CN1559645A - Football robot embedded type direct driving device - Google Patents
Football robot embedded type direct driving device Download PDFInfo
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- CN1559645A CN1559645A CNA2004100168672A CN200410016867A CN1559645A CN 1559645 A CN1559645 A CN 1559645A CN A2004100168672 A CNA2004100168672 A CN A2004100168672A CN 200410016867 A CN200410016867 A CN 200410016867A CN 1559645 A CN1559645 A CN 1559645A
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Abstract
An embedded direct driver for the football rotor features its modular double-embedded structure. The motor is embeddedin the motor installing case. The motor installing caseis embeddedin rubber roller. The drive flange of motor is connected to rubber roller. The drive glanges are driven by the shaft of motor for synchronous rotating.
Description
Technical field
The present invention relates to the embedded direct drive unit of a kind of Soccer robot, be applicable to the match of full autonomous soccer robot participation world cup soccer, also can be used for the other machines people project of wheeled driving, belong to the Soccer robot technical field.
Background technology
Along with the popularization of robot soccer competition and the development of Soccer robot technology, the performance of Soccer robot is gradually improved.In full autonomous soccer robot contest, laws of the game have frequent collision between the permission robot in strict regulation, the match to the size of robot, require robot to have very high flexibility and very strong impact resistance, therefore in play, accurately can whether Soccer robot move, bear high-strength impact when resisting, and these problems seem extremely important.Existing full autonomous soccer robot generally adopts the differential form of two-wheel to move, because the translational speed of at present full autonomous soccer robot is slower, the drive unit problem of specialty seems not too outstanding.Nowadays along with the lifting of robot translational speed, in addition from now on will with at a high speed, high position precision race in the same field with the mankind, press for accurate, firm, stable drive unit and ensure motion process.According to further retrieval to prior art, relate to a kind of Soccer robot running gear in the Chinese invention patent " full-automatic football robot and intelligence control system thereof " [application number 02132744.0] of people such as the Hong Bing of Harbin Institute of Technology Rong application, this device characteristic readme is: by driving left drive motors and the right drive motors that left and right sidesing driving wheel rotates, belt drive unit, left and right sidesing driving wheel, guide wheel is formed, left and right sides drive motors connects left and right sidesing driving wheel through one group of belt drive unit respectively, guide wheel is arranged on the middle place, front side of robot body bottom, and this device is added in the driving function that realizes robot on the robot car body.In the Chinese utility model patent " full-automatic football robot " [application number 02274643.9] of above-mentioned patentee's application, still continue to use this drive unit.The weak point of this patent actuation techniques is:
1), the multi-stage, belt transmission link between motor and the wheel may skid, and brings error, causes the location inaccurate, it is unreliable to drive.
2), the relative motion between transmission link and driving wheel and driven pulley brings heavy wear and power loss.
3), middle transmission link volume is big, if select high-power motor to cause the robot volume too huge; If can only select small machine for use for reduced volume, cause power not enough, can not reach high-speed motion, and strength is not enough, antagonism is poor, is not suitable for medium-sized group of robot soccer competition.
4), motor is connected with wheel by wheel shaft, belt pulley etc., parts out reach such as wheel shaft are big, rigidity is little, brings additional bending moment.Be easy to cause wheel shaft flexural deformation in the antagonism of robot fierceness, in impacting, and impulsive force passes on the motor shaft by wheel shaft, make motor directly the power of withstanding shocks cause damage; This structure is to avoid the words of electromechanical shock can only select shaft joint, can increase mechanism's volume equally like this, and the out reach of axle is longer, and moment is bigger.
5), above deficiency causes this drive unit life-span weak point, the frequent maintain and replace of need.
6), each parts is scattered relatively, installs complicatedly, portability is not high.
Except that the above band transmission drive scheme that is exclusively used in Soccer robot, also has the multiple gear drive scheme that robot drives that is used for, this scheme is because the middle meshed transmission gear link that adopts, and has big, the stressed deficiency such as unreasonable of revolution cumulative errors, volume that engagement brings.
Summary of the invention
The objective of the invention is at the deficiencies in the prior art, for current Soccer robot World Cup Competition provides a kind of Soccer robot drive unit, compact conformation, speed governing is flexible, make robot have fast moving, location accurately, shock resistance, function that antagonism is strong, be not only applicable to full autonomous soccer robot sports, the other machines people project that also can be applied to positioning accuracy request height, compact conformation, withstands shocks.
The present invention is achieved by the following technical solutions: drive unit of the present invention adopts the dual damascene structures of modularization, and package unit is made of direct current generator, rubber wheel, motor-driven ring flange, a pair of dustproof thrust ball bearing, thrust ring, back-up ring, bearing thrust ring flange, motor installation sleeve.Wherein motor connects with screw, embeds to be installed in the motor installation sleeve, constitutes the first heavy damascene structures; The motor installation sleeve embeds by thrust ball bearing, thrust ring and back-up ring and is installed in the rubber wheel, plays the effect of axletree simultaneously; There is mating surface that two bearings are installed in the rubber wheel, bearing and thrust ring and back-up ring are close to, thrust ring is installed in the groove of wheel, bearing is respectively by thrust ring, back-up ring, boss on the rubber wheel, boss on bearing thrust ring flange and the motor installation sleeve limits the position, the bearing thrust ring flange is connected with the motor installation sleeve by screw, the motor-driven ring flange is connected on the rubber wheel with screw, there is a dowel hole at its center, motor shaft stretches out from motor installation sleeve top-portion apertures, be connected with the center key slotted eye of motor-driven ring flange, above mechanism interconnects, and common the embedding is installed to the formation second heavy damascene structures in the rubber wheel.A whole set of drive unit becomes standalone module, and the ring flange interface bottom the motor installation sleeve directly is connected with robot car body.
The present invention selects for use the direct current generator of band speed-regulating function as power, motor shaft directly drove when motor rotated, motor-driven ring flange and wheel are fastenedly connected, then drive wheel, realize directly driving, rotation synchronously between wheel and the motor does not have any speed change link and engagement link, has avoided accumulative total turn error and possible skidding.Two drive units about installing on the robot car body by the adjusting of motor speed being controlled the variation of vehicle wheel rotational speed and gyratory directions, make robot realize the two-wheel differential motion, take the air line, circular arc even more complicated motion.Adopt a pair of thrust ball bearing as rotary pair between rubber wheel and motor installation sleeve, bearing and motor installation sleeve, outer ring and rubber wheel are tight fit, keep spacing with thrust ring and back-up ring between two bearings, boss by bearing thrust ring flange and motor installation sleeve between bearing and motor installation sleeve is spacing, guarantee the stable of whole mechanism and cooperate closely.In the package unit, motor installation sleeve, motor-driven ring flange, bearing thrust ring flange and corresponding connector thrust ball bearing, thrust ring, back-up ring all embed in the rubber wheel, cooperate closely, play the effect of axletree simultaneously, it is thick because this structure is short, so stiffness and strength is quite big, can bear very strong impact.And the drive motors of selecting for use embeds the motor installation sleeve, and the impact that wheel bears during the robot antagonism has avoided motor directly to withstand shocks by directly bearing with parts such as the close-fitting motor installation sleeve of wheel, plays cushioning effect.More than common constitute dual damascene structures, structure is simplified, volume is little, stable height and tight ness rating.
The relative robot of the present invention conventional drive scheme has marked improvement, comprising:
1), motor direct-drive, output synchronously, no intermediate reduction gear transmission link or mesh link has been avoided skid accumulative total angular errors in error or the conventional gears transmission of bel-drivenn, accurate positioning.
2), do not have friction relatively, reduce unnecessary wearing and tearing and power loss.
3), damascene structures makes motor and syndeton embed wheel, can select more powerful motor on volume-diminished, the same volume, uses the robot speed of this device fast, strength is big, antagonism is strong.
4), in the above layout, the short cylinder structure that embeds in the wheel replaces traditional elongated wheel shaft, need not shaft joint, has protected motor, good impact resistance simultaneously.
5), wheel shaft shortens, rigidity improves, and does not have friction relatively, has prolonged the wheel shaft life-span.
6), drive unit of the present invention takes modularized design, each element connects the back and becomes standalone module, connects robot car body and promptly realizes driving function, transplantability is very strong.
The present invention is not only applicable to full autonomous soccer robot sports, also can be applied to the various robots project that positioning accuracy request height, structure simplify and the various drive schemes of similar requirement.
Description of drawings
Fig. 1 is an overall structure schematic diagram of the present invention.
Among Fig. 1: rubber wheel 1, motor-driven ring flange 2, a pair of thrust ball bearing 3 and 4, thrust ring 5, back-up ring 6, motor 7, bearing thrust ring flange 8, motor installation sleeve 9.
Fig. 2 is installed in position view on the robot car body for the present invention.
Among Fig. 2: drive unit 10 of the present invention, robot car body 11.
The specific embodiment
Below in conjunction with accompanying drawing technical scheme of the present invention is further described.
As shown in Figure 1, the present invention is dual damascene structures, is made of rubber wheel 1, motor-driven ring flange 2, a pair of dustproof thrust ball bearing 3,4, thrust ring 5, back-up ring 6, motor 7, bearing thrust ring flange 8, motor installation sleeve 9.Motor 7 is installed to the formation first heavy damascene structures in the motor installation sleeve 9 by connecting the screw embedding.Be connected by a pair of thrust ball bearing 3,4 between motor installation sleeve 9 and the rubber wheel 1, thrust ring 5 embeds in the mounting groove of rubber wheel 1, one end of bearing 3 outer rings is close to the boss in the rubber wheel 1, and boss is spacing thus, the other end of bearing 3 outer rings is close to thrust ring 5, spacing by thrust ring 5, the inner ring of bearing 3 is spacing by the outer ring boss of bearing thrust ring flange 8, back-up ring 6 is close to thrust ring 5, the inner ring of bearing 4 is spacing by back-up ring 6, the boss of motor installation sleeve 9 middle and lower parts is close in the outer ring of bearing 4, and boss is spacing thus.Bearing thrust ring flange 8 is connected on the motor installation sleeve 9 by screw, motor-driven ring flange 2 is connected on the rubber wheel 1 with screw by screw is installed, motor shaft stretches out from motor installation sleeve 9 top-portion apertures, is connected with the center key slotted eye of motor-driven ring flange 2.The common embedding of each parts that plays the motor installation sleeve 9 of wheel shaft effect and be attached thereto is installed in the rubber wheel 1, constitutes the second heavy damascene structures.A whole set of drive unit constitutes standalone module, and the extended flange dish interface by motor installation sleeve 9 bottoms is connected with robot car body.
Device selects for use direct current generator directly to drive.When motor 7 rotates, the motor shaft that is connected with motor-driven ring flange 2 center key slotted eyes drives 2 rotations of motor-driven ring flange, then driving the rubber wheel 1 that is connected with motor-driven ring flange 2 rotates synchronously, rubber wheel 1 is the gyroaxis revolution by bearing 3,4 with motor installation sleeve 9, so just realizes the direct driving of 7 pairs of rubber wheels 1 of motor.Because motor 7 direct driven in synchronism rubber wheels 1, middle do not have angular errors without speed change gear or geared assembly between rubber wheel 1 and motor shaft, and package unit all embeds in the rubber wheel 1, saves the space, has high strength, rigidity.
Claims (1)
1, the embedded direct drive unit of a kind of Soccer robot, it is characterized in that adopting dual damascene structures, be made of rubber wheel (1), motor-driven ring flange (2), a pair of dustproof thrust ball bearing (3,4), thrust ring (5), back-up ring (6), motor (7), bearing thrust ring flange (8), motor installation sleeve (9), motor (7) embeds and constitutes the first heavy damascene structures in the motor installation sleeve (9); Pass through a pair of thrust ball bearing (3 between motor installation sleeve (9) and the rubber wheel (1), 4) connect, thrust ring (5) embeds in the mounting groove of rubber wheel (1), back-up ring (6) is close to thrust ring (5), one end of first bearing (3) outer ring is spacing by the boss in the rubber wheel (1), the other end is spacing by thrust ring (5), the inner ring of first bearing (3) is spacing by the outer ring boss of bearing thrust ring flange (8), the inner ring of second bearing (4) is spacing by back-up ring (6), the outer ring is spacing by the boss of motor installation sleeve (9) middle and lower part, bearing thrust ring flange (8) is connected on the motor installation sleeve (9) by screw, motor-driven ring flange (2) is connected on the rubber wheel (1) with screw by screw is installed, motor shaft stretches out from motor installation sleeve (9) top-portion apertures, be connected with the center key slotted eye of motor-driven ring flange (2), the common embedding of each parts that plays the motor installation sleeve (9) of wheel shaft effect and be attached thereto is installed in the rubber wheel (1), constitute the second heavy damascene structures, motor installation sleeve (9) bottom has extended flange dish interface to be connected with robot car body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100168672A CN100534565C (en) | 2004-03-11 | 2004-03-11 | Football robot embedded type direct driving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100168672A CN100534565C (en) | 2004-03-11 | 2004-03-11 | Football robot embedded type direct driving device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1559645A true CN1559645A (en) | 2005-01-05 |
| CN100534565C CN100534565C (en) | 2009-09-02 |
Family
ID=34440698
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2004100168672A Expired - Fee Related CN100534565C (en) | 2004-03-11 | 2004-03-11 | Football robot embedded type direct driving device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100534565C (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101758741B (en) * | 2009-12-02 | 2011-11-16 | 哈尔滨工程大学 | All-in-one robot wheel suitable for amphibious ground |
-
2004
- 2004-03-11 CN CNB2004100168672A patent/CN100534565C/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101758741B (en) * | 2009-12-02 | 2011-11-16 | 哈尔滨工程大学 | All-in-one robot wheel suitable for amphibious ground |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100534565C (en) | 2009-09-02 |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090902 Termination date: 20120311 |