CN201576397U - Robot teaching model - Google Patents
Robot teaching model Download PDFInfo
- Publication number
- CN201576397U CN201576397U CN2009200207425U CN200920020742U CN201576397U CN 201576397 U CN201576397 U CN 201576397U CN 2009200207425 U CN2009200207425 U CN 2009200207425U CN 200920020742 U CN200920020742 U CN 200920020742U CN 201576397 U CN201576397 U CN 201576397U
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- cleaning arm
- motor
- chip microcomputer
- cleaning
- car body
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Abstract
The utility model relates to a robot teaching model, belonging to the field of teaching equipment. The technical scheme is that the robot teaching model is composed of a robot main body and a robot control box, wherein the robot main body comprises a car body, a camera, an ultrasound probe, a lifting cleaning arm positioned on the car body, a cleaning arm lifting mechanism, a drive motor and a cleaning brush drive motor installed at the upper end of the cleaning arm. The cleaning arm is formed by connecting a small connecting rod with a large connecting rod by a bolt, and the lower end of the cleaning arm is hinged with a support fixed at the back part of the chassis of the car body. The left side and the right side of the cleaning arm are respectively provided with two driving wheels which are respectively driven by four motors. The robot teaching model has the advantages of light weight, small volume, flexible operation, low manufacturing cost and good teaching practice value.
Description
Technical field
The utility model relates to a kind of robot teaching's model of the robot teaching's of being used for practice, relates in particular to a kind of pipeline cleaning robot teaching mode that is applied to central air conditioner.
Background technology
Along with robot widespread use in modern production and life, the teaching practice of robot and correlated curriculum is subjected to more and more the attention, and robot teaching's model has very widely to be used, but robot teaching's version is insufficient at present, engineering background is strong inadequately, perhaps costs an arm and a leg.
Summary of the invention, at above-mentioned deficiency, the utility model provides a kind of robot teaching's model that is applicable to the square central air conditioner ventilating duct of cleaning, can be widely used in the teaching practice of courses such as robot, mechanical component and electronic product control.
Summary of the invention:
The utility model is achieved through the following technical solutions: a kind of central air conditioner ventilation pipeline sweeping teaching mode, form by car body and cleaning arm, cleaning arm is connected to form by bolt for two sections by small rod and big connecting rod, the lower end of cleaning arm is connected with the support that is fixed on rear portion, car body chassis, its upper end is equipped with the cleaning brush motor, the cleaning brush motor can the cleaning brush of drive installation on motor shaft, and car body each side has two driving wheels, respectively by four motor-driven.
Above-mentioned robot teaching's model, set up the cleaning arm lift, described cleaning arm undercarriage is by lifting motor, sway brace, lead screw pair, guide rail, bearing, bearing spider, sway brace one end is connected with cleaning arm, the other end is connected with nut in the lead screw pair, and Bearing Installation is in bearing spider, and leading screw is by bearing and seat supports in guide rail and the lead screw pair, one end of leading screw is connected with lifting motor by shaft coupling, and lifting motor and bearing 6 and supporting seat are fixed on the car body chassis.
Above-mentioned robot teaching's model, under casing is set up in below, described car body chassis, is fixing the driving motor of two wheels on the under casing two side respectively.
Above-mentioned robot teaching's model, described rear vehicle is set up camera, and camera is connected with PC through the USB mouth.
Above-mentioned robot teaching's model, described Vehicular body front is set up ultrasonic probe.
Robot model described in the utility model is when using:
Robot model described in the utility model can sail pipe interior into, with the cleaning brush drive motor pipeline arm is cleaned, the position of conversion robot can be cleaned different inwalls in the pipeline, changes the sense of rotation of cleaning brush, can adapt to the cleaning of different inwalls; Utilize lifting motor, the cleaning arm lift that screw pair and sway brace are formed is adjusted the forward leaning angle of cleaning arm, thereby change the cleaning height, to adapt to the pipeline of different cross section, change the length that small rod changes cleaning arm, thereby change the cleaning brush height, to adapt to the pipeline of different cross section, utilize ultrasonic probe to survey car body the place ahead whether barrier is arranged, judging whether needs to turn keeps away barrier, utilize camera the cleaning arm working condition of pipe interior can be shown on PC or store, being convenient to the outside watches and has access to, in a word, the utlity model has in light weight, long-pending little, flexible operation, cost of manufacture is low, having preferably, teaching practice is worth, robot model described in the utility model can adopt PC to control, Fig. 4 is a kind of control circuit structured flowchart, as shown in Figure 4, described cleaning brush driving motor, cleaning arm lifting driving motor, the power end of wheel drive motor connects with the driving power output terminal of corresponding motor drive circuit respectively, and the control utmost point of described each motor drive circuit connects with single-chip microcomputer corresponding control signal output terminal is corresponding respectively, the Hall detecting element that described wheel tests the speed connects the corresponding connection of single-chip microcomputer corresponding control signal input end, described cleaning arm lifting limit switch connects the corresponding connection of single-chip microcomputer corresponding control signal input end, described PC serial port is connected with microcontroller serial port through serial interface circuit, and described camera is connected with the USB mouth of PC.
