CN206605490U - Investigation ball-shape robot based on STM32 - Google Patents
Investigation ball-shape robot based on STM32 Download PDFInfo
- Publication number
- CN206605490U CN206605490U CN201720254349.7U CN201720254349U CN206605490U CN 206605490 U CN206605490 U CN 206605490U CN 201720254349 U CN201720254349 U CN 201720254349U CN 206605490 U CN206605490 U CN 206605490U
- Authority
- CN
- China
- Prior art keywords
- ball
- type shell
- connecting rod
- stm32
- upper ball
- 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.)
- Expired - Fee Related
Links
- 238000011835 investigation Methods 0.000 title claims abstract description 24
- 230000005540 biological transmission Effects 0.000 claims abstract description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 21
- 239000004020 conductor Substances 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- UDGUGZTYGWUUSG-UHFFFAOYSA-N 4-[4-[[2,5-dimethoxy-4-[(4-nitrophenyl)diazenyl]phenyl]diazenyl]-n-methylanilino]butanoic acid Chemical compound COC=1C=C(N=NC=2C=CC(=CC=2)N(C)CCCC(O)=O)C(OC)=CC=1N=NC1=CC=C([N+]([O-])=O)C=C1 UDGUGZTYGWUUSG-UHFFFAOYSA-N 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000007654 immersion Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- Manipulator (AREA)
Abstract
The utility model discloses the investigation ball-shape robot based on STM32, belong to Detecting Robot field.Investigation ball-shape robot based on STM32, including the upper ball-type shell with STM control panels, wireless transmission antenna is provided with described, air bag is installed on the upper ball-type shell, the downside of the upper ball-type shell is provided with lower ball-type shell, the upper ball-type shell and lower ball-type shell match, connected between the upper ball-type shell and lower ball-type shell by connector, the connector includes connecting rod and electric expansion bar, the upper ball-type shell is provided with accommodating groove, the connecting rod is arranged on the bottom of accommodating groove, one end of the connecting rod is fixedly connected with electric expansion bar, the other end of the connecting rod is fixedly connected with lower ball-type shell, cavity is provided with the connecting rod.It can realize water-proof function, and can voluntarily float after falling into water.
Description
Technical field
The utility model is related to Detecting Robot field, more specifically to the investigation ball-type machine based on STM32
People.
Background technology
Ball-shape robot refers to that a class drive system is located at spherical shell (or spheroid) inside, passes through interior drive from the point of view of broadly
Flowing mode realizes the robot of spheroid motion, ball-type movement have developed three kinds of different structure forms, can installing vision camera
Robot model machine：BHQ-1, BHQ-2, BHQ-3, ball-type mobile robot refer to a class by movement executing mechanism, sensor, control
Device, energy source device are arranged on the general name of the system in a spherical shell.
Nowadays, Robot industry develops more and more rapider, and people generate higher and higher expectation to robot, it is desirable to
It is more intelligent, and humanoid robot is more molded in popular thought, in order to widen the idea of people, we decide to do
One ball-shape robot, it is more practical under specific situation of combating a natural disaster to recover, unexpected effect can be produced, two are utilized
Motor is inputted as power, and realize ball-shape robot by changing the position of counterweight center of gravity moves along multidirectional, due to it
With special flexibility, it can apply to a variety of occasions, allow machine man-based development to have diversity, robot
No longer it is limited in terms of industrial production and extraterrestrial exploration, it is often more important that be intended to diversification, more intuitively understand deep layer
Secondary secret, when being applied in military field, does not have protection device, robot to be detectd after being destroyed for important investigation data
Looking into data will lose.
But existing investigation ball-shape robot is fallen into water, internal important chip is easy to immersion and damaged, and falls into water
It is difficult to salvage after flowing in rapid water.
The content of the invention
For there is no water-proof function in the prior art, and fall into water the problem of being difficult to salvage, the utility model
Purpose be to provide the investigation ball-shape robot based on STM32, it can realize water-proof function, and can be from after falling into water
Row floats.
To solve the above problems, the utility model is adopted the following technical scheme that, the investigation ball-type machine based on STM32
People, including the upper ball-type shell with STM control panels, interior be provided with wireless transmission antenna, the upper ball-type shell are installed
There is air bag, the downside of the upper ball-type shell is provided with lower ball-type shell, the outer shell phase of the upper ball-type shell and lower ball-type
Match somebody with somebody, connected between the upper ball-type shell and lower ball-type shell by connector, the connector includes connecting rod and electronic stretched
Contracting bar, the upper ball-type shell is provided with accommodating groove, and the connecting rod is arranged on the bottom of accommodating groove, one end of the connecting rod
It is fixedly connected with electric expansion bar, the other end of the connecting rod is fixedly connected with lower ball-type shell, is provided with the connecting rod
Cavity, the top and bottom of the cavity are mounted on electric contact, and two electric contacts are not contacted, and the side of the connecting rod is set
There is inlet opening, the STM control panels are electrically connected with air bag, electric contact and electric expansion bar respectively, when investigation ball-type machine
When device people is fallen into water, water is entered by inlet opening in the cavity of connecting rod, and water is conductor, makes two electric contact connections, triggering
Protection system, STM control panels control electric expansion bar shortens, and makes ball-type shell and lower ball-type enclosure closed, prevents water from entering
Investigate inside ball-shape robot, when needing investigation ball-shape robot to float, STM control panels control air bag, which is opened, to be floated,
It is very convenient, safety.
Preferably, screen pack is installed at the aperture of the inlet opening, prevents inlet opening to be blocked, influence water enters empty
Chamber.
Preferably, the side of the lower ball-type shell, which is provided with groove, the groove, is provided with ejector and memory card, described
The ejection end of ejector and memory card are in contact, and the ejector and memory card are electrically connected with STM control panels, when investigation ball
When humanoid robot will be destroyed, the memory card for having data is launched away by ejector, prevents loss of data.
Compared to prior art, the utility model has the advantage of：(1) this programme is worked as investigation ball-shape robot and fallen into water
When, water is entered by inlet opening in the cavity of connecting rod, and water is conductor, connects two electric contacts, trigger protection system,
STM32 control panels control electric expansion bar shortens, and makes ball-type shell and lower ball-type enclosure closed, prevents water from entering investigation ball-type
Robot interior, when needing investigation ball-shape robot to float, STM32 control panels control air bag, which is opened, to be floated, very square
Just, safety.(2) screen pack is installed at the aperture of inlet opening, prevents inlet opening to be blocked, influence water enters cavity.(3) ball under
The side of type shell, which is provided with groove, the groove, is provided with ejector and memory card, the ejection end of the ejector and memory card
It is in contact, the ejector and memory card are electrically connected with STM32 control panels, when investigation ball-shape robot will be destroyed
When, the memory card for having data is launched away by ejector, prevents loss of data.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is structural representation when the utility model electric expansion bar extends；
Structural representation when Fig. 3 is ball-type shell on the utility model and lower ball-type enclosure closed；
Fig. 4 is the structural representation inside the utility model connecting rod.
Label declaration in figure：Ball-type shell, 2 times ball-type shells, 3 air bags, 4 connecting rods, 5 inlet openings, 6 electricity are touched on 1
Point, 7 electric expansion bars.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment；Technical scheme in the utility model embodiment is carried out
Clearly and completely describe；Obviously；Described embodiment is only a part of embodiment of the utility model；Rather than whole
Embodiment.Based on the embodiment in the utility model；Those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained；Belong to the scope of the utility model protection.
Fig. 1-4 are referred to, the investigation ball-shape robot based on STM32, including the upper ball-type shell with STM32 control panels
It is provided with 1,1 on wireless transmission antenna, upper ball-type shell 1 and air bag 3 is installed, the downside of upper ball-type shell 1 is provided with lower ball
Type shell 2, the side of lower ball-type shell 2, which is provided with groove, groove, is provided with ejector and memory card, the ejection end of ejector and storage
Deposit card to be in contact, ejector and memory card are electrically connected with STM32 control panels, when investigation ball-shape robot will be destroyed
When, the memory card for having data is launched away by ejector, prevents loss of data, upper ball-type shell 1 and the lower phase of ball-type shell 2
Match somebody with somebody, connected between upper ball-type shell 1 and lower ball-type shell 2 by connector, connector includes connecting rod 4 and electric expansion bar 7,
Upper ball-type shell 1 is provided with accommodating groove, and connecting rod 4 is arranged on the bottom of accommodating groove, one end and the electric expansion bar 7 of connecting rod 4
Be fixedly connected, the other end of connecting rod 4 is fixedly connected with lower ball-type shell 2, be provided with cavity in connecting rod 4, the upper end of cavity and
Lower end is mounted on electric contact 6, and two electric contacts 6 are not contacted, and the side of connecting rod 4 is provided with inlet opening 5, the hole of inlet opening 5
Screen pack is installed at mouthful, prevents inlet opening 5 to be blocked, influence water enters cavity, STM32 control panels respectively with air bag 3,
Electric contact 6 and electric expansion bar 7 are electrically connected with.
Operation principle：When investigation ball-shape robot is fallen into water, water is entered by inlet opening 5 in the cavity of connecting rod 4,
Water is conductor, connects two electric contacts 6, and STM32 control panels control electric expansion bar 7 shortens, and makes ball-type shell 1 and lower ball
Type shell 2 is closed, and prevents water from entering inside investigation ball-shape robot, when needing investigation ball-shape robot to float, STM32 controls
Plate control air bag 3, which is opened, to be floated.
It is described above；Only the utility model preferably embodiment；But protection domain of the present utility model is not
It is confined to this；Any one skilled in the art is in the technical scope that the utility model is disclosed；According to this practicality
New technical scheme and its improvement design is subject to equivalent substitution or change；It should all cover in protection domain of the present utility model
It is interior.
Claims (3)
1. in the investigation ball-shape robot based on STM32, including the upper ball-type shell (1) with STM32 control panels, (1)
Provided with wireless transmission antenna, it is characterised in that：It is provided with the upper ball-type shell (1) outside air bag (3), the upper ball-type
The downside of shell (1) is provided with lower ball-type shell (2), and the upper ball-type shell (1) and lower ball-type shell (2) match, the upper ball
Connected between type shell (1) and lower ball-type shell (2) by connector, the connector includes connecting rod (4) and electric expansion
Bar (7), the upper ball-type shell (1) is provided with accommodating groove, and the connecting rod (4) is arranged on the bottom of accommodating groove, the connection
One end of bar (4) is fixedly connected with electric expansion bar (7), the other end of the connecting rod (4) and the fixed company of lower ball-type shell (2)
Connect, cavity is provided with the connecting rod (4), the top and bottom of the cavity are mounted on electric contact (6), and two electric contacts
(6) do not contact, the side of the connecting rod (4) is provided with inlet opening (5), the STM32 control panels respectively with air bag (3),
Electric contact (6) and electric expansion bar (7) are electrically connected with.
2. the investigation ball-shape robot according to claim 1 based on STM32, it is characterised in that：The inlet opening (5)
Screen pack is installed at aperture.
3. the investigation ball-shape robot according to claim 1 based on STM32, it is characterised in that：The lower ball-type shell
(2) side, which is provided with groove, the groove, is provided with ejector and memory card, and the ejection end of the ejector and memory card connect
Touch, the ejector and memory card are electrically connected with STM32 control panels.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720254349.7U CN206605490U (en) | 2017-03-16 | 2017-03-16 | Investigation ball-shape robot based on STM32 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720254349.7U CN206605490U (en) | 2017-03-16 | 2017-03-16 | Investigation ball-shape robot based on STM32 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206605490U true CN206605490U (en) | 2017-11-03 |
Family
ID=60165134
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720254349.7U Expired - Fee Related CN206605490U (en) | 2017-03-16 | 2017-03-16 | Investigation ball-shape robot based on STM32 |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206605490U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109491393A (en) * | 2018-12-10 | 2019-03-19 | 辽宁工程技术大学 | A kind of ball-type mobile robot based on STM32 single-chip microcontroller |
| CN109909981A (en) * | 2019-04-22 | 2019-06-21 | 滨州学院 | Spherical protective device |
| CN110567500A (en) * | 2019-09-19 | 2019-12-13 | 山东圣文环保科技有限公司 | Environment monitoring device based on remote monitoring |
-
2017
- 2017-03-16 CN CN201720254349.7U patent/CN206605490U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109491393A (en) * | 2018-12-10 | 2019-03-19 | 辽宁工程技术大学 | A kind of ball-type mobile robot based on STM32 single-chip microcontroller |
| CN109909981A (en) * | 2019-04-22 | 2019-06-21 | 滨州学院 | Spherical protective device |
| CN110567500A (en) * | 2019-09-19 | 2019-12-13 | 山东圣文环保科技有限公司 | Environment monitoring device based on remote monitoring |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171103 Termination date: 20200316 |