WO2019007156A1 - 一种可调节的足球机器人踢球系统 - Google Patents

一种可调节的足球机器人踢球系统 Download PDF

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Publication number
WO2019007156A1
WO2019007156A1 PCT/CN2018/087414 CN2018087414W WO2019007156A1 WO 2019007156 A1 WO2019007156 A1 WO 2019007156A1 CN 2018087414 W CN2018087414 W CN 2018087414W WO 2019007156 A1 WO2019007156 A1 WO 2019007156A1
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Prior art keywords
cylinder
pipe
kicking
soccer robot
gas
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PCT/CN2018/087414
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English (en)
French (fr)
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查向阳
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南京阿凡达机器人科技有限公司
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Publication of WO2019007156A1 publication Critical patent/WO2019007156A1/zh

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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H13/00—Toy figures with self-moving parts, with or without movement of the toy as a whole
    • A63H13/02—Toy figures with self-moving parts, with or without movement of the toy as a whole imitating natural actions, e.g. catching a mouse by a cat, the kicking of an animal
    • A63H13/04—Mechanical figures imitating the movement of players or workers

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  • the present disclosure belongs to the field of soccer robot technology, and in particular to an adjustable soccer robot kicking system.
  • the motor spring type kicking mechanism drives the compression spring to realize energy storage, and releases the spring when kicking the ball.
  • the motor spring type kicking mechanism has a relatively large electromechanical delay and requires high motor torque.
  • the electromagnet type kicking mechanism uses a solenoid to energize to generate a magnetic force to push the magnetic cylinder.
  • the actual voltage requirements of such a mechanism are very high, and the design and installation requirements are also very high.
  • the flywheel type kicking mechanism uses the motor to drive the flywheel to rotate for energy storage. When the shot is made, the flywheel makes contact with the kicker and kicks the ball out.
  • the flywheel type kicking mechanism vibrates greatly during actual use, and the contact force between the flywheel and the kicker is very large, which is likely to cause damage to the kicker.
  • the driving force of these three types of kicking mechanisms is the battery.
  • the kicking power is proportional to the voltage.
  • the power consumption during use is large, causing the voltage to drop and affecting the kicking effect.
  • the present disclosure is directed to an adjustable soccer robot kicking system that avoids the problem of large power consumption and unstable kicking power during use of existing soccer robots.
  • An adjustable soccer robot kicking system comprising a power source, a control panel, a gas cylinder, a cylinder, a solenoid valve, a gas pipe, and a cable; the power source, the operation panel and the solenoid valve form a loop through the cable;
  • the gas cylinder is connected to the cylinder through a gas pipe and a solenoid valve.
  • a fast discharge constant pressure valve is installed between the gas cylinder and the electromagnetic valve.
  • gas cylinder is directly connected to the fast discharge constant pressure valve.
  • the fast discharge constant pressure valve is provided with a pressure regulating nut.
  • the solenoid valve is a two-position five-way solenoid valve.
  • the air pipe is a PU pipe, a PE pipe, a PVC pipe or a rubber pipe.
  • the adjustable soccer robot kicking system of the present disclosure utilizes the gas pressure to realize the soccer robot kicking system for adjusting the kicking force.
  • the structure is simple and easy to implement, and can greatly improve the competitive ability of the soccer robot, and can be used for the soccer robot.
  • the power source for the kicking system is simple and easy to implement, and can greatly improve the competitive ability of the soccer robot, and can be used for the soccer robot.
  • FIG. 1 is a schematic structural view of an adjustable soccer robot kicking system of the present invention.
  • an adjustable soccer robot kicking system of the present disclosure includes a gas cylinder 10 , a fast-discharge constant pressure valve 20 , a power source 30 , a control panel 40 , a two-position five-way solenoid valve 50 , and a cylinder 60.
