CN213131904U - Football robot initiative ball holding device and football robot based on belt conveying - Google Patents
Football robot initiative ball holding device and football robot based on belt conveying Download PDFInfo
- Publication number
- CN213131904U CN213131904U CN202022223665.2U CN202022223665U CN213131904U CN 213131904 U CN213131904 U CN 213131904U CN 202022223665 U CN202022223665 U CN 202022223665U CN 213131904 U CN213131904 U CN 213131904U
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Abstract
The utility model provides a football robot initiative ball holding device and football robot based on belt conveying relates to football robot technical field, drives the transmission of belt through the motor, and the belt pulley rotates tangent with the football face to drive the football motion. The active ball holding device comprises an angle sensor, and when the football robot holds the football, the bull wheel eye jacks up the position of the football. By accurately reading the angle change of the angle sensor. The position of the football is read by the control circuit through circuit signals by judging whether the zone bit for holding the football is transmitted to the control circuit; the determination of the location of the ball at this time may be used as a determination flag for other circuits and other configurations. After the rotation speed of football and football robot's motion cooperation and matching, the overall motion can be more steady. The football robot turns to and scram etc. appears, controls motor speed through classical control theory PID algorithm, and the football robot can satisfy not only that the motion is smooth and stable but also realizes the function of continuously taking the ball and not losing the ball.
Description
Technical Field
The utility model relates to a football robot technical field, concretely relates to football robot initiative ball holding device and football robot based on belt conveying.
Background
The FIRA International robot football Association and the RoboCup International robot football world cup race are the most influential soccer robot event organization internationally at present. The two organizations can hold the competition activities of the football robot every year, and are dedicated to promoting the development of competition, training and education career of the robot through holding competition and technical communication.
Among them, the middle-sized group soccer robot game is a fixed game item every year, which stipulates that the projection of the middle-sized group soccer robot game is generally greater than 30cm x 30cm, and less than 50cm x 50 cm. The height of the robot is not less than 40cm and not more than 80 cm. The robot has a mass not exceeding 40 kg. And the game is carried out on a field with the length of 12 meters and the width of 8 meters, and the international standard No. 5 football of foot union is used.
Since the middle-sized soccer robot is most similar to the human soccer game in terms of game rules, soccer size, field size, and robot size ratio, the middle-sized soccer robot game attracts attention every year. In the medium-sized group football robot competition, the quality of the ball holding effect is a key factor for winning or not. In the prior art, most of ball holding devices have the defects of complex structure, poor ball holding stability, robot steering losing balls and the like, so that the maneuvering performance of the football robot is limited.
Therefore, to this problem, this application provides a football robot initiative ball holding device based on belt conveying, enables football robot mobility and improves, simple structure, and stability is good.
SUMMERY OF THE UTILITY MODEL
In order to overcome the defects existing in the prior art, the utility model provides a football robot initiative ball holding device based on belt conveying.
In order to achieve the above object, the present invention provides the following technical solutions: an active ball holding device of a soccer robot based on belt transmission, comprising: the bottom of the flange is fixed on the surface of a fixing device, a two-way disc damper is arranged at the top of the flange, a motor fixing plate is installed between two side plates of the two-way disc damper, a first installation hole is formed in the surface of the motor fixing plate, a special-shaped shaft passes through the first installation hole and the two side plates of the two-way disc damper and then is sequentially connected with the GTC flange and the angle sensor, and the angle sensor is electrically connected with a control circuit;
the surface of the motor fixing plate is provided with a second mounting hole, a motor shaft of the motor penetrates through the second mounting hole to be connected with the rear synchronous belt pulley, and the control circuit is electrically connected with the electronic speed regulator of the motor and the motor in sequence and used for regulating the rotating speed of the motor; a third mounting hole is formed in the surface of the motor fixing plate, a horizontal bearing seat shaft of the horizontal bearing seat penetrates through the third mounting hole to be connected with a front synchronous belt pulley, and a driving friction wheel is mounted at the end part, close to the front synchronous belt pulley, of the horizontal bearing seat shaft; and the mounting conveyor belt drives the rear synchronous belt pulley and the front synchronous belt pulley to synchronously rotate.
Further, a conveyor belt shell is arranged on the surface of the motor fixing plate, and the conveyor belt is wrapped inside the conveyor belt shell.
Furthermore, an anilox knurled screw is arranged below the conveyor belt shell, and the initial position of the ball holding mechanism is determined by adjusting the position of the anilox knurled screw.
Further, the front synchronous pulley is connected with an angular displacement meter, and the angular displacement meter is electrically connected with a control circuit.
Further, the motor adopts a Dajiang 3508 direct current brushless motor.
Further, a football robot, include football robot initiative ball holding device based on belt conveying, include: the passive ball holding device is characterized in that a fixing device is installed at the front end of the football robot, an active ball holding device, a passive ball holding device and a control circuit are fixed on the fixing device, and the control circuit controls the active ball holding device to be matched with the passive ball holding device to complete the ball holding action.
Furthermore, the fixing device comprises a bottom plate, the top of the bottom plate is supported and connected with a middle layer clapboard through a plurality of aluminum columns, and the active ball holding device is installed above the middle layer clapboard.
Furthermore, two active ball holding devices are mounted above the middle layer partition plate, two passive ball holding devices are mounted above the bottom plate, the two active ball holding devices are symmetrically mounted along the central axis of the fixing device, and the two passive ball holding devices are symmetrically mounted along the central axis of the fixing device.
Further, the bottom plate surface sets up the spout, passive ball holding device slidable mounting is in the spout, passive ball holding device includes the acute angle base, the acute angle base is fixed the bottom plate top, installation bull wheel eye on the acute angle base, the bull wheel eye contacts with the football, the bull wheel eye is used for providing the holding power of directional football centre of sphere to the football, keeps football robot's the state of holding the ball.
(1) The utility model provides a pair of football robot initiative ball holding device based on belt conveying through setting up one-way attenuator, restricts the turned angle of big jiangjiang 3508 motor, overcomes the problem of ball holding system and football intermittent type nature contact, has improved stability.
(2) The utility model provides a pair of football robot initiative ball holding device based on belt conveying adopts angle sensor and the big way of Jiang 3508 motor disalignment pivoted for 3508 motor produces displacement signal under the drive angle displacement meter pivoting's the condition, and control circuit adjusts motor rotational speed and moment of torsion according to displacement signal, and then better accuse ball.
(3) The utility model provides a pair of football robot initiative ball-holding device based on belt conveying adopts the motor of big jiang 3508 motor as drive initiative friction pulley, changes the rotation direction, saves the anterior space of robot.
(3) The utility model provides a pair of football robot, passive ball holding device adopt belt drive as passive friction pulley, but omnidirectional movement, has eliminated traditional unipolar friction pulley and has turned to the single adverse effect that a pair of football rotated and caused.
Drawings
Fig. 1 is an overall structure diagram of an active ball holding device of a soccer robot based on belt transmission according to the present invention;
fig. 2 is a top view structural diagram of the active ball holding device of the soccer robot based on belt transmission provided by the present invention;
fig. 3 is a structural diagram of a soccer robot provided by the present invention;
fig. 4 is a control flow chart of the soccer robot provided by the present invention.
Description of reference numerals: 101-bottom plate, 102-middle layer clapboard, 103-aluminum column, 201-motor electronic governor, 202-flange, 203-bidirectional disc damper, 204-motor, 205-horizontal bearing seat, 206-motor fixing plate, 207-conveyor belt shell, 208-knurled screw, 209-driving friction wheel, 210-angle sensor, 211-horizontal bearing seat shaft, 212-rear synchronous pulley, 213-front synchronous pulley, 214-special shaft, 215-GTC flange, 301-acute angle base and 302-bull wheel eye.
Detailed Description
The following describes the present invention with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the technical solutions of the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art. In the description of the present invention, unless otherwise specified, "a plurality" means two or more, and will not be described in detail herein.
For understanding and explanation, the following detailed description describes an active football holding device of a football robot based on belt conveying and a football robot according to an embodiment of the present invention.
As shown in fig. 1-2, an active ball holding device of a soccer robot based on belt transmission includes: the device comprises a flange 202, an angle sensor 210, a motor 204 and a bearing, wherein the bottom of the flange 202 is fixed on the surface of a fixing device, a two-way disc damper 203 is arranged at the top of the flange 202, a motor fixing plate 206 is installed between two side plates of the two-way disc damper 203, a first installation hole is formed in the surface of the motor fixing plate 206, a special-shaped shaft 214 passes through the first installation hole and the two side plates of the two-way disc damper 203 and then is sequentially connected with a GTC flange 215 and the angle sensor 210, the angle sensor 210 is electrically connected with a control circuit, when a football robot holds a ball, the change of the position of the football can cause the change of the angle sensor 210, so that an angle change signal is generated, the angle sensor 210 transmits the angle change signal to the control circuit, and the control circuit obtains the position of;
a second mounting hole is formed in the surface of the motor fixing plate 206, a motor shaft of the motor 204 penetrates through the second mounting hole to be connected with the rear synchronous pulley 212, and the control circuit is electrically connected with the motor electronic speed regulator 201 and the motor 204 in sequence and used for regulating the rotating speed of the motor 204; a third mounting hole is formed in the surface of the fixing plate of the motor 204, a horizontal bearing seat shaft 211 of the horizontal bearing seat 205 penetrates through the third mounting hole to be connected with a front synchronous pulley 213, and a driving friction wheel 209 is mounted at the end part, close to the front synchronous pulley 213, of the horizontal bearing seat shaft 211; the belt is mounted to rotate the rear synchronous pulley 212 and the front synchronous pulley 213 synchronously.
Wherein, the motor 204 adopts a Dajiang 3508 direct current brushless motor. A conveyor belt housing 207 is provided on the surface of the motor fixing plate 206 to enclose the conveyor belt therein. And a knurled screw 208 is arranged below the conveyor belt shell 207, and the initial position of the ball holding mechanism is determined by adjusting the position of the knurled screw 208. The front synchronous pulley 213 is connected to an angular displacement meter, which is electrically connected to a control circuit. The front part of the middle layer partition plate 102 is provided with a threaded hole, the thread at the top of the knurled screw 208 is screwed in the threaded hole, and the initial position of the ball holding mechanism is determined by adjusting the position of the knurled screw 208, so that the ball can be quickly and stably held.
Example 1
Referring to fig. 3, a soccer robot including a soccer robot active ball holding device based on belt transmission, includes: the passive ball holding device is characterized in that a fixing device is installed at the front end of the football robot, an active ball holding device, a passive ball holding device and a control circuit are fixed on the fixing device, and the control circuit controls the active ball holding device to be matched with the passive ball holding device to complete the ball holding action.
Example 2
The fixing device comprises a bottom plate 101, the top of the bottom plate 101 is supported and connected with a middle layer clapboard 102 through eight aluminum columns 103, and the active ball holding device is arranged above the middle layer clapboard 102. And arranging an aluminum alloy shell and anti-collision foam outside a region enclosed by the top plate and the bottom plate 101.
The two active ball holding devices are arranged above the middle-layer partition plate 102, the two passive ball holding devices are arranged above the bottom plate 101, the two active ball holding devices are symmetrically arranged along the central axis of the fixing device, and the two passive ball holding devices are symmetrically arranged along the central axis of the fixing device.
Example 3
The working principle is as follows: the control circuit controls the active ball holding device to realize stable ball holding of the ball holding system of the football robot. The belt pulley is driven by a Dajiang 3508 DC brushless motor to drive the transmission, and the transmission belt pulley is tangent to the football surface, so as to drive the football. The initiative ball holding device contains angle sensor, and when football robot held the ball, bull wheel eye 302 was with the position jack-up of football. A change in the position of the ball causes the linkage of the transfer lever mechanism. The change of the transmission rod mechanism can cause the angle conversion of the angular displacement meter, and the angle change condition of the angle sensor can be accurately read through the reading of the circuit AD. Reading the value of the circuit AD to judge whether the zone bit for holding the football is transmitted to the control circuit, and reading the position of the football by the control circuit through a circuit signal; the judgement of football position can regard as the judgement sign of other circuits and other structures this moment, and other structures include panorama camera visual identification, electromagnetism ejection mechanism ejection, ZED binocular camera visual positioning and look for the ball.
The rotating speed and the torque of the direct-current brushless motor in Dajiang 3508 are controlled by PID. The football robot hold the ball robustness with do not fall the ball and mainly match with the football through the motion of football robot, the slew velocity of football and football robot's motion cooperation and the back of matcing, the global motion can be more steady. When the football robot turns to and motion such as scram appears, the football robot can satisfy not only that the motion is level and smooth and stable but also realize continuously taking the ball and not losing the function of ball.
The motor drives the synchronous belt wheel positioned at the rear part, the synchronous belt wheel at the rear part synchronously rotates through the synchronous belt, the driving friction wheel is driven to rotate at a high speed, and the driving friction wheel drives the football to rotate and generates a trend of moving towards the direction of the robot. When the relative robot displacement of football was the biggest, football and bull wheel eye contact, initiative friction pulley and bull wheel eye contact with the football simultaneously, reach better effect of holding the ball. The motor and the conveyor belt structure are integrally positioned on the motor fixing plate, so that the whole mechanism is driven to be lifted upwards after the driving friction wheel catches a ball, the tail end generates angle change to enable the angle sensor to send an angle sensor, and the robot control circuit obtains the position of the football; passive ball holding device includes acute angle base and bull wheel eye, and the acute angle base can remove in the spout, and the acute angle base is through removing the most suitable position of confirming at the spout to make the bull wheel eye produce all the time and produce the power of pointing to the centre of sphere, can keep football ball holding state when the robot turns to.
As shown in fig. 4, in order to achieve the goal that the ball control device can stably control the ball in various states, the rotation speed and the torque of the darjiang 3508 dc brushless motor of the active ball control device need to be controlled simultaneously. The motor control adopts the control of a single chip microcomputer CAN, the motor control mode is determined according to the motion state of the ball holding robot and the position of a football, and the single chip microcomputer controls the output rotating speed and the torque of the Dajiang 3508 direct current brushless motor through a driving circuit. If the robot moves forwards, the rotating speed and the torque are reduced, and the motor is matched with the corresponding motion state of the football robot while the motor is prevented from being overloaded; when the robot moves backwards, the rotating speed and the torque are increased, so that the football is prevented from being separated from the robot, and meanwhile, the motor is matched with the corresponding motion state of the football robot; when the football robot rotates leftwards, the rotating speed and the torque of the left motor are increased, and the rotating speed and the torque of the right motor are reduced; when the football robot rotates rightwards, the rotating speed and the torque of the right motor are increased, and the rotating speed and the torque of the left motor are reduced; when the football reaches the optimal ball holding position, the rotating speed of the motor is reduced to reduce the power; when the football does not reach the optimal ball holding position, the rotating speed of the motor is increased to enable the football to reach the optimal ball holding position more quickly.
According to the communication protocol of CAN communication, the output and feedback functions of the motor are set. And the control of the motor current is realized through the transmission of the CAN message to the data. And realizing the current speed control of the motor. For the feedback function of the motor, the state information of the motor, such as rotating speed, temperature, current, initial angle and the like, is received through the CAN message.
Through the incremental PID algorithm, the I control can realize the self-adaptive motor speed regulation under the condition of load by utilizing the P control. P control can realize the acceleration of the system response speed, and I control plays a role in eliminating the static error of the system. Through PID control, the rotating speed and the torque of the motor can quickly and accurately reach the required value of the motor.
The above embodiments are only preferred embodiments of the present invention, the scope of protection of the present invention is not limited thereto, and any person skilled in the art can obviously obtain simple changes or equivalent replacements of the technical solutions within the technical scope of the present invention.
Claims (9)
1. The utility model provides a football robot initiative ball holding device based on belt conveying which characterized in that includes: the special-shaped shaft type angle sensor comprises a flange (202), an angle sensor (210), a motor (204) and a bearing, wherein the bottom of the flange (202) is fixed on the surface of a fixing device, a bidirectional disc damper (203) is arranged at the top of the flange (202), a motor fixing plate (206) is installed between two side plates of the bidirectional disc damper (203), a first installation hole is formed in the surface of the motor fixing plate (206), a special-shaped shaft (214) passes through the first installation hole and the two side plates of the bidirectional disc damper (203) and then is sequentially connected with a GTC flange (215) and the angle sensor (210), and the angle sensor (210) is electrically connected with a control circuit;
a second mounting hole is formed in the surface of the motor fixing plate (206), a motor shaft of the motor (204) penetrates through the second mounting hole to be connected with a rear synchronous pulley (212), and the control circuit is electrically connected with the motor electronic speed regulator (201) and the motor (204) in sequence and used for regulating the rotating speed of the motor (204); a third mounting hole is formed in the surface of the fixing plate of the motor (204), a horizontal bearing seat shaft (211) of the horizontal bearing seat (205) penetrates through the third mounting hole to be connected with a front synchronous pulley (213), and a driving friction wheel (209) is mounted at the end part, close to the front synchronous pulley (213), of the horizontal bearing seat shaft (211); the installation conveyor belt drives the rear synchronous belt pulley (212) and the front synchronous belt pulley (213) to synchronously rotate.
2. The active ball holding device of the belt-conveying-based football robot as claimed in claim 1, wherein a conveyor belt housing (207) is provided on the surface of the motor fixing plate (206) to enclose the conveyor belt therein.
3. The active ball holding device of the football robot based on belt conveying as claimed in claim 2, characterized in that a knurled screw (208) is arranged below the conveyor belt housing (207), and the initial position of the ball holding mechanism is determined by adjusting the position of the knurled screw (208).
4. The belt-based soccer robot active ball holding device of claim 1, wherein said front synchronous pulley (213) is connected to an angular displacement meter, said angular displacement meter being electrically connected to a control circuit.
5. The active football robot ball holding device based on belt conveying of claim 1, characterized in that the motor (204) is a Dajiang 3508 DC brushless motor.
6. A soccer robot, comprising the belt-based soccer robot active ball holding device according to any one of claims 1 to 5, comprising: the passive ball holding device is characterized in that a fixing device is installed at the front end of the football robot, an active ball holding device, a passive ball holding device and a control circuit are fixed on the fixing device, and the control circuit controls the active ball holding device to be matched with the passive ball holding device to complete the ball holding action.
7. The football robot as claimed in claim 6, wherein the fixing device comprises a bottom plate (101), the top of the bottom plate (101) is supported and connected with a middle partition plate (102) through a plurality of aluminum posts (103), and the active ball holding device is installed above the middle partition plate (102).
8. The soccer robot of claim 7, wherein two of said active ball holding devices are installed above said middle partition (102), two of said passive ball holding devices are installed above said bottom plate (101), two of said active ball holding devices are installed symmetrically along the central axis of the fixing device, and two of said passive ball holding devices are installed symmetrically along the central axis of the fixing device.
9. The football robot as claimed in claim 7, wherein a sliding groove is formed in the surface of the base plate (101), the passive ball holding device is slidably mounted in the sliding groove and comprises an acute angle base (301), the acute angle base (301) is fixed above the base plate (101), a bull wheel eye (302) is mounted on the acute angle base (301), the bull wheel eye (302) is in contact with the football, and the bull wheel eye (302) is used for providing a supporting force pointing to the center of the football ball for the football and maintaining the ball holding state of the football robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022223665.2U CN213131904U (en) | 2020-09-30 | 2020-09-30 | Football robot initiative ball holding device and football robot based on belt conveying |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022223665.2U CN213131904U (en) | 2020-09-30 | 2020-09-30 | Football robot initiative ball holding device and football robot based on belt conveying |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213131904U true CN213131904U (en) | 2021-05-07 |
Family
ID=75719724
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022223665.2U Expired - Fee Related CN213131904U (en) | 2020-09-30 | 2020-09-30 | Football robot initiative ball holding device and football robot based on belt conveying |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213131904U (en) |
-
2020
- 2020-09-30 CN CN202022223665.2U patent/CN213131904U/en not_active Expired - Fee Related
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210507 Termination date: 20210930 |
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| CF01 | Termination of patent right due to non-payment of annual fee |