CN202506127U

CN202506127U - Robot pneumatic device and ball hitting mechanism

Info

Publication number: CN202506127U
Application number: CN2012200194465U
Authority: CN
Inventors: 宋小康; 孙立彪
Original assignee: Shanghai Xpartner Robotics Co Ltd
Current assignee: Shanghai Xpartner Robotics Co Ltd
Priority date: 2012-01-17
Filing date: 2012-01-17
Publication date: 2012-10-31
Anticipated expiration: 2022-01-17

Abstract

The utility model discloses a robot pneumatic device and a ball hitting mechanism. The robot pneumatic device and the ball hitting mechanism comprise a connecting board, an air inflation unit, an air storage unit, an air pressure sensing unit and an air conveying unit. The surface of the connecting board is provided with a plurality of interfaces forming access inside the connecting board. The air inflation unit comprises a high pressure ball valve and is connected with a first interface of the plurality of the interfaces in sealed mode. The air storage unit is connected with a second interface of the plurality of the interfaces in sealed mode. The air pressure sensing unit is connected with a third interface of the plurality of the interfaces in sealed mode. The air conveying unit comprises a magnetic valve and is connected with a fourth interface of the plurality of the interfaces in sealed mode. When the high pressure ball valve and the magnetic valve are closed, the connecting board, the air inflation unit, the air storage unit, the air pressure sensing unit and the air conveying unit form a sealed air circuit. The robot pneumatic device and the ball hitting mechanism are high in air storage pressure, high in adjustability of shooting actions and shooting power, and low in cost.

Description

Robot pneumatic device and kicking machine

Technical field

The utility model relates to a kind of pneumatic means, particularly is applicable to the pneumatic means and the kicking machine of the robot of playing football.

Background technology

Along with human society scientific development and technological progress, social production and various fields in life are infiltrated in automation control more and more.How People more and more attempts various needn't going with the executing agency that Based Intelligent Control is transferred in the action that the people accomplishes in person accomplished, and in other words, the suitable application area of robot has obtained unprecedented expansion.People usually hold the intelligent robot match, can improve ROBOT CONTROL intelligence with the engineer who encourages automation control area.

For example, in robot soccer game, be the football team that the team member constitutes by intelligent mobile robot, adopt the rule that is similar to human football match to play, robot is fully independently playing football during the games, and match is the winner to kick opponents' goal person in the majority.Common Soccer robot ball-kicking device is generally realized playing football through following dual mode: one, utilize electromagnetic mode to drive the bar of playing football, realize playing football of the different shooting ranges of Soccer robot; Two, utilize pneumatic element as power source, open and close the break-make of controlling gas circuit, realize the Soccer robot shooting with this through the control magnetic valve.Based on the ball-kicking device of electromagnetic mode, big, the distance of goal getting power, but need boost up to several hectovolts, cost is expensive, and has certain Keep Clear-High Voltage factor; Based on the ball-kicking device of pneumatic mode, because air pressure restriction, often shooting range is shorter, if improve air pressure, then air-tightness is difficult to guarantee, and along with the minimizing of gas-storing capacity, air pressure reduces, and the strength of playing football also weakens thereupon gradually.Above-mentioned two kinds of ball-kicking devices, the contacting points position of its play football bar and football are often constant all the time when playing football, and can not adjust according to the controller instruction, and the shooting mode is single, can not realize the flat fire action of football and the exchange of flip shot action.

Those skilled in the art be devoted to study a kind of can high-pressure gas, shooting action and the adjustable kicking machine and the robot of playing football of goal getting power.

The utility model content

The technical problem that the utility model will solve is in order to overcome in the prior art; Robot pneumatic device poor air-tightness; Can't change and regulate air pressure and carry out action along with gas-storing capacity, the deficiency that the pneumatic actuator action is single provides a kind of robot pneumatic device and the kicking machine of using it.

The utility model solves above-mentioned technical problem through following technical proposals:

A kind of robot pneumatic device, its characteristics are that said pneumatic means comprises:

A plate, said connecting plate surface is provided with a plurality of interfaces, and said a plurality of interfaces are at the inner path that forms of said connecting plate;

One inflation unit comprises a high-pressure ball valve, and said inflation unit is connected with one first sealing joint in said a plurality of interfaces;

One gas storage unit, said gas storage unit is connected with one second sealing joint in said a plurality of interfaces;

One air pressure sensing unit, said air pressure sensing unit is connected with one the 3rd sealing joint in said a plurality of interfaces;

One gas transmission unit comprises a magnetic valve, and said gas transmission unit is connected with one the 4th sealing joint in said a plurality of interfaces;

Wherein, said connecting plate, inflation unit, gas storage unit, air pressure sensing unit and gas transmission unit form a sealing gas circuit when high-pressure ball valve and closed electromagnetic valve.

Preferably, said high-pressure ball valve one end is connected with said connecting plate through one first high pressure connection, and the high-pressure ball valve other end communicates with an extraneous aerating device through one second high pressure connection.

Preferably, said gas storage unit comprises a gas cylinder, and said gas cylinder is connected with said connecting plate through a gas cylinder joint.

Preferably, said air pressure sensing unit comprises a pressure sensor, and said pressure sensor is connected with said connecting plate through one the 3rd high pressure connection.

Preferably, said magnetic valve one end is connected with said connecting plate through one the 4th high pressure connection, and the magnetic valve other end is connected with a pneumatic copper pipe through one the 5th high pressure connection.

Preferably, the L-shaped shape of said connecting plate, said a plurality of joint distributed and arranged are on different end faces.

Preferably, said connecting plate wherein at least one end face is provided with screwed hole, and this screwed hole does not communicate with said sealing gas circuit.

Preferably, the inner surface of said connecting plate internal gas path is smooth, and the turning is an arc surface, the metal that said connecting plate is one of the forming.

Preferably, said the 5th high pressure connection is the bite type stainless joint.

A kind of kicking machine of the robot of playing football, its characteristics are that said kicking machine comprises:

At least one aforesaid pneumatic means;

One digital signal processing unit, said digital signal processing unit is connected with the gas transmission unit with said air pressure sensing unit.

Preferably, said digital signal processing unit is controlled the switching time of gas transmission valve according to the signal of said air pressure sensing unit transmission.

In the utility model, but above-mentioned optimum condition combination in any on the basis that meets this area general knowledge promptly gets each preferred embodiment of the utility model.

The positive progressive effect of the utility model is: the pneumatic means gas storage pressure that the utility model discloses is high, and adjustability is strong, and cost is low, and is simple in structure.

Description of drawings

Fig. 1 is the structure explosive view of the pneumatic means under specific embodiment of the utility model.

Fig. 2 is the structure explosive view of the beating unit under specific embodiment of the utility model.

Fig. 3 is the structural representation of the kicking machine under specific embodiment of the utility model.

Fig. 4 is one of them the effect sketch map of beating unit square stance under specific embodiment of the utility model.

Fig. 5 is another effect sketch map of beating unit square stance under specific embodiment of the utility model.

The specific embodiment

The embodiment of the utility model will describe with reference to accompanying drawing.In Figure of description, the element with similar structures or function will be used the components identical symbolic representation.Accompanying drawing for the ease of each embodiment of explanation the utility model, is not to carry out the explanation of exhaustive to the utility model just, neither the scope of the utility model be limited.From the purpose of clear narration, potted components such as retaining element such as a large amount of screws, bolts in the structure explosive view and packing ring will be enumerated explanation no longer successively, and those skilled in the art should be understood that these all are the technological means of using always in the industry.

Fig. 1 is the structure explosive view of the pneumatic means under specific embodiment of the utility model.In this embodiment; Pneumatic connecting plate 10 inside are provided with a plurality of gas passages (scheming not shown); Gas passage forms a plurality of ventilation interfaces at the end face of pneumatic connecting plate 10; These a plurality of ventilation interfaces are provided with internal thread, are convenient to be connected with other high pressure sealing joint, and gas passage communicates with each other in said connecting plate inside.Parts effect according to the ventilation interface connects is different; These interfaces can be divided into inflation interface, gas storage interface, air pressure induction interface and gas transmission interface or the like; Therewith accordingly, each parts and sub-assembly thereof also can be referred to as inflation unit, gas storage unit, air pressure sensing unit and gas transmission unit or the like.Pneumatic connecting plate 10 possibly also be provided with more ventilation interface; When the temporary connectionless parts of unnecessary interface; Should vacant interface be shut with high pressure seal, with guarantee should be pneumatic connecting plate 10, inflation unit, gas storage unit, air pressure sensing unit and gas transmission unit form one and seal gas circuit.The effect of each ventilation interface is unfixing; If still can accomplish good high pressure sealing behind the reversing of position between parts and the parts with corresponding ventilation interface; And the structure arrangement of whole pneumatic means do not had harmful effect, then can change arbitrarily between the parts.Pneumatic connecting plate 10 can be one-body molded by metal, also can carry out the material that gases at high pressure are tightly connected by other and process.From the consideration that reduces fluid resistance, the inner surface of pneumatic connecting plate 10 internal gas paths should be smooth as far as possible, and the passage turning should be arc surface, to reduce the pressure loss of gases at high pressure in passage.In the present embodiment, pneumatic connecting plate 10 is shaped as the approximate cuboid of L shape, and said a plurality of joint distributed and arranged are on different end faces.The extension that approximate cuboid should be similar to cuboid also is provided with screwed hole, is convenient to pneumatic connecting plate 10 fixed installations.

One high-pressure ball valve 20 is connected with the inflation interface (scheming not shown) of pneumatic connecting plate 10 through one 90 ° of high pressure connections 22, forms inflation unit, and this high-pressure ball valve other end communicates with extraneous charger through inflation high pressure connection 24.When needs were inflated, this inflation high pressure connection 24 was tightly connected with charger (for example air compressor), opens high-pressure ball valve 20, and gases at high pressure get into pneumatic connecting plate 10 through this inflation interface, thereby get into corresponding gas storage unit.In a preferred embodiment, the high-pressure fast aeration joint is selected in inflation high pressure connection 24 for use, to guarantee the accomplishing inflation action quickly.

The gas storage unit comprises a gas cylinder 30, and this gas cylinder 30 is connected with the gas storage interface 12 of pneumatic connecting plate 10 through a gasket seal 34 gentle bottle graft heads 36.Gas cylinder 30 materials are not limit, but should possess the ability that can reach tens atmospheric gases of storage.

The air pressure sensing unit comprises a pressure sensor 40, and this pressure sensor 40 is connected with pressure sensor attaching nut 46, and pressure sensor attaching nut 46 is connected with the air pressure induction interface 14 of pneumatic connecting plate 10 through sensor high pressure connection 48.Those skilled in the art should be understood that; Pressure sensor 40 measuring fluid pressure; And pressure signal transmitted to processor with the mode of analog signal or data signal; This is a mature technique comparatively in the industry, and the sensor that high-pressure gas pressure is accurately measured in any suitable can being used for can both be suitable for.

The gas transmission unit comprises a magnetic valve 50; Said magnetic valve 50 1 ends are connected with the gas transmission interface 16 of said pneumatic connecting plate 10 with gas transmission high pressure connection 57 through a high pressure connection 55, a high-pressure adapter assembly 56, and magnetic valve 50 other ends pass through a bite type stainless joint assembly 52 and are connected with a pneumatic copper pipe 51.Like this, when magnetic valve was opened, the gases at high pressure in the gas cylinder 30 just can be exported through pneumatic copper pipe 51, thus outputting power.

This pneumatic means also comprises a digital signal processing unit (Digital Signal Processing unit, " DSP ") (scheming not shown), and DSP can comprise microprocessor (μ P), microcontroller (μ C), central processing unit (CPU) etc.DSP can be fixedly mounted on the position of pneumatic means in any appropriate, also can be installed in other suitable position of robot.

Pressure sensor 40 transmits pressure signal to DSP, DSP response pressure signal is judged current gas pressure value, and magnetic valve 50 sends control signal, drives magnetic valve 50 and opens and closes action.When magnetic valve 50 is opened, pneumatic copper pipe 51 delivery airs, when magnetic valve 50 cut out, pneumatic copper pipe 51 stopped delivery air.When present gas pressure value is lower than one or more predefined threshold values; DSP correspondingly prolongs the opening time of magnetic valve 50; Thereby prolong the air output time; Like this, when the gas-storing capacity of gas cylinder 30 reduces, can guarantee the energy supply of air pressure through output more air amount.

Fig. 2 is the structure explosive view of the beating unit under specific embodiment of the utility model.In this embodiment, base 100 is a rectangle housing, a punching hole 110, one springs 120 is set on it is connected base 100 belows through a plate 122, and base 100 top end are provided with lead screw hole 130 and two guide rod holes 132.

One air cylinder fixed plate 250 is fixed on the base 100 through screw, and cylinder 200 front ends comprise retaining thread portion 210 and piston head 220.Retaining thread portion 210 passes punching hole 110 and is spirally connected with cylinder hold-down nut 260 and tightens, and cylinder hold-down nut 260 and cylinder grasp air cylinder fixed plate 250 like this, thereby cylinder 200 is fixedly connected with base 100.One bump 240 is connected with piston head 220 through a bump head adjustment nut 230.Can adjust the stroke position of bump 240 through rotating percussion head adjustment nut 230.Piston 200 inlet ends are tightly connected through bite type stainless joint 270 and aforementioned pneumatic copper pipe 51, thereby open and close the operation of control cylinder piston head 220 through control magnetic valve 50.

Position adjustment seat 330 is provided with trapezoidal nut hole and linear bearing hole, and striking rod 300 articulates with position adjustment seat 330.Striking rod 300 bottoms are provided with a plurality of screws, and striking rod adjustment plate 310 can optionally be fixed on the striking rod 300 through respective screws according to the position needs.Striking rod adjustment plate 310 is provided with a kink, and one section of kink also is provided with a screw, impacts screw 320 and screws in this screw, impacts effect with enhancing.Striking rod 300 bottoms also are connected with spring 120 simultaneously.When piston head 220 is in initial position; Striking rod 300 upper ends are suspended on the position adjustment seat 330; The lower end is vertically sagging, drives when releasing forward when piston head 220 receives air pressure, and striking rod 300 hits; The initial positions of piston head 220 withdrawal subsequently, striking rod 300 resets under the elastic reaction of spring 120.Spring 120 can replace with rubber parts or other suitable flexible member.When piston head 220 did not stretch out, bump 240 kept in touch with striking rod.

Trapezoidal nut 410 and two linear bearings 420 pass corresponding hole site and fixedly install by screw and position adjustment seat 330.Leading screw 400 passes trapezoidal nut 410 and position adjustment seat 330, and base lead screw hole 130 and unsettled is stretched in the lower end; Guide rod 430 lower ends are provided with screw thread, pass linear bearing 420 and position adjustment seat, and the lower end is stretched into base guide rod hole 132 and is arranged on the base 100 by fixed by nut.Guide rod 430 upper ends are fixedly connected with guide pillar installing plate 440.Guide pillar installing plate 440 is passed in leading screw 400 upper ends, is connected by the output shaft of shaft coupling 460 with DC servo motor 470, and DC servo motor 470 front ends are provided with one speed reducer 472, guarantees the suitable rotating speed of leading screw.DC servo motor 470 is fixed on the guide pillar installing plate 440 by motor mounting plate 450.Like this, base 100 connects into an integral body with guide pillar mount pad 440 through two guide rods 430, and leading screw 400 is fixed between guide pillar installing plate 440 and the base 100; Trapezoidal nut 410 turn on leading screw 400 drives position adjustment seat 330 and linear bearing 420 and slides up and down along guide rod.

DC servo motor 470 is connected with encoder 480, thereby position adjustment seat 330 current position signallings are transferred to aforementioned DSP.Signalization plate 510 above the position adjustment seat 330 respectively is provided with upper photoelectric sensor 510 and the next photoelectric sensor 520, as protecting component on guide pillar installing plate 440 and the base 100.Put to rise to have surpassed photoelectric sensor 510 or descended when position adjustment seat and surpassed the position of the next photoelectric sensor 520, the DSP response signal is sent the signal that stops or reverse to DC servo motor 470, with assurance position adjusting mechanism work.

Fig. 3 is the structural representation of the kicking machine under specific embodiment of the utility model.In this embodiment, play football robot except that kicking machine is set, also comprise vision system (scheming not shown), to making judgement when the position at forecourt and goal.The gas pressure signal that aforementioned DSP response pressure sensor 40 transmits; The relevant information of position signalling that encoder 480 transmits and vision system pass; Make judgement rapidly, instruction is sent to magnetic valve 50, DC servo motor 470 in the switching time of decision gas transmission valve and the position of striking rod 300; Make striking rod 300 reach suitable height, ball is hit.

Fig. 4 and Fig. 5 are the execution sketch map of the beating unit square stance under specific embodiment of the utility model.When the signal of vision system transmission goal and ball, in the time of need ball being hit with flat mode of playing, the rotation of DSP drive motors, leading screw orders about position adjustment seat and striking rod rises, and reaches suitable position, and ball is hit.Vice versa, in the time need ball being hit to choose the mode of playing, and the reverse rotation of DSP drive motors, leading screw orders about position adjustment seat and striking rod descends, and reaches suitable position, and ball is hit.

More than though the specific embodiment of the utility model has been described, it will be understood by those of skill in the art that these only illustrate, the protection domain of the utility model is limited appended claims.Those skilled in the art is under the prerequisite of principle that does not deviate from the utility model and essence; Can make numerous variations or modification to these embodiments; For example, DC servo motor can be other suitable micromachine, as long as can receive DSP control and output to deliver signal; Can be suitable for, these changes and modification all fall into the protection domain of the utility model.

Claims

1. a robot pneumatic device is characterized in that, said pneumatic means comprises:

2. pneumatic means as claimed in claim 1 is characterized in that, said high-pressure ball valve one end is connected with said connecting plate through one first high pressure connection, and the high-pressure ball valve other end communicates with an extraneous aerating device through one second high pressure connection.

3. pneumatic means as claimed in claim 1 is characterized in that, said gas storage unit comprises a gas cylinder, and said gas cylinder is connected with said connecting plate through a gas cylinder joint.

4. pneumatic means as claimed in claim 1 is characterized in that, said air pressure sensing unit comprises a pressure sensor, and said pressure sensor is connected with said connecting plate through one the 3rd high pressure connection.

5. pneumatic means as claimed in claim 1 is characterized in that, said magnetic valve one end is connected with said connecting plate through one the 4th high pressure connection, and the magnetic valve other end is connected with a pneumatic copper pipe through one the 5th high pressure connection.

6. like each described pneumatic means of claim 1 to 5, it is characterized in that, the L-shaped shape of said connecting plate, said a plurality of joint distributed and arranged are on different end faces.

7. like each described pneumatic means of claim 1 to 5, it is characterized in that said connecting plate wherein at least one end face is provided with screwed hole, this screwed hole does not communicate with said sealing gas circuit.

8. like each described pneumatic means of claim 1 to 5, it is characterized in that the inner surface of said connecting plate internal gas path is smooth, the turning is an arc surface, the metal that said connecting plate is one of the forming.

9. pneumatic means as claimed in claim 5 is characterized in that, said the 5th high pressure connection is the bite type stainless joint.

10. the kicking machine of the robot of playing football is characterized in that, said kicking machine comprises:

Each described pneumatic means of at least one claim 1 to 9;

11. kicking machine as claimed in claim 10 is characterized in that, said digital signal processing unit is controlled the switching time of gas transmission valve according to the signal of said air pressure sensing unit transmission.