CN2764452Y - Football playing mechanism of football robot - Google Patents
Football playing mechanism of football robot Download PDFInfo
- Publication number
- CN2764452Y CN2764452Y CN 200520039011 CN200520039011U CN2764452Y CN 2764452 Y CN2764452 Y CN 2764452Y CN 200520039011 CN200520039011 CN 200520039011 CN 200520039011 U CN200520039011 U CN 200520039011U CN 2764452 Y CN2764452 Y CN 2764452Y
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- football
- cam
- push rod
- robot
- soccer
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Abstract
The utility model relates to a football playing mechanism of football robot. The utility model comprises a translational push rod which is in linkage with a swing type croquet mallet having a reset spring; the top end of the push rod is against a mold surface of a cam which is driven by an electromotor; the side surface of the cam is fixed with a piece of magnetic steel. A robot cart is fixed with a hall sensor which is adjacent to and is aimed at the rotation track of the magnetic steel. The utility model adopts the cam to control the croquet mallet mechanism with a reset spring, so the energy consumption and the weight of the whole mechanism are reduced; the utility model is suitable for various kinds of football robots.
Description
Technical field:
The utility model relates to a kind of football-kicking mechanism of robot.
Background technology:
The match of the high-tech antagonism that the university student participates in.The most important purpose of RoboCup robot soccer game is the research of checking information automation forward position, the particularly newest fruits of multiagent system research, exchanges new thought and new development, thereby better promotes basic research and applied basic research and achievements conversion thereof.
Robot soccer game is the football match of being undertaken by hardware or emulated robot, and laws of the game are similar with human regular football match.The development of hardware robot football team relates to the forward position research and the comprehensive integration of computer, control automatically, sensing and numerous subjects such as perception fusion, wireless telecommunications, precision optical machinery and biomimetic material.Divide from function, hardware robot football team comprises Soccer robot dolly, vision, decision-making and 4 subsystems of wireless telecommunications.Put it briefly, robot soccer is to be the forward position scientific research competition and the high-tech antagonism of carrier with the athletic competition, being cultivation information-automation skilled personnel's important means, also is simultaneously the new way of showing the lively window of high-tech progress and promoting scientific and technological achievement practicability and industrialization.
The initial idea of robot soccer is taught formal proposition the in 1992 by the Alan Mackworth of Univ British Columbia Canada.The Japan scholar has carried out the investigation and the feasibility analysis of system immediately to this idea.1993, famous scholars such as Minoru Asada (shallow field low bank between fields), Hiroaki Kitano (Beiye is grand bright) and Yasuo Kuniyoshi established RoboCup robot soccer World Cup Competition (Robot world cup soccer games is called for short RoboCup).
Meanwhile, some researchers begin robot soccer as research topic.The Itsuki Noda (Songyuan City's benevolence) that is under the jurisdiction of the electronic technology laboratory (ETL) of Japanese government is the research that background is launched multiagent system with the robot soccer, and the shallow field low bank between fields of Osaka, JAPAN university, the Veloso of Carnegie-Mellon University etc. have also carried out job family.
1997, the most authoritative artificial intelligence series academic conference--the 15th international artificial intelligence associating conference (The 15th International Joint Conference on Artificial Intelligence in the world, be called for short IJCAI-97) on, robot soccer is formally classified as a challenge of artificial intelligence.So far, robot soccer becomes artificial intelligence and the new typical problem of robotics.
At present, the football-kicking mechanism that the Soccer robot dolly adopts mostly is electromagnet mechanism greatly, the electromagnet football-kicking mechanism of people's dolly of starting the machine needs a booster circuit, and electromagnet mechanism power consumption is very big, like this, football-kicking mechanism is very high to power reguirements, so, on the robot car operate as normal that abundant battery can guarantee robot car football-kicking mechanism in the whole match must be housed, too much power supply makes Soccer robot dolly preponderance, causes moving dumb.
The utility model content:
The purpose of this utility model is to solve problems of the prior art, and a kind of football-kicking mechanism of improved Soccer robot is provided, and power consumption is few.
For achieving the above object, design of the present utility model is:
Earlier with the cam mechanism energy storage, the strength energy that cam is stored by spring comes out in abrupt release again, both can reduce energy consumption with alternative electromagnet of frame for movement and circuit as football-kicking mechanism like this, and reduce the requirement to circuit again, power supply only need provide voltage to get final product to the motor of driving cam.
According to above-mentioned design, the utility model adopts following technical proposals:
A kind of football-kicking mechanism of Soccer robot, the swing type batting pole of push rod interlock that comprises a translation with back-moving spring, prop up against the profile of a cam on the top that it is characterized in that push rod, this cam is by a Motor Drive, a magnet steel is fixed in the side of cam, on the dolly of robot, fix a Hall element, Hall element near and aim at the rotational trajectory of magnet steel.
The profile of above-mentioned cam, the stroke that the stroke of formation is far stopped circular arc by the stroke of one section 270 ° of phase region archimedes line and one section 90 ° of phase region is formed.
The top of above-mentioned push rod has a trundle leaning the profile of cam.
Above-mentioned push rod is placed on the fixation locus of robot car.
A pin of stirring of stirring batting pole is fixed at the middle part of above-mentioned push rod.
The middle part of above-mentioned batting pole be fixed on the Soccer robot dolly on bearing hinge hinge mutually; One end of a back-moving spring links to each other with the upper end of batting pole, and the other end links to each other with the hold-down support of Soccer robot dolly.
The fixedly connected batting hammer in the lower end of above-mentioned batting pole.
The utility model compared with prior art, have following conspicuous substantive distinguishing features and advantage: adopt cam mechanism control batting pole in the utility model, the profile of cam is controlled a push rod and the batting pole that links, the back-moving spring of batting pole is elongated and energy storage earlier, discharges suddenly then and resetting of back-moving spring can make the batting of batting pole bottom bar.Little many of the energy of the electromagnet mechanism of the energy consuming ratio prior art of this football-kicking mechanism consumption, and then can alleviate motor weight, also can save the booster circuit of an electromagnet in the control circuit, make control circuit comparatively simple.The utility model is applicable to various Soccer robots.
Description of drawings:
Fig. 1 is the structural representation of an embodiment of the utility model.
Fig. 2 be among Fig. 1 A to partial view.
The specific embodiment:
A preferred embodiment of the present invention is: referring to Fig. 1 and Fig. 2, the football-kicking mechanism of this Soccer robot includes swing type batting pole 9 with back-moving spring 4 of push rod 6 interlocks of a translation, prop up against the profile of a cam 1 on the top that it is characterized in that push rod 6, this cam 1 is driven by a motor 14, a magnet steel 2 is fixed in the side of cam 1, on the dolly of robot, fix a Hall element 13, Hall element 13 near and aim at the rotational trajectory of magnet steel 2.The profile of above-mentioned cam 1, the stroke that the stroke of formation is far stopped circular arc by the stroke of one section 270 ° of phase region archimedes line and one section 90 ° of phase region is formed.The top of above-mentioned push rod 6 has a trundle 3 leaning the profile of cam 1.Above-mentioned push rod 6 is placed on the fixation locus of robot car.The middle part of above-mentioned push rod 6 fix one stir batting pole 9 stir pin 7.The middle part of above-mentioned batting pole 9 be fixed on the Soccer robot dolly on a bearing hinge 8 hinge mutually; One end of a back-moving spring 4 links to each other with the upper end of batting pole 9, and the other end links to each other with the hold-down support of Soccer robot dolly.The fixedly connected batting hammer 11 in the lower end of above-mentioned batting pole 9.Batting hammer 11 should be aimed at football 10.
Claims (7)
1. the football-kicking mechanism of a Soccer robot, the swing type batting pole (9) of push rod (6) interlock that comprises a translation with back-moving spring (4), prop up against the profile of a cam (1) on the top that it is characterized in that push rod (6), this cam (1) is driven by a motor (14), a magnet steel (2) is fixed in the side of cam (1), on the dolly of robot, fix a Hall element (13), Hall element (13) near and aim at the rotational trajectory of magnet steel (2).
2. the football-kicking mechanism of Soccer robot according to claim 1 is characterized in that the profile of cam (1), and the stroke that the stroke of formation is far stopped circular arc by the stroke of one section 270 ° of phase region archimedes line and one section 90 ° of phase region is formed.
3. the football-kicking mechanism of Soccer robot according to claim 1 is characterized in that the top of push rod (6) has a trundle (3) leaning the profile of cam (1).
4. the football-kicking mechanism of Soccer robot according to claim 1 is characterized in that push rod (6) is placed on the fixation locus of robot car.
5. the football-kicking mechanism of Soccer robot according to claim 4, the middle part that it is characterized in that push rod (6) fix one stir batting pole (9) stir pin (7).
6. the football-kicking mechanism of Soccer robot according to claim 1, the middle part that it is characterized in that batting pole (9) be fixed on the Soccer robot dolly on a bearing hinge (8) hinge mutually; One end of a back-moving spring (4) links to each other with the upper end of batting pole (9), and the other end links to each other with the hold-down support of Soccer robot dolly.
7. the football-kicking mechanism of Soccer robot according to claim 6 is characterized in that (11) are hammered in the fixedly connected batting in lower end of batting pole (9) into shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520039011 CN2764452Y (en) | 2005-01-17 | 2005-01-17 | Football playing mechanism of football robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520039011 CN2764452Y (en) | 2005-01-17 | 2005-01-17 | Football playing mechanism of football robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2764452Y true CN2764452Y (en) | 2006-03-15 |
Family
ID=36167372
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200520039011 Expired - Fee Related CN2764452Y (en) | 2005-01-17 | 2005-01-17 | Football playing mechanism of football robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2764452Y (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102009706A (en) * | 2010-11-26 | 2011-04-13 | 南京工程学院 | Vertical bouncing mechanism for robot |
| CN101596367B (en) * | 2009-06-11 | 2011-07-20 | 上海交通大学 | Pneumatic ball kicking system of football robot |
| CN105128003A (en) * | 2015-09-16 | 2015-12-09 | 广州御银科技股份有限公司 | Money taking manipulator |
| WO2019007156A1 (en) * | 2017-07-07 | 2019-01-10 | 南京阿凡达机器人科技有限公司 | Adjustable soccer robot kicking system |
-
2005
- 2005-01-17 CN CN 200520039011 patent/CN2764452Y/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101596367B (en) * | 2009-06-11 | 2011-07-20 | 上海交通大学 | Pneumatic ball kicking system of football robot |
| CN102009706A (en) * | 2010-11-26 | 2011-04-13 | 南京工程学院 | Vertical bouncing mechanism for robot |
| CN102009706B (en) * | 2010-11-26 | 2012-01-25 | 南京工程学院 | Vertical bouncing mechanism for robot |
| CN105128003A (en) * | 2015-09-16 | 2015-12-09 | 广州御银科技股份有限公司 | Money taking manipulator |
| WO2019007156A1 (en) * | 2017-07-07 | 2019-01-10 | 南京阿凡达机器人科技有限公司 | Adjustable soccer robot kicking system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |