CN105922275A - Air hockey robot based on movement sensor - Google Patents
Air hockey robot based on movement sensor Download PDFInfo
- Publication number
- CN105922275A CN105922275A CN201610386599.6A CN201610386599A CN105922275A CN 105922275 A CN105922275 A CN 105922275A CN 201610386599 A CN201610386599 A CN 201610386599A CN 105922275 A CN105922275 A CN 105922275A
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- CN
- China
- Prior art keywords
- ice hockey
- pounder
- guide rail
- motor
- motion sensor
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- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F7/00—Indoor games using small moving playing bodies, e.g. balls, discs or blocks
- A63F7/06—Games simulating outdoor ball games, e.g. hockey or football
- A63F7/0604—Type of ball game
- A63F7/0632—Hockey
- A63F7/0636—Ice-hockey
-
- 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
- B25J11/003—Manipulators for entertainment
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Multimedia (AREA)
- Toys (AREA)
Abstract
The invention relates to an air hockey robot based on a movement sensor. The air hockey robot comprises an air hockey table, an air hockey ball, y-direction automatic striker systems, x-direction automatic striker systems and a computer. The y-direction automatic striker systems are fixedly installed on the two sides of the air hockey table, the x-direction automatic striker systems are installed on the two y-direction automatic striker systems and can move in the y direction, and the air hockey ball, the y-direction automatic striker systems and the x-direction automatic striker systems are connected with the computer. Millimeter-level instantaneity can be achieved, positioning is accurate, the robot is simple and small in size, positioning speed is increased, and smooth man-computer battles can be achieved.
Description
Technical field
The present invention relates to robotics, particularly to a kind of Zhuo Shang of based on motion sensor ice hockey robot, the ice hockey of quickly movement can be carried out location accurate, rapid and quickly make counterattack and react.
Background technology
Robotics, as strategy high-tech technology, is deeply paid attention to by countries in the world, and service robot is as the most active field of forward position high-tech research, receives much concern especially.Nowadays, the range of robot has begun in multiple fields such as medical treatment auxiliary, scientific investigation, household amusements fast-developing.Service robot, on the basis of industrial robot, develops rapidly, initially enters in the life of people.Service robot not only enriches the life of people, and by lifting, open up various robotics.Step into intelligent industry, the community network constructed by Robot industry, the basis of the social formation intelligent society of new round Industrial Revolution throughout social production, various fields of recent life, will be become.Along with microelectric technique and the fast development of computer technology, intelligent robot application is more and more extensive.On market, most of so-called intelligent robot all cannot realize quickly, be accurately positioned, as GPS positions, by global positioning system, control object is tracked, it is relatively suitable for outdoor remote tracking, and its precision depends on precision and the control object ambient environmental factors of GPS, it is extremely difficult to the other precision of grade and relatively costly.Development due to Modern Tracking Technology's field, measurement and control area is proposed higher requirement to the acquisition precision of sensor and response speed etc., and corresponding be that the MEMS element of a new generation the most actively caters to the needs of technological innovation, to integrating the multiaxis MEMS component orientation development such as vibroscope, accelerometer, magnetometer and pressure sensor.
Summary of the invention
In order to solve the problems referred to above, it is an object of the invention to provide Zhuo Shang of based on motion sensor the ice hockey robot a kind of having quickly, being accurately positioned.
The design of the present invention is as follows:
On this desktop, ice hockey robot can pass through multiple electric motors cooperative motion, and then control pounder moves within the limits prescribed.In order to reach quick in movement, the feature moved accurately, the present invention uses miniature integrated motion sensor to provide the accurate location of ice hockey, the integrated sensor of such as MEMS technology, acceleration is measured by micro-acceleration sensor, gyro sensor measures angular velocity, geomagnetic sensor measures the sensor that orientation is integrated, the power on spring that accelerometer is axial by measuring given straight line comes detection of straight lines acceleration and gravitational vectors, the motion sensor three-dimensional angular velocity by inertial space, three-dimensional acceleration and three-dimensional magnetic strength intensity, output object information in space in real time, the initial data obtained by computer disposal again, control the cooperative motion of motor, ice hockey in flying hit motion.
According to above-mentioned design, the present invention adopts the following technical scheme that
A kind of Zhuo Shang of based on motion sensor ice hockey robot, including ice hockey table, ice hockey, y direction automatic pounder system, x direction automatic pounder system, computer；Described y direction automatic pounder system is fixedly mounted on the both sides of ice hockey table, and described x direction automatic pounder system is arranged in two y direction automatic pounder systems and can move in the y-direction；Described ice hockey, y direction automatic pounder system and x direction automatic pounder system connects computer.
Described ice hockey includes ice hockey body, motion sensor, wireless transport module, power module, and described motion sensor is fixed on ice hockey body, and is connected with computer by wireless transport module, and described power module is motion sensor and wireless transport module is powered.
Described y direction automatic pounder system includes belt wheel, band wheeling support, first guide rail, Timing Belt, travel switch, guide rail bearing, motor mounting rack, first motor, motor support plate, described motor support plate is fixed on ice hockey table, first motor is horizontally arranged on motor support plate by motor mounting rack, one belt wheel is arranged on the output shaft of the first motor, and described guide rail bearing is fixed on each two of the both sides in ice hockey table y direction, and described first guide rail two ends are separately fixed on guide rail bearing；Described band wheeling support is screwed each one of both sides, ice hockey table y direction, and another belt wheel is fixed on band wheeling support, and two belt wheels are connected by Timing Belt, and two travel switches are separately fixed on the guide rail bearing of two ends.
Described x direction automatic pounder system includes the second motor, mobile motor support, the second guide rail, pounder, belt, travel switch, bearing, sleeve, synchronous pulley；Described sleeve is arranged in bearing, and described bearing screw is arranged on described mobile motor support, and described sleeve cooperates with described first guide rail so that mobile motor support can move along the first guide rail；Described second motor is vertically fixed on described mobile motor support, and output shaft is placed upward, and described synchronous pulley is arranged on the second stepping motor output end；Described pounder is arranged on the second guide rail, and the two ends of described second guide rail are arranged on mobile motor support, and described belt two ends are fixedly mounted on pounder upper end, then are arranged on the synchronous pulley of two ends.
Compared with prior art, the positive effect of the present invention is:
Being thered is provided the signals such as the acceleration of ice hockey, angular velocity, course by motion sensor in real time, obtained the signals such as the coordinate of ice hockey, direction, speed by computer processing data, efficiency is high, mechanism is simple, Position location accuracy, time response are fast.
Accompanying drawing explanation
Fig. 1 is a kind of Zhuo Shang of based on motion sensor ice hockey robot overall schematic.
Fig. 2 is a kind of Zhuo Shang of based on motion sensor ice hockey robot plan structure schematic diagram.
Fig. 3 is the ice hockey schematic diagram installing motion sensor of a kind of Zhuo Shang of based on motion sensor ice hockey robot.
Fig. 4 is the automatic pounder y range tie schematic diagram of a kind of Zhuo Shang of based on motion sensor ice hockey robot.
Fig. 5 is the automatic pounder x range tie schematic diagram of a kind of Zhuo Shang of based on motion sensor ice hockey robot.
Detailed description of the invention
Below with reference to accompanying drawing, being embodied as elaborating to the present invention, example is served only for explaining the present invention, and non-limiting the scope of the present invention.
As shown in Figure 1, 2, a kind of Zhuo Shang of based on motion sensor ice hockey robot, including ice hockey table 1, ice hockey 2, y direction automatic pounder system 3, x direction automatic pounder system 4, computer 5；Wherein x direction is the cross direction of ice hockey table 1, and y direction is the length direction of ice hockey table 1.Described y direction automatic pounder system 3 is fixedly mounted on the both sides of ice hockey table 1, and described x direction automatic pounder system 4 is arranged in two y direction automatic pounder systems 3 and can move in the y-direction；Described ice hockey 2, automatic pounder system 3 and x direction, y direction automatic pounder system 4 connects computer 5.
As shown in Figure 3, described ice hockey 2 includes ice hockey body 2-1, motion sensor 2-2, wireless transport module 2-3, power module 2-4, described motion sensor 2-2 is fixed on ice hockey body 2-1, and is connected with computer 5 by wireless transport module 2-3, and described power module 2-4 is motion sensor 2-2 and wireless transport module 2-3 powers.The acceleration of ice hockey, angular velocity information that motion sensor 2-2 is recorded by described wireless transport module 2-3 pass to computer 5, and the data that motion sensor 2-2 records are processed by described computer 5, it is achieved the collection of data initial data.
As shown in Figure 4, described y direction automatic pounder system 3 includes belt wheel 3-1, band wheeling support 3-2, first guide rail 3-3, Timing Belt 3-4, travel switch 3-5, guide rail bearing 3-6, motor mounting rack 3-7, first motor 3-8, motor support plate 3-9, described motor support plate 3-9 is fixed on ice hockey table 1, first motor 3-8 is horizontally arranged on motor support plate 3-9 by motor mounting rack 3-7, one belt wheel 3-1 is arranged on the output shaft of the first motor 3-8, described guide rail bearing 3-6 is fixed on each two of the both sides in ice hockey table 1y direction, described first guide rail 3-3 two ends are separately fixed on guide rail bearing 3-6；Described band wheeling support 3-2 is screwed each one of both sides, ice hockey table 1y direction, and another belt wheel 3-1 is fixed on band wheeling support 3-2, and two belt wheel 3-1 are connected by Timing Belt 3-4, and two travel switch 3-5 are separately fixed on the guide rail bearing 3-6 of two ends.
As it is shown in figure 5, described x direction automatic pounder system 4 includes the second motor 4-1, mobile motor support 4-2, the second guide rail 4-3, pounder 4-4, belt 4-5, travel switch 4-6, bearing 4-7, sleeve 4-8, synchronous pulley 4-9；Described sleeve 4-8 is arranged in bearing 4-7, and described bearing 4-7 screw is arranged on described mobile motor support 4-2, and described sleeve 4-8 cooperates with described first guide rail 3-3 so that mobile motor support 4-2 can move along the first guide rail 3-3；Described second motor 4-1 is vertically fixed on described mobile motor support 4-2, and output shaft is placed upward, and described synchronous pulley 4-9 is arranged on the second motor 4-1 outfan；Described pounder 4-4 is arranged on the second guide rail 4-3, and the two ends of described second guide rail 4-3 are arranged on mobile motor support 4-2, and described belt 4-5 two ends are fixedly mounted on pounder 4-4 upper end, then are arranged on the synchronous pulley 4-9 of two ends.
The use process of the present invention is as follows:
1) Zhuo Shang ice hockey robot is when playing with people, and ice hockey 2 is by the acceleration of ice hockey 2, angular velocity information under motion sensor 2-2 real time record, and sends information to computer 5 by wireless transport module 2-3；
2) with computer 5, the data obtained are processed, determine the position at ice hockey 2 place, the direction of motion, speed；
3) computer 5 controls motor driver to control the coordination exercise of motor, pounder 4-4 rapid delivery is specified position, reaches to impact ice hockey 2 fast, accurately, complete man-machine confrontation.
Claims (4)
1. Zhuo Shang of based on motion sensor an ice hockey robot, it is characterised in that include ice hockey table (1), ice hockey (2), y direction automatic pounder system (3), x direction automatic pounder system (4), computer (5)；Described y direction automatic pounder system (3) is fixedly mounted on the both sides of ice hockey table (1), and described x direction automatic pounder system (4) is arranged on two y directions automatic pounder system (3) and above and can move in the y-direction；Described ice hockey (2), y direction automatic pounder system (3) and x direction automatic pounder system (4) connect computer (5).
Zhuo Shang of based on motion sensor the most according to claim 1 ice hockey robot, it is characterized in that, described ice hockey (2) includes ice hockey body (2-1), motion sensor (2-2), wireless transport module (2-3), power module (2-4), described motion sensor (2-2) is fixed on ice hockey body (2-1), and be connected with computer (5) by wireless transport module (2-3), described power module (2-4) is motion sensor (2-2) and wireless transport module (2-3) power supply.
nullZhuo Shang of based on motion sensor the most according to claim 1 ice hockey robot，It is characterized in that，Described y direction automatic pounder system (3) includes belt wheel (3-1)，Band wheeling support (3-2)，First guide rail (3-3)，Timing Belt (3-4)，Travel switch (3-5)，Guide rail bearing (3-6)，Motor mounting rack (3-7)，First motor (3-8)，Motor support plate (3-9)，Described motor support plate (3-9) is fixed on ice hockey table (1)，First motor (3-8) is horizontally arranged on motor support plate (3-9) by motor mounting rack (3-7)，One belt wheel (3-1) is arranged on the output shaft of the first motor (3-8)，Described guide rail bearing (3-6) is fixed on each two of the both sides in ice hockey table (1) y direction，Described first guide rail (3-3) two ends are separately fixed on guide rail bearing (3-6)；Described band wheeling support (3-2) is screwed each one of both sides, ice hockey table (1) y direction, another belt wheel (3-1) is fixed on band wheeling support (3-2), two belt wheels (3-1) are connected by Timing Belt (3-4), and two travel switches (3-5) are separately fixed on two ends guide rail bearing (3-6).
Zhuo Shang of based on motion sensor the most according to claim 1 ice hockey robot, it is characterized in that, described x direction automatic pounder system (4) includes the second motor (4-1), mobile motor support (4-2), the second guide rail (4-3), pounder (4-4), belt (4-5), travel switch (4-6), bearing (4-7), sleeve (4-8), synchronous pulley (4-9)；Described sleeve (4-8) is arranged in bearing (4-7), described bearing (4-7) screw is arranged on described mobile motor support (4-2), described sleeve (4-8) cooperates with described first guide rail (3-3) so that mobile motor support (4-2) can be mobile along the first guide rail (3-3)；Described second motor (4-1) is vertically fixed on described mobile motor support (4-2), and output shaft is placed upward, and described synchronous pulley (4-9) is arranged on the second motor (4-1) outfan；Described pounder (4-4) is arranged on the second guide rail (4-3), the two ends of described second guide rail (4-3) are arranged on mobile motor support (4-2), described belt (4-5) two ends are fixedly mounted on pounder (4-4) upper end, then are arranged on two ends synchronous pulley (4-9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610386599.6A CN105922275A (en) | 2016-06-04 | 2016-06-04 | Air hockey robot based on movement sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610386599.6A CN105922275A (en) | 2016-06-04 | 2016-06-04 | Air hockey robot based on movement sensor |
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| CN105922275A true CN105922275A (en) | 2016-09-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610386599.6A Pending CN105922275A (en) | 2016-06-04 | 2016-06-04 | Air hockey robot based on movement sensor |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107837515A (en) * | 2017-12-10 | 2018-03-27 | 刘辉 | A kind of single ice hockey beating unit |
| CN107837514A (en) * | 2017-12-10 | 2018-03-27 | 刘辉 | A kind of single sports training device of ice hockey |
| CN107913504A (en) * | 2017-12-10 | 2018-04-17 | 刘辉 | A kind of single athletic training device of ice hockey |
| CN107913503A (en) * | 2017-12-10 | 2018-04-17 | 刘辉 | A kind of single ice hockey, which pushes away, beats athletic training device |
| CN107982886A (en) * | 2017-12-10 | 2018-05-04 | 刘辉 | A kind of single ice hockey physical culture exercising machine |
| CN109366501A (en) * | 2018-12-13 | 2019-02-22 | 中国石油大学(华东) | Gas ice hockey robot control method, device and gas ice hockey equipment |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107837515A (en) * | 2017-12-10 | 2018-03-27 | 刘辉 | A kind of single ice hockey beating unit |
| CN107837514A (en) * | 2017-12-10 | 2018-03-27 | 刘辉 | A kind of single sports training device of ice hockey |
| CN107913504A (en) * | 2017-12-10 | 2018-04-17 | 刘辉 | A kind of single athletic training device of ice hockey |
| CN107913503A (en) * | 2017-12-10 | 2018-04-17 | 刘辉 | A kind of single ice hockey, which pushes away, beats athletic training device |
| CN107982886A (en) * | 2017-12-10 | 2018-05-04 | 刘辉 | A kind of single ice hockey physical culture exercising machine |
| CN109366501A (en) * | 2018-12-13 | 2019-02-22 | 中国石油大学(华东) | Gas ice hockey robot control method, device and gas ice hockey equipment |
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Application publication date: 20160907 |
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| RJ01 | Rejection of invention patent application after publication |