Mechanical arm clamp based on automatic control

Abstract

The utility model relates to the technical field of mechanical electronic engineering, in particular to a mechanical arm clamp based on automatic control, which comprises a base, and a control system is arranged in the base. The mechanical arm set comprises a first supporting arm, a second supporting arm and a third supporting arm. According to the utility model, the base and the mechanical arm group are combined, so that the mechanical arm group can be controlled to rotate stably and accurately; the device can be independently used, can also be integrally installed on external equipment for use, is small in structure, is independently controlled, and is not limited by other components; according to the device, rotation of the base, the first supporting arm, the second supporting arm, the third supporting arm and the clamp can be achieved, multi-plane and multi-angle rotation can be achieved, and use is flexible; each part can rotate independently, operation is convenient, and the application range is wide.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical and electronic engineering, in particular to a mechanical arm clamp based on automatic control. Background Art

[0002] A robotic arm is a high-precision, multi-input, multi-output, highly nonlinear, and strongly coupled system. Due to its unique operational flexibility, it has been widely used in industrial assembly, safety and explosion-proof, and other fields. However, the existing robotic arms are mostly used in large and complex equipment, and the transmission and adjustment of existing robotic arms are complex, so they are relatively lacking in application on small equipment.

[0003] CN219504791U discloses a robot, a mechanical arm and a clamp, comprising a mounting body, a first clamping member, a second clamping member and a flexible mechanism. The first clamping member and the second clamping member are both rotatably connected to the mounting body, and the first clamping member and the second clamping member are spaced apart to form a clamping space. The device is used in a robot mechanical arm and can realize flexible clamping, but the device relies on the control system of the robot and its scope of use is limited.

[0004] CN214520275U discloses a novel mechanical arm clamp, including a base, a mechanical arm, and a clamping unit. The top of the base is provided with a mechanical arm; the end of the mechanical arm away from the base is provided with a clamping unit; the clamping unit includes a rotating assembly and a clamp assembly; one end of the mechanical arm is provided with a rotating assembly; the top of the base is provided with a clamp assembly. The device can realize the horizontal movement of the mechanical arm clamp, but in actual operation, the horizontally moving clamp has a large volume and is not convenient for module utilization.

[0005] To this end, the utility model proposes a mechanical arm clamp based on automatic control, which has a small size and can be used alone or installed on external equipment. Utility Model Content

[0006] In view of the above-mentioned deficiencies in the prior art, the utility model provides a mechanical arm clamp based on automatic control, which has a simple structure and is easy to promote.

[0007] A mechanical arm fixture based on automatic control comprises a base, wherein a control system is arranged in the base;

[0008] A mechanical arm group, the mechanical arm group comprising arm one, arm two and arm three;

[0009] The base is provided on the base, and a baffle is provided on the base. The bottom of the first support arm is installed on the inner side of the baffle through a first rotating shaft. A first stepper motor is provided on the outer side of the baffle. The output end of the first stepper motor is connected to the first rotating shaft. The first stepper motor drives the first rotating shaft and the first support arm to rotate.

[0010] An L-shaped folding plate 1 is provided on the top of the support arm 1, and the support arm 2 is installed on the inner side of the L-shaped folding plate 1 through a rotating shaft 2. A stepper motor 2 is provided on the outer side of the inner side of the L-shaped folding plate 1, and the output end of the stepper motor 2 is connected to the rotating shaft 2, and the stepper motor 2 drives the rotating shaft 2 and the support arm 2 to rotate;

[0011] The front end of the support arm 2 is installed with the support arm 3, and the front end of the support arm 3 is installed with a clamp, and the clamp includes a clamp 1 and a clamp 2, and the clamp 1 and the clamp 2 are meshed and connected by a half gear; the outer side of the support arm 3 is provided with a stepper motor 4, and the output end of the stepper motor 4 is connected to the half gear.

[0012] Preferably, a bearing is installed on the baffle, the rotating shaft 1 passes through the baffle through the bearing, and the rotating shaft 1 is fixedly connected to the supporting arm 1.

[0013] Preferably, an L-shaped folding plate 2 is provided at the front end of the support arm 2, and the support arm 3 is installed on the inner side of the L-shaped folding plate 2 through a rotating shaft 3. A stepper motor 3 is provided on the outer side of the inner side of the L-shaped folding plate 2, and the output end of the stepper motor 3 is connected to the rotating shaft 3, and the stepper motor 3 drives the rotating shaft 3 and the support arm 3 to rotate.

[0014] Preferably, a mounting foot is provided on the side of the base, and the bottom of the mounting foot is located in the same plane as the bottom of the base.

[0015] Preferably, the edge of the base is engaged on the base, and the base can rotate relative to the base; the bottom of the base is provided with circular ring teeth, and a stepper motor five is provided inside the base, and the output end of the stepper motor five is meshingly connected with the teeth, and the stepper motor five drives the base to rotate.

