the first pin are provided with first threaded holes, the pin connection ends of the right first connector and the left first connector are provided with connecting stepped holes, and the third Both ends of a pin are inserted into the connecting stepped holes of the first connecting body on the right side and the first connecting body on the left side respectively, and are fixed by bolts;

Both ends of the second pin are provided with second threaded holes, and the pin connection ends of the right second connector and the left second connector are provided with connecting stepped holes. The second pin Both ends are inserted into the connecting step holes of the second connecting body on the right and the second connecting body on the left respectively, and are fixed with bolts.

Further, grooves are provided in the connection step holes of the first right connector, the first left connector, the second connector on the right and the second connector on the left;

Both ends of the first pin and the second pin are provided with bosses, and the bosses are plugged into the grooves.

In a second aspect, this application discloses a method for disassembling a mechanical connector, which includes a mechanical connector as described in any one of the first aspects installed between the arm end of a mechanical working device and a machine tool. The disassembly method includes :

Remove the wedge block in the enclosed space to release the rotation restriction between the upper assembly and the lower assembly;

Turn the upper assembly or the lower assembly to shorten the distance between the first pin on the upper assembly and the second pin on the lower assembly so that the right side of the end of the first pin in the connector The first side connecting body and the first connecting body on the left side and the second connecting body on the right side and the second connecting body on the left side of the second pin end are separated from the front and rear hook structures of the machine tool.

In a third aspect, this application discloses a demolition robot, including the mechanical connector described in any one of the first aspects.

According to the above technical solution, the beneficial effects of the present invention are:

The connector of the present application includes a rotatable upper assembly and a lower assembly and is designed with a wedge-shaped block that can limit the rotation of the upper assembly and the lower assembly. It has a simple structure and is light in weight; when the connector of the present application connects When the machine tool needs to be replaced, just pull out the wedge block from the closed space to restore the rotational freedom of the upper assembly and lower assembly, and then rotate the upper assembly or lower assembly to make the first connection on the right The body, the first connector on the left, the second connector on the right and the second connector on the left are separated from the front and rear hook structures of the machine, which realizes the disassembly of the machine. The process of replacing the machine only requires the removal of a wedge-shaped block. save time and energy.

Description of drawings

Figure 1 is a schematic diagram of the overall assembly of the connector of this application;

Figure 2 is a schematic diagram of the exploded structure of the connector of this application;

Figure 3 is a schematic structural diagram of the pin in this application;

Figure 4 is a schematic diagram of the first connector in this application;

Figure 5 is a schematic diagram of the second connector in this application;

Figure 6 is a schematic structural diagram of the wedge block in this application;

Figure 7 is a schematic structural diagram of the connector in this application;

Figure 8 is a schematic structural diagram of the connector installation tool in this application.

Implementation

In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention will be further elaborated below in conjunction with specific implementation modes.

It should be noted that in the description of the present invention, the terms "front", "back", "left", "right", "upper", "lower", "inner", "outer", etc. indicate the orientation or position. The relationship is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and does not require that the present invention must be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation of the present invention. The terms "front", "back", "left", "right", "upper" and "lower" used in the description of the present invention refer to the directions in the drawings, and the terms "inner" and "outer" refer to respectively Is the direction toward or away from the geometric center of a specific part.

As shown in Figures 1 to 8, this application discloses a mechanical connector, which includes a wedge block 9 and an upper assembly A and a lower assembly B that are rotationally connected through a stepped shaft 1; the lower assembly B includes The right second connector 6 and the left second connector 8 are provided with limited holes at one end close to the upper assembly A; the upper assembly A It includes a right first connector 5 and a left first connector 7. A closed space is formed between the end faces of the right first connector 5 and the left first connector 7 and the limiting holes; the wedge block 9 is detachably connected. In a closed space, when the wedge block 9 is connected in the closed space, the wedge block 9 is in contact with the end surfaces of the right first connecting body 5 and/or the left first connecting body 7 , and the right first connecting body 5 and / Or the end surface of the left first connecting body 7 is in contact with the first limiting block on the right second connecting body 6 and / or the left second connecting body 8 , so that the upper assembly A and the lower assembly Rotation between B is restricted.

In this application, the rotation restriction of the upper assembly A and the lower assembly B is realized by the wedge block 9 and the limiting block structure on the connecting body. Further, the contact point between the end surface of the limiting block structure and the connecting body is used as a limiting point, and the contact point between the end surface of the wedge block 9 and the connecting body is used as another contact point. The two contact points are respectively located on both sides of the stepped shaft 1, that is, The rotation of the stepped shaft 1 can be restricted, and the rotation between the upper assembly A and the lower assembly B can be restricted.

The common limits on both sides of the stepped shaft ensure the stability of the connector after installation and prevent rotation between the upper assembly A and the lower assembly B.

In a specific embodiment, the end surface contact between the wedge block 9 and the first connecting body 5 on the right side serves as a limiting point. In other embodiments, the end surface contact between the wedge block 9 and the first connecting body 7 on the left side serves as a limiting point. At a limiting place, the wedge block 9 can also be in contact with the end surface of the right first connecting body 5 and at the same time contact the end surface of the left first connecting body 7 to jointly serve as a limiting place.

In one embodiment, a first limiting block 6-3 is provided on a side of the right second connecting body 6 close to the left second connecting body 8; when the wedge block 9 is connected in a closed space, the first limiting block 6-3 A limiting block 6-3 contacts the end surface of the first connecting body 5 on the right side as the second limiting point. In other embodiments, the limiting block can also be disposed on a side of the left second connecting body 8 close to the right second connecting body 6. In this case, the left first connecting body 7 and the left second connecting body 7 The contact of the limiting block on the connecting body 8 serves as the second limiting place. Similarly, in some embodiments, the side of the left second connector 8 close to the right second connector 6 and the side of the left second connector 8 close to the right second connector 6 Limiting blocks are provided on both sides. At this time, the two contact points where the right first connecting body 5 and the left first connecting body 7 contact the limiting blocks serve as the second limiting places.

The wedge blocks in this application can be fixed by conventional elastic pins and end protrusion limits. The content of this application will be described in detail below through a specific embodiment.

As shown in Figures 1 and 2, a mechanical quick connector assembly consists of a stepped shaft 1, a first pin 2, a second pin 3, an anti-loosening washer 4, a right first connector 5, a right It is composed of the second side connecting body 6, the first left connecting body 7, the second left connecting body 8, the wedge block 9, the bolt 10 and the elastic pin 11.

As shown in Figure 3, the first pin 2 and the second pin 3 have the same structural dimensions. Here, only the structure of the first pin will be described. The first pin 2 is a symmetrical structural member with equal structural dimensions at both ends. The first boss 2-1 and the first threaded hole 2-2 of the same structural size. With the same structural layout, the second pin 3 is a symmetrical structural member provided with a second boss 3-1 of the same structural size and a second threaded hole 3-2 of the same structural size at both ends.

As shown in Figures 4 and 5, the first right connector 5, the first left connector 7, the second right connector 6 and the second left connector 8 each include a cylindrical pin connection end and a The plate-shaped main body, the pin connecting end and the main body end are integrally formed.

The main features of the first connector 5 on the right side are the first groove 5-1 on the right side and the first step shaft hole 5-2 on the right side. The first groove 5-1 on the right side is provided at the pin connection end for installing the ladder. In the connecting stepped hole of the shaft 1, the first stepped shaft hole 5-2 on the right side is provided on the plate-shaped main body. The main features of the first connector 7 on the left are the first groove 7-1 on the left and the first step shaft hole 7-2 on the left. The first groove 7-1 on the left is provided at the pin connection end for installing the ladder. In the connecting stepped hole of the shaft 1, the first stepped shaft hole 7-2 on the left side is provided on the plate-shaped main body. The right first groove 5-1 and the left first groove 7-1, the right first stepped shaft hole 5-2 and the left first stepped shaft hole 7-2 are symmetrical structures, and their structural dimensions are consistent.

