CN207465239U - Wushu ring fights vehicle - Google Patents

Abstract

The main components of a martial arts arena confrontation vehicle include a shovel (1), wheels (2), a switch cover (3), a rear cover (4), a fuselage (5), a stage guide plate (6), and plug bolts (7) , front sensor bracket (8), four-corner sensor bracket (9), battery compartment (10), brushless ESC (11), side sensor bracket (12), main control board (13), battery (14), Planetary gear reducer (15), brushless motor (16), etc.

Description

Martial arts arena against cars

technical field

The utility model relates to a martial arts arena fighting car, in particular to a portable arena fighting car which is easy to process.

Background technique

Robots are known as the crown jewel of the manufacturing industry. According to data, China has become the world's largest sales market for industrial robots. With the development and application of disruptive technologies such as deep learning, big data, and cloud computing, robots are becoming more and more capable of completing complex professional tasks. Industry experts believe that the advent of the era of intelligent robots has further broadened the application scenarios and service models of robots.

In the World Robot Contest, the Fighting Robot Contest is an important competition for college students. The global robot foundation and cutting-edge technology are developing rapidly, involving engineering materials, mechanical control, sensors, automation, computers, life sciences and other aspects. A large number of disciplines are blending with each other. To promote the rapid development of China, the trend of technological innovation mainly revolves around three key points: human-machine collaboration, artificial intelligence and bionic structure.

Contents of the invention

The technical problem to be solved by the utility model is: by providing a fighting robot, it has the remarkable characteristics of compact structure, simple and flexible processing method, and improved response ability.

The martial arts arena confrontation vehicle is suitable for various robot martial arts competitions, and can solve the problems of complex processing methods, inflexible response and high cost of the existing martial arts arena confrontation vehicle. Through the martial arts arena confrontation vehicle of the utility model, the modularization of each part of the robot is realized, and the processing method is simplified, so that it is easier to assemble, greatly shortens the processing cost, and saves time; through a reasonable space layout, the space The utilization is maximized to optimize the overall layout of its sensors and controllers; through low cost, high-strength structural design and special powder spraying surface treatment process, it can adapt to the competition environment of various robots. Aiming at the current production situation of colleges and universities, maker studios and DIY enthusiasts. A kind of martial arts arena confrontation vehicle that is easy to process and has a high-strength structure is designed.

The plates are supported by sheet metal or molded parts, and fastened by plug bolts.

The power is assembled by a brushless motor (16) and a planetary gear reducer (15), which has the advantages of strong output torque and long service life.

The brushless motor (16) adopts a 3860 type sensored brushless motor with a maximum output power of 420w. The maximum output power point current is 110A.

The brushless drive 120A is used.

The planetary gear reducer is a 1:51 reduction gearbox.

The control board integrates the STMF103ZET6 minimum system, a voltage stabilizing module, an OLED display, an LED indicator light, a key module, a power supply interface, a motor signal interface and a sensor interface.

The silicone wheel (2) has a diameter of 67mm and a wheel width of 20mm. Its material can greatly increase the friction between the arena and the arena, so that the power of the robot can be effectively exerted and the best performance of the arena robot can be exerted.

The attack shovel (1) is made of a 3mm thick 201 stainless steel plate for laser cutting, bending and a series of processing, and finally formed; the hollow part is to leave a space for the sensor to prevent false detection.

The fuselage (5) is the skeleton of the whole robot. Through the cooperation of the side plates and the bolts (7), a fuselage with high strength and high precision is assembled, which reduces the processing cost.

The control board integrates the STMF103ZET6 minimum system, voltage regulator module, OLED display, LED indicator, key module, power interface, motor signal interface and sensor interface. Among them, the maximum clock frequency of the main control chip STMF103ZET6 is 72MHz, and the program memory size is 512kB. At the same time, the chip has rich resources such as 4 general-purpose timers, 2 advanced timers, 2 DMA controllers (12 channels in total), 3 12-bit ADCs, and 112 general-purpose IO ports; the OLED display is used to display The AD sampling value of the sensor is convenient for debugging; the LED indicator light is used to indicate the detected obstacle; the key module is used for parameter adjustment, which is convenient for quick debugging on site; the modules on the control board are plug and play, and the interfaces are It adopts in-line type, which is convenient for line construction and arrangement.

The sensor support (8) (9) (12) (13) is made by 3D printing technology, which can process complex parts; it is made of PLA material, which has high strength, light weight and good protection .

The brushless ESC (11) adopts a mature brushless drive system, and perfectly cooperates with the brushless motor (16), so as to output the power of the robot.

The aircraft model lithium battery (14) can relatively improve the problem of battery leakage. It can be made into a thin battery with a capacity of 3.6V400mAh and a thickness of 0.5mm.

Batteries can be designed into various shapes, such as made into a single high voltage.

The sensor adopts Sharp infrared ranging, and the photoelectric detection method has the advantages of high precision, fast response, and non-contact. There are many measurable parameters, simple structure, and flexible and diverse forms. Therefore, photoelectric sensors are widely used in detection and control.

The cooperation of the planetary gear reduction box (15) and the brushless motor (16) makes the output of its power reach the best effect, and the large reduction ratio can output larger torque, which improves the attacking ability of the overall robot.

The brushless motor (16) has the advantages of resistance to electric spark interference, flexible and smooth operation, simple maintenance, simple structure, and long service life. Brushless motors are usually used in precision-controlled equipment, so the control performance of this car is relatively high.

Description of drawings

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

Among them: shovel 1, wheel 2, switch cover 3, rear cover 4, body 5, stage guide plate 6, plug bolt 7, front sensor bracket 8, four-corner sensor bracket 9, battery compartment 10, brushless ESC 11, Side sensor support 12, main control board 13, battery 14, planetary gear reducer 15, brushless motor 16;

Fig. 2 is a three-dimensional diagram of the control panel of the present utility model;

Figure 3 is a schematic diagram of the control of the main control board.

Detailed ways:

Below in conjunction with accompanying drawing and example the utility model is described further:

As shown in Figure 1, a kind of martial arts arena car comprises shovel 1, wheel 2, switch cover 3, back cover 4, fuselage 5, stepping on the guide plate 6, plug bolt 7, front sensor bracket 8, four corner sensor bracket 9, Battery compartment 10, brushless ESC 11, side sensor support 12, main control board 13, battery 14, planetary gear reducer 15, brushless motor 16.

As shown in Figure 1, through sensor detection, the signal is transmitted to the controller, and then through signal processing, it is converted into a pulse width modulation signal to drive the ring car to achieve the corresponding function.

The utility model has the following advantages:

1. Portability: compact structure, small size, easy to carry;

2. Flexibility: easy to assemble and disassemble;

3. Low power consumption: adopt low power consumption electrical components and low power consumption operation scheme, low failure rate, reduce cost and loss, energy saving 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.