CN207027530U - A kind of Soccer robot - Google Patents
A kind of Soccer robot Download PDFInfo
- Publication number
- CN207027530U CN207027530U CN201720914554.1U CN201720914554U CN207027530U CN 207027530 U CN207027530 U CN 207027530U CN 201720914554 U CN201720914554 U CN 201720914554U CN 207027530 U CN207027530 U CN 207027530U
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- module
- ball
- handling
- soccer robot
- guide groove
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Abstract
The utility model belongs to STEM technical field of teaching apparatus, more particularly to a kind of Soccer robot, including：Multifunctional carriage, drive mechanism module, ball-handling mechanism module, kicking machine module, control circuit module, wherein, multifunctional carriage is integrally formed by sheet metal component, is respectively secured to drive mechanism module, ball-handling mechanism module, kicking machine module, control circuit module by the threaded hole on sheet metal component.The front bottom of ball-handling mechanism module is eight word arcs ball-handling guide groove, and eight word arcs ball-handling guide groove top is to roll up club.The kicking machine module is pushed away including electromagnetism and batting plate, and batting plate is arranged among ball-handling mechanism, and electromagnetism is pushed away inside multifunctional carriage.Eight word arcs ball-handling guide groove allows volume club to be easy to contact with bead, prevent bead from being rushed open by Soccer robot, in football move when ball-handling guide groove bead is stuck and is lifted slightly, avoid dribbling move in football because with ground friction and from Soccer robot control ball mechanism in come off.
Description
Technical field
The utility model belongs to STEM technical field of teaching apparatus, more particularly to a kind of Soccer robot.
Background technology
Ball, dribbling, batting is looked for have certain manipulation difficult using Soccer robot in STEM education sectors, institute at present；Part
Soccer robot football-kicking mechanism is complicated, is unfavorable for imparting knowledge to students for the STEM of students in middle and primary schools；The Soccer robot work(of in the market simultaneously
Can be single, lack autgmentability, exploration and interest deficiency.
Utility model content
In order to solve the defects of existing product, the utility model proposes a kind of Soccer robot, including：MPV
Frame, drive mechanism module, ball-handling mechanism module, kicking machine module, control circuit module, wherein, multifunctional carriage is by metal plate
Part is integrally formed, by the threaded hole on sheet metal component respectively by drive mechanism module, ball-handling mechanism module, kicking machine mould
Block, control circuit module are secured to.
The front bottom of the ball-handling mechanism module is eight word arcs ball-handling guide groove, and eight word arcs ball-handling guide groove top is
Roll up club.
The ball-handling mechanism module also includes integral mounting bracket, volume ball reducing motor, master-slave synchronisation belt wheel, timing belt；One
Body mounting bracket lower end is eight word arcs ball-handling guide barrel construction, and volume ball reducing motor is arranged on the branch bent among integral mounting bracket
On frame, volume club is cased with the hole of bearing installed in integral mounting bracket front end both sides bending frame, and two synchronous pulleys fill respectively
In deceleration motor shaft and volume club shaft, timing belt is enclosed on two synchronous pulleys.
The kicking machine module is pushed away including electromagnetism and batting plate, and batting plate is arranged among ball-handling mechanism, and electromagnetism pushes away peace
Inside multifunctional carriage.
The drive mechanism module includes DC speed-reducing, wheel connector, wheel hub, rubbery cover tyre, and direct current slows down electric
Machine is connected by wheel connector with wheel hub, and rubbery cover tyre, which is enclosed on wheel hub, adds tire and frictional ground force.
The MPV frame module also include be used for install expanded function sheet metal component, sensor assembly, universal wheel module,
The pilot hole of transfer module, polypody module.
The control circuit module include be connected with Multi-function extension mainboard hardware ArduinoUNO master control borads of increasing income, lead to
Believe module, electromagnetic relay expansion module, communication module receives cell phone application or remote-control handle signal, and Multi-function extension mainboard will
The signal that communication module receives is sent to hardware ArduinoUNO master control borads of increasing income, while hardware ArduinoUNO master control borads of increasing income
Control signal is sent to electromagnetic relay expansion module come motor by Multi-function extension mainboard.
The beneficial effects of the utility model：
(1) multifunctional carriage disclosed in, make Soccer robot that there is abundant autgmentability, function is more diversified, more
It is interesting and exploratory, it can be more convenient to expand to various teaching and match purposes；
(2) ball-handling mechanism and kicking machine disclosed in, it is simple in construction, can easy disassembly, be easy to the extension of various modules,
Combination；
(3) the ball-handling mechanism one mounting bracket disclosed in, its outstanding eight word arcs ball-handling guide groove are designed in football machine
When people seeks ball, allow volume club to be easy to contact with bead, prevent bead from being rushed open by Soccer robot, after volume club rolls up football
Volume club in football by moving, and ball-handling guide groove makes bead be stuck and lift slightly when being moved in football, and this avoid football machine
Device people football in dribbling is moved because being come off with ground friction and in controlling ball mechanism from Soccer robot, and rolls up the following table of club
Face makes football have one suitably to be fixed deformation quantity to the distance between guide groove face of controlling ball, and makes the kicking machine of Soccer robot
Bead can easily be hit.
Brief description of the drawings
Fig. 1 is Soccer robot general assembly drawing of the present utility model；
Fig. 2 is Soccer Robot Control Circuit module diagram of the present utility model；
Fig. 3 is Soccer robot ball-handling structural scheme of mechanism of the present utility model；
Fig. 4 is Soccer robot kicking machine schematic diagram of the present utility model；
Fig. 5 is the first-class mapping of Soccer robot multifunctional carriage of the present utility model；
Fig. 6 is the inferior mapping of Soccer robot multifunctional carriage of the present utility model；
Fig. 7 is Soccer robot drive mechanism schematic diagram of the present utility model；
Embodiment
Below in conjunction with the accompanying drawings, embodiment is elaborated.
Fig. 1 be the embodiment of the utility model one Soccer robot general assembly drawing, Soccer robot as shown in Figure 1, its group
Into including：Control circuit module 100, ball-handling mechanism module 200, kicking machine module 300, multifunctional carriage 400, drive mechanism
Module 500, control circuit module 100, ball-handling mechanism module 200, kicking machine module 300 and drive mechanism module 500 are logical
The mounting hole crossed on screw and vehicle frame is fixed to multifunctional carriage 400, ball-handling mechanism module 200, kicking machine module 300 and
The power supply of drive mechanism module 500 and signal wire are connected to control circuit module by the Interface Terminal in control circuit module 100
100；
Fig. 2 is the embodiment control circuit module schematic diagram of the utility model one, and its composition includes：Multi-function extension mainboard
101st, increase income hardware ArduinoUNO master control borads 102, bluetooth communication 103 and electromagnetic relay expansion module 104, increase income
Hardware ArduinoUNO master control borads 102, bluetooth communication 103 and electromagnetic relay module 104 pass through Multi-function extension master
Plug-in unit is connected on plate 101 and is connected to Multi-function extension mainboard 101, bluetooth communication 103 receives cell phone application or Bluetooth remote control
Communication module and expansion module signal are sent to hardware of increasing income by the control signal that handle is sent, Multi-function extension mainboard 101
ArduinoUNO master control borads 102, while control signal is passed through Multi-function extension master by hardware ArduinoUNO master control borads 102 of increasing income
Plate 101 sends to each expansion module or sends drive signal to the drive circuit on Multi-function extension mainboard 101, driving electricity
Road drives drive mechanism module 500 again；
Fig. 3 is the embodiment of the utility model one ball-handling structural scheme of mechanism, and its composition includes：The mechanism that controls ball one mounting bracket
201st, control ball reducing motor 202, main synchronous pulley 203, timing belt 204, from synchronous pulley 205, volume the word arc of club 206 and eight
Shape ball-handling guide groove 207, reducing motor 202 are arranged on the support bent among integral mounting bracket 201, and volume club 206 is installed
In being cased with the hole of bearing for the integral front end both sides bending frame of mounting bracket 201, two synchronous pulleys 203,205 are attached separately to slow down
On the axle of motor 202 and the volume axle of club 206, timing belt 204 is enclosed on two synchronous pulleys 203,205, the driving letter of reducing motor 202
The drive circuit that number line is connected on extension mainboard 101 by extending the connection terminal on mainboard 101；
Fig. 4 is the embodiment kicking machine schematic diagram of the utility model one, and kicking machine 300 pushes away 301 and batting plate by electromagnetism
302 compositions, the electromagnetism that batting plate 302 is arranged on pushed away at 301 batting pole nose threads, electromagnetism push away 301 signal wire and electromagnetism after
Electrical appliance module 104 connects；
Fig. 5, Fig. 6 are the embodiment multifunctional carriage figure of the utility model one, and multifunctional carriage is integrally formed by sheet metal component, metal plate
There is threaded hole on golden part, including：Control circuit module pilot hole 401, ultrasound push than sensor mounting hole 402, electromagnetism
Hosel 403, electromagnetism push away mounting hole 404, ball-handling mechanism one mounting bracket and transfer module mounting hole 405, motor support
Pilot hole 406, sensor and universal wheel pilot hole 408, Function Extension pilot hole 407 and polypody module pilot hole 409, are used for
Fixed drive mechanism, ball-handling mechanism, kicking machine, control circuit module and other expanded function sheet metal components or sensor die
Block；
Fig. 7 is the embodiment drive mechanism schematic diagram of the utility model one, drive mechanism 500 include DC speed-reducing 504,
Wheel connector 502, wheel hub 503, rubbery cover tyre 504, DC speed-reducing 500 are connected by wheel connector 502 and wheel hub 503
Connect, rubbery cover tyre 504 is enclosed on wheel hub 503 and adds tire and frictional ground force, makes Soccer robot have stronger traveling steady
Qualitative, drive mechanism 500 provides drive signal by drive circuit in control circuit 100；
In the present embodiment, integral mounting bracket 201 and kicking machine 300 are installed on the vehicle frame 400 of football dolly, volume
Club 206 rotates to be driven by reducing motor 202, the mechanism 200 that controls ball and the drive signal line of kicking machine 300 and control circuit 100
Connection, under program control, when rolling up ball, volume club is rotated counterclockwise under the drive of reducing motor 202 for rolling up bead,
Square stance, volume club rotates clockwise under the drive of reducing motor 202 produces bead, while kicking machine quickly hits ball
Go out.Integral mounting bracket 201 mainly has two functions, when for installing volume ball machine structure, second, for blocking the bead rolled up, one
The word arc ball-handling structure of guide groove 207 of 201 lower end of body mounting bracket eight can allow Soccer robot to be easy to enter bead when seeking ball
Roll up in the range of club balls of volume 206, bead first by the scrolling of volume club 206, is then blocked bead by the profile side of Internal periphery projection
And lift slightly, prevent because Soccer robot move when, bead and ground friction, which rotate, departs from Soccer robot or bead is first
Rushed open with the preceding end in contact of integral mounting bracket 201, live volume club 206 after football in volume club volume 206 and allow in football and move,
Ball-handling guide groove 207 makes bead be stuck and lift slightly when being moved in football, this avoid Soccer robot in dribbling is moved
Football with ground friction and in controlling ball mechanism 200 from Soccer robot because being come off, and the lower surface for rolling up club 206 is led to ball-handling
The distance between groove face 207 makes football have one suitably by fixed deformation quantity, makes the kicking machine 300 of Soccer robot can be with
Easily hit bead.
In the present embodiment, bluetooth communication module 103 passes through the instruction that cell phone application end and remote-control handle are sent multi-functional
Extension mainboard 101 is transferred to increase income hardware ArduinoUNO master control borads 102, when receiving movement instruction, hardware of increasing income
ArduinoUNO master control borads 102 send drive signal to Multi-function extension mainboard 101, the driving on Multi-function extension mainboard 101
DC speed-reducing 501 of the circuit into drive mechanism 500 provides respective drive voltage, when receiving volume ball instruction, increases income
Hardware ArduinoUNO master control borads 102 send drive signal to Multi-function extension mainboard 101, on Multi-function extension mainboard 101
Drive circuit provides to the ball-handling reducing motor 202 in ball-handling mechanism 200 and is driven forward voltage, when receiving batting instruction,
Hardware ArduinoUNO master control borads 102 of increasing income first send the drive circuit on drive signal to Multi-function extension mainboard 101, make drive
Ball-handling direct current generator 202 in dynamic ball-handling mechanism 200 inverts, and hardware ArduinoUNO master control borads 102 of then increasing income send control
Control signal, transmitted to relay module 104, relay module 104 and received by the control signal of Multi-function extension mainboard 101
Control signal is followed by energization magnetic and pushes away 301 power supplys, and the close fit that volume club 206 and electromagnetism push away 301 proposes football.
