CN206214699U - One kind is played table tennis robot - Google Patents
One kind is played table tennis robot Download PDFInfo
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- CN206214699U CN206214699U CN201621218895.7U CN201621218895U CN206214699U CN 206214699 U CN206214699 U CN 206214699U CN 201621218895 U CN201621218895 U CN 201621218895U CN 206214699 U CN206214699 U CN 206214699U
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Abstract
Played table tennis robot the utility model discloses one kind, it mainly includes track travel mechanism and mechanical arm kicking machine, the track travel mechanism includes mobile platform, shift servo motor, roller, convex track and H type assembly pulleys, and the mechanical arm kicking machine includes pedestal, rotating servo motor, rotation platform, shoulder joint steering engine seat, shoulder joint steering wheel, large arm, elbow joint steering wheel, forearm, wrist joint steering wheel, U-shaped support, miniature electric rotating machine and table tennis bat.The utility model summarizes close-to-table fast attack play, set up short stroke close-table high speed moving platform, using the mechanical arm type kicking machine of lightweight high speed motion, the table tennis of high-speed flight can accurately be fought back and be there is low cost of manufacture, simple structure, flexible movements, can quickly be moved, the shots of various complexity can be completed；The utility model can be realized with people at a high speed to playing table tennis, and can also realize robot and robot high speed to playing table tennis.
Description
Technical field
The utility model is related to robotics, more particularly to one kind is played table tennis robot.
Background technology
The existing robot that plays table tennis, is broadly divided into two kinds：One is the robot with kicking machine, can complete simple
Shot, table tennis is hit back, because its structure is special, shot is slow, dexterity of action is poor, for high-speed flight
Ping-pong racket, it is impossible to effectively fight back, and cannot impact out high-quality table tennis, in actual exercise of playing table tennis, does not have
Use value；Two are transformed using industrial machinery arm robot, table tennis bat are installed in mechanical arm tail end, because its structure
It is complicated, it is impossible to mobile, and involve great expense, cause it without actual promotional value.
Utility model content
For shortcomings and deficiencies present in prior art, the purpose of this utility model is to provide one kind to play table tennis machine
Device people.The utility model summarizes close-to-table fast attack play, short stroke close-table high speed moving platform is set up, using lightweight high speed motion
Mechanical arm type kicking machine, can accurately fight back the table tennis of high-speed flight.
The utility model one kind robot that plays table tennis has manufacture low cost, simple structure, flexible movements, can quickly move
Dynamic the advantages of, the shot of various complexity can be completed；The utility model can realize with people at a high speed to playing table tennis, also can be real
Existing robot is with robot at a high speed to playing table tennis.
For the technical scheme that the purpose for realizing above-mentioned utility model is used is played table tennis robot for one kind, it is mainly wrapped
Track travel mechanism and mechanical arm kicking machine are included, the track travel mechanism includes mobile platform, shift servo motor, rolling
Wheel, convex track and H type assembly pulleys, the fixed H type assembly pulleys in mobile platform inside, the H types assembly pulley and convex track
Upper surface is closely agreed with, and the shift servo motor is fixed on the back side of mobile platform, the output shaft of the shift servo motor
It is connected with roller, the roller surface is brought into close contact with convex track lower surface, the mobile platform is moved along convex rail linearity
It is dynamic；The mechanical arm kicking machine include pedestal, rotating servo motor, rotation platform, shoulder joint steering engine seat, shoulder joint steering wheel,
Large arm, elbow joint steering wheel, forearm, wrist joint steering wheel, U-shaped support, miniature electric rotating machine and table tennis bat, the pedestal are fixed on
On mobile platform, the output shaft of rotating servo motor, the rotation platform and rotating servo motor is fixed in the inside of the pedestal
Connection, the shoulder joint steering engine seat is fixed on rotation platform, and the shoulder joint steering wheel is fixed in shoulder joint steering engine seat, described
The output shaft of shoulder joint steering wheel is connected with large arm rear end, and the large arm is made up of two panels Lv's matter sheet metal, the large arm front end with
The output shaft connection of elbow joint steering wheel, the elbow joint steering wheel is fixed on inside forearm rear end, and the forearm is by two panels Lv matter gold
Category piece composition, is fixed with wrist joint steering wheel, output shaft and the U-shaped back-end support of the wrist joint steering wheel inside the forearm front end
Connection, the miniature electric rotating machine is fixed on U-shaped support front end, and the table tennis bat connects with the output shaft of miniature electric rotating machine
Connect.
Further, the installation direction of the convex track is parallel with table tennis table net；Installation site is apart from table tennis
Platform forward position is less than 10cm；Height distance between the convex track and ground is 66-86cm；The length of the convex track is
142.5cm-162.5cm。
The utility model has the advantages that：
1. the utility model one kind play table tennis robot have low cost of manufacture, simple structure, flexible movements, can be quick
Mobile the advantages of.
2. the utility model one kind is played table tennis robot, and its convex track length is 142.5cm-162.5cm, mobile flat
Platform is moved along convex rail linearity, and stroke is short, and speed is fast.
3. the utility model one kind is played table tennis robot, the movement of its mobile platform left and right horizontal, makes mechanical arm kicking machine
The batting coverage increase of structure.
4. the utility model one kind is played table tennis robot, the bionical human arm structure of its mechanical arm kicking machine, structure
Simply, flexible movements, can complete the shot of various complexity.
Brief description of the drawings
Fig. 1 is a kind of positive structure schematic of the robot that plays table tennis of the utility model.
Fig. 2 is a kind of side structure schematic diagram of the robot that plays table tennis of the utility model.
Fig. 3 is a kind of main structure schematic diagram of the robot that plays table tennis of the utility model.
Fig. 4 is a kind of specific implementation schematic diagram of the robot that plays table tennis of the utility model.
Fig. 5 plays table tennis robot workflow schematic diagram for the utility model one kind.
Reference：1st, mobile platform, 2, shift servo motor, 3, roller, 4, convex track, 5, H type assembly pulleys, 6, base
Seat, 7, rotating servo motor, 8, rotation platform, 9, shoulder joint steering engine seat, 10, shoulder joint steering wheel, 11, large arm, 12, elbow joint rudder
Machine, 13, forearm, 14, wrist joint steering wheel, 15, U-shaped support, 16, miniature electric rotating machine, 17, table tennis bat.
Specific embodiment
In order that the purpose of this utility model, technical scheme and advantage become more apparent, below in conjunction with accompanying drawing and implementation
Example is further elaborated to the utility model.It should be appreciated that specific embodiment described herein is only used to explain
The utility model, is not used to limit the utility model.
Fig. 1, Fig. 2 and Fig. 3 are a kind of structural representation of the robot that plays table tennis of the utility model, are mainly moved including track
Motivation structure and mechanical arm kicking machine, the track travel mechanism include mobile platform 1, shift servo motor 2, roller 3, convex
Track 4 and H types assembly pulley 5, the mechanical arm kicking machine are fixed on mobile platform 1, and mobile platform 1 is on convex track 4
Move horizontally；The fixed H types assembly pulley 5 in the inside of the mobile platform 1, the H types assembly pulley 5 is tight with the upper surface of convex track 4
Close to agree with, the shift servo motor 2 is fixed on the back side of mobile platform 1, the output shaft and roller of the shift servo motor 2
3 connections, the surface of the roller 3 is brought into close contact with the lower surface of convex track 4, and the mobile platform 1 is moved along the straight line of convex track 4
It is dynamic；The mechanical arm kicking machine includes pedestal 6, rotating servo motor 7, rotation platform 8, shoulder joint steering engine seat 9, shoulder joint rudder
Machine 10, large arm 11, elbow joint steering wheel 12, forearm 13, wrist joint steering wheel 14, U-shaped support 15, miniature electric rotating machine 16 and table tennis
17 are clapped, the pedestal 6 is fixed on mobile platform 1, rotating servo motor 7, the rotation platform are fixed in the inside of the pedestal 6
8 are connected with the output shaft of rotating servo motor 7, and the shoulder joint steering engine seat 9 is fixed on rotation platform 8, the shoulder joint rudder
Machine 10 is fixed in shoulder joint steering engine seat 9, and the output shaft of the shoulder joint steering wheel 10 is connected with the rear end of large arm 11, the large arm 11
It is made up of two panels aluminum metal piece, the front end of the large arm 11 is connected with the output shaft of elbow joint steering wheel 12, the elbow joint steering wheel
12 are fixed on inside the rear end of forearm 13, and the forearm 13 is made up of two panels aluminum metal piece, and the front end of the forearm 13 inside is fixed
The output shaft for having wrist joint steering wheel 14, the wrist joint steering wheel 14 is connected with the rear end of U-shaped support 15, the miniature electric rotating machine 16
The front end of U-shaped support 15 is fixed on, the table tennis bat 17 is connected with the output shaft of miniature electric rotating machine 16.
Operation principle of the present utility model
Fig. 3 is a kind of main structure schematic diagram of the robot that plays table tennis of the utility model, and one kind is played table tennis robot, should
Robot includes convex track 4, mobile platform 1, mechanical arm kicking machine, and the mechanical arm kicking machine is fixed on mobile platform
On 1, mobile platform 1 is moved horizontally on convex track 4.
Fig. 5 plays table tennis robot workflow schematic diagram for the utility model one kind, visual unit collection table tennis table
The real-time imaging in region, computing unit is calculated using known motion detection algorithm and color recognition Algorithm Analysis real-time imaging
Go out table tennis ball flying path and corresponding robot returns slap ball position and action, control unit control mobile platform is moved to
Relevant position, mechanical arm kicking machine performs shot, impacts table tennis.
A kind of specific implementation schematic diagram of the robot that plays table tennis of Fig. 4 the utility model.The visual unit includes four
High-speed camera, four high-speed camera installation sites are the corner top of table tennis table.The computing unit includes PC, table tennis
Sphere path curve software for calculation, robot location and action software for calculation.Described control unit includes control circuit, can be according to calculating
Order control servomotor, steering wheel operation that unit is sent, drive mobile platform and mechanical arm kicking machine.
Specific implementation step is as follows：
1) whole robot system initialization, after visual unit, computing unit, control unit normal operation, control unit
Mobile platform 1 is driven to move to the centre position of convex track 4, mechanical arm kicking machine enters wait state；
2) visual unit gathers the real-time imaging in table tennis table region by four high-speed cameras, by four table tennis of angle
Pang billiard table region real-time imaging passes to computing unit；
3) computing unit calculates return corresponding with robot of table tennis ball flying path and flops ball position and action, by machine
Device people batter's box and action command are sent to control unit 18；
4) control unit drives shift servo motor, control mobile platform to be moved horizontally to convex track relevant position；
5) control unit drives steering wheel (shoulder joint steering wheel 10, elbow joint steering wheel 12, wrist joint steering wheel 14) and miniature rotation
Motor 16, control machinery arm kicking machine performs shot；
6) control unit drives rotating servo motor 7 quickly to rotate, and drives whole mechanical arm system quickly to rotate, impact table tennis
Pang ball, opposite billiard table is impacted back by table tennis.
7) control unit drives shift servo motor 2, control mobile platform 1 to move to the centre position of convex track 4, machinery
Arm kicking machine enters wait state, and wait is batted next time.
Above to detailed description of the present utility model, only to interpretation the utility model, it is not used to limit this reality
With new, all any modification, equivalent and improvement made within spirit of the present utility model and principle etc., all should include
In protection domain of the present utility model.
Claims (2)
1. one kind is played table tennis robot, it is characterised in that：Including track travel mechanism and mechanical arm kicking machine, the track
Travel mechanism includes mobile platform (1), shift servo motor (2), roller (3), convex track (4) and H types assembly pulley (5), institute
State fixed H types assembly pulley (5), the H types assembly pulley (5) and the tight contract in convex track (4) upper surface inside mobile platform (1)
Close, the shift servo motor (2) is fixed on the back side of mobile platform (1), output shaft and the rolling of the shift servo motor (2)
Wheel (3) connection, roller (3) surface is brought into close contact with convex track (4) lower surface, and the mobile platform (1) is along convex rail
Road (4) moves linearly；The mechanical arm kicking machine includes pedestal (6), rotating servo motor (7), rotation platform (8), shoulder joint
Section steering engine seat (9), shoulder joint steering wheel (10), large arm (11), elbow joint steering wheel (12), forearm (13), wrist joint steering wheel (14), U
Type support (15), miniature electric rotating machine (16) and table tennis bat (17), the pedestal (6) are fixed on mobile platform (1), described
Rotating servo motor (7) is fixed in the inside of pedestal (6), and the rotation platform (8) connects with the output shaft of rotating servo motor (7)
Connect, the shoulder joint steering engine seat (9) is fixed on rotation platform (8), the shoulder joint steering wheel (10) is fixed on shoulder joint steering wheel
In seat (9), the output shaft of the shoulder joint steering wheel (10) is connected with large arm (11) rear end, and the large arm (11) is by two panels aluminum gold
Category piece composition, large arm (11) front end is connected with the output shaft of elbow joint steering wheel (12), and the elbow joint steering wheel (12) is fixed
Inside forearm (13) rear end, the forearm (13) is made up of two panels Lv's matter sheet metal, and forearm (13) the front end inside is fixed
The output shaft for having wrist joint steering wheel (14), the wrist joint steering wheel (14) is connected with U-shaped support (15) rear end, the miniature rotation
Motor (16) is fixed on U-shaped support (15) front end, and the table tennis bat (17) is connected with the output shaft of miniature electric rotating machine (16).
2. one kind according to claim 1 is played table tennis robot, it is characterised in that：The installation of the convex track (4)
Direction is parallel with table tennis table net；Installation site is less than 10cm apart from table tennis table forward position；The convex track (4) and ground
Between height distance be 66-86cm；The length of the convex track (4) is 142.5cm-162.5cm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621218895.7U CN206214699U (en) | 2016-11-02 | 2016-11-02 | One kind is played table tennis robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621218895.7U CN206214699U (en) | 2016-11-02 | 2016-11-02 | One kind is played table tennis robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206214699U true CN206214699U (en) | 2017-06-06 |
Family
ID=58792185
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621218895.7U Active CN206214699U (en) | 2016-11-02 | 2016-11-02 | One kind is played table tennis robot |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107283441A (en) * | 2017-08-15 | 2017-10-24 | 中科新松有限公司 | A kind of ping-pong robot |
| CN108527314A (en) * | 2018-05-25 | 2018-09-14 | 上海体育学院 | Mechanical arm and table tennis ball kicking machine people |
| CN108854005A (en) * | 2018-07-05 | 2018-11-23 | 麻春景 | A kind of all-around mobile shuttlecock robot |
| CN108939490A (en) * | 2018-10-09 | 2018-12-07 | 中科新松有限公司 | Ping-pong robot |
| CN109675278A (en) * | 2018-12-10 | 2019-04-26 | 徐欣怡 | A kind of table tennis auxiliary robot |
| CN109927021A (en) * | 2017-12-19 | 2019-06-25 | 广州中国科学院先进技术研究所 | A kind of bionical humanoid mechanical arm of 7 freedom degrees |
| CN109999464A (en) * | 2019-01-21 | 2019-07-12 | 上海理工大学 | A kind of personification table tennis robot |
| CN109999455A (en) * | 2019-04-02 | 2019-07-12 | 宋子祺 | A kind of table tennis auxiliary device |
| CN110772776A (en) * | 2019-10-29 | 2020-02-11 | 中科新松有限公司 | Table tennis serving robot and serving method |
| CN111251312A (en) * | 2020-01-17 | 2020-06-09 | 上海理工大学 | Table tennis robot based on omnidirectional Mecanum wheel platform |
| CN112657159A (en) * | 2020-12-10 | 2021-04-16 | 上海理工大学 | Percussion ball integration table tennis robot based on two arm platforms |
| CN114712826A (en) * | 2022-04-26 | 2022-07-08 | 枣庄学院 | Be used for table tennis training to use service robot |
| JP2022190176A (en) * | 2021-06-13 | 2022-12-23 | 暁紅 劉 | Autonomous table tennis robot arm |
-
2016
- 2016-11-02 CN CN201621218895.7U patent/CN206214699U/en active Active
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107283441A (en) * | 2017-08-15 | 2017-10-24 | 中科新松有限公司 | A kind of ping-pong robot |
| CN109927021A (en) * | 2017-12-19 | 2019-06-25 | 广州中国科学院先进技术研究所 | A kind of bionical humanoid mechanical arm of 7 freedom degrees |
| CN108527314B (en) * | 2018-05-25 | 2024-05-14 | 上海体育学院 | Mechanical arm and table tennis ball hitting robot |
| CN108527314A (en) * | 2018-05-25 | 2018-09-14 | 上海体育学院 | Mechanical arm and table tennis ball kicking machine people |
| CN108854005A (en) * | 2018-07-05 | 2018-11-23 | 麻春景 | A kind of all-around mobile shuttlecock robot |
| CN108939490A (en) * | 2018-10-09 | 2018-12-07 | 中科新松有限公司 | Ping-pong robot |
| CN109675278A (en) * | 2018-12-10 | 2019-04-26 | 徐欣怡 | A kind of table tennis auxiliary robot |
| CN109999464A (en) * | 2019-01-21 | 2019-07-12 | 上海理工大学 | A kind of personification table tennis robot |
| CN109999455A (en) * | 2019-04-02 | 2019-07-12 | 宋子祺 | A kind of table tennis auxiliary device |
| CN110772776A (en) * | 2019-10-29 | 2020-02-11 | 中科新松有限公司 | Table tennis serving robot and serving method |
| CN110772776B (en) * | 2019-10-29 | 2021-09-03 | 中科新松有限公司 | Table tennis serving robot and serving method |
| CN111251312B (en) * | 2020-01-17 | 2022-11-01 | 上海理工大学 | Table tennis robot based on omnidirectional Mecanum wheel platform |
| CN111251312A (en) * | 2020-01-17 | 2020-06-09 | 上海理工大学 | Table tennis robot based on omnidirectional Mecanum wheel platform |
| CN112657159A (en) * | 2020-12-10 | 2021-04-16 | 上海理工大学 | Percussion ball integration table tennis robot based on two arm platforms |
| JP2022190176A (en) * | 2021-06-13 | 2022-12-23 | 暁紅 劉 | Autonomous table tennis robot arm |
| CN114712826A (en) * | 2022-04-26 | 2022-07-08 | 枣庄学院 | Be used for table tennis training to use service robot |
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