CN208557519U - A kind of template robot based on STM32 - Google Patents
A kind of template robot based on STM32 Download PDFInfo
- Publication number
- CN208557519U CN208557519U CN201820446338.3U CN201820446338U CN208557519U CN 208557519 U CN208557519 U CN 208557519U CN 201820446338 U CN201820446338 U CN 201820446338U CN 208557519 U CN208557519 U CN 208557519U
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- Prior art keywords
- robot
- stm32
- shaft
- deflecting roller
- driving wheel
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- 230000033001 locomotion Effects 0.000 abstract description 17
- 230000004888 barrier function Effects 0.000 abstract description 9
- 230000008859 change Effects 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000003313 weakening effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
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Abstract
The utility model discloses a kind of template robot based on STM32, including robot shells, infrared sensor is mounted on four side outer walls of the robot shells, and the bottom of robot shells is equipped with driving wheel and deflecting roller, the driving wheel is located at the side of deflecting roller, and driving wheel is connected with drive shaft adjacent to the side of deflecting roller, driving rotor is welded on the outer wall of the drive shaft, the deflecting roller is rotatably connected to shaft seat by shaft adjacent to the side of driving wheel, the utility model is provided with infrared sensor, gyroscope, angular transducer, outer ring and inner ring, when the infrared sensor of robot shells surrounding, which detects, has barrier in certain distance, STM32 microcontroller controls rotary electric machine work, rotary electric machine drives shaft seat rotation by shaft, shaft seat drives deflecting roller It rotates, to change the direction of motion of robot, achievees the purpose that get around barrier.
Description
Technical field
The utility model belongs to robotic technology field, and in particular to a kind of template robot based on STM32.
Background technique
Robot is the automatic installations for executing work, it can not only receive mankind commander, but also can run preparatory volume
The program of row, can also be according to principle program action formulated with artificial intelligence technology, and its task is to assist or replace the mankind
The work of work, such as production industry, construction industry, or dangerous work.
But there is some defects, such as robot movement in the existing template robot of existing market in use
When be easy to produce collision, and be not easy to the mobile speed of control robot.
Utility model content
The purpose of this utility model is to provide a kind of template robot based on STM32, to solve existing easy production
Raw the problem of colliding and be not easy to regulation movement speed.
To achieve the above object, the utility model provides the following technical solutions: a kind of template robot based on STM32,
Including robot shells, it is mounted on infrared sensor on four side outer walls of the robot shells, and robot shells
Bottom is equipped with driving wheel and deflecting roller, and the driving wheel is located at the side of deflecting roller, and driving wheel is adjacent to the one of deflecting roller
Side is connected with drive shaft, and driving rotor, side of the deflecting roller adjacent to driving wheel are welded on the outer wall of the drive shaft
It is rotatably connected to shaft seat by shaft, side of the shaft seat far from deflecting roller is connected by shaft and rotary electric machine rotation
It connecing, gyroscope is installed at the top of the robot shells, the inside of the gyroscope is rotatably connected to outer ring by shaft, and
Outer ring torquer is mounted on the two sides outer wall of gyroscope, the inside of the outer ring is rotatably connected to inner ring by shaft, and
Angular transducer and inner ring torquer, the inside inverse time of the robot shells are separately installed on the adjacent two sides outer wall of outer ring
Needle is sequentially installed with STM32 microcontroller, driving box and battery, and mounting groove is offered on the inner wall of the driving box, described
The interior welds of mounting groove have hot-wire coil and permanent magnet, and the hot-wire coil is located at the side of permanent magnet, and the infrared ray passes
Sensor, rotary electric machine, hot-wire coil, outer ring torquer, angular transducer and inner ring torquer are electrical with STM32 microcontroller
Connection, the STM32 microcontroller and battery are electrically connected.
Preferably, there are two the driving wheel is arranged altogether, and two driving wheels are located at the both ends of drive shaft.
Preferably, it is vertically arranged between the hot-wire coil and permanent magnet for degree.
Preferably, the driving box is cirque structure.
Preferably, there are four the angular transducer is arranged altogether, and four angular transducers with two be one group of difference position
In on outer ring and the outer wall of inner ring.
The utility model compared with prior art, has the advantages that
(1) the utility model is provided with infrared sensor, gyroscope, angular transducer, outer ring and inner ring, works as robot
The infrared sensor of shell surrounding detects in certain distance when having barrier that STM32 microcontroller controls rotary electric machine work
Make, rotary electric machine drives shaft seat to rotate by shaft, and shaft seat drives deflecting roller to rotate, to change the fortune of robot
Dynamic direction achievees the purpose that bypass barrier, and during changing the direction of motion, outer ring and inner ring are in outer ring torque for robot
Corresponding rotation is generated under the driving of device and inner ring torquer, the angle that angular transducer detection outer ring and inner ring are rotated at this time,
And STM32 microcontroller is passed data to, STM32 microcontroller compares the Obstacle Position of infrared sensor detection and turns
Dynamic angle, calculates the optimum rotation angle of deflecting roller, guarantees that robot in cut-through object, accurately changes mobile road
Line had not only avoided robot and barrier from generating collision, but also guaranteed that the mobile route of robot is most short, reduced robot and barrier
A possibility that colliding.
(2) the utility model is provided with driving box, hot-wire coil, mounting groove and permanent magnet, passes through live wire in driving box
The tangential magnetic field that circle and permanent magnet interaction generate pushes driving rotor rotation, and rotor is driven to drive driving wheel by drive shaft
Rotation, when driving wheel rotates and ground friction, thus keep robot mobile, and the movement speed of the robot and driving box inscribe
Size to power is related, and tangential force size can be changed by changing the size of current on hot-wire coil in driving box, be dropped
When electric current on low pass electric coil, field weakening caused by hot-wire coil, tangential force becomes smaller, and drives driving force suffered by rotor
It reduces, so that making the movement speed of robot reduces, conversely, increasing the electricity on hot-wire coil when hoisting machine people's movement speed
Stream guarantees stabilization when robot is mobile by STM32 microcontroller auto-control robot movement speed.
Detailed description of the invention
Fig. 1 is the top view of the utility model；
Fig. 2 is the side view of the utility model；
Fig. 3 is the structural schematic diagram of the utility model driving box；
Fig. 4 is the structural schematic diagram of the utility model gyroscope；
Fig. 5 is the circuit block diagram of the utility model；
In figure: 1- drive shaft, 2-STM32 microcontroller, 3- infrared sensor, 4- robot shells, 5- gyroscope, 6-
Battery, 7- drive rotor, 8- driving box, 9- driving wheel, 10- rotary electric machine, 11- shaft seat, 12- deflecting roller, 13- live wire
Circle, 14- mounting groove, 15- permanent magnet, 16- outer ring torquer, 17- angular transducer, 18- outer ring, 19- inner ring, 20- inner ring power
Square device.
Specific embodiment
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
Every other embodiment obtained, fall within the protection scope of the utility model.
Fig. 1-5 is please referred to, the utility model provides the following technical solutions: a kind of template robot based on STM32, including
Robot shells 4 are mounted on infrared sensor 3 on four side outer walls of robot shells 4, and infrared sensor 3 is for examining
Whether there are obstacles around survey robot, and the bottom of robot shells 4 is equipped with driving wheel 9 and deflecting roller 12, driving wheel 9
The movement of driving robot is respectively used to deflecting roller 12 and changes moving direction, and driving wheel 9 is located at the side of deflecting roller 12, and main
Driving wheel 9 is connected with drive shaft 1 adjacent to the side of deflecting roller 12, and driving rotor 7, deflecting roller are welded on the outer wall of drive shaft 1
12 are rotatably connected to shaft seat 11 by shaft adjacent to the side of driving wheel 9, and side of the shaft seat 11 far from deflecting roller 12 is logical
It crosses shaft and rotary electric machine 10 is rotatablely connected, rotary electric machine 10 uses Y180M-2 three-phase drive motor, the top of robot shells 4
Portion is equipped with gyroscope 5, and gyroscope 5 is used to improve the accuracy of robot localization, and the inside of gyroscope 5 is rotated by shaft to be connected
It is connected to outer ring 18, and is mounted on outer ring torquer 16 on the two sides outer wall of gyroscope 5, the inside of outer ring 18 is rotated by shaft
It is connected with inner ring 19, and is separately installed with angular transducer 17 and inner ring torquer 20, angle on the adjacent two sides outer wall of outer ring 18
Degree sensor 17 is used to detect the rotational angle of inner ring 19 and outer ring 18, and the inside of robot shells 4 is sequentially installed with counterclockwise
STM32 microcontroller 2, driving box 8 and battery 6, battery 6 is that the movement of robot provides power supply, on the inner wall of driving box 8
Mounting groove 14 is offered, the interior welds of mounting groove 14 have hot-wire coil 13 and permanent magnet 15, and hot-wire coil 13 is located at permanent magnet
15 side, infrared sensor 3, rotary electric machine 10, hot-wire coil 13, outer ring torquer 16, angular transducer 17 and inner ring
Torquer 20 is electrically connected with STM32 microcontroller 2, and STM32 microcontroller 2 and battery 6 are electrically connected.
For the ease of the movement of robot, in the present embodiment, it is preferred that driving wheel 9 is altogether there are two settings, and two actives
Wheel 9 is located at the both ends of drive shaft 1.
For the ease of generating tangential magnetic force, in the present embodiment, it is preferred that be 90 degree between hot-wire coil 13 and permanent magnet 15
It is vertically arranged.
For the ease of installation hot-wire coil 13 and permanent magnet 15, in the present embodiment, it is preferred that driving box 8 is circular ring shape knot
Structure.
For the ease of detecting target angle, in the present embodiment, it is preferred that angular transducer 17 is altogether there are four settings, and four
A angular transducer 17 is located on outer ring 18 and the outer wall of inner ring 19 with two for one group.
The working principle and process for using of the utility model: when using the robot, the power switch of robot, machine are opened
Device people can be generated according to target position automatic path planning by hot-wire coil 13 in driving box 8 and the interaction of permanent magnet 15
Tangential magnetic field push driving rotor 7 rotate, driving rotor 7 by drive shaft 1 drive driving wheel 9 rotate, driving wheel 9 rotate when
With ground friction, to keep robot mobile, when the infrared sensor 3 of 4 surrounding of robot shells detects in certain distance
When having barrier, STM32 microcontroller 2 controls rotary electric machine 10 and works, and rotary electric machine 10 drives 11 turns of shaft seat by shaft
Dynamic, shaft seat 11 drives deflecting roller 12 to rotate, to change the direction of motion of robot, reaches the mesh for getting around barrier
, during changing the direction of motion, outer ring 18 and inner ring 19 are in outer ring torquer 16 and inner ring torquer 20 for robot
Driving is lower to generate corresponding rotation, the angle that angular transducer 17 detects outer ring 18 at this time and inner ring 19 is rotated, and data are passed
STM32 microcontroller 2 is passed, STM32 microcontroller 2 compares the Obstacle Position and rotational angle that infrared sensor 3 detects,
The optimum rotation angle of deflecting roller 12 is calculated, guarantees that robot in cut-through object, accurately changes mobile route, both kept away
Exempt from robot and barrier generates collision, and guarantees that the mobile route of robot is most short, and robot needs during the turn
Movement speed is reduced, in case excessive velocities, influence the mobile stability of robot, the movement speed and driving box 8 of the robot
The size of interior tangential force is related, and tangential force size can be carried out by the size of current changed on hot-wire coil 13 in driving box 8
Change, when reducing the electric current on hot-wire coil 13, field weakening caused by hot-wire coil 13, tangential force becomes smaller, and drives rotor 7
Suffered driving force reduces, so that making the movement speed of robot reduces, conversely, increasing logical when hoisting machine people's movement speed
Electric current on electric coil 13.
While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art,
It is understood that these embodiments can be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaired
Change, replacement and variant, the scope of the utility model is defined by the appended claims and the equivalents thereof.
Claims (5)
1. a kind of template robot based on STM32, including robot shells (4), it is characterised in that: the robot shells
(4) be mounted on infrared sensor (3) on four side outer walls, and the bottom of robot shells (4) be equipped with driving wheel (9) and
Deflecting roller (12), the driving wheel (9) is located at the side of deflecting roller (12), and driving wheel (9) is adjacent to the one of deflecting roller (12)
Side is connected with drive shaft (1), be welded on the outer wall of the drive shaft (1) driving rotor (7), the deflecting roller (12) adjacent to
The side of driving wheel (9) is rotatably connected to shaft seat (11) by shaft, and the one of the shaft seat (11) separate deflecting roller (12)
Side is rotatablely connected by shaft and rotary electric machine (10), is equipped with gyroscope (5) at the top of the robot shells (4), described
The inside of gyroscope (5) is rotatably connected to outer ring (18) by shaft, and is mounted on outer ring on the two sides outer wall of gyroscope (5)
The inside of torquer (16), the outer ring (18) is rotatably connected to inner ring (19) by shaft, and the two sides that outer ring (18) is adjacent
Angular transducer (17) and inner ring torquer (20) are separately installed on outer wall, the inside of the robot shells (4) is counterclockwise
It is sequentially installed with STM32 microcontroller (2), driving box (8) and battery (6), offers peace on the inner wall of the driving box (8)
Tankage (14), the interior welds of the mounting groove (14) have hot-wire coil (13) and permanent magnet (15), the hot-wire coil (13)
Positioned at the side of permanent magnet (15), the infrared sensor (3), rotary electric machine (10), hot-wire coil (13), outer ring torquer
(16), angular transducer (17) and inner ring torquer (20) are electrically connected with STM32 microcontroller (2), the STM32 micro-control
Device (2) processed and battery (6) are electrically connected.
2. a kind of template robot based on STM32 according to claim 1, it is characterised in that: the driving wheel (9) is altogether
There are two settings, and two driving wheels (9) are located at the both ends of drive shaft (1).
3. a kind of template robot based on STM32 according to claim 1, it is characterised in that: the hot-wire coil
(13) it is vertically arranged between permanent magnet (15) for 90 degree.
4. a kind of template robot based on STM32 according to claim 1, it is characterised in that: the driving box (8) is
Cirque structure.
5. a kind of template robot based on STM32 according to claim 1, it is characterised in that: the angular transducer
(17) altogether there are four settings, and four angular transducers (17) are one group with two and are located at outer ring (18) and inner ring (19)
On outer wall.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820446338.3U CN208557519U (en) | 2018-03-30 | 2018-03-30 | A kind of template robot based on STM32 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820446338.3U CN208557519U (en) | 2018-03-30 | 2018-03-30 | A kind of template robot based on STM32 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208557519U true CN208557519U (en) | 2019-03-01 |
Family
ID=65453805
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820446338.3U Expired - Fee Related CN208557519U (en) | 2018-03-30 | 2018-03-30 | A kind of template robot based on STM32 |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208557519U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115309169A (en) * | 2022-10-11 | 2022-11-08 | 天地科技股份有限公司 | Underground unmanned vehicle control method and device |
-
2018
- 2018-03-30 CN CN201820446338.3U patent/CN208557519U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115309169A (en) * | 2022-10-11 | 2022-11-08 | 天地科技股份有限公司 | Underground unmanned vehicle control method and device |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200730 Address after: Building 6, west side of Huanhu Road, Longji Town, Sihong County, Suqian City, Jiangsu Province Patentee after: Jiangsu glory Construction Co., Ltd Address before: 516001 Lishuiwan, Jiangbian Road, Xiajiao, Huicheng District, Huizhou City, Guangdong Province Patentee before: Zhang Yanyin |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200827 Address after: No.8 Fuqian Road, Anfeng Town, Xinghua City, Taizhou City, Jiangsu Province Patentee after: Jiangsu Fu'an Construction Co., Ltd Address before: Building 6, west side of Huanhu Road, Longji Town, Sihong County, Suqian City, Jiangsu Province Patentee before: Jiangsu glory Construction Co., Ltd |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201113 Address after: 8-1-2, Runcheng North Road, beidingji Township, Shuyang County, Suqian City, Jiangsu Province 223600 Patentee after: Suqian Mingze municipal landscape Engineering Co., Ltd Address before: No.8 Fuqian Road, Anfeng Town, Xinghua City, Taizhou City, Jiangsu Province Patentee before: Jiangsu Fu'an Construction Co., Ltd |
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Effective date of registration: 20210126 Address after: 223800 no.0811, 8th floor, Zhonghao International Plaza office building, Sucheng District, Suqian City, Jiangsu Province Patentee after: Jiangsu Zhuming Construction Engineering Co.,Ltd. Address before: 8-1-2, Runcheng North Road, beidingji Township, Shuyang County, Suqian City, Jiangsu Province 223600 Patentee before: Suqian Mingze municipal landscape Engineering Co., Ltd |
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Effective date of registration: 20210312 Address after: 223600 9-1-1, Runcheng North Road, beidingji Township, Shuyang County, Suqian City, Jiangsu Province Patentee after: Jiangsu Guanmao Greening Engineering Co.,Ltd. Address before: 223800 no.0811, 8th floor, Zhonghao International Plaza office building, Sucheng District, Suqian City, Jiangsu Province Patentee before: Jiangsu Zhuming Construction Engineering Co.,Ltd. |
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Effective date of registration: 20210402 Address after: 223600 room 7-9, 3 / F, 88 Changjiang Road, Miaotou Town, Shuyang County, Suqian City, Jiangsu Province Patentee after: JIANGSU MAOZE CONSTRUCTION Co.,Ltd. Address before: 223600 9-1-1, Runcheng North Road, beidingji Township, Shuyang County, Suqian City, Jiangsu Province Patentee before: Jiangsu Guanmao Greening Engineering Co.,Ltd. |
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| 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: 20190301 Termination date: 20210330 |