Football robot embedded type direct driving device

Abstract

The invention relates to a driving device for a soccer robot, which adopts a modular double-embedded direct drive structure, the motor is embedded in the motor installation sleeve, and the motor installation sleeve is embedded in the rubber wheel through a thrust ball bearing, a thrust ring and a retaining ring, and at the same time it plays a role in the vehicle. The role of the wheel shaft, the bearing thrust flange is connected with the motor mounting sleeve to play the bearing limit function, the motor drive flange is connected to the rubber wheel through the mounting screw hole, and there is a keyway hole in the center to connect the motor shaft. When the motor rotates, the motor shaft drives the motor to drive the flange to rotate synchronously, and then drives the wheels, thereby realizing the synchronous direct drive of the motor to the wheels. The whole set of driving device is connected with the robot body through the extended flange interface at the bottom of the motor mounting sleeve. The invention has the characteristics of compact structure, accurate positioning, less wear, good impact resistance and strong transplantability, and is not only suitable for fully autonomous soccer robot competition projects, but also can be popularized and applied to other various robot projects.

Description

technical field [0001] The invention relates to a driving device for a soccer robot, which is suitable for a fully autonomous soccer robot to participate in the World Cup soccer match, and can also be used for other wheel-driven robot projects, and belongs 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 robot, and frequent collisions between robots are allowed in the game, requiring the robot to have high flexibility and strong impact resistance. Therefore, in the game, Whether the football robot moves accurately and whether it can withstand high-intensity impacts during confrontation is very important. Existing fully autonomous soccer robots generally adopt the form of two-whe...

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

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