Mechanical arm

Abstract

The utility model relates to the technical field of manipulator end executors, in particular to a manipulator which comprises a manipulator body. The forks are arranged side by side in the length direction of the manipulator main body; the fixed end of each fork is fixed on the manipulator main body through a fixed block; the fixed block is detachably connected with the manipulator main body; a fixing groove is formed in the side, connected with the manipulator body, of the fixing block and matched with the fixing end of the fork. And the fixed end of the fork is clamped between the fixed groove and the manipulator main body. The problems that a counter bore is usually formed in the fixed end of a fork at the tail end of an existing mechanical arm so that the fork can be connected to the mechanical arm through a screw, but the fork machining procedure is added to the fork of the structure, and in order to adapt to the counter bore in the fixed end of the fork so as to guarantee the overall strength, the overall thickness of the fork is relatively large; and the cost and the weight are increased.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulator end effectors, in particular to a manipulator. Background Art

[0002] In the panel industry, the use of manipulators to replace manual handling of glass substrates is increasing. Using manipulators to handle glass can save labor costs, reduce accidents, and greatly improve production efficiency. The stability of the fork used to carry glass at the end of the manipulator is particularly important. The fork that carries glass is often made of carbon fiber die-casting, which has the advantages of high strength, friction resistance, corrosion resistance, and light weight. The advantages of carbon fiber forks are many, but its disadvantages cannot be ignored. The material cost of carbon fiber forks is high and the manufacturing process is complicated.

[0003] The fork at the end of an existing manipulator usually has a countersunk hole at the fixed end of the fork to facilitate connecting the fork to the manipulator by screws. However, this type of fork structure increases the processing steps of the fork. In order to adapt to the countersunk hole at the fixed end of the fork to ensure overall strength, the overall thickness of the fork is relatively thick, resulting in increased cost and weight. Utility Model Content

[0004] The utility model provides a manipulator, which solves the problem that the fork at the end of the existing manipulator is usually provided with a countersunk hole at the fixed end of the fork so as to connect the fork to the manipulator by screws. However, the fork of this structure increases the processing steps of the fork. In order to adapt to the countersunk hole at the fixed end of the fork to ensure the overall strength, the overall thickness of the fork is relatively thick, resulting in technical problems of increased cost and weight.

[0005] In view of this, the utility model provides a manipulator, comprising:

[0006] Manipulator body;

[0007] A plurality of forks are arranged side by side along the length direction of the manipulator body; the fixed end of each fork is fixed to the manipulator body through a fixed block; the fixed block is detachably connected to the manipulator body; a fixed groove is provided on one side where the fixed block is connected to the manipulator body, and the fixed groove is adapted to the fixed end of the fork; the fixed end of the fork is clamped between the fixed groove and the manipulator body.

[0008] Optionally, the manipulator body is provided with a mounting groove corresponding to each fixing block, and the fixing block is adapted to be arranged in the mounting groove.

[0009] Optionally, a first opening is provided at the bottom of the mounting groove.

[0010] Optionally, the fixing block is connected to the manipulator body by screws.

[0011] Optionally, the manipulator body is provided with a plurality of screw holes for connecting the fixing block, and the fixing block is provided with countersunk holes corresponding to the screw holes.

[0012] Optionally, the fork is made of carbon fiber.

[0013] Optionally, a plurality of second openings are provided on the peripheral side of the fixing block.

[0014] Optionally, a wiring groove is provided on the robot body.

[0015] Optionally, a fixing seat is provided at the bottom of the robot body, and the fixing seat is suitable for connecting to an external mechanical device.

[0016] The technical solution of the utility model has the following advantages:

[0017] In the utility model, the fixed end of the fork is clamped and fixed on the manipulator body through the fixing groove of the fixing block, so that the countersunk hole is avoided on the fork, the processing procedures of the fork are reduced, the supporting strength of the fork is improved, and the thickness of the fork can be reduced accordingly while ensuring the overall supporting strength, that is, the volume and weight of the fork are reduced accordingly, so as to avoid the problem of the overall load exceeding the limit, and at the same time, materials can be saved to reduce costs. After the volume of the fork is reduced, the operating space of the fork used in the equipment can be increased, the flexibility of use is improved, and it is not easy to touch the internal parts of the equipment during use, and the fixing of the fork When the end is set in the fixed groove, the cavity formed by the fixed groove and the robot body is tightly fitted with the surrounding side of the fixed end of the fork, which can effectively prevent the fork from loosening in the up and down and horizontal directions when the fork is carrying a workpiece (such as a glass substrate) at high speed, thereby improving stability; in addition, when the installed fork sags or rises, in order to adjust the fork to keep it level, a gasket can be added to the cavity formed by the fixed groove and the robot body to adjust the rise or droop of the fork. Compared with the method of connecting the fork with screws, the method of connecting with a fixed block has adjustability and high adjustment accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 A schematic diagram of the structure of a manipulator provided by the utility model;

[0020] Figure 2A schematic diagram of the structure of the robot body provided by the utility model;

[0021] Figure 3 This is a structural schematic diagram of the fixing block provided by the utility model.

[0022] Description of reference numerals:

[0023] 1. Robot body; 2. Fork; 3. Fixed block; 4. Fixed slot; 5. Mounting slot; 6. First opening; 7. Screw hole; 8. Countersunk hole; 9. Second opening; 10. Wire routing slot; 11. Fixed seat; 12. Workpiece. DETAILED DESCRIPTION

[0024] The technical solution of the utility model will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0025] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0026] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0028] Example 1

[0029] See also Figures 1 to 3The present embodiment provides a manipulator, comprising: a manipulator body 1; a plurality of forks 2, arranged side by side along the length direction of the manipulator body 1; the fixed end of each fork 2 is fixed to the manipulator body 1 through a fixed block 3; the fixed block 3 is detachably connected to the manipulator body 1; a fixed groove 4 is provided on one side where the fixed block 3 is connected to the manipulator body 1, and the fixed groove 4 is adapted to the fixed end of the fork 2; the fixed end of the fork 2 is clamped between the fixed groove 4 and the manipulator body 1.

[0030] It should be noted that when the fixed end of the fork 2 is clamped between the fixing groove 4 and the robot body 1, the inner top wall of the fixing groove 4 and the top of the robot body 1 are respectively pressed against the upper and lower end surfaces of the fork 2, and the fork 2 is clamped and fixed by friction.

[0031] In this embodiment, the fixed end of the fork 2 is clamped and fixed on the manipulator body 1 through the fixing groove 4 of the fixing block 3, so as to avoid opening the countersunk hole 8 on the fork 2, reduce the processing steps of the fork 2, improve the supporting strength of the fork 2, and reduce the thickness of the fork 2 accordingly while ensuring the overall supporting strength, that is, the volume and weight of the fork 2 are reduced accordingly, so as to avoid the problem of the overall load exceeding the limit, and save materials to reduce costs at the same time. After the volume of the fork 2 is reduced, the operating space of the fork 2 used in the equipment can be increased, and the flexibility of use is improved. It is not easy to touch the internal parts of the equipment during use, and the fixed end of the fork 2 is provided with a When placed in the fixing groove 4, the cavity formed by the fixing groove 4 and the robot body 1 is tightly fitted with the surrounding side of the fixed end of the fork 2, which can effectively prevent the fork 2 from loosening in the up and down and horizontal directions during the high-speed movement of the workpiece 12 (such as a glass substrate), thereby improving stability; in addition, when the installed fork 2 sags or rises, in order to adjust the fork 2 to keep it level, a gasket can be added to the cavity formed by the fixing groove 4 and the robot body 1 to adjust the rise or droop of the fork 2. Compared with the method of connecting the fork 2 with screws, the method of connecting with the fixed block 3 is adjustable and has high adjustment accuracy.

[0032] Example 2

[0033] As a further improvement to Example 1, Figure 2 As shown, the robot body 1 is provided with a mounting groove 5 corresponding to each fixing block 3 , and the fixing block 3 is adapted to be arranged in the mounting groove 5 .

[0034] In this embodiment, by disposing the fixing block 3 in the installation groove 5 and by abutting the fixing block 3 with the side wall of the installation groove 5 , the stability is further improved to prevent the fork 2 from loosening during use.

[0035] Based on the above implementation, in a preferred implementation, Figure 2As shown, a first opening 6 is provided at the bottom of the mounting groove 5 .

[0036] In this embodiment, by providing the first opening 6, the overall mass is reduced, and materials are reduced to reduce costs. While ensuring that the overall connection strength is met, those skilled in the art can set the size of the first opening 6 according to actual conditions.

[0037] Based on the above implementation, in a preferred implementation, Figures 1 to 3 As shown, the fixing block 3 is connected to the manipulator body 1 by screws.

[0038] In this embodiment, the fixing block 3 is connected to the manipulator body 1 by screws, which is convenient for disassembly and installation. At the same time, when the rise or fall of the fork 2 is adjusted by the gasket, the tightness of the screw at the position where the gasket is added can be adjusted accordingly to improve the adjustment accuracy and adjustment flexibility.

[0039] Based on the above implementation, in a preferred implementation, Figure 2 and Figure 3 As shown, the robot body 1 is provided with a plurality of screw holes 7 for connecting the fixing block 3 , and the fixing block 3 is provided with countersunk holes 8 corresponding to the screw holes 7 .

[0040] In this embodiment, when installing the fixing block 3, the screw holes 7 are aligned one by one with the countersunk holes 8, and are fixedly connected by screws.

[0041] Specifically, the plurality of screw holes 7 are divided into two groups, and the two groups of screw holes 7 are arranged side by side along the length direction of the manipulator body 1. The screw holes 7 arranged side by side can improve the stability of the installation of the fixed block 3 and the manipulator body 1. At the same time, when the rise and fall of the fork 2 are adjusted by the gasket, the tightness of the screws at different positions can be adjusted along the length direction of the fork 2 in conjunction with the gasket applied.

[0042] In one embodiment, the process of adjusting the fork 2 is as follows: it should be noted that the end of the fork 2 close to the manipulator body 1 in the length direction is the front end, and the end away from the manipulator body 1 is the rear end; first, the fork 2 is installed on the manipulator body 1 through the fixing block 3, and the workpiece 12 is placed through the rear end of the fork 2 during adjustment to test the sagging or rising amount of the fork 2. Then, according to the sagging or rising amount, a gasket of preset thickness can be placed on the fixed end of the fork 2 against the side of the fixing block 3 according to actual needs, wherein the gasket The width cannot exceed the width of the fork 2, and the length is less than half of the fixed block 3; when the rear end of the fork 2 droops, a gasket of preset thickness can be placed at the bottom of the rear end of the fixed end of the fork 2, and the force used to lock the front end of the fixed block 3 with screws is smaller than the force used to lock the rear end of the fixed block 3; when the rear end of the fork 2 tilts upward, a gasket of preset thickness can be placed at the front end of the fixed end of the fork 2, and the force used to lock the rear end of the fixed block 3 with screws is smaller than the force used to lock the front end of the fixed block 3, thereby completing closed-loop adjustment, and the adjustment method is simple and the adjustment accuracy is high.

[0043] On the basis of the above embodiment, in a preferred embodiment, the material of the fork 2 is carbon fiber.

[0044] In this embodiment, the fork 2 is made of carbon fiber, which has the advantages of high strength, light weight and high safety.

[0045] Based on the above implementation, in a preferred implementation, Figure 3 As shown, a plurality of second openings 9 are provided on the circumference of the fixing block 3 .

[0046] In this embodiment, by opening a second opening 9 on the circumferential side of the fixing block 3, the overall mass is reduced, and at the same time, the material is reduced to reduce the cost. While ensuring that the overall connection strength is met, technical personnel in this field can set the size of the first opening 6 according to actual conditions.

[0047] Based on the above implementation, in a preferred implementation, Figure 2 As shown, a wiring groove 10 is provided on the robot body 1.

[0048] In this embodiment, wiring is arranged to facilitate the fixing and connection of the lines.

[0049] Based on the above implementation, in a preferred implementation, Figure 1 As shown, a fixing seat 11 is provided at the bottom of the robot body 1, and the fixing seat 11 is suitable for connecting with an external mechanical device.

[0050] In this embodiment, the fixing base 11 is used to connect with external mechanical equipment, thereby improving the connection strength and ensuring stability.

[0051] The installation and working principle of the manipulator provided in this embodiment are as follows: multiple forks 2 are installed side by side on the manipulator body 1, specifically, the fixed end of the fork 2 is fixed in the installation groove 5 of the manipulator body 1 through the fixing block 3, and fixed by screw connection, and the fixed end of the fork 2 is clamped by the fixing groove 4 of the fixing block 3 and the manipulator body 1. Compared with the method of connecting the fork 2 by screws, the thickness and size of the fork 2 are relatively small, the stability is strong, the overall lightness is light, and the material can be saved to reduce the cost, and it has adjustability; after the installation of the fork 2 is completed, the whole can be installed in an external mechanical device through the fixing seat 11 at the bottom of the manipulator body 1 for use, and the workpiece 12 is supported by multiple forks 2. The fork at the end of the existing manipulator is usually provided with a countersunk hole at the fixed end of the fork, so that the fork can be connected to the manipulator by screws, but the fork of this structure increases the processing process of the fork, and in order to adapt to the countersunk hole at the fixed end of the fork to ensure the overall strength, the overall thickness of the fork is relatively thick, resulting in increased cost and weight. Technical problems.

[0052] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention of the utility model.

Claims

1. A robot, characterized in that: include: Manipulator body (1); A plurality of forks (2) are arranged side by side along the length direction of the manipulator body (1); the fixed end of each fork (2) is fixed to the manipulator body (1) via a fixed block (3); the fixed block (3) is detachably connected to the manipulator body (1); a fixed groove (4) is provided on one side of the fixed block (3) connected to the manipulator body (1), the fixed groove (4) being adapted to the fixed end of the fork (2); the fixed end of the fork (2) is clamped between the fixed groove (4) and the manipulator body (1).

2. The robot according to claim 1, characterized in that: The manipulator body (1) is provided with a mounting groove (5) corresponding to each fixing block (3), and the fixing block (3) is adapted to be arranged in the mounting groove (5).

3. The robot according to claim 2, characterized in that: The bottom of the installation groove (5) is provided with a first opening (6).

4. The robot according to claim 1, characterized in that: The fixing block (3) is screw-connected to the manipulator body (1).

5. The robot according to claim 4, characterized in that: The manipulator body (1) is provided with a plurality of screw holes (7) for connecting the fixing block (3), and the fixing block (3) is provided with countersunk holes (8) corresponding to the screw holes (7).

6. The robot according to claim 1, characterized in that: The fork (2) is made of carbon fiber.

7. The robot according to claim 1, characterized in that: A plurality of second openings (9) are provided on the peripheral side of the fixing block (3).

8. The robot according to claim 1, characterized in that: The manipulator body (1) is provided with a wiring groove (10).

9. The manipulator according to any one of claims 1 to 8, characterized in that: A fixing seat (11) is provided at the bottom of the robot body (1), and the fixing seat (11) is suitable for connecting to an external mechanical device.

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