A robot

Abstract

The utility model provides a kind of mechanical hand, belong to mechanical hand technical field, it solves the higher cost of current mechanical hand, and the problem of damage caused by easy to fall in installation and disassembly process.This mechanical hand, including mechanical arm, the end of mechanical arm is rotatably connected with adapter, adapter is fixedly connected with two cylindrical wrist, the bottom end of wrist is equipped with several base fingers along circumference, base finger is equipped with finger, the mounting block of strip shape and the installation slot of cross section T shape, finger is equipped with several installation holes two, mounting block is located in installation slot, and the width of mounting block is greater than the width of installation slot mouth, the above-mentioned mounting block is equipped with several installation holes one, installation slot is strip shape and along length direction and penetrates the end face of base finger both ends, detachable fastener passes through installation hole one and is fixed in base finger on mounting block, and detachable fastener passes through installation hole two and is fixed in mounting block on finger.This mechanical hand reduces cost while effectively preventing falling damage in installation and disassembly process.

Description

Technical Field

[0001] This utility model belongs to the field of robotic arm technology and relates to a robotic arm. Background Technology

[0002] Robotic arms are an important component of automated production lines, effectively freeing up manpower and improving production efficiency. They typically consist of a robotic arm and grippers mounted at one end of the arm, with the other end connected to a gantry, fixed platform, or similar structure. The grippers include a wrist and fingers.

[0003] However, existing grippers are usually directly fixed to the robotic arm with fastening bolts, and generally only one gripper is installed on a robotic arm, resulting in low efficiency in transferring workpieces. If multiple grippers are fixed to the robotic arm with fastening bolts to improve efficiency, the connection structure between the grippers and the robotic arm is not movable, requiring the control of the robotic arm to swing and switch different grippers to the corresponding positions, which increases the control difficulty.

[0004] To address this, Chinese patent application (application number: 202222410341.9) discloses a connection structure between a robotic arm and grippers. The top of the robotic arm is connected to the drive end of an external machine, and a truncated pyramidal adapter block is rotatably connected to the bottom of the robotic arm. A motor driving the truncated pyramidal adapter block to rotate is located at the bottom of the robotic arm. The truncated pyramidal adapter block and the robotic arm are arranged at an angle. At least two grippers are provided, vertically fixed to the side wall of the truncated pyramidal adapter block. The motor can drive the truncated pyramidal adapter block to rotate, causing any one of the grippers to point vertically downwards. The truncated pyramidal adapter block has slots on all four side walls, which are T-shaped slots. Each gripper has a locking block, which is a T-shaped block welded to the bottom of the gripper and inserted into the slot. A limiting block is located at the bottom of the truncated pyramidal adapter block, which presses the locking block against the slot.

[0005] However, the above method has the following drawbacks: 1. The limiting block holds the clamping blocks on both sides of it within the clamping groove. To remove one of the clamping jaws, the limiting block must be removed first. At this time, the two clamping blocks will loosen together due to the loss of the limiting block's clamping force. During installation, both clamping blocks need to be inserted into the clamping blocks. At this time, both clamping jaws are in a loose state, and the limiting block needs to be installed to fix the two clamping jaws. The operator cannot operate on a single clamping jaw. During installation and disassembly, it is difficult to operate the limiting block while simultaneously managing the two loose clamping jaws. Under the action of gravity, the loose clamping jaws may fall and cause damage. 2. For workpieces of different sizes and dimensions, the entire clamping jaw needs to be replaced with a suitable one. Moreover, when a part of the clamping jaw is damaged, the entire jaw also needs to be replaced, resulting in high design and maintenance costs. Utility Model Content

[0006] The purpose of this invention is to address the aforementioned problems in existing technologies by proposing a robotic arm. The technical problem this invention aims to solve is: how to reduce costs while preventing damage from falling during installation and disassembly.

[0007] The objective of this utility model can be achieved through the following technical solution: A robotic hand, including a robotic arm, wherein the end of the robotic arm is rotatably connected to a connector, characterized in that the connector is fixedly connected to two cylindrical wrists, the bottom end of each wrist is provided with a plurality of base fingers along the circumferential direction, each base finger is provided with a finger, a long strip-shaped mounting block and a T-shaped mounting groove, each finger is provided with a plurality of mounting holes, the mounting block is located in the mounting groove and the width of the mounting block is greater than the width of the mounting groove opening, the mounting block is provided with a plurality of mounting holes, the mounting groove is long and extends through both ends of the base finger along the length direction, a detachable fastener passes through the mounting holes and fixes the mounting block to the base finger, and a detachable fastener passes through the mounting holes and fixes the finger to the mounting block.

