CN204868884U - Manual robot platform - Google Patents
Manual robot platform Download PDFInfo
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- CN204868884U CN204868884U CN201520593240.7U CN201520593240U CN204868884U CN 204868884 U CN204868884 U CN 204868884U CN 201520593240 U CN201520593240 U CN 201520593240U CN 204868884 U CN204868884 U CN 204868884U
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- direct current
- robot platform
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- master board
- interface circuit
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Abstract
The utility model relates to a manual robot platform, including chassis, operation keypad, the chassis both sides are provided with first action wheel and second action wheel respectively, and the chassis bottom surface is provided with one and follows the driving wheel, and bottom disk upper surface is fixed with 12V switch, 24V switch, starting switch, is used for to drive a direct current motor of first action wheel, the 2nd direct current motor who is used for driving the second action wheel, power, motor drive board, the main control panel, the motor drive board, the operation keypad all with the main control panel link to each other, a direct current motor, the 2nd direct current motor all with the motor drive board link to each other. The utility model provides a manual robot platform can be through operation keypad control machine people's various motions to a control that IO interface that is sufficient, the team participating in competition can be according to the requirement of contest task, and further design and production are various on this platform picks, throws in the mechanism, and the the main control panel who utilizes the robot platform to provide realizes whole robot is provided.
Description
Technical field
The utility model relates to field in intelligent robotics, particularly a kind of Manual Robot platform.
Background technology
Along with the development of science and technology, robot field is unprecedentedly active, also has the contest of increasing robot in the world, and competition area are generally on solid-state place, set some regular lines, and playing method is also general based on sports.But along with the susceptibility of robot, the raising of flexibility ratio, the expansion of range of application, existing competition area are too dull, and playing method is simple too.People expect more high-end competition area, also need the robot platform adapted simultaneously.
Summary of the invention
In view of this, the purpose of this utility model is to provide Manual Robot platform, more intelligent, can meet the demand of user to multi-function robot platform.
The utility model adopts following scheme to realize: a kind of Manual Robot platform, comprise chassis, operation push-button plate, both sides, described chassis are respectively arranged with the first driving wheel and the second driving wheel, described undersurface of bottom disc is provided with a driven pulley, described chassis upper surface be fixed with 12V power switch, 24V power switch, starting switch, in order to drive the first direct current generator of the first driving wheel, in order to drive the second direct current generator of the second driving wheel, power supply, motor drive plate, master board; Described motor drive plate, operation push-button plate are all connected with described master board, and the first described direct current generator, the second direct current generator are all connected with described motor drive plate.
Further, described chassis comprises the aluminium sheet of some pieces of vertical pile and the aluminum alloy frame in order to aluminium sheet described in fixed support.
Further, described power supply comprises three joint lead-acid batteries, and wherein two joint lead-acid battery series connection are powered in order to give motor drive plate, and an other joint lead-acid battery is in order to power to master board.
Further, described Manual Robot platform also comprises non-buncher drive plate and coupled non-buncher, and described non-buncher drive plate is connected with described master board.
Further, described operation push-button plate comprises left-hand rotation button, right-hand rotation button, forward key, Reverse keys, rotation regulator potentiometer.
Further, described master board comprises single-chip microcomputer and 8 coupled channel sensor input interface circuits, starting switch interface circuit, motor control interface circuit, non-buncher interface circuit, expansion external interface circuit, download program interface circuit, power interface circuit, operation push-button plate input interface circuit, pwm control circuit, motor drive direction control circuit; Wherein said operation push-button plate input interface circuit is connected with described operation push-button plate, in order to receive the signal that operation push-button plate transmits.
Further, described motor drive plate comprises receiving the control signal socket of master board signal, 24V supply socket, the first direct current generator accessory power outlet, the second direct current generator accessory power outlet, motor-drive circuit.
Further, described motor-drive circuit comprises the metal-oxide-semiconductor drive circuit receiving the pwm signal that master board sends, and described metal-oxide-semiconductor drive circuit is successively through metal-oxide-semiconductor, be connected to direct current generator accessory power outlet in order to the outputting circuit for relay receiving the direction signal that master board sends.
