CN110587578A - Badminton education robot based on aluminum profile modularization - Google Patents
Badminton education robot based on aluminum profile modularization Download PDFInfo
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- CN110587578A CN110587578A CN201910848319.2A CN201910848319A CN110587578A CN 110587578 A CN110587578 A CN 110587578A CN 201910848319 A CN201910848319 A CN 201910848319A CN 110587578 A CN110587578 A CN 110587578A
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/0017—Training appliances or apparatus for special sports for badminton
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/805—Optical or opto-electronic sensors
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- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
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Abstract
The invention discloses a badminton education robot based on aluminum profile modularization, which comprises a chassis motion module, a mobile platform module and a swing module, wherein the chassis motion module is used for driving the robot to realize omnidirectional movement in a plane, the mobile platform module is arranged on the chassis motion module and is used for driving the swing module to perform cross-direction motion relative to the chassis motion module, the swing module is arranged on the mobile platform module and is used for driving a racket to realize batting, and the chassis motion module, the mobile platform module and the swing module are detachably connected with each other and further comprise a main control system used for controlling the robot to move. The robot in the invention adopts a modular design, most structural parts adopt aluminum profiles, the processing and assembly are simple, the overall cost is lower, a consumer can assemble the robot according to the specification after purchasing the robot, the process of manufacturing, assembling and debugging the robot is enjoyed, the practical ability can be exercised, and the robot has better educational significance.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a badminton education robot based on aluminum profile modularization.
Background
The badminton robot in the current market has various parts, complex processing and extremely high processing cost, the processing cost of a single part occupies more than forty percent of the total cost, the market price of a single badminton robot reaches dozens of thousands of yuan, and a plurality of badminton fans are forbidden. For the price which is not suitable for the people, the price is difficult to popularize in the market. In addition, the robot is assembled and debugged uniformly by factory workers before leaving a factory, does not have the functions of secondary development and debugging, is only an entertainment product for consumers, does not have any educational significance, and once the robot breaks down, the after-sales personnel can be dispatched by a seller for maintenance. The consumer only enjoys the entertainment process of the robot but does not have the process of manufacturing, assembling and debugging the robot, and the consumer does not have any educational significance.
Disclosure of Invention
The invention aims to: to badminton robot part on the existing market is various, processing and assembly are complicated, overall cost is extremely high, the robot is unified assembly and debugging by the mill before dispatching from the factory, and the consumer can only enjoy the amusement process of fighting with the robot after purchasing, and do not have the process of making assembly debugging robot, just can not possess the problem of any educational significance yet, the badminton education robot based on aluminium alloy modularization is provided, this robot adopts the modularized design, and the structure adopts the aluminium alloy mostly, processing and assembly are simple, overall cost is lower, the consumer can assemble according to the description after purchasing, enjoy the process of making assembly debugging robot, can temper the hands-on ability, have better educational significance.
In order to achieve the purpose, the invention adopts the technical scheme that:
the utility model provides a badminton education robot based on aluminium alloy modularization, includes chassis motion module, moving platform module and waves the bat module, chassis motion module is used for driving the robot and realizes omnidirectional movement in the plane, the moving platform module is located on the chassis motion module for the drive is waved the bat module and is carried out the cross direction motion for chassis motion module, wave to clap the module and locate on the moving platform module, be used for driving the racket and realize the batting, chassis motion module, moving platform module and wave the detachable connection of bat module still including the major control system who is used for controlling the robot motion.
The invention arranges the chassis motion module, the mobile platform module and the swing module, wherein the chassis motion module is used for driving the robot to realize omnidirectional movement in a plane, the mobile platform module is arranged on the chassis motion module, is used for driving the swing module to move in the cross direction relative to the chassis motion module, the swing module is arranged on the mobile platform module, used for driving the racket to realize batting, the chassis motion module, the mobile platform module and the swing module are detachably connected, and also comprises a master control system used for controlling the motion of the robot, this robot adopts the modularized design, and the structure adopts the aluminium alloy mostly, and processing and assembly are simple, and overall cost is lower, can assemble according to the description after the consumer purchases, enjoys the process of preparation assembly debugging robot, can temper the hands-on ability, has better educational significance.
As a preferred scheme of the invention, the chassis motion module comprises a chassis frame in a triangular structure and three wheel train assemblies arranged below the chassis frame, wherein the chassis frame is formed by connecting an aluminum profile and an adapter; the wheel train assembly comprises an omnidirectional wheel and a chassis motor for driving the omnidirectional wheel to move. Through adopting triangle-shaped chassis frame and three train subassembly, compare with current four train designs and reduce a round, reduced the cost of one set of train subassembly promptly, and need not to set up suspension, three train passes through speed decomposition and synthesis, can realize going of arbitrary route in the horizontal plane.
As a preferred scheme of the present invention, the moving platform module includes a longitudinal moving platform frame and a transverse moving platform frame, both of which are formed by connecting aluminum profiles, wherein the longitudinal moving platform frame is fixedly connected to the chassis frame, the transverse moving platform frame is vertically arranged on the longitudinal moving platform frame, the longitudinal moving platform frame is provided with a longitudinal guide rail, the transverse moving platform frame reciprocates along the longitudinal guide rail, the transverse moving platform frame is provided with a transverse guide rail, and the swing module reciprocates along the transverse guide rail. Through the synthesis of the reciprocating cross motion of the longitudinal moving platform frame and the transverse moving platform frame, the flapping module can be moved in the horizontal plane at will, the chassis moving module adopts the motion synthesis of three gear trains to enable the robot to move in the horizontal plane on a large scale, and the moving platform module enables the flapping module to accurately reach the ball receiving position, and the ball receiving precision of the flapping module is improved by the mode of thick moving and thin moving.
As a preferred scheme of the invention, the swing module comprises a swing frame, a swing motor and a racket clamp, the swing frame is formed by connecting aluminum profiles, the racket clamp is used for clamping a racket, and the swing motor is arranged on the swing frame and drives the racket clamp to rotate through a swing shaft so as to swing the racket.
As a preferable scheme of the present invention, an angle formed by an output shaft of the swing motor and a vertical direction is 20 °, and an angle formed by the racket and an output shaft of the swing motor is 90 °. After adopting above-mentioned design for the racket is rotatory around the output shaft of waving the bat motor, makes the racket meet the ball and play ball perpendicular to racket wire side direction in the twinkling of an eye through accelerated motion, because the output shaft of waving the bat motor is 20 contained angles with vertical direction, has certain angle of elevation when the racket hits the ball, makes the ball orbit of hitting be the parabola, further reduction true man's batting condition.
As a preferable aspect of the present invention, the chassis motion module further includes a code wheel. The coded disc enables the chassis motion module to update the two-dimensional coordinates of the chassis motion module at any time, and the master control system is informed whether the robot reaches the specified position or not through the coordinate signals.
As a preferable aspect of the present invention, the chassis motion module further includes an infrared sensor. Through setting up infrared sensor, make it have and keep away the barrier function, original robot is in case the start is put into the place, it is not in the field of allowwing personnel to get into, mainly be in order to prevent that the robot from striking the crowd, owing to adopt the absolute preferential mode of catching a ball, the robot does not install infrared sensor, even there is the crowd to break into the robot that is catching a ball, the robot also can not consider all external interference, carry out the task of catching a ball, directly hit the people who intervenes and catch a ball, do not possess the barrier function completely, bring unpredictable danger for the crowd who keeps around, nevertheless through adopting infrared sensor, keep away the barrier priority mode, be in the ball catching process promptly, if discover the foreign matter, change the movement track at once or stop motion, give up and catch a ball, let keep away the barrier and take precedence over the ball, the safety of the crowd of furthest's assurance.
As a preferable scheme of the invention, the longitudinal moving platform frame is further provided with a longitudinal motor, a longitudinal synchronous wheel and a longitudinal synchronous belt, the longitudinal synchronous belt is connected with the transverse moving platform frame, the longitudinal guide rail is further provided with a longitudinal sliding block, and the longitudinal sliding block is connected with the transverse moving platform frame. The longitudinal synchronous wheel is driven to rotate by the longitudinal motor, the longitudinal synchronous belt is driven to move, and therefore the transverse moving platform frame is driven to reciprocate on the longitudinal guide rail.
As a preferable scheme of the invention, the transverse moving platform frame is also provided with a transverse motor, a transverse synchronous wheel and a transverse synchronous belt, the transverse synchronous belt is connected with the swing frame, the transverse guide rail is provided with a transverse sliding block, and the transverse sliding block is connected with the swing frame. The transverse synchronous wheel is driven to rotate by the transverse motor to drive the transverse synchronous belt to move, so that the swing module is driven to reciprocate on the transverse guide rail.
As a preferable scheme of the invention, a battery compartment frame is further arranged on the longitudinal moving platform frame, and a lithium battery for supplying power to the robot is arranged on the battery compartment frame.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. the invention arranges the chassis motion module, the mobile platform module and the swing module, wherein the chassis motion module is used for driving the robot to realize omnidirectional movement in a plane, the mobile platform module is arranged on the chassis motion module, is used for driving the swing module to move in the cross direction relative to the chassis motion module, the swing module is arranged on the mobile platform module, used for driving the racket to realize batting, the chassis motion module, the mobile platform module and the swing module are detachably connected, and also comprises a master control system used for controlling the motion of the robot, the robot adopts a modular design, most structural parts adopt aluminum profiles, the processing and assembly are simple, the overall cost is low, a consumer can assemble the robot according to the specification after purchasing the robot, the process of manufacturing, assembling and debugging the robot is enjoyed, the practical ability can be exercised, and the robot has better educational significance;
2. by adopting the triangular chassis frame and the three gear train assemblies, compared with the existing four-gear train design, one wheel is reduced, namely the cost of one set of gear train assembly is reduced, a suspension system is not required to be arranged, and the three gear trains can realize the running of any route in a horizontal plane through speed decomposition and synthesis;
3. the swing module can move freely in the horizontal plane through the synthesis of the reciprocating cross motion of the longitudinal moving platform frame and the transverse moving platform frame, the chassis motion module adopts the motion synthesis of three gear trains to enable the robot to move in a large range in the horizontal plane, the moving platform module enables the swing module to accurately reach a ball receiving position, and the ball receiving precision of the swing module is improved in a mode of thick movement and thin movement;
4. through setting up infrared sensor, make it have and keep away the barrier function, original robot is in case the start is put into the place, it is not in the field of allowwing personnel to get into, mainly be in order to prevent that the robot from striking the crowd, owing to adopt the absolute preferential mode of catching a ball, the robot does not install infrared sensor, even there is the crowd to break into the robot that is catching a ball, the robot also can not consider all external interference, carry out the task of catching a ball, directly hit the people who intervenes and catch a ball, do not possess the barrier function completely, bring unpredictable danger for the crowd who keeps around, nevertheless through adopting infrared sensor, keep away the barrier priority mode, be in the ball catching process promptly, if discover the foreign matter, change the movement track at once or stop motion, give up and catch a ball, let keep away the barrier and take precedence over the ball, the safety of the crowd of furthest's assurance.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a right side view of the overall structure of the present invention.
Fig. 3 is a schematic view of a chassis motion module of the present invention.
Fig. 4 is a top view of the chassis motion module of the present invention.
FIG. 5 is a schematic view of a portion of the longitudinal motion stage of the present invention.
FIG. 6 is a schematic view of a portion of the traverse platform of the present invention.
FIG. 7 is a schematic view of a swing module according to the present invention.
The labels in the figure are: 00. the device comprises a chassis motion module, 01, a chassis motor, 02, an omnidirectional wheel, 03, a code disc, 04, a lithium battery, 05, an infrared sensor, 06, a master control system, 07, a license plate, 10, a longitudinal moving platform, 11, a longitudinal motor, 12, a longitudinal synchronous wheel, 13, a longitudinal synchronous belt, 14, a longitudinal guide rail, 20, a transverse moving platform, 21, a transverse motor, 22, a transverse synchronous wheel, 23, a transverse synchronous belt, 24, a transverse guide rail, 30, a swing module, 31, a swing motor, 32, a swing shaft, 33 and a racket;
001. standard 2020 aluminum profile right-angle adapter, 002 standard 2020 aluminum profile 60-degree adapter, 003 infrared sensor base, 004 main control board base, 005 code disc base, 006 chassis motor base, 007 power switch base, 008 chassis frame, 009 chassis motor shaft;
101. a longitudinal moving platform frame 102, a battery compartment frame 103, a longitudinal drag chain groove 104, a license plate 105, a longitudinal synchronizing wheel driven wheel seat 106, a longitudinal synchronizing wheel driving wheel seat 107, a longitudinal synchronizing wheel driving shaft 108, a longitudinal synchronizing wheel driven shaft 109 and a longitudinal sliding block;
201. a transverse moving platform frame, 202, a standard 1030U-shaped aluminum profile, 203, a transverse drag chain groove, 204, a transverse synchronizing wheel seat connecting piece, 205, a transverse synchronizing wheel driving wheel seat, 206, a transverse synchronizing wheel driven wheel seat, 207, a transverse synchronizing wheel driven shaft, 208, a transverse synchronizing wheel driving shaft, 209, a transverse sliding block, 210 and a longitudinal synchronous belt pressing block;
301. a transverse synchronous belt pressing block 302, a swing frame 303, a swing shaft 304, a racket clamp 305, a swing motor base 306 and a swing motor shaft.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Examples
The embodiment provides a badminton education robot based on aluminum profile modularization;
as shown in fig. 1-7, badminton education robot based on aluminum profile modularization in this embodiment includes chassis motion module 00, moving platform module and waves bat module 30, chassis motion module 00 is used for driving the robot to realize omnidirectional movement in the plane, the moving platform module divide into vertical moving platform 10 and horizontal moving platform 20, the moving platform module is located on chassis motion module 00 for it carries out cross direction motion for chassis motion module 00 to drive to wave bat module 30, wave bat module 30 and locate on the moving platform module for drive racket 33 realizes the batting, chassis motion module 00, moving platform module and wave bat module 30 detachable connection, still including the major control system 06 that is used for controlling the robot motion.
The invention arranges the chassis motion module, the mobile platform module and the swing module, wherein the chassis motion module is used for driving the robot to realize omnidirectional movement in a plane, the mobile platform module is arranged on the chassis motion module, is used for driving the swing module to move in the cross direction relative to the chassis motion module, the swing module is arranged on the mobile platform module, used for driving the racket to realize batting, the chassis motion module, the mobile platform module and the swing module are detachably connected, and also comprises a master control system used for controlling the motion of the robot, this robot adopts the modularized design, and the structure adopts the aluminium alloy mostly, and processing and assembly are simple, and overall cost is lower, can assemble according to the description after the consumer purchases, enjoys the process of preparation assembly debugging robot, can temper the hands-on ability, has better educational significance.
In this embodiment, the chassis motion module 00 includes a chassis frame 008 having a triangular structure and three wheel train assemblies disposed below the chassis frame 008, and the chassis frame 008 is formed by connecting an aluminum profile and an adapter; the wheel train assembly comprises an omnidirectional wheel 02 and a chassis motor 01 for driving the omnidirectional wheel 02 to move, the chassis motor 01 is installed on a chassis motor base 006, the chassis motor base 006 is formed by cutting and punching a 60 x 30 square aluminum pipe, and the chassis motor 01 is connected with the omnidirectional wheel 02 through a chassis motor shaft 009. Through adopting triangle-shaped chassis frame and three train subassembly, compare with current four train designs and reduce a round, reduced the cost of one set of train subassembly promptly, and need not to set up suspension, three train passes through speed decomposition and synthesis, can realize going of arbitrary route in the horizontal plane. The chassis frame 008 adopts seven standard 2020 industrial profiles to be connected through the adapter, and only the corresponding length is needed to be cut and then the standard 2020 aluminum profile right angle adapter 001 and the standard 2020 aluminum profile 60 degree adapter 002 are connected, and no special processing is needed. The chassis motor 01 is fixedly installed through the chassis motor base 006, and the chassis motor base 006 mainly forms by the cutting of standard industry aluminum pipe, only needs punch one process after the cutting, need not the car, mill, grind complicated processes such as, all standard market purchase parts only need the twice process, cut promptly, punch, have reduced the parts machining cost greatly.
In this embodiment, the moving platform module includes longitudinal movement platform frame 101 and lateral shifting platform frame 201, longitudinal movement platform frame 101 and lateral shifting platform frame 201 all adopt the aluminium alloy to connect and form, wherein, longitudinal movement platform frame 101 fixed connection is on chassis frame 008, lateral shifting platform frame 201 sets up perpendicularly on longitudinal movement platform frame 101, be provided with longitudinal rail 14 on the longitudinal movement platform frame 101, lateral shifting platform frame 201 is along longitudinal rail 14 reciprocating motion, be provided with transverse rail 24 on the lateral shifting platform frame 201, wave and clap module 30 along transverse rail 24 reciprocating motion. Through the synthesis of the reciprocating cross motion of the longitudinal moving platform frame and the transverse moving platform frame, the flapping module can be moved in the horizontal plane at will, the chassis moving module adopts the motion synthesis of three gear trains to enable the robot to move in the horizontal plane on a large scale, and the moving platform module enables the flapping module to accurately reach the ball receiving position, and the ball receiving precision of the flapping module is improved by the mode of thick moving and thin moving.
In this embodiment, the longitudinal moving platform frame 101 is further provided with a longitudinal motor 11, a longitudinal synchronous wheel 12 and a longitudinal synchronous belt 13, the longitudinal synchronous belt 13 is connected with the transverse moving platform frame 201, the longitudinal guide rail 14 is further provided with a longitudinal sliding block 109, and the longitudinal sliding block 109 is connected with the transverse moving platform frame 201. The longitudinal synchronous wheel is driven to rotate by the longitudinal motor, the longitudinal synchronous belt is driven to move, and therefore the transverse moving platform frame is driven to reciprocate on the longitudinal guide rail. The longitudinal moving platform frame 101 is formed by connecting 4 industrial aluminum profiles after being cut and punched through standard 2020 aluminum profile right-angle connectors, a longitudinal motor base, a longitudinal synchronizing wheel driven wheel base 105, a longitudinal synchronizing wheel driving wheel base 106 and a license plate 104 are formed by cutting and punching through standard aluminum tubes, the parts cost is greatly reduced as a chassis moving module is formed by cutting and punching a large number of standard aluminum profiles and simple processing procedures, the longitudinal moving platform frame 101 is also provided with the license plate 104 which is a mark for identifying the position of a robot by a vision system, the longitudinal moving platform frame 101 is also provided with a battery bin frame 102 which is formed by connecting 6 standard 1020U-shaped aluminum profiles through the standard 2020 aluminum profile right-angle connectors, the battery bin frame 102 is provided with a lithium battery 04 for supplying power to the robot, and a longitudinal drag chain groove 03 is mainly formed by cutting and punching through a U-shaped aluminum profile, the license plate is formed by cutting and punching a 50X 10 square aluminum tube, the longitudinal synchronizing wheel driven wheel seat 105 and the longitudinal synchronizing wheel driving wheel seat 106 are formed by cutting and punching a 50X 30 square aluminum tube, and the longitudinal synchronizing wheel driving shaft 107 and the longitudinal synchronizing wheel driven shaft 108 are formed by blanking bar materials.
In this embodiment, the transverse moving platform frame 201 is further provided with a transverse motor 21, a transverse synchronous wheel 22 and a transverse synchronous belt 23, the transverse synchronous belt 23 is connected with the flapping frame 302, the transverse guide rail 24 is provided with a transverse sliding block 209, and the transverse sliding block 209 is connected with the flapping frame 302. The transverse synchronous wheel is driven to rotate by the transverse motor to drive the transverse synchronous belt to move, so that the swing module is driven to reciprocate on the transverse guide rail. The transverse moving platform frame is built by 2 industrial aluminum profiles 2020, 2 industrial aluminum profiles 1020 and 3 industrial aluminum profiles 1030U, and the longitudinal motor base and the longitudinal synchronous wheel base are formed by cutting and punching standard aluminum pipes. The transverse drag chain groove 203 is mainly formed by cutting and punching a U-shaped groove aluminum alloy, the transverse synchronizing wheel driven wheel seat 206 and the transverse synchronizing wheel driving wheel seat 205 are formed by cutting and punching a 50X 30 square aluminum pipe, the transverse synchronizing wheel seat connecting piece 204 is formed by cutting and punching 1020U-shaped aluminum profiles, and the transverse synchronizing wheel driven shaft 207 and the transverse synchronizing wheel driving shaft 208 are formed by blanking bars. The transverse moving platform frame 201 is connected with the longitudinal sliding block 109 through a standard 1030U-shaped aluminum profile 202, a longitudinal synchronous belt 3 is fixed on the transverse moving platform frame 201 through a longitudinal synchronous belt pressing block 210, and the longitudinal synchronous belt pressing block 210 is also formed by cutting and punching the standard 1030U-shaped aluminum profile. Because the longitudinal sliding block can move on the longitudinal guide rail, when the longitudinal motor rotates to drive the longitudinal synchronous belt, the transverse moving platform can move on the guide rail of the longitudinal moving platform.
In this embodiment, wave bat module 30 including wave bat frame 302, wave bat motor 31 and racket and press from both sides 304, wave bat frame 302 and adopt the aluminium alloy to connect and form, racket presss from both sides 304 and is used for centre gripping racket 33, wave bat motor 31 and locate to wave on the bat frame and drive the racket through waving the bat axle and press from both sides the rotation and realize waving the bat. The swing frame 302 is mainly built by 12 aluminum sections 2020, 7 aluminum sections 1020 and industrial aluminum sections, and the swing motor base 305 is also formed by cutting and punching standard aluminum tubes. Swing shaft 303 is composed of 2 standard 2020 aluminum profiles, racket clamp 304 is composed of 4 standard 1020H-shaped aluminum profiles, and swing motor base 305 is formed by cutting and punching a 50X 30 square aluminum tube. The swing module 30 is connected with the transverse sliding block 209, the transverse synchronous belt 23 is fixed on the swing frame 302 through a transverse synchronous belt pressing block 301, and the transverse synchronous belt pressing block 301 is also formed by cutting and punching a standard 1030U-shaped aluminum profile. Because the transverse sliding block can move on the transverse guide rail, when the transverse motor rotates to drive the transverse synchronous belt, the swing platform can move on the transverse moving platform guide rail. The swing motor rotates to drive the swing shaft, so that the racket makes a batting action.
In this embodiment, the output shaft of the swing motor 31 forms an included angle of 20 ° with the vertical direction, and the racket 33 forms an included angle of 90 ° with the output shaft of the swing motor 31. After adopting above-mentioned design for racket 33 is rotatory around waving bat motor shaft 306, makes the racket meet the ball and play ball perpendicular to racket wire side direction in the twinkling of an eye through accelerated motion, because the output shaft of waving bat motor is 20 contained angles with vertical direction, has certain angle of elevation when the racket hits the ball, makes the ball track of hitting be the parabola, further reduction real person hits the ball condition.
In this embodiment, the chassis motion module 00 further includes a code wheel 03 mounted on a code wheel base 005, and the code wheel base 005 is formed by cutting and punching a 50 × 10 square aluminum tube. The coded disc enables the chassis motion module to update the two-dimensional coordinates of the chassis motion module at any time, and the master control system is informed whether the robot reaches the specified position or not through the coordinate signals. The chassis frame 009 is further provided with a power switch, which is mounted on a power switch base 007, and the power switch base 007 is formed by cutting and punching a 30 × 20 square aluminum tube.
In this embodiment, the chassis motion module 00 further includes an infrared sensor 05 installed on an infrared sensor base 003, and the infrared sensor base 003 is formed by cutting and punching a 30 × 10 square aluminum pipe. Through setting up infrared sensor, make it have and keep away the barrier function, original robot is in case the start is put into the place, it is not in the field of allowwing personnel to get into, mainly be in order to prevent that the robot from striking the crowd, owing to adopt the absolute preferential mode of catching a ball, the robot does not install infrared sensor, even there is the crowd to break into the robot that is catching a ball, the robot also can not consider all external interference, carry out the task of catching a ball, directly hit the people who intervenes and catch a ball, do not possess the barrier function completely, bring unpredictable danger for the crowd who keeps around, nevertheless through adopting infrared sensor, keep away the barrier priority mode, be in the ball catching process promptly, if discover the foreign matter, change the movement track at once or stop motion, give up and catch a ball, let keep away the barrier and take precedence over the ball, the safety of the crowd of furthest's assurance.
In this embodiment, the main control system 06 mainly comprises a main control board and a motor control part, the main control board is installed on a main control board base 004, and the main control board base 004 is formed by cutting and punching a 20 × 10 square aluminum tube. When the vision system predicts the trajectory of the badminton, the badminton receiving coordinate is sent to the robot, the main control system outputs a signal to drive the chassis motion module to reach a corresponding target coordinate point, and due to the existence of errors, the main control system simultaneously outputs a signal to the mobile platform module and prompts the swing module to move to an accurate target coordinate point, namely a badminton hitting point, through longitudinal and transverse motion synthesis. When the ball falls to the predicted ball receiving point, the main control system outputs a signal to the swing module to prompt the swing shaft to rotate and swing the racket to shoot the ball back. In the whole process, due to factors such as friction between the ground and the wheels, errors possibly exist in the moving coordinates of the robot, the position coordinates of the robot are corrected by the code disc at any time, the relative position accuracy of the coordinate point of the robot and the batting point is improved, and therefore the batting accuracy is improved.
Compare with current badminton robot, badminton education robot based on aluminium alloy modularization in this embodiment has following several advantages:
1. all parts except motor shaft and synchronous shaft parts are processed by the robot, standard industrial aluminum profiles are all selected as raw materials for processing, and only two procedures of cutting and punching are needed. The whole aluminum profile processing part accounts for 92% of the total processing parts, and the processing time and cost are greatly reduced. Because the aluminum profile is adopted for processing as a part, standard profile connecting pieces are sold in the market, and the design and processing of a plurality of connecting structures are saved due to the integral structural design. If the standard section connecting piece is calculated in the machined part, the whole shaft type machined part accounts for less than 3% of all machined part parts, the whole machining budget is equivalent to one fifth of the machining cost of the existing badminton robot, and the manufacturing cost is greatly reduced.
2. This robot adopts the modularized design, takes the design of standard and standard, makes its part be like the cordwood block, connects each modular part through the equipment, fully tempers student's hands-on ability, mainly is applied to the education field. Due to the adoption of the standard modular design, the installation process of the badminton robot is simplified and modularized, so that non-professionals can accept the badminton robot more easily, and the badminton robot is more willing to participate in the interaction of the robot.
3. The robot adopts the large-diameter omnidirectional wheel and the short-stroke platform to move, thereby fully solving the influence caused by assembly errors. The robot arrives assigned position and receives the ball, mainly moves to an approximate position through chassis drive, then through the two-dimensional moving platform on the chassis for wave the part and move to accurate position, if moving platform's removal stroke is too long, will be very high to the installation accuracy requirement of guide rail, because the stroke is longer, the guide rail is just longer, and two guide rail parallels in the equidirectional are just difficult to guarantee more, lead to assembling accuracy requirement too high, are unfavorable for non-professional person's tissue debugging robot. Due to the fact that the large-diameter omni-directional wheel is adopted, the moving speed of the chassis is increased, the moving range of the chassis is larger under the condition that the same time is guaranteed, the moving range of the swing part on the platform is smaller, and the assembly and debugging requirements of non-professional people on the robot are reduced on the basis that the same batting function is guaranteed.
4. This robot adopts infrared ray sensor, make it have and keep away the barrier function, original robot is in case the place is put into in the start, do not allow personnel to get into the place, mainly be in order to prevent that the robot from striking the crowd, owing to adopt the absolute preferential mode of catching a ball, the robot is not according to infrared ray sensor, even there is the crowd to break into the robot that is catching a ball, the robot also can not consider all external interference, carry out the task of catching a ball, directly hit the people who intervenes and catch a ball, do not possess completely and keep away the barrier function, bring unpredictable danger for the crowd of enclosing a sightseeing. However, the invention adopts the infrared sensor and the obstacle avoidance priority mode, namely, in the process of catching a ball, if a foreign matter is found, the motion track is changed or the motion is stopped immediately, the ball catching is abandoned, and the obstacle avoidance is prior to the ball catching. The safety of the crowd is guaranteed to the maximum extent.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The utility model provides a badminton education robot based on aluminium alloy modularization, a serial communication port, include chassis motion module, moving platform module and wave the bat module, chassis motion module is used for driving the robot and realizes omnidirectional movement in the plane, moving platform module locates on the chassis motion module for the drive is waved the bat module and is carried out the cross direction motion for chassis motion module, wave clap the module and locate on the moving platform module for drive racket realizes the batting, chassis motion module, moving platform module and wave the detachable connection of bat module, still including the major control system who is used for controlling the robot motion.
2. The badminton education robot based on the aluminum profile modularization as claimed in claim 1, wherein the chassis motion module comprises a chassis frame in a triangular structure and three wheel train assemblies arranged below the chassis frame, and the chassis frame is formed by connecting aluminum profiles and an adapter; the wheel train assembly comprises an omnidirectional wheel and a chassis motor for driving the omnidirectional wheel to move.
3. The aluminum profile modularized badminton education robot is characterized in that the moving platform module comprises a longitudinal moving platform frame and a transverse moving platform frame, the longitudinal moving platform frame and the transverse moving platform frame are formed by connecting aluminum profiles, the longitudinal moving platform frame is fixedly connected to the chassis frame, the transverse moving platform frame is vertically arranged on the longitudinal moving platform frame, a longitudinal guide rail is arranged on the longitudinal moving platform frame, the transverse moving platform frame moves in a reciprocating mode along the longitudinal guide rail, a transverse guide rail is arranged on the transverse moving platform frame, and the swing module moves in a reciprocating mode along the transverse guide rail.
4. The aluminum profile modularization-based badminton education robot as claimed in claim 3, wherein the racket swinging module comprises a racket swinging frame, a racket swinging motor and a racket clamp, the racket swinging frame is formed by connecting aluminum profiles, the racket clamp is used for clamping a racket, the racket swinging motor is arranged on the racket swinging frame and drives the racket clamp to rotate through a racket swinging shaft to swing the racket.
5. The aluminum profile modularization-based badminton education robot as claimed in claim 4, wherein the output shaft of the swing motor forms an included angle of 20 degrees with the vertical direction, and the racket forms an included angle of 90 degrees with the output shaft of the swing motor.
6. The aluminum profile modular based badminton education robot according to one of claims 1 to 5, wherein the chassis motion module further comprises a code wheel.
7. The aluminum profile modularized badminton education robot according to any one of claims 1 to 5, wherein the chassis motion module further comprises an infrared sensor.
8. A badminton education robot based on aluminum profile modularization according to any one of claims 3 to 5, characterized in that a longitudinal motor, a longitudinal synchronous wheel and a longitudinal synchronous belt are further arranged on the longitudinal moving platform frame, the longitudinal synchronous belt is connected with the transverse moving platform frame, a longitudinal sliding block is further arranged on the longitudinal guide rail, and the longitudinal sliding block is connected with the transverse moving platform frame.
9. The aluminum profile modularization-based badminton education robot as claimed in claim 4 or 5, wherein a transverse motor, a transverse synchronous wheel and a transverse synchronous belt are further arranged on the transverse moving platform frame, the transverse synchronous belt is connected with the swing frame, a transverse sliding block is arranged on the transverse guide rail, and the transverse sliding block is connected with the swing frame.
10. A badminton education robot based on aluminum profile modularization according to any one of claims 3 to 5, characterized in that a battery compartment frame is further arranged on the longitudinal moving platform frame, and a lithium battery for supplying power to the robot is arranged on the battery compartment frame.
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| CN201910848319.2A CN110587578A (en) | 2019-09-09 | 2019-09-09 | Badminton education robot based on aluminum profile modularization |
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| CN201910848319.2A CN110587578A (en) | 2019-09-09 | 2019-09-09 | Badminton education robot based on aluminum profile modularization |
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| CN112297026A (en) * | 2020-12-04 | 2021-02-02 | 合肥工业大学 | Badminton robot with SCARA mechanical arm |
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Application publication date: 20191220 |