CN215262359U

CN215262359U - Detection tool for leg assembly

Info

Publication number: CN215262359U
Application number: CN202120802321.9U
Authority: CN
Inventors: 刘奕扬; 郭文平; 魏小毛; 智放; 李爽
Original assignee: Beijing Xiaomi Mobile Software Co Ltd
Current assignee: Beijing Xiaomi Robot Technology Co ltd
Priority date: 2021-04-19
Filing date: 2021-04-19
Publication date: 2021-12-21
Anticipated expiration: 2031-04-19

Abstract

The utility model discloses a detect frock for leg subassembly, a plurality of pivot transposition have on the leg subassembly, it includes the base to detect the frock, be equipped with a plurality of pivots on the base and detect the position, the pivot detect the position be suitable for with the cooperation of pivot position, and a plurality of the pivot detects the position and a plurality of pivot position one-to-one, so that it can be according to detect the frock the pivot detect the position with the cooperation degree of pivot transposition is judged the installation error of pivot transposition. The utility model discloses a detection frock for leg subassembly can detect leg subassembly's installation error.

Description

Detection tool for leg assembly

Technical Field

The utility model relates to a detect frock technical field, concretely relates to a detect frock for leg subassembly.

Background

Legged robots, which may also be referred to as legged robots, generally include a torso assembly and leg assemblies including upper legs pivotally connected to the torso assembly and lower legs pivotally connected to the upper legs. In the correlation technique, after the leg assembly of sufficient robot is assembled, certain installation error can all appear when some parts in the leg assembly are not up to standard or the part assembly is not in place, and then probably lead to the card pause of the meeting of leg assembly when the pivot, influenced the stationarity and the uniformity of complete machine motion, and aggravated the wearing and tearing of leg assembly, the power consumption is higher, and the life-span is shorter.

SUMMERY OF THE UTILITY MODEL

The present invention aims at solving at least one of the technical problems in the related art to a certain extent.

Therefore, the embodiment of the utility model provides a can detect leg assembly's installation error's detection frock.

According to the utility model discloses a detect frock for leg subassembly, a plurality of pivot positions have on the leg subassembly, it includes the base to detect the frock, be equipped with a plurality of pivots on the base and detect the position, the pivot detect the position be suitable for with pivot position cooperation, and a plurality of the pivot detects the position and is a plurality of pivot position one-to-one, so that it can be according to detect the frock the pivot detect the position with the cooperation degree of pivot position is judged the installation error of pivot position.

According to the utility model discloses a detect frock for leg subassembly, can pass through the pivot detect the position with the cooperation degree of pivot transposition is judged the installation error of pivot transposition, and then can reflect whether the pivot position of leg subassembly is up to standard or whether the part is qualified through the size of installation error to can judge whether the leg subassembly satisfies the designing requirement.

In some embodiments, the detection tool further comprises a plurality of pivot mounting blocks, the pivot mounting blocks are connected with the base, and the pivot detection positions are respectively arranged on the pivot mounting blocks.

In some embodiments, at least one of the plurality of pivot mounting blocks is removably connected to the base.

In some embodiments, a notch is formed in the upper end of the pivot mounting block, the notch forms the pivot detection position, and the notch is suitable for being matched with a rotating shaft on the pivot position, so that the detection tool can judge the mounting error of the pivot position according to the matching degree of the notch and the rotating shaft.

In some embodiments, the notch is circular in cross-section and the degree of fit includes at least one of parallelism and coaxiality.

In some embodiments, a column is disposed at an upper end of the pivot mounting block, the column constitutes the pivot detection position, and the column is adapted to be matched with a rotating shaft hole on the pivot position, so that the detection tool can judge a mounting error of the pivot position according to a matching degree of the column and the rotating shaft hole.

In some embodiments, the cylinder is circular in cross-section and the degree of fit comprises at least one of parallelism and coaxiality.

In some embodiments, the leg assembly comprises a first leg and a connecting rod, the connecting rod is pivotally connected with the first leg, at least part of the pivoting position is located at the connection position of the connecting rod and the first leg, the base is further provided with a connecting rod detection position, and the connecting rod detection position is suitable for being matched with the connecting rod, so that the detection tool can judge the installation error of the connecting rod according to the matching degree of the connecting rod detection position and the connecting rod.

In some embodiments, the detection tool further comprises a connecting rod mounting block, the connecting rod mounting block is connected with the base, and the connecting rod detection position is arranged on the connecting rod mounting block.

In some embodiments, a through groove is formed in the upper end of the connecting rod mounting block, the through groove forms the connecting rod detection position, and the through groove is suitable for being matched with the connecting rod, so that the detection tool can judge the mounting error of the connecting rod according to the matching degree of the through groove and the connecting rod.

In some embodiments, the link mounting block is removably coupled to the base.

Drawings

Fig. 1 is a schematic diagram of a detection tool for a leg assembly according to an embodiment of the present invention.

Fig. 2 is an illustration of the installation of the first and second legs of the leg assembly according to an embodiment of the present invention.

Fig. 3 is an installation schematic of a first leg, a connecting rod and a flange of a leg assembly according to an embodiment of the invention.

Fig. 4 is an installation schematic diagram of a detection tool and a leg assembly according to the embodiment of the present invention.

Reference numerals:

100. a base;

200. a pivot mounting block; 201. a pivot detection position;

210. a first pivot mounting block; 211. a first notch; 220. a second pivot mounting block; 221. a second notch; 230. a third pivot mounting block; 231. a cylinder;

300. a connecting rod mounting block; 301. detecting the position of the connecting rod; 3011. a through groove;

400. a leg assembly; 401. pivoting; 4011. a first pivot position; 4012. a second pivot position; 4013. a third pivot position;

410. a first leg; 420. a second leg; 430. a connecting rod; 440. and (4) a flange.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.

The following describes a detection frock for leg subassembly according to the embodiment of the utility model with reference to the attached drawings.

As shown in fig. 1 to 4, the detection tool for leg assembly according to the embodiment of the present invention includes a base 100, a plurality of pivot detection positions 201 are disposed on the base 100, and the pivot detection positions 201 are adapted to cooperate with pivot positions 401 on the leg assembly 400. It is understood that the pivot locations 401, i.e., the relative pivotable locations between the various parts on the leg assembly 400, may be multiple pivot locations 401. The pivot detection positions 201 correspond to the pivot positions 401 one by one, so that the detection tool can determine the installation error of the pivot positions 401 according to the matching degree of the pivot detection positions 201 and the pivot positions 401.

The utility model discloses a detect frock for leg subassembly can detect position 201 and pivot position 401's cooperation degree through the pivot and judge pivot position 401's installation error, and then can reflect whether the pivot position of going out leg subassembly 400 is up to standard or whether the part is qualified through installation error's size to can judge whether leg subassembly 400 satisfies the designing requirement.

For example, the plurality of pivot detection positions 201 may be directly formed on the base 100, thereby facilitating the manufacturing and processing of the detection tool. For another example, as shown in fig. 1, the detection tool further includes a plurality of pivot mounting blocks 200, the plurality of pivot mounting blocks 200 are connected to the base 100, and the plurality of pivot detection locations 201 are respectively disposed on the plurality of pivot mounting blocks 200, it can be understood that the plurality of pivot mounting blocks 200 are arranged at intervals and separately connected to the base 100, preferably, at least one of the plurality of pivot mounting blocks 200 is detachably connected to the base 100, for example, the plurality of pivot mounting blocks 200 are detachably connected to the base 100, so that when any one of the pivot detection locations 201 is worn, the corresponding pivot mounting block 200 can be replaced, thereby reducing the use cost of the detection tool according to the embodiment of the present invention.

As shown in fig. 4, when detecting the leg assembly 400, the leg assembly 400 may be placed on the base 100, and the pivot detection positions 201 on the base 100 correspond to the pivot detection positions 201 on the leg assembly 400 one by one, so that an operator may determine an installation error of the pivot position 401 according to a degree of fit between the pivot detection position 201 and the pivot position 401, and it may be understood that the degree of fit may be a coaxiality or a parallelism, for example, when the degree of parallel between the pivot detection position 201 and the mating surface of the pivot position 401 is poor, the installation error of the pivot position 401 may be reflected to be larger, and the unqualified leg assembly 400 may be screened out.

In some embodiments, as shown in fig. 1 and 4, the upper end of the pivot mounting block 200 is provided with a notch, which constitutes the pivot detection position 201, and the notch is adapted to cooperate with the rotating shaft on the pivot position 401, so that the detection tool can determine the mounting error of the pivot position 401 according to the degree of cooperation between the notch and the rotating shaft.

For example, as shown in fig. 2 and 3, the leg assembly 400 includes a first leg 410, a link 430, and a flange 440, one end of the link 430 (e.g., the left end of the link 430 in fig. 3) being pivotally connected to the first leg 410 to form a second pivot location 4012, and the other end of the link 430 (e.g., the right end of the link 430 in fig. 3) being pivotally connected to the flange 440 to form a first pivot location 4011. As shown in fig. 1 and 4, the pivot mounting block 200 includes a first pivot mounting block 210 and a second pivot mounting block 220, the first pivot mounting block 210 is provided with a first notch 211, and the second pivot mounting block 220 is provided with a second notch 221. The first pivot location 4011 can mate with the first slot 211 and the second pivot location 4012 can mate with the second slot 221.

Taking the first pivot 4011 and the first notch 211 as an example, when the mating surfaces of the first pivot 4011 and the second notch 221 have poor fitting performance, the installation error of the pivot position of the link 430 and the first leg 410 is large, so that the link can be selected. Preferably, first notch 211 cross section is circular, consequently the utility model discloses the detection frock can judge first pivot position 4011's installation error through the depth of parallelism and the axiality of the fitting surface of first pivot position 4011 and first notch 211, thereby improves the utility model discloses the detection precision of detection frock.

In other embodiments, as shown in fig. 1, an upper end of the pivot mounting block 200 is provided with a column 231, the column 231 forms the pivot detection position 201, and the column 231 is adapted to be matched with a rotating shaft hole on the pivot position 401, so that the detection tool can determine the mounting error of the pivot position 401 according to the matching degree of the column 231 and the rotating shaft hole.

For example, as shown in fig. 2 and 4, the leg assembly 400 further includes a second leg 420, the second leg 420 being pivotally connected to the first leg 410 to form a third pivot location 4013. As shown in fig. 1 and 4, the pivot mounting block 200 includes a third pivot mounting block 230, and a post 231 is provided on the third pivot mounting block 230. The spindle hole in the third pivot location 4013 can mate with the post 231. When the matching degree of the rotating shaft hole on the third pivot 4013 and the matching surface of the column 231 is poor, the installation error of the pivot position of the second leg 420 and the first leg 410 is large, so that the pivot position can be screened out. Preferably, cylinder 231 cross section is circular, consequently the utility model discloses the detection frock can judge third pivot position 4013's installation error through the depth of parallelism and the axiality of the fitting surface of third pivot position 4013 and cylinder 231, thereby improves the utility model discloses the detection precision of detection frock.

In some embodiments, as shown in fig. 1 and 4, a connecting rod detection position 301 is further disposed on the base 100, and the connecting rod detection position 301 is adapted to cooperate with the connecting rod 430, so that the detection tool can determine an installation error of the connecting rod 430 according to a degree of cooperation between the connecting rod detection position 301 and the connecting rod 430.

For example, the link detection site 301 may be directly formed on the base 100, thereby facilitating the manufacture and processing of the detection tool. For another example, the detection tool further includes a link 430 detection block, the link installation block 300 is connected to the base 100, and the link detection position 301 is disposed on the link installation block 300. Preferably, connecting rod installation piece 300 is connected with base 100 detachably to when connecting rod installation piece 300 appears wearing and tearing, can change it, and then reduced the utility model discloses a use cost of detection frock of embodiment.

Specifically, as shown in fig. 1 and 4, a through slot 3011 is formed at the upper end of the connecting rod mounting block 300, the through slot 3011 constitutes the connecting rod detection position 301, and the through slot 3011 is suitable for being matched with the connecting rod 430, so that the detection tool can judge the mounting error of the connecting rod 430 according to the matching degree of the through slot 3011 and the connecting rod 430. For example, the cross-sectional area that leads to groove 3011 is the rectangle, and the length direction that leads to groove 3011 extends along the line direction of first pivot installation piece 210 and second pivot installation piece 220, and the cross-sectional area of connecting rod 430 also is the rectangle, consequently the utility model discloses a detection frock can judge the installation error of connecting rod 430 through the depth of parallelism of the fitting surface of connecting rod 430 and logical groove 3011, thereby improves the utility model discloses the detection precision of detection frock.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship indicated based on the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the present disclosure, the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art without departing from the scope of the present invention.

Claims

1. The utility model provides a detect frock for leg subassembly, the leg subassembly has a plurality of pivot positions, its characterized in that, detect frock includes the base, be equipped with a plurality of pivot on the base and detect the position, the pivot detect the position be suitable for with the cooperation of pivot position, and a plurality of the pivot detects the position and a plurality of pivot position one-to-one to make it can be according to the pivot detect the position with the cooperation degree of pivot position judges the installation error of pivot position.

2. The detection tool for the leg assembly according to claim 1, further comprising a plurality of pivot mounting blocks, wherein the plurality of pivot mounting blocks are connected with the base, and the plurality of pivot detection positions are respectively arranged on the plurality of pivot mounting blocks.

3. The inspection tool for leg assemblies according to claim 2, wherein at least one of said plurality of pivotally mounted blocks is removably connected to said base.

4. The detection tool for the leg assembly according to claim 2, wherein a notch is formed in the upper end of the pivot mounting block, the notch forms the pivot detection position, and the notch is suitable for being matched with a rotating shaft on the pivot position, so that the detection tool can judge the installation error of the pivot position according to the matching degree of the notch and the rotating shaft.

5. The inspection tool for a leg assembly of claim 4 wherein the notch is circular in cross-section and the fit comprises at least one of parallelism and coaxiality.

6. The tool for detecting the leg assembly as claimed in claim 2, wherein a post is disposed at an upper end of the pivot mounting block, the post forms the pivot detecting position, and the post is adapted to be engaged with a rotating shaft hole on the pivot position, so that the tool can determine an installation error of the pivot position according to a degree of engagement between the post and the rotating shaft hole.

7. The inspection tool for leg assemblies according to claim 6, wherein the cross section of the cylinder is circular, and the degree of fit comprises at least one of parallelism and coaxiality.

8. The detection tool for the leg assembly according to any one of claims 1 to 7, wherein the leg assembly comprises a first leg and a connecting rod, the connecting rod is pivotally connected with the first leg, at least part of the pivoting position is located at the connection position of the connecting rod and the first leg, and a connecting rod detection position is further arranged on the base and is suitable for being matched with the connecting rod, so that the detection tool can judge the installation error of the connecting rod according to the matching degree of the connecting rod detection position and the connecting rod.

9. The detection tool for the leg assembly according to claim 8, further comprising a connecting rod mounting block, wherein the connecting rod mounting block is connected with the base, and the connecting rod detection position is arranged on the connecting rod mounting block.

10. The detection tool for the leg assembly according to claim 9, wherein a through groove is formed in an upper end of the connecting rod mounting block, the through groove forms the connecting rod detection position, and the through groove is suitable for being matched with the connecting rod, so that the detection tool can judge the mounting error of the connecting rod according to the matching degree of the through groove and the connecting rod.

11. The inspection tool for a leg assembly of claim 9 wherein the link mounting block is removably connected to the base.