The robot can basically be divided into four subfunctions. In the following, the four sub-functions are explained and their mode of operation is shown.
The launching unit consists of two 3D printed shooting stands. At each of these stands a motor and a throwing wheel are mounted. In addition, there is a ball guide attached to the stands, so that the ball can be optimally positioned. The motors and launching wheels are accelerated to the same speed in opposite directions. Now, if the ball gets between the wheels, it is squashed and experiences an acceleration in the direction of the wheels. Since the speeds of the motors can be variably adjusted, the throw distance can be set exactly.
The driving unit consists of a base plate, to which two motors are fastened by means of brackets. A ball roller is placed at the front and back of the base plate. With the help of the driving unit, the general positioning on the field and the orientation for the launching take place. The wheels are controlled separately and placed on the center axis of the robot so that rotation around its center axis is possible on the spot. Encoders on the driving motors enable accurate monitoring and positioning of both wheels. The ball rollers prevent the tipping of the robot and give additional stability.
The catching unit is implemented by a simple funnel. To counteract the ball hopping out of the funnel, a catching wall was attached to the back of the robot, which can be opened with the help of a magnet at the beginning of the game. The ball is guided through the funnel to the launching unit, so that the return pass is possible shortly after.
Housing & sensor
To ensure that there is sufficient space inside the robot for the other electronic and mechanical components, the maximum size of 160 x 160 x 160 mm was fully utilized. Three out of four corners have been chamfered so that the robot can turn around its own axis in any position and situation. The sensors allow a precise orientation of the robot. With the aid of ground sensors, the position on the field and the orientation of the robot can be determined. In addition, opponents and walls can be detected by side mounted sensors.