Football robot embedded type direct driving device

A football robot and driving device technology, applied in the field of football robots, can solve the problems of unreasonable force, insufficient power, insufficient strength, etc., and achieve the effects of stability and tight coordination, tightness of stability, and impact avoidance

Inactive Publication Date: 2005-01-05
SHANGHAI JIAO TONG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] 1) The multi-stage belt transmission link between the motor and the wheel may slip, which will bring errors, resulting in inaccurate positioning and unreliable driving
[0004] 2) The relative movement between the transmission link and the driving wheel and the driven wheel brings serious wear and power loss
[0005] 3) The middle transmission link is bulky. If you choose a motor with high power, the robot will be too bulky; if you can only use a small motor to reduce the size, the power will not be enough to achieve high-speed movement, and the power is not enough and the resistance is poor, so it is not suitable for Medium Group Soccer Robot Competition
[0007] 5) The above deficiencies lead to the short life of this driving device, which requires frequent maintenance and replacement
[0008] 6), the components are relatively scattered, the installation is complicated, and the portability is not high
[0009] In addition to the above-mentioned belt transmission drive scheme dedicated to soccer robots, there are also a variety of gear transmission schemes for robot drive. This scheme uses gear meshing transmission links in the middle, which has the cumulative error of rotation caused by meshing, large volume, and is affected. Insufficient strength

Method used

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  • Football robot embedded type direct driving device
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Embodiment Construction

[0025] The technical solutions of the present invention will be further described below with reference to the accompanying drawings.

[0026] like figure 1 As shown, the present invention is a double embedded structure, consisting of a rubber wheel 1, a motor-driven flange 2, a pair of dust-proof thrust ball bearings 3, 4, a thrust ring 5, a retaining ring 6, a motor 7, and a bearing thrust method. It is composed of a blue plate 8 and a motor installation sleeve 9 . The motor 7 is embedded and installed into the motor mounting sleeve 9 through the connecting screw holes to form the first embedded structure. The motor mounting sleeve 9 and the rubber wheel 1 are connected by a pair of thrust ball bearings 3 and 4, the thrust ring 5 is embedded in the mounting groove of the rubber wheel 1, and one end of the outer ring of the bearing 3 is close to the boss in the rubber wheel 1, And thus the boss is limited, the other end of the outer ring of the bearing 3 is close to the thru...

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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 [0001] The invention relates to an embedded direct drive device for a soccer robot, which is suitable for fully autonomous soccer robots to participate in World Cup soccer matches, and can also be used for other robot projects driven by wheels, belonging to the technical field of soccer robots. Background technique [0002] With the popularization of soccer robot games and the development of soccer robot technology, the performance of soccer robots is becoming more and more perfect. In the fully autonomous football robot competition, the rules of the game have strict regulations on the size of the robots, and frequent collisions between robots are allowed during the competition. The robots are required to have high flexibility and strong impact resistance. Therefore, in the competition, Whether the soccer robot moves accurately and whether it can withstand high-intensity impact during confrontation is very important. Existing fully autonomous football robots...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A63H13/04A63H29/22
Inventor 徐化曹其新缪寿洪付庄
Owner SHANGHAI JIAO TONG UNIV
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