CN206841562U - The intelligent barrier avoiding and obstacle detouring dolly that a kind of step-by-step movement and wheel group formula combine - Google Patents
The intelligent barrier avoiding and obstacle detouring dolly that a kind of step-by-step movement and wheel group formula combine Download PDFInfo
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- CN206841562U CN206841562U CN201720653092.2U CN201720653092U CN206841562U CN 206841562 U CN206841562 U CN 206841562U CN 201720653092 U CN201720653092 U CN 201720653092U CN 206841562 U CN206841562 U CN 206841562U
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- car
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- dolly
- wheel
- obstacle detouring
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Abstract
The utility model discloses the intelligent barrier avoiding and obstacle detouring dolly that a kind of step-by-step movement and wheel group formula combine, mainly including wheel portion, sensor assembly, drive module, coupling part, control module, power supply module and body part, it is characterised in that：The body part of dolly is divided into three part, tail part parts in front part, car, each part is connected by coupling part, front part connects part in car with slide bar by the screw mandrel of coupling part, part connects tail part by the screw mandrel of coupling part with slide bar in car, front part front end is equipped with sensor assembly, front part interlude is provided with drive module, front part and tail part bottom are provided with wheel portion, part upper end is provided with control module in car, and tail part upper part is provided with power supply module.The advantages of the utility model：It is a kind of automatic machinery with high degree of flexibility, to different task and the adaptability of particular surroundings.Freight volume is big, the features such as flexible structure.
Description
Technical field
A kind of avoidance, obstacle detouring dolly are the utility model is related to, the intelligence that especially a kind of step-by-step movement is combined with wheel group formula is kept away
Barrier and obstacle detouring dolly.
Background technology
Today's society, robot are characterized in that it possesses some intelligence similar to people as a kind of machine of automation
Ability, such as perception, planning ability, Motor ability and cooperative ability, are a kind of automation machines with high degree of flexibility
Device.To different task and the adaptability of particular surroundings, and the important difference of robot and general automated arm.Non-structural ring
Multi-functional complete autonomous mobile robot technology in border is always one of hot issue in robot research for many years.But
Non- structure environment causes the difficulty made decisions on one's own with path planning without fixed mode to the motion of mobile robot.
The content of the invention
The purpose of this utility model is to provide intelligent barrier avoiding and obstacle detouring dolly that a kind of step-by-step movement is combined with wheel group formula, is
A kind of automatic machinery with high degree of flexibility.To different task and the adaptability of particular surroundings.Freight volume is big, flexible structure
The features such as.
Technical scheme is used by the utility model solves its technical problem：The intelligence that a kind of step-by-step movement and wheel group formula combine
Energy avoidance and obstacle detouring dolly, mainly including wheel portion, sensor assembly, drive module, coupling part, control module, power supply
Module and body part, drive module include direct current generator and stepper motor, and coupling part includes screw mandrel and slide bar, and its feature exists
In：The body part of dolly is divided into three part, tail part parts in front part, car, and each part is connected by coupling part
Connect, front part connects part in car with slide bar by the screw mandrel of coupling part, in car part by the screw mandrel of coupling part and
Slide bar connects tail part, and front part front end is equipped with sensor assembly, and front part interlude is provided with drive module, car
Forward part and tail part bottom are provided with wheel portion, and part upper end is provided with control module, tail part upper part in car
Provided with power supply module, the bottom that the direct current generator is arranged on each section both sides of three section car bodies is fixed on underbody and is connected with wheel,
The stepper motor is arranged on the apical position of screw mandrel.
For the wheel portion from the big rubber wheel of diameter, front wheels and rear wheels are all driving wheel.Wherein two wheels of precursor
The speed discrepancy of motor can realize the steering of dolly.Flexibly avoided for obstacle more only.
The sensor assembly is by the sensor assembly by TCRT5000 infrared-reflectance sensors and HC-SR04 ultrasounds
Ripple module forms, and ultrasonic sensor is fixed on front vehicle body front end, and infrared sensor is positioned at the middle bottom of each section car body
Portion, infrared receiver and emitting diode are vertically downward.
Sensor assembly is used for gathering traffic information, carries out analysis to information by control module and judges specific road conditions, for
General uneven road surface makes dolly to take turns a group advance, for the barrier as stair by master control module controls drive module
Step-by-step movement progression is selected, then selects to avoid automatically for the obstacle for being difficult to go beyond.Its principle is the transmitting transducing of sensor
Device outwards launches pulse, and the receive transducer of sensor receives the echo that transmitted wave reflects through barrier, and its function is sensing
Traffic information.
The control module uses AT89S52 single board computer.I.e. a kind of low consumption, high performance CMOS8 8-digit microcontrollers, can
The information of reception is handled, analyzed, and sends instruction.Control module and power supply module, drive module, sensor assembly are all
It is connected with wire, for controlling the normal work of dolly each several part.
It is straight that power supply module described in the power supply module includes 100W solar panel polycrystalline silicon solar plate 12V power generation plates
Connect to be connected with DC motor Driver and driving stepper motor and produce 5V burning voltages by LM2596S-ADJ voltage dropping power supplies module again
For control module, the solar panel is layered on the surface and car body attachment means surface of each section car body.Power module is given
Whole system is powered.Described power supply module uses solar cell, and self-powered function can be achieved.
Described drive module is made up of stepper motor and direct current generator, and power, wherein stepping electricity are integrally provided for dolly
Machine is mainly used in controlling the lifting of car body, and direct current generator is mainly used in obstacle detouring, for driving moment.
Described coupling part is made up of screw mandrel and slide bar, for three parts after in before connection body, ensures car body
Easy motion during climbing；Described car body is iron and steel material quality.
The beneficial effects of the utility model are that intelligent barrier avoiding, the obstacle detouring dolly of the step-by-step movement and single flow combination can be quick
Working environment is adapted to, respective reaction is quickly made according to road condition analyzing, i.e., for general uneven road surface in a manner of taking turns group formula
Advance, for middle height barrier thing（Barrier as stair）Step-by-step movement progression is selected, for being difficult to the barrier gone beyond
Hinder then selection is automatic to avoid；Can people can not or inconvenience reach environment in be operated；Industrial production is can be applied to not only may be used
The quality and yield of product are improved, can also be guaranteed personal safety, improves work situation, reduces labor intensity, improves work production
Rate, save material consumption and reduction production cost.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model.
In figure, 1, wheel portion, 2, sensor assembly, 3, drive module, 4, coupling part, 5, control module, 6, supply
Electric module, 3.1, direct current generator, 3.2, stepper motor, 4.1, screw mandrel, 4.2, slide bar, 7.1, front part, 7.2, part in car,
7.3rd, tail part, 8 solar panels.
Fig. 2 is circuit connection diagram of the present utility model.
Embodiment
As shown in figure 1, the utility model is achieved like this, a kind of intelligent barrier avoiding that step-by-step movement and wheel group formula combine and
Obstacle detouring dolly, mainly include wheel portion 1, sensor assembly 2, drive module 3, coupling part 4, control module 5, power supply module
6 and body part, drive module 3 include direct current generator 3.1 and stepper motor 3.2, coupling part includes screw mandrel 4.1 and slide bar
4.2, it is characterised in that：The body part of dolly is divided into 7.3 3 part 7.2 in front part 7.1, car, tail part parts,
Each part is connected by coupling part 4, and front part 7.1 connects part 7.2 in car, car with slide bar by the screw mandrel of coupling part
Middle part 7.2 connects tail part 7.3 with slide bar by the screw mandrel of coupling part, and front part front end is equipped with sensor assembly
2, front part interlude is provided with drive module 3, and front part and tail part bottom are provided with wheel portion 1, part in car
7.2 upper ends are provided with control module 5, and tail part upper part is provided with power supply module 6, and the direct current generator is arranged on three section cars
The bottom of each section both sides of body is fixed on underbody and is connected with wheel, and the stepper motor is arranged on the apical position of screw mandrel；Chinese herbaceous peony
It is used for gathering traffic information equipped with sensor, carries out analysis to information by control module and judge specific road conditions, for general concavo-convex
Uneven road surface makes dolly to take turns a group advance by master control module controls drive module, and stepping is selected for the barrier as stair
Formula progression, then select to avoid automatically for the obstacle for being difficult to go beyond, power module is powered to whole system.
Operation principle of the present utility model is：Opening the switch of power supply module makes whole system work, and dolly moves forward,
Positioned at the ultrasonic sensor and infrared sensor of Chinese herbaceous peony constantly detect dolly traveling road conditions, by the feedback of the information collected to
Main control chip, main control chip receive the progression of decision dolly after traffic information, wheel group are used for general concave-convex road surface
Form is advanced, and the barrier for being for step is advanced by the way of stepping, for being difficult to the barrier gone beyond, turning avoidance.
The application of the works：
In industrial aspect, for transporting raw material between two production lines usually using conveyer belt, but it is past between production line
Toward barrier being present and be not necessarily linear transmission, the intelligent barrier avoiding that is combined in this case using step-by-step movement and wheel group formula,
Obstacle detouring dolly can both realize transport, can save cost and resource again.
At civilian aspect, for the residential building of no elevator, it is painstaking relative to level land to transport thing between above going downstairs.Use
Intelligent barrier avoiding, the obstacle detouring dolly that step-by-step movement and wheel group formula combine, transported between smoothly being gone downstairs on goods, time saving province
Power.
It is emphasized that：It the above is only preferred embodiment of the present utility model, not the utility model appointed
What formal limitation, every any simple modification made according to the technical essence of the utility model to above example, etc.
With change and modification, in the range of still falling within technical solutions of the utility model.
Claims (5)
1. intelligent barrier avoiding and obstacle detouring dolly that a kind of step-by-step movement and wheel group formula combine, mainly including wheel portion, sensor assembly,
Drive module, coupling part, control module, power supply module and body part, drive module include direct current generator and stepper motor,
Coupling part includes screw mandrel and slide bar, it is characterised in that：The body part of dolly is divided into part, tailstock portion in front part, car
Divide three parts, each part is connected by coupling part, and front part is connected by the screw mandrel of coupling part with slide bar in the middle part of car
Point, part connects tail part with slide bar by the screw mandrel of coupling part in car, and front part front end is equipped with sensor assembly,
Front part interlude is provided with drive module, and front part and tail part bottom are provided with wheel portion, part upper end in car
Control module is provided with, tail part upper part is provided with power supply module, and the direct current generator is arranged on the three each sections of section car body
The bottom of both sides is fixed on underbody and is connected with wheel, and the stepper motor is arranged on the apical position of screw mandrel.
2. intelligent barrier avoiding and obstacle detouring dolly that a kind of step-by-step movement according to claim 1 and wheel group formula combine, its feature exist
In：For the wheel portion from the big rubber wheel of diameter, front wheels and rear wheels are all driving wheel.
3. intelligent barrier avoiding and obstacle detouring dolly that a kind of step-by-step movement according to claim 1 and wheel group formula combine, its feature exist
In：The sensor assembly is made up of TCRT5000 infrared-reflectance sensors and HC-SR04 ultrasonic wave modules, supersonic sensing
Device is fixed on front vehicle body front end, and infrared sensor is positioned at each central bottom for saving car body, infrared receiver and emitting diode
Vertically downward.
4. intelligent barrier avoiding and obstacle detouring dolly that a kind of step-by-step movement according to claim 1 and wheel group formula combine, its feature exist
In：The control module uses AT89S52 single board computer.
5. intelligent barrier avoiding and obstacle detouring dolly that a kind of step-by-step movement according to claim 1 and wheel group formula combine, its feature exist
In：The power supply module includes 100W solar panel polycrystalline silicon solar plate 12V power generation plates directly and DC motor Driver
Connected with driving stepper motor and supply control module and sensing by LM2596S-ADJ voltage dropping power supplies module generation 5V burning voltages again
Device module, the solar panel are layered on the surface and car body attachment means surface of each section car body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720653092.2U CN206841562U (en) | 2017-06-07 | 2017-06-07 | The intelligent barrier avoiding and obstacle detouring dolly that a kind of step-by-step movement and wheel group formula combine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720653092.2U CN206841562U (en) | 2017-06-07 | 2017-06-07 | The intelligent barrier avoiding and obstacle detouring dolly that a kind of step-by-step movement and wheel group formula combine |
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| Publication Number | Publication Date |
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| CN206841562U true CN206841562U (en) | 2018-01-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720653092.2U Expired - Fee Related CN206841562U (en) | 2017-06-07 | 2017-06-07 | The intelligent barrier avoiding and obstacle detouring dolly that a kind of step-by-step movement and wheel group formula combine |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108890100A (en) * | 2018-06-28 | 2018-11-27 | 芜湖鼎瀚再制造技术有限公司 | A kind of obstructiveless semi-automatic arc welder conveying device |
| CN109159829A (en) * | 2018-09-30 | 2019-01-08 | 哈尔滨理工大学 | A kind of meadow climbing robot with automatic obstacle avoiding function |
| CN109353108A (en) * | 2018-09-28 | 2019-02-19 | 浙江力行得科技有限公司 | MS board assembly line and MS plate producing process |
| CN115320684A (en) * | 2022-09-20 | 2022-11-11 | 燕山大学 | Material transport vehicle capable of automatically going upstairs and downstairs |
-
2017
- 2017-06-07 CN CN201720653092.2U patent/CN206841562U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108890100A (en) * | 2018-06-28 | 2018-11-27 | 芜湖鼎瀚再制造技术有限公司 | A kind of obstructiveless semi-automatic arc welder conveying device |
| CN109353108A (en) * | 2018-09-28 | 2019-02-19 | 浙江力行得科技有限公司 | MS board assembly line and MS plate producing process |
| CN109159829A (en) * | 2018-09-30 | 2019-01-08 | 哈尔滨理工大学 | A kind of meadow climbing robot with automatic obstacle avoiding function |
| CN115320684A (en) * | 2022-09-20 | 2022-11-11 | 燕山大学 | Material transport vehicle capable of automatically going upstairs and downstairs |
| CN115320684B (en) * | 2022-09-20 | 2024-03-12 | 燕山大学 | Material transport vehicle capable of independently going upstairs and downstairs |
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| Date | Code | Title | Description |
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| 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: 20180105 Termination date: 20180607 |