CN105148529B - Football robot ball-kicking device - Google Patents
Football robot ball-kicking device Download PDFInfo
- Publication number
- CN105148529B CN105148529B CN201510389166.1A CN201510389166A CN105148529B CN 105148529 B CN105148529 B CN 105148529B CN 201510389166 A CN201510389166 A CN 201510389166A CN 105148529 B CN105148529 B CN 105148529B
- Authority
- CN
- China
- Prior art keywords
- shooting
- kicking
- crane
- batting pole
- slider
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Abstract
The present invention discloses a kind of football robot ball-kicking device, including frame, slider-crank mechanism and kicking machine.Slider-crank mechanism and kicking machine are installed in frame；Slider-crank mechanism drives sliding block to be moved along slide rail by motor, the kicking machine being arranged on shooting crane is driven to move up and down by connecting rod, to adjust in kicking machine kicking machine and the centre of sphere in the relative position of vertical direction, the shooting angle of football during so as to adjust robot pass or shoot.Batting pole in kicking machine is by solenoid actuated, and electromagnet is obtained electromagnetism push rod can promote batting pole to rotate, and drives the striking plate of batting pole bottom quickly to pass or it is expected that shooting angle is shot.Advantages of the present invention is:Pass can be realized and acted with it is expected that shooting angle is shot two kinds, and can be switched fast as needed between the two actions.
Description
Technical field
It is a kind of football robot ball-kicking device specifically the present invention relates to robot field, football machine can be achieved
The pass of people and with expect shooting angle shoot two kinds action.
Background technology
Robot soccer competition is always the big event of robot soccer competition, and Soccer robot is passed and in match
It is one of key of winning victory that the diverse location in place, which accurately injects ball opponents' goal,.It is big at present according to the retrieval to prior art
There is the shortcomings of complicated, dynamics of playing football is inadequate, flexibility ratio is not high in most football-kicking mechanisms, so as to limit Soccer robot
Attack ability.In order to overcome disadvantages mentioned above, make that football robot ball-kicking device is simple in construction, reaction is quick, further to people
The pass of class and shooting level, in the urgent need to developing a kind of new ball-kicking device.
The content of the invention
In view of the above-mentioned problems, the present invention proposes a kind of football robot ball-kicking device, on Soccer robot, according to
Desired angle quickly kicks out of football, simple in construction, and control is flexible.
The utility model football robot ball-kicking device, including frame, slider-crank mechanism and kicking machine.
The slider-crank mechanism includes servomotor, slide block guide rail, leading screw, sliding block, bearing, connecting rod, shooting crane；
Wherein, slide block guide rail is arranged on frame middle guide and fixes top of support along the longitudinal direction；Leading screw be arranged in parallel with slide block guide rail；Leading screw
On be socketed with sliding block；Sliding block is also slidably connected with slide block guide rail simultaneously；Leading screw rear end is connected with servo motor output shaft；Sliding block top
Face is installed with bearing, and bearing is hinged with rod rear end, connecting rod front end connection shooting crane.
The shooting crane is U-shape structure, and rear portion two ends are hinged with frame left and right side respectively.Crane of shooting is anterior
Crank is designed with, crank end is hinged with connecting rod front end；Crane of shooting is anterior to install kicking machine
The kicking machine includes batting pole and thrust mechanism.Wherein, batting pole one end is hinged with shooting crane front portion；
Thrust mechanism is arranged in frame, and with movable push rod, push rod end is contacted with batting pole rear wall.
Thus, drive sliding block to be moved along slide rail by motor by crank, driven by connecting rod and be arranged on shooting crane
On kicking machine move up and down, to adjust the relative position of kicking machine and the centre of sphere in vertical direction in kicking machine.Then,
Promote batting pole to rotate forward rapidly by the push rod of the thrust mechanism in kicking machine, and then drive hitting for the lower end of batting pole 1
The pass of ball plate speed is shot.By controlling the center of striking plate with the centre of sphere when vertical direction is in diverse location, in kicking machine
Under the cooperation of structure, it may be achieved it is expected that shooting angle is shot.
Advantages of the present invention is：
1st, ball-kicking device of the present invention, can be realized by controlling electromagnet quickly to eject batting pole and striking plate thereon
Soccer robot is passed or it is expected that shooting angle is shot；
2nd, ball-kicking device of the present invention, compact conformation, is easily achieved, and ball-kicking device can be with Fast Installation in Soccer robot
On；
3rd, ball-kicking device of the present invention, using modularized design, shape is connected together by slider-crank mechanism with kicking machine
It is integral, can Fast Installation in Soccer robot appropriate location.
Brief description of the drawings
Fig. 1 is ball-kicking device overall structure diagram of the present invention；
Fig. 2 is ball-kicking device rack construction schematic diagram of the present invention.
In figure：
1- frame 2- slider-crank mechanism 3- kicking machines
101- guide rails fixing support 102- base 103- left plates
104- right plate 201- servomotor 202- shaft couplings
203- slide block guide rail 204- leading screw 205- sliding blocks
206- bearing 207- connecting rods 208- shooting cranes
208a- crank 209- contiguous block 301- batting poles
302- electromagnet 302a- electromagnetism push rod 303- striking plates
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.
Football robot ball-kicking device of the present invention, using modularized design, including frame 1, slider-crank mechanism 2 and batting
Mechanism 3, as shown in Figure 1.
The frame 1 includes guide rails fixing support 101, base 102, left plate 103 and right plate 104, as shown in Figure 2；Its
In, guide rails fixing support 101 and base 102 are setting up and down.Left plate 103 is vertically arranged with right plate 104.Left plate 103 is simultaneously
It is connected with the left end of guide rails fixing support 101, the left end of base 102；Right plate 104 simultaneously with the right-hand member of guide rails fixing support 101, base 102
Right-hand member is connected；The structure of integral-rack 1 is consequently formed, for installing and supporting slider-crank mechanism 2 and kicking machine 3.
Institute's slider-crank mechanism 2 include servomotor 201, shaft coupling 202, slide block guide rail 203, leading screw 204, sliding block 205,
Bearing 206, connecting rod 207, shooting crane 208 and contiguous block 209.
Wherein, slide block guide rail 203 is two, and two slide block guide rails 203 be arranged in parallel, are fixedly mounted on the middle guide of frame 1
In the groove that the top surface of fixed mount 101 is opened up along the longitudinal direction.Leading screw 204 be arranged in parallel with two slide block guide rails 203, rear and front end
It is connected by bearing with leading screw support, leading screw support is arranged on the upper surface of guide rails fixing support 101.Sliding block is socketed with leading screw 204
205, constitute screw pair；Sliding block 205 is also slidably connected with two slide block guide rails 203 simultaneously, constitutes prismatic pair；Pass through slide block guide rail
203 realize the motion guide of sliding block 205.The rear end of leading screw 204 is connected by shaft coupling 202 with the output shaft of servomotor 201.Thus
Leading screw 204 is driven to rotate by servomotor 201, band movable slider 205 is moved along slide block guide rail 203.The top surface of sliding block 205 fixes peace
Equipped with bearing 206, bearing 206 is hinged with the rear end of connecting rod 207 by rear pin shaft, and the front end of connecting rod 207 is used for connecting shooting crane
208.It is described shooting crane 208 be symmetrical U-shape structure, rear portion two ends respectively with left plate 103 and the side of right plate 104
It is hinged between wall by lifting structure pivot pin；One of the anterior design of crane 208 of shooting perpendicular to shooting crane 208 upper surface
Change crank 208a, crank 208a ends are hinged with the front end of connecting rod 207 by preceding pivot pin.Above-mentioned shooting crane 208 is anterior also solid
Dingan County is used for installing kicking machine 3 equipped with contiguous block 209.Thus, by the movement of sliding block 205, shooting is driven to rise by connecting rod 207
Drop frame 208 moves up and down, and realizes the up and down motion of kicking machine 3.
The kicking machine 3 includes batting pole 301, electromagnet 302 and striking plate 303.Wherein, the one end of batting pole 301 leads to
Cross batting pole bearing pin to be hinged with the anterior contiguous block 209 of crane 208 of shooting in slider-crank mechanism 2, batting pole 301 can be achieved
The swing of above-below direction.Electromagnet 302 is fixedly mounted on the upper surface of base 102 in frame 1,；The front end perforate of electromagnet 302,
Inside is inserted with push rod.In original state, the electromagnetism push rod 302a ends in electromagnet 302 are contacted with the rear wall of batting pole 301,
Form higher pair connection；And the axis of batting pole 301 is perpendicular to horizontal plane.Batting pole front side wall lower end is installed with striking plate 303.
By said structure, leading screw 204 is driven to revolve by shaft coupling 202 by the servomotor 201 in toggle 2
Turn, leading screw 204 is by the screw pair band movable slider 205 and bearing 206 between sliding block 205 in the horizontal direction along slide block guide rail
203 move forward and backward, and bearing 206 drives shooting lifter plate by the translation of rear pin shaft drivening rod 207, connecting rod 207 by preceding bearing pin
208 and the contiguous block 209 that is connected thereto rotated around frame 1, pass through batting pole of the striking plate hinge on contiguous block 209
301 move up and down and keep plumbness under gravity therewith, realize the phase of striking plate 303 being connected on batting pole 301
For sphere center position vertical direction adjustment.Striking plate 303 relative to sphere center position vertical direction adjustment finish after, hit
Electromagnet 302 in ball machine structure is powered, and makes electromagnetism push rod 302a promote batting pole 301 to rotate forward rapidly, and then drive batting
Quickly pass or the shooting of the striking plate 303 of the lower end of bar 301.After electromagnet 302 is powered off, the receding of electromagnetism push rod 13 replys position, hits
Club 301 is rotated around batting pole bearing pin under gravity, replys plumbness, is that batting is ready next time.Pass through control
The center of striking plate 303 processed and the centre of sphere are when vertical direction is in diverse location, under the cooperation of kicking machine, it may be achieved to
Hope shooting angle shooting.
Ball-kicking device of the present invention is arranged on by base 102 to match on Soccer robot, is realized for Soccer robot
Pass and acted with it is expected that shooting angle is shot two kinds, and can quickly be cut between the two actions as needed
Change.
Claims (1)
1. a kind of football robot ball-kicking device, it is characterised in that：Including frame, slider-crank mechanism and kicking machine；
The slider-crank mechanism includes servomotor, slide block guide rail, leading screw, sliding block, bearing, connecting rod and shooting crane；Its
In, slide block guide rail is arranged on frame middle guide and fixes top of support along the longitudinal direction；Leading screw be arranged in parallel with slide block guide rail；On leading screw
It is socketed with sliding block；Sliding block is also slidably connected with slide block guide rail simultaneously；Leading screw rear end is connected with servo motor output shaft；Sliding block top surface
Bearing is installed with, bearing is hinged with rod rear end, connecting rod front end connection shooting crane；
The shooting crane is U-shape structure, and rear portion two ends are hinged with frame left and right side respectively；The anterior design of crane of shooting
There is crank, crank end is hinged with connecting rod front end；Crane of shooting is anterior to install kicking machine；
The kicking machine includes batting pole and thrust mechanism；Wherein, batting pole one end is hinged with shooting crane front portion；Thrust
Mechanism is arranged in frame, and with movable push rod, push rod end is contacted with batting pole rear wall；
During original state, the batting rod axis are perpendicular to horizontal plane；
The thrust mechanism uses electromagnet；The electromagnetism push rod end of electromagnet is set to be contacted with batting pole rear wall；
The batting pole front side wall lower end is installed with striking plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510389166.1A CN105148529B (en) | 2015-07-03 | 2015-07-03 | Football robot ball-kicking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510389166.1A CN105148529B (en) | 2015-07-03 | 2015-07-03 | Football robot ball-kicking device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105148529A CN105148529A (en) | 2015-12-16 |
| CN105148529B true CN105148529B (en) | 2017-10-17 |
Family
ID=54789766
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510389166.1A Expired - Fee Related CN105148529B (en) | 2015-07-03 | 2015-07-03 | Football robot ball-kicking device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105148529B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111544902A (en) * | 2020-05-23 | 2020-08-18 | 西北工业大学 | Half-bridge circuit energy recovery's football robot electromagnetism ejection system |
| CN112316397B (en) * | 2020-12-18 | 2023-07-28 | 华南理工大学广州学院 | Kicking and catching integrated machine |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6280285B1 (en) * | 2000-04-04 | 2001-08-28 | Jeffrey C. Morehouse | Projectile launching action toy having members capable of coordinated movement |
| CN2516207Y (en) * | 2001-12-19 | 2002-10-16 | 蔡东青 | Robot for football game |
| CN1438058A (en) * | 2003-03-27 | 2003-08-27 | 上海交通大学 | Fully self-aid type football robot kicking-ball mechanism |
| EP1579898B1 (en) * | 2004-03-24 | 2006-05-24 | Revell GmbH & Co. KG | Play and colection figurine |
| CN201227545Y (en) * | 2008-05-26 | 2009-04-29 | 欧海涛 | Football robot ball-kicking device |
| CN103599638A (en) * | 2013-10-14 | 2014-02-26 | 上海未来伙伴机器人有限公司 | Dribbling robot and shooting control method thereof |
| CN103977551A (en) * | 2014-04-11 | 2014-08-13 | 浙江工业大学 | Football launching device for Coriolis football device |
| CN203916012U (en) * | 2014-04-11 | 2014-11-05 | 浙江工业大学 | For the football emitter of Coriolis football device |
| CN204745644U (en) * | 2015-07-03 | 2015-11-11 | 北京信息科技大学 | Play football of football robot device |
-
2015
- 2015-07-03 CN CN201510389166.1A patent/CN105148529B/en not_active Expired - Fee Related
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6280285B1 (en) * | 2000-04-04 | 2001-08-28 | Jeffrey C. Morehouse | Projectile launching action toy having members capable of coordinated movement |
| CN2516207Y (en) * | 2001-12-19 | 2002-10-16 | 蔡东青 | Robot for football game |
| CN1438058A (en) * | 2003-03-27 | 2003-08-27 | 上海交通大学 | Fully self-aid type football robot kicking-ball mechanism |
| EP1579898B1 (en) * | 2004-03-24 | 2006-05-24 | Revell GmbH & Co. KG | Play and colection figurine |
| CN201227545Y (en) * | 2008-05-26 | 2009-04-29 | 欧海涛 | Football robot ball-kicking device |
| CN103599638A (en) * | 2013-10-14 | 2014-02-26 | 上海未来伙伴机器人有限公司 | Dribbling robot and shooting control method thereof |
| CN103977551A (en) * | 2014-04-11 | 2014-08-13 | 浙江工业大学 | Football launching device for Coriolis football device |
| CN203916012U (en) * | 2014-04-11 | 2014-11-05 | 浙江工业大学 | For the football emitter of Coriolis football device |
| CN204745644U (en) * | 2015-07-03 | 2015-11-11 | 北京信息科技大学 | Play football of football robot device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105148529A (en) | 2015-12-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206597285U (en) | A kind of vollyball simulates service/pass work device | |
| CN102489017B (en) | Table tennis training system | |
| CN101596367B (en) | Pneumatic ball kicking system of football robot | |
| CN204364842U (en) | A kind of table tennis toss ball serving device | |
| CN107596666A (en) | A kind of triangle posture badminton service robot with arrangement function | |
| CN105126350B (en) | A kind of Soccer robot overall structure | |
| CN105148529B (en) | Football robot ball-kicking device | |
| CN111494904B (en) | Using method of basketball turning trainer during traveling | |
| CN204380170U (en) | A kind of table tennis companion trainer | |
| CN203750152U (en) | Ball throwing device used for tennis ball serving action practice | |
| CN110433473B (en) | Table tennis serving robot and serving method | |
| CN204745644U (en) | Play football of football robot device | |
| CN110975259B (en) | Volleyball catching and blocking device | |
| CN202427127U (en) | Table tennis training system | |
| CN108854021B (en) | Continuity service device is used in batter training | |
| CN201959515U (en) | Intelligent all-around shooting machine | |
| CN103801066A (en) | Ball throwing device for tennis service practices | |
| CN213100734U (en) | Football shooting exerciser | |
| CN103272376B (en) | Robot capable of playing table tennis with human | |
| CN105148528B (en) | A kind of modularization Soccer robot | |
| CN105833496B (en) | A kind of transmitting-receiving ball device running basket training for the basketball whole audience | |
| CN209422901U (en) | A kind of dynamic football shooting training device | |
| CN110681140A (en) | Basketball dribbling passing auxiliary trainer and training method thereof | |
| CN102909306A (en) | Mechanically automatic forged piece ejecting device | |
| CN202894196U (en) | Mechanical automatic downward piece-ejecting device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| 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: 20171017 Termination date: 20180703 |