CN212781776U

CN212781776U - Four-wheel-drive six-wheel labyrinth walking robot for ground suction fan

Info

Publication number: CN212781776U
Application number: CN202021493693.XU
Authority: CN
Inventors: 龙行; 杜强; 孙艳君; 王宁; 赵聪远
Original assignee: TIANSHI COLLEGE
Current assignee: TIANSHI COLLEGE
Priority date: 2020-07-22
Filing date: 2020-07-22
Publication date: 2021-03-23
Anticipated expiration: 2030-07-22

Abstract

A four-wheel-drive six-wheel walking maze robot of a ground suction fan adopts an STM32 chip, detects whether walls on two sides of a maze exist through digital infrared, adopts a ground suction turbine-shaped fan blade to increase the ground-grasping force of a computer mouse tire on the maze, and realizes that a computer mouse stably and quickly runs in the maze. The main controller is connected on the PCB, the SWD pins can write programs into the main controller, the PCB comprises symmetrical mechanical frames, and the ground-suction turbine-shaped fan blade assembly is installed on the PCB. Four motor element pass through the mounting screw respectively on mechanical frame, and six wheel subassembly are installed mechanical frame respectively and are put up with four mechanical frame to the motor location to drive six wheel subassembly, infrared emission receiving assembly can detect the wall, and motor element can control the rotational speed of wheel subassembly, and the gyroscope chip can monitor the turn angle degree, cites battery socket and inserts 7.4V battery, and press the switch to be physical power control, and the battery position encloses through four motor element clamp.

Description

Four-wheel-drive six-wheel labyrinth walking robot for ground suction fan

Technical Field

The utility model discloses a belong to the robot field, thereby concretely relates to through six rounds of computer mouse maze robot that walks of control turbine shape flabellum rotation increase tire and ground frictional force.

Background

The IEEE computer mouse goes through the maze to compete in the popular world, and the artificial intelligent computer mouse is developing towards stabilization and rapidity. The traditional computer mouse has the phenomena of straight line floating and turning skidding under the high-speed running, is not beneficial to the high-speed and stable running of the computer mouse, and the computer mouse with the ground suction fan increases the friction force between a tire and the ground by controlling the fan, and simultaneously increases the method of wheels, reduces the phenomena of floating and skidding under the high-speed running of the computer mouse, and increases the running stability of the computer mouse.

SUMMERY OF THE UTILITY MODEL

In view of the above problems, an object of the present invention is to provide a high-suction six-wheeled computer mouse walking maze robot, which uses a double-layer infrared assembly to detect walls on both sides of a maze, to obtain road condition information in real time, to control the speed of a left motor and a right motor, to influence the rotation of a wheel set with three wheels as a set, thereby indirectly controlling whether a computer mouse is going straight or turning; the speed of the fan motor is controlled to influence the rotating speed of the turbine-shaped fan blades, so that the friction force between the computer mouse and the ground is improved to resist the centrifugal force.

In order to achieve the purpose, the utility model discloses a following technical scheme is adopted.

A four-wheel-drive six-wheel labyrinth walking robot for a ground suction fan comprises a PCB, a main controller, a mechanical frame, wheel assemblies, a ground suction turbine-shaped fan blade assembly, an infrared transmitting and receiving assembly, a motor assembly, SWD pins, anti-reverse battery insertion ports, a gyroscope chip, a press switch, a wheel motor driver chip, a ground suction fan driver chip, LED indicating lamp beads, press buttons, resistors, a motor positioning mechanical frame and ground suction fan holes.

The PCB board is used for connecting main control unit, inhales ground turbine shape flabellum subassembly, five infrared emission receiving assembly, motor element, SWD stitch, prevent inserting anti-battery socket, gyroscope chip, press switch, wheel motor driver chip, inhale ground fan driver chip, LED indicator lamp pearl, push type button, resistance, motor location machinery frame, motor element is used for controlling the rotation of wheel subassembly, inhales ground turbine shape flabellum subassembly and is used for controlling the rotation of turbine shape flabellum, infrared emission receiving assembly is used for detecting the existence of maze wall.

The motor components comprise motors, motor shafts and gears, the gears are installed on the motor shafts of the motors, and the composition and the connection relation of the four motor components are the same as those described above.

The wheel subassembly includes wheel body, teeth of a cogwheel, bearing, axostylus axostyle, and wheel body and teeth of a cogwheel are fixed an organic whole, and the bearing is installed in the middle of wheel body and the teeth of a cogwheel, and the axostylus axostyle is installed at the bearing, and the bearing is installed on the wheel hole of machinery frame, and the teeth of a cogwheel links to each other with the gear, and.

The ground suction turbine-shaped fan blade assembly comprises a ground suction fan mechanical frame, a fan motor, turbine-shaped fan blades and a fan motor shaft, wherein the fan motor is arranged on the ground suction fan mechanical frame, the turbine-shaped fan blades are arranged on the fan motor shaft of the fan motor, and the ground suction fan mechanical frame is arranged on a PCB (printed circuit board).

The turbine-shaped fan blades comprise shaft holes, long turbine fan blades, short turbine fan blades and a disc, the disc is connected with the long turbine fan blades and the short turbine fan blades, the shaft holes are connected with a fan motor shaft, the long turbine fan blades are responsible for sucking air from a road surface, the short turbine fan blades are responsible for exhausting gas in a ground suction fan mechanical frame, the mechanical structure of the fan is strengthened, the stress area of the air and the fan blades is increased, the same motor speed is achieved, and the structural fan blades and the air effect increase the friction force between wheels and the road surface to be larger.

The infrared transmitting and receiving assembly comprises an infrared mechanical frame, an infrared transmitting tube and an infrared receiving tube, the infrared transmitting tube and the infrared receiving tube are installed on the infrared mechanical frame, pins of the infrared transmitting tube and the infrared receiving tube are connected to circuit holes of the PCB, and the composition and the connection relation of the other five infrared transmitting and receiving assemblies are the same as those of the infrared transmitting and receiving assembly.

The mechanical frame and the positioning mechanical frame are arranged on the PCB, the motor is arranged at the fixed positions of the PCB, the mechanical frame and the motor positioning mechanical frame, and the connection relation of the four motor components is the same as that of the motor.

The single chip microcomputer unit in the main controller is used for connecting the wheel motor driver chip and the ground suction fan driver chip, the single chip microcomputer unit is connected with the infrared transmitting and receiving assembly, the wheel motor driver chip is connected with the four motors, and the ground suction fan driver chip is connected with the fan motors.

Drawings

Fig. 1 is a schematic isometric view of the overall structure of the present invention;

fig. 2 is a schematic top view of the overall structure of the present invention;

FIG. 3 is a schematic axial view of an assembly structure of a PCB, a mechanical frame and a motor positioning mechanical frame;

FIG. 4 is an exploded view of the turbine-shaped fan assembly of the present invention;

FIG. 5 is a schematic perspective view of the turbine blade of the present invention;

figure 6 is an exploded view of the wheel assembly of the present invention;

fig. 7 is a schematic perspective view of the structure of the motor assembly of the present invention;

FIG. 8 is a schematic perspective view of an IR transceiver module of the present invention;

fig. 9 is a schematic structural diagram of a control circuit of the present invention.

Detailed Description

The technical solution of the present invention is further explained by the following embodiments with reference to the attached drawings.

Referring to fig. 1, 2 and 3, the ground suction fan four-wheel drive six-wheel labyrinth robot includes a PCB board 1, a main controller 2, a mechanical frame 3, a wheel assembly 4, a ground suction turbine-shaped fan blade assembly 5, an infrared emission receiving assembly 6, a motor assembly 7, an SWD pin 8, an anti-reverse battery socket 9, a gyroscope chip 10, a press switch 11, a wheel motor driver chip 12, a ground suction fan driver chip 13, an LED indicator bead 14, a press button 15, a resistor 16, a motor positioning mechanical frame 17 and a ground suction fan opening 18, wherein the PCB board 1 is used for connecting the main controller 2, the ground suction turbine-shaped fan blade assembly 5, five infrared emission receiving assemblies 6, the motor assembly 7, the SWD pin 8, the anti-reverse battery socket 9, the gyroscope chip 10, the press switch 11, the wheel motor driver chip 12, the ground suction fan driver chip 13, the LED indicator bead 14, Push button 15, resistor 16, motor positioning mechanism 17, motor assembly 7 for controlling rotation of wheel assembly 4, ground-sucking turbine-shaped blade assembly 5 for controlling rotation of turbine-shaped blade 533, and infrared transmitting/receiving assembly 6 for detecting presence of labyrinth wall.

Referring to fig. 4, the ground-suction turbine-shaped fan assembly 5 includes a ground-suction fan frame 51, a fan motor 52, turbine-shaped fan blades 53, and a fan motor shaft 54, wherein the fan motor 52 is mounted on the ground-suction fan frame 51, the turbine-shaped fan blades 53 are mounted on the fan motor shaft 54 of the fan motor 52, and the ground-suction fan frame 51 is mounted on the PCB board 1.

Referring to fig. 5, the turbine-shaped fan blade 53 includes a shaft hole 531, a turbine long fan blade 532, a turbine short fan blade 533 and a disc 534, the disc 534 is connected to the ten turbine long fan blades 532 and the ten turbine short fan blades 533, the shaft hole 531 is connected to the fan motor shaft 54, the turbine long fan blade 532 is responsible for sucking air from the road surface, the wheel short fan blade 533 is responsible for exhausting the air in the ground suction fan mechanical frame 51, the mechanical structure is strengthened, the stressed area of the air and the fan blades is increased, the same motor speed is achieved, and the friction between the wheels and the road surface is increased by the effect of the fan blades and the air.

Referring to fig. 6, the motor assembly 7 includes a motor 71, a motor shaft 72, and a gear 73, the gear 73 is mounted on the motor shaft 72 of the motor 71, and the composition and connection relationship of the four motor assemblies 7 are the same as described above.

Referring to fig. 7, the wheel assembly 4 includes a wheel body 41, gear teeth 42, a bearing 43, and a shaft 44, wherein the wheel body 41 and the gear teeth 42 are fixed together, the bearing 43 is installed between the wheel body 41 and the gear teeth 42, the shaft 44 is installed on the bearing 43, the bearing 43 is installed on a wheel hole of the machine frame 3, the gear teeth 42 are connected with the gear 73, and the six wheel assemblies 4 are connected in the same manner as above.

Referring to fig. 8, the ir transmitting/receiving module 6 includes an ir mechanical frame 61, an ir transmitting tube 62 and an ir receiving tube 63, the ir transmitting tube 62 and the ir receiving tube 63 are mounted on the ir mechanical frame 61, pins of the ir transmitting tube 62 and the ir receiving tube 63 are connected to circuit holes of the PCB 1, and the composition and connection relationship of the other five ir transmitting/receiving modules are the same as those of the ir transmitting/receiving module 6.

Referring to fig. 9, the single chip microcomputer unit 21 of the main controller 2 is used for connecting the wheel motor driver chip 12 and the ground suction fan driver chip 13, the single chip microcomputer unit 21 is connected with the infrared transmitting and receiving assembly 6, the wheel motor driver chip 12 is connected with four motors 71, and the ground suction fan driver chip 13 is connected with the fan motor 52.

The utility model discloses an operation and operation process as follows:

pressing a press switch 11, wherein one LED indicating lamp bead 14 is lighted for a power supply indicating lamp, then pressing one press button 15 to start a key for one time, simultaneously one LED indicating lamp bead 14 is lighted for a first search indicating lamp, and correspondingly moving after being placed in the middle of a lane, if collision occurs during driving, picking up a vehicle body, pressing the other press button 15 to reset the key for a reset state, simultaneously one LED indicating lamp bead 14 is extinguished for the first search state indicating lamp, if a planned shortest arrival terminal path is memorized, pressing one press button 15 to start the key for two times to carry out a memory type high-speed sprint state, simultaneously one LED indicating lamp bead 14 is lighted for a second high-speed sprint state indicating lamp, and correspondingly moving after being placed in the middle of the lane.

And (3) straight going: the infrared transmitting and receiving component 6 detects that a path exists in the front, the four motors 7 are controlled to rotate forwards at the same speed according to an algorithm stored in the single chip microcomputer unit 21, and the distance between the walls on the two sides of the maze is detected according to the infrared transmitting and receiving component 6, so that the computer mouse is guaranteed to run in the middle of the maze.

Turning to the left: the infrared transmitting and receiving component 6 detects that there is a path on the left, controls the two right motors 7 to rotate forward at an accelerated speed according to an algorithm stored in the single chip unit 21, controls the two left motors 7 to rotate forward at a decelerated speed, controls the computer mouse to turn left, and continues to move forward after the gyroscope chip 10 receives a rotation angle of 90 degrees.

Turning to the right: the infrared transmitting and receiving component 6 detects that there is a path on the right, controls the two right motors 7 to rotate forwards in a decelerating way according to an algorithm stored in the single chip unit 21, controls the two left motors 7 to rotate forwards in an accelerating way, and controls the computer mouse to turn to the right and continue to move forwards after the gyroscope chip 10 receives the rotation angle of 90 degrees.

Turning around: the infrared transmitting and receiving assembly 6 detects that walls are arranged on the left, right and front sides, controls the left two motors 7 to rotate forwards according to an algorithm stored in the single chip unit 21, controls the right two motors 7 to rotate backwards, controls the computer mouse to rotate backwards, and continues to move forwards after the gyroscope chip 10 receives the rotation angle of 180 degrees.

Rotation of the ground-suction turbine-shaped fan blades: when the computer mouse moves straight at a high speed, the fan motor 52 rotates at a constant speed; when the mouse turns, the rotation speed of the fan motor 52 is increased to resist the centrifugal force during turning.

Claims

1. Inhale six round of labyrinth robots that walk of ground fan four-wheel drive, including PCB board (1), main control unit (2), machinery frame (3), wheel subassembly (4), inhale ground turbine shape flabellum subassembly (5), infrared emission receiving component (6), motor element (7), SWD stitch (8), prevent inserting anti-battery socket (9), gyroscope chip (10), push switch (11), wheel motor driver chip (12), inhale ground fan driver chip (13), LED instruction lamp pearl (14), push button (15), resistance (16), motor location machinery frame (17), inhale ground fan trompil (18), a serial communication port, PCB board (1) is used for connecting main control unit (2), a pair of machinery frame (3), inhale ground turbine shape flabellum subassembly (5), five infrared emission receiving component (6), motor element (7), SWD stitch (8), Prevent inserting anti-battery socket (9), gyroscope chip (10), push switch (11), wheel motor driver chip (12), inhale ground fan driver chip (13), LED indicator lamp pearl (14), push button (15), resistance (16), motor location machinery frame (17), singlechip unit (21) in main control unit (2) are used for connecting wheel motor driver chip (12) and inhale ground fan driver chip (13), five infrared emission receiving component (6), gyroscope chip (10), and respectively two motor element (7) are used for controlling the rotation of respectively controlling each three wheel subassembly (4) about, inhale ground turbine shape flabellum subassembly (5) and are used for controlling the rotation of turbine shape flabellum (53), and infrared emission receiving component (6) are used for detecting the existence of maze wall.

2. The all-wheel-drive six-wheel labyrinth robot of the suction fan as claimed in claim 1, wherein the motor assembly (7) comprises a motor (71), a motor shaft (72) and a gear (73), the gear (73) is mounted on the motor shaft (72) of the motor (71), and the four motor assemblies have the same composition and connection relationship with the motor assembly (7).

3. The floor-suction fan four-wheel-drive six-wheel labyrinth-walking robot is characterized in that the wheel assemblies (4) comprise wheel bodies (41), gear teeth (42), bearings (43) and shaft rods (44), the wheel bodies (41) and the gear teeth (42) are fixedly integrated, the bearings (43) are installed between the wheel bodies (41) and the gear teeth (42), the shaft rods (44) are installed on the bearings (43), the bearings (43) are installed on wheel holes of the machine frame (3), the gear teeth (42) are connected with the gears (73), and the six wheel assemblies (4) are connected in the same manner.

4. The all-wheel-drive six-wheel labyrinth robot for the ground suction fan as claimed in claim 1, wherein the ground suction turbine-shaped fan blade assembly (5) comprises a ground suction fan mechanical frame (51), a fan motor (52), turbine-shaped fan blades (53) and a fan motor shaft (54), the fan motor (52) is mounted on the ground suction fan mechanical frame (51), the turbine-shaped fan blades (53) are mounted on the fan motor shaft (54) of the fan motor (52), and the ground suction fan mechanical frame (51) is mounted on the PCB (1).

5. The ground suction fan four-wheel drive six-wheel labyrinth robot as claimed in claim 1, wherein the infrared transmitting and receiving assembly (6) comprises an infrared mechanical frame (61), an infrared transmitting tube (62) and an infrared receiving tube (63), the infrared transmitting tube (62) and the infrared receiving tube (63) are mounted on the infrared mechanical frame (61), pins of the infrared transmitting tube (62) and the infrared receiving tube (63) are connected to circuit holes of the PCB (1), and the composition and connection relationship of the remaining five infrared transmitting and receiving assemblies are the same as those of the infrared transmitting and receiving assembly (6).

6. The ground suction fan four-wheel drive six-wheel labyrinth robot as claimed in claim 1, wherein the mechanical frame (3) and the positioning mechanical frame (17) are mounted on the PCB (1), the motor (71) is mounted on the fixed positions of the PCB (1), the mechanical frame (3) and the motor positioning mechanical frame (17), and the connection relationship of the four motor components (7) is the same as that of the motor (71).

7. The ground suction fan four-wheel drive six-wheel labyrinth robot as claimed in claim 1, wherein the single chip microcomputer unit (21) in the main controller (2) is used for connecting the wheel motor driver chip (12) and the ground suction fan driver chip (13), the single chip microcomputer unit (21) is connected with the infrared emission receiving assembly (6), the wheel motor driver chip (12) is connected with the motor (71), and the ground suction fan driver chip (13) is connected with the fan motor (52).

8. The floor-suction fan four-drive six-wheel labyrinth robot as claimed in claim 2, wherein the motor (71) is a hollow cup motor.

9. The ground-suction fan four-wheel-drive six-wheel labyrinth robot as claimed in claim 3, wherein the turbine-shaped fan blades (53) comprise a shaft hole (531), a turbine long-shaped fan blade (532), a turbine short-shaped fan blade (533), and a disc (534), the disc (534) and the ten turbine long-shaped fan blades (532) and the ten turbine short-shaped fan blades (533) are connected, and the shaft hole (531) is connected with the fan motor shaft (54).