2017FRCInspectionChecklist(2017FRC机器人检查表)-翻译版

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队伍编号 TEAM NUMBER :____________________基础检查 INITIALS (after passing):_______________2017 FRC 机器人检查表 2017 FRC Inspection Checklist 版本Rev 1.2检查长 INSPECTOR :____________________________通过时间 DATE (after passing):________/_____/______再次检查 R EINSPECTION (initial ) _______________ 最终检查 FINAL INSPECTION (initial ) _______________基础检查 Initial Inspection
____ 重量 - 机器人重量(不包含保险杆和电池,不大于120磅)<R04>Weight - Robot Weight (≤120 lbs excluding bumpers and battery) <R04>
_________磅 _________pounds ____ 保险杆重量(保险杆必须不大于20磅)<R28> 红色保险杆 _________ 蓝色保险杆 _________ 磅Bumper Weight (Bumpers must be ≤ 20 pounds) <R28> Red Bumper _________ Blue Bumper _________ pounds ____ 机器人初始结构 - 零件不允许超过机器人框架的垂直投影。

<R02> Starting Configuration - No parts may extend beyond the vertical projection of the FRAME PERIMETER. <R02>
____ 伸展后最大机器人尺寸 - 包括保险杆少于或等于36*40*24英寸(高度)_______ 或者36*40*24英寸(高度)_______ <R03>
Max Robot Size – Including bumpers is less than or equal to 36” x 40” x 24”H _______ or 30” x 32” x 36”H _______ <R03>____ 赛场手动阶段结构 - 机器人部件不能扩展超过选定的尺寸。

<R03>Playing Configuration – Robot attachments may not extend beyond the chosen volume. <R03>
____ 框架周界 - 框架必须是非铰式连接。

<R01> FRAME PERIMETER – Frame must be non-articulated. <R01>
____ 保险杆标准 - 必须遵守规则手册8.5的所有说明。

Standard Bumpers - must follow all specifications in Sec. 8.5 Bumper rules.
机器人所有的边角必须覆盖至少6英寸的保险杆。

如果边角小于6英寸,那么整个边角都必须覆盖。

<R22>Must cover at least 6” on both sides of all outside corners. If side is shorter than 6” the entire side must be covered. <R22>☐ 固定保险杆的部件,不得超过机器人框架的1英寸。

<R29B>
Hard bumper parts defined by bumper backing, may not extend more than 1” beyond robot frame. <R29B>
☐ 对于长度大于8英寸的保险杆部件,保险杆可能不受框架周长的支撑。

间隙可以小于等于1/4英寸。

<R31>No bumper segment may be unsupported by frame perimeter for a length greater than 8”. Gaps may be ≤ ¼” deep. <R31> 保险杆必须在距离框架末端1/2英寸以上处做支撑。

<R31>
Bumpers must be supported by at least ½” of frame perimeter at each end. <R31>
边角必须填充泡沫条,硬质部件不能“暴露”出来。

<R30 & Fig 8-6>Corners must be filled with pool noodle such that no “hard parts” are exposed. <R30 & Fig 8-6>
必须使用3/4英寸厚*5英寸高的胶合板或者坚固耐用的木板支撑,没有影响结构完整性的孔洞。

<R29>Must use ¾” thick x 5” tall plywood or solid, robust wood, backing, with no extraneous holes that may affect structural integrity. <R29A> (clearance pockets and/or access holes are acceptable).
必须使用2个堆叠的2.5英寸的泡沫条。

泡沫条可以是圆的,花瓣状或六角形,并且为实心或空心,但是在每组中的 形状和密度必须相同。

<R29C>
Must use 2 stacked 2.5” pool noodles. Noodles may be round, petal, or hex in profile, and solid or hollow, but all must be identical in shape and density in each set. <R29C>
☐ 保险杆必须用坚固耐用的织物包裹起来。

<R29D>
Bumpers must be covered in a rugged fabric. <R29D>
☐ 必须使用红色或蓝色保险杆以匹配联盟的颜色。

< R 26>
Must be able to display red or blue Bumpers to match alliance color. < R26>
队伍编号的字体要求4英寸高度,1/2英寸的笔画宽度,白色或白色描边,这样当机器人在赛场上容易辨认。

