CN106005081B - A kind of mobile robot supporting smart machine - Google Patents
A kind of mobile robot supporting smart machine Download PDFInfo
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- CN106005081B CN106005081B CN201610521888.2A CN201610521888A CN106005081B CN 106005081 B CN106005081 B CN 106005081B CN 201610521888 A CN201610521888 A CN 201610521888A CN 106005081 B CN106005081 B CN 106005081B
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- 230000033001 locomotion Effects 0.000 claims abstract description 34
- 239000000463 material Substances 0.000 claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims abstract description 6
- 238000009434 installation Methods 0.000 claims abstract description 3
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 13
- 239000000741 silica gel Substances 0.000 claims description 13
- 229910002027 silica gel Inorganic materials 0.000 claims description 13
- 238000004804 winding Methods 0.000 claims description 13
- 238000005192 partition Methods 0.000 claims description 4
- 239000007779 soft material Substances 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 4
- 238000005299 abrasion Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 3
- 238000005452 bending Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 239000003795 chemical substances by application Substances 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 239000011122 softwood Substances 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000013475 authorization Methods 0.000 description 1
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- 230000000903 blocking effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 125000000623 heterocyclic group Chemical group 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000002633 protecting effect Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
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Classifications
-
- 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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04M—TELEPHONIC COMMUNICATION
- H04M1/00—Substation equipment, e.g. for use by subscribers
- H04M1/02—Constructional features of telephone sets
- H04M1/11—Supports for sets, e.g. incorporating armrests
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- Engineering & Computer Science (AREA)
- Signal Processing (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
本发明提供了一种支撑智能设备的移动机器人，包括带有智能设备安装位置的机身以及运动机构，其特征在于，所述运动机构包括：四个弧形支撑腿，分为两组，对称分布在机身两侧，每个弧形支撑腿的弧形凸起面朝下作为支撑面，所述弧形支撑腿的主体采用柔性材料，所述弧形支撑腿远离支撑面的一端通过转轴与机身连接，同一侧的两个弧形支撑腿的转动面相互平行；转动动力源，安装在机身上驱动四个弧形支撑腿绕转轴转动，四个弧形支撑腿共同转动带动机身运动；本发明的移动机器人的支撑脚采用弧形的构造，且材料是柔软的，使得机器人在十分崎岖的路面或柔软的平面具有很好的移动能力，并有效减轻智能设备的磨损和运动中受到的振动。
The present invention provides a mobile robot supporting an intelligent device, including a body with an installation position of the intelligent device and a motion mechanism, characterized in that the motion mechanism includes: four arc-shaped support legs, divided into two groups, symmetrical Distributed on both sides of the fuselage, the arc-shaped protrusion of each arc-shaped support leg faces downward as a support surface, the main body of the arc-shaped support leg is made of flexible material, and the end of the arc-shaped support leg away from the support surface passes through the rotating shaft Connected with the fuselage, the rotating surfaces of the two arc-shaped supporting legs on the same side are parallel to each other; the rotating power source is installed on the fuselage to drive the four arc-shaped supporting legs to rotate around the rotating shaft, and the four arc-shaped supporting legs rotate together to drive the motor body movement; the supporting feet of the mobile robot of the present invention adopt an arc-shaped structure, and the material is soft, so that the robot has a good ability to move on a very rough road or a soft plane, and effectively reduces the wear and movement of the smart device. vibrations received.
Description
Technical field
The present invention relates to the mobile bracket of smart machine, in particular to a kind of mobile robot for supporting smart machine.
Background technique
Smart machine especially smart phone and tablet computer is more more and more universal, following, smart machine
The combination of (such as mobile phone) and robot technology is a new technology and is also a new development field.But existing mobile phone
Robot fails the good marketization, goes further to the current consumption of people, therefore, it is difficult to apply to daily life
In.
Such as the patent document of 104633416 A of application publication number CN discloses a kind of multivariant removable mobile phone
Bracket belongs to electronic equipment accessories field.Which overcome lack what one kind can use under a various environment in the prior art
The defect of handset bracket.The main points of its technical scheme are that: it can make clamped electronic equipment that there is multiple degrees of freedom, to adapt to make
The different perspectives of user, and it is attached to the function of illumination.The bracket includes compressible desk lamp and fixed bracket two parts.Compressible
It is connected between lamp and fixed bracket by a rod piece.The pedestal of the compressible desk lamp is equipped with universal wheel, to increase institute
State the mobility of bracket.Because of the compressible structure of desk lamp, reduce the collection space of above-mentioned handset bracket, it is easy to carry,
Its adjustable vertical height simultaneously.Universal joint is installed behind above-mentioned handset bracket, can be used for adjusting handset bracket angle,
To adapt to different perspectives.
In another example the patent document of 205249301 U of Authorization Notice No. CN discloses a kind of box of mobile telephone that can be walked.It is wrapped
Include pedestal, support rod, accommodating case, indicator.Pedestal is connected with accommodating case by support rod, and USB interface is equipped in accommodating case, is used
In to the mobile phone charging being placed in accommodating case, pedestal is equipped with control panel, running gear, contactless collision prevention device, determines
Position device, fall-proofing device, power supply unit.Control signal needed for control panel is used to export box of mobile telephone walking, running gear band
Dynamic box of mobile telephone is walked according to control signals row, the box of mobile telephone avoiding obstacles in contactless collision prevention device control walking, anti-to fall
Dropping control device prevents from falling in box of mobile telephone walking, and positioning device guides box of mobile telephone to run to indicator location.Above-mentioned utility model
Realize it is convenient before sleeping place mobile phone, easily charge the phone, again can be from physics while guaranteeing mobile phone normal communication
Spatially make mobile phone far from the human body in sleep, avoid mobile phone radiation to the damage of human body, has reached what convenience got both with health
Purpose.
But there is also following disadvantages for existing mobile phone robot: 1, current mobile phone robot is independent mobile phone machine
Individual human relates generally to amusement and toy art, and structure is complicated, higher cost, causes market value not high.And most of production
Product stream not yet becomes popular mainstream consumer products in the theory Design and Features exploitation of innovation level；2, current mobile phone
Robot volume is larger, about the 3~8 of mobile phone itself volume times, causes inconvenient for use, and weight is larger, it is difficult to carry and push away
Extensively；3, current mobile phone robot is using power supply units such as independent batteries, and the waste for causing space and robot weight are significantly
Increase, and needs periodic replacement battery, the pollution to bring inconvenience with environment；4, current mobile phone robot technology uses hard material
Material is used as its entire infrastructure material, and sense organ comfort level is poor, and does not have shock resistance, and mobile phone is easily reduced by long-term vibration
Its service life etc.；5, current mobile phone robot mainly uses wheeled construction, is only limitted to transport on the hard plane face of flat-satin
It is dynamic, however often softness, the complex plane as bed surface, carpet surface etc. with the gradient and obstacle that user touches in living,
Common wheeled construction is difficult to be moved above, and does not have the abilities such as leaping over obstacles.
Summary of the invention
It is easy to use the present invention provides a kind of mobile robot for supporting smart machine, it is applied widely, and have
Good buffering effect effectively mitigates the vibration being subject in the abrasion and movement of smart machine.
A kind of mobile robot supporting smart machine, fuselage and fitness machine including having smart machine installation site
Structure, the movement mechanism include:
Four curved support legs, are divided into two groups, are symmetrically distributed in fuselage two sides, the arc convex face of each curved support leg
Be used as supporting surface downward, the main body of the curved support leg uses flexible material, the curved support leg far from supporting surface one
End is connect by shaft with fuselage, and the plane of rotation of two curved support legs of the same side is parallel to each other；
Rotational power source is mounted on fuselage and four curved support legs is driven to rotate around the axis, and four curved support legs are total
Fuselage movement is driven with rotation.
One end of curved support leg rotates to form the wheeled actuator of tulwar shape, be mainly used for drive robot planar into
Row moves freely, and due to its tulwar columnar structure, makes it have the ability that more powerful leaping over obstacles is compared with typical circular wheel, with
Realize smart machine (such as mobile phone) in complex environment (such as in disorder desktop) free movement, enhance the practical valence of product
Value.
