CN210910049U - Welcome child simulation robot - Google Patents

Abstract

The utility model discloses a guest-greeting children simulation robot, which is assembled by sawing off a model of a children fashion model from the neck, waist and arms, and comprises a head and neck part, an upper body part, arm parts and a lower body part of the model; the robot also comprises a low head raising mechanism for connecting the head neck part and the upper body part, a lifting arm mechanism for connecting the upper body part and the arm part, a bending and straightening mechanism for connecting the upper body part and the lower body part, a body turning mechanism arranged on the lower body part, a travelling mechanism arranged at the bottom end of the body turning mechanism, and a garment for shielding the upper body part, the lower body part and the body turning mechanism; the robot also comprises a system switch positioned on one side of the top of the upper body part and a sensor arranged on the upper body part, wherein the sensor comprises a left detection sensor, a right detection sensor and a front detection sensor; the robot also comprises a central control module, a voice module, a walking driving module and a battery pack which are positioned at the lower part of the body; the utility model provides a robot need not program, and the action is nimble, has practical value.

Description

Welcome child simulation robot

Technical Field

The utility model belongs to the robot field, concretely relates to guest-welcoming children simulation robot.

Background

The existing robots are mechanical arms or robots for industrial production line production products, and robots of the types of playing football or performing voice recognition and human interaction in schools or scientific research institutions. These robots are controlled by a single chip or a computer, various functions are realized by software programming, and most of the robots are complex in components and expensive in price.

SUMMERY OF THE UTILITY MODEL

The utility model provides a guest-welcoming children simulation robot, concrete mechanism is as follows:

a guest-welcoming child simulation robot is formed by assembling a model of a child fashion model after being sawed from the neck, the waist and the arms, and comprises a head and neck part, an upper body part, arm parts and a lower body part of the model;

the robot also comprises a low head raising mechanism for connecting the head neck part and the upper body part, a lifting arm mechanism for connecting the upper body part and the arm part, a bending and straightening mechanism for connecting the upper body part and the lower body part, a body turning mechanism arranged on the lower body part, a travelling mechanism arranged at the bottom end of the body turning mechanism, and a garment for shielding the upper body part, the lower body part and the body turning mechanism;

the robot also comprises a system switch positioned on one side of the top of the upper body part and a sensor arranged on the upper body part, wherein the sensor comprises a left detection sensor, a right detection sensor and a front detection sensor;

the robot also comprises a central control module, a voice module, a walking driving module and a battery pack which are positioned at the lower part of the body;

the battery pack supplies power to the central control module, the sensor and the walking driving module; the central control module is electrically connected with the sensor, the low head raising mechanism, the arm lifting and placing mechanism, the bending and straightening mechanism, the body turning mechanism, the voice module and the walking driving module; and the system switch controls the connection and disconnection between the battery pack and the central control module as well as between the sensor and the walking driving module.

Optionally, the low head raising mechanism includes a first connecting shaft connecting the head and neck part and the upper body part, a first speed reduction motor arranged on the upper body part, and a first pulling rope connecting the bottom of the neck part and a motor shaft of the first speed reduction motor, and the first speed reduction motor is electrically connected with the central control module;

the robot also comprises a lower head travel micro switch and a higher head travel micro switch which are respectively arranged at the starting points of the lower head and the higher head of the neck of the robot.

Optionally, the bending and straightening mechanism includes a second connecting shaft connecting the upper body part and the lower body part, a second speed reducing motor arranged on the lower body part, and a second pulling rope connecting the bottom of the upper body part and a motor shaft of the second speed reducing motor, and the second speed reducing motor is electrically connected with the central control module;

the robot also comprises a stoop stroke microswitch and a straight stroke microswitch which are respectively arranged at the starting point of the stoop and the straight of the robot.

Optionally, the arm lifting and placing mechanism comprises a third connecting shaft connecting the upper body part and the arm part, a third reducing motor arranged at the lower part of the upper body part, an arm supporting rod connected with the third connecting shaft, a third dragging rope and a spring, wherein the third dragging rope and the spring are connected with the other end of the arm supporting rod;

the robot also comprises an arm lifting travel micro switch and an arm placing travel micro switch which are respectively arranged at the starting points of the arm lifting and placing of the robot.

Optionally, the body turning mechanism comprises a partition plate vertically arranged on the lower surface of the lower body part, a support plate arranged below the partition plate in parallel, and a body turning rotating shaft vertically connected with the partition plate and the support plate through the partition plate, wherein the partition plate and the support plate are supported by four vertically arranged connecting rods; the lower body part and the turning rotating shaft are fixedly connected through a first rotating shaft fixing rod and a second rotating shaft fixing rod which are parallel to the partition plate, a fourth speed reducing motor is vertically arranged on the partition plate, a second synchronizing wheel is arranged on the turning rotating shaft between the partition plate and the support plate, the second synchronizing wheel is connected with a synchronizing wheel belt, the other end of the synchronizing wheel belt is connected with a first synchronizing wheel, a motor shaft of the fourth speed reducing motor penetrates through the partition plate to be sleeved on the first synchronizing wheel, and the fourth speed reducing motor is electrically connected with the central control module;

the robot also comprises four supporting wheels which are arranged at the lower part of the lower body part and are positioned on the partition plate;

the robot further comprises a left-turn travel microswitch and a right-turn travel microswitch respectively.

Optionally, the traveling mechanisms are two fifth speed reduction motors arranged on the support plate, motor shafts of the fifth speed reduction motors are respectively sleeved with a left front driving wheel and a right front driving wheel which are arranged at two ends of the front side of the bottom end of the support plate, and steering wheels located in the middle of the rear side of the bottom end of the support plate, and the fifth speed reduction motors are electrically connected with the central control module.

Optionally, the central control module includes four dc motor driving modules and a recovery module, and the voice module is an ISD1820 recording voice module; the walking driving module comprises two direct current motor driving modules and a recovery module.

Optionally, the battery pack is a lead-acid battery.

The utility model discloses a model, four direct current motor drive module, two direct current motor drive module and ISD1820 recording voice module of children's fashion model all purchase from the treasure of washing net.

The utility model provides a robot need not program, and the action is nimble, has practical value, is fit for promoting comprehensively.

Drawings

FIG. 1 is a schematic structural diagram of a guest greeting child simulation robot;

FIG. 2 is a schematic view of a lift-off head configuration in a head-up state;

FIG. 3 is a schematic view of a lift-down head configuration in a heads-down state;

FIG. 4 is a schematic view of a curved straight waist configuration in a straight waist state;

FIG. 5 is a schematic view of a stoop configuration in a stooped state;

FIG. 6 is a schematic diagram of a lift arm configuration in a lift arm state;

FIG. 7 is a schematic view of a lift arm configuration in the arm release position;

FIG. 8 is a front view of the turn-back configuration in the turned state;

FIG. 9 is a side view of the swivel structure in a swiveled position;

FIG. 10 is a photograph of a figure made with a girl model;

FIG. 11 is a schematic view of a salutation;

FIG. 12 is a walking away view;

FIG. 13 is a recovery block diagram;

FIG. 14 is a recovery circuit diagram of a recovery module;

the drawings in the above figures are not to scale and the drawings are appropriately scaled from the prior art for clarity of viewing.

In the figure, the head and neck part 1, the upper body part 2, the arm part 3, the lower body part 4, the low head-raising mechanism 10, the arm-raising mechanism 30, the bending-straightening mechanism 20, the turning-back mechanism 40, the garment 5, the system switch 6, the left detection sensor 71, the right detection sensor 72, the front detection sensor 73, the central control module 81, the voice module 82, the walking drive module 83, the battery pack 84, the first connecting shaft 11, the first speed reduction motor 12, the first pulling rope 13, the low head stroke microswitch 14, the head-raising stroke microswitch 15, the second connecting shaft 21, the second speed reduction motor 22, the second pulling rope 23, the bending stroke microswitch 24, the straight waist stroke microswitch 25, the third connecting shaft 31, the third speed reduction motor 32, the arm support rod 34, the third pulling rope 33, the spring 35, the arm-raising stroke microswitch 36, the arm-raising stroke microswitch 37, the partition plate 41, the support plate 42, the connecting rod 43, the support rod 43, the arm-raising mechanism 30, the, The device comprises a left driving wheel 44, a right driving wheel 46, a steering wheel 45, a first rotating shaft fixing rod 48, a second rotating shaft fixing rod 49, a rotating shaft 47, a second synchronizing wheel 54, a synchronizing wheel belt 53, a first synchronizing wheel 52, a fourth speed reducing motor 51, a supporting wheel 55, a left-turning travel micro switch 56 and a right-turning travel micro switch 57.

Detailed Description

In order to explain the technical content, structural features, achieved objects and functions of the present invention in detail, the following embodiments are described in detail with reference to the accompanying drawings.

A guest-greeting children simulation robot is assembled by sawing off a model of a children fashion model from the neck, waist and arms, and comprises a head and neck part 1, an upper body part 2, an arm part 3 and a lower body part 4 of the model;

the robot also comprises a low head raising mechanism 10 for connecting the head and neck part 1 with the upper body part 2, a lifting arm mechanism 30 for connecting the upper body part 2 with the arm part 3, a bending and straightening mechanism 20 for connecting the upper body part 2 with the lower body part 4, a body turning mechanism 40 arranged on the lower body part 4, a traveling mechanism 50 arranged at the bottom end of the body turning mechanism 40, and a garment 5 for shielding the upper body part 2, the lower body part 4 and the body turning mechanism 40;

the robot further comprises a system switch 6 positioned on one side of the top of the upper body part 2 and sensors arranged on the upper body part 2, wherein the sensors comprise a left detection sensor 71, a right detection sensor 72 and a front detection sensor 73;

the robot further comprises a central control module 81, a voice module 82, a walking drive module 83 and a battery pack 84 located at the lower body part 4;

the battery pack 84 supplies power to the central control module 81, the sensor and the walking drive module 83; the walking driving module 83 is used for driving the walking mechanism 50, and the central control module 81 is electrically connected with the sensor, the low head raising mechanism 10, the arm lifting and placing mechanism 30, the waist bending mechanism 20, the body turning mechanism 40, the voice module 82 and the walking driving module 83; the system switch 6 controls connection and disconnection between the battery pack 84 and the central control module 81, the sensor, and the travel drive module 83.

Optionally, as shown in fig. 2 and fig. 3, the low-head-up mechanism 10 includes a first connecting shaft 11 connecting the head neck portion 1 and the upper body portion 2, a first speed reduction motor 12 disposed on the upper body portion 2, and a first pulling rope 13 connecting the bottom of the head neck portion 1 and a motor shaft of the first speed reduction motor 12, and the first speed reduction motor 12 is electrically connected to the central control module 81; the robot also comprises a lower head travel micro switch 14 and a raising head travel micro switch 15 which are respectively arranged at the starting points of the lower head and the raising head of the neck part of the robot; the motor rotates forwards to drive the dragging rope to drag the head; the motor rotates reversely, the dragging rope is loosened, and the head is lowered by the self weight of the head; the travel switch controls the head lifting angle.

Optionally, as shown in fig. 4 and 5, the bending and straightening mechanism 20 includes a second connecting shaft 21 connecting the upper body 2 and the lower body 4, a second speed reducing motor 22 disposed on the lower body 4, and a second pulling rope 23 connecting the bottom of the upper body 2 and a motor shaft of the second speed reducing motor 22, and the second speed reducing motor 22 is electrically connected to the central control module 81; the robot also comprises a stoop stroke microswitch 24 and a straight waist stroke microswitch 25 which are respectively arranged at the starting point of the stoop and the straight waist of the robot; the motor rotates forwards to drive the dragging rope to drag the upper body to be straight; the motor rotates reversely, the dragging rope is loosened, and the waist is bent by the self weight of the upper body; the travel switch controls the bending and straightening waist angles.

Alternatively, as shown in fig. 6 and 7, the arm raising and lowering mechanism 30 includes a third connecting shaft 31 connecting the upper body 2 and the arm 3, a third speed reduction motor 32 disposed at the lower part of the upper body 2, an arm support rod 34 connected to the third connecting shaft 31, a third pulling rope 33 and a spring 35 connected to the other end of the arm support rod 34, the other end of the third pulling rope 33 is connected to a motor shaft of the third speed reduction motor 32, the other end of the spring 35 is connected to the upper part of the upper body 2, and the third speed reduction motor 32 is electrically connected to the central control module 81; the robot also comprises an arm lifting travel micro switch 36 and an arm placing travel micro switch 37 which are respectively arranged at the initial points of the arm lifting and placing of the robot; the motor rotates forwards to pull the pulling rope and the arm supporting rod to lift the arm; the motor rotates reversely, the pulling rope is released, the tension spring pulls the arm supporting rod, and the arm is put back; the travel switch controls the angle of the lifting arm.

Alternatively, as shown in fig. 8 and 9, the body turning mechanism 40 includes a partition plate 41 vertically disposed on the lower surface of the lower body portion 4, a carrier plate 42 disposed below the partition plate 41 in parallel, and a body turning rotating shaft 47 vertically connected to the partition plate 41 and the carrier plate 42 through the partition plate 41, wherein the partition plate 41 and the carrier plate 42 are supported by four connecting rods 43 vertically disposed; the lower body part 4 and the turning rotating shaft 47 are fixedly connected through a first rotating shaft fixing rod 48 and a second rotating shaft fixing rod 49 which are parallel to the partition plate 41, a fourth speed reducing motor 51 is vertically arranged on the partition plate 41, a second synchronizing wheel 54 is arranged on the turning rotating shaft 47 between the partition plate 41 and the carrier plate 42, the second synchronizing wheel 54 is connected with a synchronizing wheel belt 53, the other end of the synchronizing wheel belt 53 is connected with a first synchronizing wheel 52, a motor shaft of the fourth speed reducing motor 51 penetrates through the partition plate 41 to be sleeved on the first synchronizing wheel 52, and the fourth speed reducing motor 51 is electrically connected with the central control module 81; the robot further comprises four support wheels 55 arranged at the lower part of the lower body part 4 and positioned on the partition plate 41; the robot further comprises a left turn travel microswitch 56 and a right turn travel microswitch 57, respectively; the motor rotates forwards and drives the body to rotate rightwards through the synchronous wheel 1, the synchronous belt and the synchronous wheel 2; the motor rotates reversely, and the first synchronous wheel, the synchronous belt and the second synchronous wheel drive the body to rotate left; the travel switch controls the left-right turning angle.