  • the quick-discharge constant pressure valve 20 is provided with a pressure regulating nut 201.
  • the gas pipe can be a PU pipe, a PE pipe, a PVC pipe or a rubber pipe.
  • the power source 30, the operation control board 40, and the two-position five-way solenoid valve 50 form a loop through the first cable line 41 and the electric second cable 51; the gas cylinder 10 passes through the first air tube 21, the second air tube 61, and the third air tube 62.
  • the two-position five-way solenoid valve 50 is connected to the cylinder 60.
  • the two-position five-way solenoid valve 50 can be replaced with other solenoid valves that can perform this function.
  • a quick discharge constant pressure valve 20 is installed between the gas cylinder 10 and the two-position five-way solenoid valve 50, and the gas cylinder 10 can be directly connected to the fast discharge constant pressure valve 20, that is, the fast discharge constant pressure valve 20 is installed in the gas cylinder 10 Vent.
  • the quick discharge constant pressure valve 20 is provided with a pressure regulating nut 201.
  • the main task of the control panel is to control and manage the moving parts of the soccer robot.
  • the operation control board is mainly composed of TMS320F28335DSP, and the main functions such as attitude sensor, ultrasonic distance measuring sensor, infrared distance measuring sensor and opening and exiting control port are auxiliary functions.
  • the operation control board obtains the attitude and position information of the robot by reading the data of the attitude sensor; scans the surrounding obstacles by infrared and ultrasonic sensors, and senses and draws the environmental conditions and local maps around the robot in real time, and rationally plans the movement and travel. Route; control the kicking force by controlling the opening and closing of the solenoid valve to indirectly control the gas cylinder valve switch to change the gas pressure.
  • the output gas of the fast discharge constant pressure valve 20 is the required pressure.
  • the first gas pipe 21, the fast discharge constant pressure valve 20, and the gas cylinder 10 are turned on, and the gas in the gas cylinder 10 sequentially flows through the fast discharge constant pressure valve 20, the two-position five-way solenoid valve 50, and the second gas pipe 61.
  • the pressure difference between the left cavity and the right cavity of the cylinder 60 causes the output rod of the cylinder 60 to be in a contracted state, at which time the entire kicking mechanism is in a contracted state.
  • the power source 30 supplies power to the operation control board 40 through the cable 41, and the output current of the operation control board 40 is supplied to the two-position five-way solenoid valve 50 through the cable 51, and the two-position five-way solenoid valve at this time 50 is electrically turned on, the two-position five-way solenoid valve 50 is changed, and the gas in the gas cylinder 10 flows through the fast-discharge constant pressure valve 20, the two-position five-way solenoid valve 50, and the third gas pipe 62 to enter the right side of the cylinder 60.
  • the gas in the cavity of the left side of the cylinder 60 is discharged through the second air pipe 61 and the two-position five-way solenoid valve 50.
  • the air pressure of the right side of the cylinder 60 is quickly pushed to push the output rod of the cylinder 60 to provide power to the pneumatic kicking mechanism. Kick the football 70.
  • the two-position five-way solenoid valve 50 is powered off and reset, and the gas in the gas cylinder 10 sequentially flows through the fast-discharge constant pressure valve 20, the two-position five-way solenoid valve 50, the second air pipe 61, and then enters the left side of the cylinder 60.
  • the gas in the cavity on the right side of the cylinder 60 is discharged through the third gas pipe 62 and the two-position five-way solenoid valve 50.
  • the output rod of the cylinder 60 is quickly pushed to return the output rod of the cylinder 60 to the initial contraction state to complete a kicking cycle.

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  • Toys (AREA)

Abstract

一种可调节的足球机器人踢球系统，包括电源（30）、运控板（40）、储气瓶（10）、气缸（60）、电磁阀（50）、气管（21、61、62）、电缆线（41、51）；电源（30）、运控板（40）和电磁阀（50）通过电缆线（41、51）形成回路；储气瓶（10）通过气管（21、61、62）、电磁阀（50）与气缸（60）相连接。该系统利用改变气体压力实现调节踢球力度，结构简单，易于实现，能极大提高足球机器人的竞技能力。

Description

一种可调节的足球机器人踢球系统
本申请要求2017年07月07日提交的申请号为：201720819704.0、发明名称为“一种可调节的足球机器人踢球系统”的中国专利申请的优先权，其全部内容合并在此。
技术领域
本公开属于足球机器人技术领域，特别是一种可调节的足球机器人踢球系统。
背景技术
目前足球机器人踢球系统主要有三类：电机弹簧式踢球机构、电磁铁式踢球机构、飞轮式踢球机构。
电机弹簧式踢球机构用电机带动压缩弹簧来实现储能，踢球时释放弹簧。电机弹簧式踢球机构机电延时比较大，对电机扭矩要求高。
电磁铁式踢球机构利用螺线管通电产生磁力，推动磁性圆柱体。这种机构实际使用时对瞬间电压的要求非常高，另外对设计和安装要求也非常高。
飞轮式踢球机构利用电机带动飞轮旋转进行储能，射门时飞轮与踢球杆进行接触，将球踢出。飞轮式踢球机构实际使用过程中震动很大，另外飞轮与踢球杆之间接触力非常大，容易造成踢球杆损坏。
此外这三类踢球机构原动力为电池，踢球力量与电压成正比，使用过程中耗电量大，造成电压下降，影响踢球效果。
发明内容
本公开旨在于提出一种可调节的足球机器人踢球系统，该踢球系统避免了现有足球机器人使用过程中耗电量大，踢球动力不稳的问题。
为实现上述发明目的，本公开采用以下技术方案：
一种可调节的足球机器人踢球系统，包括电源、运控板、储气瓶、气 缸、电磁阀、气管、电缆线；所述电源、运控板和电磁阀通过电缆线形成回路；所述储气瓶通过气管、电磁阀与气缸相连接。
进一步的，所述储气瓶与电磁阀之间安装快排恒压阀。
更进一步，所述储气瓶直接与快排恒压阀相连。
再进一步，所述快排恒压阀带有调压螺母。
进一步的，所述电磁阀为二位五通电磁阀。
进一步的，所述气管为PU管、PE管、PVC管或橡胶管。
本公开的一种可调节的足球机器人踢球系统，利用改变气体压力实现调节踢球力度的足球机器人踢球系统，结构简单，易于实现，能极大提高足球机器人的竞技能力，可用于足球机器人踢球系统的动力源。
附图说明
图1为本实用新型可调节的足球机器人踢球系统结构示意图。
具体实施方式
下面结合附图，对本公开的一种可调节的足球机器人踢球系统进行详细说明。需要说明的是，本文的“第一”、“第二”等仅为了区分相关的术语，并不表示重要性的高低，本文中的“左”、“右”是基于附图描述的。
如图1所示，本公开的一种可调节的足球机器人踢球系统，包括储气瓶10、快排恒压阀20、电源30、运控板40、二位五通电磁阀50、气缸60、第一电缆线41、电第二缆线51、第一气管21、第二气管61和第三气管62。其中快排恒压阀20上带有调压螺母201。气管可以为PU管、PE管、PVC管或橡胶管。电源30、运控板40和二位五通电磁阀50通过第一电缆线41和电第二缆线51形成回路；储气瓶10通过第一气管21、第二气管61、第三气管62、二位五通电磁阀50与气缸60相连接。二位五通电磁阀50可更换为其他能够实现此功能的电磁阀。
储气瓶10与二位五通电磁阀50之间安装快排恒压阀20，储气瓶10可以直接与快排恒压阀20相连，即快排恒压阀20安装在储气瓶10的排气口。快排恒压阀20带有调压螺母201。
运控板的主要任务是负责对足球机器人运动部分的控制和管理。本实施例中，运控板以TMS320F28335DSP为主控制器，以姿态传感器、超声波测距传感器，红外测距传感器以及开入开出控制口等主要模块为辅助功能。运控板通过读取姿态传感器的数据，获得机器人的姿态和位置信息；通过红外和超声传感器扫描周围的障碍物情况，实时感知和绘制机器人周围的环境状况和局部地图，合理的规划运动和行进路线；通过控制电磁阀的通断间接控制气瓶气阀开关改变气体压力实现调节踢球力度。
工作原理：当机器人处于竞技状态时，可以分为准备状态和踢球状态。
准备状态时：通过调节快排恒压阀20上的调压螺母201，使快排恒压阀20的输出气体为所需的压力。此时第一气管21、快排恒压阀20、储气瓶10导通，储气瓶10中的气体顺序流经快排恒压阀20、二位五通电磁阀50、第二气管61后进入气缸60左边的空腔内，通过气缸60左边空腔和右边空腔的压力差使气缸60的输出杆处于收缩状态，此时整个踢球机构处于收缩压紧状态。
踢球状态时：当机器人踢球时，电源30通过电缆41给运控板40供电，运控板40的输出电流通过电缆51给二位五通电磁阀50，此时二位五通电磁阀50上电导通，二位五通电磁阀50换位工作，储气瓶10中的气体流经快排恒压阀20、二位五通电磁阀50、第三气管62后进入气缸60右边的空腔内。气缸60左边空腔内的气体则经第二气管61、二位五通电磁阀50排出，此时气缸60右边空腔获得气压后快速推动气缸60的输出杆，给气动踢球机构提供动力，踢动足球70。
踢完球后二位五通电磁阀50断电复位，储气瓶10中的气体顺序流经快排恒压阀20、二位五通电磁阀50、第二气管61后进入气缸60左边空腔内，气缸60右边空腔内的气体则经第三气管62、二位五通电磁阀50排出。此时气缸60左边空腔获得气压后快速推动气缸60的输出杆，使气缸60的输出杆回复到初始收缩状态，完成一个踢球周期。
基于对本公开优选实施方式的描述，应该清楚，由所附的权利要求书所限定的本公开并不仅仅局限于上面说明书中所阐述的特定细节，未脱离 本公开宗旨或范围的对本公开的许多显而易见的改变同样可能达到本公开的目的。

Claims (6)

  1. 一种可调节的足球机器人踢球系统，其特征在于，包括电源、运控板、储气瓶、气缸、电磁阀、气管、电缆线；所述电源、运控板和电磁阀通过电缆线形成回路；所述储气瓶通过气管、电磁阀与气缸相连接。
  2. 根据权利要求1所述的可调节的足球机器人踢球系统，其特征在于，所述储气瓶与电磁阀之间安装快排恒压阀。
  3. 根据权利要求2所述的可调节的足球机器人踢球系统，其特征在于，所述储气瓶直接与快排恒压阀相连。
  4. 根据权利要求2所述的可调节的足球机器人踢球系统，其特征在于，所述快排恒压阀带有调压螺母。
  5. 根据权利要求1所述的可调节的足球机器人踢球系统，其特征在于，所述电磁阀为二位五通电磁阀。
  6. 根据权利要求1所述的可调节的足球机器人踢球系统，其特征在于，所述气管为PU管、PE管、PVC管或橡胶管。
PCT/CN2018/087414 2017-07-07 2018-05-18 一种可调节的足球机器人踢球系统 WO2019007156A1 (zh)

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Publication number Priority date Publication date Assignee Title
CN206950662U (zh) * 2017-07-07 2018-02-02 南京阿凡达机器人科技有限公司 一种可调节的足球机器人踢球系统

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CN2764452Y (zh) * 2005-01-17 2006-03-15 上海大学 足球机器人的踢球机构
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CN201710961U (zh) * 2010-07-13 2011-01-19 韩恭恩 足球机器人的踢球系统
CN103203105A (zh) * 2012-01-17 2013-07-17 上海未来伙伴机器人有限公司 机器人气动装置及击球机构
CN206950662U (zh) * 2017-07-07 2018-02-02 南京阿凡达机器人科技有限公司 一种可调节的足球机器人踢球系统

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6280285B1 (en) * 2000-04-04 2001-08-28 Jeffrey C. Morehouse Projectile launching action toy having members capable of coordinated movement
CN2764452Y (zh) * 2005-01-17 2006-03-15 上海大学 足球机器人的踢球机构
CN101596367A (zh) * 2009-06-11 2009-12-09 上海交通大学 足球机器人气动踢球系统
CN201710961U (zh) * 2010-07-13 2011-01-19 韩恭恩 足球机器人的踢球系统
CN103203105A (zh) * 2012-01-17 2013-07-17 上海未来伙伴机器人有限公司 机器人气动装置及击球机构
CN206950662U (zh) * 2017-07-07 2018-02-02 南京阿凡达机器人科技有限公司 一种可调节的足球机器人踢球系统

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