CN206606272U - Acoustic control quadruped robot - Google Patents
Acoustic control quadruped robot Download PDFInfo
- Publication number
- CN206606272U CN206606272U CN201720287273.8U CN201720287273U CN206606272U CN 206606272 U CN206606272 U CN 206606272U CN 201720287273 U CN201720287273 U CN 201720287273U CN 206606272 U CN206606272 U CN 206606272U
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- walking leg
- motors
- quadruped robot
- control chip
- control
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Abstract
A kind of acoustic control quadruped robot, it includes substrate, afterwards preceding walking leg, walking leg, sound transducer, control chip and TT motors, TT motors are fixed on the bottom of substrate, the output shaft of TT motors both sides is respectively fixed with eccentric wheel, the eccentric wheel of both sides is respectively fixed with an eccentric shaft, the outer end of eccentric shaft is fixedly connected with the lower end of preceding walking leg, the bottom of substrate, which is located on rear side of eccentric wheel, is supported with a rotating shaft, lower end of the two ends of rotating shaft respectively with rear walking leg is fixedly connected, and is fixedly connected between preceding walking leg and rear walking leg by connecting rod；The signal output part of sound transducer and the input pin of control chip are connected, and the output pin of control chip is connected through switching device with the control end of TT motors.The utility model quadruped robot drives advance using sound wave as control signal, and by the link transmission structure of quadruped robot, realizes that quadruped robot is walked.
Description
Technical field
The utility model is related to robot field, and in particular to a kind of acoustic control quadruped robot.
Background technology
At present, the quadruped robot that a variety of structures are different, function is different has also been worked out both at home and abroad.Quadruped robot
Have the advantages that exercise performance is strong, strong adaptability, stability are good, quadruped robot can adapt to rough landform, and
Show superpower anti-side direction perturbation ability.Therefore the research on quadruped robot is also more and more and more and more deep.
Utility model content
The purpose of this utility model is to provide a kind of acoustic control quadruped robot, is controlled by sound wave before quadruped robot
Enter.
To achieve the above object, the utility model is adopted the technical scheme that：
A kind of acoustic control quadruped robot, it include substrate, preceding walking leg, afterwards walking leg, sound transducer, control chip and
TT motors, TT motors are fixed on the bottom of substrate, and the output shaft of TT motors both sides is respectively fixed with eccentric wheel, the eccentric wheel of both sides
An eccentric shaft is respectively fixed with, the outer end of eccentric shaft is fixedly connected with the lower end with preceding walking leg, and the bottom of substrate is located at bias
A rotating shaft is supported with rear side of wheel, the two ends of rotating shaft are fixedly connected with the rear lower end for walking leg respectively, preceding walking leg and rear walking
It is fixedly connected between leg by connecting rod；The signal output part of sound transducer and the input pin of control chip are connected, and control core
The output pin of piece is connected through switching device with the control end of TT motors.
When in use, when sound transducer receives a sound wave, sound transducer can produce a voltage signal and by electricity
Pressure signal passes to control chip, and control chip is received after input signal, and one is inputted to switching device by input pin
Control signal, control signal makes switch device conductive, so that TT motor startings, TT motors driving eccentric wheel is rotated, it is eccentric
Wheel drive moves ahead away leg to walking, and quadruped robot advances forward.
Further, the upper end of the preceding walking leg is fixedly connected by connecting rod with the lower end of rear walking leg, preceding walking leg
Lower end be fixedly connected by connecting rod with the upper end of rear walking leg.By way of connecting rod interconnection, leg of walking both is kept
Balance strengthens stability again.
As a kind of improvement of the present utility model, the sound transducer, control chip and TT motors share a power supply, sound
Sound sensor, control chip and TT motors are connected in parallel between power positive cathode respectively, and switching device is triode, triode
On the loop for being connected on TT motors, the base stage of triode and the output pin of control chip are connected.
Further, resistance is provided between the base stage of the triode and the output pin of control chip.
Further, also it is parallel with an electric capacity between the power positive cathode.Reactive-load compensation work can be played by being parallel with electric capacity
With.
Further, the robot is provided with light emitting diode, and the output of the positive pole and control chip of light emitting diode is drawn
Pin is connected, and the negative pole of light emitting diode is connected with power cathode.When robot is in running order, control chip will be to hair
Optical diode inputs a malleation so that LEDs ON.
Further, the microphone of the sound transducer is condenser type Electret condenser microphone.Sound wave makes the electret in microphone
Vibration of thin membrane, causes the change of electric capacity, and produces the small voltage for corresponding to change therewith.
Described control chip is single-chip microcomputer.
Compared with prior art, the utility model has advantages below：
The utility model quadruped robot drives advance, and the connecting rod for passing through quadruped robot using sound wave as control signal
Drive mechanism, realizes that quadruped robot is walked.
Brief description of the drawings
Fig. 1 is the stereogram of the utility model acoustic control quadruped robot；
Fig. 2 is Fig. 1 another angular views；
Fig. 3 is the circuit connection diagram of the utility model acoustic control quadruped robot.
Embodiment
Content of the present utility model is described in further details with reference to the accompanying drawings and detailed description.
Embodiment
A kind of acoustic control quadruped robot, it includes substrate 1, preceding walking leg 2, rear walking leg 4, sound transducer 5, control core
Piece 6 and TT motors 2, wherein control chip 6 are single-chip microcomputer.
The microphone of sound transducer 5 is condenser type Electret condenser microphone.Sound wave vibrates the electret film in microphone, causes
The change of electric capacity, and produce the small voltage for corresponding to change therewith.
TT motors 2 are fixed on the bottom of substrate 1, and the output shaft 11 of the both sides of TT motors 2 is respectively fixed with eccentric wheel 7, both sides
Eccentric wheel 7 be respectively fixed with an eccentric shaft 8, the outer end of eccentric shaft 8 is fixedly connected with the lower end with preceding walking leg 3.
The rear side that the bottom of substrate 1 is located at eccentric wheel 7 is supported with a rotating shaft 10, specifically, positioned at the base of the rear side of eccentric wheel 7
The both sides of the bottom of plate 1 are extended with location-plate 12 separately down, and rotating shaft 10 is supported between the location-plate 12 of both sides；The two of rotating shaft 10
Lower end of the end respectively with rear walking leg 4 is fixedly connected, and is fixedly connected between preceding walking leg 2 and rear walking leg 4 by connecting rod 9.
In the present embodiment, the upper end of preceding walking leg 3 is fixedly connected by connecting rod 9 with the lower end of rear walking leg 4, preceding walking
The lower end of leg 3 is fixedly connected by connecting rod 9 with the upper end of rear walking leg 4.By way of connecting rod interconnection, walking is both kept
The balance of leg strengthens stability again.
The signal output part of sound transducer 5 is connected with the input pin of control chip 6, the output pin of control chip 6
It is connected through switching device with the control end of TT motors 2.Control chip controls the logical of TT motors according to the signal of sound transducer
It is disconnected.
When in use, when sound transducer receives a sound wave, sound transducer can produce a voltage signal and by electricity
Pressure signal passes to control chip, and control chip is received after input signal, and one is inputted to switching device by input pin
Control signal, control signal makes switch device conductive, so that TT motor startings, TT motors driving eccentric wheel is rotated, it is eccentric
Wheel drive moves ahead away leg to walking, and quadruped robot advances forward.
In the present embodiment, the shared power supply 13 of sound transducer 5, control chip 6 and TT motors 2, sound transducer 5,
Control chip 6 and TT motors 2 are connected in parallel between the both positive and negative polarity of power supply 13 respectively, and switching device is triode 14, triode 14
On the loop for being connected on TT motors 2, the base stage of triode 14 is connected with the output pin of control chip 6；Wherein triode 14
Resistance 17 is provided between the output pin of base stage and control chip 6, it is excessive for limiting electric current.
In one embodiment of the present utility model, an electric capacity 16 is also parallel between the both positive and negative polarity of power supply 13.It is parallel with electricity
Appearance can play inactive power compensation.
In one embodiment of the present utility model, the robot is provided with light emitting diode 15, light emitting diode 15
Positive pole is connected with the output pin of control chip 6, and the negative pole of light emitting diode 15 is connected with the negative pole of power supply 13.When robot is in
During working condition, control chip will input a malleation to light emitting diode so that LEDs ON.
Above-listed detailed description is illustrating for the utility model possible embodiments, and the embodiment is simultaneously not used to limitation
The scope of the claims of the present utility model, all equivalence enforcements or change without departing from carried out by the utility model are intended to be limited solely by this case
In the scope of the claims.
Claims (8)
1. a kind of acoustic control quadruped robot, it is characterised in that：Including substrate, afterwards preceding walking leg, walking leg, sound transducer, control
Coremaking piece and TT motors, TT motors are fixed on the bottom of substrate, and the output shaft of TT motors both sides is respectively fixed with eccentric wheel, both sides
Eccentric wheel be respectively fixed with an eccentric shaft, the outer end of eccentric shaft is fixedly connected with the lower end with preceding walking leg, the bottom of substrate
A rotating shaft is supported with rear side of eccentric wheel, the two ends of rotating shaft are fixedly connected with the rear lower end for walking leg respectively, preceding walking leg
It is fixedly connected between rear walking leg by connecting rod；The signal output part of sound transducer and the input pin of control chip connect
Connect, the output pin of control chip is connected through switching device with the control end of TT motors.
2. acoustic control quadruped robot according to claim 1, it is characterised in that：The upper end of walking leg passes through connecting rod before described
It is fixedly connected with the lower end of rear walking leg, the lower end of preceding walking leg is fixedly connected by connecting rod with the upper end of rear walking leg.
3. acoustic control quadruped robot according to claim 1, it is characterised in that：The sound transducer, control chip and
TT motors share a power supply, and sound transducer, control chip and TT motors are connected in parallel between power positive cathode respectively, switch
Device is triode, and triode is connected on the loop of TT motors, and the base stage of triode and the output pin of control chip are connected.
4. acoustic control quadruped robot according to claim 3, it is characterised in that：The base stage and control chip of the triode
Output pin between be provided with resistance.
5. acoustic control quadruped robot according to claim 3, it is characterised in that：Also it is parallel between the power positive cathode
One electric capacity.
6. acoustic control quadruped robot according to claim 3, it is characterised in that：The robot is provided with light emitting diode,
The positive pole of light emitting diode and the output pin of control chip are connected, and the negative pole of light emitting diode is connected with power cathode.
7. acoustic control quadruped robot according to claim 1, it is characterised in that：The microphone of the sound transducer is electric capacity
Formula Electret condenser microphone.
8. acoustic control quadruped robot according to claim 1, it is characterised in that：Described control chip is single-chip microcomputer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720287273.8U CN206606272U (en) | 2017-03-21 | 2017-03-21 | Acoustic control quadruped robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720287273.8U CN206606272U (en) | 2017-03-21 | 2017-03-21 | Acoustic control quadruped robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206606272U true CN206606272U (en) | 2017-11-03 |
Family
ID=60166816
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720287273.8U Active CN206606272U (en) | 2017-03-21 | 2017-03-21 | Acoustic control quadruped robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206606272U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107826175A (en) * | 2017-12-04 | 2018-03-23 | 广东职业技术学院 | A kind of four feet walking robot |
| CN108674522A (en) * | 2018-07-13 | 2018-10-19 | 杭州溪居科技有限公司 | A kind of paper folding robot with acoustic control and barrier avoiding function |
| CN110065552A (en) * | 2019-05-22 | 2019-07-30 | 贵州大学 | A kind of voice control quadruped robot |
| CN110932173A (en) * | 2019-12-09 | 2020-03-27 | 国家电网有限公司 | Obstacle crossing robot for overhead line |
| CN114571473A (en) * | 2020-12-01 | 2022-06-03 | 北京小米移动软件有限公司 | Control method and device for foot type robot and foot type robot |
-
2017
- 2017-03-21 CN CN201720287273.8U patent/CN206606272U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107826175A (en) * | 2017-12-04 | 2018-03-23 | 广东职业技术学院 | A kind of four feet walking robot |
| CN108674522A (en) * | 2018-07-13 | 2018-10-19 | 杭州溪居科技有限公司 | A kind of paper folding robot with acoustic control and barrier avoiding function |
| CN110065552A (en) * | 2019-05-22 | 2019-07-30 | 贵州大学 | A kind of voice control quadruped robot |
| CN110932173A (en) * | 2019-12-09 | 2020-03-27 | 国家电网有限公司 | Obstacle crossing robot for overhead line |
| CN114571473A (en) * | 2020-12-01 | 2022-06-03 | 北京小米移动软件有限公司 | Control method and device for foot type robot and foot type robot |
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