CN207155807U - A kind of football, which juggles, performs robot - Google Patents
A kind of football, which juggles, performs robot Download PDFInfo
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- CN207155807U CN207155807U CN201720743241.4U CN201720743241U CN207155807U CN 207155807 U CN207155807 U CN 207155807U CN 201720743241 U CN201720743241 U CN 201720743241U CN 207155807 U CN207155807 U CN 207155807U
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- airduct
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Abstract
Juggled the utility model discloses a kind of football and perform robot, including robot components, air pressure system part, electric controling part.Robot components are made up of using imitative organization of human body six parts such as left upper extremity part, right upper extremity part, left lower extremity part, right lower extremity part, neck part, torso members.Air pressure system part is made up of pressure fan, electric air volume adjusting valve, electronic allocation of the amount of air valve, airduct.Pressure fan is connected through air main with electric air volume adjusting valve；Electric air volume adjusting valve is connected through air main with electronic allocation of the amount of air valve again；Electronic allocation of the amount of air valve connects multiple branch road airducts again；The end of each branch road airduct is connected with the striking spot on the ball of robot, and striking spot on the ball is equipped with sensor.Robot can perform that head juggles, left and right leg juggles and left and right instep juggles respectively, can also carry out the switching performance between several juggle.Robot can also carry out volleyball front forearm pass performance.
Description
Technical field
A kind of robot is the utility model is related to, especially a kind of football, which juggles, performs robot.
Background technology
Football is the sports with strongest influence power of the current whole world.The various playing skills that football is shown during exercise
Glamour, the life to people add infinite fast happy artistic treat.Along with development in science and technology, the machine relevant with football
Device people quickly grows, and the performance of various Soccer robots in robot world's Cup, has further shown the glamour of football, also for
Football is appreciated and provides a new approach.
Although Soccer robot is quickly grown, compared with mankind's football, Soccer robot can only do a little simple
Action (such as playing football), hence it is evident that unfortunately, there is presently no find to imitate people to perform that football juggles and to do difficulty bigger
The robot of action.Only for football appreciates angle, Soccer robot also has very big gap apart from the desired value of people, is in
It is recreational and ornamental also in urgent need to be improved on present football performance.
The content of the invention
For the deficiency described in background technology, the utility model provides a kind of football and juggled performance robot, can be with
The apish action that juggles, head juggles, left and right leg juggles and left and right instep juggles for performance respectively, can also carry out several juggle
Between switching performance.In order to reach the effect for imitating people and performing football and juggling, the robot employs imitative organization of human body, special
It is not the technical scheme for devising a kind of batting for being different from existing robot and mode of controlling ball, i.e.,：The impact of robot
To be robot batted with the rigidity at the position that juggles and the process of the common action of completing to juggle of the flexible ball-handling of the blast air-flow of change.
To achieve these goals, the technical solution adopted in the utility model is as follows：
A kind of football, which juggles, performs robot, including robot components, air pressure system part, electric controling part.Machine
People's part using imitative organization of human body, by left upper extremity part, right upper extremity part, left lower extremity part, right lower extremity part, neck part,
The part of torso member etc. six is formed.Air pressure system part is by pressure fan, electric air volume adjusting valve, electronic allocation of the amount of air valve, wind
Pipe forms, and the airduct includes main road airduct and branch road airduct, branch road airduct including head airduct, left leg airduct, left foot airduct,
Right leg airduct, right crus of diaphragm airduct.Pressure fan is connected through air main with electric air volume adjusting valve；Electric air volume adjusting valve is again through main wind
Pipe is connected with electronic allocation of the amount of air valve；Electronic allocation of the amount of air valve connects multiple branch road airducts again；The end of each branch road airduct
It is connected with the striking spot on the ball of robot, striking spot on the ball is equipped with sensor.
Furthermore, the left upper extremity part, right upper extremity part are connected by shoulder joint with trunk；Left lower extremity part,
Right lower extremity part is connected by hip joint with trunk；Neck part is connected by cervical vertebra joint with trunk；Upper limbs part is provided with wrist
Joint, elbow joint；Limb member is provided with knee joint, ankle-joint, and above-mentioned joint uses Servo-controller, under program machine
People can make the apish action that juggles.
Furthermore, the electric air volume adjusting valve is made up of servomotor and butterfly valve, is adjusted in real time by programmed instruction
The size of air quantity.
Furthermore, the electronic allocation of the amount of air valve under program, is responsible for the on and off of each branch road airduct.
Furthermore, the pressure fan, electric air volume adjusting valve, electronic allocation of the amount of air valve are all arranged on trunk；
Airduct is fixed on the associated components of robot on the way.
The beneficial effects of the utility model, which are that the utility model provides a kind of football and juggled, performs robot, can be with mould
The action that juggles of apery, head juggles, left and right leg juggles and left and right instep juggles for performance respectively, can also carry out several juggling it
Between switching performance.In order to reach the effect for imitating people and performing football and juggling, the robot employs imitative organization of human body, especially
It is the technical scheme for devising a kind of batting for being different from existing robot and mode of controlling ball, i.e.,：The impact of robot is
Robot is batted with the rigidity at the position that juggles and the process of the common action of completing to juggle of the flexible ball-handling of the blast air-flow of change.Due to
The air-flow that striking spot on the ball sprays is the blast air-flow that can change size, so the air-flow can control spheroid in the motion speed in space
Degree and amplitude.When juggling performance, it is the motion that the body that juggled is controlled by programme-control blast air-flow, coordinates robot
The action that juggles reaches juggle required juggle speed and the amplitude that juggles, and realizes that robot imitates people and performs the effect that football juggles.
Robot juggles the positive effect of performance, and the external footpath that juggled can be state's dimensioning, so as to add robot in football
It is recreational and ornamental in terms of performance.
Brief description of the drawings
The utility model is further illustrated with reference to the accompanying drawings and examples.
Fig. 1 is the utility model overall structure diagram；
Fig. 2 is the utility model robot components schematic diagram；
Fig. 3 is the utility model air pressure system block diagram.
Fig. 4 is the utility model volleyball front forearm pass air pressure system schematic diagram.
1, robot components in figure, 2, air pressure system part, 3, electric controling part, 4, head, 5, trunk, 6, left shoulder joint
Section, 7, left upper extremity, 8, left elbow joint, 9, waist joint, 10, left hip joint, 11, left lower extremity, 12, left knee joint, 13, left ankle closes
Section, 14, right ankle-joint, 15, right knee joint, 16, right lower extremity, 17, right hip joint, 18, right elbow joint, 19, right upper extremity, 20, right
Shoulder joint, 21, cervical vertebra joint, 22, head airduct, 23, head striking spot on the ball, 24, air main, 25, electric air volume adjusting valve,
26th, left leg airduct, 27, left leg striking spot on the ball, 28, left foot airduct, 29, left foot back of the body striking spot on the ball, 30, right crus of diaphragm back of the body striking spot on the ball,
31st, right crus of diaphragm airduct, 32, right leg striking spot on the ball, 33, right leg airduct, 34, pressure fan, 35, electronic allocation of the amount of air valve, 36, the right hand
Striking spot on the ball, 37, right hand airduct, 38, left hand airduct, 39, left hand striking spot on the ball
Embodiment
【Embodiment 1】
(Fig. 1 to Fig. 3) illustrates to the technical solution of the utility model below in conjunction with the accompanying drawings.
A kind of football, which juggles, performs robot, including robot components 1, air pressure system part 2, electric controling part 3.Machine
Device people part 1 is made up of using imitative organization of human body left upper extremity 7, right upper extremity 19, left lower extremity 11, right lower extremity 16, head 4, trunk 5.
