CN211030005U - Arm system based on bluetooth communication - Google Patents

Abstract

The utility model relates to an arm control field, the technical scheme who adopts is: a mechanical arm system based on Bluetooth communication comprises a control unit, a mechanical arm and portable terminal equipment, wherein the control unit comprises a processor, a power circuit, a key circuit, a first servo motor, a second servo motor, a third servo motor, a fourth servo motor and a Bluetooth module; the mechanical arm comprises a bottom U-shaped base, a support and a clamping jaw, the support is installed on the inner wall of the U-shaped base, the clamping jaw is installed on the support, the second servo motor and the third servo motor are installed on two sides of the U-shaped base, and the second servo motor and the third servo motor are respectively connected with the support and control the support to stretch or lift; the first servo motor is arranged on the bottom wall of the U-shaped base and controls the U-shaped base to rotate; the third servo motor is arranged on the clamping jaw and controls the opening or closing of the clamping jaw.

Description

Arm system based on bluetooth communication

Technical Field

The utility model relates to an arm control field, concretely relates to arm system based on bluetooth communication.

Background

With the rapid development of the industry in China, the 4.0 th era of the industry has come to China, and the production and manufacturing of products of large enterprises require more labor force, which is not an enterprise worker in the traditional sense, but a robot mechanical arm capable of replacing the traditional manpower. With the addition of the mechanical arm, the embarrassment that enterprises are difficult to recruit workers can be solved, the automation level can be improved, the production efficiency can be improved, and products with higher quality can be produced. The existing mechanical arm system has complex structure and high manufacturing cost, is not beneficial to popularization, has incomplete control system, is not flexible to operate, and can not carry out portable and remote operation on the mechanical arm. Secondly, the stability is not enough when snatching the object in the clamping jaw in the arm system, if meet smooth and the great metal object of weight and drop easily usually, leads to the arm to press from both sides and gets the failure to the dynamics of getting of clamping jaw is not convenient for control, easily leads to the object of getting to damage of pressing from both sides, and then causes certain economic loss.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a simple structure, flexible operation, stability are high and can carry out portable remote control's robotic arm system based on bluetooth communication.

In order to realize the purpose of the utility model, the utility model adopts the technical proposal that: a mechanical arm system based on Bluetooth communication comprises a control unit, a mechanical arm and a portable terminal device, wherein the control unit comprises a processor, a power circuit, a key circuit, a first servo motor, a second servo motor, a third servo motor, a fourth servo motor and a Bluetooth module, the first servo motor, the second servo motor, the third servo motor, the fourth servo motor, the key circuit and the Bluetooth module are respectively connected with the processor, the power circuit is respectively connected with the processor and the Bluetooth module, and the portable terminal device is connected with the Bluetooth module in a Bluetooth communication mode; the mechanical arm comprises a bottom U-shaped base, a support and a clamping jaw, the support is installed on the inner wall of the U-shaped base, the clamping jaw is installed on the support, the second servo motor and the third servo motor are installed on two sides of the U-shaped base, and the second servo motor and the third servo motor are respectively connected with the support and control the support to stretch or lift; the first servo motor is arranged on the bottom wall of the U-shaped base and controls the U-shaped base to rotate; the fourth servo motor is arranged on the clamping jaw and controls the opening or closing of the clamping jaw.

Furthermore, the clamping jaw comprises a connecting seat, the connecting seat is connected with a support, the third servo motor is installed on the connecting seat, one end, away from the support, of the connecting seat is symmetrically hinged with a group of first connecting rods, one end, away from the connecting seat, of each first connecting rod is hinged with a second connecting rod and a claw body, and the middle positions of the two claw bodies are overlapped and hinged; the sliding rods are clamped in sliding grooves formed in the connecting seat and form sliding fit with the sliding grooves, and racks matched with a fourth servo motor are arranged on the sliding rods.

Furthermore, clamping plates are arranged on the opposite wall surfaces of the two claw bodies, pressure sensors are mounted on the clamping plates, and the pressure sensors are connected with the processor; install the electromagnetism subassembly between splint and the claw body, the electromagnetism subassembly includes solenoid, iron core and the circuit of magnetizing and demagnetization circuit that links to each other with solenoid, the control port of circuit of magnetizing and demagnetization circuit links to each other with the treater respectively.

Furthermore, the control unit further comprises a control panel, a plurality of buttons and a display screen are arranged on the control panel, and the display screen is connected with the processor.

The beneficial effects of the utility model are concentrated and are embodied in: the utility model discloses an arm can accomplish in a flexible way and get the clamp of object, has simple structure, stability strong and portable remote control's characteristics. Specifically, a first servo motor, a second servo motor and a third servo motor are mounted on the mechanical arm, and respectively control the rotation of the whole mechanical arm and the expansion and contraction of the control bracket, so as to complete the movement of the object from one position to another position. Meanwhile, the clamping jaw is installed on the clamping jaw through a third servo motor and used for controlling the clamping and loosening of the clamping jaw to finish clamping the object. The mobile terminal is connected with the processor and the portable terminal device through the Bluetooth module respectively, wireless remote communication between the mobile terminal and the processor is achieved, and remote control and operation of the mechanical arm are completed.