The Manual Robot platform that the utility model provides can by the various motions of operation push-button plate control, and provide sufficient I/O interface, team participating in competition can according to the requirement of contest task, this platform designs and produces various crawl, throwing mechanism further, and the master board utilizing robot platform to provide realizes the control of overall robot.
Accompanying drawing explanation
Fig. 1 is theory diagram of the present utility model.
Fig. 2 is operation push-button plate input interface circuit schematic diagram of the present utility model.
Fig. 3 is 4 passage input interface circuit figure of the utility model embodiment.
Fig. 4 is motor-drive circuit schematic diagram of the present utility model.
Fig. 5 is revolver motor drive circuit in the utility model embodiment.
Fig. 6 is the utility model embodiment repeat circuit output circuit.
Detailed description of the invention
Below in conjunction with drawings and Examples, the utility model is described further.
As shown in Figure 1, present embodiments provide a kind of Manual Robot platform, comprise chassis, operation push-button plate, both sides, described chassis are respectively arranged with the first driving wheel and the second driving wheel, described undersurface of bottom disc is provided with a driven pulley, described chassis upper surface be fixed with 12V power switch, 24V power switch, starting switch, in order to drive the first direct current generator of the first driving wheel, in order to drive the second direct current generator of the second driving wheel, power supply, motor drive plate, master board; Described motor drive plate, operation push-button plate are all connected with described master board, and the first described direct current generator, the second direct current generator are all connected with described motor drive plate.
In the present embodiment, two driving wheels are metallic aluminium core, and outsourcing three O type circles, can complete directly to walk forward, turn backward, turn left, the technical movements on these level lands such as right-hand rotation.Driven pulley, and two driving wheels form the health that gusseted robot, driven pulley is along with the direction of the direction change oneself of driving wheel.As everyone knows, three-point support structure is most stable structure, and driven pulley and two driving wheels define a stable supporting construction.The first described direct current generator and the second direct current generator are rated voltage 24VDC, 150 revs/min, the power DC reducing motor of 70W.
In the present embodiment, described chassis comprises the aluminium sheet of some pieces of vertical pile and the aluminum alloy frame in order to aluminium sheet described in fixed support.The framework of robot platform employs aluminium alloy extrusions and makes, and team participating in competition can utilize the specialized nut of outfit to be arranged on platform by the upper mechanism of design easily.Robot platform has laid the thick aluminium sheet of 5 pieces of 4mm, team participating in competition can punch on these aluminium sheets according to the needs of oneself, and for fixedly mounting upper mechanism, if desired these aluminium sheets, team participating in competition can unload voluntarily, to alleviate overall weight simultaneously.
Further, in the present embodiment, described power supply comprises three joint lead-acid batteries, and wherein two joint lead-acid battery series connection are powered in order to give motor drive plate, and an other joint lead-acid battery is in order to power to master board.Battery is full of voltage can reach 13V, rated operational voltage 12V.In order to improve overall interference free performance, the battery of 12V and 24V is not altogether.Battery can recharge more than 1000 times.
Further, in the present embodiment, described Manual Robot platform also comprises non-buncher drive plate and coupled non-buncher, and described non-buncher drive plate is connected with described master board.
In the present embodiment, described operation push-button plate comprises left-hand rotation button, right-hand rotation button, forward key, Reverse keys, rotation regulator potentiometer.The left-hand rotation of robot platform, advance, right-hand rotation, retrogressing just can be realized respectively by infralevoversion, advance, right-hand rotation, Reverse keys; Rotate regulator potentiometer, the speed of service of robot platform can be changed.All the other buttons on operation push-button plate can be used for controlling the operation of upper mechanism various motor.
In the present embodiment, described master board comprises single-chip microcomputer and 8 coupled channel sensor input interface circuits, starting switch interface circuit, motor control interface circuit, non-buncher interface circuit, expansion external interface circuit, download program interface circuit, power interface circuit, operation push-button plate input interface circuit, pwm control circuit, motor drive direction control circuit; Wherein said operation push-button plate input interface circuit is connected with described operation push-button plate, in order to receive the signal that operation push-button plate transmits.
In the present embodiment, described single-chip microcomputer is STC12C5A60S2 chip, starting switch interface circuit joint face on-board switching, the control signal that motor control interface circuit connects on drive plate controls socket, download program interface is used for the download online of program, 8 channel sensor input interfaces may be used for connection 8 NPN type sensors, and non-buncher output interface circuit is used for the control of the various motor of upper mechanism.
Wherein, as shown in Figure 2, in figure, in order to reduce taking one-chip machine port, what employ that 2 74HC245 bus driving circuits form single-chip microcomputer P2 mouth is multiplexing, is controlled with the signal of single-chip microcomputer P4.4 mouth for operation push-button plate input interface circuit.When P4.4 is low level, what P2 mouth received is QQ0-QQ7 signal---represent the output signal of button SW1-SW8; When P4.4 is high level, what P2 mouth received is QQ8-QQ15 signal---represent the output signal of button SW9-SW16.It is noted that when certain button on operation push-button plate is not pressed, corresponding output signal is low level signal, after pressing, outputs signal as high level signal.
In the present embodiment, 8 channel sensor input interface circuits for connect photoelectricity, close to or sonac etc., team participating in competition can be allowed when global design robot, and make full use of various sensor detection external information, wherein 4 passage input interface circuit figure as shown in Figure 3.In figure, illustrate No. 4 sensor input interfaces, input signal employs the P0.0-P0.3 mouth of single-chip microcomputer, socket J8-J11 connects 4 different sensors respectively, and sensor directly uses the existing matured product in market, mainly contains infrared sensor and proximity switch, in robot, be mainly used to detection surrounding whether there is obstacle or whether arrive predetermined its near vicinity, its maximum detectable range is according to the difference of model used, and infrared sensor has 30cm, 1m, 2m many kinds; Whether proximity switch, be mainly used in and robot detects some moving components put in place, detection range is generally at below 5mm.Sensor there are 3 lead-in wires, connect 3 pins of J8-J11 respectively.It is to be noted that the sensor used must be NPN type, operating voltage is between 6V-36V.This circuit is Low level effective, and when namely sensor detects target, the P0-P3 pin of inverter output and single-chip microcomputer is low level signal, otherwise is high level.
In the present embodiment, motor drive plate accepts motor PWM pulse-width signal that master board sends and direction signal, 2 24V DC speed-reducing on driven machine people platform.Utilize the difference of pwm signal dutycycle, control the different rotating speeds of motor; Utilization orientation signal, controls the rotating of direct current generator, thus realizes the advance of robot platform, retrogressing and turning.Described motor drive plate comprises receiving the control signal socket of master board signal, 24V supply socket, the first direct current generator accessory power outlet, the second direct current generator accessory power outlet, motor-drive circuit.
In the present embodiment, as shown in Figure 4, described motor-drive circuit comprises the metal-oxide-semiconductor drive circuit receiving the pwm signal that master board sends, and described metal-oxide-semiconductor drive circuit is successively through metal-oxide-semiconductor, be connected to direct current generator accessory power outlet in order to the outputting circuit for relay receiving the direction signal that master board sends.
Wherein, this circuit board is provided with 2 road metal-oxide-semiconductor drive circuits, is used for respectively driving revolver and right turbin generator, and revolver motor drive circuit as shown in Figure 5.This circuit have employed IR2110 power drive integrated chip, and this chip is the one chip Integrate Design of a kind of binary channels, raster data model, high-voltage high-speed power device, and reliability is very high.IR2210 input signal is the PWM pulse width signal that master controller is sent, and it exports the break-make of directly control 75N75MOS pipe.
Preferably, outputting circuit for relay as shown in Figure 6, in figure, LO1 and LO2 connects direct current generator, LDIR is the left motor drive direction control signal that master board sends, by the whether action of the normally opened contact of triode control relay, when LDIR is low level, relay normally open contact is not operating, and direct current generator rotates forward; When LDIR is high level, relay normally open contact closes, and direct current generator reverses; Employ relay circuit instead of adopt general metal-oxide-semiconductor bridge circuit as motor positive inversion control circuit, mainly in real racetrack, run with, rotating for frequently carrying out starting, stopping, with the other side, the robot that collides occur, relay circuit is more reliable and secure.
