Labyrinth walking robot capable of running stably

Abstract

The utility model relates to a stably-running labyrinth walking robot which comprises a bottom plate, a plurality of detection assemblies fixedly installed at the front end, wheel assemblies installed at the ends of the two sides and a fan assembly fixedly installed in the middle and is suitable for the robot to run stably. And the speed measuring assemblies are respectively mounted on the two wheel assemblies in a transmission manner and are suitable for respectively monitoring the rotating speeds of the two wheel assemblies. The wheel assemblies are fixedly installed at the two side ends of the bottom plate of the robot, the rear ends of the wheel assemblies are in transmission connection with the speed measuring assemblies, and in the running process of the robot, the two speed measuring assemblies monitor the rotating speeds of the two wheel bodies in real time correspondingly, so that the running speed of the robot is obtained, and timely feedback adjustment is facilitated; it is ensured that the robot can complete the competition at the optimal speed; and the fan assembly is fixedly installed in the middle of the bottom plate, a fan is a ground suction turbine-shaped fan, the road holding force of the robot is improved, and the robot can stably and rapidly run in the maze.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots and relates to a robot for walking through a maze, in particular to a maze-walking robot with stable movement. Background Art

[0002] Robot maze-walking is a popular competition around the world. With the continuous development of science and technology, maze-walking robots are also constantly updated and iterated. However, when the robot is driving at high speed in the maze, there are problems such as drifting in a straight line and slipping in turns. This is not conducive to the robot's high-speed and stable driving in the maze, and it is easy to roll over, lose control, and even cause the robot's mechanical structure to be damaged, making it unable to continue to complete the competition.

[0003] To this end, we propose a maze-navigating robot with smooth movement to solve the above problems. Utility Model Content

[0004] The purpose of the utility model is to overcome the deficiencies of the prior art and to provide a maze-walking robot with a simple structure, a small size and a stable travel.

[0005] In order to solve the above problems, the technical solution of the utility model is:

[0006] A maze-walking robot with stable movement, comprising:

[0007] The bottom plate has several detection components fixedly installed at the front end, wheel components installed at both ends, and a fan component fixedly installed in the middle, which is suitable for the robot to move smoothly;

[0008] A pair of speed measuring assemblies are respectively installed on the two wheel assemblies and are suitable for monitoring the rotation speeds of the two wheel assemblies respectively.

[0009] In a further embodiment, the wheel assembly includes a wheel body and a wheel motor, a motor gear is fixedly mounted on the output shaft of the wheel motor, a wheel gear is fixedly mounted on the inner side of the wheel body, and the motor gear and the wheel gear are in transmission connection.

[0010] In a further embodiment, the wheel gear and the motor gear are both bevel gears;

[0011] The axis of the wheel gear and the axis of the motor gear are perpendicular to each other.

[0012] In a further embodiment, wheel mounting frames are fixedly mounted on both side ends of the bottom plate, and wheel gears are rotatably mounted on the wheel mounting frames;

[0013] A motor mounting frame is fixedly mounted on the bottom plate in front of the wheel mounting frame, and a wheel motor is fixedly mounted on the motor mounting frame.

[0014] In a further embodiment, the speed measuring assembly includes a speed measuring gear, which is rotatably mounted on the wheel mounting frame and is in transmission connection with the wheel gear.

[0015] In a further embodiment, the speed measuring gear is a bevel gear, and the axis of the speed measuring gear is perpendicular to the axis of the wheel gear.

[0016] In a further embodiment, the speed measuring assembly further includes a sensor mounting bracket and a magnetic sensor. The sensor mounting bracket is fixedly mounted on the bottom plate behind the speed measuring gear, and the magnetic sensor is fixedly mounted on the sensor mounting bracket.

[0017] In a further embodiment, a magnet is fixedly mounted on the rear end surface of the speed measuring gear, and the magnet corresponds to a magnetic sensor, which is suitable for the magnetic sensor to obtain the rotation speed of the wheel body.

[0018] In a further embodiment, the fan assembly includes a fan motor, a fan mounting frame and a fan body, the fan mounting frame is fixedly mounted between a pair of motor mounting frames, the fan motor is fixedly mounted on the fan mounting frame, and the fan body is fixedly mounted on the output shaft of the fan motor.

[0019] In a further embodiment, the orientations of the plurality of detection components are different and suitable for detecting the maze baffles around the robot;

[0020] The detection component includes an infrared transmitter and an infrared receiver.

