CN105905179A - Spherical spider robot based on single chip computer - Google Patents
Spherical spider robot based on single chip computer Download PDFInfo
- Publication number
- CN105905179A CN105905179A CN201610396943.XA CN201610396943A CN105905179A CN 105905179 A CN105905179 A CN 105905179A CN 201610396943 A CN201610396943 A CN 201610396943A CN 105905179 A CN105905179 A CN 105905179A
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- China
- Prior art keywords
- robot
- module
- spider robot
- steering wheel
- lower hemisphere
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The invention discloses a spherical spider robot based on a single chip computer. The spherical spider robot is characterized in that the spherical spider robot comprises an upper hemisphere part and a lower hemisphere part; a master control chip module is arranged in the upper hemisphere part; the lower hemisphere part comprises a central rotating mechanism connected with a steering engine and six supporting legs connected with the central rotating mechanism; and the central rotating mechanism rotates forwards or reversely to drive the six supporting legs to stretch out or retract. The robot is composed of the upper hemisphere part and the lower hemisphere part, and the upper hemisphere part and the lower hemisphere part are combined together to form a complete sphere so that the robot can rapidly advance in a rolling mode; and the robot is composed of the two parts, the degrees of freedom of the two parts can be independently controlled, the lower hemisphere part drives the central rotating mechanism to rotate by a certain angle through the steering engine, the supporting legs connected with the central rotating mechanism are driven to stretch out to provide a foundation for walking of the robot, and only the central rotating mechanism needs to reversely rotate to drive the supporting legs to retract once the robot is in a rolling advancing mode.
Description
Technical field
The present invention relates to a kind of SCM Based spherical spider robot, the two parts up and down particularly relating to a kind of robot not only can independent activities but also SCM Based spherical spider robot that is translatable or that rotate.
Background technology
What walking robot was studied by China starts late, and is the most really to start at the beginning of the eighties in last century.1980, the Changchun optical precision optical machinery Research Institute of the Chinese Academy of Sciences went out a Multifeet walking robot, by using parallelogram and cam mechanism.Mainly it is engaged in sea-bottom survey activity, and has done climbing, obstacle detouring and passed through the test of mire.This structure of single link-type robot realizes basic action function with single degree of freedom, mainly appears on as in the robot of toy.The advantage of this structure is for making relatively simple convenience, simultaneously because the steering wheel of operation is less, controls to get up also to be easier, and cost is low.But, due to the fewest degree of freedom so that it is cannot complete various action, the gait that can use is the most less, and action modes is single, it is impossible to dealing with the surface state of complexity, therefore practicality is poor, range is the least.
Summary of the invention
The technical problem to be solved is to provide a kind of SCM Based spherical spider robot, and having upper and lower two parts not only can independent activities but also feature that is translatable or that rotate.
For solving above-mentioned technical problem, the technical scheme is that SCM Based spherical spider robot, its innovative point is: described spherical spider robot includes episphere part and lower hemisphere portion, described episphere part and described lower hemisphere portion are combined as a complete spherical, it is provided with main control chip module in described episphere part, the servos control plate being connected with described main control chip module, the signal end of servos control plate is connected with the start end of the steering wheel being arranged in described episphere part, described lower hemisphere portion includes the central rotation machine being connected with described steering wheel, six supporting legs being connected with described central rotary mechanism, described central rotary mechanism forward or reverse drives described six supporting legs stretch out or pack up.
Preferably, six curved bars that the drive mechanism in described central rotary mechanism includes center disk framework, centrally disposed disk frame and being connected with steering wheel power transmission shaft is respectively connected with described drive mechanism, this curved bar is connected with corresponding described supporting leg away from one end of drive mechanism.
Preferably, described drive mechanism includes the driving gear being connected with steering wheel power transmission shaft, six driven gears being uniformly distributed for a week around described driving gear and engaging with described driving gear, the flank of tooth of six driven gears is connected with corresponding described curved bar respectively, and the gear shaft of six described driven gears is through the installing hole of setting on described center disk framework.
Preferably, the movement locus of six described curved bars is the involute direction of described drive mechanism place circle.
Preferably, described main control chip module is connected with the infrared induction module being used for detecting barrier, and described infrared induction module is E18-D80NK infrared sensor.
Preferably, described main control chip module is connected with the first Voltage stabilizing module, and described first Voltage stabilizing module is connected with the first power module and the second Voltage stabilizing module respectively, and described second Voltage stabilizing module is connected with described servos control plate, and described steering wheel is connected with second source module.
It is an advantage of the current invention that: the robot of the present invention is made up of episphere part and lower hemisphere portion two parts, both combine is a complete spherical, thus can roll and fast forward through, and robot is made up of the degree of freedom that can independently control self each other two parts, and lower hemisphere portion drives central rotary mechanism to rotate necessarily with regard to angle by steering wheel, thus drive the supporting leg being connected with central rotary mechanism to stretch out and provide basis for robot ambulation, once use rolling forward mode to have only to central rotary mechanism reversion and drive supporting leg to bounce back.
Accompanying drawing explanation
The present invention is described in further detail with detailed description of the invention below in conjunction with the accompanying drawings.
Fig. 1 is the structural representation of the SCM Based spherical spider robot of the present invention.
Fig. 2 is the structural representation after central rotary mechanism saves center disk framework in the SCM Based spherical spider robot of the present invention.
Fig. 3 is the structural representation of center disk framework in the SCM Based spherical spider robot of the present invention.
Fig. 4 is the construction module block diagram of the SCM Based spherical spider robot of the present invention.
In figure: 1-episphere part, 2-lower hemisphere portion, 3-main control chip module, 4-servos control plate, 5-steering wheel, 6-central rotation machine, 61-center disk framework, 611-installing hole, 62-curved bar, 63-driving gear, 64-driven gear, 7-infrared induction module, 8-the first Voltage stabilizing module, 9-the second Voltage stabilizing module, 10-second source module, 11-the first power module.
Detailed description of the invention
The SCM Based spherical spider robot of the present invention includes episphere part 1 and lower hemisphere portion 2, episphere part 1 and lower hemisphere portion 2 are combined as a complete spherical, main control chip module 3 it is provided with in episphere part 1, steering wheel 5 panel 4 being connected with main control chip module 3, the signal end of steering wheel 5 panel 4 is connected with the start end of the steering wheel 5 being arranged in episphere part 1, lower hemisphere portion 2 includes the central rotation machine 6 being connected with steering wheel 5, six supporting legs being connected with central rotation machine 6 structure, on supporting leg figure not shown, central rotation machine 6 structure forward or reverse drives six supporting legs stretch out or pack up.The robot of the present invention is made up of episphere part 1 and lower hemisphere portion 2 two parts, both combine is a complete spherical, thus can roll and fast forward through, and robot is made up of the degree of freedom that can independently control self each other two parts, and lower hemisphere portion 2 drives central rotation machine 6 structure to rotate necessarily with regard to angle by steering wheel 5, thus drive the supporting leg being connected with central rotation machine 6 structure to stretch out and provide basis for robot ambulation, once use rolling forward mode to have only to the reversion of central rotation machine 6 structure and drive supporting leg to bounce back.
Six curved bars 62 that the drive mechanism in above-mentioned central rotation machine 6 structure includes center disk framework 61, centrally disposed disk frame 61 and being connected with steering wheel 5 power transmission shaft is respectively connected with drive mechanism, this curved bar 62 is connected with respective support lower limb away from one end of drive mechanism.Drive mechanism includes the driving gear 63 being connected with steering wheel 5 power transmission shaft, six driven gears 64 being uniformly distributed for 63 1 weeks around driving gear and engaging with driving gear 63, the flank of tooth of six driven gears 64 is connected with corresponding curved bar 62 respectively, the gear shaft of six driven gears 64 is the involute direction of drive mechanism place circle through the installing hole 611 of setting on center disk framework 61, the movement locus of six curved bars 62.
Above-mentioned main control chip module 3 is connected with the infrared induction module 7 being used for detecting barrier, and infrared induction module 7 is E18-D80NK infrared sensor.Infrared sensor uses photoelectric cell to detect, and first sends optical signal, and the optical signal that then be will reflect back into by photoelectric cell is converted into the signal of telecommunication, then detects or decode, and is generally divided into three parts, emitter, receptor and testing circuit.The present invention uses infrared sensor to carry out preceding object physical prospecting survey, thus avoiding barrier, prevent infringement robot caused because of collision.
Above-mentioned main control chip module 3 is connected with the first Voltage stabilizing module 8, and the first Voltage stabilizing module 8 is connected with the first power module 11 and the second Voltage stabilizing module 9 respectively, and the second Voltage stabilizing module 9 is connected with steering wheel 5 panel 4, and steering wheel 5 is connected with second source module 10.The lithium battery that second source module 10 selects one piece of 5200mah voltage to be 11.1v is that steering wheel 5 is powered, first power module is that controller is powered with the lithium battery of one piece of 1500mah voltage 7.4v, and the first power module is 6v and 5v by the first Voltage stabilizing module 8 and the second Voltage stabilizing module 9 transformation respectively.
Finally it should be noted that, above example is only in order to illustrate technical scheme and non-limiting technical scheme, it will be understood by those within the art that, technical scheme is modified or equivalent by those, without deviating from objective and the scope of the technical program, all should contain in the middle of scope of the presently claimed invention.
Claims (6)
- The most SCM Based spherical spider robot, it is characterized in that: described spherical spider robot includes episphere part and lower hemisphere portion, described episphere part and described lower hemisphere portion are combined as a complete spherical, it is provided with main control chip module in described episphere part, the servos control plate being connected with described main control chip module, the signal end of servos control plate is connected with the start end of the steering wheel being arranged in described episphere part, described lower hemisphere portion includes the central rotation machine being connected with described steering wheel, six supporting legs being connected with described central rotary mechanism, described central rotary mechanism forward or reverse drives described six supporting legs stretch out or pack up.
- SCM Based spherical spider robot the most as claimed in claim 1, it is characterized in that: six curved bars that the drive mechanism in described central rotary mechanism includes center disk framework, centrally disposed disk frame and being connected with steering wheel power transmission shaft is respectively connected with described drive mechanism, this curved bar is connected with corresponding described supporting leg away from one end of drive mechanism.
- SCM Based spherical spider robot the most as claimed in claim 2, it is characterized in that: described drive mechanism includes the driving gear being connected with steering wheel power transmission shaft, six driven gears being uniformly distributed for a week around described driving gear and engaging with described driving gear, the flank of tooth of six driven gears is connected with corresponding described curved bar respectively, and the gear shaft of six described driven gears is through the installing hole of setting on described center disk framework.
- SCM Based spherical spider robot the most as claimed in claim 2, it is characterised in that: the movement locus of six described curved bars is the involute direction of described drive mechanism place circle.
- SCM Based spherical spider robot the most as claimed in claim 1, it is characterised in that: described main control chip module is connected with the infrared induction module being used for detecting barrier, and described infrared induction module is E18-D80NK infrared sensor.
- SCM Based spherical spider robot the most as claimed in claim 1, it is characterized in that: described main control chip module is connected with the first Voltage stabilizing module, described first Voltage stabilizing module is connected with the first power module and the second Voltage stabilizing module respectively, described second Voltage stabilizing module is connected with described servos control plate, and described steering wheel is connected with second source module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610396943.XA CN105905179A (en) | 2016-06-06 | 2016-06-06 | Spherical spider robot based on single chip computer |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610396943.XA CN105905179A (en) | 2016-06-06 | 2016-06-06 | Spherical spider robot based on single chip computer |
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| CN105905179A true CN105905179A (en) | 2016-08-31 |
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| CN201610396943.XA Pending CN105905179A (en) | 2016-06-06 | 2016-06-06 | Spherical spider robot based on single chip computer |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106627007A (en) * | 2016-10-31 | 2017-05-10 | 苏州大学 | Amphibious spherical robot of changeable structure |
| CN109941368A (en) * | 2019-03-04 | 2019-06-28 | 尚亚丽 | Photography and vedio recording electrical walking device |
Citations (6)
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|---|---|---|---|---|
| DE4441586A1 (en) * | 1994-11-11 | 1996-07-18 | Schroeter Wolfgang Dipl Ing | Walking machine with articulated legs |
| CN201186683Y (en) * | 2008-04-18 | 2009-01-28 | 北京工业大学 | Intelligent electric steering engine based on RS232 bus communication |
| CN103273978A (en) * | 2013-06-20 | 2013-09-04 | 北京信息科技大学 | Six-direction embedded independent telescopic wheel leg body module of snake-like robot |
| CN203832605U (en) * | 2014-04-10 | 2014-09-17 | 西北工业大学 | Telescopic spherical robot |
| CN205281257U (en) * | 2015-12-22 | 2016-06-01 | 福州大学 | Intelligent ball anthropomorphic robot with fault -tolerant control |
| CN205661560U (en) * | 2016-06-06 | 2016-10-26 | 厦门市星云睿自动化科技有限公司 | Spherical spider robot based on singlechip |
-
2016
- 2016-06-06 CN CN201610396943.XA patent/CN105905179A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4441586A1 (en) * | 1994-11-11 | 1996-07-18 | Schroeter Wolfgang Dipl Ing | Walking machine with articulated legs |
| CN201186683Y (en) * | 2008-04-18 | 2009-01-28 | 北京工业大学 | Intelligent electric steering engine based on RS232 bus communication |
| CN103273978A (en) * | 2013-06-20 | 2013-09-04 | 北京信息科技大学 | Six-direction embedded independent telescopic wheel leg body module of snake-like robot |
| CN203832605U (en) * | 2014-04-10 | 2014-09-17 | 西北工业大学 | Telescopic spherical robot |
| CN205281257U (en) * | 2015-12-22 | 2016-06-01 | 福州大学 | Intelligent ball anthropomorphic robot with fault -tolerant control |
| CN205661560U (en) * | 2016-06-06 | 2016-10-26 | 厦门市星云睿自动化科技有限公司 | Spherical spider robot based on singlechip |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106627007A (en) * | 2016-10-31 | 2017-05-10 | 苏州大学 | Amphibious spherical robot of changeable structure |
| CN109941368A (en) * | 2019-03-04 | 2019-06-28 | 尚亚丽 | Photography and vedio recording electrical walking device |
| CN109941368B (en) * | 2019-03-04 | 2021-09-03 | 尚亚丽 | Electric walking device for photography and video shooting |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20180116 Address after: Room 1888, No. 2 building D26 Xiangan District Hongxiang road Xiamen 361000 cities in Fujian Province Applicant after: Xiamen oyic robot Co., Ltd. Address before: Xiangan District Xiamen city Fujian province 361000 Hongxiang Road No. 1888 six floor No. 2 building room H Applicant before: Xiamen Xingyunrui Automation Technology Co., Ltd. |
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160831 |