Longitudinal and transverse walking three-axis robot

Abstract

The utility model discloses a longitudinal and transverse walking type three -axis mechanical hand, including base, the upper portion of base positive fixedly connected with first servo motor, the output of first servo motor fixedly connected with the shell, the left side fixedly connected with second servo motor of shell. The utility model discloses a fan that is set up on nut seat can carry out the blowing treatment to the ball screw surface in the process of nut seat movement, can blow off the dust and impurity on the ball screw surface, can heat dissipation to ball screw simultaneously, reaches the blowing treatment to the surface of ball screw when nut seat moves, blows off the dust and impurity on its surface, and through the adsorption of metal scrap of magnetic board, avoids the foreign matter on the ball screw surface and accelerates the wear and tear and damage condition, carries out the blowing heat dissipation to the ball screw surface when running, avoids the thermal expansion situation of ball screw long -term use, further improves the service life effect of mechanical hand.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically a longitudinal and transverse three-axis robotic arm. Background Technology

[0002] A robotic arm is an automated device that mimics certain movements and functions of a human hand and arm to grasp, move objects, or operate tools according to a fixed program. Its key feature is that it can be programmed to perform various pre-defined tasks. In terms of structure and performance, it combines the advantages of both humans and machines. The robotic arm was the earliest industrial robot and also the earliest modern robot. It can replace heavy human labor to achieve mechanization and automation of production. It can operate in hazardous environments to protect human safety, and therefore is widely used in machinery manufacturing, metallurgy, electronics, light industry, and nuclear energy sectors.

[0003] A search revealed Chinese patent application number 202323070806.1, which discloses a longitudinally moving three-axis manipulator, relating to the field of mechanical technology. The manipulator includes a housing and auxiliary components. A servo motor is located on the left side of the housing, with its output connected to a drive rod. A ball screw is located at the other end of the drive rod, and a nut seat is connected to the outside of the ball screw. A T-shaped frame is located on the top of the nut seat. The auxiliary components are located on the right side of the T-shaped frame and include an extension plate, a forward / reverse motor, a drive shaft, a drive gear, a driven gear, and a transmission rod. The forward / reverse motor is located at the bottom of the extension plate. This longitudinally moving three-axis manipulator uses a servo motor to drive the ball screw, which in turn drives the L-shaped frame to move linearly about the outside of the ball screw. This design further increases the range of motion of the manipulator mechanism based on the operation of the servo motor and hydraulic cylinder, demonstrating good adaptability.

[0004] Although the aforementioned patent uses a servo motor to drive a ball screw, which in turn drives an L-shaped frame to move linearly around the ball screw, thus increasing the range of motion of the hand mechanism on the basis of the servo motor and hydraulic cylinder, and providing good adaptability, in actual use, robotic arms are mostly used in machining and other fields. Due to the influence of the working environment, metal shavings and dust are easily attached to the surface of the ball screw, causing the ball screw to wear faster or even be damaged, affecting normal use.

[0005] Therefore, it is necessary to modify it so that when the nut seat moves, the surface of the ball screw is blown off to remove dust and impurities, and metal debris is attracted by the magnetic plate to prevent foreign objects from accelerating wear and damage to the ball screw surface. At the same time, the ball screw surface is cooled by blowing air during operation to prevent thermal expansion due to prolonged use, thereby further improving the service life of the robot. Utility Model Content

[0006] To address the problems mentioned in the background art, the purpose of this utility model is to provide a longitudinal and transverse three-axis robotic arm. This arm features air blowing on the surface of the ball screw during nut seat movement to remove dust and impurities, and magnetic plates to attract metal debris, preventing foreign matter from accelerating wear and damage to the ball screw surface. Simultaneously, air blowing dissipates heat from the ball screw surface during operation, preventing thermal expansion during prolonged use and further extending the robotic arm's lifespan. This solves the problem that, due to the working environment, metal debris and dust easily adhere to the surface of the ball screw, leading to accelerated wear and even damage, thus affecting normal use.

[0007] To achieve the above objectives, this utility model provides the following technical solution: a three-axis manipulator with longitudinal and transverse movement, comprising a base, a first servo motor fixedly connected to the upper front of the base, a housing fixedly connected to the output end of the first servo motor, a second servo motor fixedly connected to the left side of the housing, a ball screw fixedly connected to the output end of the second servo motor, the right end of the ball screw rotatably connected to the right side of the inner wall of the housing, a nut seat threaded onto the surface of the ball screw, fans provided on both the left and right sides of the front of the nut seat, an air inlet groove provided on the front of the housing, a placement groove provided on the rear side of the inner wall of the housing, a rubber plug shell fixedly connected inside the placement groove, a magnetic plate inserted inside the rubber plug shell, a moving groove provided at the bottom of the housing, a connecting plate fixedly connected to the bottom of the nut seat extending below the moving groove, and a hand structure provided at the bottom of the connecting plate.

[0008] As a preferred embodiment of this utility model, slip rings are fixedly connected to both the front and rear sides of the top of the connecting plate, and guide rods are slidably connected inside the slip rings. Side support plates are fixedly connected to both the left and right ends of the guide rods, and the top of the side support plates is fixedly connected to the bottom of the outer shell.

[0009] As a preferred embodiment of this utility model, limiting plates are hinged to the left and right sides at the rear top of the outer shell, the bottom of the inner end of the limiting plate is magnetically connected to the top of the magnetic plate, and a handle is fixedly connected to the center of the top of the magnetic plate.

[0010] As a preferred embodiment of this utility model, arc-shaped stabilizing plates are fixedly connected to both the left and right sides of the back of the outer shell, and an annular guide rail is fixedly connected to the top of the front of the base. The rear end of the arc-shaped stabilizing plate is slidably connected to the inner wall of the annular guide rail.

[0011] As a preferred embodiment of this utility model, the surface of the fan is fixedly connected to an anti-collision shell, the back of the anti-collision shell is fixedly connected to the front of the nut seat, and buffer pads are fixedly connected to the front of both the left and right sides of the inner wall of the outer shell.

[0012] As a preferred embodiment of this utility model, the front of the outer shell is movably connected to a protective frame located in front of the air intake slot by bolts, and a protective net is fixedly connected inside the protective frame.

[0013] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0014] 1. This utility model provides a power source for the robotic arm by setting a first servo motor and a second servo motor. The first servo motor drives the outer shell to rotate, enabling the robotic arm to rotate horizontally; the second servo motor drives the ball screw to rotate, causing the nut seat to move linearly on the screw, which in turn drives the connecting plate and the hand structure to move linearly in the horizontal direction, realizing a three-axis motion function of longitudinal and transverse movement. The fan set on the nut seat, together with the air inlet groove on the front of the outer shell, can blow air onto the surface of the ball screw during the movement of the nut seat. On the one hand, it can blow off the dust and impurities on the surface of the ball screw, avoiding the adhesion of foreign objects that will accelerate the wear and damage of the screw; on the other hand... The surface can dissipate heat from the ball screw, preventing thermal expansion due to prolonged use. The rubber insert and magnetic plate within the slot can attract metal debris, preventing damage to the ball screw and other components and improving the robot's reliability. This achieves the effect of blowing air onto the ball screw surface during nut seat movement, removing dust and impurities, and attracting metal debris via the magnetic plate. This prevents foreign objects from accelerating wear and damage to the ball screw surface. Simultaneously, the airflow dissipates heat from the ball screw surface during operation, preventing thermal expansion during prolonged use and further extending the robot's lifespan.

[0015] 2. This utility model, through the combined use of a slip ring and a guide rod, allows the connecting plate and slip ring to slide on the surface of the guide rod when the nut seat moves by the rotation of the ball screw. This makes the connecting plate more stable during movement, reduces wobbling and offset, ensures the motion precision of the hand structure, and improves the accuracy of the robot operation. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of this utility model;

[0017] Figure 2 This is a top view of the structure of this utility model;

[0018] Figure 3 This is a schematic diagram of the left sectional view of the present invention;

[0019] Figure 4 This is a schematic diagram of the structure of this utility model viewed from below.

[0020] In the diagram: 1. Base; 2. First servo motor; 3. Housing; 4. Second servo motor; 5. Ball screw; 6. Nut seat; 7. Fan; 8. Rubber plug-in housing; 9. Magnetic plate; 10. Connecting plate; 11. Hand structure; 12. Slip ring; 13. Guide rod; 14. Side support plate; 15. Limiting plate; 16. Handle; 17. Arc-shaped stabilizing plate; 18. Circular guide rail; 19. Anti-collision shell; 20. Buffer pad; 21. Protective frame. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0022] like Figures 1 to 4 As shown, the present invention provides a three-axis manipulator that can move in both directions, including a base 1. A first servo motor 2 is fixedly connected to the upper front of the base 1. The output end of the first servo motor 2 is fixedly connected to a housing 3. A second servo motor 4 is fixedly connected to the left side of the housing 3. A ball screw 5 is fixedly connected to the output end of the second servo motor 4. The right end of the ball screw 5 is rotatably connected to the right side of the inner wall of the housing 3. A nut seat 6 is threaded onto the surface of the ball screw 5. Fans 7 are provided on both the left and right sides of the front of the nut seat 6. An air inlet groove is provided on the front of the housing 3. A placement groove is provided on the rear side of the inner wall of the housing 3. A rubber plug shell 8 is fixedly connected inside the placement groove. A magnetic plate 9 is inserted inside the rubber plug shell 8. A moving groove is provided at the bottom of the housing 3. The bottom of the nut seat 6 extends to the bottom of the moving groove and is fixedly connected to a connecting plate 10. A hand structure 11 is provided at the bottom of the connecting plate 10.

[0023] refer to Figure 1 The front and rear sides of the top of the connecting plate 10 are fixedly connected with slip rings 12. The inside of the slip rings 12 is slidably connected with guide rods 13. The left and right ends of the guide rods 13 are fixedly connected with side support plates 14. The top of the side support plates 14 is fixedly connected to the bottom of the outer shell 3.

[0024] As a technical optimization of this utility model, by setting the slip ring 12 and the guide rod 13 in cooperation, when the nut seat 6 moves by the rotation of the ball screw 5, it drives the connecting plate 10 and the slip ring 12 to slide on the surface of the guide rod 13, making the connecting plate 10 more stable during the movement, reducing shaking and offset, ensuring the motion accuracy of the hand structure 11, and improving the accuracy of the robot operation.

[0025] refer to Figure 1Limiting plates 15 are hinged to the left and right sides of the top rear of the outer shell 3. The bottom of the inner end of the limiting plate 15 is magnetically connected to the top of the magnetic plate 9. A handle 16 is fixedly connected to the center of the top of the magnetic plate 9.

[0026] As a technical optimization of this utility model, by setting limiting plates 15 hinged to the left and right sides of the top of the outer shell 3, the magnetic plate 9 can be firmly fixed in the rubber plug shell 8, ensuring that the magnetic plate 9 will not be displaced or fall off due to vibration, shaking or other external forces during the operation of the robot. At the same time, when it is necessary to inspect or replace the magnetic plate 9, the limiting plates 15 can be easily opened; and after the magnetic plate 9 is installed, the limiting plates 15 can be easily closed to make it magnetically connected with the magnetic plate 9, ensuring the stable fixation of the magnetic plate 9. The handle 16 allows the user to conveniently pull the magnetic plate 9 out of the device for cleaning and replacement.

[0027] refer to Figure 2 Arc-shaped stabilizing plates 17 are fixedly connected to the left and right sides of the back of the outer shell 3, and an annular guide rail 18 is fixedly connected to the top of the front of the base 1. The rear end of the arc-shaped stabilizing plate 17 is slidably connected to the inner wall of the annular guide rail 18.

[0028] As a technical optimization of this utility model, by setting up the arc-shaped stabilizing plate 17 and the annular guide rail 18 for coordinated use, when the first servo motor 2 drives the outer shell 3 to rotate, the arc-shaped stabilizing plate 17 slides inside the annular guide rail 18, providing additional support and constraint for the outer shell 3, which can effectively reduce the shaking and swaying of the outer shell 3 during rotation, making the rotation more stable, enhancing the overall structural strength of the robot, and reducing the impact of shaking and vibration on the operating accuracy.

[0029] refer to Figure 2 A shockproof shell 19 is fixedly connected to the surface of the fan 7. The back of the shockproof shell 19 is fixedly connected to the front of the nut seat 6. Buffer pads 20 are fixedly connected to the front of both the left and right sides of the inner wall of the outer shell 3.

[0030] As a technical optimization of this utility model, by setting the anti-collision shell 19 and the buffer pad 20 together, the nut seat 6 can play a buffering role when it moves to the extreme position, avoiding rigid collision between the fan 7 and the inner wall of the outer shell 3, protecting the fan 7 and the outer shell 3 and other components. The normal operation of the fan 7 is crucial for the heat dissipation and cleaning of the ball screw 5, avoiding equipment failure and safety accidents caused by component damage.

[0031] refer to Figure 1 The front of the outer casing 3 is movably connected to a protective frame 21 located in front of the air intake slot by bolts, and a protective net is fixedly connected inside the protective frame 21.

[0032] As a technical optimization of this utility model, by setting the protective frame 21, foreign objects can be prevented from entering the interior of the outer shell 3 through the air inlet slot, thus avoiding damage to components such as the fan 7 and ball screw 5, and further improving the reliability and service life of the robot.

[0033] The working principle and usage process of this utility model are as follows: When the first servo motor 2 is started, it drives the outer shell 3 to rotate, thereby realizing the rotational movement of the robot in the horizontal direction, expanding the operating range of the robot and enabling it to work at different angles; after the second servo motor 4 is started, it drives the ball screw 5 to rotate; since the nut seat 6 is threadedly connected to the ball screw 5, according to the screw transmission principle, the rotation of the ball screw 5 will cause the nut seat 6 to make linear motion on the screw. The linear motion of the nut seat 6 is transmitted to the hand structure 11 through the connecting plate 10, realizing the linear movement of the robot in the horizontal direction. The working principle of the hand structure 11 is the same as that of the prior art document 202323070806.1, so it will not be described again; during the movement of the nut seat 6, the fans 7 on the left and right sides of its front start to work. Fan 7 draws in air through the air intake slot on the front of housing 3 and then blows the air onto the surface of ball screw 5. The airflow carries away the heat generated by ball screw 5 during long-term operation, preventing thermal expansion from affecting its accuracy and service life, and ensuring the stability of the screw drive. At the same time, the airflow from fan 7 not only dissipates heat but also blows off dust and impurities adhering to the surface of ball screw 5. Meanwhile, the magnetic plate 9 placed in the slot on the rear side of the inner wall of housing 3 will attract the blown-off metal debris, preventing it from re-adhering to the screw, further reducing wear on ball screw 5 and improving the reliability of the equipment.

[0034] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0035] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A three-axis manipulator capable of longitudinal and transverse movement, comprising a base (1), characterized in that: A first servo motor (2) is fixedly connected to the top of the front of the base (1). The output end of the first servo motor (2) is fixedly connected to the outer shell (3). A second servo motor (4) is fixedly connected to the left side of the outer shell (3). A ball screw (5) is fixedly connected to the output end of the second servo motor (4). The right end of the ball screw (5) is rotatably connected to the right side of the inner wall of the outer shell (3). A nut seat (6) is threaded on the surface of the ball screw (5). Fans (7) are provided on both the left and right sides of the front of the nut seat (6). An air inlet groove is provided on the front of the outer shell (3). A placement groove is provided on the rear side of the inner wall of the outer shell (3). A rubber plug shell (8) is fixedly connected inside the placement groove. A magnetic plate (9) is inserted inside the rubber plug shell (8). A moving groove is provided at the bottom of the outer shell (3). The bottom of the nut seat (6) extends to the bottom of the moving groove and is fixedly connected to a connecting plate (10). A hand structure (11) is provided at the bottom of the connecting plate (10).

2. The longitudinal and transverse three-axis robotic arm according to claim 1, characterized in that: The front and rear sides of the top of the connecting plate (10) are fixedly connected with slip rings (12), and the inside of the slip rings (12) is slidably connected with guide rods (13). The left and right ends of the guide rods (13) are fixedly connected with side support plates (14), and the top of the side support plates (14) is fixedly connected to the bottom of the outer shell (3).

3. The longitudinal and transverse three-axis robotic arm according to claim 1, characterized in that: Limiting plates (15) are hinged to the left and right sides of the top rear of the outer shell (3). The bottom of the inner end of the limiting plate (15) is magnetically connected to the top of the magnetic plate (9). A handle (16) is fixedly connected to the center of the top of the magnetic plate (9).

4. The longitudinal and transverse three-axis robotic arm according to claim 1, characterized in that: Arc-shaped stabilizing plates (17) are fixedly connected to the left and right sides of the back of the outer shell (3), and an annular guide rail (18) is fixedly connected to the top of the front of the base (1). The rear end of the arc-shaped stabilizing plate (17) is slidably connected to the inner wall of the annular guide rail (18).

5. A three-axis manipulator with longitudinal and transverse movement according to claim 1, characterized in that: The surface of the fan (7) is fixedly connected to an anti-collision shell (19), the back of the anti-collision shell (19) is fixedly connected to the front of the nut seat (6), and buffer pads (20) are fixedly connected to the front of the left and right sides of the inner wall of the outer shell (3).

6. A three-axis manipulator with longitudinal and transverse movement according to claim 1, characterized in that: The front of the outer shell (3) is movably connected by bolts to a protective frame (21) located in front of the air inlet slot, and a protective net is fixedly connected inside the protective frame (21).

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