CN106926251A - A kind of intelligent entertainment robot based on infrared induction - Google Patents
A kind of intelligent entertainment robot based on infrared induction Download PDFInfo
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- CN106926251A CN106926251A CN201710227877.8A CN201710227877A CN106926251A CN 106926251 A CN106926251 A CN 106926251A CN 201710227877 A CN201710227877 A CN 201710227877A CN 106926251 A CN106926251 A CN 106926251A
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- 230000006698 induction Effects 0.000 title claims abstract description 18
- 238000002955 isolation Methods 0.000 claims description 29
- 230000001939 inductive effect Effects 0.000 claims description 22
- 238000005452 bending Methods 0.000 claims description 11
- 238000007493 shaping process Methods 0.000 claims description 11
- 230000009471 action Effects 0.000 claims description 9
- 230000005611 electricity Effects 0.000 claims description 9
- 244000309464 bull Species 0.000 claims description 7
- 230000003321 amplification Effects 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 6
- 239000013078 crystal Substances 0.000 claims description 3
- 230000010354 integration Effects 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 2
- 230000005622 photoelectricity Effects 0.000 claims 1
- 239000004575 stone Substances 0.000 abstract description 2
- 230000013011 mating Effects 0.000 abstract 1
- 210000003128 head Anatomy 0.000 description 16
- 230000000875 corresponding effect Effects 0.000 description 15
- 230000006872 improvement Effects 0.000 description 10
- 230000000694 effects Effects 0.000 description 8
- 230000002238 attenuated effect Effects 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 230000004888 barrier function Effects 0.000 description 1
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- 229910052710 silicon Inorganic materials 0.000 description 1
- 239000010703 silicon Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/003—Manipulators for entertainment
- B25J11/0035—Dancing, executing a choreography
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
Abstract
The invention discloses a kind of intelligent entertainment robot based on infrared induction, including mechanical part and circuit part, the mechanical part includes body, head, hand and foot, the head, hand and foot are connected by joint with body, the foot is vehicle structure, the circuit part is arranged on vehicle structure, and the circuit part includes：Pyroscan, control system, motor-drive circuit, photoelectric encoder, photoelectric isolating circuit, wherein, there is mode of learning and mode of operation in control system.Intelligent entertainment robot based on infrared induction of the invention, by the setting of body, head, hand and foot, just can effectively constitute one it is humanoid, laid the first stone to dance, by the mating reaction of Infrared Detectors, control system, motor-drive circuit and photoelectric encoder, it is possible to effective to realize learning and dancing of deducing.
Description
Technical field
The present invention relates to a kind of robot, more particularly to a kind of intelligent entertainment machine based on infrared induction
People.
Background technology
With the progress and the continuous improvement of living standard of society, people generate to traditional entertainment way and are weary of, right
Amusement there has also been new understanding and pursuit higher.In order to meet the demand of people, the people that anthropomorphic robot can particularly dance
Anthropomorphic robot becomes one of study hotspot of robot field.The robot that can be danced it can not only fill up the sky of the old men
It is empty with it is boring, the curiosity of young and children is more met, while can also excite their understanding and recreation to new science and technology.
Modern anthropomorphic robot is a kind of intelligent robot, is configured with up to more than ten in each turning joint of machine
Servomechanism, with multiple frees degree, spy makes its presence or power felt work, can more complete the exceedingly difficult movements of 90 degree of pendulum after such as arm.It is also equipped with
The control system of excellent in design, entire exercise just can be automatically completed by itself intelligent programming software.On the market or
The anthropomorphic robot for working out can dance with music, walk, rising and retiring, martial arts performance, the acrobatics such as turn a somersault and the various Olympic Games are competing
Match is acted, but the various actions of above-mentioned robot are all to be encased in robot using program in advance, thus robot exists
During dancing, it is merely able to constantly repeat the dance movement for being previously charged into robot interior, it is impossible to enough realize
The effect of dancing is practised, thus is merely able to realize jumping several dancings per a robot, and can not be changed, so on the one hand
The recreational of Dancing Robot greatly reduces, has on the other hand also limited to the use of Dancing Robot.
The content of the invention
In view of the shortcomings of the prior art, it is an object of the invention to provide it is a kind of with independent learning ability based on
The intelligent entertainment robot of infrared induction.
