Joint robot fork arm

Abstract

The utility model discloses a joint robot fork arm which comprises a base, at least two fork teeth are arranged on the first side face of the base, the distance between every two adjacent fork teeth can be adjusted, a robot connecting disc is arranged on the second side face of the base, and an electrode connecting disc is further arranged on the third side face of the base. The electrode connecting disc is in communication connection with a multifunctional head, the multifunctional head is one of a fork tooth, a clamping jaw and an electromagnetic chuck, and when different operation requirements are met, corresponding operation can be carried out by replacing the types of the multifunctional head. On one hand, the manufacturing cost is reduced, and on the other hand, the number of equipment on a production line can be reduced, so that the fault occurrence probability in the production process is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of robot loading and unloading devices, and more specifically, to a joint robot fork arm. Background Art

[0002] In the mold and machining industry, when robots are used for loading and unloading, pallets are often needed to carry the workpieces. Since the sizes of the processed parts vary greatly and the sizes of the workbenches of various equipment are also different, a robot fork arm with a single fork distance is difficult to meet actual needs.

[0003] Common articulated robots can extend their fork arms into the materials or pallets on the shelves, and can load and unload materials with the help of the robot. Some robots can also adjust the distance between the forks to accommodate pallets of different widths. The fork arms and the robot are generally fixed with bolts to ensure a firm connection even when supporting heavy goods. However, this connection will limit the replacement of the fork arms, and the operation head (i.e., fork arms, clamping arms, magnetic devices, etc.) cannot be replaced immediately during the operation. As a result, when actions other than support (such as clamping) are required, additional articulated robots need to be added, and additional operation heads need to be used for assistance. This increases manufacturing costs on the one hand, and the number of equipment on the production line on the other, which in turn increases the probability of failures in the production process. Utility Model Content

[0004] The utility model aims to overcome the defects of the existing articulated robot fork arm that has a single function and cannot adapt to different work tasks, and to provide an articulated robot fork arm that adds a detachably connected multifunctional head on the basis of a common fork arm to achieve adaptation to different work requirements.

[0005] The technical solution adopted by the utility model is:

[0006] A fork arm of an articulated robot comprises a base, a first side of the base is provided with at least two fork teeth, and the distance between two adjacent fork teeth is adjustable, a second side of the base is provided with a robot connection plate, and a third side of the base is also provided with an electrode connection plate, the electrode connection plate is communicatively connected with a multifunctional head, and the multifunctional head is one of a fork tooth, a clamping claw, and an electromagnetic suction cup. When corresponding to different operation requirements, the type of the multifunctional head can be replaced to perform corresponding operations. The entire base is fixed to the articulated robot through the robot connection plate, and the articulated robot controls its displacement. The robot connection plate can be fixed in a fixed manner, preferably, by screws or welding, so that the entire mechanism of the utility model is completely fixed to the articulated robot, and the entire mechanism is rigidly connected to the articulated robot, so that the load of the robot can be fully utilized, so that the fork will not fall off when picking up heavier workpieces or pallets. The distance between the two fork teeth of the articulated robot fork arm is adjustable, and the fork distance is changed by an electrical signal, which can simply and conveniently solve the problem of picking up and transferring pallets of different sizes.

[0007] Furthermore, the multifunctional head is an electrode claw, which is used to clamp the electrode and is a tool adapted to the assembly of production line products. Of course, the multifunctional head can also be a mechanical structure capable of realizing other functions.

[0008] Furthermore, the electrode claw comprises an electrode claw connection disk capable of being communicatively connected with the electrode connection disk, and an electrode claw clamping portion capable of opening and closing, and the electrode claw clamping portion is fixedly connected to the electrode claw connection disk.

[0009] Furthermore, the electrode connection plate and the electrode claw connection plate are both pneumatic quick-release flanges.