Optionally, the traveling mechanism 50 includes two fifth speed reduction motors arranged on the support plate 42, motor shafts of the fifth speed reduction motors are respectively sleeved with a left front driving wheel 44 and a right front driving wheel 46 arranged at two ends of the front side of the bottom end of the support plate 42, and a steering wheel 45 located in the middle of the rear side of the bottom end of the support plate 42, and the fifth speed reduction motors are electrically connected with the central control module 81; the double front wheels are respectively driven by a speed reducing motor, the tail universal wheel follows up, when the double front wheels rotate forwards, the robot moves forwards, when the double front wheels rotate forwards and reversely, the robot turns left or right, and when the double front wheels do not rotate, the robot stops; the robot walks, turns and stops under the control of three distance sensors in front of the robot.

Optionally, the central control module 81 includes four dc motor driving modules and a recovery module, and the voice module 82 is an ISD1820 recording voice module; the walking driving module 83 includes two dc motor driving modules and a recovery module. The recovery module is a reset module and contains a reset circuit, namely a recovery circuit. The walking driving module is a walking control module. The four direct current motor driving modules and the two direct current motor driving modules are respectively driven by 4 paths of H bridges and 2 paths of H bridges. An L298N motor control chip and an LM2596 voltage-stabilizing chip can be onboard, and the module can simultaneously drive 4 or 2 direct current motors. The left detection sensor 71, the right detection sensor 72 and the front detection sensor 73 are all photoelectric sensors, and an E18-D80NK infrared obstacle avoidance sensor which is a photoelectric switch is adopted and is normally opened at 5V can be adopted. The four direct current motor driving modules, the two direct current motor driving modules and the E18-D80NK infrared obstacle avoidance sensor are purchased from Taobao, and are https:// item. spm ═ a1z09.2.0.3b142e8dx UU8kQ & id ═ 19492565948& _ u ═ ar20nv91 ebe;

https://item.taobao.com/item.htm？spm＝a1z09.2.0.0.3b142e8dx UU8kQ&id＝19367028984&_u＝ar20nv9d69e；

https://item.taobao.com/item.htm？spm＝a1z09.2.0.0.3b142e8dx UU8kQ&id＝41336778598&_u＝ar20nv948e8；

modules of the same function may be substituted.

Optionally, the battery pack 84 is a lead-acid battery.

The utility model discloses a guest-welcoming children simulation robot's work flow and principle:

a walking part:

and turning on a power supply, as shown in fig. 12, the walking control module drives the direct current motor 5 and the direct current motor 6 to rotate forward, the robot starts to walk forward, when the left side meets an obstacle, the infrared distance sensor H2 simultaneously transmits signals to the input end i5 of the recovery module Q5, the direct current motor 5 rotates reversely for 2 seconds and then recovers forward rotation, and the robot is driven to rotate right to avoid the obstacle. When an obstacle is encountered on the right side, the infrared distance sensor H3 transmits a signal to the input end i6 of the recovery module Q6 at the same time, so that the direct current motor 6 rotates reversely for 2 seconds and then recovers forward rotation, and the robot is driven to rotate left to avoid the obstacle. When the front face meets an obstacle, the infrared distance sensor H1 transmits signals to the enabling terminals inA and inB of the walking control module and the input terminal i1 of the recovery module Q1 at the same time, and the robot stops walking and starts to lower head.

The ritual part:

1. when the power supply is turned on and the robot starts to walk, as shown in fig. 12, when the front face meets an obstacle, the infrared distance sensor H1 transmits signals to the enabling terminals inA and inB of the walking control module and the input terminal i1 of the recovery module Q1 at the same time, and the robot stops walking and starts to lower head.

2. As shown in fig. 12, K1 and KB1 are linked, and K2 and Ki1 are linked. When the head is lowered, the diode D1 is conducted in the forward direction, the K1 is conducted, the KB1 is conducted at the same time, the locking stops walking, when the K2 is disconnected, the head is lowered to stop, the Ki2 is conducted at the same time, and the bending is triggered; during head raising, the diode D2 is conducted in the forward direction, the K2 is conducted, the Ki2 is broken, when the K1 is broken, the head raising stops, meanwhile, the KB1 is broken, the unlocking stops walking, and the walking starts.

3. K3 and KB2 are linked, and K4 and Ki2 are linked. When the patient bends over, the diode D3 is conducted in the forward direction, the K3 is conducted, the KB2 is conducted at the same time, the lower head is locked, when the K4 is disconnected, the bending over is stopped, the Ki3 is conducted at the same time, and the arm lifting is triggered; when the waist is straightened, the diode D4 is conducted in the forward direction, the K4 is conducted, the Ki3 is broken, when the K3 is broken, the straight waist stops, the KB2 is broken, the head is unlocked and the head is raised.

4. K5 and KB3 are linked, and K6 and Ki3 are linked. When the arm is lifted, the diode D5 is conducted in the forward direction, the K5 is conducted, the KB3 is conducted at the same time, the locking is locked to bend the waist, when the K6 is disconnected, the arm is lifted to stop, the Ki4 is conducted at the same time, and the turning is triggered; when the arm is released, the diode D6 is conducted in the forward direction, the K6 is conducted, the Ki4 is broken, when the K5 is broken, the waist straightening stops, the KB3 is broken, the unlocking is performed, the waist bending is performed, and the waist straightening is started.

5. K7 and KB4 are linked, and K8 is single-acting. When the user turns, the diode D7 is conducted in the forward direction, the K7 is conducted, the KB4 is conducted at the same time, the arm lifting is locked, when the K8 is disconnected, the turning stops, the user starts to turn back after 2 seconds, when the user turns back, the diode D8 is conducted in the forward direction, the K8 is conducted, when the K7 is disconnected, the user turns back to the stop, the KB4 is disconnected, the arm lifting is unlocked, and the arm releasing is started.

Note: k1, head-up travel switch. K2, low head travel switch. K3, straight waist travel switch. K4, stoop travel switch. K5, arm lift travel switch. K6, arm release travel switch. K7, turning over travel switch. K8, return travel switch. KB1, lock and unlock walk switches. KB2, lock, unlock the low head switch. KB3, lock, unlock lumbar switch. KB4 lock and unlock arm-raising switch: ki2, triggers the stoop switch. Ki3, triggers the arm raising switch. Ki4, triggers the body-turning switch.

The recovery module in fig. 12 and 13 is shown in fig. 13. The circuit diagram of the recovery module is shown in fig. 14. The recovery module working logic table is shown in table 1.

TABLE 1 resume Module working logic Table

Restoring the working principle of the module, wherein when no input signal exists, the output A is high level, and the output B is low level; when the input signal is 5V, the output A is at a low level, the output B is at a high level, but the output A automatically restores to the low level A and the high level B after 1-20s (the resistance through Rp is adjusted), and the input signal is disconnected at the moment, so that the state is not changed.

The utility model discloses a guest-welcoming children simulation robot, its working process is as follows: the system switch is turned on, the battery pack starts to supply power to the front sensor, the left sensor, the right sensor, the central control module, the driving module and the voice module, the welcome child starts to move forwards, when encountering guests on the left side or the right side, the guest is respectively turned right or left to avoid colliding with the guests, when encountering the guests on the front side, the robot stops, and sends out' you good! Welcome! Please proceed! The voice greeting of the guest sequentially performs actions of lowering head, bending down, raising arms, turning around and the like at the same time, then sequentially resets, waits for the guest to leave, and once the guest leaves, the guest welcome children continue to move forwards, and the actions are repeated, so that the welcome of the guest is shown.

The utility model discloses a guest-welcoming children simulation robot, an appearance simulation robot, reform transform on the basis of children's clothing model and form, it can freely walk on ground, can survey openly and control the visitor automatically, when the visitor on the left side, it can turn to the right side and dodge, when the visitor on the right, it can turn to the left side and dodge, when the visitor on the front, its autostop is walked, the word is greeted in the beginning automatically, simultaneously according to the automatic low head in order, bow, raise the arm, turn round, then reset in proper order automatically again, continue freely walking, so reciprocal. The robot senses a person through a distance sensor, realizes automatic control through a control and drive module, an automatic recovery circuit and various travel switches, drives a motor and a voice system at each part of the robot, realizes actions such as straight running, turning, stopping, lowering head, bowing, arm raising, turning and the like according to a designed program, and simultaneously finishes actions such as' you good! Welcome! Please proceed! ' waiting for the dictionary, and finally automatically resetting; after the works are finished, the novel student welcome model can be used as a welcome concierge model, and can be put on a proper occasion to walk and perform when newly entering a school, visiting guests and leading to visit so as to show welcome to the guests and students, so that the novel student welcome model shows the enthusiasm of the college and shows the scientific and technological innovation achievements of the college.

The existing various automatic robots are quite numerous, but the robot is completely independently developed and innovated, and does not imitate the existing similar robots; the method is completely finished by independently conceiving, designing, welding, assembling and debugging under the guidance of a scientific and technological tutor from the selection of parts to the design of a mechanical structure and from the conceiving of a circuit control principle to the design of appearance decoration; the intelligent control system is simple, does not need programming, and is realized by controlling a driving module, an automatic reset circuit and the like by a self-carried distance sensor and a microswitch; at present, schools have various intelligent robots which are basically purchased finished products, are controlled by a single chip microcomputer, realize various functions by software programming and are mainly used for participating in various robot competitions; as a scientific and technological innovation, the prior product can not be carried or imitated, and the finished product can not be purchased; through consulting data and discussing and thinking, the simulation robot which has relatively simple working principle, more interesting action and certain practical value is determined to be innovated and manufactured, and then welcome children works are selected. The work has simple and understandable working principle, does not feel profound difficulty, is beneficial to students to learn from shallow to deep step by step, has relatively simple mechanical structure, needs cheap and easily-purchased components and materials, and is beneficial to the completion of the manufacture of the students; under the guidance of the idea, the robot which has simple principle, comprehensive functions, intelligence, automation, low cost and high quality is designed; under the guidance of the inspiration of scientific and technological instructors, on the basis of looking up a large amount of technical data, a large amount of tests and experiments are carried out on related control circuits, a distance sensor is determined to be adopted to obtain signals, the signals are transmitted to a control and driving module after being processed by the circuits, the speed reduction motors at all parts of the robot are driven to complete various work tasks, and then the restoration is carried out by a restoration circuit, so that the links of software programming, single chip microcomputer receiving, processing, calculating and outputting are omitted in the middle, the working principle of the whole robot is simplified, the work is more reliable and stable, and the manufacturing cost is saved; after the welcome children works are further improved, the welcome children works can be pushed to the market as an intelligent robot which is cheap and good, and can be used on various courtesy welcome ceremonies; through the design and manufacture of the work, on the one hand, the scientific and technological thinking ability of students can be cultivated, the practical skill of the hands can be exercised, on the other hand, the good habits of the theory and the practice of the connection of students can be further cultivated, and the knowledge learned by the students can be used in the practical work.