In the present embodiment, multifunctional carriage 400 can be used as the carrier of Soccer robot, can also be extended to polypody
Robot, inspection robot, transfer robot, in addition user can also be made with extension or homemade extension it is desired
Robot.
Above-described embodiment is only the preferable embodiment of the utility model, but the scope of protection of the utility model is not
This is confined to, any one skilled in the art can readily occur in the technical scope that the utility model discloses
Change or replacement, should all cover within the scope of protection of the utility model.Therefore, the scope of protection of the utility model should
It is defined by scope of the claims.
Claims (7)
- A kind of 1. Soccer robot, it is characterised in that including：Multifunctional carriage, drive mechanism module, mechanism module of controlling ball, hit Ball mechanism module, control circuit module, wherein, multifunctional carriage is integrally formed by sheet metal component, is opened by the screw thread on sheet metal component Drive mechanism module, ball-handling mechanism module, kicking machine module, control circuit module are secured to by hole respectively.
- 2. Soccer robot according to claim 1, it is characterised in that the front bottom of the ball-handling mechanism module is eight Word arc ball-handling guide groove, eight word arcs ball-handling guide groove top are volume club.
- 3. Soccer robot according to claim 1, it is characterised in that the ball-handling mechanism module also includes one installation Frame, volume ball reducing motor, master-slave synchronisation belt wheel, timing belt；Integral mounting bracket lower end is eight word arcs ball-handling guide barrel construction, rolls up ball Reducing motor is arranged on the support bent among integral mounting bracket, and volume club is arranged on the both sides bending of integral mounting bracket front end Frame is cased with the hole of bearing, and two synchronous pulleys are attached separately in deceleration motor shaft and volume club shaft, and timing belt is enclosed on two On synchronous pulley.
- 4. according to 1 or 2 or 3 Soccer robot of claim, it is characterised in that the kicking machine module pushes away including electromagnetism And batting plate, batting plate are arranged among ball-handling mechanism, electromagnetism is pushed away inside multifunctional carriage.
- 5. according to 1 or 2 or 3 Soccer robot of claim, it is characterised in that the drive mechanism module subtracts including direct current Speed motor, wheel connector, wheel hub, rubbery cover tyre, DC speed-reducing are connected by wheel connector with wheel hub, rubbery cover tyre It is enclosed on wheel hub and adds tire and frictional ground force.
- 6. according to 1 or 2 or 3 Soccer robot of claim, it is characterised in that the MPV frame module also includes using In installation expanded function sheet metal component, sensor assembly, universal wheel module, transfer module, polypody module pilot hole.
- 7. according to 1 or 2 or 3 Soccer robot of claim, it is characterised in that the control circuit module includes and more work( Mainboard connected increase income hardware ArduinoUNO master control borads, communication module, electromagnetic relay expansion module, communication module can be extended Receive cell phone application or the signal that communication module receives is sent to hardware of increasing income by remote-control handle signal, Multi-function extension mainboard ArduinoUNO master control borads, while hardware ArduinoUNO master control borads of increasing income send control signal by Multi-function extension mainboard Carry out motor to electromagnetic relay expansion module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720914554.1U CN207027530U (en) | 2017-07-26 | 2017-07-26 | A kind of Soccer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720914554.1U CN207027530U (en) | 2017-07-26 | 2017-07-26 | A kind of Soccer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207027530U true CN207027530U (en) | 2018-02-23 |
Family
ID=61462616
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720914554.1U Active CN207027530U (en) | 2017-07-26 | 2017-07-26 | A kind of Soccer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207027530U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107225584A (en) * | 2017-07-26 | 2017-10-03 | 北京易方科教科技有限公司 | A kind of Soccer robot |
| CN111890376A (en) * | 2020-06-29 | 2020-11-06 | 西北工业大学 | Active ball holding system of football robot |
-
2017
- 2017-07-26 CN CN201720914554.1U patent/CN207027530U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107225584A (en) * | 2017-07-26 | 2017-10-03 | 北京易方科教科技有限公司 | A kind of Soccer robot |
| CN111890376A (en) * | 2020-06-29 | 2020-11-06 | 西北工业大学 | Active ball holding system of football robot |
| CN111890376B (en) * | 2020-06-29 | 2022-07-05 | 西北工业大学 | Active ball holding system of football robot |
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