CN209504126U - A kind of education of middle and primary schools sports class robot - Google Patents
A kind of education of middle and primary schools sports class robot Download PDFInfo
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- CN209504126U CN209504126U CN201821207912.6U CN201821207912U CN209504126U CN 209504126 U CN209504126 U CN 209504126U CN 201821207912 U CN201821207912 U CN 201821207912U CN 209504126 U CN209504126 U CN 209504126U
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- mecanum wheel
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- primary schools
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- 238000010146 3D printing Methods 0.000 claims description 6
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 238000005096 rolling process Methods 0.000 claims description 4
- 238000007373 indentation Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification 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 education of middle and primary schools sports class robots, including；Chassis portion, including bottom plate；Cradle head part is rotatably arranged on the bottom plate；Catapult-launching gear, fixation are located in cradle head part；Several Mecanum wheel parts are located at the chassis portion edge, drive entire shooting robot Omni-mobile；Control section is fixed on the bottom plate, controls connection cradle head part, catapult-launching gear and Mecanum wheel part respectively by circuit.The utility model passes through the dismounting and control to shooting robot, be conducive to develop students in middle and primary schools and teen-age intelligence, the machine person form competed with reference to the robot of university's mainstream now, be conducive to students in middle and primary schools and understand robot, university form of play and thinking in advance, widen thinking, manipulative ability is improved, and robot can use and carry out robot competition in education of middle and primary schools.
Description
Technical field
The utility model relates to education of middle and primary schools robotic technology field more particularly to a kind of education of middle and primary schools sports class machines
Device people.
Background technique
Education of middle and primary schools robot is the teaching equipment of child or adolescent a kind of, by each of education of middle and primary schools robot
Components carry out group and are filled with to be spliced into complete education of middle and primary schools robot architecture, are advantageously implemented children or teen-age intelligence
Power exploitation is also beneficial to carry out robot teaching's activity or competition.Educational robot master present on society now
If student is guided to splice each components using male-female engagement mode or inserting mode.Disadvantage existing for above-mentioned technical proposal
End is to limit the thinking of student, and the educational robot of this connecting method is actually no different with the high toy of pleasure.
Utility model content
The main purpose of the utility model is to provide a kind of education of middle and primary schools robot, and with reference to university's mainstream now
The form of robot match allows students in middle and primary schools to experience mainstream robot, the universities ratios such as the match of line walking trolley, Robomaster match
The machine person form of match opens up student thought, widens student knowledge face, improves students in middle and primary schools' manipulative ability.
The purpose of this utility model is achieved through the following technical solutions:
A kind of education of middle and primary schools sports class robot, including；
Chassis portion, including bottom plate；
Cradle head part is rotatably arranged on the bottom plate；
Catapult-launching gear, fixation are located in cradle head part；
Several Mecanum wheel parts are located at the chassis portion edge, drive entire shooting robot Omni-mobile；
Control section is fixed on the bottom plate, by circuit respectively control connection cradle head part, catapult-launching gear and
Mecanum wheel part.
Further, the cradle head part includes fork-shaped head support, the second steering engine, is rotatably arranged on holder support
Holder, the first steering engine on part, second steering engine are fixed on bottom plate, and the bottom of head support and second steering engine are defeated
First steering wheel of outlet is fixedly connected with the movement for realizing the direction head support Pitch, and the side of the holder passes through bearing
Be rotatablely connected with the respective side on head support top, the other side of the holder by the second steering wheel of the second steering engine of connection with
Another respective side on head support top is rotatablely connected, and realizes the movement of the movement in the direction head support Yaw.
Further, the circumferentially arranged universal rolling for having several rolling friction on bottom plate in the head support bottom
Pearl.
Further, the catapult-launching gear includes:
Internal weapon bays is fixed on the holder；
Emit gun tube, its rear end is fixedly connected with internal weapon bays and two sides be symmetrical arranged it is jagged；
Friction pulley is enclosed with O-ring, is symmetrically disposed in two indentation, theres of transmitting gun tube；
Motor is fixed on internal weapon bays front end and is drivingly connected respectively with friction pulley；
Driver plate, rotation are located at falling at bullet mouth and connecting with the DC speed-reducing driving for being located at internal weapon bays bottom for the internal weapon bays
It connects.
Further, the Mecanum wheel part includes four sets of Mecanum wheel driving assemblies, each Mecanum
Wheel drive component includes the motor fixing frame for being bolted on the bottom edge, is fixedly mounted on the motor and fixes
DC speed-reducing on frame, the Mecanum wheel being fixedly connected with the DC speed-reducing output shaft.
Further, the Mecanum wheel includes two Mecanum wheel cut piece, several roller bearings and roller, described
Two Mecanum wheel cut piece cooperate assembly by bolt in opposite directions, and the roller bearing is fixed on through roller and by interference fit
In two Mecanum wheel cut piece, the roller can be rotated freely around roller bearing.
Further, the control section includes single-chip microcontroller, motor drive module, the battery being used to provide power, institute
It states single-chip microcontroller and drives the Mecanum wheel part, the first DC speed-reducing, motor for controlling motor drive module, the
One steering engine and the second steering engine.
Further, the control section further includes the bluetooth serial ports module connecting with the single chip circuit, is used for
By receiving control of the Bluetooth signal realization to robot.
Further, the control section further includes the camera for being located at the bottom plate front end as vision line walking
OpenMV machine vision module, the OpenMV machine vision module is connect with the single chip circuit, for that will recognize
Ground on line information be sent to the single-chip microcontroller and adjust the revolving speed of each motor in Mecanum wheel part and realize and turn
To the function that realization line walking is advanced.
Further, the head support, friction pulley, internal weapon bays, driver plate, bottom plate, motor fixing frame, Mecanum wheel
Cut piece, roller are 3D printing part.
Compared with the existing technology, the utility model has the following advantages that and technical effect:
1. mitigating construction weight by using 3D printing part, the simplification of production is improved, is suitble to promote.
2. shooting machine human body product is small, mechanism is compact, without occupying excessive space.
3. shooting robotic part is few, and part is very common, is easy to part purchase and assembly.
4. robot is easy to operate, it is suitble to education of middle and primary schools.
Detailed description of the invention
Fig. 1 is this shooting robot overall structure diagram.
Fig. 2 is this shooting robot side view.
Fig. 3 is this shooting robot top view.
Fig. 4 is this shooting robot bottom view.
Fig. 5 is this shooting robot front view.
Fig. 6 is cradle head part schematic diagram.
Fig. 7 be cradle head part after attempt.
Fig. 8 is cradle head part top view.
Fig. 9 is chassis portion schematic diagram one.
Figure 10 is chassis portion schematic diagram two.
Figure 11 is Mecanum wheel partial schematic diagram.
Wherein, 1- chassis portion, 2- cradle head part, 3- Mecanum wheel part, 4- head support, 5- Universal caster,
6-O type circle, 7- friction pulley, 8- motor, 9- internal weapon bays, 10- bearing, the first DC speed-reducing of 11-, the first steering engine of 12-, 13-
One steering wheel, 14- driver plate, 15-OpenMV machine vision module, 16- vision module fixed plate, 17- bottom plate, the second steering wheel of 18-,
The second steering engine of 19-, 20- battery, 21- motor drive module, 22- bluetooth serial ports module, 23- single-chip microcontroller, the second direct current of 24- slow down
Motor, 25- motor fixing frame, 26- Mecanum wheel cut piece, 27- roller, 28- roller bearing.
Specific embodiment
To more fully understand the utility model, specific embodiment of the utility model is made furtherly with reference to the accompanying drawing
It is bright.
As shown in Figures 1 to 5, a kind of education of middle and primary schools sports class robot, including；
Chassis portion 1, including bottom plate 17；
Cradle head part 2 is rotatably arranged on the bottom plate 17；
Catapult-launching gear, fixation are located in cradle head part 2；
Several Mecanum wheel parts 3 are located at 1 edge of chassis portion, drive entire shooting robot Omni-mobile；
Control section is fixed on the bottom plate 17, controls connection cradle head part 2, ejection dress respectively by circuit
It sets and Mecanum wheel part 3.
As shown in Figure 6 to 8, the cradle head part 2 includes fork-shaped head support 4, the second steering engine 19, rotation setting
The model of holder, the first steering engine 12 in head support 4, first steering engine 12 and the second steering engine 19 is ES08MA rudder
Machine, second steering engine 19 are fixed on bottom plate 17, the bottom of the head support 4 and 19 output end of the second steering engine
The first steering wheel 13 be fixedly connected realize 4 direction Pitch of head support movement, the side of the holder passes through model
The bearing 10 of F686ZZ and the respective side on 4 top of head support are rotatablely connected, and the other side of the holder passes through connection second
Second steering wheel 18 of steering engine 19 and another respective side on 4 top of head support are rotatablely connected, and realize the head support side 4Yaw
To movement movement.4 bottom of head support is circumferentially arranged the universal of several rolling friction on bottom plate 17
Ball 5 guarantees the rotation of head support 4 stabilization, low friction.
As shown in Figure 6 and Figure 8, the catapult-launching gear includes:
Internal weapon bays 9 is fixed on the holder；
Emit gun tube, its rear end is fixedly connected with internal weapon bays 9 and two sides be symmetrical arranged it is jagged；
Friction pulley 7 is enclosed with O-ring 6, is symmetrically disposed in two indentation, theres of transmitting gun tube；
Motor 8 is fixed on 9 front end of internal weapon bays and is drivingly connected respectively with friction pulley 7,130 motor of model；
Driver plate 14, rotation are located at first fallen at bullet mouth and with the model N20 for being located at 9 bottom of internal weapon bays of the internal weapon bays 9
The output shaft of DC speed-reducing 11 is drivingly connected by interference fit.
As shown in figure 11, the Mecanum wheel part 3 includes four sets of Mecanum wheel driving assemblies, and each Mike receives
Nurse wheel drive component includes the motor fixing frame 25 for being bolted on 17 edge of bottom plate, is fixedly mounted on the electricity
The second DC speed-reducing 24 of model N20 on machine fixed frame 25 is led to 24 output shaft of the second DC speed-reducing
It is interference fitted the Mecanum wheel being fixedly connected.The Mecanum wheel includes two Mecanum wheel cut piece 26, several
Roller bearing 28 and roller 27, two Mecanum wheel cut piece 26 cooperate assembly by bolt in opposite directions, and the roller bearing 28 passes through
It wears roller 27 and is fixed on 26 in two Mecanum wheel cut piece by interference fit, the roller 27 can be around roller bearing 28 freely
Rotation.
As shown in Figure 9 and Figure 10, the control section include single-chip microcontroller 23, it is motor drive module 21, dynamic for providing
The battery 20 of power, the 23 model STM32F103C8T6 development board of single-chip microcontroller, the model of the motor drive module 21
L198N, the single-chip microcontroller 23 drive the Mecanum wheel part 3, the first direct current to subtract for controlling motor drive module 21
Speed motor 11, motor 8, the first steering engine 12 and the second steering engine 19.
In addition, the control section further includes the bluetooth serial ports module 22 with 23 circuit connection of single-chip microcontroller, model
For ATK-HC05, for realizing control to robot by receiving Bluetooth signal.
Meanwhile the control section further includes the camera for being located at 17 front end of bottom plate as vision line walking
OpenMV machine vision module 15, the OpenMV machine vision module 15 and 23 circuit connection of single-chip microcontroller, being used for will
The line information on ground recognized is sent to the single-chip microcontroller 23 and adjusts turning for each motor in Mecanum wheel part 3
Speed, which is realized, to be turned to, and realizes the function that line walking is advanced.
In above-described embodiment, the head support 4, friction pulley 7, internal weapon bays 9, driver plate 14, bottom plate 17, motor fixing frame
25, Mecanum wheel cut piece 26, roller 27 are 3D printing part.
Robot provided by the above embodiment is a kind of students in middle and primary schools or teen-age teaching equipment, passes through education of middle and primary schools
The dismounting and control of robot are conducive to develop students in middle and primary schools and teen-age intelligence, and it is living to be also beneficial to development robot teaching
Dynamic or competition.In the utility model embodiment scheme, robot is mainly by being placed in bottom plate 17
STM32F103C8T6 development board is controlled, and after burning program is entered development board by J-LINK, is provided in battery 20 dynamic
In the case where power, STM32F103C8T6 development board can control the rotation that motor drive module 21 drives four Mecanum wheels,
The omnidirectional moving chassis being made of four Mecanum wheels can drive robot omnidirectional moving.Meanwhile motor drive module
21 can drive the first motor of DC speed-reducing 11 and 130 in cradle head part 2.First DC speed-reducing 11 drives driver plate 14
Rotation, the bullet in internal weapon bays 9 is stirred, and then bullet enters transmitting gun tube, and 130 motors drive friction pulley 7 and O-ring 6 to rotate,
Ballistic projections are gone out by squeezing.At the same time, STM32F103C8T6 development board also can control the of model ES08MA
One steering engine 12 and the second steering engine 19.Wherein, the first steering wheel 13 of the first steering engine 12 is rigidly connected with head support 4, when first
When steering engine 12 rotates, since head support 4 is without the freedom degree in the direction Pitch, the moment of reaction of the first steering wheel 13
The first steering engine 12 is driven to realize the pitching in the direction Pitch, the first steering engine 12 can drive the fortune in the direction Pitch of entire internal weapon bays 9
It is dynamic.The second steering wheel 18 and the head support 4 of second steering engine 19 are rigidly connected, and when the rotation of the second steering engine 19, can drive cloud
Platform part 2 is in the movement in the direction Yaw, and in the process, Universal caster 5 plays supporting role during cloud platform rotation,
So that the Yaw movement of holder is more steady.The bluetooth serial ports module 22 of model ATK-HC05 can be opened with STM32F103C8T6
Plate connection is sent out, realizes and passes through control of the bluetooth to robot.It is possible thereby to realize in education of middle and primary schools course, realize with this
The education contest process that robot is shot mutually as contest form improves medium and small during production is with control robot
The manipulative ability and cooperation ability of student, and increased by way of contest study interest and training student it is competing
The consciousness of striving.
At the same time, camera of the OpenMV machine vision module 15 as vision line walking, the ground that can will be recognized
On route information, STM32F103C8T6 development board is sent to the digital information of floating number angle, according to the digital angle
Information can adjust the revolving speed of the second DC speed-reducing 24 of four chassis Mecanum wheels with PWM, realize chassis with this
It turns to, realizes the function that line walking is advanced.
The embodiments of the present invention is simultaneously not restricted to the described embodiments, other any without departing from the utility model
Spiritual essence and principle under the changes, modifications, substitutions, combinations, simplifications done, should be equivalent substitute mode, all include
It is within the protection scope of the utility model.
Claims (13)
- The class robot 1. a kind of education of middle and primary schools is raced, which is characterized in that including；Chassis portion (1), including bottom plate (17)；Cradle head part (2) is rotatably arranged on the bottom plate (17)；Catapult-launching gear, fixation are located on cradle head part (2)；Several Mecanum wheel parts (3) are located at the chassis portion (1) edge, drive entire shooting robot Omni-mobile；Control section is fixed on the bottom plate (17), controls connection cradle head part (2), ejection dress respectively by circuit It sets and Mecanum wheel part (3).
- The class robot 2. education of middle and primary schools according to claim 1 is raced, it is characterised in that: the cradle head part (2) Including fork-shaped head support (4), the second steering engine (19), the holder being rotatably arranged on head support (4), the first steering engine (12), second steering engine (19) is fixed on bottom plate (17), and the bottom of head support (4) and second steering engine (19) are defeated The first steering wheel (13) of outlet is fixedly connected with the movement for realizing head support (4) direction Pitch, the side of the holder It is rotatablely connected by the respective side on bearing (10) and head support (4) top, the other side of the holder passes through connection second The second steering wheel (18) of steering engine (19) and another respective side on head support (4) top are rotatablely connected, and realize head support (4) movement of the movement in the direction Yaw.
- The class robot 3. education of middle and primary schools according to claim 2 is raced, it is characterised in that: the head support (4) the circumferentially arranged Universal caster (5) for having several rolling friction on bottom plate (17) in bottom.
- The class robot 4. education of middle and primary schools according to claim 1 or 2 is raced, it is characterised in that: the catapult-launching gear packet It includes:Internal weapon bays (9), is fixed on the holder；Emit gun tube, its rear end is fixedly connected with internal weapon bays (9) and two sides be symmetrical arranged it is jagged；Friction pulley (7) is enclosed with O-ring (6), is symmetrically disposed in two indentation, theres of transmitting gun tube；Motor (8) is fixed on internal weapon bays (9) front end and is drivingly connected respectively with friction pulley (7)；Driver plate (14), rotation are located at falling at bullet mouth and slowing down with the first direct current for being located at internal weapon bays (9) bottom electric for the internal weapon bays (9) Machine (11) is drivingly connected.
- The class robot 5. education of middle and primary schools according to claim 1 is raced, it is characterised in that: the Mecanum wheel portion Dividing (3) includes four sets of Mecanum wheel driving assemblies, and each Mecanum wheel driving assembly includes being bolted on institute The motor fixing frame (25) for stating bottom plate (17) edge, the second direct current being fixedly mounted on the motor fixing frame (25) slow down electric Machine (24), the Mecanum wheel being fixedly connected with the second DC speed-reducing (24) output shaft.
- The class robot 6. education of middle and primary schools according to claim 5 is raced, it is characterised in that: the Mecanum wheel includes Two Mecanum wheel cut piece (26), several roller bearings (28) and roller (27), two Mecanum wheel cut piece (26) assembly is cooperated by bolt in opposite directions, the roller bearing (28) is fixed on two Mikes through roller (27) and by interference fit Na Mu takes turns in cut piece (26), and the roller (27) can rotate freely around roller bearing (28).
- The class robot 7. education of middle and primary schools according to claim 2 is raced, it is characterised in that: the control section includes Single-chip microcontroller (23), motor drive module (21), the battery (20) being used to provide power, the single-chip microcontroller (23) is for controlling motor Drive module (21) the driving Mecanum wheel part (3), the first DC speed-reducing (11), motor (8), the first steering engine (12) and the second steering engine (19).
- The class robot 8. education of middle and primary schools according to claim 7 is raced, it is characterised in that: also wrap the control section The bluetooth serial ports module (22) with the single-chip microcontroller (23) circuit connection is included, for realizing by receiving Bluetooth signal to robot Control.
- The class robot 9. education of middle and primary schools according to claim 8 is raced, it is characterised in that: also wrap the control section The OpenMV machine vision module (15) for being located at the bottom plate (17) front end as the camera of vision line walking is included, it is described OpenMV machine vision module (15) and the single-chip microcontroller (23) circuit connection, for by the line information on the ground recognized It is sent to the revolving speed realization steering that the single-chip microcontroller (23) adjust described Mecanum wheel part (3) each motor, realizes line walking The function of traveling.
- The class robot 10. education of middle and primary schools according to claim 4 is raced, it is characterised in that: the head support (4), friction pulley (7), internal weapon bays (9), driver plate (14), bottom plate (17), motor fixing frame (25), Mecanum wheel cut piece (26), Roller (27) is 3D printing part.
- The class robot 11. education of middle and primary schools according to claim 5 is raced, it is characterised in that: the head support (4), friction pulley (7), internal weapon bays (9), driver plate (14), bottom plate (17), motor fixing frame (25), Mecanum wheel cut piece (26), Roller (27) is 3D printing part.
- The class robot 12. education of middle and primary schools according to claim 6 is raced, it is characterised in that: the head support (4), friction pulley (7), internal weapon bays (9), driver plate (14), bottom plate (17), motor fixing frame (25), Mecanum wheel cut piece (26), Roller (27) is 3D printing part.
- The class robot 13. education of middle and primary schools according to claim 4 is raced, it is characterised in that: the Mecanum wheel Partially (3) include four sets of Mecanum wheel driving assemblies, and each Mecanum wheel driving assembly includes being bolted on The motor fixing frame (25) at bottom plate (17) edge, the second direct current being fixedly mounted on the motor fixing frame (25) slow down Motor (24), the Mecanum wheel being fixedly connected with the second DC speed-reducing (24) output shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821207912.6U CN209504126U (en) | 2018-07-28 | 2018-07-28 | A kind of education of middle and primary schools sports class robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821207912.6U CN209504126U (en) | 2018-07-28 | 2018-07-28 | A kind of education of middle and primary schools sports class robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209504126U true CN209504126U (en) | 2019-10-18 |
Family
ID=68186906
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821207912.6U Expired - Fee Related CN209504126U (en) | 2018-07-28 | 2018-07-28 | A kind of education of middle and primary schools sports class robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209504126U (en) |
-
2018
- 2018-07-28 CN CN201821207912.6U patent/CN209504126U/en not_active Expired - Fee Related
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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: 20191018 |