CN208715337U - A kind of novel bar navigation wheel robot - Google Patents
A kind of novel bar navigation wheel robot Download PDFInfo
- Publication number
- CN208715337U CN208715337U CN201821498804.9U CN201821498804U CN208715337U CN 208715337 U CN208715337 U CN 208715337U CN 201821498804 U CN201821498804 U CN 201821498804U CN 208715337 U CN208715337 U CN 208715337U
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- CN
- China
- Prior art keywords
- support plate
- stepper motor
- chip microcontroller
- conducting wire
- shell
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model relates to robotic technology fields, especially a kind of novel bar navigation wheel robot, including support plate, the top of the support plate, which is equipped with, makes an inspection tour mechanism and shell, opening is opened up at the top of shell, cover board corresponding with aperture position is installed at the top of the shell, the inner bottom surface of shell is equipped with single-chip microcontroller, single-chip microcontroller is connect by conducting wire with mechanism is maked an inspection tour, the bottom of the support plate is equipped with driving mechanism and steering mechanism, the driving mechanism and steering mechanism are symmetrically arranged amongst the both ends of support plate, support plate is equipped with navigation sector, single-chip microcontroller is connect with driving mechanism and navigation sector respectively by conducting wire, the steering mechanism includes two universal shafts and the first stepper motor.The utility model structure is simple, maintains easily, and not only increases the efficiency of work, is also convenient for the movement of wheel.
Description
Technical field
The utility model relates to robotic technology field more particularly to a kind of novel bar navigation wheel robots.
Background technique
Existing bar navigation wheel robot usually applies to industrial inspection, to substitute manpower, improves the efficiency of work, and
Steering mechanism's structure in bar navigation wheel robot, and amount of parts is more in steering mechanism, therefore in breakdown maintenance, no
The cost of maintenance is only improved, the time needed for also extending maintenance, to reduce the working efficiency of bar navigation wheel robot.
Utility model content
Purpose of the utility model is to solve disadvantages existing in the prior art, and a kind of novel navigation wheel proposed
Formula robot.
To achieve the goals above, the utility model adopts the technical scheme that
Design a kind of novel bar navigation wheel robot, including support plate, the top of the support plate be equipped with make an inspection tour mechanism and
Shell opens up opening at the top of shell, cover board corresponding with aperture position, the inner bottom of shell is equipped at the top of the shell
Face is equipped with single-chip microcontroller, and single-chip microcontroller is connect by conducting wire with mechanism is maked an inspection tour, and the bottom of the support plate is equipped with driving mechanism and turns
To mechanism, the driving mechanism and steering mechanism are symmetrically arranged amongst the both ends of support plate, and support plate is equipped with navigation sector, monolithic
Machine is connect with driving mechanism and navigation sector respectively by conducting wire, and the steering mechanism includes two universal shafts and the first stepping electricity
Machine, two universal shafts are symmetrically mounted on the bottom surface of support plate, and the bottom end of two universal shafts is equipped with mounting blocks, two mounting blocks
Side is run through equipped with installation axle, and the both ends of installation axle are socketed with first bearing, is socketed with the first vehicle in two first bearings
Wheel, first stepper motor are installed through the upper surface of support plate, the position pair of first stepper motor and installation axle
It answers, the top of the installation axle is equipped with mounting plate corresponding with the first step motor position, and the upper surface of mounting plate is fixedly mounted
There is internal gear, the turning end of first stepper motor is equipped with the external gear engaged with internal gear, and first stepper motor is logical
Cross conducting wire and single-chip microcontroller.
Preferably, the tour mechanism includes electric pushrod and dual-mode antenna, and electric pushrod is vertically installed at support plate
Upper surface, the top of the electric pushrod are equipped with fixed plate, and the upper surface of fixed plate is equipped with camera, and the dual-mode antenna runs through
It is mounted on the outside of shell, the dual-mode antenna, electric pushrod and camera pass through conducting wire and connect with single-chip microcontroller.
Preferably, the driving mechanism includes the fixed block of second stepper motor and two symmetric arrays, two fixed blocks
Side run through equipped with second bearing, be plugged with rotation axis between two second bearings, the both ends of rotation axis are equipped with and the
Identical second wheel of one wheel size, the second stepper motor are mounted on the bottom surface of support plate, are socketed in the rotation axis
There is worm gear corresponding with second stepper motor position, the snail engaged with worm gear is installed in the turning end of the second stepper motor
Bar, second stepper motor are connect by conducting wire with single-chip microcontroller.
Preferably, the both ends bottom surface of the support plate is equipped with distance-sensor, and distance-sensor passes through conducting wire and monolithic
Machine connection.
Preferably, the inside of the shell is equipped with battery, and battery is connect by conducting wire with single-chip microcontroller.
Preferably, the navigation sector includes laser navigation equipment and offers surface on the supporting plate and extend to support plate
The mounting groove of side, the laser navigation equipment are mounted on the inside of mounting groove, and the laser navigation equipment passes through conducting wire and single-chip microcontroller
Connection.
The utility model proposes a kind of novel bar navigation wheel robot, beneficial effect is: by the way that universal shaft, the is added
One stepper motor, internal gear and external gear, for driving the rotation of the first wheel, so that the mobile direction of robot is changed, and
And the structure is simple, facilitates the maintenance in the first wheel direction；By the way that first bearing is added, reduce between the first wheel and installation axle
Frictional force, for the rotation of the first wheel.The utility model structure is simple, maintains easily, and not only increases work
Efficiency is also convenient for the movement of wheel.
Detailed description of the invention
Fig. 1 be the utility model proposes a kind of novel bar navigation wheel robot main view；
Fig. 2 be the utility model proposes a kind of novel bar navigation wheel robot left view；
Fig. 3 be the utility model proposes a kind of novel bar navigation wheel robot right view.
Fig. 4 be the utility model proposes a kind of novel bar navigation wheel robot housing interior structure schematic diagram.
Fig. 5 be the utility model proposes a kind of novel bar navigation wheel robot internal gear and external gear connection structure show
It is intended to.
Fig. 6 be the utility model proposes a kind of novel bar navigation wheel robot installation axle and the first wheel link structure
Schematic diagram.
In figure: the first wheel 1, the first stepper motor 2, dual-mode antenna 3, shell 4, cover board 5, support plate 6, the second wheel 7,
Worm screw 8, second stepper motor 9, distance-sensor 10, universal shaft 11, mounting plate 12, installation axle 13, mounting blocks 14, external gear
15, internal gear 16, worm gear 17, rotation axis 18, second bearing 19, fixed block 20, mounting groove 21, laser navigation equipment 22, battery
23, single-chip microcontroller 24, wire guide 25, first bearing 26, electric pushrod 27, fixed plate 28, camera 29.
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
It clearly and completely retouches, it is clear that the embodiment retouched is only the utility model a part of the embodiment, instead of all the embodiments.
Referring to Fig.1-6, the both ends bottom surface of a kind of novel bar navigation wheel robot, including support plate 6, support plate 6 is equipped with
Distance-sensor 10, distance-sensor 10 are connect by conducting wire with single-chip microcontroller 24, by the way that distance-sensor 10 is added, for this
Robot plays the role of protection, and during robot advances, distance-sensor 10 is for incuding robot to barrier
The distance between, if robot is less than the preset value of distance-sensor 10 to the distance between barrier, distance-sensor
10 feed back information to single-chip microcontroller 24, and single-chip microcontroller 24 controls second stepper motor and stops working, robot is stopped.
The top of support plate 6, which is equipped with, makes an inspection tour mechanism and shell 4, and the top of shell 4 opens up opening, the top installation of shell 4
There is cover board 5 corresponding with aperture position, the inner bottom surface of shell 4 is equipped with single-chip microcontroller 24, and single-chip microcontroller 24 is by conducting wire and makes an inspection tour
Mechanism connection, the inside of shell 4 are equipped with battery 23, and battery 23 is connect by conducting wire with single-chip microcontroller 24, by the way that electric power storage is added
Pond 23 is powered for the electrical equipment in the robot, allows the robot to stable work.
Making an inspection tour mechanism includes electric pushrod 27 and dual-mode antenna 3, and electric pushrod 27 is vertically installed at the upper table of support plate 6
Face, the top of electric pushrod 27 are equipped with fixed plate 28, and the upper surface of fixed plate 28 is equipped with camera 29, and dual-mode antenna 3 is through peace
Mounted in the outside of shell 4, dual-mode antenna 3, electric pushrod 27 and camera 29 are connect by conducting wire with single-chip microcontroller 24, by adding
Enter electric pushrod 27, for adjusting the height of camera 29, consequently facilitating observer carries out operation electric pushrod at terminal
27 adjust the height of camera 29, facilitate tour of the observer to machine.
The bottom of support plate 6 is equipped with driving mechanism and steering mechanism, and driving mechanism includes that second stepper motor 9 and two are right
Claim the fixed block 20 of arrangement, the side of two fixed blocks 20 is run through equipped with second bearing 19, and two second bearings 19 interleave
It is connected to rotation axis 18, the both ends of rotation axis 18 are equipped with the second wheel 7 identical with 1 size of the first wheel, second stepper motor 9
It is mounted on the bottom surface of support plate 6, worm gear 17 corresponding with 9 position of second stepper motor, the second stepping are socketed in rotation axis 18
The worm screw 8 engaged with worm gear 17 is installed, by the way that worm screw 8 and worm gear 17, second stepper motor 9 is added in the turning end of motor 9
It is connect by conducting wire with single-chip microcontroller 24, the rotation of rotation axis 18 is driven convenient for second stepper motor 9, by the way that second bearing is added
19, the frictional force generated when rotation axis 18 rotates in fixed block 20 is reduced, 7 rotational efficienty of the second wheel is improved.
Driving mechanism and steering mechanism are symmetrically arranged amongst the both ends of support plate 6, and support plate 6 is equipped with navigation sector, monolithic
Machine 24 connect respectively by conducting wire with driving mechanism and navigation sector, and navigation sector, which includes laser navigation equipment 22, to be propped up with offering
6 upper surface of fagging and the mounting groove 21 for extending to 6 side of support plate, laser navigation equipment 22 are mounted on the inside of mounting groove 21, swash
Light guide instrument 22 is connect by conducting wire with single-chip microcontroller 24, and by the way that laser navigation equipment 22 is added, laser navigation is the standard using laser
It is straightforward and not diversity the position at the object that needs to navigate is accurately positioned with reach guidance need to navigate object advance
Direction, the object for needing to reflect around driving path, the object that needs to navigate are acquired by transmitting laser beam by anti-
The laser beam of object reflection is penetrated, to determine its current position and direction.
Steering mechanism includes two universal shafts 11 and the first stepper motor 2, and two universal shafts 11 are symmetrically mounted on support plate 6
Bottom surface, the bottom end of two universal shafts 11 is equipped with mounting blocks 14, and the side of two mounting blocks 14 is run through equipped with installation axle 13,
The both ends of installation axle 13 are socketed with first bearing 26, and the first wheel 1, the first stepper motor are socketed in two first bearings 26
2 are installed through the upper surface of support plate 6, and the first stepper motor 2 is corresponding with the position of installation axle 13, and the top of installation axle 13 is set
There is mounting plate 12 corresponding with 2 position of the first stepper motor, the upper surface of mounting plate 12 is fixedly installed with internal gear 16, the first step
Turning end into motor 2 is equipped with the external gear 15 engaged with internal gear 16, and the first stepper motor 2 passes through conducting wire and single-chip microcontroller 24,
By the way that universal shaft 11, the first stepper motor 2, internal gear 16 and external gear 15 is added, for driving the rotation of the first wheel 1, from
And the mobile direction of robot is changed, and the structure is simple, facilitates the maintenance in 1 direction of the first wheel；By the way that first axle is added
26 are held, the frictional force between the first wheel 1 and installation axle 13 is reduced, for the rotation of the first wheel 1.
Working principle: when robot turns to, controlling the first stepper motor 2 by single-chip microcontroller 24 and drive external gear 15, and
External gear 15 is engaged with internal gear 16, so that internal gear 16 drives installation axle 13 to rotate in the horizontal plane centainly by mounting plate 12
Angle, installation axle 13 rotate during, installation axle 13 also drives universal shaft 11 to be rotated, thus change two first
The direction of wheel 1.
The preferable specific embodiment of the above, only the utility model, but the protection scope of the utility model is not
It is confined to this, anyone skilled in the art is within the technical scope disclosed by the utility model, practical according to this
Novel technical solution and its utility model design are subject to equivalent substitution or change, should all cover the protection model in the utility model
Within enclosing.
Claims (6)
1. a kind of novel bar navigation wheel robot, including support plate (6), the top of the support plate (6) be equipped with make an inspection tour mechanism and
Shell (4) opens up opening at the top of shell (4), cover board (5) corresponding with aperture position is equipped at the top of the shell (4),
The inner bottom surface of shell (4) is equipped with single-chip microcontroller (24), and single-chip microcontroller (24) is connect by conducting wire with mechanism is maked an inspection tour, and feature exists
In the bottom of the support plate (6) is equipped with driving mechanism and steering mechanism, and the driving mechanism and steering mechanism are symmetrically arranged amongst
The both ends of support plate (6), support plate (6) are equipped with navigation sector, single-chip microcontroller (24) by conducting wire respectively with driving mechanism and lead
The connection of plane structure, the steering mechanism include two universal shafts (11) and the first stepper motor (2), and two universal shafts (11) are symmetrical
It is mounted on the bottom surface of support plate (6), the bottom end of two universal shafts (11) is equipped with mounting blocks (14), the side of two mounting blocks (14)
Face is run through equipped with installation axle (13), and the both ends of installation axle (13) are socketed with first bearing (26), on two first bearings (26)
It is socketed with the first wheel (1), first stepper motor (2) is installed through the upper surface of support plate (6), the first step
Corresponding with the position of installation axle (13) into motor (2), the top of the installation axle (13) is equipped with and the first stepper motor (2) position
Corresponding mounting plate (12), the upper surface of mounting plate (12) are fixedly installed with internal gear (16), first stepper motor (2)
Turning end is equipped with the external gear (15) engaged with internal gear (16), and first stepper motor (2) passes through conducting wire and single-chip microcontroller
(24).
2. a kind of novel bar navigation wheel robot according to claim 1, which is characterized in that the tour mechanism includes electricity
Dynamic push rod (27) and dual-mode antenna (3), electric pushrod (27) are vertically installed at the upper surface of support plate (6), the electric pushrod
(27) top is equipped with fixed plate (28), and the upper surface of fixed plate (28) is equipped with camera (29), and the dual-mode antenna (3) is run through
It is mounted on the outside of shell (4), the dual-mode antenna (3), electric pushrod (27) and camera (29) pass through conducting wire and monolithic
Machine (24) connection.
3. a kind of novel bar navigation wheel robot according to claim 1, which is characterized in that the driving mechanism includes the
The fixed block (20) of two stepping motor (9) and two symmetric arrays, the side of two fixed blocks (20) is run through equipped with the second axis
It holds (19), is plugged with rotation axis (18) between two second bearings (19), the both ends of rotation axis (18) are equipped with and the first wheel
(1) identical second wheel (7) of size, the second stepper motor (9) are mounted on the bottom surface of support plate (6), the rotation axis
(18) worm gear (17) corresponding with second stepper motor (9) position is socketed on, in the turning end of the second stepper motor (9)
The worm screw (8) engaged with worm gear (17) is installed, second stepper motor (9) is connect by conducting wire with single-chip microcontroller (24).
4. a kind of novel bar navigation wheel robot according to claim 1, which is characterized in that the two of the support plate (6)
End bottom surface is equipped with distance-sensor (10), and distance-sensor (10) is connect by conducting wire with single-chip microcontroller (24).
5. a kind of novel bar navigation wheel robot according to claim 1, which is characterized in that the inside of the shell (4)
Equipped with battery (23), battery (23) is connect by conducting wire with single-chip microcontroller (24).
6. a kind of novel bar navigation wheel robot according to claim 1, which is characterized in that the navigation sector includes swashing
Light guide instrument (22) and the mounting groove (21) for offering in support plate (6) upper surface and extending to support plate (6) side, it is described to swash
Light guide instrument (22) is mounted on the inside of mounting groove (21), and the laser navigation equipment (22) is connected by conducting wire and single-chip microcontroller (24)
It connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821498804.9U CN208715337U (en) | 2018-09-13 | 2018-09-13 | A kind of novel bar navigation wheel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821498804.9U CN208715337U (en) | 2018-09-13 | 2018-09-13 | A kind of novel bar navigation wheel robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208715337U true CN208715337U (en) | 2019-04-09 |
Family
ID=65981987
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821498804.9U Expired - Fee Related CN208715337U (en) | 2018-09-13 | 2018-09-13 | A kind of novel bar navigation wheel robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208715337U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112863059A (en) * | 2021-01-28 | 2021-05-28 | 三峡大学 | Medicine machine is sold to integrative intelligence of many |
-
2018
- 2018-09-13 CN CN201821498804.9U patent/CN208715337U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112863059A (en) * | 2021-01-28 | 2021-05-28 | 三峡大学 | Medicine machine is sold to integrative intelligence of many |
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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 |
Granted publication date: 20190409 Termination date: 20190913 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |