CN1194783C - Fully self-aid type football robot kicking-ball mechanism - Google Patents
Fully self-aid type football robot kicking-ball mechanism Download PDFInfo
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- CN1194783C CN1194783C CNB031160190A CN03116019A CN1194783C CN 1194783 C CN1194783 C CN 1194783C CN B031160190 A CNB031160190 A CN B031160190A CN 03116019 A CN03116019 A CN 03116019A CN 1194783 C CN1194783 C CN 1194783C
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- grab
- ball
- slide block
- crossbeam
- support
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Abstract
The present invention relates to a fully automatic type football robot ball kicking mechanism which mainly comprises a crank slide block mechanism, a ball hitting plate mechanism and a clamping hook mechanism which are fixed on a bottom plate by respective support frames, and the crank slide block mechanism is connected with the ball hitting plate mechanism through slide blocks. Furthermore, the crank slide block mechanism is driven by a motor to drive the ball hitting plate mechanism so as to make a spring arranged on the ball hitting plate mechanism compressed, a cross beam arranged on the ball hitting plate mechanism is clamped by a clamping plate of the clamping hook mechanism when the spring is compressed to a certain degree, and the whole mechanism is in an energy storage state when the motor stops rotating. When the ball kicking mechanism needs to kick balls, the motor rotates to make a clamping hook cross beam arranged on the clamping hook mechanism downwards pressed by an auxiliary and circular disk arranged on the crank slide block mechanism so as to make the clamping plate release the cross beam arranged on the ball hitting plate mechanism, the spring instantly releases energy so as to rapidly kick balls, and then the motor rotates to complete next time energy storage so as to complete one period. Because the rotating speed of the motor is high, a whole period is short, and continuous energy storage and continuous ball kicking can be realized.
Description
Technical field:
The present invention relates to a kind of full autonomous soccer robot football-kicking mechanism, can be used for Soccer robot and participate in Soccer robot World Cup Competition, also can be applicable to other robot entertainment selection.Belong to field of mechanical technique.
Background technology:
Soccer robot World Cup Competition is held existing 6 years in the world at present, and domestic this match is also at the early-stage.As football match, a Soccer robot wants to obtain the triumph of match, how more effectively scoring is one step of key that match is won victory, and the shooting mechanism that has stable performance can make the race-entry robot have tactics strategy more flexibly, is the precondition that match is won.At present there is full autonomous soccer robot World Cup Competition many colleges and universities participating nation in the whole nation, most of football-kicking mechanism be not exist mechanism's complexity, clumsiness be exactly the shooting dynamics not by force, shortcoming that flexibility ratio is not enough, do not have comparatively ideal football-kicking mechanism.According to further retrieval to prior art, Guangdong Province Audi toy Industrial Co., Ltd. Cai Dongqing discloses a kind of " Soccer robot ball-kicking device " (Chinese utility application number be 01258718), the characteristics readme of this patent is: a kind of Soccer robot ball-kicking device, it is characterized in that comprising motor, reduction box, unidirectional travelling gear and lift pin mechanism, football-kicking mechanism, folder ball mechanism, wherein motor is contained in the reduction box, unidirectional travelling gear is connected with the final stage gear of gear train, two side is respectively equipped with the unidirectional promotion tooth in the opposite left and right sides of direction, the right side of this unidirectional travelling gear articulate can adjust the angle of playing football lift pin mechanism, the left side articulates the football-kicking mechanism that utilizes the elastic force batting, folder ball mechanism is made up of ball chuck and spring, it is arranged on upper end, reduction box front, and folder ball mechanism and football-kicking mechanism touch.This ball-kicking device can be installed on the remote control car body and constitute the Soccer robot that can pass flexibly, receive, dribble and shoot, carries out robot soccer game.The weak point of this patented technology is complex structure, adopts reduction box, gear, gear train to increase the volume of mechanism in the device, has strengthened energy loss; This device does not have and can control the mechanism of playing football at any time simultaneously, thereby can not be used for full autonomous soccer robot match.
Summary of the invention:
The objective of the invention is at the deficiencies in the prior art, for Soccer robot World Cup Competition now provides a kind of full autonomous soccer robot football-kicking mechanism, have and to control the mechanism of playing football at any time, can play football whenever and wherever possible on demand, simple in structure, dexterous, easily realization again, both can be used in Soccer robot, also can be applicable to other robot entertainment selection.
The objective of the invention is to be achieved through the following technical solutions: football-kicking mechanism mainly comprises slider-crank mechanism, ball-driving board mechanism, fastening hook mechanism.Slider-crank mechanism is connected with ball-driving board mechanism with slide block, and fastening hook mechanism does not directly link to each other with both in mechanism.The support that slider-crank mechanism, ball-driving board mechanism, fastening hook mechanism each have oneself is fixed in base plate.Football-kicking mechanism of the present invention is by the motor-driven slider-crank mechanism, drive ball-driving board mechanism the spring on it is compressed, when spring was compressed to a certain degree, the crossbeam on the ball-driving board mechanism was blocked by the clamp of fastening hook mechanism, motor stall this moment, entire mechanism just is in energy accumulating state.When needs were played football, motor rotated, and allowed auxiliary disc on the slider-crank mechanism press down grab crossbeam on the fastening hook mechanism, made get loose crossbeam on the ball-driving board mechanism of clamp, spring abrupt release energy, thus play football fast.Motor rotates the accumulation of energy of finishing next time afterwards, thereby finishes one-period.
Slider-crank mechanism of the present invention comprises tail trimmer, main disk, secondary disk, self-aligning bearing, shaft joint, and the support of slide block, chute, auxiliary disc, connection auxiliary disc.Slide block is connected with chute, and the tail trimmer that connects auxiliary disc passes chute, connects main disk, secondary disk and two auxiliary discs simultaneously again; Main disk, secondary disk are connected with one with one of two self-aligning bearings respectively, and the axle that wherein connects main disk is linked to each other with the axle of motor by shaft joint.
Ball-driving board mechanism comprises preceding striking plate, back striking plate, crossbeam, crossbeam suspension, small sleeve, sleeve, linear bearing, straight-bar, spring, intermediate support.Bonding between preceding striking plate and the back striking plate with double faced adhesive tape.One end of slide block links to each other with the back striking plate by small sleeve with an end of two straight-bars, and the other end of two straight-bars is connected with the crossbeam suspension with crossbeam.The centre of straight-bar is with linear bearing, and linear bearing is fixed on the support.Wherein be with sleeve on the slide block, sleeve then is close on the support.
Fastening hook mechanism comprises two step-like grabs and leg-of-mutton clamp, grab crossbeam, grab support, extension spring above the grab.Grab is fixed on the grab support, and an end of grab is drop-down with extension spring, the position that grab is in upwarp, and the other end of grab has the grab crossbeam to be through between two grabs, and the grab support is used for being connected with base plate.
Slider-crank mechanism is connected with ball-driving board mechanism with slide block, and fastening hook mechanism does not directly connect with both in mechanism.The support that the three each has oneself is fixed in base plate.
Motor directly drives main disk by shaft joint and rotates, thereby main disk drives runner movement by tail trimmer makes slide block towards moving right, the spring of ball-driving board mechanism is compressed like this, when spring is compressed to a certain degree when crossbeam is blocked by the clamp of fastening hook mechanism, banking stop just makes limit switch receive signal by the motor stall, finishes the accumulation of energy step of mechanism.When needs were played football, motor rotating drive main disk drove the right side that auxiliary disc forwards mechanism to and presses down the grab crossbeam, make the crossbeam clamp that gets loose, thereby spring abrupt release energy was played football fast.Thereby motor rotates the accumulation of energy of finishing next time and finishes one-period afterwards.Because the motor speed height, the whole cycle is very short, can realize continuous accumulation of energy, plays football continuously.
The present invention has substantive distinguishing features and marked improvement, slider-crank mechanism band auxiliary disc and the cam function that has make spring energy-storage and play football to control whenever and wherever possible on demand plays football, accumulation of energy is very fast, the cycle of playing football is short, the strength of playing football is big, this some in full autonomous soccer robot match, have very big advantage.This mechanism has simple, clear, the dexterous characteristics of mechanism again, is easy to realize, also can be used for other robot.
Description of drawings:
Fig. 1 is a structural representation of the present invention.
Among Fig. 1, small sleeve 1, preceding striking plate 2, back striking plate 3, spring 4, straight-bar 5, intermediate support 6, sleeve 7, linear bearing 8, grab support 9, grab 10, support 11, main disk 12, shaft joint 13, self-aligning bearing 14, grab crossbeam 15, secondary disk 16, auxiliary disc 17, tail trimmer 18, chute 19, crossbeam 20, crossbeam suspension 21, slide block 22, clamp 23, extension spring 24, banking stop 25.
Fig. 2 is a fastening hook mechanism schematic diagram of the present invention.
Among Fig. 2, grab support 9, grab 10, grab crossbeam 15.
Fig. 3 is the grab of the present invention schematic diagram of partly overlooking and work
Among Fig. 3, grab support 9, grab 10, main disk 12, secondary disk 16, auxiliary disc 17, crossbeam 20, clamp 23, extension spring 24.A, b, c are crossbeam 20 three positions at work, A, B, C three positions corresponding with crossbeam 20 that are auxiliary disc 17.
The specific embodiment:
Below in conjunction with accompanying drawing technical scheme of the present invention is further described.
Football-kicking mechanism of the present invention mainly comprises: slider-crank mechanism, ball-driving board mechanism and fastening hook mechanism, its connected mode as shown in Figure 1.Wherein, slider-crank mechanism comprises slide block 22, chute 19, auxiliary disc 17, the tail trimmer 18 that connects auxiliary disc, main disk 12, secondary disk 16, self-aligning bearing 14, shaft joint 13, reaches support 11.Slide block 22 is connected with chute 19, and the tail trimmer 18 that connects auxiliary disc passes chute 19, connects main disk 12, secondary disk 16 and two auxiliary discs 17 simultaneously again; Main disk 12, secondary disk 16 are connected with one with one of two self-aligning bearings 14 respectively, and the axle that wherein connects main disk 12 is linked to each other with the axle of motor by shaft joint 13.Ball-driving board mechanism comprises preceding striking plate 2, back striking plate 3, crossbeam 20, crossbeam suspension 21, small sleeve 1, sleeve 7, linear bearing 8, straight-bar 5, spring 4, intermediate support 6.Bonding between preceding striking plate 2 and the back striking plate 3 with double faced adhesive tape.One end of slide block 22 links to each other with back striking plate 3 by small sleeve 1 with an end of two straight-bars 5, and the other end of two straight-bars 5 is connected with crossbeam 20 usefulness crossbeam suspensions 21.The centre of straight-bar 5 is with linear bearing 8, and linear bearing 8 is fixed on the support 6.Wherein be with sleeve 7 on the slide block 22,7 in sleeve is close on the support 6.Slider-crank mechanism is connected with ball-driving board mechanism with slide block 22, and fastening hook mechanism does not directly link to each other with slider-crank mechanism, ball-driving board mechanism, and three mechanisms are fixed on the base plate by support separately.
Fig. 2 is a fastening hook mechanism schematic diagram of the present invention, separates from Fig. 1 for ease of understanding entire mechanism.Fastening hook mechanism comprises grab 10, grab crossbeam 15, grab support 9, clamp 23, extension spring 24.Two step-like grabs 10 are fixed on the grab support 9, grab 10 is provided with leg-of-mutton clamp 23, and an end of grab 10 is drop-down with extension spring 24, grab 10 is in upwarps the position, allow clamp 23 prepare to block crossbeam 20, the other end of grab 10 has grab crossbeam 15 to be through between two grabs 10.
Fig. 3 is the fastening hook mechanism of the present invention schematic diagram of overlooking and work, comprising crossbeam 20 and its three position a, b, c at work, main disk 12, secondary disk 16, auxiliary disc 17 and its three position A, B, C, grab crossbeam 15, grab 10, clamp 23, grab support 9, extension spring 24.Its course of work is: when auxiliary disc 17 is in the A position, crossbeam 20 is in corresponding a position, motor rotates and drives main disk 12, secondary disk 16 makes auxiliary disc 17 forward the B position to, at this moment crossbeam 20 also moves to its b position, when auxiliary disc 17 forwards the C position to, crossbeam 20 moves on to its c position and is just blocked by clamp 23, motor stall this moment; When playing football, rotary electric machine makes auxiliary disc 17 press down grab crossbeam 15, and clamp 23 is got back to a position fast thereby crossbeam 20 gets loose, and finishes one-period.
As shown in Figure 1 and Figure 2, secondary disk 16 and main disk 12 are symmetrical mechanisms with respect to chute 19, eccentric motion in the time of can preventing the entire mechanism running.Be connected to banking stop 25 on secondary in addition disk 16 axle outwardly, be used to trigger limit switch, can control entire mechanism.Motor directly drives main disk 12 by shaft joint 13 and rotates, thereby main disk 12 drives chute 19 motions by tail trimmer 18 makes slide block 22 towards moving right, the spring 4 of ball-driving board mechanism is compressed like this, when spring 4 is compressed to a certain degree when crossbeam 20 is blocked by the clamp 23 of fastening hook mechanism, banking stop 25 just makes limit switch receive signal by the motor stall, finishes the accumulation of energy step of mechanism.When needs are played football, motor rotating drive main disk 12, thereby drive the right side that auxiliary disc 17 forwards mechanism to, press down grab crossbeam 15 and make crossbeam 20 clamp 23 that gets loose, thereby spring 4 abrupt release energy are played football fast, because it is identical that motor turns at this moment with striking plate 2 moving directions, can not cause energy consumption.Thereby motor rotates the accumulation of energy of finishing next time and finishes one-period afterwards.Because the motor speed height, the whole cycle is very short, can realize continuous accumulation of energy, plays football continuously.
Claims (1)
1, a kind of full autonomous soccer robot football-kicking mechanism, it is characterized in that mainly comprising slider-crank mechanism, ball-driving board mechanism, fastening hook mechanism, wherein, slider-crank mechanism comprises slide block (22), chute (19), auxiliary disc (17), the tail trimmer (18) that connects auxiliary disc, main disk (12), secondary disk (16), self-aligning bearing (14), shaft joint (13), and support (11), slide block (22) is connected with chute (19), the tail trimmer (18) that connects auxiliary disc passes chute (19), connect simultaneously main disk (12) again, secondary disk (16) and two auxiliary discs (17), main disk (12), secondary disk (16) is connected with one with one of two self-aligning bearings (14) respectively, and the axle that wherein connects main disk (12) is linked to each other with the axle of motor by shaft joint (13); Ball-driving board mechanism comprises preceding striking plate (2), back striking plate (3), crossbeam (20), crossbeam suspension (21), small sleeve (1), sleeve (7), linear bearing (8), straight-bar (5), spring (4), intermediate support (6), preceding striking plate (2) is bonding with back striking plate (3), one end of one end of slide block (22) and two straight-bars (5) links to each other with back striking plate (3) by small sleeve (1), the other end of two straight-bars (5) is connected with crossbeam suspension (21) with crossbeam (20), the centre of straight-bar (5) is with linear bearing (8), linear bearing (8) is fixed on the support (6), be with sleeve (7) on the slide block (22), sleeve (7) is close on the support (6); Fastening hook mechanism comprises grab (10), grab crossbeam (15), grab support (9), clamp (23), extension spring (24), two step-like grabs (10) are fixed on the grab support (9), grab (10) is provided with leg-of-mutton clamp (23), one end of grab (10) is drop-down with extension spring (24), grab (10) is in upwarps the position, the other end of grab (10) has grab crossbeam (15) to be through between two grabs (10), slider-crank mechanism is connected slider-crank mechanism with slide block (22) with ball-driving board mechanism, ball-driving board mechanism, fastening hook mechanism is fixed in base plate by support separately.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB031160190A CN1194783C (en) | 2003-03-27 | 2003-03-27 | Fully self-aid type football robot kicking-ball mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB031160190A CN1194783C (en) | 2003-03-27 | 2003-03-27 | Fully self-aid type football robot kicking-ball mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1438058A CN1438058A (en) | 2003-08-27 |
| CN1194783C true CN1194783C (en) | 2005-03-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB031160190A Expired - Fee Related CN1194783C (en) | 2003-03-27 | 2003-03-27 | Fully self-aid type football robot kicking-ball mechanism |
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| Country | Link |
|---|---|
| CN (1) | CN1194783C (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100354076C (en) * | 2006-03-02 | 2007-12-12 | 上海交通大学 | Adjustably moving mechanism of all directionally movable robot |
| CN101596367B (en) * | 2009-06-11 | 2011-07-20 | 上海交通大学 | Pneumatic ball kicking system of football robot |
| CN105148529B (en) * | 2015-07-03 | 2017-10-17 | 北京信息科技大学 | Football robot ball-kicking device |
| CN105963973B (en) * | 2016-07-04 | 2018-04-03 | 北京理工大学 | A kind of Soccer robot can adjust batting pole system and method |
| CN107376372A (en) * | 2017-09-13 | 2017-11-24 | 长沙展朔轩兴信息科技有限公司 | Soccer robot, which is played football, keeps mechanism |
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2003
- 2003-03-27 CN CNB031160190A patent/CN1194783C/en not_active Expired - Fee Related
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| Publication number | Publication date |
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| CN1438058A (en) | 2003-08-27 |
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