The utility model discloses a design manufacture process of usher children emulation robot

1. Design and manufacture of walking function of body turning mechanism

To design and manufacture the welcome children works, a key device of the welcome children works is designed: a traveling mechanism of the robot; after consulting a large amount of scientific data and consulting a scientific and technological tutor, a walking mechanism driven by double front wheels and guided by a tail universal wheel is adopted, the double front wheels are respectively driven by a speed reducing motor, the tail universal wheel follows up, when the double front wheels rotate forwards, the robot moves forwards, when the double front wheels rotate forwards and reversely, the robot turns left or right, and when the double front wheels do not rotate, the robot stops; the robot walks, turns and stops under the control of three distance sensors in front of the robot.

2. Design and manufacture of low head raising mechanism

When a head-raising mechanism and a head-lowering mechanism of a guest-welcoming child are designed, two schemes are conceived, wherein one scheme is to drive the head-lowering and the head-raising by gear transmission, and the other scheme is to drive the head-raising and the head-lowering by adopting a synchronous belt pulley, and the two schemes are not ideal after tests, and the main reason is that the model used for manufacturing the robot is too heavy in head and difficult to drive by a motor; after repeated discussion tests, a scheme for realizing low and head-up by utilizing a lever principle is provided, namely, a rope is fixed at the edge far away from a head rotating shaft, the other end of the rope is connected with a motor shaft, when the robot is in head-down, the motor rotates forwards, the head is low by self weight, the motor only controls the head-down speed, when the head is lifted up, the motor rotates backwards to drive the head of the robot to be lifted up, because of the lever principle, the motor can easily lift the head of the robot, and stroke micro switches are respectively installed at the initial points of the head-down and the head-up of the robot, so that the motor can stop rotating in time.

3. Design and manufacture of bending and straightening mechanism

The design and manufacture experience of the low and head raising mechanisms is provided, and the design of the bending and straight waist mechanism is easier. Because the waist is heavier and the scheme of adopting the gear and the synchronous belt pulley is not practical, the scheme of realizing bending and straightening by utilizing the lever principle is directly adopted, namely a rope is fixed at the edge far away from a waist rotating shaft, the other end of the rope is connected with a motor shaft, when the robot bends, the motor rotates forwards, the waist is low by the weight of the motor, the motor only controls the bending speed of the motor, when the robot straightens, the motor rotates backwards to drive the robot to straighten the waist, because of the lever principle, the motor can pull up the waist of the robot, and stroke micro-switches are respectively arranged at the starting points of the bending and straightening of the robot, so that the motor can stop rotating in time; in the manufacturing process, the waist is too heavy, the power of the motor is insufficient when the waist is pulled, a plurality of motors are burnt, and finally, the problem is solved only by replacing the high-power motor.

4. Design and manufacture of lifting arm mechanism

The design and manufacture of the arm lifting and releasing mechanism are different from those of the bending and straight waist mechanism. Because the robot arm needs to be driven by a motor to lift up and put down, the lever principle cannot be utilized, so that the robot can only adopt a gear transmission method or a synchronous belt wheel driving method; the scheme is that a synchronizing wheel is arranged on a shaft for lifting and putting the arm, another synchronizing wheel is arranged on a motor shaft, a synchronizing belt is sleeved on the synchronizing wheel, the motor rotates forwards and backwards to drive the arm to be lifted and put down, travel micro switches are respectively arranged at the starting points of the lifting and putting down of the arm of the robot, so that the motor can stop rotating in time, and the arm of the robot can be easily lifted and put down by the motor because the arm is light.

5. Body turning function design and manufacture of body turning mechanism

The body turning mechanism is realized on a plane, the gravity problem does not exist, and the motor is easy to drive, so that a synchronous belt pulley driving scheme is directly adopted; the scheme is that a synchronizing wheel is arranged on a central shaft of a robot body, another synchronizing wheel is arranged on a motor shaft, a synchronizing belt is sleeved on the synchronizing wheel, the forward and reverse rotation of the motor drives the body to turn and return, and stroke micro switches are respectively arranged at the starting points of the body turning and the body returning of the robot, so that the motor can stop rotating in time; in the design and manufacture process, the balance problem is mainly solved, and because the gravity center is seriously deviated after the robot bends over and lifts the arm, the motor can not be driven, 4 pulleys are designed for this reason, are uniformly distributed around the feet of the robot, and play a role in supporting when the gravity center of the robot is deviated, so that the problem that the motor can not drive the robot to turn is solved.

6. Design and production of speech system

In order to increase the interest and the sense of reality of the welcome children works, a set of voice system is added to the works, and when a robot meets guests, the robot sends out etiquette greetings while performing various concierge actions; with the idea, a user starts to look up related data, conceives the principle and the structure of a voice system, looks up a voice module through internet, has the 20-second recording function, can play repeatedly through triggering, and is an ideal voice system manufacturing module; after purchase, the installation and debugging are carried out, firstly, a sound sweet girl is found to record a greeting, "you are! Welcome! Please proceed! And then, a trigger button of the voice module is modified and connected with a distance sensor right in front of the robot, when the robot detects a guest, the robot stops walking, triggers voice to play greetings, and is debugged repeatedly to obtain success.

7. Selective mounting of sensors

The sensor that uses on guest-greeting children has two kinds of scheme selections, selects for use contact sensor, the advantage firstly: simple and reliable, and has the following defects: the contact is necessary, the reality is not true, and the scheme is eliminated through tests. Secondly, choose non-contact sensor for use, the advantage: non-contact, real, disadvantage: complex and difficult to debug. The number of the distance sensors is three, wherein two of the distance sensors are arranged at the left front part and the right front part of the robot to detect front obstacles, and the other distance sensor is arranged right in front of the robot to detect front coming persons. When two distance sensors in the front of the left and right find the obstacle at the same time, the robot can back, when only the sensor in the front of the left detects the obstacle, the robot can turn right to avoid the obstacle, and vice versa, when the distance sensor in the front finds the person, the robot can stop walking, and meanwhile, guest actions such as lowering head, bending down, raising arm, turning around and the like can be performed, and a name of' you good!is sent! Welcome! Please proceed! And sending the words and phrases, then sequentially returning, and then continuing to walk by the robot, and so on.

8. Design and manufacture of circuit control system

When the welcome child control system is designed and manufactured, firstly, a system power supply is selected, and as the working voltage required by the robot control and driving module is 12V-6V direct current, a 12V lead-acid storage battery is selected as the power supply of the robot. Then, under the guidance and the development of a scientific and technological tutor, a control system of the whole robot is designed, and the working principle is as follows: the power supplies power to the control and drive module, the trigger and recovery circuit and the distance sensor, the distance sensor acquires signals and transmits the signals to the trigger and reset circuit, the trigger and reset circuit processes the signals and transmits the signals to the control and drive module, and the control and drive module is matched with 12 micro travel switches arranged on the robot to orderly drive 6 motors to rotate forwards, rotate backwards, stop and the like, so that the head, the waist, the arm, the body, the feet and the like on the robot are driven to complete various complex actions.

9. Assembling and debugging of complete machine

After the design and manufacture of each part of the welcome child are finished, the layout, assembly and debugging of the whole machine are started; firstly, planning the layout of the whole machine, wherein the robot can be divided into a walking platform and an etiquette action, the walking platform mainly has walking, obstacle avoidance and detection functions, the body of the robot is higher, the gravity center is higher, in order to increase the walking stability of the robot, the ground clearance of the walking platform must be small, the area must be large, through repeated design experiments, a method of installing walking wheels on the outer side of the platform is adopted, the ground clearance is reduced, the actual supporting area is increased, meanwhile, in order to further reduce the gravity center, the heaviest lead-acid storage battery is also placed on the walking platform, and through the structural design, the robot walks stably; the design of etiquette action part, we finish on the model of a girl's fashion model, at first, saw the neck, waist, arm of the model, install the spindle separately, make the neck, waist, arm rotate up and down separately, then, mount a spindle vertically along the centre of the robot, cross the walking platform, make the robot rotate from side to side, on this basis, have installed electrical machinery and actuating mechanism in each rotating part, make the robot can lower head, bow, raise arm, turn round; through repeated layout, test and debugging, the welcome children works are developed successfully finally, and the attached figure 10 is a real object photo of the finished works.

In summary, the preferred embodiments of the present invention are only examples, and the scope of the present invention is not limited thereto, and all equivalent changes and modifications made in accordance with the scope of the present invention and the contents of the specification are within the scope covered by the present invention.

Claims (8)

1. A guest-welcoming child simulation robot is characterized in that the robot is assembled by sawing a model of a child fashion model from the neck, waist and arms, and comprises a head and neck part (1), an upper body part (2), arm parts (3) and a lower body part (4) of the model;

the robot further comprises a low head raising mechanism (10) connected with the head and neck part (1) and the upper body part (2), a lifting arm mechanism (30) connected with the upper body part (2) and the arm part (3), a bending and straightening mechanism (20) connected with the upper body part (2) and the lower body part (4), a body turning mechanism (40) arranged on the lower body part (4), a walking mechanism (50) arranged at the bottom end of the body turning mechanism (40), and a garment (5) for shielding the upper body part (2), the lower body part (4) and the body turning mechanism (40);

the robot further comprises a system switch (6) positioned on one side of the top of the upper body part (2) and sensors arranged on the upper body part (2), wherein the sensors comprise a left detection sensor (71), a right detection sensor (72) and a front detection sensor (73);

the robot also comprises a central control module (81), a voice module (82), a walking drive module (83) and a battery pack (84) which are positioned on the lower body part (4);

the battery pack (84) supplies power to the central control module (81), the sensor and the walking driving module (83); the walking driving module (83) is used for driving the walking mechanism (50), and the central control module (81) is electrically connected with the sensor, the low head raising mechanism (10), the arm lifting and placing mechanism (30), the waist bending and straightening mechanism (20), the body turning mechanism (40), the voice module (82) and the walking driving module (83); and the system switch (6) controls the connection and disconnection between the battery pack (84) and the central control module (81), between the sensor and the walking driving module (83).

2. The robot according to claim 1, characterized in that the low head-up mechanism (10) comprises a first connecting shaft (11) connecting the head and neck part (1) and the upper body part (2), a first speed reduction motor (12) arranged on the upper body part (2), a first drag rope (13) connecting the bottom of the head and neck part (1) and the motor shaft of the first speed reduction motor (12), the first speed reduction motor (12) being electrically connected with the central control module (81);

the robot also comprises a lower-head travel micro switch (14) and a higher-head travel micro switch (15) which are respectively arranged at the starting points of the lower head and the higher head of the neck of the robot.

3. The robot according to claim 1, wherein the waist bending and straightening mechanism (20) comprises a second connecting shaft (21) connecting the upper body part (2) and the lower body part (4), a second speed reducing motor (22) arranged on the lower body part (4), and a second dragging rope (23) connecting the bottom of the upper body part (2) and a motor shaft of the second speed reducing motor (22), wherein the second speed reducing motor (22) is electrically connected with the central control module (81);

the robot also comprises a stoop stroke microswitch (24) and a straight waist stroke microswitch (25) which are respectively arranged at the starting point of the stoop and straight waist of the robot.

4. The robot according to claim 1, wherein the arm raising and lowering mechanism (30) comprises a third connecting shaft (31) connecting the upper body part (2) and the arm part (3), a third reduction motor (32) provided at a lower portion of the upper body part (2), an arm support rod (34) connecting the third connecting shaft (31), and a third pulling rope (33) and a spring (35) connected to the other end of the arm support rod (34), the other end of the third pulling rope (33) being connected to a motor shaft of the third reduction motor (32), the other end of the spring (35) being connected to an upper portion of the upper body part (2), the third reduction motor (32) being electrically connected to the central control module (81);

the robot also comprises an arm lifting travel micro switch (36) and an arm placing travel micro switch (37) which are respectively arranged at the starting point of the arm lifting and placing of the robot.

5. The robot according to claim 1, wherein the body-turning mechanism (40) comprises a partition plate (41) vertically disposed on the lower surface of the lower body part (4) and a carrier plate (42) disposed in parallel below the partition plate (41), a body-turning rotating shaft (47) vertically connected with the partition plate (41) and the carrier plate (42) through the partition plate (41), the partition plate (41) and the carrier plate (42) being supported by four vertically disposed connecting rods (43); the lower body part (4) is fixedly connected with the turning rotating shaft (47) through a first rotating shaft fixing rod (48) and a second rotating shaft fixing rod (49) which are parallel to the partition plate (41), a fourth speed reducing motor (51) is vertically arranged on the partition plate (41), a second synchronizing wheel (54) is arranged on the turning rotating shaft (47) between the partition plate (41) and the support plate (42), the second synchronizing wheel (54) is connected with a synchronizing wheel belt (53), the other end of the synchronizing wheel belt (53) is connected with a first synchronizing wheel (52), a motor shaft of the fourth speed reducing motor (51) penetrates through the partition plate (41) to be sleeved on the first synchronizing wheel (52), and the fourth speed reducing motor (51) is electrically connected with the central control module (81);

the robot also comprises four supporting wheels (55) which are arranged at the lower part of the lower body part (4) and are positioned on the partition plate (41);

the robot further comprises a left turn travel microswitch (56) and a right turn travel microswitch (57), respectively.

6. The robot as recited in claim 5, characterized in that the traveling mechanism (50) comprises two fifth deceleration motors disposed on the carrier plate (42), a motor shaft of the fifth deceleration motor is respectively sleeved with a left front driving wheel (44) and a right front driving wheel (46) disposed at two ends of a front side of a bottom end of the carrier plate (42), the steering wheel (45) is disposed in a middle of a rear side of the bottom end of the carrier plate (42), and the fifth deceleration motor is electrically connected with the central control module (81).

7. The robot according to claim 1, characterized in that said central control module (81) comprises a four direct current motor drive module and a recovery module, said voice module (82) being an ISD1820 recording voice module; the walking driving module (83) comprises two direct current motor driving modules and a recovery module.

8. Robot according to claim 1, characterized in that the battery pack (84) is a lead-acid battery.

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