CN211561780U - Movable ball kicking robot - Google Patents
Movable ball kicking robot Download PDFInfo
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- CN211561780U CN211561780U CN201922486057.8U CN201922486057U CN211561780U CN 211561780 U CN211561780 U CN 211561780U CN 201922486057 U CN201922486057 U CN 201922486057U CN 211561780 U CN211561780 U CN 211561780U
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Abstract
The utility model discloses a movable kicking robot applied in the technical field of robots, which comprises a chassis; the bottom of the chassis is provided with a driving wheel; the top of the chassis is provided with a frame assembly; the frame assembly comprises a connecting frame and a mounting frame; the device also comprises an actuating mechanism and a transmission mechanism; the actuating mechanism comprises a first connecting shaft, a swing arm block and a first bearing seat; the first connecting shafts are sequentially inserted into the first bearing seats; the first bearing seats are arranged on the mounting frame; an impact block is arranged at one end of the swing arm block, which is far away from the first connecting shaft; the transmission mechanism comprises a driving block; the driving block comprises a telescopic part and a driver body; one end of the telescopic part is connected with the output end of the driver body, and the other end of the telescopic part is hinged with the swing arm block; the driver body is positioned on the connecting frame. This application has given the structure of portable robot of kicking ball promptly, and it has simple structure, easily changes accessories and assembly simply, and cost and cost of maintenance are low, the advantage of facilitate promotion.
Description
Technical Field
The utility model relates to the technical field of robots, particularly, a portable robot of playing ball.
Background
Robotics is considered as "most modern automation", and the continuous increase in intelligence is a remarkable feature of the development of modern robots. Nowadays, human beings put more and more work on robots to perform the completion, and therefore more and more functions are required and configured on the robots in the design process of the robots. In a sense, a kicking robot can be seen as a representative of a mobile robot that is combined with a robot arm and that operates intelligently. Typical or common prior art techniques are:
for example, CN110065080A discloses an intelligent football robot, the invention has simple structure, low cost, rich functions, convenient operation and greatly improved application range. The other classic type is CN107363847A, and the invention discloses a football robot, which has the advantages of scientific and reasonable structure, safe and convenient use, simple structure, low manufacturing cost and easy operation, and is also provided with an LED lamp and a camera for convenient use. Referring to the prior art of CN109677500A, a mechanical leg of a soccer shooting robot is disclosed, which comprises a thigh part and a shank part, wherein the thigh part comprises a first thigh, a second thigh, a third thigh and a supporting chassis, the supporting chassis is mounted on a walking carrier by a lead screw and nut mechanism, the supporting chassis can move back and forth, the first thigh is mounted on the supporting chassis through a first joint, the second thigh is mounted at the front end of the first thigh through a first telescopic device, the third thigh is mounted at the front end of the second thigh through a second joint, and the shank part comprises a shank bracket and a foot. The invention can simulate the action of human legs, so that the football kicking by the robot becomes possible.
In summary, through the mass search of the applicant, at least the problems of high cost, complex structure, difficult replacement, assembly, high maintenance cost, low use economy and difficult popularization of the existing kicking robot exist in the field, and therefore, a movable kicking robot needs to be developed or improved.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a portable robot of playing ball is in order to solve the problem.
In order to achieve the above purpose, the utility model provides a movable kicking robot, which comprises a chassis; the bottom of the chassis is provided with a plurality of driving wheels; the top of the chassis is provided with a frame assembly; the frame assembly comprises a connecting frame connected with the chassis and a mounting frame superposed on the connecting frame; the device also comprises an actuating mechanism and a transmission mechanism; the actuating mechanism comprises a first connecting shaft, a swing arm block rotatably sleeved on the first connecting shaft and a plurality of first bearing seats arranged side by side; the first connecting shafts are sequentially inserted into the first bearing seats; a plurality of first bearing seats are arranged on the mounting frame; an impact block is arranged at one end, far away from the first connecting shaft, of the swing arm block; the transmission mechanism comprises a driving block for driving the swing arm block to do circular motion; the driving block comprises a telescopic part and a driver body for driving the telescopic part to do telescopic motion; one end of the telescopic part is connected with the output end of the driver body, and the other end of the telescopic part is hinged with the swing arm block; the driver body is positioned on the connecting frame.
Preferably, the mounting rack comprises a plurality of supporting blocks which are vertically arranged; one end of each of the supporting blocks is connected with the connecting frame, and a fixed frame is erected at the other end of each supporting block; the supporting blocks and the fixed frame enclose a movement space for the swing arm block to move, and the movement space is communicated with the outside.
Preferably, a plurality of the first bearing seats are installed on the fixed frame.
Preferably, the device further comprises a first connecting block; one end of the first connecting block is connected with one end, far away from the impact block, of the swing arm block, and the other end of the first connecting block is rotatably sleeved on the first connecting shaft.
Preferably, the number of the driving blocks is two and the driving blocks are arranged side by side; two the one end that the pars contractilis kept away from the driver body all is equipped with the joint piece.
Preferably, the connecting device further comprises a second connecting shaft and a second connecting block which is rotatably sleeved on the second connecting shaft; the second connecting block is positioned between the two joint blocks, and one end, far away from the second connecting shaft, of the second connecting block is connected with the swing arm block; the second connecting block is located between the first connecting block and the impact block.
Preferably, the joint block is a fisheye joint.
Preferably, the outer contour of the chassis is a regular hexagon; the bottom of the chassis is provided with three wheel carriers along the outline of the chassis, and the three wheel carriers are arranged in a symmetrical angle.
Preferably, the driving wheel comprises a roller, a driving motor and a coupling; the coupler is positioned in the wheel carrier; one end of the coupler extends outwards out of the wheel frame and is connected with the roller; the output end of the driving motor penetrates through the wheel frame to be connected with one end, far away from the roller, of the coupler.
Above-mentioned technical scheme provides a portable kicking ball robot, compares with prior art, and its beneficial effect includes: the robot has the advantages of simple structure, easy replacement of spare and accessory parts, simple assembly, low manufacturing cost and maintenance cost and convenient popularization.
Drawings
The invention will be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the embodiments. Like reference numerals designate corresponding parts throughout the different views.
Fig. 1 is one of the schematic structural diagrams of a movable kicking robot in embodiments 1-2 of the present invention;
fig. 2 is a second schematic structural diagram of a movable kicking robot in embodiments 1-2 of the present invention;
fig. 3 is a third schematic structural diagram of a movable kicking robot in embodiments 1-2 of the present invention;
fig. 4 is a fourth schematic structural diagram of a movable kicking robot in embodiments 1-2 of the present invention.
Description of reference numerals: 1-a chassis; 2-driving wheels; 21-a roller; 22-a drive motor; 23-a coupler; 3-a frame assembly; 31-a connecting frame; 32-a mounting frame; 321-a support block; 322-a fixed frame; 4-a first connecting shaft; 5-a swing arm block; 6-a first bearing seat; 7-a bump block; 8-a drive block; 81-a telescoping section; 82-a driver body; 83-joint block; 9-a first connection block; 10-a second connecting shaft; 11-a second connection block; 12-wheel carrier.
Detailed Description
The present invention will be further explained with reference to the drawings and examples.
In order to make the objects, technical solutions and advantages of the present invention more clearly apparent, the present invention will be further described in detail with reference to the following embodiments thereof; it should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention. Other systems, methods, and/or features of the present embodiments will become apparent to those skilled in the art upon review of the following detailed description. It is intended that all such additional systems, methods, features and advantages be included within this description, be within the scope of the invention, and be protected by the accompanying claims. Additional features of the disclosed embodiments are described in, and will be apparent from, the detailed description that follows.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", etc., indicating directions or positional relationships based on those shown in the drawings, it is only for convenience of description and simplicity of description, but not for indicating or implying that the indicated device or component must have a specific direction, be constructed in a specific direction, and operate, and therefore the terms describing the positional relationships in the drawings are used for illustrative purposes only and are not to be construed as limitations of the present patent, and those skilled in the art can understand the specific meanings of the above terms according to specific situations.
The first embodiment is as follows:
a movable kicking robot as shown in figures 1-4 comprises a chassis 1; the bottom of the chassis 1 is provided with a plurality of driving wheels 2; the top of the chassis 1 is provided with a frame assembly 3; the frame assembly 3 comprises a connecting frame 31 connected with the chassis 1 and a mounting frame 32 superposed on the connecting frame 31; the device also comprises an actuating mechanism and a transmission mechanism; the executing mechanism comprises a first connecting shaft 4, a swing arm block 5 which is rotatably sleeved on the first connecting shaft 4, and a plurality of first bearing seats 6 which are arranged side by side; the first connecting shafts 4 are sequentially inserted into the first bearing seats 6; a number of said first bearing seats 6 are mounted on said mounting frame 32; an impact block 7 is arranged at one end, far away from the first connecting shaft 4, of the swing arm block 5; the transmission mechanism comprises a driving block 8 for driving the swing arm block 5 to do circular motion; the driving block 8 comprises a telescopic part 81 and a driver body 82 for driving the telescopic part 81 to perform telescopic motion; one end of the telescopic part 81 is connected with the output end of the driver body 82, and the other end is hinged with the swing arm block 5; the actuator body 82 is located on the connecting frame 31.
The mounting rack 32 comprises a plurality of supporting blocks 321 which are vertically arranged; one end of each of the supporting blocks 321 is connected with the connecting frame 31, and the other end is provided with a fixed frame 322; a plurality of supporting blocks 321 and the fixed frame 322 enclose a movement space for the swing arm block 5 to move, and the movement space is communicated with the outside; a number of said first bearing blocks 6 are mounted on said fixed frame 322.
The present embodiment 1 further includes a first connecting block 9; one end of the first connecting block 9 is connected with one end of the swing arm block 5 far away from the impact block 7, and the other end of the first connecting block is rotatably sleeved on the first connecting shaft 4.
Wherein the number of the driving blocks 8 is two and the driving blocks are arranged side by side; one end of each of the two telescopic parts 81 far away from the driver body 82 is provided with a joint block 83; the joint block 83 is a fisheye joint.
The embodiment 1 further comprises a second connecting shaft 10 and a second connecting block 11 rotatably sleeved on the second connecting shaft 10; the second connecting block 11 is positioned between the two joint blocks 83, and one end of the second connecting block 11, which is far away from the second connecting shaft 10, is connected with the swing arm block 5; the second connecting block 11 is located between the first connecting block 9 and the striking block 7.
In addition, the outer contour of the chassis 1 is a regular hexagon; the bottom of the chassis 1 is provided with three wheel frames 12 along the contour of the chassis 1, and the three wheel frames 12 are arranged at symmetrical angles.
In embodiment 1, the driving wheel 2 includes a roller 21, a driving motor 22, and a coupling 23; the coupling 23 is positioned in the wheel frame 12; one end of the coupler 23 extends outwards out of the wheel frame 12 and is connected with the roller 21; the output end of the driving motor 22 passes through the wheel carrier 12 and is connected with one end of the coupler 23 far away from the roller 21.
Example two:
a movable kicking robot as shown in figures 1-4 comprises a chassis 1; the bottom of the chassis 1 is provided with a plurality of driving wheels 2; the top of the chassis 1 is provided with a frame assembly 3; the frame assembly 3 comprises a connecting frame 31 connected with the chassis 1 and a mounting frame 32 superposed on the connecting frame 31; the device also comprises an actuating mechanism and a transmission mechanism; the executing mechanism comprises a first connecting shaft 4, a swing arm block 5 which is rotatably sleeved on the first connecting shaft 4, and a plurality of first bearing seats 6 which are arranged side by side; the first connecting shafts 4 are sequentially inserted into the first bearing seats 6; a number of said first bearing seats 6 are mounted on said mounting frame 32; an impact block 7 is arranged at one end, far away from the first connecting shaft 4, of the swing arm block 5; the transmission mechanism comprises a driving block 8 for driving the swing arm block 5 to do circular motion; the driving block 8 comprises a telescopic part 81 and a driver body 82 for driving the telescopic part 81 to perform telescopic motion; one end of the telescopic part 81 is connected with the output end of the driver body 82, and the other end is hinged with the swing arm block 5; the actuator body 82 is located on the connecting frame 31.
In order to ensure that the swing arm block 5 does not interfere with the mounting frame 32 during circular motion, the mounting frame 32 in this embodiment 2 includes a plurality of supporting blocks 321 arranged vertically; one end of each of the supporting blocks 321 is connected with the connecting frame 31, and the other end is provided with a fixed frame 322; a plurality of supporting blocks 321 and the fixed frame 322 enclose a movement space for the swing arm block 5 to move, and the movement space is communicated with the outside; a number of said first bearing blocks 6 are mounted on said fixed frame 322.
The embodiment 2 further includes a first connecting block 9; one end of the first connecting block 9 is connected with one end of the swing arm block 5 far away from the impact block 7, and the other end of the first connecting block is rotatably sleeved on the first connecting shaft 4.
In order to ensure the stability of the circular motion of the swing arm block 5, the number of the driving blocks 8 in this embodiment 2 is two and the driving blocks are arranged side by side; one end of each of the two telescopic parts 81 far away from the driver body 82 is provided with a joint block 83; the joint block 83 is a fisheye joint.
The embodiment 2 further comprises a second connecting shaft 10 and a second connecting block 11 rotatably sleeved on the second connecting shaft 10; the second connecting block 11 is positioned between the two joint blocks 83, and one end of the second connecting block 11, which is far away from the second connecting shaft 10, is connected with the swing arm block 5; the second connecting block 11 is located between the first connecting block 9 and the striking block 7.
In addition, in order to ensure the stability of the robot movement, the outer contour of the chassis 1 in the embodiment 2 is a regular hexagon; the bottom of the chassis 1 is provided with three wheel frames 12 along the contour of the chassis 1, and the three wheel frames 12 are arranged at symmetrical angles.
In embodiment 2, the driving wheel 2 includes a roller 21, a driving motor 22, and a coupling 23; the coupling 23 is positioned in the wheel frame 12; one end of the coupler 23 extends outwards out of the wheel frame 12 and is connected with the roller 21; the output end of the driving motor 22 passes through the wheel carrier 12 and is connected with one end of the coupler 23 far away from the roller 21.
Firstly, the driver body 82 drives the telescopic part 81 to do telescopic motion, and then the swing arm block 5 is controlled to do circular motion around the first connecting shaft 4; the impact block 7 on the swing arm block 5 makes circular motion along with the swing arm block 5 and forms a kicking path, and the kicking path comprises an acceleration section, an impact section and a force unloading section which are sequentially connected; the impact section is a force application section for the impact block 7 to impact the football. Moreover, this robot is through being provided with the drive wheel 2 that is the setting of symmetry angle to this robot can be stable and nimble removal, thereby the motion condition of furthest's imitation people on the court.
Although the invention has been described above with reference to various embodiments, it should be understood that many changes and modifications may be made without departing from the scope of the invention. That is, the methods, systems, and devices discussed above are examples. Various configurations may omit, substitute, or add various procedures or components as appropriate. For example, in alternative configurations, the methods may be performed in an order different than that described, and/or various components may be added, omitted, and/or combined. Moreover, features described with respect to certain configurations may be combined in various other configurations, as different aspects and elements of the configurations may be combined in a similar manner. Further, elements therein may be updated as technology evolves, i.e., many elements are examples and do not limit the scope of the disclosure or claims.
Specific details are given in the description to provide a thorough understanding of the exemplary configurations including implementations. However, configurations may be practiced without these specific details, for example, well-known circuits, processes, algorithms, structures, and techniques have been shown without unnecessary detail in order to avoid obscuring the configurations. This description provides example configurations only, and does not limit the scope, applicability, or configuration of the claims. Rather, the foregoing description of the configurations will provide those skilled in the art with an enabling description for implementing the described techniques. Various changes may be made in the function and arrangement of elements without departing from the spirit or scope of the disclosure.
It is intended that the foregoing detailed description be regarded as illustrative rather than limiting, and that it be understood that it is the following claims, including all equivalents, that are intended to define the spirit and scope of this invention. The above examples are to be understood as merely illustrative of the present invention and not as limiting the scope of the invention. After reading the description of the present invention, the skilled person can make various changes or modifications to the present invention, and these equivalent changes and modifications also fall within the scope of the present invention defined by the claims.
Claims (9)
1. A movable kicking robot is characterized by comprising a chassis; the bottom of the chassis is provided with a plurality of driving wheels; the top of the chassis is provided with a frame assembly; the frame assembly comprises a connecting frame connected with the chassis and a mounting frame superposed on the connecting frame; the device also comprises an actuating mechanism and a transmission mechanism; the actuating mechanism comprises a first connecting shaft, a swing arm block rotatably sleeved on the first connecting shaft and a plurality of first bearing seats arranged side by side; the first connecting shafts are sequentially inserted into the first bearing seats; a plurality of first bearing seats are arranged on the mounting frame; an impact block is arranged at one end, far away from the first connecting shaft, of the swing arm block; the transmission mechanism comprises a driving block for driving the swing arm block to do circular motion; the driving block comprises a telescopic part and a driver body for driving the telescopic part to do telescopic motion; one end of the telescopic part is connected with the output end of the driver body, and the other end of the telescopic part is hinged with the swing arm block; the driver body is positioned on the connecting frame.
2. The movable kicking robot of claim 1, wherein the mounting frame includes a plurality of support blocks arranged in a vertical configuration; one end of each of the supporting blocks is connected with the connecting frame, and a fixed frame is erected at the other end of each supporting block; the supporting blocks and the fixed frame enclose a movement space for the swing arm block to move, and the movement space is communicated with the outside.
3. The movable kicking robot of claim 2, wherein a number of the first bearing seats are mounted on the fixed frame.
4. The movable kicking robot of claim 1, further comprising a first connection block; one end of the first connecting block is connected with one end, far away from the impact block, of the swing arm block, and the other end of the first connecting block is rotatably sleeved on the first connecting shaft.
5. The movable kicking robot of claim 4, wherein the number of the driving blocks is two and arranged side by side; two the one end that the pars contractilis kept away from the driver body all is equipped with the joint piece.
6. The movable kicking robot of claim 5, wherein; the connecting device also comprises a second connecting shaft and a second connecting block which is rotationally sleeved on the second connecting shaft; the second connecting block is positioned between the two joint blocks, and one end, far away from the second connecting shaft, of the second connecting block is connected with the swing arm block; the second connecting block is located between the first connecting block and the impact block.
7. The movable kicking robot of claim 6, wherein the joint block is a fisheye joint.
8. The movable kicking robot of claim 1, wherein the outer contour of the chassis is a regular hexagon; the bottom of the chassis is provided with three wheel carriers along the outline of the chassis, and the three wheel carriers are arranged in a symmetrical angle.
9. The movable kicking robot of claim 8, wherein the drive wheels include rollers, drive motors, and couplings; the coupler is positioned in the wheel carrier; one end of the coupler extends outwards out of the wheel frame and is connected with the roller; the output end of the driving motor penetrates through the wheel frame to be connected with one end, far away from the roller, of the coupler.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922486057.8U CN211561780U (en) | 2019-12-30 | 2019-12-30 | Movable ball kicking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922486057.8U CN211561780U (en) | 2019-12-30 | 2019-12-30 | Movable ball kicking robot |
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| Publication Number | Publication Date |
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| CN211561780U true CN211561780U (en) | 2020-09-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201922486057.8U Active CN211561780U (en) | 2019-12-30 | 2019-12-30 | Movable ball kicking robot |
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| CN (1) | CN211561780U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112497229A (en) * | 2020-12-18 | 2021-03-16 | 华南理工大学广州学院 | Ball kicking method |
-
2019
- 2019-12-30 CN CN201922486057.8U patent/CN211561780U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112497229A (en) * | 2020-12-18 | 2021-03-16 | 华南理工大学广州学院 | Ball kicking method |
| CN112497229B (en) * | 2020-12-18 | 2022-04-01 | 华南理工大学广州学院 | Ball kicking method |
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