CN103272376B - Robot capable of playing table tennis with human - Google Patents
Robot capable of playing table tennis with human Download PDFInfo
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- CN103272376B CN103272376B CN201310241782.3A CN201310241782A CN103272376B CN 103272376 B CN103272376 B CN 103272376B CN 201310241782 A CN201310241782 A CN 201310241782A CN 103272376 B CN103272376 B CN 103272376B
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Abstract
The invention relates to a robot, in particular to a robot capable of playing table tennis with human, and solves the problems that one actuator corresponding to each degree of freedom of the existing Ping-Pong robot has great accumulated errors and the existing Ping-Pong robot is high in manufacturing cost. The robot comprises a moving mechanism and a batting mechanism. The moving mechanism comprises a parallel net moving component, two square-tube supports, two stainless steel guides and two vertical net directional moving components. The square-tube supports are disposed on two sides of a table tennis table. Each square-tube support is provided with one vertical net directional moving component. The stainless steel guides are disposed in parallel between the square-tube supports. Each end of each stainless steel guide is connected with one corresponding vertical net directional moving component. The parallel net moving component is mounted on the stainless steel guides, and the batting mechanism is mounted on the parallel net moving component. The robot is used for playing table tennis with human.
Description
Technical field
The present invention relates to a kind of robot, be specifically related to a kind of can with people to the robot played table tennis.
Background technology
The application scenario of ping-pong robot has two kinds, and one is that two is do training mate to amateurish table tennis fan for the paddler of occupation provides the training of the play of imitating rival.When control system and frame for movement speed can meet the demands, we with can accurately by ball impact backhaul mobilize place billiard table on ad-hoc location for target.Technology similar both at home and abroad has: the ping-pong robot of S Design in 1988; The nineties Hispanic ping-pong robot; The table tennis machine of Japan; The humanoid ping-pong robot etc. of Zhejiang University.The accumulated error of the executing agency that each free degree of existing ping-pong robot is corresponding is comparatively large, and cost of manufacture is high.
Summary of the invention
The present invention is that to solve the accumulated error of executing agency corresponding to existing ping-pong robot each free degree comparatively large, and the problem that cost of manufacture is high, so propose a kind of can with people to the robot played table tennis.
The present invention is the technical scheme taked that solves the problem: the present invention includes travel mechanism and kicking machine, described travel mechanism comprises parallel net moving assembly, two square tube supports, two stainless steel guide rail net direction vertical with two moving assemblies, two square tube supports are separately positioned on the both sides of table tennis table, and each square tube support axis along its length all with table tennis table middle line parallel along its length, each square tube support is each installation one vertical net direction moving assembly respectively, two stainless steel guide rail side by side parallel are arranged between two square tube supports, and the axis of each stainless steel guide rail all with table tennis table centerline parallel in the width direction, the two ends of each stainless steel guide rail respectively connect with corresponding vertical net direction moving assembly respectively, parallel net moving assembly is arranged on two stainless steel guide rails, kicking machine is arranged on parallel net moving assembly, described kicking machine comprises racket, racket platform, batting support platform, guide rail, rolling slide block, support round platform, first steering wheel, first gear, second gear, cylinder, first steering wheel, pvc pipe, steel pipe, lifting motor, promote connective pole, lift crank, batting connecting rod, batting crank, ring flange, steering engine seat, second steering wheel and the second steering wheel, guide rails assembling is on the upper surface of batting support platform, racket platform is arranged on guide rail by rolling slide block, rolling slide block moves linearly along guide rail, steering engine seat is arranged on racket platform, first steering wheel is connected with the first steering wheel, first steering wheel is arranged on steering engine seat, one end of batting crank is connected with the first steering wheel, the other end of batting crank is connected with one end of batting connecting rod, the other end of batting connecting rod is connected with the back side on racket top by aluminum corner brace hinge, the back side of racket bottom is connected with the upper surface of racket platform by aluminum corner brace hinge, cylinder is fixedly mounted in batting support platform, the gas bar of cylinder is connected with racket platform, pvc pipe is inserted into the middle part of batting support platform by nylon bearing, the lower end of steel pipe is connected with the ring flange below batting support platform through pvc pipe, support round platform is sleeved on steel pipe bottom by nylon bearing, and support round platform between the lower surface and the upper surface of ring flange of batting support platform, the upper end supporting round platform is connected with the lower surface of batting support platform, first gear set is on the lateral wall supporting round platform, second steering wheel is fixedly mounted in batting support platform, the output shaft of the second steering wheel is connected with the second steering wheel be positioned at below support platform of batting through batting support platform, second steering wheel is connected with the second gear, second gear and the first gears meshing, lifting motor is arranged on the upper end of steel pipe, the output shaft of lifting motor is connected with the one end promoting connecting rod, promote the other end of connecting rod to be connected with one end of lift crank, the other end of lift crank is connected with the lateral wall of pvc pipe.
The invention has the beneficial effects as follows: the present invention adopts the batting mode of non-rocker-arm, the accumulated error of the executing agency making a free degree corresponding is little, accumulated error is less than 2cm, this makes frame for movement inertia of the present invention less, less demanding to power source, thus with low cost, additionally by computer control system to the extraction of table tennis ball flying path and rotary state and analytical calculation, ball return drop point can be made very accurate; For falling robot place billiard table and the table tennis of at least 18cm of upspringing, being controlled by perfect racket angle, cylinder flow velocity, motor speed, can accomplish to fall any specified point of opposite billiard table with any return of serve speed in certain speed range.Also do not reach this effect with existing control system, but by before ball is delivered to racket, manual operation cylinder impacts the experiment carried out, observe and hold bat return of serve state and people's straight-plate-type to push away effect of playing table tennis basically identical.By this robot impact screw, loop drive, the interlock of lifting motor and vertical net mechanism is also needed to realize if want.
Accompanying drawing explanation
Fig. 1 is kicking machine overall structure schematic diagram, and Fig. 2 is parallel net travel mechanism structural representation, and Fig. 3 is the top view after the present invention removes kicking machine.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1 to Fig. 3 illustrates present embodiment, a kind ofly described in present embodiment can comprise travel mechanism and kicking machine with people to the robot played table tennis, described travel mechanism comprises parallel net moving assembly, two square tube supports 1, two stainless steel guide rail 2 net direction vertical with two moving assemblies, two square tube supports 1 are separately positioned on the both sides of table tennis table, and each square tube support 1 axis along its length all with table tennis table middle line parallel along its length, each square tube support 1 is each installation one vertical net direction moving assembly respectively, two stainless steel guide rail 2 side by side parallel are arranged between two square tube supports 1, and the axis of each stainless steel guide rail 2 all with table tennis table centerline parallel in the width direction, the two ends of each stainless steel guide rail 2 respectively connect with corresponding vertical net direction moving assembly respectively, parallel net moving assembly is arranged on two stainless steel guide rails 2, kicking machine is arranged on parallel net moving assembly, described kicking machine comprises racket 3, racket platform 4, batting support platform 5, guide rail 6, rolling slide block 7, support round platform 8, first steering wheel 9, first gear 10, second gear 11, cylinder 12, first steering wheel 13, pvc pipe 14, steel pipe 15, lifting motor 16, promote connecting rod 17, lift crank 18, batting connecting rod 19, batting crank 20, ring flange 21, steering engine seat 22, second steering wheel 23 and the second steering wheel 24, guide rail 6 is arranged on the upper surface of batting support platform 5, racket platform 4 is arranged on guide rail 6 by rolling slide block 7, rolling slide block 7 moves linearly along guide rail 6, steering engine seat 22 is arranged on racket platform 4, first steering wheel 9 is connected with the first steering wheel 13, first steering wheel 13 is arranged on steering engine seat 22, one end of batting crank 20 is connected with the first steering wheel 9, the other end of batting crank 20 is connected with one end of batting connecting rod 19, the other end of batting connecting rod 19 is connected with the back side on racket 3 top by aluminum corner brace hinge, the back side of racket 3 bottom is connected with the upper surface of racket platform 4 by aluminum corner brace hinge, cylinder 12 is fixedly mounted in batting support platform 5, the gas bar of cylinder 12 is connected with racket platform 4, pvc pipe 14 is inserted into the middle part of batting support platform 5 by nylon bearing, the lower end of steel pipe 15 is connected with the ring flange 21 below batting support platform 5 through pvc pipe 14, support round platform 8 is sleeved on steel pipe 15 bottom by nylon bearing, and support round platform 8 between the lower surface and the upper surface of ring flange 21 of batting support platform 5, the upper end supporting round platform 8 is connected with the lower surface of batting support platform 5, first gear 10 is sleeved on the lateral wall of support round platform 8, second steering wheel 24 is fixedly mounted in batting support platform 5, the output shaft of the second steering wheel 24 is connected with the second steering wheel 23 be positioned at below support platform 5 of batting through batting support platform 5, second steering wheel 23 is connected with the second gear 11, second gear 11 engages with the first gear 10, lifting motor 16 is arranged on the upper end of steel pipe 15, the output shaft of lifting motor 16 is connected with the one end promoting connecting rod 17, the other end promoting connecting rod 17 is connected with one end of lift crank 18, the other end of lift crank 18 is connected with the lateral wall of pvc pipe 14.
In present embodiment, cylinder 12 promotes racket platform 4 by gas bar, and make racket 3 initiatively impact ball, the air pressure of cylinder 12 controls within 0.5MPa; First steering wheel 13 changes the angle of shot of racket 3 by the first steering wheel 9, batting crank 20, batting connecting rod 19; Second steering wheel 24 drives the second gear 11 to rotate by the second steering wheel 23, and the second gear 11 drives batting support platform 5 Small-angle Rotation in the horizontal direction, to realize the shot of racket 3 accurately by the first gear 10.
Detailed description of the invention two: composition graphs 1 illustrates present embodiment, a kind ofly described in present embodiment can also comprise caging bolt 39 with people to the kicking machine of the robot played table tennis, the lateral wall of pvc pipe 14 has elongated hole 14-1, caging bolt 39 is connected with the lateral wall of steel pipe 15 through the elongated hole 14-1 on pvc pipe 14 lateral wall.
The technique effect of present embodiment is: so arrange, and effectively prevents relatively rotating between pvc pipe 14 and steel pipe 15, avoids because pvc pipe 14 rotates the batting error of the kicking machine caused.Other composition and annexation identical with detailed description of the invention one.
Detailed description of the invention three: composition graphs 2 and Fig. 3 illustrate present embodiment, a kind ofly described in present embodiment can comprise kicking machine mounting platform 25 with the parallel net moving assembly of people to the robot played table tennis, Timing Belt 26, main belt wheel seat 27, driving pulley 28, motor cabinet 29, direct current micromotor 30, driving pulley sliding machine 31, driven pulley sliding machine 32, driven belt wheel seat 33, driven pulley 34 and four square tubes 35, driving pulley sliding machine 31 is installed with two square tubes 35, driven pulley sliding machine 32 is installed with two square tubes 35, driving pulley sliding machine 31 and driven pulley sliding machine 32 are slidably connected with corresponding square tube support 1 respectively, each square tube 35 on driving pulley sliding machine 31 is set on one end of a corresponding stainless steel guide rail 2, each square tube 35 on driven pulley sliding machine 32 is set on one end of a corresponding stainless steel guide rail 2, main belt wheel seat 27 is fixedly mounted on driving pulley sliding machine 31, driving pulley 28 is arranged on main belt wheel seat 27, driven belt wheel seat 33 is fixedly mounted on driven pulley dolly 32, driven pulley 34 is arranged on driven belt wheel seat 33, driving pulley 28 is connected with driven pulley 34 by Timing Belt 26, motor cabinet 29 is fixedly mounted on driving pulley sliding machine 31, direct current micromotor 30 is arranged on motor cabinet 29, the output shaft of direct current micromotor 30 is connected with driving pulley 28, kicking machine mounting platform 25 is arranged on two stainless steel guide rails 2, and kicking machine mounting platform 25 and two stainless steel guide rails 2 are slidably connected, kicking machine mounting platform 25 is connected with the band body of Timing Belt 26, ring flange 21 is arranged on kicking machine mounting platform 25.
The technique effect of present embodiment is: so arrange, direct current micromotor 30 drives driving pulley 28 to rotate, driving pulley 28 drives driven pulley 34 to rotate by Timing Belt 26, Timing Belt 26 drives batting mounting platform 25 to move linearly along two stainless steel guide rails 2, and then the drop point making racket 23 accurately can move to table tennis goes out to bat.Other composition and annexation identical with detailed description of the invention one.
Detailed description of the invention four: composition graphs 2 and Fig. 3 illustrate present embodiment, a kind ofly described in present embodiment can comprise drive motors 36, driving pulley 37, driving pulley support 38 and rotating band with each vertical net moving assembly of people to the robot played table tennis, driving pulley support 38 fixedly mounts on a corresponding square tube support 1, driving pulley 37 is arranged on driving pulley support 38, the output shaft of drive motors 36 is connected with driving pulley 37, rotating band is sleeved on driving pulley 37, and the two ends of rotating band connect respectively at corresponding square tube 35.
The technique effect of present embodiment is: so arrange, and two drive motors 36 synchronously drive two driving pulleys 37 to rotate, and two driving pulleys 37 pull two stainless steel guide rails 2 to move linearly along two square tube supports 1 by two rotating bands.Other composition and annexation identical with detailed description of the invention one or three.
Operation principle
In the present invention, the first steering wheel 13, second steering wheel 24, cylinder 12, direct current micromotor 30, two drive motors 36 are all connected with computer control system, computer control system collection after analyzing table tennis drop point and velocity information, manipulates the first steering wheel 13, second steering wheel 24, cylinder 12, direct current micromotor 30, two drive motors 36 makes racket 3 initiatively impact ball to move to accurate location with best angle.
Claims (4)
1. an energy with people to the robot played table tennis, it is characterized in that: describedly a kind ofly can comprise travel mechanism and kicking machine with people to the robot played table tennis, described travel mechanism comprises parallel net moving assembly, two square tube supports (1), two stainless steel guide rail (2) net direction vertical with two moving assemblies, two square tube supports (1) are separately positioned on the both sides of table tennis table, and each square tube support (1) axis along its length all with table tennis table middle line parallel along its length, each square tube support (1) is each installation one vertical net direction moving assembly respectively, two stainless steel guide rail (2) side by side parallel are arranged between two square tube supports (1), and the axis of each stainless steel guide rail (2) all with table tennis table centerline parallel in the width direction, the two ends of each stainless steel guide rail (2) respectively connect with corresponding vertical net direction moving assembly respectively, parallel net moving assembly is arranged on two stainless steel guide rails (2), kicking machine is arranged on parallel net moving assembly, described kicking machine comprises racket (3), racket platform (4), batting support platform (5), guide rail (6), rolling slide block (7), support round platform (8), first steering wheel (9), first gear (10), second gear (11), cylinder (12), first steering wheel (13), pvc pipe (14), steel pipe (15), lifting motor (16), promote connecting rod (17), lift crank (18), batting connecting rod (19), batting crank (20), ring flange (21), steering engine seat (22), second steering wheel (23) and the second steering wheel (24), guide rail (6) is arranged on the upper surface of batting support platform (5), racket platform (4) is arranged on guide rail (6) by rolling slide block (7), rolling slide block (7) moves linearly along guide rail (6), steering engine seat (22) is arranged on racket platform (4), first steering wheel (9) is connected with the first steering wheel (13), first steering wheel (13) is arranged on steering engine seat (22), one end of batting crank (20) is connected with the first steering wheel (9), the other end of batting crank (20) is connected with one end of batting connecting rod (19), the other end of batting connecting rod (19) is connected with the back side on racket (3) top by aluminum corner brace hinge, the back side of racket (3) bottom is connected with the upper surface of racket platform (4) by aluminum corner brace hinge, cylinder (12) is fixedly mounted in batting support platform (5), the gas bar of cylinder (12) is connected with racket platform (4), pvc pipe (14) is inserted into the middle part of batting support platform (5) by nylon bearing, the lower end of steel pipe (15) is connected through the ring flange (21) of pvc pipe (14) with batting support platform (5) below, support round platform (8) is sleeved on steel pipe (15) bottom by nylon bearing, and support round platform (8) be positioned at batting support platform (5) lower surface and the upper surface of ring flange (21) between, the upper end supporting round platform (8) is connected with the lower surface of batting support platform (5), first gear (10) is sleeved on the lateral wall of support round platform (8), second steering wheel (24) is fixedly mounted in batting support platform (5), the output shaft of the second steering wheel (24) is connected with the second steering wheel (23) being positioned at support platform (5) below of batting through batting support platform (5), second steering wheel (23) is connected with the second gear (11), second gear (11) engages with the first gear (10), lifting motor (16) is arranged on the upper end of steel pipe (15), the output shaft of lifting motor (16) is connected with the one end promoting connecting rod (17), the other end promoting connecting rod (17) is connected with one end of lift crank (18), the other end of lift crank (18) is connected with the lateral wall of pvc pipe (14).
2. a kind of according to claim 1 can with people to the robot played table tennis, it is characterized in that: described kicking machine also comprises caging bolt (39), the lateral wall of pvc pipe (14) has elongated hole (14-1), caging bolt (39) is connected with the lateral wall of steel pipe (15) through the elongated hole (14-1) on pvc pipe (14) lateral wall.
3. a kind of according to claim 1 can with people to the robot played table tennis, it is characterized in that: described parallel net moving assembly comprises kicking machine mounting platform (25), Timing Belt (26), main belt wheel seat (27), driving pulley (28), motor cabinet (29), direct current micromotor (30), driving pulley sliding machine (31), driven pulley sliding machine (32), driven belt wheel seat (33), driven pulley (34) and four square tubes (35), driving pulley sliding machine (31) is installed with two square tubes (35), driven pulley sliding machine (32) is installed with two square tubes (35), driving pulley sliding machine (31) and driven pulley sliding machine (32) are slidably connected with corresponding square tube support (1) respectively, each square tube (35) on driving pulley sliding machine (31) is set on one end of a corresponding stainless steel guide rail (2), each square tube (35) on driven pulley sliding machine (32) is set on one end of a corresponding stainless steel guide rail (2), main belt wheel seat (27) is fixedly mounted on driving pulley sliding machine (31), driving pulley (28) is arranged on main belt wheel seat (27), driven belt wheel seat (33) is fixedly mounted on driven pulley dolly (32), driven pulley (34) is arranged on driven belt wheel seat (33), driving pulley (28) is connected with driven pulley (34) by Timing Belt (26), motor cabinet (29) is fixedly mounted on driving pulley sliding machine (31), direct current micromotor (30) is arranged on motor cabinet (29), the output shaft of direct current micromotor (30) is connected with driving pulley (28), kicking machine mounting platform (25) is arranged on two stainless steel guide rails (2), and kicking machine mounting platform (25) and two stainless steel guide rails (2) are slidably connected, kicking machine mounting platform (25) is connected with the band body of Timing Belt (26), ring flange (21) is arranged on kicking machine mounting platform (25).
4. a kind of according to claim 1 or 3 can with people to the robot played table tennis, it is characterized in that: each vertical net moving assembly comprises drive motors (36), driving pulley (37), driving pulley support (38) and rotating band, driving pulley support (38) fixedly mounts on a corresponding square tube support (1), driving pulley (37) is arranged on driving pulley support (38), the output shaft of drive motors (36) is connected with driving pulley (37), rotating band is sleeved on driving pulley (37), the two ends of rotating band connect respectively at corresponding square tube (35).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310241782.3A CN103272376B (en) | 2013-06-18 | 2013-06-18 | Robot capable of playing table tennis with human |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310241782.3A CN103272376B (en) | 2013-06-18 | 2013-06-18 | Robot capable of playing table tennis with human |
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| Publication Number | Publication Date |
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| CN103272376A CN103272376A (en) | 2013-09-04 |
| CN103272376B true CN103272376B (en) | 2015-01-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310241782.3A Active CN103272376B (en) | 2013-06-18 | 2013-06-18 | Robot capable of playing table tennis with human |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105373128B (en) * | 2015-06-17 | 2018-06-12 | 电子科技大学 | Shuttlecock robot and its whole audience localization method |
| US10912981B1 (en) | 2018-01-17 | 2021-02-09 | AI Incorporated | Tennis playing robotic device |
| CN109107133A (en) * | 2018-10-12 | 2019-01-01 | 温州职业技术学院 | A kind of tennis emitter |
| JP7415693B2 (en) * | 2020-03-13 | 2024-01-17 | オムロン株式会社 | Hitting style determining device, batting style determining method, batting style determining program, and ball return robot |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RO109507B1 (en) * | 1994-05-30 | 1995-03-30 | Gheorghe Sindila | Table tennis robot |
| CN2794568Y (en) * | 2005-05-19 | 2006-07-12 | 上海必捷必信息技术有限公司 | Rebound plate device for ball excerse sport |
| CN102363073A (en) * | 2011-11-17 | 2012-02-29 | 中国科学院深圳先进技术研究院 | Badminton partner training robot mechanism |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NO167441C (en) * | 1989-02-20 | 1991-11-06 | Kristen Jarle Blindheim | DEVICE OF TABLE TENNIS ROBOT |
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2013
- 2013-06-18 CN CN201310241782.3A patent/CN103272376B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RO109507B1 (en) * | 1994-05-30 | 1995-03-30 | Gheorghe Sindila | Table tennis robot |
| CN2794568Y (en) * | 2005-05-19 | 2006-07-12 | 上海必捷必信息技术有限公司 | Rebound plate device for ball excerse sport |
| CN102363073A (en) * | 2011-11-17 | 2012-02-29 | 中国科学院深圳先进技术研究院 | Badminton partner training robot mechanism |
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