Robot arm and maintenance method for robot arm

Abstract

The invention discloses a mechanical arm and a maintenance method of the mechanical arm, and relates to the technical field of mechanical arm maintenance. The mechanical arm comprises a holding arm, a telescopic arm, a plurality of positioning pieces, a plurality of inner sliding block assemblies and a plurality of outer sliding block assemblies; access holes are formed in the top surface and the bottom surface of the retaining arm, access covers are detachably and fixedly arranged at the access holes, and the access holes can be blocked by the access covers; the top face and the bottom face of the first end of the telescopic arm are each detachably and fixedly provided with an inner sliding block assembly, and the inner sliding block assemblies can move to the access hole along with movement of the telescopic arm. Outer sliding block assemblies are detachably and fixedly arranged on the top surface, the bottom surface, the first side surface and the second side surface of the first end of the retaining arm; positioning pieces are detachably and fixedly arranged on the top surface, the bottom surface, the first side surface and the second side surface of the retaining arm; during maintenance, the telescopic arm can be effectively prevented from being detached, so that maintenance is simple and convenient, and the efficiency of cleaning operation can be ensured.

Description

Technical Field

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

[0002] A heliostat is an optical device that reflects light from the sun or other celestial bodies in a fixed direction, also known as a heliostat.

[0003] Heliostat cleaning vehicles are usually used to complete daily cleaning operations on heliostats. The mechanical arm on a common heliostat cleaning vehicle generally includes a holding arm and a telescopic arm. The length of the mechanical arm is adjusted by telescopic sliding of the telescopic arm relative to the holding arm. A slider is set between the telescopic arm and the holding arm, and the slider is fixed to the telescopic arm or the holding arm with bolts. The telescopic arm needs to be removed when replacing the slider.

[0004] However, most heliostat CSP power stations are located in desert areas. On the one hand, most heliostat cleaning vehicles use mobile cleaning methods. Due to the poor road surface flatness, the distance between the cleaning mechanism and the mirror surface changes continuously when the vehicle is driving. The telescopic arm needs to be continuously reciprocated to adjust the relative position of the cleaning mechanism and the mirror surface to ensure the cleaning effect. This causes the telescopic arm to be retracted frequently, which easily leads to wear of the slider. On the other hand, sand and dust particles can easily invade the interior of the mechanical arm, which will cause the slider to wear more. Therefore, the slider needs to be replaced frequently.

[0005] Under the use conditions where the slider is replaced frequently, the telescopic arm needs to be removed when replacing the slider, which will undoubtedly increase the difficulty and cost of the robot arm maintenance and reduce the efficiency of the cleaning operation. Summary of the invention

[0006] The purpose of the present invention is to provide a robotic arm and a maintenance method for the robotic arm to solve the problems existing in the above-mentioned prior art. During maintenance, the telescopic arm can be effectively avoided from being dismantled, so that maintenance and servicing are simple and convenient, and the efficiency of the cleaning operation can be guaranteed.

[0007] To achieve the above object, the present invention provides the following solutions: The present invention provides a mechanical arm, comprising a holding arm, a telescopic arm, a plurality of positioning members, a plurality of inner slider assemblies and a plurality of outer slider assemblies; an inlet and an outlet are provided at the first end of the holding arm, and an inspection opening is provided on the top surface and the bottom surface of the holding arm, and an inspection cover is detachably fixedly provided at the inspection opening, and the inspection cover can block the inspection opening; the first end of the telescopic arm is placed inside the holding arm, and the telescopic arm extends from the inlet and an outlet to the outside of the holding arm or retracts into the inside of the holding arm; the inner slider assembly is detachably fixedly provided on the top surface and the bottom surface of the first end of the telescopic arm, and the first end of the inner slider assembly is used to be connected with the The inner surface of the retaining arm is in contact with the inner slider assembly, and the inner slider assembly can move to the inspection port as the telescopic arm moves; the outer slider assembly is detachably fixed on the top surface, bottom surface, first side surface and second side surface of the first end of the retaining arm, and the first end of the outer slider assembly is used to contact the outer surface of the telescopic arm; the positioning member is detachably fixed on the top surface, bottom surface, first side surface and second side surface of the retaining arm, and the first end of the positioning member is used to be pressed against the outer surface of the telescopic arm or separated from the outer surface of the telescopic arm. When the first end of each positioning member is pressed against the outer surface of the telescopic arm, the telescopic arm is parallel to the retaining arm.

[0008] Preferably, an inner slider fixing seat is fixed on the top surface and the bottom surface of the first end of the telescopic arm, the inner slider fixing seat corresponds to the inner slider assembly one by one, the inner slider fixing seat is sleeved outside the inner slider assembly, and the inner slider fixing seat is threadedly connected to the inner slider assembly.

[0009] Preferably, the inner slider assembly includes an inner slider and an inner slider mounting seat, the inner slider mounting seat extends into the inner slider fixing seat, the inner slider mounting seat is threadedly connected to the inner slider fixing seat, the first end of the inner slider is used to contact the inner surface of the retaining arm, the inner slider extends into the inner slider mounting seat, and the inner slider is threadedly connected to the inner slider mounting seat.

[0010] Preferably, the end of the inner slider mounting seat close to the center line of the telescopic arm is the first end of the inner slider mounting seat, a hexagonal through hole is provided at the center of the first end of the inner slider mounting seat, an operating hole is provided at the center of the inner slider, and the diameter of the operating hole is larger than the diameter of the circumscribed circle of the hexagonal through hole; the inner slider is a first aluminum brass slider.

[0011] Preferably, an outer slider fixing seat is fixed on the top surface, bottom surface, first side surface and second side surface of the first end of the retaining arm, the outer slider fixing seat corresponds to the outer slider assembly one by one, the outer slider fixing seat is sleeved outside the outer slider assembly, and the outer slider fixing seat is threadedly connected to the outer slider assembly.

[0012] Preferably, the outer slider assembly includes an outer slider and an outer slider mounting seat, the outer slider mounting seat extends into the outer slider fixing seat, the outer slider mounting seat is threadedly connected to the outer slider fixing seat, the first end of the outer slider is used to contact the outer surface of the telescopic arm, the outer slider extends into the outer slider mounting seat, and the outer slider is threadedly connected to the outer slider mounting seat.

[0013] Preferably, the end of the outer slider mounting seat away from the center line of the retaining arm is the first end of the outer slider mounting seat, the first end of the outer slider mounting seat has an external hexagonal boss at the center, an oil chamber is provided at the center of the outer slider mounting seat, the diameter of the oil chamber is smaller than the diameter of the inscribed circle of the external hexagonal boss, an oil nozzle is provided on the external hexagonal boss, and the oil nozzle can connect or separate the oil chamber from the outside of the outer slider mounting seat, the end of the outer slider close to the center line of the retaining arm is the first end of the outer slider, an oil guide groove is provided on the first end surface of the outer slider, an oil channel is provided at the center of the outer slider, one end of the oil channel is connected to the oil chamber, and the other end of the oil channel is connected to the oil guide groove; the outer slider is a second aluminum brass slider.

[0014] Preferably, a positioning piece mounting seat is fixedly provided on the top surface, the bottom surface, the first side surface and the second side surface of the retaining arm, the positioning piece mounting seat corresponds to the positioning piece one-to-one, the positioning piece passes through the positioning piece mounting seat, and the positioning piece is threadedly connected to the positioning piece mounting seat; the end of the positioning piece away from the center line of the retaining arm is the second end of the positioning piece, and a hexagonal groove is provided on the end surface of the second end of the positioning piece; the second end of the positioning piece is provided with a limit platform, and the limit platform can be tightly attached to the positioning piece mounting seat, and when the limit platform is tightly attached to the positioning piece mounting seat, the telescopic arm is parallel to the retaining arm.

[0015] Preferably, two inner slider assemblies are provided on the top surface of the first end of the telescopic arm, and two inner slider assemblies are provided on the bottom surface of the first end of the telescopic arm; four outer slider assemblies are provided on the top surface of the first end of the retaining arm, four outer slider assemblies are provided on the bottom surface of the first end of the retaining arm, two outer slider assemblies are provided on the first side surface of the first end of the retaining arm, and two outer slider assemblies are provided on the second side surface of the first end of the retaining arm; a positioning piece is provided on the top surface of the retaining arm, the positioning piece on the top surface of the retaining arm is placed at the inspection opening on the top surface of the retaining arm, a positioning piece is provided on the bottom surface of the retaining arm, and the positioning piece on the bottom surface of the retaining arm is placed at the outer slider assembly, two positioning pieces are provided on the first side surface of the retaining arm, and two positioning pieces are provided on the second side surface of the retaining arm; one positioning piece on the first side surface of the retaining arm, one positioning piece on the second side surface of the retaining arm, and the positioning piece on the top surface of the retaining arm are all on the first plane, and the other positioning piece on the first side surface of the retaining arm The inner slider assemblies on the top and bottom surfaces of the first end of the telescopic arm are all on a third plane, and the third plane is parallel to the first plane; the two outer slider assemblies on the top surface of the first end of the holding arm, the two outer slider assemblies on the bottom surface of the first end of the holding arm, one outer slider assembly on the first side surface of the first end of the holding arm, and one outer slider assembly on the second side surface of the first end of the holding arm are all on a fourth plane, and the fourth plane is parallel to the first plane; the other two outer slider assemblies on the top surface of the first end of the holding arm, the other two outer slider assemblies on the bottom surface of the first end of the holding arm, another outer slider assembly on the first side surface of the first end of the holding arm, and another outer slider assembly on the second side surface of the first end of the holding arm are all on a fifth plane, and the fifth plane is parallel to the fourth plane.

[0016] The present invention also provides a maintenance method for a robotic arm, which is applied to the robotic arm as described above, and when maintaining the outer slider assembly, the method comprises the following steps: Step 1: adjusting the positioning piece in a direction close to the center line of the telescopic arm until the first ends of all the positioning pieces are pressed against the outer surface of the telescopic arm, so that the telescopic arm is parallel to the retaining arm, fixing all the positioning pieces to relatively fix the telescopic arm and the retaining arm, and then executing Step 2 or Step 3; Step 2: adjusting the outer slider assembly in a direction close to the center line of the telescopic arm until the first ends of all the outer slider assemblies are in contact with the outer surface of the telescopic arm, fixing all the outer slider assemblies, and then executing Step 4; Step 3: removing the outer slider assembly and replacing it with a new outer slider assembly until the first end of the new outer slider assembly is in contact with the outer surface of the telescopic arm, fixing the new outer slider assembly, and then executing Step 4; Step 4: adjusting the positioning piece in a direction away from the center line of the telescopic arm until all the positioning pieces return to their original positions; when maintaining the inner slider assembly, the method comprises the following steps: Step 1: adjusting the telescopic arm, the telescopic arm moves, so that the top surface of the first end of the telescopic arm The inner slider assembly moves to the inspection opening on the top surface of the holding arm, and the inner slider assembly on the bottom surface of the first end of the telescopic arm moves to the inspection opening on the bottom surface of the holding arm; Step 2: Adjust the positioning piece on the top surface of the holding arm in the direction close to the center line of the telescopic arm until the first end of the positioning piece on the top surface of the holding arm is pressed against the outer surface of the telescopic arm, and fix the positioning piece on the top surface of the holding arm to prevent the first end of the telescopic arm from tilting up; Step 3: Remove the inspection cover, and then perform step 4 or step 5; Step 4: Adjust the inner slider assembly in the direction away from the center line of the telescopic arm until the first end surfaces of all inner slider assemblies are flush with the inner surface of the holding arm, fix all inner slider assemblies, and then perform step 6; Step 5: Remove the inner slider assembly, replace it with a new inner slider assembly, until the first end surface of the new inner slider assembly is flush with the inner surface of the holding arm, fix the new inner slider assembly, and then perform step 6; Step 6: Install the inspection cover, adjust the positioning piece on the top surface of the holding arm in the direction away from the center line of the telescopic arm until the positioning piece on the top surface of the holding arm returns to its original position.

[0017] Compared with the prior art, the present invention has achieved the following technical effects: The mechanical arm and the maintenance method of the mechanical arm provided by the present invention are characterized in that positioning pieces are arranged on the top surface, the bottom surface, the first side surface and the second side surface of the holding arm, and the first end of the positioning piece is separated from the outer surface of the telescopic arm during the operation of the mechanical arm to realize smooth telescopic movement of the telescopic arm relative to the holding arm. The first end of the positioning piece can be pressed against the outer surface of the telescopic arm during the maintenance of the mechanical arm to relatively fix the telescopic arm and the holding arm. After the positioning piece relatively fixes the telescopic arm and the holding arm, since inspection ports are provided on the top surface and the bottom surface of the holding arm, the interior of the holding arm is connected with the exterior of the holding arm through the inspection ports, so that it is convenient for a person or a tool to extend from the outside of the holding arm into the interior of the holding arm to complete the maintenance of the inner slider assembly that moves to the inspection port with the movement of the telescopic arm. In addition, after the positioning piece relatively fixes the telescopic arm and the holding arm, the maintenance of the outer slider assembly can be directly completed on the outside of the holding arm, so that the telescopic arm can be effectively avoided from being disassembled when the inner slider assembly and the outer slider assembly are maintained, so that maintenance and servicing are simple and convenient, and the efficiency of the cleaning operation can be guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 A three-dimensional schematic diagram of a mechanical arm provided by the present invention; Figure 2 A schematic diagram of a direction of the mechanical arm provided by the present invention; Figure 3 for Figure 2 Sectional view at CC; Figure 4 for Figure 3 A partial enlarged view of the A area; Figure 5 for Figure 3 A local enlarged view of the B area; Figure 6 for Figure 1 A schematic diagram of a holding arm in FIG. Figure 7 for Figure 6 A schematic diagram of one direction of the holding arm; Figure 8 for Figure 7 Sectional view at DD in the middle; Fig. 9 for Figure 7 Sectional view at EE; Fig.10 for Figure 7 The cross-sectional view at FF in FIG. Fig.11 for Figure 1 Schematic diagram of the telescopic arm in FIG. Fig.12 for Fig.11 A schematic diagram of one direction of the telescopic arm; Fig.13 for Fig.12 Sectional view at GG in the middle; Fig.14 This is a schematic diagram of the pallet in use; Fig.15 for Fig.14 Schematic diagram of the card board in; Fig.16 A schematic diagram of an outer slider in a mechanical arm provided by the present invention; Fig.17 A schematic diagram of an inner slider mounting seat in a mechanical arm provided by the present invention; Fig.18 A schematic diagram of an outer slider mounting seat in a mechanical arm provided by the present invention; In the figure: 1-holding arm, 2-telescopic arm, 3-positioning piece, 4-inspection port, 5-inspection cover, 6-inner slider, 7-inner slider fixing seat, 8-inner slider mounting seat, 9-inner hexagonal through hole, 10-operating hole, 11-outer slider, 12-outer slider fixing seat, 13-outer slider mounting seat, 14-outer hexagonal boss, 15-oil chamber, 16-oil nozzle, 17-oil guide groove, 18-oil channel, 19-positioning piece mounting seat, 20-clip plate, 21-telescopic electric cylinder, 22-limiting table. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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.

[0021] The purpose of the present invention is to provide a robotic arm and a maintenance method for the robotic arm to solve the problems existing in the above-mentioned prior art. During maintenance, the telescopic arm can be effectively avoided from being dismantled, so that maintenance and servicing are simple and convenient, and the efficiency of the cleaning operation can be guaranteed.

[0022] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] Embodiment 1 like Figures 1 to 18As shown, the present embodiment provides a mechanical arm, comprising a holding arm 1, a telescopic arm 2, a plurality of positioning members 3, a plurality of inner slider assemblies and a plurality of outer slider assemblies; an entrance and an exit are provided at the first end of the holding arm 1, and an inspection opening 4 is provided on the top and bottom surfaces of the holding arm 1, and an inspection cover 5 is detachably fixed at the inspection opening 4, and the inspection cover 5 can block the inspection opening 4; the first end of the telescopic arm 2 is placed inside the holding arm 1, and the telescopic arm 2 extends from the entrance and an exit to the outside of the holding arm 1 or retracts into the inside of the holding arm 1; an inner slider assembly is detachably fixed on the top and bottom surfaces of the first end of the telescopic arm 2, and the first inner slider assembly The end is used to contact the inner surface of the retaining arm 1, and the inner slider assembly can move to the inspection port 4 as the telescopic arm 2 moves; the outer slider assembly is detachably fixed on the top surface, bottom surface, first side surface and second side surface of the first end of the retaining arm 1, and the first end of the outer slider assembly is used to contact the outer surface of the telescopic arm 2; the top surface, bottom surface, first side surface and second side surface of the retaining arm 1 are detachably fixed with a positioning member 3, and the first end of the positioning member 3 is used to be pressed against the outer surface of the telescopic arm 2 or separated from the outer surface of the telescopic arm 2. When the first end of each positioning member 3 is pressed against the outer surface of the telescopic arm 2, the telescopic arm 2 is parallel to the retaining arm 1.

