CN106005081A - Mobile robot for supporting smart device - Google Patents
Mobile robot for supporting smart device Download PDFInfo
- Publication number
- CN106005081A CN106005081A CN201610521888.2A CN201610521888A CN106005081A CN 106005081 A CN106005081 A CN 106005081A CN 201610521888 A CN201610521888 A CN 201610521888A CN 106005081 A CN106005081 A CN 106005081A
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- CN
- China
- Prior art keywords
- smart machine
- mobile robot
- arc
- mobile phone
- flexible support
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04M—TELEPHONIC COMMUNICATION
- H04M1/00—Substation equipment, e.g. for use by subscribers
- H04M1/02—Constructional features of telephone sets
- H04M1/11—Supports for sets, e.g. incorporating armrests
Abstract
The invention provides a mobile robot for supporting a smart device. The mobile robot comprises a machine body with a mounting position of the smart device and a movement mechanism. The mobile robot is characterized in that the movement mechanism comprises four arc-shaped supporting legs and a rotating power source, wherein the four arc-shaped supporting legs are divided into two groups and are symmetrically distributed at two sides of the machine body; an arc-shaped convex surface of each arc-shaped supporting leg faces downwards to serve as a supporting surface; main bodies of the arc-shaped supporting legs are made of flexible materials; one end, away from the corresponding supporting surface, of each arc-shaped supporting leg, is connected with the machine body by a rotating shaft; rotating surfaces of the two arc-shaped supporting legs at the same side are mutually parallel; the rotating power source is arranged on the machine body and is used for driving the four arc-shaped supporting legs to rotate around the rotating shafts; the four arc-shaped supporting legs jointly rotate to drive the machine body to move. The supporting legs of the mobile robot disclosed by the invention adopt arc-shaped structures, and are made of soft materials, so that the robot has good mobility on the rough road surface or a soft plane, and wear of the smart device and the vibration borne in the movement are effectively reduced.
Description
Technical field
The present invention relates to the traversing carriage of smart machine, particularly to a kind of movement supporting smart machine
Robot.
Background technology
Smart machine particularly smart mobile phone and panel computer are more and more universal, thereupon
, the combination of smart machine (such as mobile phone) and robotics is a new technique and is also one
New development field.But existing mobile phone robot fails the most market-oriented, goes further to people
Current consumption, therefore, it is difficult to apply in daily life.
The patent documentation of such as application publication number CN 104633416 A discloses a kind of multivariant
Removable handset mounting, belongs to electronic equipment accessory field.Which overcome and prior art lacks one
The defect of the handset mounting that can use under individual various environment.Its technical scheme is characterized by: permissible
Held electronic equipment is made to have multiple degrees of freedom, to adapt to the different visual angles of user, and subsidiary photograph
Bright function.This support includes compressible desk lamp and fixed support two parts.Compressible desk lamp is with fixing
Connected by a rod member between support.The base of described compressible desk lamp is equipped with universal wheel, thus increases
Add the mobility of described support.Because the compressible structure of desk lamp, decrease above-mentioned handset mounting
Collection space, it is simple to carry, its vertical height can be regulated simultaneously.After above-mentioned handset mounting
Universal joint is installed, can be used for regulating handset mounting angle, to adapt to different visual angles.
The patent documentation of the most such as Authorization Notice No. CN 205249301 U discloses a kind of walking
Box of mobile telephone.It includes base, support bar, receiving box, indicator.Base and receiving box are by supporting
Bar is connected, and accommodates in box and is provided with USB interface, is positioned over, for giving, the mobile phone charging accommodated in box,
Base is provided with panel, running gear, contactless collision prevention device, positioner, dropproof
Device, electric supply installation.Panel is for exporting the control signal needed for box of mobile telephone walking, running gear
Driving box of mobile telephone to walk according to control signal, contactless collision prevention device controls the box of mobile telephone in walking
Avoiding obstacles, fall-proofing device prevents from falling in box of mobile telephone walking, and positioner guides box of mobile telephone row
Walk to indicator location.Above-mentioned utility model achieves places mobile phone easily before sleeping, give easily
Mobile phone charges, it is ensured that mobile phone can be made from physical space away from sleep again while mobile phone proper communication
In human body, it is to avoid the cellular radiation damage to human body, reached convenience and the healthy purpose got both.
But existing mobile phone robot there is also following shortcoming: 1, current mobile phone robot is only
Vertical mobile phone robot is individual, relates generally to amusement and toy art, and structure is complicated, relatively costly,
Cause market value the highest.And most product stream opens in the theory Design and Features of innovation aspect
Send out, not yet become popular main flow consumer products；2, current mobile phone robot volume is relatively big,
It is about 3～8 times of the volume of mobile phone own, causes use inconvenience, and weight is bigger, it is difficult to carry and push away
Extensively；3, current mobile phone robot uses the power supply units such as independent battery, causes the waste in space
It is greatly increased with robot weight, and needs to regularly replace battery, bring inconvenience and the pollution of environment；
4, current mobile phone robot technology uses hard material as its entire infrastructure material, and sense organ is comfortable
Spending poor, and do not possess shock resistance, mobile phone is easily reduced its life-span etc. by long-term vibrations；5、
Current mobile phone robot mainly uses wheeled construction, is only limitted on the hard plane face of flat-satin
Motion, however in life user touch often as bed surface, carpet surface etc. have the gradient and obstacle
Softness, complex plane, common wheeled construction is difficult to move above, and does not possess leap
The abilities such as obstacle.
Summary of the invention
The invention provides a kind of mobile robot supporting smart machine, easy to use, the scope of application
Extensively, and there is good buffering effect, effectively alleviate in the abrasion of smart machine and motion and be subject to
Vibration.
A kind of mobile robot supporting smart machine, including the fuselage with smart machine installation site
And motion, described motion includes:
Four curved support lower limbs, are divided into two groups, are symmetrically distributed in fuselage both sides, each curved support lower limb
Arc convex face down as supporting surface, the main body of described curved support lower limb uses flexible material, institute
State curved support lower limb one end away from supporting surface to be connected with fuselage by rotating shaft, two arcs of the same side
The plane of rotation of supporting leg is parallel to each other；
Rotational power source, is arranged on fuselage four curved support lower limbs of driving and rotates around the axis, four arcs
Shape supporting leg common rotation drives fuselage motion.
One end of curved support lower limb rotates and forms the wheeled executor of tulwar shape, is mainly used in driven machine people
Planar move freely, due to its tulwar columnar structure so that it is have and compare with typical circular wheel
The ability of more powerful leaping over obstacles, with realize smart machine (such as mobile phone) in complex environment (as
In disorder desktop etc.) free motion, strengthen product practical value.
Owing to curved support lower limb is by flexible material, i.e. soft material (such as silica gel) is made, flexible
Material is exactly can be with the material of crimp, if robot meets with the barrier being difficult to cross in motor process
When hindering, flexible support lower limb can be deformed, and to break the barriers from slit, has good adaptive
Ying Xing, and keep rotational power source (such as motor) to be in rotary state, prevent because of overload or stifled
Turn and burn out motor.
For the ease of using robot, it is preferred that curved support lower limb includes:
Flexible support bar, inside is provided with the wire rope handling passage extending to two ends along its length；
Stay cord, through described wire rope handling passage；
Fixing end cap, is fixedly mounted on one end of described flexible support bar, for fixing connection stay cord
One end；
Take-up module, is fixedly mounted on the other end of described flexible support bar, another for folding and unfolding stay cord
One end is so that flexible support rod bending or stretch.
Workflow is as follows: time initial, and take-up module is loosened stay cord, is in zero position, i.e. flexible
Strut is not deformed, and is in the state stretched, to save space.When needs work, by receiving
Wire module tightens up stay cord to plastic deformation sheet and is in suitable radian, then drives flexibility by motor
Strut rotates, to realize the function of its plane motion.
Further, for different working environments, the radian that flexible support bar is different can be set so that it is
There is different obstacle climbing abilities and degree of jolting, to adapt to corresponding working condition.
Use for convenience, it is preferred that described take-up module includes:
Winding box, is fixed on one end of described flexible support bar；
Roll, is rotatably installed in winding box, and winding box is stretched out in one end, one end volume of described stay cord
It is wound on roll；
Handle, is fixed on the one end stretching out winding box on described roll.
Lock roll for convenience, it is further preferred that described roll can move axially, institute
State winding box and be provided with the locating slot matched with handle shape.Roll is mobile after completing take-up makes hands
Handle snaps in locating slot and completes locking.
During use, draw-out handle, the some circles of turn roll are in suitable radian to flexible support bar
After, handle is pushed locating slot, to pin current state.
In order to make flexible support bar always bend towards same direction, it is preferred that in each flexible support bar
It is provided with at least two wire rope handling passages be arrangeding in parallel, the wire rope handling passage place in same flexible support bar
Plane is substantially parallel with the arcwall face of described flexible support rod bending.
In order to alleviate weight, reduce vibration, it is preferred that described fuselage includes:
Main body mounting box, is made up of silica gel, and inner chamber is divided into upper and lower two-layer by dividing plate, and lower floor is used for pacifying
Dress rotational power source and component, upper strata is used for placing smart machine.
The function of robot motion can be controlled in order to realize carrying out operation on smart machine interface, excellent
Choosing, also include that the infrared transmitter with smart device communication, infrared remote receiver and control rotate dynamic
The controller of power source work, described infrared transmitter launches infrared signal, infrared receiver to smart machine
Device is directly powered by controller, and in the incoming controller of signal that smart machine is sent.
In order to reduce weight and the parts of robot itself, it is preferred that set in described main body mounting box
There is the supply socket matched with smart machine power supply port being described mobile machine by smart machine
People powers.
Beneficial effects of the present invention:
The supporting leg of the mobile robot of the present invention uses the structure of arc, and material is soft, makes
Obtain the robot plane on the most rugged road surface or softness and there is good locomotivity, and effectively subtract
Vibrations received in the abrasion of light smart machine and motion.
Accompanying drawing explanation
Fig. 1 is the perspective view of the robot of the present invention.
Fig. 2 is the plan structure schematic diagram of the robot of the present invention.
Fig. 3 is the main TV structure schematic diagram of the robot of the present invention.
Fig. 4 is the detonation configuration schematic diagram of the robot of the present invention.
Fig. 5 is the detonation configuration schematic diagram of the curved support lower limb of the present invention.
Fig. 6 is the structure for amplifying schematic diagram of the take-up module of the present invention.
Fig. 7 is the perspective view pouring mould of the flexible support bar of the present invention.
Fig. 8 is the internal circuit diagram of the robot of the present invention.
Fig. 9 is the workflow line frame graph of the robot of the present invention.
Detailed description of the invention
As shown in figs. 1 to 6, the mobile robot of the present embodiment includes fuselage and be fixed on fuselage four
Individual curved support lower limb 16, in the present embodiment, smart machine is as a example by mobile phone.
Each curved support lower limb 16 include arc, the most acinaciform flexible support bar 1, wire rope handling passage 2,
Line driving high intensity stay cord 3, the fixing fixing end cap 4 of fine rule, take-up module 5, micromachine 6,
Hard and the shaft coupling 7 of soft material.
The making of curved support lower limb 16, assembling process: make and pour mould, as it is shown in fig. 7, pour
After mould is divided into mould left baffle 18, mould front and rear baffle 19, die bottom plate 20 → before a mold
Three road flexible pipes are inserted as wire rope handling passage 2 in baffle plate position of boxing out, and carry out pretension and two ends knotting is fixing
→ insert hard soft material shaft coupling 7 → according to silica gel: the proportioning preparation of silica gel solid agent=50:1 is certain
The silica gel of the hardness → silica gel of configuration is sufficiently stirred for and pours in mould → puts into calorstat solidification 12
Hour → pull down and pour mould, retain mould front and rear baffle 19 → cutting flexible pipe and make its two ends retain length
Concordant with mould front and rear baffle → line driving high intensity stay cord 3 is inserted in three road flexible pipes respectively, one
End is fixed by fixing end cap 4, and other end fine rule end is fixed in take-up module 5 →
Rotate and 21 flexible support bar 1 is tightened to a suitable shape → tighten up 21 as tightening up of handle
Insert in locating slot fixing tightening up 21 → curved support lower limb 16 is fixed on micro-by shaft coupling 7
On type motor 6, and then it is fixed to the fuselage of robot up.
Workflow: time initial, take-up module 5 is put in zero position, i.e. flexible support bar 1 does not produces
Change shape, is in the state stretched, to save space.When needs work, 21 will be tightened up and draw
Go out locating slot, after the some circles of turn are in suitable radian to flexible support bar 1,21 will be tightened up
Push locating slot, to pin current state.At this moment, can start to control it with mobile phone to rotate, with reality
The function of its plane motion existing.Further, for different working environments, flexible support bar can be set
1 different radian so that it is there is different obstacle climbing abilities and degree of jolting, to adapt to work accordingly
Condition.