[0016] Preferably, the first clamp and the second clamp are arc-shaped structures and are symmetrically arranged.

[0017] Preferably, the first clamp and the second clamp are of three-section structure and are symmetrically arranged.

[0018] The beneficial effects of the utility model are:

[0019] 1. The utility model adopts the combination of a base and a mechanical arm group, which can control the stable and precise rotation of the mechanical arm group;

[0020] 2. This device can be used alone or installed as a whole on external equipment. It has a compact structure and can be controlled independently without being restricted by other components.

[0021] 3. This device can realize the rotation of the base, arm one, arm two, arm three and the clamp, and can rotate in multiple planes and angles, and is flexible to use; each component can be rotated separately, which is easy to operate and has a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the utility model and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 It is a front perspective view of the utility model;

[0024] Figure 2 It is a side perspective view of the utility model;

[0025] Figure 3 It is a partial structural schematic diagram of the utility model;

[0026] Figure 4 for Figure 3 Enlarged view of part A in the middle;

[0027] Figure 5 It is a schematic diagram of a clamp in another embodiment of the utility model;

[0028] 1-base, 11-mounting foot, 2-support arm one, 21-stepping motor one, 22-L-type folding plate one, 3-support arm two, 31-stepping motor two, 32-L-type folding plate two, 4-support arm three, 41-grip one, 42-grip two, 43-half gear, 44-stepping motor four, 45-stepping motor three, 5-base, 51-baffle, 52-circular ring teeth, 53-stepping motor five. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Generally, the components of the embodiments of the utility model described and shown in the drawings here can be arranged and designed in various different configurations.

[0030] In the description of the embodiments of the present utility model, it should be noted that if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate an orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, or the orientation or position relationship in which the utility model product is usually placed when in use, it is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "one", "two", "three", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0031] As attached Figure 1-2 As shown, a robotic arm fixture based on automatic control comprises:

[0032] Base 1, with a control system inside; mounting feet 11 are provided on the side of base 1, and the bottom of mounting feet 11 is located in the same plane as the bottom of base 1; base 5 is provided on base 1, and baffle 51 is provided on base 5; bearings are installed on baffle 51, and shaft 1 passes through baffle 51 through the bearings, and shaft 1 is fixedly connected to arm 1 2. Figure 3 As shown, the edge of the base 5 is engaged with the base 1, and the base 5 can rotate relative to the base 1; a circular ring-shaped tooth 52 is provided at the bottom of the base 5, and a stepper motor 53 is provided inside the base 1. The output end of the stepper motor 53 is meshed with the tooth, and the stepper motor 53 drives the base 5 to rotate.

[0033] A mechanical arm group, the mechanical arm group includes a support arm 1 2, a support arm 2 3 and a support arm 3 4;

[0034] The bottom of the support arm 2 is installed on the inner side of the baffle 51 through the rotating shaft 1, and the outer side of the baffle 51 is provided with a stepper motor 21, and the output end of the stepper motor 21 is connected to the rotating shaft 1, and the stepper motor 21 drives the rotating shaft 1 and the support arm 2 to rotate;

[0035] An L-shaped folding plate 1 22 is provided at the top of the support arm 1 2, and the support arm 2 3 is installed on the inner side of the L-shaped folding plate 1 22 through the rotating shaft 2. A stepping motor 2 31 is provided on the outer side of the inner side of the L-shaped folding plate 1 22, and the output end of the stepping motor 2 31 is connected to the rotating shaft 2, and the stepping motor 2 31 drives the rotating shaft 2 and the support arm 2 3 to rotate;

[0036] An L-shaped folding plate 2 32 is provided at the front end of the support arm 2 3, and the support arm 3 4 is installed on the inner side of the L-shaped folding plate 2 32 through the rotating shaft 3. A stepper motor 3 45 is provided on the outer side of the inner side of the L-shaped folding plate 2 32, and the output end of the stepper motor 3 45 is connected to the rotating shaft 3. The stepper motor 3 45 drives the rotating shaft 3 and the support arm 3 4 to rotate.

[0037] As attached Figure 4As shown, a clamp is installed at the front end of the support arm 3 4, and the clamp includes a clamping jaw 1 41 and a clamping jaw 2 42, and the clamping jaw 1 41 and the clamping jaw 2 42 are meshed and connected through a half gear 43; a stepping motor 44 is arranged on the outer side of the support arm 3 4, and the output end of the stepping motor 44 is connected to the half gear 43. The clamping jaw 1 41 and the clamping jaw 2 42 are arc-shaped structures and are symmetrically arranged.

[0038] In another embodiment of the utility model, Figure 5 As shown, the first clamping jaw 41 and the second clamping jaw 42 are of a three-section structure and are symmetrically arranged.

[0039] When in use, the control program is burned into the single-chip microcomputer to set the working mode of the single-chip microcomputer; the single-chip microcomputer can control the opening and closing and forward and reverse rotation of stepper motor 1 21, stepper motor 2 31, stepper motor 3 45, stepper motor 4 44 and stepper motor 5 53; when stepper motor 1 21 rotates forward, it drives arm 1 2 to rotate clockwise, and when stepper motor 1 21 rotates reversely, it drives arm 1 2 to rotate counterclockwise; similarly, stepper motor 2 31 can control the rotation of arm 2 3, stepper motor 3 45 can control the rotation of arm 3 4, stepper motor 4 44 can control the rotation of the fixture; stepper motor 5 53 can control the rotation of the base; in this way, the device can be rotated in multiple planes and at multiple angles.

[0040] A single chip microcomputer controller is provided in the control box, and the controller can set the opening and closing cycles and rotation modes of stepper motor 1 21, stepper motor 2 31, stepper motor 3 45, stepper motor 4 44 and stepper motor 5 53, so that it can be used for automatic picking up and placing of parts; at the same time, it can also be controlled in real time by an external remote controller or control program.

[0041] The above description is only a preferred embodiment of the present utility model patent and is not intended to limit the present utility model patent. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model patent shall be included in the protection scope of the present utility model patent.

Claims

1. A robotic arm fixture based on automatic control, comprising: A base (1), wherein a control system is arranged inside the base (1); A mechanical arm group, the mechanical arm group comprising a support arm 1 (2), a support arm 2 (3) and a support arm 3 (4); characterized in that: The base (1) is provided with a base (5), the base (5) is provided with a baffle (51), the bottom of the support arm (2) is mounted on the inner side of the baffle (51) via a rotating shaft (5), a stepper motor (21) is provided on the outer side of the baffle (51), the output end of the stepper motor (21) is connected to the rotating shaft (5), and the stepper motor (21) drives the rotating shaft (5) and the support arm (2) to rotate; An L-shaped folding plate 1 (22) is provided at the top of the support arm 1 (2), and the support arm 2 (3) is installed on the inner side of the L-shaped folding plate 1 (22) through a rotating shaft 2. A stepping motor 2 (31) is provided on the outer side of the inner side of the L-shaped folding plate 1 (22), and the output end of the stepping motor 2 (31) is connected to the rotating shaft 2, and the stepping motor 2 (31) drives the rotating shaft 2 and the support arm 2 (3) to rotate; The front end of the support arm 2 (3) is provided with a support arm 3 (4), and the front end of the support arm 3 (4) is provided with a clamp, and the clamp comprises a clamping jaw 1 (41) and a clamping jaw 2 (42), and the clamping jaw 1 (41) and the clamping jaw 2 (42) are meshed and connected via a half gear (43); a stepping motor 4 (44) is provided on the outer side of the support arm 3 (4), and the output end of the stepping motor 4 (44) is connected to the half gear (43).

2. The automatic control-based robotic arm fixture according to claim 1, characterized in that: A bearing is installed on the baffle (51), and the rotating shaft 1 passes through the baffle (51) through the bearing, and the rotating shaft 1 is fixedly connected to the supporting arm 1 (2).

3. The automatic control-based robotic arm fixture according to claim 2, characterized in that: The front end of the support arm 2 (3) is provided with an L-shaped folding plate 2 (32), and the support arm 3 (4) is installed on the inner side of the L-shaped folding plate 2 (32) through a rotating shaft 3. A stepper motor 3 (45) is provided on the outer side of the inner side of the L-shaped folding plate 2 (32), and the output end of the stepper motor 3 (45) is connected to the rotating shaft 3. The stepper motor 3 (45) drives the rotating shaft 3 and the support arm 3 (4) to rotate.

4. The automatic control-based robotic arm fixture according to claim 3, characterized in that: A mounting foot (11) is provided on the side of the base (1), and the bottom of the mounting foot (11) and the bottom of the base (1) are located in the same plane.

5. The automatic control-based robotic arm fixture according to claim 4, characterized in that: The edge of the base (5) is engaged with the base (1), and the base (5) can rotate relative to the base (1); the bottom of the base (5) is provided with an annular tooth (52), and a stepper motor (53) is provided inside the base (1); the output end of the stepper motor (53) is meshedly connected with the tooth, and the stepper motor (53) drives the base (5) to rotate.

6. The automatic control-based robotic arm fixture according to claim 5, characterized in that: The clamping jaw 1 (41) and the clamping jaw 2 (42) are arc-shaped structures and are symmetrically arranged.

7. The automatic control-based robotic arm fixture according to claim 5, characterized in that: The clamping jaw 1 (41) and the clamping jaw 2 (42) are three-section structures and are symmetrically arranged.

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