The course of work of control circuit block diagram shown in Figure 4 is, starts PC (host computer), enters special-purpose Control Software,
But presentation control function window menu on the display screen; When carrying out control command, steering order is sent through serial interface circuit
To single-chip microcomputer (slave computer),, single-chip microcomputer make it finish function corresponding respectively or synchronously to motor drive circuit and sending drive signal according to different instruction.Simultaneously the Hall detecting element of vehicle wheel rotational speed is sent the fast slow signal of the rotating speed of wheel into single-chip microcomputer, and single-chip microcomputer sends drive signal for the motor drive circuit of wheel according to tachometer signal to change vehicle wheel rotational speed, thereby adjusts the state of the walking of car body.Cleaning arm lifting limit switch is elevated to limit position signal with cleaning arm and gives single-chip microcomputer, and single-chip microcomputer is given the driving circuit of cleaning arm lifting driving motor according to limit position signal
Transmit control signal and stop the elevating movement of cleaning arm.Camera is delivered to the working condition in the pipeline on the PC and is shown, carries LED on the camera and is used for illuminating pipe interior.
Description of drawings
Fig. 1 is a front view of the present utility model.
Fig. 2 is a left view of the present utility model.
Fig. 3 is a vertical view of the present utility model.
Fig. 4 is a kind of control principle block diagram that adopts PC to control.
Fig. 5 is single-chip microcomputer and peripheral circuit.
In described accompanying drawing:
1, wheel 2, under casing 3, chassis 4, bearing spider 5, screw mandrel 6, bearing 7, nut 8, sway brace 9, small rod 10, bolt 11, big connecting rod 12, support 13, shaft coupling 14, elevating motor 15, camera 16, ultrasonic probe 17, wheel drive motor 18, coupling shaft 19, guide rail 20, cleaning brush drive motor 21, single- chip microcomputer 22,23,24 motor drive circuits 25, serial interface circuit 26, limit switch 27, Hall detecting element 28, PC 29, camera
Embodiment
Referring to Fig. 1, Fig. 2, Fig. 3, car body is a lorry, Vehicular body front is equipped with ultrasonic probe 16, camera 15 is equipped with at the rear portion, whether the place ahead has barrier in the ultrasonic probe 16 detection machine people motion processes, camera monitors the working condition of robot in pipeline, each wheel of car body has a drive motor 17, car body advances or when retreating, control circuit rotates four wheels in the same way, when car body is turned, the left and right wheels sense of rotation is opposite, twin shaft output motor 20 is installed in the upper end of robot model's cleaning arm, the rotation of motor output shaft drives the cleaning brush motion, and cleaning arm is connected by bolt 10 with big connecting rod 11 by small rod 9, and cleaning arm big connecting rod 11 lower ends are connected by coupling shaft 18 with support 12, big connecting rod 11 is connected the pipeline that is applicable to that internal diameter is big with the small rod of growing, and big connecting rod 11 is connected the pipeline that is applicable to that internal diameter is little with the small rod of lacking.The big connecting rod 11 of cleaning arm is connected with sway brace 8 one ends, and the other end of sway brace 8 is connected with nut 7 in the lead screw pair, and leading screw 5 two end supports in the lead screw pair are on 6 li on bearing, and bearing seat 4 is fixed on newly to be walked on the dolly chassis 3.Lifting motor 14 drives the rotation of the leading screw 5 in the lead screw pair by shaft coupling 13, nut 7 in the moving lead screw pair of the rotating band of leading screw 5 moves forward and backward along leading screw 5 and guide rail 19, thereby drive cleaning arm around coupling shaft 18 rotations by sway brace 8, change the cleaning height, the angle on cleaning arm and ground can be spent between 90 degree 0 and be regulated, the under casing 2 of car body is connected with chassis 3, can prevent that dust intrusion motor from reaching element on every side.
Fig. 4 is complete machine control and a kind of side circuit block diagram of driving, and this scheme adopts the control of PC28 machine, has the operating platform of intellectuality, robotization and software implementation, device volume is little, and is flexible and convenient to use, walking, cleaning accurate positioning, it is convenient to monitor, can directly generate storage monitoring picture.
Fig. 5 is that block diagram shown in Figure 4 is a kind of practical circuit diagram, and its course of work is as follows:
1. form single-chip microcomputer (slave computer) central circuit by single-chip microcomputer 21, crystal oscillator, electric capacity, single-chip microcomputer is selected STC89C52, after single-chip microcomputer powers on, delivers to single-chip microcomputer 21 by crystal oscillator, electric capacity clocking, and single-chip microcomputer 21 is in holding state.
2. carriage walking drive system
By direct-flow deceleration electric motor and direct current motor chip for driving and around element form the robot ambulation circuit, the direct current motor chip for driving is selected L298, when computing machine requires dolly to advance, single-chip microcomputer 21 requires to send signal to the direct current motor chip for driving according to chip for driving L298 work-based logic just changes the motor motor simultaneously, when computing machine requires robot to retreat, single-chip microcomputer 21 requires to send signal to the direct current motor chip for driving according to chip for driving L298 work-based logic reverses the motor motor simultaneously, when computing machine requires robot to turn left, single-chip microcomputer 21 requires to send signal to a direct current generator chip for driving according to chip for driving L298 work-based logic, make wheel 1,2 drive motor counter-rotating, single-chip microcomputer 21 requires to send signal to the direct current generator chip for driving according to chip for driving L298 work-based logic, make wheel 3,4 drive motor just changes, when computing machine requires robot to turn right, single-chip microcomputer 21 requires to send signal to the direct current generator chip for driving according to chip for driving L298 work-based logic, make wheel 1,2 drive motor just changes, single-chip microcomputer 21 requires to send signal to the direct current generator chip for driving according to chip for driving L298 work-based logic, makes wheel 3,4 drive motor counter-rotating.
3. ultrasonic circuit system
Ultrasonic transmit circuit is made up of phase inverter 74LS04, ultrasound transmitting transducer T, resistance R 6, R7, the 40kHz square-wave signal of the P3.2 port output of single-chip microcomputer 21 is sent into ultrasonic transmit circuit, and the ultrasound wave receiving circuit is accepted transducer by integrated chip, electric capacity, resistance and ultrasound wave and formed.Integrated chip is selected integrated circuit (IC) chip CX20106A for use, the P3.3 port of single-chip microcomputer 21 sent into the ultrasound information of accepting by the ultrasound wave receiving circuit, robot advances in the process, the 40kHz square-wave signal of the P3.2 port output of single-chip microcomputer 21 is sent into ultrasonic transmit circuit, constantly send the ultrasound wave that frequency is 40KHZ by radiating circuit, if robot the place ahead clear, ultrasound wave receiving transducer R does not receive signal, robot goes ahead, if there is barrier in robot the place ahead, ultrasound wave receiving transducer R receives the signal that ultrasonic reflections that ultrasonic emitting probe T sends is returned, after handling, the ultrasound wave receiving circuit sends into instruction to single-chip microcomputer 21, machine operation is sent instruction and is allowed motor or counter-rotating as calculated, or stops, and robot cut-through thing is walked on or stop motion.
4. robot velocity-measuring system
The robot tachometer circuit is made up of Hall element, the Hall element model selects 0620, permanent magnet on being installed in motor 1 and motor 2 just produces a pulse when the Hall, signal is passed in the single-chip microcomputer 21 by the T0 oral instructions, the umber of pulse that single-chip microcomputer is noted down in a second by T0 counting external pulse, thereby calculate the rotating speed of dolly both sides wheel, single-chip microcomputer 21 sends command signal according to the needs of body movement control to the carriage walking drive system, adjusts the speed of robot ambulation and turns to.
5. cleaning arm lifting drive system
By direct-flow deceleration electric motor and direct current motor chip for driving and around element form cleaning arm lifting driving circuit, direct-flow deceleration electric motor is selected ZYM-25A280, the direct current motor chip for driving is selected L298, when single-chip microcomputer 21 requires to send signal to the direct current motor chip for driving according to chip for driving L298 work-based logic motor is just changeed simultaneously, cleaning arm is upwards lifted; When single-chip microcomputer 21 requires to send signal to the direct current motor chip for driving according to chip for driving L298 work-based logic motor is reversed simultaneously, cleaning arm is landed downwards.
6. the spacing detection system of cleaning arm lifting
Constitute cleaning arm lifting limiting detection circuit by limit switch.Whether limit switch detects respectively whether nut moves on to the high order end or the low order end of leading screw in the lead screw pair, be raised to the highest or drop to minimum position thereby detect cleaning arm.When cleaning arm is raised to the extreme higher position, limit switch is sent into detection signal in the single-chip microcomputer 21 through P3.6, and single-chip microcomputer 21 drives driving circuit to the cleaning arm lifting and sends instruction and make the lifting motor stop motion, makes cleaning arm stop to continue upwards to lift.When cleaning arm drops to high and low position, limit switch is sent into detection signal in the single-chip microcomputer 21 through P3.7, and single-chip microcomputer 21 drives driving circuit to the cleaning arm lifting and sends instruction and make the lifting motor stop motion, makes cleaning arm stop to continue downward landing.
