CN206304357U - A kind of Soccer robot push the ball dribbling mechanism - Google Patents
A kind of Soccer robot push the ball dribbling mechanism Download PDFInfo
- Publication number
- CN206304357U CN206304357U CN201621270636.9U CN201621270636U CN206304357U CN 206304357 U CN206304357 U CN 206304357U CN 201621270636 U CN201621270636 U CN 201621270636U CN 206304357 U CN206304357 U CN 206304357U
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- CN
- China
- Prior art keywords
- cam
- push pedal
- push
- soccer robot
- servo
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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.)
- Expired - Fee Related
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Abstract
The utility model belongs to Soccer robot technical field, more particularly to a kind of Soccer robot push the ball dribbling mechanism, including servo-controlled motor, the output shaft of servo-controlled motor is connected with the first cam, and connection is rotated between the first cam and connecting rod, and connecting rod is connected with one end of the second cam, the other end of the second cam is provided with position limiting structure, position limiting structure is fixedly connected with push pedal, the placement direction and horizontal plane of push pedal, and push pedal is arcuate structure；Position limiting structure includes limited block and limited post, and limited block, the second cam, the connecting plate of push pedal pass sequentially through limited post and be fixedly connected from top to bottom.The beneficial effects of the utility model are：Can simulate and play football and dribbling action, the angle that precise control push pedal is moved left and right, even if also can flexibly be dribbled at dead angle, can improve attack ability when playing football during dribbling by football control in the arc range of push pedal.
Description
Technical field
The utility model belongs to Soccer robot technical field, more particularly to a kind of Soccer robot is pushed the ball dribbling mechanism.
Background technology
As more intelligentized Soccer robots emerge, and intelligent soccer robot often plays, and has
High ornamental and interest, in robot soccer competition, dribbling ability is one of key factor of winning victory of robot.
The integrated Wheeled Soccer Robot of existing manufacturer production, can be as the midfielder in the mankind's football match during match
Like that, entering to attack, and moving back to keep, although have it is stable and reliable in work, robot chase after ball, play football, push the ball when, due to robot
Shock on the wood wallboard of pitch is shifted onto with the upper and lower front edge of board hardboard direct collision plastics photosphere of frame or by photosphere, easily
Photosphere is crashed through or damaged；Another is played football and is dribbled by sliding tackle plate, can not be in the position in corner during sliding tackle plate sliding tackle
Putting is carried out, and ball shovel can only could come up at metope, then sliding tackle plate is moved on into a certain angle of inclination by arm prevents football
Drop to complete dribbling action, mobile is limited in scope, it is impossible to carry out mobile angle precise control, and football still compares
It is easier to drop, it is not only not easy to operate in corner, and there are problems that Soccer robot does not receive ball, easily.
In order to solve the above problems, strengthen the ability of actively dribbling of robot, in the urgent need to developing a kind of active dribbling
Device, improves the attack ability of robot.
Utility model content
In order to overcome the above-mentioned deficiencies of the prior art, the utility model is pushed the ball with ball machine there is provided a kind of Soccer robot
Structure, with quick action ability, can simulate and play football and dribbling action, the angle that precise control push pedal is moved left and right, energy during dribbling
By football control in the arc range of push pedal, even if also can flexibly be dribbled at dead angle, attack ability when playing football is improve.
To achieve these goals, the utility model provides a kind of Soccer robot and pushes the ball dribbling mechanism, it is characterised in that
Including servo-controlled motor, the output shaft of the servo-controlled motor is connected with the first cam, first cam and connecting rod
Between rotate connection, the connecting rod is connected with one end of the second cam, and the other end of second cam is provided with position limiting structure,
The position limiting structure is fixedly connected with push pedal, the placement direction and horizontal plane of the push pedal, and the push pedal is arcuate structure.
The position limiting structure includes limited block and limited post, the limited block, second cam, the connection of the push pedal
Plate passes sequentially through the limited post and is fixedly connected from top to bottom.
The corresponding central angle of the arc push pedal is obtuse angle, preferably 100-150 °.
The output shaft of the controlled motor is in vertical direction.
The limited post lower end is fixed on fuselage, and the fuselage both sides are provided with walking mechanism.
The fuselage is provided with the upper plate and lower plate being bolted to connection, and the limited post lower end is arranged on the upper plate
On, the both sides at position are provided with motor driving wheels before and after the lower plate, and the servo-controlled motor is erected on the upper plate.
The beneficial effects of the utility model are：With servo-controlled motor can with the rotational angle of the cam of precise control first,
First cam drives the second cam rotation, the second cam that the control to push pedal rotational angle is realized by position limiting structure by connecting rod
System, and then can be with the rotation of precise control push pedal, limited post plays a part of to limit connecting rod, is limited by limiting connecting rod and pushed away
The rotational angle of plate, push pedal is arcuate structure, and football can be limited in arc push pedal well, realizes flexibly pushing away for football
Ball, dribbling.The placement direction of push pedal is vertical with level ground, overcomes the shortcomings of state of the art sliding tackle mode.This practicality is new
Type overall structure is simple, while keeping football interesting, improves the essence of dribbling and the effect played football, flexibility and control
Accuracy is greatly increased, and football can be controlled in the range of push pedal well, also can conveniently be pushed the ball in corner, and prevents from dribbling
Football is lost in journey.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is side view of the present utility model；
Fig. 3 is top view of the present utility model；
Fig. 4 is the overall schematic that the utility model is connected with fuselage.
In figure, 1, servo-controlled motor, the 2, first cam, 3, connecting rod, the 4, second cam, 5, push pedal, 6, limited block, 7,
Limited post, 8, connecting plate, 9, upper plate, 10, lower plate, 11, motor driving wheels.
Specific embodiment
A kind of specific embodiment to utility model is explained below in conjunction with the accompanying drawings.
As shown in Figures 1 to 4, the utility model provides a kind of Soccer robot and pushes the ball dribbling mechanism, including SERVO CONTROL
Motor 1, servomotor can be precisely controlled the angle and direction of rotation, for the accurate ball-handling of mechanism of pushing the ball provides power premise.
Wherein, the output shaft of the servo-controlled motor 1 is connected with the first cam, first cam and connecting rod 3 it
Between rotate connection, the connecting rod 3 is connected with one end of the second cam 4, and the other end of second cam 4 is provided with spacing knot
Structure, the position limiting structure is fixedly connected with push pedal 5, the placement direction and horizontal plane of the push pedal 5, and the push pedal 5 is arc
Shape structure.Inquire into mechanism's football during dribbling and do not lose to be effectively ensured, the corresponding central angle of arc push pedal 5 is set
It is set to obtuse angle, preferably 100-150 °.
Used as a kind of specific embodiment of the present utility model, the position limiting structure includes limited block 6 and limited post 7, institute
State limited block 6, second cam 4, the connecting plate 8 of the push pedal 5 and pass sequentially through the limited post 7 from top to bottom and fix and connect
Connect.
Wherein, the lower end of the limited post 7 is fixed on fuselage, and the fuselage both sides are provided with walking mechanism.The fuselage bag
The upper plate 9 and lower plate 10 being bolted to connection are included, the lower end of the limited post 7 is arranged on the upper plate 9, the lower plate 10
The both sides at front and rear position are provided with motor driving wheels 11, and the servo-controlled motor 1 is erected on the upper plate 9.
The output shaft of the servo-controlled motor 1 is in vertical direction.First cam is vertical with the output shaft of controlled motor, the
One cam, the cam 4 of connecting plate 8 and second are arranged in different horizontal planes.
Operation principle：Servo-controlled motor 1 is rotated, and drives the first cam to move by output shaft, and precise control first
The rotational angle of cam, the first cam drives the second cam 4 to rotate by connecting rod 3, and the second cam 4 is realized by position limiting structure
Control to the rotational angle of push pedal 5, and then can be with the rotation of precise control push pedal 5, limited post 7 plays a part of to limit connecting rod 3,
The rotational angle of push pedal 5 is limited by limiting connecting rod 3.When the first cam is pushed outwardly, push pedal 5 rotates necessarily to the left
Angle, the second cam 4 is limited by position limiting structure, stops being rotated further to a certain position；When servo-controlled motor 1 is rotated backward
When, the second cam 4 realizes that push pedal 5 rotates to an angle to the right, and is limited by position limiting structure, and push pedal 5 is controlled certain
In angular range.
It should be noted that the utility model is not related to be improved software and program aspect.
Example of the present utility model has been described in detail above, but the content is only preferable reality of the present utility model
Apply example, it is impossible to be considered as limiting practical range of the present utility model.All equalizations made according to present utility model application scope
Change and improvement etc., all should still belong within patent covering scope of the present utility model.
Claims (5)
1. a kind of Soccer robot push the ball dribbling mechanism, it is characterised in that including servo-controlled motor, the servo-controlled motor
Output shaft be connected with the first cam, connection, the connecting rod and the second cam are rotated between first cam and connecting rod
One end connection, the other end of second cam is provided with position limiting structure, and the position limiting structure is fixedly connected with push pedal, described to push away
The placement direction and horizontal plane of plate, the push pedal are arcuate structure；
The position limiting structure include limited block and limited post, the limited block, second cam, the push pedal connecting plate from
Top to bottm passes sequentially through the limited post and is fixedly connected.
2. Soccer robot according to claim 1 push the ball dribbling mechanism, it is characterised in that the correspondence of the arc push pedal
Central angle be obtuse angle.
3. Soccer robot according to claim 1 push the ball dribbling mechanism, it is characterised in that the servo-controlled motor
Output shaft is in vertical direction.
4. Soccer robot according to claim 1 push the ball dribbling mechanism, it is characterised in that the limited post lower end is fixed
On fuselage, the fuselage both sides are provided with walking mechanism.
5. Soccer robot according to claim 4 push the ball dribbling mechanism, it is characterised in that the fuselage is provided with by spiral shell
Upper plate and lower plate that bolt is fixedly connected, the limited post lower end are arranged on the upper plate, the both sides at position before and after the lower plate
Motor driving wheels are provided with, the servo-controlled motor is erected on the upper plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621270636.9U CN206304357U (en) | 2016-11-25 | 2016-11-25 | A kind of Soccer robot push the ball dribbling mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621270636.9U CN206304357U (en) | 2016-11-25 | 2016-11-25 | A kind of Soccer robot push the ball dribbling mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206304357U true CN206304357U (en) | 2017-07-07 |
Family
ID=59245331
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621270636.9U Expired - Fee Related CN206304357U (en) | 2016-11-25 | 2016-11-25 | A kind of Soccer robot push the ball dribbling mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206304357U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109291060A (en) * | 2018-09-28 | 2019-02-01 | 北京信息科技大学 | Machine fish heading control method based on region division and interim point auxiliary |
| CN109422183A (en) * | 2017-08-31 | 2019-03-05 | 富士达株式会社 | The carriage door gear of elevator |
| CN109677500A (en) * | 2018-12-29 | 2019-04-26 | 武汉理工大学 | A kind of pedipulator of soccer goal-shooting robot |
| CN109828568A (en) * | 2019-02-15 | 2019-05-31 | 武汉理工大学 | Ball gait optimization method is sought to the NAO robot of RoboCup match |
| CN111992816A (en) * | 2020-08-05 | 2020-11-27 | 丁克忠 | Steel sheet cutting surplus limit remove device |
-
2016
- 2016-11-25 CN CN201621270636.9U patent/CN206304357U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109422183A (en) * | 2017-08-31 | 2019-03-05 | 富士达株式会社 | The carriage door gear of elevator |
| CN109291060A (en) * | 2018-09-28 | 2019-02-01 | 北京信息科技大学 | Machine fish heading control method based on region division and interim point auxiliary |
| CN109677500A (en) * | 2018-12-29 | 2019-04-26 | 武汉理工大学 | A kind of pedipulator of soccer goal-shooting robot |
| CN109677500B (en) * | 2018-12-29 | 2020-05-12 | 武汉理工大学 | Mechanical leg of football shooting robot |
| CN109828568A (en) * | 2019-02-15 | 2019-05-31 | 武汉理工大学 | Ball gait optimization method is sought to the NAO robot of RoboCup match |
| CN109828568B (en) * | 2019-02-15 | 2022-04-15 | 武汉理工大学 | NAO robot ball-searching gait optimization method for RoboCup game |
| CN111992816A (en) * | 2020-08-05 | 2020-11-27 | 丁克忠 | Steel sheet cutting surplus limit remove device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170707 Termination date: 20181125 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |