CN107351128A - A kind of steering wheel for robot - Google Patents
A kind of steering wheel for robot Download PDFInfo
- Publication number
- CN107351128A CN107351128A CN201710785437.4A CN201710785437A CN107351128A CN 107351128 A CN107351128 A CN 107351128A CN 201710785437 A CN201710785437 A CN 201710785437A CN 107351128 A CN107351128 A CN 107351128A
- Authority
- CN
- China
- Prior art keywords
- steering wheel
- chip microcomputer
- grating
- main shaft
- wheel main
- 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.)
- Pending
Links
- 230000007704 transition Effects 0.000 claims abstract description 7
- 230000005540 biological transmission Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
A kind of steering wheel for robot, including steering wheel main body, single-chip microcomputer, grating encoder, potentiometer, the steering wheel main body includes steering wheel main shaft, steering engine controller, the steering engine controller is electric, the potentiometer and grating encoder are electrically connected to single-chip microcomputer, the steering wheel main shaft correspondence position of the potentiometer resistance is recorded in the single-chip microcomputer as initial position, the grating encoder includes photovoltaic converter and grating disc, for the steering wheel main shaft in units of the grating of grating disc, the level transition times of corresponding photovoltaic converter and single-chip microcomputer carry out angle rotation.Steering wheel main shaft is in units of the grating of the grating disc of grating encoder, the progress angle rotation of level transition times is corresponded to caused by corresponding photovoltaic converter and single-chip microcomputer, because the anglec of rotation and grating are linear relationship, effectively solve potentiometer this physical characteristic shortcoming different as steering wheel angle sensor unit resistance curve, reach the purpose for the anglec of rotation for being precisely controlled steering wheel main shaft.
Description
Technical field
The present invention relates to robot field, specially a kind of steering wheel for robot.
Background technology
In the prior art, the steering wheel of robot is operated using potentiometer as steering wheel angle sensor unit, due to each
The resistance curve of potentiometer is not fully identical, also, resistance adjustment angle of the steering wheel according to potentiometer, and this results in steering wheel
The anglec of rotation have deviation, cause the action of robot stiff, uncoordinated.
The content of the invention
It is an object of the invention to provide one kind can effectively solve potentiometer as steering wheel angle sensor unit resistance curve
This different physical characteristic shortcomings, the raster grid by grating encoder are unit, accurately control steering wheel to rotate, make machine
The motion of people is more natural.
The technical scheme is that：A kind of steering wheel for robot, including single-chip microcomputer, are electrically connected to the single-chip microcomputer
Steering wheel, the grating encoder that is electrically connected to the potentiometer of the single-chip microcomputer, is electrically connected to the single-chip microcomputer；
The steering wheel includes the motor drive ic that steering wheel main shaft is used to control the steering wheel main shaft start and stop, and the motor drives
Dynamic chip is electrically connected to the single-chip microcomputer；
The grating encoder includes photovoltaic converter and grating disc, and the grating disc is fixed in the steering wheel main shaft, single
The rotational angle of the saltus step numerical value of piece machine and the steering wheel main shaft is linear.
Preferably, the single-chip microcomputer includes timer, and the timer is carried out to the transition times of single-chip I/O mouth level
Count.
The present invention helpfulness be：Steering wheel main shaft is in units of the grating of the grating disc of grating encoder, corresponding light
The progress angle rotation of level transition times is corresponded to caused by electric converter and single-chip microcomputer, because the anglec of rotation and grating are closed to be linear
System, can effectively solve potentiometer this physical characteristic shortcoming different as steering wheel angle sensor unit resistance curve, reach essence
The purpose of the anglec of rotation of quasi- control flaps owner axle so that the motion of robot is more natural, coordinates, and grating encoder price
It is cheap, it can effectively reduce production cost.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the block diagram of grating encoder.
Embodiment
The embodiment of the present invention is described in further detail below in conjunction with accompanying drawing.
A kind of steering wheel for robot, including steering wheel 1, single-chip microcomputer 2, potentiometer 3, grating encoder 4, steering wheel 1 include
Steering wheel main shaft 102, the motor drive ic 101 for stopping or starting for control flaps owner axle 102, steering wheel main shaft 102 it is initial
Position is provided by potentiometer：Potentiometer 5 is electrically connected to single-chip microcomputer 2, and potentiometer voltage is measured using Chip Microcomputer A/D (analog-to-digital conversion),
The resistance of potentiometer 3 is calculated, and is recorded in using the current resistance of potentiometer 3 and its correspondence position of steering wheel main shaft 3 as initial position
In single-chip microcomputer 2, it is adjusted to unanimously to provide parameter for the initial position of steering wheel 1, the grating encoder 4 includes photovoltaic converter
41 and grating disc 42, grating disc 42 installed around steering wheel main shaft 102, the single-chip microcomputer 2 is electrically connected to grating encoder 4, when
The grid of grating disc 42 often detects a lattice of passing by by photovoltaic converter 41, and the level of photovoltaic converter 41 can height saltus step one
It is secondary, and its saltus step information transfer, to single-chip microcomputer 2, the I/O port of the single-chip microcomputer 2 produces the low and high level saltus step of corresponding number, institute
State the timer 21 inside single-chip microcomputer 2 to count the transition times of I/O port low and high level, because of remembered saltus step numerical value and steering wheel
The rotational angle of main shaft 102 is linear, so, it can be worth corresponding angle according to number of transitions.When the rotation of steering wheel main shaft 102
After gyration reaches order predetermined angular, motor drive ic 101 can pin steering wheel main shaft 102.
Embodiment 1:
Grating disc 42 has 360 grids, passes through 360/360=1 after calculating, the linear relationship of grid number (y) and the number of degrees (x)
For y=x.Steering wheel divides main story and reversion, defines main story raster count and adds, and Domain Inversion Gratings are counted as subtracting, if making steering wheel main shaft positive
100 ° are rotated, then to the logical positive electricity of steering wheel main shaft 102, is reached by photovoltaic converter 41 to the numerical value of the timer transmission of single-chip microcomputer 2
To after 100, motor drive ic 101 can lock steering wheel main shaft 102, stop its rotation.
Embodiment 2：
Grating disc 42 has 720 grids, passes through 720/360=2 after calculating, the linear relationship of grid number (y) and the number of degrees (x)
For y=2x.Steering wheel divides main story and reversion, defines main story raster count and adds, Domain Inversion Gratings are counted as subtracting, if making steering wheel main shaft reverse
Rotate 180 °, then to the logical reversely electricity of steering wheel main shaft 102, the numerical value 360 by photovoltaic converter 41 to the timer transmission of single-chip microcomputer 2
After reducing to 0, motor drive ic 101 can lock steering wheel main shaft 102, stop its rotation.
Finally illustrate, preferred embodiment above is merely illustrative of the technical solution of the present invention and unrestricted, although logical
Cross above preferred embodiment the present invention is described in detail, but should be appreciated that can be by art personnel
Various changes are made to it in form and in details, without departing from claims of the present invention limited range.
Claims (2)
1. a kind of steering wheel for robot, it is characterised in that including single-chip microcomputer (2), be electrically connected to the rudder of the single-chip microcomputer (2)
Machine (1), the potentiometer (3) for being electrically connected to the single-chip microcomputer (2), the grating encoder (4) for being electrically connected to the single-chip microcomputer (2)；
The steering wheel (1) includes steering wheel main shaft (102), the motor drive ic for controlling steering wheel main shaft (102) start and stop
(101), the motor drive ic (101) is electrically connected to the single-chip microcomputer (2)；
The grating encoder (4) includes photovoltaic converter (41) and grating disc (42), and the grating disc (42) is fixed in described
Steering wheel main shaft (102), the saltus step numerical value of single-chip microcomputer (2) and the rotational angle of the steering wheel main shaft (102) are linear.
2. a kind of steering wheel for robot according to claim 1, it is characterised in that the single-chip microcomputer (2) includes fixed
When device (21), the timer (21) counts to the transition times of single-chip microcomputer (2) I/O port level.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710785437.4A CN107351128A (en) | 2017-09-04 | 2017-09-04 | A kind of steering wheel for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710785437.4A CN107351128A (en) | 2017-09-04 | 2017-09-04 | A kind of steering wheel for robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107351128A true CN107351128A (en) | 2017-11-17 |
Family
ID=60290687
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710785437.4A Pending CN107351128A (en) | 2017-09-04 | 2017-09-04 | A kind of steering wheel for robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107351128A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109316709A (en) * | 2018-12-19 | 2019-02-12 | 青岛英派斯健康科技股份有限公司 | A kind of pneumatic fitness equipment and its cylinder |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101659320A (en) * | 2009-09-18 | 2010-03-03 | 哈尔滨工程大学 | Intelligent steering gear with adjustable revolution speed for unmanned submersible vehicle |
| CN203804996U (en) * | 2014-04-04 | 2014-09-03 | 华南理工大学广州学院 | Steering engine for joints of household robot |
| CN204421934U (en) * | 2015-03-06 | 2015-06-24 | 浙江琦星电子有限公司 | A kind of scrambler grating disc and photoelectric encoder |
| CN106143862A (en) * | 2016-05-23 | 2016-11-23 | 哈尔滨工程大学 | A kind of ship steering engine driving means and detecting system thereof |
| CN207172125U (en) * | 2017-09-04 | 2018-04-03 | 徐州木牛流马机器人科技有限公司 | A kind of steering wheel for robot |
-
2017
- 2017-09-04 CN CN201710785437.4A patent/CN107351128A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101659320A (en) * | 2009-09-18 | 2010-03-03 | 哈尔滨工程大学 | Intelligent steering gear with adjustable revolution speed for unmanned submersible vehicle |
| CN203804996U (en) * | 2014-04-04 | 2014-09-03 | 华南理工大学广州学院 | Steering engine for joints of household robot |
| CN204421934U (en) * | 2015-03-06 | 2015-06-24 | 浙江琦星电子有限公司 | A kind of scrambler grating disc and photoelectric encoder |
| CN106143862A (en) * | 2016-05-23 | 2016-11-23 | 哈尔滨工程大学 | A kind of ship steering engine driving means and detecting system thereof |
| CN207172125U (en) * | 2017-09-04 | 2018-04-03 | 徐州木牛流马机器人科技有限公司 | A kind of steering wheel for robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109316709A (en) * | 2018-12-19 | 2019-02-12 | 青岛英派斯健康科技股份有限公司 | A kind of pneumatic fitness equipment and its cylinder |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207172125U (en) | A kind of steering wheel for robot | |
| CN101082822A (en) | Control method of vehicle DC electric machine | |
| CN107351128A (en) | A kind of steering wheel for robot | |
| CN107655399A (en) | A kind of multi-turn absolute value encoder and method for detecting position | |
| CN206041302U (en) | Electronic handcart of middle -arranged switch cabinet business turn over device | |
| CN203804996U (en) | Steering engine for joints of household robot | |
| CN104808657B (en) | The full free degree controling power optimal track following method of rehabilitation ambulation training robot | |
| CN206982629U (en) | A kind of tool box for electric power installation | |
| CN103148009A (en) | Automatic control system of fan | |
| CN204215226U (en) | A kind of rotary inverted pendulum surely puts controller | |
| CN203476051U (en) | Room door unclosed prompting automatic control device | |
| CN205934778U (en) | Stop device is used to car parking stall | |
| CN202152874U (en) | Rapid air valve actuator for ventilation of laboratory | |
| CN104790799B (en) | A kind of platform screen door machine Active Disturbance Rejection Control system | |
| CN206254813U (en) | A kind of charging device of Automatic Guided Vehicle | |
| CN208937670U (en) | A kind of electric operator inspection termination | |
| CN107725444A (en) | Fan head rotational angle adjustment mechanism | |
| CN203820260U (en) | Convenient elevator door motor | |
| CN206184392U (en) | Be applied to drive arrangement of granule equipment of dispensing | |
| CN203204373U (en) | An intelligent master controller | |
| CN203127939U (en) | Elevator control gear | |
| CN202469144U (en) | Valve rod stroke measurement control device of electric actuator | |
| CN207029920U (en) | Automatic cover turning device of cover sealing type storage equipment | |
| CN206419432U (en) | A kind of 360 degree of travel control device | |
| CN205981706U (en) | Electric skylight endurance test system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171117 |