CN202147736U - Driving device for wheeled football robot - Google Patents
Driving device for wheeled football robot Download PDFInfo
- Publication number
- CN202147736U CN202147736U CN201120275885U CN201120275885U CN202147736U CN 202147736 U CN202147736 U CN 202147736U CN 201120275885 U CN201120275885 U CN 201120275885U CN 201120275885 U CN201120275885 U CN 201120275885U CN 202147736 U CN202147736 U CN 202147736U
- Authority
- CN
- China
- Prior art keywords
- gear
- motor
- robot
- wheeled
- utility
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Abstract
The utility model discloses a driving device for a wheeled football robot, which comprises a bottom plate, a third gear, a first gear, a long shaft, a fourth gear, a second gear, a first motor, a second motor, a first small gear and a second small gear, wherein the first motor and the second motor are arranged on the bottom plate, and the first small gear and the second small gear are connected with the first motor and the second motor correspondingly. The first small gear is meshed with the second gear and the first gear to form a whole and drives the second gear and the first gear to move, and the second small gear is meshed with the fourth gear and the third gear and drives the same to move. By means of four-wheel driving, sufficient driving force can be provided while better braking friction is provided during deceleration and braking, and the problem of 'incapability in braking' is avoided. Meanwhile, the wheeled football robot with the driving device can be advantageous during competition no matter being forwardly confronted or being laterally impacted.
Description
Technical field
The utility model relates to a kind of actuating device of Soccer robot, particularly relates to a kind of actuating device of wheeled Soccer robot.
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.The main at present left and right sides two-wheeled drive configuration that adopts of traditional Centralized Control Soccer Robot; Be that robot the right and left respectively has two gears; Wherein the right and left respectively has a gear connecting drive wheel; Drive wheel is realized advancing, retreating and turn to through changing left and right wheels speed through motor driven, and another gear of the right and left connects the supplemental support wheel.Robot stops and resisting in the starting that can not stop during the games, and this all requires the actuating device of robot that enough propulsive efforts can be provided, and could make robot starting, braking rapidly, and in antagonism dominate.And present type of drive mainly is that two drive wheel robots are realized motion-related about adopting, and former and later two supplemental support wheels only play and keep the robot equilibrium activity.Owing to provide the left and right sides two-wheeled that has only of propulsive effort to contact with ground, place; Area of contact is little; Cause robot in the starting accelerator, skidding takes place in robot drive wheel and ground, and the robot drive wheel can not provide enough propulsive efforts; In the brake snub process, robot left and right sides two-wheeled can not produce enough friction force stops robot rapidly.In addition, with the other side's robot forward antagonistic process in because drive wheel can not provide bigger propulsive effort; Often in antagonistic process, occupy leeward; In receiving the lateral impact process, very easily depart from original position and path, above-mentioned unfavorable factor all can cause our competitive strength to descend greatly.
Because the defective that above-mentioned existing Centralized Control Soccer Robot adopts left and right sides two-wheeled drive configuration to exist, the design people actively studies innovation, and the actuating device in the hope of the wheeled Soccer robot of founding a kind of new structure makes it have more practicality.
The utility model content
The main purpose of the utility model is; Overcome the defective that existing employing left and right sides two-wheeled drive configuration exists, and a kind of actuating device of wheeled Soccer robot of new structure is provided, technical matters to be solved is to make it adopt four wheel drive; For robot provides bigger propulsive effort and drag friction power; Increase robot and ground-surface area of contact, thereby be suitable for practicality more, and had the value on the industry.
The purpose of the utility model and solve its technical matters and adopt following technical scheme to realize.The actuating device of a kind of wheeled Soccer robot that proposes according to the utility model; Comprise base plate, the 3rd gear, first gear, major axis, the 4th gear and second gear; It also comprises first motor and second motor that is arranged on the said base plate; Corresponding with first motor and second motor respectively bonded assembly first miniature gears and second miniature gears, said first miniature gears is meshed with second gear, first gear respectively, and said second miniature gears is meshed with the 4th gear, the 3rd gear respectively.
The actuating device of aforesaid wheeled Soccer robot, wherein, said first motor and second motor are DC servo motor.
By technique scheme, the actuating device of the wheeled Soccer robot of the utility model has advantage at least:
Adopt four wheel drive, enough propulsive efforts can be provided, avoided the skidding in the starting accelerator; Increased robot drive wheel and ground-surface area of contact simultaneously, in the brake snub process, four wheel drive can provide drag friction power preferably; Avoided the situation of " the incessantly car of stopping "; Simultaneously in antagonistic process,, can both occupy certain advantage no matter be the forward antagonism or receive lateral impact.
In sum, the actuating device of the wheeled Soccer robot of the utility model special construction, it has above-mentioned many advantages and practical value, thereby is suitable for practicality more.
Above-mentioned explanation only is the general introduction of the utility model technical scheme, in order more to know the technological means of understanding the utility model, and can implement according to the content of specification sheets, below with the preferred embodiment of the utility model and conjunction with figs. specify as after.
Description of drawings
Fig. 1 is the structural representation of the actuating device of the described wheeled Soccer robot of the utility model.
The specific embodiment
For further setting forth the utility model is to reach technological means and the effect that predetermined utility model purpose is taked, below in conjunction with accompanying drawing and preferred embodiment, to the specific embodiment of the utility model specify as after.
As shown in Figure 1; A kind of actuating device of wheeled Soccer robot; Comprise base plate 6, the 3rd gear 8, first gear 1, major axis 4, the 4th gear 9 and second gear 3, it comprises that also first motor 2 that is arranged on the said base plate and second motor, 7, the first motors 2 and second motor 7 are DC servo motor and separate; Respectively with first motor 2 and second motor, 7 corresponding bonded assembly first miniature gearss 5 and second miniature gears (not marking among the figure); First miniature gears 5 is identical miniature gears with second miniature gears, and first miniature gears 5 is meshed with second gear 3, first gear 1 respectively, and first miniature gears 5 drives second gears 3 and moves with first gear 1; Second miniature gears is meshed with the 4th gear 9, the 3rd gear 8 respectively; Second miniature gears drives the 4th gear 9 and 8 motions of the 3rd gear, and a major axis 4 connects the 3rd gear 8 and first gear 1, and another root major axis connects the 4th gear 9 and second gear 3.
Correspondingly on first motor 2 of the utility model and the motor output shaft of second motor 7 captiveing joint first miniature gears 5 and second miniature gears, by the motor output shaft driven rotary of first motor 2 and second motor 7.The 3rd gear 8, first gear 1, the 4th gear 9 and second gear 3 has connected one to one respectively and the contacted drive wheel in ground (among the figure mark); First miniature gears 5 is meshed with second gear 3, first gear 1 respectively; Second miniature gears is meshed with the 4th gear 9, the 3rd gear 8 respectively, and this connection mode can guarantee that the drive wheel of homonymy has identical rotating speed and hand of rotation with gear.Identical and less than 0 the time when the rotating speed of first motor 2 and the motor output shaft of second motor 7, robot realizes that straight line retreats; Identical and greater than 0 the time, robot is realized straight ahead when the rotating speed of first motor 2 and the motor output shaft of second motor 7; When the rotating speed of the motor output shaft of first motor 2 and second motor 7 not simultaneously, robot realizes that differential turns.
The above; It only is the preferred embodiment of the utility model; Not being that the utility model is done any pro forma restriction, though the utility model with the preferred embodiment exposure as above, yet is not in order to limit the utility model; Anyly be familiar with the professional and technical personnel; In not breaking away from the utility model technical scheme scope, make a little change or be modified to the equivalent embodiment of equivalent variations when the technology contents of above-mentioned announcement capable of using, be the content that does not break away from the utility model technical scheme in every case;, all still belong in the scope of the utility model technical scheme any simple modification, equivalent variations and modification that above embodiment did according to the technical spirit of the utility model.
Claims (2)
1. the actuating device of a wheeled Soccer robot; Comprise base plate, the 3rd gear, first gear, major axis, the 4th gear and second gear; It is characterized in that it also comprises first motor and second motor that is arranged on the said base plate, respectively with corresponding first miniature gears and second miniature gears of being connected of first motor with second motor; Said first miniature gears respectively be connected after second gear, first gear are meshed in aggregates; Said first miniature gears drives second gear and said first gear movement, and second miniature gears is meshed with the 4th gear, the 3rd gear respectively, and said second miniature gears drives the 4th gear and said the 3rd gear movement.
2. the actuating device of wheeled Soccer robot according to claim 1 is characterized in that, said first motor and second motor are DC servo motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120275885U CN202147736U (en) | 2011-08-01 | 2011-08-01 | Driving device for wheeled football robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120275885U CN202147736U (en) | 2011-08-01 | 2011-08-01 | Driving device for wheeled football robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202147736U true CN202147736U (en) | 2012-02-22 |
Family
ID=45588805
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201120275885U Expired - Fee Related CN202147736U (en) | 2011-08-01 | 2011-08-01 | Driving device for wheeled football robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202147736U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104527828A (en) * | 2014-12-15 | 2015-04-22 | 湖北工业大学 | Gear pair structure walking robot |
-
2011
- 2011-08-01 CN CN201120275885U patent/CN202147736U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104527828A (en) * | 2014-12-15 | 2015-04-22 | 湖北工业大学 | Gear pair structure walking robot |
| CN104527828B (en) * | 2014-12-15 | 2016-09-28 | 湖北工业大学 | A kind of gear pair structure walking robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106114099B (en) | A kind of air-ground amphibious four rotor wing unmanned aerial vehicle | |
| CN203480309U (en) | Driving device of bidirectional automated guided vehicle | |
| CN201211849Y (en) | Driving mechanism of four-wheel drive electric motor vehicle | |
| CN202147736U (en) | Driving device for wheeled football robot | |
| CN202028178U (en) | Automatic driving dodgem | |
| CN201931951U (en) | Land and water dual-purpose electric bicycle | |
| CN202876335U (en) | High-speed rotation toy top | |
| CN203666862U (en) | Drifting rotary car | |
| CN203876899U (en) | Three-wheeled trolley with motion trail controllable | |
| CN201538389U (en) | Children-used crawler-type recreational vehicle | |
| CN204749861U (en) | Two separation and reunion formula bi -polars output special -purpose vehicle operation motor transmission | |
| CN204184487U (en) | A kind of novel wheel-leg combined type mobile robot traveling gear | |
| CN203126523U (en) | Power driving system for forklift | |
| CN207085319U (en) | A kind of electric toy train head | |
| CN203496658U (en) | Driving system of electric automobile | |
| CN207361373U (en) | The machine's drive device of bridge type scraper material taking machine | |
| CN208546004U (en) | A kind of machinery garage transmission mechanism for realizing that vehicle-carrying plate one direction is mobile | |
| CN205886220U (en) | Power toy car returns with two energy storage units | |
| CN101850819A (en) | Hand-driven scooter | |
| CN202201029U (en) | Steering device of walking tractors for road transportation | |
| CN202728499U (en) | Double-drive dinuclear electro-tricycle | |
| CN201784457U (en) | Monorail vehicle | |
| CN207640986U (en) | A kind of mating toy sawmilling cavern of train toy track | |
| CN206031095U (en) | Novel two driving motor 4 wheel driven electric truck chassis | |
| CN105532620A (en) | Power transmission device of self-propelled boom sprayer |
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 |
Granted publication date: 20120222 Termination date: 20140801 |
|
| EXPY | Termination of patent right or utility model |