CN104908044A - Ball playing robot - Google Patents
Ball playing robot Download PDFInfo
- Publication number
- CN104908044A CN104908044A CN201410247042.5A CN201410247042A CN104908044A CN 104908044 A CN104908044 A CN 104908044A CN 201410247042 A CN201410247042 A CN 201410247042A CN 104908044 A CN104908044 A CN 104908044A
- Authority
- CN
- China
- Prior art keywords
- robot
- joint
- microcomputer
- self
- induction system
- 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.)
- Pending
Links
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a ball playing robot. The ball playing robot comprises a microcomputer, an electrical console, a robot arm, a self-induction system and an end effector. The robot arm is of a simulated arm multi-joint structure, the multi-joint structure comprises a longitudinal joint and at least two transverse joints, the bottom of the longitudinal joint is connected with a rotor of a liner motor, the longitudinal joint is connected with the transverse joints end to end, the self-induction system is located at the top end of the last-stage transverse joint, and an output connector of the last-stage transverse joint is connected with the end effector. The robot arm and the self-induction system are connected with the output end and the input end of the microcomputer respectively, and the microcomputer is provided with a microprocessor and an embedded motion controller based on a PC104 bus. The self-induction system comprises a camera and a control system of the camera, and the control system comprises a ball motion capture and multi-axis motion sensing assembly. In this way, the ball playing robot can simulate ball playing actions of a person and can achieve the ball playing mode that the ball playing robot plays a ball game with the person.
Description
Technical field
The present invention relates to robot field, particularly relate to one and to play ball robot.
Background technology
General robot can imitate physical activity and carry out various activity, but also not having at present a kind of robot can imitate human body carries out intelligence and receive and the operation of playing ball.
Summary of the invention
The technical problem that the present invention mainly solves is to provide one and plays ball robot, is used, can realize automatic detection spheroid and move and the robot of playing ball carrying out intelligent intercept by the collocation of robot arm and self-induction system.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts is: provide one to play ball robot, comprise: microcomputer, electrical control panel, robot arm, self-induction system and end effector, described robot arm is imitative arm articulated structure, described articulated structure comprises a vertical joint and at least horizontal joint, the two poles of the earth, the bottom in described vertical joint is connected on the mover of linear electric motors, described linear electric motors are fixed on the top of described electrical control panel, described vertical joint and described horizontal joint end to end, described self-induction system is positioned at the top in the horizontal joint of final stage, the out splice going splice in the horizontal joint of final stage connects end effector, described end effector is fixed with panel of playing ball, described robot arm connects the output of described microcomputer, described self-induction system connects the input of described microcomputer, described microcomputer is positioned at the below of described electrical control panel, described microcomputer is provided with microprocessor and Based PC 104 bus embedded type motion controller, internal stack is provided with two axis motion control cards.
In a preferred embodiment of the present invention, the two ends in described horizontal joint are respectively arranged with AC servo motor, harmonic speed reducer and photoelectric sensor.
In a preferred embodiment of the present invention, the two ends in described vertical joint are respectively arranged with steering wheel servomotor, RV decelerator and photoelectric sensor.
In a preferred embodiment of the present invention, described self-induction system comprises camera and control system thereof, described control system comprises spheroid motion capture and multiaxial motion sensing component, and described multiaxial motion sensing component is any one in three-axis moving sensing component, six axle Motion sensing component and nine axle Motion sensing component.
In a preferred embodiment of the present invention, there are two frees degree in described horizontal joint and described vertical joint, and described two frees degree comprise up and down and the rotation of left and right.
The invention has the beneficial effects as follows: a kind of robot of playing ball of the present invention is used by the collocation of robot arm and self-induction system, can realize automatic detection spheroid and move and the robot of playing ball carrying out intelligent intercept; By micro-processor controlled robot of playing ball, intellectuality can be carried out according to spheroidal state and position movable, by end effector, spheroid be tackled, the air exercise of realize playing ball robot and people or other machine.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings, wherein:
Fig. 1 is the structural representation of a preferred embodiment of a kind of robot of playing ball of the present invention.
In accompanying drawing, the mark of each parts is as follows: 1, robot arm, and 2, self-induction system, 3, end effector, 4, microcomputer, 5, electrical control panel, 6, camera.
Detailed description of the invention
Be clearly and completely described to the technical scheme in the embodiment of the present invention below, obviously, described embodiment is only a part of embodiment of the present invention, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making other embodiments all obtained under creative work prerequisite, belong to the scope of protection of the invention.
Refer to Fig. 1, the embodiment of the present invention comprises:
One is played ball robot, comprise: microcomputer 4, electrical control panel 5, robot arm, self-induction system 2 and end effector 3, described robot arm is imitative arm articulated structure, described articulated structure comprises a vertical joint and at least horizontal joint, the two poles of the earth, the bottom in described vertical joint is connected on the mover of linear electric motors, described linear electric motors are fixed on the top of described electrical control panel 5, described vertical joint and described horizontal joint end to end, described self-induction system 2 is positioned at the top in the horizontal joint of final stage, the out splice going splice in the horizontal joint of final stage connects end effector 3, described end effector 3 is fixed with panel of playing ball, described robot arm connects the output of described microcomputer 4, described self-induction system 2 connects the input of described microcomputer 4, described microcomputer 4 is positioned at the below of described electrical control panel 5, described microcomputer 4 is provided with microprocessor and Based PC 104 bus embedded type motion controller, internal stack is provided with two axis motion control cards.
The two ends in described horizontal joint are respectively arranged with AC servo motor, harmonic speed reducer and photoelectric sensor.
The two ends in described vertical joint are respectively arranged with steering wheel servomotor, RV decelerator and photoelectric sensor.
Described self-induction system 2 comprises camera 6 and control system thereof, described control system comprises spheroid motion capture and multiaxial motion sensing component, and described multiaxial motion sensing component is any one in three-axis moving sensing component, six axle Motion sensing component and nine axle Motion sensing component.
There are two frees degree in described horizontal joint and described vertical joint, and described two frees degree comprise up and down and the rotation of left and right.
In the present invention, described camera 6 is the individual devices of monitoring spatial dimension of playing ball, the spheroid motion state that described camera 6 will catch in shooting spatial dimension, resolved by Motion sensing component, processed by microcomputer 4 and the spheroidal state of parsing is compiled the Mode Control Code corresponding with described robot arm, described robot arm is made according to Mode Control Code and being reacted with the position locking spheroid accordingly, carries out interception function by end effector 3 pairs of spheroids.
The beneficial effect of a kind of robot of playing ball of the present invention is:
One, used by the collocation of robot arm and self-induction system, automatic detection spheroid can be realized and move and the robot of playing ball carrying out intelligent intercept; By micro-processor controlled robot of playing ball, intellectuality can be carried out according to spheroidal state and position movable, by end effector, spheroid be tackled, the air exercise of realize playing ball robot and people or other machine;
Two, compared with common robot of playing ball, there is intelligentized monitoring spheroid and carry out the effect of tackling, the air exercise with people or other machine can be realized.
The foregoing is only embodiments of the invention; not thereby the scope of the claims of the present invention is limited; every utilize description of the present invention to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical field, be all in like manner included in scope of patent protection of the present invention.
Claims (5)
1. a robot of playing ball, it is characterized in that, comprise: microcomputer, electrical control panel, robot arm, self-induction system and end effector, described robot arm is imitative arm articulated structure, described articulated structure comprises a vertical joint and at least horizontal joint, the two poles of the earth, the bottom in described vertical joint is connected on the mover of linear electric motors, described linear electric motors are fixed on the top of described electrical control panel, described vertical joint and described horizontal joint end to end, described self-induction system is positioned at the top in the horizontal joint of final stage, the out splice going splice in the horizontal joint of final stage connects end effector, described end effector is fixed with panel of playing ball, described robot arm connects the output of described microcomputer, described self-induction system connects the input of described microcomputer, described microcomputer is positioned at the below of described electrical control panel, described microcomputer is provided with microprocessor and Based PC 104 bus embedded type motion controller, internal stack is provided with two axis motion control cards.
2. robot of playing ball according to claim 1, is characterized in that, the two ends in described horizontal joint are respectively arranged with AC servo motor, harmonic speed reducer and photoelectric sensor.
3. robot of playing ball according to claim 1, is characterized in that, the two ends in described vertical joint are respectively arranged with steering wheel servomotor, RV decelerator and photoelectric sensor.
4. robot of playing ball according to claim 1, it is characterized in that, described self-induction system comprises camera and control system thereof, described control system comprises spheroid motion capture and multiaxial motion sensing component, and described multiaxial motion sensing component is any one in three-axis moving sensing component, six axle Motion sensing component and nine axle Motion sensing component.
5. according to described robot of playing ball arbitrary in claim 1-3, it is characterized in that, there are two frees degree in described horizontal joint and described vertical joint, and described two frees degree comprise up and down and the rotation of left and right.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410247042.5A CN104908044A (en) | 2014-06-06 | 2014-06-06 | Ball playing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410247042.5A CN104908044A (en) | 2014-06-06 | 2014-06-06 | Ball playing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104908044A true CN104908044A (en) | 2015-09-16 |
Family
ID=54077696
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410247042.5A Pending CN104908044A (en) | 2014-06-06 | 2014-06-06 | Ball playing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104908044A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105082104A (en) * | 2015-09-17 | 2015-11-25 | 黑龙江大学 | Ball throwing robot |
| CN106078669A (en) * | 2016-06-14 | 2016-11-09 | 夏烬楚 | A kind of batting robot based on image recognition technology, system and control method |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2053932U (en) * | 1987-10-26 | 1990-03-07 | 国家体委体育科学研究所 | Robot capable of playing table tennis |
| JP2002315963A (en) * | 2001-04-23 | 2002-10-29 | Sanyo Electric Co Ltd | Game interface device |
| JP2003093730A (en) * | 2001-09-21 | 2003-04-02 | Matsushita Electric Ind Co Ltd | Robot, game device using the same, and its control method |
| CN1611282A (en) * | 2003-10-29 | 2005-05-04 | 中国科学院自动化研究所 | Table hockey robot system |
| JP2008036383A (en) * | 2006-08-09 | 2008-02-21 | Quantaview Inc | Arm type robot for playing match of table tennis |
| CN102200760A (en) * | 2011-05-25 | 2011-09-28 | 中国科学院自动化研究所 | Method for acquiring ball-hitting gesture and ball-hitting speed of ping-pong robot racket |
| 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 |
| TWM427178U (en) * | 2011-11-24 | 2012-04-21 | Univ Chaoyang Technology | Intelligent table tennis training apparatus |
-
2014
- 2014-06-06 CN CN201410247042.5A patent/CN104908044A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2053932U (en) * | 1987-10-26 | 1990-03-07 | 国家体委体育科学研究所 | Robot capable of playing table tennis |
| JP2002315963A (en) * | 2001-04-23 | 2002-10-29 | Sanyo Electric Co Ltd | Game interface device |
| JP2003093730A (en) * | 2001-09-21 | 2003-04-02 | Matsushita Electric Ind Co Ltd | Robot, game device using the same, and its control method |
| CN1611282A (en) * | 2003-10-29 | 2005-05-04 | 中国科学院自动化研究所 | Table hockey robot system |
| JP2008036383A (en) * | 2006-08-09 | 2008-02-21 | Quantaview Inc | Arm type robot for playing match of table tennis |
| CN102200760A (en) * | 2011-05-25 | 2011-09-28 | 中国科学院自动化研究所 | Method for acquiring ball-hitting gesture and ball-hitting speed of ping-pong robot racket |
| 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 |
| TWM427178U (en) * | 2011-11-24 | 2012-04-21 | Univ Chaoyang Technology | Intelligent table tennis training apparatus |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105082104A (en) * | 2015-09-17 | 2015-11-25 | 黑龙江大学 | Ball throwing robot |
| CN106078669A (en) * | 2016-06-14 | 2016-11-09 | 夏烬楚 | A kind of batting robot based on image recognition technology, system and control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105997439B (en) | The three-degree of freedom ankle joint auxiliary rehabilitation device with ball pair of electromyography signal control | |
| CN105320138B (en) | The control method that recovery exercising robot movement velocity and movement locus are tracked simultaneously | |
| CN103029130B (en) | Humanoid robot | |
| CN105729458A (en) | Rigid-flexible coupled trunk-shaped continuous robot | |
| CN110239644A (en) | A kind of bionical quadruped robot based on flexible spinal technology | |
| CN105922244B (en) | A kind of continual curvature change robot of line driving | |
| CN202534249U (en) | A training apparatus of a transmission robot with multiple arms | |
| CN208541541U (en) | A kind of machinery restoring gloves | |
| CN205363905U (en) | First arm structure of texturing machine | |
| CN105011642A (en) | Sixteen-freedom-degree clothes model robot | |
| CN107376294A (en) | A kind of robot for being used for physical education and training | |
| CN104908044A (en) | Ball playing robot | |
| CN105328709B (en) | A kind of gripper | |
| CN206869911U (en) | A kind of bionic mechanical arm | |
| CN103190972A (en) | Auxiliary ankle recovering device with sphere-pin pairs | |
| CN105992677A (en) | A compact parallel kinematics robot | |
| CN105159312A (en) | A waist simulation device of a bionic robot mouse based on differential gears | |
| CN108081304A (en) | One kind three refers to picking mechanical arm | |
| CN105094160A (en) | Vertical balanced robot | |
| CN106363641B (en) | Intelligent robot | |
| CN105215992A (en) | For the multiple degrees of freedom power feel feedback device of man-machine interaction | |
| CN104760044B (en) | A kind of unpowered articulated arm teaching machine and the application in industrial robot thereof | |
| CN104238360B (en) | A kind of acquisition methods of the Zc parameter of anthropomorphic robot desk-little vehicle model | |
| CN206140506U (en) | Multi freedom motion platform | |
| CN103111076B (en) | Entertainment robot leg mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20150916 |