CN211196416U

CN211196416U - Intelligent mechanical arm carrying device

Info

Publication number: CN211196416U
Application number: CN201921917783.4U
Authority: CN
Inventors: 张相贤
Original assignee: Xinhua College of Sun Yat Sen University
Current assignee: Xinhua College of Sun Yat Sen University
Priority date: 2019-11-07
Filing date: 2019-11-07
Publication date: 2020-08-07
Anticipated expiration: 2029-11-07

Abstract

The utility model discloses an intelligent mechanical arm carrying device, which comprises a carrying main body, wherein the outer side of the carrying main body is movably connected with a driving wheel, the outer side of the driving wheel is movably connected with a track wheel, one side of the carrying main body is respectively and fixedly connected with a signal rod and a camera, one end of the signal rod is electrically connected with a WIFI Bluetooth receiver, the top of the carrying main body is movably connected with a mechanical arm mounting frame, the front of the carrying main body is respectively embedded with a 5V power interface, a 3.3V power interface and a 6-way steering engine interface, one side of the 5V power interface is electrically connected with a steering engine overload protection seat, and through the arranged STM32 single chip microcomputer, an ultrasonic range finder, a PS2 handle interface, the WIFI Bluetooth receiver and the camera, the influence of terrain on the intelligent mechanical arm carrying device is reduced, so that the intelligent mechanical arm carrying device can move in more terrain ranges, thereby realizing automatic and, the control range is enlarged, and the operability of the mechanical arm is greatly improved.

Description

Intelligent mechanical arm carrying device

Technical Field

The utility model relates to an intelligent mechanical arm carrying device technical field specifically is an intelligent mechanical arm carrying device.

Background

The intelligent mechanical arm carrying device belongs to the category of intelligent robots, with the rapid development of artificial intelligence technology and the implementation of the strategy of intelligent manufacturing 2025 in China, the application of remote control and automation technology is more and more extensive, and automation and intelligent manufacturing are inevitable development trends. In the field of modern industry, particularly in the production of enterprise workshops, the logistics in the core link of cargo transportation is extremely important. Research shows that the scheme of combining transportation tools such as a forklift and a large amount of manpower is the mainstream scheme of carrying by enterprises in various countries, but the scheme has the problems of higher cost, larger limitation, low efficiency and the like, so that the mode of replacing the scheme by using a carrying robot with an autonomous moving function is greatly required.

However, in the existing intelligent mechanical arm carrying device, part of the intelligent mechanical arm carrying devices realize autonomous movement through infrared tracking, the carrying devices are limited in movement due to terrain influence, the remote control function of the intelligent mechanical arm carrying devices is also remote-controlled through Bluetooth transmission, infrared remote control and demonstrator remote control, the operable range is greatly limited, remote control operation can be carried out only in the visible range of human eyes, and when a complex working environment is met, the problem of visual field blockage is easily caused, so that the intelligent mechanical arm carrying device is provided.

SUMMERY OF THE UTILITY MODEL

Technical problem to be solved

The utility model provides a not enough to prior art, the utility model provides an intelligent machine arm carrying device to it is limited because of the influence makes carrying device remove of topography to provide in solving above-mentioned background art, and its remote control function has also restricted operating range because of bluetooth transmission remote control, infrared remote control, demonstrator remote control have restricted greatly, when meetting complicated operational environment, causes the problem that the field of vision blockked easily.

(II) technical scheme

In order to achieve the above purpose, the utility model discloses a following technical scheme realizes: the utility model provides an intelligent mechanical arm carrying device, includes the delivery main part, the outside swing joint of delivery main part has the drive wheel, the outside swing joint of drive wheel has the athey wheel, one side difference fixedly connected with signal pole and the camera of delivery main part, the one end electric connection of signal pole has WIFI bluetooth receiver, the top swing joint of delivery main part has the arm mounting bracket, the front of delivery main part is embedded with 5V power source, 3.3V power source and 6 way steering wheel interfaces respectively, one side electric connection of 5V power source has steering wheel overload protection seat, one side fixedly connected with reset button of steering wheel overload protection seat, one side fixedly connected with steering wheel voltage regulation of reset button, the opposite side of delivery main part is embedded with PS2 handle interface and power adapter mouth respectively, one side of power adapter mouth electric connection has control panel switch, the power negative pole and the power positive pole, one side fixedly connected with USB interface of control panel switch, electric connection has the pilot lamp directly over the USB interface, the inside difference fixedly connected with control panel, driving motor and the ultrasonic ranging ware of delivery main part.

Further preferably, the fixed port penetrates through four corners of the top of the control panel, the top of the control panel is respectively and electrically connected with 2 bus interfaces, a Bluetooth interface and a first serial port, one side of the first serial port is electrically connected with 6 sensor interfaces, one side of the 6 sensor interfaces is electrically connected with an IIC interface, one side of the IIC interface is electrically connected with an STM32 single chip microcomputer, one side of the STM32 single chip microcomputer is electrically connected with a buzzer, and one side of the buzzer is electrically connected with a voltage stabilizing chip.

Further preferably, the number of the 6 sensor interfaces is three, three the 6 sensor interfaces are arranged at equal intervals, and the 6 sensor interfaces are electrically connected with the control panel.

Preferably, the number of the fixing ports is four, the four fixing ports are respectively located at four corners of the control panel, and the fixing ports penetrate through the top of the control panel.

Further preferably, the number of the driving wheels is multiple, the driving wheels are located on the outer side of the carrying main body, and the driving wheels are movably connected with the crawler wheels.

Further preferably, control panel includes the buzzer of STM32 singlechip and STM32 singlechip one side at control panel top and the steady voltage chip that links to each other with control panel, steady voltage chip and control panel electric connection.

Further preferably, the outer surface of the carrying main body is smooth, the inside of the carrying main body is hollow, and the carrying main body is movably connected with the mechanical arm mounting frame.

(III) advantageous effects

The utility model provides an intelligent mechanical arm carrying device possesses following beneficial effect:

1. this kind of intelligent arm carrying device, STM32 singlechip and ultrasonic ranging ware through setting up, the autonomous movement function technical support of current product is mostly based on infrared tracking, but this technique has great limitation, often can be because of the influence of topography, cause the unable operation of machine, this intelligent arm carrying device combines ultrasonic ranging technique, measure the distance through two processes of ultrasonic ranging ware transmission low-voltage and transmission high voltage, and then carrying device realizes stopping or turns to etc. and keeps away barrier activity, intelligent arm carrying device based on development of STM32 singlechip adopts infrared tracking sensor to realize autonomous movement, reduce the influence of topography to intelligent arm carrying device, make it can remove at more topography scopes.

2. This kind of intelligent arm carrying device, through PS2 handle interface and the WIFI bluetooth receiver that sets up, when operation arm carrying device, the staff adds brake valve lever to arm carrying device through PS2 handle interface, controls the device, when needs remote control, carries out internet access and bluetooth through the WIFI bluetooth receiver and is connected, remote control device to realize automatic and manual switching each other, improve the operation flexibility.

3. This kind of intelligent arm carrying device through the WIFI bluetooth receiver that sets up, through adopting WIFI bluetooth wireless transmission control technique to realize remote control, increases remote control's signal transmission distance, increases control range.

4. This kind of intelligent arm carrying device through the camera that sets up, through increasing the camera, can reduce the obstructed risk in the field of vision with image form, the operational environment situation of real-time feedback remote control to can shoot, record a video through the camera module, carry out real-time recording to operating condition, improve the maneuverability of arm greatly.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a partial enlarged view of the carrier body of the present invention;

fig. 3 is a cross-sectional view of the carrier body of the present invention;

fig. 4 is a schematic view of a partial structure of the control panel of the present invention;

fig. 5 is a communication schematic diagram of the control panel of the present invention.

In the figure: 1. a carrier body; 101. a control panel; 102. a drive motor; 103. a fixed port; 104. 2-way bus interface; 105. a Bluetooth interface; 106. a first serial port; 107. 6 sensor interfaces; 108. An IIC interface; 109. STM32 single-chip microcomputer; 1010. a buzzer; 1011. a voltage stabilization chip; 2. a mechanical arm mounting rack; 3. a PS2 handle interface; 4. a power adapter port; 401. a control panel switch; 402. a USB interface; 403. a power supply cathode; 404. a power supply positive electrode; 405. an indicator light; 5. adjusting the voltage of the steering engine; 6. A crawler wheel; 7. a drive wheel; 8. an overload protection seat of the steering engine; 9. a 5V power interface; 10. 3.3V power interface; 11. 6 paths of steering engine interfaces; 12. resetting the key; 13. a signal lever; 1301. a WIFI Bluetooth receiver; 14. a camera; 15. an ultrasonic range finder.

The utility model provides an instrument all can obtain through market purchase and private customization:

STM32 singlechip: STM32F103C8T 6.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-5, the present invention provides a technical solution: the utility model provides an intelligent mechanical arm carrying device, including carrying main part 1, the outside swing joint of carrying main part 1 has drive wheel 7, the outside swing joint of drive wheel 7 has athey wheel 6, one side of carrying main part 1 is fixedly connected with signal pole 13 and camera 14 respectively, the one end electric connection of signal pole 13 has WIFI bluetooth receiver 1301, the top swing joint of carrying main part 1 has arm mounting bracket 2, 5V power source 9, 3.3V power source 10 and 6 way steering wheel interface 11 are embedded respectively in the front of carrying main part 1, one side electric connection of 5V power source 9 has steering wheel overload protection seat 8, one side fixedly connected with reset button 12 of steering wheel overload protection seat 8, one side fixedly connected with steering wheel voltage regulation 5 of reset button 12, the opposite side of carrying main part 1 is embedded with PS2 handle interface 3 and power adapter mouth 4 respectively, one side of power adapter mouth 4 has control panel 401 switch 401 respectively electric connection, The ultrasonic ranging device comprises a power supply cathode 403 and a power supply anode 404, wherein a USB interface 402 is fixedly connected to one side of a control panel switch 401, an indicator lamp 405 is electrically connected to the upper surface of the USB interface 402, and a control panel 101, a driving motor 102 and an ultrasonic ranging device 15 are respectively and fixedly connected to the inside of the carrying main body 1.

In this embodiment, it is specific, fixed mouthful 103 has been run through at control panel 101's top four corners, control panel 101's top electric connection has 2 way bus interface 104 respectively, bluetooth interface 105 and first serial ports 106, one side electric connection of first serial ports 106 has 6 way sensor interface 107, one side electric connection of 6 way sensor interface 107 has IIC interface 108, one side electric connection of IIC interface 108 has STM32 singlechip 109, one side electric connection of STM32 singlechip 109 has bee calling organ 1010, one side electric connection of bee calling organ 1010 has voltage stabilizing chip 1011.

In this embodiment, specifically, there are three 6 sensor interfaces 107, three 6 sensor interfaces 107 are arranged at equal intervals, the 6 sensor interfaces 107 are electrically connected to the control panel 101, and the three 6 sensor interfaces 107 can better mount sensors and control devices.

In this embodiment, specifically, four fixing ports 103 are provided, the four fixing ports 103 are respectively located at four corners of the control panel 101, the fixing ports 103 penetrate through the top of the control panel 101, and the control panel 101 can be better fixed through the fixing ports 103.

In this embodiment, specifically, the driving wheels 7 are provided in plurality, the driving wheels 7 are located on the outer side of the carrying main body 1, the driving wheels 7 are movably connected with the track wheels 6, and the track wheels 6 are driven to operate through the driving wheels 7, so that the device can better adapt to various road conditions.

In this embodiment, it is specific, control panel 101 includes the buzzer 1010 of STM32 singlechip 109 and STM32 singlechip 109 one side at control panel 101 top and the steady voltage chip 1011 that links to each other with control panel 101, steady voltage chip 1011 and control panel 101 electric connection, and intelligent arm carrier through the development of STM32 singlechip 109 adopts infrared tracking sensor to realize autonomous movement.

In this embodiment, specifically, the outer surface of the carrying main body 1 is smooth, the inside of the carrying main body 1 is hollowed, the carrying main body 1 and the mechanical arm mounting frame 2 are movably connected, the inside of the carrying main body 1 is hollowed, and running elements can be better installed.

The working principle is as follows: after the utility model is installed, firstly, the installation, fixation and safety protection of the utility model are checked, when in use, a worker installs the mechanical arm on the mechanical arm installation frame 2, when operating the mechanical arm carrying device, the worker adds a control handle to the mechanical arm carrying device through the PS2 handle interface 3 to control the device, when needing remote control, the device is connected with Bluetooth through the WIFI Bluetooth receiver 1301 for network connection, the remote control device drives the crawler wheel 6 outside the driving wheel 7 to rotate through the driving motor 102 when the device is operated, so that the device is moved, the distance is measured through two processes of transmitting low voltage and transmitting high voltage through the ultrasonic distance measuring device 15 when the device is moved, and further the carrying device realizes obstacle avoidance activities such as parking or steering, the intelligent mechanical arm carrying device developed based on the STM32 single chip microcomputer 109 adopts an infrared tracking sensor to realize autonomous movement, reduce the topography and to intelligent arm carrying device's influence, pass through the camera when the device removes to image form, real-time feedback remote control's operational environment situation to can shoot, record a video through the camera, carry out real-time recording to operating condition, it is right so just to have accomplished the utility model discloses a use, the utility model discloses simple structure, convenience safe in utilization. Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides an intelligent mechanical arm carrying device, includes carrying main part (1), its characterized in that: the outer side of the carrying main body (1) is movably connected with a driving wheel (7), the outer side of the driving wheel (7) is movably connected with a crawler wheel (6), one side of the carrying main body (1) is fixedly connected with a signal rod (13) and a camera (14) respectively, one end of the signal rod (13) is electrically connected with a WIFI Bluetooth receiver (1301), the top of the carrying main body (1) is movably connected with a mechanical arm mounting frame (2), the front of the carrying main body (1) is embedded with a 5V power interface (9), a 3.3V power interface (10) and a 6-way steering engine interface (11) respectively, one side of the 5V power interface (9) is electrically connected with a steering engine overload protection seat (8), one side of the steering engine overload protection seat (8) is fixedly connected with a reset key (12), one side of the reset key (12) is fixedly connected with a steering engine voltage regulation (5, the other side of carrying main part (1) is embedded with PS2 handle interface (3) and power adapter mouth (4) respectively, one side electric connection respectively of power adapter mouth (4) has control panel switch (401), power negative pole (403) and power positive pole (404), one side fixedly connected with USB interface (402) of control panel switch (401), electric connection has pilot lamp (405) directly over USB interface (402), the inside difference fixedly connected with control panel (101), driving motor (102) and ultrasonic ranging ware (15) of carrying main part (1).

2. The smart robotic arm carrier device of claim 1, wherein: fixed mouthful (103) have been run through in the top four corners of control panel (101), the top of control panel (101) is electric connection 2 way bus interface (104), bluetooth interface (105) and first serial ports (106) respectively, one side electric connection of first serial ports (106) has 6 way sensor interface (107), one side electric connection of 6 way sensor interface (107) has IIC interface (108), one side electric connection of IIC interface (108) has STM32 singlechip (109), one side electric connection of STM32 singlechip (109) has bee calling organ (1010), one side electric connection of bee calling organ (1010) has voltage stabilizing chip (1011).

3. The smart robotic arm carrier device of claim 2, wherein: the quantity of 6 way sensor interface (107) has three, three 6 way sensor interface (107) are the equidistance and arrange, 6 way sensor interface (107) and control panel (101) electric connection.

4. The smart robotic arm carrier device of claim 2, wherein: the number of the fixed ports (103) is four, the four fixed ports (103) are respectively located at four corners of the control panel (101), and the fixed ports (103) penetrate through the top of the control panel (101).

5. The smart robotic arm carrier device of claim 1, wherein: the driving wheels (7) are arranged in a plurality of numbers, the driving wheels (7) are located on the outer side of the carrying main body (1), and the driving wheels (7) are movably connected with the crawler wheels (6).

6. The smart robotic arm carrier device of claim 1, wherein: control panel (101) include buzzer (1010) and steady voltage chip (1011) that link to each other with control panel (101) of STM32 singlechip (109) and STM32 singlechip (109) one side at control panel (101) top, steady voltage chip (1011) and control panel (101) electric connection.

7. The smart robotic arm carrier device of claim 1, wherein: the outer surface of the carrying main body (1) is smooth, the inside of the carrying main body (1) is hollow, the carrying main body (1) is movably connected with the mechanical arm mounting rack (2).