CN105999722A - Ball-hitting device - Google Patents
Ball-hitting device Download PDFInfo
- Publication number
- CN105999722A CN105999722A CN201610554428.XA CN201610554428A CN105999722A CN 105999722 A CN105999722 A CN 105999722A CN 201610554428 A CN201610554428 A CN 201610554428A CN 105999722 A CN105999722 A CN 105999722A
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- China
- Prior art keywords
- ball
- guide part
- batting
- assembly
- flip
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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
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H29/00—Drive mechanisms for toys in general
- A63H29/22—Electric drives
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H31/00—Gearing for toys
- A63H31/08—Gear-control mechanisms; Gears for imparting a reciprocating motion
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Abstract
The invention discloses a ball-hitting device for a soccer robot. The ball-hitting device comprises a flip shooting mechanism and a flat shooting mechanism, comprises a flip shooting mechanism and a ball control mechanism, comprises a flat shooting mechanism and a ball control mechanism or comprises a flip shooting mechanism, a flat shooting mechanism and a ball control mechanism, wherein the ball control mechanism and the flat shooting mechanism are both fixed on a lower plate; the flip shooting mechanism comprises a flip shooting pull rod component fixed on an upper plate and a flip shooting shovel component fixed on the lower plate; electromagnets are adopted by the flat shooting mechanism and the flip shooting mechanism, so as to achieve the effective force output; a flat shooting baffle block is used for keeping a flip shooting shovel under a relative horizontal state in hitting and returning processes, so that the other mechanisms can be prevented from being touched; the gear driving is adopted by a ball control motor, so that a ball can be smoothly absorbed; and reset springs are arranged on both flat shooting mechanism and flip shooting mechanism, so that the buffering function in the returning process can be achieved.
Description
Technical field
The invention belongs to robot field, specifically, be the ball striking device of a kind of Soccer robot.
Background technology
RoboCup (RoboCup) is an international cooperative project, for promoting artificial intelligence, robot and association area.
It provides technical standard problem widely for artificial Research on Intelligent Robots, it is possible to is integrated into and checks.This robot project
Final goal is: to the year two thousand fifty, develops entirely autonomous anthropomorphic robot team, can win mankind football world champion team.In order to
Really carry out robot soccer game as a team, it is necessary to comprise various technology, including: intelligent body autonomous Design, many intelligence
Energy body cooperation, strategy acquisition, real-time reasoning, robot and sensor merge.The present invention relates in RoboCup is small-sized
Group football match.
In small-sized group of laws of the game, the size of regulation robot is that diameter is less than 18 centimetres, and height is less than 15 centimetres.Robot needs
Complete the actions such as motion, flat fire, toe lift.Because of volumetric constraint and need to accommodate and include the remaining component such as circuit board, battery, to whole
The Machine Design of robot proposes higher requirement, and because of its purpose of competing, also needs to pursue its motion, suction ball, flat fire, choose
The performance penetrated.Therefore the integration of its Machine Design.
The present invention provides a kind of volume little and the Soccer robot of perfect in shape and function, can realize Omni-mobile, inhale ball, flat fire, flip shot
Deng action, and integrated level is higher, compact conformation, effectively utilizes space.
Summary of the invention
The present invention is according to above-mentioned purpose, it is provided that the ball striking device of a kind of performance integrating motion, suction ball, flat fire, flip shot.
The present invention is achieved through the following technical solutions:
The invention discloses a kind of ball striking device, described ball striking device includes the peaceful kicking machine of penetrating of flip shot kicking machine, or bag
Include flip shot kicking machine and ball-handling mechanism, or include flat fire kicking machine and ball-handling mechanism, or include flip shot kicking machine and flat fire
Kicking machine and ball-handling mechanism, the peaceful kicking machine of penetrating of described ball-handling mechanism is both secured to lower plate, and flip shot kicking machine includes solid
Due to the flip shot rod assembly of upper plate be fixed on the flip shot shovel assembly of lower plate, flip shot rod assembly and flip shot shovel assembly passes through groove
Frame is flexibly connected, and the batting end of flat fire kicking machine shuttles in the batting mouth of flip shot shovel assembly formation, between upper plate and lower plate
It is arranged in parallel.
As improving further, flip shot rod assembly of the present invention includes being installed on the solenoid A of upper plate, batting group
Part A, give batting assembly A provide back stretch elastic component A, flip shot shovel assembly include flip shot shovel, be positioned at flip shot shovel both sides pair
Claiming the guide rod arranged, the guide rod connecting rod connecting both sides guide rod, groove frame is fixed in guide rod connecting rod, and guide rod is set by rotating shaft
Being placed in frame, frame is movably connected in lower plate, and batting assembly A is flexibly connected with flip shot shovel by groove frame, assembly of batting
A includes having magnetic first guide part, and the first guide part is driven batting assembly to pull back recessed by solenoid A magneticaction
Truss, drives flip shot shovel to make flip shot campaign.
As improving further, groove frame of the present invention is symmetrical U-shaped groove, and it is right that one end of the first guide part is positioned at
Between the U-shaped groove claimed, and being connected on groove frame by touch pole, protruding touch pole embeds in U-shaped groove.
As improving further, batting assembly of the present invention also includes the touch pole being arranged at first guide part one end, and connects
Being connected to the second guide part of the first guide part other end, solenoid A includes pilot hole A, the first guide part and the second guide part
It is through in pilot hole A, is connected with solenoid slide anteroposterior.
As improving further, flip shot kicking machine of the present invention also includes the first limited block and the second limited block, first
Limited block is arranged on the first guide part, section between groove frame and solenoid A, and the first limited block is arranged by upper plate
Limited impression is spacing, and the second limited block is arranged on the second guide part, the tail end of disconnected first guide part, the second limited block
The width aperture more than pilot hole A.
As improving further, ball-handling mechanism of the present invention includes control ball motor, ball-handling friction lever and ball-handling motor
The first travelling gear that motor shaft is fixing and fixing the second travelling gear of the axis of ball-handling friction lever, the first travelling gear and the
Two travelling gears engage, and ball-handling mechanism is fixed in frame by rotating shaft, ball-handling friction lever, lower plate, guide rod connecting rod and frame
Between formed ball-handling mouth.
As improving further, flat fire kicking machine of the present invention includes solenoid B, batting assembly B, and is hit
Ball component B provides the elastic component B of back stretch, batting assembly B to include having magnetic 3rd guide part and the 3rd guide part
The 4th guide part being connected and the batting end being connected with the 4th guide part, the 3rd guide part is driven by solenoid B magneticaction and hits
Ball component B is to previous crops batting motion.
As improving further, solenoid B of the present invention includes that pilot hole B, the 3rd guide part and the 4th guide part wear
In pilot hole B, being connected with solenoid B slide anteroposterior, the 3rd guide part is positioned at pilot hole towards that end of the 4th guide part
In B or to be positioned at pilot hole B outer on rear side of pilot hole, the position that can be affected by solenoid B magnetic force.
As improving further, the width of the batting end of the present invention aperture more than pilot hole B, on the 3rd guide part, non-
The tail end connecting the 4th guide part is provided with the 3rd limited block, the 3rd limited block width aperture more than pilot hole B, ball-handling friction
Bar, lower plate, the batting mouth of formation flat fire kicking machine between guide rod connecting rod and frame, the batting end of flat fire kicking machine is back and forth
Shuttle back and forth in batting mouth.
As improving further, elastic component A of the present invention or elastic component B is back-moving spring, and elastic component B installs
Between the 3rd limited block and the tail end of solenoid B, elastic component A is arranged between the second limited block and solenoid A,
Frame is connected on riser by sliding bearing, and described riser is vertical and is fixed on lower plate, and described frame passes through sliding bearing
It is flexibly connected relative to lower plate.
The beneficial effects of the present invention is:
(1), flat fire mechanism and flip shot mechanism all use electric magnet to reach the output of effective power；
(2), flat fire block be used for make flat fire scoop batting and backhaul in keep relative level state, be unlikely to meet other machines
Structure；
(3) flip shot mechanism uses link rod structure, effectively make use of the space in the middle part of robot；
(4) ball-handling motor uses gear drive, holds ball smoothly；
(5) being respectively provided with back-moving spring round-trip and play the effect of buffering of flat fire mechanism and flip shot mechanism；
(6) rubber ring that ball-handling friction lever external friction power is bigger can hold more rapidly bead；
(7) frame is rotated by sliding bearing, can rotate in little scope, expands the area inhaling ball, thus strengthens stroke,
The probability making ball successfully hold strengthens.
Accompanying drawing explanation
Fig. 1 is the structural representation of flip shot kicking machine of the present invention；
Fig. 2 is the side-looking structural representation that flip shot kicking machine of the present invention is in flip shot state；
Fig. 3 is the structural representation of flat fire kicking machine of the present invention；
Fig. 4 is the sectional structure schematic diagram of flat fire kicking machine invention flat fire of the present invention batting；
Fig. 5 is that the present invention controls ball the structural representation of mechanism；
Fig. 6 is the structural representation that flat fire kicking machine of the present invention cooperates with flip shot kicking machine；
Fig. 7 is the structural representation that flat fire kicking machine of the present invention cooperates with ball-handling kicking machine；
Fig. 8 is flat fire kicking machine of the present invention, flip shot kicking machine and the ball-handling structural representation that cooperates of kicking machine；
In figure, 1 is upper plate, and 2 is lower plate, and 3 is solenoid A, and 4 is batting assembly A, and 5 is pilot hole A, and 6 is flip shot
Shovel, 7 is the first guide part, and 8 is the second guide part, and 9 is touch pole, and 10 is guide rod, and 11 is guide rod connecting rod, and 12 is recessed
Truss, 13 is rotating shaft, and 14 is frame, and 15 is the first limited block, and 16 is the first block, and 17 is the second limited block, and 18 is
Two blocks, 19 is limited impression, and 20 is solenoid B, and 21 is batting assembly B, and 22 is the 3rd guide part, and 23 is the
Four guide parts, 24 is batting end, and 25 is third gear block, and 26 is fourth gear block, and 27 is cushion pad, and 28 is the 3rd limited block,
29 is ball-handling motor, and 30 is ball-handling friction lever, and 31 is the first travelling gear, and 32 is the second travelling gear, and 33 is ball-handling mouth,
34 is batting mouth, and 35 is sliding bearing.
Detailed description of the invention
Technical solution of the present invention is further described by specific embodiment below in conjunction with accompanying drawing:
Fig. 8 is flat fire mechanism of the present invention, flip shot mechanism and the structural representation that cooperates of ball-handling mechanism, the invention discloses one
Plant batting assembly, including flip shot kicking machine, be fixed on the peaceful kicking machine of penetrating of ball-handling mechanism of lower plate 2, flip shot kicking machine
Shoveling 6 assemblies including the flip shot rod assembly being fixed on upper plate 1 with the flip shot being fixed on lower plate 2, flip shot rod assembly shovels with flip shot
6 assemblies are flexibly connected by groove frame 12, and the batting end 24 of flat fire kicking machine shuttles and shovels what 6 assemblies were formed in flip shot
Batting mouth 34, be arranged in parallel between upper plate 1 and lower plate 2.
Fig. 1 is the structural representation of flip shot kicking machine of the present invention, and flip shot rod assembly includes the solenoid being installed on upper plate 1
A3, batting assembly A4, give batting assembly A4 provide back stretch elastic component A, flip shot shovel 6 assemblies include flip shot shovel 6,
Being positioned at flip shot and shovel the guide rod 10 that 6 lateral symmetry are arranged, the guide rod connecting rod 11 connecting both sides guide rod 10, groove frame 12 is fixed on
In guide rod connecting rod 11, guide rod 10 is arranged in frame 14 by rotating shaft 13, and frame 14 is fixed in lower plate 2, batting group
Part A4 is flexibly connected with flip shot shovel 6 by groove frame 12, and batting assembly includes having magnetic first guide part 7, is arranged at
The touch pole 9 of first guide part 7 one end, and it is connected to the second guide part 8 of first guide part 7 other end, the first guide part 7
Can be ferrimagnet, the first guide part 7 be driven batting assembly to pull back groove frame 12 by solenoid A3 magneticaction,
Driving flip shot shovel 6 to make flip shot campaign, guide rod 10 is arranged in frame 14 by rotating shaft 13, and frame 14 is fixed in lower plate 2,
Groove frame 12 is symmetrical U-shaped groove, and one end of the first guide part 7 is between symmetrical U-shaped groove, and passes through touch pole
9 are connected on groove frame 12, and protruding touch pole 9 embeds in U-shaped groove, and solenoid A3 includes pilot hole A5, and first
Guide part 7 and the second guide part 8 are through in pilot hole A5, are connected with solenoid slide anteroposterior.Pilot hole A5 both provided
First guide part 7 toward the support force that direction of stroke moves provide again the first guide part 7 mobile time guiding.First guide part
7 with the junction of the second guide part 8 be positioned at pilot hole A5 or be positioned at pilot hole A5 outer on front side of pilot hole A5, can be subject to
The position of solenoid A3 magnetic force impact, specifically, the first guide part 7 can be that one end is arranged in pilot hole A5, another
Hold and extend to outside pilot hole A5, connect batting assembly A4 on front side of pilot hole A5, be pilot hole A5 and batting on rear side of pilot hole A5
Side in opposite direction, alignment guide hole, one end A5 of the first guide part 7, it is arranged at pilot hole A5 outer before pilot hole A5
Side and the position that can be affected by magnetic force after the energising of solenoid A3 assembly, the other end extends toward the place that direction of stroke is identical.Flip shot
Ball striking device also includes the first limited block 15 and the second limited block 17, and the first limited block 15 is arranged on the first guide part 7, position
Section between groove frame 12 and solenoid A3, the limited impression 19 that the first limited block 15 is arranged by upper plate 1 is spacing, the
Two limited blocks 17 are arranged on the second guide part 8, and the tail end of disconnected first guide part 7, the width of the second limited block 17 is big
Aperture in pilot hole A5.When the assembly A4 that bats is driven by elastic component restoring force, the first guide part 7 moves forward, directly
To the second limited block 17 by the stop on rear side of pilot hole A5, limit the first guide part 7 and continue to move along, thus by group of batting
The reply displacement of part A4 limits within the specific limits；First limited block 15 is the spacing recessed of upper plate 1 edge on front side of pilot hole A5
In groove 19, when the first guide part 7 is moved toward batting rightabout by magnetic force, the first limited block 15 is stopped by susceptor edges,
Limiting the displacement of the first guide part 7, the angle making batting assembly bat is certain.It is provided with on upper plate 1 and the first limited block 15
First block 16 of corresponding matching, one end of solenoid A3 is provided with and the second block 18 of the second limited block 17 corresponding matching,
It is provided with cushion pad 27, bullet between first block 16 and the first limited block 15 and/or the second block 18 and the second limited block 17
Power assembly A include back-moving spring, back-moving spring be arranged on the first block 16 and the first limited block 15 and/or the second block 18 with
Between second limited block 17.In specific embodiment, square stance is owing to captivation suffered on the first guide part 7 is toward batting phase negative side
When mobile, at back-moving spring Tensile, due to magnetic force generating unit power-off after batting, captivation suffered on the first guide part 7
Disappear, under the effect of back-moving spring, make the first guide part 7 reply initial position, thus drive the second guide part 8, make to hit
Ball component resets.Frame 14 is connected on riser by sliding bearing 35, and riser is vertical and is fixed on lower plate 2, and riser is altogether
Two pieces of two sides being parallel to frame 14, are placed in the inner side of frame 14, frame 14 by sliding bearing 35 relative under
Plate 2 is flexibly connected.
Fig. 2 is the side-looking structural representation that flip shot kicking machine of the present invention is in flip shot state, and solenoid A3 produces when energising
Magnetic force, for reaching electromagnetic balance, the first guide part 7 is attracted by magnetic force, moves through pilot hole A5 toward batting rightabout, the
One guide part 7 catches groove frame 12 by touch pole 9 card of its one end, pulls the guide rod 10 being connected with groove frame 12 along turning
Axle 13 rotates so that the batting movement locus of flip shot shovel 6 is forward and up, it is achieved flip shot is batted.
Fig. 3 is the structural representation of flat fire kicking machine of the present invention, and Fig. 4 is flat fire kicking machine invention flat fire of the present invention batting
Sectional structure schematic diagram；Flat fire kicking machine includes solenoid B20, batting assembly B21, and provides to batting assembly B21
The elastic component B of back stretch, elastic component B are back-moving springs, and back-moving spring is arranged on fourth gear block 26 and the 3rd limited block
Between 28 and/or third gear block 25 and batting end 24, batting assembly B21 includes having magnetic 3rd guide part 22 and the 3rd
The 4th connected guide part 23 of guide part 22 and the batting end 24 being connected with the 4th guide part 23, the 3rd guide part 22 is by electromagnetism
Coil B20 magneticaction drives batting assembly B21 to previous crops batting motion, and after solenoid B20 power-off, bat assembly B21
Driven by the restoring force of elastic component B and reply.Solenoid B20 includes pilot hole B, the 3rd guide part 22 and the 4th guide part
23 are through in pilot hole B, are connected with solenoid B20 slide anteroposterior, and the 3rd guide part 22 is towards that of the 4th guide part 23
End is positioned at pilot hole B or the position being positioned on rear side of the outer close pilot hole of pilot hole B, being affected by solenoid B20 magnetic force.
Pilot hole can accommodate the 3rd guide part 22, has not only provided support force that the 3rd guide part 22 moves toward direction of stroke but also has provided
Guiding when three guide parts 22 are mobile.The width of batting end 24 aperture more than pilot hole B, on the 3rd guide part 22, non-
The tail end connecting the 4th guide part 23 is provided with the 3rd limited block 28, the 3rd limited block 28 width aperture more than pilot hole B,
Ball-handling friction lever 30, lower plate 2, the batting mouth 34 of formation flat fire kicking machine between guide rod connecting rod 11 and frame 14, flat fire
The batting end 24 of kicking machine shuttles in batting mouth 34.End turn is provided with and the third gear of end 24 corresponding matching of batting
Block 25 and the fourth gear block 26 with the 3rd limited block 28 corresponding matching, fourth gear block 26 and the 3rd limited block 28 and/or batting
It is provided with cushion pad 27 between end 24 and third gear block 25.
One end of 3rd guide part 22 is arranged in pilot hole B, and the other end extends to, outside pilot hole B, lead on rear side of pilot hole B
It it is side contrary with direction of stroke for pilot hole B on rear side of the B of hole；Or alignment guide hole, one end B of the 3rd guide part 224,
The position that after being arranged on rear side of the outer close pilot hole B of pilot hole B and being energized by solenoid B20 assembly, magnetic force be affected, another
End extends toward the direction contrary with direction of stroke.3rd guide part 22 is columned first guide part 7, and solenoid B20 leads to
Producing magnetic after electricity and magnetize described first guide part 7, for reaching electromagnetic balance, the first guide part 7 is through pilot hole B toward hitting
Direction of bowl moves, and promotes batting assembly B21 batting.
One end of 4th guide part 23 connects batting end 24, promotes the 4th guide part 23 thus promote during solenoid B20 energising
Batting end 24 is batted, and the 4th guide part 23 is on the mobile route of the 3rd guide part 22 or connects the 3rd guide part 22, the
Three guide parts 22 promote the 4th guide part 23 to move toward direction of stroke, when the 4th guide part 23 connects three guide parts 22, the
One end of four guide parts 23 is positioned at pilot hole and connects the 3rd guide part 22, and the other end extends connection batting on front side of pilot hole B
End 24 is outside pilot hole, and general 4th guide part 23 uses nonferromugnetic material, such as aluminum.When electromagnetism iron wire B assembly is energized,
3rd guide part 22 is attracted by magnetic force, moves toward direction of stroke, due to the 4th guide part 23 be connected with the 3rd guide part 22 or
On the mobile route of the 3rd guide part 22, the 4th guide part 23 is promoted toward batting mobile by the 3rd guide part 22, thus promotes and hit
Pommel 24 realizes batting, is the arcwall face with certain area on front side of batting end 24, and wherein, the 3rd guide part 22 is led with the 4th
Can also be formed in one structure to portion 23.
Ball striking device includes the 3rd limited block 28 and batting end 24 the two limit assembly, also has corresponding with two limit assemblies
Third gear block 25 and fourth gear block 26, in specific embodiment, third gear block 25 is positioned on front side of pilot hole B, bat end 24
The width of the rear side aperture more than pilot hole B, when the 4th guide part 23 is driven reply by elastic component, on rear side of batting end 24
It is directed to hole B and is blocked in outside pilot hole B spacing.Outside fourth gear block 26 is arranged on rear side of pilot hole B, fourth gear block 26 has
One through hole, one end of the 3rd guide part 22 is arranged in pilot hole B through through hole, and the width of the 3rd limited block 28 is more than the 4th
The aperture of block 26 through hole, when the 3rd guide part 22 is attracted to move toward direction of stroke by magnetic force, fourth gear block 26 blocks the
The movement of three limited blocks 28, is limited in the displacement of the 3rd guide part 22 between fourth gear block 26 and the 3rd limited block 28.
Fourth gear block 26 and the 3rd limited block 28 and/or third gear block 25 are provided with cushion pad 27 with batting end 24, work as batting
End 24 is when being stopped by third gear block 25 or when the 3rd limited block 28 is stopped by fourth gear block 26, cushion pad 27 reduces both hit
Hit power.In specific embodiment, cushion pad 27 is socketed on the 3rd guide part 22, when the 3rd guide part 22 by electromagnetic attraction to hitting
Power when direction of bowl moves is relatively big, and the 3rd limited block 28 reduces impact force with fourth gear block 26 by cushion pad 27.
Elastic component includes a back-moving spring, and back-moving spring is arranged on fourth gear block 26 and the 3rd limited block 28 and/or third gear block
Between 25 and batting end 24.Back-moving spring is socketed on the 3rd guide part 22 between fourth gear block 26 and the 3rd limited block 28,
Due to magnetic force generating unit power-off after batting, captivation suffered on the 3rd guide part 22 disappears, and under the effect of back-moving spring, makes
3rd guide part 22 replys initial position, thus drives the 4th guide part 23, makes batting assembly B21 reset.
Fig. 5 is that the present invention controls ball the structural representation of mechanism；Ball-handling mechanism include control ball motor 29, ball-handling friction lever 30 and
The first travelling gear 31 that the motor shaft of ball-handling motor 29 is fixing and fixing the second travelling gear of the axis of ball-handling friction lever 30
32, the first travelling gear 31 engages with the second travelling gear 32, and flip shot ball striking device is fixed on by rotating shaft 13 in ball-handling mechanism
In frame 14, ball-handling friction lever 30, lower plate 2, formation ball-handling mouth 33 between guide rod connecting rod 11 and frame 14.Ball-handling electricity
Machine 29 is fixed in lower plate 2 by frame 14, and distance lower plate 2 certain altitude, and control circuit controls ball-handling motor 29 and rotates,
Owing to engaging the first travelling gear 31 and the second gear, the second travelling gear 32 drives the first rotation pinion rotation, makes ball-handling rub
Pole 30 high-speed rotation, is adsorbed in ball between lower plate 2 and ball-handling friction lever 30.
Fig. 6 is the structural representation that flat fire kicking machine of the present invention cooperates with flip shot kicking machine；Flip shot kicking machine is chosen
The batting mouth 34 penetrating shovel 6, frame 14, guide rod connecting rod 11 and lower plate 2 formation can accommodate flat fire kicking machine batting assembly B21
Batting end 24 pass through, the magnetic force moving batting assembly B21 produced during the solenoid B20 of flat fire kicking machine energising is from batting
Mouthfuls 34 are hit by a bullet out batting, and after power-off, described batting assembly B21 is driven back to by the restoring force of elastic component B by batting mouth 34
Multiple.
Fig. 7 is the structural representation that flat fire kicking machine of the present invention cooperates with ball-handling mechanism, the ball-handling friction lever of ball-handling mechanism
30, frame 14 both sides and lower plate 2 form ball-handling mouth 33, and ball-handling mouth 33 can accommodate batting assembly B21 to be passed through, flat fire kicking machine
The magnetic force moving batting assembly B21 produced when the solenoid B20 of structure is energized ejects from ball-handling mouth 33 and will control ball in mouth 33
Ball hits, and after power-off, batting assembly B21 is driven reply by ball-handling mouth 33 by the restoring force of elastic component B.
Flip shot kicking machine cooperates with ball-handling mechanism, and the magnetic force produced when the solenoid A3 of flip shot kicking machine is energized pulls
Batting assembly A4, can by ball-handling mouth 33 in ball hit, after power-off, described batting assembly A4 by ball-handling mouth 33 by elastic force
The restoring force of assembly A drives replys.
Fig. 8 is flat fire mechanism of the present invention, flip shot mechanism and the structural representation that cooperates of ball-handling mechanism；Flat fire kicking machine
Batting assembly B21 is positioned at the rear side of batting mouth 34 and ball-handling mouth 33, the magnetic force moving batting produced during solenoid B20 energising
Assembly B21, by batting mouth 34, hits the ball of ball-handling mouth 33, and after power-off, batting assembly B21 is by batting mouth 34 quilt
The restoring force of elastic component A drives replys.The magnetic force produced when the solenoid A3 of flip shot kicking machine is energized pulls batting assembly
A4, can hit ball in ball-handling mouth 33, and after power-off, described batting assembly A4 is by ball-handling mouth 33 returning by elastic component A
Multiple power drives replys.
Finally, in addition it is also necessary to be only the specific embodiment of the present invention it is noted that listed above.It is clear that the invention is not restricted to
Upper embodiment, it is also possible to have many deformation.Those of ordinary skill in the art can directly derive from present disclosure or join
The all deformation expected, are all considered as protection scope of the present invention.
Claims (10)
1. a ball striking device, it is characterised in that described ball striking device includes the peaceful kicking machine of penetrating of flip shot kicking machine, or includes
Flip shot kicking machine and ball-handling mechanism, or include flat fire kicking machine and ball-handling mechanism, or include that flip shot kicking machine peace is shot
Ball mechanism and ball-handling mechanism, the peaceful kicking machine of penetrating of described ball-handling mechanism is both secured to lower plate (2), described flip shot kicking machine
Structure includes the flip shot rod assembly being fixed on upper plate (1) and is fixed on flip shot shovel (6) assembly of lower plate (2), described flip shot
Rod assembly is flexibly connected by groove frame (12) with flip shot shovel (6) assembly, the batting end (24) of described flat fire kicking machine
Shuttle the batting mouth (34) formed in flip shot shovel (6) assembly, parallel between described upper plate (1) and lower plate (2) sets
Put.
Ball striking device the most according to claim 1, it is characterised in that described flip shot rod assembly includes being installed on upper plate (1)
Solenoid A (3), batting assembly A (4), give batting assembly A (4) provide back stretch elastic component A, described
Flip shot shovel (6) assembly include flip shot shovel (6), be positioned at flip shot shovel (6) lateral symmetry arrange guide rod (10), connect both sides lead
The guide rod connecting rod (11) of bar (10), groove frame (12) is fixed in guide rod connecting rod (11), and guide rod (10) is by turning
Axle (13) is arranged in frame (14), and frame (14) is movably connected in lower plate (2), described batting assembly A (4)
Being flexibly connected with flip shot shovel (6) by groove frame (12), described batting assembly A (4) includes that having magnetic first leads
To portion (7), described first guide part (7) is driven batting assembly A (4) to pull back by solenoid A (3) magneticaction
Groove frame (12), drives flip shot shovel (6) to make flip shot campaign.
Ball striking device the most according to claim 2, it is characterised in that described groove frame (12) is symmetrical U-shaped groove,
One end of described the first guide part (7) is between symmetrical U-shaped groove, and is connected in groove frame by touch pole (9)
(12), on, protruding touch pole (9) embeds in U-shaped groove.
Ball striking device the most according to claim 2, it is characterised in that described batting assembly also includes being arranged at the first guide part (7)
The touch pole (9) of one end, and it is connected to second guide part (8) of the first guide part (7) other end, described solenoid A (3)
Including pilot hole A (5), described first guide part (7) and the second guide part (8) are through in pilot hole A (5), with electromagnetism
Coil slide anteroposterior connects.
5. according to the ball striking device described in claim 1 or 2 or 3 or 4, it is characterised in that described flip shot kicking machine also includes
First limited block (15) and the second limited block (17), described the first limited block (15) is arranged on the first guide part (7),
Being positioned at section between groove frame (12) and solenoid A (3), described the first limited block (15) is arranged by upper plate (1)
Limited impression (19) spacing, described the second limited block (17) is arranged on the second guide part (8), and disconnected first leads
To the tail end of portion (7), the width of described second limited block (17) aperture more than pilot hole A (5).
Ball striking device the most according to claim 5, it is characterised in that described ball-handling mechanism includes control ball motor (29), control
The first travelling gear (31) that the motor shaft of ball friction lever (30) and ball-handling motor (29) is fixing and ball-handling friction lever (30)
Fixing the second travelling gear (32) of axis, the first travelling gear (31) engages with the second travelling gear (32), described control
Ball mechanism is fixed in frame (14) by rotating shaft (13), and described ball-handling friction lever (30), lower plate (2), guide rod connect
Ball-handling mouth (33) is formed between bar (11) and frame (14).
7. according to the ball striking device described in claim 1 or 2 or 3 or 4 or 6, it is characterised in that described flat fire kicking machine bag
Include solenoid B (20), batting assembly B (21), and provide the elastic component B of back stretch to batting assembly B (21),
Described batting assembly B (21) includes having the 4th that magnetic 3rd guide part (22) is connected with the 3rd guide part (22)
Guide part (23) and the batting end (24) being connected with the 4th guide part (23), the 3rd guide part (22) is by solenoid B (20)
Magneticaction drives batting assembly B (21) to previous crops batting motion.
Ball striking device the most according to claim 7, it is characterised in that described solenoid B (20) includes pilot hole B, the
Three guide parts (22) and the 4th guide part (23) are through in pilot hole B, are connected with solenoid B (20) slide anteroposterior,
Described 3rd guide part (22) is positioned at pilot hole B or be positioned at outside pilot hole B towards that end of the 4th guide part (23) and leans on
On rear side of nearly pilot hole, the position that can be affected by solenoid B (20) magnetic force.
9. according to the ball striking device described in claim 6 or 8, it is characterised in that the width of described batting end (24) is more than pilot hole
The aperture of B, on described 3rd guide part (22), the tail end of disconnected 4th guide part (23) is provided with the 3rd limited block (28),
The 3rd described limited block (28) width more than the aperture of pilot hole B, described ball-handling friction lever (30), lower plate (2), is led
The batting mouth (34) of flat fire kicking machine is formed between bar connecting rod (11) and frame (14), described flat fire kicking machine
Batting end (24) is shuttled in batting mouth (34).
10. according to the ball striking device described in claim 1 or 2 or 3 or 5 or 7 or 8, it is characterised in that described elastic component A
Or elastic component B is back-moving spring, described elastic component B is arranged on the 3rd limited block (28) and solenoid B's (20)
Between tail end, described elastic component A is arranged between the second limited block (17) and solenoid A (3), described frame
(14) being connected on riser by sliding bearing (35), described riser is vertical and is fixed on lower plate (2), described frame
(14) it is flexibly connected relative to lower plate (2) by sliding bearing (35).
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| CN201610554428.XA CN105999722B (en) | 2016-07-14 | 2016-07-14 | A kind of ball striking device |
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| CN201610554428.XA CN105999722B (en) | 2016-07-14 | 2016-07-14 | A kind of ball striking device |
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| CN105999722A true CN105999722A (en) | 2016-10-12 |
| CN105999722B CN105999722B (en) | 2019-01-04 |
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| CN110624253A (en) * | 2019-10-16 | 2019-12-31 | 浙江大学昆山创新中心 | A batting device and football robot for football robot |
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Also Published As
| Publication number | Publication date |
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| CN105999722B (en) | 2019-01-04 |
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Effective date of registration: 20211222 Address after: Room 501, No. 20, Jinyang East Street, Yuhuatai District, Nanjing, Jiangsu 210000 Patentee after: Jiangsu Shenzhou shunyao Intelligent Technology Co.,Ltd. Address before: 215300 room 1, 232 Yuanfeng Road, Yushan Town, Kunshan City, Suzhou City, Jiangsu Province Patentee before: SUZHOU NANJIANG LEBO ROBOT Co.,Ltd. |