CN104474681A - Robot football training instrument - Google Patents
Robot football training instrument Download PDFInfo
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- CN104474681A CN104474681A CN201410774771.6A CN201410774771A CN104474681A CN 104474681 A CN104474681 A CN 104474681A CN 201410774771 A CN201410774771 A CN 201410774771A CN 104474681 A CN104474681 A CN 104474681A
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- ball
- type housing
- motor
- snail type
- rollers
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- 230000000694 effects Effects 0.000 claims abstract description 7
- 241000237858 Gastropoda Species 0.000 claims description 37
- 238000005096 rolling process Methods 0.000 claims description 11
- 238000010304 firing Methods 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 claims description 5
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 4
- 241000356143 Euphorbia grandicornis Species 0.000 abstract 3
- 230000005540 biological transmission Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 150000001875 compounds Chemical class 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 231100000225 lethality Toxicity 0.000 description 1
- 230000007115 recruitment Effects 0.000 description 1
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Abstract
The invention relates to a robot football training instrument, which consists of a motor, a cow horn type funnel, a helicoid casing, a support frame and a groove wheel, wherein the helicoid casing is connected with the motor and the cow horn type funnel through screw bolts, the support frame is connected with the motor and the cow horn type funnel through a support shaft, the motor is connected with the support frame through screw bolts, the groove wheel is connected with the support frame through a bearing, and the groove wheel is connected with the helicoid casing through the transmission rod. The robot football training instrument has the advantages that the structure is simple, reasonable and novel, the operation is simple and convenient, the robot football training instrument can replace football training partners to realize partner training, the training effect can also be improved, and the practicability is high.
Description
Technical field
The invention belongs to robotics, particularly relate to a kind of football training equipment.
Background technology
The relevant training device of current football can't effectively come into operation, can not really simulate training mate person's action, particularly movement play football and firmly regulate, ball that door is scored in impact after door pillar or crossbeam, the probability that realizes by training mate person be also lower exceedingly difficult movements, this highly difficult training action training mate person working strength is large, efficiency is low and training mate person does not possess the long-time ability for ball, directly affects the lifting of trainer's technical ability.
Summary of the invention
The object of the invention is: provide a kind of robot soccer training device, its simple and reasonable novelty, manipulate easy, cost is low, and can overcome the defect in background technology and have its advantage concurrently, training effect is good, practical.
Realizing the technical solution used in the present invention is: this equipment is made up of motor, ox horn formula funnel, snail type housing, support and sheave, snail type housing is connected with motor, ox horn formula funnel through bolt, support is connected with motor, ox horn formula funnel through back shaft, motor is connected with support through bolt, sheave is connected with support through bearing, and sheave is connected with snail type housing through drive link.
In order to provide power to different action of playing football, regulate the size of power of playing football, simulation training mate person runs striking action, and this motor has three, First is that adjustable frequency motor is connected with snail type housing through bolt, and its axle vertically inserts in snail type housing, axle head is connected to ball-kicking device for simulating outdoor football games through bolt; Second is connected on the upside of snail type housing for stepper motor through bolt, its axle has angular wheel, firing device and gear; 3rd is connected to pedestal lower end for adjustable frequency motor through bolt, bearing.
Striking action is interrupted in order to simulate training mate person, one section of cavity at snail type housing ball mouth place is for falling horn, overlap horn that can twist outside ball mouth and bulb, go out and bulb inwall has helix and is connected with one section, snail type housing ball mouth place chamber activities through roller, the one side of ball mouth is provided with little axle, ball mouth left surface has a small sircle hole, right flank has a big hole, upper side has a rectangular opening, small sircle hole, big hole and the ox horn formula funnel end opening center of circle relative, hemispherical ball mould is provided with in ox horn formula funnel, axle is had along on hemispherical ball mould opening diameter, this beam warp bearing and ox horn formula hopper walls Structure deformation, its axle head has angular wheel, ox horn formula funnel lower end is connected with support through back shaft.
To run striking action to simulate training mate person, be provided with back shaft at pedestal upper end, lower end is provided with three sheaves and is all connected with support through bearing, first sheave and the 3rd frequency conversion motors coaxial and and second sheave roll on one article of track, 3rd sheave rolls on another article of track, the 3rd sheave has eccentric shaft be connected through the little axle of drive link with snail type housing ball mouth side; Article two, track is semicircular arc, and the center of circle of two semicircular arc track is concentric, and semicircular arc track opening is towards goalkeeper.
In order to improve the training difficulty of goalkeeper, football is played in goal, the ball-kicking device for simulating outdoor football games arranged is reducing tubulose, ball-kicking device for simulating outdoor football games bigger diameter end is segment shape, the two segment opening centers of circle are relative, ball-kicking device for simulating outdoor football games miner diameter end has gauge tap, this switch has three pieces of rotatable sheets of arc through Minisize axial along the equidistant setting of ball-kicking device for simulating outdoor football games outer wall, three pieces of rotatable sheet one end of arc are all inserted in ball-kicking device for simulating outdoor football games, the other end is outer and be flexibly connected through circular arc drive link at ball-kicking device for simulating outdoor football games, circular arc drive link two ends are connected on ball-kicking device for simulating outdoor football games through supporting leg with holes, wherein spring is overlapped in one end, the other end is connected with stay cord one end, the other end of stay cord is with the sliding bar of spring to be connected through directive wheel with one.
Good effect of the present invention is: simple and reasonable novelty, training mate person can be simulated to run striking action, play football firmly adjustable, long service can be played, nearly ball can be played again, can high kick, again can low kick, also can take a penalty corner, direct free kick etc., the whole Training Area of trainer can be covered, the ball kicked out of rotates strong, lethality is strong, also can get on door pillar or crossbeam and can enter goal again, goalkeeper's difficulty of receiving is high, but also can reduce training difficulty, play football motor-driven than similar equipment, flexibly, fast, automaticity is high, the accurate control to course of action and falling sphere point can be realized, meet the needs of trainer's physical efficiency and combat training, skill improvement of receiving is fast, the respond of receiving of trainer also can obtain fast lifting with ability of adjusting to changed conditions, practical.In making compared with similar equipment and critical piece, make that recruitment is few, energy consumption is low, material therefor source is wide, price is low, easily popularize.
Accompanying drawing explanation
Accompanying drawing 1 is external structure schematic diagram of the present invention;
Accompanying drawing 2 is the side view of accompanying drawing 1;
Accompanying drawing 3 is the top view of accompanying drawing 1;
Accompanying drawing 4 is that the A-A of accompanying drawing 1 is to snail type housing sectional view;
Accompanying drawing 5 is the ball-kicking device for simulating outdoor football games external structure schematic diagram on accompanying drawing 4;
Accompanying drawing 6 is the top view of accompanying drawing 5;
Accompanying drawing 7 is that C-C on accompanying drawing 6 is to ball-kicking device for simulating outdoor football games miner diameter end sectional drawing;
Accompanying drawing 8 is that B-B on accompanying drawing 2 is to ox horn formula funnel sectional drawing;
Accompanying drawing 9 is the hemispherical ball mould external structure schematic diagram on accompanying drawing 8;
Accompanying drawing 10 is the top view of accompanying drawing 9;
Accompanying drawing 11 is the system schematic of module control motor;
Accompanying drawing 12 is the firing device drawing on second step motor shaft;
Accompanying drawing 13 is the side view of accompanying drawing 12;
Accompanying drawing 14 is roller on accompanying drawing 4 and band tooth rolling frame external structure schematic diagram;
Accompanying drawing 15 is the top view of accompanying drawing 14;
Accompanying drawing 16 is the side view of accompanying drawing 14.
