CN108406799A - A kind of bionical Hexapod Robot - Google Patents
A kind of bionical Hexapod Robot Download PDFInfo
- Publication number
- CN108406799A CN108406799A CN201810218433.2A CN201810218433A CN108406799A CN 108406799 A CN108406799 A CN 108406799A CN 201810218433 A CN201810218433 A CN 201810218433A CN 108406799 A CN108406799 A CN 108406799A
- Authority
- CN
- China
- Prior art keywords
- battery
- rotating seat
- contact chip
- driving
- box base
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
- Battery Mounting, Suspending (AREA)
Abstract
The invention discloses a kind of bionical Hexapod Robots, including robot body and the battery case being arranged on robot body, the battery case is electrically connected with robot body, to power to robot body, the battery case includes box base and the contact chip in setting box base and the rotating seat for installing several batteries, the rotating seat is in the form of annular discs, and it is rotatably arranged on box base, and part is arranged in rotating seat, and a battery thereon and contact chip are inconsistent, the contact chip is electrically connected with robot body, to give robot body power supply by battery, the box base is equipped with to detect the electric quantity detection apparatus of battery capacity relative to the position of contact chip.The bionical Hexapod Robot of the present invention can effectively realize when dead battery that the new battery of automatic replacing so greatly increases the cruising ability of robot by the setting of rotating seat.
Description
Technical field
The present invention relates to a kind of robot, more particularly to a kind of bionical Hexapod Robot.
Background technology
Six Zu Chong worms robots have overall structure simple, and component is less, and motion process is complicated, the strong spy of programmability
Point, therefore it is chiefly used in the programming study in terms of children at present, it can be very good to promote children for the correlation in terms of programming software
Study, assisting child learns the programming in terms of robot in terms of practical operation.
However existing six Zu Chong worms robot is to reduce whole volume weight, therefore the power supply used in it is all adopted
It being powered with battery, primary structure is two battery cases of installation with robot, then again installs battery,
So realize an effect that walking work is powered to robot, however existing battery capacity is extremely limited, therefore
During using six Zu Chong worms robots, the problem of can not just being used it is easy to appear not enough power supply, greatly reduce
The cruising ability of six Zu Chong worms robots, especially during program debugging, if there is the case where out of power, that just can not
Continue to debug, debugging efficiency greatly reduces.
Invention content
In view of the deficiencies of the prior art, the present invention intends to provide a kind of bionical six strong sufficient machines of cruising ability
Device people.
To achieve the above object, the present invention provides following technical solutions：A kind of bionical Hexapod Robot, including robot
Ontology and the battery case being arranged on robot body, the battery case is electrically connected with robot body, to give robot body
Power supply, the battery case include box base and the contact chip in setting box base and the rotation for installing several batteries
Seat, the rotating seat is in the form of annular discs, and is rotatably arranged on box base, and part is arranged in rotating seat, and thereon
One battery and contact chip are inconsistent, and the contact chip is electrically connected with robot body, to give robot body by battery
Power supply, the box base are equipped with to detect the electric quantity detection apparatus of battery capacity, the electricity relative to the position of contact chip
Amount detecting device is electrically connected with contact chip, and the one side of the box base is equipped with the driving dress to drive rotating seat to rotate
It sets, the electric quantity detection apparatus is coupled with driving device, when electric quantity detection apparatus detects battery capacity deficiency, sends rotation
In signal to driving device, driving device drive rotating seat rotation, by another battery replacement to box base and and contact chip
It is in contact.
As a further improvement on the present invention, the driving device includes driving motor and is socketed in the shaft of driving motor
On driving gear, the fuselage of the driving motor is fixed on side of the box base relative to one end of rotating seat, the rotation
The circumferential edge of swivel base towards one end of driving motor is equipped with the rack that circumferentially side extends, and the driving wheel and rack is mutually nibbled
It closes, fuselage and the electric quantity detection apparatus of the driving motor couple, and are rotated to receive rotating signal.
As a further improvement on the present invention, several confessions for running through two end faces of rotating seat are offered on the rotating seat
The battery hole that battery is put into, several described battery holes are circumferentially distributed in rotating seat, and power supply is embedded in the battery hole
The battery case that pond penetrates, the battery case are made by rubber material.
As a further improvement on the present invention, the box base is equipped with elastomer block relative to the position of contact chip both sides,
The rotating seat offers quantity and position and the one-to-one locating slot of battery hole, institute on the end face relative to one end of rack
It states elastomer block to be embedded into locating slot, rotating seat is positioned.
As a further improvement on the present invention, the electric quantity detection apparatus includes：
Voltage sampling circuit is coupled to contact chip, for output voltage signal after the output voltage of sample contact piece；Driving
Circuit is coupled to voltage sampling circuit, is further coupled to driving motor, with the voltage signal of receiving voltage sample circuit, and exports
In rotating signal to driving motor, there is low pressure threshold in the driving circuit, when voltage signal is less than low pressure threshold, driving electricity
Road exports in rotating signal to driving motor, to drive driving motor to rotate.
As a further improvement on the present invention, the voltage sampling circuit includes resistance R and resistance R, and the one of the resistance R
End is coupled to contact chip, and one end of the other end and resistance R couples, and the resistance R is grounded relative to the other end of resistance R, described
Node between resistance R and resistance R is coupled to driving circuit, to output voltage signal in driving circuit.
As a further improvement on the present invention, the driving circuit includes：
The grid of PMOS tube Q, PMOS tube Q are coupled to voltage sampling circuit, and source electrode is coupled to contact chip, and drain electrode is coupled with
It is coupled to driving motor after inductance L.
Beneficial effects of the present invention can effectively realize that a kind of Hexapod Robot supplies by the setting of robot body
People learns and control can be effectively powered to robot body and by the setting of battery case, and by will be electric
Pond and it is arranged to box base and rotating seat, first by multiple battery storages to rotating seat, can then leads to during use
The setting of over-driving device and electric quantity detection apparatus, when just may be implemented in the battery capacity deficiency used, rotating seat rotation,
New battery is transferred to the mode that is in contact with contact chip in box base to realize the automatic replacing to new used batteries, how
During robot body use, would not occur that after debugging a period of time asking for debugging can not be continued caused by not enough power supply
The problem of inscribing, while also avoiding the interest reduction for needing to charge repeatedly during playing robot and leading to people well.
Description of the drawings
Fig. 1 is the overall structure figure of the bionical Hexapod Robot of the present invention；
Fig. 2 is the circuit diagram of electric quantity detection apparatus and driving device.
Specific implementation mode
The present invention is described in further detail below in conjunction with the embodiment given by attached drawing.
Shown in 2, a kind of bionical Hexapod Robot of the present embodiment, including robot body 1 and setting are in machine
Battery case 2 on device human body 1, the battery case 2 are electrically connected with robot body 1, described to give robot body 1 to power
Battery case 2 includes box base 21 and the contact chip 22 being arranged in box base 21 and the rotating seat for installing several batteries
23, the rotating seat 23 is in the form of annular discs, and is rotatably arranged on box base 21, and part is arranged in rotating seat 23, and
A battery and contact chip 22 thereon is inconsistent, and the contact chip 22 is electrically connected with robot body 1, to be given by battery
Robot body 1 is powered, and the box base 21 is equipped with to detect the electricity of battery capacity relative to the position of contact chip 22
Detection device 211, the electric quantity detection apparatus 211 are electrically connected with contact chip 22, and the one side of the box base 21, which is equipped with, to be used
With the driving device 212 for driving rotating seat 23 to rotate, the electric quantity detection apparatus 211 is coupled with driving device 212, when electricity is examined
It when survey device 211 detects battery capacity deficiency, sends in rotating signal to driving device 212, the driving rotation of driving device 212
Seat 23 rotates, and will be in contact in another battery replacement to box base 21 and with contact chip 22, is using the bionical of the present embodiment
During Hexapod Robot, the burned program first in robot body 1 so that robot body 1 can be dynamic according to program
Make, during robot body 1 acts, battery case 2 gives the power supply of robot body 1, and robot sheet is given in battery case 2
During body 1 is powered, it is to be drawn the battery capacity in rotating seat 23 by the contact chip 22 on box base 21, then inputs
Into robot body 1, and when current battery capacity deficiency, electric quantity detection apparatus 211 will detect this electricity
Amount is insufficient, will so export in a rotating signal to driving device 212, and driving device 212 will drive rotating seat 23 to revolve
Turn, the battery of the electricity abundance of other positions is transferred in box base 21, such contact chip 22 will draw electricity abundance
It is middle in such a way that only one battery case is powered compared with the prior art in this way in battery to robot body 1, this reality
The effective mode for realizing rotation power supply of battery case 2 of applying example considerably increases Hexapod Robot during use
Cruising ability is so avoided in the prior art well because continuation of the journey deficiency results in the need for often charging and making the interest of people
The problem of substantially reducing, while a large capacity can also be added between the contact chip 22 and robot body 1 of the present embodiment
Power storage element, such as inductance and electrolytic capacitor etc. so just may be implemented in and utilize electricity during battery rotary exchanges
The discharge process of energy memory element realizes during battery rotary exchanges, robot body 1 is in the effect of not off-position
Fruit, and then realize the slitless connection of 1 battery replacement of robot body, preferably facilitate tune of the people for Hexapod Robot
Examination.
As a kind of improved specific implementation mode, the driving device 212 includes driving motor 2121 and is socketed in drive
Driving gear 2122 in the shaft of dynamic motor 2121, the fuselage of the driving motor 2121 are fixed on box base 21 relative to rotation
On the side of one end of swivel base 23, the circumferential edge of the rotating seat 23 towards one end of driving motor 2121 is equipped with circumferentially side and prolongs
The rack 231 stretched, the driving gear 2122 are meshed with rack 231, the fuselage and electric power detection of the driving motor 2121
Device 211 couples, and is rotated to receive rotating signal, passes through the setting of driving motor 2121, it will be able to provide one well
A rotary power, and by the setting of rack 231 and driving gear 2122, it can realize and driving motor 2121 slows down
Effect, can to avoid because 2121 rotating speed of driving motor it is too fast caused by 23 rotate too fast of rotating seat make battery between can not be very
The problem of displacement got well, but also the rotary force of rotating seat 23 can be increased, it avoids because rotary force not enough leads to driving motor
2121 can not drive well rotating seat 23 rotate the problem of.
As a kind of improved specific implementation mode, several are offered on the rotating seat 23 and runs through rotating seat 23 two
The battery hole 233 of end face being put into for battery, several described battery holes 233 are circumferentially distributed in rotating seat 23, the electricity
The battery case 2311 penetrated for battery is embedded in pond hole 233, the battery case 2311 is made by rubber material, utilizes electricity
The setting in pond hole 233 and battery case 2311 can be realized effectively battery being installed to the effect rotated on rotating seat 23, simultaneously
Using battery hole 233 through setting, may be implemented after rotating seat 23 is by battery rotary to box base 21, contact chip 22
It can effectively touch, and battery case 2311 is made of rubber material, the frictional force between battery can be increased, so
An effect being firmly installed to battery in battery hole 233 is realized well.
As a kind of improved specific implementation mode, the box base 21 is equipped with relative to the position of 22 both sides of contact chip
Elastomer block 213, the rotating seat 23 offer quantity and position and battery hole 233 on the end face relative to one end of rack 231
One-to-one locating slot 232, the elastomer block 213 are embedded into locating slot 232, rotating seat 23 are positioned, pass through
The setting of elastomer block 213 and locating slot 232 can effectively be realized for the positioning action of rotating seat 23, be avoided in rotating seat
During 23 rotational displacements, rotating seat 23 rotate it is excessive caused by contact chip 22 can not well with the battery on rotating seat 23
The problem of being in contact so that can not be powered well to robot body 1, the wherein elastomer block 213 of the present embodiment are in hemisphere
Shape, so much the better convenience are embedded in or deviate from from locating slot 232 during rotating seat 23 rotates.
As a kind of improved specific implementation mode, the electric quantity detection apparatus 211 includes：
Voltage sampling circuit 2111 is coupled to contact chip 22, for output voltage after the output voltage of sample contact piece 22
Signal；
Driving circuit 2112 is coupled to voltage sampling circuit 2111, is further coupled to driving motor 2121, is adopted with receiving voltage
The voltage signal of sample circuit 2111, and export in rotating signal to driving motor 2121, there is low pressure in the driving circuit 2112
Threshold value, when voltage signal is less than low pressure threshold, driving circuit 2112 exports in rotating signal to driving motor 2121, with driving
Driving motor 2121 rotates, due to battery capacity number with the output voltage of battery have direct correlation, i.e., reduced when electricity
When, the output voltage of corresponding battery can also reduce, and the output voltage for detecting battery is so only needed to may know that battery
The number of electricity, therefore by the setting of voltage sampling circuit 2111, battery can be detected by way of detecting voltage
Electricity when just may be implemented in battery capacity deficiency, export a rotating signal and by the setting of driving circuit 2112
Into driving motor 2121, and then driving motor 2121 is allowed to rotate, rotating seat 23 is driven to rotate, so realizes a drive well
The effect of 23 rotational displacement battery of dynamic rotating seat.
As a kind of improved specific implementation mode, the voltage sampling circuit 2111 includes resistance R1 and resistance R2, institute
The one end for stating resistance R1 is coupled to contact chip 22, and one end of the other end and resistance R2 couples, and the resistance R2 is relative to resistance R1
The other end ground connection, the node between the resistance R1 and resistance R2 is coupled to driving circuit 2112, to output voltage signal to
In driving circuit 2112, by the partial pressure of resistance R1 and resistance R2, it can realize and be exported after being depressured cell output voltage, so
The effective sampling realized to voltage, at the same it is simple in structure, it is easy to implement.
As a kind of improved specific implementation mode, the driving circuit 2112 includes：
The grid of PMOS tube Q1, PMOS tube Q1 are coupled to voltage sampling circuit 2111, and source electrode is coupled to contact chip 22, leakage
Pole is coupled to driving motor 2121 after being coupled with inductance L, since PMOS tube Q1 itself can have certain drop-out voltage, that is, works as electricity
Pressure be more than drop-out voltage when, PMOS tube Q1 will disconnect, and less than drop-out voltage when, PMOS tube Q1 will be connected, such as
This can effectively utilize the Interruption performance of PMOS tube Q1 to realize the formulation of low pressure threshold, and pass through the setting of inductance L, Bian Keyou
The storing up electricity characteristic using inductance L of effect realizes that during 23 rotational displacement of rotating seat, driving motor 2121 can keep revolving
Turn until new battery is in contact with contact chip 22, while can just be no longer limited to six with self-contained power supply system, such battery case 2
The use of biped robot can also use on elsewhere, such as on the electronic toys such as remote-control car, further increase
The scope of application of battery case 2.
In conclusion the Hexapod Robot of the present embodiment, pass through rotating seat 23 on battery case 2 and box base 21 and electricity
The setting of amount detecting device 211 and driving device 212, when just may be implemented in battery capacity deficiency, the rotation of rotating seat 23 will
New battery replacement can so avoid the prior art well to the effect for the power supply that is in contact with contact chip 22 in box base 21
In because battery capacity deficiency caused by Hexapod Robot cruising ability difference problem.
The above is only a preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-mentioned implementation
Example, all technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art
Those of ordinary skill for, several improvements and modifications without departing from the principles of the present invention, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (7)
1. a kind of bionical Hexapod Robot includes the battery case (2) of robot body (1) and setting on robot body (1),
The battery case (2) is electrically connected with robot body (1), to give robot body (1) to power, it is characterised in that：The battery
Box (2) includes box base (21) and the contact chip (22) in setting box base (21) and the rotation for installing several batteries
Seat (23), the rotating seat (23) is in the form of annular discs, and is rotatably arranged on box base (21), and part is arranged in rotating seat
(23) battery and contact chip (22) in, and thereon are inconsistent, and the contact chip (22) is electrically connected with robot body (1)
It connects, to give robot body (1) power supply by battery, the box base (21) is equipped with relative to the position of contact chip (22)
To detect the electric quantity detection apparatus (211) of battery capacity, the electric quantity detection apparatus (211) is electrically connected with contact chip (22),
The one side of the box base (21) is equipped with the driving device (212) to drive rotating seat (23) to rotate, the electricity inspection
It surveys device (211) to couple with driving device (212), when electric quantity detection apparatus (211) detects battery capacity deficiency, sends rotation
In rotaring signal to driving device (212), driving device (212) drives rotating seat (23) to rotate, by another battery replacement to box
It is in contact in pedestal (21) and with contact chip (22).
2. bionical Hexapod Robot according to claim 1, it is characterised in that：The driving device (212) includes driving
Motor (2121) and the driving gear (2122) being socketed in the shaft of driving motor (2121), the driving motor (2121)
Fuselage is fixed on side of the box base (21) relative to one end of rotating seat (23), and the rotating seat (23) is towards driving motor
(2121) circumferential edge of one end is equipped with the rack (231) that circumferentially side extends, the driving gear (2122) and rack (231)
It is meshed, fuselage and the electric quantity detection apparatus (211) of the driving motor (2121) couple, and are revolved to receive rotating signal
Turn.
3. bionical Hexapod Robot according to claim 2, it is characterised in that：It is offered on the rotating seat (23) several
A battery hole (233) being put into for battery through (23) two end faces of rotating seat, several described battery holes (233) are rotating
It is circumferentially distributed in seat (23), the battery case (2311) penetrated for battery, the battery case is embedded in the battery hole (233)
(2311) it is made by rubber material.
4. bionical Hexapod Robot according to claim 2 or 3, it is characterised in that：The box base (21) is relative to connecing
The position of contact (22) both sides is equipped with elastomer block (213), the end face of the one end of the rotating seat (23) relative to rack (231)
On offer quantity and position and the one-to-one locating slot (232) of battery hole (233), the elastomer block (213) is embedded into fixed
In position slot (232), rotating seat (23) is positioned.
5. bionical Hexapod Robot according to claim 2 or 3, it is characterised in that：Electric quantity detection apparatus (211) packet
It includes：
Voltage sampling circuit (2111) is coupled to contact chip (22), for exporting electricity after the output voltage of sample contact piece (22)
Press signal；
Driving circuit (2112) is coupled to voltage sampling circuit (2111), driving motor (2121) is further coupled to, with receiving voltage
The voltage signal of sample circuit (2111), and export in rotating signal to driving motor (2121), in the driving circuit (2112)
With low pressure threshold, when voltage signal is less than low pressure threshold, driving circuit (2112) exports rotating signal to driving motor
(2121) in, to drive driving motor (2121) to rotate.
6. bionical Hexapod Robot according to claim 5, it is characterised in that：The voltage sampling circuit (2111) includes
One end of resistance R1 and resistance R2, the resistance R1 are coupled to contact chip (22), and one end of the other end and resistance R2 couples, described
Resistance R2 is grounded relative to the other end of resistance R1, and the node between the resistance R1 and resistance R2 is coupled to driving circuit
(2112), to output voltage signal in driving circuit (2112).
7. bionical Hexapod Robot according to claim 5, it is characterised in that：The driving circuit (2112) includes：
The grid of PMOS tube Q1, PMOS tube Q1 are coupled to voltage sampling circuit (2111), and source electrode is coupled to contact chip (22), leakage
Pole is coupled to driving motor (2121) after being coupled with inductance L.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810218433.2A CN108406799A (en) | 2018-03-18 | 2018-03-18 | A kind of bionical Hexapod Robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810218433.2A CN108406799A (en) | 2018-03-18 | 2018-03-18 | A kind of bionical Hexapod Robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108406799A true CN108406799A (en) | 2018-08-17 |
Family
ID=63131772
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810218433.2A Pending CN108406799A (en) | 2018-03-18 | 2018-03-18 | A kind of bionical Hexapod Robot |
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| Country | Link |
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| CN106080830A (en) * | 2016-07-08 | 2016-11-09 | 苏州米众三维科技有限公司 | The Hexapod Robot printed based on 3D |
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2018
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| CN201636585U (en) * | 2010-01-12 | 2010-11-17 | 深圳市普耐光电科技有限公司 | Led lamp |
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| WO2016071579A1 (en) * | 2014-11-04 | 2016-05-12 | France Reducteurs | Automatically moving wheeled vehicle without a driver seated or walking behind the vehicle, also called a robot |
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Application publication date: 20180817 |