A tempered glass fast clamping mechanical arm and method thereof

Abstract

The present invention discloses a tempered glass fast clamping mechanical arm and method thereof, which relates to the technical field of mechanical arms, and comprises a base, a mechanical arm assembly is installed on the upper side of the base, a mounting plate is installed on the base through the mechanical arm assembly, a sliding groove is provided on one side of the mounting plate, a quick release assembly is installed in the sliding groove, a clamping mechanism is installed on the mounting plate through the quick release assembly, and the clamping mechanism comprises a limit plate, a plurality of sliding openings are provided on the upper side of the limit plate, and adjustment blocks are slidably installed in the plurality of sliding openings. The tempered glass fast clamping mechanical arm of the present invention drives the clamping block to rotate through a third driving motor, the clamping block drives the clamping slot block to rotate, the clamping slot block drives a plurality of driving rods to rotate, the driving rod drives a plurality of adjustment blocks to approach each other, and the plurality of adjustment blocks respectively drive the adaptation assembly to approach the tempered glass, and the side shape of the tempered glass is adaptively changed through the adaptation assembly, so as to achieve a stable and fast clamping effect.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical arms, and in particular to a tempered glass fast clamping mechanical arm and a method thereof. Background Art

[0002] Tempered glass, also known as Tempered glass or Reinforced glass, is a type of glass with compressive stress on the surface. It is a type of safety glass. It has the characteristics of high mechanical strength and good thermal stability. It is widely used in various fields, such as architectural glass and furniture. In order to facilitate its transfer and transportation during processing, a robotic arm is required for auxiliary processing.

[0003] In the prior art, when transferring and transporting tempered glass, it is first necessary to clamp it. The robot arm in the prior art usually squeezes the four sides of the tempered glass to clamp and fix the tempered glass. This method can effectively clamp rectangular tempered glass when used, but in actual use, tempered glass is often cut into irregular shapes due to different usage scenarios. These irregular shapes usually need to be clamped by specific clamping plates of different specifications. Different shapes need to be replaced with different clamping plates, resulting in the problem of low applicability of the device. Therefore, we disclose a tempered glass quick clamping robot arm and a method thereof to meet people's needs. Summary of the invention

[0004] The purpose of the present application is to provide a tempered glass rapid clamping robot arm and method thereof, so as to solve the problem raised in the above-mentioned background technology that in actual use, tempered glass is often cut into irregular shapes due to different usage scenarios. These irregular shapes usually require the use of specific clamping plates of different specifications for clamping during the clamping process. Different shapes require the replacement of different clamping plates, resulting in low applicability of the device.

[0005] To achieve the above-mentioned purpose, the present application provides the following technical solutions: a tempered glass quick clamping mechanical arm, comprising a base, a mechanical arm assembly is installed on the upper side of the base, a mounting plate is installed on the base through the mechanical arm assembly, a sliding groove is opened on one side of the mounting plate, a quick-release assembly is installed in the sliding groove, a clamping mechanism is installed on the mounting plate through the quick-release assembly, the clamping mechanism comprises a limit plate, a plurality of sliding openings are opened on the upper side of the limit plate, adjustment blocks are slidably installed in the plurality of sliding openings, a movable plate is installed on one side of the plurality of adjustment blocks, a centering box is rotatably installed on one side of the plurality of movable plates, two adaptive springs are installed on the opposite surface of the movable plate and the centering box, a plurality of sliding holes are opened on one side of the centering box, an adaptive assembly is installed in the sliding holes, and a driving assembly is rotatably installed on the other side of the plurality of adjustment blocks.

[0006] Preferably, the adaptation component includes a plurality of movable columns, and the plurality of movable columns are slidably installed in the plurality of sliding holes. Limiting rings are installed on the surfaces of the plurality of movable columns. A spring rod is installed at one end of the plurality of movable columns, and the other end of the spring rod is installed on the inner wall of the centering box. An extrusion unit is slidably installed on the inner bottom wall of the centering box.

[0007] Preferably, the extrusion unit includes a plurality of first extrusion plates and a plurality of second extrusion plates, a plurality of the first extrusion plates are slidably mounted on the inner bottom wall of the centering box, a plurality of the second extrusion plates are slidably mounted on the inner bottom wall of the centering box, a same first rack is mounted on the upper sides of a plurality of the first extrusion plates, a same second rack is mounted on the upper sides of a plurality of the second extrusion plates, a dust cover is mounted on the upper side of the centering box, a rotating hole is provided on the upper side of the dust cover, a gear is mounted in the rotating hole, the gear is meshed with the first rack, the gear is meshed with the second rack, a fourth drive motor is mounted on the upper side of the dust cover, and an output shaft of the fourth drive motor is mounted on the upper side of the gear.

[0008] Preferably, the driving assembly includes a plurality of driving rods, and the plurality of driving rods are correspondingly rotatably mounted on the upper sides of the plurality of adjusting blocks. The driving block is rotatably mounted on the upper side of the limiting plate, and the opposite ends of the plurality of driving rods are rotatably mounted on the inner wall of the driving block. A card-joining groove block is mounted on the upper side of the driving block.

[0009] Preferably, the quick-release assembly includes two moving blocks, both of which are slidably installed in the sliding groove, extension rods are installed on the lower sides of the two moving blocks, and a number of fixed blocks are installed on the opposite surfaces of the two extension rods, and a number of mounting ears are installed on the upper side of the limit plate, and a number of the mounting ears are adapted to a number of the fixed blocks, a third driving motor is installed on the lower side of the mounting plate, a clamping block is installed on the output end of the third driving motor, and the clamping block is adapted to the clamping slot block, and an adjustment hole is opened on one side of the mounting plate, and an adjustment unit is rotatably installed in the adjustment hole.

[0010] Preferably, the adjustment unit comprises a bidirectional threaded rod, a non-threaded area on the surface of the bidirectional threaded rod is rotatably mounted in the adjustment hole, and the two moving blocks are both threadedly mounted on the threaded area on the surface of the bidirectional threaded rod.

[0011] Preferably, a mounting knob is installed at one end of the bidirectional threaded rod, a sliding hole is opened on one side of the mounting knob, a plug-in strip is slidably installed in the sliding hole, and a plurality of plug-in holes are opened on one side of the mounting plate, and the plurality of plug-in holes are adapted to the plug-in strip.

[0012] Preferably, the robotic arm includes a first driving shaft, which is mounted on the top of the base, a rotating column is mounted on the upper side of the first driving shaft, a first driving opening is opened on one side of the rotating column, a first robotic arm is rotatably mounted in the driving opening, a second driving shaft is mounted on one side of the first robotic arm, a second robotic arm is mounted on one side of the second driving shaft, a second driving opening is opened on one side of the second robotic arm, an angle adjustment block is rotatably mounted in the second driving opening, an electric telescopic rod is mounted on the lower side of the angle adjustment block, a third driving shaft is mounted on the output end of the electric telescopic rod, and a mounting plate is mounted on one side of the third driving shaft.

[0013] Preferably, a first drive motor is installed on one side of the rotating column, the output shaft of the first drive motor is installed on one side of the first mechanical arm, a second drive motor is installed on one side of the second mechanical arm, and the output end of the second drive motor is installed on one side of the angle adjustment block.

[0014] Preferably, a method for quickly clamping a tempered glass robot arm comprises:

[0015] S1. First, place the base and the robotic arm assembly in the working area, move the limit plate to the vicinity of the extension rod, and fix the limit plate to the mounting plate through the quick-release assembly to complete the splicing and fixing of the device;

[0016] S2, then adjusting the horizontal angle, vertical angle and height of the clamping mechanism of the mechanical arm through the mechanical arm assembly so that the clamping mechanism is aligned with the tempered glass to be clamped, and starting the third driving motor, the third driving motor drives the clamping block to rotate, the clamping block drives the clamping slot block to rotate, the clamping slot block drives a number of driving rods to rotate, the driving rods drive a number of adjustment blocks to approach each other, and the number of adjustment blocks respectively drive the adaptation assembly to approach the tempered glass, and the side shape of the tempered glass is adaptively changed through the adaptation assembly, so as to achieve a stable and fast clamping effect;

[0017] S3. After the final clamping is completed, the clamping mechanism is driven by the mechanical arm assembly to adjust the horizontal angle, vertical angle and height again, thereby achieving the effect of transporting and carrying the tempered glass.

[0018] In summary, the technical effects and advantages of the present invention are as follows:

[0019] 1. In the present invention, the third driving motor drives the clamping block to rotate, the clamping block drives the clamping slot block to rotate, the clamping slot block drives the driving rods to rotate, the driving rod drives the adjusting blocks to approach each other, and the adjusting blocks respectively drive the corresponding centering boxes to approach each other. When the movable column on the centering box contacts the side of the tempered glass, the horizontal angle of the centering box is adjusted by two adaptive springs, so that the centering box is as close to the tempered glass as possible, and at the same time, the edge of the tempered glass begins to squeeze the movable columns on the centering box, and the movable columns are squeezed to shrink into the centering box and begin to squeeze the spring rods. Under the squeezing of the tempered glass, the several independent movable columns are stretched to different degrees. At this time, the several movable columns form a shape that is highly fitted with the special-shaped side of the tempered glass. Then, by starting the fourth driving motor, the fourth driving motor drives the gear to rotate, the gear drives the first rack and the second rack to rotate respectively, the first rack and the second rack respectively drive the first extrusion plate and the second extrusion plate, the surfaces of the several movable columns are squeezed and fixed, and then the special-shaped shape is fixed, and then the several centering boxes are squeezed mutually, thereby completing the rapid clamping of the tempered glass with a special-shaped structure.

[0020] 2. In the present invention, the clamping block is inserted into the clamping slot block, and a plurality of mounting ears are aligned with a plurality of fixed blocks, and the mounting knob is rotated, the mounting knob drives the bidirectional threaded rod to rotate, the bidirectional threaded rod drives the two moving blocks to approach each other, the two moving blocks respectively drive the two extension rods to approach each other, the two extension rods respectively drive the plurality of fixed blocks to move, so that the plurality of fixed blocks are inserted into the plurality of mounting ears, thereby completing the rapid installation of the clamping mechanism, which is convenient for the later maintenance of the robotic arm.

[0021] 3. In the present invention, the first driving shaft drives the rotating column to rotate, thereby realizing the first-level angle adjustment; the first driving motor output end drives the first mechanical arm to rotate, thereby realizing the second-level angle adjustment; the second driving shaft drives the second mechanical arm to rotate, thereby realizing the third-level angle adjustment; the second driving motor drives the angle adjustment block to rotate, thereby realizing the fourth-level angle adjustment; the electric telescopic rod is used to perform telescopic adjustment, thereby realizing the fifth-level angle adjustment; the third driving shaft drives the clamping mechanism to rotate, thereby realizing the multi-angle telescopic adjustment of the clamped tempered glass, thereby achieving the effect of facilitating the handling and transportation of the tempered glass. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1It is a schematic diagram of the three-dimensional structure of the present invention;

[0024] Figure 2 It is a schematic diagram of the structure of the quick-release assembly and related assemblies of the present invention;

[0025] Figure 3 It is a schematic diagram of the clamping structure and its related components in the present invention;

[0026] Figure 4 is a cross-sectional view of the limiting plate in the present invention;

[0027] Figure 5 is a cross-sectional view of the centering box of the present invention;

[0028] Figure 6 It is a schematic diagram of the cross-section structure of the mounting plate in the present invention;

[0029] Figure 7 It is a structural schematic diagram of the mechanical arm assembly in the present invention;

[0030] Figure 8 It is a schematic diagram of the movable column and its related structures in the present invention.

[0031] In the figure: 1, base; 2, first drive shaft; 3, rotating column; 4, first mechanical arm; 5, first drive motor; 6, second drive shaft; 7, second mechanical arm; 8, angle adjustment block; 9, second drive motor; 10, third drive shaft; 11, limit plate; 12, adjustment block; 13, two-way threaded rod; 14, drive block; 15, drive rod; 16, moving plate; 17, centering box; 18, adaptive spring; 19, movable column; 20 , limit ring; 21, spring rod; 22, first extrusion plate; 23, second extrusion plate; 24, first rack; 25, second rack; 26, gear; 27, snap-in slot block; 28, mounting ear; 29, mounting plate; 30, third drive motor; 31, snap-in block; 32, moving block; 33, extension rod; 34, fixed block; 35, mounting knob; 36, plug-in strip; 37, electric telescopic rod; 38, dust cover; 39, fourth drive motor. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] Example: Reference Figure 1-8A tempered glass quick clamping mechanical arm shown in the figure comprises a base 1, a mechanical arm assembly is installed on the upper side of the base 1, a mounting plate 29 is installed on the base 1 through the mechanical arm assembly, a sliding groove is opened on one side of the mounting plate 29, a quick release assembly is installed in the sliding groove, a clamping mechanism is installed on the mounting plate 29 through the quick release assembly, the clamping mechanism comprises a limit plate 11, a plurality of sliding openings are opened on the upper side of the limit plate 11, adjustment blocks 12 are slidably installed in the plurality of sliding openings, a moving plate 16 is installed on one side of the plurality of adjustment blocks 12, a centering box 17 is rotatably installed on one side of the plurality of moving plates 16, two adaptation springs 18 are installed on the opposite surface of the moving plate 16 and the centering box 17, a plurality of sliding holes are opened on one side of the centering box 17, an adaptation assembly is installed in the sliding hole, and a driving assembly is rotatably installed on the other side of the plurality of adjustment blocks 12.

[0034] Based on the above structure, before the robot arm is used, the base 1 needs to be fixed in an appropriate working area, and the clamping mechanism is quickly installed through the quick-release assembly to complete the preliminary installation of the device. When the device is used, the relative position of the limit plate 11 and the tempered glass is first adjusted through the robot arm assembly. Four centering boxes 17 are installed on the limit plate 11 in a ring-shaped arrangement. The centering boxes 17 are adjusted so that the centering boxes 17 are on the same horizontal line as the tempered glass. The centering boxes 17 are driven close to each other by the driving assembly, and the special-shaped tempered glass is quickly clamped and fixed by the corresponding adaptation assembly of each centering box 17 to facilitate its transportation.

[0035] Example 1

[0036] like Figure 3 , 4 As shown in , 5 and 8, the adaptation component includes a plurality of movable columns 19, and the plurality of movable columns 19 are slidably installed in a plurality of sliding holes. Limiting rings 20 are installed on the surfaces of the plurality of movable columns 19, and spring rods 21 are installed at one end of the plurality of movable columns 19. The other end of the spring rods 21 is installed on the inner wall of the centering box 17. An extrusion unit is slidably installed on the inner bottom wall of the centering box 17. A spring rod 21 is installed at one end of each movable column 19. When the movable column 19 is not in use, the spring rod 21 will drive the movable column 19 to reset. The function of the limiting ring 20 is to prevent the movable column 19 from escaping from the centering box 17.

[0037] like Figure 3 , 4As shown in , 5 and 8, the extrusion unit includes a plurality of first extrusion plates 22 and a plurality of second extrusion plates 23, the plurality of first extrusion plates 22 are slidably mounted on the inner bottom wall of the centering box 17, the plurality of second extrusion plates 23 are slidably mounted on the inner bottom wall of the centering box 17, the same first rack 24 is mounted on the upper side of the plurality of first extrusion plates 22, the same second rack 25 is mounted on the upper side of the plurality of second extrusion plates 23, a dust cover 38 is mounted on the upper side of the centering box 17, a rotating hole is provided on the upper side of the dust cover 38, a gear 26 is mounted in the rotating hole, the gear 26 is meshed with the first rack 24, the gear 26 is meshed with the second rack 25, a fourth drive motor 39 is mounted on the upper side of the dust cover 38, the output shaft of the fourth drive motor 39 is mounted on the upper side of the gear 26, there are multiple groups of first extrusion plates 22 and second extrusion plates 23, and the opposite surfaces of one group are provided with extrusion grooves adapted to the movable column 19, and each group corresponds to a plurality of When the movable columns 19 on the centering box 17 touch the side of the tempered glass, the horizontal angle of the centering box 17 is adjusted by the two adaptive springs 18, so that the centering box 17 is as close to the tempered glass as possible, and at the same time, the edge of the tempered glass begins to squeeze the movable columns 19 on the centering box 17, and the movable columns 19 are squeezed to shrink into the centering box 17 and begin to squeeze the spring rod 21. The several independent movable columns 19 are stretched and contracted to different degrees under the squeezing of the tempered glass. At this time, the several movable columns 19 form a shape that is highly fitted with the special-shaped side of the tempered glass. Then, by starting the fourth drive motor 39, the fourth drive motor 39 drives the gear 26 to rotate, and the gear 26 drives the first rack 24 and the second rack 25 to rotate respectively. The first rack 24 and the second rack 25 respectively drive the first extrusion plate 22 and the second extrusion plate 23 to squeeze and fix the surfaces of the several movable columns 19, thereby fixing the special-shaped shape.

[0038] Example 2

[0039] like Figure 2 and 4 As shown, the driving assembly includes a plurality of driving rods 15, and the plurality of driving rods 15 are correspondingly rotatably installed on the upper sides of the plurality of adjusting blocks 12. The driving block 14 is rotatably installed on the upper side of the limiting plate 11. The opposite ends of the plurality of driving rods 15 are rotatably installed on the inner wall of the driving block 14. A snap-in groove block 27 is installed on the upper side of the driving block 14. The third driving motor 30 drives the snap-in block 31 to rotate, the snap-in block 31 drives the snap-in groove block 27 to rotate, the snap-in groove block 27 drives the plurality of driving rods 15 to rotate, the driving rods 15 drive the plurality of adjusting blocks 12 to approach each other, and the plurality of adjusting blocks 12 respectively drive the corresponding centering boxes 17 to approach each other.

[0040] Example 3

[0041] like Figure 2 and 6As shown, the quick-release assembly includes two moving blocks 32, and the two moving blocks 32 are slidably installed in the sliding groove. An extension rod 33 is installed on the lower side of the two moving blocks 32, and a plurality of fixed blocks 34 are installed on the opposite surfaces of the two extension rods 33. A plurality of mounting ears 28 are installed on the upper side of the limit plate 11, and the plurality of mounting ears 28 are adapted to the plurality of fixed blocks 34. A third driving motor 30 is installed on the lower side of the mounting plate 29, and a clamping block 31 is installed on the output end of the third driving motor 30, and the clamping block 31 is adapted to the clamping slot block 27. An adjustment hole is opened on one side of the mounting plate 29, and an adjustment unit is rotatably installed in the adjustment hole.

[0042] like Figure 2 and 6 As shown, the adjustment unit includes a bidirectional threaded rod 13, and the non-threaded area on the surface of the bidirectional threaded rod 13 is rotatably installed in the adjustment hole, and the two movable blocks 32 are both screwed and installed in the threaded area on the surface of the bidirectional threaded rod 13. The bidirectional threaded rod 13 is the prior art, and there are two opposite threaded areas on its surface. The two movable blocks 32 are respectively screwed and installed in the two threaded areas.

[0043] like Figure 2 and 6 As shown, a mounting knob 35 is installed at one end of the bidirectional threaded rod 13, and a sliding hole is provided on one side of the mounting knob 35, in which a plug-in strip 36 is slidably installed, and a plurality of plug-in holes are provided on one side of the mounting plate 29, and the plurality of plug-in holes are adapted to the plug-in strip 36. By inserting the plug-in strip 36 into the plug-in hole, the mounting knob 35 is limited to prevent the bidirectional threaded rod 13 from loosening, and the clamping block 31 is aligned with the clamping groove block 27 for insertion, and the plurality of mounting ears 28 are aligned with the plurality of fixed blocks 34, and by rotating the mounting knob 35, the mounting knob 35 drives the bidirectional threaded rod 13 to rotate, and the bidirectional threaded rod 13 drives the two moving blocks 32 to approach each other, and the two moving blocks 32 respectively drive the two extension rods 33 to approach each other, and the two extension rods 33 respectively drive the plurality of fixed blocks 34 to move, so that the plurality of fixed blocks 34 are inserted into the plurality of mounting ears 28, thereby completing the rapid installation of the limit plate 11.

[0044] Example 4

[0045] like Figure 1 and 7As shown, the mechanical arm includes a first driving shaft 2, which is installed at the top of the base 1, a rotating column 3 is installed on the upper side of the first driving shaft 2, a first driving port is opened on one side of the rotating column 3, a first mechanical arm 4 is rotatably installed in the driving port, a second driving shaft 6 is installed on one side of the first mechanical arm 4, a second mechanical arm 7 is installed on one side of the second driving shaft 6, a second driving port is opened on one side of the second mechanical arm 7, an angle adjustment block 8 is rotatably installed in the second driving port, an electric telescopic rod 37 is installed on the lower side of the angle adjustment block 8, a third driving shaft 10 is installed on the output end of the electric telescopic rod 37, a mounting plate 29 is installed on one side of the third driving shaft 10, and motors are arranged in the first driving shaft 2, the second driving shaft 6 and the third driving shaft 10, which can be controlled to rotate.

[0046] like Figure 1 and 7 As shown, a first drive motor 5 is installed on one side of the rotating column 3, and the output shaft of the first drive motor 5 is installed on one side of the first mechanical arm 4. A second drive motor 9 is installed on one side of the second mechanical arm 7, and the output end of the second drive motor 9 is installed on one side of the angle adjustment block 8. The first drive shaft 2 drives the rotating column 3 to rotate, the output end of the first drive motor 5 drives the first mechanical arm 4 to rotate, the second drive shaft 6 drives the second mechanical arm 7 to rotate, and the second drive motor 9 drives the angle adjustment block 8 to rotate. The electric telescopic rod 37 adjusts the distance so that the centering box 17 is located on the side of the tempered glass, and drives the limit plate 11 to rotate through the third drive shaft 10, so that the four centering boxes 17 are placed at the best position on the side of the tempered glass.

[0047] A method for quickly clamping a tempered glass mechanical arm, the method comprising:

[0048] S1. First, place the base 1 and the robot arm assembly in the working area, move the limit plate 11 to the vicinity of the extension rod 33, and fix the limit plate 11 on the mounting plate 29 through the quick release assembly, thereby completing the splicing and fixing of the device;

[0049] S2, then adjust the horizontal angle, vertical angle and height of the clamping mechanism of the mechanical arm through the mechanical arm assembly so that the clamping mechanism is aligned with the tempered glass to be clamped, and start the third driving motor 30, the third driving motor 30 drives the clamping block 31 to rotate, the clamping block 31 drives the clamping slot block 27 to rotate, the clamping slot block 27 drives the plurality of driving rods 15 to rotate, the driving rods 15 drive the plurality of adjusting blocks 12 to approach each other, and the plurality of adjusting blocks 12 respectively drive the adaptation assembly to approach the tempered glass, and the side shape of the tempered glass is adaptively changed through the adaptation assembly, so as to achieve a stable and fast clamping effect;

[0050] S3. After the final clamping is completed, the clamping mechanism is driven by the mechanical arm assembly to adjust the horizontal angle, vertical angle and height again, thereby achieving the effect of transporting and carrying the tempered glass.

[0051] Working principle of the present invention:

[0052] When the user is in use, first the base 1 is moved to the area where work is required, and then the clamping block 31 is aligned with the clamping slot block 27 and inserted, and the plurality of mounting ears 28 are aligned with the plurality of fixed blocks 34, and by rotating the mounting knob 35, the mounting knob 35 drives the bidirectional threaded rod 13 to rotate, and the bidirectional threaded rod 13 drives the two moving blocks 32 to approach each other, and the two moving blocks 32 respectively drive the two extension rods 33 to approach each other, and the two extension rods 33 respectively drive the plurality of fixed blocks 34 to move, so that the plurality of fixed blocks 34 are inserted into the plurality of mounting ears 28, thereby completing the rapid installation of the limit plate 11, and then the first driving shaft 2 drives the rotating column 3 to rotate, the output end of the first driving motor 5 drives the first mechanical arm 4 to rotate, the second driving shaft 6 drives the second mechanical arm 7 to rotate, and the second driving motor 9 drives the angle adjustment block 8 to rotate, and the electric telescopic rod 37 adjusts the distance so that the centering box 17 is located on the side of the tempered glass, and the third driving shaft 10 drives the limit plate 11 to rotate, so that the four centering boxes 17 are placed at the best position on the side of the tempered glass.

[0053] Then, the third driving motor 30 is started, the third driving motor 30 drives the clamping block 31 to rotate, the clamping block 31 drives the clamping slot block 27 to rotate, the clamping slot block 27 drives the plurality of driving rods 15 to rotate, the driving rods 15 drive the plurality of adjusting blocks 12 to approach each other, and the plurality of adjusting blocks 12 respectively drive the corresponding centering boxes 17 to approach each other. When the movable column 19 on the centering box 17 contacts the side of the tempered glass, the horizontal angle of the centering box 17 is adjusted by the two adaptive springs 18, so that the centering box 17 is as close to the tempered glass as possible, and at the same time, the edge of the tempered glass begins to squeeze the plurality of movable columns 19 on the centering box 17, and the movable columns 19 are squeezed and retracted into the centering box 17. The spring rod 21 is compressed and begins to be squeezed. The several independent movable columns 19 are expanded and contracted to different degrees under the squeezing of the tempered glass. At this time, the several movable columns 19 form a shape that is highly fitted with the irregular side of the tempered glass. Then, by starting the fourth drive motor 39, the fourth drive motor 39 drives the gear 26 to rotate. The gear 26 drives the first rack 24 and the second rack 25 to rotate respectively. The first rack 24 and the second rack 25 drive the first squeezing plate 22 and the second squeezing plate 23 respectively, and the surfaces of the several movable columns 19 are squeezed and fixed, thereby fixing the irregular shape. Then, the tempered glass is quickly clamped and fixed by mutual squeezing of the several centering boxes 17.

[0054] After the robotic arm assembly is started again to move and transport the tempered glass to the designated location, the fixing effect is released to complete the transportation of the tempered glass.

[0055] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A tempered glass fast clamping mechanical arm, comprising a base (1), characterized in that: A mechanical arm assembly is installed on the upper side of the base (1), and a mounting plate (29) is installed on the base (1) through the mechanical arm assembly. A sliding groove is provided on one side of the mounting plate (29), and a quick release assembly is installed in the sliding groove. A clamping mechanism is installed on the mounting plate (29) through the quick release assembly, and the clamping mechanism comprises a limit plate (11), and a plurality of sliding openings are provided on the upper side of the limit plate (11), and an adjustment block (12) is slidably installed in each of the plurality of sliding openings. A moving plate (16) is provided on one side of each of the adjustment blocks (12), and a centering box (17) is rotatably installed on one side of each of the movement plates (16). Two adaptive springs (18) are installed on the opposite surfaces of the moving plate (16) and the centering box (17), and a plurality of sliding holes are provided on one side of the centering box (17), and an adaptive assembly is installed in each of the sliding holes. A driving assembly is rotatably installed on the other side of each of the adjustment blocks (12); The adaptable assembly comprises a plurality of movable columns (19), each of the movable columns (19) being slidably mounted in the plurality of sliding holes, each of the surfaces of the movable columns (19) being mounted with a limit ring (20), each of the ends of the movable columns (19) being mounted with a spring rod (21), the other end of the spring rod (21) being mounted on the inner wall of the centering box (17), and the inner bottom wall of the centering box (17) being slidably mounted with an extrusion unit; The extrusion unit comprises a plurality of first extrusion plates (22) and a plurality of second extrusion plates (23), wherein the plurality of first extrusion plates (22) are slidably mounted on the inner bottom wall of the centering box (17), and the plurality of second extrusion plates (23) are slidably mounted on the inner bottom wall of the centering box (17); the same first rack (24) is mounted on the upper side of the plurality of first extrusion plates (22), and the same second rack (25) is mounted on the upper side of the plurality of second extrusion plates (23); a dust cover (38) is mounted on the upper side of the centering box (17); a rotating hole is provided on the upper side of the dust cover (38), a gear (26) is mounted in the rotating hole, the gear (26) is meshed with the first rack (24), and the gear (26) is meshed with the second rack (25); a fourth drive motor (39) is mounted on the upper side of the dust cover (38), and an output shaft of the fourth drive motor (39) is mounted on the upper side of the gear (26); The driving assembly comprises a plurality of driving rods (15), the plurality of driving rods (15) are rotatably mounted on the upper sides of the plurality of adjusting blocks (12) correspondingly, a driving block (14) is rotatably mounted on the upper side of the limiting plate (11), opposite ends of the plurality of driving rods (15) are rotatably mounted on the inner wall of the driving block (14), and a clamping groove block (27) is mounted on the upper side of the driving block (14); The quick-release assembly comprises two moving blocks (32), the two moving blocks (32) are both slidably mounted in the sliding groove, the lower sides of the two moving blocks (32) are both mounted with extension rods (33), the opposite surfaces of the two extension rods (33) are both mounted with a plurality of fixed blocks (34), the upper side of the limiting plate (11) is mounted with a plurality of mounting ears (28), the plurality of mounting ears (28) are matched with the plurality of fixed blocks (34), the lower side of the mounting plate (29) is mounted with a third driving motor (30), the output end of the third driving motor (30) is mounted with a clamping block (31), the clamping block (31) is matched with the clamping slot block (27), an adjustment hole is provided on one side of the mounting plate (29), an adjustment unit is rotatably mounted in the adjustment hole; The adjustment unit comprises a bidirectional threaded rod (13), a non-threaded area on the surface of the bidirectional threaded rod (13) being rotatably mounted in the adjustment hole, and the two moving blocks (32) being both threadedly mounted on the threaded area on the surface of the bidirectional threaded rod (13).

2. The tempered glass fast clamping mechanical arm according to claim 1, characterized in that: A mounting knob (35) is installed at one end of the bidirectional threaded rod (13), a sliding hole is opened on one side of the mounting knob (35), a plug-in strip (36) is slidably installed in the sliding hole, and a plurality of plug-in holes are opened on one side of the mounting plate (29), and the plurality of plug-in holes are matched with the plug-in strip (36).

3. The tempered glass fast clamping mechanical arm according to claim 1, characterized in that: The mechanical arm comprises a first driving shaft (2), the first driving shaft (2) being mounted on the top of the base (1), a rotating column (3) being mounted on the upper side of the first driving shaft (2), a first driving opening being provided on one side of the rotating column (3), a first mechanical arm (4) being rotatably mounted in the driving opening, a second driving shaft (6) being mounted on one side of the first mechanical arm (4), a second mechanical arm (7) being mounted on one side of the second driving shaft (6), a second driving opening being provided on one side of the second mechanical arm (7), an angle adjustment block (8) being rotatably mounted in the second driving opening, an electric telescopic rod (37) being mounted on the lower side of the angle adjustment block (8), a third driving shaft (10) being mounted on the output end of the electric telescopic rod (37), a mounting plate (29) being mounted on one side of the third driving shaft (10).

4. The tempered glass fast clamping mechanical arm according to claim 3, characterized in that: A first drive motor (5) is installed on one side of the rotating column (3), and an output shaft of the first drive motor (5) is installed on one side of the first mechanical arm (4). A second drive motor (9) is installed on one side of the second mechanical arm (7), and an output end of the second drive motor (9) is installed on one side of the angle adjustment block (8).

5. A method for quickly clamping a tempered glass robot arm according to any one of claims 1 to 4, characterized in that: The method includes: S1. First, place the base (1) and the mechanical arm assembly in the working area, move the limit plate (11) to the vicinity of the extension rod (33), and fix the limit plate (11) on the mounting plate (29) through the quick release assembly, thereby completing the splicing and fixing; S2, then adjusting the horizontal angle, vertical angle and height of the clamping mechanism of the mechanical arm through the mechanical arm assembly so that the clamping mechanism is aligned with the tempered glass to be clamped, and starting the third driving motor (30), the third driving motor (30) drives the clamping block (31) to rotate, the clamping block (31) drives the clamping slot block (27) to rotate, the clamping slot block (27) drives the plurality of driving rods (15) to rotate, the driving rods (15) drive the plurality of adjusting blocks (12) to approach each other, and the plurality of adjusting blocks (12) respectively drive the adaptation assembly to approach the tempered glass, and the side shape of the tempered glass is adaptively changed through the adaptation assembly, so as to achieve a stable and rapid clamping effect; S3. Finally, when the clamping is completed, the clamping mechanism is driven by the mechanical arm assembly to adjust the horizontal angle, vertical angle and height again, thereby achieving the effect of transporting and carrying the tempered glass.

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