Pneumatic ball kicking system of football robot

Abstract

The invention relates to a pneumatic ball kicking system of a football robot, comprising a ball horizontally pushing kicking foot, a cylinder output rod, a cylinder, air pipe interfaces, a stand, a connecting rod, a ball lifting kicking foot, a ball lifting kicking foot board, a rotary pushing head and a motor. A pneumatic control loop comprises a cylinder output rod, a cylinder, a two-position five-way electromagnetic valve, a two-position three-way electromagnetic valve and an air storage bottle. The ball kicking system can realize switching between ground ball and air ball by changing the angle of the rotary pushing head. The force of kicking the ball can be regulated by changing duration of electrifying the two-position five-way electromagnetic valve, namely changing the flux of air flowing into the right cavity of the cylinder. The invention realizes a pneumatic ball kicking system which can regulate force of kicking the ball, and can play ground ball and air ball. The invention has simple structure and easy realization, and can greatly improve the competition ability of the football robot, particularly ball kicking ability.

Description

technical field [0001] The invention relates to a soccer robot kicking system, in particular to a device for kicking and shooting a soccer robot in competition. Background technique [0002] The RoboCup Robot World Cup is the largest, highest-level, and most influential robot technology event in the world, and the medium-sized soccer robot competition, as one of the events, involves artificial intelligence, robotics, communication, sensing, and the structure of intelligent bodies. Cutting-edge research and technology integration in many fields, such as theory, application, etc., have the characteristics of full autonomy, intelligence, confrontation, real-time, distributed control, etc., are more challenging, and can better reflect a country's robot research strength . With the promotion of football robot competitions, various related technologies continue to develop and progress, and the performance of one of the key technologies, the kicking system, directly affects the ou...

AI Technical Summary

Problems solved by technology

During the game, after the robot gets the ball, it can judge whether it is a ground ball or a high-altitude ball according to the situation on the field. At this time, the kicking board will definitely cause the football to be pushed out, making it difficult to protect the ball and complete the high-altitude kick. ball

Therefore, it is difficult to apply to the soccer robot game

[0007] The kicking devices involved in the above documents cannot adjust the kicking force, and the mechanism is complex and difficult to install. At the same time, the high-altitude ball implementation method is not ideal, and it is not suitable for actual soccer robot games.

At the same time, for soccer robot competitions that require very high movement speed, there are certain requirements for the weight of the robot, and the commonly used electromagnet-based kicking device, due to the large mass of the electromagnet, greatly affects the overall movement performance of the robot; at the same time, for The electromagnet that obtains the vigorous kicking action through high-voltage energization, the instantaneous high voltage interferes a lot with other circuits of the robot

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