CN204489003U - The apery of a kind of crotch axial freedom structure is competed for speed robot - Google Patents
The apery of a kind of crotch axial freedom structure is competed for speed robot Download PDFInfo
- Publication number
- CN204489003U CN204489003U CN201420609932.1U CN201420609932U CN204489003U CN 204489003 U CN204489003 U CN 204489003U CN 201420609932 U CN201420609932 U CN 201420609932U CN 204489003 U CN204489003 U CN 204489003U
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- China
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- crotch
- robot
- steering wheel
- apery
- axial freedom
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Abstract
The apery that the utility model discloses a kind of crotch axial freedom structure is competed for speed robot, belongs to anthropomorphic robot and designs and produces field, is applicable to Engineering apery and competes for speed match.This robot has 13 degree of freedom, 4 TCRT5000 white-black key detecting sensors, plastic foot base plate.Connected by screw by U-shaped of aluminum alloy between steering wheel.Each sole is made up of a hard plastic board, and right crus of diaphragm base plate is provided with sensor probe.Crotch forms crotch's axial freedom structure by two steering wheels.Compared with prior art, the utility model has the advantage of: the steering wheel energy left-right rotation of crotch's axial freedom, make to turn to flexibly, manoevreability is high; Structure is simple, and walking stability is strong; Cost is low; Transducer sensitivity and control stiffness good.
Description
Technical field
The utility model belongs to anthropomorphic robot and designs and produces field, relates to a kind of robot competition arrangement.
Background technology
Anthropomorphic robot is one of key areas of robot making.Apery is competed for speed robot requirement producer anthropomorphic robot, and simulating human is walked.
Above requirement to be completed smoothly, just need robot to have steering capability and sensitive failure-free sensing control performance more flexibly.Owing to pursuing the approximation of apery, adopt crotch, leg steering wheel makes robot left and right pin friction force change to realize turning to, have ignored alerting ability and stability that robot turns to.Therefore, start with from optimization robot steering wheel structure and sensor placement, ingehious design robot crotch axial freedom structure, less, the structure of exploitation degree of freedom is simple but turn to, directly walk that performance is strong, transducer sensitivity and stability high and cost performance is higher apery is competed for speed robot significant.
Utility model content
For the above-mentioned existing problem designed and produced existing for scheme, stressed, the center of gravity of the degree of freedom of the utility model steering wheel and the layout of sensor device and robot are optimized angle and are started with, and achieve that a kind of degree of freedom is less, structure simple, reasonable gravity distribution but turn to, directly walk the high and transducer sensitivity of manoevreability and the high novel intelligent apery of stability and to compete for speed robot.
The utility model proposes following design plan:
Crotch's axial freedom structure apery is competed for speed the device of robot, and comprise 13 steering wheels, 4 TCRT5000 white-black key detecting sensors, U-shaped of aluminum, 2 plastic foot base plates, left and right sole is added with stable lead, AVR single chip minimum system control desk.
Described degree of freedom is all made up of a steering wheel, fixed by screw by U-shaped of aluminum between steering wheel, head, arm steering wheel are connected by adhesives by U-shaped of aluminum, each sole is made up of a hard plastic board, left and right sole leaves stable lead position, and wherein right crus of diaphragm base plate installs 4 TCRT5000 white-black key detecting sensors and probe thereof.
Described crotch axial freedom structure is made up of two steering wheels, two steering wheels are arranged on sustained height, be parallel to each other at axial location, connected between steering wheel by U-shaped of aluminum by screw, crotch's axial freedom steering wheel is symmetrical about robot geometric center lines.
Described crotch axial freedom structure steering wheel can left rotation and right rotation, and crotch's axial freedom structure is made up of two steering wheels, and each steering wheel can left rotation and right rotation.
Described screw is the flat head screw of M2 × 8.
Described adhesives is 502 liquid glues.
Described sole is that 140mm × 82.5mm × 5mm plastic flagstone sticks on a layer thickness 2mm skid resistant course.
Described skid resistant course is the rubber plate of 2mm thickness.
Described stable lead is the heavy lead of 50g of 22mm × 13.5mm × 15mm.
Described right crus of diaphragm base plate installs 4 TCRT5000 white-black key detecting sensors, and TCRT5000 white-black key detecting sensor probe uses black belt parcel, its objective is the interference reducing natural daylight.
Described black belt is 16mm black waterproof insulation electrical adhesive tape.
Described AVR single chip minimum system control desk is the ATmega32A micro controller system of 40 pin PDIP encapsulation and the control desk of external circuit composition thereof, and its storage size is 32KB.
Compared with prior art, the utility model has the advantage of: degree of freedom is less, structure is simple, and turn to, directly walk mobility strong, stability is strong, cost is low, transducer sensitivity and stability high.
Accompanying drawing explanation
Fig. 1 is that the apery of this crotch's axial freedom structure is competed for speed robot steering wheel degree of freedom and fixing aluminum alloy frame front view.In Fig. 1, symbol represents: 1-head steering wheel; 2-shoulder steering wheel; 3-arm steering wheel; U-shaped of 4-aluminum; 5-left crotch steering wheel; Steering wheel on 6-leg; Steering wheel under 7-leg; 8-left foot foot steering wheel; 9-left foot sole; 10-TCRT5000 white-black key detecting sensor probe installation location; 11-TCRT5000 white-black key detecting sensor installation site; 12-aluminum U-shaped junction; 13-aluminum square frame attaching parts.
Fig. 2 is the schematic enlarged-scale view of 12-aluminum U-shaped junction in Fig. 1.
Fig. 3 is that the apery of described crotch axial freedom structure is competed for speed robot crotch degree of freedom schematic enlarged-scale view.
Fig. 4 is that the apery of this crotch's axial freedom structure is competed for speed robot functional form right crus of diaphragm base plate birds-eye view.
Below in conjunction with drawings and Examples, the utility model content is described in further details.
Detailed description of the invention
See Fig. 1, this 13 degrees of freedom copy man is competed for speed robot steering wheel degree of freedom and fixing aluminum square bearer front view.Head steering wheel 1 makes head swing 45 ° left and swings 90 ° to the right again; Shoulder steering wheel 2 makes left upper extremity swing 30 °; Arm steering wheel 3 makes arm aluminum U-shaped 4 swing 30 °.On leg, under steering wheel 6, leg, steering wheel 7, left foot foot steering wheel 8 rotate and make robot that center of gravity is transferred to right crus of diaphragm, and right leg steering wheel coordinates and then takes a step forward.Crotch's steering wheel turning clockwise left, other steering wheels coordinate makes robot realize left and right turn.TCRT5000 white-black key detecting sensor probe installation location 10, by double faced adhesive tape and adhesive tape adhesion, can according to directly walking step size, steering angle size adjustment TCRT5000 white-black key detecting sensor probe a, b, c, d 2 positions in Figure of description 4, patrol the black line accuracy rate only having 16mm wide to make robot higher.
See Fig. 2, this apery is competed for speed and is connected and fixed mode between U-shaped of robot aluminum, and the flat head screw of M2 × 8 connects makes robot more firm, makes barycentre offset little.
See Fig. 3, this apery is competed for speed robot crotch steering wheel.Shown in figure be on two axial freedom steering wheels and leg steering wheel be connected and fixed and with being connected and fixed of aluminum square frame attaching parts.Axial freedom steering wheel is parallel to each other, and installs sustained height, symmetrical with robot geometric center lines.Left and right crotch steering wheel has supporting & stablizing effect when robot is directly walked.When robot wants left and right turn, left and right crotch steering wheel assume responsibility for steering-effecting, and stablizes robot architecture, and robot center of gravity is remained in sole.
See Fig. 4, this apery is competed for speed robot functional form right crus of diaphragm base plate birds-eye view.1,2,3,4 be TCRT5000 white-black key detecting sensor installation site respectively in figure, sensor mounting location, steering wheel aluminum U-shaped installation site, stablize lead installation site.Conveniently, right crus of diaphragm base plate is installed TCRT5000 white-black key detecting sensor probe from first, left side, be denoted as TCRT5000 white-black key detecting sensor probe a, b, c, d successively.If TCRT5000 white-black key detecting sensor probe a detects black line, left crotch steering wheel 5 turns left 35 °; If when TCRT5000 white-black key detecting sensor probe b detects black line, robot turns left 25 °; If when TCRT5000 white-black key detecting sensor probe a, b detect black line, robot turns left 35 ° simultaneously; If when probe c detects black line, robot turns right 25 °; If when TCRT5000 white-black key detecting sensor probe d detects black line, robot turns right 35 °; If when TCRT5000 white-black key detecting sensor probe c, d detect black line, robot turns right 35 ° simultaneously; If TCRT5000 white-black key detecting sensor probe a, b, c, d are all without when black line being detected, robot is directly walked.140mm × 82.5mm × 5mm plastic flagstone has stable lead installation site, in robot kinematics, robot lifts that leg lands can lack of equilibrium, less stable, installs the 50g lead of 22mm × 13.5mm × 15mm at left and right pin and can prevent from robot from lifting leg landing lack of equilibrium and rocking of causing unbalance to produce.Especially, when patrolling 16mm black line and competing for speed, robot TCRT5000 white-black key detecting sensor probe a, d may be made black line not detected owing to rocking and sliding, thus make robot out-of-bounds and make mistakes.The anti-slip rubber of left and right sole design makes robot ambulation more reliable, Stability and veracity when improve robot footrace.
Claims (2)
1. the apery of crotch's axial freedom structure is competed for speed robot, there are 13 degree of freedom, comprise 13 steering wheels, 4 TCRT5000 white-black key detecting sensors, 2 plastic foot base plates, AVR single chip minimum system control desk, is characterized in that: crotch's axial freedom steering wheel can left rotation and right rotation, right crus of diaphragm base plate installs 4 TCRT5000 white-black key detecting sensors and stable lead, and left foot base plate is installed and stablized lead.
2. the apery of crotch according to claim 1 axial freedom structure is competed for speed robot, it is characterized in that: described crotch axial freedom structure is made up of two steering wheels, two steering wheels are arranged on sustained height, be parallel to each other at axial location, connected by screw by U-shaped of aluminum alloy between steering wheel, crotch's axial freedom structure steering wheel is symmetrical about robot geometric center lines.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420609932.1U CN204489003U (en) | 2014-10-14 | 2014-10-14 | The apery of a kind of crotch axial freedom structure is competed for speed robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420609932.1U CN204489003U (en) | 2014-10-14 | 2014-10-14 | The apery of a kind of crotch axial freedom structure is competed for speed robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204489003U true CN204489003U (en) | 2015-07-22 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420609932.1U Expired - Fee Related CN204489003U (en) | 2014-10-14 | 2014-10-14 | The apery of a kind of crotch axial freedom structure is competed for speed robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204489003U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112572633A (en) * | 2020-12-30 | 2021-03-30 | 西安交通大学 | Biped wall-climbing robot mechanism |
-
2014
- 2014-10-14 CN CN201420609932.1U patent/CN204489003U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112572633A (en) * | 2020-12-30 | 2021-03-30 | 西安交通大学 | Biped wall-climbing robot mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150722 Termination date: 20161014 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |