CN109079808A - A kind of shooting robot applied to education of middle and primary schools - Google Patents
A kind of shooting robot applied to education of middle and primary schools Download PDFInfo
- Publication number
- CN109079808A CN109079808A CN201810848986.6A CN201810848986A CN109079808A CN 109079808 A CN109079808 A CN 109079808A CN 201810848986 A CN201810848986 A CN 201810848986A CN 109079808 A CN109079808 A CN 109079808A
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- education
- primary schools
- bottom plate
- mecanum wheel
- robot
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- 238000010146 3D printing Methods 0.000 claims description 4
- 238000005096 rolling process Methods 0.000 claims description 4
- 230000000712 assembly Effects 0.000 claims description 3
- 238000000429 assembly Methods 0.000 claims description 3
- 238000007373 indentation Methods 0.000 claims description 3
- 241000209140 Triticum Species 0.000 claims 1
- 235000021307 Triticum Nutrition 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000002860 competitive effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
Abstract
The invention discloses a kind of shooting robots applied to education of middle and primary schools, including；Chassis portion, including bottom plate；Cradle head part is rotatably arranged on the bottom plate；Catapult-launching gear, fixation are located in cradle head part；Several Mecanum wheel parts are located at the chassis portion edge, drive entire shooting robot Omni-mobile；Control section is fixed on the bottom plate, controls connection cradle head part, catapult-launching gear and Mecanum wheel part respectively by circuit.The present invention passes through the dismounting and control to shooting robot, be conducive to develop students in middle and primary schools and teen-age intelligence, the machine person form competed with reference to the robot of university's mainstream now, be conducive to students in middle and primary schools and understand robot of university form of play and thinking in advance, widen thinking, manipulative ability is improved, and robot can use and carry out robot competition in education of middle and primary schools.
Description
Technical field
The present invention relates to education of middle and primary schools robotic technology field more particularly to a kind of shootings applied to education of middle and primary schools
Robot.
Background technique
Education of middle and primary schools robot is the teaching equipment of child or adolescent a kind of, by each of education of middle and primary schools robot
Components carry out group and are filled with to be spliced into complete education of middle and primary schools robot architecture, are advantageously implemented children or teen-age intelligence
Power exploitation is also beneficial to carry out robot teaching's activity or competition.Educational robot master present on society now
If student is guided to splice each components using male-female engagement mode or inserting mode.Disadvantage existing for above-mentioned technical proposal
End is to limit the thinking of student, and the educational robot of this connecting method is actually no different with the high toy of pleasure.
Summary of the invention
The main object of the present invention is to provide a kind of education of middle and primary schools robot, and with reference to the machine of university's mainstream now
The form of people's match allows students in middle and primary schools to experience mainstream robot of the universities matches such as the match of line walking trolley, Robomaster match
Machine person form opens up student thought, widens student knowledge face, improves students in middle and primary schools' manipulative ability.
The purpose of the present invention is achieved through the following technical solutions:
A kind of shooting robot applied to education of middle and primary schools, including；
Chassis portion, including bottom plate；
Cradle head part is rotatably arranged on the bottom plate；
Catapult-launching gear, fixation are located in cradle head part；
Several Mecanum wheel parts are located at the chassis portion edge, drive entire shooting robot Omni-mobile；
Control section is fixed on the bottom plate, controls connection cradle head part, catapult-launching gear and Mike respectively by circuit
Na Mu takes turns part.
Further, the cradle head part includes fork-shaped head support, the second steering engine, is rotatably arranged on holder support
Holder, the first steering engine on part, second steering engine are fixed on bottom plate, and the bottom of head support and second steering engine are defeated
First steering wheel of outlet is fixedly connected with the movement for realizing the direction head support Pitch, and the side of the holder passes through bearing
Be rotatablely connected with the respective side on head support top, the other side of the holder by the second steering wheel of the second steering engine of connection with
Another respective side on head support top is rotatablely connected, and realizes the movement of the movement in the direction head support Yaw.
Further, the circumferentially arranged universal rolling for having several rolling friction on bottom plate in the head support bottom
Pearl.
Further, the catapult-launching gear includes:
Internal weapon bays is fixed on the holder；
Emit gun tube, its rear end is fixedly connected with internal weapon bays and two sides be symmetrical arranged it is jagged；
Friction pulley is enclosed with O-ring, is symmetrically disposed in two indentation, theres of transmitting gun tube；
Motor is fixed on internal weapon bays front end and is drivingly connected respectively with friction pulley；
Driver plate, rotation are located at falling at bullet mouth and being drivingly connected with the DC speed-reducing for being located at internal weapon bays bottom for the internal weapon bays.
Further, the Mecanum wheel part includes four sets of Mecanum wheel driving assemblies, each Mecanum
Wheel drive component includes the motor fixing frame for being bolted on the bottom edge, is fixedly mounted on the motor and fixes
DC speed-reducing on frame, the Mecanum wheel being fixedly connected with the DC speed-reducing output shaft.
Further, the Mecanum wheel includes two Mecanum wheel cut piece, several roller bearings and roller, described
Two Mecanum wheel cut piece cooperate assembly by bolt in opposite directions, and the roller bearing is fixed on through roller and by interference fit
In two Mecanum wheel cut piece, the roller can be rotated freely around roller bearing.
Further, the control section includes single-chip microcontroller, motor drive module, the battery being used to provide power, institute
It states single-chip microcontroller and drives the Mecanum wheel part, the first DC speed-reducing, motor for controlling motor drive module, the
One steering engine and the second steering engine.
Further, the control section further includes the bluetooth serial ports module connecting with the single chip circuit, is used for
By receiving control of the Bluetooth signal realization to robot.
Further, the control section further includes the camera for being located at the bottom plate front end as vision line walking
OpenMV machine vision module, the OpenMV machine vision module is connect with the single chip circuit, for that will recognize
Ground on line information be sent to the single-chip microcontroller and adjust the revolving speed of each motor in Mecanum wheel part and realize and turn
To the function that realization line walking is advanced.
Further, the head support, friction pulley, internal weapon bays, driver plate, bottom plate, motor fixing frame, Mecanum wheel
Cut piece, roller are 3D printing part.
Compared with the existing technology, the invention has the advantages that and technical effect:
1. mitigating construction weight by using 3D printing part, the simplification of production is improved, is suitble to promote.
2. shooting machine human body product is small, mechanism is compact, without occupying excessive space.
3. shooting robotic part is few, and part is very common, is easy to part purchase and assembly.
4. robot is easy to operate, it is suitble to education of middle and primary schools.
Detailed description of the invention
Fig. 1 is this shooting robot overall structure diagram.
Fig. 2 is this shooting robot side view.
Fig. 3 is this shooting robot top view.
Fig. 4 is this shooting robot bottom view.
Fig. 5 is this shooting robot front view.
Fig. 6 is cradle head part schematic diagram.
Fig. 7 be cradle head part after attempt.
Fig. 8 is cradle head part top view.
Fig. 9 is chassis portion schematic diagram one.
Figure 10 is chassis portion schematic diagram two.
Figure 11 is Mecanum wheel partial schematic diagram.
Wherein, 1- chassis portion, 2- cradle head part, 3- Mecanum wheel part, 4- head support, 5- Universal caster,
6-O type circle, 7- friction pulley, 8- motor, 9- internal weapon bays, 10- bearing, the first DC speed-reducing of 11-, the first steering engine of 12-, 13-
One steering wheel, 14- driver plate, 15-OpenMV machine vision module, 16- vision module fixed plate, 17- bottom plate, the second steering wheel of 18-,
The second steering engine of 19-, 20- battery, 21- motor drive module, 22- bluetooth serial ports module, 23- single-chip microcontroller, the second direct current of 24- slow down
Motor, 25- motor fixing frame, 26- Mecanum wheel cut piece, 27- roller, 28- roller bearing.
Specific embodiment
For a better understanding of the invention, specific embodiments of the present invention are described further with reference to the accompanying drawing.
As shown in Figures 1 to 5, a kind of shooting robot applied to education of middle and primary schools, including；
Chassis portion 1, including bottom plate 17；
Cradle head part 2 is rotatably arranged on the bottom plate 17；
Catapult-launching gear, fixation are located in cradle head part 2；
Several Mecanum wheel parts 3 are located at 1 edge of chassis portion, drive entire shooting robot Omni-mobile；
Control section is fixed on the bottom plate 17, by circuit respectively control connection cradle head part 2, catapult-launching gear and
Mecanum wheel part 3.
As shown in Figure 6 to 8, the cradle head part 2 includes fork-shaped head support 4, the second steering engine 19, rotation setting
The model of holder, the first steering engine 12 in head support 4, first steering engine 12 and the second steering engine 19 is ES08MA rudder
Machine, second steering engine 19 are fixed on bottom plate 17, the bottom of the head support 4 and 19 output end of the second steering engine
The first steering wheel 13 be fixedly connected realize 4 direction Pitch of head support movement, the side of the holder passes through model
The bearing 10 of F686ZZ and the respective side on 4 top of head support are rotatablely connected, and the other side of the holder passes through connection second
Second steering wheel 18 of steering engine 19 and another respective side on 4 top of head support are rotatablely connected, and realize the head support side 4Yaw
To movement movement.4 bottom of head support is circumferentially arranged the universal of several rolling friction on bottom plate 17
Ball 5 guarantees the rotation of head support 4 stabilization, low friction.
As shown in Figure 6 and Figure 8, the catapult-launching gear includes:
Internal weapon bays 9 is fixed on the holder；
Emit gun tube, its rear end is fixedly connected with internal weapon bays 9 and two sides be symmetrical arranged it is jagged；
Friction pulley 7 is enclosed with O-ring 6, is symmetrically disposed in two indentation, theres of transmitting gun tube；
Motor 8 is fixed on 9 front end of internal weapon bays and is drivingly connected respectively with friction pulley 7,130 motor of model；
Driver plate 14, rotation are located at falling at bullet mouth and slowing down with the direct current for the model N20 for being located at 9 bottom of internal weapon bays for the internal weapon bays 9
The output shaft of motor 11 is drivingly connected by interference fit.
As shown in figure 11, the Mecanum wheel part 3 includes four sets of Mecanum wheel driving assemblies, and each Mike receives
Nurse wheel drive component includes the motor fixing frame 25 for being bolted on 17 edge of bottom plate, is fixedly mounted on the electricity
The DC speed-reducing 24 of model N20 on machine fixed frame 25 is matched with 24 output shaft of DC speed-reducing by interference
Close the Mecanum wheel being fixedly connected.The Mecanum wheel includes two Mecanum wheel cut piece 26,28 and of several roller bearings
Roller 27, two Mecanum wheel cut piece 26 cooperate assembly by bolt in opposite directions, and the roller bearing 28 runs through roller 27
And be fixed on 26 in two Mecanum wheel cut piece by interference fit, the roller 27 can be rotated freely around roller bearing 28.
As shown in Figure 9 and Figure 10, the control section include single-chip microcontroller 23, it is motor drive module 21, dynamic for providing
The battery 20 of power, the 23 model STM32F103C8T6 development board of single-chip microcontroller, the model of the motor drive module 21
L198N, the single-chip microcontroller 23 drive the Mecanum wheel part 3, the first direct current to subtract for controlling motor drive module 21
Speed motor 11, motor 8, the first steering engine 12 and the second steering engine 19.
In addition, the control section further includes the bluetooth serial ports module 22 with 23 circuit connection of single-chip microcontroller, model
For ATK-HC05, for realizing control to robot by receiving Bluetooth signal.
Meanwhile the control section further includes the camera for being located at 17 front end of bottom plate as vision line walking
OpenMV machine vision module 15, the OpenMV machine vision module 15 and 23 circuit connection of single-chip microcontroller, being used for will
The line information on ground recognized is sent to the single-chip microcontroller 23 and adjusts turning for each motor in Mecanum wheel part 3
Speed, which is realized, to be turned to, and realizes the function that line walking is advanced.
In above-described embodiment, the head support 4, friction pulley 7, internal weapon bays 9, driver plate 14, bottom plate 17, motor fixing frame
25, Mecanum wheel cut piece 26, roller 27 are 3D printing part.
Robot provided by the above embodiment is a kind of students in middle and primary schools or teen-age teaching equipment, passes through education of middle and primary schools
The dismounting and control of robot are conducive to develop students in middle and primary schools and teen-age intelligence, and it is living to be also beneficial to development robot teaching
Dynamic or competition.In the embodiment of the present invention, robot is mainly opened by the STM32F103C8T6 being placed in bottom plate 17
Hair plate is controlled, after burning program is entered development board by J-LINK, in the case where battery 20 provides power,
STM32F103C8T6 development board can control the rotation that motor drive module 21 drives four Mecanum wheels, by four Mikes
The omnidirectional moving chassis of Na Mu wheel composition can drive robot omnidirectional moving.Meanwhile motor drive module 21 can drive
First motor of DC speed-reducing 11 and 130 in cradle head part 2.First DC speed-reducing 11 drives driver plate 14 to rotate, by bullet
Bullet in cabin 9 is stirred, and then bullet enters transmitting gun tube, and 130 motors drive friction pulley 7 and O-ring 6 to rotate, pass through extruding
Ballistic projections are gone out.At the same time, STM32F103C8T6 development board also can control the first steering engine 12 of model ES08MA
With the second steering engine 19.Wherein, the first steering wheel 13 of the first steering engine 12 is rigidly connected with head support 4, when 12 turns of the first steering engine
When dynamic, since head support 4 is without the freedom degree in the direction Pitch, the moment of reaction of the first steering wheel 13 drives first
Steering engine 12 realizes the pitching in the direction Pitch, and the first steering engine 12 can drive the movement in the direction Pitch of entire internal weapon bays 9.Second rudder
The second steering wheel 18 and the head support 4 of machine 19 are rigidly connected, and when the rotation of the second steering engine 19, cradle head part 2 can be driven to exist
Supporting role during cloud platform rotation is played in the movement in the direction Yaw, in the process, Universal caster 5, so that holder
Yaw movement is more steady.The bluetooth serial ports module 22 of model ATK-HC05 can be connect with STM32F103C8T6 development board,
It realizes and passes through control of the bluetooth to robot.It is possible thereby to realize in education of middle and primary schools course, realize mutual with robot
Mutually shooting is the education contest process of contest form, during production is with control robot, improves the dynamic of students in middle and primary schools
Hand ability and cooperation ability, and increase the interest of study and the competitive spirit of training student by way of contest.
At the same time, camera of the OpenMV machine vision module 15 as vision line walking, the ground that can will be recognized
On route information, STM32F103C8T6 development board is sent to the digital information of floating number angle, according to the digital angle
Information can adjust the revolving speed of the second DC speed-reducing 24 of four chassis Mecanum wheels with PWM, realize chassis with this
It turns to, realizes the function that line walking is advanced.
Embodiment of the present invention are not limited by the above embodiments, other any real without departing from spirit of the invention
The changes, modifications, substitutions, combinations, simplifications done under matter and principle, should be equivalent substitute mode, are included in the present invention
Protection scope within.
Claims (10)
1. a kind of shooting robot applied to education of middle and primary schools, which is characterized in that including；
Chassis portion (1), including bottom plate (17)；
Cradle head part (2) is rotatably arranged on the bottom plate (17)；
Catapult-launching gear, fixation are located on cradle head part (2)；
Several Mecanum wheel parts (3) are located at the chassis portion (1) edge, drive entire shooting robot Omni-mobile；
Control section is fixed on the bottom plate (17), controls connection cradle head part (2), ejection dress respectively by circuit
It sets and Mecanum wheel part (3).
2. the shooting robot according to claim 1 applied to education of middle and primary schools, it is characterised in that: the holder portion
Dividing (2) includes fork-shaped head support (4), the second steering engine (19), the holder being rotatably arranged on head support (4), first
Steering engine (12), second steering engine (19) are fixed on bottom plate (17), the bottom of head support (4) and second steering engine
(19) the first steering wheel (13) of output end is fixedly connected with the movement for realizing head support (4) direction Pitch, the holder
Side be rotatablely connected by the respective side on bearing (10) and head support (4) top, the other side of the holder passes through company
Another respective side of the second steering wheel (18) and head support (4) top that connect the second steering engine (19) is rotatablely connected, and realizes holder
The movement of the movement in supporting element (4) direction Yaw.
3. the shooting robot according to claim 2 applied to education of middle and primary schools, it is characterised in that: the holder branch
The circumferentially arranged Universal caster (5) for having several rolling friction on bottom plate (17) in support member (4) bottom.
4. the shooting robot according to claim 1 or 2 applied to education of middle and primary schools, it is characterised in that: the ejection
Device includes:
Internal weapon bays (9), is fixed on the holder；
Emit gun tube, its rear end is fixedly connected with internal weapon bays (9) and two sides be symmetrical arranged it is jagged；
Friction pulley (7) is enclosed with O-ring (6), is symmetrically disposed in two indentation, theres of transmitting gun tube；
Motor (8) is fixed on internal weapon bays (9) front end and is drivingly connected respectively with friction pulley (7)；
Driver plate (14), rotation be located at the internal weapon bays (9) fall at bullet mouth and with the DC speed-reducing that is located at internal weapon bays (9) bottom
(11) it is drivingly connected.
5. the shooting robot according to claim 1 or 4 applied to education of middle and primary schools, it is characterised in that: the wheat
The wheel part Ke Namu (3) includes four sets of Mecanum wheel driving assemblies, and each Mecanum wheel driving assembly includes passing through spiral shell
Bolt is fixed on the motor fixing frame (25) at the bottom plate (17) edge, the direct current being fixedly mounted on the motor fixing frame (25)
Decelerating motor (24), the Mecanum wheel being fixedly connected with the DC speed-reducing (24) output shaft.
6. the shooting robot according to claim 5 applied to education of middle and primary schools, it is characterised in that: the Mecanum
Wheel includes two Mecanum wheel cut piece (26), several roller bearings (28) and roller (27), two Mecanum wheels point
Cutter member (26) cooperates assembly by bolt in opposite directions, and the roller bearing (28) is fixed on two through roller (27) and by interference fit
In Mecanum wheel cut piece (26), the roller (27) can rotate freely around roller bearing (28).
7. the shooting robot according to claim 2 applied to education of middle and primary schools, it is characterised in that: the control unit
Dividing includes single-chip microcontroller (23), motor drive module (21), the battery (20) being used to provide power, and the single-chip microcontroller (23) is for controlling
Motor drive module (21) the driving processed Mecanum wheel part (3), the first DC speed-reducing (11), motor (8), the
One steering engine (12) and the second steering engine (19).
8. being applied to the shooting robot of education of middle and primary schools according to claim (7), it is characterised in that: the control
Part further includes the bluetooth serial ports module (22) with the single-chip microcontroller (23) circuit connection, for being realized by receiving Bluetooth signal
Control to robot.
9. the shooting robot according to claim 8 applied to education of middle and primary schools, it is characterised in that: the control unit
Dividing further includes the OpenMV machine vision module (15) for being located at the bottom plate (17) front end as the camera of vision line walking, described
OpenMV machine vision module (15) and the single-chip microcontroller (23) circuit connection, for by the ground recognized route believe
Breath is sent to the revolving speed realization steering that the single-chip microcontroller (23) adjust described Mecanum wheel part (3) each motor, and realization is patrolled
The function that line is advanced.
10. being applied to the shooting robot of education of middle and primary schools according to any one of claim 4 to 6, it is characterised in that:
The head support (4), friction pulley (7), internal weapon bays (9), driver plate (14), bottom plate (17), motor fixing frame (25), Mai Kena
Nurse wheel cut piece (26), roller (27) are 3D printing part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810848986.6A CN109079808B (en) | 2018-07-28 | 2018-07-28 | Shooting robot applied to primary and secondary school education |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810848986.6A CN109079808B (en) | 2018-07-28 | 2018-07-28 | Shooting robot applied to primary and secondary school education |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109079808A true CN109079808A (en) | 2018-12-25 |
| CN109079808B CN109079808B (en) | 2023-11-10 |
Family
ID=64833395
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810848986.6A Active CN109079808B (en) | 2018-07-28 | 2018-07-28 | Shooting robot applied to primary and secondary school education |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109079808B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109691935A (en) * | 2019-03-06 | 2019-04-30 | 南京工程学院 | Clean robot and its application method between a kind of Intelligent sanitary |
| CN109702755A (en) * | 2019-01-08 | 2019-05-03 | 中国矿业大学 | A kind of holder and chassis can 360 degree rotation mobile shooting robot |
| CN112055678A (en) * | 2019-05-16 | 2020-12-08 | 深圳市大疆创新科技有限公司 | Detachable robot |
| CN112497183A (en) * | 2020-12-18 | 2021-03-16 | 华南理工大学广州学院 | Material conveying support |
| CN112923790A (en) * | 2021-01-19 | 2021-06-08 | 安徽芯感微电子科技有限公司 | Intelligent mobile target shooting electromagnetic device based on computer vision and control method |
| CN113618753A (en) * | 2021-08-23 | 2021-11-09 | 江苏派尔高智能科技有限公司 | Mobile intelligent robot |
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| CN107229280A (en) * | 2017-06-09 | 2017-10-03 | 华南理工大学 | A kind of security patrol robot |
| CN107253201A (en) * | 2017-06-14 | 2017-10-17 | 电子科技大学 | Material shoots robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109702755A (en) * | 2019-01-08 | 2019-05-03 | 中国矿业大学 | A kind of holder and chassis can 360 degree rotation mobile shooting robot |
| CN109691935A (en) * | 2019-03-06 | 2019-04-30 | 南京工程学院 | Clean robot and its application method between a kind of Intelligent sanitary |
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| CN112923790A (en) * | 2021-01-19 | 2021-06-08 | 安徽芯感微电子科技有限公司 | Intelligent mobile target shooting electromagnetic device based on computer vision and control method |
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| CN113618753B (en) * | 2021-08-23 | 2023-02-28 | 江苏派尔高智能科技有限公司 | Mobile intelligent robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109079808B (en) | 2023-11-10 |
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