7. liquid crystal display systems
By Liquid Crystal Module and around element forms, LCD MODULE selection LCD1601, LCD160 has 16 pins, VSS ground connection wherein, VDD connects+5V powers to liquid crystal.V0 is ground connection directly, if connect behind the slide rheostat ground connection, and the brightness of scalable font, RS, RW, E are three control lines, and D0～D7 is 8 data lines, and single-chip microcomputer 21 is passing through 11 alignment Liquid Crystal Modules and is sending data, shows corresponding prompt information.
8. serial interface circuit
Electric capacity by RS232 serial communication interface chip and 5 1UF is formed, single-chip microcomputer 21 is connected with PC through serial interface circuit, PC sends steering order to single-chip microcomputer 21, single-chip microcomputer sends feedback information in the robot course of work to PC, for the duty of PC according to the further control robot of returning of information.
Claims (3)
1. teaching machine human model, mainly comprise: wheel (1), chassis (2), under casing (3), leading screw (5), the nut of lead screw pair (7), sway brace (8), small rod (9), bolt (10), support (12), cleaning arm lifting driving motor (14), camera (15), ultrasonic probe (16), wheel drive motor (17), guide rail (19), cleaning brush driving motor (20), single-chip microcomputer (21), motor drive circuit (22,23,24), serial interface circuit (25), cleaning arm lifting limit switch (26), Hall detecting element (27), PC (28), it is characterized in that, it is made up of car body and cleaning arm, described cleaning arm is connected to form by bolt (10) by small rod (9) and big connecting rod (12), the lower end of cleaning arm is connected with the support (12) of the back of car body, its upper end is provided with cleaning brush drive motor (20), cleaning arm lifting driving motor (14) is installed on the car body, under casing (3) is installed below the chassis of described car body (2), the car body both sides have two wheels (1) respectively, respectively by four motor-driven (17).
2. according to the described teaching machine human model of claim 1, it is characterized in that, set up the cleaning arm elevating mechanism, the cleaning arm elevating mechanism is made up of elevating motor (14), lead screw pair, guide rail (19) and sway brace (8), sway brace (8) one ends are connected with cleaning arm, the other end is connected with the nut (7) of lead screw pair, and leading screw (5) one ends in the lead screw pair are connected with the output shaft of elevating motor (14).
3. according to the described teaching machine human model of claim 1, it is characterized in that, described Vehicular body front is set up camera (15) and ultrasonic probe (16), described wheel drive motor (17), cleaning arm lifting driving motor (14), cleaning brush driving motor (20) power end is respectively with corresponding motor drive circuit (22,23,24) driving power output terminal connects, described each motor drive circuit (22,23,24) the same respectively single-chip microcomputer of the control utmost point (21) corresponding control signal output terminal is corresponding to be connected, the Hall detecting element (27) that wheel tests the speed connects the corresponding connection of single-chip microcomputer (21) corresponding control signal input end, described cleaning arm lifting limit switch (26) connects the corresponding connection of single-chip microcomputer (21) corresponding control signal input end, and described PC (28) serial port is connected with single-chip microcomputer (21) serial ports through serial interface circuit (25).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009200207425U CN201576397U (en) | 2009-04-09 | 2009-04-09 | Robot teaching model |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009200207425U CN201576397U (en) | 2009-04-09 | 2009-04-09 | Robot teaching model |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201576397U true CN201576397U (en) | 2010-09-08 |
Family
ID=42696273
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009200207425U Expired - Fee Related CN201576397U (en) | 2009-04-09 | 2009-04-09 | Robot teaching model |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201576397U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102779444A (en) * | 2012-06-29 | 2012-11-14 | 四川大学 | Plastic model wandering in driving school yard |
| CN106128173A (en) * | 2016-08-24 | 2016-11-16 | 玉林市民族中学 | A kind of teaching robot |
| CN106502162A (en) * | 2016-11-30 | 2017-03-15 | 北京理工大学 | A kind of automatic Control Theory Experiment teaching system based on portable mechanical arm |
-
2009
- 2009-04-09 CN CN2009200207425U patent/CN201576397U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102779444A (en) * | 2012-06-29 | 2012-11-14 | 四川大学 | Plastic model wandering in driving school yard |
| CN106128173A (en) * | 2016-08-24 | 2016-11-16 | 玉林市民族中学 | A kind of teaching robot |
| CN106502162A (en) * | 2016-11-30 | 2017-03-15 | 北京理工大学 | A kind of automatic Control Theory Experiment teaching system based on portable mechanical arm |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100908 Termination date: 20110409 |