CN204745643U - Flexible device of initiatively dribbling of football robot - Google Patents
Flexible device of initiatively dribbling of football robot Download PDFInfo
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- CN204745643U CN204745643U CN201520477607.9U CN201520477607U CN204745643U CN 204745643 U CN204745643 U CN 204745643U CN 201520477607 U CN201520477607 U CN 201520477607U CN 204745643 U CN204745643 U CN 204745643U
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- fixed support
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- transmission mechanism
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Abstract
The utility model discloses a flexible device of initiatively dribbling of football robot, including fixed bolster and two sets of drive mechanism, two sleeve springs buffering subassembly and two sets of infrared determine module, two sets of drive mechanism install in the fixed bolster upper surface left and right sides, through motor drive transmission train, drive drive mechanism front end rubber running roller and rotate, make the football rotatory backward under the drive of rubber gyro wheel, make the robot like this when advancing, retreating or turning round, can both make the football follow the robot motion. Two sleeve springs buffering subassembly is installed in the frame, links to each other with two sets of drive mechanism respectively for the space of activity about the rubber gyro wheel exists. Two sets of infrared determine module install at the fixed bolster lower surface, send out whether there is the football before being used for detecting. The utility model discloses an advantage does: can receive effectively with and action such as accomplish that the dribbling is god forward, is retreated, is turned round.
Description
Technical field
The utility model relates to a kind of Soccer robot flexibility and initiatively to dribble device, can realize effectively receiving and complete active dribble advance, retreat, the action such as to turn round.
Background technology
In robot soccer competition, dribbling ability is one of key factor of winning victory of robot.From current playing conditions, the problems such as ubiquity Soccer robot does not receive ball, ball snaps in bottom robot, fumble.In order to solve the problem, strengthen the ability of initiatively dribbling of robot, in the urgent need to developing a kind of novel flexible main belt ball device, improve the attack ability of robot.
Utility model content
For the problems referred to above, the utility model proposes a kind of Soccer robot flexibility and initiatively to dribble device, can be arranged on Soccer robot, realize effectively receiving and complete advances of initiatively dribbling, retreat, the action such as to turn round, control is flexible.
The utility model Soccer robot flexibility is initiatively dribbled device, comprises fixed support and two sets of transmission mechanism, two sleeve spring Buffer Units and two overlap infrared detection components.
Described fixed support upper surface is each side provided with a sets of transmission mechanism, and transmission mechanism is symmetrical set; Transmission mechanism comprises drive motors, hold-down arm, small pulley, Timing Belt, large belt wheel, rubber roll and bearing block; Bearing block is fixedly mounted on fixed support upper surface, bearing block and hold-down arm rear end hinged; Drive motors is fixedly mounted on hold-down arm rear end, and output shaft installs small pulley; Small pulley is connected with large belt wheel by Timing Belt, and large belt wheel is arranged in the rotating shaft of hold-down arm front end, and rotating shaft is also provided with rubber roll; In above-mentioned two sets of transmission mechanism, two rubber rolls are all positioned at fixed support front, and two roller spacings are less than the diameter of football;
Described two sleeve spring Buffer Units are arranged on two blocks of vertical side plates not designing in fixed support; And be connected with two sets of transmission mechanism respectively; Spring buffer assembly comprises spring, spring(-supported) mount; Wherein, spring(-supported) mount is fixedly mounted on side plate, spring at front end and hold-down arm front end upper surface hinged; Rear end and spring Change-over frame hinged;
The infrared detection components of described two cover is arranged in the middle part of fixed support lower surface, and end of probe toward the front.
Advantage of the present utility model is:
1, the utility model flexibility is initiatively dribbled device, compact conformation, is easy to realize, flexibility initiatively dribble device can Fast Installation on Soccer robot chassis;
2, the flexible device of initiatively dribbling of the utility model, there is up and down space in rubber roll, different according to ball and band ball device impact force, contact position between automatic adjustment rubber rolling and football, avoid football when High Rotation Speed backward robot jack-up, make rubber roll and sphere remain simultaneously and be adjacent to;
3, the flexible device of initiatively dribbling of the utility model, makes football can follow robot and advances, retreat or turn round;
4, the elemental height of the utility model flexible initiatively dribble device, adjustable rubber roll, the thrust between adjustment rubber roll and ball;
5, whether the flexible device of initiatively dribbling of the utility model, exist football by infrared detection component detection band ball device front.
Accompanying drawing explanation
Fig. 1 is the overall structure front view of the flexible device of initiatively dribbling of the utility model;
Fig. 2 is the overall structure top view of the flexible device of initiatively dribbling of the utility model.
In figure:
1-fixed support 2-transmission mechanism 3-spring buffer assembly
4-infrared detection assembly 101-base 102-gripper shoe
103-side plate 104-column 201-drive motors
202 driving-belt hold-down arm 203-small pulley 204-Timing Belts
205-large belt wheel 206-rubber roll 207-bearing block
208-adjusting rod 301-spring 302-spring Change-over frame
303-spring anchorage bracket 401-sensor 402-sensor stand
Detailed description of the invention
The flexible device of initiatively dribbling of the utility model, employing modularized design, comprises fixed support 1 and two sets of transmission mechanism 2, two sleeve spring Buffer Units 3 and two overlap infrared detection components 4, as shown in Figure 1.
Described fixed support 1 is the integrative-structure be made up of base 101, gripper shoe 102, side plate 103, column 104, as the fixed support 1 of transmission mechanism 2, spring buffer assembly 3 and infrared detection assembly 4.Wherein, base 101 is horizontally disposed with.Gripper shoe 102 is two pieces, makes as left support plate 102 and right support plate 102; Left support plate 102 and right support plate 102 are all horizontally disposed with, and connect respectively with base 101 left and right sides.Left support plate 102 and right support plate 102 are used for support one sets of transmission mechanism 2 respectively.Side plate 103 is two pieces, makes as left plate 103 and right plate 103; Left plate 103 and right plate 103 are parallel to each other, and vertical and base 101 upper surface is arranged, and connects respectively, be used for respectively installing a set of spring buffer assembly 3 with base 101 upper surface.Column 104 comprises left column 104, middle standing pillar 104 and right column 104, all arranges perpendicular to base 101; Left column 104, middle standing pillar 104 connect with the lower surface of left support plate 102, base 101, right support plate 102 respectively with right column 104 top.Left column 104, middle vertical master are used for flexible for the utility model device of initiatively dribbling to be fixedly mounted on Soccer robot chassis with right column 104 bottom.
Described two sets of transmission mechanism 2 include drive motors 201, hold-down arm 202, small pulley 203, Timing Belt 204, large belt wheel 205, rubber roll 206 and bearing block 207.Wherein, hold-down arm 202 rear end and to be fixed in gripper shoe 102 hinged between bearing block 207; The housing of drive motors 201 is fixedly mounted on hold-down arm 202 rear end, and output shaft is positioned at the driving groove that hold-down arm 202 is offered, and output shaft is coaxially installed with small pulley 203.Hold-down arm 202 front end is provided with rotating shaft by bearing; Rotating shaft outer end is coaxially installed with large belt wheel 205; Be socketed by Timing Belt 204 between large belt wheel 205 and small pulley 203; And large belt wheel 205 is same with driving-belt is positioned at driving groove.Rotating shaft the inner is coaxially installed with rubber roll 206.Above-mentioned two sets of transmission mechanism 2 are symmetrical set; In two sets of transmission mechanism 2, two rubber rolls 206 are all positioned at support front, two hold-down arm 202 front end relative tilts, make to form 60 degree of angles between two hold-down arms 202, and as shown in Figure 2, and two roller spacings are less than the diameter of football.Thus, after football contacts with rubber rolling in two sets of transmission mechanism 2, drive synchronous axial system between small pulley 203 and large belt wheel 205 by drive motors 201, and then drive rubber roll 206 synchronous by front rotating backward, and then football can be driven to rotate backward.In two gripper shoes 102, be respectively provided with an adjusting rod 208 in the utility model, adjusting rod 208 is arranged perpendicular to gripper shoe 102, is threaded with between gripper shoe 102; And adjusting rod 208 one end is stretched out by gripper shoe 102 upper surface, contact with hold-down arm 202 front underside.Thus, realized the location of the vertical height in hold-down arm 202 front end by adjusting rod 208, and then realize the location of the vertical height of rubber roll 206; And by turn adjusting rod 208, realize the adjustment of the vertical height in hold-down arm 202 front end, and then realize the adjustment of the vertical height of rubber roll 206.
Described two sleeve spring Buffer Units 3 include spring 301, spring Change-over frame 3025 and spring anchorage bracket 303.Wherein, on spring anchorage bracket 303 front end fixed installation side plate 103, spring anchorage bracket 303 rear end is installed with spring Change-over frame 302.In spring 301 front end and transmission mechanism 2, hold-down arm 202 front end upper surface is hinged; Rear end and spring Change-over frame 302 hinged.Make rubber roll 206 there is up and down space by spring 301 Buffer Unit 3, and different according to football and rubber roll 206 impact forces, automatically regulate the position of rubber roll 206, avoid football when High Rotation Speed backward robot jack-up.Simultaneously under the effect of spring 301, rubber roll 206 and football sphere can be made to be adjacent to.
The infrared detection components 4 of two covers includes sensor 401 and sensor stand 402; Be arranged on the base 101 lower surface left and right sides in fixed support 1 respectively.Wherein, sensor 401 adopts infrared sensor, is fixedly mounted on sensor stand 402, and it is anterior that sensor stand 402 is fixedly mounted on base 101 lower surface, and the end of probe making sensor 401 forward, by sensor 401, whether football is existed to band ball device front and detect.
At the flexible device of initiatively dribbling of the utility model, when using for the first time, by turn adjusting rod 208, hold-down arm 202 can be made to rotate around bearing block 207, changing the elemental height of rubber roll 206, and then the thrust between adjustment rubber roll 206 and football.
When sensor 401 detects that front exists football, start the drive motors 201 in transmission mechanism 2, drive rubber roll 206 to rotate with certain speed, and rubber roll 206 is from front to back with the velocity attitude at football contact point place; Football rotates backward under the drive of rubber roll 206, makes robot when advancing, retreating or turn round, football can be made to follow robot motion.When sensor 401 detects that front does not exist football, close the drive motors 201 in transmission mechanism 2, save electric energy.
The utility model flexibility is initiatively dribbled device, can effectively receive and complete active dribble advance, retreat, the action such as to turn round.
Claims (3)
1. Soccer robot flexibility is initiatively dribbled a device, it is characterized in that: comprise fixed support and two sets of transmission mechanism, two sleeve spring Buffer Units and two overlap infrared detection components;
Described fixed support upper surface is each side provided with a sets of transmission mechanism, and transmission mechanism is symmetrical set; Transmission mechanism comprises drive motors, hold-down arm, small pulley, Timing Belt, large belt wheel, rubber roll and bearing block; Bearing block is fixedly mounted on fixed support upper surface, bearing block and hold-down arm rear end hinged; Drive motors is fixedly mounted on hold-down arm rear end, and output shaft installs small pulley; Small pulley is connected with large belt wheel by Timing Belt, and large belt wheel is arranged in the rotating shaft of hold-down arm front end, and rotating shaft is also provided with rubber roll; In above-mentioned two sets of transmission mechanism, two rubber rolls are all positioned at fixed support front, and two roller spacings are less than the diameter of football;
Described two sleeve spring Buffer Units are arranged on two blocks of vertical side plates not designing in fixed support; And be connected with two sets of transmission mechanism respectively; Spring buffer assembly comprises spring, spring(-supported) mount; Wherein, spring(-supported) mount is fixedly mounted on side plate, spring at front end and hold-down arm front end upper surface hinged; Rear end and spring Change-over frame hinged;
The infrared detection components of described two cover is arranged in the middle part of fixed support lower surface, and end of probe toward the front.
2. a kind of Soccer robot flexibility is initiatively dribbled device as claimed in claim 1, it is characterized in that: described two hold-down arm front end relative tilts, makes formation 60 degree of angles between two hold-down arms.
3. a kind of Soccer robot flexibility is initiatively dribbled device as claimed in claim 1, it is characterized in that: described fixed support lower surface is each side provided with an adjusting rod, and adjusting rod, perpendicular to fixed support, is threaded with between fixed support; And adjusting rod one end is stretched out by fixed support upper surface, contact with hold-down arm front underside.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520477607.9U CN204745643U (en) | 2015-07-03 | 2015-07-03 | Flexible device of initiatively dribbling of football robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520477607.9U CN204745643U (en) | 2015-07-03 | 2015-07-03 | Flexible device of initiatively dribbling of football robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204745643U true CN204745643U (en) | 2015-11-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520477607.9U Expired - Fee Related CN204745643U (en) | 2015-07-03 | 2015-07-03 | Flexible device of initiatively dribbling of football robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204745643U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108513847A (en) * | 2018-06-11 | 2018-09-11 | 北京信息科技大学 | Banana packing machine |
| CN111890376A (en) * | 2020-06-29 | 2020-11-06 | 西北工业大学 | Active ball holding system of football robot |
-
2015
- 2015-07-03 CN CN201520477607.9U patent/CN204745643U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108513847A (en) * | 2018-06-11 | 2018-09-11 | 北京信息科技大学 | Banana packing machine |
| CN108513847B (en) * | 2018-06-11 | 2023-11-28 | 北京信息科技大学 | Banana bagging machine |
| CN111890376A (en) * | 2020-06-29 | 2020-11-06 | 西北工业大学 | Active ball holding system of football robot |
| CN111890376B (en) * | 2020-06-29 | 2022-07-05 | 西北工业大学 | Active ball holding system of football robot |
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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 |
Granted publication date: 20151111 Termination date: 20170703 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |