CN112435567A

CN112435567A - Obstacle avoidance robot for teaching

Info

Publication number: CN112435567A
Application number: CN202011376002.2A
Authority: CN
Inventors: 于水
Original assignee: Wuhan Yujiayuanchuang Technology Co ltd
Current assignee: Wuhan Yujiayuanchuang Technology Co ltd
Priority date: 2020-12-02
Filing date: 2020-12-02
Publication date: 2021-03-02

Abstract

The invention provides an obstacle avoidance robot for teaching, wherein the bottom of the obstacle avoidance robot is rotationally connected with the head of the robot through a connecting rod, an infrared sensor is arranged on the head of the robot, a traveling wheel is arranged on the bottom of the robot, the traveling wheel is driven by a driving motor, a mounting groove and an annular groove are formed in the bottom of the robot, an annular rack and a gear are arranged in the annular groove, the gear is driven by a micro motor, a containing groove is formed in the side surface of the bottom of the robot, a protective block is arranged in the containing groove, a rack is arranged in the chute, the; the bidirectional motor is used for driving the connecting rod to drive the head to rotate, so that the infrared sensor on the head can observe the surrounding environment of the robot, and the phenomenon that the robot is touched with obstacles in other directions to influence the demonstration effect in the advancing process is avoided; install distance sensor around the bottom, can the perception and the obstacle between the distance, through stretching out and retracting of micro motor drive protection piece, can protect the robot, avoid the robot to damage, increase the teaching cost.

Description

Obstacle avoidance robot for teaching

Technical Field

The invention relates to the technical field of robots, in particular to an obstacle avoidance robot for teaching.

Background

A robot is a mechanical, automatically controlled machine that can simulate human behavior or other creatures, and is used to accomplish certain tasks. At present, a robot for teaching demonstration is mostly the grafting external member, and the computing power is weak, and the function singleness is simple, and the demonstration effect is relatively poor, can not bring better reality experience for the student and feel.

In the existing obstacle avoidance robots, visual field blind areas mostly exist, whether a road in the advancing direction is obstructed or not can only be observed, the surrounding environment is lack of observation, the obstacle avoidance robots are easy to touch, and the demonstration effect is influenced; when external collision is met, no good protection measures are provided, the robot is easily damaged, and the teaching cost is increased.

Disclosure of Invention

In view of the problems in the prior art, the invention provides an obstacle avoidance robot for teaching, which aims to solve the problems that the obstacle avoidance robot has less observation on the surrounding environment and lacks of protective measures.

The technical scheme who adopts is, including bottom, head, the bottom pass through the connecting rod with the head rotates to be connected, be equipped with infrared sensor on the head, be equipped with the walking wheel on the bottom, the walking wheel by driving motor drives, mounting groove and ring channel have been seted up on the bottom, the mounting groove is located ring channel top and intercommunication, be equipped with annular rack and gear in the ring channel, the gear with the annular rack meshes mutually, and its upper end is located in the mounting groove, the gear is driven by micro motor, the holding tank has been seted up to the bottom side, be equipped with the protection piece in the holding tank, the holding tank pass through the spout with the mounting groove intercommunication, sliding connection has the rack in the spout, the rack with the gear meshes mutually, and with the protection piece is connected, still be equipped with multiunit distance sensor and controlling means on the bottom, The control device is electrically connected with the driving motor, the micro motor, the power supply, the distance sensor and the infrared sensor.

As a preferable technical solution of the present invention, the connecting rod includes an upper portion, a middle portion, and a lower portion, the upper portion is connected to the head portion, the middle portion is rotatably connected to the bottom portion through a bearing seat, the lower portion is provided with a rotating gear, and the rotating gear is connected to an output shaft of a bidirectional motor.

As a preferable technical scheme of the invention, the protection blocks are rubber blocks, six groups of the protection blocks are arranged, and the protection blocks are arranged around the center of the bottom in an array mode.

As a preferred technical solution of the present invention, the power supply employs a 18650 battery pack.

As a preferred technical scheme of the present invention, the control device comprises a microprocessor and a motor frequency converter, wherein the motor frequency converter is electrically connected with the driving motor, the micro motor and the driving motor; the microprocessor is electrically connected with the motor frequency converter, the power supply, the distance sensor and the infrared sensor.

The invention has the beneficial effects that: according to the robot, the bidirectional motor is used for driving the connecting rod to drive the head to rotate, so that the infrared sensor on the head can observe the surrounding environment of the robot, and the phenomenon that the robot is touched with obstacles in other directions to influence the demonstration effect in the advancing process is avoided; install distance sensor around the bottom, can the perception and the barrier between the distance, through stretching out and retracting back of micro motor drive protection piece, can protect the robot when meetting inevitable obstacle, avoid the robot to damage, increase the teaching cost.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a top view of the mounting groove of the present invention;

FIG. 3 is a bottom cross-sectional view of the present invention;

fig. 4 is a bottom view of the present invention.

In the figure: 1-bottom, 2-head, 3-driving motor, 4-distance sensor, 5-control device, 6-power supply, 7-connecting rod, 8-bidirectional motor, 9-rack, 10-annular rack, 11-gear, 12-micro motor, 13-protection block, 14-mounting groove, 15-annular groove and 16-infrared sensor.

Detailed Description

The technical solution of the present invention will be described in detail by specific examples.

As shown in fig. 1 to 4, the infrared protection device comprises a bottom 1 and a head 2, wherein the bottom 1 is rotatably connected with the head 2 through a connecting rod 7, the head 2 is provided with an infrared sensor 16, the bottom 1 is provided with a traveling wheel driven by a driving motor 3, the bottom 1 is provided with a mounting groove 14 and an annular groove 15, the mounting groove 14 is positioned above the annular groove 15 and communicated with the annular groove 15, the annular groove 15 is internally provided with an annular rack 10 and a gear 11, the gear 11 is engaged with the annular rack 10, the upper end of the gear 11 is positioned in the mounting groove 14, the gear 11 is driven by a micro motor 12, the side surface of the bottom 1 is provided with a holding groove, the holding groove is internally provided with a protection block 13 and communicated with the mounting groove 14 through a sliding groove, the sliding groove is internally connected with a rack 9, and, and with protection piece 13 is connected, still be equipped with multiunit distance sensor 4 and controlling means 5, power 6 on the bottom 1, controlling means 5 with driving motor 3, driving motor micro motor 12 the power 6 distance sensor 4 with infrared sensor 16 electric connection.

In this embodiment, the connecting rod 7 includes an upper portion, a middle portion, and a lower portion, the upper portion is connected with the head portion 2, the middle portion is rotatably connected with the bottom portion 1 through a bearing seat, the lower portion is provided with a rotating gear, and the rotating gear is connected with an output shaft of the bidirectional motor 8.

In this embodiment, the protection blocks 13 are rubber blocks, and six groups of the protection blocks are arranged around the center of the bottom 1.

In this embodiment, the power supply 6 is a 18650 battery pack.

In this embodiment, the control device 5 includes a microprocessor and a motor frequency converter, and the motor frequency converter is electrically connected to the driving motor 3, the micro motor 12 and the driving motor; the microprocessor is electrically connected with the motor frequency converter, the power supply 6, the distance sensor 4 and the infrared sensor 16.

The working principle of the invention is as follows: during demonstration, a power switch of the robot is turned on, the robot drives a traveling wheel to rotate through a driving motor 3 to drive the robot to travel, a control device 5 controls a bidirectional motor 8 to work, drives a head 2 to rotate through a connecting rod 7, enables an infrared sensor to detect obstacles around the robot, transmits the obstacles to a microprocessor through electric signals, and controls the traveling wheel to rotate or stop through the driving motor 3 to avoid the obstacles; when encountering external collision, the microprocessor controls the micro motor 12 to rotate positively to drive one group of gears 11 after receiving signals through the distance sensor 4, the gears 11 rotate to drive the annular rack 10 to rotate in the annular groove 15, the racks 11 are driven to move towards the position far away from the center of the circle of the bottom 1, the racks 11 slide in the sliding groove, the protection block 13 is ejected out of the accommodating groove, the side surface of the robot is protected, and the robot is prevented from being damaged.

In addition, the motor frequency converter adopts RMSPD series frequency converters, is a commercially available product, and belongs to the prior art; the microprocessor adopts an Edimell 87C51 type singlechip which is used for starting and stopping the driving motor, the bidirectional motor and the micro motor, and the pins and the connection mode of the 87C51, so that technical advices can be obtained by technicians in the field by referring to teaching materials or technical manuals published by manufacturers.

The circuit connections according to the invention are conventional means used by the person skilled in the art and can be suggested by a limited number of tests, which are common knowledge.

Components not described in detail herein are prior art.

Although the present invention has been described in detail with reference to the specific embodiments, the present invention is not limited to the above embodiments, and various changes and modifications without inventive changes may be made within the knowledge of those skilled in the art without departing from the spirit of the present invention.

Claims

1. The utility model provides a teaching is with keeping away barrier robot which characterized in that: including bottom (1), head (2), bottom (1) through connecting rod (7) with head (2) rotate to be connected, be equipped with infrared sensor (16) on head (2), be equipped with the walking wheel on bottom (1), the walking wheel by driving motor (3) drive, mounting groove (14) and ring channel (15) have been seted up on bottom (1), mounting groove (14) are located ring channel (15) top and intercommunication, be equipped with ring rack (10) and gear (11) in ring channel (15), gear (11) with ring rack (10) mesh mutually, and its upper end is located in mounting groove (14), gear (11) are driven by micro motor (12), the holding tank has been seted up to bottom (1) side, be equipped with protection piece (13) in the holding tank, the holding tank pass through the spout with mounting groove (14) intercommunication, sliding connection has rack (9) in the spout, rack (9) with gear (11) mesh mutually, and with protection piece (13) are connected, still be equipped with multiunit distance sensor (4) and controlling means (5), power (6) on bottom (1), controlling means (5) with driving motor (3), driving motor micro motor (12) power (6) distance sensor (4) with infrared sensor (16) electric connection.

2. An obstacle avoidance robot for teaching as claimed in claim 1, wherein: the connecting rod (7) comprises an upper part, a middle part and a lower part, wherein the upper part is connected with the head part (2), the middle part is rotatably connected with the bottom part (1) through a bearing seat, the lower part is provided with a rotating gear, and the rotating gear is connected with an output shaft of the two-way motor (8).

3. An obstacle avoidance robot for teaching as claimed in claim 1, wherein: the protection block (13) adopts a rubber block, is provided with six groups and surrounds the bottom (1) at the center in an array mode.

4. An obstacle avoidance robot for teaching as claimed in claim 1, wherein: the power supply (6) adopts a 18650 battery pack.

5. An obstacle avoidance robot for teaching as claimed in claim 6, wherein: the control device (5) comprises a microprocessor and a motor frequency converter, and the motor frequency converter is electrically connected with the driving motor (3), the micro motor (12) and the driving motor; the microprocessor is electrically connected with the motor frequency converter, the power supply (6), the distance sensor (4) and the infrared sensor (16).