CN114834560A - Remote control six football shape-changeable robot - Google Patents
Remote control six football shape-changeable robot Download PDFInfo
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- CN114834560A CN114834560A CN202210645723.1A CN202210645723A CN114834560A CN 114834560 A CN114834560 A CN 114834560A CN 202210645723 A CN202210645723 A CN 202210645723A CN 114834560 A CN114834560 A CN 114834560A
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- 238000004891 communication Methods 0.000 claims description 28
- 238000005096 rolling process Methods 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 16
- 230000009286 beneficial effect Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 6
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
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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
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04Q—SELECTING
- H04Q9/00—Arrangements in telecontrol or telemetry systems for selectively calling a substation from a main station, in which substation desired apparatus is selected for applying a control signal thereto or for obtaining measured values therefrom
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04Q—SELECTING
- H04Q2209/00—Arrangements in telecontrol or telemetry systems
- H04Q2209/40—Arrangements in telecontrol or telemetry systems using a wireless architecture
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- Chemical & Material Sciences (AREA)
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Abstract
The invention provides a remote-control hexa-football-shaped deformable robot, which relates to the technical field of remote-control robots and comprises an upper half shell and a remote controller, wherein the bottom of the upper half shell is provided with a lower half shell, an upper body is arranged inside the upper half shell, the outer surface of the upper body is provided with an upper mechanical arm, the upper mechanical arm comprises a first steering engine arranged on one side of the upper half shell, one side of the upper half shell is fixedly connected with a fixed block, and one end of the fixed block is fixedly connected with a first side bracket through a first bolt. According to the invention, the upper mechanical arm is arranged, so that the upper half shell of the robot has the characteristic of opening and closing, the lower mechanical arm is arranged, so that the lower half shell of the robot has the characteristic of moving or rolling, the efficiency of the robot in all-directional motion is improved, the remote controller is arranged, so that the remote controller can normally send out signals and the robot can normally receive the signals, the robot can normally move, and the efficiency of the robot in normal work is improved.
Description
Technical Field
The invention relates to the technical field of remote control robots, in particular to a remote control six-football deformable robot.
Background
A remote-controlled robot is a remote-controlled equipment which can replace human to complete certain tasks in the environment harmful to human or inaccessible to human.
However, in the prior art, a common remote-controlled robot in the existing life usually has a relatively good movement function, but most of the remote-controlled robots keep moving straight and straight during movement, and most of the remote-controlled robots do not have a relatively good all-directional movement function, so that most of the remote-controlled robots need to stop and rotate first to change directions to continue moving during movement, and therefore the remote-controlled robots do not have a relatively good characteristic of convenient movement during movement, so that the remote-controlled robots need to spend a long time during movement, and the efficiency of the remote-controlled robots in all-directional movement is seriously affected.
Disclosure of Invention
The invention aims to solve the defects in the prior art, most of common remote-controlled robots need to stop firstly and then rotate to change the direction to continue moving when moving, so that the remote-controlled robots do not have relatively good convenient and fast movement characteristics in the moving process, the remote-controlled robots need to spend long time in the moving process, and the efficiency of the remote-controlled robots in all-directional movement is seriously influenced.
In order to achieve the purpose, the invention adopts the following technical scheme: six football shape deformable robots of remote control, including upper half shell and remote controller, the bottom of upper half shell is provided with half shell down, the inside of upper half shell is provided with the body, the surface of upper part body is provided with the arm, the arm includes the first steering wheel that upper half shell one side set up, one side fixedly connected with fixed block of upper half shell, the first side support of first bolt fixedly connected with is passed through to the one end of fixed block, the first long U type frame of output end fixedly connected with of first steering wheel, one side of upper half shell is provided with the second side support, the top fixedly connected with support frame of upper part body, the inside of second side support is provided with the second steering wheel, the long U type frame of output end fixedly connected with second of second steering wheel.
As a preferred embodiment, a communication receiving module is arranged at the top of the support frame.
The beneficial effect of adopting the further scheme is that: through setting up communication receiving module, make the robot can normally receive the signal and carry out work, avoid the unable normal received signal of robot, lead to the unable normal work of robot.
As a preferred embodiment, the outer surface of the first steering engine is in contact with the inner wall of the first side bracket, and one side of the first long U-shaped frame is connected with one side of the second long U-shaped frame through a second bolt.
The beneficial effect of adopting the further scheme is that: through setting up the second bolt, have good stability between the long U type frame of messenger's first long U type frame and second, avoid the phenomenon that first long U type frame and the long U type frame of second break away from to appear.
In a preferred embodiment, one side of the support bracket is connected to one side of the second side bracket by a third bolt.
The beneficial effect of adopting the further scheme is that: through setting up the third bolt, make to have good stability between second side support and the support frame, make the second steering wheel have good stability on second side support.
As a preferred embodiment, the bottom of the upper body is fixedly connected with a connecting rod, the bottom end of the connecting rod is fixedly connected with a lower body, and the outer surface of the lower body is provided with a lower mechanical arm.
The beneficial effect of adopting the further scheme is that: by arranging the lower mechanical arm, the robot has the characteristics of good forward and backward movement and auxiliary rolling when working.
As a preferred embodiment, the lower mechanical arm comprises a crotch steering engine arranged inside the lower body, wherein an output end of the crotch steering engine is fixedly connected with a third long U-shaped frame, one side of the third long U-shaped frame is fixedly connected with a fourth long U-shaped frame through a fourth bolt, a leg steering engine is arranged inside the fourth long U-shaped frame, an output end of the leg steering engine is fixedly connected with a steering engine frame, one side of the steering engine frame is provided with a foot steering engine, an output end of the foot steering engine is fixedly connected with a fifth long U-shaped frame, the inner wall of the fifth long U-shaped frame is fixedly connected with a fixing plate through a fifth bolt, a supporting plate is arranged on the outer surface of the fifth long U-shaped frame, and a supporting block is fixedly connected to one side of the supporting plate.
The beneficial effect of adopting the further scheme is that: through setting up crotch steering wheel and shank steering wheel and foot steering wheel, make half lower shell can carry out the back-and-forth movement with the help of half lower shell of crotch steering wheel control, make the arm control the problem of solving the lifting with the help of the shank steering wheel down, make half lower shell carry out angle modulation with the help of the foot steering wheel.
In a preferred embodiment, one side of the supporting plate and one side of the fixing plate are connected to both sides of a fifth long U-shaped frame by fifth bolts, and one end of the supporting block and one side of the supporting plate are connected to the lower half shell by sixth bolts.
The beneficial effect of adopting the further scheme is that: through setting up fifth bolt and sixth bolt, make have good stability between fixed plate and backup pad and the long U type frame of fifth, make to have firm stability between half shell and the lower arm down.
As a preferred embodiment, the remote controller comprises a circuit board, one side of the circuit board is provided with a left rocker, one side of the circuit board is provided with a power key, one side of the circuit board is provided with a knob, and one side of the circuit board is provided with a right rocker.
The beneficial effect of adopting the further scheme is that: through setting up the remote controller, make the robot carry out the during operation and can control through wireless LAN, the robot of being convenient for normally removes or rolls.
In a preferred embodiment, a communication sending module is disposed on one side of the circuit board.
The beneficial effect of adopting the further scheme is that: through setting up the communication sending module, make the remote controller can normally send a signal, make the robot can normally utilize the communication receiving module to receive and carry out work, avoid the remote controller to normally carry out signal sending, lead to the robot to normally carry out work.
Compared with the prior art, the invention has the advantages and positive effects that,
1. according to the invention, the upper mechanical arm is arranged, so that the upper half shell is connected by the upper mechanical arm, and the first steering engine and the second steering engine are used for driving, so that the upper half shell of the robot has the characteristic of being capable of being opened and closed.
2. According to the invention, the lower mechanical arm is arranged, so that the lower half shell is driven by the hip steering engine, the leg steering engine and the foot steering engine on the lower mechanical arm, the lower half shell of the robot has the characteristic of moving or rolling, and the efficiency of the robot in all-directional motion is improved.
3. According to the invention, by arranging the remote controller and utilizing the communication receiving module and the communication sending module, the remote controller can send out signals normally and the robot can receive the signals normally, so that the robot can move normally, and the normal working efficiency of the robot is improved.
Drawings
Fig. 1 is a perspective view of a remotely controlled hexa-football deformable robot according to the present invention;
fig. 2 is a rear perspective view of the remotely controlled hexa-football deformable robot according to the present invention;
FIG. 3 is a schematic diagram of the main view structure of the remote-controlled six-football deformable robot of the present invention;
FIG. 4 is a schematic sectional view of the remote-controlled hexafootball deformable robot according to the present invention;
FIG. 5 is a schematic view of the lower half-shell of the remotely controlled hexa-football shape-variable robot according to the present invention;
FIG. 6 is a schematic view showing the cross-sectional structure of the lower half shell of the remotely controlled hexa-football shape-variable robot according to the present invention;
FIG. 7 is a schematic diagram of the remote controller of the present invention for remotely controlling a six-football deformable robot;
FIG. 8 is a circuit diagram of the circuit board of the remote-controlled hexa-football deformable robot according to the present invention;
FIG. 9 is a CAN circuit diagram of the remote-controlled hexa-football deformable robot according to the present invention;
FIG. 10 is a circuit diagram of the LED of the remote-controlled hexa-football deformable robot according to the present invention;
FIG. 11 is a circuit diagram of the MCU of the remotely controlled hexa-football deformable robot according to the present invention;
FIG. 12 is a schematic diagram of the OLED and RF circuits of the present invention for a remotely controlled hexa-football shape-transformable robot;
FIG. 13 is a SWD circuit diagram of the present invention for remotely controlling a hexafootball shape-variable robot;
FIG. 14 is a circuit diagram of a USB to serial port of the remote-controlled six-football deformable robot according to the present invention;
FIG. 15 is a circuit diagram of the key of the present invention for remotely controlling a hexa-football deformable robot;
fig. 16 is a serial port circuit diagram of the remote-control hexa-football shape-variable robot provided by the invention;
FIG. 17 is a power/USB circuit diagram of the present invention for a remotely controlled hexapod deformable robot;
FIG. 18 is an expanded IO circuit diagram of the remote-controlled hexafootball deformable robot provided by the invention;
FIG. 19 is a circuit diagram of a rotary potentiometer of the present invention for remotely controlling a hexa-football shape-variable robot;
FIG. 20 is a circuit diagram of a rocker potentiometer of the remotely controlled six-football shape-changeable robot according to the present invention;
fig. 21 is a general circuit diagram of the remote-controlled hexafootball shape-variable robot according to the present invention.
Illustration of the drawings:
1. an upper half shell; 2. a lower half shell; 3. an upper body; 4. an upper mechanical arm; 5. a connecting rod; 6. a lower body; 7. a lower mechanical arm; 8. a remote controller; 9. a communication receiving module; 10. a communication issuing module;
41. a first steering engine; 42. a fixed block; 43. a first side bracket; 44. a first long U-shaped frame; 45. a second side support; 46. a support frame; 47. a second steering engine; 48. a second long U-shaped frame;
71. a hip steering gear; 72. a third long U-shaped frame; 73. a fourth long U-shaped frame; 74. a leg steering engine; 75. a rudder mount; 76. a foot steering engine; 77. a fifth long U-shaped frame; 78. a fixing plate; 79. a support plate; 710. a support block;
81. a circuit board; 82. a left rocker; 83. a power key; 84. a knob; 85. and a right rocker.
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.
Example 1
As shown in fig. 1-2 and fig. 4-7, the present invention provides a technical solution: a remotely-controlled six-football-shaped deformable robot comprises an upper half shell 1 and a remote controller 8, wherein a lower half shell 2 is arranged at the bottom of the upper half shell 1, an upper body 3 is arranged inside the upper half shell 1, an upper mechanical arm 4 is arranged on the outer surface of the upper body 3, the upper mechanical arm 4 comprises a first steering engine 41 arranged on one side of the upper half shell 1, the outer surface of the first steering engine 41 is in contact with the inner wall of a first side support 43, one side of a first long U-shaped frame 44 is connected with one side of a second long U-shaped frame 48 through a second bolt, good stability is achieved between the first long U-shaped frame 44 and the second long U-shaped frame 48 through the arrangement of the second bolt, the phenomenon that the first long U-shaped frame 44 is separated from the second long U-shaped frame 48 is avoided, a fixed block 42 is fixedly connected to one side of the upper half shell 1, one end of the fixed block 42 is fixedly connected with the first side support 43 through the first bolt, and the output end of the first steering engine 41 is fixedly connected with the first long U-shaped frame 44, one side of upper half shell 1 is provided with second side support 45, the top fixedly connected with support frame 46 of upper part body 3, the top of support frame 46 is provided with communication receiving module 9, through setting up communication receiving module 9, make the robot can normally receive the signal and work, avoid the unable normal received signal of robot, lead to the unable normal work of robot, one side of support frame 46 is connected with one side of second side support 45 through the third bolt, through setting up the third bolt, make second side support 45 and support frame 46 between have good stability, make second steering wheel 47 have good stability on second side support 45, the inside of second side support 45 is provided with second steering wheel 47, the output end fixedly connected with second of second steering wheel 47 is long U type frame 48.
In this embodiment, when in use, after the power is turned on, the robot is in a standby state, when the switch of the remote controller 8 is turned on, the communication receiving module 9 inside the robot receives a signal sent by the communication sending module 10 of the remote controller 8, the robot starts to operate normally, when the upper half shell 1 is opened, the knob 84 on the remote controller 8 is operated to rotate, so that the remote controller 8 sends a signal by using the communication sending module 10, the communication receiving module 9 inside the robot receives a signal, the second steering engine 47 starts to operate on the second side support 45, the second steering engine 47 drives the second long U-shaped frame 48 to move by using the output end when operating, the first long U-shaped frame 44 moves along with the movement of the second long U-shaped frame 48, the first steering engine 41 moves along with the movement of the first long U-shaped frame 44, and the first steering engine 41 rotates on the first long U-shaped frame 44 by using the output end in the opening and closing process, the upper half shell 1 rotates along with the rotation of the first steering engine 41, and the upper half shell 1 gradually opens and closes.
Example 2
As shown in fig. 1 to 7, a connecting rod 5 is fixedly connected to the bottom of the upper body 3, a lower body 6 is fixedly connected to the bottom end of the connecting rod 5, a lower mechanical arm 7 is arranged on the outer surface of the lower body 6, the lower mechanical arm 7 includes a crotch steering gear 71 arranged inside the lower body 6, a third long U-shaped frame 72 is fixedly connected to the output end of the crotch steering gear 71, a fourth long U-shaped frame 73 is fixedly connected to one side of the third long U-shaped frame 72 through a fourth bolt, a leg steering gear 74 is arranged inside the fourth long U-shaped frame 73, a steering gear frame 75 is fixedly connected to the output end of the leg steering gear 74, a foot steering gear 76 is arranged on one side of the steering gear frame 75, a fifth long U-shaped frame 77 is fixedly connected to the output end of the foot steering gear 76, a fixing plate 78 is fixedly connected to the inner wall of the fifth long U-shaped frame 77 through a fifth bolt, a supporting plate 79 is arranged on the outer surface of the fifth long U-shaped frame 77, and one side of the supporting plate 79 and one side of the fixing plate 78 are respectively connected to both sides of the fifth long U-shaped frame 77 through fifth bolts The connection, the one end of supporting shoe 710 and one side of backup pad 79 are all connected with lower half shell 2 through the sixth bolt, through setting up fifth bolt and sixth bolt, make fixed plate 78 and have good stability between backup pad 79 and the long U type frame 77 of fifth, make and have firm stability between lower half shell 2 and lower arm 7, one side fixedly connected with supporting shoe 710 of backup pad 79, through setting up crotch steering wheel 71 and leg steering wheel 74 and foot steering wheel 76, make lower half shell 2 can control lower half shell 2 with the help of crotch steering wheel 71 and carry out the back-and-forth movement, make lower arm 7 control the problem of solving the lifting with the help of leg steering wheel 74, make lower half shell 2 carry out angle modulation with the help of foot steering wheel 76, through setting up lower arm 7, make the robot have good back-and-forth movement and supplementary rolling characteristics when working.
In the embodiment, when the robot is used, in an initial working state, a part of an upper half shell 1 of the robot is in a closed state, a walking mode is started, the robot is controlled to move by a left rocker 82 and a right rocker 85 on a remote controller 8, the right rocker 85 controls the advancing direction and the left-right movement of the robot, when the right rocker 85 is controlled, a crotch steering engine 71 in the robot controls a lower mechanical arm 7 of the robot to move, in the moving process of the lower mechanical arm 7, a leg steering engine 74 controls and solves the lifting processing of the lower mechanical arm 7, a foot steering engine 76 adjusts the angle of the lower mechanical arm 7, so that the lower mechanical arm 7 can normally move, the robot is normally moved, the left rocker 82 controls the robot to make clockwise or counterclockwise self-rotation movement in situ, a knob 84 on the remote controller 8 is adjusted, and the robot slowly deforms to enter a spherical state, when the robot is in a walking mode, after the communication receiving module 9 receives a signal sent by the communication sending module 10 on the remote controller 8, the crotch steering engine 71, the leg steering engine 74 and the foot steering engine 76 on the lower mechanical arm 7 operate to gradually close the lower half-shell 2, so that the robot slowly enters a spherical state and stands still, after the robot is confirmed by the self-locking key, the robot enters a rolling mode, the left-right moving direction is controlled by the right rocker 85 on the remote controller 8, and the robot pushes the ground by the lower mechanical arm 7 of the upper half-shell 2 and the lower half-shell 2 to realize omnidirectional movement.
Example 3
As shown in fig. 7, remote controller 8 includes circuit board 81, one side of circuit board 81 is provided with communication sending module 10, send module 10 through setting up communication, make remote controller 8 can normally send a signal, make the robot can normally utilize communication receiving module 9 to receive and carry out work, avoid remote controller 8 unable normal signal sending, lead to the unable normal work of robot, one side of circuit board 81 is provided with left rocker 82, one side of circuit board 81 is provided with power key 83, one side of circuit board 81 is provided with knob 84, one side of circuit board 81 is provided with right rocker 85, through setting up remote controller 8, make the robot carry out the during operation and control through wireless local area network, be convenient for the robot normally remove or roll.
In this embodiment, when the robot is used, the power key 83 on the remote controller 8 is first pressed to place the remote controller 8 in an open standby state in which the programmable space of the robot is reserved, and in this state, the operator can autonomously program the robot, operate the robot with the keys, lift the legs, open and close the upper half case 1, and the like.
The working principle is as follows:
as shown in fig. 1-21, in use, after the power is turned on, the robot will be in a standby state, when the switch of the remote controller 8 is turned on, the communication receiving module 9 inside the robot will start to operate normally after receiving the signal sent by the communication sending module 10 of the remote controller 8, and the power key 83 on the remote controller 8 is pressed to make the remote controller 8 in an open standby state, and the programmable space of the robot is reserved in the program, in this state, the operator can program the robot by himself/herself, and operate the robot by pressing keys to lift legs, open and close the upper half-shell 1, and in the initial working state, the part of the upper half-shell 1 of the robot will be in a closed state, and turn on a walking mode, and control the robot to move by the left rocker 82 and the right rocker 85 on the remote controller 8, the right rocker 85 controls the forward direction and left and right movement of the robot, and when the right rocker 85 is operated, the crotch steering engine 71 in the robot controls the lower mechanical arm 7 of the robot to move, in the moving process of the lower mechanical arm 7, the leg steering engine 74 controls and solves the lifting processing of the lower mechanical arm 7, the foot steering engine 76 adjusts the angle of the lower mechanical arm 7 to enable the lower mechanical arm 7 to normally move and enable the robot to normally move, the left rocker 82 controls the robot to make clockwise or anticlockwise self-rotation movement on the original place, the knob 84 on the remote controller 8 is adjusted, the robot can slowly deform to enter a spherical state, when the robot is in a walking mode, after the communication receiving module 9 receives a signal sent by the communication sending module 10 on the remote controller 8, the crotch steering engine 71, the leg steering engine 74 and the foot steering engine 76 on the lower mechanical arm 7 operate to gradually close the lower half shell 2, so that the robot slowly enters the spherical state and is in a standby state, after the self-locking key is used for confirmation, the robot enters a rolling mode, the left-right moving direction is controlled by a right rocker 85 on the remote controller 8, the robot pushes the ground by using a lower mechanical arm 7 of an upper half shell 2 and a lower half shell 2 to realize omnibearing movement, when the upper half shell 1 is opened and closed, a knob 84 on the remote controller 8 is operated to rotate, the remote controller 8 sends a signal by using a communication sending module 10, a communication receiving module 9 in the robot receives the signal, a second steering engine 47 starts to operate on a second side support 45, the second steering engine 47 drives a second long U-shaped frame 48 to move by using an output end when operating, a first long U-shaped frame 44 moves along with the movement of the second long U-shaped frame 48, a first steering engine 41 moves along with the movement of the first long U-shaped frame 44, and the first steering engine 41 rotates on the first long U-shaped frame 44 by using the output end in the opening and closing process, the upper half shell 1 rotates along with the rotation of the first steering engine 41, and the upper half shell 1 gradually opens and closes.
The above description is only a preferred embodiment of the present invention, and not intended to limit the present invention in other forms, and any person skilled in the art may apply the above modifications or changes to the equivalent embodiments with equivalent changes, without departing from the technical spirit of the present invention, and any simple modification, equivalent change and change made to the above embodiments according to the technical spirit of the present invention still belong to the protection scope of the technical spirit of the present invention.
Claims (9)
1. Six football shape deformable robots of remote control, including upper half shell (1) and remote controller (8), the bottom of upper half shell (1) is provided with lower half shell (2), the inside of upper half shell (1) is provided with body (3), the surface of upper body (3) is provided with mechanical arm (4), its characterized in that: go up arm (4) including first steering wheel (41) that upper half shell (1) one side set up, one side fixedly connected with fixed block (42) of upper half shell (1), the one end of fixed block (42) is through first bolt fixedly connected with first side support (43), the first long U type frame (44) of output fixedly connected with of first steering wheel (41), one side of upper half shell (1) is provided with second side support (45), the top fixedly connected with support frame (46) of upper part body (3), the inside of second side support (45) is provided with second steering wheel (47), the output end fixedly connected with second long U type frame (48) of second steering wheel (47).
2. The remotely controlled six-football shape-transformable robot of claim 1, wherein: the top of the support frame (46) is provided with a communication receiving module (9).
3. The remotely controlled six football shape transformable robot of claim 1, wherein: the outer surface of the first steering engine (41) is in contact with the inner wall of the first side support (43), and one side of the first long U-shaped frame (44) is connected with one side of the second long U-shaped frame (48) through a second bolt.
4. The remotely controlled six-football shape-transformable robot of claim 1, wherein: one side of the support frame (46) is connected with one side of the second side bracket (45) through a third bolt.
5. The remotely controlled six football shape transformable robot of claim 1, wherein: the bottom fixedly connected with connecting rod (5) of going up body (3), body (6) under the bottom fixedly connected with of connecting rod (5), the surface of body (6) is provided with down arm (7) down.
6. The remotely controlled six football shape transformable robot of claim 5, wherein: the lower mechanical arm (7) comprises a crotch steering gear (71) arranged in the lower body (6), the output end of the crotch steering gear (71) is fixedly connected with a third long U-shaped frame (72), one side of the third long U-shaped frame (72) is fixedly connected with a fourth long U-shaped frame (73) through a fourth bolt, a leg steering engine (74) is arranged inside the fourth long U-shaped frame (73), the output end of the leg steering engine (74) is fixedly connected with a steering engine frame (75), a foot steering engine (76) is arranged on one side of the rudder frame (75), the output end of the foot steering engine (76) is fixedly connected with a fifth long U-shaped frame (77), the inner wall of the fifth long U-shaped frame (77) is fixedly connected with a fixing plate (78) through a fifth bolt, a supporting plate (79) is arranged on the outer surface of the fifth long U-shaped frame (77), and a supporting block (710) is fixedly connected to one side of the supporting plate (79).
7. The remotely controlled six football shape transformable robot of claim 6, wherein: one side of the supporting plate (79) and one side of the fixing plate (78) are respectively connected with two sides of a fifth long U-shaped frame (77) through fifth bolts, and one end of the supporting block (710) and one side of the supporting plate (79) are respectively connected with the lower half shell (2) through sixth bolts.
8. The remotely controlled six football shape transformable robot of claim 1, wherein: the remote controller (8) comprises a circuit board (81), a left rocker (82) is arranged on one side of the circuit board (81), a power key (83) is arranged on one side of the circuit board (81), a knob (84) is arranged on one side of the circuit board (81), and a right rocker (85) is arranged on one side of the circuit board (81).
9. The remotely controlled six football shape transformable robot of claim 8, wherein: one side of the circuit board (81) is provided with a communication sending module (10).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210645723.1A CN114834560A (en) | 2022-06-09 | 2022-06-09 | Remote control six football shape-changeable robot |
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| CN202210645723.1A CN114834560A (en) | 2022-06-09 | 2022-06-09 | Remote control six football shape-changeable robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115535106A (en) * | 2022-09-27 | 2022-12-30 | 西南科技大学 | Deformable obstacle crossing spherical robot |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115535106A (en) * | 2022-09-27 | 2022-12-30 | 西南科技大学 | Deformable obstacle crossing spherical robot |
| CN115535106B (en) * | 2022-09-27 | 2023-08-15 | 西南科技大学 | Deformable obstacle-surmounting spherical robot |
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