CN108297110A - A kind of shooting robot device - Google Patents
A kind of shooting robot device Download PDFInfo
- Publication number
- CN108297110A CN108297110A CN201810326940.8A CN201810326940A CN108297110A CN 108297110 A CN108297110 A CN 108297110A CN 201810326940 A CN201810326940 A CN 201810326940A CN 108297110 A CN108297110 A CN 108297110A
- Authority
- CN
- China
- Prior art keywords
- robot device
- linking arm
- rotation axis
- basketball
- shooting robot
- 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.)
- Granted
Links
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 15
- 238000010586 diagram Methods 0.000 description 2
- 230000009466 transformation 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
- B25J11/00—Manipulators not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
This application provides a kind of shooting robot devices,The device includes manipulator and basketry component,The manipulator includes the handgrip for capturing basketball,First linking arm,Second linking arm,Pedestal,Sliding seat,The sliding seat is slidably disposed on slide,The pedestal is rotatably mounted on the sliding seat along the axis that a upper and lower directions extends,The one end of second linking arm, which is rotated with the upper end of the pedestal by third rotation axis, to be connect,The other end of second linking arm is rotated by the second rotation axis with the one end of first linking arm and is connect,The handgrip is rotatably connected to the other end of first linking arm by the first rotation axis,First rotation axis,Second rotation axis and third rotation axis it is horizontally extending setting and be mutually parallel.
Description
Technical field
This application involves a kind of shooting robot devices.
Background technology
Currently, existing basketball robot shooting mechanical arm is held by arm, motor, grasping mechanism, paw and end
Row device is connected in series.But this shooting mechanical arm, shooting form is single, rigid posture, and accuracy is difficult to control with dynamics,
Greatly hinder the performance of Basket-Shooting Robot technical and necessary aesthstic ornamental value.
Apply for content
The application technical problems to be solved are to provide a kind of shooting robot device.
In order to solve the above-mentioned technical problem, this application provides a kind of shooting robot device, the device includes machine
Tool hand and basketry component, the manipulator include for capture the handgrip of basketball, the first linking arm, the second linking arm, pedestal,
Sliding seat, the sliding seat are slidably disposed on slide, and the pedestal can turn along the axis that a upper and lower directions extends
Dynamic is mounted on the sliding seat, and the one end of second linking arm and the upper end of the pedestal pass through third
Rotation axis rotates connection, and the other end of second linking arm and the one end of first linking arm pass through second
Rotation axis rotates connection, and the handgrip is rotatably connected to the another of first linking arm by the first rotation axis
End, first rotation axis, the second rotation axis and third rotation axis it is horizontally extending setting and be mutually parallel.
Preferably, the handgrip includes multiple clamping jaws that can mutually open and close, and the clamping jaw has opening state and closes
Conjunction state, when the clamping jaw free end in the open state, multiple clamping jaws are separated from each other, when the clamping jaw be in close
When conjunction state, the free end of the clamping jaw is close to each other.
Preferably, the handgrip further includes the cover of the downward opening spheroidal for covering basketball, the cover
Lid offers multiple multiple gaps that bottom end is extended to from top, and multiple gaps and multiple clamping jaws one are a pair of
It should be arranged, when the clamping jaw folding, the gap can be passed through for corresponding clamping jaw.
Preferably, the bottom of the sliding seat is provided with multiple sliding slots being extended along Y direction, the slide
On be provided with multiple sliding rails being extended along Y direction, the sliding slot is arranged in a one-to-one correspondence with the sliding rail, and described
Sliding slot be fastened on the sliding rail and be slidably arranged along the sliding rail.
Preferably, the basketry component includes basketry, the mounting rod for installing the basketry, the mounting rod
On a mounting platform.
Preferably, mounting platform setting is positioned at the side of the slide, and the mounting platform is from far from institute
The one end for the slide stated to one end close to the slide is obliquely installed gradually downward.
Preferably, the side of the close slide of the mounting platform is additionally provided with basketball crawl point, is used for
The basketball is directed to two guiding fins of the basketball crawl point, the distance between two guiding fins are from separate
The one end of the basketball crawl point to the one end close to the basketball crawl point is gradually reduced.
Preferably, an alignment sensor for positioning basketball crawl point is additionally provided on the slide.
Preferably, the shooting robot device further includes for driving the handgrip, the first linking arm, second to connect
Connect the driving device of the movement of arm and the pedestal.
Preferably, the shooting robot device further includes a controller, and the controller is used to calculate described
Distance of the manipulator apart from basketry, and the movement of the driving device driving manipulator according to surveyed distance controlling.
A kind of shooting manipulator described herein, can be accurate towards basketry after sliding rail slides into any position
Shooting.Ball is captured by manipulator and puts into basketry.The crawl position of ball is fixed, can be real by robot movement program
Now shoot.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of shooting robot device；
Fig. 2 is the overlooking structure diagram of Fig. 1,
Wherein：100, manipulator；1, handgrip；11, gap；12, clamping jaw；2, the first linking arm；3, the second linking arm；4, bottom
Seat；5, sliding seat；61, the first rotation axis；62, the second rotation axis；63, third rotation axis；51, sliding slot；71, mounting rod；72, basket
Basket；8, slide；81, sliding rail；82, alignment sensor；91, it is oriented to fin；92, basketball captures point.
Specific implementation mode
The application is described further in the following with reference to the drawings and specific embodiments, so that those skilled in the art can be with
It more fully understands the application and can be practiced, but illustrated embodiment is not as the restriction to the application.
As shown, this application provides a kind of shooting robot device, the device includes manipulator 100 and basketry
Component, the manipulator 100 include for capturing the handgrip 1 of basketball, the first linking arm 2, the second linking arm 3, pedestal 4, sliding
Dynamic seat 5, the sliding seat 5 are slidably disposed on slide 8, and the axis that the pedestal 4 extends along a upper and lower directions can
Rotation is mounted on the sliding seat 5, and the one end of second linking arm 3 and the upper end of the pedestal 4 are logical
It crosses third rotation axis 63 to rotate connection, one end of the other end of second linking arm 3 and first linking arm 2
Portion is rotated connection by the second rotation axis 62, and the handgrip 1 is rotatably connected to described by the first rotation axis 61
The other end of first linking arm 2, first rotation axis 61, the second rotation axis 62 and third rotation axis 63 are in the horizontal direction
It is extended and is mutually parallel.The handgrip 1 includes multiple clamping jaws 12 that can mutually open and close, and the clamping jaw 12, which has, to be opened
State and closed state, when 12 free end of clamping jaw in the open state, multiple clamping jaws 12 are separated from each other, when described
Clamping jaw 12 in the closure state, the free end of the clamping jaw 12 is close to each other.The handgrip 1 further includes for covering
The firmly the cover of the downward opening spheroidal of basketball, the cover offer multiple multiple seams that bottom end is extended to from top
Gap 11, multiple gaps 11 are arranged in a one-to-one correspondence with multiple clamping jaws 12, described when the clamping jaw 12 opens and closes
Gap 11 can be passed through for corresponding clamping jaw 12.The bottom of the sliding seat 5 is provided with multiple extend along Y direction and sets
The sliding slot 51 set is provided with multiple sliding rails 81 being extended along Y direction, the sliding slot 51 and institute on the slide 8
The sliding rail 81 stated is arranged in a one-to-one correspondence, and the sliding slot 51 is fastened on the sliding rail 81 and can be slided along the sliding rail 81
Dynamic setting.The basketry component includes basketry 72, the mounting rod 71 for installing the basketry 72, the mounting rod
71 are mounted on a mounting platform.The described mounting platform setting positioned at the side of the slide 8, the mounting platform from
One end far from the slide 8 to one end close to the slide 8 is obliquely installed gradually downward.The mounting platform
It is additionally provided with basketball crawl point 92, for the basketball to be directed to the basketball close to the side of the slide 8
Two guiding fins 91 of crawl point 92, two are oriented to the distance between fin 91 from one far from the basketball crawl point 92
End to the one end close to the basketball crawl point 92 is gradually reduced.One is additionally provided on the slide 8 for positioning
The alignment sensor 82 of basketball crawl point 92.Shooting 100 device of manipulator further include for drive the handgrip 1,
The driving device of the movement of first linking arm 2, the second linking arm 3 and the pedestal 4.The shooting robot device also wraps
Include a controller, the controller is used to calculate distance of the manipulator 100 apart from basketry 72, and according to institute's ranging from
The movement of the control driving device driving manipulator 100.It is additionally provided with and releases the button on the slide 8.
Manual press is released the button, input signal, and robot goes to fixed position to capture ball at once after receiving signal, it
Slide unit selects scoring position afterwards, and after being moved to target, after robot makes the act of shooting of similar human arm, ball is put into
Basketry 72.
A kind of shooting manipulator 100 described herein, can be after sliding rail 81 slides into any position, towards basketry 72
Accurately shooting.Ball is captured by manipulator 100 and puts into basketry 72.The crawl position of ball is fixed, and manipulator 100 is passed through
Motor program may be implemented to shoot.
Embodiment described above is only the preferred embodiment lifted to absolutely prove the application, the protection model of the application
It encloses without being limited thereto.Those skilled in the art on the basis of the application made by equivalent substitute or transformation, in the application
Protection domain within.The protection domain of the application is subject to claims.
Claims (10)
1. a kind of shooting robot device, which is characterized in that the device includes manipulator and basketry component, the machinery
Hand includes for capturing the handgrip of basketball, the first linking arm, the second linking arm, pedestal, sliding seat, and the sliding seat is slidably
Setting on slide, the pedestal along the axis that a upper and lower directions extends rotatably be mounted on the sliding seat on,
The one end of second linking arm, which is rotated with the upper end of the pedestal by third rotation axis, to be connect, and described
The other end of two linking arms is rotated by the second rotation axis with the one end of first linking arm and is connect, and described grabs
Hand is rotatably connected to the other end of first linking arm by the first rotation axis, first rotation axis, the
Two rotation axis and third rotation axis it is horizontally extending setting and be mutually parallel.
2. a kind of shooting robot device as described in claim 1, which is characterized in that the handgrip include it is multiple can be mutual
The clamping jaw of folding, the clamping jaw has opening state and closed state, when the clamping jaw free end is in the open state
When, multiple clamping jaws are separated from each other, when the clamping jaw in the closure state, the free end of the clamping jaw is close to each other.
3. a kind of shooting robot device as claimed in claim 2, which is characterized in that the handgrip further includes for covering
The cover of the downward opening spheroidal of basketball, the cover offer multiple multiple seams that bottom end is extended to from top
Gap, multiple gaps are arranged in a one-to-one correspondence with multiple clamping jaws, when the clamping jaw folding, the gap energy
Enough passed through for corresponding clamping jaw.
4. a kind of shooting robot device as claimed in claim 3, which is characterized in that the bottom of the sliding seat is provided with
Multiple sliding slots being extended along Y direction are provided with multiple sliding rails being extended along Y direction, institute on the slide
The sliding slot stated is arranged in a one-to-one correspondence with the sliding rail, and the sliding slot is fastened on the sliding rail and along the sliding rail
Slidable setting.
5. a kind of shooting robot device as claimed in claim 4, which is characterized in that the basketry component include basketry,
Mounting rod for installing the basketry, the mounting rod are mounted on a mounting platform.
6. a kind of shooting robot device as claimed in claim 5, which is characterized in that the mounting platform setting is located at institute
The side for the slide stated, the mounting platform are gradual to one end close to the slide from one end far from the slide
Tilt down setting.
7. a kind of shooting robot device as claimed in claim 6, which is characterized in that the mounting platform close to described
Slide side be additionally provided with basketball crawl point, two for the basketball to be directed to the basketball crawl point
It is oriented to fin, the distance between two guiding fins are from the one end far from the basketball crawl point to close to the basketball
The one end of crawl point is gradually reduced.
8. a kind of shooting robot device as claimed in claim 7, which is characterized in that be additionally provided with a use on the slide
In the alignment sensor of positioning basketball crawl point.
9. a kind of shooting robot device as claimed in claim 8, which is characterized in that the shooting robot device also wraps
Include the driving device of the movement for driving the handgrip, the first linking arm, the second linking arm and the pedestal.
10. a kind of shooting robot device as claimed in claim 9, which is characterized in that the shooting robot device is also
Including a controller, the controller is used to calculate distance of the manipulator apart from basketry, and according to institute's ranging from control
The movement of the system driving device driving manipulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810326940.8A CN108297110B (en) | 2018-04-12 | Shooting manipulator device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810326940.8A CN108297110B (en) | 2018-04-12 | Shooting manipulator device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108297110A true CN108297110A (en) | 2018-07-20 |
| CN108297110B CN108297110B (en) | 2024-05-31 |
Family
ID=
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Address after: Building 39A, No. 158, Huashan Road, High-tech Zone, Suzhou, Jiangsu 215000 Applicant after: SUZHOU LINGMAI AUTOMATION EQUIPMENT TECHNOLOGY CO.,LTD. Address before: 215000 room 3, No. 16 Mojie Road, Yushan Town, Kunshan City, Suzhou City, Jiangsu Province Applicant before: SUZHOU LINGMAI AUTOMATION EQUIPMENT TECHNOLOGY CO.,LTD. |
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