A robot maintenance vehicle

Abstract

The present invention discloses a robot maintenance vehicle, which belongs to the field of robot maintenance technology. The robot maintenance vehicle provided by the present invention includes two frame mechanisms, two lifting mechanisms, two rotating mechanisms and two plug-in mechanisms. The two frame mechanisms are arranged at intervals, and a space for accommodating the robot is formed between the two. By arranging a lifting mechanism on each frame mechanism, arranging a rotating mechanism on each lifting mechanism, and using two plug-in structures to realize the connection between the two rotating mechanisms and the two ends of the robot, the robot maintenance vehicle can realize the rotation and lifting of the robot during the maintenance process. Compared with the manual handling and flipping of the robot in the prior art, the use of the robot maintenance vehicle is not only safe, easy to operate, and highly stable, but also can reduce the required maintenance personnel and reduce the labor intensity of the maintenance personnel.

Description

Technical Field

[0001] The present invention relates to the technical field of robot maintenance, and in particular to a robot maintenance vehicle. Background Art

[0002] With the rapid development of AGV robots, there are more and more types of existing AGV robots, and their applications in various fields are becoming more and more extensive. During long-term and high-frequency use, AGV robots will inevitably fail and need repair or regular maintenance. The existing technology generally uses manual handling and flipping, which is not only labor-intensive and unsafe, but also requires multiple people to work together for the heavy AGV robots, which is not convenient.

[0003] Therefore, how to propose a maintenance vehicle that can assist maintenance personnel in completing the repair and maintenance of AGV robots is a technical problem that urgently needs to be solved. Summary of the invention

[0004] The object of the present invention is to provide a robot maintenance vehicle which is not only highly safe and easy to operate, but also capable of reducing the number of maintenance personnel required and lowering the labor intensity of the maintenance personnel.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] A robot maintenance vehicle, comprising:

[0007] Two frame mechanisms, the two frame mechanisms are spaced apart and form a space for accommodating the robot;

[0008] Two lifting mechanisms, respectively arranged on the two frame mechanisms, the lifting mechanisms being capable of driving the robot to move up and down along the height direction of the frame mechanism;

[0009] Two rotating mechanisms, respectively arranged on the two lifting mechanisms, the rotating mechanisms being capable of driving the robot to rotate around a horizontal axis;

[0010] The two plug-in mechanisms are respectively arranged on the two rotating mechanisms, and the two plug-in mechanisms are respectively plug-matched with the two ends of the robot.

[0011] Optionally, each of the lifting mechanisms includes a turbine lift and a nut mounting plate, the nut mounting plate is threadedly connected to the screw of the turbine lift to form a screw nut pair, and the rotating mechanism is arranged on the nut mounting plate.

[0012] Optionally, the lifting mechanism further includes a guide rail, which is arranged on the frame mechanism along the vertical direction, and a guide groove is arranged on the nut mounting plate, and the guide rail is placed in the guide groove.

[0013] Optionally, a transmission assembly is provided between the two lifting mechanisms to achieve synchronous lifting of the two lifting mechanisms.

[0014] Optionally, the transmission assembly includes a transmission rod and two synchronous belt mechanisms, the two synchronous belt mechanisms are respectively arranged on the two frame mechanisms, the synchronous belt mechanisms include a first pulley, a second pulley and a synchronous belt, the synchronous belt is sleeved on the first pulley and the second pulley, the two first pulleys are respectively connected to the turbine rods of the two turbine elevators, and the two second pulleys are connected via the transmission rod.

[0015] Optionally, a hand wheel or an electric screwdriver is connected to the first pulley or the second pulley.

[0016] Optionally, a bearing seat mechanism is arranged between the second pulley and the transmission rod, the bearing seat mechanism includes a bearing seat and a third bearing, the bearing seat is arranged on the frame mechanism, the third bearing is placed in the bearing seat, and the transmission rod is arranged through the third bearing.

[0017] Optionally, one of the two rotating mechanisms is an active rotating mechanism, which includes a worm gear reducer, a first bearing sleeve, a driving shaft and a first rotating seat. The worm gear reducer is connected to the first bearing sleeve, a first bearing is arranged in the first bearing sleeve, and the driving shaft passes through the first bearing. One end of the driving shaft is drivingly connected to the output end of the worm gear reducer, and the other end of the driving shaft is connected to the first rotating seat. The first rotating seat is connected to one of the plug-in mechanisms, and the input end of the worm gear reducer is configured to drive rotational motion.

[0018] Optionally, the input end of the worm gear reducer is connected to a handwheel or an electric screwdriver.

[0019] Optionally, the other of the two rotating mechanisms is a driven rotating mechanism, which includes a second bearing sleeve, a driven shaft and a second rotating seat. A second bearing is arranged in the second bearing sleeve, and the driven shaft passes through the second bearing. The driven shaft is connected to the second rotating seat, and the second rotating seat is connected to the other plug-in mechanism.

[0020] Optionally, a locking mechanism is provided on the first rotating seat and / or the second rotating seat, and the locking mechanism is used to lock the plug-in mechanism.

[0021] Optionally, a locking groove is provided on the plug-in mechanism;

[0022] The locking mechanism includes a locking block and a handle. A through slot is provided on the first rotating seat and the second rotating seat. The locking block is located in the through slot, and one end of the locking block is rotatably connected to the inner wall of the through slot. The handle is provided at the other end of the locking block. When the handle is configured to be pressed downward, the other end of the locking block can be snapped into the locking slot.

[0023] Optionally, the locking mechanism further includes an elastic body, a connecting plate is provided above the through slot, one end of the elastic body is connected to the connecting plate, and the other end is connected to the upper surface of the locking block.

[0024] Optionally, a positioning structure is provided on the first rotating seat and / or the second rotating seat, and the positioning structure can limit the rotation of the first rotating seat and the second rotating seat.

[0025] Optionally, the robot maintenance vehicle further includes:

[0026] A pull rod mechanism, both ends of which are respectively connected to the two frame mechanisms.

[0027] Optionally, the pull rod mechanism includes a pull rod and two pull rod seats, the two pull rod seats are respectively arranged on the two frame mechanisms, the pull rod is located between the two pull rod seats, and is rotatably connected to the pull rod seats.

[0028] Optionally, the robot maintenance vehicle further includes:

[0029] A support rod is arranged on two sides of the robot maintenance vehicle opposite to the pull rod mechanism, and two ends of the support rod are respectively detachably connected to the two frame mechanisms.

[0030] Optionally, the plug-in mechanism includes a plug-in component and a pin, the plug-in component is plug-in to the rotating mechanism, and the pin is plug-in to the end of the robot.

[0031] Beneficial effects of the present invention:

[0032] The present invention provides a robot maintenance vehicle, which includes two frame mechanisms, two lifting mechanisms, two rotating mechanisms and two plug-in mechanisms. The two frame mechanisms are arranged at intervals, and a space for accommodating a robot is formed between the two frame mechanisms. By arranging a lifting mechanism on each frame mechanism, arranging a rotating mechanism on each lifting mechanism, and using two plug-in structures to realize the connection between the two rotating mechanisms and the two ends of the robot, the robot maintenance vehicle can realize the rotation and lifting of the robot during the maintenance process. Compared with the manual handling and flipping of the robot in the prior art, the use of the robot maintenance vehicle is not only safe, easy to operate, and highly stable, but also can reduce the required maintenance personnel and reduce the labor intensity of the maintenance personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a structural schematic diagram of the robot maintenance vehicle provided by the present invention;

[0034] Figure 2 It is an axonometric diagram of the frame mechanism, lifting mechanism and transmission assembly of the robot maintenance vehicle provided by the present invention;

[0035] Figure 3 It is an axonometric diagram of the frame mechanism, lifting mechanism and protective cover of the robot maintenance vehicle provided by the present invention;

[0036] Figure 4 It is an axonometric diagram of the active rotating mechanism of the robot maintenance vehicle provided by the present invention;

[0037] Figure 5 It is an axonometric diagram of the driven rotating mechanism of the robot maintenance vehicle provided by the present invention;

[0038] Figure 6 It is an axonometric view of the transmission rod and the protective cover of the robot maintenance vehicle provided by the present invention;

[0039] Figure 7 It is an axonometric diagram of the plug-in mechanism of the robot maintenance vehicle provided by the present invention.

