CN201239543Y - Ball-kicking device of football robot - Google Patents
Ball-kicking device of football robot Download PDFInfo
- Publication number
- CN201239543Y CN201239543Y CNU2008201305079U CN200820130507U CN201239543Y CN 201239543 Y CN201239543 Y CN 201239543Y CN U2008201305079 U CNU2008201305079 U CN U2008201305079U CN 200820130507 U CN200820130507 U CN 200820130507U CN 201239543 Y CN201239543 Y CN 201239543Y
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- switch
- motor
- bar
- playing football
- base plate
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Abstract
The utility model discloses a kickball device for a football robot, which comprises a baseplate, a kickball rod, a kickball spring and a motor drive mechanism. The kickball device is characterized in that a first switch and a second switch arranged on the baseplate are in contact with the kickball rod; a third switch arranged on the baseplate is in contact with the motor drive mechanism; and the three switches and the power motor of the motor drive mechanism are electrically connected with a motor control circuit. The kickball rod is connected with a self-locking mechanism in a matched manner and the self-locking mechanism is connected with a triggering mechanism. Compared with the prior art, the utility model has the advantages of simple structure, large work rotary moment, stable work and low cost, thereby suiting the use in independent-type and entertainment-type football robots.
Description
Technical field
The utility model belongs to toys, particularly the Soccer robot field.
Technical background
Soccer robot is played football and more and more is subjected to liking of people, according to further retrieval,, retrieve the utility model patent of application number 200620136427.5 at Chinese patent to prior art, the applying date is on December 20th, 2006, and patent name is: the Soccer robot football-kicking mechanism; This patent provides a kind of Soccer robot football-kicking mechanism, the characteristics of this patent readme are: comprise the plate of playing football, its center is connected with the push rod vertical fixing that a side has horizontal rack, tooth bar and circumference are provided with the tooth section portion engagement of the partial gear of one section tooth, be socketed with spring on the push rod, spring is fixedlyed connected with push rod near the plate end of playing football, the stroke of spring is between two hold-down supports, the push rod depression is supported on the hold-down support, and can move along the length direction of push rod, be provided with the space between the tooth bar of hold-down support and push rod; The axle of the axle of partial gear, ratchet and have only an axle that drives the drive motors of rotation direction to connect as one, and all follow the motor shaft rotation.In this kind technology, the relation that the stroke of bar of playing football is directly proportional with the length that toothed portion is arranged of fan type gear, stroke is long if desired, as medium-sized Soccer robot, necessarily require the radius of fan type gear to grow, the centre-to-centre spacing of transmission must increase between gear like this, according to gear-driven characteristic, to cause the gear drive stability decreases, job insecurity, the phenomenon that fan type wheel and rack is easily swept tooth just requires to improve gear-driven technology in order to stablize, as increase the thickness of gear, the gear that the use processing technology is high etc., will increase product cost like this.
The utility model content
Goal of the invention
The purpose of this utility model is improved according to the problem that above technical scheme exists, and provides a kind of working stability, lower-cost Soccer robot ball-kicking device.
The purpose of this utility model is achieved by following technical proposals: a kind of Soccer robot ball-kicking device, comprise base plate, the bar of playing football is connected with motor drive mechanism with the spring of playing football, first switch and second switch are set on base plate to contact with the described bar of playing football, the 3rd switch is set on base plate contacts with described motor drive mechanism, three switches are electrically connected with circuit for controlling motor; The power motor of motor drive mechanism is electrically connected with circuit for controlling motor; Described bar and the self-locking mechanism of playing football is connected, and self-locking mechanism is connected to trigger mechanism.
A trip rod is set on the described bar of playing football, and second switch is installed in not-go-end place behind the trip rod stroke, and first switch is installed in the trip rod stroke section of second switch front, and first, second switch touches mutually with trip rod respectively.
Described self-locking mechanism comprises from locking bolt, from the locking bolt self-locking spring that joins, be slidingly connected from the described relatively bar of playing football of locking bolt, and fall into the wedge type locked groove that is provided with on the described bar of playing football in the effect of self-locking spring, and the wedge type locked groove has horizontal buffer path, makes trip rod can effectively press the inertia that second switch is also alleviated the bar of playing football.
Described trigger mechanism comprises and the described cam that presses from the locking bolt outer end that cam is connected on the reducer output shaft, and decelerator is located on the base plate by triggering driven by motor, and the front and back of cam are provided with positive stop, are connected to back-moving spring between cam and the base plate.
Described trigger mechanism comprises electromagnet, and the mechanical moved end of electromagnet touches mutually with described outer end from locking bolt.
Described motor drive mechanism comprises power motor, decelerator with the power motor engagement, the engagement of the output gear wheel and rack that is connected on the reducer output shaft, the guide-track groove on tooth bar and the base plate is slidingly connected, and the tooth bar front portion is provided with step one side that is provided with on draw hook and the described bar of playing football and drags and join; Tooth bar is provided with collision block and touches mutually with the 3rd switch.
Described motor drive mechanism comprises power motor, and with the decelerator of power motor engagement, reducer output shaft joins through a shaft coupling and a screw rod, and screw rod screws togather nut slider, and nut slider and base plate upper rail groove are slidingly connected; The nut slider front portion is provided with step one side that is provided with on draw hook and the described bar of playing football and drags and join; Nut slider is provided with collision block and touches mutually with the 3rd switch.
Described motor drive mechanism comprises power motor, decelerator with the power motor engagement is connected to the cylinder that output gear and cylindrical two ends have rib on the reducer output shaft, the output gear engagement is located at the reduction gearing on the base plate, the reduction gearing end is provided with collision block, and collision block and the 3rd switch are collided and connect; Pull rope one terminates at that the other end is connected on the described bar of playing football on the cylinder; And be equal to or greater than when playing football the throw of lever at cylinder pull rope working face girth, collision block can be located on the cylinder shelves limit.
Described circuit for controlling motor comprises relay, relay the contact connect into the motor positive and inverse circuit, first switch, relay coil and second switch are connected in series at the voltage two ends, the 3rd switch series interlock force motor and motor positive and inverse circuit output end join, and self-holding contact joins with first switch, the 3rd switch in parallel respectively.
Because the position of the first switch setting can be the different fixing point of a section, trip rod is different with the position that first switch touches mutually, the asynchronism(-nization) that motor drive mechanism starts, bar disturbs mutually with motor drive mechanism for fear of playing football, as long as adjust the position of the 3rd switch, the time of colliding that changes the 3rd switch and collision block gets final product.
The utility model is big with torque, the motor drive mechanism of working stability and the bar of playing football are unidirectional is connected transmission, by being set, position switch and power motor be electrically connected with circuit for controlling motor, the spring cumulative of playing football when motor is just being changeed, self-locking mechanism locks the bar of playing football, after putting in place to motor counter-rotating, trigger mechanism releases energy the bar of playing football, and realizes the function of playing football; Therefore, the utility model is compared with original technology has working stability, and torque is big, lower-cost advantage.
The utility model is described in further detail below in conjunction with drawings and Examples:
Description of drawings
Fig. 1 is the utility model embodiment one overall structure schematic diagram;
Fig. 2 is the utility model embodiment two overall structure schematic diagrames;
Fig. 3 is the utility model embodiment three overall structure schematic diagrames;
Fig. 4 is the utility model circuit for controlling motor schematic diagram.
The specific embodiment
As Fig. 1, shown in Figure 4, a kind of Soccer robot ball-kicking device embodiment one, cavity 2 is arranged on the base plate 1, bar 4 vertical the giving prominence to of playing football are provided with trip rods 5, the spring 3 of the playing football bar 4 of being played football is compressed in the cavity 2, and cavity 2 outer walls are opened a long Yao Yuan hole that allows trip rod 5 to make back and forth movement within it; First K switch 1 is installed in the front end of trip rod 5 strokes on base plate 1, and second switch K2 is installed in the back not-go-end of trip rod 5 strokes, and touches mutually with trip rod 5 respectively; Playing football is connected with the plate washer 6 that the bar 4 that prevents to play football passes on the bar 4, and the bar 4 of playing football is provided with wedge shape locked groove 7; Self-locking mechanism and cavity 2 are set to one, it is slidingly connected from the locking bolt 8 and the bar 4 of playing football, and under the effect of self-locking spring 9, can fall into the unidirectional bar 4 of playing football that blocks in the wedge shape locked groove 7 of the bar 4 of playing football, bump from the outer end of locking bolt 8 and a cam 11 and to connect, cam 11 is connected on the reducer output shaft 10 that joins with base plate 1, and drive by triggering motor (not shown) with the engagement of this decelerator, base plate 1 is provided with the postioning abutment 12,13 of restriction cam 11 movings range, also is connected to back-moving spring 14 between cam 11 and the base plate 1; By output gear on the reducer output shaft 20 of power motor M engaged transmission 21 and tooth bar 15 engagements, the guide-track groove 19 on tooth bar 15 and the base plate 1 is slidingly connected, to guarantee tooth bar 15 steady operation under the guiding of rail groove; Be connected with step 17 at bar 4 afterbodys of playing football, tooth bar 15 front portions are provided with step 17 inboards that are provided with on rack hook 16 and the described bar 4 of playing football and drag and join; Tooth bar 15 is provided with collision block 18 and touches mutually with the 3rd K switch 3 on the base plate 1; Circuit for controlling motor comprises relay, relay contact J1-1, J1-2, J2-1, J2-2 connect into power motor M positive and negative rotation circuit, first K switch 1, relay coil L, second switch K2 are connected in series at both ends of power, the 3rd K switch 3 serial power motor M are connected on the motor positive and inverse circuit output end, and self-holding contact J3-1, J4-1 are connected in parallel with the 3rd K switch 3, first K switch 1 respectively.
The course of work is as follows: after circuit for controlling motor is connected power supply, if be that the bar 4 of playing football is finished state when playing football forward at this moment, then the 3rd K switch 3 disconnects, second switch K2 is closed because of removing of trip rod 5, after trip rod 5 bruisings first K switch 1, make first K switch, 1 closed the connection, voltage V+ is through first K switch 1, relay coil L, second switch K2 ground connection, the energising of formation loop, the relay adhesive, the normally opened contact closure, normally-closed contact disconnects, and voltage V+ is through relay contact J1-1, contact J3-1, power motor M, contact J2-1 ground connection forms the loop, makes power motor M get positive electricity, forward rotation, and drive tooth bars 15 by the output gear on the reducer output shaft 20 21 and move backward, the 3rd K switch 3 because of collision block 18 with the removing of the bar 4 of playing football and closed, and first K switch 1 is not because of there being pressing of trip rod 5 to disconnect yet, but because of self-holding contact J4-1 is connected in parallel on first K switch 1, or guard relay energising adhesive; Tooth bar 15 hooks step 17 through rack hook 16 and drags the bar 4 of playing football and move backward, the spring 3 of playing football is compressed cumulative, to to after locking bolt 8 is in self-locking spring 9 acts on the wedge type locked groove 7 that falls into the bar 4 of playing football, trip rod 5 is with the mobile second switch K2 that touches of the bar 4 of playing football at this moment, second switch K2 is disconnected, make the loop outage of relay coil L, each contact of relay discharges; At this moment, voltage V+ forms the loop through contact J2-2, power motor M, the 3rd K switch 3, contact J1-2 ground connection, make power motor M get negative electricity, backward rotation, bar 4 is blocked from locking bolt 8 owing to play football, and power motor M drives tooth bar 15 by the output gear on the reducer output shaft 20 21 and moves forward, and the collision block 18 on tooth bar 15 touches the 3rd K switch 3, the 3rd K switch 3 is disconnected, and power motor M outage stops operating; At this moment, motor adds a trigger voltage if the player gives triggering, triggering motor presses to from locking bolt 8 by reducer output shaft 10 drive cams 11, skid off the wedge type locked groove 7 of the bar 4 of playing football from locking bolt 8, bar 4 fast moving forward under the elastic force effect of the spring 3 of playing football of playing football, stop bit is in link stopper 6, reached the purpose of playing football, cam 11 rotary spacings are in link stopper 13, after the cancellation trigger voltage, cam 11 is pulled under the elastic force effect of back-moving spring 14 again, be limited in link stopper 12, realize once playing football operating process; The bar 4 of playing football move play football press first K switch 1 after, begin above-mentioned new circulation again.
As Fig. 2, shown in Figure 4, embodiment two and embodiment one difference, be that reducer output shaft 20 is different with the syndeton of the bar 4 of playing football, as seen from Figure 2, embodiment two is, reducer output shaft 20 is by shaft coupling 28 connecting screw rods 26, and screw rod 26 screws togather nut slider 27, and nut slider 27 is slidingly connected with base plate 1 upper rail groove 19; Nut slider 27 front portions are provided with step 17 inboards that are provided with on draw hook 16 and the described bar 4 of playing football and drag and join; Nut slider 27 is provided with collision block 18 and touches mutually with the 3rd K switch 3, and its course of work is the same with embodiment one.
As Fig. 3, Fig. 4 embodiment three and embodiment one difference, be that reducer output shaft 20 is different with the syndeton of the bar 4 of playing football, the position difference of the 3rd K switch 3, as seen from Figure 3, embodiment three is connected to the cylinder 22 that output gear 21 and cylindrical two ends have rib on reducer output shaft 20, output gear 21 engagement is located at the reduction gearing 25 on the base plate 1, and reduction gearing 25 ends are provided with collision block 18, collision block 18 be located at the 3rd K switch 3 on the base plate 1 and collide and connect; Pull rope 23 1 terminates at that the other end is connected on the bar 4 of playing football on the cylinder 22.Pull rope 23 is provided with one near described 4 one sections on the bar of playing football and terminates at the other end on the bar 4 of playing football and be connected on receipts rope spring 24 on the rope.
Embodiment three courses of work are the same with embodiment one, both after the bar 4 of playing football is kicked out of, trigger first K switch 1, power motor M forward rotation, by reducer output shaft 20, the rotation of cylinder 22, drive pull rope 23 spurs the bar 4 of playing football and moves backward, is pinned from locking bolt 8 up to the bar 4 of playing football, and trip rod 5 touches second switch K2, in this process, pull rope 23 is tightened up, and the 3rd K switch 3 closures are when power motor M is touched counter-rotating because of second switch K2 by trip rod 5, reducer output shaft 20 backward rotation, pull rope 23 loosens, and the pull rope 23 that receipts rope spring 24 will loosen tightens up a bit, twines to prevent pull rope 23; Collision block 18 on reduction gearing 25 bumps out the 3rd K switch 3, and power motor M stops operating, and the trigger command of playing football with wait moves when playing football at the bar 4 of playing football, and does not influence moving of the bar of playing football because of pull rope 23 has loosened.
Claims (10)
1. Soccer robot ball-kicking device, comprise base plate, the bar of playing football is connected with motor drive mechanism with the spring of playing football, it is characterized in that: first switch and second switch are set on base plate contact with the described bar of playing football, the 3rd switch is set on base plate contacts with described motor drive mechanism, three switches are electrically connected with circuit for controlling motor; The power motor of motor drive mechanism is electrically connected with circuit for controlling motor; Described bar and the self-locking mechanism of playing football is connected, and self-locking mechanism is connected to trigger mechanism.
2. Soccer robot ball-kicking device according to claim 1, it is characterized in that: a trip rod is set on the described bar of playing football, second switch is installed in not-go-end place behind the trip rod stroke, first switch is installed in the trip rod stroke section of second switch front, and first, second switch switch touches mutually with trip rod respectively.
3. Soccer robot ball-kicking device according to claim 1 and 2, it is characterized in that: described self-locking mechanism comprises from locking bolt, from the locking bolt self-locking spring that joins, be slidingly connected from the described relatively bar of playing football of locking bolt, and fall into the wedge type locked groove that is provided with on the described bar of playing football in the effect of self-locking spring.
4, Soccer robot ball-kicking device according to claim 3, it is characterized in that: described trigger mechanism comprises and the described cam that presses from the locking bolt outer end, cam is connected on the reducer output shaft, decelerator is located on the base plate by triggering driven by motor, the front and back of cam are provided with positive stop, are connected to back-moving spring between cam and the base plate.
5, Soccer robot ball-kicking device according to claim 3, it is characterized in that: described trigger mechanism comprises electromagnet, the mechanical moved end of electromagnet touches mutually with described outer end from locking bolt.
6, Soccer robot ball-kicking device according to claim 1, it is characterized in that: described motor drive mechanism comprises power motor, decelerator with the power motor engagement, the output gear wheel and rack engagement that is connected on the reducer output shaft, guide-track groove on tooth bar and the base plate is slidingly connected, and the tooth bar front portion is provided with step one side that is provided with on draw hook and the described bar of playing football and drags and join; Tooth bar is provided with collision block and touches mutually with the 3rd switch.
7, Soccer robot ball-kicking device according to claim 1, it is characterized in that: described motor drive mechanism comprises power motor, decelerator with the power motor engagement, reducer output shaft joins through a shaft coupling and a screw rod, screw rod screws togather nut slider, and nut slider and base plate upper rail groove are slidingly connected; The nut slider front portion is provided with step one side that is provided with on draw hook and the described bar of playing football and drags and join; Nut slider is provided with collision block and touches mutually with the 3rd switch.
8. Soccer robot ball-kicking device according to claim 1, it is characterized in that: described motor drive mechanism comprises power motor, decelerator with the power motor engagement, be connected to output gear and cylindrical two ends on the reducer output shaft and have the cylinder of rib, the output gear engagement is located at the reduction gearing on the base plate, the reduction gearing end is provided with collision block, and collision block touches mutually with the 3rd switch; Pull rope one terminates at that the other end is connected on the described bar of playing football on the cylinder.
9, Soccer robot ball-kicking device according to claim 8 is characterized in that: described collision block can be located on the cylinder shelves limit.
10, Soccer robot ball-kicking device according to claim 1, it is characterized in that: described circuit for controlling motor comprises relay, relay the contact connect into the motor positive and inverse circuit, first switch, relay coil and second switch are connected in series at the voltage two ends, the 3rd switch series interlock force motor and motor positive and inverse circuit output end join, and self-holding contact joins with first switch, the 3rd switch in parallel respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008201305079U CN201239543Y (en) | 2008-06-25 | 2008-06-25 | Ball-kicking device of football robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008201305079U CN201239543Y (en) | 2008-06-25 | 2008-06-25 | Ball-kicking device of football robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201239543Y true CN201239543Y (en) | 2009-05-20 |
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ID=40712831
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2008201305079U Expired - Fee Related CN201239543Y (en) | 2008-06-25 | 2008-06-25 | Ball-kicking device of football robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201239543Y (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102050164A (en) * | 2010-11-12 | 2011-05-11 | 上海大学 | Continuously-jumping movement mechanism for bionic robot |
| CN107236830A (en) * | 2017-08-04 | 2017-10-10 | 黄子滔 | Fur drawing and setting fixture |
| CN108096845A (en) * | 2018-01-24 | 2018-06-01 | 陈子尧 | A kind of football robot ball-kicking device |
-
2008
- 2008-06-25 CN CNU2008201305079U patent/CN201239543Y/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102050164A (en) * | 2010-11-12 | 2011-05-11 | 上海大学 | Continuously-jumping movement mechanism for bionic robot |
| CN102050164B (en) * | 2010-11-12 | 2012-07-04 | 上海大学 | Continuously-jumping movement mechanism for bionic robot |
| CN107236830A (en) * | 2017-08-04 | 2017-10-10 | 黄子滔 | Fur drawing and setting fixture |
| CN108096845A (en) * | 2018-01-24 | 2018-06-01 | 陈子尧 | A kind of football robot ball-kicking device |
| CN108096845B (en) * | 2018-01-24 | 2020-01-03 | 陈子尧 | Football robot kicking device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20090520 Termination date: 20110625 |