Multi-joint manipulator for industrial robot

Abstract

The invention provides a multi-joint manipulator for an industrial robot, which comprises a base provided with an inner track and an outer track; the lower-layer manipulator is arranged on the inner track and can move along the horizontal direction of the inner track; the upper-layer manipulator is arranged on the outer track and can move along the horizontal direction of the outer track; the upper-layer mechanical arm and the lower-layer mechanical arm are driven independently and can stretch out and draw back alternately to complete taking and placing of glass. The double-layer mechanical arm structure is integrated on the base through the design of the inner track and the outer track, independent control over the upper-layer mechanical arm and the lower-layer mechanical arm is achieved through the independent driving design, taking of etched glass and placing of non-etched glass can be alternately completed, and the production efficiency is remarkably improved.

Description

Technical Field

[0001] The invention relates to the technical field of manipulator structures, and in particular to a multi-joint manipulator for an industrial robot. Background Art

[0002] In the glass processing industry, the picking, transportation and placement of glass plates are important and indispensable links in the production process. For example, the glass placed on the shelf is moved to the etching machine for etching, and then placed back to the designated position on the shelf after etching. The traditional method is manual operation, which is not only inefficient, but also has safety hazards, which can easily lead to glass breakage and personal injury.

[0003] The prior art provides a robot structure for picking up and moving glass. The robot includes a base plate and an arm. The arm is connected to the base plate through a sliding structure and can be extended or retracted. The glass at the corresponding position on the shelf can be easily picked up and moved to the etching machine.

[0004] Most of the existing robots are single-layer designs. After placing the glass on the etching machine, it is necessary to wait for the glass to be etched, take out the etched glass and put it back to the designated position on the shelf. After that, take the unetched glass on the shelf and place it back on the etching machine again, resulting in low transmission efficiency.

[0005] Therefore, it is necessary to improve the existing technology. Summary of the invention

[0006] The present invention provides a multi-joint manipulator for an industrial robot to solve the above-mentioned problem.

[0007] A technical solution adopted by the present invention is to provide a multi-joint manipulator for an industrial robot, comprising:

[0008] A base, wherein the base is provided with an inner track and an outer track;

[0009] The lower layer manipulator is arranged on the inner track and can move horizontally along the inner track;

[0010] The upper manipulator is arranged on the outer track and can move horizontally along the outer track;

[0011] The upper robot and the lower robot are driven independently and can be extended and retracted alternately to complete the picking up and placing of the glass.

[0012] Furthermore, the lower-layer manipulator includes a lower-layer bracket and a plurality of lower-layer arms, the lower-layer bracket is slidably set on the inner track, and the lower-layer arms are evenly distributed on one side of the lower-layer bracket for supporting the lower-layer glass. The upper-layer manipulator includes an upper-layer bracket and a plurality of upper-layer arms, the upper-layer bracket spans the lower-layer bracket and is slidably set on the outer track, and the upper-layer arms are evenly distributed on one side of the upper-layer bracket for supporting the upper-layer glass. The horizontal movements of the upper and lower-layer manipulators do not interfere with each other.

[0013] Furthermore, a plurality of connection interfaces are provided on one side of the lower bracket and the upper bracket, and the lower arm is detachably connected to the lower bracket via corresponding connection interfaces, and the upper arm is detachably connected to the upper bracket via corresponding connection interfaces. The spacing between the arms on the bracket can be adjusted, and the number of arms can be increased or decreased according to the size and weight of the glass.

[0014] Furthermore, each of the connection interfaces is provided with a sensor for identifying whether an arm is connected to the connection interface.

[0015] Furthermore, it also includes a control system, which is electrically connected to each sensor, compares the signals received from each sensor with the preset arm configuration, and determines whether the arm is correctly connected.

[0016] Furthermore, it also includes an alarm, which is electrically connected to the control system. When the arm connection is abnormal, the alarm sounds to prompt the staff to check.

[0017] Furthermore, the lower arm and the upper arm each include at least two joints, and the adjacent joints are locked by screws, and the total length of the arm can be changed by increasing or decreasing the number of joints.

[0018] Furthermore, the joint is covered with an anti-skid layer to protect the glass and increase movement stability.

[0019] The beneficial effects of the multi-joint manipulator for industrial robots of the present invention are:

[0020] 1. The double-layer manipulator structure is integrated on the base through the design of inner and outer tracks, and the upper and lower manipulators are independently controlled through independent drive design, which can alternately complete the picking up of etched glass and the placement of unetched glass, significantly improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a front view of a multi-joint manipulator for an industrial robot according to a first embodiment of the present invention;

[0022] Figure 2 is a top view of a multi-joint manipulator for an industrial robot according to a first embodiment of the present invention;

[0023] The components in the accompanying drawings are marked as follows: 1. base, 2. lower manipulator, 3. upper manipulator, 4. lower glass, 5. upper glass, 11. inner track, 12. outer track, 21. lower bracket, 22. lower arm, 31. upper bracket, 32. upper arm, 221. joint. DETAILED DESCRIPTION

[0024] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the protection scope of the present invention.

[0025] In the description of the present invention, it should be understood that the terms "up", "down", "left", "right", "front", "back", "horizontal", "vertical", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention. They cannot indicate or imply that the components or elements referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention.

[0026] See also Figure 1 and Figure 2 The first embodiment of the present invention provides a multi-joint manipulator for an industrial robot, comprising:

[0027] A base 1, on which an inner track 11 and an outer track 12 are arranged;

[0028] The lower layer manipulator 2 is arranged on the inner track 11, and can move horizontally along the inner track 11, extend to the right or retract, and is used to support the lower layer glass 4;

[0029] The upper manipulator 3 is arranged on the outer track 12, and can move horizontally along the outer track 12, extend to the right or retract, and is used to support the upper glass 5;

[0030] The upper robot 3 and the lower robot 2 are driven independently and can be retracted alternately to complete the picking and placing of glass;

[0031] The control system is electrically connected to the driving mechanisms of the upper manipulator 3 and the lower manipulator 2 respectively, and is used to control their telescopic movements.

[0032] The upper and lower layers of the robot should be driven independently without interfering with each other:

[0033] The lower layer manipulator 2 includes a lower layer support 21 and a plurality of lower layer arms 22. The lower layer support 21 is slidably arranged on the inner track 11. The lower layer arms 22 are evenly distributed on the right side of the lower layer support 21 to support the lower layer glass.

[0034] The upper layer manipulator 3 includes an upper layer bracket 31 and a plurality of upper layer arms 32. The upper layer bracket 31 spans the lower layer bracket 21 and is slidably arranged on the outer track 12. The upper layer bracket 31 is used to create the interlayer spacing. Each upper layer arm 32 is evenly distributed on the right side of the upper layer bracket 31 to support the glass of the upper layer. The upper and lower layer manipulators have a compact design structure and do not interfere with each other in the horizontal direction.

[0035] The control system restricts the movement of the robot, and only one layer of the robot can be in the extended state.

[0036] The robot arm is designed to be adjustable as needed:

[0037] Several connection interfaces are provided on the right sides of the lower bracket 21 and the upper bracket 31. The lower arm 22 is detachably connected to the lower bracket 21 through the corresponding connection interfaces, and the upper arm 32 is detachably connected to the upper bracket 31 through the corresponding connection interfaces. The spacing between the arms on the bracket can be adjusted according to the size and weight of the glass, and the number of arms can be increased or decreased;

[0038] As the size and weight of the glass to be moved increases, increasing the number of arms and decreasing the distance between them provides a more stable support.

[0039] If the robot arm is not connected correctly, or the setting of the robot arm does not meet or adapt to the needs of the glass to be transported, the arm may break and the glass may fall during transportation. Therefore, it is very important to check its arm setting:

[0040] A sensor is provided in each connection interface to identify whether an arm is connected to the connection interface;

[0041] The control system is electrically connected to each sensor, and compares the received signals from each sensor with the preset arm configuration to determine whether the arm is correctly connected;

[0042] An alarm is also provided, which is electrically connected to the control system. When the arm connection is abnormal, the alarm sounds to prompt the staff to check.

[0043] In order to adapt to different sizes of glass, the arm is also provided with a plurality of joints 221 so as to adjust the overall length of the arm:

[0044] The lower arm 22 and the upper arm 32 each include at least two joints 221 , and adjacent joints 221 are locked by screws. The total length of the arm can be changed by increasing or decreasing the number of joints 221 .

[0045] The beneficial effects of the multi-joint manipulator for industrial robots of the present invention are:

[0046] 1. The double-layer manipulator structure is integrated on the base through the design of inner and outer tracks, and the upper and lower manipulators are independently controlled through independent drive design, which can alternately complete the taking of etched glass and the placement of unetched glass, significantly improving production efficiency;

[0047] 2. There are connection interfaces on the sides of the upper bracket and the lower bracket. The arms can be detachably connected through the connection interfaces, and their number and spacing can be adjusted, which also simplifies the maintenance and upgrade process of the equipment. The design of the sensor effectively prevents safety accidents caused by incorrect arm connection;

[0048] 3. The arm length and spacing are adjustable to meet the processing needs of glass of different sizes and weights, with strong adaptability.

[0049] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A multi-joint manipulator for an industrial robot, characterized in that: include: A base, wherein the base is provided with an inner track and an outer track; The lower robot is arranged on the inner track and can move horizontally along the inner track; the upper robot is arranged on the outer track and can move horizontally along the outer track; the upper robot and the lower robot are driven independently and can be extended and retracted alternately to complete the picking and placing of glass.

2. A multi-joint manipulator for an industrial robot according to claim 1, characterized in that: The lower-layer robot includes a lower-layer support and a plurality of lower-layer arms. The lower-layer support is slidably arranged on an inner track. The lower-layer arms are evenly distributed on one side of the lower-layer support for supporting the lower-layer glass. The upper-layer robot includes an upper-layer support and a plurality of upper-layer arms. The upper-layer support spans the lower-layer support and is slidably arranged on an outer track. The upper-layer arms are evenly distributed on one side of the upper-layer support for supporting the upper-layer glass.

3. A multi-joint manipulator for an industrial robot according to claim 2, characterized in that: A plurality of connection interfaces are provided on one side of the lower bracket and the upper bracket. The lower arm is detachably connected to the lower bracket via the corresponding connection interfaces, and the upper arm is detachably connected to the upper bracket via the corresponding connection interfaces.

4. A multi-joint manipulator for an industrial robot according to claim 3, characterized in that: Each of the connection interfaces is provided with a sensor for identifying whether an arm is connected to the connection interface.

5. The multi-joint manipulator for an industrial robot according to claim 4, characterized in that: It also includes a control system, which is electrically connected to each sensor and compares the signals received from each sensor with the preset arm configuration to determine whether the arm is correctly connected.

6. The multi-joint manipulator for an industrial robot according to claim 5, characterized in that: It also includes an alarm, which is electrically connected to the control system. When the arm connection is abnormal, the alarm sounds to prompt the staff to check.

7. A multi-joint manipulator for an industrial robot according to any one of claims 1 to 6, characterized in that: The lower arm and the upper arm each include at least two joints, and adjacent joints are locked by screws.

8. The multi-joint manipulator for an industrial robot according to claim 7, characterized in that: The joint is covered with an anti-slip layer.

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