CN201912767U - Soccer-kicking mechanism for autonomous medium-sized soccer robot - Google Patents
Soccer-kicking mechanism for autonomous medium-sized soccer robot Download PDFInfo
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- CN201912767U CN201912767U CN2010206831133U CN201020683113U CN201912767U CN 201912767 U CN201912767 U CN 201912767U CN 2010206831133 U CN2010206831133 U CN 2010206831133U CN 201020683113 U CN201020683113 U CN 201020683113U CN 201912767 U CN201912767 U CN 201912767U
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Abstract
The utility model relates to a soccer-kicking mechanism for an autonomous medium-sized soccer robot, which comprises a pedestal framework and the soccer-kicking mechanism, wherein a two-dimensional moving mechanism is installed on an installing seat of the pedestal framework, and the soccer-kicking mechanism is connected with the two-dimensional moving mechanism. The soccer-kicking action of the soccer-kicking mechanism is realized by adopting a stepping-motor double-shaft driver based on an FPGA (Field-Programmable Gate Array). The utility model has the advantages that: 1, the accurate movement of a soccer-kicking action-executing part of the soccer-kicking mechanism in a plane synthesized in the horizontal direction and the vertical direction can be realized, so that a soccer can be shot out along any space angle of the plane; and 2, two actions of flip shot and flat shot can be realized and can be switched as required. Even under difficult conditions, an ideal effect can also be achieved.
Description
Technical field
The utility model belongs to complete autonomous medium-sized Soccer robot, relates to a kind of complete autonomous medium-sized Soccer robot football-kicking mechanism, is that a kind of ball that can make can be along the football-kicking mechanism of arbitrary plane space angle ejaculation.
Background technology
One of matter of utmost importance that will solve in complete autonomous medium-sized robot soccer game is pass and shooting.At present, domestic complete autonomous medium-sized Soccer robot football-kicking mechanism commonly used all is made up of one group of mechanical organ that is connected on the pedestal, general part is played football bar, the power of playing football source element (as electromagnet, cylinder, pneumatic muscle etc.), the lever of playing football, and some fixedly connected parts form.But because the restriction of existing mechanical architectural characteristic, this football-kicking mechanism can only make ball choose along the dead ahead of complete autonomous medium-sized Soccer robot, thereby has limited the attack ability and the defend ability of complete autonomous medium-sized Soccer robot.Based on above-mentioned shortcoming and in order to make complete autonomous medium-sized Soccer robot improve its attack flexibility on competition area and defence flexibility, so press for the novel football-kicking mechanism of design further near the level of human pass and shooting.
The utility model content
The purpose of this utility model is to overcome the deficiency that existing football-kicking mechanism can not make ball penetrate by the arbitrary plane space angle, a kind of complete autonomous medium-sized Soccer robot football-kicking mechanism is provided, ball can be penetrated according to the space angle of expectation, even under situation of difficult, also can reach desirable effect.
In order to achieve the above object, design of the present utility model is:
1. frame for movement part: by control play football face (1, see accompanying drawing 1, down with) change the stress point of football with respect to the locus of football, thereby reach the play football purpose of angle of control.The face of playing football links together with the bar of playing football (2), and (promptly 9: horizontal screw bolt, 15: vertical screw) platform of Zu Chenging is controlled it and moved, and is also changing the stress point of football when it moves by two single shaft drivers by one.Play football face and football is to contact, and therefore can know that on the stress point of football the force direction that acts on this point then goes out the ball angle and becomes controlled by the centre of sphere.When the centre of sphere of the center of the face of playing football and football is on same horizontal line, under the control of motion control part, just can realize the purpose of flat fire.
2, motion control part: two single shaft drivers (being horizontal screw bolt and vertical screw) are respectively by independently stepper motor (10) (16) drive, stepper motor is respectively by independently motor-drive circuit driving, the control chip of whole system adopts FPGA, and the signal of motor-drive circuit is sent by FPGA.When playing football during signal that FPGA receives that host computer sends, send signal immediately and make cylinder discharge gas, carry out playing football shooting action thereby drive the face of playing football, this action was finished in moment.
According to above-mentioned utility model design, the utility model adopts following technical proposals:
A kind of complete autonomous medium-sized cue ball robot football-kicking mechanism comprises pedestal framework and football-kicking mechanism, it is characterized in that on the mount pad of described pedestal framework two-dimentional travel mechanism being installed, and this two dimension travel mechanism connects described football-kicking mechanism.
The structure of described pedestal framework is: be fixedly connected into the square base by four section bars by four section bar contiguous blocks, in addition two vertical section bars are connected with this square base vertical fixing, and on the top of these two vertical section bars fixedly connected described mount pad.
The structure of described two-dimentional travel mechanism is: two horizontal parallel tracks are fixedly mounted on the described mount pad, the fixedly connected horizontal drive motor mount of one end of these two horizontal tracks, other end cunning is joined one and is moved horizontally nut, a horizontal drive motor is installed on described horizontal drive motor mount, this motor output shaft connects a horizontal screw bolt, and this horizontal screw bolt and the described nut that moves horizontally revolve and join; The described nut that moves horizontally is by the fixedly connected two vertical parallel tracks of triangle contiguous block, the fixedly connected vertical drive motor mount in the upper end of these two vertical parallel tracks, other end cunning is joined a vertical travelling nut, a vertical drive motor is installed on described vertical drive motor mount, this motor output shaft connects a vertical screw, and this vertical screw is revolved with described vertical travelling nut and joined.
The structure of described football-kicking mechanism is: fixedly connected with described vertical travelling nut in the upper end of a connecting rod, and the lower end is by a hinged bar of playing football of hinged block, and the lower end of this bar of playing football connects the panel of playing football; Described connecting rod is also fixedlyed connected with a cylinder, and this cylinder front end connects a cylinder connector and aims at the described bar of playing football.
The utility model has following conspicuous characteristics and advantage compared with prior art:
The first, accurately move in the plane that the striking action operating part that can realize football-kicking mechanism synthesizes with vertical direction in the horizontal direction, concede points and penetrate along the arbitrary plane space angle; The second, can realize two kinds of actions of flip shot and flat fire, and can switch as required.In complete autonomous medium-sized robot soccer competition, compare with existing football-kicking mechanism, adopt the Soccer robot of this novel football-kicking mechanism can have more shooting angle available, increase shooting chance and goal probability.
Description of drawings
Fig. 1 mechanical construction drawing of the present utility model;
Fig. 2 motion control block diagram of the present utility model;
The resultant motion design sketch of Fig. 3 horizontal direction and vertical direction;
Fig. 4 program flow diagram of the present utility model.
The specific embodiment
Preferred embodiment accompanying drawings of the present utility model is as follows:
Embodiment one: referring to Fig. 1, this complete autonomous medium-sized Soccer robot football-kicking mechanism comprises pedestal framework and football-kicking mechanism, and two-dimentional travel mechanism is installed on the mount pad 6 of described pedestal framework, and this two dimension travel mechanism connects described football-kicking mechanism.
Embodiment two: present embodiment and embodiment one are basic identical, special feature is as follows: the structure of said base framework is: be fixedly connected into the square base by four section bars 12 by four section bar contiguous blocks 13, in addition two vertical section bars 12 are connected with this square base vertical fixing, and on the top of these two vertical section bars 12 fixedly connected described mount pad 6.
The structure of above-mentioned two-dimentional travel mechanism is: two horizontal parallel tracks 18 are fixedly mounted on the described mount pad 6, the fixedly connected horizontal drive motor mount 20 of one end of these two horizontal tracks 18, other end cunning is joined one and is moved horizontally nut 17, a horizontal drive motor 10 is installed on described horizontal drive motor mount 20, this motor output shaft connects a horizontal screw bolt 9, and this horizontal screw bolt 9 revolves and joins with the described nut 17 that moves horizontally; The described nut 17 that moves horizontally is by triangle contiguous block 8 fixedly connected two vertical parallel tracks 7, the fixedly connected vertical drive motor mount 19 in the upper end of these two vertical parallel tracks 7, other end cunning is joined a vertical travelling nut 14, a vertical drive motor 16 is installed on described vertical drive motor mount 19, this motor output shaft connects a vertical screw 15, and this vertical screw 15 is revolved with described vertical travelling nut 14 and joined.
The structure of above-mentioned football-kicking mechanism is: fixedly connected with described vertical travelling nut 14 in the upper end of a connecting rod 15, and the lower end is by a hinged block 4 hinged bars 2 of playing football, and the lower end of this bar 2 of playing football connects the panel 1 of playing football; Described connecting rod 5 is also fixedlyed connected with a cylinder 11, and these cylinder 11 front ends connect a cylinder connector 3 and aim at the described bar 2 of playing football.
Embodiment three: present embodiment and embodiment two are basic identical, and special feature is as follows: the novel football-kicking mechanism motion control part of this complete autonomous medium-sized Soccer robot mainly is made up of FPGA control chip and correspondent peripheral circuit and executing agency.Its motion control block diagram as shown in Figure 2.
FPGA has the high-speed parallel operational capability of ultra-large single-chip capacity and hardware circuit, has special advantages aspect the processing of high speed complex logic.FPGA sends pulse signal and direction signal come the control step motor to motor-drive circuit motion.Stepper motor is that first stepper motor spare is controlled in the open loop that electric impulse signal changes angular displacement or displacement of the lines into.Under the situation of non-overload, the frequency and the umber of pulse of pulse signal only depended in rotating speed of motor, the position that stops, and be not subjected to the influence of load variations, when motor-drive circuit receives a pulse signal, it just drives stepper motor and rotates a fixing angle by the direction of setting, be called step angle, its rotation is to move step by step with fixing angle.Can come the pilot angle displacement by the control impuls number, thereby reach the purpose of accurate location; Can control speed and the acceleration that motor rotates by the control impuls frequency simultaneously, thereby reach the purpose of speed governing.
Peripheral circuit comprises the USB passage, encoder feedback passage, motor-drive circuit, magnetic valve and control circuit thereof.The USB passage is used for finishing communicating by letter of host computer and bottom FPGA control chip; The encoder passage is used for finishing the feedback of motor to FPGA, and motor movement adopts closed-loop control; Motor-drive circuit is used for drive motors motion, comprises positive and negative motion and stepper motor segmentation motion.Magnetic valve and control circuit thereof are used for the release of gas in the control cylinder, and gas has FPGA control release time.
Executing agency mainly comprises stepper motor, cylinder and the face of playing football.Stepper motor drives the face motion of playing football, in motion process, when playing football during signal that FPGA receives that host computer sends, sending signal immediately makes cylinder discharge gas, and release time is controlled, carries out the shooting action of playing football thereby drive the face of playing football, and this action was finished in moment.
Horizontal screw bolt that the utility model is related and vertical screw equal in length (for the ease of analyzing, we are modeled as X-axis and Y-axis with horizontal screw bolt and vertical screw, and the motion of the face of then playing football is the X-Y plane motion), i.e. directions X and Y direction equal in length.The face of playing football is a square that the length of side is d the synthetic of motion of directions X and Y direction, and as shown in Figure 3, the position of stain is the initial position of the face of playing football among the figure, promptly foursquare center.
After system powers on, the horizontal nut of horizontal screw bolt driving is positioned at the centre position of horizontal direction motor shaft, vertical screw drives the centre position that vertical nut is positioned at the vertical direction motor shaft, so the face of playing football is positioned on the initial position of expectation the i.e. foursquare center of Fig. 3.After the program operation, two travelling nuts move simultaneously, and promptly horizontal screw bolt moves upward to left movement while vertical screw, and system has realized simultaneously upwards to left movement.In the utility model, we are provided with directions X motor and the Y direction motor speed of service and equate, so on the directions X and on the Y direction, because initial position is in foursquare center, the sliding nut of horizontal screw bolt and vertical screw will arrive the border simultaneously.Program can ceaselessly just be received the feedback information of motor in running, whether arrive the border with this determined level travelling nut with vertical travelling nut, if arrive the border, then begin to move right downwards simultaneously, the analytic process that moves right downwards is to upwards similar to the analytic process of left movement simultaneously.When horizontal screw bolt and vertical screw travelling nut separately arrived separately border simultaneously, program judged by analysis, can control travelling nut and do simultaneously upwards to left movement again, and so circulation goes on.Its program flow diagram as shown in Figure 4.
Because the panel of playing football is fixed on the vertical travelling nut, and the mobile meeting of vertical travelling nut is moved along with moving horizontally moving of nut, so the face of playing football can be implemented in mobile arbitrarily purpose in the X-Y plane that horizontal screw bolt and vertical screw form.
Based on more than, the shooting action implementation of playing football of the novel football-kicking mechanism of complete autonomous medium-sized Soccer robot that the utility model is related is as described below, is made up of four parts:
First is that the nut that moves horizontally on the fixed pedestal carries out side-to-side movement on the horizontal direction (being directions X).In side-to-side movement, can synthesize plane motion with movement in vertical direction.
Second portion is to be fixed on the vertical travelling nut that moves horizontally on the nut to carry out elevating movement on the vertical direction (being the Y direction).When moving both vertically, can synthesize plane motion with horizontal motion.
Third part based on first two section, is that the panel of playing football that is fixed on the vertical travelling nut moves arbitrarily in the X-Y plane that horizontal screw bolt and vertical screw are formed.
The 4th part based on first three part, be that the panel of playing football carries out football flip shot campaign under the effect of cylinder, and this flip shot campaign is to play football to carry out when panel moves in the horizontal movement of two travelling nuts and the plane of being synthesized that moves both vertically.
The synthetic shooting and the passing of having realized the novel football-kicking mechanism of complete autonomous medium-sized Soccer robot that the utility model is related of this four componental movement, realized the purpose that the utility model will be realized, even and under difficult condition, also can reach desirable effect.
Claims (4)
1. a complete autonomous medium-sized Soccer robot football-kicking mechanism comprises pedestal framework and football-kicking mechanism, it is characterized in that a mount pad (6) of described pedestal framework is gone up the two-dimentional travel mechanism of installation, and this two dimension travel mechanism connects described football-kicking mechanism.
2. complete autonomous medium-sized Soccer robot football-kicking mechanism according to claim 1, the structure that it is characterized in that described pedestal framework is: be fixedly connected into the square base by four section bars (12) by four section bar contiguous blocks (13), two vertical section bars (12) are connected with this square base vertical fixing in addition, and at the fixedly connected described mount pad in the top of these two vertical section bars (12) (6).
3. complete autonomous medium-sized Soccer robot football-kicking mechanism according to claim 2, it is characterized in that described two-dimentional travel mechanism is: two horizontal parallel tracks (18) are fixedly mounted on the described mount pad (6), the fixedly connected horizontal drive motor mount of one end of these two horizontal tracks (18) (20), other end cunning is joined one and is moved horizontally nut (17), go up an installation horizontal drive motor (10) at described horizontal drive motor mount (20), this motor output shaft connects horizontal screw bolt (9), and this horizontal screw bolt (9) revolves and joins with the described nut (17) that moves horizontally; The described nut (17) that moves horizontally is by the fixedly connected two vertical parallel tracks of a triangle contiguous block (8) (7), the fixedly connected vertical drive motor mount in the upper end of these two vertical parallel tracks (7) (19), other end cunning is joined a vertical travelling nut (14), go up an installation vertical drive motor (16) at described vertical drive motor mount (19), this motor output shaft connects a vertical screw (15), and this vertical screw (15) is revolved with described vertical travelling nut (14) and joined.
4. complete autonomous medium-sized Soccer robot football-kicking mechanism according to claim 3, the structure that it is characterized in that described football-kicking mechanism is: fixedly connected with described vertical travelling nut (14) in the upper end of a connecting rod (15), and the lower end is by the hinged bar of playing football of a hinged block (4) (2), and the lower end of this bar of playing football (2) connects the panel of playing football (1); Described connecting rod (5) is also fixedlyed connected with a cylinder (11), and this cylinder (11) front end connects a cylinder connector (3) and aims at the described bar of playing football (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206831133U CN201912767U (en) | 2010-12-28 | 2010-12-28 | Soccer-kicking mechanism for autonomous medium-sized soccer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206831133U CN201912767U (en) | 2010-12-28 | 2010-12-28 | Soccer-kicking mechanism for autonomous medium-sized soccer robot |
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| Publication Number | Publication Date |
|---|---|
| CN201912767U true CN201912767U (en) | 2011-08-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010206831133U Expired - Fee Related CN201912767U (en) | 2010-12-28 | 2010-12-28 | Soccer-kicking mechanism for autonomous medium-sized soccer robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103203104A (en) * | 2012-01-17 | 2013-07-17 | 上海未来伙伴机器人有限公司 | Hitting device, and ball hitting mechanism and ball kicking robot employing hitting device |
| CN104474681A (en) * | 2014-12-16 | 2015-04-01 | 孙传莉 | Robot football training instrument |
| CN108096845A (en) * | 2018-01-24 | 2018-06-01 | 陈子尧 | A kind of football robot ball-kicking device |
| CN112316397A (en) * | 2020-12-18 | 2021-02-05 | 华南理工大学广州学院 | Ball kicking and receiving integrated machine |
-
2010
- 2010-12-28 CN CN2010206831133U patent/CN201912767U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103203104A (en) * | 2012-01-17 | 2013-07-17 | 上海未来伙伴机器人有限公司 | Hitting device, and ball hitting mechanism and ball kicking robot employing hitting device |
| CN103203104B (en) * | 2012-01-17 | 2016-02-17 | 上海未来伙伴机器人有限公司 | Beating unit and its kicking machine of application and robot of playing football |
| CN104474681A (en) * | 2014-12-16 | 2015-04-01 | 孙传莉 | Robot football training instrument |
| 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 |
| CN112316397A (en) * | 2020-12-18 | 2021-02-05 | 华南理工大学广州学院 | Ball kicking and receiving integrated machine |
| CN112316397B (en) * | 2020-12-18 | 2023-07-28 | 华南理工大学广州学院 | Kicking and catching integrated machine |
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| Date | Code | Title | Description |
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| 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: 20110803 Termination date: 20111228 |