Detailed description of the invention
The present invention is as shown in accompanying drawing 1,2,3, this equipment is made up of motor 1, snail type housing 2, ox horn formula funnel 3, support 4 and sheave 41, snail type housing 2 is connected with motor 1, ox horn formula funnel 3 through bolt, support is connected with motor 1, ox horn formula funnel 3 through back shaft, motor 1 is connected with support through bolt, sheave 41 is connected with support 4 through bearing, and sheave 41 is connected with snail type housing through drive link.In order to provide power to different action of playing football, regulate size firmly of playing football, simulation training mate person runs striking action, this motor 1 has three, First is that adjustable frequency motor 11 is connected on snail type housing 2 through bolt, its axle vertically inserts in snail type housing 2, its axle head is connected to ball-kicking device for simulating outdoor football games 111 through bolt, ball-kicking device for simulating outdoor football games 111 is reducing tubulose, bigger diameter end is segment shape, the two segment opening centers of circle are relative, little scarce round opening 1111 is used for being connected and fixed with First adjustable frequency motor 11 axle head, the large circle opening 1112 that lacks is used for putting into ball, ball-kicking device for simulating outdoor football games 111 miner diameter end has gauge tap 1113, this switch has three pieces of rotatable sheets 11131 of arc, three pieces of rotatable sheets of arc 11131 respectively through Minisize axial along the equidistant setting of ball-kicking device for simulating outdoor football games outer wall, three pieces of arc rotatable sheet 11131 one end are inserted in ball-kicking device for simulating outdoor football games 111 wall, the other end is outer and be flexibly connected through circular arc drive link 11132 at wall, circular arc drive link two ends are connected on ball-kicking device for simulating outdoor football games in hole on supporting leg 11133 with holes, wherein spring 11134 is overlapped in one end, the other end is connected with stay cord 11135 one end, the stay cord other end is with the sliding bar 11137 of spring 111371 to be connected through directive wheel 11136 with one, sliding bar is by two supporting leg 11133 movable supporting with holes, there is semicircle cap 111372 at sliding bar two ends, two semicircle caps small one and large one, large semi-circular cap is used for opening gauge tap 1113, small semicircle cap is used for preventing sliding bar from departing from supporting leg 11133 with holes, First adjustable frequency motor 11 other end is connected with support 4 through back shaft, is used for adjustment to play football angle, second is connected on the upside of snail type housing 2 for stepper motor 12 through bolt, the axle of stepper motor 12 has angular wheel 121, firing device 122 and gear 123, 3rd is connected to support 4 lower end for adjustable frequency motor 13 through bolt, bearing, and these three motors 1 are controlled (as shown in Fig. 1,2,3,4,5,6,7,11,12,13) by a control module 5.In order to simulate the random action that training mate person plays football, snail type housing 2 ball mouth 22 one section, place cavity is for falling horn, overlap horn that can twist outside ball mouth and bulb 25, go out on bulb 25 inwall and have helix, and be connected with the cavity rolling of one section, snail type housing ball mouth 22 place through roller 250, this roller 250 has two kinds, the first has four isometrical rollers 2501 to be connected to out on bulb 25 inwall through wheel carrier 2502 is equidistant, roll along going out bulb 25 length direction and roll in the first roller groove 2503 that can only arrange on snail type housing ball mouth 22 one section, place chamber outer wall, the first roller groove 2503 has four, isometrical roller 2501 is corresponding with the first four respectively, the second has eight rollers 2504, a large size roller 25041, two isometrical rollers of medium size 25042 and five isometrical rollers 25043 of trumpet, they respectively warp beam be all connected to one band tooth 2506 rolling frame 2505 on, one of them large size roller 25041, a small size roller 25043 and two isometrical rollers of medium size 25042 are equidistant is arranged on one of band tooth 2506 rolling frame 2505 circumferentially, two isometrical medium size rollers 25042 are diametrically symmetrical arranged at band tooth 2506 rolling frame 2505, large size roller 25041 and small size roller are arranged on the both sides of two isometrical rollers of medium size, other four isometrical rollers of trumpet 25043 are equidistant be arranged on band tooth 2506 rolling frame 2505 another circumferentially, large size, medium size and small size eight rollers 2504 all roll in same circumferential groove on snail type housing ball mouth 22 one section, place chamber outer wall, engage with the gear 123 on the tooth on tooth rolling frame 2505 and second stepper motor 12 axle, the one side of snail type housing 2 ball mouth 22 is provided with little axle 23, being used for adjustment plays football angle, ball mouth 22 left surface has small sircle hole, be used for inserting the axle of First adjustable frequency motor 11, ball mouth 22 right flank has big hole to be used for putting ball, ball mouth 22 upper side has a rectangular opening 24, be used for by firing device 122, big hole and the ball-kicking device for simulating outdoor football games 111 bigger diameter end two segment opening center of circle on ox horn formula funnel 3 end opening and the small sircle hole on the left of snail type housing 2 ball mouth 22, right side are relative, are to put ball, playing football, regulating angle of playing football, hemispherical ball mould 31 is provided with in ox horn formula funnel 3, axle 32 is provided with along on hemispherical ball mould 31 opening diameter, this axle 32 is through bearing and ox horn formula funnel 3 wall Structure deformation, this axle 32 one end has the angular wheel 121 on angular wheel 33 and second stepper motor 12 axle to engage, on the outer wall that the ox horn formula funnel 3 end opening center of circle is relative, have back shaft 34 to be connected to support 4 upper end, be used for adjustment play football angle (as Fig. 1,2,3,4,8,9,10,14,15, shown in 16).To run striking action to simulate training mate person, three sheaves 41 are provided with in support 4 lower end, three sheaves 41 are all connected to support 4 lower end through bearing and axle, first sheave 411 and the 3rd frequency conversion motors 13 coaxial and and second sheave 412 roll on one article of semicircular arc track 4120, 3rd sheave 413 rolls on another article of semicircular arc track 4130, two semicircular arc track 4120, the center of circle of 4130 is concentric, 3rd sheave 413 there is eccentric shaft 4131 be flexibly connected through the little axle 23 of drive link 42 with snail type housing 2 ball mouth 22 one side, being used for adjustment plays football angle (as Fig. 1, 2, shown in 3).
Operation principle of the present invention and using method: twice concentric semicircles arc track 4120 is set in football pitch, 4130, semicircular arc track 4120, 4130 openings are towards goalkeeper, this equipment is placed on track, first sheave 411, second sheave 412 is placed on large radius semicircular arc track 4120, 3rd sheave 413 is placed on minor radius semicircular arc track 4130, then this equipment is started, three motors 1 are under the programme-control of setting, 3rd frequency conversion motors 13 drives the first sheave 411 and this equipment at semicircular arc track 4120, reciprocate on 4130, second stepper motor 12 is through angular wheel 121, 33 drive the hemispherical ball mould 31 in ox horn formula funnel 3 to rotate, the ball-kicking device for simulating outdoor football games 111 of snail type housing 2 put into by football by ball mould in ox horn formula funnel 3 one by one, the miner diameter end that the centrifugal force that ball-kicking device for simulating outdoor football games 111 produces under the driving effect of First adjustable frequency motor 11 makes football move to ball-kicking device for simulating outdoor football games 111 from ball-kicking device for simulating outdoor football games 111 bigger diameter end is controlled by gauge tap 1113, when rectangular opening 24 on the upside of ball-kicking device for simulating outdoor football games 111 miner diameter end turns to snail type housing 2 ball mouth 22, the semicircle cap 111372 of sliding bar 11137 end on gauge tap 1113 is touched by the firing device 122 on second stepper motor 12 axle, sliding bar 11137 slides and pulls stay cord 11135 to drive circular arc drive link 11132 to rotate, thus also driven three pieces of rotatable sheets 11131 of arc to rotate, open gauge tap 1113, football departs from ball-kicking device for simulating outdoor football games 111 and flies to goal through snail type housing 2 ball mouth 22, goalkeeper is received training, gauge tap 1113 sets back under circular arc drive link 11132 one end spring 11134 and the effect of sliding bar 11137 one end spring 111371, control next ball, repeat said process, this equipment can continue to play football, continuous conversion is played football position, due to the 3rd sheave 411 having eccentric shaft 4131 to be connected to drive link 42, angle of playing football can be regulated continuously, to play football direction, in addition the twisting of bulb 25 is gone out, output direction of ball compound consecutive variations, training difficulty strengthens, the skill improvement of receiving of goalkeeper can be made fast, the respond of receiving and ability of adjusting to changed conditions also can obtain fast lifting.If training direct free kick, take a penalty kick, the action such as goal kick, this equipment can be adjusted and be parked in the position of region that training action specifies or penalty, adjustment is played football direction, then to play football angle with drive link 42 adjustment, and adjusts First adjustable frequency motor 11 rotating speed.
Claims (7)
1. a robot soccer training device, it is characterized in that: it is made up of motor, ox horn formula funnel, snail type housing, support and sheave, snail type housing is connected with motor, ox horn formula funnel through bolt, support is connected with motor, ox horn formula funnel through back shaft, motor is connected with support through bolt, sheave is connected with support through bearing, and sheave is connected with snail type housing through drive link.
2. a kind of robot soccer training device according to claim 1, it is characterized in that: described motor has three, First is that adjustable frequency motor is connected on snail type housing through bolt, and the axle of this adjustable frequency motor vertically inserts in snail type housing, axle head is connected to ball-kicking device for simulating outdoor football games through bolt; Second is connected on the upside of snail type housing for stepper motor through bolt, the axle of this stepper motor has angular wheel, firing device and gear; 3rd is connected to pedestal lower end for adjustable frequency motor through bolt, bearing.
3. a kind of robot soccer training device according to claim 1, it is characterized in that: described one section, snail type housing ball mouth place cavity is for falling horn, overlap a horn outside ball mouth to go out bulb and contact with one section, snail type housing ball mouth place chamber activities through roller, the one side of ball mouth has little axle, the left surface of ball mouth has small sircle hole, right flank has big hole, and upper side has rectangular opening.
4. a kind of robot soccer training device according to claim 1, it is characterized in that: in described ox horn formula funnel, have hemispherical ball mould, axle is had along ball mould opening diameter, this beam warp bearing and ox horn formula hopper walls Structure deformation, there is angular wheel one end of axle, and ox horn formula funnel lower end is connected with support through back shaft.
5. a kind of robot soccer training device according to claim 1, it is characterized in that: described pedestal upper end has back shaft, there are three sheaves connected through bearing lower end, first sheave and the 3rd frequency conversion motors coaxial and and second sheave roll on one article of track, 3rd sheave rolls on another article of track, the 3rd sheave has eccentric shaft be connected through the little axle of drive link with snail type housing ball mouth one side; Article two, track is semicircular arc, and the center of circle of two semicircular arc track is concentric, and semicircular arc track opening is towards goalkeeper.
6. a kind of robot soccer training device according to claim 2, it is characterized in that: described ball-kicking device for simulating outdoor football games is reducing tubulose, ball-kicking device for simulating outdoor football games bigger diameter end is segment shape, and the two segment opening centers of circle are relative; Ball-kicking device for simulating outdoor football games miner diameter end has gauge tap, this gauge tap has three pieces of rotatable sheets of arc, three pieces of rotatable sheets of arc through Minisize axial along the equidistant setting of ball-kicking device for simulating outdoor football games outer wall, three pieces of rotatable sheet one end of arc are inserted in ball-kicking device for simulating outdoor football games, the other end is outer and be flexibly connected through circular arc drive link at ball-kicking device for simulating outdoor football games, circular arc drive link two ends are connected on ball-kicking device for simulating outdoor football games through supporting leg with holes, wherein one end is overlapped spring, the other end and is connected with stay cord one end, and the stay cord other end is with the sliding bar of spring to be connected through directive wheel with one.
7. a kind of robot soccer training device according to claim 3, it is characterized in that: described roller has two kinds, the first has four isometrical rollers to be connected to out on bulb inwall through wheel carrier is equidistant, roll along going out bulb length direction and roll in the first roller groove that can only arrange on one section, snail type housing ball mouth place chamber outer wall, the first roller groove has four, respectively should with the first four isometrical pair of rollers, the second has eight rollers, a large size roller, two isometrical rollers of medium size and five isometrical rollers of trumpet, they respectively warp beam be all connected on a toothed rolling frame, one of them large size roller, a small size roller and two isometrical rollers of medium size are equidistant is arranged on one of band tooth rolling frame circumferentially, two isometrical medium size rollers are diametrically symmetrical arranged at band tooth rolling frame, large size roller and small size roller are arranged on the both sides of two isometrical medium size rollers, other four isometrical rollers of trumpet are equidistant be arranged on band tooth rolling frame another circumferentially, large size, medium size and small size eight rollers all roll in same circumferential groove on snail type housing ball mouth cavity one section of outer wall.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410774771.6A CN104474681B (en) | 2014-12-16 | 2014-12-16 | A kind of robot soccer training device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410774771.6A CN104474681B (en) | 2014-12-16 | 2014-12-16 | A kind of robot soccer training device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104474681A true CN104474681A (en) | 2015-04-01 |
| CN104474681B CN104474681B (en) | 2017-09-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410774771.6A Expired - Fee Related CN104474681B (en) | 2014-12-16 | 2014-12-16 | A kind of robot soccer training device |
Country Status (1)
| Country | Link |
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| CN (1) | CN104474681B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201022974Y (en) * | 2007-05-22 | 2008-02-20 | 欧海涛 | Robot playing football device |
| CN201227545Y (en) * | 2008-05-26 | 2009-04-29 | 欧海涛 | Football robot ball-kicking device |
| CN101596367A (en) * | 2009-06-11 | 2009-12-09 | 上海交通大学 | Pneumatic ball kicking system of football robot |
| US20110111671A1 (en) * | 2009-09-25 | 2011-05-12 | David Anthony Norman | Display Case for Vibration Powered Device |
| CN201912767U (en) * | 2010-12-28 | 2011-08-03 | 上海大学 | Soccer-kicking mechanism for autonomous medium-sized soccer robot |
-
2014
- 2014-12-16 CN CN201410774771.6A patent/CN104474681B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201022974Y (en) * | 2007-05-22 | 2008-02-20 | 欧海涛 | Robot playing football device |
| CN201227545Y (en) * | 2008-05-26 | 2009-04-29 | 欧海涛 | Football robot ball-kicking device |
| CN101596367A (en) * | 2009-06-11 | 2009-12-09 | 上海交通大学 | Pneumatic ball kicking system of football robot |
| US20110111671A1 (en) * | 2009-09-25 | 2011-05-12 | David Anthony Norman | Display Case for Vibration Powered Device |
| CN201912767U (en) * | 2010-12-28 | 2011-08-03 | 上海大学 | Soccer-kicking mechanism for autonomous medium-sized soccer robot |
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| CN104474681B (en) | 2017-09-05 |
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| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Li Xingshan Inventor after: Li Yuhong Inventor after: Wang Xiaochao Inventor after: Zhou Yongling Inventor after: Zhang Haitao Inventor before: Zhang Hailing Inventor before: Hou Chengzhi Inventor before: Qiao Gaili Inventor before: Wang Quanjun Inventor before: Wang Gaoxuan Inventor before: Jiang Lifang Inventor before: Tong Maohua Inventor before: Zhang Jie Inventor before: Ren Tangke Inventor before: Zhu Shuling |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20170810 Address after: Luohe City, Henan province 462000 University Yuanhui District Road No. 148 Applicant after: Luohe Medical College Address before: 476000 Henan City, Shangqiu Province Park Road, No. 1 Yiyang Road, building 304, No. 1 Applicant before: Sun Chuanli |
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| GR01 | Patent grant | ||
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| 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: 20170905 Termination date: 20181216 |