阅读说明：本技术 一种机器人腿部安装维护装置 (Device is maintained in installation of robot shank ) 是由 鲍敏 鲍婕 敖冰峰 邢常伟 乔阳 杨宏帅 王莹 杨俊伟 李焕然 孙璇 王莉 慕 于 2021-08-05 设计创作，主要内容包括：一种机器人腿部安装维护装置,包括机架、中心轴、移动杆、传动轴、输出轴、调整盘、驱动盘、连杆、花键齿轮、调节座、调节轴、弹簧、抛光弹簧、抛光头,所述机架右侧具有右侧板,右侧板下部具有调节轴孔,调节轴孔上部具有横板,横板右侧具有调节槽,横板左侧具有左侧板,横板上部具有贯穿左侧板和右侧板的中心轴孔,左侧板和右侧板的上部具有贯穿的滑槽,左侧板中部具有转轴孔,移动杆左侧具有输出轴孔,移动杆右侧具有滑轨,移动杆下部具有传递球头,传递球头右侧具有驱动球头,滑轨滑动连接滑槽,滑轨在滑槽中滑动。(The utility model provides a device is maintained in installation of robot shank, includes frame, center pin, carriage release lever, transmission shaft, output shaft, adjustment disk, driving-disc, connecting rod, spline gear, regulation seat, regulating spindle, spring, polishing spring, rubbing head, the frame right side has the right side board, and right side board lower part has the regulation shaft hole, and regulation shaft hole upper portion has the diaphragm, and the diaphragm right side has the adjustment tank, and the diaphragm left side has the left side board, and diaphragm upper portion has the central shaft hole that runs through left side board and right side board, and the upper portion of left side board and right side board has the spout that runs through, and left side board middle part has the pivot hole, and the carriage release lever left side has the output shaft hole, and the carriage release lever right side has the slide rail, and the carriage release lever lower part has the transmission bulb, and transmission bulb right side has the drive bulb, slide rail sliding connection spout, the slide rail slides in the spout.)

1. The robot leg installation and maintenance device is characterized by comprising a rack, a central shaft, a moving rod, a transmission shaft, an output shaft, an adjusting disc, a driving disc, a connecting rod, a spline gear, an adjusting seat, an adjusting shaft, a spring, a polishing spring and a polishing head, wherein the right side of the rack is provided with a right side plate, the lower part of the right side plate is provided with an adjusting shaft hole, the upper part of the adjusting shaft hole is provided with a transverse plate, the right side of the transverse plate is provided with an adjusting groove, the left side of the transverse plate is provided with a left side plate, the upper part of the transverse plate is provided with a central shaft hole penetrating through the left side plate and the right side plate, the upper parts of the left side plate and the right side plate are provided with a penetrating sliding chute, the middle part of the left side plate is provided with a rotating shaft hole, the left side of the moving rod is provided with an output shaft hole, the right side of the moving rod is provided with a sliding rail, the lower part of the moving rod is provided with a transmission ball head, the right side of the transmission ball head is provided with a driving ball head, the sliding connection sliding groove, and the sliding rail slides in the sliding groove; the left side of the central shaft is provided with a central shaft gear, two sides of the central shaft gear are provided with baffle plates, the right side of the central shaft is provided with a flat shaft, a pin shaft is arranged in the vertical direction of the flat shaft, the right side of the flat shaft is provided with a central shaft spline, the left side of the transmission shaft is provided with a transmission shaft bevel gear, the middle of the transmission shaft is provided with the transmission shaft spline, the right side of the transmission shaft spline is provided with a transmission groove, the lower part of the output shaft is provided with a joint, the upper part of the output shaft is provided with an output shaft gear, the output shaft is rotatably connected with an output shaft hole, the output shaft rotates in the output shaft hole, the transmission shaft is slidably connected with a rotating shaft hole, the transmission shaft rotates and slides in the rotating shaft hole, the transmission shaft bevel gear and the output shaft gear are meshed with each other, the transmission ball head is clamped in the transmission groove, two sides of the central shaft are rotatably connected with a central shaft hole, the central shaft rotates in the central shaft hole, the spline gear is slidably connected with the transmission shaft spline gear, the central shaft gear is meshed with the baffle plates, the joint is fixedly connected with a polishing spring, the lower part of the polishing spring is fixedly connected with a polishing head, the right side of a central shaft penetrates through a right central shaft hole to be fixedly connected with a motor output shaft, the upper part of the motor is fixedly connected with the lower part of a motor base, and the left side of the motor base is fixedly connected with the right side of a right side plate.