It is worth mentioning that, to these are only in the utility model embodiment a preferably embodiment.But the utility model is not limited to above-mentioned embodiment, all any equalizations done by the utility model scheme change and modify, and when the function produced does not exceed the scope of this programme, all belong to protection domain of the present utility model.
Claims (8)
1. a Manual Robot platform, it is characterized in that: comprise chassis, operation push-button plate, both sides, described chassis are respectively arranged with the first driving wheel and the second driving wheel, described undersurface of bottom disc is provided with a driven pulley, described chassis upper surface be fixed with 12V power switch, 24V power switch, starting switch, in order to drive the first direct current generator of the first driving wheel, in order to drive the second direct current generator of the second driving wheel, power supply, motor drive plate, master board; Described motor drive plate, operation push-button plate are all connected with described master board, and the first described direct current generator, the second direct current generator are all connected with described motor drive plate.
2. a kind of Manual Robot platform according to claim 1, is characterized in that: described chassis comprises the aluminium sheet of some pieces of vertical pile and the aluminum alloy frame in order to aluminium sheet described in fixed support.
3. a kind of Manual Robot platform according to claim 1, is characterized in that: described power supply comprises three joint lead-acid batteries, and wherein two joint lead-acid battery series connection are powered in order to give motor drive plate, and an other joint lead-acid battery is in order to power to master board.
4. a kind of Manual Robot platform according to claim 1, it is characterized in that: described Manual Robot platform also comprises non-buncher drive plate and coupled non-buncher, described non-buncher drive plate is connected with described master board.
5. a kind of Manual Robot platform according to claim 1, is characterized in that: described operation push-button plate comprises left-hand rotation button, right-hand rotation button, forward key, Reverse keys, rotation regulator potentiometer.
6. a kind of Manual Robot platform according to claim 1, is characterized in that: described master board comprises single-chip microcomputer and 8 coupled channel sensor input interface circuits, starting switch interface circuit, motor control interface circuit, non-buncher interface circuit, expansion external interface circuit, download program interface circuit, power interface circuit, operation push-button plate input interface circuit, pwm control circuit, motor drive direction control circuit; Wherein said operation push-button plate input interface circuit is connected with described operation push-button plate, in order to receive the signal that operation push-button plate transmits.
7. a kind of Manual Robot platform according to claim 1, is characterized in that: described motor drive plate comprises receiving the control signal socket of master board signal, 24V supply socket, the first direct current generator accessory power outlet, the second direct current generator accessory power outlet, motor-drive circuit.
8. a kind of Manual Robot platform according to claim 7, it is characterized in that: described motor-drive circuit comprises receiving the metal-oxide-semiconductor drive circuit of the pwm signal that master board sends, described metal-oxide-semiconductor drive circuit is successively through metal-oxide-semiconductor, be connected to direct current generator accessory power outlet in order to the outputting circuit for relay receiving the direction signal that master board sends.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520593240.7U CN204868884U (en) | 2015-08-10 | 2015-08-10 | Manual robot platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520593240.7U CN204868884U (en) | 2015-08-10 | 2015-08-10 | Manual robot platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204868884U true CN204868884U (en) | 2015-12-16 |
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ID=54813305
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520593240.7U Expired - Fee Related CN204868884U (en) | 2015-08-10 | 2015-08-10 | Manual robot platform |
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| Country | Link |
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| CN (1) | CN204868884U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105965511A (en) * | 2016-06-30 | 2016-09-28 | 东莞信易电热机械有限公司 | Five-shaft manipulator control system for injection molding machine |
-
2015
- 2015-08-10 CN CN201520593240.7U patent/CN204868884U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105965511A (en) * | 2016-06-30 | 2016-09-28 | 东莞信易电热机械有限公司 | Five-shaft manipulator control system for injection molding machine |
| CN105965511B (en) * | 2016-06-30 | 2018-12-25 | 东莞信易电热机械有限公司 | A kind of five axis robot control systems for injection molding machine |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151216 |