CN215149103U

CN215149103U - Intelligent mechanical arm based on STM32 singlechip

Info

Publication number: CN215149103U
Application number: CN202121015643.5U
Authority: CN
Inventors: 彭建伟; 王少杰; 王涛
Original assignee: Shaoyang University
Current assignee: Shaoyang University
Priority date: 2021-05-12
Filing date: 2021-05-12
Publication date: 2021-12-14
Anticipated expiration: 2031-05-12

Abstract

The utility model discloses an intelligent mechanical arm based on STM32 single chip microcomputer, relating to the technical field of industrial machinery, a rotating seat is fixed at the upper end of the bottom plate, an extension rod is rotatably connected at the upper end of the rotating seat, the lower end of the extension rod is rotatably connected with a supporting device, the upper end of the extension rod is rotatably connected with a rotating rod, a limiting device is fixed at the left end of the rotating rod through a bolt, a limiting rod is connected at the upper end of the limiting device in a sliding manner, the lower end of the limiting rod is fixed with a welding head, the utility model provides a supporting device, which supports the extension rod through the supporting device, under the normal pivoted condition of not hindering the extension rod, guarantee the normal height of extension rod, the ball has reduced the sliding plate and has rotated the friction of inslot portion, makes the rotation of bracing piece more stable and smooth and easy, has avoided the trouble that the extension rod is bent and causes after long-time the use, prolongs the life of manipulator.

Description

Intelligent mechanical arm based on STM32 singlechip

Technical Field

The utility model relates to an industrial machine technical field especially relates to intelligent mechanical arm based on STM32 singlechip.

Background

The welding robot is an industrial robot for welding, which is a multipurpose, reprogrammable, automatic control manipulator with three or more programmable axes for the field of industrial automation according to the international organization for standardization industrial robot definition belonging to the standard welding robot.

However, the existing mechanical arm drives the welding equipment to move through the extension rod when in use, the extension rod stretches out of the upper bearing part of the base part and can lead to the deformation of the extension rod for a long time, the precision of the mechanical arm is influenced, and the service life of the mechanical arm is greatly reduced.

SUMMERY OF THE UTILITY MODEL

The utility model provides an intelligent mechanical arm based on STM32 singlechip has solved the extension rod bearing that stretches out base part and can have been buckled the extension rod and influence the technical problem of arm precision.

In order to solve the technical problem, the intelligent mechanical arm based on the STM single chip microcomputer comprises a bottom plate, wherein a rotating seat is fixed at the upper end of the bottom plate, an extension rod is rotatably connected to the upper end of the rotating seat, a supporting device is rotatably connected to the lower end of the extension rod, a rotating rod is rotatably connected to the upper end of the extension rod, a limiting device is fixed at the left end of the rotating rod through a bolt, a limiting rod is slidably connected to the upper end of the limiting device, and a welding head is fixed at the lower end of the limiting rod;

the supporting device comprises a base body, a rotating groove is fixed on the outer surface of the base body, a supporting rod is connected to the left end of the rotating groove in a sliding mode, and a rotating block is fixed at the upper end of the supporting rod;

the support rod comprises a rod body, a sliding plate is fixed at the front end of the rod body, and a ball is fixed at the front end of the sliding plate.

Preferably, the lower end of the extension rod is fixed with a groove, the groove is rotatably connected with the rotating block, and the inner surface of the rotating groove is a T-shaped groove.

Preferably, the outer surface profile of the sliding plate is the same as the inner surface profile of the rotating groove, the inner surface of the rotating groove is fixed with the limiting plate, and the middle of the limiting plate is in contact with the ball surface.

Preferably, the welding head is electrically connected with an external welding device through a circuit, a lifting device is fixed at the upper end of the limiting rod, and the lifting device is communicated with an external hydraulic device through a pipeline.

Preferably, the limiting device comprises a connecting plate, a limiting pipe is fixed at the front end of the connecting plate, a connecting ring is fixed at the upper end of the limiting pipe, and a water absorbing ring is fixed inside the connecting ring.

Preferably, an injection port is fixed on the outer surface of the connecting ring and communicated with the inside of the connecting ring, and the diameter of the inner surface of the water absorbing ring is smaller than that of the outer surface of the limiting rod.

Preferably, the lower end of the limiting pipe is fixed with an absorption device, and the surface of the absorption device is provided with a scraper.

Compared with the prior art, the utility model provides an intelligent mechanical arm based on STM32 singlechip has following beneficial effect:

the utility model provides a supporting device supports the extension rod through strutting arrangement, under the normal pivoted condition of not hindering the extension rod, guarantees the normal height of extension rod, and the ball has reduced the friction of sliding plate with the rotation inslot portion, makes the rotation of bracing piece more stable and smooth and easy, has avoided the trouble that the extension rod caused by the buckling after long-time the use, prolongs the life of manipulator.

The utility model provides a stop device adopts the inside circle of absorbing water of clamping ring to paint lubricating oil on the surface of gag lever post, guarantees that the gag lever post surface has the parcel of lubricating oil all the time, avoids the surperficial corruption that gag lever post and air contact caused, stabilizes the gag lever post and drives the soldered connection and move steadily.

Drawings

FIG. 1 is a main structure view of the present invention;

FIG. 2 is a structural diagram of the supporting device of the present invention;

FIG. 3 is a structural view of the support rod of the present invention;

fig. 4 is a structural diagram of the middle stop device of the present invention.

Reference numbers in the figures: 1. the device comprises a supporting device, 2, a welding head, 3, a limiting device, 4, a limiting rod, 5, a rotating rod, 6, an extension rod, 7, a rotating seat, 8, a bottom plate, 11, a rotating block, 12, a rotating groove, 13, a seat body, 14, a supporting rod, 31, a water absorbing ring, 32, a limiting pipe, 33, a connecting ring, 34, a connecting plate, 141, a rod body, 142, a sliding plate, 143 and balls.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the 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.

In the first embodiment, as shown in fig. 1-4, the utility model discloses an intelligent mechanical arm based on STM32 singlechip, including bottom plate 8, rotation seat 7 is fixed to the upper end of bottom plate 8, rotation seat 7's upper end is rotated and is connected with extension rod 6, extension rod 6's lower extreme is rotated and is connected with strutting arrangement 1, extension rod 6's upper end is rotated and is connected with rotary rod 5, rotary rod 5's left end is fixed with stop device 3 through the bolt, stop device 3's upper end sliding connection has gag lever post 4, stop device 4's lower extreme is fixed with soldered connection 2;

the supporting device 1 comprises a base body 13, a rotating groove 12 is fixed on the outer surface of the base body 13, a supporting rod 14 is connected to the left end of the rotating groove 12 in a sliding manner, and a rotating block 11 is fixed at the upper end of the supporting rod 14;

the support rod 14 includes a rod body 141, a sliding plate 142 is fixed to a front end of the rod body 141, and a ball 143 is fixed to a front end of the sliding plate 142.

In the second embodiment, on the basis of the first embodiment, the limiting device 3 comprises a connecting plate 34, a limiting tube 32 is fixed at the front end of the connecting plate 34, a connecting ring 33 is fixed at the upper end of the limiting tube 32, and a water absorbing ring 31 is fixed inside the connecting ring 33.

The working principle is as follows:

the mechanical arm is communicated with an external hydraulic device, the hydraulic device is controlled to introduce hydraulic oil into the rotating seat 7, the hydraulic oil pushes the extension rod 6 to rotate, the extension rod 6 rotates relative to the rotating seat 7, the rotating rod 5 is controlled to rotate relative to the extension rod 6, the rotating rod 5 rotates to drive the limiting device 3 to move, the limiting device 3 moves to drive the limiting rod 4 to move, the limiting rod 4 moves to drive the welding head 2 to move, and the welding head 2 stays on the surface of a welding piece to be welded, can weld the weldment, when extension rod 6 rotates for rotating seat 7, extension rod 6 rotates and drives turning block 11 and rotate, and turning block 11 rotates and drives body of rod 141 and rotate, and body of rod 141 rotates and drives sliding plate 142 and rotate, and sliding plate 142 slides and drives ball 143 at the rotation inslot 12 inside and rolls, and strutting arrangement 1 supports extension rod 6 when not hindering extension rod 6's normal pivoted.

Gag lever post 4 reciprocates for stop device 3 through the elevating gear on surface, adds lubricating oil to the injection port on connecting ring 33 surface, then lubricating oil wets and absorbs water circle 31, absorbs water circle 31 and scribbles the lubricating oil on gag lever post 4 surface with the surface when gag lever post 4 reciprocates, makes gag lever post 4 isolated with outside air, increases gag lever post 4's life.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

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. Intelligent mechanical arm based on STM32 singlechip, including bottom plate (8), its characterized in that: a rotating seat (7) is fixed at the upper end of the bottom plate (8), an extension rod (6) is rotatably connected at the upper end of the rotating seat (7), a supporting device (1) is rotatably connected at the lower end of the extension rod (6), a rotating rod (5) is rotatably connected at the upper end of the extension rod (6), a limiting device (3) is fixed at the left end of the rotating rod (5) through a bolt, a limiting rod (4) is slidably connected at the upper end of the limiting device (3), and a welding head (2) is fixed at the lower end of the limiting rod (4);

the supporting device (1) comprises a base body (13), a rotating groove (12) is fixed on the outer surface of the base body (13), a supporting rod (14) is connected to the left end of the rotating groove (12) in a sliding mode, and a rotating block (11) is fixed to the upper end of the supporting rod (14);

the supporting rod (14) comprises a rod body (141), a sliding plate (142) is fixed to the front end of the rod body (141), and a ball (143) is fixed to the front end of the sliding plate (142).

2. An intelligent mechanical arm based on an STM32 single-chip microcomputer according to claim 1, wherein a groove is fixed at the lower end of the extension rod (6) and is rotationally connected with the rotating block (11), and the inner surface of the rotating groove (12) is a T-shaped groove.

3. An intelligent mechanical arm based on an STM32 single chip microcomputer according to claim 2, wherein the outer surface profile of the sliding plate (142) is the same as the inner surface profile of the rotating groove (12), a limiting plate is fixed on the inner surface of the rotating groove (12), and the middle of the limiting plate is in surface contact with the ball (143).

4. The STM32 single chip microcomputer-based smart mechanical arm of claim 1, wherein the welding head (2) is electrically connected with an external welding device through a circuit, and a lifting device is fixed at the upper end of the limiting rod (4) and communicated with an external hydraulic device through a pipeline.

5. The intelligent mechanical arm based on the STM32 single chip microcomputer according to claim 1, wherein the limiting device (3) comprises a connecting plate (34), a limiting pipe (32) is fixed to the front end of the connecting plate (34), a connecting ring (33) is fixed to the upper end of the limiting pipe (32), and a water absorbing ring (31) is fixed inside the connecting ring (33).

6. The intelligent mechanical arm based on the STM32 single chip microcomputer according to claim 5, wherein an injection port is fixed to the outer surface of the connecting ring (33) and communicated with the inside of the connecting ring (33), and the diameter of the inner surface of the water absorption ring (31) is smaller than that of the outer surface of the limiting rod (4).

7. An intelligent mechanical arm based on an STM32 single-chip microcomputer according to claim 5, wherein an absorption device is fixed at the lower end of the limiting pipe (32) and a scraper is arranged on the surface of the absorption device.