CN208563075U - A kind of spray robot with teaching effect - Google Patents
A kind of spray robot with teaching effect Download PDFInfo
- Publication number
- CN208563075U CN208563075U CN201820571941.4U CN201820571941U CN208563075U CN 208563075 U CN208563075 U CN 208563075U CN 201820571941 U CN201820571941 U CN 201820571941U CN 208563075 U CN208563075 U CN 208563075U
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- Prior art keywords
- motor
- camera
- spray robot
- balance car
- teaching effect
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Abstract
The utility model relates to a kind of spray robots with teaching effect, the spray robot includes support plate, wheel, the first motor for driving the wheel movement, Qi Shui reservoir, the nozzle being connected with the Qi Shui reservoir, camera, the second motor and balance car owner's plate for driving the camera rotation are provided on the support plate, the lacquer export of the nozzle is straight down, the camera is set to the front side of the nozzle, and the camera optical axis direction is straight down；It is provided with the first gyroscope on the balance car mainboard, the second gyroscope is provided on the camera；Valve and the third motor for driving the valve opening and closing are provided between the Qi Shui reservoir and nozzle；There are specific communication connection relationships between each component and balance car mainboard.Spray robot provided by the utility model can spray automatically, high-efficient, and precision is good, greatly reduce human cost, can wide popularization and application in the maintenance of infrastructure.
Description
Technical field
The utility model belongs to robotic technology field, more particularly, to a kind of spraying robot with teaching effect
People.
Background technique
With the development of science and technology, the application of robot technology is constantly expanded.Outdoor sports such as basketball, shuttlecock be all
Popular movement, due to many external force factors, the solid line of outdoor basketball court or court has occurred fuzzy over time
The case where degree becomes larger, current field wire is repaired mainly using pure manual coating or nonautomatic mechanical coating mode, non-automatic
Though mechanical coating mode it is better than pure manual the high-efficient of coating, precision, relative to by the way of robot automatic coating,
The former two shows as expending that more manpowers, time-consuming, low efficiency, and precision is low.
Therefore, the robot for developing a kind of automatic coating high-efficient, precision is good, human cost is small has important research
Meaning and application value.
Summary of the invention
The purpose of the utility model is to overcome nonautomatic mechanical coating modes in the prior art need to expend more people
Power, time-consuming, low efficiency, and the low shortcomings and deficiencies of precision provide a kind of spray robot with teaching effect.This is practical new
The spray robot that type provides can spray automatically, and high-efficient, precision is good, greatly reduces human cost, can wide popularization and application
In the maintenance of infrastructure.
For the purpose for realizing above-mentioned utility model, the utility model adopts the following technical solution:
A kind of spray robot with teaching effect, including support plate are provided with wheel on the support plate, for driving
State the first motor of wheel movement, Qi Shui reservoir, the nozzle being connected with the Qi Shui reservoir, camera, for driving
The second motor and balance car owner's plate of the camera rotation, straight down, the camera is arranged the lacquer export of the nozzle
In the front side of the nozzle, and the camera optical axis direction is straight down；The first gyro is provided on the balance car mainboard
Instrument, first gyroscope, balance car mainboard and first motor successively communication connection；The second gyro is provided on the camera
Instrument, second gyroscope, balance car mainboard and the second motor successively communication connection；It is set between the Qi Shui reservoir and nozzle
It is equipped with valve and the third motor for driving the valve opening and closing, the third motor and balance car owner's plate communication connection.
The utility model provides a kind of robot that can be sprayed automatically, take balance car mainboard as the center of control, utilizes
First motor drives wheel movement and controls its movement velocity and direction；The flat of spray robot can be measured by the first gyroscope
Weighing apparatus state (inclination angle of such as trolley and inclination angle speed), and trolley is eliminated using the acceleration of first motor control car wheel
Inclination angle enables robot even running；Inclination angle and the inclination angle speed of video camera are measured by the second gyroscope, and utilize the second electricity
The acceleration of machine eliminates the inclination angle of camera, to smoothly shoot the image information of white solid line, and is based on image procossing skill
Art guarantees the accuracy of spraying so that the spraying profile middle line of spray robot is consistent with the middle line of white solid line；Furthermore with
The opening and closing of three motor autocontrol valves is realized to spray automatically.
Preferably, be additionally provided with range finder module on the support plate, the range finder module, balance car mainboard and first motor according to
Secondary communication connection.
The setting of range finder module can measure around spray robot, especially spray the obstacle information in direction, and in time
It feeds back to robot and makes avoidance movement, motor and nozzle is protected not to be damaged.
Preferably, the range finder module is fixedly installed in the first motor by range finder module fixing piece.
Preferably, the range finder module is laser ranging module.
Preferably, buzzer is additionally provided on the balance car mainboard.
The setting of buzzer can sound an alarm exception information, such as obstacle information.
Preferably, the first motor is direct current generator；The first motor is arranged in motor fixture, the motor
Fixing piece is fixedly installed on the lower section of the support plate.
Preferably, the wheel is set on the flange of tape spool, and the flange and the first motor are solid by shaft coupling
Fixed connection.
Preferably, the quantity of the wheel is 2.
The design of two-wheeled motion platform, it is more more flexible than conventional four-wheel robot when so that robot executing task.
Preferably, second motor is horizontal stage electric machine, and second motor is arranged on horizontal stage electric machine seat, the holder
Motor cabinet is fixed at the lower section of the support plate, and the camera is arranged on camera holder, the horizontal stage electric machine seat and described
Camera holder is fixedly connected by horizontal stage electric machine fastener.
Preferably, the bluetooth module that can be connect with mobile terminal is additionally provided on the balance car mainboard.
It can be realized by bluetooth module and manually control machine people and maintenance debugging machine people.
Preferably, the valve is ball valve, and the valve is fixed on the support plate by valve locking member.
Preferably, the third motor is stepper motor.
It is further preferable that the third motor is 42 stepper motors.
Preferably, the balance car mainboard is STM32 balance car mainboard.
Compared with prior art, the utility model has the following beneficial effects:
Spray robot provided by the utility model with teaching effect utilizes top using balance car mainboard as control centre
Spiral shell instrument determines equilibrium state, is adjusted using motor to spray robot and is at equilibrium state；Then video camera is utilized
Spraying profile is obtained to indicate that spray robot is sprayed automatically, high-efficient, precision is good, greatly reduces human cost, can
Wide popularization and application is in the maintenance of infrastructure.
Detailed description of the invention
Fig. 1 is the structural schematic diagram for the spray robot that embodiment 1 provides；
Fig. 2 is another structural schematic diagram for the spray robot that embodiment 1 provides；
Wherein:
1 is support plate, and 2 be wheel, and 3 be direct current generator, and 4 be Qi Shui reservoir, and 5 be nozzle, and 6 be camera, and 7 be holder electricity
Machine, 8 be STM32 balance car mainboard, and 9 be the first gyroscope, and 10 be the second gyroscope, and 11 be ball valve, and 12 be 42 stepper motors,
13 be laser ranging module, and 14 be range finder module fixing piece, and 15 be buzzer, and 16 be motor fixture, and 17 be the method for tape spool
Orchid, 18 be shaft coupling, and 19 be horizontal stage electric machine seat, and 20 be camera holder, and 21 be horizontal stage electric machine fastener；22 be valve locking member, and 23 are
Bluetooth module.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with Figure of description
And specific embodiment, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only
To explain the utility model, it is not used to limit the utility model.In addition, each implementation of the utility model disclosed below
Involved technical characteristic can be combined with each other as long as they do not conflict with each other in mode.
It should be noted that it both can be directly another when original part is referred to as " being set to ", " install in " another element
On element, there may also be original parts placed in the middle.When an element is considered " to connect " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.
Embodiment 1
The present embodiment provides a kind of spray robots with teaching effect.As shown in Fig. 1~2, the spray robot packet
It includes support plate 1, be symmetrically arranged with 2 wheels 2, direct current generator 3, Qi Shui reservoir 4, nozzle 5, camera 6,7 and of horizontal stage electric machine
STM32 balance car mainboard 8.STM32 balance car mainboard is the data processing centre and control centre of robot.
Direct current generator 3 is arranged in motor fixture 16, and motor fixture 16 is fixedly installed on the lower section of support plate.Wheel 2
It is set on the flange 17 of tape spool, flange 17 is fixedly connected with first motor 3 by shaft coupling 18.Wheel 2 can be in direct current generator
Driving under move.The design of two-wheeled motion platform, it is cleverer than conventional four-wheel robot when so that robot executing task
It is living.
Qi Shui reservoir 4 is connected design with nozzle 5, and is additionally provided with ball valve 11 between the two and for driving ball valve 11
42 stepper motors of opening and closing, ball valve 11 are fixed on support plate 1 by valve locking member 22, and 42 stepper motors 12 are for driving
The opening and closing of the switch of ball valve 11；The lacquer export of nozzle 5 is straight down.
Horizontal stage electric machine 7 is arranged on horizontal stage electric machine seat 19, and horizontal stage electric machine seat 19 is fixed at the lower section of support plate 1, camera shooting
First 6 are arranged on camera holder 20, and horizontal stage electric machine seat 19 is fixedly connected with camera holder 20 by horizontal stage electric machine fastener 21.Camera holder 20
On be provided with the second gyroscope 10.
Camera 6 is set to the front side of nozzle 5, and i.e. each component is in equilibrium state spraying robot after debugging under original state
The moving direction of the smooth axis of spindle of camera 6 is consistent with the middle line moving direction that nozzle 5 exports when people is mobile.
Laser ranging module 13 is additionally provided on support plate 1, laser ranging module 13 is fixed by range finder module fixing piece 14
It is set on direct current generator 3.
The first gyro 9, buzzer 15 and bluetooth module 23 are additionally provided on balance car mainboard 8.
First gyroscope 9, balance car mainboard 8 and direct current generator 3 successively communication connection；Second gyroscope 10, balance car owner
Plate 8 and horizontal stage electric machine 7 successively communication connection；Laser ranging module 9, balance car mainboard 10 and direct current generator 3 successively communication connection；
Third motor 12 and balance 8 communication connection of car owner's plate.
Above-mentioned component is electrically connected as follows: VCC, GND, SCL, SDA, XOA, XCL, ADO, INT pin of gyroscope and
The corresponding pin electrical connection of STM32 balance car mainboard, inclination angle and the inclination angle speed control trolley vehicle of trolley are measured by gyroscope
The acceleration of wheel eliminates the inclination angle of trolley；The winding displacement of two direct current generators and M1, M2 interface electricity of STM32 balance car mainboard
Connection exports pulse and direction signal by STM32 core processor, is further converted by motor-drive circuit and realized with output
The walking of robot self-balancing；Two windings of 42 stepper motors are connected respectively to A+, A-, B+, B- interface of driver, into one
Step, pul+, dir+ of driver are connect with the PB8 and PC8 of STM32 balance car mainboard respectively, the pul- and dir- of driver
It is shorted, is further connected to the GND interface of STM32 balance car mainboard；Information collection based on multisensor passes through program control
42 stepper motors are made, the closure of the switch of ball valve is driven, control flow；Holder camera is a kind of steering engine, is balanced with STM32
The steering engine interface of car owner's plate connects, and by STM32 balance car mainboard output pulse signal and direction signal control steering engine rotation, realizes
Adjust Openmv camera in the horizontal direction；5v, TXD, RXD, GND interface of the Openmv camera are flat with STM32 respectively
It weighs car owner's plate 5v, USART1_RX (PA10), the electrical connection of USART1_TX (PA9), GND interface, Openmv camera and STM32
Balance car mainboard carries out serial communication, and Openmv camera module is transmitted for acquiring image, image procossing and information；Laser Measuring
Pwm interface away from module is electrically connected with PA11 (TIM1_CH14) interface of STM32 balance car mainboard, for detecting barrier
Range information；5V, GND, RXD, TXD of 5V, GND, TXD, RXD and STM32 balance car mainboard of the bluetooth module are electrically connected
It connects, the bluetooth transparent transmission occupies serial ports 2 (USART2) in a program, and the bluetooth module is used to receive the finger that mobile phone or PC are sent
It enables, realization manually controls machine people；Signal (S) pin of buzzer is electrically connected with the PA11 of STM32 balance car mainboard, when
When STM32 balance car mainboard exports low level, sound the alarm.
Spray robot provided by the utility model with teaching effect utilizes top using balance car mainboard as control centre
Spiral shell instrument determines equilibrium state, is adjusted using motor to spray robot and is at equilibrium state；Then video camera is utilized
Spraying profile is obtained to indicate that spray robot is sprayed automatically, high-efficient, precision is good, greatly reduces human cost, can
Wide popularization and application is in the maintenance of infrastructure.
Claims (10)
1. a kind of spray robot with teaching effect, which is characterized in that including support plate (1), for driving the support plate (1)
The wheel (2) of movement, the first motor (3) for driving the wheel (2) to move, Qi Shui reservoir (4) and the Qi Shui are stored up
Nozzle (5), camera (6), the second motor (7) for driving the camera (6) to rotate and the balance that storage (4) is connected
Car owner's plate (8), straight down, the camera (6) is set to the front side of the nozzle (5) to the lacquer export of the nozzle (5), and
The optical axis direction of the camera (6) is straight down；It is provided with the first gyroscope (9) on the balance car mainboard (8), described
One gyroscope (9), balance car mainboard (8) and first motor (3) successively communication connection；Second is provided on the camera (6)
Gyroscope (10), second gyroscope (10), balance car mainboard (8) and the second motor (7) successively communication connection；The Qi Shui
Valve (11) and the third motor (12) for driving the valve (11) to be opened and closed are provided between reservoir (4) and nozzle (5),
The third motor (12) and balance car owner's plate (8) communication connection.
2. according to claim 1 with the spray robot of teaching effect, which is characterized in that also set on the support plate (1)
It is equipped with range finder module (13), the range finder module (13), balance car mainboard (8) and first motor (3) successively communication connection.
3. according to claim 2 with the spray robot of teaching effect, which is characterized in that the range finder module (13) is logical
Range finder module fixing piece (14) is crossed to be fixedly installed on the first motor (3).
4. according to claim 1 with the spray robot of teaching effect, which is characterized in that the range finder module (13) is
Laser ranging module.
5. according to claim 1 with the spray robot of teaching effect, which is characterized in that the balance car mainboard (8)
On be additionally provided with buzzer (15).
6. according to claim 1 with the spray robot of teaching effect, which is characterized in that the first motor (3) is
Direct current generator, the first motor (3) are arranged on motor fixture (16), and the motor fixture (16) is fixedly installed on institute
State the lower section of support plate (1).
7. according to claim 1 with the spray robot of teaching effect, which is characterized in that the wheel (2) is set in
On the flange (17) of tape spool, the flange (17) is fixedly connected with the first motor (3) by shaft coupling (18).
8. according to claim 1 with the spray robot of teaching effect, which is characterized in that second motor (7) is
Horizontal stage electric machine, second motor (7) are arranged on horizontal stage electric machine seat (19), and the horizontal stage electric machine seat (19) is fixed at institute
The lower section of support plate (1) is stated, the camera (6) is arranged on camera holder (20), the horizontal stage electric machine seat (19) and the camera
Seat (20) is fixedly connected by horizontal stage electric machine fastener (21).
9. according to claim 1 with the spray robot of teaching effect, which is characterized in that the valve (11) is ball
Valve, the valve (11) are fixed on the support plate (1) by valve locking member (22).
10. according to claim 1 with the spray robot of teaching effect, which is characterized in that the balance car mainboard (8)
On be additionally provided with the bluetooth module (23) that can be connect with mobile terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820571941.4U CN208563075U (en) | 2018-04-20 | 2018-04-20 | A kind of spray robot with teaching effect |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820571941.4U CN208563075U (en) | 2018-04-20 | 2018-04-20 | A kind of spray robot with teaching effect |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208563075U true CN208563075U (en) | 2019-03-01 |
Family
ID=65480764
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820571941.4U Expired - Fee Related CN208563075U (en) | 2018-04-20 | 2018-04-20 | A kind of spray robot with teaching effect |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208563075U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108425310A (en) * | 2018-04-20 | 2018-08-21 | 东莞理工学院 | A kind of spray robot, spraying method and spray equipment with teaching effect |
-
2018
- 2018-04-20 CN CN201820571941.4U patent/CN208563075U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108425310A (en) * | 2018-04-20 | 2018-08-21 | 东莞理工学院 | A kind of spray robot, spraying method and spray equipment with teaching effect |
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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: 20190301 Termination date: 20210420 |