CN113290538A - Special servo chip of robot - Google Patents
Special servo chip of robot Download PDFInfo
- Publication number
- CN113290538A CN113290538A CN202110625544.7A CN202110625544A CN113290538A CN 113290538 A CN113290538 A CN 113290538A CN 202110625544 A CN202110625544 A CN 202110625544A CN 113290538 A CN113290538 A CN 113290538A
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- Prior art keywords
- robot
- driving
- wheels
- fixedly arranged
- chip
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- 230000000694 effects Effects 0.000 abstract description 10
- 230000004888 barrier function Effects 0.000 abstract description 7
- 238000012544 monitoring process Methods 0.000 abstract description 4
- 230000009194 climbing Effects 0.000 description 5
- 241000282414 Homo sapiens Species 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
Abstract
The invention relates to the technical field of robots, in particular to a special servo chip for a robot, which comprises a rotating belt, wherein a driving assembly is arranged in the rotating belt, driving wheels are arranged on two sides of the driving assembly, a bearing is fixedly arranged at the center of the outer surface of each driving wheel, an electric expansion plate is fixedly arranged on the surface of the outer ring of each bearing, an auxiliary wheel is fixedly arranged at one end, away from the driving wheels, of each electric expansion plate, a crawler belt is fixedly sleeved on the outer surfaces of the auxiliary wheels and the driving wheels, two rotating belts are arranged, and expansion plates are arranged at the centers of the two rotating belts; has the advantages that: through infrared ray sensor's effect, make the monitoring to external environment, send the result of monitoring to the built-in chip of robot afterwards, the built-in chip of robot sends signal to drive assembly afterwards, if bump the barrier, when the height of barrier is greater than electric telescopic handle's height, then can plan the route again.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a servo chip special for a robot.
Background
A robot is an intelligent machine that can work semi-autonomously or fully autonomously. Historically, the earliest robots were found in puppet robots built by the inventor of Liu 25219on the basis of the image of the inventor, which have the capabilities of sitting, standing, worship, lying and the like.
The robot has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the work efficiency and quality, serves human life, and expands or extends the activity and capability range of the human beings.
When the robot passes through the complex ground, the road condition analysis needs to be carried out on the ground, and a general robot can bypass the barrier after the analysis is finished, so that the movement distance of the whole robot is greatly increased, and the time is wasted.
Disclosure of Invention
The present invention is directed to a servo chip dedicated for a robot, so as to solve the problems mentioned in the background art.
In order to achieve the purpose, the invention provides the following technical scheme:
a servo chip special for a robot comprises a rotating belt, wherein a driving assembly is arranged in the rotating belt, driving wheels are arranged on two sides of the driving assembly, bearings are fixedly arranged at the centers of the outer surfaces of the driving wheels, electric expansion plates are fixedly arranged on the surfaces of the outer rings of the bearings, auxiliary wheels are fixedly arranged at one ends, far away from the driving wheels, of the electric expansion plates, tracks are fixedly sleeved on the outer surfaces of the auxiliary wheels and the driving wheels, two rotating belts are arranged, the centers of the two rotating belts are provided with the expansion plates, the centers of the upper surfaces of the expansion plates are fixedly provided with electric expansion rods, the upper ends of the electric expansion rods are fixedly provided with infrared sensors, high-definition cameras are fixedly arranged at the centers of four side surfaces of the expansion plates, and the high-definition cameras and the infrared sensors are connected with signals of a built-in chip of the robot, and the built-in chip of the robot is in signal connection with the driving assembly.
Through the technical scheme, when the robot is used, the external environment is monitored through the action of the infrared sensor, the monitoring result is sent to the built-in chip of the robot, then the built-in chip of the robot sends a signal to the driving assembly, if the robot touches an obstacle, when the height of the obstacle is greater than that of the electric telescopic rod, a route can be re-planned, when the height of the obstacle is lower than that of the electric telescopic rod, the electric telescopic rod is controlled to shorten, the driving wheel is close to the auxiliary wheel, because the crawler is an elastic crawler, when the driving wheel is close to the auxiliary wheel, the crawler can be attached to the surfaces of the driving wheel and the auxiliary wheel all the time, then the auxiliary wheel can climb to the surface after touching the obstacle, then the electric telescopic plate is extended, the auxiliary wheel is conveyed to the upper surface of the obstacle, and then the driving wheel depends on the driving assembly and the dragging when the electric telescopic plate shortens, the climbing robot can climb to the upper surface of the barrier, so that climbing work can be completed, and all shot pictures can be transmitted under the action of the high-definition camera.
Preferably, a plurality of moving wheels are movably arranged on the outer surface of the driving component, and the rotating belt is connected with the driving component through the moving wheels.
Through above-mentioned technical scheme, when drive assembly passes through the connecting rod and drives the action wheel and rotate, rotate the belt and then can move at drive assembly's surface because of the effect of inertial reason through removing the wheel, can drive whole robot like this and remove.
Preferably, the two ends of the side surface of the driving component are provided with connecting rods, the outer ends of the connecting rods are connected with the driving wheels, a backing plate is fixedly arranged at the joint of the connecting rods and the driving component, and the driving component is connected with the connecting rods through a coupler.
Through above-mentioned technical scheme, through drive assembly's effect, drive whole connecting rod and rotate, when the connecting rod rotated, can drive the drive wheel and rotate.
Preferably, the surface of track is provided with integrated into one piece's anti-skidding line, anti-skidding line combines together for the unsmooth strip, the fixed guard plate that is provided with of annular side surface that the track is constituteed.
Through above-mentioned technical scheme, through the effect of anti-skidding line, when removing, can prevent that the condition of skidding from appearing in drive wheel and auxiliary wheel, and through the effect of guard plate, prevent to cause the injury to drive wheel and auxiliary wheel.
Preferably, a fixed column is fixedly arranged at the center of the auxiliary wheel, and the electric expansion plate is connected with the auxiliary wheel through a bearing.
Preferably, the surface of the two sides of the expansion plate is fixedly provided with a track, an electric wheel is embedded in the track, and the electric wheel is movably arranged on the upper surface of the driving assembly.
Through above-mentioned technical scheme, move about in orbital inside through electronic round, can drive the expansion plate and reciprocate, ensure that infrared ray sensor and high definition digtal camera can be clear shoot external environment, plan the walking route of robot.
Preferably, the diameter of the transmission wheel is larger than that of the auxiliary wheel.
Compared with the prior art, the invention has the beneficial effects that:
1. the special servo chip for the robot monitors the external environment through the action of the infrared sensor, then the monitoring result is sent to the built-in chip of the robot, then the built-in chip of the robot sends a signal to the driving assembly, if the robot touches an obstacle, when the height of the obstacle is greater than that of the electric telescopic rod, a route can be re-planned, when the height of the obstacle is lower than that of the electric telescopic rod, the electric telescopic rod is controlled to shorten, the driving wheel is close to the auxiliary wheel, because the crawler is an elastic crawler, when the driving wheel is close to the auxiliary wheel, the crawler can be attached to the surfaces of the driving wheel and the auxiliary wheel all the time, then the auxiliary wheel can climb to the surface after touching the obstacle, then the electric telescopic plate is extended, the auxiliary wheel is conveyed to the upper surface of the obstacle, and then the driving wheel depends on the driving assembly and the dragging when the electric telescopic plate is shortened, the climbing robot can climb to the upper surface of the barrier, so that climbing work can be completed, and all shot pictures can be transmitted under the action of the high-definition camera.
2. This special servo chip of robot, when drive assembly drives the action wheel through the connecting rod and rotates, rotate the belt and then can move at drive assembly's surface because of the effect of inertial reason through removing the wheel, can drive whole robot like this and remove.
3. This special servo chip of robot moves about in orbital inside through electronic round, can drive the expansion plate and reciprocate, ensures that infrared ray sensor and high definition digtal camera can be clear shoots external environment, plans the walking route of robot.
Drawings
FIG. 1 is a schematic diagram of a chip structure according to the present invention;
FIG. 2 is a schematic side view of the robot of the present invention;
FIG. 3 is a schematic view of the robot of the present invention;
fig. 4 is a schematic view of the structure of the driving wheel and the auxiliary wheel in the present invention.
In the figure: 1. rotating the belt; 2. a base plate; 3. a connecting rod; 4. a drive assembly; 5. an electric wheel; 6. a protection plate; 7. an infrared sensor; 8. an electric telescopic rod; 9. a retractable plate; 10. a track; 11. anti-skid lines; 12. a crawler belt; 13. an auxiliary wheel; 14. fixing a column; 15. a high-definition camera; 16. a driving wheel; 17. an electric expansion plate; 18. the wheel is moved.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-4, a technical solution provided by the present invention is:
a servo chip special for a robot comprises a rotating belt 1, a driving component 4 is arranged in the rotating belt 1, driving wheels 16 are arranged on two sides of the driving component 4, bearings are fixedly arranged at the centers of the outer surfaces of the driving wheels 16, electric expansion plates 17 are fixedly arranged on the outer surfaces of the bearings, auxiliary wheels 13 are fixedly arranged at one ends, far away from the driving wheels 16, of the electric expansion plates 17, tracks 12 are fixedly sleeved on the outer surfaces of the auxiliary wheels 13 and the driving wheels 16, the rotating belts 1 are two, expansion plates 9 are arranged at the centers of the two rotating belts 1, electric expansion rods 8 are fixedly arranged at the centers of the upper surfaces of the expansion plates 9, infrared sensors 7 are fixedly arranged at the upper ends of the electric expansion rods 8, and high-definition cameras 15 are fixedly arranged at the centers of four side surfaces of the expansion plates 9, the high-definition camera 15 and the infrared sensor 7 are in signal connection with a built-in chip of the robot, and the built-in chip of the robot is in signal connection with the driving component 4.
Preferably, the outer surface of the driving assembly 4 is movably provided with a plurality of moving wheels 18, the rotating belt 1 is connected with the driving assembly 4 through the moving wheels 18, when the driving assembly 4 drives the driving wheel to rotate through the connecting rod 3, the rotating belt 1 can move on the outer surface of the driving assembly 4 through the action of the moving wheels 18 due to inertia, so that the whole robot can be driven to move, the connecting rods 3 are arranged at two ends of the side surface of the driving assembly 4, the outer ends of the connecting rods 3 are connected with the driving wheels 16, the connecting part of the connecting rod 3 and the driving assembly 4 is fixedly provided with the backing plate 2, the driving assembly 4 is connected with the connecting rod 3 through the shaft coupling, the whole connecting rod 3 is driven to rotate through the action of the driving assembly 4, and when the connecting rod 3 rotates, the driving wheels 16 can be driven to rotate, the surface of track 12 is provided with integrated into one piece's anti-skidding line 11, anti-skidding line 11 combines together for the unsmooth strip, the fixed guard plate 6 that is provided with in annular side surface that track 12 is constituteed, through the effect of anti-skidding line 11, when removing, can prevent that the condition of skidding from appearing in drive wheel 16 and auxiliary wheel 13, and through the effect of guard plate 6, prevent to cause the injury to drive wheel 16 and auxiliary wheel 13.
Preferably, a fixed column 14 is fixedly arranged at the center of the auxiliary wheel 13, the electric expansion plate 17 is connected with the auxiliary wheel 13 through a bearing, rails 10 are fixedly arranged on the surfaces of two sides of the expansion plate 9, electric wheels 5 are embedded in the rails 10, the electric wheels 5 are movably arranged on the upper surface of the driving assembly 4, the expansion plate 9 can be driven to move up and down by moving the electric wheels 5 in the rails 10, it is ensured that the infrared sensor 7 and the high-definition camera 15 can clearly shoot the external environment, the walking path of the robot is planned, and the diameter of the driving wheel 16 is larger than that of the auxiliary wheel 13.
When the servo chip special for the robot is used, according to the technical scheme, when the servo chip is used, the external environment is monitored through the action of the infrared sensor 7, the monitored result is sent to the built-in chip of the robot, then the built-in chip of the robot sends a signal to the driving assembly 4, if an obstacle is touched, when the height of the obstacle is greater than that of the electric telescopic rod 8, a route is planned again, when the height of the obstacle is lower than that of the electric telescopic rod 8, the electric telescopic rod 8 is controlled to be shortened, the driving wheel 16 is close to the auxiliary wheel 13, as the crawler 12 is the elastic crawler 12, when the driving wheel 16 is close to the auxiliary wheel 13, the crawler 12 is always attached to the surfaces of the driving wheel 16 and the auxiliary wheel 13, and then the auxiliary wheel 13 climbs to the surface of the auxiliary wheel 13 after touching the obstacle, and then the electric telescopic plate 17 is extended, transport auxiliary wheel 13 to the upper surface of barrier, drag when drive wheel 16 relies on drive assembly 4 and electronic expansion plate 17 to shorten afterwards, can go up the upper surface of barrier equally, can accomplish the work of climbing like this, and through high definition digtal camera 15's effect, with all pictures of shooing transmit can.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the preferred embodiments of the present invention are described in the above embodiments and the description, and are not intended to limit the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. The utility model provides a special servo chip of robot, is including rotating belt (1), its characterized in that: a driving assembly (4) is arranged in the rotating belt (1), driving wheels (16) are arranged on two sides of the driving assembly (4), bearings are fixedly arranged at the centers of the outer surfaces of the driving wheels (16), electric expansion plates (17) are fixedly arranged on the surfaces of the outer rings of the bearings, auxiliary wheels (13) are fixedly arranged at one ends, far away from the driving wheels (16), of the electric expansion plates (17), crawler belts (12) are fixedly sleeved on the outer surfaces of the auxiliary wheels (13) and the driving wheels (16), the rotating belts (1) are two, expansion plates (9) are arranged at the centers of the two rotating belts (1), electric expansion rods (8) are fixedly arranged at the centers of the upper surfaces of the expansion plates (9), infrared sensors (7) are fixedly arranged at the upper ends of the electric expansion rods (8), and high-definition cameras (15) are fixedly arranged at the centers of four side surfaces of the expansion plates (9), the high-definition camera (15) and the infrared sensor (7) are in signal connection with a built-in chip of the robot, and the built-in chip of the robot is in signal connection with the driving assembly (4).
2. The servo chip dedicated to the robot of claim 1, wherein: the outer surface of the driving component (4) is movably provided with a plurality of moving wheels (18), and the rotating belt (1) is connected with the driving component (4) through the moving wheels (18).
3. The servo chip dedicated to the robot of claim 1, wherein: the two ends of the side surface of the driving component (4) are provided with connecting rods (3), the outer ends of the connecting rods (3) are connected with the driving wheels (16), a base plate (2) is fixedly arranged at the joint of the connecting rods (3) and the driving component (4), and the driving component (4) is connected with the connecting rods (3) through a coupler.
4. The servo chip dedicated to the robot of claim 1, wherein: the outer surface of the crawler belt (12) is provided with integrally-formed anti-skidding lines (11), the anti-skidding lines (11) are combined through concave-convex strips, and protection plates (6) are fixedly arranged on the side surfaces of the rings formed by the crawler belt (12).
5. The servo chip dedicated to the robot of claim 1, wherein: a fixing column (14) is fixedly arranged at the center of the auxiliary wheel (13), and the electric expansion plate (17) is connected with the auxiliary wheel (13) through a bearing.
6. The servo chip dedicated to the robot of claim 1, wherein: the telescopic plate is characterized in that rails (10) are fixedly arranged on the surfaces of two sides of the telescopic plate (9), electric wheels (5) are embedded in the rails (10), and the electric wheels (5) are movably arranged on the upper surface of the driving assembly (4).
7. The servo chip dedicated to the robot of claim 1, wherein: the diameter of the driving wheel (16) is larger than that of the auxiliary wheel (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110625544.7A CN113290538B (en) | 2021-06-04 | 2021-06-04 | Robot with special servo chip |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110625544.7A CN113290538B (en) | 2021-06-04 | 2021-06-04 | Robot with special servo chip |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113290538A true CN113290538A (en) | 2021-08-24 |
| CN113290538B CN113290538B (en) | 2023-06-30 |
Family
ID=77327204
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110625544.7A Active CN113290538B (en) | 2021-06-04 | 2021-06-04 | Robot with special servo chip |
Country Status (1)
| Country | Link |
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| CN (1) | CN113290538B (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB541253A (en) * | 1940-06-10 | 1941-11-19 | Alfred Edward Carr | Improvements in tractor type vehicles especially applicable to military tanks |
| DE3706239A1 (en) * | 1987-02-26 | 1987-06-25 | Alfred Dipl Ing Hoenig | Wheel-chair for indoors, stairs and outdoors |
| FR3028475A3 (en) * | 2014-11-13 | 2016-05-20 | Stephanie Laurent | SKI RACK DEVICE |
| CN207223956U (en) * | 2017-09-15 | 2018-04-13 | 湖南阿拉丁智能技术有限公司 | A kind of AGV robots of the cross-domain roadblock of energy |
| CN208468399U (en) * | 2018-05-19 | 2019-02-05 | 南安墨潇工业产品设计有限公司 | A kind of rescue robot of adaptive landform |
| CN209175730U (en) * | 2018-10-25 | 2019-07-30 | 天津城建大学 | A kind of small gaps supply robot for earthquake relief work |
| CN111496759A (en) * | 2020-03-18 | 2020-08-07 | 李海峰 | Anti-collision obstacle-crossing line inspection robot based on remote control system |
| CN211765936U (en) * | 2019-12-09 | 2020-10-27 | 王震 | Linear motion walking device of robot |
| CN211809923U (en) * | 2019-09-26 | 2020-10-30 | 江西微星汇科技有限公司 | Investigation robot with four-foot auxiliary wheel |
| CN212296491U (en) * | 2020-04-27 | 2021-01-05 | 内蒙古电力（集团）有限责任公司呼和浩特供电局 | Portable cable tunnel inspection device |
| CN213220923U (en) * | 2020-10-20 | 2021-05-18 | 长安大学 | Double round spring mechanical structure |
| CN213333086U (en) * | 2020-06-29 | 2021-06-01 | 重庆凡聚智能科技有限公司 | A running gear for pipeline robot |
-
2021
- 2021-06-04 CN CN202110625544.7A patent/CN113290538B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB541253A (en) * | 1940-06-10 | 1941-11-19 | Alfred Edward Carr | Improvements in tractor type vehicles especially applicable to military tanks |
| DE3706239A1 (en) * | 1987-02-26 | 1987-06-25 | Alfred Dipl Ing Hoenig | Wheel-chair for indoors, stairs and outdoors |
| FR3028475A3 (en) * | 2014-11-13 | 2016-05-20 | Stephanie Laurent | SKI RACK DEVICE |
| CN207223956U (en) * | 2017-09-15 | 2018-04-13 | 湖南阿拉丁智能技术有限公司 | A kind of AGV robots of the cross-domain roadblock of energy |
| CN208468399U (en) * | 2018-05-19 | 2019-02-05 | 南安墨潇工业产品设计有限公司 | A kind of rescue robot of adaptive landform |
| CN209175730U (en) * | 2018-10-25 | 2019-07-30 | 天津城建大学 | A kind of small gaps supply robot for earthquake relief work |
| CN211809923U (en) * | 2019-09-26 | 2020-10-30 | 江西微星汇科技有限公司 | Investigation robot with four-foot auxiliary wheel |
| CN211765936U (en) * | 2019-12-09 | 2020-10-27 | 王震 | Linear motion walking device of robot |
| CN111496759A (en) * | 2020-03-18 | 2020-08-07 | 李海峰 | Anti-collision obstacle-crossing line inspection robot based on remote control system |
| CN212296491U (en) * | 2020-04-27 | 2021-01-05 | 内蒙古电力（集团）有限责任公司呼和浩特供电局 | Portable cable tunnel inspection device |
| CN213333086U (en) * | 2020-06-29 | 2021-06-01 | 重庆凡聚智能科技有限公司 | A running gear for pipeline robot |
| CN213220923U (en) * | 2020-10-20 | 2021-05-18 | 长安大学 | Double round spring mechanical structure |
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| Publication number | Publication date |
|---|---|
| CN113290538B (en) | 2023-06-30 |
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