CN211639987U - Anti-collision mechanism based on RGBD information small football robot - Google Patents
Anti-collision mechanism based on RGBD information small football robot Download PDFInfo
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- CN211639987U CN211639987U CN202020273277.2U CN202020273277U CN211639987U CN 211639987 U CN211639987 U CN 211639987U CN 202020273277 U CN202020273277 U CN 202020273277U CN 211639987 U CN211639987 U CN 211639987U
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- 238000013016 damping Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 8
- 239000000463 material Substances 0.000 abstract description 3
- 238000005553 drilling Methods 0.000 abstract 1
- 230000001681 protective effect Effects 0.000 description 5
- 230000035939 shock Effects 0.000 description 4
- 238000003780 insertion Methods 0.000 description 3
- 230000037431 insertion Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 101100491335 Caenorhabditis elegans mat-2 gene Proteins 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
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Abstract
The utility model discloses an anticollision mechanism based on small-size football robot of RGBD information, the reciprocating impact tunnel drilling machine comprises a machine body, the equal fixed mounting in both sides of fuselage has the arm, the equal fixed mounting in both sides of fuselage bottom has the leg body, the slot has all been seted up to the both sides of arm, the inside of slot all inserts and installs the inserted block, two the equal fixed mounting in one side that the inserted block was kept away from each other has a connecting block, two the equal fixed mounting in one side that the connecting block was kept away from each other has the protection piece. The utility model discloses a be provided with the slipmat, can make the fuselage can not lead to the fuselage to slip because of the smoothness on ground playing the in-process of ball to the availability factor of fuselage has been improved, the security of fuselage has been increased, through being provided with the elasticity rubber piece, when the fuselage receives the collision, through the material of elasticity rubber piece, can rebound to the pressure that the collision produced, thereby make the fuselage can not receive the influence of pressure, let the fuselage can also normally play the ball under the collision, thereby the practicality of structure has been increased.
Description
Technical Field
The utility model relates to a football robot technical field specifically is an anticollision mechanism based on RGBD information small-size football robot.
Background
The concept of robot football game was originally proposed by the professor AlanMackworth of british columbia university, canada, in 1992 in the paper onseiingrobots, aiming at practicing and verifying relevant theories and technologies through a standard platform and effectively promoting the development of the fields of robots and artificial intelligence. In 1996, under the initiative of scholars such as the university of Kangki Meilong, the RoboCup robot world cup competition was formally established, and one of the robot competitions with the greatest international influence on the outcome was gradually developed, with the goal that, by 2050, the robot world cup champion selected by RoboCup played a friendship game with the human world cup football champion.
The small soccer robot team is an important event in RoboCup. The main form is that the camera above the field sends the situation of the whole field (including the position of the robot of the same party, the position of the robot of the enemy and the position of the ball) to the computer, the computer carries out the operations of image processing analysis, team cooperation decision, single robot movement decision and the like, and sends instructions to each robot through the wireless communication module.
The in-process that current small-size football robot was using, the easy phenomenon of taking place to slide on the ground, thereby staff's use experience has been reduced, simultaneously at the in-process that small-size football robot played the ball, the easy bump, most small-size football robots do not all possess anticollision structure, thereby lead to when receiving the collision, small-size football robot directly is knocked down, the work efficiency of small-size football robot has been reduced, also cause small-size football robot's damage easily, therefore, need design one kind and solve above-mentioned problem based on RGBD information small-size football robot's anticollision structure.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an anticollision mechanism based on small-size football robot of RGBD information, in order to solve the in-process that uses that proposes in the above-mentioned background art, the easy phenomenon that takes place to slide on the ground, thereby staff's use experience has been reduced, play the in-process of ball at small-size football robot simultaneously, the easy collision that takes place, most small-size football robots do not possess anticollision structure, thereby lead to receiving when the collision, small-size football robot is direct to be knocked down, the work efficiency of small-size football robot has been reduced, also cause the problem of small-size football robot's damage easily.
In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides an anticollision mechanism based on RGBD information small-size football robot, includes the fuselage, the both sides of fuselage all fixed mounting have the arm, the both sides all fixed mounting of fuselage bottom has the leg body, the slot has all been seted up to the both sides of arm, the inside of slot all inserts and installs the inserted block, two the equal fixed mounting in one side that the inserted block was kept away from each other has a connecting block, two the equal fixed mounting in one side that the connecting block was kept away from each other has the protection piece, the cavity has all been seted up to the both sides of inserted block, the inside one side all fixed mounting in one side of protection piece has the fixed block.
Preferably, the bottom ends of the leg bodies are fixedly provided with non-slip mats.
Preferably, the inside of cavity all fixed mounting have first spring, the top of first spring all fixed mounting have spacing post, spacing hole has all been seted up to the both sides of slot, spacing post and spacing hole mutually support.
Preferably, one side of each of the two protection blocks, which is far away from each other, is fixedly provided with an elastic rubber block.
Preferably, both sides of the interior of the protection block are fixedly provided with damping sponges.
Preferably, the inside both sides of protection piece all fixed mounting have the telescopic link, the outside of telescopic link all cup joints and installs the second spring, the inside both sides of fixed block all slidable mounting have the movable block, the front all fixed mounting of telescopic link has first axis of rotation, the outside all fixed mounting of first axis of rotation has the connecting rod, the top all fixed mounting of connecting rod has the second dwang, the second dwang all is connected with the movable block, two the movable block is close to the equal fixed mounting in one side all has the third spring each other.
Compared with the prior art, the beneficial effects of the utility model are that:
1. through being provided with the slipmat, can make the fuselage can not lead to the fuselage to slip because of the smoothness on ground playing the in-process of ball, thereby the availability factor of fuselage has been improved, the security of fuselage has been increased, through being provided with the elastic rubber piece, when the fuselage receives the collision, material through the elastic rubber piece, can rebound to the pressure that the collision produced, thereby make the fuselage can not receive the influence of pressure, let the fuselage can also normally play the ball under the collision, thereby the practicality of structure has been increased, through being provided with the shock attenuation sponge, when making the protection piece receive the extruded condition, the impact pressure who receives the protection piece is alleviated, thereby the shock attenuation effect of structure has been increased.
2. By arranging the telescopic rod, the second spring, the fixed block, the first rotating shaft, the connecting rod, the second rotating shaft, the moving block and the third spring, the telescopic rod can be extruded by collision pressure to extrude the second spring, meanwhile, the moving block moves to extrude the third spring, and through the inertia of the second spring and the third spring, the pressure generated by collision is buffered, thereby greatly reducing the collision pressure on the machine body, further increasing the protection on the machine body and the use efficiency of the structure, the limiting post can be firmly fixed in the limiting hole by arranging the cavity, the first spring, the limiting post and the limiting hole and mutually matching the limiting post and the limiting hole, thereby fix the inserted block inside the slot, increased the fastness of structure, also made things convenient for staff to the dismantlement and the installation of protection piece, further increased the practicality of structure.
Drawings
FIG. 1 is a schematic sectional view of the front view of the structure of the present invention;
FIG. 2 is a schematic front view of the structure of the present invention;
fig. 3 is an enlarged schematic view of a portion of the structure at a in fig. 1 according to the present invention;
fig. 4 is an enlarged schematic view of a part of the structure at B in fig. 1 according to the present invention.
In the figure: 1. a body; 2. a non-slip mat; 3. connecting blocks; 4. a slot; 5. inserting a block; 6. a cavity; 7. a first spring; 8. a limiting column; 9. a limiting hole; 10. a protection block; 11. an elastic rubber block; 12. a shock absorbing sponge; 13. a telescopic rod; 14. a second spring; 15. a fixed block; 16. a first rotating shaft; 17. a connecting rod; 18. a second rotating lever; 19. a moving block; 20. a third spring; 21. an arm; 22. a leg body.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1-4, the present invention provides an embodiment:
the utility model provides an anticollision mechanism based on small-size football robot of RGBD information, including fuselage 1, the all fixed mounting in both sides of fuselage 1 has arm 21, the all fixed mounting in both sides of 1 bottom of fuselage has leg 22, slot 4 has all been seted up to arm 21's both sides, slot 4's inside all inserts and installs inserted block 5, the all fixed mounting in one side of keeping away from each other of two inserted blocks 5 has connecting block 3, the all fixed mounting in one side of keeping away from each other of two connecting block 3 has protection piece 10, cavity 6 has all been seted up to inserted block 5's both sides, the all fixed mounting in one side of protection piece 10 inside has fixed block 15.
The bottom ends of the leg bodies 22 are fixedly provided with the non-slip mats 2, so that the machine body 1 cannot slip down due to the smoothness of the ground in the ball kicking process of the machine body 1, the use efficiency of the machine body 1 is improved, and the safety of the machine body 1 is improved.
All fixed mounting in the inside of cavity 6 has first spring 7, the all fixed mounting in top of first spring 7 has spacing post 8, spacing hole 9 has all been seted up to slot 4's both sides, spacing post 8 and spacing hole 9 mutually support, can fix spacing post 8 in the inside of spacing hole 9, thereby can be in the same place connecting block 3 with the firm connection of arm 21, the fastness of structure has been increased, also made things convenient for staff to the dismantlement and the installation of protection piece 10, the practicality of structure has further been increased.
One side that two protection pieces 10 kept away from each other is all fixed mounting have elastic rubber piece 11, extrudes elastic rubber piece 11 through the collision, makes elastic rubber piece 11 can carry out the bounce-back to the pressure that the collision produced to make fuselage 1 can not receive the influence of pressure, thereby increased the practicality of structure.
Both sides of the interior of the protective block 10 are fixedly provided with damping sponges 12, and when the protective block 10 is extruded, the impact pressure on the protective block 10 can be relieved, so that the damping effect of the structure is increased.
The two sides inside the protection block 10 are fixedly provided with telescopic rods 13, the outer sides of the telescopic rods 13 are sleeved with second springs 14, the two sides inside the fixed block 15 are slidably provided with moving blocks 19, the front sides of the telescopic rods 13 are fixedly provided with first rotating shafts 16, the outer sides of the first rotating shafts 16 are fixedly provided with connecting rods 17, the top ends of the connecting rods 17 are fixedly provided with second rotating rods 18, the second rotating rods 18 are connected with the moving blocks 19, one sides of the two moving blocks 19 close to each other are fixedly provided with third springs 20, the telescopic rods 13 are extruded by collision pressure to extrude the second springs 14, the moving blocks 19 move to extrude the third springs 20, the pressure generated by collision is buffered by the inertia of the second springs 14 and the third springs 20, so that the collision pressure on the machine body 1 is greatly reduced, and the protection on the machine body 1 is further increased, the efficiency of use of the structure is also increased.
The working principle is as follows: when the machine body 1 is used, the anti-slip mat 2 at the bottom of the leg body 22 can prevent the machine body 1 from slipping down due to the smoothness of the ground in the process of kicking balls by the machine body 1, thereby improving the use efficiency of the machine body 1, increasing the safety of the machine body 1, when the machine body 1 is collided, the elastic rubber block 11 can be collided, the pressure generated by collision can be rebounded through the material of the elastic rubber block 11, so that the machine body 1 cannot be influenced by the pressure, the machine body 1 can also normally kick balls under collision, when the pressure of collision is overlarge, the pressure can be transmitted to the protective block 10, the pressure can extrude the telescopic rod 13 inside the protective block 10 to contract inwards, the second spring 14 is extruded, the first rotating shaft 16 on the telescopic rod 13 is driven to move, the first rotating shaft 16 can drive the connecting rod 17 to move, so that the two moving blocks 19 are close to each other, and the third spring 20 inside the fixed block 15 is extruded, the inertia through telescopic link 13 and third spring 20 can slow down the pressure of collision, makes fuselage 1 receive the pressure minimizing of collision to further protect the safety of fuselage 1, prevented that fuselage 1 from directly receiving the collision and causing the damage, the shock attenuation sponge 12 of the inside both sides of protection piece 10 simultaneously also can alleviate the pressure of striking, has increased the practicality of structure, has further increased the security of structure.
When the machine body 1 is not used, a worker can disassemble the protection block 10, the insertion block 5 in the slot 4 can move outwards by pulling the protection block 10 outwards, so that the first spring 7 in the cavity 6 is extruded, the limiting column 8 moves inwards, so that the limiting column 8 is separated from the limiting hole 9, the insertion block 5 can be separated from the slot 4, so that the protection block 10 is disassembled, the practicability of the structure is further increased, the occupied area of the storage machine body 1 is also reduced, when the protection block 10 needs to be installed, the insertion block 5 is inserted into the slot 4, when the limiting column 8 moves to the position of the limiting hole 9, the limiting column 8 is ejected into the limiting hole 9 through the first spring 7, the limiting column 8 is mutually matched with the limiting hole 9, the limiting column 8 can be firmly fixed in the limiting hole 9, so that the protection block 10 is installed on the arm 21, the structural firmness is increased, and the protection block 10 is convenient to disassemble and assemble by workers.
It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (6)
1. The utility model provides an anticollision mechanism based on RGBD information small-size football robot, includes fuselage (1), its characterized in that: all fixed mounting in both sides of fuselage (1) has arm (21), the all fixed mounting in both sides of fuselage (1) bottom has leg body (22), slot (4) have all been seted up to the both sides of arm (21), insert block (5), two are all inserted to the inside of slot (4) the all fixed mounting in one side of keeping away from each other of insert block (5) has connecting block (3), two the all fixed mounting in one side of keeping away from each other of connecting block (3) has protection piece (10), cavity (6) have all been seted up to the both sides of insert block (5), the all fixed mounting in one side of protection piece (10) inside has fixed block (15).
2. The anti-collision mechanism based on the RGBD information minitype football robot as claimed in claim 1, wherein: the bottom ends of the leg bodies (22) are fixedly provided with anti-skid pads (2).
3. The anti-collision mechanism based on the RGBD information minitype football robot as claimed in claim 1, wherein: the utility model discloses a spacing socket for the automobile seat, including cavity (6), first spring (7) are all fixed mounting in the inside of cavity (6), spacing post (8) are all fixed mounting on the top of first spring (7), spacing hole (9) have all been seted up to the both sides of slot (4), spacing post (8) and spacing hole (9) mutually support.
4. The anti-collision mechanism based on the RGBD information minitype football robot as claimed in claim 1, wherein: and one sides of the two protection blocks (10) far away from each other are fixedly provided with elastic rubber blocks (11).
5. The anti-collision mechanism based on the RGBD information minitype football robot as claimed in claim 1, wherein: both sides in the protection block (10) are fixedly provided with damping sponges (12).
6. The anti-collision mechanism based on the RGBD information minitype football robot as claimed in claim 1, wherein: the utility model discloses a safety protection device, including protection piece (10), the inside both sides of both sides all fixed mounting have telescopic link (13), the outside of telescopic link (13) all cup joints and installs second spring (14), the inside both sides of fixed block (15) all slidable mounting have movable block (19), the front of telescopic link (13) all fixed mounting have first axis of rotation (16), the outside of first axis of rotation (16) all fixed mounting have connecting rod (17), the top of connecting rod (17) all fixed mounting have second dwang (18), second dwang (18) all are connected, two with movable block (19) the equal fixed mounting in one side that movable block (19) are close to each other has third spring (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020273277.2U CN211639987U (en) | 2020-03-09 | 2020-03-09 | Anti-collision mechanism based on RGBD information small football robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020273277.2U CN211639987U (en) | 2020-03-09 | 2020-03-09 | Anti-collision mechanism based on RGBD information small football robot |
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| Publication Number | Publication Date |
|---|---|
| CN211639987U true CN211639987U (en) | 2020-10-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020273277.2U Expired - Fee Related CN211639987U (en) | 2020-03-09 | 2020-03-09 | Anti-collision mechanism based on RGBD information small football robot |
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| CN (1) | CN211639987U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114984591A (en) * | 2021-04-29 | 2022-09-02 | 深圳市工匠社科技有限公司 | Robot sports anticollision stage property |
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2020
- 2020-03-09 CN CN202020273277.2U patent/CN211639987U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114984591A (en) * | 2021-04-29 | 2022-09-02 | 深圳市工匠社科技有限公司 | Robot sports anticollision stage property |
| CN114984591B (en) * | 2021-04-29 | 2024-04-12 | 深圳市工匠社科技有限公司 | Robot athletic anti-collision prop |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20201009 |