Small visual robot arm with screen

Abstract

The utility model discloses a small -size visual mechanical arm with screen belongs to mechanical arm technical field, including structure base, the inside of structure base is provided with mainboard, the outside of structure base is provided with screen, switch and pilot lamp, the top of structure base is provided with arm no.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a small vision robotic arm with a screen. Background Technology

[0002] Traditional robotic arms, as actuators, are often directly controlled by PCs, laptops, or edge computing cards. A host computer programmed by an individual sends control commands to each joint of the robotic arm, thus achieving passive control of the robotic arm, which does not possess a self-control mode for the robotic arm itself.

[0003] The motion control of robotic arms relies on a dedicated teach pendant or host computer for position synchronization, and there are few products that can complete the control function solely based on the robotic arm itself. Utility Model Content

[0004] The purpose of this invention is to provide a small vision robotic arm with a screen, which solves the problem that the motion control of existing robotic arms relies on a dedicated teach pendant or host computer for position synchronization, and it is difficult to complete the control function solely based on the robotic arm itself.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0006] This utility model discloses a small vision robotic arm with a screen, including a structural base. The structural base has a motherboard inside and a screen, a power switch, and indicator lights on the outside. An arm one is arranged on the top of the structural base, an arm two is arranged on the other side of the arm one, an arm three is arranged on the other side of the arm two, a mechanical claw module is arranged at the other end of the arm three, and a camera module is arranged below the mechanical claw module.

[0007] Furthermore, the structural base includes a robotic arm base, a base counterweight is disposed above the robotic arm base, a robotic arm base shell is disposed above the base counterweight, a base top cover is disposed on the top of the robotic arm base shell, and the main board is disposed on the top surface of the robotic arm base.

[0008] Furthermore, the base top cover includes a servo motor, the top of which is provided with a servo motor fixing plate, and above the servo motor fixing plate is a robotic arm base top plate. A servo motor fixing bracket module is provided on the drive wheel of the servo motor.

[0009] Furthermore, the robotic arm base housing is provided with a screen mounting port, a switch mounting port, and a light strip mounting port. The screen is mounted on the screen mounting port, the power switch is mounted on the switch mounting port, and the indicator light is mounted on the light strip mounting port.

[0010] Furthermore, the first arm includes a first servo motor, which is mounted on the first servo motor mounting bracket module. A first servo motor mounting bracket is mounted on the output shaft of the first servo motor, and another first servo motor mounting bracket is mounted above the first servo motor mounting bracket. The first servo motor mounting bracket located above is connected to the second arm.

[0011] Furthermore, the second arm includes a first servo motor, the output shaft of which is connected to the first servo motor mounting bracket located above it. The second servo motor mounting bracket is provided on the outer side of the first servo motor, and the third arm is provided on the other side of the second servo motor mounting bracket.

[0012] Furthermore, the third arm includes a servo motor, which is located inside the second servo motor mounting bracket. The third servo motor mounting bracket is mounted on the output shaft of the servo motor. The third servo motor is mounted on the third servo motor mounting bracket, and a mechanical claw fixing bracket is mounted on the output end of the servo motor. The mechanical claw module is mounted on the mechanical claw fixing bracket.

[0013] Furthermore, the mechanical claw module includes a mechanical claw mounting base, which is disposed on the mechanical claw fixing bracket. The mechanical claw mounting base is provided with intermeshing mechanical claw active teeth and mechanical claw driven teeth. The top surface of the mechanical claw mounting base is provided with a mechanical claw servo motor for driving the mechanical claw active teeth. Both the mechanical claw active teeth and the mechanical claw driven teeth are provided with claws, and the two claws are arranged symmetrically. The claws are hinged to the mechanical claw mounting base through connecting rods. The camera module is disposed below the mechanical claw mounting base.

[0014] Furthermore, the camera module includes a camera base and a camera cover, with a camera disposed between the camera base and the camera cover, and the camera base is connected to the mechanical claw mounting base.

[0015] Compared with the prior art, the beneficial technical effects of this utility model are as follows:

[0016] This invention proposes a vision-based robotic arm that can be interactively controlled via a screen and remote control, enabling basic teaching and control playback functions to be performed without a host computer. It also features a camera to provide visual images. The teaching function can be performed using the robotic arm's built-in screen and selection buttons, allowing for teaching without a teach pendant. The parallel design of the USB camera lens and the mechanical gripper reduces the size of the gripper structure, ensuring functionality while maintaining an aesthetically pleasing design. A host computer communication interface is provided, retaining host computer control functions. Users can modify the teaching actions themselves or control the robotic arm via a host computer. Attached Figure Description

[0017] The present invention will be further described below with reference to the accompanying drawings.

[0018] Figure 1 This is a structural diagram of the small vision robotic arm with a screen in its disassembled state according to this utility model.

[0019] Figure 2 This is a three-dimensional structural diagram of the small vision robotic arm with a screen according to this utility model;

[0020] Figure 3 This is a three-dimensional structural diagram of the robotic arm base of this utility model;

[0021] Figure 4 This is a three-dimensional structural diagram of the base counterweight of this utility model;

[0022] Figure 5 This is a three-dimensional structural diagram of the robotic arm base shell of this utility model;

[0023] Figure 6 This is a structural schematic diagram of the No. 1 servo motor and the No. 1 servo motor fixing plate of this utility model;

[0024] Figure 7 This is a three-dimensional structural diagram of the top plate of the robotic arm base of this utility model;

[0025] Figure 8 This is a structural schematic diagram of the No. 1 servo motor, the No. 1 servo motor fixing plate, and the top plate of the robotic arm base of this utility model;

[0026] Figure 9 This is a structural schematic diagram of the No. 1 servo motor, the No. 1 servo motor fixing plate, the top plate of the robotic arm base, the thrust bearing 1, and the No. 2 servo motor fixing bracket module of this utility model.

[0027] Figure 10 This is a schematic diagram of the structure of the motherboard of this utility model;

[0028] Figure 11 This is a structural schematic diagram of the No. 2 servo motor and the servo motor mounting bracket of this utility model;

[0029] Figure 12 This is a structural schematic diagram of Servo No. 3, Servo No. 4, and Servo Mounting Frame II of this utility model;

[0030] Figure 13 This is a structural diagram of the servo motor mounting bracket (3), thrust bearing (2), and mechanical claw fixing bracket of this utility model.

[0031] Figure 14 This is a schematic diagram of the structure of the camera module of this utility model;

[0032] Figure 15 This is a schematic diagram of the mechanical claw's drive gear and rudder disk of this utility model;

[0033] Figure 16 This is a schematic diagram of the mechanical claw mounting base and the mechanical claw driven teeth of this utility model;

[0034] Figure 17 This is a structural schematic diagram of the mechanical claw servo motor and mechanical claw mounting base of this utility model;

[0035] Figure 18 This is a three-dimensional structural diagram of the mechanical claw module of this utility model;

[0036] Figure 19 This is a structural schematic diagram of the mechanical claw module and camera module of this utility model;

[0037] Figure 20 This is a structural diagram of the robotic arm system of this utility model;

[0038] Figure 21 This is a schematic diagram of the electronic system of this utility model.

[0039] Explanation of reference numerals in the attached diagram: 1. Robotic arm base; 2. Base counterweight; 3. Robotic arm base shell; 4. Servo No. 1; 5. Servo No. 1 mounting plate; 6. Top plate of robotic arm base; 7. Thrust bearing one; 8. Servo No. 2 mounting bracket module; 9. Main board; 10. Screen; 11. Power switch; 12. Indicator light; 13. Servo No. 2; 14. Servo No. 3; 15. Servo No. 4; 16. Servo No. 5; 17. Mechanical claw servo; 18. Mechanical claw module; 19. Camera; 20. Camera top cover; 21. Servo mounting bracket one; 22. Servo mounting bracket two; 23. Servo mounting bracket three; 24. Thrust bearing two; 25. Mechanical claw mounting bracket; 26. Camera base; 27. Mechanical claw drive gear; 28. Steering disc; 29. ​​Mechanical claw mounting seat; 30. Mechanical claw driven gear; 31. Claw; 32. Connecting rod; 33. Double-ended stud;

[0040] 901. Switch interface; 902. Camera interface; 903. Servo interface; 904. Indicator light interface; 905. Screen interface; 906. Power interface; 907. Handheld interface; 908. Communication interface; 909. Button interface. Detailed Implementation

[0041] like Figures 1-21 As shown, a small vision robotic arm with a screen includes a structural base. A motherboard 9 is disposed inside the structural base, and a screen 10, a power switch 11, and an indicator light 12 are disposed outside the structural base. An arm 1 is disposed on the top of the structural base, an arm 2 is disposed on the other side of the arm 1, an arm 3 is disposed on the other side of the arm 2, a mechanical claw module 18 is disposed at the other end of the arm 3, and a camera module is disposed below the mechanical claw module 18.

[0042] The structural base includes a robotic arm base 1, a base counterweight 2 is disposed above the robotic arm base 1, a robotic arm base shell 3 is disposed above the base counterweight 2, a base top cover is disposed on the top of the robotic arm base shell 3, and the main board 9 is disposed on the top surface of the robotic arm base 1.

[0043] Specifically, such as Figure 3 As shown, the robotic arm base 1 is made of high-strength steel plate, with four feet underneath, and is constructed using round-headed Phillips head screws and anti-slip nuts to provide support for the robotic arm. Figure 4 As shown, the base counterweight 2 consists of 6 counterweight blocks (three on each side), and the counterweight blocks are fixed to the robotic arm base 1 by four round-headed Phillips head screws and anti-slip nuts. Figure 5 As shown, the entire interface of the robotic arm base shell 3 is integrally formed by 3D printing, which includes reserved mounting ports for the screen, 12mm switch, and left and right light strips; the screen 10 is a 0.96-inch screen, which is installed on the screen mounting port by four M2 anti-slip nuts and countersunk Phillips head nuts; the power switch 11 is a 12mm switch, which is embedded into the switch mounting port of the robotic arm base shell 3 by means of its own thread; the left and right indicator lights 12 are each fixed by two self-tapping screws.

[0044] like Figures 6-9 As shown, the base top cover includes a No. 1 servo motor 4, which is a single-axis servo motor. The top of the No. 1 servo motor 4 is fixedly connected to the No. 1 servo motor mounting plate 5 by three self-tapping screws. The top of the No. 1 servo motor mounting plate 5 is connected to the top plate of the robotic arm base 6 by copper pillars and countersunk screws. The top plate of the robotic arm base 6 is connected to the robotic arm base 1 by double-ended studs 33. The No. 2 servo motor mounting bracket module 8 is installed on the drive wheel of the No. 1 servo motor 4. A thrust bearing 7 is also installed between the No. 2 servo motor mounting bracket module 8 and the drive wheel of the No. 1 servo motor 4.

[0045] like Figure 10 As shown, the motherboard 9 is made of FR-2 fireproof board and has multiple internal interfaces. Among them, the switch interface 901, camera interface 902, servo interface 903, indicator light interface 904, and screen interface 905 are internal interfaces, which can be connected during product assembly; the power interface 906, handle interface 907, communication interface 908, and button interface 909 are external interfaces, which are provided for user use.

[0046] Internal interfaces: Switch interface 901 connects to the power switch; servo interface 903 connects to the bus joint servo; indicator light interface 904 connects to the left and right indicator lights; screen interface 905 connects to the 0.96-inch TFT display screen; camera interface 902 connects to the USB camera.

[0047] External interfaces: Power interface 906 connects to a 12V / 3A power adapter; Gamepad interface 907 connects to a 2.4G Bluetooth gamepad; Communication interface 908 connects to the user's host computer; Button interface 909 is equipped with three-position buttons.

[0048] like Figure 11 As shown, the first arm includes a second servo motor 13, which is mounted on the second servo motor mounting bracket module 8. The second servo motor 13 is a dual-axis servo motor. A servo motor mounting bracket 21 is provided on the output shaft of the second servo motor 13. The two sides of the servo motor mounting bracket 21 are connected to the active servo disk and the driven servo disk, respectively. Another servo motor mounting bracket 21 is also connected to the top of the first servo motor mounting bracket 21 by a bolt assembly. The nut faces the second servo motor 13. The upper servo motor mounting bracket 21 is connected to the second arm.

[0049] like Figure 12 As shown, the second arm includes a third servo motor 14, which is a dual-axis servo motor. The output shaft of the third servo motor 14 is connected to the first servo motor mounting bracket 21 located above. The outer side of the third servo motor 14 is connected to the second servo motor mounting bracket 22 by bolts. The third arm is provided on the other side of the second servo motor mounting bracket 22.

[0050] like Figures 12-13 As shown, the third arm includes a servo motor 15, which is a dual-axis servo motor. The servo motor 15 is bolted to the inner side of the servo motor mounting bracket 22. The output shaft of the servo motor 15 is connected to the servo motor mounting bracket 23. The inner side of the servo motor mounting bracket 23 is equipped with a servo motor 16, which is a single-axis servo motor. The output end of the servo motor 16 is equipped with a mechanical claw fixing bracket 25. A thrust bearing 24 is also installed between the servo motor 16 and the mechanical claw fixing bracket 25. The mechanical claw module 18 is installed on the mechanical claw fixing bracket 25.

[0051] like Figure 14 As shown, the camera module includes a camera base 26 and a camera cover 20. A camera 19 is installed between the camera base 26 and the camera cover 20. The camera base 26 is connected to the mechanical claw mounting base 29. The camera module uses a camera cover and a camera base to encapsulate the camera inside the module, thus preserving the aesthetics of the camera.

[0052] like Figures 15-19As shown, the mechanical claw module 18 includes a mechanical claw mounting base 29, which is connected to the mechanical claw fixing bracket 25. The mechanical claw mounting base 29 is equipped with meshing mechanical claw active teeth 27 and mechanical claw driven teeth 30. Both the active teeth 27 and the driven teeth 30 have meshing teeth. A mechanical claw servo motor 17 for driving the active teeth 27 is mounted on the top surface of the mechanical claw mounting base 29. The mechanical claw servo motor 17 is a single-axis servo motor, and a servo disc 28 is connected to the output shaft of the servo motor 17. A through hole for accommodating the servo disc 28 is provided on the mechanical claw mounting base 29. Both the active teeth 27 and the driven teeth 30 are hinged with claws 31, which are symmetrically arranged. The claws 31 are hinged to the mechanical claw mounting base 29 via a connecting rod 32. The camera module is mounted below the mechanical claw mounting base 29.

[0053] In this invention, the core joint motor of the robotic arm consists of six 35KG Feite bus servos. For rotating joints, the bus servos are connected to the joint connection structure via a servo disc-active and servo disc-driven connection, ensuring that the rotation of the bus servos is not affected. For fixed joints, self-tapping screws are used to connect the servos to the joint connection structure.

[0054] like Figure 20 As shown, this intelligent vision robotic arm system is composed of a hardware layer, a drive layer, a control layer, a functional layer, and an application layer. Each layer works together to ensure the operation of the system and realize diverse applications.

[0055] The hardware layer provides the foundational support, encompassing multiple modules such as buzzers, wireless controllers, function buttons, servo controls, system status indicators, LCD screens, vision modules, and power management, providing the physical components, signal transmission, and power necessary for system operation.

[0056] The driver layer connects the hardware and functions, relying on the STM32F405 microcontroller to implement PWM, USB, IO, UART, IIC, and SPI driver functions, and realize data interaction between the hardware and the microcontroller.

[0057] The control layer completes the operation of each module by periodically reading and driving the parameters of the robotic arm system hardware. The control layer includes sound control, handle control, human-machine interaction control, communication control, and object recognition.

[0058] The functional layer focuses on core operations and has multiple functions, including teaching function, single joint control, motion library recording, graphical UI interface, autonomous recognition and grasping.

[0059] The application layer is the top-level design and implementation layer that users interact with. It includes an information dashboard software, an intelligent palletizing scenario, and an intelligent sorting scenario.

[0060] like Figure 21 As shown, the control system of the robotic arm includes:

[0061] Power Management: The power management module includes two modules: current monitoring and voltage monitoring. It also includes various onboard step-down circuits to provide appropriate power supply voltages for system modules and to monitor system operation in real time.

[0062] Microcontroller Unit: Utilizing the high-performance STM32F405RGT6 microcontroller as the processor, this unit features rich interfaces for easy connection to multiple sensors. The microcontroller employs various communication functions, including ADC, SPI, UART, PWM, IO, and OTG, to achieve control and data acquisition with peripheral hardware.

[0063] Human-computer interaction design: In order to facilitate device status feedback to users, the system is designed with a variety of human-computer interaction tools such as indicator lights, handles, buzzers, LCD screens, and buttons, making it convenient for users to choose the interaction options.

[0064] Communication Design: The system integrates an RGB camera communication interface and a host computer communication interface. The virtual machine can control the robotic arm and RGB camera and read images through the communication interface.

[0065] The above Figure 20 , 21 The intelligent vision robotic arm system and the control system of the robotic arm shown are all completed using existing technologies. Their specific circuit structure, connection method and control method are based on existing technologies and will not be described in detail here.

[0066] The working process of this utility model is as follows:

[0067] During operation, servo motor 4 drives servo motor 2 fixed bracket module 8 to rotate, which in turn drives servo motor 13 to rotate, causing the robotic arm to rotate and adjust its position. Servo motor 13 drives the two servo motor mounting brackets 21 to rotate, adjusting their angles. Servo motor 14 operates, adjusting the angle of servo motor mounting bracket 22. Servo motor 15 operates, adjusting the angle of servo motor mounting bracket 23. Servo motor 16 operates, driving the robotic claw fixed bracket 25 to rotate, adjusting the angle of the robotic claw module 18. The robotic claw servo motor 17 operates, driving the robotic claw drive tooth 27 to rotate, which in turn drives the robotic claw driven tooth 30 to rotate, causing the two claws 31 to move closer or further apart. When the two claws 31 move closer together, they can clamp the material; when they move further apart, they can release the material.

[0068] The embodiments described above are merely preferred embodiments of the present utility model and are not intended to limit the scope of the present utility model. Various modifications and improvements made to the technical solutions of the present utility model by those skilled in the art without departing from the spirit of the present utility model should fall within the protection scope defined by the claims of the present utility model.

Claims

1. A small vision robotic arm with a screen, characterized in that: The device includes a structural base, inside which a motherboard (9) is installed, and outside which a screen (10), a power switch (11) and an indicator light (12) are installed. An arm is installed on the top of the structural base, an arm is installed on the other side of the arm, an arm is installed on the other side of the arm, an arm is installed on the other side of the arm, a mechanical claw module (18) is installed at the other end of the arm, and a camera module is installed below the mechanical claw module (18).

2. The small vision robotic arm with a screen according to claim 1, characterized in that: The structural base includes a robotic arm base (1), a base counterweight (2) is provided above the robotic arm base (1), a robotic arm base shell (3) is provided above the base counterweight (2), a base top cover is provided on the top of the robotic arm base shell (3), and the main board (9) is provided on the top surface of the robotic arm base (1).

3. The small vision robotic arm with a screen according to claim 2, characterized in that: The base top cover includes a No. 1 servo motor (4), the top of the No. 1 servo motor (4) is provided with a No. 1 servo motor fixing plate (5), the top of the No. 1 servo motor fixing plate (5) is provided with a mechanical arm base top plate (6), and the No. 2 servo motor fixing bracket module (8) is provided on the drive wheel of the No. 1 servo motor (4).

4. The small vision robotic arm with a screen according to claim 2, characterized in that: The robotic arm base shell (3) is provided with a screen mounting port, a switch mounting port and a light strip mounting port. The screen (10) is provided on the screen mounting port, the power switch (11) is provided on the switch mounting port and the indicator light (12) is provided on the light strip mounting port.

5. The small vision robotic arm with a screen according to claim 3, characterized in that: The first arm includes a second servo motor (13), which is mounted on the second servo motor mounting bracket module (8). A servo motor mounting bracket (21) is mounted on the output shaft of the second servo motor (13). Another servo motor mounting bracket (21) is also mounted above the first servo motor mounting bracket (21). The upper servo motor mounting bracket (21) is connected to the second arm.

6. The small vision robotic arm with a screen according to claim 5, characterized in that: The second arm includes a third servo motor (14), the output shaft of which is connected to the first servo motor mounting bracket (21) located above. The third servo motor (14) is provided with a second servo motor mounting bracket (22) on the outside of the third servo motor (14), and the third arm is provided on the other side of the second servo motor mounting bracket (22).

7. The small vision robotic arm with a screen according to claim 6, characterized in that: The third arm includes a servo motor 4 (15), which is located inside the servo motor mounting bracket 2 (22). The output shaft of the servo motor 4 (15) is provided with a servo motor mounting bracket 3 (23). The servo motor mounting bracket 3 (23) is provided with a servo motor 5 (16), and the output end of the servo motor 5 (16) is provided with a mechanical claw fixing bracket (25). The mechanical claw fixing bracket (25) is provided with the mechanical claw module (18).

8. The small vision robotic arm with a screen according to claim 7, characterized in that: The mechanical claw module (18) includes a mechanical claw mounting base (29), which is mounted on the mechanical claw fixing bracket (25). The mechanical claw mounting base (29) is provided with a mechanical claw active tooth (27) and a mechanical claw driven tooth (30) that mesh with each other. The top surface of the mechanical claw mounting base (29) is provided with a mechanical claw servo motor (17) for driving the mechanical claw active tooth (27). Both the mechanical claw active tooth (27) and the mechanical claw driven tooth (30) are provided with claws (31). The two claws (31) are arranged symmetrically. The claws (31) are hinged to the mechanical claw mounting base (29) through a connecting rod (32). The camera module is provided below the mechanical claw mounting base (29).

9. The small vision robotic arm with a screen according to claim 8, characterized in that: The camera module includes a camera base (26) and a camera cover (20). A camera (19) is disposed between the camera base (26) and the camera cover (20). The camera base (26) is connected to the mechanical claw mounting base (29).

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