CN110936393B

CN110936393B - Basketball motion gesture learning robot

Info

Publication number: CN110936393B
Application number: CN201911333746.3A
Authority: CN
Inventors: 李林林; 李丽; 陈威; 王茂森; 杨学军; 姜传兴
Original assignee: Shandong Institute for Product Quality Inspection
Current assignee: Shandong Institute for Product Quality Inspection
Priority date: 2019-12-23
Filing date: 2019-12-23
Publication date: 2020-09-04
Anticipated expiration: 2039-12-23
Also published as: CN110936393A

Abstract

The invention discloses a basketball movement posture learning robot which comprises a head, wherein the head is movably arranged on a trunk, four limbs are movably arranged on the trunk, a master control box is arranged in the trunk, pressure sensors are arranged on palms, a first suction cup is arranged on the palms, a first motor is arranged in the palms, when a basketball is caught by the palms of the robot, the first motor can be driven to enable the first suction cup to suck the basketball into the palms, a second suction cup is arranged on the palms, the open end of the second suction cup faces downwards, an exhaust pipeline is arranged on the second suction cup, and the exhaust pipeline is provided with two exhaust branch pipes. The robot has the advantages that the device can control and record motion parameters in the motion process in the use process through the arrangement of a series of structures, and the sole of the robot can be adsorbed on the ground after the robot jumps up, so that the stability of the robot when the robot falls down is ensured.

Description

Basketball motion gesture learning robot

Technical Field

The invention relates to the field of robots, in particular to a basketball movement posture learning robot.

Background

Basketball is a very common sport well exposed to heat, but the basketball sport is very physical and with the certain risk, the user is very easy to be injured during the entertainment or the competition. With the continuous development of science and technology, people can guide athletes or common basketball fans to make certain instructions by simulating the dribbling process on a computer. However, in the actual movement process, there are many places with difference from the theoretical data, and the computer simulation and the actual movement are simply utilized to have a large error, so that the guidance information generated by the computer simulation has a large error.

Disclosure of Invention

The present invention has been made to solve the above problems, and an object of the present invention is to provide a basketball movement posture learning robot that effectively solves the problems of the background art.

The technical scheme of the invention is as follows: a robot for learning basketball movement posture comprises a head which is movably arranged on a trunk, four limbs which are movably arranged on the trunk, a master control box is arranged in the trunk, pressure sensors are arranged on the palms, a first sucker is arranged on the palms, and a first motor is arranged in the palm, when the basketball is caught by the palm of the robot, the first motor can be driven to enable the first sucking disc to suck the basketball into the palm, a second sucker is arranged on the sole, the open end of the second sucker faces downwards, an exhaust pipeline is arranged on the second sucker, the exhaust pipeline is provided with two exhaust branch pipes, one of the exhaust branch pipes can be opened by the gravity of the robot, the other exhaust branch pipe is controlled by an electromagnetic valve, distance sensors are arranged at the front end and the rear end of the lower limb, the distance sensor at the front end of one lower limb and the distance sensor at the rear end of the other lower limb form a group; be provided with speed acquisition module in total control box, pressure acquisition module, pressure processing module, total control module and information sending module, speed acquisition module is used for gathering the walking speed of robot, speed acquisition module conveys the movement velocity information of robot to total control module, pressure acquisition module is used for the robot palm, the pressure that the sole receives is gathered, pressure processing module handles the information that pressure acquisition module accepted, and with the information transfer who handles the completion to total control module, total control module turns into distance signal, the signal of telecommunication with speed information, pressure information, distance signal with distance sensor cooperates, with the motion range of control low limbs, the signal of telecommunication transmits to the solenoid valve, with the switching of control second sucking disc.

Preferably, the second sucking disc rigid coupling has the fixed plate, and the fixed plate can reciprocate in the sole, and the rigid coupling has the connecting tube on the second sucking disc, and the connecting tube cup joints on exhaust duct to the reciprocating of cooperation fixed plate, and connecting tube and exhaust duct are airtight continuous.

Preferably, a spring is provided between the fixing plate and the sole.

Preferably, the number of the springs is several.

Preferably, be provided with in exhaust duct and be provided with the carousel that can rotate, coaxial being provided with the pivot on the carousel, outside exhaust duct was stretched in the pivot, the rigid coupling had the support on the fixed plate, when the support was along with fixed plate rebound, the support can drive the carousel and rotate, and the rigid coupling has the closing plate on the carousel, and the quantity of closing plate is a plurality of, and when the carousel was static, the closing plate can seal exhaust duct.

Preferably, a gear is arranged on the rotating shaft, and a rack is arranged on the bracket, so that the bracket can stir the turntable to rotate when moving upwards along with the fixed plate.

Preferably, a storage module is further arranged in the master control box and used for storing the motion parameters of the robot.

Preferably, the robot moves by setting a maximum span distance N of the lower limbs, marking the distance information acquired by the real-time acquired motion amplitude of the lower limbs of the robot as M, and recording the motion speed and the distance between the lower limbs in the storage module when the acquired motion amplitude of the lower limbs is greater than N.

Preferably, a display screen is further arranged on the master control box.

The invention has the beneficial effects that: (1) the first sucker is arranged, so that a basketball can be fixed in the palm of the robot in the using process of the robot, and the first sucker generates suction force after the palm receives the pressure of the basketball due to the use of the pressure sensor, so that the basketball is sucked by the first sucker; (2) the second sucker can ensure the stability of the robot and avoid the robot from toppling when the robot falls to the ground due to movement or jumping; (3) the use of master control case can collect and handle the motion parameter of robot in the motion process to the collection of robot motion parameter has been made things convenient for to the user, thereby guides this numerical value to basketball player's action when carrying out the basketball campaign.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is an enlarged schematic view of the palm.

Fig. 3 is a schematic view of the inner structure of the sole of a foot.

Fig. 4 is an enlarged schematic view of a portion a in fig. 3.

FIG. 5 is a block diagram of the present invention.

Element number description: 1. a head portion; 2. a torso; 4. a master control box; 5. a pressure sensor; 6. four limbs; 61. a palm; 62. a sole of a foot; 7. a first suction cup; 8. a first motor; 9. a second suction cup; 10. an exhaust duct; 11. connecting a pipeline; 12. a spring; 13. a fixing plate; 14. an electromagnetic valve; 15. a turntable; 16. and (4) a bracket.

Detailed Description

The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.

The invention is further illustrated by the following figures and examples.

Referring to fig. 1 to 5, a basketball movement posture learning robot comprises a head 1, the head 1 is movably mounted on a trunk 2, four limbs 6 are movably mounted on the trunk 2, a master control box 4 is arranged in the trunk 2, pressure sensors 5 are arranged on palms 61, first suction cups 7 are arranged on the palms 61, first motors 8 are arranged in the palms 61, when a basketball is caught by the palms 61 of the robot, the first motors 8 can be driven to enable the first suction cups 7 to suck the basketball into the palms 61, second suction cups 9 are arranged on the palms 62, the open ends of the second suction cups 9 face downwards, an exhaust duct 10 is arranged on the second suction cups 9, the exhaust duct 10 is provided with two exhaust branch pipes, one of the exhaust branch pipes can be opened by the gravity of the robot, the other exhaust branch pipe is controlled by an electromagnetic valve 14, distance sensors are arranged at the front end and the rear end of a lower limb, the distance sensor at the front end of one lower limb and the distance sensor at the rear end of the other lower limb form a group, and the red distance sensor is used for recording the numerical value of the lower limb movement amplitude of the robot; be provided with speed acquisition module in total case 4, pressure acquisition module, pressure processing module, total control module and information sending module, speed acquisition module is used for gathering the walking speed of robot, speed acquisition module conveys the movement velocity information of robot to total control module, pressure acquisition module is used for robot palm 61, the pressure that sole 62 receives gathers, pressure processing module handles the information that pressure acquisition module received, and with the information transfer who handles the completion to total control module, total control module is with speed information, pressure information turns into distance signal, the signal of telecommunication, distance signal and distance sensor cooperation, with the motion range of control low limbs, the signal of telecommunication transmits to solenoid valve 14, with the switching of control second sucking disc 9. The limbs 6 are driven by a second motor to move the robot.

The second suction cup 9 is fixedly connected with a fixing plate 13, the fixing plate 13 can move up and down in the sole 62, the second suction cup 9 is fixedly connected with a connecting pipeline 11, the connecting pipeline 11 is sleeved on the exhaust pipeline 10 to match with the up and down movement of the fixing plate 13, and the connecting pipeline 11 is connected with the exhaust pipeline 10 in a sealing mode.

The spring 12 is arranged between the fixed plate 13 and the sole 62, the use of the spring 12 can play a certain buffer role for the robot, the robot is prevented from being directly fallen on the ground to damage the robot and the ground when the robot walks or jumps, and the number of the springs 12 is a plurality.

Be provided with in exhaust duct 10 and be provided with pivoted carousel 15, the coaxial pivot that is provided with on carousel 15, outside exhaust duct 10 was stretched to the pivot, the rigid coupling has support 16 on fixed plate 13, when support 16 was along with fixed plate 13 rebound, support 16 can drive carousel 15 and rotate, and the rigid coupling has the closing plate on carousel 15, and the quantity of closing plate is a plurality of, and when carousel 15 was static, exhaust duct 10 can be sealed to the closing plate. When the robot jumps up, the fixed plate 13 moves downwards under the neutral action, the second suction cup 9 is in an open state, when the robot lands on the ground, the sole 62 contacts the ground, the fixed plate 13 is pressed to move upwards for a certain distance, the bracket 16 can stir the turntable 15, and after the turntable 15 is stirred, the sealing plate rotates along with the turntable, so that the gas in the exhaust pipeline 10 is exhausted. When the robot needs to move, the electromagnetic valve 14 is opened and closed, so that the second suction cup 9 loses suction force, and the robot is convenient to move.

A gear is arranged on the rotating shaft, and a rack is arranged on the bracket 16, so that when the bracket 16 moves upwards along with the fixed plate 13, the bracket 16 can shift the rotating disc 15 to rotate.

And a storage module is also arranged in the master control box 4 and used for storing the motion parameters of the robot.

The robot moving method comprises the steps of setting the maximum span distance N of the lower limbs, marking the distance information collected by the lower limb moving amplitude of the robot in real time as M, and recording the moving speed and the distance between the lower limbs in the storage module when the collected lower limb moving amplitude is larger than N. When the motion amplitude of the lower limbs of the robot is larger than the N value, namely the swing amplitude of the lower limbs is larger at the moment, the motion speed under the amplitude is not beneficial to the normal state of a human body, and therefore the motion state of the human body is guided.

And a display screen is also arranged on the master control box 4. The display screen can show the motion information of robot in real time, can make things convenient for the user to adjust its motion parameter.

The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims

1. The utility model provides a basketball movement gesture learning robot, includes head (1), head (1) movable mounting is on truck (2), and movable mounting has four limbs (6), its characterized in that on truck (2): a master control box (4) is arranged in the trunk (2), pressure sensors (5) are arranged on the palms (61), a first sucker (7) is arranged on the palm (61), a first motor (8) is arranged in the palm (61), when the basketball is caught by the palm (61) of the robot, the first motor (8) can be driven to enable the first sucker (7) to suck the basketball into the palm (61), a second suction cup (9) is arranged on the sole (62), the open end of the second suction cup (9) faces downwards, and the second suction cup (9) is provided with an exhaust pipeline (10), the exhaust pipeline (10) is provided with two exhaust branch pipes, one of the exhaust branch pipes can be opened by the gravity of the robot, the other exhaust branch pipe is controlled by an electromagnetic valve (14), distance sensors are arranged at the front end and the rear end of the lower limb, the distance sensor at the front end of one lower limb and the distance sensor at the rear end of the other lower limb form a group; be provided with speed acquisition module in master control box (4), pressure acquisition module, pressure processing module, total control module and information sending module, speed acquisition module is used for gathering the walking speed of robot, speed acquisition module conveys the movement speed information of robot to total control module, pressure acquisition module is used for gathering robot palm (61), the pressure that the sole (62) received, pressure processing module handles the information that pressure acquisition module accepted, and convey the information of accomplishing the processing to total control module, total control module turns into speed information, pressure information distance signal, the signal of telecommunication into, distance signal with distance sensor cooperation, with the motion range of control low limbs, the signal of telecommunication transmits to solenoid valve (14), with the switching of control second sucking disc (9).

2. The basketball movement posture learning robot of claim 1, wherein: the second sucker (9) is fixedly connected with a fixing plate (13), the fixing plate (13) can move up and down in the sole (62), the second sucker (9) is fixedly connected with a connecting pipeline (11), the connecting pipeline (11) is sleeved on the exhaust pipeline (10) to be matched with the up and down movement of the fixing plate (13), and the connecting pipeline (11) is connected with the exhaust pipeline (10) in a sealing mode.

3. The basketball movement posture learning robot of claim 2, wherein: a spring (12) is arranged between the fixing plate (13) and the sole (62).

4. The basketball movement posture learning robot of claim 3, wherein: the number of the springs (12) is several.

5. The basketball movement posture learning robot of claim 3, wherein: be provided with in exhaust duct (10) and can pivoted carousel (15), coaxial being provided with the pivot on carousel (15), the pivot stretches exhaust duct (10) outside, the rigid coupling has support (16) on fixed plate (13), when support (16) is along with fixed plate (13) rebound, support (16) can drive carousel (15) and rotate, the rigid coupling has the closing plate on carousel (15), the quantity of closing plate is a plurality of, and when carousel (15) are static, the closing plate can seal exhaust duct (10).

6. The basketball movement posture learning robot of claim 5, wherein: the rotating shaft is provided with a gear, and the bracket (16) is provided with a rack, so that when the bracket (16) moves upwards along with the fixed plate (13), the bracket (16) can stir the rotating disc (15) to rotate.

7. The basketball movement posture learning robot of claim 1, wherein: and a storage module is also arranged in the master control box (4) and used for storing the motion parameters of the robot.

8. The basketball movement posture learning robot of claim 7, wherein: the robot moving method comprises the steps of setting the maximum span distance N of the lower limbs, marking the distance information collected by the lower limb moving amplitude of the robot in real time as M, and recording the moving speed and the distance between the lower limbs in the storage module when the collected lower limb moving amplitude is larger than N.

9. The basketball movement posture learning robot of claim 1, wherein: a display screen is also arranged on the master control box (4).