Structure function: curved support lower limb 16 is mainly used in driven machine people and planar moves freely,
Due to the tulwar columnar structure that it is special so that it is have and compare more powerful leaping over obstacles with typical circular wheel
Ability, to realize mobile phone free motion of (desktop etc. as in disorder) in complex environment, strengthen
The practical value of product.Further, owing to this executor is made by soft material, robot is in motion
When during, if experience is difficult to the obstacle crossed over, flexible support bar 1 can be deformed, with from slit
Break the barriers, there is powerful adaptivity, and keep motor to be in rotary state, prevent because of
Overload or stall burn out motor.
Take-up module 5 include as handle tighten up 21, winding box 22, front shroud 23, winding box
22 by four surface covers (having the Road narrows making fine rule pass through on bottom plate) and the rectangle of winding box 22 back plate
Locating slot forms, and tightens up 22 by coiling cylinder, swivel head and the rectangle buckle tightening up 22 end
Composition.When needing the radian adjusting flexible support bar, open front shroud 23, will tighten up 22 from
Pulling out in winding box 22 back plate locating slot, buckle separates with locating slot, after rotating some circles, makes soft
Property support bar 1 reaches the radian of target, will tighten up 22 and be pressed in locating slot, current to lock
Flexible support bar 1 radian, then cover front shroud.
Fuselage includes main body mounting box 8 and the hard dividing plate 17 that soft material makes, and mobile phone 9 is arranged on master
The upper strata of body mounting box 8.
Main body mounting box 8 is poured made in a mold by silica gel (silica gel: silica gel solid agent=50:2),
Micromachine, circuit etc. be fixed on its lower floor, and wherein, it is right that four micromachines 6 are overlapped by motor
Claiming to be fixed on lower floor, circuit is fixed on bottom surface central authorities, and the power supply lead-out wire 12 of the mobile phone of extraction passes through
It is outside that the circular port of bottom rear draws main body mounting box 8, the infrared remote receiver 11 being connected with controller
Main body mounting box 8 is drawn outside, before being fixed on infrared transmitter 10 by the rectangular opening of base plate leading portion
Position, portion.By on hard cover plate lid, it is fixed in the locating slot of main body, hard dividing plate 17 is put
Putting mobile phone, owing to the inside dimension of main body mounting box 8 and the outside dimension of mobile phone are identical, mobile phone is just fixed
In shell.
Infrared remote control receiver module includes by the channel attached infrared transmitter of handset earphone 10 and controls
The infrared remote receiver 11 that device connects, the infrared transmitter earphone channel emission infrared signal by mobile phone,
Infrared remote receiver is directly powered by arduino nano controller, and the signal sent by mobile phone is incoming
In arduino controller.Thus realize on mobile phone interface, carry out operation and can control robot motion
Function.
As shown in Figure 8, the circuit structure in the present embodiment is as follows:
Mobile phone supply module: include that mobile phone is powered lead-out wire 12 and increasing apparatus 13, mobile phone is powered and draws
GND and VCC in outlet is divided into two-way, and a road is connected into IN and IN+ of bottom circuit, logical
Cross 5V voltage transformation that mobile phone drawn by boost module 13 to 9V, and power to arduino, another
Road drives module L9110 to power without transformation directly to two DC micromotor.
Other internal circuit blocks: include arduino nano controller 14 and motor drive ic
(L9110) 15, as it has been described above, by 4 road pwm I/O passages of arduino nano controller even
Go out, be connected into two panels L9110 respectively and drive IN1, IN3 and IN2 of module, IN4, wherein, same
Two motors on horizontal line share two path control signal.It addition, by a road pwm of arduino nano
I/O passage is connected into the signal port of infrared remote receiver, and GND and 3.3V is connected into infrared receiver respectively
The earth terminal of device and feeder ear.
Operation principle and flow process:
As it is shown in figure 9, mobile phone robot conventional func flow process is as follows:
<1>working environment regulation robot according to demand tighten up 22, rotate flexible support bar 1
End tighten up 22, adjust the radian of flexible support bar 1, to adapt to different working environments.
With flexible support bar 1 length 10cm, tighten up column diameter 5mm, tighten up 22 when screwing 0 circle
As a example by flexible support bar 1 is without deformation:
When moving in the accessible plane of hard slippery (such as clean desktop, ground): screw and tighten up head
2210～12 circles；
When moving in soft smooth accessible plane (such as clean bed surface, sofa face): screw receipts
Tight 228～12 circles；
When moving little obstacle plane (if any the desktop of the foreign material such as books): screw and tighten up 226～8
Circle；
When moving in many obstacles plane (as obstacle height exceedes 2 times of mobile phone thickness): screw
Tighten up 223～8 circle；
<2>mobile phone is put in robot shell, owing to the inside dimension of shell and the outside dimension of mobile phone are identical,
Mobile phone is just fixed in shell.
<3>the power supply lead-out wire of mobile phone robot is received at the power hole of mobile phone, power for robot.
Open remote control spirit APP in mobile phone, opening remote control interface.
<4>in mobile phone graphical operation interface, guidance command is inputted.
<5>guidance command includes that " advance " " retrogressing " " left-hand rotation " " right-hand rotation " " increase translational speed " " reduces and move
Dynamic speed " " stop or brake " seven kinds, respectively by seven buttons instructions in graphical operation interface.
<6>according to the order of input, the infrared transmitter that mobile phone connects sends corresponding infrared signal.
<7>infrared remote receiver being connected with controller receives signal, and by incoming for signal controller,
Controlling four road micromachine actions, controller control signal corresponding to action is as follows:
When order " is advanced " in " retrogressing " " left-hand rotation " " right-hand rotation " " stop or braking " five kinds for directivity order
Certain time, single-chip microcomputer controls No. four motors move by changing the low and high level of D0～D3 mouth,
Corresponding control signal is as shown in the table:
When order makes " increase translational speed " " reduction translational speed " for speed governing life, by changing four
The dutycycle of road signal changes motor speed, and pwm pulse-width signal dutycycle x is at arduino
Single-chip microcomputer represents by the numeral of 0～255, defines initial value x0=200；" increase when receiving order and move
Dynamic speed " time, x=x+1, it is judged that if x > 255, then x=255；" mobile speed is reduced when receiving order
Degree " time, x=x-1, it is judged that if x < 0, then x=0.In the case of other, x keeps.
Robot expanding function:
(1) function is automatically recovered
This kind of product has recovers function automatically, and when lost mobile phone, user uses another to have nothing
The mobile phone of line positioning function carries out mobile phone and recalls, and to losing mobile phone sending signal, loses in mobile phone built-in
Wireless location system enable, it is judged that impact point and the direction of current location and distance, carry out motion rule
Drawing, the mobile phone controlling to lose moves at target mobile phones.It is applicable to short-range mobile phone and recovers function.
(2) long-range remote control function
The mobile phone remote target mobile phones robot that there is infrared emission function with another, can control its
Move to the position of correspondence in the range of certain distance, or make respective action, be mainly used in remotely taking
Thing, entertainment teaching etc..
(3) other amusement functions
By the binding with cell-phone function, it is achieved the Hardware of mobile phone interface, exploitation is based on mobile phone machine
The novel chat of people " express one's feelings " i.e. " expression " function be not limited only to mobile phone interface a pattern or
Animation, also comprises the motion of mobile phone robot, such as " front and back walking ", " yaw ", " standing " etc..
The mobile robot of the present embodiment solves problems with of the prior art:
1, use soft material structure, alleviate vibrations and weight etc..
Use the silica gel primary structure as robot of rational proportion, due to the buffer capacity of soft material
Power, has preferable protected effect, alleviate mobile phone abrasion and motion in vibrations received, prolongation makes
Use the life-span.And owing to silica gel material density is less, this kind of product can alleviate its weight significantly, it is simple to
Carry and use.
Use novel motion based on soft material, there is preferable complicated ground motor capacity,
And there are soft material distinctive mechanical protection ability and adaptivity etc..
2, tulwar shape deformation ratcheting mechanism (arc support rod) using silica gel to make, has preferably
Obstacle crossing ability (such as obstacle detouring and soft bed surface locomotor activity etc.), and make it by the use of soft material
There is overload protection ability and powerful adaptivity.
3, use mobile phone to power, alleviate volume and weight, reduce the trouble changing battery.
Cellular phone power supplies is drawn through the control respectively to robot interior of two transforming circuits by this kind of product
Device processed and micromachine are powered and drive, it is not necessary to re-use single lithium battery, save internal empty
Between, alleviate weight, beneficially the miniaturization of mobile phone robot, it is simple to carry and use.Without carry out
The replacing of mobile phone robot battery, reduces the trouble of mounting or dismounting circuit.
4, communicated by mobile phone infrared module and robot interior controller, use mobile phone remote
The direct teleoperator of APP moves, and reduces Operating Complexity, and can realize separate type remote control.
This kind of product connects infrared transmitter by handset earphone passage, and it is red that robot controller connects
Outer receptor receives infrared-ray, thus realizes the direct remote control of mobile phone interface, it is not necessary to use remote controller
Deng, reduce the complexity of operation.And the separate type short range remote of mobile phone-robot can be realized.
5, by micromachine and the use of circuit, it is achieved the miniaturization of mobile phone robot.
The design by microcircuit of this kind of product, and select micromachine to drive, save inner space
And weight, it is simple to the carrying and using of mobile phone robot.
6, flexibly direct writing device is driven to deform by multi-route, by changing the shape of executor with suitable
Answer different working environments.
The flexible bending knife-like deformation wheel being driven mobile phone robot by line is deformed, different to adapt to
Working environment, simultaneously by the change of shape, saves taking up room of executor, it is achieved mobile phone machine
The miniaturization of people.
Claims (7)
1. support a mobile robot for smart machine, including with smart machine installation site
Fuselage and motion, it is characterised in that described motion includes:
Four curved support lower limbs, are divided into two groups, are symmetrically distributed in fuselage both sides, each curved support lower limb
Arc convex face down as supporting surface, the main body of described curved support lower limb uses flexible material, institute
State curved support lower limb one end away from supporting surface to be connected with fuselage by rotating shaft, two arcs of the same side
The plane of rotation of supporting leg is parallel to each other；
Rotational power source, is arranged on fuselage four curved support lower limbs of driving and rotates around the axis, four arcs
Shape supporting leg common rotation drives fuselage motion.
2. the mobile robot supporting smart machine as claimed in claim 1, it is characterised in that
Curved support lower limb includes:
Flexible support bar, inside is provided with the wire rope handling passage extending to two ends along its length；
Stay cord, through described wire rope handling passage；
Fixing end cap, is fixedly mounted on one end of described flexible support bar, for fixing connection stay cord
One end；
Take-up module, is fixedly mounted on the other end of described flexible support bar, another for folding and unfolding stay cord
One end is so that flexible support rod bending or stretch.
3. the mobile robot supporting smart machine as claimed in claim 2, it is characterised in that
Described take-up module includes:
Winding box, is fixed on one end of described flexible support bar；
Roll, is rotatably installed in winding box, and winding box is stretched out in one end, one end volume of described stay cord
It is wound on roll；
Handle, is fixed on the one end stretching out winding box on described roll.
4. the mobile robot supporting smart machine as claimed in claim 2, it is characterised in that
At least two wire rope handling passages be arrangeding in parallel it are provided with, in same flexible support bar in each flexible support bar
The plane at wire rope handling passage place substantially parallel with the arcwall face of described flexible support rod bending.
5. the mobile robot supporting smart machine as claimed in claim 1, it is characterised in that
Described fuselage includes:
Main body mounting box, is made up of silica gel, and inner chamber is divided into upper and lower two-layer by dividing plate, and lower floor is used for pacifying
Dress rotational power source and component, upper strata is used for placing smart machine.
6. the mobile robot supporting smart machine as claimed in claim 1, it is characterised in that
Also include the infrared transmitter with smart device communication, infrared remote receiver and control rotational power source work
The controller made, described infrared transmitter launches infrared signal to smart machine, and infrared remote receiver is by controlling
Device processed is directly powered, and in the incoming controller of signal that smart machine is sent.
7. the mobile robot supporting smart machine as claimed in claim 1, it is characterised in that
The supply socket matched with smart machine power supply port it is provided with by intelligence in described main body mounting box
Equipment is that described mobile robot powers.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106864618A (en) * | 2017-04-07 | 2017-06-20 | 重庆大学 | Wheel leg type walking mechanism |
| CN106864618B (en) * | 2017-04-07 | 2019-07-26 | 重庆大学 | Wheel leg type walking mechanism |
| CN109278886A (en) * | 2018-09-30 | 2019-01-29 | 北京航空航天大学 | A kind of four-part form omnidirectional, which creeps, rolls quadruped robot |
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| CN106005081B (en) | 2019-03-05 |
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