CN211016177U

CN211016177U - Track car is used in teaching demonstration of manual preparation

Info

Publication number: CN211016177U
Application number: CN201922018856.2U
Authority: CN
Inventors: 谭桐举; 撖龙; 常希瑶
Original assignee: Beijing Martian Vision Technology Co ltd
Current assignee: Beijing Martian Vision Technology Co ltd
Priority date: 2019-11-21
Filing date: 2019-11-21
Publication date: 2020-07-14
Anticipated expiration: 2029-11-21

Abstract

The utility model relates to a manual teaching demonstration that makes uses along rail car, including objective table, follow rail arm, detection device, drive arrangement and control circuit module, wherein, the upper and lower face of objective table has dot matrix hole site, the hole site is used for fixing follow rail arm, detection device, drive arrangement and control circuit module; the driving device comprises a first motor base, a first motor, a first wheel set, a second motor base, a second motor and a second wheel set; the track following arm is a combination of two universal structural members; the detection device comprises two tracking sensing units; the embodiment of the utility model provides a with the equal modularization of each essential element of tracking dolly, can realize fast assembly and disassemble, the back only need with each modular unit carry on simple circuit connection can, greatly reduced in teaching demonstration in-process tracking car can not assemble disassemble or assemble disassemble the high problem of the degree of difficulty, realize that teenagers can make individualized tracking following car in the learning process in person and automatically.

Description

Track car is used in teaching demonstration of manual preparation

Technical Field

The utility model relates to a teaching demonstration teaching aid field especially indicates a track car is used in teaching demonstration of manual preparation.

Background

Smart carts (tracked vehicles belong to one of the smart cart technology classes) can be traced back to the research of mobile robots, which began in the 60 s, nilss Nilssen and Charles Roesn et al, stanford institute (SRI), which developed autonomous mobile robots Shakey in 1966 to 1972. The mobile robot or the intelligent trolley in China starts all at night, but the calculation result is obvious. In recent years, due to the rise of unmanned technology, some tracking vehicles are on the market, but are generally used for automatic competition or applied to some intelligent fields, such as: unmanned, full-automatic cleaning robot, etc. At present, no mature tracking trolley which can be used for popular science activities such as teaching demonstration, DIY manufacturing and the like exists in the market.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving the problem that the complexity of the tracking trolley manufacture is high in the teaching demonstration field at the present stage, and the tracking trolley manufacture is not beneficial to the study of young people and the mastering of the related scientific knowledge of the tracking trolley.

In order to achieve the above object, the utility model provides a manually-made tracking vehicle for teaching demonstration, which comprises an object stage, a tracking arm, a detection device, a driving device and a control circuit module, wherein,

the upper surface and the lower surface of the objective table are provided with dot-matrix hole sites, and the hole sites are used for fixing the rail-following arm, the detection device, the driving device and the control circuit module;

the driving device comprises a first motor base, a first motor, a first wheel set, a second motor base, a second motor and a second wheel set; the first motor and the second motor are respectively arranged in a first motor base and a second motor base and are respectively connected with the first wheel set and the second wheel set through gears; the first motor base and the second motor base are symmetrically and fixedly arranged on the left side and the right side of the objective table;

the track following arm is a combination of two universal structural parts, and each universal structural part consists of two bases, two clamping seats and a connecting rod; one base of the two universal structural members is connected with each other; the other base of one universal structural part is fixedly arranged at the front end of the objective table, and the other base of the other universal structural part is used for fixedly arranging the detection device; the connecting rod is connected with the base and the clamping seat of the universal structural part through screws, two ends of the connecting rod are of sheet structures, the sheet structures at the two ends are mutually vertical, and the connecting rod can rotate relative to the base and the clamping seat;

the detection device comprises two tracking sensing units, and the tracking sensing units are symmetrically fixed on the left side and the right side of the universal structural member base; the tracking sensing unit is respectively connected with the first motor and the second motor through the control circuit module and controls the corresponding motors through electric signals.

Furthermore, the driving device also comprises a third wheel set which is a universal wheel.

Further, the universal wheel comprises a wheel seat with a spherical groove and a sphere.

Furthermore, each part of the universal structural part is provided with a wire groove for power line wiring.

Furthermore, the rail-following vehicle also comprises an electric storage module which provides necessary electric energy for the rail-following vehicle.

Further, the rail-circulating vehicle further comprises a solar module, and the solar module is connected with the power storage module through a control circuit module.

Further, the hole site shape includes one or more in circle, rectangle, the cross, just the hole site size has different specifications.

Furthermore, the first motor base and the second motor base are of a left-right or up-down symmetrical structure, and the two parts of the first motor base and the second motor base are connected through a buckle.

Furthermore, the object stage is connected with an onboard accessory.

The embodiment of the utility model has the following beneficial effect: the embodiment of the utility model provides a all modularization of each main part of tracking dolly, the fast assembly and disassembly can all be realized to modular each part, only need after all module unit carry on simple circuit connection can, greatly reduced in teaching demonstration in-process tracking car can not assemble disassemble or assemble disassemble the problem that the degree of difficulty is high, realize that teenagers can make individualized tracking car in the learning process by hand in person; in the embodiment of the utility model, the design of the lattice hole site structure of the objective table provides expansibility for personalized manufacture; the embodiment of the utility model provides an in, the ingenious design of the universal structure of tracking arm not only can realize the discernment of road surface tracking, also is suitable for wall body tracking discernment etc..

Drawings

Fig. 1 is a schematic view of an embodiment of the overall structure of a manually-movable track-following vehicle for teaching demonstration according to the present invention;

FIG. 2 is a schematic view of an embodiment of a track-following vehicle universal structural member for teaching demonstration of the present invention, which can be manually made;

fig. 3 is a schematic diagram of an embodiment of the tracking vehicle control circuit module for teaching demonstration of the present invention.

Detailed Description

The technical solution of the present invention is further described in detail by the accompanying drawings and examples.

As shown in fig. 1, the embodiment of the utility model provides a teaching demonstration of manual preparation is with tracking car, including objective table 1, tracking arm 2, detection device 3, drive arrangement 4 and control circuit module 5, wherein, the upper and lower dot-matrix hole site 11 that has of objective table 1, the hole site is used for fixed tracking arm 2, detection device 3, drive arrangement 4 and control circuit module 5.

The base at one end of the track arm 2 is fixedly arranged at the front end of the top surface of the objective table 1, the detection devices 3 are arranged at two symmetrical sides of the base at the other end of the track arm 2, the first motor base 41 and the second motor base 42 of the driving device 4 are symmetrically arranged at the left side and the right side of the bottom surface of the objective table 1, and the control circuit module 5 is arranged at the tail end of the top surface of the objective table 1. The object stage 1 may be a flat plate platform in fig. 1 of this embodiment, or may be a platform with a three-dimensional structure, such as a rectangular column structure, a cylindrical structure, or an irregular three-dimensional structure, and the opening requirements on each surface of the three-dimensional structure may be determined according to the position requirements of the unit modules to be supported. In addition, the hole sites 11 on the object stage 1 can adopt different shapes and sizes, and are suitable for assembling various module units and the object stage 1, and the expansibility is stronger. In this embodiment, the shape of the hole site 21 is circular, and the circular hole site can realize the block of other module units (such as standard kits of le gao, etc.) with the objective table 1, and in addition, the circular hole site 21 is also suitable for the installation of parts such as screws, bolts, etc., and serves as a nut (nut), and when special needs exist (for example, some manufacturers of domestic intelligence-promoting products adopt rectangular bumps and rectangular grooves as the block mode), part or all of the circular hole sites 11 can be replaced by other hole sites of any shape and size, so as to enhance the compatibility of the objective table 1. It should be noted that the installation position of each functional module unit is only an embodiment, and does not represent that the fixed position of each module on the stage 1 is not changeable, for example, the control circuit module 5 may be installed at the rear end position of the bottom surface and the front end side position of the top surface of the stage 1, the positions of all the module units may be flexibly and reasonably adjusted according to actual needs, creativity can be exerted in the process of making adolescents personally, DIY assembly is performed on a track-following vehicle, the effect of exploring a product with what kind of structure is more excellent, and the exploration interest of the adolescents is enhanced.

The driving device 4 includes a first motor base 410, a first motor (located in the first motor base 410, not shown), a first wheel set 411, a second motor base 420, a second motor (located in the second motor base 420, not shown), a second wheel set 421; the first motor and the second motor are respectively arranged in a first motor base 410 and a second motor base 420, and are respectively connected with a first wheel set 411 and a second wheel set 421 through gears; the first motor base 410 and the second motor base 420 are symmetrically and fixedly arranged on the left side and the right side of the objective table 1; the first motor base 410 and the second motor base 420 are of a left-right or up-down symmetrical structure, that is, comprise a left-right or up-down two-part housing, the two-part housing is connected by a buckle or a screw, and the inner structure of the housing is used for placing a motor. When the device is used, the gear on the driving shaft of the motor is inserted into the first wheel set 411 and the second wheel set 421, so that the wheel set can be driven by the motor to move.

The track following arm 2 is a combination of two universal structural members (marked as 21 and 22 in fig. 1), and each universal structural member consists of two bases, two clamping seats and a connecting rod; one base of the two universal structural members is connected with each other; the other base of one universal structural part is fixedly arranged at the front end of the objective table, and the other base of the other universal structural part is used for fixedly arranging the detection device 3; the connecting rod is connected with the base and the clamping seat of the universal structural part through screws, the two ends of the connecting rod are of sheet structures, the sheet structures at the two ends are perpendicular to each other, and the connecting rod can rotate relative to the base and the clamping seat. Here, referring to fig. 2, an embodiment of a universal structural member is shown, in which the universal structural member 21 includes a base 2110 and a base 2120, the base 2110 and the base 2120 are also distributed with dot-matrix holes, and the size and shape of the holes may be set as required; the card holder 2111, the card holder 2121 and the connecting rod 2130; the base 2110 and the base 2120 are fixedly connected with the card holder 2111 and the card holder 2121 respectively, and the connection can be movable connection (such as clamping and screw) or integrated structure; the clamping seat 2111 and the clamping seat 2121 are connected through a connecting rod 2130, two ends of the connecting rod 2130 are respectively embedded into the clamping seat 2111 and the clamping seat 2121, in the embodiment, two ends of the connecting rod 2130 are of a sheet structure, the sheet structures at the two ends are vertically distributed in space, two ends of the connecting rod 2130 are respectively embedded into grooves of the clamping seat 2111 and the clamping seat 2121, and the connecting rod 2130 is fixed through bolts so as to enable the connecting rod 2130 to respectively rotate on an X-axis Y-axis relative to the clamping seat 2111 and the clamping seat 2121; in addition, the two ends of the connecting rod 2130 may have other shapes, such as a spherical shape, and the grooves of the card seat 2111 and the card seat 2121 only need to be configured as grooves matching with the spherical shapes of the two ends of the connecting rod 2130, so that the connecting rod 2130 can also rotate relative to the card seat 2111 and the card seat 2121, respectively.

The detection device 3 comprises two tracking sensing units (marked as 31 and 32 in FIG. 1), which are symmetrically fixed on the left and right sides of the base of the universal structural component; the tracking sensing unit is respectively connected with the first motor and the second motor through the control circuit module 5, and controls the corresponding motors through electric signals, so that the corresponding wheel sets are driven by the motors to enable the tracking vehicle to move. In this embodiment, the principle of the tracking sensing unit is as follows: the infrared ray has different reflection intensity at the object surface of different colours, tracking sensing unit constantly launches the infrared light at the car of following the track in-process that traveles, diffuse reflection takes place when the infrared light meets white, the light is on the surface, the reverberation is received by the receiver tube on the tracking sensing unit, the infrared light is if meet black, dark lines are, then the infrared light can be absorbed, consequently, utilize the receiver tube on the tracking sensing unit to gather the signal, the tracking sensing unit is handled with gathering signal transmission control circuit module, when control circuit module detects effective signal, drive corresponding motor, adjust the rotational speed of two motors through the potentiometre, so that the dolly is walked along the trajectory all the time. It should be noted that the tracking vehicle described in this embodiment is different from the tracking toy vehicles on the market at present, and has the main creation point that the tracking vehicle in this embodiment not only can travel along the ground track, but also can travel along the top track, and only needs to adjust the pointing angle of the tracking arm 2, and then the control logic of the control circuit module 5 is finely adjusted to enable the tracking vehicle to travel along the top track; similarly, the tracking vehicle in this embodiment can also realize the tracking traveling of the wall surface (side wall), and is not described herein again.

Referring to fig. 3, the control circuit module 5 includes input signals of the first motor and the second motor, and control signals of the first motor and the second motor are output, and the signal output includes forward and backward outputs of the first motor and the second motor, that is, forward and backward rotations of the first motor and the second motor are controlled, so as to drive the first wheel set and the second wheel set to rotate forward and backward, thereby adjusting the moving direction of the cart. The control circuit module 5 further includes other electronic components, such as a potentiometer and a resistor, wherein the potentiometer is used for adjusting the rotation speed of the motor, so that the adjustment of the wheel set of the rail-following vehicle can be more accurate.

Further, the embodiment of the present invention provides a driving device for a tracking vehicle, which further includes a universal wheel, wherein the universal wheel is preferably disposed at the bottom tail of the objective table 1, and the universal wheel includes a ball-shaped groove wheel seat and a ball. After the objective table 1 of following the rail car has born more module, the automobile body is uneven and leads to tracking stability to reduce, the unstable scheduling problem of automobile body can appear in the rail car of following, consequently can keep following the automobile body stability of rail car behind the bottom surface afterbody of objective table 1 sets up a universal wheel, avoids because the tracking trouble that the balance problem leads to.

Furthermore, in the embodiment of the present invention, because there are many electronic components involved, there are also many required connecting wires, and in order to avoid the problem that the inter-module connecting wires are wound and dragged to the ground, which affects the motion track of the tracking trolley, a wire slot is provided on the universal structural member of the tracking arm 2, which is specially used for arranging wires; the wire slots can be arranged on two sides of the connecting rod 2130, clamping teeth are arranged in the wire slots, the connecting wire penetrates through the wire slots on two sides of the connecting rod 2130 along the hole position of the base of the universal structural part, and finally the connecting wire is connected into the control circuit module 5. It should be noted that each surface of the stage 1 may also be provided with a slot for connecting and routing between other modules.

Further, in the embodiment of the present invention, an electric storage module is further fixedly mounted on the object stage 1 of the rail-following vehicle, and is connected to the control circuit, and the electric storage module is preferably a lithium battery, and provides necessary electric energy for the movement of the rail-following vehicle.

Furthermore, a solar module is further mounted on the object stage 1 of the rail-circulating vehicle, and the solar module is connected with the power storage module through a control circuit module 5. When the track-following vehicle is suitable for outdoor use with sufficient light, the electric power storage module can be charged by using light energy.

Further, the object stage 1 is connected with an on-board accessory. The vehicle-mounted accessory is a functional expansion accessory of the tracking vehicle, and different applications of the tracking vehicle are realized. For example, when the vehicle-mounted accessory is a closed and semi-closed compartment, the tracked vehicle may be an unmanned transport vehicle in a specific tracking environment; when the vehicle-mounted accessory is an electric dust collection brush, the rail-mounted vehicle can be a sweeping robot under a specific track environment; when the vehicle-mounted accessory is an intelligent programmable module, a user can remotely edit the motion state of the tracking vehicle through terminals such as a mobile phone, so that the tracking vehicle becomes an intelligent terminal product. The vehicle-mounted accessory enriches the functionality and the interestingness of the rail-mounted vehicle, teenagers can exert wireless creativity, and can explore new problems and new creativity in the knowledge learning process, so that the learning and the fun are fully integrated, and the knowledge absorption degree is improved.

The above-mentioned embodiments, further detailed description of the objects, technical solutions and advantages of the present invention, it should be understood that the above description is only the embodiments of the present invention, and is not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. A manually-made track-following vehicle for teaching demonstration is characterized by comprising an object stage, a track-following arm, a detection device, a driving device and a control circuit module, wherein,

2. The tracked vehicle for teaching demonstration and capable of manual production according to claim 1, wherein the driving device further comprises a third wheel set, and the third wheel set is a universal wheel.

3. The hand-maneuverable tracked vehicle for teaching demonstration purposes according to claim 2, wherein the castor comprises a ball with a ball socket and a ball.

4. The manually-manufacturable tracking vehicle for teaching demonstration according to claim 1, wherein each component of said universal structural member is provided with a wire groove for power line routing.

5. The guided vehicle for teaching demonstration according to claim 1, further comprising an electric storage module for supplying necessary electric energy to the guided vehicle.

6. The hand-made teaching demonstration rail-guided vehicle as claimed in claim 5, further comprising a solar module, wherein the solar module is connected with the power storage module through a control circuit module.

7. The hand-maneuverable tracked vehicle for teaching demonstration and other claims 1, wherein said hole site shapes comprise one or more of circular, rectangular and cross shapes, and wherein said hole site sizes are of different sizes.

8. The tracking vehicle for teaching demonstration of manual production according to claim 1, wherein the first motor base and the second motor base are of a left-right or up-down symmetrical structure, and the two parts of the first motor base and the second motor base are connected through a buckle.

9. The hand-crafted tracked vehicle for teaching demonstration of claim 1, wherein the stage is attached with a vehicle accessory.