CN206277385U - Small intelligent wheeled mobile robot - Google Patents
Small intelligent wheeled mobile robot Download PDFInfo
- Publication number
- CN206277385U CN206277385U CN201621383610.5U CN201621383610U CN206277385U CN 206277385 U CN206277385 U CN 206277385U CN 201621383610 U CN201621383610 U CN 201621383610U CN 206277385 U CN206277385 U CN 206277385U
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- fuselage
- mechanical arm
- head
- circuit board
- control circuit
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Abstract
The utility model provides a kind of small intelligent wheeled mobile robot, including fuselage (1), and the top of the fuselage (1) is rotatably mounted head (2), and the head (2) is by head servo driving；Each joint of mechanical arm is each equipped with mechanical arm digital rudder controller；The bottom of the fuselage (1) is equipped with left wheel and right wheel；The bottom of the fuselage (1) is also equipped with collision prevention ring (4)；The front left position of the collision prevention ring (4), front right position, rear left position and right position are respectively provided with a crash sensor.Advantage is：(1) have the advantages that degree of free for robot degree is big；(2) effective avoidance during robot ambulation can be ensured, the security reliability of robot ambulation is improved；(3) product structure is simple, and small volume is lightweight, and range of movement is big, low manufacture cost.
Description
Technical field
The utility model belongs to Robot Design technical field, and in particular to a kind of small intelligent wheeled mobile robot.
Background technology
Small intelligent robot, the features such as there is good outward appearance that is interactive, begging for happiness due to it, in education, amusement neck
Domain increasingly receives an acclaim.However, existing most of small intelligent robots, with freedom of motion is few and passes through during motion
The problem of barrier is commonly encountered, so as to reduce the performance of mobile robot.
Utility model content
For the defect that prior art is present, the utility model provides a kind of small intelligent wheeled mobile robot, can have
Effect solves the above problems.
The technical solution adopted in the utility model is as follows：
The utility model provides a kind of small intelligent wheeled mobile robot, including fuselage (1), the top of the fuselage (1)
Portion is rotatably mounted head (2), and the head (2) is by head servo driving；USB is installed on the head (2) to take the photograph
As head；The each side rotatably mounted of the fuselage (1) has mechanical arm (3)；Assemble in each joint of the mechanical arm
There is mechanical arm digital rudder controller；Each described mechanical arm digital rudder controller is connected by universal serial bus；Each described mechanical arm numeral rudder
Machine is to that should have position feedback transducer, speed feedback sensors and torque-feedback sensor；The front dress of the fuselage (1)
Equipped with supersonic range finder；The bottom of the fuselage (1) is equipped with left wheel and right wheel；The bottom of the fuselage (1) is also
It is equipped with collision prevention ring (4)；The front left position of the collision prevention ring (4), front right position, rear left position and right position are respectively provided with one
Individual crash sensor；
Airborne PC and master control circuit board are installed in the inside of the fuselage (1)；The head steering wheel, the mechanical arm
Digital rudder controller is all connected on the steering engine driver of the master control circuit board；The position feedback transducer, the speed are anti-
Infeed sensor device, the torque-feedback sensor, the supersonic range finder and the crash sensor are all connected to described
Master control circuit board；The USB camera is connected to the airborne PC；The airborne PC and the master control circuit board pass through
RS232 is communicated to connect.
Preferably, the airborne PC is also associated with microphone, wireless network card, loudspeaker and liquid crystal display.
Preferably, the left wheel and the right wheel are connected with motion control card；The motion control card is assembled to institute
State in master control circuit board.
Preferably, the master control circuit board is equipped with that 24V turns 12V power supply voltage converting circuits and 24V turns 5V power supplys
Voltage conversion circuit.
The small intelligent wheeled mobile robot that the utility model is provided has advantages below：
(1) digital rudder controller is each equipped with each joint of head and mechanical arm, it is big with degree of free for robot degree
Advantage；
(2) supersonic range finder is assembled on front side of fuselage, collision prevention ring, also, each collision prevention ring is assembled in fuselage bottom
Surrounding assemble 4 crash sensors, so as to effective avoidance during robot ambulation can be ensured, the safety for improving robot ambulation can
By property；
(3) product structure is simple, and small volume is lightweight, and range of movement is big, low manufacture cost.
Brief description of the drawings
The structural representation of the small intelligent wheeled mobile robot that Fig. 1 is provided for the utility model；
The circuit theory diagrams of the small intelligent wheeled mobile robot that Fig. 2 is provided for the utility model.
Wherein：1- fuselages；2- heads；3- mechanical arms；4- collision prevention rings；5- loudspeaker；The airborne PC of 6-；7- master control circuit boards；
8- ultrasonic waves.
Specific embodiment
In order that technical problem, technical scheme and beneficial effect that the utility model is solved become more apparent, below
With reference to drawings and Examples, the utility model is further elaborated.It should be appreciated that specific implementation described herein
Example is only used to explain the utility model, is not used to limit the utility model.
With reference to Fig. 1, the utility model provides a kind of small intelligent wheeled mobile robot, including fuselage 1, the top of fuselage 1
Portion is rotatably mounted head 2, and head 2 passes through head servo driving；Head has one degree of freedom, can be with robot front
90 degree of middle position left-right rotation, is provided with a USB camera thereon, and camera is directly connected by USB2.0 interfaces with airborne PC
Connect, airborne PC is processed the image for collecting, and make corresponding action.
The each side rotatably mounted of fuselage 1 has mechanical arm 3；Each joint of mechanical arm is each equipped with mechanical arm number
Word steering wheel；Each mechanical arm digital rudder controller is connected by universal serial bus；Each mechanical arm digital rudder controller is to that should have position to feed back
Sensor, speed feedback sensors and torque-feedback sensor；In practical application, the mechanical arm of left and right two respectively has 5 freedom
Degree, feature is the more free degree, and opereating specification is wide, workable.It is convenient to adjust each of robot by installing multiple steering wheels
Individual joint attitude.In addition, steering wheel can limit the parameters such as electric current, temperature, if temperature is excessively high can alarm or autostop,
Prevent from damaging.
The front of fuselage 1 is equipped with supersonic range finder；Supersonic range finder is mounted in 422 general lines of mainboard
On, measurement operation every time, module produces 20 40KHZ ultrasonic signals to drive ultrasonic wave to send transducer and sends ultrasonic wave, together
When inside modules timer start counting up.If ultrasonic wave receive transducer receives signal, by amplifier to receiving
Weak Ultrasonic wave reflection ripple be amplified, then detection output, to single-chip microcomputer, single-chip microcomputer is compared judgements, obtains ultrasonic wave and passes
T between sowing time.At this moment, environment temperature of thermosensitive resistance measurement, measurement distance is calculated according to below equation：
Ultrasonic velocity C=331.5m/s+0.6*T T are degrees celsius
It it is the propagation time apart from L=C*t/2 t
Ultrasonic wave is also a kind of sound wave, and C is relevant with temperature for its velocity of sound hair.When in use, if temperature change is little, can
Think that the velocity of sound is basically unchanged.If range accuracy requirement is very high, should be corrected for by the method for temperature-compensating.
The bottom of fuselage 1 is equipped with left wheel and right wheel；The bottom of fuselage 1 is also equipped with collision prevention ring 4；Collision prevention ring 4
Front left position, front right position, rear left position and right position are respectively provided with a crash sensor；Therefore, collision prevention ring sensor
By before left front, right, it is left back, right after four crash sensors constitute, major function has obstacle to prevent four direction all around
Thing.When barrier is encountered, robot can hide round about, in order to avoid cause to damage.
Airborne PC and master control circuit board are installed in the inside of fuselage 1；Head steering wheel, mechanical arm digital rudder controller are all connected with
Onto the steering engine driver of master control circuit board；It is position feedback transducer, speed feedback sensors, torque-feedback sensor, super
Sound ranging device and crash sensor are all connected to master control circuit board；USB camera is connected to airborne PC；Airborne PC and
Master control circuit board is communicated to connect by RS232.
In practical application, airborne PC carries out sensor signal analysis, robot behavior decision-making as robot brain.
The PC ancillary equipment such as camera, microphone, wireless network card, loudspeaker, liquid crystal display is directly connected on PC corresponding ports.
Airborne PC is communicated with master control circuit board using RS-232.Such as PC is by RS-232 to master control circuit board
Send ultrasound data query statement, in master control circuit board circuit by this it is instruction morphing be RS-422 bus commands, and pass
Feel to any RS-422 equipment being mounted on mainboard.Ultrasonic sensor obtains this finger from the RS-422 buses of mainboard
, just with RS-422 level form returned datas be put into mainboard RS-422 buses current obstacle distance value by order, mainboard conversion
Level is RS-232 and is sent to PC, and the distance value that PC receives ultrasonic wave judges the distance of robot and barrier, and makees
Go out the decision-making such as advance or retrogressing, and mainboard is issued with RS-232 instructions, mainboard transforms it into RS-422 instructions and issues motion
Control card, controller control driver and motor make corresponding action, allow robot to advance or retreat.
The main function of master control circuit board has following components：
(1) for each function module circuit plate provides mechanical erection position.
(2) voltage change is carried out to the 24V power supplys for exporting, is converted to 1 road 12V and is supplied to mechanical arm, liquid crystal display, fan, 1
To PC, 1 road 5V gives other function module circuits to road 5V.
(3) RS-422 circuits are laid, RS-232 signal inputs is converted into RS-422 signals.Motion control card, ultrasonic wave,
Multiflex controllers are all RS-422 slave devices, are mounted on mainboard.
The small intelligent wheeled mobile robot that the utility model is provided has advantages below：
(1) modularized design is used, individual module can work independently, is easy to dismounting and functional realiey；
(2) digital rudder controller is each equipped with each joint of head and mechanical arm, it is big with degree of free for robot degree
Advantage；Attainable service function is more rich；
(3) supersonic range finder is assembled on front side of fuselage, collision prevention ring, also, each collision prevention ring is assembled in fuselage bottom
Surrounding assemble 4 crash sensors, so as to effective avoidance during robot ambulation can be ensured, the safety for improving robot ambulation can
By property；
(4) product structure is simple, and small volume is lightweight, and range of movement is big, low manufacture cost.
The above is only preferred embodiment of the present utility model, it is noted that for the common skill of the art
For art personnel, on the premise of the utility model principle is not departed from, some improvements and modifications can also be made, these improve and
Retouching should also regard protection domain of the present utility model.
Claims (4)
1. a kind of small intelligent wheeled mobile robot, it is characterised in that including fuselage (1), the top of the fuselage (1) can turn
Dynamic to be provided with head (2), the head (2) is by head servo driving；USB camera is installed on the head (2)；Institute
Stating each side rotatably mounted of fuselage (1) has mechanical arm (3)；Each joint of the mechanical arm is each equipped with mechanical arm
Digital rudder controller；Each described mechanical arm digital rudder controller is connected by universal serial bus；Each described mechanical arm digital rudder controller is corresponded to
There are position feedback transducer, speed feedback sensors and torque-feedback sensor；The front of the fuselage (1) is equipped with ultrasound
Wave ranging device；The bottom of the fuselage (1) is equipped with left wheel and right wheel；The bottom of the fuselage (1) is also equipped with keeping away
Touch ring (4)；The front left position of the collision prevention ring (4), front right position, rear left position and right position are respectively provided with a collision and pass
Sensor；
Airborne PC and master control circuit board are installed in the inside of the fuselage (1)；The head steering wheel, mechanical arm numeral
Steering wheel is all connected on the steering engine driver of the master control circuit board；The position feedback transducer, the velocity feedback are passed
Sensor, the torque-feedback sensor, the supersonic range finder and the crash sensor are all connected to the master control
Circuit board processed；The USB camera is connected to the airborne PC；The airborne PC and the master control circuit board pass through RS232
Communication connection.
2. small intelligent wheeled mobile robot according to claim 1, it is characterised in that the airborne PC is also associated with
Microphone, wireless network card, loudspeaker and liquid crystal display.
3. small intelligent wheeled mobile robot according to claim 1, it is characterised in that the left wheel and the right side
Wheel is connected with motion control card；The motion control card is assembled in the master control circuit board.
4. small intelligent wheeled mobile robot according to claim 1, it is characterised in that the master control circuit board dress
Turn 12V power supply voltage converting circuits equipped with 24V and 24V turns 5V power supply voltage converting circuits.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621383610.5U CN206277385U (en) | 2016-12-16 | 2016-12-16 | Small intelligent wheeled mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621383610.5U CN206277385U (en) | 2016-12-16 | 2016-12-16 | Small intelligent wheeled mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206277385U true CN206277385U (en) | 2017-06-27 |
Family
ID=59072337
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621383610.5U Active CN206277385U (en) | 2016-12-16 | 2016-12-16 | Small intelligent wheeled mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206277385U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107393325A (en) * | 2017-09-08 | 2017-11-24 | 四川闫新江信息科技有限公司 | A kind of traffic lights of automatic moving |
-
2016
- 2016-12-16 CN CN201621383610.5U patent/CN206277385U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107393325A (en) * | 2017-09-08 | 2017-11-24 | 四川闫新江信息科技有限公司 | A kind of traffic lights of automatic moving |
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