A rotary robot with step motor control

Abstract

The utility model relates to the technical field of mechanical hand, disclose a kind of rotation type mechanical hand of step motor adjustment, comprising: bottom plate, several mounting holes are equipped in four corners;Rotary frame, be driven to rotate by the step motor of fixedly being equipped on bottom plate in bottom plate;Support, it is U-shaped frame, fixedly be equipped above rotary frame;Gripper, symmetrically slidingly be equipped in the inside of support, upper end protrude support, and relative side fixedly equipped with antiskid clamping block, lower end by the triangle block of being equipped in the inside of support drive each other close and far, triangle block is driven to lift by the cylinder of fixedly being equipped on rotary frame.The utility model has the advantages of: it is convenient to accurately realize fixed angle rotation adjustment, and clamping structure is simple, and reduce the frequency of overhaul.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically to a rotary robotic arm adjustable by a stepper motor. Background Technology

[0002] Rotary manipulators are industrial automation devices with rotational motion as their core. Typically driven by motors, they rotate joints, and with the extension, tilting, and other movements of the robotic arm, they achieve multi-directional work coverage. They are compact, occupy little space, can cover circular or fan-shaped work areas, and offer fast response and high positioning accuracy. They can replace manual labor in repetitive, tedious, or high-risk tasks. They are widely used in electronics manufacturing, automotive parts assembly, logistics sorting, and machine tool loading and unloading, significantly improving production efficiency and operational consistency while reducing labor costs and ensuring stable production quality.

[0003] Currently, rotary manipulators still face two key performance bottlenecks in practical operations. First, the angle control precision is insufficient. When performing fixed-angle rotation tasks, such as accurately completing a 30-degree positioning operation, the precision is often affected by factors such as mechanical transmission backlash, motor response delay, and load variations, making it difficult to stably maintain the preset angle. This leads to deviations in subsequent gripping and assembly processes, affecting overall production accuracy. Second, the clamping components have a complex design, typically including multiple sets of linkages, drive elements, and sensors. This not only makes assembly and maintenance difficult but also makes them prone to malfunctions due to misalignment between components, wear, or environmental dust intrusion, increasing the frequency of equipment downtime for maintenance. Utility Model Content

[0004] To solve the above-mentioned problems, this utility model proposes a rotary manipulator with stepper motor adjustment that facilitates precise fixed-angle rotation adjustment, has a simple clamping structure, and reduces maintenance frequency.

[0005] To solve the above-mentioned technical problems, the technical solution proposed by this utility model is: a rotary manipulator adjustable by a stepper motor, comprising:

[0006] The base plate has several mounting holes at its four corners;

[0007] The rotating frame is mounted on the base plate and is driven to rotate by a stepper motor that is fixed on the base plate.

[0008] The bracket, a U-shaped frame, is fixedly mounted above the rotating frame;

[0009] The gripper is symmetrically slidably disposed inside the support, with its upper end extending out of the support and anti-slip clamping blocks fixed on opposite sides. The lower end is driven by a triangular block disposed inside the support to move closer and further apart. The triangular block is driven to rise and fall by a cylinder fixed on the rotating frame.

[0010] Furthermore, the rotating frame consists of an upper plate, a lower plate, and support rods. The upper plate is arranged parallel to the lower plate above it, and the support rods are fixed at the four corners between the upper plate and the lower plate.

[0011] Furthermore, arc-shaped support plates are fixedly provided at the four corners below the rotating frame, and guide ring grooves matching the arc-shaped support plates are provided on the base plate, with the lower end of the arc-shaped support plate slidably disposed in the guide ring groove.

[0012] Furthermore, connecting rods are symmetrically fixed on both sides of the bottom surface of the bracket, and the lower end of the connecting rods is fixed on the rotating frame.

[0013] Furthermore, the gripper sidewall is provided with a guide strip, and the bracket inner sidewall is provided with a guide groove matching the guide strip.

[0014] Furthermore, the triangular block is provided with guide rails on both sides, the lower end of the gripper is an inclined surface that matches the triangular block, and the inclined surface is provided with a groove that matches the guide rail.

[0015] Compared with existing technologies, the advantages of this invention are as follows: The robotic arm drives the rotating frame to rotate via a stepper motor. The stepper motor can precisely control the rotation angle, and with the stable guidance of the arc-shaped support plate below the rotating frame and the guide ring groove of the base plate, rotational deviation is avoided, achieving precise adjustment of the fixed angle. The clamping structure uses a cylinder to drive the triangular block to rise and fall, driving the symmetrical grippers to open and close. The overall transmission chain is short, with fewer parts, resulting in a simple structure. The gripper guide strip and the bracket guide groove, as well as the triangular block guide rail and the gripper slot, cooperate with each other to reduce motion deviation and frictional loss, lower the probability of component failure, and thus reduce maintenance frequency, balancing rotational accuracy, structural simplicity, and operational stability. Attached Figure Description

[0016] Figure 1 This is a perspective view of the present invention;

[0017] Figure 2 This is the front view of this utility model;

[0018] Figure 3 This is a side view of the present invention;

[0019] Figure 4 This is a top view of the present invention;

[0020] Figure 5 This is a schematic diagram of the internal structure of the U-shaped frame of this utility model.

[0021] As shown in the figure: 1. Base plate; 2. Mounting hole; 3. Rotating frame; 4. Stepper motor; 5. Bracket; 6. Gripper; 7. Anti-slip clamping block; 8. Triangular block; 9. Cylinder; 10. Arc-shaped support plate; 11. Guide ring groove; 12. Connecting rod; 13. Guide strip; 14. Guide groove; 15. Guide rail. Detailed Implementation

[0022] The present invention will now be described in further detail with reference to the accompanying drawings.

[0023] Combined with appendix Figure 1 Appendix Figure 2 Appendix Figure 3 Appendix Figure 4 A rotary manipulator adjustable by a stepper motor includes: a base plate 1 with several mounting holes 2 at its four corners; and a rotating frame 3 mounted on the base plate 1 and driven to rotate by a stepper motor 4 fixedly mounted on the base plate 1. The rotating frame 3 consists of an upper plate, a lower plate, and support rods. The upper plate is parallel to the lower plate, and the support rods are fixed at the four corners between the upper and lower plates. The support rods at the four corners enhance the overall rigidity, and the parallel arrangement of the upper and lower plates ensures that the support 5 is installed flat, guaranteeing clamping accuracy. Arc-shaped support plates 10 are fixedly mounted at the four corners below the rotating frame 3. The base plate 1 has guide ring grooves 11 that match the arc-shaped support plates 10. The lower end of the arc-shaped support plates 10 slides within the guide ring grooves 11. The arc-shaped support plates 10 and the guide ring grooves 11 cooperate to provide stable guidance for the rotation of the rotating frame 3, preventing deviation when driven by the stepper motor 4, and distributing the force to improve the stability of the manipulator's rotation.

[0024] Combined with appendix Figure 1 Appendix Figure 2 The bracket 5 is a U-shaped frame, fixedly mounted above the rotating frame 3. Connecting rods 12 are symmetrically fixed on both sides of the bottom surface of the bracket 5, and the lower end of the connecting rods 12 is fixed on the rotating frame 3. The symmetrical structure makes the bracket 5 bear the force evenly, prevents the bracket 5 from shaking when the gripper 6 clamps it, and enhances the overall structural stability.

[0025] Combined with appendix Figure 2 Appendix Figure 3 Appendix Figure 5 The gripper 6 is symmetrically slidably disposed inside the bracket 5, with its upper end extending out of the bracket 5, and an anti-slip clamping block 7 is fixedly disposed on the opposite side. The side wall of the gripper 6 is provided with a guide strip 13, and the inner side wall of the bracket 5 is provided with a guide groove 14 that matches the guide strip 13. The guide strip 13 and the guide groove 14 are precisely matched to limit the sliding trajectory of the gripper 6, prevent the gripper 6 from deviating when moving, and ensure that the anti-slip clamping block 7 can accurately align with the clamping target, thereby improving the clamping reliability.

[0026] Combined with appendix Figure 5The lower end of the gripper 6 is driven by triangular blocks 8 located inside the bracket 5 to move closer and further apart. The triangular blocks 8 are driven to rise and fall by cylinders 9 fixed on the rotating frame 3. Guide rails 15 are provided on both sides of the triangular blocks 8. The lower end of the gripper 6 is an inclined surface that matches the triangular blocks 8, and the inclined surface is provided with a groove that matches the guide rails 15. The guide rails 15 and the grooves can smoothly drive the gripper 6 to open and close when the triangular blocks 8 rise and fall, reduce friction loss, and ensure the smoothness and synchronicity of the gripper 6's movement.

[0027] The specific implementation of this utility model is as follows: In use, the robotic arm is first fixed to the robotic arm through the mounting holes 2 at the four corners of the base plate 1 and connected to an external power source. After startup, the stepper motor 4 drives the rotating frame 3 to rotate, and the arc-shaped support plate 10 below the rotating frame 3 slides along the guide ring groove 11 of the base plate 1 to achieve precise guidance, thereby driving the bracket 5 and the gripper 6 to rotate to the target angle. Subsequently, the cylinder 9 fixed on the rotating frame 3 is activated, driving the triangular block 8 to rise and fall. When the triangular block 8 rises, its two side guide rails 15 engage with the grooves on the lower inclined surface of the gripper 6, pushing the gripper 6, which is symmetrically located on the inner side of the bracket 5, to slide away along the guide bar 13 and guide groove 14. The robotic arm controls the gripper 6 to move to both sides of the object to be gripped. The cylinder 9 drives the triangular block 8 to fall, thereby driving the two grippers 6 to move closer to each other. The anti-slip clamping block 7 clamps the workpiece. At this time, the robotic arm can be controlled to move the object to a suitable position. Then, the cylinder 9 is controlled to drive the triangular block 8 to rise, and the grippers 6 move away from each other to release the object. The stepper motor 4 then drives the rotating frame 3 to rotate and reset, completing one operation.

[0028] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly, for example, it can be a fixed connection, a detachable connection, or an integral connection; for those skilled in the art, the specific meaning of the above term in this utility model can be understood according to the specific circumstances.

[0029] The present invention and its embodiments have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the present invention; the actual structure is not limited thereto. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the inventive spirit of the present invention, such designs should fall within the protection scope of the present invention.

Claims

1. A rotary manipulator adjustable by a stepper motor, characterized in that, include: The base plate (1) has several mounting holes (2) at its four corners; The rotating frame (3) is mounted on the base plate (1) and is driven to rotate by the stepper motor (4) fixed on the base plate (1); The bracket (5) is a U-shaped bracket, which is fixed above the rotating frame (3); The gripper (6) is symmetrically slidably disposed inside the bracket (5), with its upper end extending out of the bracket (5) and anti-slip clamping blocks (7) fixed on the opposite side. Its lower end is driven by a triangular block (8) disposed inside the bracket (5) to move closer and further away from each other. The triangular block (8) is driven to rise and fall by a cylinder (9) fixed on the rotating frame (3).

2. The rotary manipulator adjustable by a stepper motor according to claim 1, characterized in that: The rotating frame (3) consists of an upper plate, a lower plate and support rods. The upper plate is arranged parallel to the lower plate above it, and the support rods are fixed at the four corners between the upper plate and the lower plate.

3. The rotary manipulator adjustable by a stepper motor according to claim 1, characterized in that: Arc-shaped support plates (10) are fixed at the four corners below the rotating frame (3). The bottom plate (1) is provided with guide ring grooves (11) matching the arc-shaped support plates (10). The lower end of the arc-shaped support plates (10) is slidably disposed in the guide ring grooves (11).

4. The rotary manipulator adjustable by a stepper motor according to claim 1, characterized in that: The bracket (5) has connecting rods (12) fixedly fixed on both sides of its bottom surface, and the lower end of the connecting rods (12) is fixedly mounted on the rotating frame (3).

5. A rotary manipulator adjustable by a stepper motor according to claim 1, characterized in that: The gripper (6) has a guide strip (13) on its side wall, and the bracket (5) has a guide groove (14) that matches the guide strip (13) on its inner side wall.

6. A rotary manipulator adjustable by a stepper motor according to claim 1, characterized in that: The triangular block (8) has guide rails (15) on both sides, and the lower end of the gripper (6) is a slope that matches the triangular block (8), and the slope has a groove that matches the guide rail (15).

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