[0024] The mechanical arm provided in the present embodiment is provided with positioning members 3 on the top surface, bottom surface, first side surface and second side surface of the holding arm 1. The first end of the positioning member 3 is separated from the outer surface of the telescopic arm 2 during the operation of the mechanical arm to achieve smooth telescopic movement of the telescopic arm 2 relative to the holding arm 1. The first end of the positioning member 3 can be pressed against the outer surface of the telescopic arm 2 during the maintenance of the mechanical arm to relatively fix the telescopic arm 2 and the holding arm 1. After the positioning member 3 relatively fixes the telescopic arm 2 and the holding arm 1, since inspection openings 4 are provided on the top surface and the bottom surface of the holding arm 1, the telescopic arm 2 can be relatively fixed to the holding arm 1. The inspection port 4 connects the inside of the retaining arm 1 with the outside of the retaining arm 1, making it easy for a person's hand or a tool to extend from the outside of the retaining arm 1 into the inside of the retaining arm 1 to complete the maintenance of the inner slider assembly that moves to the inspection port 4 as the telescopic arm 2 moves. In addition, after the positioning piece 3 relatively fixes the telescopic arm 2 and the retaining arm 1, the maintenance of the outer slider assembly can be completed directly on the outside of the retaining arm 1, thereby effectively avoiding the telescopic arm 2 from being disassembled when maintaining the inner slider assembly and the outer slider assembly, making maintenance simple and convenient, and ensuring the efficiency of the cleaning operation.

[0025] In this embodiment, the first side surface of the holding arm 1 is parallel to the second side surface, and the first side surface of the holding arm 1 is perpendicular to the top surface of the holding arm 1 .

[0026] As a more preferred implementation manner of this embodiment, the mechanical arm provided in this embodiment also includes a telescopic electric cylinder 21, which is installed inside the holding arm 1 and the telescopic arm 2. The telescopic electric cylinder 21 connects the holding arm 1 and the telescopic arm 2 together, and drives the telescopic arm 2 to reciprocate through telescopic movement. Specifically, the tail ear shaft of the telescopic electric cylinder 21 is hinged on the holding arm 1, and the push rod joint of the telescopic electric cylinder 21 is hinged on the inner side of the telescopic arm 2; the telescopic electric cylinder 21 is provided with a limit sensor, which can monitor the position of the push rod joint in real time. The telescopic electric cylinder 21 is reserved with a maintenance stroke during actual use for maintenance of the inner slider assembly, that is, when the mechanical arm is working normally, the telescopic electric cylinder 21 only drives the telescopic arm 2 to retract to the first position. When the inner slider assembly needs maintenance, the electrical control system controls the telescopic electric cylinder 21 to drive the telescopic arm 2 to retract to the second position, so that the inner slider assembly is moved to the middle position of the inspection port 4 for maintenance of the inner slider assembly.

[0027] Furthermore, an inner slider fixing seat 7 is fixedly provided on the top surface and the bottom surface of the first end of the telescopic arm 2, and the inner slider fixing seat 7 corresponds to the inner slider assembly one by one. The inner slider fixing seat 7 is sleeved on the outside of the inner slider assembly, and the inner slider fixing seat 7 is threadedly connected to the inner slider assembly, which is convenient for installation and disassembly, and when the distance between the first end of the inner slider assembly and the inner surface of the retaining arm 1 increases due to wear, it is convenient to adjust the distance between the first end of the inner slider assembly and the inner surface of the retaining arm 1, thereby facilitating the contact between the first end of the inner slider assembly and the inner surface of the retaining arm 1, thereby improving the utilization rate of the inner slider assembly; as a more preferred implementation mode of this embodiment, the inner slider fixing seat 7 is welded and fixed on the top surface and the bottom surface of the first end of the telescopic arm 2, which is convenient for production and has a stable connection.

[0028] Furthermore, the inner slider assembly includes an inner slider 6 and an inner slider mounting seat 8, the inner slider mounting seat 8 extends into the inner slider fixing seat 7, the inner slider mounting seat 8 is threadedly connected to the inner slider fixing seat 7, the first end of the inner slider 6 is used to contact the inner surface of the retaining arm 1, the inner slider 6 extends into the inner slider mounting seat 8, the inner slider 6 is threadedly connected to the inner slider mounting seat 8, the structure is simple, and it is easy to disassemble. When disassembling the inner slider 6, the inner slider 6 and the inner slider mounting seat 8 are removed from the inner slider fixing seat 7 as a whole, and then the inner slider 6 is separated from the inner slider mounting seat 8, which is easy to operate, and the inner slider mounting seat 8 can be repeated. During use, the inner slider 6 is separated from the inner slider mounting seat 8, and a new inner slider 6 is installed on the inner slider mounting seat 8, and then the inner slider mounting seat 8 and the new inner slider 6 are installed as a whole on the inner slider fixing seat 7; it should be noted here that in actual applications, it is preferred to directly replace the pre-assembled inner slider 6 and inner slider mounting seat 8 to first ensure the normal operation of the robotic arm, and then, while the robotic arm is working, separately disassemble the replaced inner slider 6 and inner slider mounting seat 8, and keep the disassembled inner slider mounting seat 8 for next use, which can further shorten the downtime of the robotic arm and improve the efficiency of the cleaning operation.

[0029] Furthermore, the end of the inner slider mounting seat 8 close to the center line of the telescopic arm 2 is the first end of the inner slider mounting seat 8, and a hexagonal through hole 9 is opened at the center of the first end of the inner slider mounting seat 8, and an operating hole 10 is opened at the center of the inner slider 6. The diameter of the operating hole 10 is larger than the diameter of the circumscribed circle of the hexagonal through hole 9. During installation, disassembly or maintenance, the operator can use a hexagonal wrench to pass through the operating hole 10 from the inspection port 4 to insert into the hexagonal through hole 9, thereby realizing the rotation of the inner slider mounting seat 8, and then adjusting the distance between the first end of the inner slider 6 and the inner surface of the retaining arm 1; the inner slider 6 is a first aluminum brass slider with low hardness and is not easy to damage the retaining arm 1.

[0030] Furthermore, an outer slider fixing seat 12 is fixedly provided on the top surface, bottom surface, first side surface and second side surface of the first end of the retaining arm 1, and the outer slider fixing seat 12 corresponds to the outer slider assembly one by one. The outer slider fixing seat 12 is sleeved on the outside of the outer slider assembly, and the outer slider fixing seat 12 is threadedly connected to the outer slider assembly, which is convenient for installation and disassembly, and is convenient for adjusting the distance between the first end of the outer slider assembly and the outer surface of the telescopic arm 2 when the distance between the first end of the outer slider assembly and the outer surface of the telescopic arm 2 increases due to wear, thereby facilitating the contact between the first end of the outer slider assembly and the outer surface of the telescopic arm 2, thereby improving the utilization rate of the outer slider assembly; as a more preferred implementation manner of this embodiment, an outer slider fixing seat 12 is welded and fixed on the top surface, bottom surface, first side surface and second side surface of the first end of the retaining arm 1, which is convenient for production and has a stable connection.

[0031] Furthermore, the outer slider assembly includes an outer slider 11 and an outer slider mounting seat 13, the outer slider mounting seat 13 extends into the outer slider fixing seat 12, the outer slider mounting seat 13 is threadedly connected to the outer slider fixing seat 12, the first end of the outer slider 11 is used to contact the outer surface of the telescopic arm 2, the outer slider 11 extends into the outer slider mounting seat 13, the outer slider 11 is threadedly connected to the outer slider mounting seat 13, the structure is simple, and it is easy to disassemble. When disassembling the outer slider 11, the outer slider 11 and the outer slider mounting seat 13 are removed from the outer slider fixing seat 12 as a whole, and then the outer slider 11 is separated from the outer slider mounting seat 13, which is easy to operate, and the outer slider mounting seat 13 can It can be reused. After separating the outer slider 11 from the outer slider mounting seat 13, a new outer slider 11 is installed on the outer slider mounting seat 13, and then the outer slider mounting seat 13 and the new outer slider 11 are installed as a whole on the outer slider fixing seat 12. It should be noted here that in actual applications, it is preferred to directly replace the pre-installed outer slider 11 and outer slider mounting seat 13 to first ensure the normal operation of the robotic arm, and then, while the robotic arm is working, separately disassemble the replaced outer slider 11 and outer slider mounting seat 13, and keep the disassembled outer slider mounting seat 13 for next use. This can further shorten the downtime of the robotic arm and improve the efficiency of the cleaning operation.

[0032] As a more preferred implementation manner of this embodiment, during maintenance, when the outer slider 11 is severely worn, it needs to be replaced in time; when the gap between the outer slider 11 and the telescopic arm 2 increases due to wear, the outer slider mounting seat 13 is screwed to adjust the distance between the first end of the outer slider 11 and the outer surface of the telescopic arm 2 until the first end of the outer slider 11 contacts the outer surface of the telescopic arm 2, thereby improving the utilization rate of the outer slider 11; when the outer slider mounting seat 13 is completely screwed into the outer slider fixing seat 12, it can be determined that the outer slider 11 is severely worn and needs to be replaced in time.

[0033] Furthermore, the end of the outer slider mounting seat 13 away from the center line of the retaining arm 1 is the first end of the outer slider mounting seat 13, and the center of the first end of the outer slider mounting seat 13 is provided with an external hexagonal boss 14. During installation, disassembly or maintenance, the operator uses an external hexagonal wrench to turn the external hexagonal boss 14 to achieve the rotation of the outer slider mounting seat 13, thereby adjusting the distance between the first end of the outer slider 11 and the outer surface of the telescopic arm 2. An oil chamber 15 is provided at the center of the outer slider mounting seat 13, and the diameter of the oil chamber 15 is smaller than the diameter of the inscribed circle of the external hexagonal boss 14. The outer hexagonal boss 14 is provided with an oil nozzle 16, which can connect or separate the oil chamber 15 from the outside of the outer slider mounting seat 13. The end of the outer slider 11 close to the center line of the retaining arm 1 is the first end of the outer slider 11. An oil guide groove 17 is provided on the first end surface of the outer slider 11. An oil channel 18 is provided at the center of the outer slider 11. One end of the oil channel 18 is connected to the oil chamber 15, and the other end of the oil channel 18 is connected to the oil guide groove 17, which is convenient for adding grease. The outer slider 11 is a second aluminum brass slider with a lower hardness and is not easy to damage the telescopic arm 2.

[0034] Furthermore, a positioning piece mounting seat 19 is fixedly provided on the top surface, bottom surface, first side surface and second side surface of the holding arm 1, and the positioning piece mounting seat 19 corresponds to the positioning piece 3 one by one, and the positioning piece 3 passes through the positioning piece mounting seat 19, and the positioning piece 3 is threadedly connected to the positioning piece mounting seat 19; the end of the positioning piece 3 away from the center line of the holding arm 1 is the second end of the positioning piece 3, and a hexagonal groove is provided on the second end surface of the positioning piece 3, which has a simple structure and is convenient for adjusting the distance between the first end of the positioning piece 3 and the outer surface of the telescopic arm 2 by an hexagonal wrench; as a more preferred implementation method of this embodiment, a positioning piece mounting seat 19 is welded and fixed on the top surface, bottom surface, first side surface and second side surface of the holding arm 1, which is convenient for production and has a stable connection; a limit platform 22 is provided on the second end of the positioning piece 3, and a limit The platform 22 can be tightly attached to the positioning piece mounting seat 19. When the limit platform 22 is tightly attached to the positioning piece mounting seat 19, the telescopic arm 2 is parallel to the retaining arm 1, so that the length of the positioning piece 3 entering the interior of the retaining arm 1 can be limited through the cooperation of the limit platform 22 and the positioning piece mounting seat 19, and then the telescopic arm 2 can be constrained to be parallel to the retaining arm 1 through each positioning piece 3, which is convenient for operation. When in use, each positioning piece 3 is rotated inwardly until the limit platform 22 is tightly attached to the positioning piece mounting seat 19. At this time, the telescopic arm 2 is parallel to the retaining arm 1; as a more preferred implementation method of this embodiment, after maintenance is completed, the positioning piece 3 is screwed outward by 4 to 6 turns, so that a safe distance can be maintained between the first end of the positioning piece 3 and the outer surface of the telescopic arm 2 to avoid collision between the first end of the positioning piece 3 and the telescopic arm 2.

[0035] Further, two inner slider assemblies are provided on the top surface of the first end of the telescopic arm 2, and two inner slider assemblies are provided on the bottom surface of the first end of the telescopic arm 2; four outer slider assemblies are provided on the top surface of the first end of the holding arm 1, four outer slider assemblies are provided on the bottom surface of the first end of the holding arm 1, two outer slider assemblies are provided on the first side surface of the first end of the holding arm 1, and two outer slider assemblies are provided on the second side surface of the first end of the holding arm 1; a positioning piece 3 is provided on the top surface of the holding arm 1, and the positioning piece 3 on the top surface of the holding arm 1 is placed at the inspection port 4 on the top surface of the holding arm 1, a positioning piece 3 is provided on the bottom surface of the holding arm 1, and the positioning piece 3 on the bottom surface of the holding arm 1 is placed at the outer slider assemblies, two positioning pieces 3 are provided on the first side surface of the holding arm 1, and two positioning pieces 3 are provided on the second side surface of the holding arm 1; one positioning piece 3 on the first side surface of the holding arm 1, one positioning piece 3 on the second side surface of the holding arm 1, and the positioning piece 3 on the top surface of the holding arm 1 are all on the first plane, and another positioning piece 3 on the first side surface of the holding arm 1, another positioning piece 3 on the second side surface of the holding arm 1, and the holding arm 1 The positioning members 3 on the bottom surface are all on the second plane, the first plane is parallel to the second plane, and the first plane is perpendicular to the center line of the holding arm 1; the inner slider assemblies on the top surface and the bottom surface of the first end of the telescopic arm 2 are all on the third plane, and the third plane is parallel to the first plane; the two outer slider assemblies on the top surface of the first end of the holding arm 1, the two outer slider assemblies on the bottom surface of the first end of the holding arm 1, an outer slider assembly on the first side surface of the first end of the holding arm 1, and an outer slider assembly on the second side surface of the first end of the holding arm 1 are all on the fourth plane, and the fourth plane is parallel to the first plane; the other two outer slider assemblies on the top surface of the first end of the holding arm 1, the other two outer slider assemblies on the bottom surface of the first end of the holding arm 1, another outer slider assembly on the first side surface of the first end of the holding arm 1, and another outer slider assembly on the second side surface of the first end of the holding arm 1 are all on the fifth plane, and the fifth plane is parallel to the fourth plane. The structure is simple. When the mechanical arm is working normally, the telescopic arm 2 can be telescopically moved smoothly relative to the holding arm 1. During maintenance, it can ensure that the telescopic arm 2 is firmly fixed relative to the holding arm 1.

[0036] Embodiment 2 The present embodiment provides a maintenance method for a robot arm, which is applied to the robot arm in the first embodiment. When the outer slider assembly is maintained, the following steps are included: Step 1: Adjust the positioning member 3 in the direction close to the center line of the telescopic arm 2 until the first ends of all the positioning members 3 are pressed against the outer surface of the telescopic arm 2, so that the telescopic arm 2 is parallel to the holding arm 1, fix all the positioning members 3 to fix the telescopic arm 2 and the holding arm 1 relatively, and then perform step 2 or step 3; Step 2: Adjust the outer slider assembly in the direction close to the center line of the telescopic arm 2 until the first ends of all the outer slider assemblies are pressed against the outer surface of the telescopic arm 2 , fix all outer slider assemblies, and then proceed to step 4; step 3: remove the outer slider assembly, replace it with a new outer slider assembly, until the first end of the new outer slider assembly contacts the outer surface of the telescopic arm 2, fix the new outer slider assembly, and then proceed to step 4; step 4: adjust the positioning member 3 in a direction away from the center line of the telescopic arm 2 until all the positioning members 3 return to their original positions; when performing maintenance on the inner slider assembly, the following steps are included: step 1: adjust the telescopic arm 2, the telescopic arm 2 moves, so that the inner slider assembly on the top surface of the first end of the telescopic arm 2 moves to the top surface of the retaining arm 1 At the same time, the inner slider assembly on the bottom surface of the first end of the telescopic arm 2 moves to the inspection port 4 on the bottom surface of the holding arm 1; Step 2: Adjust the positioning piece 3 on the top surface of the holding arm 1 in the direction close to the center line of the telescopic arm 2 until the first end of the positioning piece 3 on the top surface of the holding arm 1 is pressed tightly against the outer surface of the telescopic arm 2, and fix the positioning piece 3 on the top surface of the holding arm 1 to prevent the first end of the telescopic arm 2 from warping up, so as to avoid affecting the installation and positioning accuracy of the inner slider assembly due to the warping of the first end of the telescopic arm 2; Step 3: Remove the inspection cover 5, and then perform step 4 or step 5; Step 4: Adjust the inner slider assembly in a direction away from the center line of the telescopic arm 2 until the first end surfaces of all the inner slider assemblies are flush with the inner surface of the retaining arm 1, fix all the inner slider assemblies, and then execute step six; Step five: remove the inner slider assembly, replace it with a new inner slider assembly, until the first end surface of the new inner slider assembly is flush with the inner surface of the retaining arm 1, fix the new inner slider assembly, and then execute step six; Step six: install the inspection cover 5, adjust the positioning piece 3 on the top surface of the retaining arm 1 in a direction away from the center line of the telescopic arm 2, until the positioning piece 3 on the top surface of the retaining arm 1 returns to its original position.

[0037] The maintenance method of the robot arm provided in this embodiment is that positioning members 3 are arranged on the top surface, bottom surface, first side surface and second side surface of the holding arm 1. The first end of the positioning member 3 is separated from the outer surface of the telescopic arm 2 during the operation of the robot arm to achieve smooth telescopic movement of the telescopic arm 2 relative to the holding arm 1. The first end of the positioning member 3 can be pressed against the outer surface of the telescopic arm 2 during the maintenance of the robot arm to relatively fix the telescopic arm 2 and the holding arm 1. After the positioning member 3 relatively fixes the telescopic arm 2 and the holding arm 1, since inspection ports 4 are opened on the top surface and the bottom surface of the holding arm 1, The inside of the retaining arm 1 is connected with the outside of the retaining arm 1 through the inspection port 4, which makes it easy for hands or tools to reach into the inside of the retaining arm 1 from the outside of the retaining arm 1 to complete the maintenance of the inner slider assembly that moves to the inspection port 4 as the telescopic arm 2 moves. In addition, after the positioning piece 3 relatively fixes the telescopic arm 2 and the retaining arm 1, the maintenance of the outer slider assembly can be directly completed on the outside of the retaining arm 1, thereby effectively avoiding the telescopic arm 2 from being disassembled when maintaining the inner slider assembly and the outer slider assembly, making maintenance simple and convenient, and ensuring the efficiency of the cleaning operation.

[0038] As a more preferred implementation manner of the present embodiment, the maintenance method of the robotic arm provided in the present embodiment also utilizes a card plate 20 to assist in determining whether the inner slider assembly is installed in place. When maintaining the inner slider assembly, after removing the inspection cover 5, the card plate 20 is clamped on the telescopic arm 2. A fixed depth groove is provided on the end face of the card plate 20 for contacting the telescopic arm 2. The fixed depth groove is buckled above the first end of the inner slider assembly. If there is an obvious gap between the first end face of the inner slider assembly and the card plate 20, the inner slider assembly is adjusted in a direction away from the center line of the telescopic arm 2 until the first end face of the inner slider assembly contacts the card plate 20, indicating that the first end face of the inner slider assembly is flush with the inner surface of the retaining arm 1. When the remaining thickness of the inner slider assembly is thin or it can be shaken by hand, a new inner slider assembly needs to be replaced.

[0039] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A robotic arm, characterized in that: The invention comprises a retaining arm, a telescopic arm, a plurality of positioning members, a plurality of inner slider assemblies and a plurality of outer slider assemblies; an inlet and an outlet are provided at the first end of the retaining arm, and an inspection opening is provided on the top surface and the bottom surface of the retaining arm, and an inspection cover is detachably fixedly provided at the inspection opening, and the inspection cover can block the inspection opening; the first end of the telescopic arm is placed inside the retaining arm, and the telescopic arm extends from the inlet and an outlet to the outside of the retaining arm or retracts into the inside of the retaining arm; the inner slider assembly is detachably fixedly provided on the top surface and the bottom surface of the first end of the telescopic arm, and the first end of the inner slider assembly is used to contact with the inner surface of the retaining arm The inner slider assembly can move to the inspection port as the telescopic arm moves; the outer slider assembly is detachably fixed on the top surface, bottom surface, first side surface and second side surface of the first end of the retaining arm, and the first end of the outer slider assembly is used to contact the outer surface of the telescopic arm; the positioning member is detachably fixed on the top surface, bottom surface, first side surface and second side surface of the retaining arm, and the first end of the positioning member is used to be pressed against the outer surface of the telescopic arm or separated from the outer surface of the telescopic arm. When the first end of each positioning member is pressed against the outer surface of the telescopic arm, the telescopic arm is parallel to the retaining arm.

2. The robotic arm according to claim 1, characterized in that: An inner slider fixing seat is fixedly provided on the top surface and the bottom surface of the first end of the telescopic arm, the inner slider fixing seat corresponds to the inner slider assembly one by one, the inner slider fixing seat is sleeved outside the inner slider assembly, and the inner slider fixing seat is threadedly connected to the inner slider assembly.

3. The robotic arm according to claim 2, characterized in that: The inner slider assembly includes an inner slider and an inner slider mounting seat, the inner slider mounting seat extends into the inner slider fixing seat, the inner slider mounting seat is threadedly connected to the inner slider fixing seat, the first end of the inner slider is used to contact the inner surface of the retaining arm, the inner slider extends into the inner slider mounting seat, and the inner slider is threadedly connected to the inner slider mounting seat.

4. The robotic arm according to claim 3, characterized in that: The end of the inner slider mounting seat close to the center line of the telescopic arm is the first end of the inner slider mounting seat, a hexagonal through hole is provided at the center of the first end of the inner slider mounting seat, an operating hole is provided at the center of the inner slider, and the diameter of the operating hole is larger than the diameter of the circumscribed circle of the hexagonal through hole; the inner slider is a first aluminum brass slider.

5. The robotic arm according to claim 1, characterized in that: An outer slider fixing seat is fixed on the top surface, bottom surface, first side surface and second side surface of the first end of the retaining arm, the outer slider fixing seat corresponds to the outer slider assembly one by one, the outer slider fixing seat is sleeved outside the outer slider assembly, and the outer slider fixing seat is threadedly connected to the outer slider assembly.

6. The robotic arm according to claim 5, characterized in that: The outer slider assembly includes an outer slider and an outer slider mounting seat, the outer slider mounting seat extends into the outer slider fixing seat, the outer slider mounting seat is threadedly connected to the outer slider fixing seat, the first end of the outer slider is used to contact the outer surface of the telescopic arm, the outer slider extends into the outer slider mounting seat, and the outer slider is threadedly connected to the outer slider mounting seat.

7. The robotic arm according to claim 6, characterized in that: The end of the outer slider mounting seat away from the center line of the retaining arm is the first end of the outer slider mounting seat, the center of the first end of the outer slider mounting seat has an external hexagonal boss, an oil chamber is provided at the center of the outer slider mounting seat, the diameter of the oil chamber is smaller than the diameter of the inscribed circle of the external hexagonal boss, an oil nozzle is provided on the external hexagonal boss, and the oil nozzle can connect or separate the oil chamber from the outside of the outer slider mounting seat, the end of the outer slider close to the center line of the retaining arm is the first end of the outer slider, an oil guide groove is provided on the first end surface of the outer slider, an oil channel is provided at the center of the outer slider, one end of the oil channel is connected to the oil chamber, and the other end of the oil channel is connected to the oil guide groove; the outer slider is a second aluminum brass slider.

8. The robotic arm according to claim 1, characterized in that: The top surface, bottom surface, first side surface and second side surface of the retaining arm are all fixedly provided with a positioning piece mounting seat, the positioning piece mounting seat corresponds to the positioning piece one-to-one, the positioning piece passes through the positioning piece mounting seat, and the positioning piece is threadedly connected to the positioning piece mounting seat; the end of the positioning piece away from the center line of the retaining arm is the second end of the positioning piece, and a hexagonal groove is provided on the end surface of the second end of the positioning piece; the second end of the positioning piece is provided with a limit platform, and the limit platform can be tightly attached to the positioning piece mounting seat. When the limit platform is tightly attached to the positioning piece mounting seat, the telescopic arm is parallel to the retaining arm.

9. The robotic arm according to claim 1, characterized in that: Two inner slider assemblies are provided on the top surface of the first end of the telescopic arm, and two inner slider assemblies are provided on the bottom surface of the first end of the telescopic arm; four outer slider assemblies are provided on the top surface of the first end of the holding arm, four outer slider assemblies are provided on the bottom surface of the first end of the holding arm, two outer slider assemblies are provided on the first side surface of the first end of the holding arm, and two outer slider assemblies are provided on the second side surface of the first end of the holding arm; a positioning member is provided on the top surface of the holding arm, the positioning member on the top surface of the holding arm is placed at the inspection opening on the top surface of the holding arm, a positioning member is provided on the bottom surface of the holding arm, and the positioning member on the bottom surface of the holding arm is placed at the outer slider assembly, two positioning members are provided on the first side surface of the holding arm, and two positioning members are provided on the second side surface of the holding arm; one positioning member on the first side surface of the holding arm, one positioning member on the second side surface of the holding arm and the positioning member on the top surface of the holding arm are all on the first plane, and the other positioning member on the first side surface of the holding arm, The other positioning member on the second side surface of the retaining arm and the positioning member on the bottom surface of the retaining arm are both on a second plane, the first plane is parallel to the second plane, and the first plane is perpendicular to the center line of the retaining arm; the inner slider assemblies on the top surface and the bottom surface of the first end of the telescopic arm are both on a third plane, and the third plane is parallel to the first plane; the two outer slider assemblies on the top surface of the first end of the retaining arm, the two outer slider assemblies on the bottom surface of the first end of the retaining arm, one outer slider assembly on the first side surface of the first end of the retaining arm, and one outer slider assembly on the second side surface of the first end of the retaining arm are all on a fourth plane, and the fourth plane is parallel to the first plane; the other two outer slider assemblies on the top surface of the first end of the retaining arm, the other two outer slider assemblies on the bottom surface of the first end of the retaining arm, another outer slider assembly on the first side surface of the first end of the retaining arm, and another outer slider assembly on the second side surface of the first end of the retaining arm are all on a fifth plane, and the fifth plane is parallel to the fourth plane.

10. A maintenance method for a robotic arm, applied to the robotic arm as claimed in any one of claims 1 to 9, characterized in that: When performing maintenance on the outer slide assembly, the following steps are included: Step 1: Adjust the positioning members in the direction close to the center line of the telescopic arm until the first ends of all the positioning members are pressed against the outer surface of the telescopic arm, so that the telescopic arm is parallel to the retaining arm, fix all the positioning members to fix the telescopic arm and the retaining arm relatively, and then perform step 2 or step 3; Step 2: Adjust the outer slider assembly toward the center line of the telescopic arm until the first ends of all the outer slider assemblies are in contact with the outer surface of the telescopic arm, fix all the outer slider assemblies, and then proceed to step 4; Step 3: Remove the outer slider assembly and replace it with a new outer slider assembly until the first end of the new outer slider assembly contacts the outer surface of the telescopic arm, fix the new outer slider assembly, and then perform step 4; Step 4: Adjust the positioning parts in a direction away from the center line of the telescopic arm until all positioning parts return to their original positions; When performing maintenance on the inner slider assembly, the following steps are included: Step 1: Adjust the telescopic arm, and move the telescopic arm so that the inner slider assembly on the top surface of the first end of the telescopic arm moves to the inspection opening on the top surface of the retaining arm, and at the same time, the inner slider assembly on the bottom surface of the first end of the telescopic arm moves to the inspection opening on the bottom surface of the retaining arm; Step 2: Adjust the positioning piece on the top surface of the holding arm toward the center line of the telescopic arm until the first end of the positioning piece on the top surface of the holding arm is pressed tightly against the outer surface of the telescopic arm, and fix the positioning piece on the top surface of the holding arm to prevent the first end of the telescopic arm from warping up; Step 3: Remove the access cover and then proceed to step 4 or step 5; Step 4: Adjust the inner slider assembly in a direction away from the center line of the telescopic arm until the first end surfaces of all the inner slider assemblies are flush with the inner surface of the retaining arm, fix all the inner slider assemblies, and then proceed to step 6; Step 5: Remove the inner slider assembly and replace it with a new inner slider assembly until the first end surface of the new inner slider assembly is flush with the inner surface of the retaining arm, fix the new inner slider assembly, and then perform step 6; Step 6: Install the inspection cover and adjust the positioning piece on the top surface of the retaining arm in a direction away from the center line of the telescopic arm until the positioning piece on the top surface of the retaining arm returns to its original position.

Images