Drawings

FIG. 1 is a schematic view of the overall structure of the robot arm;

fig. 2 is a block diagram of the control circuit of the present invention;

fig. 3 is a schematic view of the structure of the clamping jaw of the present invention.

Detailed Description

In order to make those skilled in the art better understand the technical solution of the present invention, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1 and 2, a robot arm system based on bluetooth communication comprises a control unit 1, a robot arm and a portable terminal device, wherein the control unit 1 comprises a processor, a power supply circuit, a first Servo motor, a second Servo motor 2, a third Servo motor 3, a fourth Servo motor 4, a key circuit and a bluetooth module, in the embodiment, the processor adopts ATmega328P of ATME L company, the processor is an eight-bit microprocessor which internally comprises 32KB of flash, 2KB of SRAM and 1KB of EEPROM, and has a clock frequency of 16 mhz;

further, in this embodiment, the bluetooth module adopts an HC-06 wireless bluetooth serial port transparent transmission module, TXD and RXD pins of the bluetooth module are respectively connected with TXD and RXD pins of the processor, the bluetooth module communicates with a portable terminal device in a bluetooth wireless communication mode, the portable terminal device may be a mobile phone or a tablet computer, and a user may control the operation of the mechanical arm at the mobile phone end or the tablet computer end.

Further, the control unit 1 further comprises a control panel, a plurality of buttons and a display screen are arranged on the control panel, the display screen is connected with the processor, the buttons are connected with the processor through a key circuit, and each button comprises eight direction control buttons, an automatic button, a reset button and a stop button.

Furthermore, the power circuit is respectively connected with the processor and the Bluetooth module, and the power circuit provides working voltage for the processor and the Bluetooth module.

Further, as shown in fig. 1, in order to increase the flexibility of the robot arm, the robot arm may adopt a structure as shown in fig. 1, the robot arm includes a bottom U-shaped base 5, a bracket 7 and a clamping jaw, the bracket 7 is installed on the inner wall of the U-shaped base 5, the clamping jaw is installed on the bracket 7, the bracket includes 4 vertical connecting plates, that is, in fig. 1, a first connecting plate 71, a second connecting plate 72, a third connecting plate 73, a fourth connecting plate 74, 4 oblique connecting plates (a first oblique plate 76, a second oblique plate 77, a third oblique plate 78 and a fourth oblique plate 79) and a triangular connecting plate 75, the first connecting plate 71 is hinged to one side of the U-shaped base 5, the top ends of the first connecting plate 71 and the second connecting plate 72 are hinged to both ends of the triangular connecting plate 75, respectively, one end of the second oblique plate 77 is hinged to the top end of the second connecting plate 72, the other end is fixed on the side wall of the connecting seat 9; one end of the first inclined plate 76 is hinged to the third end of the triangular connecting plate 75, and the other end is fixed to the upper surface of the connecting base 9. The bottom ends of the third connecting plate 73 and the fourth connecting plate 74 are respectively hinged with a fourth inclined plate 79, the top ends of the third connecting plate 73 and the fourth connecting plate 74 are respectively hinged with a third inclined plate 78, and one end of the third inclined plate 78 far away from the fourth connecting plate 74 is fixed on the side wall of the connecting seat 9;

the second servo motor 2 and the third servo motor 3 are arranged on two sides of the U-shaped base 5, and the second connecting plate 72 is connected with the second servo motor 2 and used for controlling the rotation of the second connecting plate 72, namely, the mechanical arm can be controlled to stretch back and forth in the horizontal direction; the driving end of the third servo motor 3 is connected to the hinged position of the fourth connecting plate 74 and the fourth sloping plate 79, and is used for controlling the rotation of the fourth connecting plate 74 and controlling the lifting or lowering of the mechanical arm;

the first servo motor (not shown in the figure) is arranged on the bottom wall of the U-shaped base 5; that is, the first servo motor is fixed on a supporting plate 6, and the driving end of the first servo motor is connected with the U-shaped base 5 and can control the U-shaped base 5 to rotate; the fourth servo motor 4 is installed on the clamping jaw, and the fourth servo motor 4 controls the opening or closing of the clamping jaw.

Further, as shown in fig. 3, in order to ensure that the clamping jaw has good stability and can clamp an object more conveniently, the clamping jaw comprises a connecting seat 9, the connecting seat 9 is connected with a support 7, the third servo motor 3 is installed on the connecting seat 9, one end of the connecting seat 9, which is far away from the support 7, is symmetrically hinged with a group of first connecting rods 10, one end of each first connecting rod 10, which is far away from the connecting seat 9, is hinged with a second connecting rod 11 and a jaw body 12, and the middle positions of the two jaw bodies 12 are overlapped and hinged; one ends of the two second connecting rods 11, which are far away from the first connecting rod 10, are hinged with sliding rods 13, the sliding rods 13 are clamped in sliding grooves formed in the connecting seat 9 and form sliding fit with the sliding grooves, and racks matched with the fourth servo motor 4 are arranged on the sliding rods 13. The user can control the fourth servo motor 4 to rotate, the fourth servo motor 4 is connected with a gear (not shown in the figure), the slide rod 13 is driven to stretch and retract through the transmission of the rack and the gear, the slide rod 13 drives the first connecting rod 10 and the second connecting rod 11 to rotate, and the opening or the closing of the claw body 12 is further realized.

Further, as shown in fig. 2, in order to ensure that smooth metal objects with large weight do not fall off and the clamping force between the claw bodies 12 to the objects can be changed, clamping plates 14 are respectively arranged on the opposite wall surfaces of the two claw bodies 12, rough surfaces are also respectively arranged on the opposite wall surfaces of the two clamping plates 14, pressure sensors 15 are arranged on the clamping plates 14, the pressure sensors 15 are connected with a processor, the pressure sensors 15 detect the pressure between the clamping plates 14 and the objects, different clamping forces are set when different objects are clamped, and damage to softer objects due to excessive pressure is avoided; install electromagnetic component 16 between splint 14 and the claw body 12, electromagnetic component 16 includes solenoid, iron core and the circuit of magnetizing that links to each other with solenoid and demagnetization circuit, the control port of circuit of magnetizing and demagnetization circuit links to each other with the treater respectively, and through magnetizing the circular telegram of circuit control battery coil, produce magnetic force, adsorb the object of metal class, can press from both sides and get less object, also can press from both sides and get smooth and the great metal object of weight, have advantages such as commonality, simple structure.

It should be noted that, for simplicity of description, the above-mentioned embodiments of the method are described as a series of acts or combinations, but those skilled in the art should understand that the present application is not limited by the order of acts described, as some steps may be performed in other orders or simultaneously according to the present application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and elements referred to are not necessarily required in this application.

Claims (4)

1. The utility model provides a arm system based on bluetooth communication which characterized in that: the portable terminal device comprises a control unit (1), an mechanical arm and a portable terminal device, wherein the control unit (1) comprises a processor, a power circuit, a key circuit, a first servo motor, a second servo motor (2), a third servo motor (3), a fourth servo motor (4) and a Bluetooth module, the first servo motor, the second servo motor (2), the third servo motor (3), the fourth servo motor (4), the key circuit and the Bluetooth module are respectively connected with the processor, the power circuit is respectively connected with the processor and the Bluetooth module, and the portable terminal device is connected with the Bluetooth module; the mechanical arm comprises a bottom U-shaped base (5), a support (7) and clamping jaws, the support (7) is installed on the inner wall of the U-shaped base (5), the clamping jaws are installed on the support (7), the second servo motor (2) and the third servo motor (3) are installed on two sides of the U-shaped base (5), and the second servo motor (2) and the third servo motor (3) are connected with the support (7) and control the support (7) to stretch or lift; the first servo motor is arranged on the bottom wall of the U-shaped base (5), and the first servo motor controls the U-shaped base (5) to rotate; and the fourth servo motor (4) is arranged on the clamping jaw, and the fourth servo motor (4) controls the opening or closing of the clamping jaw.

2. The robot arm system based on bluetooth communication of claim 1, wherein: the clamping jaw comprises a connecting seat (9), the connecting seat (9) is connected with a support (7), the third servo motor (3) is installed on the connecting seat (9), one end, far away from the support (7), of the connecting seat (9) is symmetrically hinged with a group of first connecting rods (10), one end, far away from the connecting seat (9), of each first connecting rod (10) is hinged with a second connecting rod (11) and a claw body (12), and the middle overlapping positions of the two claw bodies (12) are hinged; the one end of keeping away from head rod (10) of two second connecting rods (11) all articulates there is slide bar (13), slide bar (13) card is established in the spout that sets up on connecting seat (9) to constitute sliding fit with the spout, be equipped with on slide bar (13) with fourth servo motor (4) matched with rack.

3. The robot arm system based on bluetooth communication of claim 2, wherein: clamping plates (14) are arranged on the opposite wall surfaces of the two claw bodies (12), pressure sensors (15) are mounted on the clamping plates (14), and the pressure sensors (15) are connected with a processor; install electromagnetic component (16) between splint (14) and the claw body (12), electromagnetic component (16) include solenoid, iron core and the circuit of magnetizing and demagnetization circuit that links to each other with solenoid, the control port of circuit of magnetizing and demagnetization circuit links to each other with the treater respectively.

4. The robot arm system based on bluetooth communication of claim 1, wherein: the control unit (1) further comprises a control panel, a plurality of buttons and a display screen are arranged on the control panel, and the display screen is connected with the processor.

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