CN101817395B - Remote-control electric overwater walking robot - Google Patents
Remote-control electric overwater walking robot Download PDFInfo
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- CN101817395B CN101817395B CN 201010034239 CN201010034239A CN101817395B CN 101817395 B CN101817395 B CN 101817395B CN 201010034239 CN201010034239 CN 201010034239 CN 201010034239 A CN201010034239 A CN 201010034239A CN 101817395 B CN101817395 B CN 101817395B
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Abstract
The invention relates to a remote-control electric overwater walking robot which belongs to the technical field of overwater robots. The invention is characterized by comprising two drive legs, a square control panel body and a remote controller, wherein the two drive legs are positioned on two opposite sides of a supporting plate; support legs are attached to the other two opposite sides of the supporting plate and perpendicular to the drive legs; the square control panel body is positioned above the supporting plate; two button batteries, a robot controller and an infrared receiver module are fixed above the control panel body; two minitype direct current motors are fixed under the control panel body, and the output shafts of the two minitype direct current motors are respectively connected to the two drive legs; the button batteries respectively supply power to the robot controller and the minitype direct current motors; the motors, the robot controller the infrared receiver module and the button batteries are arranged on the control panel body in a way that the center of gravity is the geometric center of the control panel body, thereby realizing balance front and back and left and right; and the remote controller comprises an infrared light emitting diode, a remote-controller controller, a remote controller battery and keys. The invention has the advantages of light weight, small volume, flexible control and the like, and can rotate freely.
Description
Technical field
Remote-control electric overwater walking robot belongs to Robotics waterborne field, relates in particular to the Robotics of Bionic water strider.
Background technology
At present, the bio-robot that moves on the ground and move about in the underwater is very many, but the robot that can really walk on the water surface is actually rare, overwater walking robot is because of its special mode of motion, can be not stranded in the shoal water zone, therefore motion process is also very little to the disturbance of liquid, and the field has very important application prospect scouting that exploration, monitoring water quality, liquid level are removed contamination etc.
Research about robot waterborne, Chinese patent " floating bionic terrapin robot on water " (publication number: CN100404371C, open day: proposed little, the lightweight Bionic water strider robot of a kind of volume on July 23rd, 2008), this robot adopts button cell that energy is provided, single motor-driven, three grades of miniature gears transmission devices can realize that the water surface stands by surface tension, with water surface contact portion be a silk material leg shape structure, power is produced at the water surface paddling by driving leg.
This invention weak point is: can't carry out motion control to robot, robot does not turn to and speed regulation capacity.
Summary of the invention
The present invention has overcome the defective of prior art, has designed a kind of lightweight, remote-control electric overwater walking robot that volume is little, low in energy consumption, can be in water turn to, and remote control overwater walking robot that can speed governing.
The present invention contains square stay bearing plate, driving leg and supporting leg, it is characterized in that,
Described driving leg has two, is positioned at the relative both sides of described stay bearing plate, and described supporting leg sticks on the relative in addition both sides of described stay bearing plate, and is vertical with described driving leg position;
Also contain a square control desk body, described control desk body is positioned at described stay bearing plate top, is fixed with two button cells above described control desk body, a robot controller and an infrared receiving terminal; Fix two dc micro-motors below described control desk body, the output shaft of these two dc micro-motors connects respectively described two driving legs; A described button cell is the robot controller power supply, and another button cell is described two dc micro-motors power supply;
Described two dc micro-motors, robot controller, infrared receiving terminal and two button cells be arranged in layout on the described control desk body be center of gravity in the geometric centre of control desk body, make the layout of balance all around;
Also contain a remote controller, described remote controller contains infrarede emitting diode, remote-controller controller, remote controller battery and button.
Described two button cells are separately fixed at the relative both sides of described control desk body upper surface, with driving leg position homonymy; Described robot controller is fixed in the middle of the described control desk body upper surface side vertical with the driving leg position; Described infrared receiving terminal is fixed in the middle of the described control desk body upper surface opposite side vertical with the driving leg position; Described two dc micro-motors are separately fixed at the button cell below of control desk body lower surface, and output shaft links to each other with described two driving legs respectively.
Described stay bearing plate and control desk body shape are square, and size is the same, and material all adopts paulownia wood.
The model of described robot controller is MSP430F1121A.
The infrared signal of the 38KHz of described remote controller employing process primary modulation is as carrier wave.
The model of described infrared receiving terminal is 38B.
Described supporting leg has 8 ~ 10, sticks on respectively on the described stay bearing plate, and described supporting leg and driving leg and water surface contact portion are bent into by metal wire material, and supporting leg and driving leg are positioned on the same level face.
Experiment showed, the present invention have lightweight, volume is little, can freely turn to, control the advantages such as flexible, has reached the purpose of expection.
Description of drawings
The overall front view of Fig. 1 robot;
The overall lateral plan of Fig. 2 robot;
Fig. 3 control desk front view;
Fig. 4 control desk lateral plan;
Fig. 5 supporting leg scheme drawing;
Fig. 6 driving leg scheme drawing;
Fig. 7 remote controller scheme drawing.
In Fig. 1-Fig. 7:
1-supporting leg, 2-driving leg, 3-stay bearing plate, 4-control desk body, 5-infrared receiving terminal, 6-button cell, 7-dc micro-motor, 8-robot controller, 9-infrarede emitting diode, 10-LED light, 11-remote controller, 12-button, 13-source switch, 14-remote controller battery, 15-battery case.
The specific embodiment
Below in conjunction with description of drawings the specific embodiment of the present invention.
As depicted in figs. 1 and 2, remote-control electric overwater walking robot is divided into base and control desk two parts.Base comprises stay bearing plate and supporting leg, and supporting leg is fixed on the edge, stay bearing plate front and back equally spacedly, and bilateral symmetry, consists of the base portion of robot.Control desk contains the control desk body, and battery, motor, infrared receiving terminal, controller all are integrated on the control desk body, consists of the robot control module.Infrared receiving terminal, controller, battery are fixed on the control desk upper surface, and wherein infrared receiving terminal is fixed in the middle of the control desk front end, and controller is fixed in the middle of the control desk rear end, and two batteries are separately fixed at partially rear position in the middle of the two ends, the control desk left and right sides; Two motors are separately fixed at middle, two ends, the control desk lower surface left and right sides.The output shaft of two motors connects respectively two driving legs, the position of the installation that driving is moved back is vertical with supporting leg, the position of two driving legs is also symmetrical, driving leg can be under the driving of motor simultaneously the forward of (/ not simultaneously) (/ oppositely) rotate, thereby the band mobile robot moves ahead, retreats, turns left or the action such as right-hand rotation.The installation site of said elements makes the center of gravity of robot be positioned at the center generally.
The design of whole system will be considered lightweight, and is low in energy consumption, makes things convenient for Installation and Debugging and elegant in appearance.Base (stay bearing plate) is finished the carrying to whole system weight, and the present invention adopts the 30mm*30mm*1mm wood chip as stay bearing plate, 10 supporting legs is sticked on the stay bearing plate, such as Fig. 1 and Fig. 2.When design stay bearing plate base, should be taken into account that the whole system total weight is to the requirement of supporting leg quantity; To consider during installation the consistency problem of bending of all supporting legs and maximum support power and supporting leg curved shape concern problem, the shape of the bending of supporting leg and the crooked problems such as conformability are prior art, no longer narration.
Control desk is finished the reception of infrared signal and the control of robot running state, comprise control desk body, robot controller, infrared receiving module, motor drive module and indicator lamp, these components and parts are installed on the 30mm*30mm*1mm wood chip (control desk body), and placement scheme as shown in Figure 3.For can make robot can left/right rotation to, adopt two driving legs, can separately control, running state by control left and right sides driving leg realizes the robot craspedodrome, turns to and speed-regulating function, two motor arrangements of the present invention stick on two driving legs respectively on two motor shafts between stay bearing plate and control desk body.Two motors rotated simultaneously when robot was kept straight on; The electric machine rotation left side, the right motor stops during left-hand rotation; Left side electric machine rotation the right motor stops during right-hand rotation; Thereby adopt the PWM mode to adjust the gait of march of the rotating speed control of both sides motor.Also should be taken into account the relation of the width of the output torque of motor and driving leg, make motor output torque can overcome the robot running resistance.
Robot controller is chosen little, low in energy consumption, the lightweight control chip of a kind of encapsulation, is fixed on the middle partially rear of control desk body upper surface, finishes the reception of infrared control instruction and the control of both sides motor.Robot controller among the present invention adopts the MSP430F1121A chip.
In order to make the robot controller power supply not be subjected to the impact of motor operation, should adopt the isolated from power measure, the present invention adopts two button cells to be respectively motor and robot device power supply processed.The integral layout of control desk should be taken into account that center of gravity in the geometric centre of control desk, makes balance all around.
Also be furnished with infrared receiving terminal on the control desk body, be used for receiving the infrared signal that remote controller is sent, and signal is inputted robot controller, robot controller outputs to drive motor with control command.
Such as Fig. 7, the input of remote controller completing user instruction and the emission of signal are comprised of remote-controller controller, infrared launcher (infrarede emitting diode), battery case, remote controller battery, button etc.Should be taken into account corresponding interference protection measure reducing the interference of environment light source carrying out infrared communication when design, the present invention adopts infrared signal through the 38KHz of primary modulation as carrier wave, has solved well the interference problem of environment light source; In addition, also should consider the transmission distance of signal and the relation of emissive power.
Used major part technical characterictic is as follows among summary the present invention:
1. stay bearing plate and control desk body, onesize square wood chip, two-layer layout minute up and down, stay bearing plate is in lower floor, and the control desk body is on the upper strata;
2. supporting leg has the 8-12 bar, is made by the corrosion-resistant steel steel wire, according to maximum load capacity its curved shape is optimized;
3. driving leg has 2, is made by stainless steel wire, is fixed on the motor output shaft, can separately control;
4. robot controller is chosen little, low in energy consumption, the lightweight control chip of a kind of encapsulation, is fixed on the middle partially rear of control desk body upper surface, finishes the reception of infrared control instruction and the control of left and right sides motor;
5. button cell, 2 silver oxide cells are fixed on the both sides of body upper surface, and one to the robot controller power supply, powers to motor for one;
6. motor, 2 dc micro-motors are fixed on the both sides of control desk body lower surface, and output shaft links to each other with driving leg;
7. the remote controller employing as carrier wave, adopts modulated wave to communicate through the infrared signal of the 38KHz of overcutting, long transmission distance, and antijamming capability is strong.Be installed in infrarede emitting diode on the remote controller as infrared launcher, choose a lightweight, a kind of infrared receiving terminal that volume is little as infrared receiving device, be fixed in the middle of the control desk body upper surface foremost;
8. the reasonable arrangement device position makes the center of gravity of system be positioned at the geometric centre of control desk.
9. supporting leg and driving leg and water surface contact portion are bent into by metal wire material, and both are positioned on the same level face.
Beneficial effect of the present invention: the present invention has realized remote-control electric overwater walking robot system and integrated.Robot can realize that the water surface stands by surface tension, motor-driven, and remote control control is advanced and is turned to, and driving leg produces power at the water surface paddling, the profile Bionic water strider, lightweight, volume is little, and is low in energy consumption, and the load-carrying surplus is large.
The below introduces specific embodiment:
1, according to selection of technical scheme robot main parts size.Select encapsulation chip little, lightweight, low in energy consumption as the first controller in specific implementation process according to the 26S Proteasome Structure and Function characteristics of robot, present embodiment is selected the MSP430F1121A of TI company; Selecting the lighter model of weight is that the CR927 silver oxide cell is as the energy; Select dc micro-motor to drive; Select big or small 30mm*30mm paulownia wood chip to do stay bearing plate and control desk body; Select diameter 0.2mm stainless steel wire to do supporting leg and driving leg; Select infrarede emitting diode to do infrared launcher, model is that the infrared receiving terminal of 38B is done infrared receiving device.
2, designing with driving leg of supporting leg: be bent into 10 size and shapes supporting leg as shown in Figure 5 with stainless steel wire, supporting leg will have certain radian, tail end is wanted perk, at utmost to utilize surface tension, then each fixes 5 supporting legs before and after stay bearing plate, and the debugging supporting leg is guaranteed them at grade and is evenly arranged.Be bent into 2 size and shapes driving leg as shown in Figure 6 with stainless steel wire.
3, control desk and remote controller design:
(1) design of hardware and software.Design remote control circuitry schematic diagram and control desk schematic circuit diagram are also write remote controller program and robot control program, and program is downloaded to corresponding control chip and debugs the realization of guaranteeing each function of robot;
(2) make remote controller and control desk.Make remote controller according to known remote control circuitry; Choose the paulownia wood chip of 30mm*30mm as the body of control desk,, will debug respectively good controller, motor, power supply, infrared receiving terminal according to the control desk schematic circuit diagram and be fastened on the control desk, then driving leg is adhered on the motor shaft;
[0052] 4, control desk is adhered to namely to consist of robot on the stay bearing plate overall.
Claims (7)
1. remote-control electric overwater walking robot contains square stay bearing plate, driving leg and supporting leg; Described driving leg has two, is positioned at the relative both sides of described stay bearing plate, and described supporting leg sticks on the relative in addition both sides of described stay bearing plate, and is vertical with described driving leg position; It is characterized in that,
Also contain a square control desk body, described control desk body is positioned at described stay bearing plate top, is fixed with two button cells above described control desk body, a robot controller and an infrared receiving terminal; Fix two dc micro-motors below described control desk body, the output shaft of these two dc micro-motors connects respectively described two driving legs; A described button cell is the robot controller power supply, and another button cell is described two dc micro-motors power supply;
Described two dc micro-motors, robot controller, infrared receiving terminal and the layout of two button cells on described control desk body be center of gravity in the geometric centre of control desk body, make the layout of balance all around;
Also contain a remote controller, described remote controller contains infrarede emitting diode, remote-controller controller, remote controller battery and button.
2. remote-control electric overwater walking robot as claimed in claim 1 is characterized in that, described two button cells are separately fixed at the relative both sides of described control desk body upper surface, with driving leg position homonymy; Described robot controller is fixed in the middle of the described control desk body upper surface side vertical with the driving leg position; Described infrared receiving terminal is fixed in the middle of the described control desk body upper surface opposite side vertical with the driving leg position; Described two dc micro-motors are separately fixed at the button cell below of control desk body lower surface, and output shaft links to each other with described two driving legs respectively.
3. remote-control electric overwater walking robot as claimed in claim 1 is characterized in that, described stay bearing plate and control desk body shape are square, and size is the same, and material all adopts paulownia wood.
4. remote-control electric overwater walking robot as claimed in claim 1 is characterized in that, the model of described robot controller is MSP430F1121A.
5. remote-control electric overwater walking robot as claimed in claim 1 is characterized in that, the infrared signal of the 38KHz of described remote controller employing process primary modulation is as carrier wave.
6. remote-control electric overwater walking robot as claimed in claim 1 is characterized in that, the model of described infrared receiving terminal is 38B.
7. the automatically controlled overwater walking robot of remote control as claimed in claim 1, it is characterized in that described supporting leg has 8～10, stick on respectively on the described stay bearing plate, described supporting leg and driving leg and water surface contact portion are bent into by metal wire material, and supporting leg and driving leg are positioned on the same level face.
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| CN 201010034239 CN101817395B (en) | 2010-01-15 | 2010-01-15 | Remote-control electric overwater walking robot |
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| CN 201010034239 CN101817395B (en) | 2010-01-15 | 2010-01-15 | Remote-control electric overwater walking robot |
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| CN101817395B true CN101817395B (en) | 2013-01-30 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102649470B (en) * | 2011-02-28 | 2014-10-22 | 苏州大学 | Resonance-driven water surface mobile micro-robot |
| CN102757109B (en) * | 2012-08-02 | 2013-08-21 | 中国水产科学研究院渔业机械仪器研究所 | Water surface autonomous walking mechanism |
| CN102942296B (en) * | 2012-11-02 | 2014-01-08 | 中国水产科学研究院渔业机械仪器研究所 | Water controllable travelling mechanism |
| CN103879537A (en) * | 2014-04-21 | 2014-06-25 | 哈尔滨工业大学 | Water-skipper-imitation waterborne skipping robot |
| CN104176223B (en) * | 2014-08-25 | 2017-02-08 | 哈尔滨工业大学 | Water-skipper-imitated water sports robot |
| CN110816760A (en) * | 2019-11-20 | 2020-02-21 | 石门县腾越电子商务有限公司 | Robot walking on water |
| CN114194341B (en) * | 2021-12-20 | 2022-11-18 | 杭州电子科技大学 | Overwater self-driven photographing robot and using method thereof |
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| CN1911730A (en) * | 2006-08-25 | 2007-02-14 | 清华大学 | Floating bionic terrapin robot on water |
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