To achieve the above object, the invention provides following technical scheme：A kind of intelligent entertainment machine based on infrared induction
Device people, including mechanical part and circuit part, it is characterised in that：The mechanical part includes body, head, hand and foot,
The head, hand and foot are connected by joint with body, and the foot is vehicle structure, and the circuit part is arranged on
On vehicle structure, the circuit part includes：
Pyroscan, is arranged on robot head, for sending infrared signal and receiving infrared signal, to detect
Outer barrie thing, when outer barrie thing is detected, pyroscan output electric signal；
Control system, is coupled to pyroscan, with the electric signal that receiving infrared-ray detector sends, and to electric signal
Carry out treatment storage, output drive signal；
Motor-drive circuit, is coupled to control system, is further coupled to external robots motor, is used to receive control system defeated
The drive signal for going out, external robots motor rotation is driven according to drive signal；
Photoelectric encoder, is arranged on joint of robot, and it includes light source and inductive disks, and the light source is arranged on robot
On the arm of one, joint, the inductive disks are arranged on another corresponding arm of the joint of robot, and are coupled with control system,
When inductive disks experience light signal, transmit the electrical signal in control system；
Photoelectric isolating circuit, the photoelectric isolating circuit include input isolation circuit and output isolation circuit, the input every
It is coupled between Infrared Detectors and control system, control system and photoelectric encoder from circuit, the output isolation circuit coupling
It is connected between control system and motor-drive circuit, it is after the input isolation circuit also receives voice input signal, voice is defeated
Enter signal input in control system；
Wherein, there is mode of learning and mode of operation in control system, when control system is in mode of learning, control system
System receives the induced signal and voice input signal of photoelectric encoder and pyroscan output simultaneously, by the sensing at this moment
Signal and voice input signal are packaged as one group, are stored as motor drive signal, and the motor at multiple moment is driven into letter
Number according to moment sequence integration, the dancing signal of a period of time is formed, when control system is in mode of operation, control system connects
Extraneous voice input signal is received, control system is according to the corresponding induced signal of voice signal in dancing signal, output driving letter
Number to motor-drive circuit, motor rotarily drives joint of robot and is adjusted to the corresponding position of induced signal and by machine
People is moved on corresponding position.
As a further improvement on the present invention, comparator is coupled between the Infrared Detectors and input isolation circuit,
The model LM339 of the comparator, the comparator by the signal that Infrared Detectors is exported compare amplification after be input to input every
In circuit.
As a further improvement on the present invention, it is coupled with amplifying circuit between the photoelectric encoder and input isolation circuit
And shaping circuit, the signal of photoelectric encoder output is input to by after amplifying circuit amplification by after shaping circuit shaping
In input isolation circuit.
As a further improvement on the present invention, the control system includes：
Governor circuit, the governor circuit include single-chip microcomputer U3, single-chip microcomputer U3 have reset pin, vibration input pin and
Multiple I/O pins, the reset pin is grounded after being coupled with resistance R17, and power supply, the electric capacity are coupled to after being also coupled to electric capacity
SR KB1 is parallel with, the vibration input pin has two, is grounded after being respectively coupled to electric capacity C2 and electric capacity C3, and
Crystal oscillator XTAL1 is also coupled between two vibration input pins, the I/O pins are used to drive electricity with Infrared Detectors, motor
The communication of road, photoelectric isolating circuit and photoelectric encoder.
As a further improvement on the present invention, the motor-drive circuit includes：
Multiple positive and negative rotation circuits, the multiple positive and negative rotation circuit is corresponded and is coupled to control system with external robots electricity
Machine, the plurality of positive and negative rotation circuit includes prograde circuit and circuit for reversing, and the prograde circuit and circuit for reversing include three poles
The base stage of pipe Q1, diode D1 and relay K1, the triode Q1 is coupled to control system, grounded emitter, colelctor electrode coupling
The anode of diode D1 is connected to, the relay K1 includes coiler part and switch sections, the diode D1 and coiler part
Parallel with one another, described switch sections one end is coupled to power supply, and the other end is grounded after being coupled to motor, and its repeat circuit K1 is solid-state
Relay, coiler part is input circuit, and switch sections are output circuit.
