A volleyball robot pad platform device for ROBOCON competition

Abstract

The utility model relates to robot technical field discloses a volleyball robot ball pad platform device for ROBOCON competition, including mobile platform, drive block and wiring harness spare, and the top of wiring harness spare is equipped with backing pad. The quick release mechanism is installed in the wiring harness spare and is equipped with groove assembly, and the groove assembly includes the slot and the guide groove, and the backing pad bottom is connected with the L shaped block and is inserted in the slot. The quick release mechanism includes the turntable, the oval ring and the clamp spare, and the oval ring is located in the outer wall of turntable and is equipped with the recess in inner wall, and the clamp spare slides in the recess and the guide groove. When the turntable rotates, the oval ring recess drives the clamp spare to move along the guide groove radially, thereby clamping into or separating from the L shaped block to lock or release the backing pad. The utility model realizes the tool -free quick assembly and disassembly of backing pad through the cam principle cooperation guide groove of oval ring groove, greatly shortens the competition maintenance time, cooperates the spring reset and the joint protection mechanism, improves the stability and durability of equipment.

Description

Technical Field

[0001] This utility model relates to the field of robot technology, and in particular to a ROBOCON competition volleyball robot ball-passing platform device. Background Technology

[0002] In high-level robotics competitions such as ROBOCON (Asia-Pacific University Robotics Competition), volleyball robots are common participating models. Their core task is to accurately strike the volleyball through a ball-setting mechanism to complete passing or shooting actions. Due to the intense competition and extremely fast pace of the game, the robot's ball-setting plate, as the component that directly collides with the volleyball at high speed, bears huge impact loads and friction. It is very prone to surface wear, cracking, or decreased friction during the game, which seriously affects the accuracy and stability of the shot.

[0003] However, existing volleyball robot ball-passing platforms typically use bolts or screws to directly fasten the pads to the flanges or brackets at the end of the robotic arm. While this traditional fixing method provides a relatively stable connection, it reveals significant drawbacks when faced with the time-sensitive maintenance demands of a match. When the pads are damaged and need replacement, operators must carry specialized tools such as wrenches and screwdrivers, spending considerable time disassembling and reinstalling them. Furthermore, in the tense environment of a match, small screws are easily lost or stripped due to improper handling, often preventing the robot from completing repairs within the brief pause or maintenance time, ultimately impacting match results.

[0004] Therefore, this utility model proposes a ROBOCON volleyball robot ball-passing platform device to address the shortcomings of existing technologies. Utility Model Content

[0005] To overcome the above shortcomings, this utility model provides a ROBOCON volleyball robot ball-passing platform device, which aims to improve the problem that the existing ROBOCON volleyball robot ball-passing platform devices usually use bolts to fix the pads, which leads to a cumbersome replacement process after high-frequency impact wear during the game, requires tools and takes a long time, and cannot meet the needs of quick maintenance during fast-paced game breaks.

[0006] This utility model provides a ROBOCON volleyball robot ball-passing platform device for competition, including: a mobile platform, a drive block disposed above the mobile platform, and a wire harness disposed at the center of the mobile platform, with a pad at the top of the wire harness.

[0007] The wire harness is equipped with a quick-release mechanism and a groove assembly, which includes a slot and a guide groove formed on the inner wall of the wire harness. An L-shaped block is fixedly connected to the bottom of the pad and is inserted into the slot.

[0008] Furthermore, the quick-release mechanism, the groove assembly, and the pad are combined through a specific mechanical transmission method. The quick-release mechanism includes a turntable rotatably connected to the wire harness, an elliptical ring fixedly connected to the outer wall of the turntable, and a locking member slidably connected to the guide groove. The inner wall of the elliptical ring has a groove, and the locking member is slidably connected to the groove. The rotation of the turntable drives the elliptical ring to rotate, and the groove drives the locking member to move along the guide groove to engage or disengage from the L-shaped block, thereby locking or releasing the pad.

[0009] Preferably, the quick-release mechanism further includes a handle fixedly connected to the center of the turntable, and the groove assembly further includes a rotating groove formed on the outer wall of the wire harness, the handle passing through the rotating groove and extending to the outside of the wire harness, the handle being used to drive the turntable to rotate.

[0010] Preferably, the groove assembly further includes a sliding groove formed inside the wire harness, and a limiting post is fixedly connected to the inner wall of the wire harness. A spring is provided on the side of the handle near the limiting post, and the spring is located inside the sliding groove.

[0011] Preferably, the two ends of the spring abut against the handle and the limiting post respectively. When the handle is rotated, the handle slides on the outer wall of the limiting post and compresses the spring. The reaction force generated by the spring is used to bounce the handle back to its original position.

[0012] Preferably, a visual sensor is provided at the top of the wire harness, and the visual sensor is connected to the wire harness and located at the center of the pad.

[0013] Preferably, the drive block is rotatably connected to a connecting arm on its side, and the connecting arm is connected to a follower arm.

[0014] Preferably, the inner wall of the connecting arm has a slot, and a protective mechanism is engaged in the slot.

[0015] Preferably, the protection mechanism includes a fixing block, which is engaged in the slot, and a concave block is rotatably connected to the end of the fixing block.

[0016] Preferably, the concave block is rotatably connected to a driven block at the end away from the fixed block, and the driven block is connected to the follower arm.

[0017] This utility model has the following beneficial effects: 1. This utility model solves the problem that in the prior art, volleyball robot pads are usually fixed with bolts, and replacement after high-frequency impact wear during matches requires tools and is time-consuming, which cannot meet the needs of quick maintenance during fast-paced matches. It achieves the technical effect of automatically unlocking and locking the pads by simply turning the handle without the need for any auxiliary tools, which greatly shortens the maintenance time and improves the efficiency of the match.

[0018] 2. This utility model solves the problem of locking failure caused by operational negligence or vibration during competition in the existing manual locking mechanism by setting a spring reset structure between the handle and the limiting post. It achieves the technical effect of automatic reset and locking when the handle is released. The continuous preload of the spring ensures the connection stability and safety of the pad during violent movement and ball hitting.

[0019] 3. This utility model solves the problem that the joints of robotic arms are mostly rigidly connected in the prior art, which is prone to structural breakage or damage due to stress concentration during high-speed reciprocating motion and ball impact. It achieves the technical effect of providing flexible buffer and multi-degree-of-freedom adjustment, effectively absorbing impact energy and extending the service life of the robot's core moving parts. Attached Figure Description

[0020] Figure 1 This is a three-dimensional schematic diagram of a ROBOCON volleyball robot ball-passing platform device for competition proposed in this utility model; Figure 2 This is a schematic diagram of the structure of the fixing block of the ball-passing platform device for the ROBOCON volleyball robot used in competitions, as proposed in this utility model. Figure 3 for Figure 2 Enlarged view of point A in the middle; Figure 4 for Figure 2 Enlarged view of point B in the middle.

[0021] Legend: 1. Mobile platform; 2. Drive block; 3. Connecting arm; 4. Follower arm; 5. Wiring harness; 6. Visual sensor; 7. Quick-release mechanism; 71. Turntable; 72. Handle; 73. Limiting post; 74. Spring; 75. Elliptical ring; 76. Groove; 77. Clip; 78. L-shaped block; 79. Groove assembly; 791. Rotary groove; 792. Slot; 793. Slide; 794. Guide groove; 795. Pad; 8. Protective mechanism; 81. Fixing block; 82. Slot; 83. Concave block; 84. Driven block. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model. Example

[0023] Reference Figures 1 to 4 This utility model provides a ROBOCON volleyball robot ball-passing platform device for competition, which aims to solve the problems in the prior art where the ball-passing plate of the volleyball robot is severely worn due to high-frequency impact and the replacement process requires disassembling screws, resulting in cumbersome operation and affecting competition efficiency, as well as the lack of buffer at the joints of the robotic arm, which makes it easy to be damaged.

[0024] like Figure 1 and Figure 2 As shown, the device includes a mobile platform 1 and a drive block 2 fixedly installed above the mobile platform 1. The mobile platform 1 serves as the supporting foundation for the entire device and provides mobility. The drive block 2 serves as the core power output component for driving the movement of the upper structure. A connecting arm 3 is rotatably connected to the side of the drive block 2, and a follower arm 4 is connected to the end of the connecting arm 3. The cooperation between the connecting arm 3 and the follower arm 4 enables flexible movement at multiple angles to meet the requirements of the ball-passing action. A wire harness 5 is fixedly connected to the center of the mobile platform 1. The wire harness 5 serves as the core mounting base for accommodating the internal mechanism. A pad 795 is provided at the top of the wire harness 5. The pad 795 is used to directly contact and strike the volleyball. A visual sensor 6 is also connected to the top of the wire harness 5. The visual sensor 6 is located at the center of the pad 795 and is used for visual recognition and positioning of the volleyball.

[0025] Reference Figure 2 and Figure 3The inner wall of the wire harness 5 is provided with a groove assembly 79, which includes a slot 792 and a guide groove 794 formed in the inner wall of the wire harness 5. An L-shaped block 78 is fixedly connected to the bottom of the pad 795 and slides into the slot 792. The quick-release mechanism 7 includes a turntable 71 rotatably connected to the internal cavity of the wire harness 5 and an elliptical ring 75 fixedly connected to the outer wall of the turntable 71. A groove 76 is formed in the inner wall of the elliptical ring 75, and a locking piece 77 is slidably connected inside the groove 76. At the same time, the locking piece 77 slides in the guide groove 794. The guide groove 794 is used to restrict the locking piece 77 to only reciprocate linearly in the radial direction. When the turntable 71 drives the elliptical ring 75 to rotate, the change in the major and minor axis radii of the elliptical ring 75 causes the groove 76 to drive the locking piece 77 to push outward or retract inward along the guide groove 794, thereby causing the locking piece 77 to engage or disengage from the side wall of the L-shaped block 78. The quick-release mechanism 7 also includes a handle 72 fixedly connected to the center of the turntable 71 to lock or release the pad 795. The groove assembly 79 also includes a rotating groove 791 opened on the outer wall of the wire harness 5 and a sliding groove 793 opened inside the wire harness 5. The handle 72 passes through the rotating groove 791 and extends to the outside of the wire harness 5 for operation by personnel. A limiting post 73 is fixedly connected to the inner wall of the wire harness 5 near the rotating groove 791. A spring 74 is provided on the side of the handle 72 near the limiting post 73. The spring 74 is located in the sliding groove 793 and its two ends abut against the handle 72 and the limiting post 73 respectively. When the handle 72 is turned, the handle 72 slides on the outer wall of the limiting post 73 and compresses the spring 74. After the handle 72 is released, the reaction force generated by the spring 74 will drive the handle 72 and the turntable 71 to rotate in the opposite direction and reset to the locked state, thereby ensuring that the pad 795 is always in a safe and locked state during the competition.

[0026] Reference Figure 4 The inner wall of the connecting arm 3 is provided with a slot 82. A protective mechanism 8 is engaged and connected inside the slot 82. The protective mechanism 8 includes a fixed block 81 whose shape is adapted to the slot 82 and is engaged and fixed inside the slot 82. A concave block 83 is rotatably connected to the end of the fixed block 81. A driven block 84 is rotatably connected to the end of the concave block 83 away from the fixed block 81. The driven block 84 is fixedly connected to the follower arm 4. Through the multi-stage rotational connection between the fixed block 81, the concave block 83 and the driven block 84, a flexible joint structure with buffering and multi-degree-of-freedom adjustment capability is formed, thereby effectively releasing unexpected torque and absorbing vibration and impact during the movement process, and extending the service life of the robotic arm.

[0027] A vision sensor 6 is installed at the top of the wiring harness 5. The vision sensor 6 is fixedly connected to the wiring harness 5 and located at the center of the pad 795. A clearance through hole is opened at the center of the pad 795 to expose the lens of the vision sensor 6. The vision sensor 6 collects the image data of the volleyball above in real time and feeds it back to the robot's control system. The auxiliary drive block 2 adjusts the posture of the connecting arm 3 and the follower arm 4 to accurately complete the ball-passing task.

[0028] The implementation principle of this application embodiment is as follows: When the robot is performing a competition, the mobile platform 1 drives the entire device to move to a predetermined position, the drive block 2 moves and drives the connecting arm 3 and follower arm 4 connected to it to move. Through the flexible transmission of the protection mechanism 8, the angle and height of the pad 795 located at the top of the wire harness 5 are adjusted to complete the ball-passing action. During this process, the visual sensor 6 provides real-time feedback on the volleyball position information.

[0029] When the worn pad 795 needs to be replaced, the operator manually turns the handle 72. The handle 72 slides in the groove 791 on the outer wall of the wire harness 5 and drives the internal turntable 71 to rotate. At this time, the handle 72 slides on the outer wall of the limit post 73 and compresses the spring 74 in the groove 793. The rotation of the turntable 71 drives the elliptical ring 75 fixed on the outer wall to rotate synchronously. Since the radial distance of the groove 76 on the inner wall of the elliptical ring 75 relative to the center of the circle changes with the angle, the groove 76 drives the slidably connected clip 77 in the guide groove 794. Under the constraint, it retracts towards the center. When the locking piece 77 is completely disengaged from the locking position of the side wall of the L-shaped block 78 at the bottom of the pad 795, the pad 795 loses its locking constraint. The operator slides the old pad 795 along with the L-shaped block 78 out along the slot 792 and inserts the new pad 795. Then, the operator releases the handle 72, and the spring 74 releases its elastic potential energy to push the handle 72 and the turntable 71 to reset in the opposite direction. The groove 76 drives the locking piece 77 to push outward along the guide groove 794 and lock into the new L-shaped block 78, thus realizing the rapid automatic locking of the pad 795.

Claims

1. A ROBOCON competition volleyball robot ball-passing platform device, comprising: The mobile platform (1), the drive block (2) located above the mobile platform (1), and the wire harness (5) located at the center of the mobile platform (1), wherein the top of the wire harness (5) is provided with a pad (795). Its features are, The wire harness (5) is equipped with a quick-release mechanism (7) and a groove assembly (79) is provided inside the wire harness (5). The groove assembly (79) includes a slot (792) and a guide groove (794) formed on the inner wall of the wire harness (5). The bottom of the pad (795) is fixedly connected to an L-shaped block (78), which is inserted into the slot (792). The quick-release mechanism (7) includes a turntable (71) rotatably connected to the wire harness (5), an elliptical ring (75) fixedly connected to the outer wall of the turntable (71), and a clip (77) slidably connected to the guide groove (794). The inner wall of the elliptical ring (75) is provided with a groove (76), and the clip (77) is slidably connected to the groove (76). The turntable (71) rotates, causing the elliptical ring (75) to rotate. The groove (76) drives the clip (77) to move along the guide groove (794) to engage or disengage from the L-shaped block (78), thereby locking or releasing the pad (795).

2. The ROBOCON volleyball robot ball-passing platform device for competition as described in claim 1, characterized in that, The quick-release mechanism (7) also includes a handle (72) fixedly connected to the center of the turntable (71). The groove assembly (79) also includes a rotating groove (791) opened on the outer wall of the wire harness (5). The handle (72) passes through the rotating groove (791) and extends to the outside of the wire harness (5). The handle (72) is used to drive the turntable (71) to rotate.

3. The ROBOCON volleyball robot ball-passing platform device for competition as described in claim 2, characterized in that, The groove assembly (79) further includes a slide groove (793) opened inside the wire harness (5), and a limiting post (73) is fixedly connected to the inner wall of the wire harness (5). A spring (74) is provided on the side of the handle (72) near the limiting post (73), and the spring (74) is located in the slide groove (793).

4. The ROBOCON volleyball robot ball-passing platform device for competition as described in claim 3, characterized in that, The two ends of the spring (74) abut against the handle (72) and the limiting post (73) respectively. When the handle (72) is rotated, the handle (72) slides on the outer wall of the limiting post (73) and compresses the spring (74). The reaction force generated by the spring (74) is used to bounce the handle (72) back to its original position.

5. The ROBOCON volleyball robot ball-passing platform device for competition as described in claim 1, characterized in that, The top of the wire harness (5) is provided with a visual sensor (6), which is connected to the wire harness (5) and located at the center of the pad (795).

6. The ROBOCON volleyball robot ball-passing platform device for competition as described in claim 1, characterized in that, The drive block (2) is rotatably connected to a connecting arm (3), and the connecting arm (3) is connected to a follower arm (4).

7. The ROBOCON volleyball robot ball-passing platform device for competition as described in claim 6, characterized in that, The inner wall of the connecting arm (3) is provided with a slot (82), and a protective mechanism (8) is engaged in the slot (82).

8. The ROBOCON volleyball robot ball-passing platform device for competition as described in claim 7, characterized in that, The protection mechanism (8) includes a fixing block (81), which is engaged in the slot (82), and a concave block (83) is rotatably connected to the end of the fixing block (81).

9. The ROBOCON volleyball robot ball-passing platform device for competition as described in claim 8, characterized in that, The concave block (83) is rotatably connected to a driven block (84) at the end away from the fixed block (81), and the driven block (84) is connected to the follower arm (4).

Images