简单的往复机器人

简单的往复机器人 A common theme in robot contests is to have a robot drive straight forward to a wall detect the barrier and reverse straight back to the starting point I previously posted a basic robot that accomplishes this goal uses two chips with the direction remembered by a flip flop A couple of people wrote me to ask 机器人竞赛的一个共同主题是驱动机器人直线前进到墙上 检测障碍 扭转直接回到起 点 我以前发布的一个基本的机器人 采用两个芯片完成这一目标 方向记忆触发器 两 个人问我 Can you make the robot even simpler My motor needs a voltage above 6V which is the limit for the logic chip Can you make a back and forth robot that permits higher voltages 你可以使机器人更简单吗 我的电机需要一个以上电压 6V 这是逻辑芯片的限制 你可以做一回 来回的机器人 允许更高的电压 Yes Let s build a forward reverse robot with a single motor and only a single 8 pin off the shelf chip 没错 让我们建一个单一电机的正反转机器人 只有一个 8 针的现成的芯片 The robot is built on a 170 tie point mini solderless breadboard SparkFun PRT 08801 to make it that much easier for readers to reproduce themselves 机器人是建立在 170 搭配点小型面包板 SparkFun 台北爱乐 08801 使其更容易为 读者自我复制 Back And Forth robot on a solderless breadboard 往复机器人焊试验电路板 Because my robot is fairly small 35 mm x 60 mm or about 1 5 by 2 25 with a high efficiency Swiss motor I chose to power it from a pair of lithium CR1 3N cells for a total of 6 V But if you have a larger platform or more power hungry motors you can use a 9 V battery instead Note Lithium cells such as CR1 3N DL1 3N and 2L76 cannot put out more than 60 mA of current which is too little to drive most motors 因为我的机器人是相当小的 35 毫米 60 毫米或约 1 5 2 25 一个高效率的瑞士电机 我选择了两节锂 CR1 3N 电池共为 6 V 电源 但 如果你有一个更大的平台或更耗电的马 达 你可以使用 9 伏电池代替 注 如 CR1 3N DL1 3N 2L76 锂电池不能放超过 60 毫安的电流 这不能推动大多数电机 The heart of the robot is a Clare Semiconductor IXDI604PI dual inverting 4A MOSFET driver IC1 The IXYS IXDI404PI can be substituted if you have some lying around like I did This chip is designed to drive MOSFET transistors but I use the chip all over the place for driving light gearmotors 机器人的核心是 克莱尔半导体 IXDI604PI 双反相 4A MOSFET 驱动器 IC1 的 的艾赛斯 IXDI404PI 可以被取代 如果你有一些躺在附近 像 我一样 该芯片设计用于驱动 MOSFET 晶体管 但我使用的芯片在驾驶 轻型齿轮减速机的地方 As you ll see on the schematic pages that follow a pair of resistors R2 R3 feed the outputs of the motor driver chip back into the inputs so that the chip can remember the current state 正如您所看到的电路图页 一双一对电阻 R2 和 R3 喂电机驱动芯片的输出 到输入 使该芯片能记住当前的状态 The robot has a snap action switch on the back SW2 and the front SW3 to detect collisions with walls or other obstacles However the circuit will work with ordinary pushbuttons or even spring whiskers passing through loops of wire 机器人上的背面 SW2 快动开关和前面 SW3 的检测与墙壁或其他障碍物 碰撞 然而 该电路将与普通按钮或通过电线回路传递春天晶须 Underside of robot with a single escap motor Since the robot doesn t spin or turn only a single motor M1 is required to provide motion Additional wheels allow the robot to roll smoothly but are not powered A pair of 1 8 inch holes permits the wires to pass up the stack from the bottom to the breadboard Side view of simple back and forth robot From top to bottom the layers are 1 Electronic components 2 Blue solderless breadboard 3 Double sided sticky tape unused that electrically insulates the metal strips underneath the breadboard 4