CN206296894U - Wheeled photoelectricity transfer robot based on match - Google Patents
Wheeled photoelectricity transfer robot based on match Download PDFInfo
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- CN206296894U CN206296894U CN201621314371.8U CN201621314371U CN206296894U CN 206296894 U CN206296894 U CN 206296894U CN 201621314371 U CN201621314371 U CN 201621314371U CN 206296894 U CN206296894 U CN 206296894U
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- steering wheel
- vehicle body
- wheel
- wheeled
- elevating mechanism
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Abstract
A kind of wheeled photoelectricity transfer robot based on match, including：Vehicle body, left road wheel, right road wheel, the first steering wheel, the second steering wheel, the 3rd steering wheel, the 4th steering wheel, universal wheel, four gray-scale sensors, battery, main control chip, control panel, elevating mechanism and gripping bodies；Left road wheel and right road wheel are separately positioned on the left and right sides lower section of vehicle body, universal wheel is arranged on the front lower of vehicle body, first steering wheel is connected with left road wheel, second steering wheel is connected with right road wheel, body top section is provided with support, the rack-mount portion of control panel, main control chip is on control panel, battery is fixed in the middle of support, four gray-scale sensors are separately fixed at the left front of vehicle body, left road wheel side, below vehicle body and vehicle body backmost, elevating mechanism is arranged on the front portion of vehicle body, and the 3rd steering wheel is fixed on elevating mechanism.The utility model simple structure, reasonable in design, the accurate, blowing that tracks are accurate.
Description
Technical field
The utility model is related to intelligent robot technology field, and in particular to a kind of wheeled photoelectricity carrying implement based on match
Device people.
Background technology
Wheeled sorting transport robot is a sub- contest item of Chinese Engineering Robot contest and International Publication match, and contest will
Modulus intend the operation process of automatic Material Handling System in industrial automation process, design a minitype wheeled sorting transport machine
Different colours but shape identical thing block are carried to the target area of setting in the competition area movement of regulation for people, robot,
Match not only requires that robot can fast and accurately recognize path, and 13 thing blocks are accurately placed into corresponding 5
Color region.The wheeled transfer robot that in-situ match is seen, otherwise structure is excessively simple, it is impossible to complete the whole of match request
Task；Or structure is excessively complicated, error rate is high during the games.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of simple structure, fast and accurate based on match
Wheeled photoelectricity transfer robot.
Technical problem to be solved in the utility model is realized using following technical scheme：
A kind of wheeled photoelectricity transfer robot based on match, it is characterised in that including：Vehicle body, left road wheel, right lateral are walked
Wheel, the first steering wheel, the second steering wheel, the 3rd steering wheel, the 4th steering wheel, universal wheel, four gray-scale sensors, battery, main control chip, controls
Making sheet, elevating mechanism and gripping body；The left road wheel and right road wheel are separately positioned on the left and right sides lower section of vehicle body, described
Universal wheel is arranged on the front lower of vehicle body, and first steering wheel is connected with left road wheel, second steering wheel and right road wheel
It is connected, the body top section is provided with support, the rack-mount portion of control panel, the main control chip is mounted in control panel
On, all I/O ports of main control chip are drawn by control panel, the battery is fixed in the middle of support by copper sheet and nylon rope, institute
Four gray-scale sensors stated are separately fixed at the left front of vehicle body, left road wheel side, below vehicle body and vehicle body it is last
Face, the elevating mechanism is arranged on the front portion of vehicle body, and the 3rd steering wheel is fixed on elevating mechanism, by programme-control the 3rd
The rotation direction of steering wheel makes elevating mechanism rise or decline, and the gripping body includes preceding gripping piece and rear gripping piece, described
Preceding gripping piece and rear gripping piece are linked together by the 4th steering wheel, and the rear gripping piece is fixed on elevating mechanism.
The elevating mechanism is screwed in vehicle body top.
Gripping piece and rear gripping piece are constituted by arc plastic sheet before described.
The cross section of gripping piece and rear gripping piece is semicircular structure before described.
Tubular structure in a ring after gripping body closure.
First steering wheel, the second steering wheel and the 3rd steering wheel are 360 degree of steering wheels.
4th steering wheel is 180 degree steering wheel.
Single chip control module of the main control chip centered on single-chip microcomputer MC9S12G, and connect with single chip control module
The module that tracks on lorry, drive module connect and be arranged on, module, lifting module, human-computer interaction module and power supply gripped；
The battery is single chip control module, the module that tracks and drive module, gripping module, lifting module, human-computer interaction module are carried
Power supply source.
Automobile body part is provided with three wheels (two common wheels and a universal wheel), the three wheeler uses two rudders
Machine drives two wheels below to rotate, and produced thrust or pulling force rotates universal wheel.
The module that tracks is made up of four gray-scale sensors, drive module is made up of two wheels and universal wheel,
Gripping module is made up of the arc plastic sheet that a steering wheel and two panels are used for gripping material, one of plastic sheet (irremovable)
It is fixed on lifting structure, another loop moulds (removable) steering wheel by 180 degree of tablet and connects, and uses 180 degree rudder
Machine control removable plastic piece opening and closing so as to complete grip material work.
The lifting module is made up of a steering wheel and liftable mechanical structure, and human-computer interaction module is by one piece of display
Screen and button are constituted；All of module is communicated with MC9S12G single-chip microcomputers, by MC9S12G Single-chip Controllings.
The utility model has following functions：
1st, autonomous tracking
By the black line above contest offer drawing as robot path distinguishing mark.Overall vehicle has 4 gray scales
Sensor, be attached separately to the left front of dolly, wheel side, below vehicle body, vehicle body backmost, using the ash of sensor with data readout
Degree sensor, reference voltage is adjusted by mobile vehicle body, to complete the detection that black line is different from white.Gray-scale sensor is certainly
Body carries highlighted LED, strong antijamming capability, even if can also export correct information in black night evening, single-chip microcomputer is to detection number
According to treatment is analyzed, wheel is controlled to do corresponding motion by servo driving module according to tracking algorithm, so as to complete autonomous
Tracking function.
2nd, color input and display
According to the laws of the game of contest, the utility model selection carries out the input of color by way of button.With
MC9S12G single-chip microcomputers are controller, and five buttons and a display screen are designed with control board, and four buttons are for defeated
Enter color, the color of input can show on a display screen, a button confirms input results.Drawn lots before match and determine color sequences
Afterwards, color sequences are input to by program by button.
3rd, intelligent decision
Which color region the algorithm of the color combination program according to input, robot can independently judge not by barrier
Block, then can preferentially carry the thing block of the color.Carriage walking distance total length can be reduced in this, as circulation, so as to shorten
The time that task is completed.In addition, program also write turn to algorithm, after dolly takes a material, can judge by
This material is put into that the angle turned left in corresponding place is big or right-handed angle changing rate is big, can select smaller after comparing end
That direction rotate, degree of accuracy when dolly turns direction is improved with this.Ensure that the degree of accuracy of material transportation.
4th, material is carried
The gripping of material is main to be completed jointly by gripping module and lifting module, monolithic after dolly reaches the place specified
Machine control steering wheel is rotated and gripping module is gripped material, and is sent to appointed place, when two thing block colors are identical, single-chip microcomputer meeting
Control steering wheel rises lifting module, then two color identical thing blocks is superimposed, and together put it to target
Place, such mechanical structure can make robot give play to the achievement of full marks in play.
The beneficial effects of the utility model are：The utility model simple structure, reasonable in design, the accurate, blowing that tracks are accurate.
Brief description of the drawings
Fig. 1 is the utility model robot positive structure schematic；
Fig. 2 is the utility model robot side structure schematic diagram；
In figure：1. vehicle body；2. right road wheel；3. the second steering wheel；4. universal wheel；5th, 6,7,14 gray-scale sensor；8. first
Steering wheel；9. left road wheel；10. the 3rd steering wheel；11. elevating mechanisms；12. the 4th steering wheels；Piece is gripped before 13.；15. main control chips；
16. control panels；17. batteries；Piece is gripped after 18；19. supports.
Specific embodiment
In order that technological means, creation characteristic, reached purpose and effect that the utility model is realized are easy to understand, under
Face combines and is specifically illustrating, and the utility model is expanded on further.
As shown in Figure 1-2, a kind of wheeled photoelectricity transfer robot based on match, including：Vehicle body 1, left road wheel 9, the right side
Road wheel 2, the first steering wheel 8, the second steering wheel 3, the 3rd steering wheel 10, the 4th steering wheel 12,4, four gray-scale sensors 5 of universal wheel, 6,
7th, 14, battery 17, main control chip 15, control panel 16, elevating mechanism 11 and gripping body；Left road wheel 9 and right road wheel 2 are distinguished
The left and right sides lower section of vehicle body 1 is arranged on, universal wheel 4 is arranged on the front lower of vehicle body 1, the first steering wheel 8 and the phase of left road wheel 9
Even, the second steering wheel 3 is connected with right road wheel 2, and the top of vehicle body 1 is provided with support 19, and control panel 16 is arranged on the top of support 19, main
Control chip 15 draws all I/O ports of main control chip 15 by control panel 16 on the control panel 16, battery 17 by copper sheet and
Nylon rope is fixed in the middle of support 19, and four gray-scale sensors 14,7,5,6 are separately fixed at the left front of vehicle body, left road wheel 9
Below side, vehicle body 1 and vehicle body 1 backmost, elevating mechanism 11 by screw be arranged on vehicle body 1 front portion, the 3rd steering wheel
10 are fixed on elevating mechanism 11, by the rotation direction of the steering wheel 10 of programme-control the 3rd make elevating mechanism 11 rise or under
Drop, gripping body includes preceding gripping piece 13 and rear gripping piece 18, and preceding gripping piece 13 and rear gripping piece 18 are connected by the 4th steering wheel 12
It is connected together, piece 18 is gripped afterwards and is fixed on elevating mechanism 11.
Preceding gripping piece 13 and rear gripping piece 18 are constituted by arc plastic sheet.Gripping module is used for by a steering wheel and two panels
The arc plastic sheet for gripping material is constituted, and two rings are moulded tablet and connected by a steering wheel for 180 degree, with 180 degree steering wheel control
The opening and closing of gripping piece 13 are so as to the action of the material that completes to take before system.
The left and right sides of vehicle body 1 is fixed with the wheel for being connected to 360 degree of steering wheels, is still inverted by controlling the rotating forward of wheel
To drive dolly to advance or retreat；The rear side of vehicle body, lower section, right side, left side is fixed with four gray-scale sensors, by this four
Individual gray-scale sensor come ensure dolly walk regulation black route on, complete Auto-searching track function.
Method of work：
According to the laws of the game of contest, the utility model selection carries out the input of color by way of button.With
MC9S12G single-chip microcomputers are that controller design control panel draws its I/O port, are designed with five buttons and one on control panel
Individual display screen, four buttons are used for being input into color, and the color of input can show on a display screen, and a remaining button confirms defeated
Enter result.Drawn lots during match and determine color sequences, sequentially input the color of extraction in sequence by above-mentioned method, and
Confirm.In order to ensure to be put just dolly after the completion of input, the time delay of 60s is done inside program for ensuring the position of dolly
That puts will not be very inclined.
Robot provides the black line of drawing as the Path Recognition mark of oneself by contest.Overall vehicle has four ashes
Degree sensor, be attached separately to the left front of dolly, wheel side, below vehicle body, vehicle body backmost, using sensor with data readout
Gray-scale sensor, reference voltage is adjusted by mobile vehicle body, to complete the detection that black line is different from white.Gray-scale sensor
Self-contained have a highlighted LED, strong antijamming capability, even if can also export correct information in black night evening, single-chip microcomputer is to detection
Data are analyzed treatment, control wheel to do corresponding motion by servo driving module according to tracking algorithm, so as to complete certainly
Main tracking function.
, in conjunction with the algorithm of program, dolly can independently judge which color material is not hindered for color result according to input
Hinder thing to block, then can preferentially carry the color material.Carriage walking distance can be reduced in this, as circulation, shortens completion task
Total time.In addition, program has also write the algorithm for turning to, and after dolly gripping is to a thing block, can judge this thing block
Be put into that the angle turned left in corresponding region is big or right-handed angle changing rate is big, compare can select after end it is less that
Direction is rotated, and degree of accuracy when dolly turns direction is improved with this.Ensure that the degree of accuracy of material transportation.
When dolly will reach appointed place removes to carry thing block, program can be by steering wheel by the annular of grasping structures
Cylinder is opened, and after dolly reaches the place specified, the annular canister of grasping structures can be closed, and lifting structure is risen slightly prevent
Dolly scrape along the ground in material running causes unnecessary error, and the position for making material finally put occurs inclined
Difference.Secondly when two or three color identical materials need to overlay one piece, lifting structure can first will gripping knot
Structure rises a height for material, and now shaping drum can be opened and for material overlay another material top by grasping structures,
After the completion of, lifting structure can put down grasping structures, and grasping structures again close annular canister, so as to complete two or three
Individual material is stacked together.
The Auto-searching track function of such grasping structures combination dolly is chosen in conjunction with programmed algorithm to color, path choosing
Select, the optimization of rotation direction, material can be accurately put into corresponding color region.So as to the achievement that can be achieved a perfect score.
General principle of the present utility model and principal character and advantage of the present utility model has been shown and described above.One's own profession
The technical staff of industry it should be appreciated that the utility model is not restricted to the described embodiments, described in above-described embodiment and specification
Simply illustrate principle of the present utility model, on the premise of the utility model spirit and scope are not departed from, the utility model is also
Various changes and modifications are had, these changes and improvements are both fallen within the range of claimed the utility model.The utility model
Claimed scope is by appending claims and its equivalent thereof.
Claims (7)
1. a kind of based on the wheeled photoelectricity transfer robot competed, it is characterised in that including：Vehicle body, left road wheel, right road wheel,
First steering wheel, the second steering wheel, the 3rd steering wheel, the 4th steering wheel, universal wheel, four gray-scale sensors, battery, main control chip, controls
Plate, elevating mechanism and gripping body；The left road wheel and right road wheel are separately positioned on the left and right sides lower section of vehicle body, described ten thousand
To wheel installed in vehicle body front lower, first steering wheel is connected with left road wheel, second steering wheel and right road wheel phase
Even, the body top section is provided with support, and the rack-mount portion of control panel, the main control chip is mounted on control panel,
All I O mouthfuls of main control chip are drawn by control panel, the battery is fixed in the middle of support by copper sheet and nylon rope, described
Four gray-scale sensors be separately fixed at the left front of vehicle body, left road wheel side, below vehicle body and vehicle body backmost,
The elevating mechanism is arranged on the front portion of vehicle body, and the 3rd steering wheel is fixed on elevating mechanism, by the rudder of programme-control the 3rd
The rotation direction of machine makes elevating mechanism rise or decline, and the gripping body includes preceding gripping piece and rear gripping piece, it is described before
Gripping piece and rear gripping piece are linked together by the 4th steering wheel, and the rear gripping piece is fixed on elevating mechanism.
2. it is according to claim 1 based on the wheeled photoelectricity transfer robot competed, it is characterised in that the elevating mechanism
It is screwed in vehicle body top.
3. it is according to claim 1 based on the wheeled photoelectricity transfer robot competed, it is characterised in that gripping piece before described
Constituted by arc plastic sheet with rear gripping piece.
4. it is according to claim 3 based on the wheeled photoelectricity transfer robot competed, it is characterised in that gripping piece before described
Cross section with rear gripping piece is semicircular structure.
5. it is according to claim 1 based on the wheeled photoelectricity transfer robot competed, it is characterised in that the gripping body
Tubular structure in a ring after closure.
6. it is according to claim 1 based on the wheeled photoelectricity transfer robot competed, it is characterised in that first rudder
Machine, the second steering wheel and the 3rd steering wheel are 360 degree of steering wheels.
7. it is according to claim 1 based on the wheeled photoelectricity transfer robot competed, it is characterised in that the 4th steering wheel
It is 180 degree steering wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621314371.8U CN206296894U (en) | 2016-12-02 | 2016-12-02 | Wheeled photoelectricity transfer robot based on match |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621314371.8U CN206296894U (en) | 2016-12-02 | 2016-12-02 | Wheeled photoelectricity transfer robot based on match |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206296894U true CN206296894U (en) | 2017-07-04 |
Family
ID=59212530
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621314371.8U Expired - Fee Related CN206296894U (en) | 2016-12-02 | 2016-12-02 | Wheeled photoelectricity transfer robot based on match |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206296894U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109721005A (en) * | 2018-12-03 | 2019-05-07 | 山东交通学院 | Intelligent recognition classification transfer robot |
-
2016
- 2016-12-02 CN CN201621314371.8U patent/CN206296894U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109721005A (en) * | 2018-12-03 | 2019-05-07 | 山东交通学院 | Intelligent recognition classification transfer robot |
| CN109721005B (en) * | 2018-12-03 | 2020-07-28 | 山东交通学院 | Intelligent recognition classification transfer robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170704 Termination date: 20171202 |