CN207771835U - A kind of study programming robot - Google Patents
A kind of study programming robot Download PDFInfo
- Publication number
- CN207771835U CN207771835U CN201721408565.9U CN201721408565U CN207771835U CN 207771835 U CN207771835 U CN 207771835U CN 201721408565 U CN201721408565 U CN 201721408565U CN 207771835 U CN207771835 U CN 207771835U
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- China
- Prior art keywords
- control chip
- main control
- indicator light
- vehicle body
- wheel
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Abstract
The utility model discloses a kind of study programming robots, the robot includes wheeled robot, Teaching instrument handle and power supply, the wheeled robot includes two power wheels, one universal wheel and vehicle body composition, the vehicle body includes upper plate, lower plate, stud, and the vehicle body main circuit between upper plate and lower plate, the vehicle body main circuit includes the first wireless communication module, first green indicator light, first blue indicator light, charging interface, encoder, direct current generator, power supply indicator, reset key, OLED display screen, program downloads and serial communication interface, first Independent keys group and main control chip.The utility model is simple in structure, cost is not high, user can carry out simple instruction programming using host computer, action typing programming can also be carried out with Teaching instrument handle, the program that can also directly change inside robot main control chip is programmed, both it was suitble to beginner to grasp bare metal people's programmed method, and also was adapted for professional and exploitation is programmed using robot.
Description
Technical field
The utility model is related to robot field, more particularly to a kind of study programming robot.
Background technology
Since traditional robotic programming enters gate threshold height, certain programming basis, microelectronic circuit basis, movement control are needed
System basis, Fundamental Course of Mechanic Manufacturing and the relevant knowledge automatically controlled, allow so much the interested people of robotic programming is hoped and
Step back；If robot is using wheel or pedipulator as walking manner, it is also possible to various gears and servo to adjust
With torsion and speed, for most of interested people, the people that excessively complicated structure and component is unfavorable for learning clears
Thinking hinders the analysis ability of the basic programming technique and program architecture of student's Fast Learning, instead in complicated robot control
It struggles hard in technology and mechanical structure processed.
Utility model content
The purpose of this utility model provides a kind of study programming robot to solve the above-mentioned problems.
The utility model is achieved through the following technical solutions above-mentioned purpose：
A kind of study programming robot, including wheeled robot, Teaching instrument handle and power supply, the wheeled robot packet
Include vehicle body, power wheel, universal wheel；The vehicle body includes upper plate, lower plate, stud and vehicle body main circuit；The vehicle body main circuit packet
The first wireless communication module, the first green indicator light, the first blue indicator light, charging interface, encoder, direct current generator, power supply is included to refer to
Show lamp, reset key, OLED display screen, program downloads and serial communication interface, the first Independent keys group and main control chip；It is described
First wireless communication module and main control chip electrical connection, the first green indicator light, the first blue indicator light are all electric with main control chip
Connection, the encoder and main control chip electrical connection；The encoder includes code-disc, and the code-disc and direct current generator are coaxial；Institute
State OLED display screen and main control chip electrical connection, the first Independent keys group and main control chip electrical connection；The power wheel packet
Rubber tyre, motor torque output shaft, screw, wheel hub and middle wheel shaft are included, the wheel hub periphery covers one layer of rubber tyre, institute
Middle wheel shaft and motor torque output axis connection are stated, the direct current generator is mounted on using screw in lower plate；The universal wheel packet
It includes mounting bracket, wheel body and bearing, the wheel body to connect using bearing with mounting bracket, the universal wheel is mounted on using screw
In lower plate.
Further, the Teaching instrument handle include the second wireless communication module, lithium ion battery, the second blue indicator light,
Second green indicator light, handle power switch, gravity sensing module, the second Independent keys group, the first rocking bar, serial communication interface and
Second rocking bar.Second wireless communication module and main control chip electrical connection, the described second blue indicator light, the second green indicator light point
It is not electrically connected with main control chip electrical connection, the gravity sensing module and main control chip, the second Independent keys group and master control
Chip is electrically connected, and first rocking bar, the second rocking bar are electrically connected with main control chip respectively.
Further, the wheeled robot is by power supply power supply, and the power supply is using two section rechargeable lithium batteries；It is described to show
Teach the lithium ion battery power supply of instrument handle overleaf using installation.
Further, the upper plate and lower plate are round acrylic board.
Further, the vehicle body main circuit is between upper plate and lower plate.
Further, the universal wheel is mounted on using screw in lower plate.
Further, the direct current generator is mounted on using screw in lower plate.
Further, the hub material is aluminium alloy.
Further, the encoder is photoelectric encoder.
The beneficial effects of the utility model are：Simple in structure, cost is not high, includes the common fitness machine of robot
Structure, programming mode satisfaction can both make beginner that need not be sitting in face of computer to beat keyboard uninterestingly, write the another row of a line
Code, game with play combine, preferably excite beginner interest and learning ability, can also allow professional programmer to machine
The bottom of device people is programmed, and does deeper exploitation, preferably plays the individual character of self, is easy to use quick.
Description of the drawings
Fig. 1 is the utility model robot architecture's schematic diagram；
Fig. 2 is the vehicle body main circuit structure schematic diagram of Fig. 1；
Fig. 3 is the utility model Teaching instrument handle main structure diagram；
Fig. 4 is the backsight structural representation of the utility model Teaching instrument handle；
Fig. 5 is the utility model power wheel structural schematic diagram；
Fig. 6 is the utility model Universal wheel structure schematic diagram；
Fig. 7 is the utility model encoder circuit figure；
Fig. 8 is the utility model main control chip system diagram；
Fig. 9 is the utility model direct current motor drive circuit figure；
Figure 10 is the utility model gravity sensing circuit diagram；
Figure 11 is the utility model power supply stabilization circuit figure.
In figure, 1, upper plate, 2, lower plate, 3, universal wheel, 4, stud, 5, power wheel, 6, battery case, the 7, first radio communication mold
Block, the 8, first green indicator light, the 9, first blue indicator light, 10, charging interface, 11, power supply, 12, encoder, 13, direct current generator,
14, power supply indicator, 15, reset key, 16, OLED display screen, 17, program downloads and serial communication interface, 18, first is independent
Key group, the 19, second wireless communication module, the 20, lithium ion battery, 21, second blue indicator light, the 22, second green indicator light, 23,
Handle power switch, 24, gravity sensing module, the 25, second Independent keys group, the 26, first rocking bar, 27, serial communication interface,
28, the second rocking bar, 29, rubber tyre, 30, motor torque output shaft, 31, screw, 32, wheel hub, 33, middle wheel shaft, 34, installation
Holder, 35, wheel body, 36, bearing, 37, main control chip, 38, main control chip clock circuit, 39, main control chip reset circuit, 40,
Vehicle body, 41, Teaching instrument handle.
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
The utility model provides following technical scheme：
Referring to Fig. 1, the wheeled robot includes vehicle body 40, power wheel 5, universal wheel 3；The vehicle body 40 includes upper plate
1, the vehicle body main circuit between lower plate 2, stud 4 and upper plate 1 and lower plate 2；The upper plate 1 and lower plate 2 are round acrylic
Plate.
As shown in Fig. 2 and Fig. 7-Fig. 9, the vehicle body main circuit include the first wireless communication module 7, the first green indicator light 8,
First blue indicator light 9, charging interface 10, encoder 12, direct current generator 13, power supply indicator 14, reset key 15, OLED are shown
Screen 19, program downloads and serial communication interface 17, the first Independent keys group 21 and main control chip 37；First radio communication mold
Block 7 and main control chip 37 are electrically connected, and the 8, first indigo plant of first green indicator light indicator light 9 is all electrically connected with main control chip 37, institute
It states encoder 12 to be electrically connected using photoelectric encoder and main control chip 37, the code-disc and direct current generator 13 of the encoder 12 are same
Axis, the OLED display screen 19 and main control chip 37 are electrically connected, and the first Independent keys group 21 and main control chip 37 are electrically connected.
Wheeled robot is powered by power supply 12, and power supply 12 is using two section rechargeable lithium batteries, when robot out of power, power supply indicator 17
Flicker can charge to battery by charging interface 11.
Governor circuit includes main control chip 37 and the main control chip clock circuit 38, the main control chip that are connected on main control chip
Reset circuit 39.
Wheeled robot acquires the rotating speed of direct current generator 13 by encoder 12 and converts rotating speed in the arteries and veins of certain frequency
Signal is rushed, rotating speed more Fast-Pulse Measuring frequency is higher, and such main control chip 37 can be believed corresponding frequency by internal circuit
It number is converted into the rotating speed of direct current generator, is compared with desired speed after obtaining real-time rotating speed, when speed, master control core
Piece 37 reduces PWM frequency, and by motor-drive circuit come driving motor, otherwise when speed is slower, main control chip 37 increases PWM
Frequency allows wheeled robot at the uniform velocity or Accelerating running by motor-drive circuit come driving motor, facilitates control wheeled
The running orbit of robot.Wheeled robot can show the running orbit and programming mode of oneself by OLED display screen 19.
First Independent keys group 21 is respectively intended to selection programming mode, each button corresponds to a programming mode from left to right.
As shown in Fig. 3,4,8,9, the Teaching instrument handle 41 include the second wireless communication module 19, lithium ion battery 20,
Second blue indicator light 21, the second green indicator light 25, bat-handle switch 26, gravity sensing module 24, the second Independent keys group 25, first
Rocking bar 26, the second rocking bar 28 and serial communication interface 27.Lithium ion battery 20 of the Teaching instrument handle using installation overleaf
Power supply.Second wireless communication module 19 and main control chip 37 are electrically connected, the described second blue indicator light 21, the second green indicator light
25 are electrically connected with main control chip 37 respectively, and the gravity sensing module 24 and main control chip 37 are electrically connected, and described second independently presses
Key group 25 is electrically connected with main control chip 37, and first rocking bar 26, the second rocking bar 28 are electrically connected with main control chip 37 respectively.
When using Teaching instrument handle, wheel type machine is artificially controlled the main body of system, is shown by the reception of the first wireless communication module 7
The data that religion handle is sent via the second wireless communication module 19, and transfer data to main control chip 37.First green instruction
The signal quality of the instruction wireless communication of lamp 9, when robot and Teaching instrument handle are wirelessly connected successfully, the first green indicator light 9
It lights, otherwise extinguishes.First blue indicator light 10 indicates the internal processes operation conditions of trolley, if internal processes normal operation
When, the first blue indicator light 10 is always on, otherwise does not have phenomenon or flicker.
Second wireless communication module 19 of Teaching instrument handle is connected with wheeled robot wireless network data.Second blue instruction
The operating condition of 21 instruction program of lamp, if normal program operation, the second blue indicator light 24 is always on, otherwise flicker or not
It is bright.The case where second green indicator light 25 indicates and wheeled robot is wirelessly connected is always on if normal connection, otherwise does not work
Or flicker.Teaching instrument handle can also control the forward-reverse of wheeled robot, gravity by the module 27 of gravity sensing
The MPU6050 gravity using MEMI technologies of induction module accelerates and gyroscope integrated chip, it passes through internal digital-to-analogue
Conversion circuit converts collected acceleration of gravity and angular speed to corresponding digital quantity, then will be turned by iic bus agreement
Change the governor circuit that obtained digital quantity is sent to Teaching instrument handle, governor circuit by judge digital quantity size and it is positive and negative come
The inclined direction and size of handle are obtained, inclined direction determines that the direction of motion of wheeled robot, inclined size determine
The movement velocity of wheeled robot, then by second wireless communication module 19 will corresponding wheeled robot movement direction and speed
Angle value is sent to wheeled robot.Second stand-alone keypad group 28 is electrically connected with handle main control chip 37, for selecting Teaching instrument hand
Handle is that gravity sensing control or rocking bar control to the control mode of wheeled robot, the first rocking bar 26 and the second rocking bar 28 difference
Speed and the direction of wheeled robot motion are controlled, the speed that the first rocking bar 26 controls forward wheeled robot increases, and is backward
Control wheeled robot speed reduce, the second rocking bar 28 control robot motion direction, the wheeled robot direction of motion with
The moving direction of second rocking bar 29 is consistent.Serial communication interface 30 is the communication and programming of handle main control chip 37 and computer
Interface can be used for being programmed to Teaching instrument handle.
As shown in Figure 1 and Figure 5, there are two be separately mounted to 40 both sides of vehicle body to the power wheel.The power wheel 5 includes rubber
Rubber tire tire 29, motor torque output shaft 30, screw 31, wheel hub 32 and middle wheel shaft 33,32 material of the wheel hub are outside aluminium alloy
One layer of rubber tyre 29 of covering is enclosed, the middle wheel shaft 33 and motor torque output shaft 30 connect, and the direct current generator 13 uses
Screw 31 is mounted in lower plate 2.There are two be separately connected a power wheel with the direct current generator 13.There are two the encoders 12
It is separately connected a direct current generator 13.
As shown in fig. 6, the universal wheel 3 includes wheel body 35, mounting bracket 34 and bearing 39, the wheel body 35 and installation branch
Frame 34 is connected using bearing 39, and the universal wheel 3 is mounted on using screw connection in lower plate.
There are three types of the patterns of study programming for wheeled robot：
The first inputs some simple moves using computer host computer and passes through program downloads and serial communication interface
17 are electrically connected the control realized to robot with vehicle body 40；
Second of utilization Teaching instrument handle, phase is made by the 22 remote control wheel type robot of the second wireless communication module of handle
It should act；
The third directly changes the bottom code of robot using 37 dedicated programming software of wheeled robot main control chip,
Code direct burning is realized into the programming to robot to 40 inside of main control chip by program downloads and serial communication interface 17
It develops, the first Independent keys 21 on wheeled robot are corresponding in turn to these three patterns from left to right.
While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art,
It is appreciated that can these embodiments be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaiied
Change, replace and modification, the scope of the utility model are defined by the appended claims and the equivalents thereof.
Claims (9)
1. a kind of study programming robot, including wheeled robot, Teaching instrument handle (41) and power supply (11), feature exists
In：
The wheeled robot includes vehicle body (40), power wheel (5), universal wheel (3)；The vehicle body (40) include upper plate (1), under
Plate (2), stud (4) and vehicle body main circuit；
The vehicle body main circuit includes the first wireless communication module (7), the first green indicator light (8), the first blue indicator light (9), fills
Electrical interface (10), encoder (12), direct current generator (13), power supply indicator (14), reset key (15), OLED display screen
(16), program downloads and serial communication interface (17), the first Independent keys group (18) and main control chip (37)；Described first is wireless
Communication module (7) and main control chip (37) electrical connection, the first green indicator light (8), the first blue indicator light (9) all with master control core
Piece (37) is electrically connected, the encoder (12) and main control chip (37) electrical connection；The encoder (12) and direct current generator (13)
Coaxially；The OLED display screen (16) and main control chip (37) electrical connection, the first Independent keys group (18) and main control chip
(37) it is electrically connected；
The power wheel (5) includes rubber tyre (29), motor torque output shaft (30), screw (31), wheel hub (32) and centre
Wheel shaft (33), one layer of rubber tyre (29) of wheel hub (32) the periphery covering, the middle wheel shaft (33) and motor torque output
Axis (30) connects；
The universal wheel (3) includes mounting bracket (34), wheel body (35) and bearing (36), the wheel body (35) and mounting bracket
(34) bearing (36) is used to connect.
2. a kind of study programming robot according to claim 1, it is characterised in that：Teaching instrument handle (41) packet
Include the second wireless communication module (19), lithium ion battery (20), the second blue indicator light (21), the second green indicator light (22), handle
Power switch (23), gravity sensing module (24), the second Independent keys group (25), the first rocking bar (26), serial communication interface
(27) refer to the second rocking bar (28), second wireless communication module (19) and main control chip (37) electrical connection, second indigo plant
Show that lamp (21), the second green indicator light (22) are electrically connected with main control chip (37) respectively, the gravity sensing module (24) and master control
Chip (37) is electrically connected, and the second Independent keys group (25) is electrically connected with main control chip (37), first rocking bar (26), the
Two rocking bars (28) are electrically connected with main control chip (37) respectively.
3. a kind of study programming robot according to claim 1 or 2, it is characterised in that：The wheeled robot by
Power supply (11) is powered, and the power supply (11) is using two section rechargeable lithium batteries；The Teaching instrument handle, which uses, to be installed overleaf
Lithium ion battery (20) is powered.
4. a kind of study programming robot according to claim 1, it is characterised in that：The upper plate (1) and lower plate (2)
For round acrylic board.
5. a kind of study programming robot according to claim 1, it is characterised in that：The vehicle body main circuit is located at upper
Between plate (1) and lower plate (2).
6. a kind of study programming robot according to claim 1, it is characterised in that：The direct current generator (13) uses
Screw (31) is mounted in lower plate (2).
7. a kind of study programming robot according to claim 1, it is characterised in that：The universal wheel (3) uses spiral shell
Silk is mounted in lower plate (2).
8. a kind of study programming robot according to claim 1, it is characterised in that：Wheel hub (32) material is aluminium
Alloy.
9. a kind of study programming robot according to claim 1, it is characterised in that：The encoder (12) is photoelectricity
Encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721408565.9U CN207771835U (en) | 2017-10-30 | 2017-10-30 | A kind of study programming robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721408565.9U CN207771835U (en) | 2017-10-30 | 2017-10-30 | A kind of study programming robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207771835U true CN207771835U (en) | 2018-08-28 |
Family
ID=63232475
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721408565.9U Expired - Fee Related CN207771835U (en) | 2017-10-30 | 2017-10-30 | A kind of study programming robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207771835U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112439209A (en) * | 2019-08-28 | 2021-03-05 | 深圳海星机器人有限公司 | Multifunctional intelligent programming toy car |
| CN114833849A (en) * | 2022-06-06 | 2022-08-02 | 深圳市尚为照明有限公司 | Explosion-proof robot |
-
2017
- 2017-10-30 CN CN201721408565.9U patent/CN207771835U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112439209A (en) * | 2019-08-28 | 2021-03-05 | 深圳海星机器人有限公司 | Multifunctional intelligent programming toy car |
| CN114833849A (en) * | 2022-06-06 | 2022-08-02 | 深圳市尚为照明有限公司 | Explosion-proof robot |
| CN114833849B (en) * | 2022-06-06 | 2024-01-16 | 深圳市尚为照明有限公司 | Explosion-proof 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: 20180828 Termination date: 20211030 |