[0008] First, insert the mounting block into the mounting groove along the length of the base finger to achieve initial positioning. Then, pass the detachable fastener through mounting hole one and fix the mounting block to the base finger. After the mounting block is installed, observe its position through the mounting groove opening. Align the finger with the mounting block and pass the detachable fastener through mounting hole two to fix the finger to the mounting block. At this point, the finger and base finger are also fixed. Each mounting block is independently fixed to its corresponding base finger, and each finger is also independently fixed to its corresponding mounting block. This allows for individual operation of a single mounting block or finger, avoiding the difficulty of simultaneously managing multiple loose fingers and the risk of fingers falling and causing injury. For workpieces of different sizes and dimensions, only suitable fingers need to be designed and replaced individually, without replacing the entire finger, resulting in lower design costs. Furthermore, during use, only the worn fingers need to be replaced, eliminating the need for complete replacement and reducing maintenance costs. The cross-section of the mounting slots is T-shaped. When the mounting block enters the mounting slot along the length of the base finger, the width of the slot opening is smaller than the width of the slot bottom, and the width of the mounting block is larger than the width of the slot opening. Even if the mounting block is not fixed with detachable fasteners, the mounting block will not fall off under the action of gravity, thus avoiding damage caused by falling.

[0009] The aforementioned robotic arm features a mounting block that can slide back and forth along the length of a mounting groove. Each mounting hole is distributed along the length of the mounting block, and detachable fasteners pass through these holes to fix the mounting block to the base finger. Depending on the actual situation, the mounting block can slide back and forth along the length of the mounting groove to the most suitable position. The position is continuously adjustable, making adjustment convenient and highly flexible. Furthermore, by first confirming the position of the mounting block and then placing the finger on it, the mounting block is constrained by the mounting groove. Even without the detachable fasteners, it will not fall and cause damage under gravity, ensuring reliable adjustment. The mounting block and base block are fixed or detached through the installation or removal of the detachable fasteners. The mounting block is elongated, with mounting holes along its length. The detachable fasteners pass through these holes to fix the mounting block to the base finger. Multiple fixing points distribute stress, avoiding localized stress concentration. Even if one fixing point loosens, the remaining fixing points remain fixed, effectively ensuring the stability and reliability of the fixation.

[0010] The aforementioned robotic arm has L-shaped fingers, with each of the two mounting holes distributed along the length of one end of the finger. Removable fasteners pass through these mounting holes sequentially to fix the finger to the mounting block. The fixing or detachment of the finger from the mounting block is achieved by installing or removing the removable fasteners. The mounting holes, positioned along the length of one end of the finger, prevent rotation of the finger relative to the base finger. Furthermore, multiple fixing points distribute stress, avoiding localized stress concentration. Even if one fixing point loosens, the remaining fixing points remain fixed, effectively ensuring the stability and reliability of the fixation.

[0011] In the aforementioned robotic arm, when the fingers are fixed to the mounting block, they are in close contact with the base finger, and the contact surface of the fingers that contacts the base finger is a toothed surface, while the contact surface of the base finger that contacts the fingers is a toothed surface. The toothed surfaces on the base finger and the toothed surfaces on the mounting block can mesh and fix each other, preventing relative displacement between the fingers and the base finger, and effectively ensuring the stability and reliability of the fixation.

[0012] The aforementioned robotic arm includes a slider with a T-shaped cross-section at its wrist. The bottom end face of the wrist has several T-shaped grooves along its circumferential direction, allowing the slider to slide back and forth within these grooves. The mounting groove has several mounting holes (three) along its length at the bottom. Removable fasteners pass through these mounting holes (three) to fix the base finger to the slider. The mounting holes (three) are positioned along the length of the mounting groove. The detachable fasteners passing through these mounting holes (three) to fix the base finger to the slider prevent the base finger from rotating relative to the slider. Furthermore, multiple fixing points distribute stress, avoiding localized stress concentration. Even if one fixing point becomes loose, the remaining fixing points remain fixed, effectively ensuring the stability and reliability of the fixation. As the slider slides back and forth in the grooves, it moves the base finger.

[0013] In the aforementioned robotic arm, the adapter is shaped like a frustum of four prisms. The larger end of the adapter is rotatably connected to the robotic arm, and the two wrists are respectively fixed on two opposite inclined sides of the adapter. The rotatable connection of the larger end of the adapter to the robotic arm helps ensure structural reliability, while the smaller end of the adapter provides space for the wrists. The symmetrical arrangement of the two wrists on the two opposite inclined sides of the adapter helps to balance forces and ensures stability and reliability. Moreover, compared to a straight-line arrangement, the V-shaped arrangement of the two wrists not only makes the structure more compact but also improves the efficiency of the fingers alternating between the two wrists.

[0014] The aforementioned robotic arm has a channel along its length on the adapter for the wiring to pass through. A working window is located on one side of the adapter, with both ends of the channel extending to the surface of the adapter. The working window is connected to the channel and is positioned between the two wrists. Signal lines can be housed within the channel, resulting in a neat and aesthetically pleasing design while effectively preventing damage from external exposure. The working window allows for convenient and intuitive operation of the wiring.

[0015] The aforementioned robotic arm has a trapezoidal working window. The side of the adapter is trapezoidal, and the working window is also trapezoidal accordingly. This maximizes the size of the working window while ensuring the structural strength of the adapter, thus providing ample operating space for the operator.

[0016] The aforementioned robotic arm includes a support frame, on which a reducer and a stop are fixedly mounted. The reducer drives a rotating shaft, one end of which is fixedly connected to the larger end of an adapter, and the other end is equipped with a limiting block. The reducer can drive the rotating shaft to rotate, causing the limiting block to abut against the stop. The reducer drives the rotating shaft to rotate, which in turn causes the adapter to rotate. When the rotating shaft rotates to a certain angle, the limiting block abuts against the stop, and the rotating shaft stops rotating. The limiting block and the stop limit the rotation angle of the rotating shaft within a preset range.

[0017] The aforementioned robotic arm further includes a connecting plate one disposed at the end of the support and a connecting plate two slidably connected to the connecting plate one, wherein the connecting plate two is fixedly connected to the support. When the connecting plate one and the connecting plate two slide relative to each other, the robotic arm and the support move relative to each other, making the movement of the robotic arm more flexible.

[0018] Compared with existing technologies, this robotic arm has the following advantages:

[0019] 1. In this robotic hand, each mounting block is independently fixed to its corresponding base finger, and each finger is also fixed to its corresponding mounting block. This allows for individual operation of a single mounting block or finger, preventing workers from having difficulty attending to multiple loose fingers at the same time, which could lead to fingers falling off and causing injury.

[0020] 2. This robotic arm can handle workpieces of different sizes and dimensions by designing and replacing only the appropriate fingers, without replacing the entire arm. This reduces design costs. Furthermore, during use, only the worn fingers need to be replaced, thus reducing maintenance costs.

[0021] 3. In this machine tool, the cross-section of the mounting groove is T-shaped. When the mounting block enters the mounting groove along the length of the base finger, because the width of the groove opening is smaller than the width of the groove bottom, and the width of the mounting block is larger than the width of the groove opening, the mounting block will not fall off under gravity even if it is not fixed with detachable fasteners, thus avoiding damage caused by falling. Attached Figure Description

[0022] Figure 1 This is a partial structural diagram of the robotic arm. Figure 1 .

[0023] Figure 2 This is a schematic diagram of the overall structure of the robotic arm.

[0024] Figure 3 This is a partial structural diagram of the robotic arm. Figure 2 .

[0025] Figure 4 This is a schematic diagram of the adapter block in the machine tool.

[0026] Figure 5 This is a cross-sectional view of the robotic arm.

[0027] In the diagram, 1. Robotic arm; 2. Adapter; 3. Wrist; 3a. Slider; 4. Base finger; 5. Finger; 5a. Mounting hole two; 6. Mounting groove; 6a. Mounting hole three; 7. Mounting block; 7a. Mounting hole one; 8. Slide groove; 9. Channel; 10. Working window; 11. Bracket; 12. Reducer; 13. Stop; 14. Rotating shaft; 15. Limiting block; 16. Connecting plate one; 17. Connecting plate two. Detailed Implementation

[0028] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0029] like Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5As can be seen, this robotic arm includes a robotic arm 1 and a frustum-shaped adapter 2. The robotic arm 1 includes a support 11, a connecting plate 16 located at the end of the support 11, and a connecting plate 17 slidably connected to the connecting plate 16. The connecting plate 17 is fixedly connected to the support 11. When the connecting plate 16 and the connecting plate 17 slide relative to each other, the robotic arm 1 and the support 11 move relative to each other, making the movement of the robotic arm more flexible. A reducer 12 and a stop block 13 are fixedly mounted on the support 11. The reducer 12 drives a rotating shaft 14, one end of which is fixedly connected to the larger end of the adapter 2, and the other end is provided with a limiting block 15. The reducer 12 can drive the rotating shaft 14 to rotate and make the limiting block 15 abut against the stop block 13. A servo motor is mounted on the reducer 12. Specifically, the limiting block 15 is roughly annular in shape, and one side has an outward protrusion. The limiting block 15 abuts against the stop block 13 through the protrusion. The reducer 12 drives the rotating shaft 14 to rotate, and the rotation of the rotating shaft 14 causes the adapter block to rotate. When the rotating shaft 14 rotates to a certain angle, the limit block 15 abuts against the stop block 13, and the rotating shaft 14 stops rotating. The rotation angle of the rotating shaft 14 can be limited within a preset range by the limit block 15 and the stop block 13.

[0030] The larger end of the adapter 2 is rotatably connected to the robotic arm 1, and cylindrical wrists 3 are fixed on the two opposite inclined sides of the adapter 2. The rotatable connection of the larger end of the adapter 2 to the robotic arm 1 helps ensure structural reliability, while the smaller end of the adapter 2 provides space for the arrangement of the wrists 3. The two wrists 3 are symmetrically arranged on the two opposite inclined sides of the adapter 2, which helps to balance the force and ensure the stability and reliability of the fixation. Moreover, compared to a straight-line arrangement, the V-shaped arrangement of the two wrists 3 not only makes the structure more compact but also improves the efficiency of the alternating work of the fingers 5 on the two wrists 3.

[0031] The adapter 2 has a channel 9 along its length for the cable to pass through, with both ends of the channel 9 extending to the surface of the adapter 2. Specifically, the smaller end of the adapter 2 has two through holes, which are connected to the channel 9. The rotating shaft 14 is hollow, and its inner cavity is connected to the channel 9 to allow the cable to pass through. A trapezoidal working window 10 is provided on one side of the adapter 2, connected to the channel 9 and located between the two wrists 3. The signal cable can be placed inside the channel 9, which is neat and aesthetically pleasing while effectively avoiding damage caused by external exposure. The working window 10 allows for convenient and intuitive operation of the cable. Since the side of the adapter 2 is trapezoidal, the working window 10 is also trapezoidal, maximizing the size of the working window 10 while ensuring the structural strength of the adapter 2, thus providing ample operating space for the operator.

[0032] Specifically, a removable cover plate can be installed on the working window 10. When the robot is working normally, the cover plate is installed and the working window 10 is blocked. When it is necessary to operate the robot's circuitry, the cover plate is removed and the working window is exposed, allowing personnel to see the circuitry inside directly.

[0033] The wrist portion 3 includes a slider 3a with a T-shaped cross-section, and the bottom end face of the wrist portion 3 is provided with several T-shaped grooves 8 along the circumferential direction, allowing the slider 3a to slide back and forth in the grooves 8. The bottom end of the wrist portion 3 is provided with several base fingers 4 along the circumferential direction. Each base finger 4 has a finger 5, a mounting block 7, and a T-shaped mounting groove 6. The mounting groove 6 is elongated and extends through both ends of the base finger 4 along its length. The bottom of the mounting groove 6 is provided with several mounting holes 6a along its length, through which detachable fasteners pass and fix the base fingers 4 to the slider 3a. The mounting holes 6a are positioned along the length of the mounting groove 6. The detachable fasteners pass through the mounting holes 6a and fix the base fingers 4 to the slider 3a, preventing the base fingers 4 from rotating relative to the slider 3a. Furthermore, multiple fixing points distribute stress, avoiding localized stress concentration. Even if one fixing point becomes loose, the remaining fixing points remain fixed, effectively ensuring the stability and reliability of the fixation. When the slider 3a slides back and forth in the slide groove 8, it drives the base finger 4 to move, thereby realizing the opening and closing of the gripper.

[0034] The width of the groove opening of the aforementioned mounting groove 6 is less than the width of the groove bottom, and the groove opening extends to the surface of the base finger 4. The mounting block 7 is elongated, and its width is greater than the width of the groove opening of the mounting groove 6, allowing it to slide back and forth within the mounting groove 6. The mounting block 7 has several mounting holes 7a along its length, through which detachable fasteners pass and fix the mounting block 7 to the base finger 4. Depending on the actual situation, the mounting block 7 can slide back and forth within the mounting groove 6 to the most suitable position; the position is continuously adjustable, making adjustment convenient and highly flexible. Furthermore, by first confirming the position of the mounting block 7 and then placing the finger 5 on it, the mounting block 7 is constrained by the mounting groove 6, preventing it from falling and being damaged under gravity even without detachable fasteners, ensuring reliable adjustment. The mounting block 7 is elongated, and the mounting hole 7a is set along the length of the mounting block 7. The detachable fastener passes through the mounting hole 7a and fixes the mounting block 7 to the base finger 4. Moreover, the stress is distributed among multiple fixing points to avoid local stress concentration. Furthermore, when one fixing point becomes loose, the other fixing points can still remain fixed, effectively ensuring the stability and reliability of the fixation.

[0035] The finger 5 is L-shaped, and one end of the finger 5 has several mounting holes 5a along its length. A detachable fastener passes through the mounting holes 5a and fixes the finger 5 to the mounting block 7. The mounting holes 5a are located along the length of one end of the finger 5. The detachable fastener passes through the mounting holes 5a and fixes the finger 5 to the mounting block 7, preventing the finger 5 from rotating relative to the base finger 4. Furthermore, multiple fixing points distribute stress, avoiding localized stress concentration. Even if one fixing point becomes loose, the remaining fixing points remain fixed, effectively ensuring the stability and reliability of the fixation.

[0036] Furthermore, finger 5 can also be designed in other shapes depending on the actual situation.

[0037] When finger 5 is fixed to mounting block 7, it is in close contact with base finger 4, and the contact surface of finger 5 that contacts base finger 4 is toothed, and the contact surface of base finger 4 that contacts finger 5 is also toothed. The toothed surfaces on base finger 4 and mounting block 7 can mesh and fix each other, preventing relative displacement between finger 5 and base finger 4, and effectively ensuring the stability and reliability of the fixation.

[0038] Specifically, the detachable fastener mentioned above is a bolt.

[0039] During installation, firstly, pass the bolts through the mounting holes 3 (6a) and fix each base finger 4 onto the corresponding slider 3a, completing the installation of the base finger 4. Next, insert the mounting block 7 into the mounting groove 6 along the length of the base finger 4. Depending on the actual situation, move the mounting block 7 to a suitable position in the mounting groove 6 for initial positioning. At this point, pass the bolts through the mounting holes 1 (7a) and fix the mounting block 7 onto the base finger 4, completing the installation of the mounting block 7. Then, select a suitable finger 5, observe the position of the mounting block 7 through the opening of the mounting groove 6, align the finger 5 with the mounting block 7, and pass the bolts through the mounting holes 2 (5a) to fix the finger 5 onto the mounting block 7. At this point, the finger 5 and the base finger 4 are also fixed.

[0040] When clamping workpieces of different shapes and sizes, keep the base finger 4 fixed to the slider 3a, and replace the finger 5 separately. If the position of the finger 5 needs to be adjusted, loosen the bolt in the mounting hole 7a and adjust the position of the mounting hole.

[0041] Each mounting block 7 is independently fixed to its corresponding base finger 4, and each finger 5 is also independently fixed to its corresponding mounting block 7. This allows for individual operation of each mounting block 7 or finger 5, preventing the operator from being unable to simultaneously manage multiple loose fingers 5, which could lead to finger 5 falling and causing injury. For workpieces of different sizes, only suitable fingers 5 need to be designed and replaced individually, eliminating the need for complete replacement, thus reducing design costs. Furthermore, during use, only worn fingers 5 need to be replaced, minimizing maintenance costs. The mounting grooves 6 all have a T-shaped cross-section. When the mounting block 7 enters the mounting groove 6 along the length of the base finger 4, because the groove opening width is smaller than the groove bottom width, and the mounting block 7 is wider than the groove opening width, even without detachable fasteners, the mounting block 7 will not fall under gravity, preventing injury from a fall.

[0042] The specific embodiments described herein are merely illustrative examples illustrating the spirit of this utility model. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of this utility model or exceeding the scope defined by the appended claims.

[0043] Although this document frequently uses terms such as robotic arm 1, adapter 2, wrist 3, slider 3a, base finger 4, finger 5, mounting hole 2 5a, mounting groove 6, mounting hole 3 6a, mounting block 7, mounting hole 1 7a, slide 8, channel 9, working window 10, bracket 11, reducer 12, stop 13, rotating shaft 14, limit block 15, connecting plate 16, connecting plate 2 17, the possibility of using other terms is not excluded. The use of these terms is merely for the convenience of describing and explaining the essence of this utility model; interpreting them as any kind of additional limitation would contradict the spirit of this utility model.

Claims

1. A manipulator comprising a robot arm (1), the robot arm (1) being connected at its end to a swivel (2), characterized in that The adapter (2) is fixedly connected to two cylindrical wrists (3). The bottom end of the wrist (3) is provided with several base fingers (4) along the circumferential direction. The base fingers (4) are provided with fingers (5), long strip-shaped mounting blocks (7) and T-shaped mounting grooves (6). The fingers (5) are provided with several mounting holes (5a). The mounting blocks (7) are located in the mounting grooves (6), and the width of the mounting blocks (7) is greater than the width of the groove opening of the mounting grooves (6). The mounting blocks (7) are provided with several mounting holes (7a). The mounting grooves (6) are long strip-shaped and penetrate through both ends of the base fingers (4) along the length direction. Removable fasteners pass through the mounting holes (7a) and fix the mounting blocks (7) on the base fingers (4). Removable fasteners pass through the mounting holes (5a) and fix the fingers (5) on the mounting blocks (7).

2. The robot according to claim 1, characterized in that The mounting block can slide back and forth in the mounting groove (6) along the length direction of the mounting groove (6), and each of the mounting holes (7a) is distributed along the length direction of the mounting block (7). The detachable fastener passes through the mounting hole (7a) in sequence and fixes the mounting block (7) on the base finger (4).

3. The robot of claim 2, wherein, The finger (5) is L-shaped, and each of the mounting holes (5a) is distributed along the length direction of one end of the finger (5). The detachable fastener passes through the mounting holes (5a) in sequence and fixes the finger (5) on the mounting block (7).

4. The robot according to claim 1 or 2 or 3, characterized in that When the finger (5) is fixed on the mounting block (7), it is in close contact with the base finger (4), and the contact surface of the finger (5) for contacting the base finger (4) is a toothed surface, and the contact surface of the base finger (4) for contacting the finger (5) is a toothed surface.

5. The robot of claim 4, wherein, The wrist (3) includes a slider (3a) with a T-shaped cross-section, and the bottom end face of the wrist (3) is provided with a plurality of sliding grooves (8) with a T-shaped cross-section along the circumferential direction. The slider (3a) can slide back and forth in the sliding groove (8). The bottom of the mounting groove (6) is provided with a plurality of mounting holes (6a) along the length direction. The detachable fastener passes through the mounting holes (6a) and fixes the base finger (4) on the slider (3a).

6. The robot of claim 5, wherein, The adapter (2) is in the shape of a quadrangular frustum. The larger end of the adapter (2) is rotatably connected to the robotic arm (1). The two wrists (3) are respectively fixed on two opposite inclined sides of the adapter (2).

7. The robot of claim 6, wherein, The adapter (2) has a channel (9) along its length for the line to pass through, and a working window (10) is provided on one side of the adapter (2). The two ends of the channel (9) extend to the surface of the adapter (2). The working window (10) is connected to the channel (9) and is located between the two wrists (3).

8. The robot of claim 7, wherein, The working window (10) is trapezoidal in shape.

9. The robot of claim 8, wherein, The robotic arm (1) includes a support (11), on which a reducer (12) and a stop (13) are fixed. The reducer (12) is driven to connect a rotating shaft (14). One end of the rotating shaft (14) is fixed to the larger end of the adapter (2), and the other end is provided with a limiting block (15). The reducer (12) can drive the rotating shaft (14) to rotate and make the limiting block (15) abut against the stop (13).

10. The robot of claim 9, wherein, The mechanical arm (1) further comprises a connecting plate I (16) arranged at the end of the support (11) and a connecting plate II (17) in sliding connection with the connecting plate I (16), and the connecting plate II (17) is fixedly connected with the support (11).

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