不可以使用徽标作为数字。

FIRST徽标可以放在保险杆上。

<R26C & R 27>
Team number displayed with min. font 4” tall x ½” stroke, in white or outlined in white and be easily read when walking around the perimeter of the robot. No logos may be used for numerals. FIRST logo on bumpers is okay. <R26C & R27>☐ 保险杆必须安装牢固,并且易于拆卸以方便检查。

<R25 & R 29G>
Must be securely mounted when attached and be easily removable for inspection. <R25 & R29G>
☐ 当在地板上时,保险杆必须完全位于地板和地板上方7英寸之间,并且不能铰接。

<R23 & R 24>When on floor, bumpers must reside entirely between the floor and 7” above floor and may not be articulated. <R23 & R24>
机械结构Mechanical
____没有对参与者,机器人,赛场或场地构成危险的锋利边缘或突起物。

<R06>
No Sharp Edges or Protrusions that pose a hazard for participants, robots, arena, or field. <R06>
____没有使用禁止的材料— 例如:声音,激光,有害的或有毒气体、可吸入颗粒物或化学品。

<R07> No Prohibited Materials– e.g. sound, lasers, noxious or toxic gases or inhalable particles or chemicals. <R07>
____没有不安全的蓄能设备 — 当心储蓄的能量或气动系统的安全性。

<R07 & R43>
No Unsafe Energy Storage Devices - carefully consider safety of stored energy or pneumatic systems <R07 & R43>
____没有对其他机器人造成潜在损害的结构。

例如:尖锐,缠结,颠倒或粘附。

<G08, G09 & R07>
No Risk of Damage to Other Robots - e.g. spearing, entangling, upending or adhering <G08, G09 & R07>
____没有损坏场地的危险— 例如:牵引装置上的金属夹板或框架上的尖锐处。

<R05>
No Risk of Damage to Field – e.g. metal cleats on traction devices or sharp points on frame. <R05>
____润滑剂 — 润滑剂不得污染赛场或其他机器人。

<R09>
Lubricants – Lubricants must not contaminate the arena or other robots. <R09>
____配件 — 不能干扰其他机器人的电子和传感器。

<R07>
Decorations - Cannot interfere with other robots’ electronics and sensors. <R07>
____制造成本 — 团队必须提供总成本 不大于4000美元,并且单个组件不大于400美元的清单表。

<R10 thru R12> CAW Cost– Team must present worksheet with total cost ≤ $4000, and no single component > $400. <R10 thru R12>
____伺服电机成本— PWM控制的伺服电机的成本不得超过75美元。

<R32>
Servo Cost – PWM COTS Servos may not cost more than $75.00. <R32>
____比赛结束 — 赛场部件可以与机器人分开,并且赛场的机器人断电。

<R08>
End Game – Game pieces can be removed from robot and robot from field without power. <R08>
电子线路Electrical
____零件— 不得擅自改装,除了马达安装支架和输出轴,电线的修剪,车窗马达锁定销的拆除,马达连接器的修改和零 件的修复,包括PDP保险丝。

伺服马达可以按照说明被制造商修复。

请查看规则列出的详细信息。

<R33, R55 & R71> Components –None may be modified, except for motor mounting and output shaft, motor wires may be trimmed, window motor locking pins may be removed, connectors on automotive motors may be modified and certain devices may be repaired with parts identical to the originals including PDP fuses. Servos may be modified per manufacturer’s instructions. Please see listed rules for more details. <R33, R55 & R71>
____电池 — 一块12V,17-18AH的机器人电池或者符合规定的同类电池,需要安全的固定在机器人里。

<R37, R40, R41> Battery - A single 12 volt, 17-18 AH robot battery or listed equivalent, securely fastened inside robot. <R37, R40, R41>
____可见性 — PDP和断路器必须在机器人检查时易于查看。

<R48>
Visibility–PDP and breakers must be easily visible for inspection. <R48>
____主断路开关的可接触 — 120A的主断路器必须易于查看和触摸。

<R47>
Main Breaker Accessibility – the single 120A main breaker must be readily accessible with labeling preferred. <R47>
____许可的PDP断路器— 仅限于VB3-A系列或者MX5-A系列,快动作断路器可以被安装在PDP上。

<R54> Allowable PDP Breakers - Only VB3-A Series or MX5-A Series, Snap-Action breakers may be installed in the PDP. <R54> ____机器人路由器 — OpenMesh OM5P-AN或者OM5P-AC路由器必须由VRM模块的12V 2A的输出供电,并且是这些端口 的唯一的负荷。

VRM连接到PDP的12V输出。

路由器必须是安放好的,LED显示灯是可见的,并且roboRIO控制器的网 口要连接到18-24 VPOE端口。

<R51, R52, R62, R63, R69>
Robot Radio – A single OpenMesh OM5P-AN or OM5P-AC radio must be powered via the VRM +12 volt, 2 amp output and must be the only load connected to those terminals. VRM connected to dedicated +12 volt output on the PDP. Radio must be mounted so that LEDs are visible and the roboRIO Ethernet is connected to the 18-24 VPOE port. <R51, R52, R62, R63, R69> ____roboRIO供电 — roboRIO的供电线必须连接到PDP的指定端口。

<R50>
roboRIO Power– Only the roboRIO must be connected to dedicated power terminals on PDP. <R50>
____电线规格 — 遵守电线的规格协定。

Wire Size - obey the wiring size conventions.
o所有从电池到断路器的电线使用最小#6 AWG (4.11mm) 规格的电线<R44>
All wire from battery to main breaker to PDP have min #6 AWG (4.11mm) wire <R44>
o40amp的断路器使用最小#12 AWG (4 mm2) 的电线<R57>
40 amp breakers have min #12 AWG (4 mm2) wire <R57>
o30amp的断路器使用最小#14 AWG (2.5 mm2) 的电线<R57>
30 amp breakers have min #14 AWG (2.5 mm2) wire <R57>
o20amp的断路器使用最小#18 AWG (1 mm2) 的电线<R57>
20 amp breakers have min #18 AWG (1 mm2) wire <R57>
电线颜色 — 必须色彩编码:红色,白色,棕色,黄色或黑色表示+24,+12,+5VDC,褐色/蓝色代表回线。

<R59> Wire Colors - must be color coded - red, white, brown, yellow, or black w/stripe for +24, +12, +5 VDC supply wires a nd black/ blue for supply return wires. <R59>
每个 WAGO 端子 1 条线 — 只有一条线插入每个WAGO端子,胶结或者端子,可以用来分电流,不过所有连接处的电线符合规则R57。

<R53 & R58>
1 Wire per WAGO - only 1 wire may be inserted in each WAGO, splices and/or terminal blocks, may be used to distribute
power to multiple branch circuits but all wires in the splice are subject to R57. <R53 & R58>
电机—不超过6个CIM电机数量Qty:不受限制的自动电机或者其他合格的电机,按照8-1的表格。

<R32> Motors – No more than 6 CIMs Qty: unlimited automotive motors or other legal motors per table 8-1. <R32>
驱动器 — 电磁驱动器,最大1英寸的冲程,在12V的连续电压下不超过10W的功率。

<R32>
Actuators – Electrical solenoid actuators, max. 1 in. stroke and no greater than 10 watts at 12V continuous duty. <R32>
电机/制动器电源 — 根据电机型号每一个电机控制器需要连接2个电机用来连接到负载终端,而且每一个特定的电机必须连接到经过检验的继电器模块上。

并联的气压阀门必须由一个Spike驱动。

CIMS和特定的其他电机必须受
一个速度控制器控制。

<R35>
Motor/Actuator Power – Each motor controller may have up to two motors connected to the load terminals depending o n motor type, (Table 8-2), and single specified motors may be connected to an approved relay module. (multiple pneumatic
valves may be driven by a single Spike). CIMs and specified other motors must be fed by only one speed controllers. <R35> 电机/制动器控制 — 电机/制动器必须受合规的电机控制器控制,并且直接由RoboRIO发出的PWM信号驱动或者是通过合格的MXP或者通过CAN总线。

<R34, R73-R75>
Motor/Actuator Control – Motors/actuators must be controlled by legal motor controllers and driven directly by P WM signals from roboRIO or through legal MXP board or by the CAN bus. <R34, R73-R75>
定制电路,传感器和其他电子产品 — 不能直接控制速度控制器,Spike控制器,制动器或者舵机不能产生超过24V 的电压。

<R35, R49 & R60>
Custom Circuits, Sensors and Additional Electronics – cannot directly control speed controllers, Spike relays, actuators o r servos and may not produce voltage in excess of 24 volts. <R35, R49 & R60>
分支线路 — 每一个分支电路必须有且仅由一个断路器保护安装8-3的表格。

<R56>
Branch Circuits – Each branch circuit must be protected by one and only one breaker per Table 8-3. <R56>
气动控制模块 — PCM模块必须由CAN 总线连接到roboRIO上。

<R76>
Pneumatic Control Module (PCM) - PCM modules must be connected to roboRIO via CAN bus. <R76>
Spike保险丝 — Spike必须安装20安培保险丝,当用于压缩机控制时,只有Spike保险丝可以用20安培,瞬间切断断路器(推荐)。

<R71D>
Spike Fuse – Spike must have 20 amp fuse installed. When used for compressor control only the Spike fuse may be r eplaced with 20 amp, snap action breaker (recommended). <R71D>
舵机 — 舵机必须连接到roboRIO的PWM的端口上,WCP Spartan Board或者增加伺服组件。

<R36>
Servo – Servos must be connected to the PWM ports on the roboRIO, WCP Spartan Board or REV Servo Module. <R36> 绝缘框架 — 框架与电池那必须是绝缘的,roboRIO与框架是绝缘的(电池配电板于底盘直接需大于3K欧姆的阻
抗)。

<R46>
Isolated Frame – Frame must be electrically isolated from battery, roboRIO must be insulated from frame. (>3k Ohm b etween either PDP battery post and chassis) <R46>
接线端子 — 每一个在电池上的接线端子,主要的断路器和接插件必须是完全绝缘的。

<R42>
Terminals – Each terminal on the battery, main breaker and connectors must be fully isolated. <R42>
CAN—配电板的 CAN的线必须连接roboRIO的CAN线上。

CAN总线必须连接到roboRIO上。

<R77, R78>
CAN – PDP CAN bus must be wired to the roboRIO CAN bus. The CAN-bus must be connected to the roboRIO. <R77, R78>
气动系统Pneumatic System W/ On Board or Off Board Compressors (n/a for robots that do not use pneumatics)没有改装除了在R81清单里的东西,气动部件不允许被改装。

No Modifications - pneumatic parts may not be modified except those listed in R81. <R81>
压缩机机器人只允许使用套件里的一个空气压缩机(或者是等价的,最大1.1CFM流量)
Compressor - Only one KOP compressor (or equivalent, max 1.1 CFM flow rate) may be used (on or off robot). <R84>
压缩机电源必须使用PCM或者Spike给压缩机供电.
Compressor Power - must use the PCM or Spike to power the compressor. <R35 & R85>
压缩机控制 Nason P/N SM-2B-115R/443必须用线直接连接到PCM或者roboRIO上
Compressor Control – A Nason P/N SM-2B-115R/443 must be wired directly to the PCM or roboRIO. <R93>
压缩机安全阀连接到压缩机的废气排出口(或者通过合法的连接件)
Compressor Relief Valve – attached to (or through legal fittings) to compressor outlet port. < R82, R83, R92>
通流阀必须包含一个容易手动接触的流通阀来释放系统里的压力
Vent Plug Valve – must include an easily-accessible manual vent plug valve to release system pressure. <R82, R83, R94> 关闭机器人压缩机(如果使用)必须还有一个额外的流通阀这样在机器人系统里使用和控制压缩机,贮存压力开关应位于场外
Off-Robot Compressor (if used) – must include an additional vent valve. The on-robot control system must be used to control and power the compressor. The stored pressure switch & gauge can be located off-board. <R85-R92>
组件 - 所有的必须是COTS或者KOP里的项目,额定爆破压力最小是125psi(~862 kPa)。

<R80>
Components – All must be COTS or KOP items, rated for 125 psi (~862 kPa) minimum burst pressure. <R80> 管子 - 器材包里等量最大ID 0.165英寸用以屏幕打印等级或者支持文档。

<R82E>
Tubing – Equiv. to KOP with a maximum ID of 0.165” with screen printed rating or supporting documentation. <R82E> 缓解压力调节器 设置≤60psi ,提供所有的压力 气动元件R07-100-RNEA 或者Monnier P/N: 101-3002-1等价物Relieving Pressure Regulator – Set to ≤ 60 psi, providing all working pressure. Norgren R07-100-RNEA or Monnier P/N: 101-3002-1 or equivalent. <R87>
计量表 必须放置到容易看的见的高压力一侧和低压力一侧的出口。

<R89>
Gauges - must be present at both the high pressure side and low pressure regulator(s) outlet and be readily visible. <R89>阀门控制-气动电磁阀必须有最大1/8英寸NPT 螺纹,或者BSPP ID ,且必须由PCM 或者Spike 控制,每一个阀一个气动执行器。

<R35, R82D, R95>
Valve Control - pneumatic solenoid valves must have a max 1/8” NPT, BSPP, or BSPT ID, be controlled by either a PCM or Spike and only one valve per pneumatic actuator. <R35, R82D, R95> 电源检查 Power On Check (Driver Station must be tethered to the Robot)
非法的无线通讯 - 没有FIRST 提前的书面许可,没有无线通信可以通讯到/从机器人或操作员控制台。

在操作员控 制台或维修区不允许使用无线电话。

<R68, R100>
Unauthorized Wireless Communication – no wireless communication to/from ROBOT or OPERATOR CONSOLE w ithout prior FIRST written permission. No radios allowed on the OPERATOR CONSOLE or in the pit <R68, R100>
气动操作确认--系统里没有压力,当机器人激活的时候,空气压缩机才能开始工作。

Confirm Pneumatics Operation – With no pressure in system, compressor should start when robot is e nabled.
o 在roboRIO 的控制下,当空气压缩机压力在120PSI 时自动停止。

<R86>
Compressor should stop automatically at ~120 psi under roboRIO control. <R86>
o 主要压力≤120pis 工作压力≤60psi <R87>Main Pressure ≤ 120 psi <R86 > and Working Pressure ≤ 60 psi. <R87>
o 压缩机安全阀 设置为125psi <R92>
Compressor Relief Valve – set to 125 psi. <R92>
机器人信号灯 来自器材包的机器人信号灯(最大多2个)必须放在机器人前方显眼的位置,并且将插头插入到 roboRIO 的RSL 端口上,确保RSL 端口闪烁和roboRIO 是同步的。

<R70>
Robot Signal Light(s) - The Robot Signal Light (two max.) from the KOP must be visible from 3’ in front of the robot, and be plugged into the RSL port on roboRIO. Confirm that the RSL flashes in sync with roboRIO. <R70>
在数据集里核查队伍的号码-为此赛事,队伍已经在一体机上编写了开放网络的无线网桥。

<R62, R66>
Verify Team Number on DS – team has programmed the OpenMesh Wireless Bridge at kiosk for this event. <R62, R66> 固件版本-设备的软件/固件为以下列出的版本:
Firmware Versions – Software/firmware for devices is at or above listed versions below:
断电-打开主断路器以断开机器人的电源,确认所有LED 都熄灭,启动气动排气塞阀并确认所有压力均已排空,所 有压力表读数为0 psi 压力。

<R94>
Power Off – Open main breaker to remove power from the robot, confirm all LEDs are off, actuate pneumatic vent plug valve and confirm that all pressure is vented and all gauges read 0 psi pressure. <R94>
操作员控制台在地板上小于60英寸 * 14英寸 * 6英尺6英寸。

可能有挂钩胶带保护操作员控制台的架子。

<R99>
Driver Console is less than 60” x 14” x 6’6” above floor. May have hook tape to secure to Driver’s Station shelf . <R99> 绳子检查 Rope Inspection
绳子 – 最大宽度 = 1英寸,5英尺3英寸 ≤ 长度 ≤ 8英尺。

可能有挂钩胶带保护操作员控制台的架子。

Rope – Max width = 1”, 5’-3” ≤ Length ≤ 8’. Has a RF to engage davit & fully complies with all sub -paragraphs of I04 S erial 连续标签Serial Tag# 连续标签Serial Tag# 连续标签Serial Tag#
连续标签Serial Tag# 连续标签Serial Tag# 连续标签Serial Tag#
队伍承诺声明 Team Compliance Statement
我们,队伍导师和队长通过我们在下面的签名证明,我们的团队的机器人是在2017年1月7日2017年赛季启动之后,根据所有2017年FRC 规则,包括所有制造计划规则建搭建的。

我们进行了自检,并确定我们的机器人符合2017年FRC 所有机器人设计的规则。

We, the Team Mentor and Team Captain, attest by our signing below, that our team’s robot was built after the 2017 Kickoff on January 7, 2017 and in accordance with all of the 2017 FRC rules, including all Fabrication Schedule rules. We have conducted our own inspection and determined that our robot satisfies all of the 2017 FRC rules for robot design.
队伍队长:
队伍导师:Team Captain: Team Mentor: o Driver Station – 17.0.1 or newer <R96>o Jaguars – v109 <R75>
o roboRIO – FRC_2017_v8 <R61>o PCM – 1.62 <R71>
o Talon SRX – v1.01. <R75>。

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