The main difference between the right first connector 5 and the left first connector 7 is the size of the end face 5 - 3 of the right first connector and the end face 7 - 3 of the left first connector 7 . The size of the end face 5-3 in the width direction is larger than the size of the end face 7-3 in the width direction, so that the closed space formed between the end face and the limit hole is different, that is, the closed space formed between the end face 7-3 and the limit hole is larger than A closed space is formed between the end surface 5-3 and the limiting hole.

As shown in Figure 5, the main features of the right second connecting body 6 are the right second groove 6-1, the right second stepped shaft hole 6-3, and the right second limiting hole 6-4. The second groove 6-1 on the right side is provided in the connecting stepped hole for installing the stepped shaft 1 at the pin connection end, the second stepped shaft hole 6-3 on the right side and the second limiting hole 6-4 on the right side are provided on the plate-shaped main body. The main features of the left second connecting body 8 are the left second groove 8-1, the left second stepped shaft 8-3, and the left second limiting hole 8-4. It has a symmetrical structure with the second connecting body 6 on the right side and has the same structural dimensions.

The inner side of the second connecting body 6 on the right side, that is, the side close to the second connecting body 8 on the left side, is provided with a limiting block 6-2 to limit the movement of the first connecting body 5 on the right side, and the outer side of the second connecting body 8 on the left side is A positioning waist hole 8-2 is provided on the side to limit the left and right movement of the wedge block 9.

As shown in Figures 1 and 2, the left end surface of the first pin 2 and the left first connecting body 7 are nested together. In order to prevent the two from rotating with each other, the first boss 2- on the left end surface of the first pin 2 is 1 is embedded and matched with the first left groove 7-1 on the left first connecting body 7. The bolt 10 passes through the anti-loosening washer 4, the left first connecting body 7 and finally screws into the left end of the first pin 2 The first threaded hole 2-2 on the left side fastens the first connecting body 7 on the left side with the first pin 2.

The right end surface of the first pin 2 is nested with the first connecting body 5 on the right side, and the first boss 2-1 on the right end surface of the first pin 2 is connected with the first recess on the right side of the first connecting body 5. The groove 5-1 is embedded and matched to prevent the two from rotating with each other. The bolt 10 passes through the anti-loosening washer 4 and the first connector 5 on the right side in sequence, and is finally screwed into the first threaded hole 2-2 on the right end of the first pin 2. The first connecting body 5 on the right side is tightly connected to the first pin 2 .

As shown in Figures 1 and 2, under the same principle, the left end surface of the second pin 3 is nested with the second left connecting body 8, and the second boss 3-1 on the left end surface of the second pin 3 is connected to the left second connecting body 8. The second groove 8-1 on the left side of the second connecting body 8 is embedded and matched to prevent the two from rotating with each other. The bolt 10 passes through the anti-loosening washer 4, the second connecting body 8 on the left side and finally screws into the second pin. The second threaded hole 3-2 on the left end surface of the shaft 3 tightly connects the second connecting body 8 on the left side with the second pin 3.

The right end surface of the second pin 3 and the second connector 6 on the right are nested together. In order to prevent the two from rotating with each other, the second boss 3-1 on the right end of the second pin 3 and the second connector 6 on the right are connected. The second groove 6-1 on the right side is embedded and fitted, and the bolt 10 passes through the anti-loosening washer 4 and the second connecting body 6 on the right side in sequence, and is finally screwed into the second threaded hole 3-2 on the right end of the second pin 3. The second connecting body 6 on the right side is tightly connected to the second pin 3 .

As shown in Figures 2 and 3, the left end surface of the stepped shaft 1 passes through the first left stepped hole 7-2 of the left first connector 7 and the left second stepped hole of the second left connector 8 in sequence. 8-3, the right end surface of the stepped shaft 1 passes through the first right stepped hole 5-2 of the right first connecting body 5 and the right second stepped hole 6-3 of the right second connecting body 6 in sequence. At this time, the upper part is composed of the first connecting body 7 on the left, the first pin 2, the first connecting body 5 on the right, the lock washer 4 and the bolt 10, and the second connecting body 8 on the left and the second pin. 3. The lower part composed of the second connecting body 6 on the right side, the lock washer 4 and the bolt 10 can rotate around the stepped shaft 1.

As shown in Figure 7, a closed limiting space I is formed by the right end surface 5-3 on the right first connector 5 and the right second connector 6-4 on the right second connector 6. The left end surface 7-3 on the first connecting body 7 and the second left side 8-4 on the second left connecting body 8 form a closed space II. Among them, the closed space I is 5 mm larger than the closed space II in the width direction, the wedge-shaped block 9 fills the closed space II and the closed space I in sequence, and the elastic pin 11 passes through the upper waist hole 8-2 of the left second connecting body 8 and the wedge-shaped block in sequence. 9 upper through hole 9-2, connects the left second connecting body 8 and the wedge block 9 together to limit the left and right movement of the wedge block 9. In addition, a second limiting block 9-1 is provided on the wedge block 9 to also limit the wedge shape. block movement.

The invention mainly solves the problems of heavy weight, complicated connection process and poor applicability of the quick connector. The mechanical quick connector of the present invention has a simple structure, and the connecting parts are light in weight. It adopts a single wedge-shaped block locking structure and is locked with an elastic pin. Both ends of the connecting pin shaft are tightened by bolts to achieve good connection reliability and high reliability. The process is simple and can meet the requirements of demolition robots for the use of quick connectors.

In one embodiment of the present application, a method for disassembling a mechanical connector is also disclosed, which includes a mechanical connector installed between the arm end of a mechanical working device and a machine tool. The disassembly method includes: removing the mechanical connector from the closed space. wedge block 9 to release the rotation restriction between the upper assembly A and the lower assembly B; rotate the upper assembly A or the lower assembly B to shorten the relative position of the first pin 2 on the upper assembly A The distance between the second pin 3 on the lower assembly B is such that the right first connecting body 5 and the left first connecting body 7 and the second pin at the end of the first pin 2 in the connector The right second connecting body 6 and the left second connecting body 8 at the end of 3 are separated from the front and rear hook structures of the machine tool.

When the mechanical quick connector of this application is connected to the machine tool (breaking hammer), it is connected to the arm end of the working device through the first pin 2 and the second pin 3, and is connected through the first connecting body on the right side 5 and the second connecting body on the right side. The connecting body 6, the first connecting body 7 on the left and the second connecting body 8 on the left are connected to the front and rear hook structures on the work tool (breaking hammer). By moving the wedge block 9, the mechanical quick connector and the machine tool ( breaker) fixed connection.

As shown in Figures 7 and 8, the disassembly process of the mechanical quick connector and the work attachment is as follows: by taking out the elastic pin, take out the wedge block 9 from the right side; at this time, the first connector 7 on the left and the first connector 7 on the right can be reduced. The distance between the first pin 2 on the connecting body 5 and the second pin 3 on the second connecting body 8 on the left and the second connecting body 6 on the right is connected; operating the connecting rod and the forearm makes the mechanical fast The upper connecting body of the connector is separated from the front and rear hook structures of the work tool (breaking hammer).

In one embodiment, this application also discloses a demolition robot, including the mechanical connector provided in any embodiment.

It is known from common technical knowledge that the present invention can be implemented by other embodiments without departing from its spirit or essential characteristics. Therefore, the above-disclosed embodiments are in all respects illustrative and not exclusive. All changes within the scope of the present invention or within the scope equivalent to the present invention are included in the present invention.

Claims (10)

1. A mechanical connector, characterized by comprising a wedge block (9) and an upper assembly (a) and a lower assembly (B) which are rotationally connected by a stepped shaft (1);

the lower assembly piece (B) comprises a right second connector (6) and a left second connector (8), and limiting holes are formed in one ends, close to the upper assembly piece (A), of the right second connector (6) and the left second connector (8); the upper assembly (A) comprises a right first connector (5) and a left first connector (7), and a closed space is formed between the end face of the right first connector (5) and the end face of the left first connector (7) and the limiting hole;

the wedge-shaped block (9) is detachably connected in the closed space, when the wedge-shaped block (9) is connected in the closed space, the wedge-shaped block (9) is contacted with the end face of the right first connector (5) and/or the left first connector (7), and the end face of the right first connector (5) and/or the left first connector (7) is contacted with the first limiting block on the right second connector (6) and/or the left second connector (8), so that the rotation between the upper assembly (A) and the lower assembly (B) is limited.

2. The mechanical connector according to claim 1, characterized in that a first stopper (6-3) is provided on a side of the right second connecting body (6) close to the left second connecting body (8);

when the wedge-shaped block (9) is connected in the closed space, the first limiting block (6-3) is in contact with the end face of the right first connecting body (5), and the contact point of the limiting block (6-3) and the right first connecting body (5) and the contact point of the wedge-shaped block (9) and the right first connecting body (5) are respectively positioned on two sides of the stepped shaft (1).

3. The mechanical connector according to claim 1, characterized in that a second closed space (II) is formed between the end face (5-3) of the right-hand first connecting body (5) and the limiting aperture of the right-hand second connecting body (6); a first closed space (I) is formed between the end face (7-3) of the left first connecting body (7) and the limit hole of the left second connecting body (8), and the width of the first closed space (I) is larger than that of the second closed space (II);

when the wedge-shaped block (9) is connected in the first closed space (I) and the closed space (II), the wedge-shaped block (9) is contacted with the end face of the right first connecting body (5).

4. The mechanical connector according to claim 1, characterized in that one end of the wedge block (9) is provided with a second stopper (9-1) and the other end is provided with a through hole (9-2); a waist hole (8-2) is formed in one side surface, far away from the right side second connector (6), of the left side second connector (8);

the second limiting block (9-1) of the wedge-shaped block (9) is in contact with the side wall of the right second connecting body (6), and the elastic pin (11) penetrates through the waist hole (8-2) and the through hole (9-2) so that the wedge-shaped block (9) is fixed in the first closed space (I) and the closed space (II).

5. The mechanical connector according to claim 1, characterized in that the ends of the right side first connector (5), the left side first connector (7), the right side second connector (6) and the left side second connector (8) are each provided with a stepped hole for connecting a stepped shaft (1).

6. The mechanical connector according to claim 1, wherein the upper assembly (a) further comprises a first pin (2), the right-side first connector (5) and the left-side first connector (7) being connected at both ends of the first pin (2); the lower assembly (B) further comprises a second pin shaft (3), and the right second connector (6) and the left second connector (8) are connected to two ends of the second pin shaft (3).

7. The mechanical connector according to claim 6, wherein both end parts of the first pin shaft (2) are provided with first threaded holes (2-2), pin shaft connection ends of the right side first connector (5) and the left side first connector (7) are provided with connection stepped holes, and both ends of the first pin shaft (2) are respectively inserted into the connection stepped holes of the right side first connector (5) and the left side first connector (7) and fixed by bolts (10);

the two ends of the second pin shaft (3) are respectively provided with a second threaded hole (3-1), pin shaft connecting ends of the right side second connecting body (6) and the left side second connecting body (8) are provided with connecting stepped holes, and the two ends of the second pin shaft (3) are respectively inserted into the connecting stepped holes of the right side second connecting body (6) and the left side second connecting body (8) and are fixed through bolts (10).

8. The mechanical connector according to claim 7, wherein grooves are provided in the connecting stepped holes of the right first connector (5), the left first connector (7), the right second connector (6) and the left second connector (8);

both ends of the first pin shaft (2) and both ends of the second pin shaft (3) are respectively provided with a boss, and the bosses are connected with the grooves in a plugging manner.

9. A method of removing a mechanical connector comprising installing a mechanical connector according to any one of claims 1-8 between an arm end of a work machine and an implement, the method comprising:

removing the wedge (9) in the enclosed space to release the rotation restriction between the upper assembly (a) and the lower assembly (B);

the upper assembly (A) or the lower assembly (B) is rotated, the distance between the first pin shaft (2) on the upper assembly (A) and the second pin shaft (3) on the lower assembly (B) is shortened, so that the right first connector (5) and the left first connector (7) at the end part of the first pin shaft (2) and the right second connector (6) and the left second connector (8) at the end part of the second pin shaft (3) in the connector are separated from the front-back hook structure of the machine tool.

10. A tamper robot comprising the mechanical connector of any one of claims 1-8.