CN1544113A - Ball kicking and holding mechanism of football robot - Google Patents
Ball kicking and holding mechanism of football robot Download PDFInfo
- Publication number
- CN1544113A CN1544113A CNA2003101088967A CN200310108896A CN1544113A CN 1544113 A CN1544113 A CN 1544113A CN A2003101088967 A CNA2003101088967 A CN A2003101088967A CN 200310108896 A CN200310108896 A CN 200310108896A CN 1544113 A CN1544113 A CN 1544113A
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- Prior art keywords
- bar
- football
- push rod
- linear bearing
- rubber
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- 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.)
- Granted
Links
- 238000009434 installation Methods 0.000 claims description 3
- 238000007790 scraping Methods 0.000 abstract 3
- 230000004807 localization Effects 0.000 description 3
- 206010002583 Anodontia Diseases 0.000 description 2
- 241001014327 Anodontia Species 0.000 description 2
- 206010065612 Loose tooth Diseases 0.000 description 2
- 230000005212 anodontia Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Abstract
A football playing and ball protection device for football robot, wherein the football playing device mainly comprises a rain scraping motor, an eccentric gear, a push bar and a rubber band, the ball protection device comprises a small motor, a rubber rod and a supporting stand, the football playing device is powered by the rain scraping motor with self-locking function, wherein the rain scraping motor drives the eccentric gear to rotate, thus pushing the push bar with rack bar move backwards in the linear bearing, and the rubber band behind the push bar is tensioned.
Description
Technical field:
The present invention relates to a kind of Soccer robot and play football and keep mechanism, be used for Soccer robot and participate in World Cup, also can be used for other robot entertainment selection.Belong to mechanical Soccer robot technical field.
Background technology:
Along with the popularization of robot soccer competition and the development of Soccer robot technology, the performance of Soccer robot is gradually improved, the translational speed of full autonomous soccer robot is also more and more faster, how in football match, effectively to play football fast, and how to solve the problem of keeping, promptly how Soccer robot keeps the problem of football in the scope of playing football to seem extremely important before playing football.Domestic in the past because the translational speed of full autonomous soccer robot is slower, and the status of keeping mechanism is also inessential, so there is not the relevant mechanism that keeps.Nowadays the Soccer robot translational speed is very fast, presses for effectively to keep mechanism and ensure that football is in control range.In addition, in robot soccer competition, require to have the more powerful dynamics of playing football.According to further retrieval to prior art, discovery has the patent " Soccer robot ball-kicking device " of a kind of Guangdong Province Audi toy Industrial Co., Ltd. Cai Dongqing, application number is 01258718, a kind of Soccer robot ball-kicking device is disclosed, 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 device can also be installed on the remote control car body and constitute the Soccer robot that can pass, receive, dribble and shoot simultaneously.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, and the dynamics of playing football is also strong inadequately, can not be used for medium-sized robot soccer competition.This device does not have and can control the mechanism of playing football at any time simultaneously, does not possess the mechanism of keeping again, and playing football, it is limited to keep effect.
Summary of the invention:
The objective of the invention is at deficiency of the prior art, for providing a kind of Soccer robot to play football, Soccer robot World Cup Competition now keeps mechanism, play football keep be controlled, can play football whenever and wherever possible on demand, the dynamics of playing football is strong, keeps part and has good ability of controlling the ball, entire mechanism realization simple in structure, easy, both can be used in Soccer robot, also can be applicable to other robot entertainment selection.
For realizing such purpose, the Soccer robot of the present invention's design is played football and kept in the mechanism: football-kicking mechanism comprises rain shaving electrical machine, shaft joint, inclined to one side gear, tooth bar, push rod, directive wheel, directive wheel support, linear bearing, linear bearing bracing frame, rubber band, rubber band fixed bar, base plate.Wherein shaft joint connects inclined to one side gear and rain shaving electrical machine, partially wheel and rack engagement, and tooth bar is embedded in the reeded push rod on then, and directive wheel reaches in the low groove of push rod, and directive wheel is fixed on its support; Push rod is through in the middle of the linear bearing, is used to play football, and linear bearing is fixed in the bracing frame; Rubber band is that level is close to the rear that is disposed across push rod, and its two ends fixes with fixed bar, and all these parts are installed on the base plate.Keep mechanism and comprise small machine, rubber bar and support, rubber bar is through in the support fixing, and small machine and rubber bar be coaxial to link to each other and drive rubber bar and rotate, and small machine, rubber bar and support are as the leading flank of an integral installation at base plate.
Football-kicking mechanism of the present invention selects for use the rain shaving electrical machine with auto-lock function to be used as power, and rain shaving electrical machine drives the inclined to one side gear rotation that is connected with shaft joint by shaft joint low speed; Partially wheel and rack engagement, the push rod that promotes to be with tooth bar moves backwards, allows push rod make to be close to the rubber band tensioning at its rear.When inclined to one side gear forwards last tooth on it and tooth bar engagement to, the rain shaving electrical machine stall, because rain shaving electrical machine has auto-lock function, the push rod transfixion, rubber band just is in tensioning state, and entire mechanism also just is in energy accumulating state.When needs are played football, allow rain shaving electrical machine rotate and drive inclined to one side wheel and rack disengaging, at this moment, the rubber band abrupt release energy of tensioning promotes push rod and plays football fast.Because its was in anodontia district near the part of tooth bar and slowly runs again when partially gear got loose tooth bar, so can not conflict with tooth bar during push rod is kicked out of fast.Tooth bar is kicked out of and is retrodeviated gear and again push rod is pushed through, and makes it to be in once more energy accumulating state, finishes one-period.It mainly is the rubber bar rotation that is attached thereto with the driven by motor of the vertical placement of robot direction of advance by that the present invention keeps mechanism, is just held when ball contacts with rubber bar and is difficult for walking to take off, and reaches the purpose of ball-handling.
The present invention has substantive distinguishing features and marked improvement, and the football-kicking mechanism of this inclined to one side gear and rack-and-pinion has the very powerful dynamics of playing football, and especially is fit to medium-sized robot soccer competition, has outstanding advantage.Have the rotation rubber rod keep mechanism can guarantee robot on the court well control live ball.Mechanism of the present invention is very simple, is easy to realize, because all parts are all pacified commentaries on classics on base plate, portability is very strong as a whole, promptly can be used for other robot.
Description of drawings:
Fig. 1 is an overall structure schematic diagram of the present invention.
Fig. 2 is a structure schematic top plan view of the present invention.
Among Fig. 1 Fig. 2: rain shaving electrical machine 1, shaft joint 2, inclined to one side gear 3, tooth bar 4, push rod 5, directive wheel 6, directive wheel support 7, linear bearing 8, linear bearing bracing frame 9, rubber band 10, rubber band fixed bar 11, small machine 12, rubber bar 13, support 14, base plate 15.
The specific embodiment:
As shown in Figure 1 and Figure 2, mechanism of the present invention mainly comprises: football-kicking mechanism and keep mechanism.Wherein football-kicking mechanism comprises rain shaving electrical machine 1, shaft joint 2, inclined to one side gear 3, tooth bar 4, push rod 5, directive wheel 6, directive wheel support 7, linear bearing 8, linear bearing bracing frame 9, rubber band 10, rubber band fixed bar 11, base plate 15.Wherein shaft joint 2 connects inclined to one side gear 3 and rain shaving electrical machine 1, is embedded in the reeded push rod 5 on the gear 3 and tooth bar 4 engagements partially, 4 of tooth bars, and directive wheel 6 reaches in the low groove of push rod 5, and directive wheel 6 is fixed on its support 7; Push rod 5 middle parts are through in the middle of the linear bearing 8, and linear bearing 8 is fixed in the bracing frame 9; Rubber band 10 is that level is close to the rear that is disposed across push rod 5, and its two ends is fixing with fixed bar 11, and all these parts are installed on the base plate 15.Keep mechanism and comprise small machine 12, rubber bar 13, support 14.Rubber bar 13 is through in the support 14 fixing, and small machine 12 and 13 coaxial linking to each other of rubber bar, small machine 12 drive rubber bar 13 rotations when rotating.Small machine 12 with rubber bar 13, support 14 as the leading flank of an integral installation at base plate 15.
As shown in Figure 2, push rod 5 is used for playing football.To indicate be two critical localisations of push rod 5 in the process of playing football for A, B among the figure.The A position is the position that push rod 5 is kicked out of fully.The B position is last tooth and tooth bar 4 position engaged of inclined to one side gear 3.Rain shaving electrical machine 1 connects shaft joint 2, and an end of shaft joint 2 connects inclined to one side gear 3.When rain shaving electrical machine 1 powered on, it just can drive inclined to one side gear 3 and rotate.Because gear 3 meshes with tooth bar 4 partially, and tooth bar 4 is embedded in the push rod 5, the middle part of push rod 5 is through again in the linear bearing 8.When so partially gear 3 rotates can by tooth bar 4 promote push rods 5 in linear bearing 8 towards the rear (is forward direction with the direction of playing football) mobile.Rubber band 10 is close to push rod 5 in the wings.When push rod 5 moved to the B position, rubber band 10 just was tensioned.At this moment can make rain shaving electrical machine 1 stall by control.Because rain shaving electrical machine 1 has auto-lock function, can guarantee the entire mechanism transfixion.When needs were played football, robot sent instruction and allows rain shaving electrical machine 1 slow rotation, partially last tooth of gear 3 just with tooth bar 4 disengagements, the rubber band 10 abrupt release energy of tensioning promote push rod 5 fast and kick out of forward at linear bearing 8.Because its was in anodontia district near the part of tooth bar 4 and slowly runs again when partially gear 3 got loose tooth bar 4, so can not conflict with tooth bar 4 during push rod 5 is kicked out of fast.Moment was gone to the A critical localisation after push rod 5 was kicked out of, and the inclined to one side gear 3 that is always slowly run is then shifted the B critical localisation again onto, finishes one-period.
Claims (1)
1, a kind of Soccer robot is played football and is kept mechanism, it is characterized in that by football-kicking mechanism and keep mechanism and form, wherein football-kicking mechanism comprises rain shaving electrical machine (1), shaft joint (2), inclined to one side gear (3), tooth bar (4), push rod (5), directive wheel (6), directive wheel support (7), linear bearing (8), linear bearing bracing frame (9), rubber band (10), rubber band fixed bar (11), base plate (15), shaft joint (2) connects inclined to one side gear (3) and rain shaving electrical machine (1), gear (3) meshes with tooth bar (4) partially, be embedded on the tooth bar (4) in the reeded push rod (5), directive wheel (6) reaches in the low groove of push rod (5), directive wheel (6) is fixed on the directive wheel support (7), the middle part of push rod (5) is through in the middle of the linear bearing (8), linear bearing (8) is fixed in the linear bearing bracing frame (9), rubber band (10) level is close to the rear of lateral arrangement in push rod (5), the two ends of rubber band (10) are fixing with fixed bar (11), directive wheel support (7), linear bearing bracing frame (9) and rubber band fixed bar (11) are installed on the base plate (15); Keep mechanism and comprise small machine (12), rubber bar (13) and support (14), rubber bar (13) is through in the support (14) fixing, small machine (12) and coaxial linking to each other of rubber bar (13), small machine (12), rubber bar (13) and support (14) are as the leading flank of an integral installation in base plate (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200310108896 CN1291767C (en) | 2003-11-27 | 2003-11-27 | Ball kicking and holding mechanism of football robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200310108896 CN1291767C (en) | 2003-11-27 | 2003-11-27 | Ball kicking and holding mechanism of football robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1544113A true CN1544113A (en) | 2004-11-10 |
| CN1291767C CN1291767C (en) | 2006-12-27 |
Family
ID=34334920
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200310108896 Expired - Fee Related CN1291767C (en) | 2003-11-27 | 2003-11-27 | Ball kicking and holding mechanism of football robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1291767C (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105761598A (en) * | 2014-12-17 | 2016-07-13 | 临沂添翼科技模型有限公司 | Football car capable of playing football through remote control |
| CN105920847A (en) * | 2016-06-16 | 2016-09-07 | 北京信息科技大学 | Robocup middle-size soccer robot goalkeeping device |
| CN105963973A (en) * | 2016-07-04 | 2016-09-28 | 北京理工大学 | Soccer robot adjustable ball hitting rod system and method thereof |
| CN106422224A (en) * | 2016-11-11 | 2017-02-22 | 湖北科技学院 | Ball serving device of semi-automatic tennis ball picking and serving vehicle |
| 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 |
-
2003
- 2003-11-27 CN CN 200310108896 patent/CN1291767C/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105761598A (en) * | 2014-12-17 | 2016-07-13 | 临沂添翼科技模型有限公司 | Football car capable of playing football through remote control |
| CN105761598B (en) * | 2014-12-17 | 2019-02-12 | 临沂添翼科技模型有限公司 | A kind of remote-controlled football trolley played football |
| CN105920847A (en) * | 2016-06-16 | 2016-09-07 | 北京信息科技大学 | Robocup middle-size soccer robot goalkeeping device |
| CN105920847B (en) * | 2016-06-16 | 2018-07-13 | 北京信息科技大学 | Medium-sized group of Soccer robot gatekeeper of Robocup |
| CN105963973A (en) * | 2016-07-04 | 2016-09-28 | 北京理工大学 | Soccer robot adjustable ball hitting rod system and method thereof |
| CN106422224A (en) * | 2016-11-11 | 2017-02-22 | 湖北科技学院 | Ball serving device of semi-automatic tennis ball picking and serving vehicle |
| CN106422224B (en) * | 2016-11-11 | 2018-11-09 | 湖北科技学院 | A kind of semi-automatic tennis picks up the ball serving device of ball and vehicle of serving a ball |
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1291767C (en) | 2006-12-27 |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20061227 Termination date: 20091228 |