[0040] In the figure:

[0041] 1. Frame mechanism; 101. Frame body; 102. Roller; 103. Tie rod seat; 104. Support rod seat;

[0042] 2. Lifting mechanism; 201. Turbine lift; 202. Mounting plate; 203. Nut block; 204. Guide rail;

[0043] 3. Active rotating mechanism; 301. Turbine worm reducer; 302. First bearing sleeve; 303. Active shaft; 304. First rotating seat;

[0044] 4. driven rotating mechanism; 401. second bearing sleeve; 402. driven shaft; 403. second rotating seat;

[0045] 5. plug-in mechanism; 501. plug-in component; 502. pin shaft; 503. locking groove;

[0046] 6. Pull rod mechanism; 601. Pull rod;

[0047] 7. Transmission assembly; 701. Synchronous belt; 702. Second pulley; 703. Bearing seat; 704. Transmission rod; 705. Protective cover;

[0048] 8. Support rod; 9. Protective cover; 10. Positioning bead; 11. Positioning pin;

[0049] 12. Locking mechanism; 1201. Locking block; 1202. Handle; 1203. Rotating shaft; 1204. Connecting plate. DETAILED DESCRIPTION

[0050] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions.

[0052] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0053] This embodiment provides a robot maintenance vehicle, which can fix the robot, and realize the lifting and rotating of the robot, so as to assist the maintenance personnel to complete the maintenance work on the robot. Compared with the maintenance personnel manually carrying and flipping the robot, the use of the robot maintenance vehicle is not only safer, easier to operate, and more stable, but also can reduce the number of maintenance personnel required and reduce the labor intensity of the maintenance personnel.

[0054] like Figures 1 to 7 As shown, the robot maintenance vehicle includes a frame assembly, two lifting mechanisms 2, two rotating mechanisms and two plug-in mechanisms 5. The frame assembly is the fixing and mounting structure of the entire robot maintenance vehicle, which is mainly used to realize the installation and fixing of the lifting mechanism 2, the rotating mechanism and the plug-in mechanism 5. In this embodiment, as Figure 1As shown, the frame assembly includes two frame mechanisms 1 arranged at intervals. The two frame mechanisms 1 have the same structure and are symmetrically arranged, and a space for accommodating the robot is formed between the two.

[0055] Specifically, Figure 2 and Figure 3 As shown, the frame mechanism 1 includes a frame body 101 and a roller 102 arranged at the bottom of the frame body 101. In order to reduce the weight of the entire robot maintenance vehicle, to improve its mobility and reduce costs, in the present embodiment, the frame body 101 is a rectangular structure formed by splicing pipe fittings. Optionally, the frame body 101 can be made of aluminum alloy, which is not only light in weight but also has high structural strength. In order to improve the aesthetics, chamfers can also be provided at the corners of the rectangular structure. Of course, in addition to using pipe fittings, the frame body 101 can also be formed by splicing plates. The roller 102 is arranged at the bottom of the frame body 101 to improve the mobility of the robot maintenance vehicle. In the present embodiment, as shown in FIG. Figures 1 to 3 As shown, two rollers 102 are spaced apart at the bottom of each frame body 101. Optionally, universal wheels are used as the rollers 102.

[0056] Optionally, in order to improve the stability of the entire frame assembly, the frame assembly also includes a strut 8 and a pull rod mechanism 6 arranged between the two frame mechanisms 1. The strut 8 is arranged on the same side of the two frame mechanisms 1, and the two ends of the strut 8 are respectively connected to the two frame mechanisms 1. In order to facilitate the storage of the entire robot maintenance vehicle and to facilitate the placement of the robot inside the entire frame assembly, in this embodiment, the strut 8 is detachably connected to the frame mechanism 1. Optionally, a strut seat 104 is provided on each frame mechanism 1, and the end of the strut 8 is detachably connected to the strut seat 104. The detachable connection method is not specifically limited, and a snap-on or connector connection can be selected according to requirements. In this embodiment, the number of struts 8 is one, and correspondingly, the number of strut seats 104 on each frame mechanism 1 is also one. Of course, in other embodiments, the number of struts 8 and strut seats 104 can also be set to multiple according to requirements.

[0057] The pull rod mechanism 6 is arranged on the other side of the two frame mechanisms 1 and is arranged opposite to the support rod 8. The two ends of the pull rod mechanism 6 are respectively connected to the two frame mechanisms 1. In order to enable the entire frame assembly to be folded and stored while taking into account the assembly and storage efficiency, in the present embodiment, the pull rod mechanism 6 is arranged as a pull rod 601 and two pull rod seats 103. The two pull rod seats 103 are respectively fixed on the two frame mechanisms 1. The pull rod 601 is located between the two pull rod seats 103 and is rotatably connected to the free end of the pull rod seat 103. Optionally, the pull rod 601 is a foldable folding rod. Further optionally, the number of the pull rod mechanism 6 can be set to multiple according to needs. In the present embodiment, if Figure 1As shown, there are two pull rod mechanisms 6, and the two pull rod mechanisms 6 are arranged at intervals along the height direction on the other side of the two frame mechanisms 1. Of course, in other embodiments, the number of the pull rod mechanisms 6 can also be set to more according to needs.

[0058] When the robot maintenance vehicle is not in use or needs to be transported, in order to reduce the space it occupies, the entire robot maintenance vehicle is folded and stored. At this time, it is necessary to first remove the support rod 8 from between the two frame mechanisms 1, and then rotate the pull rod of the pull rod mechanism 6 around the pull rod seat 103, so that the pull rod 601 is perpendicular to the pull rod seat 103, and the pull rod 601 is parallel to the frame mechanism 1, thereby completing the folding and storage of the entire robot maintenance vehicle. When the robot maintenance vehicle needs to assist the maintenance worker to maintain the robot, first rotate the pull rod 601 in the opposite direction around the pull rod seat 103, so that the pull rod 601 is parallel to the pull rod seat 103, and the pull rod 601 is perpendicular to the frame mechanism 1, and then fix the support rod 8 to the two frame mechanisms 1, thereby achieving the fixation of the entire frame assembly. Of course, in other embodiments, the support rod 8 or the pull rod mechanism 6 can also be set only on both sides of the two frame mechanisms 1.

[0059] The lifting mechanism 2 is mainly used to realize the lifting and lowering of the robot located between the two frame mechanisms 1 in the height direction. The two lifting mechanisms 2 are respectively arranged on the two frame mechanisms 1, and the structures of the two lifting mechanisms 2 are the same. Optionally, in order to protect the lifting mechanism 2, the robot maintenance vehicle also includes a protective cover 9, which is covered at the lifting mechanism 2. Figure 2 As shown, in this embodiment, each lifting mechanism 2 includes a turbine lift 201 and a nut mounting plate. The turbine lift 201 is fixedly connected to the top of the frame body 101. The nut mounting plate includes a mounting plate 202 and a nut block 203. The mounting plate 202 is mainly used to achieve connection with the rotating mechanism, and the nut block 203 is fixed on the mounting plate 202. A threaded hole (not shown in the figure) is provided on the nut block 203, and the screw (not shown in the figure) of the turbine lift 201 is threadedly connected in the threaded hole to form a screw nut pair.

[0060] When the screw of the turbine elevator 201 rotates, the nut block 203 can move up and down along the screw, thereby driving the mounting plate 202 and the rotating mechanism thereon to move up and down along the screw. In this embodiment, the screw of the turbine elevator 201 is arranged vertically. The input end of the turbine elevator 201 can be provided with a hand wheel (not shown in the figure) or an electric screwdriver (not shown in the figure) to realize the rotation of the screw of the turbine elevator 201.

[0061] Optionally, in order to improve the stability of the mounting plate 202 and the rotating mechanism during the lifting process, the lifting mechanism 2 further includes a guide rail 204. Figure 2As shown, the guide rail 204 is arranged on the frame body 101 along the vertical direction, and a guide groove (not shown) is arranged on the back of the mounting plate 202. The guide rail 204 is placed inside the guide groove, so that when the mounting plate 202 is raised or lowered, the guide rail 204 can play a guiding role. Optionally, the number of guide rails 204 can be set to multiple according to needs. In this embodiment, two guide rails 204 are provided, and the two guide rails 204 are arranged on the frame body 101 at intervals.

[0062] In order to achieve the synchronous movement of the two lifting mechanisms 2 located on the two frame mechanisms 1, so as to avoid the robot from tilting due to the different heights at both ends during the lifting process, thereby affecting the maintenance effect of the robot and the safety of the robot maintenance vehicle, such as Figure 1 , Figure 2 As shown in FIG6 , a transmission assembly 7 for connecting the two lifting mechanisms 2 is provided between the two frame mechanisms 1 . The transmission assembly 7 can be used to realize the transmission connection of the two lifting mechanisms 2 , thereby realizing synchronous lifting of the two lifting mechanisms 2 .

[0063] Specifically, the transmission assembly 7 includes a transmission rod 704 and two synchronous belt mechanisms, the two synchronous belt mechanisms are respectively arranged on the two frame mechanisms 1, and the transmission rod 704 is arranged between the two synchronous belt mechanisms. Each synchronous belt mechanism includes a first pulley (not shown in the figure), a second pulley 702 and a synchronous belt 701, and the synchronous belt 701 is sleeved on the first pulley and the second pulley 702. The two first pulleys are respectively connected to the turbine rods of the two turbine elevators 201, and the rotation of the first pulley is used to realize the rotation of the turbine rod, and then the rotation of the screw is realized. The two second pulleys 702 are connected by the transmission rod 704, and the hand wheel or electric screwdriver that drives the lifting mechanism 2 to lift can be connected to one of the second pulleys 702 or one of the first pulleys.

[0064] Optionally, a protective cover 705 is further provided outside the transmission rod 704, and two ends of the protective cover 705 are respectively connected to the two frame bodies 101. By providing the protective cover 705, the purpose of protecting the transmission rod 704 can be achieved.

[0065] Alternatively, if Figure 2 As shown, a bearing seat mechanism is provided between each second pulley 702 and each transmission rod 704, and the bearing seat mechanism includes a bearing seat 703 and a third bearing (not shown in the figure), the bearing seat 703 is provided on the frame mechanism 1, the third bearing is placed in the bearing seat 703, and the transmission rod 704 is provided through the third bearing. The bearing seat mechanism can improve the stability of the rotation of the transmission rod 704. Optionally, the two ends of the protective cover 705 are fixed on the two bearing seats 703 respectively.

[0066] When the hand wheel or electric screwdriver drives the second pulley 702 to rotate, the second pulley 702 can drive the first pulley on the same side to rotate through the synchronous belt 701 on the same side, and then drive the turbine elevator 201 on the same side to work, so as to achieve the lifting and lowering of the mounting plate 202 and the rotating mechanism on the same side. At the same time, the second pulley 702 can also drive another second pulley 702 on the opposite side to rotate through the transmission rod 704, and the second pulley 702 on the opposite side can drive another first pulley to rotate through its corresponding synchronous belt 701, and then drive another turbine elevator 201 to work, so as to achieve the lifting and lowering of another mounting plate 202 and the rotating mechanism. Of course, in other embodiments, other transmission mechanisms that can achieve the synchronous lifting and lowering of two lifting mechanisms 2 are also applicable to this embodiment.

[0067] The rotating mechanism is mainly used to realize the rotation of the robot around the horizontal axis in the vertical plane. The two rotating mechanisms are respectively arranged on the two lifting mechanisms 2 and are arranged opposite to each other. The structures of the two rotating mechanisms can be the same or different. In this embodiment, in order to facilitate the maintenance personnel to drive the rotating mechanism to rotate with one hand, the two rotating mechanisms are set as an active rotating mechanism 3 and a driven rotating mechanism 4. The maintenance personnel drives the robot to rotate by driving the active rotating mechanism 3, and the driven rotating mechanism 4 mainly plays an auxiliary rotation role to improve the stability of the robot's rotation.

[0068] like Figure 4 As shown, the active rotating mechanism 3 includes a worm gear reducer 301, a first bearing sleeve 302, a driving shaft 303 and a first rotating seat 304. The worm gear reducer 301 is fixed on one of the lifting mechanisms 2, the input end of the worm gear reducer 301 is configured to drive the rotating motion, the output end of the worm gear reducer 301 is arranged through the first bearing sleeve 302, and the housing of the worm gear reducer 301 is fixedly connected to the first bearing sleeve 302. A first bearing is arranged in the first bearing sleeve 302, the driving shaft 303 is arranged through the first bearing, one end of the driving shaft 303 is drivingly connected to the output end of the worm gear reducer 301, and the other end of the driving shaft 303 is connected to the first rotating seat 304.

[0069] When the input end of the worm gear reducer 301 is driven to rotate, it can drive the driving shaft 303 to rotate, thereby driving the first rotating seat 304 to rotate, and then driving the plug-in mechanism 5 and the robot connected to the first rotating seat 304 to rotate. Optionally, the input end of the worm gear reducer 301 is connected to a hand wheel or an electric screwdriver.

[0070] Optionally, a positioning structure is provided on the first rotating seat 304, and the positioning mechanism can be used to limit the rotation of the first rotating seat 304, thereby limiting the rotation of the robot. Specifically, in this embodiment, the positioning structure provided on the first rotating seat 304 is a positioning pin 11, which is essentially a spring pin that can be inserted into the hole of the first bearing sleeve 302, thereby limiting the rotation of the first bearing sleeve 302, and further limiting the rotation of the robot to be maintained.

[0071] like Figure 5 As shown, the driven rotating mechanism 4 includes a second bearing sleeve 401, a driven shaft 402 and a second rotating seat 403. The shell of the second bearing sleeve 401 is fixedly connected to another lifting mechanism 2 and is arranged opposite to the first bearing sleeve 302. A second bearing (not shown in the figure) is arranged in the second bearing sleeve 401, and the driven shaft 402 passes through the second bearing arrangement. The driven shaft 402 is connected to the second rotating seat 403, and the second rotating seat 403 can be connected to the other end of the robot. When the robot rotates under the drive of the active rotating mechanism 3, the driven rotating mechanism 4 connected to the robot rotates accordingly to improve the stability of the robot during rotation.

[0072] Optionally, a positioning structure is also provided on the second rotating seat 403, and the positioning mechanism can be used to limit the rotation of the second rotating seat 403, thereby limiting the rotation of the robot. Specifically, in this embodiment, the positioning structure provided on the second rotating seat 403 is a positioning bead 10, which is essentially a spring with a shorter size. The spring can limit the second bearing provided in the second bearing sleeve 401, thereby limiting the rotation of the second bearing, and further limiting the rotation of the robot to be maintained.

[0073] The two plug-in mechanisms 5 are mainly used to respectively realize the connection between the first rotating seat 304 and one end of the robot, and the connection between the second rotating seat 403 and the other end of the robot. Figure 7 As shown, the plug-in mechanism 5 includes a plug-in component 501 and a pin 502 . The pin 502 is installed on the plug-in component 501 . The plug-in component 501 can be connected to the first rotating seat 304 or the second rotating seat 403 . The pin 502 can be plugged into a corresponding hole on the robot.

[0074] Optionally, the connectors 501 on the two plug-in mechanisms 5 are plugged and matched with the first rotating seat 304 and the second rotating seat 403 respectively. Specifically, a U-shaped slot is provided on the first rotating seat 304 and the second rotating seat 403, and the connector 501 is a block structure that can be inserted into the slot. By adopting the plug-in match, it is convenient to realize the rapid assembly and disassembly of the plug-in mechanism 5 and the first rotating seat 304 and the second rotating seat 403. Further optionally, the number of the pins 502 can be set to multiple according to the needs, and correspondingly, the number of holes set on the robot is also multiple.

[0075] Optionally, in order to improve the versatility of the robot maintenance vehicle and to facilitate maintenance of different types of robots, a plurality of different specifications of plug-in mechanisms 5 can be provided, and different specifications of plug-in mechanisms 5 can have different specifications of pins 502 or different clamping mechanisms to achieve fixation of different types of robots.

[0076] Furthermore, in order to limit the position of the plug-in mechanism 5 and the robot, a locking mechanism 12 is provided on the first rotating seat 304 and the second rotating seat 403, and the locking mechanism 12 can be used to lock the robot and the plug-in mechanism 5. Specifically, Figure 4 As shown, the locking mechanism 12 includes a locking block 1201 and a handle 1202, and a locking groove 503 used in conjunction with the locking block 1201 is provided on the plug-in mechanism 5. A rectangular through groove is provided on both the first rotating seat 304 and the second rotating seat 403, and the locking block 1201 is located in the through groove, and one end of the locking block 1201 is rotatably connected to the inner wall of the through groove through a rotating shaft 1203, and the locking block 1201 can rotate around the rotating shaft 1203 in the through groove, so that the other end of the locking block 1201 moves up and down. The handle 1202 is vertically connected to the other end of the locking block 1201. When the handle 1202 rotates downward under the action of an external force, the other end of the locking block 1201 can be clamped in the locking groove 503; when the handle 1202 rotates upward under the action of an external force, the other end of the locking block 1201 can be disengaged from the locking groove 503, thereby achieving unlocking.

[0077] Optionally, the locking block 1201 is a V-shaped block. To facilitate the reset of the locking block 1201, the locking mechanism 12 also includes an elastic body, a connecting plate 1204 is provided above the through slot, one end of the elastic body is connected to the connecting plate 1204, and the other end is connected to the upper surface of the locking block 1201.

[0078] The operation process of the robot maintenance vehicle is as follows:

[0079] First, manually dock the two plug-in mechanisms 5 with the robot respectively; then, push the entire maintenance vehicle so that the connectors 501 of the two plug-in mechanisms 5 are connected and limited to the first rotating seat 304 of the active rotating mechanism 3 and the second rotating seat 403 of the driven rotating mechanism 4 respectively; then, use a hand wheel or an electric screwdriver to rotate the transmission assembly 7 set between the two lifting mechanisms 2, and drive the robot to be lifted and lowered through the synchronous wheel, synchronous belt 701, transmission rod 704, and turbine elevator 201; finally, rotate the input end of the turbine worm reducer 301 in the active rotating mechanism 3 to flip the robot in the vertical plane so that maintenance work can be performed on the robot.

[0080] The robot maintenance vehicle provided in this embodiment has the following advantages:

[0081] 1. The robot maintenance vehicle can be flexibly moved or locked on the ground, and has strong operability;

[0082] 2. The robot maintenance vehicle can be effectively docked with the robot without falling off, and is highly safe to use;

[0083] 3. The lifting mechanisms 2 on the left and right sides of the robot maintenance vehicle can synchronously lift the robot steplessly, and the structural characteristics of the lead screw nut pair can realize the self-locking of the robot at any position during the lifting process, which not only ensures the safety of the maintenance personnel and equipment, but also can raise the maintenance height to a suitable position in ergonomics;

[0084] 4. After the robot is lifted up, the robot maintenance vehicle can rotate the robot 360° infinitely. It will be self-locking at any position during the rotation process to ensure personal and equipment safety. The robot maintenance angle can be adjusted to a suitable position according to personal habits.

[0085] 5. The entire equipment operation process of the robot maintenance vehicle can be easily completed by one person, which greatly reduces the labor cost and the labor intensity of maintenance workers;

[0086] 6. The robot maintenance vehicle can be easily folded and locked to reduce space when transporting or not in use;

[0087] 7. The robot maintenance vehicle is a purely mechanical structure, which can avoid export CE certification requirements;

[0088] 8. The lifting and flipping of the robot maintenance vehicle can be operated manually by hand wheels or by electric screwdrivers. It is not only flexible in operation, but also saves time and effort.

[0089] 9. The robot maintenance vehicle has high versatility and can be compatible with robot maintenance of different specifications and varieties without replacement or with simple replacement of some parts.

[0090] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A robot maintenance vehicle, characterized in that: include: Two frame mechanisms (1), the two frame mechanisms (1) are arranged at an interval to form a space for accommodating the robot; Two lifting mechanisms (2) are respectively arranged on the two frame mechanisms (1), and the lifting mechanisms (2) can drive the robot to rise and fall along the height direction of the frame mechanism (1); A transmission assembly (7) is provided between the two lifting mechanisms (2) for achieving synchronous lifting of the two lifting mechanisms (2); the transmission assembly (7) comprises a transmission rod (704), and a protective cover (705) is provided outside the transmission rod (704); Two rotating mechanisms, respectively arranged on the two lifting mechanisms (2), the rotating mechanisms being capable of driving the robot to rotate around a horizontal axis; Two plug-in mechanisms (5) are respectively arranged on the two rotating mechanisms, and the two plug-in mechanisms (5) are used to respectively plug and cooperate with the two ends of the robot.

2. The robot maintenance vehicle according to claim 1, characterized in that: Each of the lifting mechanisms (2) comprises a turbine lift (201) and a nut mounting plate, wherein the nut mounting plate is threadedly connected to the screw of the turbine lift (201) to form a screw nut pair, and the rotating mechanism is arranged on the nut mounting plate.

3. The robot maintenance vehicle according to claim 2, characterized in that: The lifting mechanism (2) further comprises a guide rail (204), wherein the guide rail (204) is arranged on the frame mechanism (1) along a vertical direction, and a guide groove is arranged on the nut mounting plate, and the guide rail (204) is placed in the guide groove.

4. The robot maintenance vehicle according to claim 2, characterized in that: The transmission assembly (7) further comprises two synchronous belt mechanisms, the two synchronous belt mechanisms are respectively arranged on the two frame mechanisms (1), the synchronous belt mechanisms comprise a first pulley, a second pulley (702) and a synchronous belt (701), the synchronous belt (701) is sleeved on the first pulley and the second pulley (702), the two first pulleys are respectively connected to the turbine rods of the two turbine elevators (201), and the two second pulleys (702) are connected via the transmission rod (704).

5. The robot maintenance vehicle according to claim 4, characterized in that: The first pulley or the second pulley (702) is connected to a hand wheel or an electric screwdriver.

6. The robot maintenance vehicle according to claim 4, characterized in that: A bearing seat mechanism is arranged between the second pulley (702) and the transmission rod (704), the bearing seat mechanism comprising a bearing seat (703) and a third bearing, the bearing seat (703) being arranged on the frame mechanism (1), the third bearing being placed in the bearing seat (703), and the transmission rod (704) being arranged through the third bearing.

7. The robot maintenance vehicle according to claim 1, characterized in that: One of the two rotating mechanisms is an active rotating mechanism (3), the active rotating mechanism (3) comprising a worm gear reducer (301), a first bearing sleeve (302), a driving shaft (303) and a first rotating seat (304), the worm gear reducer (301) being connected to the first bearing sleeve (302), a first bearing being arranged in the first bearing sleeve (302), the driving shaft (303) passing through the first bearing, one end of the driving shaft (303) being drivingly connected to the output end of the worm gear reducer (301), the other end of the driving shaft (303) being connected to the first rotating seat (304), the first rotating seat (304) being connected to one of the plug-in mechanisms (5), and the input end of the worm gear reducer (301) being configured to be capable of driving a rotating motion.

8. The robot maintenance vehicle according to claim 7, characterized in that: The input end of the worm gear reducer (301) is connected to a hand wheel or an electric screwdriver.

9. The robot maintenance vehicle according to claim 7, characterized in that: The other of the two rotating mechanisms is a driven rotating mechanism (4), the driven rotating mechanism (4) comprising a second bearing sleeve (401), a driven shaft (402) and a second rotating seat (403), a second bearing being arranged in the second bearing sleeve (401), the driven shaft (402) passing through the second bearing, the driven shaft (402) being connected to the second rotating seat (403), and the second rotating seat (403) being connected to the other plug-in mechanism (5).

10. The robot maintenance vehicle according to claim 9, characterized in that: The first rotating seat (304) and / or the second rotating seat (403) is provided with a locking mechanism (12), and the locking mechanism (12) is used to lock the plug-in mechanism (5).

11. The robot maintenance vehicle according to claim 10, characterized in that: The plug-in mechanism (5) is provided with a locking groove (503); The locking mechanism (12) comprises a locking block (1201) and a handle (1202); a through slot is provided on the first rotating seat (304) and the second rotating seat (403); the locking block (1201) is located in the through slot, and one end of the locking block (1201) is rotatably connected to the inner wall of the through slot; the handle (1202) is provided at the other end of the locking block (1201); and when the handle (1202) is configured to be pressed downward, the other end of the locking block (1201) can be snapped into the locking slot (503).

12. The robot maintenance vehicle according to claim 11, characterized in that: The locking mechanism (12) further comprises an elastic body, a connecting plate (1204) is arranged above the through slot, one end of the elastic body is connected to the connecting plate (1204), and the other end is connected to the upper surface of the locking block (1201).

13. The robot maintenance vehicle according to claim 9, characterized in that: A positioning structure is provided on the first rotating seat (304) and / or the second rotating seat (403), and the positioning structure can limit the rotation of the first rotating seat (304) and the second rotating seat (403).

14. The robot maintenance vehicle according to claim 1, characterized in that: Also includes: A pull rod mechanism (6), wherein two ends of the pull rod mechanism (6) are respectively connected to the two frame mechanisms (1).

15. The robot maintenance vehicle according to claim 14, characterized in that: The pull rod mechanism (6) comprises a pull rod (601) and two pull rod seats (103), wherein the two pull rod seats (103) are respectively arranged on the two frame mechanisms (1), and the pull rod (601) is located between the two pull rod seats (103) and is rotationally connected to the pull rod seats (103).

16. The robot maintenance vehicle according to claim 14, characterized in that: Also includes: A support rod (8), wherein the support rod (8) and the pull rod mechanism (6) are arranged on two sides of the robot maintenance vehicle opposite to each other, and the two ends of the support rod (8) are respectively detachably connected to the two frame mechanisms (1).

17. The robot maintenance vehicle according to claim 1, characterized in that: The plug-in mechanism (5) comprises a plug-in component (501) and a pin shaft (502); the plug-in component (501) is plug-in connected to the rotating mechanism, and the pin shaft (502) is plug-in connected to the end of the robot.

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