CN206344139U - The ten single-degree-of-freedom gymnastic robots based on KE15Z - Google Patents
The ten single-degree-of-freedom gymnastic robots based on KE15Z Download PDFInfo
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- CN206344139U CN206344139U CN201621373980.0U CN201621373980U CN206344139U CN 206344139 U CN206344139 U CN 206344139U CN 201621373980 U CN201621373980 U CN 201621373980U CN 206344139 U CN206344139 U CN 206344139U
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- steering wheel
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Abstract
The utility model is related to mechano-electronic field, specifically, is related to a kind of ten single-degree-of-freedom gymnastic robots based on KE15Z.The robot includes mechanical structure, embedded control system, joint servo steering wheel etc..Robotic structure possesses ten ones degree of freedom, is made up of head steering wheel, neck connector, shoulder member, upper arm connector, upper arm steering wheel, ancon upper plate, ancon lower plate, underarm steering wheel, wrist connector, hand component, shoulder connector, battery compartment, chest steering wheel, chest and abdomen connector, belly steering wheel, waist connector, crotch's flat board, thigh connector, control board, thigh steering wheel, knee upper plate, knee lower plate, shank steering wheel, ankle connector, step component.Joint uses the type bus steering wheels of TS 315, and control circuit is designed based on NXP KE15Z.The actions such as the robot can complete to nod, bow, waves, turning a cartwheel, stand upside down, somersault, push-up.
Description
Technical field
The utility model is related to mechano-electronic field, specifically, is related to a kind of 11 freedom for being applied to teaching, amusement
Spend athletic gymnastics robotic structure and its control system.
Background technology
Athletic gymnastics robot is the research platform of a high-tech, by Design of Mechanical Structure, design on control circuit, soft
Part is designed, and realizes the motion of whole robot, and complete defined dance movement.
The body make-up of the mankind is used for reference in amusement type athletic gymnastics robotic structure design, with industrial robot phase
Than with stronger recreational and flexibility.Athletic gymnastics robot small volume, light weight, by being simply machined just
The making of mechanical structure can be completed, whole mechanical structure is connected by steering wheel, with simple in construction, material, processing cost are low, production
The characteristics of product added value is high.
In control aspect, embedded system is employed, easily robot can be programmed as needed, so that real
Existing different action.Controller exports control signal to steering wheel, and the rotary motion in each joint is realized by steering wheel, is passed through
The coordinated movement of various economic factors of whole robot is realized in the cooperation of different tiller rooms.
By studying and improving the mechanical structure of robot, control circuit, control algolithm can promote human emulated robot
Research level.Currently, there is higher and higher application value in athletic gymnastics robot in the field such as amusement and teenager's science popularization.
In future, in fields such as family, amusements, the achievement in research of gymnastic robot will be provided with being widely applied prospect, by speech recognition,
The technologies such as image recognition, pattern-recognition, will make it that robot is more intelligent, can replace the mankind in more fields.
Utility model content
The purpose of this utility model be the mechanical structure for designing a kind of athletic gymnastics robot of ten ones degree of freedom and
Its control system.The technical scheme that it is used is as follows：
The utility model robotic structure possesses ten ones degree of freedom, mainly by head steering wheel, neck connector, shoulder
Portion's component, upper arm connector, upper arm steering wheel, ancon upper plate, ancon lower plate, underarm steering wheel, wrist connector, hand component, shoulder
Portion's connector, battery compartment, chest steering wheel, chest and abdomen connector, belly steering wheel, waist connector, crotch's flat board, thigh connector,
Control board, thigh steering wheel, knee upper plate, knee lower plate, shank steering wheel, ankle connector, step component composition.All rudders
Machine gear is interference fitted with steering wheel wheel disc internal tooth wheel bore, and head steering wheel, neck connector and shoulder member, shoulder connector pass through
Bolt connection, nodding action is realized by the reciprocating motion of head steering wheel.Upper arm connector is consolidated by screw and steering wheel toothed disc
It is connected after fixed with upper arm steering wheel, lifting and putting down for arm is realized by the rotation of upper arm steering wheel.Ancon upper plate is put down with ancon lower plate
Neat fixed, upper arm is bolted with underarm.Underarm steering wheel is connected by screw with ancon lower plate, passes through underarm steering wheel
Rotation realization is waved action.Underarm steering wheel makes to be screwed on wrist connector, and wrist connector uses bolt and hand
Component is connected, and hand component plays a supportive role in push-up and cartwheel.Battery compartment is using being bolted under hand component
Side, center of gravity can be changed when arm is lifted using battery weight.Shoulder connector is connected by screw with chest steering wheel, chest rudder
Machine rotation can be such that both arms lift forward or backward.Chest steering wheel is connected to belly steering wheel by chest and abdomen connector using screw
Together, make whole trunk upright；Belly steering wheel is connected by screw with waist connector, and rotating realization by belly steering wheel bends over
Bend to act.Waist connector is bolted on crotch's flat board, and the whole upper part of the body and flat board are fixed together.Control
Circuit board for being parsed to action code, and produces servos control signal using being bolted to below crotch's flat board.Greatly
Leg connector is connected using screw with thigh steering wheel, and is bolted on crotch's flat board two ends, and the rotation of thigh steering wheel can be real
Existing leg split campaign laterally.Thigh steering wheel bottom is connected using screw with knee upper plate.Knee upper plate leads to knee lower plate
Bolt right-angled intersection connection is crossed, knee structure is formed, fuselage is played a supportive role.Knee lower plate is connected by screw and shank steering wheel
Connect, the rotation of shank steering wheel can be achieved to kick forward or backward.Shank steering wheel bottom is connected by bolt with ankle connector, ankle
Connector is fixed on step member center, and whole fuselage is uprightly fixed.
The utility model has the following advantages that：
The utility model compares ten traditional free degree gymnastic robot designs, and a freedom is added on head
Degree, can complete to nod, or coordinate fuselage other structures to complete further types of intention action.Circuit is controlled to be based on NXP
KE15Z is designed, and the KE15Z runtime libraries of Erecting and improving.KE15Z board powers compatibility DC 5v and 3.3v, device tool
There are maximum 256KB flash memory and 32KB SRAM, and very abundant analog- and digital- peripheral hardware can be extended, can easily visit
Ask MCU I/O pins.Such MCU products are usedARM Cortex-M0+ kernels, running frequency is 72MHz, is not only had
Standby more powerful performance, also possesses higher memory capacity, and is integrated with more anti-interference IP, is the motion control of robot
System provides sufficiently guarantee.Joint uses TS-315 type bus steering wheels, compared to traditional digital rudder controller, can greatly reduce
The quantity of line, makes robot profile more preferably clean and tidy, and reduction excessively causes the constraint in action process because of wire harness.
Brief description of the drawings
Fig. 1：The utility model is based on the single-degree-of-freedom gymnastic robot surface structure schematic diagrams of NXP KE15Z ten.
Fig. 2：The utility model is based on the single-degree-of-freedom gymnastic robot system structure diagrams of NXP KE15Z ten.
Symbol description
1st, head steering wheel；2nd, neck connector；3rd, shoulder member；4th, upper arm connector；5th, upper arm steering wheel；6th, on ancon
Plate；7th, ancon lower plate；8th, underarm steering wheel；9th, wrist connector；10th, hand component；11st, shoulder connector；12nd, battery compartment；13、
Chest steering wheel；14th, chest and abdomen connector；15th, belly steering wheel；16th, waist connector；17th, crotch's flat board；18th, thigh connector；
19th, control board；20th, thigh steering wheel；21st, knee upper plate；22nd, knee lower plate；23rd, shank steering wheel；24th, ankle connector；
25th, step component.
Embodiment
The utility model is described in further detail with example below in conjunction with the accompanying drawings：As shown in Figure 1 and Figure 2, the utility model master
Will be by head steering wheel 1, neck connector 2, shoulder member 3, upper arm connector 4, upper arm steering wheel 5, ancon upper plate 6, ancon lower plate
7th, underarm steering wheel 8, wrist connector 9, hand component 10, shoulder connector 11, battery compartment 12, chest steering wheel 13, chest and abdomen connection
Part 14, belly steering wheel 15, waist connector 16, crotch's flat board 17, thigh connector 18, control board 19, thigh steering wheel 20,
Knee upper plate 21, knee lower plate 22, shank steering wheel 23, ankle connector 24, step component 25 are constituted.Wherein one, head freedom
Degree, two frees degree of trunk, each two frees degree of left and right arm, each two frees degree of left and right leg.The structure can complete to nod,
Bow, wave, turning a cartwheel, standing upside down, somersault, the action such as push-up.Wherein nodding action, passes through the reciprocating rotary of head steering wheel 1
It is dynamic to realize.Bow action, belly steering wheel 15 is rotated forward to vertical, rear to recover upright, completion is bowed action.Wave to act, on
Arm steering wheel 5, which lifts rear underarm steering wheel 8 and lifted, puts down reciprocating motion, and realization is waved action.Left side handspring action, the lift of left arm level
Rise, right arm is lifted over the top of the head, the outside lateral movement of left thigh steering wheel 20, now fuselage is offset due to center of gravity to the left, whole fuselage to
After the upset of left side, right hand component 10 contact ground and left hand component are supported, and are now handstand state, left arm earthward jack-up, right
Leg puts down support, and fuselage continues to overturn, and left arm is withdrawn, and right arm is successively withdrawn with right leg, completes left side handspring action, right side handspring
Similarly.Forward roll is acted, and chest steering wheel 13, belly steering wheel 15 are rotated forward to vertical, and left and right pin 25 turns forward, and right-hand man 10
Support ground rear body is fallen down forward, and left and right arms are opened, and chest steering wheel 13, belly steering wheel 15 are rotated in the opposite direction, whole trunk
Got rid of with leg to front, foot's steering wheel resets simultaneously with chest steering wheel 13, belly steering wheel 15, recover to stand, backward roll is similarly.
Push-up is acted, and chest steering wheel 13, belly steering wheel 15 are rotated forward to vertical, and left and right pin 25 turns forward, and right-hand man 10 supports
Ground rear body falls down forward, and left and right underarm steering wheel 5 back and forth stretches and withdrawn, and realizes that push-up is acted.
User is programmed operation to robot motion by host computer online programming software, generates action code, passes through
Wireless blue tooth serial ports is sent into NXP KE15Z controllers, controller parsing action code, is sent servos control by UART and is believed
Number, control each steering wheel in a certain order and speed coordination motion, realize above-mentioned holding function.
The utility model is illustrated by way of example above, but the utility model is not limited to above-mentioned instantiation,
The all any change done based on the utility model or modification belong to the claimed scope of the utility model.
Claims (4)
1. the ten single-degree-of-freedom gymnastic robots based on KE15Z, it is characterised in that：Mainly by head steering wheel (1), neck connector
(2), shoulder member（3）, upper arm connector（4）, upper arm steering wheel（5）, ancon upper plate（6）, ancon lower plate（7）, underarm steering wheel
（8）, wrist connector（9）, hand component（10）, shoulder connector（11）, battery compartment（12）, chest steering wheel（13）, chest and abdomen connect
Fitting（14）, belly steering wheel（15）, waist connector（16）, crotch's flat board（17）, thigh connector（18）, control board
（19）, thigh steering wheel（20）, knee upper plate（21）, knee lower plate（22）, shank steering wheel（23）, ankle connector（24）, step
Component（25）Composition, all steering wheel gears are interference fitted with steering wheel wheel disc internal tooth wheel bore, head steering wheel（1）, neck connector（2）
With shoulder member（3）, shoulder connector（11）It is bolted, upper arm connector（4）Consolidated by screw and steering wheel toothed disc
Fixed rear and upper arm steering wheel（5）Connection, ancon upper plate（6）With ancon lower plate（7）Concordantly, it is bolted；Underarm steering wheel（8）It is logical
Cross screw and ancon lower plate（7）Connection；Underarm steering wheel（8）, wrist connector（9）, hand component（10）It is bolted；Electricity
Chi Cang（12）It is bolted on hand component（10）Downside.
2. the ten single-degree-of-freedom gymnastic robots according to claim 1 based on KE15Z, it is characterised in that：Shoulder is connected
Part（11）Pass through screw and chest steering wheel（13）Connection；By screw by chest and abdomen connector（14）It is fixed on chest steering wheel（13）With
Belly steering wheel（15）Between；Belly steering wheel（15）Pass through screw and waist connector（16）Connection；Waist connector（16）Use
It is bolted to crotch's flat board（17）On；Control board（19）Using being bolted to crotch's flat board（17）Lower section.
3. the ten single-degree-of-freedom gymnastic robots according to claim 1 based on KE15Z, it is characterised in that：Thigh is connected
Part（18）Pass through screw and thigh steering wheel（20）Connection, and using being bolted to crotch's flat board（17）Two ends；Thigh steering wheel
（20）Bottom and knee upper plate（21）Use bolt connection；Knee upper plate（21）With knee lower plate（22）Use bolt right-angled intersection
Connection；Knee lower plate（22）Use screw and shank steering wheel（23）Connection；Shank steering wheel（23）Bottom is connected using screw with ankle
Fitting（24）Connection；Ankle connector（24）Using being bolted to step component（25）Center.
4. the ten single-degree-of-freedom gymnastic robots according to claim 1 based on KE15Z, it is characterised in that：Control circuit
Plate（19）Based on NXP KE15Z designs, can compatibility 5V and 3.3V peripheral components, by KE15Z UART modules to TS-315 types
Bus steering wheel is controlled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621373980.0U CN206344139U (en) | 2016-12-15 | 2016-12-15 | The ten single-degree-of-freedom gymnastic robots based on KE15Z |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621373980.0U CN206344139U (en) | 2016-12-15 | 2016-12-15 | The ten single-degree-of-freedom gymnastic robots based on KE15Z |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206344139U true CN206344139U (en) | 2017-07-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621373980.0U Expired - Fee Related CN206344139U (en) | 2016-12-15 | 2016-12-15 | The ten single-degree-of-freedom gymnastic robots based on KE15Z |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206344139U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107933733A (en) * | 2018-01-03 | 2018-04-20 | 河南科技大学 | A kind of imitative tortoise returns item pendulum shin coupling turning robot |
-
2016
- 2016-12-15 CN CN201621373980.0U patent/CN206344139U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107933733A (en) * | 2018-01-03 | 2018-04-20 | 河南科技大学 | A kind of imitative tortoise returns item pendulum shin coupling turning robot |
| CN107933733B (en) * | 2018-01-03 | 2023-09-01 | 河南科技大学 | Turtle-return-imitating swing-shank coupling overturning robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170721 Termination date: 20171215 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |