CN204745644U - Play football of football robot device - Google Patents
Play football of football robot device Download PDFInfo
- Publication number
- CN204745644U CN204745644U CN201520478075.0U CN201520478075U CN204745644U CN 204745644 U CN204745644 U CN 204745644U CN 201520478075 U CN201520478075 U CN 201520478075U CN 204745644 U CN204745644 U CN 204745644U
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- CN
- China
- Prior art keywords
- slide block
- batting
- shooting
- football
- kicking
- Prior art date
- 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.)
- Expired - Fee Related
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Abstract
The utility model discloses a play football of football robot device, including frame, slider -crank mechanism and batting mechanism. The slider -crank mechanism and the mechanism that bats all install in the frame, slider -crank mechanism passes through the motor drive slider and removes along the slide rail, and the batting mechanism of installing on the shooting crane through the connecting rod drive reciprocates to batting mechanism and the relative position of the centre of sphere in the vertical direction in the batting mechanism adjust, thus the outgoing angle of football can adjust robot pass or shooting the time. The batting pole of batting in the mechanism passes through electromagnets dirver, makes the electro -magnet get the electromagnetism ejector pin and can promote to bat the pole and rotate, drive batting pole lower part the quick pass of batting board or with the shooting of expectation angle of emergence degree. The utility model discloses an advantage does: can realize the pass and with two kinds of actions of expectation angle of emergence degree shooting to the fast switch over can carry out as required between these two actions.
Description
Technical field
The utility model relates to robot field, specifically, is a kind of football robot ball-kicking device, can realize Soccer robot pass and to expect that shooting angle is shot two kinds of actions.
Background technology
Robot soccer competition is the big event of robot soccer competition always, and it is one of key of winning victory that Soccer robot pass and the diverse location in competition area accurately inject opponents' goal ball.According to the retrieval to prior art, the shortcomings such as current most of football-kicking mechanism exists complex structure, dynamics of playing football inadequate, flexibility ratio is not high, thus limit the attack ability of Soccer robot.In order to overcome above-mentioned shortcoming, make that football robot ball-kicking device structure is simple, reaction fast, further close to pass and the shooting level of the mankind, in the urgent need to developing a kind of novel ball-kicking device.
Utility model content
For the problems referred to above, the utility model proposes a kind of football robot ball-kicking device, be arranged on Soccer robot, kicked out of fast by football according to desired angle, structure is simple, controls flexibly.
The utility model football robot ball-kicking device, comprises frame, slider-crank mechanism and kicking machine.
Described slider-crank mechanism comprises servomotor, slide block guide rail, leading screw, slide block, bearing, connecting rod, shooting crane; Wherein, slide block guide rail is arranged on frame middle guide fixed mount end face along the longitudinal direction; Leading screw and slide block guide rail be arranged in parallel; Leading screw is socketed with slide block; Slide block is also slidably connected with slide block guide rail simultaneously; Leading screw rear end is connected with servo motor output shaft; Slide block end face is installed with bearing, bearing and rod rear end hinged, connecting rod front end connect shooting crane.
Described shooting crane is U-shaped structure, and two ends, rear portion are hinged with frame left and right side respectively.Shooting crane front portion be designed with crank, crank end and connecting rod front end hinged; Kicking machine is installed in shooting crane front portion
Described kicking machine comprises batting pole and thrust mechanism.Wherein, batting pole one end is hinged with shooting crane front portion; Thrust mechanism is arranged in frame, has movable push rod, and push rod end contacts with batting pole rear wall.
Thus, drive slide block to move along slide rail by crank by motor, drive the kicking machine be arranged on shooting crane to move up and down, to regulate kicking machine and centre of sphere relative position in the vertical direction in kicking machine by connecting rod.Subsequently, rotated by the rapid driven forward batting pole of the push rod of the thrust mechanism in kicking machine, and then drive the pass of striking plate speed or the shooting of batting pole 1 lower end.When being in diverse location in the vertical direction by the center and the centre of sphere controlling striking plate, under the cooperation of kicking machine, can realize expecting that shooting angle is shot.
Advantage of the present utility model is:
1, the utility model ball-kicking device, can by control electromagnet eject fast batting pole and on striking plate, realize Soccer robot pass or to expect that shooting angle is shot;
2, the utility model ball-kicking device, compact conformation, be easy to realize, ball-kicking device can Fast Installation on Soccer robot;
3, the utility model ball-kicking device, adopts modularized design, slider-crank mechanism is connected together with kicking machine formed overall, can Fast Installation in Soccer robot appropriate location.
Accompanying drawing explanation
Fig. 1 is the utility model ball-kicking device overall structure schematic diagram;
Fig. 2 is the utility model ball-kicking device rack construction schematic diagram.
In figure:
1-frame 2-slider-crank mechanism 3-kicking machine
101-guide rails fixing support and 102-base 103-left plate
104-right plate 201-servomotor 202-shaft coupling
203-slide block guide rail 204-leading screw 205-slide block
206-bearing 207-connecting rod 208-shoots crane
208a-crank 209-contiguous block 301-batting pole
302-electromagnet 302a-electromagnetism push rod 303-striking plate
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is described in further detail.
The utility model football robot ball-kicking device, adopts modularized design, comprises frame 1, slider-crank mechanism 2 and kicking machine 3, as shown in Figure 1.
Described frame 1 comprises guide rails fixing support 101, base 102, left plate 103 and right plate 104, as shown in Figure 2; Wherein, guide rails fixing support 101 is setting up and down with base 102.Left plate 103 and right plate 104 are vertically arranged.Left plate 103 is connected with guide rails fixing support 101 left end, base 102 left end simultaneously; Right plate 104 is connected with guide rails fixing support 101 right-hand member, base 102 right-hand member simultaneously; Form integral-rack 1 structure thus, for installing and supporting slider-crank mechanism 2 and kicking machine 3.
Institute's slider-crank mechanism 2 comprises servomotor 201, shaft coupling 202, slide block guide rail 203, leading screw 204, slide block 205, bearing 206, connecting rod 207, shooting crane 208 and contiguous block 209.
Wherein, slide block guide rail 203 is two, and two slide block guide rails 203 be arranged in parallel, is fixedly mounted in groove that frame 1 middle guide fixed mount 101 end face offers along the longitudinal direction.Leading screw 204 and two slide block guide rails 203 be arranged in parallel, and rear and front end is connected with leading screw support by bearing, and leading screw support installing is at guide rails fixing support 101 upper surface.Leading screw 204 is socketed with slide block 205, forms screw pair; Slide block 205 is also slidably connected with two slide block guide rails 203 simultaneously, forms moving sets; The motion guide of slide block 205 is realized by slide block guide rail 203.Leading screw 204 rear end is connected with servomotor 201 output shaft by shaft coupling 202.Drive leading screw 204 to rotate by servomotor 201 thus, band movable slider 205 moves along slide block guide rail 203.Slide block 205 end face is installed with bearing 206, and bearing 206 is hinged by rear pin shaft with connecting rod 207 rear end, and connecting rod 207 front end is used for connecting shooting crane 208.Described shooting crane 208 is symmetrical U-shaped structure, and two ends, rear portion are hinged by lifting structure pivot pin respectively and between left plate 103 and right plate 104 sidewall; The front portion design of shooting crane 208 is perpendicular to the integrated crank 208a of shooting crane 208 upper surface, and it is hinged that front pivot pin is passed through in crank 208a end and connecting rod 207 front end.Above-mentioned shooting crane 208 front portion is also installed with contiguous block 209 and is used for installing kicking machine 3.Thus, by the movement of slide block 205, drive shooting crane 208 to move up and down by connecting rod 207, realize moving up and down of kicking machine 3.
Described kicking machine 3 comprises batting pole 301, electromagnet 302 and striking plate 303.Wherein, batting pole 301 one end is hinged by the contiguous block 209 of crane 208 front portion of shooting in batting pole bearing pin and slider-crank mechanism 2, can realize the swing of batting pole 301 above-below direction.Electromagnet 302 is fixedly mounted on base 102 upper surface in frame 1; Electromagnet 302 front end perforate, inside is inserted with push rod.When original state, the electromagnetism push rod 302a end in electromagnet 302 contacts with batting pole 301 rear wall, forms higher pair and connects; And batting pole 301 axes normal is in horizontal plane.Batting pole front side wall lower end is installed with striking plate 303.
Pass through said structure, leading screw 204 is driven to rotate by the servomotor 201 in toggle 2 by shaft coupling 202, leading screw 204 is moved forward and backward along slide block guide rail 203 in the horizontal direction by the screw pair band movable slider 205 between slide block 205 and bearing 206, bearing 206 is by rear pin shaft drivening rod 207 translation, connecting rod 207 drives shooting lifter plate 208 and the contiguous block 209 connected on it to rotate around frame 1 by front bearing pin, move up and down thereupon by the batting pole 301 of striking plate hinge on contiguous block 209 and keep plumbness under gravity, the striking plate 303 realizing being connected on batting pole 301 is relative to sphere center position adjustment in the vertical direction.After striking plate 303 adjusts in the vertical direction relative to sphere center position, electromagnet 302 in kicking machine is energized, the rapid driven forward batting pole 301 of electromagnetism push rod 302a is rotated, and then drives striking plate 303 pass or the shooting fast of batting pole 301 lower end.After electromagnet 302 power-off, electromagnetism push rod 13 receding replys position, and batting pole 301 under gravity shielding club bearing pin rotates, and replys plumbness, ready for batting next time.When being in diverse location in the vertical direction by the center and the centre of sphere controlling striking plate 303, under the cooperation of kicking machine, can realize expecting that shooting angle is shot.
The utility model ball-kicking device is arranged on by base 102 and matches on Soccer robot, realizes pass and to expect that shooting angle is shot two kinds of actions for Soccer robot, and can switch fast between these two actions as required.
Claims (4)
1. a football robot ball-kicking device, is characterized in that: comprise frame, slider-crank mechanism and kicking machine;
Described slider-crank mechanism comprises servomotor, slide block guide rail, leading screw, slide block, bearing, connecting rod and shooting crane; Wherein, slide block guide rail is arranged on frame middle guide fixed mount end face along the longitudinal direction; Leading screw and slide block guide rail be arranged in parallel; Leading screw is socketed with slide block; Slide block is also slidably connected with slide block guide rail simultaneously; Leading screw rear end is connected with servo motor output shaft; Slide block end face is installed with bearing, bearing and rod rear end hinged, connecting rod front end connect shooting crane;
Described shooting crane is U-shaped structure, and two ends, rear portion are hinged with frame left and right side respectively; Shooting crane front portion be designed with crank, crank end and connecting rod front end hinged; Kicking machine is installed in shooting crane front portion;
Described kicking machine comprises batting pole and thrust mechanism; Wherein, batting pole one end is hinged with shooting crane front portion; Thrust mechanism is arranged in frame, has movable push rod, and push rod end contacts with batting pole rear wall.
2. a kind of football robot ball-kicking device as claimed in claim 1, is characterized in that: described thrust mechanism adopts electromagnet; The electromagnetism push rod end of electromagnet is contacted with batting pole rear wall.
3. a kind of football robot ball-kicking device as claimed in claim 1, it is characterized in that: during original state, described batting pole axes normal is in horizontal plane.
4. a kind of football robot ball-kicking device as claimed in claim 2, is characterized in that: described batting pole front side wall lower end is installed with striking plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520478075.0U CN204745644U (en) | 2015-07-03 | 2015-07-03 | Play football of football robot device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520478075.0U CN204745644U (en) | 2015-07-03 | 2015-07-03 | Play football of football robot device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204745644U true CN204745644U (en) | 2015-11-11 |
Family
ID=54460405
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520478075.0U Expired - Fee Related CN204745644U (en) | 2015-07-03 | 2015-07-03 | Play football of football robot device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204745644U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105148529A (en) * | 2015-07-03 | 2015-12-16 | 北京信息科技大学 | Ball kicking device of football robot |
| CN105963973A (en) * | 2016-07-04 | 2016-09-28 | 北京理工大学 | Soccer robot adjustable ball hitting rod system and method thereof |
-
2015
- 2015-07-03 CN CN201520478075.0U patent/CN204745644U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105148529A (en) * | 2015-07-03 | 2015-12-16 | 北京信息科技大学 | Ball kicking device of football robot |
| CN105148529B (en) * | 2015-07-03 | 2017-10-17 | 北京信息科技大学 | Football robot ball-kicking 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 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151111 Termination date: 20170703 |