2. The robot leg installation and maintenance device as claimed in claim 1, wherein the adjustment plate has a splined hole in the middle, the side of the adjustment plate has an adjustment plate hinge seat, the driving plate has a flat slot in the middle, the flat slot has a pin hole in the vertical direction, the driving plate has a driving slot in the circumferential direction, the side of the driving plate has a driving plate hinge seat, the pin hole is rotatably connected with a pin shaft, the pin hole is rotatable around the pin shaft, the flat slot is slidably connected with a flat shaft, a driving ball head is clamped in the driving slot, the splined hole is slidably connected with a central shaft spline, the splined hole slides on the central shaft spline, one side of the connecting rod is hinged with the adjustment plate hinge seat, and the other side of the connecting rod is hinged with the driving plate hinge seat.

3. The robot leg installation and maintenance device as claimed in claim 2, wherein the adjusting seat has a spring hole in the middle, the adjusting seat has an adjusting seat hole on the right side, the adjusting shaft has an adjusting block on the left side, the adjusting block has an adjusting disk groove in the middle, the adjusting shaft has a shoulder in the middle, the adjusting shaft has a button on the right side, the end surface of the adjusting seat left side is fixedly connected to the right side of the right side plate, the adjusting shaft is slidably connected to the adjusting seat hole, the adjusting shaft slides in the adjusting seat hole, the shoulder is on the left side of the adjusting seat hole, the adjusting block is slidably connected to the adjusting groove, the adjusting block slides in the adjusting groove, the adjusting disk is clamped in the middle of the adjusting disk groove, the spring is sleeved on the outside of the adjusting shaft, the spring left side abuts against the right side of the plate, and the spring right side abuts against the left side of the shoulder.

4. The operation method of the robot leg installation and maintenance device as claimed in claim 2, which comprises the following steps: firstly, selecting a proper polishing head according to the shapes of a robot arm and parts; and secondly, lifting the device, starting a motor to start polishing, and pressing an adjusting shaft at any time according to different robot arms during polishing so as to adjust the polishing range and the polishing effect.

Technical Field

The invention relates to the field of robots, in particular to a robot leg installation and maintenance device.

Background

In the installation of robot shank maintenance process, need clean and the polishing to spare part, there is following problem in the part cleaning and the polishing process, firstly, because spare part precision is high, traditional polishing equipment can cause the injury to spare part, and second, robot shank spare part shape is complicated, the unable thorough cleanness of traditional equipment and polishing.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides the robot leg installation and maintenance device which is thorough in cleaning and polishing, better in effect and free of damage to parts.

The purpose of the invention is realized by the following technical scheme:

a robot leg installation and maintenance device comprises a rack, a central shaft, a moving rod, a transmission shaft, an output shaft, an adjusting disc, a driving disc, a connecting rod, a spline gear, an adjusting seat, an adjusting shaft, a spring, a polishing spring and a polishing head, wherein the right side of the rack is provided with a right side plate, the lower part of the right side plate is provided with an adjusting shaft hole, the upper part of the adjusting shaft hole is provided with a transverse plate, the right side of the transverse plate is provided with an adjusting groove, the left side of the transverse plate is provided with a left side plate, the upper part of the transverse plate is provided with a central shaft hole penetrating through the left side plate and the right side plate, the upper parts of the left side plate and the right side plate are provided with a penetrating sliding chute, the middle part of the left side plate is provided with a rotating shaft hole, the left side of the moving rod is provided with an output shaft hole, the right side of the moving rod is provided with a sliding rail, the lower part of the moving rod is provided with a transmission ball head, the right side of the transmission ball head is provided with a driving ball head, the sliding rail is connected with the sliding chute in a sliding way, and the sliding way; the left side of the central shaft is provided with a central shaft gear, two sides of the central shaft gear are provided with baffle plates, the right side of the central shaft is provided with a flat shaft, a pin shaft is arranged in the vertical direction of the flat shaft, the right side of the flat shaft is provided with a central shaft spline, the left side of the transmission shaft is provided with a transmission shaft bevel gear, the middle of the transmission shaft is provided with the transmission shaft spline, the right side of the transmission shaft spline is provided with a transmission groove, the lower part of the output shaft is provided with a joint, the upper part of the output shaft is provided with an output shaft gear, the output shaft is rotatably connected with an output shaft hole, the output shaft rotates in the output shaft hole, the transmission shaft is slidably connected with a rotating shaft hole, the transmission shaft rotates and slides in the rotating shaft hole, the transmission shaft bevel gear and the output shaft gear are meshed with each other, the transmission ball head is clamped in the transmission groove, two sides of the central shaft are rotatably connected with a central shaft hole, the central shaft rotates in the central shaft hole, the spline gear is slidably connected with the transmission shaft spline gear, the central shaft gear is meshed with the baffle plates, the joint is fixedly connected with a polishing spring, the lower part of the polishing spring is fixedly connected with a polishing head, the right side of a central shaft penetrates through a right central shaft hole to be fixedly connected with a motor output shaft, the upper part of the motor is fixedly connected with the lower part of a motor base, and the left side of the motor base is fixedly connected with the right side of a right side plate.

The improved structure of the driving disc is characterized in that a splined hole is formed in the middle of the adjusting disc, an adjusting disc hinged support is arranged on the side surface of the adjusting disc, a flat groove is formed in the middle of the driving disc, a pin hole is formed in the vertical direction of the flat groove, a driving groove is formed in the circumferential direction of the driving disc, a driving disc hinged support is formed in the side surface of the driving disc, a connecting pin shaft is rotated through the pin hole, the pin hole is rotated around the pin shaft, the flat groove is connected with a flat shaft in a sliding mode, a driving ball head is clamped in the driving groove, the splined hole is connected with a center shaft spline in a sliding mode, the splined hole slides on the center shaft spline, the adjusting disc hinged support is hinged to one side of the connecting rod, and the driving disc hinged support is hinged to the other side of the connecting rod.

The adjusting device is characterized in that a spring hole is formed in the middle of the adjusting seat, an adjusting seat hole is formed in the right side of the adjusting seat, an adjusting block is arranged on the left side of the adjusting shaft, an adjusting disc groove is formed in the middle of the adjusting block, a shaft shoulder is formed in the middle of the adjusting shaft, a button is arranged on the right side of the adjusting shaft, the left end face of the adjusting seat is fixedly connected with the right side plate, the adjusting shaft is in sliding connection with the adjusting seat hole, the shaft shoulder is arranged on the left side of the adjusting seat hole, the adjusting block is in sliding connection with the adjusting groove, the adjusting block slides in the adjusting groove, the adjusting disc is clamped in the middle of the adjusting disc groove, the spring sleeve is arranged on the outer side of the adjusting shaft, the right side plate right side is abutted to the left side of the spring, and the left side of the spring is abutted to the shaft shoulder left side.

Has the advantages that: starting a motor, driving a central shaft to rotate by the motor, driving an adjusting disc to rotate by the rotation of the central shaft through a central shaft spline, driving a driving disc to rotate by the central shaft through a flat shaft and a pin shaft, driving a spline gear to rotate by a central shaft gear, driving a transmission shaft to rotate by a spline of a transmission shaft, driving an output shaft gear to rotate by a bevel gear of the transmission shaft, driving a polishing head to rotate by a polishing spring by the rotation of the output shaft, starting polishing or cleaning the leg of the robot, pressing the adjusting shaft, driving an adjusting block to slide to the left side along an adjusting groove, driving the adjusting block to slide to the left side, driving the adjusting disc to slide to the left side by the groove, driving the driving disc to deflect around the pin shaft by a connecting rod, driving a driving ball head to slide to the left and the right by the driving groove, driving the ball head to slide to the left and the right, and driving a moving rod to slide to the left and the right along a sliding groove, the movable rod slides left and right, the transmission ball head slides left and right simultaneously, the transmission ball head drives the transmission groove to slide left and right, the transmission groove slides left and right, the transmission shaft slides left and right in the rotating shaft hole, the movable rod and the transmission shaft slide synchronously, the transmission shaft bevel gear and the output shaft gear keep a meshing state, the polishing head moves left and right while rotating, and the distance of moving left and right depends on the pressing depth of the adjusting shaft.

The device has thorough cleaning and polishing, does not damage the workpiece, has better polishing effect, the polishing head and the device are connected by adopting a flexible spring, not only can adapt to complicated shapes, corners and inner cavities to ensure more thorough polishing, but also can prevent the workpiece from being damaged by excessive force at the corners, the polishing head can move left and right while rotating, not only can prevent local excessive polishing, but also can polish more uniformly, has better polishing effect, can control the left and right movement distance, can adapt to inner spaces with different sizes, lightens the labor intensity, ensures that the sliding chutes are connected on the left side and the right side of the sliding rail in a sliding way, ensures that the movable rod is uniformly stressed without deformation, prevents the clamping and shaking of the movable rod to influence the polishing effect, and transmits the ball head and the transmission groove, the driving ball head and the driving groove are matched by adopting a spherical surface to prevent the transmission ball head from pushing the transmission groove, and the driving ball head from generating motion interference when pushing the driving groove, transmission bulb and drive bulb integration, power transmission and drive integration, the cooperation precision of output shaft gear and transmission shaft bevel gear has been guaranteed, make the polishing more steady, adjusting block and adjustment tank adopt rectangle sliding fit, both guaranteed gliding steady and prevent rotating, make promotion adjustment disk effect better, the adjustment disk card is in, both transmit thrust and do not influence the adjustment disk and rotate, flat groove and flat axle rectangle cooperation, let the driving-disc rotate steady and freely deflect, adjustment disk and central shaft spline adopt splined connection simultaneously, the adjustment disk slides more steady, the transmission precision is higher, guarantee the synchronization of adjustment disk and rotation driving-disc.

Drawings

Fig. 1 is a schematic view of the overall structure of the robot leg installation and maintenance device of the present invention.

Fig. 2 is a schematic view of a rack structure according to the present invention.

Fig. 3 is a schematic structural view of a central shaft according to the present invention.

Fig. 4 is a schematic view of the structure of the moving rod according to the present invention.

Fig. 5 is a schematic structural view of a transmission shaft according to the present invention.

Fig. 6 is a schematic view of the output shaft structure according to the present invention.

Fig. 7 is a schematic view of the structure of the adjusting disk according to the present invention.

Fig. 8 is a schematic view of a driving disc structure according to the present invention.

Fig. 9 is a schematic view of a connecting rod structure according to the present invention.

Fig. 10 is a schematic view of a connection structure of the adjusting seat, the adjusting shaft and the spring according to the present invention.

Fig. 11 is a schematic view of an adjusting shaft according to the present invention.

Detailed Description

The invention is explained in more detail below with reference to the figures and examples:

a robot leg installation and maintenance device comprises a frame 110, a central shaft 120, a moving rod 130, a transmission shaft 140, an output shaft 150, an adjusting disc 160, a driving disc 170, a connecting rod 180, a spline gear 190, an adjusting seat 210, an adjusting shaft 220, a spring 230, a polishing spring 240 and a polishing head 250, wherein the right side of the frame 110 is provided with a right side plate 111, the lower part of the right side plate 111 is provided with an adjusting shaft hole 114, the upper part of the adjusting shaft hole 114 is provided with a transverse plate 112, the right side of the transverse plate 112 is provided with an adjusting groove 115, the left side of the transverse plate 112 is provided with a left side plate 113, the upper part of the transverse plate 112 is provided with a central shaft hole 116 penetrating through the left side plate 113 and the right side plate 111, the upper parts of the left side plate 113 and the right side plate 111 are provided with a through chute 117, the middle part of the left side plate 113 is provided with a rotating shaft hole 118, the left side of the moving rod 130 is provided with an output shaft hole 131, the right side of the moving rod 130 is provided with a slide rail 132, the lower part of the moving rod 130 is provided with a transmission ball 133, the right side of the transmission ball 133, the transmission ball 133 is provided with a driving ball 134, the slide rail 132 is slidably connected with the slide groove 117, and the slide rail 132 slides in the slide groove 117; the left side of the central shaft 120 is provided with a central shaft gear 121, both sides of the central shaft gear 121 are provided with baffles 122, the right side of the central shaft 120 is provided with a flat shaft 123, the flat shaft 123 is provided with a pin shaft 124 in the vertical direction, the right side of the flat shaft 123 is provided with a central shaft spline 125, the left side of the transmission shaft 140 is provided with a transmission shaft bevel gear 143, the middle of the transmission shaft 140 is provided with a transmission shaft spline 142, the right side of the transmission shaft spline 142 is provided with a transmission groove 141, the lower part of the output shaft 150 is provided with a joint 152, the upper part of the output shaft 150 is provided with an output shaft gear 151, the output shaft 150 is rotatably connected with the output shaft hole 131, the transmission shaft 140 is slidably connected with the transmission shaft hole 118, the transmission shaft 140 rotates and slides in the transmission shaft hole 118, the transmission shaft bevel gear 143 and the output shaft gear 151 are mutually engaged, the transmission ball 133 is clamped in the transmission groove 141, both sides of the central shaft 120 are rotatably connected with the central shaft hole 116, and the central shaft 120 rotates in the central shaft hole 116, spline gear 190 is connected with transmission shaft spline 142 in a sliding mode, spline gear 190 and central shaft gear 121 are meshed with each other, spline gear 190 is clamped inside baffle 122, joint 152 is fixedly connected with polishing spring 240, the lower portion of polishing spring 240 is fixedly connected with polishing head 250, the right side of central shaft 120 penetrates through right central shaft hole 116 and is fixedly connected with an output shaft of motor 260, the upper portion of motor 260 is fixedly connected with the lower portion of motor base 270, and the left side of motor base 270 is fixedly connected with the right side of right side plate 111.

The middle of the adjusting disk 160 is provided with a splined hole 161, the side of the adjusting disk 160 is provided with an adjusting disk hinge seat 162, the middle of the driving disk 170 is provided with a flat groove 171, the flat groove 171 is provided with a pin hole 172 in the vertical direction, the circumferential direction of the driving disk 170 is provided with a driving groove 174, the side of the driving disk 170 is provided with a driving disk hinge seat 173, the pin hole 172 is rotatably connected with the pin shaft 124, the pin hole 172 rotates around the pin shaft 124, the flat groove 171 is slidably connected with a flat shaft 123, the driving ball head 134 is clamped in the driving groove 174, the splined hole 161 is slidably connected with the central shaft spline 125, the splined hole 161 slides on the central shaft spline 125, one side of the connecting rod 180 is hinged with the adjusting disk hinge seat 162, and the other side of the connecting rod 180 is hinged with the driving disk hinge seat 173.

The middle of the adjusting seat 210 is provided with a spring hole 211, the right side of the adjusting seat 210 is provided with an adjusting seat hole 212, the left side of the adjusting shaft 220 is provided with an adjusting block 223, the middle of the adjusting block 223 is provided with an adjusting disk groove 224, the middle of the adjusting shaft 220 is provided with a shaft shoulder 221, the right side of the adjusting shaft 220 is provided with a key 222, the left end surface of the adjusting seat 210 is fixedly connected with the right side of the right side plate 111, the adjusting shaft 220 is slidably connected with the adjusting seat hole 212, the adjusting shaft 220 slides in the adjusting seat hole 212, the shaft shoulder 221 is arranged on the left side of the adjusting seat hole 212, the adjusting block 223 is slidably connected with the adjusting groove 115, the adjusting block 223 slides in the adjusting groove 115, the adjusting disk 160 is clamped in the middle of the adjusting disk groove 224, the spring 230 is sleeved on the outer side of the adjusting shaft 220, the left side of the spring 230 abuts against the right side of the right side plate 111, and the right side of the spring 230 abuts against the left side of the shaft shoulder 221.

Starting a motor 260, the motor 260 driving a central shaft 120 to rotate, the central shaft 120 rotating driving an adjusting disc 160 to rotate through a central shaft spline 125, the central shaft 120 driving a driving disc 170 to rotate through a flat shaft 123 and a pin shaft 124, the central shaft 120 rotating driving a spline gear 190 to rotate through a central shaft gear 121, the spline gear 190 rotating driving a transmission shaft 140 to rotate through a transmission shaft spline 142, the transmission shaft 140 rotating, a transmission shaft bevel gear 143 driving an output shaft gear 151 to rotate, the output shaft 150 rotating driving a polishing head 250 to rotate through a polishing spring 240, and then starting polishing or cleaning the robot leg, pressing an adjusting shaft 220, an adjusting block 223 sliding along an adjusting groove 115 to the left, an adjusting block 223 sliding to the left, an adjusting disc groove 224 driving an adjusting disc 160 sliding to the left, an adjusting disc 160 sliding to the left side and driving a driving disc 170 to deflect around a pin shaft 124 through a connecting rod 180, and a driving disc 170 deflecting, the driving groove 174 drives the driving ball head 134 to slide left and right, the moving rod 130 to slide left and right along the sliding groove 117, the moving rod 130 to slide left and right, the transfer ball head 133 to slide left and right simultaneously, the transfer ball head 133 to drive the transfer groove 141 to slide left and right, the transmission shaft 140 to slide left and right in the rotation shaft hole 118, the moving rod 130 and the transmission shaft 140 to slide synchronously, the transmission shaft bevel gear 143 and the output shaft gear 151 keep a meshed state, the polishing head 250 to move left and right while rotating, and the distance to move left and right depends on the pressing depth of the adjusting shaft 220.

The device has thorough cleaning and polishing, does not damage workpieces, has better polishing effect, the polishing head 250 is connected with the device by a flexible spring, not only can adapt to complicated shapes, corners and inner cavities to ensure more thorough polishing, but also can prevent the workpieces from being damaged by excessive force at the corners, the polishing head can move left and right while rotating, not only can prevent local over-polishing, but also can polish more uniformly, has better polishing effect, can control the left and right movement distance, can adapt to inner spaces with different sizes, and lightens the labor intensity, the sliding connection chutes 117 are arranged at the left side and the right side of the sliding rail 132, ensure that the movable rod 130 is stressed uniformly without deformation, prevent the blockage and shaking of the movable rod 130 and influence the polishing effect, the transmission ball head 133 and the transmission groove 141 are matched in a spherical way, the transmission ball head 133 is prevented from pushing the transmission groove 141, and the movement interference is generated when the transmission ball head 134 pushes the driving groove 174, transmission bulb 133 and drive bulb 134 integration, power transmission and drive integration, the cooperation precision of output shaft gear 151 and transmission shaft bevel gear 143 has been guaranteed, make the polishing more steady, adjusting block 223 and adjustment groove 115 adopt rectangle sliding fit, both guaranteed gliding steady and prevent 233 from rotating, make 234 promote adjusting disk 160 better effect, adjusting disk 160 card is in 234, both transmit thrust and do not influence adjusting disk 160 and rotate, flat groove 171 and flat axle 123 rectangle cooperation, let drive disc 170 rotate steadily and freely deflect, adjusting disk 160 and central shaft spline 125 adopt splined connection simultaneously, adjusting disk 160 slides more steadily, the transmission precision is higher, guarantee adjusting disk 160 and drive disc 170 pivoted synchronization.

An operation method of a robot leg installation and maintenance device comprises the following steps: in the first step, a suitable polishing head 250 is selected based on the shape of the robot arm and the components. And secondly, lifting the device, starting the motor 260 to start polishing, and pressing the adjusting shaft 220 at any time according to different robot arms during polishing so as to adjust the polishing range and polishing effect.