Four-shaft swing arm manipulator

Abstract

The utility model discloses a four-shaft swing arm manipulator, and relates to the technical field of manipulators. The device comprises a base, the surface of the base is connected with a supporting column and an air injection box, a groove is formed in the surface of the supporting column, a cross beam is connected in the groove through a first driving mechanism, the cross beam is vertically and movably connected with the supporting column through the first driving mechanism, a limiting groove is formed in the cross beam, and a limiting block is connected in the limiting groove; the bottom end of the limiting block is connected with a mechanical claw through a connecting shaft, a second driving mechanism is connected into the limiting groove, the right side wall of the air injection box is connected with an ion fan, and the left side wall of the air injection box is connected with an air injection plate. By arranging the ion fan, when the mechanical claw grabs materials, static electricity on the surfaces of the materials can be neutralized in time, the situation that the quality of the materials is affected due to the fact that dust and impurities are adsorbed by the static electricity can be effectively avoided, electronic elements are prevented from being damaged by the static electricity, and therefore the yield of products is improved.

Description

Technical Field

[0001] This utility model belongs to the field of robotic arm technology, specifically, it relates to a four-axis swing arm robotic arm. Background Technology

[0002] A robotic arm is an automated operating device that can mimic certain movements and functions of a human hand and arm to grasp, move objects, or operate tools according to a fixed program.

[0003] Chinese patent CN217225554U discloses a power control device for a communication base station. It utilizes an electric slider that slides horizontally within an electric slide rail, driving the main body of a robotic arm to move horizontally. An electric hydraulic cylinder drives the main body of the robotic arm to move vertically. A servo motor and a drive motor respectively drive the main body of the robotic arm to rotate horizontally and vertically, thereby precisely gripping materials. When the four-axis swing arm robotic arm grasps materials, an ion fan is activated to blow out airflow carrying positive and negative charges, facilitating the neutralization of static electricity on the material surface and preventing interference with normal material processing. However, while the ion fan can neutralize static electricity on the material surface, its effective range and efficiency may be affected by various factors. For example, distance from the material, complex material shape, or environmental airflow interference may all lead to incomplete static electricity neutralization, still affecting normal material processing.

[0004] In view of this, this utility model is proposed. Utility Model Content

[0005] The technical problem to be solved by this utility model is to overcome the shortcomings of the prior art and provide a four-axis swing arm manipulator, which solves the problems mentioned in the background art.

[0006] To solve the above-mentioned technical problems, the basic concept of the technical solution adopted by this utility model is as follows:

[0007] A four-axis swing arm robot includes: a base, a support column and an air jet box connected to the surface of the base, a groove formed on the surface of the support column, a crossbeam connected to the groove via a first drive mechanism, and the crossbeam being vertically movably connected to the support column via the first drive mechanism, a limit groove formed in the crossbeam, a limit block connected in the limit groove, a mechanical claw connected to the bottom end of the limit block via a connecting shaft, and a second drive mechanism connected in the limit groove, an ion fan connected to the right side wall of the air jet box, and an air jet plate connected to the left side wall of the air jet box.

[0008] Optionally, the first drive mechanism includes a first lead screw and a first guide rod located in the groove, with a first motor connected to the top of the first lead screw.

[0009] Optionally, both the first lead screw and the first guide rod pass through the crossbeam, and the first lead screw is threadedly connected to the crossbeam.

[0010] Optionally, the second drive mechanism includes a second lead screw and a second guide rod located in the limiting groove, with the front end of the second lead screw passing through the side wall of the crossbeam and connected to the second motor.

[0011] Optionally, both the second lead screw and the second guide rod pass through the limiting block, and the second lead screw is threadedly connected to the limiting block.

[0012] Optionally, a connector is connected to the bottom end of the connecting shaft, the connecting shaft is connected to the mechanical claw through the connector, and the connector is spherical and is embedded in the top of the mechanical claw.

[0013] Optionally, the jet box is provided with an air guide groove, the jet plate is connected to the ion fan through the air guide groove, and the surface of the jet plate is provided with a plurality of equidistant air holes, and the air holes are conical in shape.

[0014] By adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art. Of course, any product implementing the present invention does not necessarily need to achieve all of the following advantages at the same time:

[0015] 1. By setting up an ion fan, the static electricity on the surface of the material can be neutralized in time when the mechanical claw grabs the material. This can effectively prevent the material quality from being affected by the adsorption of dust and impurities due to static electricity, and prevent static electricity from damaging electronic components, thereby improving the product yield. At the same time, the air jet plate can make the airflow uniform and concentrated, effectively cleaning the impurities on the surface of the material. After the processing of precision mechanical parts, metal chips can be blown away, providing clean workpieces for subsequent processes and improving the overall processing quality.

[0016] 2. By setting the first guide rod and the second guide rod, the first guide rod and the second guide rod play a stabilizing and guiding role in vertical and horizontal movements, respectively, which ensures the stability and accuracy of the mechanical claw's movement, reduces equipment wear, extends service life, and improves the reliability of the entire operation process.

[0017] The specific embodiments of this utility model will be described in further detail below with reference to the accompanying drawings. Attached Figure Description

[0018] The accompanying drawings described below are merely some embodiments. Those skilled in the art can obtain other drawings based on these drawings without any creative effort.

[0019] In the picture:

[0020] Figure 1 This is a schematic diagram of the overall structure;

[0021] Figure 2 This is a schematic diagram of the second drive mechanism.

[0022] Figure 3 A schematic diagram of the mechanical gripper and connecting shaft structure;

[0023] Figure 4 This is a schematic diagram of the cross-sectional structure of the jet box.

[0024] The attached diagram lists the components represented by each number as follows:

[0025] 1. Base; 2. Support column; 3. Air box; 4. Ion fan; 5. Air plate; 6. Air hole; 7. Mechanical claw; 8. First lead screw; 9. First guide rod; 10. First motor; 11. Crossbeam; 12. Second motor; 13. Limiting groove; 14. Second lead screw; 15. Second guide rod; 16. Connecting shaft; 17. Limiting block; 18. Connecting piece; 19. Air guide groove.

[0026] It should be noted that these accompanying drawings and textual descriptions are not intended to limit the scope of the present invention in any way, but rather to illustrate the concept of the present invention to those skilled in the art by referring to specific embodiments. Detailed Implementation

[0027] The present invention will now be described in further detail with reference to the accompanying drawings.

[0028] Please see Figure 1-4 As shown, this embodiment provides a four-axis swing arm robot, including: a base 1, a support column 2 and an air box 3 connected to the surface of the base 1, a groove is provided on the surface of the support column 2, a crossbeam 11 is connected to the groove through a first drive mechanism, and the crossbeam 11 is movably connected to the support column 2 through the first drive mechanism, a limit groove 13 is provided in the crossbeam 11, a limit block 17 is connected in the limit groove 13, a mechanical claw 7 is connected to the bottom end of the limit block 17 through a connecting shaft 16, and a second drive mechanism is connected in the limit groove 13, an ion fan 4 is connected to the right side wall of the air box 3, and an air plate 5 is connected to the left side wall of the air box 3.

[0029] The base 1 serves as the supporting foundation for the entire four-axis swing arm robot, providing installation positions for other components and ensuring the stability of the entire device during operation. The support column 2 is vertically connected to the surface of the base 1, supporting the crossbeam 11 and the upper structure of the entire robot arm. Grooves on its surface provide a track and guide for the vertical movement of the crossbeam 11. The connection between the crossbeam 11 and the support column 2 is achieved through a first drive mechanism, allowing for vertical movement. The crossbeam 11 is a key component connecting the robotic gripper 7 and the support column 2. It not only bears the weight of the robotic gripper 7 but also provides a track for its horizontal movement (via the limiting groove 13). Simultaneously, its vertical movement adjusts the vertical position of the robotic gripper 7 to accommodate the gripping needs of materials of different heights. The limiting groove 13 serves as a limit. Block 17 provides a horizontal movement track, limiting the movement path of the robotic claw 7 on the crossbeam 11, ensuring the stability and accuracy of the horizontal movement of the robotic claw 7. The connecting shaft 16 connects the limiting block 17 and the robotic claw 7, playing a role in transmitting motion and force, ensuring the stability and flexibility of the robotic claw 7 during horizontal movement, while allowing the robotic claw 7 to adjust its angle to a certain extent for better material gripping. The jet box 3 serves as the mounting carrier for the ion fan 4 and the jet plate 5, and also integrates related components such as the air circuit system to provide a gas source for the jet plate 5. The ion fan 4 generates an airflow with positive and negative charges. When the robotic claw 7 grips the material, the airflow blown by the ion fan 4 can neutralize the static electricity on the surface of the material, preventing the adsorption of dust and other impurities by static electricity from affecting the quality of the material, or preventing static electricity from damaging electronic materials.

[0030] In this embodiment, the first driving mechanism includes a first lead screw 8 and a first guide rod 9 located in the groove. The top end of the first lead screw 8 is connected to a first motor 10. Both the first lead screw 8 and the first guide rod 9 pass through the crossbeam 11, and the first lead screw 8 is threadedly connected to the crossbeam 11. The second driving mechanism includes a second lead screw 14 and a second guide rod 15 located in the limiting groove 13. The front end of the second lead screw 14 passes through the side wall of the crossbeam 11 and is connected to the second motor 12. Both the second lead screw 14 and the second guide rod 15 pass through the limiting block 17, and the second lead screw 14 is threadedly connected to the limiting block 17.

[0031] The first lead screw 8 passes through the crossbeam 11 and is threadedly connected to it. When the first motor 10 starts, the rotational motion of the motor is converted into the rotation of the lead screw. Due to the threaded engagement between the lead screw and the crossbeam 11, the crossbeam 11 moves up and down along the axial direction of the lead screw. This threaded connection method can precisely control the moving distance and speed of the crossbeam 11, achieving relatively accurate vertical positioning of the mechanical gripper 7. During the up-and-down movement of the crossbeam 11 driven by the first lead screw 8, the first guide rod 9 ensures that the crossbeam 11 always moves smoothly along the vertical direction, preventing the crossbeam 11 from swaying or deviating during movement, and ensuring the stability and accuracy of the vertical movement of the mechanical gripper 7. The first guide rod 9 and the first lead screw 8 work together to enable the crossbeam 11 and the mechanical gripper 7 connected below it to be stably and accurately adjusted in the vertical direction. By controlling the forward and reverse rotation and speed parameters of the first motor 10, the crossbeam 11 and the mechanical gripper 7 can be positioned. The second lead screw 14, which allows for rapid and accurate adjustment at different heights to accommodate the gripping needs of materials at varying heights, passes through and is threadedly connected to the limiting block 17. When the second motor 12 operates, it drives the second lead screw 14 to rotate, thereby driving the limiting block 17 to move horizontally along the lead screw axis within the limiting groove 13. This threaded transmission method enables the mechanical claw 7 to achieve high precision in horizontal position adjustment, accurately reaching the designated position to grip materials. When the limiting block 17 moves horizontally driven by the second lead screw 14, the second guide rod 15 provides guidance and stability, ensuring the straightness and stability of the limiting block 17 and the mechanical claw 7 during horizontal movement, preventing left-right deviation or swaying, and ensuring the accuracy and reliability of the horizontal movement of the mechanical claw 7. By controlling the operation of the second motor 12, precise control of the horizontal position of the mechanical claw 7 on the crossbeam 11 is achieved, meeting the gripping needs of materials at different positions.

[0032] A connector 18 is connected to the bottom end of the connecting shaft 16. The connecting shaft 16 is connected to the mechanical gripper 7 through the connector 18. The connector 18 is spherical and is embedded in the top of the mechanical gripper 7. The design of the spherical connector 18 gives the mechanical gripper 7 a certain degree of freedom, allowing it to make multi-angle fine adjustments within a certain range. For example, when the mechanical gripper 7 grasps irregularly shaped materials, the rotation of the spherical connector 18 can better fit the surface of the material, improving the stability and reliability of the grasp and preventing the material from slipping due to improper grasping angle.

[0033] The jet box 3 has an air guide groove 19. The jet plate 5 is connected to the ion blower 4 through the air guide groove 19. The surface of the jet plate 5 has multiple equidistant air holes 6, and the air holes 6 are conical. The airflow generated by the ion blower 4 is guided to the jet plate 5 through the air guide groove 19, ensuring that the airflow can be accurately and efficiently delivered to the required position. The air holes 6 are evenly distributed on the surface of the jet plate 5, ensuring the uniformity of the jet and fully covering the area that needs cleaning or blowing assistance. The conical shape of the air holes 6 helps to accelerate and focus the ejected airflow. The conical air holes 6 allow the airflow to act on the material surface in a more concentrated way when it is ejected, enhancing the blowing effect and cleaning the dust, debris and other impurities on the material surface more effectively, or providing a more powerful pushing effect in processes that require auxiliary airflow.

[0034] Working principle:

[0035] When it is necessary to adjust the vertical position of the mechanical gripper 7, the first motor 10 is started. The first motor 10 drives the first lead screw 8 connected to it to rotate. Since the first lead screw 8 is threadedly connected to the crossbeam 11, according to the principle of threaded transmission, the crossbeam 11 will move up and down along the axial direction of the first lead screw 8. At the same time, the first guide rod 9 passes through the crossbeam 11, providing guidance for the movement of the crossbeam 11 and ensuring that the crossbeam 11 always moves smoothly in the vertical direction, avoiding swaying or deviation. When it is necessary to move the mechanical gripper 7 in the horizontal direction, the second motor 12 is started. The second motor 12 drives the mechanical gripper 7 to rotate in the horizontal direction. The second lead screw 14 connected to it rotates. The second lead screw 14 is threadedly connected to the limit block 17. Therefore, when the second lead screw 14 rotates, the limit block 17 will move horizontally along the lead screw axis in the limit groove 13. The limit groove 13 provides a track for the movement of the limit block 17 and limits the movement path of the mechanical claw 7 on the crossbeam 11. At the same time, the second guide rod 15 passes through the limit block 17 and plays a guiding and stabilizing role during the movement of the limit block 17, ensuring the straightness and stability of the limit block 17 and the mechanical claw 7 during the horizontal movement, and preventing left and right deviation or swaying.

[0036] When the robotic gripper 7 grasps the material, the ion fan 4 starts, generating airflows with positive and negative charges. These airflows blow onto the surface of the material, which can neutralize the static electricity on the surface of the material, thereby effectively preventing the material quality from being affected by dust and other impurities attracted by static electricity. This is especially true for electronic materials, preventing static electricity from damaging them.

[0037] This utility model is not limited to the above-described embodiments. Anyone should know that structural changes made under the guidance of this utility model, and any technical solutions that are the same as or similar to this utility model, fall within the protection scope of this utility model. Technical aspects, shapes, and structures not described in detail in this utility model are all publicly known technologies.

Claims

1. A four-axis swing arm robot, characterized in that, include: A base (1) is provided with a support column (2) and a jet box (3) connected to its surface. The support column (2) has a groove on its surface. A crossbeam (11) is connected to the groove through a first drive mechanism. The crossbeam (11) is connected to the support column (2) through the first drive mechanism. A limit groove (13) is provided in the crossbeam (11). A limit block (17) is connected in the limit groove (13). A mechanical claw (7) is connected to the bottom of the limit block (17) through a connecting shaft (16). A second drive mechanism is connected in the limit groove (13). An ion fan (4) is connected to the right side wall of the jet box (3). A jet plate (5) is connected to the left side wall of the jet box (3).

2. The four-axis swing arm robot according to claim 1, characterized in that: The first drive mechanism includes a first lead screw (8) and a first guide rod (9) located in the groove, and a first motor (10) is connected to the top of the first lead screw (8).

3. A four-axis swing arm robot according to claim 2, characterized in that: The first lead screw (8) and the first guide rod (9) both pass through the crossbeam (11), and the first lead screw (8) is threadedly connected to the crossbeam (11).

4. A four-axis swing arm robot according to claim 1, characterized in that: The second drive mechanism includes a second lead screw (14) and a second guide rod (15) located in the limiting groove (13). The front end of the second lead screw (14) passes through the side wall of the crossbeam (11) and is connected to the second motor (12).

5. A four-axis swing arm robot according to claim 4, characterized in that: The second lead screw (14) and the second guide rod (15) both pass through the limiting block (17), and the second lead screw (14) is threadedly connected to the limiting block (17).

6. A four-axis swing arm robot according to claim 1, characterized in that: The bottom end of the connecting shaft (16) is connected to a connector (18), the connecting shaft (16) is connected to the mechanical claw (7) through the connector (18), and the connector (18) is spherical and is embedded in the top of the mechanical claw (7).

7. A four-axis swing arm robot according to claim 1, characterized in that: The jet box (3) is provided with an air guide groove (19), and the jet plate (5) is connected to the ion fan (4) through the air guide groove (19). The surface of the jet plate (5) is provided with a plurality of equidistant air holes (6), and the air holes (6) are conical in shape.

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