CN207465239U - Wushu ring fights vehicle - Google Patents

Abstract

A kind of wushu ring confrontation vehicle critical piece includes scoop（1）, wheel（2）, switch cover（3）, rear cover（4）, fuselage（5）, guide plate of going up on the stage（6）, fill in and play bolt（7）, front sensor stent（8）, quadrangle sensor stand（9）, battery compartment（10）, brushless electricity tune（11）, side edge sensor bearing（12）, master control borad（13）, battery（14）, planetary gear reduction box（15）, brushless motor（16）Deng.

Description

Wushu ring fights vehicle

Technical field

The utility model is related to a kind of wushu rings to fight vehicle, more particularly to a kind of portable ring pair easy to process Anti- vehicle.

Background technology

Robot is known as the jewel on manufacturing industry imperial crown top, and data are shown, China has become global maximum work at present Industry robotic sales market.With the development and application of the subversivenesses technology such as deep learning, big data, cloud computing, robot is complete Ability into complicated professional task is more and more stronger.Expert thinks that the arrival in intelligent robot's epoch is further widened The application scenarios and service mode of robot.

Grapple Robots contest is important university student's race in the contest of robot of the world, global robot base It is being grown rapidly with cutting edge technology, is being related to engineering material, Mechanical course, sensor, automation, computer, life science etc. Various aspects, a large amount of subjects are fast-developing in mutual blending promotes, and technological innovation trend is mainly around man-machine collaboration, artificial intelligence It can be with three emphasis expansion of biomimetic features.

Invention content

Technical problem to be solved in the utility model is：By providing a kind of Grapple Robots, it is tight to make it have structure It gathers, processing method is easy flexibly, the distinguishing feature promoted in respond.

This wushu ring confrontation vehicle is suitable for a variety of robot wushu challenge tournaments, can solve existing wushu ring confrontation vehicle and add The situation that work mode is complicated, reaction is dumb, of high cost.Vehicle is fought by the wushu ring of the utility model, is realized machine Device people's each section modularization, processing method simplify, so as to more convenient for assembling, greatly shorten processing cost, save Time；Also by rational space layout, space utilization is maximized, the integral layouts such as its sensor, controller is made to reach most It is excellent；By making cost, the structure design of high intensity and the special process of surface treatment that dusts, the match of all kinds of robots is adapted to Environment.For current colleges and universities, Chuan Ke operating rooms, DIY fans making situation.Design it is a kind of it is easy to process, have it is high-strength Spend the wushu ring confrontation vehicle of structure.

It is supported between the plate and plate by metal plate or mold part, and passes through plug and play bolt and fastened.

The power uses brushless motor（16）With planetary gear reduction box（15）Assembled formation, advantage have powerful Output torque and longer service life.

The brushless motor（16）Using 3860 model thoughts brushless motors, peak power output 420w.It is maximum defeated Go out power points electric current 110A.

It is described to use brushless driving 120A.

The planetary gear reduction box selects 1：51 reduction gear boxes.

The control panel be integrated with STMF103ZET6 minimum systems, Voltage stabilizing module, OLED display screen, LED light, by Key module, power interface, motor signal interface and sensor interface.

The silica gel wheel（2）Diameter 67mm takes turns width 20mm, and material can greatly increase rubbing between ring Power is wiped, so as to effectively give play to the power of robot, has given play to the optimum performance of ring robot.

The attack shovel（1）It is cut by laser using the steel plate of 201 stainless steels of thick 3mm, a system such as bending Row working process, final molding；It is to give sensor slot milling in place of its hollow out, prevents flase drop.

The fuselage (5) is the skeleton of entire robot, by the cooperation of side plate and bolt (7), assemble one its Intensity, all higher fuselage of precision, reduces processing cost.

Control panel is integrated with STMF103ZET6 minimum systems, Voltage stabilizing module, OLED display screen, LED light, button mould Block, power interface, motor signal interface and sensor interface.Wherein main control chip STMF103ZET6 maximum clock frequencies are 72 MHz, program storage size are 512kB.The chip possesses 4 general purpose timers, 2 advanced timers, 2 DMA controls simultaneously Device processed（Totally 12 channels）, the affluent resources such as 3 12 ADC and 112 universal I/O ports；Wherein OLED display screen is used to show Sensors A D sampled values, facilitate debugging；Wherein LED light, which is used to indicate, detects barrier；Wherein key-press module is used to join Number is adjusted, convenient for live fast debugging；Module plug and play on control panel, i.e., bad to change, interface is using direct insertion, convenience Circuit is built and is arranged.

Sensor support base（8）（9）（12）（13）It is to be made by 3D printing technique, complicated zero can be processed Part；PLA materials is selected to make, intensity is high, light, more plays a very good protection.

The brushless electricity is adjusted（11）It is using ripe brushless drive system, with brushless motor（16）Perfect cooperation, So as to carry out the power output of robot.

Model plane lithium battery（14）It can opposite the problem of improving battery leakage.The capacity with 3.6V400mAh is can be made into, Thickness is the thin battery of 0.5mm.

Battery may be designed to various shapes, for example single high voltage is made.

Sensor uses Sharp's infrared distance measurement, and photoelectric detecting method has many advantages, such as that precision is high, reaction is fast, non-contact.It can Survey parameter is more, and simple in structure, flexible form is various, and therefore, photoelectric sensor is widely used general in detecting and controlling.

The planetary gear reduction box（15）With the cooperation of brushless motor (16), the output of its power is made to reach best effective Fruit, big retarding ratio export the torque of bigger, improve the attacking ability of whole robot.

The brushless motor (16), which has, resists electric spark jamming performance, and flexible operation is smooth, safeguards simple, structure letter The advantages that list, service life is long.Brushless motor is generally used in the equipment of accurate control, therefore this wushu ring confrontation vehicle Control performance is higher.

Description of the drawings

Fig. 1 is the utility model of the whole structure diagram；

Wherein：Scoop 1, wheel 2, switch cover 3, rear cover 4, fuselage 5, guide plate 6 of going up on the stage, plug beat bolt 7, front sensor branch Frame 8, quadrangle sensor stand 9, battery compartment 10, brushless electricity tune 11, side edge sensor bearing 12, master control borad 13, battery 14, planet Gear reduction box 15, brushless motor 16；

Fig. 2 is the control panel graphics of the utility model；

Fig. 3 is master control borad control schematic diagram.

Specific embodiment：

The utility model is described in further detail with example below in conjunction with the accompanying drawings：

As shown in Figure 1, a kind of wushu ring vehicle includes scoop 1, wheel 2, switch cover 3, rear cover 4, fuselage 5 goes up on the stage to be oriented to Plate 6, plug beat bolt 7, front sensor stent 8, quadrangle sensor stand 9, battery compartment 10, brushless electricity tune 11, side edge sensor branch Seat 12, master control borad 13, battery 14, planetary gear reduction box 15, brushless motor 16.

As shown in Figure 1, being detected by sensor, signal is passed into controller, then by signal processing, convert thereof into arteries and veins Wide modulated signal, so as to drive arena trolley movement, to reach corresponding function.

The utility model has the following advantages：

1st, portability：Compact-sized, small volume is convenient for carrying；

2nd, flexibility：Fill convenient disassembly；

3rd, low-power consumption：Using low-power consumption electrical equipment and low power operation scheme, failure rate is low, reduces cost and damage Consumption, energy conservation and environmental protection.

Claims (2)

1. a kind of wushu ring fights vehicle, it is characterised in that：Scoop（1）On fuselage（5）；With wheel（2）Connected planet tooth Take turns reduction box（15）；With switch cover（3）Connected rear cover（4）, fuselage（5）；With fuselage（5）Connected guide plate of going up on the stage（6）, it is preceding Sensor stand（8）, quadrangle sensor stand（9）With battery compartment（10）And brushless electricity is adjusted（11）；Bolt is played with plug（7）It is connected Quadrangle sensor stand（9）, battery compartment（10）；With battery compartment（10）Connected master control borad（13）；With planetary gear reduction box （15）Connected brushless motor（16）.

2. a kind of wushu ring confrontation vehicle according to claim 1, it is characterised in that：Airframe structure assembles shape using side plate Formula is spliced.