CN109048844B - Mechanical arm structure and ball picking robot constructed by same - Google Patents
Mechanical arm structure and ball picking robot constructed by same Download PDFInfo
- Publication number
- CN109048844B CN109048844B CN201811073534.1A CN201811073534A CN109048844B CN 109048844 B CN109048844 B CN 109048844B CN 201811073534 A CN201811073534 A CN 201811073534A CN 109048844 B CN109048844 B CN 109048844B
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- motor
- bearing
- connecting rod
- seat
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000011084 recovery Methods 0.000 claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims description 25
- 238000004088 simulation Methods 0.000 claims description 24
- 210000000078 claw Anatomy 0.000 claims description 16
- 238000013016 damping Methods 0.000 claims description 10
- 210000000707 wrist Anatomy 0.000 claims description 10
- 238000000034 method Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 5
- 230000009471 action Effects 0.000 abstract description 5
- 238000004898 kneading Methods 0.000 abstract description 3
- 238000011160 research Methods 0.000 description 6
- 230000009467 reduction Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000011664 nicotinic acid Substances 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B47/00—Devices for handling or treating balls, e.g. for holding or carrying balls
- A63B47/02—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting
- A63B47/021—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting for picking-up automatically, e.g. by apparatus moving over the playing surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/086—Gripping heads and other end effectors having finger members with means for synchronizing the movements of the fingers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a mechanical arm structure and a ball picking robot constructed by the mechanical arm structure, and belongs to the field of sports equipment. The invention comprises a mechanical arm and a mechanical arm; the mechanical arm is connected with the mechanical arm. The mechanical arm structure can carry out kneading action under the combined action of the mechanical arm and the mechanical arm, and the ball picking robot constructed by the structure can effectively pick up balls and put the balls into the recovery frame so as to pick up the balls.
Description
Technical Field
The invention relates to a mechanical arm structure and a ball picking robot constructed by the mechanical arm structure, and belongs to the field of sports equipment.
Background
Beginning in the mid-eighties of the twentieth century, robots have gradually moved from factory structuring to various industries, and into the twenty-first century, people have seen a solid pace of deep robot production, life and society in an ever-growing manner. In recent years, more and more service robots are also used in various industries for various environments such as assistance, service, medical treatment, education, entertainment, etc. Ball robots are also becoming a growing focus of development in various countries as an important research object for serving entertainment.
Ball picking robots have become a great variety of service robots in recent five years. The developed robot mainly comprises a golf ball, a tennis ball, a table tennis ball, a badminton ball and other pickup robots. According to the summary analysis of the current situation of domestic and foreign research, besides the special golf robot product is developed, the research results of the current robot for picking up the ball objects are relatively few, most of the robots are still in the primary research and trial stage, and the comprehensive technology level and the service level are relatively low. At present, the market of ball recovery robots is continuously developed, and the summary analysis of the current situation of domestic and foreign researches shows that the ball recovery robots have fewer research results, are mostly in the stage of researching and attempting to debug prototype, and have poor service performance and general working performance. However, with the improvement of the automation requirement of the service robot, the automation and unmanned formation of the service robot become urgent demands for the development of the current robots, and the ball recovery robot is mostly a man-machine combination or the mutual interference of control and operation, so that the labor cost input is increased, the manpower resource load under the condition of the aging human resources of the population of the current society is increased, and the investment of the technology and the resource cost is increased.
Disclosure of Invention
The invention provides a mechanical arm structure and a ball picking robot constructed by the mechanical arm structure, which are used for picking balls through the mechanical arm structure which is formed by reasonable construction and connection to realize kneading action.