[0010] Furthermore, a guide rail is provided on the first side of the base, wherein at least one fork tine is a sliding fork tine slidably connected to the guide rail, and the other fork tine is a fixed fork tine fixedly connected to the base. The guide rail is an electric guide rail, which can actively drive the sliding fork tine to move. When the electric guide rail slides according to the requirements of its upper system, the electric guide rail drives the sliding fork tine to move, and when the fork distance is adjusted to an appropriate one, the workpiece or pallet of the corresponding size is picked up.

[0011] Furthermore, the sliding fork tine and the fixed fork tine are both "L" shaped structures, and the horizontal ends of the sliding fork tine and the fixed fork tine are both provided with positioning pin holes. When the fork arm forks a workpiece or a pallet, the positioning pin holes provided on the fork tine can cooperate with the positioning pins at the bottom of the workpiece or the pallet to fix the workpiece or the pallet so that it will not fall during the movement.

[0012] Furthermore, the vertical end of the sliding fork tine is connected with a fork tine connecting plate, and the other end of the fork tine connecting plate is slidably connected to the guide rail. The sliding fork tine is fixedly connected to the fork tine connecting plate by bolts, and the fork tine connecting plate is slidably connected to the guide rail. When the electric guide rail slides according to the requirements of its upper system, the guide rail drives the sliding fork tine to move through the fork tine connecting plate.

[0013] Furthermore, a slide rail parallel to the guide rail is also provided on the first side surface of the base, and the sliding fork tine is slidably connected to the slide rail.

[0014] Furthermore, the slide rail includes a first slide rail and a second slide rail, and the vertical end of the sliding fork tine is fixedly provided with a first slider and a second slider, the first slider is slidably connected to the first slide rail, and the second slider is slidably connected to the second slide rail. The purpose of setting two slide rails is to make the vertical end of the sliding fork tine be evenly stressed, and when the sliding fork tine moves on the slide rail through the slider, derailment, jamming, etc. due to uneven stress or excessive stress on a single slider can be avoided, thereby reducing the failure rate of the fork arm of the robot and optimizing the actual use effect.

[0015] Furthermore, the base is an inverted "L"-shaped structure, and a reinforcement is provided at the angle thereof, and the reinforcement is fixedly connected to the first side surface and the second side surface. The reinforcement is used to enhance the overall strength and rigidity of the base without increasing the thickness of the base, so as to save the amount of base material and reduce costs; at the same time, it can also overcome the distortion or structural deformation caused by the uneven stress caused by the difference in base wall thickness, so that the robot fork arm can fork heavier workpieces or pallets.

[0016] Compared with the prior art, the beneficial effects of the utility model are:

[0017] 1. A detachable multifunctional head is added on the basis of the fork arm to achieve adaptation to different operation requirements. For the production line, there is no need to add another articulated robot, and an additional operation head is used for assistance. This reduces the manufacturing cost on the one hand, and reduces the number of equipment on the production line on the other hand, thereby reducing the probability of failure in the production process;

[0018] 2. The fork arm of the utility model can automatically adjust the fork distance according to the actual size of the workpiece or pallet to be forked by driving the motor installed on the electric guide rail through the signal, so as to complete the forking of workpieces or pallets of different sizes without assembling forks of multiple sizes, thus saving the operating space in the assembly line and improving the operating efficiency;

[0019] 3. The utility model adopts a rigid connection when connected to the articulated robot, and a reinforcement is provided on the base, thereby increasing the load capacity of the robot, making it less prone to damage, and effectively reducing the risk of falling off when forking a workpiece or pallet with a larger mass. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0021] Figure 2 It is the front view of the utility model;

[0022] Figure 3 It is a left view of the utility model;

[0023] Figure 4 It is a top view of the utility model;

[0024] Figure 5 This is a schematic diagram of the structure of the utility model after being equipped with multifunctional claws;

[0025] Figure 6 is a schematic diagram of the structure of the electrode claw;

[0026] Figure 7 This is a reference diagram of the utility model when forking a narrow-pitch pallet;

[0027] Figure 8 This is a reference diagram of the utility model when forking a wide-spaced pallet;

[0028] In the accompanying drawings: 1-guide rail, 2-fork tine connecting plate, 3-first slide rail, 4-first slider, 5-second slide rail, 6-second slider, 7-sliding fork tine, 8-fixed fork tine, 9-base, 10-robot connecting plate, 11-reinforcement, 12-locating pin hole, 13-electrode connecting plate, 14-electrode claw, 1401-electrode claw connecting plate, 1402-electrode claw clamping part. DETAILED DESCRIPTION

[0029] The utility model is further described below in conjunction with specific implementation methods. The drawings are only used for illustrative purposes and cannot be understood as limiting the present invention. In order to better illustrate the present embodiment, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product. For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0030] The same or similar reference numerals in the drawings of the embodiments of the present utility model correspond to the same or similar parts; in the description of the present utility model, it should be understood that if the terms "front", "rear", "left", "right" and the like indicate an orientation or positional relationship based on the orientation or positional relationship shown in the drawings, it is only for the convenience of describing the present utility model 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. Therefore, the terms describing the positional relationship in the drawings are only used for exemplary explanations and cannot be understood as limitations on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances. In addition, in the present utility model, the descriptions of "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" can explicitly or implicitly include at least one of the features.

[0031] Embodiment 1

[0032] like Figures 1 to 4 As shown, this embodiment provides a joint robot fork arm, including a base 9, a robot connection plate 10, a guide rail 1, a sliding fork tine 7, and a fixed fork tine 8. The second side surface of the base 9, that is, the top surface, is fixedly provided with the robot connection plate 10. The robot connection plate 10 can completely fix the entire base 9 to the joint robot by bolting or welding, and the entire mechanism is rigidly connected to the joint robot, so that the load of the robot can be fully utilized, so that the fork will not fall off when picking up heavier workpieces or pallets. The guide rail 1 is arranged on the first side surface of the base 9, that is, the front side. The base 9 is also provided with two fork tines on the first side surface, one of which is slidably connected to the guide rail 1, which is a sliding fork tine 7, and the other is a fixed fork tine 8 fixedly connected to the base 9. The distance between the two fork tines can be adjusted by the guide rail 1, and the fork distance can be changed by an electrical signal, which can simply and conveniently solve the problem of picking up and transferring pallets of different sizes.

[0033] like Figure 7 and Figure 8 As shown, this embodiment is mainly used in assembly line workshops, and cooperates with articulated robots to pick up workpieces or pallets passing through the transmission project. When workpieces or pallets of different sizes need to be picked up, the guide rail 1 will receive the electrical signal of its upper system and reflect the corresponding moving distance, driving the sliding fork tine 7 to move until the fork distance between the sliding fork tine 7 and the fixed fork tine 8 adapts to the target workpiece or pallet, and then cooperates with the fixed fork tine 8 to fork the workpiece or pallet of the corresponding size.

[0034] See also Figure 5 as well as Figure 6, the third side of the base 9, i.e. the rear side, is provided with an electrode connection disk 13, and the electrode connection disk 13 is communicatively connected to a multifunctional head. In the present embodiment, the multifunctional head is an electrode claw 14, and the electrode claw 14 includes an electrode claw connection disk 1401 that can be communicatively connected to the electrode connection disk 13, and an electrode claw clamping portion 1402 that can be opened and closed, and the electrode claw clamping portion 1402 is fixedly connected to the electrode claw connection disk 1401, and the electrode claw clamping portion 1402 can open and close its clamping jaws under the control of an electrical signal, so as to clamp the electrode. Both the electrode connection disk 13 and the electrode claw connection disk 14 are pneumatic quick-release flanges, which are convenient for disassembly and replacement of other types of multifunctional heads. When it is necessary to clamp and transfer the electrode, the articulated robot rotates so that the electrode claw 14 is facing the target object / clamped object (electrode), and then controls the electrical signal to control the closure of the electrode claw clamping portion 1402, clamps the electrode, and moves it to a suitable position, and then puts the electrode down. Next, the articulated robot rotates again so that the first side of the base 9 faces the pallet, and the pallet is lifted up by the sliding fork teeth 7 and the fixed fork teeth 8.

[0035] Of course, in some other embodiments, the multifunctional head may also be a tool adapted for assembly of production line products, such as fork teeth, clamping claws, electromagnetic chucks, etc.

[0036] Embodiment 2

[0037] like Figures 1 to 4 As shown, this embodiment provides another articulated robot fork arm, including a base 9, a robot connection plate 10, a guide rail 1, a fork tine connection plate 2, a sliding fork tine 7, a fixed fork tine 8, a guide rail and a slider assembly, and a multifunctional head. Different from the first embodiment, in this embodiment, the sliding fork tine 7 and the fixed fork tine 8 are both "L"-shaped structures, and the horizontal ends of the sliding fork tine 7 and the fixed fork tine 8 are both provided with positioning pin holes 12. When the fork arm forks a workpiece or a pallet, the positioning pin holes 12 provided on the fork tine can cooperate with the positioning pins (not shown in the figure) at the bottom of the workpiece or the pallet to fix the workpiece or the pallet so that it will not fall during the movement. There are three locating pin holes which are equidistantly arranged. When taking materials, the fork arm extends into the bottom of workpieces or pallets of different sizes, and then moves upward a certain distance so that the locating pins at the bottom of the workpiece or pallet can cooperate with the locating pin holes 12 to fix the workpiece or pallet. In this way, the workpiece or pallet will not fall even if it tilts to a certain extent during the movement. After the workpiece or pallet is moved to the specified position, the fork teeth can automatically lower a certain distance to release the matching relationship between the locating pins and the locating pin holes 12, and then leave the workpiece or pallet at the specified position to complete the unloading.

[0038] In addition, see Figure 2The vertical end of the sliding fork tine 7 is connected to a fork tine connecting plate 2, and the other end of the fork tine connecting plate 2 is slidably connected to the guide rail 1. The sliding fork tine 7 is fixedly connected to the fork tine connecting plate 2 by bolts. When the electric guide rail 1 slides according to the requirements of its upper system, the guide rail 1 drives the sliding fork tine 7 to move through the fork tine connecting plate 2.

[0039] Embodiment 3

[0040] See also Figure 1 , Figure 2 In this embodiment, on the basis of the first or second embodiment, a slide rail parallel to the guide rail 1 is further provided on the first side surface of the base 9, and the sliding fork tine 7 is slidably connected to the slide rail. Specifically, the slide rail includes a first slide rail 3 and a second slide rail 5. The vertical end of the sliding fork tine 7 is fixedly provided with a first slider 4 and a second slider 6. The first slider 4 is slidably connected to the first slide rail 3, and the second slider 6 is slidably connected to the second slide rail 5. The purpose of setting two slide rails is to make the vertical end of the sliding fork tine 7 evenly stressed. When the sliding fork tine 7 moves on the slide rail through the slider, derailment, jamming, etc. due to uneven stress or excessive stress on a single slider can be avoided, thereby reducing the failure rate of the fork arm of the robot and optimizing the actual use effect.

[0041] Embodiment 4

[0042] See also Figure 1 as well as Figure 3 The difference between this embodiment and any of the above embodiments is that, in this embodiment, the base 9 is an inverted "L"-shaped structure, and a reinforcement 11 is provided at the angle thereof, and the reinforcement 11 is fixedly connected to the first side surface and the second side surface. The reinforcement 11 is a nearly triangular structure, which is stable and firm, and has a simple structure. The principle of decomposing the force of the hypotenuse of a triangle is used to enable the reinforcement 11 to generate a large bearing capacity. The function of the reinforcement 11 is to enhance the overall strength and rigidity of the base 9 without increasing the thickness of the base 9, so as to save the amount of base material and reduce costs; at the same time, it can also overcome the twisting deformation or structural deformation caused by the uneven stress caused by the difference in the wall thickness of the base 9, so that the fork arm of the robot can fork heavier workpieces or pallets.

[0043] In the present embodiment, the various components are fixedly connected by screws, which ensures that the fork arm itself has sufficient strength and facilitates the assembly or disassembly of the various structures on the fork arm, or the addition or reduction of one or more structures according to actual needs, thereby improving the applicability of the present embodiment.

[0044] In the specific contents of the above-mentioned specific implementation methods, the various technical features can be combined in any non-contradictory manner. In order to make the description concise, not all possible combinations of the above-mentioned technical features are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0045] Obviously, the above embodiments of the utility model are only examples for clearly explaining the utility model, and are not intended to limit the implementation methods of the utility model. For ordinary technicians in the relevant field, other different forms of changes or modifications can be made on the basis of the above description. It is not necessary and impossible to list all the implementation methods here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the utility model should be included in the protection scope of the claims of the utility model.

Claims

1. An articulated robot fork arm, comprising a base (9), a first side surface of the base (9) being provided with at least two fork teeth, and a distance between two adjacent fork teeth being adjustable, and a second side surface of the base (9) being provided with a robot connection plate (10), characterized in that: An electrode connection disk (13) is also provided on the third side of the base (9), and the electrode connection disk (13) is communicatively connected to a multifunctional head, and the multifunctional head is one of a fork tooth, a clamping claw, and an electromagnetic suction cup.

2. The articulated robot fork arm according to claim 1, characterized in that: The multifunctional head is an electrode claw (14).

3. The articulated robot fork arm according to claim 2, characterized in that: The electrode claw (14) comprises an electrode claw connection disk (1401) capable of being communicatively connected to the electrode connection disk (13), and an electrode claw clamping portion (1402) capable of opening and closing, wherein the electrode claw clamping portion (1402) is fixedly connected to the electrode claw connection disk (1401).

4. The articulated robot fork arm according to claim 3, characterized in that: The electrode connection plate (13) and the electrode claw connection plate (1401) are both pneumatic quick-release flanges.

5. The articulated robot fork arm according to claim 1, characterized in that: A guide rail (1) is also provided on the first side surface of the base (9), wherein at least one fork tine is a sliding fork tine (7) slidably connected to the guide rail (1), and another fork tine is a fixed fork tine (8) fixedly connected to the base (9).

6. The articulated robot fork arm according to claim 5, characterized in that: The sliding fork teeth (7) and the fixed fork teeth (8) are of an "L"-shaped structure, and both horizontal ends thereof are provided with positioning pin holes (12).

7. The articulated robot fork arm according to claim 5, characterized in that: The vertical end of the sliding fork tine (7) is connected to a fork tine connecting plate (2), and the other end of the fork tine connecting plate (2) is slidably connected to the guide rail (1).

8. The articulated robot fork arm according to claim 5, characterized in that: The first side surface of the base (9) is also provided with a slide rail parallel to the guide rail (1), and the sliding fork teeth (7) are slidably connected to the slide rail.

9. The articulated robot fork arm according to claim 8, characterized in that: The slide rail comprises a first slide rail (3) and a second slide rail (5); a first slider (4) and a second slider (6) are fixedly provided at the vertical end of the slide fork (7); the first slider (4) is slidably connected to the first slide rail (3), and the second slider (6) is slidably connected to the second slide rail (5).

10. The articulated robot fork arm according to claim 1, characterized in that: The base (9) is an inverted "L"-shaped structure, and a reinforcing member (11) is provided at its angle, wherein the reinforcing member (11) is fixedly connected to the first side surface and the second side surface.

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