[0021] Compared with the prior art, the beneficial effects of the present invention are:

[0022] 1. Wheel assemblies are fixedly installed on both sides of the robot's base plate. The rear ends of the wheel assemblies are connected to the speed measuring assembly. During the robot's movement, the two speed measuring assemblies respectively monitor the rotation speed of the two wheel bodies in real time, thereby obtaining the robot's movement speed, facilitating timely feedback and adjustment, and ensuring that the robot can complete the competition at the optimal speed. In addition, a fan assembly is fixedly installed in the middle of the base plate. The fan is a ground-absorbing turbine fan, which improves the robot's grip and enables the robot to move stably and quickly in the maze.

[0023] 2. The wheel gears and motor gears of this robot are both bevel gears, which optimize the transmission method, can withstand larger loads, improve transmission efficiency, reduce energy loss, and reduce the noise and vibration amplitude generated during rotation, thereby improving the operating stability of the robot; and the bevel gears can rotate in a smaller space, maximizing space utilization and thus reducing the size of the robot.

[0024] 3. Several detection components are fixedly installed at the front end of the bottom plate of this robot. The orientations of these detection components are different. The detection components include infrared transmitters and infrared receivers. During the movement of the robot, they continuously detect the maze baffles in front and on both sides, thereby controlling the direction of the robot's movement. The structure is simple and the measurement is accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 The figure is a schematic diagram of a maze-walking robot that moves smoothly;

[0026] Figure 2 A top view of a stable maze-walking robot;

[0027] Figure 3 A schematic diagram of a wheel assembly for a stable maze-walking robot;

[0028] Figure 4 Schematic diagram of the fan assembly of a maze-navigating robot that travels smoothly.

[0029] In the figure: 1. Base plate; 2. Wheel assembly; 21. Wheel body; 211. Wheel gear; 22. Wheel mounting bracket; 23. Wheel motor; 231. Motor gear; 24. Connecting bracket; 25. Motor mounting bracket; 3. Fan assembly; 31. Fan motor; 32. Fan mounting bracket; 33. Fan body; 4. Detection assembly; 5. Speed ​​measuring assembly; 51. Speed ​​measuring gear; 511. Magnet; 52. Sensor mounting bracket; 53. Magnetic sensor; 6. Battery. DETAILED DESCRIPTION

[0030] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0031] Example 1:

[0032] A stable maze-walking robot, such as Figures 1 to 4As shown, it includes a base plate 1, a pair of wheel assemblies 2, a fan assembly 3, several detection assemblies 4, a pair of speed measuring assemblies 5 and a battery 6. Several detection assemblies 4 are fixedly installed at the front end of the base plate 1 for detecting whether there is a road in front of the robot. The wheel assemblies 2 are symmetrically installed on both sides of the base plate 1. The fan assembly 3 is fixedly installed between the front ends of the pair of wheel assemblies 2. The speed measuring assemblies 5 are driven and installed at the rear ends of the pair of wheel assemblies 2 for respectively monitoring the rotation speed of the wheel assemblies 2, that is, the forward and turning speed of the robot, so that the robot can maintain a stable state during high-speed driving; a battery 6 is fixedly installed at the rear end of the base plate 1 for powering the entire robot.

[0033] like Figures 1 to 4 As shown, the wheel assembly 2 includes a wheel body 21, a wheel mounting frame 22, a wheel motor 23, a connecting frame 24 and a motor mounting frame 25. The wheel mounting frames 22 are fixedly mounted on both sides of the base plate 1, and the connecting frame 24 is fixedly mounted between a pair of wheel mounting frames 22 to improve the structural strength, so that the two wheel assemblies 2 are connected as a whole; the wheel bodies 21 are rotatably mounted on the side ends of the two wheel mounting frames 22 through the wheel axles, and a number of bearings are installed between the wheel axles and the wheel bodies 21 for easy rotation; the outer side of the wheel body 21 is a wheel hub, a tire skin and other components, and the inner side of the wheel body 21 is fixedly mounted on the wheel gear 211. The wheel hub is provided with six pin holes, and six corresponding pins are fixedly installed on the wheel gear 211, so that the wheel hub can be quickly and conveniently installed on the wheel gear 211. When encountering different terrains, the wheel hub and tire skin can be replaced to adapt to the terrain; the wheel body 21 is located on both sides of the base plate 1, and the corresponding positions of the base plate 1 are provided with inward grooves for accommodating the wheel body 21, so that the side of the base plate 1 remains relatively smooth and linear, reducing the volume and travel of the robot. The resistance encountered during driving is improved, and the stability of the robot during high-speed driving is improved. The wheel body 21 can also protrude from the outside of the base plate 1; a motor mounting frame 25 is fixedly installed on the base plate 1 in front of the wheel mounting frame 22. The motor mounting frame 25 is a pair and is arranged corresponding to the wheel mounting frame 22. The motor mounting frame 25 is a structure approximately in the shape of a "convex" character. A circular hole is formed on the top portion of the motor mounting frame 25 for passing and fixing the wheel motor 23. The output shaft of the wheel motor 23 is fixedly installed with a motor gear 231. The motor gear 231 is transmission-mounted with the wheel gear 211 so that when the wheel motor 23 is working, it drives the motor gear 231 to rotate, and then drives the wheel gear 211 to rotate, and finally achieves the purpose of rotating the wheel body 21; the motor gear 231 and the wheel gear 211 are both bevel gears, and the axis of the motor gear 231 is perpendicular to the axis of the wheel gear 211. The traditional vertical arrangement of the wheel motor 23 and the wheel gear 211 is changed to a parallel arrangement of the two, which makes full use of the robot space, shortens the width of the robot, and reduces the volume of the robot.

[0034] like Figures 1 to 3As shown, the speed measuring assembly 5 includes a speed measuring gear 51, a sensor mounting bracket 52 and a magnetic sensor 53. The speed measuring gear 51 is a bevel gear. The front end of the speed measuring gear 51 is rotatably mounted on the rear end of the wheel mounting bracket 22. The rear end surface of the speed measuring gear 51 is fixedly mounted with a magnet 511. The speed measuring gear 51 is transmission-mounted on the wheel gear 211. The sensor mounting bracket 52 is fixedly mounted on the bottom plate 1 at the rear end of the speed measuring gear 51. The sensor mounting bracket 52 is vertically arranged. The cross section of the sensor mounting bracket 52 is a U-shaped structure. A circular hole is formed in the middle of the sensor mounting bracket 52 for wearing and fixing the magnetic sensor 53. The front end of the magnetic sensor 53 is spaced apart from the magnet 511. When the wheel gear 211 rotates, it drives the speed measuring gear 51 to rotate, which in turn drives the magnet 511 to rotate. The magnetic force generated by the magnet 511 during rotation also undergoes periodic changes, causing the magnetic sensor 53 to detect the periodic magnetic force changes. When the magnet 511 rotates one circle, the magnetic sensor 53 generates 4096 pulses, each corresponding to the distance advanced at one end. During the forward movement, the rotation speed of the magnet 511 detected by the two magnetic sensors 53 is consistent, thereby achieving measurement of the straight-line travel speed. During the turning process, the rotation speed of the magnet 511 detected by the two magnetic sensors 53 is inconsistent, and the turning speed is calculated, thereby better controlling the travel speed of the robot. Preferably, the model of the magnetic sensor 53 is NJK-5002A.

[0035] like Figure 4 As shown, a fan assembly 3 is fixedly installed between a pair of motor mounting frames 25. The fan assembly 3 includes a fan motor 31, a fan mounting frame 32 and a fan body 33. The fan mounting frame 32 is fixedly installed between the pair of motor mounting frames 25 by bolts. The fan mounting frame 32 is horizontally arranged. A cylindrical structure is formed in the middle of the fan mounting frame 32 for passing through and fixing the fan motor 31. The fan motor 31 is vertically arranged. The bottom end of the fan motor 31 is an output shaft. The output shaft of the fan motor 31 is fixedly installed with the fan body 33. The fan body 33 is located below the fan mounting frame 32, so that the fan body 33 can generate downward suction when it rotates, thereby improving the robot's grip and making it more stable.

[0036] like Figure 1As shown, several detection components 4 are fixedly installed on the front end of the base plate 1, and the orientations of the several detection components 4 are different, which are used to detect maze obstacles in front of and on both sides of the robot to avoid collision problems of the robot; the detection component 4 includes a shell, an infrared transmitter and an infrared receiver, the shell is vertically arranged, and two horizontal through holes are penetrated in the middle of the shell, and the two through holes are vertically spaced. The infrared transmitter is installed in the upper through hole, and the infrared receiver is installed in the lower through hole. During the driving process of the robot, the infrared transmitter continuously emits infrared signals. After the infrared signal contacts the obstacle, it is reflected back and received by the infrared receiver, and then the road condition in front of the robot is judged, so that the robot can decide whether to move forward or turn.

[0037] The base plate 1 is a PCB circuit board, and the main controller, wheel motor 23 driver, fan motor 31 driver, and gyroscope are also fixedly installed on the base plate 1. The main controller adopts an STM32 single-chip microcomputer, which is respectively connected to the wheel motor 23 driver, fan motor 31 driver, gyroscope, and detection component 4. The wheel motor 23 driver is connected to a pair of wheel motors 23 for controlling the movement of the robot; the fan motor 31 driver is connected to the fan motor 31 for controlling the start or stop of the fan motor 31; the gyroscope is connected to the wheel motor 23 driver for real-time monitoring of the robot's posture to ensure stable driving of the robot.

[0038] The working principle of the utility model is as follows: when the robot is traveling at high speed in a maze, it detects whether there is a maze baffle in front through several detection components 4, and the detection result is sent to the STM32 single-chip microcomputer. If the robot can go straight ahead, the STM32 single-chip microcomputer controls the two wheel motors 23 to rotate forward at the same speed, and detects the distance between the baffles on both sides of the maze according to the several detection components 4 to ensure that the robot travels in the middle of the maze; if a turn is required in front, the STM32 single-chip microcomputer controls one of the wheel motors 23 to accelerate forward rotation and the other wheel motor 23 to decelerate and reverse, so that the robot turns in the corresponding direction; if there is no road ahead and it needs to return, the STM32 single-chip microcomputer controls one of the wheel motors 23 to rotate forward and the other wheel motor 23 to reverse, thereby realizing the robot's return action.

[0039] When the robot moves straight, the fan motor 31 runs at a constant speed to ensure that the robot moves in a straight line stably; when the robot turns, the fan motor 31 accelerates to exhaust the air near the ground, forming a low-pressure area, effectively preventing the wheel body 21 from slipping due to insufficient friction, thereby ensuring that the robot can better complete the corresponding action; during the entire driving process of the robot, the magnetic sensor 53 continuously monitors the rotation speed of the wheel body 21 and feeds back to the STM32 microcontroller at any time. The microcontroller adjusts the rotation speed of the wheel body 21 in time according to the feedback results to avoid stalling and loss of control of the robot and ensure that the robot travels at the optimal speed.

[0040] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A stable maze-walking robot, characterized in that: include: A bottom plate (1) has a plurality of detection assemblies (4) fixedly mounted on the front end, wheel assemblies (2) mounted on both side ends, and a fan assembly (3) fixedly mounted in the middle, suitable for the robot to travel smoothly; A pair of speed measuring assemblies (5) are respectively installed on the two wheel assemblies (2) and are suitable for respectively monitoring the rotation speeds of the two wheel assemblies (2).

2. The stable maze-walking robot according to claim 1, characterized in that: The wheel assembly (2) comprises a wheel body (21) and a wheel motor (23); a motor gear (231) is fixedly mounted on the output shaft of the wheel motor (23); a wheel gear (211) is fixedly mounted on the inner side of the wheel body (21); and the motor gear (231) and the wheel gear (211) are in transmission connection.

3. The stable maze-walking robot according to claim 2, characterized in that: The wheel gear (211) and the motor gear (231) are both bevel gears; The axis of the wheel gear (211) and the axis of the motor gear (231) are perpendicular to each other.

4. The stable maze-walking robot according to claim 3, characterized in that: Wheel mounting frames (22) are fixedly mounted on both side ends of the bottom plate (1), and the wheel gear (211) is rotatably mounted on the wheel mounting frames (22); A motor mounting frame (25) is fixedly mounted on the bottom plate (1) in front of the wheel mounting frame (22), and the wheel motor (23) is fixedly mounted on the motor mounting frame (25).

5. The stable maze-walking robot according to claim 4, characterized in that: The speed measuring assembly (5) comprises a speed measuring gear (51), the speed measuring gear (51) is rotatably mounted on the wheel mounting frame (22), and the speed measuring gear (51) is transmission-connected to the wheel gear (211).

6. The stable-moving maze-walking robot according to claim 5, characterized in that: The speed measuring gear (51) is a bevel gear, and the axis of the speed measuring gear (51) and the axis of the wheel gear (211) are perpendicular to each other.

7. The stable-moving maze-walking robot according to claim 6, characterized in that: The speed measuring assembly (5) further comprises a sensor mounting frame (52) and a magnetic sensor (53); the sensor mounting frame (52) is fixedly mounted on the bottom plate (1) located behind the speed measuring gear (51); and the magnetic sensor (53) is fixedly mounted on the sensor mounting frame (52).

8. The stable-moving maze-walking robot according to claim 7, characterized in that: A magnet (511) is fixedly mounted on the rear end surface of the speed measuring gear (51), and the magnet (511) corresponds to the magnetic sensor (53) and is suitable for the magnetic sensor (53) to obtain the rotation speed of the wheel body (21).

9. The stable-moving maze-walking robot according to claim 8, characterized in that: The fan assembly (3) comprises a fan motor (31), a fan mounting frame (32) and a fan body (33); the fan mounting frame (32) is fixedly mounted between a pair of motor mounting frames (25); the fan motor (31) is fixedly mounted on the fan mounting frame (32); and the fan body (33) is fixedly mounted on the output shaft of the fan motor (31).

10. The stable-moving maze-walking robot according to claim 9, characterized in that: The orientations of the plurality of detection components (4) are different and are suitable for detecting the maze baffles around the robot; The detection component (4) comprises an infrared transmitter and an infrared receiver.

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