Since curved support leg is by flexible material, i.e. soft material (such as silica gel) is made, and flexible material is exactly can be with
The material of extrusion deformation, if robot is met with during the motion when being difficult to the obstacle crossed over, flexible support leg can be deformed,
To break the barriers from slit, there is good adaptivity, and rotational power source (such as motor) is kept to be in rotation
State prevents from burning out motor because of overload or stall.
For the ease of using robot, it is preferred that curved support leg includes:
Flexible support bar, inside are equipped with the wire rope handling channel for extending to both ends along its length；
Drawstring passes through the wire rope handling channel；
Fixed end cap, is fixedly mounted on one end of the flexible support bar, for being fixedly connected with one end of drawstring；
Take-up module is fixedly mounted on the other end of the flexible support bar, and the other end for folding and unfolding drawstring is so that soft
Property support rod bending or stretch.
Workflow is as follows: when initial, take-up module loosens drawstring, is in zero position, i.e. flexible support bar does not generate change
Shape, in the state stretched, to save space.When the work is required, it is tightened at drawstring to plastic deformation piece by take-up module
It in suitable radian, is then rotated by motor driven flexible support bar, to realize the function of its plane motion.
Also, for different working environments, the different radian of flexible support bar can be set, make it have different get over
Barrier ability and degree of jolting, to adapt to corresponding operating condition.
In order to facilitate use, it is preferred that the take-up module includes:
Winding box is fixed on one end of the flexible support bar；
Roll is rotatably installed in winding box, and winding box is stretched out in one end, and one end of the drawstring is wound on roll
On；
Handle is fixed on one end that winding box is stretched out on the roll.
It is set on the winding box in order to facilitate locking roll it is further preferred that the roll can move axially
There is the locating slot to match with handle shape.Movement makes handle be caught in locating slot completion locking after roll completes take-up.
In use, draw-out handle pushes away handle after several circles of turn roll are in suitable radian to flexible support bar
Enter locating slot, to lock current state.
In order to be bent flexible support bar always towards same direction, it is preferred that be equipped at least two in each flexible support bar
Item wire rope handling channel disposed in parallel, plane where wire rope handling channel and the flexible support rod bending in same flexible support bar
Arcwall face it is substantially parallel.
In order to mitigate weight, reduce vibration, it is preferred that the fuselage includes:
Main body mounting box, is made of silica gel, and inner cavity is divided into upper layer and lower layer by partition, and lower layer is for installing rotational power source
And circuit element, upper layer is for placing smart machine.
In order to realize that carrying out operation on smart machine interface can control the function of robot motion, it is preferred that also wrap
The controller with the infrared transmitter of smart device communication, infrared remote receiver and the work of control rotational power source is included, it is described red
External transmitter emits infrared signal to smart machine, and infrared remote receiver is directly powered by controller, and smart machine is issued
Signal is passed in controller.
In order to reduce the weight and components of robot itself, it is preferred that be equipped in the main body mounting box and set with intelligence
The power outlet that available power port matches is to be mobile robot power supply by smart machine.
Beneficial effects of the present invention:
The supporting leg of mobile robot of the invention uses the construction of arc, and material is soft, so that robot exists
The plane on very rugged road surface or softness has good locomotivity, and in the abrasion and movement of effectively mitigation smart machine
The vibration being subject to.
Detailed description of the invention
Fig. 1 is the schematic perspective view of robot of the invention.
Fig. 2 is the overlooking structure diagram of robot of the invention.
Fig. 3 is the schematic view of the front view of robot of the invention.
Fig. 4 is the configuration schematic diagram of robot of the invention.
Fig. 5 is the configuration schematic diagram of curved support leg of the invention.
Fig. 6 is the enlarged structure schematic diagram of take-up module of the invention.
Fig. 7 is the schematic perspective view for pouring mold of flexible support bar of the invention.
Fig. 8 is the internal circuit diagram of robot of the invention.
Fig. 9 is the workflow line frame graph of robot of the invention.
Specific embodiment
As shown in figs. 1 to 6, the mobile robot of the present embodiment includes fuselage and four curved supports being fixed on fuselage
Leg 16, smart machine takes the mobile phone as an example in the present embodiment.
Each curved support leg 16 drives including arc, i.e., acinaciform flexible support bar 1, wire rope handling channel 2, line with high-strength
Spend drawstring 3, the fixation end cap 4 of fixed filament, take-up module 5, micromotor 6, hard and soft material shaft coupling 7.
The production of curved support leg 16, assembling process: production pours mold, as shown in fig. 7, pouring mold is divided into a mold left side
Three road hoses are inserted into as wearing in the rear baffle of right shell body 18, mold front and rear baffle 19, die bottom plate 20 → before a mold position of boxing out
It restricts channel 2, carries out pretension and both ends and knot the hard soft material shaft coupling of fixation → insertion 7 → according to silica gel: silica gel curing agent=
The silica gel ↑ silica gel of configuration is sufficiently stirred and pours into mold → that the proportion of 50:1 prepares certain degree of hardness is put into insulating box solidification
12 hours → remove and pour mold, retaining mold front and rear baffle 19 → cuttings hose made its both ends reservation length and mold front-and-back stop
Plate is concordant → and line is driven and is inserted into three road hoses respectively with high-intensitive drawstring 3, one end passes through fixed end cap 4 and compress admittedly
Fixed, other end filament end, which is fixed in take-up module 5 → is rotated, is tightened to flexible support bar 1 as the tightening head 21 of handle
Suitable shape → with fixed tightening head 21 in the insertion locating slot of tightening head 21 → fixes curved support leg 16 by shaft coupling 7
Get in the fuselage on micromotor 6, and then fixed to robot.
Workflow: when initial, being put in zero position for take-up module 5, i.e. flexible support bar 1 is not deformed, in stretching
Straight state, to save space.When the work is required, tightening head 21 is pulled out into locating slot, several circles of turn to flexible support bar 1
After suitable radian, tightening head 21 is pushed into locating slot, to lock current state.At this moment, can start to be controlled with mobile phone
It is rotated, to realize the function of its plane motion.Also, for different working environments, it is different that flexible support bar 1 can be set
Radian, different obstacle climbing ability is made it have and degree of jolting, to adapt to corresponding operating condition.
Structure function: curved support leg 16 is mainly used for that robot is driven planar to be moved freely, due to its spy
Different tulwar columnar structure makes it have the ability that more powerful leaping over obstacles is compared with typical circular wheel, to realize mobile phone multiple
The free movement of (such as in disorder desktop), enhances the practical value of product in heterocycle border.Also, since this actuator is by softwood
Material is made, if robot is met with during the motion when being difficult to the obstacle crossed over, flexible support bar 1 can be deformed, with
It breaks the barriers from slit, there is powerful adaptivity, and motor is kept to be in rotary state, prevent because overloading or blocking up
Turn to burn out motor.
Take-up module 5 includes the tightening head 21, winding box 22, front shroud 23 as handle, and winding box 22 is by four surface covers
(by the Road narrows for passing through filament on bottom plate) and the rectangle locating slot of 22 back plate of winding box form, and tightening head 22 is justified by coiling
Column, swivel head and the rectangle buckle composition for tightening 22 end of head.When needing to adjust the radian of flexible support bar, front shroud is opened
23, tightening head 22 is pulled out from 22 back plate locating slot of winding box, buckle is separated with locating slot, after rotating several circles, makes flexibility
Support rod 1 reaches the radian of target, and tightening head 22 is pressed into locating slot, to lock current 1 radian of flexible support bar, then is covered
Upper front shroud.
Fuselage includes main body mounting box 8 and hard partition 17 made of soft material, and mobile phone 9 is mounted on main body mounting box 8
Upper layer.
Main body mounting box 8 is poured by silica gel (silica gel: silica gel curing agent=50:2) and is made in a mold, by micromotor,
Circuit etc. is fixed on its lower layer, wherein four micromotors 6 are symmetrically fixed on lower layer by motor set, and circuit is fixed on bottom surface
The power supply lead-out wire 12 in center, the mobile phone of extraction is drawn outside main body mounting box 8 by the round hole of bottom rear and controller
Connected infrared remote receiver 11 is drawn outside main body mounting box 8 by the rectangular opening of bottom plate leading portion, is fixed on infrared transmitter 10
Forward position.Hard cover board is covered, is fixed in the locating slot of main body, mobile phone is placed on hard partition 17, due to main body
The inside dimension of mounting box 8 and the outside dimension of mobile phone are identical, and mobile phone is just fixed in shell.
Infrared remote control receiving module includes being connected by the channel attached infrared transmitter 10 of handset earphone and controller
Infrared remote receiver 11, infrared transmitter pass through the earphone channel emission infrared signal of mobile phone, and infrared remote receiver is by arduino
Nano controller is directly powered, and the signal that mobile phone is issued is passed in arduino controller.To realize on mobile phone interface
Carrying out operation can control the function of robot motion.
As shown in figure 8, the circuit structure in the present embodiment is as follows:
Mobile phone power supply module: including mobile phone power supply lead-out wire 12 and increasing apparatus 13, by the GND in mobile phone power supply lead-out wire
It is two-way with VCC points, is connected into the IN- and IN+ of bottom circuit all the way, the 5V voltage transformation for drawing mobile phone by boost module 13
To 9V, and arduino power supply is given, another way is powered without transformation directly to two miniature DC motor drive module L9110.
Other internal circuit blocks: including arduino nano controller 14 and motor drive ic 15, as described above, will
The 4 road channels pwm I/O of arduino nano controller connect, and are connected into 15 drive module of two panels motor drive ic respectively
IN1, IN3 and IN2, IN4, wherein two motors in same horizontal line share two path control signal.In addition, by arduino
The channel the I/O of pwm all the way of nano is connected into the signal port of infrared remote receiver, and GND and 3.3V are connected into infrared remote receiver respectively
Ground terminal and feeder ear.
Working principle and process:
As shown in figure 9, mobile phone robot conventional func process is as follows:
<1>working environment according to demand adjusts the tightening head 22 of robot, rotates the tightening head of 1 end of flexible support bar
22, the radian of flexible support bar 1 is adjusted, to adapt to different working environments.
With 1 length 10cm of flexible support bar, column diameter 5mm is tightened, flexible support bar 1 is without change when tightening head 22 screws 0 circle
For shape:
When in the accessible plane of hard slippery (such as clean desktop, ground) movement: screw tightening head 22, rotation 10~
12 circles；
When in soft smooth accessible plane (such as clean bed surface, sofa face) movement: screwing tightening head 22, rotation 8
~12 circles；
When in small obstacle plane (if any the desktop of the sundries such as books) movement: screwing tightening head 22,6~8 circle of rotation；
When in more obstacle planes (2 times of such as obstacle height more than mobile phone thickness) movement: screwing tightening head 22, rotation
3~8 circles；
<2>mobile phone is put into robot shell, since the inside dimension of shell and the outside dimension of mobile phone are identical, mobile phone is just consolidated
Due in shell.
<3>the power supply lead-out wire of mobile phone robot is connected at the power hole of mobile phone, is powered for robot.It opens in mobile phone
Remote control spirit APP, opening remote control interface.
<4>remote control command is inputted in mobile phone graphical operation interface.
<5>remote control command includes " advance " " retrogressing " " left-hand rotation " " right-hand rotation " " increasing movement speed " " reducing movement speed "
Seven kinds of " stop or brake ", passes through seven buttons instruction in graphical operation interface respectively.
<6>according to the order of input, the infrared transmitter of mobile phone connection issues corresponding infrared signal.
<7>infrared remote receiver being connected with controller receives signal, and signal is passed to controller, and four roads of control are miniature
It is as follows to act corresponding controller control signal for motor action:
When order is certain in five kinds of directionality order " advances " " retrogressings " " left-hand rotation " " right-hand rotation " " stopping or brake ",
Single-chip microcontroller is moved by changing D0~D3 mouthfuls of low and high level control No. four motors, and corresponding control signal is as shown in the table:
When order enables " increasing movement speed " " reducing movement speed " for speed regulation life, by changing accounting for for four road signals
Sky than changing motor speed, pwm pulse-width signal duty ratio x in arduino single-chip microcontroller with 0~255 digital representation,
Define initial value x0=200；When receiving order " increasing movement speed ", x=x+1, if judgement x > 255, x=255；When connecing
When receiving order " reducing movement speed ", x=x-1, if judgement x < 0, x=0.X is kept in the case of other.
Robot expanding function:
(1) function is recovered automatically
Such product has the function of to recover automatically, and when lost mobile phone, user has wireless locating function using another
Mobile phone carry out mobile phone and recall, to mobile phone sending signal is lost, lose wireless location system built-in in mobile phone and enable, judge mesh
The direction and distance of punctuate and current location, carry out motion planning, and the mobile phone for controlling loss moves at target mobile phones.It is suitable for
Short-range mobile phone recovers function.
(2) long-range remote control function
With another mobile phone remote target mobile phones robot with infrared emission function, it can control in certain distance model
It is moved to corresponding position in enclosing, or makes respective action, is mainly used for remotely taking object, entertainment teaching etc..
(3) other amusement functions
By the binding with cell-phone function, the Hardware of mobile phone interface is realized, novel based on mobile phone robot of exploitation is chatted
Its " expression " --- i.e. " expression " function pattern or animation for being not limited only to mobile phone interface, also comprising mobile phone robot
Movement, such as " walking front and back ", " yaw ", " standing ".
The mobile robot of the present embodiment solves following problems in the prior art:
1, using soft material structure, mitigate vibration and weight etc..
Primary structure using the silica gel of rational proportion as robot has preferable due to the buffer capacity of soft material
Protecting effect, mitigate the vibration being subject in the abrasion and movement of mobile phone, prolong the service life.And due to silica gel material density compared with
Small, such product can mitigate its weight significantly, easy to carry and use.
Using the novel movement mechanism based on soft material, there is preferable complicated ground locomitivity, and there is softwood
Expect distinctive mechanical protection ability and adaptivity etc..
2, ratcheting mechanism (arc support rod) is deformed using tulwar shape made of silica gel, there is preferable obstacle crossing ability
(such as obstacle detouring and soft bed face walking ability), and overload protection ability and powerful adaptive is made it have by the use of soft material
Ying Xing.
3, it is powered using mobile phone, mitigates volume and weight, reduce the trouble of replacement battery.
Cellular phone power supplies are drawn through two transforming circuits respectively to the controller of robot interior and miniature by such product
Motor is powered and drives, and no longer needs to save inner space using individual lithium battery, mitigates weight, be conducive to mobile phone machine
The miniaturization of device people, it is easy to carry and use.Without carrying out the replacement of mobile phone robot battery, the trouble of assembly and disassembly circuit is reduced.
4, it is communicated by mobile phone infrared module and robot interior controller, is directly remotely controlled using mobile phone remote APP
Robot motion reduces Operating Complexity, and can realize that separate type is remotely controlled.
Such product connects infrared transmitter by handset earphone channel, and the infrared remote receiver that robot controller connects connects
It receives infrared-ray and, without using remote controler etc., reduces the complexity of operation to realize the direct remote control of mobile phone interface.And it can
To realize mobile phone-robot separate type short range remote.
5, by the use of micromotor and circuit, the miniaturization of mobile phone robot is realized.
Such product selects micromotor to drive by the design of microcircuit, saves inner space and weight, is convenient for
Mobile phone robot carries and uses.
6, by multi-route driving flexibly direct writing device deformation, by changing the shape of actuator to adapt to different work
Environment.
The flexible bending knife-like deformation wheel of mobile phone robot is driven to be deformed by line, to adapt to different working environments,
Simultaneously by the change of shape, the occupied space of actuator is saved, realizes the miniaturization of mobile phone robot.
Claims (6)
1. a kind of mobile robot for supporting smart machine, fuselage and fitness machine including having smart machine installation site
Structure, which is characterized in that the movement mechanism includes:
Four curved support legs, are divided into two groups, are symmetrically distributed in fuselage two sides, and the arc convex of each curved support leg is face-down
As supporting surface, the main body of the curved support leg uses flexible material, and the one end of the curved support leg far from supporting surface is logical
It crosses shaft to connect with fuselage, the plane of rotation of two curved support legs of the same side is parallel to each other；
Rotational power source is mounted on fuselage and four curved support legs is driven to rotate around the axis, and four curved support legs turn jointly
It is dynamic to drive fuselage movement；
Curved support leg includes:
Flexible support bar, inside are equipped with the wire rope handling channel for extending to both ends along its length；
Drawstring passes through the wire rope handling channel；
Fixed end cap, is fixedly mounted on one end of the flexible support bar, for being fixedly connected with one end of drawstring；
Take-up module is fixedly mounted on the other end of the flexible support bar, and the other end for folding and unfolding drawstring is so that flexible prop up
Strut is bent or stretches.
2. the mobile robot of support smart machine as described in claim 1, which is characterized in that the take-up module includes:
Winding box is fixed on one end of the flexible support bar；
Roll is rotatably installed in winding box, and winding box is stretched out in one end, and one end of the drawstring is on roll；
Handle is fixed on one end that winding box is stretched out on the roll.
3. the mobile robot of support smart machine as described in claim 1, which is characterized in that set in each flexible support bar
There are at least two wire rope handling channels disposed in parallel, the plane and the flexible branch where wire rope handling channel in same flexible support bar
The curved arcwall face of strut is substantially parallel.
4. the mobile robot of support smart machine as described in claim 1, which is characterized in that the fuselage includes:
Main body mounting box, is made of silica gel, and inner cavity is divided into upper layer and lower layer by partition, lower layer for install rotational power source and
Circuit element, upper layer is for placing smart machine.
5. the mobile robot of support smart machine as described in claim 1, which is characterized in that further include logical with smart machine
The controller of the infrared transmitter of letter, infrared remote receiver and the work of control rotational power source, the infrared transmitter is to intelligence
Equipment emits infrared signal, and infrared remote receiver is directly powered by controller, and the signal that smart machine is issued is passed to controller
In.
6. the mobile robot of support smart machine as claimed in claim 4, which is characterized in that set in the main body mounting box
There is the power outlet matched with smart machine power supply port to power by smart machine for the mobile robot.
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| CN106864618B (en) * | 2017-04-07 | 2019-07-26 | 重庆大学 | Wheel-leg walking mechanism |
| CN109278886A (en) * | 2018-09-30 | 2019-01-29 | 北京航空航天大学 | A four-segment omnidirectional crawling and rolling quadruped robot |
| CN116001947B (en) * | 2023-01-16 | 2024-11-12 | 西北工业大学深圳研究院 | Quadruped piezoelectric crawling robot and control method thereof |
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| CN103241303A (en) * | 2013-05-13 | 2013-08-14 | 东南大学 | Wheel leg type mobile robot with flexible trunk |
| CN205208038U (en) * | 2015-12-02 | 2016-05-04 | 长安大学 | Pipeline monitoring robot |
| CN205872228U (en) * | 2016-06-29 | 2017-01-11 | 浙江大学 | Support mobile robot of smart machine |
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| US7982423B2 (en) * | 2007-07-04 | 2011-07-19 | Bossa Nova Concepts, Llc | Statically stable biped robotic mechanism and method of actuating |
| TWI370796B (en) * | 2009-10-29 | 2012-08-21 | Univ Nat Taiwan | Leg-wheel hybrid mobile platform |
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|---|---|---|---|---|
| CN103241303A (en) * | 2013-05-13 | 2013-08-14 | 东南大学 | Wheel leg type mobile robot with flexible trunk |
| CN205208038U (en) * | 2015-12-02 | 2016-05-04 | 长安大学 | Pipeline monitoring robot |
| CN205872228U (en) * | 2016-06-29 | 2017-01-11 | 浙江大学 | Support mobile robot of smart machine |
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