The technical scheme of the invention is as follows: a mechanical arm structure comprises a mechanical arm and a mechanical arm 13; the mechanical arm is connected with the mechanical arm 13;
the mechanical arm comprises a first main mechanical arm 9, a second main mechanical arm 11, a third main mechanical arm 12, a first motor seat 44, a first motor 45, a second bearing 43, a second motor seat 52, a second motor 46, a third bearing 66, a third motor seat 48, a third motor 49 and a fourth bearing 50, wherein the upper arm 47 and the lower arm 51 are fixedly connected into the third main mechanical arm 12 through bolts; the first motor 45 is arranged on the first motor seat 44, the first motor seat 44 is arranged on the first main mechanical arm 9, the output shaft of the first motor 45 is fixedly connected with the second main mechanical arm 11, and the first main mechanical arm 9 and the second main mechanical arm 11 form a revolute pair through the second bearing 43; the second motor 46 is arranged on the second motor seat 52, the second motor seat 52 is arranged on the third main mechanical arm 11, the output shaft of the second motor 46 is fixedly connected with the third main mechanical arm 12, and the second main mechanical arm 11 and the third main mechanical arm 12 form a revolute pair through a third bearing 66; the third motor 49 is arranged on the third motor seat 48, the third motor seat 48 is arranged on the third main mechanical arm 12, the output shaft of the third motor 48 is fixedly connected with the mechanical arm 13, and the third main mechanical arm 12 and the mechanical arm 13 form a revolute pair through a fourth bearing 50; the output shaft of the first motor 45 drives the second main mechanical arm 11 to move, the output shaft of the second motor 46 drives the third main mechanical arm 12 to move, and the output shaft of the third motor 49 drives the mechanical arm 13 to move;
the manipulator 13 comprises a connecting joint 53, a supporting wrist 54, a rotating disk 55, a first bearing 56, a first paw connecting rod 57, a second paw connecting rod 58, a first simulation finger 59, a tray 60, a second simulation finger 61 and a rotating motor 62; one end of the support wrist 54 is mounted on the connecting joint 53, the other end of the support wrist 54 is mounted on the tray 60, the rotating motor 62 is mounted on the tray 60, a main shaft of the rotating motor 62 is fixedly connected with the rotating disc 55, the first claw connecting rod 57 and the second claw connecting rod 58 form a rotating pair through a groove on the first bearing 56 and a rotating pair through a hinge, the second connecting rod 58 and the first simulation finger 59 form a rotating pair through a hinge, the first simulation finger 59 and the second simulation finger 61 are fixedly connected through a bolt to form a simulation finger, the output shaft of the third claw motor 49 drives the rotating disc 55 to rotate, and the rotation of the rotating disc 55 drives the first simulation finger 59 and the second simulation finger 61 to be kneaded through the first claw connecting rod 57, the second claw connecting rod 58 which are connected.
The ball picking robot constructed by the mechanical arm structure further comprises a walking steering mechanism 1, a vehicle body supporting and damping mechanism 2, a vehicle body 6 and a recovery frame 8; the recovery frame 8 is arranged at the rear side of the vehicle body 6, the mechanical arm is connected with the mechanical arm 13, and is arranged at two sides of the vehicle body 6;
the walking steering mechanism 1 comprises a support frame 63, rubber wheels 64 and a first driving motor 65, wherein the walking steering mechanism 1 is of a four-wheel driving four-wheel structure, two rubber wheels 64 are respectively arranged on two sides of the support frame 63, the rubber wheels 64 are fixedly connected with an output shaft of the first driving motor 65, the first driving motor 65 is arranged on an H-shaped frame motor seat 68 of the vehicle body supporting and damping mechanism 2, and the rotation of the four first driving motors 65 drives the rubber wheels 64 to rotate so as to drive the vehicle body 6 to steer and advance and retreat;
the vehicle body supporting and damping mechanism 2 comprises an L-shaped frame 14, a spring 15, an upper connecting rod 16, an H-shaped frame motor seat 68 and a lower connecting rod 69; the L-shaped frame 14 is connected with the supporting frame 63, the upper connecting rod 16, the lower connecting rod 69, the tail end of the L-shaped frame 14 and the tail end of the motor seat 68 of the H-shaped frame form a parallelogram bracket, the connection end points are all connected by hinges to form a revolute pair, and the spring 15 is diagonally connected with the quadrilateral bracket by hinges to form a revolute pair;
the vehicle body 6 comprises an upper shell, a lower shell and a speed reduction device, wherein the speed reduction device comprises a second driving motor 17, a coupling 18, a small bearing 19, a small gear 20, a small bearing seat 21, a large bearing seat 22, a shaft 23, a large gear 24 and a large bearing 25; the inner side of the lower shell is a supporting frame 63, the upper shell is arranged above the lower shell, a second driving motor 17 is arranged on the upper shell, a second driving motor 17 shaft is connected with a pinion 20 shaft through a coupler 18, the pinion 20 is meshed with a large gear 24, the pinion 20 is arranged on a small bearing seat 21 through a small bearing 19, the small bearing seat 21 is arranged on the upper shell, the large gear 24 is arranged on a shaft 23, the shaft 23 is arranged on a large bearing seat 22 through a large bearing 25, the large bearing seat 22 is arranged on the upper shell, one end of the shaft 23 is connected with a first main mechanical arm 9, the second driving motor 17 output shaft drives the pinion 20 to drive the large gear 24 to move, and the movement of the first main mechanical arm 9 in the mechanical arm is realized through the shaft 23.
The device also comprises a frame changing module 10; the frame replacing module 10 comprises a box body 35, a polished rod 34, a buckle 33 and a hydraulic cylinder 32; the polish rod 34 is fixedly connected to the box 35, the hydraulic cylinder 32 is connected with the buckle 33 through a hinge, the box 35 is mounted on the back of the car body 6, the buckle 33 is connected with the recovery frame 8, the hydraulic cylinder 32 is enabled to work through control output, the buckle 33 is pushed to move on the polish rod 34, and the recovery frame 8 is put down.
The robot vision module is characterized by further comprising an obstacle avoidance module 4 arranged on the front surface of the vehicle body 6, a ball picking robot vision module 7 arranged at the top end of the vehicle body 6 and a main controller, wherein the obstacle avoidance module 4 adopts an infrared obstacle avoidance sensor, and the ball picking robot vision module 7 adopts a Pixy CmeCam 5 image recognition sensor 67; the infrared obstacle avoidance sensor is used for avoiding obstacles in the walking process of the robot, and the Pixy CmuCam5 image recognition sensor 67 is used for transmitting the position information of the ball captured by vision acquisition to the main controller to control the walking steering mechanism 1 to move and position.
The beneficial effects of the invention are as follows: the mechanical arm structure can carry out kneading action under the combined action of the mechanical arm and the mechanical arm, and the ball picking robot constructed by the structure can effectively pick up balls and put the balls into the recovery frame so as to pick up the balls.
Drawings
FIG. 1 is a schematic view of two oblique sides of the present invention;
FIG. 2 is a schematic view of the travel steering mechanism and body support shock absorbing mechanism of the present invention;
FIG. 3 is a schematic view of the reduction gear unit inside the vehicle body according to the present invention;
FIG. 4 is a schematic diagram of a frame exchange module according to the present invention;
FIG. 5 is a schematic illustration of a robotic arm of the present invention;
FIG. 6 is an enlarged partial schematic view of a robot arm according to the present invention;
FIG. 7 is a schematic diagram of a first robot arm according to the present invention;
FIG. 8 is a second schematic diagram of the manipulator of the present invention;
FIG. 9 is a schematic diagram of a Pixy CmeCam 5 image recognition sensor of the present invention;
the reference numerals in the figures are: 1-walking steering mechanism, 2-car body supporting damping mechanism, 4-obstacle avoidance module, 6-car body, 7-mechanical arm structure vision module, 8-recovery frame, 9-primary mechanical arm I, 10-frame changing module, 11-primary mechanical arm II, 12-primary mechanical arm III, 13-mechanical arm, 14-bracket, 15-spring, 16-connecting rod, 17-driving motor II, 18-coupling, 19-small bearing, 20-small gear, 21-small bearing seat, 22-large bearing seat, 23-shaft, 24-large gear, 25-large bearing, 32-hydraulic cylinder, 33-fastener, 34-polish rod, 35-box body, 43-bearing II, the hand-held wrist-support device comprises a first 44-motor seat, a first 45-motor, a second 46-motor, a first 47-arm, a second 48-motor seat, a third 49-motor, a fourth 50-bearing, a lower 51-arm, a second 52-motor seat, a 53-connection joint, a 54-support wrist, a 55-rotating disk, a first 56-bearing, a first 57-paw connecting rod, a second 58-paw connecting rod, a first 59-bionic finger, a 60-tray, a second 61-simulated finger, a 62-rotating motor, a 63-supporting frame, a 64-rubber wheel, a first 65-driving motor, a third 66-bearing, a 67-Picy Cmecam 5 image recognition sensor, a 68-H-shaped frame motor seat and a 69-lower connecting rod.
Detailed Description
The invention will be further described with reference to the drawings and examples, but the invention is not limited to the scope.
Example 1: as shown in fig. 1-9, a mechanical arm structure comprises a mechanical arm and a mechanical arm 13; the mechanical arm is connected with the mechanical arm 13;
the mechanical arm comprises a first main mechanical arm 9, a second main mechanical arm 11, a third main mechanical arm 12, a first motor seat 44, a first motor 45, a second bearing 43, a second motor seat 52, a second motor 46, a third bearing 66, a third motor seat 48, a third motor 49 and a fourth bearing 50, wherein the upper arm 47 and the lower arm 51 are fixedly connected into the third main mechanical arm 12 through bolts; the first motor 45 is arranged on the first motor seat 44, the first motor seat 44 is arranged on the first main mechanical arm 9, the output shaft of the first motor 45 is fixedly connected with the second main mechanical arm 11, and the first main mechanical arm 9 and the second main mechanical arm 11 form a revolute pair through the second bearing 43; the second motor 46 is arranged on the second motor seat 52, the second motor seat 52 is arranged on the third main mechanical arm 11, the output shaft of the second motor 46 is fixedly connected with the third main mechanical arm 12, and the second main mechanical arm 11 and the third main mechanical arm 12 form a revolute pair through a third bearing 66; the third motor 49 is arranged on the third motor seat 48, the third motor seat 48 is arranged on the third main mechanical arm 12, the output shaft of the third motor 48 is fixedly connected with the mechanical arm 13, and the third main mechanical arm 12 and the mechanical arm 13 form a revolute pair through a fourth bearing 50; the output shaft of the first motor 45 drives the second main mechanical arm 11 to move, the output shaft of the second motor 46 drives the third main mechanical arm 12 to move, and the output shaft of the third motor 49 drives the mechanical arm 13 to move; the manipulator 13 comprises a connecting joint 53, a supporting wrist 54, a rotating disk 55, a first bearing 56, a first paw connecting rod 57, a second paw connecting rod 58, a first simulation finger 59, a tray 60, a second simulation finger 61 and a rotating motor 62; one end of the support wrist 54 is mounted on the connecting joint 53, the other end of the support wrist 54 is mounted on the tray 60, the rotating motor 62 is mounted on the tray 60, a main shaft of the rotating motor 62 is fixedly connected with the rotating disc 55, the first claw connecting rod 57 and the second claw connecting rod 58 form a rotating pair through a groove on the first bearing 56 and a rotating pair through a hinge, the second connecting rod 58 and the first simulation finger 59 form a rotating pair through a hinge, the first simulation finger 59 and the second simulation finger 61 are fixedly connected through a bolt to form a simulation finger, the output shaft of the third claw motor 49 drives the rotating disc 55 to rotate, and the rotation of the rotating disc 55 drives the first simulation finger 59 and the second simulation finger 61 to be kneaded through the first claw connecting rod 57, the second claw connecting rod 58 which are connected.
The ball picking robot constructed by the mechanical arm structure comprises a walking steering mechanism 1, a vehicle body supporting and damping mechanism 2, a vehicle body 6 and a recovery frame 8, wherein the robot comprises the specific part of the mechanical arm structure; the recovery frame 8 is arranged at the rear side of the vehicle body 6, the mechanical arm is connected with the mechanical arm 13, and is arranged at two sides of the vehicle body 6; the walking steering mechanism 1 comprises a support frame 63, rubber wheels 64 and a first driving motor 65, wherein the walking steering mechanism 1 is of a four-wheel driving four-wheel structure, two rubber wheels 64 are respectively arranged on two sides of the support frame 63, the rubber wheels 64 are fixedly connected with an output shaft of the first driving motor 65, the first driving motor 65 is arranged on an H-shaped frame motor seat 68 of the vehicle body supporting and damping mechanism 2, and the rotation of the four first driving motors 65 drives the rubber wheels 64 to rotate so as to drive the vehicle body 6 to steer and advance and retreat; the vehicle body supporting and damping mechanism 2 comprises an L-shaped frame 14, a spring 15, an upper connecting rod 16, an H-shaped frame motor seat 68 and a lower connecting rod 69; the L-shaped frame 14 is connected with the supporting frame 63, the upper connecting rod 16, the lower connecting rod 69, the tail end of the L-shaped frame 14 and the tail end of the H-shaped frame motor seat 68 form a parallelogram support, the connection end points are all connected by hinges to form a revolute pair, the spring 15 is diagonally connected with the quadrilateral support by the hinges to form a revolute pair, and when the vehicle body 6 moves or vibrates, the spring 15 stretches and the quadrilateral support tilts, so that the functions of buffering and stabilizing the vehicle body and the motion verticality of the rubber wheel 64 and the ground are guaranteed; the vehicle body 6 comprises an upper shell, a lower shell and a speed reduction device, wherein the speed reduction device comprises a second driving motor 17, a coupling 18, a small bearing 19, a small gear 20, a small bearing seat 21, a large bearing seat 22, a shaft 23, a large gear 24 and a large bearing 25; the inner side of the lower shell is a supporting frame 63, the upper shell is arranged above the lower shell, a second driving motor 17 is arranged on the upper shell, a second driving motor 17 shaft is connected with a pinion 20 shaft through a coupler 18, the pinion 20 is meshed with a large gear 24, the pinion 20 is arranged on a small bearing seat 21 through a small bearing 19, the small bearing seat 21 is arranged on the upper shell, the large gear 24 is arranged on a shaft 23, the shaft 23 is arranged on a large bearing seat 22 through a large bearing 25, the large bearing seat 22 is arranged on the upper shell, one end of the shaft 23 is connected with a first main mechanical arm 9, the second driving motor 17 output shaft drives the pinion 20 to drive the large gear 24 to move, and the movement of the first main mechanical arm 9 in the mechanical arm is realized through the shaft 23.
Further, a frame changing module 10 can be provided; the frame replacing module 10 comprises a box body 35, a polished rod 34, a buckle 33 and a hydraulic cylinder 32; the polish rod 34 is fixedly connected to the box 35, the hydraulic cylinder 32 is connected with the buckle 33 through a hinge, the box 35 is mounted on the back of the car body 6, the buckle 33 is connected with the recovery frame 8, the hydraulic cylinder 32 is enabled to work through control output, the buckle 33 is pushed to move on the polish rod 34, and the recovery frame 8 is put down.
Further, the robot vision module comprises an obstacle avoidance module 4 arranged on the front surface of the vehicle body 6, a ball picking robot vision module 7 arranged on the top end of the vehicle body 6 and a main controller, wherein the obstacle avoidance module 4 adopts an infrared obstacle avoidance sensor, and the ball picking robot vision module 7 adopts a Pixy CmeuCam 5 image recognition sensor 67; the infrared obstacle avoidance sensor is used for avoiding obstacles in the walking process of the robot, and the Pixy CmuCam5 image recognition sensor 67 is used for transmitting the position information of the ball captured by vision acquisition to the main controller to control the walking steering mechanism 1 to move and position.
The working process of the invention is as follows:
the obstacle avoidance module 4, the mechanical arm structure vision module 7 and the main controller can correspondingly move in cooperation with a mechanical structure in the using process, and the driving motor one 65 drives the rubber wheel 54 to move so as to drive the steering and advancing and retreating of the vehicle body 6.
Specifically, the ball pick-up is realized by matching with the mechanical arm: the first motor 7 on the car body 6 drives a shaft, then gears on the shaft move, the first motor 45, the second motor 46 and the third motor 49 are matched with each other to surround the ball range of the manipulator 13, the rotating motor 62 drives the rotating disc 55, the connected paw connecting rod 58 drives the bionic finger to clamp the ball, and then the mechanical arm interacts with the manipulator to put the ball into the recycling bin 8. The electric shock device can be designed at the top of the barrel, when the barrel is full, the electric shock device gives an alarm, the robot drags the full barrel to a fixed position, the hydraulic cylinder 32 in the frame changing module 10 drives the buckle 33 to descend on the polish rod 34, the recovery barrel 8 is put down, and then the buckle 33 ascends on the polish rod 34 and takes the recovery barrel 8 above. The design of the robotic arm may be better used to pick up large balls.
While the present invention has been described in detail with reference to the drawings, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.
Claims (2)
1. The utility model provides a ball robot, its characterized in that: comprises a mechanical arm and a mechanical arm (13); the mechanical arm is connected with the mechanical arm (13);
the mechanical arm comprises a first main mechanical arm (9), a second main mechanical arm (11), a third main mechanical arm (12), a first motor seat (44), a first motor (45), a second bearing (43), a second motor seat (52), a second motor (46), a third bearing (66), a third motor seat (48), a third motor (49) and a fourth bearing (50), wherein the upper arm (47) and the lower arm (51) are fixedly connected through bolts to form the third main mechanical arm (12); the first motor (45) is arranged on the first motor seat (44), the first motor seat (44) is arranged on the first main mechanical arm (9), an output shaft of the first motor (45) is fixedly connected with the second main mechanical arm (11), and the first main mechanical arm (9) and the second main mechanical arm (11) form a revolute pair through the second bearing (43); the second motor (46) is arranged on the second motor seat (52), the second motor seat (52) is arranged on the second main mechanical arm (11), an output shaft of the second motor (46) is fixedly connected with the third main mechanical arm (12), and the second main mechanical arm (11) and the third main mechanical arm (12) form a revolute pair through a third bearing (66); the motor III (49) is arranged on the motor seat III (48), the motor seat III (48) is arranged on the main mechanical arm III (12), an output shaft of the motor III (49) is fixedly connected with the mechanical arm (13), and the main mechanical arm III (12) and the mechanical arm (13) form a revolute pair through a bearing IV (50); an output shaft of a motor I (45) drives a main mechanical arm II (11) to move, an output shaft of a motor II (46) drives a main mechanical arm III (12) to move, and an output shaft of a motor III (49) drives a mechanical arm (13) to move;
the manipulator (13) comprises a connecting joint (53), a supporting wrist (54), a rotating disc (55), a first bearing (56), a first paw connecting rod (57), a second paw connecting rod (58), a first simulation finger (59), a tray (60), a second simulation finger (61) and a rotating motor (62); one end of a supporting wrist (54) is arranged on a connecting joint (53), the other end of the supporting wrist (54) is arranged on a tray (60), a rotating motor (62) is arranged on the tray (60), a main shaft of the rotating motor (62) is fixedly connected with a rotating disc (55), a first claw connecting rod (57) and a groove on the rotating disc (55) form a revolute pair through a first bearing (56), a first claw connecting rod (57) and a second claw connecting rod (58) form a revolute pair through a hinge, a second connecting rod (58) and a first simulation finger (59) form a revolute pair through a hinge, the first simulation finger (59) and the second simulation finger (61) are fixedly connected into a simulation finger through bolts, an output shaft of the third claw motor (49) drives the rotating disc (55) to rotate, and the rotation of the rotating disc (55) drives the first simulation finger (59) and the second simulation finger (61) to be kneaded through the first connected claw connecting rod (57) and the second claw connecting rod (58);
the device also comprises a walking steering mechanism (1), a vehicle body supporting and damping mechanism (2), a vehicle body (6) and a recovery frame (8); the recovery frame (8) is arranged at the rear side of the vehicle body (6), the mechanical arm is connected with the mechanical arm (13), and is arranged at two sides of the vehicle body (6);
the walking steering mechanism (1) comprises a support frame (63), rubber wheels (64) and a first driving motor (65), wherein the walking steering mechanism (1) is of a four-wheel-drive type structure, two rubber wheels (64) are respectively arranged on two sides of the support frame (63), the rubber wheels (64) are fixedly connected with an output shaft of the first driving motor (65), the first driving motor (65) is arranged on an H-shaped frame motor seat (68) of the vehicle body supporting and damping mechanism (2), and the rotation of the rubber wheels (64) is driven by the rotation of the four first driving motors (65) so as to drive the steering and advancing and retreating of the vehicle body (6);
the vehicle body supporting and damping mechanism (2) comprises an L-shaped frame (14), a spring (15), an upper connecting rod (16), an H-shaped frame motor seat (68) and a lower connecting rod (69); the L-shaped frame (14) is connected with the supporting frame (63), the upper connecting rod (16), the lower connecting rod (69) and the tail end of the L-shaped frame (14) and the tail end of the motor base (68) of the I-shaped frame form a parallelogram bracket, the connecting end points are all connected by hinges to form a revolute pair, and the springs (15) are diagonally connected with the quadrilateral bracket through hinges to form the revolute pair;
the vehicle body (6) comprises an upper shell, a lower shell and a speed reducing device, wherein the speed reducing device comprises a driving motor II (17), a coupler (18), a small bearing (19), a pinion (20), a small bearing seat (21), a large bearing seat (22), a shaft (23), a large gear (24) and a large bearing (25); the inner side of the lower shell is provided with a supporting frame (63), the upper part of the lower shell is provided with an upper shell, a driving motor II (17) is arranged on the upper shell, a driving motor II (17) shaft is connected with a pinion (20) through a coupler (18), the pinion (20) is meshed with a large gear (24), the pinion (20) is arranged on a small bearing seat (21) through a small bearing (19), the small bearing seat (21) is arranged on the upper shell, the large gear (24) is arranged on a shaft (23), the shaft (23) is arranged on a large bearing seat (22) through a large bearing (25), the large bearing seat (22) is arranged on the upper shell, one end of the shaft (23) is connected with a first main mechanical arm (9), and the output shaft of the driving motor II (17) drives the pinion (20) to drive the large gear (24) to move, and the first main mechanical arm (9) in the mechanical arm is moved through the shaft (23).
The device also comprises a frame replacing module (10); the frame replacing module (10) comprises a box body (35), a polished rod (34), a buckle (33) and a hydraulic cylinder (32); the polish rod (34) is fixedly connected to the box body (35), the hydraulic cylinder (32) is connected with the buckle (33) through a hinge, the box body (35) is arranged on the back of the car body (6), the buckle (33) is connected with the recovery frame (8), the hydraulic cylinder (32) is enabled to work through control output, the buckle (33) is pushed to move on the polish rod (34), and the recovery frame (8) is put down;
the robot vision module is characterized by further comprising an obstacle avoidance module (4) arranged on the front surface of the vehicle body (6), a ball picking robot vision module (7) arranged on the top end of the vehicle body (6) and a main controller.
2. The ball picking robot of claim 1, wherein: the obstacle avoidance module (4) adopts an infrared obstacle avoidance sensor, and the ball picking robot vision module (7) adopts a Pixy CmeuCap 5 image recognition sensor (67); the infrared obstacle avoidance sensor is used for avoiding obstacles in the walking process of the robot, and the Pixy CmuCam5 image recognition sensor (67) is used for transmitting the position information of the ball captured by vision acquisition to the main controller to control the walking steering mechanism (1) to move and position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811073534.1A CN109048844B (en) | 2018-09-14 | 2018-09-14 | Mechanical arm structure and ball picking robot constructed by same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811073534.1A CN109048844B (en) | 2018-09-14 | 2018-09-14 | Mechanical arm structure and ball picking robot constructed by same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109048844A CN109048844A (en) | 2018-12-21 |
| CN109048844B true CN109048844B (en) | 2024-03-29 |
Family
ID=64761777
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811073534.1A Active CN109048844B (en) | 2018-09-14 | 2018-09-14 | Mechanical arm structure and ball picking robot constructed by same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109048844B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109849012B (en) * | 2019-03-12 | 2020-12-11 | 张洋 | Football robot and method for capturing infrared football by football robot |
| CN112337063A (en) * | 2020-11-05 | 2021-02-09 | 安徽震雄新材料有限公司 | Automatic ball picking device in tennis match |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101032818A (en) * | 2007-03-29 | 2007-09-12 | 上海大学 | Paw mechanism of three-jaw self-centering device |
| CN201224105Y (en) * | 2008-07-25 | 2009-04-22 | 王正刚 | Manipulator for cleaning garbage |
| CN103817686A (en) * | 2012-11-19 | 2014-05-28 | 青岛理工大学琴岛学院 | Manipulator for disaster rescue robot |
| CN104858884A (en) * | 2015-05-18 | 2015-08-26 | 天津大学 | Fixed-palm type bionic mechanical gripper capable of achieving passive enveloping |
| CN205324454U (en) * | 2015-11-26 | 2016-06-22 | 曾冰 | Tubular product processing ejector sleeve mechanism |
| CN106737627A (en) * | 2017-01-12 | 2017-05-31 | 河海大学常州校区 | A kind of imitative trunk mechanical arm |
| CN106927250A (en) * | 2017-02-27 | 2017-07-07 | 西安交通大学 | A kind of commodity carrying damping captures robot automatically |
| CN206561424U (en) * | 2016-12-14 | 2017-10-17 | 华南理工大学广州学院 | A kind of ball picking robot |
| CN206853029U (en) * | 2017-05-10 | 2018-01-09 | 西南交通大学 | A kind of shuttlecock automatically picking up balls code ball turns to robot entirely |
| CN206925844U (en) * | 2017-03-29 | 2018-01-26 | 天津农学院 | Robot device |
| CN108076885A (en) * | 2017-11-29 | 2018-05-29 | 昆明理工大学 | A kind of gardens pruning machine people |
| CN108214535A (en) * | 2017-12-29 | 2018-06-29 | 南京理工大学 | A kind of Synchronization Control manipulator |
| CN209599206U (en) * | 2018-09-14 | 2019-11-08 | 昆明理工大学 | A kind of machinery arm configuration and ball picking robot |
-
2018
- 2018-09-14 CN CN201811073534.1A patent/CN109048844B/en active Active
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101032818A (en) * | 2007-03-29 | 2007-09-12 | 上海大学 | Paw mechanism of three-jaw self-centering device |
| CN201224105Y (en) * | 2008-07-25 | 2009-04-22 | 王正刚 | Manipulator for cleaning garbage |
| CN103817686A (en) * | 2012-11-19 | 2014-05-28 | 青岛理工大学琴岛学院 | Manipulator for disaster rescue robot |
| CN104858884A (en) * | 2015-05-18 | 2015-08-26 | 天津大学 | Fixed-palm type bionic mechanical gripper capable of achieving passive enveloping |
| CN205324454U (en) * | 2015-11-26 | 2016-06-22 | 曾冰 | Tubular product processing ejector sleeve mechanism |
| CN206561424U (en) * | 2016-12-14 | 2017-10-17 | 华南理工大学广州学院 | A kind of ball picking robot |
| CN106737627A (en) * | 2017-01-12 | 2017-05-31 | 河海大学常州校区 | A kind of imitative trunk mechanical arm |
| CN106927250A (en) * | 2017-02-27 | 2017-07-07 | 西安交通大学 | A kind of commodity carrying damping captures robot automatically |
| CN206925844U (en) * | 2017-03-29 | 2018-01-26 | 天津农学院 | Robot device |
| CN206853029U (en) * | 2017-05-10 | 2018-01-09 | 西南交通大学 | A kind of shuttlecock automatically picking up balls code ball turns to robot entirely |
| CN108076885A (en) * | 2017-11-29 | 2018-05-29 | 昆明理工大学 | A kind of gardens pruning machine people |
| CN108214535A (en) * | 2017-12-29 | 2018-06-29 | 南京理工大学 | A kind of Synchronization Control manipulator |
| CN209599206U (en) * | 2018-09-14 | 2019-11-08 | 昆明理工大学 | A kind of machinery arm configuration and ball picking robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109048844A (en) | 2018-12-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102490171B (en) | Robot for disposing dangerous goods and ammunition | |
| CN109048843B (en) | Ball picking robot | |
| CN101913144B (en) | Mobile mechanical arm | |
| CN109048844B (en) | Mechanical arm structure and ball picking robot constructed by same | |
| CN102283765A (en) | Rectangular coordinate and joint type combined traditional Chinese massage robot | |
| CN201231791Y (en) | Multi-joint type crawler mobile robot | |
| CN104002888A (en) | Quadrilateral mechanism based snakelike robot | |
| CN108773426A (en) | Single power source carries the bionical quadruped robot of elastic leg | |
| CN209063135U (en) | A kind of intelligence is made an inventory robot | |
| CN209274718U (en) | The full circle swinging mobile chassis that four motorized wheels turn to | |
| CN201257874Y (en) | Motion platform with oblique sphere type omnidirectional moving wheel | |
| CN208291362U (en) | A kind of wheel shoe full landform exploring robot of convolution | |
| CN112936215A (en) | Obstacle avoidance robot for industrial production based on artificial intelligence and use method thereof | |
| CN202806930U (en) | Wheel - track - leg composite mobile robot | |
| CN210928682U (en) | Apple picking robot | |
| CN112091924A (en) | Wheel-arm hybrid reconfigurable robot | |
| CN209599206U (en) | A kind of machinery arm configuration and ball picking robot | |
| CN209207489U (en) | A kind of ball picking robot | |
| CN206925845U (en) | A kind of service robot of centre of gravity, high kinetic stability | |
| CN204932836U (en) | Wheel can become born of the same parents' toy robot completely | |
| CN104589329B (en) | Gear drive electric cylinder is two translation manipulators at a high speed | |
| CN111254859A (en) | Four-wheel independent drive independent steering mobile robot platform suitable for outdoor cleaning operation | |
| CN215701858U (en) | Intelligent robot chassis | |
| CN204487564U (en) | Gear drive electric cylinder is two translation manipulators at a high speed | |
| CN217778810U (en) | Robot four-foot motion chassis |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |