CN112870734A - Full-automatic multi-angle fixed-point ball kicking robot - Google Patents
Full-automatic multi-angle fixed-point ball kicking robot Download PDFInfo
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- CN112870734A CN112870734A CN202110050905.XA CN202110050905A CN112870734A CN 112870734 A CN112870734 A CN 112870734A CN 202110050905 A CN202110050905 A CN 202110050905A CN 112870734 A CN112870734 A CN 112870734A
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- posture correction
- placing
- picking
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H13/00—Toy figures with self-moving parts, with or without movement of the toy as a whole
- A63H13/02—Toy figures with self-moving parts, with or without movement of the toy as a whole imitating natural actions, e.g. catching a mouse by a cat, the kicking of an animal
- A63H13/04—Mechanical figures imitating the movement of players or workers
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/002—Training appliances or apparatus for special sports for football
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/0073—Means for releasably holding a ball in position; Balls constrained to move around a fixed point, e.g. by tethering
- A63B69/0075—Means for releasably holding a ball in position prior to kicking, striking or the like
Abstract
The invention discloses a full-automatic multi-angle fixed-point ball kicking robot which comprises a chassis, a ball picking and placing mechanism, a ball kicking mechanism, a ball seat, a travelling mechanism, a sensing system, a positioning system and a controller, wherein the travelling mechanism is arranged at the bottom of the chassis; the kicking mechanism comprises a kicking mechanism retainer, a kicking foot and a kicking motor, and the kicking foot swings back and forth under the driving of the kicking motor; the ball picking and placing mechanism comprises a ball posture correction structure, a ball seat posture correction structure, a ball picking and placing driving mechanism and a posture correction driving mechanism; the controller controls the posture correction driving mechanism and the ball picking and placing driving mechanism, and controls the ball kicking motor to drive the kicking feet to kick the ball at a certain angle. The robot can realize man-machine interaction, and improve the hit rate of the robot and the stability of a vehicle body.
Description
Technical Field
The invention relates to an intelligent robot, in particular to a full-automatic multi-angle fixed-point kicking robot.
Background
With the continuous progress of the robot technology, various robots appear in the field of view of the public, and the development of the robot sports competition becomes an indispensable event in the robots. The robot football event organizations such as the FIRA international robot football association and the ROBOTCUP international robot football world cup race successively establish the goal of well developing the football robot sports competition. A football-kicking robot appears in the 19 th ROBOCON national college of college student robots, and the special shape of the football compared with the traditional regular ball class also determines the special structure of the robot.
In the football competition of human beings, most of the football competition needs to complete the task within a short time after receiving the ball, and the robot competition continues the competition rules and has the function. The moving speed and the kicking distance of the existing kicking robot are limited to a great extent. The invention aims to solve the problems and improve the moving speed and the kicking distance of the kicking robot.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a full-automatic multi-angle fixed-point kicking robot, which can really realize man-machine interaction and effectively improve the moving speed and the kicking distance of the kicking robot. The technical scheme is as follows:
a full-automatic multi-angle fixed-point ball kicking robot comprises a chassis, a ball picking and placing mechanism, a ball kicking mechanism, a ball seat, a travelling mechanism, a sensing system, a positioning system and a controller, wherein the travelling mechanism is installed at the bottom of the chassis, the ball kicking mechanism and the ball picking and placing mechanism are installed on the chassis, the ball picking and placing mechanism is installed at the front part of the ball kicking mechanism, the ball seat is placed at the lower part of the ball picking and placing mechanism, the travelling mechanism comprises a steering wheel, a steering wheel steering driver, a steering wheel position detector and a steering wheel driving motor, and the controller drives the steering wheel driving motor and the steering wheel steering driver to drive the steering wheel according to a position instruction of the positioning system so that the robot reaches a specified position; the kicking mechanism comprises a kicking mechanism retainer, a kicking foot and a kicking motor, and the kicking foot swings around the kicking mechanism retainer back and forth under the driving of the kicking motor to perform kicking actions; the ball picking and placing mechanism comprises a ball posture correction structure, a ball seat posture correction structure, a ball picking and placing driving mechanism and a posture correction driving mechanism, wherein the posture correction driving mechanism drives the ball posture correction structure and the ball seat posture correction structure to fold towards the middle or scatter towards two sides, and the ball picking and placing driving mechanism drives the ball posture correction structure and the ball seat posture correction structure to ascend or descend; the sensing system is arranged on the ball seat, when a ball is detected on the ball seat, the controller controls the posture correction driving mechanism, the driving ball posture correction structure and the ball seat posture correction structure are folded towards the middle to clamp the ball seat and the ball, the controller controls the ball picking and placing driving mechanism, the driving ball posture correction structure and the ball seat posture correction structure rise, the ball and the ball seat rise, the controller controls the ball picking and placing driving mechanism and the posture correction driving mechanism after the steering wheel reaches a designated position, the driving ball posture correction structure and the ball seat posture correction structure fall and scatter towards two sides, the controller controls the ball kicking motor, and the ball is kicked out at a certain angle by driving the ball kicking foot.
Preferably, the ball picking and placing driving mechanism is a ball picking and placing air cylinder, and the posture correction driving mechanism is a posture correction air cylinder.
Preferably, the ball picking and placing mechanism further comprises ball picking and placing cylinder fixed angle aluminum, a round card, a lifting glass fiber, a guide wheel, an upper and lower connecting glass fiber, a posture correction cylinder fixed angle aluminum, an upper and lower correction connecting structure, a ball picking and placing slider, a ball picking and placing sliding angle aluminum, a posture correction slider, a posture correction slide rail and a ball posture correction glass fiber, wherein the ball picking and placing cylinder fixed angle aluminum fixes the ball picking and placing cylinder on a ball kicking mechanism holder, the round card is connected with the ball picking and placing cylinder and drives the lifting glass fiber to move up and down, the posture correction cylinder drives the ball posture correction structure to fold towards the middle or scatter towards two sides, the guide wheel is arranged at the periphery of the ball posture correction structure and assists in correcting the ball posture, the upper and lower connecting glass fiber connects the ball posture correction structure and the ball picking and placing sliding angle aluminum, the posture correction cylinder fixed angle aluminum fixes the posture correction cylinder on the chassis, the upper and lower correction connecting structure connects the, the ball picking and placing slide block slides up and down, the ball picking and placing slide block is matched with the ball posture correction structure and the ball seat posture correction structure to realize ball picking and ball placing, the ball picking and placing slide angle aluminum is connected with the ball seat posture correction structure and the ball picking and placing slide block to drive the ball seat posture correction structure to move up and down, the posture correction slide block is connected with the ball seat posture correction structure and the chassis, the posture correction slide rail is matched with the posture correction slide block to limit the motion trail of the ball posture correction structure and the ball seat posture correction structure, and the ball posture correction is realized by a glass fiber fixed posture correction cylinder and controlling the posture.
Preferably, the ball picking and placing mechanism further comprises a nylon column for heightening, and the height of the posture correction cylinder is adjusted.
Preferably, the running mechanism further comprises a motor rotating shaft seat, a motor fixing shaft seat, a cabling rack, a rubber wheel, a wheel hub and a bearing, the steering wheel driving motor is fixed on the chassis through the motor rotating shaft seat and the motor fixing shaft seat, the cabling rack is used for fixing a wire on the steering wheel, the rubber wheel is matched with the wheel hub to be used for bearing the chassis, and the bearing is connected with the wheel hub and the motor rotating shaft seat.
Preferably, the running mechanism further comprises a magnetic ring and a magnetic encoder, wherein the magnetic ring is fixed on the steering wheel driving motor and is matched with the magnetic encoder to record the angle of the motor.
Preferably, the steering wheel position detector is a hall switch.
Preferably, the hub is an aluminium hub.
Preferably, the kicking mechanism further comprises an encoder, a magnet seat and a Hall switch, the encoder is matched with the kicking motor to monitor the angle of the motor, and the magnet seat and the Hall switch are matched to determine the initial position of the kicking mechanism.
Preferably, the robot further comprises a vehicle body angle recording system, and the whole rotation angle of the robot is detected and fed back to the controller.
Preferably, the chassis is a fiberglass chassis.
The technical scheme provided by the invention has the beneficial effects that: the full-automatic multi-angle fixed-point kicking robot is provided with the chassis with the steering wheel, so that man-machine interaction can be really realized, the moving speed and the stability of a vehicle body of the kicking robot are improved, the kicking distance and the hit rate of the kicking robot are improved through the bionic design of the kicking mechanism, and the full-automatic multi-angle fixed-point kicking robot can be used for training or testing the motion of footballs or football.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic view of a fully automatic multi-angle fixed-point kicking robot according to the present invention.
FIG. 2 is an exploded view of a steering wheel structure of the full-automatic multi-angle fixed-point kicking robot according to the present invention.
FIG. 3 is a schematic cross-sectional view of a steering wheel of the full-automatic multi-angle fixed-point kicking robot.
FIG. 4 is a schematic view of a ball picking and placing and posture correcting mechanism of the full-automatic multi-angle fixed-point kicking robot.
FIG. 5 is a schematic view of a kicking mechanism of the full-automatic multi-angle fixed-point kicking robot according to the present invention.
The reference numerals in the drawings denote:
1. chassis, 2, steering wheel steering driver, 3, steering wheel, 4, steering wheel position detector, 7, kicking ball mechanism, 8, whole field positioning system, 9, ball seat, 10, ball picking and placing mechanism, 11, ball adjusting mechanism, 12, vehicle body angle recording system, 31, chute, 32, rubber wheel, 33, hub, 34, motor rotating shaft seat, 35, bearing, 36, magnetic ring, 37, magnetic encoder, 38, steering wheel driving motor, 39, motor fixing shaft seat, 41, ball picking and placing cylinder, 42, ball picking and placing cylinder fixing angle aluminum, 43, round card sheet, 44, lifting glass fiber, 45, ball posture correcting structure, 46, guide wheel, 47, upper and lower connecting glass fiber, 48, posture correcting cylinder, 49, posture correcting cylinder fixing angle aluminum, 60, upper and lower correcting connecting structure, 61, ball picking and placing slider, 62, ball picking and placing sliding angle aluminum, 63, ball seat posture correcting structure, 64, ball seat posture correcting structure, 8, ball picking and placing device, The device comprises a posture correction sliding block 65, a posture correction sliding rail 66, ball posture correction glass fibers 67, a padding nylon column 51, a ball kicking mechanism retainer 52, a ball kicking foot 53, an encoder 54, a ball kicking motor 55, a magnet base 56 and a Hall switch.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
As shown in figures 1-5, the full-automatic multi-angle fixed-point kicking robot comprises a chassis 1, a ball picking and placing mechanism 10, a kicking mechanism 7, a ball seat 9, a walking mechanism, a sensing system, a positioning system and a controller. In order to reduce the weight of the robot, the chassis 1 and the ball pick-and-place mechanism 10 are preferably made of glass fiber. The chassis 1 is connected with each structure of the robot to realize the overall movement of the robot. The running gear is arranged at the bottom of the chassis 1. The kicking mechanism 7 and the ball picking and placing mechanism 10 are arranged on the chassis 1. The ball collecting and placing mechanism 10 is arranged at the front part of the ball kicking mechanism 7. The ball seat 9 is placed at a lower portion of the ball picking and placing mechanism 10 for holding a football or a soccer ball, and the shape of the ball seat 9 is designed to match the shape of the football or the soccer ball so that the ball can be stably placed on the ball seat 9. The full-field positioning system 8 is fixed on the glass fiber chassis and used for recording the relative position positioning of the robot. Parts of a ball seat. The chassis 1 is also provided with a vehicle body angle recording system 12 for detecting the integral rotation angle of the robot and feeding back to the controller.
Preferably, the running gear comprises four independently driven steering wheels. The running mechanism comprises four steering wheels 3, four steering wheel steering drivers 2, four steering wheel position detectors 4 and four steering wheel driving motors 38. Preferably, the steering wheel position detector 4 is a general hall switch for determining the initial positions of the four steering wheels 3 when the kicking robot is started. The controller drives the steering wheel driving motor 38 and the steering wheel steering driver 2 according to the position instruction of the positioning system so as to drive the steering wheel 3, and controls the kicking robot to reach a specified position by controlling the rotating speed and steering of the four steering wheels 3. As shown in fig. 2-3, the traveling mechanism further includes a motor rotating shaft seat 34, a motor fixed shaft seat 39, a cabling rack 31, a rubber wheel 32, a wheel hub 33, and a bearing 35. The steering wheel driving motor 38 is fixed on the chassis 1 by the motor rotating shaft seat 34 and the motor fixed shaft seat 39, and the wire rack 31 fixes the wires on the steering wheel 3, so that the power wires and the CAN control wires are prevented from interfering with the hub 33 to cause circuit damage when the steering wheel rotates. The rubber wheel 32 is used in cooperation with a hub 33 for carrying the chassis 1. The rubber on the rubber wheel 32 is a silica gel wheel with the hardness of 30, and plays a role in shock absorption. For weight reduction, the hub 33 is an aluminum hub. The bearing 35 connects the hub 33 and the motor shaft holder 34. Preferably, the bearing 35 is a deep groove ball bearing. Preferably, the running mechanism further comprises a magnetic ring 36 and a magnetic encoder 37, wherein the magnetic ring 36 is fixed on the steering wheel driving motor 38 and is matched with the magnetic encoder 37 for recording the rotating angle of the motor. Preferably, the steering wheel drive motor 38 is a T-motor U10 Plus motor.
As shown in fig. 5, the kicking mechanism 7 includes a kicking mechanism holder 51, a kicking foot 52, and a kicking motor 54. The kicking mechanism holder 51 secures the kicking mechanism 7 to the fiberglass chassis. The kicking feet 52 are of a bionic design, simulating the legs and feet of a human. The kicking feet 52 are driven by the kicking motor 54 to swing back and forth around the kicking mechanism retainer 51, so as to kick the ball. Preferably, the kicking mechanism 7 further comprises an encoder 53, a magnet holder 55, a hall switch 56. The encoder 53 is matched with the kicking motor 54 to monitor the motor angle, and the encoder 53 is an absolute value type encoder. The magnet holder 55 and the hall switch 56 are used in cooperation to determine the initial position of the kicking mechanism 7, and the hall switch 56 can detect the magnet and feed back a signal to the controller. Preferably, the kicking motor 54 is a MAXON EC30 motor.
As shown in FIG. 4, the ball pick-and-place mechanism 10 includes a ball posture correcting structure 45, a tee posture correcting structure 63, a ball pick-and-place driving mechanism 41, and a posture correcting driving mechanism 48. The posture-correcting drive mechanism 48 drives the ball posture-correcting structure 45 and the tee posture-correcting structure 63 to be folded toward the middle or to be unfolded toward both sides. The ball pick-up drive mechanism 41 drives the ball posture correction structure 45 and the tee posture correction structure 63 up or down. The sensing system is arranged on the ball seat 9, when a ball is detected on the ball seat 9, the controller controls the posture correction driving mechanism 48, the driving ball posture correction structure 45 and the ball seat posture correction structure 63 are folded towards the middle to clamp the ball seat 9 and the ball, the controller controls the ball picking and placing driving mechanism 41, the driving ball posture correction structure 45 and the ball seat posture correction structure 63 ascend to drive the ball and the ball seat 9 to ascend, after the controller controls the steering wheel 3 to reach a designated position, the controller controls the ball picking and placing driving mechanism 41 and the posture correction driving mechanism 48, the driving ball posture correction structure 45 and the ball seat posture correction structure 63 descend and scatter towards two sides, the controller controls the ball kicking motor 54 to drive the kicking feet 52 to kick the ball at a certain angle.
Preferably, the ball pick-up and placing driving mechanism 41 is a ball pick-up and placing air cylinder 41, and the posture correcting driving mechanism 48 is a posture correcting air cylinder 48. Other drive means, such as electric motors, may be used for the drive mechanisms 41 and 48.
Preferably, the ball picking and placing mechanism 10 further comprises a ball picking and placing cylinder fixing angle aluminum 42, a round card 43, a lifting glass fiber 44, a guide wheel 46, an up-down connecting glass fiber 47, a posture correction cylinder fixing angle aluminum 49, an up-down correction connecting structure 60, a ball picking and placing slider 61, a ball picking and placing sliding angle aluminum 62, a posture correction slider 64, a posture correction slide rail 65 and a ball posture correction glass fiber 66. The ball picking and placing cylinder fixing angle aluminum 42 fixes the ball picking and placing cylinder 41 on the kicking mechanism holder 51. The round card 43 is connected with the ball picking and placing cylinder 41 and drives the lifting glass fiber 44 to move up and down. The posture-correcting cylinder 48 drives the ball posture-correcting structure 45 to be folded toward the middle or to be spread toward both sides, and corrects the posture of the ball. The guide wheels 46 are provided on the periphery of the ball posture correcting structure 45 to assist in correcting the ball posture. The upper and lower connecting glass fibers 47 are connected with the ball posture correction structure 45 and the ball picking and placing sliding angle aluminum 62, and the posture correction cylinder fixing angle aluminum 49 fixes the posture correction cylinder 48 on the chassis 1. The upper and lower correction connection structures 60 connect the ball posture correction structure 45 and the ball seat posture correction structure 63. The ball picking and placing slide block 61 slides up and down and is matched with the ball posture correction structure 45 and the ball seat posture correction structure 63 to realize ball picking and ball placing. Pick up and put ball sliding angle aluminium 62 and connect ball seat gesture correction structure 63 and pick up and put ball slider 61, drive ball seat gesture correction structure 63 and reciprocate. The posture correction sliding block 64 is connected with the ball seat posture correction structure 63 and the chassis 1, and the posture correction sliding rail 65 is matched with the posture correction sliding block 64 to limit the movement tracks of the ball posture correction structure 45 and the ball seat posture correction structure 63 and protect the driving cylinder. The ball posture correcting glass fiber 66 fixes the posture correcting cylinder 48 and controls the degree of adjustment of the posture correction. Preferably, the ball picking and placing mechanism 10 further comprises a nylon column 67 for adjusting the height of the posture-correcting cylinder 48. The ball picking and placing mechanism 10 is designed into two parts which can be folded and unfolded, the structure of each part is matched with the appearance of a football or a football to be kicked, the two parts can be folded to just fix and hold the ball conveniently, and in order to reduce the weight, the ball picking and placing mechanism 10 can be made of glass fiber. Preferably, a plurality of guide wheels are arranged on the periphery of the ball picking and placing mechanism 10, so that the posture of the ball can be corrected conveniently.
The operation principle of the full-automatic multi-angle fixed-point kicking robot is as follows. After the robot is started, the robot carries out initial position positioning record through the full-field positioning system 8. The kicking motor 54 drives the kicking foot 52 to adjust to the initial position, and the magnet seat 55 and the hall switch 56 cooperate to determine the initial position of the kicking mechanism 7 and feed back a signal to the controller. The operator places the ball seat 9 at the position shown in fig. 1 and triggers the infrared distance measuring module, and the posture correcting driving mechanism 48 drives the ball seat posture correcting structure 63 to fold towards the middle to correct the ball seat posture. The vertical ball seat 9 upper ends of placing of operating personnel with the rugby, infrared ranging module triggers this moment, and the robot receives the information that the rugby has been put, and operating personnel triggers infrared ranging module afterwards, and driving cylinder 48 is corrected to two gestures and is pushed forward simultaneously, and ball seat gesture correction structure 63 corrects the centre gripping of ball seat 9, and the rugby gesture is corrected structure 45 and guide pulley 46 jointly to the football gesture, accomplishes and corrects the action, and the fault-tolerant rate of putting the ball is put in the increase, plays the ball more accurately. And then, the ball picking and placing cylinder 41 is pulled back, the glass fiber 44 is lifted, the ball picking and placing slide block 61 is used for limiting, and the whole set of posture correction mechanism is lifted up, so that the ball picking is completed. After the ball is picked up, the robot moves under the matching of the steering driver 2 and the steering wheel 3. And moved to the designated location using the full field positioning system 8. The robot kicks the ball at an angle adjusted by setting the angle using the data and program of the vehicle body angle recording system 12 immediately before reaching the designated position. After reaching the designated position, the ball pick-and-place mechanism 10 puts down the ball seat 9 and the ball. The ball picking and placing cylinder 41 is pushed forward, the whole posture correction mechanism is descended by limiting the position of the ball picking and placing slide block 61 through the lifting glass fiber 44, and the ball seat 9 is contacted with the bottom. The two posture correction driving cylinders 48 are slowly pulled back through the throttle valves at the same time, and the ball seat 9 are stably put down to execute the kicking action. Meanwhile, the kicker 52 of the kicking mechanism 7 swings around the kicking mechanism holder 51 from back to front under the driving of the kicking motor 54, and kicks the ball. The encoder 53 is used for monitoring the rotation angle of the kicking motor 54, so as to control the force of the kicking foot 52 and realize fixed-point kicking. After the kicking action is completed, the robot can clamp the ball seat 9, the ball seat 9 is repeatedly utilized, and the kicking mechanism 7 can return to the initial position and wait for the next instruction of an operator. The robot is provided with a high-precision sensor which can collect data and feed the data back to the controller, so that the motion of the robot can be accurately adjusted at any time.
The full-automatic multi-angle fixed-point kicking robot can solve the problems and the defects of only a micro kicking robot in the current market, makes up the vacancy of the football robot, can really realize man-machine interaction, can be used for training football sports and performance testing, and can accelerate the high-intelligence development of the robot.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (11)
1. The full-automatic multi-angle fixed-point ball kicking robot comprises a chassis (1), a ball picking and placing mechanism (10), a ball kicking mechanism (7), a ball seat (9), a walking mechanism, a sensing system, a positioning system and a controller, and is characterized in that the walking mechanism is installed at the bottom of the chassis (1), the ball kicking mechanism (7) and the ball picking and placing mechanism (10) are installed on the chassis (1), the ball picking and placing mechanism (10) is installed at the front part of the ball kicking mechanism (7), the ball seat (9) is placed at the lower part of the ball picking and placing mechanism (10), the walking mechanism comprises a steering wheel (3), a steering driver (2), a steering wheel position detector (4) and a steering wheel driving motor (38), the controller drives the steering wheel driving motor (38) and the steering driver (2) to drive the steering wheel (3) according to a position instruction of the positioning system, causing the robot to reach a specified location; the kicking mechanism (7) comprises a kicking mechanism retainer (51), a kicking foot (52) and a kicking motor (54), wherein the kicking foot (52) swings back and forth around the kicking mechanism retainer (51) under the driving of the kicking motor (54) to kick a ball; the ball picking and placing mechanism (10) comprises a ball posture correction structure (45), a ball seat posture correction structure (63), a ball picking and placing driving mechanism and a posture correction driving mechanism, wherein the posture correction driving mechanism drives the ball posture correction structure (45) and the ball seat posture correction structure (63) to fold towards the middle or scatter towards two sides, and the ball picking and placing driving mechanism drives the ball posture correction structure (45) and the ball seat posture correction structure (63) to ascend or descend; the sensing system is arranged on the ball seat (9), when a ball is detected on the ball seat (9), the controller controls the posture correction driving mechanism to drive the ball posture correction structure (45) and the ball seat posture correction structure (63) to fold towards the middle to clamp the ball seat (9) and the ball, the controller controls the ball picking and placing driving mechanism to drive the ball posture correction structure (45) and the ball seat posture correction structure (63) to ascend to drive the ball and the ball seat (9) to ascend, the controller controls the ball picking and placing driving mechanism and the posture correction driving mechanism to drive the ball posture correction structure (45) and the ball seat posture correction structure (63) to descend and scatter towards two sides after the steering wheel (3) reaches a designated position, and the controller controls the ball kicking motor (54), the kicking feet (52) are driven to kick the ball at a certain angle.
2. The robot of claim 1, wherein the ball picking and placing driving mechanism is a ball picking and placing cylinder (41), and the posture correcting driving mechanism is a posture correcting cylinder (48).
3. The full-automatic multi-angle fixed-point kicking robot as claimed in claim 2, wherein the ball picking and placing mechanism (10) further comprises a ball picking and placing cylinder fixing angle aluminum (42), a round card (43), a lifting glass fiber (44), a guide wheel (46), an upper and lower connecting glass fiber (47), an attitude correcting cylinder fixing angle aluminum (49), an upper and lower correcting connecting structure (60), a ball picking and placing slider (61), a ball picking and placing sliding angle aluminum (62), an attitude correcting slider (64), an attitude correcting slide rail (65) and a ball attitude correcting glass fiber (66), the ball picking and placing cylinder fixing angle aluminum (42) fixes the ball picking and placing cylinder (41) on the kicking mechanism holder (51), the round card (43) is connected with the ball picking and placing cylinder (41) to drive the lifting glass fiber (44) to move up and down, the attitude correcting cylinder (48) drives the ball attitude correcting structure (45) to fold towards the middle or scatter towards two sides, the guide wheel (46) is arranged at the periphery of the ball posture correction structure (45) and assists in correcting the ball posture, the upper and lower connecting glass fibers (47) are connected with the ball posture correction structure (45) and the ball picking and placing sliding angle aluminum (62), the posture correction cylinder fixing angle aluminum (49) fixes the posture correction cylinder (48) on the chassis (1), the upper and lower correction connecting structure (60) is connected with the ball posture correction structure (45) and the ball seat posture correction structure (63), the ball picking and placing sliding block (61) slides up and down and is matched with the ball posture correction structure (45) and the ball seat posture correction structure (63) to realize ball picking and placing, the ball picking and placing sliding angle aluminum (62) is connected with the ball seat posture correction structure (63) and the ball placing sliding block (61) to drive the ball seat posture correction structure (63) to move up and down, posture correction slider (64) are connected structure (63) is corrected to the ball seat posture with chassis (1), slide rail (65) is corrected to the posture with the cooperation of slider (64) is corrected to the posture, the restriction structure (45) is corrected to the ball posture with the movement track of structure (63) is corrected to the ball seat posture, the fine (66) of glass is corrected to the ball posture and is fixed cylinder (48) is corrected and control the regulation degree that the posture was corrected.
4. The robot of claim 3, wherein the ball picking and placing mechanism (10) further comprises a nylon cylinder (67) for elevating, and the height of the posture correction cylinder (48) is adjusted.
5. The robot of claim 1, further comprising a motor shaft seat (34), a motor shaft seat (39), a wire rack (31), a rubber wheel (32), a wheel hub (33), and a bearing (35), wherein the motor shaft seat (34) and the motor shaft seat (39) fix the steering wheel driving motor (38) on the chassis (1), the wire rack (31) fixes the wire on the steering wheel (3), the rubber wheel (32) cooperates with the wheel hub (33) to bear the chassis (1), and the bearing (35) connects the wheel hub (33) and the motor shaft seat (34).
6. The robot of claim 5, wherein the walking mechanism further comprises a magnetic ring (36) and a magnetic encoder (37), the magnetic ring (36) is fixed on the steering wheel driving motor (38) and cooperates with the magnetic encoder (37) to record the motor angle.
7. The full-automatic multi-angle fixed-point kicking robot of claim 1, characterized in that the steering wheel position detector (4) is a hall switch.
8. The full-automatic multi-angle fixed-point kicking robot of claim 5, wherein the hub (33) is an aluminum hub.
9. The robot of claim 1, wherein the kicking mechanism (7) further comprises an encoder (53), a magnet base (55) and a hall switch (56), the encoder (53) cooperates with the kicking motor (54) to monitor the motor angle, and the magnet base (55) and the hall switch (56) cooperate to determine the initial position of the kicking mechanism (7).
10. The robot of claim 1, further comprising a car body angle recording system (12) for detecting the overall turning angle of the robot and feeding back the detected turning angle to the controller.
11. The full-automatic multi-angle fixed-point kicking robot of claim 1, characterized in that the chassis (1) is a fiberglass chassis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110050905.XA CN112870734A (en) | 2021-01-14 | 2021-01-14 | Full-automatic multi-angle fixed-point ball kicking robot |
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