As a further improvement on the present invention, the body includes the upper part of the body and the lower part of the body, and the lower part of the body is fixed on pin
In portion, the lower end of the upper part of the body is fixedly connected with rocking bar, and the middle part of the rocking bar is hinged composition by jointed shaft and the lower part of the body
Bend over joint, the light source is arranged on the lower part of the body on the position of pin joint, the inductive disks are arranged on rocking bar near being hinged
On the position of point, mutually corresponding with light source, the side of the rocking bar offers rectangular slot, is fixedly connected with the lower part of the body
Bend over motor, the motor of bending over is coupled with motor-drive circuit, and the fuselage of the motor of bending over is fixed in foot, described to bend over
Connecting rod is fixedly connected with the rotating shaft of motor, described connecting rod one end is fixedly connected with the side of motor of bending over, the other end
Side is fixedly connected with bull stick, and bull stick motor of dorsad bending over extends and is inserted into rectangular slot, comes in rectangular slot
Return sliding.
As a further improvement on the present invention, the position that the lower end of the upper part of the body is connected with the upper end of rocking bar is provided with
Rotating seat, the rocking bar is arranged on the lower section of rotating seat, and bearing, the rotation are fixedly connected with the upper surface of the rotating seat
Seat is mutually fixed with the outer ring of bearing, is fixedly connected with the position of the upper part of the body lower end and is turned round motor, the motor of turning round
Rotating shaft is fixedly connected with the inner ring of bearing, and fuselage is fixedly connected with the upper part of the body, and is coupled with motor-drive circuit, the inductive disks
It is arranged on rotating seat, the light source is arranged on the position corresponding with inductive disks of upper part of the body lower end.
As a further improvement on the present invention, the upper part of the body includes shoulder bar and waist bar, and the waist bar is vertically arranged, described
Rotating seat is arranged on the lower end of waist bar, the top for being fixed on waist bar of the shoulder bar level, and the two ends of the shoulder bar are respectively and fixedly provided with hand
Arm motor, the hand includes arm bar, and the side of described arm bar one end is fixed on arm machine shaft, and the light source is consolidated
It is scheduled on arm bar to be close to on the position of arm machine shaft fixing point, the inductive disks are separately positioned on the two ends of shoulder bar, with
Corresponding with light source, the shoulder bar is fixedly arranged in the middle of head motor, and fuselage and the shoulder bar of the head motor are mutually fixed, rotating shaft
It is fixedly connected with head.
Beneficial effects of the present invention, by the setting of body, head, hand and foot, it is possible to constitute one it is basic
It is humanoid, for dancing action lays the first stone, and pass through the setting of pyroscan, it is possible to the effective obstacle for detecting outside
Thing, equivalent to giving robot one effect of eyes, by setting for control system and motor-drive circuit and photoelectric encoder
Put, it is possible to drive signal to motor-drive circuit is sent by control system, joint position is fed back by photoelectric encoder
Signal makes corresponding action come the hand or body for realizing controlling robot, and passes through the mode of learning in control system
Setting, it is possible to realize the side that the actuating signal reflected by input speech signal and photoelectric encoder is be combined with each other
Formula realizes the dancing study of robot, thus compared to Dancing Robot of the prior art, its is recreational stronger, be applicable model
Enclose wider.
Brief description of the drawings
Fig. 1 is the module frame chart of the circuit part of the intelligent entertainment robot based on infrared induction of the invention；
Fig. 2 is the circuit diagram of control system in Fig. 1；
Fig. 3 is the circuit diagram of motor-drive circuit in Fig. 1；
Fig. 4 is the overall structure figure of mechanical part.
Specific embodiment
The present invention is described in further detail below in conjunction with the embodiment given by accompanying drawing.
Referring to figs. 1 to shown in 4, a kind of intelligent entertainment robot based on infrared induction of the present embodiment, including Machinery Ministry
Divide and circuit part, it is characterised in that：The mechanical part includes body a1, head a2, hand a3 and foot a4, the head
A2, hand a3 and foot a4 are connected by joint with body a1, and the foot a4 is vehicle structure, and the circuit part is set
On vehicle structure, the circuit part includes：
Pyroscan 1, is arranged on robot head, for sending infrared signal and receiving infrared signal, to visit
Outer barrie thing is surveyed, when outer barrie thing is detected, the output electric signal of pyroscan 1；
Control system 3, is coupled to pyroscan 1, with the electric signal that receiving infrared-ray detector 1 sends, and to electricity
Signal carries out treatment storage, output drive signal；
Motor-drive circuit 2, is coupled to control system 3, is further coupled to external robots motor, is used to receive control system
The drive signal of 3 outputs, external robots motor rotation is driven according to drive signal；
Photoelectric encoder 4, is arranged on joint of robot, and it includes light source and inductive disks, and the light source is arranged on machine
On one arm of person joint, the inductive disks are arranged on another corresponding arm of the joint of robot, and with the coupling of control system 3
Connect, when inductive disks experience light signal, transmit the electrical signal in control system 3；Photoelectric isolating circuit 5, Phototube Coupling electricity
Road 5 includes input isolation circuit 51 and output isolation circuit 52, and the input isolation circuit 51 is coupled to Infrared Detectors 1 with control
Between system processed 3, control system 3 and photoelectric encoder 4, the output isolation circuit 52 is coupled to control system 3 and is driven with motor
Between dynamic circuit 2, after the input isolation circuit 51 also receives voice input signal, voice input signal is input to control system
In system 3；
Wherein, there is mode of learning and mode of operation in control system 3, when control system 3 is in mode of learning, control
System 3 receives the induced signal and voice input signal of photoelectric encoder 4 and the output of pyroscan 1 simultaneously, by this moment
Induced signal and voice input signal be packaged as one group, stored as motor drive signal, by the motor at multiple moment
Drive signal forms the dancing signal of a period of time according to moment sequence integration, when control system 3 is in mode of operation, control
System processed 3 receive the external world voice input signal, control system 3 according to the corresponding induced signal of voice signal in dancing signal,
To motor-drive circuit 2, motor rotarily drives joint of robot and is adjusted to induced signal corresponding position output drive signal
Put and move the robot on corresponding position, during using amusement robot, control system 3 is set first
To mode of learning, the music player for then opening outside plays music, during music is played, control is gone by staff
The body a1 of robot, head a2, hand a3 and foot a4 followed by music and show different dance movements, in the process for swinging
In, the joint of robot will move, thus inductive disks will receive a string of train of signals of the various actions in joint, then control
Be combined with each other for actuating signal string and music signal by system 3, so just can effectively complete the study of Robot dancing action,
Robot is set to mode of operation again afterwards, while open outside music player broadcasting music, control system 3 will be by
Train of signal according to corresponding to music is converted into drive signal and is sent in motor-drive circuit 2, and motor-drive circuit 2 will drive
Move each motor action so that robot jumps out the dance movement for learning before, thus compared to existing Dancing Robot, its
Recreational stronger, the scope of application is wider, and wherein the voice signal of the present embodiment can directly set microphone and be acquired, and utilizes
The buffer action of photoelectric isolating circuit 5, effectively carries out filtering to the interference signal in voice signal.
As a kind of improved specific embodiment, it is coupled between the Infrared Detectors 1 and input isolation circuit 51
The signal that Infrared Detectors 1 is exported is compared amplification by comparator 11, the model LM339 of the comparator 11, the comparator 11
After be input in input isolation circuit 51, Infrared Detectors 1 detect during, will be subject to during signal transmission
Interference, it is necessary to input isolation circuit 51 is isolated, and during isolating will attenuated signal intensity, and as robot eyes
The volume of Infrared Detectors 1 it is all smaller, thus mean that the power of Infrared Detectors 1 is not high, therefore its electric signal for being sent
It is weaker, after so being compared and enlarged to the output electric signal of Infrared Detectors 1 using comparator 11 in the present embodiment, just may be used
It is transferred in control system 3 by after isolation with effective.
As a kind of improved specific embodiment, it is coupled between the photoelectric encoder 4 and input isolation circuit 51
Amplifying circuit 41 and shaping circuit 42, the signal of the output of the photoelectric encoder 4 after the amplification of amplifying circuit 41 by passing through shaping
It is input in input isolation circuit 51 after the shaping of circuit 42, during photoelectric encoder 4 runs, in the process of signal transmission
In will be interfered, it is necessary to input isolation circuit 51 is isolated, and will attenuated signal intensity, and machine during isolating
The joint part of eye is all smaller, thus means that and cannot use big encoder, therefore photoelectric encoder 4 is sent
Electric signal is weaker, after being so amplified to the output electric signal of photoelectric encoder 4 using amplifying circuit in the present embodiment, just
Effectively can be transferred in control system 3 by after isolation, and by the setting of shaping circuit 42, it is possible to after amplification
It is input to after signal shaping in input isolation circuit 51.
Used as a kind of improved specific embodiment, the control system 3 includes：
Governor circuit 31, the governor circuit 31 includes that there is reset pin, vibration input to draw for single-chip microcomputer U3, single-chip microcomputer U3
Pin and multiple I/O pins, the reset pin are grounded after being coupled with resistance R17, and power supply is coupled to after being also coupled to electric capacity, described
Electric capacity is parallel with SR KB1, and the vibration input pin has two, has been respectively coupled to electric capacity C2 and electric capacity C3 is followed by
Crystal oscillator XTAL1 is also coupled between ground, and two vibration input pins, the I/O pins are used for and Infrared Detectors 1, motor
Drive circuit 2, photoelectric isolating circuit 5 and photoelectric encoder 4 communicate, and the I/O pin functions of single-chip microcomputer U3 are powerful, can export and
Various signals are received, thus can effectively realize the effect that Based Intelligent Control is calculated herein, so just can be effective
Realization edited in mode of learning storage dancing signal, in mode of operation by dancing signal driving external motor cause machine
Device people danced, thus the effect of intelligent robot just can be effectively controlled by arrangement above.
Used as a kind of improved specific embodiment, the motor-drive circuit 2 includes：
Multiple positive and negative rotation circuits 21, the multiple positive and negative rotation circuit 21 is corresponded and is coupled to control system 3 with outside machine
Device people's motor, the plurality of positive and negative rotation circuit 21 includes prograde circuit 211 and circuit for reversing 212, the prograde circuit 211 and anti-
Shifting circuit 212 includes triode Q1, diode D1 and relay K1, and the base stage of the triode Q1 is coupled to control system 3,
Grounded emitter, colelctor electrode is coupled to the anode of diode D1, and the relay K1 includes coiler part and switch sections, described
Diode D1 is parallel with one another with coiler part, and described switch sections one end is coupled to power supply, and the other end is grounded after being coupled to motor,
Its repeat circuit K1 is solid-state relay, and coiler part is input circuit, and switch sections are output circuit, by positive and negative rotation circuit
21 setting, it is possible to the rotating of effective control robot motor, and pass through the setting of triode Q1, can be by control
I is input in relay K1 after the signal of the output of system 3 is amplified, and drives relay K1 actions, and then realize the positive and negative of motor
Turn, and use and relay K1 is arranged to solid-state relay, solid-state relay (SSR) is that one kind does not have compared with electromechanical relay
Have mechanical movement, the relay without moving parts, but it have and electromechanical relay substantially identical function.SSR is one
The contactless switch element being all made up of solid state electrical components is planted, he utilizes the point of electronic component, and magnetically and optically characteristic has been come
Isolate with the reliability of output into input, using large power triode, power field effect pipe, individual event controllable silicon and bidirectional triode thyristor etc.
The switching characteristic of device is contactless to reach, and switches on and off controlled circuit to no-spark, with herein can be controlling well
The rotating of motor processed, and the electric energy of consumption is few, it is adaptable to use battery-driven Dancing Robot.
As it is improved a kind of specific when mode, the body a1 includes upper part of the body a11 and lower part of the body a12, it is described under
Half body a12 is fixed on foot a4, and the lower end of the upper part of the body a11 is fixedly connected with rocking bar a111, in the rocking bar a111
Portion is hinged composition and bends over joint by jointed shaft and lower part of the body a12, and the light source is arranged on lower part of the body a12 near the position of pin joint
Put, mutually corresponding with light source, the inductive disks are arranged on rocking bar a111 on the position of pin joint, the rocking bar a111's
Downside offers rectangular slot, and the motor a121 that bends over is fixedly connected with the lower part of the body a12, bend over motor a121 and the electricity
Drive circuit 2 is coupled, and the fuselage for bending over motor a121 is fixed on foot a4, in the rotating shaft of the motor a121 that bends over
Connecting rod a122 is fixedly connected with, described connecting rod a122 one end is fixedly connected with the side of the motor a121 that bends over, the other end
Side is fixedly connected with bull stick a123, and the bull stick a123 motor a121 that dorsad bend over extend and are inserted into rectangular slot,
Slides back and forth in rectangular slot, body a1 is arranged into upper part of the body a11 and lower part of the body a12 can just realize between the upper lower part of the body
Dance movement so that dance movement is more more good-looking, and using rocking bar a111, the motor a121 that bends over, connecting rod a122 and bull stick
The setting of a123, it is possible to the effect that a linkage drives upper part of the body a11 to bend over is formed, it is thus achieved that robot is curved
Waist is acted, and increased Robot dancing action, increased the recreational of robot.
Used as a kind of improved specific embodiment, the lower end of the upper part of the body a11 is connected with the upper end of rocking bar a111
Position be provided with rotating seat a112, the rocking bar a111 and be arranged on the lower section of rotating seat a112, the rotating seat a112's is upper
Bearing is fixedly connected with end face, the rotating seat a112 is mutually fixed with the outer ring of bearing, the position of the upper part of the body a11 lower ends
On be fixedly connected with and turn round motor a113, the rotating shaft for turning round motor a113 is fixedly connected with the inner ring of bearing, fuselage with it is upper
Half body a11 is fixedly connected, and is coupled with motor-drive circuit 2, and the inductive disks are arranged on rotating seat a112, and the light source sets
Put on the position corresponding with inductive disks of upper part of the body a11 lower ends, by rotating seat a112, turn round setting for motor a113 and bearing
Put, it is possible to realize the effect that upper part of the body a11 is turned round, and simple structure, easily realization, so just can be good at increased machine
The dance movement of device people, further increases the recreational of robot.
Used as a kind of improved specific embodiment, the upper part of the body a11 includes shoulder bar a114 and waist bar a115, the waist
Bar a115 is vertically arranged, the rotating seat a112 is arranged on the lower end of waist bar a115, and the shoulder bar a114 levels are fixed on waist
The top of bar a115, the two ends of shoulder bar a114 are respectively and fixedly provided with arm motor a116, the hand a3 includes arm bar a31, institute
The side for stating arm bar a31 one end is fixed in arm motor a116 rotating shafts, and the light source is fixed on arm bar a31 and is close to and hand
On the position of arm motor a116 rotating shaft fixing points, the inductive disks are separately positioned on the two ends of shoulder bar a114, with relative with light source
Should, the fuselage for being fixedly arranged in the middle of head motor a117, the head motor a117 of the shoulder bar a114 is solid with shoulder bar a114 phases
Fixed, rotating shaft is fixedly connected with head a2, by the setting of shoulder bar a114 and waist bar a115, may be constructed a upper half body structure,
And pass through the setting of arm bar a31 and arm motor a116, it is possible to achieve the effect of robot arm flexible rotating so that machine
People can make more dance movements, and pass through the setting of head motor a117, can effective driven machine people head
A2 is rotated, and further increases the flexibility of robot so that the study of robot can be stronger, recreational stronger.
In sum, the intelligent entertainment robot based on infrared induction in the present embodiment, using pyroscan 1
Setting can realize the visual effect of robot, can effectively perceive the barrier in the external world, and pass through control system 3, motor
The setting of drive circuit 2, photoelectric encoder 4 and photoelectric isolating circuit 5, it is possible to realize robot learning dancing and jump out dancing
Effect, greatly increased the recreational of robot, increased the scope of application of robot.
The above is only the preferred embodiment of the present invention, and protection scope of the present invention is not limited merely to above-mentioned implementation
Example, all technical schemes belonged under thinking of the present invention belong to protection scope of the present invention.It should be pointed out that for the art
Those of ordinary skill for, some improvements and modifications without departing from the principles of the present invention, these improvements and modifications
Should be regarded as protection scope of the present invention.
Claims (8)
1. a kind of intelligent entertainment robot based on infrared induction, including mechanical part and circuit part, it is characterised in that：It is described
Mechanical part includes body (a1), head (a2), hand (a3) and foot (a4), the head (a2), hand (a3) and foot
(a4) it is connected with body (a1) by joint, the foot (a4) is vehicle structure, the circuit part is arranged on dolly knot
On structure, the circuit part includes：
Pyroscan (1), is arranged on robot head, for sending infrared signal and receiving infrared signal, to detect
Outer barrie thing, when outer barrie thing is detected, pyroscan (1) output electric signal；Control system (3), is coupled to
Pyroscan (1), with the electric signal that receiving infrared-ray detector (1) sends, and carries out treatment storage to electric signal, output
Drive signal；
Motor-drive circuit (2), is coupled to control system (3), is further coupled to external robots motor, is used to receive control system
(3) drive signal of output, external robots motor rotation is driven according to drive signal；
Photoelectric encoder (4), is arranged on joint of robot, and it includes light source and inductive disks, and the light source is arranged on robot
On the arm of one, joint, the inductive disks are arranged on another corresponding arm of the joint of robot, and with control system (3) coupling
Connect, when inductive disks experience light signal, transmit the electrical signal in control system (3)；
Photoelectric isolating circuit (5), the photoelectric isolating circuit (5) includes input isolation circuit (51) and output isolation circuit (52),
The input isolation circuit (51) is coupled to Infrared Detectors (1) and control system (3), control system (3) and photoelectric encoder
(4) between, the output isolation circuit (52) is coupled between control system (3) and motor-drive circuit (2), it is described input every
After also receiving voice input signal from circuit (51), voice input signal is input in control system (3)；
Wherein, there is mode of learning and mode of operation in control system (3), when control system (3) is in mode of learning, control
System (3) is while the induced signal and voice input signal of reception photoelectric encoder (4) and pyroscan (1) output, incite somebody to action
The induced signal and voice input signal at this moment are packaged as one group, are stored as motor drive signal, by multiple moment
Motor drive signal according to moment sequence integration, the dancing signal of a period of time is formed, when control system (3) is in Working mould
During formula, control system (3) receives extraneous voice input signal, and control system (3) is according to voice signal correspondence in dancing signal
Induced signal, output drive signal to motor-drive circuit (2), motor rotarily drive joint of robot be adjusted to sensing
The corresponding position of signal and move the robot on corresponding position.
2. the intelligent entertainment robot based on infrared induction according to claim 1, it is characterised in that：The infrared acquisition
Comparator (11) is coupled between device (1) and input isolation circuit (51), the model LM339 of the comparator (11), the ratio
It is input in input isolation circuit (51) after the signal that Infrared Detectors (1) is exported is compared into amplification compared with device (11).
3. the intelligent entertainment robot based on infrared induction according to claim 1 and 2, it is characterised in that：The photoelectricity
Amplifying circuit (41) and shaping circuit (42), the photoelectric coding are coupled between encoder (4) and input isolation circuit (51)
The signal of device (4) output is after amplifying circuit (41) amplifies by being input to input isolation circuit after shaping circuit (42) shaping
(51) in.
4. the intelligent entertainment robot based on infrared induction according to claim 1 and 2, it is characterised in that：The control
System (3) includes：
Governor circuit (31), the governor circuit (31) includes single-chip microcomputer U3, and there is the single-chip microcomputer U3 reset pin, vibration input to draw
Pin and multiple I/O pins, the reset pin are grounded after being coupled with resistance R17, and power supply is coupled to after being also coupled to electric capacity, described
Electric capacity is parallel with SR KB1, and the vibration input pin has two, has been respectively coupled to electric capacity C2 and electric capacity C3 is followed by
Crystal oscillator XTAL1 is also coupled between ground, and two vibration input pins, the I/O pins are used for and Infrared Detectors (1), electricity
The communication of drive circuit (2), photoelectric isolating circuit (5) and photoelectric encoder (4).
5. the intelligent entertainment robot based on infrared induction according to claim 4, it is characterised in that：The motor drives
Circuit (2) includes：
Multiple positive and negative rotation circuits (21), the multiple positive and negative rotation circuit (21) corresponds and is coupled to control system (3) with outside
Robot motor, the plurality of positive and negative rotation circuit (21) includes prograde circuit (211) and circuit for reversing (212), described to rotate forward electricity
Road (211) and circuit for reversing (212) include triode Q1, diode D1 and relay K1, the base stage coupling of the triode Q1
Control system (3), grounded emitter are connected to, colelctor electrode is coupled to the anode of diode D1, and the relay K1 includes coil portion
Divide and switch sections, the diode D1 is parallel with one another with coiler part, and described switch sections one end is coupled to power supply, the other end
It is grounded after being coupled to motor, its repeat circuit K1 is solid-state relay, coiler part is input circuit, and switch sections are output electricity
Road.
6. the intelligent entertainment robot based on infrared induction according to claim 1 and 2, it is characterised in that：The body
(a1) (a11) and the lower part of the body (a12) above the waist are included, the lower part of the body (a12) is fixed in foot (a4), the upper part of the body
(a11) lower end is fixedly connected with rocking bar (a111), and the middle part of the rocking bar (a111) is cut with scissors by jointed shaft with the lower part of the body (a12)
Connect composition to bend over joint, the light source is arranged on the lower part of the body (a12) on the position of pin joint, institute mutually corresponding with light source
State inductive disks and be arranged on rocking bar (a111) on the position of pin joint, the downside of the rocking bar (a111) offers rectangle
Groove, motor of bending over (a121) is fixedly connected with the lower part of the body (a12), the motor of bending over (a121) and motor-drive circuit
(2) couple, the fuselage of the motor of bending over (a121) is fixed in foot (a4), it is solid in the rotating shaft of the motor of bending over (a121)
Surely connecting rod (a122) is connected with, described connecting rod (a122) one end is fixedly connected with the side of motor of bending over (a121), another
The side at end is fixedly connected with bull stick (a123), and the bull stick (a123) motor (a121) of dorsad bending over extends and is inserted into rectangular
In shape groove, slid back and forth in rectangular slot.
7. the intelligent entertainment robot based on infrared induction according to claim 6, it is characterised in that：The upper part of the body
(a11) position that lower end is connected with the upper end of rocking bar (a111) is provided with rotating seat (a112), and the rocking bar (a111) sets
Put in the lower section of rotating seat (a112), bearing, the rotating seat are fixedly connected with the upper surface of the rotating seat (a112)
(a112) outer ring with bearing is mutually fixed, and is fixedly connected with the position of the upper part of the body (a11) lower end and turns round motor (a113),
The rotating shaft for turning round motor (a113) is fixedly connected with the inner ring of bearing, fuselage with above the waist (a11) be fixedly connected, and with electricity
Drive circuit (2) is coupled, and the inductive disks are arranged on rotating seat (a112), and the light source is arranged under (a11) above the waist
On the position corresponding with inductive disks of end.
8. the intelligent entertainment robot based on infrared induction according to claim 7, it is characterised in that：The upper part of the body
(a11) shoulder bar (a114) and waist bar (a115) are included, the waist bar (a115) is vertically arranged, and the rotating seat (a112) is arranged on
The lower end of waist bar (a115), the top for being fixed on waist bar (a115) of shoulder bar (a114) level, the two of the shoulder bar (a114)
End is respectively and fixedly provided with arm motor (a116), and the hand (a3) includes arm bar (a31), the side of described arm bar (a31) one end
Face is fixed in arm motor (a116) rotating shaft, and the light source is fixed on arm bar (a31) and turns near with arm motor (a116)
On the position of axle fixing point, the inductive disks are separately positioned on the two ends of shoulder bar (a114), with, the shoulder bar corresponding with light source
(a114) be fixedly arranged in the middle of head motor (a117), fuselage and the shoulder bar (a114) of the head motor (a117) are mutually fixed,
Rotating shaft is fixedly connected with head (a2).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710227877.8A CN106926251B (en) | 2017-04-07 | 2017-04-07 | Intelligent entertainment robot based on infrared induction |
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|---|---|---|---|
| CN201710227877.8A CN106926251B (en) | 2017-04-07 | 2017-04-07 | Intelligent entertainment robot based on infrared induction |
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| CN106926251B CN106926251B (en) | 2019-12-10 |
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| Publication number | Publication date |
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| CN106926251B (en) | 2019-12-10 |
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