Air pressure system part 2 is made up of pressure fan 34, electric air volume adjusting valve 25, electronic allocation of the amount of air valve 35, airduct, the airduct
Including main road airduct 24 and branch road airduct, branch road airduct includes head airduct 22, left leg airduct 26, left foot airduct 28, right leg wind
Pipe 33, right crus of diaphragm airduct 31.Pressure fan 34 is connected through air main 24 with electric air volume adjusting valve 25, electric air volume adjusting valve 25
It is connected again through air main 24 with electronic allocation of the amount of air valve 35；Electronic allocation of the amount of air valve 35 connects multiple branch road airducts again；Each branch
The end of transportation work style pipe all connects with corresponding striking spot on the ball, i.e.,：Head airduct 22 is connected with head striking spot on the ball 23；Left leg airduct
26 are connected with left leg striking spot on the ball 27；Left foot airduct 28 is connected with left foot back of the body striking spot on the ball 29；Right leg airduct 33 is batted with right leg
Position 32 connects；Right crus of diaphragm airduct 31 is connected with right crus of diaphragm back of the body striking spot on the ball 30, and striking spot on the ball is equipped with sensor.Robot performance juggles
During action (such as head juggles), action and the instruction conducting head airduct that head juggles are done by programmed instruction robot, it is common complete
Into the action that juggles of the flexible ball-handling of blast air-flow of the rigidity batting and change on head.
Furthermore, the left upper extremity 7, right upper extremity 19 are connected by shoulder joint with trunk 5；Left lower extremity 11, right lower extremity
16 are connected by hip joint with trunk 5；Head 4 is connected by cervical vertebra joint 21 with trunk 5.Left and right upper limbs be designed with shoulder joint,
Elbow joint；Left and right lower limb are designed with hip joint, knee joint, ankle-joint, and above-mentioned joint uses Servo-controller, under program
Robot can make the apish action that juggles.
Furthermore, the electric air volume adjusting valve 25 is made up of servomotor and butterfly valve, is adjusted in real time by programmed instruction
The size of air quantity is saved, to provide the blast air-flow for juggling required.
Furthermore, the electronic allocation of the amount of air valve 35 under program, is responsible for conducting or the pass of each branch road airduct
Close, complete the striking spot on the ball for being press-fitted and being sent to correlation of keeping watch.
Furthermore, the pressure fan 34, electric air volume adjusting valve 25, electronic allocation of the amount of air valve 35 are all arranged on body
On dry 5；Airduct is fixed on the associated components of robot on the way.
【Embodiment 2】
Electric air volume adjusting valve 25, the air inlet of pressure fan 34 is may be mounted at, pressure fan 34 can also be arranged on
Air outlet, electric air volume adjusting valve 25 is connected through air main 24 with pressure fan 34.
【Embodiment 3】(Fig. 4)
As shown in figure 4,10 cm positions set striking spot on the ball more than robot left and right arm wrist joint, the right hand is used
Airduct 37 connects right hand striking spot on the ball 36 and electronic allocation of the amount of air valve 35, and the He of left hand striking spot on the ball 39 is connected with left hand airduct 38
Electronic allocation of the amount of air valve 35, under the instruction of dig operation program, robot, which can be carried out volleyball front forearm pass, to be performed.
The utility model perform football juggle action when, be specifically designed a kind of batting for being different from existing robot and
The technical scheme of ball-handling mode, i.e.,：The impact of robot is the robot rigidity batting at the position that juggles and the pressure of change
The flexible ball-handling of strength stream is common to be completed to juggle the process of action.Because the air-flow that striking spot on the ball sprays is the pressure that can change size
Air-flow, so the air-flow can control spheroid in the movement velocity and amplitude in space.It is to pass through programme-control when juggling performance
Forced draft and then the motion of body of being juggled is controlled, coordinate the robot action that juggles to reach required juggle that juggle and speed and juggle
Amplitude, realize that robot imitates people and performs the effect that football juggles.Robot can perform respectively head juggle, left and right leg top
Ball and left and right instep juggle, and can also carry out the switching performance between several juggle.The performance effect that juggles of robot is obvious, from
And it is recreational and ornamental in terms of football performance to add robot.
It is above the preferable embodiment of the utility model, the utility model those skilled in the art can also be to above-mentioned
Embodiment is changed and changed.Therefore, the utility model is not limited to above-mentioned embodiment, every this area
It is new that any conspicuously improved, replacement or modification that technical staff is made on the basis of the utility model belong to this practicality
The protection domain of type.
Claims (5)
- The performance robot 1. a kind of football juggles, including robot components (1), air pressure system part (2), electric controling part (3)；Robot components (1) using imitative organization of human body, by left upper extremity (7), right upper extremity (19), left lower extremity (11), right lower extremity (16), Head (4), trunk (5) are formed；Air pressure system part (2) is by pressure fan (34), electric air volume adjusting valve (25), electronic air quantity Distributing valve (35), airduct composition；The airduct includes main road airduct (24) and branch road airduct, and branch road airduct includes head airduct (22), left leg airduct (26), left foot airduct (28), right leg airduct (33), right crus of diaphragm airduct (31)；Pressure fan (34) is through air main (24) it is connected with electric air volume adjusting valve (25), electric air volume adjusting valve (25) and through air main (24) and electronic allocation of the amount of air valve (35) connect；Electronic allocation of the amount of air valve (35) connects multiple branch road airducts again, and the end of each branch road airduct is hit with corresponding Bulb position connects, i.e.,：Head airduct (22) is connected with head striking spot on the ball (23), left leg airduct (26) and left leg striking spot on the ball (27) connect, left foot airduct (28) is connected with left foot back of the body striking spot on the ball (29), right leg airduct (33) and right leg striking spot on the ball (32) Connection, right crus of diaphragm airduct (31) are connected with right crus of diaphragm back of the body striking spot on the ball (30), and striking spot on the ball is equipped with sensor.
- 2. a kind of football, which juggles, according to claim 1 performs robot, it is characterised in that the left upper extremity (7), right upper extremity (19) it is connected by shoulder joint with trunk (5)；Left lower extremity (11), right lower extremity (16) are connected by hip joint with trunk (5)；Head (4) it is connected by cervical vertebra joint (21) with trunk (5)；Left and right upper limbs is designed with shoulder joint, elbow joint；Left and right lower limb are designed with hip Joint, knee joint, ankle-joint, above-mentioned joint use Servo-controller, and robot can make apish under program Juggle action.
- 3. a kind of football, which juggles, according to claim 1 performs robot, it is characterised in that the electric air volume adjusting valve (25) it is made up of servomotor and butterfly valve, adjusts the size of blast air-flow in real time by programmed instruction.
- 4. a kind of football, which juggles, according to claim 1 performs robot, it is characterised in that the electronic allocation of the amount of air valve (35) under program, it is responsible for the on and off of each branch road airduct, completes the striking spot on the ball for being press-fitted and being sent to correlation of keeping watch.
- 5. a kind of football, which juggles, according to claim 1 performs robot, it is characterised in that the pressure fan (34), electricity Dynamic volume damper (25), electronic allocation of the amount of air valve (35) are all arranged on trunk (5)；Airduct is fixed on the phase of robot on the way Close on component.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720743241.4U CN207155807U (en) | 2017-06-25 | 2017-06-25 | A kind of football, which juggles, performs robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720743241.4U CN207155807U (en) | 2017-06-25 | 2017-06-25 | A kind of football, which juggles, performs robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207155807U true CN207155807U (en) | 2018-03-30 |
Family
ID=61711851
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720743241.4U Expired - Fee Related CN207155807U (en) | 2017-06-25 | 2017-06-25 | A kind of football, which juggles, performs robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207155807U (en) |
-
2017
- 2017-06-25 CN CN201720743241.4U patent/CN207155807U/en not_active Expired - Fee Related
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180330 Termination date: 20210625 |