Robotic arm and maintenance method of robotic arm

Abstract

The present invention discloses a robotic arm and a maintenance method for the robotic arm, relating to the technical field of robotic arm maintenance, comprising a retaining arm, a telescopic arm, a plurality of positioning members, a plurality of inner slider assemblies and a plurality of outer slider assemblies; inspection openings are provided on the top and bottom surfaces of the retaining arm, and a maintenance cover is detachably fixed at the inspection opening, which can seal the inspection opening; an inner slider assembly is detachably fixed on the top and bottom surfaces of the first end of the telescopic arm, and the inner slider assembly can move to the inspection opening as the telescopic arm moves; an outer slider assembly is detachably fixed on the top, bottom, first side and second side surfaces of the first end of the retaining arm; positioning members are detachably fixed on the top, bottom, first side and second side surfaces of the retaining arm; the present invention can effectively avoid dismantling the telescopic arm during maintenance, making maintenance and servicing simple and convenient, and can ensure the efficiency of cleaning operations.

Description

Technical Field

[0001] The present invention relates to the technical field of robot arm maintenance, and in particular to a robot arm and a maintenance method for the robot arm. 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 typically used for routine cleaning of heliostats. The robotic arm on a typical heliostat cleaning vehicle typically consists of a retaining arm and a telescopic arm. The telescopic arm's length can be adjusted by sliding relative to the retaining arm. A slider is positioned between the telescopic arm and the retaining arm, secured to the telescopic arm or retaining arm with bolts. The telescopic arm must be removed to replace the slider.

[0004] However, most heliostat solar thermal power plants are located in desert areas. Firstly, heliostat cleaning vehicles are mostly mobile. Due to the poor surface roughness of the road, the distance between the cleaning mechanism and the mirror surface constantly changes as the vehicle moves. This requires the telescopic arm to constantly reciprocate to adjust the relative position of the cleaning mechanism and the mirror surface to ensure cleaning effectiveness. This results in a high frequency of telescopic arm extension and retraction, which can easily lead to wear on the slider. Secondly, sand and dust particles can easily penetrate the interior of the mechanical arm, causing increased wear on the slider. 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 maintaining the robotic arm 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 disassembled, making maintenance and care simple and convenient, and ensuring the efficiency of cleaning operations.

[0007] To achieve the above object, the present invention provides the following solutions:

[0008] 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 entrance and an exit are provided at the first end of the holding arm, and an inspection opening is provided on the top and bottom surfaces of the holding arm, and an inspection cover is detachably fixed to the inspection opening, and the inspection cover can seal the inspection opening; the first end of the telescopic arm is placed inside the holding arm, and the telescopic arm extends from the entrance to the outside of the holding arm or retracts into the inside of the holding arm; the inner slider assembly is detachably fixed on the top and bottom surfaces of the first end of the telescopic arm, and the first end of the inner slider assembly is used to be connected to 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 top surface, bottom surface, first side surface and second side surface of the retaining arm are detachably fixed with the positioning member, 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, and when the first end of each of the positioning members is pressed against the outer surface of the telescopic arm, the telescopic arm is parallel to the retaining arm.

[0009] 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.

[0010] 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.

[0011] 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.

[0012] 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.

[0013] 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.

[0014] 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 center of the first end of the outer slider mounting seat has an outer 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 outer hexagonal boss, an oil nozzle is provided on the outer hexagonal boss, and the oil nozzle can connect or separate the oil chamber with 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.

[0015] Preferably, a positioning member mounting seat is fixedly provided on the top surface, bottom surface, first side surface and second side surface of the retaining arm, the positioning member mounting seat corresponds to the positioning member one-to-one, the positioning member passes through the positioning member mounting seat, and the positioning member is threadedly connected to the positioning member mounting seat; the end of the positioning member away from the center line of the retaining arm is the second end of the positioning member, and a hexagonal groove is provided on the second end surface of the positioning member; a limit platform is provided on the second end of the positioning member, and the limit platform can be tightly attached to the positioning member mounting seat. When the limit platform is tightly attached to the positioning member mounting seat, the telescopic arm is parallel to the retaining arm.

[0016] 18. The swiftly and minutely adjusting device for a wood-planer working table as claimed in claim 1, wherein said linking rod and said adjusting base are pivotally connected to each other with a bolt, and said bolt has a round shank to contact with said linking rod. said linking rod having a first end and a second end; and said bolt has a round shank to contact with said linking rod. 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, the outer slider assembly on the first side surface of the first end of the holding arm, and the 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, the other outer slider assembly on the first side surface of the first end of the holding arm, and the other 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.

[0017] 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 following steps are included: Step 1: Adjust the positioning piece in the direction close to the center line of the telescopic arm until the first ends of all positioning pieces are pressed against the outer surface of the telescopic arm, so that the telescopic arm is parallel to the retaining arm, fix all positioning pieces to fix the telescopic arm and the retaining arm relative to each other, 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 until the first ends of all outer slider assemblies are in contact with the outer surface of the telescopic arm, fix all outer slider assemblies, and then perform 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 is in contact with the outer surface of the telescopic arm, fix the new outer slider assembly, and then perform step 4; Step 4: Adjust the positioning piece in the direction away from the center line of the telescopic arm until all positioning pieces return to their original positions; when maintaining the inner slider assembly, the following steps are included: Step 1: Adjust 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 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 holding 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 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 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 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.

[0018] Compared with the prior art, the present invention has achieved the following technical effects:

[0019] The robotic arm and the maintenance method of the robotic arm provided by the present invention are characterized in that positioning members are provided on the top surface, bottom surface, first side surface and second side surface of the holding arm, and the first end of the positioning member is separated from the outer surface of the telescopic arm during the operation of the robotic arm to achieve smooth extension and retraction of the telescopic arm relative to the holding arm. The first end of the positioning member can be pressed against the outer surface of the telescopic arm during the maintenance of the robotic arm to fix the telescopic arm and the holding arm relatively. After the positioning member fixes the telescopic arm and the holding arm relatively, since inspection openings are provided on the top surface and the bottom surface of the holding arm, the interior of the holding arm and the exterior of the holding arm are connected through the inspection openings, which facilitates the insertion of hands or tools 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 opening as the telescopic arm moves. In addition, after the positioning member fixes the telescopic arm and the holding arm relatively, the maintenance of the outer slider assembly can be completed directly on the outside of the holding arm, thereby effectively avoiding the need to remove the telescopic arm when maintaining the inner slider assembly and the outer slider assembly, making maintenance and servicing simple and convenient, and ensuring the efficiency of cleaning operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. 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 any creative work.

[0021] Figure 1 A three-dimensional schematic diagram of the robotic arm provided by the present invention;

[0022] Figure 2 A schematic diagram of one direction of the robotic arm provided by the present invention;

[0023] Figure 3 for Figure 2 Cross-sectional view at CC;

[0024] Figure 4 for Figure 3 A partial enlarged view of area A in FIG;

[0025] Figure 5 for Figure 3 A local enlarged view of area B in FIG;

[0026] Figure 6 for Figure 1 Schematic diagram of the holding arm in;

[0027] Figure 7 for Figure 6 A schematic diagram of one direction of the holding arm;

[0028] Figure 8 for Figure 7 Cross-sectional view at DD in the middle;

[0029] Figure 9 for Figure 7 Cross-sectional view at EE;

[0030] Figure 10 for Figure 7 Cross-sectional view at FF in FIG;

[0031] Figure 11 for Figure 1 Schematic diagram of the telescopic arm in;

[0032] Figure 12 for Figure 11 Schematic diagram of one direction of the telescopic arm;

[0033] Figure 13 for Figure 12 Cross-sectional view at GG in the middle;

[0034] Figure 14 This is a schematic diagram of the pallet in use;

[0035] Figure 15 for Figure 14 Schematic diagram of the card board in;

[0036] Figure 16 A schematic diagram of an outer slider in a robotic arm provided by the present invention;

[0037] Figure 17 A schematic diagram of an inner slider mounting seat in a robotic arm provided by the present invention;

[0038] Figure 18 A schematic diagram of an outer slider mounting base in a robotic arm provided by the present invention;

[0039] 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 platform. DETAILED DESCRIPTION

[0040] The following will clearly and completely describe the technical solutions in the embodiments of the present invention 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 making creative efforts are within the scope of protection of the present invention.

[0041] 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 disassembled, making maintenance and care simple and convenient, and ensuring the efficiency of cleaning operations.

[0042] 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.

[0043] Example 1

[0044] like Figures 1 to 18 As shown, this embodiment provides a robotic 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 port 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 port 4, and the inspection cover 5 can block the inspection port 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 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 end of the 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.

[0045] The robot arm provided in this 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 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 fix the telescopic arm 2 relative to the holding arm 1. After the positioning member 3 fixes the telescopic arm 2 relative to the holding arm 1, since inspection ports 4 are provided on the top and bottom surfaces of the holding arm 1, the positioning member 3 can be pressed against the outer surface of the telescopic arm 2 to fix the telescopic arm 2 relative 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 convenient for hands or tools 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 fixes the telescopic arm 2 and the retaining arm 1 relative to each other, the maintenance of the outer slider assembly can be completed directly on the outside of the retaining arm 1, thereby effectively avoiding the need to remove the telescopic arm 2 when maintaining the inner and outer slider assemblies, making maintenance and servicing simple and convenient, and ensuring the efficiency of cleaning operations.

[0046] 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 .

[0047] As a more preferred implementation of this embodiment, the robotic 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 the telescopic electric cylinder 21 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 robotic 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 moves to the middle position of the inspection port 4 for maintenance of the inner slider assembly.

[0048] Furthermore, an inner slider fixing seat 7 is fixed on the top and bottom surfaces 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 is convenient for adjusting the distance between the first end of the inner slider assembly and the inner surface of the retaining arm 1 when wear causes the distance between the first end of the inner slider assembly and the inner surface of the retaining arm 1 to increase, 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 method of this embodiment, an inner slider fixing seat 7 is welded and fixed on the top and bottom surfaces of the first end of the telescopic arm 2, which is convenient for production and has a stable connection.

[0049] 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. After use, separate the inner slider 6 from the inner slider mounting seat 8, install a new inner slider 6 on the inner slider mounting seat 8, and then install the inner slider mounting seat 8 and the new inner slider 6 as a whole to the inner slider fixing seat 7; it should be noted here that in actual application, it is preferred to directly replace the pre-assembled inner slider 6 and inner slider mounting seat 8, 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 leave 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.

[0050] 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. A hexagonal through hole 9 is provided at the center of the first end of the inner slider mounting seat 8, and an operating hole 10 is provided 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 uses an 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.

[0051] 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 wear causes the distance between the first end of the outer slider assembly and the outer surface of the telescopic arm 2 to increase, 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 method of this embodiment, the top surface, bottom surface, first side surface and second side surface of the first end of the retaining arm 1 are all welded and fixed with an outer slider fixing seat 12, which is convenient for production and has a stable connection.

[0052] 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 ensure the normal operation of the robotic arm first, 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, which can further shorten the downtime of the robotic arm and improve the efficiency of the cleaning operation.

[0053] 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.

[0054] 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. The center of the first end of the outer slider mounting seat 13 is provided with an external hexagonal boss 14. When installing, disassembling or maintaining, the operator uses an external hexagonal wrench to turn the external hexagonal boss 14 to realize 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 opened at the center of the outer slider mounting seat 13. 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 to facilitate the addition of grease. The outer slider 11 is a second aluminum brass slider with a low hardness and is not easy to damage the telescopic arm 2.

[0055] 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 the second end surface of the positioning piece 3 is provided with an inner hexagonal groove, 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 inner hexagonal wrench; as a more preferred embodiment of this embodiment, the top surface, bottom surface, first side surface and second side surface of the holding arm 1 are all welded and fixed with a positioning piece mounting seat 19, which is convenient for production and has a stable connection; the second end of the positioning piece 3 has a limit platform 22, which limits The platform 22 can be tightly attached to the positioning member mounting seat 19. When the limit platform 22 is tightly attached to the positioning member mounting seat 19, the telescopic arm 2 is parallel to the holding arm 1, so that the length of the positioning member 3 entering the interior of the holding arm 1 can be limited by the cooperation between the limit platform 22 and the positioning member mounting seat 19, and then the telescopic arm 2 can be constrained to be parallel to the holding arm 1 through each positioning member 3, which is convenient for operation. When in use, each positioning member 3 is rotated inward until the limit platform 22 is tightly attached to the positioning member mounting seat 19. At this time, the telescopic arm 2 is parallel to the holding arm 1; as a more preferred implementation method of this embodiment, after maintenance is completed, the positioning member 3 is screwed outward 4 to 6 turns, which can maintain a safe distance between the first end of the positioning member 3 and the outer surface of the telescopic arm 2 to avoid collision between the first end of the positioning member 3 and the telescopic arm 2.

[0056] Furthermore, 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, the positioning piece 3 on the top surface of the holding arm 1 is placed at the inspection opening 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, the positioning piece 3 on the bottom surface of the holding arm 1 is placed at the outer slider assembly, 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; a positioning piece 3 on the first side surface of the holding arm 1, a 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 parts 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 and bottom surfaces 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, one outer slider assembly on the first side surface of the first end of the holding arm 1, and one 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 robotic 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.

[0057] Example 2

[0058] The present embodiment provides a maintenance method for a robotic arm, which is applied to the robotic arm in the first embodiment. When performing maintenance on the outer slider assembly, the following steps are included: Step 1: Adjust the positioning members 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 relative to the holding arm 1, 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 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 2, fix the new outer slider assembly, and then proceed to step 4; Step 4: Adjust the positioning member 3 in the direction away from the center line of the telescopic arm 2 until all 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 4, and 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 opening 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 toward 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 inner slider assemblies are flush with the inner surface of the retaining arm 1, fix all inner slider assemblies, and then proceed to step six; Step five: 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 1, fix the new inner slider assembly, and then proceed to 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.

[0059] The maintenance method of the robotic arm provided in this embodiment is characterized in that positioning members 3 are provided 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 robotic 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 robotic arm to fix the telescopic arm 2 relative to the holding arm 1. After the positioning member 3 fixes the telescopic arm 2 relative to the holding arm 1, since inspection openings 4 are provided on the top and bottom surfaces of the holding arm 1, The interior of the retaining arm 1 is connected to the exterior of the retaining arm 1 through the inspection port 4, making it convenient for hands or tools to extend from the exterior of the retaining arm 1 into the interior 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 fixes the telescopic arm 2 and the retaining arm 1 relative to each other, the maintenance of the outer slider assembly can be completed directly on the exterior of the retaining arm 1, thereby effectively avoiding the need to remove the telescopic arm 2 when maintaining the inner and outer slider assemblies, making maintenance and servicing simple and convenient, and ensuring the efficiency of cleaning operations.

[0060] As a more preferred implementation of this embodiment, the maintenance method of the robotic arm provided in this embodiment also uses 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, and 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 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.

[0061] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A robotic arm, characterized in that: The cam is adapted to move the cam forwardly and downwardly from one end of the cam to the other end of the cam, wherein the cam is adapted to move the cam forwardly and downwardly from one end of the cam to the other end of the cam, wherein the cam is adapted to move the cam forwardly and downwardly from one end of the cam to the other end of the cam. and a lever, having one end in pinned connection to the bottom of the second support frame, said lever having a first end in pinned connection to the bottom of the second support frame, said first end of said lever having a first end in pinned connection to the bottom of the second support frame. 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; 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; 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, the center of the first end of the inner slider mounting seat is provided with an inner hexagonal through hole, the center of the inner slider is provided with an operating hole, and the operating hole The diameter of the hole is larger than the diameter of the circumscribed circle of the hexagonal through hole; 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, and the outer slider fixing seat corresponds to the outer slider assembly one by one, and 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; the clamping plate is used to be clamped on the telescopic arm when the inner slider assembly is maintained, and a fixed depth groove is provided on the end surface of the clamping plate for contacting the telescopic arm, and the fixed depth groove is used to buckle above the first end of the inner slider assembly, and when the first end surface of the inner slider assembly contacts the clamping plate, the first end surface of the inner slider assembly is flush with the inner surface of the retaining arm.

2. The robotic arm according to claim 1, wherein: The inner slider is a first aluminum brass slider.

3. The robotic arm according to claim 1, wherein: 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.

4. The robotic arm according to claim 3, wherein: 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, and the center of the first end of the outer slider mounting seat has an outer hexagonal boss, and an oil chamber is opened 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 outer hexagonal boss, and an oil nozzle is provided on the outer hexagonal boss, and the oil nozzle can make the oil chamber communicate with or separate the outside of the outer slider mounting seat, and the end of the outer slider close to the center line of the retaining arm is the first end of the outer slider, and an oil guide groove is opened on the end surface of the first end of the outer slider, and an oil channel is opened at the center of the outer slider, one end of the oil channel is connected with the oil chamber, and the other end of the oil channel is connected with the oil guide groove; the outer slider is a second aluminum brass slider.

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

6. The robotic arm according to claim 1, wherein: The top surface of the first end of the telescopic arm is provided with two inner slider assemblies, and the bottom surface of the first end of the telescopic arm is provided with two inner slider assemblies; the top surface of the first end of the holding arm is provided with four outer slider assemblies, and the bottom surface of the first end of the holding arm is provided with four outer slider assemblies, and the first side surface of the first end of the holding arm is provided with two outer slider assemblies. The top surface of the holding arm is provided with a positioning piece, and the positioning piece on the top surface of the holding arm is placed at the inspection opening on the top surface of the holding arm. The bottom surface of the holding arm is provided with a positioning piece, and the positioning piece on the bottom surface of the holding arm is placed on the outer slider assembly, and the first side surface of the holding arm is provided with two positioning pieces, and the second side surface of the holding arm is provided with two positioning pieces; one positioning piece on the first side surface of the holding arm, one positioning piece on the second side surface of the holding arm, and the positioning piece on the top surface of the holding arm are all on a first plane, and the other positioning piece 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 and bottom surfaces 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.

7. A maintenance method for a robotic arm, applied to the robotic arm according to any one of claims 1 to 6, characterized in that: When performing maintenance on the outer slider assembly, the following steps are included: Step 1: Adjust the positioning members toward the centerline of the telescopic arm until the first ends of all positioning members are pressed against the outer surface of the telescopic arm, making the telescopic arm parallel to the retaining arm. Secure all positioning members to fix the telescopic arm relative to the retaining arm, and then proceed to Step 2 or Step 3. Step 2: Adjust the outer slider assemblies toward the centerline of the telescopic arm until the first ends of all outer slider assemblies contact the outer surface of the telescopic arm, secure all outer slider assemblies, and then proceed to Step 4; Step 3: Remove the outer slider assembly and replace it with a new one until the first end of the new outer slider assembly contacts the outer surface of the telescopic arm, secure the new outer slider assembly, and then proceed to step 4; Step 4: Adjust the positioning parts 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 tilting upward; Step 3: Remove the access cover and proceed to step 4 or step 5; Step 4: Adjust the inner slider assembly 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 retaining arm, secure all 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 proceed to step 6; Step 6: Install the inspection cover and adjust the positioning piece on the top surface of the holding arm 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.

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